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

XNucleo53L1A1.cpp@2:4c77be1be0e3, 2020-11-08 (annotated)

Committer:
charlesmn
Date:
Sun Nov 08 13:51:43 2020 +0000
Revision:
2:4c77be1be0e3
Parent:
0:00a40f7a4114
Child:
3:ac8e3765ece8
Cope with MBed 6.4

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:00a40f7a4114 1 #include "XNucleo53L1A1.h"
charlesmn 0:00a40f7a4114 2
charlesmn 0:00a40f7a4114 3 XNucleo53L1A1 *XNucleo53L1A1::_instance = NULL;
charlesmn 0:00a40f7a4114 4
charlesmn 0:00a40f7a4114 5
charlesmn 0:00a40f7a4114 6 XNucleo53L1A1 *XNucleo53L1A1::instance(ToF_DevI2C *ext_i2c)
charlesmn 0:00a40f7a4114 7 {
charlesmn 0:00a40f7a4114 8 if (_instance == NULL) {
charlesmn 0:00a40f7a4114 9 _instance = new XNucleo53L1A1(ext_i2c);
charlesmn 0:00a40f7a4114 10 } else {
charlesmn 0:00a40f7a4114 11 printf("Failed to create XNucleo53L1A1 instance\n\r\r\n");
charlesmn 0:00a40f7a4114 12 }
charlesmn 0:00a40f7a4114 13 return _instance;
charlesmn 0:00a40f7a4114 14 }
charlesmn 0:00a40f7a4114 15
charlesmn 0:00a40f7a4114 16 XNucleo53L1A1 *XNucleo53L1A1::instance(ToF_DevI2C *ext_i2c,
charlesmn 0:00a40f7a4114 17 PinName gpio1_centre,
charlesmn 0:00a40f7a4114 18 PinName gpio1_left, PinName gpio1_right)
charlesmn 0:00a40f7a4114 19 {
charlesmn 0:00a40f7a4114 20 if (_instance == NULL) {
charlesmn 0:00a40f7a4114 21 // printf("instance %d z\n",ext_i2c);
charlesmn 0:00a40f7a4114 22 _instance = new XNucleo53L1A1(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
charlesmn 0:00a40f7a4114 23 } else {
charlesmn 0:00a40f7a4114 24 printf("Failed to create XNucleo53L0A1 instance\n\r");
charlesmn 0:00a40f7a4114 25 }
charlesmn 0:00a40f7a4114 26 return _instance;
charlesmn 0:00a40f7a4114 27 }
charlesmn 0:00a40f7a4114 28
charlesmn 0:00a40f7a4114 29
charlesmn 0:00a40f7a4114 30 int XNucleo53L1A1::init_board()
charlesmn 0:00a40f7a4114 31 {
charlesmn 0:00a40f7a4114 32 int status, n_dev = 0;
charlesmn 0:00a40f7a4114 33
charlesmn 0:00a40f7a4114 34 sensor_centre->VL53L1_Off();
charlesmn 0:00a40f7a4114 35 sensor_left->VL53L1_Off();
charlesmn 0:00a40f7a4114 36 sensor_right->VL53L1_Off();
charlesmn 0:00a40f7a4114 37 int i = 0;
charlesmn 0:00a40f7a4114 38
charlesmn 0:00a40f7a4114 39 // On startup or on the shutdown pin going high the VL53l1 devices have a i2c address of 0x52.
charlesmn 0:00a40f7a4114 40 // 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 41 // 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 42
charlesmn 0:00a40f7a4114 43 // set the shutdown pins to be outputs ( they are inputs on power up)
charlesmn 0:00a40f7a4114 44 stmpe1600_exp1->set_gpio_dir(GPIO_15,OUTPUT);
charlesmn 0:00a40f7a4114 45 stmpe1600_exp0->set_gpio_dir(GPIO_14,OUTPUT);
charlesmn 0:00a40f7a4114 46 stmpe1600_exp0->set_gpio_dir(GPIO_15,OUTPUT);
charlesmn 0:00a40f7a4114 47
charlesmn 0:00a40f7a4114 48 // set the shutdown pins to low, this will reset the VL53l1s
charlesmn 0:00a40f7a4114 49 stmpe1600_exp1->clear_gpio(GPIO_15);
charlesmn 0:00a40f7a4114 50 stmpe1600_exp0->clear_gpio(GPIO_14);
charlesmn 0:00a40f7a4114 51 stmpe1600_exp0->clear_gpio(GPIO_15);
charlesmn 0:00a40f7a4114 52
charlesmn 0:00a40f7a4114 53 // select the first VL53l1. It will have i2c address of 0x52. Set the i2c address to
charlesmn 0:00a40f7a4114 54 //NEW_SENSOR_CENTRE_ADDRESS
charlesmn 0:00a40f7a4114 55 stmpe1600_exp1->set_gpio(GPIO_15);
charlesmn 0:00a40f7a4114 56 status = sensor_centre->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
charlesmn 0:00a40f7a4114 57 if (status) {
charlesmn 0:00a40f7a4114 58 delete sensor_centre;
charlesmn 0:00a40f7a4114 59 delete xshutdown_centre;
charlesmn 0:00a40f7a4114 60 sensor_centre = NULL;
charlesmn 0:00a40f7a4114 61 xshutdown_centre = NULL;
charlesmn 0:00a40f7a4114 62 printf("Sensor centre not present\n\r");
charlesmn 0:00a40f7a4114 63 } else {
charlesmn 0:00a40f7a4114 64 printf("Sensor centre present\n\r");
charlesmn 0:00a40f7a4114 65 n_dev++;
charlesmn 0:00a40f7a4114 66 }
charlesmn 2:4c77be1be0e3 67 #if (MBED_VERSION > 60100)
charlesmn 2:4c77be1be0e3 68 thread_sleep_for(2);
charlesmn 2:4c77be1be0e3 69 #else
charlesmn 2:4c77be1be0e3 70 wait_ms(2); // NEEDS A DELAY BETWEEN SENSORS
charlesmn 2:4c77be1be0e3 71 #endif
charlesmn 2:4c77be1be0e3 72
charlesmn 0:00a40f7a4114 73 // select the second VL53l1. It will have i2c address of 0x52. Set the i2c address to
charlesmn 0:00a40f7a4114 74 //NEW_SENSOR_LEFT_ADDRESS
charlesmn 0:00a40f7a4114 75
charlesmn 0:00a40f7a4114 76 stmpe1600_exp0->set_gpio(GPIO_14);
charlesmn 0:00a40f7a4114 77
charlesmn 0:00a40f7a4114 78 status = sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
charlesmn 0:00a40f7a4114 79 if (status) {
charlesmn 0:00a40f7a4114 80 delete sensor_left;
charlesmn 0:00a40f7a4114 81 delete xshutdown_left;
charlesmn 0:00a40f7a4114 82 sensor_left = NULL;
charlesmn 0:00a40f7a4114 83 xshutdown_left = NULL;
charlesmn 0:00a40f7a4114 84 printf("Sensor left not present\n\r");
charlesmn 0:00a40f7a4114 85 } else {
charlesmn 0:00a40f7a4114 86 printf("Sensor left present\n\r");
charlesmn 0:00a40f7a4114 87 n_dev++;
charlesmn 0:00a40f7a4114 88 }
charlesmn 2:4c77be1be0e3 89
charlesmn 2:4c77be1be0e3 90 #if (MBED_VERSION > 60100)
charlesmn 2:4c77be1be0e3 91 thread_sleep_for(50);
charlesmn 2:4c77be1be0e3 92 #else
charlesmn 2:4c77be1be0e3 93 wait_ms(50); // NEEDS A DELAY BETWEEN SENSORS
charlesmn 2:4c77be1be0e3 94 #endif
charlesmn 0:00a40f7a4114 95 // select the 3rd VL53l1. It will have i2c address of 0x52. Set the i2c address to
charlesmn 0:00a40f7a4114 96 //NEW_SENSOR_RIGHT_ADDRESS
charlesmn 0:00a40f7a4114 97 stmpe1600_exp0->set_gpio(GPIO_15);
charlesmn 0:00a40f7a4114 98 status = sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
charlesmn 0:00a40f7a4114 99 if (status) {
charlesmn 0:00a40f7a4114 100 delete sensor_right;
charlesmn 0:00a40f7a4114 101 delete xshutdown_right;
charlesmn 0:00a40f7a4114 102 sensor_right = NULL;
charlesmn 0:00a40f7a4114 103 xshutdown_right = NULL;
charlesmn 0:00a40f7a4114 104 printf("Sensor right not present\n\r");
charlesmn 0:00a40f7a4114 105 } else {
charlesmn 0:00a40f7a4114 106 printf("Sensor right present\n\r");
charlesmn 0:00a40f7a4114 107 n_dev++;
charlesmn 0:00a40f7a4114 108 }
charlesmn 2:4c77be1be0e3 109 #if (MBED_VERSION > 60100)
charlesmn 2:4c77be1be0e3 110 thread_sleep_for(50);
charlesmn 2:4c77be1be0e3 111 #else
charlesmn 2:4c77be1be0e3 112 wait_ms(50); // NEEDS A DELAY BETWEEN SENSORS
charlesmn 2:4c77be1be0e3 113 #endif
charlesmn 0:00a40f7a4114 114 if (n_dev == 0) {
charlesmn 0:00a40f7a4114 115 return 1;
charlesmn 0:00a40f7a4114 116 } else {
charlesmn 0:00a40f7a4114 117 return 0;
charlesmn 0:00a40f7a4114 118 }
charlesmn 0:00a40f7a4114 119 }