Hand Gesture recognition (L-R swipe) application based on L-R sensors.
Dependencies: X_NUCLEO_53L0A1 mbed
Fork of 53L0A1_HandGestureRecognition by
main.cpp
- Committer:
- mapellil
- Date:
- 2017-12-18
- Revision:
- 8:8151f9abad18
- Parent:
- 7:d79cbeda2982
File content as of revision 8:8151f9abad18:
#include "mbed.h" #include "XNucleo53L0A1.h" #include "tof_gestures_DIRSWIPE_1.h" #include "tof_gestures.h" #include <string.h> #include <stdlib.h> #include <stdio.h> #include <assert.h> /* * This VL53L0X Expansion board sample application performs range measurements using * range_continuous_interrupt mode to generate a hardware interrupt each time a new * measurement is ready to be read. * The application supports the centre, on-board, sensor and up two satellite boards. * * The measured range data is displayed on the on-board 4-digit LED display. * * The User Blue button switches between the currently selected sensor to display range * results from. * * The Black Reset button is used to restart the program. * * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of * the X-NUCELO-53L0A1 expansion board are not made/OFF. * These links must be made to allow interrupts from the Satellite boards * to be received. * U11 and U18 must be made/ON to allow interrupts to be received from the * INT_L & INT_R positions; or * U10 and U15 must be made/ON to allow interrupts to be received from the * Alternate INT_L & INT_R positions. * The X_NUCLEO_53L0A1 firmware library defaults to use the INT_L/INT_R * positions. * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8. * Alternate INT_L is on CN5 Connector pin 2 as D9. * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2. * Alternate INT_R is on CN9 Connector pin 5 as D4. * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L0A1/ * */ #define VL53L0_I2C_SDA D14 #define VL53L0_I2C_SCL D15 #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-64s InterruptIn stop_button(USER_BUTTON); #endif static XNucleo53L0A1 *board = NULL; VL53L0X_RangingMeasurementData_t data_sensor; VL53L0X_RangingMeasurementData_t data_sensor_l; VL53L0X_RangingMeasurementData_t data_sensor_r; OperatingMode operating_mode; Gesture_DIRSWIPE_1_Data_t gestureDirSwipeData; /* current displayed sensor change IRQ */ volatile bool switchChanged = false; /* interrupt requests */ volatile bool centerSensor = false; volatile bool leftSensor = false; volatile bool rightSensor = false; /* Current sensor number*/ volatile int currentSensor = 0; /* Installed sensors count */ int sensorCnt = 0; /* installed sensors prefixes */ char installedSensors[3]; /* ISR callback function of the sensor_centre */ void sensor_centre_irq(void) { centerSensor = true; board->sensor_centre->disable_interrupt_measure_detection_irq(); } void sensor_left_irq(void) { leftSensor = true; board->sensor_left->disable_interrupt_measure_detection_irq(); } void sensor_right_irq(void) { rightSensor = true; board->sensor_right->disable_interrupt_measure_detection_irq(); } /* ISR callback function of the user blue button to switch measuring sensor. */ void switch_measuring_sensor_irq(void) { stop_button.disable_irq(); switchChanged = true; } /* On board 4 digit local display refresh */ void refresh_display(const VL53L0X_RangingMeasurementData_t &data, char prefix) { static char str[5]; if (data_sensor.RangeStatus == 0) { // we have a valid range. sprintf(str, "%c%3d", prefix, data.RangeMilliMeter); board->display->display_string(str); } else { sprintf(str, "%c%s", prefix, "---"); board->display->display_string(str); } } DigitalOut sl(PC_10); DigitalOut sr(PA_8); inline void measure_sensors(OperatingMode op_mode) { bool current = false; int32_t leftRange, rightRange; int gesture_code; int meas_ready_l, meas_ready_r; uint8_t measurement_data_ready=0; VL53L0X_Error status; meas_ready_r =0; meas_ready_l =0; data_sensor_l.RangeMilliMeter = 1200; data_sensor_r.RangeMilliMeter = 1200; leftRange=1200; rightRange=1200; VL53L0X_DEV dev_l, dev_r; VL53L0X_RangingMeasurementData_t ranging_measurement_data_l; VL53L0X_RangingMeasurementData_t ranging_measurement_data_r; board->sensor_left->vl53l0x_get_device(&dev_l); board->sensor_right->vl53l0x_get_device(&dev_r); sl=0; sr=0; // start single range measure status = board->sensor_left->VL53L0X_start_measurement(dev_l); if (status != 0) printf ("ERROR line: %d\n\r",__LINE__); status = board->sensor_right->VL53L0X_start_measurement(dev_r); if (status != 0) printf ("ERROR line: %d\n\r",__LINE__); for (;meas_ready_r==0 && meas_ready_l==0;) { status = board->sensor_left->VL53L0X_get_measurement_data_ready(dev_l, &measurement_data_ready); if (status != 0) printf ("ERROR line: %d\n\r",__LINE__); if (measurement_data_ready ==1 && status ==0 ) { sl=1; board->sensor_left->VL53L0X_get_ranging_measurement_data(dev_l, &ranging_measurement_data_l); board->sensor_left->VL53L0X_clear_interrupt_mask(dev_l, 0); // printf ("L = %d\n\r", ranging_measurement_data_l.RangeMilliMeter); meas_ready_l = 1; leftRange = ranging_measurement_data_l.RangeMilliMeter; sl=0; } else { meas_ready_l = 0; leftRange = 1200; ranging_measurement_data_l.RangeMilliMeter = 1200; } status = board->sensor_right->VL53L0X_get_measurement_data_ready(dev_r, &measurement_data_ready); if (status != 0) printf ("ERROR line: %d\n\r",__LINE__); if (measurement_data_ready ==1 && status ==0 ) { sr=1; board->sensor_right->VL53L0X_get_ranging_measurement_data(dev_r, &ranging_measurement_data_r); board->sensor_right->VL53L0X_clear_interrupt_mask(dev_r, 0); // printf ("R = %d\n\r", ranging_measurement_data_r.RangeMilliMeter); meas_ready_r = 1; rightRange = ranging_measurement_data_r.RangeMilliMeter; sr=0; } else { meas_ready_r = 0; rightRange = 1200; data_sensor_r.RangeMilliMeter = 1200; } } gesture_code = tof_gestures_detectDIRSWIPE_1(leftRange, rightRange, &gestureDirSwipeData); /* Format data to display */ if(gesture_code == GESTURES_SWIPE_LEFT_RIGHT){ printf ("--->>>\n\r"); }else if(gesture_code == GESTURES_SWIPE_RIGHT_LEFT){ printf ("<<<---\n\r"); }else{ //ShowGestureHelpMsg(gesture_code); } } int init_sensors_array() { int status = 1; sensorCnt = 0; /* start the measure on the center sensor */ if (NULL != board->sensor_centre) { installedSensors[sensorCnt] = 'C'; status = board->sensor_centre->stop_measurement(operating_mode); // status = board->sensor_centre->start_measurement(operating_mode, &sensor_centre_irq); ++sensorCnt; } /* start the measure on the left sensor */ if (NULL != board->sensor_left) { installedSensors[sensorCnt] = 'L'; VL53L0X_DEV dev_l; board->sensor_left->vl53l0x_get_device(&dev_l); uint8_t vhv_settings, phase_cal; board->sensor_left->VL53L0X_perform_ref_calibration(dev_l, &vhv_settings, &phase_cal); board->sensor_left->VL53L0X_set_measurement_timing_budget_micro_seconds(dev_l, 20000); ++sensorCnt; } /* start the measure on the right sensor */ if (NULL != board->sensor_right) { installedSensors[sensorCnt] = 'R'; VL53L0X_DEV dev_r; board->sensor_right->vl53l0x_get_device(&dev_r); uint8_t vhv_settings, phase_cal; board->sensor_right->VL53L0X_perform_ref_calibration(dev_r, &vhv_settings, &phase_cal); board->sensor_right->VL53L0X_set_measurement_timing_budget_micro_seconds(dev_r, 20000); ++sensorCnt; } currentSensor = 0; return status; } void range_measure(DevI2C *device_i2c) { int status; /* creates the 53L0A1 expansion board singleton obj */ board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2); //board=X_NUCLEO_53L0A1::instance(device_i2c, A2, D9, D4); // Alternate INT_L/INT_R settings. board->display->display_string("53L0"); // operating_mode = range_continuous_interrupt; operating_mode = range_single_shot_polling; /* init the 53L0A1 expansion board with default values */ status = board->init_board(); if (status) { printf("Failed to init board!\n\r"); } else { status = init_sensors_array(); } /* 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 */ tof_gestures_initDIRSWIPE_1(400, 0, 1000, false, &gestureDirSwipeData); /* Select which module to debug (code must be compiled with TRACE defined in compiler command line) */ TOF_GESTURES_DEBUG_SET_MODULES(NONE); // Could be NONE or TAP_1|TAP_SWIPE_2|DIRSWIPE_1 for instance (or any other combinations); if (!status) { printf("\r\nEntering loop mode\r\n"); while (true) { measure_sensors(operating_mode); if (switchChanged) { ++currentSensor; if (currentSensor == sensorCnt) currentSensor = 0; printf("Sensor changed to %c\r\n", installedSensors[currentSensor]); switchChanged = false; stop_button.enable_irq(); } } } delete board; } /*=================================== Main ================================== Press the blue user button to switch the displayed sensor. =============================================================================*/ int main() { #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401 stop_button.rise(&switch_measuring_sensor_irq); stop_button.enable_irq(); #endif DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL); range_measure(device_i2c); // start continuous measures }