main.cpp

00001 #include "mbed.h"
00002 #include "XNucleo53L0A1.h"
00003 #include <string.h>
00004 #include <stdlib.h>
00005 #include <stdio.h>
00006 #include <assert.h>
00007 
00008 /* This VL53L0X Expansion board test application performs a range measurement in interrupt mode
00009    on the center embedded sensor.
00010    The measured data is displayed on the on-board 4-digit display, and sent to com port
00011 
00012    User Blue button stops the current measurement and the entire program, releasing all resources.
00013    Reset button is used to restart the program.
00014 
00015    Interrupt mode requires callback function which handles IRQ from given sensor.
00016 */
00017 
00018 #define VL53L0_I2C_SDA   D14
00019 #define VL53L0_I2C_SCL   D15
00020 
00021 static XNucleo53L0A1 *board = NULL;
00022 VL53L0X_RangingMeasurementData_t data_sensor;
00023 OperatingMode operating_mode;
00024 
00025 /* flags that handle interrupt request for sensor and user blue button*/
00026 volatile bool int_sensor_centre = false;
00027 volatile bool int_measuring_stop = false;
00028 
00029 
00030 /* ISR callback function of the centre sensor */
00031 void sensor_centre_irq(void)
00032 {
00033     int_sensor_centre = true;
00034     board->sensor_centre->disable_interrupt_measure_detection_irq();
00035 }
00036 
00037 /* ISR callback function of the user blue button to switch measuring sensor. */
00038 void measuring_stop_irq(void)
00039 {
00040     int_measuring_stop = true;
00041 }
00042 
00043 /* On board 4 digit local display refresh */
00044 void display_refresh(const VL53L0X_RangingMeasurementData_t &data)
00045 {
00046     char str[4];
00047     if (data.RangeStatus == 0) { // we have a valid range.
00048         printf("%4d; ", data.RangeMilliMeter);
00049         sprintf(str, "%4d", data.RangeMilliMeter);
00050     } else {
00051         sprintf(str, "%s", "----");
00052     }
00053     board->display->display_string(str);
00054 }
00055 
00056 void range_measure(DevI2C *device_i2c)
00057 {
00058     int status;
00059 
00060     /* creates the 53L0A1 expansion board singleton obj */
00061     board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
00062 
00063     board->display->display_string("53L0");
00064 
00065     /* setting operating mode to continuous interrupt */
00066     operating_mode = range_continuous_interrupt;
00067 
00068     /* init the 53L0A1 expansion board with default values */
00069     status = board->init_board();
00070     if (status) {
00071         printf("Failed to init board!\n\r");
00072         return;
00073     }
00074     //Stop any measurement before setting sensor
00075     status = board->sensor_centre->stop_measurement(operating_mode);
00076     status = board->sensor_centre->start_measurement(operating_mode, &sensor_centre_irq);
00077 
00078     if (!status) {
00079         printf("Entering loop mode\r\n");
00080         while (true) {
00081             if (int_sensor_centre) {
00082                 int_sensor_centre = false;
00083                 status = board->sensor_centre->handle_irq(operating_mode, &data_sensor);
00084                 display_refresh(data_sensor);
00085             }
00086 
00087             if (int_measuring_stop) {
00088                 printf("\r\nEnding loop mode \r\n");
00089                 break;
00090             }
00091         }
00092     }
00093     board->display->display_string("BYE");
00094     delete board;
00095 }
00096 
00097 /*=================================== Main ==================================
00098  Press the blue user button to stop the measurements in progress
00099 =============================================================================*/
00100 int main()
00101 {
00102 #if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-f401 
00103     InterruptIn stop_button(USER_BUTTON);
00104     stop_button.rise(&measuring_stop_irq);
00105 #endif
00106     DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
00107     range_measure(device_i2c);  // start continuous measures
00108 }
00109 
00110