ST Expansion SW Team / Mbed OS VL53L1CB_3sensors_poll_auton_JA

Trial program, to test 3 sensors together, in polling / autonomous mode.

Dependencies:   X_NUCLEO_53L1A2

main.cpp@2:f0ec92af4b5f, 2021-05-07 (annotated)

Committer:
johnAlexander
Date:
Fri May 07 14:15:27 2021 +0000
Revision:
2:f0ec92af4b5f
Parent:
1:ff48a20de191
Child:
3:c1e893e6752f
Use latest board lib.; Add comment about printf floating point config

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:020912dfa221 1 /*
johnAlexander 2:f0ec92af4b5f 2 * This VL53L1X Expansion board test application performs range measurements
johnAlexander 2:f0ec92af4b5f 3 * using the onboard embedded centre sensor and two satelites, in autonomous, interrupt mode.
johnAlexander 2:f0ec92af4b5f 4 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
charlesmn 0:020912dfa221 5 *
charlesmn 0:020912dfa221 6 * This is designed to work with MBed V2 , MBed V5 and MBed V6.
charlesmn 0:020912dfa221 7 *
johnAlexander 2:f0ec92af4b5f 8 * The Reset button can be used to restart the program.
charlesmn 0:020912dfa221 9 *
johnAlexander 2:f0ec92af4b5f 10 * *** Note :
johnAlexander 2:f0ec92af4b5f 11 * Default Mbed build system settings disable print floating-point support.
johnAlexander 2:f0ec92af4b5f 12 * Offline builds can enable this, again.
johnAlexander 2:f0ec92af4b5f 13 * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
johnAlexander 2:f0ec92af4b5f 14 * .\mbed-os\platform\mbed_lib.json
johnAlexander 2:f0ec92af4b5f 15 *
charlesmn 0:020912dfa221 16 */
charlesmn 0:020912dfa221 17
charlesmn 0:020912dfa221 18 #include <stdio.h>
johnAlexander 2:f0ec92af4b5f 19 #include <time.h>
charlesmn 0:020912dfa221 20
charlesmn 0:020912dfa221 21 #include "mbed.h"
johnAlexander 2:f0ec92af4b5f 22
charlesmn 1:ff48a20de191 23 #include "XNucleo53L1A2.h"
charlesmn 0:020912dfa221 24 #include "ToF_I2C.h"
charlesmn 0:020912dfa221 25
charlesmn 0:020912dfa221 26 // i2c comms port pins
charlesmn 0:020912dfa221 27 #define I2C_SDA D14
charlesmn 0:020912dfa221 28 #define I2C_SCL D15
charlesmn 0:020912dfa221 29
charlesmn 0:020912dfa221 30
charlesmn 0:020912dfa221 31 #define NUM_SENSORS 3
charlesmn 0:020912dfa221 32
charlesmn 1:ff48a20de191 33 // define the interrupt pins
charlesmn 0:020912dfa221 34 PinName CentreIntPin = A2;
charlesmn 0:020912dfa221 35 // the satellite pins depend on solder blobs on the back of the shield.
charlesmn 0:020912dfa221 36 // they may not exist or may be one of two sets.
charlesmn 0:020912dfa221 37 // the centre pin always exists
charlesmn 0:020912dfa221 38 PinName LeftIntPin = D9;
charlesmn 0:020912dfa221 39 PinName RightIntPin = D4;
charlesmn 0:020912dfa221 40 // alternate set
charlesmn 0:020912dfa221 41 //PinName LeftIntPin = D8;
charlesmn 0:020912dfa221 42 //PinName RightIntPin = D2;
charlesmn 0:020912dfa221 43
charlesmn 0:020912dfa221 44
charlesmn 0:020912dfa221 45
charlesmn 1:ff48a20de191 46 static XNucleo53L1A2 *board=NULL;
charlesmn 0:020912dfa221 47
charlesmn 0:020912dfa221 48 #if (MBED_VERSION > 60300)
johnAlexander 2:f0ec92af4b5f 49 UnbufferedSerial pc(USBTX, USBRX);
johnAlexander 2:f0ec92af4b5f 50 extern "C" void wait_ms(int ms);
charlesmn 0:020912dfa221 51 #else
johnAlexander 2:f0ec92af4b5f 52 Serial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:020912dfa221 53 #endif
charlesmn 0:020912dfa221 54
charlesmn 0:020912dfa221 55 // flags to indicate an interrupt has happened
charlesmn 0:020912dfa221 56 static int int_centre_result = 0;
charlesmn 0:020912dfa221 57 static int int_left_result = 0;
charlesmn 0:020912dfa221 58 static int int_right_result = 0;
charlesmn 0:020912dfa221 59
charlesmn 0:020912dfa221 60 // flags to indicate an interrupt has cleared
charlesmn 0:020912dfa221 61 static int int_centre_dropped = 0;
charlesmn 0:020912dfa221 62 static int int_left_dropped = 0;
charlesmn 0:020912dfa221 63 static int int_right_dropped = 0;
charlesmn 0:020912dfa221 64
johnAlexander 2:f0ec92af4b5f 65 void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
charlesmn 0:020912dfa221 66
charlesmn 0:020912dfa221 67 class WaitForMeasurement {
charlesmn 0:020912dfa221 68 public:
charlesmn 0:020912dfa221 69
charlesmn 0:020912dfa221 70
charlesmn 0:020912dfa221 71 // this class services the interrupts from the ToF sensors.
charlesmn 0:020912dfa221 72 // There is a limited amount you can do in an interrupt routine; printfs,mutexes break them among other things.
charlesmn 0:020912dfa221 73 // We keep things simple by only raising a flag so all the real work is done outside the interrupt.
charlesmn 0:020912dfa221 74 // This is designed around MBED V2 which doesn't have the RTOS features that would make this work nicely e.g. semaphores/queues.
charlesmn 0:020912dfa221 75 WaitForMeasurement(): _interrupt(A1)
charlesmn 0:020912dfa221 76 {
charlesmn 0:020912dfa221 77 }
charlesmn 0:020912dfa221 78
charlesmn 0:020912dfa221 79
charlesmn 0:020912dfa221 80 // constructor - Sensor is not used and can be removed
charlesmn 0:020912dfa221 81 WaitForMeasurement(PinName pin,VL53L1_DEV Dev) : _interrupt(pin) // create the InterruptIn on the pin specified to Counter
charlesmn 0:020912dfa221 82 {
charlesmn 0:020912dfa221 83 Devlocal = Dev;
charlesmn 0:020912dfa221 84 pinlocal = pin;
charlesmn 0:020912dfa221 85
johnAlexander 2:f0ec92af4b5f 86 // #include "mbed.h"
charlesmn 0:020912dfa221 87
charlesmn 0:020912dfa221 88
charlesmn 0:020912dfa221 89 _interrupt.rise(callback(this, &WaitForMeasurement::got_interrupt)); // if interrupt happens read data
charlesmn 0:020912dfa221 90 _interrupt.fall(callback(this, &WaitForMeasurement::linedropped)); // if interupt clears, clear interrupt
charlesmn 0:020912dfa221 91
charlesmn 0:020912dfa221 92 }
charlesmn 0:020912dfa221 93
charlesmn 0:020912dfa221 94 // function is called every time an interupt is cleared. Sets flags to clear the interrupt
charlesmn 0:020912dfa221 95 void linedropped()
charlesmn 0:020912dfa221 96 {
charlesmn 0:020912dfa221 97
charlesmn 0:020912dfa221 98 if (Devlocal->i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS)
charlesmn 0:020912dfa221 99 int_centre_dropped = 1; //flag to main that interrupt cleared. A flag is raised which allows the main routine to service interupt.
charlesmn 0:020912dfa221 100 if (Devlocal->i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS)
charlesmn 0:020912dfa221 101 int_left_dropped = 1; //flag to main that interrupt cleared
charlesmn 0:020912dfa221 102 if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS)
charlesmn 0:020912dfa221 103 int_right_dropped = 1; //flag to main that interrupt cleared
charlesmn 0:020912dfa221 104
charlesmn 0:020912dfa221 105 }
charlesmn 0:020912dfa221 106
charlesmn 0:020912dfa221 107 // function is called every time an interupt is seen. A flag is raised which allows the main routine to service the interupt.
charlesmn 0:020912dfa221 108 void got_interrupt()
charlesmn 0:020912dfa221 109 {
charlesmn 0:020912dfa221 110 DigitalIn intp(pinlocal);
charlesmn 0:020912dfa221 111
charlesmn 0:020912dfa221 112 if (Devlocal->i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS)
charlesmn 0:020912dfa221 113 int_centre_result = 1; //flag to main that interrupt happened
charlesmn 0:020912dfa221 114 if (Devlocal->i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS)
charlesmn 0:020912dfa221 115 int_left_result = 1; //flag to main that interrupt happened7
charlesmn 0:020912dfa221 116 if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS)
charlesmn 0:020912dfa221 117 int_right_result = 1; //flag to main that interrupt happened
charlesmn 0:020912dfa221 118 }
charlesmn 0:020912dfa221 119
charlesmn 0:020912dfa221 120
charlesmn 0:020912dfa221 121 //destructor
charlesmn 0:020912dfa221 122 ~WaitForMeasurement()
charlesmn 0:020912dfa221 123 {
charlesmn 0:020912dfa221 124 printf("WaitForMeasurement destruction \n");
charlesmn 0:020912dfa221 125 }
charlesmn 0:020912dfa221 126
charlesmn 0:020912dfa221 127 private:
charlesmn 0:020912dfa221 128 InterruptIn _interrupt;
charlesmn 0:020912dfa221 129 PinName pinlocal;
charlesmn 0:020912dfa221 130 VL53L1_DEV Devlocal;
charlesmn 0:020912dfa221 131 int status;
charlesmn 0:020912dfa221 132
charlesmn 0:020912dfa221 133 };
charlesmn 0:020912dfa221 134
charlesmn 0:020912dfa221 135
charlesmn 0:020912dfa221 136
charlesmn 0:020912dfa221 137 VL53L1_Dev_t devCentre;
charlesmn 0:020912dfa221 138 VL53L1_Dev_t devLeft;
charlesmn 0:020912dfa221 139 VL53L1_Dev_t devRight;
charlesmn 0:020912dfa221 140 VL53L1_DEV Dev = &devCentre;
charlesmn 0:020912dfa221 141
charlesmn 0:020912dfa221 142
charlesmn 0:020912dfa221 143 /*=================================== Main ==================================
charlesmn 0:020912dfa221 144 =============================================================================*/
charlesmn 0:020912dfa221 145 int main()
charlesmn 0:020912dfa221 146 {
charlesmn 0:020912dfa221 147 int status;
charlesmn 1:ff48a20de191 148 VL53L1 * Sensor;
charlesmn 0:020912dfa221 149 uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
charlesmn 0:020912dfa221 150
charlesmn 0:020912dfa221 151 //mbed compiler claims these are never used but they are.
charlesmn 0:020912dfa221 152 WaitForMeasurement* int2;
charlesmn 0:020912dfa221 153 WaitForMeasurement* int1;
charlesmn 0:020912dfa221 154 WaitForMeasurement* int3;
charlesmn 0:020912dfa221 155
charlesmn 0:020912dfa221 156
charlesmn 0:020912dfa221 157 pc.baud(115200); // baud rate is important as printf statements take a lot of time
charlesmn 0:020912dfa221 158
charlesmn 0:020912dfa221 159 printf("Autonomous Interruptmbed = %d \r\n",MBED_VERSION);
charlesmn 0:020912dfa221 160
charlesmn 0:020912dfa221 161 // create i2c interface
charlesmn 0:020912dfa221 162 ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
charlesmn 0:020912dfa221 163
charlesmn 0:020912dfa221 164 dev_I2C->frequency(400000); //also needs doing in spi_interface.c
charlesmn 0:020912dfa221 165
charlesmn 1:ff48a20de191 166 /* creates the 53L1A2 expansion board singleton obj */
charlesmn 1:ff48a20de191 167 board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, LeftIntPin, RightIntPin);
charlesmn 0:020912dfa221 168
charlesmn 0:020912dfa221 169 printf("board created!\r\n");
charlesmn 0:020912dfa221 170
charlesmn 0:020912dfa221 171 /* init the 53L1A1 expansion board with default values */
charlesmn 0:020912dfa221 172 status = board->init_board();
charlesmn 0:020912dfa221 173 if (status) {
charlesmn 0:020912dfa221 174 printf("Failed to init board!\r\n");
charlesmn 0:020912dfa221 175 return 0;
charlesmn 0:020912dfa221 176 }
charlesmn 0:020912dfa221 177
charlesmn 0:020912dfa221 178
charlesmn 0:020912dfa221 179 printf("board initiated! - %d\r\n", status);
charlesmn 0:020912dfa221 180 // create sensor controller classes for each vl53l1 and configure each vl53l1
charlesmn 0:020912dfa221 181 for (ToFSensor=0;ToFSensor < NUM_SENSORS;ToFSensor++){
charlesmn 0:020912dfa221 182 switch(ToFSensor){
charlesmn 0:020912dfa221 183 case 0:
charlesmn 0:020912dfa221 184 if (board->sensor_centre== NULL ) continue; // don't create if sensor not detected
charlesmn 0:020912dfa221 185 Dev=&devCentre;
charlesmn 0:020912dfa221 186 Sensor=board->sensor_centre;
charlesmn 0:020912dfa221 187 Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:020912dfa221 188 printf("configuring centre channel \n");
charlesmn 0:020912dfa221 189 break;
charlesmn 0:020912dfa221 190 case 1:
charlesmn 0:020912dfa221 191 if (board->sensor_left== NULL ) continue;
charlesmn 0:020912dfa221 192 Dev=&devLeft;
charlesmn 0:020912dfa221 193 Sensor=board->sensor_left;
charlesmn 0:020912dfa221 194 Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
charlesmn 0:020912dfa221 195 printf("configuring left channel \n");
charlesmn 0:020912dfa221 196 break;
charlesmn 0:020912dfa221 197 case 2:
charlesmn 0:020912dfa221 198 if (board->sensor_right== NULL ) continue;
charlesmn 0:020912dfa221 199 Dev=&devRight;
charlesmn 0:020912dfa221 200 Sensor=board->sensor_right;
charlesmn 0:020912dfa221 201 Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
charlesmn 0:020912dfa221 202 printf("configuring right channel \n");
charlesmn 0:020912dfa221 203 break;
charlesmn 0:020912dfa221 204 default:
charlesmn 0:020912dfa221 205 printf(" error in switch, invalid ToF sensor \n");
charlesmn 0:020912dfa221 206 }
charlesmn 0:020912dfa221 207
charlesmn 0:020912dfa221 208 // configure the sensors
charlesmn 0:020912dfa221 209 Dev->comms_speed_khz = 400;
charlesmn 0:020912dfa221 210
charlesmn 0:020912dfa221 211 Dev->comms_type = 1;
charlesmn 0:020912dfa221 212
charlesmn 0:020912dfa221 213 /* Device Initialization and setting */
charlesmn 0:020912dfa221 214 status = Sensor->vl53L1_DataInit();
charlesmn 0:020912dfa221 215 status = Sensor->vl53L1_StaticInit();
charlesmn 0:020912dfa221 216 status = Sensor->vl53L1_SetPresetMode(VL53L1_PRESETMODE_AUTONOMOUS);
charlesmn 0:020912dfa221 217 status = Sensor->vl53L1_SetDistanceMode(VL53L1_DISTANCEMODE_LONG);
charlesmn 0:020912dfa221 218 status = Sensor->vl53L1_SetMeasurementTimingBudgetMicroSeconds( 200 * 1000);
charlesmn 0:020912dfa221 219
charlesmn 0:020912dfa221 220
charlesmn 0:020912dfa221 221 // set the ranging and signal rate filter
charlesmn 0:020912dfa221 222 VL53L1_DetectionConfig_t thresholdconfig;
charlesmn 0:020912dfa221 223 thresholdconfig.DetectionMode = VL53L1_DETECTION_DISTANCE_ONLY; /// type VL53L1_DetectionMode in vl53l1_def.h
charlesmn 0:020912dfa221 224 thresholdconfig.Distance.CrossMode = VL53L1_THRESHOLD_IN_WINDOW; // type VL53L1_ThresholdMode. ignore if distance outside high and low
charlesmn 0:020912dfa221 225 thresholdconfig.Distance.High = 300; // high distance in mm
charlesmn 0:020912dfa221 226 thresholdconfig.Distance.Low = 200; // low distance in mm
charlesmn 0:020912dfa221 227 thresholdconfig.Rate.CrossMode=0; // type VL53L1_ThresholdMode VL53L1_THRESHOLD_CROSSED_LOW VL53L1_THRESHOLD_CROSSED_HIGH VL53L1_THRESHOLD_OUT_OF_WINDOW VL53L1_THRESHOLD_IN_WINDOW
charlesmn 0:020912dfa221 228 thresholdconfig.Rate.High = 0;
charlesmn 0:020912dfa221 229 thresholdconfig.Rate.Low = 0;
charlesmn 0:020912dfa221 230 thresholdconfig.IntrNoTarget = 0 ;// if 1 produce an interrupt even if there is no target found e.g out of range
charlesmn 0:020912dfa221 231 status = Sensor->vl53L1_SetThresholdConfig(&thresholdconfig);
charlesmn 0:020912dfa221 232 }
charlesmn 0:020912dfa221 233
charlesmn 0:020912dfa221 234 // create interrupt handlers for the three sensors and start measurements
charlesmn 0:020912dfa221 235 if (board->sensor_centre!= NULL )
charlesmn 0:020912dfa221 236 {
charlesmn 0:020912dfa221 237 printf("starting interrupt centre\n");
charlesmn 0:020912dfa221 238 devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:020912dfa221 239 int1 = new WaitForMeasurement(CentreIntPin,&devCentre); // create interrupt handler
charlesmn 0:020912dfa221 240 status = board->sensor_centre->vl53L1_StartMeasurement();
charlesmn 0:020912dfa221 241 }
charlesmn 0:020912dfa221 242
charlesmn 0:020912dfa221 243 if (board->sensor_left!= NULL )
charlesmn 0:020912dfa221 244 {
charlesmn 0:020912dfa221 245 printf("starting interrupt left\n");
charlesmn 0:020912dfa221 246 devLeft.i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
charlesmn 0:020912dfa221 247 int2 = new WaitForMeasurement(LeftIntPin,&devLeft); // create interrupt handler
charlesmn 0:020912dfa221 248 status = board->sensor_left->vl53L1_StartMeasurement();
charlesmn 0:020912dfa221 249 printf("started interrupt left\n");
charlesmn 0:020912dfa221 250 }
charlesmn 0:020912dfa221 251
charlesmn 0:020912dfa221 252 if (board->sensor_right!= NULL )
charlesmn 0:020912dfa221 253 {
charlesmn 0:020912dfa221 254 printf("starting interrupt right\n");
charlesmn 0:020912dfa221 255 devRight.i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
charlesmn 0:020912dfa221 256 int3 = new WaitForMeasurement(RightIntPin,&devRight); // create interrupt handler
charlesmn 0:020912dfa221 257 status = board->sensor_right->vl53L1_StartMeasurement();
charlesmn 0:020912dfa221 258 }
charlesmn 0:020912dfa221 259
charlesmn 0:020912dfa221 260
charlesmn 0:020912dfa221 261 printf("loop forever\n");
charlesmn 0:020912dfa221 262
charlesmn 0:020912dfa221 263 // loop waiting for interrupts to happen. This is signaled by int_centre_result,int_left_result or int_right_result
charlesmn 0:020912dfa221 264 // being non zero. When the interrupts clear this is signaled by int_centre_dropped,int_left_dropped and int_right_dropped.
charlesmn 0:020912dfa221 265 // These are set back to zero when processing is completed
charlesmn 0:020912dfa221 266 while (1)
charlesmn 0:020912dfa221 267 {
charlesmn 0:020912dfa221 268 VL53L1_MultiRangingData_t MultiRangingData;
charlesmn 0:020912dfa221 269 VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
charlesmn 0:020912dfa221 270
charlesmn 0:020912dfa221 271 if ( int_left_dropped || int_centre_dropped || int_right_dropped )
charlesmn 0:020912dfa221 272 wait_ms(30);
charlesmn 0:020912dfa221 273
charlesmn 0:020912dfa221 274 // when the interrupt pin goes loww start new measurement
charlesmn 0:020912dfa221 275 if ( int_centre_dropped != 0)
charlesmn 0:020912dfa221 276 {
charlesmn 0:020912dfa221 277 int_centre_dropped = 0;
charlesmn 0:020912dfa221 278 status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
charlesmn 0:020912dfa221 279 }
charlesmn 0:020912dfa221 280
charlesmn 0:020912dfa221 281 if ( int_left_dropped != 0)
charlesmn 0:020912dfa221 282 {
charlesmn 0:020912dfa221 283 int_left_dropped = 0;
charlesmn 0:020912dfa221 284 status = board->sensor_left->vl53L1_ClearInterruptAndStartMeasurement();
charlesmn 0:020912dfa221 285 }
charlesmn 0:020912dfa221 286
charlesmn 0:020912dfa221 287 if ( int_right_dropped != 0)
charlesmn 0:020912dfa221 288 {
charlesmn 0:020912dfa221 289 int_right_dropped = 0;
charlesmn 0:020912dfa221 290 status = board->sensor_right->vl53L1_ClearInterruptAndStartMeasurement();
charlesmn 0:020912dfa221 291 }
charlesmn 0:020912dfa221 292
charlesmn 0:020912dfa221 293 if (int_right_result != 0) // interrupt seen on right sensor
charlesmn 0:020912dfa221 294 {
charlesmn 0:020912dfa221 295 status = board->sensor_right->vl53L1_GetMultiRangingData( pMultiRangingData);
charlesmn 0:020912dfa221 296 if ( status == 0)
charlesmn 0:020912dfa221 297 {
charlesmn 0:020912dfa221 298 print_results( devRight.i2c_slave_address, pMultiRangingData );
charlesmn 0:020912dfa221 299 }
charlesmn 0:020912dfa221 300
charlesmn 0:020912dfa221 301 // clear interrupt flag
charlesmn 0:020912dfa221 302 int_right_result = 0;
charlesmn 0:020912dfa221 303 }
charlesmn 0:020912dfa221 304
charlesmn 0:020912dfa221 305 if (int_left_result != 0) // interrupt seen on left sensor
charlesmn 0:020912dfa221 306 {
charlesmn 0:020912dfa221 307 status = board->sensor_left->vl53L1_GetMultiRangingData( pMultiRangingData);
charlesmn 0:020912dfa221 308 if ( status == 0)
charlesmn 0:020912dfa221 309 {
charlesmn 0:020912dfa221 310 print_results( devLeft.i2c_slave_address, pMultiRangingData );
charlesmn 0:020912dfa221 311 }
charlesmn 0:020912dfa221 312
charlesmn 0:020912dfa221 313 // clear interrupt flag
charlesmn 0:020912dfa221 314 int_left_result = 0;
charlesmn 0:020912dfa221 315 }
charlesmn 0:020912dfa221 316
charlesmn 0:020912dfa221 317 if (int_centre_result != 0)
charlesmn 0:020912dfa221 318 {
charlesmn 0:020912dfa221 319 status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
charlesmn 0:020912dfa221 320 if ( status == 0)
charlesmn 0:020912dfa221 321 {
charlesmn 0:020912dfa221 322 print_results( devCentre.i2c_slave_address, pMultiRangingData );
charlesmn 0:020912dfa221 323 }
charlesmn 0:020912dfa221 324
charlesmn 0:020912dfa221 325 // clear interrupt flag
charlesmn 0:020912dfa221 326 int_centre_result = 0;
charlesmn 0:020912dfa221 327
charlesmn 0:020912dfa221 328 }
charlesmn 0:020912dfa221 329 wait_ms( 1 * 10);
charlesmn 0:020912dfa221 330
charlesmn 0:020912dfa221 331 }
charlesmn 0:020912dfa221 332 }
charlesmn 0:020912dfa221 333
charlesmn 0:020912dfa221 334
charlesmn 0:020912dfa221 335 // print what ever results are required
johnAlexander 2:f0ec92af4b5f 336 void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
charlesmn 0:020912dfa221 337 {
johnAlexander 2:f0ec92af4b5f 338 int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
charlesmn 0:020912dfa221 339
johnAlexander 2:f0ec92af4b5f 340 int RoiNumber=pMultiRangingData->RoiNumber;
charlesmn 0:020912dfa221 341
johnAlexander 2:f0ec92af4b5f 342 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
johnAlexander 2:f0ec92af4b5f 343 {
johnAlexander 2:f0ec92af4b5f 344 for(int j=0;j<no_of_object_found;j++){
johnAlexander 2:f0ec92af4b5f 345 if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
johnAlexander 2:f0ec92af4b5f 346 (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL))
charlesmn 0:020912dfa221 347 {
johnAlexander 2:f0ec92af4b5f 348 printf("\t i2cAddr=%d \t RoiNumber=%d \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
johnAlexander 2:f0ec92af4b5f 349 devNumber, RoiNumber,
johnAlexander 2:f0ec92af4b5f 350 pMultiRangingData->RangeData[j].RangeStatus,
johnAlexander 2:f0ec92af4b5f 351 pMultiRangingData->RangeData[j].RangeMilliMeter,
johnAlexander 2:f0ec92af4b5f 352 pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535.0,
johnAlexander 2:f0ec92af4b5f 353 pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535.0);
johnAlexander 2:f0ec92af4b5f 354 }
johnAlexander 2:f0ec92af4b5f 355 }
johnAlexander 2:f0ec92af4b5f 356 } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:020912dfa221 357 }
charlesmn 0:020912dfa221 358
charlesmn 0:020912dfa221 359
charlesmn 0:020912dfa221 360 #if (MBED_VERSION > 60300)
charlesmn 0:020912dfa221 361 extern "C" void wait_ms(int ms)
charlesmn 0:020912dfa221 362 {
charlesmn 0:020912dfa221 363 thread_sleep_for(ms);
charlesmn 0:020912dfa221 364 }
charlesmn 0:020912dfa221 365 #endif
charlesmn 0:020912dfa221 366
charlesmn 0:020912dfa221 367