Range with a (green) VL53L1X Satellite board connected directly to the motherboard, without Expansion board support.
Dependencies: X_NUCLEO_53L1A1_mbed
main.cpp@1:e5cce6b28b6f, 2019-05-17 (annotated)
- Committer:
- johnAlexander
- Date:
- Fri May 17 12:24:17 2019 +0000
- Revision:
- 1:e5cce6b28b6f
- Parent:
- 0:6b7696e7df5e
- Child:
- 2:91088f06f39e
Ranging with Central, Expansion Board, Sensor and Left/Right Satellite Board Sensors, using Interrupts, on Mbed OS 5.x.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
johnAlexander | 0:6b7696e7df5e | 1 | /* |
johnAlexander | 1:e5cce6b28b6f | 2 | * This VL53L1X Expansion board sample application performs range measurements |
johnAlexander | 1:e5cce6b28b6f | 3 | * with interrupts enabled to generate a hardware interrupt each time a new |
johnAlexander | 1:e5cce6b28b6f | 4 | * measurement is ready to be read. |
johnAlexander | 0:6b7696e7df5e | 5 | * |
johnAlexander | 1:e5cce6b28b6f | 6 | * Measured ranges are output on the Serial Port, running at 115200 baud. |
johnAlexander | 0:6b7696e7df5e | 7 | * |
johnAlexander | 1:e5cce6b28b6f | 8 | * The application supports the centre, on-board, sensor and up to two satellite boards. |
johnAlexander | 0:6b7696e7df5e | 9 | * |
johnAlexander | 1:e5cce6b28b6f | 10 | * The User Blue button switches between the currently selected sensor to display range |
johnAlexander | 1:e5cce6b28b6f | 11 | * results from. |
johnAlexander | 0:6b7696e7df5e | 12 | * |
johnAlexander | 1:e5cce6b28b6f | 13 | * The Black Reset button is used to restart the program. |
johnAlexander | 1:e5cce6b28b6f | 14 | * |
johnAlexander | 1:e5cce6b28b6f | 15 | * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of |
johnAlexander | 0:6b7696e7df5e | 16 | * the X-NUCELO-53L0A1 expansion board are not made/OFF. |
johnAlexander | 0:6b7696e7df5e | 17 | * These links must be made to allow interrupts from the Satellite boards |
johnAlexander | 0:6b7696e7df5e | 18 | * to be received. |
johnAlexander | 0:6b7696e7df5e | 19 | * U11 and U18 must be made/ON to allow interrupts to be received from the |
johnAlexander | 0:6b7696e7df5e | 20 | * INT_L & INT_R positions; or |
johnAlexander | 0:6b7696e7df5e | 21 | * U10 and U15 must be made/ON to allow interrupts to be received from the |
johnAlexander | 0:6b7696e7df5e | 22 | * Alternate INT_L & INT_R positions. |
johnAlexander | 0:6b7696e7df5e | 23 | * The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R |
johnAlexander | 0:6b7696e7df5e | 24 | * positions. |
johnAlexander | 0:6b7696e7df5e | 25 | * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9. |
johnAlexander | 0:6b7696e7df5e | 26 | * Alternate INT_L is on CN5 Connector pin 2 as D8. |
johnAlexander | 0:6b7696e7df5e | 27 | * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4. |
johnAlexander | 0:6b7696e7df5e | 28 | * Alternate INT_R is on CN9 Connector pin 5 as D2. |
johnAlexander | 0:6b7696e7df5e | 29 | * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/ |
johnAlexander | 0:6b7696e7df5e | 30 | */ |
johnAlexander | 1:e5cce6b28b6f | 31 | |
johnAlexander | 0:6b7696e7df5e | 32 | #include <stdio.h> |
johnAlexander | 0:6b7696e7df5e | 33 | |
johnAlexander | 0:6b7696e7df5e | 34 | #include "mbed.h" |
johnAlexander | 0:6b7696e7df5e | 35 | #include "XNucleo53L1A1.h" |
johnAlexander | 0:6b7696e7df5e | 36 | #include "vl53L1x_I2c.h" |
johnAlexander | 0:6b7696e7df5e | 37 | |
johnAlexander | 1:e5cce6b28b6f | 38 | #define VL53L1_I2C_SDA D14 |
johnAlexander | 1:e5cce6b28b6f | 39 | #define VL53L1_I2C_SCL D15 |
johnAlexander | 1:e5cce6b28b6f | 40 | |
johnAlexander | 1:e5cce6b28b6f | 41 | #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-64s |
johnAlexander | 1:e5cce6b28b6f | 42 | InterruptIn stop_button(USER_BUTTON); |
johnAlexander | 1:e5cce6b28b6f | 43 | #endif |
johnAlexander | 1:e5cce6b28b6f | 44 | |
johnAlexander | 1:e5cce6b28b6f | 45 | /* Installed sensors count */ |
johnAlexander | 1:e5cce6b28b6f | 46 | int sensorCnt = 0; |
johnAlexander | 1:e5cce6b28b6f | 47 | |
johnAlexander | 1:e5cce6b28b6f | 48 | /* installed sensors prefixes */ |
johnAlexander | 1:e5cce6b28b6f | 49 | char installedSensors[3]; |
johnAlexander | 0:6b7696e7df5e | 50 | |
johnAlexander | 0:6b7696e7df5e | 51 | static XNucleo53L1A1 *board=NULL; |
johnAlexander | 1:e5cce6b28b6f | 52 | Serial pc(SERIAL_TX, SERIAL_RX); |
johnAlexander | 0:6b7696e7df5e | 53 | |
johnAlexander | 1:e5cce6b28b6f | 54 | /* interrupt requests */ |
johnAlexander | 1:e5cce6b28b6f | 55 | volatile bool centerSensor = false; |
johnAlexander | 1:e5cce6b28b6f | 56 | volatile bool leftSensor = false; |
johnAlexander | 1:e5cce6b28b6f | 57 | volatile bool rightSensor = false; |
johnAlexander | 1:e5cce6b28b6f | 58 | volatile bool int_measuring_stop = false; |
johnAlexander | 1:e5cce6b28b6f | 59 | /* Current sensor number*/ |
johnAlexander | 1:e5cce6b28b6f | 60 | volatile int currentSensor = 0; |
johnAlexander | 1:e5cce6b28b6f | 61 | |
johnAlexander | 1:e5cce6b28b6f | 62 | /* current displayed sensor change IRQ */ |
johnAlexander | 1:e5cce6b28b6f | 63 | volatile bool switchChanged = false; |
johnAlexander | 1:e5cce6b28b6f | 64 | |
johnAlexander | 1:e5cce6b28b6f | 65 | /* ISR callback function of the centre sensor */ |
johnAlexander | 1:e5cce6b28b6f | 66 | void sensor_centre_irq(void) |
johnAlexander | 1:e5cce6b28b6f | 67 | { |
johnAlexander | 1:e5cce6b28b6f | 68 | centerSensor = true; |
johnAlexander | 1:e5cce6b28b6f | 69 | board->sensor_centre->disable_interrupt_measure_detection_irq(); |
johnAlexander | 1:e5cce6b28b6f | 70 | } |
johnAlexander | 1:e5cce6b28b6f | 71 | |
johnAlexander | 1:e5cce6b28b6f | 72 | /* ISR callback function of the left sensor */ |
johnAlexander | 1:e5cce6b28b6f | 73 | void sensor_left_irq(void) |
johnAlexander | 1:e5cce6b28b6f | 74 | { |
johnAlexander | 1:e5cce6b28b6f | 75 | leftSensor = true; |
johnAlexander | 1:e5cce6b28b6f | 76 | board->sensor_left->disable_interrupt_measure_detection_irq(); |
johnAlexander | 1:e5cce6b28b6f | 77 | } |
johnAlexander | 1:e5cce6b28b6f | 78 | |
johnAlexander | 1:e5cce6b28b6f | 79 | /* ISR callback function of the right sensor */ |
johnAlexander | 1:e5cce6b28b6f | 80 | void sensor_right_irq(void) |
johnAlexander | 1:e5cce6b28b6f | 81 | { |
johnAlexander | 1:e5cce6b28b6f | 82 | rightSensor = true; |
johnAlexander | 1:e5cce6b28b6f | 83 | board->sensor_right->disable_interrupt_measure_detection_irq(); |
johnAlexander | 1:e5cce6b28b6f | 84 | } |
johnAlexander | 1:e5cce6b28b6f | 85 | |
johnAlexander | 1:e5cce6b28b6f | 86 | /* ISR callback function of the user blue button to switch measuring sensor. */ |
johnAlexander | 1:e5cce6b28b6f | 87 | void switch_measuring_sensor_irq(void) |
johnAlexander | 1:e5cce6b28b6f | 88 | { |
johnAlexander | 1:e5cce6b28b6f | 89 | stop_button.disable_irq(); |
johnAlexander | 1:e5cce6b28b6f | 90 | switchChanged = true; |
johnAlexander | 1:e5cce6b28b6f | 91 | } |
johnAlexander | 0:6b7696e7df5e | 92 | |
johnAlexander | 1:e5cce6b28b6f | 93 | /* |
johnAlexander | 1:e5cce6b28b6f | 94 | * This function calls the interrupt handler for each sensor |
johnAlexander | 1:e5cce6b28b6f | 95 | * and outputs the range |
johnAlexander | 1:e5cce6b28b6f | 96 | */ |
johnAlexander | 1:e5cce6b28b6f | 97 | inline void measure_sensors() |
johnAlexander | 0:6b7696e7df5e | 98 | { |
johnAlexander | 1:e5cce6b28b6f | 99 | bool current = false; |
johnAlexander | 1:e5cce6b28b6f | 100 | uint16_t distance = 0; |
johnAlexander | 0:6b7696e7df5e | 101 | |
johnAlexander | 1:e5cce6b28b6f | 102 | /* Handle the interrupt and output the range from the centre sensor */ |
johnAlexander | 1:e5cce6b28b6f | 103 | if (centerSensor) { |
johnAlexander | 1:e5cce6b28b6f | 104 | centerSensor = false; |
johnAlexander | 1:e5cce6b28b6f | 105 | board->sensor_centre->handle_irq(&distance); |
johnAlexander | 1:e5cce6b28b6f | 106 | current = (currentSensor == 0); |
johnAlexander | 1:e5cce6b28b6f | 107 | if (current) { |
johnAlexander | 1:e5cce6b28b6f | 108 | printf("Centre: %d\r\n", distance); |
johnAlexander | 1:e5cce6b28b6f | 109 | } |
johnAlexander | 1:e5cce6b28b6f | 110 | } |
johnAlexander | 1:e5cce6b28b6f | 111 | |
johnAlexander | 1:e5cce6b28b6f | 112 | /* Handle the interrupt and output the range from the left sensor */ |
johnAlexander | 1:e5cce6b28b6f | 113 | if (leftSensor) { |
johnAlexander | 1:e5cce6b28b6f | 114 | leftSensor = false; |
johnAlexander | 1:e5cce6b28b6f | 115 | board->sensor_left->handle_irq(&distance); |
johnAlexander | 1:e5cce6b28b6f | 116 | current = (installedSensors[currentSensor] == 'L'); |
johnAlexander | 1:e5cce6b28b6f | 117 | if (current) { |
johnAlexander | 1:e5cce6b28b6f | 118 | printf("Left: %d\r\n", distance); |
johnAlexander | 1:e5cce6b28b6f | 119 | } |
johnAlexander | 1:e5cce6b28b6f | 120 | } |
johnAlexander | 1:e5cce6b28b6f | 121 | |
johnAlexander | 1:e5cce6b28b6f | 122 | /* Handle the interrupt and output the range from the right sensor */ |
johnAlexander | 1:e5cce6b28b6f | 123 | if (rightSensor) { |
johnAlexander | 1:e5cce6b28b6f | 124 | rightSensor = false; |
johnAlexander | 1:e5cce6b28b6f | 125 | board->sensor_right->handle_irq(&distance); |
johnAlexander | 1:e5cce6b28b6f | 126 | current = (installedSensors[currentSensor] == 'R'); |
johnAlexander | 1:e5cce6b28b6f | 127 | if (current) { |
johnAlexander | 1:e5cce6b28b6f | 128 | printf("Right: %d\r\n", distance); |
johnAlexander | 1:e5cce6b28b6f | 129 | } |
johnAlexander | 1:e5cce6b28b6f | 130 | } |
johnAlexander | 1:e5cce6b28b6f | 131 | } |
johnAlexander | 1:e5cce6b28b6f | 132 | |
johnAlexander | 1:e5cce6b28b6f | 133 | /* |
johnAlexander | 1:e5cce6b28b6f | 134 | * Add to an array a character that represents the sensor and start ranging |
johnAlexander | 1:e5cce6b28b6f | 135 | */ |
johnAlexander | 1:e5cce6b28b6f | 136 | int init_sensors_array() |
johnAlexander | 1:e5cce6b28b6f | 137 | { |
johnAlexander | 0:6b7696e7df5e | 138 | int status = 0; |
johnAlexander | 1:e5cce6b28b6f | 139 | sensorCnt = 0; |
johnAlexander | 1:e5cce6b28b6f | 140 | /* start the measure on the center sensor */ |
johnAlexander | 1:e5cce6b28b6f | 141 | if (NULL != board->sensor_centre) { |
johnAlexander | 1:e5cce6b28b6f | 142 | installedSensors[sensorCnt] = 'C'; |
johnAlexander | 1:e5cce6b28b6f | 143 | status = board->sensor_centre->stop_measurement(); |
johnAlexander | 1:e5cce6b28b6f | 144 | if (status != 0) { |
johnAlexander | 1:e5cce6b28b6f | 145 | return status; |
johnAlexander | 1:e5cce6b28b6f | 146 | } |
johnAlexander | 1:e5cce6b28b6f | 147 | status = board->sensor_centre->start_measurement(&sensor_centre_irq); |
johnAlexander | 1:e5cce6b28b6f | 148 | if (status != 0) { |
johnAlexander | 1:e5cce6b28b6f | 149 | return status; |
johnAlexander | 1:e5cce6b28b6f | 150 | } |
johnAlexander | 1:e5cce6b28b6f | 151 | ++sensorCnt; |
johnAlexander | 1:e5cce6b28b6f | 152 | } |
johnAlexander | 1:e5cce6b28b6f | 153 | /* start the measure on the left sensor */ |
johnAlexander | 1:e5cce6b28b6f | 154 | if (NULL != board->sensor_left) { |
johnAlexander | 1:e5cce6b28b6f | 155 | installedSensors[sensorCnt] = 'L'; |
johnAlexander | 1:e5cce6b28b6f | 156 | status = board->sensor_left->stop_measurement(); |
johnAlexander | 1:e5cce6b28b6f | 157 | if (status != 0) { |
johnAlexander | 1:e5cce6b28b6f | 158 | return status; |
johnAlexander | 1:e5cce6b28b6f | 159 | } |
johnAlexander | 1:e5cce6b28b6f | 160 | status = board->sensor_left->start_measurement(&sensor_left_irq); |
johnAlexander | 1:e5cce6b28b6f | 161 | if (status != 0) { |
johnAlexander | 1:e5cce6b28b6f | 162 | return status; |
johnAlexander | 1:e5cce6b28b6f | 163 | } |
johnAlexander | 1:e5cce6b28b6f | 164 | ++sensorCnt; |
johnAlexander | 1:e5cce6b28b6f | 165 | } |
johnAlexander | 1:e5cce6b28b6f | 166 | /* start the measure on the right sensor */ |
johnAlexander | 1:e5cce6b28b6f | 167 | if (NULL != board->sensor_right) { |
johnAlexander | 1:e5cce6b28b6f | 168 | installedSensors[sensorCnt] = 'R'; |
johnAlexander | 1:e5cce6b28b6f | 169 | status = board->sensor_right->stop_measurement(); |
johnAlexander | 1:e5cce6b28b6f | 170 | if (status != 0) { |
johnAlexander | 1:e5cce6b28b6f | 171 | return status; |
johnAlexander | 1:e5cce6b28b6f | 172 | } |
johnAlexander | 1:e5cce6b28b6f | 173 | status = board->sensor_right->start_measurement(&sensor_right_irq); |
johnAlexander | 1:e5cce6b28b6f | 174 | if (status != 0) { |
johnAlexander | 1:e5cce6b28b6f | 175 | return status; |
johnAlexander | 1:e5cce6b28b6f | 176 | } |
johnAlexander | 1:e5cce6b28b6f | 177 | ++sensorCnt; |
johnAlexander | 1:e5cce6b28b6f | 178 | } |
johnAlexander | 1:e5cce6b28b6f | 179 | currentSensor = 0; |
johnAlexander | 1:e5cce6b28b6f | 180 | return status; |
johnAlexander | 1:e5cce6b28b6f | 181 | } |
johnAlexander | 0:6b7696e7df5e | 182 | |
johnAlexander | 1:e5cce6b28b6f | 183 | /* |
johnAlexander | 1:e5cce6b28b6f | 184 | * Main ranging function |
johnAlexander | 1:e5cce6b28b6f | 185 | */ |
johnAlexander | 1:e5cce6b28b6f | 186 | int range_measure(vl53L1X_DevI2C *device_i2c) |
johnAlexander | 1:e5cce6b28b6f | 187 | { |
johnAlexander | 1:e5cce6b28b6f | 188 | int status = 0; |
johnAlexander | 0:6b7696e7df5e | 189 | |
johnAlexander | 0:6b7696e7df5e | 190 | /* creates the 53L1A1 expansion board singleton obj */ |
johnAlexander | 1:e5cce6b28b6f | 191 | board = XNucleo53L1A1::instance(device_i2c, A2, D9, D2); |
johnAlexander | 0:6b7696e7df5e | 192 | |
johnAlexander | 0:6b7696e7df5e | 193 | /* init the 53L1A1 expansion board with default values */ |
johnAlexander | 0:6b7696e7df5e | 194 | status = board->init_board(); |
johnAlexander | 0:6b7696e7df5e | 195 | if (status != 0) { |
johnAlexander | 0:6b7696e7df5e | 196 | printf("Failed to init board!\r\n"); |
johnAlexander | 0:6b7696e7df5e | 197 | return status; |
johnAlexander | 0:6b7696e7df5e | 198 | } |
johnAlexander | 0:6b7696e7df5e | 199 | |
johnAlexander | 1:e5cce6b28b6f | 200 | /* init an array with chars to id the sensors */ |
johnAlexander | 1:e5cce6b28b6f | 201 | status = init_sensors_array(); |
johnAlexander | 0:6b7696e7df5e | 202 | if (status != 0) { |
johnAlexander | 1:e5cce6b28b6f | 203 | printf("Failed to init sensors!\r\n"); |
johnAlexander | 0:6b7696e7df5e | 204 | return status; |
johnAlexander | 0:6b7696e7df5e | 205 | } |
johnAlexander | 0:6b7696e7df5e | 206 | |
johnAlexander | 1:e5cce6b28b6f | 207 | printf("Entering loop mode\r\n"); |
johnAlexander | 0:6b7696e7df5e | 208 | |
johnAlexander | 1:e5cce6b28b6f | 209 | /* Main ranging interrupt loop */ |
johnAlexander | 1:e5cce6b28b6f | 210 | while (true) { |
johnAlexander | 1:e5cce6b28b6f | 211 | measure_sensors(); |
johnAlexander | 1:e5cce6b28b6f | 212 | if (switchChanged) { |
johnAlexander | 1:e5cce6b28b6f | 213 | ++currentSensor; |
johnAlexander | 1:e5cce6b28b6f | 214 | if (currentSensor == sensorCnt) |
johnAlexander | 1:e5cce6b28b6f | 215 | currentSensor = 0; |
johnAlexander | 1:e5cce6b28b6f | 216 | printf("Sensor changed to %c\r\n", installedSensors[currentSensor]); |
johnAlexander | 1:e5cce6b28b6f | 217 | switchChanged = false; |
johnAlexander | 1:e5cce6b28b6f | 218 | stop_button.enable_irq(); |
johnAlexander | 0:6b7696e7df5e | 219 | } |
johnAlexander | 0:6b7696e7df5e | 220 | } |
johnAlexander | 1:e5cce6b28b6f | 221 | delete board; |
johnAlexander | 0:6b7696e7df5e | 222 | return status; |
johnAlexander | 0:6b7696e7df5e | 223 | } |
johnAlexander | 1:e5cce6b28b6f | 224 | |
johnAlexander | 1:e5cce6b28b6f | 225 | /*=================================== Main ================================== |
johnAlexander | 1:e5cce6b28b6f | 226 | =============================================================================*/ |
johnAlexander | 1:e5cce6b28b6f | 227 | int main() |
johnAlexander | 1:e5cce6b28b6f | 228 | { |
johnAlexander | 1:e5cce6b28b6f | 229 | #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401 |
johnAlexander | 1:e5cce6b28b6f | 230 | stop_button.rise(&switch_measuring_sensor_irq); |
johnAlexander | 1:e5cce6b28b6f | 231 | stop_button.enable_irq(); |
johnAlexander | 1:e5cce6b28b6f | 232 | #endif |
johnAlexander | 1:e5cce6b28b6f | 233 | vl53L1X_DevI2C *dev_I2C = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL); |
johnAlexander | 1:e5cce6b28b6f | 234 | range_measure(dev_I2C); // start continuous measures |
johnAlexander | 1:e5cce6b28b6f | 235 | return 0; |
johnAlexander | 1:e5cce6b28b6f | 236 | } |
johnAlexander | 1:e5cce6b28b6f | 237 |