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baca lidar aja
main.cpp
- Committer:
- mjarvisal
- Date:
- 2016-08-23
- Revision:
- 0:b6867e1a23fa
- Child:
- 2:8ac50bd2c7a1
File content as of revision 0:b6867e1a23fa:
#include "mbed.h" #include "vl53l0x_api.h" #include "vl53l0x_platform.h" #include "vl53l0x_i2c_platform.h" Serial pc(SERIAL_TX, SERIAL_RX); void print_pal_error(VL53L0X_Error Status){ char buf[VL53L0X_MAX_STRING_LENGTH]; VL53L0X_GetPalErrorString(Status, buf); printf("API Status: %i : %s\n", Status, buf); } void print_range_status(VL53L0X_RangingMeasurementData_t* pRangingMeasurementData){ char buf[VL53L0X_MAX_STRING_LENGTH]; uint8_t RangeStatus; /* * New Range Status: data is valid when pRangingMeasurementData->RangeStatus = 0 */ RangeStatus = pRangingMeasurementData->RangeStatus; VL53L0X_GetRangeStatusString(RangeStatus, buf); printf("Range Status: %i : %s\n", RangeStatus, buf); } VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev) { VL53L0X_Error Status = VL53L0X_ERROR_NONE; uint8_t NewDatReady=0; uint32_t LoopNb; // Wait until it finished // use timeout to avoid deadlock if (Status == VL53L0X_ERROR_NONE) { LoopNb = 0; do { Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDatReady); if ((NewDatReady == 0x01) || Status != VL53L0X_ERROR_NONE) { break; } LoopNb = LoopNb + 1; VL53L0X_PollingDelay(Dev); } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP); if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) { Status = VL53L0X_ERROR_TIME_OUT; } } return Status; } VL53L0X_Error WaitStopCompleted(VL53L0X_DEV Dev) { VL53L0X_Error Status = VL53L0X_ERROR_NONE; uint32_t StopCompleted=0; uint32_t LoopNb; // Wait until it finished // use timeout to avoid deadlock if (Status == VL53L0X_ERROR_NONE) { LoopNb = 0; do { Status = VL53L0X_GetStopCompletedStatus(Dev, &StopCompleted); if ((StopCompleted == 0x00) || Status != VL53L0X_ERROR_NONE) { break; } LoopNb = LoopNb + 1; VL53L0X_PollingDelay(Dev); } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP); if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) { Status = VL53L0X_ERROR_TIME_OUT; } } return Status; } int main() { VL53L0X_Error Status = VL53L0X_ERROR_NONE; VL53L0X_Dev_t MyDevice; VL53L0X_Dev_t *pMyDevice = &MyDevice; VL53L0X_Version_t Version; VL53L0X_Version_t *pVersion = &Version; VL53L0X_DeviceInfo_t DeviceInfo; int32_t status_int; pc.printf("VL53L0X API Simple Ranging Example\r\n"); // Initialize Comms pMyDevice->I2cDevAddr = 0x52; pMyDevice->comms_type = 1; pMyDevice->comms_speed_khz = 400; pc.printf("Init comms\r\n"); if(Status == VL53L0X_ERROR_NONE) { status_int = VL53L0X_GetVersion(pVersion); if (status_int != 0) Status = VL53L0X_ERROR_CONTROL_INTERFACE; } pc.printf("VL53L0X API Version: %d.%d.%d (revision %d)\r\n", pVersion->major, pVersion->minor ,pVersion->build, pVersion->revision); int addr; addr = VL53L0X_scan(); printf("Device found at: %i\r\n", addr); //uint8_t data; //data=0; if(Status == VL53L0X_ERROR_NONE) { printf ("Call of VL53L0X_DataInit\n"); uint16_t osc_calibrate_val=0; Status = VL53L0X_RdWord(&MyDevice, VL53L0X_REG_OSC_CALIBRATE_VAL,&osc_calibrate_val); printf("%i\n",osc_calibrate_val); Status = VL53L0X_DataInit(&MyDevice); // Data initialization print_pal_error(Status); } if(Status == VL53L0X_ERROR_NONE) { Status = VL53L0X_GetDeviceInfo(&MyDevice, &DeviceInfo); if(Status == VL53L0X_ERROR_NONE) { printf("VL53L0X_GetDeviceInfo:\n"); printf("Device Name : %s\n", DeviceInfo.Name); printf("Device Type : %s\n", DeviceInfo.Type); printf("Device ID : %s\n", DeviceInfo.ProductId); printf("ProductRevisionMajor : %d\n", DeviceInfo.ProductRevisionMajor); printf("ProductRevisionMinor : %d\n", DeviceInfo.ProductRevisionMinor); if ((DeviceInfo.ProductRevisionMinor != 1) && (DeviceInfo.ProductRevisionMinor != 1)) { printf("Error expected cut 1.1 but found cut %d.%d\n", DeviceInfo.ProductRevisionMajor, DeviceInfo.ProductRevisionMinor); Status = VL53L0X_ERROR_NOT_SUPPORTED; } } print_pal_error(Status); } VL53L0X_RangingMeasurementData_t RangingMeasurementData; VL53L0X_RangingMeasurementData_t *pRangingMeasurementData = &RangingMeasurementData; Status = VL53L0X_ERROR_NONE; uint32_t refSpadCount; uint8_t isApertureSpads; uint8_t VhvSettings; uint8_t PhaseCal; if(Status == VL53L0X_ERROR_NONE) { printf ("Call of VL53L0X_StaticInit\n"); Status = VL53L0X_StaticInit(pMyDevice); // Device Initialization // StaticInit will set interrupt by default print_pal_error(Status); } if(Status == VL53L0X_ERROR_NONE) { printf ("Call of VL53L0X_PerformRefCalibration\n"); Status = VL53L0X_PerformRefCalibration(pMyDevice, &VhvSettings, &PhaseCal); // Device Initialization print_pal_error(Status); } if(Status == VL53L0X_ERROR_NONE) { printf ("Call of VL53L0X_PerformRefSpadManagement\n"); Status = VL53L0X_PerformRefSpadManagement(pMyDevice, &refSpadCount, &isApertureSpads); // Device Initialization print_pal_error(Status); } if(Status == VL53L0X_ERROR_NONE) { printf ("Call of VL53L0X_SetDeviceMode\n"); Status = VL53L0X_SetDeviceMode(pMyDevice, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in single ranging mode print_pal_error(Status); } if(Status == VL53L0X_ERROR_NONE) { printf ("Call of VL53L0X_StartMeasurement\n"); Status = VL53L0X_StartMeasurement(pMyDevice); print_pal_error(Status); } if(Status == VL53L0X_ERROR_NONE) { uint32_t measurement; uint32_t no_of_measurements = 32; uint16_t* pResults = (uint16_t*)malloc(sizeof(uint16_t) * no_of_measurements); for(measurement=0; measurement<no_of_measurements; measurement++) { Status = WaitMeasurementDataReady(pMyDevice); if(Status == VL53L0X_ERROR_NONE) { Status = VL53L0X_GetRangingMeasurementData(pMyDevice, pRangingMeasurementData); *(pResults + measurement) = pRangingMeasurementData->RangeMilliMeter; printf("In loop measurement %lu: %d\n", measurement, pRangingMeasurementData->RangeMilliMeter); // Clear the interrupt VL53L0X_ClearInterruptMask(pMyDevice, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY); VL53L0X_PollingDelay(pMyDevice); } else { break; } } if(Status == VL53L0X_ERROR_NONE) { for(measurement=0; measurement<no_of_measurements; measurement++) { printf("measurement %lu: %d\n", measurement, *(pResults + measurement)); } } free(pResults); } if(Status == VL53L0X_ERROR_NONE) { printf ("Call of VL53L0X_StopMeasurement\n"); Status = VL53L0X_StopMeasurement(pMyDevice); } if(Status == VL53L0X_ERROR_NONE) { printf ("Wait Stop to be competed\n"); Status = WaitStopCompleted(pMyDevice); } if(Status == VL53L0X_ERROR_NONE) Status = VL53L0X_ClearInterruptMask(pMyDevice, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY); while (true) if (pc.readable()) pc.putc(pc.getc()); }