Diff: main.cpp

Revision:

0:89b87662e64b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Sep 29 09:08:55 2020 +0000
@@ -0,0 +1,183 @@
+/*
+ * This VL53L1X satellite board sample application performs range measurements
+ * with interrupts enabled to generate a hardware interrupt each time a new
+ * measurement is ready to be read.
+ *
+ *  Measured ranges are output on the Serial Port, running at 115200 baud.
+ *
+ *  On STM32-Nucleo boards :
+ *      The User Blue button stops the current measurement and entire program,
+ *      releasing all resources.
+ *
+ *      The Black Reset button is used to restart the program.
+ *
+ *  *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
+ *            the X-NUCELO-53L1A1 expansion board are not made/OFF.
+ *            These links must be made to allow interrupts from the Satellite boards
+ *            to be received.
+ *            U11 and U18 must be made/ON to allow interrupts to be received from the
+ *            INT_L & INT_R positions; or
+ *            U10 and U15 must be made/ON to allow interrupts to be received from the
+ *            Alternate INT_L & INT_R positions.
+ *            The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R
+ *            positions.
+ *            INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9.
+ *            Alternate INT_L is on CN5 Connector pin 2 as D8.
+ *            INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4.
+ *            Alternate INT_R is on CN9 Connector pin 5 as D2.
+ *            The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/
+ */
+
+#include <stdio.h>
+
+#include "mbed.h"
+#include "VL53L1X_I2C.h"
+#include "VL53L1X_Class.h"
+#include "LED_WS2812.h"
+
+#define VL53L1_I2C_SDA   D14
+#define VL53L1_I2C_SCL   D15
+
+static VL53L1X *sensor = NULL;
+Serial pc(SERIAL_TX, SERIAL_RX);
+PwmOut servo(D6);
+
+/* flags that handle interrupt request for sensor and user blue button*/
+volatile bool int_sensor = false;
+volatile bool int_stop = false;
+
+
+/* ISR callback function of the sensor */
+void sensor_irq(void)
+{
+    int_sensor = true;
+    sensor->disable_interrupt_measure_detection_irq();
+}
+
+/* ISR callback function of the user blue button to switch measuring sensor. */
+void measuring_stop_irq(void)
+{
+    int_stop = true;
+}
+
+/* Start the sensor ranging */
+int start_ranging()
+{
+    int status = 0;
+    /* start the measure on the sensor */
+    if (NULL != sensor) {
+        status = sensor->stop_measurement();
+        if (status != 0) {
+                return status;
+        }
+
+        status = sensor->start_measurement(&sensor_irq);
+        if (status != 0) {
+            return status;
+        }
+    }
+    return status;
+}
+
+int range_measure(VL53L1X_DevI2C *device_i2c)
+{
+    int status = 0;
+    uint16_t distance = 0;
+    int distance_close = 0;
+    
+    LED_WS2812 LED(A0,12);
+    LED.SetIntensity(5);
+    LED.SetColor(BLACK);
+    
+    /* Create a xshutdown pin */
+    DigitalOut xshutdown(D7);
+
+    /* create instance of sensor class */
+    sensor = new VL53L1X(device_i2c, &xshutdown, A2);
+
+    sensor->vl53l1_off();
+    /* initialise sensor */
+    sensor->init_sensor(0x52);
+
+    if (status) {
+        delete sensor;
+        sensor= NULL;
+        printf("Sensor centre not present\n\r");
+    }
+
+    status = sensor->vl53l1x_set_inter_measurement_in_ms(1000);    
+    status = sensor->vl53l1x_set_distance_threshold(50,
+                  50, 0, 0);
+    status = start_ranging();
+    if (status != 0) {
+        printf("Failed to start ranging!\r\n");
+        return status;
+    }
+    if (NULL != sensor) {
+        printf("Entering loop mode\r\n");
+        /* Main ranging interrupt loop */
+        while (true) {
+            if (int_sensor) {
+                
+                servo.period_ms(20);
+                
+                servo.pulsewidth_us(1150);
+                wait_ms(100);    
+                servo.pulsewidth_us(1100);
+                wait_ms(100);    
+                servo.pulsewidth_us(1050);
+                wait_ms(100);    
+                servo.pulsewidth_us(1000);
+                wait_ms(100);    
+                servo.pulsewidth_us(950);
+                wait_ms(100);    
+                servo.pulsewidth_us(900);
+                wait_ms(100);    
+
+                servo.pulsewidth_us(850);
+                wait_ms(100);    
+                servo.pulsewidth_us(800);
+                wait_ms(100);
+                servo.pulsewidth_us(750);
+                wait_ms(100);
+                servo.pulsewidth_us(700);
+//                wait_ms(100);
+//                servo.pulsewidth_us(650);
+//                wait_ms(100);
+//                servo.pulsewidth_us(600);
+//                wait_ms(100);   
+//                servo.pulsewidth_us(550);
+//                wait_ms(100);
+//                servo.pulsewidth_us(500);
+ 
+                wait_ms(500);
+                servo.pulsewidth_us(1150);
+                
+                int_sensor = false;
+                status = sensor->handle_irq(&distance);
+                printf("distance: %d\r\n", distance);         
+            }
+
+        }
+    }
+
+    return status;
+
+}
+
+
+/*=================================== Main ==================================
+=============================================================================*/
+int main()
+{
+#if TARGET_STM  // we are cross compiling for an STM32-Nucleo    
+    InterruptIn stop_button(USER_BUTTON);
+    stop_button.rise(&measuring_stop_irq);
+#endif
+#if TARGET_Freescale // we are cross-compiling for NXP FRDM boards.
+    InterruptIn stop_button(SW2);
+    stop_button.rise(&measuring_stop_irq);
+#endif
+    VL53L1X_DevI2C *device_i2c = new VL53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
+    range_measure(device_i2c);  // start continuous measures
+}