![](/media/cache/group/MFR16-new.png.50x50_q85.jpg)
Sweep a servo according to Proximity sensor measure
Dependencies: Servo X_NUCLEO_6180XA1 mbed
Fork of HelloWorld_6180XA1 by
main.cpp@24:018a59122fe3, 2015-11-03 (annotated)
- Committer:
- gallonm
- Date:
- Tue Nov 03 07:56:58 2015 +0000
- Revision:
- 24:018a59122fe3
- Parent:
- 23:9085260d2902
- Child:
- 25:2c4710283e02
Updated DisplayRefresh function
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
gallonm | 0:83c628a58feb | 1 | #include "mbed.h" |
gallonm | 8:4c05f7a5bb60 | 2 | #include "x_nucleo_6180xa1.h" |
gallonm | 4:ccd62fd7e137 | 3 | #include <string.h> |
gallonm | 4:ccd62fd7e137 | 4 | #include <stdlib.h> |
gallonm | 4:ccd62fd7e137 | 5 | #include <stdio.h> |
gallonm | 8:4c05f7a5bb60 | 6 | #include <assert.h> |
gallonm | 8:4c05f7a5bb60 | 7 | |
gallonm | 20:b2e0b41a0e6b | 8 | /* This test application performs a range measurement and an als measurement. |
gallonm | 20:b2e0b41a0e6b | 9 | Display select slider allow to switch the measurement type; previuos |
gallonm | 20:b2e0b41a0e6b | 10 | measurement is stopped and a new measurement is started. |
gallonm | 20:b2e0b41a0e6b | 11 | User button allows to stop current measurement and the entire program. |
gallonm | 20:b2e0b41a0e6b | 12 | Reset button is used to restart the program. */ |
gallonm | 20:b2e0b41a0e6b | 13 | |
gallonm | 14:946e62f44f4f | 14 | /* Polling operating modes don`t require callback function that handles IRQ |
gallonm | 14:946e62f44f4f | 15 | Callback functions are used only for measure that require interrupt */ |
gallonm | 14:946e62f44f4f | 16 | |
gallonm | 20:b2e0b41a0e6b | 17 | /* GetMeasurement is asynchronous! It returns NOT_READY if the measurement value |
gallonm | 20:b2e0b41a0e6b | 18 | is not ready to be read from the corresponding register. So you need to wait |
gallonm | 20:b2e0b41a0e6b | 19 | for the result to be ready */ |
gallonm | 20:b2e0b41a0e6b | 20 | |
gallonm | 5:fa65d931bd96 | 21 | #define VL6180X_I2C_SDA I2C_SDA |
gallonm | 5:fa65d931bd96 | 22 | #define VL6180X_I2C_SCL I2C_SCL |
gallonm | 5:fa65d931bd96 | 23 | |
gallonm | 19:394c9a4a3046 | 24 | #define RANGE 0 |
gallonm | 19:394c9a4a3046 | 25 | #define ALS 1 |
gallonm | 10:5319abadb31e | 26 | |
gallonm | 14:946e62f44f4f | 27 | /* timer and digital out pin used for debugging */ |
gallonm | 14:946e62f44f4f | 28 | //Timer timer; |
gallonm | 14:946e62f44f4f | 29 | //int start, end; |
gallonm | 14:946e62f44f4f | 30 | //DigitalOut pin(PA_15); |
gallonm | 5:fa65d931bd96 | 31 | |
gallonm | 8:4c05f7a5bb60 | 32 | DevI2C device_i2c(VL6180X_I2C_SDA, VL6180X_I2C_SCL); |
gallonm | 9:1d0e839edee8 | 33 | static X_NUCLEO_6180XA1 *board=X_NUCLEO_6180XA1::Instance(&device_i2c); |
gallonm | 9:1d0e839edee8 | 34 | |
gallonm | 19:394c9a4a3046 | 35 | MeasureData_t data_sensor_top; |
gallonm | 11:657dbe7bf245 | 36 | |
gallonm | 15:b94bc967fecd | 37 | /* flags that handle interrupt request */ |
gallonm | 19:394c9a4a3046 | 38 | bool flag_sensor_top=false, flag_stop_measure=false; |
gallonm | 15:b94bc967fecd | 39 | |
gallonm | 19:394c9a4a3046 | 40 | /* callback function of the sensor_top */ |
gallonm | 15:b94bc967fecd | 41 | void SensorTopIRQ(void) |
gallonm | 9:1d0e839edee8 | 42 | { |
gallonm | 11:657dbe7bf245 | 43 | flag_sensor_top=true; |
gallonm | 14:946e62f44f4f | 44 | board->sensor_top->DisableInterruptMeasureDetectionIRQ(); |
gallonm | 9:1d0e839edee8 | 45 | } |
gallonm | 9:1d0e839edee8 | 46 | |
gallonm | 19:394c9a4a3046 | 47 | /* callback function of the user button to stop program */ |
gallonm | 15:b94bc967fecd | 48 | void StopMeasureIRQ(void) |
gallonm | 15:b94bc967fecd | 49 | { |
gallonm | 15:b94bc967fecd | 50 | flag_stop_measure=true; |
gallonm | 15:b94bc967fecd | 51 | } |
gallonm | 14:946e62f44f4f | 52 | |
gallonm | 19:394c9a4a3046 | 53 | void DisplayRefresh(OperatingMode op_mode) |
gallonm | 19:394c9a4a3046 | 54 | { |
gallonm | 19:394c9a4a3046 | 55 | char str[4]; |
gallonm | 19:394c9a4a3046 | 56 | |
gallonm | 19:394c9a4a3046 | 57 | if(op_mode==range_continuous_interrupt) |
gallonm | 19:394c9a4a3046 | 58 | { |
gallonm | 19:394c9a4a3046 | 59 | if(data_sensor_top.range_mm!=0xFFFFFFFF) |
gallonm | 19:394c9a4a3046 | 60 | { |
gallonm | 19:394c9a4a3046 | 61 | sprintf(str,"%d",data_sensor_top.range_mm); |
gallonm | 19:394c9a4a3046 | 62 | board->display->DisplayString(str, strlen(str)); |
gallonm | 19:394c9a4a3046 | 63 | } |
gallonm | 24:018a59122fe3 | 64 | else |
gallonm | 22:bb440c864489 | 65 | { |
gallonm | 24:018a59122fe3 | 66 | sprintf(str,"%s","---"); |
gallonm | 22:bb440c864489 | 67 | board->display->DisplayString(str, strlen(str)); |
gallonm | 24:018a59122fe3 | 68 | } |
gallonm | 19:394c9a4a3046 | 69 | } |
gallonm | 19:394c9a4a3046 | 70 | else if(op_mode==als_continuous_interrupt) |
gallonm | 19:394c9a4a3046 | 71 | { |
gallonm | 19:394c9a4a3046 | 72 | if(data_sensor_top.lux!=0xFFFFFFFF) |
gallonm | 19:394c9a4a3046 | 73 | { |
gallonm | 19:394c9a4a3046 | 74 | sprintf(str,"%d",data_sensor_top.lux); |
gallonm | 19:394c9a4a3046 | 75 | board->display->DisplayString(str, strlen(str)); |
gallonm | 19:394c9a4a3046 | 76 | } |
gallonm | 24:018a59122fe3 | 77 | else |
gallonm | 22:bb440c864489 | 78 | { |
gallonm | 24:018a59122fe3 | 79 | sprintf(str,"%s","---"); |
gallonm | 22:bb440c864489 | 80 | board->display->DisplayString(str, strlen(str)); |
gallonm | 24:018a59122fe3 | 81 | } |
gallonm | 19:394c9a4a3046 | 82 | } |
gallonm | 19:394c9a4a3046 | 83 | } |
gallonm | 19:394c9a4a3046 | 84 | |
gallonm | 4:ccd62fd7e137 | 85 | int main() |
gallonm | 5:fa65d931bd96 | 86 | { |
gallonm | 19:394c9a4a3046 | 87 | OperatingMode operating_mode, prev_operating_mode; |
gallonm | 19:394c9a4a3046 | 88 | /* user button used to stop measurements in interrupt mode */ |
gallonm | 19:394c9a4a3046 | 89 | InterruptIn stop_button(USER_BUTTON); |
gallonm | 19:394c9a4a3046 | 90 | STMPE1600DigiIn measure_type(device_i2c, GPIO_11); |
gallonm | 19:394c9a4a3046 | 91 | int status, measure; |
gallonm | 19:394c9a4a3046 | 92 | char str[4]; |
gallonm | 19:394c9a4a3046 | 93 | |
gallonm | 24:018a59122fe3 | 94 | //device_i2c.frequency(400000); //change i2c frequncy from 100kHz to 400kHz |
gallonm | 19:394c9a4a3046 | 95 | pc.baud(115200); //change the printf baudrate |
gallonm | 14:946e62f44f4f | 96 | |
gallonm | 10:5319abadb31e | 97 | status=board->InitBoard(); |
gallonm | 14:946e62f44f4f | 98 | if(status) |
gallonm | 20:b2e0b41a0e6b | 99 | printf("Failed to init the board!\n\r"); |
gallonm | 19:394c9a4a3046 | 100 | |
gallonm | 15:b94bc967fecd | 101 | stop_button.rise(&StopMeasureIRQ); |
gallonm | 19:394c9a4a3046 | 102 | measure=measure_type; |
gallonm | 19:394c9a4a3046 | 103 | if(measure==RANGE) |
gallonm | 19:394c9a4a3046 | 104 | operating_mode=range_continuous_interrupt; |
gallonm | 19:394c9a4a3046 | 105 | else if(measure==ALS) |
gallonm | 19:394c9a4a3046 | 106 | operating_mode=als_continuous_interrupt; |
gallonm | 20:b2e0b41a0e6b | 107 | status=board->sensor_top->StartMeasurement(operating_mode, SensorTopIRQ, NULL, NULL); |
gallonm | 19:394c9a4a3046 | 108 | prev_operating_mode=operating_mode; |
gallonm | 14:946e62f44f4f | 109 | if(!status) |
gallonm | 14:946e62f44f4f | 110 | { |
gallonm | 19:394c9a4a3046 | 111 | printf("\nStart measurement\n\r"); |
gallonm | 14:946e62f44f4f | 112 | while(1) |
gallonm | 14:946e62f44f4f | 113 | { |
gallonm | 14:946e62f44f4f | 114 | if(flag_sensor_top) |
gallonm | 14:946e62f44f4f | 115 | { |
gallonm | 14:946e62f44f4f | 116 | flag_sensor_top=false; |
gallonm | 19:394c9a4a3046 | 117 | status=board->sensor_top->HandleIRQ(operating_mode, &data_sensor_top); |
gallonm | 22:bb440c864489 | 118 | DisplayRefresh(operating_mode); |
gallonm | 14:946e62f44f4f | 119 | } |
gallonm | 15:b94bc967fecd | 120 | if(flag_stop_measure) |
gallonm | 19:394c9a4a3046 | 121 | { |
gallonm | 19:394c9a4a3046 | 122 | status=board->sensor_top->StopMeasurement(prev_operating_mode); |
gallonm | 19:394c9a4a3046 | 123 | if(status) |
gallonm | 19:394c9a4a3046 | 124 | printf("Failed to stop measurement!\n\r"); |
gallonm | 19:394c9a4a3046 | 125 | else |
gallonm | 19:394c9a4a3046 | 126 | printf("Measurement stopped!\n\r"); |
gallonm | 19:394c9a4a3046 | 127 | printf("\nProgram stopped!\n\n\r"); |
gallonm | 19:394c9a4a3046 | 128 | break; |
gallonm | 19:394c9a4a3046 | 129 | } |
gallonm | 19:394c9a4a3046 | 130 | measure=measure_type; |
gallonm | 19:394c9a4a3046 | 131 | if(measure==RANGE) |
gallonm | 19:394c9a4a3046 | 132 | operating_mode=range_continuous_interrupt; |
gallonm | 19:394c9a4a3046 | 133 | else if(measure==ALS) |
gallonm | 19:394c9a4a3046 | 134 | operating_mode=als_continuous_interrupt; |
gallonm | 19:394c9a4a3046 | 135 | if(operating_mode!=prev_operating_mode) |
gallonm | 14:946e62f44f4f | 136 | { |
gallonm | 19:394c9a4a3046 | 137 | DisplayRefresh(prev_operating_mode); |
gallonm | 19:394c9a4a3046 | 138 | status=board->sensor_top->StopMeasurement(prev_operating_mode); |
gallonm | 19:394c9a4a3046 | 139 | prev_operating_mode=operating_mode; |
gallonm | 19:394c9a4a3046 | 140 | if(status) |
gallonm | 19:394c9a4a3046 | 141 | printf("Failed to stop measurement!\n\r"); |
gallonm | 19:394c9a4a3046 | 142 | else |
gallonm | 19:394c9a4a3046 | 143 | printf("Measurement stopped!\n\r"); |
gallonm | 20:b2e0b41a0e6b | 144 | status=board->sensor_top->StartMeasurement(operating_mode, SensorTopIRQ, NULL, NULL); |
gallonm | 19:394c9a4a3046 | 145 | if(status) |
gallonm | 19:394c9a4a3046 | 146 | { |
gallonm | 19:394c9a4a3046 | 147 | printf("\nFailed to start measurement!\n\r"); |
gallonm | 19:394c9a4a3046 | 148 | break; |
gallonm | 19:394c9a4a3046 | 149 | } |
gallonm | 19:394c9a4a3046 | 150 | else |
gallonm | 19:394c9a4a3046 | 151 | printf("\nStart measurement\n\r"); |
gallonm | 19:394c9a4a3046 | 152 | } |
gallonm | 19:394c9a4a3046 | 153 | else |
gallonm | 19:394c9a4a3046 | 154 | DisplayRefresh(operating_mode); |
gallonm | 14:946e62f44f4f | 155 | } |
gallonm | 14:946e62f44f4f | 156 | } |
gallonm | 14:946e62f44f4f | 157 | else |
gallonm | 19:394c9a4a3046 | 158 | printf("\nFailed to start measurement!\n\r"); |
gallonm | 20:b2e0b41a0e6b | 159 | |
gallonm | 20:b2e0b41a0e6b | 160 | for(status=0;status<200;status++) |
gallonm | 20:b2e0b41a0e6b | 161 | { |
gallonm | 20:b2e0b41a0e6b | 162 | sprintf(str,"%s","CIAO"); |
gallonm | 20:b2e0b41a0e6b | 163 | board->display->DisplayString(str, strlen(str)); |
gallonm | 20:b2e0b41a0e6b | 164 | } |
gallonm | 10:5319abadb31e | 165 | |
gallonm | 20:b2e0b41a0e6b | 166 | delete board; |
gallonm | 4:ccd62fd7e137 | 167 | } |
gallonm | 5:fa65d931bd96 | 168 |