main.cpp

00001 /*
00002  * Mbed Application program -> Three of VL53L0X's are working together
00003  *   Time-of-Flight ranging and gesture detection sensor / STMicro VL53L0X
00004  *      http://www.st.com/ja/imaging-and-photonics-solutions/vl53l0x.html
00005  *
00006  *    1) AKIZUKI AE-VL53L0X
00007  *      http://akizukidenshi.com/catalog/g/gM-12590/
00008  *    2) SWITCH SCIENCE  Pololu VL53L0X (POLOLU-2490)
00009  *      https://www.switch-science.com/catalog/2869/
00010  *    3) SWITCH SCIENCE  VL53L0X (SSCI-028943)
00011  *      https://www.switch-science.com/catalog/2894/
00012  *    4) Strawberry Linux
00013  *      https://strawberry-linux.com/catalog/items?code=15310
00014  *
00015  *    ---- Tested AE-VL53L0X BOARD and handmade circuit ----
00016  *      Tested on below Mbed boards and works fine on mbed-os5
00017  *          Nucleo-F446RE
00018  *
00019  * Copyright (c) 2018 Kenji Arai / JH1PJL
00020  *  http://www.page.sannet.ne.jp/kenjia/index.html
00021  *  http://mbed.org/users/kenjiArai/
00022  *      Created:    January   21st, 2018
00023  *      Revised:    Feburary   6th, 2018 (with updated VL53L0X_simple library)
00024  */
00025 
00026 //  Include --------------------------------------------------------------------
00027 #include "mbed.h"
00028 #include "VL53L0X.h"    // revision=7:174594 (as of today)
00029 
00030 //  Definition -----------------------------------------------------------------
00031 #warning "New VL53L0X simple lib. was released and this is an example for it.
00032 #warning "Current revision has a trouble with I2C LCD together.
00033 #warning "Investigation is ongoing.
00034 
00035 //  Constructor ----------------------------------------------------------------
00036 DigitalOut  myled(LED1);
00037 Serial      pc(USBTX, USBRX);
00038 //I2C         i2c(P0_30, P0_7);     // only for TY51822r3
00039 I2C         i2c(I2C_SDA, I2C_SCL);
00040 VL53L0X     tof_center(i2c, D8);  // XSHUT is mandatory for multi setting
00041 VL53L0X     tof_left(i2c, D9);    // XSHUT is mandatory for multi setting
00042 VL53L0X     tof_right(i2c, D10);  // XSHUT is mandatory for multi setting
00043 Timer       t;
00044 
00045 //  RAM ------------------------------------------------------------------------
00046 
00047 //  ROM / Constant data --------------------------------------------------------
00048 char *const msg0  = "VL53L0X is running correctly!!\r\n";
00049 char *const msg1  = "VL53L0X -> something is wrong!!\r\n";
00050 char *const msg2  = "#,";
00051 char *const msg3  = "d[mm]=,";
00052 char *const msg4  = "err, ";
00053 char *const msg5  = "VL53[mS]=, ";
00054 char *const msg6  = "all[mS]=, ";
00055 char *const msg_c = "Center";
00056 char *const msg_l = "Left";
00057 char *const msg_r = "Right";
00058 
00059 //  Function prototypes --------------------------------------------------------
00060 
00061 //------------------------------------------------------------------------------
00062 //  Control Program
00063 //------------------------------------------------------------------------------
00064 int main()
00065 {
00066     int status = VL53L0X_ERROR_NONE;
00067     uint32_t data_c = 0;
00068     uint32_t data_l = 0;
00069     uint32_t data_r = 0;
00070     uint32_t count  = 0;
00071     uint32_t tm_sensor;
00072     uint32_t tm_all_work;
00073     uint8_t  error_num;
00074 
00075     status = tof_center.init_sensor(0x22 << 1U);// new addres(not equal others)
00076     pc.printf("--%s--\r\n", msg_c);
00077     if (status == VL53L0X_ERROR_NONE) {
00078         pc.printf(msg0);
00079     } else {
00080         pc.printf(msg1);
00081     }
00082     status = tof_left.init_sensor(0x33 << 1U);   // new addres(not equal others)
00083     pc.printf("--%s--\r\n", msg_l);
00084     if (status == VL53L0X_ERROR_NONE) {
00085         pc.printf(msg0);
00086     } else {
00087         pc.printf(msg1);
00088     }
00089     status = tof_right.init_sensor(0x44 << 1U);  // new addres(not equal others)
00090     pc.printf("--%s--\r\n", msg_r);
00091     if (status == VL53L0X_ERROR_NONE) {
00092         pc.printf(msg0);
00093     } else {
00094         pc.printf(msg1);
00095     }
00096     status = tof_center.set_mode(range_long_distance_33ms_200cm);
00097     //status = tof_center.set_mode(range_hi_accurate_200ms_120cm);
00098     //status = tof_center.set_mode(range_hi_speed_20ms_120cm);
00099     if (status == VL53L0X_ERROR_NONE) {
00100         pc.printf(msg0);
00101     } else {
00102         pc.printf(msg1);
00103     }
00104     status = tof_left.set_mode(range_long_distance_33ms_200cm);
00105     if (status == VL53L0X_ERROR_NONE) {
00106         pc.printf(msg0);
00107     } else {
00108         pc.printf(msg1);
00109     }
00110     status = tof_right.set_mode(range_long_distance_33ms_200cm);
00111     if (status == VL53L0X_ERROR_NONE) {
00112         pc.printf(msg0);
00113     } else {
00114         pc.printf(msg1);
00115     }
00116     while(true) {
00117         t.reset();
00118         t.start();
00119         myled = !myled;
00120         error_num = 0;
00121         status  = tof_center.get_distance(&data_c);
00122         if (status) {
00123             error_num  = 1U << 0;
00124         }
00125         status = tof_left.get_distance(&data_l);
00126         if (status) {
00127             error_num |= 1U << 1;
00128         }
00129         status |= tof_right.get_distance(&data_r);
00130         if (status) {
00131             error_num |= 1U << 2;
00132         }
00133         tm_sensor = t.read_ms();
00134         pc.printf("%s%5d,%s%5d,%5d,%5d,",
00135                   msg2, count++, msg3, data_c, data_l, data_r);
00136         pc.printf("%s%d,%s%d,%s%1d\r\n",
00137                   msg5, tm_sensor, msg6, tm_all_work, msg4,error_num);
00138         tm_all_work = t.read_ms();
00139         if (tm_all_work < 199) {
00140             wait_ms(200 - tm_all_work);
00141         }
00142     }
00143 }