Sample application using interrupts, and range_continuous_interrupts mode, to receive range data from the on-board and satellite sensors. Results are displayed on the on-board, 4 digit display and on the COM port.
Dependencies: mbed X_NUCLEO_53L0A1
Fork of Display_53L0A1_Interrupts by
* NOTE : Hard-links U11 and U18, on the underside of the X-NUCELO-53L0A1 expansion board, must be made/ON to allow interrupts to be received from the satellite boards, on INT_L and INT_R, or U10 and U15 to receive interrupts from the alternate locations. *
main.cpp
- Committer:
- johnAlexander
- Date:
- 2019-06-06
- Revision:
- 7:84264d97f7e6
- Parent:
- 5:906aa7aede10
File content as of revision 7:84264d97f7e6:
#include "mbed.h" #include "XNucleo53L0A1.h" #include <string.h> #include <stdlib.h> #include <stdio.h> #include <assert.h> /* * This VL53L0X Expansion board sample application performs range measurements using * range_continuous_interrupt mode to generate a hardware interrupt each time a new * measurement is ready to be read. * The application supports the centre, on-board, sensor and up two satellite boards. * * The measured range data is displayed on the on-board 4-digit LED display. * * The User Blue button switches between the currently selected sensor to display range * results from. * * The Black Reset button is used to restart the program. * * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of * the X-NUCELO-53L0A1 expansion board are not made/OFF. * These links must be made to allow interrupts from the Satellite boards * to be received. * U11 and U18 must be made/ON to allow interrupts to be received from the * INT_L & INT_R positions; or * U10 and U15 must be made/ON to allow interrupts to be received from the * Alternate INT_L & INT_R positions. * The X_NUCLEO_53L0A1 firmware library defaults to use the INT_L/INT_R * positions. * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8. * Alternate INT_L is on CN5 Connector pin 2 as D9. * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2. * Alternate INT_R is on CN9 Connector pin 5 as D4. * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L0A1/ * */ #define VL53L0_I2C_SDA D14 #define VL53L0_I2C_SCL D15 #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-64s InterruptIn stop_button(USER_BUTTON); #endif static XNucleo53L0A1 *board = NULL; VL53L0X_RangingMeasurementData_t data_sensor; OperatingMode operating_mode; /* current displayed sensor change IRQ */ volatile bool switchChanged = false; /* interrupt requests */ volatile bool centerSensor = false; volatile bool leftSensor = false; volatile bool rightSensor = false; /* Current sensor number*/ volatile int currentSensor = 0; /* Installed sensors count */ int sensorCnt = 0; /* installed sensors prefixes */ char installedSensors[3]; /* ISR callback function of the sensor_centre */ void sensor_centre_irq(void) { centerSensor = true; board->sensor_centre->disable_interrupt_measure_detection_irq(); } void sensor_left_irq(void) { leftSensor = true; board->sensor_left->disable_interrupt_measure_detection_irq(); } void sensor_right_irq(void) { rightSensor = true; board->sensor_right->disable_interrupt_measure_detection_irq(); } /* ISR callback function of the user blue button to switch measuring sensor. */ void switch_measuring_sensor_irq(void) { stop_button.disable_irq(); switchChanged = true; } /* On board 4 digit local display refresh */ void refresh_display(const VL53L0X_RangingMeasurementData_t &data, char prefix) { static char str[5]; if (data_sensor.RangeStatus == 0) { // we have a valid range. sprintf(str, "%c%3d", prefix, data.RangeMilliMeter); board->display->display_string(str); } else { sprintf(str, "%c%s", prefix, "---"); board->display->display_string(str); } } inline void measure_sensors(OperatingMode op_mode) { bool current = false; if (centerSensor) { centerSensor = false; board->sensor_centre->handle_irq(op_mode, &data_sensor); current = (currentSensor == 0); if (current) { refresh_display(data_sensor, 'C'); } } if (leftSensor) { leftSensor = false; board->sensor_left->handle_irq(op_mode, &data_sensor); current = (installedSensors[currentSensor] == 'L'); if (current) { refresh_display(data_sensor, 'L'); } } if (rightSensor) { rightSensor = false; board->sensor_right->handle_irq(op_mode, &data_sensor); current = (installedSensors[currentSensor] == 'R'); if (current) { refresh_display(data_sensor, 'R'); } } } int init_sensors_array() { int status = 1; sensorCnt = 0; /* start the measure on the center sensor */ if (NULL != board->sensor_centre) { installedSensors[sensorCnt] = 'C'; status = board->sensor_centre->stop_measurement(operating_mode); status = board->sensor_centre->start_measurement(operating_mode, &sensor_centre_irq); ++sensorCnt; } /* start the measure on the left sensor */ if (NULL != board->sensor_left) { installedSensors[sensorCnt] = 'L'; status = board->sensor_left->stop_measurement(operating_mode); status = board->sensor_left->start_measurement(operating_mode, &sensor_left_irq); ++sensorCnt; } /* start the measure on the right sensor */ if (NULL != board->sensor_right) { installedSensors[sensorCnt] = 'R'; status = board->sensor_right->stop_measurement(operating_mode); status = board->sensor_right->start_measurement(operating_mode, &sensor_right_irq); ++sensorCnt; } currentSensor = 0; return status; } void range_measure(DevI2C *device_i2c) { int status; /* creates the 53L0A1 expansion board singleton obj */ board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2); //board=XNucleo53L0A1::instance(device_i2c, A2, D9, D4); // Alternate INT_L/INT_R settings. board->display->display_string("53L0"); operating_mode = range_continuous_interrupt; /* init the 53L0A1 expansion board with default values */ status = board->init_board(); if (status) { printf("Failed to init board!\n\r"); } else { status = init_sensors_array(); } if (!status) { printf("\r\nEntering loop mode\r\n"); while (true) { measure_sensors(operating_mode); if (switchChanged) { ++currentSensor; if (currentSensor == sensorCnt) currentSensor = 0; printf("Sensor changed to %c\r\n", installedSensors[currentSensor]); switchChanged = false; stop_button.enable_irq(); } } } delete board; } /*=================================== Main ================================== Press the blue user button to switch the displayed sensor. =============================================================================*/ int main() { #if USER_BUTTON==PC_13 // we are cross compiling for Nucleo-f401 stop_button.rise(&switch_measuring_sensor_irq); stop_button.enable_irq(); #endif DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL); range_measure(device_i2c); // start continuous measures }