Revision 2:42baa92189c9, committed 2021-06-24

Comitter:

johnAlexander

Date:

Thu Jun 24 12:48:51 2021 +0000

Parent:

1:4bbc3be70bc9

Commit message:

Use sensor class with default constructor enabled.

Changed in this revision

diff -r 4bbc3be70bc9 -r 42baa92189c9 VL53L1CB.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L1CB.lib	Thu Jun 24 12:48:51 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/ST-Expansion-SW-Team/code/VL53L1CB/#ca0ce4daf573

diff -r 4bbc3be70bc9 -r 42baa92189c9 X_NUCLEO_53L1A2.lib
--- a/X_NUCLEO_53L1A2.lib	Mon Jun 21 08:09:02 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/teams/ST-Expansion-SW-Team/code/X_NUCLEO_53L1A2/#7f3717ad9007

diff -r 4bbc3be70bc9 -r 42baa92189c9 main.cpp
--- a/main.cpp	Mon Jun 21 08:09:02 2021 +0000
+++ b/main.cpp	Thu Jun 24 12:48:51 2021 +0000
@@ -1,10 +1,17 @@
 /*
- * This VL53L1CB test application performs range measurements
- * using the onboard embedded sensor, in interrupt mode.
+ * This VL53L1CB test application performs range measurements, in interrupt mode,
+ * using a satellite board plugged directly in to the motherboard.
  * Measured ranges are ouput on the Serial Port, running at 115200 baud.
  *
  * This is designed to work with MBed v2.x, & MBedOS v5.x / v6.x.
  *
+ * The satellite board is expected to be connected as follows :
+ *
+ * I2C_SDA   			D14 / Arduino Connector CN5, pin 9
+ * I2C_SCL   			D15 / Arduino Connector CN5, pin 10
+ * Sensor xShutdown		D07 / Arduino Connector CN9, pin 8
+ * Sensor Interrupt		A02 / Arduino Connector CN8, pin 3
+ *
  * The Reset button can be used to restart the program.
  *
  * *** NOTE :
@@ -35,7 +42,7 @@
 
 #include "mbed.h"
 
-#include "NoShield53L1A1.h"
+#include "VL53L1CB.h"
 #include "ToF_I2C.h"
 
 // i2c comms port pins
@@ -43,7 +50,7 @@
 #define I2C_SCL   D15
 
 
-#define NUM_SENSORS 3
+#define NEW_SENSOR_CENTRE_ADDRESS   0x52
 
 // define interrupt pins
 PinName CentreIntPin = A2;
@@ -56,7 +63,6 @@
 PinName LeftIntPin = D9;
 //PinName RightIntPin = D4;
 
-static NoShield53L1 *board=NULL;
 
 #if (MBED_VERSION  > 60300)
 UnbufferedSerial  pc(USBTX, USBRX);
@@ -68,9 +74,7 @@
 void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
 
 
-VL53L1_Dev_t devCentre;
-VL53L1_DEV Dev = &devCentre;
-VL53L1CB *Sensor;
+VL53L1CB *Sensor = NULL;
 
 
 
@@ -82,7 +86,13 @@
 void sensor_irq(void)
 {
     int_sensor = true;
-    board->sensor_centre->disable_interrupt_measure_detection_irq();
+    Sensor->disable_interrupt_measure_detection_irq();
+}
+
+/* ISR callback function of the user blue button to switch measuring sensor. */
+void measuring_stop_irq(void)
+{
+    int_stop = true;
 }
 
 /* Start the sensor ranging */
@@ -90,15 +100,7 @@
 {
     int status = 0;
 
-    Dev=&devCentre;
-    Sensor=board->sensor_centre;
-
-    // configure the sensors
-    Dev->comms_speed_khz = 400;
-    Dev->comms_type = 1;
-    Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
-
-    printf("configuring centre channel \n");
+    printf("configuring sensor \n");
 
     /* Device Initialization and setting */
     status = Sensor->VL53L1CB_DataInit();
@@ -117,14 +119,13 @@
 	status = Sensor->VL53L1CB_GetDeviceInfo(&device_info);
 	printf("device name %s \n",device_info.Name);
 
-
     // create interrupt handler and start measurements
-    if (board->sensor_centre!= NULL) {
-        status = board->sensor_centre->stop_measurement();
+    if (Sensor!= NULL) {
+        status = Sensor->stop_measurement();
         if (status != 0) {
             return status;
         }
-        wait_ms(100);
+        
         status = Sensor->start_measurement(&sensor_irq);
         if (status != 0) {
             return status;
@@ -133,11 +134,6 @@
     return status;
 }
 
-/* ISR callback function of the user blue button to switch measuring sensor. */
-void measuring_stop_irq(void)
-{
-    int_stop = true;
-}
 
 /*=================================== Main ==================================
 =============================================================================*/
@@ -145,25 +141,40 @@
 {
     int status;
 
+    DigitalOut xshutdown(D7);
+    
     pc.baud(115200);  // baud rate is important as printf statements take a lot of time
 
     printf("mbed version : %d \r\n",MBED_VERSION);
 
     /* create i2c interface */
     ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
+    
     /* creates the sensor singleton obj */   
-	board = NoShield53L1::instance(dev_I2C, A2, D8, D2);
+    Sensor = new VL53L1CB(dev_I2C, &xshutdown, A2);
 
-    printf("board created!\r\n");
+    printf("sensor created!\r\n");
+
+    /* init the 53L1A1 expansion board with default values */
+    Sensor->VL53L1CB_Off();
 
-    /* init the sensor interface with default values */
-	status = board->init_board(D9,D4,D3);
+    Sensor->VL53L1CB_On();
+    status = Sensor->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
     if (status) {
-        printf("Failed to init board!\r\n");
-        return status;
+        delete Sensor;
+        Sensor = NULL;
+        printf("Sensor not present\n\r");
+    } else {
+        printf("Sensor present\n\r");
     }
 
-    printf("board initiated! - %d\r\n", status);
+#if (MBED_VERSION  > 60300)
+    thread_sleep_for(100);
+#else
+    wait_ms(100);  // NEEDS A DELAY BETWEEN SENSORS
+#endif
+
+    printf("board initialised! - %d\r\n", status);
 
     /* init an array with chars to id the sensors */
     status = init_sensor();
@@ -183,12 +194,12 @@
         if (int_sensor) {  // if interrupt happened
             int_sensor = false;
                 
-	        status = board->sensor_centre->VL53L1CB_GetMultiRangingData( pMultiRangingData);
+	        status = Sensor->VL53L1CB_GetMultiRangingData( pMultiRangingData);
 	        if (status == 0) {
-		        print_results( devCentre.i2c_slave_address, pMultiRangingData );
-		        status = board->sensor_centre->VL53L1CB_ClearInterrupt();
+		        print_results(NEW_SENSOR_CENTRE_ADDRESS, pMultiRangingData );
+		        status = Sensor->VL53L1CB_ClearInterrupt();
 	        }
-	        board->sensor_centre->enable_interrupt_measure_detection_irq();
+	        Sensor->enable_interrupt_measure_detection_irq();
         }
     }