Diff: main.cpp

Revision:

7:8248af58df5a

Parent:

6:2cc2aac35868

Child:

8:262c6c40bff9

--- a/main.cpp	Tue Nov 12 12:56:02 2019 +0000
+++ b/main.cpp	Tue Nov 19 12:55:44 2019 +0000
@@ -9,40 +9,59 @@
 #include "Buzzer.h"
 #include "LED.h"
 
+DigitalIn user_button(USER_BUTTON);
+float power_levels[3]; //Array to voltage levels
+
 Serial pc(SERIAL_TX, SERIAL_RX, 9600);    // set-up serial to pc
 
+Ticker power_monitor;
+
 //TOF chip shutdown signals
-DigitalOut TOF1(PC_8); 
-DigitalOut TOF4(PC_11); 
-DigitalOut TOF6(PC_12); 
-DigitalOut TOF7(PD_2);  
+DigitalOut TOF1(PC_8);
+DigitalOut TOF4(PC_11);
+DigitalOut TOF6(PC_12);
+DigitalOut TOF7(PD_2);
 
-//Class define
+//Class defines
 cAdafruit_VL6180X VL6180X(TOF1,TOF4,TOF6,TOF7);  //Define TOF sensor class and initialise devices
 cPower cPower(VBATT, V5, V3);
 
+/*--------------------------------------------------------------------------------
+Function name: power_check
+Input Parameters: N/A
+Output Parameters: N/A
+Description: Routine interrupt to monitor battery levels
+----------------------------------------------------------------------------------*/
+void power_check()
+{
+    power_levels[0] = cPower.monitor_battery(); //Monitors raw battery
+    power_levels[1] = cPower.monitor_5v_line(); //Monitors 5V line
+    power_levels[2] = cPower.monitor_3v3_line();//Monitors 3V3 Line
+
+    update_power_levels(power_levels[0]); //Sends the raw battery levels to the LED class 
+}
+
+
+/*--------------------------------------------------------------------------------
+                                    MAIN CONTROL LOOP
+----------------------------------------------------------------------------------*/
 int main()
 {
+    power_monitor.attach(power_check, 30.0); //Monitor battery every 30 seconds
     uint8_t TOFRange[4]; //Array to store TOF measurements 0-sensor1, 1-sensor4, 2-sensor6, 3-sensor7
-    float power_levels[3]; //Array to voltage levels
     
-    while(1){
-        
+    //Wait for user button to be pressed
+    pc.printf("Press user button to start\n\r");
+    while(user_button != 1) {}
+    
+    while(1) {
+
         //Perform TOF measurements
         TOFRange[0] = serviceTOF(VL6180X, ADDR1);
         TOFRange[1] = serviceTOF(VL6180X, ADDR4);
         TOFRange[2] = serviceTOF(VL6180X, ADDR6);
         TOFRange[3] = serviceTOF(VL6180X, ADDR7);
-        
-        Check_for_obstacles(TOFRange);
-         
-        //Send range to pc by serial
-        //pc.printf("TOF1:%d TOF3: %d TOF5: %d TOF7: %d\r\n", TOFRange[0], TOFRange[1], TOFRange[2],TOFRange[3]);
-        
-        power_levels[0] = cPower.monitor_battery();
-        power_levels[1] = cPower.monitor_5v_line();
-        power_levels[2] = cPower.monitor_3v3_line();
-        printf("BATT:%4.2f, 5V:%4.2f, 3v3:%4.2f\n\r", power_levels[0], power_levels[1], power_levels[2]);
 
+        Check_for_obstacles(TOFRange); //Run obstacle avoidance
     }
 }
\ No newline at end of file