Sensors and motors work / Mbed 2 deprecated nucleo_ros_good

It is supposed to work

Dependencies:   mbed ros_lib_kinetic

main.cpp@5:4a24d8597fc3, 2019-10-17 (annotated)

Committer:
dnulty
Date:
Thu Oct 17 10:05:27 2019 +0000
Revision:
5:4a24d8597fc3
Parent:
4:5170ec66aabb
Child:
6:8832bc658845
sensors

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dnulty 4:5170ec66aabb 1
florine_van 0:231de8959869 2
florine_van 0:231de8959869 3 #include"mbed.h"
florine_van 0:231de8959869 4 #include <ros.h>
florine_van 0:231de8959869 5 #include <std_msgs/String.h>
florine_van 0:231de8959869 6 #include <std_msgs/Int32.h>
florine_van 0:231de8959869 7
dnulty 4:5170ec66aabb 8 Serial pc(SERIAL_TX, SERIAL_RX); // set-up serial to pc
florine_van 0:231de8959869 9 DigitalOut led = LED1;
dnulty 4:5170ec66aabb 10 DigitalOut SHDN_1(PC_9);
dnulty 4:5170ec66aabb 11 DigitalOut SHDN_2(PC_11);
dnulty 4:5170ec66aabb 12 DigitalOut SHDN_3(PD_2);
dnulty 4:5170ec66aabb 13
florine_van 0:231de8959869 14
florine_van 0:231de8959869 15 // set-up serial to pc
florine_van 0:231de8959869 16 I2C i2c(I2C_SDA, I2C_SCL);
florine_van 0:231de8959869 17 // Set up I²C on the STM32 NUCLEO-401RE
florine_van 3:3a65e8aae6b6 18 #define addr1 (0x52)
florine_van 3:3a65e8aae6b6 19 #define addr2 (0x60)
florine_van 0:231de8959869 20 // I²C address of VL6180 shifted by 1 bit
florine_van 0:231de8959869 21 //(0x29 << 1) so the R/W command can be added
florine_van 0:231de8959869 22
florine_van 0:231de8959869 23 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 24 // Split 16-bit register address into two bytes and write
florine_van 0:231de8959869 25 // the address + data via I²C
florine_van 0:231de8959869 26 ///////////////////////////////////////////////////////////////////
florine_van 3:3a65e8aae6b6 27 void WriteByte(wchar_t reg,char data, char addr) {
florine_van 0:231de8959869 28 char data_write[3];
florine_van 0:231de8959869 29 data_write[0] = (reg >> 8) & 0xFF;;
florine_van 0:231de8959869 30 // MSB of register address
florine_van 0:231de8959869 31 data_write[1] = reg & 0xFF;
florine_van 0:231de8959869 32 // LSB of register address
florine_van 0:231de8959869 33 data_write[2] = data & 0xFF;
florine_van 0:231de8959869 34 i2c.write(addr, data_write, 3);
florine_van 0:231de8959869 35 }
florine_van 0:231de8959869 36
florine_van 0:231de8959869 37 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 38 // Split 16-bit register address into two bytes and write
florine_van 0:231de8959869 39 // required register address to VL6180 and read the data back
florine_van 0:231de8959869 40 ///////////////////////////////////////////////////////////////////
florine_van 3:3a65e8aae6b6 41 char ReadByte(wchar_t reg, char addr) {
florine_van 0:231de8959869 42 char data_write[2];
florine_van 0:231de8959869 43 char data_read[1];
florine_van 0:231de8959869 44
florine_van 0:231de8959869 45 data_write[0] = (reg >> 8) & 0xFF; // MSB of register address
florine_van 0:231de8959869 46 data_write[1] = reg & 0xFF; // LSB of register address
florine_van 0:231de8959869 47
florine_van 0:231de8959869 48 i2c.write(addr, data_write, 2);
florine_van 0:231de8959869 49 i2c.read(addr, data_read, 1);
florine_van 0:231de8959869 50 return data_read[0];
florine_van 0:231de8959869 51 }
florine_van 0:231de8959869 52
florine_van 0:231de8959869 53 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 54 // load settings
florine_van 0:231de8959869 55 ///////////////////////////////////////////////////////////////////
florine_van 3:3a65e8aae6b6 56 int VL6180_Init(char addr) {
dnulty 4:5170ec66aabb 57 char reset;
florine_van 3:3a65e8aae6b6 58
florine_van 3:3a65e8aae6b6 59 reset = ReadByte(0x016, addr);
florine_van 0:231de8959869 60 if (reset==1)
florine_van 0:231de8959869 61 {
florine_van 0:231de8959869 62 // check to see has it be Initialised already
florine_van 0:231de8959869 63
florine_van 0:231de8959869 64 ///////////////////////////////////////////////////////////////////
florine_van 3:3a65e8aae6b6 65 // SENSOR 1
florine_van 0:231de8959869 66 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 67 // Mandatory : private registers
florine_van 3:3a65e8aae6b6 68 WriteByte(0x0207, 0x01, addr);
florine_van 3:3a65e8aae6b6 69 WriteByte(0x0208, 0x01, addr);
florine_van 3:3a65e8aae6b6 70 WriteByte(0x0096, 0x00, addr);
florine_van 3:3a65e8aae6b6 71 WriteByte(0x0097, 0xfd, addr);
florine_van 3:3a65e8aae6b6 72 WriteByte(0x00e3, 0x01, addr);
florine_van 3:3a65e8aae6b6 73 WriteByte(0x00e4, 0x03, addr);
florine_van 3:3a65e8aae6b6 74 WriteByte(0x00e5, 0x02, addr);
florine_van 3:3a65e8aae6b6 75 WriteByte(0x00e6, 0x01, addr);
florine_van 3:3a65e8aae6b6 76 WriteByte(0x00e7, 0x03, addr);
florine_van 3:3a65e8aae6b6 77 WriteByte(0x00f5, 0x02, addr);
florine_van 3:3a65e8aae6b6 78 WriteByte(0x00d9, 0x05, addr);
florine_van 3:3a65e8aae6b6 79 WriteByte(0x00db, 0xce, addr);
florine_van 3:3a65e8aae6b6 80 WriteByte(0x00dc, 0x03, addr);
florine_van 3:3a65e8aae6b6 81 WriteByte(0x00dd, 0xf8, addr);
florine_van 3:3a65e8aae6b6 82 WriteByte(0x009f, 0x00, addr);
florine_van 3:3a65e8aae6b6 83 WriteByte(0x00a3, 0x3c, addr);
florine_van 3:3a65e8aae6b6 84 WriteByte(0x00b7, 0x00, addr);
florine_van 3:3a65e8aae6b6 85 WriteByte(0x00bb, 0x3c, addr);
florine_van 3:3a65e8aae6b6 86 WriteByte(0x00b2, 0x09, addr);
florine_van 3:3a65e8aae6b6 87 WriteByte(0x00ca, 0x09, addr);
florine_van 3:3a65e8aae6b6 88 WriteByte(0x0198, 0x01, addr);
florine_van 3:3a65e8aae6b6 89 WriteByte(0x01b0, 0x17, addr);
florine_van 3:3a65e8aae6b6 90 WriteByte(0x01ad, 0x00, addr);
florine_van 3:3a65e8aae6b6 91 WriteByte(0x00ff, 0x05, addr);
florine_van 3:3a65e8aae6b6 92 WriteByte(0x0100, 0x05, addr);
florine_van 3:3a65e8aae6b6 93 WriteByte(0x0199, 0x05, addr);
florine_van 3:3a65e8aae6b6 94 WriteByte(0x01a6, 0x1b, addr);
florine_van 3:3a65e8aae6b6 95 WriteByte(0x01ac, 0x3e, addr);
florine_van 3:3a65e8aae6b6 96 WriteByte(0x01a7, 0x1f, addr);
florine_van 3:3a65e8aae6b6 97 WriteByte(0x0030, 0x00, addr);
florine_van 0:231de8959869 98
florine_van 3:3a65e8aae6b6 99 WriteByte(0x016, 0x00, addr); //change fresh out of set status to 0
florine_van 0:231de8959869 100 }
florine_van 0:231de8959869 101 return 0;
florine_van 0:231de8959869 102 }
florine_van 0:231de8959869 103
florine_van 0:231de8959869 104 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 105 // Start a range measurement in single shot mode
florine_van 0:231de8959869 106 ///////////////////////////////////////////////////////////////////
florine_van 3:3a65e8aae6b6 107 int VL6180_Start_Range(char addr) {
florine_van 3:3a65e8aae6b6 108 WriteByte(0x018,0x03, addr);
florine_van 0:231de8959869 109 return 0;
florine_van 0:231de8959869 110 }
florine_van 0:231de8959869 111
florine_van 0:231de8959869 112 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 113 // poll for new sample ready ready
florine_van 0:231de8959869 114 ///////////////////////////////////////////////////////////////////
florine_van 3:3a65e8aae6b6 115
florine_van 3:3a65e8aae6b6 116 int VL6180_Poll_Range(char addr) {
florine_van 0:231de8959869 117 char status;
florine_van 0:231de8959869 118 char range_status;
florine_van 0:231de8959869 119
florine_van 0:231de8959869 120 // check the status
florine_van 3:3a65e8aae6b6 121 status = ReadByte(0x04f,addr);
florine_van 0:231de8959869 122 range_status = status & 0x07;
florine_van 0:231de8959869 123
florine_van 0:231de8959869 124 // wait for new measurement ready status
florine_van 3:3a65e8aae6b6 125 while (range_status != 0x00)
florine_van 0:231de8959869 126 {
florine_van 3:3a65e8aae6b6 127 status = ReadByte(0x04f,addr);
florine_van 0:231de8959869 128 range_status = status & 0x07;
florine_van 0:231de8959869 129 wait_ms(1); // (can be removed)
florine_van 0:231de8959869 130 }
florine_van 0:231de8959869 131
florine_van 0:231de8959869 132 return 0;
florine_van 0:231de8959869 133 }
florine_van 0:231de8959869 134
florine_van 3:3a65e8aae6b6 135
florine_van 0:231de8959869 136 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 137 // Read range result (mm)
florine_van 0:231de8959869 138 ///////////////////////////////////////////////////////////////////
florine_van 3:3a65e8aae6b6 139 int VL6180_Read_Range(char addr) {
florine_van 0:231de8959869 140 int range;
florine_van 3:3a65e8aae6b6 141 range=ReadByte(0x062, addr);
florine_van 0:231de8959869 142 return range;
florine_van 0:231de8959869 143 }
florine_van 0:231de8959869 144
florine_van 0:231de8959869 145 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 146 // clear interrupts
florine_van 0:231de8959869 147 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 148 int VL6180_Clear_Interrupts() {
florine_van 3:3a65e8aae6b6 149 WriteByte(0x015,0x07, addr1);
dnulty 4:5170ec66aabb 150 // WriteByte(0x015,0x07, addr2);
florine_van 0:231de8959869 151 return 0;
florine_van 0:231de8959869 152 }
florine_van 0:231de8959869 153
florine_van 0:231de8959869 154 ///////////////////////////////////////////////////////////////////
florine_van 0:231de8959869 155 // Main Program loop
florine_van 0:231de8959869 156 ///////////////////////////////////////////////////////////////////
florine_van 1:b725652b9b42 157 int main() {
florine_van 1:b725652b9b42 158
dnulty 5:4a24d8597fc3 159 SHDN_3 =1;
dnulty 5:4a24d8597fc3 160 SHDN_2 =1;
dnulty 4:5170ec66aabb 161 // ros::NodeHandle nh;
dnulty 4:5170ec66aabb 162 // nh.initNode();
dnulty 4:5170ec66aabb 163 //
dnulty 4:5170ec66aabb 164 // std_msgs::Int32 int_sensor1_msg;
dnulty 4:5170ec66aabb 165 // std_msgs::Int32 int_sensor2_msg;
dnulty 4:5170ec66aabb 166 // ros::Publisher range1_pub("sensor1", &int_sensor1_msg);
florine_van 1:b725652b9b42 167
dnulty 4:5170ec66aabb 168 //
dnulty 4:5170ec66aabb 169 // nh.advertise(range1_pub);
dnulty 4:5170ec66aabb 170 // nh.advertise(range2_pub);
florine_van 3:3a65e8aae6b6 171
florine_van 3:3a65e8aae6b6 172 int range1;
dnulty 4:5170ec66aabb 173 int range2;
florine_van 3:3a65e8aae6b6 174
florine_van 3:3a65e8aae6b6 175 SHDN_1 = 0;
florine_van 1:b725652b9b42 176
florine_van 3:3a65e8aae6b6 177 //change default address of sensor 2
florine_van 3:3a65e8aae6b6 178 WriteByte(0x212, 0x30, addr1);
florine_van 3:3a65e8aae6b6 179
florine_van 3:3a65e8aae6b6 180 SHDN_1 = 1;
florine_van 3:3a65e8aae6b6 181
florine_van 3:3a65e8aae6b6 182 //SHDN_1 = 1;
florine_van 0:231de8959869 183 // load settings onto VL6180X
florine_van 3:3a65e8aae6b6 184 VL6180_Init(addr1);
florine_van 3:3a65e8aae6b6 185 //SHDN_1 = 0;
florine_van 3:3a65e8aae6b6 186 VL6180_Init(addr2);
florine_van 1:b725652b9b42 187
florine_van 0:231de8959869 188 while (1)
florine_van 2:306c6c49a327 189 {
florine_van 1:b725652b9b42 190 // start range measurement
florine_van 3:3a65e8aae6b6 191
florine_van 3:3a65e8aae6b6 192 // poll the VL6180 till new sample ready
florine_van 3:3a65e8aae6b6 193 VL6180_Start_Range(addr1);
florine_van 3:3a65e8aae6b6 194 VL6180_Poll_Range(addr1);
florine_van 3:3a65e8aae6b6 195 range1 = VL6180_Read_Range(addr1);
florine_van 3:3a65e8aae6b6 196
florine_van 3:3a65e8aae6b6 197 // read range result
florine_van 3:3a65e8aae6b6 198 VL6180_Start_Range(addr2);
florine_van 3:3a65e8aae6b6 199 VL6180_Poll_Range(addr2);
florine_van 3:3a65e8aae6b6 200 range2 = VL6180_Read_Range(addr2);
florine_van 0:231de8959869 201 // clear the interrupt on VL6180
florine_van 0:231de8959869 202 VL6180_Clear_Interrupts();
florine_van 1:b725652b9b42 203 // send range to pc by serial
florine_van 1:b725652b9b42 204
dnulty 4:5170ec66aabb 205 // int_sensor1_msg.data = range1;
dnulty 4:5170ec66aabb 206 // int_sensor2_msg.data = range2;
dnulty 4:5170ec66aabb 207 // range1_pub.publish(&int_sensor1_msg);
dnulty 4:5170ec66aabb 208 // range2_pub.publish(&int_sensor2_msg);
dnulty 4:5170ec66aabb 209 // nh.spinOnce();
dnulty 4:5170ec66aabb 210 pc.printf("Range one =%d and range two = %d\r\n ",range1, range2);
dnulty 4:5170ec66aabb 211 //pc.printf("Range one = %d\r\n ",range1);
florine_van 1:b725652b9b42 212 wait(0.1);
florine_van 1:b725652b9b42 213
florine_van 0:231de8959869 214 }
florine_van 0:231de8959869 215 }
florine_van 0:231de8959869 216