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Dependencies:   mbed mbed-rtos 4DGL-uLCD-SE HC_SR04_Ultrasonic_Library

main.cpp@8:c0a6a3363e43, 2020-04-22 (annotated)

Committer:
mmarine3
Date:
Wed Apr 22 18:37:33 2020 +0000
Revision:
8:c0a6a3363e43
Parent:
7:85d42006e380
Child:
9:f4f03767acc0
Added code to read TOF sensor and display it to the LCD

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mmarine3 2:1ec843c95914 1 #include "mbed.h"
rmalik8 4:7d02b3f3bee6 2 #include "rtos.h"
mmarine3 2:1ec843c95914 3 #include "SDFileSystem.h"
mmarine3 2:1ec843c95914 4 #include "uLCD_4DGL.h"
rmalik8 3:b5cdd40e99e9 5 #include "XNucleo53L0A1.h"
rmalik8 4:7d02b3f3bee6 6 #include "ultrasonic.h"
mmarine3 8:c0a6a3363e43 7 #include "wave_player.h"
rmalik8 4:7d02b3f3bee6 8
rmalik8 3:b5cdd40e99e9 9 //#include <stdio.h>
mmarine3 2:1ec843c95914 10 #include <string>
mmarine3 2:1ec843c95914 11
rmalik8 4:7d02b3f3bee6 12 //I2C sensor pins
rmalik8 4:7d02b3f3bee6 13 #define VL53L0_I2C_SDA p28
rmalik8 4:7d02b3f3bee6 14 #define VL53L0_I2C_SCL p27
rmalik8 4:7d02b3f3bee6 15
rmalik8 3:b5cdd40e99e9 16 uLCD_4DGL uLCD(p13, p14, p12); // serial tx, serial rx, reset pin;
rmalik8 4:7d02b3f3bee6 17 SDFileSystem sd(p5, p6, p7, p8, "sd"); //SD card
rmalik8 3:b5cdd40e99e9 18 DigitalOut shdn(p26);
rmalik8 4:7d02b3f3bee6 19 RawSerial BT(p9,p10);
rmalik8 4:7d02b3f3bee6 20 //Serial BT(p9,p10);
mmarine3 7:85d42006e380 21 AnalogOut speaker(p18); //NEW
mmarine3 7:85d42006e380 22 wave_player waver(&speaker);//NEW
rmalik8 6:068146497fe6 23 Mutex mutex;
mmarine3 8:c0a6a3363e43 24 Mutex dist;
mmarine3 2:1ec843c95914 25 DigitalOut MyLED(LED1);
mmarine3 2:1ec843c95914 26
rmalik8 4:7d02b3f3bee6 27 //needed for TOF
rmalik8 4:7d02b3f3bee6 28 static XNucleo53L0A1 *board=NULL;
mmarine3 2:1ec843c95914 29
mmarine3 8:c0a6a3363e43 30 /*void sonar(int distance)
rmalik8 4:7d02b3f3bee6 31 {
rmalik8 4:7d02b3f3bee6 32 //put code here to execute when the sonar distance has changed
rmalik8 4:7d02b3f3bee6 33
mmarine3 8:c0a6a3363e43 34 }*/
rmalik8 4:7d02b3f3bee6 35
mmarine3 8:c0a6a3363e43 36 //ultrasonic mu(p30, p29, .1, 1, &sonar); //Set the trigger pin to p30 and the echo pin to p29
rmalik8 4:7d02b3f3bee6 37 //have updates every .1 seconds and a timeout after 1
rmalik8 4:7d02b3f3bee6 38 //second, and call dist when the distance changes
mmarine3 8:c0a6a3363e43 39 uint32_t far; //Global variable to hold lidar TOF distance
rmalik8 4:7d02b3f3bee6 40 void TOF(void const *arguments) {
rmalik8 4:7d02b3f3bee6 41 //initialize the TOF
rmalik8 4:7d02b3f3bee6 42 int status;
rmalik8 4:7d02b3f3bee6 43 uint32_t distance;
rmalik8 4:7d02b3f3bee6 44 DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
rmalik8 4:7d02b3f3bee6 45 /* creates the 53L0A1 expansion board singleton obj */
rmalik8 4:7d02b3f3bee6 46 board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
rmalik8 4:7d02b3f3bee6 47 shdn = 0; //must reset sensor for an mbed reset to work
rmalik8 4:7d02b3f3bee6 48 wait(0.1);
rmalik8 4:7d02b3f3bee6 49 shdn = 1;
rmalik8 4:7d02b3f3bee6 50 wait(0.1);
rmalik8 4:7d02b3f3bee6 51 /* init the 53L0A1 board with default values */
rmalik8 4:7d02b3f3bee6 52 status = board->init_board();
rmalik8 4:7d02b3f3bee6 53 while (status) {
rmalik8 4:7d02b3f3bee6 54 //pc.printf("Failed to init board! \r\n");
rmalik8 4:7d02b3f3bee6 55 status = board->init_board();
rmalik8 4:7d02b3f3bee6 56 }
rmalik8 4:7d02b3f3bee6 57
mmarine3 8:c0a6a3363e43 58
mmarine3 8:c0a6a3363e43 59
rmalik8 4:7d02b3f3bee6 60
mmarine3 8:c0a6a3363e43 61 //Loop that reads in the TOF value 100 times per second
mmarine3 8:c0a6a3363e43 62 while(1){
mmarine3 8:c0a6a3363e43 63 status = board->sensor_centre->get_distance(&distance); //How to get distance value
mmarine3 8:c0a6a3363e43 64 dist.lock();
mmarine3 8:c0a6a3363e43 65 far = distance;
mmarine3 8:c0a6a3363e43 66 dist.unlock();
mmarine3 8:c0a6a3363e43 67 Thread::wait(10);
mmarine3 8:c0a6a3363e43 68 }
mmarine3 8:c0a6a3363e43 69 /*
rmalik8 5:3ff2acbd08ab 70 How you would print TOF to pc serial
rmalik8 4:7d02b3f3bee6 71 if (status == VL53L0X_ERROR_NONE) {
rmalik8 4:7d02b3f3bee6 72 pc.printf("D=%ld mm\r\n", distance);
rmalik8 4:7d02b3f3bee6 73 }
rmalik8 4:7d02b3f3bee6 74
rmalik8 4:7d02b3f3bee6 75 */
rmalik8 4:7d02b3f3bee6 76 }
mmarine3 2:1ec843c95914 77
mmarine3 8:c0a6a3363e43 78 //Thread to print the TOF and Sonar Values to the LCD
mmarine3 8:c0a6a3363e43 79 void LCD(void const *arguments)
mmarine3 8:c0a6a3363e43 80 {
mmarine3 8:c0a6a3363e43 81 Thread::wait(1000); //Wait for lidar and sonar setup
mmarine3 8:c0a6a3363e43 82 while(1)
mmarine3 8:c0a6a3363e43 83 {
mmarine3 8:c0a6a3363e43 84 uLCD.cls();
mmarine3 8:c0a6a3363e43 85 dist.lock();
mmarine3 8:c0a6a3363e43 86 uLCD.printf("TOF Distance %i \n", far);
mmarine3 8:c0a6a3363e43 87 dist.unlock();
mmarine3 8:c0a6a3363e43 88 Thread::wait(1000); //Allow time to read value before reprint
mmarine3 8:c0a6a3363e43 89 }
mmarine3 8:c0a6a3363e43 90 }
mmarine3 8:c0a6a3363e43 91
mmarine3 2:1ec843c95914 92 int main()
mmarine3 2:1ec843c95914 93 {
mmarine3 7:85d42006e380 94 uLCD.cls();
mmarine3 7:85d42006e380 95 uLCD.baudrate(BAUD_3000000);
mmarine3 7:85d42006e380 96 //wait(1.0);
mmarine3 7:85d42006e380 97
mmarine3 7:85d42006e380 98 //blu.attach(&parse_message,Serial::RxIrq);
mmarine3 8:c0a6a3363e43 99 //Was used in lab 3 to interupt if reading in a blutooth command
mmarine3 7:85d42006e380 100 //Thread t#(name_of_thread_function);
mmarine3 8:c0a6a3363e43 101 Thread t1(LCD);//Initialize LCD thread
mmarine3 8:c0a6a3363e43 102 Thread t2(TOF);//Initialize TOF thread
rmalik8 4:7d02b3f3bee6 103
mmarine3 8:c0a6a3363e43 104 /* //Code to read and play a file
mmarine3 7:85d42006e380 105 FILE *wave_file;
mmarine3 7:85d42006e380 106 //printf("Hello World");
mmarine3 7:85d42006e380 107 Thread::wait(1000);
mmarine3 7:85d42006e380 108 wave_file=fopen("/sd/test.wav","r");
mmarine3 7:85d42006e380 109 //serial_mutex.lock();
mmarine3 7:85d42006e380 110 if(wave_file==NULL) printf("file open error!\n\n\r");
mmarine3 7:85d42006e380 111 //serial_mutex.unlock();
mmarine3 7:85d42006e380 112 waver.play(wave_file);
mmarine3 7:85d42006e380 113 fclose(wave_file);
mmarine3 8:c0a6a3363e43 114 */
mmarine3 8:c0a6a3363e43 115
mmarine3 8:c0a6a3363e43 116 //Loop to validate the main loop is executing
mmarine3 8:c0a6a3363e43 117 while(1)
mmarine3 8:c0a6a3363e43 118 {
mmarine3 8:c0a6a3363e43 119 MyLED = !MyLED;
mmarine3 8:c0a6a3363e43 120 Thread::wait(100);
mmarine3 8:c0a6a3363e43 121 }
mmarine3 2:1ec843c95914 122 }