File content as of revision 3:00933efbe463:

/**
@file main.cpp
@brief Program implementation

*/
#include "main.h"



int main()
{
    pc.baud(9600);  //sets baud rate
    timer.attach(&timerExpired,0.5);
    LogTog.rise(&logButtonPressed);
    UnitTog.rise(&unitToggle);
    VisTog.rise(&visToggle);
    pc.attach(&serialISR); // attach serial ISR
    char buffer[30]; // buffer used to store time string
    set_time(1427846400); // initialise time to 1st April 2015 00:00:00

    BLED.period(0.02);  //sets the frequency of the Backlight at 50Hz
    BLED=BLEDLevel.read();  //sets the brightness
    lcd.init(); //to initilize the display
    checkerBoard();
    wait(0.2);
    lcd.clear();

    introTune(); // plays the intro tune
    lcd.printString("Parking",20,0);
    lcd.printString("Sensor",23,1);
    lcd.printString("by",35,2);
    lcd.printString("Jakobi",24,3);
    lcd.printString("Blackburn",16,4);
    wait(2);
    lcd.clear();
    while(1) {
        BLED=BLEDLevel.read();  //sets the brightness
        if(timerFlag) {

            timerFlag = 0; //resets flag
            time_t seconds = time(NULL); // get current time
            // format time into a string (time and date)
            strftime(buffer, 30 , "%d/%m/%y %R", localtime(&seconds));
            float dist = getDistance()*unitX; //reads the distance and sets it to a float value.
            //prints the value to the serial port.
            if(state==1) {
                pc.printf("%s , Distance = %.2f %s \n",buffer,dist,units);   //prints the value to the serial port.
            } 
            else if(state !=1) {
                pc.printf("%s , Distance = %.0f %s \n",buffer,dist,units);   //prints the value to the serial port.
            }
            logging(buffer,distance);
            if(visual==0) {
                LCDVis0();
            } 
            else if(visual==1) {
                LCDVis1();
            } 
            else if(visual==2) {
                LCDVis2();
            }
            else{ error(2);}

        }
        if (setTimeFlag) { // if updated time has been sent
            setTimeFlag = 0; // clear flag
            setTime(); // update time
        }
        Sleep();
    }
}

void timerExpired()
{
    timerFlag=1;
}


void warnings()
{
    WLED=1;
    volume= BuzVol.read();
    Buzzer.PlayNote(1000.0, 0.1, volume);
    WLED=0;
}
float getDistance()
{
    int dist0 = sensor.getDistanceCm();
    wait(0.1*scanSpeed);
    int dist1 = sensor.getDistanceCm();
    wait(0.1*scanSpeed);
    int dist2 = sensor.getDistanceCm();
    wait(0.1*scanSpeed);
    int dist3 = sensor.getDistanceCm();
    wait(0.1*scanSpeed);
    int dist4 = sensor.getDistanceCm();
    wait(0.1*scanSpeed);
    int dist5 = sensor.getDistanceCm();
    wait(0.1*scanSpeed);
    int dist6 = sensor.getDistanceCm();
    wait(0.1*scanSpeed);
    int dist7 = sensor.getDistanceCm();
    wait(0.1*scanSpeed);
    int dist8 = sensor.getDistanceCm();
    wait(0.1*scanSpeed);
    int dist9 = sensor.getDistanceCm();
    distance=(dist0+dist1+dist2+dist3+dist4+dist5+dist6+dist7+dist8+dist9)/10;
    setScanSpeed();
    warnings();
    return distance;
}

void unitToggle()
{
    state = fsm[state].nextState[UnitTog]; // read input and update current state
    unitX = fsm[state].unitMultiple; // set output depending on current state
    units= fsm[state].Unit; //
    wait(0.2);
    pc.printf("unit multiple = %.2f \n",unitX);
    pc.printf("Units = %s \n",units);
}

void setScanSpeed()
{
    if(distance>=100) {
        scanSpeed=2; // sets the speed to normal
    } else if(distance>=25) {
        scanSpeed=1; // double speed
    } else if(distance<25) {
        scanSpeed=0.25; // quad speed
    } else{ error(1);}
}
void error(int E) //up to 14. IF 15 shown it is a ack bit error for the SRF02
{
    while(1) {
        leds=0;
        wait(0.2);
        leds=E;
        wait(0.2);
    }
}

void logButtonPressed()
{
    logButtonFlag = !logButtonFlag; //flips the flag
    if(logButtonFlag) {
        LLED=1; // Logging LED will be on if the device is logging
        pc.printf("-------\n Data Logging\n\r");
    } else {
        LLED=0; // Logging LED will be off if the device isn't logging
        pc.printf("-------\n Stopped Logging Data\n\r");
    }
    wait(0.2);
}

void logging(char* data,float data1)
{
    if(logButtonFlag) {
        FILE *fp = fopen("/local/log.csv", "a"); // open 'log.csv' for appending
        // if the file doesn't exist it is created, if it exists, data is appended to the end
        fprintf(fp," %s , %.2f\n ",data,data1); // print string to file
        fclose(fp); // close file
        pc.printf("Data Logged\n\r");
        LLED=1; //keeps the led on if it is logging
    } else {
        pc.printf("WARNING : Unlogged Data\n\r");
        LLED=0;
    }
}

void setTime()
{
// print time for debugging
    pc.printf("set time - %s",rxString);
// atoi() converts a string to an integer
    int time = atoi(rxString);
// update the time
    set_time(time);
    pc.printf("set time - %d",time);
}
void serialISR()
{
// when a serial interrupt occurs, read rx string into buffer
    pc.gets(rxString,16);
// set flag
    setTimeFlag = 1;
}

void introTune()
{
    Buzzer.PlayNote(1319.0,0.084,1.0);
    wait(0.01);
    Buzzer.PlayNote(1319.0,0.084,1.0);
    wait(0.094);
    Buzzer.PlayNote(1319.0,0.084,1.0);
    wait(0.094);
    Buzzer.PlayNote(1047.0,0.084,1.0);
    wait(0.01);
    Buzzer.PlayNote(1319.0,0.084,1.0);
    wait(0.094);
    Buzzer.PlayNote(1568.0,0.084,1.0);
    wait(0.26);
    Buzzer.PlayNote(784.0,0.084,1.0);
}

void checkerBoard() // creates a checked pattern on the lcd
{
    for(int i=0; i<84; i+=2) {
        for(int j=0; j<48; j+=2) {
            lcd.setPixel(i,j);
        }
    }
    lcd.refresh();
}

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
{
    lcd.clear();
    int I = distance*0.337;  //and then multiplies the current distance by that value as (84/249) =0.337...
     pc.printf("bar width - %d pixels \n",I);
    for(int j=0; j<48; j++) {
        for(int i=0; i<I; i++) {
            lcd.setPixel(i,j);
        }
    }
    lcd.refresh();
}

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
{
    lcd.clear();
    int J = distance*0.19;  //and then multiplies the current distance by that value as (48/249) = 0.19..
     pc.printf("bar height - %d pixels \n",J);
    for(int i=0; i<84; i++) {
        for(int j=0; j<J; j++) {
            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
           
        }
    }
    lcd.refresh();
}

void LCDVis2(){
    for(int i=0; i<84; i++) {
        for(int j=0; j<48; j++) {
            lcd.setPixel(i,j);
        }
    }
    lcd.refresh();
}

void visToggle()
{
    Vstate = Vfsm[Vstate].nextState[VisTog]; // read input and update current state
    visual = Vfsm[Vstate].visual; // set output depending on current state
    wait(0.2);
    if(visual==0) { 
        pc.printf("----Left to Right----\n\r");
    }
    if(visual==1) {
        pc.printf("----Up to Down----\n\r");
    }
    if(visual==2) {
        pc.printf("----Other----\n\r");
    }
}