Diff: main.cpp

Revision:

0:6b7696e7df5e

Child:

1:b7507ca3370f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri May 17 10:44:38 2019 +0000
@@ -0,0 +1,123 @@
+/*
+ *  This VL53L1X Expansion board test application performs range measurements
+ *  using the onboard embedded centre sensor.
+ *
+ *  Measured ranges are ouput on the Serial Port, running at 115200 baud.
+ *
+ *  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-53L0A1 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
+
+static XNucleo53L1A1 *board=NULL;
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+/*=================================== Main ==================================
+=============================================================================*/
+int main()
+{
+
+    int status = 0;
+    uint8_t ready_centre = 0;
+    uint8_t ready_left = 0;
+    uint8_t ready_right = 0;
+    uint16_t distance_centre = 0;
+    uint16_t distance_left = 0;
+    uint16_t distance_right = 0;
+
+    printf("Hello world!\r\n");
+
+    vl53L1X_DevI2C *dev_I2C = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
+
+    printf("I2C device created!\r\n");
+
+    /* creates the 53L1A1 expansion board singleton obj */
+    board = XNucleo53L1A1::instance(dev_I2C, A2, D9, D2);
+    printf("board created!\r\n");
+
+    /* init the 53L1A1 expansion board with default values */
+    status = board->init_board();
+    if (status != 0) {
+        printf("Failed to init board!\r\n");
+        return status;
+    }
+
+    printf("board initiated! - %d\r\n", status);
+
+    /* Start ranging on the centre sensor */
+    status = board->sensor_centre->VL53L1X_StartRanging();
+    if (status != 0) {
+        printf("Centre sensor failed to start ranging!\r\n");
+        return status;
+    }
+
+    /* Start ranging on the left sensor */
+    status = board->sensor_left->VL53L1X_StartRanging();
+    if (status != 0) {
+        printf("Left sensor failed to start ranging!\r\n");
+        return status;
+    }
+
+    /* Start ranging on the right sensor */
+    status = board->sensor_right->VL53L1X_StartRanging();
+    if (status != 0) {
+        printf("Right sensor failed to start ranging!\r\n");
+        return status;
+    }
+
+    /* Ranging loop
+     * Checks each sensor for data ready
+     */
+    while (1)
+    {
+        board->sensor_centre->VL53L1X_CheckForDataReady(&ready_centre);
+        board->sensor_left->VL53L1X_CheckForDataReady(&ready_left);
+        board->sensor_right->VL53L1X_CheckForDataReady(&ready_right);
+
+        if (ready_centre) {
+            board->sensor_centre->VL53L1X_GetRangeStatus(&ready_centre);
+            board->sensor_centre->VL53L1X_GetDistance(&distance_centre);
+        }
+        if (ready_left) {
+            board->sensor_centre->VL53L1X_GetRangeStatus(&ready_left);
+            board->sensor_centre->VL53L1X_GetDistance(&distance_left);
+        }
+        if (ready_right) {
+            board->sensor_centre->VL53L1X_GetRangeStatus(&ready_right);
+            board->sensor_centre->VL53L1X_GetDistance(&distance_right);
+        }
+
+        printf("%d\t", distance_centre);
+        printf("%d\t", distance_left);
+        printf("%d\t", distance_right);
+    }
+
+    return status;
+}