mohamed achour / Mbed OS VL53L0X-mbedOS-master

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Dependencies:   vl53l0x_api libxDot-mbed5

main.cpp@3:83ec4984a7af, 2019-04-23 (annotated)

Committer:
mohamedachour
Date:
Tue Apr 23 14:27:14 2019 +0000
Revision:
3:83ec4984a7af
Parent:
2:8ac50bd2c7a1 
hh

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mjarvisal 0:b6867e1a23fa 1 #include "mbed.h"
mjarvisal 0:b6867e1a23fa 2 #include "vl53l0x_api.h"
mjarvisal 0:b6867e1a23fa 3 #include "vl53l0x_platform.h"
mjarvisal 0:b6867e1a23fa 4 #include "vl53l0x_i2c_platform.h"
mjarvisal 0:b6867e1a23fa 5
mohamedachour 3:83ec4984a7af 6 #define USE_I2C_2V8
mohamedachour 3:83ec4984a7af 7
andcor02 2:8ac50bd2c7a1 8 Serial pc(USBTX, USBRX);
andcor02 2:8ac50bd2c7a1 9 DigitalOut led(LED1);
mjarvisal 0:b6867e1a23fa 10
mjarvisal 0:b6867e1a23fa 11
mjarvisal 0:b6867e1a23fa 12 VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev) {
mjarvisal 0:b6867e1a23fa 13 VL53L0X_Error Status = VL53L0X_ERROR_NONE;
mjarvisal 0:b6867e1a23fa 14 uint8_t NewDatReady=0;
mjarvisal 0:b6867e1a23fa 15 uint32_t LoopNb;
mohamedachour 3:83ec4984a7af 16
mjarvisal 0:b6867e1a23fa 17 if (Status == VL53L0X_ERROR_NONE) {
mjarvisal 0:b6867e1a23fa 18 LoopNb = 0;
mjarvisal 0:b6867e1a23fa 19 do {
mjarvisal 0:b6867e1a23fa 20 Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDatReady);
mjarvisal 0:b6867e1a23fa 21 if ((NewDatReady == 0x01) || Status != VL53L0X_ERROR_NONE) {
mjarvisal 0:b6867e1a23fa 22 break;
mjarvisal 0:b6867e1a23fa 23 }
mjarvisal 0:b6867e1a23fa 24 LoopNb = LoopNb + 1;
mjarvisal 0:b6867e1a23fa 25 VL53L0X_PollingDelay(Dev);
mjarvisal 0:b6867e1a23fa 26 } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);
mjarvisal 0:b6867e1a23fa 27
mjarvisal 0:b6867e1a23fa 28 if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
mjarvisal 0:b6867e1a23fa 29 Status = VL53L0X_ERROR_TIME_OUT;
mjarvisal 0:b6867e1a23fa 30 }
mjarvisal 0:b6867e1a23fa 31 }
mjarvisal 0:b6867e1a23fa 32
mjarvisal 0:b6867e1a23fa 33 return Status;
mjarvisal 0:b6867e1a23fa 34 }
mjarvisal 0:b6867e1a23fa 35
mjarvisal 0:b6867e1a23fa 36 VL53L0X_Error WaitStopCompleted(VL53L0X_DEV Dev) {
mjarvisal 0:b6867e1a23fa 37 VL53L0X_Error Status = VL53L0X_ERROR_NONE;
mjarvisal 0:b6867e1a23fa 38 uint32_t StopCompleted=0;
mjarvisal 0:b6867e1a23fa 39 uint32_t LoopNb;
mjarvisal 0:b6867e1a23fa 40
mjarvisal 0:b6867e1a23fa 41 if (Status == VL53L0X_ERROR_NONE) {
mjarvisal 0:b6867e1a23fa 42 LoopNb = 0;
mjarvisal 0:b6867e1a23fa 43 do {
mjarvisal 0:b6867e1a23fa 44 Status = VL53L0X_GetStopCompletedStatus(Dev, &StopCompleted);
mjarvisal 0:b6867e1a23fa 45 if ((StopCompleted == 0x00) || Status != VL53L0X_ERROR_NONE) {
mjarvisal 0:b6867e1a23fa 46 break;
mjarvisal 0:b6867e1a23fa 47 }
mjarvisal 0:b6867e1a23fa 48 LoopNb = LoopNb + 1;
mjarvisal 0:b6867e1a23fa 49 VL53L0X_PollingDelay(Dev);
mjarvisal 0:b6867e1a23fa 50 } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);
mjarvisal 0:b6867e1a23fa 51
mjarvisal 0:b6867e1a23fa 52 if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
mjarvisal 0:b6867e1a23fa 53 Status = VL53L0X_ERROR_TIME_OUT;
mjarvisal 0:b6867e1a23fa 54 }
mjarvisal 0:b6867e1a23fa 55
mjarvisal 0:b6867e1a23fa 56 }
mjarvisal 0:b6867e1a23fa 57
mjarvisal 0:b6867e1a23fa 58 return Status;
mjarvisal 0:b6867e1a23fa 59 }
mjarvisal 0:b6867e1a23fa 60
mjarvisal 0:b6867e1a23fa 61
mohamedachour 3:83ec4984a7af 62
mjarvisal 0:b6867e1a23fa 63 int main()
mjarvisal 0:b6867e1a23fa 64 {
mohamedachour 3:83ec4984a7af 65 int x=1, measure=0;
mohamedachour 3:83ec4984a7af 66 int ave=0, sum=0;
mjarvisal 0:b6867e1a23fa 67 VL53L0X_Error Status = VL53L0X_ERROR_NONE;
mjarvisal 0:b6867e1a23fa 68 VL53L0X_Dev_t MyDevice;
mjarvisal 0:b6867e1a23fa 69 VL53L0X_Dev_t *pMyDevice = &MyDevice;
mohamedachour 3:83ec4984a7af 70 VL53L0X_RangingMeasurementData_t RangingMeasurementData;
mohamedachour 3:83ec4984a7af 71 VL53L0X_RangingMeasurementData_t *pRangingMeasurementData = &RangingMeasurementData;
mjarvisal 0:b6867e1a23fa 72 VL53L0X_Version_t Version;
mjarvisal 0:b6867e1a23fa 73
mjarvisal 0:b6867e1a23fa 74 // Initialize Comms
mjarvisal 0:b6867e1a23fa 75 pMyDevice->I2cDevAddr = 0x52;
mjarvisal 0:b6867e1a23fa 76 pMyDevice->comms_type = 1;
mjarvisal 0:b6867e1a23fa 77 pMyDevice->comms_speed_khz = 400;
mjarvisal 0:b6867e1a23fa 78
mohamedachour 3:83ec4984a7af 79
mohamedachour 3:83ec4984a7af 80 VL53L0X_ERROR_CONTROL_INTERFACE;
mohamedachour 3:83ec4984a7af 81 VL53L0X_RdWord(&MyDevice, VL53L0X_REG_OSC_CALIBRATE_VAL,0);
mohamedachour 3:83ec4984a7af 82 VL53L0X_DataInit(&MyDevice); // Data initialization
mohamedachour 3:83ec4984a7af 83 Status = VL53L0X_ERROR_NONE;
mohamedachour 3:83ec4984a7af 84 uint32_t refSpadCount;
mohamedachour 3:83ec4984a7af 85 uint8_t isApertureSpads;
mohamedachour 3:83ec4984a7af 86 uint8_t VhvSettings;
mohamedachour 3:83ec4984a7af 87 uint8_t PhaseCal;
mjarvisal 0:b6867e1a23fa 88
mohamedachour 3:83ec4984a7af 89 VL53L0X_StaticInit(pMyDevice); // Device Initialization
mohamedachour 3:83ec4984a7af 90 VL53L0X_PerformRefSpadManagement(pMyDevice, &refSpadCount, &isApertureSpads); // Device Initialization
mohamedachour 3:83ec4984a7af 91 VL53L0X_PerformRefCalibration(pMyDevice, &VhvSettings, &PhaseCal); // Device Initialization
mohamedachour 3:83ec4984a7af 92 VL53L0X_SetDeviceMode(pMyDevice, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in single ranging mode
mohamedachour 3:83ec4984a7af 93 VL53L0X_SetLimitCheckValue(pMyDevice, VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, (FixPoint1616_t)(0.25*65536)); //High Accuracy mode, see API PDF
mohamedachour 3:83ec4984a7af 94 VL53L0X_SetLimitCheckValue(pMyDevice, VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, (FixPoint1616_t)(18*65536)); //High Accuracy mode, see API PDF
mohamedachour 3:83ec4984a7af 95 VL53L0X_SetMeasurementTimingBudgetMicroSeconds(pMyDevice, 200000); //High Accuracy mode, see API PDF
mohamedachour 3:83ec4984a7af 96 VL53L0X_StartMeasurement(pMyDevice);
mjarvisal 0:b6867e1a23fa 97
mohamedachour 3:83ec4984a7af 98 while (1){
mohamedachour 3:83ec4984a7af 99 while(x<=50){
mohamedachour 3:83ec4984a7af 100 WaitMeasurementDataReady(pMyDevice);
mohamedachour 3:83ec4984a7af 101 VL53L0X_GetRangingMeasurementData(pMyDevice, pRangingMeasurementData);
mohamedachour 3:83ec4984a7af 102 measure=pRangingMeasurementData->RangeMilliMeter;
mohamedachour 3:83ec4984a7af 103 //printf("In loop measurement %d\n", mea);
mohamedachour 3:83ec4984a7af 104 sum=sum+measure;
mohamedachour 3:83ec4984a7af 105 led=!led;
mohamedachour 3:83ec4984a7af 106 // Clear the interrupt
mohamedachour 3:83ec4984a7af 107 VL53L0X_ClearInterruptMask(pMyDevice, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
mohamedachour 3:83ec4984a7af 108 VL53L0X_PollingDelay(pMyDevice);
mohamedachour 3:83ec4984a7af 109 x++;
mjarvisal 0:b6867e1a23fa 110 }
mohamedachour 3:83ec4984a7af 111 ave=sum/x;
mohamedachour 3:83ec4984a7af 112 pc.printf("Average is %d\n", ave);
mohamedachour 3:83ec4984a7af 113 x=1;
mohamedachour 3:83ec4984a7af 114 sum=0;
mohamedachour 3:83ec4984a7af 115 wait(20);
mjarvisal 0:b6867e1a23fa 116 }
mjarvisal 0:b6867e1a23fa 117
mohamedachour 3:83ec4984a7af 118 VL53L0X_StopMeasurement(pMyDevice);
mohamedachour 3:83ec4984a7af 119 WaitStopCompleted(pMyDevice);
mohamedachour 3:83ec4984a7af 120 VL53L0X_ClearInterruptMask(pMyDevice,VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
mohamedachour 3:83ec4984a7af 121
mjarvisal 0:b6867e1a23fa 122 }
mjarvisal 0:b6867e1a23fa 123