Diff: main.cpp

Revision:

4:0ac9998b69ac

Parent:

3:c1e893e6752f

Child:

5:b233bdf91671

--- a/main.cpp	Tue May 11 14:10:25 2021 +0000
+++ b/main.cpp	Tue May 11 15:33:09 2021 +0000
@@ -52,93 +52,15 @@
     Serial pc(SERIAL_TX, SERIAL_RX); 
 #endif
 
-// flags to indicate an interrupt has happened
-static int int_centre_result = 0;
-static int int_left_result = 0;
-static int int_right_result = 0;
-
-// flags to indicate an interrupt has cleared
-static int int_centre_dropped = 0;
-static int int_left_dropped = 0;
-static int int_right_dropped = 0;
-
 void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
 
-class WaitForMeasurement {
-public:
-
-
-// this class services the interrupts from the ToF sensors.
-// There is a limited amount you can do in an interrupt routine; printfs,mutexes break them among other things.
-// We keep things simple by only raising a flag so all the real work is done outside the interrupt.
-// This is designed around MBED V2 which doesn't have the RTOS features that would make this work nicely e.g. semaphores/queues.
-WaitForMeasurement(): _interrupt(A1)
-{
-}
-
-
-    // constructor - Sensor is not used and can be removed
-    WaitForMeasurement(PinName pin,VL53L1_DEV Dev) : _interrupt(pin)          // create the InterruptIn on the pin specified to Counter
-    {
-         Devlocal = Dev;
-         pinlocal = pin;
-         
-//         #include "mbed.h"
- 
-
-        _interrupt.rise(callback(this, &WaitForMeasurement::got_interrupt)); // if interrupt happens read data
-        _interrupt.fall(callback(this, &WaitForMeasurement::linedropped)); // if interupt clears, clear interrupt
-        
-    }
-    
-      // function is called every time an interupt is cleared. Sets flags to clear the interrupt 
-    void linedropped()
-    {
-        
-        if (Devlocal->i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS)
-                int_centre_dropped = 1;  //flag to main that interrupt cleared. A flag is raised which allows the main routine to service interupt.
-        if (Devlocal->i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS)
-                int_left_dropped = 1;   //flag to main that interrupt cleared
-        if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS)
-                int_right_dropped = 1;  //flag to main that interrupt cleared
-        
-    }
-
-  // function is called every time an interupt is seen. A flag is raised which allows the main routine to service the interupt.
-    void got_interrupt()
-    {
-        DigitalIn intp(pinlocal);
-
-        if (Devlocal->i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS)
-                int_centre_result = 1;  //flag to main that interrupt happened
-        if (Devlocal->i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS)
-                int_left_result = 1;   //flag to main that interrupt happened7
-        if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS)
-                int_right_result = 1;  //flag to main that interrupt happened
-    }
-
-    
-    //destructor
-    ~WaitForMeasurement()
-    {
-        printf("WaitForMeasurement destruction \n");
-    }
-
-private:
-    InterruptIn _interrupt;
-    PinName pinlocal;
-    VL53L1_DEV Devlocal;
-    int status;
-    
-};
-
-
-
 
 VL53L1_Dev_t devCentre;
 VL53L1_Dev_t devLeft;
 VL53L1_Dev_t devRight;
 VL53L1_DEV Dev = &devCentre;
+VL53L1 *Sensor;
+
 
  
 /* flags that handle interrupt request for sensor and user blue button*/
@@ -156,11 +78,44 @@
 int init_sensor()
 {
     int status = 0;
-    /* start the measure on the center sensor */
-    if (NULL != board->sensor_centre) {
+    
+    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");                    
+    
+    /* 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;
+
+    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_SetThresholdConfig(&thresholdconfig);
+        
+    // create interrupt handler and start measurements
+    if (board->sensor_centre!= NULL) {        
         status = board->sensor_centre->stop_measurement();
         if (status != 0) {
-                return status;
+            return status;
         }
 
         status = board->sensor_centre->start_measurement(&sensor_irq);
@@ -181,16 +136,15 @@
 =============================================================================*/
 int main()
 {   
+#if (MBED_VERSION  < 60000)
+    #if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-f401
+    InterruptIn stop_button(USER_BUTTON);
+    stop_button.rise(&measuring_stop_irq);
+    #endif
+#endif
     int status;
-    VL53L1 * Sensor;
-    uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
-  
-    //mbed compiler claims these are never used but they are.
-    WaitForMeasurement* int2;
-    WaitForMeasurement* int1;
-    WaitForMeasurement* int3;
-    
-    
+    uint16_t distance = 0;
+        
     pc.baud(115200);  // baud rate is important as printf statements take a lot of time
     
     printf("Autonomous Interrupt, mbed = %d \r\n",MBED_VERSION);
@@ -220,47 +174,6 @@
         return status;
     }
 
-    
-    Dev=&devCentre;
-    Sensor=board->sensor_centre;
-    Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
-    printf("configuring centre channel \n");
-                    
-    // configure the sensors
-    Dev->comms_speed_khz = 400;    
-    Dev->comms_type = 1;
-    
-    /* 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;
-
-    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_SetThresholdConfig(&thresholdconfig);
-        
-    // create interrupt handlers for the three sensors and start measurements
-    if (board->sensor_centre!= NULL )
-    {
-        printf("starting interrupt centre\n");
-        devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
-        int1 =  new WaitForMeasurement(CentreIntPin,&devCentre);    // create interrupt handler
-        status = board->sensor_centre->vl53L1_StartMeasurement();
-    }
-                
     printf("loop forever\n"); 
 
     // loop waiting for interrupts to happen. This is signaled by int_centre_result,int_left_result or int_right_result
@@ -297,11 +210,30 @@
     }
 */
 
+    VL53L1_MultiRangingData_t MultiRangingData;
+    VL53L1_MultiRangingData_t *pMultiRangingData = NULL;   
+    
     while (true) {
+        pMultiRangingData = &MultiRangingData;   
+        
         if (int_sensor) {
             int_sensor = false;
-            status = board->sensor_centre->handle_irq(&distance);
+/*            
+//            status = board->sensor_centre->handle_irq(&distance);
+//            status = get_measurement(distance);
+//            status = board->sensor_centre->VL53L1_GetDistance(&distance);
+            status = board->sensor_centre->VL53L1_ClearInterrupt();
+            board->sensor_centre->enable_interrupt_measure_detection_irq();
             printf("distance: %d\r\n", distance);
+*/            
+            status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
+            if (status == 0)
+            {
+                print_results( devCentre.i2c_slave_address, pMultiRangingData );
+            }
+            status = board->sensor_centre->VL53L1_ClearInterrupt();
+//            status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement(); // doesnt run!
+            board->sensor_centre->enable_interrupt_measure_detection_irq();
         }
 
         if (int_stop) {
@@ -343,6 +275,6 @@
  {
     thread_sleep_for(ms);
  }
- #endif 
+#endif