File content as of revision 7:84264d97f7e6:

#include "mbed.h"
#include "XNucleo53L0A1.h"
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <assert.h>

/*
 * This VL53L0X Expansion board sample application performs range measurements using
 * range_continuous_interrupt mode to generate a hardware interrupt each time a new
 * measurement is ready to be read.
 * The application supports the centre, on-board, sensor and up two satellite boards.
 *
 * The measured range data is displayed on the on-board 4-digit LED display.
 *
 * The User Blue button switches between the currently selected sensor to display range
 * results from.
 *
 * The Black Reset button is used to restart the program.
 *
 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
 *            the X-NUCELO-53L0A1 expansion board are not made/OFF.
 *            These links must be made to allow interrupts from the Satellite boards
 *            to be received.
 *            U11 and U18 must be made/ON to allow interrupts to be received from the
 *            INT_L & INT_R positions; or
 *            U10 and U15 must be made/ON to allow interrupts to be received from the
 *            Alternate INT_L & INT_R positions.
 *            The X_NUCLEO_53L0A1 firmware library defaults to use the INT_L/INT_R
 *            positions.
 *            INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
 *            Alternate INT_L is on CN5 Connector pin 2 as D9.
 *            INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
 *            Alternate INT_R is on CN9 Connector pin 5 as D4.
 *            The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L0A1/
 *
 */

#define VL53L0_I2C_SDA   D14
#define VL53L0_I2C_SCL   D15

#if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-64s
InterruptIn stop_button(USER_BUTTON);
#endif

static XNucleo53L0A1 *board = NULL;
VL53L0X_RangingMeasurementData_t data_sensor;
OperatingMode operating_mode;

/* current displayed sensor change IRQ */
volatile bool switchChanged = false;

/* interrupt requests */
volatile bool centerSensor = false;
volatile bool leftSensor = false;
volatile bool rightSensor = false;

/* Current sensor number*/
volatile int currentSensor = 0;
/* Installed sensors count */
int sensorCnt = 0;

/* installed sensors prefixes */
char installedSensors[3];

/* ISR callback function of the sensor_centre */
void sensor_centre_irq(void)
{
    centerSensor = true;
    board->sensor_centre->disable_interrupt_measure_detection_irq();
}

void sensor_left_irq(void)
{
    leftSensor = true;
    board->sensor_left->disable_interrupt_measure_detection_irq();
}

void sensor_right_irq(void)
{
    rightSensor = true;
    board->sensor_right->disable_interrupt_measure_detection_irq();
}

/* ISR callback function of the user blue button to switch measuring sensor. */
void switch_measuring_sensor_irq(void)
{
    stop_button.disable_irq();
    switchChanged = true;
}


/* On board 4 digit local display refresh */
void refresh_display(const VL53L0X_RangingMeasurementData_t &data, char prefix)
{
    static char str[5];
    if (data_sensor.RangeStatus == 0) { // we have a valid range.
        sprintf(str, "%c%3d", prefix, data.RangeMilliMeter);
        board->display->display_string(str);
    } else {
        sprintf(str, "%c%s", prefix, "---");
        board->display->display_string(str);
    }
}

inline void measure_sensors(OperatingMode op_mode)
{
    bool current = false;
    if (centerSensor) {
        centerSensor = false;
        board->sensor_centre->handle_irq(op_mode, &data_sensor);
        current = (currentSensor == 0);
        if (current) {
            refresh_display(data_sensor, 'C');
        }
    }
    if (leftSensor) {
        leftSensor = false;
        board->sensor_left->handle_irq(op_mode, &data_sensor);
        current = (installedSensors[currentSensor] == 'L');
        if (current) {
            refresh_display(data_sensor, 'L');
        }
    }
    if (rightSensor) {
        rightSensor = false;
        board->sensor_right->handle_irq(op_mode, &data_sensor);
        current = (installedSensors[currentSensor] == 'R');
        if (current) {
            refresh_display(data_sensor, 'R');
        }
    }
}

int init_sensors_array()
{
    int status = 1;
    sensorCnt = 0;
    /* start the measure on the center sensor */
    if (NULL != board->sensor_centre) {
        installedSensors[sensorCnt] = 'C';
        status = board->sensor_centre->stop_measurement(operating_mode);
        status = board->sensor_centre->start_measurement(operating_mode, &sensor_centre_irq);
        ++sensorCnt;
    }
    /* start the measure on the left sensor */
    if (NULL != board->sensor_left) {
        installedSensors[sensorCnt] = 'L';
        status = board->sensor_left->stop_measurement(operating_mode);
        status = board->sensor_left->start_measurement(operating_mode, &sensor_left_irq);
        ++sensorCnt;
    }
    /* start the measure on the right sensor */
    if (NULL != board->sensor_right) {
        installedSensors[sensorCnt] = 'R';
        status = board->sensor_right->stop_measurement(operating_mode);
        status = board->sensor_right->start_measurement(operating_mode, &sensor_right_irq);
        ++sensorCnt;
    }
    currentSensor = 0;
    return status;
}


void range_measure(DevI2C *device_i2c)
{
    int status;

    /* creates the 53L0A1 expansion board singleton obj */
    board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
    //board=XNucleo53L0A1::instance(device_i2c, A2, D9, D4); // Alternate INT_L/INT_R settings.

    board->display->display_string("53L0");

    operating_mode = range_continuous_interrupt;

    /* init the 53L0A1 expansion board with default values */
    status = board->init_board();

    if (status) {
        printf("Failed to init board!\n\r");
    } else {
        status = init_sensors_array();
    }

    if (!status) {
        printf("\r\nEntering loop mode\r\n");
        while (true) {
            measure_sensors(operating_mode);
            if (switchChanged) {
                ++currentSensor;
                if (currentSensor == sensorCnt)
                    currentSensor = 0;

                printf("Sensor changed to %c\r\n", installedSensors[currentSensor]);
                switchChanged = false;
                stop_button.enable_irq();
            }
        }
    }
    delete board;
}

/*=================================== Main ==================================
 Press the blue user button to switch the displayed sensor.
=============================================================================*/
int main()
{
#if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-f401 
    stop_button.rise(&switch_measuring_sensor_irq);
    stop_button.enable_irq();
#endif
    DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
    range_measure(device_i2c);  // start continuous measures
}