File content as of revision 9:f4f03767acc0:

#include "mbed.h"
#include "rtos.h"
#include "SDFileSystem.h"
#include "uLCD_4DGL.h"
#include "XNucleo53L0A1.h"
#include "ultrasonic.h"
#include "wave_player.h"

//#include <stdio.h>
#include <string>

//I2C sensor pins
#define VL53L0_I2C_SDA   p28
#define VL53L0_I2C_SCL   p27

uLCD_4DGL uLCD(p13, p14, p12); // Initialize uLCD serial tx, serial rx, reset pin;
SDFileSystem sd(p5, p6, p7, p8, "sd"); //SD card
RawSerial BT(p9,p10);           //Initialize Blutooth
//Serial BT(p9,p10);            
AnalogOut speaker(p18);         //Initialize speaker
wave_player waver(&speaker);    //Initialize Waveplayer 
Mutex mutex;
Mutex dist;
DigitalOut MyLED(LED1);

int sdist = 0;
void sonar(int distance)
{
    //put code here to execute when the sonar distance has changed
    dist.lock();
    sdist = distance;
    dist.unlock();
    //printf("Sonar Distance:\r\n %d", sdist); 
}

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 sonar when the distance changes

void Sonar(void const* arguments)
{
    mu.startUpdates();//start measuring the distance
    while(1)
    {
        //Do something else here
        mu.checkDistance();     //call checkDistance() as much as possible, as this is where
                                //the class checks if dist needs to be called.
        Thread::wait(10);
    }
}

//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("Sonar Distance:\n %d", sdist);     
        dist.unlock();
        Thread::wait(1000); //Allow time to read value before reprint
    
    }
}

int main()
{
    uLCD.cls();
    uLCD.baudrate(BAUD_3000000);
    //wait(1.0);

    //blu.attach(&parse_message,Serial::RxIrq);
        //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(Sonar);//Initialize Sonar thread
    
    
    //mu.startUpdates();
    /* //Code to read and play a file
    FILE *wave_file;
    //printf("Hello World");
    Thread::wait(1000);
    wave_file=fopen("/sd/test.wav","r");
    //serial_mutex.lock();
    if(wave_file==NULL) printf("file open error!\n\n\r");
    //serial_mutex.unlock();
    waver.play(wave_file);
    fclose(wave_file);
    */
    
    //Loop to validate the main loop is executing
    while(1)
    {
        //mu.checkDistance();
        //MyLED = !MyLED;
        //Thread::wait(100);
    }
}