Diff: main_copy.txt

Revision:

0:ea8694e55809

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+++ b/main_copy.txt	Tue Sep 29 09:30:43 2020 +0000
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+/*
+ * This VL53L1X satellite board sample application performs range measurements
+ * with interrupts enabled to generate a hardware interrupt each time a new
+ * measurement is ready to be read.
+ *
+ *  Measured ranges are output on the Serial Port, running at 115200 baud.
+ *
+ *  On STM32-Nucleo boards :
+ *      The User Blue button stops the current measurement and entire program,
+ *      releasing all resources.
+ *
+ *      The Black Reset button is used to restart the program.
+ *
+ *  *** 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_53L1A1 firmware library defaults to use the INT_L/INT_R
+ *            positions.
+ *            INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9.
+ *            Alternate INT_L is on CN5 Connector pin 2 as D8.
+ *            INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4.
+ *            Alternate INT_R is on CN9 Connector pin 5 as D2.
+ *            The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/
+ */
+
+#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
+
+#if TARGET_STM  // we are cross compiling for an STM32-Nucleo    
+    InterruptIn stop_button(USER_BUTTON);
+#endif
+#if TARGET_Freescale // we are cross-compiling for NXP FRDM boards.
+    InterruptIn stop_button(SW2);
+#endif
+
+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;
+    /* Create a xshutdown pin */
+    DigitalOut xshutdown(D7);
+
+
+    /* create instance of sensor class */
+    sensor = new VL53L1X(device_i2c, &xshutdown, A2);
+
+    sensor->vl53l1_off();
+    /* initialise sensor */
+    sensor->init_sensor(0x52);
+
+    if (status) {
+        delete sensor;
+        sensor= NULL;
+        printf("Sensor centre not present\n\r");
+    }
+
+    /* init an array with chars to id the sensors */
+    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) {
+                int_sensor = false;
+                status = sensor->handle_irq(&distance);
+                printf("distance: %d\r\n", distance);
+            }
+
+            if (int_stop) {
+                printf("\r\nEnding loop mode \r\n");
+                break;
+            }
+        }
+    }
+
+    return status;
+
+}
+
+
+int range_threshold(VL53L1X_DevI2C *device_i2c)
+{
+    int status = 0;
+    uint16_t distance = 0;
+    /* Create a xshutdown pin */
+    DigitalOut xshutdown(D7);
+
+    LED_WS2812 LED(A3,4);
+    LED.SetIntensity(25);
+    LED.SetColor(1,BLACK);
+    
+    /* create instance of sensor class */
+    sensor = new VL53L1X(device_i2c, &xshutdown, A2);
+
+    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_inter_measurement_in_ms(1000);    
+    status = sensor->vl53l1x_set_distance_threshold(1000,
+                  1000, 0, 0);
+    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) {
+            LED.SetColor(GREEN);
+            printf("BLACK\n");
+            if (int_sensor) {
+                LED.SetColor(RED);
+                wait(1);
+                printf("RED\n");
+                int_sensor = false;
+                status = sensor->handle_irq(&distance);
+                printf("distance: %d\r\n", distance);
+                
+            }
+            if (int_stop) {
+                printf("\r\nEnding loop mode \r\n");
+                break;
+            }
+        }
+    }
+
+    return status;
+
+}
+
+//
+//
+//int range_threshold(VL53L1X_DevI2C *device_i2c)
+//{
+//    printf("toto");
+//    return 0;
+//}
+
+
+/*=================================== Main ==================================
+=============================================================================*/
+int main()
+{
+    stop_button.rise(&measuring_stop_irq);
+    
+    VL53L1X_DevI2C *device_i2c = new VL53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
+//    range_measure(device_i2c);  // start continuous measures
+    range_threshold(device_i2c);
+    
+    return 0;
+}