Lidar
Dependencies: TS_DISCO_F746NG mbed BufferedSerial LCD_DISCO_F746NG mbed-rtos Trigo BSP_DISCO_F746NG
Main.cpp@4:0df95765b1b0, 2016-11-24 (annotated)
- Committer:
- Carminio
- Date:
- Thu Nov 24 11:50:42 2016 +0000
- Revision:
- 4:0df95765b1b0
- Parent:
- 3:43ab856b5efa
- Child:
- 5:734551a9f4e7
Ver. con thread che gestisce lo stop del lidar
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Carminio | 0:88706d6abbf7 | 1 | #include "mbed.h" |
Carminio | 4:0df95765b1b0 | 2 | #include "rtos.h" |
Carminio | 0:88706d6abbf7 | 3 | #include "Serial.h" |
Carminio | 0:88706d6abbf7 | 4 | #include "BufferedSerial.h" |
Carminio | 0:88706d6abbf7 | 5 | #include "Communication.h" |
Carminio | 0:88706d6abbf7 | 6 | #include "Motor.h" |
Carminio | 0:88706d6abbf7 | 7 | #include <stdlib.h> |
Carminio | 0:88706d6abbf7 | 8 | #include <stdio.h> |
Carminio | 0:88706d6abbf7 | 9 | #include "LCD_DISCO_F746NG.h" |
Carminio | 1:1ff3fe3679c1 | 10 | #include "TS_DISCO_F746NG.h" |
Carminio | 0:88706d6abbf7 | 11 | |
Carminio | 3:43ab856b5efa | 12 | |
Carminio | 0:88706d6abbf7 | 13 | //Dichiarazione oggetti |
Carminio | 4:0df95765b1b0 | 14 | DigitalIn myStopButton(USER_BUTTON); |
Carminio | 0:88706d6abbf7 | 15 | Motor lid_Motor(PWM_OUT); |
Carminio | 0:88706d6abbf7 | 16 | Communication SendCommands; |
Carminio | 1:1ff3fe3679c1 | 17 | LCD_DISCO_F746NG lcd; |
Carminio | 1:1ff3fe3679c1 | 18 | TS_DISCO_F746NG ts; |
Carminio | 1:1ff3fe3679c1 | 19 | |
Carminio | 1:1ff3fe3679c1 | 20 | //Dichiarazione variabili |
Carminio | 1:1ff3fe3679c1 | 21 | uint16_t x, y; |
Carminio | 1:1ff3fe3679c1 | 22 | uint8_t idx; |
Carminio | 2:8f71c97fe9d7 | 23 | uint8_t start=1; |
Carminio | 0:88706d6abbf7 | 24 | |
Carminio | 4:0df95765b1b0 | 25 | void button_thread(void const *args) { |
Carminio | 4:0df95765b1b0 | 26 | while(true) { |
Carminio | 4:0df95765b1b0 | 27 | if (myStopButton == 1) { |
Carminio | 4:0df95765b1b0 | 28 | SendCommands.Stop(); |
Carminio | 4:0df95765b1b0 | 29 | wait_ms(10); |
Carminio | 4:0df95765b1b0 | 30 | lid_Motor.StopMotor_Scan(); |
Carminio | 4:0df95765b1b0 | 31 | wait_ms(10); |
Carminio | 4:0df95765b1b0 | 32 | SendCommands.Reset(); |
Carminio | 4:0df95765b1b0 | 33 | } |
Carminio | 4:0df95765b1b0 | 34 | } |
Carminio | 3:43ab856b5efa | 35 | } |
Carminio | 3:43ab856b5efa | 36 | |
Carminio | 3:43ab856b5efa | 37 | |
Carminio | 0:88706d6abbf7 | 38 | int main() { |
Carminio | 4:0df95765b1b0 | 39 | // Threads start here |
Carminio | 4:0df95765b1b0 | 40 | Thread button_th(button_thread); |
Carminio | 4:0df95765b1b0 | 41 | |
Carminio | 0:88706d6abbf7 | 42 | // Initialize Display |
Carminio | 0:88706d6abbf7 | 43 | lcd.Clear(LCD_COLOR_BLACK); |
Carminio | 0:88706d6abbf7 | 44 | lcd.SetBackColor(LCD_COLOR_BLACK); |
Carminio | 0:88706d6abbf7 | 45 | lcd.SetTextColor(LCD_COLOR_GREEN); |
Carminio | 0:88706d6abbf7 | 46 | wait(0.3); |
Carminio | 0:88706d6abbf7 | 47 | lcd.SetFont(&Font24); |
Carminio | 0:88706d6abbf7 | 48 | lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"SLAMTEC LIDAR A2", CENTER_MODE); |
Carminio | 2:8f71c97fe9d7 | 49 | lcd.SetFont(&Font8); |
Carminio | 2:8f71c97fe9d7 | 50 | lcd.DisplayStringAt(0, LINE(1), (uint8_t *)"STMicroelectronics", RIGHT_MODE); |
Carminio | 2:8f71c97fe9d7 | 51 | lcd.DisplayStringAt(0, LINE(2), (uint8_t *)"D. Ruggiero 2016", RIGHT_MODE); |
Carminio | 2:8f71c97fe9d7 | 52 | |
Carminio | 1:1ff3fe3679c1 | 53 | // Configure buttons and TFT display |
Carminio | 1:1ff3fe3679c1 | 54 | TS_StateTypeDef TS_State; |
Carminio | 1:1ff3fe3679c1 | 55 | lcd.SetTextColor(LCD_COLOR_GREEN); |
Carminio | 2:8f71c97fe9d7 | 56 | lcd.FillRect(136, 200, 200, 50); ///Disegna bottone Verde |
Carminio | 2:8f71c97fe9d7 | 57 | |
Carminio | 2:8f71c97fe9d7 | 58 | lcd.SetFont(&Font24); |
Carminio | 1:1ff3fe3679c1 | 59 | lcd.SetBackColor(LCD_COLOR_GREEN); |
Carminio | 1:1ff3fe3679c1 | 60 | lcd.SetTextColor(LCD_COLOR_BLACK); |
Carminio | 2:8f71c97fe9d7 | 61 | lcd.DisplayStringAt(202, LINE(9), (uint8_t *)"SCAN", LEFT_MODE); |
Carminio | 2:8f71c97fe9d7 | 62 | |
Carminio | 2:8f71c97fe9d7 | 63 | while(start) { |
Carminio | 1:1ff3fe3679c1 | 64 | |
Carminio | 1:1ff3fe3679c1 | 65 | // Initialize TFT display |
Carminio | 1:1ff3fe3679c1 | 66 | ts.GetState(&TS_State); |
Carminio | 1:1ff3fe3679c1 | 67 | if (TS_State.touchDetected) { |
Carminio | 1:1ff3fe3679c1 | 68 | for (idx = 0; idx < TS_State.touchDetected; idx++) { |
Carminio | 1:1ff3fe3679c1 | 69 | x = TS_State.touchX[idx]; |
Carminio | 1:1ff3fe3679c1 | 70 | y = TS_State.touchY[idx]; |
Carminio | 1:1ff3fe3679c1 | 71 | } |
Carminio | 2:8f71c97fe9d7 | 72 | |
Carminio | 2:8f71c97fe9d7 | 73 | if((x>=136) && (x<=336) && (y>=200) && (y<=250)) { |
Carminio | 2:8f71c97fe9d7 | 74 | lcd.Clear(LCD_COLOR_BLACK); |
Carminio | 0:88706d6abbf7 | 75 | |
Carminio | 0:88706d6abbf7 | 76 | // Initialize UART |
Carminio | 0:88706d6abbf7 | 77 | SendCommands.confUART(); |
Carminio | 0:88706d6abbf7 | 78 | |
Carminio | 0:88706d6abbf7 | 79 | // Perform a device reset |
Carminio | 0:88706d6abbf7 | 80 | // SendCommands.Reset(); |
Carminio | 0:88706d6abbf7 | 81 | |
Carminio | 0:88706d6abbf7 | 82 | // Send Get_Health command |
Carminio | 0:88706d6abbf7 | 83 | // SendCommands.Get_Health(); |
Carminio | 0:88706d6abbf7 | 84 | |
Carminio | 0:88706d6abbf7 | 85 | // Send Get_Info command |
Carminio | 0:88706d6abbf7 | 86 | // SendCommands.Get_Info(); |
Carminio | 0:88706d6abbf7 | 87 | |
Carminio | 0:88706d6abbf7 | 88 | // Start motor (PWM: Frequency 25KHz, Duty cycle 60%) |
Carminio | 0:88706d6abbf7 | 89 | lid_Motor.StartMotor_Scan(); |
Carminio | 3:43ab856b5efa | 90 | |
Carminio | 0:88706d6abbf7 | 91 | // Start scan |
Carminio | 0:88706d6abbf7 | 92 | SendCommands.Scan(); |
Carminio | 2:8f71c97fe9d7 | 93 | start=0; |
Carminio | 2:8f71c97fe9d7 | 94 | } |
Carminio | 1:1ff3fe3679c1 | 95 | } |
Carminio | 0:88706d6abbf7 | 96 | } |
Carminio | 4:0df95765b1b0 | 97 | |
Carminio | 0:88706d6abbf7 | 98 | } |
Carminio | 3:43ab856b5efa | 99 | |
Carminio | 3:43ab856b5efa | 100 |