main.cpp

00001 #include "mbed.h"
00002 /** Initial test of the ultrasonic sensor HC-SR04  */
00003 #include "TextLCD.h"
00004 #include "KEY_PAD.h"
00005 TextLCD lcd(p7, p8, p9, p10, p11, p12);
00006 InterruptIn echo(p5);       // echo pin
00007 DigitalOut trigger(p6);     // trigger pin
00008 Timer timer;                // echo pulsewidth measurement
00009 Timer timer2;
00010 float brzina=0;
00011 float predzadnji;
00012 float vrijeme=0;
00013 float distance = 0;
00014 DigitalOut led1(p28);//crveno
00015 DigitalOut led2(p29);
00016 DigitalOut led3(p30);
00017 /** Start the echo pulsewidth measurement */
00018 void startTimer()
00019 {
00020     timer.start(); // start the timer
00021 }
00022 /** Stop the echo pulsewidth measurement */
00023 void stopTimer()
00024 {
00025     timer.stop(); // stop the timer
00026 }
00027 
00028 Ticker debounce;
00029 
00030 
00031 
00032 
00033 
00034 
00035 void enable_keys(){
00036     red1.fall(&get_row1);
00037     red2.fall(&get_row2);
00038     red3.fall(&get_row3);
00039     red4.fall(&get_row4);
00040     
00041     debounce.detach();
00042 }
00043 
00044 int main() {
00045     
00046     /** configure the rising edge to start the timer */
00047     echo.rise(&startTimer);
00048 
00049     /** configure the falling edge to stop the timer */
00050     echo.fall(&stopTimer);
00051     timer2.start();
00052     led1=0;
00053     led2=0;
00054     led3=1;
00055     
00056     stupci.mode(OpenDrain);
00057     stupci.mode(PullUp);
00058     
00059     red1.mode(PullUp);
00060     red2.mode(PullUp);
00061     red3.mode(PullUp);
00062     red4.mode(PullUp);
00063     
00064     red1.fall(&get_row1);
00065     red2.fall(&get_row2);
00066     red3.fall(&get_row3);
00067     red4.fall(&get_row4);
00068     
00069     while(1) {
00070             if(red1 == 1 && red2 == 1 && red3 == 1 && red4 == 1){
00071                 if(key>0){
00072                     izlaz=key;
00073                     //pc.printf("\n\r %d", code);
00074                     __enable_irq();
00075                     debounce.attach(&enable_keys, 0.5); ////////////////////////////////
00076                 }
00077                 key=0;
00078                 wait_ms(100);
00079             }
00080             
00081             switch(pass_code){
00082                 case(0):
00083                     lcd.locate(0,3);
00084                     lcd.printf("Unesite mod rada");
00085                 break;
00086                 
00087                 case(123):
00088                     /** Start the measurement by sending the 10us trigger pulse */
00089                     trigger = 1;
00090                     wait_us(10);
00091                     trigger = 0;
00092                     /** Wait for the sensor to finish measurement (generate rise and fall interrupts).
00093                     *  Minimum wait time is determined by maximum measurement distance of 400 cm.
00094                     *  t_min = 400 * 58 = 23200 us = 23.2 ms */
00095                     wait(0.2);
00096                     predzadnji=distance;
00097                     /** calculate the distance in cm */
00098                     distance = timer.read() * 1e6 / 58;
00099                     timer.reset(); // reset the timer to 0
00100                     brzina=(distance-predzadnji)/(timer2.read()-vrijeme);
00101                     timer2.reset();
00102                     timer2.start();
00103                     vrijeme=timer2.read();
00104                     /** Print the result in cm to the terminal with 1 decimal place
00105                     *  (number 5 after % means that total of 5 digits will be reserved
00106                     *  for printing the number, including the dot and one decimal place). */
00107      
00108                     if (brzina>=20) {
00109                         lcd.cls();
00110                         lcd.locate(0,0);
00111                         lcd.printf("Daljina:%5.1f cm", distance);
00112                         lcd.locate(0,1);
00113                         lcd.printf("Brzina:%5.1f cm/s",brzina);
00114                         lcd.locate(0,2);
00115                         lcd.printf("Palim crveno!!!");
00116                         led3=0;
00117                         led2=1;
00118                         wait(3);
00119                         led2=0;
00120                         led1=1;
00121                         wait(10);
00122                         led2=1;
00123                         wait(4);
00124                         led3=1;
00125                         led1=0;
00126                         led2=0;
00127                     } else if (brzina < 20 && brzina >5) {
00128                         lcd.cls();
00129                         lcd.locate(0,0);
00130                         lcd.printf("Daljina:%5.1f cm", distance);
00131                         lcd.locate(0,1);
00132                         lcd.printf("Brzina:%5.1f cm/s",brzina);
00133                         lcd.locate(0,2);
00134                         lcd.printf("Usporite!");
00135                         wait(2);
00136                     } else {
00137                         lcd.cls();
00138                         lcd.locate(0,0);
00139                         lcd.printf("Daljina:%5.1f cm", distance);
00140                         lcd.locate(0,1);
00141                         lcd.printf("Brzina:%5.1f cm/s",brzina);
00142                         lcd.locate(0,2);
00143                         lcd.printf("OK");
00144                     }
00145                 break;
00146                 
00147                 case(456):
00148                     lcd.cls();
00149                     lcd.locate(0,3);
00150                     lcd.printf(" %d", pass_code);
00151                 break;
00152 
00153                 case(789):
00154                     lcd.cls();
00155                     lcd.locate(0,3);
00156                     lcd.printf(" %d", pass_code);
00157                 break;
00158             }
00159         
00160     }
00161 }