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@1:c67af60ec906, 2020-11-09 (annotated)

Committer:
charlesmn
Date:
Mon Nov 09 17:23:54 2020 +0000
Revision:
1:c67af60ec906
Parent:
0:e91189a84ad9
Child:
2:25bcfa4b1aca
No functional change. Changed Filenames and functions names to be VL53L1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:e91189a84ad9 1 /*
charlesmn 0:e91189a84ad9 2 * This VL53L1X Expansion board test application performs range measurements
charlesmn 0:e91189a84ad9 3 * using the onboard embedded centre sensor and two satelites, in multizone, interrupt mode.
charlesmn 0:e91189a84ad9 4 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
charlesmn 0:e91189a84ad9 5 *
charlesmn 0:e91189a84ad9 6 *
charlesmn 0:e91189a84ad9 7 * This is designed to work with MBed V2 , MBed V5 and MBed V6.
charlesmn 0:e91189a84ad9 8 *
charlesmn 0:e91189a84ad9 9 *
charlesmn 0:e91189a84ad9 10 * The Reset button can be used to restart the program.
charlesmn 0:e91189a84ad9 11 */
charlesmn 0:e91189a84ad9 12
charlesmn 0:e91189a84ad9 13 #include <stdio.h>
charlesmn 0:e91189a84ad9 14
charlesmn 0:e91189a84ad9 15 #include "mbed.h"
charlesmn 1:c67af60ec906 16 #include "XNucleo53L1A2.h"
charlesmn 0:e91189a84ad9 17 #include "ToF_I2C.h"
charlesmn 0:e91189a84ad9 18 #include <time.h>
charlesmn 0:e91189a84ad9 19
charlesmn 0:e91189a84ad9 20
charlesmn 0:e91189a84ad9 21 // define the i2c comms pins
charlesmn 0:e91189a84ad9 22 #define I2C_SDA D14
charlesmn 0:e91189a84ad9 23 #define I2C_SCL D15
charlesmn 0:e91189a84ad9 24
charlesmn 0:e91189a84ad9 25 #define NUM_SENSORS 3
charlesmn 0:e91189a84ad9 26
charlesmn 1:c67af60ec906 27 // define interrupt pins
charlesmn 0:e91189a84ad9 28 PinName CentreIntPin = A2;
charlesmn 0:e91189a84ad9 29 // the satellite pins depend on solder blobs on the back of the shield.
charlesmn 0:e91189a84ad9 30 // they may not exist or may be one of two sets.
charlesmn 0:e91189a84ad9 31 // the centre pin always exists
charlesmn 0:e91189a84ad9 32 PinName LeftIntPin = D9;
charlesmn 0:e91189a84ad9 33 PinName RightIntPin = D4;
charlesmn 0:e91189a84ad9 34 // alternate set
charlesmn 0:e91189a84ad9 35 //PinName LeftIntPin = D8;
charlesmn 0:e91189a84ad9 36 //PinName RightIntPin = D2;
charlesmn 0:e91189a84ad9 37
charlesmn 0:e91189a84ad9 38
charlesmn 1:c67af60ec906 39 static XNucleo53L1A2 *board=NULL;
charlesmn 0:e91189a84ad9 40
charlesmn 0:e91189a84ad9 41 #if (MBED_VERSION > 60300)
charlesmn 0:e91189a84ad9 42 UnbufferedSerial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:e91189a84ad9 43 extern "C" void wait_ms(int ms);
charlesmn 0:e91189a84ad9 44 #else
charlesmn 0:e91189a84ad9 45 Serial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:e91189a84ad9 46 #endif
charlesmn 0:e91189a84ad9 47
charlesmn 0:e91189a84ad9 48 // flags to indicate an interrupt has happened
charlesmn 0:e91189a84ad9 49 static int int_centre_result = 0;
charlesmn 0:e91189a84ad9 50 static int int_left_result = 0;
charlesmn 0:e91189a84ad9 51 static int int_right_result = 0;
charlesmn 0:e91189a84ad9 52
charlesmn 0:e91189a84ad9 53 // flags to indicate an interrupt has cleared
charlesmn 0:e91189a84ad9 54 static int int_centre_dropped = 0;
charlesmn 0:e91189a84ad9 55 static int int_left_dropped = 0;
charlesmn 0:e91189a84ad9 56 static int int_right_dropped = 0;
charlesmn 0:e91189a84ad9 57
charlesmn 0:e91189a84ad9 58 // timing for debug purposes
charlesmn 0:e91189a84ad9 59 uint32_t centre_polling_time_ms;
charlesmn 0:e91189a84ad9 60 uint32_t centre_start_time_ms;
charlesmn 0:e91189a84ad9 61 uint32_t centre_end_time_ms;
charlesmn 0:e91189a84ad9 62
charlesmn 1:c67af60ec906 63 void process_interrupt( VL53L1 * sensor,VL53L1_DEV dev );
charlesmn 0:e91189a84ad9 64 void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
charlesmn 0:e91189a84ad9 65
charlesmn 0:e91189a84ad9 66
charlesmn 0:e91189a84ad9 67
charlesmn 0:e91189a84ad9 68 // this class services the interrupts from the ToF sensors.
charlesmn 0:e91189a84ad9 69 // There is a limited amount you can do in an interrupt routine; printfs,mutexes break them among other things.
charlesmn 0:e91189a84ad9 70 // We keep things simple by only raising a flag so all the real work is done outside the interrupt.
charlesmn 0:e91189a84ad9 71 // This is designed around MBED V2 which doesn't have the RTOS features that would make this work nicely e.g. semaphores/queues.
charlesmn 0:e91189a84ad9 72 class WaitForMeasurement {
charlesmn 0:e91189a84ad9 73 public:
charlesmn 0:e91189a84ad9 74
charlesmn 0:e91189a84ad9 75
charlesmn 0:e91189a84ad9 76 WaitForMeasurement(): _interrupt(A1)
charlesmn 0:e91189a84ad9 77 {
charlesmn 0:e91189a84ad9 78 }
charlesmn 0:e91189a84ad9 79
charlesmn 0:e91189a84ad9 80
charlesmn 0:e91189a84ad9 81 // constructor - Sensor is not used and can be removed
charlesmn 0:e91189a84ad9 82 WaitForMeasurement(PinName pin,VL53L1_DEV Dev) : _interrupt(pin) // create the InterruptIn on the pin specified to Counter
charlesmn 0:e91189a84ad9 83 {
charlesmn 0:e91189a84ad9 84 Devlocal = Dev;
charlesmn 0:e91189a84ad9 85 pinlocal = pin;
charlesmn 0:e91189a84ad9 86
charlesmn 0:e91189a84ad9 87 #include "mbed.h"
charlesmn 0:e91189a84ad9 88
charlesmn 0:e91189a84ad9 89 printf("WaitForMeasurement %d \n",Dev->i2c_slave_address);
charlesmn 0:e91189a84ad9 90 _interrupt.rise(callback(this, &WaitForMeasurement::got_interrupt)); // if interrupt happens read data
charlesmn 0:e91189a84ad9 91 _interrupt.fall(callback(this, &WaitForMeasurement::interruptdropped)); // if interupt clears, start next reading
charlesmn 0:e91189a84ad9 92
charlesmn 0:e91189a84ad9 93 }
charlesmn 0:e91189a84ad9 94
charlesmn 0:e91189a84ad9 95 // function is called every time an interupt is cleared. causes
charlesmn 0:e91189a84ad9 96 void interruptdropped()
charlesmn 0:e91189a84ad9 97 {
charlesmn 0:e91189a84ad9 98
charlesmn 0:e91189a84ad9 99 if (Devlocal->i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS)
charlesmn 0:e91189a84ad9 100 int_centre_dropped = 1; //flag to main that interrupt cleared. A flag is raised which allows the main routine to service interupt.
charlesmn 0:e91189a84ad9 101 if (Devlocal->i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS)
charlesmn 0:e91189a84ad9 102 int_left_dropped = 1; //flag to main that interrupt cleared
charlesmn 0:e91189a84ad9 103 if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS)
charlesmn 0:e91189a84ad9 104 int_right_dropped = 1; //flag to main that interrupt cleared
charlesmn 0:e91189a84ad9 105
charlesmn 0:e91189a84ad9 106 }
charlesmn 0:e91189a84ad9 107
charlesmn 0:e91189a84ad9 108 // function is called every time an interupt is seen. A flag is raised which allows the main routine to service the interupt.
charlesmn 0:e91189a84ad9 109 void got_interrupt()
charlesmn 0:e91189a84ad9 110 {
charlesmn 0:e91189a84ad9 111 DigitalIn intp(pinlocal);
charlesmn 0:e91189a84ad9 112 _count++;
charlesmn 0:e91189a84ad9 113
charlesmn 0:e91189a84ad9 114 if (Devlocal->i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS)
charlesmn 0:e91189a84ad9 115 int_centre_result = 1; //flag to main that interrupt happened
charlesmn 0:e91189a84ad9 116 if (Devlocal->i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS)
charlesmn 0:e91189a84ad9 117 int_left_result = 1; //flag to main that interrupt happened7
charlesmn 0:e91189a84ad9 118 if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS)
charlesmn 0:e91189a84ad9 119 int_right_result = 1; //flag to main that interrupt happened
charlesmn 0:e91189a84ad9 120
charlesmn 0:e91189a84ad9 121 }
charlesmn 0:e91189a84ad9 122
charlesmn 0:e91189a84ad9 123
charlesmn 0:e91189a84ad9 124 //destructor
charlesmn 0:e91189a84ad9 125 ~WaitForMeasurement()
charlesmn 0:e91189a84ad9 126 {
charlesmn 0:e91189a84ad9 127 printf("WaitForMeasurement destruction \n");
charlesmn 0:e91189a84ad9 128 }
charlesmn 0:e91189a84ad9 129
charlesmn 0:e91189a84ad9 130 private:
charlesmn 0:e91189a84ad9 131 InterruptIn _interrupt;
charlesmn 0:e91189a84ad9 132 PinName pinlocal;
charlesmn 0:e91189a84ad9 133 volatile int _count;
charlesmn 0:e91189a84ad9 134 VL53L1_DEV Devlocal;
charlesmn 0:e91189a84ad9 135 int status;
charlesmn 0:e91189a84ad9 136
charlesmn 0:e91189a84ad9 137 };
charlesmn 0:e91189a84ad9 138
charlesmn 0:e91189a84ad9 139
charlesmn 0:e91189a84ad9 140
charlesmn 0:e91189a84ad9 141 VL53L1_Dev_t devCentre;
charlesmn 0:e91189a84ad9 142 VL53L1_Dev_t devLeft;
charlesmn 0:e91189a84ad9 143 VL53L1_Dev_t devRight;
charlesmn 0:e91189a84ad9 144 VL53L1_DEV Dev = &devCentre;
charlesmn 0:e91189a84ad9 145
charlesmn 0:e91189a84ad9 146
charlesmn 0:e91189a84ad9 147 /*=================================== Main ==================================
charlesmn 0:e91189a84ad9 148 =============================================================================*/
charlesmn 0:e91189a84ad9 149 int main()
charlesmn 0:e91189a84ad9 150 {
charlesmn 0:e91189a84ad9 151 int status;
charlesmn 1:c67af60ec906 152 VL53L1 * Sensor;
charlesmn 0:e91189a84ad9 153 uint16_t wordData;
charlesmn 0:e91189a84ad9 154 uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
charlesmn 0:e91189a84ad9 155
charlesmn 0:e91189a84ad9 156
charlesmn 0:e91189a84ad9 157 WaitForMeasurement* int2;
charlesmn 0:e91189a84ad9 158 WaitForMeasurement* int1;
charlesmn 0:e91189a84ad9 159 WaitForMeasurement* int3;
charlesmn 0:e91189a84ad9 160
charlesmn 0:e91189a84ad9 161 pc.baud(115200); // baud rate is important as printf statements take a lot of time
charlesmn 0:e91189a84ad9 162
charlesmn 0:e91189a84ad9 163 printf("main_interrupt_multizone \r\n");
charlesmn 0:e91189a84ad9 164
charlesmn 0:e91189a84ad9 165 // create i2c interface
charlesmn 0:e91189a84ad9 166 ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
charlesmn 0:e91189a84ad9 167
charlesmn 0:e91189a84ad9 168 dev_I2C->frequency(400000); //also needs doing in spi_interface.c
charlesmn 0:e91189a84ad9 169
charlesmn 1:c67af60ec906 170 /* creates the 53L1A2 expansion board singleton obj */
charlesmn 1:c67af60ec906 171 board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, RightIntPin, D2);
charlesmn 0:e91189a84ad9 172
charlesmn 0:e91189a84ad9 173 printf("board created!\r\n");
charlesmn 0:e91189a84ad9 174
charlesmn 0:e91189a84ad9 175 /* init the 53L1A1 expansion board with default values */
charlesmn 0:e91189a84ad9 176 status = board->init_board();
charlesmn 0:e91189a84ad9 177 if (status) {
charlesmn 0:e91189a84ad9 178 printf("Failed to init board!\r\n");
charlesmn 0:e91189a84ad9 179 return 0;
charlesmn 0:e91189a84ad9 180 }
charlesmn 0:e91189a84ad9 181
charlesmn 0:e91189a84ad9 182
charlesmn 0:e91189a84ad9 183 printf("board initiated! - %d\r\n", status);
charlesmn 0:e91189a84ad9 184 // create the sensor controller classes for each sensor and initialise the sensors
charlesmn 0:e91189a84ad9 185 for (ToFSensor=0;ToFSensor< NUM_SENSORS;ToFSensor++){
charlesmn 0:e91189a84ad9 186 switch(ToFSensor){
charlesmn 0:e91189a84ad9 187 case 0:
charlesmn 0:e91189a84ad9 188 if (board->sensor_centre== NULL ) continue; // don't create if sensor not detected
charlesmn 0:e91189a84ad9 189 Dev=&devCentre;
charlesmn 0:e91189a84ad9 190 Sensor=board->sensor_centre;
charlesmn 0:e91189a84ad9 191 Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:e91189a84ad9 192 printf("configuring centre channel \n");
charlesmn 0:e91189a84ad9 193 break;
charlesmn 0:e91189a84ad9 194 case 1:
charlesmn 0:e91189a84ad9 195 if (board->sensor_left== NULL ) continue; // don't create if sensor not detected
charlesmn 0:e91189a84ad9 196 Dev=&devLeft;
charlesmn 0:e91189a84ad9 197 Sensor=board->sensor_left;
charlesmn 0:e91189a84ad9 198 Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
charlesmn 0:e91189a84ad9 199 printf("configuring left channel \n");
charlesmn 0:e91189a84ad9 200 break;
charlesmn 0:e91189a84ad9 201 case 2:
charlesmn 0:e91189a84ad9 202 if (board->sensor_right== NULL ) continue; // don't create if sensor not detected
charlesmn 0:e91189a84ad9 203 Dev=&devRight;
charlesmn 0:e91189a84ad9 204 Sensor=board->sensor_right;
charlesmn 0:e91189a84ad9 205 Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
charlesmn 0:e91189a84ad9 206 printf("configuring right channel \n");
charlesmn 0:e91189a84ad9 207 break;
charlesmn 0:e91189a84ad9 208 default:
charlesmn 0:e91189a84ad9 209 printf(" error in switch, invalid ToF sensor \n");
charlesmn 0:e91189a84ad9 210 } //end of switch
charlesmn 0:e91189a84ad9 211
charlesmn 0:e91189a84ad9 212 // configure the sensors
charlesmn 0:e91189a84ad9 213 Dev->comms_speed_khz = 400;
charlesmn 0:e91189a84ad9 214
charlesmn 0:e91189a84ad9 215 Dev->comms_type = 1;
charlesmn 0:e91189a84ad9 216
charlesmn 0:e91189a84ad9 217 /* Device Initialization and setting */
charlesmn 0:e91189a84ad9 218 status = Sensor->vl53L1_DataInit();
charlesmn 0:e91189a84ad9 219 status = Sensor->vl53L1_StaticInit();
charlesmn 0:e91189a84ad9 220 status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_MULTIZONES_SCANNING);
charlesmn 0:e91189a84ad9 221
charlesmn 0:e91189a84ad9 222
charlesmn 0:e91189a84ad9 223
charlesmn 0:e91189a84ad9 224 //configure the regions of interest for each sensor
charlesmn 0:e91189a84ad9 225 VL53L1_RoiConfig_t roiConfig;
charlesmn 0:e91189a84ad9 226 roiConfig.NumberOfRoi =3;
charlesmn 0:e91189a84ad9 227 roiConfig.UserRois[0].TopLeftX = 0;
charlesmn 0:e91189a84ad9 228 roiConfig.UserRois[0].TopLeftY = 9;
charlesmn 0:e91189a84ad9 229 roiConfig.UserRois[0].BotRightX = 4;
charlesmn 0:e91189a84ad9 230 roiConfig.UserRois[0].BotRightY = 5;
charlesmn 0:e91189a84ad9 231 roiConfig.UserRois[1].TopLeftX = 5;
charlesmn 0:e91189a84ad9 232 roiConfig.UserRois[1].TopLeftY = 9;
charlesmn 0:e91189a84ad9 233 roiConfig.UserRois[1].BotRightX = 9;
charlesmn 0:e91189a84ad9 234 roiConfig.UserRois[1].BotRightY = 4;
charlesmn 0:e91189a84ad9 235 roiConfig.UserRois[2].TopLeftX = 11;
charlesmn 0:e91189a84ad9 236 roiConfig.UserRois[2].TopLeftY = 9;
charlesmn 0:e91189a84ad9 237 roiConfig.UserRois[2].BotRightX = 15;
charlesmn 0:e91189a84ad9 238 roiConfig.UserRois[2].BotRightY = 5;
charlesmn 0:e91189a84ad9 239 status = Sensor->vl53L1_SetROI( &roiConfig);
charlesmn 0:e91189a84ad9 240
charlesmn 0:e91189a84ad9 241
charlesmn 0:e91189a84ad9 242 status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
charlesmn 0:e91189a84ad9 243 // status = Sensor->VL53L1_SetMeasurementTimingBudgetMicroSeconds( 100 * 500); // error -21 is because of this. Don't know why
charlesmn 0:e91189a84ad9 244 }
charlesmn 0:e91189a84ad9 245
charlesmn 0:e91189a84ad9 246 // create interrupt handlers for the sensors that exist
charlesmn 0:e91189a84ad9 247 if (board->sensor_centre!= NULL )
charlesmn 0:e91189a84ad9 248 {
charlesmn 0:e91189a84ad9 249 printf("starting interrupt centre\n");
charlesmn 0:e91189a84ad9 250 devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:e91189a84ad9 251 int1 = new WaitForMeasurement(CentreIntPin,&devCentre); // create a interrupt class for this interrupt pin
charlesmn 0:e91189a84ad9 252 status = board->sensor_centre->vl53L1_StartMeasurement(); //start the sensor measuring
charlesmn 0:e91189a84ad9 253 }
charlesmn 0:e91189a84ad9 254
charlesmn 0:e91189a84ad9 255 if (board->sensor_left!= NULL )
charlesmn 0:e91189a84ad9 256 {
charlesmn 0:e91189a84ad9 257 printf("starting interrupt left\n");
charlesmn 0:e91189a84ad9 258 devLeft.i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
charlesmn 0:e91189a84ad9 259 int2 = new WaitForMeasurement(LeftIntPin,&devLeft); // create a interrupt class for this interrupt pin
charlesmn 0:e91189a84ad9 260 status = board->sensor_left->vl53L1_StartMeasurement(); //start the sensor measuring
charlesmn 0:e91189a84ad9 261 }
charlesmn 0:e91189a84ad9 262
charlesmn 0:e91189a84ad9 263 if (board->sensor_right!= NULL )
charlesmn 0:e91189a84ad9 264 {
charlesmn 0:e91189a84ad9 265 printf("starting interrupt right\n");
charlesmn 0:e91189a84ad9 266 devRight.i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
charlesmn 0:e91189a84ad9 267 int3 = new WaitForMeasurement(RightIntPin,&devRight); // create a interrupt class for this interrupt pin
charlesmn 0:e91189a84ad9 268 status = board->sensor_right->vl53L1_StartMeasurement();//start the sensor measuring
charlesmn 0:e91189a84ad9 269 }
charlesmn 0:e91189a84ad9 270
charlesmn 0:e91189a84ad9 271
charlesmn 0:e91189a84ad9 272
charlesmn 0:e91189a84ad9 273
charlesmn 0:e91189a84ad9 274 // loop waiting for interrupts to happen. This is signaled by int_centre_result,int_left_result or int_right_result
charlesmn 0:e91189a84ad9 275 // being non zero. When the interrupts clear this is signaled by int_centre_dropped,int_left_dropped and int_right_dropped.
charlesmn 0:e91189a84ad9 276 // These are set back to zero when processing is completed
charlesmn 0:e91189a84ad9 277 while (1)
charlesmn 0:e91189a84ad9 278 {
charlesmn 0:e91189a84ad9 279 VL53L1_MultiRangingData_t MultiRangingData;
charlesmn 0:e91189a84ad9 280 VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
charlesmn 0:e91189a84ad9 281
charlesmn 0:e91189a84ad9 282 if ( int_left_dropped || int_centre_dropped || int_right_result)
charlesmn 0:e91189a84ad9 283 wait_ms(20);
charlesmn 0:e91189a84ad9 284
charlesmn 0:e91189a84ad9 285
charlesmn 0:e91189a84ad9 286 // when the interrupt pin goes low start new measurement
charlesmn 0:e91189a84ad9 287 if ( int_centre_dropped != 0)
charlesmn 0:e91189a84ad9 288 {
charlesmn 0:e91189a84ad9 289 int_centre_dropped = 0;
charlesmn 0:e91189a84ad9 290 status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();// get next measurement
charlesmn 0:e91189a84ad9 291 }
charlesmn 0:e91189a84ad9 292
charlesmn 0:e91189a84ad9 293 if ( int_left_dropped != 0)
charlesmn 0:e91189a84ad9 294 {
charlesmn 0:e91189a84ad9 295 int_left_dropped = 0;
charlesmn 0:e91189a84ad9 296 status = board->sensor_left->vl53L1_ClearInterruptAndStartMeasurement();
charlesmn 0:e91189a84ad9 297 }
charlesmn 0:e91189a84ad9 298
charlesmn 0:e91189a84ad9 299 if ( int_right_dropped != 0)
charlesmn 0:e91189a84ad9 300 {
charlesmn 0:e91189a84ad9 301 int_right_dropped = 0;
charlesmn 0:e91189a84ad9 302 status = board->sensor_right->vl53L1_ClearInterruptAndStartMeasurement();
charlesmn 0:e91189a84ad9 303 }
charlesmn 0:e91189a84ad9 304
charlesmn 0:e91189a84ad9 305 if (int_right_result != 0) // interrupt seen on right sensor
charlesmn 0:e91189a84ad9 306 {
charlesmn 0:e91189a84ad9 307 status = board->sensor_right->vl53L1_GetMultiRangingData( pMultiRangingData);
charlesmn 0:e91189a84ad9 308 if ( status == 0)
charlesmn 0:e91189a84ad9 309 {
charlesmn 0:e91189a84ad9 310 print_results( devRight.i2c_slave_address, pMultiRangingData );
charlesmn 0:e91189a84ad9 311 }
charlesmn 0:e91189a84ad9 312
charlesmn 0:e91189a84ad9 313 // clear interrupt flag
charlesmn 0:e91189a84ad9 314 int_right_result = 0;
charlesmn 0:e91189a84ad9 315 }
charlesmn 0:e91189a84ad9 316
charlesmn 0:e91189a84ad9 317
charlesmn 0:e91189a84ad9 318 if (int_left_result != 0) // interrupt seen on left sensor
charlesmn 0:e91189a84ad9 319 {
charlesmn 0:e91189a84ad9 320 status = board->sensor_left->vl53L1_GetMultiRangingData(pMultiRangingData);
charlesmn 0:e91189a84ad9 321 if ( status == 0)
charlesmn 0:e91189a84ad9 322 {
charlesmn 0:e91189a84ad9 323 print_results( devLeft.i2c_slave_address, pMultiRangingData );
charlesmn 0:e91189a84ad9 324 }
charlesmn 0:e91189a84ad9 325
charlesmn 0:e91189a84ad9 326 // clear interrupt flag
charlesmn 0:e91189a84ad9 327 int_left_result = 0;
charlesmn 0:e91189a84ad9 328 }
charlesmn 0:e91189a84ad9 329
charlesmn 0:e91189a84ad9 330 if (int_centre_result != 0)
charlesmn 0:e91189a84ad9 331 {
charlesmn 0:e91189a84ad9 332 status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
charlesmn 0:e91189a84ad9 333 if(status==0) {
charlesmn 0:e91189a84ad9 334 print_results(devCentre.i2c_slave_address, pMultiRangingData );
charlesmn 0:e91189a84ad9 335 } //if(status==0)
charlesmn 0:e91189a84ad9 336
charlesmn 0:e91189a84ad9 337 // clear interrupt flag
charlesmn 0:e91189a84ad9 338 int_centre_result = 0;
charlesmn 0:e91189a84ad9 339
charlesmn 0:e91189a84ad9 340 }
charlesmn 0:e91189a84ad9 341
charlesmn 0:e91189a84ad9 342 wait_ms( 1 * 5);
charlesmn 0:e91189a84ad9 343
charlesmn 0:e91189a84ad9 344 }
charlesmn 0:e91189a84ad9 345 }
charlesmn 0:e91189a84ad9 346
charlesmn 0:e91189a84ad9 347
charlesmn 0:e91189a84ad9 348
charlesmn 0:e91189a84ad9 349 // print out what data is required
charlesmn 0:e91189a84ad9 350 void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
charlesmn 0:e91189a84ad9 351 {
charlesmn 0:e91189a84ad9 352 int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
charlesmn 0:e91189a84ad9 353
charlesmn 0:e91189a84ad9 354 int RoiNumber=pMultiRangingData->RoiNumber;
charlesmn 0:e91189a84ad9 355 int RoiStatus=pMultiRangingData->RoiStatus;
charlesmn 0:e91189a84ad9 356
charlesmn 0:e91189a84ad9 357 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:e91189a84ad9 358 {
charlesmn 0:e91189a84ad9 359 for(int j=0;j<no_of_object_found;j++){
charlesmn 0:e91189a84ad9 360 if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
charlesmn 0:e91189a84ad9 361 (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL))
charlesmn 0:e91189a84ad9 362 {
charlesmn 0:e91189a84ad9 363 printf("\t spiAddr=%d \t RoiNumber=%d \t D=%5dmm \n",
charlesmn 0:e91189a84ad9 364 devSpiNumber,
charlesmn 0:e91189a84ad9 365 RoiNumber,
charlesmn 0:e91189a84ad9 366 pMultiRangingData->RangeData[j].RangeMilliMeter);
charlesmn 0:e91189a84ad9 367 }
charlesmn 0:e91189a84ad9 368 else
charlesmn 0:e91189a84ad9 369 {
charlesmn 0:e91189a84ad9 370 // printf("RangeStatus %d %d\n",j, pMultiRangingData->RangeData[j].RangeStatus);
charlesmn 0:e91189a84ad9 371 }
charlesmn 0:e91189a84ad9 372 }
charlesmn 0:e91189a84ad9 373 } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:e91189a84ad9 374 else
charlesmn 0:e91189a84ad9 375 {
charlesmn 0:e91189a84ad9 376 // printf("no_of_object_found %d \n",no_of_object_found);
charlesmn 0:e91189a84ad9 377 }
charlesmn 0:e91189a84ad9 378
charlesmn 0:e91189a84ad9 379 }
charlesmn 0:e91189a84ad9 380
charlesmn 0:e91189a84ad9 381
charlesmn 0:e91189a84ad9 382
charlesmn 0:e91189a84ad9 383 #if (MBED_VERSION > 60300)
charlesmn 0:e91189a84ad9 384 void wait_ms(int ms)
charlesmn 0:e91189a84ad9 385 {
charlesmn 0:e91189a84ad9 386 thread_sleep_for(ms);
charlesmn 0:e91189a84ad9 387 }
charlesmn 0:e91189a84ad9 388 #endif
charlesmn 0:e91189a84ad9 389