Diff: main.cpp

Revision:

0:c77591fc308d

Child:

3:d6e7cc8dc1d0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 13 18:39:10 2020 +0000
@@ -0,0 +1,338 @@
+/*
+ *  This VL53L1X 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_interrupt_ranging.h
+ 
+#include <stdio.h>
+
+#include "mbed.h"
+#include "XNucleo53L1A1.h"
+#include "vl53L1x_I2c.h"
+#include <time.h>
+
+
+#define VL53L1_I2C_SDA   D14 
+#define VL53L1_I2C_SCL   D15 
+
+#define MEASUREMENTTIMING  55 
+
+static XNucleo53L1A1 *board=NULL;
+Serial pc(SERIAL_TX, SERIAL_RX); 
+
+static int int_centre_result = 0;
+static int int_left_result = 0;
+static int int_right_result = 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.rise(callback(this, &WaitForMeasurement::got_interrupt)); // attach increment function of this counter instance
+        
+    }
+    
+    void process_right_interrupt()
+    {
+          printf("processing right interrupt\n");
+    }
+
+  // function is called every time an interupt is seen. A flag is raised which allows the main routine to service the interupt.
+    void got_interrupt()
+    {
+    
+        _count++;
+
+        if (Devlocal->I2cDevAddr == NEW_SENSOR_CENTRE_ADDRESS)
+            int_centre_result = 1;  //flag to main that interrupt happened
+        if (Devlocal->I2cDevAddr == NEW_SENSOR_LEFT_ADDRESS)
+            int_left_result = 1;   //flag to main that interrupt happened
+        if (Devlocal->I2cDevAddr == NEW_SENSOR_RIGHT_ADDRESS)
+        {
+            int_right_result = 1;  //flag to main that interrupt happened
+        }
+    }
+
+    
+    //destructor
+    ~WaitForMeasurement()
+    {
+        printf("destruction \n");
+    }
+
+private:
+    InterruptIn _interrupt;
+    volatile int _count;
+    VL53LX_DEV Devlocal;
+    int status;
+    
+};
+
+
+
+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
+  
+    
+    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");
+
+    vl53L1X_DevI2C *dev_I2C = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
+
+ //   printf("I2C device created! %d %d\r\n",dev_I2C,*dev_I2C);
+    
+    /* creates the 53L1A1 expansion board singleton obj */
+    board = XNucleo53L1A1::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! - %d\r\n", status);
+                                                
+        for (ToFSensor=0;ToFSensor<3;ToFSensor++){
+        wait_ms(15);
+        switch(ToFSensor){
+            case 0:
+                if (board->sensor_centre== NULL ) continue;
+                Dev=&devCentre;
+                Sensor=board->sensor_centre;
+                Dev->I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS;
+                printf("configuring centre channel \n");
+                break;
+            case 1:
+                if (board->sensor_left== NULL ) continue;
+                Dev=&devLeft; 
+                Sensor=board->sensor_left;
+                Dev->I2cDevAddr = NEW_SENSOR_LEFT_ADDRESS;
+                printf("configuring left channel \n");
+                break;
+            case 2:
+                if (board->sensor_right== NULL ) continue;
+                Dev=&devRight;  
+                Sensor=board->sensor_right;
+                Dev->I2cDevAddr = NEW_SENSOR_RIGHT_ADDRESS;
+                printf("configuring right channel \n");
+                break;      
+            default:
+               printf(" error in switch, invalid ToF sensor \n");
+        }
+        
+// configure the sensors
+        Dev->comms_speed_khz = 400;
+
+        Dev->comms_type = 1;
+
+        Sensor->VL53LX_RdWord(Dev, 0x01, &wordData);
+        printf("VL53L1X: %02X   %d\n\r", wordData,Dev->I2cDevAddr);
+/* Device Initialization and setting */  
+
+        status = Sensor->VL53LX_DataInit();
+        status = Sensor->VL53LX_SetDistanceMode(VL53LX_DISTANCEMODE_LONG);
+        status = Sensor->VL53LX_SetMeasurementTimingBudgetMicroSeconds( MEASUREMENTTIMING * 1000);                      
+        status = Sensor->VL53LX_SmudgeCorrectionEnable(VL53LX_SMUDGE_CORRECTION_SINGLE);
+        status = Sensor->VL53LX_SetXTalkCompensationEnable(1);
+
+        
+        }
+        
+        if (board->sensor_centre!= NULL )
+        {
+            printf("starting interrupt centre\n");
+            Sensor=board->sensor_centre;
+            devCentre.I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS;
+            int1 =  new WaitForMeasurement(A2,&devCentre);
+            status = Sensor->VL53LX_StartMeasurement();
+            printf("VL53L1_StartMeasurement %d \n",status);
+            status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
+        }
+        
+
+        if (board->sensor_left!= NULL )
+        {
+            printf("starting interrupt left\n");
+            Sensor=board->sensor_left;
+            devLeft.I2cDevAddr = NEW_SENSOR_LEFT_ADDRESS;
+            int2 = new WaitForMeasurement(D8,&devLeft);
+            status = Sensor->VL53LX_StartMeasurement();
+            printf("VL53L1_StartMeasurement %d \n",status);
+            status = board->sensor_left->VL53LX_ClearInterruptAndStartMeasurement();
+        }
+
+        if (board->sensor_right!= NULL )
+        {
+            printf("starting interrupt right\n");
+            Sensor=board->sensor_right;
+            devRight.I2cDevAddr = NEW_SENSOR_RIGHT_ADDRESS;
+            int3 = new WaitForMeasurement(D2,&devRight);
+            status = Sensor->VL53LX_StartMeasurement();
+            printf("VL53L1_StartMeasurement %d \n",status);
+            status = board->sensor_right->VL53LX_ClearInterruptAndStartMeasurement();
+        }
+        
+    
+       // loop waiting for interrupts to happen. This is signaled by   int_centre_result,int_left_result or int_right_result
+       // being non zero. The are set back to zero when processing is completed
+        while (1)
+        {
+
+            VL53LX_MultiRangingData_t MultiRangingData;
+             VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;   
+            
+            wait_ms( 1 * 10);
+ //                           printf("interruptcount %d \n",interruptcount);
+            if (int_centre_result != 0)
+            {
+                int_centre_result = 0;
+ //               printf("int_centre_result \n");
+                status = board->sensor_centre->VL53LX_GetMultiRangingData( pMultiRangingData);
+                int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+//                printf("int_centre_result %d %d \n",no_of_object_found,status);
+                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 == 0) 
+                        {
+                            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);
+                        }
+                    }
+                }
+                int_centre_result = 0;
+                 wait_ms( MEASUREMENTTIMING );
+                status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
+            }
+
+
+            if (int_left_result != 0)
+            {
+                int_left_result = 0;
+//                                                 printf("int_left_result \n");
+                status = board->sensor_left->VL53LX_GetMultiRangingData( pMultiRangingData);
+  //              printf("int_left_result status %d \n",status);
+                if ( status == 0)
+                {
+                    int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+  //                  printf("int_left_result %d %d \n",no_of_object_found,status);
+                    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 == 0) 
+                            {
+
+                                printf("left  \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( MEASUREMENTTIMING );
+                status = board->sensor_left->VL53LX_ClearInterruptAndStartMeasurement();
+
+            }
+            
+            
+            if (int_right_result != 0)
+            {
+                // clear interrupt flag
+                int_right_result = 0;
+ //                                printf("int_right_result \n");
+                status = board->sensor_right->VL53LX_GetMultiRangingData( pMultiRangingData);
+                if ( status == 0)
+                {
+ //                   printf("int_right_result status %d \n",status);
+                    // if valid result print it
+                    int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+   //                printf("int_right_result %d %d \n",no_of_object_found,status);
+                    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 == 0) 
+                            {
+//                                   if(j!=0)printf("\n          0           ");
+                                printf("right \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( MEASUREMENTTIMING );
+                // clear theinterrupt and wait for another result
+                status = board->sensor_right->VL53LX_ClearInterruptAndStartMeasurement();
+
+            }
+  /*
+            if ( interruptcount  > 10000)
+            {
+                printf("interruptcount exceeded \n");
+                int_left_result = 0;
+                int_centre_result = 0;
+                int_right_result = 0;
+                if (board->sensor_centre!= NULL )
+                    status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
+                if (board->sensor_left!= NULL )
+                    status = board->sensor_left->VL53LX_ClearInterruptAndStartMeasurement();
+                if (board->sensor_right!= NULL )
+                    status = board->sensor_right->VL53LX_ClearInterruptAndStartMeasurement();
+                interruptcount = 0;
+            }
+            */
+    
+        }
+        printf("terminated");
+    }
+  
\ No newline at end of file