void serialPrintWithInt(char outStr[], uint32_t value)
{
char newOutStr[stringLength(outStr)+4*2 + 1];
stringWithInt(newOutStr, outStr, value);
write_usb_serial_blocking(newOutStr, stringLength(newOutStr));
}
int DEBUG_write(char* string)
{
return(write_usb_serial_blocking(string, strlen(string)+1));
}
void serialPrint(char outStr[])
{
write_usb_serial_blocking(outStr, stringLength(outStr));
}
int calibration_mode(char previous) {
sensor_changer(&sensor_selector, &previous);
count = 18;
PWM_MatchUpdate((LPC_PWM_TypeDef *) LPC_PWM1,2,18,PWM_MATCH_UPDATE_NOW);
char a = read_keypad(33);
/*
Selector to change the mode using the keypad keys A,B,C and D. Replicated in the rest of the modes too.
When the system is started for the first time, it starts in calibration mode and requests its values unless one of the
B, C or D keys is held at startup.
*/
if (a == 'A'&& previous != a) {
SYSTICK_IntCmd(DISABLE);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 0;
}
else if (a == 'B'&& previous != a) {
SYSTICK_IntCmd(DISABLE);
clear_display(59);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 1;
}
else if (a == 'C'&& previous != a) {
servoreset();
SYSTICK_IntCmd(ENABLE);
clear_display(59);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 2;
}
else if (a == 'D'&& previous != a) {
servoreset();
SYSTICK_IntCmd(ENABLE);
clear_display(59);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 3;
}
else {
int ir_calib_arr[3];
int us_calib_arr[3];
int ir_reported;
int us_reported;
int ir_calib_val;
int us_calib_val;
int u = 0;
char write[2];
strcpy(write, "");
/*
Code to get values from the keypad. The user places an object at a set distance away from the head, enters how far it is from
the head, then finalises this value with the # key. If a mistake is made, the screen can be cleared with the A key,
Then repostions it closer or further and enters the new distance.
This is repeated once more to obtain three different calibration values.
*/
while(calib_tracker <3) {
if (u == 1000) {
sensor_changer_cali_mode(&sensor_selector, &previous);
int addr = 0x80;
int i;
for(i=0; i < strlen("Input actual dist: "); i++) {
addr = alloc_lcd_addr(addr, i, "Input actual dist: ");
}
for(i=0; i < strlen(write); i++) {
addr = alloc_lcd_addr(addr, i, write);
}
char x;
x = read_keypad(33);
if (x == previous) {
previous = x;
}
else if (x != 'Z' && x != previous) {
if (x == 'A') {
clear_display(59);
strcpy(write, "");
previous = x;
}
else if (isalpha(x) || x == '*' || isdigit(x)) {
addr = 0x80;
append(write, x);
clear_display(59);
for(i=0; i < strlen("Input actual dist: "); i++) {
addr = alloc_lcd_addr(addr, i, "Input actual dist: ");
}
for(i=0; i < strlen(write); i++) {
addr = alloc_lcd_addr(addr, i, write);
}
previous = x;
}
else if(x == '#') {
clear_display(59);
int act_val = atoi(write);
int anglemax = ((servo_stop-8)*9);
int anglemin = ((servo_start-8)*9);
int angle = ((count-8)*9);
char port3[90] = "";
sprintf(port3, ";%i;%i;%i;%i;%i;%i;%i;%i;%i;%i;%i;%i;\n\r", ir_raw, us_raw, ir_dist, us_dist, angle, anglemax, anglemin, act_val, sweep_num, multicheck, mode, newmulti);
write_usb_serial_blocking(port3 ,90);
ir_reported = ir_dist;
char port[3] = "";
sprintf(port, "%i", ir_reported);
//write_usb_serial_blocking("ir_report: ", 11);
//write_usb_serial_blocking(port, 3);
//write_usb_serial_blocking("\n\r", 2);
us_reported = us_dist;
char port1[3] = "";
sprintf(port1, "%i", us_reported);
//write_usb_serial_blocking("us_report: ", 11);
//write_usb_serial_blocking(port1, 3);
//write_usb_serial_blocking("\n\r", 2);
ir_calib_val = (act_val - ir_reported);
us_calib_val = (act_val - us_reported);
ir_calib_arr[calib_tracker] = ir_calib_val;
us_calib_arr[calib_tracker] = us_calib_val;
calib_tracker++;
strcpy(write, "");
previous = x;
}
}
else if (x == 'Z' && previous != 'Z') {
previous = 'Z';
}
}
else {
u++;
}
}
/*
If the calibration values have been entered, but the calibration is not yet complete, this calculates the calibration adjustments
for both IR and US, then sets calibrated_flag to stop them from being recalculated.
*/
if (calibrated_flag == 0) {
for (calib_tracker = 0; calib_tracker <3; calib_tracker++) {
ir_calib_total += ir_calib_arr[calib_tracker];
us_calib_total += us_calib_arr[calib_tracker];
}
calibrated_flag = 1;
ir_calibration_adjust = ir_calib_total/3;
us_calibration_adjust = us_calib_total/3;
char port1[3] = "";
sprintf(port1, "%i", ir_calib_total);
/*write_usb_serial_blocking("IR total: ", 8);
write_usb_serial_blocking(port1, 3);
write_usb_serial_blocking("\n\r", 2);*/
char port2[3] = "";
sprintf(port2, "%i", us_calib_total);
/*write_usb_serial_blocking("US total: ", 8);
write_usb_serial_blocking(port2, 3);
write_usb_serial_blocking("\n\r", 2);*/
char port3[3] = "";
sprintf(port3, "%i", ir_calibration_adjust);
/*write_usb_serial_blocking("IR adjust: ", 9);
write_usb_serial_blocking(port3, 3);
write_usb_serial_blocking("\n\r", 2);*/
char port4[3] = "";
sprintf(port4, "%i", us_calibration_adjust);
/*write_usb_serial_blocking("US adjust: ", 9);
write_usb_serial_blocking(port4, 3);
write_usb_serial_blocking("\n\r", 2);*/
}
lcd_display_top_row("Cali");
lcd_display_bottom_row();
//distanceircalc();
//RTC_AlarmIntConfig((LPC_RTC_TypeDef *) LPC_RTC, RTC_TIMETYPE_SECOND, DISABLE);
//keypad_change_sample_rate(&samplerate, a, &previous);
average_calculator(us_dist_arr, ir_dist_arr, array_counter, &us_avg, &ir_avg);
previous = keypad_check(a, previous);
return 0;
}
}
