Arnaud CHOBERT / Mbed 2 deprecated Lidar Ares

Lidar Ares

Dependencies:   mbed AX12 VL53L0X

Files at this revision

API Documentation at this revision

Revision 1:57e02cddb330, committed 2021-04-06

Comitter:
Nanaud
Date:
Tue Apr 06 13:30:24 2021 +0000
Parent:
0:0127fb93e2d1
Commit message:
Lidar Ares

Changed in this revision

AX12.lib Show annotated file Show diff for this revision Revisions of this file
VL53L0X.lib Show annotated file Show diff for this revision Revisions of this file
ares_vl53l0x.cpp Show diff for this revision Revisions of this file
ares_vl53l0x.h Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
main.h Show annotated file Show diff for this revision Revisions of this file
vl53l0x_api.lib Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12.lib	Tue Apr 06 13:30:24 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/jplunkett/code/AX12/#5b9ce05ad2e0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X.lib	Tue Apr 06 13:30:24 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/joelvonrotz/code/VL53L0X/#ccc67c76fecb

--- a/ares_vl53l0x.cpp	Tue Feb 23 21:56:26 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,108 +0,0 @@
-#include "ares_vl53l0x.h"
-
-/* Constructeur */
-VL53L0X::VL53L0X()
-{
-    status = VL53L0X_ERROR_NONE;
-    i2c_address = 0x29;
-}
-
-/* Init */
-uint8_t VL53L0X::Init()
-{
-    mySensor.I2cDevAddr = 0x29;
-    mySensor.comms_type = 1;
-    mySensor.comms_speed_khz = 400;
-
-    int addr = VL53L0X_scan();
-    printf("VL53L0X Device address: %i\r\n", addr);
-    mySensor.I2cDevAddr = addr;
-
-    /* DataInit : Device initialization*/
-    if(VL53L0X_ERROR_NONE != (status = VL53L0X_DataInit(&mySensor))) {
-        printf("last status = %d\r\n",status);
-        return 1;
-    }
-
-    /* StaticInit */
-    if(VL53L0X_ERROR_NONE != (status = VL53L0X_StaticInit(&mySensor))) {
-        printf("last status = %d\r\n",status);
-        return 1;
-    }
-
-    return 0;
-}
-
-/* Calibration */
-uint8_t VL53L0X::Calibration()
-{
-    /* Reference SPADs */
-    uint32_t refSpadCount = 0;
-    uint8_t isApertureSpads = 0;
-
-    if(VL53L0X_ERROR_NONE != (status = VL53L0X_PerformRefSpadManagement(&mySensor, &refSpadCount, &isApertureSpads))) {
-        printf("last status = %d\r\n",status);
-        return 1;
-    }
-
-    /* Ref calibration */
-
-    uint8_t VhvSettings = 0;
-    uint8_t PhaseCal = 0;
-
-    if(VL53L0X_ERROR_NONE != (status = VL53L0X_PerformRefCalibration(&mySensor, &VhvSettings, &PhaseCal))) {
-        printf("last status = %d\r\n",status);
-        return 1;
-    }
-
-    /* Offset calibration */
-
-    /* ... */
-
-    /* Cross-talk correction */
-
-    if(VL53L0X_ERROR_NONE != (status = VL53L0X_SetXTalkCompensationRateMegaCps(&mySensor, 0))) {
-        printf("last status = %d\r\n",status);
-        return 1;
-    }
-
-    /* Device mode */
-
-    if(VL53L0X_ERROR_NONE != (status = VL53L0X_SetDeviceMode(&mySensor,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING))) {
-        printf("last status = %d\r\n",status);
-        return 1;
-    }
-
-    return 0;
-}
-
-/* Start measurement */
-uint8_t VL53L0X::StartMeasurement()
-{
-    VL53L0X_StartMeasurement(&mySensor);
-    return 0;
-}
-
-/* Get measurement */
-uint16_t VL53L0X::GetMeasurement()
-{
-    VL53L0X_RangingMeasurementData_t rangingMeasurementData;
-    VL53L0X_RangingMeasurementData_t *pRangingMeasurementData = &rangingMeasurementData;
-
-    uint8_t MeasurementDataReady;
-    uint8_t *pMeasurementDataReady = &MeasurementDataReady;
-
-    do {
-        VL53L0X_GetMeasurementDataReady(&mySensor, pMeasurementDataReady);
-    } while(MeasurementDataReady == 0);
-
-    if(VL53L0X_ERROR_NONE != (status = VL53L0X_GetRangingMeasurementData(&mySensor, pRangingMeasurementData))) {
-        printf("last status = %d\r\n",status);
-        return 9999;
-    }
-
-    printf("pRangingMeasurementData->RangeMilliMeter = %d\r\n",pRangingMeasurementData->RangeMilliMeter);
-    printf("pRangingMeasurementData->RangeStatus = %d\r\n", pRangingMeasurementData->RangeStatus);
-    
-    return pRangingMeasurementData->RangeMilliMeter;
-}

--- a/ares_vl53l0x.h	Tue Feb 23 21:56:26 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,25 +0,0 @@
-#ifndef ARES_VL53L0X_H
-#define ARES_VL53L0X_H
- 
-#include "mbed.h"
-#include "vl53l0x_api.h"
-#include "vl53l0x_platform.h"
-#include "vl53l0x_i2c_platform.h"
- 
-class VL53L0X
-{
-public:
-    VL53L0X();
-    
-    uint8_t Init();
-    uint8_t Calibration();
-    uint8_t StartMeasurement();
-    uint16_t GetMeasurement();
- 
-private:
-    VL53L0X_Dev_t mySensor;
-    uint8_t status;
-    uint8_t i2c_address;
-};
- 
-#endif
\ No newline at end of file

--- a/main.cpp	Tue Feb 23 21:56:26 2021 +0000
+++ b/main.cpp	Tue Apr 06 13:30:24 2021 +0000
@@ -1,30 +1,61 @@
-#include "mbed.h"
-#include "ares_vl53l0x.h"
+#include "main.h"
 
-Serial pc(USBTX,USBRX);
-VL53L0X Sensor_1;
+/* VL53L0X */
+I2C i2c(D4, D5);
+VL53L0X vl_sensors[2] = {(&i2c),(&i2c)};
+BusOut vl_shutdown(D12,D13);
+
+/* PC */
+Serial pc(USBTX, USBRX, 9600);
+Serial ihm(PA_9, PA_10, 9600);
 
-int main()
+int main(void)
 {
-    pc.printf("MY_LIB_VL53L0X_FROM_API\r\n\n");
+    pc.printf("23-03-21_Sensors_and_serial\n\r");
+
+    /* Init VL53L0X */
+    uint8_t expander_shutdown_mask = 1;
 
-    if(Sensor_1.Init()) {
-        pc.printf("Erreur Sensor_1.Init()\r\n");
-        while(1);
+    for(uint8_t i = 0; i < 2 ; i++) {
+        vl_shutdown = expander_shutdown_mask;
+        expander_shutdown_mask = (expander_shutdown_mask << 1) + 1;
+        vl_sensors[i].init();
+        vl_sensors[i].setDeviceAddress(0x40 + i);
+        vl_sensors[i].setModeContinuous();
+        vl_sensors[i].startContinuous();
     }
-    else pc.printf("Sensor_1 initialize\r\n");
+
+    //uint16_t results[2];
+    float results[2] = {0};
+
+    /* Init AX-12 */
+    AX12 myax12(PA_2, PA_3, 2, 250000); // ID = 2 pour le prototype de Lidar
 
-    if(Sensor_1.Calibration()) {
-        pc.printf("Erreur Sensor_1.Calibration()\r\n");
-        while(1);
+    while(1) {
+        for(float k = AX12_POS_MIN; k <= AX12_POS_MAX; k=k+AX12_POS_JUMP) {
+            for(int i = 0; i < 2 ; i++) {
+                //wait(AX12_TIME_JUMP);
+                results[i] = (float)vl_sensors[i].getRangeMillimeters();
+            }
+            
+            myax12.SetGoal(k);    // go to 0 degrees
+            //pc.printf("k: %f 1: %fmm 2: %fmm \n\r", k, results[0], results[1]);
+            ihm.printf("%f %f %f\n",k,results[0],results[1]);
+            wait(AX12_TIME_JUMP);
+        }
+
+        for(float k = AX12_POS_MAX; k >= AX12_POS_MIN; k=k-AX12_POS_JUMP) {
+            for(int i = 0; i < 2 ; i++) {
+                //wait(AX12_TIME_JUMP);
+                results[i] = (float)vl_sensors[i].getRangeMillimeters();
+            }
+            
+            myax12.SetGoal(k);    // go to 0 degrees
+            //pc.printf("k: %f 1: %fmm 2: %fmm \n\r", k, results[0], results[1]);
+            ihm.printf("%f %f %f\n",k,results[0],results[1]);
+            wait(AX12_TIME_JUMP);
+        }
     }
-    else pc.printf("Sensor_1 calibrated\r\n");
-    
-    Sensor_1.StartMeasurement();
+}
 
-    while (1) {
-        Sensor_1.GetMeasurement();
-        wait(0.1);
-        //pc.printf("%d\r\n",Sensor_1.GetMeasurement());
-    }
-}
\ No newline at end of file
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Tue Apr 06 13:30:24 2021 +0000
@@ -0,0 +1,17 @@
+#ifndef ARES21_LIDAR
+#define ARES21_LIDAR
+
+/* #include */
+#include "mbed.h"
+#include "VL53L0X.h"
+#include "AX12.h"
+
+/* #define AX-12 */
+//#define AX12 1
+#define AX12_POS_MIN 0
+#define AX12_POS_MAX 120
+#define AX12_POS_JUMP 20
+#define AX12_POS_MID 60
+#define AX12_TIME_JUMP 0.1
+
+#endif

--- a/vl53l0x_api.lib	Tue Feb 23 21:56:26 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/users/mjarvisal/code/vl53l0x_api/#857ea9cf5361