charles macneill / Mbed OS VL53L3CX_Shield_1Sensors_Polling

A demonstration program to show the use of a VL53L3CX ToF sensor on a F401 board with a x-nucleo shield. Uses Ranging library. Mbed 6.

Dependencies:   X_NUCLEO_53L3CX

main.cpp@0:ec1f8c27eda2, 2021-07-14 (annotated)

Committer:
charlesmn
Date:
Wed Jul 14 16:31:09 2021 +0000
Revision:
0:ec1f8c27eda2
Child:
1:996154b22d5b
First release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:ec1f8c27eda2 1 /*
charlesmn 0:ec1f8c27eda2 2 * This VL53L3 Expansion board test application performs range measurements
charlesmn 0:ec1f8c27eda2 3 * using the onboard embedded sensor, and satellite boards, in interrupt mode.
charlesmn 0:ec1f8c27eda2 4 * Measured ranges are output on the Serial Port, running at 115200 baud.
charlesmn 0:ec1f8c27eda2 5 *
charlesmn 0:ec1f8c27eda2 6 * The Reset button can be used to restart the program.
charlesmn 0:ec1f8c27eda2 7 *
charlesmn 0:ec1f8c27eda2 8 * *** Note :
charlesmn 0:ec1f8c27eda2 9 * Default Mbed build system settings disable printf floating-point support.
charlesmn 0:ec1f8c27eda2 10 * Online builds seem unable to configure this.
charlesmn 0:ec1f8c27eda2 11 * Offline builds can enable printf floating-point support.
charlesmn 0:ec1f8c27eda2 12 * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
charlesmn 0:ec1f8c27eda2 13 * .\mbed-os\platform\mbed_lib.json
charlesmn 0:ec1f8c27eda2 14 *
charlesmn 0:ec1f8c27eda2 15 */
charlesmn 0:ec1f8c27eda2 16
charlesmn 0:ec1f8c27eda2 17 #include <stdio.h>
charlesmn 0:ec1f8c27eda2 18 #include <time.h>
charlesmn 0:ec1f8c27eda2 19
charlesmn 0:ec1f8c27eda2 20 #include "mbed.h"
charlesmn 0:ec1f8c27eda2 21
charlesmn 0:ec1f8c27eda2 22 #include "vl53L3_I2c.h"
charlesmn 0:ec1f8c27eda2 23 #include "vl53lx_platform_user_data.h"
charlesmn 0:ec1f8c27eda2 24 #include "53l3a2_ranging_sensor.h"
charlesmn 0:ec1f8c27eda2 25 #include "VL53L3A2_RangingClass.h"
charlesmn 0:ec1f8c27eda2 26
charlesmn 0:ec1f8c27eda2 27 #define BSP_ERROR_NONE 0
charlesmn 0:ec1f8c27eda2 28
charlesmn 0:ec1f8c27eda2 29
charlesmn 0:ec1f8c27eda2 30 #if (MBED_VERSION > 60300)
charlesmn 0:ec1f8c27eda2 31 UnbufferedSerial pc(USBTX, USBRX);
charlesmn 0:ec1f8c27eda2 32 extern "C" void wait_ms(int ms);
charlesmn 0:ec1f8c27eda2 33 #else
charlesmn 0:ec1f8c27eda2 34 Serial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:ec1f8c27eda2 35 #endif
charlesmn 0:ec1f8c27eda2 36
charlesmn 0:ec1f8c27eda2 37
charlesmn 0:ec1f8c27eda2 38 #include "53l3a2_ranging_sensor.h"
charlesmn 0:ec1f8c27eda2 39
charlesmn 0:ec1f8c27eda2 40 VL53L3A2_SENSOR *sensor; //class for sensor commands
charlesmn 0:ec1f8c27eda2 41
charlesmn 0:ec1f8c27eda2 42
charlesmn 0:ec1f8c27eda2 43 /* Private define ------------------------------------------------------------*/
charlesmn 0:ec1f8c27eda2 44 #define POLLING_PERIOD (250U)
charlesmn 0:ec1f8c27eda2 45
charlesmn 0:ec1f8c27eda2 46 /* Private variables ---------------------------------------------------------*/
charlesmn 0:ec1f8c27eda2 47 static int32_t status = 0;
charlesmn 0:ec1f8c27eda2 48 uint8_t ToF_sensor = 1; // centre
charlesmn 0:ec1f8c27eda2 49
charlesmn 0:ec1f8c27eda2 50
charlesmn 0:ec1f8c27eda2 51 /* Private function prototypes -----------------------------------------------*/
charlesmn 0:ec1f8c27eda2 52 void MX_TOF_Process(void);
charlesmn 0:ec1f8c27eda2 53
charlesmn 0:ec1f8c27eda2 54
charlesmn 0:ec1f8c27eda2 55
charlesmn 0:ec1f8c27eda2 56 void MX_TOF_Init(void)
charlesmn 0:ec1f8c27eda2 57 {
charlesmn 0:ec1f8c27eda2 58
charlesmn 0:ec1f8c27eda2 59 uint16_t i2c_addr;
charlesmn 0:ec1f8c27eda2 60 uint32_t id;
charlesmn 0:ec1f8c27eda2 61
charlesmn 0:ec1f8c27eda2 62 // shut down sensors
charlesmn 0:ec1f8c27eda2 63 sensor->VL53L3A2_RANGING_SetPowerMode(ToF_sensor, RANGING_SENSOR_POWERMODE_OFF);
charlesmn 0:ec1f8c27eda2 64
charlesmn 0:ec1f8c27eda2 65 wait_ms(100);
charlesmn 0:ec1f8c27eda2 66
charlesmn 0:ec1f8c27eda2 67
charlesmn 0:ec1f8c27eda2 68 /* power on the device, initialize it and change it's address.
charlesmn 0:ec1f8c27eda2 69 * once the address is updated, the communication with the devices is checked
charlesmn 0:ec1f8c27eda2 70 * reading its ID.
charlesmn 0:ec1f8c27eda2 71 */
charlesmn 0:ec1f8c27eda2 72
charlesmn 0:ec1f8c27eda2 73 sensor->VL53L3A2_RANGING_SetPowerMode(ToF_sensor, RANGING_SENSOR_POWERMODE_ON);
charlesmn 0:ec1f8c27eda2 74 wait_ms(100);
charlesmn 0:ec1f8c27eda2 75
charlesmn 0:ec1f8c27eda2 76
charlesmn 0:ec1f8c27eda2 77 sensor->VL53L3A2_RANGING_Init(ToF_sensor);
charlesmn 0:ec1f8c27eda2 78 if (status)
charlesmn 0:ec1f8c27eda2 79 {
charlesmn 0:ec1f8c27eda2 80 printf("VL53L3A2_RANGING_SENSOR_Init failed for sensor %d \n",ToF_sensor);
charlesmn 0:ec1f8c27eda2 81 }
charlesmn 0:ec1f8c27eda2 82
charlesmn 0:ec1f8c27eda2 83 wait_ms(100);
charlesmn 0:ec1f8c27eda2 84 i2c_addr = (0x52 + (ToF_sensor + 1) * 2); /* 0x54, 0x56, 0x58 */
charlesmn 0:ec1f8c27eda2 85 sensor->VL53L3A2_RANGING_SetAddress(ToF_sensor, i2c_addr);
charlesmn 0:ec1f8c27eda2 86 printf("VL53L3A2_RANGING_SENSOR_ReadID\n");
charlesmn 0:ec1f8c27eda2 87 wait_ms(100);
charlesmn 0:ec1f8c27eda2 88 id =0;
charlesmn 0:ec1f8c27eda2 89
charlesmn 0:ec1f8c27eda2 90 sensor->VL53L3A2_RANGING_ReadID(ToF_sensor, &id);
charlesmn 0:ec1f8c27eda2 91 printf("#######ToF sensor %d - ID: %04lX\n", 0, id);
charlesmn 0:ec1f8c27eda2 92
charlesmn 0:ec1f8c27eda2 93 }
charlesmn 0:ec1f8c27eda2 94
charlesmn 0:ec1f8c27eda2 95
charlesmn 0:ec1f8c27eda2 96
charlesmn 0:ec1f8c27eda2 97 void MX_TOF_Process(void)
charlesmn 0:ec1f8c27eda2 98 {
charlesmn 0:ec1f8c27eda2 99
charlesmn 0:ec1f8c27eda2 100 RANGING_SENSOR_Result_t Result;
charlesmn 0:ec1f8c27eda2 101 RANGING_SENSOR_ProfileConfig_t Profile;
charlesmn 0:ec1f8c27eda2 102
charlesmn 0:ec1f8c27eda2 103 printf("MX_53L3A2_MultiSensorRanging_Process\n");
charlesmn 0:ec1f8c27eda2 104 Profile.RangingProfile = RS_MULTI_TARGET_LONG_RANGE;
charlesmn 0:ec1f8c27eda2 105 Profile.TimingBudget = 30; /* 16 ms < TimingBudget < 500 ms */
charlesmn 0:ec1f8c27eda2 106 Profile.Frequency = 0; /* not necessary in simple ranging */
charlesmn 0:ec1f8c27eda2 107 Profile.EnableAmbient = 0; /* Enable: 1, Disable: 0 */
charlesmn 0:ec1f8c27eda2 108 Profile.EnableSignal = 0; /* Enable: 1, Disable: 0 */
charlesmn 0:ec1f8c27eda2 109 printf("MX_53L3A2_MultiSensorRanging_Process start sensors\n");
charlesmn 0:ec1f8c27eda2 110
charlesmn 0:ec1f8c27eda2 111 wait_ms(100);
charlesmn 0:ec1f8c27eda2 112 sensor->VL53L3A2_RANGING_ConfigProfile(ToF_sensor, &Profile);
charlesmn 0:ec1f8c27eda2 113 if (status != BSP_ERROR_NONE)
charlesmn 0:ec1f8c27eda2 114 {
charlesmn 0:ec1f8c27eda2 115 printf("VL53L3A2_RANGING_SENSOR_ConfigProfile failed sensor %d status %d\n",ToF_sensor,status);
charlesmn 0:ec1f8c27eda2 116 }
charlesmn 0:ec1f8c27eda2 117
charlesmn 0:ec1f8c27eda2 118 wait_ms(100);
charlesmn 0:ec1f8c27eda2 119 status = sensor->VL53L3A2_RANGING_Start(ToF_sensor, RS_MODE_BLOCKING_CONTINUOUS);
charlesmn 0:ec1f8c27eda2 120 if (status != BSP_ERROR_NONE)
charlesmn 0:ec1f8c27eda2 121 {
charlesmn 0:ec1f8c27eda2 122 printf("VL53L3A2_RANGING_SENSOR_Start failed sensor %d status %d\n",ToF_sensor,status);
charlesmn 0:ec1f8c27eda2 123 }
charlesmn 0:ec1f8c27eda2 124
charlesmn 0:ec1f8c27eda2 125 printf("MX_53L3A2_MultiSensorRanging_Process read sensors\n");
charlesmn 0:ec1f8c27eda2 126
charlesmn 0:ec1f8c27eda2 127 // repeatedly read data and start next measurement
charlesmn 0:ec1f8c27eda2 128 while (1)
charlesmn 0:ec1f8c27eda2 129 {
charlesmn 0:ec1f8c27eda2 130 status = sensor->VL53L3A2_RANGING_GetDistance(ToF_sensor, &Result);
charlesmn 0:ec1f8c27eda2 131 if (status == BSP_ERROR_NONE)
charlesmn 0:ec1f8c27eda2 132 {
charlesmn 0:ec1f8c27eda2 133 printf("\n |---> ");
charlesmn 0:ec1f8c27eda2 134 printf("Status = %ld, Distance = %5ld mm",
charlesmn 0:ec1f8c27eda2 135 Result.ZoneResult[0].Status[0],
charlesmn 0:ec1f8c27eda2 136 Result.ZoneResult[0].Distance[0]);
charlesmn 0:ec1f8c27eda2 137 }
charlesmn 0:ec1f8c27eda2 138
charlesmn 0:ec1f8c27eda2 139 wait_ms(POLLING_PERIOD);
charlesmn 0:ec1f8c27eda2 140 }
charlesmn 0:ec1f8c27eda2 141 }
charlesmn 0:ec1f8c27eda2 142
charlesmn 0:ec1f8c27eda2 143
charlesmn 0:ec1f8c27eda2 144
charlesmn 0:ec1f8c27eda2 145 /*=================================== Main ==================================
charlesmn 0:ec1f8c27eda2 146 =============================================================================*/
charlesmn 0:ec1f8c27eda2 147 int main()
charlesmn 0:ec1f8c27eda2 148 {
charlesmn 0:ec1f8c27eda2 149
charlesmn 0:ec1f8c27eda2 150 pc.baud(115200); // baud rate is important as printf statements take a lot of time
charlesmn 0:ec1f8c27eda2 151
charlesmn 0:ec1f8c27eda2 152 printf("53L3A2 One Sensor Ranging demo application\n");
charlesmn 0:ec1f8c27eda2 153
charlesmn 0:ec1f8c27eda2 154 sensor = new VL53L3A2_SENSOR();
charlesmn 0:ec1f8c27eda2 155
charlesmn 0:ec1f8c27eda2 156 MX_TOF_Init();
charlesmn 0:ec1f8c27eda2 157
charlesmn 0:ec1f8c27eda2 158 while (1)
charlesmn 0:ec1f8c27eda2 159 {
charlesmn 0:ec1f8c27eda2 160 MX_TOF_Process();
charlesmn 0:ec1f8c27eda2 161 }
charlesmn 0:ec1f8c27eda2 162
charlesmn 0:ec1f8c27eda2 163 }
charlesmn 0:ec1f8c27eda2 164
charlesmn 0:ec1f8c27eda2 165 // needed for later versions of mbed
charlesmn 0:ec1f8c27eda2 166 #if (MBED_VERSION > 60300)
charlesmn 0:ec1f8c27eda2 167 extern "C" void wait_ms(int ms)
charlesmn 0:ec1f8c27eda2 168 {
charlesmn 0:ec1f8c27eda2 169 thread_sleep_for(ms);
charlesmn 0:ec1f8c27eda2 170 }
charlesmn 0:ec1f8c27eda2 171 #endif
charlesmn 0:ec1f8c27eda2 172