ST_DuckieTeam / Mbed 2 deprecated DISCO-F746NG_Lidar

Lidar

Dependencies:   TS_DISCO_F746NG mbed BufferedSerial LCD_DISCO_F746NG mbed-rtos Trigo BSP_DISCO_F746NG

Main.cpp@5:734551a9f4e7, 2016-11-25 (annotated)

Committer:
Carminio
Date:
Fri Nov 25 10:04:16 2016 +0000
Revision:
5:734551a9f4e7
Parent:
4:0df95765b1b0
Child:
6:b6efac82e5f9
Ver. 1.0 Finale OK

Who changed what in which revision?

UserRevisionLine numberNew 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 5:734551a9f4e7 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 5:734551a9f4e7 19 LCD_DISCO_F746NG lcd_Thread;
Carminio 1:1ff3fe3679c1 20
Carminio 1:1ff3fe3679c1 21 //Dichiarazione variabili
Carminio 5:734551a9f4e7 22 TS_StateTypeDef TS_State;
Carminio 5:734551a9f4e7 23
Carminio 1:1ff3fe3679c1 24 uint16_t x, y;
Carminio 1:1ff3fe3679c1 25 uint8_t idx;
Carminio 2:8f71c97fe9d7 26 uint8_t start=1;
Carminio 0:88706d6abbf7 27
Carminio 5:734551a9f4e7 28 void StopLidar_thread(void const *args) {
Carminio 5:734551a9f4e7 29 TS_DISCO_F746NG ts_Thread;
Carminio 5:734551a9f4e7 30 wait(1);
Carminio 4:0df95765b1b0 31 while(true) {
Carminio 5:734551a9f4e7 32 ts_Thread.GetState(&TS_State);
Carminio 5:734551a9f4e7 33 if (TS_State.touchDetected) {
Carminio 4:0df95765b1b0 34 SendCommands.Stop();
Carminio 4:0df95765b1b0 35 wait_ms(10);
Carminio 4:0df95765b1b0 36 lid_Motor.StopMotor_Scan();
Carminio 4:0df95765b1b0 37 wait_ms(10);
Carminio 4:0df95765b1b0 38 SendCommands.Reset();
Carminio 5:734551a9f4e7 39 wait_ms(10);
Carminio 5:734551a9f4e7 40 lcd_Thread.DisplayOff();
Carminio 4:0df95765b1b0 41 }
Carminio 4:0df95765b1b0 42 }
Carminio 3:43ab856b5efa 43 }
Carminio 3:43ab856b5efa 44
Carminio 3:43ab856b5efa 45
Carminio 0:88706d6abbf7 46 int main() {
Carminio 4:0df95765b1b0 47 // Threads start here
Carminio 5:734551a9f4e7 48 Thread StopLidar__th(StopLidar_thread);
Carminio 4:0df95765b1b0 49
Carminio 0:88706d6abbf7 50 // Initialize Display
Carminio 0:88706d6abbf7 51 lcd.Clear(LCD_COLOR_BLACK);
Carminio 0:88706d6abbf7 52 lcd.SetBackColor(LCD_COLOR_BLACK);
Carminio 0:88706d6abbf7 53 lcd.SetTextColor(LCD_COLOR_GREEN);
Carminio 0:88706d6abbf7 54 wait(0.3);
Carminio 0:88706d6abbf7 55 lcd.SetFont(&Font24);
Carminio 0:88706d6abbf7 56 lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"SLAMTEC LIDAR A2", CENTER_MODE);
Carminio 2:8f71c97fe9d7 57 lcd.SetFont(&Font8);
Carminio 2:8f71c97fe9d7 58 lcd.DisplayStringAt(0, LINE(1), (uint8_t *)"STMicroelectronics", RIGHT_MODE);
Carminio 2:8f71c97fe9d7 59 lcd.DisplayStringAt(0, LINE(2), (uint8_t *)"D. Ruggiero 2016", RIGHT_MODE);
Carminio 2:8f71c97fe9d7 60
Carminio 1:1ff3fe3679c1 61 // Configure buttons and TFT display
Carminio 5:734551a9f4e7 62 // TS_StateTypeDef TS_State;
Carminio 1:1ff3fe3679c1 63 lcd.SetTextColor(LCD_COLOR_GREEN);
Carminio 2:8f71c97fe9d7 64 lcd.FillRect(136, 200, 200, 50); ///Disegna bottone Verde
Carminio 2:8f71c97fe9d7 65
Carminio 2:8f71c97fe9d7 66 lcd.SetFont(&Font24);
Carminio 1:1ff3fe3679c1 67 lcd.SetBackColor(LCD_COLOR_GREEN);
Carminio 1:1ff3fe3679c1 68 lcd.SetTextColor(LCD_COLOR_BLACK);
Carminio 2:8f71c97fe9d7 69 lcd.DisplayStringAt(202, LINE(9), (uint8_t *)"SCAN", LEFT_MODE);
Carminio 2:8f71c97fe9d7 70
Carminio 2:8f71c97fe9d7 71 while(start) {
Carminio 1:1ff3fe3679c1 72
Carminio 1:1ff3fe3679c1 73 // Initialize TFT display
Carminio 1:1ff3fe3679c1 74 ts.GetState(&TS_State);
Carminio 1:1ff3fe3679c1 75 if (TS_State.touchDetected) {
Carminio 1:1ff3fe3679c1 76 for (idx = 0; idx < TS_State.touchDetected; idx++) {
Carminio 1:1ff3fe3679c1 77 x = TS_State.touchX[idx];
Carminio 1:1ff3fe3679c1 78 y = TS_State.touchY[idx];
Carminio 1:1ff3fe3679c1 79 }
Carminio 2:8f71c97fe9d7 80
Carminio 2:8f71c97fe9d7 81 if((x>=136) && (x<=336) && (y>=200) && (y<=250)) {
Carminio 2:8f71c97fe9d7 82 lcd.Clear(LCD_COLOR_BLACK);
Carminio 0:88706d6abbf7 83
Carminio 0:88706d6abbf7 84 // Initialize UART
Carminio 0:88706d6abbf7 85 SendCommands.confUART();
Carminio 0:88706d6abbf7 86
Carminio 0:88706d6abbf7 87 // Perform a device reset
Carminio 0:88706d6abbf7 88 // SendCommands.Reset();
Carminio 0:88706d6abbf7 89
Carminio 0:88706d6abbf7 90 // Send Get_Health command
Carminio 0:88706d6abbf7 91 // SendCommands.Get_Health();
Carminio 0:88706d6abbf7 92
Carminio 0:88706d6abbf7 93 // Send Get_Info command
Carminio 0:88706d6abbf7 94 // SendCommands.Get_Info();
Carminio 0:88706d6abbf7 95
Carminio 0:88706d6abbf7 96 // Start motor (PWM: Frequency 25KHz, Duty cycle 60%)
Carminio 0:88706d6abbf7 97 lid_Motor.StartMotor_Scan();
Carminio 3:43ab856b5efa 98
Carminio 0:88706d6abbf7 99 // Start scan
Carminio 0:88706d6abbf7 100 SendCommands.Scan();
Carminio 2:8f71c97fe9d7 101 start=0;
Carminio 2:8f71c97fe9d7 102 }
Carminio 1:1ff3fe3679c1 103 }
Carminio 0:88706d6abbf7 104 }
Carminio 4:0df95765b1b0 105
Carminio 0:88706d6abbf7 106 }
Carminio 3:43ab856b5efa 107
Carminio 3:43ab856b5efa 108