Diff: main.cpp

Revision:

6:19d56b30bfa7

Parent:

5:b233bdf91671

Child:

7:242f30acc456

--- a/main.cpp	Wed May 12 08:37:43 2021 +0000
+++ b/main.cpp	Wed May 12 09:00:10 2021 +0000
@@ -45,6 +45,16 @@
 
 #define NUM_SENSORS 3
 
+// define interrupt pins
+PinName CentreIntPin = A2;
+// 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 RightIntPin = D2;
+// alternate set
+//PinName LeftIntPin = D9;
+//PinName RightIntPin = D4;
 
 static XNucleo53L1A2 *board=NULL;
 
@@ -148,7 +158,7 @@
 // create i2c interface
     ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
     /* creates the 53L1A2 expansion board singleton obj */
-    board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, LeftIntPin, RightIntPin);
+    board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, LeftIntPin, RightIntPin);    
 
     printf("board created!\r\n");
 
@@ -200,6 +210,8 @@
 void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
 {
     int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+    int signal_rate = 0;
+    int ambient_rate = 0;
 
     int RoiNumber=pMultiRangingData->RoiNumber;
 
@@ -207,12 +219,24 @@
         for(int j=0; j<no_of_object_found; j++) {
             if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
                     (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL)) {
+                signal_rate = pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535;
+                ambient_rate = pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535;
+                printf("\t i2cAddr=%d \t RoiNumber=%d   \t status=%d, \t D=%5dmm, \t Signal=%d Mcps, \t Ambient=%d Mcps \n",
+                       devNumber, RoiNumber,
+                       pMultiRangingData->RangeData[j].RangeStatus,
+                       pMultiRangingData->RangeData[j].RangeMilliMeter,
+                       signal_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))