Revision 0:218da94899d9, committed 2021-06-15

Comitter:

charlesmn

Date:

Tue Jun 15 07:00:15 2021 +0000

Commit message:

Make autonomous work, only Print if WaitMeasurementDataReady returns success.

Changed in this revision

diff -r 000000000000 -r 218da94899d9 X_NUCLEO_53L1A2.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_53L1A2.lib	Tue Jun 15 07:00:15 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/ST-Expansion-SW-Team/code/X_NUCLEO_53L1A2/#52b8d3f21faa

diff -r 000000000000 -r 218da94899d9 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jun 15 07:00:15 2021 +0000
@@ -0,0 +1,256 @@
+/*
+ * This VL53L1CB Expansion board test application performs range measurements
+ * using the onboard embedded sensor, in polling 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 "XNucleo53L1A2.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 XNucleo53L1A2 *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);
+    
+        
+               // set the ranging and signal rate filter
+    VL53L1_DetectionConfig_t thresholdconfig;
+    thresholdconfig.DetectionMode = VL53L1_DETECTION_DISTANCE_ONLY; //VL53L1_DETECTION_DISTANCE_ONLY; /// type VL53L1_DetectionMode in vl53l1_def.h
+    thresholdconfig.Distance.CrossMode = VL53L1_THRESHOLD_IN_WINDOW; // type VL53L1_ThresholdMode. ignore if distance outside high and low 
+    thresholdconfig.Distance.High = 500;  // high distance in mm
+    thresholdconfig.Distance.Low = 200;   // low distance in mm
+    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 
+    thresholdconfig.Rate.High = 1;
+    thresholdconfig.Rate.Low = 1;
+    thresholdconfig.IntrNoTarget = 0 ;// if 1 produce an interrupt even if there is no target found e.g out of range 
+    status = Sensor->VL53L1CB_SetThresholdConfig(&thresholdconfig);
+    printf("VL53L1CB_SetThresholdConfig %d \n",status);
+
+
+    // create interrupt handler and start measurements
+    if (board->sensor_centre!= NULL) {
+        status = board->sensor_centre->stop_measurement();
+        if (status != 0) {
+            return status;
+        }
+
+        status = Sensor->VL53L1CB_StartMeasurement();
+        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 53L1A2 expansion board singleton obj */
+    board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, LeftIntPin, RightIntPin);    
+
+    printf("board created!\r\n");
+
+    /* init the 53L1A1 expansion board with default values */
+    status = board->init_board();
+    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;
+
+        status = board->sensor_centre->VL53L1CB_WaitMeasurementDataReady();
+        if ( status == 0)  // if valid result
+        {
+            status = board->sensor_centre->VL53L1CB_GetMultiRangingData( pMultiRangingData);
+            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);
+/*
+// online compiler disables printf() / floating-point support, for code-size reasons.                        
+// offline compiler can switch it on.
+                printf("\t i2cAddr=%d \t RoiNumber=%d   \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
+                       devNumber, RoiNumber,
+                       pMultiRangingData->RangeData[j].RangeStatus,
+                       pMultiRangingData->RangeData[j].RangeMilliMeter,
+                       pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535.0,
+                       pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535.0);
+*/                       
+            }
+        }
+    } // 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 218da94899d9 mbed-os.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Tue Jun 15 07:00:15 2021 +0000
@@ -0,0 +1,1 @@
+https://github.com/armmbed/mbed-os/#c6d65fe5082aeef6bf0d7043b4cbf0a9cc9a9d5e