John Alexander / Mbed OS VL53L3_NoShield_1Sensor_polling_Mb63

Use sensor class

Dependencies:   VL53L3CX_mbed

Main.cpp@0:2800b864165a, 2020-10-14 (annotated)

Committer:
charlesmn
Date:
Wed Oct 14 07:49:01 2020 +0000
Revision:
0:2800b864165a
Child:
1:302ec451d4d5
Simple sample program to control a VL53L3 directly from the MCU without using a Nucleo shield. MBedV6.3.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:2800b864165a 1 /*
charlesmn 0:2800b864165a 2 * no_shield_single_polling.h
charlesmn 0:2800b864165a 3 * This pogram is a simple sample program which demsonstrates the VL53L3 being used without
charlesmn 0:2800b864165a 4 * a nucleo sheild. The shutdown pins are directly connected to the MCU pins D9,D4 and D3
charlesmn 0:2800b864165a 5 * as defined by this line:
charlesmn 0:2800b864165a 6 * status = board->init_board(D9,D4,D3);
charlesmn 0:2800b864165a 7 * the interrupt pins are defined in
charlesmn 0:2800b864165a 8 * board = NoShield53L3::instance(dev_I2C, A2, D8, D2);
charlesmn 0:2800b864165a 9 *
charlesmn 0:2800b864165a 10 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
charlesmn 0:2800b864165a 11 *
charlesmn 0:2800b864165a 12 * The Reset button can be used to restart the program.
charlesmn 0:2800b864165a 13 */
charlesmn 0:2800b864165a 14
charlesmn 0:2800b864165a 15 #include <stdio.h>
charlesmn 0:2800b864165a 16
charlesmn 0:2800b864165a 17 #include "mbed.h"
charlesmn 0:2800b864165a 18 #include "NoShield53L3.h"
charlesmn 0:2800b864165a 19 #include "vl53L1x_I2c.h"
charlesmn 0:2800b864165a 20 #include <time.h>
charlesmn 0:2800b864165a 21
charlesmn 0:2800b864165a 22
charlesmn 0:2800b864165a 23 // define i2c mcu pins
charlesmn 0:2800b864165a 24 #define VL53L1_I2C_SDA D14
charlesmn 0:2800b864165a 25 #define VL53L1_I2C_SCL D15
charlesmn 0:2800b864165a 26
charlesmn 0:2800b864165a 27 static NoShield53L3 *board=NULL;
charlesmn 0:2800b864165a 28 Serial pc(SERIAL_TX, SERIAL_RX);
charlesmn 0:2800b864165a 29
charlesmn 0:2800b864165a 30
charlesmn 0:2800b864165a 31
charlesmn 0:2800b864165a 32 VL53LX_Dev_t devCentre;
charlesmn 0:2800b864165a 33 VL53LX_Dev_t devLeft;
charlesmn 0:2800b864165a 34 VL53LX_Dev_t devRight;
charlesmn 0:2800b864165a 35 VL53LX_DEV Dev = &devCentre;
charlesmn 0:2800b864165a 36
charlesmn 0:2800b864165a 37
charlesmn 0:2800b864165a 38
charlesmn 0:2800b864165a 39 /*=================================== Main ==================================
charlesmn 0:2800b864165a 40 =============================================================================*/
charlesmn 0:2800b864165a 41 int main()
charlesmn 0:2800b864165a 42 {
charlesmn 0:2800b864165a 43 int status;
charlesmn 0:2800b864165a 44 VL53LX * Sensor;
charlesmn 0:2800b864165a 45 uint16_t wordData;
charlesmn 0:2800b864165a 46
charlesmn 0:2800b864165a 47 static VL53LX_MultiRangingData_t RangingData;
charlesmn 0:2800b864165a 48
charlesmn 0:2800b864165a 49
charlesmn 0:2800b864165a 50 pc.baud(115200); // baud rate is important as printf statements take a lot of time
charlesmn 0:2800b864165a 51 printf("Hello world!\r\n");
charlesmn 0:2800b864165a 52
charlesmn 0:2800b864165a 53 vl53L1X_DevI2C *dev_I2C = new vl53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
charlesmn 0:2800b864165a 54
charlesmn 0:2800b864165a 55 /* no expansion board so don't use stmpe1600 */
charlesmn 0:2800b864165a 56 board = NoShield53L3::instance(dev_I2C, A2, D8, D2);
charlesmn 0:2800b864165a 57 printf("board created!\r\n");
charlesmn 0:2800b864165a 58
charlesmn 0:2800b864165a 59
charlesmn 0:2800b864165a 60 /* define the shutdown pins */
charlesmn 0:2800b864165a 61 status = board->init_board(D9,D4,D3);
charlesmn 0:2800b864165a 62 if (status) {
charlesmn 0:2800b864165a 63 printf("Failed to init board!\r\n");
charlesmn 0:2800b864165a 64 return 0;
charlesmn 0:2800b864165a 65 }
charlesmn 0:2800b864165a 66
charlesmn 0:2800b864165a 67
charlesmn 0:2800b864165a 68 printf("board initiated! \n");
charlesmn 0:2800b864165a 69
charlesmn 0:2800b864165a 70 printf("configuring centre channel \n");
charlesmn 0:2800b864165a 71 Dev=&devCentre;
charlesmn 0:2800b864165a 72 Sensor=board->sensor_centre;
charlesmn 0:2800b864165a 73 Dev->I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:2800b864165a 74 printf("configured centre channel \n");
charlesmn 0:2800b864165a 75
charlesmn 0:2800b864165a 76
charlesmn 0:2800b864165a 77 // configure the i2c connection
charlesmn 0:2800b864165a 78 Dev->comms_speed_khz = 400;
charlesmn 0:2800b864165a 79 Dev->comms_type = 1;
charlesmn 0:2800b864165a 80
charlesmn 0:2800b864165a 81 /* Device Initialization and setting */
charlesmn 0:2800b864165a 82 printf("VL53LX_DataInit \n");
charlesmn 0:2800b864165a 83 status = Sensor->VL53LX_DataInit();
charlesmn 0:2800b864165a 84 uint8_t NewDataReady=0;
charlesmn 0:2800b864165a 85 printf("VL53LX_DataInit %d \n",status);
charlesmn 0:2800b864165a 86
charlesmn 0:2800b864165a 87 status = Sensor->VL53LX_StartMeasurement();
charlesmn 0:2800b864165a 88 printf("VL53LX_StartMeasurement %d \n",status);
charlesmn 0:2800b864165a 89
charlesmn 0:2800b864165a 90 // loop forever getting measurements
charlesmn 0:2800b864165a 91 while(1)
charlesmn 0:2800b864165a 92 {
charlesmn 0:2800b864165a 93 status = Sensor->VL53LX_WaitMeasurementDataReady();
charlesmn 0:2800b864165a 94
charlesmn 0:2800b864165a 95 if(!status)
charlesmn 0:2800b864165a 96 {
charlesmn 0:2800b864165a 97
charlesmn 0:2800b864165a 98 status = Sensor->VL53LX_GetMultiRangingData( &RangingData);
charlesmn 0:2800b864165a 99
charlesmn 0:2800b864165a 100 if ( status == 0)
charlesmn 0:2800b864165a 101 {
charlesmn 0:2800b864165a 102 int no_of_object_found=RangingData.NumberOfObjectsFound;
charlesmn 0:2800b864165a 103 if ( no_of_object_found < 10 )
charlesmn 0:2800b864165a 104 {
charlesmn 0:2800b864165a 105 for(int j=0;j<no_of_object_found;j++){
charlesmn 0:2800b864165a 106 if ((RangingData.RangeData[j].RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID) ||
charlesmn 0:2800b864165a 107 (RangingData.RangeData[j].RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL))
charlesmn 0:2800b864165a 108 { // print data
charlesmn 0:2800b864165a 109 printf("centre \t object %d \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
charlesmn 0:2800b864165a 110 j,
charlesmn 0:2800b864165a 111 RangingData.RangeData[j].RangeStatus,
charlesmn 0:2800b864165a 112 RangingData.RangeData[j].RangeMilliMeter,
charlesmn 0:2800b864165a 113 RangingData.RangeData[j].SignalRateRtnMegaCps/65536.0,
charlesmn 0:2800b864165a 114 RangingData.RangeData[j].AmbientRateRtnMegaCps/65536.0);
charlesmn 0:2800b864165a 115 } //if
charlesmn 0:2800b864165a 116 } //for
charlesmn 0:2800b864165a 117 } // if ( no_of_object_found < 10 )
charlesmn 0:2800b864165a 118 } // if status VL53LX_GetMultiRangingData
charlesmn 0:2800b864165a 119
charlesmn 0:2800b864165a 120 } // if !status VL53LX_WaitMeasurementDataReady
charlesmn 0:2800b864165a 121 else
charlesmn 0:2800b864165a 122 {
charlesmn 0:2800b864165a 123 printf("VL53L1_WaitMeasurementDataReady failed %d \n",status);
charlesmn 0:2800b864165a 124 }
charlesmn 0:2800b864165a 125
charlesmn 0:2800b864165a 126 status = Sensor->VL53LX_ClearInterruptAndStartMeasurement();
charlesmn 0:2800b864165a 127
charlesmn 0:2800b864165a 128 } // while(1)
charlesmn 0:2800b864165a 129
charlesmn 0:2800b864165a 130 // status = Sensor->VL53LX_StopMeasurement();
charlesmn 0:2800b864165a 131
charlesmn 0:2800b864165a 132 }