HuMVe-1 / Mbed OS MioTest_ToF_mems1

Second demo with X-NUCLEO-53L1A1.

Dependencies:   X_NUCLEO_53L1A1 X_NUCLEO_IKS01A3

main.cpp@6:054c18d427bf, 2021-11-23 (annotated)

Committer:
loarri
Date:
Tue Nov 23 16:33:58 2021 +0000
Revision:
6:054c18d427bf
Parent:
5:7f6149b9cbbe
Child:
11:da3c8e9bf1f9
updated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
loarri 5:7f6149b9cbbe 1 /*-----------------------------------------------------------
loarri 5:7f6149b9cbbe 2
loarri 5:7f6149b9cbbe 3 Demo usata nel Corso STM32 NUCLEO Mbed OS - Novembre 2021
loarri 5:7f6149b9cbbe 4
loarri 5:7f6149b9cbbe 5 -----------------------------------------------------------
loarri 5:7f6149b9cbbe 6 */
johnAlexander 0:6b7696e7df5e 7 /*
johnAlexander 0:6b7696e7df5e 8 * This VL53L1X Expansion board test application performs range measurements
johnAlexander 2:819f8323b02d 9 * using the onboard embedded centre sensor, and 2 Satellite boards.
johnAlexander 0:6b7696e7df5e 10 *
loarri 6:054c18d427bf 11 * Measured ranges are ouput on the Serial Port, running at 9600 baud.
johnAlexander 0:6b7696e7df5e 12 *
johnAlexander 0:6b7696e7df5e 13 * The Black Reset button is used to restart the program.
johnAlexander 0:6b7696e7df5e 14 *
johnAlexander 0:6b7696e7df5e 15 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
johnAlexander 0:6b7696e7df5e 16 * the X-NUCELO-53L0A1 expansion board are not made/OFF.
johnAlexander 0:6b7696e7df5e 17 * These links must be made to allow interrupts from the Satellite boards
johnAlexander 0:6b7696e7df5e 18 * to be received.
johnAlexander 0:6b7696e7df5e 19 * U11 and U18 must be made/ON to allow interrupts to be received from the
johnAlexander 0:6b7696e7df5e 20 * INT_L & INT_R positions; or
johnAlexander 0:6b7696e7df5e 21 * U10 and U15 must be made/ON to allow interrupts to be received from the
johnAlexander 0:6b7696e7df5e 22 * Alternate INT_L & INT_R positions.
johnAlexander 0:6b7696e7df5e 23 * The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R
johnAlexander 0:6b7696e7df5e 24 * positions.
johnAlexander 0:6b7696e7df5e 25 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9.
johnAlexander 0:6b7696e7df5e 26 * Alternate INT_L is on CN5 Connector pin 2 as D8.
johnAlexander 0:6b7696e7df5e 27 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4.
johnAlexander 0:6b7696e7df5e 28 * Alternate INT_R is on CN9 Connector pin 5 as D2.
johnAlexander 0:6b7696e7df5e 29 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/
johnAlexander 0:6b7696e7df5e 30 */
johnAlexander 0:6b7696e7df5e 31
johnAlexander 0:6b7696e7df5e 32 #include <stdio.h>
johnAlexander 0:6b7696e7df5e 33
johnAlexander 0:6b7696e7df5e 34 #include "mbed.h"
johnAlexander 0:6b7696e7df5e 35 #include "XNucleo53L1A1.h"
johnAlexander 3:d90f22c17d0c 36 #include "VL53L1X_I2C.h"
johnAlexander 0:6b7696e7df5e 37
johnAlexander 0:6b7696e7df5e 38 #define VL53L1_I2C_SDA D14
johnAlexander 0:6b7696e7df5e 39 #define VL53L1_I2C_SCL D15
johnAlexander 0:6b7696e7df5e 40
loarri 6:054c18d427bf 41 #define DISPLAY_CENTRE false
loarri 6:054c18d427bf 42 #define DISPLAY_LEFT true
loarri 6:054c18d427bf 43 #define DISPLAY_RIGHT false
loarri 6:054c18d427bf 44
johnAlexander 0:6b7696e7df5e 45 static XNucleo53L1A1 *board=NULL;
johnAlexander 0:6b7696e7df5e 46
dmathew 1:b7507ca3370f 47
johnAlexander 0:6b7696e7df5e 48
johnAlexander 0:6b7696e7df5e 49 /*=================================== Main ==================================
johnAlexander 0:6b7696e7df5e 50 =============================================================================*/
johnAlexander 0:6b7696e7df5e 51 int main()
johnAlexander 0:6b7696e7df5e 52 {
johnAlexander 0:6b7696e7df5e 53 int status = 0;
johnAlexander 0:6b7696e7df5e 54 uint8_t ready_centre = 0;
johnAlexander 0:6b7696e7df5e 55 uint8_t ready_left = 0;
johnAlexander 0:6b7696e7df5e 56 uint8_t ready_right = 0;
johnAlexander 0:6b7696e7df5e 57 uint16_t distance_centre = 0;
johnAlexander 0:6b7696e7df5e 58 uint16_t distance_left = 0;
johnAlexander 0:6b7696e7df5e 59 uint16_t distance_right = 0;
johnAlexander 0:6b7696e7df5e 60
johnAlexander 0:6b7696e7df5e 61 printf("Hello world!\r\n");
johnAlexander 0:6b7696e7df5e 62
johnAlexander 3:d90f22c17d0c 63 VL53L1X_DevI2C *dev_I2C = new VL53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
johnAlexander 0:6b7696e7df5e 64
johnAlexander 0:6b7696e7df5e 65 printf("I2C device created!\r\n");
johnAlexander 0:6b7696e7df5e 66
johnAlexander 0:6b7696e7df5e 67 /* creates the 53L1A1 expansion board singleton obj */
loarri 5:7f6149b9cbbe 68 //board = XNucleo53L1A1::instance(dev_I2C, A2, D9, D2); /* original code */
loarri 5:7f6149b9cbbe 69 board = XNucleo53L1A1::instance(dev_I2C, A2, PB_13, PB_14);
johnAlexander 0:6b7696e7df5e 70 printf("board created!\r\n");
johnAlexander 0:6b7696e7df5e 71
johnAlexander 0:6b7696e7df5e 72 /* init the 53L1A1 expansion board with default values */
johnAlexander 0:6b7696e7df5e 73 status = board->init_board();
dmathew 1:b7507ca3370f 74 if (status) {
johnAlexander 0:6b7696e7df5e 75 printf("Failed to init board!\r\n");
johnAlexander 0:6b7696e7df5e 76 return status;
johnAlexander 0:6b7696e7df5e 77 }
johnAlexander 0:6b7696e7df5e 78
johnAlexander 0:6b7696e7df5e 79 printf("board initiated! - %d\r\n", status);
johnAlexander 0:6b7696e7df5e 80
johnAlexander 0:6b7696e7df5e 81 /* Start ranging on the centre sensor */
dmathew 1:b7507ca3370f 82 if (board->sensor_centre != NULL) {
johnAlexander 3:d90f22c17d0c 83 status = board->sensor_centre->vl53l1x_start_ranging();
dmathew 1:b7507ca3370f 84 if (status != 0) {
dmathew 1:b7507ca3370f 85 printf("Centre sensor failed to start ranging!\r\n");
dmathew 1:b7507ca3370f 86 return status;
dmathew 1:b7507ca3370f 87 }
johnAlexander 0:6b7696e7df5e 88 }
johnAlexander 0:6b7696e7df5e 89
johnAlexander 0:6b7696e7df5e 90 /* Start ranging on the left sensor */
dmathew 1:b7507ca3370f 91 if (board->sensor_left != NULL) {
johnAlexander 3:d90f22c17d0c 92 status = board->sensor_left->vl53l1x_start_ranging();
dmathew 1:b7507ca3370f 93 if (status != 0) {
dmathew 1:b7507ca3370f 94 printf("Left sensor failed to start ranging!\r\n");
dmathew 1:b7507ca3370f 95 return status;
dmathew 1:b7507ca3370f 96 }
johnAlexander 0:6b7696e7df5e 97 }
johnAlexander 0:6b7696e7df5e 98
johnAlexander 0:6b7696e7df5e 99 /* Start ranging on the right sensor */
dmathew 1:b7507ca3370f 100 if (board->sensor_right != NULL) {
johnAlexander 3:d90f22c17d0c 101 status = board->sensor_right->vl53l1x_start_ranging();
dmathew 1:b7507ca3370f 102 if (status != 0) {
dmathew 1:b7507ca3370f 103 printf("Right sensor failed to start ranging!\r\n");
dmathew 1:b7507ca3370f 104 return status;
dmathew 1:b7507ca3370f 105 }
johnAlexander 0:6b7696e7df5e 106 }
johnAlexander 0:6b7696e7df5e 107
johnAlexander 0:6b7696e7df5e 108 /* Ranging loop
johnAlexander 0:6b7696e7df5e 109 * Checks each sensor for data ready
johnAlexander 0:6b7696e7df5e 110 */
johnAlexander 0:6b7696e7df5e 111 while (1)
johnAlexander 0:6b7696e7df5e 112 {
dmathew 1:b7507ca3370f 113 if (board->sensor_centre != NULL) {
johnAlexander 3:d90f22c17d0c 114 board->sensor_centre->vl53l1x_check_for_data_ready(&ready_centre);
dmathew 1:b7507ca3370f 115 }
dmathew 1:b7507ca3370f 116 if (board->sensor_left != NULL) {
johnAlexander 3:d90f22c17d0c 117 board->sensor_left->vl53l1x_check_for_data_ready(&ready_left);
dmathew 1:b7507ca3370f 118 }
dmathew 1:b7507ca3370f 119 if (board->sensor_right != NULL) {
johnAlexander 3:d90f22c17d0c 120 board->sensor_right->vl53l1x_check_for_data_ready(&ready_right);
dmathew 1:b7507ca3370f 121 }
johnAlexander 0:6b7696e7df5e 122 if (ready_centre) {
johnAlexander 3:d90f22c17d0c 123 board->sensor_centre->vl53l1x_get_range_status(&ready_centre);
johnAlexander 3:d90f22c17d0c 124 board->sensor_centre->vl53l1x_get_distance(&distance_centre);
johnAlexander 0:6b7696e7df5e 125 }
johnAlexander 0:6b7696e7df5e 126 if (ready_left) {
johnAlexander 3:d90f22c17d0c 127 board->sensor_left->vl53l1x_get_range_status(&ready_left);
johnAlexander 3:d90f22c17d0c 128 board->sensor_left->vl53l1x_get_distance(&distance_left);
johnAlexander 0:6b7696e7df5e 129 }
johnAlexander 0:6b7696e7df5e 130 if (ready_right) {
johnAlexander 3:d90f22c17d0c 131 board->sensor_right->vl53l1x_get_range_status(&ready_right);
johnAlexander 3:d90f22c17d0c 132 board->sensor_right->vl53l1x_get_distance(&distance_right);
johnAlexander 0:6b7696e7df5e 133 }
loarri 6:054c18d427bf 134 #if DISPLAY_CENTRE
dmathew 1:b7507ca3370f 135 if (board->sensor_centre != NULL) {
loarri 6:054c18d427bf 136 printf("Distance read by centre sensor is : %d mm\r\n", distance_centre);
dmathew 1:b7507ca3370f 137 }
loarri 6:054c18d427bf 138 #endif
loarri 6:054c18d427bf 139 #if DISPLAY_LEFT
dmathew 1:b7507ca3370f 140 if (board->sensor_left != NULL) {
loarri 6:054c18d427bf 141 printf("Distance read by left satellite sensor is : %d mm\r\n", distance_left);
dmathew 1:b7507ca3370f 142 }
loarri 6:054c18d427bf 143 #endif
loarri 6:054c18d427bf 144 #if DISPLAY_RIGHT
dmathew 1:b7507ca3370f 145 if (board->sensor_right != NULL) {
loarri 6:054c18d427bf 146 printf("Distance read by right satellite sensor is : %d mm\r\n", distance_right);
dmathew 1:b7507ca3370f 147 }
loarri 6:054c18d427bf 148 #endif
johnAlexander 0:6b7696e7df5e 149 }
johnAlexander 0:6b7696e7df5e 150
johnAlexander 0:6b7696e7df5e 151 return status;
johnAlexander 0:6b7696e7df5e 152 }