Alexander Leshukov
/
Exam_TK
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Dependencies: IRremouteAndButton QuadDisplayMy LIS3MDL_my sMotor
Revision 1:b24bac622a37, committed 2021-05-17
- Comitter:
- allesh
- Date:
- Mon May 17 07:17:06 2021 +0000
- Parent:
- 0:eb99909151eb
- Commit message:
- placeholder;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon May 17 05:34:19 2021 +0000
+++ b/main.cpp Mon May 17 07:17:06 2021 +0000
@@ -26,15 +26,21 @@
//-----------------------
void polling_sensors_isr();
void sensors_task();
+void FrameTimeoutCW_isr();
+void FrameTimeoutCCW_isr();
+void BounceTimeoutCW_isr();
+void BounceTimeoutCCW_isr();
+void CW_switch_isr();
+void CCW_switch_isr();
//-----------------------
-void clk_speed_isr();
+//void clk_speed_isr();
/*****************************************************************
* Interface
******************************************************************/
DigitalOut led1(LED1);
-DigitalIn CW_switch(D10);
-DigitalIn CCW_switch(D11);
+InterruptIn CW_switch(D10);
+InterruptIn CCW_switch(D11);
//---
RawSerial pc(USBTX, USBRX);
DevI2C devI2c(D14,D15);
@@ -44,17 +50,22 @@
QuadDisplayMy display(&spi,D6);
//---
sMotor motor(A5, A4, A3, A2); // creates new stepper motor: IN1, IN2, IN3, IN4
-InterruptIn BlueBatton(BUTTON)
+InterruptIn BlueBatton(USER_BUTTON);
/*****************************************************************
* Time
******************************************************************/
-//Ticker polling_sensors;
+Ticker polling_sensors;
//Ticker clk_speed;
+Timeout FrameTimeoutCW;
+Timeout BounceTimeoutCW;
+Timeout FrameTimeoutCCW;
+Timeout BounceTimeoutCCW;
+
/****************************************************************
* Threads
****************************************************************/
-//Thread sensor_daemon;
+Thread sensor_daemon;
/*****************************************************************
* Global variables
@@ -66,6 +77,7 @@
uint8_t mode=0;
uint8_t RotateDir;
uint16_t RotateSpeed;
+
//----------------
uint8_t SensorsEn=1;
@@ -73,6 +85,12 @@
uint8_t point;
uint32_t rotate_cnt;
//---------
+uint8_t DebounceCW=0;
+uint8_t cntCW=0;
+uint8_t NewCWMode=0;
+uint8_t DebounceCCW=0;
+uint8_t cntCCW=0;
+uint8_t NewCCWMode=0;
//------------------
/******************************************************************
@@ -106,7 +124,7 @@
{
pc.baud(115200);
ButtonIni(&BlueBatton);
- button_event_ind=button_event=0;
+ //button_event_ind=button_event=0;
//--------------
@@ -114,17 +132,19 @@
sensor_daemon.start(sensors_task);
SensorsEn=1;
polling_sensors.attach(&polling_sensors_isr, 0.4);
-clk_speed.attach(&clk_speed_isr, 0.01);
+//clk_speed.attach(&clk_speed_isr, 0.01);
mode=0;
point=0;
RotateSpeed=step_speed;
rotate_cnt=0;
+CW_switch.fall(&CW_switch_isr);
+CCW_switch.fall(&CCW_switch_isr);
}
//------------------
void HowManyClicks()
{
- WhatButtonMode(&button_event)
+ WhatButtonMode(&button_event);
if(button_event) {
switch (button_event) {
case 1:
@@ -133,9 +153,9 @@
break;
case 2:
mode=1;
- point=0;
- //RotateDir=1;
- //RotateSpeed=step_speed;
+ point=1;
+ RotateDir=0;
+ RotateSpeed=step_speed;
break;
case 3:
mode=2;
@@ -182,48 +202,30 @@
while (true) {
ThisThread::flags_wait_any(0x1,true);
SensorsEn=0;
- status = board->sensor_left->get_distance(&distance_l);
- if (status != VL53L0X_ERROR_NONE)
- distance_l=8888;
- status = board->sensor_right->get_distance(&distance_r);
- if (status != VL53L0X_ERROR_NONE)
- distance_r=8888;
- status = board->sensor_centre->get_distance(&distance_c);
- if (status != VL53L0X_ERROR_NONE)
- distance_c=8888;
+
switch(mode){
case 0:
- sprintf(text,"c%3d",distance_c);
+ // sprintf(text,"c%3d",distance_c);
break;
case 1:
- sprintf(text,"l%3d", distance_l);
+ //sprintf(text,"l%3d", distance_l);
break;
case 2:
- sprintf(text,"r%3d", distance_r);
+ //sprintf(text,"r%3d", distance_r);
break;
case 3:
- dif=((int)distance_r-(int)distance_l);
- sprintf(text,"d%3d",dif);
- if (abs(dif)>4) {
- point=1;
- if(dif>0)
- RotateDir=1;
- else
- RotateDir=0;
- }else
- point=0;
+
break;
case 4:
- sprintf(text,"%d",G[0]);
+ //sprintf(text,"%d",G[0]);
break;
case 5:
- sprintf(text,"%d",dur_time);
+ //sprintf(text,"%d",dur_time);
break;
default:
sprintf(text,"----");
break;
- }
- board->display->display_string(text);
+ }
SensorsEn=1;
}
}
@@ -231,28 +233,63 @@
/**********************************************************
* Interrupt Service Routines
***********************************************************/
-void proximityR_isr()
+void FrameTimeoutCW_isr()
{
- prox=1;
-}
+ NewCWMode=cnt;
+ cntCW=0;
+}
+
//---------------------
-void proximityF_isr()
-{
- prox=0;
-}
+void BounceTimeoutCW_isr()
+{
+ DebounceCW=0;
+
+}
+void FrameTimeoutCCW_isr()
+{
+ NewCCWMode=cnt;
+ cntCCW=0;
+}
+
+//---------------------
+void BounceTimeoutCCW_isr()
+{
+ DebounceCCW=0;
+
+}
//---------------------
void polling_sensors_isr()
{
if (SensorsEn){
sensor_daemon.flags_set(0x1);
- led = !led;
+ led1 = !led1;
}
}
+void CW_switch_isr()
+{
+ if(DebounceCW==0){
+ DebounceCW=1;
+ cntCW++;
+ FrameTimeoutCW.detach();
+ FrameTimeoutCW.attach(FrameTimeoutCW_isr,1.0);
+ BounceTimeoutCW.attach(BounceTimeoutCW_isr,0.2);
+ }
+}
+void CCW_switch_isr()
+{
+ if(DebounceCCW==0){
+ DebounceCCW=1;
+ cntCCW++;
+ FrameTimeoutCCW.detach();
+ FrameTimeoutCCW.attach(FrameTimeoutCCW_isr,1.0);
+ BounceTimeoutCCW.attach(BounceTimeoutCCW_isr,0.2);
+ }
+}
//---------------------------------
-void clk_speed_isr()
+/*void clk_speed_isr()
{
rotate_cnt++;
if (rotate_cnt>10)
dur_time_en=1;
-}
+}*/