Diff: main.cpp

Revision:

6:4bc839979c55

Parent:

5:92a861d48253

Child:

7:bd1ddfbee3ef

--- a/main.cpp	Fri May 07 14:46:18 2021 +0000
+++ b/main.cpp	Fri May 07 15:51:29 2021 +0000
@@ -1,6 +1,6 @@
 /*
  * This VL53L3 Expansion board test application performs range measurements
- * using the onboard embedded centre sensor, in singleshot, polling mode.
+ * using the onboard embedded centre sensor, in interrupt mode.
  * Measured ranges are ouput on the Serial Port, running at 115200 baud.
  *
  * The User Blue button stops the current measurement and entire program,
@@ -101,10 +101,10 @@
 
 
 
-VL53LX_Dev_t                   devCentre;
-VL53LX_Dev_t                   devLeft;
-VL53LX_Dev_t                   devRight;
-VL53LX_DEV                     Dev = &devCentre;
+VL53LX_Dev_t devCentre;
+VL53LX_Dev_t devLeft;
+VL53LX_Dev_t devRight;
+VL53LX_DEV Dev = &devCentre;
 
 
 
@@ -120,9 +120,7 @@
     uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
 
 
-    WaitForMeasurement* int2;
     WaitForMeasurement* int1;
-    WaitForMeasurement* int3;
 
     pc.baud(115200);  // baud rate is important as printf statements take a lot of time
 
@@ -154,20 +152,6 @@
                 Dev->I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS;
                 printf("configuring centre channel \n");
                 break;
-            case 1:
-                if (board->sensor_left== NULL ) continue;
-                Dev=&devLeft;
-                Sensor=board->sensor_left;
-                Dev->I2cDevAddr = NEW_SENSOR_LEFT_ADDRESS;
-                printf("configuring left channel \n");
-                break;
-            case 2:
-                if (board->sensor_right== NULL ) continue;
-                Dev=&devRight;
-                Sensor=board->sensor_right;
-                Dev->I2cDevAddr = NEW_SENSOR_RIGHT_ADDRESS;
-                printf("configuring right channel \n");
-                break;
             default:
                 printf(" error in switch, invalid ToF sensor \n");
         }
@@ -187,7 +171,6 @@
         status = Sensor->VL53LX_SmudgeCorrectionEnable(VL53LX_SMUDGE_CORRECTION_SINGLE);
         status = Sensor->VL53LX_SetXTalkCompensationEnable(1);
 
-
     }
 
     if (board->sensor_centre!= NULL ) {
@@ -200,28 +183,6 @@
         status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
     }
 
-
-    if (board->sensor_left!= NULL ) {
-        printf("starting interrupt left\n");
-        Sensor=board->sensor_left;
-        devLeft.I2cDevAddr = NEW_SENSOR_LEFT_ADDRESS;
-        int2 = new WaitForMeasurement(D8,&devLeft);
-        status = Sensor->VL53LX_StartMeasurement();
-        printf("VL53L1_StartMeasurement %d \n",status);
-        status = board->sensor_left->VL53LX_ClearInterruptAndStartMeasurement();
-    }
-
-    if (board->sensor_right!= NULL ) {
-        printf("starting interrupt right\n");
-        Sensor=board->sensor_right;
-        devRight.I2cDevAddr = NEW_SENSOR_RIGHT_ADDRESS;
-        int3 = new WaitForMeasurement(D2,&devRight);
-        status = Sensor->VL53LX_StartMeasurement();
-        printf("VL53L1_StartMeasurement %d \n",status);
-        status = board->sensor_right->VL53LX_ClearInterruptAndStartMeasurement();
-    }
-
-
     // loop waiting for interrupts to happen. This is signaled by   int_centre_result,int_left_result or int_right_result
     // being non zero. The are set back to zero when processing is completed
     while (1) {
@@ -251,61 +212,12 @@
             status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
         }
 
-
-        if (int_left_result != 0) {
-            int_left_result = 0;
-            status = board->sensor_left->VL53LX_GetMultiRangingData( pMultiRangingData);
-            if ( status == 0) {
-                int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
-                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 / 65535.0),
-                                   (pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535.0) );
-                        }
-                    }
-                }
-            }
-            wait_ms( MEASUREMENTTIMING );
-            status = board->sensor_left->VL53LX_ClearInterruptAndStartMeasurement();
-        }
-
-
-        if (int_right_result != 0) {
-            // clear interrupt flag
-            int_right_result = 0;
-            status = board->sensor_right->VL53LX_GetMultiRangingData( pMultiRangingData);
-            if ( status == 0) {
-                // if valid result print it
-                int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
-                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("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/65535.0),
-                                   (pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65535.0) );
-                        }
-                    }
-                }
-            }
-            wait_ms( MEASUREMENTTIMING );
-            // clear theinterrupt and wait for another result
-            status = board->sensor_right->VL53LX_ClearInterruptAndStartMeasurement();
-
-        }
+        printf("terminated");
     }
-    printf("terminated");
 }
 
 #if (MBED_VERSION  > 60300)
-extern "C" void wait_ms(int ms)
-{
-    thread_sleep_for(ms);
-}
+    extern "C" void wait_ms(int ms) {
+        thread_sleep_for(ms);
+    }
 #endif
-  
\ No newline at end of file