OS5 Sample application using interrupts, and range_continuous_interrupts mode, to receive range data from the on-board and satellite sensors. Results are displayed on the on-board, 4 digit display and on the COM port.
Dependencies: X_NUCLEO_53L0A1_mbed_sdk
main.cpp@0:fd2a93574dce, 2017-06-29 (annotated)
- Committer:
- JerrySzczurak
- Date:
- Thu Jun 29 07:41:39 2017 +0000
- Revision:
- 0:fd2a93574dce
OS5 Sample application using interrupts, and range_continuous_interrupts mode, to receive range data from the on-board and satellite sensors. Results are displayed on the on-board, 4 digit display and on the COM port.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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JerrySzczurak | 0:fd2a93574dce | 1 | #include "mbed.h" |
JerrySzczurak | 0:fd2a93574dce | 2 | #include "x_nucleo_53l0a1.h" |
JerrySzczurak | 0:fd2a93574dce | 3 | #include <string.h> |
JerrySzczurak | 0:fd2a93574dce | 4 | #include <stdlib.h> |
JerrySzczurak | 0:fd2a93574dce | 5 | #include <stdio.h> |
JerrySzczurak | 0:fd2a93574dce | 6 | #include <assert.h> |
JerrySzczurak | 0:fd2a93574dce | 7 | |
JerrySzczurak | 0:fd2a93574dce | 8 | #define DEFAULT_STACK_SIZE 768 |
JerrySzczurak | 0:fd2a93574dce | 9 | /* |
JerrySzczurak | 0:fd2a93574dce | 10 | * This VL53L0X Expansion board sample application performs range measurements using |
JerrySzczurak | 0:fd2a93574dce | 11 | * range_continuous_interrupt mode to generate a hardware interrupt each time a new |
JerrySzczurak | 0:fd2a93574dce | 12 | * measurement is ready to be read. |
JerrySzczurak | 0:fd2a93574dce | 13 | * The application supports the centre, on-board, sensor and up two satellite boards. |
JerrySzczurak | 0:fd2a93574dce | 14 | * |
JerrySzczurak | 0:fd2a93574dce | 15 | * The measured range data is displayed on the on-board 4-digit LED display. |
JerrySzczurak | 0:fd2a93574dce | 16 | * |
JerrySzczurak | 0:fd2a93574dce | 17 | * The User Blue button switches between the currently selected sensor to display range |
JerrySzczurak | 0:fd2a93574dce | 18 | * results from. |
JerrySzczurak | 0:fd2a93574dce | 19 | * |
JerrySzczurak | 0:fd2a93574dce | 20 | * The Black Reset button is used to restart the program. |
JerrySzczurak | 0:fd2a93574dce | 21 | * |
JerrySzczurak | 0:fd2a93574dce | 22 | * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of |
JerrySzczurak | 0:fd2a93574dce | 23 | * the X-NUCELO-53L0A1 expansion board are not made/OFF. |
JerrySzczurak | 0:fd2a93574dce | 24 | * These links must be made to allow interrupts from the Satellite boards |
JerrySzczurak | 0:fd2a93574dce | 25 | * to be received. |
JerrySzczurak | 0:fd2a93574dce | 26 | * U11 and U18 must be made/ON to allow interrupts to be received from the |
JerrySzczurak | 0:fd2a93574dce | 27 | * INT_L & INT_R positions; or |
JerrySzczurak | 0:fd2a93574dce | 28 | * U10 and U15 must be made/ON to allow interrupts to be received from the |
JerrySzczurak | 0:fd2a93574dce | 29 | * Alternate INT_L & INT_R positions. |
JerrySzczurak | 0:fd2a93574dce | 30 | * The X_NUCLEO_53L0A1 firmware library defaults to use the INT_L/INT_R |
JerrySzczurak | 0:fd2a93574dce | 31 | * positions. |
JerrySzczurak | 0:fd2a93574dce | 32 | * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8. |
JerrySzczurak | 0:fd2a93574dce | 33 | * Alternate INT_L is on CN5 Connector pin 2 as D9. |
JerrySzczurak | 0:fd2a93574dce | 34 | * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2. |
JerrySzczurak | 0:fd2a93574dce | 35 | * Alternate INT_R is on CN9 Connector pin 5 as D4. |
JerrySzczurak | 0:fd2a93574dce | 36 | * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L0A1/ |
JerrySzczurak | 0:fd2a93574dce | 37 | * |
JerrySzczurak | 0:fd2a93574dce | 38 | */ |
JerrySzczurak | 0:fd2a93574dce | 39 | |
JerrySzczurak | 0:fd2a93574dce | 40 | #define VL53L0_I2C_SDA D14 |
JerrySzczurak | 0:fd2a93574dce | 41 | #define VL53L0_I2C_SCL D15 |
JerrySzczurak | 0:fd2a93574dce | 42 | |
JerrySzczurak | 0:fd2a93574dce | 43 | #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-64s |
JerrySzczurak | 0:fd2a93574dce | 44 | InterruptIn stop_button (USER_BUTTON); |
JerrySzczurak | 0:fd2a93574dce | 45 | #endif |
JerrySzczurak | 0:fd2a93574dce | 46 | |
JerrySzczurak | 0:fd2a93574dce | 47 | static X_NUCLEO_53L0A1 *board=NULL; |
JerrySzczurak | 0:fd2a93574dce | 48 | VL53L0X_RangingMeasurementData_t data_sensor; |
JerrySzczurak | 0:fd2a93574dce | 49 | OperatingMode operating_mode; |
JerrySzczurak | 0:fd2a93574dce | 50 | |
JerrySzczurak | 0:fd2a93574dce | 51 | /* current displayed sensor change IRQ */ |
JerrySzczurak | 0:fd2a93574dce | 52 | volatile bool switchChanged = false; |
JerrySzczurak | 0:fd2a93574dce | 53 | |
JerrySzczurak | 0:fd2a93574dce | 54 | /* interrupt requests */ |
JerrySzczurak | 0:fd2a93574dce | 55 | volatile bool centerSensor = false; |
JerrySzczurak | 0:fd2a93574dce | 56 | volatile bool leftSensor = false; |
JerrySzczurak | 0:fd2a93574dce | 57 | volatile bool rightSensor = false; |
JerrySzczurak | 0:fd2a93574dce | 58 | |
JerrySzczurak | 0:fd2a93574dce | 59 | /* Current sensor number*/ |
JerrySzczurak | 0:fd2a93574dce | 60 | volatile int currentSensor = 0; |
JerrySzczurak | 0:fd2a93574dce | 61 | /* Installed sensors count */ |
JerrySzczurak | 0:fd2a93574dce | 62 | int sensorCnt = 0; |
JerrySzczurak | 0:fd2a93574dce | 63 | |
JerrySzczurak | 0:fd2a93574dce | 64 | /* installed sensors prefixes */ |
JerrySzczurak | 0:fd2a93574dce | 65 | char installedSensors[3]; |
JerrySzczurak | 0:fd2a93574dce | 66 | |
JerrySzczurak | 0:fd2a93574dce | 67 | /* ISR callback function of the sensor_centre */ |
JerrySzczurak | 0:fd2a93574dce | 68 | void SensorCenterIRQ(void) |
JerrySzczurak | 0:fd2a93574dce | 69 | { |
JerrySzczurak | 0:fd2a93574dce | 70 | centerSensor = true; |
JerrySzczurak | 0:fd2a93574dce | 71 | board->sensor_centre->disable_interrupt_measure_detection_irq(); |
JerrySzczurak | 0:fd2a93574dce | 72 | } |
JerrySzczurak | 0:fd2a93574dce | 73 | |
JerrySzczurak | 0:fd2a93574dce | 74 | void SensorLeftIRQ(void) |
JerrySzczurak | 0:fd2a93574dce | 75 | { |
JerrySzczurak | 0:fd2a93574dce | 76 | leftSensor = true; |
JerrySzczurak | 0:fd2a93574dce | 77 | board->sensor_left->disable_interrupt_measure_detection_irq(); |
JerrySzczurak | 0:fd2a93574dce | 78 | } |
JerrySzczurak | 0:fd2a93574dce | 79 | |
JerrySzczurak | 0:fd2a93574dce | 80 | void SensorRightIRQ(void) |
JerrySzczurak | 0:fd2a93574dce | 81 | { |
JerrySzczurak | 0:fd2a93574dce | 82 | rightSensor = true; |
JerrySzczurak | 0:fd2a93574dce | 83 | board->sensor_right->disable_interrupt_measure_detection_irq(); |
JerrySzczurak | 0:fd2a93574dce | 84 | } |
JerrySzczurak | 0:fd2a93574dce | 85 | |
JerrySzczurak | 0:fd2a93574dce | 86 | /* ISR callback function of the user blue button to switch measuring sensor. */ |
JerrySzczurak | 0:fd2a93574dce | 87 | void SwitchMeasuringSensorIRQ(void) |
JerrySzczurak | 0:fd2a93574dce | 88 | { |
JerrySzczurak | 0:fd2a93574dce | 89 | stop_button.disable_irq(); |
JerrySzczurak | 0:fd2a93574dce | 90 | switchChanged = true; |
JerrySzczurak | 0:fd2a93574dce | 91 | } |
JerrySzczurak | 0:fd2a93574dce | 92 | |
JerrySzczurak | 0:fd2a93574dce | 93 | |
JerrySzczurak | 0:fd2a93574dce | 94 | /* On board 4 digit local display refresh */ |
JerrySzczurak | 0:fd2a93574dce | 95 | void RefreshDisplay(const VL53L0X_RangingMeasurementData_t &data, char prefix) |
JerrySzczurak | 0:fd2a93574dce | 96 | { |
JerrySzczurak | 0:fd2a93574dce | 97 | static char str[5]; |
JerrySzczurak | 0:fd2a93574dce | 98 | if (data_sensor.RangeStatus == 0) // we have a valid range. |
JerrySzczurak | 0:fd2a93574dce | 99 | { |
JerrySzczurak | 0:fd2a93574dce | 100 | sprintf(str, "%c%3d", prefix ,data.RangeMilliMeter); |
JerrySzczurak | 0:fd2a93574dce | 101 | board->display->display_string(str); |
JerrySzczurak | 0:fd2a93574dce | 102 | } |
JerrySzczurak | 0:fd2a93574dce | 103 | else |
JerrySzczurak | 0:fd2a93574dce | 104 | { |
JerrySzczurak | 0:fd2a93574dce | 105 | sprintf(str, "%c%s", prefix, "---"); |
JerrySzczurak | 0:fd2a93574dce | 106 | board->display->display_string(str); |
JerrySzczurak | 0:fd2a93574dce | 107 | } |
JerrySzczurak | 0:fd2a93574dce | 108 | } |
JerrySzczurak | 0:fd2a93574dce | 109 | |
JerrySzczurak | 0:fd2a93574dce | 110 | inline void MeasureSensors(OperatingMode op_mode) |
JerrySzczurak | 0:fd2a93574dce | 111 | { |
JerrySzczurak | 0:fd2a93574dce | 112 | bool current = false; |
JerrySzczurak | 0:fd2a93574dce | 113 | if (centerSensor) |
JerrySzczurak | 0:fd2a93574dce | 114 | { |
JerrySzczurak | 0:fd2a93574dce | 115 | centerSensor = false; |
JerrySzczurak | 0:fd2a93574dce | 116 | board->sensor_centre->handle_irq(op_mode, &data_sensor); |
JerrySzczurak | 0:fd2a93574dce | 117 | current = (currentSensor == 0); |
JerrySzczurak | 0:fd2a93574dce | 118 | if (current) |
JerrySzczurak | 0:fd2a93574dce | 119 | { |
JerrySzczurak | 0:fd2a93574dce | 120 | RefreshDisplay(data_sensor, 'C'); |
JerrySzczurak | 0:fd2a93574dce | 121 | } |
JerrySzczurak | 0:fd2a93574dce | 122 | if (data_sensor.RangeStatus == 0) // we have a valid range. |
JerrySzczurak | 0:fd2a93574dce | 123 | { |
JerrySzczurak | 0:fd2a93574dce | 124 | printf("%c %4d; ", 'C', data_sensor.RangeMilliMeter); |
JerrySzczurak | 0:fd2a93574dce | 125 | } |
JerrySzczurak | 0:fd2a93574dce | 126 | } |
JerrySzczurak | 0:fd2a93574dce | 127 | if (leftSensor) |
JerrySzczurak | 0:fd2a93574dce | 128 | { |
JerrySzczurak | 0:fd2a93574dce | 129 | leftSensor = false; |
JerrySzczurak | 0:fd2a93574dce | 130 | board->sensor_left->handle_irq(op_mode, &data_sensor); |
JerrySzczurak | 0:fd2a93574dce | 131 | current = (installedSensors[currentSensor] == 'L'); |
JerrySzczurak | 0:fd2a93574dce | 132 | if (current) |
JerrySzczurak | 0:fd2a93574dce | 133 | { |
JerrySzczurak | 0:fd2a93574dce | 134 | RefreshDisplay(data_sensor, 'L'); |
JerrySzczurak | 0:fd2a93574dce | 135 | } |
JerrySzczurak | 0:fd2a93574dce | 136 | if (data_sensor.RangeStatus == 0) // we have a valid range. |
JerrySzczurak | 0:fd2a93574dce | 137 | { |
JerrySzczurak | 0:fd2a93574dce | 138 | printf("%c %4d; ", 'L', data_sensor.RangeMilliMeter); |
JerrySzczurak | 0:fd2a93574dce | 139 | } |
JerrySzczurak | 0:fd2a93574dce | 140 | |
JerrySzczurak | 0:fd2a93574dce | 141 | } |
JerrySzczurak | 0:fd2a93574dce | 142 | if (rightSensor) |
JerrySzczurak | 0:fd2a93574dce | 143 | { |
JerrySzczurak | 0:fd2a93574dce | 144 | rightSensor = false; |
JerrySzczurak | 0:fd2a93574dce | 145 | board->sensor_right->handle_irq(op_mode, &data_sensor); |
JerrySzczurak | 0:fd2a93574dce | 146 | current = (installedSensors[currentSensor] == 'R'); |
JerrySzczurak | 0:fd2a93574dce | 147 | if (current) |
JerrySzczurak | 0:fd2a93574dce | 148 | { |
JerrySzczurak | 0:fd2a93574dce | 149 | RefreshDisplay(data_sensor, 'R'); |
JerrySzczurak | 0:fd2a93574dce | 150 | } |
JerrySzczurak | 0:fd2a93574dce | 151 | if (data_sensor.RangeStatus == 0) // we have a valid range. |
JerrySzczurak | 0:fd2a93574dce | 152 | { |
JerrySzczurak | 0:fd2a93574dce | 153 | printf("%c %4d; ", 'R', data_sensor.RangeMilliMeter); |
JerrySzczurak | 0:fd2a93574dce | 154 | } |
JerrySzczurak | 0:fd2a93574dce | 155 | |
JerrySzczurak | 0:fd2a93574dce | 156 | } |
JerrySzczurak | 0:fd2a93574dce | 157 | } |
JerrySzczurak | 0:fd2a93574dce | 158 | |
JerrySzczurak | 0:fd2a93574dce | 159 | int InitSensorsArray() |
JerrySzczurak | 0:fd2a93574dce | 160 | { |
JerrySzczurak | 0:fd2a93574dce | 161 | int status = 1; |
JerrySzczurak | 0:fd2a93574dce | 162 | sensorCnt = 0; |
JerrySzczurak | 0:fd2a93574dce | 163 | /* start the measure on the center sensor */ |
JerrySzczurak | 0:fd2a93574dce | 164 | if (NULL != board->sensor_centre) |
JerrySzczurak | 0:fd2a93574dce | 165 | { |
JerrySzczurak | 0:fd2a93574dce | 166 | installedSensors[sensorCnt] = 'C'; |
JerrySzczurak | 0:fd2a93574dce | 167 | status=board->sensor_centre->stop_measurement(operating_mode); |
JerrySzczurak | 0:fd2a93574dce | 168 | status=board->sensor_centre->start_measurement(operating_mode, &SensorCenterIRQ); |
JerrySzczurak | 0:fd2a93574dce | 169 | ++sensorCnt; |
JerrySzczurak | 0:fd2a93574dce | 170 | } |
JerrySzczurak | 0:fd2a93574dce | 171 | /* start the measure on the left sensor */ |
JerrySzczurak | 0:fd2a93574dce | 172 | if (NULL != board->sensor_left) |
JerrySzczurak | 0:fd2a93574dce | 173 | { |
JerrySzczurak | 0:fd2a93574dce | 174 | installedSensors[sensorCnt] = 'L'; |
JerrySzczurak | 0:fd2a93574dce | 175 | status=board->sensor_left->stop_measurement(operating_mode); |
JerrySzczurak | 0:fd2a93574dce | 176 | status=board->sensor_left->start_measurement(operating_mode, &SensorLeftIRQ); |
JerrySzczurak | 0:fd2a93574dce | 177 | ++sensorCnt; |
JerrySzczurak | 0:fd2a93574dce | 178 | } |
JerrySzczurak | 0:fd2a93574dce | 179 | /* start the measure on the right sensor */ |
JerrySzczurak | 0:fd2a93574dce | 180 | if (NULL != board->sensor_right) |
JerrySzczurak | 0:fd2a93574dce | 181 | { |
JerrySzczurak | 0:fd2a93574dce | 182 | installedSensors[sensorCnt] = 'R'; |
JerrySzczurak | 0:fd2a93574dce | 183 | status=board->sensor_right->stop_measurement(operating_mode); |
JerrySzczurak | 0:fd2a93574dce | 184 | status=board->sensor_right->start_measurement(operating_mode, &SensorRightIRQ); |
JerrySzczurak | 0:fd2a93574dce | 185 | ++sensorCnt; |
JerrySzczurak | 0:fd2a93574dce | 186 | } |
JerrySzczurak | 0:fd2a93574dce | 187 | currentSensor = 0; |
JerrySzczurak | 0:fd2a93574dce | 188 | return status; |
JerrySzczurak | 0:fd2a93574dce | 189 | } |
JerrySzczurak | 0:fd2a93574dce | 190 | |
JerrySzczurak | 0:fd2a93574dce | 191 | |
JerrySzczurak | 0:fd2a93574dce | 192 | void RangeMeasure(DevI2C *device_i2c) { |
JerrySzczurak | 0:fd2a93574dce | 193 | int status; |
JerrySzczurak | 0:fd2a93574dce | 194 | |
JerrySzczurak | 0:fd2a93574dce | 195 | /* creates the 53L0A1 expansion board singleton obj */ |
JerrySzczurak | 0:fd2a93574dce | 196 | board=X_NUCLEO_53L0A1::instance(device_i2c, A2, D8, D2); |
JerrySzczurak | 0:fd2a93574dce | 197 | //board=X_NUCLEO_53L0A1::Instance(device_i2c, A2, D9, D4); // Alternate INT_L/INT_R settings. |
JerrySzczurak | 0:fd2a93574dce | 198 | |
JerrySzczurak | 0:fd2a93574dce | 199 | board->display->display_string("53L0"); |
JerrySzczurak | 0:fd2a93574dce | 200 | |
JerrySzczurak | 0:fd2a93574dce | 201 | operating_mode=range_continuous_interrupt; |
JerrySzczurak | 0:fd2a93574dce | 202 | |
JerrySzczurak | 0:fd2a93574dce | 203 | /* init the 53L0A1 expansion board with default values */ |
JerrySzczurak | 0:fd2a93574dce | 204 | status=board->init_board(); |
JerrySzczurak | 0:fd2a93574dce | 205 | |
JerrySzczurak | 0:fd2a93574dce | 206 | if(status) |
JerrySzczurak | 0:fd2a93574dce | 207 | { |
JerrySzczurak | 0:fd2a93574dce | 208 | printf("Failed to init board!\n\r"); |
JerrySzczurak | 0:fd2a93574dce | 209 | } |
JerrySzczurak | 0:fd2a93574dce | 210 | else |
JerrySzczurak | 0:fd2a93574dce | 211 | { |
JerrySzczurak | 0:fd2a93574dce | 212 | status = InitSensorsArray(); |
JerrySzczurak | 0:fd2a93574dce | 213 | } |
JerrySzczurak | 0:fd2a93574dce | 214 | |
JerrySzczurak | 0:fd2a93574dce | 215 | if(!status) |
JerrySzczurak | 0:fd2a93574dce | 216 | { |
JerrySzczurak | 0:fd2a93574dce | 217 | printf ("\r\nEntering loop mode\r\n"); |
JerrySzczurak | 0:fd2a93574dce | 218 | while (true) |
JerrySzczurak | 0:fd2a93574dce | 219 | { |
JerrySzczurak | 0:fd2a93574dce | 220 | MeasureSensors(operating_mode); |
JerrySzczurak | 0:fd2a93574dce | 221 | if (switchChanged) |
JerrySzczurak | 0:fd2a93574dce | 222 | { |
JerrySzczurak | 0:fd2a93574dce | 223 | ++currentSensor; |
JerrySzczurak | 0:fd2a93574dce | 224 | if (currentSensor == sensorCnt) |
JerrySzczurak | 0:fd2a93574dce | 225 | currentSensor = 0; |
JerrySzczurak | 0:fd2a93574dce | 226 | |
JerrySzczurak | 0:fd2a93574dce | 227 | printf("Sensor changed to %c\r\n",installedSensors[currentSensor]); |
JerrySzczurak | 0:fd2a93574dce | 228 | switchChanged = false; |
JerrySzczurak | 0:fd2a93574dce | 229 | stop_button.enable_irq(); |
JerrySzczurak | 0:fd2a93574dce | 230 | } |
JerrySzczurak | 0:fd2a93574dce | 231 | } |
JerrySzczurak | 0:fd2a93574dce | 232 | } |
JerrySzczurak | 0:fd2a93574dce | 233 | delete board; |
JerrySzczurak | 0:fd2a93574dce | 234 | } |
JerrySzczurak | 0:fd2a93574dce | 235 | |
JerrySzczurak | 0:fd2a93574dce | 236 | /*=================================== Main ================================== |
JerrySzczurak | 0:fd2a93574dce | 237 | Press the blue user button to switch the displayed sensor. |
JerrySzczurak | 0:fd2a93574dce | 238 | =============================================================================*/ |
JerrySzczurak | 0:fd2a93574dce | 239 | int main() |
JerrySzczurak | 0:fd2a93574dce | 240 | { |
JerrySzczurak | 0:fd2a93574dce | 241 | #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401 |
JerrySzczurak | 0:fd2a93574dce | 242 | stop_button.rise (&SwitchMeasuringSensorIRQ); |
JerrySzczurak | 0:fd2a93574dce | 243 | stop_button.enable_irq(); |
JerrySzczurak | 0:fd2a93574dce | 244 | #endif |
JerrySzczurak | 0:fd2a93574dce | 245 | DevI2C *device_i2c =new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL); |
JerrySzczurak | 0:fd2a93574dce | 246 | RangeMeasure(device_i2c); // start continuous measures |
JerrySzczurak | 0:fd2a93574dce | 247 | } |
JerrySzczurak | 0:fd2a93574dce | 248 | |
JerrySzczurak | 0:fd2a93574dce | 249 | |
JerrySzczurak | 0:fd2a93574dce | 250 |