Hand Gesture recognition (L-R swipe) application based on L-R sensors.
Dependencies: X_NUCLEO_53L0A1 mbed
Fork of 53L0A1_HandGestureRecognition by
main.cpp@7:d79cbeda2982, 2017-12-15 (annotated)
- Committer:
- mapellil
- Date:
- Fri Dec 15 14:16:16 2017 +0000
- Revision:
- 7:d79cbeda2982
- Parent:
- 5:906aa7aede10
- Child:
- 8:8151f9abad18
Added hand gesture (L-Rswipe) with L+R sensors
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" |
mapellil | 7:d79cbeda2982 | 3 | #include "tof_gestures_DIRSWIPE_1.h" |
mapellil | 7:d79cbeda2982 | 4 | #include "tof_gestures.h" |
johnAlexander | 2:bdf097d93eca | 5 | #include <string.h> |
johnAlexander | 2:bdf097d93eca | 6 | #include <stdlib.h> |
johnAlexander | 2:bdf097d93eca | 7 | #include <stdio.h> |
johnAlexander | 2:bdf097d93eca | 8 | #include <assert.h> |
johnAlexander | 2:bdf097d93eca | 9 | |
johnAlexander | 5:906aa7aede10 | 10 | /* |
johnAlexander | 5:906aa7aede10 | 11 | * This VL53L0X Expansion board sample application performs range measurements using |
johnAlexander | 5:906aa7aede10 | 12 | * range_continuous_interrupt mode to generate a hardware interrupt each time a new |
johnAlexander | 3:12cb106044f9 | 13 | * measurement is ready to be read. |
johnAlexander | 4:44629a30d6f4 | 14 | * The application supports the centre, on-board, sensor and up two satellite boards. |
johnAlexander | 3:12cb106044f9 | 15 | * |
johnAlexander | 4:44629a30d6f4 | 16 | * The measured range data is displayed on the on-board 4-digit LED display. |
johnAlexander | 3:12cb106044f9 | 17 | * |
johnAlexander | 5:906aa7aede10 | 18 | * The User Blue button switches between the currently selected sensor to display range |
johnAlexander | 3:12cb106044f9 | 19 | * results from. |
johnAlexander | 3:12cb106044f9 | 20 | * |
johnAlexander | 5:906aa7aede10 | 21 | * The Black Reset button is used to restart the program. |
johnAlexander | 4:44629a30d6f4 | 22 | * |
johnAlexander | 5:906aa7aede10 | 23 | * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of |
johnAlexander | 4:44629a30d6f4 | 24 | * the X-NUCELO-53L0A1 expansion board are not made/OFF. |
johnAlexander | 5:906aa7aede10 | 25 | * These links must be made to allow interrupts from the Satellite boards |
johnAlexander | 4:44629a30d6f4 | 26 | * to be received. |
johnAlexander | 4:44629a30d6f4 | 27 | * U11 and U18 must be made/ON to allow interrupts to be received from the |
johnAlexander | 4:44629a30d6f4 | 28 | * INT_L & INT_R positions; or |
johnAlexander | 4:44629a30d6f4 | 29 | * U10 and U15 must be made/ON to allow interrupts to be received from the |
johnAlexander | 5:906aa7aede10 | 30 | * Alternate INT_L & INT_R positions. |
johnAlexander | 5:906aa7aede10 | 31 | * The X_NUCLEO_53L0A1 firmware library defaults to use the INT_L/INT_R |
johnAlexander | 5:906aa7aede10 | 32 | * positions. |
johnAlexander | 4:44629a30d6f4 | 33 | * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8. |
johnAlexander | 4:44629a30d6f4 | 34 | * Alternate INT_L is on CN5 Connector pin 2 as D9. |
johnAlexander | 4:44629a30d6f4 | 35 | * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2. |
johnAlexander | 5:906aa7aede10 | 36 | * Alternate INT_R is on CN9 Connector pin 5 as D4. |
johnAlexander | 4:44629a30d6f4 | 37 | * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L0A1/ |
johnAlexander | 5:906aa7aede10 | 38 | * |
johnAlexander | 3:12cb106044f9 | 39 | */ |
johnAlexander | 2:bdf097d93eca | 40 | |
johnAlexander | 5:906aa7aede10 | 41 | #define VL53L0_I2C_SDA D14 |
johnAlexander | 5:906aa7aede10 | 42 | #define VL53L0_I2C_SCL D15 |
johnAlexander | 0:cd8e818d4288 | 43 | |
johnAlexander | 4:44629a30d6f4 | 44 | #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-64s |
johnAlexander | 5:906aa7aede10 | 45 | InterruptIn stop_button(USER_BUTTON); |
johnAlexander | 5:906aa7aede10 | 46 | #endif |
johnAlexander | 3:12cb106044f9 | 47 | |
johnAlexander | 5:906aa7aede10 | 48 | static X_NUCLEO_53L0A1 *board = NULL; |
johnAlexander | 2:bdf097d93eca | 49 | VL53L0X_RangingMeasurementData_t data_sensor; |
mapellil | 7:d79cbeda2982 | 50 | VL53L0X_RangingMeasurementData_t data_sensor_l; |
mapellil | 7:d79cbeda2982 | 51 | VL53L0X_RangingMeasurementData_t data_sensor_r; |
johnAlexander | 0:cd8e818d4288 | 52 | OperatingMode operating_mode; |
johnAlexander | 4:44629a30d6f4 | 53 | |
mapellil | 7:d79cbeda2982 | 54 | Gesture_DIRSWIPE_1_Data_t gestureDirSwipeData; |
mapellil | 7:d79cbeda2982 | 55 | |
johnAlexander | 4:44629a30d6f4 | 56 | /* current displayed sensor change IRQ */ |
johnAlexander | 4:44629a30d6f4 | 57 | volatile bool switchChanged = false; |
johnAlexander | 4:44629a30d6f4 | 58 | |
johnAlexander | 3:12cb106044f9 | 59 | /* interrupt requests */ |
johnAlexander | 4:44629a30d6f4 | 60 | volatile bool centerSensor = false; |
johnAlexander | 4:44629a30d6f4 | 61 | volatile bool leftSensor = false; |
johnAlexander | 5:906aa7aede10 | 62 | volatile bool rightSensor = false; |
johnAlexander | 3:12cb106044f9 | 63 | |
johnAlexander | 3:12cb106044f9 | 64 | /* Current sensor number*/ |
johnAlexander | 3:12cb106044f9 | 65 | volatile int currentSensor = 0; |
johnAlexander | 5:906aa7aede10 | 66 | /* Installed sensors count */ |
johnAlexander | 5:906aa7aede10 | 67 | int sensorCnt = 0; |
johnAlexander | 3:12cb106044f9 | 68 | |
johnAlexander | 4:44629a30d6f4 | 69 | /* installed sensors prefixes */ |
johnAlexander | 4:44629a30d6f4 | 70 | char installedSensors[3]; |
johnAlexander | 0:cd8e818d4288 | 71 | |
johnAlexander | 3:12cb106044f9 | 72 | /* ISR callback function of the sensor_centre */ |
johnAlexander | 5:906aa7aede10 | 73 | void sensor_centre_irq(void) |
johnAlexander | 0:cd8e818d4288 | 74 | { |
johnAlexander | 5:906aa7aede10 | 75 | centerSensor = true; |
johnAlexander | 5:906aa7aede10 | 76 | board->sensor_centre->disable_interrupt_measure_detection_irq(); |
johnAlexander | 5:906aa7aede10 | 77 | } |
johnAlexander | 2:bdf097d93eca | 78 | |
johnAlexander | 5:906aa7aede10 | 79 | void sensor_left_irq(void) |
johnAlexander | 3:12cb106044f9 | 80 | { |
johnAlexander | 5:906aa7aede10 | 81 | leftSensor = true; |
johnAlexander | 5:906aa7aede10 | 82 | board->sensor_left->disable_interrupt_measure_detection_irq(); |
johnAlexander | 5:906aa7aede10 | 83 | } |
johnAlexander | 3:12cb106044f9 | 84 | |
johnAlexander | 5:906aa7aede10 | 85 | void sensor_right_irq(void) |
johnAlexander | 5:906aa7aede10 | 86 | { |
johnAlexander | 5:906aa7aede10 | 87 | rightSensor = true; |
johnAlexander | 5:906aa7aede10 | 88 | board->sensor_right->disable_interrupt_measure_detection_irq(); |
johnAlexander | 5:906aa7aede10 | 89 | } |
johnAlexander | 3:12cb106044f9 | 90 | |
johnAlexander | 2:bdf097d93eca | 91 | /* ISR callback function of the user blue button to switch measuring sensor. */ |
johnAlexander | 5:906aa7aede10 | 92 | void switch_measuring_sensor_irq(void) |
johnAlexander | 2:bdf097d93eca | 93 | { |
johnAlexander | 4:44629a30d6f4 | 94 | stop_button.disable_irq(); |
johnAlexander | 4:44629a30d6f4 | 95 | switchChanged = true; |
johnAlexander | 0:cd8e818d4288 | 96 | } |
johnAlexander | 0:cd8e818d4288 | 97 | |
johnAlexander | 4:44629a30d6f4 | 98 | |
johnAlexander | 0:cd8e818d4288 | 99 | /* On board 4 digit local display refresh */ |
johnAlexander | 5:906aa7aede10 | 100 | void refresh_display(const VL53L0X_RangingMeasurementData_t &data, char prefix) |
johnAlexander | 4:44629a30d6f4 | 101 | { |
johnAlexander | 4:44629a30d6f4 | 102 | static char str[5]; |
johnAlexander | 5:906aa7aede10 | 103 | if (data_sensor.RangeStatus == 0) { // we have a valid range. |
johnAlexander | 5:906aa7aede10 | 104 | sprintf(str, "%c%3d", prefix, data.RangeMilliMeter); |
johnAlexander | 5:906aa7aede10 | 105 | board->display->display_string(str); |
johnAlexander | 5:906aa7aede10 | 106 | } else { |
johnAlexander | 4:44629a30d6f4 | 107 | sprintf(str, "%c%s", prefix, "---"); |
johnAlexander | 5:906aa7aede10 | 108 | board->display->display_string(str); |
johnAlexander | 4:44629a30d6f4 | 109 | } |
johnAlexander | 4:44629a30d6f4 | 110 | } |
johnAlexander | 4:44629a30d6f4 | 111 | |
mapellil | 7:d79cbeda2982 | 112 | DigitalOut sl(PC_10); |
mapellil | 7:d79cbeda2982 | 113 | DigitalOut sr(PA_8); |
mapellil | 7:d79cbeda2982 | 114 | |
johnAlexander | 5:906aa7aede10 | 115 | inline void measure_sensors(OperatingMode op_mode) |
johnAlexander | 4:44629a30d6f4 | 116 | { |
johnAlexander | 4:44629a30d6f4 | 117 | bool current = false; |
mapellil | 7:d79cbeda2982 | 118 | int32_t leftRange, rightRange; |
mapellil | 7:d79cbeda2982 | 119 | int gesture_code; |
mapellil | 7:d79cbeda2982 | 120 | int meas_ready_l, meas_ready_r; |
mapellil | 7:d79cbeda2982 | 121 | uint8_t measurement_data_ready=0; |
mapellil | 7:d79cbeda2982 | 122 | VL53L0X_Error status; |
mapellil | 7:d79cbeda2982 | 123 | |
mapellil | 7:d79cbeda2982 | 124 | meas_ready_r =0; meas_ready_l =0; |
mapellil | 7:d79cbeda2982 | 125 | data_sensor_l.RangeMilliMeter = 1200; |
mapellil | 7:d79cbeda2982 | 126 | data_sensor_r.RangeMilliMeter = 1200; |
mapellil | 7:d79cbeda2982 | 127 | leftRange=1200; |
mapellil | 7:d79cbeda2982 | 128 | rightRange=1200; |
mapellil | 7:d79cbeda2982 | 129 | VL53L0X_DEV dev_l, dev_r; |
mapellil | 7:d79cbeda2982 | 130 | VL53L0X_RangingMeasurementData_t ranging_measurement_data_l; |
mapellil | 7:d79cbeda2982 | 131 | VL53L0X_RangingMeasurementData_t ranging_measurement_data_r; |
mapellil | 7:d79cbeda2982 | 132 | |
mapellil | 7:d79cbeda2982 | 133 | board->sensor_left->vl53l0x_get_device(&dev_l); |
mapellil | 7:d79cbeda2982 | 134 | board->sensor_right->vl53l0x_get_device(&dev_r); |
mapellil | 7:d79cbeda2982 | 135 | |
mapellil | 7:d79cbeda2982 | 136 | sl=0; |
mapellil | 7:d79cbeda2982 | 137 | sr=0; |
mapellil | 7:d79cbeda2982 | 138 | // start single range measure |
mapellil | 7:d79cbeda2982 | 139 | status = board->sensor_left->vl53l0x_start_measurement(dev_l); |
mapellil | 7:d79cbeda2982 | 140 | if (status != 0) printf ("ERROR line: %d\n\r",__LINE__); |
mapellil | 7:d79cbeda2982 | 141 | status = board->sensor_right->vl53l0x_start_measurement(dev_r); |
mapellil | 7:d79cbeda2982 | 142 | if (status != 0) printf ("ERROR line: %d\n\r",__LINE__); |
mapellil | 7:d79cbeda2982 | 143 | |
mapellil | 7:d79cbeda2982 | 144 | for (;meas_ready_r==0 && meas_ready_l==0;) { |
mapellil | 7:d79cbeda2982 | 145 | |
mapellil | 7:d79cbeda2982 | 146 | status = board->sensor_left->vl53l0x_get_measurement_data_ready(dev_l, &measurement_data_ready); |
mapellil | 7:d79cbeda2982 | 147 | if (status != 0) printf ("ERROR line: %d\n\r",__LINE__); |
mapellil | 7:d79cbeda2982 | 148 | if (measurement_data_ready ==1 && status ==0 ) { |
mapellil | 7:d79cbeda2982 | 149 | sl=1; |
mapellil | 7:d79cbeda2982 | 150 | board->sensor_left->vl53l0x_get_ranging_measurement_data(dev_l, &ranging_measurement_data_l); |
mapellil | 7:d79cbeda2982 | 151 | board->sensor_left->vl53l0x_clear_interrupt_mask(dev_l, 0); |
mapellil | 7:d79cbeda2982 | 152 | // printf ("L = %d\n\r", ranging_measurement_data_l.RangeMilliMeter); |
mapellil | 7:d79cbeda2982 | 153 | meas_ready_l = 1; |
mapellil | 7:d79cbeda2982 | 154 | leftRange = ranging_measurement_data_l.RangeMilliMeter; |
mapellil | 7:d79cbeda2982 | 155 | sl=0; |
mapellil | 7:d79cbeda2982 | 156 | } else { |
mapellil | 7:d79cbeda2982 | 157 | meas_ready_l = 0; |
mapellil | 7:d79cbeda2982 | 158 | leftRange = 1200; |
mapellil | 7:d79cbeda2982 | 159 | ranging_measurement_data_l.RangeMilliMeter = 1200; |
johnAlexander | 3:12cb106044f9 | 160 | } |
mapellil | 7:d79cbeda2982 | 161 | |
mapellil | 7:d79cbeda2982 | 162 | status = board->sensor_right->vl53l0x_get_measurement_data_ready(dev_r, &measurement_data_ready); |
mapellil | 7:d79cbeda2982 | 163 | if (status != 0) printf ("ERROR line: %d\n\r",__LINE__); |
mapellil | 7:d79cbeda2982 | 164 | if (measurement_data_ready ==1 && status ==0 ) { |
mapellil | 7:d79cbeda2982 | 165 | sr=1; |
mapellil | 7:d79cbeda2982 | 166 | board->sensor_right->vl53l0x_get_ranging_measurement_data(dev_r, &ranging_measurement_data_r); |
mapellil | 7:d79cbeda2982 | 167 | board->sensor_right->vl53l0x_clear_interrupt_mask(dev_r, 0); |
mapellil | 7:d79cbeda2982 | 168 | // printf ("R = %d\n\r", ranging_measurement_data_r.RangeMilliMeter); |
mapellil | 7:d79cbeda2982 | 169 | meas_ready_r = 1; |
mapellil | 7:d79cbeda2982 | 170 | rightRange = ranging_measurement_data_r.RangeMilliMeter; |
mapellil | 7:d79cbeda2982 | 171 | sr=0; |
mapellil | 7:d79cbeda2982 | 172 | } else { |
mapellil | 7:d79cbeda2982 | 173 | meas_ready_r = 0; |
mapellil | 7:d79cbeda2982 | 174 | rightRange = 1200; |
mapellil | 7:d79cbeda2982 | 175 | data_sensor_r.RangeMilliMeter = 1200; |
mapellil | 7:d79cbeda2982 | 176 | } |
johnAlexander | 2:bdf097d93eca | 177 | } |
mapellil | 7:d79cbeda2982 | 178 | |
mapellil | 7:d79cbeda2982 | 179 | gesture_code = tof_gestures_detectDIRSWIPE_1(leftRange, rightRange, &gestureDirSwipeData); |
mapellil | 7:d79cbeda2982 | 180 | |
mapellil | 7:d79cbeda2982 | 181 | /* Format data to display */ |
mapellil | 7:d79cbeda2982 | 182 | if(gesture_code == GESTURES_SWIPE_LEFT_RIGHT){ |
mapellil | 7:d79cbeda2982 | 183 | printf ("--->>>\n\r"); |
mapellil | 7:d79cbeda2982 | 184 | }else if(gesture_code == GESTURES_SWIPE_RIGHT_LEFT){ |
mapellil | 7:d79cbeda2982 | 185 | printf ("<<<---\n\r"); |
mapellil | 7:d79cbeda2982 | 186 | }else{ |
mapellil | 7:d79cbeda2982 | 187 | //ShowGestureHelpMsg(gesture_code); |
mapellil | 7:d79cbeda2982 | 188 | } |
johnAlexander | 3:12cb106044f9 | 189 | } |
johnAlexander | 3:12cb106044f9 | 190 | |
johnAlexander | 5:906aa7aede10 | 191 | int init_sensors_array() |
johnAlexander | 3:12cb106044f9 | 192 | { |
johnAlexander | 3:12cb106044f9 | 193 | int status = 1; |
johnAlexander | 3:12cb106044f9 | 194 | sensorCnt = 0; |
johnAlexander | 3:12cb106044f9 | 195 | /* start the measure on the center sensor */ |
johnAlexander | 5:906aa7aede10 | 196 | if (NULL != board->sensor_centre) { |
johnAlexander | 4:44629a30d6f4 | 197 | installedSensors[sensorCnt] = 'C'; |
johnAlexander | 5:906aa7aede10 | 198 | status = board->sensor_centre->stop_measurement(operating_mode); |
mapellil | 7:d79cbeda2982 | 199 | // status = board->sensor_centre->start_measurement(operating_mode, &sensor_centre_irq); |
johnAlexander | 3:12cb106044f9 | 200 | ++sensorCnt; |
johnAlexander | 3:12cb106044f9 | 201 | } |
johnAlexander | 3:12cb106044f9 | 202 | /* start the measure on the left sensor */ |
johnAlexander | 5:906aa7aede10 | 203 | if (NULL != board->sensor_left) { |
mapellil | 7:d79cbeda2982 | 204 | installedSensors[sensorCnt] = 'L'; |
mapellil | 7:d79cbeda2982 | 205 | VL53L0X_DEV dev_l; |
mapellil | 7:d79cbeda2982 | 206 | board->sensor_left->vl53l0x_get_device(&dev_l); |
mapellil | 7:d79cbeda2982 | 207 | uint8_t vhv_settings, phase_cal; |
mapellil | 7:d79cbeda2982 | 208 | board->sensor_left->vl53l0x_perform_ref_calibration(dev_l, &vhv_settings, &phase_cal); |
mapellil | 7:d79cbeda2982 | 209 | board->sensor_left->vl53l0x_set_measurement_timing_budget_micro_seconds(dev_l, 20000); |
johnAlexander | 3:12cb106044f9 | 210 | ++sensorCnt; |
johnAlexander | 3:12cb106044f9 | 211 | } |
mapellil | 7:d79cbeda2982 | 212 | |
johnAlexander | 5:906aa7aede10 | 213 | /* start the measure on the right sensor */ |
johnAlexander | 5:906aa7aede10 | 214 | if (NULL != board->sensor_right) { |
johnAlexander | 4:44629a30d6f4 | 215 | installedSensors[sensorCnt] = 'R'; |
mapellil | 7:d79cbeda2982 | 216 | VL53L0X_DEV dev_r; |
mapellil | 7:d79cbeda2982 | 217 | board->sensor_right->vl53l0x_get_device(&dev_r); |
mapellil | 7:d79cbeda2982 | 218 | uint8_t vhv_settings, phase_cal; |
mapellil | 7:d79cbeda2982 | 219 | board->sensor_right->vl53l0x_perform_ref_calibration(dev_r, &vhv_settings, &phase_cal); |
mapellil | 7:d79cbeda2982 | 220 | board->sensor_right->vl53l0x_set_measurement_timing_budget_micro_seconds(dev_r, 20000); |
johnAlexander | 3:12cb106044f9 | 221 | ++sensorCnt; |
johnAlexander | 3:12cb106044f9 | 222 | } |
johnAlexander | 3:12cb106044f9 | 223 | currentSensor = 0; |
johnAlexander | 3:12cb106044f9 | 224 | return status; |
johnAlexander | 0:cd8e818d4288 | 225 | } |
johnAlexander | 0:cd8e818d4288 | 226 | |
johnAlexander | 4:44629a30d6f4 | 227 | |
johnAlexander | 5:906aa7aede10 | 228 | void range_measure(DevI2C *device_i2c) |
johnAlexander | 5:906aa7aede10 | 229 | { |
johnAlexander | 5:906aa7aede10 | 230 | int status; |
johnAlexander | 5:906aa7aede10 | 231 | |
johnAlexander | 5:906aa7aede10 | 232 | /* creates the 53L0A1 expansion board singleton obj */ |
johnAlexander | 5:906aa7aede10 | 233 | board = X_NUCLEO_53L0A1::instance(device_i2c, A2, D8, D2); |
johnAlexander | 5:906aa7aede10 | 234 | //board=X_NUCLEO_53L0A1::instance(device_i2c, A2, D9, D4); // Alternate INT_L/INT_R settings. |
johnAlexander | 5:906aa7aede10 | 235 | |
johnAlexander | 5:906aa7aede10 | 236 | board->display->display_string("53L0"); |
johnAlexander | 5:906aa7aede10 | 237 | |
mapellil | 7:d79cbeda2982 | 238 | // operating_mode = range_continuous_interrupt; |
mapellil | 7:d79cbeda2982 | 239 | operating_mode = range_single_shot_polling; |
johnAlexander | 5:906aa7aede10 | 240 | |
johnAlexander | 5:906aa7aede10 | 241 | /* init the 53L0A1 expansion board with default values */ |
johnAlexander | 5:906aa7aede10 | 242 | status = board->init_board(); |
johnAlexander | 1:c1c10e0c32b2 | 243 | |
johnAlexander | 5:906aa7aede10 | 244 | if (status) { |
johnAlexander | 5:906aa7aede10 | 245 | printf("Failed to init board!\n\r"); |
johnAlexander | 5:906aa7aede10 | 246 | } else { |
johnAlexander | 5:906aa7aede10 | 247 | status = init_sensors_array(); |
johnAlexander | 5:906aa7aede10 | 248 | } |
mapellil | 7:d79cbeda2982 | 249 | /* Initialize directional swipes recognition : swipe detected below 400 mm, no max speed, min duration is 1 sec for a swipe and hand must not cover both devices */ |
mapellil | 7:d79cbeda2982 | 250 | tof_gestures_initDIRSWIPE_1(400, 0, 1000, false, &gestureDirSwipeData); |
mapellil | 7:d79cbeda2982 | 251 | /* Select which module to debug (code must be compiled with TRACE defined in compiler command line) */ |
mapellil | 7:d79cbeda2982 | 252 | TOF_GESTURES_DEBUG_SET_MODULES(NONE); // Could be NONE or TAP_1|TAP_SWIPE_2|DIRSWIPE_1 for instance (or any other combinations); |
mapellil | 7:d79cbeda2982 | 253 | |
johnAlexander | 5:906aa7aede10 | 254 | if (!status) { |
johnAlexander | 5:906aa7aede10 | 255 | printf("\r\nEntering loop mode\r\n"); |
johnAlexander | 5:906aa7aede10 | 256 | while (true) { |
johnAlexander | 5:906aa7aede10 | 257 | measure_sensors(operating_mode); |
johnAlexander | 5:906aa7aede10 | 258 | if (switchChanged) { |
johnAlexander | 5:906aa7aede10 | 259 | ++currentSensor; |
johnAlexander | 5:906aa7aede10 | 260 | if (currentSensor == sensorCnt) |
johnAlexander | 5:906aa7aede10 | 261 | currentSensor = 0; |
johnAlexander | 5:906aa7aede10 | 262 | |
johnAlexander | 5:906aa7aede10 | 263 | printf("Sensor changed to %c\r\n", installedSensors[currentSensor]); |
johnAlexander | 5:906aa7aede10 | 264 | switchChanged = false; |
johnAlexander | 5:906aa7aede10 | 265 | stop_button.enable_irq(); |
mapellil | 7:d79cbeda2982 | 266 | } |
johnAlexander | 4:44629a30d6f4 | 267 | } |
johnAlexander | 5:906aa7aede10 | 268 | } |
johnAlexander | 5:906aa7aede10 | 269 | delete board; |
johnAlexander | 5:906aa7aede10 | 270 | } |
johnAlexander | 2:bdf097d93eca | 271 | |
johnAlexander | 2:bdf097d93eca | 272 | /*=================================== Main ================================== |
johnAlexander | 5:906aa7aede10 | 273 | Press the blue user button to switch the displayed sensor. |
johnAlexander | 2:bdf097d93eca | 274 | =============================================================================*/ |
johnAlexander | 2:bdf097d93eca | 275 | int main() |
johnAlexander | 5:906aa7aede10 | 276 | { |
johnAlexander | 2:bdf097d93eca | 277 | #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401 |
johnAlexander | 5:906aa7aede10 | 278 | stop_button.rise(&switch_measuring_sensor_irq); |
johnAlexander | 5:906aa7aede10 | 279 | stop_button.enable_irq(); |
johnAlexander | 5:906aa7aede10 | 280 | #endif |
johnAlexander | 5:906aa7aede10 | 281 | DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL); |
johnAlexander | 5:906aa7aede10 | 282 | range_measure(device_i2c); // start continuous measures |
johnAlexander | 0:cd8e818d4288 | 283 | } |