Georgia Tech - ECE 4180 Project - Smart Fan / Mbed 2 deprecated Smart Fan

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Dependencies:   mbed Servo mbed-rtos X_NUCLEO_53L0A1

main.cpp@12:dd53c18e9cf2, 2020-04-23 (annotated)

Committer:
spulavarty3
Date:
Thu Apr 23 23:53:58 2020 +0000
Revision:
12:dd53c18e9cf2
Parent:
11:5186cc367be0
Child:
13:74d440e3000b
Version 0.0 of beta motor control program with lidar

Who changed what in which revision?

UserRevisionLine numberNew contents of line
johnAlexander 0:ce8359133ae6 1 #include "mbed.h"
Davidroid 10:891e10d3b4a6 2 #include "XNucleo53L0A1.h"
spulavarty3 12:dd53c18e9cf2 3 #include "rtos.h"
spulavarty3 12:dd53c18e9cf2 4 #include "Servo.h"
johnAlexander 0:ce8359133ae6 5 #include <stdio.h>
spulavarty3 12:dd53c18e9cf2 6
4180_1 11:5186cc367be0 7 Serial pc(USBTX,USBRX);
spulavarty3 12:dd53c18e9cf2 8 Servo myservo(p21);
4180_1 11:5186cc367be0 9 DigitalOut shdn(p26);
4180_1 11:5186cc367be0 10 // This VL53L0X board test application performs a range measurement in polling mode
4180_1 11:5186cc367be0 11 // Use 3.3(Vout) for Vin, p28 for SDA, p27 for SCL, P26 for shdn on mbed LPC1768
johnAlexander 0:ce8359133ae6 12
4180_1 11:5186cc367be0 13 //I2C sensor pins
4180_1 11:5186cc367be0 14 #define VL53L0_I2C_SDA p28
4180_1 11:5186cc367be0 15 #define VL53L0_I2C_SCL p27
johnAlexander 0:ce8359133ae6 16
Davidroid 10:891e10d3b4a6 17 static XNucleo53L0A1 *board=NULL;
johnAlexander 1:3483e701ec59 18
spulavarty3 12:dd53c18e9cf2 19 Thread lidar_thread;
spulavarty3 12:dd53c18e9cf2 20 Thread motor_thread;
spulavarty3 12:dd53c18e9cf2 21
spulavarty3 12:dd53c18e9cf2 22 uint32_t volatile distance_copy;
spulavarty3 12:dd53c18e9cf2 23 int volatile status;
spulavarty3 12:dd53c18e9cf2 24 double volatile on_speed = .1;
spulavarty3 12:dd53c18e9cf2 25
spulavarty3 12:dd53c18e9cf2 26 Mutex distance_lock;
spulavarty3 12:dd53c18e9cf2 27 Mutex status_lock;
spulavarty3 12:dd53c18e9cf2 28 Mutex speed_lock;
spulavarty3 12:dd53c18e9cf2 29
spulavarty3 12:dd53c18e9cf2 30 void check_distance()
spulavarty3 12:dd53c18e9cf2 31 {
spulavarty3 12:dd53c18e9cf2 32 uint32_t distance;
spulavarty3 12:dd53c18e9cf2 33
spulavarty3 12:dd53c18e9cf2 34 //loop taking and printing distance
spulavarty3 12:dd53c18e9cf2 35 while (1)
spulavarty3 12:dd53c18e9cf2 36 {
spulavarty3 12:dd53c18e9cf2 37 distance_lock.lock();
spulavarty3 12:dd53c18e9cf2 38 status_lock.lock();
spulavarty3 12:dd53c18e9cf2 39 status = board->sensor_centre->get_distance(&distance);
spulavarty3 12:dd53c18e9cf2 40 distance_copy = distance;
spulavarty3 12:dd53c18e9cf2 41
spulavarty3 12:dd53c18e9cf2 42 // for debugging, print distance to pc
spulavarty3 12:dd53c18e9cf2 43 if (status == VL53L0X_ERROR_NONE)
spulavarty3 12:dd53c18e9cf2 44 {
spulavarty3 12:dd53c18e9cf2 45 pc.printf("D=%ld mm\r\n", distance_copy);
spulavarty3 12:dd53c18e9cf2 46 }
spulavarty3 12:dd53c18e9cf2 47 distance_lock.unlock();
spulavarty3 12:dd53c18e9cf2 48 status_lock.unlock();
spulavarty3 12:dd53c18e9cf2 49 }
spulavarty3 12:dd53c18e9cf2 50
spulavarty3 12:dd53c18e9cf2 51 }
spulavarty3 12:dd53c18e9cf2 52
spulavarty3 12:dd53c18e9cf2 53 void fan_control()
spulavarty3 12:dd53c18e9cf2 54 {
spulavarty3 12:dd53c18e9cf2 55 while (1)
spulavarty3 12:dd53c18e9cf2 56 {
spulavarty3 12:dd53c18e9cf2 57 status_lock.lock();
spulavarty3 12:dd53c18e9cf2 58 distance_lock.lock();
spulavarty3 12:dd53c18e9cf2 59 speed_lock.lock();
spulavarty3 12:dd53c18e9cf2 60 if (status == VL53L0X_ERROR_NONE)
spulavarty3 12:dd53c18e9cf2 61 {
spulavarty3 12:dd53c18e9cf2 62 if (distance_copy <= 610) // within 2 feet (distance is in mm)
spulavarty3 12:dd53c18e9cf2 63 {
spulavarty3 12:dd53c18e9cf2 64 myservo = on_speed;
spulavarty3 12:dd53c18e9cf2 65 }
spulavarty3 12:dd53c18e9cf2 66 else
spulavarty3 12:dd53c18e9cf2 67 {
spulavarty3 12:dd53c18e9cf2 68 myservo = 0;
spulavarty3 12:dd53c18e9cf2 69 }
spulavarty3 12:dd53c18e9cf2 70
spulavarty3 12:dd53c18e9cf2 71 }
spulavarty3 12:dd53c18e9cf2 72 status_lock.unlock();
spulavarty3 12:dd53c18e9cf2 73 distance_lock.unlock();
spulavarty3 12:dd53c18e9cf2 74 speed_lock.unlock();
spulavarty3 12:dd53c18e9cf2 75
spulavarty3 12:dd53c18e9cf2 76 Thread::yield();
spulavarty3 12:dd53c18e9cf2 77 }
spulavarty3 12:dd53c18e9cf2 78 }
spulavarty3 12:dd53c18e9cf2 79
johnAlexander 0:ce8359133ae6 80 int main()
4180_1 11:5186cc367be0 81 {
johnAlexander 7:c8087e7333b8 82 DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
johnAlexander 7:c8087e7333b8 83 /* creates the 53L0A1 expansion board singleton obj */
Davidroid 10:891e10d3b4a6 84 board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
spulavarty3 12:dd53c18e9cf2 85
4180_1 11:5186cc367be0 86 shdn = 0; //must reset sensor for an mbed reset to work
spulavarty3 12:dd53c18e9cf2 87 Thread::wait(100);
4180_1 11:5186cc367be0 88 shdn = 1;
spulavarty3 12:dd53c18e9cf2 89 Thread::wait(100);
spulavarty3 12:dd53c18e9cf2 90
spulavarty3 12:dd53c18e9cf2 91 status_lock.lock();
4180_1 11:5186cc367be0 92 /* init the 53L0A1 board with default values */
johnAlexander 7:c8087e7333b8 93 status = board->init_board();
spulavarty3 12:dd53c18e9cf2 94
spulavarty3 12:dd53c18e9cf2 95 while (status)
spulavarty3 12:dd53c18e9cf2 96 {
4180_1 11:5186cc367be0 97 pc.printf("Failed to init board! \r\n");
4180_1 11:5186cc367be0 98 status = board->init_board();
spulavarty3 12:dd53c18e9cf2 99 Thread::yield();
johnAlexander 7:c8087e7333b8 100 }
spulavarty3 12:dd53c18e9cf2 101 status_lock.unlock();
spulavarty3 12:dd53c18e9cf2 102
spulavarty3 12:dd53c18e9cf2 103 myservo = 0;
spulavarty3 12:dd53c18e9cf2 104
spulavarty3 12:dd53c18e9cf2 105 lidar_thread.start(check_distance);
spulavarty3 12:dd53c18e9cf2 106 motor_thread.start(fan_control);
johnAlexander 0:ce8359133ae6 107 }