File content as of revision 4:396e4d72f19e:

/*
 * This VL53L1CB Expansion board test application performs range measurements
 * using the onboard embedded sensor and two satellites, in interrupt mode.
 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
 *
 * This is designed to work with MBed v2.x, & MBedOS v5.x / v6.x.
 *
 * The Reset button can be used to restart the program.
 *
 * *** NOTE :
 *     Default Mbed build system settings disable printf() floating-point support.
 *     Offline builds can enable this, again.
 *     https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
 *     .\mbed-os\platform\mbed_lib.json
 *
 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
 *            the X-NUCELO-53L1A2 expansion board are not made/OFF.
 *            These links must be made to allow interrupts from the Satellite boards
 *            to be received.
 *            U11 and U18 must be made/ON to allow interrupts to be received from the
 *            INT_L & INT_R positions; or
 *            U10 and U15 must be made/ON to allow interrupts to be received from the
 *            Alternate INT_L & INT_R positions.
 *            The X_NUCLEO_53L1A2 library defaults to use the INT_L/INT_R positions.
 *            INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
 *            Alternate INT_L is on CN5 Connector pin 2 as D9.
 *            INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
 *            Alternate INT_R is on CN9 Connector pin 5 as D4.
 *            The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A2/
 *
 */
 
#include <stdio.h>
#include <time.h>

#include "mbed.h"

#include "XNucleo53L1A2.h"
#include "ToF_I2C.h"


// define the i2c comms pins
#define I2C_SDA   D14 
#define I2C_SCL   D15 

#define NUM_SENSORS 3

// define interrupt pins
PinName CentreIntPin = A2;
// the satellite pins depend on solder blobs on the back of the shield.
// they may not exist or may be one of two sets.
// the centre pin always exists
//PinName LeftIntPin = D8;
PinName RightIntPin = D2;
// alternate set
PinName LeftIntPin = D9;
//PinName RightIntPin = D4;


static XNucleo53L1A2 *board=NULL;

#if (MBED_VERSION  > 60300) 
UnbufferedSerial  pc(USBTX, USBRX); 
extern "C" void wait_ms(int ms);
#else
Serial pc(SERIAL_TX, SERIAL_RX); 
#endif

#if TARGET_STM  // we are cross compiling for an STM32-Nucleo
    InterruptIn stop_button(BUTTON1);
#endif
#if TARGET_Freescale // we are cross-compiling for NXP FRDM boards.
    InterruptIn stop_button(SW2);
#endif

//void process_interrupt( VL53L1 * sensor,VL53L1_DEV dev );
void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData );


VL53L1_Dev_t devCentre;
VL53L1_Dev_t devLeft;
VL53L1_Dev_t devRight;
VL53L1_DEV Dev = &devCentre;

/* Installed sensors count */
int sensorCnt = 0;

/* installed sensors prefixes */
char installedSensors[3];

/* interrupt requests */
volatile bool centerSensor = false;
volatile bool leftSensor = false;
volatile bool rightSensor = false;
volatile bool int_measuring_stop = false;

/* Current sensor number*/
volatile int currentSensor = 0;

/* current displayed sensor change IRQ */
volatile bool switchChanged = false;

/* ISR callback function of the centre sensor */
void sensor_centre_irq(void)
{
    centerSensor = true;
    board->sensor_centre->disable_interrupt_measure_detection_irq();
}

/* ISR callback function of the left sensor */
void sensor_left_irq(void)
{
    leftSensor = true;
    board->sensor_left->disable_interrupt_measure_detection_irq();
}

/* ISR callback function of the right sensor */
void sensor_right_irq(void)
{
    rightSensor = true;
    board->sensor_right->disable_interrupt_measure_detection_irq();
}

/* ISR callback function of the user blue button to switch measuring sensor. */
void switch_measuring_sensor_irq(void)
{
    stop_button.disable_irq();
    switchChanged = true;
}

/*
 * This function calls the interrupt handler for each sensor
 * and outputs the range
 */
inline void measure_sensors()
{
    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;

        // get the result
        status = board->sensor_centre->vl53L1_GetMultiRangingData(pMultiRangingData);
        status = board->sensor_centre->VL53L1_GetDistance(&distance);
        
        current = (currentSensor == 0);
        if (current) {
            print_results(devCentre.i2c_slave_address, pMultiRangingData );
            printf("Centre: %d\r\n", distance);
        }    
//        status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
        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;
        
        // get the result
        status = board->sensor_left->vl53L1_GetMultiRangingData(pMultiRangingData);
        status = board->sensor_left->VL53L1_GetDistance(&distance);
        
        current = (installedSensors[currentSensor] == 'L');
        if (current) {
            print_results(devLeft.i2c_slave_address, pMultiRangingData );
            printf("Left: %d\r\n", distance);
        }    
//        status = board->sensor_left->vl53L1_ClearInterruptAndStartMeasurement();
        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;
        
        // get the result
        status = board->sensor_right->vl53L1_GetMultiRangingData(pMultiRangingData);
        status = board->sensor_right->VL53L1_GetDistance(&distance);
        
        current = (installedSensors[currentSensor] == 'R');
        if (current) {
            print_results(devRight.i2c_slave_address, pMultiRangingData );
            printf("Right: %d\r\n", distance);
        }
//        status = board->sensor_right->vl53L1_ClearInterruptAndStartMeasurement();
        status = board->sensor_right->VL53L1_ClearInterrupt();
        board->sensor_right->enable_interrupt_measure_detection_irq();
    }    
}

int configure_sensor(VL53L1 *Sensor)
{
    int status = 0;
    
    //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);
    
// 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_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
 */
int init_sensors_array()
{
    int status = 0;
    VL53L1 *Sensor;
    uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right

    sensorCnt = 0;
    
    if (board->sensor_centre != NULL) {
        Dev = &devCentre;
        Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
        devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
        
        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;
        devLeft.i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS;
    
        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;
        devRight.i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS;
        
        status = configure_sensor(board->sensor_right);
        printf("configuring right channel \n");
    }
    
    /* start the measure on the center sensor */
    if (NULL != board->sensor_centre) {
        installedSensors[sensorCnt] = 'C';
        status = board->sensor_centre->stop_measurement();
        if (status != 0) {
            return status;
        }
        status = board->sensor_centre->start_measurement(&sensor_centre_irq);
        if (status != 0) {
            return status;
        }
        ++sensorCnt;
    }
    /* start the measure on the left sensor */
    if (NULL != board->sensor_left) {
        installedSensors[sensorCnt] = 'L';
        status = board->sensor_left->stop_measurement();
        if (status != 0) {
            return status;
        }
        status = board->sensor_left->start_measurement(&sensor_left_irq);
        if (status != 0) {
            return status;
        }
        ++sensorCnt;
    }
    /* start the measure on the right sensor */
    if (NULL != board->sensor_right) {
        installedSensors[sensorCnt] = 'R';
        status = board->sensor_right->stop_measurement();
        if (status != 0) {
            return status;
        }
        status = board->sensor_right->start_measurement(&sensor_right_irq);
        if (status != 0) {
            return status;
        }
        ++sensorCnt;
    }
    currentSensor = 0;
    return status;
}


 
/*=================================== Main ==================================
=============================================================================*/
int main()
{   
    int status;
    
    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
    
    printf("mbed version : %d \r\n", MBED_VERSION);

// create i2c interface
    ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);    
    /* creates the 53L1A2 expansion board singleton obj */
    board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, LeftIntPin, RightIntPin);
    
    printf("board created!\r\n");

    /* init the 53L1A1 expansion board with default values */
    status = board->init_board();
    if (status) {
        printf("Failed to init board!\r\n");
        return status;
    }
        
    printf("board initiated! - %d\r\n", status);
    
    /* init an array with chars to id the sensors */
    status = init_sensors_array();
    if (status != 0) {
        printf("Failed to init sensors!\r\n");
        return status;
    }

    printf("loop forever\n");    
    
    /* Main ranging interrupt loop */
    while (true) {
        
        measure_sensors();
        
        if (switchChanged) {
            ++currentSensor;
            if (currentSensor == sensorCnt)
                currentSensor = 0;
            printf("Sensor changed to %c\r\n", installedSensors[currentSensor]);
            switchChanged = false;
            stop_button.enable_irq();
        }
    }  
}
    
    
    
 // print out what data is required   
void print_results(int devNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
{
    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)) {
                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))
}    

    
        
#if (MBED_VERSION  > 60300) 
void wait_ms(int ms)
 {
    thread_sleep_for(ms);
 }
#endif