Diff: main.cpp

Revision:

0:b6867e1a23fa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Aug 23 05:14:18 2016 +0000
@@ -0,0 +1,255 @@
+#include "mbed.h"
+#include "vl53l0x_api.h"
+#include "vl53l0x_platform.h"
+#include "vl53l0x_i2c_platform.h"
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+void print_pal_error(VL53L0X_Error Status){
+    char buf[VL53L0X_MAX_STRING_LENGTH];
+    VL53L0X_GetPalErrorString(Status, buf);
+    printf("API Status: %i : %s\n", Status, buf);
+}
+
+void print_range_status(VL53L0X_RangingMeasurementData_t* pRangingMeasurementData){
+    char buf[VL53L0X_MAX_STRING_LENGTH];
+    uint8_t RangeStatus;
+
+    /*
+     * New Range Status: data is valid when pRangingMeasurementData->RangeStatus = 0
+     */
+
+    RangeStatus = pRangingMeasurementData->RangeStatus;
+
+    VL53L0X_GetRangeStatusString(RangeStatus, buf);
+    printf("Range Status: %i : %s\n", RangeStatus, buf);
+
+}
+
+
+VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev) {
+    VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+    uint8_t NewDatReady=0;
+    uint32_t LoopNb;
+
+    // Wait until it finished
+    // use timeout to avoid deadlock
+    if (Status == VL53L0X_ERROR_NONE) {
+        LoopNb = 0;
+        do {
+            Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDatReady);
+            if ((NewDatReady == 0x01) || Status != VL53L0X_ERROR_NONE) {
+                break;
+            }
+            LoopNb = LoopNb + 1;
+            VL53L0X_PollingDelay(Dev);
+        } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);
+
+        if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
+            Status = VL53L0X_ERROR_TIME_OUT;
+        }
+    }
+
+    return Status;
+}
+
+VL53L0X_Error WaitStopCompleted(VL53L0X_DEV Dev) {
+    VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+    uint32_t StopCompleted=0;
+    uint32_t LoopNb;
+
+    // Wait until it finished
+    // use timeout to avoid deadlock
+    if (Status == VL53L0X_ERROR_NONE) {
+        LoopNb = 0;
+        do {
+            Status = VL53L0X_GetStopCompletedStatus(Dev, &StopCompleted);
+            if ((StopCompleted == 0x00) || Status != VL53L0X_ERROR_NONE) {
+                break;
+            }
+            LoopNb = LoopNb + 1;
+            VL53L0X_PollingDelay(Dev);
+        } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);
+
+        if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
+            Status = VL53L0X_ERROR_TIME_OUT;
+        }
+
+    }
+
+    return Status;
+}
+
+
+int main()
+{
+  
+    VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+    VL53L0X_Dev_t MyDevice;
+    VL53L0X_Dev_t *pMyDevice = &MyDevice;
+    VL53L0X_Version_t                   Version;
+    VL53L0X_Version_t                  *pVersion   = &Version;
+    VL53L0X_DeviceInfo_t                DeviceInfo; 
+    
+    int32_t status_int;
+    
+    pc.printf("VL53L0X API Simple Ranging Example\r\n");
+    
+    // Initialize Comms
+    pMyDevice->I2cDevAddr      = 0x52;
+    pMyDevice->comms_type      =  1;
+    pMyDevice->comms_speed_khz =  400;
+    
+    pc.printf("Init comms\r\n");
+    
+    if(Status == VL53L0X_ERROR_NONE)
+    {
+        status_int = VL53L0X_GetVersion(pVersion);
+        if (status_int != 0)
+            Status = VL53L0X_ERROR_CONTROL_INTERFACE;
+    }
+    pc.printf("VL53L0X API Version: %d.%d.%d (revision %d)\r\n", pVersion->major, pVersion->minor ,pVersion->build, pVersion->revision);
+        
+        int addr;
+        
+        addr = VL53L0X_scan();
+        printf("Device found at: %i\r\n", addr);
+        //uint8_t data;
+        //data=0;
+        if(Status == VL53L0X_ERROR_NONE)
+    {
+            printf ("Call of VL53L0X_DataInit\n");
+            uint16_t osc_calibrate_val=0;
+            Status = VL53L0X_RdWord(&MyDevice, VL53L0X_REG_OSC_CALIBRATE_VAL,&osc_calibrate_val);
+            printf("%i\n",osc_calibrate_val);
+      Status = VL53L0X_DataInit(&MyDevice); // Data initialization
+      print_pal_error(Status);
+    }
+
+        if(Status == VL53L0X_ERROR_NONE)
+    {
+        Status = VL53L0X_GetDeviceInfo(&MyDevice, &DeviceInfo);
+        if(Status == VL53L0X_ERROR_NONE)
+        {
+            printf("VL53L0X_GetDeviceInfo:\n");
+            printf("Device Name : %s\n", DeviceInfo.Name);
+            printf("Device Type : %s\n", DeviceInfo.Type);
+            printf("Device ID : %s\n", DeviceInfo.ProductId);
+            printf("ProductRevisionMajor : %d\n", DeviceInfo.ProductRevisionMajor);
+        printf("ProductRevisionMinor : %d\n", DeviceInfo.ProductRevisionMinor);
+
+        if ((DeviceInfo.ProductRevisionMinor != 1) && (DeviceInfo.ProductRevisionMinor != 1)) {
+            printf("Error expected cut 1.1 but found cut %d.%d\n",
+                       DeviceInfo.ProductRevisionMajor, DeviceInfo.ProductRevisionMinor);
+                Status = VL53L0X_ERROR_NOT_SUPPORTED;
+            }
+        }
+        print_pal_error(Status);
+    }
+
+        VL53L0X_RangingMeasurementData_t    RangingMeasurementData;
+        VL53L0X_RangingMeasurementData_t   *pRangingMeasurementData    = &RangingMeasurementData;
+        Status = VL53L0X_ERROR_NONE;
+        uint32_t refSpadCount;
+        uint8_t isApertureSpads;
+        uint8_t VhvSettings;
+        uint8_t PhaseCal;
+
+    if(Status == VL53L0X_ERROR_NONE)
+        {
+            printf ("Call of VL53L0X_StaticInit\n");
+            Status = VL53L0X_StaticInit(pMyDevice); // Device Initialization
+            // StaticInit will set interrupt by default
+            print_pal_error(Status);
+        }
+
+        if(Status == VL53L0X_ERROR_NONE)
+        {
+            printf ("Call of VL53L0X_PerformRefCalibration\n");
+            Status = VL53L0X_PerformRefCalibration(pMyDevice,
+                    &VhvSettings, &PhaseCal); // Device Initialization
+            print_pal_error(Status);
+        }
+
+        if(Status == VL53L0X_ERROR_NONE)
+        {
+            printf ("Call of VL53L0X_PerformRefSpadManagement\n");
+            Status = VL53L0X_PerformRefSpadManagement(pMyDevice,
+                    &refSpadCount, &isApertureSpads); // Device Initialization
+            print_pal_error(Status);
+        }
+
+        if(Status == VL53L0X_ERROR_NONE)
+        {
+
+            printf ("Call of VL53L0X_SetDeviceMode\n");
+            Status = VL53L0X_SetDeviceMode(pMyDevice, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in single ranging mode
+            print_pal_error(Status);
+        }
+
+        if(Status == VL53L0X_ERROR_NONE)
+        {
+            printf ("Call of VL53L0X_StartMeasurement\n");
+            Status = VL53L0X_StartMeasurement(pMyDevice);
+            print_pal_error(Status);
+        }
+
+        if(Status == VL53L0X_ERROR_NONE)
+        {
+            uint32_t measurement;
+            uint32_t no_of_measurements = 32;
+
+            uint16_t* pResults = (uint16_t*)malloc(sizeof(uint16_t) * no_of_measurements);
+
+            for(measurement=0; measurement<no_of_measurements; measurement++)
+            {
+
+                Status = WaitMeasurementDataReady(pMyDevice);
+
+                if(Status == VL53L0X_ERROR_NONE)
+                {
+                    Status = VL53L0X_GetRangingMeasurementData(pMyDevice, pRangingMeasurementData);
+
+                    *(pResults + measurement) = pRangingMeasurementData->RangeMilliMeter;
+                    printf("In loop measurement %lu: %d\n", measurement, pRangingMeasurementData->RangeMilliMeter);
+
+                    // Clear the interrupt
+                    VL53L0X_ClearInterruptMask(pMyDevice, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
+                    VL53L0X_PollingDelay(pMyDevice);
+                } else {
+                    break;
+                }
+            }
+
+            if(Status == VL53L0X_ERROR_NONE)
+            {
+                for(measurement=0; measurement<no_of_measurements; measurement++)
+                {
+                    printf("measurement %lu: %d\n", measurement, *(pResults + measurement));
+                }
+            }
+
+            free(pResults);
+        }
+
+
+        if(Status == VL53L0X_ERROR_NONE)
+        {
+            printf ("Call of VL53L0X_StopMeasurement\n");
+            Status = VL53L0X_StopMeasurement(pMyDevice);
+        }
+
+        if(Status == VL53L0X_ERROR_NONE)
+        {
+            printf ("Wait Stop to be competed\n");
+            Status = WaitStopCompleted(pMyDevice);
+        }
+
+        if(Status == VL53L0X_ERROR_NONE)
+        Status = VL53L0X_ClearInterruptMask(pMyDevice,
+            VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
+    while (true)
+        if (pc.readable())
+            pc.putc(pc.getc());
+}
+