ST Expansion SW Team / Mbed OS VL53L1CB_noshield_1sensor_interrupt_auton

remove the setting of VL53L1CB_SetThresholdConfig() from main.c

Dependencies:   VL53L1CB

main.cpp@0:1de3c51f8148, 2021-06-16 (annotated)

Committer:
charlesmn
Date:
Wed Jun 16 13:06:38 2021 +0000
Revision:
0:1de3c51f8148
Child:
2:42baa92189c9
Remove setting of VL53L1CB_SetThresholdConfig()

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:1de3c51f8148 1 /*
charlesmn 0:1de3c51f8148 2 * This VL53L1CB test application performs range measurements
charlesmn 0:1de3c51f8148 3 * using the onboard embedded sensor, in interrupt mode.
charlesmn 0:1de3c51f8148 4 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
charlesmn 0:1de3c51f8148 5 *
charlesmn 0:1de3c51f8148 6 * This is designed to work with MBed v2.x, & MBedOS v5.x / v6.x.
charlesmn 0:1de3c51f8148 7 *
charlesmn 0:1de3c51f8148 8 * The Reset button can be used to restart the program.
charlesmn 0:1de3c51f8148 9 *
charlesmn 0:1de3c51f8148 10 * *** NOTE :
charlesmn 0:1de3c51f8148 11 * Default Mbed build system settings disable printf() floating-point support.
charlesmn 0:1de3c51f8148 12 * Offline builds can enable this, again.
charlesmn 0:1de3c51f8148 13 * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
charlesmn 0:1de3c51f8148 14 * .\mbed-os\platform\mbed_lib.json
charlesmn 0:1de3c51f8148 15 *
charlesmn 0:1de3c51f8148 16 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
charlesmn 0:1de3c51f8148 17 * the X-NUCELO-53L1A1 expansion board are not made/OFF.
charlesmn 0:1de3c51f8148 18 * These links must be made to allow interrupts from the Satellite boards
charlesmn 0:1de3c51f8148 19 * to be received.
charlesmn 0:1de3c51f8148 20 * U11 and U18 must be made/ON to allow interrupts to be received from the
charlesmn 0:1de3c51f8148 21 * INT_L & INT_R positions; or
charlesmn 0:1de3c51f8148 22 * U10 and U15 must be made/ON to allow interrupts to be received from the
charlesmn 0:1de3c51f8148 23 * Alternate INT_L & INT_R positions.
charlesmn 0:1de3c51f8148 24 * The X_NUCLEO_53L1A2 library defaults to use the INT_L/INT_R positions.
charlesmn 0:1de3c51f8148 25 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
charlesmn 0:1de3c51f8148 26 * Alternate INT_L is on CN5 Connector pin 2 as D9.
charlesmn 0:1de3c51f8148 27 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
charlesmn 0:1de3c51f8148 28 * Alternate INT_R is on CN9 Connector pin 5 as D4.
charlesmn 0:1de3c51f8148 29 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A2/
charlesmn 0:1de3c51f8148 30 *
charlesmn 0:1de3c51f8148 31 */
charlesmn 0:1de3c51f8148 32
charlesmn 0:1de3c51f8148 33 #include <stdio.h>
charlesmn 0:1de3c51f8148 34 #include <time.h>
charlesmn 0:1de3c51f8148 35
charlesmn 0:1de3c51f8148 36 #include "mbed.h"
charlesmn 0:1de3c51f8148 37
charlesmn 0:1de3c51f8148 38 #include "NoShield53L1A1.h"
charlesmn 0:1de3c51f8148 39 #include "ToF_I2C.h"
charlesmn 0:1de3c51f8148 40
charlesmn 0:1de3c51f8148 41 // i2c comms port pins
charlesmn 0:1de3c51f8148 42 #define I2C_SDA D14
charlesmn 0:1de3c51f8148 43 #define I2C_SCL D15
charlesmn 0:1de3c51f8148 44
charlesmn 0:1de3c51f8148 45
charlesmn 0:1de3c51f8148 46 #define NUM_SENSORS 3
charlesmn 0:1de3c51f8148 47
charlesmn 0:1de3c51f8148 48 // define interrupt pins
charlesmn 0:1de3c51f8148 49 PinName CentreIntPin = A2;
charlesmn 0:1de3c51f8148 50 // the satellite pins depend on solder blobs on the back of the shield.
charlesmn 0:1de3c51f8148 51 // they may not exist or may be one of two sets.
charlesmn 0:1de3c51f8148 52 // the centre pin always exists
charlesmn 0:1de3c51f8148 53 //PinName LeftIntPin = D8;
charlesmn 0:1de3c51f8148 54 PinName RightIntPin = D2;
charlesmn 0:1de3c51f8148 55 // alternate set
charlesmn 0:1de3c51f8148 56 PinName LeftIntPin = D9;
charlesmn 0:1de3c51f8148 57 //PinName RightIntPin = D4;
charlesmn 0:1de3c51f8148 58
charlesmn 0:1de3c51f8148 59 static NoShield53L1 *board=NULL;
charlesmn 0:1de3c51f8148 60
charlesmn 0:1de3c51f8148 61 #if (MBED_VERSION > 60300)
charlesmn 0:1de3c51f8148 62 UnbufferedSerial pc(USBTX, USBRX);
charlesmn 0:1de3c51f8148 63 extern "C" void wait_ms(int ms);
charlesmn 0:1de3c51f8148 64 #else
charlesmn 0:1de3c51f8148 65 Serial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:1de3c51f8148 66 #endif
charlesmn 0:1de3c51f8148 67
charlesmn 0:1de3c51f8148 68 void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
charlesmn 0:1de3c51f8148 69
charlesmn 0:1de3c51f8148 70
charlesmn 0:1de3c51f8148 71 VL53L1_Dev_t devCentre;
charlesmn 0:1de3c51f8148 72 VL53L1_DEV Dev = &devCentre;
charlesmn 0:1de3c51f8148 73 VL53L1CB *Sensor;
charlesmn 0:1de3c51f8148 74
charlesmn 0:1de3c51f8148 75
charlesmn 0:1de3c51f8148 76
charlesmn 0:1de3c51f8148 77 /* flags that handle interrupt request for sensor and user blue button*/
charlesmn 0:1de3c51f8148 78 volatile bool int_sensor = false;
charlesmn 0:1de3c51f8148 79 volatile bool int_stop = false;
charlesmn 0:1de3c51f8148 80
charlesmn 0:1de3c51f8148 81 /* ISR callback function of the centre sensor */
charlesmn 0:1de3c51f8148 82 void sensor_irq(void)
charlesmn 0:1de3c51f8148 83 {
charlesmn 0:1de3c51f8148 84 int_sensor = true;
charlesmn 0:1de3c51f8148 85 board->sensor_centre->disable_interrupt_measure_detection_irq();
charlesmn 0:1de3c51f8148 86 }
charlesmn 0:1de3c51f8148 87
charlesmn 0:1de3c51f8148 88 /* Start the sensor ranging */
charlesmn 0:1de3c51f8148 89 int init_sensor()
charlesmn 0:1de3c51f8148 90 {
charlesmn 0:1de3c51f8148 91 int status = 0;
charlesmn 0:1de3c51f8148 92
charlesmn 0:1de3c51f8148 93 Dev=&devCentre;
charlesmn 0:1de3c51f8148 94 Sensor=board->sensor_centre;
charlesmn 0:1de3c51f8148 95
charlesmn 0:1de3c51f8148 96 // configure the sensors
charlesmn 0:1de3c51f8148 97 Dev->comms_speed_khz = 400;
charlesmn 0:1de3c51f8148 98 Dev->comms_type = 1;
charlesmn 0:1de3c51f8148 99 Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:1de3c51f8148 100
charlesmn 0:1de3c51f8148 101 printf("configuring centre channel \n");
charlesmn 0:1de3c51f8148 102
charlesmn 0:1de3c51f8148 103 /* Device Initialization and setting */
charlesmn 0:1de3c51f8148 104 status = Sensor->VL53L1CB_DataInit();
charlesmn 0:1de3c51f8148 105 status = Sensor->VL53L1CB_StaticInit();
charlesmn 0:1de3c51f8148 106
charlesmn 0:1de3c51f8148 107
charlesmn 0:1de3c51f8148 108 status = Sensor->VL53L1CB_SetPresetMode(VL53L1_PRESETMODE_AUTONOMOUS);
charlesmn 0:1de3c51f8148 109 status = Sensor->VL53L1CB_SetDistanceMode(VL53L1_DISTANCEMODE_LONG);
charlesmn 0:1de3c51f8148 110 status = Sensor->VL53L1CB_SetInterMeasurementPeriodMilliSeconds(500);
charlesmn 0:1de3c51f8148 111 status = Sensor->VL53L1CB_SetMeasurementTimingBudgetMicroSeconds(45000);
charlesmn 0:1de3c51f8148 112 status = Sensor->VL53L1CB_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM1, 0);
charlesmn 0:1de3c51f8148 113 status = Sensor->VL53L1CB_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM2, 0);
charlesmn 0:1de3c51f8148 114
charlesmn 0:1de3c51f8148 115 // print out the sensor information. All VL53L1s are the same
charlesmn 0:1de3c51f8148 116 VL53L1_DeviceInfo_t device_info;
charlesmn 0:1de3c51f8148 117 status = Sensor->VL53L1CB_GetDeviceInfo(&device_info);
charlesmn 0:1de3c51f8148 118 printf("device name %s \n",device_info.Name);
charlesmn 0:1de3c51f8148 119
charlesmn 0:1de3c51f8148 120
charlesmn 0:1de3c51f8148 121 // create interrupt handler and start measurements
charlesmn 0:1de3c51f8148 122 if (board->sensor_centre!= NULL) {
charlesmn 0:1de3c51f8148 123 status = board->sensor_centre->stop_measurement();
charlesmn 0:1de3c51f8148 124 if (status != 0) {
charlesmn 0:1de3c51f8148 125 return status;
charlesmn 0:1de3c51f8148 126 }
charlesmn 0:1de3c51f8148 127 wait_ms(100);
charlesmn 0:1de3c51f8148 128 status = Sensor->start_measurement(&sensor_irq);
charlesmn 0:1de3c51f8148 129 if (status != 0) {
charlesmn 0:1de3c51f8148 130 return status;
charlesmn 0:1de3c51f8148 131 }
charlesmn 0:1de3c51f8148 132 }
charlesmn 0:1de3c51f8148 133 return status;
charlesmn 0:1de3c51f8148 134 }
charlesmn 0:1de3c51f8148 135
charlesmn 0:1de3c51f8148 136 /* ISR callback function of the user blue button to switch measuring sensor. */
charlesmn 0:1de3c51f8148 137 void measuring_stop_irq(void)
charlesmn 0:1de3c51f8148 138 {
charlesmn 0:1de3c51f8148 139 int_stop = true;
charlesmn 0:1de3c51f8148 140 }
charlesmn 0:1de3c51f8148 141
charlesmn 0:1de3c51f8148 142 /*=================================== Main ==================================
charlesmn 0:1de3c51f8148 143 =============================================================================*/
charlesmn 0:1de3c51f8148 144 int main()
charlesmn 0:1de3c51f8148 145 {
charlesmn 0:1de3c51f8148 146 int status;
charlesmn 0:1de3c51f8148 147
charlesmn 0:1de3c51f8148 148 pc.baud(115200); // baud rate is important as printf statements take a lot of time
charlesmn 0:1de3c51f8148 149
charlesmn 0:1de3c51f8148 150 printf("mbed version : %d \r\n",MBED_VERSION);
charlesmn 0:1de3c51f8148 151
charlesmn 0:1de3c51f8148 152 /* create i2c interface */
charlesmn 0:1de3c51f8148 153 ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
charlesmn 0:1de3c51f8148 154 /* creates the sensor singleton obj */
charlesmn 0:1de3c51f8148 155 board = NoShield53L1::instance(dev_I2C, A2, D8, D2);
charlesmn 0:1de3c51f8148 156
charlesmn 0:1de3c51f8148 157 printf("board created!\r\n");
charlesmn 0:1de3c51f8148 158
charlesmn 0:1de3c51f8148 159 /* init the sensor interface with default values */
charlesmn 0:1de3c51f8148 160 status = board->init_board(D9,D4,D3);
charlesmn 0:1de3c51f8148 161 if (status) {
charlesmn 0:1de3c51f8148 162 printf("Failed to init board!\r\n");
charlesmn 0:1de3c51f8148 163 return status;
charlesmn 0:1de3c51f8148 164 }
charlesmn 0:1de3c51f8148 165
charlesmn 0:1de3c51f8148 166 printf("board initiated! - %d\r\n", status);
charlesmn 0:1de3c51f8148 167
charlesmn 0:1de3c51f8148 168 /* init an array with chars to id the sensors */
charlesmn 0:1de3c51f8148 169 status = init_sensor();
charlesmn 0:1de3c51f8148 170 if (status != 0) {
charlesmn 0:1de3c51f8148 171 printf("Failed to init sensors!\r\n");
charlesmn 0:1de3c51f8148 172 return status;
charlesmn 0:1de3c51f8148 173 }
charlesmn 0:1de3c51f8148 174
charlesmn 0:1de3c51f8148 175 printf("loop forever\n");
charlesmn 0:1de3c51f8148 176
charlesmn 0:1de3c51f8148 177 VL53L1_MultiRangingData_t MultiRangingData;
charlesmn 0:1de3c51f8148 178 VL53L1_MultiRangingData_t *pMultiRangingData = NULL;
charlesmn 0:1de3c51f8148 179
charlesmn 0:1de3c51f8148 180 while (true) {
charlesmn 0:1de3c51f8148 181 pMultiRangingData = &MultiRangingData;
charlesmn 0:1de3c51f8148 182
charlesmn 0:1de3c51f8148 183 if (int_sensor) { // if interrupt happened
charlesmn 0:1de3c51f8148 184 int_sensor = false;
charlesmn 0:1de3c51f8148 185
charlesmn 0:1de3c51f8148 186 status = board->sensor_centre->VL53L1CB_GetMultiRangingData( pMultiRangingData);
charlesmn 0:1de3c51f8148 187 if (status == 0) {
charlesmn 0:1de3c51f8148 188 print_results( devCentre.i2c_slave_address, pMultiRangingData );
charlesmn 0:1de3c51f8148 189 status = board->sensor_centre->VL53L1CB_ClearInterrupt();
charlesmn 0:1de3c51f8148 190 }
charlesmn 0:1de3c51f8148 191 board->sensor_centre->enable_interrupt_measure_detection_irq();
charlesmn 0:1de3c51f8148 192 }
charlesmn 0:1de3c51f8148 193 }
charlesmn 0:1de3c51f8148 194
charlesmn 0:1de3c51f8148 195 printf("Terminating.\n");
charlesmn 0:1de3c51f8148 196 }
charlesmn 0:1de3c51f8148 197
charlesmn 0:1de3c51f8148 198
charlesmn 0:1de3c51f8148 199 // print what ever results are required
charlesmn 0:1de3c51f8148 200 void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
charlesmn 0:1de3c51f8148 201 {
charlesmn 0:1de3c51f8148 202 int no_of_object_found = pMultiRangingData->NumberOfObjectsFound;
charlesmn 0:1de3c51f8148 203 int signal_rate = 0;
charlesmn 0:1de3c51f8148 204 int ambient_rate = 0;
charlesmn 0:1de3c51f8148 205
charlesmn 0:1de3c51f8148 206 int RoiNumber = pMultiRangingData->RoiNumber;
charlesmn 0:1de3c51f8148 207 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0)) {
charlesmn 0:1de3c51f8148 208 for(int j=0; j<no_of_object_found; j++) {
charlesmn 0:1de3c51f8148 209 if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
charlesmn 0:1de3c51f8148 210 (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL)) {
charlesmn 0:1de3c51f8148 211 signal_rate = pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535;
charlesmn 0:1de3c51f8148 212 ambient_rate = pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535;
charlesmn 0:1de3c51f8148 213 printf("\t i2cAddr=%d \t RoiNumber=%d \t status=%d, \t D=%5dmm, \t Signal=%d Mcps, \t Ambient=%d Mcps \n",
charlesmn 0:1de3c51f8148 214 devNumber, RoiNumber,
charlesmn 0:1de3c51f8148 215 pMultiRangingData->RangeData[j].RangeStatus,
charlesmn 0:1de3c51f8148 216 pMultiRangingData->RangeData[j].RangeMilliMeter,
charlesmn 0:1de3c51f8148 217 signal_rate,
charlesmn 0:1de3c51f8148 218 ambient_rate);
charlesmn 0:1de3c51f8148 219 }
charlesmn 0:1de3c51f8148 220
charlesmn 0:1de3c51f8148 221 }
charlesmn 0:1de3c51f8148 222 } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:1de3c51f8148 223 }
charlesmn 0:1de3c51f8148 224
charlesmn 0:1de3c51f8148 225
charlesmn 0:1de3c51f8148 226 #if (MBED_VERSION > 60300)
charlesmn 0:1de3c51f8148 227 extern "C" void wait_ms(int ms)
charlesmn 0:1de3c51f8148 228 {
charlesmn 0:1de3c51f8148 229 thread_sleep_for(ms);
charlesmn 0:1de3c51f8148 230 }
charlesmn 0:1de3c51f8148 231 #endif
charlesmn 0:1de3c51f8148 232
charlesmn 0:1de3c51f8148 233
charlesmn 0:1de3c51f8148 234