File content as of revision 7:bd1ddfbee3ef:

/*
 * This VL53L3 Expansion board test application performs range measurements
 * 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,
 * 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  40 //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
    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;
    WaitForMeasurement *int1;

    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");

    pc.baud(115200);  // baud rate is important as printf statements take a lot of time

    /* 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);

    Dev = &devCentre;
    Dev->I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS;
    Dev->comms_speed_khz = 400;
    Dev->comms_type = 1;
    
    Sensor = board->sensor_centre;
    
    printf("configuring centre channel \n");

    /* 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");
        int1 =  new WaitForMeasurement(A2, &devCentre);

        status = Sensor->VL53LX_StartMeasurement();
        printf("VL53L1_StartMeasurement %d \n",status);
        status = Sensor->VL53LX_ClearInterruptAndStartMeasurement();
    }


    VL53LX_MultiRangingData_t MultiRangingData;
    VL53LX_MultiRangingData_t *pMultiRangingData;

    // infinite loop, waiting for interrupts to happen.
    // an interrupt being received is signaled by int_centre_result being non zero.
    // int_centre_result is set back to zero when interrupt processing is completed
    while (1) {

        pMultiRangingData = &MultiRangingData;

        wait_ms(10);

        if (int_centre_result != 0) {
            status = Sensor->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 = Sensor->VL53LX_ClearInterruptAndStartMeasurement();
        }
    }

    printf("terminated");
}

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