Revision 5:c59b6c183c8c, committed 2021-06-24

Comitter:

johnAlexander

Date:

Thu Jun 24 12:36:04 2021 +0000

Parent:

4:64f1d9db74fa

Commit message:

Use default sensor constructor. Add delay after power-on, before init sequence.

Changed in this revision

--- a/main.cpp	Wed Jun 23 14:52:32 2021 +0000
+++ b/main.cpp	Thu Jun 24 12:36:04 2021 +0000
@@ -50,7 +50,8 @@
 #define I2C_SCL   D15
 
 
-#define NUM_SENSORS 3
+#define NEW_SENSOR_CENTRE_ADDRESS   0x52
+
 
 // define interrupt pins
 PinName CentreIntPin = A2;
@@ -63,7 +64,6 @@
 PinName LeftIntPin = D9;
 //PinName RightIntPin = D4;
 
-//static NoShield53L1 *board=NULL;
 
 #if (MBED_VERSION  > 60300)
 UnbufferedSerial  pc(USBTX, USBRX);
@@ -75,7 +75,7 @@
 void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
 
 
-VL53L1CB *Sensor = NULL;
+VL53L1CB *Sensor;
 
 
 /* Start the sensor ranging */
@@ -83,7 +83,7 @@
 {
     int status = 0;
 
-    printf("configuring sensor \n");
+    printf("configuring sensor\n");
 
     /* Device Initialization and setting */
     status = Sensor->VL53L1CB_DataInit();
@@ -99,8 +99,9 @@
     status = Sensor->VL53L1CB_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM1, 0);
     status = Sensor->VL53L1CB_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM2, 0);
 
+
     // create interrupt handler and start measurements
-    if (Sensor != NULL) {
+	if (Sensor != NULL) {
         status = Sensor->stop_measurement();
         if (status != 0) {
             return status;
@@ -120,34 +121,45 @@
 int main()
 {
     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 */
+// create i2c interface
     ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
-    
-    /* creates the sensor singleton obj */   
+
     Sensor = new VL53L1CB(dev_I2C, &xshutdown, A2);
 
     printf("sensor created!\r\n");
 
-    /* init the sensor interface with default values */
-    status = Sensor->InitSensor(0x52);
+    /* init the 53L1A1 expansion board with default values */
+    Sensor->VL53L1CB_Off();
+
+    Sensor->VL53L1CB_On();
+    status = Sensor->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
     if (status) {
-        printf("Failed to init sensor!\r\n");
-        return status;
+        delete Sensor;
+        Sensor = NULL;
+        printf("Sensor not present\n\r");
+    } else {
+        printf("Sensor present\n\r");
     }
 
-    printf("sensor initialised! - %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();
     if (status != 0) {
-        printf("Failed to configure sensors!\r\n");
+        printf("Failed to init sensors!\r\n");
         return status;
     }
 
@@ -156,16 +168,15 @@
     VL53L1_MultiRangingData_t MultiRangingData;
     VL53L1_MultiRangingData_t *pMultiRangingData = NULL;
 
-    // polling for data. VL53L1CB_WaitMeasurementDataReady returns when data or after a timeout
-    // ignore the timeouts i.e. status != 0
     while (true) {
         pMultiRangingData = &MultiRangingData;
 
         status = Sensor->VL53L1CB_WaitMeasurementDataReady();
-        if ( status == 0) {
-	        status = Sensor->VL53L1CB_GetMultiRangingData( pMultiRangingData);
-	        print_results( 0x52, pMultiRangingData );
-        }
+
+        status = Sensor->VL53L1CB_GetMultiRangingData( pMultiRangingData);
+
+        print_results(NEW_SENSOR_CENTRE_ADDRESS, pMultiRangingData );
+
         status = Sensor->VL53L1CB_ClearInterrupt();
     }
 
@@ -193,13 +204,23 @@
                        pMultiRangingData->RangeData[j].RangeStatus,
                        pMultiRangingData->RangeData[j].RangeMilliMeter,
                        signal_rate,
-                       ambient_rate);                    
+                       ambient_rate);
+/*
+// online compiler disables printf() / floating-point support, for code-size reasons.                        
+// offline compiler can switch it on.
+                printf("\t i2cAddr=%d \t RoiNumber=%d   \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
+                       devNumber, RoiNumber,
+                       pMultiRangingData->RangeData[j].RangeStatus,
+                       pMultiRangingData->RangeData[j].RangeMilliMeter,
+                       pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535.0,
+                       pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535.0);
+*/                       
             }
         }
     } // if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0))
 }
 
-// wait_ms does not exist in later mbeds so create our own.
+
 #if (MBED_VERSION  > 60300)
 extern "C" void wait_ms(int ms)
 {
@@ -208,4 +229,3 @@
 #endif
 
 
-