ST Expansion SW Team / X_NUCLEO_53L1A1_mbed

X_Nucleo_53L1A1 Expansion Board Class for VL53L1X Sensor.

Dependencies:   VL53L1X_mbed

Dependents:   HelloWorld_53L1A1_Interrupts 53L1A1_Satellites_MbedOS 53L1A1_Interrupts_MbedOS 53L1A1_Polling_All_MbedOS ... more

X-NUCLEO-53L1A1 Proximity Sensor Expansion Board Firmware Package

Introduction

This firmware package includes Component Device Drivers and the Board Support Package for STMicroelectronics' X-NUCLEO-53L1A1 Proximity sensor expansion board based on VL53L1X.

Firmware Library

Class XNucleo53L1A1 is intended to represent the Proximity sensor expansion board with the same name.

The expansion board provides support for the following components:

  1. on-board VL53L1X proximity sensor,
  2. up to two additional VL53L1X Satellites.

It is intentionally implemented as a singleton because only one X-NUCLEO-VL53L1A1 may be deployed at a time in a HW component stack. In order to get the singleton instance you have to call class method `Instance()`, e.g.:

// Sensors expansion board singleton instance
static XNucleo53L1A1 *board = XNucleo53L1A1::instance(device_i2c, A2, D9, D2);

Example Applications

XNucleo53L1A1.h@29:ee29a8ce93d5, 2021-05-11 (annotated)

Committer:
johnAlexander
Date:
Tue May 11 09:35:41 2021 +0000
Revision:
29:ee29a8ce93d5
Parent:
24:77b414df8b6e
Child:
27:afcf740eb7b8
Updated for MbedOS v6.x support.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JerrySzczurak 22:27f00d9b777b 1 /**
JerrySzczurak 22:27f00d9b777b 2 ******************************************************************************
JerrySzczurak 22:27f00d9b777b 3 * @file XNucleo53L1A1.h
JerrySzczurak 22:27f00d9b777b 4 * @author JS
JerrySzczurak 22:27f00d9b777b 5 * @version V0.0.1
JerrySzczurak 22:27f00d9b777b 6 * @date 15-January-2019
JerrySzczurak 22:27f00d9b777b 7 * @brief Header file for component XNucleo53L1A1
JerrySzczurak 22:27f00d9b777b 8 ******************************************************************************
JerrySzczurak 22:27f00d9b777b 9 * @attention
JerrySzczurak 22:27f00d9b777b 10 *
JerrySzczurak 22:27f00d9b777b 11 * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
JerrySzczurak 22:27f00d9b777b 12 *
JerrySzczurak 22:27f00d9b777b 13 * Redistribution and use in source and binary forms, with or without modification,
JerrySzczurak 22:27f00d9b777b 14 * are permitted provided that the following conditions are met:
JerrySzczurak 22:27f00d9b777b 15 * 1. Redistributions of source code must retain the above copyright notice,
JerrySzczurak 22:27f00d9b777b 16 * this list of conditions and the following disclaimer.
JerrySzczurak 22:27f00d9b777b 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
JerrySzczurak 22:27f00d9b777b 18 * this list of conditions and the following disclaimer in the documentation
JerrySzczurak 22:27f00d9b777b 19 * and/or other materials provided with the distribution.
JerrySzczurak 22:27f00d9b777b 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
JerrySzczurak 22:27f00d9b777b 21 * may be used to endorse or promote products derived from this software
JerrySzczurak 22:27f00d9b777b 22 * without specific prior written permission.
JerrySzczurak 22:27f00d9b777b 23 *
JerrySzczurak 22:27f00d9b777b 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
JerrySzczurak 22:27f00d9b777b 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
JerrySzczurak 22:27f00d9b777b 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
JerrySzczurak 22:27f00d9b777b 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
JerrySzczurak 22:27f00d9b777b 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
JerrySzczurak 22:27f00d9b777b 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
JerrySzczurak 22:27f00d9b777b 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
JerrySzczurak 22:27f00d9b777b 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
JerrySzczurak 22:27f00d9b777b 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
JerrySzczurak 22:27f00d9b777b 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
JerrySzczurak 22:27f00d9b777b 34 *
JerrySzczurak 22:27f00d9b777b 35 ******************************************************************************
JerrySzczurak 22:27f00d9b777b 36 */
JerrySzczurak 22:27f00d9b777b 37
JerrySzczurak 22:27f00d9b777b 38 #ifndef __VL53L1_X_NUCLEO_CLASS_H
JerrySzczurak 22:27f00d9b777b 39 #define __VL53L1_X_NUCLEO_CLASS_H
JerrySzczurak 22:27f00d9b777b 40
JerrySzczurak 22:27f00d9b777b 41
JerrySzczurak 22:27f00d9b777b 42 /* Includes ------------------------------------------------------------------*/
JerrySzczurak 22:27f00d9b777b 43 #include "vl53l1x_class.h"
JerrySzczurak 22:27f00d9b777b 44 #include "Stmpe1600.h"
JerrySzczurak 22:27f00d9b777b 45 //#include "DevI2C.h"
JerrySzczurak 22:27f00d9b777b 46 #include "vl53L1x_I2c.h"
JerrySzczurak 22:27f00d9b777b 47
JerrySzczurak 22:27f00d9b777b 48
JerrySzczurak 22:27f00d9b777b 49 /** New device addresses */
dmathew 24:77b414df8b6e 50 //#define NEW_SENSOR_CENTRE_ADDRESS 0x52
dmathew 24:77b414df8b6e 51 #define NEW_SENSOR_CENTRE_ADDRESS 0x54
JerrySzczurak 22:27f00d9b777b 52 #define NEW_SENSOR_LEFT_ADDRESS 0x56
JerrySzczurak 22:27f00d9b777b 53 #define NEW_SENSOR_RIGHT_ADDRESS 0x58
JerrySzczurak 22:27f00d9b777b 54
JerrySzczurak 22:27f00d9b777b 55
JerrySzczurak 22:27f00d9b777b 56 /* Classes--------------------------------------------------------------------*/
JerrySzczurak 22:27f00d9b777b 57
JerrySzczurak 22:27f00d9b777b 58 /* Classes -------------------------------------------------------------------*/
JerrySzczurak 22:27f00d9b777b 59 /** Class representing the X-NUCLEO-VL53L1A1 expansion board
JerrySzczurak 22:27f00d9b777b 60 */
JerrySzczurak 22:27f00d9b777b 61 class XNucleo53L1A1
JerrySzczurak 22:27f00d9b777b 62 {
JerrySzczurak 22:27f00d9b777b 63 public:
JerrySzczurak 22:27f00d9b777b 64 /** Constructor 1
JerrySzczurak 22:27f00d9b777b 65 * @param[in] &i2c device I2C to be used for communication
JerrySzczurak 22:27f00d9b777b 66 */
JerrySzczurak 22:27f00d9b777b 67 XNucleo53L1A1(vl53L1X_DevI2C *ext_i2c) : dev_i2c(ext_i2c)
JerrySzczurak 22:27f00d9b777b 68 {
JerrySzczurak 22:27f00d9b777b 69 stmpe1600_exp0 = new Stmpe1600((DevI2C*)ext_i2c, (0x43 * 2)); // U21
JerrySzczurak 22:27f00d9b777b 70
JerrySzczurak 22:27f00d9b777b 71 stmpe1600_exp1 = new Stmpe1600((DevI2C*)ext_i2c, (0x42 * 2)); // U19
JerrySzczurak 22:27f00d9b777b 72
JerrySzczurak 22:27f00d9b777b 73 xshutdown_centre = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
JerrySzczurak 22:27f00d9b777b 74 sensor_centre = new VL53L1X(dev_i2c, xshutdown_centre, A2);
JerrySzczurak 22:27f00d9b777b 75
JerrySzczurak 22:27f00d9b777b 76 xshutdown_left = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
JerrySzczurak 22:27f00d9b777b 77 sensor_left = new VL53L1X(dev_i2c, xshutdown_left, D8);
JerrySzczurak 22:27f00d9b777b 78
JerrySzczurak 22:27f00d9b777b 79 xshutdown_right = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
JerrySzczurak 22:27f00d9b777b 80 sensor_right = new VL53L1X(dev_i2c, xshutdown_right, D2);
JerrySzczurak 22:27f00d9b777b 81 }
JerrySzczurak 22:27f00d9b777b 82
JerrySzczurak 22:27f00d9b777b 83 /** Constructor 2
JerrySzczurak 22:27f00d9b777b 84 * @param[in] &i2c device I2C to be used for communication
JerrySzczurak 22:27f00d9b777b 85 * @param[in] PinName gpio1_top Mbed DigitalOut pin name to be used as a top sensor GPIO_1 INT
JerrySzczurak 22:27f00d9b777b 86 * @param[in] PinName gpio1_bottom Mbed DigitalOut pin name to be used as a bottom sensor GPIO_1 INT
JerrySzczurak 22:27f00d9b777b 87 * @param[in] PinName gpio1_left Mbed DigitalOut pin name to be used as a left sensor GPIO_1 INT
JerrySzczurak 22:27f00d9b777b 88 * @param[in] PinName gpio1_right Mbed DigitalOut pin name to be used as a right sensor GPIO_1 INT
JerrySzczurak 22:27f00d9b777b 89 */
JerrySzczurak 22:27f00d9b777b 90 XNucleo53L1A1(vl53L1X_DevI2C *ext_i2c, PinName gpio1_centre,
JerrySzczurak 22:27f00d9b777b 91 PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c)
JerrySzczurak 22:27f00d9b777b 92 {
JerrySzczurak 22:27f00d9b777b 93 stmpe1600_exp0 = new Stmpe1600((DevI2C*)ext_i2c, (0x43 * 2)); // U21
JerrySzczurak 22:27f00d9b777b 94
JerrySzczurak 22:27f00d9b777b 95 stmpe1600_exp1 = new Stmpe1600((DevI2C*)ext_i2c, (0x42 * 2)); // U19
JerrySzczurak 22:27f00d9b777b 96
JerrySzczurak 22:27f00d9b777b 97 xshutdown_centre = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
JerrySzczurak 22:27f00d9b777b 98 sensor_centre = new VL53L1X(dev_i2c, xshutdown_centre, gpio1_centre);
JerrySzczurak 22:27f00d9b777b 99
JerrySzczurak 22:27f00d9b777b 100 xshutdown_left = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
JerrySzczurak 22:27f00d9b777b 101 sensor_left = new VL53L1X(dev_i2c, xshutdown_left, gpio1_left);
JerrySzczurak 22:27f00d9b777b 102
JerrySzczurak 22:27f00d9b777b 103 xshutdown_right = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
JerrySzczurak 22:27f00d9b777b 104 sensor_right = new VL53L1X(dev_i2c, xshutdown_right, gpio1_right);
JerrySzczurak 22:27f00d9b777b 105 }
JerrySzczurak 22:27f00d9b777b 106
JerrySzczurak 22:27f00d9b777b 107
JerrySzczurak 22:27f00d9b777b 108 /** Destructor
JerrySzczurak 22:27f00d9b777b 109 */
JerrySzczurak 22:27f00d9b777b 110 ~XNucleo53L1A1()
JerrySzczurak 22:27f00d9b777b 111 {
JerrySzczurak 22:27f00d9b777b 112 if (xshutdown_centre != NULL) {
JerrySzczurak 22:27f00d9b777b 113 delete xshutdown_centre;
JerrySzczurak 22:27f00d9b777b 114 xshutdown_centre = NULL;
JerrySzczurak 22:27f00d9b777b 115 }
JerrySzczurak 22:27f00d9b777b 116 if (sensor_centre != NULL) {
JerrySzczurak 22:27f00d9b777b 117 delete sensor_centre;
JerrySzczurak 22:27f00d9b777b 118 sensor_centre = NULL;
JerrySzczurak 22:27f00d9b777b 119 }
JerrySzczurak 22:27f00d9b777b 120 if (xshutdown_left != NULL) {
JerrySzczurak 22:27f00d9b777b 121 delete xshutdown_left;
JerrySzczurak 22:27f00d9b777b 122 xshutdown_left = NULL;
JerrySzczurak 22:27f00d9b777b 123 }
JerrySzczurak 22:27f00d9b777b 124 if (sensor_left != NULL) {
JerrySzczurak 22:27f00d9b777b 125 delete sensor_left;
JerrySzczurak 22:27f00d9b777b 126 sensor_left = NULL;
JerrySzczurak 22:27f00d9b777b 127 }
JerrySzczurak 22:27f00d9b777b 128 if (xshutdown_right != NULL) {
JerrySzczurak 22:27f00d9b777b 129 delete xshutdown_right;
JerrySzczurak 22:27f00d9b777b 130 xshutdown_right = NULL;
JerrySzczurak 22:27f00d9b777b 131 }
JerrySzczurak 22:27f00d9b777b 132 if (sensor_right != NULL) {
JerrySzczurak 22:27f00d9b777b 133 delete sensor_right;
JerrySzczurak 22:27f00d9b777b 134 sensor_right = NULL;
JerrySzczurak 22:27f00d9b777b 135 }
JerrySzczurak 22:27f00d9b777b 136
JerrySzczurak 22:27f00d9b777b 137 delete stmpe1600_exp0;
JerrySzczurak 22:27f00d9b777b 138 stmpe1600_exp0 = NULL;
JerrySzczurak 22:27f00d9b777b 139 delete stmpe1600_exp1;
JerrySzczurak 22:27f00d9b777b 140 stmpe1600_exp1 = NULL;
JerrySzczurak 22:27f00d9b777b 141 _instance = NULL;
JerrySzczurak 22:27f00d9b777b 142 }
JerrySzczurak 22:27f00d9b777b 143
JerrySzczurak 22:27f00d9b777b 144
JerrySzczurak 22:27f00d9b777b 145 /**
JerrySzczurak 22:27f00d9b777b 146 * @brief Creates a singleton object instance
JerrySzczurak 22:27f00d9b777b 147 * @param[in] &i2c device I2C to be used for communication
JerrySzczurak 22:27f00d9b777b 148 * @return Pointer to the object instance
JerrySzczurak 22:27f00d9b777b 149 */
JerrySzczurak 22:27f00d9b777b 150 static XNucleo53L1A1 *instance(vl53L1X_DevI2C *ext_i2c);
JerrySzczurak 22:27f00d9b777b 151
JerrySzczurak 22:27f00d9b777b 152 /**
JerrySzczurak 22:27f00d9b777b 153 * @brief Creates a singleton object instance
JerrySzczurak 22:27f00d9b777b 154 * @param[in] &i2c device I2C to be used for communication
JerrySzczurak 22:27f00d9b777b 155 * @param[in] PinName gpio1_centre the pin connected to top sensor INT
JerrySzczurak 22:27f00d9b777b 156 * @param[in] PinName gpio1_left the pin connected to left sensor INT
JerrySzczurak 22:27f00d9b777b 157 * @param[in] PinName gpio1_right the pin connected to right sensor INT
JerrySzczurak 22:27f00d9b777b 158 * @return Pointer to the object instance
JerrySzczurak 22:27f00d9b777b 159 */
JerrySzczurak 22:27f00d9b777b 160 static XNucleo53L1A1 *instance(vl53L1X_DevI2C *ext_i2c, PinName gpio1_centre,
JerrySzczurak 22:27f00d9b777b 161 PinName gpio1_left, PinName gpio1_right);
JerrySzczurak 22:27f00d9b777b 162
JerrySzczurak 22:27f00d9b777b 163 /**
JerrySzczurak 22:27f00d9b777b 164 * @brief Initialize the board and sensors with deft values
JerrySzczurak 22:27f00d9b777b 165 * @return 0 on success
JerrySzczurak 22:27f00d9b777b 166 */
JerrySzczurak 22:27f00d9b777b 167 int init_board();
JerrySzczurak 22:27f00d9b777b 168
JerrySzczurak 22:27f00d9b777b 169 vl53L1X_DevI2C *dev_i2c;
JerrySzczurak 22:27f00d9b777b 170 VL53L1X *sensor_centre;
JerrySzczurak 22:27f00d9b777b 171 VL53L1X *sensor_left;
JerrySzczurak 22:27f00d9b777b 172 VL53L1X *sensor_right;
JerrySzczurak 22:27f00d9b777b 173 Stmpe1600 *stmpe1600_exp0;
JerrySzczurak 22:27f00d9b777b 174 Stmpe1600 *stmpe1600_exp1;
JerrySzczurak 22:27f00d9b777b 175 Stmpe1600DigiOut *xshutdown_centre;
JerrySzczurak 22:27f00d9b777b 176 Stmpe1600DigiOut *xshutdown_left;
JerrySzczurak 22:27f00d9b777b 177 Stmpe1600DigiOut *xshutdown_right;
JerrySzczurak 22:27f00d9b777b 178
JerrySzczurak 22:27f00d9b777b 179 private:
JerrySzczurak 22:27f00d9b777b 180 static XNucleo53L1A1 *_instance;
JerrySzczurak 22:27f00d9b777b 181 };
JerrySzczurak 22:27f00d9b777b 182
JerrySzczurak 22:27f00d9b777b 183
dmathew 24:77b414df8b6e 184 #endif /* __VL53L1_X_NUCLEO_CLASS_H */