RPLIDAR A1M8 LCD
Dependencies: TS_DISCO_F746NG mbed BufferedSerial LCD_DISCO_F746NG mbed-rtos Trigo BSP_DISCO_F746NG
Main.cpp@2:8f71c97fe9d7, 2016-11-23 (annotated)
- Committer:
- Carminio
- Date:
- Wed Nov 23 17:01:03 2016 +0000
- Revision:
- 2:8f71c97fe9d7
- Parent:
- 1:1ff3fe3679c1
- Child:
- 3:43ab856b5efa
Ver. OK con pulsanti e TFT
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Carminio | 0:88706d6abbf7 | 1 | #include "mbed.h" |
Carminio | 0:88706d6abbf7 | 2 | #include "Serial.h" |
Carminio | 0:88706d6abbf7 | 3 | #include "BufferedSerial.h" |
Carminio | 0:88706d6abbf7 | 4 | #include "Communication.h" |
Carminio | 0:88706d6abbf7 | 5 | #include "Motor.h" |
Carminio | 0:88706d6abbf7 | 6 | #include <stdlib.h> |
Carminio | 0:88706d6abbf7 | 7 | #include <stdio.h> |
Carminio | 0:88706d6abbf7 | 8 | #include "LCD_DISCO_F746NG.h" |
Carminio | 1:1ff3fe3679c1 | 9 | #include "TS_DISCO_F746NG.h" |
Carminio | 0:88706d6abbf7 | 10 | |
Carminio | 0:88706d6abbf7 | 11 | //Dichiarazione oggetti |
Carminio | 0:88706d6abbf7 | 12 | DigitalIn myStartButton(USER_BUTTON); |
Carminio | 0:88706d6abbf7 | 13 | Motor lid_Motor(PWM_OUT); |
Carminio | 0:88706d6abbf7 | 14 | Communication SendCommands; |
Carminio | 1:1ff3fe3679c1 | 15 | LCD_DISCO_F746NG lcd; |
Carminio | 1:1ff3fe3679c1 | 16 | TS_DISCO_F746NG ts; |
Carminio | 1:1ff3fe3679c1 | 17 | |
Carminio | 1:1ff3fe3679c1 | 18 | //Dichiarazione variabili |
Carminio | 1:1ff3fe3679c1 | 19 | uint16_t x, y; |
Carminio | 1:1ff3fe3679c1 | 20 | uint8_t idx; |
Carminio | 2:8f71c97fe9d7 | 21 | uint8_t start=1; |
Carminio | 0:88706d6abbf7 | 22 | |
Carminio | 0:88706d6abbf7 | 23 | int main() { |
Carminio | 0:88706d6abbf7 | 24 | // Initialize Display |
Carminio | 0:88706d6abbf7 | 25 | lcd.Clear(LCD_COLOR_BLACK); |
Carminio | 0:88706d6abbf7 | 26 | lcd.SetBackColor(LCD_COLOR_BLACK); |
Carminio | 0:88706d6abbf7 | 27 | lcd.SetTextColor(LCD_COLOR_GREEN); |
Carminio | 0:88706d6abbf7 | 28 | wait(0.3); |
Carminio | 0:88706d6abbf7 | 29 | lcd.SetFont(&Font24); |
Carminio | 0:88706d6abbf7 | 30 | lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"SLAMTEC LIDAR A2", CENTER_MODE); |
Carminio | 2:8f71c97fe9d7 | 31 | lcd.SetFont(&Font8); |
Carminio | 2:8f71c97fe9d7 | 32 | lcd.DisplayStringAt(0, LINE(1), (uint8_t *)"STMicroelectronics", RIGHT_MODE); |
Carminio | 2:8f71c97fe9d7 | 33 | lcd.DisplayStringAt(0, LINE(2), (uint8_t *)"D. Ruggiero 2016", RIGHT_MODE); |
Carminio | 2:8f71c97fe9d7 | 34 | |
Carminio | 1:1ff3fe3679c1 | 35 | // Configure buttons and TFT display |
Carminio | 1:1ff3fe3679c1 | 36 | TS_StateTypeDef TS_State; |
Carminio | 1:1ff3fe3679c1 | 37 | lcd.SetTextColor(LCD_COLOR_GREEN); |
Carminio | 2:8f71c97fe9d7 | 38 | lcd.FillRect(136, 200, 200, 50); ///Disegna bottone Verde |
Carminio | 2:8f71c97fe9d7 | 39 | |
Carminio | 2:8f71c97fe9d7 | 40 | lcd.SetFont(&Font24); |
Carminio | 1:1ff3fe3679c1 | 41 | lcd.SetBackColor(LCD_COLOR_GREEN); |
Carminio | 1:1ff3fe3679c1 | 42 | lcd.SetTextColor(LCD_COLOR_BLACK); |
Carminio | 2:8f71c97fe9d7 | 43 | lcd.DisplayStringAt(202, LINE(9), (uint8_t *)"SCAN", LEFT_MODE); |
Carminio | 2:8f71c97fe9d7 | 44 | |
Carminio | 2:8f71c97fe9d7 | 45 | while(start) { |
Carminio | 1:1ff3fe3679c1 | 46 | |
Carminio | 1:1ff3fe3679c1 | 47 | // Initialize TFT display |
Carminio | 1:1ff3fe3679c1 | 48 | ts.GetState(&TS_State); |
Carminio | 1:1ff3fe3679c1 | 49 | if (TS_State.touchDetected) { |
Carminio | 1:1ff3fe3679c1 | 50 | for (idx = 0; idx < TS_State.touchDetected; idx++) { |
Carminio | 1:1ff3fe3679c1 | 51 | x = TS_State.touchX[idx]; |
Carminio | 1:1ff3fe3679c1 | 52 | y = TS_State.touchY[idx]; |
Carminio | 1:1ff3fe3679c1 | 53 | } |
Carminio | 2:8f71c97fe9d7 | 54 | |
Carminio | 2:8f71c97fe9d7 | 55 | if((x>=136) && (x<=336) && (y>=200) && (y<=250)) { |
Carminio | 2:8f71c97fe9d7 | 56 | lcd.Clear(LCD_COLOR_BLACK); |
Carminio | 0:88706d6abbf7 | 57 | |
Carminio | 0:88706d6abbf7 | 58 | // Initialize UART |
Carminio | 0:88706d6abbf7 | 59 | SendCommands.confUART(); |
Carminio | 0:88706d6abbf7 | 60 | |
Carminio | 0:88706d6abbf7 | 61 | // Perform a device reset |
Carminio | 0:88706d6abbf7 | 62 | // SendCommands.Reset(); |
Carminio | 0:88706d6abbf7 | 63 | |
Carminio | 0:88706d6abbf7 | 64 | // Send Get_Health command |
Carminio | 0:88706d6abbf7 | 65 | // SendCommands.Get_Health(); |
Carminio | 0:88706d6abbf7 | 66 | |
Carminio | 0:88706d6abbf7 | 67 | // Send Get_Info command |
Carminio | 0:88706d6abbf7 | 68 | // SendCommands.Get_Info(); |
Carminio | 0:88706d6abbf7 | 69 | |
Carminio | 0:88706d6abbf7 | 70 | // Start motor (PWM: Frequency 25KHz, Duty cycle 60%) |
Carminio | 0:88706d6abbf7 | 71 | lid_Motor.StartMotor_Scan(); |
Carminio | 0:88706d6abbf7 | 72 | |
Carminio | 0:88706d6abbf7 | 73 | // Start scan |
Carminio | 0:88706d6abbf7 | 74 | SendCommands.Scan(); |
Carminio | 0:88706d6abbf7 | 75 | |
Carminio | 0:88706d6abbf7 | 76 | // SendCommands.Stop(); |
Carminio | 0:88706d6abbf7 | 77 | // wait_ms(100); |
Carminio | 0:88706d6abbf7 | 78 | // lid_Motor.StopMotor_Scan(); |
Carminio | 2:8f71c97fe9d7 | 79 | start=0; |
Carminio | 2:8f71c97fe9d7 | 80 | } |
Carminio | 1:1ff3fe3679c1 | 81 | } |
Carminio | 0:88706d6abbf7 | 82 | } |
Carminio | 0:88706d6abbf7 | 83 | } |
Carminio | 0:88706d6abbf7 | 84 |