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Second demo with X-NUCLEO-53L1A1.
Dependencies: X_NUCLEO_53L1A1 X_NUCLEO_IKS01A3
main.cpp
- Committer:
- loarri
- Date:
- 2021-11-23
- Revision:
- 6:054c18d427bf
- Parent:
- 5:7f6149b9cbbe
- Child:
- 11:da3c8e9bf1f9
File content as of revision 6:054c18d427bf:
/*----------------------------------------------------------- Demo usata nel Corso STM32 NUCLEO Mbed OS - Novembre 2021 ----------------------------------------------------------- */ /* * This VL53L1X Expansion board test application performs range measurements * using the onboard embedded centre sensor, and 2 Satellite boards. * * Measured ranges are ouput on the Serial Port, running at 9600 baud. * * 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-53L0A1 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 "XNucleo53L1A1.h" #include "VL53L1X_I2C.h" #define VL53L1_I2C_SDA D14 #define VL53L1_I2C_SCL D15 #define DISPLAY_CENTRE false #define DISPLAY_LEFT true #define DISPLAY_RIGHT false static XNucleo53L1A1 *board=NULL; /*=================================== Main ================================== =============================================================================*/ int main() { int status = 0; uint8_t ready_centre = 0; uint8_t ready_left = 0; uint8_t ready_right = 0; uint16_t distance_centre = 0; uint16_t distance_left = 0; uint16_t distance_right = 0; printf("Hello world!\r\n"); VL53L1X_DevI2C *dev_I2C = new VL53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL); printf("I2C device created!\r\n"); /* creates the 53L1A1 expansion board singleton obj */ //board = XNucleo53L1A1::instance(dev_I2C, A2, D9, D2); /* original code */ board = XNucleo53L1A1::instance(dev_I2C, A2, PB_13, PB_14); printf("board created!\r\n"); /* init the 53L1A1 expansion board with default values */ status = board->init_board(); if (status) { printf("Failed to init board!\r\n"); return status; } printf("board initiated! - %d\r\n", status); /* Start ranging on the centre sensor */ if (board->sensor_centre != NULL) { status = board->sensor_centre->vl53l1x_start_ranging(); if (status != 0) { printf("Centre sensor failed to start ranging!\r\n"); return status; } } /* Start ranging on the left sensor */ if (board->sensor_left != NULL) { status = board->sensor_left->vl53l1x_start_ranging(); if (status != 0) { printf("Left sensor failed to start ranging!\r\n"); return status; } } /* Start ranging on the right sensor */ if (board->sensor_right != NULL) { status = board->sensor_right->vl53l1x_start_ranging(); if (status != 0) { printf("Right sensor failed to start ranging!\r\n"); return status; } } /* Ranging loop * Checks each sensor for data ready */ while (1) { if (board->sensor_centre != NULL) { board->sensor_centre->vl53l1x_check_for_data_ready(&ready_centre); } if (board->sensor_left != NULL) { board->sensor_left->vl53l1x_check_for_data_ready(&ready_left); } if (board->sensor_right != NULL) { board->sensor_right->vl53l1x_check_for_data_ready(&ready_right); } if (ready_centre) { board->sensor_centre->vl53l1x_get_range_status(&ready_centre); board->sensor_centre->vl53l1x_get_distance(&distance_centre); } if (ready_left) { board->sensor_left->vl53l1x_get_range_status(&ready_left); board->sensor_left->vl53l1x_get_distance(&distance_left); } if (ready_right) { board->sensor_right->vl53l1x_get_range_status(&ready_right); board->sensor_right->vl53l1x_get_distance(&distance_right); } #if DISPLAY_CENTRE if (board->sensor_centre != NULL) { printf("Distance read by centre sensor is : %d mm\r\n", distance_centre); } #endif #if DISPLAY_LEFT if (board->sensor_left != NULL) { printf("Distance read by left satellite sensor is : %d mm\r\n", distance_left); } #endif #if DISPLAY_RIGHT if (board->sensor_right != NULL) { printf("Distance read by right satellite sensor is : %d mm\r\n", distance_right); } #endif } return status; }