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@4:738d308ed16e, 2021-06-13 (annotated)

Committer:
charlesmn
Date:
Sun Jun 13 14:14:07 2021 +0000
Revision:
4:738d308ed16e
Parent:
3:09f23aad108a 
Compile with VL53L1CB class

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 4:738d308ed16e 76 void process_interrupt( VL53L1CB * 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 3:09f23aad108a 139
johnAlexander 2:25bcfa4b1aca 140 uint16_t distance = 0;
johnAlexander 3:09f23aad108a 141
johnAlexander 3:09f23aad108a 142 VL53L1_MultiRangingData_t MultiRangingData;
johnAlexander 3:09f23aad108a 143 VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
johnAlexander 2:25bcfa4b1aca 144
johnAlexander 2:25bcfa4b1aca 145 /* Handle the interrupt and output the range from the centre sensor */
johnAlexander 2:25bcfa4b1aca 146 if (centerSensor) {
johnAlexander 2:25bcfa4b1aca 147 centerSensor = false;
johnAlexander 3:09f23aad108a 148
charlesmn 4:738d308ed16e 149 status = board->sensor_centre->VL53L1CB_GetDistance(&distance);
charlesmn 0:e91189a84ad9 150
johnAlexander 2:25bcfa4b1aca 151 current = (currentSensor == 0);
johnAlexander 2:25bcfa4b1aca 152 if (current) {
johnAlexander 2:25bcfa4b1aca 153 printf("Centre: %d\r\n", distance);
johnAlexander 2:25bcfa4b1aca 154 }
johnAlexander 3:09f23aad108a 155
charlesmn 4:738d308ed16e 156 status = board->sensor_centre->VL53L1CB_ClearInterrupt();
johnAlexander 3:09f23aad108a 157 board->sensor_centre->enable_interrupt_measure_detection_irq();
johnAlexander 3:09f23aad108a 158
charlesmn 0:e91189a84ad9 159 }
charlesmn 0:e91189a84ad9 160
johnAlexander 2:25bcfa4b1aca 161 /* Handle the interrupt and output the range from the left sensor */
johnAlexander 2:25bcfa4b1aca 162 if (leftSensor) {
johnAlexander 2:25bcfa4b1aca 163 leftSensor = false;
johnAlexander 3:09f23aad108a 164
charlesmn 4:738d308ed16e 165 status = board->sensor_left->VL53L1CB_GetDistance(&distance);
johnAlexander 2:25bcfa4b1aca 166
johnAlexander 2:25bcfa4b1aca 167 current = (installedSensors[currentSensor] == 'L');
johnAlexander 2:25bcfa4b1aca 168 if (current) {
johnAlexander 2:25bcfa4b1aca 169 printf("Left: %d\r\n", distance);
johnAlexander 2:25bcfa4b1aca 170 }
charlesmn 4:738d308ed16e 171 status = board->sensor_left->VL53L1CB_ClearInterrupt();
johnAlexander 3:09f23aad108a 172 board->sensor_left->enable_interrupt_measure_detection_irq();
johnAlexander 3:09f23aad108a 173
johnAlexander 2:25bcfa4b1aca 174 }
charlesmn 0:e91189a84ad9 175
johnAlexander 2:25bcfa4b1aca 176 /* Handle the interrupt and output the range from the right sensor */
johnAlexander 2:25bcfa4b1aca 177 if (rightSensor) {
johnAlexander 2:25bcfa4b1aca 178 rightSensor = false;
johnAlexander 3:09f23aad108a 179
charlesmn 4:738d308ed16e 180 status = board->sensor_right->VL53L1CB_GetDistance(&distance);
johnAlexander 2:25bcfa4b1aca 181
johnAlexander 2:25bcfa4b1aca 182 current = (installedSensors[currentSensor] == 'R');
johnAlexander 2:25bcfa4b1aca 183 if (current) {
johnAlexander 2:25bcfa4b1aca 184 printf("Right: %d\r\n", distance);
johnAlexander 2:25bcfa4b1aca 185 }
charlesmn 4:738d308ed16e 186 status = board->sensor_right->VL53L1CB_ClearInterrupt();
johnAlexander 3:09f23aad108a 187 board->sensor_right->enable_interrupt_measure_detection_irq();
johnAlexander 3:09f23aad108a 188
johnAlexander 2:25bcfa4b1aca 189 }
johnAlexander 2:25bcfa4b1aca 190 }
charlesmn 0:e91189a84ad9 191
charlesmn 4:738d308ed16e 192 int configure_sensor(VL53L1CB *Sensor)
johnAlexander 3:09f23aad108a 193 {
johnAlexander 3:09f23aad108a 194 int status = 0;
johnAlexander 3:09f23aad108a 195
johnAlexander 3:09f23aad108a 196 // Device Initialization and setting
charlesmn 4:738d308ed16e 197 status = Sensor->VL53L1CB_DataInit();
charlesmn 4:738d308ed16e 198 status = Sensor->VL53L1CB_StaticInit();
charlesmn 4:738d308ed16e 199 status = Sensor->VL53L1CB_SetPresetMode( VL53L1_PRESETMODE_MULTIZONES_SCANNING);
johnAlexander 3:09f23aad108a 200
johnAlexander 3:09f23aad108a 201 //configure the regions of interest for each sensor
johnAlexander 3:09f23aad108a 202 VL53L1_RoiConfig_t roiConfig;
johnAlexander 3:09f23aad108a 203
johnAlexander 3:09f23aad108a 204 roiConfig.NumberOfRoi = 3;
johnAlexander 3:09f23aad108a 205 roiConfig.UserRois[0].TopLeftX = 0;
johnAlexander 3:09f23aad108a 206 roiConfig.UserRois[0].TopLeftY = 9;
johnAlexander 3:09f23aad108a 207 roiConfig.UserRois[0].BotRightX = 4;
johnAlexander 3:09f23aad108a 208 roiConfig.UserRois[0].BotRightY = 5;
johnAlexander 3:09f23aad108a 209 roiConfig.UserRois[1].TopLeftX = 5;
johnAlexander 3:09f23aad108a 210 roiConfig.UserRois[1].TopLeftY = 9;
johnAlexander 3:09f23aad108a 211 roiConfig.UserRois[1].BotRightX = 9;
johnAlexander 3:09f23aad108a 212 roiConfig.UserRois[1].BotRightY = 4;
johnAlexander 3:09f23aad108a 213 roiConfig.UserRois[2].TopLeftX = 11;
johnAlexander 3:09f23aad108a 214 roiConfig.UserRois[2].TopLeftY = 9;
johnAlexander 3:09f23aad108a 215 roiConfig.UserRois[2].BotRightX = 15;
johnAlexander 3:09f23aad108a 216 roiConfig.UserRois[2].BotRightY = 5;
charlesmn 4:738d308ed16e 217 status = Sensor->VL53L1CB_SetROI( &roiConfig);
johnAlexander 3:09f23aad108a 218
johnAlexander 3:09f23aad108a 219
charlesmn 4:738d308ed16e 220 status = Sensor->VL53L1CB_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
johnAlexander 3:09f23aad108a 221 // status = Sensor->VL53L1_SetMeasurementTimingBudgetMicroSeconds( 100 * 500); // error -21 is because of this. Don't know why
johnAlexander 3:09f23aad108a 222
johnAlexander 3:09f23aad108a 223 return status;
johnAlexander 3:09f23aad108a 224 }
johnAlexander 3:09f23aad108a 225
johnAlexander 2:25bcfa4b1aca 226 /*
johnAlexander 2:25bcfa4b1aca 227 * Add to an array a character that represents the sensor and start ranging
johnAlexander 2:25bcfa4b1aca 228 */
johnAlexander 2:25bcfa4b1aca 229 int init_sensors_array()
johnAlexander 2:25bcfa4b1aca 230 {
johnAlexander 2:25bcfa4b1aca 231 int status = 0;
charlesmn 4:738d308ed16e 232 VL53L1CB *Sensor;
charlesmn 0:e91189a84ad9 233 uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
charlesmn 0:e91189a84ad9 234
johnAlexander 2:25bcfa4b1aca 235 sensorCnt = 0;
charlesmn 0:e91189a84ad9 236
johnAlexander 2:25bcfa4b1aca 237 if (board->sensor_centre != NULL) {
johnAlexander 2:25bcfa4b1aca 238 Dev = &devCentre;
johnAlexander 2:25bcfa4b1aca 239 Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
johnAlexander 3:09f23aad108a 240 status = configure_sensor(board->sensor_centre);
johnAlexander 2:25bcfa4b1aca 241 printf("configuring centre channel \n");
charlesmn 0:e91189a84ad9 242 }
johnAlexander 2:25bcfa4b1aca 243
johnAlexander 2:25bcfa4b1aca 244 if (board->sensor_left != NULL) {
johnAlexander 2:25bcfa4b1aca 245 Dev = &devLeft;
johnAlexander 2:25bcfa4b1aca 246 Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
johnAlexander 3:09f23aad108a 247 status = configure_sensor(board->sensor_left);
johnAlexander 2:25bcfa4b1aca 248 printf("configuring left channel \n");
johnAlexander 2:25bcfa4b1aca 249 }
johnAlexander 2:25bcfa4b1aca 250
johnAlexander 2:25bcfa4b1aca 251 if (board->sensor_right != NULL) {
johnAlexander 2:25bcfa4b1aca 252 Dev = &devRight;
johnAlexander 2:25bcfa4b1aca 253 Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
johnAlexander 3:09f23aad108a 254 status = configure_sensor(board->sensor_right);
johnAlexander 2:25bcfa4b1aca 255 printf("configuring right channel \n");
johnAlexander 2:25bcfa4b1aca 256 }
johnAlexander 2:25bcfa4b1aca 257
johnAlexander 2:25bcfa4b1aca 258 /* start the measure on the center sensor */
johnAlexander 2:25bcfa4b1aca 259 if (NULL != board->sensor_centre) {
johnAlexander 2:25bcfa4b1aca 260 installedSensors[sensorCnt] = 'C';
johnAlexander 2:25bcfa4b1aca 261 status = board->sensor_centre->stop_measurement();
johnAlexander 2:25bcfa4b1aca 262 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 263 return status;
johnAlexander 2:25bcfa4b1aca 264 }
johnAlexander 2:25bcfa4b1aca 265 status = board->sensor_centre->start_measurement(&sensor_centre_irq);
johnAlexander 2:25bcfa4b1aca 266 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 267 return status;
johnAlexander 2:25bcfa4b1aca 268 }
johnAlexander 2:25bcfa4b1aca 269 ++sensorCnt;
johnAlexander 2:25bcfa4b1aca 270 }
johnAlexander 2:25bcfa4b1aca 271 /* start the measure on the left sensor */
johnAlexander 2:25bcfa4b1aca 272 if (NULL != board->sensor_left) {
johnAlexander 2:25bcfa4b1aca 273 installedSensors[sensorCnt] = 'L';
johnAlexander 2:25bcfa4b1aca 274 status = board->sensor_left->stop_measurement();
johnAlexander 2:25bcfa4b1aca 275 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 276 return status;
johnAlexander 2:25bcfa4b1aca 277 }
johnAlexander 2:25bcfa4b1aca 278 status = board->sensor_left->start_measurement(&sensor_left_irq);
johnAlexander 2:25bcfa4b1aca 279 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 280 return status;
johnAlexander 2:25bcfa4b1aca 281 }
johnAlexander 2:25bcfa4b1aca 282 ++sensorCnt;
johnAlexander 2:25bcfa4b1aca 283 }
johnAlexander 2:25bcfa4b1aca 284 /* start the measure on the right sensor */
johnAlexander 2:25bcfa4b1aca 285 if (NULL != board->sensor_right) {
johnAlexander 2:25bcfa4b1aca 286 installedSensors[sensorCnt] = 'R';
johnAlexander 2:25bcfa4b1aca 287 status = board->sensor_right->stop_measurement();
johnAlexander 2:25bcfa4b1aca 288 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 289 return status;
johnAlexander 2:25bcfa4b1aca 290 }
johnAlexander 2:25bcfa4b1aca 291 status = board->sensor_right->start_measurement(&sensor_right_irq);
johnAlexander 2:25bcfa4b1aca 292 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 293 return status;
johnAlexander 2:25bcfa4b1aca 294 }
johnAlexander 2:25bcfa4b1aca 295 ++sensorCnt;
johnAlexander 2:25bcfa4b1aca 296 }
johnAlexander 2:25bcfa4b1aca 297 currentSensor = 0;
johnAlexander 2:25bcfa4b1aca 298 return status;
johnAlexander 2:25bcfa4b1aca 299 }
johnAlexander 2:25bcfa4b1aca 300
johnAlexander 2:25bcfa4b1aca 301
johnAlexander 2:25bcfa4b1aca 302
johnAlexander 2:25bcfa4b1aca 303 /*=================================== Main ==================================
johnAlexander 2:25bcfa4b1aca 304 =============================================================================*/
johnAlexander 2:25bcfa4b1aca 305 int main()
johnAlexander 2:25bcfa4b1aca 306 {
johnAlexander 2:25bcfa4b1aca 307 int status;
johnAlexander 2:25bcfa4b1aca 308
johnAlexander 2:25bcfa4b1aca 309 stop_button.rise(&switch_measuring_sensor_irq);
johnAlexander 2:25bcfa4b1aca 310 stop_button.enable_irq();
johnAlexander 2:25bcfa4b1aca 311
johnAlexander 3:09f23aad108a 312 pc.baud(115200); // baud rate is important as printf statements take a lot of time
johnAlexander 2:25bcfa4b1aca 313
johnAlexander 2:25bcfa4b1aca 314 printf("mbed version : %d \r\n", MBED_VERSION);
johnAlexander 2:25bcfa4b1aca 315
johnAlexander 2:25bcfa4b1aca 316 // create i2c interface
johnAlexander 2:25bcfa4b1aca 317 ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
johnAlexander 2:25bcfa4b1aca 318 /* creates the 53L1A2 expansion board singleton obj */
johnAlexander 2:25bcfa4b1aca 319 board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, LeftIntPin, RightIntPin);
johnAlexander 2:25bcfa4b1aca 320
johnAlexander 2:25bcfa4b1aca 321 printf("board created!\r\n");
johnAlexander 2:25bcfa4b1aca 322
johnAlexander 2:25bcfa4b1aca 323 /* init the 53L1A1 expansion board with default values */
johnAlexander 2:25bcfa4b1aca 324 status = board->init_board();
johnAlexander 2:25bcfa4b1aca 325 if (status) {
johnAlexander 2:25bcfa4b1aca 326 printf("Failed to init board!\r\n");
johnAlexander 2:25bcfa4b1aca 327 return status;
charlesmn 0:e91189a84ad9 328 }
charlesmn 0:e91189a84ad9 329
johnAlexander 2:25bcfa4b1aca 330 printf("board initiated! - %d\r\n", status);
charlesmn 0:e91189a84ad9 331
johnAlexander 2:25bcfa4b1aca 332 /* init an array with chars to id the sensors */
johnAlexander 2:25bcfa4b1aca 333 status = init_sensors_array();
johnAlexander 2:25bcfa4b1aca 334 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 335 printf("Failed to init sensors!\r\n");
johnAlexander 2:25bcfa4b1aca 336 return status;
charlesmn 0:e91189a84ad9 337 }
charlesmn 0:e91189a84ad9 338
johnAlexander 2:25bcfa4b1aca 339 printf("loop forever\n");
charlesmn 0:e91189a84ad9 340
johnAlexander 2:25bcfa4b1aca 341 /* Main ranging interrupt loop */
johnAlexander 2:25bcfa4b1aca 342 while (true) {
johnAlexander 3:09f23aad108a 343
johnAlexander 2:25bcfa4b1aca 344 measure_sensors();
johnAlexander 3:09f23aad108a 345
johnAlexander 2:25bcfa4b1aca 346 if (switchChanged) {
johnAlexander 2:25bcfa4b1aca 347 ++currentSensor;
johnAlexander 2:25bcfa4b1aca 348 if (currentSensor == sensorCnt)
johnAlexander 2:25bcfa4b1aca 349 currentSensor = 0;
johnAlexander 2:25bcfa4b1aca 350 printf("Sensor changed to %c\r\n", installedSensors[currentSensor]);
johnAlexander 2:25bcfa4b1aca 351 switchChanged = false;
johnAlexander 2:25bcfa4b1aca 352 stop_button.enable_irq();
johnAlexander 2:25bcfa4b1aca 353 }
johnAlexander 2:25bcfa4b1aca 354 }
charlesmn 0:e91189a84ad9 355 }
charlesmn 0:e91189a84ad9 356
charlesmn 0:e91189a84ad9 357
charlesmn 0:e91189a84ad9 358
charlesmn 0:e91189a84ad9 359 // print out what data is required
johnAlexander 3:09f23aad108a 360 void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
charlesmn 0:e91189a84ad9 361 {
johnAlexander 3:09f23aad108a 362 int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
johnAlexander 3:09f23aad108a 363 int signal_rate = 0;
johnAlexander 3:09f23aad108a 364 int ambient_rate = 0;
johnAlexander 3:09f23aad108a 365
johnAlexander 3:09f23aad108a 366 int RoiNumber=pMultiRangingData->RoiNumber;
charlesmn 0:e91189a84ad9 367
johnAlexander 3:09f23aad108a 368 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0)) {
johnAlexander 3:09f23aad108a 369 for(int j=0; j<no_of_object_found; j++) {
johnAlexander 3:09f23aad108a 370 if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
johnAlexander 3:09f23aad108a 371 (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL)) {
johnAlexander 3:09f23aad108a 372 signal_rate = pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535;
johnAlexander 3:09f23aad108a 373 ambient_rate = pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535;
johnAlexander 3:09f23aad108a 374 printf("\t i2cAddr=%d \t RoiNumber=%d \t status=%d, \t D=%5dmm, \t Signal=%d Mcps, \t Ambient=%d Mcps \n",
johnAlexander 3:09f23aad108a 375 devNumber, RoiNumber,
johnAlexander 3:09f23aad108a 376 pMultiRangingData->RangeData[j].RangeStatus,
johnAlexander 3:09f23aad108a 377 pMultiRangingData->RangeData[j].RangeMilliMeter,
johnAlexander 3:09f23aad108a 378 signal_rate,
johnAlexander 3:09f23aad108a 379 ambient_rate);
johnAlexander 3:09f23aad108a 380 /*
johnAlexander 3:09f23aad108a 381 // online compiler disables printf() / floating-point support, for code-size reasons.
johnAlexander 3:09f23aad108a 382 // offline compiler can switch it on.
johnAlexander 3:09f23aad108a 383 printf("\t i2cAddr=%d \t RoiNumber=%d \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
johnAlexander 3:09f23aad108a 384 devNumber, RoiNumber,
johnAlexander 3:09f23aad108a 385 pMultiRangingData->RangeData[j].RangeStatus,
johnAlexander 3:09f23aad108a 386 pMultiRangingData->RangeData[j].RangeMilliMeter,
johnAlexander 3:09f23aad108a 387 pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535.0,
johnAlexander 3:09f23aad108a 388 pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535.0);
johnAlexander 3:09f23aad108a 389 */
charlesmn 0:e91189a84ad9 390 }
johnAlexander 3:09f23aad108a 391 }
johnAlexander 3:09f23aad108a 392 } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:e91189a84ad9 393 }
charlesmn 0:e91189a84ad9 394
charlesmn 0:e91189a84ad9 395
charlesmn 0:e91189a84ad9 396
charlesmn 0:e91189a84ad9 397 #if (MBED_VERSION > 60300)
charlesmn 0:e91189a84ad9 398 void wait_ms(int ms)
charlesmn 0:e91189a84ad9 399 {
charlesmn 0:e91189a84ad9 400 thread_sleep_for(ms);
charlesmn 0:e91189a84ad9 401 }
johnAlexander 3:09f23aad108a 402 #endif
charlesmn 0:e91189a84ad9 403