sensor_EC.h

00001 #include "mbed.h"
00002 #include "Servo.h"
00003 #include "XNucleo53L0A1.h"
00004 #include <stdio.h>
00005 Serial pc1(USBTX,USBRX);
00006 DigitalOut shdn(p26);
00007 // This VL53L0X board test application performs a range measurement in polling mode
00008 // Use 3.3(Vout) for Vin, p28 for SDA, p27 for SCL, P26 for shdn on mbed LPC1768
00009 
00010 //I2C sensor pins
00011 #define VL53L0_I2C_SDA   p28
00012 #define VL53L0_I2C_SCL   p27
00013 
00014 static XNucleo53L0A1 *board=NULL;
00015 Servo servo(p9);
00016 
00017 int min_dist = 66536;
00018 int angle = 0;
00019 
00020 int run_sensor_EC() {
00021     
00022     int status;
00023     uint32_t distance;
00024     DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
00025     /* creates the 53L0A1 expansion board singleton obj */
00026     board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
00027     shdn = 0; //must reset sensor for an mbed reset to work
00028     wait(0.1);
00029     shdn = 1;
00030     wait(0.1);
00031     /* init the 53L0A1 board with default values */
00032     status = board->init_board();
00033     while (status) {
00034         pc1.printf("Failed to init board! \r\n");
00035         status = board->init_board();
00036     }
00037     
00038     for (float i = 0.0; i < 1.0; i += 0.1) {
00039         status = board->sensor_centre->get_distance(&distance);
00040         if (status == VL53L0X_ERROR_NONE) {
00041             pc1.printf("D=%ld mm\r\n", distance);
00042         }
00043         if (distance < min_dist) {
00044             min_dist = distance;
00045             angle = i;
00046         }
00047     }
00048     return 0;
00049 }