Ricky Jiang
emic2
Revision 3:677be555b290, committed 2020-06-19
- Comitter:
- rickyqqj
- Date:
- Fri Jun 19 09:29:45 2020 +0000
- Parent:
- 2:32f26fe1d8ad
- Commit message:
- This is the central program for the Caecus central MCU
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Mar 02 12:43:18 2020 +0000
+++ b/main.cpp Fri Jun 19 09:29:45 2020 +0000
@@ -1,47 +1,93 @@
#include "mbed.h"
#include "string"
-
-//Emic 2 Hello Speech World Demo
-
+Timer getctimer;
-InterruptIn frx(PF_1);
-DigitalIn BLSB(PB_0);
-DigitalIn BMSB(PA_8);
-DigitalOut myled(LED1);
-Serial myTTS(PA_9, PA_10); //serial RX,TX pins to emic
+InterruptIn frx(PF_1); //a virtual UART RX for TTS
+DigitalIn BLSB(PB_0); //LSB from LIDAR
+DigitalIn BMSB(PA_8); //MSB from LIDAR
+DigitalIn SPD(PB_4); //For speech speed seting button
+DigitalIn VOI(PA_5); // for speech voice setting button
+DigitalOut BLTEN(PB_3); //Pins to control the mode of bluetooth module HC_05
+Serial myTTS(PA_9, PA_10); //serial RX,TX pins to emic however the RX is used to recieve signal from RFID module, TTS tx is connected to a digitalpin
-Serial myCAM(PA_2, PA_3); //serial RX,TX pins to emic
-
-char sentence [255];
-char sentencec [255];
+Serial myCAM(PA_2, PA_3); //serial RX,TX pins to ble
+//due to hardware reason, all functions and variable with "Cam" is connect to RFID, all functions and variable with "RFID" is connect to CAM,
+char sentence [1024]; //buffers to recieve UART from Cam
+char sentencec [1024]; //buffers to recieve UART from RFID
uint8_t count;
uint8_t countc;
-bool rfidspeak = 0;
-bool smartcamspeak = 0;
+uint16_t confirmblt = 0;
+bool rfidspeak = 0; //if there is someting to speak from Cam, it goes high
+bool smartcamspeak = 0; //if there is someting to speak from RFID, it goes high
bool inspeech = 0;
-void readerRX() {
- frx.fall(NULL);
+string slave="4444,10,059266";
+void readerRX() { //to recieve UART sent from smart cam
count = 0;
sentence[0] = 'S';
- while(sentence[count]!='!' && count!=255)
- {count++;
- sentence[count]=myTTS.getc();
+ getctimer.reset();
+ getctimer.start();
+ while(sentence[count]!='!' && count!=1023 && getctimer.read()<2)
+ {if(frx == 0){inspeech = 0;}
+ if(myTTS.readable()) //My TTS Rx is used to recieve Cam, we have another digital pins for TTS.
+ {count++;
+ sentence[count]=myTTS.getc();}
}
+ getctimer.stop();
rfidspeak = 1;
}
- void camRX(){
- frx.fall(NULL);
+ void camRX(){ // to recieve UART from RFID
+
countc = 0;
sentencec[0] = 'S';
- while(sentencec[countc]!='!' && countc!=255)
- {
- countc++;
- sentencec[countc]=myCAM.getc();
+ getctimer.reset();
+ getctimer.start();
+ while(sentencec[countc]!='!' && countc!=1023 && getctimer.read()<2) //timed out after 2 seconds recieving
+ {if(frx == 0){inspeech = 0;}
+ if(myCAM.readable()) // we make sure we get all the bit sent.
+ {countc++;
+ sentencec[countc]=myCAM.getc();}
}
+ getctimer.stop();
smartcamspeak = 1;
+
+
}
-void speakIRQ()
-{frx.fall(NULL);
+
+void setblt() //to program the bluetooth master module for RFGID
+{BLTEN = 1;
+ wait (5);
+ myTTS.printf("Sset up bluetooth\r");
+ wait (5);
+ myCAM.printf("AT+RMAAD\r\n"); //AT+RMAAD AT+ROLE=1 AT+RESET
+ wait(1);
+ myCAM.printf("AT+ROLE=1\r\n");
+ wait(1);
+ myCAM.printf("AT+PSWD=");
+ myCAM.putc('"');
+ myCAM.printf("1234");
+ myCAM.putc('"');
+ myCAM.printf("\r\n");
+ wait(1);
+ myCAM.printf("AT+PAIR=%s,9\r\n",slave);
+ wait(9);
+ myCAM.printf("AT+BIND=%s\r\n",slave);
+ wait(2);
+ myCAM.printf("AT+CMODE=1\r\n");
+ wait(1);
+ myCAM.printf("AT+LINK=%s\r\n",slave);
+ wait(2);
+ myTTS.printf("Sfinish set up\r");
+ myCAM.printf("AT+RESET\r\n");
+ wait(2);
+
+ BLTEN = 0;
+}
+
+void speakIRQ() //tracking interrupt for TTS
+{inspeech = 0;
+
+ /*
+ frx.fall(NULL);
if(rfidspeak == 1)
{ myTTS.putc('X');
myTTS.putc('\r');
@@ -69,49 +115,104 @@
myTTS.putc('X');
myTTS.putc('\r');
}
+ */
}
int main()
-{ BLSB.mode(PullDown);
+{
+ BLSB.mode(PullDown);
BMSB.mode(PullDown);
- frx.fall(NULL);
- myTTS.attach(&readerRX,Serial::RxIrq);
+ SPD.mode(PullUp);
+ VOI.mode(PullUp);
+ bool SET_SPD=0;
+ bool SET_VOI=0;
+ bool VOIP=0; //avoid multiple press issue(only one release with one press with one release will be counted as one press)
+ bool SPDP=0;
+ frx.fall(speakIRQ); //interrupt to track TTS status
+ myTTS.attach(&readerRX,Serial::RxIrq); //Serial Rx interrupt for UART
myCAM.attach(&camRX,RawSerial::RxIrq);
- int volume = 18;
- myTTS.printf("V%D\r",volume);
+ int volume = 20;
+ myTTS.printf("V%d\r",volume);
while (frx == 1);
-
- int voice = 0;
- myTTS.printf("N%D\r",voice);
- while (frx == 1);
//Plain text demo
+ myTTS.printf("W%d\r",150);
+ while (frx == 1);
+ myTTS.printf("N%d\r",1);
myTTS.printf("S");//Speak command starts with "S"
- myTTS.printf("Hellow"); // Send the desired string to convert to speech
+ myTTS.printf("Keyecus! "); // Send the desired string to convert to speech
myTTS.printf("\r"); //marks end of speak command
while (frx == 1);
//ready waits for speech to finish from last command with a ":" response
-
+ int speed = 200;
+ int speedfast=speed+120;
+ myTTS.printf("W%d\r",speed);
+ while (frx == 1);
+ int voice = 2;
+ myTTS.printf("N%d\r",voice);
+ while (frx == 1);
// frx.fall(&speakIRQ);
int timedout = 0;
- BLSB.mode(PullDown);
+ BLSB.mode(PullDown);
BMSB.mode(PullDown);
- frx.fall(NULL);
myTTS.attach(&readerRX,Serial::RxIrq);
myCAM.attach(&camRX,RawSerial::RxIrq);
+ // myCAM.baud(9600);
+ /* myCAM.printf("AT+ORGL");
+ wait(0.5);
+
+ // myCAM.printf("AT+CMODE=0");
+
+ // wait(10);
+
+ // myCAM.printf("AT+INQM=0,5,5");
+ // wait(0.5);
+ /* X myCAM.printf("AT+CPSWD=");
+ myCAM.putc('"');
+ myCAM.printf("9999");
+ myCAM.putc('"'); */
+ /* wait(0.5); //changemode
+ myTTS.printf("Sdisconnect the power!\r");
+ wait (10);
+ myCAM.baud(9600);
+ myTTS.printf("Spairing\r");
+ myCAM.printf("AT+PAIR=4444,10,059266,9\r\n");
+ wait(9);
+
+ myTTS.printf("SBinding\r"); */
+ /* myCAM.printf("AT+BIND=4444,10,059266\r\n");
+ wait(10);
+ myTTS.printf("Sseting mode\r");
+ wait(2);
+ myTTS.printf("Slinking\r");
+ myCAM.printf("AT+LINK=4444,10,059266\r\n");
+ wait(10);
+ myTTS.printf("Sfinish set up\r");
+ myCAM.printf("AT+RESET\r\n"); */
+ // myCAM.printf("AT+NAMErfid\r\n");
+ // wait(2);
+ // myCAM.printf("AT+PIN1234\r\n");
+ // wait(2);
bool jump = 0;
- bool rfidspoken = 0;
- bool smartcamspoken = 0;
+ bool rfidspoken = 0; //used to balance the priority between SmartCam and RFID
+ bool smartcamspoken = 0; //used to balance the priority between SmartCam and RFID
+
+ uint16_t head=0;
+ uint16_t waist=0;
+ uint16_t foot=0;
+ uint16_t confirm = 25000; //smaller=faster response, N of Cycle comfirmed before telling the user about the position of the obstacle bigger(>30000 make a huge different)=more accurate
+
+ myCAM.baud(9600);
while(1) {
- if(inspeech == 1)
+ if(inspeech == 1) //just incase if the MCU failed to track the TTS due to other interrupt(unlikely to happen unless circuit broke), we make sure it does not wait forever.
{timedout++;}
else
{timedout = 0;}
if(timedout > 10000000)
- {inspeech = 0;
+ {inspeech = 0;
timedout = 0;
}
@@ -131,7 +232,11 @@
smartcamspoken = 0;}
if(rfidspeak == 1 && inspeech == 0 && jump == 0)
- { myTTS.putc('X');
+ { head = 0;
+ waist = 0;
+ foot = 0;
+ myTTS.printf("W%d\r",speed);
+ myTTS.putc('X');
myTTS.putc('\r');
myTTS.putc('S');
myTTS.printf("I see the ");
@@ -147,7 +252,11 @@
else if (smartcamspeak == 1 && inspeech == 0)
- { myTTS.putc('X');
+ { head = 0;
+ waist = 0;
+ foot = 0;
+ myTTS.printf("W%d\r",speed);
+ myTTS.putc('X');
myTTS.putc('\r');
myTTS.putc('S');
myTTS.printf("Your location is ");
@@ -156,39 +265,157 @@
{myTTS.putc(sentencec[i]);}
myTTS.putc('\r');
// while(frx == 1);
- smartcamspeak = 0;
- inspeech = 1;
- smartcamspoken = 1;
+ smartcamspeak = 0; //used to balance the priority between SmartCam and RFID
+ inspeech = 1; //record the state of the TTS
+ smartcamspoken = 1; //used to balance the priority between SmartCam and RFID
}
-
- else if(BMSB == 1 && BLSB == 1 && inspeech == 0)
- { myTTS.putc('X');
+ else if(SET_VOI == 1 && inspeech == 0)
+ { head = 0;
+ waist = 0;
+ foot = 0;
+ voice++;
+ if(voice == 9)
+ {voice = 0;}
+ myTTS.printf("N%d\r",voice);
+ myTTS.printf("W%d\r",speed);
+ myTTS.putc('X');
myTTS.putc('\r');
myTTS.putc('S');
- myTTS.printf("Barriers at head");
+ myTTS.printf("Voice!");
myTTS.putc('\r');
- inspeech = 1;
+ inspeech = 1;
+ inspeech = 1;
+ SET_VOI=0;
+ }
+
+ else if(BMSB == 1 && BLSB == 1 && foot<confirm && waist < confirm && head < confirm)
+ { if(foot<confirm && waist < confirm)
+ {head++;
+ foot =0;
+ waist = 0;
+ }
+ if(head < confirm && inspeech == 0)
+ { myTTS.printf("W%d\r",speedfast);
+ myTTS.putc('X');
+ myTTS.putc('\r');
+ myTTS.putc('S');
+ myTTS.printf("Obstacle!");
+ myTTS.putc('\r');
+ inspeech = 1;
+ // while(frx == 1);
+ }
// while(frx == 1);
}
- else if(BMSB == 1 && BLSB == 0 && inspeech == 0)
- { myTTS.putc('X');
+ else if(BMSB == 1 && BLSB == 0 && foot<confirm && waist < confirm && head < confirm)
+ {if(foot<confirm && head < confirm)
+ {waist++;
+ head = 0;
+ foot = 0;}
+ if(waist< confirm && inspeech == 0)
+ {myTTS.printf("W%d\r",speedfast);
+ myTTS.putc('X');
myTTS.putc('\r');
myTTS.putc('S');
- myTTS.printf("barriers at waist");
+ myTTS.printf("Obstacle!");
myTTS.putc('\r');
- inspeech = 1;
+ inspeech = 1;
+ // while(frx == 1);
+ }
// while(frx == 1);
}
- else if(BMSB == 0 && BLSB == 1 && inspeech == 0)
- { myTTS.putc('X');
+ else if(BMSB == 0 && BLSB == 1 && foot<confirm && waist < confirm && head < confirm)
+ {if(head<confirm && waist < confirm)
+ {foot++;
+ waist = 0;
+ head = 0;
+ }
+ if(foot < confirm && inspeech == 0)
+ {myTTS.printf("W%d\r",speedfast);
+ myTTS.putc('X');
+ myTTS.putc('\r');
+ myTTS.putc('S');
+ myTTS.printf("Obstacle!");
+ myTTS.putc('\r');
+ inspeech = 1;
+ // while(frx == 1);
+ }
+ }
+ else if(SET_SPD == 1 && inspeech == 0)
+ { head = 0;
+ waist = 0;
+ foot = 0;
+ speed=speed+75;
+ if(speed > 600)
+ {speed = 75;}
+ speedfast=speed+120;
+ if(speedfast>600)
+ {speedfast = 600;}
+ myTTS.printf("W%d\r",speed);
+ myTTS.putc('X');
+ myTTS.putc('\r');
+ myTTS.putc('S');
+ myTTS.printf("speed!");
+ myTTS.putc('\r');
+ inspeech = 1;
+ inspeech = 1;
+ SET_SPD=0;
+ }
+ else if(head >= confirm && inspeech == 0)
+ {myTTS.printf("W%d\r",speedfast);
+ myTTS.putc('X');
myTTS.putc('\r');
myTTS.putc('S');
- myTTS.printf("Barriers at foot");
+ myTTS.printf("head");
+ myTTS.putc('\r');
+ inspeech = 1;
+ head = 0;
+ }
+ else if(waist >= confirm && inspeech == 0)
+ {myTTS.printf("W%d\r",speedfast);
+ myTTS.putc('X');
+ myTTS.putc('\r');
+ myTTS.putc('S');
+ myTTS.printf("waist");
+ myTTS.putc('\r');
+ inspeech = 1;
+ waist = 0;
+ }
+ else if(foot >= confirm && inspeech == 0)
+ {myTTS.printf("W%d\r",speedfast);
+ myTTS.putc('X');
+ myTTS.putc('\r');
+ myTTS.putc('S');
+ myTTS.printf("foot");
myTTS.putc('\r');
inspeech = 1;
- // while(frx == 1);
+ foot = 0;
+ }
+ if(SPD == 0)
+ {if(VOI == 0)
+ {confirmblt++;
+ if(confirmblt >= 60000)
+ {setblt();
+ confirmblt = 0;
+ }
+ SPDP = 0;
+ VOIP = 0;
+ }
+ else
+ {confirmblt = 0;}
}
-
+ if(SPD == 0 && SPDP == 0)
+ {SPDP =1;}
+ if(SPD == 1 && SPDP ==1)
+ {SET_SPD = 1;
+ SPDP =0;
+ }
+ if(VOI == 0 && VOIP == 0)
+ {VOIP =1;
+ }
+ if(VOI == 1 && VOIP ==1)
+ {SET_VOI = 1;
+ VOIP =0;
+ }
/*
myTTS.printf("S");//Speak command starts with "S"
myTTS.printf("Hellow"); // Send the desired string to convert to speech