Sensors and motors work / Mbed 2 deprecated nucleo_ros_good

It is supposed to work

Dependencies:   mbed ros_lib_kinetic

main.cpp@2:306c6c49a327, 2019-10-15 (annotated)

Committer:
florine_van
Date:
Tue Oct 15 09:07:24 2019 +0000
Revision:
2:306c6c49a327
Parent:
1:b725652b9b42
Child:
3:3a65e8aae6b6
clean code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
florine_van 0:231de8959869 1 /*
florine_van 0:231de8959869 2 * rosserial Publisher Example
florine_van 0:231de8959869 3 * Prints "hello world!"
florine_van 0:231de8959869 4 */
florine_van 0:231de8959869 5
florine_van 0:231de8959869 6 #include"mbed.h"
florine_van 0:231de8959869 7 #include <ros.h>
florine_van 0:231de8959869 8 #include <std_msgs/String.h>
florine_van 0:231de8959869 9 #include <std_msgs/Int32.h>
florine_van 0:231de8959869 10
florine_van 0:231de8959869 11 DigitalOut led = LED1;
florine_van 0:231de8959869 12
florine_van 0:231de8959869 13 // set-up serial to pc
florine_van 0:231de8959869 14 I2C i2c(I2C_SDA, I2C_SCL);
florine_van 0:231de8959869 15 // Set up I²C on the STM32 NUCLEO-401RE
florine_van 0:231de8959869 16 #define addr (0x52)
florine_van 0:231de8959869 17 // I²C address of VL6180 shifted by 1 bit
florine_van 0:231de8959869 18 //(0x29 << 1) so the R/W command can be added
florine_van 0:231de8959869 19
florine_van 0:231de8959869 20 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 21 // Split 16-bit register address into two bytes and write
florine_van 0:231de8959869 22 // the address + data via I²C
florine_van 0:231de8959869 23 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 24 void WriteByte(wchar_t reg,char data) {
florine_van 0:231de8959869 25 char data_write[3];
florine_van 0:231de8959869 26 data_write[0] = (reg >> 8) & 0xFF;;
florine_van 0:231de8959869 27 // MSB of register address
florine_van 0:231de8959869 28 data_write[1] = reg & 0xFF;
florine_van 0:231de8959869 29 // LSB of register address
florine_van 0:231de8959869 30 data_write[2] = data & 0xFF;
florine_van 0:231de8959869 31 i2c.write(addr, data_write, 3);
florine_van 0:231de8959869 32 }
florine_van 0:231de8959869 33
florine_van 0:231de8959869 34 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 35 // Split 16-bit register address into two bytes and write
florine_van 0:231de8959869 36 // required register address to VL6180 and read the data back
florine_van 0:231de8959869 37 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 38 char ReadByte(wchar_t reg) {
florine_van 0:231de8959869 39 char data_write[2];
florine_van 0:231de8959869 40 char data_read[1];
florine_van 0:231de8959869 41
florine_van 0:231de8959869 42 data_write[0] = (reg >> 8) & 0xFF; // MSB of register address
florine_van 0:231de8959869 43 data_write[1] = reg & 0xFF; // LSB of register address
florine_van 0:231de8959869 44
florine_van 0:231de8959869 45 i2c.write(addr, data_write, 2);
florine_van 0:231de8959869 46 i2c.read(addr, data_read, 1);
florine_van 0:231de8959869 47 return data_read[0];
florine_van 0:231de8959869 48 }
florine_van 0:231de8959869 49
florine_van 0:231de8959869 50 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 51 // load settings
florine_van 0:231de8959869 52 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 53 int VL6180_Init() {
florine_van 0:231de8959869 54 char reset;
florine_van 0:231de8959869 55 reset = ReadByte(0x016);
florine_van 0:231de8959869 56 if (reset==1)
florine_van 0:231de8959869 57 {
florine_van 0:231de8959869 58 // check to see has it be Initialised already
florine_van 0:231de8959869 59
florine_van 0:231de8959869 60 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 61 // Added latest settings here - see Section 9
florine_van 0:231de8959869 62 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 63 // Mandatory : private registers
florine_van 0:231de8959869 64 WriteByte(0x0207, 0x01);
florine_van 0:231de8959869 65 WriteByte(0x0208, 0x01);
florine_van 0:231de8959869 66 WriteByte(0x0096, 0x00);
florine_van 0:231de8959869 67 WriteByte(0x0097, 0xfd);
florine_van 0:231de8959869 68 WriteByte(0x00e3, 0x01);
florine_van 0:231de8959869 69 WriteByte(0x00e4, 0x03);
florine_van 0:231de8959869 70 WriteByte(0x00e5, 0x02);
florine_van 0:231de8959869 71 WriteByte(0x00e6, 0x01);
florine_van 0:231de8959869 72 WriteByte(0x00e7, 0x03);
florine_van 0:231de8959869 73 WriteByte(0x00f5, 0x02);
florine_van 0:231de8959869 74 WriteByte(0x00d9, 0x05);
florine_van 0:231de8959869 75 WriteByte(0x00db, 0xce);
florine_van 0:231de8959869 76 WriteByte(0x00dc, 0x03);
florine_van 0:231de8959869 77 WriteByte(0x00dd, 0xf8);
florine_van 0:231de8959869 78 WriteByte(0x009f, 0x00);
florine_van 0:231de8959869 79 WriteByte(0x00a3, 0x3c);
florine_van 0:231de8959869 80 WriteByte(0x00b7, 0x00);
florine_van 0:231de8959869 81 WriteByte(0x00bb, 0x3c);
florine_van 0:231de8959869 82 WriteByte(0x00b2, 0x09);
florine_van 0:231de8959869 83 WriteByte(0x00ca, 0x09);
florine_van 0:231de8959869 84 WriteByte(0x0198, 0x01);
florine_van 0:231de8959869 85 WriteByte(0x01b0, 0x17);
florine_van 0:231de8959869 86 WriteByte(0x01ad, 0x00);
florine_van 0:231de8959869 87 WriteByte(0x00ff, 0x05);
florine_van 0:231de8959869 88 WriteByte(0x0100, 0x05);
florine_van 0:231de8959869 89 WriteByte(0x0199, 0x05);
florine_van 0:231de8959869 90 WriteByte(0x01a6, 0x1b);
florine_van 0:231de8959869 91 WriteByte(0x01ac, 0x3e);
florine_van 0:231de8959869 92 WriteByte(0x01a7, 0x1f);
florine_van 0:231de8959869 93 WriteByte(0x0030, 0x00);
florine_van 0:231de8959869 94
florine_van 1:b725652b9b42 95 /*
florine_van 0:231de8959869 96 // Recommended : Public registers - See data sheet for more detail
florine_van 1:b725652b9b42 97 WriteByte(0x0011, 0x10); // Enables polling for ‘New Sample ready’ when measurement completes
florine_van 1:b725652b9b42 98 WriteByte(0x010a, 0x30); // Set the averaging sample period (compromise between lower noise and increased execution time)
florine_van 1:b725652b9b42 99 WriteByte(0x003f, 0x46); // Sets the light and dark gain (upper // nibble). Dark gain should not be // changed.
florine_van 1:b725652b9b42 100 WriteByte(0x0031, 0xFF); // sets the # of range measurements after // which auto calibration of system is // performed
florine_van 1:b725652b9b42 101 WriteByte(0x0041, 0x63); // Set ALS integration time to 100ms
florine_van 1:b725652b9b42 102 WriteByte(0x002e, 0x01); // perform a single temperature calibration // of the ranging sensor
florine_van 1:b725652b9b42 103 */
florine_van 0:231de8959869 104
florine_van 0:231de8959869 105 WriteByte(0x016, 0x00); //change fresh out of set status to 0
florine_van 0:231de8959869 106 }
florine_van 0:231de8959869 107 return 0;
florine_van 0:231de8959869 108 }
florine_van 0:231de8959869 109
florine_van 0:231de8959869 110 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 111 // Start a range measurement in single shot mode
florine_van 0:231de8959869 112 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 113 int VL6180_Start_Range() {
florine_van 0:231de8959869 114 WriteByte(0x018,0x03);
florine_van 0:231de8959869 115 return 0;
florine_van 0:231de8959869 116 }
florine_van 0:231de8959869 117
florine_van 0:231de8959869 118 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 119 // poll for new sample ready ready
florine_van 0:231de8959869 120 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 121 int VL6180_Poll_Range() {
florine_van 0:231de8959869 122 char status;
florine_van 0:231de8959869 123 char range_status;
florine_van 0:231de8959869 124
florine_van 0:231de8959869 125 // check the status
florine_van 0:231de8959869 126 status = ReadByte(0x04f);
florine_van 0:231de8959869 127 range_status = status & 0x07;
florine_van 0:231de8959869 128
florine_van 0:231de8959869 129 // wait for new measurement ready status
florine_van 1:b725652b9b42 130 while (range_status != 0x04)
florine_van 0:231de8959869 131 {
florine_van 0:231de8959869 132 status = ReadByte(0x04f);
florine_van 0:231de8959869 133 range_status = status & 0x07;
florine_van 0:231de8959869 134 wait_ms(1); // (can be removed)
florine_van 0:231de8959869 135 }
florine_van 0:231de8959869 136
florine_van 0:231de8959869 137 return 0;
florine_van 0:231de8959869 138 }
florine_van 0:231de8959869 139
florine_van 0:231de8959869 140 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 141 // Read range result (mm)
florine_van 0:231de8959869 142 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 143 int VL6180_Read_Range() {
florine_van 0:231de8959869 144 int range;
florine_van 0:231de8959869 145 range=ReadByte(0x062);
florine_van 0:231de8959869 146 return range;
florine_van 0:231de8959869 147 }
florine_van 0:231de8959869 148
florine_van 0:231de8959869 149 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 150 // clear interrupts
florine_van 0:231de8959869 151 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 152 int VL6180_Clear_Interrupts() {
florine_van 0:231de8959869 153 WriteByte(0x015,0x07);
florine_van 0:231de8959869 154 return 0;
florine_van 0:231de8959869 155 }
florine_van 0:231de8959869 156
florine_van 0:231de8959869 157 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 158 // Main Program loop
florine_van 0:231de8959869 159 ///////////////////////////////////////////////////////////////////
florine_van 1:b725652b9b42 160 int main() {
florine_van 1:b725652b9b42 161
florine_van 1:b725652b9b42 162 ros::NodeHandle nh;
florine_van 1:b725652b9b42 163 nh.initNode();
florine_van 0:231de8959869 164
florine_van 1:b725652b9b42 165 std_msgs::Int32 int_msg;
florine_van 1:b725652b9b42 166 ros::Publisher range_pub("range", &int_msg);
florine_van 1:b725652b9b42 167
florine_van 0:231de8959869 168 nh.advertise(range_pub);
florine_van 1:b725652b9b42 169
florine_van 0:231de8959869 170 int range;
florine_van 0:231de8959869 171 // load settings onto VL6180X
florine_van 0:231de8959869 172 VL6180_Init();
florine_van 1:b725652b9b42 173
florine_van 0:231de8959869 174 while (1)
florine_van 2:306c6c49a327 175 {
florine_van 1:b725652b9b42 176 // start range measurement
florine_van 1:b725652b9b42 177 VL6180_Start_Range();
florine_van 0:231de8959869 178 // poll the VL6180 till new sample ready
florine_van 1:b725652b9b42 179 //VL6180_Poll_Range();
florine_van 0:231de8959869 180 // read range result
florine_van 0:231de8959869 181 range = VL6180_Read_Range();
florine_van 0:231de8959869 182 // clear the interrupt on VL6180
florine_van 0:231de8959869 183 VL6180_Clear_Interrupts();
florine_van 1:b725652b9b42 184 // send range to pc by serial
florine_van 1:b725652b9b42 185
florine_van 0:231de8959869 186 int_msg.data = range;
florine_van 1:b725652b9b42 187 range_pub.publish(&int_msg);
florine_van 1:b725652b9b42 188 nh.spinOnce();
florine_van 1:b725652b9b42 189 wait(0.1);
florine_van 1:b725652b9b42 190
florine_van 0:231de8959869 191 }
florine_van 0:231de8959869 192 }
florine_van 0:231de8959869 193