Diff: main.cpp

Revision:

0:47d5c900dab9

Child:

1:6bbe4976bc7b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 27 09:01:08 2020 +0000
@@ -0,0 +1,180 @@
+/*
+ *  This application performs range measurements
+ *  connecting directly to  the onboard embedded centre sensor, in multizone, polling 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.
+ *
+ *
+ *  The Reset button can be used to restart the program.
+ */
+ 
+#include <stdio.h>
+
+#include "mbed.h"
+#include "NoShield53L1A1.h"
+#include "ToF_I2C.h"
+#include <time.h>
+
+
+// define the i2c comms pins
+#define I2C_SDA   D14 
+#define I2C_SCL   D15 
+
+
+
+static NoShield53L1 *board=NULL;
+Serial pc(SERIAL_TX, SERIAL_RX); 
+
+void process_interrupt( VL53L1X * sensor,VL53L1_DEV dev );
+void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
+
+VL53L1_Dev_t                   devCentre;
+VL53L1_Dev_t                   devLeft;
+VL53L1_Dev_t                   devRight;
+VL53L1_DEV                     Dev = &devCentre;
+
+ 
+/*=================================== Main ==================================
+=============================================================================*/
+int main()
+{   
+    int status;
+    VL53L1X * Sensor;
+    uint16_t wordData;
+
+
+    pc.baud(115200);  // baud rate is important as printf statements take a lot of time
+    printf("Polling single multizone\r\n");
+
+// create i2c interface
+    ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
+    
+    /* creates the 53L1A1 expansion board singleton obj */
+   board = NoShield53L1::instance(dev_I2C, A2, D8, D2);
+    
+    printf("board created!\r\n");
+    
+        /* define the shutdown pins */
+    status = board->init_board(D9,D4,D3);
+    if (status) {
+        printf("Failed to init board!\r\n");
+        return 0;
+    }
+       
+        
+    printf("board initiated! - %d\r\n", status);
+  // create the sensor controller classes                                              
+
+
+
+    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;
+
+    Sensor->VL53L1_RdWord(Dev, 0x01, &wordData);
+    printf("VL53L1X: %02X   %d\n\r", wordData,Dev->i2c_slave_address);
+/* Device Initialization and setting */  
+    status = Sensor->vl53L1_DataInit();
+    status = Sensor->vl53L1_StaticInit();
+    status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_MULTIZONES_SCANNING);
+      status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
+//     status = Sensor->vl53L1_SetMeasurementTimingBudgetMicroSeconds( 100 * 1000);
+//      status = Sensor->vl53L1_SetInterMeasurementPeriodMilliSeconds( 100);
+   
+    
+    VL53L1_RoiConfig_t roiConfig;
+    roiConfig.NumberOfRoi =3;
+    roiConfig.UserRois[0].TopLeftX = 0;
+    roiConfig.UserRois[0].TopLeftY = 9; 
+    roiConfig.UserRois[0].BotRightX = 4;
+    roiConfig.UserRois[0].BotRightY = 5; 
+    roiConfig.UserRois[1].TopLeftX = 5;
+    roiConfig.UserRois[1].TopLeftY = 9; 
+    roiConfig.UserRois[1].BotRightX = 9;
+    roiConfig.UserRois[1].BotRightY = 4; 
+    roiConfig.UserRois[2].TopLeftX = 11;
+    roiConfig.UserRois[2].TopLeftY = 9; 
+    roiConfig.UserRois[2].BotRightX = 15;
+    roiConfig.UserRois[2].BotRightY = 5; 
+    status = Sensor->vl53L1_SetROI( &roiConfig);
+    printf("VL53L1_SetROI %d \n",status);
+
+    devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
+    status = board->sensor_centre->vl53L1_StartMeasurement();  
+
+       // looping polling for results
+    while (1)
+    {
+        VL53L1_MultiRangingData_t MultiRangingData;
+        VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;    
+        
+        // wait for result
+        status = board->sensor_centre->vl53L1_WaitMeasurementDataReady();  
+        // get the result
+        status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
+        // if valid, print it
+        if(status==0) {
+            print_results(devCentre.i2c_slave_address, pMultiRangingData );
+             status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
+
+        } //if(status==0) 
+        else
+        {
+            printf("VL53L1_GetMultiRangingData centre %d \n",status);
+        }
+                
+        wait_ms( 1 * 10);                   
+    }
+}
+    
+    
+    
+ // prints the range result seen above   
+void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
+{
+            int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+            
+            int RoiNumber=pMultiRangingData->RoiNumber;
+//            int RoiStatus=pMultiRangingData->RoiStatus;
+
+            if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0)) 
+            {
+                
+  //              printf("MZI Count=%5d, ", pMultiRangingData->StreamCount);
+   //             printf("RoiNumber%1d, ", RoiNumber);
+   //               printf("RoiStatus=%1d, \n", RoiStatus);
+                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 spiAddr=%d \t RoiNumber=%d   \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
+                        devSpiNumber,
+                        RoiNumber,
+                        pMultiRangingData->RangeData[j].RangeStatus,
+                        pMultiRangingData->RangeData[j].RangeMilliMeter,
+                        pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0,
+                        pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
+                    }
+                    else
+                    {
+//                               printf("RangeStatus %d %d\n",j, pMultiRangingData->RangeData[j].RangeStatus);
+                    }
+                }
+            } // if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0)) 
+            else
+            {
+//                       printf("no_of_object_found %d \n",no_of_object_found);
+            }
+
+}    
+     
+  
\ No newline at end of file