andres castaño / Mbed 2 deprecated escaner_RTOS

escaner RF - RTOS multitareas

Dependencies:   mbed Servo MFRC522_Updated HC-SR04 ssd1306_library

main.cpp@3:e7eaa479e804, 2020-06-10 (annotated)

Committer:
20172573073
Date:
Wed Jun 10 16:24:24 2020 +0000
Revision:
3:e7eaa479e804
Parent:
2:ad8f0cdf7015 
ex

Who changed what in which revision?

UserRevisionLine numberNew contents of line
20172573073 0:366b3e64c83c 1 #include "mbed.h"
20172573073 0:366b3e64c83c 2 #include "rtos.h"
20172573073 0:366b3e64c83c 3 #include "Servo.h"
20172573073 0:366b3e64c83c 4 #include "HCSR04.h"
20172573073 0:366b3e64c83c 5 #include "MFRC522.h"
20172573073 0:366b3e64c83c 6 #include "ssd1306.h"
20172573073 1:849d12c9b2be 7
20172573073 1:849d12c9b2be 8 MFRC522 RfChip (D11, D12, D13, PTE0, D10);
20172573073 0:366b3e64c83c 9 SSD1306 lcd (D7,D6);
20172573073 0:366b3e64c83c 10 BusOut display7Seg(PTC10, PTC7, PTC6, PTC4, PTC0, PTB19, PTB18);
20172573073 0:366b3e64c83c 11 DigitalOut display1(PTC11);
20172573073 0:366b3e64c83c 12 DigitalOut display2(PTC13);
20172573073 1:849d12c9b2be 13 DigitalOut display3(PTC16);
20172573073 0:366b3e64c83c 14 Servo myservo(D2);
20172573073 1:849d12c9b2be 15
20172573073 0:366b3e64c83c 16 Thread t;
20172573073 0:366b3e64c83c 17 Thread t1;
20172573073 0:366b3e64c83c 18 Thread t2;
20172573073 0:366b3e64c83c 19 Thread t3;
20172573073 1:849d12c9b2be 20 Thread t4;
20172573073 1:849d12c9b2be 21
20172573073 0:366b3e64c83c 22 Serial pc(USBTX, USBRX);
20172573073 0:366b3e64c83c 23 HCSR04 sonar(D3,D4);
20172573073 2:ad8f0cdf7015 24
20172573073 0:366b3e64c83c 25 float menor;
20172573073 0:366b3e64c83c 26 float da;
20172573073 0:366b3e64c83c 27 float dis = 0.0;
20172573073 2:ad8f0cdf7015 28 static const char tar[]={0xD7,0x4F,0x88,0x19};
20172573073 2:ad8f0cdf7015 29 static const char llav[]={0x27,0x57,0xC1,0x7B};
20172573073 2:ad8f0cdf7015 30 int q,a,al,b,w;
20172573073 0:366b3e64c83c 31
20172573073 0:366b3e64c83c 32
20172573073 0:366b3e64c83c 33 int anodeComun[10] = {
20172573073 0:366b3e64c83c 34 0b0000001, // 0
20172573073 0:366b3e64c83c 35 0b1001111, // 1
20172573073 0:366b3e64c83c 36 0b0010010, // 2
20172573073 0:366b3e64c83c 37 0b0000110, // 3
20172573073 0:366b3e64c83c 38 0b1001100, // 4
20172573073 0:366b3e64c83c 39 0b0100100, // 5
20172573073 0:366b3e64c83c 40 0b0100000, // 6
20172573073 0:366b3e64c83c 41 0b0001111, // 7
20172573073 0:366b3e64c83c 42 0b0000000, // 8
20172573073 0:366b3e64c83c 43 0b0001100, // 9
20172573073 0:366b3e64c83c 44 };
20172573073 0:366b3e64c83c 45
20172573073 0:366b3e64c83c 46 void servo()
20172573073 0:366b3e64c83c 47 {
20172573073 1:849d12c9b2be 48
20172573073 0:366b3e64c83c 49 while(true) {
20172573073 0:366b3e64c83c 50 menor = sonar.getCm();
20172573073 0:366b3e64c83c 51 for(int i=0; i<40; i++) {
20172573073 0:366b3e64c83c 52 myservo = i/40.0;
20172573073 0:366b3e64c83c 53 da = sonar.getCm();
20172573073 2:ad8f0cdf7015 54 w=i;
20172573073 0:366b3e64c83c 55 if(menor > da) {
20172573073 0:366b3e64c83c 56 menor = da;
20172573073 0:366b3e64c83c 57 a=(i*180)/40;
20172573073 0:366b3e64c83c 58 }
20172573073 3:e7eaa479e804 59 Thread::wait(50);
20172573073 0:366b3e64c83c 60 }
20172573073 0:366b3e64c83c 61 menor=sonar.getCm();
20172573073 0:366b3e64c83c 62 a=0;
20172573073 0:366b3e64c83c 63 for(int i=40; i>0; i--) {
20172573073 0:366b3e64c83c 64 myservo = i/40.0;
20172573073 0:366b3e64c83c 65 da = sonar.getCm();
20172573073 2:ad8f0cdf7015 66 w=i;
20172573073 0:366b3e64c83c 67 if(menor > da) {
20172573073 0:366b3e64c83c 68 menor = da;
20172573073 0:366b3e64c83c 69 a=(i*180)/40;
20172573073 0:366b3e64c83c 70 }
20172573073 3:e7eaa479e804 71 Thread::wait(50);
20172573073 0:366b3e64c83c 72 }
20172573073 0:366b3e64c83c 73 }
20172573073 0:366b3e64c83c 74 }
20172573073 0:366b3e64c83c 75 void seg7()
20172573073 0:366b3e64c83c 76 {
20172573073 0:366b3e64c83c 77 while(1) {
20172573073 1:849d12c9b2be 78 int d,u,n,c;
20172573073 0:366b3e64c83c 79 n=int(menor);
20172573073 2:ad8f0cdf7015 80
20172573073 1:849d12c9b2be 81 c= n/100;
20172573073 1:849d12c9b2be 82 d = (n - (c*100))/10;
20172573073 0:366b3e64c83c 83 u = n % 10;
20172573073 0:366b3e64c83c 84
20172573073 0:366b3e64c83c 85 display1=1;
20172573073 0:366b3e64c83c 86 display2=0;
20172573073 1:849d12c9b2be 87 display3=0;
20172573073 0:366b3e64c83c 88 display7Seg=anodeComun[d];
20172573073 3:e7eaa479e804 89
20172573073 3:e7eaa479e804 90 Thread::wait(3);
20172573073 1:849d12c9b2be 91
20172573073 0:366b3e64c83c 92 display1=0;
20172573073 0:366b3e64c83c 93 display2=1;
20172573073 1:849d12c9b2be 94 display3=0;
20172573073 0:366b3e64c83c 95 display7Seg=anodeComun[u];
20172573073 1:849d12c9b2be 96
20172573073 3:e7eaa479e804 97 Thread::wait(3);
20172573073 2:ad8f0cdf7015 98
20172573073 2:ad8f0cdf7015 99 display1=0;
20172573073 1:849d12c9b2be 100 display2=0;
20172573073 1:849d12c9b2be 101 display3=1;
20172573073 1:849d12c9b2be 102 display7Seg=anodeComun[c];
20172573073 1:849d12c9b2be 103
20172573073 3:e7eaa479e804 104 Thread::wait(3);
20172573073 2:ad8f0cdf7015 105
20172573073 2:ad8f0cdf7015 106
20172573073 0:366b3e64c83c 107 }
20172573073 0:366b3e64c83c 108 }
20172573073 0:366b3e64c83c 109 void oled()
20172573073 0:366b3e64c83c 110 {
20172573073 0:366b3e64c83c 111 while(1) {
20172573073 0:366b3e64c83c 112 lcd.init();
20172573073 0:366b3e64c83c 113 lcd.speed (SSD1306::Fast);
20172573073 0:366b3e64c83c 114 lcd.cls();
20172573073 1:849d12c9b2be 115 lcd.locate (4,1);
20172573073 1:849d12c9b2be 116 lcd.printf ("dis menor :%2.f ",menor);
20172573073 0:366b3e64c83c 117 lcd.locate (5,1);
20172573073 1:849d12c9b2be 118 lcd.printf ("angulo :%d ",a);
20172573073 0:366b3e64c83c 119 lcd.locate (1,0);
20172573073 0:366b3e64c83c 120 time_t seconds = time(NULL);
20172573073 1:849d12c9b2be 121 lcd.printf("Fecha= %s", ctime(&seconds));
20172573073 0:366b3e64c83c 122 lcd.redraw();
20172573073 3:e7eaa479e804 123
20172573073 3:e7eaa479e804 124 Thread::wait(500);
20172573073 0:366b3e64c83c 125 }
20172573073 0:366b3e64c83c 126 }
20172573073 1:849d12c9b2be 127 void rf()
20172573073 0:366b3e64c83c 128 {
20172573073 0:366b3e64c83c 129 while(1) {
20172573073 2:ad8f0cdf7015 130 al=0;
20172573073 2:ad8f0cdf7015 131 b=0;
20172573073 1:849d12c9b2be 132 lcd.init();
20172573073 1:849d12c9b2be 133 lcd.speed (SSD1306::Fast);
20172573073 1:849d12c9b2be 134 if ( ! RfChip.PICC_IsNewCardPresent()) {
20172573073 3:e7eaa479e804 135
20172573073 3:e7eaa479e804 136 Thread::wait(500);
20172573073 1:849d12c9b2be 137 continue;
20172573073 1:849d12c9b2be 138 }
20172573073 1:849d12c9b2be 139 if ( ! RfChip.PICC_ReadCardSerial()) {
20172573073 3:e7eaa479e804 140
20172573073 3:e7eaa479e804 141 Thread::wait(500);
20172573073 1:849d12c9b2be 142 continue;
20172573073 1:849d12c9b2be 143 }
20172573073 1:849d12c9b2be 144 uint8_t piccType = RfChip.PICC_GetType(RfChip.uid.sak);
20172573073 1:849d12c9b2be 145 lcd.locate (6,3);
20172573073 1:849d12c9b2be 146 lcd.printf(" %s ", RfChip.PICC_GetTypeName(piccType));
20172573073 1:849d12c9b2be 147 lcd.redraw();
20172573073 2:ad8f0cdf7015 148 for (uint8_t i = 0; i < RfChip.uid.size; i++) {
20172573073 2:ad8f0cdf7015 149
20172573073 2:ad8f0cdf7015 150 if(uint8_t (tar[i])==RfChip.uid.uidByte[i]){
20172573073 2:ad8f0cdf7015 151 al=al+1;
20172573073 2:ad8f0cdf7015 152 }else{
20172573073 2:ad8f0cdf7015 153 al=0;
20172573073 2:ad8f0cdf7015 154 }
20172573073 2:ad8f0cdf7015 155 }
20172573073 2:ad8f0cdf7015 156 for (uint8_t i = 0; i < RfChip.uid.size; i++) {
20172573073 2:ad8f0cdf7015 157
20172573073 2:ad8f0cdf7015 158 if(uint8_t (llav[i])==RfChip.uid.uidByte[i]){
20172573073 2:ad8f0cdf7015 159 b=b+1;
20172573073 2:ad8f0cdf7015 160 }else{
20172573073 2:ad8f0cdf7015 161 b=0;
20172573073 2:ad8f0cdf7015 162 }
20172573073 2:ad8f0cdf7015 163 }
20172573073 2:ad8f0cdf7015 164
20172573073 0:366b3e64c83c 165 //ThisThread::sleep_for(1000);
20172573073 3:e7eaa479e804 166 Thread::wait(1000);
20172573073 0:366b3e64c83c 167 }
20172573073 0:366b3e64c83c 168 }
20172573073 2:ad8f0cdf7015 169 void serial()
20172573073 2:ad8f0cdf7015 170 {
20172573073 2:ad8f0cdf7015 171 while(1) {
20172573073 1:849d12c9b2be 172
20172573073 2:ad8f0cdf7015 173 time_t seconds = time(NULL);
20172573073 1:849d12c9b2be 174
20172573073 2:ad8f0cdf7015 175 char buffer2[32];
20172573073 2:ad8f0cdf7015 176 strftime(buffer2, 32, "%m/%d/%y", localtime(&seconds));
20172573073 2:ad8f0cdf7015 177 pc.printf("%s", buffer2);
20172573073 2:ad8f0cdf7015 178
20172573073 2:ad8f0cdf7015 179 char buffer1[32];
20172573073 2:ad8f0cdf7015 180 strftime(buffer1, 32, "%H:%M:%S", localtime(&seconds));
20172573073 2:ad8f0cdf7015 181 pc.printf(" , %s", buffer1);
20172573073 2:ad8f0cdf7015 182 pc.printf(" , %1.f , %.2f , ",float(w*4.5),da);
20172573073 2:ad8f0cdf7015 183 if(al==4){
20172573073 2:ad8f0cdf7015 184 pc.printf("tarjeta");
20172573073 2:ad8f0cdf7015 185 }else if(b==4){
20172573073 2:ad8f0cdf7015 186 pc.printf("llavero");
20172573073 2:ad8f0cdf7015 187 }else{
20172573073 2:ad8f0cdf7015 188 pc.printf("sin lectura");
20172573073 2:ad8f0cdf7015 189 }
20172573073 2:ad8f0cdf7015 190 pc.printf("\n\r");
20172573073 3:e7eaa479e804 191 Thread::wait(40);
20172573073 2:ad8f0cdf7015 192
20172573073 2:ad8f0cdf7015 193 }
20172573073 2:ad8f0cdf7015 194 }
20172573073 0:366b3e64c83c 195 int main()
20172573073 0:366b3e64c83c 196 {
20172573073 3:e7eaa479e804 197 myservo.calibrate(0.0015,180);
20172573073 1:849d12c9b2be 198 set_time(1591673863);
20172573073 1:849d12c9b2be 199 RfChip.PCD_Init();
20172573073 0:366b3e64c83c 200 t.start((servo));
20172573073 1:849d12c9b2be 201 t.set_priority (osPriorityNormal3);
20172573073 0:366b3e64c83c 202 t1.start(seg7);
20172573073 2:ad8f0cdf7015 203 t1.set_priority (osPriorityNormal);
20172573073 0:366b3e64c83c 204 t2.start(oled);
20172573073 1:849d12c9b2be 205 t2.set_priority (osPriorityNormal1);
20172573073 2:ad8f0cdf7015 206 t3.start(serial);
20172573073 2:ad8f0cdf7015 207 t2.set_priority (osPriorityNormal2);
20172573073 1:849d12c9b2be 208 t4.start(rf);
20172573073 1:849d12c9b2be 209 t.join();
20172573073 0:366b3e64c83c 210 }