Sample application using interrupts, and range_continuous_interrupts mode, to receive range data from the on-board and satellite sensors. Results are displayed on the on-board, 4 digit display and on the COM port.
Dependencies: mbed X_NUCLEO_53L0A1
Fork of Display_53L0A1_Interrupts by
* NOTE : Hard-links U11 and U18, on the underside of the X-NUCELO-53L0A1 expansion board, must be made/ON to allow interrupts to be received from the satellite boards, on INT_L and INT_R, or U10 and U15 to receive interrupts from the alternate locations. *
main.cpp@3:12cb106044f9, 2017-06-15 (annotated)
- Committer:
- johnAlexander
- Date:
- Thu Jun 15 13:52:54 2017 +0000
- Revision:
- 3:12cb106044f9
- Parent:
- 2:bdf097d93eca
- Child:
- 4:44629a30d6f4
Sample application using interrupts, and range_continuous_interrupt mode, to receive range data from the on-board and satellite sensors. Results are displayed on the on-board, LED Display and the COM port.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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johnAlexander | 0:cd8e818d4288 | 1 | #include "mbed.h" |
johnAlexander | 0:cd8e818d4288 | 2 | #include "x_nucleo_53l0a1.h" |
johnAlexander | 2:bdf097d93eca | 3 | #include <string.h> |
johnAlexander | 2:bdf097d93eca | 4 | #include <stdlib.h> |
johnAlexander | 2:bdf097d93eca | 5 | #include <stdio.h> |
johnAlexander | 2:bdf097d93eca | 6 | #include <assert.h> |
johnAlexander | 2:bdf097d93eca | 7 | |
johnAlexander | 3:12cb106044f9 | 8 | /* |
johnAlexander | 3:12cb106044f9 | 9 | * This VL53L0X Expansion board sample application performs range measurements using |
johnAlexander | 3:12cb106044f9 | 10 | * range_continuous_interrupt mode to generate a hardware interrupt each time a new |
johnAlexander | 3:12cb106044f9 | 11 | * measurement is ready to be read. |
johnAlexander | 3:12cb106044f9 | 12 | * The application supports the centre, on-board, sensor and up two satellites. |
johnAlexander | 3:12cb106044f9 | 13 | * |
johnAlexander | 3:12cb106044f9 | 14 | * *** NOTE : Hard-links U11 and U18, on the underside of the X-NUCELO-53L0A1 |
johnAlexander | 3:12cb106044f9 | 15 | * expansion board must be made/ON to allow interrupts to be received |
johnAlexander | 3:12cb106044f9 | 16 | * from the satellite boards. *** |
johnAlexander | 3:12cb106044f9 | 17 | * |
johnAlexander | 3:12cb106044f9 | 18 | * The measured range data is displayed on the on-board 4-digit LED display, and sent |
johnAlexander | 3:12cb106044f9 | 19 | * to the COM port. |
johnAlexander | 3:12cb106044f9 | 20 | * |
johnAlexander | 3:12cb106044f9 | 21 | * The User Blue button switches between the currently selected sensor to display range |
johnAlexander | 3:12cb106044f9 | 22 | * results from. |
johnAlexander | 3:12cb106044f9 | 23 | * |
johnAlexander | 3:12cb106044f9 | 24 | * The Black Reset button is used to restart the program. |
johnAlexander | 3:12cb106044f9 | 25 | */ |
johnAlexander | 2:bdf097d93eca | 26 | |
johnAlexander | 0:cd8e818d4288 | 27 | |
johnAlexander | 0:cd8e818d4288 | 28 | #define VL53L0_I2C_SDA D14 |
johnAlexander | 0:cd8e818d4288 | 29 | #define VL53L0_I2C_SCL D15 |
johnAlexander | 0:cd8e818d4288 | 30 | |
johnAlexander | 3:12cb106044f9 | 31 | #define CENTER_BIT 0 |
johnAlexander | 3:12cb106044f9 | 32 | #define LEFT_BIT 1 |
johnAlexander | 3:12cb106044f9 | 33 | #define RIGHT_BIT 2 |
johnAlexander | 3:12cb106044f9 | 34 | |
johnAlexander | 3:12cb106044f9 | 35 | |
johnAlexander | 2:bdf097d93eca | 36 | static X_NUCLEO_53L0A1 *board=NULL; |
johnAlexander | 2:bdf097d93eca | 37 | VL53L0X_RangingMeasurementData_t data_sensor; |
johnAlexander | 0:cd8e818d4288 | 38 | OperatingMode operating_mode; |
johnAlexander | 0:cd8e818d4288 | 39 | |
johnAlexander | 3:12cb106044f9 | 40 | /* interrupt requests */ |
johnAlexander | 3:12cb106044f9 | 41 | volatile int upadtedSensors = 0; |
johnAlexander | 3:12cb106044f9 | 42 | |
johnAlexander | 3:12cb106044f9 | 43 | /* Current sensor number*/ |
johnAlexander | 3:12cb106044f9 | 44 | volatile int currentSensor = 0; |
johnAlexander | 3:12cb106044f9 | 45 | /* Installed sensors count */ |
johnAlexander | 3:12cb106044f9 | 46 | int sensorCnt = 0; |
johnAlexander | 3:12cb106044f9 | 47 | |
johnAlexander | 3:12cb106044f9 | 48 | struct Sensor |
johnAlexander | 3:12cb106044f9 | 49 | { |
johnAlexander | 3:12cb106044f9 | 50 | char prefix; |
johnAlexander | 3:12cb106044f9 | 51 | int sensorBit; |
johnAlexander | 3:12cb106044f9 | 52 | VL53L0X *sensorPtr; |
johnAlexander | 3:12cb106044f9 | 53 | } installedSensors[3]; |
johnAlexander | 2:bdf097d93eca | 54 | |
johnAlexander | 0:cd8e818d4288 | 55 | |
johnAlexander | 3:12cb106044f9 | 56 | /* ISR callback function of the sensor_centre */ |
johnAlexander | 2:bdf097d93eca | 57 | void SensorCenterIRQ(void) |
johnAlexander | 0:cd8e818d4288 | 58 | { |
johnAlexander | 3:12cb106044f9 | 59 | upadtedSensors |= (1 << CENTER_BIT); |
johnAlexander | 2:bdf097d93eca | 60 | board->sensor_centre->DisableInterruptMeasureDetectionIRQ(); |
johnAlexander | 2:bdf097d93eca | 61 | } |
johnAlexander | 2:bdf097d93eca | 62 | |
johnAlexander | 3:12cb106044f9 | 63 | void SensorLeftIRQ(void) |
johnAlexander | 3:12cb106044f9 | 64 | { |
johnAlexander | 3:12cb106044f9 | 65 | upadtedSensors |= (1 << LEFT_BIT); |
johnAlexander | 3:12cb106044f9 | 66 | board->sensor_left->DisableInterruptMeasureDetectionIRQ(); |
johnAlexander | 3:12cb106044f9 | 67 | } |
johnAlexander | 3:12cb106044f9 | 68 | |
johnAlexander | 3:12cb106044f9 | 69 | void SensorRightIRQ(void) |
johnAlexander | 3:12cb106044f9 | 70 | { |
johnAlexander | 3:12cb106044f9 | 71 | upadtedSensors |= (1 << RIGHT_BIT); |
johnAlexander | 3:12cb106044f9 | 72 | board->sensor_right->DisableInterruptMeasureDetectionIRQ(); |
johnAlexander | 3:12cb106044f9 | 73 | } |
johnAlexander | 3:12cb106044f9 | 74 | |
johnAlexander | 2:bdf097d93eca | 75 | /* ISR callback function of the user blue button to switch measuring sensor. */ |
johnAlexander | 3:12cb106044f9 | 76 | void SwitchMeasuringSensorIRQ(void) |
johnAlexander | 2:bdf097d93eca | 77 | { |
johnAlexander | 3:12cb106044f9 | 78 | ++currentSensor; |
johnAlexander | 3:12cb106044f9 | 79 | if (currentSensor == sensorCnt) |
johnAlexander | 3:12cb106044f9 | 80 | currentSensor = 0; |
johnAlexander | 3:12cb106044f9 | 81 | printf("Sensor changed to %c\r\n",installedSensors[currentSensor].prefix); |
johnAlexander | 0:cd8e818d4288 | 82 | } |
johnAlexander | 0:cd8e818d4288 | 83 | |
johnAlexander | 0:cd8e818d4288 | 84 | /* On board 4 digit local display refresh */ |
johnAlexander | 3:12cb106044f9 | 85 | void DisplayRefresh(OperatingMode op_mode) |
johnAlexander | 0:cd8e818d4288 | 86 | { |
johnAlexander | 3:12cb106044f9 | 87 | int status; |
johnAlexander | 2:bdf097d93eca | 88 | char str[4]; |
johnAlexander | 3:12cb106044f9 | 89 | Sensor *current; |
johnAlexander | 3:12cb106044f9 | 90 | for (int t=0; t < sensorCnt; t++) |
johnAlexander | 2:bdf097d93eca | 91 | { |
johnAlexander | 3:12cb106044f9 | 92 | current = &installedSensors[t]; |
johnAlexander | 3:12cb106044f9 | 93 | if (upadtedSensors & current->sensorBit) |
johnAlexander | 3:12cb106044f9 | 94 | { |
johnAlexander | 3:12cb106044f9 | 95 | status = current->sensorPtr->HandleIRQ(op_mode, &data_sensor); |
johnAlexander | 3:12cb106044f9 | 96 | upadtedSensors &= ~(current->sensorBit) ; |
johnAlexander | 3:12cb106044f9 | 97 | if (!status) |
johnAlexander | 3:12cb106044f9 | 98 | { |
johnAlexander | 3:12cb106044f9 | 99 | if (data_sensor.RangeStatus == 0) // we have a valid range. |
johnAlexander | 3:12cb106044f9 | 100 | { |
johnAlexander | 3:12cb106044f9 | 101 | printf("%c %4d; ", current->prefix,data_sensor.RangeMilliMeter); |
johnAlexander | 3:12cb106044f9 | 102 | if (currentSensor == t) |
johnAlexander | 3:12cb106044f9 | 103 | { |
johnAlexander | 3:12cb106044f9 | 104 | sprintf(str,"%c%3d", current->prefix ,data_sensor.RangeMilliMeter); |
johnAlexander | 3:12cb106044f9 | 105 | } |
johnAlexander | 3:12cb106044f9 | 106 | } |
johnAlexander | 3:12cb106044f9 | 107 | else |
johnAlexander | 3:12cb106044f9 | 108 | { |
johnAlexander | 3:12cb106044f9 | 109 | if (currentSensor == t) |
johnAlexander | 3:12cb106044f9 | 110 | { |
johnAlexander | 3:12cb106044f9 | 111 | sprintf(str,"%c%s", current->prefix, "---"); |
johnAlexander | 3:12cb106044f9 | 112 | } |
johnAlexander | 3:12cb106044f9 | 113 | } |
johnAlexander | 3:12cb106044f9 | 114 | } |
johnAlexander | 3:12cb106044f9 | 115 | } |
johnAlexander | 2:bdf097d93eca | 116 | } |
johnAlexander | 3:12cb106044f9 | 117 | board->display->DisplayString(str); |
johnAlexander | 3:12cb106044f9 | 118 | } |
johnAlexander | 3:12cb106044f9 | 119 | |
johnAlexander | 3:12cb106044f9 | 120 | int InitSensorsArray() |
johnAlexander | 3:12cb106044f9 | 121 | { |
johnAlexander | 3:12cb106044f9 | 122 | int status = 1; |
johnAlexander | 3:12cb106044f9 | 123 | sensorCnt = 0; |
johnAlexander | 3:12cb106044f9 | 124 | /* start the measure on the center sensor */ |
johnAlexander | 3:12cb106044f9 | 125 | if (NULL != board->sensor_centre) |
johnAlexander | 3:12cb106044f9 | 126 | { |
johnAlexander | 3:12cb106044f9 | 127 | installedSensors[sensorCnt].prefix = 'C'; |
johnAlexander | 3:12cb106044f9 | 128 | installedSensors[sensorCnt].sensorBit |= (1 << CENTER_BIT); |
johnAlexander | 3:12cb106044f9 | 129 | installedSensors[sensorCnt].sensorPtr = board->sensor_centre; |
johnAlexander | 3:12cb106044f9 | 130 | status=board->sensor_centre->StopMeasurement(operating_mode); |
johnAlexander | 3:12cb106044f9 | 131 | status=board->sensor_centre->StartMeasurement(operating_mode, &SensorCenterIRQ); |
johnAlexander | 3:12cb106044f9 | 132 | ++sensorCnt; |
johnAlexander | 3:12cb106044f9 | 133 | } |
johnAlexander | 3:12cb106044f9 | 134 | /* start the measure on the left sensor */ |
johnAlexander | 3:12cb106044f9 | 135 | if (NULL != board->sensor_left) |
johnAlexander | 2:bdf097d93eca | 136 | { |
johnAlexander | 3:12cb106044f9 | 137 | installedSensors[sensorCnt].prefix = 'L'; |
johnAlexander | 3:12cb106044f9 | 138 | installedSensors[sensorCnt].sensorBit |= (1 << LEFT_BIT); |
johnAlexander | 3:12cb106044f9 | 139 | installedSensors[sensorCnt].sensorPtr = board->sensor_left; |
johnAlexander | 3:12cb106044f9 | 140 | status=board->sensor_left->StopMeasurement(operating_mode); |
johnAlexander | 3:12cb106044f9 | 141 | status=board->sensor_left->StartMeasurement(operating_mode, &SensorLeftIRQ); |
johnAlexander | 3:12cb106044f9 | 142 | ++sensorCnt; |
johnAlexander | 3:12cb106044f9 | 143 | } |
johnAlexander | 3:12cb106044f9 | 144 | /* start the measure on the right sensor */ |
johnAlexander | 3:12cb106044f9 | 145 | if (NULL != board->sensor_right) |
johnAlexander | 3:12cb106044f9 | 146 | { |
johnAlexander | 3:12cb106044f9 | 147 | installedSensors[sensorCnt].prefix = 'R'; |
johnAlexander | 3:12cb106044f9 | 148 | installedSensors[sensorCnt].sensorBit |= (1 << RIGHT_BIT); |
johnAlexander | 3:12cb106044f9 | 149 | installedSensors[sensorCnt].sensorPtr = board->sensor_right; |
johnAlexander | 3:12cb106044f9 | 150 | status=board->sensor_right->StopMeasurement(operating_mode); |
johnAlexander | 3:12cb106044f9 | 151 | status=board->sensor_right->StartMeasurement(operating_mode, &SensorRightIRQ); |
johnAlexander | 3:12cb106044f9 | 152 | ++sensorCnt; |
johnAlexander | 3:12cb106044f9 | 153 | } |
johnAlexander | 3:12cb106044f9 | 154 | currentSensor = 0; |
johnAlexander | 3:12cb106044f9 | 155 | return status; |
johnAlexander | 0:cd8e818d4288 | 156 | } |
johnAlexander | 0:cd8e818d4288 | 157 | |
johnAlexander | 2:bdf097d93eca | 158 | void RangeMeasure(DevI2C *device_i2c) { |
johnAlexander | 2:bdf097d93eca | 159 | int status; |
johnAlexander | 1:c1c10e0c32b2 | 160 | |
johnAlexander | 0:cd8e818d4288 | 161 | /* creates the 53L0A1 expansion board singleton obj */ |
johnAlexander | 0:cd8e818d4288 | 162 | board=X_NUCLEO_53L0A1::Instance(device_i2c, A2, D8, D2); |
johnAlexander | 0:cd8e818d4288 | 163 | |
johnAlexander | 0:cd8e818d4288 | 164 | board->display->DisplayString("53L0"); |
johnAlexander | 2:bdf097d93eca | 165 | |
johnAlexander | 2:bdf097d93eca | 166 | operating_mode=range_continuous_interrupt; |
johnAlexander | 2:bdf097d93eca | 167 | |
johnAlexander | 0:cd8e818d4288 | 168 | /* init the 53L0A1 expansion board with default values */ |
johnAlexander | 2:bdf097d93eca | 169 | status=board->InitBoard(); |
johnAlexander | 3:12cb106044f9 | 170 | |
johnAlexander | 2:bdf097d93eca | 171 | if(status) |
johnAlexander | 2:bdf097d93eca | 172 | { |
johnAlexander | 2:bdf097d93eca | 173 | printf("Failed to init board!\n\r"); |
johnAlexander | 2:bdf097d93eca | 174 | } |
johnAlexander | 3:12cb106044f9 | 175 | else |
johnAlexander | 3:12cb106044f9 | 176 | { |
johnAlexander | 3:12cb106044f9 | 177 | status = InitSensorsArray(); |
johnAlexander | 3:12cb106044f9 | 178 | } |
johnAlexander | 2:bdf097d93eca | 179 | |
johnAlexander | 2:bdf097d93eca | 180 | if(!status) |
johnAlexander | 0:cd8e818d4288 | 181 | { |
johnAlexander | 3:12cb106044f9 | 182 | printf ("\r\nEntering loop mode\r\n"); |
johnAlexander | 2:bdf097d93eca | 183 | while (true) |
johnAlexander | 2:bdf097d93eca | 184 | { |
johnAlexander | 3:12cb106044f9 | 185 | DisplayRefresh(operating_mode); |
johnAlexander | 2:bdf097d93eca | 186 | } |
johnAlexander | 0:cd8e818d4288 | 187 | } |
johnAlexander | 0:cd8e818d4288 | 188 | delete board; |
johnAlexander | 2:bdf097d93eca | 189 | } |
johnAlexander | 2:bdf097d93eca | 190 | |
johnAlexander | 2:bdf097d93eca | 191 | /*=================================== Main ================================== |
johnAlexander | 3:12cb106044f9 | 192 | Press the blue user button to switch the displayed sensor. |
johnAlexander | 2:bdf097d93eca | 193 | =============================================================================*/ |
johnAlexander | 2:bdf097d93eca | 194 | int main() |
johnAlexander | 2:bdf097d93eca | 195 | { |
johnAlexander | 2:bdf097d93eca | 196 | #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401 |
johnAlexander | 2:bdf097d93eca | 197 | InterruptIn stop_button (USER_BUTTON); |
johnAlexander | 3:12cb106044f9 | 198 | stop_button.rise (&SwitchMeasuringSensorIRQ); |
johnAlexander | 2:bdf097d93eca | 199 | #endif |
johnAlexander | 2:bdf097d93eca | 200 | DevI2C *device_i2c =new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL); |
johnAlexander | 2:bdf097d93eca | 201 | RangeMeasure(device_i2c); // start continuous measures |
johnAlexander | 0:cd8e818d4288 | 202 | } |
johnAlexander | 2:bdf097d93eca | 203 | |
johnAlexander | 2:bdf097d93eca | 204 |