File content as of revision 11:657dbe7bf245:

#include "mbed.h"
#include "x_nucleo_6180xa1.h"

#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <assert.h>

#define VL6180X_I2C_SDA I2C_SDA
#define VL6180X_I2C_SCL I2C_SCL

//#define RANGE_SINGLE_SHOT_POLLING
//#define ALS_SINGLE_SHOT_POLLING
//#define RANGE_CONTINUOUS_POLLING
//#define ALS_CONTINUOUS_POLLING
//#define RANGE_CONTINUOUS_INTERRUPT
#define ALS_CONTINUOUS_INTERRUPT
//#define INTERLEAVED_MODE_INTERRUPT
//#define RANGE_CONTINUOUS_POLLING_LOW_THRESHOLD
//#define RANGE_CONTINUOUS_POLLING_HIGH_THRESHOLD
//#define RANGE_CONTINUOUS_POLLING_OUT_OF_WINDOW
//#define ALS_CONTINUOUS_POLLING_LOW_THRESHOLD
//#define ALS_CONTINUOUS_POLLING_HIGH_THRESHOLD
//#define ALS_CONTINUOUS_POLLING_OUT_OF_WINDOW
//#define RANGE_CONTINUOUS_INTERRUPT_LOW_THRESHOLD
//#define RANGE_CONTINUOUS_INTERRUPT_HIGH_THRESHOLD
//#define RANGE_CONTINUOUS_INTERRUPT_OUT_OF_WINDOW	
//#define ALS_CONTINUOUS_INTERRUPT_LOW_THRESHOLD
//#define ALS_CONTINUOUS_INTERRUPT_HIGH_THRESHOLD
//#define ALS_CONTINUOUS_INTERRUPT_OUT_OF_WINDOW

/* Polling operating modes (1,2,3 and 4) don`t require callback function that handles IRQ 
   Callback functions are used only for measure that require interrupt */

void OnErrLog(void){}; // sistemare la funzione per stampare il messaggio che gli viene passato
void DISP_ExecLoopBody(void){};

DevI2C device_i2c(VL6180X_I2C_SDA, VL6180X_I2C_SCL);
static X_NUCLEO_6180XA1 *board=X_NUCLEO_6180XA1::Instance(&device_i2c);

MeasureData_t data_sensor_top, data_sensor_left, data_sensor_right;

Timer timer; // timer to debug
int start, end;	
	
/* flags that handle the call to HandleIRQ function */
bool flag_sensor_top=false, flag_sensor_bottom=false, flag_sensor_left=false, flag_sensor_right=false;	

/* callback functions of the sensors */ 
void SensorTopIRQ(void)
{
   flag_sensor_top=true;
	 board->sensor_top->DisableInterruptMeasureDetectionIRQ();
}	

void SensorBottomIRQ(void)
{
   flag_sensor_bottom=true;	
	 board->sensor_bottom->DisableInterruptMeasureDetectionIRQ();
}	

void SensorLeftIRQ(void)
{
   flag_sensor_left=true;	
	 board->sensor_left->DisableInterruptMeasureDetectionIRQ();
}

void SensorRightIRQ(void)
{
   flag_sensor_right=true;	
	 board->sensor_right->DisableInterruptMeasureDetectionIRQ();
}

int main()
{   
	 int status, status_t, status_b, status_l, status_r;
	
   status=board->InitBoard();
	 if(status)
		  printf("Failed to init the board!\n\r");

#ifdef RANGE_SINGLE_SHOT_POLLING	 
	 status_t=board->sensor_top->StartMeasurement(range_single_shot_polling, NULL, &data_sensor_top, NULL, NULL);
	 if(!status_t)
	    printf("Top Range: %dmm\n\r",data_sensor_top.range_mm);
	 else if(status==INVALID_PARAMS)
		  printf("Failed to start measurement!\n\r");
	 else
		  printf("Invalid range value!\n\r");
	 status_t=board->sensor_top->StopMeasurement(range_single_shot_polling);
	 if(status_t)
		  printf("Failed to stop measurement!\n\r");
#endif
	 
#ifdef ALS_SINGLE_SHOT_POLLING
	 status_t=board->sensor_top->StartMeasurement(als_single_shot_polling, NULL, &data_sensor_top, NULL, NULL);
	 if(!status_t)
	    printf("Top Light: %dlux\n\r",data_sensor_top.lux);
	 else if(status==INVALID_PARAMS)
		  printf("Failed to start measurement!\n\r");
	 else
		  printf("Invalid light value!\n\r");
	 status_t=board->sensor_top->StopMeasurement(als_single_shot_polling);
	 if(status_t)
		  printf("Failed to stop measurement!\n\r");
#endif

#ifdef RANGE_CONTINUOUS_POLLING
	 status_t=board->sensor_top->StartMeasurement(range_continuous_polling, NULL, &data_sensor_top, NULL, NULL);
	 if(!status_t)
	 {
		  int i;
		  for(i=0;i<10;i++)
		  {
				 status_t=board->sensor_top->GetMeasurement(range_continuous_polling, &data_sensor_top);
	       if(!status_t)
				    printf("Top Range measure %d: %dmm\n\r",i+1,data_sensor_top.range_mm);
	       else
	          printf("Invalid range value!\n\r");
			}
   }
	 else
	    printf("Failed to start measurement!\n\r");
	 status_t=board->sensor_top->StopMeasurement(range_continuous_polling);
	 if(status_t)
		  printf("Failed to stop measurement!\n\r");
#endif 
	
#ifdef ALS_CONTINUOUS_POLLING	 
	 status_t=board->sensor_top->StartMeasurement(als_continuous_polling, NULL, &data_sensor_top, NULL, NULL);
	 if(!status_t)
	 {
	    int i;
		  for(i=0;i<10;i++)
		  {
				 status=board->sensor_top->GetMeasurement(als_continuous_polling, &data_sensor_top);
	       if(!status_t)
				    printf("Top Light measure %d: %dlux\n\r",i,data_sensor_top.lux);
	       else
	          printf("Invalid light value!\n\r");
			}
   }
	 else
	    printf("Failed to start measurement!\n\r");
	 status_t=board->sensor_top->StopMeasurement(als_continuous_polling);
	 if(status_t)
		  printf("Failed to stop measurement!\n\r");
#endif
	 
/*#ifdef RANGE_CONTINUOUS_INTERRUPT
	 status_t=board->sensor_top->StartMeasurement(range_continuous_interrupt, SensorTopIRQ, &data_sensor_top, NULL, NULL);
	 status_l=board->sensor_left->StartMeasurement(range_continuous_interrupt, SensorLeftIRQ, &data_sensor_left, NULL, NULL);
	 if((!status_t)&&(!status_l))
	 {
		  while(1)
	    {
	      if(flag_sensor_top)
        {
 		      flag_sensor_top=false;
		      status_t=board->sensor_top->HandleIRQ(range_continuous_interrupt, &data_sensor_top);
			    if(!status_t)
				    printf("Top Range: %dmm\n\r",data_sensor_top.range_mm);
			    else
				    printf("Invalid range value!\n\r");
	      }
				if(flag_sensor_left)
        {
 		      flag_sensor_left=false;
		      status_l=board->sensor_left->HandleIRQ(range_continuous_interrupt, &data_sensor_left);
			    if(!status_l)
				    printf("Left Range: %dmm\n\r",data_sensor_left.range_mm);
			    else
				    printf("Invalid range value!\n\r");
	      }
	    }
	 }
	 else 
		  printf("Failed to start measurement!\n\r");
	 status_t=board->sensor_top->StopMeasurement(range_continuous_interrupt);
	 if(status_l)
		  printf("Failed to stop sensor_top measurement!\n\r");
	 status_l=board->sensor_left->StopMeasurement(range_continuous_interrupt);
	 if(status_l)
		  printf("Failed to stop sensor_left measurement!\n\r");
#endif*/

#ifdef RANGE_CONTINUOUS_INTERRUPT
     status=board->sensor_top->StartMeasurement(range_continuous_interrupt, SensorTopIRQ, &data_sensor_top, NULL, NULL);
     if(!status)
     {
        while(1)
        {
          if(flag_sensor_top)
          {
             flag_sensor_top=false;
             status=board->sensor_top->HandleIRQ(range_continuous_interrupt, &data_sensor_top);
             if(!status)
                printf("Range: %dmm\n\r",data_sensor_top.range_mm);
             else
                printf("Invalid range value!\n\r");
          }
        }
     }
     else 
        printf("Failed to start measurement!\n\r");
     status=board->sensor_top->StopMeasurement(range_continuous_interrupt);
     if(status)
          printf("Failed to stop measurement!\n\r");
#endif

#ifdef ALS_CONTINUOUS_INTERRUPT
	 status_t=board->sensor_top->StartMeasurement(als_continuous_interrupt, SensorTopIRQ, &data_sensor_top, NULL, NULL);
   if(!status_t)
	 {
	    while(1)
	    {
	      if(flag_sensor_top)
        {
 		      flag_sensor_top=false;
		      status_t=board->sensor_top->HandleIRQ(als_continuous_interrupt, &data_sensor_top);
	        if(!status_t)
				    printf("Top Light: %dlux\n\r",data_sensor_top.lux);
			    else
				    printf("Invalid light value!\n\r");
	      }
	    }
	 }
	 else
		  printf("Failed to stop measurement!\n\r");
	 status_t=board->sensor_top->StopMeasurement(als_continuous_interrupt);
	 if(status_t)
		  printf("Failed to stop measurement!\n\r");
#endif
	 
#ifdef INTERLEAVED_MODE_INTERRUPT	 
	 status_t=board->sensor_top->StartMeasurement(interleaved_mode_interrupt, SensorTopIRQ, &data_sensor_top, NULL, NULL);
	 if(!status_t)
	 {
	    while(1)
	    {
	      if(flag_sensor_top)
        {
 		      flag_sensor_top=false;
		      status_t=board->sensor_top->HandleIRQ(interleaved_mode_interrupt, &data_sensor_top);
			    if(!status_t)
					{
				    printf("Top Range: %dmm     ",data_sensor_top.range_mm);
						printf("Top Light: %dlux\n\r",data_sensor_top.lux);
					}
			    else
				    printf("Invalid range or light value!\n\r");
	      }
		 }
	 }
	 else
	    printf("Failed to stop measurement!\n\r");
	 status_t=board->sensor_top->StopMeasurement(interleaved_mode_interrupt);
	 if(status_t)
		  printf("Failed to stop measurement!\n\r"); 
#endif

#ifdef RANGE_CONTINUOUS_INTERRUPT_LOW_THRESHOLD
	 status_t=board->sensor_top->StartMeasurement(range_continuous_interrupt_low_threshold, SensorTopIRQ, &data_sensor_top, 80, NULL);
	 if(!status_t)
	 {
	    while(1)
	    {
	      if(flag_sensor_top)
        {
 		      flag_sensor_top=false;
		      status_t=board->sensor_top->HandleIRQ(range_continuous_interrupt_low_threshold, &data_sensor_top);
			    if(!status_t)
				    printf("Range int low threshold: %dmm\n\r",data_sensor_top.range_mm);
			    else
				    printf("Invalid range value!\n\r");
	      }
	    }
	 }
	 else 
		  printf("Failed to start measurement!\n\r");
	 status_t=board->sensor_top->StopMeasurement(range_continuous_interrupt_low_threshold);
	 if(status_t)
		  printf("Failed to stop measurement!\n\r");
#endif

/*
status_l=board->sensor_left->StartMeasurement(range_continuous_interrupt, SensorLeftIRQ, &data_sensor_left, NULL, NULL);	
status_r=board->sensor_right->StartMeasurement(als_continuous_interrupt, SensorRightIRQ, &data_sensor_right, NULL, NULL);
if((!status_l)&&(!status_r))
{
   while(1)
	 {
	   if(flag_sensor_left)
     {
 		   flag_sensor_left=false;
		   status_l=board->sensor_left->HandleIRQ(range_continuous_interrupt, &data_sensor_left);
			 if(!status_l)
				 printf("Left Range: %dmm\n\r",data_sensor_left.range_mm);
			 else
				 printf("Invalid range value!\n\r");
	   }
		 if(flag_sensor_right)
     {
 		   flag_sensor_right=false;
		   status_r=board->sensor_right->HandleIRQ(als_continuous_interrupt, &data_sensor_right);
			 if(!status_r)
				 printf("Right Light: %dlux\n\r",data_sensor_right.lux);
			 else
				 printf("Invalid light value!\n\r");
		 }
	 }
}
else 
	 printf("Failed to start measurement!\n\r");
status_t=board->sensor_top->StopMeasurement(range_continuous_interrupt_low_threshold);
if(status_t)
	 printf("Failed to stop measurement!\n\r");
status_t=board->sensor_top->StopMeasurement(als_continuous_interrupt);
if(status_t)
	 printf("Failed to stop measurement!\n\r");
*/ 

}