File content as of revision 4:9fad37a914cd:

/*
 *  This VL53L3 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 9600 baud.
 *
 *  The User Blue button stops the current measurement and entire program,
 *  releasing all resources.
 *
 *  The Reset button can be used to restart the program.
 */
 
  //Main_single_polling.h
 
#include <stdio.h>
#include <time.h>

#include "mbed.h"
#include "XNucleo53L3A2.h"
#include "vl53L3_I2c.h"


// define i2c mcu pins
#define I2C_SDA   D14 
#define I2C_SCL   D15 

static XNucleo53L3A2 *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");

    vl53L3_DevI2C *dev_I2C = new vl53L3_DevI2C(I2C_SDA, I2C_SCL);
    
    /* creates the 53L1A1 expansion board singleton obj */
    board = XNucleo53L3A2::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) {
        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 */

    status = Sensor->VL53LX_DataInit();
    uint8_t NewDataReady=0;     

    
    status = Sensor->VL53LX_StartMeasurement();   
    printf("VL53LX_StartMeasurement %d \n",status);         
        
    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(); 
    
}