Diff: main.cpp

Revision:

0:eade49d47e3a

Child:

1:9d5c48d409b6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jun 12 15:01:09 2017 +0000
@@ -0,0 +1,152 @@
+#include "mbed.h"
+#include "x_nucleo_53l0a1.h"
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <assert.h>
+
+/* This VL53L0X Expansion board test application performs a range measurement in polling mode
+   on the onboard embedded top sensor. 
+   The measured data is displayed on the on-board 4-digit display.
+
+   User Blue button stops the current measurement and the entire program, releasing all resources.
+   Reset button is used to restart the program. */
+
+/* Polling operating modes don`t require callback function that handles IRQ 
+   Callback IRQ functions are used only for measure that require interrupt */
+
+/* GetMeasurement is asynchronous! It returns NOT_READY if the measurement value 
+   is not ready to be read from the corresponding register. So you need to wait
+   for the result to be ready */
+
+#define VL53L0_I2C_SDA   D14 
+#define VL53L0_I2C_SCL   D15 
+
+#define RANGE   0
+
+static X_NUCLEO_53L0A1 *board=NULL;
+VL53L0X_RangingMeasurementData_t data_sensor;
+OperatingMode operating_mode;
+    
+/* flags that handle interrupt request */
+volatile bool int_sensor_centre=false;
+/* Current sensor number*/
+int currentSensor = 0; 
+int sensorCnt = 0; 
+
+struct Sensors
+{
+    char prefix;
+    VL53L0X *sensorPtr;
+} installedSensors[3];
+
+
+/* ISR callback function of the sensor_centre */
+void SensorTopIRQ(void)
+{
+   int_sensor_centre=true;
+   board->sensor_centre->DisableInterruptMeasureDetectionIRQ();
+}   
+
+/* ISR callback function of the user blue button to switch measuring sensor. */
+void SwitchMeasuringSensorIRQ(void)
+{
+    ++currentSensor;
+    if (currentSensor == sensorCnt)
+        currentSensor = 0;
+    printf("Sensor changed to %c\r\n",installedSensors[currentSensor].prefix);
+}
+
+/* On board 4 digit local display refresh */
+void DisplayRefresh(OperatingMode op_mode)
+{   
+   char str[4];
+   
+   if (op_mode==range_single_shot_polling || op_mode==range_continuous_interrupt || op_mode==range_continuous_polling)
+   {
+      for (int t=0; t < sensorCnt; t++)
+      {
+         installedSensors[t].sensorPtr->GetMeasurement(operating_mode, &data_sensor);
+         if (data_sensor.RangeStatus == 0) // we have a valid range.
+         {
+          printf("%c %4d; ", installedSensors[t].prefix,data_sensor.RangeMilliMeter);
+          if (currentSensor == t)
+          {
+              sprintf(str,"%c%3d", installedSensors[t].prefix ,data_sensor.RangeMilliMeter);
+          }
+         }
+         else
+         {
+          printf("%c ----; ", installedSensors[t].prefix);
+          if (currentSensor == t)
+          {
+           sprintf(str,"%c%s", installedSensors[t].prefix, "---");   
+          }
+         } 
+      }
+      printf("\r\n");
+   }
+   board->display->DisplayString(str);
+}
+
+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->display->DisplayString("53L0");
+   /* init the 53L0A1 expansion board with default values */
+   status=board->InitBoard();
+   if(status)
+      printf("Failed to init board!\n\r");   
+   operating_mode=range_single_shot_polling;
+   /* start the measure on sensor top */
+   if (NULL != board->sensor_centre)
+   {
+       installedSensors[sensorCnt].prefix = 'C';
+       installedSensors[sensorCnt].sensorPtr = board->sensor_centre;
+       ++sensorCnt;
+       status=board->sensor_centre->StartMeasurement(operating_mode, SensorTopIRQ);
+   }
+   if (NULL != board->sensor_left)
+   {
+    installedSensors[sensorCnt].prefix='L';
+    installedSensors[sensorCnt].sensorPtr = board->sensor_left;
+    ++sensorCnt;    
+    status=board->sensor_left->StartMeasurement(operating_mode, SensorTopIRQ);
+   }
+   if (NULL != board->sensor_right)
+   {
+    installedSensors[sensorCnt].prefix = 'R';
+    installedSensors[sensorCnt].sensorPtr = board->sensor_right;
+    ++sensorCnt;
+    status=board->sensor_right->StartMeasurement(operating_mode, SensorTopIRQ);
+   }
+   
+   currentSensor = 0;
+   
+   if(!status)
+   {
+      while(1)
+      {
+         DisplayRefresh(operating_mode);
+      }
+   }
+   board->display->DisplayString("BYE");
+   delete board;        
+}    
+
+/*=================================== Main ==================================
+ Press the blue user button to stop the measurements in progress    
+=============================================================================*/
+int main()
+{   
+#if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-f401 
+   InterruptIn stop_button (USER_BUTTON);
+   stop_button.rise (&SwitchMeasuringSensorIRQ);  
+#endif   
+   DevI2C *device_i2c =new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);        
+   RangeMeasure(device_i2c);  // start continuous measures
+}
+