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.h@10:19994200e31c, 2021-06-09 (annotated)

Committer:
Charles MacNeill
Date:
Wed Jun 09 10:18:22 2021 +0100
Revision:
10:19994200e31c
Parent:
8:074d411a56f3 
change name of functions and class from VL53L1 to VL53L1CB

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:00a40f7a4114 1 /**
charlesmn 0:00a40f7a4114 2 ******************************************************************************
johnAlexander 6:070884954aae 3 * @file XNucleo53L1A2.h
charlesmn 0:00a40f7a4114 4 * @author JS
charlesmn 0:00a40f7a4114 5 * @version V0.0.1
johnAlexander 8:074d411a56f3 6 * @date 15-January-2021
johnAlexander 6:070884954aae 7 * @brief Header file for component XNucleo53L1A2
charlesmn 0:00a40f7a4114 8 ******************************************************************************
charlesmn 0:00a40f7a4114 9 * @attention
charlesmn 0:00a40f7a4114 10 *
charlesmn 0:00a40f7a4114 11 * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
charlesmn 0:00a40f7a4114 12 *
charlesmn 0:00a40f7a4114 13 * Redistribution and use in source and binary forms, with or without modification,
charlesmn 0:00a40f7a4114 14 * are permitted provided that the following conditions are met:
charlesmn 0:00a40f7a4114 15 * 1. Redistributions of source code must retain the above copyright notice,
charlesmn 0:00a40f7a4114 16 * this list of conditions and the following disclaimer.
charlesmn 0:00a40f7a4114 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
charlesmn 0:00a40f7a4114 18 * this list of conditions and the following disclaimer in the documentation
charlesmn 0:00a40f7a4114 19 * and/or other materials provided with the distribution.
charlesmn 0:00a40f7a4114 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
charlesmn 0:00a40f7a4114 21 * may be used to endorse or promote products derived from this software
charlesmn 0:00a40f7a4114 22 * without specific prior written permission.
charlesmn 0:00a40f7a4114 23 *
charlesmn 0:00a40f7a4114 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
charlesmn 0:00a40f7a4114 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
charlesmn 0:00a40f7a4114 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
charlesmn 0:00a40f7a4114 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
charlesmn 0:00a40f7a4114 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
charlesmn 0:00a40f7a4114 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
charlesmn 0:00a40f7a4114 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
charlesmn 0:00a40f7a4114 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
charlesmn 0:00a40f7a4114 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
charlesmn 0:00a40f7a4114 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
charlesmn 0:00a40f7a4114 34 *
charlesmn 0:00a40f7a4114 35 ******************************************************************************
johnAlexander 8:074d411a56f3 36 *
johnAlexander 8:074d411a56f3 37 * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
johnAlexander 8:074d411a56f3 38 * the X-NUCELO-53L1A1 expansion board are not made/OFF.
johnAlexander 8:074d411a56f3 39 * These links must be made to allow interrupts from the Satellite boards
johnAlexander 8:074d411a56f3 40 * to be received.
johnAlexander 8:074d411a56f3 41 * U11 and U18 must be made/ON to allow interrupts to be received from the
johnAlexander 8:074d411a56f3 42 * INT_L & INT_R positions; or
johnAlexander 8:074d411a56f3 43 * U10 and U15 must be made/ON to allow interrupts to be received from the
johnAlexander 8:074d411a56f3 44 * Alternate INT_L & INT_R positions.
johnAlexander 8:074d411a56f3 45 * The X_NUCLEO_53L1A2 library defaults to use the INT_L/INT_R positions.
johnAlexander 8:074d411a56f3 46 * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
johnAlexander 8:074d411a56f3 47 * Alternate INT_L is on CN5 Connector pin 2 as D9.
johnAlexander 8:074d411a56f3 48 * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
johnAlexander 8:074d411a56f3 49 * Alternate INT_R is on CN9 Connector pin 5 as D4.
johnAlexander 8:074d411a56f3 50 * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A2/
johnAlexander 8:074d411a56f3 51 */
charlesmn 0:00a40f7a4114 52
johnAlexander 6:070884954aae 53 #ifndef __VL53L1_A2_NUCLEO_CLASS_H
johnAlexander 6:070884954aae 54 #define __VL53L1_A2_NUCLEO_CLASS_H
charlesmn 0:00a40f7a4114 55
charlesmn 0:00a40f7a4114 56
charlesmn 0:00a40f7a4114 57 /* Includes ------------------------------------------------------------------*/
Charles MacNeill 10:19994200e31c 58 #include "VL53L1CB.h"
charlesmn 0:00a40f7a4114 59 #include "Stmpe1600.h"
charlesmn 0:00a40f7a4114 60 //#include "DevI2C.h"
charlesmn 0:00a40f7a4114 61 #include "ToF_I2C.h"
charlesmn 0:00a40f7a4114 62
charlesmn 0:00a40f7a4114 63
charlesmn 0:00a40f7a4114 64 /** New device addresses */
charlesmn 0:00a40f7a4114 65 #define NEW_SENSOR_CENTRE_ADDRESS 0x56
charlesmn 0:00a40f7a4114 66
charlesmn 0:00a40f7a4114 67 #define NEW_SENSOR_LEFT_ADDRESS 0x58
charlesmn 0:00a40f7a4114 68 #define NEW_SENSOR_RIGHT_ADDRESS 0x5a
charlesmn 0:00a40f7a4114 69
charlesmn 0:00a40f7a4114 70
charlesmn 0:00a40f7a4114 71 /* Classes--------------------------------------------------------------------*/
charlesmn 0:00a40f7a4114 72
charlesmn 0:00a40f7a4114 73 /* Classes -------------------------------------------------------------------*/
johnAlexander 4:924dac74daed 74 /** Class representing the X-NUCLEO-VL53L1A2 expansion board
charlesmn 0:00a40f7a4114 75 */
johnAlexander 4:924dac74daed 76 class XNucleo53L1A2
charlesmn 0:00a40f7a4114 77 {
charlesmn 0:00a40f7a4114 78 public:
charlesmn 0:00a40f7a4114 79 /** Constructor 1
charlesmn 0:00a40f7a4114 80 * @param[in] &i2c device I2C to be used for communication
charlesmn 0:00a40f7a4114 81 */
johnAlexander 4:924dac74daed 82 XNucleo53L1A2(ToF_DevI2C *ext_i2c) : dev_i2c(ext_i2c)
charlesmn 0:00a40f7a4114 83 {
charlesmn 0:00a40f7a4114 84
johnAlexander 4:924dac74daed 85 printf("XNucleo53L1A2 %d z\n",ext_i2c);
charlesmn 0:00a40f7a4114 86 stmpe1600_exp0 = new Stmpe1600((DevI2C*)ext_i2c, (0x43 * 2)); // U21
charlesmn 0:00a40f7a4114 87
charlesmn 0:00a40f7a4114 88 stmpe1600_exp1 = new Stmpe1600((DevI2C*)ext_i2c, (0x42 * 2)); // U19
charlesmn 0:00a40f7a4114 89
charlesmn 0:00a40f7a4114 90 xshutdown_centre = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
Charles MacNeill 10:19994200e31c 91 sensor_centre = new VL53L1CB(dev_i2c, xshutdown_centre, A2);
charlesmn 0:00a40f7a4114 92
charlesmn 0:00a40f7a4114 93 xshutdown_left = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
Charles MacNeill 10:19994200e31c 94 sensor_left = new VL53L1CB(dev_i2c, xshutdown_left, D8);
charlesmn 0:00a40f7a4114 95
charlesmn 0:00a40f7a4114 96 xshutdown_right = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
Charles MacNeill 10:19994200e31c 97 sensor_right = new VL53L1CB(dev_i2c, xshutdown_right, D2);
charlesmn 0:00a40f7a4114 98 }
charlesmn 0:00a40f7a4114 99
charlesmn 0:00a40f7a4114 100 /** Constructor 2
charlesmn 0:00a40f7a4114 101 * @param[in] &i2c device I2C to be used for communication
johnAlexander 6:070884954aae 102 * @param[in] PinName gpio1_centre Mbed DigitalOut pin name to be used as a centre sensor GPIO_1 INT
charlesmn 0:00a40f7a4114 103 * @param[in] PinName gpio1_left Mbed DigitalOut pin name to be used as a left sensor GPIO_1 INT
charlesmn 0:00a40f7a4114 104 * @param[in] PinName gpio1_right Mbed DigitalOut pin name to be used as a right sensor GPIO_1 INT
charlesmn 0:00a40f7a4114 105 */
johnAlexander 4:924dac74daed 106 XNucleo53L1A2(ToF_DevI2C *ext_i2c, PinName gpio1_centre,
charlesmn 0:00a40f7a4114 107 PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c)
charlesmn 0:00a40f7a4114 108 {
charlesmn 0:00a40f7a4114 109 stmpe1600_exp0 = new Stmpe1600((DevI2C*)ext_i2c, (0x43 * 2)); // U21
charlesmn 0:00a40f7a4114 110
charlesmn 0:00a40f7a4114 111 stmpe1600_exp1 = new Stmpe1600((DevI2C*)ext_i2c, (0x42 * 2)); // U19
charlesmn 0:00a40f7a4114 112 // printf("ToF_DevI2C constructor %d %d %d %d\n",ext_i2c,gpio1_centre,gpio1_left,gpio1_right);
charlesmn 0:00a40f7a4114 113
charlesmn 0:00a40f7a4114 114 xshutdown_centre = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
Charles MacNeill 10:19994200e31c 115 sensor_centre = new VL53L1CB(dev_i2c, xshutdown_centre, gpio1_centre);
charlesmn 0:00a40f7a4114 116
charlesmn 0:00a40f7a4114 117 xshutdown_left = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
Charles MacNeill 10:19994200e31c 118 sensor_left = new VL53L1CB(dev_i2c, xshutdown_left, gpio1_left);
charlesmn 0:00a40f7a4114 119
charlesmn 0:00a40f7a4114 120 xshutdown_right = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
Charles MacNeill 10:19994200e31c 121 sensor_right = new VL53L1CB(dev_i2c, xshutdown_right, gpio1_right);
charlesmn 0:00a40f7a4114 122 }
charlesmn 0:00a40f7a4114 123
charlesmn 0:00a40f7a4114 124
charlesmn 0:00a40f7a4114 125 /** Destructor
charlesmn 0:00a40f7a4114 126 */
johnAlexander 4:924dac74daed 127 ~XNucleo53L1A2()
charlesmn 0:00a40f7a4114 128 {
johnAlexander 4:924dac74daed 129 printf("XNucleo53L1A2 destructor \n");
charlesmn 0:00a40f7a4114 130 if (xshutdown_centre != NULL) {
charlesmn 0:00a40f7a4114 131 delete xshutdown_centre;
charlesmn 0:00a40f7a4114 132 xshutdown_centre = NULL;
charlesmn 0:00a40f7a4114 133 }
charlesmn 0:00a40f7a4114 134 if (sensor_centre != NULL) {
charlesmn 0:00a40f7a4114 135 delete sensor_centre;
charlesmn 0:00a40f7a4114 136 sensor_centre = NULL;
charlesmn 0:00a40f7a4114 137 }
charlesmn 0:00a40f7a4114 138 if (xshutdown_left != NULL) {
charlesmn 0:00a40f7a4114 139 delete xshutdown_left;
charlesmn 0:00a40f7a4114 140 xshutdown_left = NULL;
charlesmn 0:00a40f7a4114 141 }
charlesmn 0:00a40f7a4114 142 if (sensor_left != NULL) {
charlesmn 0:00a40f7a4114 143 delete sensor_left;
charlesmn 0:00a40f7a4114 144 sensor_left = NULL;
charlesmn 0:00a40f7a4114 145 }
charlesmn 0:00a40f7a4114 146 if (xshutdown_right != NULL) {
charlesmn 0:00a40f7a4114 147 delete xshutdown_right;
charlesmn 0:00a40f7a4114 148 xshutdown_right = NULL;
charlesmn 0:00a40f7a4114 149 }
charlesmn 0:00a40f7a4114 150 if (sensor_right != NULL) {
charlesmn 0:00a40f7a4114 151 delete sensor_right;
charlesmn 0:00a40f7a4114 152 sensor_right = NULL;
charlesmn 0:00a40f7a4114 153 }
charlesmn 0:00a40f7a4114 154
charlesmn 0:00a40f7a4114 155 delete stmpe1600_exp0;
charlesmn 0:00a40f7a4114 156 stmpe1600_exp0 = NULL;
charlesmn 0:00a40f7a4114 157 delete stmpe1600_exp1;
charlesmn 0:00a40f7a4114 158 stmpe1600_exp1 = NULL;
charlesmn 0:00a40f7a4114 159 _instance = NULL;
charlesmn 0:00a40f7a4114 160 }
charlesmn 0:00a40f7a4114 161
charlesmn 0:00a40f7a4114 162
charlesmn 0:00a40f7a4114 163 /**
charlesmn 0:00a40f7a4114 164 * @brief Creates a singleton object instance
charlesmn 0:00a40f7a4114 165 * @param[in] &i2c device I2C to be used for communication
charlesmn 0:00a40f7a4114 166 * @return Pointer to the object instance
charlesmn 0:00a40f7a4114 167 */
johnAlexander 4:924dac74daed 168 static XNucleo53L1A2 *instance(ToF_DevI2C *ext_i2c);
charlesmn 0:00a40f7a4114 169
charlesmn 0:00a40f7a4114 170 /**
charlesmn 0:00a40f7a4114 171 * @brief Creates a singleton object instance
charlesmn 0:00a40f7a4114 172 * @param[in] &i2c device I2C to be used for communication
johnAlexander 6:070884954aae 173 * @param[in] PinName gpio1_centre the pin connected to centre sensor INT
charlesmn 0:00a40f7a4114 174 * @param[in] PinName gpio1_left the pin connected to left sensor INT
charlesmn 0:00a40f7a4114 175 * @param[in] PinName gpio1_right the pin connected to right sensor INT
charlesmn 0:00a40f7a4114 176 * @return Pointer to the object instance
charlesmn 0:00a40f7a4114 177 */
johnAlexander 4:924dac74daed 178 static XNucleo53L1A2 *instance(ToF_DevI2C *ext_i2c, PinName gpio1_centre,
charlesmn 0:00a40f7a4114 179 PinName gpio1_left, PinName gpio1_right);
charlesmn 0:00a40f7a4114 180
charlesmn 0:00a40f7a4114 181 /**
charlesmn 0:00a40f7a4114 182 * @brief Initialize the board and sensors with deft values
charlesmn 0:00a40f7a4114 183 * @return 0 on success
charlesmn 0:00a40f7a4114 184 */
charlesmn 0:00a40f7a4114 185 int init_board();
charlesmn 0:00a40f7a4114 186
charlesmn 0:00a40f7a4114 187 ToF_DevI2C *dev_i2c;
johnAlexander 6:070884954aae 188
Charles MacNeill 10:19994200e31c 189 VL53L1CB *sensor_centre;
Charles MacNeill 10:19994200e31c 190 VL53L1CB *sensor_left;
Charles MacNeill 10:19994200e31c 191 VL53L1CB *sensor_right;
johnAlexander 6:070884954aae 192
charlesmn 0:00a40f7a4114 193 Stmpe1600 *stmpe1600_exp0;
charlesmn 0:00a40f7a4114 194 Stmpe1600 *stmpe1600_exp1;
johnAlexander 6:070884954aae 195
charlesmn 0:00a40f7a4114 196 Stmpe1600DigiOut *xshutdown_centre;
charlesmn 0:00a40f7a4114 197 Stmpe1600DigiOut *xshutdown_left;
charlesmn 0:00a40f7a4114 198 Stmpe1600DigiOut *xshutdown_right;
charlesmn 0:00a40f7a4114 199
charlesmn 0:00a40f7a4114 200 private:
johnAlexander 4:924dac74daed 201 static XNucleo53L1A2 *_instance;
charlesmn 0:00a40f7a4114 202 };
charlesmn 0:00a40f7a4114 203
charlesmn 0:00a40f7a4114 204
johnAlexander 6:070884954aae 205 #endif /* __VL53L1_A2_NUCLEO_CLASS_H */