John Alexander
/
VL53L3CX_Shield_Polling_v5_15
VL53L3CX ranging example application, using X-Nucleo-53L3A2 expansion shield and polling, on MbedOS v6.x
Main.cpp
- Committer:
- charlesmn
- Date:
- 2020-10-19
- Revision:
- 1:9ea3593bac93
- Parent:
- 0:2a67f2b41fd7
- Child:
- 3:7826b7dbd1b0
File content as of revision 1:9ea3593bac93:
/* * This VL53L1X 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 9600 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. */ //Main_single_polling.h #include <stdio.h> #include "mbed.h" #include "XNucleo53LX.h" #include "vl53L3_I2c.h" #include <time.h> // define i2c mcu pins #define I2C_SDA D14 #define I2C_SCL D15 static XNucleo53LX *board=NULL; Serial pc(SERIAL_TX, SERIAL_RX); VL53LX_Dev_t devCentre; VL53LX_Dev_t devLeft; VL53LX_Dev_t devRight; VL53LX_DEV Dev = &devCentre; /*=================================== Main ================================== =============================================================================*/ int main() { int status; VL53LX * Sensor; uint16_t wordData; static VL53LX_MultiRangingData_t RangingData; 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 = XNucleo53LX::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! \n"); printf("configuring centre channel \n"); Dev=&devCentre; Sensor=board->sensor_centre; Dev->I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS; printf("configured centre channel \n"); // configure the i2c connection Dev->comms_speed_khz = 400; Dev->comms_type = 1; /* Device Initialization and setting */ status = Sensor->VL53LX_DataInit(); uint8_t NewDataReady=0; status = Sensor->VL53LX_StartMeasurement(); printf("VL53LX_StartMeasurement %d \n",status); while(1) { status = Sensor->VL53LX_WaitMeasurementDataReady(); if(!status) { status = Sensor->VL53LX_GetMultiRangingData( &RangingData); if ( status == 0) { int no_of_object_found=RangingData.NumberOfObjectsFound; if ( no_of_object_found < 10 ) { for(int j=0;j<no_of_object_found;j++){ if ((RangingData.RangeData[j].RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID) || (RangingData.RangeData[j].RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL)) { // print data printf("centre \t object %d \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n", j, RangingData.RangeData[j].RangeStatus, RangingData.RangeData[j].RangeMilliMeter, RangingData.RangeData[j].SignalRateRtnMegaCps/65536.0, RangingData.RangeData[j].AmbientRateRtnMegaCps/65536.0); } //if } //for } // if ( no_of_object_found < 10 ) } // if status VL53LX_GetMultiRangingData } // if !status VL53LX_WaitMeasurementDataReady else { printf("VL53L1_WaitMeasurementDataReady failed %d \n",status); } status = Sensor->VL53LX_ClearInterruptAndStartMeasurement(); } // while(1) // status = Sensor->VL53LX_StopMeasurement(); }