PH
Dependencies: IRremouteAndButton QuadDisplayMy LIS3MDL_my sMotor
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 @@ -0,0 +1,4 @@ +.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 @@ -0,0 +1,5 @@ +# 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 @@ -0,0 +1,1 @@ +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 @@ -0,0 +1,1 @@ +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 @@ -0,0 +1,64 @@ +![](./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 @@ -0,0 +1,258 @@ +#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