John Alexander / Mbed OS VL53L1CB_shield_1sensor_interrupt_auton

VL53L1CB expansion shield autonomous interrupt example.

Dependencies:   X_NUCLEO_53L1A2

main.cpp@3:c1e893e6752f, 2021-05-11 (annotated)

Committer:
johnAlexander
Date:
Tue May 11 14:10:25 2021 +0000
Revision:
3:c1e893e6752f
Parent:
2:f0ec92af4b5f
Child:
4:0ac9998b69ac
shield, 1 sensor, interrupt, autonomous.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:020912dfa221 1 /*
johnAlexander 2:f0ec92af4b5f 2 * This VL53L1X Expansion board test application performs range measurements
johnAlexander 2:f0ec92af4b5f 3 * using the onboard embedded centre sensor and two satelites, in autonomous, interrupt mode.
johnAlexander 2:f0ec92af4b5f 4 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
charlesmn 0:020912dfa221 5 *
charlesmn 0:020912dfa221 6 * This is designed to work with MBed V2 , MBed V5 and MBed V6.
charlesmn 0:020912dfa221 7 *
johnAlexander 2:f0ec92af4b5f 8 * The Reset button can be used to restart the program.
charlesmn 0:020912dfa221 9 *
johnAlexander 2:f0ec92af4b5f 10 * *** Note :
johnAlexander 2:f0ec92af4b5f 11 * Default Mbed build system settings disable print floating-point support.
johnAlexander 2:f0ec92af4b5f 12 * Offline builds can enable this, again.
johnAlexander 2:f0ec92af4b5f 13 * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
johnAlexander 2:f0ec92af4b5f 14 * .\mbed-os\platform\mbed_lib.json
johnAlexander 2:f0ec92af4b5f 15 *
charlesmn 0:020912dfa221 16 */
charlesmn 0:020912dfa221 17
charlesmn 0:020912dfa221 18 #include <stdio.h>
johnAlexander 2:f0ec92af4b5f 19 #include <time.h>
charlesmn 0:020912dfa221 20
charlesmn 0:020912dfa221 21 #include "mbed.h"
johnAlexander 2:f0ec92af4b5f 22
charlesmn 1:ff48a20de191 23 #include "XNucleo53L1A2.h"
charlesmn 0:020912dfa221 24 #include "ToF_I2C.h"
charlesmn 0:020912dfa221 25
charlesmn 0:020912dfa221 26 // i2c comms port pins
charlesmn 0:020912dfa221 27 #define I2C_SDA D14
charlesmn 0:020912dfa221 28 #define I2C_SCL D15
charlesmn 0:020912dfa221 29
charlesmn 0:020912dfa221 30
charlesmn 0:020912dfa221 31 #define NUM_SENSORS 3
charlesmn 0:020912dfa221 32
charlesmn 1:ff48a20de191 33 // define the interrupt pins
charlesmn 0:020912dfa221 34 PinName CentreIntPin = A2;
charlesmn 0:020912dfa221 35 // the satellite pins depend on solder blobs on the back of the shield.
charlesmn 0:020912dfa221 36 // they may not exist or may be one of two sets.
charlesmn 0:020912dfa221 37 // the centre pin always exists
charlesmn 0:020912dfa221 38 PinName LeftIntPin = D9;
charlesmn 0:020912dfa221 39 PinName RightIntPin = D4;
charlesmn 0:020912dfa221 40 // alternate set
charlesmn 0:020912dfa221 41 //PinName LeftIntPin = D8;
charlesmn 0:020912dfa221 42 //PinName RightIntPin = D2;
charlesmn 0:020912dfa221 43
charlesmn 0:020912dfa221 44
charlesmn 0:020912dfa221 45
charlesmn 1:ff48a20de191 46 static XNucleo53L1A2 *board=NULL;
charlesmn 0:020912dfa221 47
charlesmn 0:020912dfa221 48 #if (MBED_VERSION > 60300)
johnAlexander 2:f0ec92af4b5f 49 UnbufferedSerial pc(USBTX, USBRX);
johnAlexander 2:f0ec92af4b5f 50 extern "C" void wait_ms(int ms);
charlesmn 0:020912dfa221 51 #else
johnAlexander 2:f0ec92af4b5f 52 Serial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:020912dfa221 53 #endif
charlesmn 0:020912dfa221 54
charlesmn 0:020912dfa221 55 // flags to indicate an interrupt has happened
charlesmn 0:020912dfa221 56 static int int_centre_result = 0;
charlesmn 0:020912dfa221 57 static int int_left_result = 0;
charlesmn 0:020912dfa221 58 static int int_right_result = 0;
charlesmn 0:020912dfa221 59
charlesmn 0:020912dfa221 60 // flags to indicate an interrupt has cleared
charlesmn 0:020912dfa221 61 static int int_centre_dropped = 0;
charlesmn 0:020912dfa221 62 static int int_left_dropped = 0;
charlesmn 0:020912dfa221 63 static int int_right_dropped = 0;
charlesmn 0:020912dfa221 64
johnAlexander 3:c1e893e6752f 65 void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
charlesmn 0:020912dfa221 66
charlesmn 0:020912dfa221 67 class WaitForMeasurement {
charlesmn 0:020912dfa221 68 public:
charlesmn 0:020912dfa221 69
charlesmn 0:020912dfa221 70
charlesmn 0:020912dfa221 71 // this class services the interrupts from the ToF sensors.
charlesmn 0:020912dfa221 72 // There is a limited amount you can do in an interrupt routine; printfs,mutexes break them among other things.
charlesmn 0:020912dfa221 73 // We keep things simple by only raising a flag so all the real work is done outside the interrupt.
charlesmn 0:020912dfa221 74 // This is designed around MBED V2 which doesn't have the RTOS features that would make this work nicely e.g. semaphores/queues.
charlesmn 0:020912dfa221 75 WaitForMeasurement(): _interrupt(A1)
charlesmn 0:020912dfa221 76 {
charlesmn 0:020912dfa221 77 }
charlesmn 0:020912dfa221 78
charlesmn 0:020912dfa221 79
charlesmn 0:020912dfa221 80 // constructor - Sensor is not used and can be removed
charlesmn 0:020912dfa221 81 WaitForMeasurement(PinName pin,VL53L1_DEV Dev) : _interrupt(pin) // create the InterruptIn on the pin specified to Counter
charlesmn 0:020912dfa221 82 {
charlesmn 0:020912dfa221 83 Devlocal = Dev;
charlesmn 0:020912dfa221 84 pinlocal = pin;
charlesmn 0:020912dfa221 85
johnAlexander 2:f0ec92af4b5f 86 // #include "mbed.h"
charlesmn 0:020912dfa221 87
charlesmn 0:020912dfa221 88
charlesmn 0:020912dfa221 89 _interrupt.rise(callback(this, &WaitForMeasurement::got_interrupt)); // if interrupt happens read data
charlesmn 0:020912dfa221 90 _interrupt.fall(callback(this, &WaitForMeasurement::linedropped)); // if interupt clears, clear interrupt
charlesmn 0:020912dfa221 91
charlesmn 0:020912dfa221 92 }
charlesmn 0:020912dfa221 93
charlesmn 0:020912dfa221 94 // function is called every time an interupt is cleared. Sets flags to clear the interrupt
charlesmn 0:020912dfa221 95 void linedropped()
charlesmn 0:020912dfa221 96 {
charlesmn 0:020912dfa221 97
charlesmn 0:020912dfa221 98 if (Devlocal->i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS)
charlesmn 0:020912dfa221 99 int_centre_dropped = 1; //flag to main that interrupt cleared. A flag is raised which allows the main routine to service interupt.
charlesmn 0:020912dfa221 100 if (Devlocal->i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS)
charlesmn 0:020912dfa221 101 int_left_dropped = 1; //flag to main that interrupt cleared
charlesmn 0:020912dfa221 102 if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS)
charlesmn 0:020912dfa221 103 int_right_dropped = 1; //flag to main that interrupt cleared
charlesmn 0:020912dfa221 104
charlesmn 0:020912dfa221 105 }
charlesmn 0:020912dfa221 106
charlesmn 0:020912dfa221 107 // function is called every time an interupt is seen. A flag is raised which allows the main routine to service the interupt.
charlesmn 0:020912dfa221 108 void got_interrupt()
charlesmn 0:020912dfa221 109 {
charlesmn 0:020912dfa221 110 DigitalIn intp(pinlocal);
charlesmn 0:020912dfa221 111
charlesmn 0:020912dfa221 112 if (Devlocal->i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS)
charlesmn 0:020912dfa221 113 int_centre_result = 1; //flag to main that interrupt happened
charlesmn 0:020912dfa221 114 if (Devlocal->i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS)
charlesmn 0:020912dfa221 115 int_left_result = 1; //flag to main that interrupt happened7
charlesmn 0:020912dfa221 116 if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS)
charlesmn 0:020912dfa221 117 int_right_result = 1; //flag to main that interrupt happened
charlesmn 0:020912dfa221 118 }
charlesmn 0:020912dfa221 119
charlesmn 0:020912dfa221 120
charlesmn 0:020912dfa221 121 //destructor
charlesmn 0:020912dfa221 122 ~WaitForMeasurement()
charlesmn 0:020912dfa221 123 {
charlesmn 0:020912dfa221 124 printf("WaitForMeasurement destruction \n");
charlesmn 0:020912dfa221 125 }
charlesmn 0:020912dfa221 126
charlesmn 0:020912dfa221 127 private:
charlesmn 0:020912dfa221 128 InterruptIn _interrupt;
charlesmn 0:020912dfa221 129 PinName pinlocal;
charlesmn 0:020912dfa221 130 VL53L1_DEV Devlocal;
charlesmn 0:020912dfa221 131 int status;
charlesmn 0:020912dfa221 132
charlesmn 0:020912dfa221 133 };
charlesmn 0:020912dfa221 134
charlesmn 0:020912dfa221 135
charlesmn 0:020912dfa221 136
johnAlexander 3:c1e893e6752f 137
johnAlexander 3:c1e893e6752f 138 VL53L1_Dev_t devCentre;
johnAlexander 3:c1e893e6752f 139 VL53L1_Dev_t devLeft;
johnAlexander 3:c1e893e6752f 140 VL53L1_Dev_t devRight;
johnAlexander 3:c1e893e6752f 141 VL53L1_DEV Dev = &devCentre;
charlesmn 0:020912dfa221 142
charlesmn 0:020912dfa221 143
johnAlexander 3:c1e893e6752f 144 /* flags that handle interrupt request for sensor and user blue button*/
johnAlexander 3:c1e893e6752f 145 volatile bool int_sensor = false;
johnAlexander 3:c1e893e6752f 146 volatile bool int_stop = false;
johnAlexander 3:c1e893e6752f 147
johnAlexander 3:c1e893e6752f 148 /* ISR callback function of the centre sensor */
johnAlexander 3:c1e893e6752f 149 void sensor_irq(void)
johnAlexander 3:c1e893e6752f 150 {
johnAlexander 3:c1e893e6752f 151 int_sensor = true;
johnAlexander 3:c1e893e6752f 152 board->sensor_centre->disable_interrupt_measure_detection_irq();
johnAlexander 3:c1e893e6752f 153 }
johnAlexander 3:c1e893e6752f 154
johnAlexander 3:c1e893e6752f 155 /* Start the sensor ranging */
johnAlexander 3:c1e893e6752f 156 int init_sensor()
johnAlexander 3:c1e893e6752f 157 {
johnAlexander 3:c1e893e6752f 158 int status = 0;
johnAlexander 3:c1e893e6752f 159 /* start the measure on the center sensor */
johnAlexander 3:c1e893e6752f 160 if (NULL != board->sensor_centre) {
johnAlexander 3:c1e893e6752f 161 status = board->sensor_centre->stop_measurement();
johnAlexander 3:c1e893e6752f 162 if (status != 0) {
johnAlexander 3:c1e893e6752f 163 return status;
johnAlexander 3:c1e893e6752f 164 }
johnAlexander 3:c1e893e6752f 165
johnAlexander 3:c1e893e6752f 166 status = board->sensor_centre->start_measurement(&sensor_irq);
johnAlexander 3:c1e893e6752f 167 if (status != 0) {
johnAlexander 3:c1e893e6752f 168 return status;
johnAlexander 3:c1e893e6752f 169 }
johnAlexander 3:c1e893e6752f 170 }
johnAlexander 3:c1e893e6752f 171 return status;
johnAlexander 3:c1e893e6752f 172 }
johnAlexander 3:c1e893e6752f 173
johnAlexander 3:c1e893e6752f 174 /* ISR callback function of the user blue button to switch measuring sensor. */
johnAlexander 3:c1e893e6752f 175 void measuring_stop_irq(void)
johnAlexander 3:c1e893e6752f 176 {
johnAlexander 3:c1e893e6752f 177 int_stop = true;
johnAlexander 3:c1e893e6752f 178 }
johnAlexander 3:c1e893e6752f 179
charlesmn 0:020912dfa221 180 /*=================================== Main ==================================
charlesmn 0:020912dfa221 181 =============================================================================*/
charlesmn 0:020912dfa221 182 int main()
charlesmn 0:020912dfa221 183 {
charlesmn 0:020912dfa221 184 int status;
charlesmn 1:ff48a20de191 185 VL53L1 * Sensor;
charlesmn 0:020912dfa221 186 uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
charlesmn 0:020912dfa221 187
charlesmn 0:020912dfa221 188 //mbed compiler claims these are never used but they are.
charlesmn 0:020912dfa221 189 WaitForMeasurement* int2;
charlesmn 0:020912dfa221 190 WaitForMeasurement* int1;
charlesmn 0:020912dfa221 191 WaitForMeasurement* int3;
charlesmn 0:020912dfa221 192
charlesmn 0:020912dfa221 193
charlesmn 0:020912dfa221 194 pc.baud(115200); // baud rate is important as printf statements take a lot of time
charlesmn 0:020912dfa221 195
johnAlexander 3:c1e893e6752f 196 printf("Autonomous Interrupt, mbed = %d \r\n",MBED_VERSION);
charlesmn 0:020912dfa221 197
charlesmn 0:020912dfa221 198 // create i2c interface
charlesmn 0:020912dfa221 199 ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
johnAlexander 3:c1e893e6752f 200 /* creates the 53L1A2 expansion board singleton obj */
johnAlexander 3:c1e893e6752f 201 board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, LeftIntPin, RightIntPin);
charlesmn 0:020912dfa221 202
charlesmn 0:020912dfa221 203 dev_I2C->frequency(400000); //also needs doing in spi_interface.c
johnAlexander 3:c1e893e6752f 204
charlesmn 0:020912dfa221 205 printf("board created!\r\n");
charlesmn 0:020912dfa221 206
charlesmn 0:020912dfa221 207 /* init the 53L1A1 expansion board with default values */
charlesmn 0:020912dfa221 208 status = board->init_board();
charlesmn 0:020912dfa221 209 if (status) {
charlesmn 0:020912dfa221 210 printf("Failed to init board!\r\n");
charlesmn 0:020912dfa221 211 return 0;
charlesmn 0:020912dfa221 212 }
johnAlexander 3:c1e893e6752f 213
charlesmn 0:020912dfa221 214 printf("board initiated! - %d\r\n", status);
johnAlexander 3:c1e893e6752f 215
johnAlexander 3:c1e893e6752f 216 /* init an array with chars to id the sensors */
johnAlexander 3:c1e893e6752f 217 status = init_sensor();
johnAlexander 3:c1e893e6752f 218 if (status != 0) {
johnAlexander 3:c1e893e6752f 219 printf("Failed to init sensors!\r\n");
johnAlexander 3:c1e893e6752f 220 return status;
johnAlexander 3:c1e893e6752f 221 }
johnAlexander 3:c1e893e6752f 222
charlesmn 0:020912dfa221 223
johnAlexander 3:c1e893e6752f 224 Dev=&devCentre;
johnAlexander 3:c1e893e6752f 225 Sensor=board->sensor_centre;
johnAlexander 3:c1e893e6752f 226 Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
johnAlexander 3:c1e893e6752f 227 printf("configuring centre channel \n");
johnAlexander 3:c1e893e6752f 228
johnAlexander 3:c1e893e6752f 229 // configure the sensors
johnAlexander 3:c1e893e6752f 230 Dev->comms_speed_khz = 400;
johnAlexander 3:c1e893e6752f 231 Dev->comms_type = 1;
charlesmn 0:020912dfa221 232
johnAlexander 3:c1e893e6752f 233 /* Device Initialization and setting */
johnAlexander 3:c1e893e6752f 234 status = Sensor->vl53L1_DataInit();
johnAlexander 3:c1e893e6752f 235 status = Sensor->vl53L1_StaticInit();
johnAlexander 3:c1e893e6752f 236 status = Sensor->vl53L1_SetPresetMode(VL53L1_PRESETMODE_AUTONOMOUS);
johnAlexander 3:c1e893e6752f 237 status = Sensor->vl53L1_SetDistanceMode(VL53L1_DISTANCEMODE_LONG);
johnAlexander 3:c1e893e6752f 238 status = Sensor->vl53L1_SetMeasurementTimingBudgetMicroSeconds( 200 * 1000);
charlesmn 0:020912dfa221 239
charlesmn 0:020912dfa221 240
johnAlexander 3:c1e893e6752f 241 // set the ranging and signal rate filter
johnAlexander 3:c1e893e6752f 242 VL53L1_DetectionConfig_t thresholdconfig;
johnAlexander 3:c1e893e6752f 243
johnAlexander 3:c1e893e6752f 244 thresholdconfig.DetectionMode = VL53L1_DETECTION_DISTANCE_ONLY; /// type VL53L1_DetectionMode in vl53l1_def.h
johnAlexander 3:c1e893e6752f 245 thresholdconfig.Distance.CrossMode = VL53L1_THRESHOLD_IN_WINDOW; // type VL53L1_ThresholdMode. ignore if distance outside high and low
johnAlexander 3:c1e893e6752f 246 thresholdconfig.Distance.High = 300; // high distance in mm
johnAlexander 3:c1e893e6752f 247 thresholdconfig.Distance.Low = 200; // low distance in mm
johnAlexander 3:c1e893e6752f 248 thresholdconfig.Rate.CrossMode=0; // type VL53L1_ThresholdMode VL53L1_THRESHOLD_CROSSED_LOW VL53L1_THRESHOLD_CROSSED_HIGH VL53L1_THRESHOLD_OUT_OF_WINDOW VL53L1_THRESHOLD_IN_WINDOW
johnAlexander 3:c1e893e6752f 249 thresholdconfig.Rate.High = 0;
johnAlexander 3:c1e893e6752f 250 thresholdconfig.Rate.Low = 0;
johnAlexander 3:c1e893e6752f 251 thresholdconfig.IntrNoTarget = 0 ;// if 1 produce an interrupt even if there is no target found e.g out of range
johnAlexander 3:c1e893e6752f 252
johnAlexander 3:c1e893e6752f 253 status = Sensor->vl53L1_SetThresholdConfig(&thresholdconfig);
charlesmn 0:020912dfa221 254
johnAlexander 3:c1e893e6752f 255 // create interrupt handlers for the three sensors and start measurements
johnAlexander 3:c1e893e6752f 256 if (board->sensor_centre!= NULL )
johnAlexander 3:c1e893e6752f 257 {
johnAlexander 3:c1e893e6752f 258 printf("starting interrupt centre\n");
johnAlexander 3:c1e893e6752f 259 devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
johnAlexander 3:c1e893e6752f 260 int1 = new WaitForMeasurement(CentreIntPin,&devCentre); // create interrupt handler
johnAlexander 3:c1e893e6752f 261 status = board->sensor_centre->vl53L1_StartMeasurement();
johnAlexander 3:c1e893e6752f 262 }
johnAlexander 3:c1e893e6752f 263
johnAlexander 3:c1e893e6752f 264 printf("loop forever\n");
johnAlexander 3:c1e893e6752f 265
johnAlexander 3:c1e893e6752f 266 // loop waiting for interrupts to happen. This is signaled by int_centre_result,int_left_result or int_right_result
johnAlexander 3:c1e893e6752f 267 // being non zero. When the interrupts clear this is signaled by int_centre_dropped,int_left_dropped and int_right_dropped.
johnAlexander 3:c1e893e6752f 268 // These are set back to zero when processing is completed
johnAlexander 3:c1e893e6752f 269 /* while (1)
johnAlexander 3:c1e893e6752f 270 {
johnAlexander 3:c1e893e6752f 271 VL53L1_MultiRangingData_t MultiRangingData;
johnAlexander 3:c1e893e6752f 272 VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
johnAlexander 3:c1e893e6752f 273
johnAlexander 3:c1e893e6752f 274 if ( int_left_dropped || int_centre_dropped || int_right_dropped )
johnAlexander 3:c1e893e6752f 275 wait_ms(30);
johnAlexander 3:c1e893e6752f 276
johnAlexander 3:c1e893e6752f 277 // when the interrupt pin goes loww start new measurement
johnAlexander 3:c1e893e6752f 278 if (int_centre_dropped != 0)
charlesmn 0:020912dfa221 279 {
johnAlexander 3:c1e893e6752f 280 int_centre_dropped = 0;
johnAlexander 3:c1e893e6752f 281 status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
charlesmn 0:020912dfa221 282 }
johnAlexander 3:c1e893e6752f 283
johnAlexander 3:c1e893e6752f 284 if (int_centre_result != 0)
charlesmn 0:020912dfa221 285 {
johnAlexander 3:c1e893e6752f 286 status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
johnAlexander 3:c1e893e6752f 287 if (status == 0)
johnAlexander 3:c1e893e6752f 288 {
johnAlexander 3:c1e893e6752f 289 print_results( devCentre.i2c_slave_address, pMultiRangingData );
johnAlexander 3:c1e893e6752f 290 }
johnAlexander 3:c1e893e6752f 291
johnAlexander 3:c1e893e6752f 292 // clear interrupt flag
johnAlexander 3:c1e893e6752f 293 int_centre_result = 0;
johnAlexander 3:c1e893e6752f 294
johnAlexander 3:c1e893e6752f 295 }
johnAlexander 3:c1e893e6752f 296 wait_ms( 1 * 10);
johnAlexander 3:c1e893e6752f 297 }
johnAlexander 3:c1e893e6752f 298 */
johnAlexander 3:c1e893e6752f 299
johnAlexander 3:c1e893e6752f 300 while (true) {
johnAlexander 3:c1e893e6752f 301 if (int_sensor) {
johnAlexander 3:c1e893e6752f 302 int_sensor = false;
johnAlexander 3:c1e893e6752f 303 status = board->sensor_centre->handle_irq(&distance);
johnAlexander 3:c1e893e6752f 304 printf("distance: %d\r\n", distance);
charlesmn 0:020912dfa221 305 }
charlesmn 0:020912dfa221 306
johnAlexander 3:c1e893e6752f 307 if (int_stop) {
johnAlexander 3:c1e893e6752f 308 printf("\r\nEnding loop mode \r\n");
johnAlexander 3:c1e893e6752f 309 break;
charlesmn 0:020912dfa221 310 }
charlesmn 0:020912dfa221 311 }
charlesmn 0:020912dfa221 312
johnAlexander 3:c1e893e6752f 313 }
johnAlexander 3:c1e893e6752f 314
charlesmn 0:020912dfa221 315
charlesmn 0:020912dfa221 316 // print what ever results are required
johnAlexander 2:f0ec92af4b5f 317 void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
charlesmn 0:020912dfa221 318 {
johnAlexander 2:f0ec92af4b5f 319 int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
charlesmn 0:020912dfa221 320
johnAlexander 2:f0ec92af4b5f 321 int RoiNumber=pMultiRangingData->RoiNumber;
charlesmn 0:020912dfa221 322
johnAlexander 2:f0ec92af4b5f 323 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
johnAlexander 2:f0ec92af4b5f 324 {
johnAlexander 2:f0ec92af4b5f 325 for(int j=0;j<no_of_object_found;j++){
johnAlexander 2:f0ec92af4b5f 326 if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
johnAlexander 2:f0ec92af4b5f 327 (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL))
charlesmn 0:020912dfa221 328 {
johnAlexander 2:f0ec92af4b5f 329 printf("\t i2cAddr=%d \t RoiNumber=%d \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
johnAlexander 2:f0ec92af4b5f 330 devNumber, RoiNumber,
johnAlexander 2:f0ec92af4b5f 331 pMultiRangingData->RangeData[j].RangeStatus,
johnAlexander 2:f0ec92af4b5f 332 pMultiRangingData->RangeData[j].RangeMilliMeter,
johnAlexander 2:f0ec92af4b5f 333 pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535.0,
johnAlexander 2:f0ec92af4b5f 334 pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535.0);
johnAlexander 2:f0ec92af4b5f 335 }
johnAlexander 2:f0ec92af4b5f 336 }
johnAlexander 2:f0ec92af4b5f 337 } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:020912dfa221 338 }
charlesmn 0:020912dfa221 339
charlesmn 0:020912dfa221 340
charlesmn 0:020912dfa221 341 #if (MBED_VERSION > 60300)
charlesmn 0:020912dfa221 342 extern "C" void wait_ms(int ms)
charlesmn 0:020912dfa221 343 {
charlesmn 0:020912dfa221 344 thread_sleep_for(ms);
charlesmn 0:020912dfa221 345 }
charlesmn 0:020912dfa221 346 #endif
charlesmn 0:020912dfa221 347
charlesmn 0:020912dfa221 348