ST Expansion SW Team / X_NUCLEO_53L1CB

Library for the NucleoVl53L1 shield and the Vl53L1

Dependencies:   VL53L1

Dependents:   VL53L1CB_shield_sensor_polling VL53L1CB_MB2_NoShield_3sensors_interrupt_ranging VL53L1CB_MB5_NoShield_3sensors_interrupt_ranging VL53L1CB_MB5_NoShield_3sensors_interrupt_ranging

XNucleo53L1A2.cpp@8:074d411a56f3, 2021-05-12 (annotated)

Committer:
johnAlexander
Date:
Wed May 12 08:34:21 2021 +0000
Revision:
8:074d411a56f3
Parent:
4:924dac74daed
Child:
10:19994200e31c
Add comment block about interrupt pin setup, for satellite boards.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
johnAlexander 8:074d411a56f3 1 /*
johnAlexander 8:074d411a56f3 2 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
johnAlexander 8:074d411a56f3 3 * the X-NUCELO-53L1A1 expansion board are not made/OFF.
johnAlexander 8:074d411a56f3 4 * These links must be made to allow interrupts from the Satellite boards
johnAlexander 8:074d411a56f3 5 * to be received.
johnAlexander 8:074d411a56f3 6 * U11 and U18 must be made/ON to allow interrupts to be received from the
johnAlexander 8:074d411a56f3 7 * INT_L & INT_R positions; or
johnAlexander 8:074d411a56f3 8 * U10 and U15 must be made/ON to allow interrupts to be received from the
johnAlexander 8:074d411a56f3 9 * Alternate INT_L & INT_R positions.
johnAlexander 8:074d411a56f3 10 * The X_NUCLEO_53L1A2 library defaults to use the INT_L/INT_R positions.
johnAlexander 8:074d411a56f3 11 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
johnAlexander 8:074d411a56f3 12 * Alternate INT_L is on CN5 Connector pin 2 as D9.
johnAlexander 8:074d411a56f3 13 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
johnAlexander 8:074d411a56f3 14 * Alternate INT_R is on CN9 Connector pin 5 as D4.
johnAlexander 8:074d411a56f3 15 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A2/
johnAlexander 8:074d411a56f3 16 */
johnAlexander 8:074d411a56f3 17
johnAlexander 4:924dac74daed 18 #include "XNucleo53L1A2.h"
charlesmn 0:00a40f7a4114 19
johnAlexander 4:924dac74daed 20 XNucleo53L1A2 *XNucleo53L1A2::_instance = NULL;
charlesmn 0:00a40f7a4114 21
charlesmn 0:00a40f7a4114 22
johnAlexander 4:924dac74daed 23 XNucleo53L1A2 *XNucleo53L1A2::instance(ToF_DevI2C *ext_i2c)
charlesmn 0:00a40f7a4114 24 {
charlesmn 0:00a40f7a4114 25 if (_instance == NULL) {
johnAlexander 4:924dac74daed 26 _instance = new XNucleo53L1A2(ext_i2c);
charlesmn 0:00a40f7a4114 27 } else {
johnAlexander 4:924dac74daed 28 printf("Failed to create XNucleo53L1A2 instance\n\r\r\n");
charlesmn 0:00a40f7a4114 29 }
charlesmn 0:00a40f7a4114 30 return _instance;
charlesmn 0:00a40f7a4114 31 }
charlesmn 0:00a40f7a4114 32
johnAlexander 4:924dac74daed 33 XNucleo53L1A2 *XNucleo53L1A2::instance(ToF_DevI2C *ext_i2c,
charlesmn 0:00a40f7a4114 34 PinName gpio1_centre,
charlesmn 0:00a40f7a4114 35 PinName gpio1_left, PinName gpio1_right)
charlesmn 0:00a40f7a4114 36 {
charlesmn 0:00a40f7a4114 37 if (_instance == NULL) {
charlesmn 0:00a40f7a4114 38 // printf("instance %d z\n",ext_i2c);
johnAlexander 4:924dac74daed 39 _instance = new XNucleo53L1A2(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
charlesmn 0:00a40f7a4114 40 } else {
charlesmn 0:00a40f7a4114 41 printf("Failed to create XNucleo53L0A1 instance\n\r");
charlesmn 0:00a40f7a4114 42 }
charlesmn 0:00a40f7a4114 43 return _instance;
charlesmn 0:00a40f7a4114 44 }
charlesmn 0:00a40f7a4114 45
charlesmn 0:00a40f7a4114 46
johnAlexander 4:924dac74daed 47 int XNucleo53L1A2::init_board()
charlesmn 0:00a40f7a4114 48 {
charlesmn 0:00a40f7a4114 49 int status, n_dev = 0;
charlesmn 0:00a40f7a4114 50
charlesmn 0:00a40f7a4114 51 sensor_centre->VL53L1_Off();
charlesmn 0:00a40f7a4114 52 sensor_left->VL53L1_Off();
charlesmn 0:00a40f7a4114 53 sensor_right->VL53L1_Off();
charlesmn 0:00a40f7a4114 54 int i = 0;
charlesmn 0:00a40f7a4114 55
charlesmn 0:00a40f7a4114 56 // On startup or on the shutdown pin going high the VL53l1 devices have a i2c address of 0x52.
charlesmn 0:00a40f7a4114 57 // To initialise then we have to bring up one device at a time This involves raising the shutdown pin for that device,
charlesmn 0:00a40f7a4114 58 // initialising then setting the i2c address to a unique value. Once that is done the shutdown pins don't need to be touched.
charlesmn 0:00a40f7a4114 59
charlesmn 0:00a40f7a4114 60 // set the shutdown pins to be outputs ( they are inputs on power up)
charlesmn 0:00a40f7a4114 61 stmpe1600_exp1->set_gpio_dir(GPIO_15,OUTPUT);
charlesmn 0:00a40f7a4114 62 stmpe1600_exp0->set_gpio_dir(GPIO_14,OUTPUT);
charlesmn 0:00a40f7a4114 63 stmpe1600_exp0->set_gpio_dir(GPIO_15,OUTPUT);
charlesmn 0:00a40f7a4114 64
charlesmn 0:00a40f7a4114 65 // set the shutdown pins to low, this will reset the VL53l1s
charlesmn 0:00a40f7a4114 66 stmpe1600_exp1->clear_gpio(GPIO_15);
charlesmn 0:00a40f7a4114 67 stmpe1600_exp0->clear_gpio(GPIO_14);
charlesmn 0:00a40f7a4114 68 stmpe1600_exp0->clear_gpio(GPIO_15);
charlesmn 0:00a40f7a4114 69
charlesmn 0:00a40f7a4114 70 // select the first VL53l1. It will have i2c address of 0x52. Set the i2c address to
charlesmn 0:00a40f7a4114 71 //NEW_SENSOR_CENTRE_ADDRESS
charlesmn 0:00a40f7a4114 72 stmpe1600_exp1->set_gpio(GPIO_15);
charlesmn 0:00a40f7a4114 73 status = sensor_centre->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
charlesmn 0:00a40f7a4114 74 if (status) {
charlesmn 0:00a40f7a4114 75 delete sensor_centre;
charlesmn 0:00a40f7a4114 76 delete xshutdown_centre;
charlesmn 0:00a40f7a4114 77 sensor_centre = NULL;
charlesmn 0:00a40f7a4114 78 xshutdown_centre = NULL;
charlesmn 0:00a40f7a4114 79 printf("Sensor centre not present\n\r");
charlesmn 0:00a40f7a4114 80 } else {
charlesmn 0:00a40f7a4114 81 printf("Sensor centre present\n\r");
charlesmn 0:00a40f7a4114 82 n_dev++;
charlesmn 0:00a40f7a4114 83 }
charlesmn 3:ac8e3765ece8 84 #if (MBED_VERSION > 60300)
charlesmn 2:4c77be1be0e3 85 thread_sleep_for(2);
charlesmn 2:4c77be1be0e3 86 #else
charlesmn 2:4c77be1be0e3 87 wait_ms(2); // NEEDS A DELAY BETWEEN SENSORS
charlesmn 2:4c77be1be0e3 88 #endif
charlesmn 2:4c77be1be0e3 89
charlesmn 0:00a40f7a4114 90 // select the second VL53l1. It will have i2c address of 0x52. Set the i2c address to
charlesmn 0:00a40f7a4114 91 //NEW_SENSOR_LEFT_ADDRESS
charlesmn 0:00a40f7a4114 92
charlesmn 0:00a40f7a4114 93 stmpe1600_exp0->set_gpio(GPIO_14);
charlesmn 0:00a40f7a4114 94
charlesmn 0:00a40f7a4114 95 status = sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
charlesmn 0:00a40f7a4114 96 if (status) {
charlesmn 0:00a40f7a4114 97 delete sensor_left;
charlesmn 0:00a40f7a4114 98 delete xshutdown_left;
charlesmn 0:00a40f7a4114 99 sensor_left = NULL;
charlesmn 0:00a40f7a4114 100 xshutdown_left = NULL;
charlesmn 0:00a40f7a4114 101 printf("Sensor left not present\n\r");
charlesmn 0:00a40f7a4114 102 } else {
charlesmn 0:00a40f7a4114 103 printf("Sensor left present\n\r");
charlesmn 0:00a40f7a4114 104 n_dev++;
charlesmn 0:00a40f7a4114 105 }
charlesmn 2:4c77be1be0e3 106
charlesmn 3:ac8e3765ece8 107 #if (MBED_VERSION > 60300)
charlesmn 2:4c77be1be0e3 108 thread_sleep_for(50);
charlesmn 2:4c77be1be0e3 109 #else
charlesmn 2:4c77be1be0e3 110 wait_ms(50); // NEEDS A DELAY BETWEEN SENSORS
charlesmn 2:4c77be1be0e3 111 #endif
charlesmn 0:00a40f7a4114 112 // select the 3rd VL53l1. It will have i2c address of 0x52. Set the i2c address to
charlesmn 0:00a40f7a4114 113 //NEW_SENSOR_RIGHT_ADDRESS
charlesmn 0:00a40f7a4114 114 stmpe1600_exp0->set_gpio(GPIO_15);
charlesmn 0:00a40f7a4114 115 status = sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
charlesmn 0:00a40f7a4114 116 if (status) {
charlesmn 0:00a40f7a4114 117 delete sensor_right;
charlesmn 0:00a40f7a4114 118 delete xshutdown_right;
charlesmn 0:00a40f7a4114 119 sensor_right = NULL;
charlesmn 0:00a40f7a4114 120 xshutdown_right = NULL;
charlesmn 0:00a40f7a4114 121 printf("Sensor right not present\n\r");
charlesmn 0:00a40f7a4114 122 } else {
charlesmn 0:00a40f7a4114 123 printf("Sensor right present\n\r");
charlesmn 0:00a40f7a4114 124 n_dev++;
charlesmn 0:00a40f7a4114 125 }
charlesmn 3:ac8e3765ece8 126 #if (MBED_VERSION > 60300)
charlesmn 2:4c77be1be0e3 127 thread_sleep_for(50);
charlesmn 2:4c77be1be0e3 128 #else
charlesmn 2:4c77be1be0e3 129 wait_ms(50); // NEEDS A DELAY BETWEEN SENSORS
charlesmn 2:4c77be1be0e3 130 #endif
charlesmn 0:00a40f7a4114 131 if (n_dev == 0) {
charlesmn 0:00a40f7a4114 132 return 1;
charlesmn 0:00a40f7a4114 133 } else {
charlesmn 0:00a40f7a4114 134 return 0;
charlesmn 0:00a40f7a4114 135 }
charlesmn 0:00a40f7a4114 136 }