Initial release to ST Sw Expansion Team Repo.
Dependencies: VL53L3CX_mbed
Dependents: VL53L3CX_Shield_Polling VL53L3CX_Shield_Polling VL53L3CX_Shield_Polling_v5_15 VL53L3_shield_1sensor_polling_Mb515 ... more
Diff: XNucleo53L3A2.h
- Revision:
- 7:c0e18dd78c42
- Parent:
- 3:4ed68a07058d
- Child:
- 10:12c0dd3cba9b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/XNucleo53L3A2.h Wed Nov 04 10:01:32 2020 +0000 @@ -0,0 +1,196 @@ +/** + ****************************************************************************** + * @file XNucleo53L3A2.h + * @author JS + * @version V0.0.1 + * @date 15-January-2019 + * @brief Header file for component XNucleo53L3A2 + ****************************************************************************** + * @attention + * + * <h2><center>© 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 __VL53L3_NUCLEO_CLASS_H +#define __VL53L3_NUCLEO_CLASS_H + + +/* Includes ------------------------------------------------------------------*/ +#include "mbed.h" +#include "PinNames.h" +#include <vl53lx_class.h> +#include "Stmpe1600.h" +//#include "DevI2C.h" +#include "vl53L3_I2c.h" + + +/** New device addresses */ +///#define NEW_SENSOR_CENTRE_ADDRESS 0x52 +//#define NEW_SENSOR_CENTRE_ADDRESS 0x54 +///#define NEW_SENSOR_LEFT_ADDRESS 0x54 +///#define NEW_SENSOR_RIGHT_ADDRESS 0x56 + + +#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-VL53L1A1 expansion board + */ +class XNucleo53L3A2 +{ +public: + /** Constructor 1 + * @param[in] &i2c device I2C to be used for communication + */ + XNucleo53L3A2(vl53L3_DevI2C *ext_i2c) : dev_i2c(ext_i2c) + { + + printf("XNucleo53L3A2 %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 VL53LX(ext_i2c, xshutdown_centre, A2); + + xshutdown_left = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic + sensor_left = new VL53LX(dev_i2c, xshutdown_left, D8); + + xshutdown_right = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic + sensor_right = new VL53LX(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 + */ + XNucleo53L3A2(vl53L3_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("vl53L1X_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 VL53LX(dev_i2c, xshutdown_centre, gpio1_centre); + + xshutdown_left = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic + sensor_left = new VL53LX(dev_i2c, xshutdown_left, gpio1_left); + + xshutdown_right = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic + sensor_right = new VL53LX(dev_i2c, xshutdown_right, gpio1_right); + } + + + /** Destructor + */ + ~XNucleo53L3A2() + { + printf("XNucleo53L3A2 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 XNucleo53L3A2 *instance(vl53L3_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 XNucleo53L3A2 *instance(vl53L3_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(); + + vl53L3_DevI2C *dev_i2c; + VL53LX *sensor_centre; + VL53LX *sensor_left; + VL53LX *sensor_right; + Stmpe1600 *stmpe1600_exp0; + Stmpe1600 *stmpe1600_exp1; + Stmpe1600DigiOut *xshutdown_centre; + Stmpe1600DigiOut *xshutdown_left; + Stmpe1600DigiOut *xshutdown_right; + +private: + static XNucleo53L3A2 *_instance; +}; + + +#endif /* __VL53L3_NUCLEO_CLASS_H */ \ No newline at end of file