Diff: main.cpp

Revision:

0:d88fd55a27a6

Child:

1:0c6b12a40074

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 19 15:09:11 2014 +0000
@@ -0,0 +1,337 @@
+/* University of York Robot Lab
+ *
+ * Programmable IR Beacon with Display Example Code
+ *
+ * This file is intended for use exclusively with the high-power IR Beacon with display
+ * 
+ * 
+ *
+ * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
+ *
+ * March 2014
+ *
+ */
+
+#include "mbed.h"
+#include "display.h"        //Display driver for the Midas 16x2 I2C Display
+
+DigitalIn button1(p23);     //"SET" Push-button
+DigitalIn button2(p24);     //"SELECT" Push-button
+PwmOut out_narrow(p21);     //PWM Output for the narrow (high intensity) LED driver
+PwmOut out_wide(p22);       //PWM Output for the wide-angle LED driver
+
+Display display;
+Timer system_timer;         //System timer is used for timer the on-off periods for the LEDs
+Timer button_timer;         //Button timer is used for debouncing the push buttons and pausing for entering 'SET' mode
+
+char adjust = 0;
+char mode = 0;
+char power = 1;
+char duty = 2;
+char frequency = 2;
+
+int on_period;
+int off_period;
+int total_period;
+char phase;
+
+int get_period()
+{
+    switch(frequency) {
+        case 0:
+            return 1000000;
+        case 1:
+            return 500000;
+        case 2:
+            return 200000;
+        case 3:
+            return 100000;
+        case 4:
+            return 50000;
+        case 5:
+            return 33333;
+        case 6:
+            return 25000;
+        case 7:
+            return 20000;
+    }
+    return 0;
+}
+
+void update_cycles()
+{
+    total_period = get_period();
+    switch(duty){
+        case 0: on_period=total_period/10;break;
+        case 1: on_period=total_period/4;break;
+        case 2: on_period=total_period/2;break;
+        case 3: on_period=(total_period*3)/4;break;
+        case 4: on_period=total_period-(total_period/10);break;    
+    }
+    off_period = total_period - on_period;
+    phase = 0;
+    system_timer.reset();
+}
+
+void init()
+{
+    display.init_display();
+    display.set_position(0,2);
+    display.write_string("YORK ROBOTICS",13);
+    display.set_position(1,3);
+    display.write_string("LABORATORY",10);
+    wait(0.45);
+    display.clear_display();
+    display.set_position(0,2);
+    display.write_string("Programmable",12);
+    display.set_position(1,3);
+    display.write_string("IR Beacon",9);
+    wait(0.45);
+}
+
+char * mode_string()
+{
+    switch(mode) {
+        case 1:
+            return "WIDE  ";
+        case 2:
+            return "NARROW";
+    }
+    return "BOTH  ";
+}
+
+char * duty_string()
+{
+    switch(duty) {
+        case 0:
+            return " 10%";
+        case 1:
+            return " 25%";
+        case 2:
+            return " 50%";
+        case 3:
+            return " 75%";
+        case 4:
+            return " 90%";
+    }
+    return"???";
+}
+
+char * power_string()
+{
+    switch(power) {
+        case 0:
+            return " 25%";
+        case 1:
+            return " 50%";
+        case 2:
+            return " 75%";
+        case 3:
+            return "100%";
+    }
+    return"????";
+}
+
+char * freq_string()
+{
+    switch(frequency) {
+        case 0:
+            return " 1Hz";
+        case 1:
+            return " 2Hz";
+        case 2:
+            return " 5Hz";
+        case 3:
+            return "10Hz";
+        case 4:
+            return "20Hz";
+        case 5:
+            return "30Hz";
+        case 6:
+            return "40Hz";
+        case 7:
+            return "50Hz";
+    }
+    return "????";
+}
+
+// The normal mode display output: shows the frequency, power, duty-cycle and output mode (ie wide, narrow or both)
+void display_status()
+{
+    display.clear_display();
+    display.set_position(0,0);
+    char line1[15] ;
+    strcpy(line1, "F:");
+    strcat(line1, freq_string());
+    strcat(line1, " P:");
+    strcat(line1, power_string());
+    display.write_string(line1,13);
+    char line2[17];
+    strcpy(line2, "D:");
+    strcat(line2, duty_string());
+    strcat(line2, " M:");
+    strcat(line2, mode_string());
+    display.set_position(1,0);
+    display.write_string(line2,16);
+}
+
+// The configuration mode; entered by holding the 'set' button for one second.  In this mode the user can through the options
+// by pressing 'set' and change a setting by pressing 'select'.  The final screen in the loop allows the user to return to
+// normal operation, this will also happen with no user input for 5 seconds.
+void change_settings()
+{
+    //Switch off LEDs whilst in configuration mode 
+    out_wide.pulsewidth_us(0);
+    out_narrow.pulsewidth_us(0);
+    display.clear_display();
+    display.set_position(0,0);
+    display.write_string("CONFIGURATION",13);
+    display.set_position(1,0);
+    display.write_string("MODE",4);
+    while(button1 == 1);
+    char screen = 0;
+    char active = 1;
+    Timer settings_timer;
+    settings_timer.start();
+    while(active) {
+        display.clear_display();
+        display.set_position(0,0);
+        char line2[17];
+        switch(screen) {
+            case 0:
+                display.write_string("Set Frequency:",14);
+                display.set_position(1,0);
+                strcpy(line2,freq_string());
+                display.write_string(line2,4);
+                break;
+            case 1:
+                display.write_string("Set Power:    ",14);
+                display.set_position(1,0);
+                strcpy(line2,power_string());
+                display.write_string(line2,4);
+                break;
+            case 2:
+                display.write_string("Set Duty Cycle:",15);
+                display.set_position(1,0);
+                strcpy(line2,duty_string());
+                display.write_string(line2,4);
+                break;
+            case 3:
+                display.write_string("Set Mode:     ",14);
+                display.set_position(1,0);
+                strcpy(line2,mode_string());
+                display.write_string(line2,6);
+                break;
+            case 4:
+                display.write_string("End Setup",9);
+                break;
+        }
+        char button_pressed = 0;
+        
+        while(button_pressed < 2 && settings_timer.read_ms() < 5000){
+            if(button1 == 1 || button2 == 1){
+                if(button_pressed == 1){
+                    if(button_timer.read_ms() > 50) button_pressed = 2;
+                } else {button_pressed = 1; button_timer.reset();}
+            }  else button_pressed = 0;
+        }
+        if(button1==1){
+            screen++;
+            if(screen == 5)screen=0;
+            while(button1 == 1);
+        }else{
+          if(button2==1){
+            switch(screen){
+               case 0: frequency ++;
+                       if(frequency == 8) frequency = 0;
+                       break;
+               case 1: power++;
+                       if(power == 4) power=0;
+                       break;
+               case 2: duty++;
+                       if(duty == 5) duty=0;
+                       break;
+               case 3: mode++;
+                       if(mode == 3) mode = 0;
+                       break;
+               case 4: active=0; break;
+            }
+            while(button2 == 1);   
+          }   
+        }
+        if(settings_timer > 5000) active=0;
+        settings_timer.reset();
+    }
+}
+
+int main()
+{
+    init();
+    display_status();
+    char b_p = 0;
+    system_timer.start();
+    button_timer.start();
+    update_cycles();
+    out_narrow.period_us(1000);
+    out_wide.period_us(1000);
+    out_narrow.pulsewidth_us(0);
+    out_wide.pulsewidth_us(0);
+
+
+    while(1) {
+        if(phase==0){
+          if(system_timer.read_us() > off_period){
+            system_timer.reset();
+            int pw = 250;
+            if(power==1) pw=500;
+            if(power==2) pw=750;
+            if(power==3) pw=1000;
+            if(mode<2){
+                out_wide.pulsewidth_us(pw);
+            } 
+            if(mode!=1){
+                out_narrow.pulsewidth_us(pw);
+            }
+            phase = 1;
+          }
+        }else{
+          if(system_timer.read_us() > on_period){
+            system_timer.reset();
+            phase = 0;
+            out_wide.pulsewidth_us(0);
+            out_narrow.pulsewidth_us(0);
+          }   
+        }
+        
+        
+        if(button1 == 1) {
+            if(b_p == 0) {
+                b_p=1;
+                button_timer.reset();
+            }
+            if(b_p == 1) {
+                if(button_timer.read_ms() > 100) {
+                    b_p=2;
+                    display.clear_display();
+                    display.set_position(0,0);
+                    display.write_string("Hold to change",14);
+                    display.set_position(1,0);
+                    display.write_string("settings",8);
+                }
+            }
+            if(b_p == 2) {
+                if(button_timer.read_ms() > 1000) {
+                    change_settings();
+                    update_cycles();
+                    display_status();
+                    b_p=0;
+                }
+            }
+        } else {
+            if (b_p > 0) {
+                if(b_p == 2) display_status();
+                b_p=0;
+            }
+        }
+    }
+}
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