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. *
Diff: main.cpp
- Revision:
- 4:44629a30d6f4
- Parent:
- 3:12cb106044f9
- Child:
- 5:906aa7aede10
diff -r 12cb106044f9 -r 44629a30d6f4 main.cpp --- 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 } +