John Alexander / Mbed OS VL53L3CX_Shield_Polling_v5_15

VL53L3CX ranging example application, using X-Nucleo-53L3A2 expansion shield and polling, on MbedOS v6.x

Dependencies:   X_NUCLEO_53L3A2

main.cpp@11:50c7370caef3, 2021-04-30 (annotated)

Committer:
johnAlexander
Date:
Fri Apr 30 09:49:46 2021 +0000
Revision:
11:50c7370caef3
Parent:
10:6145f8f6527c 
Targetted at MbedOS v5.15

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:2a67f2b41fd7 1 /*
johnAlexander 4:9fad37a914cd 2 * This VL53L3 Expansion board test application performs range measurements
charlesmn 0:2a67f2b41fd7 3 * using the onboard embedded centre sensor, in singleshot, polling mode.
johnAlexander 10:6145f8f6527c 4 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
charlesmn 0:2a67f2b41fd7 5 *
charlesmn 0:2a67f2b41fd7 6 * The User Blue button stops the current measurement and entire program,
charlesmn 0:2a67f2b41fd7 7 * releasing all resources.
charlesmn 0:2a67f2b41fd7 8 *
charlesmn 0:2a67f2b41fd7 9 * The Reset button can be used to restart the program.
charlesmn 0:2a67f2b41fd7 10 */
charlesmn 0:2a67f2b41fd7 11
charlesmn 0:2a67f2b41fd7 12 //Main_single_polling.h
charlesmn 0:2a67f2b41fd7 13
charlesmn 0:2a67f2b41fd7 14 #include <stdio.h>
johnAlexander 3:7826b7dbd1b0 15 #include <time.h>
charlesmn 0:2a67f2b41fd7 16
charlesmn 0:2a67f2b41fd7 17 #include "mbed.h"
johnAlexander 4:9fad37a914cd 18 #include "XNucleo53L3A2.h"
charlesmn 1:9ea3593bac93 19 #include "vl53L3_I2c.h"
charlesmn 0:2a67f2b41fd7 20
charlesmn 0:2a67f2b41fd7 21
charlesmn 0:2a67f2b41fd7 22 // define i2c mcu pins
charlesmn 1:9ea3593bac93 23 #define I2C_SDA D14
charlesmn 1:9ea3593bac93 24 #define I2C_SCL D15
charlesmn 0:2a67f2b41fd7 25
johnAlexander 4:9fad37a914cd 26 static XNucleo53L3A2 *board=NULL;
johnAlexander 8:4f47fb835574 27 #if (MBED_VERSION > 60300)
johnAlexander 8:4f47fb835574 28 UnbufferedSerial pc(SERIAL_TX, SERIAL_RX);
johnAlexander 8:4f47fb835574 29 #else
johnAlexander 8:4f47fb835574 30 Serial pc(SERIAL_TX, SERIAL_RX);
johnAlexander 8:4f47fb835574 31 #endif
charlesmn 0:2a67f2b41fd7 32
charlesmn 0:2a67f2b41fd7 33
charlesmn 0:2a67f2b41fd7 34
charlesmn 0:2a67f2b41fd7 35 VL53LX_Dev_t devCentre;
charlesmn 0:2a67f2b41fd7 36 VL53LX_Dev_t devLeft;
charlesmn 0:2a67f2b41fd7 37 VL53LX_Dev_t devRight;
johnAlexander 3:7826b7dbd1b0 38
charlesmn 0:2a67f2b41fd7 39 VL53LX_DEV Dev = &devCentre;
charlesmn 0:2a67f2b41fd7 40
charlesmn 0:2a67f2b41fd7 41
charlesmn 0:2a67f2b41fd7 42
charlesmn 0:2a67f2b41fd7 43 /*=================================== Main ==================================
charlesmn 0:2a67f2b41fd7 44 =============================================================================*/
charlesmn 0:2a67f2b41fd7 45 int main()
charlesmn 0:2a67f2b41fd7 46 {
charlesmn 0:2a67f2b41fd7 47 int status;
johnAlexander 8:4f47fb835574 48 VL53L3 * Sensor;
charlesmn 0:2a67f2b41fd7 49 uint16_t wordData;
charlesmn 0:2a67f2b41fd7 50
charlesmn 0:2a67f2b41fd7 51 static VL53LX_MultiRangingData_t RangingData;
charlesmn 0:2a67f2b41fd7 52
charlesmn 0:2a67f2b41fd7 53
charlesmn 0:2a67f2b41fd7 54 pc.baud(115200); // baud rate is important as printf statements take a lot of time
charlesmn 0:2a67f2b41fd7 55 printf("Hello world!\r\n");
charlesmn 0:2a67f2b41fd7 56
charlesmn 1:9ea3593bac93 57 vl53L3_DevI2C *dev_I2C = new vl53L3_DevI2C(I2C_SDA, I2C_SCL);
charlesmn 0:2a67f2b41fd7 58
charlesmn 0:2a67f2b41fd7 59 /* creates the 53L1A1 expansion board singleton obj */
johnAlexander 4:9fad37a914cd 60 board = XNucleo53L3A2::instance(dev_I2C, A2, D8, D2);
charlesmn 0:2a67f2b41fd7 61 printf("board created!\r\n");
charlesmn 0:2a67f2b41fd7 62
charlesmn 0:2a67f2b41fd7 63
charlesmn 0:2a67f2b41fd7 64 /* init the 53L1A1 expansion board with default values */
charlesmn 0:2a67f2b41fd7 65 status = board->init_board();
charlesmn 0:2a67f2b41fd7 66 if (status) {
charlesmn 0:2a67f2b41fd7 67 printf("Failed to init board!\r\n");
charlesmn 0:2a67f2b41fd7 68 return 0;
charlesmn 0:2a67f2b41fd7 69 }
charlesmn 0:2a67f2b41fd7 70
charlesmn 0:2a67f2b41fd7 71
charlesmn 0:2a67f2b41fd7 72 printf("board initiated! \n");
charlesmn 0:2a67f2b41fd7 73
charlesmn 0:2a67f2b41fd7 74 printf("configuring centre channel \n");
charlesmn 0:2a67f2b41fd7 75 Dev=&devCentre;
charlesmn 0:2a67f2b41fd7 76 Sensor=board->sensor_centre;
charlesmn 0:2a67f2b41fd7 77 Dev->I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:2a67f2b41fd7 78 printf("configured centre channel \n");
charlesmn 0:2a67f2b41fd7 79
charlesmn 0:2a67f2b41fd7 80
charlesmn 0:2a67f2b41fd7 81 // configure the i2c connection
charlesmn 0:2a67f2b41fd7 82 Dev->comms_speed_khz = 400;
charlesmn 0:2a67f2b41fd7 83 Dev->comms_type = 1;
charlesmn 0:2a67f2b41fd7 84
charlesmn 0:2a67f2b41fd7 85 /* Device Initialization and setting */
charlesmn 0:2a67f2b41fd7 86
charlesmn 0:2a67f2b41fd7 87 status = Sensor->VL53LX_DataInit();
charlesmn 0:2a67f2b41fd7 88 uint8_t NewDataReady=0;
charlesmn 0:2a67f2b41fd7 89
charlesmn 0:2a67f2b41fd7 90
charlesmn 0:2a67f2b41fd7 91 status = Sensor->VL53LX_StartMeasurement();
charlesmn 0:2a67f2b41fd7 92 printf("VL53LX_StartMeasurement %d \n",status);
charlesmn 0:2a67f2b41fd7 93
charlesmn 0:2a67f2b41fd7 94 while(1)
charlesmn 0:2a67f2b41fd7 95 {
charlesmn 0:2a67f2b41fd7 96 status = Sensor->VL53LX_WaitMeasurementDataReady();
charlesmn 0:2a67f2b41fd7 97
charlesmn 0:2a67f2b41fd7 98 if(!status)
charlesmn 0:2a67f2b41fd7 99 {
charlesmn 0:2a67f2b41fd7 100
charlesmn 0:2a67f2b41fd7 101 status = Sensor->VL53LX_GetMultiRangingData( &RangingData);
charlesmn 0:2a67f2b41fd7 102
charlesmn 0:2a67f2b41fd7 103 if ( status == 0)
charlesmn 0:2a67f2b41fd7 104 {
charlesmn 0:2a67f2b41fd7 105 int no_of_object_found=RangingData.NumberOfObjectsFound;
charlesmn 0:2a67f2b41fd7 106 if ( no_of_object_found < 10 )
charlesmn 0:2a67f2b41fd7 107 {
charlesmn 0:2a67f2b41fd7 108 for(int j=0;j<no_of_object_found;j++){
charlesmn 0:2a67f2b41fd7 109 if ((RangingData.RangeData[j].RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID) ||
charlesmn 0:2a67f2b41fd7 110 (RangingData.RangeData[j].RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL))
charlesmn 0:2a67f2b41fd7 111 { // print data
charlesmn 0:2a67f2b41fd7 112 printf("centre \t object %d \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
charlesmn 0:2a67f2b41fd7 113 j,
charlesmn 0:2a67f2b41fd7 114 RangingData.RangeData[j].RangeStatus,
charlesmn 0:2a67f2b41fd7 115 RangingData.RangeData[j].RangeMilliMeter,
charlesmn 0:2a67f2b41fd7 116 RangingData.RangeData[j].SignalRateRtnMegaCps/65536.0,
charlesmn 0:2a67f2b41fd7 117 RangingData.RangeData[j].AmbientRateRtnMegaCps/65536.0);
charlesmn 0:2a67f2b41fd7 118 } //if
charlesmn 0:2a67f2b41fd7 119 } //for
charlesmn 0:2a67f2b41fd7 120 } // if ( no_of_object_found < 10 )
charlesmn 0:2a67f2b41fd7 121 } // if status VL53LX_GetMultiRangingData
charlesmn 0:2a67f2b41fd7 122
charlesmn 0:2a67f2b41fd7 123 } // if !status VL53LX_WaitMeasurementDataReady
charlesmn 0:2a67f2b41fd7 124 else
charlesmn 0:2a67f2b41fd7 125 {
charlesmn 0:2a67f2b41fd7 126 printf("VL53L1_WaitMeasurementDataReady failed %d \n",status);
charlesmn 0:2a67f2b41fd7 127 }
charlesmn 0:2a67f2b41fd7 128
charlesmn 0:2a67f2b41fd7 129 status = Sensor->VL53LX_ClearInterruptAndStartMeasurement();
charlesmn 0:2a67f2b41fd7 130
charlesmn 0:2a67f2b41fd7 131 } // while(1)
charlesmn 0:2a67f2b41fd7 132
charlesmn 0:2a67f2b41fd7 133 // status = Sensor->VL53LX_StopMeasurement();
charlesmn 0:2a67f2b41fd7 134
charlesmn 0:2a67f2b41fd7 135 }
johnAlexander 8:4f47fb835574 136