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@0:e91189a84ad9, 2020-11-08 (annotated)

Committer:
charlesmn
Date:
Sun Nov 08 15:49:23 2020 +0000
Revision:
0:e91189a84ad9
Child:
1:c67af60ec906
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

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 0:e91189a84ad9 16 #include "XNucleo53L1A1.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 0:e91189a84ad9 27 PinName CentreIntPin = A2;
charlesmn 0:e91189a84ad9 28 // the satellite pins depend on solder blobs on the back of the shield.
charlesmn 0:e91189a84ad9 29 // they may not exist or may be one of two sets.
charlesmn 0:e91189a84ad9 30 // the centre pin always exists
charlesmn 0:e91189a84ad9 31 PinName LeftIntPin = D9;
charlesmn 0:e91189a84ad9 32 PinName RightIntPin = D4;
charlesmn 0:e91189a84ad9 33 // alternate set
charlesmn 0:e91189a84ad9 34 //PinName LeftIntPin = D8;
charlesmn 0:e91189a84ad9 35 //PinName RightIntPin = D2;
charlesmn 0:e91189a84ad9 36
charlesmn 0:e91189a84ad9 37
charlesmn 0:e91189a84ad9 38 static XNucleo53L1A1 *board=NULL;
charlesmn 0:e91189a84ad9 39
charlesmn 0:e91189a84ad9 40 #if (MBED_VERSION > 60300)
charlesmn 0:e91189a84ad9 41 UnbufferedSerial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:e91189a84ad9 42 extern "C" void wait_ms(int ms);
charlesmn 0:e91189a84ad9 43 #else
charlesmn 0:e91189a84ad9 44 Serial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:e91189a84ad9 45 #endif
charlesmn 0:e91189a84ad9 46
charlesmn 0:e91189a84ad9 47 // flags to indicate an interrupt has happened
charlesmn 0:e91189a84ad9 48 static int int_centre_result = 0;
charlesmn 0:e91189a84ad9 49 static int int_left_result = 0;
charlesmn 0:e91189a84ad9 50 static int int_right_result = 0;
charlesmn 0:e91189a84ad9 51
charlesmn 0:e91189a84ad9 52 // flags to indicate an interrupt has cleared
charlesmn 0:e91189a84ad9 53 static int int_centre_dropped = 0;
charlesmn 0:e91189a84ad9 54 static int int_left_dropped = 0;
charlesmn 0:e91189a84ad9 55 static int int_right_dropped = 0;
charlesmn 0:e91189a84ad9 56
charlesmn 0:e91189a84ad9 57 // timing for debug purposes
charlesmn 0:e91189a84ad9 58 uint32_t centre_polling_time_ms;
charlesmn 0:e91189a84ad9 59 uint32_t centre_start_time_ms;
charlesmn 0:e91189a84ad9 60 uint32_t centre_end_time_ms;
charlesmn 0:e91189a84ad9 61
charlesmn 0:e91189a84ad9 62 void process_interrupt( VL53L1X * sensor,VL53L1_DEV dev );
charlesmn 0:e91189a84ad9 63 void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
charlesmn 0:e91189a84ad9 64
charlesmn 0:e91189a84ad9 65
charlesmn 0:e91189a84ad9 66
charlesmn 0:e91189a84ad9 67 // this class services the interrupts from the ToF sensors.
charlesmn 0:e91189a84ad9 68 // There is a limited amount you can do in an interrupt routine; printfs,mutexes break them among other things.
charlesmn 0:e91189a84ad9 69 // We keep things simple by only raising a flag so all the real work is done outside the interrupt.
charlesmn 0:e91189a84ad9 70 // 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 71 class WaitForMeasurement {
charlesmn 0:e91189a84ad9 72 public:
charlesmn 0:e91189a84ad9 73
charlesmn 0:e91189a84ad9 74
charlesmn 0:e91189a84ad9 75 WaitForMeasurement(): _interrupt(A1)
charlesmn 0:e91189a84ad9 76 {
charlesmn 0:e91189a84ad9 77 }
charlesmn 0:e91189a84ad9 78
charlesmn 0:e91189a84ad9 79
charlesmn 0:e91189a84ad9 80 // constructor - Sensor is not used and can be removed
charlesmn 0:e91189a84ad9 81 WaitForMeasurement(PinName pin,VL53L1_DEV Dev) : _interrupt(pin) // create the InterruptIn on the pin specified to Counter
charlesmn 0:e91189a84ad9 82 {
charlesmn 0:e91189a84ad9 83 Devlocal = Dev;
charlesmn 0:e91189a84ad9 84 pinlocal = pin;
charlesmn 0:e91189a84ad9 85
charlesmn 0:e91189a84ad9 86 #include "mbed.h"
charlesmn 0:e91189a84ad9 87
charlesmn 0:e91189a84ad9 88 printf("WaitForMeasurement %d \n",Dev->i2c_slave_address);
charlesmn 0:e91189a84ad9 89 _interrupt.rise(callback(this, &WaitForMeasurement::got_interrupt)); // if interrupt happens read data
charlesmn 0:e91189a84ad9 90 _interrupt.fall(callback(this, &WaitForMeasurement::interruptdropped)); // if interupt clears, start next reading
charlesmn 0:e91189a84ad9 91
charlesmn 0:e91189a84ad9 92 }
charlesmn 0:e91189a84ad9 93
charlesmn 0:e91189a84ad9 94 // function is called every time an interupt is cleared. causes
charlesmn 0:e91189a84ad9 95 void interruptdropped()
charlesmn 0:e91189a84ad9 96 {
charlesmn 0:e91189a84ad9 97
charlesmn 0:e91189a84ad9 98 if (Devlocal->i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS)
charlesmn 0:e91189a84ad9 99 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 100 if (Devlocal->i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS)
charlesmn 0:e91189a84ad9 101 int_left_dropped = 1; //flag to main that interrupt cleared
charlesmn 0:e91189a84ad9 102 if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS)
charlesmn 0:e91189a84ad9 103 int_right_dropped = 1; //flag to main that interrupt cleared
charlesmn 0:e91189a84ad9 104
charlesmn 0:e91189a84ad9 105 }
charlesmn 0:e91189a84ad9 106
charlesmn 0:e91189a84ad9 107 // 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 108 void got_interrupt()
charlesmn 0:e91189a84ad9 109 {
charlesmn 0:e91189a84ad9 110 DigitalIn intp(pinlocal);
charlesmn 0:e91189a84ad9 111 _count++;
charlesmn 0:e91189a84ad9 112
charlesmn 0:e91189a84ad9 113 if (Devlocal->i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS)
charlesmn 0:e91189a84ad9 114 int_centre_result = 1; //flag to main that interrupt happened
charlesmn 0:e91189a84ad9 115 if (Devlocal->i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS)
charlesmn 0:e91189a84ad9 116 int_left_result = 1; //flag to main that interrupt happened7
charlesmn 0:e91189a84ad9 117 if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS)
charlesmn 0:e91189a84ad9 118 int_right_result = 1; //flag to main that interrupt happened
charlesmn 0:e91189a84ad9 119
charlesmn 0:e91189a84ad9 120 }
charlesmn 0:e91189a84ad9 121
charlesmn 0:e91189a84ad9 122
charlesmn 0:e91189a84ad9 123 //destructor
charlesmn 0:e91189a84ad9 124 ~WaitForMeasurement()
charlesmn 0:e91189a84ad9 125 {
charlesmn 0:e91189a84ad9 126 printf("WaitForMeasurement destruction \n");
charlesmn 0:e91189a84ad9 127 }
charlesmn 0:e91189a84ad9 128
charlesmn 0:e91189a84ad9 129 private:
charlesmn 0:e91189a84ad9 130 InterruptIn _interrupt;
charlesmn 0:e91189a84ad9 131 PinName pinlocal;
charlesmn 0:e91189a84ad9 132 volatile int _count;
charlesmn 0:e91189a84ad9 133 VL53L1_DEV Devlocal;
charlesmn 0:e91189a84ad9 134 int status;
charlesmn 0:e91189a84ad9 135
charlesmn 0:e91189a84ad9 136 };
charlesmn 0:e91189a84ad9 137
charlesmn 0:e91189a84ad9 138
charlesmn 0:e91189a84ad9 139
charlesmn 0:e91189a84ad9 140 VL53L1_Dev_t devCentre;
charlesmn 0:e91189a84ad9 141 VL53L1_Dev_t devLeft;
charlesmn 0:e91189a84ad9 142 VL53L1_Dev_t devRight;
charlesmn 0:e91189a84ad9 143 VL53L1_DEV Dev = &devCentre;
charlesmn 0:e91189a84ad9 144
charlesmn 0:e91189a84ad9 145
charlesmn 0:e91189a84ad9 146 /*=================================== Main ==================================
charlesmn 0:e91189a84ad9 147 =============================================================================*/
charlesmn 0:e91189a84ad9 148 int main()
charlesmn 0:e91189a84ad9 149 {
charlesmn 0:e91189a84ad9 150 int status;
charlesmn 0:e91189a84ad9 151 VL53L1X * Sensor;
charlesmn 0:e91189a84ad9 152 uint16_t wordData;
charlesmn 0:e91189a84ad9 153 uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
charlesmn 0:e91189a84ad9 154
charlesmn 0:e91189a84ad9 155
charlesmn 0:e91189a84ad9 156 WaitForMeasurement* int2;
charlesmn 0:e91189a84ad9 157 WaitForMeasurement* int1;
charlesmn 0:e91189a84ad9 158 WaitForMeasurement* int3;
charlesmn 0:e91189a84ad9 159
charlesmn 0:e91189a84ad9 160 pc.baud(115200); // baud rate is important as printf statements take a lot of time
charlesmn 0:e91189a84ad9 161
charlesmn 0:e91189a84ad9 162 printf("main_interrupt_multizone \r\n");
charlesmn 0:e91189a84ad9 163
charlesmn 0:e91189a84ad9 164 // create i2c interface
charlesmn 0:e91189a84ad9 165 ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
charlesmn 0:e91189a84ad9 166
charlesmn 0:e91189a84ad9 167 dev_I2C->frequency(400000); //also needs doing in spi_interface.c
charlesmn 0:e91189a84ad9 168
charlesmn 0:e91189a84ad9 169 /* creates the 53L1A1 expansion board singleton obj */
charlesmn 0:e91189a84ad9 170 board = XNucleo53L1A1::instance(dev_I2C, CentreIntPin, RightIntPin, D2);
charlesmn 0:e91189a84ad9 171
charlesmn 0:e91189a84ad9 172 printf("board created!\r\n");
charlesmn 0:e91189a84ad9 173
charlesmn 0:e91189a84ad9 174 /* init the 53L1A1 expansion board with default values */
charlesmn 0:e91189a84ad9 175 status = board->init_board();
charlesmn 0:e91189a84ad9 176 if (status) {
charlesmn 0:e91189a84ad9 177 printf("Failed to init board!\r\n");
charlesmn 0:e91189a84ad9 178 return 0;
charlesmn 0:e91189a84ad9 179 }
charlesmn 0:e91189a84ad9 180
charlesmn 0:e91189a84ad9 181
charlesmn 0:e91189a84ad9 182 printf("board initiated! - %d\r\n", status);
charlesmn 0:e91189a84ad9 183 // create the sensor controller classes for each sensor and initialise the sensors
charlesmn 0:e91189a84ad9 184 for (ToFSensor=0;ToFSensor< NUM_SENSORS;ToFSensor++){
charlesmn 0:e91189a84ad9 185 switch(ToFSensor){
charlesmn 0:e91189a84ad9 186 case 0:
charlesmn 0:e91189a84ad9 187 if (board->sensor_centre== NULL ) continue; // don't create if sensor not detected
charlesmn 0:e91189a84ad9 188 Dev=&devCentre;
charlesmn 0:e91189a84ad9 189 Sensor=board->sensor_centre;
charlesmn 0:e91189a84ad9 190 Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:e91189a84ad9 191 printf("configuring centre channel \n");
charlesmn 0:e91189a84ad9 192 break;
charlesmn 0:e91189a84ad9 193 case 1:
charlesmn 0:e91189a84ad9 194 if (board->sensor_left== NULL ) continue; // don't create if sensor not detected
charlesmn 0:e91189a84ad9 195 Dev=&devLeft;
charlesmn 0:e91189a84ad9 196 Sensor=board->sensor_left;
charlesmn 0:e91189a84ad9 197 Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
charlesmn 0:e91189a84ad9 198 printf("configuring left channel \n");
charlesmn 0:e91189a84ad9 199 break;
charlesmn 0:e91189a84ad9 200 case 2:
charlesmn 0:e91189a84ad9 201 if (board->sensor_right== NULL ) continue; // don't create if sensor not detected
charlesmn 0:e91189a84ad9 202 Dev=&devRight;
charlesmn 0:e91189a84ad9 203 Sensor=board->sensor_right;
charlesmn 0:e91189a84ad9 204 Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
charlesmn 0:e91189a84ad9 205 printf("configuring right channel \n");
charlesmn 0:e91189a84ad9 206 break;
charlesmn 0:e91189a84ad9 207 default:
charlesmn 0:e91189a84ad9 208 printf(" error in switch, invalid ToF sensor \n");
charlesmn 0:e91189a84ad9 209 } //end of switch
charlesmn 0:e91189a84ad9 210
charlesmn 0:e91189a84ad9 211 // configure the sensors
charlesmn 0:e91189a84ad9 212 Dev->comms_speed_khz = 400;
charlesmn 0:e91189a84ad9 213
charlesmn 0:e91189a84ad9 214 Dev->comms_type = 1;
charlesmn 0:e91189a84ad9 215
charlesmn 0:e91189a84ad9 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
charlesmn 0:e91189a84ad9 222
charlesmn 0:e91189a84ad9 223 //configure the regions of interest for each sensor
charlesmn 0:e91189a84ad9 224 VL53L1_RoiConfig_t roiConfig;
charlesmn 0:e91189a84ad9 225 roiConfig.NumberOfRoi =3;
charlesmn 0:e91189a84ad9 226 roiConfig.UserRois[0].TopLeftX = 0;
charlesmn 0:e91189a84ad9 227 roiConfig.UserRois[0].TopLeftY = 9;
charlesmn 0:e91189a84ad9 228 roiConfig.UserRois[0].BotRightX = 4;
charlesmn 0:e91189a84ad9 229 roiConfig.UserRois[0].BotRightY = 5;
charlesmn 0:e91189a84ad9 230 roiConfig.UserRois[1].TopLeftX = 5;
charlesmn 0:e91189a84ad9 231 roiConfig.UserRois[1].TopLeftY = 9;
charlesmn 0:e91189a84ad9 232 roiConfig.UserRois[1].BotRightX = 9;
charlesmn 0:e91189a84ad9 233 roiConfig.UserRois[1].BotRightY = 4;
charlesmn 0:e91189a84ad9 234 roiConfig.UserRois[2].TopLeftX = 11;
charlesmn 0:e91189a84ad9 235 roiConfig.UserRois[2].TopLeftY = 9;
charlesmn 0:e91189a84ad9 236 roiConfig.UserRois[2].BotRightX = 15;
charlesmn 0:e91189a84ad9 237 roiConfig.UserRois[2].BotRightY = 5;
charlesmn 0:e91189a84ad9 238 status = Sensor->vl53L1_SetROI( &roiConfig);
charlesmn 0:e91189a84ad9 239
charlesmn 0:e91189a84ad9 240
charlesmn 0:e91189a84ad9 241 status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
charlesmn 0:e91189a84ad9 242 // status = Sensor->VL53L1_SetMeasurementTimingBudgetMicroSeconds( 100 * 500); // error -21 is because of this. Don't know why
charlesmn 0:e91189a84ad9 243 }
charlesmn 0:e91189a84ad9 244
charlesmn 0:e91189a84ad9 245 // create interrupt handlers for the sensors that exist
charlesmn 0:e91189a84ad9 246 if (board->sensor_centre!= NULL )
charlesmn 0:e91189a84ad9 247 {
charlesmn 0:e91189a84ad9 248 printf("starting interrupt centre\n");
charlesmn 0:e91189a84ad9 249 devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:e91189a84ad9 250 int1 = new WaitForMeasurement(CentreIntPin,&devCentre); // create a interrupt class for this interrupt pin
charlesmn 0:e91189a84ad9 251 status = board->sensor_centre->vl53L1_StartMeasurement(); //start the sensor measuring
charlesmn 0:e91189a84ad9 252 }
charlesmn 0:e91189a84ad9 253
charlesmn 0:e91189a84ad9 254 if (board->sensor_left!= NULL )
charlesmn 0:e91189a84ad9 255 {
charlesmn 0:e91189a84ad9 256 printf("starting interrupt left\n");
charlesmn 0:e91189a84ad9 257 devLeft.i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
charlesmn 0:e91189a84ad9 258 int2 = new WaitForMeasurement(LeftIntPin,&devLeft); // create a interrupt class for this interrupt pin
charlesmn 0:e91189a84ad9 259 status = board->sensor_left->vl53L1_StartMeasurement(); //start the sensor measuring
charlesmn 0:e91189a84ad9 260 }
charlesmn 0:e91189a84ad9 261
charlesmn 0:e91189a84ad9 262 if (board->sensor_right!= NULL )
charlesmn 0:e91189a84ad9 263 {
charlesmn 0:e91189a84ad9 264 printf("starting interrupt right\n");
charlesmn 0:e91189a84ad9 265 devRight.i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
charlesmn 0:e91189a84ad9 266 int3 = new WaitForMeasurement(RightIntPin,&devRight); // create a interrupt class for this interrupt pin
charlesmn 0:e91189a84ad9 267 status = board->sensor_right->vl53L1_StartMeasurement();//start the sensor measuring
charlesmn 0:e91189a84ad9 268 }
charlesmn 0:e91189a84ad9 269
charlesmn 0:e91189a84ad9 270
charlesmn 0:e91189a84ad9 271
charlesmn 0:e91189a84ad9 272
charlesmn 0:e91189a84ad9 273 // loop waiting for interrupts to happen. This is signaled by int_centre_result,int_left_result or int_right_result
charlesmn 0:e91189a84ad9 274 // being non zero. When the interrupts clear this is signaled by int_centre_dropped,int_left_dropped and int_right_dropped.
charlesmn 0:e91189a84ad9 275 // These are set back to zero when processing is completed
charlesmn 0:e91189a84ad9 276 while (1)
charlesmn 0:e91189a84ad9 277 {
charlesmn 0:e91189a84ad9 278 VL53L1_MultiRangingData_t MultiRangingData;
charlesmn 0:e91189a84ad9 279 VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
charlesmn 0:e91189a84ad9 280
charlesmn 0:e91189a84ad9 281 if ( int_left_dropped || int_centre_dropped || int_right_result)
charlesmn 0:e91189a84ad9 282 wait_ms(20);
charlesmn 0:e91189a84ad9 283
charlesmn 0:e91189a84ad9 284
charlesmn 0:e91189a84ad9 285 // when the interrupt pin goes low start new measurement
charlesmn 0:e91189a84ad9 286 if ( int_centre_dropped != 0)
charlesmn 0:e91189a84ad9 287 {
charlesmn 0:e91189a84ad9 288 int_centre_dropped = 0;
charlesmn 0:e91189a84ad9 289 status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();// get next measurement
charlesmn 0:e91189a84ad9 290 }
charlesmn 0:e91189a84ad9 291
charlesmn 0:e91189a84ad9 292 if ( int_left_dropped != 0)
charlesmn 0:e91189a84ad9 293 {
charlesmn 0:e91189a84ad9 294 int_left_dropped = 0;
charlesmn 0:e91189a84ad9 295 status = board->sensor_left->vl53L1_ClearInterruptAndStartMeasurement();
charlesmn 0:e91189a84ad9 296 }
charlesmn 0:e91189a84ad9 297
charlesmn 0:e91189a84ad9 298 if ( int_right_dropped != 0)
charlesmn 0:e91189a84ad9 299 {
charlesmn 0:e91189a84ad9 300 int_right_dropped = 0;
charlesmn 0:e91189a84ad9 301 status = board->sensor_right->vl53L1_ClearInterruptAndStartMeasurement();
charlesmn 0:e91189a84ad9 302 }
charlesmn 0:e91189a84ad9 303
charlesmn 0:e91189a84ad9 304 if (int_right_result != 0) // interrupt seen on right sensor
charlesmn 0:e91189a84ad9 305 {
charlesmn 0:e91189a84ad9 306 status = board->sensor_right->vl53L1_GetMultiRangingData( pMultiRangingData);
charlesmn 0:e91189a84ad9 307 if ( status == 0)
charlesmn 0:e91189a84ad9 308 {
charlesmn 0:e91189a84ad9 309 print_results( devRight.i2c_slave_address, pMultiRangingData );
charlesmn 0:e91189a84ad9 310 }
charlesmn 0:e91189a84ad9 311
charlesmn 0:e91189a84ad9 312 // clear interrupt flag
charlesmn 0:e91189a84ad9 313 int_right_result = 0;
charlesmn 0:e91189a84ad9 314 }
charlesmn 0:e91189a84ad9 315
charlesmn 0:e91189a84ad9 316
charlesmn 0:e91189a84ad9 317 if (int_left_result != 0) // interrupt seen on left sensor
charlesmn 0:e91189a84ad9 318 {
charlesmn 0:e91189a84ad9 319 status = board->sensor_left->vl53L1_GetMultiRangingData(pMultiRangingData);
charlesmn 0:e91189a84ad9 320 if ( status == 0)
charlesmn 0:e91189a84ad9 321 {
charlesmn 0:e91189a84ad9 322 print_results( devLeft.i2c_slave_address, pMultiRangingData );
charlesmn 0:e91189a84ad9 323 }
charlesmn 0:e91189a84ad9 324
charlesmn 0:e91189a84ad9 325 // clear interrupt flag
charlesmn 0:e91189a84ad9 326 int_left_result = 0;
charlesmn 0:e91189a84ad9 327 }
charlesmn 0:e91189a84ad9 328
charlesmn 0:e91189a84ad9 329 if (int_centre_result != 0)
charlesmn 0:e91189a84ad9 330 {
charlesmn 0:e91189a84ad9 331 status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
charlesmn 0:e91189a84ad9 332 if(status==0) {
charlesmn 0:e91189a84ad9 333 print_results(devCentre.i2c_slave_address, pMultiRangingData );
charlesmn 0:e91189a84ad9 334 } //if(status==0)
charlesmn 0:e91189a84ad9 335
charlesmn 0:e91189a84ad9 336 // clear interrupt flag
charlesmn 0:e91189a84ad9 337 int_centre_result = 0;
charlesmn 0:e91189a84ad9 338
charlesmn 0:e91189a84ad9 339 }
charlesmn 0:e91189a84ad9 340
charlesmn 0:e91189a84ad9 341 wait_ms( 1 * 5);
charlesmn 0:e91189a84ad9 342
charlesmn 0:e91189a84ad9 343 }
charlesmn 0:e91189a84ad9 344 }
charlesmn 0:e91189a84ad9 345
charlesmn 0:e91189a84ad9 346
charlesmn 0:e91189a84ad9 347
charlesmn 0:e91189a84ad9 348 // print out what data is required
charlesmn 0:e91189a84ad9 349 void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
charlesmn 0:e91189a84ad9 350 {
charlesmn 0:e91189a84ad9 351 int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
charlesmn 0:e91189a84ad9 352
charlesmn 0:e91189a84ad9 353 int RoiNumber=pMultiRangingData->RoiNumber;
charlesmn 0:e91189a84ad9 354 int RoiStatus=pMultiRangingData->RoiStatus;
charlesmn 0:e91189a84ad9 355
charlesmn 0:e91189a84ad9 356 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:e91189a84ad9 357 {
charlesmn 0:e91189a84ad9 358 for(int j=0;j<no_of_object_found;j++){
charlesmn 0:e91189a84ad9 359 if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
charlesmn 0:e91189a84ad9 360 (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL))
charlesmn 0:e91189a84ad9 361 {
charlesmn 0:e91189a84ad9 362 printf("\t spiAddr=%d \t RoiNumber=%d \t D=%5dmm \n",
charlesmn 0:e91189a84ad9 363 devSpiNumber,
charlesmn 0:e91189a84ad9 364 RoiNumber,
charlesmn 0:e91189a84ad9 365 pMultiRangingData->RangeData[j].RangeMilliMeter);
charlesmn 0:e91189a84ad9 366 }
charlesmn 0:e91189a84ad9 367 else
charlesmn 0:e91189a84ad9 368 {
charlesmn 0:e91189a84ad9 369 // printf("RangeStatus %d %d\n",j, pMultiRangingData->RangeData[j].RangeStatus);
charlesmn 0:e91189a84ad9 370 }
charlesmn 0:e91189a84ad9 371 }
charlesmn 0:e91189a84ad9 372 } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:e91189a84ad9 373 else
charlesmn 0:e91189a84ad9 374 {
charlesmn 0:e91189a84ad9 375 // printf("no_of_object_found %d \n",no_of_object_found);
charlesmn 0:e91189a84ad9 376 }
charlesmn 0:e91189a84ad9 377
charlesmn 0:e91189a84ad9 378 }
charlesmn 0:e91189a84ad9 379
charlesmn 0:e91189a84ad9 380
charlesmn 0:e91189a84ad9 381
charlesmn 0:e91189a84ad9 382 #if (MBED_VERSION > 60300)
charlesmn 0:e91189a84ad9 383 void wait_ms(int ms)
charlesmn 0:e91189a84ad9 384 {
charlesmn 0:e91189a84ad9 385 thread_sleep_for(ms);
charlesmn 0:e91189a84ad9 386 }
charlesmn 0:e91189a84ad9 387 #endif
charlesmn 0:e91189a84ad9 388