XNucleo53L0A1.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    XNucleo53L0A1.cpp
00004  * @author  IMG
00005  * @version V1.0.0
00006  * @date    28-November-2016
00007  * @brief   Implementation file for the X_NUCLEO_VL53L0A1 singleton class
00008  ******************************************************************************
00009  * @attention
00010  *
00011  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00012  *
00013  * Redistribution and use in source and binary forms, with or without modification,
00014  * are permitted provided that the following conditions are met:
00015  *   1. Redistributions of source code must retain the above copyright notice,
00016  *      this list of conditions and the following disclaimer.
00017  *   2. Redistributions in binary form must reproduce the above copyright notice,
00018  *      this list of conditions and the following disclaimer in the documentation
00019  *      and/or other materials provided with the distribution.
00020  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00021  *      may be used to endorse or promote products derived from this software
00022  *      without specific prior written permission.
00023  *
00024  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00025  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00026  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00027  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00028  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00029  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00030  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00032  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00033  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  ******************************************************************************
00036  */
00037 
00038 
00039 /* Includes ------------------------------------------------------------------*/
00040 #include "XNucleo53L0A1.h"
00041 #include "VL53L0X_platform_log.h"
00042 
00043 /* Static variables ----------------------------------------------------------*/
00044 XNucleo53L0A1 *XNucleo53L0A1::_instance = NULL;
00045 
00046 XNucleo53L0A1 *XNucleo53L0A1::instance(DevI2C *ext_i2c)
00047 {
00048     if (_instance == NULL) {
00049         _instance = new XNucleo53L0A1(ext_i2c);
00050     } else {
00051         VL53L0X_ErrLog("Failed to create XNucleo53L0A1 instance\n\r");
00052     }
00053     return _instance;
00054 }
00055 
00056 XNucleo53L0A1 *XNucleo53L0A1::instance(DevI2C *ext_i2c,
00057                                        PinName gpio1_centre,
00058                                        PinName gpio1_left, PinName gpio1_right)
00059 {
00060     if (_instance == NULL) {
00061         _instance = new XNucleo53L0A1(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
00062     } else {
00063         VL53L0X_ErrLog("Failed to create XNucleo53L0A1 instance\n\r");
00064     }
00065     return _instance;
00066 }
00067 
00068 
00069 int XNucleo53L0A1::init_board()
00070 {
00071     int status, n_dev = 0;
00072 
00073 
00074 
00075 
00076 
00077     sensor_centre->VL53L0X_off();
00078     sensor_left->VL53L0X_off();
00079     sensor_right->VL53L0X_off();
00080     status = sensor_centre->init_sensor(NEW_SENSOR_CENTRE_ADDRESS);
00081     if (status) {
00082 
00083         delete sensor_centre;
00084         delete xshutdown_centre;
00085         sensor_centre = NULL;
00086         xshutdown_centre = NULL;
00087         printf("Sensor centre not present\n\r");
00088 
00089     } else {
00090 
00091         printf("Sensor centre present\n\r");
00092         n_dev++;
00093     }
00094     status = sensor_left->init_sensor(NEW_SENSOR_LEFT_ADDRESS);
00095     if (status) {
00096 
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 
00103     } else {
00104 
00105         printf("Sensor left present\n\r");
00106         n_dev++;
00107     }
00108 
00109     status = sensor_right->init_sensor(NEW_SENSOR_RIGHT_ADDRESS);
00110     if (status) {
00111 
00112         delete sensor_right;
00113         delete xshutdown_right;
00114         sensor_right = NULL;
00115         xshutdown_right = NULL;
00116         printf("Sensor right not present\n\r");
00117 
00118     } else {
00119 
00120         printf("Sensor right present\n\r");
00121         n_dev++;
00122     }
00123 
00124     if (n_dev == 0) {
00125         return 1;
00126     } else {
00127         return 0;
00128     }
00129 }