ST / Mbed OS HelloWorld_53L1A1

Simple Ranging with only the Time-of-Flight (ToF) Sensor on the X-NUCLEO-53L1A1 expansion board. Does not use Satellite boards.

Dependencies:   X_NUCLEO_53L1A1

main.cpp@2:46dcd0517f2a, 2019-05-17 (annotated)

Committer:
johnAlexander
Date:
Fri May 17 12:29:28 2019 +0000
Revision:
2:46dcd0517f2a
Parent:
1:e5cce6b28b6f
Child:
3:f61dd7863e32
Simple Ranging Example, using Expansion Board Sensor, driven via Interrupts, on Mbed OS 5.x.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
johnAlexander 0:6b7696e7df5e 1 /*
johnAlexander 1:e5cce6b28b6f 2 * This VL53L1X Expansion board sample application performs range measurements
johnAlexander 1:e5cce6b28b6f 3 * with interrupts enabled to generate a hardware interrupt each time a new
johnAlexander 1:e5cce6b28b6f 4 * measurement is ready to be read.
johnAlexander 0:6b7696e7df5e 5 *
johnAlexander 2:46dcd0517f2a 6 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
johnAlexander 0:6b7696e7df5e 7 *
johnAlexander 2:46dcd0517f2a 8 * The User Blue button stops the current measurement and entire program,
johnAlexander 2:46dcd0517f2a 9 * releasing all resources.
johnAlexander 0:6b7696e7df5e 10 *
johnAlexander 2:46dcd0517f2a 11 * The Black Reset button is used to restart the program.
johnAlexander 1:e5cce6b28b6f 12 *
johnAlexander 2:46dcd0517f2a 13 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
johnAlexander 0:6b7696e7df5e 14 * the X-NUCELO-53L0A1 expansion board are not made/OFF.
johnAlexander 0:6b7696e7df5e 15 * These links must be made to allow interrupts from the Satellite boards
johnAlexander 0:6b7696e7df5e 16 * to be received.
johnAlexander 0:6b7696e7df5e 17 * U11 and U18 must be made/ON to allow interrupts to be received from the
johnAlexander 0:6b7696e7df5e 18 * INT_L & INT_R positions; or
johnAlexander 0:6b7696e7df5e 19 * U10 and U15 must be made/ON to allow interrupts to be received from the
johnAlexander 0:6b7696e7df5e 20 * Alternate INT_L & INT_R positions.
johnAlexander 0:6b7696e7df5e 21 * The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R
johnAlexander 0:6b7696e7df5e 22 * positions.
johnAlexander 0:6b7696e7df5e 23 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9.
johnAlexander 0:6b7696e7df5e 24 * Alternate INT_L is on CN5 Connector pin 2 as D8.
johnAlexander 0:6b7696e7df5e 25 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4.
johnAlexander 0:6b7696e7df5e 26 * Alternate INT_R is on CN9 Connector pin 5 as D2.
johnAlexander 0:6b7696e7df5e 27 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/
johnAlexander 0:6b7696e7df5e 28 */
johnAlexander 2:46dcd0517f2a 29
johnAlexander 0:6b7696e7df5e 30 #include <stdio.h>
johnAlexander 0:6b7696e7df5e 31
johnAlexander 0:6b7696e7df5e 32 #include "mbed.h"
johnAlexander 0:6b7696e7df5e 33 #include "XNucleo53L1A1.h"
johnAlexander 0:6b7696e7df5e 34 #include "vl53L1x_I2c.h"
johnAlexander 0:6b7696e7df5e 35
johnAlexander 2:46dcd0517f2a 36 #define VL53L1_I2C_SDA D14
johnAlexander 2:46dcd0517f2a 37 #define VL53L1_I2C_SCL D15
johnAlexander 0:6b7696e7df5e 38
johnAlexander 0:6b7696e7df5e 39 static XNucleo53L1A1 *board=NULL;
johnAlexander 2:46dcd0517f2a 40 Serial pc(SERIAL_TX, SERIAL_RX);
johnAlexander 0:6b7696e7df5e 41
johnAlexander 2:46dcd0517f2a 42 /* flags that handle interrupt request for sensor and user blue button*/
johnAlexander 2:46dcd0517f2a 43 volatile bool int_sensor = false;
johnAlexander 2:46dcd0517f2a 44 volatile bool int_stop = false;
johnAlexander 1:e5cce6b28b6f 45
johnAlexander 1:e5cce6b28b6f 46 /* ISR callback function of the centre sensor */
johnAlexander 2:46dcd0517f2a 47 void sensor_irq(void)
johnAlexander 1:e5cce6b28b6f 48 {
johnAlexander 2:46dcd0517f2a 49 int_sensor = true;
johnAlexander 1:e5cce6b28b6f 50 board->sensor_centre->disable_interrupt_measure_detection_irq();
johnAlexander 1:e5cce6b28b6f 51 }
johnAlexander 1:e5cce6b28b6f 52
johnAlexander 2:46dcd0517f2a 53 /* Start the sensor ranging */
johnAlexander 2:46dcd0517f2a 54 int init_sensor()
johnAlexander 1:e5cce6b28b6f 55 {
johnAlexander 2:46dcd0517f2a 56 int status = 0;
johnAlexander 2:46dcd0517f2a 57 /* start the measure on the center sensor */
johnAlexander 2:46dcd0517f2a 58 if (NULL != board->sensor_centre) {
johnAlexander 2:46dcd0517f2a 59 status = board->sensor_centre->stop_measurement();
johnAlexander 2:46dcd0517f2a 60 if (status != 0) {
johnAlexander 2:46dcd0517f2a 61 return status;
johnAlexander 2:46dcd0517f2a 62 }
johnAlexander 1:e5cce6b28b6f 63
johnAlexander 2:46dcd0517f2a 64 status = board->sensor_centre->start_measurement(&sensor_irq);
johnAlexander 2:46dcd0517f2a 65 if (status != 0) {
johnAlexander 2:46dcd0517f2a 66 return status;
johnAlexander 2:46dcd0517f2a 67 }
johnAlexander 2:46dcd0517f2a 68 }
johnAlexander 2:46dcd0517f2a 69 return status;
johnAlexander 1:e5cce6b28b6f 70 }
johnAlexander 1:e5cce6b28b6f 71
johnAlexander 1:e5cce6b28b6f 72 /* ISR callback function of the user blue button to switch measuring sensor. */
johnAlexander 2:46dcd0517f2a 73 void measuring_stop_irq(void)
johnAlexander 0:6b7696e7df5e 74 {
johnAlexander 2:46dcd0517f2a 75 int_stop = true;
johnAlexander 1:e5cce6b28b6f 76 }
johnAlexander 0:6b7696e7df5e 77
johnAlexander 1:e5cce6b28b6f 78 /*
johnAlexander 1:e5cce6b28b6f 79 * Main ranging function
johnAlexander 1:e5cce6b28b6f 80 */
johnAlexander 1:e5cce6b28b6f 81 int range_measure(vl53L1X_DevI2C *device_i2c)
johnAlexander 1:e5cce6b28b6f 82 {
johnAlexander 1:e5cce6b28b6f 83 int status = 0;
johnAlexander 2:46dcd0517f2a 84 uint16_t distance = 0;
johnAlexander 0:6b7696e7df5e 85
johnAlexander 0:6b7696e7df5e 86 /* creates the 53L1A1 expansion board singleton obj */
johnAlexander 1:e5cce6b28b6f 87 board = XNucleo53L1A1::instance(device_i2c, A2, D9, D2);
johnAlexander 0:6b7696e7df5e 88
johnAlexander 0:6b7696e7df5e 89 /* init the 53L1A1 expansion board with default values */
johnAlexander 0:6b7696e7df5e 90 status = board->init_board();
johnAlexander 0:6b7696e7df5e 91 if (status != 0) {
johnAlexander 0:6b7696e7df5e 92 printf("Failed to init board!\r\n");
johnAlexander 0:6b7696e7df5e 93 return status;
johnAlexander 0:6b7696e7df5e 94 }
johnAlexander 0:6b7696e7df5e 95
johnAlexander 1:e5cce6b28b6f 96 /* init an array with chars to id the sensors */
johnAlexander 2:46dcd0517f2a 97 status = init_sensor();
johnAlexander 0:6b7696e7df5e 98 if (status != 0) {
johnAlexander 1:e5cce6b28b6f 99 printf("Failed to init sensors!\r\n");
johnAlexander 0:6b7696e7df5e 100 return status;
johnAlexander 0:6b7696e7df5e 101 }
johnAlexander 0:6b7696e7df5e 102
johnAlexander 1:e5cce6b28b6f 103 printf("Entering loop mode\r\n");
johnAlexander 1:e5cce6b28b6f 104 /* Main ranging interrupt loop */
johnAlexander 1:e5cce6b28b6f 105 while (true) {
johnAlexander 2:46dcd0517f2a 106 if (int_sensor) {
johnAlexander 2:46dcd0517f2a 107 int_sensor = false;
johnAlexander 2:46dcd0517f2a 108 status = board->sensor_centre->handle_irq(&distance);
johnAlexander 2:46dcd0517f2a 109 printf("distance: %d\r\n", distance);
johnAlexander 2:46dcd0517f2a 110 }
johnAlexander 2:46dcd0517f2a 111
johnAlexander 2:46dcd0517f2a 112 if (int_stop) {
johnAlexander 2:46dcd0517f2a 113 printf("\r\nEnding loop mode \r\n");
johnAlexander 2:46dcd0517f2a 114 break;
johnAlexander 0:6b7696e7df5e 115 }
johnAlexander 0:6b7696e7df5e 116 }
johnAlexander 2:46dcd0517f2a 117
johnAlexander 0:6b7696e7df5e 118 return status;
johnAlexander 2:46dcd0517f2a 119
johnAlexander 0:6b7696e7df5e 120 }
johnAlexander 1:e5cce6b28b6f 121
johnAlexander 1:e5cce6b28b6f 122 /*=================================== Main ==================================
johnAlexander 1:e5cce6b28b6f 123 =============================================================================*/
johnAlexander 1:e5cce6b28b6f 124 int main()
johnAlexander 1:e5cce6b28b6f 125 {
johnAlexander 1:e5cce6b28b6f 126 #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401
johnAlexander 2:46dcd0517f2a 127 InterruptIn stop_button(USER_BUTTON);
johnAlexander 2:46dcd0517f2a 128 stop_button.rise(&measuring_stop_irq);
johnAlexander 1:e5cce6b28b6f 129 #endif
johnAlexander 2:46dcd0517f2a 130 vl53L1X_DevI2C *device_i2c = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
johnAlexander 2:46dcd0517f2a 131 range_measure(device_i2c); // start continuous measures
johnAlexander 1:e5cce6b28b6f 132 }