test
Dependencies: mbed AsyncBuzzerLib X_NUCLEO_53L1A1_mbed WS2812
main.cpp@0:89b87662e64b, 2020-09-29 (annotated)
- Committer:
- elab
- Date:
- Tue Sep 29 09:08:55 2020 +0000
- Revision:
- 0:89b87662e64b
first version
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
elab | 0:89b87662e64b | 1 | /* |
elab | 0:89b87662e64b | 2 | * This VL53L1X satellite board sample application performs range measurements |
elab | 0:89b87662e64b | 3 | * with interrupts enabled to generate a hardware interrupt each time a new |
elab | 0:89b87662e64b | 4 | * measurement is ready to be read. |
elab | 0:89b87662e64b | 5 | * |
elab | 0:89b87662e64b | 6 | * Measured ranges are output on the Serial Port, running at 115200 baud. |
elab | 0:89b87662e64b | 7 | * |
elab | 0:89b87662e64b | 8 | * On STM32-Nucleo boards : |
elab | 0:89b87662e64b | 9 | * The User Blue button stops the current measurement and entire program, |
elab | 0:89b87662e64b | 10 | * releasing all resources. |
elab | 0:89b87662e64b | 11 | * |
elab | 0:89b87662e64b | 12 | * The Black Reset button is used to restart the program. |
elab | 0:89b87662e64b | 13 | * |
elab | 0:89b87662e64b | 14 | * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of |
elab | 0:89b87662e64b | 15 | * the X-NUCELO-53L1A1 expansion board are not made/OFF. |
elab | 0:89b87662e64b | 16 | * These links must be made to allow interrupts from the Satellite boards |
elab | 0:89b87662e64b | 17 | * to be received. |
elab | 0:89b87662e64b | 18 | * U11 and U18 must be made/ON to allow interrupts to be received from the |
elab | 0:89b87662e64b | 19 | * INT_L & INT_R positions; or |
elab | 0:89b87662e64b | 20 | * U10 and U15 must be made/ON to allow interrupts to be received from the |
elab | 0:89b87662e64b | 21 | * Alternate INT_L & INT_R positions. |
elab | 0:89b87662e64b | 22 | * The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R |
elab | 0:89b87662e64b | 23 | * positions. |
elab | 0:89b87662e64b | 24 | * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9. |
elab | 0:89b87662e64b | 25 | * Alternate INT_L is on CN5 Connector pin 2 as D8. |
elab | 0:89b87662e64b | 26 | * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4. |
elab | 0:89b87662e64b | 27 | * Alternate INT_R is on CN9 Connector pin 5 as D2. |
elab | 0:89b87662e64b | 28 | * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/ |
elab | 0:89b87662e64b | 29 | */ |
elab | 0:89b87662e64b | 30 | |
elab | 0:89b87662e64b | 31 | #include <stdio.h> |
elab | 0:89b87662e64b | 32 | |
elab | 0:89b87662e64b | 33 | #include "mbed.h" |
elab | 0:89b87662e64b | 34 | #include "VL53L1X_I2C.h" |
elab | 0:89b87662e64b | 35 | #include "VL53L1X_Class.h" |
elab | 0:89b87662e64b | 36 | #include "LED_WS2812.h" |
elab | 0:89b87662e64b | 37 | |
elab | 0:89b87662e64b | 38 | #define VL53L1_I2C_SDA D14 |
elab | 0:89b87662e64b | 39 | #define VL53L1_I2C_SCL D15 |
elab | 0:89b87662e64b | 40 | |
elab | 0:89b87662e64b | 41 | static VL53L1X *sensor = NULL; |
elab | 0:89b87662e64b | 42 | Serial pc(SERIAL_TX, SERIAL_RX); |
elab | 0:89b87662e64b | 43 | PwmOut servo(D6); |
elab | 0:89b87662e64b | 44 | |
elab | 0:89b87662e64b | 45 | /* flags that handle interrupt request for sensor and user blue button*/ |
elab | 0:89b87662e64b | 46 | volatile bool int_sensor = false; |
elab | 0:89b87662e64b | 47 | volatile bool int_stop = false; |
elab | 0:89b87662e64b | 48 | |
elab | 0:89b87662e64b | 49 | |
elab | 0:89b87662e64b | 50 | /* ISR callback function of the sensor */ |
elab | 0:89b87662e64b | 51 | void sensor_irq(void) |
elab | 0:89b87662e64b | 52 | { |
elab | 0:89b87662e64b | 53 | int_sensor = true; |
elab | 0:89b87662e64b | 54 | sensor->disable_interrupt_measure_detection_irq(); |
elab | 0:89b87662e64b | 55 | } |
elab | 0:89b87662e64b | 56 | |
elab | 0:89b87662e64b | 57 | /* ISR callback function of the user blue button to switch measuring sensor. */ |
elab | 0:89b87662e64b | 58 | void measuring_stop_irq(void) |
elab | 0:89b87662e64b | 59 | { |
elab | 0:89b87662e64b | 60 | int_stop = true; |
elab | 0:89b87662e64b | 61 | } |
elab | 0:89b87662e64b | 62 | |
elab | 0:89b87662e64b | 63 | /* Start the sensor ranging */ |
elab | 0:89b87662e64b | 64 | int start_ranging() |
elab | 0:89b87662e64b | 65 | { |
elab | 0:89b87662e64b | 66 | int status = 0; |
elab | 0:89b87662e64b | 67 | /* start the measure on the sensor */ |
elab | 0:89b87662e64b | 68 | if (NULL != sensor) { |
elab | 0:89b87662e64b | 69 | status = sensor->stop_measurement(); |
elab | 0:89b87662e64b | 70 | if (status != 0) { |
elab | 0:89b87662e64b | 71 | return status; |
elab | 0:89b87662e64b | 72 | } |
elab | 0:89b87662e64b | 73 | |
elab | 0:89b87662e64b | 74 | status = sensor->start_measurement(&sensor_irq); |
elab | 0:89b87662e64b | 75 | if (status != 0) { |
elab | 0:89b87662e64b | 76 | return status; |
elab | 0:89b87662e64b | 77 | } |
elab | 0:89b87662e64b | 78 | } |
elab | 0:89b87662e64b | 79 | return status; |
elab | 0:89b87662e64b | 80 | } |
elab | 0:89b87662e64b | 81 | |
elab | 0:89b87662e64b | 82 | int range_measure(VL53L1X_DevI2C *device_i2c) |
elab | 0:89b87662e64b | 83 | { |
elab | 0:89b87662e64b | 84 | int status = 0; |
elab | 0:89b87662e64b | 85 | uint16_t distance = 0; |
elab | 0:89b87662e64b | 86 | int distance_close = 0; |
elab | 0:89b87662e64b | 87 | |
elab | 0:89b87662e64b | 88 | LED_WS2812 LED(A0,12); |
elab | 0:89b87662e64b | 89 | LED.SetIntensity(5); |
elab | 0:89b87662e64b | 90 | LED.SetColor(BLACK); |
elab | 0:89b87662e64b | 91 | |
elab | 0:89b87662e64b | 92 | /* Create a xshutdown pin */ |
elab | 0:89b87662e64b | 93 | DigitalOut xshutdown(D7); |
elab | 0:89b87662e64b | 94 | |
elab | 0:89b87662e64b | 95 | /* create instance of sensor class */ |
elab | 0:89b87662e64b | 96 | sensor = new VL53L1X(device_i2c, &xshutdown, A2); |
elab | 0:89b87662e64b | 97 | |
elab | 0:89b87662e64b | 98 | sensor->vl53l1_off(); |
elab | 0:89b87662e64b | 99 | /* initialise sensor */ |
elab | 0:89b87662e64b | 100 | sensor->init_sensor(0x52); |
elab | 0:89b87662e64b | 101 | |
elab | 0:89b87662e64b | 102 | if (status) { |
elab | 0:89b87662e64b | 103 | delete sensor; |
elab | 0:89b87662e64b | 104 | sensor= NULL; |
elab | 0:89b87662e64b | 105 | printf("Sensor centre not present\n\r"); |
elab | 0:89b87662e64b | 106 | } |
elab | 0:89b87662e64b | 107 | |
elab | 0:89b87662e64b | 108 | status = sensor->vl53l1x_set_inter_measurement_in_ms(1000); |
elab | 0:89b87662e64b | 109 | status = sensor->vl53l1x_set_distance_threshold(50, |
elab | 0:89b87662e64b | 110 | 50, 0, 0); |
elab | 0:89b87662e64b | 111 | status = start_ranging(); |
elab | 0:89b87662e64b | 112 | if (status != 0) { |
elab | 0:89b87662e64b | 113 | printf("Failed to start ranging!\r\n"); |
elab | 0:89b87662e64b | 114 | return status; |
elab | 0:89b87662e64b | 115 | } |
elab | 0:89b87662e64b | 116 | if (NULL != sensor) { |
elab | 0:89b87662e64b | 117 | printf("Entering loop mode\r\n"); |
elab | 0:89b87662e64b | 118 | /* Main ranging interrupt loop */ |
elab | 0:89b87662e64b | 119 | while (true) { |
elab | 0:89b87662e64b | 120 | if (int_sensor) { |
elab | 0:89b87662e64b | 121 | |
elab | 0:89b87662e64b | 122 | servo.period_ms(20); |
elab | 0:89b87662e64b | 123 | |
elab | 0:89b87662e64b | 124 | servo.pulsewidth_us(1150); |
elab | 0:89b87662e64b | 125 | wait_ms(100); |
elab | 0:89b87662e64b | 126 | servo.pulsewidth_us(1100); |
elab | 0:89b87662e64b | 127 | wait_ms(100); |
elab | 0:89b87662e64b | 128 | servo.pulsewidth_us(1050); |
elab | 0:89b87662e64b | 129 | wait_ms(100); |
elab | 0:89b87662e64b | 130 | servo.pulsewidth_us(1000); |
elab | 0:89b87662e64b | 131 | wait_ms(100); |
elab | 0:89b87662e64b | 132 | servo.pulsewidth_us(950); |
elab | 0:89b87662e64b | 133 | wait_ms(100); |
elab | 0:89b87662e64b | 134 | servo.pulsewidth_us(900); |
elab | 0:89b87662e64b | 135 | wait_ms(100); |
elab | 0:89b87662e64b | 136 | |
elab | 0:89b87662e64b | 137 | servo.pulsewidth_us(850); |
elab | 0:89b87662e64b | 138 | wait_ms(100); |
elab | 0:89b87662e64b | 139 | servo.pulsewidth_us(800); |
elab | 0:89b87662e64b | 140 | wait_ms(100); |
elab | 0:89b87662e64b | 141 | servo.pulsewidth_us(750); |
elab | 0:89b87662e64b | 142 | wait_ms(100); |
elab | 0:89b87662e64b | 143 | servo.pulsewidth_us(700); |
elab | 0:89b87662e64b | 144 | // wait_ms(100); |
elab | 0:89b87662e64b | 145 | // servo.pulsewidth_us(650); |
elab | 0:89b87662e64b | 146 | // wait_ms(100); |
elab | 0:89b87662e64b | 147 | // servo.pulsewidth_us(600); |
elab | 0:89b87662e64b | 148 | // wait_ms(100); |
elab | 0:89b87662e64b | 149 | // servo.pulsewidth_us(550); |
elab | 0:89b87662e64b | 150 | // wait_ms(100); |
elab | 0:89b87662e64b | 151 | // servo.pulsewidth_us(500); |
elab | 0:89b87662e64b | 152 | |
elab | 0:89b87662e64b | 153 | wait_ms(500); |
elab | 0:89b87662e64b | 154 | servo.pulsewidth_us(1150); |
elab | 0:89b87662e64b | 155 | |
elab | 0:89b87662e64b | 156 | int_sensor = false; |
elab | 0:89b87662e64b | 157 | status = sensor->handle_irq(&distance); |
elab | 0:89b87662e64b | 158 | printf("distance: %d\r\n", distance); |
elab | 0:89b87662e64b | 159 | } |
elab | 0:89b87662e64b | 160 | |
elab | 0:89b87662e64b | 161 | } |
elab | 0:89b87662e64b | 162 | } |
elab | 0:89b87662e64b | 163 | |
elab | 0:89b87662e64b | 164 | return status; |
elab | 0:89b87662e64b | 165 | |
elab | 0:89b87662e64b | 166 | } |
elab | 0:89b87662e64b | 167 | |
elab | 0:89b87662e64b | 168 | |
elab | 0:89b87662e64b | 169 | /*=================================== Main ================================== |
elab | 0:89b87662e64b | 170 | =============================================================================*/ |
elab | 0:89b87662e64b | 171 | int main() |
elab | 0:89b87662e64b | 172 | { |
elab | 0:89b87662e64b | 173 | #if TARGET_STM // we are cross compiling for an STM32-Nucleo |
elab | 0:89b87662e64b | 174 | InterruptIn stop_button(USER_BUTTON); |
elab | 0:89b87662e64b | 175 | stop_button.rise(&measuring_stop_irq); |
elab | 0:89b87662e64b | 176 | #endif |
elab | 0:89b87662e64b | 177 | #if TARGET_Freescale // we are cross-compiling for NXP FRDM boards. |
elab | 0:89b87662e64b | 178 | InterruptIn stop_button(SW2); |
elab | 0:89b87662e64b | 179 | stop_button.rise(&measuring_stop_irq); |
elab | 0:89b87662e64b | 180 | #endif |
elab | 0:89b87662e64b | 181 | VL53L1X_DevI2C *device_i2c = new VL53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL); |
elab | 0:89b87662e64b | 182 | range_measure(device_i2c); // start continuous measures |
elab | 0:89b87662e64b | 183 | } |