Diff: main.cpp

Revision:

2:bdf097d93eca

Parent:

1:c1c10e0c32b2

Child:

3:bd38edab685e

--- 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
 }
+
+