ST Expansion SW Team
Updates to follow mbed SDK coding style guidelines.
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Dependents: 53L0A1_Satellites_with_Interrupts_OS5 Display_53L0A1_OS5
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X_NUCLEO_53L0A1
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Revision 9:367d1f390cb2, committed 2017-06-07
- Comitter:
- johnAlexander
- Date:
- Wed Jun 07 12:53:53 2017 +0000
- Parent:
- 8:8d27ebb4e1eb
- Child:
- 10:faf8d62ce6d1
- Commit message:
- Enable support for left and right sensors. Tested with mbed_143.
Changed in this revision
--- a/Components/Display/Display_class.h Wed Dec 07 14:49:50 2016 +0000
+++ b/Components/Display/Display_class.h Wed Jun 07 12:53:53 2017 +0000
@@ -382,6 +382,7 @@
// stmpe1600_exp1.write16bitReg(GPSR, (uint16_t *)&CurIOVal.bytes[2]);
// ordered low-byte/high-byte!
+ CurIOVal.bytes[1] |= 0xC0; // ensure highest bits are high, as these are xshutdown pins for left & right sensors!
ExpanderData = (CurIOVal.bytes[1] << 8) + CurIOVal.bytes[0];
stmpe1600_exp0.write16bitReg(GPSR, &ExpanderData);
CurIOVal.bytes[3] |= 0x80; // ensure highest bit is high, as this is xshutdown pin on central sensor!
--- a/Components/STMPE1600/stmpe1600_class.h Wed Dec 07 14:49:50 2016 +0000
+++ b/Components/STMPE1600/stmpe1600_class.h Wed Jun 07 12:53:53 2017 +0000
@@ -220,7 +220,7 @@
*/
void writeSYS_CTRL (uint8_t data) // data = SOFT_RESET reset the device
{
- dev_i2c.i2c_write((uint8_t*)data, expdevaddr, SYS_CTRL, 1);
+ dev_i2c.i2c_write(&data, expdevaddr, SYS_CTRL, 1);
}
/**
--- a/Components/VL53L0X/vl53l0x_class.cpp Wed Dec 07 14:49:50 2016 +0000
+++ b/Components/VL53L0X/vl53l0x_class.cpp Wed Jun 07 12:53:53 2017 +0000
@@ -5113,7 +5113,7 @@
status=IsPresent();
if(!status)
{
- VL53L0X_DataInit(Device);
+ status=Init(&MyDevice);
if(status != VL53L0X_ERROR_NONE)
{
printf("Failed to init VL53L0X sensor!\n\r");
@@ -5131,7 +5131,6 @@
return status;
}
-/*
if(NewAddr!=DEFAULT_DEVICE_ADDRESS)
{
status=SetDeviceAddress(NewAddr);
@@ -5146,8 +5145,6 @@
printf("Invalid new address!\n\r");
return VL53L0X_ERROR_INVALID_PARAMS;
}
-*/
-// Device->Ready=1;
}
return status;
}
@@ -5347,3 +5344,5 @@
+
+
--- a/Components/VL53L0X/vl53l0x_class.h Wed Dec 07 14:49:50 2016 +0000
+++ b/Components/VL53L0X/vl53l0x_class.h Wed Jun 07 12:53:53 2017 +0000
@@ -1,5 +1,5 @@
/*******************************************************************************
- Copyright © 2016, STMicroelectronics International N.V.
+ Copyright © 2016, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
@@ -42,7 +42,6 @@
/* Includes ------------------------------------------------------------------*/
-#include "mbed.h"
#include "RangeSensor.h"
#include "DevI2C.h"
@@ -61,7 +60,7 @@
#define STATUS_FAIL 0x01
-#define VL53L0X_OsDelay(...) wait_ms(2) // 2 msec delay. can also use wait(float secs)/wait_us(int)
+#define VL53L0X_OsDelay(...) HAL_Delay(2)
#ifdef USE_EMPTY_STRING
#define VL53L0X_STRING_DEVICE_INFO_NAME ""
@@ -328,7 +327,7 @@
Device=&MyDevice;
gpio0=NULL;
if (pin_gpio1 != NC) { gpio1Int = new InterruptIn(pin_gpio1); }
- else { gpio1Int = NULL; }
+ else { gpio1Int = NULL; }
}
/** Destructor
@@ -352,7 +351,7 @@
*gpio0 = 1;
else if (expgpio0)
*expgpio0 = 1;
- wait_ms(1);
+ wait_ms(10);
}
/**
@@ -366,14 +365,22 @@
*gpio0 = 0;
else if (expgpio0)
*expgpio0 = 0;
- wait_ms(1);
+ wait_ms(10);
}
/**
* @brief Initialize the sensor with default values
* @return 0 on Success
- */
+ */
int InitSensor(uint8_t NewAddr);
+
+ int RawInitSensor(void);
+ int initDevice(VL53L0X_DEV Dev);
+ int setLongRangePresets(VL53L0X_DEV Dev);
+ int DoRanging(VL53L0X_Dev_t *pMyDevice);
+
+
+
/**
* @brief Start the measure indicated by operating mode
@@ -486,9 +493,12 @@
* @param void
* @return 0 on success, @a #CALIBRATION_WARNING if failed
*/
- virtual int Init(void * NewAddr)
+ virtual int Init(void *init)
+// virtual int Init()
{
- return VL53L0X_DataInit(Device);
+ return VL53L0X_DataInit(&MyDevice);
+// return VL53L0X_DataInit(Device);
+// return 1;
}
/**
@@ -529,6 +539,7 @@
*/
int Prepare()
{
+// return VL6180x_Prepare(Device);
// taken from rangingTest() in vl53l0x_SingleRanging_Example.c
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint32_t refSpadCount;
@@ -680,24 +691,10 @@
* @return 0 on success
*/
virtual int GetDistance(uint32_t *piData)
+// virtual int GetRange(int32_t *piData)
{
- int status=0;
- VL53L0X_RangingMeasurementData_t pRangingMeasurementData;
-
- status=StartMeasurement(range_single_shot_polling, NULL);
- if (!status) {
- status=GetMeasurement(range_single_shot_polling, &pRangingMeasurementData);
- }
- if (pRangingMeasurementData.RangeStatus == 0) {
- // we have a valid range.
- *piData = pRangingMeasurementData.RangeMilliMeter;
- }
- else {
- *piData = 0;
- status = VL53L0X_ERROR_RANGE_ERROR;
- }
- StopMeasurement(range_single_shot_polling);
- return status;
+// return VL6180x_RangeGetResult(Device, piData);
+ return 1;
}
/**
@@ -1332,6 +1329,7 @@
VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
/* Read function of the ID device */
+// virtual int ReadID();
virtual int ReadID(uint8_t *id);
VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev);
@@ -1358,8 +1356,9 @@
int IsPresent()
{
int status;
+ uint8_t id=0;
- status=ReadID((uint8_t *)MyDevice.I2cDevAddr);
+ status=ReadID(&id);
if(status)
VL53L0X_ErrLog("Failed to read ID device. Device not present!\n\r");
return status;
@@ -1378,6 +1377,9 @@
/* IO Device */
DevI2C &dev_i2c;
+ /* GPIO expander */
+// STMPE1600 &io_expander;
+// ExpGpioPinName xshutdown;
/* Digital out pin */
DigitalOut *gpio0;
/* GPIO expander */
@@ -1393,3 +1395,5 @@
#endif /* _VL53L0X_CLASS_H_ */
+
+
--- a/x_nucleo_53l0a1.cpp Wed Dec 07 14:49:50 2016 +0000
+++ b/x_nucleo_53l0a1.cpp Wed Jun 07 12:53:53 2017 +0000
@@ -84,7 +84,7 @@
printf("Sensor centre present\n\r");
n_dev++;
}
-/* status=sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
+ status=sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
if(status)
{
delete sensor_left;
@@ -98,8 +98,8 @@
printf("Sensor left present\n\r");
n_dev++;
}
-*/
-/* status=sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
+
+ status=sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
if(status)
{
delete sensor_right;
@@ -113,7 +113,7 @@
printf("Sensor right present\n\r");
n_dev++;
}
-*/
+
if(n_dev==0)
return 1;
else
--- a/x_nucleo_53l0a1.h Wed Dec 07 14:49:50 2016 +0000
+++ b/x_nucleo_53l0a1.h Wed Jun 07 12:53:53 2017 +0000
@@ -47,8 +47,7 @@
#include "DevI2C.h"
/** New device addresses */
-//#define NEW_SENSOR_CENTRE_ADDRESS 0x54
-#define NEW_SENSOR_CENTRE_ADDRESS 0x52
+#define NEW_SENSOR_CENTRE_ADDRESS 0x54
#define NEW_SENSOR_LEFT_ADDRESS 0x56
#define NEW_SENSOR_RIGHT_ADDRESS 0x58
@@ -66,10 +65,8 @@
X_NUCLEO_53L0A1(DevI2C *ext_i2c) : dev_i2c(ext_i2c)
{
stmpe1600_exp0 = new STMPE1600(*ext_i2c, (0x43 * 2)); // U21
- stmpe1600_exp0->writeSYS_CTRL (SOFT_RESET);
stmpe1600_exp1 = new STMPE1600(*ext_i2c, (0x42 * 2)); // U19
- stmpe1600_exp1->writeSYS_CTRL (SOFT_RESET);
display = new Display(*stmpe1600_exp0, *stmpe1600_exp1);
@@ -93,10 +90,8 @@
X_NUCLEO_53L0A1(DevI2C *ext_i2c, PinName gpio1_centre,
PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c) {
stmpe1600_exp0 = new STMPE1600(*ext_i2c, (0x43 * 2)); // U21
- stmpe1600_exp0->writeSYS_CTRL(SOFT_RESET);
stmpe1600_exp1 = new STMPE1600(*ext_i2c, (0x42 * 2)); // U19
- stmpe1600_exp1->writeSYS_CTRL(SOFT_RESET);
display = new Display(*stmpe1600_exp0, *stmpe1600_exp1);