ST Expansion SW Team / Mbed OS VL53L1CB_shield_3sensors_interrupt_multizone_MB6

Sample MBed program for use with ST XNucleo VL53L1CB board. Uses interrupts to cope with up to 3 sensors in multizone mode. Includes MBed V6.4

Dependencies:   X_NUCLEO_53L1A2

main.cpp@2:25bcfa4b1aca, 2021-05-12 (annotated)

Committer:
johnAlexander
Date:
Wed May 12 14:30:46 2021 +0000
Revision:
2:25bcfa4b1aca
Parent:
1:c67af60ec906
Child:
3:09f23aad108a
Add satellite sensor support.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:e91189a84ad9 1 /*
johnAlexander 2:25bcfa4b1aca 2 * This VL53L1CB Expansion board test application performs range measurements
johnAlexander 2:25bcfa4b1aca 3 * using the onboard embedded sensor and two satellites, in interrupt mode.
johnAlexander 2:25bcfa4b1aca 4 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
johnAlexander 2:25bcfa4b1aca 5 *
johnAlexander 2:25bcfa4b1aca 6 * This is designed to work with MBed v2.x, & MBedOS v5.x / v6.x.
johnAlexander 2:25bcfa4b1aca 7 *
johnAlexander 2:25bcfa4b1aca 8 * The Reset button can be used to restart the program.
johnAlexander 2:25bcfa4b1aca 9 *
johnAlexander 2:25bcfa4b1aca 10 * *** NOTE :
johnAlexander 2:25bcfa4b1aca 11 * Default Mbed build system settings disable printf() floating-point support.
johnAlexander 2:25bcfa4b1aca 12 * Offline builds can enable this, again.
johnAlexander 2:25bcfa4b1aca 13 * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
johnAlexander 2:25bcfa4b1aca 14 * .\mbed-os\platform\mbed_lib.json
charlesmn 0:e91189a84ad9 15 *
johnAlexander 2:25bcfa4b1aca 16 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
johnAlexander 2:25bcfa4b1aca 17 * the X-NUCELO-53L1A2 expansion board are not made/OFF.
johnAlexander 2:25bcfa4b1aca 18 * These links must be made to allow interrupts from the Satellite boards
johnAlexander 2:25bcfa4b1aca 19 * to be received.
johnAlexander 2:25bcfa4b1aca 20 * U11 and U18 must be made/ON to allow interrupts to be received from the
johnAlexander 2:25bcfa4b1aca 21 * INT_L & INT_R positions; or
johnAlexander 2:25bcfa4b1aca 22 * U10 and U15 must be made/ON to allow interrupts to be received from the
johnAlexander 2:25bcfa4b1aca 23 * Alternate INT_L & INT_R positions.
johnAlexander 2:25bcfa4b1aca 24 * The X_NUCLEO_53L1A2 library defaults to use the INT_L/INT_R positions.
johnAlexander 2:25bcfa4b1aca 25 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
johnAlexander 2:25bcfa4b1aca 26 * Alternate INT_L is on CN5 Connector pin 2 as D9.
johnAlexander 2:25bcfa4b1aca 27 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
johnAlexander 2:25bcfa4b1aca 28 * Alternate INT_R is on CN9 Connector pin 5 as D4.
johnAlexander 2:25bcfa4b1aca 29 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A2/
charlesmn 0:e91189a84ad9 30 *
charlesmn 0:e91189a84ad9 31 */
charlesmn 0:e91189a84ad9 32
charlesmn 0:e91189a84ad9 33 #include <stdio.h>
johnAlexander 2:25bcfa4b1aca 34 #include <time.h>
charlesmn 0:e91189a84ad9 35
charlesmn 0:e91189a84ad9 36 #include "mbed.h"
johnAlexander 2:25bcfa4b1aca 37
charlesmn 1:c67af60ec906 38 #include "XNucleo53L1A2.h"
charlesmn 0:e91189a84ad9 39 #include "ToF_I2C.h"
charlesmn 0:e91189a84ad9 40
charlesmn 0:e91189a84ad9 41
charlesmn 0:e91189a84ad9 42 // define the i2c comms pins
charlesmn 0:e91189a84ad9 43 #define I2C_SDA D14
charlesmn 0:e91189a84ad9 44 #define I2C_SCL D15
charlesmn 0:e91189a84ad9 45
charlesmn 0:e91189a84ad9 46 #define NUM_SENSORS 3
charlesmn 0:e91189a84ad9 47
charlesmn 1:c67af60ec906 48 // define interrupt pins
charlesmn 0:e91189a84ad9 49 PinName CentreIntPin = A2;
charlesmn 0:e91189a84ad9 50 // the satellite pins depend on solder blobs on the back of the shield.
charlesmn 0:e91189a84ad9 51 // they may not exist or may be one of two sets.
charlesmn 0:e91189a84ad9 52 // the centre pin always exists
johnAlexander 2:25bcfa4b1aca 53 //PinName LeftIntPin = D8;
johnAlexander 2:25bcfa4b1aca 54 PinName RightIntPin = D2;
charlesmn 0:e91189a84ad9 55 // alternate set
johnAlexander 2:25bcfa4b1aca 56 PinName LeftIntPin = D9;
johnAlexander 2:25bcfa4b1aca 57 //PinName RightIntPin = D4;
charlesmn 0:e91189a84ad9 58
charlesmn 0:e91189a84ad9 59
charlesmn 1:c67af60ec906 60 static XNucleo53L1A2 *board=NULL;
charlesmn 0:e91189a84ad9 61
charlesmn 0:e91189a84ad9 62 #if (MBED_VERSION > 60300)
johnAlexander 2:25bcfa4b1aca 63 UnbufferedSerial pc(USBTX, USBRX);
charlesmn 0:e91189a84ad9 64 extern "C" void wait_ms(int ms);
charlesmn 0:e91189a84ad9 65 #else
charlesmn 0:e91189a84ad9 66 Serial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:e91189a84ad9 67 #endif
charlesmn 0:e91189a84ad9 68
johnAlexander 2:25bcfa4b1aca 69 #if TARGET_STM // we are cross compiling for an STM32-Nucleo
johnAlexander 2:25bcfa4b1aca 70 InterruptIn stop_button(BUTTON1);
johnAlexander 2:25bcfa4b1aca 71 #endif
johnAlexander 2:25bcfa4b1aca 72 #if TARGET_Freescale // we are cross-compiling for NXP FRDM boards.
johnAlexander 2:25bcfa4b1aca 73 InterruptIn stop_button(SW2);
johnAlexander 2:25bcfa4b1aca 74 #endif
charlesmn 0:e91189a84ad9 75
charlesmn 1:c67af60ec906 76 void process_interrupt( VL53L1 * sensor,VL53L1_DEV dev );
charlesmn 0:e91189a84ad9 77 void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
charlesmn 0:e91189a84ad9 78
charlesmn 0:e91189a84ad9 79
johnAlexander 2:25bcfa4b1aca 80 VL53L1_Dev_t devCentre;
johnAlexander 2:25bcfa4b1aca 81 VL53L1_Dev_t devLeft;
johnAlexander 2:25bcfa4b1aca 82 VL53L1_Dev_t devRight;
johnAlexander 2:25bcfa4b1aca 83 VL53L1_DEV Dev = &devCentre;
charlesmn 0:e91189a84ad9 84
johnAlexander 2:25bcfa4b1aca 85 /* Installed sensors count */
johnAlexander 2:25bcfa4b1aca 86 int sensorCnt = 0;
johnAlexander 2:25bcfa4b1aca 87
johnAlexander 2:25bcfa4b1aca 88 /* installed sensors prefixes */
johnAlexander 2:25bcfa4b1aca 89 char installedSensors[3];
johnAlexander 2:25bcfa4b1aca 90
johnAlexander 2:25bcfa4b1aca 91 /* interrupt requests */
johnAlexander 2:25bcfa4b1aca 92 volatile bool centerSensor = false;
johnAlexander 2:25bcfa4b1aca 93 volatile bool leftSensor = false;
johnAlexander 2:25bcfa4b1aca 94 volatile bool rightSensor = false;
johnAlexander 2:25bcfa4b1aca 95 volatile bool int_measuring_stop = false;
johnAlexander 2:25bcfa4b1aca 96
johnAlexander 2:25bcfa4b1aca 97 /* Current sensor number*/
johnAlexander 2:25bcfa4b1aca 98 volatile int currentSensor = 0;
charlesmn 0:e91189a84ad9 99
johnAlexander 2:25bcfa4b1aca 100 /* current displayed sensor change IRQ */
johnAlexander 2:25bcfa4b1aca 101 volatile bool switchChanged = false;
charlesmn 0:e91189a84ad9 102
johnAlexander 2:25bcfa4b1aca 103 /* ISR callback function of the centre sensor */
johnAlexander 2:25bcfa4b1aca 104 void sensor_centre_irq(void)
charlesmn 0:e91189a84ad9 105 {
johnAlexander 2:25bcfa4b1aca 106 centerSensor = true;
johnAlexander 2:25bcfa4b1aca 107 board->sensor_centre->disable_interrupt_measure_detection_irq();
johnAlexander 2:25bcfa4b1aca 108 }
johnAlexander 2:25bcfa4b1aca 109
johnAlexander 2:25bcfa4b1aca 110 /* ISR callback function of the left sensor */
johnAlexander 2:25bcfa4b1aca 111 void sensor_left_irq(void)
johnAlexander 2:25bcfa4b1aca 112 {
johnAlexander 2:25bcfa4b1aca 113 leftSensor = true;
johnAlexander 2:25bcfa4b1aca 114 board->sensor_left->disable_interrupt_measure_detection_irq();
charlesmn 0:e91189a84ad9 115 }
charlesmn 0:e91189a84ad9 116
johnAlexander 2:25bcfa4b1aca 117 /* ISR callback function of the right sensor */
johnAlexander 2:25bcfa4b1aca 118 void sensor_right_irq(void)
johnAlexander 2:25bcfa4b1aca 119 {
johnAlexander 2:25bcfa4b1aca 120 rightSensor = true;
johnAlexander 2:25bcfa4b1aca 121 board->sensor_right->disable_interrupt_measure_detection_irq();
johnAlexander 2:25bcfa4b1aca 122 }
charlesmn 0:e91189a84ad9 123
johnAlexander 2:25bcfa4b1aca 124 /* ISR callback function of the user blue button to switch measuring sensor. */
johnAlexander 2:25bcfa4b1aca 125 void switch_measuring_sensor_irq(void)
johnAlexander 2:25bcfa4b1aca 126 {
johnAlexander 2:25bcfa4b1aca 127 stop_button.disable_irq();
johnAlexander 2:25bcfa4b1aca 128 switchChanged = true;
johnAlexander 2:25bcfa4b1aca 129 }
johnAlexander 2:25bcfa4b1aca 130
johnAlexander 2:25bcfa4b1aca 131 /*
johnAlexander 2:25bcfa4b1aca 132 * This function calls the interrupt handler for each sensor
johnAlexander 2:25bcfa4b1aca 133 * and outputs the range
johnAlexander 2:25bcfa4b1aca 134 */
johnAlexander 2:25bcfa4b1aca 135 inline void measure_sensors()
johnAlexander 2:25bcfa4b1aca 136 {
johnAlexander 2:25bcfa4b1aca 137 int status = 0;
johnAlexander 2:25bcfa4b1aca 138 bool current = false;
johnAlexander 2:25bcfa4b1aca 139 uint16_t distance = 0;
johnAlexander 2:25bcfa4b1aca 140
johnAlexander 2:25bcfa4b1aca 141 /* Handle the interrupt and output the range from the centre sensor */
johnAlexander 2:25bcfa4b1aca 142 if (centerSensor) {
johnAlexander 2:25bcfa4b1aca 143 centerSensor = false;
johnAlexander 2:25bcfa4b1aca 144 // board->sensor_centre->handle_irq(&distance);
johnAlexander 2:25bcfa4b1aca 145 status = board->sensor_centre->VL53L1_GetDistance(&distance);
johnAlexander 2:25bcfa4b1aca 146 status = board->sensor_centre->VL53L1_ClearInterrupt();
johnAlexander 2:25bcfa4b1aca 147 board->sensor_centre->enable_interrupt_measure_detection_irq();
charlesmn 0:e91189a84ad9 148
johnAlexander 2:25bcfa4b1aca 149 current = (currentSensor == 0);
johnAlexander 2:25bcfa4b1aca 150 if (current) {
johnAlexander 2:25bcfa4b1aca 151 printf("Centre: %d\r\n", distance);
johnAlexander 2:25bcfa4b1aca 152 }
charlesmn 0:e91189a84ad9 153 }
charlesmn 0:e91189a84ad9 154
johnAlexander 2:25bcfa4b1aca 155 /* Handle the interrupt and output the range from the left sensor */
johnAlexander 2:25bcfa4b1aca 156 if (leftSensor) {
johnAlexander 2:25bcfa4b1aca 157 leftSensor = false;
johnAlexander 2:25bcfa4b1aca 158 // board->sensor_left->handle_irq(&distance);
johnAlexander 2:25bcfa4b1aca 159 status = board->sensor_left->VL53L1_GetDistance(&distance);
johnAlexander 2:25bcfa4b1aca 160 status = board->sensor_left->VL53L1_ClearInterrupt();
johnAlexander 2:25bcfa4b1aca 161 board->sensor_left->enable_interrupt_measure_detection_irq();
johnAlexander 2:25bcfa4b1aca 162
johnAlexander 2:25bcfa4b1aca 163 current = (installedSensors[currentSensor] == 'L');
johnAlexander 2:25bcfa4b1aca 164 if (current) {
johnAlexander 2:25bcfa4b1aca 165 printf("Left: %d\r\n", distance);
johnAlexander 2:25bcfa4b1aca 166 }
johnAlexander 2:25bcfa4b1aca 167 }
charlesmn 0:e91189a84ad9 168
johnAlexander 2:25bcfa4b1aca 169 /* Handle the interrupt and output the range from the right sensor */
johnAlexander 2:25bcfa4b1aca 170 if (rightSensor) {
johnAlexander 2:25bcfa4b1aca 171 rightSensor = false;
johnAlexander 2:25bcfa4b1aca 172 // board->sensor_right->handle_irq(&distance);
johnAlexander 2:25bcfa4b1aca 173 status = board->sensor_right->VL53L1_GetDistance(&distance);
johnAlexander 2:25bcfa4b1aca 174 status = board->sensor_right->VL53L1_ClearInterrupt();
johnAlexander 2:25bcfa4b1aca 175 board->sensor_right->enable_interrupt_measure_detection_irq();
johnAlexander 2:25bcfa4b1aca 176
johnAlexander 2:25bcfa4b1aca 177 current = (installedSensors[currentSensor] == 'R');
johnAlexander 2:25bcfa4b1aca 178 if (current) {
johnAlexander 2:25bcfa4b1aca 179 printf("Right: %d\r\n", distance);
johnAlexander 2:25bcfa4b1aca 180 }
johnAlexander 2:25bcfa4b1aca 181 }
johnAlexander 2:25bcfa4b1aca 182 }
charlesmn 0:e91189a84ad9 183
johnAlexander 2:25bcfa4b1aca 184 /*
johnAlexander 2:25bcfa4b1aca 185 * Add to an array a character that represents the sensor and start ranging
johnAlexander 2:25bcfa4b1aca 186 */
johnAlexander 2:25bcfa4b1aca 187 int init_sensors_array()
johnAlexander 2:25bcfa4b1aca 188 {
johnAlexander 2:25bcfa4b1aca 189 int status = 0;
johnAlexander 2:25bcfa4b1aca 190 VL53L1 *Sensor;
charlesmn 0:e91189a84ad9 191 uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
charlesmn 0:e91189a84ad9 192
johnAlexander 2:25bcfa4b1aca 193 sensorCnt = 0;
charlesmn 0:e91189a84ad9 194
johnAlexander 2:25bcfa4b1aca 195 if (board->sensor_centre != NULL) {
johnAlexander 2:25bcfa4b1aca 196 Dev = &devCentre;
johnAlexander 2:25bcfa4b1aca 197 Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
johnAlexander 2:25bcfa4b1aca 198 Sensor = board->sensor_centre;
johnAlexander 2:25bcfa4b1aca 199 printf("configuring centre channel \n");
charlesmn 0:e91189a84ad9 200 }
johnAlexander 2:25bcfa4b1aca 201
johnAlexander 2:25bcfa4b1aca 202 if (board->sensor_left != NULL) {
johnAlexander 2:25bcfa4b1aca 203 Dev = &devLeft;
johnAlexander 2:25bcfa4b1aca 204 Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
johnAlexander 2:25bcfa4b1aca 205 Sensor = board->sensor_left;
johnAlexander 2:25bcfa4b1aca 206 printf("configuring left channel \n");
johnAlexander 2:25bcfa4b1aca 207 }
johnAlexander 2:25bcfa4b1aca 208
johnAlexander 2:25bcfa4b1aca 209 if (board->sensor_right != NULL) {
johnAlexander 2:25bcfa4b1aca 210 Dev = &devRight;
johnAlexander 2:25bcfa4b1aca 211 Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
johnAlexander 2:25bcfa4b1aca 212 Sensor = board->sensor_right;
johnAlexander 2:25bcfa4b1aca 213 printf("configuring right channel \n");
johnAlexander 2:25bcfa4b1aca 214 }
johnAlexander 2:25bcfa4b1aca 215 /*
johnAlexander 2:25bcfa4b1aca 216 // Device Initialization and setting
charlesmn 0:e91189a84ad9 217 status = Sensor->vl53L1_DataInit();
charlesmn 0:e91189a84ad9 218 status = Sensor->vl53L1_StaticInit();
charlesmn 0:e91189a84ad9 219 status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_MULTIZONES_SCANNING);
charlesmn 0:e91189a84ad9 220
charlesmn 0:e91189a84ad9 221 //configure the regions of interest for each sensor
charlesmn 0:e91189a84ad9 222 VL53L1_RoiConfig_t roiConfig;
johnAlexander 2:25bcfa4b1aca 223 roiConfig.NumberOfRoi = 3;
charlesmn 0:e91189a84ad9 224 roiConfig.UserRois[0].TopLeftX = 0;
charlesmn 0:e91189a84ad9 225 roiConfig.UserRois[0].TopLeftY = 9;
charlesmn 0:e91189a84ad9 226 roiConfig.UserRois[0].BotRightX = 4;
charlesmn 0:e91189a84ad9 227 roiConfig.UserRois[0].BotRightY = 5;
charlesmn 0:e91189a84ad9 228 roiConfig.UserRois[1].TopLeftX = 5;
charlesmn 0:e91189a84ad9 229 roiConfig.UserRois[1].TopLeftY = 9;
charlesmn 0:e91189a84ad9 230 roiConfig.UserRois[1].BotRightX = 9;
charlesmn 0:e91189a84ad9 231 roiConfig.UserRois[1].BotRightY = 4;
charlesmn 0:e91189a84ad9 232 roiConfig.UserRois[2].TopLeftX = 11;
charlesmn 0:e91189a84ad9 233 roiConfig.UserRois[2].TopLeftY = 9;
charlesmn 0:e91189a84ad9 234 roiConfig.UserRois[2].BotRightX = 15;
charlesmn 0:e91189a84ad9 235 roiConfig.UserRois[2].BotRightY = 5;
charlesmn 0:e91189a84ad9 236 status = Sensor->vl53L1_SetROI( &roiConfig);
charlesmn 0:e91189a84ad9 237
charlesmn 0:e91189a84ad9 238
charlesmn 0:e91189a84ad9 239 status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
charlesmn 0:e91189a84ad9 240 // status = Sensor->VL53L1_SetMeasurementTimingBudgetMicroSeconds( 100 * 500); // error -21 is because of this. Don't know why
johnAlexander 2:25bcfa4b1aca 241 */
johnAlexander 2:25bcfa4b1aca 242
johnAlexander 2:25bcfa4b1aca 243
johnAlexander 2:25bcfa4b1aca 244 /* start the measure on the center sensor */
johnAlexander 2:25bcfa4b1aca 245 if (NULL != board->sensor_centre) {
johnAlexander 2:25bcfa4b1aca 246 installedSensors[sensorCnt] = 'C';
johnAlexander 2:25bcfa4b1aca 247 status = board->sensor_centre->stop_measurement();
johnAlexander 2:25bcfa4b1aca 248 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 249 return status;
johnAlexander 2:25bcfa4b1aca 250 }
johnAlexander 2:25bcfa4b1aca 251 status = board->sensor_centre->start_measurement(&sensor_centre_irq);
johnAlexander 2:25bcfa4b1aca 252 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 253 return status;
johnAlexander 2:25bcfa4b1aca 254 }
johnAlexander 2:25bcfa4b1aca 255 ++sensorCnt;
johnAlexander 2:25bcfa4b1aca 256 }
johnAlexander 2:25bcfa4b1aca 257 /* start the measure on the left sensor */
johnAlexander 2:25bcfa4b1aca 258 if (NULL != board->sensor_left) {
johnAlexander 2:25bcfa4b1aca 259 installedSensors[sensorCnt] = 'L';
johnAlexander 2:25bcfa4b1aca 260 status = board->sensor_left->stop_measurement();
johnAlexander 2:25bcfa4b1aca 261 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 262 return status;
johnAlexander 2:25bcfa4b1aca 263 }
johnAlexander 2:25bcfa4b1aca 264 status = board->sensor_left->start_measurement(&sensor_left_irq);
johnAlexander 2:25bcfa4b1aca 265 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 266 return status;
johnAlexander 2:25bcfa4b1aca 267 }
johnAlexander 2:25bcfa4b1aca 268 ++sensorCnt;
johnAlexander 2:25bcfa4b1aca 269 }
johnAlexander 2:25bcfa4b1aca 270 /* start the measure on the right sensor */
johnAlexander 2:25bcfa4b1aca 271 if (NULL != board->sensor_right) {
johnAlexander 2:25bcfa4b1aca 272 installedSensors[sensorCnt] = 'R';
johnAlexander 2:25bcfa4b1aca 273 status = board->sensor_right->stop_measurement();
johnAlexander 2:25bcfa4b1aca 274 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 275 return status;
johnAlexander 2:25bcfa4b1aca 276 }
johnAlexander 2:25bcfa4b1aca 277 status = board->sensor_right->start_measurement(&sensor_right_irq);
johnAlexander 2:25bcfa4b1aca 278 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 279 return status;
johnAlexander 2:25bcfa4b1aca 280 }
johnAlexander 2:25bcfa4b1aca 281 ++sensorCnt;
johnAlexander 2:25bcfa4b1aca 282 }
johnAlexander 2:25bcfa4b1aca 283 currentSensor = 0;
johnAlexander 2:25bcfa4b1aca 284 return status;
johnAlexander 2:25bcfa4b1aca 285 }
johnAlexander 2:25bcfa4b1aca 286
johnAlexander 2:25bcfa4b1aca 287
johnAlexander 2:25bcfa4b1aca 288
johnAlexander 2:25bcfa4b1aca 289 /*=================================== Main ==================================
johnAlexander 2:25bcfa4b1aca 290 =============================================================================*/
johnAlexander 2:25bcfa4b1aca 291 int main()
johnAlexander 2:25bcfa4b1aca 292 {
johnAlexander 2:25bcfa4b1aca 293 int status;
johnAlexander 2:25bcfa4b1aca 294
johnAlexander 2:25bcfa4b1aca 295 stop_button.rise(&switch_measuring_sensor_irq);
johnAlexander 2:25bcfa4b1aca 296 stop_button.enable_irq();
johnAlexander 2:25bcfa4b1aca 297
johnAlexander 2:25bcfa4b1aca 298 // pc.baud(115200); // baud rate is important as printf statements take a lot of time
johnAlexander 2:25bcfa4b1aca 299
johnAlexander 2:25bcfa4b1aca 300 printf("mbed version : %d \r\n", MBED_VERSION);
johnAlexander 2:25bcfa4b1aca 301
johnAlexander 2:25bcfa4b1aca 302 // create i2c interface
johnAlexander 2:25bcfa4b1aca 303 ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
johnAlexander 2:25bcfa4b1aca 304 /* creates the 53L1A2 expansion board singleton obj */
johnAlexander 2:25bcfa4b1aca 305 board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, LeftIntPin, RightIntPin);
johnAlexander 2:25bcfa4b1aca 306
johnAlexander 2:25bcfa4b1aca 307 printf("board created!\r\n");
johnAlexander 2:25bcfa4b1aca 308
johnAlexander 2:25bcfa4b1aca 309 /* init the 53L1A1 expansion board with default values */
johnAlexander 2:25bcfa4b1aca 310 status = board->init_board();
johnAlexander 2:25bcfa4b1aca 311 if (status) {
johnAlexander 2:25bcfa4b1aca 312 printf("Failed to init board!\r\n");
johnAlexander 2:25bcfa4b1aca 313 return status;
charlesmn 0:e91189a84ad9 314 }
charlesmn 0:e91189a84ad9 315
johnAlexander 2:25bcfa4b1aca 316 printf("board initiated! - %d\r\n", status);
charlesmn 0:e91189a84ad9 317
johnAlexander 2:25bcfa4b1aca 318 /* init an array with chars to id the sensors */
johnAlexander 2:25bcfa4b1aca 319 status = init_sensors_array();
johnAlexander 2:25bcfa4b1aca 320 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 321 printf("Failed to init sensors!\r\n");
johnAlexander 2:25bcfa4b1aca 322 return status;
charlesmn 0:e91189a84ad9 323 }
charlesmn 0:e91189a84ad9 324
johnAlexander 2:25bcfa4b1aca 325 printf("loop forever\n");
charlesmn 0:e91189a84ad9 326
johnAlexander 2:25bcfa4b1aca 327 /*
charlesmn 0:e91189a84ad9 328 // loop waiting for interrupts to happen. This is signaled by int_centre_result,int_left_result or int_right_result
charlesmn 0:e91189a84ad9 329 // being non zero. When the interrupts clear this is signaled by int_centre_dropped,int_left_dropped and int_right_dropped.
charlesmn 0:e91189a84ad9 330 // These are set back to zero when processing is completed
charlesmn 0:e91189a84ad9 331 while (1)
charlesmn 0:e91189a84ad9 332 {
charlesmn 0:e91189a84ad9 333 VL53L1_MultiRangingData_t MultiRangingData;
charlesmn 0:e91189a84ad9 334 VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
charlesmn 0:e91189a84ad9 335
charlesmn 0:e91189a84ad9 336 if ( int_left_dropped || int_centre_dropped || int_right_result)
charlesmn 0:e91189a84ad9 337 wait_ms(20);
charlesmn 0:e91189a84ad9 338
charlesmn 0:e91189a84ad9 339
charlesmn 0:e91189a84ad9 340 // when the interrupt pin goes low start new measurement
charlesmn 0:e91189a84ad9 341 if ( int_centre_dropped != 0)
charlesmn 0:e91189a84ad9 342 {
charlesmn 0:e91189a84ad9 343 int_centre_dropped = 0;
charlesmn 0:e91189a84ad9 344 status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();// get next measurement
charlesmn 0:e91189a84ad9 345 }
charlesmn 0:e91189a84ad9 346
charlesmn 0:e91189a84ad9 347 if ( int_left_dropped != 0)
charlesmn 0:e91189a84ad9 348 {
charlesmn 0:e91189a84ad9 349 int_left_dropped = 0;
charlesmn 0:e91189a84ad9 350 status = board->sensor_left->vl53L1_ClearInterruptAndStartMeasurement();
charlesmn 0:e91189a84ad9 351 }
charlesmn 0:e91189a84ad9 352
charlesmn 0:e91189a84ad9 353 if ( int_right_dropped != 0)
charlesmn 0:e91189a84ad9 354 {
charlesmn 0:e91189a84ad9 355 int_right_dropped = 0;
charlesmn 0:e91189a84ad9 356 status = board->sensor_right->vl53L1_ClearInterruptAndStartMeasurement();
charlesmn 0:e91189a84ad9 357 }
charlesmn 0:e91189a84ad9 358
charlesmn 0:e91189a84ad9 359 if (int_right_result != 0) // interrupt seen on right sensor
charlesmn 0:e91189a84ad9 360 {
charlesmn 0:e91189a84ad9 361 status = board->sensor_right->vl53L1_GetMultiRangingData( pMultiRangingData);
charlesmn 0:e91189a84ad9 362 if ( status == 0)
charlesmn 0:e91189a84ad9 363 {
charlesmn 0:e91189a84ad9 364 print_results( devRight.i2c_slave_address, pMultiRangingData );
charlesmn 0:e91189a84ad9 365 }
charlesmn 0:e91189a84ad9 366
charlesmn 0:e91189a84ad9 367 // clear interrupt flag
charlesmn 0:e91189a84ad9 368 int_right_result = 0;
charlesmn 0:e91189a84ad9 369 }
charlesmn 0:e91189a84ad9 370
charlesmn 0:e91189a84ad9 371
charlesmn 0:e91189a84ad9 372 if (int_left_result != 0) // interrupt seen on left sensor
charlesmn 0:e91189a84ad9 373 {
charlesmn 0:e91189a84ad9 374 status = board->sensor_left->vl53L1_GetMultiRangingData(pMultiRangingData);
charlesmn 0:e91189a84ad9 375 if ( status == 0)
charlesmn 0:e91189a84ad9 376 {
charlesmn 0:e91189a84ad9 377 print_results( devLeft.i2c_slave_address, pMultiRangingData );
charlesmn 0:e91189a84ad9 378 }
charlesmn 0:e91189a84ad9 379
charlesmn 0:e91189a84ad9 380 // clear interrupt flag
charlesmn 0:e91189a84ad9 381 int_left_result = 0;
charlesmn 0:e91189a84ad9 382 }
charlesmn 0:e91189a84ad9 383
charlesmn 0:e91189a84ad9 384 if (int_centre_result != 0)
charlesmn 0:e91189a84ad9 385 {
charlesmn 0:e91189a84ad9 386 status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
charlesmn 0:e91189a84ad9 387 if(status==0) {
charlesmn 0:e91189a84ad9 388 print_results(devCentre.i2c_slave_address, pMultiRangingData );
charlesmn 0:e91189a84ad9 389 } //if(status==0)
charlesmn 0:e91189a84ad9 390
charlesmn 0:e91189a84ad9 391 // clear interrupt flag
charlesmn 0:e91189a84ad9 392 int_centre_result = 0;
charlesmn 0:e91189a84ad9 393
charlesmn 0:e91189a84ad9 394 }
charlesmn 0:e91189a84ad9 395
charlesmn 0:e91189a84ad9 396 wait_ms( 1 * 5);
charlesmn 0:e91189a84ad9 397
charlesmn 0:e91189a84ad9 398 }
johnAlexander 2:25bcfa4b1aca 399 */
johnAlexander 2:25bcfa4b1aca 400 /* Main ranging interrupt loop */
johnAlexander 2:25bcfa4b1aca 401 while (true) {
johnAlexander 2:25bcfa4b1aca 402 measure_sensors();
johnAlexander 2:25bcfa4b1aca 403 if (switchChanged) {
johnAlexander 2:25bcfa4b1aca 404 ++currentSensor;
johnAlexander 2:25bcfa4b1aca 405 if (currentSensor == sensorCnt)
johnAlexander 2:25bcfa4b1aca 406 currentSensor = 0;
johnAlexander 2:25bcfa4b1aca 407 printf("Sensor changed to %c\r\n", installedSensors[currentSensor]);
johnAlexander 2:25bcfa4b1aca 408 switchChanged = false;
johnAlexander 2:25bcfa4b1aca 409 stop_button.enable_irq();
johnAlexander 2:25bcfa4b1aca 410 }
johnAlexander 2:25bcfa4b1aca 411 }
charlesmn 0:e91189a84ad9 412 }
charlesmn 0:e91189a84ad9 413
charlesmn 0:e91189a84ad9 414
charlesmn 0:e91189a84ad9 415
charlesmn 0:e91189a84ad9 416 // print out what data is required
charlesmn 0:e91189a84ad9 417 void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
charlesmn 0:e91189a84ad9 418 {
charlesmn 0:e91189a84ad9 419 int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
charlesmn 0:e91189a84ad9 420
charlesmn 0:e91189a84ad9 421 int RoiNumber=pMultiRangingData->RoiNumber;
charlesmn 0:e91189a84ad9 422 int RoiStatus=pMultiRangingData->RoiStatus;
charlesmn 0:e91189a84ad9 423
charlesmn 0:e91189a84ad9 424 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:e91189a84ad9 425 {
charlesmn 0:e91189a84ad9 426 for(int j=0;j<no_of_object_found;j++){
charlesmn 0:e91189a84ad9 427 if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
charlesmn 0:e91189a84ad9 428 (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL))
charlesmn 0:e91189a84ad9 429 {
charlesmn 0:e91189a84ad9 430 printf("\t spiAddr=%d \t RoiNumber=%d \t D=%5dmm \n",
charlesmn 0:e91189a84ad9 431 devSpiNumber,
charlesmn 0:e91189a84ad9 432 RoiNumber,
charlesmn 0:e91189a84ad9 433 pMultiRangingData->RangeData[j].RangeMilliMeter);
charlesmn 0:e91189a84ad9 434 }
charlesmn 0:e91189a84ad9 435 else
charlesmn 0:e91189a84ad9 436 {
charlesmn 0:e91189a84ad9 437 // printf("RangeStatus %d %d\n",j, pMultiRangingData->RangeData[j].RangeStatus);
charlesmn 0:e91189a84ad9 438 }
charlesmn 0:e91189a84ad9 439 }
charlesmn 0:e91189a84ad9 440 } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:e91189a84ad9 441 else
charlesmn 0:e91189a84ad9 442 {
charlesmn 0:e91189a84ad9 443 // printf("no_of_object_found %d \n",no_of_object_found);
charlesmn 0:e91189a84ad9 444 }
charlesmn 0:e91189a84ad9 445
charlesmn 0:e91189a84ad9 446 }
charlesmn 0:e91189a84ad9 447
charlesmn 0:e91189a84ad9 448
charlesmn 0:e91189a84ad9 449
charlesmn 0:e91189a84ad9 450 #if (MBED_VERSION > 60300)
charlesmn 0:e91189a84ad9 451 void wait_ms(int ms)
charlesmn 0:e91189a84ad9 452 {
charlesmn 0:e91189a84ad9 453 thread_sleep_for(ms);
charlesmn 0:e91189a84ad9 454 }
charlesmn 0:e91189a84ad9 455 #endif
charlesmn 0:e91189a84ad9 456