charles macneill / Mbed OS VL53L1CB_shield_1sensor_polling_auton

Autonomous now works.

Dependencies:   X_NUCLEO_53L1A2

main.cpp@0:218da94899d9, 2021-06-15 (annotated)

Committer:
charlesmn
Date:
Tue Jun 15 07:00:15 2021 +0000
Revision:
0:218da94899d9
Make autonomous work, only Print if WaitMeasurementDataReady returns success.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:218da94899d9 1 /*
charlesmn 0:218da94899d9 2 * This VL53L1CB Expansion board test application performs range measurements
charlesmn 0:218da94899d9 3 * using the onboard embedded sensor, in polling mode.
charlesmn 0:218da94899d9 4 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
charlesmn 0:218da94899d9 5 *
charlesmn 0:218da94899d9 6 * This is designed to work with MBed v2.x, & MBedOS v5.x / v6.x.
charlesmn 0:218da94899d9 7 *
charlesmn 0:218da94899d9 8 * The Reset button can be used to restart the program.
charlesmn 0:218da94899d9 9 *
charlesmn 0:218da94899d9 10 * *** NOTE :
charlesmn 0:218da94899d9 11 * Default Mbed build system settings disable printf() floating-point support.
charlesmn 0:218da94899d9 12 * Offline builds can enable this, again.
charlesmn 0:218da94899d9 13 * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
charlesmn 0:218da94899d9 14 * .\mbed-os\platform\mbed_lib.json
charlesmn 0:218da94899d9 15 *
charlesmn 0:218da94899d9 16 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
charlesmn 0:218da94899d9 17 * the X-NUCELO-53L1A1 expansion board are not made/OFF.
charlesmn 0:218da94899d9 18 * These links must be made to allow interrupts from the Satellite boards
charlesmn 0:218da94899d9 19 * to be received.
charlesmn 0:218da94899d9 20 * U11 and U18 must be made/ON to allow interrupts to be received from the
charlesmn 0:218da94899d9 21 * INT_L & INT_R positions; or
charlesmn 0:218da94899d9 22 * U10 and U15 must be made/ON to allow interrupts to be received from the
charlesmn 0:218da94899d9 23 * Alternate INT_L & INT_R positions.
charlesmn 0:218da94899d9 24 * The X_NUCLEO_53L1A2 library defaults to use the INT_L/INT_R positions.
charlesmn 0:218da94899d9 25 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
charlesmn 0:218da94899d9 26 * Alternate INT_L is on CN5 Connector pin 2 as D9.
charlesmn 0:218da94899d9 27 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
charlesmn 0:218da94899d9 28 * Alternate INT_R is on CN9 Connector pin 5 as D4.
charlesmn 0:218da94899d9 29 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A2/
charlesmn 0:218da94899d9 30 *
charlesmn 0:218da94899d9 31 */
charlesmn 0:218da94899d9 32
charlesmn 0:218da94899d9 33 #include <stdio.h>
charlesmn 0:218da94899d9 34 #include <time.h>
charlesmn 0:218da94899d9 35
charlesmn 0:218da94899d9 36 #include "mbed.h"
charlesmn 0:218da94899d9 37
charlesmn 0:218da94899d9 38 #include "XNucleo53L1A2.h"
charlesmn 0:218da94899d9 39 #include "ToF_I2C.h"
charlesmn 0:218da94899d9 40
charlesmn 0:218da94899d9 41 // i2c comms port pins
charlesmn 0:218da94899d9 42 #define I2C_SDA D14
charlesmn 0:218da94899d9 43 #define I2C_SCL D15
charlesmn 0:218da94899d9 44
charlesmn 0:218da94899d9 45
charlesmn 0:218da94899d9 46 #define NUM_SENSORS 3
charlesmn 0:218da94899d9 47
charlesmn 0:218da94899d9 48 // define interrupt pins
charlesmn 0:218da94899d9 49 PinName CentreIntPin = A2;
charlesmn 0:218da94899d9 50 // the satellite pins depend on solder blobs on the back of the shield.
charlesmn 0:218da94899d9 51 // they may not exist or may be one of two sets.
charlesmn 0:218da94899d9 52 // the centre pin always exists
charlesmn 0:218da94899d9 53 //PinName LeftIntPin = D8;
charlesmn 0:218da94899d9 54 PinName RightIntPin = D2;
charlesmn 0:218da94899d9 55 // alternate set
charlesmn 0:218da94899d9 56 PinName LeftIntPin = D9;
charlesmn 0:218da94899d9 57 //PinName RightIntPin = D4;
charlesmn 0:218da94899d9 58
charlesmn 0:218da94899d9 59 static XNucleo53L1A2 *board=NULL;
charlesmn 0:218da94899d9 60
charlesmn 0:218da94899d9 61 #if (MBED_VERSION > 60300)
charlesmn 0:218da94899d9 62 UnbufferedSerial pc(USBTX, USBRX);
charlesmn 0:218da94899d9 63 extern "C" void wait_ms(int ms);
charlesmn 0:218da94899d9 64 #else
charlesmn 0:218da94899d9 65 Serial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:218da94899d9 66 #endif
charlesmn 0:218da94899d9 67
charlesmn 0:218da94899d9 68 void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
charlesmn 0:218da94899d9 69
charlesmn 0:218da94899d9 70
charlesmn 0:218da94899d9 71 VL53L1_Dev_t devCentre;
charlesmn 0:218da94899d9 72 VL53L1_DEV Dev = &devCentre;
charlesmn 0:218da94899d9 73
charlesmn 0:218da94899d9 74 VL53L1CB *Sensor;
charlesmn 0:218da94899d9 75
charlesmn 0:218da94899d9 76
charlesmn 0:218da94899d9 77
charlesmn 0:218da94899d9 78 /* flags that handle interrupt request for sensor and user blue button*/
charlesmn 0:218da94899d9 79 volatile bool int_sensor = false;
charlesmn 0:218da94899d9 80 volatile bool int_stop = false;
charlesmn 0:218da94899d9 81
charlesmn 0:218da94899d9 82 /* ISR callback function of the centre sensor */
charlesmn 0:218da94899d9 83 void sensor_irq(void)
charlesmn 0:218da94899d9 84 {
charlesmn 0:218da94899d9 85 int_sensor = true;
charlesmn 0:218da94899d9 86 board->sensor_centre->disable_interrupt_measure_detection_irq();
charlesmn 0:218da94899d9 87 }
charlesmn 0:218da94899d9 88
charlesmn 0:218da94899d9 89 /* Start the sensor ranging */
charlesmn 0:218da94899d9 90 int init_sensor()
charlesmn 0:218da94899d9 91 {
charlesmn 0:218da94899d9 92 int status = 0;
charlesmn 0:218da94899d9 93
charlesmn 0:218da94899d9 94 Dev=&devCentre;
charlesmn 0:218da94899d9 95 Sensor=board->sensor_centre;
charlesmn 0:218da94899d9 96
charlesmn 0:218da94899d9 97 // configure the sensors
charlesmn 0:218da94899d9 98 Dev->comms_speed_khz = 400;
charlesmn 0:218da94899d9 99 Dev->comms_type = 1;
charlesmn 0:218da94899d9 100 Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:218da94899d9 101
charlesmn 0:218da94899d9 102 printf("configuring centre channel \n");
charlesmn 0:218da94899d9 103
charlesmn 0:218da94899d9 104 /* Device Initialization and setting */
charlesmn 0:218da94899d9 105 status = Sensor->VL53L1CB_DataInit();
charlesmn 0:218da94899d9 106 status = Sensor->VL53L1CB_StaticInit();
charlesmn 0:218da94899d9 107
charlesmn 0:218da94899d9 108 status = Sensor->VL53L1CB_SetPresetMode(VL53L1_PRESETMODE_AUTONOMOUS);
charlesmn 0:218da94899d9 109 status = Sensor->VL53L1CB_SetDistanceMode(VL53L1_DISTANCEMODE_LONG);
charlesmn 0:218da94899d9 110
charlesmn 0:218da94899d9 111 status = Sensor->VL53L1CB_SetInterMeasurementPeriodMilliSeconds(500);
charlesmn 0:218da94899d9 112
charlesmn 0:218da94899d9 113 status = Sensor->VL53L1CB_SetMeasurementTimingBudgetMicroSeconds(45000);
charlesmn 0:218da94899d9 114
charlesmn 0:218da94899d9 115 status = Sensor->VL53L1CB_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM1, 0);
charlesmn 0:218da94899d9 116 status = Sensor->VL53L1CB_SetSequenceStepEnable(VL53L1_SEQUENCESTEP_MM2, 0);
charlesmn 0:218da94899d9 117
charlesmn 0:218da94899d9 118
charlesmn 0:218da94899d9 119 // set the ranging and signal rate filter
charlesmn 0:218da94899d9 120 VL53L1_DetectionConfig_t thresholdconfig;
charlesmn 0:218da94899d9 121 thresholdconfig.DetectionMode = VL53L1_DETECTION_DISTANCE_ONLY; //VL53L1_DETECTION_DISTANCE_ONLY; /// type VL53L1_DetectionMode in vl53l1_def.h
charlesmn 0:218da94899d9 122 thresholdconfig.Distance.CrossMode = VL53L1_THRESHOLD_IN_WINDOW; // type VL53L1_ThresholdMode. ignore if distance outside high and low
charlesmn 0:218da94899d9 123 thresholdconfig.Distance.High = 500; // high distance in mm
charlesmn 0:218da94899d9 124 thresholdconfig.Distance.Low = 200; // low distance in mm
charlesmn 0:218da94899d9 125 thresholdconfig.Rate.CrossMode=VL53L1_THRESHOLD_IN_WINDOW; // type VL53L1_ThresholdMode VL53L1_THRESHOLD_CROSSED_LOW VL53L1_THRESHOLD_CROSSED_HIGH VL53L1_THRESHOLD_OUT_OF_WINDOW VL53L1_THRESHOLD_IN_WINDOW
charlesmn 0:218da94899d9 126 thresholdconfig.Rate.High = 1;
charlesmn 0:218da94899d9 127 thresholdconfig.Rate.Low = 1;
charlesmn 0:218da94899d9 128 thresholdconfig.IntrNoTarget = 0 ;// if 1 produce an interrupt even if there is no target found e.g out of range
charlesmn 0:218da94899d9 129 status = Sensor->VL53L1CB_SetThresholdConfig(&thresholdconfig);
charlesmn 0:218da94899d9 130 printf("VL53L1CB_SetThresholdConfig %d \n",status);
charlesmn 0:218da94899d9 131
charlesmn 0:218da94899d9 132
charlesmn 0:218da94899d9 133 // create interrupt handler and start measurements
charlesmn 0:218da94899d9 134 if (board->sensor_centre!= NULL) {
charlesmn 0:218da94899d9 135 status = board->sensor_centre->stop_measurement();
charlesmn 0:218da94899d9 136 if (status != 0) {
charlesmn 0:218da94899d9 137 return status;
charlesmn 0:218da94899d9 138 }
charlesmn 0:218da94899d9 139
charlesmn 0:218da94899d9 140 status = Sensor->VL53L1CB_StartMeasurement();
charlesmn 0:218da94899d9 141 if (status != 0) {
charlesmn 0:218da94899d9 142 return status;
charlesmn 0:218da94899d9 143 }
charlesmn 0:218da94899d9 144 }
charlesmn 0:218da94899d9 145 return status;
charlesmn 0:218da94899d9 146 }
charlesmn 0:218da94899d9 147
charlesmn 0:218da94899d9 148 /* ISR callback function of the user blue button to switch measuring sensor. */
charlesmn 0:218da94899d9 149 void measuring_stop_irq(void)
charlesmn 0:218da94899d9 150 {
charlesmn 0:218da94899d9 151 int_stop = true;
charlesmn 0:218da94899d9 152 }
charlesmn 0:218da94899d9 153
charlesmn 0:218da94899d9 154 /*=================================== Main ==================================
charlesmn 0:218da94899d9 155 =============================================================================*/
charlesmn 0:218da94899d9 156 int main()
charlesmn 0:218da94899d9 157 {
charlesmn 0:218da94899d9 158 int status;
charlesmn 0:218da94899d9 159
charlesmn 0:218da94899d9 160 pc.baud(115200); // baud rate is important as printf statements take a lot of time
charlesmn 0:218da94899d9 161
charlesmn 0:218da94899d9 162 printf("mbed version : %d \r\n",MBED_VERSION);
charlesmn 0:218da94899d9 163
charlesmn 0:218da94899d9 164 // create i2c interface
charlesmn 0:218da94899d9 165 ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
charlesmn 0:218da94899d9 166 /* creates the 53L1A2 expansion board singleton obj */
charlesmn 0:218da94899d9 167 board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, LeftIntPin, RightIntPin);
charlesmn 0:218da94899d9 168
charlesmn 0:218da94899d9 169 printf("board created!\r\n");
charlesmn 0:218da94899d9 170
charlesmn 0:218da94899d9 171 /* init the 53L1A1 expansion board with default values */
charlesmn 0:218da94899d9 172 status = board->init_board();
charlesmn 0:218da94899d9 173 if (status) {
charlesmn 0:218da94899d9 174 printf("Failed to init board!\r\n");
charlesmn 0:218da94899d9 175 return status;
charlesmn 0:218da94899d9 176 }
charlesmn 0:218da94899d9 177
charlesmn 0:218da94899d9 178 printf("board initiated! - %d\r\n", status);
charlesmn 0:218da94899d9 179
charlesmn 0:218da94899d9 180 /* init an array with chars to id the sensors */
charlesmn 0:218da94899d9 181 status = init_sensor();
charlesmn 0:218da94899d9 182 if (status != 0) {
charlesmn 0:218da94899d9 183 printf("Failed to init sensors!\r\n");
charlesmn 0:218da94899d9 184 return status;
charlesmn 0:218da94899d9 185 }
charlesmn 0:218da94899d9 186
charlesmn 0:218da94899d9 187 printf("loop forever\n");
charlesmn 0:218da94899d9 188
charlesmn 0:218da94899d9 189 VL53L1_MultiRangingData_t MultiRangingData;
charlesmn 0:218da94899d9 190 VL53L1_MultiRangingData_t *pMultiRangingData = NULL;
charlesmn 0:218da94899d9 191
charlesmn 0:218da94899d9 192 while (true) {
charlesmn 0:218da94899d9 193 pMultiRangingData = &MultiRangingData;
charlesmn 0:218da94899d9 194
charlesmn 0:218da94899d9 195 status = board->sensor_centre->VL53L1CB_WaitMeasurementDataReady();
charlesmn 0:218da94899d9 196 if ( status == 0) // if valid result
charlesmn 0:218da94899d9 197 {
charlesmn 0:218da94899d9 198 status = board->sensor_centre->VL53L1CB_GetMultiRangingData( pMultiRangingData);
charlesmn 0:218da94899d9 199 print_results( devCentre.i2c_slave_address, pMultiRangingData );
charlesmn 0:218da94899d9 200 }
charlesmn 0:218da94899d9 201
charlesmn 0:218da94899d9 202 status = board->sensor_centre->VL53L1CB_ClearInterrupt();
charlesmn 0:218da94899d9 203 // board->sensor_centre->enable_interrupt_measure_detection_irq();
charlesmn 0:218da94899d9 204 // }
charlesmn 0:218da94899d9 205 }
charlesmn 0:218da94899d9 206
charlesmn 0:218da94899d9 207 printf("Terminating.\n");
charlesmn 0:218da94899d9 208 }
charlesmn 0:218da94899d9 209
charlesmn 0:218da94899d9 210
charlesmn 0:218da94899d9 211 // print what ever results are required
charlesmn 0:218da94899d9 212 void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
charlesmn 0:218da94899d9 213 {
charlesmn 0:218da94899d9 214 int no_of_object_found = pMultiRangingData->NumberOfObjectsFound;
charlesmn 0:218da94899d9 215 int signal_rate = 0;
charlesmn 0:218da94899d9 216 int ambient_rate = 0;
charlesmn 0:218da94899d9 217
charlesmn 0:218da94899d9 218 int RoiNumber = pMultiRangingData->RoiNumber;
charlesmn 0:218da94899d9 219
charlesmn 0:218da94899d9 220 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0)) {
charlesmn 0:218da94899d9 221 for(int j=0; j<no_of_object_found; j++) {
charlesmn 0:218da94899d9 222 if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
charlesmn 0:218da94899d9 223 (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL)) {
charlesmn 0:218da94899d9 224 signal_rate = pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535;
charlesmn 0:218da94899d9 225 ambient_rate = pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535;
charlesmn 0:218da94899d9 226 printf("\t i2cAddr=%d \t RoiNumber=%d \t status=%d, \t D=%5dmm, \t Signal=%d Mcps, \t Ambient=%d Mcps \n",
charlesmn 0:218da94899d9 227 devNumber, RoiNumber,
charlesmn 0:218da94899d9 228 pMultiRangingData->RangeData[j].RangeStatus,
charlesmn 0:218da94899d9 229 pMultiRangingData->RangeData[j].RangeMilliMeter,
charlesmn 0:218da94899d9 230 signal_rate,
charlesmn 0:218da94899d9 231 ambient_rate);
charlesmn 0:218da94899d9 232 /*
charlesmn 0:218da94899d9 233 // online compiler disables printf() / floating-point support, for code-size reasons.
charlesmn 0:218da94899d9 234 // offline compiler can switch it on.
charlesmn 0:218da94899d9 235 printf("\t i2cAddr=%d \t RoiNumber=%d \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
charlesmn 0:218da94899d9 236 devNumber, RoiNumber,
charlesmn 0:218da94899d9 237 pMultiRangingData->RangeData[j].RangeStatus,
charlesmn 0:218da94899d9 238 pMultiRangingData->RangeData[j].RangeMilliMeter,
charlesmn 0:218da94899d9 239 pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535.0,
charlesmn 0:218da94899d9 240 pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535.0);
charlesmn 0:218da94899d9 241 */
charlesmn 0:218da94899d9 242 }
charlesmn 0:218da94899d9 243 }
charlesmn 0:218da94899d9 244 } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:218da94899d9 245 }
charlesmn 0:218da94899d9 246
charlesmn 0:218da94899d9 247
charlesmn 0:218da94899d9 248 #if (MBED_VERSION > 60300)
charlesmn 0:218da94899d9 249 extern "C" void wait_ms(int ms)
charlesmn 0:218da94899d9 250 {
charlesmn 0:218da94899d9 251 thread_sleep_for(ms);
charlesmn 0:218da94899d9 252 }
charlesmn 0:218da94899d9 253 #endif
charlesmn 0:218da94899d9 254
charlesmn 0:218da94899d9 255
charlesmn 0:218da94899d9 256