Diff: main.cpp

Revision:

1:6bbe4976bc7b

Parent:

0:47d5c900dab9

Child:

2:014f6e21d7b3

--- a/main.cpp	Tue Oct 27 09:01:08 2020 +0000
+++ b/main.cpp	Sun Nov 08 18:09:34 2020 +0000
@@ -13,23 +13,40 @@
 #include <stdio.h>
 
 #include "mbed.h"
-#include "NoShield53L1A1.h"
+//#include "NoShield53L1A1.h"
 #include "ToF_I2C.h"
 #include <time.h>
+//#include "vl53lx_class.h"
+#include "vl53l1_def.h"
+#include "vl53l1_platform_user_data.h"
+#include "vl53l1x.h"
 
 
 // define the i2c comms pins
 #define I2C_SDA   D14 
 #define I2C_SCL   D15 
 
+#define SENSOR_DEFAULT_ADDRESS   0x52
+#define NEW_SENSOR_CENTRE_ADDRESS   0x56
+#define NEW_SENSOR_LEFT_ADDRESS     0x58
+#define NEW_SENSOR_RIGHT_ADDRESS    0x5a
+
 
 
-static NoShield53L1 *board=NULL;
-Serial pc(SERIAL_TX, SERIAL_RX); 
+//static NoShield53L1 *board=NULL;
 
-void process_interrupt( VL53L1X * sensor,VL53L1_DEV dev );
+// MBed V6.4 has renamed wait_ms and UnbufferedSerial replaces Serial
+#if (MBED_VERSION  > 60300) 
+UnbufferedSerial  pc(SERIAL_TX, SERIAL_RX); 
+extern "C" void wait_ms(int ms);
+#else
+Serial pc(SERIAL_TX, SERIAL_RX); 
+#endif
+
+//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;
@@ -43,54 +60,45 @@
     int status;
     VL53L1X * Sensor;
     uint16_t wordData;
+    DigitalOut xshutdown(D9);
 
 
     pc.baud(115200);  // baud rate is important as printf statements take a lot of time
-    printf("Polling single multizone\r\n");
+    printf("Polling single multizone  mbed = %d \r\n",MBED_VERSION);
 
 // 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);
+//   board = XNucleo51L1::instance(dev_I2C, A2, D8, D2);
+   
+   Sensor = new VL53L1X(dev_I2C,&xshutdown,A2);
     
     printf("board created!\r\n");
     
         /* define the shutdown pins */
-    status = board->init_board(D9,D4,D3);
+ //   status = board->init_board();
+    status = Sensor->InitSensor(SENSOR_DEFAULT_ADDRESS);
     if (status) {
-        printf("Failed to init board!\r\n");
+        printf("Failed to init sensor!\r\n");
         return 0;
     }
-       
+    wait_ms(250);        // wait for the sensor to initialise     
         
-    printf("board initiated! - %d\r\n", status);
+    printf("sensor 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);
+    status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
+    status = Sensor->vl53L1_SetMeasurementTimingBudgetMicroSeconds( 50 * 1000);
    
-    
+  // configure the region of interests  
     VL53L1_RoiConfig_t roiConfig;
     roiConfig.NumberOfRoi =3;
     roiConfig.UserRois[0].TopLeftX = 0;
@@ -108,8 +116,7 @@
     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();  
+    status = Sensor->vl53L1_StartMeasurement();  
 
        // looping polling for results
     while (1)
@@ -118,13 +125,13 @@
         VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;    
         
         // wait for result
-        status = board->sensor_centre->vl53L1_WaitMeasurementDataReady();  
+        status = Sensor->vl53L1_WaitMeasurementDataReady();  
         // get the result
-        status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
+        status = Sensor->vl53L1_GetMultiRangingData( pMultiRangingData);
         // if valid, print it
         if(status==0) {
             print_results(devCentre.i2c_slave_address, pMultiRangingData );
-             status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
+             status = Sensor->vl53L1_ClearInterruptAndStartMeasurement();
 
         } //if(status==0) 
         else
@@ -141,40 +148,43 @@
  // prints the range result seen above   
 void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
 {
-            int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+        int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
             
-            int RoiNumber=pMultiRangingData->RoiNumber;
+        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
-                    {
+        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);
             }
+        } // if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0)) 
+
 
 }    
      
-  
\ No newline at end of file
+         
+#if (MBED_VERSION  > 60300) 
+void wait_ms(int ms)
+ {
+    thread_sleep_for(ms);
+ }
+#endif 
\ No newline at end of file