main.cpp

00001 #include "mbed.h"
00002 #include "SDFileSystem.h"
00003 #include "uLCD_4DGL.h"
00004 #include "LSM9DS1.h"
00005 #include <fstream>
00006 #include <iomanip>
00007 using namespace std;
00008 
00009 #define START_S 1480719111
00010 
00011 # define PI   3.14159
00012 
00013 #define LEFT  0xA
00014 #define RIGHT 0xB
00015 #define STOP  0xC
00016 #define GO    0xD
00017 
00018 int lightState;
00019 
00020 DigitalOut leftSignal(p22);
00021 DigitalOut rightSignal(p23);
00022 DigitalOut brakeLight(p21);
00023 Timer blinkT;
00024 
00025 AnalogIn flex(p20);
00026 LSM9DS1 imu(p9, p10, 0xD6, 0x3C);
00027 
00028 SDFileSystem sd(p11, p12, p13, p14, "sd");  //mosi -> DI, miso <- DO, slck -> sclck, CS -> CS
00029 uLCD_4DGL lcd(p28, p27, p29);
00030 
00031 // speed sensor
00032 InterruptIn hallSensor(p8);
00033 Timer hallT;
00034 int stopped;
00035 
00036 float miles = 0;
00037 float speed = 0;
00038 float maxSpeed = 0;
00039 time_t seconds;
00040 
00041 Serial pc(USBTX, USBRX);
00042 
00043 void store_trip();
00044 void recall_trips();
00045 int get_state();
00046 void pass();
00047 
00048 int main() {    
00049     // open the file for reading and appending records
00050     // recall last trip
00051     lcd.cls();
00052     recall_trips();
00053     wait(1);
00054     lcd.cls();
00055     
00056     
00057     imu.begin();
00058     if (!imu.begin()) {
00059         lcd.printf("Failed to communicate with LSM9DS1.\n");
00060     }
00061     imu.calibrate();
00062     
00063     // normal operation loop here
00064     int going = 1; // cyclist is moving
00065     set_time(START_S);  // Set RTC time
00066     
00067     float theta = 0;
00068     
00069     hallSensor.fall(&pass);
00070     hallT.start();     // start the hall sensor timer
00071         
00072     leftSignal = 0;
00073     rightSignal = 0;
00074     brakeLight = 0;
00075 
00076     while(going) {
00077         
00078         seconds = time(NULL) - START_S; // return the seconds passed since start
00079         
00080         if (hallT.read() > 6.0 && !stopped) {
00081             speed = 0;
00082             stopped = 1;
00083         }
00084 
00085         going = (hallT.read() > 200.0 && stopped) ? 0 : 1;
00086         maxSpeed = (speed > maxSpeed) ? speed : maxSpeed;
00087         
00088         lcd.locate(0, 1);
00089         lcd.color(BLUE);
00090         lcd.printf("Distance : %3.1f mi\n\n", miles);
00091         lcd.color(GREEN);
00092         lcd.printf("Speed : %2.1f mph\n\n", speed);
00093         lcd.color(LGREY);
00094         lcd.printf("Time : %3.1f min\n\n", (float)seconds / 60);
00095         
00096         lcd.circle(64, 128, 64, GREEN);
00097         lcd.line(64, 128, 64 +  62*cos(theta), 128 - 62*sin(theta), BLACK);
00098         theta = PI - (speed / 9.536);
00099         lcd.line(64, 128, 64 +  62*cos(theta), 128 - 62*sin(theta), WHITE);
00100         
00101         
00102         // light states code
00103         lightState = get_state();
00104         pc.printf("STATE %d\n\r", lightState);
00105         
00106         if (lightState == STOP) {
00107             brakeLight = 1;
00108         } else if (lightState == GO) {
00109             brakeLight = 0;
00110             rightSignal = 0;
00111             leftSignal = 0;
00112         } else {
00113             if (lightState == RIGHT) {
00114                 rightSignal = 1;
00115             } else {
00116                 leftSignal = 1;
00117             }
00118         }
00119         wait(1);
00120     }
00121     
00122     // store this trip
00123     lcd.cls();
00124     store_trip();
00125     
00126     // end everything
00127 }
00128 
00129 void recall_trips(void) {
00130     // display the most recent trip made on the screen
00131     // display the most impressive trip (longest distance, best speed, least time)
00132     
00133     float f_miles;
00134     float f_maxSpeed;
00135     float f_minutes;
00136     ifstream file;
00137     
00138     // read out the most recent trip
00139     file.open("/sd/records/recent.txt");
00140     
00141     lcd.color(WHITE);
00142     
00143     if (!file.is_open()) {
00144         lcd.locate(0, 1);
00145         lcd.printf("Could not open file\n");
00146     } else {
00147         file >> f_miles >> f_maxSpeed >> f_minutes;
00148         lcd.locate(0, 1);
00149         lcd.printf("PRIOR TRIP\n\n");
00150         lcd.printf("Dist : %3.1f mi\n\n", f_miles);
00151         lcd.printf("High : %2.1f mph\n\n", f_maxSpeed);
00152         lcd.printf("Time : %3.1f min\n\n", f_minutes);
00153     }
00154     
00155     file.close();
00156     wait(0.5);
00157     
00158     // display the best trip
00159     
00160     file.open("/sd/records/best-of.txt");
00161 
00162     if(!file.is_open()) {
00163         lcd.printf("Could not open file\n");
00164     } else {
00165         // show the best trip
00166         file >> f_miles >> f_maxSpeed >> f_minutes;
00167         lcd.printf("BEST TRIP\n\n");
00168         lcd.printf("Dist : %3.1f mi\n\n", f_miles);
00169         lcd.printf("High : %2.1f mph\n\n", f_maxSpeed);
00170         lcd.printf("Time : %3.1f min\n\n", f_minutes);
00171     }
00172 
00173     file.close();
00174     wait(0.5);
00175 }
00176 
00177 void store_trip(void) {
00178     // store the most recent trip completed
00179     // determine whether this trip was a record, and indicate if so
00180     
00181     float minutes;
00182     float f_miles;
00183     float f_maxSpeed;
00184     float f_minutes;
00185     fstream file;
00186     
00187     file.open("/sd/records/recent.txt");
00188     
00189     lcd.color(WHITE);
00190     
00191     if (!file.is_open()) {
00192         lcd.locate(0, 1);
00193         lcd.printf("Could not open file\n");
00194     } else {
00195         minutes = (float)seconds / 60;
00196         lcd.locate(0, 1);
00197         lcd.printf("This trip\n\n");
00198         lcd.printf("Distance : %3.1f mi\n\n", miles);
00199         lcd.printf("Top speed : %2.1f mph\n\n", maxSpeed);
00200         lcd.printf("Time : %3.1f min\n\n", minutes);
00201         // overwrite most recent
00202         file << fixed << setprecision(1) << miles << " " << maxSpeed << " " << minutes << endl;
00203     }
00204     
00205     file.close();
00206     wait(0.5);
00207     
00208     file.open("/sd/records/best-of.txt");
00209     
00210     if (!file.is_open()) {
00211         lcd.locate(0, 1);
00212         lcd.printf("Could not open file\n");
00213     } else {
00214         // retrieve the previous record
00215         file >> f_miles >> f_maxSpeed >> f_minutes;
00216         // check if you beat your best
00217         if (miles >= f_miles && maxSpeed >= f_maxSpeed && minutes >= f_minutes) {
00218             lcd.printf("A new record!");
00219             file << fixed << setprecision(1) << miles << " " << maxSpeed << " " << minutes << endl;
00220         }
00221     }
00222     
00223     file.close();
00224     wait(0.5);
00225 }
00226 
00227 int get_state(void) {
00228     imu.readAccel();
00229     float f = flex.read();
00230     int x = imu.ax, y = imu.ay, z = imu.az;
00231     pc.printf("x: %d, y: %d, z: %d, flex: %f\n\r", x,y,z,f);
00232     if (z > 0 && z > abs(y) && z > abs(x) && y < 0 && f >= 0.87)
00233         return STOP;
00234 //    if (x < 0 && abs(x) > abs(z) && abs(x) > abs(y) && f <= 0.87)
00235     if (x < 0 && abs(x) > abs(z) && abs(x) > abs(y))
00236         return LEFT;
00237     if (y > 0 && y > abs(z) && y > abs(x) && f >= 0.87)
00238         return RIGHT;
00239     return GO;
00240 }
00241 
00242 void pass(void) {
00243     // interrupt, performed when the hallsensor passes the magnet
00244     stopped = 0; // reset the global
00245     hallT.stop();
00246     speed = 0.00136364 / (hallT.read() / 3600); // current speed
00247     miles += 0.00136364; // circumference of the tire in miles
00248     hallT.reset();
00249     hallT.start();
00250 }