ST / Mbed OS VL53L1X_Ranging_With_Multiple_Devices_MbedOS

Mbed OS 5.x example, ranging with the VL53L1X Time-of-Flight (ToF) sensor on the X-NUCLEO-53L1A1 expansion board, and 2 VL53L1X Satellite boards, connected to the expansion board.

Dependencies:   X_NUCLEO_53L1A1

main.cpp@6:e3857da4a7a5, 2021-05-12 (annotated)

Committer:
johnAlexander
Date:
Wed May 12 10:05:25 2021 +0000
Revision:
6:e3857da4a7a5
Parent:
2:91088f06f39e 
Rebuilt for MbedOS v5.15.7 & v6.10.0.

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 1:e5cce6b28b6f 6 * Measured ranges are output on the Serial Port, running at 115200 baud.
johnAlexander 0:6b7696e7df5e 7 *
johnAlexander 1:e5cce6b28b6f 8 * The application supports the centre, on-board, sensor and up to two satellite boards.
johnAlexander 0:6b7696e7df5e 9 *
johnAlexander 2:91088f06f39e 10 * On STM32-Nucleo boards :
johnAlexander 2:91088f06f39e 11 * The User Blue button stops the current measurement and entire program,
johnAlexander 2:91088f06f39e 12 * releasing all resources.
johnAlexander 0:6b7696e7df5e 13 *
johnAlexander 2:91088f06f39e 14 * The Black Reset button is used to restart the program.
johnAlexander 1:e5cce6b28b6f 15 *
johnAlexander 1:e5cce6b28b6f 16 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
johnAlexander 0:6b7696e7df5e 17 * the X-NUCELO-53L0A1 expansion board are not made/OFF.
johnAlexander 0:6b7696e7df5e 18 * These links must be made to allow interrupts from the Satellite boards
johnAlexander 0:6b7696e7df5e 19 * to be received.
johnAlexander 0:6b7696e7df5e 20 * U11 and U18 must be made/ON to allow interrupts to be received from the
johnAlexander 0:6b7696e7df5e 21 * INT_L & INT_R positions; or
johnAlexander 0:6b7696e7df5e 22 * U10 and U15 must be made/ON to allow interrupts to be received from the
johnAlexander 0:6b7696e7df5e 23 * Alternate INT_L & INT_R positions.
johnAlexander 6:e3857da4a7a5 24 * The X_NUCLEO_53L1A1 library defaults to use the INT_L/INT_R positions.
johnAlexander 6:e3857da4a7a5 25 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
johnAlexander 6:e3857da4a7a5 26 * Alternate INT_L is on CN5 Connector pin 2 as D9.
johnAlexander 6:e3857da4a7a5 27 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
johnAlexander 6:e3857da4a7a5 28 * Alternate INT_R is on CN9 Connector pin 5 as D4.
johnAlexander 0:6b7696e7df5e 29 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/
johnAlexander 0:6b7696e7df5e 30 */
johnAlexander 1:e5cce6b28b6f 31
johnAlexander 0:6b7696e7df5e 32 #include <stdio.h>
johnAlexander 0:6b7696e7df5e 33
johnAlexander 0:6b7696e7df5e 34 #include "mbed.h"
johnAlexander 6:e3857da4a7a5 35
johnAlexander 0:6b7696e7df5e 36 #include "XNucleo53L1A1.h"
johnAlexander 2:91088f06f39e 37 #include "VL53L1X_I2C.h"
johnAlexander 0:6b7696e7df5e 38
johnAlexander 1:e5cce6b28b6f 39 #define VL53L1_I2C_SDA D14
johnAlexander 1:e5cce6b28b6f 40 #define VL53L1_I2C_SCL D15
johnAlexander 1:e5cce6b28b6f 41
johnAlexander 2:91088f06f39e 42 #if TARGET_STM // we are cross compiling for an STM32-Nucleo
johnAlexander 6:e3857da4a7a5 43 InterruptIn stop_button(BUTTON1);
johnAlexander 2:91088f06f39e 44 #endif
johnAlexander 2:91088f06f39e 45 #if TARGET_Freescale // we are cross-compiling for NXP FRDM boards.
johnAlexander 2:91088f06f39e 46 InterruptIn stop_button(SW2);
johnAlexander 1:e5cce6b28b6f 47 #endif
johnAlexander 1:e5cce6b28b6f 48
johnAlexander 1:e5cce6b28b6f 49 /* Installed sensors count */
johnAlexander 1:e5cce6b28b6f 50 int sensorCnt = 0;
johnAlexander 1:e5cce6b28b6f 51
johnAlexander 1:e5cce6b28b6f 52 /* installed sensors prefixes */
johnAlexander 1:e5cce6b28b6f 53 char installedSensors[3];
johnAlexander 0:6b7696e7df5e 54
johnAlexander 0:6b7696e7df5e 55 static XNucleo53L1A1 *board=NULL;
johnAlexander 6:e3857da4a7a5 56 #if (MBED_VERSION > 60300)
johnAlexander 6:e3857da4a7a5 57 UnbufferedSerial pc(USBTX, USBRX);
johnAlexander 6:e3857da4a7a5 58 extern "C" void wait_ms(int ms);
johnAlexander 6:e3857da4a7a5 59 #else
johnAlexander 6:e3857da4a7a5 60 Serial pc(SERIAL_TX, SERIAL_RX);
johnAlexander 6:e3857da4a7a5 61 #endif
johnAlexander 0:6b7696e7df5e 62
johnAlexander 1:e5cce6b28b6f 63 /* interrupt requests */
johnAlexander 1:e5cce6b28b6f 64 volatile bool centerSensor = false;
johnAlexander 1:e5cce6b28b6f 65 volatile bool leftSensor = false;
johnAlexander 1:e5cce6b28b6f 66 volatile bool rightSensor = false;
johnAlexander 1:e5cce6b28b6f 67 volatile bool int_measuring_stop = false;
johnAlexander 1:e5cce6b28b6f 68 /* Current sensor number*/
johnAlexander 1:e5cce6b28b6f 69 volatile int currentSensor = 0;
johnAlexander 1:e5cce6b28b6f 70
johnAlexander 1:e5cce6b28b6f 71 /* current displayed sensor change IRQ */
johnAlexander 1:e5cce6b28b6f 72 volatile bool switchChanged = false;
johnAlexander 1:e5cce6b28b6f 73
johnAlexander 1:e5cce6b28b6f 74 /* ISR callback function of the centre sensor */
johnAlexander 1:e5cce6b28b6f 75 void sensor_centre_irq(void)
johnAlexander 1:e5cce6b28b6f 76 {
johnAlexander 1:e5cce6b28b6f 77 centerSensor = true;
johnAlexander 1:e5cce6b28b6f 78 board->sensor_centre->disable_interrupt_measure_detection_irq();
johnAlexander 1:e5cce6b28b6f 79 }
johnAlexander 1:e5cce6b28b6f 80
johnAlexander 1:e5cce6b28b6f 81 /* ISR callback function of the left sensor */
johnAlexander 1:e5cce6b28b6f 82 void sensor_left_irq(void)
johnAlexander 1:e5cce6b28b6f 83 {
johnAlexander 1:e5cce6b28b6f 84 leftSensor = true;
johnAlexander 1:e5cce6b28b6f 85 board->sensor_left->disable_interrupt_measure_detection_irq();
johnAlexander 1:e5cce6b28b6f 86 }
johnAlexander 1:e5cce6b28b6f 87
johnAlexander 1:e5cce6b28b6f 88 /* ISR callback function of the right sensor */
johnAlexander 1:e5cce6b28b6f 89 void sensor_right_irq(void)
johnAlexander 1:e5cce6b28b6f 90 {
johnAlexander 1:e5cce6b28b6f 91 rightSensor = true;
johnAlexander 1:e5cce6b28b6f 92 board->sensor_right->disable_interrupt_measure_detection_irq();
johnAlexander 1:e5cce6b28b6f 93 }
johnAlexander 1:e5cce6b28b6f 94
johnAlexander 1:e5cce6b28b6f 95 /* ISR callback function of the user blue button to switch measuring sensor. */
johnAlexander 1:e5cce6b28b6f 96 void switch_measuring_sensor_irq(void)
johnAlexander 1:e5cce6b28b6f 97 {
johnAlexander 1:e5cce6b28b6f 98 stop_button.disable_irq();
johnAlexander 1:e5cce6b28b6f 99 switchChanged = true;
johnAlexander 1:e5cce6b28b6f 100 }
johnAlexander 0:6b7696e7df5e 101
johnAlexander 1:e5cce6b28b6f 102 /*
johnAlexander 1:e5cce6b28b6f 103 * This function calls the interrupt handler for each sensor
johnAlexander 1:e5cce6b28b6f 104 * and outputs the range
johnAlexander 1:e5cce6b28b6f 105 */
johnAlexander 1:e5cce6b28b6f 106 inline void measure_sensors()
johnAlexander 0:6b7696e7df5e 107 {
johnAlexander 1:e5cce6b28b6f 108 bool current = false;
johnAlexander 1:e5cce6b28b6f 109 uint16_t distance = 0;
johnAlexander 0:6b7696e7df5e 110
johnAlexander 1:e5cce6b28b6f 111 /* Handle the interrupt and output the range from the centre sensor */
johnAlexander 1:e5cce6b28b6f 112 if (centerSensor) {
johnAlexander 1:e5cce6b28b6f 113 centerSensor = false;
johnAlexander 1:e5cce6b28b6f 114 board->sensor_centre->handle_irq(&distance);
johnAlexander 1:e5cce6b28b6f 115 current = (currentSensor == 0);
johnAlexander 1:e5cce6b28b6f 116 if (current) {
johnAlexander 1:e5cce6b28b6f 117 printf("Centre: %d\r\n", distance);
johnAlexander 1:e5cce6b28b6f 118 }
johnAlexander 1:e5cce6b28b6f 119 }
johnAlexander 1:e5cce6b28b6f 120
johnAlexander 1:e5cce6b28b6f 121 /* Handle the interrupt and output the range from the left sensor */
johnAlexander 1:e5cce6b28b6f 122 if (leftSensor) {
johnAlexander 1:e5cce6b28b6f 123 leftSensor = false;
johnAlexander 1:e5cce6b28b6f 124 board->sensor_left->handle_irq(&distance);
johnAlexander 1:e5cce6b28b6f 125 current = (installedSensors[currentSensor] == 'L');
johnAlexander 1:e5cce6b28b6f 126 if (current) {
johnAlexander 1:e5cce6b28b6f 127 printf("Left: %d\r\n", distance);
johnAlexander 1:e5cce6b28b6f 128 }
johnAlexander 1:e5cce6b28b6f 129 }
johnAlexander 1:e5cce6b28b6f 130
johnAlexander 1:e5cce6b28b6f 131 /* Handle the interrupt and output the range from the right sensor */
johnAlexander 1:e5cce6b28b6f 132 if (rightSensor) {
johnAlexander 1:e5cce6b28b6f 133 rightSensor = false;
johnAlexander 1:e5cce6b28b6f 134 board->sensor_right->handle_irq(&distance);
johnAlexander 1:e5cce6b28b6f 135 current = (installedSensors[currentSensor] == 'R');
johnAlexander 1:e5cce6b28b6f 136 if (current) {
johnAlexander 1:e5cce6b28b6f 137 printf("Right: %d\r\n", distance);
johnAlexander 1:e5cce6b28b6f 138 }
johnAlexander 1:e5cce6b28b6f 139 }
johnAlexander 1:e5cce6b28b6f 140 }
johnAlexander 1:e5cce6b28b6f 141
johnAlexander 1:e5cce6b28b6f 142 /*
johnAlexander 1:e5cce6b28b6f 143 * Add to an array a character that represents the sensor and start ranging
johnAlexander 1:e5cce6b28b6f 144 */
johnAlexander 1:e5cce6b28b6f 145 int init_sensors_array()
johnAlexander 1:e5cce6b28b6f 146 {
johnAlexander 0:6b7696e7df5e 147 int status = 0;
johnAlexander 1:e5cce6b28b6f 148 sensorCnt = 0;
johnAlexander 1:e5cce6b28b6f 149 /* start the measure on the center sensor */
johnAlexander 1:e5cce6b28b6f 150 if (NULL != board->sensor_centre) {
johnAlexander 1:e5cce6b28b6f 151 installedSensors[sensorCnt] = 'C';
johnAlexander 1:e5cce6b28b6f 152 status = board->sensor_centre->stop_measurement();
johnAlexander 1:e5cce6b28b6f 153 if (status != 0) {
johnAlexander 1:e5cce6b28b6f 154 return status;
johnAlexander 1:e5cce6b28b6f 155 }
johnAlexander 1:e5cce6b28b6f 156 status = board->sensor_centre->start_measurement(&sensor_centre_irq);
johnAlexander 1:e5cce6b28b6f 157 if (status != 0) {
johnAlexander 1:e5cce6b28b6f 158 return status;
johnAlexander 1:e5cce6b28b6f 159 }
johnAlexander 1:e5cce6b28b6f 160 ++sensorCnt;
johnAlexander 1:e5cce6b28b6f 161 }
johnAlexander 1:e5cce6b28b6f 162 /* start the measure on the left sensor */
johnAlexander 1:e5cce6b28b6f 163 if (NULL != board->sensor_left) {
johnAlexander 1:e5cce6b28b6f 164 installedSensors[sensorCnt] = 'L';
johnAlexander 1:e5cce6b28b6f 165 status = board->sensor_left->stop_measurement();
johnAlexander 1:e5cce6b28b6f 166 if (status != 0) {
johnAlexander 1:e5cce6b28b6f 167 return status;
johnAlexander 1:e5cce6b28b6f 168 }
johnAlexander 1:e5cce6b28b6f 169 status = board->sensor_left->start_measurement(&sensor_left_irq);
johnAlexander 1:e5cce6b28b6f 170 if (status != 0) {
johnAlexander 1:e5cce6b28b6f 171 return status;
johnAlexander 1:e5cce6b28b6f 172 }
johnAlexander 1:e5cce6b28b6f 173 ++sensorCnt;
johnAlexander 1:e5cce6b28b6f 174 }
johnAlexander 1:e5cce6b28b6f 175 /* start the measure on the right sensor */
johnAlexander 1:e5cce6b28b6f 176 if (NULL != board->sensor_right) {
johnAlexander 1:e5cce6b28b6f 177 installedSensors[sensorCnt] = 'R';
johnAlexander 1:e5cce6b28b6f 178 status = board->sensor_right->stop_measurement();
johnAlexander 1:e5cce6b28b6f 179 if (status != 0) {
johnAlexander 1:e5cce6b28b6f 180 return status;
johnAlexander 1:e5cce6b28b6f 181 }
johnAlexander 1:e5cce6b28b6f 182 status = board->sensor_right->start_measurement(&sensor_right_irq);
johnAlexander 1:e5cce6b28b6f 183 if (status != 0) {
johnAlexander 1:e5cce6b28b6f 184 return status;
johnAlexander 1:e5cce6b28b6f 185 }
johnAlexander 1:e5cce6b28b6f 186 ++sensorCnt;
johnAlexander 1:e5cce6b28b6f 187 }
johnAlexander 1:e5cce6b28b6f 188 currentSensor = 0;
johnAlexander 1:e5cce6b28b6f 189 return status;
johnAlexander 1:e5cce6b28b6f 190 }
johnAlexander 0:6b7696e7df5e 191
johnAlexander 1:e5cce6b28b6f 192 /*
johnAlexander 1:e5cce6b28b6f 193 * Main ranging function
johnAlexander 1:e5cce6b28b6f 194 */
johnAlexander 2:91088f06f39e 195 int range_measure(VL53L1X_DevI2C *device_i2c)
johnAlexander 1:e5cce6b28b6f 196 {
johnAlexander 1:e5cce6b28b6f 197 int status = 0;
johnAlexander 0:6b7696e7df5e 198
johnAlexander 0:6b7696e7df5e 199 /* creates the 53L1A1 expansion board singleton obj */
johnAlexander 1:e5cce6b28b6f 200 board = XNucleo53L1A1::instance(device_i2c, A2, D9, D2);
johnAlexander 0:6b7696e7df5e 201
johnAlexander 0:6b7696e7df5e 202 /* init the 53L1A1 expansion board with default values */
johnAlexander 0:6b7696e7df5e 203 status = board->init_board();
johnAlexander 0:6b7696e7df5e 204 if (status != 0) {
johnAlexander 0:6b7696e7df5e 205 printf("Failed to init board!\r\n");
johnAlexander 0:6b7696e7df5e 206 return status;
johnAlexander 0:6b7696e7df5e 207 }
johnAlexander 0:6b7696e7df5e 208
johnAlexander 1:e5cce6b28b6f 209 /* init an array with chars to id the sensors */
johnAlexander 1:e5cce6b28b6f 210 status = init_sensors_array();
johnAlexander 0:6b7696e7df5e 211 if (status != 0) {
johnAlexander 1:e5cce6b28b6f 212 printf("Failed to init sensors!\r\n");
johnAlexander 0:6b7696e7df5e 213 return status;
johnAlexander 0:6b7696e7df5e 214 }
johnAlexander 0:6b7696e7df5e 215
johnAlexander 1:e5cce6b28b6f 216 printf("Entering loop mode\r\n");
johnAlexander 0:6b7696e7df5e 217
johnAlexander 1:e5cce6b28b6f 218 /* Main ranging interrupt loop */
johnAlexander 1:e5cce6b28b6f 219 while (true) {
johnAlexander 1:e5cce6b28b6f 220 measure_sensors();
johnAlexander 1:e5cce6b28b6f 221 if (switchChanged) {
johnAlexander 1:e5cce6b28b6f 222 ++currentSensor;
johnAlexander 1:e5cce6b28b6f 223 if (currentSensor == sensorCnt)
johnAlexander 1:e5cce6b28b6f 224 currentSensor = 0;
johnAlexander 1:e5cce6b28b6f 225 printf("Sensor changed to %c\r\n", installedSensors[currentSensor]);
johnAlexander 1:e5cce6b28b6f 226 switchChanged = false;
johnAlexander 1:e5cce6b28b6f 227 stop_button.enable_irq();
johnAlexander 0:6b7696e7df5e 228 }
johnAlexander 0:6b7696e7df5e 229 }
johnAlexander 1:e5cce6b28b6f 230 delete board;
johnAlexander 0:6b7696e7df5e 231 return status;
johnAlexander 0:6b7696e7df5e 232 }
johnAlexander 1:e5cce6b28b6f 233
johnAlexander 1:e5cce6b28b6f 234 /*=================================== Main ==================================
johnAlexander 1:e5cce6b28b6f 235 =============================================================================*/
johnAlexander 1:e5cce6b28b6f 236 int main()
johnAlexander 1:e5cce6b28b6f 237 {
johnAlexander 1:e5cce6b28b6f 238 stop_button.rise(&switch_measuring_sensor_irq);
johnAlexander 1:e5cce6b28b6f 239 stop_button.enable_irq();
johnAlexander 2:91088f06f39e 240
johnAlexander 2:91088f06f39e 241 VL53L1X_DevI2C *dev_I2C = new VL53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
johnAlexander 1:e5cce6b28b6f 242 range_measure(dev_I2C); // start continuous measures
johnAlexander 2:91088f06f39e 243
johnAlexander 2:91088f06f39e 244 return 0;
johnAlexander 1:e5cce6b28b6f 245 }
johnAlexander 1:e5cce6b28b6f 246
johnAlexander 6:e3857da4a7a5 247 #if (MBED_VERSION > 60300)
johnAlexander 6:e3857da4a7a5 248 extern "C" void wait_ms(int ms)
johnAlexander 6:e3857da4a7a5 249 {
johnAlexander 6:e3857da4a7a5 250 thread_sleep_for(ms);
johnAlexander 6:e3857da4a7a5 251 }
johnAlexander 6:e3857da4a7a5 252 #endif