main.cpp

00001 //------- Feburary 6th, 2018 by JH1PJL / K.Arai --------------------------------
00002 // Tested on Nucleo-F446RE and my handmade VL53L0X board
00003 //  https://os.mbed.com/users/kenjiArai/notebook/vl53l0x-tof-sensor/
00004 #error "You will have real error when you try this sample program!!"
00005 // If you use I2C class constractor you may have an error.
00006 // You need to modify as follows.
00007 // 1)    line 4 of this file -> delete or comment out
00008 // 2)    /HelloWorld_53L0A1_with_I2C_device/X_NUCLEO_53L0A1/
00009 //                                    Components/VL53L0X/VL53L0X_i2c_platform.h
00010 //          line 55 #define I2C  0x01 -> delete or comment out
00011 //          line 56 #define SPI  0x00 -> delete or comment out
00012 #define ADDED
00013 //------------------------------------------------------------------------------
00014 
00015 #include "mbed.h"
00016 #ifndef ADDED
00017 #include "XNucleo53L0A1.h"
00018 #else
00019 #include "VL53L0X.h"
00020 #include "TextLCD.h"
00021 #endif
00022 #include <stdio.h>
00023 
00024 /* This VL53L0X Expansion board test application performs a range measurement in polling mode
00025    on the onboard embedded top sensor. */
00026 
00027 #define VL53L0_I2C_SDA   D14 
00028 #define VL53L0_I2C_SCL   D15
00029 
00030 #ifndef ADDED
00031 static XNucleo53L0A1 *board=NULL;
00032 #else
00033 static VL53L0X *board=NULL;
00034 DigitalOut xshut(D10);  // connection for XSHUT is MUST!! 
00035 I2C i2c(I2C_SDA, I2C_SCL);
00036 TextLCD_I2C_N lcd(&i2c, 0x7c, TextLCD::LCD8x2);  // LCD(Akizuki  AQM0802A)
00037 #endif
00038 
00039 /*=================================== Main ==================================
00040 =============================================================================*/
00041 int main()
00042 {   
00043    int status;
00044    uint32_t distance;
00045 
00046 #ifdef ADDED
00047     lcd.locate(0, 0);
00048     //        12345678
00049     lcd.puts("12345678");
00050     lcd.locate(0, 1);
00051     //        12345678
00052     lcd.puts(" JH1PJL ");
00053     lcd.setCursor(TextLCD_Base::CurOff_BlkOff);
00054     lcd.setContrast(0x19);
00055     wait(1.0f);
00056 #endif
00057 
00058     DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
00059     
00060     /* creates the 53L0A1 expansion board singleton obj */
00061 #ifndef ADDED
00062     board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
00063 #else
00064     //--- xshut is mandantory (if xshut=NC then not run the program)
00065     board = new VL53L0X(device_i2c, &xshut, NC);
00066 #endif
00067 #ifndef ADDED
00068     /* init the 53L0A1 expansion board with default values */
00069     status = board->init_board();
00070 #else
00071     status = board->init_sensor(0x33 << 1U);
00072 #endif
00073     if (status) {
00074         printf("Failed to init board!\r\n");
00075         return 0;
00076     }
00077    while (1) {
00078 #ifndef ADDED
00079         status = board->sensor_centre->get_distance(&distance);
00080 #else
00081         status = board->get_distance(&distance);
00082 #endif
00083         if (status == VL53L0X_ERROR_NONE) {
00084            printf("Distance : %ld\r\n", distance);
00085         }
00086 #ifdef ADDED
00087         lcd.locate(0, 0);
00088         //          12345678
00089         lcd.printf("Dist.:mm");
00090         lcd.locate(0, 1);
00091         lcd.printf(" %5d  ", distance);
00092 #endif
00093    }
00094 }