Diff: main.cpp

Revision:

0:d8fe7004e61a

Child:

1:52cac9f5ed6a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Nov 08 15:59:44 2020 +0000
@@ -0,0 +1,232 @@
+/*
+ *  This VL53L1X Expansion board test application performs range measurements
+ *  using the onboard embedded centre sensor, in singleshot, polling 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;
+
+// MBed V6.4 has renamed wait_ms and UnbufferedSerial replaces Serial
+#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
+
+
+
+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
+    static VL53L1_RangingMeasurementData_t RangingData;
+    uint32_t  polling_time_ms;
+    uint32_t  start_time_ms;
+    uint32_t  current_time_ms;
+    
+    pc.baud(115200);  // baud rate is important as printf statements take a lot of time
+
+    printf("Polling Lite-Ranging mbed = %d \r\n",MBED_VERSION);
+// 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, LeftIntPin, RightIntPin);
+    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);
+    
+   // for each sensor, if it exists, initialise and configure                                             
+        for (ToFSensor=0;ToFSensor< NUM_SENSORS;ToFSensor++){
+        switch(ToFSensor){
+            case 0:
+                if (board->sensor_centre== NULL ) continue;
+                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;
+                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;
+                Dev=&devRight;  
+                Sensor=board->sensor_right;
+                Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
+                printf("configuring right channel \n");
+                break;      
+        }
+            
+            Dev->comms_speed_khz = 400;
+            Dev->comms_type = 1;
+    
+            Sensor->VL53L1_RdWord(Dev, 0x01, &wordData);
+            printf("VL53L1X: %02X   %d\n\r", wordData,Dev->i2c_slave_address);
+    /* Device Initialization and setting */
+    
+            status = Sensor->vl53L1_DataInit();
+            status = Sensor->vl53L1_StaticInit();
+            status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_LITE_RANGING);
+            status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
+            status = Sensor->vl53L1_SetMeasurementTimingBudgetMicroSeconds( 50000);
+            status = Sensor->vl53L1_SetInterMeasurementPeriodMilliSeconds( 100);
+        }
+        
+        if (board->sensor_centre!= NULL ) 
+        {
+            Dev=&devCentre;
+            Sensor=board->sensor_centre;
+            Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
+        }
+        
+        if (board->sensor_left!= NULL ) 
+        {
+            Dev=&devLeft;
+            Sensor=board->sensor_left;
+            Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
+        }
+        
+        
+        if (board->sensor_right!= NULL ) 
+        {
+            Dev=&devRight;
+            Sensor=board->sensor_right;
+            Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
+        }
+        
+     while(1) {     
+        for (ToFSensor=0;ToFSensor< NUM_SENSORS;ToFSensor++){
+            switch(ToFSensor){
+                case 0:
+                    if (board->sensor_centre== NULL ) continue;
+                    Dev=&devCentre;
+                    Sensor=board->sensor_centre;
+                    Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
+                    break;
+                case 1:
+                    if (board->sensor_left== NULL ) continue;
+                    Dev=&devLeft; 
+                    Sensor=board->sensor_left;
+                    Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
+                    break;
+                case 2:
+                    if (board->sensor_right== NULL ) continue;
+                    Dev=&devRight;
+                    Sensor=board->sensor_right;
+                    Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
+                    break;   
+                default:   
+                    printf("default \n");
+                    break;
+            }  // switch
+        
+            start_time_ms = us_ticker_read() / 1000;
+            status = Sensor->vl53L1_StartMeasurement();  
+
+            status = Sensor->vl53L1_WaitMeasurementDataReady();
+
+            if(!status)
+            {
+                 status = Sensor->vl53L1_GetRangingMeasurementData( &RangingData);
+                                                 current_time_ms = us_ticker_read() / 1000;
+
+                 if((status==0) &&  (RangingData.RangeStatus != 10)) {
+                     printf("data %d,%d,%d,%.2f,%.2f\n", ToFSensor,RangingData.RangeStatus,RangingData.RangeMilliMeter,
+                           (RangingData.SignalRateRtnMegaCps/65536.0),RangingData.AmbientRateRtnMegaCps/65336.0);
+
+                 }
+            } // if status
+            else
+            {
+                printf("VL53L1_WaitMeasurementDataReady failed %d \n",status);
+            }
+
+            status = Sensor->vl53L1_ClearInterruptAndStartMeasurement();                                     
+            status = Sensor->vl53L1_WaitMeasurementDataReady();
+            if(!status)
+            {
+                status = Sensor->vl53L1_GetRangingMeasurementData( &RangingData);
+
+                polling_time_ms = current_time_ms - start_time_ms;
+                if((status==0) &&  (RangingData.RangeStatus != 10)) {
+                    printf("data %d,%d,%d,%.2f,%.2f  %d\n", ToFSensor,RangingData.RangeStatus,RangingData.RangeMilliMeter,
+                          (RangingData.SignalRateRtnMegaCps/65536.0),RangingData.AmbientRateRtnMegaCps/65336.0,polling_time_ms);
+                }
+            }
+
+            status = Sensor->vl53L1_ClearInterruptAndStartMeasurement();
+        
+
+            status = Sensor->vl53L1_StopMeasurement();  
+        } // endwhile(1)
+        
+    }
+    
+
+}
+
+
+#if (MBED_VERSION  > 60300) 
+void wait_ms(int ms)
+ {
+    thread_sleep_for(ms);
+ }
+#endif
+