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@17:e7a6fd6d3c97, 2019-05-17 (annotated)

Committer:
dmathew
Date:
Fri May 17 09:14:06 2019 +0000
Revision:
17:e7a6fd6d3c97
Parent:
14:d3904b05aad6
Child:
19:92972e54d45c
Comment cleanup

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dmathew 17:e7a6fd6d3c97 1 /*
dmathew 17:e7a6fd6d3c97 2 * This VL53L1X Expansion board test application performs range measurements
dmathew 17:e7a6fd6d3c97 3 * using the onboard embedded centre sensor.
dmathew 17:e7a6fd6d3c97 4 *
dmathew 17:e7a6fd6d3c97 5 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
dmathew 17:e7a6fd6d3c97 6 *
dmathew 17:e7a6fd6d3c97 7 * The User Blue button stops the current measurement and entire program,
dmathew 17:e7a6fd6d3c97 8 * releasing all resources.
dmathew 17:e7a6fd6d3c97 9 *
dmathew 17:e7a6fd6d3c97 10 * The Black Reset button is used to restart the program.
dmathew 17:e7a6fd6d3c97 11 *
dmathew 17:e7a6fd6d3c97 12 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
dmathew 17:e7a6fd6d3c97 13 * the X-NUCELO-53L0A1 expansion board are not made/OFF.
dmathew 17:e7a6fd6d3c97 14 * These links must be made to allow interrupts from the Satellite boards
dmathew 17:e7a6fd6d3c97 15 * to be received.
dmathew 17:e7a6fd6d3c97 16 * U11 and U18 must be made/ON to allow interrupts to be received from the
dmathew 17:e7a6fd6d3c97 17 * INT_L & INT_R positions; or
dmathew 17:e7a6fd6d3c97 18 * U10 and U15 must be made/ON to allow interrupts to be received from the
dmathew 17:e7a6fd6d3c97 19 * Alternate INT_L & INT_R positions.
dmathew 17:e7a6fd6d3c97 20 * The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R
dmathew 17:e7a6fd6d3c97 21 * positions.
dmathew 17:e7a6fd6d3c97 22 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9.
dmathew 17:e7a6fd6d3c97 23 * Alternate INT_L is on CN5 Connector pin 2 as D8.
dmathew 17:e7a6fd6d3c97 24 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4.
dmathew 17:e7a6fd6d3c97 25 * Alternate INT_R is on CN9 Connector pin 5 as D2.
dmathew 17:e7a6fd6d3c97 26 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/
dmathew 17:e7a6fd6d3c97 27 */
dmathew 17:e7a6fd6d3c97 28
dmathew 17:e7a6fd6d3c97 29 #include <stdio.h>
dmathew 17:e7a6fd6d3c97 30
johnAlexander 0:ce8359133ae6 31 #include "mbed.h"
JerrySzczurak 14:d3904b05aad6 32 #include "XNucleo53L1A1.h"
JerrySzczurak 14:d3904b05aad6 33 #include "vl53L1x_I2c.h"
johnAlexander 0:ce8359133ae6 34
dmathew 17:e7a6fd6d3c97 35 #define VL53L1_I2C_SDA D14
dmathew 17:e7a6fd6d3c97 36 #define VL53L1_I2C_SCL D15
JerrySzczurak 14:d3904b05aad6 37
JerrySzczurak 14:d3904b05aad6 38 static XNucleo53L1A1 *board=NULL;
dmathew 17:e7a6fd6d3c97 39
dmathew 17:e7a6fd6d3c97 40 Serial pc(SERIAL_TX, SERIAL_RX);
dmathew 17:e7a6fd6d3c97 41
johnAlexander 0:ce8359133ae6 42 /*=================================== Main ==================================
johnAlexander 0:ce8359133ae6 43 =============================================================================*/
johnAlexander 0:ce8359133ae6 44 int main()
dmathew 17:e7a6fd6d3c97 45 {
dmathew 17:e7a6fd6d3c97 46
dmathew 17:e7a6fd6d3c97 47 int status = 0;
dmathew 17:e7a6fd6d3c97 48 uint8_t ready_centre = 0;
dmathew 17:e7a6fd6d3c97 49 uint8_t ready_left = 0;
dmathew 17:e7a6fd6d3c97 50 uint8_t ready_right = 0;
dmathew 17:e7a6fd6d3c97 51 uint16_t distance_centre = 0;
dmathew 17:e7a6fd6d3c97 52 uint16_t distance_left = 0;
dmathew 17:e7a6fd6d3c97 53 uint16_t distance_right = 0;
JerrySzczurak 14:d3904b05aad6 54
JerrySzczurak 14:d3904b05aad6 55 printf("Hello world!\r\n");
johnAlexander 3:b3f70617a6b3 56
JerrySzczurak 14:d3904b05aad6 57 vl53L1X_DevI2C *dev_I2C = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
JerrySzczurak 14:d3904b05aad6 58
JerrySzczurak 14:d3904b05aad6 59 printf("I2C device created!\r\n");
dmathew 17:e7a6fd6d3c97 60
dmathew 17:e7a6fd6d3c97 61 /* creates the 53L1A1 expansion board singleton obj */
dmathew 17:e7a6fd6d3c97 62 board = XNucleo53L1A1::instance(dev_I2C, A2, D9, D2);
JerrySzczurak 14:d3904b05aad6 63 printf("board created!\r\n");
johnAlexander 3:b3f70617a6b3 64
dmathew 17:e7a6fd6d3c97 65 /* init the 53L1A1 expansion board with default values */
johnAlexander 7:c8087e7333b8 66 status = board->init_board();
dmathew 17:e7a6fd6d3c97 67 if (status != 0) {
Davidroid 10:891e10d3b4a6 68 printf("Failed to init board!\r\n");
dmathew 17:e7a6fd6d3c97 69 return status;
johnAlexander 7:c8087e7333b8 70 }
dmathew 17:e7a6fd6d3c97 71
JerrySzczurak 14:d3904b05aad6 72 printf("board initiated! - %d\r\n", status);
dmathew 17:e7a6fd6d3c97 73
dmathew 17:e7a6fd6d3c97 74 /* Start ranging on the centre sensor */
JerrySzczurak 14:d3904b05aad6 75 status = board->sensor_centre->VL53L1X_StartRanging();
dmathew 17:e7a6fd6d3c97 76 if (status != 0) {
dmathew 17:e7a6fd6d3c97 77 printf("Centre sensor failed to start ranging!\r\n");
dmathew 17:e7a6fd6d3c97 78 return status;
dmathew 17:e7a6fd6d3c97 79 }
dmathew 17:e7a6fd6d3c97 80
dmathew 17:e7a6fd6d3c97 81 /* Start ranging on the left sensor */
dmathew 17:e7a6fd6d3c97 82 status = board->sensor_left->VL53L1X_StartRanging();
dmathew 17:e7a6fd6d3c97 83 if (status != 0) {
dmathew 17:e7a6fd6d3c97 84 printf("Left sensor failed to start ranging!\r\n");
dmathew 17:e7a6fd6d3c97 85 return status;
dmathew 17:e7a6fd6d3c97 86 }
dmathew 17:e7a6fd6d3c97 87
dmathew 17:e7a6fd6d3c97 88 /* Start ranging on the right sensor */
dmathew 17:e7a6fd6d3c97 89 status = board->sensor_right->VL53L1X_StartRanging();
dmathew 17:e7a6fd6d3c97 90 if (status != 0) {
dmathew 17:e7a6fd6d3c97 91 printf("Right sensor failed to start ranging!\r\n");
dmathew 17:e7a6fd6d3c97 92 return status;
dmathew 17:e7a6fd6d3c97 93 }
dmathew 17:e7a6fd6d3c97 94
dmathew 17:e7a6fd6d3c97 95 /* Ranging loop
dmathew 17:e7a6fd6d3c97 96 * Checks each sensor for data ready
dmathew 17:e7a6fd6d3c97 97 */
JerrySzczurak 14:d3904b05aad6 98 while (1)
dmathew 17:e7a6fd6d3c97 99 {
dmathew 17:e7a6fd6d3c97 100 board->sensor_centre->VL53L1X_CheckForDataReady(&ready_centre);
dmathew 17:e7a6fd6d3c97 101 board->sensor_left->VL53L1X_CheckForDataReady(&ready_left);
dmathew 17:e7a6fd6d3c97 102 board->sensor_right->VL53L1X_CheckForDataReady(&ready_right);
johnAlexander 4:c8932fb926d6 103
dmathew 17:e7a6fd6d3c97 104 if (ready_centre) {
dmathew 17:e7a6fd6d3c97 105 board->sensor_centre->VL53L1X_GetRangeStatus(&ready_centre);
dmathew 17:e7a6fd6d3c97 106 board->sensor_centre->VL53L1X_GetDistance(&distance_centre);
dmathew 17:e7a6fd6d3c97 107 }
dmathew 17:e7a6fd6d3c97 108 if (ready_left) {
dmathew 17:e7a6fd6d3c97 109 board->sensor_centre->VL53L1X_GetRangeStatus(&ready_left);
dmathew 17:e7a6fd6d3c97 110 board->sensor_centre->VL53L1X_GetDistance(&distance_left);
dmathew 17:e7a6fd6d3c97 111 }
dmathew 17:e7a6fd6d3c97 112 if (ready_right) {
dmathew 17:e7a6fd6d3c97 113 board->sensor_centre->VL53L1X_GetRangeStatus(&ready_right);
dmathew 17:e7a6fd6d3c97 114 board->sensor_centre->VL53L1X_GetDistance(&distance_right);
dmathew 17:e7a6fd6d3c97 115 }
dmathew 17:e7a6fd6d3c97 116
JerrySzczurak 14:d3904b05aad6 117 printf("%d\t", distance_centre);
dmathew 17:e7a6fd6d3c97 118 printf("%d\t", distance_left);
dmathew 17:e7a6fd6d3c97 119 printf("%d\t", distance_right);
dmathew 17:e7a6fd6d3c97 120 }
dmathew 17:e7a6fd6d3c97 121
dmathew 17:e7a6fd6d3c97 122 return status;
johnAlexander 0:ce8359133ae6 123 }