Diff: main.cpp

Revision:

1:15e0c8f3d4a0

Parent:

0:ea1c50666fc2

--- a/main.cpp	Wed Apr 28 17:44:45 2021 +0000
+++ b/main.cpp	Wed Apr 28 19:28:16 2021 +0000
@@ -1,60 +1,33 @@
 #include "mbed.h"
-#include "XNucleo53L0A1.h"
 #include <stdio.h>
-#include "rtos.h"
 #include "LSM9DS1.h"
-
-#define VL53L0_I2C_SDA   p28
-#define VL53L0_I2C_SCL   p27
-
+#include "VL53L0X.h"
 
 DigitalOut myled(LED1);
 
 Serial pc(USBTX,USBRX);
 DigitalOut shdn(p26);
 
-static XNucleo53L0A1 *board=NULL;
-
+LSM9DS1 lol(p9, p10, 0xD6, 0x3C);
+I2C i2c(p28, p27);
+VL53L0X lidar(&i2c);
 
 int main() 
 {
     float tempC;
-    int status;
-    uint32_t distance;
-    uint32_t last_distance;
-    DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
-    /* creates the 53L0A1 expansion board singleton obj */
-    board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
     shdn = 0; //must reset sensor for an mbed reset to work
     wait(0.1);
     shdn = 1;
     wait(0.1);
-    LSM9DS1 lol(p9, p10, 0xD6, 0x3C);
     lol.begin();
     if (!lol.begin()) {
         pc.printf("Failed to communicate with LSM9DS1.\n");
     }
     lol.calibrate();
-    /* init the 53L0A1 board with default values */
-    status = board->init_board();
-
-    while (status) 
-    {
-        pc.printf("Failed to init board! \r\n");
-        status = board->init_board();
-    }
+    
     //loop taking and printing distance
     while (1) 
     {
-
-        if (board->sensor_centre->get_distance(&distance) == VL53L0X_ERROR_NONE) 
-        {
-            if(distance != last_distance)
-            {
-                pc.printf("D=%ld mm\r\n", distance);
-            }
-            board->sensor_centre->get_distance(&last_distance);
-        } 
         lol.readTemp();
         lol.readMag();
         lol.readGyro();