Diff: main.cpp

Revision:

5:b233bdf91671

Parent:

4:0ac9998b69ac

Child:

6:19d56b30bfa7

--- a/main.cpp	Tue May 11 15:33:09 2021 +0000
+++ b/main.cpp	Wed May 12 08:37:43 2021 +0000
@@ -1,20 +1,35 @@
 /*
- * This VL53L1X Expansion board test application performs range measurements
- * using the onboard embedded centre sensor and two satelites, in autonomous, interrupt mode.
+ * This VL53L1CB Expansion board test application performs range measurements
+ * using the onboard embedded sensor, in interrupt mode.
  * Measured ranges are ouput on the Serial Port, running at 115200 baud.
  *
- * This is designed to work with MBed V2 , MBed V5 and MBed V6.
+ * This is designed to work with MBed v2.x, & MBedOS v5.x / v6.x.
+ *
+ * The Reset button can be used to restart the program.
  *
- *  The Reset button can be used to restart the program.
+ * *** NOTE :
+ *     Default Mbed build system settings disable printf() floating-point support.
+ *     Offline builds can enable this, again.
+ *     https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
+ *     .\mbed-os\platform\mbed_lib.json
  *
- * *** Note : 
- * Default Mbed build system settings disable print floating-point support.
- * Offline builds can enable this, again.
- * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
- * .\mbed-os\platform\mbed_lib.json
+ * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
+ *            the X-NUCELO-53L1A1 expansion board are not made/OFF.
+ *            These links must be made to allow interrupts from the Satellite boards
+ *            to be received.
+ *            U11 and U18 must be made/ON to allow interrupts to be received from the
+ *            INT_L & INT_R positions; or
+ *            U10 and U15 must be made/ON to allow interrupts to be received from the
+ *            Alternate INT_L & INT_R positions.
+ *            The X_NUCLEO_53L1A2 library defaults to use the INT_L/INT_R positions.
+ *            INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
+ *            Alternate INT_L is on CN5 Connector pin 2 as D9.
+ *            INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
+ *            Alternate INT_R is on CN9 Connector pin 5 as D4.
+ *            The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A2/
  *
  */
- 
+
 #include <stdio.h>
 #include <time.h>
 
@@ -24,45 +39,32 @@
 #include "ToF_I2C.h"
 
 // i2c comms port pins
-#define I2C_SDA   D14 
-#define I2C_SCL   D15  
+#define I2C_SDA   D14
+#define I2C_SCL   D15
 
 
 #define NUM_SENSORS 3
 
-// define the interrupt pins
-PinName CentreIntPin = A2;
-// the satellite pins depend on solder blobs on the back of the shield.
-// they may not exist or may be one of two sets.
-// the centre pin always exists
-PinName LeftIntPin = D9;
-PinName RightIntPin = D4;
-// alternate set
-//PinName LeftIntPin = D8;
-//PinName RightIntPin = D2;
-
-
 
 static XNucleo53L1A2 *board=NULL;
 
-#if (MBED_VERSION  > 60300) 
-    UnbufferedSerial  pc(USBTX, USBRX);
-    extern "C" void wait_ms(int ms);
+#if (MBED_VERSION  > 60300)
+UnbufferedSerial  pc(USBTX, USBRX);
+extern "C" void wait_ms(int ms);
 #else
-    Serial pc(SERIAL_TX, SERIAL_RX); 
+Serial pc(SERIAL_TX, SERIAL_RX);
 #endif
 
 void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
 
 
 VL53L1_Dev_t devCentre;
-VL53L1_Dev_t devLeft;
-VL53L1_Dev_t devRight;
 VL53L1_DEV Dev = &devCentre;
+
 VL53L1 *Sensor;
 
 
- 
+
 /* flags that handle interrupt request for sensor and user blue button*/
 volatile bool int_sensor = false;
 volatile bool int_stop = false;
@@ -78,41 +80,41 @@
 int init_sensor()
 {
     int status = 0;
-    
+
     Dev=&devCentre;
     Sensor=board->sensor_centre;
-    
+
     // configure the sensors
-    Dev->comms_speed_khz = 400;    
+    Dev->comms_speed_khz = 400;
     Dev->comms_type = 1;
     Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
-    
-    printf("configuring centre channel \n");                    
-    
-    /* Device Initialization and setting */  
+
+    printf("configuring centre channel \n");
+
+    /* Device Initialization and setting */
     status = Sensor->vl53L1_DataInit();
     status = Sensor->vl53L1_StaticInit();
     status = Sensor->vl53L1_SetPresetMode(VL53L1_PRESETMODE_AUTONOMOUS);
     status = Sensor->vl53L1_SetDistanceMode(VL53L1_DISTANCEMODE_LONG);
-    status = Sensor->vl53L1_SetMeasurementTimingBudgetMicroSeconds( 200 * 1000); 
+    status = Sensor->vl53L1_SetMeasurementTimingBudgetMicroSeconds( 200 * 1000);
 
-   
+
     // set the ranging and signal rate filter
     VL53L1_DetectionConfig_t thresholdconfig;
 
     thresholdconfig.DetectionMode = VL53L1_DETECTION_DISTANCE_ONLY; /// type VL53L1_DetectionMode in vl53l1_def.h
-    thresholdconfig.Distance.CrossMode = VL53L1_THRESHOLD_IN_WINDOW; // type VL53L1_ThresholdMode. ignore if distance outside high and low 
+    thresholdconfig.Distance.CrossMode = VL53L1_THRESHOLD_IN_WINDOW; // type VL53L1_ThresholdMode. ignore if distance outside high and low
     thresholdconfig.Distance.High = 300;  // high distance in mm
     thresholdconfig.Distance.Low = 200;   // low distance in mm
-    thresholdconfig.Rate.CrossMode=0;  // type VL53L1_ThresholdMode VL53L1_THRESHOLD_CROSSED_LOW VL53L1_THRESHOLD_CROSSED_HIGH VL53L1_THRESHOLD_OUT_OF_WINDOW VL53L1_THRESHOLD_IN_WINDOW 
+    thresholdconfig.Rate.CrossMode=0;  // type VL53L1_ThresholdMode VL53L1_THRESHOLD_CROSSED_LOW VL53L1_THRESHOLD_CROSSED_HIGH VL53L1_THRESHOLD_OUT_OF_WINDOW VL53L1_THRESHOLD_IN_WINDOW
     thresholdconfig.Rate.High = 0;
     thresholdconfig.Rate.Low = 0;
-    thresholdconfig.IntrNoTarget = 0 ;// if 1 produce an interrupt even if there is no target found e.g out of range 
- 
+    thresholdconfig.IntrNoTarget = 0 ;// if 1 produce an interrupt even if there is no target found e.g out of range
+
     status = Sensor->vl53L1_SetThresholdConfig(&thresholdconfig);
-        
+
     // create interrupt handler and start measurements
-    if (board->sensor_centre!= NULL) {        
+    if (board->sensor_centre!= NULL) {
         status = board->sensor_centre->stop_measurement();
         if (status != 0) {
             return status;
@@ -135,38 +137,30 @@
 /*=================================== Main ==================================
 =============================================================================*/
 int main()
-{   
-#if (MBED_VERSION  < 60000)
-    #if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-f401
-    InterruptIn stop_button(USER_BUTTON);
-    stop_button.rise(&measuring_stop_irq);
-    #endif
-#endif
+{
     int status;
     uint16_t distance = 0;
-        
+
     pc.baud(115200);  // baud rate is important as printf statements take a lot of time
-    
-    printf("Autonomous Interrupt, mbed = %d \r\n",MBED_VERSION);
+
+    printf("mbed version : %d \r\n",MBED_VERSION);
 
 // create i2c interface
     ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
     /* creates the 53L1A2 expansion board singleton obj */
     board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, LeftIntPin, RightIntPin);
-    
-    dev_I2C->frequency(400000); //also needs doing in spi_interface.c
-        
+
     printf("board created!\r\n");
 
     /* init the 53L1A1 expansion board with default values */
     status = board->init_board();
     if (status) {
         printf("Failed to init board!\r\n");
-        return 0;
+        return status;
     }
-               
+
     printf("board initiated! - %d\r\n", status);
-    
+
     /* init an array with chars to id the sensors */
     status = init_sensor();
     if (status != 0) {
@@ -174,65 +168,21 @@
         return status;
     }
 
-    printf("loop forever\n"); 
-
-    // loop waiting for interrupts to happen. This is signaled by int_centre_result,int_left_result or int_right_result
-    // being non zero. When the interrupts clear this is signaled by int_centre_dropped,int_left_dropped and int_right_dropped. 
-    // These are set back to zero when processing is completed
-/*    while (1)
-    {
-        VL53L1_MultiRangingData_t MultiRangingData;
-        VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;   
-
-        if ( int_left_dropped  || int_centre_dropped  || int_right_dropped )
-            wait_ms(30);  
-            
-        // when the interrupt pin goes loww start new measurement
-        if (int_centre_dropped != 0)
-        {
-            int_centre_dropped = 0;
-            status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
-        }
-                          
-        if (int_centre_result != 0)
-        {
-            status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
-            if (status == 0)
-            {
-                print_results( devCentre.i2c_slave_address, pMultiRangingData );
-            }
-                
-            // clear interrupt flag
-            int_centre_result = 0;
-
-        }
-        wait_ms( 1 * 10);                          
-    }
-*/
+    printf("loop forever\n");
 
     VL53L1_MultiRangingData_t MultiRangingData;
-    VL53L1_MultiRangingData_t *pMultiRangingData = NULL;   
-    
+    VL53L1_MultiRangingData_t *pMultiRangingData = NULL;
+
     while (true) {
-        pMultiRangingData = &MultiRangingData;   
-        
+        pMultiRangingData = &MultiRangingData;
+
         if (int_sensor) {
             int_sensor = false;
-/*            
-//            status = board->sensor_centre->handle_irq(&distance);
-//            status = get_measurement(distance);
-//            status = board->sensor_centre->VL53L1_GetDistance(&distance);
-            status = board->sensor_centre->VL53L1_ClearInterrupt();
-            board->sensor_centre->enable_interrupt_measure_detection_irq();
-            printf("distance: %d\r\n", distance);
-*/            
             status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
-            if (status == 0)
-            {
+            if (status == 0) {
                 print_results( devCentre.i2c_slave_address, pMultiRangingData );
             }
             status = board->sensor_centre->VL53L1_ClearInterrupt();
-//            status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement(); // doesnt run!
             board->sensor_centre->enable_interrupt_measure_detection_irq();
         }
 
@@ -241,40 +191,39 @@
             break;
         }
     }
-    
+
+    printf("Terminating.\n");
 }
-    
-    
- // print what ever results are required   
+
+
+// print what ever results are required
 void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
 {
     int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
-            
+
     int RoiNumber=pMultiRangingData->RoiNumber;
 
-    if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0)) 
-    {
-        for(int j=0;j<no_of_object_found;j++){
-            if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) || 
-                (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL))
-            {
+    if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0)) {
+        for(int j=0; j<no_of_object_found; j++) {
+            if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
+                    (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL)) {
                 printf("\t i2cAddr=%d \t RoiNumber=%d   \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
-                    devNumber, RoiNumber,
-                    pMultiRangingData->RangeData[j].RangeStatus,
-                    pMultiRangingData->RangeData[j].RangeMilliMeter,
-                    pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535.0,
-                    pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535.0);   
+                       devNumber, RoiNumber,
+                       pMultiRangingData->RangeData[j].RangeStatus,
+                       pMultiRangingData->RangeData[j].RangeMilliMeter,
+                       pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535.0,
+                       pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535.0);
             }
         }
-    } // if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0)) 
-}    
+    } // if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0))
+}
 
-        
+
 #if (MBED_VERSION  > 60300)
 extern "C" void wait_ms(int ms)
- {
+{
     thread_sleep_for(ms);
- }
-#endif 
-     
-  
+}
+#endif
+
+