John Alexander / Mbed OS J_53L3_shield_polling

Trial project, for use with VL53L3 board and sensor libs, and mbed-cli tools.

Dependencies:   53L13ExpansionBoard

main.cpp@0:3adb6e4b8113, 2020-10-29 (annotated)

Committer:
johnAlexander
Date:
Thu Oct 29 14:29:27 2020 +0000
Revision:
0:3adb6e4b8113
trial project, for use offline, with mbed-cli import

Who changed what in which revision?

UserRevisionLine numberNew contents of line
johnAlexander 0:3adb6e4b8113 1 /*
johnAlexander 0:3adb6e4b8113 2 * This VL53L1X Expansion board test application performs range measurements
johnAlexander 0:3adb6e4b8113 3 * using the onboard embedded centre sensor, in singleshot, polling mode.
johnAlexander 0:3adb6e4b8113 4 * Measured ranges are ouput on the Serial Port, running at 9600 baud.
johnAlexander 0:3adb6e4b8113 5 *
johnAlexander 0:3adb6e4b8113 6 * The User Blue button stops the current measurement and entire program,
johnAlexander 0:3adb6e4b8113 7 * releasing all resources.
johnAlexander 0:3adb6e4b8113 8 *
johnAlexander 0:3adb6e4b8113 9 * The Reset button can be used to restart the program.
johnAlexander 0:3adb6e4b8113 10 */
johnAlexander 0:3adb6e4b8113 11
johnAlexander 0:3adb6e4b8113 12 //Main_single_polling.h
johnAlexander 0:3adb6e4b8113 13
johnAlexander 0:3adb6e4b8113 14 #include <stdio.h>
johnAlexander 0:3adb6e4b8113 15
johnAlexander 0:3adb6e4b8113 16 #include "mbed.h"
johnAlexander 0:3adb6e4b8113 17 #include "XNucleo53L1A1.h"
johnAlexander 0:3adb6e4b8113 18 #include "vl53L1x_I2c.h"
johnAlexander 0:3adb6e4b8113 19 #include <time.h>
johnAlexander 0:3adb6e4b8113 20
johnAlexander 0:3adb6e4b8113 21
johnAlexander 0:3adb6e4b8113 22 // define i2c mcu pins
johnAlexander 0:3adb6e4b8113 23 #define VL53L1_I2C_SDA D14
johnAlexander 0:3adb6e4b8113 24 #define VL53L1_I2C_SCL D15
johnAlexander 0:3adb6e4b8113 25
johnAlexander 0:3adb6e4b8113 26 static XNucleo53L1A1 *board=NULL;
johnAlexander 0:3adb6e4b8113 27 Serial pc(SERIAL_TX, SERIAL_RX);
johnAlexander 0:3adb6e4b8113 28
johnAlexander 0:3adb6e4b8113 29
johnAlexander 0:3adb6e4b8113 30
johnAlexander 0:3adb6e4b8113 31 VL53LX_Dev_t devCentre;
johnAlexander 0:3adb6e4b8113 32 VL53LX_Dev_t devLeft;
johnAlexander 0:3adb6e4b8113 33 VL53LX_Dev_t devRight;
johnAlexander 0:3adb6e4b8113 34 VL53LX_DEV Dev = &devCentre;
johnAlexander 0:3adb6e4b8113 35
johnAlexander 0:3adb6e4b8113 36
johnAlexander 0:3adb6e4b8113 37
johnAlexander 0:3adb6e4b8113 38 /*=================================== Main ==================================
johnAlexander 0:3adb6e4b8113 39 =============================================================================*/
johnAlexander 0:3adb6e4b8113 40 int main()
johnAlexander 0:3adb6e4b8113 41 {
johnAlexander 0:3adb6e4b8113 42 int status;
johnAlexander 0:3adb6e4b8113 43 VL53LX * Sensor;
johnAlexander 0:3adb6e4b8113 44 uint16_t wordData;
johnAlexander 0:3adb6e4b8113 45
johnAlexander 0:3adb6e4b8113 46 static VL53LX_MultiRangingData_t RangingData;
johnAlexander 0:3adb6e4b8113 47
johnAlexander 0:3adb6e4b8113 48
johnAlexander 0:3adb6e4b8113 49 pc.baud(115200); // baud rate is important as printf statements take a lot of time
johnAlexander 0:3adb6e4b8113 50 printf("Hello world!\r\n");
johnAlexander 0:3adb6e4b8113 51
johnAlexander 0:3adb6e4b8113 52 vl53L1X_DevI2C *dev_I2C = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
johnAlexander 0:3adb6e4b8113 53
johnAlexander 0:3adb6e4b8113 54 // printf("I2C device created! %d %d\r\n",dev_I2C,*dev_I2C);
johnAlexander 0:3adb6e4b8113 55
johnAlexander 0:3adb6e4b8113 56 /* creates the 53L1A1 expansion board singleton obj */
johnAlexander 0:3adb6e4b8113 57 board = XNucleo53L1A1::instance(dev_I2C, A2, D8, D2);
johnAlexander 0:3adb6e4b8113 58 printf("board created!\r\n");
johnAlexander 0:3adb6e4b8113 59
johnAlexander 0:3adb6e4b8113 60
johnAlexander 0:3adb6e4b8113 61 /* init the 53L1A1 expansion board with default values */
johnAlexander 0:3adb6e4b8113 62 status = board->init_board();
johnAlexander 0:3adb6e4b8113 63 if (status) {
johnAlexander 0:3adb6e4b8113 64 printf("Failed to init board!\r\n");
johnAlexander 0:3adb6e4b8113 65 return 0;
johnAlexander 0:3adb6e4b8113 66 }
johnAlexander 0:3adb6e4b8113 67
johnAlexander 0:3adb6e4b8113 68
johnAlexander 0:3adb6e4b8113 69 printf("board initiated! \n");
johnAlexander 0:3adb6e4b8113 70
johnAlexander 0:3adb6e4b8113 71 printf("configuring centre channel \n");
johnAlexander 0:3adb6e4b8113 72 Dev=&devCentre;
johnAlexander 0:3adb6e4b8113 73 Sensor=board->sensor_centre;
johnAlexander 0:3adb6e4b8113 74 Dev->I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS;
johnAlexander 0:3adb6e4b8113 75 printf("configured centre channel \n");
johnAlexander 0:3adb6e4b8113 76
johnAlexander 0:3adb6e4b8113 77
johnAlexander 0:3adb6e4b8113 78 // configure the i2c connection
johnAlexander 0:3adb6e4b8113 79 Dev->comms_speed_khz = 400;
johnAlexander 0:3adb6e4b8113 80 Dev->comms_type = 1;
johnAlexander 0:3adb6e4b8113 81
johnAlexander 0:3adb6e4b8113 82 /* Device Initialization and setting */
johnAlexander 0:3adb6e4b8113 83
johnAlexander 0:3adb6e4b8113 84 status = Sensor->VL53LX_DataInit();
johnAlexander 0:3adb6e4b8113 85 uint8_t NewDataReady=0;
johnAlexander 0:3adb6e4b8113 86
johnAlexander 0:3adb6e4b8113 87
johnAlexander 0:3adb6e4b8113 88 status = Sensor->VL53LX_StartMeasurement();
johnAlexander 0:3adb6e4b8113 89 printf("VL53LX_StartMeasurement %d \n",status);
johnAlexander 0:3adb6e4b8113 90
johnAlexander 0:3adb6e4b8113 91 while(1)
johnAlexander 0:3adb6e4b8113 92 {
johnAlexander 0:3adb6e4b8113 93 status = Sensor->VL53LX_WaitMeasurementDataReady();
johnAlexander 0:3adb6e4b8113 94
johnAlexander 0:3adb6e4b8113 95 if(!status)
johnAlexander 0:3adb6e4b8113 96 {
johnAlexander 0:3adb6e4b8113 97
johnAlexander 0:3adb6e4b8113 98 status = Sensor->VL53LX_GetMultiRangingData( &RangingData);
johnAlexander 0:3adb6e4b8113 99
johnAlexander 0:3adb6e4b8113 100 if ( status == 0)
johnAlexander 0:3adb6e4b8113 101 {
johnAlexander 0:3adb6e4b8113 102 int no_of_object_found=RangingData.NumberOfObjectsFound;
johnAlexander 0:3adb6e4b8113 103 if ( no_of_object_found < 10 )
johnAlexander 0:3adb6e4b8113 104 {
johnAlexander 0:3adb6e4b8113 105 for(int j=0;j<no_of_object_found;j++){
johnAlexander 0:3adb6e4b8113 106 if ((RangingData.RangeData[j].RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID) ||
johnAlexander 0:3adb6e4b8113 107 (RangingData.RangeData[j].RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL))
johnAlexander 0:3adb6e4b8113 108 { // print data
johnAlexander 0:3adb6e4b8113 109 printf("centre \t object %d \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
johnAlexander 0:3adb6e4b8113 110 j,
johnAlexander 0:3adb6e4b8113 111 RangingData.RangeData[j].RangeStatus,
johnAlexander 0:3adb6e4b8113 112 RangingData.RangeData[j].RangeMilliMeter,
johnAlexander 0:3adb6e4b8113 113 RangingData.RangeData[j].SignalRateRtnMegaCps/65536.0,
johnAlexander 0:3adb6e4b8113 114 RangingData.RangeData[j].AmbientRateRtnMegaCps/65536.0);
johnAlexander 0:3adb6e4b8113 115 } //if
johnAlexander 0:3adb6e4b8113 116 } //for
johnAlexander 0:3adb6e4b8113 117 } // if ( no_of_object_found < 10 )
johnAlexander 0:3adb6e4b8113 118 } // if status VL53LX_GetMultiRangingData
johnAlexander 0:3adb6e4b8113 119
johnAlexander 0:3adb6e4b8113 120 } // if !status VL53LX_WaitMeasurementDataReady
johnAlexander 0:3adb6e4b8113 121 else
johnAlexander 0:3adb6e4b8113 122 {
johnAlexander 0:3adb6e4b8113 123 printf("VL53L1_WaitMeasurementDataReady failed %d \n",status);
johnAlexander 0:3adb6e4b8113 124 }
johnAlexander 0:3adb6e4b8113 125
johnAlexander 0:3adb6e4b8113 126 status = Sensor->VL53LX_ClearInterruptAndStartMeasurement();
johnAlexander 0:3adb6e4b8113 127
johnAlexander 0:3adb6e4b8113 128 } // while(1)
johnAlexander 0:3adb6e4b8113 129
johnAlexander 0:3adb6e4b8113 130 // status = Sensor->VL53LX_StopMeasurement();
johnAlexander 0:3adb6e4b8113 131
johnAlexander 0:3adb6e4b8113 132 }