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@37:724632fff9c1, 2015-12-03 (annotated)

Committer:
mapellil
Date:
Thu Dec 03 09:11:44 2015 +0000
Revision:
37:724632fff9c1
Parent:
36:0d4aa5b3234d
Child:
39:851cfabf7aa6
Removed some comments

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 30:c8efec21544f 34 bool int_sensor_top=false, int_stop_measure=false;
gallonm 15:b94bc967fecd 35
mapellil 30:c8efec21544f 36 /* ISR callback function of the sensor_top */
gallonm 15:b94bc967fecd 37 void SensorTopIRQ(void)
gallonm 9:1d0e839edee8 38 {
mapellil 30:c8efec21544f 39 int_sensor_top=true;
gallonm 14:946e62f44f4f 40 board->sensor_top->DisableInterruptMeasureDetectionIRQ();
gallonm 9:1d0e839edee8 41 }
gallonm 9:1d0e839edee8 42
mapellil 30:c8efec21544f 43 /* ISR callback function of the user blue button to stop program */
gallonm 15:b94bc967fecd 44 void StopMeasureIRQ(void)
gallonm 15:b94bc967fecd 45 {
mapellil 30:c8efec21544f 46 int_stop_measure=true;
gallonm 15:b94bc967fecd 47 }
gallonm 14:946e62f44f4f 48
mapellil 30:c8efec21544f 49 /* On board 4 digit local display refresh */
gallonm 19:394c9a4a3046 50 void DisplayRefresh(OperatingMode op_mode)
gallonm 27:2afb9baf718f 51 {
gallonm 25:2c4710283e02 52 char str[5];
gallonm 19:394c9a4a3046 53
licio.mapelli@st.com 32:724d2afb0ca2 54 if(op_mode==range_continuous_interrupt || op_mode==range_continuous_polling)
gallonm 19:394c9a4a3046 55 {
gallonm 19:394c9a4a3046 56 if(data_sensor_top.range_mm!=0xFFFFFFFF)
gallonm 19:394c9a4a3046 57 {
gallonm 19:394c9a4a3046 58 sprintf(str,"%d",data_sensor_top.range_mm);
gallonm 19:394c9a4a3046 59 }
gallonm 24:018a59122fe3 60 else
gallonm 22:bb440c864489 61 {
gallonm 25:2c4710283e02 62 sprintf(str,"%s","----");
gallonm 24:018a59122fe3 63 }
gallonm 19:394c9a4a3046 64 }
licio.mapelli@st.com 32:724d2afb0ca2 65 else if(op_mode==als_continuous_interrupt || op_mode==als_continuous_polling)
gallonm 19:394c9a4a3046 66 {
gallonm 19:394c9a4a3046 67 if(data_sensor_top.lux!=0xFFFFFFFF)
gallonm 19:394c9a4a3046 68 {
gallonm 19:394c9a4a3046 69 sprintf(str,"%d",data_sensor_top.lux);
gallonm 19:394c9a4a3046 70 }
gallonm 24:018a59122fe3 71 else
gallonm 22:bb440c864489 72 {
gallonm 25:2c4710283e02 73 sprintf(str,"%s","----");
gallonm 24:018a59122fe3 74 }
mapellil 30:c8efec21544f 75 }
mapellil 30:c8efec21544f 76 board->display->DisplayString(str, strlen(str));
gallonm 19:394c9a4a3046 77 }
gallonm 19:394c9a4a3046 78
mapellil 30:c8efec21544f 79 /* On board red slider position check */
licio.mapelli@st.com 32:724d2afb0ca2 80 enum OpModeIntPoll_t{ PollMeasure, IntMeasure };
licio.mapelli@st.com 32:724d2afb0ca2 81
licio.mapelli@st.com 33:b903a0ec8803 82 OperatingMode CheckSlider(enum OpModeIntPoll_t OpMode) {
licio.mapelli@st.com 33:b903a0ec8803 83
licio.mapelli@st.com 33:b903a0ec8803 84 OperatingMode ret;
licio.mapelli@st.com 33:b903a0ec8803 85 int measure= board->RdSwitch();
licio.mapelli@st.com 32:724d2afb0ca2 86
licio.mapelli@st.com 32:724d2afb0ca2 87 switch (OpMode) {
licio.mapelli@st.com 32:724d2afb0ca2 88 case PollMeasure:
licio.mapelli@st.com 32:724d2afb0ca2 89 if(measure==RANGE)
licio.mapelli@st.com 32:724d2afb0ca2 90 ret = range_continuous_polling;
licio.mapelli@st.com 32:724d2afb0ca2 91 else if(measure==ALS)
licio.mapelli@st.com 32:724d2afb0ca2 92 ret = als_continuous_polling;
licio.mapelli@st.com 32:724d2afb0ca2 93 break;
licio.mapelli@st.com 32:724d2afb0ca2 94
licio.mapelli@st.com 32:724d2afb0ca2 95 case IntMeasure:
licio.mapelli@st.com 32:724d2afb0ca2 96 if(measure==RANGE)
licio.mapelli@st.com 32:724d2afb0ca2 97 ret = range_continuous_interrupt;
licio.mapelli@st.com 32:724d2afb0ca2 98 else if(measure==ALS)
licio.mapelli@st.com 32:724d2afb0ca2 99 ret = als_continuous_interrupt;
licio.mapelli@st.com 32:724d2afb0ca2 100 break;
licio.mapelli@st.com 32:724d2afb0ca2 101 }
licio.mapelli@st.com 33:b903a0ec8803 102 return ret;
gallonm 27:2afb9baf718f 103 }
gallonm 27:2afb9baf718f 104
mapellil 30:c8efec21544f 105 /* Print on USB Serial the started OperatingMode */
mapellil 30:c8efec21544f 106 void PrintStartMessage(OperatingMode op_mode)
gallonm 27:2afb9baf718f 107 {
gallonm 27:2afb9baf718f 108 if(op_mode==range_continuous_interrupt)
gallonm 27:2afb9baf718f 109 printf("\nStarted range continuous interrupt measure\n\r");
gallonm 27:2afb9baf718f 110 else if(prev_operating_mode==als_continuous_interrupt)
gallonm 27:2afb9baf718f 111 printf("\nStarted als continuous interrupt measure\n\r");
gallonm 27:2afb9baf718f 112 }
gallonm 27:2afb9baf718f 113
mapellil 30:c8efec21544f 114 /* Print on USB Serial the stopped OperatingMode */
mapellil 30:c8efec21544f 115 void PrintStopMessage(OperatingMode op_mode)
gallonm 27:2afb9baf718f 116 {
gallonm 27:2afb9baf718f 117 if(op_mode==range_continuous_interrupt)
gallonm 27:2afb9baf718f 118 printf("Stopped range continuous interrupt measure\n\r");
gallonm 27:2afb9baf718f 119 else if(prev_operating_mode==als_continuous_interrupt)
gallonm 27:2afb9baf718f 120 printf("Stopped als continuous interrupt measure\n\r");
gallonm 27:2afb9baf718f 121 }
gallonm 27:2afb9baf718f 122
mapellil 35:8b4a5cc0fb1f 123 /* Print on board 4 Digit display the indicated message <= 4 char */
mapellil 31:1aaf6b8b066e 124 #define DELAY 2000 // 2Sec
licio.mapelli@st.com 32:724d2afb0ca2 125 void DisplayMsg(const char * msg)
gallonm 27:2afb9baf718f 126 {
mapellil 30:c8efec21544f 127 Timer timer;
gallonm 27:2afb9baf718f 128 char str[5];
gallonm 27:2afb9baf718f 129
mapellil 30:c8efec21544f 130 timer.start();
mapellil 30:c8efec21544f 131 for(int i=0; i<DELAY; i=timer.read_ms())
gallonm 27:2afb9baf718f 132 {
licio.mapelli@st.com 32:724d2afb0ca2 133 sprintf(str,"%s",msg);
gallonm 27:2afb9baf718f 134 board->display->DisplayString(str, strlen(str));
gallonm 27:2afb9baf718f 135 }
mapellil 30:c8efec21544f 136 timer.stop();
gallonm 27:2afb9baf718f 137 }
gallonm 27:2afb9baf718f 138
licio.mapelli@st.com 32:724d2afb0ca2 139
licio.mapelli@st.com 32:724d2afb0ca2 140 void IntContinousALSorRangeMeasure (DevI2C device_i2c) {
mapellil 35:8b4a5cc0fb1f 141 int status;
mapellil 35:8b4a5cc0fb1f 142 /* creates the 6180XA1 expansion board singleton obj */
mapellil 36:0d4aa5b3234d 143 board=X_NUCLEO_6180XA1::Instance(&device_i2c, A3, A2, D13, D2);
licio.mapelli@st.com 32:724d2afb0ca2 144 DisplayMsg ("INT");
mapellil 35:8b4a5cc0fb1f 145 /* init the 6180XA1 expansion board with default values */
gallonm 10:5319abadb31e 146 status=board->InitBoard();
gallonm 14:946e62f44f4f 147 if(status)
gallonm 27:2afb9baf718f 148 printf("Failed to init board!\n\r");
mapellil 35:8b4a5cc0fb1f 149 /* check the red slider position for ALS/Range measure */
licio.mapelli@st.com 33:b903a0ec8803 150 operating_mode=CheckSlider(IntMeasure);
mapellil 35:8b4a5cc0fb1f 151 /* start the measure on sensor top */
gallonm 20:b2e0b41a0e6b 152 status=board->sensor_top->StartMeasurement(operating_mode, SensorTopIRQ, NULL, NULL);
gallonm 14:946e62f44f4f 153 if(!status)
gallonm 14:946e62f44f4f 154 {
gallonm 27:2afb9baf718f 155 prev_operating_mode=operating_mode;
mapellil 30:c8efec21544f 156 PrintStartMessage(operating_mode);
gallonm 14:946e62f44f4f 157 while(1)
gallonm 14:946e62f44f4f 158 {
mapellil 35:8b4a5cc0fb1f 159 if(int_sensor_top) /* 6180 isr was triggered */
gallonm 14:946e62f44f4f 160 {
mapellil 30:c8efec21544f 161 int_sensor_top=false;
mapellil 35:8b4a5cc0fb1f 162 status=board->sensor_top->HandleIRQ(operating_mode, &data_sensor_top); /* handle the isr and read the meaure */
gallonm 22:bb440c864489 163 DisplayRefresh(operating_mode);
gallonm 14:946e62f44f4f 164 }
mapellil 35:8b4a5cc0fb1f 165 if(int_stop_measure) /* Blue Button isr was triggered */
gallonm 19:394c9a4a3046 166 {
mapellil 35:8b4a5cc0fb1f 167 status=board->sensor_top->StopMeasurement(prev_operating_mode); /* stop the measure and exit */
gallonm 27:2afb9baf718f 168 if(!status)
mapellil 30:c8efec21544f 169 PrintStopMessage(prev_operating_mode);
mapellil 35:8b4a5cc0fb1f 170 int_stop_measure = false;
gallonm 19:394c9a4a3046 171 printf("\nProgram stopped!\n\n\r");
gallonm 19:394c9a4a3046 172 break;
gallonm 19:394c9a4a3046 173 }
mapellil 35:8b4a5cc0fb1f 174 operating_mode=CheckSlider(IntMeasure); /* check if red slider was moved */
gallonm 19:394c9a4a3046 175 if(operating_mode!=prev_operating_mode)
gallonm 14:946e62f44f4f 176 {
gallonm 19:394c9a4a3046 177 DisplayRefresh(prev_operating_mode);
mapellil 35:8b4a5cc0fb1f 178 status=board->sensor_top->StopMeasurement(prev_operating_mode); /* stop the running measure */
gallonm 27:2afb9baf718f 179 if(!status)
mapellil 30:c8efec21544f 180 PrintStopMessage(prev_operating_mode);
gallonm 19:394c9a4a3046 181 prev_operating_mode=operating_mode;
mapellil 35:8b4a5cc0fb1f 182 status=board->sensor_top->StartMeasurement(operating_mode, SensorTopIRQ, NULL, NULL); /* start the new measure */
gallonm 27:2afb9baf718f 183 if(!status)
mapellil 30:c8efec21544f 184 PrintStartMessage(operating_mode);
licio.mapelli@st.com 32:724d2afb0ca2 185 } else
licio.mapelli@st.com 32:724d2afb0ca2 186 DisplayRefresh(operating_mode);
licio.mapelli@st.com 32:724d2afb0ca2 187 }
licio.mapelli@st.com 32:724d2afb0ca2 188 }
mapellil 35:8b4a5cc0fb1f 189 DisplayMsg("BYE");
mapellil 35:8b4a5cc0fb1f 190 delete board;
licio.mapelli@st.com 32:724d2afb0ca2 191 }
licio.mapelli@st.com 32:724d2afb0ca2 192
mapellil 35:8b4a5cc0fb1f 193 /*=================================== Main ==================================
mapellil 35:8b4a5cc0fb1f 194 Move the VL6180X Expansion board red slider to switch between ALS or Range
mapellil 35:8b4a5cc0fb1f 195 measures.
mapellil 35:8b4a5cc0fb1f 196 Press the blue user button to stop the measurements in progress
mapellil 35:8b4a5cc0fb1f 197 =============================================================================*/
mapellil 35:8b4a5cc0fb1f 198 int main()
mapellil 35:8b4a5cc0fb1f 199 {
mapellil 36:0d4aa5b3234d 200 #ifdef USER_BUTTON
mapellil 35:8b4a5cc0fb1f 201 InterruptIn stop_button (USER_BUTTON);
mapellil 35:8b4a5cc0fb1f 202 stop_button.rise (&StopMeasureIRQ);
mapellil 36:0d4aa5b3234d 203 #endif
mapellil 35:8b4a5cc0fb1f 204 DevI2C device_i2c (VL6180X_I2C_SDA, VL6180X_I2C_SCL);
mapellil 35:8b4a5cc0fb1f 205
mapellil 35:8b4a5cc0fb1f 206 IntContinousALSorRangeMeasure (device_i2c); // start continous measures Interrupt based
gallonm 4:ccd62fd7e137 207 }
gallonm 5:fa65d931bd96 208