Diff: main.cpp

Revision:

4:44629a30d6f4

Parent:

3:12cb106044f9

Child:

5:906aa7aede10

--- a/main.cpp	Thu Jun 15 13:52:54 2017 +0000
+++ b/main.cpp	Tue Jun 20 08:14:49 2017 +0000
@@ -9,112 +9,136 @@
  * 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 satellites.
+ * The application supports the centre, on-board, sensor and up two satellite boards.
  *
- * *** 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. ***
- *   
- * The measured range data is displayed on the on-board 4-digit LED display, and sent
- * to the COM port.
+ * 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 
 
-#define CENTER_BIT  0
-#define LEFT_BIT    1
-#define RIGHT_BIT   2
-
+#if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-64s
+   InterruptIn stop_button (USER_BUTTON);
+#endif   
 
 static X_NUCLEO_53L0A1 *board=NULL;
 VL53L0X_RangingMeasurementData_t data_sensor;
 OperatingMode operating_mode;
-    
+
+/* current displayed sensor change IRQ */
+volatile bool switchChanged = false;
+
 /* interrupt requests */
-volatile int upadtedSensors = 0;
+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; 
 
-struct Sensor
-{
-    char prefix;
-    int sensorBit;
-    VL53L0X *sensorPtr;
-} installedSensors[3];
-
+/* installed sensors prefixes */
+char installedSensors[3];
 
 /* ISR callback function of the sensor_centre */
 void SensorCenterIRQ(void)
 {
-   upadtedSensors |= (1 << CENTER_BIT); 
+   centerSensor = true;
    board->sensor_centre->DisableInterruptMeasureDetectionIRQ();
 }   
 
 void SensorLeftIRQ(void)
 {
-   upadtedSensors |= (1 << LEFT_BIT); 
+   leftSensor = true;
    board->sensor_left->DisableInterruptMeasureDetectionIRQ();
 } 
 
 void SensorRightIRQ(void)
-{      
-   upadtedSensors |= (1 << RIGHT_BIT); 
+{    
+   rightSensor = true;  
    board->sensor_right->DisableInterruptMeasureDetectionIRQ();
 } 
 
 /* ISR callback function of the user blue button to switch measuring sensor. */
 void SwitchMeasuringSensorIRQ(void)
 {
-    ++currentSensor;
-    if (currentSensor == sensorCnt)
-        currentSensor = 0;
-    printf("Sensor changed to %c\r\n",installedSensors[currentSensor].prefix);
+    stop_button.disable_irq();
+    switchChanged = true;
 }
 
+
 /* On board 4 digit local display refresh */
-void DisplayRefresh(OperatingMode op_mode)
-{   
-    int status;
-    char str[4];
-    Sensor *current;
-    for (int t=0; t < sensorCnt; t++)
+void RefreshDisplay(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->DisplayString(str);
+    }
+    else
     {
-        current = &installedSensors[t];
-        if (upadtedSensors & current->sensorBit)
+        sprintf(str, "%c%s", prefix, "---");
+        board->display->DisplayString(str);
+    }
+}
+
+inline void MeasureSensors(OperatingMode op_mode)
+{
+    bool current = false;
+    if (centerSensor)
+    {
+        centerSensor = false;
+        board->sensor_centre->HandleIRQ(op_mode, &data_sensor);
+        current = (currentSensor == 0);
+        if (current)
         {
-            status = current->sensorPtr->HandleIRQ(op_mode, &data_sensor);
-            upadtedSensors &= ~(current->sensorBit) ;
-            if (!status)
-            {
-                if (data_sensor.RangeStatus == 0) // we have a valid range.
-                {
-                    printf("%c %4d; ", current->prefix,data_sensor.RangeMilliMeter);
-                    if (currentSensor == t)
-                    {
-                        sprintf(str,"%c%3d", current->prefix ,data_sensor.RangeMilliMeter);
-                    }
-                }
-                else
-                {
-                    if (currentSensor == t)
-                    {
-                        sprintf(str,"%c%s", current->prefix, "---");
-                    }   
-                }       
-            }
+            RefreshDisplay(data_sensor, 'C');
         }
     }
-    board->display->DisplayString(str);
+    if (leftSensor)
+    {
+        leftSensor = false;
+        board->sensor_left->HandleIRQ(op_mode, &data_sensor);
+        current = (installedSensors[currentSensor] == 'L');
+        if (current)
+        {
+            RefreshDisplay(data_sensor, 'L');
+        }
+    }
+    if (rightSensor)
+    {
+        rightSensor = false;
+        board->sensor_right->HandleIRQ(op_mode, &data_sensor);
+        current = (installedSensors[currentSensor] == 'R');        
+        if (current)
+        {
+            RefreshDisplay(data_sensor, 'R');
+        }
+    }
 }
 
 int InitSensorsArray()
@@ -124,9 +148,7 @@
     /* start the measure on the center sensor */
     if (NULL != board->sensor_centre)
     {
-        installedSensors[sensorCnt].prefix = 'C';
-        installedSensors[sensorCnt].sensorBit |= (1 << CENTER_BIT);
-        installedSensors[sensorCnt].sensorPtr = board->sensor_centre; 
+        installedSensors[sensorCnt] = 'C';
         status=board->sensor_centre->StopMeasurement(operating_mode);
         status=board->sensor_centre->StartMeasurement(operating_mode, &SensorCenterIRQ); 
         ++sensorCnt;
@@ -134,9 +156,7 @@
     /* start the measure on the left sensor */
     if (NULL != board->sensor_left)
     {
-        installedSensors[sensorCnt].prefix = 'L';
-        installedSensors[sensorCnt].sensorBit |= (1 << LEFT_BIT);
-        installedSensors[sensorCnt].sensorPtr = board->sensor_left; 
+        installedSensors[sensorCnt] = 'L';
         status=board->sensor_left->StopMeasurement(operating_mode);
         status=board->sensor_left->StartMeasurement(operating_mode, &SensorLeftIRQ);
         ++sensorCnt;
@@ -144,9 +164,7 @@
     /* start the measure on the right sensor */    
     if (NULL != board->sensor_right)
     {
-        installedSensors[sensorCnt].prefix = 'R';
-        installedSensors[sensorCnt].sensorBit |= (1 << RIGHT_BIT);
-        installedSensors[sensorCnt].sensorPtr = board->sensor_right; 
+        installedSensors[sensorCnt] = 'R';
         status=board->sensor_right->StopMeasurement(operating_mode);
         status=board->sensor_right->StartMeasurement(operating_mode, &SensorRightIRQ);
         ++sensorCnt;
@@ -155,11 +173,13 @@
     return status;
 }
 
+
 void RangeMeasure(DevI2C *device_i2c) {
    int status;
 
    /* creates the 53L0A1 expansion board singleton obj */
    board=X_NUCLEO_53L0A1::Instance(device_i2c, A2, D8, D2);
+   //board=X_NUCLEO_53L0A1::Instance(device_i2c, A2, D9, D4); // Alternate INT_L/INT_R settings.
     
    board->display->DisplayString("53L0");
    
@@ -182,7 +202,17 @@
      printf ("\r\nEntering loop mode\r\n");
      while (true)
      { 
-        DisplayRefresh(operating_mode);
+        MeasureSensors(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;        
@@ -194,11 +224,12 @@
 int main()
 {   
 #if USER_BUTTON==PC_13  // we are cross compiling for Nucleo-f401 
-   InterruptIn stop_button (USER_BUTTON);
    stop_button.rise (&SwitchMeasuringSensorIRQ);  
+   stop_button.enable_irq();
 #endif   
    DevI2C *device_i2c =new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);        
    RangeMeasure(device_i2c);  // start continuous measures
 }
 
 
+