James Hilder / Mbed 2 deprecated MSc-2015-ProgrammableBeacon

For triple beacon

Dependencies:   mbed

Fork of Programmable_IR_Beacon by James Hilder

main.cpp@1:7093cc21a293, 2015-08-03 (annotated)

Committer:
jah128
Date:
Mon Aug 03 11:37:48 2015 +0000
Revision:
1:7093cc21a293
Parent:
0:d88fd55a27a6 
Jah

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:d88fd55a27a6 1 /* University of York Robot Lab
jah128 0:d88fd55a27a6 2 *
jah128 1:7093cc21a293 3 * MSc ARE 2015
jah128 0:d88fd55a27a6 4 *
jah128 1:7093cc21a293 5 * Programmable Triple IR Beacon with Display
jah128 1:7093cc21a293 6 *
jah128 1:7093cc21a293 7 * This file is intended for use exclusively with the triple IR Beacon with display and RF transceiver
jah128 0:d88fd55a27a6 8 *
jah128 0:d88fd55a27a6 9 *
jah128 0:d88fd55a27a6 10 *
jah128 0:d88fd55a27a6 11 * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
jah128 1:7093cc21a293 12 *
jah128 0:d88fd55a27a6 13 *
jah128 1:7093cc21a293 14 * July 2015
jah128 0:d88fd55a27a6 15 *
jah128 0:d88fd55a27a6 16 */
jah128 0:d88fd55a27a6 17
jah128 0:d88fd55a27a6 18 #include "mbed.h"
jah128 0:d88fd55a27a6 19 #include "display.h" //Display driver for the Midas 16x2 I2C Display
jah128 0:d88fd55a27a6 20
jah128 1:7093cc21a293 21 DigitalIn button1(p24); //"SET" Push-button
jah128 1:7093cc21a293 22 DigitalIn button2(p25); //"SELECT" Push-button
jah128 1:7093cc21a293 23 PwmOut out_1(p21); //PWM Output for beacon 1
jah128 1:7093cc21a293 24 PwmOut out_2(p22); //PWM Output for beacon 2
jah128 1:7093cc21a293 25 PwmOut out_3(p23); //PWM Output for beacon 3
jah128 1:7093cc21a293 26 DigitalOut led_1(LED1);
jah128 1:7093cc21a293 27 DigitalOut led_2(LED2);
jah128 1:7093cc21a293 28 DigitalOut led_3(LED3);
jah128 0:d88fd55a27a6 29
jah128 0:d88fd55a27a6 30 Display display;
jah128 1:7093cc21a293 31
jah128 0:d88fd55a27a6 32 Timer system_timer; //System timer is used for timer the on-off periods for the LEDs
jah128 0:d88fd55a27a6 33 Timer button_timer; //Button timer is used for debouncing the push buttons and pausing for entering 'SET' mode
jah128 0:d88fd55a27a6 34
jah128 0:d88fd55a27a6 35 char adjust = 0;
jah128 0:d88fd55a27a6 36 char mode = 0;
jah128 1:7093cc21a293 37 char power = 0;
jah128 1:7093cc21a293 38 char duty = 3;
jah128 1:7093cc21a293 39 char frequency = 1;
jah128 0:d88fd55a27a6 40
jah128 0:d88fd55a27a6 41 int on_period;
jah128 0:d88fd55a27a6 42 int off_period;
jah128 0:d88fd55a27a6 43 int total_period;
jah128 0:d88fd55a27a6 44 char phase;
jah128 0:d88fd55a27a6 45
jah128 0:d88fd55a27a6 46 int get_period()
jah128 0:d88fd55a27a6 47 {
jah128 0:d88fd55a27a6 48 switch(frequency) {
jah128 0:d88fd55a27a6 49 case 0:
jah128 0:d88fd55a27a6 50 return 1000000;
jah128 0:d88fd55a27a6 51 case 1:
jah128 0:d88fd55a27a6 52 return 500000;
jah128 0:d88fd55a27a6 53 case 2:
jah128 0:d88fd55a27a6 54 return 200000;
jah128 0:d88fd55a27a6 55 case 3:
jah128 0:d88fd55a27a6 56 return 100000;
jah128 0:d88fd55a27a6 57 case 4:
jah128 0:d88fd55a27a6 58 return 50000;
jah128 0:d88fd55a27a6 59 case 5:
jah128 0:d88fd55a27a6 60 return 33333;
jah128 0:d88fd55a27a6 61 case 6:
jah128 0:d88fd55a27a6 62 return 25000;
jah128 0:d88fd55a27a6 63 case 7:
jah128 0:d88fd55a27a6 64 return 20000;
jah128 0:d88fd55a27a6 65 }
jah128 0:d88fd55a27a6 66 return 0;
jah128 0:d88fd55a27a6 67 }
jah128 0:d88fd55a27a6 68
jah128 0:d88fd55a27a6 69 void update_cycles()
jah128 0:d88fd55a27a6 70 {
jah128 0:d88fd55a27a6 71 total_period = get_period();
jah128 0:d88fd55a27a6 72 switch(duty){
jah128 1:7093cc21a293 73 case 0: on_period=total_period/20;break;
jah128 1:7093cc21a293 74 case 1: on_period=total_period/10;break;
jah128 1:7093cc21a293 75 case 2: on_period=total_period/4;break;
jah128 1:7093cc21a293 76 case 3: on_period=total_period/2;break;
jah128 1:7093cc21a293 77 case 4: on_period=(total_period*3)/4;break;
jah128 1:7093cc21a293 78 case 5: on_period=total_period-(total_period/10);break;
jah128 0:d88fd55a27a6 79 }
jah128 0:d88fd55a27a6 80 off_period = total_period - on_period;
jah128 0:d88fd55a27a6 81 phase = 0;
jah128 0:d88fd55a27a6 82 system_timer.reset();
jah128 0:d88fd55a27a6 83 }
jah128 0:d88fd55a27a6 84
jah128 0:d88fd55a27a6 85 void init()
jah128 0:d88fd55a27a6 86 {
jah128 0:d88fd55a27a6 87 display.init_display();
jah128 0:d88fd55a27a6 88 display.set_position(0,2);
jah128 0:d88fd55a27a6 89 display.write_string("YORK ROBOTICS",13);
jah128 0:d88fd55a27a6 90 display.set_position(1,3);
jah128 0:d88fd55a27a6 91 display.write_string("LABORATORY",10);
jah128 0:d88fd55a27a6 92 wait(0.45);
jah128 0:d88fd55a27a6 93 display.clear_display();
jah128 0:d88fd55a27a6 94 display.set_position(0,2);
jah128 0:d88fd55a27a6 95 display.write_string("Programmable",12);
jah128 0:d88fd55a27a6 96 display.set_position(1,3);
jah128 0:d88fd55a27a6 97 display.write_string("IR Beacon",9);
jah128 0:d88fd55a27a6 98 wait(0.45);
jah128 0:d88fd55a27a6 99 }
jah128 0:d88fd55a27a6 100
jah128 0:d88fd55a27a6 101 char * mode_string()
jah128 0:d88fd55a27a6 102 {
jah128 0:d88fd55a27a6 103 switch(mode) {
jah128 0:d88fd55a27a6 104 case 1:
jah128 1:7093cc21a293 105 return "OUT 1";
jah128 0:d88fd55a27a6 106 case 2:
jah128 1:7093cc21a293 107 return "OUT 2";
jah128 1:7093cc21a293 108 case 3:
jah128 1:7093cc21a293 109 return "OUT 3";
jah128 0:d88fd55a27a6 110 }
jah128 1:7093cc21a293 111 return "ALL ";
jah128 0:d88fd55a27a6 112 }
jah128 0:d88fd55a27a6 113
jah128 0:d88fd55a27a6 114 char * duty_string()
jah128 0:d88fd55a27a6 115 {
jah128 0:d88fd55a27a6 116 switch(duty) {
jah128 0:d88fd55a27a6 117 case 0:
jah128 1:7093cc21a293 118 return " 5%";
jah128 0:d88fd55a27a6 119 case 1:
jah128 1:7093cc21a293 120 return " 10%";
jah128 0:d88fd55a27a6 121 case 2:
jah128 1:7093cc21a293 122 return " 25%";
jah128 0:d88fd55a27a6 123 case 3:
jah128 1:7093cc21a293 124 return " 50%";
jah128 1:7093cc21a293 125 case 4:
jah128 0:d88fd55a27a6 126 return " 75%";
jah128 1:7093cc21a293 127 case 5:
jah128 0:d88fd55a27a6 128 return " 90%";
jah128 0:d88fd55a27a6 129 }
jah128 0:d88fd55a27a6 130 return"???";
jah128 0:d88fd55a27a6 131 }
jah128 0:d88fd55a27a6 132
jah128 0:d88fd55a27a6 133 char * power_string()
jah128 0:d88fd55a27a6 134 {
jah128 0:d88fd55a27a6 135 switch(power) {
jah128 0:d88fd55a27a6 136 case 0:
jah128 0:d88fd55a27a6 137 return " 25%";
jah128 0:d88fd55a27a6 138 case 1:
jah128 0:d88fd55a27a6 139 return " 50%";
jah128 0:d88fd55a27a6 140 case 2:
jah128 0:d88fd55a27a6 141 return " 75%";
jah128 0:d88fd55a27a6 142 case 3:
jah128 0:d88fd55a27a6 143 return "100%";
jah128 0:d88fd55a27a6 144 }
jah128 0:d88fd55a27a6 145 return"????";
jah128 0:d88fd55a27a6 146 }
jah128 0:d88fd55a27a6 147
jah128 0:d88fd55a27a6 148 char * freq_string()
jah128 0:d88fd55a27a6 149 {
jah128 0:d88fd55a27a6 150 switch(frequency) {
jah128 0:d88fd55a27a6 151 case 0:
jah128 0:d88fd55a27a6 152 return " 1Hz";
jah128 0:d88fd55a27a6 153 case 1:
jah128 0:d88fd55a27a6 154 return " 2Hz";
jah128 0:d88fd55a27a6 155 case 2:
jah128 0:d88fd55a27a6 156 return " 5Hz";
jah128 0:d88fd55a27a6 157 case 3:
jah128 0:d88fd55a27a6 158 return "10Hz";
jah128 0:d88fd55a27a6 159 case 4:
jah128 0:d88fd55a27a6 160 return "20Hz";
jah128 0:d88fd55a27a6 161 case 5:
jah128 0:d88fd55a27a6 162 return "30Hz";
jah128 0:d88fd55a27a6 163 case 6:
jah128 0:d88fd55a27a6 164 return "40Hz";
jah128 0:d88fd55a27a6 165 case 7:
jah128 0:d88fd55a27a6 166 return "50Hz";
jah128 0:d88fd55a27a6 167 }
jah128 0:d88fd55a27a6 168 return "????";
jah128 0:d88fd55a27a6 169 }
jah128 0:d88fd55a27a6 170
jah128 0:d88fd55a27a6 171 // The normal mode display output: shows the frequency, power, duty-cycle and output mode (ie wide, narrow or both)
jah128 0:d88fd55a27a6 172 void display_status()
jah128 0:d88fd55a27a6 173 {
jah128 0:d88fd55a27a6 174 display.clear_display();
jah128 0:d88fd55a27a6 175 display.set_position(0,0);
jah128 0:d88fd55a27a6 176 char line1[15] ;
jah128 0:d88fd55a27a6 177 strcpy(line1, "F:");
jah128 0:d88fd55a27a6 178 strcat(line1, freq_string());
jah128 0:d88fd55a27a6 179 strcat(line1, " P:");
jah128 0:d88fd55a27a6 180 strcat(line1, power_string());
jah128 0:d88fd55a27a6 181 display.write_string(line1,13);
jah128 0:d88fd55a27a6 182 char line2[17];
jah128 0:d88fd55a27a6 183 strcpy(line2, "D:");
jah128 0:d88fd55a27a6 184 strcat(line2, duty_string());
jah128 0:d88fd55a27a6 185 strcat(line2, " M:");
jah128 0:d88fd55a27a6 186 strcat(line2, mode_string());
jah128 0:d88fd55a27a6 187 display.set_position(1,0);
jah128 0:d88fd55a27a6 188 display.write_string(line2,16);
jah128 0:d88fd55a27a6 189 }
jah128 0:d88fd55a27a6 190
jah128 0:d88fd55a27a6 191 // The configuration mode; entered by holding the 'set' button for one second. In this mode the user can through the options
jah128 0:d88fd55a27a6 192 // by pressing 'set' and change a setting by pressing 'select'. The final screen in the loop allows the user to return to
jah128 0:d88fd55a27a6 193 // normal operation, this will also happen with no user input for 5 seconds.
jah128 0:d88fd55a27a6 194 void change_settings()
jah128 0:d88fd55a27a6 195 {
jah128 0:d88fd55a27a6 196 //Switch off LEDs whilst in configuration mode
jah128 1:7093cc21a293 197 out_1.pulsewidth_us(0);
jah128 1:7093cc21a293 198 out_2.pulsewidth_us(0);
jah128 1:7093cc21a293 199 out_3.pulsewidth_us(0);
jah128 1:7093cc21a293 200 led_1=0;
jah128 1:7093cc21a293 201 led_2=0;
jah128 1:7093cc21a293 202 led_3=0;
jah128 0:d88fd55a27a6 203 display.clear_display();
jah128 0:d88fd55a27a6 204 display.set_position(0,0);
jah128 0:d88fd55a27a6 205 display.write_string("CONFIGURATION",13);
jah128 0:d88fd55a27a6 206 display.set_position(1,0);
jah128 0:d88fd55a27a6 207 display.write_string("MODE",4);
jah128 0:d88fd55a27a6 208 while(button1 == 1);
jah128 0:d88fd55a27a6 209 char screen = 0;
jah128 0:d88fd55a27a6 210 char active = 1;
jah128 0:d88fd55a27a6 211 Timer settings_timer;
jah128 0:d88fd55a27a6 212 settings_timer.start();
jah128 0:d88fd55a27a6 213 while(active) {
jah128 0:d88fd55a27a6 214 display.clear_display();
jah128 0:d88fd55a27a6 215 display.set_position(0,0);
jah128 0:d88fd55a27a6 216 char line2[17];
jah128 0:d88fd55a27a6 217 switch(screen) {
jah128 0:d88fd55a27a6 218 case 0:
jah128 0:d88fd55a27a6 219 display.write_string("Set Frequency:",14);
jah128 0:d88fd55a27a6 220 display.set_position(1,0);
jah128 0:d88fd55a27a6 221 strcpy(line2,freq_string());
jah128 0:d88fd55a27a6 222 display.write_string(line2,4);
jah128 0:d88fd55a27a6 223 break;
jah128 0:d88fd55a27a6 224 case 1:
jah128 0:d88fd55a27a6 225 display.write_string("Set Power: ",14);
jah128 0:d88fd55a27a6 226 display.set_position(1,0);
jah128 0:d88fd55a27a6 227 strcpy(line2,power_string());
jah128 0:d88fd55a27a6 228 display.write_string(line2,4);
jah128 0:d88fd55a27a6 229 break;
jah128 0:d88fd55a27a6 230 case 2:
jah128 0:d88fd55a27a6 231 display.write_string("Set Duty Cycle:",15);
jah128 0:d88fd55a27a6 232 display.set_position(1,0);
jah128 0:d88fd55a27a6 233 strcpy(line2,duty_string());
jah128 0:d88fd55a27a6 234 display.write_string(line2,4);
jah128 0:d88fd55a27a6 235 break;
jah128 0:d88fd55a27a6 236 case 3:
jah128 0:d88fd55a27a6 237 display.write_string("Set Mode: ",14);
jah128 0:d88fd55a27a6 238 display.set_position(1,0);
jah128 0:d88fd55a27a6 239 strcpy(line2,mode_string());
jah128 0:d88fd55a27a6 240 display.write_string(line2,6);
jah128 0:d88fd55a27a6 241 break;
jah128 0:d88fd55a27a6 242 case 4:
jah128 0:d88fd55a27a6 243 display.write_string("End Setup",9);
jah128 0:d88fd55a27a6 244 break;
jah128 0:d88fd55a27a6 245 }
jah128 0:d88fd55a27a6 246 char button_pressed = 0;
jah128 0:d88fd55a27a6 247
jah128 0:d88fd55a27a6 248 while(button_pressed < 2 && settings_timer.read_ms() < 5000){
jah128 0:d88fd55a27a6 249 if(button1 == 1 || button2 == 1){
jah128 0:d88fd55a27a6 250 if(button_pressed == 1){
jah128 0:d88fd55a27a6 251 if(button_timer.read_ms() > 50) button_pressed = 2;
jah128 0:d88fd55a27a6 252 } else {button_pressed = 1; button_timer.reset();}
jah128 0:d88fd55a27a6 253 } else button_pressed = 0;
jah128 0:d88fd55a27a6 254 }
jah128 0:d88fd55a27a6 255 if(button1==1){
jah128 0:d88fd55a27a6 256 screen++;
jah128 0:d88fd55a27a6 257 if(screen == 5)screen=0;
jah128 0:d88fd55a27a6 258 while(button1 == 1);
jah128 0:d88fd55a27a6 259 }else{
jah128 0:d88fd55a27a6 260 if(button2==1){
jah128 0:d88fd55a27a6 261 switch(screen){
jah128 0:d88fd55a27a6 262 case 0: frequency ++;
jah128 0:d88fd55a27a6 263 if(frequency == 8) frequency = 0;
jah128 0:d88fd55a27a6 264 break;
jah128 0:d88fd55a27a6 265 case 1: power++;
jah128 0:d88fd55a27a6 266 if(power == 4) power=0;
jah128 0:d88fd55a27a6 267 break;
jah128 0:d88fd55a27a6 268 case 2: duty++;
jah128 1:7093cc21a293 269 if(duty == 6) duty=0;
jah128 0:d88fd55a27a6 270 break;
jah128 0:d88fd55a27a6 271 case 3: mode++;
jah128 1:7093cc21a293 272 if(mode == 4) mode = 0;
jah128 0:d88fd55a27a6 273 break;
jah128 0:d88fd55a27a6 274 case 4: active=0; break;
jah128 0:d88fd55a27a6 275 }
jah128 0:d88fd55a27a6 276 while(button2 == 1);
jah128 0:d88fd55a27a6 277 }
jah128 0:d88fd55a27a6 278 }
jah128 0:d88fd55a27a6 279 if(settings_timer > 5000) active=0;
jah128 0:d88fd55a27a6 280 settings_timer.reset();
jah128 0:d88fd55a27a6 281 }
jah128 0:d88fd55a27a6 282 }
jah128 0:d88fd55a27a6 283
jah128 0:d88fd55a27a6 284 int main()
jah128 0:d88fd55a27a6 285 {
jah128 0:d88fd55a27a6 286 init();
jah128 0:d88fd55a27a6 287 display_status();
jah128 0:d88fd55a27a6 288 char b_p = 0;
jah128 0:d88fd55a27a6 289 system_timer.start();
jah128 0:d88fd55a27a6 290 button_timer.start();
jah128 0:d88fd55a27a6 291 update_cycles();
jah128 1:7093cc21a293 292 out_1.period_us(1000);
jah128 1:7093cc21a293 293 out_2.period_us(1000);
jah128 1:7093cc21a293 294 out_3.period_us(1000);
jah128 1:7093cc21a293 295 out_1.pulsewidth_us(0);
jah128 1:7093cc21a293 296 out_2.pulsewidth_us(0);
jah128 1:7093cc21a293 297 out_3.pulsewidth_us(0);
jah128 0:d88fd55a27a6 298
jah128 0:d88fd55a27a6 299 while(1) {
jah128 0:d88fd55a27a6 300 if(phase==0){
jah128 0:d88fd55a27a6 301 if(system_timer.read_us() > off_period){
jah128 0:d88fd55a27a6 302 system_timer.reset();
jah128 0:d88fd55a27a6 303 int pw = 250;
jah128 0:d88fd55a27a6 304 if(power==1) pw=500;
jah128 0:d88fd55a27a6 305 if(power==2) pw=750;
jah128 0:d88fd55a27a6 306 if(power==3) pw=1000;
jah128 1:7093cc21a293 307 if(mode==0 || mode==1){
jah128 1:7093cc21a293 308 out_1.pulsewidth_us(pw);
jah128 1:7093cc21a293 309 led_1=1;
jah128 0:d88fd55a27a6 310 }
jah128 1:7093cc21a293 311 if(mode==0 || mode==2){
jah128 1:7093cc21a293 312 out_2.pulsewidth_us(pw);
jah128 1:7093cc21a293 313 led_2=1;
jah128 1:7093cc21a293 314 }
jah128 1:7093cc21a293 315 if(mode==0 || mode==3){
jah128 1:7093cc21a293 316 out_3.pulsewidth_us(pw);
jah128 1:7093cc21a293 317 led_3=1;
jah128 1:7093cc21a293 318 }
jah128 0:d88fd55a27a6 319 phase = 1;
jah128 0:d88fd55a27a6 320 }
jah128 0:d88fd55a27a6 321 }else{
jah128 0:d88fd55a27a6 322 if(system_timer.read_us() > on_period){
jah128 0:d88fd55a27a6 323 system_timer.reset();
jah128 0:d88fd55a27a6 324 phase = 0;
jah128 1:7093cc21a293 325 out_1.pulsewidth_us(0);
jah128 1:7093cc21a293 326 out_2.pulsewidth_us(0);
jah128 1:7093cc21a293 327 out_3.pulsewidth_us(0);
jah128 1:7093cc21a293 328 led_1=0;
jah128 1:7093cc21a293 329 led_2=0;
jah128 1:7093cc21a293 330 led_3=0;
jah128 0:d88fd55a27a6 331 }
jah128 0:d88fd55a27a6 332 }
jah128 0:d88fd55a27a6 333
jah128 0:d88fd55a27a6 334
jah128 0:d88fd55a27a6 335 if(button1 == 1) {
jah128 0:d88fd55a27a6 336 if(b_p == 0) {
jah128 0:d88fd55a27a6 337 b_p=1;
jah128 0:d88fd55a27a6 338 button_timer.reset();
jah128 0:d88fd55a27a6 339 }
jah128 0:d88fd55a27a6 340 if(b_p == 1) {
jah128 0:d88fd55a27a6 341 if(button_timer.read_ms() > 100) {
jah128 0:d88fd55a27a6 342 b_p=2;
jah128 0:d88fd55a27a6 343 display.clear_display();
jah128 0:d88fd55a27a6 344 display.set_position(0,0);
jah128 0:d88fd55a27a6 345 display.write_string("Hold to change",14);
jah128 0:d88fd55a27a6 346 display.set_position(1,0);
jah128 0:d88fd55a27a6 347 display.write_string("settings",8);
jah128 0:d88fd55a27a6 348 }
jah128 0:d88fd55a27a6 349 }
jah128 0:d88fd55a27a6 350 if(b_p == 2) {
jah128 0:d88fd55a27a6 351 if(button_timer.read_ms() > 1000) {
jah128 0:d88fd55a27a6 352 change_settings();
jah128 0:d88fd55a27a6 353 update_cycles();
jah128 0:d88fd55a27a6 354 display_status();
jah128 0:d88fd55a27a6 355 b_p=0;
jah128 0:d88fd55a27a6 356 }
jah128 0:d88fd55a27a6 357 }
jah128 0:d88fd55a27a6 358 } else {
jah128 0:d88fd55a27a6 359 if (b_p > 0) {
jah128 0:d88fd55a27a6 360 if(b_p == 2) display_status();
jah128 0:d88fd55a27a6 361 b_p=0;
jah128 0:d88fd55a27a6 362 }
jah128 0:d88fd55a27a6 363 }
jah128 0:d88fd55a27a6 364 }
jah128 0:d88fd55a27a6 365 }