ST Expansion SW Team / Mbed 2 deprecated HelloWorld_53L1A1_Interrupts

Simple Ranging Example, using Expansion Board Sensor, driven via Interrupts.

Dependencies:   mbed X_NUCLEO_53L1A1_mbed

main.cpp@19:92972e54d45c, 2019-05-17 (annotated)

Committer:
johnAlexander
Date:
Fri May 17 10:05:56 2019 +0000
Revision:
19:92972e54d45c
Parent:
17:e7a6fd6d3c97 
Simple Ranging Example, using Expansion Board Sensor, driven via Interrupts.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dmathew 17:e7a6fd6d3c97 1 /*
johnAlexander 19:92972e54d45c 2 * This VL53L1X Expansion board sample application performs range measurements
johnAlexander 19:92972e54d45c 3 * with interrupts enabled to generate a hardware interrupt each time a new
johnAlexander 19:92972e54d45c 4 * measurement is ready to be read.
dmathew 17:e7a6fd6d3c97 5 *
dmathew 17:e7a6fd6d3c97 6 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
dmathew 17:e7a6fd6d3c97 7 *
dmathew 17:e7a6fd6d3c97 8 * The User Blue button stops the current measurement and entire program,
dmathew 17:e7a6fd6d3c97 9 * releasing all resources.
dmathew 17:e7a6fd6d3c97 10 *
dmathew 17:e7a6fd6d3c97 11 * The Black Reset button is used to restart the program.
dmathew 17:e7a6fd6d3c97 12 *
dmathew 17:e7a6fd6d3c97 13 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
dmathew 17:e7a6fd6d3c97 14 * the X-NUCELO-53L0A1 expansion board are not made/OFF.
dmathew 17:e7a6fd6d3c97 15 * These links must be made to allow interrupts from the Satellite boards
dmathew 17:e7a6fd6d3c97 16 * to be received.
dmathew 17:e7a6fd6d3c97 17 * U11 and U18 must be made/ON to allow interrupts to be received from the
dmathew 17:e7a6fd6d3c97 18 * INT_L & INT_R positions; or
dmathew 17:e7a6fd6d3c97 19 * U10 and U15 must be made/ON to allow interrupts to be received from the
dmathew 17:e7a6fd6d3c97 20 * Alternate INT_L & INT_R positions.
dmathew 17:e7a6fd6d3c97 21 * The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R
dmathew 17:e7a6fd6d3c97 22 * positions.
dmathew 17:e7a6fd6d3c97 23 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9.
dmathew 17:e7a6fd6d3c97 24 * Alternate INT_L is on CN5 Connector pin 2 as D8.
dmathew 17:e7a6fd6d3c97 25 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4.
dmathew 17:e7a6fd6d3c97 26 * Alternate INT_R is on CN9 Connector pin 5 as D2.
dmathew 17:e7a6fd6d3c97 27 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/
dmathew 17:e7a6fd6d3c97 28 */
dmathew 17:e7a6fd6d3c97 29
dmathew 17:e7a6fd6d3c97 30 #include <stdio.h>
dmathew 17:e7a6fd6d3c97 31
johnAlexander 0:ce8359133ae6 32 #include "mbed.h"
JerrySzczurak 14:d3904b05aad6 33 #include "XNucleo53L1A1.h"
JerrySzczurak 14:d3904b05aad6 34 #include "vl53L1x_I2c.h"
johnAlexander 0:ce8359133ae6 35
dmathew 17:e7a6fd6d3c97 36 #define VL53L1_I2C_SDA D14
dmathew 17:e7a6fd6d3c97 37 #define VL53L1_I2C_SCL D15
JerrySzczurak 14:d3904b05aad6 38
JerrySzczurak 14:d3904b05aad6 39 static XNucleo53L1A1 *board=NULL;
dmathew 17:e7a6fd6d3c97 40 Serial pc(SERIAL_TX, SERIAL_RX);
dmathew 17:e7a6fd6d3c97 41
johnAlexander 19:92972e54d45c 42 /* flags that handle interrupt request for sensor and user blue button*/
johnAlexander 19:92972e54d45c 43 volatile bool int_sensor = false;
johnAlexander 19:92972e54d45c 44 volatile bool int_stop = false;
johnAlexander 19:92972e54d45c 45
johnAlexander 19:92972e54d45c 46 /* ISR callback function of the centre sensor */
johnAlexander 19:92972e54d45c 47 void sensor_irq(void)
dmathew 17:e7a6fd6d3c97 48 {
johnAlexander 19:92972e54d45c 49 int_sensor = true;
johnAlexander 19:92972e54d45c 50 board->sensor_centre->disable_interrupt_measure_detection_irq();
johnAlexander 19:92972e54d45c 51 }
dmathew 17:e7a6fd6d3c97 52
johnAlexander 19:92972e54d45c 53 /* Start the sensor ranging */
johnAlexander 19:92972e54d45c 54 int init_sensor()
johnAlexander 19:92972e54d45c 55 {
dmathew 17:e7a6fd6d3c97 56 int status = 0;
johnAlexander 19:92972e54d45c 57 /* start the measure on the center sensor */
johnAlexander 19:92972e54d45c 58 if (NULL != board->sensor_centre) {
johnAlexander 19:92972e54d45c 59 status = board->sensor_centre->stop_measurement();
johnAlexander 19:92972e54d45c 60 if (status != 0) {
johnAlexander 19:92972e54d45c 61 return status;
johnAlexander 19:92972e54d45c 62 }
JerrySzczurak 14:d3904b05aad6 63
johnAlexander 19:92972e54d45c 64 status = board->sensor_centre->start_measurement(&sensor_irq);
johnAlexander 19:92972e54d45c 65 if (status != 0) {
johnAlexander 19:92972e54d45c 66 return status;
johnAlexander 19:92972e54d45c 67 }
johnAlexander 19:92972e54d45c 68 }
johnAlexander 19:92972e54d45c 69 return status;
johnAlexander 19:92972e54d45c 70 }
johnAlexander 3:b3f70617a6b3 71
johnAlexander 19:92972e54d45c 72 /* ISR callback function of the user blue button to switch measuring sensor. */
johnAlexander 19:92972e54d45c 73 void measuring_stop_irq(void)
johnAlexander 19:92972e54d45c 74 {
johnAlexander 19:92972e54d45c 75 int_stop = true;
johnAlexander 19:92972e54d45c 76 }
JerrySzczurak 14:d3904b05aad6 77
johnAlexander 19:92972e54d45c 78 /*
johnAlexander 19:92972e54d45c 79 * Main ranging function
johnAlexander 19:92972e54d45c 80 */
johnAlexander 19:92972e54d45c 81 int range_measure(vl53L1X_DevI2C *device_i2c)
johnAlexander 19:92972e54d45c 82 {
johnAlexander 19:92972e54d45c 83 int status = 0;
johnAlexander 19:92972e54d45c 84 uint16_t distance = 0;
dmathew 17:e7a6fd6d3c97 85
dmathew 17:e7a6fd6d3c97 86 /* creates the 53L1A1 expansion board singleton obj */
johnAlexander 19:92972e54d45c 87 board = XNucleo53L1A1::instance(device_i2c, A2, D9, D2);
johnAlexander 3:b3f70617a6b3 88
dmathew 17:e7a6fd6d3c97 89 /* init the 53L1A1 expansion board with default values */
johnAlexander 7:c8087e7333b8 90 status = board->init_board();
dmathew 17:e7a6fd6d3c97 91 if (status != 0) {
Davidroid 10:891e10d3b4a6 92 printf("Failed to init board!\r\n");
dmathew 17:e7a6fd6d3c97 93 return status;
johnAlexander 7:c8087e7333b8 94 }
dmathew 17:e7a6fd6d3c97 95
johnAlexander 19:92972e54d45c 96 /* init an array with chars to id the sensors */
johnAlexander 19:92972e54d45c 97 status = init_sensor();
dmathew 17:e7a6fd6d3c97 98 if (status != 0) {
johnAlexander 19:92972e54d45c 99 printf("Failed to init sensors!\r\n");
dmathew 17:e7a6fd6d3c97 100 return status;
dmathew 17:e7a6fd6d3c97 101 }
dmathew 17:e7a6fd6d3c97 102
johnAlexander 19:92972e54d45c 103 printf("Entering loop mode\r\n");
johnAlexander 19:92972e54d45c 104 /* Main ranging interrupt loop */
johnAlexander 19:92972e54d45c 105 while (true) {
johnAlexander 19:92972e54d45c 106 if (int_sensor) {
johnAlexander 19:92972e54d45c 107 int_sensor = false;
johnAlexander 19:92972e54d45c 108 status = board->sensor_centre->handle_irq(&distance);
johnAlexander 19:92972e54d45c 109 printf("distance: %d\r\n", distance);
dmathew 17:e7a6fd6d3c97 110 }
dmathew 17:e7a6fd6d3c97 111
johnAlexander 19:92972e54d45c 112 if (int_stop) {
johnAlexander 19:92972e54d45c 113 printf("\r\nEnding loop mode \r\n");
johnAlexander 19:92972e54d45c 114 break;
johnAlexander 19:92972e54d45c 115 }
dmathew 17:e7a6fd6d3c97 116 }
dmathew 17:e7a6fd6d3c97 117
dmathew 17:e7a6fd6d3c97 118 return status;
johnAlexander 19:92972e54d45c 119
johnAlexander 0:ce8359133ae6 120 }
johnAlexander 19:92972e54d45c 121
johnAlexander 19:92972e54d45c 122 /*=================================== Main ==================================
johnAlexander 19:92972e54d45c 123 =============================================================================*/
johnAlexander 19:92972e54d45c 124 int main()
johnAlexander 19:92972e54d45c 125 {
johnAlexander 19:92972e54d45c 126 #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401
johnAlexander 19:92972e54d45c 127 InterruptIn stop_button(USER_BUTTON);
johnAlexander 19:92972e54d45c 128 stop_button.rise(&measuring_stop_irq);
johnAlexander 19:92972e54d45c 129 #endif
johnAlexander 19:92972e54d45c 130 vl53L1X_DevI2C *device_i2c = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
johnAlexander 19:92972e54d45c 131 range_measure(device_i2c); // start continuous measures
johnAlexander 19:92972e54d45c 132 }