Diff: main.cpp

Revision:

0:2ee129a3b1e8

Child:

1:51e9344a1f33

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Nov 09 09:36:03 2020 +0000
@@ -0,0 +1,319 @@
+/*
+ *  This VL53L1 test application performs range measurements
+ *  using the onboard embedded centre sensor and two satelites, in ranging, interrupt mode.
+ *  This program does not use the expansion board and the sensors a directly connected to the F401.
+ *  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 "XNucleo53L1A1.h"
+#include "ToF_I2C.h"
+#include <time.h>
+
+// i2c comms pins
+#define I2C_SDA   D14 
+#define I2C_SCL   D15 
+
+// i2c addresses the sensors are configured to be
+#define NEW_SENSOR_CENTRE_ADDRESS   0x56
+#define NEW_SENSOR_LEFT_ADDRESS     0x58
+#define NEW_SENSOR_RIGHT_ADDRESS    0x5a
+
+
+#define NUM_SENSORS 3
+
+// define the sensor interrupt pins. This much match the wiring!
+PinName CentreIntPin = A2;
+PinName LeftIntPin = D9;
+PinName RightIntPin = D4;
+
+
+// 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
+
+static int int_centre_result = 0;
+static int int_left_result = 0;
+static int int_right_result = 0;
+
+
+class WaitForMeasurement {
+public:
+
+
+// this class services the interrupts from the ToF sensors.
+// There is a limited amount you can do in an interrupt routine; printfs,mutexes break them among other things.
+// We keep things simple by only raising a flag so all the real work is done outside the interrupt.
+// This is designed around MBED V2 which doesn't have the RTOS features that would make this work nicely e.g. semaphores/queues.
+WaitForMeasurement(): _interrupt(A1)
+{
+}
+
+
+    // constructor 
+    WaitForMeasurement(PinName pin, uint8_t slave_address) : _interrupt(pin)          // create the InterruptIn on the pin specified 
+    {
+        i2c_slave_address = slave_address;
+        _interrupt.rise(callback(this, &WaitForMeasurement::got_interrupt)); // attach routine to deal with interrupt
+        
+    }
+    
+
+  // function is called every time an interupt is seen. A flag is raised which allows the main routine to service the interupt.
+    void got_interrupt()
+    {
+    
+        // identify which sensor this instance relates to and flag an interrupt has occured
+        if (i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS)
+            int_centre_result = 1;  //flag to main that interrupt happened
+        if (i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS)
+            int_left_result = 1;   //flag to main that interrupt happened
+        if (i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS)
+            int_right_result = 1;  //flag to main that interrupt happened
+    }
+
+    
+    //destructor
+    ~WaitForMeasurement()
+    {
+        printf("destruction \n");
+    }
+
+private:
+    InterruptIn _interrupt;
+    int status;
+    uint8_t   i2c_slave_address;
+    
+};
+
+ 
+/*=================================== Main ==================================
+=============================================================================*/
+int main()
+{   
+    int status;
+    VL53L1X * Sensor;
+    VL53L1X * SensorCentre;
+    VL53L1X * SensorLeft;
+    VL53L1X * SensorRight;
+    DigitalOut xshutdownCentre(D9);
+    DigitalOut xshutdownLeft(D4);
+    DigitalOut xshutdownRight(D3);
+
+    uint8_t ToFSensor = 1; 
+  
+    
+    WaitForMeasurement* int2;
+    WaitForMeasurement* int1;
+    WaitForMeasurement* int3;
+
+    pc.baud(115200);  // baud rate is important as printf statements take a lot of time
+
+    printf("VL53L1CB_NoShield_3sensors_interrupt_ranging mbed = %d \r\n",MBED_VERSION);
+
+// create the i2c instance
+    ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
+// create the sensor instances    
+    SensorCentre = new VL53L1X(dev_I2C, &xshutdownCentre, CentreIntPin); 
+    SensorLeft = new VL53L1X(dev_I2C, &xshutdownLeft, LeftIntPin); 
+    SensorRight = new VL53L1X(dev_I2C, &xshutdownRight, RightIntPin); 
+    
+    printf("board created!\r\n");
+ // initialise sensors                                               
+    for (ToFSensor=0;ToFSensor< NUM_SENSORS ;ToFSensor++){
+    switch(ToFSensor){
+        case 0:
+            
+            if (SensorCentre == NULL ) continue;
+            // try to initialise the sensor. returns -1 if sensor is not there.
+            if (SensorCentre->InitSensor(NEW_SENSOR_CENTRE_ADDRESS) ==-1) 
+            {
+                 printf("centre not found \n");
+                 SensorCentre = NULL;
+                 continue;
+            }
+            Sensor=SensorCentre;
+            printf("configuring centre channel \n");
+            break;
+        case 1:
+            if (SensorLeft== NULL ) continue;
+            if (SensorLeft->InitSensor(NEW_SENSOR_LEFT_ADDRESS)==-1)
+            {
+                 printf("left not found \n");
+                 SensorLeft = NULL;
+                 continue;
+            }
+            Sensor=SensorLeft;
+            printf("configuring left channel \n");
+            break;
+        case 2:
+            if (SensorRight == NULL ) continue;
+            if(SensorRight->InitSensor(NEW_SENSOR_RIGHT_ADDRESS)==-1)
+            {
+                 printf("right not found \n");
+                 SensorRight = NULL;
+                 continue;
+            }
+            Sensor=SensorRight;
+            printf("configuring right channel \n");
+            break;      
+        default:
+           printf(" error in switch, invalid ToF sensor \n");
+    }
+    wait_ms(250);  // wait for the sensor to come alive
+        
+// configure the sensors
+
+/* Device Initialization and setting */  
+    status = Sensor->vl53L1_DataInit();
+    status = Sensor->vl53L1_StaticInit();
+    status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_RANGING);
+    status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
+    status = Sensor->vl53L1_SetMeasurementTimingBudgetMicroSeconds( 50000);
+    status = Sensor->vl53L1_SetInterMeasurementPeriodMilliSeconds( 100);
+    }
+    
+    if (SensorCentre != NULL )
+    {
+        printf("starting interrupt centre\n");
+        // create interrupt process for the centre sensor
+        int1 =  new WaitForMeasurement(CentreIntPin,NEW_SENSOR_CENTRE_ADDRESS);
+        // start the snesor measuring
+        status = SensorCentre->vl53L1_StartMeasurement();
+                    printf("end interrupt centre\n");
+    }
+    
+
+    if (SensorLeft!= NULL )
+    {
+        printf("starting interrupt left\n");
+        int2 = new WaitForMeasurement(LeftIntPin,NEW_SENSOR_LEFT_ADDRESS);
+        status = SensorLeft->vl53L1_StartMeasurement();
+    }
+
+    if (SensorRight!= NULL )
+    {
+        printf("starting interrupt right\n");
+        int3 = new WaitForMeasurement(RightIntPin,NEW_SENSOR_RIGHT_ADDRESS);
+        status = SensorRight->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. The are set back to zero when processing is completed
+    while (1)
+    {
+        static VL53L1_RangingMeasurementData_t RangingData;  
+        VL53L1_MultiRangingData_t MultiRangingData;
+        VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;   
+        
+        wait_ms( 1 * 50);
+        if (int_centre_result != 0)
+        {
+            // as there has been an interrupt there is data waiting so get it
+            status = SensorCentre->vl53L1_GetMultiRangingData( pMultiRangingData);
+            if ( status == VL53L1_ERROR_NONE)
+            {
+                int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+                if ( no_of_object_found < 10 ) 
+                {
+                    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("centre\t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
+                            pMultiRangingData->RangeData[j].RangeStatus,
+                            pMultiRangingData->RangeData[j].RangeMilliMeter,
+                            pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0,
+                            pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
+                        }
+                    }
+                }
+            }
+                int_centre_result = 0;
+                status = SensorCentre->vl53L1_ClearInterruptAndStartMeasurement();
+        }
+
+
+        if (int_left_result != 0)
+        {
+            status = SensorLeft->vl53L1_GetMultiRangingData( pMultiRangingData);
+            if ( status == VL53L1_ERROR_NONE)
+            {
+                int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+                if ( no_of_object_found < 10 ) 
+                {
+                    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("left  \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
+                                pMultiRangingData->RangeData[j].RangeStatus,
+                                pMultiRangingData->RangeData[j].RangeMilliMeter,
+                                pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0,
+                                pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
+                            }
+                    }
+                }
+            }
+ 
+                int_left_result = 0;
+                status = SensorLeft->vl53L1_ClearInterruptAndStartMeasurement();
+
+        }
+            
+            
+        if (int_right_result != 0)
+        {
+            status = SensorRight->vl53L1_GetMultiRangingData( pMultiRangingData);
+            if ( status == VL53L1_ERROR_NONE)
+            {
+                // if valid result print it
+                int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+                if ( no_of_object_found < 10 ) 
+                {
+                    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("right \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
+                                pMultiRangingData->RangeData[j].RangeStatus,
+                                pMultiRangingData->RangeData[j].RangeMilliMeter,
+                                pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0,
+                                pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
+                            }
+                    }
+                }
+            }
+            // clear interrupt flag
+            int_right_result = 0;
+            // clear theinterrupt and wait for another result
+            status = SensorRight->vl53L1_ClearInterruptAndStartMeasurement();
+
+        }
+    }
+    printf("terminated");
+}
+    
+  
+  // this function doesn't exist in MBed6.4 onwards. It is required for the F401 drivers.
+  // addded here as it allows the file to be compatible with all mbed versions          
+#if (MBED_VERSION  > 60300) 
+void wait_ms(int ms)
+ {
+    thread_sleep_for(ms);
+ }
+#endif
+  
\ No newline at end of file