ST Expansion SW Team / Mbed 2 deprecated HelloWorld_53L1A1_Polling_All

Ranging, using Polling, with Expansion and Satellite Board Sensors.

Dependencies:   mbed X_NUCLEO_53L1A1_mbed

main.cpp@22:0ffe93dbb0f7, 2019-07-24 (annotated)

Committer:
johnAlexander
Date:
Wed Jul 24 12:30:28 2019 +0000
Revision:
22:0ffe93dbb0f7
Parent:
21:769dbb594f88 
Up-issue board and sensor classes, with refactored init-sensor.

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 19:27f341756cb6 5 * Measured ranges are ouput on the Serial Port, running at 96000 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"
johnAlexander 21:769dbb594f88 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;
johnAlexander 21:769dbb594f88 39 //Serial pc(SERIAL_TX, SERIAL_RX);
dmathew 17:e7a6fd6d3c97 40
dmathew 19:27f341756cb6 41 volatile bool polling_stop = false;
dmathew 19:27f341756cb6 42
dmathew 19:27f341756cb6 43 void stop_polling(void)
dmathew 19:27f341756cb6 44 {
dmathew 19:27f341756cb6 45 polling_stop = true;
dmathew 19:27f341756cb6 46 }
dmathew 17:e7a6fd6d3c97 47
johnAlexander 0:ce8359133ae6 48 /*=================================== Main ==================================
johnAlexander 0:ce8359133ae6 49 =============================================================================*/
johnAlexander 0:ce8359133ae6 50 int main()
dmathew 17:e7a6fd6d3c97 51 {
dmathew 19:27f341756cb6 52 #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401
johnAlexander 21:769dbb594f88 53 // InterruptIn stop_button(USER_BUTTON);
johnAlexander 21:769dbb594f88 54 // stop_button.rise(&stop_polling);
dmathew 19:27f341756cb6 55 #endif
dmathew 17:e7a6fd6d3c97 56 int status = 0;
dmathew 17:e7a6fd6d3c97 57 uint8_t ready_centre = 0;
dmathew 17:e7a6fd6d3c97 58 uint8_t ready_left = 0;
dmathew 17:e7a6fd6d3c97 59 uint8_t ready_right = 0;
dmathew 17:e7a6fd6d3c97 60 uint16_t distance_centre = 0;
dmathew 17:e7a6fd6d3c97 61 uint16_t distance_left = 0;
dmathew 17:e7a6fd6d3c97 62 uint16_t distance_right = 0;
JerrySzczurak 14:d3904b05aad6 63
JerrySzczurak 14:d3904b05aad6 64 printf("Hello world!\r\n");
johnAlexander 3:b3f70617a6b3 65
johnAlexander 21:769dbb594f88 66 VL53L1X_DevI2C *dev_I2C = new VL53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
JerrySzczurak 14:d3904b05aad6 67
JerrySzczurak 14:d3904b05aad6 68 printf("I2C device created!\r\n");
dmathew 17:e7a6fd6d3c97 69
dmathew 17:e7a6fd6d3c97 70 /* creates the 53L1A1 expansion board singleton obj */
dmathew 17:e7a6fd6d3c97 71 board = XNucleo53L1A1::instance(dev_I2C, A2, D9, D2);
JerrySzczurak 14:d3904b05aad6 72 printf("board created!\r\n");
johnAlexander 3:b3f70617a6b3 73
dmathew 17:e7a6fd6d3c97 74 /* init the 53L1A1 expansion board with default values */
johnAlexander 7:c8087e7333b8 75 status = board->init_board();
dmathew 19:27f341756cb6 76 if (status) {
Davidroid 10:891e10d3b4a6 77 printf("Failed to init board!\r\n");
dmathew 17:e7a6fd6d3c97 78 return status;
johnAlexander 7:c8087e7333b8 79 }
dmathew 17:e7a6fd6d3c97 80
JerrySzczurak 14:d3904b05aad6 81 printf("board initiated! - %d\r\n", status);
dmathew 17:e7a6fd6d3c97 82
dmathew 17:e7a6fd6d3c97 83 /* Start ranging on the centre sensor */
dmathew 19:27f341756cb6 84 if (board->sensor_centre != NULL) {
johnAlexander 21:769dbb594f88 85 status = board->sensor_centre->vl53l1x_start_ranging();
dmathew 19:27f341756cb6 86 if (status != 0) {
dmathew 19:27f341756cb6 87 printf("Centre sensor failed to start ranging!\r\n");
dmathew 19:27f341756cb6 88 return status;
dmathew 19:27f341756cb6 89 }
dmathew 17:e7a6fd6d3c97 90 }
dmathew 17:e7a6fd6d3c97 91
dmathew 17:e7a6fd6d3c97 92 /* Start ranging on the left sensor */
dmathew 19:27f341756cb6 93 if (board->sensor_left != NULL) {
johnAlexander 21:769dbb594f88 94 status = board->sensor_left->vl53l1x_start_ranging();
dmathew 19:27f341756cb6 95 if (status != 0) {
dmathew 19:27f341756cb6 96 printf("Left sensor failed to start ranging!\r\n");
dmathew 19:27f341756cb6 97 return status;
dmathew 19:27f341756cb6 98 }
dmathew 17:e7a6fd6d3c97 99 }
dmathew 17:e7a6fd6d3c97 100
dmathew 17:e7a6fd6d3c97 101 /* Start ranging on the right sensor */
dmathew 19:27f341756cb6 102 if (board->sensor_right != NULL) {
johnAlexander 21:769dbb594f88 103 status = board->sensor_right->vl53l1x_start_ranging();
dmathew 19:27f341756cb6 104 if (status != 0) {
dmathew 19:27f341756cb6 105 printf("Right sensor failed to start ranging!\r\n");
dmathew 19:27f341756cb6 106 return status;
dmathew 19:27f341756cb6 107 }
dmathew 17:e7a6fd6d3c97 108 }
dmathew 17:e7a6fd6d3c97 109
dmathew 17:e7a6fd6d3c97 110 /* Ranging loop
dmathew 17:e7a6fd6d3c97 111 * Checks each sensor for data ready
dmathew 17:e7a6fd6d3c97 112 */
JerrySzczurak 14:d3904b05aad6 113 while (1)
dmathew 17:e7a6fd6d3c97 114 {
dmathew 19:27f341756cb6 115 if (polling_stop)
dmathew 19:27f341756cb6 116 {
dmathew 19:27f341756cb6 117 printf("\r\nEnding loop mode \r\n");
dmathew 19:27f341756cb6 118 break;
dmathew 19:27f341756cb6 119 }
dmathew 19:27f341756cb6 120 if (board->sensor_centre != NULL) {
johnAlexander 21:769dbb594f88 121 board->sensor_centre->vl53l1x_check_for_data_ready(&ready_centre);
dmathew 19:27f341756cb6 122 }
dmathew 19:27f341756cb6 123 if (board->sensor_left != NULL) {
johnAlexander 21:769dbb594f88 124 board->sensor_left->vl53l1x_check_for_data_ready(&ready_left);
dmathew 19:27f341756cb6 125 }
dmathew 19:27f341756cb6 126 if (board->sensor_right != NULL) {
johnAlexander 21:769dbb594f88 127 board->sensor_right->vl53l1x_check_for_data_ready(&ready_right);
dmathew 19:27f341756cb6 128 }
dmathew 17:e7a6fd6d3c97 129 if (ready_centre) {
johnAlexander 21:769dbb594f88 130 board->sensor_centre->vl53l1x_get_range_status(&ready_centre);
johnAlexander 21:769dbb594f88 131 board->sensor_centre->vl53l1x_get_distance(&distance_centre);
dmathew 17:e7a6fd6d3c97 132 }
dmathew 17:e7a6fd6d3c97 133 if (ready_left) {
johnAlexander 21:769dbb594f88 134 board->sensor_left->vl53l1x_get_range_status(&ready_left);
johnAlexander 21:769dbb594f88 135 board->sensor_left->vl53l1x_get_distance(&distance_left);
dmathew 17:e7a6fd6d3c97 136 }
dmathew 17:e7a6fd6d3c97 137 if (ready_right) {
johnAlexander 21:769dbb594f88 138 board->sensor_right->vl53l1x_get_range_status(&ready_right);
johnAlexander 21:769dbb594f88 139 board->sensor_right->vl53l1x_get_distance(&distance_right);
dmathew 17:e7a6fd6d3c97 140 }
dmathew 17:e7a6fd6d3c97 141
dmathew 19:27f341756cb6 142 if (board->sensor_centre != NULL) {
dmathew 19:27f341756cb6 143 printf("%d\t", distance_centre);
dmathew 19:27f341756cb6 144 }
dmathew 19:27f341756cb6 145 if (board->sensor_left != NULL) {
dmathew 19:27f341756cb6 146 printf("%d\t", distance_left);
dmathew 19:27f341756cb6 147 }
dmathew 19:27f341756cb6 148 if (board->sensor_right != NULL) {
dmathew 19:27f341756cb6 149 printf("%d\t", distance_right);
dmathew 19:27f341756cb6 150 }
dmathew 17:e7a6fd6d3c97 151 }
dmathew 17:e7a6fd6d3c97 152
dmathew 17:e7a6fd6d3c97 153 return status;
johnAlexander 0:ce8359133ae6 154 }