Diff: main.cpp

Revision:

10:17d61466185f

Parent:

9:0a3e1affe004

Child:

11:eafe2b5c130e

--- a/main.cpp	Fri May 07 13:45:18 2021 +0000
+++ b/main.cpp	Thu May 20 10:48:18 2021 +0000
@@ -1,22 +1,22 @@
 /*
- *  This VL53L1CB Expansion board test application performs range measurements
- *  using the onboard embedded centre sensor, in multizone, polling mode.
- *  Measured ranges are ouput on the Serial Port, running at 115200 baud.
+ * This VL53L1CB Expansion board test application performs range measurements
+ * using the onboard embedded sensor, in multizone, polling mode.
+ * Measured ranges are ouput on the Serial Port, running at 115200 baud.
  *
  *
  * This is designed to work with MBed v2, & MBedOS v5 / v6.
  *
  *
- *  The Reset button can be used to restart the program.
+ * The Reset button can be used to restart the program.
  *
- * *** Note : 
+ * *** Note :
  * Default Mbed build system settings disable print floating-point support.
  * Offline builds can enable this, again.
  * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
  * .\mbed-os\platform\mbed_lib.json
  *
  */
- 
+
 #include <stdio.h>
 #include <time.h>
 
@@ -26,17 +26,17 @@
 
 
 // define the i2c comms pins
-#define I2C_SDA   D14 
-#define I2C_SCL   D15 
+#define I2C_SDA   D14
+#define I2C_SCL   D15
 
 
 
 static XNucleo53L1A2 *board=NULL;
-#if (MBED_VERSION  > 60300) 
-    UnbufferedSerial  pc(USBTX, USBRX);
-    extern "C" void wait_ms(int ms);
+#if (MBED_VERSION  > 60300)
+UnbufferedSerial  pc(USBTX, USBRX);
+extern "C" void wait_ms(int ms);
 #else
-    Serial pc(SERIAL_TX, SERIAL_RX); 
+Serial pc(SERIAL_TX, SERIAL_RX);
 #endif
 
 void process_interrupt( VL53L1 * sensor,VL53L1_DEV dev );
@@ -47,11 +47,11 @@
 VL53L1_Dev_t                   devRight;
 VL53L1_DEV                     Dev = &devCentre;
 
- 
+
 /*=================================== Main ==================================
 =============================================================================*/
 int main()
-{   
+{
     int status;
     VL53L1 * Sensor;
     uint16_t wordData;
@@ -62,10 +62,10 @@
 
 // create i2c interface
     ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
-    
+
     /* creates the 53L1A1 expansion board singleton obj */
-   board = XNucleo53L1A2::instance(dev_I2C, A2, D8, D2);
-    
+    board = XNucleo53L1A2::instance(dev_I2C, A2, D8, D2);
+
     printf("board created!\r\n");
 
     /* init the 53L1A1 expansion board with default values */
@@ -74,125 +74,119 @@
         printf("Failed to init board!\r\n");
         return 0;
     }
-       
-        
+
     printf("board initiated! - %d\r\n", status);
-  // create the sensor controller classes                                              
 
-
-
+    // create the sensor controller classes
     Dev=&devCentre;
+    Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
+    // configure the sensors
+    Dev->comms_speed_khz = 400;
+    Dev->comms_type = 1;
+
     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;
 
     Sensor->VL53L1_RdWord(Dev, 0x01, &wordData);
     printf("VL53L1X: %02X   %d\n\r", wordData,Dev->i2c_slave_address);
-/* Device Initialization and setting */  
+    /* Device Initialization and setting */
     status = Sensor->vl53L1_DataInit();
     status = Sensor->vl53L1_StaticInit();
-    status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_MULTIZONES_SCANNING);
-    status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
+
+    status = Sensor->vl53L1_SetPresetMode(VL53L1_PRESETMODE_MULTIZONES_SCANNING);
 
-    
+    status = Sensor->vl53L1_SetDistanceMode(VL53L1_DISTANCEMODE_LONG);
+
+
     VL53L1_RoiConfig_t roiConfig;
+
     roiConfig.NumberOfRoi =3;
-    roiConfig.UserRois[0].TopLeftX = 0;
-    roiConfig.UserRois[0].TopLeftY = 9; 
-    roiConfig.UserRois[0].BotRightX = 4;
-    roiConfig.UserRois[0].BotRightY = 5; 
+
+    roiConfig.UserRois[0].TopLeftX = 3;
+    roiConfig.UserRois[0].TopLeftY = 10;
+    roiConfig.UserRois[0].BotRightX = 10;
+    roiConfig.UserRois[0].BotRightY = 3;
+
     roiConfig.UserRois[1].TopLeftX = 5;
-    roiConfig.UserRois[1].TopLeftY = 9; 
-    roiConfig.UserRois[1].BotRightX = 9;
-    roiConfig.UserRois[1].BotRightY = 4; 
-    roiConfig.UserRois[2].TopLeftX = 11;
-    roiConfig.UserRois[2].TopLeftY = 9; 
-    roiConfig.UserRois[2].BotRightX = 15;
-    roiConfig.UserRois[2].BotRightY = 5; 
+    roiConfig.UserRois[1].TopLeftY = 12;
+    roiConfig.UserRois[1].BotRightX = 12;
+    roiConfig.UserRois[1].BotRightY = 5;
+
+    roiConfig.UserRois[2].TopLeftX = 6;
+    roiConfig.UserRois[2].TopLeftY = 13;
+    roiConfig.UserRois[2].BotRightX = 13;
+    roiConfig.UserRois[2].BotRightY = 6;
+
     status = Sensor->vl53L1_SetROI( &roiConfig);
+
     printf("VL53L1_SetROI %d \n",status);
 
-    devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
-    status = board->sensor_centre->vl53L1_StartMeasurement();  
+    status = board->sensor_centre->vl53L1_StartMeasurement();
 
-       // looping polling for results
-    while (1)
-    {
+    // looping polling for results
+    while (true) {
         VL53L1_MultiRangingData_t MultiRangingData;
-        VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;    
-        
+        VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
+
         // wait for result
-        status = board->sensor_centre->vl53L1_WaitMeasurementDataReady();  
+        status = board->sensor_centre->vl53L1_WaitMeasurementDataReady();
         // get the result
         status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
         // if valid, print it
-        if(status==0) {
+        if (status == 0)
             print_results(devCentre.i2c_slave_address, pMultiRangingData );
-             status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
-
-        } //if(status==0) 
         else
-        {
             printf("VL53L1_GetMultiRangingData centre %d \n",status);
-        }
-                
-        wait_ms( 1 * 10);                   
+
+        if (status == 0)
+            status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
     }
 }
-    
-    
-    
- // prints the range result seen above   
+
+
+
+// prints the range result seen above
 void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
 {
-            int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
-            
-            int RoiNumber=pMultiRangingData->RoiNumber;
+    int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+
+    int RoiNumber=pMultiRangingData->RoiNumber;
 //            int RoiStatus=pMultiRangingData->RoiStatus;
 
-            if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0)) 
-            {
-                
-  //              printf("MZI Count=%5d, ", pMultiRangingData->StreamCount);
-   //             printf("RoiNumber%1d, ", RoiNumber);
-   //               printf("RoiStatus=%1d, \n", RoiStatus);
-                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))
-                    {
-                        printf("*****************\t i2cAddr=0x%x \t RoiNumber=%d   \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
-                        devSpiNumber,
-                        RoiNumber,
-                        pMultiRangingData->RangeData[j].RangeStatus,
-                        pMultiRangingData->RangeData[j].RangeMilliMeter,
-                        pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0,
-                        pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
-                    }
-                    else
-                    {
+    if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0)) {
+
+        //              printf("MZI Count=%5d, ", pMultiRangingData->StreamCount);
+        //             printf("RoiNumber%1d, ", RoiNumber);
+        //               printf("RoiStatus=%1d, \n", RoiStatus);
+        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)) {
+                printf("*****************\t i2cAddr=0x%x \t RoiNumber=%d   \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
+                       devSpiNumber,
+                       RoiNumber,
+                       pMultiRangingData->RangeData[j].RangeStatus,
+                       pMultiRangingData->RangeData[j].RangeMilliMeter,
+                       pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0,
+                       pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
+            } else {
 //                               printf("RangeStatus %d %d\n",j, pMultiRangingData->RangeData[j].RangeStatus);
-                    }
-                }
-            } // if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0)) 
-            else
-            {
+            }
+        }
+    } // if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0))
+    else {
 //                       printf("no_of_object_found %d \n",no_of_object_found);
-            }
+    }
 
-}   
+}
 
-        
+
 #if (MBED_VERSION  > 60300)
 extern "C" void wait_ms(int ms)
- {
+{
     thread_sleep_for(ms);
- }
- #endif 
-     
-  
\ No newline at end of file
+}
+#endif
+
+