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 polling mode
00009    on the sensors. The demo supports the centre sensor and up to 2 satellites boards.
00010 
00011    The User Blue button controls the selected sensor. Measurements from this sensor are displayed
00012    on the 4-digit display.
00013    Data collected from all sensors is also sent on the com port.
00014 
00015    The Reset button is used to restart the program.
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 /* Current sensor number*/
00026 int currentSensor = 0;
00027 /* Installed sensors count */
00028 int sensorCnt = 0;
00029 
00030 /* array storing pointers to the sensors and their prefixes for the display purpouse*/
00031 struct Sensors {
00032     char prefix;
00033     VL53L0X *sensorPtr;
00034 } installedSensors[3];
00035 
00036 int init_sensors_array()
00037 {
00038     int status = 1;
00039     /* start the measure on sensor top */
00040     if (NULL != board->sensor_centre) {
00041         installedSensors[sensorCnt].prefix = 'C';
00042         installedSensors[sensorCnt].sensorPtr = board->sensor_centre;
00043         ++sensorCnt;
00044         status = board->sensor_centre->start_measurement(operating_mode, NULL);
00045     }
00046     /* start the measure on sensor left if present */
00047     if (NULL != board->sensor_left) {
00048         installedSensors[sensorCnt].prefix = 'L';
00049         installedSensors[sensorCnt].sensorPtr = board->sensor_left;
00050         ++sensorCnt;
00051         status = board->sensor_left->start_measurement(operating_mode, NULL);
00052     }
00053     /* start the measure on sensor right if present */
00054     if (NULL != board->sensor_right) {
00055         installedSensors[sensorCnt].prefix = 'R';
00056         installedSensors[sensorCnt].sensorPtr = board->sensor_right;
00057         ++sensorCnt;
00058         status = board->sensor_right->start_measurement(operating_mode, NULL);
00059     }
00060     /* set first displayed sensor to embedded top */
00061     currentSensor = 0;
00062     return status;
00063 }
00064 
00065 /* ISR callback function of the user blue button to switch measuring sensor. */
00066 void switch_measuring_sensor_irq(void)
00067 {
00068     ++currentSensor;
00069     if (currentSensor == sensorCnt)
00070         currentSensor = 0;
00071     printf("Sensor changed to %c\r\n", installedSensors[currentSensor].prefix);
00072 }
00073 
00074 /* On board 4 digit local display refresh*/
00075 void display_refresh(OperatingMode op_mode)
00076 {
00077     char str[4];
00078 
00079     for (int t = 0; t < sensorCnt; t++) {
00080         installedSensors[t].sensorPtr->get_measurement(op_mode, &data_sensor);
00081         if (data_sensor.RangeStatus == 0) { // we have a valid range.
00082             printf("%c %4d; ", installedSensors[t].prefix, data_sensor.RangeMilliMeter);
00083             if (currentSensor == t) {
00084                 sprintf(str, "%c%3d", installedSensors[t].prefix, data_sensor.RangeMilliMeter);
00085             }
00086         } else {
00087             printf("%c ----; ", installedSensors[t].prefix);
00088             if (currentSensor == t) {
00089                 sprintf(str, "%c%s", installedSensors[t].prefix, "---");
00090             }
00091         }
00092     }
00093     printf("\r\n");
00094     board->display->display_string(str);
00095 }
00096 
00097 void range_measure(DevI2C *device_i2c)
00098 {
00099     int status;
00100 
00101     /* creates the 53L0A1 expansion board singleton obj */
00102     board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
00103 
00104     board->display->display_string("53L0");
00105     /* init the 53L0A1 expansion board with default values */
00106     status = board->init_board();
00107     if (status)
00108         printf("Failed to init board!\n\r");
00109     operating_mode = range_single_shot_polling;
00110 
00111     status = init_sensors_array();
00112 
00113     if (!status) {
00114         while (1) {
00115             display_refresh(operating_mode);
00116         }
00117     }
00118     board->display->display_string("BYE");
00119     delete board;
00120 }
00121 
00122 /*=================================== Main ==================================
00123  Press the blue user button to switch the sensor.
00124 =============================================================================*/
00125 int main()
00126 {
00127 #if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-f401 
00128     InterruptIn stop_button(USER_BUTTON);
00129     stop_button.rise(&switch_measuring_sensor_irq);
00130 #endif
00131     DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
00132     range_measure(device_i2c);  // start continuous measures
00133 }
00134