Revision 22:27f00d9b777b, committed 2019-01-28

Comitter:

JerrySzczurak

Date:

Mon Jan 28 10:14:22 2019 +0000

Parent:

21:99c367e8a402

Child:

23:805bffa2b7f6

Commit message:

Initial release board class

Changed in this revision

--- a/Components/VL53L0X.lib	Mon Dec 18 09:52:09 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/teams/ST/code/VL53L0X/#d25c4fa216af

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/VL53L1X.lib	Mon Jan 28 10:14:22 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/ST/code/VL53L0X/#f16727052990

--- a/XNucleo53L0A1.cpp	Mon Dec 18 09:52:09 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,129 +0,0 @@
-/**
- ******************************************************************************
- * @file    XNucleo53L0A1.cpp
- * @author  IMG
- * @version V1.0.0
- * @date    28-November-2016
- * @brief   Implementation file for the X_NUCLEO_VL53L0A1 singleton class
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2016 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.
- *
- ******************************************************************************
- */
-
-
-/* Includes ------------------------------------------------------------------*/
-#include "XNucleo53L0A1.h"
-#include "VL53L0X_platform_log.h"
-
-/* Static variables ----------------------------------------------------------*/
-XNucleo53L0A1 *XNucleo53L0A1::_instance = NULL;
-
-XNucleo53L0A1 *XNucleo53L0A1::instance(DevI2C *ext_i2c)
-{
-    if (_instance == NULL) {
-        _instance = new XNucleo53L0A1(ext_i2c);
-    } else {
-        VL53L0X_ErrLog("Failed to create XNucleo53L0A1 instance\n\r");
-    }
-    return _instance;
-}
-
-XNucleo53L0A1 *XNucleo53L0A1::instance(DevI2C *ext_i2c,
-                                       PinName gpio1_centre,
-                                       PinName gpio1_left, PinName gpio1_right)
-{
-    if (_instance == NULL) {
-        _instance = new XNucleo53L0A1(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
-    } else {
-        VL53L0X_ErrLog("Failed to create XNucleo53L0A1 instance\n\r");
-    }
-    return _instance;
-}
-
-
-int XNucleo53L0A1::init_board()
-{
-    int status, n_dev = 0;
-
-
-
-
-
-    sensor_centre->VL53L0X_off();
-    sensor_left->VL53L0X_off();
-    sensor_right->VL53L0X_off();
-    status = sensor_centre->init_sensor(NEW_SENSOR_CENTRE_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++;
-    }
-    status = sensor_left->init_sensor(NEW_SENSOR_LEFT_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++;
-    }
-
-    status = sensor_right->init_sensor(NEW_SENSOR_RIGHT_ADDRESS);
-    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 (n_dev == 0) {
-        return 1;
-    } else {
-        return 0;
-    }
-}

--- a/XNucleo53L0A1.h	Mon Dec 18 09:52:09 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,188 +0,0 @@
-/**
- ******************************************************************************
- * @file    XNucleo53L0A1.h
- * @author  IMG
- * @version V1.0.0
- * @date    28-November-2016
- * @brief   Header file for class XNucleo53L0A1 representing a X-NUCLEO-53L0A1
- *          expansion board
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2016 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.
- *
- ******************************************************************************
- */
-
-/* Define to prevent from recursive inclusion --------------------------------*/
-#ifndef __XNucleo53L0A1_H
-#define __XNucleo53L0A1_H
-
-/* Includes ------------------------------------------------------------------*/
-#include "VL53L0X.h"
-#include "Display.h"
-#include "Stmpe1600.h"
-#include "DevI2C.h"
-
-/** New device addresses */
-#define NEW_SENSOR_CENTRE_ADDRESS		0x54
-#define NEW_SENSOR_LEFT_ADDRESS			0x56
-#define NEW_SENSOR_RIGHT_ADDRESS		0x58
-
-/* Classes--------------------------------------------------------------------*/
-
-/* Classes -------------------------------------------------------------------*/
-/** Class representing the X-NUCLEO-VL53L0A1 expansion board
- */
-class XNucleo53L0A1
-{
-public:
-    /** Constructor 1
-    * @param[in] &i2c device I2C to be used for communication
-    */
-    XNucleo53L0A1(DevI2C *ext_i2c) : dev_i2c(ext_i2c)
-    {
-        stmpe1600_exp0 = new Stmpe1600(ext_i2c, (0x43 * 2));     // U21
-
-        stmpe1600_exp1 = new Stmpe1600(ext_i2c, (0x42 * 2));     // U19
-
-        display = new Display(stmpe1600_exp0, stmpe1600_exp1);
-
-        xshutdown_centre = new Stmpe1600DigiOut(dev_i2c, GPIO_15, (0x42 * 2));     // U19 on schematic
-        sensor_centre = new VL53L0X(dev_i2c, xshutdown_centre, A2);
-
-        xshutdown_left = new Stmpe1600DigiOut(dev_i2c, GPIO_14, (0x43 * 2));     // U21 on schematic
-        sensor_left = new VL53L0X(dev_i2c, xshutdown_left, D8);
-
-        xshutdown_right = new Stmpe1600DigiOut(dev_i2c, GPIO_15, (0x43 * 2));     // U21 on schematic
-        sensor_right = new VL53L0X(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
-     */
-    XNucleo53L0A1(DevI2C *ext_i2c, PinName gpio1_centre,
-                  PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c)
-    {
-        stmpe1600_exp0 = new Stmpe1600(ext_i2c, (0x43 * 2));     // U21
-
-        stmpe1600_exp1 = new Stmpe1600(ext_i2c, (0x42 * 2));     // U19
-
-        display = new Display(stmpe1600_exp0, stmpe1600_exp1);
-
-        xshutdown_centre = new Stmpe1600DigiOut(dev_i2c, GPIO_15, (0x42 * 2));     // U19 on schematic
-        sensor_centre = new VL53L0X(dev_i2c, xshutdown_centre, gpio1_centre);
-
-        xshutdown_left = new Stmpe1600DigiOut(dev_i2c, GPIO_14, (0x43 * 2));     // U21 on schematic
-        sensor_left = new VL53L0X(dev_i2c, xshutdown_left, gpio1_left);
-
-        xshutdown_right = new Stmpe1600DigiOut(dev_i2c, GPIO_15, (0x43 * 2));     // U21 on schematic
-        sensor_right = new VL53L0X(dev_i2c, xshutdown_right, gpio1_right);
-    }
-
-    /** Destructor
-     */
-    ~XNucleo53L0A1()
-    {
-        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;
-        delete display;
-        display = 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 XNucleo53L0A1 *instance(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 XNucleo53L0A1 *instance(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();
-
-    DevI2C *dev_i2c;
-    VL53L0X *sensor_centre;
-    VL53L0X *sensor_left;
-    VL53L0X *sensor_right;
-    Stmpe1600 *stmpe1600_exp0;
-    Stmpe1600 *stmpe1600_exp1;
-    Stmpe1600DigiOut *xshutdown_centre;
-    Stmpe1600DigiOut *xshutdown_left;
-    Stmpe1600DigiOut *xshutdown_right;
-    Display *display;
-
-private:
-    static XNucleo53L0A1 *_instance;
-};
-
-#endif /* __XNucleo53L0A1_H */
-
-

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/XNucleo53L1A1.cpp	Mon Jan 28 10:14:22 2019 +0000
@@ -0,0 +1,77 @@
+#include "XNucleo53L1A1.h"
+
+XNucleo53L1A1 *XNucleo53L1A1::_instance = NULL;
+
+
+XNucleo53L1A1 *XNucleo53L1A1::instance(vl53L1X_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(vl53L1X_DevI2C *ext_i2c,
+                                       PinName gpio1_centre,
+                                       PinName gpio1_left, PinName gpio1_right)
+{
+    if (_instance == NULL) {
+        _instance = new XNucleo53L1A1(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
+    } else {
+        printf("Failed to create XNucleo53L0A1 instance\n\r");
+    }
+    return _instance;
+}
+
+
+int XNucleo53L1A1::init_board()
+{
+    int status, n_dev = 0;
+
+    sensor_centre->VL53L1_Off();
+    sensor_left->VL53L1_Off();
+    sensor_right->VL53L1_Off();
+    status = sensor_centre->InitSensor(NEW_SENSOR_CENTRE_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++;
+    }
+
+    status = sensor_left->InitSensor(NEW_SENSOR_LEFT_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++;
+    }
+
+    status = sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
+    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 (n_dev == 0) {
+        return 1;
+    } else {
+        return 0;
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/XNucleo53L1A1.h	Mon Jan 28 10:14:22 2019 +0000
@@ -0,0 +1,184 @@
+/**
+ ******************************************************************************
+ * @file    XNucleo53L1A1.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_class.h"
+#include "Stmpe1600.h"
+//#include "DevI2C.h"
+#include "vl53L1x_I2c.h"
+
+
+/** New device addresses */
+#define NEW_SENSOR_CENTRE_ADDRESS   0x52
+//#define NEW_SENSOR_CENTRE_ADDRESS   0x54
+#define NEW_SENSOR_LEFT_ADDRESS         0x56
+#define NEW_SENSOR_RIGHT_ADDRESS        0x58
+
+
+/* Classes--------------------------------------------------------------------*/
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing the X-NUCLEO-VL53L1A1 expansion board
+ */
+class XNucleo53L1A1
+{
+public:
+    /** Constructor 1
+    * @param[in] &i2c device I2C to be used for communication
+    */
+    XNucleo53L1A1(vl53L1X_DevI2C *ext_i2c) : dev_i2c(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
+     */
+    XNucleo53L1A1(vl53L1X_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
+
+        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
+     */
+    ~XNucleo53L1A1()
+    {
+        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 XNucleo53L1A1 *instance(vl53L1X_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 XNucleo53L1A1 *instance(vl53L1X_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();
+    
+    vl53L1X_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 XNucleo53L1A1 *_instance;
+};
+
+
+#endif /* __VL53L1_X_NUCLEO_CLASS_H */
\ No newline at end of file