Diff: main.cpp

Revision:

8:c0a6a3363e43

Parent:

7:85d42006e380

Child:

9:f4f03767acc0

--- a/main.cpp	Wed Apr 22 17:30:31 2020 +0000
+++ b/main.cpp	Wed Apr 22 18:37:33 2020 +0000
@@ -4,6 +4,7 @@
 #include "uLCD_4DGL.h"
 #include "XNucleo53L0A1.h"
 #include "ultrasonic.h"
+#include "wave_player.h"
 
 //#include <stdio.h>
 #include <string>
@@ -20,21 +21,22 @@
 AnalogOut speaker(p18); //NEW
 wave_player waver(&speaker);//NEW
 Mutex mutex;
+Mutex dist;
 DigitalOut MyLED(LED1);
 
 //needed for TOF
 static XNucleo53L0A1 *board=NULL;
 
-void dist(int distance)
+/*void sonar(int distance)
 {
     //put code here to execute when the sonar distance has changed
     
-}
+}*/
 
-ultrasonic mu(p30, p29, .1, 1, &dist);    //Set the trigger pin to p30 and the echo pin to p29
+//ultrasonic mu(p30, p29, .1, 1, &sonar);    //Set the trigger pin to p30 and the echo pin to p29
                                         //have updates every .1 seconds and a timeout after 1
                                         //second, and call dist when the distance changes
-
+uint32_t far;   //Global variable to hold lidar TOF distance
 void TOF(void const *arguments) {
     //initialize the TOF
     int status;
@@ -53,11 +55,18 @@
         status = board->init_board();
     }
     
-    /*
+    
+    
     
-    How to get distance value
-    status = board->sensor_centre->get_distance(&distance);
-    
+    //Loop that reads in the TOF value 100 times per second
+    while(1){
+    status = board->sensor_centre->get_distance(&distance); //How to get distance value
+    dist.lock();
+    far = distance;
+    dist.unlock();
+    Thread::wait(10);
+    }
+    /*
     How you would print TOF to pc serial
     if (status == VL53L0X_ERROR_NONE) {
         pc.printf("D=%ld mm\r\n", distance);
@@ -66,18 +75,33 @@
     */
 }
 
+//Thread to print the TOF and Sonar Values to the LCD
+void LCD(void const *arguments)
+{
+    Thread::wait(1000); //Wait for lidar and sonar setup
+    while(1)
+    {
+        uLCD.cls();
+        dist.lock();
+        uLCD.printf("TOF Distance %i \n", far);     
+        dist.unlock();
+        Thread::wait(1000); //Allow time to read value before reprint
+    }
+}
+
 int main()
 {
-    //NEW
     uLCD.cls();
     uLCD.baudrate(BAUD_3000000);
     //wait(1.0);
 
     //blu.attach(&parse_message,Serial::RxIrq);
-        //Was used to interupt if reading in a blutooth command
+        //Was used in lab 3 to interupt if reading in a blutooth command
     //Thread t#(name_of_thread_function);
+    Thread t1(LCD);//Initialize LCD thread
+    Thread t2(TOF);//Initialize TOF thread
     
-    
+    /* //Code to read and play a file
     FILE *wave_file;
     //printf("Hello World");
     Thread::wait(1000);
@@ -87,4 +111,12 @@
     //serial_mutex.unlock();
     waver.play(wave_file);
     fclose(wave_file);
+    */
+    
+    //Loop to validate the main loop is executing
+    while(1)
+    {
+        MyLED = !MyLED;
+        Thread::wait(100);
+    }
 }
\ No newline at end of file