Andres Arevalo / Mbed 2 deprecated escaner_RTOS

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Dependencies:   mbed Servo MFRC522_Updated HC-SR04 ssd1306_library

main.cpp@3:3eb3185401f9, 2020-06-10 (annotated)

Committer:
andres0705
Date:
Wed Jun 10 15:49:27 2020 +0000
Revision:
3:3eb3185401f9
Parent:
2:ad8f0cdf7015 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
20172573073 0:366b3e64c83c 1 #include "mbed.h"
20172573073 0:366b3e64c83c 2 #include "rtos.h"
20172573073 0:366b3e64c83c 3 #include "Servo.h"
20172573073 0:366b3e64c83c 4 #include "HCSR04.h"
20172573073 0:366b3e64c83c 5 #include "MFRC522.h"
20172573073 0:366b3e64c83c 6 #include "ssd1306.h"
20172573073 1:849d12c9b2be 7
20172573073 1:849d12c9b2be 8 MFRC522 RfChip (D11, D12, D13, PTE0, D10);
20172573073 0:366b3e64c83c 9 SSD1306 lcd (D7,D6);
20172573073 0:366b3e64c83c 10 BusOut display7Seg(PTC10, PTC7, PTC6, PTC4, PTC0, PTB19, PTB18);
20172573073 0:366b3e64c83c 11 DigitalOut display1(PTC11);
20172573073 0:366b3e64c83c 12 DigitalOut display2(PTC13);
20172573073 1:849d12c9b2be 13 DigitalOut display3(PTC16);
20172573073 0:366b3e64c83c 14 Servo myservo(D2);
20172573073 1:849d12c9b2be 15
20172573073 0:366b3e64c83c 16 Thread t;
20172573073 0:366b3e64c83c 17 Thread t1;
20172573073 0:366b3e64c83c 18 Thread t2;
20172573073 0:366b3e64c83c 19 Thread t3;
20172573073 1:849d12c9b2be 20 Thread t4;
20172573073 1:849d12c9b2be 21
20172573073 0:366b3e64c83c 22 Serial pc(USBTX, USBRX);
20172573073 0:366b3e64c83c 23 HCSR04 sonar(D3,D4);
20172573073 2:ad8f0cdf7015 24
20172573073 0:366b3e64c83c 25 float menor;
20172573073 0:366b3e64c83c 26 float da;
20172573073 0:366b3e64c83c 27 float dis = 0.0;
20172573073 2:ad8f0cdf7015 28 static const char tar[]={0xD7,0x4F,0x88,0x19};
20172573073 2:ad8f0cdf7015 29 static const char llav[]={0x27,0x57,0xC1,0x7B};
20172573073 2:ad8f0cdf7015 30 int q,a,al,b,w;
20172573073 0:366b3e64c83c 31
20172573073 0:366b3e64c83c 32
20172573073 0:366b3e64c83c 33 int anodeComun[10] = {
20172573073 0:366b3e64c83c 34 0b0000001, // 0
20172573073 0:366b3e64c83c 35 0b1001111, // 1
20172573073 0:366b3e64c83c 36 0b0010010, // 2
20172573073 0:366b3e64c83c 37 0b0000110, // 3
20172573073 0:366b3e64c83c 38 0b1001100, // 4
20172573073 0:366b3e64c83c 39 0b0100100, // 5
20172573073 0:366b3e64c83c 40 0b0100000, // 6
20172573073 0:366b3e64c83c 41 0b0001111, // 7
20172573073 0:366b3e64c83c 42 0b0000000, // 8
20172573073 0:366b3e64c83c 43 0b0001100, // 9
20172573073 0:366b3e64c83c 44 };
20172573073 0:366b3e64c83c 45
20172573073 0:366b3e64c83c 46 void servo()
20172573073 0:366b3e64c83c 47 {
20172573073 1:849d12c9b2be 48
20172573073 0:366b3e64c83c 49 while(true) {
20172573073 0:366b3e64c83c 50 menor = sonar.getCm();
20172573073 0:366b3e64c83c 51 for(int i=0; i<40; i++) {
20172573073 0:366b3e64c83c 52 myservo = i/40.0;
20172573073 0:366b3e64c83c 53 da = sonar.getCm();
20172573073 2:ad8f0cdf7015 54 w=i;
20172573073 2:ad8f0cdf7015 55 //pc.printf("%1.f , %.2f \n\r",float(i*4.5),da);
20172573073 0:366b3e64c83c 56 if(menor > da) {
20172573073 0:366b3e64c83c 57 menor = da;
20172573073 0:366b3e64c83c 58 a=(i*180)/40;
20172573073 0:366b3e64c83c 59 }
20172573073 0:366b3e64c83c 60 //ThisThread::sleep_for(500);
20172573073 1:849d12c9b2be 61 wait(0.05);
20172573073 0:366b3e64c83c 62 }
20172573073 0:366b3e64c83c 63 menor=sonar.getCm();
20172573073 0:366b3e64c83c 64 a=0;
20172573073 0:366b3e64c83c 65 for(int i=40; i>0; i--) {
20172573073 0:366b3e64c83c 66 myservo = i/40.0;
20172573073 0:366b3e64c83c 67 da = sonar.getCm();
20172573073 2:ad8f0cdf7015 68 w=i;
20172573073 2:ad8f0cdf7015 69 // pc.printf("%1.f , %.2f \n\r",float(i*4.5),da);
20172573073 0:366b3e64c83c 70 if(menor > da) {
20172573073 0:366b3e64c83c 71 menor = da;
20172573073 0:366b3e64c83c 72 a=(i*180)/40;
20172573073 0:366b3e64c83c 73 }
20172573073 0:366b3e64c83c 74 //ThisThread::sleep_for(500);
20172573073 1:849d12c9b2be 75 wait(0.05);
20172573073 0:366b3e64c83c 76 }
20172573073 0:366b3e64c83c 77 }
20172573073 0:366b3e64c83c 78 }
20172573073 0:366b3e64c83c 79 void seg7()
20172573073 0:366b3e64c83c 80 {
20172573073 0:366b3e64c83c 81 while(1) {
20172573073 1:849d12c9b2be 82 int d,u,n,c;
20172573073 0:366b3e64c83c 83 n=int(menor);
20172573073 2:ad8f0cdf7015 84
20172573073 1:849d12c9b2be 85 c= n/100;
20172573073 1:849d12c9b2be 86 d = (n - (c*100))/10;
20172573073 0:366b3e64c83c 87 u = n % 10;
20172573073 0:366b3e64c83c 88
20172573073 0:366b3e64c83c 89 display1=1;
20172573073 0:366b3e64c83c 90 display2=0;
20172573073 1:849d12c9b2be 91 display3=0;
andres0705 3:3eb3185401f9 92 display7Seg=anodeComun[c];
20172573073 1:849d12c9b2be 93
20172573073 0:366b3e64c83c 94 //ThisThread::sleep_for(25);
20172573073 1:849d12c9b2be 95 wait(0.003);
20172573073 1:849d12c9b2be 96
20172573073 0:366b3e64c83c 97 display1=0;
20172573073 0:366b3e64c83c 98 display2=1;
20172573073 1:849d12c9b2be 99 display3=0;
andres0705 3:3eb3185401f9 100 display7Seg=anodeComun[d];
20172573073 1:849d12c9b2be 101
20172573073 0:366b3e64c83c 102 //ThisThread::sleep_for(25);
20172573073 1:849d12c9b2be 103 wait(0.003);
20172573073 2:ad8f0cdf7015 104
20172573073 2:ad8f0cdf7015 105 display1=0;
20172573073 1:849d12c9b2be 106 display2=0;
20172573073 1:849d12c9b2be 107 display3=1;
andres0705 3:3eb3185401f9 108 display7Seg=anodeComun[u];
20172573073 1:849d12c9b2be 109
20172573073 1:849d12c9b2be 110 //ThisThread::sleep_for(25);
20172573073 1:849d12c9b2be 111 wait(0.003);
20172573073 2:ad8f0cdf7015 112
20172573073 2:ad8f0cdf7015 113
20172573073 0:366b3e64c83c 114 }
20172573073 0:366b3e64c83c 115 }
20172573073 0:366b3e64c83c 116 void oled()
20172573073 0:366b3e64c83c 117 {
20172573073 0:366b3e64c83c 118 while(1) {
20172573073 0:366b3e64c83c 119 lcd.init();
20172573073 0:366b3e64c83c 120 lcd.speed (SSD1306::Fast);
20172573073 0:366b3e64c83c 121 lcd.cls();
20172573073 1:849d12c9b2be 122 lcd.locate (4,1);
20172573073 1:849d12c9b2be 123 lcd.printf ("dis menor :%2.f ",menor);
20172573073 0:366b3e64c83c 124 lcd.locate (5,1);
20172573073 1:849d12c9b2be 125 lcd.printf ("angulo :%d ",a);
20172573073 0:366b3e64c83c 126 lcd.locate (1,0);
20172573073 0:366b3e64c83c 127 time_t seconds = time(NULL);
20172573073 1:849d12c9b2be 128 lcd.printf("Fecha= %s", ctime(&seconds));
20172573073 0:366b3e64c83c 129 lcd.redraw();
20172573073 1:849d12c9b2be 130 //ThisThread::sleep_for(500);
20172573073 0:366b3e64c83c 131 wait(0.5);
20172573073 0:366b3e64c83c 132 }
20172573073 0:366b3e64c83c 133 }
20172573073 1:849d12c9b2be 134 void rf()
20172573073 0:366b3e64c83c 135 {
20172573073 0:366b3e64c83c 136 while(1) {
20172573073 2:ad8f0cdf7015 137 al=0;
20172573073 2:ad8f0cdf7015 138 b=0;
20172573073 1:849d12c9b2be 139 lcd.init();
20172573073 1:849d12c9b2be 140 lcd.speed (SSD1306::Fast);
20172573073 1:849d12c9b2be 141 if ( ! RfChip.PICC_IsNewCardPresent()) {
20172573073 1:849d12c9b2be 142 //ThisThread::sleep_for(500);
20172573073 1:849d12c9b2be 143 wait_ms(500);
20172573073 1:849d12c9b2be 144 continue;
20172573073 1:849d12c9b2be 145 }
20172573073 1:849d12c9b2be 146 if ( ! RfChip.PICC_ReadCardSerial()) {
20172573073 1:849d12c9b2be 147 //ThisThread::sleep_for(500);
20172573073 1:849d12c9b2be 148 wait_ms(500);
20172573073 1:849d12c9b2be 149 continue;
20172573073 1:849d12c9b2be 150 }
20172573073 1:849d12c9b2be 151 uint8_t piccType = RfChip.PICC_GetType(RfChip.uid.sak);
20172573073 1:849d12c9b2be 152 lcd.locate (6,3);
20172573073 1:849d12c9b2be 153 lcd.printf(" %s ", RfChip.PICC_GetTypeName(piccType));
20172573073 1:849d12c9b2be 154 lcd.redraw();
20172573073 2:ad8f0cdf7015 155 for (uint8_t i = 0; i < RfChip.uid.size; i++) {
20172573073 2:ad8f0cdf7015 156
20172573073 2:ad8f0cdf7015 157 if(uint8_t (tar[i])==RfChip.uid.uidByte[i]){
20172573073 2:ad8f0cdf7015 158 al=al+1;
20172573073 2:ad8f0cdf7015 159 }else{
20172573073 2:ad8f0cdf7015 160 al=0;
20172573073 2:ad8f0cdf7015 161 }
20172573073 2:ad8f0cdf7015 162 }
20172573073 2:ad8f0cdf7015 163 for (uint8_t i = 0; i < RfChip.uid.size; i++) {
20172573073 2:ad8f0cdf7015 164
20172573073 2:ad8f0cdf7015 165 if(uint8_t (llav[i])==RfChip.uid.uidByte[i]){
20172573073 2:ad8f0cdf7015 166 b=b+1;
20172573073 2:ad8f0cdf7015 167 }else{
20172573073 2:ad8f0cdf7015 168 b=0;
20172573073 2:ad8f0cdf7015 169 }
20172573073 2:ad8f0cdf7015 170 }
20172573073 2:ad8f0cdf7015 171
20172573073 0:366b3e64c83c 172 //ThisThread::sleep_for(1000);
20172573073 1:849d12c9b2be 173 wait_ms(1000);
20172573073 0:366b3e64c83c 174 }
20172573073 0:366b3e64c83c 175 }
20172573073 2:ad8f0cdf7015 176 void serial()
20172573073 2:ad8f0cdf7015 177 {
20172573073 2:ad8f0cdf7015 178 while(1) {
20172573073 1:849d12c9b2be 179
20172573073 2:ad8f0cdf7015 180 time_t seconds = time(NULL);
20172573073 1:849d12c9b2be 181
20172573073 2:ad8f0cdf7015 182 char buffer2[32];
20172573073 2:ad8f0cdf7015 183 strftime(buffer2, 32, "%m/%d/%y", localtime(&seconds));
20172573073 2:ad8f0cdf7015 184 pc.printf("%s", buffer2);
20172573073 2:ad8f0cdf7015 185
20172573073 2:ad8f0cdf7015 186 char buffer1[32];
20172573073 2:ad8f0cdf7015 187 strftime(buffer1, 32, "%H:%M:%S", localtime(&seconds));
20172573073 2:ad8f0cdf7015 188 pc.printf(" , %s", buffer1);
20172573073 2:ad8f0cdf7015 189 pc.printf(" , %1.f , %.2f , ",float(w*4.5),da);
20172573073 2:ad8f0cdf7015 190 if(al==4){
20172573073 2:ad8f0cdf7015 191 pc.printf("tarjeta");
20172573073 2:ad8f0cdf7015 192 }else if(b==4){
20172573073 2:ad8f0cdf7015 193 pc.printf("llavero");
20172573073 2:ad8f0cdf7015 194 }else{
20172573073 2:ad8f0cdf7015 195 pc.printf("sin lectura");
20172573073 2:ad8f0cdf7015 196 }
20172573073 2:ad8f0cdf7015 197 pc.printf("\n\r");
20172573073 2:ad8f0cdf7015 198 wait(0.04);
20172573073 2:ad8f0cdf7015 199
20172573073 2:ad8f0cdf7015 200 }
20172573073 2:ad8f0cdf7015 201 }
20172573073 0:366b3e64c83c 202 int main()
20172573073 0:366b3e64c83c 203 {
andres0705 3:3eb3185401f9 204 myservo.calibrate(0.0015,180);
20172573073 1:849d12c9b2be 205 set_time(1591673863);
20172573073 1:849d12c9b2be 206 RfChip.PCD_Init();
20172573073 0:366b3e64c83c 207 t.start((servo));
20172573073 1:849d12c9b2be 208 t.set_priority (osPriorityNormal3);
20172573073 0:366b3e64c83c 209 t1.start(seg7);
20172573073 2:ad8f0cdf7015 210 t1.set_priority (osPriorityNormal);
20172573073 0:366b3e64c83c 211 t2.start(oled);
20172573073 1:849d12c9b2be 212 t2.set_priority (osPriorityNormal1);
20172573073 2:ad8f0cdf7015 213 t3.start(serial);
20172573073 2:ad8f0cdf7015 214 t2.set_priority (osPriorityNormal2);
20172573073 1:849d12c9b2be 215 t4.start(rf);
20172573073 1:849d12c9b2be 216 t.join();
20172573073 0:366b3e64c83c 217 }