File content as of revision 0:e91189a84ad9:

/*
 *  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