Diff: main.cpp

Revision:

0:1cb83a7e5598

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Feb 06 10:38:14 2018 +0000
@@ -0,0 +1,143 @@
+/*
+ * Mbed Application program -> Three of VL53L0X's are working together
+ *   Time-of-Flight ranging and gesture detection sensor / STMicro VL53L0X
+ *      http://www.st.com/ja/imaging-and-photonics-solutions/vl53l0x.html
+ *
+ *    1) AKIZUKI AE-VL53L0X
+ *      http://akizukidenshi.com/catalog/g/gM-12590/
+ *    2) SWITCH SCIENCE  Pololu VL53L0X (POLOLU-2490)
+ *      https://www.switch-science.com/catalog/2869/
+ *    3) SWITCH SCIENCE  VL53L0X (SSCI-028943)
+ *      https://www.switch-science.com/catalog/2894/
+ *    4) Strawberry Linux
+ *      https://strawberry-linux.com/catalog/items?code=15310
+ *
+ *    ---- Tested AE-VL53L0X BOARD and handmade circuit ----
+ *      Tested on below Mbed boards and works fine on mbed-os5
+ *          Nucleo-F446RE
+ *
+ * Copyright (c) 2018 Kenji Arai / JH1PJL
+ *  http://www.page.sannet.ne.jp/kenjia/index.html
+ *  http://mbed.org/users/kenjiArai/
+ *      Created:    January   21st, 2018
+ *      Revised:    Feburary   6th, 2018 (with updated VL53L0X_simple library)
+ */
+
+//  Include --------------------------------------------------------------------
+#include "mbed.h"
+#include "VL53L0X.h"    // revision=7:174594 (as of today)
+
+//  Definition -----------------------------------------------------------------
+#warning "New VL53L0X simple lib. was released and this is an example for it.
+#warning "Current revision has a trouble with I2C LCD together.
+#warning "Investigation is ongoing.
+
+//  Constructor ----------------------------------------------------------------
+DigitalOut  myled(LED1);
+Serial      pc(USBTX, USBRX);
+//I2C         i2c(P0_30, P0_7);     // only for TY51822r3
+I2C         i2c(I2C_SDA, I2C_SCL);
+VL53L0X     tof_center(i2c, D8);  // XSHUT is mandatory for multi setting
+VL53L0X     tof_left(i2c, D9);    // XSHUT is mandatory for multi setting
+VL53L0X     tof_right(i2c, D10);  // XSHUT is mandatory for multi setting
+Timer       t;
+
+//  RAM ------------------------------------------------------------------------
+
+//  ROM / Constant data --------------------------------------------------------
+char *const msg0  = "VL53L0X is running correctly!!\r\n";
+char *const msg1  = "VL53L0X -> something is wrong!!\r\n";
+char *const msg2  = "#,";
+char *const msg3  = "d[mm]=,";
+char *const msg4  = "err, ";
+char *const msg5  = "VL53[mS]=, ";
+char *const msg6  = "all[mS]=, ";
+char *const msg_c = "Center";
+char *const msg_l = "Left";
+char *const msg_r = "Right";
+
+//  Function prototypes --------------------------------------------------------
+
+//------------------------------------------------------------------------------
+//  Control Program
+//------------------------------------------------------------------------------
+int main()
+{
+    int status = VL53L0X_ERROR_NONE;
+    uint32_t data_c = 0;
+    uint32_t data_l = 0;
+    uint32_t data_r = 0;
+    uint32_t count  = 0;
+    uint32_t tm_sensor;
+    uint32_t tm_all_work;
+    uint8_t  error_num;
+
+    status = tof_center.init_sensor(0x22 << 1U);// new addres(not equal others)
+    pc.printf("--%s--\r\n", msg_c);
+    if (status == VL53L0X_ERROR_NONE) {
+        pc.printf(msg0);
+    } else {
+        pc.printf(msg1);
+    }
+    status = tof_left.init_sensor(0x33 << 1U);   // new addres(not equal others)
+    pc.printf("--%s--\r\n", msg_l);
+    if (status == VL53L0X_ERROR_NONE) {
+        pc.printf(msg0);
+    } else {
+        pc.printf(msg1);
+    }
+    status = tof_right.init_sensor(0x44 << 1U);  // new addres(not equal others)
+    pc.printf("--%s--\r\n", msg_r);
+    if (status == VL53L0X_ERROR_NONE) {
+        pc.printf(msg0);
+    } else {
+        pc.printf(msg1);
+    }
+    status = tof_center.set_mode(range_long_distance_33ms_200cm);
+    //status = tof_center.set_mode(range_hi_accurate_200ms_120cm);
+    //status = tof_center.set_mode(range_hi_speed_20ms_120cm);
+    if (status == VL53L0X_ERROR_NONE) {
+        pc.printf(msg0);
+    } else {
+        pc.printf(msg1);
+    }
+    status = tof_left.set_mode(range_long_distance_33ms_200cm);
+    if (status == VL53L0X_ERROR_NONE) {
+        pc.printf(msg0);
+    } else {
+        pc.printf(msg1);
+    }
+    status = tof_right.set_mode(range_long_distance_33ms_200cm);
+    if (status == VL53L0X_ERROR_NONE) {
+        pc.printf(msg0);
+    } else {
+        pc.printf(msg1);
+    }
+    while(true) {
+        t.reset();
+        t.start();
+        myled = !myled;
+        error_num = 0;
+        status  = tof_center.get_distance(&data_c);
+        if (status) {
+            error_num  = 1U << 0;
+        }
+        status = tof_left.get_distance(&data_l);
+        if (status) {
+            error_num |= 1U << 1;
+        }
+        status |= tof_right.get_distance(&data_r);
+        if (status) {
+            error_num |= 1U << 2;
+        }
+        tm_sensor = t.read_ms();
+        pc.printf("%s%5d,%s%5d,%5d,%5d,",
+                  msg2, count++, msg3, data_c, data_l, data_r);
+        pc.printf("%s%d,%s%d,%s%1d\r\n",
+                  msg5, tm_sensor, msg6, tm_all_work, msg4,error_num);
+        tm_all_work = t.read_ms();
+        if (tm_all_work < 199) {
+            wait_ms(200 - tm_all_work);
+        }
+    }
+}