Soheil Novinfard / Mbed OS TSI_STEP2

TSI Step2

Dependencies:   TSI

Fork of TSI_sample by William Marsh

main.cpp@5:9ab4c6917f6b, 2018-03-02 (annotated)

Committer:
novinfard
Date:
Fri Mar 02 12:20:33 2018 +0000
Revision:
5:9ab4c6917f6b
Parent:
4:d54e74fbf82c 
Finalise Project

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WilliamMarshQMUL 0:4374caa1ef17 1 #include "mbed.h"
WilliamMarshQMUL 0:4374caa1ef17 2 #include "TSISensor.h"
WilliamMarshQMUL 0:4374caa1ef17 3
WilliamMarshQMUL 0:4374caa1ef17 4 // Example program for lab 5
WilliamMarshQMUL 0:4374caa1ef17 5 // -------------------------
WilliamMarshQMUL 0:4374caa1ef17 6 // A value is read from the touch sensor and use
WilliamMarshQMUL 0:4374caa1ef17 7 // to control two LEDs
WilliamMarshQMUL 0:4374caa1ef17 8 // The value is also output to the serial interface
WilliamMarshQMUL 0:4374caa1ef17 9
WilliamMarshQMUL 0:4374caa1ef17 10 Serial pc(USBTX, USBRX); // tx, rx
novinfard 5:9ab4c6917f6b 11
WilliamMarshQMUL 0:4374caa1ef17 12 DigitalOut redLED(LED_RED);
WilliamMarshQMUL 0:4374caa1ef17 13 DigitalOut greenLED(LED_GREEN);
novinfard 5:9ab4c6917f6b 14 DigitalOut blueLED(LED_BLUE);
novinfard 5:9ab4c6917f6b 15 DigitalOut whiteLED(PTC9); // External LED
novinfard 5:9ab4c6917f6b 16
WilliamMarshQMUL 0:4374caa1ef17 17 TSISensor tsi;
WilliamMarshQMUL 0:4374caa1ef17 18
novinfard 5:9ab4c6917f6b 19 Thread leftOutThread (osPriorityNormal, 1000);
novinfard 5:9ab4c6917f6b 20 Thread leftInThread (osPriorityNormal, 1000);
novinfard 5:9ab4c6917f6b 21 Thread rightInThread (osPriorityNormal, 1000);
novinfard 5:9ab4c6917f6b 22 Thread rightOutThread (osPriorityNormal, 1000);
novinfard 5:9ab4c6917f6b 23
novinfard 5:9ab4c6917f6b 24 enum states { LeftOut, LeftIn, RightIn, RightOut, None};
novinfard 5:9ab4c6917f6b 25 volatile states state = None;
novinfard 5:9ab4c6917f6b 26
novinfard 5:9ab4c6917f6b 27
novinfard 5:9ab4c6917f6b 28
novinfard 5:9ab4c6917f6b 29 //void green_thread() { // method to run in thread
novinfard 5:9ab4c6917f6b 30 // while (true) {
novinfard 5:9ab4c6917f6b 31 // Thread::signal_wait(0x1);
novinfard 5:9ab4c6917f6b 32 // greenLED = !greenLED ; // turn on
novinfard 5:9ab4c6917f6b 33 //
novinfard 5:9ab4c6917f6b 34 // greenThread.signal_clr(0x1) ;
novinfard 5:9ab4c6917f6b 35 // // Signal are automatically cleared by wait_signal but
novinfard 5:9ab4c6917f6b 36 // // the signal might have been set again while LED on
novinfard 5:9ab4c6917f6b 37 // }
novinfard 5:9ab4c6917f6b 38 //}
novinfard 5:9ab4c6917f6b 39
novinfard 5:9ab4c6917f6b 40 //void TurnOnLed(int ledNumber)
novinfard 5:9ab4c6917f6b 41 //{
novinfard 5:9ab4c6917f6b 42 // switch (ledNumber) {
novinfard 5:9ab4c6917f6b 43 // case 1:
novinfard 5:9ab4c6917f6b 44 // redLED = false;
novinfard 5:9ab4c6917f6b 45 // greenLED = true;
novinfard 5:9ab4c6917f6b 46 // blueLED = true;
novinfard 5:9ab4c6917f6b 47 //
novinfard 5:9ab4c6917f6b 48 // whiteLED = 0;
novinfard 5:9ab4c6917f6b 49 // break;
novinfard 5:9ab4c6917f6b 50 //
novinfard 5:9ab4c6917f6b 51 // case 2:
novinfard 5:9ab4c6917f6b 52 // redLED = true;
novinfard 5:9ab4c6917f6b 53 // greenLED = false;
novinfard 5:9ab4c6917f6b 54 // blueLED = true;
novinfard 5:9ab4c6917f6b 55 //
novinfard 5:9ab4c6917f6b 56 // whiteLED = 0;
novinfard 5:9ab4c6917f6b 57 // break;
novinfard 5:9ab4c6917f6b 58 //
novinfard 5:9ab4c6917f6b 59 // case 3:
novinfard 5:9ab4c6917f6b 60 // redLED = true;
novinfard 5:9ab4c6917f6b 61 // greenLED = true;
novinfard 5:9ab4c6917f6b 62 // blueLED = false;
novinfard 5:9ab4c6917f6b 63 //
novinfard 5:9ab4c6917f6b 64 // whiteLED = 0;
novinfard 5:9ab4c6917f6b 65 // break;
novinfard 5:9ab4c6917f6b 66 //
novinfard 5:9ab4c6917f6b 67 // case 4:
novinfard 5:9ab4c6917f6b 68 // redLED = true;
novinfard 5:9ab4c6917f6b 69 // greenLED = true;
novinfard 5:9ab4c6917f6b 70 // blueLED = true;
novinfard 5:9ab4c6917f6b 71 //
novinfard 5:9ab4c6917f6b 72 // whiteLED = 1;
novinfard 5:9ab4c6917f6b 73 // break;
novinfard 5:9ab4c6917f6b 74 // }
novinfard 5:9ab4c6917f6b 75 //}
novinfard 5:9ab4c6917f6b 76
novinfard 5:9ab4c6917f6b 77 void TurnOffLed()
novinfard 5:9ab4c6917f6b 78 {
novinfard 5:9ab4c6917f6b 79 redLED = true;
novinfard 5:9ab4c6917f6b 80 greenLED = true;
novinfard 5:9ab4c6917f6b 81 blueLED = true;
novinfard 5:9ab4c6917f6b 82 whiteLED = 0;
novinfard 5:9ab4c6917f6b 83
novinfard 5:9ab4c6917f6b 84 }
novinfard 5:9ab4c6917f6b 85
novinfard 5:9ab4c6917f6b 86
novinfard 5:9ab4c6917f6b 87 void leftOut_thread() // method to run in thread
novinfard 5:9ab4c6917f6b 88 {
WilliamMarshQMUL 0:4374caa1ef17 89 while (true) {
novinfard 5:9ab4c6917f6b 90 Thread::signal_wait(0x1); // signal for enter
novinfard 5:9ab4c6917f6b 91 redLED = false;
novinfard 5:9ab4c6917f6b 92
novinfard 5:9ab4c6917f6b 93 Thread::signal_wait(0x1); // signal for exit
novinfard 5:9ab4c6917f6b 94 redLED = true;
novinfard 5:9ab4c6917f6b 95
novinfard 5:9ab4c6917f6b 96 leftOutThread.signal_clr(0x1);
novinfard 5:9ab4c6917f6b 97 leftOutThread.signal_clr(0x2);
novinfard 5:9ab4c6917f6b 98 // Signal are automatically cleared by wait_signal but
novinfard 5:9ab4c6917f6b 99 // the signal might have been set again
novinfard 5:9ab4c6917f6b 100 }
novinfard 5:9ab4c6917f6b 101 }
novinfard 5:9ab4c6917f6b 102
novinfard 5:9ab4c6917f6b 103 void leftIn_thread() // method to run in thread
novinfard 5:9ab4c6917f6b 104 {
novinfard 5:9ab4c6917f6b 105 while (true) {
novinfard 5:9ab4c6917f6b 106 Thread::signal_wait(0x1); // signal for enter
novinfard 5:9ab4c6917f6b 107 greenLED = false;
novinfard 5:9ab4c6917f6b 108
novinfard 5:9ab4c6917f6b 109 Thread::signal_wait(0x1); // signal for exit
novinfard 5:9ab4c6917f6b 110 greenLED = true;
novinfard 5:9ab4c6917f6b 111
novinfard 5:9ab4c6917f6b 112 leftInThread.signal_clr(0x1);
novinfard 5:9ab4c6917f6b 113 leftInThread.signal_clr(0x2);
novinfard 5:9ab4c6917f6b 114 // Signal are automatically cleared by wait_signal but
novinfard 5:9ab4c6917f6b 115 // the signal might have been set again
WilliamMarshQMUL 0:4374caa1ef17 116 }
WilliamMarshQMUL 0:4374caa1ef17 117 }
WilliamMarshQMUL 0:4374caa1ef17 118
novinfard 5:9ab4c6917f6b 119
novinfard 5:9ab4c6917f6b 120 void rightIn_thread() // method to run in thread
novinfard 5:9ab4c6917f6b 121 {
WilliamMarshQMUL 0:4374caa1ef17 122 while (true) {
novinfard 5:9ab4c6917f6b 123 Thread::signal_wait(0x1); // signal for enter
novinfard 5:9ab4c6917f6b 124 blueLED = !blueLED;
novinfard 5:9ab4c6917f6b 125
novinfard 5:9ab4c6917f6b 126 Thread::signal_wait(0x1); // signal for exit
novinfard 5:9ab4c6917f6b 127 blueLED = !blueLED;
novinfard 5:9ab4c6917f6b 128
novinfard 5:9ab4c6917f6b 129 rightInThread.signal_clr(0x1);
novinfard 5:9ab4c6917f6b 130 rightInThread.signal_clr(0x2);
novinfard 5:9ab4c6917f6b 131 // Signal are automatically cleared by wait_signal but
novinfard 5:9ab4c6917f6b 132 // the signal might have been set again
novinfard 5:9ab4c6917f6b 133 }
novinfard 5:9ab4c6917f6b 134 }
novinfard 5:9ab4c6917f6b 135
novinfard 5:9ab4c6917f6b 136
novinfard 5:9ab4c6917f6b 137 void rightOut_thread() // method to run in thread
novinfard 5:9ab4c6917f6b 138 {
novinfard 5:9ab4c6917f6b 139 while (true) {
novinfard 5:9ab4c6917f6b 140 Thread::signal_wait(0x1); // signal for enter
novinfard 5:9ab4c6917f6b 141 whiteLED = 1;
novinfard 5:9ab4c6917f6b 142
novinfard 5:9ab4c6917f6b 143 Thread::signal_wait(0x1); // signal for exit
novinfard 5:9ab4c6917f6b 144 whiteLED = 0;
novinfard 5:9ab4c6917f6b 145
novinfard 5:9ab4c6917f6b 146 rightOutThread.signal_clr(0x1);
novinfard 5:9ab4c6917f6b 147 rightOutThread.signal_clr(0x2);
novinfard 5:9ab4c6917f6b 148 // Signal are automatically cleared by wait_signal but
novinfard 5:9ab4c6917f6b 149 // the signal might have been set again
WilliamMarshQMUL 0:4374caa1ef17 150 }
WilliamMarshQMUL 0:4374caa1ef17 151 }
WilliamMarshQMUL 0:4374caa1ef17 152
novinfard 5:9ab4c6917f6b 153
novinfard 5:9ab4c6917f6b 154
novinfard 5:9ab4c6917f6b 155
novinfard 5:9ab4c6917f6b 156 int main(void)
novinfard 5:9ab4c6917f6b 157 {
novinfard 5:9ab4c6917f6b 158 TurnOffLed(); // initial turning off LED
novinfard 5:9ab4c6917f6b 159
novinfard 5:9ab4c6917f6b 160 leftOutThread.start(&leftOut_thread) ; // start the leftOut thread
novinfard 5:9ab4c6917f6b 161 leftInThread.start(&leftIn_thread) ; // start the leftIn thread
novinfard 5:9ab4c6917f6b 162 rightInThread.start(&rightIn_thread) ; // start the rightIn thread
novinfard 5:9ab4c6917f6b 163 rightOutThread.start(&rightOut_thread) ; // start the rightOut thread
novinfard 5:9ab4c6917f6b 164
WilliamMarshQMUL 0:4374caa1ef17 165 while (true) {
novinfard 5:9ab4c6917f6b 166 uint8_t pos = tsi.readDistance() ; // Distance is between 0 and 39
novinfard 5:9ab4c6917f6b 167
novinfard 5:9ab4c6917f6b 168 pc.printf("%d", pos) ;
WilliamMarshQMUL 1:e6ffa08ad8bf 169 pc.putc(' ') ;
novinfard 5:9ab4c6917f6b 170
novinfard 5:9ab4c6917f6b 171 // // start states
novinfard 5:9ab4c6917f6b 172 // if (pos>3 && pos<9) {
novinfard 5:9ab4c6917f6b 173 // leftOutThread.signal_set(0x1);
novinfard 5:9ab4c6917f6b 174 // } else if(pos>13 && pos<19) {
novinfard 5:9ab4c6917f6b 175 // leftInThread.signal_set(0x1);
novinfard 5:9ab4c6917f6b 176 // } else if(pos>23 && pos<29) {
novinfard 5:9ab4c6917f6b 177 // rightInThread.signal_set(0x1);
novinfard 5:9ab4c6917f6b 178 // } else if(pos>33) {
novinfard 5:9ab4c6917f6b 179 // rightOutThread.signal_set(0x1);
novinfard 5:9ab4c6917f6b 180 // }
novinfard 5:9ab4c6917f6b 181
novinfard 5:9ab4c6917f6b 182 switch (state) {
novinfard 5:9ab4c6917f6b 183 case LeftOut:
novinfard 5:9ab4c6917f6b 184 if(pos<3 || pos>9) {
novinfard 5:9ab4c6917f6b 185 state = None ;
novinfard 5:9ab4c6917f6b 186 }
novinfard 5:9ab4c6917f6b 187 break;
novinfard 5:9ab4c6917f6b 188
novinfard 5:9ab4c6917f6b 189 case LeftIn:
novinfard 5:9ab4c6917f6b 190 if(pos<13 || pos>19) {
novinfard 5:9ab4c6917f6b 191 state = None ;
novinfard 5:9ab4c6917f6b 192 }
novinfard 5:9ab4c6917f6b 193 break;
novinfard 5:9ab4c6917f6b 194
novinfard 5:9ab4c6917f6b 195 case RightIn:
novinfard 5:9ab4c6917f6b 196 if(pos<23 || pos>29) {
novinfard 5:9ab4c6917f6b 197 state = None ;
novinfard 5:9ab4c6917f6b 198 }
novinfard 5:9ab4c6917f6b 199
novinfard 5:9ab4c6917f6b 200 break;
novinfard 5:9ab4c6917f6b 201
novinfard 5:9ab4c6917f6b 202 case RightOut:
novinfard 5:9ab4c6917f6b 203 if(pos<33) {
novinfard 5:9ab4c6917f6b 204 state = None ;
novinfard 5:9ab4c6917f6b 205 }
novinfard 5:9ab4c6917f6b 206 break;
novinfard 5:9ab4c6917f6b 207
novinfard 5:9ab4c6917f6b 208 case None:
novinfard 5:9ab4c6917f6b 209 if(pos>3 && pos<9) {
novinfard 5:9ab4c6917f6b 210 state = LeftOut;
novinfard 5:9ab4c6917f6b 211 leftOutThread.signal_set(0x1);
novinfard 5:9ab4c6917f6b 212 }
novinfard 5:9ab4c6917f6b 213 if(pos>13 && pos<19) {
novinfard 5:9ab4c6917f6b 214 state = LeftIn;
novinfard 5:9ab4c6917f6b 215 leftInThread.signal_set(0x1);
novinfard 5:9ab4c6917f6b 216 }
novinfard 5:9ab4c6917f6b 217 if(pos>23 && pos<29) {
novinfard 5:9ab4c6917f6b 218 state = RightIn;
novinfard 5:9ab4c6917f6b 219 rightInThread.signal_set(0x1);
novinfard 5:9ab4c6917f6b 220 }
novinfard 5:9ab4c6917f6b 221 if(pos>33) {
novinfard 5:9ab4c6917f6b 222 state = RightOut;
novinfard 5:9ab4c6917f6b 223 rightOutThread.signal_set(0x1);
novinfard 5:9ab4c6917f6b 224 }
novinfard 5:9ab4c6917f6b 225
novinfard 5:9ab4c6917f6b 226 break;
novinfard 5:9ab4c6917f6b 227
novinfard 5:9ab4c6917f6b 228 }
novinfard 5:9ab4c6917f6b 229
novinfard 5:9ab4c6917f6b 230
novinfard 5:9ab4c6917f6b 231 Thread::wait(100); // This polling rate is too slow - increase it
novinfard 5:9ab4c6917f6b 232 // The slower rate maks it easier to output on the terminal
WilliamMarshQMUL 0:4374caa1ef17 233 }
WilliamMarshQMUL 0:4374caa1ef17 234 }