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@32:724d2afb0ca2, 2015-11-12 (annotated)

Committer:
licio.mapelli@st.com
Date:
Thu Nov 12 11:55:28 2015 +0100
Revision:
32:724d2afb0ca2
Parent:
31:1aaf6b8b066e
Child:
33:b903a0ec8803
Added Polling measure, code cleanup

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 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
mapellil 30:c8efec21544f 8 /* This VL6180X Expansion board test application performs a range measurement and an als measurement in interrupt mode
mapellil 30:c8efec21544f 9 on the onboard embedded top sensor.
mapellil 30:c8efec21544f 10 The board red slider select on the flight the measurement type as ALS or RANGE; the measured data is diplayed on the
mapellil 30:c8efec21544f 11 on bord 4digits display.
mapellil 30:c8efec21544f 12
mapellil 30:c8efec21544f 13 User Blue button allows to stop current measurement and the entire program releasing all the resources.
gallonm 20:b2e0b41a0e6b 14 Reset button is used to restart the program. */
gallonm 20:b2e0b41a0e6b 15
gallonm 14:946e62f44f4f 16 /* Polling operating modes don`t require callback function that handles IRQ
gallonm 14:946e62f44f4f 17 Callback functions are used only for measure that require interrupt */
gallonm 14:946e62f44f4f 18
gallonm 20:b2e0b41a0e6b 19 /* GetMeasurement is asynchronous! It returns NOT_READY if the measurement value
gallonm 20:b2e0b41a0e6b 20 is not ready to be read from the corresponding register. So you need to wait
gallonm 20:b2e0b41a0e6b 21 for the result to be ready */
gallonm 20:b2e0b41a0e6b 22
gallonm 5:fa65d931bd96 23 #define VL6180X_I2C_SDA I2C_SDA
gallonm 5:fa65d931bd96 24 #define VL6180X_I2C_SCL I2C_SCL
gallonm 5:fa65d931bd96 25
gallonm 19:394c9a4a3046 26 #define RANGE 0
gallonm 19:394c9a4a3046 27 #define ALS 1
gallonm 10:5319abadb31e 28
gallonm 14:946e62f44f4f 29 /* timer and digital out pin used for debugging */
gallonm 14:946e62f44f4f 30 //Timer timer;
gallonm 14:946e62f44f4f 31 //int start, end;
gallonm 14:946e62f44f4f 32 //DigitalOut pin(PA_15);
gallonm 5:fa65d931bd96 33
gallonm 27:2afb9baf718f 34 static X_NUCLEO_6180XA1 *board=NULL;
gallonm 19:394c9a4a3046 35 MeasureData_t data_sensor_top;
gallonm 27:2afb9baf718f 36 OperatingMode operating_mode, prev_operating_mode;
gallonm 11:657dbe7bf245 37
gallonm 15:b94bc967fecd 38 /* flags that handle interrupt request */
mapellil 30:c8efec21544f 39 bool int_sensor_top=false, int_stop_measure=false;
gallonm 15:b94bc967fecd 40
mapellil 30:c8efec21544f 41 /* ISR callback function of the sensor_top */
gallonm 15:b94bc967fecd 42 void SensorTopIRQ(void)
gallonm 9:1d0e839edee8 43 {
mapellil 30:c8efec21544f 44 int_sensor_top=true;
gallonm 14:946e62f44f4f 45 board->sensor_top->DisableInterruptMeasureDetectionIRQ();
gallonm 9:1d0e839edee8 46 }
gallonm 9:1d0e839edee8 47
mapellil 30:c8efec21544f 48 /* ISR callback function of the user blue button to stop program */
gallonm 15:b94bc967fecd 49 void StopMeasureIRQ(void)
gallonm 15:b94bc967fecd 50 {
mapellil 30:c8efec21544f 51 int_stop_measure=true;
gallonm 15:b94bc967fecd 52 }
gallonm 14:946e62f44f4f 53
mapellil 30:c8efec21544f 54 /* On board 4 digit local display refresh */
gallonm 19:394c9a4a3046 55 void DisplayRefresh(OperatingMode op_mode)
gallonm 27:2afb9baf718f 56 {
gallonm 25:2c4710283e02 57 char str[5];
gallonm 19:394c9a4a3046 58
licio.mapelli@st.com 32:724d2afb0ca2 59 if(op_mode==range_continuous_interrupt || op_mode==range_continuous_polling)
gallonm 19:394c9a4a3046 60 {
gallonm 19:394c9a4a3046 61 if(data_sensor_top.range_mm!=0xFFFFFFFF)
gallonm 19:394c9a4a3046 62 {
gallonm 19:394c9a4a3046 63 sprintf(str,"%d",data_sensor_top.range_mm);
gallonm 19:394c9a4a3046 64 }
gallonm 24:018a59122fe3 65 else
gallonm 22:bb440c864489 66 {
gallonm 25:2c4710283e02 67 sprintf(str,"%s","----");
gallonm 24:018a59122fe3 68 }
gallonm 19:394c9a4a3046 69 }
licio.mapelli@st.com 32:724d2afb0ca2 70 else if(op_mode==als_continuous_interrupt || op_mode==als_continuous_polling)
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 }
gallonm 24:018a59122fe3 76 else
gallonm 22:bb440c864489 77 {
gallonm 25:2c4710283e02 78 sprintf(str,"%s","----");
gallonm 24:018a59122fe3 79 }
mapellil 30:c8efec21544f 80 }
mapellil 30:c8efec21544f 81 board->display->DisplayString(str, strlen(str));
gallonm 19:394c9a4a3046 82 }
gallonm 19:394c9a4a3046 83
mapellil 30:c8efec21544f 84 /* On board red slider position check */
licio.mapelli@st.com 32:724d2afb0ca2 85 enum OpModeIntPoll_t{ PollMeasure, IntMeasure };
licio.mapelli@st.com 32:724d2afb0ca2 86
licio.mapelli@st.com 32:724d2afb0ca2 87 OperatingMode CheckSlider(STMPE1600DigiIn measure_type, enum OpModeIntPoll_t OpMode)
gallonm 27:2afb9baf718f 88 {
licio.mapelli@st.com 32:724d2afb0ca2 89 int measure=measure_type;
licio.mapelli@st.com 32:724d2afb0ca2 90
licio.mapelli@st.com 32:724d2afb0ca2 91 OperatingMode ret;
licio.mapelli@st.com 32:724d2afb0ca2 92 switch (OpMode) {
licio.mapelli@st.com 32:724d2afb0ca2 93 case PollMeasure:
licio.mapelli@st.com 32:724d2afb0ca2 94 if(measure==RANGE)
licio.mapelli@st.com 32:724d2afb0ca2 95 ret = range_continuous_polling;
licio.mapelli@st.com 32:724d2afb0ca2 96 else if(measure==ALS)
licio.mapelli@st.com 32:724d2afb0ca2 97 ret = als_continuous_polling;
licio.mapelli@st.com 32:724d2afb0ca2 98 break;
licio.mapelli@st.com 32:724d2afb0ca2 99
licio.mapelli@st.com 32:724d2afb0ca2 100 case IntMeasure:
licio.mapelli@st.com 32:724d2afb0ca2 101 if(measure==RANGE)
licio.mapelli@st.com 32:724d2afb0ca2 102 ret = range_continuous_interrupt;
licio.mapelli@st.com 32:724d2afb0ca2 103 else if(measure==ALS)
licio.mapelli@st.com 32:724d2afb0ca2 104 ret = als_continuous_interrupt;
licio.mapelli@st.com 32:724d2afb0ca2 105 break;
licio.mapelli@st.com 32:724d2afb0ca2 106 }
licio.mapelli@st.com 32:724d2afb0ca2 107 return ret;
gallonm 27:2afb9baf718f 108 }
gallonm 27:2afb9baf718f 109
mapellil 30:c8efec21544f 110 /* Print on USB Serial the started OperatingMode */
mapellil 30:c8efec21544f 111 void PrintStartMessage(OperatingMode op_mode)
gallonm 27:2afb9baf718f 112 {
gallonm 27:2afb9baf718f 113 if(op_mode==range_continuous_interrupt)
gallonm 27:2afb9baf718f 114 printf("\nStarted range continuous interrupt measure\n\r");
gallonm 27:2afb9baf718f 115 else if(prev_operating_mode==als_continuous_interrupt)
gallonm 27:2afb9baf718f 116 printf("\nStarted als continuous interrupt measure\n\r");
gallonm 27:2afb9baf718f 117 }
gallonm 27:2afb9baf718f 118
mapellil 30:c8efec21544f 119 /* Print on USB Serial the stopped OperatingMode */
mapellil 30:c8efec21544f 120 void PrintStopMessage(OperatingMode op_mode)
gallonm 27:2afb9baf718f 121 {
gallonm 27:2afb9baf718f 122 if(op_mode==range_continuous_interrupt)
gallonm 27:2afb9baf718f 123 printf("Stopped range continuous interrupt measure\n\r");
gallonm 27:2afb9baf718f 124 else if(prev_operating_mode==als_continuous_interrupt)
gallonm 27:2afb9baf718f 125 printf("Stopped als continuous interrupt measure\n\r");
gallonm 27:2afb9baf718f 126 }
gallonm 27:2afb9baf718f 127
mapellil 30:c8efec21544f 128 /* Print on board 4 Digit display the app exiting BYE message */
mapellil 31:1aaf6b8b066e 129 #define DELAY 2000 // 2Sec
licio.mapelli@st.com 32:724d2afb0ca2 130 void DisplayMsg(const char * msg)
gallonm 27:2afb9baf718f 131 {
mapellil 30:c8efec21544f 132 Timer timer;
gallonm 27:2afb9baf718f 133 char str[5];
gallonm 27:2afb9baf718f 134
mapellil 30:c8efec21544f 135 timer.start();
mapellil 30:c8efec21544f 136 for(int i=0; i<DELAY; i=timer.read_ms())
gallonm 27:2afb9baf718f 137 {
licio.mapelli@st.com 32:724d2afb0ca2 138 sprintf(str,"%s",msg);
gallonm 27:2afb9baf718f 139 board->display->DisplayString(str, strlen(str));
gallonm 27:2afb9baf718f 140 }
mapellil 30:c8efec21544f 141 timer.stop();
gallonm 27:2afb9baf718f 142 }
gallonm 27:2afb9baf718f 143
licio.mapelli@st.com 32:724d2afb0ca2 144
licio.mapelli@st.com 32:724d2afb0ca2 145 void IntContinousALSorRangeMeasure (DevI2C device_i2c) {
licio.mapelli@st.com 32:724d2afb0ca2 146 // onboard red slider to switch Range/ALS measures
gallonm 19:394c9a4a3046 147 STMPE1600DigiIn measure_type(device_i2c, GPIO_11);
licio.mapelli@st.com 32:724d2afb0ca2 148 int status;
gallonm 24:018a59122fe3 149 //device_i2c.frequency(400000); //change i2c frequncy from 100kHz to 400kHz
mapellil 31:1aaf6b8b066e 150 //pc.baud(115200); //change the printf baudrate if faster printf is needed
licio.mapelli@st.com 32:724d2afb0ca2 151
licio.mapelli@st.com 32:724d2afb0ca2 152 board=X_NUCLEO_6180XA1::Instance(&device_i2c);
licio.mapelli@st.com 32:724d2afb0ca2 153 DisplayMsg ("INT");
licio.mapelli@st.com 32:724d2afb0ca2 154
gallonm 10:5319abadb31e 155 status=board->InitBoard();
gallonm 14:946e62f44f4f 156 if(status)
gallonm 27:2afb9baf718f 157 printf("Failed to init board!\n\r");
gallonm 19:394c9a4a3046 158
licio.mapelli@st.com 32:724d2afb0ca2 159
licio.mapelli@st.com 32:724d2afb0ca2 160 operating_mode=CheckSlider(measure_type, IntMeasure);
gallonm 20:b2e0b41a0e6b 161 status=board->sensor_top->StartMeasurement(operating_mode, SensorTopIRQ, NULL, NULL);
gallonm 14:946e62f44f4f 162 if(!status)
gallonm 14:946e62f44f4f 163 {
gallonm 27:2afb9baf718f 164 prev_operating_mode=operating_mode;
mapellil 30:c8efec21544f 165 PrintStartMessage(operating_mode);
gallonm 14:946e62f44f4f 166 while(1)
gallonm 14:946e62f44f4f 167 {
mapellil 30:c8efec21544f 168 if(int_sensor_top)
gallonm 14:946e62f44f4f 169 {
mapellil 30:c8efec21544f 170 int_sensor_top=false;
gallonm 19:394c9a4a3046 171 status=board->sensor_top->HandleIRQ(operating_mode, &data_sensor_top);
gallonm 22:bb440c864489 172 DisplayRefresh(operating_mode);
gallonm 14:946e62f44f4f 173 }
mapellil 30:c8efec21544f 174 if(int_stop_measure)
gallonm 19:394c9a4a3046 175 {
gallonm 19:394c9a4a3046 176 status=board->sensor_top->StopMeasurement(prev_operating_mode);
gallonm 27:2afb9baf718f 177 if(!status)
mapellil 30:c8efec21544f 178 PrintStopMessage(prev_operating_mode);
licio.mapelli@st.com 32:724d2afb0ca2 179 int_stop_measure = false;
gallonm 19:394c9a4a3046 180 printf("\nProgram stopped!\n\n\r");
gallonm 19:394c9a4a3046 181 break;
gallonm 19:394c9a4a3046 182 }
licio.mapelli@st.com 32:724d2afb0ca2 183 operating_mode=CheckSlider(measure_type, IntMeasure);
gallonm 19:394c9a4a3046 184 if(operating_mode!=prev_operating_mode)
gallonm 14:946e62f44f4f 185 {
gallonm 19:394c9a4a3046 186 DisplayRefresh(prev_operating_mode);
gallonm 19:394c9a4a3046 187 status=board->sensor_top->StopMeasurement(prev_operating_mode);
gallonm 27:2afb9baf718f 188 if(!status)
mapellil 30:c8efec21544f 189 PrintStopMessage(prev_operating_mode);
gallonm 19:394c9a4a3046 190 prev_operating_mode=operating_mode;
gallonm 20:b2e0b41a0e6b 191 status=board->sensor_top->StartMeasurement(operating_mode, SensorTopIRQ, NULL, NULL);
gallonm 27:2afb9baf718f 192 if(!status)
mapellil 30:c8efec21544f 193 PrintStartMessage(operating_mode);
licio.mapelli@st.com 32:724d2afb0ca2 194 } else
licio.mapelli@st.com 32:724d2afb0ca2 195 DisplayRefresh(operating_mode);
licio.mapelli@st.com 32:724d2afb0ca2 196 }
licio.mapelli@st.com 32:724d2afb0ca2 197 }
licio.mapelli@st.com 32:724d2afb0ca2 198 DisplayMsg("BYE");
licio.mapelli@st.com 32:724d2afb0ca2 199 delete board;
licio.mapelli@st.com 32:724d2afb0ca2 200 }
licio.mapelli@st.com 32:724d2afb0ca2 201
licio.mapelli@st.com 32:724d2afb0ca2 202
licio.mapelli@st.com 32:724d2afb0ca2 203 void PollContinousALSorRangeMeasure (DevI2C device_i2c) {
licio.mapelli@st.com 32:724d2afb0ca2 204 // onboard red slider to switch Range/ALS measures
licio.mapelli@st.com 32:724d2afb0ca2 205 STMPE1600DigiIn measure_type(device_i2c, GPIO_11);
licio.mapelli@st.com 32:724d2afb0ca2 206 int status;
licio.mapelli@st.com 32:724d2afb0ca2 207
licio.mapelli@st.com 32:724d2afb0ca2 208 board=X_NUCLEO_6180XA1::Instance(&device_i2c);
licio.mapelli@st.com 32:724d2afb0ca2 209 DisplayMsg ("poll");
licio.mapelli@st.com 32:724d2afb0ca2 210 status=board->InitBoard();
licio.mapelli@st.com 32:724d2afb0ca2 211 if(status)
licio.mapelli@st.com 32:724d2afb0ca2 212 printf("Failed to init board!\n\r");
licio.mapelli@st.com 32:724d2afb0ca2 213 operating_mode=CheckSlider(measure_type, PollMeasure);
licio.mapelli@st.com 32:724d2afb0ca2 214 status=board->sensor_top->StartMeasurement(operating_mode, NULL, NULL, NULL);
licio.mapelli@st.com 32:724d2afb0ca2 215 if(!status)
licio.mapelli@st.com 32:724d2afb0ca2 216 {
licio.mapelli@st.com 32:724d2afb0ca2 217 prev_operating_mode=operating_mode;
licio.mapelli@st.com 32:724d2afb0ca2 218 PrintStartMessage(operating_mode);
licio.mapelli@st.com 32:724d2afb0ca2 219 while(1)
licio.mapelli@st.com 32:724d2afb0ca2 220 {
licio.mapelli@st.com 32:724d2afb0ca2 221 // do // the loop waiting for the result could be avoided (if is acceptable to get not updated measures)
licio.mapelli@st.com 32:724d2afb0ca2 222 // {
licio.mapelli@st.com 32:724d2afb0ca2 223 status=board->sensor_top->GetMeasurement(operating_mode, &data_sensor_top);
licio.mapelli@st.com 32:724d2afb0ca2 224 DisplayRefresh(operating_mode);
licio.mapelli@st.com 32:724d2afb0ca2 225 // }while(status);
licio.mapelli@st.com 32:724d2afb0ca2 226
licio.mapelli@st.com 32:724d2afb0ca2 227 if(int_stop_measure)
licio.mapelli@st.com 32:724d2afb0ca2 228 {
licio.mapelli@st.com 32:724d2afb0ca2 229 status=board->sensor_top->StopMeasurement(prev_operating_mode);
licio.mapelli@st.com 32:724d2afb0ca2 230 if(!status)
licio.mapelli@st.com 32:724d2afb0ca2 231 PrintStopMessage(prev_operating_mode);
licio.mapelli@st.com 32:724d2afb0ca2 232 int_stop_measure = false;
licio.mapelli@st.com 32:724d2afb0ca2 233 printf("\nProgram stopped!\n\n\r");
licio.mapelli@st.com 32:724d2afb0ca2 234 break;
licio.mapelli@st.com 32:724d2afb0ca2 235 }
licio.mapelli@st.com 32:724d2afb0ca2 236
licio.mapelli@st.com 32:724d2afb0ca2 237 operating_mode=CheckSlider(measure_type, PollMeasure);
licio.mapelli@st.com 32:724d2afb0ca2 238 if(operating_mode!=prev_operating_mode)
licio.mapelli@st.com 32:724d2afb0ca2 239 {
licio.mapelli@st.com 32:724d2afb0ca2 240 DisplayRefresh(prev_operating_mode);
licio.mapelli@st.com 32:724d2afb0ca2 241 status=board->sensor_top->StopMeasurement(prev_operating_mode);
licio.mapelli@st.com 32:724d2afb0ca2 242 if(!status)
licio.mapelli@st.com 32:724d2afb0ca2 243 PrintStopMessage(prev_operating_mode);
licio.mapelli@st.com 32:724d2afb0ca2 244 prev_operating_mode=operating_mode;
licio.mapelli@st.com 32:724d2afb0ca2 245 status=board->sensor_top->StartMeasurement(operating_mode, NULL, NULL, NULL);
licio.mapelli@st.com 32:724d2afb0ca2 246 if(!status)
licio.mapelli@st.com 32:724d2afb0ca2 247 PrintStartMessage(operating_mode);
gallonm 19:394c9a4a3046 248 }
gallonm 19:394c9a4a3046 249 else
gallonm 19:394c9a4a3046 250 DisplayRefresh(operating_mode);
licio.mapelli@st.com 32:724d2afb0ca2 251 }
gallonm 14:946e62f44f4f 252 }
licio.mapelli@st.com 32:724d2afb0ca2 253 DisplayMsg("BYE");
licio.mapelli@st.com 32:724d2afb0ca2 254 delete board;
gallonm 4:ccd62fd7e137 255 }
gallonm 5:fa65d931bd96 256
licio.mapelli@st.com 32:724d2afb0ca2 257
licio.mapelli@st.com 32:724d2afb0ca2 258 int main()
licio.mapelli@st.com 32:724d2afb0ca2 259 {
licio.mapelli@st.com 32:724d2afb0ca2 260 /* user button to stop measurements in progress */
licio.mapelli@st.com 32:724d2afb0ca2 261 InterruptIn stop_button (USER_BUTTON);
licio.mapelli@st.com 32:724d2afb0ca2 262 stop_button.rise (&StopMeasureIRQ);
licio.mapelli@st.com 32:724d2afb0ca2 263 DevI2C device_i2c (VL6180X_I2C_SDA, VL6180X_I2C_SCL);
licio.mapelli@st.com 32:724d2afb0ca2 264
licio.mapelli@st.com 32:724d2afb0ca2 265 IntContinousALSorRangeMeasure (device_i2c); // start Interrupt continous measures
licio.mapelli@st.com 32:724d2afb0ca2 266
licio.mapelli@st.com 32:724d2afb0ca2 267 PollContinousALSorRangeMeasure (device_i2c); // start Polling continous measures
licio.mapelli@st.com 32:724d2afb0ca2 268
licio.mapelli@st.com 32:724d2afb0ca2 269 }
licio.mapelli@st.com 32:724d2afb0ca2 270