Shang-Shian Liu
To Record the time of the car
Diff: main.cpp
- Revision:
- 2:c9889e740474
- Parent:
- 1:db7799912cac
- Child:
- 3:70ce5fd299bb
--- a/main.cpp Fri Aug 07 17:10:27 2020 +0000
+++ b/main.cpp Tue Aug 11 17:46:58 2020 +0000
@@ -2,13 +2,16 @@
#include "mbed.h"
#include "TextLCD.h"
//Define-USER SET
- #define DEBUG 1 //for debug , if formal just
- #define NO_DELAY 1 //if define RESULT == 1, ignore delay time of RF
- #define ACCEPT_LOCK 0 //if define ACCEPT LOCK == 1,need receive ACCEPT before next tx
+ #define DEBUG 2 // 0: formal , 1: all information, 2: only delay time
+ #define NO_DELAY 0 //if define RESULT == 1, ignore delay time of RF , if DEBUG == 2, this must be 0
#define RX_MODE 1 //1 for scanf ; 2 for getc
#define BUTTON_DEBOUNCE 0.3f
#define LCD_SHOW_PERIOD 3.0f //show last cycle for 2 sec
+ #define SENSOR_IN_DEBOUNCE 0.2f
//Define-Don't Change
+ #if(DEBUG == 2 && NO_DELAY == 1)
+ #define NO_DELAY 0
+ #endif
#define m_1 1000000.0f
#define TX_SIZE 16
#define RX_SIZE 16
@@ -47,13 +50,13 @@
I2C i2c_lcd(PB_9,PB_8); // SDA,SCL
TextLCD_I2C lcd(&i2c_lcd, 0x40, TextLCD::LCD16x2); //0x40 for all short(blue lcd) , 0x4E for A1 to A3 open(green lcd) - I2C Address
//Sensor
-#if(DEBUG)
+//#if(DEBUG)
DigitalOut sensor_com(PA_8,1); // D7
InterruptIn SENSOR_IT(PB_4,PullDown); // D5
-#else
- DigitalOut sensor_com(PB_2,1);
- InterruptIn SENSOR_IT(PB_1,PullDown);
-#endif
+//#else
+// DigitalOut sensor_com(PB_2,1);
+// InterruptIn SENSOR_IT(PB_1,PullDown);
+//#endif
//BT
Serial bt (PA_0,PA_1,115200); // Serial_4 tx,rx
DigitalOut key(PC_1,0); // not AT Mode
@@ -76,6 +79,7 @@
/**/ volatile int process = 0; //process 0:for ready ; 1:sensor in/confirm master or slave ; 2:calculation : 3:bt show 4 lcd show
// time record
/**/ Timer this_cycle_timer; //keep running timer
+ float sensor_in_debounce = 0.0;
/**/ float total_time = 0.0;
/**/ float last_cycle_time = 0.0; //for LC print
/**/ float best_cycle_time = 0.0;
@@ -91,9 +95,6 @@
bool rf_state = 0; //0 for disconnect
bool last_rf_state = 1;
bool Rx_flag = 0; //1 when receive a cmd over
-#if (ACCEPT_LOCK == 1)
- bool rf_accept_lock = 0;
-#endif
/**/ int role = 0;
/**/ int this_tcmd = 0;
/**/ int last_tcmd = 0;
@@ -151,16 +152,17 @@
{
Initial_All();
while(1) {
- if(!role && mode == 1) {
+ if(role == 0 && mode == 1) {
rf_check_timer.start();
if(rf_check_timer.read() > 1){
rf_interval_cnt++;
rf_check_timer.reset();
}
- if(rf_interval_cnt % 5 && rf_interval_cnt) {
+ if(rf_interval_cnt % 5 == 0 && rf_interval_cnt) {
RF_Send(CHECK);
}
if(rf_interval_cnt > 5) rf_state = 0;
+ if(rf_interval_cnt > 20000) rf_interval_cnt = 0;
}
else rf_check_timer.stop();
time_cal();
@@ -227,14 +229,15 @@
bt_print_flag = 0;
this_cycle_timer.stop();
this_cycle_timer.reset();
+ lcd_end_flag = 0;
+ bt_end_flag = 0;
if( mode != 1 || (mode == 1 && this_rcmd == RESTART) || (mode == 1 && last_tcmd == RESTART) ){
cycle = 1;
best_cycle = 1;
last_cycle_time = 0.0;
best_cycle_time = 0.0;
total_time = 0.0;
- lcd_end_flag = 0;
- bt_end_flag = 0;
+
}
if(mode == 1){
memset(TX_buffer,0,TX_SIZE);
@@ -277,12 +280,18 @@
void lcd_show(){
//process 4 update
lcd.locate(0,0);
- if( (!lcd_print_flag)&& last_cycle_time > 0.0f && (process == 4 && cycle >= 1 || mode == 1 && process == 4 && cycle >= 1)){
+ if( (!lcd_print_flag) && last_cycle_time > 0.0f && process == 4){
//print out last cycle time flag
lcd_print_flag = 1;
lcd_show_result_time = us_ticker_read()/m_1;
}
- else if((!lcd_end_flag) && (cycle > SKIDPAD_CYCLE && mode == 2 || cycle > ENDURANCE_CYCLE && mode == 3)){
+ else if((!lcd_end_flag) && ( (cycle > SKIDPAD_CYCLE && mode == 2 || cycle > ENDURANCE_CYCLE && mode == 3) ||
+ #if(NO_DELAY == 1)
+ (last_tcmd == RESULT || this_rcmd == RESULT && mode == 1) )
+ #else
+ (last_tcmd == DELAY || this_rcmd == DELAY && mode == 1) )
+ #endif
+ ){
//mode end
if(us_ticker_read()/m_1 - lcd_show_result_time > LCD_SHOW_PERIOD){
lcd_end_flag = 1;
@@ -291,9 +300,9 @@
}
//row 1 show
- if(us_ticker_read()/m_1 - lcd_show_result_time < LCD_SHOW_PERIOD && last_cycle_time != 0)
+ if(us_ticker_read()/m_1 - lcd_show_result_time < LCD_SHOW_PERIOD && last_cycle_time != 0 && mode != 1)
lcd.printf("LCT : %.2f sec ",last_cycle_time);
- else if(us_ticker_read()/m_1 - lcd_end_time < LCD_SHOW_PERIOD && last_cycle_time != 0)
+ else if(us_ticker_read()/m_1 - lcd_end_time < LCD_SHOW_PERIOD && last_cycle_time != 0 && mode != 1)
lcd.printf("BC :%d ",best_cycle);
else{
switch(mode){
@@ -313,9 +322,10 @@
}
lcd.locate(0,1);
//row 2 show
- if(cycle == 1 && process == 0) lcd.printf("Ready to Go !"); //first in
- else if(lcd_end_flag) lcd.printf("BCT :%.2f sec",best_cycle_time);
+ if(cycle == 1 && this_cycle_timer.read() == 0) lcd.printf("Ready to Go !"); //first in
+ else if(mode == 1 && lcd_print_flag)lcd.printf ("TC:%.2f sec ",last_cycle_time);
else if(mode == 1) lcd.printf("TC:%.2f sec ",this_cycle_timer.read());
+ else if(lcd_end_flag && mode!=1) lcd.printf("BCT :%.2f sec",best_cycle_time);
else if((cycle > SKIDPAD_CYCLE && mode == 2 || cycle > ENDURANCE_CYCLE && mode == 3)) lcd.printf("Mode %d End! ",mode);
else lcd.printf("%.2f,%.2f ",this_cycle_timer.read(),this_cycle_timer.read()+total_time);
//lcd life check
@@ -333,12 +343,13 @@
if (last_cycle_time == 0.0f) bt.printf("First in\r\n");
else {
bt.printf("Mode:%d,cycle: %d,last cycle time:%.2f sec\r\n",mode,cycle,last_cycle_time);
- if(cycle == SKIDPAD_CYCLE && mode == 2 || cycle == ENDURANCE_CYCLE && mode == 3){
+ if(cycle == SKIDPAD_CYCLE && mode == 2 || cycle == ENDURANCE_CYCLE && mode == 3 ){
bt.printf("Best Cycle:%d\r\n",best_cycle);
bt.printf("Best Cycle Time:%.2f sec\r\n",best_cycle_time);
bt.printf("Mode %d End & Reset\r\n",mode);
bt_end_flag = 1;
- }
+ }
+ else if(mode == 1) bt_end_flag = 1;
}
}
else if(process == 3){
@@ -367,20 +378,20 @@
}
void show_flag_check(){
//cycle update for mode != ACC
- if(lcd_print_flag && bt_print_flag){
+ if(lcd_print_flag && bt_print_flag && mode != 1){
//print ok
process = 0;
lcd_print_flag = 0;
bt_print_flag = 0;
- if(mode != 1) {
- cycle++;
- }
+ cycle++;
+
}
if(lcd_end_flag && bt_end_flag){
//notice reset
- if(mode == 1 && us_ticker_read()/m_1 - lcd_end_time > LCD_SHOW_PERIOD) RF_Send(RESET); //including local reset
+ if(mode == 1 && us_ticker_read()/m_1 - lcd_end_time > LCD_SHOW_PERIOD && lcd_end_flag ) RF_Send(RESET); //including local reset
else if(us_ticker_read()/m_1 - lcd_end_time > LCD_SHOW_PERIOD) reset_parameters();
}
+
}
void time_cal(){
if(process == 1){
@@ -402,201 +413,193 @@
}
//RF communication function , must end with \n ; //cycle update for mode ACC
void RF_Send(int rf_tcmd){
- #if (ACCEPT_LOCK == 1)
- if(!rf_accept_lock || rf_tcmd == ACCEPT){
- #endif
- if(rf_tcmd != ACCEPT) this_tcmd = rf_tcmd;
- switch(rf_tcmd){
+ if(rf_tcmd != ACCEPT) this_tcmd = rf_tcmd;
+ switch(rf_tcmd){
+ case ACCEPT:
+ RF.printf("%d\n",ACCEPT);
+ rf_state = 1;
+ rf_interval_cnt = -4;
+ break;
+ case DENY:
+ RF.printf("%d\n",DENY);
+ break;
+ case CHECK:
+ //以後加上cycle check
+ RF.printf("%d\n",CHECK);
+ break;
+ case MASTER:
+ role = 1;
+ RF.printf("%d\n",MASTER);
+ if(bt_state.read()) bt.printf("Car in \r\n");
+ else pc.printf("Car in \r\n");
+ break;
+ case SLAVE:
+ RF.printf("%d&%.2f\n",SLAVE,this_cycle_timer.read());
+ break;
+ case RESULT:
+ RF.printf("%d&%.2f\n",RESULT,this_cycle_timer.read());
+ break;
+ case DELAY:
+ //delay time abnormal detect
+ if(rf_delay_time < 1.0f) {
+ RF.printf("%d&%.4f\n",DELAY,rf_delay_time);
+ #if (DEBUG == 1 || DEBUG == 2)
+ if(bt_state.read()) bt.printf("Delay time:%.4f\r\n",rf_delay_time);
+ else pc.printf("Delay time:%.4f\r\n",rf_delay_time);
+ #endif
+ }
+ else if(bt_state.read()) bt.printf("rf delay time > 1sec \r\n");
+ else pc.printf("rf delay time > 1 sec\r\n");
+ break;
+ case RESET:
+ cycle++;
+ reset_parameters();
+ if(bt_state.read()) bt.printf("ACC Set \r\n");
+ else pc.printf("ACC Set \r\n");
+ break;
+ case RESTART:
+ RF.printf("%d\n",RESTART);
+ //reset_parameters at button_fall_2
+ break;
+ default:
+ if(bt_state.read()) bt.printf("Unknown Tcmd\r\n");
+ else pc.printf("Unknown Tcmd\r\n");
+ break;
+ }
+ last_tcmd = this_tcmd;
+ }
+
+ void RF_Receive(int rf_rcmd){
+ if(mode == 1){
+ this_rcmd = rf_rcmd;
+ #if(DEBUG == 1)
+ //if(bt_state.read()) bt.printf("this rcmd:%d\r\n",this_rcmd);
+ //else pc.printf("this rcmd:%d\r\n",this_rcmd);
+ #endif
+ switch(rf_rcmd){
case ACCEPT:
- RF.printf("%d\n",ACCEPT);
rf_state = 1;
- rf_interval_cnt = -4;
+ rf_interval_cnt = 0;
break;
case DENY:
- RF.printf("%d\n",DENY);
+ switch(last_tcmd){
+ //master
+ case MASTER:
+ bt.printf("MASTER Request Denied!\r\n");
+ break;
+ //slave //發送時間待補
+ case SLAVE:
+ bt.printf("SLAVE Request Denied!\r\n");
+ break;
+ //result
+ case RESULT:
+ bt.printf("RESULT Request Denied!\r\n");
+ break;
+ }
break;
case CHECK:
- //以後加上cycle check
- RF.printf("%d\n",CHECK);
+ RF_Send(ACCEPT);
break;
case MASTER:
- RF.printf("%d\n",MASTER);
- if(bt_state.read()) bt.printf("Car in \r\n");
- else pc.printf("Car in \r\n");
+ //will become Slave End
+ if(role == 0){
+ role = 2;
+ if(bt_state.read()) bt.printf("Car in \r\n");
+ else pc.printf("Car in \r\n");
+ }
+ else RF_Send(DENY);
break;
case SLAVE:
- RF.printf("%d&%.2f\n",SLAVE,this_cycle_timer.read());
+ /*should be Master End*/
+ //calculate Delay time
+ char slave_time[5];
+ for(int i=0;i<5;i++) slave_time[i] = RX_buffer[i+2];
+ rf_delay_time = (float)(( this_cycle_timer.read()-atof(slave_time) )/2);
+ last_cycle_time = this_cycle_timer.read()-rf_delay_time;
+ //send back Delay time
+ wait_ms(10);
+ RF_Send(DELAY);
+ wait_ms(10);
+ //Role off and interval = 0 ->maybe at reset?
+ process = 3;
break;
case RESULT:
- RF.printf("%d&%.2f\n",RESULT,this_cycle_timer.read());
+ //should be Master End
+ char result_time[5];
+ for(int i=0;i<5;i++) result_time[i] = RX_buffer[i+2];
+ last_cycle_time = atof(result_time);
+ process = 3;
break;
case DELAY:
- //delay time abnormal detect
- if(rf_delay_time < 1.0f) {
- RF.printf("%d&%.4f\n",DELAY,rf_delay_time);
- #if (DEBUG == 1)
- if(bt_state.read()) bt.printf("Delay time:%.4f\r\n",rf_delay_time);
- else pc.printf("Delay time:%.4f\r\n",rf_delay_time);
- #endif
- }
- else if(bt_state.read()) bt.printf("rf delay time > 1sec \r\n");
- else pc.printf("rf delay time > 1 sec");
+ // should be Slave End
+ char delay_time [5];
+ for(int i=0;i<5;i++) delay_time[i] = RX_buffer[i+2];
+ rf_delay_time = atof(delay_time);
+ last_cycle_time = this_cycle_timer.read()+ rf_delay_time;
+ process = 3;
+ #if(DEBUG == 1 || DEBUG == 2)
+ if(bt_state.read()) bt.printf("Delay time:%.4f \r\n",rf_delay_time);
+ else pc.printf("Delay time:%.4f \r\n",rf_delay_time);
+ #endif
break;
case RESET:
cycle++;
reset_parameters();
- if(bt_state.read()) bt.printf("ACC Set \r\n");
- else pc.printf("ACC Set \r\n");
+ if(bt_state.read()) bt.printf("ACC Set\r\n");
+ else pc.printf("ACC Set\r\n");
break;
case RESTART:
- RF.printf("%d\n",RESTART);
- //reset_parameters at button_fall_2
+ reset_parameters();
+ if(bt_state.read()) bt.printf("ACC Restart\r\n");
+ else pc.printf("ACC Restart\r\n");
break;
default:
- if(bt_state.read()) bt.printf("Unknown Tcmd\r\n");
- else pc.printf("Unknown Tcmd\r\n");
+ if(bt_state.read()) bt.printf("Unknown Rcmd\r\n");
+ else pc.printf("Unknown Rcmd\r\n");
break;
}
- #if(ACCEPT_LOCK == 1)
- }
- if(rf_tcmd != ACCEPT){
- //tx disable
- rf_accept_lock = 1;
- }
- #else
- last_tcmd = this_tcmd;
- #endif
- }
-
- void RF_Receive(int rf_rcmd){
- this_rcmd = rf_rcmd;
- #if(DEBUG == 1)
- if(bt_state.read()) bt.printf("this rcmd:%d\r\n",this_rcmd);
- else pc.printf("this rcmd:%d\r\n",this_rcmd);
- #endif
- switch(rf_rcmd){
- case ACCEPT:
- #if(ACCEPT_LOCK == 1)
- if(rf_accept_lock){
- rf_accept_lock = 0;
- last_tcmd = this_tcmd;
- }
- #endif
- rf_state = 1;
- rf_interval_cnt = 0;
- break;
- case DENY:
- switch(last_tcmd){
- //master
- case MASTER:
- bt.printf("MASTER Request Denied!\r\n");
- break;
- //slave //發送時間待補
- case SLAVE:
- bt.printf("SLAVE Request Denied!\r\n");
- break;
- //result
- case RESULT:
- bt.printf("RESULT Request Denied!\r\n");
- break;
- }
- break;
- case CHECK:
- RF_Send(ACCEPT);
- break;
- case MASTER:
- //will become Slave End
- if(!role){
- role = 2;
- if(bt_state.read()) bt.printf("Car in \r\n");
- else pc.printf("Car in \r\n");
- }
- else RF_Send(DENY);
- break;
- case SLAVE:
- /*should be Master End*/
- //calculate Delay time
- char slave_time[5];
- for(int i=0;i<5;i++) slave_time[i] = RX_buffer[i+2];
- rf_delay_time = (float)(( this_cycle_timer.read()-atof(slave_time) )/2);
- last_cycle_time = this_cycle_timer.read()-rf_delay_time;
- //send back Delay time
- wait_ms(10);
- RF_Send(DELAY);
- wait_ms(10);
- //Role off and interval = 0 ->maybe at reset?
- process = 3;
- break;
- case RESULT:
- //should be Master End
- char result_time[5];
- for(int i=0;i<5;i++) result_time[i] = RX_buffer[i+2];
- last_cycle_time = atof(result_time);
- process = 3;
- break;
- case DELAY:
- // should be Slave End
- char delay_time [5];
- for(int i=0;i<5;i++) delay_time[i] = RX_buffer[i+2];
- rf_delay_time = atof(delay_time);
- last_cycle_time = this_cycle_timer.read()+ rf_delay_time;
- process = 3;
- if(bt_state.read()) bt.printf("Delay time:%.4f",rf_delay_time);
- break;
- case RESET:
- cycle++;
- reset_parameters();
- if(bt_state.read()) bt.printf("ACC Set\r\n");
- else pc.printf("ACC Set\r\n");
- break;
- case RESTART:
- reset_parameters();
- if(bt_state.read()) bt.printf("ACC Restart\r\n");
- else pc.printf("ACC Restart\r\n");
- break;
- default:
- if(bt_state.read()) bt.printf("Unknown Rcmd\r\n");
- else pc.printf("Unknown Rcmd\r\n");
- break;
}
}
//IT
void sensor_in(){
- if(mode!=1){
- if(cycle == 1){
- this_cycle_timer.start();
- process = 1;
- }
- if(this_cycle_timer.read() > CYCLE_TIME_PROTECT){
- process = 1;
- last_cycle_time = this_cycle_timer.read();
- this_cycle_timer.reset();
- }
- //check mode2,3
- if((cycle > SKIDPAD_CYCLE && mode == 2 || cycle > ENDURANCE_CYCLE && mode == 3)){
- process = 0;
+ if(us_ticker_read()/m_1 - sensor_in_debounce > SENSOR_IN_DEBOUNCE){
+ sensor_in_debounce = us_ticker_read()/m_1;
+ if(mode!=1){
+ if(cycle == 1){
+ this_cycle_timer.start();
+ process = 1;
+ }
+ if(this_cycle_timer.read() > CYCLE_TIME_PROTECT){
+ process = 1;
+ last_cycle_time = this_cycle_timer.read();
+ this_cycle_timer.reset();
+ }
+ //check mode2,3
+ if((cycle > SKIDPAD_CYCLE && mode == 2 || cycle > ENDURANCE_CYCLE && mode == 3)){
+ process = 0;
+ }
}
- }
- else if(mode == 1){
- //mode acc
- if(!role && rf_state){
- //MASTER
- this_cycle_timer.start();
- RF_Send(MASTER);
- }
- if(role == 2 && this_cycle_timer.read() > CYCLE_TIME_PROTECT){
- this_cycle_timer.stop();
- //SLAVE
- #if (NO_DELAY == 1)
- //this_cycle_timer.start() at RxCallback
- RF_Send(RESULT);
- last_cycle_time = this_cycle_timer.read();
- process = 3;
- #else
- //with delay calculation in Master End
- RF_Send(SLAVE);
- #endif
+ else if(mode == 1){
+ //mode acc
+ if(!role && rf_state){
+ //MASTER
+ this_cycle_timer.start();
+ RF_Send(MASTER);
+ }
+ if(role == 2 && this_cycle_timer.read() > CYCLE_TIME_PROTECT){
+ this_cycle_timer.stop();
+ //SLAVE
+ #if (NO_DELAY == 1)
+ //this_cycle_timer.start() at RxCallback
+ RF_Send(RESULT);
+ last_cycle_time = this_cycle_timer.read();
+ process = 3;
+ #else
+ //with delay calculation in Master End
+ RF_Send(SLAVE);
+ #endif
+ }
}
}
}
@@ -606,6 +609,8 @@
if(button_RTC - button_LTC > BUTTON_DEBOUNCE){
button_LTC = button_RTC;
(mode >= 3 || mode < 0) ? mode = 0 : mode++ ;
+ (mode == 1)?RF.attach(&RxCallback,Serial::RxIrq):RF.attach(NULL,Serial::RxIrq);
+ if(mode != 1) rf_state = 0;
last_tcmd = RESTART;
reset_parameters();
last_tcmd = ACCEPT;
@@ -621,8 +626,11 @@
if(mode == 1) RF_Send(RESTART);
reset_parameters();
if(bt_state.read() ){
- bt.printf("Restart!\r\n\r\n\r\n");
- bt.printf("#####################\r\n");
+ if(mode == 1) bt.printf("ACC Restart\r\n");
+ else {
+ bt.printf("Restart!\r\n\r\n\r\n");
+ bt.printf("#####################\r\n");
+ }
}
else{
pc.printf("Restart!\r\n\r\n\r\n");
@@ -648,17 +656,18 @@
else if(RX_buffer[0]-'0' == SLAVE || RX_buffer[0]-'0' == RESULT) this_cycle_timer.stop();
}
}
- else {
+ else if(new_char == '\n') {
rx_cnt = 0;
Rx_flag = 1;
}
}
#endif
#if(DEBUG == 1)
- if(bt_state.read()&& !rx_cnt) bt.printf("RX Callback,%s has been received\r\n",RX_buffer);
+ if(bt_state.read()&& !rx_cnt) bt.printf("RX Callback,'%s' has been received\r\n",RX_buffer);
#endif
if(Rx_flag == 1){
RF_Receive(RX_buffer[0]-'0');
Rx_flag = 0;
+ //清空rx??
}
}