Diff: main.cpp

Revision:

4:360dc34c3769

Parent:

3:42c96c9c627b

Child:

5:92a861d48253

--- a/main.cpp	Tue May 04 09:39:21 2021 +0000
+++ b/main.cpp	Fri May 07 14:41:08 2021 +0000
@@ -1,19 +1,26 @@
 /*
- *  This VL53L3 Expansion board test application performs range measurements
- *  using the onboard embedded centre sensor, in singleshot, polling mode.
- *  Measured ranges are ouput on the Serial Port, running at 115200 baud.
+ * This VL53L3 Expansion board test application performs range measurements
+ * using the onboard embedded centre sensor, in singleshot, polling mode.
+ * Measured ranges are ouput on the Serial Port, running at 115200 baud.
+ *
+ * The User Blue button stops the current measurement and entire program,
+ * releasing all resources.
  *
- *  The User Blue button stops the current measurement and entire program,
- *  releasing all resources.
+ * The Reset button can be used to restart the program.
  *
- *  The Reset button can be used to restart the program.
+ * *** Note : 
+ * Default Mbed build system settings disable print 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
+ *
  */
- //Main_interrupt_ranging.h
  
 #include <stdio.h>
 #include <time.h>
 
 #include "mbed.h"
+
 #include "XNucleo53L3A2.h"
 #include "vl53L3_I2c.h"
 
@@ -37,6 +44,7 @@
 
 
 class WaitForMeasurement {
+    
 public:
 
 
@@ -65,7 +73,6 @@
   // function is called every time an interupt is seen. A flag is raised which allows the main routine to service the interupt.
     void got_interrupt()
     {
-    
         _count++;
 
         if (Devlocal->I2cDevAddr == NEW_SENSOR_CENTRE_ADDRESS)
@@ -73,9 +80,7 @@
         if (Devlocal->I2cDevAddr == NEW_SENSOR_LEFT_ADDRESS)
             int_left_result = 1;   //flag to main that interrupt happened
         if (Devlocal->I2cDevAddr == NEW_SENSOR_RIGHT_ADDRESS)
-        {
             int_right_result = 1;  //flag to main that interrupt happened
-        }
     }
 
     
@@ -86,11 +91,11 @@
     }
 
 private:
+
     InterruptIn _interrupt;
     volatile int _count;
     VL53LX_DEV Devlocal;
-    int status;
-    
+    int status;    
 };
 
 
@@ -124,8 +129,6 @@
 
     vl53L3_DevI2C *dev_I2C = new vl53L3_DevI2C(I2C_SDA, I2C_SCL);
 
- //   printf("I2C device created! %d %d\r\n",dev_I2C,*dev_I2C);
-    
     /* creates the 53L1A1 expansion board singleton obj */
     board = XNucleo53L3A2::instance(dev_I2C, A2, D8, D2);
     printf("board created!\r\n");
@@ -227,32 +230,30 @@
         {
 
             VL53LX_MultiRangingData_t MultiRangingData;
-             VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;   
+            VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;   
             
-            wait_ms( 1 * 10);
- //                           printf("interruptcount %d \n",interruptcount);
+            wait_ms(10);
+            
             if (int_centre_result != 0)
             {
                 int_centre_result = 0;
- //               printf("int_centre_result \n");
                 status = board->sensor_centre->VL53LX_GetMultiRangingData( pMultiRangingData);
                 int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
-//                printf("int_centre_result %d %d \n",no_of_object_found,status);
                 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 == 0) 
                         {
                             printf("centre\t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
-                            pMultiRangingData->RangeData[j].RangeStatus,
-                            pMultiRangingData->RangeData[j].RangeMilliMeter,
-                            pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0,
-                            pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
+                                pMultiRangingData->RangeData[j].RangeStatus,
+                                pMultiRangingData->RangeData[j].RangeMilliMeter,
+                                (pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65535.0),
+                                (pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65535.0));
                         }
                     }
                 }
                 int_centre_result = 0;
-                 wait_ms( MEASUREMENTTIMING );
+                wait_ms( MEASUREMENTTIMING );
                 status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
             }
 
@@ -260,31 +261,26 @@
             if (int_left_result != 0)
             {
                 int_left_result = 0;
-//                                                 printf("int_left_result \n");
                 status = board->sensor_left->VL53LX_GetMultiRangingData( pMultiRangingData);
-  //              printf("int_left_result status %d \n",status);
                 if ( status == 0)
                 {
                     int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
-  //                  printf("int_left_result %d %d \n",no_of_object_found,status);
                     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 == 0) 
                             {
-
                                 printf("left  \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
-                                pMultiRangingData->RangeData[j].RangeStatus,
-                                pMultiRangingData->RangeData[j].RangeMilliMeter,
-                                pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0,
-                                pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
+                                    pMultiRangingData->RangeData[j].RangeStatus,
+                                    pMultiRangingData->RangeData[j].RangeMilliMeter,
+                                    (pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535.0),
+                                    (pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535.0) );
                             }
                         }
                     }
                 }
-                 wait_ms( MEASUREMENTTIMING );
+                wait_ms( MEASUREMENTTIMING );
                 status = board->sensor_left->VL53LX_ClearInterruptAndStartMeasurement();
-
             }
             
             
@@ -292,51 +288,30 @@
             {
                 // clear interrupt flag
                 int_right_result = 0;
- //                                printf("int_right_result \n");
                 status = board->sensor_right->VL53LX_GetMultiRangingData( pMultiRangingData);
                 if ( status == 0)
                 {
- //                   printf("int_right_result status %d \n",status);
                     // if valid result print it
                     int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
-   //                printf("int_right_result %d %d \n",no_of_object_found,status);
                     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 == 0) 
                             {
-//                                   if(j!=0)printf("\n          0           ");
                                 printf("right \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
-                                pMultiRangingData->RangeData[j].RangeStatus,
-                                pMultiRangingData->RangeData[j].RangeMilliMeter,
-                                pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0,
-                                pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
+                                    pMultiRangingData->RangeData[j].RangeStatus,
+                                    pMultiRangingData->RangeData[j].RangeMilliMeter,
+                                    (pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65535.0),
+                                    (pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65535.0) );
                             }
                         }
                     }
                 }
-                 wait_ms( MEASUREMENTTIMING );
+                wait_ms( MEASUREMENTTIMING );
                 // clear theinterrupt and wait for another result
                 status = board->sensor_right->VL53LX_ClearInterruptAndStartMeasurement();
 
             }
-  /*
-            if ( interruptcount  > 10000)
-            {
-                printf("interruptcount exceeded \n");
-                int_left_result = 0;
-                int_centre_result = 0;
-                int_right_result = 0;
-                if (board->sensor_centre!= NULL )
-                    status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
-                if (board->sensor_left!= NULL )
-                    status = board->sensor_left->VL53LX_ClearInterruptAndStartMeasurement();
-                if (board->sensor_right!= NULL )
-                    status = board->sensor_right->VL53LX_ClearInterruptAndStartMeasurement();
-                interruptcount = 0;
-            }
-            */
-    
         }
         printf("terminated");
     }