Diff: main.cpp

Revision:

0:6fd0fbcfc7e1

Child:

2:aba8d0d53190

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Dec 20 20:27:09 2015 +0000
@@ -0,0 +1,162 @@
+/*
+ * TSK_MAIN.CPP
+ */
+#include "mbed.h"
+
+#include "TextLCD.h"
+
+#define TIMEOUT_DELAY_US    (25000)
+#define CALC_COEFF          (1000.0f*340.0f/2)
+#define TICKS_RANGE_MAX     (15000)
+#define TICKS_RANGE_MIN     (150)
+
+TextLCD lcd(PA_8, PA_7, PA_9, PA_1, PB_5, PA_10, TextLCD::LCD16x2);
+
+static DigitalOut trigDist(PB_9);
+static DigitalIn echoDist(PA_6);
+
+static uint32_t timer_ticks;
+static float time_float;
+static uint32_t timer_ticks_min;
+
+static Timer timer;
+
+static Timeout timeout;
+
+static volatile enum { IDLE, STARTED, COMPLETED, TIMEOUT, OUT_OF_RANGE_MIN, OUT_OF_RANGE_MAX, ERROR_SIG } state;
+
+void tout(void) {
+    if (state == STARTED) 
+        state = TIMEOUT;
+}
+
+int main() {
+    
+    trigDist = 0;
+    state = IDLE;
+    timer_ticks_min = 999999;
+
+    wait_ms(250);
+    lcd.cls();
+
+    lcd.cls();
+    lcd.printf("Row 1");
+    lcd.locate(0, 1);    
+    lcd.printf("Row 2");
+
+    while (true) {    
+        // Priprava
+        state = STARTED;
+        timeout.attach_us(&tout, TIMEOUT_DELAY_US);
+
+        // Dej puls na trig
+        trigDist = 1;
+        wait_us(500);
+        trigDist = 0;
+    
+        // Zkontroluj signal
+        if (echoDist != 0) {
+            state = ERROR_SIG;
+            timer_ticks = 0;
+            lcd.cls();
+            lcd.printf("Dist.: ---", timer_ticks);
+            lcd.locate(0, 1);    
+            lcd.printf("ERROR_SIG");
+        } else {
+            // Vynuluj timer
+            timer.stop();
+            timer.reset();
+                
+            // Cekej na hrany na Echo
+            while (echoDist == 0 && state == STARTED)
+                ;
+                
+            timer.start();
+
+            while (echoDist == 1 && state == STARTED)
+                ;
+                           
+            if (state == STARTED) {
+                state = COMPLETED;
+                timer.stop();
+
+                timer_ticks = timer.read_us();
+                time_float = timer.read()*CALC_COEFF;
+
+                timer_ticks_min = (timer_ticks_min < timer_ticks) ? timer_ticks_min : timer_ticks;
+                
+                if (timer_ticks < TICKS_RANGE_MIN) {
+                    timer_ticks = 0;
+                    time_float = 0.0f;
+
+                    state = OUT_OF_RANGE_MIN;
+
+                    lcd.cls();
+                    lcd.printf("Dist.: ---");
+                    lcd.locate(0, 1);    
+                    lcd.printf("OUT_OF_RANGE_MIN");
+                } else if (timer_ticks > TICKS_RANGE_MAX) {
+                    timer_ticks = 0;
+                    time_float = 0.0f;
+
+                    state = OUT_OF_RANGE_MAX;
+
+                    lcd.cls();
+                    lcd.printf("Dist.: ---");
+                    lcd.locate(0, 1);    
+                    lcd.printf("OUT_OF_RANGE_MAX");
+                } else {
+                    lcd.cls();
+                    lcd.printf("Dist.: %u %u", timer_ticks, timer_ticks_min);
+                    lcd.locate(0, 1);    
+                    lcd.printf("Dist.: %.3f", time_float);
+                }
+            } else {
+                timer.stop();
+                timer_ticks = 0;
+                time_float = 0.0f;
+
+                lcd.cls();
+                lcd.printf("Dist.: ---", timer_ticks);
+                lcd.locate(0, 1);    
+                lcd.printf("TIMEOUT");
+            }
+        }
+        timeout.detach();
+
+        wait_ms(100);
+
+        state = IDLE;
+    }
+}
+
+
+/*
+// A class for flip()-ing a DigitalOut 
+class Flipper {
+public:
+    Flipper(PinName pin) : _pin(pin) {
+        _pin = 0;
+    }
+    void flip() {
+        _pin = !_pin;
+    }
+private:
+    DigitalOut _pin;
+};
+ 
+DigitalOut led1(LED1);
+Flipper f(LED2);
+Timeout t;
+ 
+int main() {
+    t.attach(&f, &Flipper::flip, 2.0); // the address of the object, member function, and interval
+ 
+    // spin in a main loop. flipper will interrupt it to call flip
+    while(1) {
+        led1 = !led1;
+        wait(0.2);
+    }
+}
+
+ */ 
\ No newline at end of file