ST Expansion SW Team
Sample program for 3 sensors using polling in autonomous mode.
Dependencies: X_NUCLEO_53L1A2
Diff: main.cpp
- Revision:
- 3:c1e893e6752f
- Parent:
- 2:f0ec92af4b5f
- Child:
- 4:0ac9998b69ac
--- a/main.cpp Fri May 07 14:15:27 2021 +0000
+++ b/main.cpp Tue May 11 14:10:25 2021 +0000
@@ -62,7 +62,7 @@
static int int_left_dropped = 0;
static int int_right_dropped = 0;
-void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
+void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
class WaitForMeasurement {
public:
@@ -134,12 +134,49 @@
-VL53L1_Dev_t devCentre;
-VL53L1_Dev_t devLeft;
-VL53L1_Dev_t devRight;
-VL53L1_DEV Dev = &devCentre;
+
+VL53L1_Dev_t devCentre;
+VL53L1_Dev_t devLeft;
+VL53L1_Dev_t devRight;
+VL53L1_DEV Dev = &devCentre;
+/* flags that handle interrupt request for sensor and user blue button*/
+volatile bool int_sensor = false;
+volatile bool int_stop = false;
+
+/* ISR callback function of the centre sensor */
+void sensor_irq(void)
+{
+ int_sensor = true;
+ board->sensor_centre->disable_interrupt_measure_detection_irq();
+}
+
+/* Start the sensor ranging */
+int init_sensor()
+{
+ int status = 0;
+ /* start the measure on the center sensor */
+ if (NULL != board->sensor_centre) {
+ status = board->sensor_centre->stop_measurement();
+ if (status != 0) {
+ return status;
+ }
+
+ status = board->sensor_centre->start_measurement(&sensor_irq);
+ if (status != 0) {
+ return status;
+ }
+ }
+ return status;
+}
+
+/* ISR callback function of the user blue button to switch measuring sensor. */
+void measuring_stop_irq(void)
+{
+ int_stop = true;
+}
+
/*=================================== Main ==================================
=============================================================================*/
int main()
@@ -156,16 +193,15 @@
pc.baud(115200); // baud rate is important as printf statements take a lot of time
- printf("Autonomous Interruptmbed = %d \r\n",MBED_VERSION);
+ printf("Autonomous Interrupt, mbed = %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
-
- /* creates the 53L1A2 expansion board singleton obj */
- board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, LeftIntPin, RightIntPin);
-
+
printf("board created!\r\n");
/* init the 53L1A1 expansion board with default values */
@@ -174,163 +210,108 @@
printf("Failed to init board!\r\n");
return 0;
}
-
-
+
printf("board initiated! - %d\r\n", status);
- // create sensor controller classes for each vl53l1 and configure each vl53l1
- for (ToFSensor=0;ToFSensor < NUM_SENSORS;ToFSensor++){
- switch(ToFSensor){
- case 0:
- if (board->sensor_centre== NULL ) continue; // don't create if sensor not detected
- Dev=&devCentre;
- Sensor=board->sensor_centre;
- Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
- printf("configuring centre channel \n");
- break;
- case 1:
- if (board->sensor_left== NULL ) continue;
- Dev=&devLeft;
- Sensor=board->sensor_left;
- Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
- printf("configuring left channel \n");
- break;
- case 2:
- if (board->sensor_right== NULL ) continue;
- Dev=&devRight;
- Sensor=board->sensor_right;
- Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
- printf("configuring right channel \n");
- break;
- default:
- printf(" error in switch, invalid ToF sensor \n");
- }
-
- // configure the sensors
- Dev->comms_speed_khz = 400;
+
+ /* init an array with chars to id the sensors */
+ status = init_sensor();
+ if (status != 0) {
+ printf("Failed to init sensors!\r\n");
+ return status;
+ }
+
- Dev->comms_type = 1;
+ Dev=&devCentre;
+ Sensor=board->sensor_centre;
+ Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
+ printf("configuring centre channel \n");
+
+ // configure the sensors
+ Dev->comms_speed_khz = 400;
+ Dev->comms_type = 1;
- /* 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);
+ /* 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);
- // 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.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.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
- status = Sensor->vl53L1_SetThresholdConfig(&thresholdconfig);
- }
+ // 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.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.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
+
+ status = Sensor->vl53L1_SetThresholdConfig(&thresholdconfig);
- // create interrupt handlers for the three sensors and start measurements
- if (board->sensor_centre!= NULL )
+ // create interrupt handlers for the three sensors and start measurements
+ if (board->sensor_centre!= NULL )
+ {
+ printf("starting interrupt centre\n");
+ devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
+ int1 = new WaitForMeasurement(CentreIntPin,&devCentre); // create interrupt handler
+ status = board->sensor_centre->vl53L1_StartMeasurement();
+ }
+
+ 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)
{
- printf("starting interrupt centre\n");
- devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
- int1 = new WaitForMeasurement(CentreIntPin,&devCentre); // create interrupt handler
- status = board->sensor_centre->vl53L1_StartMeasurement();
+ int_centre_dropped = 0;
+ status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
}
-
- if (board->sensor_left!= NULL )
+
+ if (int_centre_result != 0)
{
- printf("starting interrupt left\n");
- devLeft.i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
- int2 = new WaitForMeasurement(LeftIntPin,&devLeft); // create interrupt handler
- status = board->sensor_left->vl53L1_StartMeasurement();
- printf("started interrupt left\n");
+ 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);
+ }
+*/
+
+ while (true) {
+ if (int_sensor) {
+ int_sensor = false;
+ status = board->sensor_centre->handle_irq(&distance);
+ printf("distance: %d\r\n", distance);
}
- if (board->sensor_right!= NULL )
- {
- printf("starting interrupt right\n");
- devRight.i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
- int3 = new WaitForMeasurement(RightIntPin,&devRight); // create interrupt handler
- status = board->sensor_right->vl53L1_StartMeasurement();
- }
-
-
- 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_left_dropped != 0)
- {
- int_left_dropped = 0;
- status = board->sensor_left->vl53L1_ClearInterruptAndStartMeasurement();
- }
-
- if ( int_right_dropped != 0)
- {
- int_right_dropped = 0;
- status = board->sensor_right->vl53L1_ClearInterruptAndStartMeasurement();
- }
-
- if (int_right_result != 0) // interrupt seen on right sensor
- {
- status = board->sensor_right->vl53L1_GetMultiRangingData( pMultiRangingData);
- if ( status == 0)
- {
- print_results( devRight.i2c_slave_address, pMultiRangingData );
- }
-
- // clear interrupt flag
- int_right_result = 0;
- }
-
- if (int_left_result != 0) // interrupt seen on left sensor
- {
- status = board->sensor_left->vl53L1_GetMultiRangingData( pMultiRangingData);
- if ( status == 0)
- {
- print_results( devLeft.i2c_slave_address, pMultiRangingData );
- }
-
- // clear interrupt flag
- int_left_result = 0;
- }
-
- 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);
-
+ if (int_stop) {
+ printf("\r\nEnding loop mode \r\n");
+ break;
}
}
+}
+
// print what ever results are required
void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )