ST Expansion SW Team / Mbed 2 deprecated HelloWorld_53L1A1_Satellites_Interrupt

Example of interrupt ranging using VL53L1X satellite sensor board

Dependencies:   mbed X_NUCLEO_53L1A1_mbed

main.cpp@21:a225fcaf0228, 2019-05-30 (annotated)

Committer:
dmathew
Date:
Thu May 30 11:39:36 2019 +0000
Revision:
21:a225fcaf0228
Parent:
20:56355fae478b 
Added ranging mode to allow choice between polling and interrupt ranging

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dmathew 17:e7a6fd6d3c97 1 /*
dmathew 20:56355fae478b 2 * This VL53L1X satellite board sample application performs range measurements
johnAlexander 19:29699fbc39b8 3 * with interrupts enabled to generate a hardware interrupt each time a new
johnAlexander 19:29699fbc39b8 4 * measurement is ready to be read.
dmathew 17:e7a6fd6d3c97 5 *
dmathew 20:56355fae478b 6 * Measured ranges are output on the Serial Port, running at 115200 baud.
dmathew 17:e7a6fd6d3c97 7 *
dmathew 20:56355fae478b 8 * The User Blue button stops the current measurement and entire program,
dmathew 20:56355fae478b 9 * releasing all resources.
dmathew 17:e7a6fd6d3c97 10 *
dmathew 20:56355fae478b 11 * The Black Reset button is used to restart the program.
johnAlexander 19:29699fbc39b8 12 *
dmathew 20:56355fae478b 13 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
dmathew 17:e7a6fd6d3c97 14 * the X-NUCELO-53L0A1 expansion board are not made/OFF.
dmathew 17:e7a6fd6d3c97 15 * These links must be made to allow interrupts from the Satellite boards
dmathew 17:e7a6fd6d3c97 16 * to be received.
dmathew 17:e7a6fd6d3c97 17 * U11 and U18 must be made/ON to allow interrupts to be received from the
dmathew 17:e7a6fd6d3c97 18 * INT_L & INT_R positions; or
dmathew 17:e7a6fd6d3c97 19 * U10 and U15 must be made/ON to allow interrupts to be received from the
dmathew 17:e7a6fd6d3c97 20 * Alternate INT_L & INT_R positions.
dmathew 17:e7a6fd6d3c97 21 * The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R
dmathew 17:e7a6fd6d3c97 22 * positions.
dmathew 17:e7a6fd6d3c97 23 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9.
dmathew 17:e7a6fd6d3c97 24 * Alternate INT_L is on CN5 Connector pin 2 as D8.
dmathew 17:e7a6fd6d3c97 25 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4.
dmathew 17:e7a6fd6d3c97 26 * Alternate INT_R is on CN9 Connector pin 5 as D2.
dmathew 17:e7a6fd6d3c97 27 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/
dmathew 17:e7a6fd6d3c97 28 */
dmathew 20:56355fae478b 29
dmathew 17:e7a6fd6d3c97 30 #include <stdio.h>
dmathew 17:e7a6fd6d3c97 31
johnAlexander 0:ce8359133ae6 32 #include "mbed.h"
JerrySzczurak 14:d3904b05aad6 33 #include "vl53L1x_I2c.h"
dmathew 20:56355fae478b 34 #include "vl53l1x_class.h"
johnAlexander 19:29699fbc39b8 35
dmathew 20:56355fae478b 36 #define VL53L1_I2C_SDA D14
dmathew 20:56355fae478b 37 #define VL53L1_I2C_SCL D15
johnAlexander 19:29699fbc39b8 38
dmathew 21:a225fcaf0228 39 #define INTERRUPT_MODE 0
dmathew 21:a225fcaf0228 40 #define POLLING_MODE 1
dmathew 21:a225fcaf0228 41
dmathew 20:56355fae478b 42 static VL53L1X *sensor = NULL;
dmathew 20:56355fae478b 43 Serial pc(SERIAL_TX, SERIAL_RX);
dmathew 17:e7a6fd6d3c97 44
dmathew 20:56355fae478b 45 /* flags that handle interrupt request for sensor and user blue button*/
dmathew 20:56355fae478b 46 volatile bool int_sensor = false;
dmathew 20:56355fae478b 47 volatile bool int_stop = false;
johnAlexander 19:29699fbc39b8 48
johnAlexander 19:29699fbc39b8 49
dmathew 20:56355fae478b 50 /* ISR callback function of the sensor */
dmathew 20:56355fae478b 51 void sensor_irq(void)
johnAlexander 19:29699fbc39b8 52 {
dmathew 20:56355fae478b 53 int_sensor = true;
dmathew 20:56355fae478b 54 sensor->disable_interrupt_measure_detection_irq();
johnAlexander 19:29699fbc39b8 55 }
johnAlexander 19:29699fbc39b8 56
johnAlexander 19:29699fbc39b8 57 /* ISR callback function of the user blue button to switch measuring sensor. */
dmathew 20:56355fae478b 58 void measuring_stop_irq(void)
dmathew 20:56355fae478b 59 {
dmathew 20:56355fae478b 60 int_stop = true;
dmathew 20:56355fae478b 61 }
dmathew 20:56355fae478b 62
dmathew 20:56355fae478b 63 /* Start the sensor ranging */
dmathew 20:56355fae478b 64 int start_ranging()
johnAlexander 19:29699fbc39b8 65 {
dmathew 20:56355fae478b 66 int status = 0;
dmathew 20:56355fae478b 67 /* start the measure on the sensor */
dmathew 20:56355fae478b 68 if (NULL != sensor) {
dmathew 20:56355fae478b 69 status = sensor->stop_measurement();
dmathew 20:56355fae478b 70 if (status != 0) {
dmathew 20:56355fae478b 71 return status;
dmathew 20:56355fae478b 72 }
dmathew 20:56355fae478b 73
dmathew 20:56355fae478b 74 status = sensor->start_measurement(&sensor_irq);
dmathew 20:56355fae478b 75 if (status != 0) {
dmathew 20:56355fae478b 76 return status;
dmathew 20:56355fae478b 77 }
dmathew 20:56355fae478b 78 }
dmathew 20:56355fae478b 79 return status;
johnAlexander 19:29699fbc39b8 80 }
dmathew 17:e7a6fd6d3c97 81
dmathew 21:a225fcaf0228 82 int interrupt_range_measure(vl53L1X_DevI2C *device_i2c)
dmathew 17:e7a6fd6d3c97 83 {
dmathew 20:56355fae478b 84 int status = 0;
johnAlexander 19:29699fbc39b8 85 uint16_t distance = 0;
dmathew 20:56355fae478b 86 /* Create a xshutdown pin */
dmathew 20:56355fae478b 87 DigitalOut xshutdown(D7);
dmathew 17:e7a6fd6d3c97 88
dmathew 20:56355fae478b 89 /* create instance of sensor class */
dmathew 20:56355fae478b 90 sensor = new VL53L1X(device_i2c, &xshutdown, A2);
dmathew 20:56355fae478b 91
dmathew 20:56355fae478b 92 /* initialise sensor */
dmathew 20:56355fae478b 93 sensor->InitSensor(0x52);
dmathew 20:56355fae478b 94
dmathew 20:56355fae478b 95 if (status) {
dmathew 20:56355fae478b 96 delete sensor;
dmathew 20:56355fae478b 97 sensor= NULL;
dmathew 20:56355fae478b 98 printf("Sensor centre not present\n\r");
johnAlexander 19:29699fbc39b8 99 }
johnAlexander 19:29699fbc39b8 100
dmathew 20:56355fae478b 101 /* init an array with chars to id the sensors */
dmathew 20:56355fae478b 102 status = start_ranging();
dmathew 20:56355fae478b 103 if (status != 0) {
dmathew 20:56355fae478b 104 printf("Failed to start ranging!\r\n");
dmathew 20:56355fae478b 105 return status;
dmathew 20:56355fae478b 106 }
dmathew 20:56355fae478b 107
dmathew 20:56355fae478b 108 if (NULL != sensor) {
dmathew 20:56355fae478b 109 printf("Entering loop mode\r\n");
dmathew 20:56355fae478b 110 /* Main ranging interrupt loop */
dmathew 20:56355fae478b 111 while (true) {
dmathew 20:56355fae478b 112 if (int_sensor) {
dmathew 20:56355fae478b 113 int_sensor = false;
dmathew 20:56355fae478b 114 status = sensor->handle_irq(&distance);
dmathew 20:56355fae478b 115 printf("distance: %d\r\n", distance);
dmathew 20:56355fae478b 116 }
dmathew 20:56355fae478b 117
dmathew 20:56355fae478b 118 if (int_stop) {
dmathew 20:56355fae478b 119 printf("\r\nEnding loop mode \r\n");
dmathew 20:56355fae478b 120 break;
dmathew 20:56355fae478b 121 }
johnAlexander 19:29699fbc39b8 122 }
johnAlexander 19:29699fbc39b8 123 }
johnAlexander 19:29699fbc39b8 124
dmathew 20:56355fae478b 125 return status;
dmathew 20:56355fae478b 126
johnAlexander 19:29699fbc39b8 127 }
johnAlexander 19:29699fbc39b8 128
dmathew 21:a225fcaf0228 129 int polling_range_measure(vl53L1X_DevI2C *device_i2c)
dmathew 21:a225fcaf0228 130 {
dmathew 21:a225fcaf0228 131 int status = 0;
dmathew 21:a225fcaf0228 132 uint8_t ready = 0;
dmathew 21:a225fcaf0228 133 uint16_t distance = 0;
dmathew 21:a225fcaf0228 134 /* Create a xshutdown pin */
dmathew 21:a225fcaf0228 135 DigitalOut xshutdown(D7);
dmathew 21:a225fcaf0228 136
dmathew 21:a225fcaf0228 137 /* create instance of sensor class */
dmathew 21:a225fcaf0228 138 sensor = new VL53L1X(device_i2c, &xshutdown, A2);
dmathew 21:a225fcaf0228 139
dmathew 21:a225fcaf0228 140 /* initialise sensor */
dmathew 21:a225fcaf0228 141 sensor->InitSensor(0x52);
dmathew 21:a225fcaf0228 142
dmathew 21:a225fcaf0228 143 if (status) {
dmathew 21:a225fcaf0228 144 delete sensor;
dmathew 21:a225fcaf0228 145 sensor= NULL;
dmathew 21:a225fcaf0228 146 printf("Sensor centre not present\n\r");
dmathew 21:a225fcaf0228 147 }
dmathew 21:a225fcaf0228 148
dmathew 21:a225fcaf0228 149 /* init an array with chars to id the sensors */
dmathew 21:a225fcaf0228 150 status = start_ranging();
dmathew 21:a225fcaf0228 151 if (status != 0) {
dmathew 21:a225fcaf0228 152 printf("Failed to start ranging!\r\n");
dmathew 21:a225fcaf0228 153 return status;
dmathew 21:a225fcaf0228 154 }
dmathew 21:a225fcaf0228 155
dmathew 21:a225fcaf0228 156 if (NULL != sensor) {
dmathew 21:a225fcaf0228 157 printf("Entering loop mode\r\n");
dmathew 21:a225fcaf0228 158 /* Main ranging interrupt loop */
dmathew 21:a225fcaf0228 159 while (true) {
dmathew 21:a225fcaf0228 160 status = sensor->VL53L1X_CheckForDataReady(&ready);
dmathew 21:a225fcaf0228 161 if (ready) {
dmathew 21:a225fcaf0228 162 sensor->VL53L1X_GetDistance(&distance);
dmathew 21:a225fcaf0228 163 printf("distance: %d\r\n", distance);
dmathew 21:a225fcaf0228 164 }
dmathew 21:a225fcaf0228 165
dmathew 21:a225fcaf0228 166 if (int_stop) {
dmathew 21:a225fcaf0228 167 printf("\r\nEnding loop mode \r\n");
dmathew 21:a225fcaf0228 168 break;
dmathew 21:a225fcaf0228 169 }
dmathew 21:a225fcaf0228 170 }
dmathew 21:a225fcaf0228 171 }
dmathew 21:a225fcaf0228 172
dmathew 21:a225fcaf0228 173 return status;
dmathew 21:a225fcaf0228 174 }
johnAlexander 19:29699fbc39b8 175
johnAlexander 19:29699fbc39b8 176 /*=================================== Main ==================================
johnAlexander 19:29699fbc39b8 177 =============================================================================*/
johnAlexander 19:29699fbc39b8 178 int main()
johnAlexander 19:29699fbc39b8 179 {
dmathew 21:a225fcaf0228 180 int range_mode = 0;
johnAlexander 19:29699fbc39b8 181 #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401
dmathew 20:56355fae478b 182 InterruptIn stop_button(USER_BUTTON);
dmathew 20:56355fae478b 183 stop_button.rise(&measuring_stop_irq);
johnAlexander 19:29699fbc39b8 184 #endif
dmathew 20:56355fae478b 185 vl53L1X_DevI2C *device_i2c = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
dmathew 21:a225fcaf0228 186
dmathew 21:a225fcaf0228 187 /* set range_mode to either polling or interrupt */
dmathew 21:a225fcaf0228 188 range_mode = POLLING_MODE;
dmathew 21:a225fcaf0228 189
dmathew 21:a225fcaf0228 190 switch (range_mode) {
dmathew 21:a225fcaf0228 191 case INTERRUPT_MODE:
dmathew 21:a225fcaf0228 192 interrupt_range_measure(device_i2c); // start continuous measures
dmathew 21:a225fcaf0228 193 break;
dmathew 21:a225fcaf0228 194 case POLLING_MODE:
dmathew 21:a225fcaf0228 195 polling_range_measure(device_i2c);
dmathew 21:a225fcaf0228 196 break;
dmathew 21:a225fcaf0228 197 default:
dmathew 21:a225fcaf0228 198 printf("Invalid range mode\n\r");
dmathew 21:a225fcaf0228 199 break;
dmathew 21:a225fcaf0228 200 }
johnAlexander 19:29699fbc39b8 201 }