Diff: main.cpp

Revision:

19:92972e54d45c

Parent:

17:e7a6fd6d3c97

--- a/main.cpp	Fri May 17 09:49:47 2019 +0000
+++ b/main.cpp	Fri May 17 10:05:56 2019 +0000
@@ -1,6 +1,7 @@
 /*
- *  This VL53L1X Expansion board test application performs range measurements
- *  using the onboard embedded centre sensor.
+ * This VL53L1X Expansion 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 ouput on the Serial Port, running at 115200 baud.
  *
@@ -36,31 +37,54 @@
 #define VL53L1_I2C_SCL   D15
 
 static XNucleo53L1A1 *board=NULL;
-
 Serial pc(SERIAL_TX, SERIAL_RX);
 
-/*=================================== Main ==================================
-=============================================================================*/
-int main()
+/* flags that handle interrupt request for sensor and user blue button*/
+volatile bool int_sensor = false;
+volatile bool int_stop = false;
+
+/* ISR callback function of the centre sensor */
+void sensor_irq(void)
 {
+    int_sensor = true;
+    board->sensor_centre->disable_interrupt_measure_detection_irq();
+}
 
+/* Start the sensor ranging */
+int init_sensor()
+{
     int status = 0;
-    uint8_t ready_centre = 0;
-    uint8_t ready_left = 0;
-    uint8_t ready_right = 0;
-    uint16_t distance_centre = 0;
-    uint16_t distance_left = 0;
-    uint16_t distance_right = 0;
+    /* start the measure on the center sensor */
+    if (NULL != board->sensor_centre) {
+        status = board->sensor_centre->stop_measurement();
+        if (status != 0) {
+                return status;
+        }
 
-    printf("Hello world!\r\n");
+        status = board->sensor_centre->start_measurement(&sensor_irq);
+        if (status != 0) {
+            return status;
+        }
+    }
+    return status;
+}
 
-    vl53L1X_DevI2C *dev_I2C = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
+/* ISR callback function of the user blue button to switch measuring sensor. */
+void measuring_stop_irq(void)
+{
+    int_stop = true;
+}
 
-    printf("I2C device created!\r\n");
+/*
+ * Main ranging function
+ */
+int range_measure(vl53L1X_DevI2C *device_i2c)
+{
+    int status = 0;
+    uint16_t distance = 0;
 
     /* creates the 53L1A1 expansion board singleton obj */
-    board = XNucleo53L1A1::instance(dev_I2C, A2, D9, D2);
-    printf("board created!\r\n");
+    board = XNucleo53L1A1::instance(device_i2c, A2, D9, D2);
 
     /* init the 53L1A1 expansion board with default values */
     status = board->init_board();
@@ -69,55 +93,40 @@
         return status;
     }
 
-    printf("board initiated! - %d\r\n", status);
-
-    /* Start ranging on the centre sensor */
-    status = board->sensor_centre->VL53L1X_StartRanging();
+    /* init an array with chars to id the sensors */
+    status = init_sensor();
     if (status != 0) {
-        printf("Centre sensor failed to start ranging!\r\n");
-        return status;
-    }
-
-    /* Start ranging on the left sensor */
-    status = board->sensor_left->VL53L1X_StartRanging();
-    if (status != 0) {
-        printf("Left sensor failed to start ranging!\r\n");
-        return status;
-    }
-
-    /* Start ranging on the right sensor */
-    status = board->sensor_right->VL53L1X_StartRanging();
-    if (status != 0) {
-        printf("Right sensor failed to start ranging!\r\n");
+        printf("Failed to init sensors!\r\n");
         return status;
     }
 
-    /* Ranging loop
-     * Checks each sensor for data ready
-     */
-    while (1)
-    {
-        board->sensor_centre->VL53L1X_CheckForDataReady(&ready_centre);
-        board->sensor_left->VL53L1X_CheckForDataReady(&ready_left);
-        board->sensor_right->VL53L1X_CheckForDataReady(&ready_right);
-
-        if (ready_centre) {
-            board->sensor_centre->VL53L1X_GetRangeStatus(&ready_centre);
-            board->sensor_centre->VL53L1X_GetDistance(&distance_centre);
-        }
-        if (ready_left) {
-            board->sensor_centre->VL53L1X_GetRangeStatus(&ready_left);
-            board->sensor_centre->VL53L1X_GetDistance(&distance_left);
-        }
-        if (ready_right) {
-            board->sensor_centre->VL53L1X_GetRangeStatus(&ready_right);
-            board->sensor_centre->VL53L1X_GetDistance(&distance_right);
+    printf("Entering loop mode\r\n");
+    /* Main ranging interrupt loop */
+    while (true) {
+        if (int_sensor) {
+            int_sensor = false;
+            status = board->sensor_centre->handle_irq(&distance);
+            printf("distance: %d\r\n", distance);
         }
 
-        printf("%d\t", distance_centre);
-        printf("%d\t", distance_left);
-        printf("%d\t", distance_right);
+        if (int_stop) {
+            printf("\r\nEnding loop mode \r\n");
+            break;
+        }
     }
 
     return status;
+
 }
+
+/*=================================== Main ==================================
+=============================================================================*/
+int main()
+{
+#if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-f401
+    InterruptIn stop_button(USER_BUTTON);
+    stop_button.rise(&measuring_stop_irq);
+#endif
+    vl53L1X_DevI2C *device_i2c = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
+    range_measure(device_i2c);  // start continuous measures
+}