ST Expansion SW Team / Mbed OS VL53L1CB_noshield_1sensor_polls_auton

as per name

Dependencies:   VL53L1CB

main.cpp@5:c59b6c183c8c, 2021-06-24 (annotated)

Committer:
johnAlexander
Date:
Thu Jun 24 12:36:04 2021 +0000
Revision:
5:c59b6c183c8c
Parent:
4:64f1d9db74fa 
Use default sensor constructor. Add delay after power-on, before init sequence.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:86d5438023b9 1 /*
johnAlexander 4:64f1d9db74fa 2 * This VL53L1CB test application performs range measurements, using a satellite
johnAlexander 4:64f1d9db74fa 3 * board plugged directly in to the motherboard.
charlesmn 0:86d5438023b9 4 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
charlesmn 0:86d5438023b9 5 *
charlesmn 0:86d5438023b9 6 * This is designed to work with MBed v2.x, & MBedOS v5.x / v6.x.
charlesmn 0:86d5438023b9 7 *
johnAlexander 4:64f1d9db74fa 8 * The satellite board is expected to be connected as follows :
johnAlexander 4:64f1d9db74fa 9 *
johnAlexander 4:64f1d9db74fa 10 * I2C_SDA D14 / Arduino Connector CN5, pin 9
johnAlexander 4:64f1d9db74fa 11 * I2C_SCL D15 / Arduino Connector CN5, pin 10
johnAlexander 4:64f1d9db74fa 12 * Sensor xShutdown D07 / Arduino Connector CN9, pin 8
johnAlexander 4:64f1d9db74fa 13 * Sensor Interrupt A02 / Arduino Connector CN8, pin 3
johnAlexander 4:64f1d9db74fa 14 *
charlesmn 0:86d5438023b9 15 * The Reset button can be used to restart the program.
charlesmn 0:86d5438023b9 16 *
charlesmn 0:86d5438023b9 17 * *** NOTE :
charlesmn 0:86d5438023b9 18 * Default Mbed build system settings disable printf() floating-point support.
charlesmn 0:86d5438023b9 19 * Offline builds can enable this, again.
charlesmn 0:86d5438023b9 20 * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
charlesmn 0:86d5438023b9 21 * .\mbed-os\platform\mbed_lib.json
charlesmn 0:86d5438023b9 22 *
charlesmn 0:86d5438023b9 23 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
charlesmn 0:86d5438023b9 24 * the X-NUCELO-53L1A1 expansion board are not made/OFF.
charlesmn 0:86d5438023b9 25 * These links must be made to allow interrupts from the Satellite boards
charlesmn 0:86d5438023b9 26 * to be received.
charlesmn 0:86d5438023b9 27 * U11 and U18 must be made/ON to allow interrupts to be received from the
charlesmn 0:86d5438023b9 28 * INT_L & INT_R positions; or
charlesmn 0:86d5438023b9 29 * U10 and U15 must be made/ON to allow interrupts to be received from the
charlesmn 0:86d5438023b9 30 * Alternate INT_L & INT_R positions.
charlesmn 0:86d5438023b9 31 * The X_NUCLEO_53L1A2 library defaults to use the INT_L/INT_R positions.
charlesmn 0:86d5438023b9 32 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
charlesmn 0:86d5438023b9 33 * Alternate INT_L is on CN5 Connector pin 2 as D9.
charlesmn 0:86d5438023b9 34 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
charlesmn 0:86d5438023b9 35 * Alternate INT_R is on CN9 Connector pin 5 as D4.
charlesmn 0:86d5438023b9 36 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A2/
charlesmn 0:86d5438023b9 37 *
charlesmn 0:86d5438023b9 38 */
charlesmn 0:86d5438023b9 39
charlesmn 0:86d5438023b9 40 #include <stdio.h>
charlesmn 0:86d5438023b9 41 #include <time.h>
charlesmn 0:86d5438023b9 42
charlesmn 0:86d5438023b9 43 #include "mbed.h"
charlesmn 0:86d5438023b9 44
johnAlexander 4:64f1d9db74fa 45 #include "VL53L1CB.h"
charlesmn 0:86d5438023b9 46 #include "ToF_I2C.h"
charlesmn 0:86d5438023b9 47
charlesmn 0:86d5438023b9 48 // i2c comms port pins
charlesmn 0:86d5438023b9 49 #define I2C_SDA D14
charlesmn 0:86d5438023b9 50 #define I2C_SCL D15
charlesmn 0:86d5438023b9 51
charlesmn 0:86d5438023b9 52
johnAlexander 5:c59b6c183c8c 53 #define NEW_SENSOR_CENTRE_ADDRESS 0x52
johnAlexander 5:c59b6c183c8c 54
charlesmn 0:86d5438023b9 55
charlesmn 0:86d5438023b9 56 // define interrupt pins
charlesmn 0:86d5438023b9 57 PinName CentreIntPin = A2;
charlesmn 0:86d5438023b9 58 // the satellite pins depend on solder blobs on the back of the shield.
charlesmn 0:86d5438023b9 59 // they may not exist or may be one of two sets.
charlesmn 0:86d5438023b9 60 // the centre pin always exists
charlesmn 0:86d5438023b9 61 //PinName LeftIntPin = D8;
charlesmn 0:86d5438023b9 62 PinName RightIntPin = D2;
charlesmn 0:86d5438023b9 63 // alternate set
charlesmn 0:86d5438023b9 64 PinName LeftIntPin = D9;
charlesmn 0:86d5438023b9 65 //PinName RightIntPin = D4;
charlesmn 0:86d5438023b9 66
charlesmn 0:86d5438023b9 67
charlesmn 0:86d5438023b9 68 #if (MBED_VERSION > 60300)
charlesmn 0:86d5438023b9 69 UnbufferedSerial pc(USBTX, USBRX);
charlesmn 0:86d5438023b9 70 extern "C" void wait_ms(int ms);
charlesmn 0:86d5438023b9 71 #else
charlesmn 0:86d5438023b9 72 Serial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:86d5438023b9 73 #endif
charlesmn 0:86d5438023b9 74
charlesmn 0:86d5438023b9 75 void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
charlesmn 0:86d5438023b9 76
charlesmn 0:86d5438023b9 77
johnAlexander 5:c59b6c183c8c 78 VL53L1CB *Sensor;
charlesmn 0:86d5438023b9 79
charlesmn 0:86d5438023b9 80
charlesmn 0:86d5438023b9 81 /* Start the sensor ranging */
charlesmn 0:86d5438023b9 82 int init_sensor()
charlesmn 0:86d5438023b9 83 {
charlesmn 0:86d5438023b9 84 int status = 0;
charlesmn 0:86d5438023b9 85
johnAlexander 5:c59b6c183c8c 86 printf("configuring sensor\n");
charlesmn 0:86d5438023b9 87
charlesmn 0:86d5438023b9 88 /* Device Initialization and setting */
charlesmn 0:86d5438023b9 89 status = Sensor->VL53L1CB_DataInit();
charlesmn 0:86d5438023b9 90 status = Sensor->VL53L1CB_StaticInit();
charlesmn 0:86d5438023b9 91
charlesmn 0:86d5438023b9 92 status = Sensor->VL53L1CB_SetPresetMode(VL53L1_PRESETMODE_AUTONOMOUS);
charlesmn 0:86d5438023b9 93 status = Sensor->VL53L1CB_SetDistanceMode(VL53L1_DISTANCEMODE_LONG);
charlesmn 0:86d5438023b9 94
charlesmn 0:86d5438023b9 95 status = Sensor->VL53L1CB_SetInterMeasurementPeriodMilliSeconds(500);
charlesmn 0:86d5438023b9 96
charlesmn 0:86d5438023b9 97 status = Sensor->VL53L1CB_SetMeasurementTimingBudgetMicroSeconds(45000);
charlesmn 0:86d5438023b9 98
charlesmn 0:86d5438023b9 99 status = Sensor->VL53L1CB_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM1, 0);
charlesmn 0:86d5438023b9 100 status = Sensor->VL53L1CB_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM2, 0);
charlesmn 0:86d5438023b9 101
johnAlexander 5:c59b6c183c8c 102
charlesmn 0:86d5438023b9 103 // create interrupt handler and start measurements
johnAlexander 5:c59b6c183c8c 104 if (Sensor != NULL) {
johnAlexander 4:64f1d9db74fa 105 status = Sensor->stop_measurement();
charlesmn 0:86d5438023b9 106 if (status != 0) {
charlesmn 0:86d5438023b9 107 return status;
charlesmn 0:86d5438023b9 108 }
charlesmn 0:86d5438023b9 109
charlesmn 0:86d5438023b9 110 status = Sensor->VL53L1CB_StartMeasurement();
charlesmn 0:86d5438023b9 111 if (status != 0) {
charlesmn 0:86d5438023b9 112 return status;
charlesmn 0:86d5438023b9 113 }
charlesmn 0:86d5438023b9 114 }
charlesmn 0:86d5438023b9 115 return status;
charlesmn 0:86d5438023b9 116 }
charlesmn 0:86d5438023b9 117
charlesmn 0:86d5438023b9 118
charlesmn 0:86d5438023b9 119 /*=================================== Main ==================================
charlesmn 0:86d5438023b9 120 =============================================================================*/
charlesmn 0:86d5438023b9 121 int main()
charlesmn 0:86d5438023b9 122 {
charlesmn 0:86d5438023b9 123 int status;
johnAlexander 4:64f1d9db74fa 124 DigitalOut xshutdown(D7);
charlesmn 0:86d5438023b9 125
johnAlexander 5:c59b6c183c8c 126
charlesmn 0:86d5438023b9 127 pc.baud(115200); // baud rate is important as printf statements take a lot of time
charlesmn 0:86d5438023b9 128
charlesmn 0:86d5438023b9 129 printf("mbed version : %d \r\n",MBED_VERSION);
charlesmn 0:86d5438023b9 130
johnAlexander 5:c59b6c183c8c 131 // create i2c interface
charlesmn 0:86d5438023b9 132 ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
johnAlexander 5:c59b6c183c8c 133
johnAlexander 4:64f1d9db74fa 134 Sensor = new VL53L1CB(dev_I2C, &xshutdown, A2);
charlesmn 0:86d5438023b9 135
johnAlexander 4:64f1d9db74fa 136 printf("sensor created!\r\n");
charlesmn 0:86d5438023b9 137
johnAlexander 5:c59b6c183c8c 138 /* init the 53L1A1 expansion board with default values */
johnAlexander 5:c59b6c183c8c 139 Sensor->VL53L1CB_Off();
johnAlexander 5:c59b6c183c8c 140
johnAlexander 5:c59b6c183c8c 141 Sensor->VL53L1CB_On();
johnAlexander 5:c59b6c183c8c 142 status = Sensor->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
charlesmn 0:86d5438023b9 143 if (status) {
johnAlexander 5:c59b6c183c8c 144 delete Sensor;
johnAlexander 5:c59b6c183c8c 145 Sensor = NULL;
johnAlexander 5:c59b6c183c8c 146 printf("Sensor not present\n\r");
johnAlexander 5:c59b6c183c8c 147 } else {
johnAlexander 5:c59b6c183c8c 148 printf("Sensor present\n\r");
charlesmn 0:86d5438023b9 149 }
charlesmn 0:86d5438023b9 150
johnAlexander 5:c59b6c183c8c 151 #if (MBED_VERSION > 60300)
johnAlexander 5:c59b6c183c8c 152 thread_sleep_for(100);
johnAlexander 5:c59b6c183c8c 153 #else
johnAlexander 5:c59b6c183c8c 154 wait_ms(100); // NEEDS A DELAY BETWEEN SENSORS
johnAlexander 5:c59b6c183c8c 155 #endif
johnAlexander 5:c59b6c183c8c 156
johnAlexander 5:c59b6c183c8c 157 printf("board initialised! - %d\r\n", status);
charlesmn 0:86d5438023b9 158
charlesmn 0:86d5438023b9 159 /* init an array with chars to id the sensors */
charlesmn 0:86d5438023b9 160 status = init_sensor();
charlesmn 0:86d5438023b9 161 if (status != 0) {
johnAlexander 5:c59b6c183c8c 162 printf("Failed to init sensors!\r\n");
charlesmn 0:86d5438023b9 163 return status;
charlesmn 0:86d5438023b9 164 }
charlesmn 0:86d5438023b9 165
charlesmn 0:86d5438023b9 166 printf("loop forever\n");
charlesmn 0:86d5438023b9 167
charlesmn 0:86d5438023b9 168 VL53L1_MultiRangingData_t MultiRangingData;
charlesmn 0:86d5438023b9 169 VL53L1_MultiRangingData_t *pMultiRangingData = NULL;
charlesmn 0:86d5438023b9 170
charlesmn 0:86d5438023b9 171 while (true) {
charlesmn 0:86d5438023b9 172 pMultiRangingData = &MultiRangingData;
charlesmn 0:86d5438023b9 173
johnAlexander 4:64f1d9db74fa 174 status = Sensor->VL53L1CB_WaitMeasurementDataReady();
johnAlexander 5:c59b6c183c8c 175
johnAlexander 5:c59b6c183c8c 176 status = Sensor->VL53L1CB_GetMultiRangingData( pMultiRangingData);
johnAlexander 5:c59b6c183c8c 177
johnAlexander 5:c59b6c183c8c 178 print_results(NEW_SENSOR_CENTRE_ADDRESS, pMultiRangingData );
johnAlexander 5:c59b6c183c8c 179
johnAlexander 4:64f1d9db74fa 180 status = Sensor->VL53L1CB_ClearInterrupt();
charlesmn 0:86d5438023b9 181 }
charlesmn 0:86d5438023b9 182
charlesmn 0:86d5438023b9 183 printf("Terminating.\n");
charlesmn 0:86d5438023b9 184 }
charlesmn 0:86d5438023b9 185
charlesmn 0:86d5438023b9 186
charlesmn 0:86d5438023b9 187 // print what ever results are required
charlesmn 0:86d5438023b9 188 void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
charlesmn 0:86d5438023b9 189 {
charlesmn 0:86d5438023b9 190 int no_of_object_found = pMultiRangingData->NumberOfObjectsFound;
charlesmn 0:86d5438023b9 191 int signal_rate = 0;
charlesmn 0:86d5438023b9 192 int ambient_rate = 0;
charlesmn 0:86d5438023b9 193
charlesmn 0:86d5438023b9 194 int RoiNumber = pMultiRangingData->RoiNumber;
charlesmn 0:86d5438023b9 195
charlesmn 0:86d5438023b9 196 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0)) {
charlesmn 0:86d5438023b9 197 for(int j=0; j<no_of_object_found; j++) {
charlesmn 0:86d5438023b9 198 if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
charlesmn 0:86d5438023b9 199 (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL)) {
charlesmn 0:86d5438023b9 200 signal_rate = pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535;
charlesmn 0:86d5438023b9 201 ambient_rate = pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535;
charlesmn 0:86d5438023b9 202 printf("\t i2cAddr=%d \t RoiNumber=%d \t status=%d, \t D=%5dmm, \t Signal=%d Mcps, \t Ambient=%d Mcps \n",
charlesmn 0:86d5438023b9 203 devNumber, RoiNumber,
charlesmn 0:86d5438023b9 204 pMultiRangingData->RangeData[j].RangeStatus,
charlesmn 0:86d5438023b9 205 pMultiRangingData->RangeData[j].RangeMilliMeter,
charlesmn 0:86d5438023b9 206 signal_rate,
johnAlexander 5:c59b6c183c8c 207 ambient_rate);
johnAlexander 5:c59b6c183c8c 208 /*
johnAlexander 5:c59b6c183c8c 209 // online compiler disables printf() / floating-point support, for code-size reasons.
johnAlexander 5:c59b6c183c8c 210 // offline compiler can switch it on.
johnAlexander 5:c59b6c183c8c 211 printf("\t i2cAddr=%d \t RoiNumber=%d \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
johnAlexander 5:c59b6c183c8c 212 devNumber, RoiNumber,
johnAlexander 5:c59b6c183c8c 213 pMultiRangingData->RangeData[j].RangeStatus,
johnAlexander 5:c59b6c183c8c 214 pMultiRangingData->RangeData[j].RangeMilliMeter,
johnAlexander 5:c59b6c183c8c 215 pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535.0,
johnAlexander 5:c59b6c183c8c 216 pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535.0);
johnAlexander 5:c59b6c183c8c 217 */
charlesmn 0:86d5438023b9 218 }
charlesmn 0:86d5438023b9 219 }
charlesmn 0:86d5438023b9 220 } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:86d5438023b9 221 }
charlesmn 0:86d5438023b9 222
johnAlexander 5:c59b6c183c8c 223
charlesmn 0:86d5438023b9 224 #if (MBED_VERSION > 60300)
charlesmn 0:86d5438023b9 225 extern "C" void wait_ms(int ms)
charlesmn 0:86d5438023b9 226 {
charlesmn 0:86d5438023b9 227 thread_sleep_for(ms);
charlesmn 0:86d5438023b9 228 }
charlesmn 0:86d5438023b9 229 #endif
charlesmn 0:86d5438023b9 230
charlesmn 0:86d5438023b9 231