Check_VL53L0X_simple_with_three_ToF - khl

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ケンタミヤザキ / Mbed OS Check_VL53L0X_simple_with_three_ToF

khl

Dependencies: VL53L0X_simple

Fork of Check_VL53L0X_simple_with_three_ToF by Kenji Arai

main.cpp@1:97619a86ab73, 2018-06-30 (annotated)

Committer:: kenken0721
Date:: Sat Jun 30 05:52:23 2018 +0000
Revision:: 1:97619a86ab73
Parent:: 0:1cb83a7e5598

Who changed what in which revision?

User	Revision	Line number	New contents of line
kenjiArai	0:1cb83a7e5598	1	/*
kenjiArai	0:1cb83a7e5598	2	* Mbed Application program -> Three of VL53L0X's are working together
kenjiArai	0:1cb83a7e5598	3	* Time-of-Flight ranging and gesture detection sensor / STMicro VL53L0X
kenjiArai	0:1cb83a7e5598	4	* http://www.st.com/ja/imaging-and-photonics-solutions/vl53l0x.html
kenjiArai	0:1cb83a7e5598	5	*
kenjiArai	0:1cb83a7e5598	6	* 1) AKIZUKI AE-VL53L0X
kenjiArai	0:1cb83a7e5598	7	* http://akizukidenshi.com/catalog/g/gM-12590/
kenjiArai	0:1cb83a7e5598	8	* 2) SWITCH SCIENCE Pololu VL53L0X (POLOLU-2490)
kenjiArai	0:1cb83a7e5598	9	* https://www.switch-science.com/catalog/2869/
kenjiArai	0:1cb83a7e5598	10	* 3) SWITCH SCIENCE VL53L0X (SSCI-028943)
kenjiArai	0:1cb83a7e5598	11	* https://www.switch-science.com/catalog/2894/
kenjiArai	0:1cb83a7e5598	12	* 4) Strawberry Linux
kenjiArai	0:1cb83a7e5598	13	* https://strawberry-linux.com/catalog/items?code=15310
kenjiArai	0:1cb83a7e5598	14	*
kenjiArai	0:1cb83a7e5598	15	* ---- Tested AE-VL53L0X BOARD and handmade circuit ----
kenjiArai	0:1cb83a7e5598	16	* Tested on below Mbed boards and works fine on mbed-os5
kenjiArai	0:1cb83a7e5598	17	* Nucleo-F446RE
kenjiArai	0:1cb83a7e5598	18	*
kenjiArai	0:1cb83a7e5598	19	* Copyright (c) 2018 Kenji Arai / JH1PJL
kenjiArai	0:1cb83a7e5598	20	* http://www.page.sannet.ne.jp/kenjia/index.html
kenjiArai	0:1cb83a7e5598	21	* http://mbed.org/users/kenjiArai/
kenjiArai	0:1cb83a7e5598	22	* Created: January 21st, 2018
kenjiArai	0:1cb83a7e5598	23	* Revised: Feburary 6th, 2018 (with updated VL53L0X_simple library)
kenjiArai	0:1cb83a7e5598	24	*/
kenjiArai	0:1cb83a7e5598	25
kenjiArai	0:1cb83a7e5598	26	// Include --------------------------------------------------------------------
kenjiArai	0:1cb83a7e5598	27	#include "mbed.h"
kenjiArai	0:1cb83a7e5598	28	#include "VL53L0X.h" // revision=7:174594 (as of today)
kenjiArai	0:1cb83a7e5598	29
kenjiArai	0:1cb83a7e5598	30	// Definition -----------------------------------------------------------------
kenjiArai	0:1cb83a7e5598	31	#warning "New VL53L0X simple lib. was released and this is an example for it.
kenjiArai	0:1cb83a7e5598	32	#warning "Current revision has a trouble with I2C LCD together.
kenjiArai	0:1cb83a7e5598	33	#warning "Investigation is ongoing.
kenjiArai	0:1cb83a7e5598	34
kenjiArai	0:1cb83a7e5598	35	// Constructor ----------------------------------------------------------------
kenjiArai	0:1cb83a7e5598	36	DigitalOut myled(LED1);
kenjiArai	0:1cb83a7e5598	37	Serial pc(USBTX, USBRX);
kenjiArai	0:1cb83a7e5598	38	//I2C i2c(P0_30, P0_7); // only for TY51822r3
kenken0721	1:97619a86ab73	39	I2C i2c(PB_9, PB_8);
kenjiArai	0:1cb83a7e5598	40	VL53L0X tof_center(i2c, D8); // XSHUT is mandatory for multi setting
kenjiArai	0:1cb83a7e5598	41	VL53L0X tof_left(i2c, D9); // XSHUT is mandatory for multi setting
kenjiArai	0:1cb83a7e5598	42	VL53L0X tof_right(i2c, D10); // XSHUT is mandatory for multi setting
kenjiArai	0:1cb83a7e5598	43	Timer t;
kenjiArai	0:1cb83a7e5598	44
kenjiArai	0:1cb83a7e5598	45	// RAM ------------------------------------------------------------------------
kenjiArai	0:1cb83a7e5598	46
kenjiArai	0:1cb83a7e5598	47	// ROM / Constant data --------------------------------------------------------
kenjiArai	0:1cb83a7e5598	48	char *const msg0 = "VL53L0X is running correctly!!\r\n";
kenjiArai	0:1cb83a7e5598	49	char *const msg1 = "VL53L0X -> something is wrong!!\r\n";
kenjiArai	0:1cb83a7e5598	50	char *const msg2 = "#,";
kenjiArai	0:1cb83a7e5598	51	char *const msg3 = "d[mm]=,";
kenjiArai	0:1cb83a7e5598	52	char *const msg4 = "err, ";
kenjiArai	0:1cb83a7e5598	53	char *const msg5 = "VL53[mS]=, ";
kenjiArai	0:1cb83a7e5598	54	char *const msg6 = "all[mS]=, ";
kenjiArai	0:1cb83a7e5598	55	char *const msg_c = "Center";
kenjiArai	0:1cb83a7e5598	56	char *const msg_l = "Left";
kenjiArai	0:1cb83a7e5598	57	char *const msg_r = "Right";
kenjiArai	0:1cb83a7e5598	58
kenjiArai	0:1cb83a7e5598	59	// Function prototypes --------------------------------------------------------
kenjiArai	0:1cb83a7e5598	60
kenjiArai	0:1cb83a7e5598	61	//------------------------------------------------------------------------------
kenjiArai	0:1cb83a7e5598	62	// Control Program
kenjiArai	0:1cb83a7e5598	63	//------------------------------------------------------------------------------
kenjiArai	0:1cb83a7e5598	64	int main()
kenjiArai	0:1cb83a7e5598	65	{
kenjiArai	0:1cb83a7e5598	66	int status = VL53L0X_ERROR_NONE;
kenjiArai	0:1cb83a7e5598	67	uint32_t data_c = 0;
kenjiArai	0:1cb83a7e5598	68	uint32_t data_l = 0;
kenjiArai	0:1cb83a7e5598	69	uint32_t data_r = 0;
kenjiArai	0:1cb83a7e5598	70	uint32_t count = 0;
kenjiArai	0:1cb83a7e5598	71	uint32_t tm_sensor;
kenjiArai	0:1cb83a7e5598	72	uint32_t tm_all_work;
kenjiArai	0:1cb83a7e5598	73	uint8_t error_num;
kenjiArai	0:1cb83a7e5598	74
kenjiArai	0:1cb83a7e5598	75	status = tof_center.init_sensor(0x22 << 1U);// new addres(not equal others)
kenjiArai	0:1cb83a7e5598	76	pc.printf("--%s--\r\n", msg_c);
kenjiArai	0:1cb83a7e5598	77	if (status == VL53L0X_ERROR_NONE) {
kenjiArai	0:1cb83a7e5598	78	pc.printf(msg0);
kenjiArai	0:1cb83a7e5598	79	} else {
kenjiArai	0:1cb83a7e5598	80	pc.printf(msg1);
kenjiArai	0:1cb83a7e5598	81	}
kenjiArai	0:1cb83a7e5598	82	status = tof_left.init_sensor(0x33 << 1U); // new addres(not equal others)
kenjiArai	0:1cb83a7e5598	83	pc.printf("--%s--\r\n", msg_l);
kenjiArai	0:1cb83a7e5598	84	if (status == VL53L0X_ERROR_NONE) {
kenjiArai	0:1cb83a7e5598	85	pc.printf(msg0);
kenjiArai	0:1cb83a7e5598	86	} else {
kenjiArai	0:1cb83a7e5598	87	pc.printf(msg1);
kenjiArai	0:1cb83a7e5598	88	}
kenjiArai	0:1cb83a7e5598	89	status = tof_right.init_sensor(0x44 << 1U); // new addres(not equal others)
kenjiArai	0:1cb83a7e5598	90	pc.printf("--%s--\r\n", msg_r);
kenjiArai	0:1cb83a7e5598	91	if (status == VL53L0X_ERROR_NONE) {
kenjiArai	0:1cb83a7e5598	92	pc.printf(msg0);
kenjiArai	0:1cb83a7e5598	93	} else {
kenjiArai	0:1cb83a7e5598	94	pc.printf(msg1);
kenjiArai	0:1cb83a7e5598	95	}
kenjiArai	0:1cb83a7e5598	96	status = tof_center.set_mode(range_long_distance_33ms_200cm);
kenjiArai	0:1cb83a7e5598	97	//status = tof_center.set_mode(range_hi_accurate_200ms_120cm);
kenjiArai	0:1cb83a7e5598	98	//status = tof_center.set_mode(range_hi_speed_20ms_120cm);
kenjiArai	0:1cb83a7e5598	99	if (status == VL53L0X_ERROR_NONE) {
kenjiArai	0:1cb83a7e5598	100	pc.printf(msg0);
kenjiArai	0:1cb83a7e5598	101	} else {
kenjiArai	0:1cb83a7e5598	102	pc.printf(msg1);
kenjiArai	0:1cb83a7e5598	103	}
kenjiArai	0:1cb83a7e5598	104	status = tof_left.set_mode(range_long_distance_33ms_200cm);
kenjiArai	0:1cb83a7e5598	105	if (status == VL53L0X_ERROR_NONE) {
kenjiArai	0:1cb83a7e5598	106	pc.printf(msg0);
kenjiArai	0:1cb83a7e5598	107	} else {
kenjiArai	0:1cb83a7e5598	108	pc.printf(msg1);
kenjiArai	0:1cb83a7e5598	109	}
kenjiArai	0:1cb83a7e5598	110	status = tof_right.set_mode(range_long_distance_33ms_200cm);
kenjiArai	0:1cb83a7e5598	111	if (status == VL53L0X_ERROR_NONE) {
kenjiArai	0:1cb83a7e5598	112	pc.printf(msg0);
kenjiArai	0:1cb83a7e5598	113	} else {
kenjiArai	0:1cb83a7e5598	114	pc.printf(msg1);
kenjiArai	0:1cb83a7e5598	115	}
kenjiArai	0:1cb83a7e5598	116	while(true) {
kenjiArai	0:1cb83a7e5598	117	t.reset();
kenjiArai	0:1cb83a7e5598	118	t.start();
kenjiArai	0:1cb83a7e5598	119	myled = !myled;
kenjiArai	0:1cb83a7e5598	120	error_num = 0;
kenjiArai	0:1cb83a7e5598	121	status = tof_center.get_distance(&data_c);
kenjiArai	0:1cb83a7e5598	122	if (status) {
kenjiArai	0:1cb83a7e5598	123	error_num = 1U << 0;
kenjiArai	0:1cb83a7e5598	124	}
kenjiArai	0:1cb83a7e5598	125	status = tof_left.get_distance(&data_l);
kenjiArai	0:1cb83a7e5598	126	if (status) {
kenjiArai	0:1cb83a7e5598	127	error_num \|= 1U << 1;
kenjiArai	0:1cb83a7e5598	128	}
kenjiArai	0:1cb83a7e5598	129	status \|= tof_right.get_distance(&data_r);
kenjiArai	0:1cb83a7e5598	130	if (status) {
kenjiArai	0:1cb83a7e5598	131	error_num \|= 1U << 2;
kenjiArai	0:1cb83a7e5598	132	}
kenjiArai	0:1cb83a7e5598	133	tm_sensor = t.read_ms();
kenjiArai	0:1cb83a7e5598	134	pc.printf("%s%5d,%s%5d,%5d,%5d,",
kenjiArai	0:1cb83a7e5598	135	msg2, count++, msg3, data_c, data_l, data_r);
kenjiArai	0:1cb83a7e5598	136	pc.printf("%s%d,%s%d,%s%1d\r\n",
kenjiArai	0:1cb83a7e5598	137	msg5, tm_sensor, msg6, tm_all_work, msg4,error_num);
kenjiArai	0:1cb83a7e5598	138	tm_all_work = t.read_ms();
kenjiArai	0:1cb83a7e5598	139	if (tm_all_work < 199) {
kenjiArai	0:1cb83a7e5598	140	wait_ms(200 - tm_all_work);
kenjiArai	0:1cb83a7e5598	141	}
kenjiArai	0:1cb83a7e5598	142	}
kenjiArai	0:1cb83a7e5598	143	}

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Type:	Program
Mbed OS support:	Mbed OS
Created:	30 Jun 2018
Imports:	1
Forks:	0
Commits:	2
Dependents:	0
Dependencies:	1
Followers:	1

main.cpp@1:97619a86ab73, 2018-06-30 (annotated)

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