Diff: main.cpp

Revision:

2:46dcd0517f2a

Parent:

1:e5cce6b28b6f

Child:

4:b3346923eb1e

--- a/main.cpp	Fri May 17 12:24:17 2019 +0000
+++ b/main.cpp	Fri May 17 12:29:28 2019 +0000
@@ -3,16 +3,14 @@
  * 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.
- *
- * The application supports the centre, on-board, sensor and up to two satellite boards.
+ *  Measured ranges are ouput on the Serial Port, running at 115200 baud.
  *
- * The User Blue button switches between the currently selected sensor to display range
- * results from.
+ *  The User Blue button stops the current measurement and entire program,
+ *  releasing all resources.
  *
- * The Black Reset button is used to restart the program.
+ *  The Black Reset button is used to restart the program.
  *
- * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
+ *  *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
  *            the X-NUCELO-53L0A1 expansion board are not made/OFF.
  *            These links must be made to allow interrupts from the Satellite boards
  *            to be received.
@@ -28,156 +26,53 @@
  *            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 "XNucleo53L1A1.h"
 #include "vl53L1x_I2c.h"
 
-#define VL53L1_I2C_SDA   D14 
-#define VL53L1_I2C_SCL   D15 
-
-#if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-64s
-InterruptIn stop_button(USER_BUTTON);
-#endif
-
-/* Installed sensors count */
-int sensorCnt = 0;
-
-/* installed sensors prefixes */
-char installedSensors[3];
+#define VL53L1_I2C_SDA   D14
+#define VL53L1_I2C_SCL   D15
 
 static XNucleo53L1A1 *board=NULL;
-Serial pc(SERIAL_TX, SERIAL_RX); 
+Serial pc(SERIAL_TX, SERIAL_RX);
 
-/* interrupt requests */
-volatile bool centerSensor = false;
-volatile bool leftSensor = false;
-volatile bool rightSensor = false;
-volatile bool int_measuring_stop = false;
-/* Current sensor number*/
-volatile int currentSensor = 0;
-
-/* current displayed sensor change IRQ */
-volatile bool switchChanged = false;
+/* 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 centre sensor */
-void sensor_centre_irq(void)
+void sensor_irq(void)
 {
-    centerSensor = true;
+    int_sensor = true;
     board->sensor_centre->disable_interrupt_measure_detection_irq();
 }
 
-/* ISR callback function of the left sensor */
-void sensor_left_irq(void)
+/* Start the sensor ranging */
+int init_sensor()
 {
-    leftSensor = true;
-    board->sensor_left->disable_interrupt_measure_detection_irq();
-}
+    int status = 0;
+    /* start the measure on the center sensor */
+    if (NULL != board->sensor_centre) {
+        status = board->sensor_centre->stop_measurement();
+        if (status != 0) {
+                return status;
+        }
 
-/* ISR callback function of the right sensor */
-void sensor_right_irq(void)
-{
-    rightSensor = true;
-    board->sensor_right->disable_interrupt_measure_detection_irq();
+        status = board->sensor_centre->start_measurement(&sensor_irq);
+        if (status != 0) {
+            return status;
+        }
+    }
+    return status;
 }
 
 /* ISR callback function of the user blue button to switch measuring sensor. */
-void switch_measuring_sensor_irq(void)
-{
-    stop_button.disable_irq();
-    switchChanged = true;
-}
-
-/*
- * This function calls the interrupt handler for each sensor
- * and outputs the range
- */
-inline void measure_sensors()
+void measuring_stop_irq(void)
 {
-    bool current = false;
-    uint16_t distance = 0;
-
-    /* Handle the interrupt and output the range from the centre sensor */
-    if (centerSensor) {
-        centerSensor = false;
-        board->sensor_centre->handle_irq(&distance);
-        current = (currentSensor == 0);
-        if (current) {
-            printf("Centre: %d\r\n", distance);
-        }
-    }
-
-    /* Handle the interrupt and output the range from the left sensor */
-    if (leftSensor) {
-        leftSensor = false;
-        board->sensor_left->handle_irq(&distance);
-        current = (installedSensors[currentSensor] == 'L');
-        if (current) {
-            printf("Left: %d\r\n", distance);
-        }
-    }
-
-    /* Handle the interrupt and output the range from the right sensor */
-    if (rightSensor) {
-        rightSensor = false;
-        board->sensor_right->handle_irq(&distance);
-        current = (installedSensors[currentSensor] == 'R');
-        if (current) {
-            printf("Right: %d\r\n", distance);
-        }
-    }
-}
-
-/*
- * Add to an array a character that represents the sensor and start ranging
- */
-int init_sensors_array()
-{
-    int status = 0;
-    sensorCnt = 0;
-    /* start the measure on the center sensor */
-    if (NULL != board->sensor_centre) {
-        installedSensors[sensorCnt] = 'C';
-        status = board->sensor_centre->stop_measurement();
-        if (status != 0) {
-            return status;
-        }
-        status = board->sensor_centre->start_measurement(&sensor_centre_irq);
-        if (status != 0) {
-            return status;
-        }
-        ++sensorCnt;
-    }
-    /* start the measure on the left sensor */
-    if (NULL != board->sensor_left) {
-        installedSensors[sensorCnt] = 'L';
-        status = board->sensor_left->stop_measurement();
-        if (status != 0) {
-            return status;
-        }
-        status = board->sensor_left->start_measurement(&sensor_left_irq);
-        if (status != 0) {
-            return status;
-        }
-        ++sensorCnt;
-    }
-    /* start the measure on the right sensor */
-    if (NULL != board->sensor_right) {
-        installedSensors[sensorCnt] = 'R';
-        status = board->sensor_right->stop_measurement();
-        if (status != 0) {
-            return status;
-        }
-        status = board->sensor_right->start_measurement(&sensor_right_irq);
-        if (status != 0) {
-            return status;
-        }
-        ++sensorCnt;
-    }
-    currentSensor = 0;
-    return status;
+    int_stop = true;
 }
 
 /*
@@ -186,6 +81,7 @@
 int range_measure(vl53L1X_DevI2C *device_i2c)
 {
     int status = 0;
+    uint16_t distance = 0;
 
     /* creates the 53L1A1 expansion board singleton obj */
     board = XNucleo53L1A1::instance(device_i2c, A2, D9, D2);
@@ -198,28 +94,29 @@
     }
 
     /* init an array with chars to id the sensors */
-    status = init_sensors_array();
+    status = init_sensor();
     if (status != 0) {
         printf("Failed to init sensors!\r\n");
         return status;
     }
 
     printf("Entering loop mode\r\n");
-
     /* Main ranging interrupt loop */
     while (true) {
-        measure_sensors();
-        if (switchChanged) {
-            ++currentSensor;
-            if (currentSensor == sensorCnt)
-                currentSensor = 0;
-            printf("Sensor changed to %c\r\n", installedSensors[currentSensor]);
-            switchChanged = false;
-            stop_button.enable_irq();
+        if (int_sensor) {
+            int_sensor = false;
+            status = board->sensor_centre->handle_irq(&distance);
+            printf("distance: %d\r\n", distance);
+        }
+
+        if (int_stop) {
+            printf("\r\nEnding loop mode \r\n");
+            break;
         }
     }
-    delete board;
+
     return status;
+
 }
 
 /*=================================== Main ==================================
@@ -227,11 +124,9 @@
 int main()
 {
 #if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-f401
-    stop_button.rise(&switch_measuring_sensor_irq);
-    stop_button.enable_irq();
+    InterruptIn stop_button(USER_BUTTON);
+    stop_button.rise(&measuring_stop_irq);
 #endif
-    vl53L1X_DevI2C *dev_I2C = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
-    range_measure(dev_I2C);  // start continuous measures
-return 0;
+    vl53L1X_DevI2C *device_i2c = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
+    range_measure(device_i2c);  // start continuous measures
 }
-