Ilya Kazarin
22
Dependencies: mbed RemoteIR IR_Def1 HCSR04
Diff: main.cpp
- Revision:
- 0:253fc795d7f8
diff -r 000000000000 -r 253fc795d7f8 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Mar 25 12:10:48 2019 +0000
@@ -0,0 +1,393 @@
+#include "mbed.h"
+#include "IR_Def.h"
+#include "hcsr04.h"
+
+#define CAT0_PIN PC_1 // 11 PC_3 переставили с катодом 7
+#define CAT1_PIN PC_3 // 7 PC_2 переставили с катодом 6
+#define CAT2_PIN PB_0 // 4 PF_5 переставили с катодом 5
+#define CAT3_PIN PC_2 // 2 PA_0 переставили с катодом 4
+#define CAT4_PIN PA_4 // 1 PF_10
+#define CAT5_PIN PA_1 // 10 PF_2
+#define CAT6_PIN PC_0 // 5 PD_5
+#define CAT7_PIN PF_1 // 3 PH_0
+
+#define ANO0_PIN PB_4 // 12 PC_0
+#define ANO1_PIN PB_5 // 9 PF_3
+#define ANO2_PIN PB_3 // 8 PB_0
+#define ANO3_PIN PB_10 // 6 PA_3
+
+//------------------------------------
+// Hyperterminal configuration
+// 9600 bauds, 8-bit data, no parity
+//------------------------------------
+Serial pc(SERIAL_TX, SERIAL_RX);
+InterruptIn IR(PC_12);
+DigitalOut myled(LED1);
+Timer T;
+Ticker system_clock;
+Ticker pult; //This will be used to increment a counter every msec inside it's ISR
+Ticker display;
+Ticker distancee;
+Ticker muzika;
+AnalogOut Da(PA_5);
+//DigitalOut myled(LED2);
+DigitalOut cathodes[8] = {
+ DigitalOut(CAT0_PIN),
+ DigitalOut(CAT1_PIN),
+ DigitalOut(CAT2_PIN),
+ DigitalOut(CAT3_PIN),
+ DigitalOut(CAT4_PIN),
+ DigitalOut(CAT5_PIN),
+ DigitalOut(CAT6_PIN),
+ DigitalOut(CAT7_PIN),
+};
+DigitalOut anodes[4] = {
+ DigitalOut(ANO0_PIN),
+ DigitalOut(ANO1_PIN),
+ DigitalOut(ANO2_PIN),
+ DigitalOut(ANO3_PIN),
+};
+
+int p = 0;
+int o=0;
+void IR_ISR(); //ISR for decoding the IR signal
+void dummy_ISR(); //Required so that 'IR_ISR' is not called on both rising and falling edges of IR signal at the same time
+void sys_tick();
+int v=0;
+uint8_t state = 0; //State variable for IR state machine
+uint8_t Rx_count = 0; //Counter to count no. of bits received
+uint32_t Rx_buf = 0; //To store recevied IR data
+char Rx_flag = 0; //Flag which indicates that a valid IR command was received
+uint32_t Rx_rep_count = 0; //To keep track of how many repeat pulses are received
+uint32_t Rx_rep_timeout_count = 0; //Timer which clears the previously received IR command, once it reaches the set limit
+uint32_t T_buf = 0; //Buffer to hold value of timer T
+char Rx_ignore_rep_flag = 0; //0 => Do not ignore repeat pulses
+
+uint8_t digits[] = {0x03, 0x9F, 0x25, 0x0D, 0x99, 0x49, 0x41, 0x1F, 0x01, 0x09, 0xFD, 0x91,0x89, 0x83};
+//DigitalOut trig(PA_3);
+//DigitalIn echo(PD_7);
+HCSR04 usensor(PB_13,PB_14);
+unsigned int dist=0;
+int flag1, flag2, flag3 = 0;
+int i,j,k,m,size=0;
+
+void fireUpSign(int signNum){
+ anodes[signNum] = 1;
+}
+
+void shutDownSign(int signNum){
+ anodes[signNum] = 0;
+}
+void setDigit(int digit){
+ for(int isd=0; isd < 8; isd++){
+ ((digits[digit] & (1<<(7-isd))) > 0) ? cathodes[isd] =1 : cathodes[isd] =0;
+ }
+}
+void fireUpAllSigns(){
+ fireUpSign(0);
+ fireUpSign(1);
+ fireUpSign(2);
+ fireUpSign(3);
+}
+
+void shutDownAllSigns(){
+ shutDownSign(0);
+ shutDownSign(1);
+ shutDownSign(2);
+ shutDownSign(3);
+}
+void ddisplay ()
+{
+ setDigit(p);
+ fireUpSign(3);
+ wait_us(3000);
+ shutDownAllSigns();
+ setDigit(i);
+ fireUpSign(2);
+ wait_us(3000);
+ shutDownAllSigns();
+ setDigit(j);
+ fireUpSign(1);
+ wait_us(3000);
+ shutDownAllSigns();
+ setDigit(k);
+ fireUpSign(0);
+ wait_us(3000);
+ shutDownAllSigns();
+ //IR.fall(&IR_ISR);
+ //IR.rise(&dummy_ISR);
+ if(i>9)
+ {
+ j++;
+ i=0;
+ }
+ if(j>9)
+ {
+ k++;
+ j=0;
+ i=0;
+ }
+ /*if(i == 1)
+ {
+ myled = !myled;
+ wait_ms(300);
+ i = 0;
+ }*/
+ }
+void ddistance ()
+{
+ usensor.start();
+ dist=usensor.get_dist_cm();
+ //IR.fall(&IR_ISR);
+ //IR.rise(&dummy_ISR);
+ }
+
+void sys_tick()
+{
+ if(Rx_rep_timeout_count < 0xFFFF) { //Do not increment counter beyond 0xFFFF to prevent roll-over
+ ++Rx_rep_timeout_count; //Increment this counter every 1msec.
+ }
+}
+
+void ppult ()
+{
+ // if(o==0)
+ // {
+ //IR.mode(PullNone);
+ //wait_ms(20);
+ // IR.fall(&IR_ISR);
+ // IR.rise(&dummy_ISR);
+// }
+}
+
+int main()
+{
+ int verh;
+ int nij;
+ while(1) {
+ //if (o==0)
+ // {
+ // display.attach(&ddisplay, 0.02);
+ // distancee.attach(&ddistance, 0.02);
+ // pult.attach(&ppult, 2);
+ ddisplay ();
+ ddistance();
+ // }
+ verh = 80;
+ nij = 10;
+ if(dist >verh)
+ {
+ flag1=1;
+ }
+ if(flag1==1 && dist < nij)
+ {
+ flag2=1;
+ }
+ if (flag1==1 && flag2==1 && dist>verh)
+ {
+ flag3=1;
+ }
+ if( flag1==1 && flag2==1 && flag3==1)
+ {
+ flag1=0;
+ flag2=0;
+ flag3=0;
+ i++;
+ }
+ if (v==1)
+ {
+ // pc.printf(" RX= %x " , Rx_buf);
+
+
+ if(Rx_buf == 0xbf40ff00)
+ {
+ //pc.printf("5");
+ p=0;
+ j=0;
+ i=0;
+ k=0;
+
+ }
+
+ if(Rx_buf == 0xf609ff00)
+ {
+ i++;
+ if(i>9)
+ {
+ j++;
+ i=0;
+ }
+ if(j>9)
+ {
+ k++;
+ j=0;
+ i=0;
+ }
+ {
+ }
+ // pc.printf("9");
+ }
+
+ if(Rx_buf == 0xf807ff00)
+ {
+ //pc.printf("7");
+ if (p>9)
+ {
+ p=0;
+ }
+ else
+ {
+ p++;
+ }
+ }
+
+ if(Rx_buf == 0xe619ff00)
+ {
+ if(i+j+k<p)
+ {
+ i=0;
+ j=0;
+ k=0;
+ p=0;
+ }
+ if(i>=p)
+ {
+ i=i-p;
+ }
+ else if(i<p)
+ {
+ if(j==0)
+ {
+ k=k-1;
+ j=j+10-(p-i);
+ i=i+10;
+ i=i-p;
+ }
+ else if(j!=0)
+ {
+ i=i+10;
+ i=i-p;
+ j=j-1;
+ }
+ }
+
+
+ //pc.printf("0");
+ }
+ v=0;
+ }
+
+ // if(o==0)
+ // {
+ //IR.mode(PullNone);
+ wait_ms(12);
+ IR.fall(&IR_ISR);
+ IR.rise(&dummy_ISR);
+ //}
+ }
+}
+
+void dummy_ISR()
+{
+ //Do nothing
+}
+
+void IR_ISR()
+{
+ o=1;
+ display.detach();
+ distancee.detach();
+ //pult.detach();
+ if(state == 0) {
+ T.stop(); //Stop timer
+ T.reset(); //Reset timer
+ T.start(); //Start timer
+ IR.rise(&IR_ISR); //Set IR interrupt to occur on rising edge
+ IR.fall(&dummy_ISR);
+ state = 1; //Go to next state
+ Rx_count = 0; //Clear the received bits counter
+ } else if(state == 1) {
+
+ T.stop(); //Stop timer
+ T_buf = (uint32_t)T.read_us(); //Read timer
+ T.reset(); //Reset timer
+ T.start(); //Start timer
+ IR.fall(&IR_ISR); //Set IR interrupt to occur on falling edge
+ IR.rise(&dummy_ISR);
+
+ if(T_buf <= IR_9000us_UL && T_buf >= IR_9000us_LL) { //Check for preamble start pulse(9ms)
+ state = 2; //Go to next state
+ } else {
+ state = 0; //Reset the state machine
+ }
+ } else if(state == 2) {
+
+ T.stop(); //Stop timer
+ T_buf = (uint32_t)T.read_us(); //Read the value in timer
+ T.reset(); //Reset timer
+ T.start(); //Start timer
+ IR.fall(&IR_ISR); //Set IR interrupt to occur on falling edge
+ IR.rise(&dummy_ISR);
+
+ if(T_buf <= IR_4500us_UL && T_buf >= IR_4500us_LL) { //Check for preamble space(4.5ms)
+
+ state = 3; //Go to next state
+ Rx_rep_timeout_count = 0; //Reset counter
+ Rx_rep_count = 0; //Reset the repeat pulse counter
+ } else if(T_buf <= IR_2250us_UL && T_buf >= IR_2250us_LL) { //Check for repeat pulse(2.25ms)
+ state = 0; //Reset the state machine
+
+ if(Rx_rep_count < 0xFFFF) {
+ if(Rx_rep_timeout_count < IR_rep_timeout_ms) { //Only increment the repeat pulse counter if the delay between two successive repeat pulses is less than 135msec.
+ Rx_rep_timeout_count = 0; //Reset the counter everytime a valid repeat pulse is received
+ ++Rx_rep_count;
+ } else { //Invald repeat pulse received
+ Rx_rep_count = 0; //Reset counter
+ Rx_flag = 0; //Clear the flag to indicate that an IR command was not received
+ Rx_buf = 0; //Clear the previously received command
+ }
+ }
+ goto ahead; //Repeat the previous command
+ } else { //Wrong pulse
+ Rx_rep_count = 0; //Reset counter
+ state = 0; //Reset the state machine
+ }
+ } else if(state == 3) {
+ T.stop(); //Stop timer
+ T_buf = T.read_us(); //Read the value in timer
+ T.reset(); //Reset timer
+ T.start(); //Start timer
+ IR.fall(&IR_ISR); //Set IR interrupt to occur on falling edge
+ IR.rise(&dummy_ISR);
+v=1 ;
+
+ if(T_buf <= IR_1_UL_us && T_buf >= IR_1_LL_us) { //Check if bit is '1'(2.25ms)
+ ++Rx_count; //Increment the bit counter
+ Rx_buf >>= 1;
+ Rx_buf |= 0x80000000; //Shift in a '1' from the left side
+
+ state = 3; //Remain in current state
+ } else if(T_buf <= IR_0_UL_us && T_buf >= IR_0_LL_us) { //Check if bit is '0'(1.12ms)
+ ++Rx_count; //Increment the bit counter
+ Rx_buf >>= 1; //Shift in a '0' from the left side
+ state = 3; //Remain in current state
+ } else { //Invalid data received
+ Rx_count = 0;//Reset the bit counter
+ state = 0; //Reset state m/c
+
+ }
+
+ if(Rx_count == 32) { //Check if all 32 bits have been received
+ state = 0;
+ //Reset state m/c
+
+ahead:
+
+ if(!((Rx_rep_count > 0) && (Rx_ignore_rep_flag == 1))) {
+ Rx_flag = 1; //Set this flag for repeat pulses only if repeat pulses are to be considered
+ }
+ Rx_rep_timeout_count = 0; //Reset the counter everytime a valid command is received
+ }
+ }
+ o=0;
+}