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@10:5319abadb31e, 2015-10-19 (annotated)

Committer:
gallonm
Date:
Mon Oct 19 13:57:36 2015 +0200
Revision:
10:5319abadb31e
Parent:
9:1d0e839edee8
Child:
11:657dbe7bf245
Fixed the main function introducing #ifdef to test the different operating modes

Test of the all operating modes without threshold and test range interrupt with

low threshold

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 5:fa65d931bd96 9 #define VL6180X_I2C_SDA I2C_SDA
gallonm 5:fa65d931bd96 10 #define VL6180X_I2C_SCL I2C_SCL
gallonm 5:fa65d931bd96 11
gallonm 10:5319abadb31e 12 //#define RANGE_SINGLE_SHOT_POLLING
gallonm 10:5319abadb31e 13 //#define ALS_SINGLE_SHOT_POLLING
gallonm 10:5319abadb31e 14 //#define RANGE_CONTINUOUS_POLLING
gallonm 10:5319abadb31e 15 //#define ALS_CONTINUOUS_POLLING
gallonm 10:5319abadb31e 16 //#define RANGE_CONTINUOUS_INTERRUPT
gallonm 10:5319abadb31e 17 //#define ALS_CONTINUOUS_INTERRUPT
gallonm 10:5319abadb31e 18 #define INTERLEAVED_MODE_INTERRUPT
gallonm 10:5319abadb31e 19 //#define RANGE_CONTINUOUS_POLLING_LOW_THRESHOLD
gallonm 10:5319abadb31e 20 //#define RANGE_CONTINUOUS_POLLING_HIGH_THRESHOLD
gallonm 10:5319abadb31e 21 //#define RANGE_CONTINUOUS_POLLING_OUT_OF_WINDOW
gallonm 10:5319abadb31e 22 //#define ALS_CONTINUOUS_POLLING_LOW_THRESHOLD
gallonm 10:5319abadb31e 23 //#define ALS_CONTINUOUS_POLLING_HIGH_THRESHOLD
gallonm 10:5319abadb31e 24 //#define ALS_CONTINUOUS_POLLING_OUT_OF_WINDOW
gallonm 10:5319abadb31e 25 //#define RANGE_CONTINUOUS_INTERRUPT_LOW_THRESHOLD
gallonm 10:5319abadb31e 26 //#define RANGE_CONTINUOUS_INTERRUPT_HIGH_THRESHOLD
gallonm 10:5319abadb31e 27 //#define RANGE_CONTINUOUS_INTERRUPT_OUT_OF_WINDOW
gallonm 10:5319abadb31e 28 //#define ALS_CONTINUOUS_INTERRUPT_LOW_THRESHOLD
gallonm 10:5319abadb31e 29 //#define ALS_CONTINUOUS_INTERRUPT_HIGH_THRESHOLD
gallonm 10:5319abadb31e 30 //#define ALS_CONTINUOUS_INTERRUPT_OUT_OF_WINDOW
gallonm 10:5319abadb31e 31
gallonm 9:1d0e839edee8 32 /* Polling operating modes (1,2,3 and 4) don`t require callback function that handles IRQ
gallonm 9:1d0e839edee8 33 Callback functions are used only for measure that require interrupt */
gallonm 5:fa65d931bd96 34
gallonm 4:ccd62fd7e137 35 void OnErrLog(void){};
gallonm 5:fa65d931bd96 36 void DISP_ExecLoopBody(void){};
gallonm 0:83c628a58feb 37
gallonm 8:4c05f7a5bb60 38 DevI2C device_i2c(VL6180X_I2C_SDA, VL6180X_I2C_SCL);
gallonm 9:1d0e839edee8 39 static X_NUCLEO_6180XA1 *board=X_NUCLEO_6180XA1::Instance(&device_i2c);
gallonm 9:1d0e839edee8 40
gallonm 9:1d0e839edee8 41 MeasureData_t Data;
gallonm 9:1d0e839edee8 42
gallonm 9:1d0e839edee8 43 /* flags that handle the call to HandleIRQ function */
gallonm 9:1d0e839edee8 44 bool flag_sensor_top=false, flag_sensor_bottom=false, flag_sensor_left=false, flag_sensor_right=false;
gallonm 9:1d0e839edee8 45
gallonm 10:5319abadb31e 46 //Timer timer;
gallonm 10:5319abadb31e 47 //int start, end;
gallonm 10:5319abadb31e 48
gallonm 9:1d0e839edee8 49 /* callback functions of the sensors */
gallonm 9:1d0e839edee8 50 void SensorTopIRQ(void)
gallonm 9:1d0e839edee8 51 {
gallonm 10:5319abadb31e 52 flag_sensor_top=true;
gallonm 9:1d0e839edee8 53 board->sensor_top->DisableInterruptMeasureDetectionIRQ();
gallonm 9:1d0e839edee8 54 }
gallonm 9:1d0e839edee8 55
gallonm 9:1d0e839edee8 56 //inserire le callback per gli altri sensori
gallonm 9:1d0e839edee8 57
gallonm 4:ccd62fd7e137 58 int main()
gallonm 5:fa65d931bd96 59 {
gallonm 9:1d0e839edee8 60 int status;
gallonm 9:1d0e839edee8 61
gallonm 10:5319abadb31e 62 status=board->InitBoard();
gallonm 9:1d0e839edee8 63 if(status)
gallonm 9:1d0e839edee8 64 printf("Failed to init the board!\n\r");
gallonm 10:5319abadb31e 65
gallonm 10:5319abadb31e 66 #ifdef RANGE_SINGLE_SHOT_POLLING
gallonm 10:5319abadb31e 67 status=board->sensor_top->StartMeasurement(range_single_shot_polling, NULL, &Data, NULL, NULL);
gallonm 9:1d0e839edee8 68 if(!status)
gallonm 10:5319abadb31e 69 printf("Range single shot: %dmm\n\r",Data.range_mm);
gallonm 10:5319abadb31e 70 else if(status==INVALID_PARAMS)
gallonm 9:1d0e839edee8 71 printf("Failed to start measurement!\n\r");
gallonm 9:1d0e839edee8 72 else
gallonm 10:5319abadb31e 73 printf("Invalid range value!\n\r");
gallonm 10:5319abadb31e 74 status=board->sensor_top->StopMeasurement(range_single_shot_polling);
gallonm 10:5319abadb31e 75 if(status)
gallonm 10:5319abadb31e 76 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 77 #endif
gallonm 9:1d0e839edee8 78
gallonm 10:5319abadb31e 79 #ifdef ALS_SINGLE_SHOT_POLLING
gallonm 10:5319abadb31e 80 status=board->sensor_top->StartMeasurement(als_single_shot_polling, NULL, &Data, NULL, NULL);
gallonm 10:5319abadb31e 81 if(!status)
gallonm 10:5319abadb31e 82 printf("Light single shot: %dlux\n\r",Data.lux);
gallonm 10:5319abadb31e 83 else if(status==INVALID_PARAMS)
gallonm 10:5319abadb31e 84 printf("Failed to start measurement!\n\r");
gallonm 10:5319abadb31e 85 else
gallonm 10:5319abadb31e 86 printf("Invalid light value!\n\r");
gallonm 10:5319abadb31e 87 status=board->sensor_top->StopMeasurement(als_single_shot_polling);
gallonm 10:5319abadb31e 88 if(status)
gallonm 10:5319abadb31e 89 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 90 #endif
gallonm 10:5319abadb31e 91
gallonm 10:5319abadb31e 92 #ifdef RANGE_CONTINUOUS_POLLING
gallonm 10:5319abadb31e 93 status=board->sensor_top->StartMeasurement(range_continuous_polling, NULL, &Data, NULL, NULL);
gallonm 9:1d0e839edee8 94 if(!status)
gallonm 9:1d0e839edee8 95 {
gallonm 10:5319abadb31e 96 int i;
gallonm 10:5319abadb31e 97 for(i=0;i<10;i++)
gallonm 10:5319abadb31e 98 {
gallonm 10:5319abadb31e 99 status=board->sensor_top->GetMeasurement(range_continuous_polling, &Data);
gallonm 10:5319abadb31e 100 if(!status)
gallonm 10:5319abadb31e 101 printf("Range measure %d: %dmm\n\r",i+1,Data.range_mm);
gallonm 10:5319abadb31e 102 else
gallonm 10:5319abadb31e 103 printf("Invalid range value!\n\r");
gallonm 10:5319abadb31e 104 }
gallonm 10:5319abadb31e 105 }
gallonm 10:5319abadb31e 106 else
gallonm 10:5319abadb31e 107 printf("Failed to start measurement!\n\r");
gallonm 10:5319abadb31e 108 status=board->sensor_top->StopMeasurement(range_continuous_polling);
gallonm 10:5319abadb31e 109 if(status)
gallonm 10:5319abadb31e 110 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 111 #endif
gallonm 10:5319abadb31e 112
gallonm 10:5319abadb31e 113 #ifdef ALS_CONTINUOUS_POLLING
gallonm 10:5319abadb31e 114 status=board->sensor_top->StartMeasurement(als_continuous_polling, NULL, &Data, NULL, NULL);
gallonm 10:5319abadb31e 115 if(!status)
gallonm 10:5319abadb31e 116 {
gallonm 10:5319abadb31e 117 int i;
gallonm 10:5319abadb31e 118 for(i=0;i<10;i++)
gallonm 10:5319abadb31e 119 {
gallonm 10:5319abadb31e 120 status=board->sensor_top->GetMeasurement(als_continuous_polling, &Data);
gallonm 10:5319abadb31e 121 if(!status)
gallonm 10:5319abadb31e 122 printf("Light measure %d: %dlux\n\r",i,Data.lux);
gallonm 10:5319abadb31e 123 else
gallonm 10:5319abadb31e 124 printf("Invalid light value!\n\r");
gallonm 10:5319abadb31e 125 }
gallonm 9:1d0e839edee8 126 }
gallonm 9:1d0e839edee8 127 else
gallonm 9:1d0e839edee8 128 printf("Failed to start measurement!\n\r");
gallonm 10:5319abadb31e 129 status=board->sensor_top->StopMeasurement(als_continuous_polling);
gallonm 10:5319abadb31e 130 if(status)
gallonm 10:5319abadb31e 131 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 132 #endif
gallonm 9:1d0e839edee8 133
gallonm 10:5319abadb31e 134 #ifdef RANGE_CONTINUOUS_INTERRUPT
gallonm 10:5319abadb31e 135 status=board->sensor_top->StartMeasurement(range_continuous_interrupt, SensorTopIRQ, &Data, NULL, NULL);
gallonm 9:1d0e839edee8 136 if(!status)
gallonm 9:1d0e839edee8 137 {
gallonm 10:5319abadb31e 138 while(1)
gallonm 10:5319abadb31e 139 {
gallonm 10:5319abadb31e 140 if(flag_sensor_top)
gallonm 10:5319abadb31e 141 {
gallonm 10:5319abadb31e 142 flag_sensor_top=false;
gallonm 10:5319abadb31e 143 status=board->sensor_top->HandleIRQ(range_continuous_interrupt, &Data);
gallonm 10:5319abadb31e 144 if(!status)
gallonm 10:5319abadb31e 145 printf("Range int: %dmm\n\r",Data.range_mm);
gallonm 10:5319abadb31e 146 else
gallonm 10:5319abadb31e 147 printf("Invalid range value!\n\r");
gallonm 10:5319abadb31e 148 }
gallonm 10:5319abadb31e 149 }
gallonm 10:5319abadb31e 150 }
gallonm 10:5319abadb31e 151 else
gallonm 10:5319abadb31e 152 printf("Failed to start measurement!\n\r");
gallonm 10:5319abadb31e 153 status=board->sensor_top->StopMeasurement(range_continuous_interrupt);
gallonm 10:5319abadb31e 154 if(status)
gallonm 10:5319abadb31e 155 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 156 #endif
gallonm 10:5319abadb31e 157
gallonm 10:5319abadb31e 158 #ifdef ALS_CONTINUOUS_INTERRUPT
gallonm 10:5319abadb31e 159 status=board->sensor_top->StartMeasurement(als_continuous_interrupt, SensorTopIRQ, &Data, NULL, NULL);
gallonm 10:5319abadb31e 160 if(!status)
gallonm 10:5319abadb31e 161 {
gallonm 10:5319abadb31e 162 while(1)
gallonm 10:5319abadb31e 163 {
gallonm 10:5319abadb31e 164 if(flag_sensor_top)
gallonm 10:5319abadb31e 165 {
gallonm 10:5319abadb31e 166 flag_sensor_top=false;
gallonm 10:5319abadb31e 167 status=board->sensor_top->HandleIRQ(als_continuous_interrupt, &Data);
gallonm 10:5319abadb31e 168 if(!status)
gallonm 10:5319abadb31e 169 printf("Light int: %dlux\n\r",Data.lux);
gallonm 10:5319abadb31e 170 else
gallonm 10:5319abadb31e 171 printf("Invalid light value!\n\r");
gallonm 10:5319abadb31e 172 }
gallonm 10:5319abadb31e 173 }
gallonm 10:5319abadb31e 174 }
gallonm 9:1d0e839edee8 175 else
gallonm 10:5319abadb31e 176 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 177 status=board->sensor_top->StopMeasurement(als_continuous_interrupt);
gallonm 10:5319abadb31e 178 if(status)
gallonm 10:5319abadb31e 179 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 180 #endif
gallonm 9:1d0e839edee8 181
gallonm 10:5319abadb31e 182 #ifdef INTERLEAVED_MODE_INTERRUPT
gallonm 10:5319abadb31e 183 status=board->sensor_top->StartMeasurement(interleaved_mode_interrupt, SensorTopIRQ, &Data, NULL, NULL);
gallonm 10:5319abadb31e 184 if(!status)
gallonm 9:1d0e839edee8 185 {
gallonm 10:5319abadb31e 186 while(1)
gallonm 10:5319abadb31e 187 {
gallonm 10:5319abadb31e 188 if(flag_sensor_top)
gallonm 10:5319abadb31e 189 {
gallonm 10:5319abadb31e 190 flag_sensor_top=false;
gallonm 10:5319abadb31e 191 status=board->sensor_top->HandleIRQ(interleaved_mode_interrupt, &Data);
gallonm 10:5319abadb31e 192 if(!status)
gallonm 10:5319abadb31e 193 {
gallonm 10:5319abadb31e 194 printf("Interleaved_mode->Range: %dmm\n\r",Data.range_mm);
gallonm 10:5319abadb31e 195 printf("Interleaved_mode->Light: %dlux\n\r",Data.lux);
gallonm 10:5319abadb31e 196 }
gallonm 10:5319abadb31e 197 else
gallonm 10:5319abadb31e 198 printf("Invalid range or light value!\n\r");
gallonm 10:5319abadb31e 199 }
gallonm 10:5319abadb31e 200 }
gallonm 9:1d0e839edee8 201 }
gallonm 10:5319abadb31e 202 else
gallonm 10:5319abadb31e 203 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 204 status=board->sensor_top->StopMeasurement(interleaved_mode_interrupt);
gallonm 10:5319abadb31e 205 if(status)
gallonm 10:5319abadb31e 206 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 207 #endif
gallonm 10:5319abadb31e 208
gallonm 10:5319abadb31e 209 #ifdef RANGE_CONTINUOUS_INTERRUPT_LOW_THRESHOLD
gallonm 10:5319abadb31e 210 status=board->sensor_top->StartMeasurement(range_continuous_interrupt_low_threshold, SensorTopIRQ, &Data, 80, NULL);
gallonm 10:5319abadb31e 211 if(!status)
gallonm 10:5319abadb31e 212 {
gallonm 10:5319abadb31e 213 while(1)
gallonm 10:5319abadb31e 214 {
gallonm 10:5319abadb31e 215 if(flag_sensor_top)
gallonm 10:5319abadb31e 216 {
gallonm 10:5319abadb31e 217 flag_sensor_top=false;
gallonm 10:5319abadb31e 218 status=board->sensor_top->HandleIRQ(range_continuous_interrupt_low_threshold, &Data);
gallonm 10:5319abadb31e 219 if(!status)
gallonm 10:5319abadb31e 220 printf("Range int low threshold: %dmm\n\r",Data.range_mm);
gallonm 10:5319abadb31e 221 else
gallonm 10:5319abadb31e 222 printf("Invalid range value!\n\r");
gallonm 10:5319abadb31e 223 }
gallonm 10:5319abadb31e 224 }
gallonm 10:5319abadb31e 225 }
gallonm 10:5319abadb31e 226 else
gallonm 10:5319abadb31e 227 printf("Failed to start measurement!\n\r");
gallonm 10:5319abadb31e 228 status=board->sensor_top->StopMeasurement(range_continuous_interrupt_low_threshold);
gallonm 10:5319abadb31e 229 if(status)
gallonm 10:5319abadb31e 230 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 231 #endif
gallonm 5:fa65d931bd96 232
gallonm 4:ccd62fd7e137 233 }
gallonm 5:fa65d931bd96 234
gallonm 5:fa65d931bd96 235