File content as of revision 0:eade49d47e3a:

#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
}