ST Expansion SW Team / Mbed 2 deprecated HelloWorld_53L1A1_Polling_All

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Dependencies:   mbed X_NUCLEO_53L1A1_mbed

main.cpp@19:27f341756cb6, 2019-05-23 (annotated)

Committer:
dmathew
Date:
Thu May 23 12:01:43 2019 +0000
Revision:
19:27f341756cb6
Parent:
17:e7a6fd6d3c97
Child:
20:639c4cbcfad9
Added sensor NULL checks to the code to allow only polling example to only use one device.  Button stop command added to allow user to stop ranging loop.

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"
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 19:27f341756cb6 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
dmathew 19:27f341756cb6 53 InterruptIn stop_button(USER_BUTTON);
dmathew 19:27f341756cb6 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
JerrySzczurak 14:d3904b05aad6 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) {
dmathew 19:27f341756cb6 85 status = board->sensor_centre->VL53L1X_StartRanging();
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) {
dmathew 19:27f341756cb6 94 status = board->sensor_left->VL53L1X_StartRanging();
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) {
dmathew 19:27f341756cb6 103 status = board->sensor_right->VL53L1X_StartRanging();
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) {
dmathew 19:27f341756cb6 121 board->sensor_centre->VL53L1X_CheckForDataReady(&ready_centre);
dmathew 19:27f341756cb6 122 }
dmathew 19:27f341756cb6 123 if (board->sensor_left != NULL) {
dmathew 19:27f341756cb6 124 board->sensor_left->VL53L1X_CheckForDataReady(&ready_left);
dmathew 19:27f341756cb6 125 }
dmathew 19:27f341756cb6 126 if (board->sensor_right != NULL) {
dmathew 19:27f341756cb6 127 board->sensor_right->VL53L1X_CheckForDataReady(&ready_right);
dmathew 19:27f341756cb6 128 }
dmathew 17:e7a6fd6d3c97 129 if (ready_centre) {
dmathew 17:e7a6fd6d3c97 130 board->sensor_centre->VL53L1X_GetRangeStatus(&ready_centre);
dmathew 17:e7a6fd6d3c97 131 board->sensor_centre->VL53L1X_GetDistance(&distance_centre);
dmathew 17:e7a6fd6d3c97 132 }
dmathew 17:e7a6fd6d3c97 133 if (ready_left) {
dmathew 17:e7a6fd6d3c97 134 board->sensor_centre->VL53L1X_GetRangeStatus(&ready_left);
dmathew 17:e7a6fd6d3c97 135 board->sensor_centre->VL53L1X_GetDistance(&distance_left);
dmathew 17:e7a6fd6d3c97 136 }
dmathew 17:e7a6fd6d3c97 137 if (ready_right) {
dmathew 17:e7a6fd6d3c97 138 board->sensor_centre->VL53L1X_GetRangeStatus(&ready_right);
dmathew 17:e7a6fd6d3c97 139 board->sensor_centre->VL53L1X_GetDistance(&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 }