ST Expansion SW Team / Mbed 2 deprecated HelloWorld_VL53L1X_StandAlone_Satellite

Ranging using a VL53L1X Time-of-Flight (ToF) sensor Satellite board wired directly to an Host microcontroller board (eg, an STM32-Nucleo). No X-NUCLEO-53L1A1 expansion board required.

Dependencies:   mbed X_NUCLEO_53L1A1_mbed

main.cpp@20:56355fae478b, 2019-05-28 (annotated)

Committer:
dmathew
Date:
Tue May 28 08:16:57 2019 +0000
Revision:
20:56355fae478b
Parent:
19:29699fbc39b8
Child:
21:b4af3bca077e
Example of interrupt ranging using only VL53L1X satellite board

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 20:56355fae478b 39 static VL53L1X *sensor = NULL;
dmathew 20:56355fae478b 40 Serial pc(SERIAL_TX, SERIAL_RX);
dmathew 17:e7a6fd6d3c97 41
dmathew 20:56355fae478b 42 /* flags that handle interrupt request for sensor and user blue button*/
dmathew 20:56355fae478b 43 volatile bool int_sensor = false;
dmathew 20:56355fae478b 44 volatile bool int_stop = false;
johnAlexander 19:29699fbc39b8 45
johnAlexander 19:29699fbc39b8 46
dmathew 20:56355fae478b 47 /* ISR callback function of the sensor */
dmathew 20:56355fae478b 48 void sensor_irq(void)
johnAlexander 19:29699fbc39b8 49 {
dmathew 20:56355fae478b 50 int_sensor = true;
dmathew 20:56355fae478b 51 sensor->disable_interrupt_measure_detection_irq();
johnAlexander 19:29699fbc39b8 52 }
johnAlexander 19:29699fbc39b8 53
johnAlexander 19:29699fbc39b8 54 /* ISR callback function of the user blue button to switch measuring sensor. */
dmathew 20:56355fae478b 55 void measuring_stop_irq(void)
dmathew 20:56355fae478b 56 {
dmathew 20:56355fae478b 57 int_stop = true;
dmathew 20:56355fae478b 58 }
dmathew 20:56355fae478b 59
dmathew 20:56355fae478b 60 /* Start the sensor ranging */
dmathew 20:56355fae478b 61 int start_ranging()
johnAlexander 19:29699fbc39b8 62 {
dmathew 20:56355fae478b 63 int status = 0;
dmathew 20:56355fae478b 64 /* start the measure on the sensor */
dmathew 20:56355fae478b 65 if (NULL != sensor) {
dmathew 20:56355fae478b 66 status = sensor->stop_measurement();
dmathew 20:56355fae478b 67 if (status != 0) {
dmathew 20:56355fae478b 68 return status;
dmathew 20:56355fae478b 69 }
dmathew 20:56355fae478b 70
dmathew 20:56355fae478b 71 status = sensor->start_measurement(&sensor_irq);
dmathew 20:56355fae478b 72 if (status != 0) {
dmathew 20:56355fae478b 73 return status;
dmathew 20:56355fae478b 74 }
dmathew 20:56355fae478b 75 }
dmathew 20:56355fae478b 76 return status;
johnAlexander 19:29699fbc39b8 77 }
dmathew 17:e7a6fd6d3c97 78
dmathew 20:56355fae478b 79 int range_measure(vl53L1X_DevI2C *device_i2c)
dmathew 17:e7a6fd6d3c97 80 {
dmathew 20:56355fae478b 81 int status = 0;
johnAlexander 19:29699fbc39b8 82 uint16_t distance = 0;
dmathew 20:56355fae478b 83 /* Create a xshutdown pin */
dmathew 20:56355fae478b 84 DigitalOut xshutdown(D7);
dmathew 17:e7a6fd6d3c97 85
dmathew 20:56355fae478b 86 /* create instance of sensor class */
dmathew 20:56355fae478b 87 sensor = new VL53L1X(device_i2c, &xshutdown, A2);
dmathew 20:56355fae478b 88
dmathew 20:56355fae478b 89 sensor->VL53L1_Off();
dmathew 20:56355fae478b 90 /* initialise sensor */
dmathew 20:56355fae478b 91 sensor->InitSensor(0x52);
dmathew 20:56355fae478b 92
dmathew 20:56355fae478b 93 if (status) {
dmathew 20:56355fae478b 94 delete sensor;
dmathew 20:56355fae478b 95 sensor= NULL;
dmathew 20:56355fae478b 96 printf("Sensor centre not present\n\r");
johnAlexander 19:29699fbc39b8 97 }
johnAlexander 19:29699fbc39b8 98
dmathew 20:56355fae478b 99 /* init an array with chars to id the sensors */
dmathew 20:56355fae478b 100 status = start_ranging();
dmathew 20:56355fae478b 101 if (status != 0) {
dmathew 20:56355fae478b 102 printf("Failed to start ranging!\r\n");
dmathew 20:56355fae478b 103 return status;
dmathew 20:56355fae478b 104 }
dmathew 20:56355fae478b 105
dmathew 20:56355fae478b 106 if (NULL != sensor) {
dmathew 20:56355fae478b 107 printf("Entering loop mode\r\n");
dmathew 20:56355fae478b 108 /* Main ranging interrupt loop */
dmathew 20:56355fae478b 109 while (true) {
dmathew 20:56355fae478b 110 if (int_sensor) {
dmathew 20:56355fae478b 111 int_sensor = false;
dmathew 20:56355fae478b 112 status = sensor->handle_irq(&distance);
dmathew 20:56355fae478b 113 printf("distance: %d\r\n", distance);
dmathew 20:56355fae478b 114 }
dmathew 20:56355fae478b 115
dmathew 20:56355fae478b 116 if (int_stop) {
dmathew 20:56355fae478b 117 printf("\r\nEnding loop mode \r\n");
dmathew 20:56355fae478b 118 break;
dmathew 20:56355fae478b 119 }
johnAlexander 19:29699fbc39b8 120 }
johnAlexander 19:29699fbc39b8 121 }
johnAlexander 19:29699fbc39b8 122
dmathew 20:56355fae478b 123 return status;
dmathew 20:56355fae478b 124
johnAlexander 19:29699fbc39b8 125 }
johnAlexander 19:29699fbc39b8 126
johnAlexander 19:29699fbc39b8 127
johnAlexander 19:29699fbc39b8 128 /*=================================== Main ==================================
johnAlexander 19:29699fbc39b8 129 =============================================================================*/
johnAlexander 19:29699fbc39b8 130 int main()
johnAlexander 19:29699fbc39b8 131 {
johnAlexander 19:29699fbc39b8 132 #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401
dmathew 20:56355fae478b 133 InterruptIn stop_button(USER_BUTTON);
dmathew 20:56355fae478b 134 stop_button.rise(&measuring_stop_irq);
johnAlexander 19:29699fbc39b8 135 #endif
dmathew 20:56355fae478b 136 vl53L1X_DevI2C *device_i2c = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
dmathew 20:56355fae478b 137 range_measure(device_i2c); // start continuous measures
johnAlexander 19:29699fbc39b8 138 }