File content as of revision 3:862286610dfd:

#include "XNucleo6810.h"

#define theVL6180DevDefault   0x52   // sensor i2c addresss on powerup

XNucleo53L1A1 *XNucleo53L1A1::_instance = NULL;


XNucleo53L1A1 *XNucleo53L1A1::instance(vl6180_DevI2C *ext_i2c)
{
    if (_instance == NULL) {
        _instance = new XNucleo53L1A1(ext_i2c);
    } else {
        printf("Failed to create XNucleo53L1A1 instance\n\r\r\n");
    }
    return _instance;
}

XNucleo53L1A1 *XNucleo53L1A1::instance(vl6180_DevI2C *ext_i2c,
                                       PinName gpio1_centre,
                                       PinName gpio1_left, PinName gpio1_right,PinName gpio1_bottom)
{
    if (_instance == NULL) {
//        printf("instance %d z\n",ext_i2c);
        _instance = new XNucleo53L1A1(ext_i2c, gpio1_centre, gpio1_left, gpio1_right,gpio1_bottom);
    } else {
        printf("Failed to create XNucleo53L0A1 instance\n\r");
    }
    return _instance;
}


int XNucleo53L1A1::init_board()
{
    printf("init_board \n");
    int status, n_dev = 0;

    sensor_centre->VL53L1_Off();
    sensor_left->VL53L1_Off();
    sensor_right->VL53L1_Off();
    sensor_bottom->VL53L1_Off();
   // int i = 0;
    
    // On startup or on the shutdown pin going high the VL53l1 devices have a i2c address of 0x52.
    // To initialise then we have to bring up one device at a time This involves raising the shutdown pin for that device,
    // initialising then setting the i2c address to a unique value. Once that is done the shutdown pins don't need to be touched.
    
    // set the shutdown pins to be outputs ( they are inputs on power up)
    stmpe1600_exp0->set_gpio_dir(GPIO_0,OUTPUT);
    stmpe1600_exp0->set_gpio_dir(GPIO_1,OUTPUT);
    stmpe1600_exp0->set_gpio_dir(GPIO_2,OUTPUT);
    stmpe1600_exp0->set_gpio_dir(GPIO_3,OUTPUT);
    stmpe1600_exp0->set_gpio_dir(GPIO_4,OUTPUT);
    stmpe1600_exp0->set_gpio_dir(GPIO_5,OUTPUT);
    stmpe1600_exp0->set_gpio_dir(GPIO_6,OUTPUT);
    stmpe1600_exp0->set_gpio_dir(GPIO_7,OUTPUT);
    stmpe1600_exp0->set_gpio_dir(GPIO_8,OUTPUT);
    stmpe1600_exp0->set_gpio_dir(GPIO_9,OUTPUT);
    stmpe1600_exp0->set_gpio_dir(GPIO_10,OUTPUT);
    stmpe1600_exp0->set_gpio_dir(GPIO_11,OUTPUT);
 
    stmpe1600_exp0->set_gpio_dir(GPIO_12,OUTPUT);
    stmpe1600_exp0->set_gpio_dir(GPIO_14,OUTPUT);
    stmpe1600_exp0->set_gpio_dir(GPIO_15,OUTPUT);
    stmpe1600_exp0->set_gpio_dir(GPIO_13,OUTPUT);
    
    // set the shutdown pins to low, this will reset the VL53l1s

    stmpe1600_exp0->set_gpio(GPIO_0);
    stmpe1600_exp0->set_gpio(GPIO_1);
    stmpe1600_exp0->set_gpio(GPIO_2);
    stmpe1600_exp0->set_gpio(GPIO_3);
    stmpe1600_exp0->set_gpio(GPIO_4);
    stmpe1600_exp0->set_gpio(GPIO_5);
    stmpe1600_exp0->set_gpio(GPIO_6);
    
    stmpe1600_exp0->set_gpio(GPIO_7);
    stmpe1600_exp0->set_gpio(GPIO_8);
    stmpe1600_exp0->set_gpio(GPIO_9);
    stmpe1600_exp0->set_gpio(GPIO_10);
    stmpe1600_exp0->set_gpio(GPIO_11);    
    
    stmpe1600_exp0->clear_gpio(GPIO_12);
    stmpe1600_exp0->clear_gpio(GPIO_14);
    stmpe1600_exp0->clear_gpio(GPIO_15);
    stmpe1600_exp0->clear_gpio(GPIO_13);

// select the first VL53l1. It will have i2c address of 0x52. Set the i2c address to
//NEW_SENSOR_CENTRE_ADDRESS
    printf("Sensor centre init \n\r");
    stmpe1600_exp0->set_gpio(GPIO_12);
    sensor_centre->init_sensor(theVL6180DevDefault);//set id to default address
    status = sensor_centre->InitSensor(NEW_SENSOR_CENTRE_ADDRESS); // now set id to unique address
    if (status) {
        delete sensor_centre;
        delete xshutdown_centre;
        sensor_centre = NULL;
        xshutdown_centre = NULL;
        printf("Sensor centre not present\n\r");
    } else {
        printf("Sensor centre present\n\r");
        n_dev++;
    }
#if (MBED_VERSION  > 60300) 
        thread_sleep_for(50);
#else
        wait_ms(50);  // NEEDS A DELAY BETWEEN SENSORS
#endif

    // select the second VL53l1. It will have i2c address of 0x52. Set the i2c address to
    //NEW_SENSOR_LEFT_ADDRESS
    
    stmpe1600_exp0->set_gpio(GPIO_14);
        printf("Sensor left init \n\r");
    sensor_left->init_sensor(theVL6180DevDefault);//set id to default address
    status = sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);  // now set id to unique address
    if (status) {
        delete sensor_left;
        delete xshutdown_left;
        sensor_left = NULL;
        xshutdown_left = NULL;
        printf("Sensor left not present\n\r");
    } else {
        printf("Sensor left present\n\r");
        n_dev++;
    }
#if (MBED_VERSION  > 60300) 
        thread_sleep_for(50);
#else
        wait_ms(50);  // NEEDS A DELAY BETWEEN SENSORS
#endif
     // select the 3rd VL53l1. It will have i2c address of 0x52. Set the i2c address to
    //NEW_SENSOR_RIGHT_ADDRESS 
    printf("Sensor right init \n\r");
    stmpe1600_exp0->set_gpio(GPIO_15);
    sensor_right->init_sensor(theVL6180DevDefault);//set id to default address
        printf("Sensor right init_sensor \n\r");
    status = sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
        printf("Sensor right InitSensor \n\r");
    if (status) {
        delete sensor_right;
        delete xshutdown_right;
        sensor_right = NULL;
        xshutdown_right = NULL;
        printf("Sensor right not present\n\r");
    } else {
        printf("Sensor right present\n\r");
        n_dev++;
    }
#if (MBED_VERSION  > 60300) 
    thread_sleep_for(50);
#else
    wait_ms(50);  // NEEDS A DELAY BETWEEN SENSORS
#endif

     // select the 4th VL53l1. It will have i2c address of 0x52. Set the i2c address to
    //NEW_SENSOR_BOTTOM_ADDRESS 
    printf("Sensor bottom init \n\r");
    stmpe1600_exp0->set_gpio(GPIO_13);
    sensor_bottom->init_sensor(theVL6180DevDefault);//set id to default address
    status = sensor_bottom->InitSensor(NEW_SENSOR_BOTTOM_ADDRESS);
    if (status) {
        delete sensor_bottom;
        delete xshutdown_bottom;
        sensor_bottom = NULL;
        xshutdown_bottom = NULL;
        printf("Sensor bottom not present\n\r");
    } else {
        printf("Sensor bottom present\n\r");
        n_dev++;
    }
#if (MBED_VERSION  > 60300) 
    thread_sleep_for(50);
#else
    wait_ms(50);  // NEEDS A DELAY BETWEEN SENSORS
#endif
    if (n_dev == 0) {
        return 1;
    } else {
        return 0;
    }
}