Diff: main.cpp

Revision:

0:d6a9ba597c26

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 27 12:37:48 2020 +0000
@@ -0,0 +1,262 @@
+/*
+ *  This VL53L1X Expansion board test application performs range measurements
+ *  using the onboard embedded centre sensor and two satelites, in Lite-ranging, 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
+
+
+static XNucleo53L1A1 *board=NULL;
+Serial pc(SERIAL_TX, SERIAL_RX); 
+
+static int int_centre_result = 0;
+static int int_left_result = 0;
+static int int_right_result = 0;
+
+
+class WaitForMeasurement {
+public:
+
+
+// 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.
+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;
+        _interrupt.rise(callback(this, &WaitForMeasurement::got_interrupt)); // attach increment function of this counter instance
+        
+    }
+    
+    void process_right_interrupt()
+    {
+          printf("processing right interrupt\n");
+    }
+
+  // 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()
+    {
+    
+        _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 happened
+        if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS)
+        {
+            int_right_result = 1;  //flag to main that interrupt happened
+        }
+    }
+    
+    //destructor
+    ~WaitForMeasurement()
+    {
+        printf("destruction \n");
+    }
+
+private:
+    InterruptIn _interrupt;
+    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("Interrupt Lite-ranging\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, A2, D8, D2);
+    printf("board created!\r\n");
+                                                                                     
+    /* init the 53L1A1 expansion board with default values */
+    status = board->init_board();
+    if (status) { 
+        return 0;
+    }
+       
+   
+    printf("board initiated! - %d\r\n", status);
+
+    
+    // create sensor controller classes for each vl53l1 and configure each vl53l1                                                  
+        for (ToFSensor=0;ToFSensor<NUM_SENSORS ;ToFSensor++)
+        {
+            switch(ToFSensor){
+                case 1:
+                    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 0:
+                    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;      
+                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_LITE_RANGING);
+            status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
+   //         status = Sensor->vl53L1_SetMeasurementTimingBudgetMicroSeconds( 50000);
+    //        status = Sensor->vl53L1_SetInterMeasurementPeriodMilliSeconds( 100);
+        }  // end of sensor loop
+        printf("starting sensors \n");
+        
+        // initialise sensor interrupts
+        if (board->sensor_centre!= NULL )
+        {
+            Sensor=board->sensor_centre;
+            devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
+            int1 =  new WaitForMeasurement(A2,&devCentre);  // initialise sensor interrupts
+            status = Sensor->vl53L1_StartMeasurement();
+            printf("started interrupt centre %d\n",status);
+        }
+        
+
+        if (board->sensor_left!= NULL )
+        {
+            Sensor=board->sensor_left;
+            devLeft.i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
+            int2 = new WaitForMeasurement(D8,&devLeft);
+            status = Sensor->vl53L1_StartMeasurement();
+            printf("started interrupt left %d\n",status);
+        }
+
+        if (board->sensor_right!= NULL )
+        {
+            Sensor=board->sensor_right;
+            devRight.i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
+            int3 = new WaitForMeasurement(D2,&devRight);
+            status = board->sensor_right->vl53L1_StartMeasurement();
+            printf("started interrupt sensor_right  %d\n",status);
+        }
+        
+
+    
+       // loop waiting for interrupts to happen. This is signaled by   int_centre_result,int_left_result or int_right_result
+       // being non zero. The are set back to zero when processing is completed
+        while (1)
+        {   
+            static VL53L1_RangingMeasurementData_t RangingData;  
+                            
+            wait_ms( 1 * 30);
+            if (int_centre_result != 0)
+            {
+                // read result
+                status = board->sensor_centre->vl53L1_GetRangingMeasurementData( &RangingData);
+                // if valid result print it
+                if (RangingData.RangeStatus != 255)
+                    printf("c %d,%d \n",RangingData.RangeStatus,RangingData.RangeMilliMeter);
+                // clear interrupt flag
+                int_centre_result = 0;
+                // clear theinterrupt and wait for another result
+                status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
+            }
+
+
+            if (int_left_result != 0)
+            {
+                // read result
+                status = board->sensor_left->vl53L1_GetRangingMeasurementData( &RangingData);
+                // if valid result print it 
+                if (RangingData.RangeStatus != 255)
+                    printf("l %d,%d\n",RangingData.RangeStatus,RangingData.RangeMilliMeter);
+                // clear interrupt flag                
+                int_left_result = 0;
+                // clear theinterrupt and wait for another result
+                status = board->sensor_left->vl53L1_ClearInterruptAndStartMeasurement();
+            }
+            
+            
+            if (int_right_result != 0)
+            {   
+                // read result
+                status = board->sensor_right->vl53L1_GetRangingMeasurementData( &RangingData);
+                // if valid result print it
+                if (RangingData.RangeStatus != 255)
+                    printf("r %d,%d\n",RangingData.RangeStatus,RangingData.RangeMilliMeter);
+                // clear interrupt flag
+                int_right_result = 0;
+                // clear theinterrupt and wait for another result
+                status = board->sensor_right->vl53L1_ClearInterruptAndStartMeasurement();
+            }
+            
+        }
+        printf("terminated");
+    }
+  
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