Diff: main.cpp

Revision:

0:fd2a93574dce

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jun 29 07:41:39 2017 +0000
@@ -0,0 +1,250 @@
+#include "mbed.h"
+#include "x_nucleo_53l0a1.h"
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <assert.h>
+
+#define DEFAULT_STACK_SIZE 768
+/* 
+ * This VL53L0X Expansion board sample application performs range measurements using 
+ * range_continuous_interrupt mode to generate a hardware interrupt each time a new 
+ * measurement is ready to be read.
+ * The application supports the centre, on-board, sensor and up two satellite boards.
+ *
+ * The measured range data is displayed on the on-board 4-digit LED display.
+ *
+ * The User Blue button switches between the currently selected sensor to display range 
+ * results from.
+ *
+ * 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_53L0A1 firmware library defaults to use the INT_L/INT_R 
+ *            positions. 
+ *            INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
+ *            Alternate INT_L is on CN5 Connector pin 2 as D9.
+ *            INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
+ *            Alternate INT_R is on CN9 Connector pin 5 as D4. 
+ *            The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L0A1/
+ *   
+ */
+
+#define VL53L0_I2C_SDA   D14 
+#define VL53L0_I2C_SCL   D15 
+
+#if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-64s
+   InterruptIn stop_button (USER_BUTTON);
+#endif   
+
+static X_NUCLEO_53L0A1 *board=NULL;
+VL53L0X_RangingMeasurementData_t data_sensor;
+OperatingMode operating_mode;
+
+/* current displayed sensor change IRQ */
+volatile bool switchChanged = false;
+
+/* interrupt requests */
+volatile bool centerSensor = false;
+volatile bool leftSensor = false;
+volatile bool rightSensor = false; 
+
+/* Current sensor number*/
+volatile int currentSensor = 0;
+/* Installed sensors count */ 
+int sensorCnt = 0; 
+
+/* installed sensors prefixes */
+char installedSensors[3];
+
+/* ISR callback function of the sensor_centre */
+void SensorCenterIRQ(void)
+{
+   centerSensor = true;
+   board->sensor_centre->disable_interrupt_measure_detection_irq();
+}   
+
+void SensorLeftIRQ(void)
+{
+   leftSensor = true;
+   board->sensor_left->disable_interrupt_measure_detection_irq();
+} 
+
+void SensorRightIRQ(void)
+{    
+   rightSensor = true;  
+   board->sensor_right->disable_interrupt_measure_detection_irq();
+} 
+
+/* ISR callback function of the user blue button to switch measuring sensor. */
+void SwitchMeasuringSensorIRQ(void)
+{
+    stop_button.disable_irq();
+    switchChanged = true;
+}
+
+
+/* On board 4 digit local display refresh */
+void RefreshDisplay(const VL53L0X_RangingMeasurementData_t &data, char prefix)
+{
+    static char str[5];
+    if (data_sensor.RangeStatus == 0) // we have a valid range.
+    {
+        sprintf(str, "%c%3d", prefix ,data.RangeMilliMeter);
+        board->display->display_string(str);
+    }
+    else
+    {
+        sprintf(str, "%c%s", prefix, "---");
+        board->display->display_string(str);
+    }
+}
+
+inline void MeasureSensors(OperatingMode op_mode)
+{
+    bool current = false;
+    if (centerSensor)
+    {
+        centerSensor = false;
+        board->sensor_centre->handle_irq(op_mode, &data_sensor);
+        current = (currentSensor == 0);
+        if (current)
+        {
+            RefreshDisplay(data_sensor, 'C');
+        }
+        if (data_sensor.RangeStatus == 0) // we have a valid range.
+        {
+            printf("%c %4d; ", 'C', data_sensor.RangeMilliMeter);
+        }
+    }
+    if (leftSensor)
+    {
+        leftSensor = false;
+        board->sensor_left->handle_irq(op_mode, &data_sensor);
+        current = (installedSensors[currentSensor] == 'L');
+        if (current)
+        {
+            RefreshDisplay(data_sensor, 'L');
+        }
+        if (data_sensor.RangeStatus == 0) // we have a valid range.
+        {
+            printf("%c %4d; ", 'L', data_sensor.RangeMilliMeter);
+        }
+
+    }
+    if (rightSensor)
+    {
+        rightSensor = false;
+        board->sensor_right->handle_irq(op_mode, &data_sensor);
+        current = (installedSensors[currentSensor] == 'R');        
+        if (current)
+        {
+            RefreshDisplay(data_sensor, 'R');
+        }
+        if (data_sensor.RangeStatus == 0) // we have a valid range.
+        {
+            printf("%c %4d; ", 'R', data_sensor.RangeMilliMeter);
+        }
+
+    }
+}
+
+int InitSensorsArray()
+{
+    int status = 1;
+    sensorCnt = 0;
+    /* start the measure on the center sensor */
+    if (NULL != board->sensor_centre)
+    {
+        installedSensors[sensorCnt] = 'C';
+        status=board->sensor_centre->stop_measurement(operating_mode);
+        status=board->sensor_centre->start_measurement(operating_mode, &SensorCenterIRQ); 
+        ++sensorCnt;
+    }
+    /* start the measure on the left sensor */
+    if (NULL != board->sensor_left)
+    {
+        installedSensors[sensorCnt] = 'L';
+        status=board->sensor_left->stop_measurement(operating_mode);
+        status=board->sensor_left->start_measurement(operating_mode, &SensorLeftIRQ);
+        ++sensorCnt;
+    }
+    /* start the measure on the right sensor */    
+    if (NULL != board->sensor_right)
+    {
+        installedSensors[sensorCnt] = 'R';
+        status=board->sensor_right->stop_measurement(operating_mode);
+        status=board->sensor_right->start_measurement(operating_mode, &SensorRightIRQ);
+        ++sensorCnt;
+    }
+    currentSensor = 0;
+    return status;
+}
+
+
+void RangeMeasure(DevI2C *device_i2c) {
+   int status;
+
+   /* creates the 53L0A1 expansion board singleton obj */
+   board=X_NUCLEO_53L0A1::instance(device_i2c, A2, D8, D2);
+   //board=X_NUCLEO_53L0A1::Instance(device_i2c, A2, D9, D4); // Alternate INT_L/INT_R settings.
+    
+   board->display->display_string("53L0");
+   
+   operating_mode=range_continuous_interrupt;
+   
+   /* init the 53L0A1 expansion board with default values */
+   status=board->init_board();
+   
+   if(status)
+   {
+        printf("Failed to init board!\n\r");   
+   }
+   else 
+   {
+        status = InitSensorsArray();
+   }
+   
+   if(!status)
+   {
+     printf ("\r\nEntering loop mode\r\n");
+     while (true)
+     { 
+        MeasureSensors(operating_mode);
+        if (switchChanged)
+        {
+            ++currentSensor;
+            if (currentSensor == sensorCnt)
+                currentSensor = 0;
+            
+            printf("Sensor changed to %c\r\n",installedSensors[currentSensor]);   
+            switchChanged = false;
+            stop_button.enable_irq(); 
+        }
+     }
+   }
+   delete board;        
+}    
+
+/*=================================== Main ==================================
+ Press the blue user button to switch the displayed sensor.       
+=============================================================================*/
+int main()
+{   
+#if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-f401 
+   stop_button.rise (&SwitchMeasuringSensorIRQ);  
+   stop_button.enable_irq();
+#endif   
+   DevI2C *device_i2c =new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);        
+   RangeMeasure(device_i2c);  // start continuous measures
+}
+
+
+