Embedded Systems Project Mateusz Loboda 200843098
Dependencies: N5110 SRF02-Mateusz mbed
Diff: main.cpp
- Revision:
- 0:3403a3415306
- Child:
- 1:32b9ad362749
diff -r 000000000000 -r 3403a3415306 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Wed May 04 10:58:52 2016 +0000 @@ -0,0 +1,348 @@ +/* +* @file main.cpp +* @Distance Sensor Project +* @brief Main file containing functions and int main(). +* @author Mateusz Loboda +* @date April 2016 +*/ + + +//sd card +//mbed leds come on sometimes; +//make 4k mid freq +//fix buzzer beeping + + +#include "mbed.h" +#include "main.h" + + +int main() + +{ + init_K64F(); + lcd.init(); + + initialScreen(); + out.attach(timeout_isr,4); + lcd.refresh(); + sleep(); + lcd.clear(); + lcd.refresh(); + initialArray(); + ticker.attach(&ticker_isr,0.1); + + + while(1) { + delay = rate; + + buzzerPeriod = 1/((4000-(2*averageDistance))+200); // BUZZER, 200+200 = 400 = maximum range so freq proportional to distance, org 1/(200-avg)+200 + + if (g_ticker_flag) { + + g_ticker_flag = 0; + if ( g_button2_flag == 0) { + + buzzer = delay; // duty cycle + buzzer.period(buzzerPeriod); //set pwm to my freq + // average distance calculated + get_averageDistance(); + redLedIndicator(); + drawDistanceBars(); + + + } else if (g_button2_flag == 1) { + // lcd.clear(); + moveArrayElements(); + get_averageDistance(); + adjacentArrayElements(); + plotAxes(); + plotDistancePoint(); + // modeTwo(); + + lcd.refresh(); + + } + lcd.refresh(); + sleep(); + } + } +} +void init_K64F() +{ + // on-board LEDs are active-low, so set pin high to turn them off. + r_led = 1; + g_led = 1; + b_led = 1; + button2.fall(&mode); //under this condition call function + button2.mode(PullUp); //enable internal pull up resistor + button1.fall(&units); + button1.mode(PullUp); + +} +void units() +{ + g_button1_flag =!g_button1_flag ; // set flag in ISR + // r_led = !r_led; +} +void mode() +{ + g_button2_flag =!g_button2_flag ; + // b_led = !b_led; + // lcd.clear(); + //lcd.refresh(); +} +void timeout_isr() +{ +} +void ticker_isr() +{ + g_ticker_flag = 1; +} +void initialScreen() +{ + lcd.printString("DISTANCE",18,0); + lcd.printString("SENSOR",22,1); + lcd.printString("Mateusz Loboda",0,3); + lcd.printString("200843098",16,4); + lcd.refresh(); +} +void initialArray() +{ + //graphArray[82]; //initialize graph array, 2 pixels used for y axis so not 84 + for (int i=0; i<83; i++) { // before entering the grpah mode with the button, it is alreadt plotting points but they cannot be seen as they are above max range of 200 + graphArray[i] = 201; // has to be more thn 200 + } + lcd.clear(); +} +void get_averageDistance() +{ + for ( int i=0 ; i<5; i++) { + int distance = sensor.getDistanceCm(); + if (distance < 400) { //better averages random annomous values not even considere + averageDistance += distance; //assignment by sum + } else { + i--; //if distance > 400 do not take that reading into account go again + } + } + averageDistance = averageDistance/5; + lcd.clear(); +} + +void redLedIndicator() +{ + if (averageDistance<=30) { + // r_led = 1; + // g_led = 1; + // b_led = 1; + myled = 1; + lcd.clear(); + lcd.printString(" ***COLLISION ",2,1); + lcd.printString(" WARNING*** ",8,3); + lcd.refresh(); + buzzer = delay; // duty cycle + buzzer.period(0.001); //set pwm to my freq + } else { + r_led = 1; + g_led = 1; + b_led = 1; + myled = 0; + } + if (averageDistance >30) { + lcd.clear(); + char str[10]; + if (g_button1_flag == 0) { + + sprintf(str,"%.2f",averageDistance); + lcd.printString("cm",62,4); + + } else if (g_button1_flag == 1) { + sprintf(str,"%.2f",averageDistance*0.393701); + lcd.printString("in",60,4); + + } + lcd.printString(" ",0,3); + lcd.printString(str,20,4); + lcd.refresh(); + } +} +void drawDistanceBars() +{ + if(averageDistance>380) { + lcd.drawRect(67,2,5,16,1); + + } + if(averageDistance>330) { + lcd.drawRect(59,2,5,16,1); + + } + if(averageDistance>280) { + lcd.drawRect(51,2,5,16,1); + + } + if(averageDistance>230) { + lcd.drawRect(43,2,5,16,1); + + } + if(averageDistance>180) { + lcd.drawRect(35,2,5,16,1); + + } + if(averageDistance>130) { + lcd.drawRect(27,2,5,16,1); + + } + if(averageDistance>80) { + lcd.drawRect(19,2,5,16,1); //Draw 2 Bars + + } + if(averageDistance>30) { + lcd.drawRect(12,2,5,16,1); // 1 rectangle + } + lcd.refresh(); +} +void moveArrayElements() +{ + + for (int i=81 ; i>0; i--) { + //move elements of distance to right + graphArray[i] = graphArray[i-1]; //moving each element of array to right + } + + /* for ( int i=0 ; i<5; i++) { + int distance = sensor.getDistanceCm(); + if (distance < 400) { // decrease random error + averageDistance += distance; + } else { + i--; + } + } + //lcd.clear(); + averageDistance = averageDistance/5; */ + //get_averageDistance(); + +} +void adjacentArrayElements() +{ + + graphArray[0]= averageDistance; //array element is average distance float + if ((int)graphArray[0] != (int)graphArray[1]) { //if value of new array element is different to last one red led comes on + myled=1; + buzzer = delay; // duty cycle + buzzer.period(buzzerPeriod); //set pwm to my freq + + } else { + myled=0; + buzzer=0; + } +} + +void plotAxes() +{ + //i is pixel, plotting x axis + for ( int i=0; i<84; i++) { + lcd.setPixel(i,46); + lcd.setPixel(i,47); + } + //plotting y axis + for ( int i=0; i<48; i++) { + lcd.setPixel(0,i); + lcd.setPixel(1,i); + } +} +void plotDistancePoint() +{ + + // i in this loop is element of the array NOT pixel + for (int i=0; i<82; i++) { + //x position + y position) + int p = (int)(45-(graphArray[i]/(200/46))); //convert array element float distance to integer pixel + //convert from float distance to integer pixel + lcd.setPixel(83-i,p); // plot in pixel 84 at the right height , this pixel is then moved to right and new pixel is plotted + } + lcd.refresh(); +} +void modeTwo() +{ + for (int i=81 ; i>0; i--) { + //move elements of distance to right + graphArray[i] = graphArray[i-1]; //moving each element of array to right + } + for ( int i=0 ; i<5; i++) { + int distance = sensor.getDistanceCm(); + if (distance < 400) { // decrease random error + averageDistance += distance; + } else { + i--; + } + } + lcd.clear(); + averageDistance = averageDistance/5; + + + graphArray[0]= averageDistance; //plot distance + if ((int)graphArray[0] != (int)graphArray[1]) { + myled=1; + buzzer = delay; // duty cycle + buzzer.period(buzzerPeriod); //set pwm to my freq + } else { + myled=0; + buzzer=0; + } + + for ( int i=0; i<84; i++) { + lcd.setPixel(i,46); + lcd.setPixel(i,47); + } + for ( int i=0; i<48; i++) { + lcd.setPixel(0,i); + lcd.setPixel(1,i); + } + // i in this loop is element of the array NOT pixel + for (int i=0; i<82; i++) { + //x position + y position) + int p = (int)(45-(graphArray[i]/(200/46))); + //convert from float distance to integer pixel + lcd.setPixel(83-i,p); + } +} + + + + + + + + + + + + + +/*switch(averageDistance) { + case 380 : + lcd.drawRect(67,2,5,16,1); + break; + case 330 : + lcd.drawRect(59,2,5,16,1); + break; + case 280 : + lcd.drawRect(51,2,5,16,1); + break; + case 230 : + lcd.drawRect(43,2,5,16,1); + break; + case 180 : + lcd.drawRect(35,2,5,16,1); + break; + case 130 : + lcd.drawRect(27,2,5,16,1); + break; + case 80 : + lcd.drawRect(19,2,5,16,1); //Draw 2 Bars + break; + case 30 : + lcd.drawRect(12,2,5,16,1); // 1 rectangle + break; + } */ +