charles macneill
remove the setting of VL53L1CB_SetThresholdConfig() from main.c
Revision 0:1de3c51f8148, committed 2021-06-16
- Comitter:
- charlesmn
- Date:
- Wed Jun 16 13:06:38 2021 +0000
- Commit message:
- Remove setting of VL53L1CB_SetThresholdConfig()
Changed in this revision
diff -r 000000000000 -r 1de3c51f8148 X_NUCLEO_53L1A2.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_53L1A2.lib Wed Jun 16 13:06:38 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/ST-Expansion-SW-Team/code/X_NUCLEO_53L1A2/#52b8d3f21faa
diff -r 000000000000 -r 1de3c51f8148 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Jun 16 13:06:38 2021 +0000
@@ -0,0 +1,234 @@
+/*
+ * This VL53L1CB test application performs range measurements
+ * using the onboard embedded sensor, in interrupt mode.
+ * Measured ranges are ouput on the Serial Port, running at 115200 baud.
+ *
+ * This is designed to work with MBed v2.x, & MBedOS v5.x / v6.x.
+ *
+ * The Reset button can be used to restart the program.
+ *
+ * *** NOTE :
+ * Default Mbed build system settings disable printf() floating-point support.
+ * Offline builds can enable this, again.
+ * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
+ * .\mbed-os\platform\mbed_lib.json
+ *
+ * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
+ * the X-NUCELO-53L1A1 expansion board are not made/OFF.
+ * These links must be made to allow interrupts from the Satellite boards
+ * to be received.
+ * U11 and U18 must be made/ON to allow interrupts to be received from the
+ * INT_L & INT_R positions; or
+ * U10 and U15 must be made/ON to allow interrupts to be received from the
+ * Alternate INT_L & INT_R positions.
+ * The X_NUCLEO_53L1A2 library defaults to use the INT_L/INT_R positions.
+ * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
+ * Alternate INT_L is on CN5 Connector pin 2 as D9.
+ * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
+ * Alternate INT_R is on CN9 Connector pin 5 as D4.
+ * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A2/
+ *
+ */
+
+#include <stdio.h>
+#include <time.h>
+
+#include "mbed.h"
+
+#include "NoShield53L1A1.h"
+#include "ToF_I2C.h"
+
+// i2c comms port pins
+#define I2C_SDA D14
+#define I2C_SCL D15
+
+
+#define NUM_SENSORS 3
+
+// define interrupt pins
+PinName CentreIntPin = A2;
+// the satellite pins depend on solder blobs on the back of the shield.
+// they may not exist or may be one of two sets.
+// the centre pin always exists
+//PinName LeftIntPin = D8;
+PinName RightIntPin = D2;
+// alternate set
+PinName LeftIntPin = D9;
+//PinName RightIntPin = D4;
+
+static NoShield53L1 *board=NULL;
+
+#if (MBED_VERSION > 60300)
+UnbufferedSerial pc(USBTX, USBRX);
+extern "C" void wait_ms(int ms);
+#else
+Serial pc(SERIAL_TX, SERIAL_RX);
+#endif
+
+void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
+
+
+VL53L1_Dev_t devCentre;
+VL53L1_DEV Dev = &devCentre;
+VL53L1CB *Sensor;
+
+
+
+/* flags that handle interrupt request for sensor and user blue button*/
+volatile bool int_sensor = false;
+volatile bool int_stop = false;
+
+/* ISR callback function of the centre sensor */
+void sensor_irq(void)
+{
+ int_sensor = true;
+ board->sensor_centre->disable_interrupt_measure_detection_irq();
+}
+
+/* Start the sensor ranging */
+int init_sensor()
+{
+ int status = 0;
+
+ Dev=&devCentre;
+ Sensor=board->sensor_centre;
+
+ // configure the sensors
+ Dev->comms_speed_khz = 400;
+ Dev->comms_type = 1;
+ Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
+
+ printf("configuring centre channel \n");
+
+ /* Device Initialization and setting */
+ status = Sensor->VL53L1CB_DataInit();
+ status = Sensor->VL53L1CB_StaticInit();
+
+
+ status = Sensor->VL53L1CB_SetPresetMode(VL53L1_PRESETMODE_AUTONOMOUS);
+ status = Sensor->VL53L1CB_SetDistanceMode(VL53L1_DISTANCEMODE_LONG);
+ status = Sensor->VL53L1CB_SetInterMeasurementPeriodMilliSeconds(500);
+ status = Sensor->VL53L1CB_SetMeasurementTimingBudgetMicroSeconds(45000);
+ status = Sensor->VL53L1CB_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM1, 0);
+ status = Sensor->VL53L1CB_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM2, 0);
+
+ // print out the sensor information. All VL53L1s are the same
+ VL53L1_DeviceInfo_t device_info;
+ status = Sensor->VL53L1CB_GetDeviceInfo(&device_info);
+ printf("device name %s \n",device_info.Name);
+
+
+ // create interrupt handler and start measurements
+ if (board->sensor_centre!= NULL) {
+ status = board->sensor_centre->stop_measurement();
+ if (status != 0) {
+ return status;
+ }
+ wait_ms(100);
+ status = Sensor->start_measurement(&sensor_irq);
+ if (status != 0) {
+ return status;
+ }
+ }
+ return status;
+}
+
+/* ISR callback function of the user blue button to switch measuring sensor. */
+void measuring_stop_irq(void)
+{
+ int_stop = true;
+}
+
+/*=================================== Main ==================================
+=============================================================================*/
+int main()
+{
+ int status;
+
+ pc.baud(115200); // baud rate is important as printf statements take a lot of time
+
+ printf("mbed version : %d \r\n",MBED_VERSION);
+
+ /* create i2c interface */
+ ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
+ /* creates the sensor singleton obj */
+ board = NoShield53L1::instance(dev_I2C, A2, D8, D2);
+
+ printf("board created!\r\n");
+
+ /* init the sensor interface with default values */
+ status = board->init_board(D9,D4,D3);
+ if (status) {
+ printf("Failed to init board!\r\n");
+ return status;
+ }
+
+ printf("board initiated! - %d\r\n", status);
+
+ /* init an array with chars to id the sensors */
+ status = init_sensor();
+ if (status != 0) {
+ printf("Failed to init sensors!\r\n");
+ return status;
+ }
+
+ printf("loop forever\n");
+
+ VL53L1_MultiRangingData_t MultiRangingData;
+ VL53L1_MultiRangingData_t *pMultiRangingData = NULL;
+
+ while (true) {
+ pMultiRangingData = &MultiRangingData;
+
+ if (int_sensor) { // if interrupt happened
+ int_sensor = false;
+
+ status = board->sensor_centre->VL53L1CB_GetMultiRangingData( pMultiRangingData);
+ if (status == 0) {
+ print_results( devCentre.i2c_slave_address, pMultiRangingData );
+ status = board->sensor_centre->VL53L1CB_ClearInterrupt();
+ }
+ board->sensor_centre->enable_interrupt_measure_detection_irq();
+ }
+ }
+
+ printf("Terminating.\n");
+}
+
+
+// print what ever results are required
+void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
+{
+ int no_of_object_found = pMultiRangingData->NumberOfObjectsFound;
+ int signal_rate = 0;
+ int ambient_rate = 0;
+
+ int RoiNumber = pMultiRangingData->RoiNumber;
+ if (( no_of_object_found < 10 ) && ( no_of_object_found != 0)) {
+ for(int j=0; j<no_of_object_found; j++) {
+ if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
+ (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL)) {
+ signal_rate = pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535;
+ ambient_rate = pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535;
+ printf("\t i2cAddr=%d \t RoiNumber=%d \t status=%d, \t D=%5dmm, \t Signal=%d Mcps, \t Ambient=%d Mcps \n",
+ devNumber, RoiNumber,
+ pMultiRangingData->RangeData[j].RangeStatus,
+ pMultiRangingData->RangeData[j].RangeMilliMeter,
+ signal_rate,
+ ambient_rate);
+ }
+
+ }
+ } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
+}
+
+
+#if (MBED_VERSION > 60300)
+extern "C" void wait_ms(int ms)
+{
+ thread_sleep_for(ms);
+}
+#endif
+
+
+
diff -r 000000000000 -r 1de3c51f8148 mbed-os.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Wed Jun 16 13:06:38 2021 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#c6d65fe5082aeef6bf0d7043b4cbf0a9cc9a9d5e