John Alexander / Mbed OS VL53L1CB_shield_3sensors_multi_interrupt

enlarge functional simple ranging/interrupt example, to cater for multi-zone.

Dependencies:   X_NUCLEO_53L1A2

main.cpp@4:396e4d72f19e, 2021-05-13 (annotated)

Committer:
johnAlexander
Date:
Thu May 13 10:57:15 2021 +0000
Revision:
4:396e4d72f19e
Parent:
3:09f23aad108a 
debug trials.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:e91189a84ad9 1 /*
johnAlexander 2:25bcfa4b1aca 2 * This VL53L1CB Expansion board test application performs range measurements
johnAlexander 2:25bcfa4b1aca 3 * using the onboard embedded sensor and two satellites, in interrupt mode.
johnAlexander 2:25bcfa4b1aca 4 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
johnAlexander 2:25bcfa4b1aca 5 *
johnAlexander 2:25bcfa4b1aca 6 * This is designed to work with MBed v2.x, & MBedOS v5.x / v6.x.
johnAlexander 2:25bcfa4b1aca 7 *
johnAlexander 2:25bcfa4b1aca 8 * The Reset button can be used to restart the program.
johnAlexander 2:25bcfa4b1aca 9 *
johnAlexander 2:25bcfa4b1aca 10 * *** NOTE :
johnAlexander 2:25bcfa4b1aca 11 * Default Mbed build system settings disable printf() floating-point support.
johnAlexander 2:25bcfa4b1aca 12 * Offline builds can enable this, again.
johnAlexander 2:25bcfa4b1aca 13 * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
johnAlexander 2:25bcfa4b1aca 14 * .\mbed-os\platform\mbed_lib.json
charlesmn 0:e91189a84ad9 15 *
johnAlexander 2:25bcfa4b1aca 16 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
johnAlexander 2:25bcfa4b1aca 17 * the X-NUCELO-53L1A2 expansion board are not made/OFF.
johnAlexander 2:25bcfa4b1aca 18 * These links must be made to allow interrupts from the Satellite boards
johnAlexander 2:25bcfa4b1aca 19 * to be received.
johnAlexander 2:25bcfa4b1aca 20 * U11 and U18 must be made/ON to allow interrupts to be received from the
johnAlexander 2:25bcfa4b1aca 21 * INT_L & INT_R positions; or
johnAlexander 2:25bcfa4b1aca 22 * U10 and U15 must be made/ON to allow interrupts to be received from the
johnAlexander 2:25bcfa4b1aca 23 * Alternate INT_L & INT_R positions.
johnAlexander 2:25bcfa4b1aca 24 * The X_NUCLEO_53L1A2 library defaults to use the INT_L/INT_R positions.
johnAlexander 2:25bcfa4b1aca 25 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
johnAlexander 2:25bcfa4b1aca 26 * Alternate INT_L is on CN5 Connector pin 2 as D9.
johnAlexander 2:25bcfa4b1aca 27 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
johnAlexander 2:25bcfa4b1aca 28 * Alternate INT_R is on CN9 Connector pin 5 as D4.
johnAlexander 2:25bcfa4b1aca 29 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A2/
charlesmn 0:e91189a84ad9 30 *
charlesmn 0:e91189a84ad9 31 */
charlesmn 0:e91189a84ad9 32
charlesmn 0:e91189a84ad9 33 #include <stdio.h>
johnAlexander 2:25bcfa4b1aca 34 #include <time.h>
charlesmn 0:e91189a84ad9 35
charlesmn 0:e91189a84ad9 36 #include "mbed.h"
johnAlexander 2:25bcfa4b1aca 37
charlesmn 1:c67af60ec906 38 #include "XNucleo53L1A2.h"
charlesmn 0:e91189a84ad9 39 #include "ToF_I2C.h"
charlesmn 0:e91189a84ad9 40
charlesmn 0:e91189a84ad9 41
charlesmn 0:e91189a84ad9 42 // define the i2c comms pins
charlesmn 0:e91189a84ad9 43 #define I2C_SDA D14
charlesmn 0:e91189a84ad9 44 #define I2C_SCL D15
charlesmn 0:e91189a84ad9 45
charlesmn 0:e91189a84ad9 46 #define NUM_SENSORS 3
charlesmn 0:e91189a84ad9 47
charlesmn 1:c67af60ec906 48 // define interrupt pins
charlesmn 0:e91189a84ad9 49 PinName CentreIntPin = A2;
charlesmn 0:e91189a84ad9 50 // the satellite pins depend on solder blobs on the back of the shield.
charlesmn 0:e91189a84ad9 51 // they may not exist or may be one of two sets.
charlesmn 0:e91189a84ad9 52 // the centre pin always exists
johnAlexander 2:25bcfa4b1aca 53 //PinName LeftIntPin = D8;
johnAlexander 2:25bcfa4b1aca 54 PinName RightIntPin = D2;
charlesmn 0:e91189a84ad9 55 // alternate set
johnAlexander 2:25bcfa4b1aca 56 PinName LeftIntPin = D9;
johnAlexander 2:25bcfa4b1aca 57 //PinName RightIntPin = D4;
charlesmn 0:e91189a84ad9 58
charlesmn 0:e91189a84ad9 59
charlesmn 1:c67af60ec906 60 static XNucleo53L1A2 *board=NULL;
charlesmn 0:e91189a84ad9 61
charlesmn 0:e91189a84ad9 62 #if (MBED_VERSION > 60300)
johnAlexander 2:25bcfa4b1aca 63 UnbufferedSerial pc(USBTX, USBRX);
charlesmn 0:e91189a84ad9 64 extern "C" void wait_ms(int ms);
charlesmn 0:e91189a84ad9 65 #else
charlesmn 0:e91189a84ad9 66 Serial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:e91189a84ad9 67 #endif
charlesmn 0:e91189a84ad9 68
johnAlexander 2:25bcfa4b1aca 69 #if TARGET_STM // we are cross compiling for an STM32-Nucleo
johnAlexander 2:25bcfa4b1aca 70 InterruptIn stop_button(BUTTON1);
johnAlexander 2:25bcfa4b1aca 71 #endif
johnAlexander 2:25bcfa4b1aca 72 #if TARGET_Freescale // we are cross-compiling for NXP FRDM boards.
johnAlexander 2:25bcfa4b1aca 73 InterruptIn stop_button(SW2);
johnAlexander 2:25bcfa4b1aca 74 #endif
charlesmn 0:e91189a84ad9 75
johnAlexander 4:396e4d72f19e 76 //void process_interrupt( VL53L1 * sensor,VL53L1_DEV dev );
charlesmn 0:e91189a84ad9 77 void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
charlesmn 0:e91189a84ad9 78
charlesmn 0:e91189a84ad9 79
johnAlexander 2:25bcfa4b1aca 80 VL53L1_Dev_t devCentre;
johnAlexander 2:25bcfa4b1aca 81 VL53L1_Dev_t devLeft;
johnAlexander 2:25bcfa4b1aca 82 VL53L1_Dev_t devRight;
johnAlexander 2:25bcfa4b1aca 83 VL53L1_DEV Dev = &devCentre;
charlesmn 0:e91189a84ad9 84
johnAlexander 2:25bcfa4b1aca 85 /* Installed sensors count */
johnAlexander 2:25bcfa4b1aca 86 int sensorCnt = 0;
johnAlexander 2:25bcfa4b1aca 87
johnAlexander 2:25bcfa4b1aca 88 /* installed sensors prefixes */
johnAlexander 2:25bcfa4b1aca 89 char installedSensors[3];
johnAlexander 2:25bcfa4b1aca 90
johnAlexander 2:25bcfa4b1aca 91 /* interrupt requests */
johnAlexander 2:25bcfa4b1aca 92 volatile bool centerSensor = false;
johnAlexander 2:25bcfa4b1aca 93 volatile bool leftSensor = false;
johnAlexander 2:25bcfa4b1aca 94 volatile bool rightSensor = false;
johnAlexander 2:25bcfa4b1aca 95 volatile bool int_measuring_stop = false;
johnAlexander 2:25bcfa4b1aca 96
johnAlexander 2:25bcfa4b1aca 97 /* Current sensor number*/
johnAlexander 2:25bcfa4b1aca 98 volatile int currentSensor = 0;
charlesmn 0:e91189a84ad9 99
johnAlexander 2:25bcfa4b1aca 100 /* current displayed sensor change IRQ */
johnAlexander 2:25bcfa4b1aca 101 volatile bool switchChanged = false;
charlesmn 0:e91189a84ad9 102
johnAlexander 2:25bcfa4b1aca 103 /* ISR callback function of the centre sensor */
johnAlexander 2:25bcfa4b1aca 104 void sensor_centre_irq(void)
charlesmn 0:e91189a84ad9 105 {
johnAlexander 2:25bcfa4b1aca 106 centerSensor = true;
johnAlexander 2:25bcfa4b1aca 107 board->sensor_centre->disable_interrupt_measure_detection_irq();
johnAlexander 2:25bcfa4b1aca 108 }
johnAlexander 2:25bcfa4b1aca 109
johnAlexander 2:25bcfa4b1aca 110 /* ISR callback function of the left sensor */
johnAlexander 2:25bcfa4b1aca 111 void sensor_left_irq(void)
johnAlexander 2:25bcfa4b1aca 112 {
johnAlexander 2:25bcfa4b1aca 113 leftSensor = true;
johnAlexander 2:25bcfa4b1aca 114 board->sensor_left->disable_interrupt_measure_detection_irq();
charlesmn 0:e91189a84ad9 115 }
charlesmn 0:e91189a84ad9 116
johnAlexander 2:25bcfa4b1aca 117 /* ISR callback function of the right sensor */
johnAlexander 2:25bcfa4b1aca 118 void sensor_right_irq(void)
johnAlexander 2:25bcfa4b1aca 119 {
johnAlexander 2:25bcfa4b1aca 120 rightSensor = true;
johnAlexander 2:25bcfa4b1aca 121 board->sensor_right->disable_interrupt_measure_detection_irq();
johnAlexander 2:25bcfa4b1aca 122 }
charlesmn 0:e91189a84ad9 123
johnAlexander 2:25bcfa4b1aca 124 /* ISR callback function of the user blue button to switch measuring sensor. */
johnAlexander 2:25bcfa4b1aca 125 void switch_measuring_sensor_irq(void)
johnAlexander 2:25bcfa4b1aca 126 {
johnAlexander 2:25bcfa4b1aca 127 stop_button.disable_irq();
johnAlexander 2:25bcfa4b1aca 128 switchChanged = true;
johnAlexander 2:25bcfa4b1aca 129 }
johnAlexander 2:25bcfa4b1aca 130
johnAlexander 2:25bcfa4b1aca 131 /*
johnAlexander 2:25bcfa4b1aca 132 * This function calls the interrupt handler for each sensor
johnAlexander 2:25bcfa4b1aca 133 * and outputs the range
johnAlexander 2:25bcfa4b1aca 134 */
johnAlexander 2:25bcfa4b1aca 135 inline void measure_sensors()
johnAlexander 2:25bcfa4b1aca 136 {
johnAlexander 2:25bcfa4b1aca 137 int status = 0;
johnAlexander 2:25bcfa4b1aca 138 bool current = false;
johnAlexander 3:09f23aad108a 139
johnAlexander 2:25bcfa4b1aca 140 uint16_t distance = 0;
johnAlexander 3:09f23aad108a 141
johnAlexander 3:09f23aad108a 142 VL53L1_MultiRangingData_t MultiRangingData;
johnAlexander 3:09f23aad108a 143 VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
johnAlexander 2:25bcfa4b1aca 144
johnAlexander 2:25bcfa4b1aca 145 /* Handle the interrupt and output the range from the centre sensor */
johnAlexander 2:25bcfa4b1aca 146 if (centerSensor) {
johnAlexander 2:25bcfa4b1aca 147 centerSensor = false;
johnAlexander 3:09f23aad108a 148
johnAlexander 4:396e4d72f19e 149 // get the result
johnAlexander 4:396e4d72f19e 150 status = board->sensor_centre->vl53L1_GetMultiRangingData(pMultiRangingData);
johnAlexander 2:25bcfa4b1aca 151 status = board->sensor_centre->VL53L1_GetDistance(&distance);
charlesmn 0:e91189a84ad9 152
johnAlexander 2:25bcfa4b1aca 153 current = (currentSensor == 0);
johnAlexander 2:25bcfa4b1aca 154 if (current) {
johnAlexander 4:396e4d72f19e 155 print_results(devCentre.i2c_slave_address, pMultiRangingData );
johnAlexander 2:25bcfa4b1aca 156 printf("Centre: %d\r\n", distance);
johnAlexander 4:396e4d72f19e 157 }
johnAlexander 4:396e4d72f19e 158 // status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
johnAlexander 3:09f23aad108a 159 status = board->sensor_centre->VL53L1_ClearInterrupt();
johnAlexander 3:09f23aad108a 160 board->sensor_centre->enable_interrupt_measure_detection_irq();
charlesmn 0:e91189a84ad9 161 }
charlesmn 0:e91189a84ad9 162
johnAlexander 2:25bcfa4b1aca 163 /* Handle the interrupt and output the range from the left sensor */
johnAlexander 2:25bcfa4b1aca 164 if (leftSensor) {
johnAlexander 2:25bcfa4b1aca 165 leftSensor = false;
johnAlexander 3:09f23aad108a 166
johnAlexander 4:396e4d72f19e 167 // get the result
johnAlexander 4:396e4d72f19e 168 status = board->sensor_left->vl53L1_GetMultiRangingData(pMultiRangingData);
johnAlexander 2:25bcfa4b1aca 169 status = board->sensor_left->VL53L1_GetDistance(&distance);
johnAlexander 2:25bcfa4b1aca 170
johnAlexander 2:25bcfa4b1aca 171 current = (installedSensors[currentSensor] == 'L');
johnAlexander 2:25bcfa4b1aca 172 if (current) {
johnAlexander 4:396e4d72f19e 173 print_results(devLeft.i2c_slave_address, pMultiRangingData );
johnAlexander 2:25bcfa4b1aca 174 printf("Left: %d\r\n", distance);
johnAlexander 4:396e4d72f19e 175 }
johnAlexander 4:396e4d72f19e 176 // status = board->sensor_left->vl53L1_ClearInterruptAndStartMeasurement();
johnAlexander 3:09f23aad108a 177 status = board->sensor_left->VL53L1_ClearInterrupt();
johnAlexander 3:09f23aad108a 178 board->sensor_left->enable_interrupt_measure_detection_irq();
johnAlexander 2:25bcfa4b1aca 179 }
charlesmn 0:e91189a84ad9 180
johnAlexander 2:25bcfa4b1aca 181 /* Handle the interrupt and output the range from the right sensor */
johnAlexander 2:25bcfa4b1aca 182 if (rightSensor) {
johnAlexander 2:25bcfa4b1aca 183 rightSensor = false;
johnAlexander 3:09f23aad108a 184
johnAlexander 4:396e4d72f19e 185 // get the result
johnAlexander 4:396e4d72f19e 186 status = board->sensor_right->vl53L1_GetMultiRangingData(pMultiRangingData);
johnAlexander 2:25bcfa4b1aca 187 status = board->sensor_right->VL53L1_GetDistance(&distance);
johnAlexander 2:25bcfa4b1aca 188
johnAlexander 2:25bcfa4b1aca 189 current = (installedSensors[currentSensor] == 'R');
johnAlexander 2:25bcfa4b1aca 190 if (current) {
johnAlexander 4:396e4d72f19e 191 print_results(devRight.i2c_slave_address, pMultiRangingData );
johnAlexander 2:25bcfa4b1aca 192 printf("Right: %d\r\n", distance);
johnAlexander 2:25bcfa4b1aca 193 }
johnAlexander 4:396e4d72f19e 194 // status = board->sensor_right->vl53L1_ClearInterruptAndStartMeasurement();
johnAlexander 3:09f23aad108a 195 status = board->sensor_right->VL53L1_ClearInterrupt();
johnAlexander 3:09f23aad108a 196 board->sensor_right->enable_interrupt_measure_detection_irq();
johnAlexander 2:25bcfa4b1aca 197 }
johnAlexander 2:25bcfa4b1aca 198 }
charlesmn 0:e91189a84ad9 199
johnAlexander 3:09f23aad108a 200 int configure_sensor(VL53L1 *Sensor)
johnAlexander 3:09f23aad108a 201 {
johnAlexander 3:09f23aad108a 202 int status = 0;
johnAlexander 3:09f23aad108a 203
johnAlexander 3:09f23aad108a 204 //configure the regions of interest for each sensor
johnAlexander 3:09f23aad108a 205 VL53L1_RoiConfig_t roiConfig;
johnAlexander 3:09f23aad108a 206
johnAlexander 3:09f23aad108a 207 roiConfig.NumberOfRoi = 3;
johnAlexander 3:09f23aad108a 208 roiConfig.UserRois[0].TopLeftX = 0;
johnAlexander 3:09f23aad108a 209 roiConfig.UserRois[0].TopLeftY = 9;
johnAlexander 3:09f23aad108a 210 roiConfig.UserRois[0].BotRightX = 4;
johnAlexander 3:09f23aad108a 211 roiConfig.UserRois[0].BotRightY = 5;
johnAlexander 4:396e4d72f19e 212
johnAlexander 3:09f23aad108a 213 roiConfig.UserRois[1].TopLeftX = 5;
johnAlexander 3:09f23aad108a 214 roiConfig.UserRois[1].TopLeftY = 9;
johnAlexander 3:09f23aad108a 215 roiConfig.UserRois[1].BotRightX = 9;
johnAlexander 3:09f23aad108a 216 roiConfig.UserRois[1].BotRightY = 4;
johnAlexander 4:396e4d72f19e 217
johnAlexander 3:09f23aad108a 218 roiConfig.UserRois[2].TopLeftX = 11;
johnAlexander 3:09f23aad108a 219 roiConfig.UserRois[2].TopLeftY = 9;
johnAlexander 3:09f23aad108a 220 roiConfig.UserRois[2].BotRightX = 15;
johnAlexander 3:09f23aad108a 221 roiConfig.UserRois[2].BotRightY = 5;
johnAlexander 4:396e4d72f19e 222
johnAlexander 3:09f23aad108a 223 status = Sensor->vl53L1_SetROI( &roiConfig);
johnAlexander 3:09f23aad108a 224
johnAlexander 4:396e4d72f19e 225 // Device Initialization and setting
johnAlexander 4:396e4d72f19e 226 status = Sensor->vl53L1_DataInit();
johnAlexander 4:396e4d72f19e 227 status = Sensor->vl53L1_StaticInit();
johnAlexander 3:09f23aad108a 228
johnAlexander 4:396e4d72f19e 229 status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_MULTIZONES_SCANNING);
johnAlexander 4:396e4d72f19e 230
johnAlexander 3:09f23aad108a 231 status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
johnAlexander 3:09f23aad108a 232 // status = Sensor->VL53L1_SetMeasurementTimingBudgetMicroSeconds( 100 * 500); // error -21 is because of this. Don't know why
johnAlexander 3:09f23aad108a 233
johnAlexander 3:09f23aad108a 234 return status;
johnAlexander 3:09f23aad108a 235 }
johnAlexander 3:09f23aad108a 236
johnAlexander 2:25bcfa4b1aca 237 /*
johnAlexander 2:25bcfa4b1aca 238 * Add to an array a character that represents the sensor and start ranging
johnAlexander 2:25bcfa4b1aca 239 */
johnAlexander 2:25bcfa4b1aca 240 int init_sensors_array()
johnAlexander 2:25bcfa4b1aca 241 {
johnAlexander 2:25bcfa4b1aca 242 int status = 0;
johnAlexander 2:25bcfa4b1aca 243 VL53L1 *Sensor;
charlesmn 0:e91189a84ad9 244 uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
charlesmn 0:e91189a84ad9 245
johnAlexander 2:25bcfa4b1aca 246 sensorCnt = 0;
charlesmn 0:e91189a84ad9 247
johnAlexander 2:25bcfa4b1aca 248 if (board->sensor_centre != NULL) {
johnAlexander 2:25bcfa4b1aca 249 Dev = &devCentre;
johnAlexander 2:25bcfa4b1aca 250 Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
johnAlexander 4:396e4d72f19e 251 devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
johnAlexander 4:396e4d72f19e 252
johnAlexander 3:09f23aad108a 253 status = configure_sensor(board->sensor_centre);
johnAlexander 2:25bcfa4b1aca 254 printf("configuring centre channel \n");
charlesmn 0:e91189a84ad9 255 }
johnAlexander 2:25bcfa4b1aca 256
johnAlexander 2:25bcfa4b1aca 257 if (board->sensor_left != NULL) {
johnAlexander 2:25bcfa4b1aca 258 Dev = &devLeft;
johnAlexander 2:25bcfa4b1aca 259 Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
johnAlexander 4:396e4d72f19e 260 devLeft.i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
johnAlexander 4:396e4d72f19e 261
johnAlexander 3:09f23aad108a 262 status = configure_sensor(board->sensor_left);
johnAlexander 2:25bcfa4b1aca 263 printf("configuring left channel \n");
johnAlexander 2:25bcfa4b1aca 264 }
johnAlexander 2:25bcfa4b1aca 265
johnAlexander 2:25bcfa4b1aca 266 if (board->sensor_right != NULL) {
johnAlexander 2:25bcfa4b1aca 267 Dev = &devRight;
johnAlexander 2:25bcfa4b1aca 268 Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
johnAlexander 4:396e4d72f19e 269 devRight.i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
johnAlexander 4:396e4d72f19e 270
johnAlexander 3:09f23aad108a 271 status = configure_sensor(board->sensor_right);
johnAlexander 2:25bcfa4b1aca 272 printf("configuring right channel \n");
johnAlexander 2:25bcfa4b1aca 273 }
johnAlexander 2:25bcfa4b1aca 274
johnAlexander 2:25bcfa4b1aca 275 /* start the measure on the center sensor */
johnAlexander 2:25bcfa4b1aca 276 if (NULL != board->sensor_centre) {
johnAlexander 2:25bcfa4b1aca 277 installedSensors[sensorCnt] = 'C';
johnAlexander 2:25bcfa4b1aca 278 status = board->sensor_centre->stop_measurement();
johnAlexander 2:25bcfa4b1aca 279 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 280 return status;
johnAlexander 2:25bcfa4b1aca 281 }
johnAlexander 2:25bcfa4b1aca 282 status = board->sensor_centre->start_measurement(&sensor_centre_irq);
johnAlexander 2:25bcfa4b1aca 283 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 284 return status;
johnAlexander 2:25bcfa4b1aca 285 }
johnAlexander 2:25bcfa4b1aca 286 ++sensorCnt;
johnAlexander 2:25bcfa4b1aca 287 }
johnAlexander 2:25bcfa4b1aca 288 /* start the measure on the left sensor */
johnAlexander 2:25bcfa4b1aca 289 if (NULL != board->sensor_left) {
johnAlexander 2:25bcfa4b1aca 290 installedSensors[sensorCnt] = 'L';
johnAlexander 2:25bcfa4b1aca 291 status = board->sensor_left->stop_measurement();
johnAlexander 2:25bcfa4b1aca 292 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 293 return status;
johnAlexander 2:25bcfa4b1aca 294 }
johnAlexander 2:25bcfa4b1aca 295 status = board->sensor_left->start_measurement(&sensor_left_irq);
johnAlexander 2:25bcfa4b1aca 296 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 297 return status;
johnAlexander 2:25bcfa4b1aca 298 }
johnAlexander 2:25bcfa4b1aca 299 ++sensorCnt;
johnAlexander 2:25bcfa4b1aca 300 }
johnAlexander 2:25bcfa4b1aca 301 /* start the measure on the right sensor */
johnAlexander 2:25bcfa4b1aca 302 if (NULL != board->sensor_right) {
johnAlexander 2:25bcfa4b1aca 303 installedSensors[sensorCnt] = 'R';
johnAlexander 2:25bcfa4b1aca 304 status = board->sensor_right->stop_measurement();
johnAlexander 2:25bcfa4b1aca 305 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 306 return status;
johnAlexander 2:25bcfa4b1aca 307 }
johnAlexander 2:25bcfa4b1aca 308 status = board->sensor_right->start_measurement(&sensor_right_irq);
johnAlexander 2:25bcfa4b1aca 309 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 310 return status;
johnAlexander 2:25bcfa4b1aca 311 }
johnAlexander 2:25bcfa4b1aca 312 ++sensorCnt;
johnAlexander 2:25bcfa4b1aca 313 }
johnAlexander 2:25bcfa4b1aca 314 currentSensor = 0;
johnAlexander 2:25bcfa4b1aca 315 return status;
johnAlexander 2:25bcfa4b1aca 316 }
johnAlexander 2:25bcfa4b1aca 317
johnAlexander 2:25bcfa4b1aca 318
johnAlexander 2:25bcfa4b1aca 319
johnAlexander 2:25bcfa4b1aca 320 /*=================================== Main ==================================
johnAlexander 2:25bcfa4b1aca 321 =============================================================================*/
johnAlexander 2:25bcfa4b1aca 322 int main()
johnAlexander 2:25bcfa4b1aca 323 {
johnAlexander 2:25bcfa4b1aca 324 int status;
johnAlexander 2:25bcfa4b1aca 325
johnAlexander 2:25bcfa4b1aca 326 stop_button.rise(&switch_measuring_sensor_irq);
johnAlexander 2:25bcfa4b1aca 327 stop_button.enable_irq();
johnAlexander 2:25bcfa4b1aca 328
johnAlexander 3:09f23aad108a 329 pc.baud(115200); // baud rate is important as printf statements take a lot of time
johnAlexander 2:25bcfa4b1aca 330
johnAlexander 2:25bcfa4b1aca 331 printf("mbed version : %d \r\n", MBED_VERSION);
johnAlexander 2:25bcfa4b1aca 332
johnAlexander 2:25bcfa4b1aca 333 // create i2c interface
johnAlexander 2:25bcfa4b1aca 334 ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
johnAlexander 2:25bcfa4b1aca 335 /* creates the 53L1A2 expansion board singleton obj */
johnAlexander 2:25bcfa4b1aca 336 board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, LeftIntPin, RightIntPin);
johnAlexander 2:25bcfa4b1aca 337
johnAlexander 2:25bcfa4b1aca 338 printf("board created!\r\n");
johnAlexander 2:25bcfa4b1aca 339
johnAlexander 2:25bcfa4b1aca 340 /* init the 53L1A1 expansion board with default values */
johnAlexander 2:25bcfa4b1aca 341 status = board->init_board();
johnAlexander 2:25bcfa4b1aca 342 if (status) {
johnAlexander 2:25bcfa4b1aca 343 printf("Failed to init board!\r\n");
johnAlexander 2:25bcfa4b1aca 344 return status;
charlesmn 0:e91189a84ad9 345 }
charlesmn 0:e91189a84ad9 346
johnAlexander 2:25bcfa4b1aca 347 printf("board initiated! - %d\r\n", status);
charlesmn 0:e91189a84ad9 348
johnAlexander 2:25bcfa4b1aca 349 /* init an array with chars to id the sensors */
johnAlexander 2:25bcfa4b1aca 350 status = init_sensors_array();
johnAlexander 2:25bcfa4b1aca 351 if (status != 0) {
johnAlexander 2:25bcfa4b1aca 352 printf("Failed to init sensors!\r\n");
johnAlexander 2:25bcfa4b1aca 353 return status;
charlesmn 0:e91189a84ad9 354 }
charlesmn 0:e91189a84ad9 355
johnAlexander 2:25bcfa4b1aca 356 printf("loop forever\n");
charlesmn 0:e91189a84ad9 357
johnAlexander 2:25bcfa4b1aca 358 /* Main ranging interrupt loop */
johnAlexander 2:25bcfa4b1aca 359 while (true) {
johnAlexander 3:09f23aad108a 360
johnAlexander 2:25bcfa4b1aca 361 measure_sensors();
johnAlexander 3:09f23aad108a 362
johnAlexander 2:25bcfa4b1aca 363 if (switchChanged) {
johnAlexander 2:25bcfa4b1aca 364 ++currentSensor;
johnAlexander 2:25bcfa4b1aca 365 if (currentSensor == sensorCnt)
johnAlexander 2:25bcfa4b1aca 366 currentSensor = 0;
johnAlexander 2:25bcfa4b1aca 367 printf("Sensor changed to %c\r\n", installedSensors[currentSensor]);
johnAlexander 2:25bcfa4b1aca 368 switchChanged = false;
johnAlexander 2:25bcfa4b1aca 369 stop_button.enable_irq();
johnAlexander 2:25bcfa4b1aca 370 }
johnAlexander 2:25bcfa4b1aca 371 }
charlesmn 0:e91189a84ad9 372 }
charlesmn 0:e91189a84ad9 373
charlesmn 0:e91189a84ad9 374
charlesmn 0:e91189a84ad9 375
charlesmn 0:e91189a84ad9 376 // print out what data is required
johnAlexander 4:396e4d72f19e 377 void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
charlesmn 0:e91189a84ad9 378 {
johnAlexander 4:396e4d72f19e 379 int no_of_object_found = pMultiRangingData->NumberOfObjectsFound;
johnAlexander 3:09f23aad108a 380 int signal_rate = 0;
johnAlexander 3:09f23aad108a 381 int ambient_rate = 0;
johnAlexander 3:09f23aad108a 382
johnAlexander 4:396e4d72f19e 383 int RoiNumber = pMultiRangingData->RoiNumber;
charlesmn 0:e91189a84ad9 384
johnAlexander 4:396e4d72f19e 385 if ((no_of_object_found < 10) && (no_of_object_found != 0)) {
johnAlexander 4:396e4d72f19e 386 for(int j = 0; j < no_of_object_found; j++) {
johnAlexander 3:09f23aad108a 387 if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
johnAlexander 3:09f23aad108a 388 (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL)) {
johnAlexander 3:09f23aad108a 389 signal_rate = pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535;
johnAlexander 3:09f23aad108a 390 ambient_rate = pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535;
johnAlexander 3:09f23aad108a 391 printf("\t i2cAddr=%d \t RoiNumber=%d \t status=%d, \t D=%5dmm, \t Signal=%d Mcps, \t Ambient=%d Mcps \n",
johnAlexander 3:09f23aad108a 392 devNumber, RoiNumber,
johnAlexander 3:09f23aad108a 393 pMultiRangingData->RangeData[j].RangeStatus,
johnAlexander 3:09f23aad108a 394 pMultiRangingData->RangeData[j].RangeMilliMeter,
johnAlexander 3:09f23aad108a 395 signal_rate,
johnAlexander 3:09f23aad108a 396 ambient_rate);
johnAlexander 3:09f23aad108a 397 /*
johnAlexander 3:09f23aad108a 398 // online compiler disables printf() / floating-point support, for code-size reasons.
johnAlexander 3:09f23aad108a 399 // offline compiler can switch it on.
johnAlexander 3:09f23aad108a 400 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 3:09f23aad108a 401 devNumber, RoiNumber,
johnAlexander 3:09f23aad108a 402 pMultiRangingData->RangeData[j].RangeStatus,
johnAlexander 3:09f23aad108a 403 pMultiRangingData->RangeData[j].RangeMilliMeter,
johnAlexander 3:09f23aad108a 404 pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535.0,
johnAlexander 3:09f23aad108a 405 pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535.0);
johnAlexander 3:09f23aad108a 406 */
charlesmn 0:e91189a84ad9 407 }
johnAlexander 3:09f23aad108a 408 }
johnAlexander 3:09f23aad108a 409 } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:e91189a84ad9 410 }
charlesmn 0:e91189a84ad9 411
charlesmn 0:e91189a84ad9 412
charlesmn 0:e91189a84ad9 413
charlesmn 0:e91189a84ad9 414 #if (MBED_VERSION > 60300)
charlesmn 0:e91189a84ad9 415 void wait_ms(int ms)
charlesmn 0:e91189a84ad9 416 {
charlesmn 0:e91189a84ad9 417 thread_sleep_for(ms);
charlesmn 0:e91189a84ad9 418 }
johnAlexander 3:09f23aad108a 419 #endif
charlesmn 0:e91189a84ad9 420