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Sweep a servo according to Proximity sensor measure
Dependencies: Servo X_NUCLEO_6180XA1 mbed
Fork of HelloWorld_6180XA1 by
main.cpp
- Committer:
- gallonm
- Date:
- 2015-10-28
- Revision:
- 18:6312be3b32d9
- Parent:
- 17:68515d0667af
- Child:
- 19:394c9a4a3046
File content as of revision 18:6312be3b32d9:
#include "mbed.h" #include "x_nucleo_6180xa1.h" #include <string.h> #include <stdlib.h> #include <stdio.h> #include <assert.h> /* Polling operating modes don`t require callback function that handles IRQ Callback functions are used only for measure that require interrupt */ #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 /* timer and digital out pin used for debugging */ //Timer timer; //int start, end; //DigitalOut pin(PA_15); DevI2C device_i2c(VL6180X_I2C_SDA, VL6180X_I2C_SCL); static X_NUCLEO_6180XA1 *board=X_NUCLEO_6180XA1::Instance(&device_i2c); MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right; /* flags that handle interrupt request */ bool flag_sensor_top=false, flag_sensor_bottom=false, flag_sensor_left=false, flag_sensor_right=false, flag_stop_measure=false; /* user button used to stop measurements in interrupt mode */ InterruptIn stop_button(USER_BUTTON); /* callback functions of the sensors */ void SensorTopIRQ(void) { flag_sensor_top=true; board->sensor_top->DisableInterruptMeasureDetectionIRQ(); } void SensorBottomIRQ(void) { flag_sensor_bottom=true; board->sensor_bottom->DisableInterruptMeasureDetectionIRQ(); } void SensorLeftIRQ(void) { flag_sensor_left=true; board->sensor_left->DisableInterruptMeasureDetectionIRQ(); } void SensorRightIRQ(void) { flag_sensor_right=true; board->sensor_right->DisableInterruptMeasureDetectionIRQ(); } void StopMeasureIRQ(void) { flag_stop_measure=true; } int main() { int status, status_t, status_b, status_l, status_r; //device_i2c.frequency(400000); //change i2c frequncy from 100kHz to 400kHz pc.baud(115200); //change baudrate of the printf status=board->InitBoard(); if(status) printf("Failed to init the board!\n\r"); #ifdef RANGE_SINGLE_SHOT_POLLING status_t=board->sensor_top->StartMeasurement(range_single_shot_polling, NULL, &data_sensor_top, NULL, NULL); if(!status_t) printf("Top Range: %dmm\n\r",data_sensor_top.range_mm); else if(status==INVALID_PARAMS) printf("Failed to start measurement!\n\r"); else printf("Invalid range value!\n\r"); status_t=board->sensor_top->StopMeasurement(range_single_shot_polling); if(status_t) printf("Failed to stop measurement!\n\r"); #endif #ifdef ALS_SINGLE_SHOT_POLLING status_t=board->sensor_top->StartMeasurement(als_single_shot_polling, NULL, &data_sensor_top, NULL, NULL); if(!status_t) printf("Top Light: %d lux\n\r",data_sensor_top.lux); else if(status==INVALID_PARAMS) printf("Failed to start measurement!\n\r"); else printf("Invalid light value!\n\r"); status_t=board->sensor_top->StopMeasurement(als_single_shot_polling); if(status_t) printf("Failed to stop measurement!\n\r"); #endif #ifdef RANGE_CONTINUOUS_POLLING status_t=board->sensor_top->StartMeasurement(range_continuous_polling, NULL, &data_sensor_top, NULL, NULL); if(!status_t) { int i; for(i=0;i<10;i++) { status_t=board->sensor_top->GetMeasurement(range_continuous_polling, &data_sensor_top); if(!status_t) printf("Top Range measure %d: %dmm\n\r",i+1,data_sensor_top.range_mm); else printf("Invalid range value!\n\r"); } } else printf("Failed to start measurement!\n\r"); status_t=board->sensor_top->StopMeasurement(range_continuous_polling); if(status_t) printf("Failed to stop measurement!\n\r"); #endif #ifdef ALS_CONTINUOUS_POLLING status_t=board->sensor_top->StartMeasurement(als_continuous_polling, NULL, &data_sensor_top, NULL, NULL); if(!status_t) { int i; for(i=0;i<10;i++) { status=board->sensor_top->GetMeasurement(als_continuous_polling, &data_sensor_top); if(!status_t) printf("Top Light measure %d: %d lux\n\r",i,data_sensor_top.lux); else printf("Invalid light value!\n\r"); } } else printf("Failed to start measurement!\n\r"); status_t=board->sensor_top->StopMeasurement(als_continuous_polling); if(status_t) printf("Failed to stop measurement!\n\r"); #endif #ifdef RANGE_CONTINUOUS_INTERRUPT stop_button.rise(&StopMeasureIRQ); status=board->sensor_top->StartMeasurement(range_continuous_interrupt, SensorTopIRQ, &data_sensor_top, NULL, NULL); if(!status) { while(1) { if(flag_sensor_top) { flag_sensor_top=false; status=board->sensor_top->HandleIRQ(range_continuous_interrupt, &data_sensor_top); if(!status) printf("Range: %dmm\n\r",data_sensor_top.range_mm); else printf("Invalid range value!\n\r"); } if(flag_stop_measure) break; } } 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 stop_button.rise(&StopMeasureIRQ); status_t=board->sensor_top->StartMeasurement(als_continuous_interrupt, SensorTopIRQ, &data_sensor_top, NULL, NULL); if(!status_t) { while(1) { if(flag_sensor_top) { flag_sensor_top=false; status_t=board->sensor_top->HandleIRQ(als_continuous_interrupt, &data_sensor_top); if(!status_t) printf("Top Light: %d lux\n\r",data_sensor_top.lux); else printf("Invalid light value!\n\r"); } if(flag_stop_measure) break; } } else printf("Failed to stop measurement!\n\r"); status_t=board->sensor_top->StopMeasurement(als_continuous_interrupt); if(status_t) printf("Failed to stop measurement!\n\r"); #endif #ifdef INTERLEAVED_MODE_INTERRUPT stop_button.rise(&StopMeasureIRQ); status_t=board->sensor_top->StartMeasurement(interleaved_mode_interrupt, SensorTopIRQ, &data_sensor_top, NULL, NULL); if(!status_t) { while(1) { if(flag_sensor_top) { flag_sensor_top=false; status_t=board->sensor_top->HandleIRQ(interleaved_mode_interrupt, &data_sensor_top); if(!status_t) printf("Top Range: %dmm\tTop Light: %d lux\n\r",data_sensor_top.range_mm, data_sensor_top.lux); else printf("Invalid range or light value!\n\r"); } if(flag_stop_measure) break; } } else printf("Failed to stop measurement!\n\r"); status_t=board->sensor_top->StopMeasurement(interleaved_mode_interrupt); if(status_t) printf("Failed to stop measurement!\n\r"); #endif #ifdef RANGE_CONTINUOUS_INTERRUPT_LOW_THRESHOLD stop_button.rise(&StopMeasureIRQ); status_t=board->sensor_top->StartMeasurement(range_continuous_interrupt_low_threshold, SensorTopIRQ, &data_sensor_top, 80, NULL); if(!status_t) { while(1) { if(flag_sensor_top) { flag_sensor_top=false; status_t=board->sensor_top->HandleIRQ(range_continuous_interrupt_low_threshold, &data_sensor_top); if(!status_t) printf("Range int low threshold: %dmm\n\r",data_sensor_top.range_mm); else printf("Invalid range value!\n\r"); } if(flag_stop_measure) break; } } else printf("Failed to start measurement!\n\r"); status_t=board->sensor_top->StopMeasurement(range_continuous_interrupt_low_threshold); if(status_t) printf("Failed to stop measurement!\n\r"); #endif delete board; }