John Alexander
enlarge functional simple ranging/interrupt example, to cater for multi-zone.
Diff: main.cpp
- Revision:
- 3:09f23aad108a
- Parent:
- 2:25bcfa4b1aca
- Child:
- 4:396e4d72f19e
--- a/main.cpp Wed May 12 14:30:46 2021 +0000
+++ b/main.cpp Thu May 13 08:31:52 2021 +0000
@@ -136,51 +136,93 @@
{
int status = 0;
bool current = false;
+
uint16_t distance = 0;
+
+ VL53L1_MultiRangingData_t MultiRangingData;
+ VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
/* Handle the interrupt and output the range from the centre sensor */
if (centerSensor) {
centerSensor = false;
-// board->sensor_centre->handle_irq(&distance);
+
status = board->sensor_centre->VL53L1_GetDistance(&distance);
- status = board->sensor_centre->VL53L1_ClearInterrupt();
- board->sensor_centre->enable_interrupt_measure_detection_irq();
current = (currentSensor == 0);
if (current) {
printf("Centre: %d\r\n", distance);
}
+
+ status = board->sensor_centre->VL53L1_ClearInterrupt();
+ board->sensor_centre->enable_interrupt_measure_detection_irq();
+
}
/* Handle the interrupt and output the range from the left sensor */
if (leftSensor) {
leftSensor = false;
-// board->sensor_left->handle_irq(&distance);
+
status = board->sensor_left->VL53L1_GetDistance(&distance);
- status = board->sensor_left->VL53L1_ClearInterrupt();
- board->sensor_left->enable_interrupt_measure_detection_irq();
current = (installedSensors[currentSensor] == 'L');
if (current) {
printf("Left: %d\r\n", distance);
}
+ status = board->sensor_left->VL53L1_ClearInterrupt();
+ board->sensor_left->enable_interrupt_measure_detection_irq();
+
}
/* Handle the interrupt and output the range from the right sensor */
if (rightSensor) {
rightSensor = false;
-// board->sensor_right->handle_irq(&distance);
+
status = board->sensor_right->VL53L1_GetDistance(&distance);
- status = board->sensor_right->VL53L1_ClearInterrupt();
- board->sensor_right->enable_interrupt_measure_detection_irq();
current = (installedSensors[currentSensor] == 'R');
if (current) {
printf("Right: %d\r\n", distance);
}
+ status = board->sensor_right->VL53L1_ClearInterrupt();
+ board->sensor_right->enable_interrupt_measure_detection_irq();
+
}
}
+int configure_sensor(VL53L1 *Sensor)
+{
+ int status = 0;
+
+// Device Initialization and setting
+ status = Sensor->vl53L1_DataInit();
+ status = Sensor->vl53L1_StaticInit();
+ status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_MULTIZONES_SCANNING);
+
+ //configure the regions of interest for each sensor
+ 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);
+
+
+ status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
+// status = Sensor->VL53L1_SetMeasurementTimingBudgetMicroSeconds( 100 * 500); // error -21 is because of this. Don't know why
+
+ return status;
+}
+
/*
* Add to an array a character that represents the sensor and start ranging
*/
@@ -195,51 +237,23 @@
if (board->sensor_centre != NULL) {
Dev = &devCentre;
Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
- Sensor = board->sensor_centre;
+ status = configure_sensor(board->sensor_centre);
printf("configuring centre channel \n");
}
if (board->sensor_left != NULL) {
Dev = &devLeft;
Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
- Sensor = board->sensor_left;
+ status = configure_sensor(board->sensor_left);
printf("configuring left channel \n");
}
if (board->sensor_right != NULL) {
Dev = &devRight;
Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
- Sensor = board->sensor_right;
+ status = configure_sensor(board->sensor_right);
printf("configuring right channel \n");
}
-/*
-// Device Initialization and setting
- status = Sensor->vl53L1_DataInit();
- status = Sensor->vl53L1_StaticInit();
- status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_MULTIZONES_SCANNING);
-
- //configure the regions of interest for each sensor
- 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);
-
-
- status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
- // status = Sensor->VL53L1_SetMeasurementTimingBudgetMicroSeconds( 100 * 500); // error -21 is because of this. Don't know why
-*/
-
/* start the measure on the center sensor */
if (NULL != board->sensor_centre) {
@@ -295,7 +309,7 @@
stop_button.rise(&switch_measuring_sensor_irq);
stop_button.enable_irq();
-// pc.baud(115200); // baud rate is important as printf statements take a lot of time
+ pc.baud(115200); // baud rate is important as printf statements take a lot of time
printf("mbed version : %d \r\n", MBED_VERSION);
@@ -324,82 +338,11 @@
printf("loop forever\n");
-/*
- // loop waiting for interrupts to happen. This is signaled by int_centre_result,int_left_result or int_right_result
- // being non zero. When the interrupts clear this is signaled by int_centre_dropped,int_left_dropped and int_right_dropped.
- // These are set back to zero when processing is completed
- while (1)
- {
- VL53L1_MultiRangingData_t MultiRangingData;
- VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
-
- if ( int_left_dropped || int_centre_dropped || int_right_result)
- wait_ms(20);
-
-
- // when the interrupt pin goes low start new measurement
- if ( int_centre_dropped != 0)
- {
- int_centre_dropped = 0;
- status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();// get next measurement
- }
-
- if ( int_left_dropped != 0)
- {
- int_left_dropped = 0;
- status = board->sensor_left->vl53L1_ClearInterruptAndStartMeasurement();
- }
-
- if ( int_right_dropped != 0)
- {
- int_right_dropped = 0;
- status = board->sensor_right->vl53L1_ClearInterruptAndStartMeasurement();
- }
-
- if (int_right_result != 0) // interrupt seen on right sensor
- {
- status = board->sensor_right->vl53L1_GetMultiRangingData( pMultiRangingData);
- if ( status == 0)
- {
- print_results( devRight.i2c_slave_address, pMultiRangingData );
- }
-
- // clear interrupt flag
- int_right_result = 0;
- }
-
-
- if (int_left_result != 0) // interrupt seen on left sensor
- {
- status = board->sensor_left->vl53L1_GetMultiRangingData(pMultiRangingData);
- if ( status == 0)
- {
- print_results( devLeft.i2c_slave_address, pMultiRangingData );
- }
-
- // clear interrupt flag
- int_left_result = 0;
- }
-
- if (int_centre_result != 0)
- {
- status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
- if(status==0) {
- print_results(devCentre.i2c_slave_address, pMultiRangingData );
- } //if(status==0)
-
- // clear interrupt flag
- int_centre_result = 0;
-
- }
-
- wait_ms( 1 * 5);
-
- }
-*/
/* Main ranging interrupt loop */
while (true) {
+
measure_sensors();
+
if (switchChanged) {
++currentSensor;
if (currentSensor == sensorCnt)
@@ -414,35 +357,39 @@
// print out what data is required
-void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
+void print_results( int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
{
- int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
-
- int RoiNumber=pMultiRangingData->RoiNumber;
- int RoiStatus=pMultiRangingData->RoiStatus;
+ int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+ int signal_rate = 0;
+ int ambient_rate = 0;
+
+ int RoiNumber=pMultiRangingData->RoiNumber;
- if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
- {
- for(int j=0;j<no_of_object_found;j++){
- if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
- (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL))
- {
- printf("\t spiAddr=%d \t RoiNumber=%d \t D=%5dmm \n",
- devSpiNumber,
- RoiNumber,
- pMultiRangingData->RangeData[j].RangeMilliMeter);
- }
- else
- {
-// printf("RangeStatus %d %d\n",j, pMultiRangingData->RangeData[j].RangeStatus);
- }
- }
- } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
- else
- {
-// printf("no_of_object_found %d \n",no_of_object_found);
+ if (( no_of_object_found < 10 ) && ( no_of_object_found != 0)) {
+ for(int j=0; j<no_of_object_found; j++) {
+ if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
+ (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL)) {
+ signal_rate = pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535;
+ ambient_rate = pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535;
+ printf("\t i2cAddr=%d \t RoiNumber=%d \t status=%d, \t D=%5dmm, \t Signal=%d Mcps, \t Ambient=%d Mcps \n",
+ devNumber, RoiNumber,
+ pMultiRangingData->RangeData[j].RangeStatus,
+ pMultiRangingData->RangeData[j].RangeMilliMeter,
+ signal_rate,
+ ambient_rate);
+/*
+// online compiler disables printf() / floating-point support, for code-size reasons.
+// offline compiler can switch it on.
+ printf("\t i2cAddr=%d \t RoiNumber=%d \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
+ devNumber, RoiNumber,
+ pMultiRangingData->RangeData[j].RangeStatus,
+ pMultiRangingData->RangeData[j].RangeMilliMeter,
+ pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535.0,
+ pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535.0);
+*/
}
-
+ }
+ } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
}
@@ -452,5 +399,5 @@
{
thread_sleep_for(ms);
}
- #endif
+#endif