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@4:44629a30d6f4, 2017-06-20 (annotated)
- Committer:
- johnAlexander
- Date:
- Tue Jun 20 08:14:49 2017 +0000
- Revision:
- 4:44629a30d6f4
- Parent:
- 3:12cb106044f9
- Child:
- 5:906aa7aede10
Refactored example code and updated comment section to mention expansion board hardware configuration needs.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
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 | 4:44629a30d6f4 | 12 | * The application supports the centre, on-board, sensor and up two satellite boards. |
johnAlexander | 3:12cb106044f9 | 13 | * |
johnAlexander | 4:44629a30d6f4 | 14 | * The measured range data is displayed on the on-board 4-digit LED display. |
johnAlexander | 3:12cb106044f9 | 15 | * |
johnAlexander | 3:12cb106044f9 | 16 | * The User Blue button switches between the currently selected sensor to display range |
johnAlexander | 3:12cb106044f9 | 17 | * results from. |
johnAlexander | 3:12cb106044f9 | 18 | * |
johnAlexander | 3:12cb106044f9 | 19 | * The Black Reset button is used to restart the program. |
johnAlexander | 4:44629a30d6f4 | 20 | * |
johnAlexander | 4:44629a30d6f4 | 21 | * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of |
johnAlexander | 4:44629a30d6f4 | 22 | * the X-NUCELO-53L0A1 expansion board are not made/OFF. |
johnAlexander | 4:44629a30d6f4 | 23 | * These links must be made to allow interrupts from the Satellite boards |
johnAlexander | 4:44629a30d6f4 | 24 | * to be received. |
johnAlexander | 4:44629a30d6f4 | 25 | * U11 and U18 must be made/ON to allow interrupts to be received from the |
johnAlexander | 4:44629a30d6f4 | 26 | * INT_L & INT_R positions; or |
johnAlexander | 4:44629a30d6f4 | 27 | * U10 and U15 must be made/ON to allow interrupts to be received from the |
johnAlexander | 4:44629a30d6f4 | 28 | * Alternate INT_L & INT_R positions. |
johnAlexander | 4:44629a30d6f4 | 29 | * The X_NUCLEO_53L0A1 firmware library defaults to use the INT_L/INT_R |
johnAlexander | 4:44629a30d6f4 | 30 | * positions. |
johnAlexander | 4:44629a30d6f4 | 31 | * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8. |
johnAlexander | 4:44629a30d6f4 | 32 | * Alternate INT_L is on CN5 Connector pin 2 as D9. |
johnAlexander | 4:44629a30d6f4 | 33 | * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2. |
johnAlexander | 4:44629a30d6f4 | 34 | * Alternate INT_R is on CN9 Connector pin 5 as D4. |
johnAlexander | 4:44629a30d6f4 | 35 | * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L0A1/ |
johnAlexander | 4:44629a30d6f4 | 36 | * |
johnAlexander | 3:12cb106044f9 | 37 | */ |
johnAlexander | 2:bdf097d93eca | 38 | |
johnAlexander | 0:cd8e818d4288 | 39 | #define VL53L0_I2C_SDA D14 |
johnAlexander | 0:cd8e818d4288 | 40 | #define VL53L0_I2C_SCL D15 |
johnAlexander | 0:cd8e818d4288 | 41 | |
johnAlexander | 4:44629a30d6f4 | 42 | #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-64s |
johnAlexander | 4:44629a30d6f4 | 43 | InterruptIn stop_button (USER_BUTTON); |
johnAlexander | 4:44629a30d6f4 | 44 | #endif |
johnAlexander | 3:12cb106044f9 | 45 | |
johnAlexander | 2:bdf097d93eca | 46 | static X_NUCLEO_53L0A1 *board=NULL; |
johnAlexander | 2:bdf097d93eca | 47 | VL53L0X_RangingMeasurementData_t data_sensor; |
johnAlexander | 0:cd8e818d4288 | 48 | OperatingMode operating_mode; |
johnAlexander | 4:44629a30d6f4 | 49 | |
johnAlexander | 4:44629a30d6f4 | 50 | /* current displayed sensor change IRQ */ |
johnAlexander | 4:44629a30d6f4 | 51 | volatile bool switchChanged = false; |
johnAlexander | 4:44629a30d6f4 | 52 | |
johnAlexander | 3:12cb106044f9 | 53 | /* interrupt requests */ |
johnAlexander | 4:44629a30d6f4 | 54 | volatile bool centerSensor = false; |
johnAlexander | 4:44629a30d6f4 | 55 | volatile bool leftSensor = false; |
johnAlexander | 4:44629a30d6f4 | 56 | volatile bool rightSensor = false; |
johnAlexander | 3:12cb106044f9 | 57 | |
johnAlexander | 3:12cb106044f9 | 58 | /* Current sensor number*/ |
johnAlexander | 3:12cb106044f9 | 59 | volatile int currentSensor = 0; |
johnAlexander | 3:12cb106044f9 | 60 | /* Installed sensors count */ |
johnAlexander | 3:12cb106044f9 | 61 | int sensorCnt = 0; |
johnAlexander | 3:12cb106044f9 | 62 | |
johnAlexander | 4:44629a30d6f4 | 63 | /* installed sensors prefixes */ |
johnAlexander | 4:44629a30d6f4 | 64 | char installedSensors[3]; |
johnAlexander | 0:cd8e818d4288 | 65 | |
johnAlexander | 3:12cb106044f9 | 66 | /* ISR callback function of the sensor_centre */ |
johnAlexander | 2:bdf097d93eca | 67 | void SensorCenterIRQ(void) |
johnAlexander | 0:cd8e818d4288 | 68 | { |
johnAlexander | 4:44629a30d6f4 | 69 | centerSensor = true; |
johnAlexander | 2:bdf097d93eca | 70 | board->sensor_centre->DisableInterruptMeasureDetectionIRQ(); |
johnAlexander | 2:bdf097d93eca | 71 | } |
johnAlexander | 2:bdf097d93eca | 72 | |
johnAlexander | 3:12cb106044f9 | 73 | void SensorLeftIRQ(void) |
johnAlexander | 3:12cb106044f9 | 74 | { |
johnAlexander | 4:44629a30d6f4 | 75 | leftSensor = true; |
johnAlexander | 3:12cb106044f9 | 76 | board->sensor_left->DisableInterruptMeasureDetectionIRQ(); |
johnAlexander | 3:12cb106044f9 | 77 | } |
johnAlexander | 3:12cb106044f9 | 78 | |
johnAlexander | 3:12cb106044f9 | 79 | void SensorRightIRQ(void) |
johnAlexander | 4:44629a30d6f4 | 80 | { |
johnAlexander | 4:44629a30d6f4 | 81 | rightSensor = true; |
johnAlexander | 3:12cb106044f9 | 82 | board->sensor_right->DisableInterruptMeasureDetectionIRQ(); |
johnAlexander | 3:12cb106044f9 | 83 | } |
johnAlexander | 3:12cb106044f9 | 84 | |
johnAlexander | 2:bdf097d93eca | 85 | /* ISR callback function of the user blue button to switch measuring sensor. */ |
johnAlexander | 3:12cb106044f9 | 86 | void SwitchMeasuringSensorIRQ(void) |
johnAlexander | 2:bdf097d93eca | 87 | { |
johnAlexander | 4:44629a30d6f4 | 88 | stop_button.disable_irq(); |
johnAlexander | 4:44629a30d6f4 | 89 | switchChanged = true; |
johnAlexander | 0:cd8e818d4288 | 90 | } |
johnAlexander | 0:cd8e818d4288 | 91 | |
johnAlexander | 4:44629a30d6f4 | 92 | |
johnAlexander | 0:cd8e818d4288 | 93 | /* On board 4 digit local display refresh */ |
johnAlexander | 4:44629a30d6f4 | 94 | void RefreshDisplay(const VL53L0X_RangingMeasurementData_t &data, char prefix) |
johnAlexander | 4:44629a30d6f4 | 95 | { |
johnAlexander | 4:44629a30d6f4 | 96 | static char str[5]; |
johnAlexander | 4:44629a30d6f4 | 97 | if (data_sensor.RangeStatus == 0) // we have a valid range. |
johnAlexander | 4:44629a30d6f4 | 98 | { |
johnAlexander | 4:44629a30d6f4 | 99 | sprintf(str, "%c%3d", prefix ,data.RangeMilliMeter); |
johnAlexander | 4:44629a30d6f4 | 100 | board->display->DisplayString(str); |
johnAlexander | 4:44629a30d6f4 | 101 | } |
johnAlexander | 4:44629a30d6f4 | 102 | else |
johnAlexander | 2:bdf097d93eca | 103 | { |
johnAlexander | 4:44629a30d6f4 | 104 | sprintf(str, "%c%s", prefix, "---"); |
johnAlexander | 4:44629a30d6f4 | 105 | board->display->DisplayString(str); |
johnAlexander | 4:44629a30d6f4 | 106 | } |
johnAlexander | 4:44629a30d6f4 | 107 | } |
johnAlexander | 4:44629a30d6f4 | 108 | |
johnAlexander | 4:44629a30d6f4 | 109 | inline void MeasureSensors(OperatingMode op_mode) |
johnAlexander | 4:44629a30d6f4 | 110 | { |
johnAlexander | 4:44629a30d6f4 | 111 | bool current = false; |
johnAlexander | 4:44629a30d6f4 | 112 | if (centerSensor) |
johnAlexander | 4:44629a30d6f4 | 113 | { |
johnAlexander | 4:44629a30d6f4 | 114 | centerSensor = false; |
johnAlexander | 4:44629a30d6f4 | 115 | board->sensor_centre->HandleIRQ(op_mode, &data_sensor); |
johnAlexander | 4:44629a30d6f4 | 116 | current = (currentSensor == 0); |
johnAlexander | 4:44629a30d6f4 | 117 | if (current) |
johnAlexander | 3:12cb106044f9 | 118 | { |
johnAlexander | 4:44629a30d6f4 | 119 | RefreshDisplay(data_sensor, 'C'); |
johnAlexander | 3:12cb106044f9 | 120 | } |
johnAlexander | 2:bdf097d93eca | 121 | } |
johnAlexander | 4:44629a30d6f4 | 122 | if (leftSensor) |
johnAlexander | 4:44629a30d6f4 | 123 | { |
johnAlexander | 4:44629a30d6f4 | 124 | leftSensor = false; |
johnAlexander | 4:44629a30d6f4 | 125 | board->sensor_left->HandleIRQ(op_mode, &data_sensor); |
johnAlexander | 4:44629a30d6f4 | 126 | current = (installedSensors[currentSensor] == 'L'); |
johnAlexander | 4:44629a30d6f4 | 127 | if (current) |
johnAlexander | 4:44629a30d6f4 | 128 | { |
johnAlexander | 4:44629a30d6f4 | 129 | RefreshDisplay(data_sensor, 'L'); |
johnAlexander | 4:44629a30d6f4 | 130 | } |
johnAlexander | 4:44629a30d6f4 | 131 | } |
johnAlexander | 4:44629a30d6f4 | 132 | if (rightSensor) |
johnAlexander | 4:44629a30d6f4 | 133 | { |
johnAlexander | 4:44629a30d6f4 | 134 | rightSensor = false; |
johnAlexander | 4:44629a30d6f4 | 135 | board->sensor_right->HandleIRQ(op_mode, &data_sensor); |
johnAlexander | 4:44629a30d6f4 | 136 | current = (installedSensors[currentSensor] == 'R'); |
johnAlexander | 4:44629a30d6f4 | 137 | if (current) |
johnAlexander | 4:44629a30d6f4 | 138 | { |
johnAlexander | 4:44629a30d6f4 | 139 | RefreshDisplay(data_sensor, 'R'); |
johnAlexander | 4:44629a30d6f4 | 140 | } |
johnAlexander | 4:44629a30d6f4 | 141 | } |
johnAlexander | 3:12cb106044f9 | 142 | } |
johnAlexander | 3:12cb106044f9 | 143 | |
johnAlexander | 3:12cb106044f9 | 144 | int InitSensorsArray() |
johnAlexander | 3:12cb106044f9 | 145 | { |
johnAlexander | 3:12cb106044f9 | 146 | int status = 1; |
johnAlexander | 3:12cb106044f9 | 147 | sensorCnt = 0; |
johnAlexander | 3:12cb106044f9 | 148 | /* start the measure on the center sensor */ |
johnAlexander | 3:12cb106044f9 | 149 | if (NULL != board->sensor_centre) |
johnAlexander | 3:12cb106044f9 | 150 | { |
johnAlexander | 4:44629a30d6f4 | 151 | installedSensors[sensorCnt] = 'C'; |
johnAlexander | 3:12cb106044f9 | 152 | status=board->sensor_centre->StopMeasurement(operating_mode); |
johnAlexander | 3:12cb106044f9 | 153 | status=board->sensor_centre->StartMeasurement(operating_mode, &SensorCenterIRQ); |
johnAlexander | 3:12cb106044f9 | 154 | ++sensorCnt; |
johnAlexander | 3:12cb106044f9 | 155 | } |
johnAlexander | 3:12cb106044f9 | 156 | /* start the measure on the left sensor */ |
johnAlexander | 3:12cb106044f9 | 157 | if (NULL != board->sensor_left) |
johnAlexander | 2:bdf097d93eca | 158 | { |
johnAlexander | 4:44629a30d6f4 | 159 | installedSensors[sensorCnt] = 'L'; |
johnAlexander | 3:12cb106044f9 | 160 | status=board->sensor_left->StopMeasurement(operating_mode); |
johnAlexander | 3:12cb106044f9 | 161 | status=board->sensor_left->StartMeasurement(operating_mode, &SensorLeftIRQ); |
johnAlexander | 3:12cb106044f9 | 162 | ++sensorCnt; |
johnAlexander | 3:12cb106044f9 | 163 | } |
johnAlexander | 3:12cb106044f9 | 164 | /* start the measure on the right sensor */ |
johnAlexander | 3:12cb106044f9 | 165 | if (NULL != board->sensor_right) |
johnAlexander | 3:12cb106044f9 | 166 | { |
johnAlexander | 4:44629a30d6f4 | 167 | installedSensors[sensorCnt] = 'R'; |
johnAlexander | 3:12cb106044f9 | 168 | status=board->sensor_right->StopMeasurement(operating_mode); |
johnAlexander | 3:12cb106044f9 | 169 | status=board->sensor_right->StartMeasurement(operating_mode, &SensorRightIRQ); |
johnAlexander | 3:12cb106044f9 | 170 | ++sensorCnt; |
johnAlexander | 3:12cb106044f9 | 171 | } |
johnAlexander | 3:12cb106044f9 | 172 | currentSensor = 0; |
johnAlexander | 3:12cb106044f9 | 173 | return status; |
johnAlexander | 0:cd8e818d4288 | 174 | } |
johnAlexander | 0:cd8e818d4288 | 175 | |
johnAlexander | 4:44629a30d6f4 | 176 | |
johnAlexander | 2:bdf097d93eca | 177 | void RangeMeasure(DevI2C *device_i2c) { |
johnAlexander | 2:bdf097d93eca | 178 | int status; |
johnAlexander | 1:c1c10e0c32b2 | 179 | |
johnAlexander | 0:cd8e818d4288 | 180 | /* creates the 53L0A1 expansion board singleton obj */ |
johnAlexander | 0:cd8e818d4288 | 181 | board=X_NUCLEO_53L0A1::Instance(device_i2c, A2, D8, D2); |
johnAlexander | 4:44629a30d6f4 | 182 | //board=X_NUCLEO_53L0A1::Instance(device_i2c, A2, D9, D4); // Alternate INT_L/INT_R settings. |
johnAlexander | 0:cd8e818d4288 | 183 | |
johnAlexander | 0:cd8e818d4288 | 184 | board->display->DisplayString("53L0"); |
johnAlexander | 2:bdf097d93eca | 185 | |
johnAlexander | 2:bdf097d93eca | 186 | operating_mode=range_continuous_interrupt; |
johnAlexander | 2:bdf097d93eca | 187 | |
johnAlexander | 0:cd8e818d4288 | 188 | /* init the 53L0A1 expansion board with default values */ |
johnAlexander | 2:bdf097d93eca | 189 | status=board->InitBoard(); |
johnAlexander | 3:12cb106044f9 | 190 | |
johnAlexander | 2:bdf097d93eca | 191 | if(status) |
johnAlexander | 2:bdf097d93eca | 192 | { |
johnAlexander | 2:bdf097d93eca | 193 | printf("Failed to init board!\n\r"); |
johnAlexander | 2:bdf097d93eca | 194 | } |
johnAlexander | 3:12cb106044f9 | 195 | else |
johnAlexander | 3:12cb106044f9 | 196 | { |
johnAlexander | 3:12cb106044f9 | 197 | status = InitSensorsArray(); |
johnAlexander | 3:12cb106044f9 | 198 | } |
johnAlexander | 2:bdf097d93eca | 199 | |
johnAlexander | 2:bdf097d93eca | 200 | if(!status) |
johnAlexander | 0:cd8e818d4288 | 201 | { |
johnAlexander | 3:12cb106044f9 | 202 | printf ("\r\nEntering loop mode\r\n"); |
johnAlexander | 2:bdf097d93eca | 203 | while (true) |
johnAlexander | 2:bdf097d93eca | 204 | { |
johnAlexander | 4:44629a30d6f4 | 205 | MeasureSensors(operating_mode); |
johnAlexander | 4:44629a30d6f4 | 206 | if (switchChanged) |
johnAlexander | 4:44629a30d6f4 | 207 | { |
johnAlexander | 4:44629a30d6f4 | 208 | ++currentSensor; |
johnAlexander | 4:44629a30d6f4 | 209 | if (currentSensor == sensorCnt) |
johnAlexander | 4:44629a30d6f4 | 210 | currentSensor = 0; |
johnAlexander | 4:44629a30d6f4 | 211 | |
johnAlexander | 4:44629a30d6f4 | 212 | printf("Sensor changed to %c\r\n",installedSensors[currentSensor]); |
johnAlexander | 4:44629a30d6f4 | 213 | switchChanged = false; |
johnAlexander | 4:44629a30d6f4 | 214 | stop_button.enable_irq(); |
johnAlexander | 4:44629a30d6f4 | 215 | } |
johnAlexander | 2:bdf097d93eca | 216 | } |
johnAlexander | 0:cd8e818d4288 | 217 | } |
johnAlexander | 0:cd8e818d4288 | 218 | delete board; |
johnAlexander | 2:bdf097d93eca | 219 | } |
johnAlexander | 2:bdf097d93eca | 220 | |
johnAlexander | 2:bdf097d93eca | 221 | /*=================================== Main ================================== |
johnAlexander | 3:12cb106044f9 | 222 | Press the blue user button to switch the displayed sensor. |
johnAlexander | 2:bdf097d93eca | 223 | =============================================================================*/ |
johnAlexander | 2:bdf097d93eca | 224 | int main() |
johnAlexander | 2:bdf097d93eca | 225 | { |
johnAlexander | 2:bdf097d93eca | 226 | #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401 |
johnAlexander | 3:12cb106044f9 | 227 | stop_button.rise (&SwitchMeasuringSensorIRQ); |
johnAlexander | 4:44629a30d6f4 | 228 | stop_button.enable_irq(); |
johnAlexander | 2:bdf097d93eca | 229 | #endif |
johnAlexander | 2:bdf097d93eca | 230 | DevI2C *device_i2c =new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL); |
johnAlexander | 2:bdf097d93eca | 231 | RangeMeasure(device_i2c); // start continuous measures |
johnAlexander | 0:cd8e818d4288 | 232 | } |
johnAlexander | 2:bdf097d93eca | 233 | |
johnAlexander | 2:bdf097d93eca | 234 | |
johnAlexander | 4:44629a30d6f4 | 235 |