Diff: XNucleo53L1A2.h

Revision:

4:924dac74daed

Parent:

0:00a40f7a4114

Child:

5:25be5ff92db5

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+++ b/XNucleo53L1A2.h	Mon Nov 09 10:25:21 2020 +0000
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+/**
+ ******************************************************************************
+ * @file    XNucleo53L1A2.h
+ * @author  JS
+ * @version V0.0.1
+ * @date    15-January-2019
+ * @brief   Header file for component XNucleo53L1A1
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *       without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+#ifndef __VL53L1_X_NUCLEO_CLASS_H
+#define __VL53L1_X_NUCLEO_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "vl53l1x.h"
+#include "Stmpe1600.h"
+//#include "DevI2C.h"
+#include "ToF_I2C.h"
+
+
+/** New device addresses */
+#define NEW_SENSOR_CENTRE_ADDRESS   0x56
+
+#define NEW_SENSOR_LEFT_ADDRESS         0x58
+#define NEW_SENSOR_RIGHT_ADDRESS        0x5a
+
+
+/* Classes--------------------------------------------------------------------*/
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing the X-NUCLEO-VL53L1A2 expansion board
+ */
+class XNucleo53L1A2
+{
+public:
+    /** Constructor 1
+    * @param[in] &i2c device I2C to be used for communication
+    */
+    XNucleo53L1A2(ToF_DevI2C *ext_i2c) : dev_i2c(ext_i2c)
+    {
+        
+                printf("XNucleo53L1A2 %d z\n",ext_i2c);
+        stmpe1600_exp0 = new Stmpe1600((DevI2C*)ext_i2c, (0x43 * 2));     // U21
+
+        stmpe1600_exp1 = new Stmpe1600((DevI2C*)ext_i2c, (0x42 * 2));     // U19
+
+        xshutdown_centre = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x42 * 2));     // U19 on schematic
+        sensor_centre = new VL53L1X(dev_i2c, xshutdown_centre, A2);
+
+        xshutdown_left = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_14, (0x43 * 2));     // U21 on schematic
+        sensor_left = new VL53L1X(dev_i2c, xshutdown_left, D8);
+
+        xshutdown_right = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x43 * 2));     // U21 on schematic
+        sensor_right = new VL53L1X(dev_i2c, xshutdown_right, D2);
+    }  
+    
+    /** Constructor 2
+     * @param[in] &i2c device I2C to be used for communication
+     * @param[in] PinName gpio1_top Mbed DigitalOut pin name to be used as a top sensor GPIO_1 INT
+     * @param[in] PinName gpio1_bottom Mbed DigitalOut pin name to be used as a bottom sensor GPIO_1 INT
+     * @param[in] PinName gpio1_left Mbed DigitalOut pin name to be used as a left sensor GPIO_1 INT
+     * @param[in] PinName gpio1_right Mbed DigitalOut pin name to be used as a right sensor GPIO_1 INT
+     */
+    XNucleo53L1A2(ToF_DevI2C *ext_i2c, PinName gpio1_centre,
+                  PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c)
+    {
+        stmpe1600_exp0 = new Stmpe1600((DevI2C*)ext_i2c, (0x43 * 2));     // U21
+
+        stmpe1600_exp1 = new Stmpe1600((DevI2C*)ext_i2c, (0x42 * 2));     // U19
+ //       printf("ToF_DevI2C constructor %d %d %d %d\n",ext_i2c,gpio1_centre,gpio1_left,gpio1_right);
+
+        xshutdown_centre = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x42 * 2));     // U19 on schematic
+        sensor_centre = new VL53L1X(dev_i2c, xshutdown_centre, gpio1_centre);
+
+        xshutdown_left = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_14, (0x43 * 2));     // U21 on schematic
+        sensor_left = new VL53L1X(dev_i2c, xshutdown_left, gpio1_left);
+
+        xshutdown_right = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x43 * 2));     // U21 on schematic
+        sensor_right = new VL53L1X(dev_i2c, xshutdown_right, gpio1_right);
+    }    
+    
+    
+    /** Destructor
+     */
+    ~XNucleo53L1A2()
+    {
+        printf("XNucleo53L1A2 destructor \n");
+        if (xshutdown_centre != NULL) {
+            delete xshutdown_centre;
+            xshutdown_centre = NULL;
+        }
+        if (sensor_centre != NULL) {
+            delete sensor_centre;
+            sensor_centre = NULL;
+        }
+        if (xshutdown_left != NULL) {
+            delete xshutdown_left;
+            xshutdown_left = NULL;
+        }
+        if (sensor_left != NULL) {
+            delete sensor_left;
+            sensor_left = NULL;
+        }
+        if (xshutdown_right != NULL) {
+            delete xshutdown_right;
+            xshutdown_right = NULL;
+        }
+        if (sensor_right != NULL) {
+            delete sensor_right;
+            sensor_right = NULL;
+        }
+
+        delete stmpe1600_exp0;
+        stmpe1600_exp0 = NULL;
+        delete stmpe1600_exp1;
+        stmpe1600_exp1 = NULL;
+        _instance = NULL;
+    }
+
+
+    /**
+     * @brief       Creates a singleton object instance
+     * @param[in]   &i2c device I2C to be used for communication
+     * @return      Pointer to the object instance
+     */
+    static XNucleo53L1A2 *instance(ToF_DevI2C *ext_i2c);
+
+    /**
+     * @brief       Creates a singleton object instance
+     * @param[in]   &i2c device I2C to be used for communication
+     * @param[in]   PinName gpio1_centre the pin connected to top sensor INT
+     * @param[in]   PinName gpio1_left the pin connected to left sensor INT
+     * @param[in]   PinName gpio1_right the pin connected to right sensor INT
+     * @return      Pointer to the object instance
+     */
+    static XNucleo53L1A2 *instance(ToF_DevI2C *ext_i2c, PinName gpio1_centre,
+                                   PinName gpio1_left, PinName gpio1_right);
+
+    /**
+     * @brief       Initialize the board and sensors with deft values
+     * @return      0 on success
+     */
+    int init_board();
+    
+    ToF_DevI2C *dev_i2c;
+    VL53L1X *sensor_centre;
+    VL53L1X *sensor_left;
+    VL53L1X *sensor_right;
+    Stmpe1600 *stmpe1600_exp0;
+    Stmpe1600 *stmpe1600_exp1;
+    Stmpe1600DigiOut *xshutdown_centre;
+    Stmpe1600DigiOut *xshutdown_left;
+    Stmpe1600DigiOut *xshutdown_right;
+    
+private:
+    static XNucleo53L1A2 *_instance;
+};
+
+
+#endif /* __VL53L1_X_NUCLEO_CLASS_H */
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