XNucleo53L1A2.cpp

00001 /*
00002  * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
00003  *            the X-NUCELO-53L1A1 expansion board are not made/OFF.
00004  *            These links must be made to allow interrupts from the Satellite boards
00005  *            to be received.
00006  *            U11 and U18 must be made/ON to allow interrupts to be received from the
00007  *            INT_L & INT_R positions; or
00008  *            U10 and U15 must be made/ON to allow interrupts to be received from the
00009  *            Alternate INT_L & INT_R positions.
00010  *            The X_NUCLEO_53L1A2 library defaults to use the INT_L/INT_R positions.
00011  *            INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8.
00012  *            Alternate INT_L is on CN5 Connector pin 2 as D9.
00013  *            INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2.
00014  *            Alternate INT_R is on CN9 Connector pin 5 as D4.
00015  *            The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A2/
00016  */
00017 
00018 #include "XNucleo53L1A2.h"
00019 
00020 XNucleo53L1A2 *XNucleo53L1A2::_instance = NULL;
00021 
00022 
00023 XNucleo53L1A2 *XNucleo53L1A2::instance(ToF_DevI2C *ext_i2c)
00024 {
00025     if (_instance == NULL) {
00026         _instance = new XNucleo53L1A2(ext_i2c);
00027     } else {
00028         printf("Failed to create XNucleo53L1A2 instance\n\r\r\n");
00029     }
00030     return _instance;
00031 }
00032 
00033 XNucleo53L1A2 *XNucleo53L1A2::instance(ToF_DevI2C *ext_i2c,
00034                                        PinName gpio1_centre,
00035                                        PinName gpio1_left, PinName gpio1_right)
00036 {
00037     if (_instance == NULL) {
00038 //        printf("instance %d z\n",ext_i2c);
00039         _instance = new XNucleo53L1A2(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
00040     } else {
00041         printf("Failed to create XNucleo53L0A1 instance\n\r");
00042     }
00043     return _instance;
00044 }
00045 
00046 
00047 int XNucleo53L1A2::init_board()
00048 {
00049     int status, n_dev = 0;
00050 
00051     sensor_centre->VL53L1CB_Off();
00052     sensor_left->VL53L1CB_Off();
00053     sensor_right->VL53L1CB_Off();
00054     int i = 0;
00055     
00056     // On startup or on the shutdown pin going high the VL53l1 devices have a i2c address of 0x52.
00057     // To initialise then we have to bring up one device at a time This involves raising the shutdown pin for that device,
00058     // initialising then setting the i2c address to a unique value. Once that is done the shutdown pins don't need to be touched.
00059     
00060     // set the shutdown pins to be outputs ( they are inputs on power up)
00061     stmpe1600_exp1->set_gpio_dir(GPIO_15,OUTPUT);
00062     stmpe1600_exp0->set_gpio_dir(GPIO_14,OUTPUT);
00063     stmpe1600_exp0->set_gpio_dir(GPIO_15,OUTPUT);
00064     
00065     // set the shutdown pins to low, this will reset the VL53l1s
00066     stmpe1600_exp1->clear_gpio(GPIO_15);
00067     stmpe1600_exp0->clear_gpio(GPIO_14);
00068     stmpe1600_exp0->clear_gpio(GPIO_15);
00069 
00070 // select the first VL53l1. It will have i2c address of 0x52. Set the i2c address to
00071 //NEW_SENSOR_CENTRE_ADDRESS
00072     stmpe1600_exp1->set_gpio(GPIO_15);
00073     status = sensor_centre->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
00074     if (status) {
00075         delete sensor_centre;
00076         delete xshutdown_centre;
00077         sensor_centre = NULL;
00078         xshutdown_centre = NULL;
00079         printf("Sensor centre not present\n\r");
00080     } else {
00081         printf("Sensor centre present\n\r");
00082         n_dev++;
00083     }
00084 #if (MBED_VERSION  > 60300) 
00085     thread_sleep_for(2);
00086 #else
00087     wait_ms(2);  // NEEDS A DELAY BETWEEN SENSORS
00088 #endif
00089 
00090     // select the second VL53l1. It will have i2c address of 0x52. Set the i2c address to
00091     //NEW_SENSOR_LEFT_ADDRESS
00092     
00093     stmpe1600_exp0->set_gpio(GPIO_14);
00094 
00095     status = sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
00096     if (status) {
00097         delete sensor_left;
00098         delete xshutdown_left;
00099         sensor_left = NULL;
00100         xshutdown_left = NULL;
00101         printf("Sensor left not present\n\r");
00102     } else {
00103         printf("Sensor left present\n\r");
00104         n_dev++;
00105     }
00106 
00107 #if (MBED_VERSION  > 60300) 
00108     thread_sleep_for(50);
00109 #else
00110     wait_ms(50);  // NEEDS A DELAY BETWEEN SENSORS
00111 #endif 
00112      // select the 3rd VL53l1. It will have i2c address of 0x52. Set the i2c address to
00113     //NEW_SENSOR_RIGHT_ADDRESS 
00114     stmpe1600_exp0->set_gpio(GPIO_15);
00115     status = sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
00116     if (status) {
00117         delete sensor_right;
00118         delete xshutdown_right;
00119         sensor_right = NULL;
00120         xshutdown_right = NULL;
00121         printf("Sensor right not present\n\r");
00122     } else {
00123         printf("Sensor right present\n\r");
00124         n_dev++;
00125     }
00126 #if (MBED_VERSION  > 60300) 
00127     thread_sleep_for(50);
00128 #else
00129     wait_ms(50);  // NEEDS A DELAY BETWEEN SENSORS
00130 #endif 
00131     if (n_dev == 0) {
00132         return 1;
00133     } else {
00134         return 0;
00135     }
00136 }