amin omar / Mbed 2 deprecated Vehicle_Rear_Assistant

Coding for vehicle rear assistant

Dependencies:   beep mbed

Fork of Vehicle_Rear_Assistant by amin omar

Vehicle Rear Assistant ELEC 2645 el14a2o

main.h@0:53f28990602d, 2015-05-08 (annotated)

Committer:
aminomar
Date:
Fri May 08 21:54:44 2015 +0000
Revision:
0:53f28990602d
code finished;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aminomar 0:53f28990602d 1 /**
aminomar 0:53f28990602d 2 @file main.h
aminomar 0:53f28990602d 3 @brief Header file containing functions prototypes, defines and global variables.
aminomar 0:53f28990602d 4 @brief The software of Vehicle Rear Assistant.
aminomar 0:53f28990602d 5 @brief ELEC 2645
aminomar 0:53f28990602d 6 @author Aminuddin Omar
aminomar 0:53f28990602d 7 @date APRIL 2015
aminomar 0:53f28990602d 8 */
aminomar 0:53f28990602d 9
aminomar 0:53f28990602d 10 #ifndef MAIN_H
aminomar 0:53f28990602d 11 #define MAIN_H
aminomar 0:53f28990602d 12
aminomar 0:53f28990602d 13 //Declare libraries to be used
aminomar 0:53f28990602d 14 #include "mbed.h"
aminomar 0:53f28990602d 15 #include "PowerControl/PowerControl.h"
aminomar 0:53f28990602d 16 #include "PowerControl/EthernetPowerControl.h"
aminomar 0:53f28990602d 17 #include "N5110.h"
aminomar 0:53f28990602d 18 #include "SRF02.h"
aminomar 0:53f28990602d 19 #include "beep.h"
aminomar 0:53f28990602d 20
aminomar 0:53f28990602d 21 /**
aminomar 0:53f28990602d 22 @namespace lcd
aminomar 0:53f28990602d 23 @brief GPIO pins for LCD display
aminomar 0:53f28990602d 24 @namespace sensor
aminomar 0:53f28990602d 25 @brief GPIO pins for SRF02
aminomar 0:53f28990602d 26 @namespace buzzer
aminomar 0:53f28990602d 27 @brief PWM pin for piezo buzzer
aminomar 0:53f28990602d 28 @namespace danger
aminomar 0:53f28990602d 29 @brief PWM pin for RED LED
aminomar 0:53f28990602d 30 @namespace caution
aminomar 0:53f28990602d 31 @brief PWM pin for YELLOW LED
aminomar 0:53f28990602d 32 @namespace safe
aminomar 0:53f28990602d 33 @brief PWM pin for GREEN LED
aminomar 0:53f28990602d 34 @namespace lcdBrightness
aminomar 0:53f28990602d 35 @brief PWM pin for LCD backlight
aminomar 0:53f28990602d 36 @namespace potBrightness
aminomar 0:53f28990602d 37 @brief AnalogIn pin for potentiometer
aminomar 0:53f28990602d 38 @namespace button
aminomar 0:53f28990602d 39 @brief InterruptIn pin for button
aminomar 0:53f28990602d 40 */
aminomar 0:53f28990602d 41 N5110 lcd(p7,p8,p9,p10,p11,p13,p26); //(LCD_VCC, sce, rst, dc, mosi, sck, backlight)
aminomar 0:53f28990602d 42 SRF02 sensor(p28, p27);
aminomar 0:53f28990602d 43 Beep buzzer(p21);
aminomar 0:53f28990602d 44 PwmOut danger(p24); //danger = red
aminomar 0:53f28990602d 45 PwmOut caution(p23); //caution = yellow
aminomar 0:53f28990602d 46 PwmOut safe(p22); //safe = green
aminomar 0:53f28990602d 47 PwmOut lcdBrightness(p26); //lcd backlight (pin26)
aminomar 0:53f28990602d 48 AnalogIn potBrightness(p20); //potentiometer (pin20)
aminomar 0:53f28990602d 49 InterruptIn button(p17); //push button to display value of distance
aminomar 0:53f28990602d 50
aminomar 0:53f28990602d 51 //variables
aminomar 0:53f28990602d 52 int distance; /*!< measure distance between car and object */
aminomar 0:53f28990602d 53 int buttonFlag = 0; /*!< print flag set in ISR */
aminomar 0:53f28990602d 54 int displayReading = 0; /*!< display the value of distance on LCD */
aminomar 0:53f28990602d 55
aminomar 0:53f28990602d 56 //Initialise all the functions
aminomar 0:53f28990602d 57
aminomar 0:53f28990602d 58 /**
aminomar 0:53f28990602d 59 Print welcome message when switch is turned on
aminomar 0:53f28990602d 60 @param a - set number of letters that can be written including space
aminomar 0:53f28990602d 61 @param message - Print HELLO
aminomar 0:53f28990602d 62 @param rear - Print REAR
aminomar 0:53f28990602d 63 @param assistant - Print ASSISTANT
aminomar 0:53f28990602d 64 @param name - Print A.OMAR
aminomar 0:53f28990602d 65 @param number - Print 200906568
aminomar 0:53f28990602d 66 */
aminomar 0:53f28990602d 67 void welcomeText();
aminomar 0:53f28990602d 68
aminomar 0:53f28990602d 69 /**
aminomar 0:53f28990602d 70 Measure distance between car and objects
aminomar 0:53f28990602d 71 @param distance - use SRF02 to measure distance
aminomar 0:53f28990602d 72 */
aminomar 0:53f28990602d 73 void getDistance();
aminomar 0:53f28990602d 74
aminomar 0:53f28990602d 75 /**
aminomar 0:53f28990602d 76 Print "CAR" and a block on LCD according to distance measured
aminomar 0:53f28990602d 77 @param lcd.drawRect - draw rectangle to represent object
aminomar 0:53f28990602d 78 @param lcd.printString - draw "CAR" to represent car
aminomar 0:53f28990602d 79 @param lcd.refresh() - refresh LCD display
aminomar 0:53f28990602d 80 @param distanceSafe() - GREEN LED and buzzer is activated in safe mode
aminomar 0:53f28990602d 81 @param distanceCaution() - YELLOW LED and buzzer is activated in caution mode
aminomar 0:53f28990602d 82 @param distanceDanger() - RED LED and buzzer is activated in danger mode
aminomar 0:53f28990602d 83 */
aminomar 0:53f28990602d 84 void readDistance();
aminomar 0:53f28990602d 85
aminomar 0:53f28990602d 86 /**
aminomar 0:53f28990602d 87 This function is called when in safe mode
aminomar 0:53f28990602d 88 @param safe - only GREEN LED light up
aminomar 0:53f28990602d 89 @brief buzzer is called and beep according to distance
aminomar 0:53f28990602d 90 */
aminomar 0:53f28990602d 91 void distanceSafe();
aminomar 0:53f28990602d 92
aminomar 0:53f28990602d 93 /**
aminomar 0:53f28990602d 94 This function is called when in caution mode
aminomar 0:53f28990602d 95 @param safe - only YELLOW LED light up
aminomar 0:53f28990602d 96 @brief buzzer is called and beep according to distance
aminomar 0:53f28990602d 97 */
aminomar 0:53f28990602d 98 void distanceCaution();
aminomar 0:53f28990602d 99
aminomar 0:53f28990602d 100 /**
aminomar 0:53f28990602d 101 This function is called when in danger mode
aminomar 0:53f28990602d 102 @param safe - only RED LED light up
aminomar 0:53f28990602d 103 @brief buzzer is called and beep according to distance
aminomar 0:53f28990602d 104 */
aminomar 0:53f28990602d 105 void distanceDanger();
aminomar 0:53f28990602d 106
aminomar 0:53f28990602d 107 /**
aminomar 0:53f28990602d 108 This function is called when button is pressed
aminomar 0:53f28990602d 109 @param buttonFlag - set the button flag to 1
aminomar 0:53f28990602d 110 */
aminomar 0:53f28990602d 111 void buttonPressed();
aminomar 0:53f28990602d 112
aminomar 0:53f28990602d 113
aminomar 0:53f28990602d 114 //Print welcome message (letters are print one by one)
aminomar 0:53f28990602d 115 void welcomeText()
aminomar 0:53f28990602d 116 {
aminomar 0:53f28990602d 117 int a[9] = {12,18,24,30,36,42,48,54,60};
aminomar 0:53f28990602d 118 const char message[6] = {'H','E','L','L','O','!'};
aminomar 0:53f28990602d 119 char rear[4] = {'R','E','A','R'};
aminomar 0:53f28990602d 120 char assistant[9] = {'A','S','S','I','S','T','A','N','T'};
aminomar 0:53f28990602d 121 char name[6] = {'A','.','O','M','A','R'};
aminomar 0:53f28990602d 122 char number[9] = {'2','0','0','9','0','6','5','6','8'};
aminomar 0:53f28990602d 123 int i;
aminomar 0:53f28990602d 124 for(i=0; i<6; i++) {
aminomar 0:53f28990602d 125 lcd.printChar(message[i],a[i],0);
aminomar 0:53f28990602d 126 wait(0.05);
aminomar 0:53f28990602d 127 }
aminomar 0:53f28990602d 128 for(i=0; i<4; i++) {
aminomar 0:53f28990602d 129 lcd.printChar(rear[i],a[i],2);
aminomar 0:53f28990602d 130 wait(0.05);
aminomar 0:53f28990602d 131 }
aminomar 0:53f28990602d 132 for(i=0; i<9; i++) {
aminomar 0:53f28990602d 133 lcd.printChar(assistant[i],a[i],3);
aminomar 0:53f28990602d 134 wait(0.05);
aminomar 0:53f28990602d 135 }
aminomar 0:53f28990602d 136 for(i=0; i<6; i++) {
aminomar 0:53f28990602d 137 lcd.printChar(name[i],a[i],4);
aminomar 0:53f28990602d 138 wait(0.05);
aminomar 0:53f28990602d 139 }
aminomar 0:53f28990602d 140 for(i=0; i<9; i++) {
aminomar 0:53f28990602d 141 lcd.printChar(number[i],a[i],5);
aminomar 0:53f28990602d 142 wait(0.05);
aminomar 0:53f28990602d 143 }
aminomar 0:53f28990602d 144 lcd.refresh();
aminomar 0:53f28990602d 145 wait(2.5);
aminomar 0:53f28990602d 146 }
aminomar 0:53f28990602d 147
aminomar 0:53f28990602d 148 //sensor is set to get the distance
aminomar 0:53f28990602d 149 void getDistance()
aminomar 0:53f28990602d 150 {
aminomar 0:53f28990602d 151 distance = sensor.getDistanceCm();
aminomar 0:53f28990602d 152 }
aminomar 0:53f28990602d 153
aminomar 0:53f28990602d 154 //sensor read distance & lcd display 'CAR' and 'rectangle'
aminomar 0:53f28990602d 155 void readDistance()
aminomar 0:53f28990602d 156 {
aminomar 0:53f28990602d 157 if (distance >= 230)
aminomar 0:53f28990602d 158 {
aminomar 0:53f28990602d 159 lcd.drawRect(76,0,7,48,1); //WALL lcd.drawRect(76(x),0(y),7(w),48(h),1(type))
aminomar 0:53f28990602d 160 lcd.printString("CAR",5,3); //CAR
aminomar 0:53f28990602d 161 lcd.refresh();
aminomar 0:53f28990602d 162 distanceSafe();
aminomar 0:53f28990602d 163 }
aminomar 0:53f28990602d 164 else if (distance >= 190 & distance <= 229)
aminomar 0:53f28990602d 165 {
aminomar 0:53f28990602d 166 lcd.drawRect(76,0,7,48,1); //WALL
aminomar 0:53f28990602d 167 lcd.printString("CAR",15,3);//CAR
aminomar 0:53f28990602d 168 lcd.refresh();
aminomar 0:53f28990602d 169 distanceSafe();
aminomar 0:53f28990602d 170 }
aminomar 0:53f28990602d 171 else if (distance >= 150 & distance <= 189)
aminomar 0:53f28990602d 172 {
aminomar 0:53f28990602d 173 lcd.drawRect(76,0,7,48,1); //WALL
aminomar 0:53f28990602d 174 lcd.printString("CAR",25,3);//CAR
aminomar 0:53f28990602d 175 lcd.refresh();
aminomar 0:53f28990602d 176 distanceSafe();
aminomar 0:53f28990602d 177 }
aminomar 0:53f28990602d 178 else if (distance >= 120 & distance <= 149)
aminomar 0:53f28990602d 179 {
aminomar 0:53f28990602d 180 lcd.drawRect(76,0,7,48,1); //WALL
aminomar 0:53f28990602d 181 lcd.printString("CAR",30,3);//CAR
aminomar 0:53f28990602d 182 lcd.refresh();
aminomar 0:53f28990602d 183 distanceCaution();
aminomar 0:53f28990602d 184 }
aminomar 0:53f28990602d 185 else if (distance >= 100 & distance <= 119)
aminomar 0:53f28990602d 186 {
aminomar 0:53f28990602d 187 lcd.drawRect(76,0,7,48,1); //WALL
aminomar 0:53f28990602d 188 lcd.printString("CAR",39,3);//CAR
aminomar 0:53f28990602d 189 lcd.refresh();
aminomar 0:53f28990602d 190 distanceCaution();
aminomar 0:53f28990602d 191 }
aminomar 0:53f28990602d 192 else if (distance >= 70 & distance <= 99)
aminomar 0:53f28990602d 193 {
aminomar 0:53f28990602d 194 lcd.drawRect(76,0,7,48,1); //WALL
aminomar 0:53f28990602d 195 lcd.printString("CAR",48,3);//CAR
aminomar 0:53f28990602d 196 lcd.refresh();
aminomar 0:53f28990602d 197 distanceCaution();
aminomar 0:53f28990602d 198 }
aminomar 0:53f28990602d 199 else if (distance >= 45& distance <= 69)
aminomar 0:53f28990602d 200 {
aminomar 0:53f28990602d 201 lcd.drawRect(76,0,7,48,1); //WALL
aminomar 0:53f28990602d 202 lcd.printString("CAR",55,3);//CAR
aminomar 0:53f28990602d 203 lcd.refresh();
aminomar 0:53f28990602d 204 distanceDanger();
aminomar 0:53f28990602d 205 }
aminomar 0:53f28990602d 206 else if (distance <= 44)
aminomar 0:53f28990602d 207 {
aminomar 0:53f28990602d 208 lcd.printString("!!STOP!!",25,3);//print "STOP" only
aminomar 0:53f28990602d 209 lcd.refresh();
aminomar 0:53f28990602d 210 distanceDanger();
aminomar 0:53f28990602d 211 }
aminomar 0:53f28990602d 212 }
aminomar 0:53f28990602d 213
aminomar 0:53f28990602d 214 //safe to reverse car
aminomar 0:53f28990602d 215 void distanceSafe()
aminomar 0:53f28990602d 216 {
aminomar 0:53f28990602d 217 danger = 0;
aminomar 0:53f28990602d 218 caution = 0;
aminomar 0:53f28990602d 219 safe = 1; //>>>>>>>>>safe = green led light up in safe mode
aminomar 0:53f28990602d 220 buzzer.beep(1000,1);
aminomar 0:53f28990602d 221 wait(1);
aminomar 0:53f28990602d 222 buzzer.nobeep();
aminomar 0:53f28990602d 223 }
aminomar 0:53f28990602d 224
aminomar 0:53f28990602d 225 //caution : reverse car carefuly
aminomar 0:53f28990602d 226 void distanceCaution()
aminomar 0:53f28990602d 227 {
aminomar 0:53f28990602d 228 danger = 0;
aminomar 0:53f28990602d 229 caution = 1; //>>>>>>caution = yellow led light up in caution mode
aminomar 0:53f28990602d 230 safe = 0;
aminomar 0:53f28990602d 231 buzzer.beep(1000,1);
aminomar 0:53f28990602d 232 wait(0.4);
aminomar 0:53f28990602d 233 buzzer.nobeep();
aminomar 0:53f28990602d 234 }
aminomar 0:53f28990602d 235
aminomar 0:53f28990602d 236 //danger : stop reverse car
aminomar 0:53f28990602d 237 void distanceDanger()
aminomar 0:53f28990602d 238 {
aminomar 0:53f28990602d 239 danger = 1; //>>>>>>>danger = red led light up in danger mode
aminomar 0:53f28990602d 240 caution = 0;
aminomar 0:53f28990602d 241 safe = 0;
aminomar 0:53f28990602d 242 buzzer.beep(1000,1);
aminomar 0:53f28990602d 243 wait(0.2);
aminomar 0:53f28990602d 244 buzzer.nobeep();
aminomar 0:53f28990602d 245 }
aminomar 0:53f28990602d 246
aminomar 0:53f28990602d 247
aminomar 0:53f28990602d 248 //INTERRUPT SERVICE ROUTINE
aminomar 0:53f28990602d 249 void buttonPressed()
aminomar 0:53f28990602d 250 {
aminomar 0:53f28990602d 251 buttonFlag = 1; //set flag
aminomar 0:53f28990602d 252 }
aminomar 0:53f28990602d 253
aminomar 0:53f28990602d 254 #endif