Example Code for Arduino-Read gesture by interrupt
Last revision 2026/01/22
Read gesture by interrupt
Hardware Preparation
- DFRduino UNO R3 (or similar) x 1
- Fermion: GR10-30 Gesture Sensor x 1
- DuPont Wires
Software Preparation
- Arduino IDE
- RTU Library (Install RTU library when using serial for communication)
- Download and install the GR10-30 library & sample codes. (About how to install the library?)
Wiring Diagram
Other Preparation Work
Connect the interrupt pin of the development board
Sample Code
/*!
* @file softGetData.ino
* @brief Run the routine and you can use interrupt to read gesture
* @n
* @n connected table
* ---------------------------------------------------------------------------------------------------------------
* board | MCU | Leonardo/Mega2560/M0 | UNO | ESP8266 | ESP32 | microbit |
* VCC | 3.3V/5V | VCC | VCC | VCC | VCC | X |
* GND | GND | GND | GND | GND | GND | X |
* RX | TX | Serial1 TX1 | 5 | 5/D6 | D2 | X |
* TX | RX | Serial1 RX1 | 4 | 4/D7 | D3 | X |
* ---------------------------------------------------------------------------------------------------------------
*
* @copyright Copyright (c) 2021 DFRobot Co.Ltd (http://www.dfrobot.com)
* @license The MIT License (MIT)
* @author [zhixinliu]([email protected])
* @version V0.1
* @date 2022-07-25
* @url https://github.com/DFRobor/DFRobot_GR10_30
*/
#include "DFRobot_GR10_30.h"
#if defined(ARDUINO_AVR_UNO)||defined(ESP8266)
#include <SoftwareSerial.h>
#endif
//#define UARTMODE // Serial mode
#define I2CMODE // I2C mode
#if defined UARTMODE
#if defined(ARDUINO_AVR_UNO)||defined(ESP8266)
SoftwareSerial mySerial(/*rx =*/4, /*tx =*/5);
DFRobot_GR10_30 gr10_30(/*addr =*/GR10_30_DEVICE_ADDR, /*s =*/&mySerial);
#else
DFRobot_GR10_30 gr10_30(/*addr =*/GR10_30_DEVICE_ADDR, /*s =*/&Serial1);
#endif
#endif
#if defined I2CMODE
DFRobot_GR10_30 gr10_30(/*addr = */GR10_30_DEVICE_ADDR, /*pWire = */&Wire);
#endif
volatile uint8_t interruptFlag = 0;
void myInterrupt(void)
{
interruptFlag = 1; // Interrupt flag
#if defined(ESP32) || defined(ESP8266) || defined(ARDUINO_SAM_ZERO)
detachInterrupt(13); // Detach interrupt
#else
detachInterrupt(0); // Detach interrupt
#endif
}
void setup()
{
#if defined UARTMODE
//Init MCU communication serial port
#if defined(ARDUINO_AVR_UNO)||defined(ESP8266)
mySerial.begin(9600);
#elif defined(ESP32)
Serial1.begin(9600, SERIAL_8N1, /*rx =*/D3, /*tx =*/D2);
#else
Serial1.begin(9600);
#endif
#endif
Serial.begin(115200);
while(gr10_30.begin() != 0){
Serial.println(" Sensor initialize failed!!");
delay(1000);
}
Serial.println(" Sensor initialize success!!");
/** Set the gesture to be enabled
* GESTURE_UP
* GESTURE_DOWN
* GESTURE_LEFT
* GESTURE_RIGHT
* GESTURE_FORWARD
* GESTURE_BACKWARD
* GESTURE_CLOCKWISE
* GESTURE_COUNTERCLOCKWISE
* GESTURE_WAVE It is not suggested to enable rotation gesture (CW/CCW) and wave gesture at the same time.
* GESTURE_HOVER Disable other gestures when hover gesture enables.
* GESTURE_UNKNOWN
* GESTURE_CLOCKWISE_C
* GESTURE_COUNTERCLOCKWISE_C
*/
gr10_30.enGestures(GESTURE_UP|GESTURE_DOWN|GESTURE_LEFT|GESTURE_RIGHT|GESTURE_FORWARD|GESTURE_BACKWARD|GESTURE_CLOCKWISE|GESTURE_COUNTERCLOCKWISE|GESTURE_CLOCKWISE_C|GESTURE_COUNTERCLOCKWISE_C);
// Use detailed config if enabled; use the default config if not enabled
/**
* Set the detection window you want, only data collected in the range are valid
* The largest window is 31, the configured number represents distance from the center to the top, bottom, left and right
* For example, if the configured distance from top to bottom is 30, then the distance from center to top is 15, and distance from center to bottom is also 15
* udSize Distance from top to bottom distance range 0-31
* lrSize Distance from left to right distance range 0-31
*/
// gr10_30.setUdlrWin(30, 30);
// gr10_30.setHovrWin(20, 20);
/**
* Set moving distance that can be recognized as a gesture
* Distance range 5-25, must be less than distances of the detection window
*/
// gr10_30.setLeftRange(10);
// gr10_30.setRightRange(10);
// gr10_30.setUpRange(10);
// gr10_30.setDownRange(10);
// gr10_30.setForwardRange(10);
// gr10_30.setBackwardRange(10);
/**
* Set distance of moving forward and backward that can be recognized as a gesture
* Distance range 1-15
*/
// gr10_30.setForwardRange(10);
// gr10_30.setBackwardRange(10);
/**
* Set wave number that can be recognized
* Number range 1-15
*/
// gr10_30.setWaveNumber(2);
/**
* Set hover time that can trigger the gesture
* 1 - 200 10ms-2s default is 60 600ms
*/
// gr10_30.setHovrTimer(60);
/**
* Set rotation angle that can trigger the gesture
* count Default is 16 range 1-31
* count Rotation angle is 22.5 * count
* count = 16 22.5*count = 360 Rotate 360° to trigger the gesture
*/
// gr10_30.setCwsAngle(/*count*/16);
// gr10_30.setCcwAngle(/*count*/16);
/**
* Set degrees of continuous rotation that can trigger the gesture
* count Default is 4 range 1-31
* count The degrees of continuous rotation is 22.5 * count
* For example: count = 4 22.5*count = 90
* Trigger the clockwise/counterclockwise rotation gesture first, if keep rotating, then the continuous rotation gesture will be triggered once every 90 degrees
*/
// gr10_30.setCwsAngleCount(/*count*/8);
// gr10_30.setCcwAngleCount(/*count*/8);
// Connect the interrupt pin of the development board
#if defined(ESP32) || defined(ESP8266)
/**!
Select according to the set DADY pin polarity
INPUT_PULLUP // Low polarity, set pin 13 to pull-up input
INPUT_PULLDOWN // High polarity, set pin 13 to pull-down input
interput io
All pins can be used. Pin 13 is recommended
*/
pinMode(/*Pin */13 ,INPUT_PULLUP);
attachInterrupt(/*interput io*/13, myInterrupt, ONLOW);
#elif defined(ARDUINO_SAM_ZERO)
pinMode(/*Pin */13 ,INPUT_PULLUP);
attachInterrupt(/*interput io*/13, myInterrupt, LOW);
#else
/**! The Correspondence Table of AVR Series Arduino Interrupt Pins And Terminal Numbers
* ---------------------------------------------------------------------------------------
* | | Pin | 2 | 3 | |
* | Uno, Nano, Mini, other 328-based |--------------------------------------------|
* | | Interrupt No | 0 | 1 | |
* |-------------------------------------------------------------------------------------|
* | | Pin | 2 | 3 | 21 | 20 | 19 | 18 |
* | Mega2560 |--------------------------------------------|
* | | Interrupt No | 0 | 1 | 2 | 3 | 4 | 5 |
* |-------------------------------------------------------------------------------------|
* | | Pin | 3 | 2 | 0 | 1 | 7 | |
* | Leonardo, other 32u4-based |--------------------------------------------|
* | | Interrupt No | 0 | 1 | 2 | 3 | 4 | |
* |--------------------------------------------------------------------------------------
*/
/**! The Correspondence Table of micro:bit Interrupt Pins And Terminal Numbers
* ---------------------------------------------------------------------------------------------------------------------------------------------
* | micro:bit | DigitalPin |P0-P20 can be used as an external interrupt |
* | (When using as an external interrupt, |---------------------------------------------------------------------------------------------|
* |no need to set it to input mode with pinMode)|Interrupt No|Interrupt number is a pin digital value, such as P0 interrupt number 0, P1 is 1 |
* |-------------------------------------------------------------------------------------------------------------------------------------------|
*/
/**!
Select according to the set DADY pin polarity
INPUT_PULLUP // Low polarity, set pin 2 to pull-up input
*/
pinMode(/*Pin */2 ,INPUT_PULLUP);
/**!
Set the pin to interrupt mode
// Open the external interrupt 0, connect INT1/2 to the digital pin of the main control:
function
callback function
state
LOW // When the pin is at low level, the interrupt occur, enter interrupt function
*/
attachInterrupt(/*Interrupt No*/0, /*function*/myInterrupt ,/*state*/LOW );
#endif
}
void loop()
{
/**!
When the interrupt occur in DRDY IO, get the geomagnetic data (get the data ready status through hardware)
Enable interrupt again
*/
if(interruptFlag == 1){
uint16_t gestures = gr10_30.getGesturesState();
if(gestures&GESTURE_UP){
Serial.println("Up");
}
if(gestures&GESTURE_DOWN){
Serial.println("Down");
}
if(gestures&GESTURE_LEFT){
Serial.println("Left");
}
if(gestures&GESTURE_RIGHT){
Serial.println("Right");
}
if(gestures&GESTURE_FORWARD){
Serial.println("Forward");
}
if(gestures&GESTURE_BACKWARD){
Serial.println("Backward");
}
if(gestures&GESTURE_CLOCKWISE){
Serial.println("Clockwise");
}
if(gestures&GESTURE_COUNTERCLOCKWISE){
Serial.println("Contrarotate");
}
if(gestures&GESTURE_WAVE){
Serial.println("Wave");
}
if(gestures&GESTURE_HOVER){
Serial.println("Hover");
}
if(gestures&GESTURE_CLOCKWISE_C){
Serial.println("Continuous clockwise");
}
if(gestures&GESTURE_COUNTERCLOCKWISE_C){
Serial.println("Continuous counterclockwise");
}
interruptFlag = 0;
#if defined(ESP32) || defined(ESP8266)
attachInterrupt(13, myInterrupt, ONLOW);
#elif defined(ARDUINO_SAM_ZERO)
attachInterrupt(13, myInterrupt, LOW);
#else
attachInterrupt(0, myInterrupt, LOW);
#endif
}
delay(1);
}
Result
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