Control remoto universal con gestos
Dependencies: RemoteIR X_NUCLEO_IKS01A2 mbed
Fork of 6DOrientation_IKS01A2 by
main.cpp@17:fb403a9b13ae, 2018-05-27 (annotated)
- Committer:
- CharlieO21
- Date:
- Sun May 27 03:07:14 2018 +0000
- Revision:
- 17:fb403a9b13ae
- Parent:
- 13:446c314ac03f
Version Initial
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cparata | 0:485458fca2bd | 1 | /** |
cparata | 0:485458fca2bd | 2 | ****************************************************************************** |
cparata | 0:485458fca2bd | 3 | * @file main.cpp |
cparata | 8:459b84a5287b | 4 | * @author CLab |
cparata | 8:459b84a5287b | 5 | * @version V1.0.0 |
cparata | 8:459b84a5287b | 6 | * @date 2-December-2016 |
cparata | 0:485458fca2bd | 7 | * @brief Simple Example application for using the X_NUCLEO_IKS01A2 |
cparata | 0:485458fca2bd | 8 | * MEMS Inertial & Environmental Sensor Nucleo expansion board. |
cparata | 0:485458fca2bd | 9 | ****************************************************************************** |
cparata | 0:485458fca2bd | 10 | * @attention |
cparata | 0:485458fca2bd | 11 | * |
cparata | 0:485458fca2bd | 12 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
cparata | 0:485458fca2bd | 13 | * |
cparata | 0:485458fca2bd | 14 | * Redistribution and use in source and binary forms, with or without modification, |
cparata | 0:485458fca2bd | 15 | * are permitted provided that the following conditions are met: |
cparata | 0:485458fca2bd | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
cparata | 0:485458fca2bd | 17 | * this list of conditions and the following disclaimer. |
cparata | 0:485458fca2bd | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
cparata | 0:485458fca2bd | 19 | * this list of conditions and the following disclaimer in the documentation |
cparata | 0:485458fca2bd | 20 | * and/or other materials provided with the distribution. |
cparata | 0:485458fca2bd | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
cparata | 0:485458fca2bd | 22 | * may be used to endorse or promote products derived from this software |
cparata | 0:485458fca2bd | 23 | * without specific prior written permission. |
cparata | 0:485458fca2bd | 24 | * |
cparata | 0:485458fca2bd | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
cparata | 0:485458fca2bd | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
cparata | 0:485458fca2bd | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
cparata | 0:485458fca2bd | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
cparata | 0:485458fca2bd | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
cparata | 0:485458fca2bd | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
cparata | 0:485458fca2bd | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
cparata | 0:485458fca2bd | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
cparata | 0:485458fca2bd | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
cparata | 0:485458fca2bd | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
cparata | 0:485458fca2bd | 35 | * |
cparata | 0:485458fca2bd | 36 | ****************************************************************************** |
cparata | 0:485458fca2bd | 37 | */ |
cparata | 0:485458fca2bd | 38 | |
cparata | 0:485458fca2bd | 39 | /* Includes */ |
cparata | 0:485458fca2bd | 40 | #include "mbed.h" |
davide.aliprandi@st.com | 13:446c314ac03f | 41 | #include "XNucleoIKS01A2.h" |
CharlieO21 | 17:fb403a9b13ae | 42 | #include "ReceiverIR.h" |
CharlieO21 | 17:fb403a9b13ae | 43 | #include "TransmitterIR.h" |
CharlieO21 | 17:fb403a9b13ae | 44 | |
CharlieO21 | 17:fb403a9b13ae | 45 | #define TEST_LOOP_BACK 0 |
CharlieO21 | 17:fb403a9b13ae | 46 | |
CharlieO21 | 17:fb403a9b13ae | 47 | ReceiverIR ir_rx(PA_14); |
CharlieO21 | 17:fb403a9b13ae | 48 | TransmitterIR ir_tx(PA_15); |
CharlieO21 | 17:fb403a9b13ae | 49 | static int RC_Status = -1; |
CharlieO21 | 17:fb403a9b13ae | 50 | |
CharlieO21 | 17:fb403a9b13ae | 51 | /** |
CharlieO21 | 17:fb403a9b13ae | 52 | * Receive. |
CharlieO21 | 17:fb403a9b13ae | 53 | * |
CharlieO21 | 17:fb403a9b13ae | 54 | * @param format Pointer to a format. |
CharlieO21 | 17:fb403a9b13ae | 55 | * @param buf Pointer to a buffer. |
CharlieO21 | 17:fb403a9b13ae | 56 | * @param bufsiz Size of the buffer. |
CharlieO21 | 17:fb403a9b13ae | 57 | * |
CharlieO21 | 17:fb403a9b13ae | 58 | * @return Bit length of the received data. |
CharlieO21 | 17:fb403a9b13ae | 59 | */ |
CharlieO21 | 17:fb403a9b13ae | 60 | int receive(RemoteIR::Format *format, uint8_t *buf, int bufsiz, int timeout = 1000) { |
CharlieO21 | 17:fb403a9b13ae | 61 | int cnt = 0; |
CharlieO21 | 17:fb403a9b13ae | 62 | while (ir_rx.getState() != ReceiverIR::Received) { |
CharlieO21 | 17:fb403a9b13ae | 63 | cnt++; |
CharlieO21 | 17:fb403a9b13ae | 64 | if (timeout < cnt) { |
CharlieO21 | 17:fb403a9b13ae | 65 | return -1; |
CharlieO21 | 17:fb403a9b13ae | 66 | } |
CharlieO21 | 17:fb403a9b13ae | 67 | } |
CharlieO21 | 17:fb403a9b13ae | 68 | return ir_rx.getData(format, buf, bufsiz * 8); |
CharlieO21 | 17:fb403a9b13ae | 69 | } |
CharlieO21 | 17:fb403a9b13ae | 70 | |
CharlieO21 | 17:fb403a9b13ae | 71 | /** |
CharlieO21 | 17:fb403a9b13ae | 72 | * Transmit. |
CharlieO21 | 17:fb403a9b13ae | 73 | * |
CharlieO21 | 17:fb403a9b13ae | 74 | * @param format Format. |
CharlieO21 | 17:fb403a9b13ae | 75 | * @param buf Pointer to a buffer. |
CharlieO21 | 17:fb403a9b13ae | 76 | * @param bitlength Bit length of the data. |
CharlieO21 | 17:fb403a9b13ae | 77 | * |
CharlieO21 | 17:fb403a9b13ae | 78 | * @return Bit length of the received data. |
CharlieO21 | 17:fb403a9b13ae | 79 | */ |
CharlieO21 | 17:fb403a9b13ae | 80 | int transmit(RemoteIR::Format format, uint8_t *buf, int bitlength, int timeout = 100) { |
CharlieO21 | 17:fb403a9b13ae | 81 | int cnt = 0; |
CharlieO21 | 17:fb403a9b13ae | 82 | while (ir_tx.getState() != TransmitterIR::Idle) { |
CharlieO21 | 17:fb403a9b13ae | 83 | cnt++; |
CharlieO21 | 17:fb403a9b13ae | 84 | if (timeout < cnt) { |
CharlieO21 | 17:fb403a9b13ae | 85 | return -1; |
CharlieO21 | 17:fb403a9b13ae | 86 | } |
CharlieO21 | 17:fb403a9b13ae | 87 | } |
CharlieO21 | 17:fb403a9b13ae | 88 | return ir_tx.setData(format, buf, bitlength); |
CharlieO21 | 17:fb403a9b13ae | 89 | } |
cparata | 0:485458fca2bd | 90 | |
cparata | 0:485458fca2bd | 91 | /* Instantiate the expansion board */ |
davide.aliprandi@st.com | 13:446c314ac03f | 92 | static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5); |
cparata | 0:485458fca2bd | 93 | |
cparata | 0:485458fca2bd | 94 | /* Retrieve the composing elements of the expansion board */ |
cparata | 0:485458fca2bd | 95 | static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro; |
cparata | 0:485458fca2bd | 96 | |
cparata | 0:485458fca2bd | 97 | InterruptIn mybutton(USER_BUTTON); |
cparata | 0:485458fca2bd | 98 | DigitalOut myled(LED1); |
cparata | 0:485458fca2bd | 99 | |
cparata | 7:d598eeaedcbd | 100 | volatile int mems_event = 0; |
cparata | 0:485458fca2bd | 101 | volatile int send_orientation_request = 0; |
cparata | 0:485458fca2bd | 102 | |
davide.aliprandi@st.com | 13:446c314ac03f | 103 | /* User button callback. */ |
davide.aliprandi@st.com | 13:446c314ac03f | 104 | void pressed_cb() { |
davide.aliprandi@st.com | 13:446c314ac03f | 105 | send_orientation_request = 1; |
davide.aliprandi@st.com | 13:446c314ac03f | 106 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 107 | |
davide.aliprandi@st.com | 13:446c314ac03f | 108 | /* Interrupt 1 callback. */ |
davide.aliprandi@st.com | 13:446c314ac03f | 109 | void int1_cb() { |
davide.aliprandi@st.com | 13:446c314ac03f | 110 | mems_event = 1; |
davide.aliprandi@st.com | 13:446c314ac03f | 111 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 112 | |
davide.aliprandi@st.com | 13:446c314ac03f | 113 | /* Print the orientation. */ |
davide.aliprandi@st.com | 13:446c314ac03f | 114 | void send_orientation() { |
davide.aliprandi@st.com | 13:446c314ac03f | 115 | uint8_t xl = 0; |
davide.aliprandi@st.com | 13:446c314ac03f | 116 | uint8_t xh = 0; |
davide.aliprandi@st.com | 13:446c314ac03f | 117 | uint8_t yl = 0; |
davide.aliprandi@st.com | 13:446c314ac03f | 118 | uint8_t yh = 0; |
davide.aliprandi@st.com | 13:446c314ac03f | 119 | uint8_t zl = 0; |
davide.aliprandi@st.com | 13:446c314ac03f | 120 | uint8_t zh = 0; |
davide.aliprandi@st.com | 13:446c314ac03f | 121 | |
davide.aliprandi@st.com | 13:446c314ac03f | 122 | acc_gyro->get_6d_orientation_xl(&xl); |
davide.aliprandi@st.com | 13:446c314ac03f | 123 | acc_gyro->get_6d_orientation_xh(&xh); |
davide.aliprandi@st.com | 13:446c314ac03f | 124 | acc_gyro->get_6d_orientation_yl(&yl); |
davide.aliprandi@st.com | 13:446c314ac03f | 125 | acc_gyro->get_6d_orientation_yh(&yh); |
davide.aliprandi@st.com | 13:446c314ac03f | 126 | acc_gyro->get_6d_orientation_zl(&zl); |
davide.aliprandi@st.com | 13:446c314ac03f | 127 | acc_gyro->get_6d_orientation_zh(&zh); |
davide.aliprandi@st.com | 13:446c314ac03f | 128 | |
davide.aliprandi@st.com | 13:446c314ac03f | 129 | if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 1 && zh == 0 ) { |
davide.aliprandi@st.com | 13:446c314ac03f | 130 | printf( "\r\n ________________ " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 131 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 132 | "\r\n | * | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 133 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 134 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 135 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 136 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 137 | "\r\n |________________| \r\n" ); |
CharlieO21 | 17:fb403a9b13ae | 138 | RC_Status = 6; |
davide.aliprandi@st.com | 13:446c314ac03f | 139 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 140 | |
davide.aliprandi@st.com | 13:446c314ac03f | 141 | else if ( xl == 1 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 0 ) { |
davide.aliprandi@st.com | 13:446c314ac03f | 142 | printf( "\r\n ________________ " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 143 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 144 | "\r\n | * | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 145 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 146 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 147 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 148 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 149 | "\r\n |________________| \r\n" ); |
CharlieO21 | 17:fb403a9b13ae | 150 | RC_Status = 5; |
davide.aliprandi@st.com | 13:446c314ac03f | 151 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 152 | |
davide.aliprandi@st.com | 13:446c314ac03f | 153 | else if ( xl == 0 && yl == 0 && zl == 0 && xh == 1 && yh == 0 && zh == 0 ) { |
davide.aliprandi@st.com | 13:446c314ac03f | 154 | printf( "\r\n ________________ " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 155 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 156 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 157 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 158 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 159 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 160 | "\r\n | * | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 161 | "\r\n |________________| \r\n" ); |
CharlieO21 | 17:fb403a9b13ae | 162 | RC_Status = 4; |
davide.aliprandi@st.com | 13:446c314ac03f | 163 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 164 | |
davide.aliprandi@st.com | 13:446c314ac03f | 165 | else if ( xl == 0 && yl == 1 && zl == 0 && xh == 0 && yh == 0 && zh == 0 ) { |
davide.aliprandi@st.com | 13:446c314ac03f | 166 | printf( "\r\n ________________ " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 167 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 168 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 169 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 170 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 171 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 172 | "\r\n | * | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 173 | "\r\n |________________| \r\n" ); |
CharlieO21 | 17:fb403a9b13ae | 174 | RC_Status = 3; |
davide.aliprandi@st.com | 13:446c314ac03f | 175 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 176 | |
davide.aliprandi@st.com | 13:446c314ac03f | 177 | else if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 1 ) { |
davide.aliprandi@st.com | 13:446c314ac03f | 178 | printf( "\r\n __*_____________ " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 179 | "\r\n |________________| \r\n" ); |
CharlieO21 | 17:fb403a9b13ae | 180 | RC_Status = 2; |
davide.aliprandi@st.com | 13:446c314ac03f | 181 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 182 | |
davide.aliprandi@st.com | 13:446c314ac03f | 183 | else if ( xl == 0 && yl == 0 && zl == 1 && xh == 0 && yh == 0 && zh == 0 ) { |
davide.aliprandi@st.com | 13:446c314ac03f | 184 | printf( "\r\n ________________ " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 185 | "\r\n |________________| " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 186 | "\r\n * \r\n" ); |
CharlieO21 | 17:fb403a9b13ae | 187 | RC_Status = 1; |
davide.aliprandi@st.com | 13:446c314ac03f | 188 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 189 | |
davide.aliprandi@st.com | 13:446c314ac03f | 190 | else { |
davide.aliprandi@st.com | 13:446c314ac03f | 191 | printf( "None of the 6D orientation axes is set in LSM6DSL - accelerometer.\r\n" ); |
davide.aliprandi@st.com | 13:446c314ac03f | 192 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 193 | } |
cparata | 0:485458fca2bd | 194 | |
cparata | 0:485458fca2bd | 195 | /* Simple main function */ |
cparata | 0:485458fca2bd | 196 | int main() { |
cparata | 0:485458fca2bd | 197 | /* Attach callback to User button press */ |
cparata | 7:d598eeaedcbd | 198 | mybutton.fall(&pressed_cb); |
cparata | 0:485458fca2bd | 199 | /* Attach callback to LSM6DSL INT1 */ |
davide.aliprandi@st.com | 13:446c314ac03f | 200 | acc_gyro->attach_int1_irq(&int1_cb); |
cparata | 0:485458fca2bd | 201 | |
cparata | 0:485458fca2bd | 202 | /* Enable LSM6DSL accelerometer */ |
davide.aliprandi@st.com | 13:446c314ac03f | 203 | acc_gyro->enable_x(); |
cparata | 0:485458fca2bd | 204 | /* Enable 6D Orientation. */ |
davide.aliprandi@st.com | 13:446c314ac03f | 205 | acc_gyro->enable_6d_orientation(); |
cparata | 0:485458fca2bd | 206 | |
cparata | 0:485458fca2bd | 207 | printf("\r\n--- Starting new run ---\r\n"); |
cparata | 0:485458fca2bd | 208 | |
cparata | 0:485458fca2bd | 209 | while(1) { |
cparata | 7:d598eeaedcbd | 210 | if (mems_event) { |
cparata | 7:d598eeaedcbd | 211 | mems_event = 0; |
cparata | 4:1adb1ce17b05 | 212 | LSM6DSL_Event_Status_t status; |
davide.aliprandi@st.com | 13:446c314ac03f | 213 | acc_gyro->get_event_status(&status); |
cparata | 4:1adb1ce17b05 | 214 | if (status.D6DOrientationStatus) { |
cparata | 0:485458fca2bd | 215 | /* Send 6D Orientation */ |
davide.aliprandi@st.com | 13:446c314ac03f | 216 | send_orientation(); |
CharlieO21 | 17:fb403a9b13ae | 217 | printf("%d\r\n",RC_Status); |
cparata | 0:485458fca2bd | 218 | } |
cparata | 0:485458fca2bd | 219 | } |
cparata | 0:485458fca2bd | 220 | |
cparata | 0:485458fca2bd | 221 | if(send_orientation_request) { |
cparata | 0:485458fca2bd | 222 | send_orientation_request = 0; |
davide.aliprandi@st.com | 13:446c314ac03f | 223 | send_orientation(); |
cparata | 0:485458fca2bd | 224 | } |
cparata | 0:485458fca2bd | 225 | } |
cparata | 0:485458fca2bd | 226 | } |