Diff: main.cpp

Revision:

4:396e4d72f19e

Parent:

3:09f23aad108a

--- a/main.cpp	Thu May 13 08:31:52 2021 +0000
+++ b/main.cpp	Thu May 13 10:57:15 2021 +0000
@@ -73,7 +73,7 @@
     InterruptIn stop_button(SW2);
 #endif
 
-void process_interrupt( VL53L1 * sensor,VL53L1_DEV dev );
+//void process_interrupt( VL53L1 * sensor,VL53L1_DEV dev );
 void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
 
 
@@ -146,46 +146,54 @@
     if (centerSensor) {
         centerSensor = false;
 
+        // get the result
+        status = board->sensor_centre->vl53L1_GetMultiRangingData(pMultiRangingData);
         status = board->sensor_centre->VL53L1_GetDistance(&distance);
         
         current = (currentSensor == 0);
         if (current) {
+            print_results(devCentre.i2c_slave_address, pMultiRangingData );
             printf("Centre: %d\r\n", distance);
-        }
-        
+        }    
+//        status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
         status = board->sensor_centre->VL53L1_ClearInterrupt();
         board->sensor_centre->enable_interrupt_measure_detection_irq();        
-        
     }
 
     /* Handle the interrupt and output the range from the left sensor */
     if (leftSensor) {
         leftSensor = false;
         
+        // get the result
+        status = board->sensor_left->vl53L1_GetMultiRangingData(pMultiRangingData);
         status = board->sensor_left->VL53L1_GetDistance(&distance);
         
         current = (installedSensors[currentSensor] == 'L');
         if (current) {
+            print_results(devLeft.i2c_slave_address, pMultiRangingData );
             printf("Left: %d\r\n", distance);
-        }
+        }    
+//        status = board->sensor_left->vl53L1_ClearInterruptAndStartMeasurement();
         status = board->sensor_left->VL53L1_ClearInterrupt();
         board->sensor_left->enable_interrupt_measure_detection_irq();
-        
     }
 
     /* Handle the interrupt and output the range from the right sensor */
     if (rightSensor) {
         rightSensor = false;
         
+        // get the result
+        status = board->sensor_right->vl53L1_GetMultiRangingData(pMultiRangingData);
         status = board->sensor_right->VL53L1_GetDistance(&distance);
         
         current = (installedSensors[currentSensor] == 'R');
         if (current) {
+            print_results(devRight.i2c_slave_address, pMultiRangingData );
             printf("Right: %d\r\n", distance);
         }
+//        status = board->sensor_right->vl53L1_ClearInterruptAndStartMeasurement();
         status = board->sensor_right->VL53L1_ClearInterrupt();
         board->sensor_right->enable_interrupt_measure_detection_irq();
-        
     }    
 }
 
@@ -193,11 +201,6 @@
 {
     int status = 0;
     
-// 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;
     
@@ -206,17 +209,25 @@
     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);
     
+// Device Initialization and setting 
+    status = Sensor->vl53L1_DataInit();
+    status = Sensor->vl53L1_StaticInit();
     
+    status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_MULTIZONES_SCANNING);
+        
     status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
 //       status = Sensor->VL53L1_SetMeasurementTimingBudgetMicroSeconds( 100 * 500); // error -21 is because of this. Don't know why
 
@@ -237,6 +248,8 @@
     if (board->sensor_centre != NULL) {
         Dev = &devCentre;
         Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
+        devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
+        
         status = configure_sensor(board->sensor_centre);
         printf("configuring centre channel \n");
     }
@@ -244,6 +257,8 @@
     if (board->sensor_left != NULL) {
         Dev = &devLeft; 
         Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
+        devLeft.i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
+    
         status = configure_sensor(board->sensor_left);
         printf("configuring left channel \n");
     }
@@ -251,6 +266,8 @@
     if (board->sensor_right != NULL) {
         Dev = &devRight;  
         Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
+        devRight.i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
+        
         status = configure_sensor(board->sensor_right);
         printf("configuring right channel \n");
     }
@@ -357,16 +374,16 @@
     
     
  // print out what data is required   
-void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
+void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
 {
-    int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+    int no_of_object_found = pMultiRangingData->NumberOfObjectsFound;
     int signal_rate = 0;
     int ambient_rate = 0;
 
-    int RoiNumber=pMultiRangingData->RoiNumber;
+    int RoiNumber = pMultiRangingData->RoiNumber;
 
-    if (( no_of_object_found < 10 ) &&  ( no_of_object_found != 0)) {
-        for(int j=0; j<no_of_object_found; j++) {
+    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)) {
                 signal_rate = pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535;