ST Expansion SW Team / Mbed OS 53L1A1_Satellite_Interrupt_MbedOS

Example of ranging using interrupt VL53L1X satellite, os5

Dependencies:   X_NUCLEO_53L1A1_mbed

main.cpp@2:6b7da81fa79d, 2019-05-28 (annotated)

Committer:
dmathew
Date:
Tue May 28 08:34:56 2019 +0000
Revision:
2:6b7da81fa79d
Parent:
1:e5cce6b28b6f 
Example of ranging using interrupt with VL53L1X satellite board, OS5

Who changed what in which revision?

UserRevisionLine numberNew contents of line
johnAlexander 0:6b7696e7df5e 1 /*
dmathew 2:6b7da81fa79d 2 * This VL53L1X satellite board sample application performs range measurements
johnAlexander 1:e5cce6b28b6f 3 * with interrupts enabled to generate a hardware interrupt each time a new
johnAlexander 1:e5cce6b28b6f 4 * measurement is ready to be read.
johnAlexander 0:6b7696e7df5e 5 *
dmathew 2:6b7da81fa79d 6 * Measured ranges are output on the Serial Port, running at 115200 baud.
johnAlexander 0:6b7696e7df5e 7 *
dmathew 2:6b7da81fa79d 8 * The User Blue button stops the current measurement and entire program,
dmathew 2:6b7da81fa79d 9 * releasing all resources.
johnAlexander 0:6b7696e7df5e 10 *
dmathew 2:6b7da81fa79d 11 * The Black Reset button is used to restart the program.
johnAlexander 1:e5cce6b28b6f 12 *
dmathew 2:6b7da81fa79d 13 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
johnAlexander 0:6b7696e7df5e 14 * the X-NUCELO-53L0A1 expansion board are not made/OFF.
johnAlexander 0:6b7696e7df5e 15 * These links must be made to allow interrupts from the Satellite boards
johnAlexander 0:6b7696e7df5e 16 * to be received.
johnAlexander 0:6b7696e7df5e 17 * U11 and U18 must be made/ON to allow interrupts to be received from the
johnAlexander 0:6b7696e7df5e 18 * INT_L & INT_R positions; or
johnAlexander 0:6b7696e7df5e 19 * U10 and U15 must be made/ON to allow interrupts to be received from the
johnAlexander 0:6b7696e7df5e 20 * Alternate INT_L & INT_R positions.
johnAlexander 0:6b7696e7df5e 21 * The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R
johnAlexander 0:6b7696e7df5e 22 * positions.
johnAlexander 0:6b7696e7df5e 23 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9.
johnAlexander 0:6b7696e7df5e 24 * Alternate INT_L is on CN5 Connector pin 2 as D8.
johnAlexander 0:6b7696e7df5e 25 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4.
johnAlexander 0:6b7696e7df5e 26 * Alternate INT_R is on CN9 Connector pin 5 as D2.
johnAlexander 0:6b7696e7df5e 27 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/
johnAlexander 0:6b7696e7df5e 28 */
dmathew 2:6b7da81fa79d 29
johnAlexander 0:6b7696e7df5e 30 #include <stdio.h>
johnAlexander 0:6b7696e7df5e 31
johnAlexander 0:6b7696e7df5e 32 #include "mbed.h"
johnAlexander 0:6b7696e7df5e 33 #include "vl53L1x_I2c.h"
dmathew 2:6b7da81fa79d 34 #include "vl53l1x_class.h"
johnAlexander 1:e5cce6b28b6f 35
dmathew 2:6b7da81fa79d 36 #define VL53L1_I2C_SDA D14
dmathew 2:6b7da81fa79d 37 #define VL53L1_I2C_SCL D15
johnAlexander 1:e5cce6b28b6f 38
dmathew 2:6b7da81fa79d 39 static VL53L1X *sensor = NULL;
dmathew 2:6b7da81fa79d 40 Serial pc(SERIAL_TX, SERIAL_RX);
johnAlexander 0:6b7696e7df5e 41
dmathew 2:6b7da81fa79d 42 /* flags that handle interrupt request for sensor and user blue button*/
dmathew 2:6b7da81fa79d 43 volatile bool int_sensor = false;
dmathew 2:6b7da81fa79d 44 volatile bool int_stop = false;
johnAlexander 1:e5cce6b28b6f 45
johnAlexander 1:e5cce6b28b6f 46
dmathew 2:6b7da81fa79d 47 /* ISR callback function of the sensor */
dmathew 2:6b7da81fa79d 48 void sensor_irq(void)
johnAlexander 1:e5cce6b28b6f 49 {
dmathew 2:6b7da81fa79d 50 int_sensor = true;
dmathew 2:6b7da81fa79d 51 sensor->disable_interrupt_measure_detection_irq();
johnAlexander 1:e5cce6b28b6f 52 }
johnAlexander 1:e5cce6b28b6f 53
johnAlexander 1:e5cce6b28b6f 54 /* ISR callback function of the user blue button to switch measuring sensor. */
dmathew 2:6b7da81fa79d 55 void measuring_stop_irq(void)
dmathew 2:6b7da81fa79d 56 {
dmathew 2:6b7da81fa79d 57 int_stop = true;
dmathew 2:6b7da81fa79d 58 }
dmathew 2:6b7da81fa79d 59
dmathew 2:6b7da81fa79d 60 /* Start the sensor ranging */
dmathew 2:6b7da81fa79d 61 int start_ranging()
johnAlexander 1:e5cce6b28b6f 62 {
dmathew 2:6b7da81fa79d 63 int status = 0;
dmathew 2:6b7da81fa79d 64 /* start the measure on the sensor */
dmathew 2:6b7da81fa79d 65 if (NULL != sensor) {
dmathew 2:6b7da81fa79d 66 status = sensor->stop_measurement();
dmathew 2:6b7da81fa79d 67 if (status != 0) {
dmathew 2:6b7da81fa79d 68 return status;
dmathew 2:6b7da81fa79d 69 }
dmathew 2:6b7da81fa79d 70
dmathew 2:6b7da81fa79d 71 status = sensor->start_measurement(&sensor_irq);
dmathew 2:6b7da81fa79d 72 if (status != 0) {
dmathew 2:6b7da81fa79d 73 return status;
dmathew 2:6b7da81fa79d 74 }
dmathew 2:6b7da81fa79d 75 }
dmathew 2:6b7da81fa79d 76 return status;
johnAlexander 1:e5cce6b28b6f 77 }
johnAlexander 0:6b7696e7df5e 78
dmathew 2:6b7da81fa79d 79 int range_measure(vl53L1X_DevI2C *device_i2c)
johnAlexander 0:6b7696e7df5e 80 {
dmathew 2:6b7da81fa79d 81 int status = 0;
johnAlexander 1:e5cce6b28b6f 82 uint16_t distance = 0;
dmathew 2:6b7da81fa79d 83 /* Create a xshutdown pin */
dmathew 2:6b7da81fa79d 84 DigitalOut xshutdown(D7);
johnAlexander 0:6b7696e7df5e 85
dmathew 2:6b7da81fa79d 86 /* create instance of sensor class */
dmathew 2:6b7da81fa79d 87 sensor = new VL53L1X(device_i2c, &xshutdown, A2);
dmathew 2:6b7da81fa79d 88
dmathew 2:6b7da81fa79d 89 sensor->VL53L1_Off();
dmathew 2:6b7da81fa79d 90 /* initialise sensor */
dmathew 2:6b7da81fa79d 91 sensor->InitSensor(0x52);
dmathew 2:6b7da81fa79d 92
dmathew 2:6b7da81fa79d 93 if (status) {
dmathew 2:6b7da81fa79d 94 delete sensor;
dmathew 2:6b7da81fa79d 95 sensor= NULL;
dmathew 2:6b7da81fa79d 96 printf("Sensor centre not present\n\r");
johnAlexander 1:e5cce6b28b6f 97 }
johnAlexander 1:e5cce6b28b6f 98
dmathew 2:6b7da81fa79d 99 /* init an array with chars to id the sensors */
dmathew 2:6b7da81fa79d 100 status = start_ranging();
dmathew 2:6b7da81fa79d 101 if (status != 0) {
dmathew 2:6b7da81fa79d 102 printf("Failed to start ranging!\r\n");
dmathew 2:6b7da81fa79d 103 return status;
dmathew 2:6b7da81fa79d 104 }
dmathew 2:6b7da81fa79d 105
dmathew 2:6b7da81fa79d 106 if (NULL != sensor) {
dmathew 2:6b7da81fa79d 107 printf("Entering loop mode\r\n");
dmathew 2:6b7da81fa79d 108 /* Main ranging interrupt loop */
dmathew 2:6b7da81fa79d 109 while (true) {
dmathew 2:6b7da81fa79d 110 if (int_sensor) {
dmathew 2:6b7da81fa79d 111 int_sensor = false;
dmathew 2:6b7da81fa79d 112 status = sensor->handle_irq(&distance);
dmathew 2:6b7da81fa79d 113 printf("distance: %d\r\n", distance);
dmathew 2:6b7da81fa79d 114 }
dmathew 2:6b7da81fa79d 115
dmathew 2:6b7da81fa79d 116 if (int_stop) {
dmathew 2:6b7da81fa79d 117 printf("\r\nEnding loop mode \r\n");
dmathew 2:6b7da81fa79d 118 break;
dmathew 2:6b7da81fa79d 119 }
johnAlexander 1:e5cce6b28b6f 120 }
johnAlexander 1:e5cce6b28b6f 121 }
johnAlexander 1:e5cce6b28b6f 122
dmathew 2:6b7da81fa79d 123 return status;
dmathew 2:6b7da81fa79d 124
johnAlexander 1:e5cce6b28b6f 125 }
johnAlexander 1:e5cce6b28b6f 126
johnAlexander 1:e5cce6b28b6f 127
johnAlexander 1:e5cce6b28b6f 128 /*=================================== Main ==================================
johnAlexander 1:e5cce6b28b6f 129 =============================================================================*/
johnAlexander 1:e5cce6b28b6f 130 int main()
johnAlexander 1:e5cce6b28b6f 131 {
johnAlexander 1:e5cce6b28b6f 132 #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401
dmathew 2:6b7da81fa79d 133 InterruptIn stop_button(USER_BUTTON);
dmathew 2:6b7da81fa79d 134 stop_button.rise(&measuring_stop_irq);
johnAlexander 1:e5cce6b28b6f 135 #endif
dmathew 2:6b7da81fa79d 136 vl53L1X_DevI2C *device_i2c = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
dmathew 2:6b7da81fa79d 137 range_measure(device_i2c); // start continuous measures
johnAlexander 1:e5cce6b28b6f 138 }