Sample application to show ranging with interrupts support. Uses centre sensor on X-Nucleo-53L0A1 and ranging_continuous_interrupt mode.
Dependencies: mbed X_NUCLEO_53L0A1
Fork of Display_53L0A1 by
main.cpp@4:79d9b33ebed6, 2019-06-06 (annotated)
- Committer:
- johnAlexander
- Date:
- Thu Jun 06 09:04:45 2019 +0000
- Revision:
- 4:79d9b33ebed6
- Parent:
- 3:bd38edab685e
Use published, mbed certified board and sensor classes.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
johnAlexander | 0:cd8e818d4288 | 1 | #include "mbed.h" |
johnAlexander | 4:79d9b33ebed6 | 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 | 2:bdf097d93eca | 8 | /* This VL53L0X Expansion board test application performs a range measurement in interrupt mode |
johnAlexander | 3:bd38edab685e | 9 | on the center embedded sensor. |
johnAlexander | 2:bdf097d93eca | 10 | The measured data is displayed on the on-board 4-digit display, and sent to com port |
johnAlexander | 2:bdf097d93eca | 11 | |
johnAlexander | 2:bdf097d93eca | 12 | User Blue button stops the current measurement and the entire program, releasing all resources. |
johnAlexander | 3:bd38edab685e | 13 | Reset button is used to restart the program. |
johnAlexander | 2:bdf097d93eca | 14 | |
johnAlexander | 2:bdf097d93eca | 15 | Interrupt mode requires callback function which handles IRQ from given sensor. |
johnAlexander | 2:bdf097d93eca | 16 | */ |
johnAlexander | 0:cd8e818d4288 | 17 | |
johnAlexander | 3:bd38edab685e | 18 | #define VL53L0_I2C_SDA D14 |
johnAlexander | 3:bd38edab685e | 19 | #define VL53L0_I2C_SCL D15 |
johnAlexander | 0:cd8e818d4288 | 20 | |
johnAlexander | 4:79d9b33ebed6 | 21 | static XNucleo53L0A1 *board = NULL; |
johnAlexander | 2:bdf097d93eca | 22 | VL53L0X_RangingMeasurementData_t data_sensor; |
johnAlexander | 0:cd8e818d4288 | 23 | OperatingMode operating_mode; |
johnAlexander | 3:bd38edab685e | 24 | |
johnAlexander | 2:bdf097d93eca | 25 | /* flags that handle interrupt request for sensor and user blue button*/ |
johnAlexander | 3:bd38edab685e | 26 | volatile bool int_sensor_centre = false; |
johnAlexander | 2:bdf097d93eca | 27 | volatile bool int_measuring_stop = false; |
johnAlexander | 2:bdf097d93eca | 28 | |
johnAlexander | 0:cd8e818d4288 | 29 | |
johnAlexander | 3:bd38edab685e | 30 | /* ISR callback function of the centre sensor */ |
johnAlexander | 3:bd38edab685e | 31 | void sensor_centre_irq(void) |
johnAlexander | 0:cd8e818d4288 | 32 | { |
johnAlexander | 3:bd38edab685e | 33 | int_sensor_centre = true; |
johnAlexander | 3:bd38edab685e | 34 | board->sensor_centre->disable_interrupt_measure_detection_irq(); |
johnAlexander | 3:bd38edab685e | 35 | } |
johnAlexander | 2:bdf097d93eca | 36 | |
johnAlexander | 2:bdf097d93eca | 37 | /* ISR callback function of the user blue button to switch measuring sensor. */ |
johnAlexander | 3:bd38edab685e | 38 | void measuring_stop_irq(void) |
johnAlexander | 2:bdf097d93eca | 39 | { |
johnAlexander | 2:bdf097d93eca | 40 | int_measuring_stop = true; |
johnAlexander | 0:cd8e818d4288 | 41 | } |
johnAlexander | 0:cd8e818d4288 | 42 | |
johnAlexander | 0:cd8e818d4288 | 43 | /* On board 4 digit local display refresh */ |
johnAlexander | 3:bd38edab685e | 44 | void display_refresh(const VL53L0X_RangingMeasurementData_t &data) |
johnAlexander | 3:bd38edab685e | 45 | { |
johnAlexander | 2:bdf097d93eca | 46 | char str[4]; |
johnAlexander | 3:bd38edab685e | 47 | if (data.RangeStatus == 0) { // we have a valid range. |
johnAlexander | 2:bdf097d93eca | 48 | printf("%4d; ", data.RangeMilliMeter); |
johnAlexander | 3:bd38edab685e | 49 | sprintf(str, "%4d", data.RangeMilliMeter); |
johnAlexander | 3:bd38edab685e | 50 | } else { |
johnAlexander | 3:bd38edab685e | 51 | sprintf(str, "%s", "----"); |
johnAlexander | 2:bdf097d93eca | 52 | } |
johnAlexander | 3:bd38edab685e | 53 | board->display->display_string(str); |
johnAlexander | 0:cd8e818d4288 | 54 | } |
johnAlexander | 0:cd8e818d4288 | 55 | |
johnAlexander | 3:bd38edab685e | 56 | void range_measure(DevI2C *device_i2c) |
johnAlexander | 3:bd38edab685e | 57 | { |
johnAlexander | 3:bd38edab685e | 58 | int status; |
johnAlexander | 3:bd38edab685e | 59 | |
johnAlexander | 3:bd38edab685e | 60 | /* creates the 53L0A1 expansion board singleton obj */ |
johnAlexander | 4:79d9b33ebed6 | 61 | board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2); |
johnAlexander | 1:c1c10e0c32b2 | 62 | |
johnAlexander | 3:bd38edab685e | 63 | board->display->display_string("53L0"); |
johnAlexander | 3:bd38edab685e | 64 | |
johnAlexander | 3:bd38edab685e | 65 | /* setting operating mode to continuous interrupt */ |
johnAlexander | 3:bd38edab685e | 66 | operating_mode = range_continuous_interrupt; |
johnAlexander | 3:bd38edab685e | 67 | |
johnAlexander | 3:bd38edab685e | 68 | /* init the 53L0A1 expansion board with default values */ |
johnAlexander | 3:bd38edab685e | 69 | status = board->init_board(); |
johnAlexander | 3:bd38edab685e | 70 | if (status) { |
johnAlexander | 3:bd38edab685e | 71 | printf("Failed to init board!\n\r"); |
johnAlexander | 2:bdf097d93eca | 72 | return; |
johnAlexander | 3:bd38edab685e | 73 | } |
johnAlexander | 3:bd38edab685e | 74 | //Stop any measurement before setting sensor |
johnAlexander | 3:bd38edab685e | 75 | status = board->sensor_centre->stop_measurement(operating_mode); |
johnAlexander | 3:bd38edab685e | 76 | status = board->sensor_centre->start_measurement(operating_mode, &sensor_centre_irq); |
johnAlexander | 3:bd38edab685e | 77 | |
johnAlexander | 3:bd38edab685e | 78 | if (!status) { |
johnAlexander | 3:bd38edab685e | 79 | printf("Entering loop mode\r\n"); |
johnAlexander | 3:bd38edab685e | 80 | while (true) { |
johnAlexander | 3:bd38edab685e | 81 | if (int_sensor_centre) { |
johnAlexander | 3:bd38edab685e | 82 | int_sensor_centre = false; |
johnAlexander | 3:bd38edab685e | 83 | status = board->sensor_centre->handle_irq(operating_mode, &data_sensor); |
johnAlexander | 3:bd38edab685e | 84 | display_refresh(data_sensor); |
johnAlexander | 3:bd38edab685e | 85 | } |
johnAlexander | 3:bd38edab685e | 86 | |
johnAlexander | 3:bd38edab685e | 87 | if (int_measuring_stop) { |
johnAlexander | 3:bd38edab685e | 88 | printf("\r\nEnding loop mode \r\n"); |
johnAlexander | 3:bd38edab685e | 89 | break; |
johnAlexander | 3:bd38edab685e | 90 | } |
johnAlexander | 2:bdf097d93eca | 91 | } |
johnAlexander | 3:bd38edab685e | 92 | } |
johnAlexander | 3:bd38edab685e | 93 | board->display->display_string("BYE"); |
johnAlexander | 3:bd38edab685e | 94 | delete board; |
johnAlexander | 3:bd38edab685e | 95 | } |
johnAlexander | 2:bdf097d93eca | 96 | |
johnAlexander | 2:bdf097d93eca | 97 | /*=================================== Main ================================== |
johnAlexander | 3:bd38edab685e | 98 | Press the blue user button to stop the measurements in progress |
johnAlexander | 2:bdf097d93eca | 99 | =============================================================================*/ |
johnAlexander | 2:bdf097d93eca | 100 | int main() |
johnAlexander | 3:bd38edab685e | 101 | { |
johnAlexander | 2:bdf097d93eca | 102 | #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401 |
johnAlexander | 3:bd38edab685e | 103 | InterruptIn stop_button(USER_BUTTON); |
johnAlexander | 3:bd38edab685e | 104 | stop_button.rise(&measuring_stop_irq); |
johnAlexander | 3:bd38edab685e | 105 | #endif |
johnAlexander | 3:bd38edab685e | 106 | DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL); |
johnAlexander | 3:bd38edab685e | 107 | range_measure(device_i2c); // start continuous measures |
johnAlexander | 0:cd8e818d4288 | 108 | } |
johnAlexander | 2:bdf097d93eca | 109 | |
johnAlexander | 2:bdf097d93eca | 110 |