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Xavier Herpe / Mbed 2 deprecated Assignment_2_herpe

assignment_2_herpe

Dependencies: mbed WattBob_TextLCD MCP23017

main.cpp@0:aaddc17011a9, 2012-03-08 (annotated)

Committer:: xherpe
Date:: Thu Mar 08 16:32:35 2012 +0000
Revision:: 0:aaddc17011a9

Who changed what in which revision?

User	Revision	Line number	New contents of line
xherpe	0:aaddc17011a9	1	// XAVIER HERPE Assignment 2
xherpe	0:aaddc17011a9	2	// 5th year Robotics & Cybertronics
xherpe	0:aaddc17011a9	3	// Heriot-Watt University
xherpe	0:aaddc17011a9	4
xherpe	0:aaddc17011a9	5	#include "mbed.h"
xherpe	0:aaddc17011a9	6	#include "MCP23017.h"
xherpe	0:aaddc17011a9	7	#include "WattBob_TextLCD.h"
xherpe	0:aaddc17011a9	8	#include "SDFileSystem.h"
xherpe	0:aaddc17011a9	9	#include "FATFileSystem.h"
xherpe	0:aaddc17011a9	10
xherpe	0:aaddc17011a9	11	#define BACK_LIGHT_ON(INTERFACE) INTERFACE->write_bit(1,BL_BIT)
xherpe	0:aaddc17011a9	12	#define BACK_LIGHT_OFF(INTERFACE) INTERFACE->write_bit(0,BL_BIT)
xherpe	0:aaddc17011a9	13
xherpe	0:aaddc17011a9	14	// Pointers to LCD screen and SD card
xherpe	0:aaddc17011a9	15	MCP23017 *par_port; // pointer to 16-bit parallel I/O chip
xherpe	0:aaddc17011a9	16	WattBob_TextLCD lcd; // pointer to 216 character LCD object
xherpe	0:aaddc17011a9	17	FILE *fp; // Pointer to SD card object
xherpe	0:aaddc17011a9	18
xherpe	0:aaddc17011a9	19
xherpe	0:aaddc17011a9	20	//=====================================================================================
xherpe	0:aaddc17011a9	21	// I/O ports allocation
xherpe	0:aaddc17011a9	22	//=====================================================================================
xherpe	0:aaddc17011a9	23	DigitalIn TTL(p17); // TTL input for frequency measurement
xherpe	0:aaddc17011a9	24	DigitalIn switch_1(p18); // Switch 1 input
xherpe	0:aaddc17011a9	25	DigitalIn switch_2(p19); // Switch 2 input
xherpe	0:aaddc17011a9	26	DigitalIn switch_off(p11); // Switch used to close SD file and stop cyclic executive
xherpe	0:aaddc17011a9	27	AnalogIn analogue_in_1(p15); // POT value
xherpe	0:aaddc17011a9	28	AnalogIn analogue_in_2(p16); // LDR value
xherpe	0:aaddc17011a9	29	PwmOut servo(p21); // Servo output
xherpe	0:aaddc17011a9	30	DigitalOut TestPin(p20); // Pin only used to test program and measure time
xherpe	0:aaddc17011a9	31	SDFileSystem sd(p5, p6, p7, p8, "sd"); // The pinout on the mbed Cool Components workshop board
xherpe	0:aaddc17011a9	32
xherpe	0:aaddc17011a9	33
xherpe	0:aaddc17011a9	34	//=====================================================================================
xherpe	0:aaddc17011a9	35	// Internal objects declaration
xherpe	0:aaddc17011a9	36	// ====================================================================================
xherpe	0:aaddc17011a9	37	BusOut LEDs(LED4, LED3, LED2, LED1); // Address the four LEDs to a single bus
xherpe	0:aaddc17011a9	38	Timer timer; // Timer used to measure frequency in task 1
xherpe	0:aaddc17011a9	39	Timer DoNothing; // Timer used to measure how long the program does nothing
xherpe	0:aaddc17011a9	40	Ticker ticker; // Ticker used as clock for cyclic executive program
xherpe	0:aaddc17011a9	41
xherpe	0:aaddc17011a9	42
xherpe	0:aaddc17011a9	43	//=====================================================================================
xherpe	0:aaddc17011a9	44	// Constants declaration
xherpe	0:aaddc17011a9	45	//=====================================================================================
xherpe	0:aaddc17011a9	46	const int SampFreq = 100; // Sampling frequency is 10kHz (100us)
xherpe	0:aaddc17011a9	47
xherpe	0:aaddc17011a9	48
xherpe	0:aaddc17011a9	49	//=====================================================================================
xherpe	0:aaddc17011a9	50	// Variables declaration
xherpe	0:aaddc17011a9	51	//=====================================================================================
xherpe	0:aaddc17011a9	52
xherpe	0:aaddc17011a9	53	// Variables for cyclic executive program
xherpe	0:aaddc17011a9	54	long int ticks = 0; // Used to define what task to call in the cyclic executive program
xherpe	0:aaddc17011a9	55	int NoTask = 0; // Used to return how long the program does nothing in ms
xherpe	0:aaddc17011a9	56	int NoTaskCount = 0; // Variable incremented until one total cycle of 10 seconds is reached
xherpe	0:aaddc17011a9	57
xherpe	0:aaddc17011a9	58	// Variables for tasks 1 and 2
xherpe	0:aaddc17011a9	59	int period = 0; // Returned period of the TTL input signal
xherpe	0:aaddc17011a9	60	int frequency = 0; // Returned frequency of the TTL signal
xherpe	0:aaddc17011a9	61
xherpe	0:aaddc17011a9	62	// Varibles for task 4
xherpe	0:aaddc17011a9	63	int switch_1_val = 0; // Used to return how many times the switch is high
xherpe	0:aaddc17011a9	64	int switch_2_val = 0;
xherpe	0:aaddc17011a9	65	bool switch_1_state = 0; // Used to define whether the debounced switch is ON or OFF
xherpe	0:aaddc17011a9	66	bool switch_2_state = 0;
xherpe	0:aaddc17011a9	67
xherpe	0:aaddc17011a9	68	// Variables for task 5
xherpe	0:aaddc17011a9	69	float analogue_1_val = 0; // Used to return the filtered analogue input
xherpe	0:aaddc17011a9	70	float analogue_2_val = 0;
xherpe	0:aaddc17011a9	71
xherpe	0:aaddc17011a9	72	int analogue_1_int = 0; // Used to convert float to int (results in quicker display on LCD in task 6)
xherpe	0:aaddc17011a9	73	int analogue_2_int = 0;
xherpe	0:aaddc17011a9	74
xherpe	0:aaddc17011a9	75	// Variable for task 7
xherpe	0:aaddc17011a9	76	int LogCount = 0; // Used to define logging number
xherpe	0:aaddc17011a9	77
xherpe	0:aaddc17011a9	78	// Variable used for task 8
xherpe	0:aaddc17011a9	79	int BinCount = 0; // Used to increment a binary display on LEDs. Goes from 0 to 15 and then is reset
xherpe	0:aaddc17011a9	80	bool BinEnable = 0; // Used to tell task 5 to display binary pattern on LEDs every 1.5s
xherpe	0:aaddc17011a9	81	int IncCheck = 0; // Check increment to see if 6 cycles have elapsed to light LEDs ( 6 * 250us = 1.5s)
xherpe	0:aaddc17011a9	82
xherpe	0:aaddc17011a9	83
xherpe	0:aaddc17011a9	84	//=====================================================================================
xherpe	0:aaddc17011a9	85	// Task declaration
xherpe	0:aaddc17011a9	86	//=====================================================================================
xherpe	0:aaddc17011a9	87
xherpe	0:aaddc17011a9	88	void CyclEx();
xherpe	0:aaddc17011a9	89
xherpe	0:aaddc17011a9	90	void Task1(); // Measure TTL input frequency
xherpe	0:aaddc17011a9	91	void Task2(); // Show frequency on LCD screen
xherpe	0:aaddc17011a9	92	void Task3(); // Show speed on servo dial
xherpe	0:aaddc17011a9	93	void Task4(); // Read and debounce two digital inputs
xherpe	0:aaddc17011a9	94	void Task5(); // Read and filter two analogue inputs
xherpe	0:aaddc17011a9	95	void Task6(); // Display digital and analogue inputs on LCD screen
xherpe	0:aaddc17011a9	96	void Task7(); // Log speed, analogue and digital inputs on SD card
xherpe	0:aaddc17011a9	97	void Task8(); // Display error message on LCD screen and display binary pattern on LEDs
xherpe	0:aaddc17011a9	98
xherpe	0:aaddc17011a9	99	void WaitRisEdge(); // Subroutine to detect rising edge
xherpe	0:aaddc17011a9	100	void WaitFalEdge(); // Subroutine to detect falling edge
xherpe	0:aaddc17011a9	101
xherpe	0:aaddc17011a9	102	void Stop(); // Close log file and stop cyclic executive
xherpe	0:aaddc17011a9	103
xherpe	0:aaddc17011a9	104
xherpe	0:aaddc17011a9	105	//=====================================================================================
xherpe	0:aaddc17011a9	106	// Main program
xherpe	0:aaddc17011a9	107	//=====================================================================================
xherpe	0:aaddc17011a9	108
xherpe	0:aaddc17011a9	109	int main()
xherpe	0:aaddc17011a9	110	{
xherpe	0:aaddc17011a9	111
xherpe	0:aaddc17011a9	112	// LCD Screen Initialisation
xherpe	0:aaddc17011a9	113	par_port = new MCP23017(p9, p10, 0x40); // initialise 16-bit I/O chip
xherpe	0:aaddc17011a9	114	lcd = new WattBob_TextLCD(par_port); // initialise 2*26 char display
xherpe	0:aaddc17011a9	115	par_port->write_bit(1,BL_BIT); // turn LCD backlight ON
xherpe	0:aaddc17011a9	116	lcd->cls(); // clear display
xherpe	0:aaddc17011a9	117
xherpe	0:aaddc17011a9	118	// EXEL log file initialisation
xherpe	0:aaddc17011a9	119	fp = fopen("/sd/log.xls", "w"); // pointer to log in text file called "log". (Use "a" to not delete file)
xherpe	0:aaddc17011a9	120	fprintf(fp, "This file is the property of Xavier Herpe, the French\n\n");
xherpe	0:aaddc17011a9	121
xherpe	0:aaddc17011a9	122	// DoNothing timer reset
xherpe	0:aaddc17011a9	123	DoNothing.reset();
xherpe	0:aaddc17011a9	124
xherpe	0:aaddc17011a9	125	// Internal ticker set to 25ms. Every 25ms, the scheduler is called and selects the task to run
xherpe	0:aaddc17011a9	126	ticker.attach(&CyclEx, 0.025); // Period set to 25ms
xherpe	0:aaddc17011a9	127	while(1)// Run until system shuts down
xherpe	0:aaddc17011a9	128	{
xherpe	0:aaddc17011a9	129
xherpe	0:aaddc17011a9	130	}
xherpe	0:aaddc17011a9	131	}
xherpe	0:aaddc17011a9	132
xherpe	0:aaddc17011a9	133	// Where tasks are scheduled based on an EXEL sheet
xherpe	0:aaddc17011a9	134	void CyclEx()
xherpe	0:aaddc17011a9	135	{
xherpe	0:aaddc17011a9	136	// Stop timer when a new task starts
xherpe	0:aaddc17011a9	137	DoNothing.stop();
xherpe	0:aaddc17011a9	138
xherpe	0:aaddc17011a9	139	if(ticks % 80 == 4) // Occures every 80 clock cycles (2 seconds). Starts with an offset of 4 clock cycles
xherpe	0:aaddc17011a9	140	{
xherpe	0:aaddc17011a9	141	Task1();
xherpe	0:aaddc17011a9	142	}
xherpe	0:aaddc17011a9	143
xherpe	0:aaddc17011a9	144	else if(ticks % 200 == 8) // Occures every 200 clock cycles (5 seconds). Starts with an offset of 8 clock cycles
xherpe	0:aaddc17011a9	145	{
xherpe	0:aaddc17011a9	146	Task2();
xherpe	0:aaddc17011a9	147	}
xherpe	0:aaddc17011a9	148	else if(ticks % 240 == 7) // Occures every 240 clock cycles (6 seconds). Starts with an offset of 7 clock cycles
xherpe	0:aaddc17011a9	149	{
xherpe	0:aaddc17011a9	150	Task3();
xherpe	0:aaddc17011a9	151	}
xherpe	0:aaddc17011a9	152	else if(ticks % 4 == 0) // Occures every 4 clock cycles (0.1 seconds). Starts with an offset of 0 clock cycles
xherpe	0:aaddc17011a9	153	{
xherpe	0:aaddc17011a9	154	Task4();
xherpe	0:aaddc17011a9	155	}
xherpe	0:aaddc17011a9	156	else if(ticks % 10 == 1) // Occures every 10 clock cycles (0.25 seconds). Starts with an offset of 1 clock cycles
xherpe	0:aaddc17011a9	157	{
xherpe	0:aaddc17011a9	158	Task5();
xherpe	0:aaddc17011a9	159	}
xherpe	0:aaddc17011a9	160	else if(ticks % 40 == 3) // Occures every 40 clock cycles (1 seconds). Starts with an offset of 3 clock cycles
xherpe	0:aaddc17011a9	161	{
xherpe	0:aaddc17011a9	162	Task6();
xherpe	0:aaddc17011a9	163	}
xherpe	0:aaddc17011a9	164	else if(ticks % 400 == 10) // Occures every 400 clock cycles (10 seconds). Starts with an offset of 10 clock cycles
xherpe	0:aaddc17011a9	165	{
xherpe	0:aaddc17011a9	166	Task7();
xherpe	0:aaddc17011a9	167	}
xherpe	0:aaddc17011a9	168	else if(ticks % 160 == 6) // Occures every 160 clock cycles (4 seconds). Starts with an offset of 6 clock cycles
xherpe	0:aaddc17011a9	169	{
xherpe	0:aaddc17011a9	170	Task8();
xherpe	0:aaddc17011a9	171	}
xherpe	0:aaddc17011a9	172
xherpe	0:aaddc17011a9	173	if (switch_off == 1) // Pin used to log data on SD card and stop Cyclic executive program
xherpe	0:aaddc17011a9	174	{
xherpe	0:aaddc17011a9	175	Stop();
xherpe	0:aaddc17011a9	176	}
xherpe	0:aaddc17011a9	177	ticks++;
xherpe	0:aaddc17011a9	178
xherpe	0:aaddc17011a9	179	// Start timer when one task is ended
xherpe	0:aaddc17011a9	180	DoNothing.start();
xherpe	0:aaddc17011a9	181	NoTaskCount++;
xherpe	0:aaddc17011a9	182
xherpe	0:aaddc17011a9	183	// When one full cycle of 10 seconds is finished, return how long the program was doing nothing (lazy program)
xherpe	0:aaddc17011a9	184	if (NoTaskCount == 400)
xherpe	0:aaddc17011a9	185	{
xherpe	0:aaddc17011a9	186	NoTask = DoNothing.read_ms();
xherpe	0:aaddc17011a9	187	NoTaskCount = 0;
xherpe	0:aaddc17011a9	188	DoNothing.reset();
xherpe	0:aaddc17011a9	189	}
xherpe	0:aaddc17011a9	190	}
xherpe	0:aaddc17011a9	191
xherpe	0:aaddc17011a9	192
xherpe	0:aaddc17011a9	193	//=====================================================================================
xherpe	0:aaddc17011a9	194	// Tasks
xherpe	0:aaddc17011a9	195	//=====================================================================================
xherpe	0:aaddc17011a9	196
xherpe	0:aaddc17011a9	197	// Task 1: Measure TTL input frequency
xherpe	0:aaddc17011a9	198	void Task1()
xherpe	0:aaddc17011a9	199	{
xherpe	0:aaddc17011a9	200	timer.reset();
xherpe	0:aaddc17011a9	201
xherpe	0:aaddc17011a9	202	// If the input signal is low, wait for a rising edge to start counting
xherpe	0:aaddc17011a9	203	if (TTL == 0)
xherpe	0:aaddc17011a9	204	{
xherpe	0:aaddc17011a9	205	WaitRisEdge(); // Call subroutine to wait for rising edge
xherpe	0:aaddc17011a9	206	timer.start(); // Start timer
xherpe	0:aaddc17011a9	207	while(TTL == 1) // Keep counting as long as signal is high
xherpe	0:aaddc17011a9	208	{
xherpe	0:aaddc17011a9	209	wait_us(SampFreq);
xherpe	0:aaddc17011a9	210	}
xherpe	0:aaddc17011a9	211	}
xherpe	0:aaddc17011a9	212
xherpe	0:aaddc17011a9	213	// If the input signal is high, wait for a falling edge to start counting
xherpe	0:aaddc17011a9	214	else if (TTL == 1)
xherpe	0:aaddc17011a9	215	{
xherpe	0:aaddc17011a9	216	WaitFalEdge(); // Call subroutine to wait for falling edge
xherpe	0:aaddc17011a9	217	timer.start(); // Start timer
xherpe	0:aaddc17011a9	218	while(TTL == 0) // Keep counting as long as signal is high
xherpe	0:aaddc17011a9	219	{
xherpe	0:aaddc17011a9	220	wait_us(SampFreq);
xherpe	0:aaddc17011a9	221	}
xherpe	0:aaddc17011a9	222	}
xherpe	0:aaddc17011a9	223
xherpe	0:aaddc17011a9	224	timer.stop(); // Stop counting when signal changes
xherpe	0:aaddc17011a9	225	period = timer.read_us()*2; // Convert the time into a period
xherpe	0:aaddc17011a9	226	frequency = 1000000/period; // Convert the period into a frequency
xherpe	0:aaddc17011a9	227	}
xherpe	0:aaddc17011a9	228
xherpe	0:aaddc17011a9	229
xherpe	0:aaddc17011a9	230
xherpe	0:aaddc17011a9	231	// Task 2: display the measured frequency on LCD screen
xherpe	0:aaddc17011a9	232	void Task2()
xherpe	0:aaddc17011a9	233	{
xherpe	0:aaddc17011a9	234	lcd->cls(); // clear display
xherpe	0:aaddc17011a9	235	lcd->locate(0,0); // set cursor to location (0,0) - top left corner
xherpe	0:aaddc17011a9	236	lcd->printf("%d Hz",frequency); // print the frequency calculated in task 1
xherpe	0:aaddc17011a9	237	}
xherpe	0:aaddc17011a9	238
xherpe	0:aaddc17011a9	239
xherpe	0:aaddc17011a9	240
xherpe	0:aaddc17011a9	241	// Task 3: show speed on servo output dial
xherpe	0:aaddc17011a9	242	void Task3()
xherpe	0:aaddc17011a9	243	{
xherpe	0:aaddc17011a9	244	servo.period(0.02); // servo requires a 20ms period
xherpe	0:aaddc17011a9	245	// To rotate the servo from -90 to +90 degrees, the pulse width must varies between 600us to 2300us
xherpe	0:aaddc17011a9	246	// The pulse width is calculated from the speed measured in task one
xherpe	0:aaddc17011a9	247	// 50Hz is equivalent to -90 degrees and 100Hz is equivalent to 90 degrees
xherpe	0:aaddc17011a9	248	// 1Hz change is equal to 34us pulse width change, so pulse width = ((frequency - 50)*34) + 600
xherpe	0:aaddc17011a9	249	servo.pulsewidth_us(2300-((frequency - 50)*34));
xherpe	0:aaddc17011a9	250	wait_ms(1); // Leave the servo some time to reach its position
xherpe	0:aaddc17011a9	251	}
xherpe	0:aaddc17011a9	252
xherpe	0:aaddc17011a9	253
xherpe	0:aaddc17011a9	254
xherpe	0:aaddc17011a9	255	// Task 4: Read two digital inputs (debounced)
xherpe	0:aaddc17011a9	256	void Task4()
xherpe	0:aaddc17011a9	257	{
xherpe	0:aaddc17011a9	258	switch_1_val = 0;
xherpe	0:aaddc17011a9	259	switch_2_val = 0;
xherpe	0:aaddc17011a9	260
xherpe	0:aaddc17011a9	261	// Read each switch three consecutive times with 100us between readings
xherpe	0:aaddc17011a9	262	for(int i=0; i<3; i++)
xherpe	0:aaddc17011a9	263	{
xherpe	0:aaddc17011a9	264	if (switch_1 == 1) // Increment variable if switch 1 is pressed
xherpe	0:aaddc17011a9	265	{
xherpe	0:aaddc17011a9	266	switch_1_val++;
xherpe	0:aaddc17011a9	267	}
xherpe	0:aaddc17011a9	268
xherpe	0:aaddc17011a9	269	if (switch_2 == 1) // Increment variable if switch 2 is pressed
xherpe	0:aaddc17011a9	270	{
xherpe	0:aaddc17011a9	271	switch_2_val++;
xherpe	0:aaddc17011a9	272	}
xherpe	0:aaddc17011a9	273
xherpe	0:aaddc17011a9	274	wait_us(SampFreq);
xherpe	0:aaddc17011a9	275	}
xherpe	0:aaddc17011a9	276	// Check how many times switch 1 has been high
xherpe	0:aaddc17011a9	277	// if it has been high more than twice, then switch 1 state = 1
xherpe	0:aaddc17011a9	278	if (switch_1_val > 1)
xherpe	0:aaddc17011a9	279	{
xherpe	0:aaddc17011a9	280	switch_1_state = 1;
xherpe	0:aaddc17011a9	281	}
xherpe	0:aaddc17011a9	282	else
xherpe	0:aaddc17011a9	283	{
xherpe	0:aaddc17011a9	284	switch_1_state = 0;
xherpe	0:aaddc17011a9	285	}
xherpe	0:aaddc17011a9	286
xherpe	0:aaddc17011a9	287	// Check how many times switch 1 has been high
xherpe	0:aaddc17011a9	288	// if it has been high more than twice, then switch 2 state = 1
xherpe	0:aaddc17011a9	289	if (switch_2_val > 1)
xherpe	0:aaddc17011a9	290	{
xherpe	0:aaddc17011a9	291	switch_2_state = 1;
xherpe	0:aaddc17011a9	292	}
xherpe	0:aaddc17011a9	293
xherpe	0:aaddc17011a9	294	else
xherpe	0:aaddc17011a9	295	{
xherpe	0:aaddc17011a9	296	switch_2_state = 0;
xherpe	0:aaddc17011a9	297	}
xherpe	0:aaddc17011a9	298	}
xherpe	0:aaddc17011a9	299
xherpe	0:aaddc17011a9	300
xherpe	0:aaddc17011a9	301
xherpe	0:aaddc17011a9	302	// Task 5: Read two analogue inputs (filtered)
xherpe	0:aaddc17011a9	303	void Task5()
xherpe	0:aaddc17011a9	304	{
xherpe	0:aaddc17011a9	305	analogue_1_val = 0; // Reset variables
xherpe	0:aaddc17011a9	306	analogue_2_val = 0;
xherpe	0:aaddc17011a9	307
xherpe	0:aaddc17011a9	308	// Takes four readings of each analogue input. Readings occure every 0.1ms
xherpe	0:aaddc17011a9	309	// Because the analogue.read() function returns a value from 0 to 1,
xherpe	0:aaddc17011a9	310	// we need to multiply the readings by 3.3 to cover 0V to 3.3V
xherpe	0:aaddc17011a9	311	for(int i=0; i<4;i++)
xherpe	0:aaddc17011a9	312	{
xherpe	0:aaddc17011a9	313	analogue_1_val = analogue_1_val + (analogue_in_1*3.3);
xherpe	0:aaddc17011a9	314	analogue_2_val = analogue_2_val + (analogue_in_2*3.3);
xherpe	0:aaddc17011a9	315	wait_us(SampFreq);
xherpe	0:aaddc17011a9	316	}
xherpe	0:aaddc17011a9	317
xherpe	0:aaddc17011a9	318	analogue_1_val = (analogue_1_val / 4);
xherpe	0:aaddc17011a9	319	analogue_2_val = (analogue_2_val / 4);
xherpe	0:aaddc17011a9	320
xherpe	0:aaddc17011a9	321	analogue_1_int = analogue_1_val * 10; // Convert floating point into an integer to reduce display delay
xherpe	0:aaddc17011a9	322	analogue_2_int = analogue_2_val * 10;
xherpe	0:aaddc17011a9	323
xherpe	0:aaddc17011a9	324	// This section of task 5 is used to take over part of task 8.
xherpe	0:aaddc17011a9	325	// Since the LEDs pattern has to be incremented every 1.5s, the pattern is
xherpe	0:aaddc17011a9	326	// incremented every 6 cycles, which correspond to 1.5s.
xherpe	0:aaddc17011a9	327	if(BinEnable == 1)
xherpe	0:aaddc17011a9	328	{
xherpe	0:aaddc17011a9	329	IncCheck++;
xherpe	0:aaddc17011a9	330
xherpe	0:aaddc17011a9	331	if(IncCheck == 6) // Corresponds to 1.5s. Increment binary pattern
xherpe	0:aaddc17011a9	332	{
xherpe	0:aaddc17011a9	333	LEDs = BinCount;
xherpe	0:aaddc17011a9	334	BinCount++;
xherpe	0:aaddc17011a9	335	IncCheck = 0;
xherpe	0:aaddc17011a9	336
xherpe	0:aaddc17011a9	337	if (BinCount > 15) // Used to reset variable once maximum 4-bit binary value is reached
xherpe	0:aaddc17011a9	338	{
xherpe	0:aaddc17011a9	339	BinCount = 0;
xherpe	0:aaddc17011a9	340	}
xherpe	0:aaddc17011a9	341	}
xherpe	0:aaddc17011a9	342	}
xherpe	0:aaddc17011a9	343	}
xherpe	0:aaddc17011a9	344
xherpe	0:aaddc17011a9	345
xherpe	0:aaddc17011a9	346
xherpe	0:aaddc17011a9	347	// Task 6: Display analogue and digital values on LCD screen
xherpe	0:aaddc17011a9	348	void Task6()
xherpe	0:aaddc17011a9	349	{
xherpe	0:aaddc17011a9	350	// lcd->cls(); // clear display (takes too long)
xherpe	0:aaddc17011a9	351	lcd->locate(0,0); // set cursor to location (0,0) - top left corner
xherpe	0:aaddc17011a9	352	lcd->printf("%d %d%d%d",analogue_1_int,analogue_2_int,switch_1_state,switch_2_state);
xherpe	0:aaddc17011a9	353	}
xherpe	0:aaddc17011a9	354
xherpe	0:aaddc17011a9	355
xherpe	0:aaddc17011a9	356
xherpe	0:aaddc17011a9	357	// Task 7: Log values on SD card
xherpe	0:aaddc17011a9	358	void Task7()
xherpe	0:aaddc17011a9	359	{
xherpe	0:aaddc17011a9	360	LogCount++; //Used to print the logging number in file. Starts from 1
xherpe	0:aaddc17011a9	361	fprintf(fp, "Log: %d, Speed: %dHz, Switch_1: %d, Switch_2: %d, POT: %.2fVolts, LDR: %.2fVolts\n",LogCount,frequency,switch_1_state,switch_2_state,analogue_1_val,analogue_2_val);
xherpe	0:aaddc17011a9	362	}
xherpe	0:aaddc17011a9	363
xherpe	0:aaddc17011a9	364
xherpe	0:aaddc17011a9	365
xherpe	0:aaddc17011a9	366	// Task 8: Show error message and light LEDs
xherpe	0:aaddc17011a9	367	void Task8()
xherpe	0:aaddc17011a9	368	{
xherpe	0:aaddc17011a9	369	// If switch_1 = 1 and POT value > 3V, display error message
xherpe	0:aaddc17011a9	370	if(switch_1_state == 1 && analogue_1_val > 3)
xherpe	0:aaddc17011a9	371	{
xherpe	0:aaddc17011a9	372	//lcd->cls(); // clear display
xherpe	0:aaddc17011a9	373	lcd->locate(0,0); // set cursor to location (0,0) - top left corner
xherpe	0:aaddc17011a9	374	lcd->printf(".ERREUR");
xherpe	0:aaddc17011a9	375	}
xherpe	0:aaddc17011a9	376
xherpe	0:aaddc17011a9	377	// If switch 2 is high, return a command to task 5 to do the incrementing pattern every 1.5 seconds
xherpe	0:aaddc17011a9	378	if(switch_2_state == 1)
xherpe	0:aaddc17011a9	379	{
xherpe	0:aaddc17011a9	380	BinEnable = 1;
xherpe	0:aaddc17011a9	381	}
xherpe	0:aaddc17011a9	382
xherpe	0:aaddc17011a9	383	// If switch 2 is low, stop sending a command to task 5 and light off LEDs
xherpe	0:aaddc17011a9	384	else
xherpe	0:aaddc17011a9	385	{
xherpe	0:aaddc17011a9	386	LEDs = 0;
xherpe	0:aaddc17011a9	387	BinEnable = 0;
xherpe	0:aaddc17011a9	388	BinCount = 0;
xherpe	0:aaddc17011a9	389	}
xherpe	0:aaddc17011a9	390	}
xherpe	0:aaddc17011a9	391
xherpe	0:aaddc17011a9	392
xherpe	0:aaddc17011a9	393
xherpe	0:aaddc17011a9	394	// Stop function to stop cyclic executive and close log file
xherpe	0:aaddc17011a9	395	void Stop()
xherpe	0:aaddc17011a9	396	{
xherpe	0:aaddc17011a9	397	ticker.detach();
xherpe	0:aaddc17011a9	398	fprintf(fp, "\n The program did nothing for %d ms, which corresponds to %d percent of the time \n",NoTask, NoTask/100);
xherpe	0:aaddc17011a9	399	fprintf(fp, "\n PROGRAM STOPPED");
xherpe	0:aaddc17011a9	400	fclose(fp);
xherpe	0:aaddc17011a9	401
xherpe	0:aaddc17011a9	402	}
xherpe	0:aaddc17011a9	403
xherpe	0:aaddc17011a9	404
xherpe	0:aaddc17011a9	405
xherpe	0:aaddc17011a9	406	//=====================================================================================
xherpe	0:aaddc17011a9	407	// Subroutines
xherpe	0:aaddc17011a9	408	//=====================================================================================
xherpe	0:aaddc17011a9	409
xherpe	0:aaddc17011a9	410	// Wait for rising edge
xherpe	0:aaddc17011a9	411	void WaitRisEdge()
xherpe	0:aaddc17011a9	412	{
xherpe	0:aaddc17011a9	413	// As soon as it gets high, the subroutine will end and the timer will start
xherpe	0:aaddc17011a9	414	while(TTL == 0)
xherpe	0:aaddc17011a9	415	{
xherpe	0:aaddc17011a9	416	wait_us(SampFreq);
xherpe	0:aaddc17011a9	417	}
xherpe	0:aaddc17011a9	418	}
xherpe	0:aaddc17011a9	419
xherpe	0:aaddc17011a9	420
xherpe	0:aaddc17011a9	421	// Wait for falling edge
xherpe	0:aaddc17011a9	422	void WaitFalEdge()
xherpe	0:aaddc17011a9	423	{
xherpe	0:aaddc17011a9	424	// As soon as it gets low, the subroutine will end and the timer will start
xherpe	0:aaddc17011a9	425	while(TTL == 1)
xherpe	0:aaddc17011a9	426	{
xherpe	0:aaddc17011a9	427	wait_us(SampFreq);
xherpe	0:aaddc17011a9	428	}
xherpe	0:aaddc17011a9	429	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	08 Mar 2012
Imports:	11
Forks:	1
Commits:	1
Dependents:	0
Dependencies:	3
Followers:	1

main.cpp@0:aaddc17011a9, 2012-03-08 (annotated)

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