ST Expansion SW Team / Mbed OS VL53L1CB_noshield_1sensor_interrupt_auton

remove the setting of VL53L1CB_SetThresholdConfig() from main.c

Dependencies:   VL53L1CB

main.cpp@2:42baa92189c9, 2021-06-24 (annotated)

Committer:
johnAlexander
Date:
Thu Jun 24 12:48:51 2021 +0000
Revision:
2:42baa92189c9
Parent:
0:1de3c51f8148 
Use sensor class with default constructor enabled.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:1de3c51f8148 1 /*
johnAlexander 2:42baa92189c9 2 * This VL53L1CB test application performs range measurements, in interrupt mode,
johnAlexander 2:42baa92189c9 3 * using a satellite board plugged directly in to the motherboard.
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 *
johnAlexander 2:42baa92189c9 8 * The satellite board is expected to be connected as follows :
johnAlexander 2:42baa92189c9 9 *
johnAlexander 2:42baa92189c9 10 * I2C_SDA D14 / Arduino Connector CN5, pin 9
johnAlexander 2:42baa92189c9 11 * I2C_SCL D15 / Arduino Connector CN5, pin 10
johnAlexander 2:42baa92189c9 12 * Sensor xShutdown D07 / Arduino Connector CN9, pin 8
johnAlexander 2:42baa92189c9 13 * Sensor Interrupt A02 / Arduino Connector CN8, pin 3
johnAlexander 2:42baa92189c9 14 *
charlesmn 0:1de3c51f8148 15 * The Reset button can be used to restart the program.
charlesmn 0:1de3c51f8148 16 *
charlesmn 0:1de3c51f8148 17 * *** NOTE :
charlesmn 0:1de3c51f8148 18 * Default Mbed build system settings disable printf() floating-point support.
charlesmn 0:1de3c51f8148 19 * Offline builds can enable this, again.
charlesmn 0:1de3c51f8148 20 * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
charlesmn 0:1de3c51f8148 21 * .\mbed-os\platform\mbed_lib.json
charlesmn 0:1de3c51f8148 22 *
charlesmn 0:1de3c51f8148 23 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
charlesmn 0:1de3c51f8148 24 * the X-NUCELO-53L1A1 expansion board are not made/OFF.
charlesmn 0:1de3c51f8148 25 * These links must be made to allow interrupts from the Satellite boards
charlesmn 0:1de3c51f8148 26 * to be received.
charlesmn 0:1de3c51f8148 27 * U11 and U18 must be made/ON to allow interrupts to be received from the
charlesmn 0:1de3c51f8148 28 * INT_L & INT_R positions; or
charlesmn 0:1de3c51f8148 29 * U10 and U15 must be made/ON to allow interrupts to be received from the
charlesmn 0:1de3c51f8148 30 * Alternate INT_L & INT_R positions.
charlesmn 0:1de3c51f8148 31 * The X_NUCLEO_53L1A2 library defaults to use the INT_L/INT_R positions.
charlesmn 0:1de3c51f8148 32 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
charlesmn 0:1de3c51f8148 33 * Alternate INT_L is on CN5 Connector pin 2 as D9.
charlesmn 0:1de3c51f8148 34 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
charlesmn 0:1de3c51f8148 35 * Alternate INT_R is on CN9 Connector pin 5 as D4.
charlesmn 0:1de3c51f8148 36 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A2/
charlesmn 0:1de3c51f8148 37 *
charlesmn 0:1de3c51f8148 38 */
charlesmn 0:1de3c51f8148 39
charlesmn 0:1de3c51f8148 40 #include <stdio.h>
charlesmn 0:1de3c51f8148 41 #include <time.h>
charlesmn 0:1de3c51f8148 42
charlesmn 0:1de3c51f8148 43 #include "mbed.h"
charlesmn 0:1de3c51f8148 44
johnAlexander 2:42baa92189c9 45 #include "VL53L1CB.h"
charlesmn 0:1de3c51f8148 46 #include "ToF_I2C.h"
charlesmn 0:1de3c51f8148 47
charlesmn 0:1de3c51f8148 48 // i2c comms port pins
charlesmn 0:1de3c51f8148 49 #define I2C_SDA D14
charlesmn 0:1de3c51f8148 50 #define I2C_SCL D15
charlesmn 0:1de3c51f8148 51
charlesmn 0:1de3c51f8148 52
johnAlexander 2:42baa92189c9 53 #define NEW_SENSOR_CENTRE_ADDRESS 0x52
charlesmn 0:1de3c51f8148 54
charlesmn 0:1de3c51f8148 55 // define interrupt pins
charlesmn 0:1de3c51f8148 56 PinName CentreIntPin = A2;
charlesmn 0:1de3c51f8148 57 // the satellite pins depend on solder blobs on the back of the shield.
charlesmn 0:1de3c51f8148 58 // they may not exist or may be one of two sets.
charlesmn 0:1de3c51f8148 59 // the centre pin always exists
charlesmn 0:1de3c51f8148 60 //PinName LeftIntPin = D8;
charlesmn 0:1de3c51f8148 61 PinName RightIntPin = D2;
charlesmn 0:1de3c51f8148 62 // alternate set
charlesmn 0:1de3c51f8148 63 PinName LeftIntPin = D9;
charlesmn 0:1de3c51f8148 64 //PinName RightIntPin = D4;
charlesmn 0:1de3c51f8148 65
charlesmn 0:1de3c51f8148 66
charlesmn 0:1de3c51f8148 67 #if (MBED_VERSION > 60300)
charlesmn 0:1de3c51f8148 68 UnbufferedSerial pc(USBTX, USBRX);
charlesmn 0:1de3c51f8148 69 extern "C" void wait_ms(int ms);
charlesmn 0:1de3c51f8148 70 #else
charlesmn 0:1de3c51f8148 71 Serial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:1de3c51f8148 72 #endif
charlesmn 0:1de3c51f8148 73
charlesmn 0:1de3c51f8148 74 void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
charlesmn 0:1de3c51f8148 75
charlesmn 0:1de3c51f8148 76
johnAlexander 2:42baa92189c9 77 VL53L1CB *Sensor = NULL;
charlesmn 0:1de3c51f8148 78
charlesmn 0:1de3c51f8148 79
charlesmn 0:1de3c51f8148 80
charlesmn 0:1de3c51f8148 81 /* flags that handle interrupt request for sensor and user blue button*/
charlesmn 0:1de3c51f8148 82 volatile bool int_sensor = false;
charlesmn 0:1de3c51f8148 83 volatile bool int_stop = false;
charlesmn 0:1de3c51f8148 84
charlesmn 0:1de3c51f8148 85 /* ISR callback function of the centre sensor */
charlesmn 0:1de3c51f8148 86 void sensor_irq(void)
charlesmn 0:1de3c51f8148 87 {
charlesmn 0:1de3c51f8148 88 int_sensor = true;
johnAlexander 2:42baa92189c9 89 Sensor->disable_interrupt_measure_detection_irq();
johnAlexander 2:42baa92189c9 90 }
johnAlexander 2:42baa92189c9 91
johnAlexander 2:42baa92189c9 92 /* ISR callback function of the user blue button to switch measuring sensor. */
johnAlexander 2:42baa92189c9 93 void measuring_stop_irq(void)
johnAlexander 2:42baa92189c9 94 {
johnAlexander 2:42baa92189c9 95 int_stop = true;
charlesmn 0:1de3c51f8148 96 }
charlesmn 0:1de3c51f8148 97
charlesmn 0:1de3c51f8148 98 /* Start the sensor ranging */
charlesmn 0:1de3c51f8148 99 int init_sensor()
charlesmn 0:1de3c51f8148 100 {
charlesmn 0:1de3c51f8148 101 int status = 0;
charlesmn 0:1de3c51f8148 102
johnAlexander 2:42baa92189c9 103 printf("configuring sensor \n");
charlesmn 0:1de3c51f8148 104
charlesmn 0:1de3c51f8148 105 /* Device Initialization and setting */
charlesmn 0:1de3c51f8148 106 status = Sensor->VL53L1CB_DataInit();
charlesmn 0:1de3c51f8148 107 status = Sensor->VL53L1CB_StaticInit();
charlesmn 0:1de3c51f8148 108
charlesmn 0:1de3c51f8148 109
charlesmn 0:1de3c51f8148 110 status = Sensor->VL53L1CB_SetPresetMode(VL53L1_PRESETMODE_AUTONOMOUS);
charlesmn 0:1de3c51f8148 111 status = Sensor->VL53L1CB_SetDistanceMode(VL53L1_DISTANCEMODE_LONG);
charlesmn 0:1de3c51f8148 112 status = Sensor->VL53L1CB_SetInterMeasurementPeriodMilliSeconds(500);
charlesmn 0:1de3c51f8148 113 status = Sensor->VL53L1CB_SetMeasurementTimingBudgetMicroSeconds(45000);
charlesmn 0:1de3c51f8148 114 status = Sensor->VL53L1CB_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM1, 0);
charlesmn 0:1de3c51f8148 115 status = Sensor->VL53L1CB_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM2, 0);
charlesmn 0:1de3c51f8148 116
charlesmn 0:1de3c51f8148 117 // print out the sensor information. All VL53L1s are the same
charlesmn 0:1de3c51f8148 118 VL53L1_DeviceInfo_t device_info;
charlesmn 0:1de3c51f8148 119 status = Sensor->VL53L1CB_GetDeviceInfo(&device_info);
charlesmn 0:1de3c51f8148 120 printf("device name %s \n",device_info.Name);
charlesmn 0:1de3c51f8148 121
charlesmn 0:1de3c51f8148 122 // create interrupt handler and start measurements
johnAlexander 2:42baa92189c9 123 if (Sensor!= NULL) {
johnAlexander 2:42baa92189c9 124 status = Sensor->stop_measurement();
charlesmn 0:1de3c51f8148 125 if (status != 0) {
charlesmn 0:1de3c51f8148 126 return status;
charlesmn 0:1de3c51f8148 127 }
johnAlexander 2:42baa92189c9 128
charlesmn 0:1de3c51f8148 129 status = Sensor->start_measurement(&sensor_irq);
charlesmn 0:1de3c51f8148 130 if (status != 0) {
charlesmn 0:1de3c51f8148 131 return status;
charlesmn 0:1de3c51f8148 132 }
charlesmn 0:1de3c51f8148 133 }
charlesmn 0:1de3c51f8148 134 return status;
charlesmn 0:1de3c51f8148 135 }
charlesmn 0:1de3c51f8148 136
charlesmn 0:1de3c51f8148 137
charlesmn 0:1de3c51f8148 138 /*=================================== Main ==================================
charlesmn 0:1de3c51f8148 139 =============================================================================*/
charlesmn 0:1de3c51f8148 140 int main()
charlesmn 0:1de3c51f8148 141 {
charlesmn 0:1de3c51f8148 142 int status;
charlesmn 0:1de3c51f8148 143
johnAlexander 2:42baa92189c9 144 DigitalOut xshutdown(D7);
johnAlexander 2:42baa92189c9 145
charlesmn 0:1de3c51f8148 146 pc.baud(115200); // baud rate is important as printf statements take a lot of time
charlesmn 0:1de3c51f8148 147
charlesmn 0:1de3c51f8148 148 printf("mbed version : %d \r\n",MBED_VERSION);
charlesmn 0:1de3c51f8148 149
charlesmn 0:1de3c51f8148 150 /* create i2c interface */
charlesmn 0:1de3c51f8148 151 ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
johnAlexander 2:42baa92189c9 152
charlesmn 0:1de3c51f8148 153 /* creates the sensor singleton obj */
johnAlexander 2:42baa92189c9 154 Sensor = new VL53L1CB(dev_I2C, &xshutdown, A2);
charlesmn 0:1de3c51f8148 155
johnAlexander 2:42baa92189c9 156 printf("sensor created!\r\n");
johnAlexander 2:42baa92189c9 157
johnAlexander 2:42baa92189c9 158 /* init the 53L1A1 expansion board with default values */
johnAlexander 2:42baa92189c9 159 Sensor->VL53L1CB_Off();
charlesmn 0:1de3c51f8148 160
johnAlexander 2:42baa92189c9 161 Sensor->VL53L1CB_On();
johnAlexander 2:42baa92189c9 162 status = Sensor->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
charlesmn 0:1de3c51f8148 163 if (status) {
johnAlexander 2:42baa92189c9 164 delete Sensor;
johnAlexander 2:42baa92189c9 165 Sensor = NULL;
johnAlexander 2:42baa92189c9 166 printf("Sensor not present\n\r");
johnAlexander 2:42baa92189c9 167 } else {
johnAlexander 2:42baa92189c9 168 printf("Sensor present\n\r");
charlesmn 0:1de3c51f8148 169 }
charlesmn 0:1de3c51f8148 170
johnAlexander 2:42baa92189c9 171 #if (MBED_VERSION > 60300)
johnAlexander 2:42baa92189c9 172 thread_sleep_for(100);
johnAlexander 2:42baa92189c9 173 #else
johnAlexander 2:42baa92189c9 174 wait_ms(100); // NEEDS A DELAY BETWEEN SENSORS
johnAlexander 2:42baa92189c9 175 #endif
johnAlexander 2:42baa92189c9 176
johnAlexander 2:42baa92189c9 177 printf("board initialised! - %d\r\n", status);
charlesmn 0:1de3c51f8148 178
charlesmn 0:1de3c51f8148 179 /* init an array with chars to id the sensors */
charlesmn 0:1de3c51f8148 180 status = init_sensor();
charlesmn 0:1de3c51f8148 181 if (status != 0) {
charlesmn 0:1de3c51f8148 182 printf("Failed to init sensors!\r\n");
charlesmn 0:1de3c51f8148 183 return status;
charlesmn 0:1de3c51f8148 184 }
charlesmn 0:1de3c51f8148 185
charlesmn 0:1de3c51f8148 186 printf("loop forever\n");
charlesmn 0:1de3c51f8148 187
charlesmn 0:1de3c51f8148 188 VL53L1_MultiRangingData_t MultiRangingData;
charlesmn 0:1de3c51f8148 189 VL53L1_MultiRangingData_t *pMultiRangingData = NULL;
charlesmn 0:1de3c51f8148 190
charlesmn 0:1de3c51f8148 191 while (true) {
charlesmn 0:1de3c51f8148 192 pMultiRangingData = &MultiRangingData;
charlesmn 0:1de3c51f8148 193
charlesmn 0:1de3c51f8148 194 if (int_sensor) { // if interrupt happened
charlesmn 0:1de3c51f8148 195 int_sensor = false;
charlesmn 0:1de3c51f8148 196
johnAlexander 2:42baa92189c9 197 status = Sensor->VL53L1CB_GetMultiRangingData( pMultiRangingData);
charlesmn 0:1de3c51f8148 198 if (status == 0) {
johnAlexander 2:42baa92189c9 199 print_results(NEW_SENSOR_CENTRE_ADDRESS, pMultiRangingData );
johnAlexander 2:42baa92189c9 200 status = Sensor->VL53L1CB_ClearInterrupt();
charlesmn 0:1de3c51f8148 201 }
johnAlexander 2:42baa92189c9 202 Sensor->enable_interrupt_measure_detection_irq();
charlesmn 0:1de3c51f8148 203 }
charlesmn 0:1de3c51f8148 204 }
charlesmn 0:1de3c51f8148 205
charlesmn 0:1de3c51f8148 206 printf("Terminating.\n");
charlesmn 0:1de3c51f8148 207 }
charlesmn 0:1de3c51f8148 208
charlesmn 0:1de3c51f8148 209
charlesmn 0:1de3c51f8148 210 // print what ever results are required
charlesmn 0:1de3c51f8148 211 void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
charlesmn 0:1de3c51f8148 212 {
charlesmn 0:1de3c51f8148 213 int no_of_object_found = pMultiRangingData->NumberOfObjectsFound;
charlesmn 0:1de3c51f8148 214 int signal_rate = 0;
charlesmn 0:1de3c51f8148 215 int ambient_rate = 0;
charlesmn 0:1de3c51f8148 216
charlesmn 0:1de3c51f8148 217 int RoiNumber = pMultiRangingData->RoiNumber;
charlesmn 0:1de3c51f8148 218 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0)) {
charlesmn 0:1de3c51f8148 219 for(int j=0; j<no_of_object_found; j++) {
charlesmn 0:1de3c51f8148 220 if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
charlesmn 0:1de3c51f8148 221 (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL)) {
charlesmn 0:1de3c51f8148 222 signal_rate = pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535;
charlesmn 0:1de3c51f8148 223 ambient_rate = pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535;
charlesmn 0:1de3c51f8148 224 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 225 devNumber, RoiNumber,
charlesmn 0:1de3c51f8148 226 pMultiRangingData->RangeData[j].RangeStatus,
charlesmn 0:1de3c51f8148 227 pMultiRangingData->RangeData[j].RangeMilliMeter,
charlesmn 0:1de3c51f8148 228 signal_rate,
charlesmn 0:1de3c51f8148 229 ambient_rate);
charlesmn 0:1de3c51f8148 230 }
charlesmn 0:1de3c51f8148 231
charlesmn 0:1de3c51f8148 232 }
charlesmn 0:1de3c51f8148 233 } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:1de3c51f8148 234 }
charlesmn 0:1de3c51f8148 235
charlesmn 0:1de3c51f8148 236
charlesmn 0:1de3c51f8148 237 #if (MBED_VERSION > 60300)
charlesmn 0:1de3c51f8148 238 extern "C" void wait_ms(int ms)
charlesmn 0:1de3c51f8148 239 {
charlesmn 0:1de3c51f8148 240 thread_sleep_for(ms);
charlesmn 0:1de3c51f8148 241 }
charlesmn 0:1de3c51f8148 242 #endif
charlesmn 0:1de3c51f8148 243
charlesmn 0:1de3c51f8148 244
charlesmn 0:1de3c51f8148 245