Diff: main.cpp

Revision:

0:ea8694e55809

Child:

1:092ee96f479a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Sep 29 09:30:43 2020 +0000
@@ -0,0 +1,130 @@
+#include <stdio.h>
+
+#include "mbed.h"
+#include "VL53L1X_I2C.h"
+#include "VL53L1X_Class.h"
+#include "LED_WS2812.h"
+
+#define VL53L1_I2C_SDA   D14
+#define VL53L1_I2C_SCL   D15
+
+static VL53L1X *sensor = NULL;
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+/* 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 sensor */
+void sensor_irq(void)
+{
+    int_sensor = true;
+    sensor->disable_interrupt_measure_detection_irq();
+}
+
+/* ISR callback function of the user blue button to switch measuring sensor. */
+void measuring_stop_irq(void)
+{
+    int_stop = true;
+}
+
+/* Start the sensor ranging */
+int start_ranging()
+{
+    int status = 0;
+    /* start the measure on the sensor */
+    if (NULL != sensor) {
+        status = sensor->stop_measurement();
+        if (status != 0) {
+                return status;
+        }
+
+        status = sensor->start_measurement(&sensor_irq);
+        if (status != 0) {
+            return status;
+        }
+    }
+    return status;
+}
+
+int range_measure(VL53L1X_DevI2C *device_i2c)
+{
+    int status = 0;
+    uint16_t distance = 0;
+    int distance_close = 0;
+    
+    LED_WS2812 LED(A0,12);
+    LED.SetIntensity(5);
+    LED.SetColor(BLACK);
+    
+    /* Create a xshutdown pin */
+    DigitalOut xshutdown(D10);
+
+    /* create instance of sensor class */
+    sensor = new VL53L1X(device_i2c, &xshutdown, D11);
+
+    sensor->vl53l1_off();
+    /* initialise sensor */
+    sensor->init_sensor(0x52);
+
+    if (status) {
+        delete sensor;
+        sensor= NULL;
+        printf("Sensor centre not present\n\r");
+    }
+    status = sensor->vl53l1x_set_distance_mode(1); // short distance mode better ambient immunity
+    status = sensor->vl53l1x_set_timing_budget_in_ms(100); // good trade off between accuracy and power consumption
+    status = sensor->vl53l1x_set_inter_measurement_in_ms(500); // perform one ranging every second
+    status = sensor->vl53l1x_set_distance_threshold(1100, 1100, 0, 0); // interrupt if distance < 1.1 m
+    status = start_ranging();
+    if (status != 0) {
+        printf("Failed to start ranging!\r\n");
+        return status;
+    }
+    if (NULL != sensor) {
+        printf("Entering loop mode\r\n");
+        /* Main ranging interrupt loop */
+        while (true) {
+            if (int_sensor) {
+                distance_close = 1;
+                int_sensor = false;
+                status = sensor->handle_irq(&distance);
+//                printf("distance: %d\r\n", distance);         
+            }
+            if (distance_close)
+            {
+                LED.InsertColor(RED);
+                LED.StartBlink(0.2);
+                wait_ms(500);
+                LED.StopBlink();
+                distance_close = 0;
+            }
+            else
+            {
+                LED.SetColor(GREEN);
+                wait_ms(500);
+            }
+        }
+    }
+
+    return status;
+
+}
+
+
+/*=================================== Main ==================================
+=============================================================================*/
+int main()
+{
+#if TARGET_STM  // we are cross compiling for an STM32-Nucleo    
+    InterruptIn stop_button(USER_BUTTON);
+    stop_button.rise(&measuring_stop_irq);
+#endif
+#if TARGET_Freescale // we are cross-compiling for NXP FRDM boards.
+    InterruptIn stop_button(SW2);
+    stop_button.rise(&measuring_stop_irq);
+#endif
+    VL53L1X_DevI2C *device_i2c = new VL53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
+    range_measure(device_i2c);  // start continuous measures
+}