Diff: Main.cpp

Revision:

0:34269810c435

Child:

2:75271310def9

diff -r 000000000000 -r 34269810c435 Main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Main.cpp	Wed Oct 14 09:27:13 2020 +0000
@@ -0,0 +1,208 @@
+ /*
+ *  my_no_shield_interrupt.h
+ *  This pogram is a simple sample program which demonstrates the VL53L3 being used without 
+ *  a nucleo sheild using interrupts to alert the program that a measurement is ready.
+  * 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);
+ *
+ * This program only uses one sensor but can easily be adapted to run 3.
+ *
+ *  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 pins
+#define VL53L1_I2C_SDA   D14 
+#define VL53L1_I2C_SCL   D15 
+
+#define TIMINGBUDGET  50
+
+static NoShield53L3 *board=NULL;
+Serial pc(SERIAL_TX, SERIAL_RX); 
+
+static int int_centre_dropped = 0;
+static int int_left_dropped = 0;
+static int int_right_dropped = 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,VL53LX_DEV Dev) : _interrupt(pin)          // create the InterruptIn on the pin specified to Counter
+    {
+         Devlocal = Dev;
+        _interrupt.fall(callback(this, &WaitForMeasurement::lost_interrupt)); // attach increment function of this counter instance
+        
+    }
+    
+
+  // function is called every time an interupt is seen. A flag is raised which allows the main routine to service the interupt.
+    
+    void lost_interrupt()
+    {
+        if (Devlocal->I2cDevAddr == NEW_SENSOR_CENTRE_ADDRESS)
+            int_centre_dropped = 1;  //flag to main that interrupt happened
+        if (Devlocal->I2cDevAddr == NEW_SENSOR_LEFT_ADDRESS)
+            int_left_dropped = 1;   //flag to main that interrupt happened
+        if (Devlocal->I2cDevAddr == NEW_SENSOR_RIGHT_ADDRESS)
+            int_right_dropped = 1;  //flag to main that interrupt happened    
+    }
+
+    
+    //destructor
+    ~WaitForMeasurement()
+    {
+        printf("destruction \n");
+    }
+
+private:
+    InterruptIn _interrupt;
+    VL53LX_DEV Devlocal;  //store the device for this instance of the class
+    int status;
+    
+};
+
+
+// sensor classes. We don't use left and right in this program as we only have one sensor
+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;
+    uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
+  
+    // interupt classes for the sensors . we only use int1
+    WaitForMeasurement* int2;
+    WaitForMeasurement* int1;
+    WaitForMeasurement* int3;
+
+    pc.baud(115200);  // baud rate is important as printf statements take a lot of time
+
+    printf("Hello world!\r\n");
+
+// start the I2C interface
+    vl53L1X_DevI2C *dev_I2C = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
+
+    
+    /* no expansion board so don't use stmpe1600. Define interupt pins, only A2 used with one sensor */
+    board = NoShield53L3::instance(dev_I2C, A2, D8, D2);
+    printf("board created!\r\n");
+
+    /* define the shutdown pins. D4 and D3 aren't used with one sensor */
+    status = board->init_board(D9,D4,D3);
+    if (status) {
+        printf("Failed to init board!\r\n");
+        return 0;
+    }
+       
+        
+    printf("board initiated! - %d\r\n", status);
+                                                
+
+    wait_ms(15);
+
+    if (board->sensor_centre== NULL ) {
+        printf("Failed to init sensor!\r\n");
+        return 0;
+    }
+    printf("configuring centre channel \n");
+
+
+
+// configure the I2C interface
+
+    devCentre.I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS;
+    devCentre.comms_speed_khz = 400;
+    devCentre.comms_type = 1;
+
+/* Device Initialization and setting */  
+
+    status = board->sensor_centre->VL53LX_DataInit();
+    status = board->sensor_centre->VL53LX_SetDistanceMode(VL53LX_DISTANCEMODE_LONG);
+    status = board->sensor_centre->VL53LX_SetMeasurementTimingBudgetMicroSeconds( TIMINGBUDGET * 1000);
+    status = board->sensor_centre->VL53LX_SmudgeCorrectionEnable(VL53LX_SMUDGE_CORRECTION_SINGLE);
+    status = board->sensor_centre->VL53LX_SetXTalkCompensationEnable(1);
+
+    printf("starting interrupt centre\n");
+
+    int1 =  new WaitForMeasurement(A2,&devCentre); // initialise interrupt for the sensor
+    status = board->sensor_centre->VL53LX_StartMeasurement();
+    status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
+        
+            
+    
+       // loop waiting for interrupts to happen. This is signaled by int_centre_dropped
+       // being non zero. It is set back to zero when processing is completed
+    while (1)
+    {
+
+        VL53LX_MultiRangingData_t MultiRangingData;
+        VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;   
+        
+        wait_ms( 1 * 10);
+
+        if (int_centre_dropped != 0)
+        {
+            int_centre_dropped = 0;
+            // interrupt has occurred so a measurement is waiting
+            status = board->sensor_centre->VL53LX_GetMultiRangingData( pMultiRangingData);
+            int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+            if (( no_of_object_found < 10 ) && ( no_of_object_found != 0 ))
+            {
+                for(int j=0;j<no_of_object_found;j++){
+                    if ((pMultiRangingData->RangeData[j].RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID) || 
+                        (pMultiRangingData->RangeData[j].RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL))
+                    {
+                        printf("centre\t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
+                        pMultiRangingData->RangeData[j].RangeStatus,
+                        pMultiRangingData->RangeData[j].RangeMilliMeter,
+                        pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0,
+                        pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
+                    }
+                }
+            }
+
+            wait_ms( TIMINGBUDGET);
+            status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
+        }
+
+    }
+    printf("terminated");
+}
+  
\ No newline at end of file