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@5:fa65d931bd96, 2015-09-25 (annotated)

Committer:
gallonm
Date:
Fri Sep 25 12:14:00 2015 +0200
Revision:
5:fa65d931bd96
Parent:
4:ccd62fd7e137
Child:
6:f253ca7919af
update file

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gallonm 0:83c628a58feb 1 #include "mbed.h"
gallonm 4:ccd62fd7e137 2 #include "vl6180x_class.h"
gallonm 5:fa65d931bd96 3 #include "STMPE1600_class.h"
gallonm 0:83c628a58feb 4
gallonm 4:ccd62fd7e137 5 #include <string.h>
gallonm 4:ccd62fd7e137 6 #include <stdlib.h>
gallonm 4:ccd62fd7e137 7 #include <stdio.h>
gallonm 4:ccd62fd7e137 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 5:fa65d931bd96 12
gallonm 5:fa65d931bd96 13 /* Enable e disable function -------------------------------------------------------*/
gallonm 5:fa65d931bd96 14 #define EXPANDER_I2C_ADDRESS (0x42*2)
gallonm 5:fa65d931bd96 15 #define GPMR 0x10
gallonm 5:fa65d931bd96 16 #define GPSR 0x12
gallonm 5:fa65d931bd96 17 #define GPDR 0x14
gallonm 5:fa65d931bd96 18
gallonm 5:fa65d931bd96 19 #define V2_CHIPEN (1<<12)
gallonm 5:fa65d931bd96 20 #define V2_CHIPEN_B (1<<13)
gallonm 5:fa65d931bd96 21 #define V2_CHIPEN_L (1<<14)
gallonm 5:fa65d931bd96 22 #define V2_CHIPEN_R (1<<15)
gallonm 5:fa65d931bd96 23
gallonm 5:fa65d931bd96 24 /*----------------------------------------------------------------------------------*/
gallonm 5:fa65d931bd96 25
gallonm 4:ccd62fd7e137 26 void OnErrLog(void){};
gallonm 5:fa65d931bd96 27 void DISP_ExecLoopBody(void){};
gallonm 0:83c628a58feb 28
gallonm 4:ccd62fd7e137 29 int main()
gallonm 5:fa65d931bd96 30 {
gallonm 5:fa65d931bd96 31 uint8_t buf[8]={1,1,0,0,0,0,0,0};
gallonm 5:fa65d931bd96 32
gallonm 5:fa65d931bd96 33
gallonm 5:fa65d931bd96 34 uint8_t x=0xFF;
gallonm 5:fa65d931bd96 35 uint8_t y=0xF7;
gallonm 5:fa65d931bd96 36 uint8_t z=0x80;
gallonm 5:fa65d931bd96 37 uint8_t k=0x17;
gallonm 5:fa65d931bd96 38 uint8_t g=0xE7;
gallonm 5:fa65d931bd96 39
gallonm 5:fa65d931bd96 40 DevI2C device_i2c(VL6180X_I2C_SDA, VL6180X_I2C_SCL);
gallonm 5:fa65d931bd96 41 STMPE1600DigiOut exp(device_i2c, GPIO_12, STMPE1600_DEF_DEVICE_ADDRESS);
gallonm 5:fa65d931bd96 42 VL6180X sensor1(device_i2c, exp);
gallonm 5:fa65d931bd96 43
gallonm 5:fa65d931bd96 44
gallonm 5:fa65d931bd96 45 //imposto GPIO di input e output
gallonm 5:fa65d931bd96 46 device_i2c.i2c_write(&x, 0x42*2, 0x14, 1);
gallonm 5:fa65d931bd96 47 device_i2c.i2c_write(&y, 0x42*2, 0x15, 1);
gallonm 5:fa65d931bd96 48 //disabilito i display e abilito il GPIO0 del sensore top
gallonm 5:fa65d931bd96 49 device_i2c.i2c_write(&z, 0x42*2, 0x12, 1);
gallonm 5:fa65d931bd96 50 device_i2c.i2c_write(&g, 0x42*2, 0x13, 1); //spengo gpio0
gallonm 5:fa65d931bd96 51 device_i2c.i2c_write(&k, 0x42*2, 0x13, 1); //accendo gpio0
gallonm 5:fa65d931bd96 52
gallonm 5:fa65d931bd96 53 //VL6180x_I2CRead(0x29, (uint16_t)0x000, buf, 2);
gallonm 5:fa65d931bd96 54 //VL6180x_I2CRead(0x29, (uint16_t)0x212, buf+1, 2);
gallonm 5:fa65d931bd96 55 //buf[2]=0x32;
gallonm 5:fa65d931bd96 56 //VL6180x_I2CWrite(0x29, (uint16_t)0x0212, buf+2, 1);
gallonm 5:fa65d931bd96 57 //VL6180x_I2CRead(0x32, (uint16_t)0x212, buf+3, 2);
gallonm 5:fa65d931bd96 58
gallonm 5:fa65d931bd96 59 buf[0]=sensor1.Init();
gallonm 5:fa65d931bd96 60 buf[1]=sensor1.ReadID();
gallonm 5:fa65d931bd96 61 //buf[2]=sensor1.Prepare();
gallonm 5:fa65d931bd96 62 //sensor1.~VL6180X();
gallonm 5:fa65d931bd96 63
gallonm 5:fa65d931bd96 64
gallonm 5:fa65d931bd96 65 /*
gallonm 5:fa65d931bd96 66 X_NUCLEO_6180XA1 board;
gallonm 5:fa65d931bd96 67
gallonm 5:fa65d931bd96 68 status=board.vl6180x_top.RdByte(IDENTIFICATION_MODEL_ID, &buffer);
gallonm 5:fa65d931bd96 69 if(!status)
gallonm 5:fa65d931bd96 70 {
gallonm 5:fa65d931bd96 71 board.vl6180x_top.SetPresent();
gallonm 5:fa65d931bd96 72 board.vl6180x_top.SetDeviceID(i);
gallonm 5:fa65d931bd96 73 if(!(board.vl6180x_top.Init()||board.vl6180x_top.Prepare()))
gallonm 5:fa65d931bd96 74 {
gallonm 5:fa65d931bd96 75 board.vl6180x_top.SetReady();
gallonm 5:fa65d931bd96 76 status=board.vl6180x_top.SetI2CAddress(final_i2c_address);
gallonm 5:fa65d931bd96 77 if(status)
gallonm 5:fa65d931bd96 78 errore su scrittura indirizzo i2c
gallonm 5:fa65d931bd96 79 }
gallonm 5:fa65d931bd96 80 else
gallonm 5:fa65d931bd96 81 errore su init o prepare
gallonm 5:fa65d931bd96 82 }
gallonm 5:fa65d931bd96 83 i++;
gallonm 5:fa65d931bd96 84
gallonm 5:fa65d931bd96 85 //stessa cosa per gli altri sensori (left, bottom e right)
gallonm 5:fa65d931bd96 86
gallonm 5:fa65d931bd96 87 */
gallonm 5:fa65d931bd96 88
gallonm 4:ccd62fd7e137 89 }
gallonm 5:fa65d931bd96 90
gallonm 5:fa65d931bd96 91
gallonm 5:fa65d931bd96 92