ece 4180 lab 3
Dependencies: mbed wave_player mbed-rtos 4DGL-uLCD-SE SDFileSystem X_NUCLEO_53L0A1 HC_SR04_Ultrasonic_Library
lidar_theremin.h@2:4845e2dae429, 2020-02-19 (annotated)
- Committer:
- emilywilson
- Date:
- Wed Feb 19 18:48:09 2020 +0000
- Revision:
- 2:4845e2dae429
led rtos
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
emilywilson | 2:4845e2dae429 | 1 | #include "mbed.h" |
emilywilson | 2:4845e2dae429 | 2 | #include "XNucleo53L0A1.h" |
emilywilson | 2:4845e2dae429 | 3 | #include <stdio.h> |
emilywilson | 2:4845e2dae429 | 4 | Serial pc(USBTX,USBRX); |
emilywilson | 2:4845e2dae429 | 5 | DigitalOut shdn(p25); |
emilywilson | 2:4845e2dae429 | 6 | // This VL53L0X board test application performs a range measurement in polling mode |
emilywilson | 2:4845e2dae429 | 7 | // Use 3.3(Vout) for Vin, p28 for SDA, p27 for SCL, P26 for shdn on mbed LPC1768 |
emilywilson | 2:4845e2dae429 | 8 | |
emilywilson | 2:4845e2dae429 | 9 | //I2C sensor pins |
emilywilson | 2:4845e2dae429 | 10 | #define VL53L0_I2C_SDA p28 |
emilywilson | 2:4845e2dae429 | 11 | #define VL53L0_I2C_SCL p27 |
emilywilson | 2:4845e2dae429 | 12 | |
emilywilson | 2:4845e2dae429 | 13 | static XNucleo53L0A1 *board=NULL; |
emilywilson | 2:4845e2dae429 | 14 | |
emilywilson | 2:4845e2dae429 | 15 | DigitalOut audio(p26); //output to speaker amp or audio jack |
emilywilson | 2:4845e2dae429 | 16 | DigitalOut led(LED1); |
emilywilson | 2:4845e2dae429 | 17 | DigitalOut led2(LED2); |
emilywilson | 2:4845e2dae429 | 18 | |
emilywilson | 2:4845e2dae429 | 19 | //Timeout cycle; |
emilywilson | 2:4845e2dae429 | 20 | Ticker cycle; |
emilywilson | 2:4845e2dae429 | 21 | |
emilywilson | 2:4845e2dae429 | 22 | volatile int half_cycle_time = 1; |
emilywilson | 2:4845e2dae429 | 23 | |
emilywilson | 2:4845e2dae429 | 24 | //two calls to this interrupt routine generates a square wave |
emilywilson | 2:4845e2dae429 | 25 | void toggle_interrupt() |
emilywilson | 2:4845e2dae429 | 26 | { |
emilywilson | 2:4845e2dae429 | 27 | if (half_cycle_time>22000) audio=0; //mute if nothing in range |
emilywilson | 2:4845e2dae429 | 28 | else audio = !audio; //toggle to make half a square wave |
emilywilson | 2:4845e2dae429 | 29 | led = !led; |
emilywilson | 2:4845e2dae429 | 30 | cycle.detach(); |
emilywilson | 2:4845e2dae429 | 31 | //update time for interrupt activation -change frequency of square wave |
emilywilson | 2:4845e2dae429 | 32 | cycle.attach_us(&toggle_interrupt, half_cycle_time); |
emilywilson | 2:4845e2dae429 | 33 | } |
emilywilson | 2:4845e2dae429 | 34 | |
emilywilson | 2:4845e2dae429 | 35 | uint32_t distance; |
emilywilson | 2:4845e2dae429 | 36 | void newdist() |
emilywilson | 2:4845e2dae429 | 37 | { |
emilywilson | 2:4845e2dae429 | 38 | //update frequency based on new sonar data |
emilywilson | 2:4845e2dae429 | 39 | led2 = !led2; |
emilywilson | 2:4845e2dae429 | 40 | half_cycle_time = (distance*10)<<3; |
emilywilson | 2:4845e2dae429 | 41 | } |
emilywilson | 2:4845e2dae429 | 42 | |
emilywilson | 2:4845e2dae429 | 43 | //Set the trigger pin to p6 and the echo pin to p7 |
emilywilson | 2:4845e2dae429 | 44 | //have updates every .07 seconds and a timeout after 1 |
emilywilson | 2:4845e2dae429 | 45 | //second, and call newdist when the distance changes |
emilywilson | 2:4845e2dae429 | 46 | int run_lidar_theremin() |
emilywilson | 2:4845e2dae429 | 47 | { |
emilywilson | 2:4845e2dae429 | 48 | int status; |
emilywilson | 2:4845e2dae429 | 49 | DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL); |
emilywilson | 2:4845e2dae429 | 50 | /* creates the 53L0A1 expansion board singleton obj */ |
emilywilson | 2:4845e2dae429 | 51 | board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2); |
emilywilson | 2:4845e2dae429 | 52 | shdn = 0; //must reset sensor for an mbed reset to work |
emilywilson | 2:4845e2dae429 | 53 | wait(0.1); |
emilywilson | 2:4845e2dae429 | 54 | shdn = 1; |
emilywilson | 2:4845e2dae429 | 55 | wait(0.1); |
emilywilson | 2:4845e2dae429 | 56 | /* init the 53L0A1 board with default values */ |
emilywilson | 2:4845e2dae429 | 57 | status = board->init_board(); |
emilywilson | 2:4845e2dae429 | 58 | |
emilywilson | 2:4845e2dae429 | 59 | while (status) { |
emilywilson | 2:4845e2dae429 | 60 | pc.printf("Failed to init board! \r\n"); |
emilywilson | 2:4845e2dae429 | 61 | status = board->init_board(); |
emilywilson | 2:4845e2dae429 | 62 | } |
emilywilson | 2:4845e2dae429 | 63 | //loop taking and printing distance |
emilywilson | 2:4845e2dae429 | 64 | |
emilywilson | 2:4845e2dae429 | 65 | audio = 0; |
emilywilson | 2:4845e2dae429 | 66 | led = 0; |
emilywilson | 2:4845e2dae429 | 67 | cycle.attach(&toggle_interrupt, half_cycle_time); |
emilywilson | 2:4845e2dae429 | 68 | while(1) { |
emilywilson | 2:4845e2dae429 | 69 | //Do something else here |
emilywilson | 2:4845e2dae429 | 70 | status = board->sensor_centre->get_distance(&distance); |
emilywilson | 2:4845e2dae429 | 71 | newdist(); |
emilywilson | 2:4845e2dae429 | 72 | pc.printf("distance %d", distance); |
emilywilson | 2:4845e2dae429 | 73 | //call checkDistance() as much as possible, as this is where |
emilywilson | 2:4845e2dae429 | 74 | //the class checks if dist needs to be called. |
emilywilson | 2:4845e2dae429 | 75 | } |
emilywilson | 2:4845e2dae429 | 76 | } |