File content as of revision 5:92a861d48253:

/*
 * 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 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
 *
 */

#include <stdio.h>
#include <time.h>

#include "mbed.h"

#include "XNucleo53L3A2.h"
#include "vl53L3_I2c.h"


#define I2C_SDA   D14
#define I2C_SCL   D15

#define MEASUREMENTTIMING  55

static XNucleo53L3A2 *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

static int int_centre_result = 0;
static int int_left_result = 0;
static int int_right_result = 0;


class WaitForMeasurement
{

public:


// this class services the interrupts from the ToF sensors.
// There is a limited amount you can do in an interrupt routine; printfs,mutexes break them among other things.
// We keep things simple by only raising a flag so all the real work is done outside the interrupt.
// This is designed around MBED V2 which doesn't have the RTOS features that would make this work nicely e.g. semaphores/queues.
    WaitForMeasurement(): _interrupt(A1)
    {
    }


    // constructor - Sensor is not used and can be removed
    WaitForMeasurement(PinName pin,VL53LX_DEV Dev) : _interrupt(pin)          // create the InterruptIn on the pin specified to Counter
    {
        Devlocal = Dev;
        _interrupt.rise(callback(this, &WaitForMeasurement::got_interrupt)); // attach increment function of this counter instance

    }

    void process_right_interrupt()
    {
        printf("processing right interrupt\n");
    }

    // 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)
            int_centre_result = 1;  //flag to main that interrupt happened
        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
    }


    //destructor
    ~WaitForMeasurement()
    {
        printf("destruction \n");
    }

private:

    InterruptIn _interrupt;
    volatile int _count;
    VL53LX_DEV Devlocal;
    int status;
};



VL53LX_Dev_t                   devCentre;
VL53LX_Dev_t                   devLeft;
VL53LX_Dev_t                   devRight;
VL53LX_DEV                     Dev = &devCentre;





/*=================================== Main ==================================
=============================================================================*/
int main()
{
    int status;
    VL53L3 * Sensor;
    uint16_t wordData;
    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

    printf("Hello world!\r\n");

    vl53L3_DevI2C *dev_I2C = new vl53L3_DevI2C(I2C_SDA, I2C_SCL);

    /* creates the 53L1A1 expansion board singleton obj */
    board = XNucleo53L3A2::instance(dev_I2C, A2, D8, D2);
    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 0;
    }


    printf("board initiated! - %d\r\n", status);

    for (ToFSensor=0; ToFSensor<3; ToFSensor++) {
        wait_ms(15);
        switch(ToFSensor) {
            case 0:
                if (board->sensor_centre== NULL ) continue;
                Dev=&devCentre;
                Sensor=board->sensor_centre;
                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");
        }

// configure the sensors
        Dev->comms_speed_khz = 400;

        Dev->comms_type = 1;

        Sensor->VL53LX_RdWord(Dev, 0x01, &wordData);
        printf("VL53L1X: %02X   %d\n\r", wordData,Dev->I2cDevAddr);
        /* Device Initialization and setting */

        status = Sensor->VL53LX_DataInit();
        status = Sensor->VL53LX_SetDistanceMode(VL53LX_DISTANCEMODE_LONG);
        status = Sensor->VL53LX_SetMeasurementTimingBudgetMicroSeconds( MEASUREMENTTIMING * 1000);
        status = Sensor->VL53LX_SmudgeCorrectionEnable(VL53LX_SMUDGE_CORRECTION_SINGLE);
        status = Sensor->VL53LX_SetXTalkCompensationEnable(1);


    }

    if (board->sensor_centre!= NULL ) {
        printf("starting interrupt centre\n");
        Sensor=board->sensor_centre;
        devCentre.I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS;
        int1 =  new WaitForMeasurement(A2,&devCentre);
        status = Sensor->VL53LX_StartMeasurement();
        printf("VL53L1_StartMeasurement %d \n",status);
        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) {

        VL53LX_MultiRangingData_t MultiRangingData;
        VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;

        wait_ms(10);

        if (int_centre_result != 0) {
            int_centre_result = 0;
            status = board->sensor_centre->VL53LX_GetMultiRangingData( pMultiRangingData);
            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("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/65535.0),
                               (pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65535.0));
                    }
                }
            }
            int_centre_result = 0;
            wait_ms( MEASUREMENTTIMING );
            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");
}

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