VL53L3CX sensor ranging example. No expansion shield. Satellite board wired straight in to the motherboard. Targetting MbedOS v6.10.
Dependencies: VL53L3CX_mbed
Diff: Main.cpp
- Revision:
- 0:2800b864165a
- Child:
- 1:302ec451d4d5
diff -r 000000000000 -r 2800b864165a Main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Main.cpp Wed Oct 14 07:49:01 2020 +0000 @@ -0,0 +1,132 @@ +/* + * no_shield_single_polling.h + * This pogram is a simple sample program which demsonstrates the VL53L3 being used without + * a nucleo sheild. The shutdown pins are directly connected to the MCU pins D9,D4 and D3 + * as defined by this line: + * status = board->init_board(D9,D4,D3); + * the interrupt pins are defined in + * board = NoShield53L3::instance(dev_I2C, A2, D8, D2); + * + * Measured ranges are ouput on the Serial Port, running at 115200 baud. + * + * The Reset button can be used to restart the program. + */ + +#include <stdio.h> + +#include "mbed.h" +#include "NoShield53L3.h" +#include "vl53L1x_I2c.h" +#include <time.h> + + +// define i2c mcu pins +#define VL53L1_I2C_SDA D14 +#define VL53L1_I2C_SCL D15 + +static NoShield53L3 *board=NULL; +Serial pc(SERIAL_TX, SERIAL_RX); + + + +VL53LX_Dev_t devCentre; +VL53LX_Dev_t devLeft; +VL53LX_Dev_t devRight; +VL53LX_DEV Dev = &devCentre; + + + +/*=================================== Main ================================== +=============================================================================*/ +int main() +{ + int status; + VL53LX * Sensor; + uint16_t wordData; + + static VL53LX_MultiRangingData_t RangingData; + + + pc.baud(115200); // baud rate is important as printf statements take a lot of time + printf("Hello world!\r\n"); + + vl53L1X_DevI2C *dev_I2C = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL); + + /* no expansion board so don't use stmpe1600 */ + board = NoShield53L3::instance(dev_I2C, A2, D8, D2); + printf("board created!\r\n"); + + + /* define the shutdown pins */ + status = board->init_board(D9,D4,D3); + if (status) { + printf("Failed to init board!\r\n"); + return 0; + } + + + printf("board initiated! \n"); + + printf("configuring centre channel \n"); + Dev=&devCentre; + Sensor=board->sensor_centre; + Dev->I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS; + printf("configured centre channel \n"); + + + // configure the i2c connection + Dev->comms_speed_khz = 400; + Dev->comms_type = 1; + +/* Device Initialization and setting */ + printf("VL53LX_DataInit \n"); + status = Sensor->VL53LX_DataInit(); + uint8_t NewDataReady=0; + printf("VL53LX_DataInit %d \n",status); + + status = Sensor->VL53LX_StartMeasurement(); + printf("VL53LX_StartMeasurement %d \n",status); + + // loop forever getting measurements + while(1) + { + status = Sensor->VL53LX_WaitMeasurementDataReady(); + + if(!status) + { + + status = Sensor->VL53LX_GetMultiRangingData( &RangingData); + + if ( status == 0) + { + int no_of_object_found=RangingData.NumberOfObjectsFound; + if ( no_of_object_found < 10 ) + { + for(int j=0;j<no_of_object_found;j++){ + if ((RangingData.RangeData[j].RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID) || + (RangingData.RangeData[j].RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL)) + { // print data + printf("centre \t object %d \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n", + j, + RangingData.RangeData[j].RangeStatus, + RangingData.RangeData[j].RangeMilliMeter, + RangingData.RangeData[j].SignalRateRtnMegaCps/65536.0, + RangingData.RangeData[j].AmbientRateRtnMegaCps/65536.0); + } //if + } //for + } // if ( no_of_object_found < 10 ) + } // if status VL53LX_GetMultiRangingData + + } // if !status VL53LX_WaitMeasurementDataReady + else + { + printf("VL53L1_WaitMeasurementDataReady failed %d \n",status); + } + + status = Sensor->VL53LX_ClearInterruptAndStartMeasurement(); + + } // while(1) + +// status = Sensor->VL53LX_StopMeasurement(); + +}