John Alexander / Mbed OS VL53L1CB_shield_sensor_polling

Fork of VL53L1CB_shield_1sensor_polling_multizon, for mbed-cli trialling.

Dependencies:   X_NUCLEO_53L1CB

main.cpp@0:50b05f035d13, 2020-10-26 (annotated)

Committer:
charlesmn
Date:
Mon Oct 26 13:34:03 2020 +0000
Revision:
0:50b05f035d13
Child:
1:49e2fad70dfe
A sample program to control one VL53L1 ToF sensor in multizone mode using polling to find out if a measurement is available. Mbed V6.3 but will run any MBed version by dropping replacing this one. Maint6 release.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:50b05f035d13 1 /*
charlesmn 0:50b05f035d13 2 * This VL53L1X Expansion board test application performs range measurements
charlesmn 0:50b05f035d13 3 * using the onboard embedded centre sensor, in multizone, polling mode.
charlesmn 0:50b05f035d13 4 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
charlesmn 0:50b05f035d13 5 *
charlesmn 0:50b05f035d13 6 *
charlesmn 0:50b05f035d13 7 * This is designed to work with MBed V2 ,MBed V5 and MBed V6.
charlesmn 0:50b05f035d13 8 *
charlesmn 0:50b05f035d13 9 *
charlesmn 0:50b05f035d13 10 * The Reset button can be used to restart the program.
charlesmn 0:50b05f035d13 11 */
charlesmn 0:50b05f035d13 12
charlesmn 0:50b05f035d13 13 #include <stdio.h>
charlesmn 0:50b05f035d13 14
charlesmn 0:50b05f035d13 15 #include "mbed.h"
charlesmn 0:50b05f035d13 16 #include "XNucleo53L1A1.h"
charlesmn 0:50b05f035d13 17 #include "ToF_I2C.h"
charlesmn 0:50b05f035d13 18 #include <time.h>
charlesmn 0:50b05f035d13 19
charlesmn 0:50b05f035d13 20
charlesmn 0:50b05f035d13 21 // define the i2c comms pins
charlesmn 0:50b05f035d13 22 #define I2C_SDA D14
charlesmn 0:50b05f035d13 23 #define I2C_SCL D15
charlesmn 0:50b05f035d13 24
charlesmn 0:50b05f035d13 25
charlesmn 0:50b05f035d13 26
charlesmn 0:50b05f035d13 27 static XNucleo53L1A1 *board=NULL;
charlesmn 0:50b05f035d13 28 Serial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:50b05f035d13 29
charlesmn 0:50b05f035d13 30 void process_interrupt( VL53L1X * sensor,VL53L1_DEV dev );
charlesmn 0:50b05f035d13 31 void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData );
charlesmn 0:50b05f035d13 32
charlesmn 0:50b05f035d13 33 VL53L1_Dev_t devCentre;
charlesmn 0:50b05f035d13 34 VL53L1_Dev_t devLeft;
charlesmn 0:50b05f035d13 35 VL53L1_Dev_t devRight;
charlesmn 0:50b05f035d13 36 VL53L1_DEV Dev = &devCentre;
charlesmn 0:50b05f035d13 37
charlesmn 0:50b05f035d13 38
charlesmn 0:50b05f035d13 39 /*=================================== Main ==================================
charlesmn 0:50b05f035d13 40 =============================================================================*/
charlesmn 0:50b05f035d13 41 int main()
charlesmn 0:50b05f035d13 42 {
charlesmn 0:50b05f035d13 43 int status;
charlesmn 0:50b05f035d13 44 VL53L1X * Sensor;
charlesmn 0:50b05f035d13 45 uint16_t wordData;
charlesmn 0:50b05f035d13 46
charlesmn 0:50b05f035d13 47
charlesmn 0:50b05f035d13 48 pc.baud(115200); // baud rate is important as printf statements take a lot of time
charlesmn 0:50b05f035d13 49 printf("Polling single multizone\r\n");
charlesmn 0:50b05f035d13 50
charlesmn 0:50b05f035d13 51 // create i2c interface
charlesmn 0:50b05f035d13 52 ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL);
charlesmn 0:50b05f035d13 53
charlesmn 0:50b05f035d13 54 /* creates the 53L1A1 expansion board singleton obj */
charlesmn 0:50b05f035d13 55 board = XNucleo53L1A1::instance(dev_I2C, A2, D8, D2);
charlesmn 0:50b05f035d13 56
charlesmn 0:50b05f035d13 57 printf("board created!\r\n");
charlesmn 0:50b05f035d13 58
charlesmn 0:50b05f035d13 59 /* init the 53L1A1 expansion board with default values */
charlesmn 0:50b05f035d13 60 status = board->init_board();
charlesmn 0:50b05f035d13 61 if (status) {
charlesmn 0:50b05f035d13 62 printf("Failed to init board!\r\n");
charlesmn 0:50b05f035d13 63 return 0;
charlesmn 0:50b05f035d13 64 }
charlesmn 0:50b05f035d13 65
charlesmn 0:50b05f035d13 66
charlesmn 0:50b05f035d13 67 printf("board initiated! - %d\r\n", status);
charlesmn 0:50b05f035d13 68 // create the sensor controller classes
charlesmn 0:50b05f035d13 69
charlesmn 0:50b05f035d13 70
charlesmn 0:50b05f035d13 71
charlesmn 0:50b05f035d13 72 Dev=&devCentre;
charlesmn 0:50b05f035d13 73 Sensor=board->sensor_centre;
charlesmn 0:50b05f035d13 74 Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:50b05f035d13 75 printf("configuring centre channel \n");
charlesmn 0:50b05f035d13 76
charlesmn 0:50b05f035d13 77
charlesmn 0:50b05f035d13 78 // configure the sensors
charlesmn 0:50b05f035d13 79 Dev->comms_speed_khz = 400;
charlesmn 0:50b05f035d13 80
charlesmn 0:50b05f035d13 81 Dev->comms_type = 1;
charlesmn 0:50b05f035d13 82
charlesmn 0:50b05f035d13 83 Sensor->VL53L1_RdWord(Dev, 0x01, &wordData);
charlesmn 0:50b05f035d13 84 printf("VL53L1X: %02X %d\n\r", wordData,Dev->i2c_slave_address);
charlesmn 0:50b05f035d13 85 /* Device Initialization and setting */
charlesmn 0:50b05f035d13 86 status = Sensor->vl53L1_DataInit();
charlesmn 0:50b05f035d13 87 status = Sensor->vl53L1_StaticInit();
charlesmn 0:50b05f035d13 88 status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_MULTIZONES_SCANNING);
charlesmn 0:50b05f035d13 89 // status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG);
charlesmn 0:50b05f035d13 90 // status = Sensor->vl53L1_SetMeasurementTimingBudgetMicroSeconds( 100 * 1000);
charlesmn 0:50b05f035d13 91 // status = Sensor->vl53L1_SetInterMeasurementPeriodMilliSeconds( 100);
charlesmn 0:50b05f035d13 92
charlesmn 0:50b05f035d13 93
charlesmn 0:50b05f035d13 94 VL53L1_RoiConfig_t roiConfig;
charlesmn 0:50b05f035d13 95 roiConfig.NumberOfRoi =3;
charlesmn 0:50b05f035d13 96 roiConfig.UserRois[0].TopLeftX = 0;
charlesmn 0:50b05f035d13 97 roiConfig.UserRois[0].TopLeftY = 9;
charlesmn 0:50b05f035d13 98 roiConfig.UserRois[0].BotRightX = 4;
charlesmn 0:50b05f035d13 99 roiConfig.UserRois[0].BotRightY = 5;
charlesmn 0:50b05f035d13 100 roiConfig.UserRois[1].TopLeftX = 5;
charlesmn 0:50b05f035d13 101 roiConfig.UserRois[1].TopLeftY = 9;
charlesmn 0:50b05f035d13 102 roiConfig.UserRois[1].BotRightX = 9;
charlesmn 0:50b05f035d13 103 roiConfig.UserRois[1].BotRightY = 4;
charlesmn 0:50b05f035d13 104 roiConfig.UserRois[2].TopLeftX = 11;
charlesmn 0:50b05f035d13 105 roiConfig.UserRois[2].TopLeftY = 9;
charlesmn 0:50b05f035d13 106 roiConfig.UserRois[2].BotRightX = 15;
charlesmn 0:50b05f035d13 107 roiConfig.UserRois[2].BotRightY = 5;
charlesmn 0:50b05f035d13 108 status = Sensor->vl53L1_SetROI( &roiConfig);
charlesmn 0:50b05f035d13 109 printf("VL53L1_SetROI %d \n",status);
charlesmn 0:50b05f035d13 110
charlesmn 0:50b05f035d13 111 devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:50b05f035d13 112 status = board->sensor_centre->vl53L1_StartMeasurement();
charlesmn 0:50b05f035d13 113
charlesmn 0:50b05f035d13 114 // looping polling for results
charlesmn 0:50b05f035d13 115 while (1)
charlesmn 0:50b05f035d13 116 {
charlesmn 0:50b05f035d13 117 VL53L1_MultiRangingData_t MultiRangingData;
charlesmn 0:50b05f035d13 118 VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
charlesmn 0:50b05f035d13 119
charlesmn 0:50b05f035d13 120 // wait for result
charlesmn 0:50b05f035d13 121 status = board->sensor_centre->vl53L1_WaitMeasurementDataReady();
charlesmn 0:50b05f035d13 122 // get the result
charlesmn 0:50b05f035d13 123 status = board->sensor_centre->vl53L1_GetMultiRangingData( pMultiRangingData);
charlesmn 0:50b05f035d13 124 // if valid, print it
charlesmn 0:50b05f035d13 125 if(status==0) {
charlesmn 0:50b05f035d13 126 print_results(devCentre.i2c_slave_address, pMultiRangingData );
charlesmn 0:50b05f035d13 127 status = board->sensor_centre->vl53L1_ClearInterruptAndStartMeasurement();
charlesmn 0:50b05f035d13 128
charlesmn 0:50b05f035d13 129 } //if(status==0)
charlesmn 0:50b05f035d13 130 else
charlesmn 0:50b05f035d13 131 {
charlesmn 0:50b05f035d13 132 printf("VL53L1_GetMultiRangingData centre %d \n",status);
charlesmn 0:50b05f035d13 133 }
charlesmn 0:50b05f035d13 134
charlesmn 0:50b05f035d13 135 wait_ms( 1 * 10);
charlesmn 0:50b05f035d13 136 }
charlesmn 0:50b05f035d13 137 }
charlesmn 0:50b05f035d13 138
charlesmn 0:50b05f035d13 139
charlesmn 0:50b05f035d13 140
charlesmn 0:50b05f035d13 141 // prints the range result seen above
charlesmn 0:50b05f035d13 142 void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData )
charlesmn 0:50b05f035d13 143 {
charlesmn 0:50b05f035d13 144 int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
charlesmn 0:50b05f035d13 145
charlesmn 0:50b05f035d13 146 int RoiNumber=pMultiRangingData->RoiNumber;
charlesmn 0:50b05f035d13 147 // int RoiStatus=pMultiRangingData->RoiStatus;
charlesmn 0:50b05f035d13 148
charlesmn 0:50b05f035d13 149 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:50b05f035d13 150 {
charlesmn 0:50b05f035d13 151
charlesmn 0:50b05f035d13 152 // printf("MZI Count=%5d, ", pMultiRangingData->StreamCount);
charlesmn 0:50b05f035d13 153 // printf("RoiNumber%1d, ", RoiNumber);
charlesmn 0:50b05f035d13 154 // printf("RoiStatus=%1d, \n", RoiStatus);
charlesmn 0:50b05f035d13 155 for(int j=0;j<no_of_object_found;j++){
charlesmn 0:50b05f035d13 156 if ((pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) ||
charlesmn 0:50b05f035d13 157 (pMultiRangingData->RangeData[j].RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL))
charlesmn 0:50b05f035d13 158 {
charlesmn 0:50b05f035d13 159 printf("*****************\t spiAddr=%d \t RoiNumber=%d \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
charlesmn 0:50b05f035d13 160 devSpiNumber,
charlesmn 0:50b05f035d13 161 RoiNumber,
charlesmn 0:50b05f035d13 162 pMultiRangingData->RangeData[j].RangeStatus,
charlesmn 0:50b05f035d13 163 pMultiRangingData->RangeData[j].RangeMilliMeter,
charlesmn 0:50b05f035d13 164 pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0,
charlesmn 0:50b05f035d13 165 pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
charlesmn 0:50b05f035d13 166 }
charlesmn 0:50b05f035d13 167 else
charlesmn 0:50b05f035d13 168 {
charlesmn 0:50b05f035d13 169 // printf("RangeStatus %d %d\n",j, pMultiRangingData->RangeData[j].RangeStatus);
charlesmn 0:50b05f035d13 170 }
charlesmn 0:50b05f035d13 171 }
charlesmn 0:50b05f035d13 172 } // if (( no_of_object_found < 10 ) && ( no_of_object_found != 0))
charlesmn 0:50b05f035d13 173 else
charlesmn 0:50b05f035d13 174 {
charlesmn 0:50b05f035d13 175 // printf("no_of_object_found %d \n",no_of_object_found);
charlesmn 0:50b05f035d13 176 }
charlesmn 0:50b05f035d13 177
charlesmn 0:50b05f035d13 178 }
charlesmn 0:50b05f035d13 179
charlesmn 0:50b05f035d13 180