Home Security Lamp / Mbed 2 deprecated Nucleo_UltrasonicHelloWorld

RYU HoSeong

Dependencies:   HC_SR04_Ultrasonic_Library mbed-rtos mbed-src mbed HCSR04

Fork of Nucleo_UltrasonicHelloWorld by EJ Teb

main.cpp@6:7ceab53d9a2f, 2015-08-10 (annotated)

Committer:
ryuhs74
Date:
Mon Aug 10 01:02:41 2015 +0000
Revision:
6:7ceab53d9a2f
Parent:
5:e1849ee9651d 
create;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ejteb 0:1704ea055c4f 1 #include "mbed.h"
ryuhs74 4:eb5a51640b43 2
ryuhs74 4:eb5a51640b43 3 //#define TEST_ULTRASONIC
ryuhs74 4:eb5a51640b43 4 #ifdef TEST_ULTRASONIC
ejteb 0:1704ea055c4f 5 #include "ultrasonic.h"
ryuhs74 4:eb5a51640b43 6 #else
ryuhs74 4:eb5a51640b43 7 #include "hcsr04.h"
ryuhs74 4:eb5a51640b43 8 #endif
ejteb 0:1704ea055c4f 9
ryuhs74 2:3dcb6f86ed22 10
ryuhs74 2:3dcb6f86ed22 11 //#define USE_THREAD
ryuhs74 2:3dcb6f86ed22 12 #ifdef USE_THREAD
ryuhs74 2:3dcb6f86ed22 13 #include "rtos.h"
ryuhs74 2:3dcb6f86ed22 14 #endif
ryuhs74 2:3dcb6f86ed22 15
ryuhs74 6:7ceab53d9a2f 16 #define CHECK_DISTANCE 1000
ryuhs74 6:7ceab53d9a2f 17
ryuhs74 2:3dcb6f86ed22 18 int sum_dist[3] = {0,}; //ryuhs74@20150712 -
ryuhs74 2:3dcb6f86ed22 19 int avg_dist = 0; //ryuhs74@20150712 -
ryuhs74 2:3dcb6f86ed22 20 int index_dist = 0; //ryuhs74@20150712 -
ryuhs74 2:3dcb6f86ed22 21
ryuhs74 2:3dcb6f86ed22 22 Serial pc(USBTX, USBRX); // tx, rx
ryuhs74 2:3dcb6f86ed22 23
ryuhs74 2:3dcb6f86ed22 24 #ifdef USE_THREAD
ryuhs74 2:3dcb6f86ed22 25 int isRun_thread = 0;
ryuhs74 2:3dcb6f86ed22 26 Thread *pThread = NULL;
ryuhs74 2:3dcb6f86ed22 27
ryuhs74 2:3dcb6f86ed22 28 void camera_thread( void const* args)
ryuhs74 2:3dcb6f86ed22 29 {
ryuhs74 2:3dcb6f86ed22 30 isRun_thread = 1;
ryuhs74 2:3dcb6f86ed22 31
ryuhs74 2:3dcb6f86ed22 32 while(isRun_thread){
ryuhs74 2:3dcb6f86ed22 33 //ryuhs74@20150713 START - TEST code
ryuhs74 2:3dcb6f86ed22 34 for(int i = 0; i<100;i++){
ryuhs74 2:3dcb6f86ed22 35 wait(1);
ryuhs74 2:3dcb6f86ed22 36 }
ryuhs74 2:3dcb6f86ed22 37 break;
ryuhs74 2:3dcb6f86ed22 38 //ryuhs74@20150713 - TEST code END
ryuhs74 2:3dcb6f86ed22 39 }
ryuhs74 2:3dcb6f86ed22 40
ryuhs74 2:3dcb6f86ed22 41 if( pThread != NULL ){
ryuhs74 2:3dcb6f86ed22 42 pThread->terminate();
ryuhs74 2:3dcb6f86ed22 43 pThread = NULL;
ryuhs74 2:3dcb6f86ed22 44 }
ryuhs74 2:3dcb6f86ed22 45 isRun_thread = 0;
ryuhs74 2:3dcb6f86ed22 46 return;
ryuhs74 2:3dcb6f86ed22 47 }
ryuhs74 2:3dcb6f86ed22 48 #endif
ryuhs74 2:3dcb6f86ed22 49
ryuhs74 2:3dcb6f86ed22 50 void dist(int distance)
ejteb 0:1704ea055c4f 51 {
ejteb 1:4a5586eb1765 52 //put code here to happen when the distance is changed
ryuhs74 2:3dcb6f86ed22 53 pc.printf("Distance changed to %d mm\r\n", distance);
ejteb 0:1704ea055c4f 54 }
ejteb 0:1704ea055c4f 55
ryuhs74 4:eb5a51640b43 56
ryuhs74 2:3dcb6f86ed22 57 #ifdef TEST_ULTRASONIC
ejteb 1:4a5586eb1765 58 ultrasonic mu(D8, D9, .1, 1, &dist); //Set the trigger pin to D8 and the echo pin to D9
ryuhs74 2:3dcb6f86ed22 59 //have updates every .1 seconds and a timeout after 1
ryuhs74 2:3dcb6f86ed22 60 //second, and call dist when the distance changes
ryuhs74 4:eb5a51640b43 61 #else
ryuhs74 4:eb5a51640b43 62 HCSR04 sensor(D12, D11);
ryuhs74 2:3dcb6f86ed22 63 #endif
ejteb 0:1704ea055c4f 64
ejteb 0:1704ea055c4f 65 int main()
ejteb 0:1704ea055c4f 66 {
ryuhs74 5:e1849ee9651d 67 #ifdef TEST_ULTRASONIC
ryuhs74 5:e1849ee9651d 68 pc.printf("Start ----> TEST_ULTRASONIC\n");
ryuhs74 5:e1849ee9651d 69 #else
ryuhs74 5:e1849ee9651d 70 pc.printf("Start ----> HCSR04\n");
ryuhs74 5:e1849ee9651d 71 #endif
ryuhs74 2:3dcb6f86ed22 72
ryuhs74 2:3dcb6f86ed22 73 #ifdef TEST_ULTRASONIC
ejteb 1:4a5586eb1765 74 mu.startUpdates();//start mesuring the distance
ryuhs74 2:3dcb6f86ed22 75 #endif
ryuhs74 2:3dcb6f86ed22 76
ryuhs74 2:3dcb6f86ed22 77 while(1) {
ryuhs74 4:eb5a51640b43 78
ryuhs74 2:3dcb6f86ed22 79 pc.printf("Before mu.checkDistance();\n");
ejteb 1:4a5586eb1765 80 //Do something else here
ryuhs74 4:eb5a51640b43 81 #ifdef TEST_ULTRASONIC
ejteb 1:4a5586eb1765 82 mu.checkDistance(); //call checkDistance() as much as possible, as this is where
ryuhs74 4:eb5a51640b43 83 #else
ryuhs74 4:eb5a51640b43 84 long distance = sensor.distance();
ryuhs74 4:eb5a51640b43 85 #endif
ryuhs74 2:3dcb6f86ed22 86 //the class checks if dist needs to be called.
ryuhs74 2:3dcb6f86ed22 87 pc.printf("After mu.checkDistance();\n");
ryuhs74 2:3dcb6f86ed22 88
ryuhs74 2:3dcb6f86ed22 89 //ryuhs74@20150712 START -
ryuhs74 2:3dcb6f86ed22 90 if( index_dist < 3){
ryuhs74 2:3dcb6f86ed22 91 pc.printf("Before mu.getCurrentDistance();\n");
ryuhs74 4:eb5a51640b43 92 #ifdef TEST_ULTRASONIC
ryuhs74 2:3dcb6f86ed22 93 sum_dist[index_dist] = mu.getCurrentDistance();
ryuhs74 4:eb5a51640b43 94 #else
ryuhs74 4:eb5a51640b43 95 sum_dist[index_dist] = distance;
ryuhs74 4:eb5a51640b43 96 #endif
ryuhs74 2:3dcb6f86ed22 97 pc.printf("sum_dist[index_dist(%d)] = %d\n", index_dist, sum_dist[index_dist]);
ryuhs74 2:3dcb6f86ed22 98 index_dist ++;
ryuhs74 2:3dcb6f86ed22 99 } else {
ryuhs74 2:3dcb6f86ed22 100 pc.printf("Before index_dist( %d ) ", index_dist);
ryuhs74 2:3dcb6f86ed22 101 index_dist = 0;
ryuhs74 2:3dcb6f86ed22 102 pc.printf("After index_dist( %d )\n", index_dist);
ryuhs74 2:3dcb6f86ed22 103
ryuhs74 2:3dcb6f86ed22 104 for(int i =0; i<3;i++){
ryuhs74 2:3dcb6f86ed22 105 avg_dist += sum_dist[i];
ryuhs74 2:3dcb6f86ed22 106 }
ryuhs74 2:3dcb6f86ed22 107
ryuhs74 2:3dcb6f86ed22 108 //avg_dist /= avg_dist;
ryuhs74 2:3dcb6f86ed22 109
ryuhs74 6:7ceab53d9a2f 110 if( avg_dist <= CHECK_DISTANCE ){
ryuhs74 2:3dcb6f86ed22 111 #ifdef USE_THREAD
ryuhs74 2:3dcb6f86ed22 112 if( isRun_thread == 0 ){
ryuhs74 2:3dcb6f86ed22 113 Thread thread(camera_thread);
ryuhs74 2:3dcb6f86ed22 114
ryuhs74 2:3dcb6f86ed22 115 if( pThread == NULL)
ryuhs74 2:3dcb6f86ed22 116 pThread = (Thread*)&thread;
ryuhs74 2:3dcb6f86ed22 117
ryuhs74 2:3dcb6f86ed22 118 }
ryuhs74 6:7ceab53d9a2f 119 #else
ryuhs74 2:3dcb6f86ed22 120 #endif
ryuhs74 2:3dcb6f86ed22 121
ryuhs74 2:3dcb6f86ed22 122 }
ryuhs74 2:3dcb6f86ed22 123 }
ryuhs74 2:3dcb6f86ed22 124 pc.printf("wait(1)\n");
ryuhs74 2:3dcb6f86ed22 125 //ryuhs74@20150712 - END
ryuhs74 4:eb5a51640b43 126 wait(1.0); //ryuhs7474@20150713 - 초당 한번씩 딜레이를 준다
ejteb 0:1704ea055c4f 127 }
ejteb 0:1704ea055c4f 128 }