Sweep a servo according to Proximity sensor measure
Dependencies: Servo X_NUCLEO_6180XA1 mbed
Fork of HelloWorld_6180XA1 by
main.cpp
- Committer:
- gallonm
- Date:
- 2015-10-19
- Revision:
- 10:5319abadb31e
- Parent:
- 9:1d0e839edee8
- Child:
- 11:657dbe7bf245
File content as of revision 10:5319abadb31e:
#include "mbed.h" #include "x_nucleo_6180xa1.h" #include <string.h> #include <stdlib.h> #include <stdio.h> #include <assert.h> #define VL6180X_I2C_SDA I2C_SDA #define VL6180X_I2C_SCL I2C_SCL //#define RANGE_SINGLE_SHOT_POLLING //#define ALS_SINGLE_SHOT_POLLING //#define RANGE_CONTINUOUS_POLLING //#define ALS_CONTINUOUS_POLLING //#define RANGE_CONTINUOUS_INTERRUPT //#define ALS_CONTINUOUS_INTERRUPT #define INTERLEAVED_MODE_INTERRUPT //#define RANGE_CONTINUOUS_POLLING_LOW_THRESHOLD //#define RANGE_CONTINUOUS_POLLING_HIGH_THRESHOLD //#define RANGE_CONTINUOUS_POLLING_OUT_OF_WINDOW //#define ALS_CONTINUOUS_POLLING_LOW_THRESHOLD //#define ALS_CONTINUOUS_POLLING_HIGH_THRESHOLD //#define ALS_CONTINUOUS_POLLING_OUT_OF_WINDOW //#define RANGE_CONTINUOUS_INTERRUPT_LOW_THRESHOLD //#define RANGE_CONTINUOUS_INTERRUPT_HIGH_THRESHOLD //#define RANGE_CONTINUOUS_INTERRUPT_OUT_OF_WINDOW //#define ALS_CONTINUOUS_INTERRUPT_LOW_THRESHOLD //#define ALS_CONTINUOUS_INTERRUPT_HIGH_THRESHOLD //#define ALS_CONTINUOUS_INTERRUPT_OUT_OF_WINDOW /* Polling operating modes (1,2,3 and 4) don`t require callback function that handles IRQ Callback functions are used only for measure that require interrupt */ void OnErrLog(void){}; void DISP_ExecLoopBody(void){}; DevI2C device_i2c(VL6180X_I2C_SDA, VL6180X_I2C_SCL); static X_NUCLEO_6180XA1 *board=X_NUCLEO_6180XA1::Instance(&device_i2c); MeasureData_t Data; /* flags that handle the call to HandleIRQ function */ bool flag_sensor_top=false, flag_sensor_bottom=false, flag_sensor_left=false, flag_sensor_right=false; //Timer timer; //int start, end; /* callback functions of the sensors */ void SensorTopIRQ(void) { flag_sensor_top=true; board->sensor_top->DisableInterruptMeasureDetectionIRQ(); } //inserire le callback per gli altri sensori int main() { int status; status=board->InitBoard(); if(status) printf("Failed to init the board!\n\r"); #ifdef RANGE_SINGLE_SHOT_POLLING status=board->sensor_top->StartMeasurement(range_single_shot_polling, NULL, &Data, NULL, NULL); if(!status) printf("Range single shot: %dmm\n\r",Data.range_mm); else if(status==INVALID_PARAMS) printf("Failed to start measurement!\n\r"); else printf("Invalid range value!\n\r"); status=board->sensor_top->StopMeasurement(range_single_shot_polling); if(status) printf("Failed to stop measurement!\n\r"); #endif #ifdef ALS_SINGLE_SHOT_POLLING status=board->sensor_top->StartMeasurement(als_single_shot_polling, NULL, &Data, NULL, NULL); if(!status) printf("Light single shot: %dlux\n\r",Data.lux); else if(status==INVALID_PARAMS) printf("Failed to start measurement!\n\r"); else printf("Invalid light value!\n\r"); status=board->sensor_top->StopMeasurement(als_single_shot_polling); if(status) printf("Failed to stop measurement!\n\r"); #endif #ifdef RANGE_CONTINUOUS_POLLING status=board->sensor_top->StartMeasurement(range_continuous_polling, NULL, &Data, NULL, NULL); if(!status) { int i; for(i=0;i<10;i++) { status=board->sensor_top->GetMeasurement(range_continuous_polling, &Data); if(!status) printf("Range measure %d: %dmm\n\r",i+1,Data.range_mm); else printf("Invalid range value!\n\r"); } } else printf("Failed to start measurement!\n\r"); status=board->sensor_top->StopMeasurement(range_continuous_polling); if(status) printf("Failed to stop measurement!\n\r"); #endif #ifdef ALS_CONTINUOUS_POLLING status=board->sensor_top->StartMeasurement(als_continuous_polling, NULL, &Data, NULL, NULL); if(!status) { int i; for(i=0;i<10;i++) { status=board->sensor_top->GetMeasurement(als_continuous_polling, &Data); if(!status) printf("Light measure %d: %dlux\n\r",i,Data.lux); else printf("Invalid light value!\n\r"); } } else printf("Failed to start measurement!\n\r"); status=board->sensor_top->StopMeasurement(als_continuous_polling); if(status) printf("Failed to stop measurement!\n\r"); #endif #ifdef RANGE_CONTINUOUS_INTERRUPT status=board->sensor_top->StartMeasurement(range_continuous_interrupt, SensorTopIRQ, &Data, NULL, NULL); if(!status) { while(1) { if(flag_sensor_top) { flag_sensor_top=false; status=board->sensor_top->HandleIRQ(range_continuous_interrupt, &Data); if(!status) printf("Range int: %dmm\n\r",Data.range_mm); else printf("Invalid range value!\n\r"); } } } else printf("Failed to start measurement!\n\r"); status=board->sensor_top->StopMeasurement(range_continuous_interrupt); if(status) printf("Failed to stop measurement!\n\r"); #endif #ifdef ALS_CONTINUOUS_INTERRUPT status=board->sensor_top->StartMeasurement(als_continuous_interrupt, SensorTopIRQ, &Data, NULL, NULL); if(!status) { while(1) { if(flag_sensor_top) { flag_sensor_top=false; status=board->sensor_top->HandleIRQ(als_continuous_interrupt, &Data); if(!status) printf("Light int: %dlux\n\r",Data.lux); else printf("Invalid light value!\n\r"); } } } else printf("Failed to stop measurement!\n\r"); status=board->sensor_top->StopMeasurement(als_continuous_interrupt); if(status) printf("Failed to stop measurement!\n\r"); #endif #ifdef INTERLEAVED_MODE_INTERRUPT status=board->sensor_top->StartMeasurement(interleaved_mode_interrupt, SensorTopIRQ, &Data, NULL, NULL); if(!status) { while(1) { if(flag_sensor_top) { flag_sensor_top=false; status=board->sensor_top->HandleIRQ(interleaved_mode_interrupt, &Data); if(!status) { printf("Interleaved_mode->Range: %dmm\n\r",Data.range_mm); printf("Interleaved_mode->Light: %dlux\n\r",Data.lux); } else printf("Invalid range or light value!\n\r"); } } } else printf("Failed to stop measurement!\n\r"); status=board->sensor_top->StopMeasurement(interleaved_mode_interrupt); if(status) printf("Failed to stop measurement!\n\r"); #endif #ifdef RANGE_CONTINUOUS_INTERRUPT_LOW_THRESHOLD status=board->sensor_top->StartMeasurement(range_continuous_interrupt_low_threshold, SensorTopIRQ, &Data, 80, NULL); if(!status) { while(1) { if(flag_sensor_top) { flag_sensor_top=false; status=board->sensor_top->HandleIRQ(range_continuous_interrupt_low_threshold, &Data); if(!status) printf("Range int low threshold: %dmm\n\r",Data.range_mm); else printf("Invalid range value!\n\r"); } } } else printf("Failed to start measurement!\n\r"); status=board->sensor_top->StopMeasurement(range_continuous_interrupt_low_threshold); if(status) printf("Failed to stop measurement!\n\r"); #endif }