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| alex89 |
0:76b1b51d98f6
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1
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#include "mbed.h"
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| alex89 |
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2
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#include "Servo.h"
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| alex89 |
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3
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| alex89 |
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4
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DigitalOut myled1(LED1);
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| alex89 |
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5
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DigitalOut myled2(LED2);
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| alex89 |
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6
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DigitalOut myled3(LED3);
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| alex89 |
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7
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DigitalOut myled4(LED4);
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| alex89 |
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8
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| alex89 |
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9
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char code[] = "1234";
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| alex89 |
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10
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| alex89 |
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11
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Serial pc(USBTX, USBRX); // debugging
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| alex89 |
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12
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| alex89 |
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13
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//--------------- IC2 trial ---------------
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| alex89 |
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14
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15
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const int address = 0x30;
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| alex89 |
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16
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| alex89 |
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// write value into register regno, return success
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| alex89 |
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bool write_reg(int regno, int value)
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| alex89 |
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{
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| alex89 |
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20
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char data[2] = {regno, value};
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21
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return i2c.write(address, data, 2) == 0;
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| alex89 |
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22
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}
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| alex89 |
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23
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| alex89 |
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24
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// read value from register regno, return success
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| alex89 |
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bool read_reg(int regno, int *value)
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26
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{
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27
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char data = regno;
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| alex89 |
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28
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if (i2c.write(address, &data, 1) == 0 && i2c.read(address, &data, 1) == 0)
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| alex89 |
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29
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{
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| alex89 |
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30
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*value = data;
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return true;
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| alex89 |
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32
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}
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33
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return false;
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| alex89 |
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34
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}
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35
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| alex89 |
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36
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// read complete value of X axis, return it or -1 on failure
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| alex89 |
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int read_x()
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| alex89 |
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38
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{
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| alex89 |
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int low, high;
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| alex89 |
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if ( read_reg(XOUT_H, &high) && read_reg(XOUT_L, &low) )
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return high<<8 | low;
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| alex89 |
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42
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else
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| alex89 |
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43
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return -1;
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| alex89 |
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44
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}
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| alex89 |
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45
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| alex89 |
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void accData(){
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| alex89 |
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47
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| alex89 |
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48
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DigitalOut enable(p26); //enable pin
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| alex89 |
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49
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I2C i2c(p28, p27); // accelerometer
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| alex89 |
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50
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| alex89 |
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51
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enable = 1; //set enable pin to 1
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| alex89 |
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52
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i2c.frequency(400000); //set frequency to 400 KHz
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| alex89 |
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53
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54
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const int CTRL_REGB = 0x0D;
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55
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const int CTRL_REGC = 0x0C;
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| alex89 |
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56
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| alex89 |
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write_reg(CTRL_REGB, 0xC2);
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| alex89 |
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write_reg(CTRL_REGC, 0x00);
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| alex89 |
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59
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printf("X axis: %d\n", read_x());
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| alex89 |
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60
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| alex89 |
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61
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| alex89 |
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62
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| alex89 |
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63
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/*
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| alex89 |
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64
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const int address = 0x97; //slave address
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| alex89 |
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65
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| alex89 |
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66
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char data[12];
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| alex89 |
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67
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| alex89 |
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68
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data[0] = 0x42;
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| alex89 |
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69
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i2c.write(CTRL_REGB, data, 1); // register CTRL_REGB to 0x42 (start condition)
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| alex89 |
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70
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| alex89 |
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71
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wait(0.1);
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| alex89 |
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72
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| alex89 |
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73
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data[0] = 0x00;
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| alex89 |
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74
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i2c.write(CTRL_REGC, data, 1); // register CTRL_REGC to 0x00 (start condition)
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| alex89 |
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75
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| alex89 |
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76
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wait(0.1);
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| alex89 |
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77
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| alex89 |
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78
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data[0] = 0x00;
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| alex89 |
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79
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i2c.write(address, data, 1); // tell accelerometer i want to talk to it?
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| alex89 |
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80
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| alex89 |
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81
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wait(0.1);
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| alex89 |
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82
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| alex89 |
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83
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const int XOUT_H = 0x00; //x high register
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| alex89 |
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84
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const int XOUT_L = 0x01; //x low register
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| alex89 |
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85
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| alex89 |
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86
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for(int i = 0; i < 10; i++){
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| alex89 |
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87
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pc.printf("x high: '%s'\n", i2c.read(XOUT_H, data, 12));
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88
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wait(0.1);
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| alex89 |
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89
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pc.printf("x low: '%s'\n", i2c.read(XOUT_L, data, 12));
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| alex89 |
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90
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wait(0.1);
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| alex89 |
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91
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}
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| alex89 |
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92
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| alex89 |
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93
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enable = 0;
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| alex89 |
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94
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| alex89 |
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95
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| alex89 |
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96
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pc.printf("started\n");
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| alex89 |
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97
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| alex89 |
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98
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| alex89 |
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99
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for (int i = 0; i < 10; i++){ //get 10 results
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| alex89 |
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100
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| alex89 |
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101
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const int CTRL_REGB = 0x0D;
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| alex89 |
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102
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const int CTRL_REGC = 0x0C;
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| alex89 |
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103
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| alex89 |
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104
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cmd[0] = 0x2;
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| alex89 |
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105
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i2c.write(addr, data, 2);
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| alex89 |
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106
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| alex89 |
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107
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i2c.read(addr, data, 8); // read the echo result
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| alex89 |
0:76b1b51d98f6
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108
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| alex89 |
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109
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// print the ranging data to the screen
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| alex89 |
0:76b1b51d98f6
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110
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//float echo = 0.01 * ((cmd[0] << 8) + cmd[1]);
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| alex89 |
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111
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| alex89 |
0:76b1b51d98f6
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112
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pc.printf ("Data: %s\n", cmd);
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| alex89 |
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113
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| alex89 |
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114
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wait(0.1);
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| alex89 |
0:76b1b51d98f6
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115
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}
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| alex89 |
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116
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| alex89 |
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117
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i2c.write(
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| alex89 |
0:76b1b51d98f6
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118
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| alex89 |
0:76b1b51d98f6
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119
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wait(0.07);
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| alex89 |
0:76b1b51d98f6
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120
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| alex89 |
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121
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const int XOUT_H = 0x00;
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| alex89 |
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122
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const int XOUT_L = 0x01;
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| alex89 |
0:76b1b51d98f6
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123
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| alex89 |
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124
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i2c.read(XOUT_H, data, 8); // read the result
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| alex89 |
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125
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pc.printf ("XOUT_H: '%s'\n", data);
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| alex89 |
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126
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| alex89 |
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127
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wait(0.07);
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| alex89 |
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128
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| alex89 |
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129
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i2c.read(XOUT_L, data, 8); // read the result
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| alex89 |
0:76b1b51d98f6
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130
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pc.printf ("XOUT_L: '%s'\n", data);
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| alex89 |
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131
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*/
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| alex89 |
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132
|
|
| alex89 |
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133
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}
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| alex89 |
0:76b1b51d98f6
|
134
|
|
| alex89 |
0:76b1b51d98f6
|
135
|
|
| alex89 |
0:76b1b51d98f6
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136
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//--------------- Servo position reset ---------------
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| alex89 |
0:76b1b51d98f6
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137
|
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| alex89 |
0:76b1b51d98f6
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138
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void resetServo(){
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| alex89 |
0:76b1b51d98f6
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139
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| alex89 |
0:76b1b51d98f6
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140
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Servo myServo (p21); // steering servo
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| alex89 |
0:76b1b51d98f6
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141
|
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| alex89 |
0:76b1b51d98f6
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142
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int i;
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| alex89 |
0:76b1b51d98f6
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143
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bool j = 0;
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| alex89 |
0:76b1b51d98f6
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144
|
|
| alex89 |
0:76b1b51d98f6
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145
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//clockwise 180
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| alex89 |
0:76b1b51d98f6
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146
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for (i=0 ; i<200 ; i++){
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| alex89 |
0:76b1b51d98f6
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147
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myServo = i/100.0;
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| alex89 |
0:76b1b51d98f6
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148
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wait (0.01);
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| alex89 |
0:76b1b51d98f6
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149
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if(i%10==0){
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| alex89 |
0:76b1b51d98f6
|
150
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j = !j;
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| alex89 |
0:76b1b51d98f6
|
151
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myled1 = j;
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| alex89 |
0:76b1b51d98f6
|
152
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}
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| alex89 |
0:76b1b51d98f6
|
153
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}
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| alex89 |
0:76b1b51d98f6
|
154
|
|
| alex89 |
0:76b1b51d98f6
|
155
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pc.printf("Servo at full rotation\n");
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| alex89 |
0:76b1b51d98f6
|
156
|
|
| alex89 |
0:76b1b51d98f6
|
157
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//wait a second
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| alex89 |
0:76b1b51d98f6
|
158
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for (i = 0; i < 10; i++){
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| alex89 |
0:76b1b51d98f6
|
159
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wait (0.1);
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| alex89 |
0:76b1b51d98f6
|
160
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j = !j;
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| alex89 |
0:76b1b51d98f6
|
161
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myled2 = j;
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| alex89 |
0:76b1b51d98f6
|
162
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}
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| alex89 |
0:76b1b51d98f6
|
163
|
|
| alex89 |
0:76b1b51d98f6
|
164
|
pc.printf("End pause\n");
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| alex89 |
0:76b1b51d98f6
|
165
|
|
| alex89 |
0:76b1b51d98f6
|
166
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//back to start
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| alex89 |
0:76b1b51d98f6
|
167
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for (i=100 ; i>0 ; i--){
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| alex89 |
0:76b1b51d98f6
|
168
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myServo = i/100.0;
|
| alex89 |
0:76b1b51d98f6
|
169
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wait (0.01);
|
| alex89 |
0:76b1b51d98f6
|
170
|
if(i%10==0){
|
| alex89 |
0:76b1b51d98f6
|
171
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j = !j;
|
| alex89 |
0:76b1b51d98f6
|
172
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myled3 = j;
|
| alex89 |
0:76b1b51d98f6
|
173
|
}
|
| alex89 |
0:76b1b51d98f6
|
174
|
}
|
| alex89 |
0:76b1b51d98f6
|
175
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pc.printf("Servo at default position\n");
|
| alex89 |
0:76b1b51d98f6
|
176
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}
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| alex89 |
0:76b1b51d98f6
|
177
|
|
| alex89 |
0:76b1b51d98f6
|
178
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//--------------- Turning all LEDs off or on ---------------
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| alex89 |
0:76b1b51d98f6
|
179
|
|
| alex89 |
0:76b1b51d98f6
|
180
|
void all(bool status){
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| alex89 |
0:76b1b51d98f6
|
181
|
|
| alex89 |
0:76b1b51d98f6
|
182
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myled1 = status;
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| alex89 |
0:76b1b51d98f6
|
183
|
myled2 = status;
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| alex89 |
0:76b1b51d98f6
|
184
|
myled3 = status;
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| alex89 |
0:76b1b51d98f6
|
185
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myled4 = status;
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| alex89 |
0:76b1b51d98f6
|
186
|
|
| alex89 |
0:76b1b51d98f6
|
187
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}
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| alex89 |
0:76b1b51d98f6
|
188
|
|
| alex89 |
0:76b1b51d98f6
|
189
|
|
| alex89 |
0:76b1b51d98f6
|
190
|
//--------------- Digital pin checking ---------------
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| alex89 |
0:76b1b51d98f6
|
191
|
|
| alex89 |
0:76b1b51d98f6
|
192
|
void checkPin5(){
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| alex89 |
0:76b1b51d98f6
|
193
|
|
| alex89 |
0:76b1b51d98f6
|
194
|
DigitalIn input5(p5);
|
| alex89 |
0:76b1b51d98f6
|
195
|
|
| alex89 |
0:76b1b51d98f6
|
196
|
//check for pin 5
|
| alex89 |
0:76b1b51d98f6
|
197
|
while(1) {
|
| alex89 |
0:76b1b51d98f6
|
198
|
if(input5){
|
| alex89 |
0:76b1b51d98f6
|
199
|
myled4 = !myled4;
|
| alex89 |
0:76b1b51d98f6
|
200
|
pc.printf("pin 5 in!\n");
|
| alex89 |
0:76b1b51d98f6
|
201
|
}
|
| alex89 |
0:76b1b51d98f6
|
202
|
wait(0.1);
|
| alex89 |
0:76b1b51d98f6
|
203
|
}
|
| alex89 |
0:76b1b51d98f6
|
204
|
}
|
| alex89 |
0:76b1b51d98f6
|
205
|
|
| alex89 |
0:76b1b51d98f6
|
206
|
//--------------- Get key number ---------------
|
| alex89 |
0:76b1b51d98f6
|
207
|
|
| alex89 |
0:76b1b51d98f6
|
208
|
int keyNum(){
|
| alex89 |
0:76b1b51d98f6
|
209
|
|
| alex89 |
0:76b1b51d98f6
|
210
|
DigitalIn col1(p18);
|
| alex89 |
0:76b1b51d98f6
|
211
|
DigitalIn col2(p20);
|
| alex89 |
0:76b1b51d98f6
|
212
|
DigitalIn col3(p16);
|
| alex89 |
0:76b1b51d98f6
|
213
|
|
| alex89 |
0:76b1b51d98f6
|
214
|
DigitalOut row1(p19);
|
| alex89 |
0:76b1b51d98f6
|
215
|
DigitalOut row2(p14);
|
| alex89 |
0:76b1b51d98f6
|
216
|
DigitalOut row3(p15);
|
| alex89 |
0:76b1b51d98f6
|
217
|
DigitalOut row4(p17);
|
| alex89 |
0:76b1b51d98f6
|
218
|
|
| alex89 |
0:76b1b51d98f6
|
219
|
row1 = 1;
|
| alex89 |
0:76b1b51d98f6
|
220
|
row2 = 0;
|
| alex89 |
0:76b1b51d98f6
|
221
|
row3 = 0;
|
| alex89 |
0:76b1b51d98f6
|
222
|
row4 = 0;
|
| alex89 |
0:76b1b51d98f6
|
223
|
|
| alex89 |
0:76b1b51d98f6
|
224
|
if (col1)
|
| alex89 |
0:76b1b51d98f6
|
225
|
return 1;
|
| alex89 |
0:76b1b51d98f6
|
226
|
else if (col2)
|
| alex89 |
0:76b1b51d98f6
|
227
|
return 2;
|
| alex89 |
0:76b1b51d98f6
|
228
|
else if (col3)
|
| alex89 |
0:76b1b51d98f6
|
229
|
return 3;
|
| alex89 |
0:76b1b51d98f6
|
230
|
|
| alex89 |
0:76b1b51d98f6
|
231
|
row1 = 0;
|
| alex89 |
0:76b1b51d98f6
|
232
|
row2 = 1;
|
| alex89 |
0:76b1b51d98f6
|
233
|
row3 = 0;
|
| alex89 |
0:76b1b51d98f6
|
234
|
row4 = 0;
|
| alex89 |
0:76b1b51d98f6
|
235
|
|
| alex89 |
0:76b1b51d98f6
|
236
|
if (col1)
|
| alex89 |
0:76b1b51d98f6
|
237
|
return 4;
|
| alex89 |
0:76b1b51d98f6
|
238
|
else if (col2)
|
| alex89 |
0:76b1b51d98f6
|
239
|
return 5;
|
| alex89 |
0:76b1b51d98f6
|
240
|
else if (col3)
|
| alex89 |
0:76b1b51d98f6
|
241
|
return 6;
|
| alex89 |
0:76b1b51d98f6
|
242
|
|
| alex89 |
0:76b1b51d98f6
|
243
|
row1 = 0;
|
| alex89 |
0:76b1b51d98f6
|
244
|
row2 = 0;
|
| alex89 |
0:76b1b51d98f6
|
245
|
row3 = 1;
|
| alex89 |
0:76b1b51d98f6
|
246
|
row4 = 0;
|
| alex89 |
0:76b1b51d98f6
|
247
|
|
| alex89 |
0:76b1b51d98f6
|
248
|
if (col1)
|
| alex89 |
0:76b1b51d98f6
|
249
|
return 7;
|
| alex89 |
0:76b1b51d98f6
|
250
|
else if (col2)
|
| alex89 |
0:76b1b51d98f6
|
251
|
return 8;
|
| alex89 |
0:76b1b51d98f6
|
252
|
else if (col3)
|
| alex89 |
0:76b1b51d98f6
|
253
|
return 9;
|
| alex89 |
0:76b1b51d98f6
|
254
|
|
| alex89 |
0:76b1b51d98f6
|
255
|
row1 = 0;
|
| alex89 |
0:76b1b51d98f6
|
256
|
row2 = 0;
|
| alex89 |
0:76b1b51d98f6
|
257
|
row3 = 0;
|
| alex89 |
0:76b1b51d98f6
|
258
|
row4 = 1;
|
| alex89 |
0:76b1b51d98f6
|
259
|
|
| alex89 |
0:76b1b51d98f6
|
260
|
if (col1)
|
| alex89 |
0:76b1b51d98f6
|
261
|
return 10;
|
| alex89 |
0:76b1b51d98f6
|
262
|
else if (col2)
|
| alex89 |
0:76b1b51d98f6
|
263
|
return 0;
|
| alex89 |
0:76b1b51d98f6
|
264
|
else if (col3)
|
| alex89 |
0:76b1b51d98f6
|
265
|
return 11;
|
| alex89 |
0:76b1b51d98f6
|
266
|
|
| alex89 |
0:76b1b51d98f6
|
267
|
row1 = 0;
|
| alex89 |
0:76b1b51d98f6
|
268
|
row2 = 0;
|
| alex89 |
0:76b1b51d98f6
|
269
|
row3 = 0;
|
| alex89 |
0:76b1b51d98f6
|
270
|
row4 = 0;
|
| alex89 |
0:76b1b51d98f6
|
271
|
|
| alex89 |
0:76b1b51d98f6
|
272
|
return -1;
|
| alex89 |
0:76b1b51d98f6
|
273
|
}
|
| alex89 |
0:76b1b51d98f6
|
274
|
|
| alex89 |
0:76b1b51d98f6
|
275
|
//--------------- Check against code ---------------
|
| alex89 |
0:76b1b51d98f6
|
276
|
|
| alex89 |
0:76b1b51d98f6
|
277
|
bool getCode(){
|
| alex89 |
0:76b1b51d98f6
|
278
|
|
| alex89 |
0:76b1b51d98f6
|
279
|
char codeTry[] = "";
|
| alex89 |
0:76b1b51d98f6
|
280
|
int previous = -1;
|
| alex89 |
0:76b1b51d98f6
|
281
|
int a = -1;
|
| alex89 |
0:76b1b51d98f6
|
282
|
|
| alex89 |
0:76b1b51d98f6
|
283
|
while(strlen(codeTry) < strlen(code)){
|
| alex89 |
0:76b1b51d98f6
|
284
|
|
| alex89 |
0:76b1b51d98f6
|
285
|
int cycles = 0;
|
| alex89 |
0:76b1b51d98f6
|
286
|
|
| alex89 |
0:76b1b51d98f6
|
287
|
while ((a == previous && cycles < 40) || a == -1){ //keep looping until different to last, or held down
|
| alex89 |
0:76b1b51d98f6
|
288
|
a = keyNum();
|
| alex89 |
0:76b1b51d98f6
|
289
|
cycles++;
|
| alex89 |
0:76b1b51d98f6
|
290
|
wait(0.01);
|
| alex89 |
0:76b1b51d98f6
|
291
|
}
|
| alex89 |
0:76b1b51d98f6
|
292
|
|
| alex89 |
0:76b1b51d98f6
|
293
|
sprintf(codeTry, "%s%d", codeTry, a);
|
| alex89 |
0:76b1b51d98f6
|
294
|
|
| alex89 |
0:76b1b51d98f6
|
295
|
switch(strlen(codeTry)){
|
| alex89 |
0:76b1b51d98f6
|
296
|
case 1: myled1 = 1; break;
|
| alex89 |
0:76b1b51d98f6
|
297
|
case 2: myled2 = 1; break;
|
| alex89 |
0:76b1b51d98f6
|
298
|
case 3: myled3 = 1; break;
|
| alex89 |
0:76b1b51d98f6
|
299
|
case 4: myled4 = 1;
|
| alex89 |
0:76b1b51d98f6
|
300
|
}
|
| alex89 |
0:76b1b51d98f6
|
301
|
|
| alex89 |
0:76b1b51d98f6
|
302
|
previous = a;
|
| alex89 |
0:76b1b51d98f6
|
303
|
wait (0.1);
|
| alex89 |
0:76b1b51d98f6
|
304
|
}
|
| alex89 |
0:76b1b51d98f6
|
305
|
|
| alex89 |
0:76b1b51d98f6
|
306
|
all(0);
|
| alex89 |
0:76b1b51d98f6
|
307
|
|
| alex89 |
0:76b1b51d98f6
|
308
|
pc.printf("code entered: '%s'\n", codeTry);
|
| alex89 |
0:76b1b51d98f6
|
309
|
|
| alex89 |
0:76b1b51d98f6
|
310
|
if(strcmp(code, codeTry) == 0){
|
| alex89 |
0:76b1b51d98f6
|
311
|
return true;
|
| alex89 |
0:76b1b51d98f6
|
312
|
}
|
| alex89 |
0:76b1b51d98f6
|
313
|
|
| alex89 |
0:76b1b51d98f6
|
314
|
return false;
|
| alex89 |
0:76b1b51d98f6
|
315
|
}
|
| alex89 |
0:76b1b51d98f6
|
316
|
|
| alex89 |
0:76b1b51d98f6
|
317
|
//--------------- Check what key is pressed ---------------
|
| alex89 |
0:76b1b51d98f6
|
318
|
|
| alex89 |
0:76b1b51d98f6
|
319
|
void keyCheck(){
|
| alex89 |
0:76b1b51d98f6
|
320
|
|
| alex89 |
0:76b1b51d98f6
|
321
|
bool j = 0;
|
| alex89 |
0:76b1b51d98f6
|
322
|
|
| alex89 |
0:76b1b51d98f6
|
323
|
while (1){
|
| alex89 |
0:76b1b51d98f6
|
324
|
int a = keyNum();
|
| alex89 |
0:76b1b51d98f6
|
325
|
if(a == 11){ //on hash close the app
|
| alex89 |
0:76b1b51d98f6
|
326
|
myled1 = 0;
|
| alex89 |
0:76b1b51d98f6
|
327
|
break;
|
| alex89 |
0:76b1b51d98f6
|
328
|
}
|
| alex89 |
0:76b1b51d98f6
|
329
|
if(a!=-1){
|
| alex89 |
0:76b1b51d98f6
|
330
|
pc.printf("%d\n", a); //send key to pc
|
| alex89 |
0:76b1b51d98f6
|
331
|
}
|
| alex89 |
0:76b1b51d98f6
|
332
|
|
| alex89 |
0:76b1b51d98f6
|
333
|
j = !j;
|
| alex89 |
0:76b1b51d98f6
|
334
|
myled1 = j; //flash LED1
|
| alex89 |
0:76b1b51d98f6
|
335
|
|
| alex89 |
0:76b1b51d98f6
|
336
|
wait (0.1);
|
| alex89 |
0:76b1b51d98f6
|
337
|
}
|
| alex89 |
0:76b1b51d98f6
|
338
|
}
|
| alex89 |
0:76b1b51d98f6
|
339
|
|
| alex89 |
0:76b1b51d98f6
|
340
|
//---------------- Door keypad ---------------
|
| alex89 |
0:76b1b51d98f6
|
341
|
|
| alex89 |
0:76b1b51d98f6
|
342
|
void doorlock(){
|
| alex89 |
0:76b1b51d98f6
|
343
|
|
| alex89 |
0:76b1b51d98f6
|
344
|
bool password = getCode();
|
| alex89 |
0:76b1b51d98f6
|
345
|
|
| alex89 |
0:76b1b51d98f6
|
346
|
if (password){
|
| alex89 |
0:76b1b51d98f6
|
347
|
pc.printf("Password correct\n");
|
| alex89 |
0:76b1b51d98f6
|
348
|
resetServo();
|
| alex89 |
0:76b1b51d98f6
|
349
|
} else {
|
| alex89 |
0:76b1b51d98f6
|
350
|
all(1);
|
| alex89 |
0:76b1b51d98f6
|
351
|
wait(0.5);
|
| alex89 |
0:76b1b51d98f6
|
352
|
all(0);
|
| alex89 |
0:76b1b51d98f6
|
353
|
pc.printf("Password incorrect\n");
|
| alex89 |
0:76b1b51d98f6
|
354
|
}
|
| alex89 |
0:76b1b51d98f6
|
355
|
}
|
| alex89 |
0:76b1b51d98f6
|
356
|
|
| alex89 |
0:76b1b51d98f6
|
357
|
//-------------------- Main -------------------
|
| alex89 |
0:76b1b51d98f6
|
358
|
|
| alex89 |
0:76b1b51d98f6
|
359
|
int main() {
|
| alex89 |
0:76b1b51d98f6
|
360
|
|
| alex89 |
0:76b1b51d98f6
|
361
|
pc.printf("Program started\n");
|
| alex89 |
0:76b1b51d98f6
|
362
|
|
| alex89 |
0:76b1b51d98f6
|
363
|
accData();
|
| alex89 |
0:76b1b51d98f6
|
364
|
|
| alex89 |
0:76b1b51d98f6
|
365
|
//doorlock();
|
| alex89 |
0:76b1b51d98f6
|
366
|
//resetServo();
|
| alex89 |
0:76b1b51d98f6
|
367
|
|
| alex89 |
0:76b1b51d98f6
|
368
|
pc.printf("Program complete\n\n");
|
| alex89 |
0:76b1b51d98f6
|
369
|
}
|
Alex Louden