ST / Mbed 2 deprecated 53L0A1_Satellites_with_Interrupts

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 ST

* 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@7:84264d97f7e6, 2019-06-06 (annotated)

Committer:
johnAlexander
Date:
Thu Jun 06 09:27:40 2019 +0000
Revision:
7:84264d97f7e6
Parent:
5:906aa7aede10 
Use published, mbed-certified board and sensor classes.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
johnAlexander 0:cd8e818d4288 1 #include "mbed.h"
johnAlexander 7:84264d97f7e6 2 #include "XNucleo53L0A1.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 5:906aa7aede10 8 /*
johnAlexander 5:906aa7aede10 9 * This VL53L0X Expansion board sample application performs range measurements using
johnAlexander 5:906aa7aede10 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 5:906aa7aede10 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 5:906aa7aede10 19 * The Black Reset button is used to restart the program.
johnAlexander 4:44629a30d6f4 20 *
johnAlexander 5:906aa7aede10 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 5:906aa7aede10 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 5:906aa7aede10 28 * Alternate INT_L & INT_R positions.
johnAlexander 5:906aa7aede10 29 * The X_NUCLEO_53L0A1 firmware library defaults to use the INT_L/INT_R
johnAlexander 5:906aa7aede10 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 5:906aa7aede10 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 5:906aa7aede10 36 *
johnAlexander 3:12cb106044f9 37 */
johnAlexander 2:bdf097d93eca 38
johnAlexander 5:906aa7aede10 39 #define VL53L0_I2C_SDA D14
johnAlexander 5:906aa7aede10 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 5:906aa7aede10 43 InterruptIn stop_button(USER_BUTTON);
johnAlexander 5:906aa7aede10 44 #endif
johnAlexander 3:12cb106044f9 45
johnAlexander 7:84264d97f7e6 46 static XNucleo53L0A1 *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 5:906aa7aede10 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 5:906aa7aede10 60 /* Installed sensors count */
johnAlexander 5:906aa7aede10 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 5:906aa7aede10 67 void sensor_centre_irq(void)
johnAlexander 0:cd8e818d4288 68 {
johnAlexander 5:906aa7aede10 69 centerSensor = true;
johnAlexander 5:906aa7aede10 70 board->sensor_centre->disable_interrupt_measure_detection_irq();
johnAlexander 5:906aa7aede10 71 }
johnAlexander 2:bdf097d93eca 72
johnAlexander 5:906aa7aede10 73 void sensor_left_irq(void)
johnAlexander 3:12cb106044f9 74 {
johnAlexander 5:906aa7aede10 75 leftSensor = true;
johnAlexander 5:906aa7aede10 76 board->sensor_left->disable_interrupt_measure_detection_irq();
johnAlexander 5:906aa7aede10 77 }
johnAlexander 3:12cb106044f9 78
johnAlexander 5:906aa7aede10 79 void sensor_right_irq(void)
johnAlexander 5:906aa7aede10 80 {
johnAlexander 5:906aa7aede10 81 rightSensor = true;
johnAlexander 5:906aa7aede10 82 board->sensor_right->disable_interrupt_measure_detection_irq();
johnAlexander 5:906aa7aede10 83 }
johnAlexander 3:12cb106044f9 84
johnAlexander 2:bdf097d93eca 85 /* ISR callback function of the user blue button to switch measuring sensor. */
johnAlexander 5:906aa7aede10 86 void switch_measuring_sensor_irq(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 5:906aa7aede10 94 void refresh_display(const VL53L0X_RangingMeasurementData_t &data, char prefix)
johnAlexander 4:44629a30d6f4 95 {
johnAlexander 4:44629a30d6f4 96 static char str[5];
johnAlexander 5:906aa7aede10 97 if (data_sensor.RangeStatus == 0) { // we have a valid range.
johnAlexander 5:906aa7aede10 98 sprintf(str, "%c%3d", prefix, data.RangeMilliMeter);
johnAlexander 5:906aa7aede10 99 board->display->display_string(str);
johnAlexander 5:906aa7aede10 100 } else {
johnAlexander 4:44629a30d6f4 101 sprintf(str, "%c%s", prefix, "---");
johnAlexander 5:906aa7aede10 102 board->display->display_string(str);
johnAlexander 4:44629a30d6f4 103 }
johnAlexander 4:44629a30d6f4 104 }
johnAlexander 4:44629a30d6f4 105
johnAlexander 5:906aa7aede10 106 inline void measure_sensors(OperatingMode op_mode)
johnAlexander 4:44629a30d6f4 107 {
johnAlexander 4:44629a30d6f4 108 bool current = false;
johnAlexander 5:906aa7aede10 109 if (centerSensor) {
johnAlexander 4:44629a30d6f4 110 centerSensor = false;
johnAlexander 5:906aa7aede10 111 board->sensor_centre->handle_irq(op_mode, &data_sensor);
johnAlexander 4:44629a30d6f4 112 current = (currentSensor == 0);
johnAlexander 5:906aa7aede10 113 if (current) {
johnAlexander 5:906aa7aede10 114 refresh_display(data_sensor, 'C');
johnAlexander 3:12cb106044f9 115 }
johnAlexander 2:bdf097d93eca 116 }
johnAlexander 5:906aa7aede10 117 if (leftSensor) {
johnAlexander 4:44629a30d6f4 118 leftSensor = false;
johnAlexander 5:906aa7aede10 119 board->sensor_left->handle_irq(op_mode, &data_sensor);
johnAlexander 4:44629a30d6f4 120 current = (installedSensors[currentSensor] == 'L');
johnAlexander 5:906aa7aede10 121 if (current) {
johnAlexander 5:906aa7aede10 122 refresh_display(data_sensor, 'L');
johnAlexander 4:44629a30d6f4 123 }
johnAlexander 4:44629a30d6f4 124 }
johnAlexander 5:906aa7aede10 125 if (rightSensor) {
johnAlexander 4:44629a30d6f4 126 rightSensor = false;
johnAlexander 5:906aa7aede10 127 board->sensor_right->handle_irq(op_mode, &data_sensor);
johnAlexander 5:906aa7aede10 128 current = (installedSensors[currentSensor] == 'R');
johnAlexander 5:906aa7aede10 129 if (current) {
johnAlexander 5:906aa7aede10 130 refresh_display(data_sensor, 'R');
johnAlexander 4:44629a30d6f4 131 }
johnAlexander 4:44629a30d6f4 132 }
johnAlexander 3:12cb106044f9 133 }
johnAlexander 3:12cb106044f9 134
johnAlexander 5:906aa7aede10 135 int init_sensors_array()
johnAlexander 3:12cb106044f9 136 {
johnAlexander 3:12cb106044f9 137 int status = 1;
johnAlexander 3:12cb106044f9 138 sensorCnt = 0;
johnAlexander 3:12cb106044f9 139 /* start the measure on the center sensor */
johnAlexander 5:906aa7aede10 140 if (NULL != board->sensor_centre) {
johnAlexander 4:44629a30d6f4 141 installedSensors[sensorCnt] = 'C';
johnAlexander 5:906aa7aede10 142 status = board->sensor_centre->stop_measurement(operating_mode);
johnAlexander 5:906aa7aede10 143 status = board->sensor_centre->start_measurement(operating_mode, &sensor_centre_irq);
johnAlexander 3:12cb106044f9 144 ++sensorCnt;
johnAlexander 3:12cb106044f9 145 }
johnAlexander 3:12cb106044f9 146 /* start the measure on the left sensor */
johnAlexander 5:906aa7aede10 147 if (NULL != board->sensor_left) {
johnAlexander 4:44629a30d6f4 148 installedSensors[sensorCnt] = 'L';
johnAlexander 5:906aa7aede10 149 status = board->sensor_left->stop_measurement(operating_mode);
johnAlexander 5:906aa7aede10 150 status = board->sensor_left->start_measurement(operating_mode, &sensor_left_irq);
johnAlexander 3:12cb106044f9 151 ++sensorCnt;
johnAlexander 3:12cb106044f9 152 }
johnAlexander 5:906aa7aede10 153 /* start the measure on the right sensor */
johnAlexander 5:906aa7aede10 154 if (NULL != board->sensor_right) {
johnAlexander 4:44629a30d6f4 155 installedSensors[sensorCnt] = 'R';
johnAlexander 5:906aa7aede10 156 status = board->sensor_right->stop_measurement(operating_mode);
johnAlexander 5:906aa7aede10 157 status = board->sensor_right->start_measurement(operating_mode, &sensor_right_irq);
johnAlexander 3:12cb106044f9 158 ++sensorCnt;
johnAlexander 3:12cb106044f9 159 }
johnAlexander 3:12cb106044f9 160 currentSensor = 0;
johnAlexander 3:12cb106044f9 161 return status;
johnAlexander 0:cd8e818d4288 162 }
johnAlexander 0:cd8e818d4288 163
johnAlexander 4:44629a30d6f4 164
johnAlexander 5:906aa7aede10 165 void range_measure(DevI2C *device_i2c)
johnAlexander 5:906aa7aede10 166 {
johnAlexander 5:906aa7aede10 167 int status;
johnAlexander 5:906aa7aede10 168
johnAlexander 5:906aa7aede10 169 /* creates the 53L0A1 expansion board singleton obj */
johnAlexander 7:84264d97f7e6 170 board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
johnAlexander 7:84264d97f7e6 171 //board=XNucleo53L0A1::instance(device_i2c, A2, D9, D4); // Alternate INT_L/INT_R settings.
johnAlexander 5:906aa7aede10 172
johnAlexander 5:906aa7aede10 173 board->display->display_string("53L0");
johnAlexander 5:906aa7aede10 174
johnAlexander 5:906aa7aede10 175 operating_mode = range_continuous_interrupt;
johnAlexander 5:906aa7aede10 176
johnAlexander 5:906aa7aede10 177 /* init the 53L0A1 expansion board with default values */
johnAlexander 5:906aa7aede10 178 status = board->init_board();
johnAlexander 1:c1c10e0c32b2 179
johnAlexander 5:906aa7aede10 180 if (status) {
johnAlexander 5:906aa7aede10 181 printf("Failed to init board!\n\r");
johnAlexander 5:906aa7aede10 182 } else {
johnAlexander 5:906aa7aede10 183 status = init_sensors_array();
johnAlexander 5:906aa7aede10 184 }
johnAlexander 5:906aa7aede10 185
johnAlexander 5:906aa7aede10 186 if (!status) {
johnAlexander 5:906aa7aede10 187 printf("\r\nEntering loop mode\r\n");
johnAlexander 5:906aa7aede10 188 while (true) {
johnAlexander 5:906aa7aede10 189 measure_sensors(operating_mode);
johnAlexander 5:906aa7aede10 190 if (switchChanged) {
johnAlexander 5:906aa7aede10 191 ++currentSensor;
johnAlexander 5:906aa7aede10 192 if (currentSensor == sensorCnt)
johnAlexander 5:906aa7aede10 193 currentSensor = 0;
johnAlexander 5:906aa7aede10 194
johnAlexander 5:906aa7aede10 195 printf("Sensor changed to %c\r\n", installedSensors[currentSensor]);
johnAlexander 5:906aa7aede10 196 switchChanged = false;
johnAlexander 5:906aa7aede10 197 stop_button.enable_irq();
johnAlexander 5:906aa7aede10 198 }
johnAlexander 4:44629a30d6f4 199 }
johnAlexander 5:906aa7aede10 200 }
johnAlexander 5:906aa7aede10 201 delete board;
johnAlexander 5:906aa7aede10 202 }
johnAlexander 2:bdf097d93eca 203
johnAlexander 2:bdf097d93eca 204 /*=================================== Main ==================================
johnAlexander 5:906aa7aede10 205 Press the blue user button to switch the displayed sensor.
johnAlexander 2:bdf097d93eca 206 =============================================================================*/
johnAlexander 2:bdf097d93eca 207 int main()
johnAlexander 5:906aa7aede10 208 {
johnAlexander 2:bdf097d93eca 209 #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401
johnAlexander 5:906aa7aede10 210 stop_button.rise(&switch_measuring_sensor_irq);
johnAlexander 5:906aa7aede10 211 stop_button.enable_irq();
johnAlexander 5:906aa7aede10 212 #endif
johnAlexander 5:906aa7aede10 213 DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
johnAlexander 5:906aa7aede10 214 range_measure(device_i2c); // start continuous measures
johnAlexander 0:cd8e818d4288 215 }
johnAlexander 2:bdf097d93eca 216
johnAlexander 2:bdf097d93eca 217
johnAlexander 4:44629a30d6f4 218