3FEN
21/02/18 definitivo
Dependencies: X_NUCLEO_6180XA1 mbed
Fork of
HelloWorld_6180XA1
by 
ST
Diff: main.cpp
- Revision:
- 15:b94bc967fecd
- Parent:
- 14:946e62f44f4f
- Child:
- 16:fbf61b7c65ba
--- a/main.cpp Tue Oct 27 15:54:05 2015 +0000
+++ b/main.cpp Wed Oct 28 13:23:58 2015 +0100
@@ -38,9 +38,6 @@
//int start, end;
//DigitalOut pin(PA_15);
-/* Create a serial object */
-Serial pc(USBTX, USBRX);
-
DevI2C device_i2c(VL6180X_I2C_SDA, VL6180X_I2C_SCL);
static X_NUCLEO_6180XA1 *board=X_NUCLEO_6180XA1::Instance(&device_i2c);
@@ -48,48 +45,52 @@
MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right;
-/* flags that handle the call to HandleIRQ function */
-bool flag_sensor_top=false, flag_sensor_bottom=false, flag_sensor_left=false, flag_sensor_right=false;
+/* flags that handle interrupt request */
+bool flag_sensor_top=false, flag_sensor_bottom=false, flag_sensor_left=false, flag_sensor_right=false, flag_stop_measure=false;
+
+/* user button used to stop measurements in interrupt mode */
+InterruptIn stop_button(USER_BUTTON);
/* callback functions of the sensors */
-static void SensorTopIRQ(void)
+void SensorTopIRQ(void)
{
flag_sensor_top=true;
board->sensor_top->DisableInterruptMeasureDetectionIRQ();
}
-static void SensorBottomIRQ(void)
+void SensorBottomIRQ(void)
{
flag_sensor_bottom=true;
board->sensor_bottom->DisableInterruptMeasureDetectionIRQ();
}
-static void SensorLeftIRQ(void)
+void SensorLeftIRQ(void)
{
flag_sensor_left=true;
board->sensor_left->DisableInterruptMeasureDetectionIRQ();
}
-static void SensorRightIRQ(void)
+void SensorRightIRQ(void)
{
flag_sensor_right=true;
board->sensor_right->DisableInterruptMeasureDetectionIRQ();
}
-void OnErrLog(void){}; // FIXME sistemare la funzione per stampare il messaggio che gli viene passato
- // posso ridirigere la OnErrLog come pc.printf(__VA_ARGS__), ma deve essere OnErrLog(...)
-void DISP_ExecLoopBody(void){}; //FIXME sistemare questa funzione
+void StopMeasureIRQ(void)
+{
+ flag_stop_measure=true;
+}
int main()
{
int status, status_t, status_b, status_l, status_r;
- //device_i2c.frequency(300000); //change i2c frequncy from 100kHz to 400kHz
+ //device_i2c.frequency(400000); //change i2c frequncy from 100kHz to 400kHz
pc.baud(115200); //change baudrate of the printf
status=board->InitBoard();
if(status)
- VL6180x_ErrLog("Failed to init the board!\n\r");
+ printf("Failed to init the board!\n\r");
#ifdef RANGE_SINGLE_SHOT_POLLING
status_t=board->sensor_top->StartMeasurement(range_single_shot_polling, NULL, &data_sensor_top, NULL, NULL);
@@ -107,7 +108,7 @@
#ifdef ALS_SINGLE_SHOT_POLLING
status_t=board->sensor_top->StartMeasurement(als_single_shot_polling, NULL, &data_sensor_top, NULL, NULL);
if(!status_t)
- printf("Top Light: %dlux\n\r",data_sensor_top.lux);
+ printf("Top Light: %d lux\n\r",data_sensor_top.lux);
else if(status==INVALID_PARAMS)
printf("Failed to start measurement!\n\r");
else
@@ -147,7 +148,7 @@
{
status=board->sensor_top->GetMeasurement(als_continuous_polling, &data_sensor_top);
if(!status_t)
- printf("Top Light measure %d: %dlux\n\r",i,data_sensor_top.lux);
+ printf("Top Light measure %d: %d lux\n\r",i,data_sensor_top.lux);
else
printf("Invalid light value!\n\r");
}
@@ -160,6 +161,7 @@
#endif
#ifdef RANGE_CONTINUOUS_INTERRUPT
+ stop_button.rise(&StopMeasureIRQ);
status=board->sensor_top->StartMeasurement(range_continuous_interrupt, SensorTopIRQ, &data_sensor_top, NULL, NULL);
if(!status)
{
@@ -174,16 +176,19 @@
else
printf("Invalid range value!\n\r");
}
+ if(flag_stop_measure)
+ break;
}
}
else
printf("Failed to start measurement!\n\r");
- status=board->sensor_top->StopMeasurement(range_continuous_interrupt); //FIXME per questo modo operativo e per i successivi ad interrupt si deve sistemare la funzione di StopMeasurement in quanto il main sta sempre dentro il ciclo while e quindi non viene mai chiamata StopMeasurement
+ status=board->sensor_top->StopMeasurement(range_continuous_interrupt);
if(status)
printf("Failed to stop measurement!\n\r");
#endif
#ifdef ALS_CONTINUOUS_INTERRUPT
+ stop_button.rise(&StopMeasureIRQ);
status_t=board->sensor_top->StartMeasurement(als_continuous_interrupt, SensorTopIRQ, &data_sensor_top, NULL, NULL);
if(!status_t)
{
@@ -194,10 +199,12 @@
flag_sensor_top=false;
status_t=board->sensor_top->HandleIRQ(als_continuous_interrupt, &data_sensor_top);
if(!status_t)
- printf("Top Light: %dlux\n\r",data_sensor_top.lux);
+ printf("Top Light: %d lux\n\r",data_sensor_top.lux);
else
printf("Invalid light value!\n\r");
}
+ if(flag_stop_measure)
+ break;
}
}
else
@@ -207,7 +214,8 @@
printf("Failed to stop measurement!\n\r");
#endif
-#ifdef INTERLEAVED_MODE_INTERRUPT
+#ifdef INTERLEAVED_MODE_INTERRUPT
+ stop_button.rise(&StopMeasureIRQ);
status_t=board->sensor_top->StartMeasurement(interleaved_mode_interrupt, SensorTopIRQ, &data_sensor_top, NULL, NULL);
if(!status_t)
{
@@ -218,10 +226,12 @@
flag_sensor_top=false;
status_t=board->sensor_top->HandleIRQ(interleaved_mode_interrupt, &data_sensor_top);
if(!status_t)
- printf("Top Range: %dmm\tTop Light: %dlux\n\r",data_sensor_top.range_mm, data_sensor_top.lux);
+ printf("Top Range: %dmm\tTop Light: %d lux\n\r",data_sensor_top.range_mm, data_sensor_top.lux);
else
printf("Invalid range or light value!\n\r");
}
+ if(flag_stop_measure)
+ break;
}
}
else
@@ -232,6 +242,7 @@
#endif
#ifdef RANGE_CONTINUOUS_INTERRUPT_LOW_THRESHOLD
+ stop_button.rise(&StopMeasureIRQ);
status_t=board->sensor_top->StartMeasurement(range_continuous_interrupt_low_threshold, SensorTopIRQ, &data_sensor_top, 80, NULL);
if(!status_t)
{
@@ -246,6 +257,8 @@
else
printf("Invalid range value!\n\r");
}
+ if(flag_stop_measure)
+ break;
}
}
else
@@ -255,15 +268,19 @@
printf("Failed to stop measurement!\n\r");
#endif
-/* Test application Hand Gesture */
+/* Hand Gesture test application */
#ifdef HAND_GESTURE
+#define ALS_DELAY 5000
int gest_code, prev_gest_code, gest_duration;
char str[5];
char valLeft[] = {'E'};
char valRight[] = {'3'};
- char valTap[] = {'0'};
+ char valTap[] = {'0'};
+ unsigned int timeout = 10000;
+
status_l=board->sensor_left->StartMeasurement(range_continuous_interrupt, SensorLeftIRQ, &data_sensor_left, NULL, NULL);
status_r=board->sensor_right->StartMeasurement(range_continuous_interrupt, SensorRightIRQ, &data_sensor_right, NULL, NULL);
+ status_t=board->sensor_top->StartMeasurement(als_continuous_polling, NULL, &data_sensor_top, NULL, NULL);
gesture_reco.Init(150, 100, 200, 60, 500);
if((!status_l)&&(!status_r))
{
@@ -273,22 +290,31 @@
{
flag_sensor_left=false;
status_l=board->sensor_left->HandleIRQ(range_continuous_interrupt, &data_sensor_left);
- //printf("Left range=%dmm\n\r",data_sensor_left.range_mm);
}
if(flag_sensor_right)
{
flag_sensor_right=false;
status_r=board->sensor_right->HandleIRQ(range_continuous_interrupt, &data_sensor_right);
- //printf("Right range=%dmm\n\r",data_sensor_right.range_mm);
}
if(data_sensor_left.range_mm>400)
data_sensor_left.range_mm=400;
if(data_sensor_right.range_mm>400)
data_sensor_right.range_mm=400;
gest_code=gesture_reco.Update(data_sensor_right.range_mm, data_sensor_left.range_mm, &gest_duration);
+ if(timeout==ALS_DELAY && gest_code==-1)
+ {
+ status=board->sensor_top->GetMeasurement(als_continuous_polling, &data_sensor_top);
+ if(!status_t)
+ printf("Light measure: %d lux\n\r",data_sensor_top.lux);
+ else
+ printf("Invalid light value!\n\r");
+ }
switch(gest_code)
{
case -1:
+ timeout++;
+ if(timeout>=ALS_DELAY)
+ timeout=ALS_DELAY;
break;
case 0: //tap and start timer
if(gest_code!=prev_gest_code)
@@ -310,12 +336,15 @@
board->display->DisplayDigit(valTap, 1);
}
}
+ timeout=0;
break;
case 1: //left to right
- board->display->DisplayDigit(valRight, 3);
+ board->display->DisplayDigit(valRight, 3);
+ timeout=0;
break;
case 2: //right to left
board->display->DisplayDigit(valLeft, 0);
+ timeout=0;
break;
default:
printf("Errore!\n\r");
@@ -332,6 +361,8 @@
printf("Failed to stop measurement!\n\r");
#endif
+delete board;
+
}