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@43:f03152407731, 2016-09-12 (annotated)

Committer:
mapellil
Date:
Mon Sep 12 09:19:46 2016 +0000
Revision:
43:f03152407731
Parent:
42:ee8c5b1f2e1d
Child:
44:3c68d5aa842e
Moved to als/range single shot polling mode measure and updated the 6180 lib.

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
mapellil 35:8b4a5cc0fb1f 17 Callback IRQ 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
mapellil 37:724632fff9c1 23 #define VL6180X_I2C_SDA D14
mapellil 37:724632fff9c1 24 #define VL6180X_I2C_SCL D15
gallonm 5:fa65d931bd96 25
gallonm 19:394c9a4a3046 26 #define RANGE 0
gallonm 19:394c9a4a3046 27 #define ALS 1
gallonm 10:5319abadb31e 28
gallonm 27:2afb9baf718f 29 static X_NUCLEO_6180XA1 *board=NULL;
gallonm 19:394c9a4a3046 30 MeasureData_t data_sensor_top;
gallonm 27:2afb9baf718f 31 OperatingMode operating_mode, prev_operating_mode;
gallonm 11:657dbe7bf245 32
gallonm 15:b94bc967fecd 33 /* flags that handle interrupt request */
mapellil 43:f03152407731 34 int int_stop_measure=false;
gallonm 9:1d0e839edee8 35
mapellil 30:c8efec21544f 36 /* ISR callback function of the user blue button to stop program */
gallonm 15:b94bc967fecd 37 void StopMeasureIRQ(void)
gallonm 15:b94bc967fecd 38 {
mapellil 30:c8efec21544f 39 int_stop_measure=true;
gallonm 15:b94bc967fecd 40 }
gallonm 14:946e62f44f4f 41
mapellil 30:c8efec21544f 42 /* On board 4 digit local display refresh */
gallonm 19:394c9a4a3046 43 void DisplayRefresh(OperatingMode op_mode)
gallonm 27:2afb9baf718f 44 {
gallonm 25:2c4710283e02 45 char str[5];
gallonm 19:394c9a4a3046 46
mapellil 43:f03152407731 47 if(op_mode==range_continuous_interrupt || op_mode==range_single_shot_polling)
gallonm 19:394c9a4a3046 48 {
mapellil 43:f03152407731 49 if(data_sensor_top.range_mm!=255)
gallonm 19:394c9a4a3046 50 {
gallonm 19:394c9a4a3046 51 sprintf(str,"%d",data_sensor_top.range_mm);
gallonm 19:394c9a4a3046 52 }
gallonm 24:018a59122fe3 53 else
gallonm 22:bb440c864489 54 {
gallonm 25:2c4710283e02 55 sprintf(str,"%s","----");
gallonm 24:018a59122fe3 56 }
gallonm 19:394c9a4a3046 57 }
mapellil 43:f03152407731 58 else if(op_mode==als_continuous_interrupt || op_mode==als_single_shot_polling)
gallonm 19:394c9a4a3046 59 {
gallonm 19:394c9a4a3046 60 if(data_sensor_top.lux!=0xFFFFFFFF)
gallonm 19:394c9a4a3046 61 {
gallonm 19:394c9a4a3046 62 sprintf(str,"%d",data_sensor_top.lux);
gallonm 19:394c9a4a3046 63 }
gallonm 24:018a59122fe3 64 else
gallonm 22:bb440c864489 65 {
gallonm 25:2c4710283e02 66 sprintf(str,"%s","----");
gallonm 24:018a59122fe3 67 }
mapellil 30:c8efec21544f 68 }
mapellil 30:c8efec21544f 69 board->display->DisplayString(str, strlen(str));
gallonm 19:394c9a4a3046 70 }
gallonm 19:394c9a4a3046 71
mapellil 30:c8efec21544f 72 /* On board red slider position check */
licio.mapelli@st.com 32:724d2afb0ca2 73 enum OpModeIntPoll_t{ PollMeasure, IntMeasure };
licio.mapelli@st.com 32:724d2afb0ca2 74
licio.mapelli@st.com 33:b903a0ec8803 75 OperatingMode CheckSlider(enum OpModeIntPoll_t OpMode) {
licio.mapelli@st.com 33:b903a0ec8803 76
licio.mapelli@st.com 33:b903a0ec8803 77 OperatingMode ret;
licio.mapelli@st.com 33:b903a0ec8803 78 int measure= board->RdSwitch();
licio.mapelli@st.com 32:724d2afb0ca2 79
licio.mapelli@st.com 32:724d2afb0ca2 80 switch (OpMode) {
licio.mapelli@st.com 32:724d2afb0ca2 81 case PollMeasure:
licio.mapelli@st.com 32:724d2afb0ca2 82 if(measure==RANGE)
mapellil 43:f03152407731 83 ret = range_single_shot_polling;
licio.mapelli@st.com 32:724d2afb0ca2 84 else if(measure==ALS)
mapellil 43:f03152407731 85 ret = als_single_shot_polling;
licio.mapelli@st.com 32:724d2afb0ca2 86 break;
licio.mapelli@st.com 32:724d2afb0ca2 87
licio.mapelli@st.com 32:724d2afb0ca2 88 case IntMeasure:
licio.mapelli@st.com 32:724d2afb0ca2 89 if(measure==RANGE)
licio.mapelli@st.com 32:724d2afb0ca2 90 ret = range_continuous_interrupt;
licio.mapelli@st.com 32:724d2afb0ca2 91 else if(measure==ALS)
licio.mapelli@st.com 32:724d2afb0ca2 92 ret = als_continuous_interrupt;
licio.mapelli@st.com 32:724d2afb0ca2 93 break;
licio.mapelli@st.com 32:724d2afb0ca2 94 }
mapellil 43:f03152407731 95 return ret;
gallonm 27:2afb9baf718f 96 }
gallonm 27:2afb9baf718f 97
mapellil 30:c8efec21544f 98 /* Print on USB Serial the started OperatingMode */
mapellil 30:c8efec21544f 99 void PrintStartMessage(OperatingMode op_mode)
gallonm 27:2afb9baf718f 100 {
mapellil 43:f03152407731 101 switch (op_mode) {
mapellil 43:f03152407731 102 case range_single_shot_polling:
mapellil 43:f03152407731 103 printf("\nStarted range single shot polling measure\n\r");
mapellil 43:f03152407731 104 break;
mapellil 43:f03152407731 105 case als_single_shot_polling:
mapellil 43:f03152407731 106 printf("\nStarted als single shot polling measure\n\r");
mapellil 43:f03152407731 107 break;
mapellil 43:f03152407731 108 case range_continuous_interrupt:
mapellil 43:f03152407731 109 printf("\nStarted range continuous interrupt measure\n\r");
mapellil 43:f03152407731 110 break;
mapellil 43:f03152407731 111 case als_continuous_interrupt:
mapellil 43:f03152407731 112 printf("\nStarted als continuous interrupt measure\n\r");
mapellil 43:f03152407731 113 break;
mapellil 43:f03152407731 114 default:
mapellil 43:f03152407731 115 break;
mapellil 43:f03152407731 116 }
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 {
mapellil 43:f03152407731 122 switch (op_mode) {
mapellil 43:f03152407731 123 case range_single_shot_polling:
mapellil 43:f03152407731 124 printf("\nStopped range single shot polling measure\n\r");
mapellil 43:f03152407731 125 break;
mapellil 43:f03152407731 126 case als_single_shot_polling:
mapellil 43:f03152407731 127 printf("\nStopped als single shot polling measure\n\r");
mapellil 43:f03152407731 128 break;
mapellil 43:f03152407731 129 case range_continuous_interrupt:
mapellil 43:f03152407731 130 printf("\nStopped range continuous interrupt measure\n\r");
mapellil 43:f03152407731 131 break;
mapellil 43:f03152407731 132 case als_continuous_interrupt:
mapellil 43:f03152407731 133 printf("\nStopped als continuous interrupt measure\n\r");
mapellil 43:f03152407731 134 break;
mapellil 43:f03152407731 135 default:
mapellil 43:f03152407731 136 break;
mapellil 43:f03152407731 137 }
gallonm 27:2afb9baf718f 138 }
gallonm 27:2afb9baf718f 139
mapellil 35:8b4a5cc0fb1f 140 /* Print on board 4 Digit display the indicated message <= 4 char */
mapellil 31:1aaf6b8b066e 141 #define DELAY 2000 // 2Sec
licio.mapelli@st.com 32:724d2afb0ca2 142 void DisplayMsg(const char * msg)
gallonm 27:2afb9baf718f 143 {
mapellil 30:c8efec21544f 144 Timer timer;
gallonm 27:2afb9baf718f 145 char str[5];
gallonm 27:2afb9baf718f 146
mapellil 30:c8efec21544f 147 timer.start();
mapellil 30:c8efec21544f 148 for(int i=0; i<DELAY; i=timer.read_ms())
gallonm 27:2afb9baf718f 149 {
licio.mapelli@st.com 32:724d2afb0ca2 150 sprintf(str,"%s",msg);
gallonm 27:2afb9baf718f 151 board->display->DisplayString(str, strlen(str));
gallonm 27:2afb9baf718f 152 }
mapellil 30:c8efec21544f 153 timer.stop();
gallonm 27:2afb9baf718f 154 }
gallonm 27:2afb9baf718f 155
licio.mapelli@st.com 32:724d2afb0ca2 156
mapellil 43:f03152407731 157 void PollSingleALSorRangeMeasure (DevI2C *device_i2c) {
mapellil 35:8b4a5cc0fb1f 158 int status;
mapellil 35:8b4a5cc0fb1f 159 /* creates the 6180XA1 expansion board singleton obj */
mapellil 39:851cfabf7aa6 160 board=X_NUCLEO_6180XA1::Instance(device_i2c, A3, A2, D13, D2);
mapellil 43:f03152407731 161 DisplayMsg ("pOLL");
mapellil 35:8b4a5cc0fb1f 162 /* init the 6180XA1 expansion board with default values */
gallonm 10:5319abadb31e 163 status=board->InitBoard();
mapellil 43:f03152407731 164 if(status) printf("Failed to init board!\n\r");
mapellil 35:8b4a5cc0fb1f 165 /* check the red slider position for ALS/Range measure */
mapellil 43:f03152407731 166 operating_mode=CheckSlider(PollMeasure);
mapellil 43:f03152407731 167 PrintStartMessage(operating_mode);
mapellil 43:f03152407731 168 while(1)
gallonm 14:946e62f44f4f 169 {
mapellil 43:f03152407731 170 if(int_stop_measure) /* Blue Button isr was triggered */
gallonm 14:946e62f44f4f 171 {
mapellil 43:f03152407731 172 PrintStopMessage(prev_operating_mode);
mapellil 43:f03152407731 173 int_stop_measure = false;
mapellil 43:f03152407731 174 printf("\nProgram stopped!\n\n\r");
mapellil 43:f03152407731 175 break;
licio.mapelli@st.com 32:724d2afb0ca2 176 }
mapellil 43:f03152407731 177 operating_mode=CheckSlider(PollMeasure); /* check if red slider was moved */
mapellil 43:f03152407731 178 if (operating_mode == range_single_shot_polling) {
mapellil 43:f03152407731 179 board->sensor_top->GetDistance(&data_sensor_top.range_mm);
mapellil 43:f03152407731 180 } else if (operating_mode == als_single_shot_polling) {
mapellil 43:f03152407731 181 board->sensor_top->GetLux(&data_sensor_top.lux);
mapellil 43:f03152407731 182 }
mapellil 43:f03152407731 183 DisplayRefresh(operating_mode);
licio.mapelli@st.com 32:724d2afb0ca2 184 }
mapellil 35:8b4a5cc0fb1f 185 DisplayMsg("BYE");
licio.mapelli@st.com 32:724d2afb0ca2 186 }
licio.mapelli@st.com 32:724d2afb0ca2 187
mapellil 35:8b4a5cc0fb1f 188 /*=================================== Main ==================================
mapellil 35:8b4a5cc0fb1f 189 Move the VL6180X Expansion board red slider to switch between ALS or Range
mapellil 35:8b4a5cc0fb1f 190 measures.
mapellil 35:8b4a5cc0fb1f 191 Press the blue user button to stop the measurements in progress
mapellil 35:8b4a5cc0fb1f 192 =============================================================================*/
mapellil 35:8b4a5cc0fb1f 193 int main()
mapellil 43:f03152407731 194 {
mapellil 43:f03152407731 195
mapellil 40:204f84887d70 196 #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401
mapellil 35:8b4a5cc0fb1f 197 InterruptIn stop_button (USER_BUTTON);
mapellil 35:8b4a5cc0fb1f 198 stop_button.rise (&StopMeasureIRQ);
mapellil 36:0d4aa5b3234d 199 #endif
mapellil 39:851cfabf7aa6 200 DevI2C *device_i2c =new DevI2C(VL6180X_I2C_SDA, VL6180X_I2C_SCL);
mapellil 35:8b4a5cc0fb1f 201
mapellil 43:f03152407731 202 PollSingleALSorRangeMeasure (device_i2c); // start continous measures Interrupt based
gallonm 4:ccd62fd7e137 203 }
gallonm 5:fa65d931bd96 204