Diff: main.cpp

Revision:

1:9d5c48d409b6

Parent:

0:eade49d47e3a

Child:

2:a3bc0a0af780

--- a/main.cpp	Mon Jun 12 15:01:09 2017 +0000
+++ b/main.cpp	Wed Jun 14 09:14:13 2017 +0000
@@ -6,47 +6,65 @@
 #include <assert.h>
 
 /* This VL53L0X Expansion board test application performs a range measurement in polling mode
-   on the onboard embedded top sensor. 
-   The measured data is displayed on the on-board 4-digit display.
-
-   User Blue button stops the current measurement and the entire program, releasing all resources.
-   Reset button is used to restart the program. */
-
-/* Polling operating modes don`t require callback function that handles IRQ 
-   Callback IRQ functions are used only for measure that require interrupt */
-
-/* GetMeasurement is asynchronous! It returns NOT_READY if the measurement value 
-   is not ready to be read from the corresponding register. So you need to wait
-   for the result to be ready */
+   on the sensors. The demo supports the centre sensor and up to 2 satelites boards. 
+   
+   The User Blue button controls the selected sensor. Measurements from this sensor are displayed 
+   on the 4-digit display.
+   Data collected from all sensors is also sent on the com port.
+   
+   The Reset button is used to restart the program. 
+ */
 
 #define VL53L0_I2C_SDA   D14 
 #define VL53L0_I2C_SCL   D15 
 
-#define RANGE   0
-
 static X_NUCLEO_53L0A1 *board=NULL;
 VL53L0X_RangingMeasurementData_t data_sensor;
 OperatingMode operating_mode;
     
-/* flags that handle interrupt request */
-volatile bool int_sensor_centre=false;
 /* Current sensor number*/
-int currentSensor = 0; 
+int currentSensor = 0;
+/* Installed sensors count */ 
 int sensorCnt = 0; 
 
+/* array storing pointers to the sensors and their prefixes for the display purpouse*/
 struct Sensors
 {
     char prefix;
     VL53L0X *sensorPtr;
 } installedSensors[3];
 
-
-/* ISR callback function of the sensor_centre */
-void SensorTopIRQ(void)
+int InitSensorsArray()
 {
-   int_sensor_centre=true;
-   board->sensor_centre->DisableInterruptMeasureDetectionIRQ();
-}   
+   int status = 1;
+   /* start the measure on sensor top */
+   if (NULL != board->sensor_centre)
+   {
+       installedSensors[sensorCnt].prefix = 'C';
+       installedSensors[sensorCnt].sensorPtr = board->sensor_centre;
+       ++sensorCnt;
+       status=board->sensor_centre->StartMeasurement(operating_mode, NULL);
+   }
+   /* start the measure on sensor left if present */
+   if (NULL != board->sensor_left)
+   {
+        installedSensors[sensorCnt].prefix='L';
+        installedSensors[sensorCnt].sensorPtr = board->sensor_left;
+        ++sensorCnt;    
+        status=board->sensor_left->StartMeasurement(operating_mode, NULL);
+   }
+   /* start the measure on sensor right if present */
+   if (NULL != board->sensor_right)
+   {
+        installedSensors[sensorCnt].prefix = 'R';
+        installedSensors[sensorCnt].sensorPtr = board->sensor_right;
+        ++sensorCnt;
+        status=board->sensor_right->StartMeasurement(operating_mode, NULL);
+   }
+   /* set first displayed sensor to embedded top */
+   currentSensor = 0;
+   return status;
+}
 
 /* ISR callback function of the user blue button to switch measuring sensor. */
 void SwitchMeasuringSensorIRQ(void)
@@ -57,36 +75,33 @@
     printf("Sensor changed to %c\r\n",installedSensors[currentSensor].prefix);
 }
 
-/* On board 4 digit local display refresh */
+/* On board 4 digit local display refresh*/
 void DisplayRefresh(OperatingMode op_mode)
 {   
-   char str[4];
+  char str[4];
    
-   if (op_mode==range_single_shot_polling || op_mode==range_continuous_interrupt || op_mode==range_continuous_polling)
-   {
-      for (int t=0; t < sensorCnt; t++)
+  for (int t=0; t < sensorCnt; t++)
+  {
+     installedSensors[t].sensorPtr->GetMeasurement(op_mode, &data_sensor);
+     if (data_sensor.RangeStatus == 0) // we have a valid range.
+     {
+      printf("%c %4d; ", installedSensors[t].prefix,data_sensor.RangeMilliMeter);
+      if (currentSensor == t)
       {
-         installedSensors[t].sensorPtr->GetMeasurement(operating_mode, &data_sensor);
-         if (data_sensor.RangeStatus == 0) // we have a valid range.
-         {
-          printf("%c %4d; ", installedSensors[t].prefix,data_sensor.RangeMilliMeter);
-          if (currentSensor == t)
-          {
-              sprintf(str,"%c%3d", installedSensors[t].prefix ,data_sensor.RangeMilliMeter);
-          }
-         }
-         else
-         {
-          printf("%c ----; ", installedSensors[t].prefix);
-          if (currentSensor == t)
-          {
-           sprintf(str,"%c%s", installedSensors[t].prefix, "---");   
-          }
-         } 
+          sprintf(str,"%c%3d", installedSensors[t].prefix ,data_sensor.RangeMilliMeter);
       }
-      printf("\r\n");
-   }
-   board->display->DisplayString(str);
+     }
+     else
+     {
+      printf("%c ----; ", installedSensors[t].prefix);
+      if (currentSensor == t)
+      {
+       sprintf(str,"%c%s", installedSensors[t].prefix, "---");   
+      }
+     } 
+  }
+  printf("\r\n");
+  board->display->DisplayString(str);
 }
 
 void RangeMeasure(DevI2C *device_i2c) {
@@ -101,30 +116,8 @@
    if(status)
       printf("Failed to init board!\n\r");   
    operating_mode=range_single_shot_polling;
-   /* start the measure on sensor top */
-   if (NULL != board->sensor_centre)
-   {
-       installedSensors[sensorCnt].prefix = 'C';
-       installedSensors[sensorCnt].sensorPtr = board->sensor_centre;
-       ++sensorCnt;
-       status=board->sensor_centre->StartMeasurement(operating_mode, SensorTopIRQ);
-   }
-   if (NULL != board->sensor_left)
-   {
-    installedSensors[sensorCnt].prefix='L';
-    installedSensors[sensorCnt].sensorPtr = board->sensor_left;
-    ++sensorCnt;    
-    status=board->sensor_left->StartMeasurement(operating_mode, SensorTopIRQ);
-   }
-   if (NULL != board->sensor_right)
-   {
-    installedSensors[sensorCnt].prefix = 'R';
-    installedSensors[sensorCnt].sensorPtr = board->sensor_right;
-    ++sensorCnt;
-    status=board->sensor_right->StartMeasurement(operating_mode, SensorTopIRQ);
-   }
-   
-   currentSensor = 0;
+
+   status = InitSensorsArray();
    
    if(!status)
    {
@@ -138,7 +131,7 @@
 }    
 
 /*=================================== Main ==================================
- Press the blue user button to stop the measurements in progress    
+ Press the blue user button to switch the sensor.    
 =============================================================================*/
 int main()
 {