ST Expansion SW Team / Mbed OS VL53L3CX_Shield_3Sensors_Interrupt_MbOS6x

Sample ranging application, using X_Nucleo_53L3A2 expansion board and supporting Satellite boards, to ranging from each sensor, using interrupts. Targetting MbedOS v6.10.

Dependencies:   X_NUCLEO_53L3A2

main.cpp@0:c77591fc308d, 2020-10-13 (annotated)

Committer:
charlesmn
Date:
Tue Oct 13 18:39:10 2020 +0000
Revision:
0:c77591fc308d
Child:
2:86876e590f28
Example program of of interrupt driven collection of data from up to 3 VL53L3 sensors returning range data and outputting it to serial port at 115200 baud.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:c77591fc308d 1 /*
charlesmn 0:c77591fc308d 2 * This VL53L1X Expansion board test application performs range measurements
charlesmn 0:c77591fc308d 3 * using the onboard embedded centre sensor, in singleshot, polling mode.
charlesmn 0:c77591fc308d 4 * Measured ranges are ouput on the Serial Port, running at 9600 baud.
charlesmn 0:c77591fc308d 5 *
charlesmn 0:c77591fc308d 6 * The User Blue button stops the current measurement and entire program,
charlesmn 0:c77591fc308d 7 * releasing all resources.
charlesmn 0:c77591fc308d 8 *
charlesmn 0:c77591fc308d 9 * The Reset button can be used to restart the program.
charlesmn 0:c77591fc308d 10 */
charlesmn 0:c77591fc308d 11 //Main_interrupt_ranging.h
charlesmn 0:c77591fc308d 12
charlesmn 0:c77591fc308d 13 #include <stdio.h>
charlesmn 0:c77591fc308d 14
charlesmn 0:c77591fc308d 15 #include "mbed.h"
charlesmn 0:c77591fc308d 16 #include "XNucleo53L1A1.h"
charlesmn 0:c77591fc308d 17 #include "vl53L1x_I2c.h"
charlesmn 0:c77591fc308d 18 #include <time.h>
charlesmn 0:c77591fc308d 19
charlesmn 0:c77591fc308d 20
charlesmn 0:c77591fc308d 21 #define VL53L1_I2C_SDA D14
charlesmn 0:c77591fc308d 22 #define VL53L1_I2C_SCL D15
charlesmn 0:c77591fc308d 23
charlesmn 0:c77591fc308d 24 #define MEASUREMENTTIMING 55
charlesmn 0:c77591fc308d 25
charlesmn 0:c77591fc308d 26 static XNucleo53L1A1 *board=NULL;
charlesmn 0:c77591fc308d 27 Serial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:c77591fc308d 28
charlesmn 0:c77591fc308d 29 static int int_centre_result = 0;
charlesmn 0:c77591fc308d 30 static int int_left_result = 0;
charlesmn 0:c77591fc308d 31 static int int_right_result = 0;
charlesmn 0:c77591fc308d 32
charlesmn 0:c77591fc308d 33
charlesmn 0:c77591fc308d 34 class WaitForMeasurement {
charlesmn 0:c77591fc308d 35 public:
charlesmn 0:c77591fc308d 36
charlesmn 0:c77591fc308d 37
charlesmn 0:c77591fc308d 38 // this class services the interrupts from the ToF sensors.
charlesmn 0:c77591fc308d 39 // There is a limited amount you can do in an interrupt routine; printfs,mutexes break them among other things.
charlesmn 0:c77591fc308d 40 // We keep things simple by only raising a flag so all the real work is done outside the interrupt.
charlesmn 0:c77591fc308d 41 // This is designed around MBED V2 which doesn't have the RTOS features that would make this work nicely e.g. semaphores/queues.
charlesmn 0:c77591fc308d 42 WaitForMeasurement(): _interrupt(A1)
charlesmn 0:c77591fc308d 43 {
charlesmn 0:c77591fc308d 44 }
charlesmn 0:c77591fc308d 45
charlesmn 0:c77591fc308d 46
charlesmn 0:c77591fc308d 47 // constructor - Sensor is not used and can be removed
charlesmn 0:c77591fc308d 48 WaitForMeasurement(PinName pin,VL53LX_DEV Dev) : _interrupt(pin) // create the InterruptIn on the pin specified to Counter
charlesmn 0:c77591fc308d 49 {
charlesmn 0:c77591fc308d 50 Devlocal = Dev;
charlesmn 0:c77591fc308d 51 _interrupt.rise(callback(this, &WaitForMeasurement::got_interrupt)); // attach increment function of this counter instance
charlesmn 0:c77591fc308d 52
charlesmn 0:c77591fc308d 53 }
charlesmn 0:c77591fc308d 54
charlesmn 0:c77591fc308d 55 void process_right_interrupt()
charlesmn 0:c77591fc308d 56 {
charlesmn 0:c77591fc308d 57 printf("processing right interrupt\n");
charlesmn 0:c77591fc308d 58 }
charlesmn 0:c77591fc308d 59
charlesmn 0:c77591fc308d 60 // function is called every time an interupt is seen. A flag is raised which allows the main routine to service the interupt.
charlesmn 0:c77591fc308d 61 void got_interrupt()
charlesmn 0:c77591fc308d 62 {
charlesmn 0:c77591fc308d 63
charlesmn 0:c77591fc308d 64 _count++;
charlesmn 0:c77591fc308d 65
charlesmn 0:c77591fc308d 66 if (Devlocal->I2cDevAddr == NEW_SENSOR_CENTRE_ADDRESS)
charlesmn 0:c77591fc308d 67 int_centre_result = 1; //flag to main that interrupt happened
charlesmn 0:c77591fc308d 68 if (Devlocal->I2cDevAddr == NEW_SENSOR_LEFT_ADDRESS)
charlesmn 0:c77591fc308d 69 int_left_result = 1; //flag to main that interrupt happened
charlesmn 0:c77591fc308d 70 if (Devlocal->I2cDevAddr == NEW_SENSOR_RIGHT_ADDRESS)
charlesmn 0:c77591fc308d 71 {
charlesmn 0:c77591fc308d 72 int_right_result = 1; //flag to main that interrupt happened
charlesmn 0:c77591fc308d 73 }
charlesmn 0:c77591fc308d 74 }
charlesmn 0:c77591fc308d 75
charlesmn 0:c77591fc308d 76
charlesmn 0:c77591fc308d 77 //destructor
charlesmn 0:c77591fc308d 78 ~WaitForMeasurement()
charlesmn 0:c77591fc308d 79 {
charlesmn 0:c77591fc308d 80 printf("destruction \n");
charlesmn 0:c77591fc308d 81 }
charlesmn 0:c77591fc308d 82
charlesmn 0:c77591fc308d 83 private:
charlesmn 0:c77591fc308d 84 InterruptIn _interrupt;
charlesmn 0:c77591fc308d 85 volatile int _count;
charlesmn 0:c77591fc308d 86 VL53LX_DEV Devlocal;
charlesmn 0:c77591fc308d 87 int status;
charlesmn 0:c77591fc308d 88
charlesmn 0:c77591fc308d 89 };
charlesmn 0:c77591fc308d 90
charlesmn 0:c77591fc308d 91
charlesmn 0:c77591fc308d 92
charlesmn 0:c77591fc308d 93 VL53LX_Dev_t devCentre;
charlesmn 0:c77591fc308d 94 VL53LX_Dev_t devLeft;
charlesmn 0:c77591fc308d 95 VL53LX_Dev_t devRight;
charlesmn 0:c77591fc308d 96 VL53LX_DEV Dev = &devCentre;
charlesmn 0:c77591fc308d 97
charlesmn 0:c77591fc308d 98
charlesmn 0:c77591fc308d 99
charlesmn 0:c77591fc308d 100
charlesmn 0:c77591fc308d 101
charlesmn 0:c77591fc308d 102 /*=================================== Main ==================================
charlesmn 0:c77591fc308d 103 =============================================================================*/
charlesmn 0:c77591fc308d 104 int main()
charlesmn 0:c77591fc308d 105 {
charlesmn 0:c77591fc308d 106 int status;
charlesmn 0:c77591fc308d 107 VL53LX * Sensor;
charlesmn 0:c77591fc308d 108 uint16_t wordData;
charlesmn 0:c77591fc308d 109 uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
charlesmn 0:c77591fc308d 110
charlesmn 0:c77591fc308d 111
charlesmn 0:c77591fc308d 112 WaitForMeasurement* int2;
charlesmn 0:c77591fc308d 113 WaitForMeasurement* int1;
charlesmn 0:c77591fc308d 114 WaitForMeasurement* int3;
charlesmn 0:c77591fc308d 115
charlesmn 0:c77591fc308d 116 pc.baud(115200); // baud rate is important as printf statements take a lot of time
charlesmn 0:c77591fc308d 117
charlesmn 0:c77591fc308d 118 printf("Hello world!\r\n");
charlesmn 0:c77591fc308d 119
charlesmn 0:c77591fc308d 120 vl53L1X_DevI2C *dev_I2C = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
charlesmn 0:c77591fc308d 121
charlesmn 0:c77591fc308d 122 // printf("I2C device created! %d %d\r\n",dev_I2C,*dev_I2C);
charlesmn 0:c77591fc308d 123
charlesmn 0:c77591fc308d 124 /* creates the 53L1A1 expansion board singleton obj */
charlesmn 0:c77591fc308d 125 board = XNucleo53L1A1::instance(dev_I2C, A2, D8, D2);
charlesmn 0:c77591fc308d 126 printf("board created!\r\n");
charlesmn 0:c77591fc308d 127
charlesmn 0:c77591fc308d 128 /* init the 53L1A1 expansion board with default values */
charlesmn 0:c77591fc308d 129 status = board->init_board();
charlesmn 0:c77591fc308d 130 if (status) {
charlesmn 0:c77591fc308d 131 printf("Failed to init board!\r\n");
charlesmn 0:c77591fc308d 132 return 0;
charlesmn 0:c77591fc308d 133 }
charlesmn 0:c77591fc308d 134
charlesmn 0:c77591fc308d 135
charlesmn 0:c77591fc308d 136 printf("board initiated! - %d\r\n", status);
charlesmn 0:c77591fc308d 137
charlesmn 0:c77591fc308d 138 for (ToFSensor=0;ToFSensor<3;ToFSensor++){
charlesmn 0:c77591fc308d 139 wait_ms(15);
charlesmn 0:c77591fc308d 140 switch(ToFSensor){
charlesmn 0:c77591fc308d 141 case 0:
charlesmn 0:c77591fc308d 142 if (board->sensor_centre== NULL ) continue;
charlesmn 0:c77591fc308d 143 Dev=&devCentre;
charlesmn 0:c77591fc308d 144 Sensor=board->sensor_centre;
charlesmn 0:c77591fc308d 145 Dev->I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:c77591fc308d 146 printf("configuring centre channel \n");
charlesmn 0:c77591fc308d 147 break;
charlesmn 0:c77591fc308d 148 case 1:
charlesmn 0:c77591fc308d 149 if (board->sensor_left== NULL ) continue;
charlesmn 0:c77591fc308d 150 Dev=&devLeft;
charlesmn 0:c77591fc308d 151 Sensor=board->sensor_left;
charlesmn 0:c77591fc308d 152 Dev->I2cDevAddr = NEW_SENSOR_LEFT_ADDRESS;
charlesmn 0:c77591fc308d 153 printf("configuring left channel \n");
charlesmn 0:c77591fc308d 154 break;
charlesmn 0:c77591fc308d 155 case 2:
charlesmn 0:c77591fc308d 156 if (board->sensor_right== NULL ) continue;
charlesmn 0:c77591fc308d 157 Dev=&devRight;
charlesmn 0:c77591fc308d 158 Sensor=board->sensor_right;
charlesmn 0:c77591fc308d 159 Dev->I2cDevAddr = NEW_SENSOR_RIGHT_ADDRESS;
charlesmn 0:c77591fc308d 160 printf("configuring right channel \n");
charlesmn 0:c77591fc308d 161 break;
charlesmn 0:c77591fc308d 162 default:
charlesmn 0:c77591fc308d 163 printf(" error in switch, invalid ToF sensor \n");
charlesmn 0:c77591fc308d 164 }
charlesmn 0:c77591fc308d 165
charlesmn 0:c77591fc308d 166 // configure the sensors
charlesmn 0:c77591fc308d 167 Dev->comms_speed_khz = 400;
charlesmn 0:c77591fc308d 168
charlesmn 0:c77591fc308d 169 Dev->comms_type = 1;
charlesmn 0:c77591fc308d 170
charlesmn 0:c77591fc308d 171 Sensor->VL53LX_RdWord(Dev, 0x01, &wordData);
charlesmn 0:c77591fc308d 172 printf("VL53L1X: %02X %d\n\r", wordData,Dev->I2cDevAddr);
charlesmn 0:c77591fc308d 173 /* Device Initialization and setting */
charlesmn 0:c77591fc308d 174
charlesmn 0:c77591fc308d 175 status = Sensor->VL53LX_DataInit();
charlesmn 0:c77591fc308d 176 status = Sensor->VL53LX_SetDistanceMode(VL53LX_DISTANCEMODE_LONG);
charlesmn 0:c77591fc308d 177 status = Sensor->VL53LX_SetMeasurementTimingBudgetMicroSeconds( MEASUREMENTTIMING * 1000);
charlesmn 0:c77591fc308d 178 status = Sensor->VL53LX_SmudgeCorrectionEnable(VL53LX_SMUDGE_CORRECTION_SINGLE);
charlesmn 0:c77591fc308d 179 status = Sensor->VL53LX_SetXTalkCompensationEnable(1);
charlesmn 0:c77591fc308d 180
charlesmn 0:c77591fc308d 181
charlesmn 0:c77591fc308d 182 }
charlesmn 0:c77591fc308d 183
charlesmn 0:c77591fc308d 184 if (board->sensor_centre!= NULL )
charlesmn 0:c77591fc308d 185 {
charlesmn 0:c77591fc308d 186 printf("starting interrupt centre\n");
charlesmn 0:c77591fc308d 187 Sensor=board->sensor_centre;
charlesmn 0:c77591fc308d 188 devCentre.I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:c77591fc308d 189 int1 = new WaitForMeasurement(A2,&devCentre);
charlesmn 0:c77591fc308d 190 status = Sensor->VL53LX_StartMeasurement();
charlesmn 0:c77591fc308d 191 printf("VL53L1_StartMeasurement %d \n",status);
charlesmn 0:c77591fc308d 192 status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
charlesmn 0:c77591fc308d 193 }
charlesmn 0:c77591fc308d 194
charlesmn 0:c77591fc308d 195
charlesmn 0:c77591fc308d 196 if (board->sensor_left!= NULL )
charlesmn 0:c77591fc308d 197 {
charlesmn 0:c77591fc308d 198 printf("starting interrupt left\n");
charlesmn 0:c77591fc308d 199 Sensor=board->sensor_left;
charlesmn 0:c77591fc308d 200 devLeft.I2cDevAddr = NEW_SENSOR_LEFT_ADDRESS;
charlesmn 0:c77591fc308d 201 int2 = new WaitForMeasurement(D8,&devLeft);
charlesmn 0:c77591fc308d 202 status = Sensor->VL53LX_StartMeasurement();
charlesmn 0:c77591fc308d 203 printf("VL53L1_StartMeasurement %d \n",status);
charlesmn 0:c77591fc308d 204 status = board->sensor_left->VL53LX_ClearInterruptAndStartMeasurement();
charlesmn 0:c77591fc308d 205 }
charlesmn 0:c77591fc308d 206
charlesmn 0:c77591fc308d 207 if (board->sensor_right!= NULL )
charlesmn 0:c77591fc308d 208 {
charlesmn 0:c77591fc308d 209 printf("starting interrupt right\n");
charlesmn 0:c77591fc308d 210 Sensor=board->sensor_right;
charlesmn 0:c77591fc308d 211 devRight.I2cDevAddr = NEW_SENSOR_RIGHT_ADDRESS;
charlesmn 0:c77591fc308d 212 int3 = new WaitForMeasurement(D2,&devRight);
charlesmn 0:c77591fc308d 213 status = Sensor->VL53LX_StartMeasurement();
charlesmn 0:c77591fc308d 214 printf("VL53L1_StartMeasurement %d \n",status);
charlesmn 0:c77591fc308d 215 status = board->sensor_right->VL53LX_ClearInterruptAndStartMeasurement();
charlesmn 0:c77591fc308d 216 }
charlesmn 0:c77591fc308d 217
charlesmn 0:c77591fc308d 218
charlesmn 0:c77591fc308d 219 // loop waiting for interrupts to happen. This is signaled by int_centre_result,int_left_result or int_right_result
charlesmn 0:c77591fc308d 220 // being non zero. The are set back to zero when processing is completed
charlesmn 0:c77591fc308d 221 while (1)
charlesmn 0:c77591fc308d 222 {
charlesmn 0:c77591fc308d 223
charlesmn 0:c77591fc308d 224 VL53LX_MultiRangingData_t MultiRangingData;
charlesmn 0:c77591fc308d 225 VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
charlesmn 0:c77591fc308d 226
charlesmn 0:c77591fc308d 227 wait_ms( 1 * 10);
charlesmn 0:c77591fc308d 228 // printf("interruptcount %d \n",interruptcount);
charlesmn 0:c77591fc308d 229 if (int_centre_result != 0)
charlesmn 0:c77591fc308d 230 {
charlesmn 0:c77591fc308d 231 int_centre_result = 0;
charlesmn 0:c77591fc308d 232 // printf("int_centre_result \n");
charlesmn 0:c77591fc308d 233 status = board->sensor_centre->VL53LX_GetMultiRangingData( pMultiRangingData);
charlesmn 0:c77591fc308d 234 int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
charlesmn 0:c77591fc308d 235 // printf("int_centre_result %d %d \n",no_of_object_found,status);
charlesmn 0:c77591fc308d 236 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0 ))
charlesmn 0:c77591fc308d 237 {
charlesmn 0:c77591fc308d 238 for(int j=0;j<no_of_object_found;j++){
charlesmn 0:c77591fc308d 239 if (pMultiRangingData->RangeData[j].RangeStatus == 0)
charlesmn 0:c77591fc308d 240 {
charlesmn 0:c77591fc308d 241 printf("centre\t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
charlesmn 0:c77591fc308d 242 pMultiRangingData->RangeData[j].RangeStatus,
charlesmn 0:c77591fc308d 243 pMultiRangingData->RangeData[j].RangeMilliMeter,
charlesmn 0:c77591fc308d 244 pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0,
charlesmn 0:c77591fc308d 245 pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
charlesmn 0:c77591fc308d 246 }
charlesmn 0:c77591fc308d 247 }
charlesmn 0:c77591fc308d 248 }
charlesmn 0:c77591fc308d 249 int_centre_result = 0;
charlesmn 0:c77591fc308d 250 wait_ms( MEASUREMENTTIMING );
charlesmn 0:c77591fc308d 251 status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
charlesmn 0:c77591fc308d 252 }
charlesmn 0:c77591fc308d 253
charlesmn 0:c77591fc308d 254
charlesmn 0:c77591fc308d 255 if (int_left_result != 0)
charlesmn 0:c77591fc308d 256 {
charlesmn 0:c77591fc308d 257 int_left_result = 0;
charlesmn 0:c77591fc308d 258 // printf("int_left_result \n");
charlesmn 0:c77591fc308d 259 status = board->sensor_left->VL53LX_GetMultiRangingData( pMultiRangingData);
charlesmn 0:c77591fc308d 260 // printf("int_left_result status %d \n",status);
charlesmn 0:c77591fc308d 261 if ( status == 0)
charlesmn 0:c77591fc308d 262 {
charlesmn 0:c77591fc308d 263 int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
charlesmn 0:c77591fc308d 264 // printf("int_left_result %d %d \n",no_of_object_found,status);
charlesmn 0:c77591fc308d 265 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0 ))
charlesmn 0:c77591fc308d 266 {
charlesmn 0:c77591fc308d 267 for(int j=0;j<no_of_object_found;j++){
charlesmn 0:c77591fc308d 268 if (pMultiRangingData->RangeData[j].RangeStatus == 0)
charlesmn 0:c77591fc308d 269 {
charlesmn 0:c77591fc308d 270
charlesmn 0:c77591fc308d 271 printf("left \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
charlesmn 0:c77591fc308d 272 pMultiRangingData->RangeData[j].RangeStatus,
charlesmn 0:c77591fc308d 273 pMultiRangingData->RangeData[j].RangeMilliMeter,
charlesmn 0:c77591fc308d 274 pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0,
charlesmn 0:c77591fc308d 275 pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
charlesmn 0:c77591fc308d 276 }
charlesmn 0:c77591fc308d 277 }
charlesmn 0:c77591fc308d 278 }
charlesmn 0:c77591fc308d 279 }
charlesmn 0:c77591fc308d 280 wait_ms( MEASUREMENTTIMING );
charlesmn 0:c77591fc308d 281 status = board->sensor_left->VL53LX_ClearInterruptAndStartMeasurement();
charlesmn 0:c77591fc308d 282
charlesmn 0:c77591fc308d 283 }
charlesmn 0:c77591fc308d 284
charlesmn 0:c77591fc308d 285
charlesmn 0:c77591fc308d 286 if (int_right_result != 0)
charlesmn 0:c77591fc308d 287 {
charlesmn 0:c77591fc308d 288 // clear interrupt flag
charlesmn 0:c77591fc308d 289 int_right_result = 0;
charlesmn 0:c77591fc308d 290 // printf("int_right_result \n");
charlesmn 0:c77591fc308d 291 status = board->sensor_right->VL53LX_GetMultiRangingData( pMultiRangingData);
charlesmn 0:c77591fc308d 292 if ( status == 0)
charlesmn 0:c77591fc308d 293 {
charlesmn 0:c77591fc308d 294 // printf("int_right_result status %d \n",status);
charlesmn 0:c77591fc308d 295 // if valid result print it
charlesmn 0:c77591fc308d 296 int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
charlesmn 0:c77591fc308d 297 // printf("int_right_result %d %d \n",no_of_object_found,status);
charlesmn 0:c77591fc308d 298 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0 ))
charlesmn 0:c77591fc308d 299 {
charlesmn 0:c77591fc308d 300 for(int j=0;j<no_of_object_found;j++){
charlesmn 0:c77591fc308d 301 if (pMultiRangingData->RangeData[j].RangeStatus == 0)
charlesmn 0:c77591fc308d 302 {
charlesmn 0:c77591fc308d 303 // if(j!=0)printf("\n 0 ");
charlesmn 0:c77591fc308d 304 printf("right \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
charlesmn 0:c77591fc308d 305 pMultiRangingData->RangeData[j].RangeStatus,
charlesmn 0:c77591fc308d 306 pMultiRangingData->RangeData[j].RangeMilliMeter,
charlesmn 0:c77591fc308d 307 pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0,
charlesmn 0:c77591fc308d 308 pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
charlesmn 0:c77591fc308d 309 }
charlesmn 0:c77591fc308d 310 }
charlesmn 0:c77591fc308d 311 }
charlesmn 0:c77591fc308d 312 }
charlesmn 0:c77591fc308d 313 wait_ms( MEASUREMENTTIMING );
charlesmn 0:c77591fc308d 314 // clear theinterrupt and wait for another result
charlesmn 0:c77591fc308d 315 status = board->sensor_right->VL53LX_ClearInterruptAndStartMeasurement();
charlesmn 0:c77591fc308d 316
charlesmn 0:c77591fc308d 317 }
charlesmn 0:c77591fc308d 318 /*
charlesmn 0:c77591fc308d 319 if ( interruptcount > 10000)
charlesmn 0:c77591fc308d 320 {
charlesmn 0:c77591fc308d 321 printf("interruptcount exceeded \n");
charlesmn 0:c77591fc308d 322 int_left_result = 0;
charlesmn 0:c77591fc308d 323 int_centre_result = 0;
charlesmn 0:c77591fc308d 324 int_right_result = 0;
charlesmn 0:c77591fc308d 325 if (board->sensor_centre!= NULL )
charlesmn 0:c77591fc308d 326 status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
charlesmn 0:c77591fc308d 327 if (board->sensor_left!= NULL )
charlesmn 0:c77591fc308d 328 status = board->sensor_left->VL53LX_ClearInterruptAndStartMeasurement();
charlesmn 0:c77591fc308d 329 if (board->sensor_right!= NULL )
charlesmn 0:c77591fc308d 330 status = board->sensor_right->VL53LX_ClearInterruptAndStartMeasurement();
charlesmn 0:c77591fc308d 331 interruptcount = 0;
charlesmn 0:c77591fc308d 332 }
charlesmn 0:c77591fc308d 333 */
charlesmn 0:c77591fc308d 334
charlesmn 0:c77591fc308d 335 }
charlesmn 0:c77591fc308d 336 printf("terminated");
charlesmn 0:c77591fc308d 337 }
charlesmn 0:c77591fc308d 338