Carlos Orendain / Mbed 2 deprecated Control_Remoto_Universal

Control remoto universal con gestos

Dependencies:   RemoteIR X_NUCLEO_IKS01A2 mbed

Fork of 6DOrientation_IKS01A2 by ST

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?

UserRevisionLine numberNew 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>&copy; 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 }