Diff: lidar_theremin.h

Revision:

2:4845e2dae429

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/lidar_theremin.h	Wed Feb 19 18:48:09 2020 +0000
@@ -0,0 +1,76 @@
+#include "mbed.h"
+#include "XNucleo53L0A1.h"
+#include <stdio.h>
+Serial pc(USBTX,USBRX);
+DigitalOut shdn(p25);
+// This VL53L0X board test application performs a range measurement in polling mode
+// Use 3.3(Vout) for Vin, p28 for SDA, p27 for SCL, P26 for shdn on mbed LPC1768
+
+//I2C sensor pins
+#define VL53L0_I2C_SDA   p28
+#define VL53L0_I2C_SCL   p27
+
+static XNucleo53L0A1 *board=NULL;
+
+DigitalOut audio(p26); //output to speaker amp or audio jack
+DigitalOut led(LED1); 
+DigitalOut led2(LED2);
+
+//Timeout cycle;
+Ticker cycle;
+ 
+volatile int half_cycle_time = 1;
+ 
+//two calls to this interrupt routine generates a square wave
+void toggle_interrupt()
+{
+    if (half_cycle_time>22000) audio=0; //mute if nothing in range
+    else audio = !audio; //toggle to make half a square wave
+    led = !led;
+    cycle.detach();
+    //update time for interrupt activation -change frequency of square wave
+    cycle.attach_us(&toggle_interrupt, half_cycle_time);
+}
+
+uint32_t distance;
+void newdist()
+{
+    //update frequency based on new sonar data
+    led2 = !led2;
+    half_cycle_time = (distance*10)<<3;
+}  
+
+//Set the trigger pin to p6 and the echo pin to p7
+//have updates every .07 seconds and a timeout after 1
+//second, and call newdist when the distance changes
+int run_lidar_theremin()
+{
+    int status;
+    DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
+    /* creates the 53L0A1 expansion board singleton obj */
+    board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
+    shdn = 0; //must reset sensor for an mbed reset to work
+    wait(0.1);
+    shdn = 1;
+    wait(0.1);
+    /* init the 53L0A1 board with default values */
+    status = board->init_board();
+    
+    while (status) {
+        pc.printf("Failed to init board! \r\n");
+        status = board->init_board();
+    }
+    //loop taking and printing distance
+    
+    audio = 0;
+    led = 0;
+    cycle.attach(&toggle_interrupt, half_cycle_time);
+    while(1) {
+        //Do something else here
+        status = board->sensor_centre->get_distance(&distance);
+        newdist();
+        pc.printf("distance %d", distance);    
+        //call checkDistance() as much as possible, as this is where
+        //the class checks if dist needs to be called.
+    }
+}