Jakobi Blackburn / Mbed 2 deprecated UltrasonicDistanceSensor-el13jb

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Dependencies:   N5110WN PowerControl SRF02 mbed

main.cpp@3:00933efbe463, 2015-03-21 (annotated)

Committer:
JakBlackburn
Date:
Sat Mar 21 19:14:04 2015 +0000
Revision:
3:00933efbe463
Parent:
2:a1eaa4d74b63
Child:
4:2e9aa626a02c
added initial visual modes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JakBlackburn 1:7f151ab172cb 1 /**
JakBlackburn 1:7f151ab172cb 2 @file main.cpp
JakBlackburn 1:7f151ab172cb 3 @brief Program implementation
JakBlackburn 0:73bfbe8729d4 4
JakBlackburn 1:7f151ab172cb 5 */
JakBlackburn 1:7f151ab172cb 6 #include "main.h"
JakBlackburn 0:73bfbe8729d4 7
JakBlackburn 0:73bfbe8729d4 8
JakBlackburn 0:73bfbe8729d4 9
JakBlackburn 3:00933efbe463 10 int main()
JakBlackburn 3:00933efbe463 11 {
JakBlackburn 1:7f151ab172cb 12 pc.baud(9600); //sets baud rate
JakBlackburn 1:7f151ab172cb 13 timer.attach(&timerExpired,0.5);
JakBlackburn 1:7f151ab172cb 14 LogTog.rise(&logButtonPressed);
JakBlackburn 1:7f151ab172cb 15 UnitTog.rise(&unitToggle);
JakBlackburn 3:00933efbe463 16 VisTog.rise(&visToggle);
JakBlackburn 1:7f151ab172cb 17 pc.attach(&serialISR); // attach serial ISR
JakBlackburn 1:7f151ab172cb 18 char buffer[30]; // buffer used to store time string
JakBlackburn 1:7f151ab172cb 19 set_time(1427846400); // initialise time to 1st April 2015 00:00:00
JakBlackburn 3:00933efbe463 20
JakBlackburn 2:a1eaa4d74b63 21 BLED.period(0.02); //sets the frequency of the Backlight at 50Hz
JakBlackburn 3:00933efbe463 22 BLED=BLEDLevel.read(); //sets the brightness
JakBlackburn 2:a1eaa4d74b63 23 lcd.init(); //to initilize the display
JakBlackburn 2:a1eaa4d74b63 24 checkerBoard();
JakBlackburn 2:a1eaa4d74b63 25 wait(0.2);
JakBlackburn 2:a1eaa4d74b63 26 lcd.clear();
JakBlackburn 3:00933efbe463 27
JakBlackburn 2:a1eaa4d74b63 28 introTune(); // plays the intro tune
JakBlackburn 2:a1eaa4d74b63 29 lcd.printString("Parking",20,0);
JakBlackburn 3:00933efbe463 30 lcd.printString("Sensor",23,1);
JakBlackburn 2:a1eaa4d74b63 31 lcd.printString("by",35,2);
JakBlackburn 2:a1eaa4d74b63 32 lcd.printString("Jakobi",24,3);
JakBlackburn 2:a1eaa4d74b63 33 lcd.printString("Blackburn",16,4);
JakBlackburn 3:00933efbe463 34 wait(2);
JakBlackburn 2:a1eaa4d74b63 35 lcd.clear();
JakBlackburn 0:73bfbe8729d4 36 while(1) {
JakBlackburn 3:00933efbe463 37 BLED=BLEDLevel.read(); //sets the brightness
JakBlackburn 3:00933efbe463 38 if(timerFlag) {
JakBlackburn 3:00933efbe463 39
JakBlackburn 1:7f151ab172cb 40 timerFlag = 0; //resets flag
JakBlackburn 1:7f151ab172cb 41 time_t seconds = time(NULL); // get current time
JakBlackburn 1:7f151ab172cb 42 // format time into a string (time and date)
JakBlackburn 1:7f151ab172cb 43 strftime(buffer, 30 , "%d/%m/%y %R", localtime(&seconds));
JakBlackburn 3:00933efbe463 44 float dist = getDistance()*unitX; //reads the distance and sets it to a float value.
JakBlackburn 1:7f151ab172cb 45 //prints the value to the serial port.
JakBlackburn 3:00933efbe463 46 if(state==1) {
JakBlackburn 3:00933efbe463 47 pc.printf("%s , Distance = %.2f %s \n",buffer,dist,units); //prints the value to the serial port.
JakBlackburn 3:00933efbe463 48 }
JakBlackburn 3:00933efbe463 49 else if(state !=1) {
JakBlackburn 3:00933efbe463 50 pc.printf("%s , Distance = %.0f %s \n",buffer,dist,units); //prints the value to the serial port.
JakBlackburn 3:00933efbe463 51 }
JakBlackburn 3:00933efbe463 52 logging(buffer,distance);
JakBlackburn 3:00933efbe463 53 if(visual==0) {
JakBlackburn 3:00933efbe463 54 LCDVis0();
JakBlackburn 3:00933efbe463 55 }
JakBlackburn 3:00933efbe463 56 else if(visual==1) {
JakBlackburn 3:00933efbe463 57 LCDVis1();
JakBlackburn 3:00933efbe463 58 }
JakBlackburn 3:00933efbe463 59 else if(visual==2) {
JakBlackburn 3:00933efbe463 60 LCDVis2();
JakBlackburn 3:00933efbe463 61 }
JakBlackburn 3:00933efbe463 62 else{ error(2);}
JakBlackburn 3:00933efbe463 63
JakBlackburn 3:00933efbe463 64 }
JakBlackburn 3:00933efbe463 65 if (setTimeFlag) { // if updated time has been sent
JakBlackburn 1:7f151ab172cb 66 setTimeFlag = 0; // clear flag
JakBlackburn 1:7f151ab172cb 67 setTime(); // update time
JakBlackburn 1:7f151ab172cb 68 }
JakBlackburn 2:a1eaa4d74b63 69 Sleep();
JakBlackburn 0:73bfbe8729d4 70 }
JakBlackburn 0:73bfbe8729d4 71 }
JakBlackburn 0:73bfbe8729d4 72
JakBlackburn 3:00933efbe463 73 void timerExpired()
JakBlackburn 3:00933efbe463 74 {
JakBlackburn 3:00933efbe463 75 timerFlag=1;
JakBlackburn 0:73bfbe8729d4 76 }
JakBlackburn 0:73bfbe8729d4 77
JakBlackburn 0:73bfbe8729d4 78
JakBlackburn 3:00933efbe463 79 void warnings()
JakBlackburn 3:00933efbe463 80 {
JakBlackburn 0:73bfbe8729d4 81 WLED=1;
JakBlackburn 0:73bfbe8729d4 82 volume= BuzVol.read();
JakBlackburn 3:00933efbe463 83 Buzzer.PlayNote(1000.0, 0.1, volume);
JakBlackburn 3:00933efbe463 84 WLED=0;
JakBlackburn 0:73bfbe8729d4 85 }
JakBlackburn 3:00933efbe463 86 float getDistance()
JakBlackburn 3:00933efbe463 87 {
JakBlackburn 0:73bfbe8729d4 88 int dist0 = sensor.getDistanceCm();
JakBlackburn 1:7f151ab172cb 89 wait(0.1*scanSpeed);
JakBlackburn 0:73bfbe8729d4 90 int dist1 = sensor.getDistanceCm();
JakBlackburn 1:7f151ab172cb 91 wait(0.1*scanSpeed);
JakBlackburn 0:73bfbe8729d4 92 int dist2 = sensor.getDistanceCm();
JakBlackburn 1:7f151ab172cb 93 wait(0.1*scanSpeed);
JakBlackburn 0:73bfbe8729d4 94 int dist3 = sensor.getDistanceCm();
JakBlackburn 1:7f151ab172cb 95 wait(0.1*scanSpeed);
JakBlackburn 0:73bfbe8729d4 96 int dist4 = sensor.getDistanceCm();
JakBlackburn 1:7f151ab172cb 97 wait(0.1*scanSpeed);
JakBlackburn 0:73bfbe8729d4 98 int dist5 = sensor.getDistanceCm();
JakBlackburn 1:7f151ab172cb 99 wait(0.1*scanSpeed);
JakBlackburn 0:73bfbe8729d4 100 int dist6 = sensor.getDistanceCm();
JakBlackburn 1:7f151ab172cb 101 wait(0.1*scanSpeed);
JakBlackburn 0:73bfbe8729d4 102 int dist7 = sensor.getDistanceCm();
JakBlackburn 1:7f151ab172cb 103 wait(0.1*scanSpeed);
JakBlackburn 0:73bfbe8729d4 104 int dist8 = sensor.getDistanceCm();
JakBlackburn 1:7f151ab172cb 105 wait(0.1*scanSpeed);
JakBlackburn 0:73bfbe8729d4 106 int dist9 = sensor.getDistanceCm();
JakBlackburn 3:00933efbe463 107 distance=(dist0+dist1+dist2+dist3+dist4+dist5+dist6+dist7+dist8+dist9)/10;
JakBlackburn 1:7f151ab172cb 108 setScanSpeed();
JakBlackburn 0:73bfbe8729d4 109 warnings();
JakBlackburn 1:7f151ab172cb 110 return distance;
JakBlackburn 0:73bfbe8729d4 111 }
JakBlackburn 0:73bfbe8729d4 112
JakBlackburn 3:00933efbe463 113 void unitToggle()
JakBlackburn 3:00933efbe463 114 {
JakBlackburn 1:7f151ab172cb 115 state = fsm[state].nextState[UnitTog]; // read input and update current state
JakBlackburn 0:73bfbe8729d4 116 unitX = fsm[state].unitMultiple; // set output depending on current state
JakBlackburn 3:00933efbe463 117 units= fsm[state].Unit; //
JakBlackburn 1:7f151ab172cb 118 wait(0.2);
JakBlackburn 1:7f151ab172cb 119 pc.printf("unit multiple = %.2f \n",unitX);
JakBlackburn 2:a1eaa4d74b63 120 pc.printf("Units = %s \n",units);
JakBlackburn 1:7f151ab172cb 121 }
JakBlackburn 1:7f151ab172cb 122
JakBlackburn 3:00933efbe463 123 void setScanSpeed()
JakBlackburn 3:00933efbe463 124 {
JakBlackburn 3:00933efbe463 125 if(distance>=100) {
JakBlackburn 3:00933efbe463 126 scanSpeed=2; // sets the speed to normal
JakBlackburn 3:00933efbe463 127 } else if(distance>=25) {
JakBlackburn 3:00933efbe463 128 scanSpeed=1; // double speed
JakBlackburn 3:00933efbe463 129 } else if(distance<25) {
JakBlackburn 3:00933efbe463 130 scanSpeed=0.25; // quad speed
JakBlackburn 3:00933efbe463 131 } else{ error(1);}
JakBlackburn 1:7f151ab172cb 132 }
JakBlackburn 3:00933efbe463 133 void error(int E) //up to 14. IF 15 shown it is a ack bit error for the SRF02
JakBlackburn 3:00933efbe463 134 {
JakBlackburn 3:00933efbe463 135 while(1) {
JakBlackburn 1:7f151ab172cb 136 leds=0;
JakBlackburn 1:7f151ab172cb 137 wait(0.2);
JakBlackburn 1:7f151ab172cb 138 leds=E;
JakBlackburn 1:7f151ab172cb 139 wait(0.2);
JakBlackburn 1:7f151ab172cb 140 }
JakBlackburn 0:73bfbe8729d4 141 }
JakBlackburn 0:73bfbe8729d4 142
JakBlackburn 1:7f151ab172cb 143 void logButtonPressed()
JakBlackburn 1:7f151ab172cb 144 {
JakBlackburn 1:7f151ab172cb 145 logButtonFlag = !logButtonFlag; //flips the flag
JakBlackburn 1:7f151ab172cb 146 if(logButtonFlag) {
JakBlackburn 1:7f151ab172cb 147 LLED=1; // Logging LED will be on if the device is logging
JakBlackburn 1:7f151ab172cb 148 pc.printf("-------\n Data Logging\n\r");
JakBlackburn 1:7f151ab172cb 149 } else {
JakBlackburn 1:7f151ab172cb 150 LLED=0; // Logging LED will be off if the device isn't logging
JakBlackburn 1:7f151ab172cb 151 pc.printf("-------\n Stopped Logging Data\n\r");
JakBlackburn 0:73bfbe8729d4 152 }
JakBlackburn 1:7f151ab172cb 153 wait(0.2);
JakBlackburn 1:7f151ab172cb 154 }
JakBlackburn 1:7f151ab172cb 155
JakBlackburn 1:7f151ab172cb 156 void logging(char* data,float data1)
JakBlackburn 1:7f151ab172cb 157 {
JakBlackburn 1:7f151ab172cb 158 if(logButtonFlag) {
JakBlackburn 1:7f151ab172cb 159 FILE *fp = fopen("/local/log.csv", "a"); // open 'log.csv' for appending
JakBlackburn 1:7f151ab172cb 160 // if the file doesn't exist it is created, if it exists, data is appended to the end
JakBlackburn 1:7f151ab172cb 161 fprintf(fp," %s , %.2f\n ",data,data1); // print string to file
JakBlackburn 1:7f151ab172cb 162 fclose(fp); // close file
JakBlackburn 1:7f151ab172cb 163 pc.printf("Data Logged\n\r");
JakBlackburn 1:7f151ab172cb 164 LLED=1; //keeps the led on if it is logging
JakBlackburn 1:7f151ab172cb 165 } else {
JakBlackburn 1:7f151ab172cb 166 pc.printf("WARNING : Unlogged Data\n\r");
JakBlackburn 1:7f151ab172cb 167 LLED=0;
JakBlackburn 0:73bfbe8729d4 168 }
JakBlackburn 1:7f151ab172cb 169 }
JakBlackburn 1:7f151ab172cb 170
JakBlackburn 1:7f151ab172cb 171 void setTime()
JakBlackburn 1:7f151ab172cb 172 {
JakBlackburn 1:7f151ab172cb 173 // print time for debugging
JakBlackburn 1:7f151ab172cb 174 pc.printf("set time - %s",rxString);
JakBlackburn 1:7f151ab172cb 175 // atoi() converts a string to an integer
JakBlackburn 1:7f151ab172cb 176 int time = atoi(rxString);
JakBlackburn 1:7f151ab172cb 177 // update the time
JakBlackburn 1:7f151ab172cb 178 set_time(time);
JakBlackburn 3:00933efbe463 179 pc.printf("set time - %d",time);
JakBlackburn 1:7f151ab172cb 180 }
JakBlackburn 1:7f151ab172cb 181 void serialISR()
JakBlackburn 1:7f151ab172cb 182 {
JakBlackburn 1:7f151ab172cb 183 // when a serial interrupt occurs, read rx string into buffer
JakBlackburn 1:7f151ab172cb 184 pc.gets(rxString,16);
JakBlackburn 1:7f151ab172cb 185 // set flag
JakBlackburn 1:7f151ab172cb 186 setTimeFlag = 1;
JakBlackburn 2:a1eaa4d74b63 187 }
JakBlackburn 2:a1eaa4d74b63 188
JakBlackburn 2:a1eaa4d74b63 189 void introTune()
JakBlackburn 2:a1eaa4d74b63 190 {
JakBlackburn 2:a1eaa4d74b63 191 Buzzer.PlayNote(1319.0,0.084,1.0);
JakBlackburn 2:a1eaa4d74b63 192 wait(0.01);
JakBlackburn 2:a1eaa4d74b63 193 Buzzer.PlayNote(1319.0,0.084,1.0);
JakBlackburn 2:a1eaa4d74b63 194 wait(0.094);
JakBlackburn 2:a1eaa4d74b63 195 Buzzer.PlayNote(1319.0,0.084,1.0);
JakBlackburn 2:a1eaa4d74b63 196 wait(0.094);
JakBlackburn 2:a1eaa4d74b63 197 Buzzer.PlayNote(1047.0,0.084,1.0);
JakBlackburn 2:a1eaa4d74b63 198 wait(0.01);
JakBlackburn 2:a1eaa4d74b63 199 Buzzer.PlayNote(1319.0,0.084,1.0);
JakBlackburn 2:a1eaa4d74b63 200 wait(0.094);
JakBlackburn 2:a1eaa4d74b63 201 Buzzer.PlayNote(1568.0,0.084,1.0);
JakBlackburn 2:a1eaa4d74b63 202 wait(0.26);
JakBlackburn 2:a1eaa4d74b63 203 Buzzer.PlayNote(784.0,0.084,1.0);
JakBlackburn 2:a1eaa4d74b63 204 }
JakBlackburn 2:a1eaa4d74b63 205
JakBlackburn 2:a1eaa4d74b63 206 void checkerBoard() // creates a checked pattern on the lcd
JakBlackburn 2:a1eaa4d74b63 207 {
JakBlackburn 2:a1eaa4d74b63 208 for(int i=0; i<84; i+=2) {
JakBlackburn 2:a1eaa4d74b63 209 for(int j=0; j<48; j+=2) {
JakBlackburn 2:a1eaa4d74b63 210 lcd.setPixel(i,j);
JakBlackburn 2:a1eaa4d74b63 211 }
JakBlackburn 2:a1eaa4d74b63 212 }
JakBlackburn 2:a1eaa4d74b63 213 lcd.refresh();
JakBlackburn 3:00933efbe463 214 }
JakBlackburn 3:00933efbe463 215
JakBlackburn 3:00933efbe463 216 void LCDVis0() //the max range is 249 (according to the data sheet) and there are 84 pixels wide on the LCD so this creates the amount of cm for each pixel
JakBlackburn 3:00933efbe463 217 {
JakBlackburn 3:00933efbe463 218 lcd.clear();
JakBlackburn 3:00933efbe463 219 int I = distance*0.337; //and then multiplies the current distance by that value as (84/249) =0.337...
JakBlackburn 3:00933efbe463 220 pc.printf("bar width - %d pixels \n",I);
JakBlackburn 3:00933efbe463 221 for(int j=0; j<48; j++) {
JakBlackburn 3:00933efbe463 222 for(int i=0; i<I; i++) {
JakBlackburn 3:00933efbe463 223 lcd.setPixel(i,j);
JakBlackburn 3:00933efbe463 224 }
JakBlackburn 3:00933efbe463 225 }
JakBlackburn 3:00933efbe463 226 lcd.refresh();
JakBlackburn 3:00933efbe463 227 }
JakBlackburn 3:00933efbe463 228
JakBlackburn 3:00933efbe463 229 void LCDVis1() //the max range is 249 (according to the data sheet) and there are 48 pixels high on the LCD so this creates the amount of cm for each pixel
JakBlackburn 3:00933efbe463 230 {
JakBlackburn 3:00933efbe463 231 lcd.clear();
JakBlackburn 3:00933efbe463 232 int J = distance*0.19; //and then multiplies the current distance by that value as (48/249) = 0.19..
JakBlackburn 3:00933efbe463 233 pc.printf("bar height - %d pixels \n",J);
JakBlackburn 3:00933efbe463 234 for(int i=0; i<84; i++) {
JakBlackburn 3:00933efbe463 235 for(int j=0; j<J; j++) {
JakBlackburn 3:00933efbe463 236 lcd.setPixel(i,48-j); //using 48-j here makes the bar fill from the bottom rather than from the top as pixel(0,0) is the top left corner
JakBlackburn 3:00933efbe463 237
JakBlackburn 3:00933efbe463 238 }
JakBlackburn 3:00933efbe463 239 }
JakBlackburn 3:00933efbe463 240 lcd.refresh();
JakBlackburn 3:00933efbe463 241 }
JakBlackburn 3:00933efbe463 242
JakBlackburn 3:00933efbe463 243 void LCDVis2(){
JakBlackburn 3:00933efbe463 244 for(int i=0; i<84; i++) {
JakBlackburn 3:00933efbe463 245 for(int j=0; j<48; j++) {
JakBlackburn 3:00933efbe463 246 lcd.setPixel(i,j);
JakBlackburn 3:00933efbe463 247 }
JakBlackburn 3:00933efbe463 248 }
JakBlackburn 3:00933efbe463 249 lcd.refresh();
JakBlackburn 3:00933efbe463 250 }
JakBlackburn 3:00933efbe463 251
JakBlackburn 3:00933efbe463 252 void visToggle()
JakBlackburn 3:00933efbe463 253 {
JakBlackburn 3:00933efbe463 254 Vstate = Vfsm[Vstate].nextState[VisTog]; // read input and update current state
JakBlackburn 3:00933efbe463 255 visual = Vfsm[Vstate].visual; // set output depending on current state
JakBlackburn 3:00933efbe463 256 wait(0.2);
JakBlackburn 3:00933efbe463 257 if(visual==0) {
JakBlackburn 3:00933efbe463 258 pc.printf("----Left to Right----\n\r");
JakBlackburn 3:00933efbe463 259 }
JakBlackburn 3:00933efbe463 260 if(visual==1) {
JakBlackburn 3:00933efbe463 261 pc.printf("----Up to Down----\n\r");
JakBlackburn 3:00933efbe463 262 }
JakBlackburn 3:00933efbe463 263 if(visual==2) {
JakBlackburn 3:00933efbe463 264 pc.printf("----Other----\n\r");
JakBlackburn 3:00933efbe463 265 }
JakBlackburn 0:73bfbe8729d4 266 }