XNucleo53L1A2.cpp

00001 /*
00002  * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
00003  *            the X-NUCELO-53L1A1 expansion board are not made/OFF.
00004  *            These links must be made to allow interrupts from the Satellite boards
00005  *            to be received.
00006  *            U11 and U18 must be made/ON to allow interrupts to be received from the
00007  *            INT_L & INT_R positions; or
00008  *            U10 and U15 must be made/ON to allow interrupts to be received from the
00009  *            Alternate INT_L & INT_R positions.
00010  *            The X_NUCLEO_53L1A2 library defaults to use the INT_L/INT_R positions.
00011  *            INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
00012  *            Alternate INT_L is on CN5 Connector pin 2 as D9.
00013  *            INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
00014  *            Alternate INT_R is on CN9 Connector pin 5 as D4.
00015  *            The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A2/
00016  */
00017 
00018 #include "XNucleo53L1A2.h"
00019 
00020 XNucleo53L1A2 *XNucleo53L1A2::_instance = NULL;
00021 
00022 
00023 XNucleo53L1A2 *XNucleo53L1A2::instance(ToF_DevI2C *ext_i2c)
00024 {
00025     if (_instance == NULL) {
00026         _instance = new XNucleo53L1A2(ext_i2c);
00027     } else {
00028         printf("Failed to create XNucleo53L1A2 instance\n\r\r\n");
00029     }
00030     return _instance;
00031 }
00032 
00033 XNucleo53L1A2 *XNucleo53L1A2::instance(ToF_DevI2C *ext_i2c,
00034                                        PinName gpio1_centre,
00035                                        PinName gpio1_left, PinName gpio1_right)
00036 {
00037     if (_instance == NULL) {
00038         _instance = new XNucleo53L1A2(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
00039     } else {
00040         printf("Failed to create XNucleo53L0A1 instance\n\r");
00041     }
00042     return _instance;
00043 }
00044 
00045 
00046 int XNucleo53L1A2::init_board()
00047 {
00048     int status, n_dev = 0;
00049 
00050     sensor_centre->VL53L1CB_Off();
00051     sensor_left->VL53L1CB_Off();
00052     sensor_right->VL53L1CB_Off();
00053 
00054     // On startup or on the shutdown pin going high the VL53l1 devices have a i2c address of 0x52.
00055     // To initialise then we have to bring up one device at a time This involves raising the shutdown pin for that device,
00056     // initialising then setting the i2c address to a unique value. Once that is done the shutdown pins don't need to be touched.
00057 
00058     // set the shutdown pins to be outputs ( they are inputs on power up)
00059     stmpe1600_exp1->set_gpio_dir(GPIO_15,OUTPUT);
00060     stmpe1600_exp0->set_gpio_dir(GPIO_14,OUTPUT);
00061     stmpe1600_exp0->set_gpio_dir(GPIO_15,OUTPUT);
00062 
00063     // set the shutdown pins to low, this will reset the VL53l1s
00064     stmpe1600_exp1->clear_gpio(GPIO_15);
00065     stmpe1600_exp0->clear_gpio(GPIO_14);
00066     stmpe1600_exp0->clear_gpio(GPIO_15);
00067 
00068 // select the first VL53l1. It will have i2c address of 0x52. Set the i2c address to
00069 //NEW_SENSOR_CENTRE_ADDRESS
00070     stmpe1600_exp1->set_gpio(GPIO_15);
00071     status = sensor_centre->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
00072     if (status) {
00073         delete sensor_centre;
00074         delete xshutdown_centre;
00075         sensor_centre = NULL;
00076         xshutdown_centre = NULL;
00077         printf("Sensor centre not present\n\r");
00078     } else {
00079         printf("Sensor centre present\n\r");
00080         n_dev++;
00081     }
00082 #if (MBED_VERSION > 60300)
00083     thread_sleep_for(2);
00084 #else
00085     wait_ms(2);  // NEEDS A DELAY BETWEEN SENSORS
00086 #endif
00087 
00088     // select the second VL53l1. It will have i2c address of 0x52. Set the i2c address to
00089     //NEW_SENSOR_LEFT_ADDRESS
00090 
00091     stmpe1600_exp0->set_gpio(GPIO_14);
00092 
00093     status = sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
00094     if (status) {
00095         delete sensor_left;
00096         delete xshutdown_left;
00097         sensor_left = NULL;
00098         xshutdown_left = NULL;
00099         printf("Sensor left not present\n\r");
00100     } else {
00101         printf("Sensor left present\n\r");
00102         n_dev++;
00103     }
00104 
00105 #if (MBED_VERSION > 60300)
00106     thread_sleep_for(50);
00107 #else
00108     wait_ms(50);  // NEEDS A DELAY BETWEEN SENSORS
00109 #endif
00110     // select the 3rd VL53l1. It will have i2c address of 0x52. Set the i2c address to
00111     //NEW_SENSOR_RIGHT_ADDRESS
00112     stmpe1600_exp0->set_gpio(GPIO_15);
00113     status = sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
00114     if (status) {
00115         delete sensor_right;
00116         delete xshutdown_right;
00117         sensor_right = NULL;
00118         xshutdown_right = NULL;
00119         printf("Sensor right not present\n\r");
00120     } else {
00121         printf("Sensor right present\n\r");
00122         n_dev++;
00123     }
00124 #if (MBED_VERSION > 60300)
00125     thread_sleep_for(50);
00126 #else
00127     wait_ms(50);  // NEEDS A DELAY BETWEEN SENSORS
00128 #endif
00129     if (n_dev == 0) {
00130         return 1;
00131     } else {
00132         return 0;
00133     }
00134 }