ece 4180 lab 3
Dependencies: mbed wave_player mbed-rtos 4DGL-uLCD-SE SDFileSystem X_NUCLEO_53L0A1 HC_SR04_Ultrasonic_Library
lidar_theremin.h
- Committer:
- emilywilson
- Date:
- 2020-02-19
- Revision:
- 2:4845e2dae429
File content as of revision 2:4845e2dae429:
#include "mbed.h" #include "XNucleo53L0A1.h" #include <stdio.h> Serial pc(USBTX,USBRX); DigitalOut shdn(p25); // This VL53L0X board test application performs a range measurement in polling mode // Use 3.3(Vout) for Vin, p28 for SDA, p27 for SCL, P26 for shdn on mbed LPC1768 //I2C sensor pins #define VL53L0_I2C_SDA p28 #define VL53L0_I2C_SCL p27 static XNucleo53L0A1 *board=NULL; DigitalOut audio(p26); //output to speaker amp or audio jack DigitalOut led(LED1); DigitalOut led2(LED2); //Timeout cycle; Ticker cycle; volatile int half_cycle_time = 1; //two calls to this interrupt routine generates a square wave void toggle_interrupt() { if (half_cycle_time>22000) audio=0; //mute if nothing in range else audio = !audio; //toggle to make half a square wave led = !led; cycle.detach(); //update time for interrupt activation -change frequency of square wave cycle.attach_us(&toggle_interrupt, half_cycle_time); } uint32_t distance; void newdist() { //update frequency based on new sonar data led2 = !led2; half_cycle_time = (distance*10)<<3; } //Set the trigger pin to p6 and the echo pin to p7 //have updates every .07 seconds and a timeout after 1 //second, and call newdist when the distance changes int run_lidar_theremin() { int status; DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL); /* creates the 53L0A1 expansion board singleton obj */ board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2); shdn = 0; //must reset sensor for an mbed reset to work wait(0.1); shdn = 1; wait(0.1); /* init the 53L0A1 board with default values */ status = board->init_board(); while (status) { pc.printf("Failed to init board! \r\n"); status = board->init_board(); } //loop taking and printing distance audio = 0; led = 0; cycle.attach(&toggle_interrupt, half_cycle_time); while(1) { //Do something else here status = board->sensor_centre->get_distance(&distance); newdist(); pc.printf("distance %d", distance); //call checkDistance() as much as possible, as this is where //the class checks if dist needs to be called. } }