John Alexander
/
VL53L1CB_shield_3sensor_polling_multizone
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Revision 10:cf7d563200fc, committed 2021-05-13
- Comitter:
- johnAlexander
- Date:
- Thu May 13 09:17:02 2021 +0000
- Parent:
- 9:0a3e1affe004
- Commit message:
- debug trials
Changed in this revision
| X_NUCLEO_53L1A2.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/X_NUCLEO_53L1A2.lib Fri May 07 13:45:18 2021 +0000 +++ b/X_NUCLEO_53L1A2.lib Thu May 13 09:17:02 2021 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/teams/ST-Expansion-SW-Team/code/X_NUCLEO_53L1A2/#070884954aae +https://os.mbed.com/teams/ST-Expansion-SW-Team/code/X_NUCLEO_53L1A2/#57998dc85ed4
--- a/main.cpp Fri May 07 13:45:18 2021 +0000
+++ b/main.cpp Thu May 13 09:17:02 2021 +0000
@@ -79,53 +79,90 @@
printf("board initiated! - %d\r\n", status);
// create the sensor controller classes
-
-
+ VL53L1_RoiConfig_t roiConfig;
+
+ roiConfig.NumberOfRoi =3;
+
+ roiConfig.UserRois[0].TopLeftX = 0;
+ roiConfig.UserRois[0].TopLeftY = 9;
+ roiConfig.UserRois[0].BotRightX = 4;
+ roiConfig.UserRois[0].BotRightY = 5;
+
+ roiConfig.UserRois[1].TopLeftX = 5;
+ roiConfig.UserRois[1].TopLeftY = 9;
+ roiConfig.UserRois[1].BotRightX = 9;
+ roiConfig.UserRois[1].BotRightY = 4;
+
+ roiConfig.UserRois[2].TopLeftX = 11;
+ roiConfig.UserRois[2].TopLeftY = 9;
+ roiConfig.UserRois[2].BotRightX = 15;
+ roiConfig.UserRois[2].BotRightY = 5;
+
+// start of setup of central sensor
Dev=&devCentre;
- Sensor=board->sensor_centre;
- Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
- printf("configuring centre channel \n");
-
// configure the sensors
Dev->comms_speed_khz = 400;
-
Dev->comms_type = 1;
+ Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
+ devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
+
+ Sensor=board->sensor_centre;
- Sensor->VL53L1_RdWord(Dev, 0x01, &wordData);
- printf("VL53L1X: %02X %d\n\r", wordData,Dev->i2c_slave_address);
+ printf("configuring centre channel \n");
+
+// Sensor->VL53L1_RdWord(Dev, 0x01, &wordData);
+// printf("VL53L1X: %02X %d\n\r", wordData,Dev->i2c_slave_address);
/* Device Initialization and setting */
status = Sensor->vl53L1_DataInit();
status = Sensor->vl53L1_StaticInit();
status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_MULTIZONES_SCANNING);
status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
-
+
- VL53L1_RoiConfig_t roiConfig;
- roiConfig.NumberOfRoi =3;
- roiConfig.UserRois[0].TopLeftX = 0;
- roiConfig.UserRois[0].TopLeftY = 9;
- roiConfig.UserRois[0].BotRightX = 4;
- roiConfig.UserRois[0].BotRightY = 5;
- roiConfig.UserRois[1].TopLeftX = 5;
- roiConfig.UserRois[1].TopLeftY = 9;
- roiConfig.UserRois[1].BotRightX = 9;
- roiConfig.UserRois[1].BotRightY = 4;
- roiConfig.UserRois[2].TopLeftX = 11;
- roiConfig.UserRois[2].TopLeftY = 9;
- roiConfig.UserRois[2].BotRightX = 15;
- roiConfig.UserRois[2].BotRightY = 5;
status = Sensor->vl53L1_SetROI( &roiConfig);
+
printf("VL53L1_SetROI %d \n",status);
- devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
status = board->sensor_centre->vl53L1_StartMeasurement();
+
- // looping polling for results
+// start of setup of left satellite
+ Dev=&devLeft;
+
+// configure the sensors
+ Dev->comms_speed_khz = 400;
+ Dev->comms_type = 1;
+ Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
+ devLeft.i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
+
+ Sensor=board->sensor_left;
+
+ printf("configuring centre channel \n");
+
+// Sensor->VL53L1_RdWord(Dev, 0x01, &wordData);
+// printf("VL53L1X: %02X %d\n\r", wordData,Dev->i2c_slave_address);
+/* Device Initialization and setting */
+ status = Sensor->vl53L1_DataInit();
+ status = Sensor->vl53L1_StaticInit();
+ status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_MULTIZONES_SCANNING);
+ status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
+
+
+ status = Sensor->vl53L1_SetROI( &roiConfig);
+
+ printf("VL53L1_SetROI %d \n",status);
+
+ status = board->sensor_left->vl53L1_StartMeasurement();
+
+
+ VL53L1_MultiRangingData_t MultiRangingData;
+ VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
+
+ // looping polling for results
while (1)
{
- VL53L1_MultiRangingData_t MultiRangingData;
- VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
+ pMultiRangingData = &MultiRangingData;
// wait for result
status = board->sensor_centre->vl53L1_WaitMeasurementDataReady();
@@ -134,15 +171,29 @@
// if valid, print it
if(status==0) {
print_results(devCentre.i2c_slave_address, pMultiRangingData );
- status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
+ status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
} //if(status==0)
else
{
printf("VL53L1_GetMultiRangingData centre %d \n",status);
}
-
- wait_ms( 1 * 10);
+
+ // wait for result
+ status = board->sensor_left->vl53L1_WaitMeasurementDataReady();
+ // get the result
+ status = board->sensor_left->vl53L1_GetMultiRangingData( pMultiRangingData);
+ // if valid, print it
+ if(status==0) {
+ print_results(devLeft.i2c_slave_address, pMultiRangingData );
+ status = board->sensor_left->vl53L1_ClearInterruptAndStartMeasurement();
+
+ } //if(status==0)
+ else
+ {
+ printf("VL53L1_GetMultiRangingData centre %d \n",status);
+ }
+
}
}