Hand Gesture recognition (L-R swipe) application based on L-R sensors.
Dependencies: X_NUCLEO_53L0A1 mbed
Fork of 53L0A1_HandGestureRecognition by
main.cpp@5:906aa7aede10, 2017-08-08 (annotated)
- Committer:
- johnAlexander
- Date:
- Tue Aug 08 07:51:55 2017 +0000
- Revision:
- 5:906aa7aede10
- Parent:
- 4:44629a30d6f4
- Child:
- 7:d79cbeda2982
Align with ARM mbed coding style.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
johnAlexander | 0:cd8e818d4288 | 1 | #include "mbed.h" |
johnAlexander | 0:cd8e818d4288 | 2 | #include "x_nucleo_53l0a1.h" |
johnAlexander | 2:bdf097d93eca | 3 | #include <string.h> |
johnAlexander | 2:bdf097d93eca | 4 | #include <stdlib.h> |
johnAlexander | 2:bdf097d93eca | 5 | #include <stdio.h> |
johnAlexander | 2:bdf097d93eca | 6 | #include <assert.h> |
johnAlexander | 2:bdf097d93eca | 7 | |
johnAlexander | 5:906aa7aede10 | 8 | /* |
johnAlexander | 5:906aa7aede10 | 9 | * This VL53L0X Expansion board sample application performs range measurements using |
johnAlexander | 5:906aa7aede10 | 10 | * range_continuous_interrupt mode to generate a hardware interrupt each time a new |
johnAlexander | 3:12cb106044f9 | 11 | * measurement is ready to be read. |
johnAlexander | 4:44629a30d6f4 | 12 | * The application supports the centre, on-board, sensor and up two satellite boards. |
johnAlexander | 3:12cb106044f9 | 13 | * |
johnAlexander | 4:44629a30d6f4 | 14 | * The measured range data is displayed on the on-board 4-digit LED display. |
johnAlexander | 3:12cb106044f9 | 15 | * |
johnAlexander | 5:906aa7aede10 | 16 | * The User Blue button switches between the currently selected sensor to display range |
johnAlexander | 3:12cb106044f9 | 17 | * results from. |
johnAlexander | 3:12cb106044f9 | 18 | * |
johnAlexander | 5:906aa7aede10 | 19 | * The Black Reset button is used to restart the program. |
johnAlexander | 4:44629a30d6f4 | 20 | * |
johnAlexander | 5:906aa7aede10 | 21 | * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of |
johnAlexander | 4:44629a30d6f4 | 22 | * the X-NUCELO-53L0A1 expansion board are not made/OFF. |
johnAlexander | 5:906aa7aede10 | 23 | * These links must be made to allow interrupts from the Satellite boards |
johnAlexander | 4:44629a30d6f4 | 24 | * to be received. |
johnAlexander | 4:44629a30d6f4 | 25 | * U11 and U18 must be made/ON to allow interrupts to be received from the |
johnAlexander | 4:44629a30d6f4 | 26 | * INT_L & INT_R positions; or |
johnAlexander | 4:44629a30d6f4 | 27 | * U10 and U15 must be made/ON to allow interrupts to be received from the |
johnAlexander | 5:906aa7aede10 | 28 | * Alternate INT_L & INT_R positions. |
johnAlexander | 5:906aa7aede10 | 29 | * The X_NUCLEO_53L0A1 firmware library defaults to use the INT_L/INT_R |
johnAlexander | 5:906aa7aede10 | 30 | * positions. |
johnAlexander | 4:44629a30d6f4 | 31 | * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8. |
johnAlexander | 4:44629a30d6f4 | 32 | * Alternate INT_L is on CN5 Connector pin 2 as D9. |
johnAlexander | 4:44629a30d6f4 | 33 | * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2. |
johnAlexander | 5:906aa7aede10 | 34 | * Alternate INT_R is on CN9 Connector pin 5 as D4. |
johnAlexander | 4:44629a30d6f4 | 35 | * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L0A1/ |
johnAlexander | 5:906aa7aede10 | 36 | * |
johnAlexander | 3:12cb106044f9 | 37 | */ |
johnAlexander | 2:bdf097d93eca | 38 | |
johnAlexander | 5:906aa7aede10 | 39 | #define VL53L0_I2C_SDA D14 |
johnAlexander | 5:906aa7aede10 | 40 | #define VL53L0_I2C_SCL D15 |
johnAlexander | 0:cd8e818d4288 | 41 | |
johnAlexander | 4:44629a30d6f4 | 42 | #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-64s |
johnAlexander | 5:906aa7aede10 | 43 | InterruptIn stop_button(USER_BUTTON); |
johnAlexander | 5:906aa7aede10 | 44 | #endif |
johnAlexander | 3:12cb106044f9 | 45 | |
johnAlexander | 5:906aa7aede10 | 46 | static X_NUCLEO_53L0A1 *board = NULL; |
johnAlexander | 2:bdf097d93eca | 47 | VL53L0X_RangingMeasurementData_t data_sensor; |
johnAlexander | 0:cd8e818d4288 | 48 | OperatingMode operating_mode; |
johnAlexander | 4:44629a30d6f4 | 49 | |
johnAlexander | 4:44629a30d6f4 | 50 | /* current displayed sensor change IRQ */ |
johnAlexander | 4:44629a30d6f4 | 51 | volatile bool switchChanged = false; |
johnAlexander | 4:44629a30d6f4 | 52 | |
johnAlexander | 3:12cb106044f9 | 53 | /* interrupt requests */ |
johnAlexander | 4:44629a30d6f4 | 54 | volatile bool centerSensor = false; |
johnAlexander | 4:44629a30d6f4 | 55 | volatile bool leftSensor = false; |
johnAlexander | 5:906aa7aede10 | 56 | volatile bool rightSensor = false; |
johnAlexander | 3:12cb106044f9 | 57 | |
johnAlexander | 3:12cb106044f9 | 58 | /* Current sensor number*/ |
johnAlexander | 3:12cb106044f9 | 59 | volatile int currentSensor = 0; |
johnAlexander | 5:906aa7aede10 | 60 | /* Installed sensors count */ |
johnAlexander | 5:906aa7aede10 | 61 | int sensorCnt = 0; |
johnAlexander | 3:12cb106044f9 | 62 | |
johnAlexander | 4:44629a30d6f4 | 63 | /* installed sensors prefixes */ |
johnAlexander | 4:44629a30d6f4 | 64 | char installedSensors[3]; |
johnAlexander | 0:cd8e818d4288 | 65 | |
johnAlexander | 3:12cb106044f9 | 66 | /* ISR callback function of the sensor_centre */ |
johnAlexander | 5:906aa7aede10 | 67 | void sensor_centre_irq(void) |
johnAlexander | 0:cd8e818d4288 | 68 | { |
johnAlexander | 5:906aa7aede10 | 69 | centerSensor = true; |
johnAlexander | 5:906aa7aede10 | 70 | board->sensor_centre->disable_interrupt_measure_detection_irq(); |
johnAlexander | 5:906aa7aede10 | 71 | } |
johnAlexander | 2:bdf097d93eca | 72 | |
johnAlexander | 5:906aa7aede10 | 73 | void sensor_left_irq(void) |
johnAlexander | 3:12cb106044f9 | 74 | { |
johnAlexander | 5:906aa7aede10 | 75 | leftSensor = true; |
johnAlexander | 5:906aa7aede10 | 76 | board->sensor_left->disable_interrupt_measure_detection_irq(); |
johnAlexander | 5:906aa7aede10 | 77 | } |
johnAlexander | 3:12cb106044f9 | 78 | |
johnAlexander | 5:906aa7aede10 | 79 | void sensor_right_irq(void) |
johnAlexander | 5:906aa7aede10 | 80 | { |
johnAlexander | 5:906aa7aede10 | 81 | rightSensor = true; |
johnAlexander | 5:906aa7aede10 | 82 | board->sensor_right->disable_interrupt_measure_detection_irq(); |
johnAlexander | 5:906aa7aede10 | 83 | } |
johnAlexander | 3:12cb106044f9 | 84 | |
johnAlexander | 2:bdf097d93eca | 85 | /* ISR callback function of the user blue button to switch measuring sensor. */ |
johnAlexander | 5:906aa7aede10 | 86 | void switch_measuring_sensor_irq(void) |
johnAlexander | 2:bdf097d93eca | 87 | { |
johnAlexander | 4:44629a30d6f4 | 88 | stop_button.disable_irq(); |
johnAlexander | 4:44629a30d6f4 | 89 | switchChanged = true; |
johnAlexander | 0:cd8e818d4288 | 90 | } |
johnAlexander | 0:cd8e818d4288 | 91 | |
johnAlexander | 4:44629a30d6f4 | 92 | |
johnAlexander | 0:cd8e818d4288 | 93 | /* On board 4 digit local display refresh */ |
johnAlexander | 5:906aa7aede10 | 94 | void refresh_display(const VL53L0X_RangingMeasurementData_t &data, char prefix) |
johnAlexander | 4:44629a30d6f4 | 95 | { |
johnAlexander | 4:44629a30d6f4 | 96 | static char str[5]; |
johnAlexander | 5:906aa7aede10 | 97 | if (data_sensor.RangeStatus == 0) { // we have a valid range. |
johnAlexander | 5:906aa7aede10 | 98 | sprintf(str, "%c%3d", prefix, data.RangeMilliMeter); |
johnAlexander | 5:906aa7aede10 | 99 | board->display->display_string(str); |
johnAlexander | 5:906aa7aede10 | 100 | } else { |
johnAlexander | 4:44629a30d6f4 | 101 | sprintf(str, "%c%s", prefix, "---"); |
johnAlexander | 5:906aa7aede10 | 102 | board->display->display_string(str); |
johnAlexander | 4:44629a30d6f4 | 103 | } |
johnAlexander | 4:44629a30d6f4 | 104 | } |
johnAlexander | 4:44629a30d6f4 | 105 | |
johnAlexander | 5:906aa7aede10 | 106 | inline void measure_sensors(OperatingMode op_mode) |
johnAlexander | 4:44629a30d6f4 | 107 | { |
johnAlexander | 4:44629a30d6f4 | 108 | bool current = false; |
johnAlexander | 5:906aa7aede10 | 109 | if (centerSensor) { |
johnAlexander | 4:44629a30d6f4 | 110 | centerSensor = false; |
johnAlexander | 5:906aa7aede10 | 111 | board->sensor_centre->handle_irq(op_mode, &data_sensor); |
johnAlexander | 4:44629a30d6f4 | 112 | current = (currentSensor == 0); |
johnAlexander | 5:906aa7aede10 | 113 | if (current) { |
johnAlexander | 5:906aa7aede10 | 114 | refresh_display(data_sensor, 'C'); |
johnAlexander | 3:12cb106044f9 | 115 | } |
johnAlexander | 2:bdf097d93eca | 116 | } |
johnAlexander | 5:906aa7aede10 | 117 | if (leftSensor) { |
johnAlexander | 4:44629a30d6f4 | 118 | leftSensor = false; |
johnAlexander | 5:906aa7aede10 | 119 | board->sensor_left->handle_irq(op_mode, &data_sensor); |
johnAlexander | 4:44629a30d6f4 | 120 | current = (installedSensors[currentSensor] == 'L'); |
johnAlexander | 5:906aa7aede10 | 121 | if (current) { |
johnAlexander | 5:906aa7aede10 | 122 | refresh_display(data_sensor, 'L'); |
johnAlexander | 4:44629a30d6f4 | 123 | } |
johnAlexander | 4:44629a30d6f4 | 124 | } |
johnAlexander | 5:906aa7aede10 | 125 | if (rightSensor) { |
johnAlexander | 4:44629a30d6f4 | 126 | rightSensor = false; |
johnAlexander | 5:906aa7aede10 | 127 | board->sensor_right->handle_irq(op_mode, &data_sensor); |
johnAlexander | 5:906aa7aede10 | 128 | current = (installedSensors[currentSensor] == 'R'); |
johnAlexander | 5:906aa7aede10 | 129 | if (current) { |
johnAlexander | 5:906aa7aede10 | 130 | refresh_display(data_sensor, 'R'); |
johnAlexander | 4:44629a30d6f4 | 131 | } |
johnAlexander | 4:44629a30d6f4 | 132 | } |
johnAlexander | 3:12cb106044f9 | 133 | } |
johnAlexander | 3:12cb106044f9 | 134 | |
johnAlexander | 5:906aa7aede10 | 135 | int init_sensors_array() |
johnAlexander | 3:12cb106044f9 | 136 | { |
johnAlexander | 3:12cb106044f9 | 137 | int status = 1; |
johnAlexander | 3:12cb106044f9 | 138 | sensorCnt = 0; |
johnAlexander | 3:12cb106044f9 | 139 | /* start the measure on the center sensor */ |
johnAlexander | 5:906aa7aede10 | 140 | if (NULL != board->sensor_centre) { |
johnAlexander | 4:44629a30d6f4 | 141 | installedSensors[sensorCnt] = 'C'; |
johnAlexander | 5:906aa7aede10 | 142 | status = board->sensor_centre->stop_measurement(operating_mode); |
johnAlexander | 5:906aa7aede10 | 143 | status = board->sensor_centre->start_measurement(operating_mode, &sensor_centre_irq); |
johnAlexander | 3:12cb106044f9 | 144 | ++sensorCnt; |
johnAlexander | 3:12cb106044f9 | 145 | } |
johnAlexander | 3:12cb106044f9 | 146 | /* start the measure on the left sensor */ |
johnAlexander | 5:906aa7aede10 | 147 | if (NULL != board->sensor_left) { |
johnAlexander | 4:44629a30d6f4 | 148 | installedSensors[sensorCnt] = 'L'; |
johnAlexander | 5:906aa7aede10 | 149 | status = board->sensor_left->stop_measurement(operating_mode); |
johnAlexander | 5:906aa7aede10 | 150 | status = board->sensor_left->start_measurement(operating_mode, &sensor_left_irq); |
johnAlexander | 3:12cb106044f9 | 151 | ++sensorCnt; |
johnAlexander | 3:12cb106044f9 | 152 | } |
johnAlexander | 5:906aa7aede10 | 153 | /* start the measure on the right sensor */ |
johnAlexander | 5:906aa7aede10 | 154 | if (NULL != board->sensor_right) { |
johnAlexander | 4:44629a30d6f4 | 155 | installedSensors[sensorCnt] = 'R'; |
johnAlexander | 5:906aa7aede10 | 156 | status = board->sensor_right->stop_measurement(operating_mode); |
johnAlexander | 5:906aa7aede10 | 157 | status = board->sensor_right->start_measurement(operating_mode, &sensor_right_irq); |
johnAlexander | 3:12cb106044f9 | 158 | ++sensorCnt; |
johnAlexander | 3:12cb106044f9 | 159 | } |
johnAlexander | 3:12cb106044f9 | 160 | currentSensor = 0; |
johnAlexander | 3:12cb106044f9 | 161 | return status; |
johnAlexander | 0:cd8e818d4288 | 162 | } |
johnAlexander | 0:cd8e818d4288 | 163 | |
johnAlexander | 4:44629a30d6f4 | 164 | |
johnAlexander | 5:906aa7aede10 | 165 | void range_measure(DevI2C *device_i2c) |
johnAlexander | 5:906aa7aede10 | 166 | { |
johnAlexander | 5:906aa7aede10 | 167 | int status; |
johnAlexander | 5:906aa7aede10 | 168 | |
johnAlexander | 5:906aa7aede10 | 169 | /* creates the 53L0A1 expansion board singleton obj */ |
johnAlexander | 5:906aa7aede10 | 170 | board = X_NUCLEO_53L0A1::instance(device_i2c, A2, D8, D2); |
johnAlexander | 5:906aa7aede10 | 171 | //board=X_NUCLEO_53L0A1::instance(device_i2c, A2, D9, D4); // Alternate INT_L/INT_R settings. |
johnAlexander | 5:906aa7aede10 | 172 | |
johnAlexander | 5:906aa7aede10 | 173 | board->display->display_string("53L0"); |
johnAlexander | 5:906aa7aede10 | 174 | |
johnAlexander | 5:906aa7aede10 | 175 | operating_mode = range_continuous_interrupt; |
johnAlexander | 5:906aa7aede10 | 176 | |
johnAlexander | 5:906aa7aede10 | 177 | /* init the 53L0A1 expansion board with default values */ |
johnAlexander | 5:906aa7aede10 | 178 | status = board->init_board(); |
johnAlexander | 1:c1c10e0c32b2 | 179 | |
johnAlexander | 5:906aa7aede10 | 180 | if (status) { |
johnAlexander | 5:906aa7aede10 | 181 | printf("Failed to init board!\n\r"); |
johnAlexander | 5:906aa7aede10 | 182 | } else { |
johnAlexander | 5:906aa7aede10 | 183 | status = init_sensors_array(); |
johnAlexander | 5:906aa7aede10 | 184 | } |
johnAlexander | 5:906aa7aede10 | 185 | |
johnAlexander | 5:906aa7aede10 | 186 | if (!status) { |
johnAlexander | 5:906aa7aede10 | 187 | printf("\r\nEntering loop mode\r\n"); |
johnAlexander | 5:906aa7aede10 | 188 | while (true) { |
johnAlexander | 5:906aa7aede10 | 189 | measure_sensors(operating_mode); |
johnAlexander | 5:906aa7aede10 | 190 | if (switchChanged) { |
johnAlexander | 5:906aa7aede10 | 191 | ++currentSensor; |
johnAlexander | 5:906aa7aede10 | 192 | if (currentSensor == sensorCnt) |
johnAlexander | 5:906aa7aede10 | 193 | currentSensor = 0; |
johnAlexander | 5:906aa7aede10 | 194 | |
johnAlexander | 5:906aa7aede10 | 195 | printf("Sensor changed to %c\r\n", installedSensors[currentSensor]); |
johnAlexander | 5:906aa7aede10 | 196 | switchChanged = false; |
johnAlexander | 5:906aa7aede10 | 197 | stop_button.enable_irq(); |
johnAlexander | 5:906aa7aede10 | 198 | } |
johnAlexander | 4:44629a30d6f4 | 199 | } |
johnAlexander | 5:906aa7aede10 | 200 | } |
johnAlexander | 5:906aa7aede10 | 201 | delete board; |
johnAlexander | 5:906aa7aede10 | 202 | } |
johnAlexander | 2:bdf097d93eca | 203 | |
johnAlexander | 2:bdf097d93eca | 204 | /*=================================== Main ================================== |
johnAlexander | 5:906aa7aede10 | 205 | Press the blue user button to switch the displayed sensor. |
johnAlexander | 2:bdf097d93eca | 206 | =============================================================================*/ |
johnAlexander | 2:bdf097d93eca | 207 | int main() |
johnAlexander | 5:906aa7aede10 | 208 | { |
johnAlexander | 2:bdf097d93eca | 209 | #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401 |
johnAlexander | 5:906aa7aede10 | 210 | stop_button.rise(&switch_measuring_sensor_irq); |
johnAlexander | 5:906aa7aede10 | 211 | stop_button.enable_irq(); |
johnAlexander | 5:906aa7aede10 | 212 | #endif |
johnAlexander | 5:906aa7aede10 | 213 | DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL); |
johnAlexander | 5:906aa7aede10 | 214 | range_measure(device_i2c); // start continuous measures |
johnAlexander | 0:cd8e818d4288 | 215 | } |
johnAlexander | 2:bdf097d93eca | 216 | |
johnAlexander | 2:bdf097d93eca | 217 | |
johnAlexander | 4:44629a30d6f4 | 218 |