Revision 2:6b7da81fa79d, committed 2019-05-28

Comitter:

dmathew

Date:

Tue May 28 08:34:56 2019 +0000

Parent:

1:e5cce6b28b6f

Commit message:

Example of ranging using interrupt with VL53L1X satellite board, OS5

Changed in this revision

--- a/main.cpp	Fri May 17 12:24:17 2019 +0000
+++ b/main.cpp	Tue May 28 08:34:56 2019 +0000
@@ -1,18 +1,16 @@
 /*
- * This VL53L1X Expansion board sample application performs range measurements
+ * This VL53L1X satellite board sample application performs range measurements
  * with interrupts enabled to generate a hardware interrupt each time a new
  * measurement is ready to be read.
  *
- * Measured ranges are output on the Serial Port, running at 115200 baud.
- *
- * The application supports the centre, on-board, sensor and up to two satellite boards.
+ *  Measured ranges are output on the Serial Port, running at 115200 baud.
  *
- * The User Blue button switches between the currently selected sensor to display range
- * results from.
+ *  The User Blue button stops the current measurement and entire program,
+ *  releasing all resources.
  *
- * The Black Reset button is used to restart the program.
+ *  The Black Reset button is used to restart the program.
  *
- * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
+ *  *** 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.
@@ -28,210 +26,113 @@
  *            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 
+#include "vl53l1x_class.h"
 
-#if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-64s
-InterruptIn stop_button(USER_BUTTON);
-#endif
+#define VL53L1_I2C_SDA   D14
+#define VL53L1_I2C_SCL   D15
 
-/* Installed sensors count */
-int sensorCnt = 0;
-
-/* installed sensors prefixes */
-char installedSensors[3];
-
-static XNucleo53L1A1 *board=NULL;
-Serial pc(SERIAL_TX, SERIAL_RX); 
+static VL53L1X *sensor = NULL;
+Serial pc(SERIAL_TX, SERIAL_RX);
 
-/* interrupt requests */
-volatile bool centerSensor = false;
-volatile bool leftSensor = false;
-volatile bool rightSensor = false;
-volatile bool int_measuring_stop = false;
-/* Current sensor number*/
-volatile int currentSensor = 0;
+/* flags that handle interrupt request for sensor and user blue button*/
+volatile bool int_sensor = false;
+volatile bool int_stop = false;
 
-/* current displayed sensor change IRQ */
-volatile bool switchChanged = false;
 
-/* ISR callback function of the centre sensor */
-void sensor_centre_irq(void)
+/* ISR callback function of the sensor */
+void sensor_irq(void)
 {
-    centerSensor = true;
-    board->sensor_centre->disable_interrupt_measure_detection_irq();
-}
-
-/* ISR callback function of the left sensor */
-void sensor_left_irq(void)
-{
-    leftSensor = true;
-    board->sensor_left->disable_interrupt_measure_detection_irq();
-}
-
-/* ISR callback function of the right sensor */
-void sensor_right_irq(void)
-{
-    rightSensor = true;
-    board->sensor_right->disable_interrupt_measure_detection_irq();
+    int_sensor = true;
+    sensor->disable_interrupt_measure_detection_irq();
 }
 
 /* ISR callback function of the user blue button to switch measuring sensor. */
-void switch_measuring_sensor_irq(void)
+void measuring_stop_irq(void)
+{
+    int_stop = true;
+}
+
+/* Start the sensor ranging */
+int start_ranging()
 {
-    stop_button.disable_irq();
-    switchChanged = true;
+    int status = 0;
+    /* start the measure on the sensor */
+    if (NULL != sensor) {
+        status = sensor->stop_measurement();
+        if (status != 0) {
+                return status;
+        }
+
+        status = sensor->start_measurement(&sensor_irq);
+        if (status != 0) {
+            return status;
+        }
+    }
+    return status;
 }
 
-/*
- * This function calls the interrupt handler for each sensor
- * and outputs the range
- */
-inline void measure_sensors()
+int range_measure(vl53L1X_DevI2C *device_i2c)
 {
-    bool current = false;
+    int status = 0;
     uint16_t distance = 0;
+    /* Create a xshutdown pin */
+    DigitalOut xshutdown(D7);
 
-    /* Handle the interrupt and output the range from the centre sensor */
-    if (centerSensor) {
-        centerSensor = false;
-        board->sensor_centre->handle_irq(&distance);
-        current = (currentSensor == 0);
-        if (current) {
-            printf("Centre: %d\r\n", distance);
-        }
+    /* create instance of sensor class */
+    sensor = new VL53L1X(device_i2c, &xshutdown, A2);
+
+    sensor->VL53L1_Off();
+    /* initialise sensor */
+    sensor->InitSensor(0x52);
+
+    if (status) {
+        delete sensor;
+        sensor= NULL;
+        printf("Sensor centre not present\n\r");
     }
 
-    /* Handle the interrupt and output the range from the left sensor */
-    if (leftSensor) {
-        leftSensor = false;
-        board->sensor_left->handle_irq(&distance);
-        current = (installedSensors[currentSensor] == 'L');
-        if (current) {
-            printf("Left: %d\r\n", distance);
+    /* init an array with chars to id the sensors */
+    status = start_ranging();
+    if (status != 0) {
+        printf("Failed to start ranging!\r\n");
+        return status;
+    }
+
+    if (NULL != sensor) {
+        printf("Entering loop mode\r\n");
+        /* Main ranging interrupt loop */
+        while (true) {
+            if (int_sensor) {
+                int_sensor = false;
+                status = sensor->handle_irq(&distance);
+                printf("distance: %d\r\n", distance);
+            }
+
+            if (int_stop) {
+                printf("\r\nEnding loop mode \r\n");
+                break;
+            }
         }
     }
 
-    /* Handle the interrupt and output the range from the right sensor */
-    if (rightSensor) {
-        rightSensor = false;
-        board->sensor_right->handle_irq(&distance);
-        current = (installedSensors[currentSensor] == 'R');
-        if (current) {
-            printf("Right: %d\r\n", distance);
-        }
-    }
+    return status;
+
 }
 
-/*
- * Add to an array a character that represents the sensor and start ranging
- */
-int init_sensors_array()
-{
-    int status = 0;
-    sensorCnt = 0;
-    /* start the measure on the center sensor */
-    if (NULL != board->sensor_centre) {
-        installedSensors[sensorCnt] = 'C';
-        status = board->sensor_centre->stop_measurement();
-        if (status != 0) {
-            return status;
-        }
-        status = board->sensor_centre->start_measurement(&sensor_centre_irq);
-        if (status != 0) {
-            return status;
-        }
-        ++sensorCnt;
-    }
-    /* start the measure on the left sensor */
-    if (NULL != board->sensor_left) {
-        installedSensors[sensorCnt] = 'L';
-        status = board->sensor_left->stop_measurement();
-        if (status != 0) {
-            return status;
-        }
-        status = board->sensor_left->start_measurement(&sensor_left_irq);
-        if (status != 0) {
-            return status;
-        }
-        ++sensorCnt;
-    }
-    /* start the measure on the right sensor */
-    if (NULL != board->sensor_right) {
-        installedSensors[sensorCnt] = 'R';
-        status = board->sensor_right->stop_measurement();
-        if (status != 0) {
-            return status;
-        }
-        status = board->sensor_right->start_measurement(&sensor_right_irq);
-        if (status != 0) {
-            return status;
-        }
-        ++sensorCnt;
-    }
-    currentSensor = 0;
-    return status;
-}
-
-/*
- * Main ranging function
- */
-int range_measure(vl53L1X_DevI2C *device_i2c)
-{
-    int status = 0;
-
-    /* creates the 53L1A1 expansion board singleton obj */
-    board = XNucleo53L1A1::instance(device_i2c, A2, D9, D2);
-
-    /* init the 53L1A1 expansion board with default values */
-    status = board->init_board();
-    if (status != 0) {
-        printf("Failed to init board!\r\n");
-        return status;
-    }
-
-    /* init an array with chars to id the sensors */
-    status = init_sensors_array();
-    if (status != 0) {
-        printf("Failed to init sensors!\r\n");
-        return status;
-    }
-
-    printf("Entering loop mode\r\n");
-
-    /* Main ranging interrupt loop */
-    while (true) {
-        measure_sensors();
-        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;
-    return status;
-}
 
 /*=================================== Main ==================================
 =============================================================================*/
 int main()
 {
 #if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-f401
-    stop_button.rise(&switch_measuring_sensor_irq);
-    stop_button.enable_irq();
+    InterruptIn stop_button(USER_BUTTON);
+    stop_button.rise(&measuring_stop_irq);
 #endif
-    vl53L1X_DevI2C *dev_I2C = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
-    range_measure(dev_I2C);  // start continuous measures
-return 0;
+    vl53L1X_DevI2C *device_i2c = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
+    range_measure(device_i2c);  // start continuous measures
 }
-