Revision 0:eb99909151eb, committed 2021-05-17

Comitter:

ankazwork

Date:

Mon May 17 05:34:19 2021 +0000

Commit message:

placeholder;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/.gitignore	Mon May 17 05:34:19 2021 +0000
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+.build
+.mbed
+projectfiles
+*.py*

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CONTRIBUTING.md	Mon May 17 05:34:19 2021 +0000
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+# Contributing to Mbed OS
+
+Mbed OS is an open-source, device software platform for the Internet of Things. Contributions are an important part of the platform, and our goal is to make it as simple as possible to become a contributor.
+
+To encourage productive collaboration, as well as robust, consistent and maintainable code, we have a set of guidelines for [contributing to Mbed OS](https://os.mbed.com/docs/mbed-os/latest/contributing/index.html).

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IRremouteAndButton.lib	Mon May 17 05:34:19 2021 +0000
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+https://os.mbed.com/users/docent/code/IRremouteAndButton/#7a268df54696

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS3MDL_my.lib	Mon May 17 05:34:19 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/docent/code/LIS3MDL_my/#fa19aa1a666d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QuadDisplayMy.lib	Mon May 17 05:34:19 2021 +0000
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+https://os.mbed.com/users/docent/code/QuadDisplayMy/#f8d176816ac2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/README.md	Mon May 17 05:34:19 2021 +0000
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+![](./resources/official_armmbed_example_badge.png)
+# Blinky Mbed OS example
+
+The example project is part of the [Arm Mbed OS Official Examples](https://os.mbed.com/code/) and is the [getting started example for Mbed OS](https://os.mbed.com/docs/mbed-os/v5.14/quick-start/index.html). It contains an application that repeatedly blinks an LED on supported [Mbed boards](https://os.mbed.com/platforms/).
+
+You can build the project with all supported [Mbed OS build tools](https://os.mbed.com/docs/mbed-os/latest/tools/index.html). However, this example project specifically refers to the command-line interface tool [Arm Mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli).
+(Note: To see a rendered example you can import into the Arm Online Compiler, please see our [import quick start](https://os.mbed.com/docs/mbed-os/latest/quick-start/online-with-the-online-compiler.html#importing-the-code).)
+
+1. [Install Mbed CLI](https://os.mbed.com/docs/mbed-os/latest/quick-start/offline-with-mbed-cli.html).
+
+1. Clone this repository on your system, and change the current directory to where the project was cloned:
+
+    ```bash
+    $ git clone git@github.com:armmbed/mbed-os-example-blinky && cd mbed-os-example-blinky
+    ```
+
+    Alternatively, you can download the example project with Arm Mbed CLI using the `import` subcommand:
+
+    ```bash
+    $ mbed import mbed-os-example-blinky && cd mbed-os-example-blinky
+    ```
+
+
+## Application functionality
+
+The `main()` function is the single thread in the application. It toggles the state of a digital output connected to an LED on the board.
+
+## Building and running
+
+1. Connect a USB cable between the USB port on the board and the host computer.
+2. <a name="build_cmd"></a> Run the following command to build the example project and program the microcontroller flash memory:
+    ```bash
+    $ mbed compile -m <TARGET> -t <TOOLCHAIN> --flash
+    ```
+The binary is located at `./BUILD/<TARGET>/<TOOLCHAIN>/mbed-os-example-blinky.bin`.
+
+Alternatively, you can manually copy the binary to the board, which you mount on the host computer over USB.
+
+Depending on the target, you can build the example project with the `GCC_ARM`, `ARM` or `IAR` toolchain. After installing Arm Mbed CLI, run the command below to determine which toolchain supports your target:
+
+```bash
+$ mbed compile -S
+```
+
+## Expected output
+The LED on your target turns on and off every 500 milliseconds.
+
+
+## Troubleshooting
+If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it.
+
+## Related Links
+
+* [Mbed OS Stats API](https://os.mbed.com/docs/latest/apis/mbed-statistics.html).
+* [Mbed OS Configuration](https://os.mbed.com/docs/latest/reference/configuration.html).
+* [Mbed OS Serial Communication](https://os.mbed.com/docs/latest/tutorials/serial-communication.html).
+* [Mbed OS bare metal](https://os.mbed.com/docs/mbed-os/latest/reference/mbed-os-bare-metal.html).
+* [Mbed boards](https://os.mbed.com/platforms/).
+
+### License and contributions
+
+The software is provided under Apache-2.0 license. Contributions to this project are accepted under the same license. Please see contributing.md for more info.
+
+This project contains code from other projects. The original license text is included in those source files. They must comply with our license guide.

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 17 05:34:19 2021 +0000
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+#include "mbed.h"
+#include "platform/mbed_thread.h"
+#include "UserButton.h"
+#include "sMotor.h" 
+#include "lis3mdl_class.h"
+#include "QuadDisplay2.h"
+
+/****************************************************************
+*                           Definitions 
+****************************************************************/
+
+// Blinking rate in milliseconds
+#define step_speed 1500
+#define POINTS 1
+#define M_PI 3.14159265358979323846
+#define RADIAN M_PI/180.0
+
+/****************************************************************
+*                          Prototypes   
+*****************************************************************/
+
+void Ini();
+void HowManyClicks();
+void proximityR_isr();
+void proximityF_isr();
+//-----------------------
+void polling_sensors_isr();
+void sensors_task();
+//-----------------------
+void clk_speed_isr();
+/*****************************************************************
+*                           Interface
+******************************************************************/
+
+DigitalOut led1(LED1);
+DigitalIn CW_switch(D10);
+DigitalIn CCW_switch(D11);
+//---
+RawSerial pc(USBTX, USBRX);
+DevI2C devI2c(D14,D15);
+LIS3MDL magnetometer(&devI2c,LIS3MDL_M_MEMS_ADDRESS_LOW);
+DigitalOut led2(A0);
+SPI spi(D4, D5, D3);
+QuadDisplayMy display(&spi,D6);
+//---
+sMotor motor(A5, A4, A3, A2); // creates new stepper motor: IN1, IN2, IN3, IN4
+InterruptIn BlueBatton(BUTTON)
+
+/*****************************************************************
+ *                            Time
+******************************************************************/
+//Ticker polling_sensors;
+//Ticker clk_speed;
+/****************************************************************
+*                           Threads  
+****************************************************************/
+//Thread sensor_daemon;
+
+/*****************************************************************
+*                             Global variables
+******************************************************************/
+
+
+//----------------
+uint8_t button_event;
+uint8_t mode=0;
+uint8_t RotateDir;
+uint16_t RotateSpeed;
+//----------------
+uint8_t SensorsEn=1;
+
+int16_t M[3];
+uint8_t point;
+uint32_t rotate_cnt;
+//---------
+//------------------
+
+/******************************************************************
+ *                              Main 
+******************************************************************/
+int main()
+{
+    // Initialise the digital pin LED1 as an output
+    
+    Ini();
+    
+    while (true) {
+        //led = !led;
+        HowManyClicks();
+        if (mode){
+            
+        }
+        if (point){
+            motor.step(POINTS, RotateDir, RotateSpeed);
+        }else
+           wait_us(step_speed);
+             
+        //thread_sleep_for(BLINKING_RATE_MS);
+    }
+}
+
+/**********************************************************
+*                              Functions  
+***********************************************************/
+void Ini()
+{
+ pc.baud(115200);
+ ButtonIni(&BlueBatton);
+ button_event_ind=button_event=0;
+ 
+ 
+//--------------
+
+sensor_daemon.start(sensors_task);
+SensorsEn=1;
+polling_sensors.attach(&polling_sensors_isr, 0.4);
+clk_speed.attach(&clk_speed_isr, 0.01);
+mode=0;
+point=0;
+RotateSpeed=step_speed;
+rotate_cnt=0;
+}
+
+//------------------
+void HowManyClicks()
+{
+    WhatButtonMode(&button_event)
+    if(button_event) {
+        switch (button_event) {
+            case 1:
+                mode=0;
+                point=0;
+                break;
+            case 2:
+                mode=1;
+                point=0;
+                //RotateDir=1;
+                //RotateSpeed=step_speed;
+                break;                    
+            case 3:
+                mode=2;
+                point=0;
+                //RotateDir=0;
+                //RotateSpeed=step_speed;
+                break;
+            case 4:
+                mode=3;
+                point=0;
+                //RotateDir=1;
+                //RotateSpeed=step_speed;
+                break;
+            case 5:
+                mode=4;
+                point=0;
+                //RotateSpeed=step_speed*2;
+                //RotateDir=0;
+                break;
+            case 6:
+                mode=5; 
+                point=1;
+                RotateSpeed=step_speed*2;
+                RotateDir=1; 
+                break;
+             case 7:
+                
+                break;               
+                
+            default:
+                break;                                                                                                   
+        }     
+        button_event=0;            
+    }  
+}
+
+//-----------------
+void sensors_task()
+{
+ int status;
+ char text[5];
+ int32_t dif; 
+ 
+    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);  
+                break;
+            case 1:
+                sprintf(text,"l%3d", distance_l);                        
+                break;  
+            case 2:      
+                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]);
+                break;
+            case 5:      
+                sprintf(text,"%d",dur_time);
+                break;                 
+            default: 
+                sprintf(text,"----");                    
+                break;                      
+        } 
+        board->display->display_string(text);                                 
+        SensorsEn=1;
+   }         
+}
+
+/**********************************************************
+*                    Interrupt Service Routines 
+***********************************************************/
+void proximityR_isr()
+{
+  prox=1;      
+} 
+//---------------------
+void proximityF_isr()
+{ 
+  prox=0;      
+}    
+
+//---------------------
+void polling_sensors_isr()
+{
+ if (SensorsEn){
+    sensor_daemon.flags_set(0x1);
+    led = !led; 
+ }    
+}
+//---------------------------------
+void clk_speed_isr()
+{
+    rotate_cnt++; 
+    if (rotate_cnt>10)
+        dur_time_en=1;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Mon May 17 05:34:19 2021 +0000
@@ -0,0 +1,1 @@
+https://github.com/ARMmbed/mbed-os/#cf4f12a123c05fcae83fc56d76442015cb8a39e9

Binary file resources/official_armmbed_example_badge.png has changed

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sMotor.lib	Mon May 17 05:34:19 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/XtaticO/code/sMotor/#4b3b9e047ce3