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
- Committer:
- johnAlexander
- Date:
- 2020-11-03
- Revision:
- 7:b157ad0895f7
- Parent:
- 3:f61dd7863e32
File content as of revision 7:b157ad0895f7:
/* * This VL53L1X Expansion board sample application performs range measurements * with interrupts enabled to generate a hardware interrupt each time a new * measurement is ready to be read. * * Measured ranges are output on the Serial Port, running at 115200 baud. * * On STM32-Nucleo boards : * The User Blue button stops the current measurement and entire program, * releasing all resources. * * The Black Reset button is used to restart the program. * * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of * the X-NUCELO-53L1A1 expansion board are not made/OFF. * These links must be made to allow interrupts from the Satellite boards * to be received. * U11 and U18 must be made/ON to allow interrupts to be received from the * INT_L & INT_R positions; or * U10 and U15 must be made/ON to allow interrupts to be received from the * Alternate INT_L & INT_R positions. * The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R * positions. * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9. * Alternate INT_L is on CN5 Connector pin 2 as D8. * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4. * Alternate INT_R is on CN9 Connector pin 5 as D2. * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/ */ #include <stdio.h> #include "mbed.h" #include "XNucleo53L1A1.h" #include "VL53L1X_I2C.h" #define VL53L1_I2C_SDA D14 #define VL53L1_I2C_SCL D15 #if TARGET_STM // we are cross compiling for an STM32-Nucleo InterruptIn stop_button(USER_BUTTON); #endif #if TARGET_Freescale // we are cross-compiling for NXP FRDM boards. InterruptIn stop_button(SW2); #endif static XNucleo53L1A1 *board=NULL; /* flags that handle interrupt request for sensor and user blue button*/ volatile bool int_sensor = false; volatile bool int_stop = false; /* ISR callback function of the centre sensor */ void sensor_irq(void) { int_sensor = true; board->sensor_centre->disable_interrupt_measure_detection_irq(); } /* Start the sensor ranging */ int init_sensor() { int status = 0; /* start the measure on the center sensor */ if (NULL != board->sensor_centre) { status = board->sensor_centre->stop_measurement(); if (status != 0) { return status; } status = board->sensor_centre->start_measurement(&sensor_irq); if (status != 0) { return status; } } return status; } /* ISR callback function of the user blue button to switch measuring sensor. */ void measuring_stop_irq(void) { int_stop = true; } /* * Main ranging function */ int range_measure(VL53L1X_DevI2C *device_i2c) { int status = 0; uint16_t distance = 0; /* creates the 53L1A1 expansion board singleton obj */ board = XNucleo53L1A1::instance(device_i2c, A2, D9, D2); /* init the 53L1A1 expansion board with default values */ status = board->init_board(); if (status != 0) { printf("Failed to init board!\r\n"); return status; } /* init an array with chars to id the sensors */ status = init_sensor(); if (status != 0) { printf("Failed to init sensors!\r\n"); return status; } printf("Entering loop mode\r\n"); /* Main ranging interrupt loop */ while (true) { if (int_sensor) { int_sensor = false; status = board->sensor_centre->handle_irq(&distance); printf("distance: %d\r\n", distance); } if (int_stop) { printf("\r\nEnding loop mode \r\n"); break; } } return status; } /*=================================== Main ================================== =============================================================================*/ int main() { stop_button.rise(&measuring_stop_irq); VL53L1X_DevI2C *device_i2c = new VL53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL); range_measure(device_i2c); // start continuous measures }