ST / X_NUCLEO_53L0A1

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Dependencies:   ST_INTERFACES X_NUCLEO_COMMON

Dependents:   ConcorsoFinal HelloWorld_IHM01A1 m3pi_BT m3pi_LIDAR ... more

Fork of X_NUCLEO_53L0A1 by ST Expansion SW Team

X-NUCLEO-53L0A1 Proximity Sensor Expansion Board Firmware Package

Introduction

This firmware package includes Component Device Drivers and the Board Support Package for STMicroelectronics' X-NUCLEO-53L0A1 Proximity sensor expansion board based on VL53L0X.

Firmware Library

Class X_NUCLEO_53L0A1 is intended to represent the Proximity sensor expansion board with the same name.

The expansion board provides support for the following components:

  1. on-board VL53L0X proximity sensor,
  2. up to two additional VL53L0X Satellites,
  3. on-board 4-digit display

It is intentionally implemented as a singleton because only one X-NUCLEO-VL53L0A1 may be deployed at a time in a HW component stack. In order to get the singleton instance you have to call class method `Instance()`, e.g.:

// Sensors expansion board singleton instance
static X_NUCLEO_53L0A1 *board = X_NUCLEO_53L0A1::Instance(device_i2c, A2, D8, D2);

Example Applications

The library and sample application code were tested against mbed revision 143, dated 26th May 2017.

Diff: Components/VL53L0X/vl53l0x_class.cpp

Revision:
12:f6e2bad00dc7
Parent:
11:ceaa5a026412
Child:
13:615f7e38568c
--- a/Components/VL53L0X/vl53l0x_class.cpp	Mon Jun 12 13:59:20 2017 +0000
+++ b/Components/VL53L0X/vl53l0x_class.cpp	Wed Jun 14 14:39:27 2017 +0000
@@ -4112,7 +4112,6 @@
 			Status = VL53L0X_ClearInterruptMask(Dev, 0);
 
 	}
-
 	LOG_FUNCTION_END(Status);
 	return Status;
 }
@@ -5152,9 +5151,30 @@
    }
    return status; 
 }
- 
- 
-
+
+int VL53L0X::RangeMeasIntContinuousMode(void (*fptr)(void))
+{
+   int status, ClrStatus;
+
+   status = VL53L0X_SetGpioConfig(Device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+		VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
+		VL53L0X_INTERRUPTPOLARITY_HIGH);
+   
+   if (!status)
+   {   
+	   	AttachInterruptMeasureDetectionIRQ(fptr);
+	    EnableInterruptMeasureDetectionIRQ();
+   }
+   	
+   ClrStatus=ClearInterrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS|VL53L0X_REG_RESULT_RANGE_STATUS);
+   if(ClrStatus)
+	   VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
+   if(!status)
+   {
+      status=RangeStartContinuousMode();
+   }
+   return status;
+}
 
 
 int VL53L0X::StartMeasurement(OperatingMode operating_mode, void (*fptr)(void))
@@ -5171,6 +5191,30 @@
 	uint8_t preRangeVcselPeriod = 14;
 	uint8_t finalRangeVcselPeriod = 10;
 
+    if (operating_mode == range_continuous_interrupt)
+    {
+        if (gpio1Int==NULL) 
+        {
+            printf ("GPIO1 Error\r\n");
+            return 1;
+        }
+        printf ("Setting up GPIO Config\r\n");
+        Status = VL53L0X_SetDeviceMode(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
+        
+        if (Status == VL53L0X_ERROR_NONE) {
+        	Status = RangeConfigInterrupt(VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
+        }
+        if (Status == VL53L0X_ERROR_NONE) {
+            Status = RangeMeasIntContinuousMode(fptr);
+        }
+                        
+        if(Status == VL53L0X_ERROR_NONE)
+        {
+	        printf ("Call of VL53L0X_StartMeasurement\n");
+	        Status = VL53L0X_StartMeasurement(Device);
+        }        
+            return Status;
+    }
 
     if (operating_mode == range_single_shot_polling)
     {
@@ -5294,6 +5338,11 @@
         }
     }
 
+	if (operating_mode == range_continuous_interrupt)
+	{
+        Status = VL53L0X_GetRangingMeasurementData(Device, Data);
+        VL53L0X_ClearInterruptMask(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR | VL53L0X_REG_RESULT_INTERRUPT_STATUS);      
+	}
 
     return Status;
 }
@@ -5336,9 +5385,8 @@
 int VL53L0X::HandleIRQ(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data)
 {
    int status;
-    
+   status=GetMeasurement(operating_mode, Data);
    EnableInterruptMeasureDetectionIRQ();
-   status=GetMeasurement(operating_mode, Data);
    return status;
 }