Diff: main.cpp

Revision:

0:137ce045e2a2

Child:

1:3151ff0b9da9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Jul 14 14:40:24 2021 +0000
@@ -0,0 +1,193 @@
+/*
+ * This VL53L3 Expansion board test application performs range measurements
+ * using the onboard embedded sensor, and satellite boards, in interrupt mode.
+ * Measured ranges are output on the Serial Port, running at 115200 baud.
+ * Only supports one sensor at a time. Only tested on centre sensor.
+ *
+ * The Reset button can be used to restart the program.
+ *
+ * *** Note :
+ * Default Mbed build system settings disable printf floating-point support.
+ * Online builds seem unable to configure this.
+ * Offline builds can enable printf floating-point support.
+ * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
+ * .\mbed-os\platform\mbed_lib.json
+ *
+ */
+
+#include <stdio.h>
+#include <time.h>
+
+#include "mbed.h"
+
+#include "vl53L3_I2c.h"
+#include "vl53lx_platform_user_data.h"
+#include "custom_ranging_sensor.h"
+#include "Custom_RangingClass.h"
+#include "pinmap.h"
+
+
+#if (MBED_VERSION  > 60300)
+UnbufferedSerial  pc(USBTX, USBRX);
+extern "C" void wait_ms(int ms);
+#else
+Serial pc(SERIAL_TX, SERIAL_RX);
+#endif
+
+/* Private define ------------------------------------------------------------*/
+#define SENSOR_LEFT_NUMBER 0
+#define SENSOR_CENTRE_NUMBER 1
+#define SENSOR_RIGHT_NUMBER 2
+
+
+
+
+PinName InterruptPins[] ={D8,A2,D2}; // interrupt pins for the three sensors. 
+
+static const char *TofDevStr[] =
+{
+    [SENSOR_LEFT_NUMBER] = "LEFT",
+    [SENSOR_CENTRE_NUMBER] = "CENTER",
+    [SENSOR_RIGHT_NUMBER] = "RIGHT"
+};
+
+
+/* Private variables ---------------------------------------------------------*/
+static int32_t status = 0;
+CUSTOM_SENSOR *sensor; //class for sensor commands
+
+
+/* Private function prototypes -----------------------------------------------*/
+static void MX_53L3A2_MultiSensorRanging_Init(void);
+static void MX_53L3A2_MultiSensorRanging_Process(void);
+static void print_result(RANGING_SENSOR_Result_t *Result);
+
+
+//flag to signal an interrupt has occured
+volatile uint8_t EventDetected = 0;
+
+int ToF_sensor = CUSTOM_VL53L3CX;  // select the sensor to use. In custom_ranging_sensor.h
+
+
+/* ISR callback function of the active sensor */
+/* all it does set a flag which causes the main loop to get data */
+void sensor_irq(void)
+{
+    EventDetected = 1;
+}
+
+
+// initialise the sensor
+static void MX_53L3A2_MultiSensorRanging_Init(void)
+{   
+    status = sensor->CUSTOM_RANGING_Init(ToF_sensor);
+    if (status)
+    {
+        printf("CUSTOM_RANGING_Init failed for sensor %d status %d\n",ToF_sensor,status);
+    }
+            
+    wait_ms(100);
+}
+
+
+// start ranging and enter an infinite loop to collect measurements
+// The collection of data is triggered by a flag which is set after an interrupt occurs
+static void MX_53L3A2_MultiSensorRanging_Process(void)
+{
+
+// config profile details
+    RANGING_SENSOR_Result_t Result;
+    RANGING_SENSOR_ProfileConfig_t Profile;
+    printf("MX_53L3A2_MultiSensorRanging_Process\n");
+    
+    
+    Profile.RangingProfile = RS_MULTI_TARGET_LONG_RANGE;
+    Profile.TimingBudget = 30; /* 16 ms < TimingBudget < 500 ms */
+    Profile.Frequency = 0; /* not necessary in simple ranging */
+    Profile.EnableAmbient = 0; /* Enable: 1, Disable: 0 */
+    Profile.EnableSignal = 0; /* Enable: 1, Disable: 0 */
+    Profile.pin_gpio1 = InterruptPins[ToF_sensor]; // interrupt pin
+    Profile.Interrupt_Func = sensor_irq;   // function that handles interrupts
+    Profile.EnableInterrupt = 1;  // enables interupts
+
+    printf("CUSTOM_RANGING_ConfigProfile configure sensors\n");
+    sensor->CUSTOM_RANGING_ConfigProfile(ToF_sensor, &Profile);
+    if (status != BSP_ERROR_NONE)
+    {
+      printf("CUSTOM_RANGING_ConfigProfile  failed sensor %d status %d\n",ToF_sensor,status);
+    }
+    wait_ms(100);
+    
+
+    printf("CUSTOM_RANGING_Start %d\n",ToF_sensor);
+    status = sensor->CUSTOM_RANGING_Start(ToF_sensor, RS_MODE_BLOCKING_CONTINUOUS);
+    if (status != BSP_ERROR_NONE)
+    {
+        printf("CUSTOM_RANGING_Start failed sensor %d status %d\n",ToF_sensor,status);
+    }
+ 
+    EventDetected = 1;  // clear any existing interrupts
+
+    while (1)
+    {
+        if ( EventDetected == 1 ) // irq detected
+        {
+            EventDetected = 0;
+            status = sensor->CUSTOM_RANGING_GetDistance(ToF_sensor, &Result);
+            if ((status == BSP_ERROR_NONE) && (Result.ZoneResult[0].Status[0] == BSP_ERROR_NONE ))
+            {
+                printf("\n%s\t - ", TofDevStr[ToF_sensor]);
+                print_result(&Result);
+            }
+        }
+      
+  
+  //  wait_ms(2);
+    }
+}
+
+
+
+static void print_result(RANGING_SENSOR_Result_t *Result)
+{
+    uint8_t j = 0;
+    uint8_t target = 0;
+    
+    printf(" |---> ");
+    printf("Status = %ld, Distance = %5ld mm \n",
+            Result->ZoneResult[target].Status[j],
+            Result->ZoneResult[target].Distance[j]);
+         
+}
+  
+
+
+/*=================================== Main ==================================
+=============================================================================*/
+int main()
+{
+    
+    pc.baud(115200);  // baud rate is important as printf statements take a lot of time
+    
+    sensor = new CUSTOM_SENSOR();
+    
+    printf(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\r\n");
+
+    MX_53L3A2_MultiSensorRanging_Init();
+        
+    while (1)
+    {
+        /* USER CODE END WHILE */
+         MX_53L3A2_MultiSensorRanging_Process();
+        /* USER CODE BEGIN 3 */
+    }
+
+}
+
+#if (MBED_VERSION  > 60300)
+extern "C" void wait_ms(int ms)
+{
+    thread_sleep_for(ms);
+}
+#endif
+  
\ No newline at end of file