ST / Mbed OS VL53L1A1_Simple_Ranging_With_One_Device

Simple ranging example, using polling, with only the X-Nucleo_53L1A1 expansion board.

Dependencies:   X_NUCLEO_53L1A1

main.cpp@6:edbf45e8969f, 2020-11-03 (annotated)

Committer:
johnAlexander
Date:
Tue Nov 03 11:40:55 2020 +0000
Revision:
6:edbf45e8969f
Parent:
5:a7c10f0a062f 
Use ST published board and sensor libraries.

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 3:a3a863902994 3 * using the onboard embedded centre sensor.
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 5:a7c10f0a062f 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 uint16_t distance_centre = 0;
johnAlexander 0:6b7696e7df5e 51
johnAlexander 0:6b7696e7df5e 52 printf("Hello world!\r\n");
johnAlexander 0:6b7696e7df5e 53
johnAlexander 5:a7c10f0a062f 54 VL53L1X_DevI2C *dev_I2C = new VL53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
johnAlexander 0:6b7696e7df5e 55
johnAlexander 0:6b7696e7df5e 56 printf("I2C device created!\r\n");
johnAlexander 0:6b7696e7df5e 57
johnAlexander 0:6b7696e7df5e 58 /* creates the 53L1A1 expansion board singleton obj */
johnAlexander 0:6b7696e7df5e 59 board = XNucleo53L1A1::instance(dev_I2C, A2, D9, D2);
johnAlexander 0:6b7696e7df5e 60 printf("board created!\r\n");
johnAlexander 0:6b7696e7df5e 61
johnAlexander 0:6b7696e7df5e 62 /* init the 53L1A1 expansion board with default values */
johnAlexander 0:6b7696e7df5e 63 status = board->init_board();
dmathew 1:b7507ca3370f 64 if (status) {
johnAlexander 0:6b7696e7df5e 65 printf("Failed to init board!\r\n");
johnAlexander 0:6b7696e7df5e 66 return status;
johnAlexander 0:6b7696e7df5e 67 }
johnAlexander 0:6b7696e7df5e 68
johnAlexander 0:6b7696e7df5e 69 printf("board initiated! - %d\r\n", status);
johnAlexander 0:6b7696e7df5e 70
johnAlexander 0:6b7696e7df5e 71 /* Start ranging on the centre sensor */
dmathew 1:b7507ca3370f 72 if (board->sensor_centre != NULL) {
johnAlexander 5:a7c10f0a062f 73 status = board->sensor_centre->vl53l1x_start_ranging();
dmathew 1:b7507ca3370f 74 if (status != 0) {
dmathew 1:b7507ca3370f 75 printf("Centre sensor failed to start ranging!\r\n");
dmathew 1:b7507ca3370f 76 return status;
dmathew 1:b7507ca3370f 77 }
johnAlexander 0:6b7696e7df5e 78 }
johnAlexander 0:6b7696e7df5e 79
johnAlexander 0:6b7696e7df5e 80 /* Ranging loop
johnAlexander 0:6b7696e7df5e 81 * Checks each sensor for data ready
johnAlexander 0:6b7696e7df5e 82 */
johnAlexander 0:6b7696e7df5e 83 while (1)
johnAlexander 0:6b7696e7df5e 84 {
dmathew 1:b7507ca3370f 85 if (polling_stop)
dmathew 1:b7507ca3370f 86 {
dmathew 1:b7507ca3370f 87 printf("\r\nEnding loop mode \r\n");
dmathew 1:b7507ca3370f 88 break;
dmathew 1:b7507ca3370f 89 }
dmathew 1:b7507ca3370f 90 if (board->sensor_centre != NULL) {
johnAlexander 5:a7c10f0a062f 91 board->sensor_centre->vl53l1x_check_for_data_ready(&ready_centre);
dmathew 1:b7507ca3370f 92 }
johnAlexander 0:6b7696e7df5e 93 if (ready_centre) {
johnAlexander 5:a7c10f0a062f 94 board->sensor_centre->vl53l1x_get_range_status(&ready_centre);
johnAlexander 5:a7c10f0a062f 95 board->sensor_centre->vl53l1x_get_distance(&distance_centre);
johnAlexander 0:6b7696e7df5e 96 }
johnAlexander 0:6b7696e7df5e 97
dmathew 1:b7507ca3370f 98 if (board->sensor_centre != NULL) {
johnAlexander 3:a3a863902994 99 printf("Distance read by sensor is : %d\r\n", distance_centre);
dmathew 1:b7507ca3370f 100 }
johnAlexander 0:6b7696e7df5e 101 }
johnAlexander 0:6b7696e7df5e 102
johnAlexander 0:6b7696e7df5e 103 return status;
johnAlexander 0:6b7696e7df5e 104 }