main.cpp

00001 #include <stdio.h>
00002 
00003 #include "mbed.h"
00004 #include "VL53L1X_I2C.h"
00005 #include "VL53L1X_Class.h"
00006 #include "LED_WS2812.h"
00007 
00008 #define VL53L1_I2C_SDA   D14
00009 #define VL53L1_I2C_SCL   D15
00010 
00011 static VL53L1X *sensor = NULL;
00012 Serial pc(SERIAL_TX, SERIAL_RX);
00013 
00014 /* flags that handle interrupt request for sensor and user blue button*/
00015 volatile bool int_sensor = false;
00016 volatile bool int_stop = false;
00017 
00018 
00019 /* ISR callback function of the sensor */
00020 void sensor_irq(void)
00021 {
00022     int_sensor = true;
00023     sensor->disable_interrupt_measure_detection_irq();
00024 }
00025 
00026 /* ISR callback function of the user blue button to switch measuring sensor. */
00027 void measuring_stop_irq(void)
00028 {
00029     int_stop = true;
00030 }
00031 
00032 /* Start the sensor ranging */
00033 int start_ranging()
00034 {
00035     int status = 0;
00036     /* start the measure on the sensor */
00037     if (NULL != sensor) {
00038         status = sensor->stop_measurement();
00039         if (status != 0) {
00040                 return status;
00041         }
00042 
00043         status = sensor->start_measurement(&sensor_irq);
00044         if (status != 0) {
00045             return status;
00046         }
00047     }
00048     return status;
00049 }
00050 
00051 int range_measure(VL53L1X_DevI2C *device_i2c)
00052 {
00053     int status = 0;
00054     uint16_t distance = 0;
00055     int distance_close = 0;
00056     
00057     LED_WS2812 LED(A0,12);
00058     LED.SetIntensity(5);
00059     LED.SetColor(BLACK);
00060     
00061     /* Create a xshutdown pin */
00062     DigitalOut xshutdown(D10);
00063 
00064     /* create instance of sensor class */
00065     sensor = new VL53L1X(device_i2c, &xshutdown, D11);
00066 
00067     sensor->vl53l1_off();
00068     /* initialise sensor */
00069     sensor->init_sensor(0x52);
00070 
00071     if (status) {
00072         delete sensor;
00073         sensor= NULL;
00074         printf("Sensor centre not present\n\r");
00075     }
00076     status = sensor->vl53l1x_set_timing_budget_in_ms(100); // good trade off between accuracy and power consumption
00077     status = sensor->vl53l1x_set_inter_measurement_in_ms(500); // perform one ranging every second
00078     status = sensor->vl53l1x_set_distance_threshold(1900, 1900, 0, 0); // interrupt if distance < 1.9 m (~6 feet)
00079     status = start_ranging();
00080     if (status != 0) {
00081         printf("Failed to start ranging!\r\n");
00082         return status;
00083     }
00084     if (NULL != sensor) {
00085         printf("Entering loop mode\r\n");
00086         /* Main ranging interrupt loop */
00087         while (true) {
00088             if (int_sensor) {
00089                 distance_close = 1;
00090                 int_sensor = false;
00091                 status = sensor->handle_irq(&distance);
00092 //                printf("distance: %d\r\n", distance);         
00093             }
00094             if (distance_close)
00095             {
00096                 LED.InsertColor(RED);
00097                 LED.StartBlink(0.2);
00098                 wait_ms(500);
00099                 LED.StopBlink();
00100                 distance_close = 0;
00101             }
00102             else
00103             {
00104                 LED.SetColor(GREEN);
00105                 wait_ms(500);
00106             }
00107         }
00108     }
00109 
00110     return status;
00111 
00112 }
00113 
00114 
00115 /*=================================== Main ==================================
00116 =============================================================================*/
00117 int main()
00118 {
00119 #if TARGET_STM  // we are cross compiling for an STM32-Nucleo    
00120     InterruptIn stop_button(USER_BUTTON);
00121     stop_button.rise(&measuring_stop_irq);
00122 #endif
00123 #if TARGET_Freescale // we are cross-compiling for NXP FRDM boards.
00124     InterruptIn stop_button(SW2);
00125     stop_button.rise(&measuring_stop_irq);
00126 #endif
00127     VL53L1X_DevI2C *device_i2c = new VL53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
00128     range_measure(device_i2c);  // start continuous measures
00129 }