Diff: main.cpp

Revision:

4:64f1d9db74fa

Parent:

2:c593079fec6a

Child:

5:c59b6c183c8c

--- a/main.cpp	Mon Jun 21 08:04:21 2021 +0000
+++ b/main.cpp	Wed Jun 23 14:52:32 2021 +0000
@@ -1,10 +1,17 @@
 /*
- * This VL53L1CB Expansion board test application performs range measurements
- * using the onboard embedded sensor, in polling mode.
+ * This VL53L1CB test application performs range measurements, 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
@@ -56,7 +63,7 @@
 PinName LeftIntPin = D9;
 //PinName RightIntPin = D4;
 
-static NoShield53L1 *board=NULL;
+//static NoShield53L1 *board=NULL;
 
 #if (MBED_VERSION  > 60300)
 UnbufferedSerial  pc(USBTX, USBRX);
@@ -68,37 +75,15 @@
 void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
 
 
-VL53L1_Dev_t devCentre;
-VL53L1_DEV Dev = &devCentre;
-VL53L1CB *Sensor;
-
-
+VL53L1CB *Sensor = NULL;
 
-/* flags that handle interrupt request for sensor and user blue button*/
-volatile bool int_sensor = false;
-volatile bool int_stop = false;
-
-/* ISR callback function of the centre sensor */
-void sensor_irq(void)
-{
-    int_sensor = true;
-    board->sensor_centre->disable_interrupt_measure_detection_irq();
-}
 
 /* Start the sensor ranging */
 int init_sensor()
 {
     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();
@@ -115,8 +100,8 @@
     status = Sensor->VL53L1CB_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM2, 0);
 
     // 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;
         }
@@ -129,17 +114,14 @@
     return status;
 }
 
-/* ISR callback function of the user blue button to switch measuring sensor. */
-void measuring_stop_irq(void)
-{
-    int_stop = true;
-}
 
 /*=================================== Main ==================================
 =============================================================================*/
 int main()
 {
     int status;
+    
+    DigitalOut xshutdown(D7);
 
     pc.baud(115200);  // baud rate is important as printf statements take a lot of time
 
@@ -147,24 +129,25 @@
 
     /* 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 sensor interface with default values */
-	status = board->init_board(D9,D4,D3);
+    status = Sensor->InitSensor(0x52);
     if (status) {
-        printf("Failed to init board!\r\n");
+        printf("Failed to init sensor!\r\n");
         return status;
     }
 
-    printf("board initiated! - %d\r\n", status);
+    printf("sensor initialised! - %d\r\n", status);
 
     /* init an array with chars to id the sensors */
     status = init_sensor();
     if (status != 0) {
-        printf("Failed to init sensors!\r\n");
+        printf("Failed to configure sensors!\r\n");
         return status;
     }
 
@@ -178,12 +161,12 @@
     while (true) {
         pMultiRangingData = &MultiRangingData;
 
-        status = board->sensor_centre->VL53L1CB_WaitMeasurementDataReady();
+        status = Sensor->VL53L1CB_WaitMeasurementDataReady();
         if ( status == 0) {
-	        status = board->sensor_centre->VL53L1CB_GetMultiRangingData( pMultiRangingData);
-	        print_results( devCentre.i2c_slave_address, pMultiRangingData );
+	        status = Sensor->VL53L1CB_GetMultiRangingData( pMultiRangingData);
+	        print_results( 0x52, pMultiRangingData );
         }
-        status = board->sensor_centre->VL53L1CB_ClearInterrupt();
+        status = Sensor->VL53L1CB_ClearInterrupt();
     }
 
     printf("Terminating.\n");