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@22:eda6c35d4226, 2019-07-24 (annotated)

Committer:
johnAlexander
Date:
Wed Jul 24 12:42:54 2019 +0000
Revision:
22:eda6c35d4226
Parent:
21:b4af3bca077e 
Refactored init_sensor

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 *
johnAlexander 21:b4af3bca077e 8 * On STM32-Nucleo boards :
johnAlexander 21:b4af3bca077e 9 * The User Blue button stops the current measurement and entire program,
johnAlexander 21:b4af3bca077e 10 * releasing all resources.
dmathew 17:e7a6fd6d3c97 11 *
johnAlexander 21:b4af3bca077e 12 * The Black Reset button is used to restart the program.
johnAlexander 19:29699fbc39b8 13 *
dmathew 20:56355fae478b 14 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
johnAlexander 21:b4af3bca077e 15 * the X-NUCELO-53L1A1 expansion board are not made/OFF.
dmathew 17:e7a6fd6d3c97 16 * These links must be made to allow interrupts from the Satellite boards
dmathew 17:e7a6fd6d3c97 17 * to be received.
dmathew 17:e7a6fd6d3c97 18 * U11 and U18 must be made/ON to allow interrupts to be received from the
dmathew 17:e7a6fd6d3c97 19 * INT_L & INT_R positions; or
dmathew 17:e7a6fd6d3c97 20 * U10 and U15 must be made/ON to allow interrupts to be received from the
dmathew 17:e7a6fd6d3c97 21 * Alternate INT_L & INT_R positions.
dmathew 17:e7a6fd6d3c97 22 * The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R
dmathew 17:e7a6fd6d3c97 23 * positions.
dmathew 17:e7a6fd6d3c97 24 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9.
dmathew 17:e7a6fd6d3c97 25 * Alternate INT_L is on CN5 Connector pin 2 as D8.
dmathew 17:e7a6fd6d3c97 26 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4.
dmathew 17:e7a6fd6d3c97 27 * Alternate INT_R is on CN9 Connector pin 5 as D2.
dmathew 17:e7a6fd6d3c97 28 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/
dmathew 17:e7a6fd6d3c97 29 */
dmathew 20:56355fae478b 30
dmathew 17:e7a6fd6d3c97 31 #include <stdio.h>
dmathew 17:e7a6fd6d3c97 32
johnAlexander 0:ce8359133ae6 33 #include "mbed.h"
johnAlexander 22:eda6c35d4226 34 #include "VL53L1X_I2C.h"
johnAlexander 22:eda6c35d4226 35 #include "VL53L1X_Class.h"
johnAlexander 19:29699fbc39b8 36
dmathew 20:56355fae478b 37 #define VL53L1_I2C_SDA D14
dmathew 20:56355fae478b 38 #define VL53L1_I2C_SCL D15
johnAlexander 19:29699fbc39b8 39
dmathew 20:56355fae478b 40 static VL53L1X *sensor = NULL;
johnAlexander 21:b4af3bca077e 41 //Serial pc(SERIAL_TX, SERIAL_RX);
dmathew 17:e7a6fd6d3c97 42
dmathew 20:56355fae478b 43 /* flags that handle interrupt request for sensor and user blue button*/
dmathew 20:56355fae478b 44 volatile bool int_sensor = false;
dmathew 20:56355fae478b 45 volatile bool int_stop = false;
johnAlexander 19:29699fbc39b8 46
johnAlexander 19:29699fbc39b8 47
dmathew 20:56355fae478b 48 /* ISR callback function of the sensor */
dmathew 20:56355fae478b 49 void sensor_irq(void)
johnAlexander 19:29699fbc39b8 50 {
dmathew 20:56355fae478b 51 int_sensor = true;
dmathew 20:56355fae478b 52 sensor->disable_interrupt_measure_detection_irq();
johnAlexander 19:29699fbc39b8 53 }
johnAlexander 19:29699fbc39b8 54
johnAlexander 19:29699fbc39b8 55 /* ISR callback function of the user blue button to switch measuring sensor. */
dmathew 20:56355fae478b 56 void measuring_stop_irq(void)
dmathew 20:56355fae478b 57 {
dmathew 20:56355fae478b 58 int_stop = true;
dmathew 20:56355fae478b 59 }
dmathew 20:56355fae478b 60
dmathew 20:56355fae478b 61 /* Start the sensor ranging */
dmathew 20:56355fae478b 62 int start_ranging()
johnAlexander 19:29699fbc39b8 63 {
dmathew 20:56355fae478b 64 int status = 0;
dmathew 20:56355fae478b 65 /* start the measure on the sensor */
dmathew 20:56355fae478b 66 if (NULL != sensor) {
dmathew 20:56355fae478b 67 status = sensor->stop_measurement();
dmathew 20:56355fae478b 68 if (status != 0) {
dmathew 20:56355fae478b 69 return status;
dmathew 20:56355fae478b 70 }
dmathew 20:56355fae478b 71
dmathew 20:56355fae478b 72 status = sensor->start_measurement(&sensor_irq);
dmathew 20:56355fae478b 73 if (status != 0) {
dmathew 20:56355fae478b 74 return status;
dmathew 20:56355fae478b 75 }
dmathew 20:56355fae478b 76 }
dmathew 20:56355fae478b 77 return status;
johnAlexander 19:29699fbc39b8 78 }
dmathew 17:e7a6fd6d3c97 79
johnAlexander 22:eda6c35d4226 80 int range_measure(VL53L1X_DevI2C *device_i2c)
dmathew 17:e7a6fd6d3c97 81 {
dmathew 20:56355fae478b 82 int status = 0;
johnAlexander 19:29699fbc39b8 83 uint16_t distance = 0;
dmathew 20:56355fae478b 84 /* Create a xshutdown pin */
dmathew 20:56355fae478b 85 DigitalOut xshutdown(D7);
dmathew 17:e7a6fd6d3c97 86
dmathew 20:56355fae478b 87 /* create instance of sensor class */
dmathew 20:56355fae478b 88 sensor = new VL53L1X(device_i2c, &xshutdown, A2);
dmathew 20:56355fae478b 89
johnAlexander 22:eda6c35d4226 90 sensor->vl53l1_off();
dmathew 20:56355fae478b 91 /* initialise sensor */
johnAlexander 22:eda6c35d4226 92 sensor->init_sensor(0x52);
dmathew 20:56355fae478b 93
dmathew 20:56355fae478b 94 if (status) {
dmathew 20:56355fae478b 95 delete sensor;
dmathew 20:56355fae478b 96 sensor= NULL;
dmathew 20:56355fae478b 97 printf("Sensor centre not present\n\r");
johnAlexander 19:29699fbc39b8 98 }
johnAlexander 19:29699fbc39b8 99
dmathew 20:56355fae478b 100 /* init an array with chars to id the sensors */
dmathew 20:56355fae478b 101 status = start_ranging();
dmathew 20:56355fae478b 102 if (status != 0) {
dmathew 20:56355fae478b 103 printf("Failed to start ranging!\r\n");
dmathew 20:56355fae478b 104 return status;
dmathew 20:56355fae478b 105 }
dmathew 20:56355fae478b 106
dmathew 20:56355fae478b 107 if (NULL != sensor) {
dmathew 20:56355fae478b 108 printf("Entering loop mode\r\n");
dmathew 20:56355fae478b 109 /* Main ranging interrupt loop */
dmathew 20:56355fae478b 110 while (true) {
dmathew 20:56355fae478b 111 if (int_sensor) {
dmathew 20:56355fae478b 112 int_sensor = false;
dmathew 20:56355fae478b 113 status = sensor->handle_irq(&distance);
dmathew 20:56355fae478b 114 printf("distance: %d\r\n", distance);
dmathew 20:56355fae478b 115 }
dmathew 20:56355fae478b 116
dmathew 20:56355fae478b 117 if (int_stop) {
dmathew 20:56355fae478b 118 printf("\r\nEnding loop mode \r\n");
dmathew 20:56355fae478b 119 break;
dmathew 20:56355fae478b 120 }
johnAlexander 19:29699fbc39b8 121 }
johnAlexander 19:29699fbc39b8 122 }
johnAlexander 19:29699fbc39b8 123
dmathew 20:56355fae478b 124 return status;
dmathew 20:56355fae478b 125
johnAlexander 19:29699fbc39b8 126 }
johnAlexander 19:29699fbc39b8 127
johnAlexander 19:29699fbc39b8 128
johnAlexander 19:29699fbc39b8 129 /*=================================== Main ==================================
johnAlexander 19:29699fbc39b8 130 =============================================================================*/
johnAlexander 19:29699fbc39b8 131 int main()
johnAlexander 19:29699fbc39b8 132 {
johnAlexander 21:b4af3bca077e 133 #if TARGET_STM // we are cross compiling for an STM32-Nucleo
dmathew 20:56355fae478b 134 InterruptIn stop_button(USER_BUTTON);
dmathew 20:56355fae478b 135 stop_button.rise(&measuring_stop_irq);
johnAlexander 19:29699fbc39b8 136 #endif
johnAlexander 21:b4af3bca077e 137 #if TARGET_Freescale // we are cross-compiling for NXP FRDM boards.
johnAlexander 21:b4af3bca077e 138 InterruptIn stop_button(SW2);
johnAlexander 21:b4af3bca077e 139 stop_button.rise(&measuring_stop_irq);
johnAlexander 21:b4af3bca077e 140 #endif
johnAlexander 22:eda6c35d4226 141 VL53L1X_DevI2C *device_i2c = new VL53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
dmathew 20:56355fae478b 142 range_measure(device_i2c); // start continuous measures
johnAlexander 19:29699fbc39b8 143 }