VL53L3CX sensor ranging example. No expansion shield. Satellite board wired straight in to the motherboard. Targetting MbedOS v6.10.
Dependencies: VL53L3CX_mbed
Main.cpp@2:6cc14a15a98c, 2020-11-03 (annotated)
- Committer:
- johnAlexander
- Date:
- Tue Nov 03 15:17:16 2020 +0000
- Revision:
- 2:6cc14a15a98c
- Parent:
- 1:302ec451d4d5
- Child:
- 3:57541677b13b
Use updated sensor class lib
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
charlesmn | 0:2800b864165a | 1 | /* |
charlesmn | 0:2800b864165a | 2 | * no_shield_single_polling.h |
charlesmn | 0:2800b864165a | 3 | * This pogram is a simple sample program which demsonstrates the VL53L3 being used without |
charlesmn | 0:2800b864165a | 4 | * a nucleo sheild. The shutdown pins are directly connected to the MCU pins D9,D4 and D3 |
charlesmn | 0:2800b864165a | 5 | * as defined by this line: |
charlesmn | 0:2800b864165a | 6 | * status = board->init_board(D9,D4,D3); |
charlesmn | 0:2800b864165a | 7 | * the interrupt pins are defined in |
charlesmn | 0:2800b864165a | 8 | * board = NoShield53L3::instance(dev_I2C, A2, D8, D2); |
charlesmn | 0:2800b864165a | 9 | * |
charlesmn | 0:2800b864165a | 10 | * Measured ranges are ouput on the Serial Port, running at 115200 baud. |
charlesmn | 0:2800b864165a | 11 | * |
charlesmn | 0:2800b864165a | 12 | * The Reset button can be used to restart the program. |
charlesmn | 0:2800b864165a | 13 | */ |
charlesmn | 0:2800b864165a | 14 | |
charlesmn | 0:2800b864165a | 15 | #include <stdio.h> |
charlesmn | 0:2800b864165a | 16 | |
charlesmn | 0:2800b864165a | 17 | #include "mbed.h" |
johnAlexander | 2:6cc14a15a98c | 18 | //#include "NoShield53L3.h" |
johnAlexander | 2:6cc14a15a98c | 19 | #include "vl53lx_class.h" |
charlesmn | 1:302ec451d4d5 | 20 | #include "vl53L3_I2c.h" |
charlesmn | 0:2800b864165a | 21 | #include <time.h> |
charlesmn | 0:2800b864165a | 22 | |
charlesmn | 0:2800b864165a | 23 | |
charlesmn | 0:2800b864165a | 24 | // define i2c mcu pins |
charlesmn | 1:302ec451d4d5 | 25 | #define I2C_SDA D14 |
charlesmn | 1:302ec451d4d5 | 26 | #define I2C_SCL D15 |
charlesmn | 0:2800b864165a | 27 | |
johnAlexander | 2:6cc14a15a98c | 28 | //static NoShield53L3 *board=NULL; |
johnAlexander | 2:6cc14a15a98c | 29 | static VL53LX *sensor = NULL; |
charlesmn | 0:2800b864165a | 30 | Serial pc(SERIAL_TX, SERIAL_RX); |
charlesmn | 0:2800b864165a | 31 | |
charlesmn | 0:2800b864165a | 32 | |
charlesmn | 0:2800b864165a | 33 | |
charlesmn | 0:2800b864165a | 34 | VL53LX_Dev_t devCentre; |
charlesmn | 0:2800b864165a | 35 | VL53LX_Dev_t devLeft; |
charlesmn | 0:2800b864165a | 36 | VL53LX_Dev_t devRight; |
charlesmn | 0:2800b864165a | 37 | VL53LX_DEV Dev = &devCentre; |
charlesmn | 0:2800b864165a | 38 | |
charlesmn | 0:2800b864165a | 39 | |
charlesmn | 0:2800b864165a | 40 | |
charlesmn | 0:2800b864165a | 41 | /*=================================== Main ================================== |
charlesmn | 0:2800b864165a | 42 | =============================================================================*/ |
charlesmn | 0:2800b864165a | 43 | int main() |
charlesmn | 0:2800b864165a | 44 | { |
charlesmn | 0:2800b864165a | 45 | int status; |
charlesmn | 0:2800b864165a | 46 | uint16_t wordData; |
johnAlexander | 2:6cc14a15a98c | 47 | |
johnAlexander | 2:6cc14a15a98c | 48 | DigitalOut xshutdown(D7); |
johnAlexander | 2:6cc14a15a98c | 49 | |
charlesmn | 0:2800b864165a | 50 | |
charlesmn | 0:2800b864165a | 51 | static VL53LX_MultiRangingData_t RangingData; |
charlesmn | 0:2800b864165a | 52 | |
charlesmn | 0:2800b864165a | 53 | |
charlesmn | 0:2800b864165a | 54 | pc.baud(115200); // baud rate is important as printf statements take a lot of time |
charlesmn | 0:2800b864165a | 55 | printf("Hello world!\r\n"); |
charlesmn | 0:2800b864165a | 56 | |
charlesmn | 1:302ec451d4d5 | 57 | vl53L3_DevI2C *dev_I2C = new vl53L3_DevI2C(I2C_SDA, I2C_SCL); |
charlesmn | 0:2800b864165a | 58 | |
charlesmn | 0:2800b864165a | 59 | /* no expansion board so don't use stmpe1600 */ |
johnAlexander | 2:6cc14a15a98c | 60 | // board = NoShield53L3::instance(dev_I2C, A2, D8, D2); |
johnAlexander | 2:6cc14a15a98c | 61 | sensor = new VL53LX(dev_I2C, &xshutdown, A2); |
johnAlexander | 2:6cc14a15a98c | 62 | |
johnAlexander | 2:6cc14a15a98c | 63 | printf("sensor created!\r\n"); |
charlesmn | 0:2800b864165a | 64 | |
johnAlexander | 2:6cc14a15a98c | 65 | status = sensor->InitSensor(0x52); |
charlesmn | 0:2800b864165a | 66 | if (status) { |
johnAlexander | 2:6cc14a15a98c | 67 | printf("Failed to init sensor!\r\n"); |
charlesmn | 0:2800b864165a | 68 | return 0; |
johnAlexander | 2:6cc14a15a98c | 69 | } |
johnAlexander | 2:6cc14a15a98c | 70 | |
johnAlexander | 2:6cc14a15a98c | 71 | printf("sensor initialised! \n"); |
charlesmn | 0:2800b864165a | 72 | |
charlesmn | 0:2800b864165a | 73 | uint8_t NewDataReady=0; |
charlesmn | 0:2800b864165a | 74 | |
johnAlexander | 2:6cc14a15a98c | 75 | status = sensor->VL53LX_StartMeasurement(); |
charlesmn | 0:2800b864165a | 76 | printf("VL53LX_StartMeasurement %d \n",status); |
charlesmn | 0:2800b864165a | 77 | |
charlesmn | 0:2800b864165a | 78 | // loop forever getting measurements |
charlesmn | 0:2800b864165a | 79 | while(1) |
charlesmn | 0:2800b864165a | 80 | { |
johnAlexander | 2:6cc14a15a98c | 81 | status = sensor->VL53LX_WaitMeasurementDataReady(); |
charlesmn | 0:2800b864165a | 82 | |
charlesmn | 0:2800b864165a | 83 | if(!status) |
charlesmn | 0:2800b864165a | 84 | { |
charlesmn | 0:2800b864165a | 85 | |
johnAlexander | 2:6cc14a15a98c | 86 | status = sensor->VL53LX_GetMultiRangingData(&RangingData); |
charlesmn | 0:2800b864165a | 87 | |
johnAlexander | 2:6cc14a15a98c | 88 | if (status == 0) |
charlesmn | 0:2800b864165a | 89 | { |
johnAlexander | 2:6cc14a15a98c | 90 | int no_of_object_found = RangingData.NumberOfObjectsFound; |
charlesmn | 0:2800b864165a | 91 | if ( no_of_object_found < 10 ) |
charlesmn | 0:2800b864165a | 92 | { |
johnAlexander | 2:6cc14a15a98c | 93 | for(int j=0;j<no_of_object_found;j++) |
johnAlexander | 2:6cc14a15a98c | 94 | { |
charlesmn | 0:2800b864165a | 95 | if ((RangingData.RangeData[j].RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID) || |
charlesmn | 0:2800b864165a | 96 | (RangingData.RangeData[j].RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL)) |
johnAlexander | 2:6cc14a15a98c | 97 | { // print data |
johnAlexander | 2:6cc14a15a98c | 98 | printf("centre \t object %d \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n", |
charlesmn | 0:2800b864165a | 99 | j, |
charlesmn | 0:2800b864165a | 100 | RangingData.RangeData[j].RangeStatus, |
charlesmn | 0:2800b864165a | 101 | RangingData.RangeData[j].RangeMilliMeter, |
charlesmn | 0:2800b864165a | 102 | RangingData.RangeData[j].SignalRateRtnMegaCps/65536.0, |
charlesmn | 0:2800b864165a | 103 | RangingData.RangeData[j].AmbientRateRtnMegaCps/65536.0); |
johnAlexander | 2:6cc14a15a98c | 104 | } //if |
charlesmn | 0:2800b864165a | 105 | } //for |
charlesmn | 0:2800b864165a | 106 | } // if ( no_of_object_found < 10 ) |
johnAlexander | 2:6cc14a15a98c | 107 | } // if status VL53LX_GetMultiRangingData |
johnAlexander | 2:6cc14a15a98c | 108 | } // if !status VL53LX_WaitMeasurementDataReady |
johnAlexander | 2:6cc14a15a98c | 109 | else |
johnAlexander | 2:6cc14a15a98c | 110 | { |
johnAlexander | 2:6cc14a15a98c | 111 | printf("VL53L1_WaitMeasurementDataReady failed %d \n",status); |
johnAlexander | 2:6cc14a15a98c | 112 | } |
charlesmn | 0:2800b864165a | 113 | |
johnAlexander | 2:6cc14a15a98c | 114 | status = sensor->VL53LX_ClearInterruptAndStartMeasurement(); |
charlesmn | 0:2800b864165a | 115 | |
charlesmn | 0:2800b864165a | 116 | } // while(1) |
charlesmn | 0:2800b864165a | 117 | |
charlesmn | 0:2800b864165a | 118 | } |