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. *
Diff: main.cpp
- Revision:
- 2:bdf097d93eca
- Parent:
- 1:c1c10e0c32b2
- Child:
- 3:12cb106044f9
diff -r c1c10e0c32b2 -r bdf097d93eca main.cpp --- a/main.cpp Tue Jun 13 15:31:26 2017 +0000 +++ b/main.cpp Wed Jun 14 14:42:41 2017 +0000 @@ -1,91 +1,117 @@ -/* - * This VL53L0X Expansion board test application performs range measurements - * using the onboard embedded centre sensor, in singleshot, polling mode. - * Measured ranges are displayed on the on-board 4-digit display. - * - * The User Blue button stops the current measurement and entire program, - * releasing all resources. - * - * The Reset button can be used to restart the program. - */ - -#include <string.h> -#include <stdio.h> - #include "mbed.h" #include "x_nucleo_53l0a1.h" +#include <string.h> +#include <stdlib.h> +#include <stdio.h> +#include <assert.h> + +/* This VL53L0X Expansion board test application performs a range measurement in interrupt mode + on the center embedded sensor. + The measured data is displayed on the on-board 4-digit display, and sent to com port + + User Blue button stops the current measurement and the entire program, releasing all resources. + Reset button is used to restart the program. + + Interrupt mode requires callback function which handles IRQ from given sensor. +*/ #define VL53L0_I2C_SDA D14 #define VL53L0_I2C_SCL D15 -static X_NUCLEO_53L0A1 *board = NULL; -VL53L0X_RangingMeasurementData_t data_sensor_centre; +static X_NUCLEO_53L0A1 *board=NULL; +VL53L0X_RangingMeasurementData_t data_sensor; OperatingMode operating_mode; -/* flags that handle interrupt request */ -bool int_stop_measure = false; +/* flags that handle interrupt request for sensor and user blue button*/ +volatile bool int_sensor_centre=false; +volatile bool int_measuring_stop = false; + -/* ISR callback function of the user blue button to stop program */ -void StopMeasureIRQ(void) +/* ISR callback function of the center sensor */ +void SensorCenterIRQ(void) { - int_stop_measure = true; + int_sensor_centre=true; + board->sensor_centre->DisableInterruptMeasureDetectionIRQ(); +} + +/* ISR callback function of the user blue button to switch measuring sensor. */ +void MeasuringStopIRQ(void) +{ + int_measuring_stop = true; } /* On board 4 digit local display refresh */ -void DisplayRefresh(VL53L0X_RangingMeasurementData_t sensor_range_data) +void DisplayRefresh(const VL53L0X_RangingMeasurementData_t &data) { - char str[5]; - - if (sensor_range_data.RangeStatus == 0) // we have a valid range. - { - sprintf(str,"%d", sensor_range_data.RangeMilliMeter); - } - else - { - sprintf(str,"%s","----"); - } - - board->display->DisplayString(str); + char str[4]; + if (data.RangeStatus == 0) // we have a valid range. + { + printf("%4d; ", data.RangeMilliMeter); + sprintf(str,"%4d", data.RangeMilliMeter); + } + else + { + sprintf(str,"%s", "----"); + } + board->display->DisplayString(str); } -/*=================================== Main ================================== - Press the blue user button to stop measurements in progress -=============================================================================*/ -int main() -{ -#if USER_BUTTON == PC_13 // we are cross compiling for Nucleo-f401 - InterruptIn stop_button(USER_BUTTON); - stop_button.rise(&StopMeasureIRQ); -#endif +void RangeMeasure(DevI2C *device_i2c) { + int status; - DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL); - int status; - /* creates the 53L0A1 expansion board singleton obj */ board=X_NUCLEO_53L0A1::Instance(device_i2c, A2, D8, D2); board->display->DisplayString("53L0"); + + /* setting operating mode to continuous interrupt */ + operating_mode=range_continuous_interrupt; + /* init the 53L0A1 expansion board with default values */ - status = board->InitBoard(); - if (status) printf("Failed to init board!\n\r"); - operating_mode = range_single_shot_polling; - /* start the measure on sensor centre */ - status = board->sensor_centre->StartMeasurement(operating_mode, NULL); - if (!status) + status=board->InitBoard(); + if(status) + { + printf("Failed to init board!\n\r"); + return; + } + //Stop any measurement before setting sensor + status=board->sensor_centre->StopMeasurement(operating_mode); + status=board->sensor_centre->StartMeasurement(operating_mode, &SensorCenterIRQ); + + if(!status) { - while (1) // infinite loop. can be broken by pressing Blue (User) button. - { - status = board->sensor_centre->GetMeasurement(operating_mode, &data_sensor_centre); - DisplayRefresh(data_sensor_centre); - if (int_stop_measure) // Blue Button isr was triggered - { - status = board->sensor_centre->StopMeasurement(operating_mode); // stop the measure and exit - int_stop_measure = false; - printf("\nProgram stopped!\n\n\r"); + printf ("Entering loop mode\r\n"); + while (true) + { + if (int_sensor_centre) + { + int_sensor_centre = false; + status = board->sensor_centre->HandleIRQ(operating_mode, &data_sensor); + DisplayRefresh(data_sensor); + } + + if (int_measuring_stop) + { + printf("\r\nEnding loop mode \r\n"); break; - } - } + } + } } board->display->DisplayString("BYE"); delete board; +} + +/*=================================== Main ================================== + Press the blue user button to stop the measurements in progress +=============================================================================*/ +int main() +{ +#if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401 + InterruptIn stop_button (USER_BUTTON); + stop_button.rise (&MeasuringStopIRQ); +#endif + DevI2C *device_i2c =new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL); + RangeMeasure(device_i2c); // start continuous measures } + +