Diff: main.cpp

Revision:

0:fc7ce4e596ff

Child:

1:e82997c13013

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Apr 14 16:02:37 2019 +0000
@@ -0,0 +1,165 @@
+#include "mbed.h"
+#include "rtos.h"
+#include <stdio.h>
+#include "uLCD_4DGL.h"
+#include "XNucleo53L0A1.h"
+
+#define VL53L0_I2C_SDA   p28
+#define VL53L0_I2C_SCL   p27
+
+// Light Thread
+// Only shine light when 
+// Sound Thread
+
+// Game
+volatile int points = 0;
+volatile int time_left = 0;
+int threshold =  0.05f; // ???
+volatile bool is_point = false;
+
+// LIDAR
+static XNucleo53L0A1* lidar = NULL;
+uint32_t dist;
+DigitalOut shdn(p26);
+
+// LCD
+Mutex lcd_lock;
+uLCD_4DGL uLCD(p9, p10, p11); // serial tx, serial rx, reset pin;
+
+// Speaker
+PwmOut speaker(p25);
+
+// LEDs
+PwmOut point_led(p21);
+PwmOut time_led(p22);
+
+// Threads
+Thread sound_thread;
+Thread time_thread;
+Thread points_thread;
+
+// Debugging
+DigitalOut err_led(LED1);
+DigitalOut status_led(LED2);
+Serial pc(USBTX, USBRX);
+
+void time(void) {
+    lcd_lock.lock();
+    uLCD.locate(3, 5);
+    uLCD.text_height(2);
+    uLCD.text_width(2);
+    uLCD.printf("%d", time_left);
+    lcd_lock.unlock();
+    while (1) {
+        // every second, change LED and update screen
+        time_led = !time_led;
+        if (time_left > 0) {
+            lcd_lock.lock();
+            uLCD.locate(3, 5);
+            uLCD.text_height(2);
+            uLCD.text_width(2);
+            uLCD.printf("%d", time_left);
+            lcd_lock.unlock();
+            Thread::wait(1000);
+        } else {
+            break;
+        }
+    }
+    lcd_lock.lock();
+    uLCD.locate(3, 5);
+    uLCD.text_height(2);
+    uLCD.text_width(2);
+    uLCD.printf("0");
+    lcd_lock.unlock();
+}
+
+void sound(void) {
+    int is_new = 1;
+    speaker.period(1.0 / 900.0);
+    while (1) {
+        // if we have a point, sound?
+        if (is_point && is_new) {
+            is_new = 0;
+            // sound that
+            speaker = 1;
+            
+        } else if (!is_point) {
+            is_new = 1;
+            speaker = 0;
+        }
+        Thread::wait(10);
+    }
+}
+
+void print_points(void) {
+    int prev_points = points;
+    while (1) {
+        if (points != prev_points) {
+            lcd_lock.lock();
+            uLCD.locate(1, 2);
+            uLCD.text_width(2);
+            uLCD.text_height(2);
+            uLCD.color(GREEN);
+            uLCD.printf("%d", points);
+            lcd_lock.unlock();
+            prev_points = points;
+        }
+        Thread::wait(100);
+    }
+}
+
+int main() {
+    // Tell the user we're spinning up
+
+    uLCD.cls();
+    uLCD.text_height(2);
+    uLCD.text_width(2);
+    uLCD.locate(1, 2);
+    uLCD.color(RED);
+    uLCD.printf("SPINNING UP");
+    
+    time_left = 60;
+    
+    // Normally, we should worry about deleting this object. However, it will 
+    // survive for the lifetime of the program!
+    DevI2C* device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
+    lidar = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
+    // Reset shdn (?):
+    shdn = 0;
+    wait(0.1);
+    shdn = 1;
+    wait(0.1);
+    
+    int status = lidar->init_board();
+    while (status) {
+        pc.printf("Initializing Board...\r\n");
+        status = lidar->init_board();
+        status_led = !status_led;
+        wait(1);
+    }
+    pc.printf("Finished Initialization\r\n");
+    
+    // Continually measure distance
+    while (1) {
+        uint32_t dist2;
+        status = lidar->sensor_centre->get_distance(&dist2);
+        if (status != VL53L0X_ERROR_NONE) {
+            pc.printf("Status: %d\r\n", status);
+            err_led = 1;
+        }
+        // Determine if we've hit the threshold (4 cases):
+        // 1. NOT in the threshold, current distance is above
+        // 2. NOT in the threshold, current distance is below
+        // 3. IN the threshold, current distance is above
+        // 4. IN the threshold, current distance is below
+        if (!is_point && dist2 <= threshold) {
+            // increment our points
+            ++points;
+            is_point = true;
+            point_led = 1;
+        } else if (is_point && dist2 > threshold) {
+            is_point = false;
+            point_led = 0;
+        }
+    }
+}