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@4:924dac74daed, 2020-11-09 (annotated)

Committer:
johnAlexander
Date:
Mon Nov 09 10:25:21 2020 +0000
Revision:
4:924dac74daed
Parent:
XNucleo53L1A1.h@0:00a40f7a4114
Child:
5:25be5ff92db5
Renaming board lib, to match marketing name.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:00a40f7a4114 1 /**
charlesmn 0:00a40f7a4114 2 ******************************************************************************
johnAlexander 4:924dac74daed 3 * @file XNucleo53L1A2.h
charlesmn 0:00a40f7a4114 4 * @author JS
charlesmn 0:00a40f7a4114 5 * @version V0.0.1
charlesmn 0:00a40f7a4114 6 * @date 15-January-2019
charlesmn 0:00a40f7a4114 7 * @brief Header file for component XNucleo53L1A1
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 ******************************************************************************
charlesmn 0:00a40f7a4114 36 */
charlesmn 0:00a40f7a4114 37
charlesmn 0:00a40f7a4114 38 #ifndef __VL53L1_X_NUCLEO_CLASS_H
charlesmn 0:00a40f7a4114 39 #define __VL53L1_X_NUCLEO_CLASS_H
charlesmn 0:00a40f7a4114 40
charlesmn 0:00a40f7a4114 41
charlesmn 0:00a40f7a4114 42 /* Includes ------------------------------------------------------------------*/
charlesmn 0:00a40f7a4114 43 #include "vl53l1x.h"
charlesmn 0:00a40f7a4114 44 #include "Stmpe1600.h"
charlesmn 0:00a40f7a4114 45 //#include "DevI2C.h"
charlesmn 0:00a40f7a4114 46 #include "ToF_I2C.h"
charlesmn 0:00a40f7a4114 47
charlesmn 0:00a40f7a4114 48
charlesmn 0:00a40f7a4114 49 /** New device addresses */
charlesmn 0:00a40f7a4114 50 #define NEW_SENSOR_CENTRE_ADDRESS 0x56
charlesmn 0:00a40f7a4114 51
charlesmn 0:00a40f7a4114 52 #define NEW_SENSOR_LEFT_ADDRESS 0x58
charlesmn 0:00a40f7a4114 53 #define NEW_SENSOR_RIGHT_ADDRESS 0x5a
charlesmn 0:00a40f7a4114 54
charlesmn 0:00a40f7a4114 55
charlesmn 0:00a40f7a4114 56 /* Classes--------------------------------------------------------------------*/
charlesmn 0:00a40f7a4114 57
charlesmn 0:00a40f7a4114 58 /* Classes -------------------------------------------------------------------*/
johnAlexander 4:924dac74daed 59 /** Class representing the X-NUCLEO-VL53L1A2 expansion board
charlesmn 0:00a40f7a4114 60 */
johnAlexander 4:924dac74daed 61 class XNucleo53L1A2
charlesmn 0:00a40f7a4114 62 {
charlesmn 0:00a40f7a4114 63 public:
charlesmn 0:00a40f7a4114 64 /** Constructor 1
charlesmn 0:00a40f7a4114 65 * @param[in] &i2c device I2C to be used for communication
charlesmn 0:00a40f7a4114 66 */
johnAlexander 4:924dac74daed 67 XNucleo53L1A2(ToF_DevI2C *ext_i2c) : dev_i2c(ext_i2c)
charlesmn 0:00a40f7a4114 68 {
charlesmn 0:00a40f7a4114 69
johnAlexander 4:924dac74daed 70 printf("XNucleo53L1A2 %d z\n",ext_i2c);
charlesmn 0:00a40f7a4114 71 stmpe1600_exp0 = new Stmpe1600((DevI2C*)ext_i2c, (0x43 * 2)); // U21
charlesmn 0:00a40f7a4114 72
charlesmn 0:00a40f7a4114 73 stmpe1600_exp1 = new Stmpe1600((DevI2C*)ext_i2c, (0x42 * 2)); // U19
charlesmn 0:00a40f7a4114 74
charlesmn 0:00a40f7a4114 75 xshutdown_centre = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
charlesmn 0:00a40f7a4114 76 sensor_centre = new VL53L1X(dev_i2c, xshutdown_centre, A2);
charlesmn 0:00a40f7a4114 77
charlesmn 0:00a40f7a4114 78 xshutdown_left = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
charlesmn 0:00a40f7a4114 79 sensor_left = new VL53L1X(dev_i2c, xshutdown_left, D8);
charlesmn 0:00a40f7a4114 80
charlesmn 0:00a40f7a4114 81 xshutdown_right = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
charlesmn 0:00a40f7a4114 82 sensor_right = new VL53L1X(dev_i2c, xshutdown_right, D2);
charlesmn 0:00a40f7a4114 83 }
charlesmn 0:00a40f7a4114 84
charlesmn 0:00a40f7a4114 85 /** Constructor 2
charlesmn 0:00a40f7a4114 86 * @param[in] &i2c device I2C to be used for communication
charlesmn 0:00a40f7a4114 87 * @param[in] PinName gpio1_top Mbed DigitalOut pin name to be used as a top sensor GPIO_1 INT
charlesmn 0:00a40f7a4114 88 * @param[in] PinName gpio1_bottom Mbed DigitalOut pin name to be used as a bottom sensor GPIO_1 INT
charlesmn 0:00a40f7a4114 89 * @param[in] PinName gpio1_left Mbed DigitalOut pin name to be used as a left sensor GPIO_1 INT
charlesmn 0:00a40f7a4114 90 * @param[in] PinName gpio1_right Mbed DigitalOut pin name to be used as a right sensor GPIO_1 INT
charlesmn 0:00a40f7a4114 91 */
johnAlexander 4:924dac74daed 92 XNucleo53L1A2(ToF_DevI2C *ext_i2c, PinName gpio1_centre,
charlesmn 0:00a40f7a4114 93 PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c)
charlesmn 0:00a40f7a4114 94 {
charlesmn 0:00a40f7a4114 95 stmpe1600_exp0 = new Stmpe1600((DevI2C*)ext_i2c, (0x43 * 2)); // U21
charlesmn 0:00a40f7a4114 96
charlesmn 0:00a40f7a4114 97 stmpe1600_exp1 = new Stmpe1600((DevI2C*)ext_i2c, (0x42 * 2)); // U19
charlesmn 0:00a40f7a4114 98 // printf("ToF_DevI2C constructor %d %d %d %d\n",ext_i2c,gpio1_centre,gpio1_left,gpio1_right);
charlesmn 0:00a40f7a4114 99
charlesmn 0:00a40f7a4114 100 xshutdown_centre = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
charlesmn 0:00a40f7a4114 101 sensor_centre = new VL53L1X(dev_i2c, xshutdown_centre, gpio1_centre);
charlesmn 0:00a40f7a4114 102
charlesmn 0:00a40f7a4114 103 xshutdown_left = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
charlesmn 0:00a40f7a4114 104 sensor_left = new VL53L1X(dev_i2c, xshutdown_left, gpio1_left);
charlesmn 0:00a40f7a4114 105
charlesmn 0:00a40f7a4114 106 xshutdown_right = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
charlesmn 0:00a40f7a4114 107 sensor_right = new VL53L1X(dev_i2c, xshutdown_right, gpio1_right);
charlesmn 0:00a40f7a4114 108 }
charlesmn 0:00a40f7a4114 109
charlesmn 0:00a40f7a4114 110
charlesmn 0:00a40f7a4114 111 /** Destructor
charlesmn 0:00a40f7a4114 112 */
johnAlexander 4:924dac74daed 113 ~XNucleo53L1A2()
charlesmn 0:00a40f7a4114 114 {
johnAlexander 4:924dac74daed 115 printf("XNucleo53L1A2 destructor \n");
charlesmn 0:00a40f7a4114 116 if (xshutdown_centre != NULL) {
charlesmn 0:00a40f7a4114 117 delete xshutdown_centre;
charlesmn 0:00a40f7a4114 118 xshutdown_centre = NULL;
charlesmn 0:00a40f7a4114 119 }
charlesmn 0:00a40f7a4114 120 if (sensor_centre != NULL) {
charlesmn 0:00a40f7a4114 121 delete sensor_centre;
charlesmn 0:00a40f7a4114 122 sensor_centre = NULL;
charlesmn 0:00a40f7a4114 123 }
charlesmn 0:00a40f7a4114 124 if (xshutdown_left != NULL) {
charlesmn 0:00a40f7a4114 125 delete xshutdown_left;
charlesmn 0:00a40f7a4114 126 xshutdown_left = NULL;
charlesmn 0:00a40f7a4114 127 }
charlesmn 0:00a40f7a4114 128 if (sensor_left != NULL) {
charlesmn 0:00a40f7a4114 129 delete sensor_left;
charlesmn 0:00a40f7a4114 130 sensor_left = NULL;
charlesmn 0:00a40f7a4114 131 }
charlesmn 0:00a40f7a4114 132 if (xshutdown_right != NULL) {
charlesmn 0:00a40f7a4114 133 delete xshutdown_right;
charlesmn 0:00a40f7a4114 134 xshutdown_right = NULL;
charlesmn 0:00a40f7a4114 135 }
charlesmn 0:00a40f7a4114 136 if (sensor_right != NULL) {
charlesmn 0:00a40f7a4114 137 delete sensor_right;
charlesmn 0:00a40f7a4114 138 sensor_right = NULL;
charlesmn 0:00a40f7a4114 139 }
charlesmn 0:00a40f7a4114 140
charlesmn 0:00a40f7a4114 141 delete stmpe1600_exp0;
charlesmn 0:00a40f7a4114 142 stmpe1600_exp0 = NULL;
charlesmn 0:00a40f7a4114 143 delete stmpe1600_exp1;
charlesmn 0:00a40f7a4114 144 stmpe1600_exp1 = NULL;
charlesmn 0:00a40f7a4114 145 _instance = NULL;
charlesmn 0:00a40f7a4114 146 }
charlesmn 0:00a40f7a4114 147
charlesmn 0:00a40f7a4114 148
charlesmn 0:00a40f7a4114 149 /**
charlesmn 0:00a40f7a4114 150 * @brief Creates a singleton object instance
charlesmn 0:00a40f7a4114 151 * @param[in] &i2c device I2C to be used for communication
charlesmn 0:00a40f7a4114 152 * @return Pointer to the object instance
charlesmn 0:00a40f7a4114 153 */
johnAlexander 4:924dac74daed 154 static XNucleo53L1A2 *instance(ToF_DevI2C *ext_i2c);
charlesmn 0:00a40f7a4114 155
charlesmn 0:00a40f7a4114 156 /**
charlesmn 0:00a40f7a4114 157 * @brief Creates a singleton object instance
charlesmn 0:00a40f7a4114 158 * @param[in] &i2c device I2C to be used for communication
charlesmn 0:00a40f7a4114 159 * @param[in] PinName gpio1_centre the pin connected to top sensor INT
charlesmn 0:00a40f7a4114 160 * @param[in] PinName gpio1_left the pin connected to left sensor INT
charlesmn 0:00a40f7a4114 161 * @param[in] PinName gpio1_right the pin connected to right sensor INT
charlesmn 0:00a40f7a4114 162 * @return Pointer to the object instance
charlesmn 0:00a40f7a4114 163 */
johnAlexander 4:924dac74daed 164 static XNucleo53L1A2 *instance(ToF_DevI2C *ext_i2c, PinName gpio1_centre,
charlesmn 0:00a40f7a4114 165 PinName gpio1_left, PinName gpio1_right);
charlesmn 0:00a40f7a4114 166
charlesmn 0:00a40f7a4114 167 /**
charlesmn 0:00a40f7a4114 168 * @brief Initialize the board and sensors with deft values
charlesmn 0:00a40f7a4114 169 * @return 0 on success
charlesmn 0:00a40f7a4114 170 */
charlesmn 0:00a40f7a4114 171 int init_board();
charlesmn 0:00a40f7a4114 172
charlesmn 0:00a40f7a4114 173 ToF_DevI2C *dev_i2c;
charlesmn 0:00a40f7a4114 174 VL53L1X *sensor_centre;
charlesmn 0:00a40f7a4114 175 VL53L1X *sensor_left;
charlesmn 0:00a40f7a4114 176 VL53L1X *sensor_right;
charlesmn 0:00a40f7a4114 177 Stmpe1600 *stmpe1600_exp0;
charlesmn 0:00a40f7a4114 178 Stmpe1600 *stmpe1600_exp1;
charlesmn 0:00a40f7a4114 179 Stmpe1600DigiOut *xshutdown_centre;
charlesmn 0:00a40f7a4114 180 Stmpe1600DigiOut *xshutdown_left;
charlesmn 0:00a40f7a4114 181 Stmpe1600DigiOut *xshutdown_right;
charlesmn 0:00a40f7a4114 182
charlesmn 0:00a40f7a4114 183 private:
johnAlexander 4:924dac74daed 184 static XNucleo53L1A2 *_instance;
charlesmn 0:00a40f7a4114 185 };
charlesmn 0:00a40f7a4114 186
charlesmn 0:00a40f7a4114 187
charlesmn 0:00a40f7a4114 188 #endif /* __VL53L1_X_NUCLEO_CLASS_H */