MFR16 / Mbed 2 deprecated Servo_6180XA1

Sweep a servo according to Proximity sensor measure

Dependencies:   Servo X_NUCLEO_6180XA1 mbed

Fork of HelloWorld_6180XA1 by ST

main.cpp@9:1d0e839edee8, 2015-10-13 (annotated)

Committer:
gallonm
Date:
Tue Oct 13 14:26:18 2015 +0200
Revision:
9:1d0e839edee8
Parent:
8:4c05f7a5bb60
Child:
10:5319abadb31e
Created a test bench to verify the differet type of operating mode.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gallonm 0:83c628a58feb 1 #include "mbed.h"
gallonm 8:4c05f7a5bb60 2 #include "x_nucleo_6180xa1.h"
gallonm 0:83c628a58feb 3
gallonm 4:ccd62fd7e137 4 #include <string.h>
gallonm 4:ccd62fd7e137 5 #include <stdlib.h>
gallonm 4:ccd62fd7e137 6 #include <stdio.h>
gallonm 8:4c05f7a5bb60 7 #include <assert.h>
gallonm 8:4c05f7a5bb60 8
gallonm 4:ccd62fd7e137 9
gallonm 5:fa65d931bd96 10 #define VL6180X_I2C_SDA I2C_SDA
gallonm 5:fa65d931bd96 11 #define VL6180X_I2C_SCL I2C_SCL
gallonm 5:fa65d931bd96 12
gallonm 9:1d0e839edee8 13 /* Polling operating modes (1,2,3 and 4) don`t require callback function that handles IRQ
gallonm 9:1d0e839edee8 14 Callback functions are used only for measure that require interrupt */
gallonm 5:fa65d931bd96 15
gallonm 4:ccd62fd7e137 16 void OnErrLog(void){};
gallonm 5:fa65d931bd96 17 void DISP_ExecLoopBody(void){};
gallonm 0:83c628a58feb 18
gallonm 8:4c05f7a5bb60 19 DevI2C device_i2c(VL6180X_I2C_SDA, VL6180X_I2C_SCL);
gallonm 9:1d0e839edee8 20 static X_NUCLEO_6180XA1 *board=X_NUCLEO_6180XA1::Instance(&device_i2c);
gallonm 9:1d0e839edee8 21
gallonm 9:1d0e839edee8 22 MeasureData_t Data;
gallonm 9:1d0e839edee8 23
gallonm 9:1d0e839edee8 24 /* flags that handle the call to HandleIRQ function */
gallonm 9:1d0e839edee8 25 bool flag_sensor_top=false, flag_sensor_bottom=false, flag_sensor_left=false, flag_sensor_right=false;
gallonm 9:1d0e839edee8 26
gallonm 9:1d0e839edee8 27 /* callback functions of the sensors */
gallonm 9:1d0e839edee8 28 void SensorTopIRQ(void)
gallonm 9:1d0e839edee8 29 {
gallonm 9:1d0e839edee8 30 flag_sensor_top=true;
gallonm 9:1d0e839edee8 31 board->sensor_top->DisableInterruptMeasureDetectionIRQ();
gallonm 9:1d0e839edee8 32 }
gallonm 9:1d0e839edee8 33
gallonm 9:1d0e839edee8 34 //inserire le callback per gli altri sensori
gallonm 9:1d0e839edee8 35
gallonm 4:ccd62fd7e137 36 int main()
gallonm 5:fa65d931bd96 37 {
gallonm 9:1d0e839edee8 38 int status;
gallonm 9:1d0e839edee8 39
gallonm 9:1d0e839edee8 40 status=board->InitBoard();
gallonm 9:1d0e839edee8 41 if(status)
gallonm 9:1d0e839edee8 42 printf("Failed to init the board!\n\r");
gallonm 9:1d0e839edee8 43
gallonm 9:1d0e839edee8 44 /*
gallonm 9:1d0e839edee8 45 status=board->sensor_top->StartMeasurement(range_single_shot_polling, NULL, &Data);
gallonm 9:1d0e839edee8 46 if(!status)
gallonm 9:1d0e839edee8 47 printf("Range single shot: %d\n\r",Data.range_mm);
gallonm 9:1d0e839edee8 48 else
gallonm 9:1d0e839edee8 49 printf("Failed to start measurement!\n\r");
gallonm 9:1d0e839edee8 50 status=board->sensor_top->StartMeasurement(als_single_shot_polling, NULL, &Data);
gallonm 9:1d0e839edee8 51 if(!status)
gallonm 9:1d0e839edee8 52 printf("Light single shot: %d\n\r",Data.lux);
gallonm 9:1d0e839edee8 53 else
gallonm 9:1d0e839edee8 54 printf("Failed to start measurement!\n\r");
gallonm 9:1d0e839edee8 55
gallonm 9:1d0e839edee8 56 status=board->sensor_top->StartMeasurement(range_continuous_polling, NULL, &Data);
gallonm 9:1d0e839edee8 57 if(!status)
gallonm 9:1d0e839edee8 58 {
gallonm 9:1d0e839edee8 59 status=board->sensor_top->GetRangeMeasContinuousMode(&Data);
gallonm 9:1d0e839edee8 60 if(!status)
gallonm 9:1d0e839edee8 61 printf("1a Range: %d\n\r",Data.range_mm);
gallonm 9:1d0e839edee8 62 else
gallonm 9:1d0e839edee8 63 printf("Invalid range value!\n\r");
gallonm 9:1d0e839edee8 64 status=board->sensor_top->GetRangeMeasContinuousMode(&Data);
gallonm 9:1d0e839edee8 65 if(!status)
gallonm 9:1d0e839edee8 66 printf("2a Range: %d\n\r",Data.range_mm);
gallonm 9:1d0e839edee8 67 else
gallonm 9:1d0e839edee8 68 printf("Invalid range value!\n\r");
gallonm 9:1d0e839edee8 69 status=board->sensor_top->GetRangeMeasContinuousMode(&Data);
gallonm 9:1d0e839edee8 70 if(!status)
gallonm 9:1d0e839edee8 71 printf("3a Range: %d\n\r",Data.range_mm);
gallonm 9:1d0e839edee8 72 else
gallonm 9:1d0e839edee8 73 printf("Invalid range value!\n\r");
gallonm 9:1d0e839edee8 74 }
gallonm 9:1d0e839edee8 75 else
gallonm 9:1d0e839edee8 76 printf("Failed to start measurement!\n\r");
gallonm 9:1d0e839edee8 77
gallonm 9:1d0e839edee8 78 status=board->sensor_top->StartMeasurement(als_continuous_polling, NULL, &Data);
gallonm 9:1d0e839edee8 79 if(!status)
gallonm 9:1d0e839edee8 80 {
gallonm 9:1d0e839edee8 81 status=board->sensor_top->GetAlsMeasContinuousMode(&Data);
gallonm 9:1d0e839edee8 82 if(!status)
gallonm 9:1d0e839edee8 83 printf("1a Light: %d\n\r",Data.lux);
gallonm 9:1d0e839edee8 84 else
gallonm 9:1d0e839edee8 85 printf("Invalid light value!\n\r");
gallonm 9:1d0e839edee8 86 status=board->sensor_top->GetAlsMeasContinuousMode(&Data);
gallonm 9:1d0e839edee8 87 if(!status)
gallonm 9:1d0e839edee8 88 printf("2a Light: %d\n\r",Data.lux);
gallonm 9:1d0e839edee8 89 else
gallonm 9:1d0e839edee8 90 printf("Invalid light value!\n\r");
gallonm 9:1d0e839edee8 91 status=board->sensor_top->GetAlsMeasContinuousMode(&Data);
gallonm 9:1d0e839edee8 92 if(!status)
gallonm 9:1d0e839edee8 93 printf("3a Light: %d\n\r",Data.lux);
gallonm 9:1d0e839edee8 94 else
gallonm 9:1d0e839edee8 95 printf("Invalid light value!\n\r");
gallonm 9:1d0e839edee8 96 }
gallonm 9:1d0e839edee8 97 else
gallonm 9:1d0e839edee8 98 printf("Failed to start measurement!\n\r");
gallonm 9:1d0e839edee8 99 */
gallonm 9:1d0e839edee8 100
gallonm 9:1d0e839edee8 101 /*board->sensor_top->StartMeasurement(range_continuous_interrupt, SensorTopIRQ, &Data);
gallonm 9:1d0e839edee8 102 while(1)
gallonm 9:1d0e839edee8 103 {
gallonm 9:1d0e839edee8 104 if(flag_sensor_top)
gallonm 9:1d0e839edee8 105 {
gallonm 9:1d0e839edee8 106 flag_sensor_top=false;
gallonm 9:1d0e839edee8 107 board->sensor_top->HandleIRQ(range_measure, &Data);
gallonm 9:1d0e839edee8 108 if((Data.range_error==0)&&(Data.int_error==0))
gallonm 9:1d0e839edee8 109 printf("Range int: %d\n\r",Data.range_mm);
gallonm 9:1d0e839edee8 110 else
gallonm 9:1d0e839edee8 111 printf("Invalid range value!\n\r");
gallonm 9:1d0e839edee8 112 }
gallonm 9:1d0e839edee8 113 }*/
gallonm 9:1d0e839edee8 114
gallonm 9:1d0e839edee8 115 /*board->sensor_top->StartMeasurement(als_continuous_interrupt, SensorTopIRQ, &Data);
gallonm 9:1d0e839edee8 116 while(1)
gallonm 9:1d0e839edee8 117 {
gallonm 9:1d0e839edee8 118 if(flag_sensor_top)
gallonm 9:1d0e839edee8 119 {
gallonm 9:1d0e839edee8 120 flag_sensor_top=false;
gallonm 9:1d0e839edee8 121 board->sensor_top->HandleIRQ(light_measure, &Data);
gallonm 9:1d0e839edee8 122 if((Data.als_error==0)&&(Data.int_error==0))
gallonm 9:1d0e839edee8 123 printf("Light int: %d\n\r",Data.lux);
gallonm 9:1d0e839edee8 124 else
gallonm 9:1d0e839edee8 125 printf("Invalid light value!\n\r");
gallonm 9:1d0e839edee8 126 }
gallonm 9:1d0e839edee8 127 }*/
gallonm 9:1d0e839edee8 128
gallonm 9:1d0e839edee8 129
gallonm 9:1d0e839edee8 130 board->sensor_top->StartMeasurement(interleaved_mode, SensorTopIRQ, &Data);
gallonm 9:1d0e839edee8 131 while(1)
gallonm 9:1d0e839edee8 132 {
gallonm 9:1d0e839edee8 133 if(flag_sensor_top)
gallonm 9:1d0e839edee8 134 {
gallonm 9:1d0e839edee8 135 flag_sensor_top=false;
gallonm 9:1d0e839edee8 136 board->sensor_top->HandleIRQ(light_range_measure, &Data);
gallonm 9:1d0e839edee8 137 if((Data.range_error==0)&&(Data.int_error==0))
gallonm 9:1d0e839edee8 138 printf("Interleaved_mode->Range: %d\n\r",Data.range_mm);
gallonm 9:1d0e839edee8 139 else
gallonm 9:1d0e839edee8 140 printf("Invalid range value!\n\r");
gallonm 9:1d0e839edee8 141 if((Data.als_error==0)&&(Data.int_error==0))
gallonm 9:1d0e839edee8 142 printf("Interleaved_mode->Light: %d\n\r",Data.lux);
gallonm 9:1d0e839edee8 143 else
gallonm 9:1d0e839edee8 144 printf("Invalid light value!\n\r");
gallonm 9:1d0e839edee8 145 }
gallonm 9:1d0e839edee8 146 }
gallonm 9:1d0e839edee8 147
gallonm 9:1d0e839edee8 148
gallonm 9:1d0e839edee8 149
gallonm 9:1d0e839edee8 150 //board->~X_NUCLEO_6180XA1();
gallonm 5:fa65d931bd96 151
gallonm 4:ccd62fd7e137 152 }
gallonm 5:fa65d931bd96 153
gallonm 5:fa65d931bd96 154
gallonm 5:fa65d931bd96 155