Revision 10:f7ea5c83f73c, committed 2021-05-10

Comitter:

johnAlexander

Date:

Mon May 10 15:32:14 2021 +0000

Parent:

9:8bedc857ccc1

Commit message:

Align with libs, and optimise apps.

Changed in this revision

--- a/X_NUCLEO_53L3A2.lib	Mon May 10 15:21:30 2021 +0000
+++ b/X_NUCLEO_53L3A2.lib	Mon May 10 15:32:14 2021 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/teams/ST-Expansion-SW-Team/code/X_NUCLEO_53L3A2/#cccb5f470785
+https://os.mbed.com/teams/ST-Expansion-SW-Team/code/X_NUCLEO_53L3A2/#3596d0435199

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp.orig	Mon May 10 15:32:14 2021 +0000
@@ -0,0 +1,299 @@
+/*
+ * This VL53L3 Expansion board test application performs range measurements
+ * using the onboard embedded sensor, and satellite boards, in interrupt mode.
+ * Measured ranges are output on the Serial Port, running at 115200 baud.
+ *
+ * The Reset button can be used to restart the program.
+ *
+ * *** Note :
+ * Default Mbed build system settings disable printf floating-point support.
+ * Online builds seem unable to configure this.
+ * Offline builds can enable printf floating-point support.
+ * 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  2 // 5  // 10 // 20 // 30 // 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;
+    uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
+
+    WaitForMeasurement *int2;
+    WaitForMeasurement *int1;
+    WaitForMeasurement *int3;
+
+
+    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);
+
+    for (ToFSensor = 0; ToFSensor < 3; ToFSensor++) {
+        wait_ms(15);
+        switch(ToFSensor) {
+            case 0:
+                if (board->sensor_centre == NULL ) continue;
+                Dev=&devCentre;
+                Dev->I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS;
+                Sensor = board->sensor_centre;
+                printf("configuring centre channel \n");
+                break;
+            case 1:
+                if (board->sensor_left == NULL ) continue;
+                Dev=&devLeft;
+                Dev->I2cDevAddr = NEW_SENSOR_LEFT_ADDRESS;
+                Sensor = board->sensor_left;
+                printf("configuring left channel \n");
+                break;
+            case 2:
+                if (board->sensor_right == NULL ) continue;
+                Dev=&devRight;
+                Dev->I2cDevAddr = NEW_SENSOR_RIGHT_ADDRESS;
+                Sensor = board->sensor_right;
+                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;
+
+        /* 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 = Sensor->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 = Sensor->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 = Sensor->VL53LX_ClearInterruptAndStartMeasurement();
+    }
+
+
+    VL53LX_MultiRangingData_t MultiRangingData;
+    VL53LX_MultiRangingData_t *pMultiRangingData;
+    
+    // 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) {
+        pMultiRangingData = &MultiRangingData;
+
+        wait_ms(5); // 10
+
+        if (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));
+                    }
+                }
+            }
+            // clear the interrupt and wait for another result
+            int_centre_result = 0;
+            wait_ms( MEASUREMENTTIMING );
+            status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
+        }
+
+
+        if (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) );
+                        }
+                    }
+                }
+            }
+            // clear the interrupt and wait for another result
+            int_left_result = 0;
+            wait_ms( MEASUREMENTTIMING );
+            status = board->sensor_left->VL53LX_ClearInterruptAndStartMeasurement();
+        }
+
+
+        if (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) );
+                        }
+                    }
+                }
+            }
+            // clear the interrupt and wait for another result
+            int_right_result = 0;
+            wait_ms( MEASUREMENTTIMING );
+            status = board->sensor_right->VL53LX_ClearInterruptAndStartMeasurement();
+        }
+    }
+    printf("terminated");
+}
+
+#if (MBED_VERSION  > 60300)
+extern "C" void wait_ms(int ms)
+{
+    thread_sleep_for(ms);
+}
+#endif
+  
\ No newline at end of file