main6.cpp

00001 /*
00002  * APDS-9960
00003  *  Digital Proximity, Ambient Light, RGB and Gesture Sensor
00004  *
00005  * Mbed Application program
00006  *  Nano 33 BLE Sense board runs on mbed-OS6
00007  *  Modified by Kenji Arai / JH1PJL
00008  *      http://www7b.biglobe.ne.jp/~kenjia/
00009  *      https://os.mbed.com/users/kenjiArai/
00010  *      Started:    February   2nd, 2020
00011  *      Revised:    February  28th, 2021
00012  *
00013  *  Original:
00014  *      https://os.mbed.com/users/kbhagat6/code/Gesture_User_Interface/
00015  */
00016 
00017 //  Pre-selection --------------------------------------------------------------
00018 #include    "select_example.h"
00019 //#define EXAMPLE_6_CHECK_APDS_9960
00020 #ifdef EXAMPLE_6_CHECK_APDS_9960
00021 
00022 //  Include --------------------------------------------------------------------
00023 #include    "mbed.h"
00024 #include    "nano33blesense_iodef.h"
00025 #include    "glibr.h"
00026 
00027 //  Definition -----------------------------------------------------------------
00028 
00029 //  Object ---------------------------------------------------------------------
00030 InterruptIn     apds_int(PIN_APDS_INT);
00031 DigitalOut      sen_pwr(PIN_VDD_ENV, 1);
00032 DigitalOut      i2c_pullup(PIN_I2C_PULLUP, 1);
00033 DigitalOut      led_y(PIN_YELLOW, 0);
00034 DigitalOut      led_g(PIN_GREEN, 0);
00035 DigitalOut      lr(PIN_LR, 1);
00036 DigitalOut      lg(PIN_LG, 1);
00037 DigitalOut      lb(PIN_LB, 1);
00038 I2C             i2c(PIN_SDA1, PIN_SCL1);
00039 glibr           *gesture = NULL;
00040 
00041 //  ROM / Constant data --------------------------------------------------------
00042 
00043 //  RAM ------------------------------------------------------------------------
00044 
00045 //  Function prototypes --------------------------------------------------------
00046 void apds_hit_callback (void);
00047 
00048 //  subroutin (must be at this below line and do NOT change order) -------------
00049 #include    "usb_serial_as_stdio.h"
00050 #include    "check_revision.h"
00051 #include    "common.h"
00052 
00053 //------------------------------------------------------------------------------
00054 //  Control Program
00055 //------------------------------------------------------------------------------
00056 int main()
00057 {
00058     bool gerror = false;
00059 
00060     usb_serial_initialize();
00061     print_revision();
00062     i2c_pullup = 1;
00063     sen_pwr = 1;
00064     print_usb("Check APDS_9960\r\n");
00065     ThisThread::sleep_for(200ms);
00066     //  check I2C line
00067     check_i2c_connected_devices();
00068     gesture = new glibr(PIN_SDA1, PIN_SCL1);
00069     if (gesture->ginit()) {
00070         print_usb("APDS-9960 initialization complete\n\r");
00071     } else {
00072         print_usb("Something went wrong during APDS-9960 init\n\r");
00073         gerror=true;
00074     }
00075     // Start running the APDS-9960 gesture sensor engine
00076     if ( gesture->enableGestureSensor(true) ) {
00077         print_usb("Gesture sensor is now running\n\r");
00078     } else {
00079         print_usb("Something went wrong during gesture sensor init!\n\r");
00080         gerror=true;
00081     }
00082     // set pullup for Interrupt input pin
00083     apds_int.mode(PullUp);
00084     // Delay for initial pullup to take effect
00085     ThisThread::sleep_for(1ms);
00086     // Setup Interrupt callback function for a pb hit
00087     apds_int.fall(&apds_hit_callback);
00088     // Enable interrut
00089     apds_int.enable_irq(); 
00090     while(!(gesture->isGestureAvailable())){        
00091         ThisThread::sleep_for(200ms);
00092     }
00093     int temp;
00094     while(gerror == false) {
00095         if (gesture->isGestureAvailable()) {
00096             if(gesture->isGestureAvailable()){
00097                 temp = gesture->readGesture();
00098             }
00099             switch ( temp) {
00100                 case DIR_UP:
00101                     print_usb("Forward\r\n");
00102                     break;
00103                 case DIR_DOWN:
00104                     print_usb("Backward\r\n");
00105                     break;
00106                 case DIR_LEFT:
00107                     print_usb("LEFT\r\n");
00108                     break;
00109                 case DIR_RIGHT:
00110                     print_usb("RIGHT\r\n");
00111                     break;
00112                 case 67: 
00113                     print_usb("Collision\r\n");
00114                     break;
00115                 case DIR_NEAR:
00116                     print_usb("NEAR\r\n");
00117                     break;
00118                 case DIR_FAR:
00119                     print_usb("FAR\r\n");
00120                     break;
00121                 default:
00122                     print_usb("NONE\r\n");
00123                     break; 
00124             }
00125         }
00126     }
00127 }
00128 
00129 void apds_hit_callback (void)
00130 {
00131     led_y =!led_y;
00132 }
00133 
00134 #endif  // EXAMPLE_6_CHECK_APDS_9960