main.cpp

00001 /*
00002  * This VL53L1X Expansion board sample application performs range measurements
00003  * with interrupts enabled to generate a hardware interrupt each time a new
00004  * measurement is ready to be read.
00005  *
00006  * Measured ranges are output on the Serial Port, running at 115200 baud.
00007  *
00008  * The application supports the centre, on-board, sensor and up to two satellite boards.
00009  *
00010  * The User Blue button switches between the currently selected sensor to display range
00011  * results from.
00012  *
00013  * The Black Reset button is used to restart the program.
00014  *
00015  * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
00016  *            the X-NUCELO-53L0A1 expansion board are not made/OFF.
00017  *            These links must be made to allow interrupts from the Satellite boards
00018  *            to be received.
00019  *            U11 and U18 must be made/ON to allow interrupts to be received from the
00020  *            INT_L & INT_R positions; or
00021  *            U10 and U15 must be made/ON to allow interrupts to be received from the
00022  *            Alternate INT_L & INT_R positions.
00023  *            The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R
00024  *            positions.
00025  *            INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9.
00026  *            Alternate INT_L is on CN5 Connector pin 2 as D8.
00027  *            INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4.
00028  *            Alternate INT_R is on CN9 Connector pin 5 as D2.
00029  *            The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/
00030  */
00031  
00032 #include <stdio.h>
00033 
00034 #include "mbed.h"
00035 #include "XNucleo53L1A1.h"
00036 #include "vl53L1x_I2c.h"
00037 
00038 #define VL53L1_I2C_SDA   D14 
00039 #define VL53L1_I2C_SCL   D15 
00040 
00041 #if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-64s
00042 //InterruptIn stop_button(USER_BUTTON);
00043 #endif
00044 
00045 /* Installed sensors count */
00046 int sensorCnt = 0;
00047 
00048 /* installed sensors prefixes */
00049 char installedSensors[3];
00050 
00051 static XNucleo53L1A1 *board=NULL;
00052 //Serial pc(SERIAL_TX, SERIAL_RX); 
00053 
00054 /* interrupt requests */
00055 volatile bool centerSensor = false;
00056 volatile bool leftSensor = false;
00057 volatile bool rightSensor = false;
00058 volatile bool int_measuring_stop = false;
00059 /* Current sensor number*/
00060 volatile int currentSensor = 0;
00061 
00062 /* current displayed sensor change IRQ */
00063 volatile bool switchChanged = false;
00064 
00065 /* ISR callback function of the centre sensor */
00066 void sensor_centre_irq(void)
00067 {
00068     centerSensor = true;
00069     board->sensor_centre->disable_interrupt_measure_detection_irq();
00070 }
00071 
00072 /* ISR callback function of the left sensor */
00073 void sensor_left_irq(void)
00074 {
00075     leftSensor = true;
00076     board->sensor_left->disable_interrupt_measure_detection_irq();
00077 }
00078 
00079 /* ISR callback function of the right sensor */
00080 void sensor_right_irq(void)
00081 {
00082     rightSensor = true;
00083     board->sensor_right->disable_interrupt_measure_detection_irq();
00084 }
00085 
00086 /* ISR callback function of the user blue button to switch measuring sensor. */
00087 void switch_measuring_sensor_irq(void)
00088 {
00089     stop_button.disable_irq();
00090     switchChanged = true;
00091 }
00092 
00093 /*
00094  * This function calls the interrupt handler for each sensor
00095  * and outputs the range
00096  */
00097 inline void measure_sensors()
00098 {
00099     bool current = false;
00100     uint16_t distance = 0;
00101 
00102     /* Handle the interrupt and output the range from the centre sensor */
00103     if (centerSensor) {
00104         centerSensor = false;
00105         board->sensor_centre->handle_irq(&distance);
00106         current = (currentSensor == 0);
00107         if (current) {
00108             printf("Centre: %d\r\n", distance);
00109         }
00110     }
00111 
00112     /* Handle the interrupt and output the range from the left sensor */
00113     if (leftSensor) {
00114         leftSensor = false;
00115         board->sensor_left->handle_irq(&distance);
00116         current = (installedSensors[currentSensor] == 'L');
00117         if (current) {
00118             printf("Left: %d\r\n", distance);
00119         }
00120     }
00121 
00122     /* Handle the interrupt and output the range from the right sensor */
00123     if (rightSensor) {
00124         rightSensor = false;
00125         board->sensor_right->handle_irq(&distance);
00126         current = (installedSensors[currentSensor] == 'R');
00127         if (current) {
00128             printf("Right: %d\r\n", distance);
00129         }
00130     }
00131 }
00132 
00133 /*
00134  * Add to an array a character that represents the sensor and start ranging
00135  */
00136 int init_sensors_array()
00137 {
00138     int status = 0;
00139     sensorCnt = 0;
00140     /* start the measure on the center sensor */
00141     if (NULL != board->sensor_centre) {
00142         installedSensors[sensorCnt] = 'C';
00143         status = board->sensor_centre->stop_measurement();
00144         if (status != 0) {
00145             return status;
00146         }
00147         status = board->sensor_centre->start_measurement(&sensor_centre_irq);
00148         if (status != 0) {
00149             return status;
00150         }
00151         ++sensorCnt;
00152     }
00153     /* start the measure on the left sensor */
00154     if (NULL != board->sensor_left) {
00155         installedSensors[sensorCnt] = 'L';
00156         status = board->sensor_left->stop_measurement();
00157         if (status != 0) {
00158             return status;
00159         }
00160         status = board->sensor_left->start_measurement(&sensor_left_irq);
00161         if (status != 0) {
00162             return status;
00163         }
00164         ++sensorCnt;
00165     }
00166     /* start the measure on the right sensor */
00167     if (NULL != board->sensor_right) {
00168         installedSensors[sensorCnt] = 'R';
00169         status = board->sensor_right->stop_measurement();
00170         if (status != 0) {
00171             return status;
00172         }
00173         status = board->sensor_right->start_measurement(&sensor_right_irq);
00174         if (status != 0) {
00175             return status;
00176         }
00177         ++sensorCnt;
00178     }
00179     currentSensor = 0;
00180     return status;
00181 }
00182 
00183 /*
00184  * Main ranging function
00185  */
00186 int range_measure(vl53L1X_DevI2C *device_i2c)
00187 {
00188     int status = 0;
00189 
00190     /* creates the 53L1A1 expansion board singleton obj */
00191     board = XNucleo53L1A1::instance(device_i2c, A2, D9, D2);
00192 
00193     /* init the 53L1A1 expansion board with default values */
00194     status = board->init_board();
00195     if (status != 0) {
00196         printf("Failed to init board!\r\n");
00197         return status;
00198     }
00199 
00200     /* init an array with chars to id the sensors */
00201     status = init_sensors_array();
00202     if (status != 0) {
00203         printf("Failed to init sensors!\r\n");
00204         return status;
00205     }
00206 
00207     printf("Entering loop mode\r\n");
00208 
00209     /* Main ranging interrupt loop */
00210     while (true) {
00211         measure_sensors();
00212         if (switchChanged) {
00213             ++currentSensor;
00214             if (currentSensor == sensorCnt)
00215                 currentSensor = 0;
00216             printf("Sensor changed to %c\r\n", installedSensors[currentSensor]);
00217             switchChanged = false;
00218             stop_button.enable_irq();
00219         }
00220     }
00221     delete board;
00222     return status;
00223 }
00224 
00225 /*=================================== Main ==================================
00226 =============================================================================*/
00227 int main()
00228 {
00229 #if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-f401
00230     stop_button.rise(&switch_measuring_sensor_irq);
00231     stop_button.enable_irq();
00232 #endif
00233     vl53L1X_DevI2C *dev_I2C = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
00234     range_measure(dev_I2C);  // start continuous measures
00235 return 0;
00236 }
00237