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@16:fbf61b7c65ba, 2015-10-28 (annotated)

Committer:
gallonm
Date:
Wed Oct 28 13:09:32 2015 +0000
Revision:
16:fbf61b7c65ba
Parent:
15:b94bc967fecd
Child:
17:68515d0667af
Updated main.cpp

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 14:946e62f44f4f 3 #include "HmiBBGesture.h"
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 14:946e62f44f4f 9 /* Polling operating modes don`t require callback function that handles IRQ
gallonm 14:946e62f44f4f 10 Callback functions are used only for measure that require interrupt */
gallonm 14:946e62f44f4f 11
gallonm 5:fa65d931bd96 12 #define VL6180X_I2C_SDA I2C_SDA
gallonm 5:fa65d931bd96 13 #define VL6180X_I2C_SCL I2C_SCL
gallonm 5:fa65d931bd96 14
gallonm 10:5319abadb31e 15 //#define RANGE_SINGLE_SHOT_POLLING
gallonm 10:5319abadb31e 16 //#define ALS_SINGLE_SHOT_POLLING
gallonm 10:5319abadb31e 17 //#define RANGE_CONTINUOUS_POLLING
gallonm 10:5319abadb31e 18 //#define ALS_CONTINUOUS_POLLING
gallonm 10:5319abadb31e 19 //#define RANGE_CONTINUOUS_INTERRUPT
gallonm 14:946e62f44f4f 20 //#define ALS_CONTINUOUS_INTERRUPT
gallonm 11:657dbe7bf245 21 //#define INTERLEAVED_MODE_INTERRUPT
gallonm 10:5319abadb31e 22 //#define RANGE_CONTINUOUS_POLLING_LOW_THRESHOLD
gallonm 10:5319abadb31e 23 //#define RANGE_CONTINUOUS_POLLING_HIGH_THRESHOLD
gallonm 10:5319abadb31e 24 //#define RANGE_CONTINUOUS_POLLING_OUT_OF_WINDOW
gallonm 10:5319abadb31e 25 //#define ALS_CONTINUOUS_POLLING_LOW_THRESHOLD
gallonm 10:5319abadb31e 26 //#define ALS_CONTINUOUS_POLLING_HIGH_THRESHOLD
gallonm 10:5319abadb31e 27 //#define ALS_CONTINUOUS_POLLING_OUT_OF_WINDOW
gallonm 10:5319abadb31e 28 //#define RANGE_CONTINUOUS_INTERRUPT_LOW_THRESHOLD
gallonm 10:5319abadb31e 29 //#define RANGE_CONTINUOUS_INTERRUPT_HIGH_THRESHOLD
gallonm 10:5319abadb31e 30 //#define RANGE_CONTINUOUS_INTERRUPT_OUT_OF_WINDOW
gallonm 10:5319abadb31e 31 //#define ALS_CONTINUOUS_INTERRUPT_LOW_THRESHOLD
gallonm 10:5319abadb31e 32 //#define ALS_CONTINUOUS_INTERRUPT_HIGH_THRESHOLD
gallonm 10:5319abadb31e 33 //#define ALS_CONTINUOUS_INTERRUPT_OUT_OF_WINDOW
gallonm 14:946e62f44f4f 34 #define HAND_GESTURE
gallonm 10:5319abadb31e 35
gallonm 14:946e62f44f4f 36 /* timer and digital out pin used for debugging */
gallonm 14:946e62f44f4f 37 //Timer timer;
gallonm 14:946e62f44f4f 38 //int start, end;
gallonm 14:946e62f44f4f 39 //DigitalOut pin(PA_15);
gallonm 5:fa65d931bd96 40
gallonm 8:4c05f7a5bb60 41 DevI2C device_i2c(VL6180X_I2C_SDA, VL6180X_I2C_SCL);
gallonm 9:1d0e839edee8 42 static X_NUCLEO_6180XA1 *board=X_NUCLEO_6180XA1::Instance(&device_i2c);
gallonm 9:1d0e839edee8 43
gallonm 14:946e62f44f4f 44 HmiBBGesture gesture_reco;
gallonm 9:1d0e839edee8 45
gallonm 14:946e62f44f4f 46 MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right;
gallonm 11:657dbe7bf245 47
gallonm 15:b94bc967fecd 48 /* flags that handle interrupt request */
gallonm 15:b94bc967fecd 49 bool flag_sensor_top=false, flag_sensor_bottom=false, flag_sensor_left=false, flag_sensor_right=false, flag_stop_measure=false;
gallonm 15:b94bc967fecd 50
gallonm 15:b94bc967fecd 51 /* user button used to stop measurements in interrupt mode */
gallonm 15:b94bc967fecd 52 InterruptIn stop_button(USER_BUTTON);
gallonm 9:1d0e839edee8 53
gallonm 9:1d0e839edee8 54 /* callback functions of the sensors */
gallonm 15:b94bc967fecd 55 void SensorTopIRQ(void)
gallonm 9:1d0e839edee8 56 {
gallonm 11:657dbe7bf245 57 flag_sensor_top=true;
gallonm 14:946e62f44f4f 58 board->sensor_top->DisableInterruptMeasureDetectionIRQ();
gallonm 9:1d0e839edee8 59 }
gallonm 9:1d0e839edee8 60
gallonm 15:b94bc967fecd 61 void SensorBottomIRQ(void)
gallonm 11:657dbe7bf245 62 {
gallonm 11:657dbe7bf245 63 flag_sensor_bottom=true;
gallonm 14:946e62f44f4f 64 board->sensor_bottom->DisableInterruptMeasureDetectionIRQ();
gallonm 11:657dbe7bf245 65 }
gallonm 11:657dbe7bf245 66
gallonm 15:b94bc967fecd 67 void SensorLeftIRQ(void)
gallonm 11:657dbe7bf245 68 {
gallonm 11:657dbe7bf245 69 flag_sensor_left=true;
gallonm 14:946e62f44f4f 70 board->sensor_left->DisableInterruptMeasureDetectionIRQ();
gallonm 11:657dbe7bf245 71 }
gallonm 11:657dbe7bf245 72
gallonm 15:b94bc967fecd 73 void SensorRightIRQ(void)
gallonm 11:657dbe7bf245 74 {
gallonm 11:657dbe7bf245 75 flag_sensor_right=true;
gallonm 14:946e62f44f4f 76 board->sensor_right->DisableInterruptMeasureDetectionIRQ();
gallonm 11:657dbe7bf245 77 }
gallonm 9:1d0e839edee8 78
gallonm 15:b94bc967fecd 79 void StopMeasureIRQ(void)
gallonm 15:b94bc967fecd 80 {
gallonm 15:b94bc967fecd 81 flag_stop_measure=true;
gallonm 15:b94bc967fecd 82 }
gallonm 14:946e62f44f4f 83
gallonm 4:ccd62fd7e137 84 int main()
gallonm 5:fa65d931bd96 85 {
gallonm 14:946e62f44f4f 86 int status, status_t, status_b, status_l, status_r;
gallonm 14:946e62f44f4f 87
gallonm 15:b94bc967fecd 88 //device_i2c.frequency(400000); //change i2c frequncy from 100kHz to 400kHz
gallonm 14:946e62f44f4f 89 pc.baud(115200); //change baudrate of the printf
gallonm 14:946e62f44f4f 90
gallonm 10:5319abadb31e 91 status=board->InitBoard();
gallonm 14:946e62f44f4f 92 if(status)
gallonm 15:b94bc967fecd 93 printf("Failed to init the board!\n\r");
gallonm 10:5319abadb31e 94
gallonm 10:5319abadb31e 95 #ifdef RANGE_SINGLE_SHOT_POLLING
gallonm 14:946e62f44f4f 96 status_t=board->sensor_top->StartMeasurement(range_single_shot_polling, NULL, &data_sensor_top, NULL, NULL);
gallonm 14:946e62f44f4f 97 if(!status_t)
gallonm 14:946e62f44f4f 98 printf("Top Range: %dmm\n\r",data_sensor_top.range_mm);
gallonm 14:946e62f44f4f 99 else if(status==INVALID_PARAMS)
gallonm 14:946e62f44f4f 100 printf("Failed to start measurement!\n\r");
gallonm 14:946e62f44f4f 101 else
gallonm 14:946e62f44f4f 102 printf("Invalid range value!\n\r");
gallonm 14:946e62f44f4f 103 status_t=board->sensor_top->StopMeasurement(range_single_shot_polling);
gallonm 14:946e62f44f4f 104 if(status_t)
gallonm 14:946e62f44f4f 105 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 106 #endif
gallonm 9:1d0e839edee8 107
gallonm 10:5319abadb31e 108 #ifdef ALS_SINGLE_SHOT_POLLING
gallonm 14:946e62f44f4f 109 status_t=board->sensor_top->StartMeasurement(als_single_shot_polling, NULL, &data_sensor_top, NULL, NULL);
gallonm 14:946e62f44f4f 110 if(!status_t)
gallonm 15:b94bc967fecd 111 printf("Top Light: %d lux\n\r",data_sensor_top.lux);
gallonm 14:946e62f44f4f 112 else if(status==INVALID_PARAMS)
gallonm 14:946e62f44f4f 113 printf("Failed to start measurement!\n\r");
gallonm 14:946e62f44f4f 114 else
gallonm 14:946e62f44f4f 115 printf("Invalid light value!\n\r");
gallonm 14:946e62f44f4f 116 status_t=board->sensor_top->StopMeasurement(als_single_shot_polling);
gallonm 14:946e62f44f4f 117 if(status_t)
gallonm 14:946e62f44f4f 118 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 119 #endif
gallonm 10:5319abadb31e 120
gallonm 10:5319abadb31e 121 #ifdef RANGE_CONTINUOUS_POLLING
gallonm 14:946e62f44f4f 122 status_t=board->sensor_top->StartMeasurement(range_continuous_polling, NULL, &data_sensor_top, NULL, NULL);
gallonm 14:946e62f44f4f 123 if(!status_t)
gallonm 14:946e62f44f4f 124 {
gallonm 14:946e62f44f4f 125 int i;
gallonm 14:946e62f44f4f 126 for(i=0;i<10;i++)
gallonm 14:946e62f44f4f 127 {
gallonm 14:946e62f44f4f 128 status_t=board->sensor_top->GetMeasurement(range_continuous_polling, &data_sensor_top);
gallonm 11:657dbe7bf245 129 if(!status_t)
gallonm 14:946e62f44f4f 130 printf("Top Range measure %d: %dmm\n\r",i+1,data_sensor_top.range_mm);
gallonm 14:946e62f44f4f 131 else
gallonm 14:946e62f44f4f 132 printf("Invalid range value!\n\r");
gallonm 14:946e62f44f4f 133 }
gallonm 10:5319abadb31e 134 }
gallonm 14:946e62f44f4f 135 else
gallonm 14:946e62f44f4f 136 printf("Failed to start measurement!\n\r");
gallonm 14:946e62f44f4f 137 status_t=board->sensor_top->StopMeasurement(range_continuous_polling);
gallonm 14:946e62f44f4f 138 if(status_t)
gallonm 14:946e62f44f4f 139 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 140 #endif
gallonm 10:5319abadb31e 141
gallonm 10:5319abadb31e 142 #ifdef ALS_CONTINUOUS_POLLING
gallonm 14:946e62f44f4f 143 status_t=board->sensor_top->StartMeasurement(als_continuous_polling, NULL, &data_sensor_top, NULL, NULL);
gallonm 14:946e62f44f4f 144 if(!status_t)
gallonm 14:946e62f44f4f 145 {
gallonm 14:946e62f44f4f 146 int i;
gallonm 14:946e62f44f4f 147 for(i=0;i<10;i++)
gallonm 14:946e62f44f4f 148 {
gallonm 14:946e62f44f4f 149 status=board->sensor_top->GetMeasurement(als_continuous_polling, &data_sensor_top);
gallonm 11:657dbe7bf245 150 if(!status_t)
gallonm 15:b94bc967fecd 151 printf("Top Light measure %d: %d lux\n\r",i,data_sensor_top.lux);
gallonm 14:946e62f44f4f 152 else
gallonm 14:946e62f44f4f 153 printf("Invalid light value!\n\r");
gallonm 14:946e62f44f4f 154 }
gallonm 9:1d0e839edee8 155 }
gallonm 14:946e62f44f4f 156 else
gallonm 14:946e62f44f4f 157 printf("Failed to start measurement!\n\r");
gallonm 14:946e62f44f4f 158 status_t=board->sensor_top->StopMeasurement(als_continuous_polling);
gallonm 14:946e62f44f4f 159 if(status_t)
gallonm 14:946e62f44f4f 160 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 161 #endif
gallonm 11:657dbe7bf245 162
gallonm 11:657dbe7bf245 163 #ifdef RANGE_CONTINUOUS_INTERRUPT
gallonm 15:b94bc967fecd 164 stop_button.rise(&StopMeasureIRQ);
gallonm 14:946e62f44f4f 165 status=board->sensor_top->StartMeasurement(range_continuous_interrupt, SensorTopIRQ, &data_sensor_top, NULL, NULL);
gallonm 14:946e62f44f4f 166 if(!status)
gallonm 14:946e62f44f4f 167 {
gallonm 14:946e62f44f4f 168 while(1)
gallonm 14:946e62f44f4f 169 {
gallonm 14:946e62f44f4f 170 if(flag_sensor_top)
gallonm 14:946e62f44f4f 171 {
gallonm 14:946e62f44f4f 172 flag_sensor_top=false;
gallonm 14:946e62f44f4f 173 status=board->sensor_top->HandleIRQ(range_continuous_interrupt, &data_sensor_top);
gallonm 14:946e62f44f4f 174 if(!status)
gallonm 14:946e62f44f4f 175 printf("Range: %dmm\n\r",data_sensor_top.range_mm);
gallonm 14:946e62f44f4f 176 else
gallonm 14:946e62f44f4f 177 printf("Invalid range value!\n\r");
gallonm 14:946e62f44f4f 178 }
gallonm 15:b94bc967fecd 179 if(flag_stop_measure)
gallonm 15:b94bc967fecd 180 break;
gallonm 14:946e62f44f4f 181 }
gallonm 14:946e62f44f4f 182 }
gallonm 14:946e62f44f4f 183 else
gallonm 14:946e62f44f4f 184 printf("Failed to start measurement!\n\r");
gallonm 15:b94bc967fecd 185 status=board->sensor_top->StopMeasurement(range_continuous_interrupt);
gallonm 14:946e62f44f4f 186 if(status)
gallonm 14:946e62f44f4f 187 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 188 #endif
gallonm 10:5319abadb31e 189
gallonm 10:5319abadb31e 190 #ifdef ALS_CONTINUOUS_INTERRUPT
gallonm 15:b94bc967fecd 191 stop_button.rise(&StopMeasureIRQ);
gallonm 14:946e62f44f4f 192 status_t=board->sensor_top->StartMeasurement(als_continuous_interrupt, SensorTopIRQ, &data_sensor_top, NULL, NULL);
gallonm 11:657dbe7bf245 193 if(!status_t)
gallonm 14:946e62f44f4f 194 {
gallonm 14:946e62f44f4f 195 while(1)
gallonm 14:946e62f44f4f 196 {
gallonm 14:946e62f44f4f 197 if(flag_sensor_top)
gallonm 14:946e62f44f4f 198 {
gallonm 14:946e62f44f4f 199 flag_sensor_top=false;
gallonm 14:946e62f44f4f 200 status_t=board->sensor_top->HandleIRQ(als_continuous_interrupt, &data_sensor_top);
gallonm 14:946e62f44f4f 201 if(!status_t)
gallonm 15:b94bc967fecd 202 printf("Top Light: %d lux\n\r",data_sensor_top.lux);
gallonm 14:946e62f44f4f 203 else
gallonm 14:946e62f44f4f 204 printf("Invalid light value!\n\r");
gallonm 10:5319abadb31e 205 }
gallonm 15:b94bc967fecd 206 if(flag_stop_measure)
gallonm 15:b94bc967fecd 207 break;
gallonm 14:946e62f44f4f 208 }
gallonm 14:946e62f44f4f 209 }
gallonm 14:946e62f44f4f 210 else
gallonm 14:946e62f44f4f 211 printf("Failed to stop measurement!\n\r");
gallonm 14:946e62f44f4f 212 status_t=board->sensor_top->StopMeasurement(als_continuous_interrupt);
gallonm 14:946e62f44f4f 213 if(status_t)
gallonm 14:946e62f44f4f 214 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 215 #endif
gallonm 9:1d0e839edee8 216
gallonm 15:b94bc967fecd 217 #ifdef INTERLEAVED_MODE_INTERRUPT
gallonm 15:b94bc967fecd 218 stop_button.rise(&StopMeasureIRQ);
gallonm 14:946e62f44f4f 219 status_t=board->sensor_top->StartMeasurement(interleaved_mode_interrupt, SensorTopIRQ, &data_sensor_top, NULL, NULL);
gallonm 14:946e62f44f4f 220 if(!status_t)
gallonm 14:946e62f44f4f 221 {
gallonm 14:946e62f44f4f 222 while(1)
gallonm 14:946e62f44f4f 223 {
gallonm 14:946e62f44f4f 224 if(flag_sensor_top)
gallonm 14:946e62f44f4f 225 {
gallonm 14:946e62f44f4f 226 flag_sensor_top=false;
gallonm 14:946e62f44f4f 227 status_t=board->sensor_top->HandleIRQ(interleaved_mode_interrupt, &data_sensor_top);
gallonm 14:946e62f44f4f 228 if(!status_t)
gallonm 15:b94bc967fecd 229 printf("Top Range: %dmm\tTop Light: %d lux\n\r",data_sensor_top.range_mm, data_sensor_top.lux);
gallonm 14:946e62f44f4f 230 else
gallonm 14:946e62f44f4f 231 printf("Invalid range or light value!\n\r");
gallonm 9:1d0e839edee8 232 }
gallonm 15:b94bc967fecd 233 if(flag_stop_measure)
gallonm 15:b94bc967fecd 234 break;
gallonm 14:946e62f44f4f 235 }
gallonm 14:946e62f44f4f 236 }
gallonm 14:946e62f44f4f 237 else
gallonm 14:946e62f44f4f 238 printf("Failed to stop measurement!\n\r");
gallonm 14:946e62f44f4f 239 status_t=board->sensor_top->StopMeasurement(interleaved_mode_interrupt);
gallonm 14:946e62f44f4f 240 if(status_t)
gallonm 14:946e62f44f4f 241 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 242 #endif
gallonm 10:5319abadb31e 243
gallonm 10:5319abadb31e 244 #ifdef RANGE_CONTINUOUS_INTERRUPT_LOW_THRESHOLD
gallonm 15:b94bc967fecd 245 stop_button.rise(&StopMeasureIRQ);
gallonm 14:946e62f44f4f 246 status_t=board->sensor_top->StartMeasurement(range_continuous_interrupt_low_threshold, SensorTopIRQ, &data_sensor_top, 80, NULL);
gallonm 14:946e62f44f4f 247 if(!status_t)
gallonm 14:946e62f44f4f 248 {
gallonm 14:946e62f44f4f 249 while(1)
gallonm 14:946e62f44f4f 250 {
gallonm 14:946e62f44f4f 251 if(flag_sensor_top)
gallonm 14:946e62f44f4f 252 {
gallonm 14:946e62f44f4f 253 flag_sensor_top=false;
gallonm 14:946e62f44f4f 254 status_t=board->sensor_top->HandleIRQ(range_continuous_interrupt_low_threshold, &data_sensor_top);
gallonm 14:946e62f44f4f 255 if(!status_t)
gallonm 14:946e62f44f4f 256 printf("Range int low threshold: %dmm\n\r",data_sensor_top.range_mm);
gallonm 14:946e62f44f4f 257 else
gallonm 14:946e62f44f4f 258 printf("Invalid range value!\n\r");
gallonm 14:946e62f44f4f 259 }
gallonm 15:b94bc967fecd 260 if(flag_stop_measure)
gallonm 15:b94bc967fecd 261 break;
gallonm 14:946e62f44f4f 262 }
gallonm 14:946e62f44f4f 263 }
gallonm 14:946e62f44f4f 264 else
gallonm 14:946e62f44f4f 265 printf("Failed to start measurement!\n\r");
gallonm 14:946e62f44f4f 266 status_t=board->sensor_top->StopMeasurement(range_continuous_interrupt_low_threshold);
gallonm 14:946e62f44f4f 267 if(status_t)
gallonm 14:946e62f44f4f 268 printf("Failed to stop measurement!\n\r");
gallonm 10:5319abadb31e 269 #endif
gallonm 5:fa65d931bd96 270
gallonm 15:b94bc967fecd 271 /* Hand Gesture test application */
gallonm 14:946e62f44f4f 272 #ifdef HAND_GESTURE
gallonm 15:b94bc967fecd 273 #define ALS_DELAY 5000
gallonm 14:946e62f44f4f 274 int gest_code, prev_gest_code, gest_duration;
gallonm 14:946e62f44f4f 275 char str[5];
gallonm 14:946e62f44f4f 276 char valLeft[] = {'E'};
gallonm 14:946e62f44f4f 277 char valRight[] = {'3'};
gallonm 15:b94bc967fecd 278 char valTap[] = {'0'};
gallonm 15:b94bc967fecd 279 unsigned int timeout = 10000;
gallonm 15:b94bc967fecd 280
gallonm 14:946e62f44f4f 281 status_l=board->sensor_left->StartMeasurement(range_continuous_interrupt, SensorLeftIRQ, &data_sensor_left, NULL, NULL);
gallonm 14:946e62f44f4f 282 status_r=board->sensor_right->StartMeasurement(range_continuous_interrupt, SensorRightIRQ, &data_sensor_right, NULL, NULL);
gallonm 15:b94bc967fecd 283 status_t=board->sensor_top->StartMeasurement(als_continuous_polling, NULL, &data_sensor_top, NULL, NULL);
gallonm 14:946e62f44f4f 284 gesture_reco.Init(150, 100, 200, 60, 500);
gallonm 16:fbf61b7c65ba 285 if((!status_l)&&(!status_r)&&(!status_t))
gallonm 14:946e62f44f4f 286 {
gallonm 14:946e62f44f4f 287 while(1)
gallonm 14:946e62f44f4f 288 {
gallonm 14:946e62f44f4f 289 if(flag_sensor_left)
gallonm 14:946e62f44f4f 290 {
gallonm 14:946e62f44f4f 291 flag_sensor_left=false;
gallonm 14:946e62f44f4f 292 status_l=board->sensor_left->HandleIRQ(range_continuous_interrupt, &data_sensor_left);
gallonm 14:946e62f44f4f 293 }
gallonm 14:946e62f44f4f 294 if(flag_sensor_right)
gallonm 14:946e62f44f4f 295 {
gallonm 14:946e62f44f4f 296 flag_sensor_right=false;
gallonm 14:946e62f44f4f 297 status_r=board->sensor_right->HandleIRQ(range_continuous_interrupt, &data_sensor_right);
gallonm 14:946e62f44f4f 298 }
gallonm 14:946e62f44f4f 299 if(data_sensor_left.range_mm>400)
gallonm 14:946e62f44f4f 300 data_sensor_left.range_mm=400;
gallonm 14:946e62f44f4f 301 if(data_sensor_right.range_mm>400)
gallonm 14:946e62f44f4f 302 data_sensor_right.range_mm=400;
gallonm 14:946e62f44f4f 303 gest_code=gesture_reco.Update(data_sensor_right.range_mm, data_sensor_left.range_mm, &gest_duration);
gallonm 15:b94bc967fecd 304 if(timeout==ALS_DELAY && gest_code==-1)
gallonm 15:b94bc967fecd 305 {
gallonm 15:b94bc967fecd 306 status=board->sensor_top->GetMeasurement(als_continuous_polling, &data_sensor_top);
gallonm 15:b94bc967fecd 307 if(!status_t)
gallonm 15:b94bc967fecd 308 printf("Light measure: %d lux\n\r",data_sensor_top.lux);
gallonm 15:b94bc967fecd 309 else
gallonm 15:b94bc967fecd 310 printf("Invalid light value!\n\r");
gallonm 15:b94bc967fecd 311 }
gallonm 14:946e62f44f4f 312 switch(gest_code)
gallonm 14:946e62f44f4f 313 {
gallonm 14:946e62f44f4f 314 case -1:
gallonm 15:b94bc967fecd 315 timeout++;
gallonm 15:b94bc967fecd 316 if(timeout>=ALS_DELAY)
gallonm 15:b94bc967fecd 317 timeout=ALS_DELAY;
gallonm 14:946e62f44f4f 318 break;
gallonm 14:946e62f44f4f 319 case 0: //tap and start timer
gallonm 14:946e62f44f4f 320 if(gest_code!=prev_gest_code)
gallonm 14:946e62f44f4f 321 {
gallonm 14:946e62f44f4f 322 prev_gest_code=gest_code;
gallonm 14:946e62f44f4f 323 sprintf(str,"%s","0-");
gallonm 14:946e62f44f4f 324 board->display->DisplayDigit(valTap, 1);
gallonm 14:946e62f44f4f 325 }
gallonm 14:946e62f44f4f 326 else
gallonm 14:946e62f44f4f 327 {
gallonm 14:946e62f44f4f 328 if(strcmp(str,"0-")==0)
gallonm 14:946e62f44f4f 329 {
gallonm 14:946e62f44f4f 330 sprintf(str,"-0");
gallonm 14:946e62f44f4f 331 board->display->DisplayDigit(valTap, 2);
gallonm 14:946e62f44f4f 332 }
gallonm 14:946e62f44f4f 333 else
gallonm 14:946e62f44f4f 334 {
gallonm 14:946e62f44f4f 335 sprintf(str,"0-");
gallonm 14:946e62f44f4f 336 board->display->DisplayDigit(valTap, 1);
gallonm 14:946e62f44f4f 337 }
gallonm 14:946e62f44f4f 338 }
gallonm 15:b94bc967fecd 339 timeout=0;
gallonm 14:946e62f44f4f 340 break;
gallonm 14:946e62f44f4f 341 case 1: //left to right
gallonm 15:b94bc967fecd 342 board->display->DisplayDigit(valRight, 3);
gallonm 15:b94bc967fecd 343 timeout=0;
gallonm 14:946e62f44f4f 344 break;
gallonm 14:946e62f44f4f 345 case 2: //right to left
gallonm 14:946e62f44f4f 346 board->display->DisplayDigit(valLeft, 0);
gallonm 15:b94bc967fecd 347 timeout=0;
gallonm 14:946e62f44f4f 348 break;
gallonm 14:946e62f44f4f 349 default:
gallonm 14:946e62f44f4f 350 printf("Errore!\n\r");
gallonm 14:946e62f44f4f 351 }
gallonm 14:946e62f44f4f 352 }
gallonm 14:946e62f44f4f 353 }
gallonm 14:946e62f44f4f 354 else
gallonm 14:946e62f44f4f 355 printf("Failed to start measurement!\n\r");
gallonm 14:946e62f44f4f 356 status_t=board->sensor_top->StopMeasurement(range_continuous_interrupt_low_threshold);
gallonm 14:946e62f44f4f 357 if(status_t)
gallonm 14:946e62f44f4f 358 printf("Failed to stop measurement!\n\r");
gallonm 14:946e62f44f4f 359 status_t=board->sensor_top->StopMeasurement(als_continuous_interrupt);
gallonm 14:946e62f44f4f 360 if(status_t)
gallonm 14:946e62f44f4f 361 printf("Failed to stop measurement!\n\r");
gallonm 14:946e62f44f4f 362 #endif
gallonm 11:657dbe7bf245 363
gallonm 15:b94bc967fecd 364 delete board;
gallonm 15:b94bc967fecd 365
gallonm 4:ccd62fd7e137 366 }
gallonm 5:fa65d931bd96 367
gallonm 5:fa65d931bd96 368