Diff: main.cpp

Revision:

0:e91189a84ad9

Child:

1:c67af60ec906

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Nov 08 15:49:23 2020 +0000
@@ -0,0 +1,388 @@
+/*
+ *  This VL53L1X Expansion board test application performs range measurements
+ *  using the onboard embedded centre sensor and two satelites, in multizone, interrupt mode.
+ *  Measured ranges are ouput on the Serial Port, running at 115200 baud.
+ *
+ *
+ * This is designed to work with MBed V2 , MBed V5 and MBed V6.
+ *
+ *
+ *  The Reset button can be used to restart the program.
+ */
+ 
+#include <stdio.h>
+
+#include "mbed.h"
+#include "XNucleo53L1A1.h"
+#include "ToF_I2C.h"
+#include <time.h>
+
+
+// define the i2c comms pins
+#define I2C_SDA   D14 
+#define I2C_SCL   D15 
+
+#define NUM_SENSORS 3
+
+PinName CentreIntPin = A2;
+// the satellite pins depend on solder blobs on the back of the shield.
+// they may not exist or may be one of two sets.
+// the centre pin always exists
+PinName LeftIntPin = D9;
+PinName RightIntPin = D4;
+// alternate set
+//PinName LeftIntPin = D8;
+//PinName RightIntPin = D2;
+
+
+static XNucleo53L1A1 *board=NULL;
+
+#if (MBED_VERSION  > 60300) 
+UnbufferedSerial  pc(SERIAL_TX, SERIAL_RX); 
+extern "C" void wait_ms(int ms);
+#else
+Serial pc(SERIAL_TX, SERIAL_RX); 
+#endif
+
+// flags to indicate an interrupt has happened
+static int int_centre_result = 0;
+static int int_left_result = 0;
+static int int_right_result = 0;
+
+// flags to indicate an interrupt has cleared
+static int int_centre_dropped = 0;
+static int int_left_dropped = 0;
+static int int_right_dropped = 0;
+
+// timing for debug purposes
+uint32_t  centre_polling_time_ms;
+uint32_t  centre_start_time_ms;
+uint32_t  centre_end_time_ms;
+
+void process_interrupt( VL53L1X * sensor,VL53L1_DEV dev );
+void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
+
+
+
+// this class services the interrupts from the ToF sensors.
+// There is a limited amount you can do in an interrupt routine; printfs,mutexes break them among other things.
+// We keep things simple by only raising a flag so all the real work is done outside the interrupt.
+// This is designed around MBED V2 which doesn't have the RTOS features that would make this work nicely e.g. semaphores/queues.
+class WaitForMeasurement {
+public:
+
+
+WaitForMeasurement(): _interrupt(A1)
+{
+}
+
+
+    // constructor - Sensor is not used and can be removed
+    WaitForMeasurement(PinName pin,VL53L1_DEV Dev) : _interrupt(pin)          // create the InterruptIn on the pin specified to Counter
+    {
+         Devlocal = Dev;
+         pinlocal = pin;
+         
+         #include "mbed.h"
+ 
+         printf("WaitForMeasurement %d \n",Dev->i2c_slave_address);
+        _interrupt.rise(callback(this, &WaitForMeasurement::got_interrupt)); // if interrupt happens read data
+        _interrupt.fall(callback(this, &WaitForMeasurement::interruptdropped)); // if interupt clears, start next reading
+        
+    }
+    
+      // function is called every time an interupt is cleared. causes 
+    void interruptdropped()
+    {
+        
+        if (Devlocal->i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS)
+                int_centre_dropped = 1;  //flag to main that interrupt cleared. A flag is raised which allows the main routine to service interupt.
+        if (Devlocal->i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS)
+                int_left_dropped = 1;   //flag to main that interrupt cleared
+        if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS)
+                int_right_dropped = 1;  //flag to main that interrupt cleared
+        
+    }
+
+  // function is called every time an interupt is seen. A flag is raised which allows the main routine to service the interupt.
+    void got_interrupt()
+    {
+        DigitalIn intp(pinlocal);
+        _count++;
+
+        if (Devlocal->i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS)
+                int_centre_result = 1;  //flag to main that interrupt happened
+        if (Devlocal->i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS)
+                int_left_result = 1;   //flag to main that interrupt happened7
+        if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS)
+                int_right_result = 1;  //flag to main that interrupt happened
+        
+    }
+
+    
+    //destructor
+    ~WaitForMeasurement()
+    {
+        printf("WaitForMeasurement destruction \n");
+    }
+
+private:
+    InterruptIn _interrupt;
+    PinName pinlocal;
+    volatile int _count;
+    VL53L1_DEV Devlocal;
+    int status;
+    
+};
+
+
+
+VL53L1_Dev_t                   devCentre;
+VL53L1_Dev_t                   devLeft;
+VL53L1_Dev_t                   devRight;
+VL53L1_DEV                     Dev = &devCentre;
+
+ 
+/*=================================== Main ==================================
+=============================================================================*/
+int main()
+{   
+    int status;
+    VL53L1X * Sensor;
+    uint16_t wordData;
+    uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
+
+    
+    WaitForMeasurement* int2;
+    WaitForMeasurement* int1;
+    WaitForMeasurement* int3;
+
+    pc.baud(115200);  // baud rate is important as printf statements take a lot of time
+
+    printf("main_interrupt_multizone \r\n");
+
+// create i2c interface
+    ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
+    
+    dev_I2C->frequency(400000); //also needs doing in spi_interface.c
+    
+    /* creates the 53L1A1 expansion board singleton obj */
+    board = XNucleo53L1A1::instance(dev_I2C, CentreIntPin, RightIntPin, D2);
+    
+    printf("board created!\r\n");
+
+    /* init the 53L1A1 expansion board with default values */
+    status = board->init_board();
+    if (status) {
+        printf("Failed to init board!\r\n");
+        return 0;
+    }
+       
+        
+    printf("board initiated! - %d\r\n", status);
+  // create the sensor controller classes for each sensor and initialise the sensors                                              
+    for (ToFSensor=0;ToFSensor< NUM_SENSORS;ToFSensor++){
+        switch(ToFSensor){
+            case 0:
+                if (board->sensor_centre== NULL ) continue;  // don't create if sensor not detected
+                Dev=&devCentre;
+                Sensor=board->sensor_centre;
+                Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
+                printf("configuring centre channel \n");
+                break;
+            case 1:
+                if (board->sensor_left== NULL ) continue;  // don't create if sensor not detected
+                Dev=&devLeft; 
+                Sensor=board->sensor_left;
+                Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
+                printf("configuring left channel \n");
+                break;
+            case 2:
+                if (board->sensor_right== NULL ) continue;  // don't create if sensor not detected
+                Dev=&devRight;  
+                Sensor=board->sensor_right;
+                Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
+                printf("configuring right channel \n");
+                break;      
+            default:
+               printf(" error in switch, invalid ToF sensor \n");
+        }  //end of switch
+        
+// configure the sensors
+        Dev->comms_speed_khz = 400;
+
+        Dev->comms_type = 1;
+
+/* Device Initialization and setting */  
+        status = Sensor->vl53L1_DataInit();
+        status = Sensor->vl53L1_StaticInit();
+        status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_MULTIZONES_SCANNING);
+
+
+   
+   //configure the regions of interest for each sensor
+        VL53L1_RoiConfig_t roiConfig;
+        roiConfig.NumberOfRoi =3;
+        roiConfig.UserRois[0].TopLeftX = 0;
+        roiConfig.UserRois[0].TopLeftY = 9; 
+        roiConfig.UserRois[0].BotRightX = 4;
+        roiConfig.UserRois[0].BotRightY = 5; 
+        roiConfig.UserRois[1].TopLeftX = 5;
+        roiConfig.UserRois[1].TopLeftY = 9; 
+        roiConfig.UserRois[1].BotRightX = 9;
+        roiConfig.UserRois[1].BotRightY = 4; 
+        roiConfig.UserRois[2].TopLeftX = 11;
+        roiConfig.UserRois[2].TopLeftY = 9; 
+        roiConfig.UserRois[2].BotRightX = 15;
+        roiConfig.UserRois[2].BotRightY = 5; 
+        status = Sensor->vl53L1_SetROI( &roiConfig);
+        
+        
+        status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
+ //       status = Sensor->VL53L1_SetMeasurementTimingBudgetMicroSeconds( 100 * 500); // error -21 is because of this. Don't know why
+    }
+        
+    // create interrupt handlers for the sensors that exist
+    if (board->sensor_centre!= NULL )
+    {
+        printf("starting interrupt centre\n");
+        devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
+        int1 =  new WaitForMeasurement(CentreIntPin,&devCentre);  // create a interrupt class for this interrupt pin
+        status = board->sensor_centre->vl53L1_StartMeasurement(); //start the sensor measuring
+    }
+    
+    if (board->sensor_left!= NULL )
+    {
+        printf("starting interrupt left\n");
+        devLeft.i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
+        int2 = new WaitForMeasurement(LeftIntPin,&devLeft); // create a interrupt class for this interrupt pin
+        status = board->sensor_left->vl53L1_StartMeasurement(); //start the sensor measuring
+    }
+
+    if (board->sensor_right!= NULL )
+    {
+        printf("starting interrupt right\n");
+        devRight.i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
+        int3 = new WaitForMeasurement(RightIntPin,&devRight); // create a interrupt class for this interrupt pin
+        status = board->sensor_right->vl53L1_StartMeasurement();//start the sensor measuring
+    }
+        
+        
+    
+
+       // loop waiting for interrupts to happen. This is signaled by int_centre_result,int_left_result or int_right_result
+       // being non zero. When the interrupts clear this is signaled by int_centre_dropped,int_left_dropped and int_right_dropped. 
+       // These are set back to zero when processing is completed
+    while (1)
+    {
+        VL53L1_MultiRangingData_t MultiRangingData;
+        VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;   
+        
+        if ( int_left_dropped || int_centre_dropped || int_right_result)
+            wait_ms(20);        
+
+        
+        // when the interrupt pin goes low start new measurement
+        if ( int_centre_dropped != 0)
+        {
+               int_centre_dropped = 0;
+               status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();// get next measurement
+        }
+             
+        if ( int_left_dropped != 0)
+        {
+               int_left_dropped = 0;
+               status = board->sensor_left->vl53L1_ClearInterruptAndStartMeasurement();
+        }
+        
+        if ( int_right_dropped != 0)
+        {
+               int_right_dropped = 0;
+               status = board->sensor_right->vl53L1_ClearInterruptAndStartMeasurement();
+        }
+            
+        if (int_right_result != 0) // interrupt seen on right sensor
+        {
+            status = board->sensor_right->vl53L1_GetMultiRangingData( pMultiRangingData);
+            if ( status == 0)
+            {
+                print_results( devRight.i2c_slave_address, pMultiRangingData );
+            }
+            
+            // clear interrupt flag
+            int_right_result = 0;
+        }
+
+
+        if (int_left_result != 0)  // interrupt seen on left sensor
+        {
+            status = board->sensor_left->vl53L1_GetMultiRangingData(pMultiRangingData);
+            if ( status == 0)
+            {
+                print_results( devLeft.i2c_slave_address, pMultiRangingData );
+            }
+
+            // clear interrupt flag
+            int_left_result = 0;
+        }
+          
+        if (int_centre_result != 0)
+        {                           
+            status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
+            if(status==0) {
+                print_results(devCentre.i2c_slave_address, pMultiRangingData );
+            } //if(status==0) 
+            
+            // clear interrupt flag
+            int_centre_result = 0;
+
+        }
+            
+        wait_ms( 1 * 5);
+                              
+    }
+}
+    
+    
+    
+ // print out what data is required   
+void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
+{
+            int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+            
+            int RoiNumber=pMultiRangingData->RoiNumber;
+            int RoiStatus=pMultiRangingData->RoiStatus;
+
+            if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0)) 
+            {
+                for(int j=0;j<no_of_object_found;j++){
+                    if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) || 
+                        (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL))
+                    {
+                        printf("\t spiAddr=%d \t RoiNumber=%d  \t D=%5dmm \n",
+                                devSpiNumber,
+                                RoiNumber,
+                                pMultiRangingData->RangeData[j].RangeMilliMeter);
+                    }
+                    else
+                    {
+//                               printf("RangeStatus %d %d\n",j, pMultiRangingData->RangeData[j].RangeStatus);
+                    }
+                }
+            } // if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0)) 
+            else
+            {
+//                       printf("no_of_object_found %d \n",no_of_object_found);
+            }
+
+}    
+
+    
+        
+#if (MBED_VERSION  > 60300) 
+void wait_ms(int ms)
+ {
+    thread_sleep_for(ms);
+ }
+ #endif
+