ST / Mbed OS VL53L1A1_Simple_Ranging_With_All_Devices

Simple Ranging example, using Polling, with Expansion Board and Satellite Boards.

Dependencies:   X_NUCLEO_53L1A1

main.cpp@3:d90f22c17d0c, 2020-11-02 (annotated)

Committer:
johnAlexander
Date:
Mon Nov 02 16:17:21 2020 +0000
Revision:
3:d90f22c17d0c
Parent:
2:819f8323b02d 
Update to use ST board class, and mbed sensor class.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
johnAlexander 0:6b7696e7df5e 1 /*
johnAlexander 0:6b7696e7df5e 2 * This VL53L1X Expansion board test application performs range measurements
johnAlexander 2:819f8323b02d 3 * using the onboard embedded centre sensor, and 2 Satellite boards.
johnAlexander 0:6b7696e7df5e 4 *
johnAlexander 2:819f8323b02d 5 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
johnAlexander 0:6b7696e7df5e 6 *
johnAlexander 0:6b7696e7df5e 7 * The Black Reset button is used to restart the program.
johnAlexander 0:6b7696e7df5e 8 *
johnAlexander 0:6b7696e7df5e 9 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
johnAlexander 0:6b7696e7df5e 10 * the X-NUCELO-53L0A1 expansion board are not made/OFF.
johnAlexander 0:6b7696e7df5e 11 * These links must be made to allow interrupts from the Satellite boards
johnAlexander 0:6b7696e7df5e 12 * to be received.
johnAlexander 0:6b7696e7df5e 13 * U11 and U18 must be made/ON to allow interrupts to be received from the
johnAlexander 0:6b7696e7df5e 14 * INT_L & INT_R positions; or
johnAlexander 0:6b7696e7df5e 15 * U10 and U15 must be made/ON to allow interrupts to be received from the
johnAlexander 0:6b7696e7df5e 16 * Alternate INT_L & INT_R positions.
johnAlexander 0:6b7696e7df5e 17 * The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R
johnAlexander 0:6b7696e7df5e 18 * positions.
johnAlexander 0:6b7696e7df5e 19 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9.
johnAlexander 0:6b7696e7df5e 20 * Alternate INT_L is on CN5 Connector pin 2 as D8.
johnAlexander 0:6b7696e7df5e 21 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4.
johnAlexander 0:6b7696e7df5e 22 * Alternate INT_R is on CN9 Connector pin 5 as D2.
johnAlexander 0:6b7696e7df5e 23 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/
johnAlexander 0:6b7696e7df5e 24 */
johnAlexander 0:6b7696e7df5e 25
johnAlexander 0:6b7696e7df5e 26 #include <stdio.h>
johnAlexander 0:6b7696e7df5e 27
johnAlexander 0:6b7696e7df5e 28 #include "mbed.h"
johnAlexander 0:6b7696e7df5e 29 #include "XNucleo53L1A1.h"
johnAlexander 3:d90f22c17d0c 30 #include "VL53L1X_I2C.h"
johnAlexander 0:6b7696e7df5e 31
johnAlexander 0:6b7696e7df5e 32 #define VL53L1_I2C_SDA D14
johnAlexander 0:6b7696e7df5e 33 #define VL53L1_I2C_SCL D15
johnAlexander 0:6b7696e7df5e 34
johnAlexander 0:6b7696e7df5e 35 static XNucleo53L1A1 *board=NULL;
johnAlexander 0:6b7696e7df5e 36
dmathew 1:b7507ca3370f 37 volatile bool polling_stop = false;
dmathew 1:b7507ca3370f 38
dmathew 1:b7507ca3370f 39 void stop_polling(void)
dmathew 1:b7507ca3370f 40 {
dmathew 1:b7507ca3370f 41 polling_stop = true;
dmathew 1:b7507ca3370f 42 }
johnAlexander 0:6b7696e7df5e 43
johnAlexander 0:6b7696e7df5e 44 /*=================================== Main ==================================
johnAlexander 0:6b7696e7df5e 45 =============================================================================*/
johnAlexander 0:6b7696e7df5e 46 int main()
johnAlexander 0:6b7696e7df5e 47 {
johnAlexander 0:6b7696e7df5e 48 int status = 0;
johnAlexander 0:6b7696e7df5e 49 uint8_t ready_centre = 0;
johnAlexander 0:6b7696e7df5e 50 uint8_t ready_left = 0;
johnAlexander 0:6b7696e7df5e 51 uint8_t ready_right = 0;
johnAlexander 0:6b7696e7df5e 52 uint16_t distance_centre = 0;
johnAlexander 0:6b7696e7df5e 53 uint16_t distance_left = 0;
johnAlexander 0:6b7696e7df5e 54 uint16_t distance_right = 0;
johnAlexander 0:6b7696e7df5e 55
johnAlexander 0:6b7696e7df5e 56 printf("Hello world!\r\n");
johnAlexander 0:6b7696e7df5e 57
johnAlexander 3:d90f22c17d0c 58 VL53L1X_DevI2C *dev_I2C = new VL53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
johnAlexander 0:6b7696e7df5e 59
johnAlexander 0:6b7696e7df5e 60 printf("I2C device created!\r\n");
johnAlexander 0:6b7696e7df5e 61
johnAlexander 0:6b7696e7df5e 62 /* creates the 53L1A1 expansion board singleton obj */
johnAlexander 0:6b7696e7df5e 63 board = XNucleo53L1A1::instance(dev_I2C, A2, D9, D2);
johnAlexander 0:6b7696e7df5e 64 printf("board created!\r\n");
johnAlexander 0:6b7696e7df5e 65
johnAlexander 0:6b7696e7df5e 66 /* init the 53L1A1 expansion board with default values */
johnAlexander 0:6b7696e7df5e 67 status = board->init_board();
dmathew 1:b7507ca3370f 68 if (status) {
johnAlexander 0:6b7696e7df5e 69 printf("Failed to init board!\r\n");
johnAlexander 0:6b7696e7df5e 70 return status;
johnAlexander 0:6b7696e7df5e 71 }
johnAlexander 0:6b7696e7df5e 72
johnAlexander 0:6b7696e7df5e 73 printf("board initiated! - %d\r\n", status);
johnAlexander 0:6b7696e7df5e 74
johnAlexander 0:6b7696e7df5e 75 /* Start ranging on the centre sensor */
dmathew 1:b7507ca3370f 76 if (board->sensor_centre != NULL) {
johnAlexander 3:d90f22c17d0c 77 status = board->sensor_centre->vl53l1x_start_ranging();
dmathew 1:b7507ca3370f 78 if (status != 0) {
dmathew 1:b7507ca3370f 79 printf("Centre sensor failed to start ranging!\r\n");
dmathew 1:b7507ca3370f 80 return status;
dmathew 1:b7507ca3370f 81 }
johnAlexander 0:6b7696e7df5e 82 }
johnAlexander 0:6b7696e7df5e 83
johnAlexander 0:6b7696e7df5e 84 /* Start ranging on the left sensor */
dmathew 1:b7507ca3370f 85 if (board->sensor_left != NULL) {
johnAlexander 3:d90f22c17d0c 86 status = board->sensor_left->vl53l1x_start_ranging();
dmathew 1:b7507ca3370f 87 if (status != 0) {
dmathew 1:b7507ca3370f 88 printf("Left sensor failed to start ranging!\r\n");
dmathew 1:b7507ca3370f 89 return status;
dmathew 1:b7507ca3370f 90 }
johnAlexander 0:6b7696e7df5e 91 }
johnAlexander 0:6b7696e7df5e 92
johnAlexander 0:6b7696e7df5e 93 /* Start ranging on the right sensor */
dmathew 1:b7507ca3370f 94 if (board->sensor_right != NULL) {
johnAlexander 3:d90f22c17d0c 95 status = board->sensor_right->vl53l1x_start_ranging();
dmathew 1:b7507ca3370f 96 if (status != 0) {
dmathew 1:b7507ca3370f 97 printf("Right sensor failed to start ranging!\r\n");
dmathew 1:b7507ca3370f 98 return status;
dmathew 1:b7507ca3370f 99 }
johnAlexander 0:6b7696e7df5e 100 }
johnAlexander 0:6b7696e7df5e 101
johnAlexander 0:6b7696e7df5e 102 /* Ranging loop
johnAlexander 0:6b7696e7df5e 103 * Checks each sensor for data ready
johnAlexander 0:6b7696e7df5e 104 */
johnAlexander 0:6b7696e7df5e 105 while (1)
johnAlexander 0:6b7696e7df5e 106 {
dmathew 1:b7507ca3370f 107 if (polling_stop)
dmathew 1:b7507ca3370f 108 {
dmathew 1:b7507ca3370f 109 printf("\r\nEnding loop mode \r\n");
dmathew 1:b7507ca3370f 110 break;
dmathew 1:b7507ca3370f 111 }
dmathew 1:b7507ca3370f 112 if (board->sensor_centre != NULL) {
johnAlexander 3:d90f22c17d0c 113 board->sensor_centre->vl53l1x_check_for_data_ready(&ready_centre);
dmathew 1:b7507ca3370f 114 }
dmathew 1:b7507ca3370f 115 if (board->sensor_left != NULL) {
johnAlexander 3:d90f22c17d0c 116 board->sensor_left->vl53l1x_check_for_data_ready(&ready_left);
dmathew 1:b7507ca3370f 117 }
dmathew 1:b7507ca3370f 118 if (board->sensor_right != NULL) {
johnAlexander 3:d90f22c17d0c 119 board->sensor_right->vl53l1x_check_for_data_ready(&ready_right);
dmathew 1:b7507ca3370f 120 }
johnAlexander 0:6b7696e7df5e 121 if (ready_centre) {
johnAlexander 3:d90f22c17d0c 122 board->sensor_centre->vl53l1x_get_range_status(&ready_centre);
johnAlexander 3:d90f22c17d0c 123 board->sensor_centre->vl53l1x_get_distance(&distance_centre);
johnAlexander 0:6b7696e7df5e 124 }
johnAlexander 0:6b7696e7df5e 125 if (ready_left) {
johnAlexander 3:d90f22c17d0c 126 board->sensor_left->vl53l1x_get_range_status(&ready_left);
johnAlexander 3:d90f22c17d0c 127 board->sensor_left->vl53l1x_get_distance(&distance_left);
johnAlexander 0:6b7696e7df5e 128 }
johnAlexander 0:6b7696e7df5e 129 if (ready_right) {
johnAlexander 3:d90f22c17d0c 130 board->sensor_right->vl53l1x_get_range_status(&ready_right);
johnAlexander 3:d90f22c17d0c 131 board->sensor_right->vl53l1x_get_distance(&distance_right);
johnAlexander 0:6b7696e7df5e 132 }
johnAlexander 0:6b7696e7df5e 133
dmathew 1:b7507ca3370f 134 if (board->sensor_centre != NULL) {
johnAlexander 2:819f8323b02d 135 printf("Distance read by centre sensor is : %d\r\n", distance_centre);
dmathew 1:b7507ca3370f 136 }
dmathew 1:b7507ca3370f 137 if (board->sensor_left != NULL) {
johnAlexander 2:819f8323b02d 138 printf("Distance read by left satellite sensor is : %d\r\n", distance_left);
dmathew 1:b7507ca3370f 139 }
dmathew 1:b7507ca3370f 140 if (board->sensor_right != NULL) {
johnAlexander 2:819f8323b02d 141 printf("Distance read by right satellite sensor is : %d\r\n", distance_right);
dmathew 1:b7507ca3370f 142 }
johnAlexander 0:6b7696e7df5e 143 }
johnAlexander 0:6b7696e7df5e 144
johnAlexander 0:6b7696e7df5e 145 return status;
johnAlexander 0:6b7696e7df5e 146 }