yarp
Dependencies: NeoStrip_mod VCNL40x0_1 mbed
Fork of XYZ_PROX_redux_01 by
main.cpp@4:57de0704968d, 2014-05-30 (annotated)
- Committer:
- ghostaudio
- Date:
- Fri May 30 16:36:49 2014 +0000
- Revision:
- 4:57de0704968d
- Parent:
- 2:9252c8c48272
getting there but issue with sensors
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ghostaudio | 0:09dd83d78a0a | 1 | #include "mbed.h" |
ghostaudio | 0:09dd83d78a0a | 2 | #include "VCNL40x0.h" |
ghostaudio | 0:09dd83d78a0a | 3 | #include "NeoStrip.h" |
tomfleet | 2:9252c8c48272 | 4 | #define NumPixels 4 |
tomfleet | 2:9252c8c48272 | 5 | |
ghostaudio | 0:09dd83d78a0a | 6 | I2C i2c(p28, p27); |
ghostaudio | 0:09dd83d78a0a | 7 | DigitalOut mled0(LED1); |
ghostaudio | 0:09dd83d78a0a | 8 | DigitalOut mled1(LED2); |
ghostaudio | 0:09dd83d78a0a | 9 | DigitalOut mled2(LED3); |
ghostaudio | 0:09dd83d78a0a | 10 | DigitalOut mled3(LED4); |
ghostaudio | 0:09dd83d78a0a | 11 | Serial pc(USBTX, USBRX); |
ghostaudio | 0:09dd83d78a0a | 12 | DigitalOut reset(p29); |
ghostaudio | 0:09dd83d78a0a | 13 | NeoStrip strip(p26, NumPixels); |
ghostaudio | 4:57de0704968d | 14 | DigitalIn interrupt (p25); |
ghostaudio | 0:09dd83d78a0a | 15 | |
ghostaudio | 0:09dd83d78a0a | 16 | const uint8_t MUX = 0xE0; // 11100000 |
ghostaudio | 0:09dd83d78a0a | 17 | const uint8_t VCNL4020 = 0x26; |
ghostaudio | 0:09dd83d78a0a | 18 | unsigned int sensors[4]; |
ghostaudio | 0:09dd83d78a0a | 19 | char _send[3]; |
ghostaudio | 0:09dd83d78a0a | 20 | char _receive[2]; |
ghostaudio | 0:09dd83d78a0a | 21 | char port[2]; |
ghostaudio | 4:57de0704968d | 22 | const uint8_t chan0 = 0x01; |
ghostaudio | 4:57de0704968d | 23 | const uint8_t chan1 = 0x02; |
ghostaudio | 4:57de0704968d | 24 | const uint8_t chan2 = 0x04; |
ghostaudio | 4:57de0704968d | 25 | const uint8_t chan3 = 0x08; |
ghostaudio | 4:57de0704968d | 26 | const uint8_t chan[] = {chan0,chan1,chan2,chan3}; |
ghostaudio | 0:09dd83d78a0a | 27 | int mleds[] = {0,0,0,0}; |
ghostaudio | 0:09dd83d78a0a | 28 | |
ghostaudio | 4:57de0704968d | 29 | void ReadOne(uint8_t channel); |
ghostaudio | 0:09dd83d78a0a | 30 | void Setup(void); |
ghostaudio | 0:09dd83d78a0a | 31 | void Setmleds(void); |
ghostaudio | 0:09dd83d78a0a | 32 | void SwitchChannel(uint8_t chan); |
ghostaudio | 0:09dd83d78a0a | 33 | void ReadAllSensors(void); |
ghostaudio | 0:09dd83d78a0a | 34 | void Setmleds(void); |
ghostaudio | 0:09dd83d78a0a | 35 | void SetProximityRate (unsigned char ProximityRate); |
ghostaudio | 0:09dd83d78a0a | 36 | void SetCommandRegister (unsigned char Command); |
ghostaudio | 0:09dd83d78a0a | 37 | void ReadCommandRegister (unsigned char *Command); |
ghostaudio | 0:09dd83d78a0a | 38 | void SetCurrent (unsigned char Current); |
ghostaudio | 4:57de0704968d | 39 | void ReadCurrent (unsigned char *Current); |
ghostaudio | 0:09dd83d78a0a | 40 | void ReadProxiValue (unsigned int *ProxiValue); |
ghostaudio | 0:09dd83d78a0a | 41 | void SetProximityRate (unsigned char ProximityRate); |
ghostaudio | 0:09dd83d78a0a | 42 | void ReadProxiOnDemand (unsigned int *ProxiValue); |
ghostaudio | 4:57de0704968d | 43 | void SetupAll(void); |
ghostaudio | 0:09dd83d78a0a | 44 | |
ghostaudio | 0:09dd83d78a0a | 45 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
ghostaudio | 0:09dd83d78a0a | 46 | |
ghostaudio | 0:09dd83d78a0a | 47 | int main() { |
ghostaudio | 0:09dd83d78a0a | 48 | |
ghostaudio | 4:57de0704968d | 49 | //SwitchChannel(chan1); // set channel |
ghostaudio | 4:57de0704968d | 50 | //wait_ms(50); |
ghostaudio | 4:57de0704968d | 51 | //Setup(); |
ghostaudio | 4:57de0704968d | 52 | SetupAll(); |
ghostaudio | 0:09dd83d78a0a | 53 | |
ghostaudio | 0:09dd83d78a0a | 54 | while (1) { |
ghostaudio | 0:09dd83d78a0a | 55 | |
ghostaudio | 0:09dd83d78a0a | 56 | ReadAllSensors(); |
ghostaudio | 4:57de0704968d | 57 | //ReadOne(chan1); |
ghostaudio | 0:09dd83d78a0a | 58 | } |
ghostaudio | 0:09dd83d78a0a | 59 | } |
ghostaudio | 0:09dd83d78a0a | 60 | |
ghostaudio | 4:57de0704968d | 61 | void ReadOne(uint8_t channel){ |
ghostaudio | 4:57de0704968d | 62 | |
ghostaudio | 4:57de0704968d | 63 | unsigned int sensor = 0; |
ghostaudio | 4:57de0704968d | 64 | SwitchChannel(channel); // set channel |
ghostaudio | 4:57de0704968d | 65 | mleds[0] = 1; // LED on |
ghostaudio | 4:57de0704968d | 66 | Setmleds(); |
ghostaudio | 4:57de0704968d | 67 | ReadProxiOnDemand(&sensor); // read prox value on demand |
ghostaudio | 4:57de0704968d | 68 | mleds[0] = 0; // LED off |
ghostaudio | 4:57de0704968d | 69 | Setmleds(); |
ghostaudio | 4:57de0704968d | 70 | pc.printf("\r %i \n", sensor); |
ghostaudio | 4:57de0704968d | 71 | } |
ghostaudio | 0:09dd83d78a0a | 72 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
ghostaudio | 4:57de0704968d | 73 | void SetupAll(void){ |
ghostaudio | 4:57de0704968d | 74 | |
ghostaudio | 4:57de0704968d | 75 | SwitchChannel(chan0); // set channel |
ghostaudio | 4:57de0704968d | 76 | wait_ms(20); |
ghostaudio | 4:57de0704968d | 77 | Setup(); |
ghostaudio | 4:57de0704968d | 78 | SwitchChannel(chan1); // set channel |
ghostaudio | 4:57de0704968d | 79 | wait_ms(20); |
ghostaudio | 4:57de0704968d | 80 | Setup(); |
ghostaudio | 4:57de0704968d | 81 | SwitchChannel(chan2); // set channel |
ghostaudio | 4:57de0704968d | 82 | wait_ms(20); |
ghostaudio | 4:57de0704968d | 83 | Setup(); |
ghostaudio | 4:57de0704968d | 84 | SwitchChannel(chan3); // set channel |
ghostaudio | 4:57de0704968d | 85 | wait_ms(20); |
ghostaudio | 4:57de0704968d | 86 | Setup(); |
ghostaudio | 4:57de0704968d | 87 | pc.printf("\r setup ok \n "); |
ghostaudio | 4:57de0704968d | 88 | } |
ghostaudio | 4:57de0704968d | 89 | |
ghostaudio | 4:57de0704968d | 90 | |
ghostaudio | 0:09dd83d78a0a | 91 | void Setup(void) { |
ghostaudio | 4:57de0704968d | 92 | unsigned char Current=0; |
ghostaudio | 0:09dd83d78a0a | 93 | |
ghostaudio | 0:09dd83d78a0a | 94 | pc.baud(115200); |
ghostaudio | 4:57de0704968d | 95 | SetCurrent(20); // Set current to 200mA |
ghostaudio | 4:57de0704968d | 96 | ReadCurrent(&Current); |
ghostaudio | 4:57de0704968d | 97 | pc.printf("\n IR LED Current: %d\n", Current); |
ghostaudio | 4:57de0704968d | 98 | SetCommandRegister (COMMAND_ALL_DISABLE); // ready for prox rate change |
ghostaudio | 4:57de0704968d | 99 | SetProximityRate (PROX_MEASUREMENT_RATE_31); // 31 measurements/s |
ghostaudio | 4:57de0704968d | 100 | SetCommandRegister (COMMAND_PROX_ENABLE | COMMAND_SELFTIMED_MODE_ENABLE); |
ghostaudio | 4:57de0704968d | 101 | pc.printf("\r done\n"); |
ghostaudio | 4:57de0704968d | 102 | wait(0.2); |
ghostaudio | 0:09dd83d78a0a | 103 | } |
ghostaudio | 0:09dd83d78a0a | 104 | |
ghostaudio | 0:09dd83d78a0a | 105 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
ghostaudio | 0:09dd83d78a0a | 106 | |
ghostaudio | 0:09dd83d78a0a | 107 | void Setmleds(void){ |
ghostaudio | 0:09dd83d78a0a | 108 | mled0 = mleds[0]; |
ghostaudio | 0:09dd83d78a0a | 109 | mled1 = mleds[1]; |
ghostaudio | 0:09dd83d78a0a | 110 | mled2 = mleds[2]; |
ghostaudio | 0:09dd83d78a0a | 111 | mled3 = mleds[3]; |
ghostaudio | 0:09dd83d78a0a | 112 | } |
ghostaudio | 0:09dd83d78a0a | 113 | |
ghostaudio | 0:09dd83d78a0a | 114 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
ghostaudio | 0:09dd83d78a0a | 115 | |
ghostaudio | 0:09dd83d78a0a | 116 | void SwitchChannel(uint8_t chan){ |
ghostaudio | 0:09dd83d78a0a | 117 | reset = 0; |
ghostaudio | 4:57de0704968d | 118 | wait_ms(10); |
ghostaudio | 0:09dd83d78a0a | 119 | reset = 1; |
ghostaudio | 4:57de0704968d | 120 | wait_ms(10); |
ghostaudio | 0:09dd83d78a0a | 121 | port[0] = chan; |
ghostaudio | 0:09dd83d78a0a | 122 | i2c.write(MUX,port, 1); |
ghostaudio | 0:09dd83d78a0a | 123 | } |
ghostaudio | 0:09dd83d78a0a | 124 | |
ghostaudio | 0:09dd83d78a0a | 125 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
ghostaudio | 0:09dd83d78a0a | 126 | |
ghostaudio | 0:09dd83d78a0a | 127 | void ReadAllSensors(void){ |
ghostaudio | 0:09dd83d78a0a | 128 | |
ghostaudio | 0:09dd83d78a0a | 129 | for (int i = 0; i < 4; i++){ |
ghostaudio | 4:57de0704968d | 130 | |
ghostaudio | 4:57de0704968d | 131 | unsigned int sensor = 0; |
ghostaudio | 4:57de0704968d | 132 | |
ghostaudio | 0:09dd83d78a0a | 133 | SwitchChannel(chan[i]); // set channel |
ghostaudio | 0:09dd83d78a0a | 134 | mleds[i] = 1; // LED on |
ghostaudio | 0:09dd83d78a0a | 135 | Setmleds(); |
ghostaudio | 4:57de0704968d | 136 | ReadProxiOnDemand(&sensor); // read prox value on demand |
ghostaudio | 4:57de0704968d | 137 | wait_ms(10); |
ghostaudio | 0:09dd83d78a0a | 138 | mleds[i] = 0; // LED off |
ghostaudio | 4:57de0704968d | 139 | Setmleds(); |
ghostaudio | 4:57de0704968d | 140 | sensors[i] = sensor; |
ghostaudio | 4:57de0704968d | 141 | pc.printf("\r %i ", sensors[i]); |
ghostaudio | 0:09dd83d78a0a | 142 | } |
ghostaudio | 0:09dd83d78a0a | 143 | |
ghostaudio | 4:57de0704968d | 144 | pc.printf("\r \n "); |
ghostaudio | 4:57de0704968d | 145 | wait(0.001); |
ghostaudio | 4:57de0704968d | 146 | } |
ghostaudio | 0:09dd83d78a0a | 147 | |
ghostaudio | 0:09dd83d78a0a | 148 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
ghostaudio | 0:09dd83d78a0a | 149 | |
ghostaudio | 0:09dd83d78a0a | 150 | void SetCommandRegister (unsigned char Command) { |
ghostaudio | 0:09dd83d78a0a | 151 | |
ghostaudio | 0:09dd83d78a0a | 152 | //unsigned char send[2]; |
ghostaudio | 0:09dd83d78a0a | 153 | |
ghostaudio | 0:09dd83d78a0a | 154 | _send[0] = REGISTER_COMMAND; // VCNL40x0 Configuration reister |
ghostaudio | 0:09dd83d78a0a | 155 | _send[1] = Command; |
ghostaudio | 0:09dd83d78a0a | 156 | i2c.write(VCNL4020,_send, 2); // Write 2 bytes on I2C |
ghostaudio | 0:09dd83d78a0a | 157 | } |
ghostaudio | 0:09dd83d78a0a | 158 | |
ghostaudio | 0:09dd83d78a0a | 159 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
ghostaudio | 0:09dd83d78a0a | 160 | |
ghostaudio | 0:09dd83d78a0a | 161 | void ReadCommandRegister (unsigned char *Command) { |
ghostaudio | 0:09dd83d78a0a | 162 | |
ghostaudio | 0:09dd83d78a0a | 163 | //unsigned char send[2]; |
ghostaudio | 0:09dd83d78a0a | 164 | //unsigned char receive[2]; |
ghostaudio | 0:09dd83d78a0a | 165 | |
ghostaudio | 0:09dd83d78a0a | 166 | _send[0] = REGISTER_COMMAND; // VCNL40x0 Configuration register |
ghostaudio | 0:09dd83d78a0a | 167 | i2c.write(VCNL4020,_send, 1); // Write 1 byte on I2C |
ghostaudio | 0:09dd83d78a0a | 168 | i2c.read(VCNL4020+1,_receive, 1); // Read 1 byte on I2C |
ghostaudio | 0:09dd83d78a0a | 169 | |
ghostaudio | 0:09dd83d78a0a | 170 | *Command = (unsigned char)(_receive[0]); |
ghostaudio | 0:09dd83d78a0a | 171 | } |
ghostaudio | 0:09dd83d78a0a | 172 | |
ghostaudio | 0:09dd83d78a0a | 173 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
ghostaudio | 0:09dd83d78a0a | 174 | |
ghostaudio | 0:09dd83d78a0a | 175 | void SetCurrent (unsigned char Current) { |
ghostaudio | 0:09dd83d78a0a | 176 | |
ghostaudio | 0:09dd83d78a0a | 177 | _send[0] = REGISTER_PROX_CURRENT; // VCNL40x0 IR LED Current register |
ghostaudio | 0:09dd83d78a0a | 178 | _send[1] = Current; |
ghostaudio | 0:09dd83d78a0a | 179 | i2c.write(VCNL4020,_send, 2); // Write 2 bytes on I2C |
ghostaudio | 0:09dd83d78a0a | 180 | |
ghostaudio | 0:09dd83d78a0a | 181 | } |
ghostaudio | 0:09dd83d78a0a | 182 | |
ghostaudio | 0:09dd83d78a0a | 183 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
ghostaudio | 0:09dd83d78a0a | 184 | |
ghostaudio | 4:57de0704968d | 185 | void ReadCurrent (unsigned char *Current) { |
ghostaudio | 4:57de0704968d | 186 | |
ghostaudio | 4:57de0704968d | 187 | _send[0] = REGISTER_PROX_CURRENT; // VCNL40x0 IR LED current register |
ghostaudio | 4:57de0704968d | 188 | i2c.write(VCNL4020,_send, 1); // Write 1 byte on I2C |
ghostaudio | 4:57de0704968d | 189 | i2c.read(VCNL4020+1,_receive, 1); // Read 1 byte on I2C |
ghostaudio | 4:57de0704968d | 190 | |
ghostaudio | 4:57de0704968d | 191 | *Current = (unsigned char)(_receive[0]); |
ghostaudio | 4:57de0704968d | 192 | } |
ghostaudio | 4:57de0704968d | 193 | |
ghostaudio | 4:57de0704968d | 194 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
ghostaudio | 4:57de0704968d | 195 | |
ghostaudio | 0:09dd83d78a0a | 196 | void ReadProxiValue (unsigned int *ProxiValue) { |
ghostaudio | 0:09dd83d78a0a | 197 | |
ghostaudio | 0:09dd83d78a0a | 198 | _send[0] = REGISTER_PROX_VALUE; // VCNL40x0 Proximity Value register |
ghostaudio | 0:09dd83d78a0a | 199 | i2c.write(VCNL4020, _send, 1); // Write 1 byte on I2C |
ghostaudio | 0:09dd83d78a0a | 200 | i2c.read(VCNL4020+1, _receive, 2); // Read 2 bytes on I2C |
ghostaudio | 0:09dd83d78a0a | 201 | *ProxiValue = ((unsigned int)_receive[0] << 8 | (unsigned char)_receive[1]); |
ghostaudio | 0:09dd83d78a0a | 202 | } |
ghostaudio | 0:09dd83d78a0a | 203 | |
ghostaudio | 0:09dd83d78a0a | 204 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
ghostaudio | 0:09dd83d78a0a | 205 | |
ghostaudio | 0:09dd83d78a0a | 206 | void SetProximityRate (unsigned char ProximityRate) { |
ghostaudio | 0:09dd83d78a0a | 207 | |
ghostaudio | 0:09dd83d78a0a | 208 | _send[0] = REGISTER_PROX_RATE; // VCNL40x0 Proximity rate register |
ghostaudio | 0:09dd83d78a0a | 209 | _send[1] = ProximityRate; |
ghostaudio | 0:09dd83d78a0a | 210 | i2c.write(VCNL4020,_send, 2); // Write 2 bytes on I2C |
ghostaudio | 0:09dd83d78a0a | 211 | } |
ghostaudio | 0:09dd83d78a0a | 212 | |
ghostaudio | 0:09dd83d78a0a | 213 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
ghostaudio | 0:09dd83d78a0a | 214 | |
ghostaudio | 0:09dd83d78a0a | 215 | void ReadProxiOnDemand (unsigned int *ProxiValue) { |
ghostaudio | 0:09dd83d78a0a | 216 | |
ghostaudio | 0:09dd83d78a0a | 217 | unsigned char Command=0; |
ghostaudio | 0:09dd83d78a0a | 218 | |
ghostaudio | 0:09dd83d78a0a | 219 | // enable prox value on demand |
ghostaudio | 0:09dd83d78a0a | 220 | SetCommandRegister (COMMAND_PROX_ENABLE | COMMAND_PROX_ON_DEMAND); |
ghostaudio | 0:09dd83d78a0a | 221 | |
ghostaudio | 0:09dd83d78a0a | 222 | // wait on prox data ready bit |
ghostaudio | 0:09dd83d78a0a | 223 | do { |
ghostaudio | 0:09dd83d78a0a | 224 | ReadCommandRegister (&Command); // read command register |
ghostaudio | 0:09dd83d78a0a | 225 | } while (!(Command & COMMAND_MASK_PROX_DATA_READY)); |
ghostaudio | 0:09dd83d78a0a | 226 | |
ghostaudio | 0:09dd83d78a0a | 227 | ReadProxiValue (ProxiValue); // read prox value |
ghostaudio | 0:09dd83d78a0a | 228 | |
ghostaudio | 0:09dd83d78a0a | 229 | SetCommandRegister (COMMAND_ALL_DISABLE); // stop prox value on demand |
ghostaudio | 0:09dd83d78a0a | 230 | |
ghostaudio | 0:09dd83d78a0a | 231 | } |