Diff: main.cpp

Revision:

7:242f30acc456

Parent:

6:19d56b30bfa7

Child:

8:24f62fe4ac49

--- a/main.cpp	Wed May 12 09:00:10 2021 +0000
+++ b/main.cpp	Fri May 21 08:38:45 2021 +0000
@@ -50,10 +50,10 @@
 // the satellite pins depend on solder blobs on the back of the shield.
 // they may not exist or may be one of two sets.
 // the centre pin always exists
-PinName LeftIntPin = D8;
+//PinName LeftIntPin = D8;
 PinName RightIntPin = D2;
 // alternate set
-//PinName LeftIntPin = D9;
+PinName LeftIntPin = D9;
 //PinName RightIntPin = D4;
 
 static XNucleo53L1A2 *board=NULL;
@@ -104,24 +104,17 @@
     /* Device Initialization and setting */
     status = Sensor->vl53L1_DataInit();
     status = Sensor->vl53L1_StaticInit();
+
     status = Sensor->vl53L1_SetPresetMode(VL53L1_PRESETMODE_AUTONOMOUS);
     status = Sensor->vl53L1_SetDistanceMode(VL53L1_DISTANCEMODE_LONG);
-    status = Sensor->vl53L1_SetMeasurementTimingBudgetMicroSeconds( 200 * 1000);
 
-
-    // set the ranging and signal rate filter
-    VL53L1_DetectionConfig_t thresholdconfig;
+    status = Sensor->vl53L1_SetInterMeasurementPeriodMilliSeconds(500);
 
-    thresholdconfig.DetectionMode = VL53L1_DETECTION_DISTANCE_ONLY; /// type VL53L1_DetectionMode in vl53l1_def.h
-    thresholdconfig.Distance.CrossMode = VL53L1_THRESHOLD_IN_WINDOW; // type VL53L1_ThresholdMode. ignore if distance outside high and low
-    thresholdconfig.Distance.High = 300;  // high distance in mm
-    thresholdconfig.Distance.Low = 200;   // low distance in mm
-    thresholdconfig.Rate.CrossMode=0;  // type VL53L1_ThresholdMode VL53L1_THRESHOLD_CROSSED_LOW VL53L1_THRESHOLD_CROSSED_HIGH VL53L1_THRESHOLD_OUT_OF_WINDOW VL53L1_THRESHOLD_IN_WINDOW
-    thresholdconfig.Rate.High = 0;
-    thresholdconfig.Rate.Low = 0;
-    thresholdconfig.IntrNoTarget = 0 ;// if 1 produce an interrupt even if there is no target found e.g out of range
+    status = Sensor->vl53L1_SetMeasurementTimingBudgetMicroSeconds(45000);
 
-    status = Sensor->vl53L1_SetThresholdConfig(&thresholdconfig);
+    status = Sensor->vl53L1_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM1, 0);
+    status = Sensor->vl53L1_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM2, 0);
+
 
     // create interrupt handler and start measurements
     if (board->sensor_centre!= NULL) {
@@ -188,17 +181,12 @@
 
         if (int_sensor) {
             int_sensor = false;
-            status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
-            if (status == 0) {
+                status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
+
                 print_results( devCentre.i2c_slave_address, pMultiRangingData );
-            }
-            status = board->sensor_centre->VL53L1_ClearInterrupt();
-            board->sensor_centre->enable_interrupt_measure_detection_irq();
-        }
 
-        if (int_stop) {
-            printf("\r\nEnding loop mode \r\n");
-            break;
+                status = board->sensor_centre->VL53L1_ClearInterrupt();
+                board->sensor_centre->enable_interrupt_measure_detection_irq();
         }
     }
 
@@ -209,11 +197,11 @@
 // print what ever results are required
 void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
 {
-    int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+    int no_of_object_found = pMultiRangingData->NumberOfObjectsFound;
     int signal_rate = 0;
     int ambient_rate = 0;
 
-    int RoiNumber=pMultiRangingData->RoiNumber;
+    int RoiNumber = pMultiRangingData->RoiNumber;
 
     if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0)) {
         for(int j=0; j<no_of_object_found; j++) {