ST / X_NUCLEO_6180XA1

Library to handle the X-NUCLEO-6180XA1 Proximity and ambient light sensor expansion board based on VL6180X.

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   HelloWorld_6180XA1 SunTracker_BLE Servo_6180XA1 BLE_HR_Light ... more

Fork of X_NUCLEO_6180XA1 by ST Expansion SW Team

X-NUCLEO-6180XA1 Proximity and Ambient Light Sensor Expansion Board Firmware Package

Introduction

This firmware package includes Components Device Drivers and Board Support Package for STMicroelectronics' X-NUCLEO-6180XA1 Proximity and ambient light sensor expansion board based on VL6180X.

Firmware Library

Class X_NUCLEO_6180XA1 is intended to represent the Proximity and ambient light sensor expansion board with the same name.

The expansion board is providing the support of the following components:

  1. on-board VL6180X proximity and ambient light sensor,
  2. up to three additional VL6180X Satellites,
  3. on-board 4-digit display

It is intentionally implemented as a singleton because only one X-NUCLEO-VL6180XA1 at a time might be deployed in a HW component stack. In order to get the singleton instance you have to call class method `Instance()`, e.g.:

// Sensors expansion board singleton instance
static X_NUCLEO_6180XA1 *6180X_expansion_board = X_NUCLEO_6180XA1::Instance();

Arduino Connector Compatibility Warning

Using the X-NUCLEO-6180XA1 expansion board with the NUCLEO-F429ZI requires adopting the following patch:

  • to remove R46 resistor connected to A3 pin;
  • to solder R47 resistor connected to A5 pin.

Alternatively, you can route the Nucleo board’s A5 pin directly to the expansion board’s A3 pin with a wire. In case you patch your expansion board or route the pin, the interrupt signal for the front sensor will be driven on A5 pin rather than on A3 pin.


Example Applications

Files at this revision

API Documentation at this revision

Revision 33:1573db91352c, committed 2015-11-17

Comitter:
licio.mapelli@st.com
Date:
Tue Nov 17 17:15:47 2015 +0100
Parent:
32:ef97c377d27b
Child:
34:5bcffb4c5b47
Commit message:
Added Switch class, added self contained Display class, added STMPE1600 component
and modified X_NUCLEO_6180XA1 class accordingly

Changed in this revision

Components/Display/Display_class.h Show annotated file Show diff for this revision Revisions of this file
Components/STMPE1600/stmpe1600_class.h Show annotated file Show diff for this revision Revisions of this file
Components/Switch/Switch_class.h Show annotated file Show diff for this revision Revisions of this file
Components/VL6180X/vl6180x_cfg.h Show annotated file Show diff for this revision Revisions of this file
x_nucleo_6180xa1.h Show annotated file Show diff for this revision Revisions of this file 
--- a/Components/Display/Display_class.h	Tue Nov 10 10:46:15 2015 +0000
+++ b/Components/Display/Display_class.h	Tue Nov 17 17:15:47 2015 +0100
@@ -47,7 +47,11 @@
 extern "C" {
 #endif
 
-#define FAST_DISPLAY
+#define DISPLAY_USING_STMPE1600  	
+	
+#ifndef DISPLAY_USING_STMPE1600
+#define FAST_DISPLAY   // fast quick and dirty display to speed up
+#endif	
 
 #define DP  (1<<7)
 #define NOT_7_NO_DP( ... ) (uint8_t) ~( __VA_ARGS__ + DP )
@@ -155,7 +159,8 @@
 /* Classes -------------------------------------------------------------------*/
 /** Class representing Display
  */ 
- 
+#ifndef DISPLAY_USING_STMPE1600
+
 class Display
 {
  public:
@@ -356,6 +361,82 @@
     DevI2C &dev_i2c; 		
 };
 
+#else  // defined DISPLAY_USING_STMPE1600
+
+class Display
+{
+ public:
+ 
+ Display(STMPE1600 &stmpe_1600) : stmpe1600(stmpe_1600) {
+	 stmpe1600.setGPIOdir (GPIO_7,  OUTPUT);  // Digit1	 
+	 stmpe1600.setGPIOdir (GPIO_8,  OUTPUT);  // Digit2	 
+	 stmpe1600.setGPIOdir (GPIO_9,  OUTPUT);  // Digit3	 
+	 stmpe1600.setGPIOdir (GPIO_10, OUTPUT);  // Digit4	 	 
+	 
+	 stmpe1600.setGPIOdir (GPIO_0,  OUTPUT);  // Digit4	 	 	 
+	 stmpe1600.setGPIOdir (GPIO_1,  OUTPUT);  // Digit4	 	 	 	 
+	 stmpe1600.setGPIOdir (GPIO_2,  OUTPUT);  // Digit4	 	 	 
+	 stmpe1600.setGPIOdir (GPIO_3,  OUTPUT);  // Digit4	 	 	 
+	 stmpe1600.setGPIOdir (GPIO_4,  OUTPUT);  // Digit4	 	 	 
+	 stmpe1600.setGPIOdir (GPIO_5,  OUTPUT);  // Digit4	 	 	 
+	 stmpe1600.setGPIOdir (GPIO_6,  OUTPUT);  // Digit4	 	 	 
+	 	 
+ }
+
+     void DisplayString (char str[4], char strlen)
+    {
+       int i, dgt;
+       const char *pc;
+       uint8_t data[2];
+       uint16_t *pdata = (uint16_t*)data;				
+			
+       for(i=0, dgt=4-strlen, pc=str; i<strlen && *pc!=0; i++, pc++, dgt++)
+       {
+          _V2_Set7Segment( ascii_to_display_lut[(uint8_t)*pc], dgt);
+          if( *(pc+1)== '.')
+          {
+             pc++;
+          }
+          wait_ms(DISPLAY_DELAY);					
+					stmpe1600.read16bitReg(GPSR_0_7, pdata);
+          *pdata = *pdata | (uint16_t)0x0780;				// all digits off
+					stmpe1600.write16bitReg(GPSR_0_7, pdata);
+       }						
+			
+		}
+ 
+    void _V2_Set7Segment( int Leds, int digit )
+    {
+       //Digits_off();
+       uint16_t dgt;
+       dgt = 1<<digit;
+       dgt = ((uint16_t)dgt)<<7;
+       dgt = ~dgt;	
+       uint8_t data[2];
+       uint16_t *pdata = (uint16_t*)data;			 
+
+		 
+       /* set the exppinname state to lvl */
+			 stmpe1600.read16bitReg(GPSR_0_7, pdata);
+       *pdata = *pdata  | (uint16_t)0x007F;      // 7 segments off
+			 stmpe1600.write16bitReg(GPSR_0_7, pdata);
+		 
+       int mask=1;
+       for (int i=0; i<7; i++) 
+       { 
+          if (Leds & mask) *pdata = *pdata & ~(uint16_t)mask;  
+          mask = mask<<1;
+       }		 
+       *pdata = *pdata & dgt;
+			 stmpe1600.write16bitReg(GPSR_0_7, pdata);
+   }		
+		
+  private:
+		STMPE1600 &stmpe1600;
+ 
+};
+#endif
+
 #ifdef __cplusplus
 }
 #endif

--- a/Components/STMPE1600/stmpe1600_class.h	Tue Nov 10 10:46:15 2015 +0000
+++ b/Components/STMPE1600/stmpe1600_class.h	Tue Nov 17 17:15:47 2015 +0100
@@ -43,20 +43,24 @@
 #define STMPE1600_DEF_DIGIOUT_LVL      1
 
 /**  STMPE1600 registr map **/
+#define ChipID_0_7      (uint8_t)0x00
+#define ChipID_8_15     (uint8_t)0x01
 #define VersionId       (uint8_t)0x02
-#define SystemControl   (uint8_t)0x03
-#define IEGPIOR_0_7	(uint8_t)0x08
-#define IEGPIOR_8_15	(uint8_t)0x09
-#define ISGPIOR_0_7	(uint8_t)0x0A
-#define ISGPIOR_8_15	(uint8_t)0x0B
-#define GPMR_0_7	(uint8_t)0x10
-#define GPMR_8_15	(uint8_t)0x11
-#define GPSR_0_7	(uint8_t)0x12
-#define GPSR_8_15	(uint8_t)0x13
-#define GPDR_0_7	(uint8_t)0x14
-#define GPDR_8_15	(uint8_t)0x15
-#define GPIR_0_7	(uint8_t)0x16
-#define GPIR_8_15	(uint8_t)0x17
+#define SYS_CTRL        (uint8_t)0x03
+#define IEGPIOR_0_7	    (uint8_t)0x08
+#define IEGPIOR_8_15	  (uint8_t)0x09
+#define ISGPIOR_0_7	    (uint8_t)0x0A
+#define ISGPIOR_8_15	  (uint8_t)0x0B
+#define GPMR_0_7	      (uint8_t)0x10
+#define GPMR_8_15	      (uint8_t)0x11
+#define GPSR_0_7	      (uint8_t)0x12
+#define GPSR_8_15	      (uint8_t)0x13
+#define GPDR_0_7	      (uint8_t)0x14
+#define GPDR_8_15	      (uint8_t)0x15
+#define GPIR_0_7	      (uint8_t)0x16
+#define GPIR_8_15	      (uint8_t)0x17
+
+#define SOFT_RESET			(uint8_t)0x80
 
   typedef enum {
     // GPIO Expander pin names
@@ -75,7 +79,8 @@
     GPIO_12,
     GPIO_13,
     GPIO_14,
-    GPIO_15
+    GPIO_15,
+		NOT_CON
 } ExpGpioPinName;   
 
 typedef enum {
@@ -91,6 +96,7 @@
     STMPE1600DigiOut (DevI2C &i2c, ExpGpioPinName outpinname, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS, bool lvl=STMPE1600_DEF_DIGIOUT_LVL): dev_i2c(i2c), expdevaddr(DevAddr), exppinname(outpinname) 
     {
        uint8_t data[2];				
+			 if (exppinname == NOT_CON) return;
        /* set the exppinname as output */
        dev_i2c.i2c_read(data, expdevaddr, GPDR_0_7, 1);
        dev_i2c.i2c_read(&data[1], expdevaddr, GPDR_8_15, 1);			
@@ -103,6 +109,7 @@
     void write (int lvl) 
     {
        uint8_t data[2];			
+			 if (exppinname == NOT_CON) return;			
        /* set the exppinname state to lvl */
        dev_i2c.i2c_read(data, expdevaddr, GPSR_0_7, 2);
        *(uint16_t*)data = *(uint16_t*)data & (uint16_t)(~(1<<(uint16_t)exppinname));  // set pin mask 			
@@ -128,6 +135,7 @@
     STMPE1600DigiIn (DevI2C &i2c, ExpGpioPinName inpinname, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS): dev_i2c(i2c), expdevaddr(DevAddr), exppinname(inpinname) 
     {
        uint8_t data[2];
+			 if (exppinname == NOT_CON) return;			
        /* set the exppinname as input pin direction */
        dev_i2c.i2c_read(data, expdevaddr, GPDR_0_7, 2);
        *(uint16_t*)data = *(uint16_t*)data & (uint16_t)(~(1<<(uint16_t)exppinname));  // set gpio as in			
@@ -137,6 +145,7 @@
     bool read () 
     {
        uint8_t data[2];
+			 if (exppinname == NOT_CON) return 0;						
        /* read the exppinname */
        dev_i2c.i2c_read(data, expdevaddr, GPMR_0_7, 2);
        *(uint16_t*)data = *(uint16_t*)data & (uint16_t)(1<<(uint16_t)exppinname);  // mask the in gpio
@@ -156,59 +165,76 @@
 };
 
 
-/*
 class STMPE1600 {
 	
  public: 
-    STMPE1600 (DevI2C &i2c, ExpGpioPinDirection GPDR0, ExpGpioPinDirection GPDR1, ExpGpioPinDirection GPDR2,
-               ExpGpioPinDirection GPDR3, ExpGpioPinDirection GPDR4, ExpGpioPinDirection GPDR5,
-               ExpGpioPinDirection GPDR6, ExpGpioPinDirection GPDR7, ExpGpioPinDirection GPDR8,
-               ExpGpioPinDirection GPDR9, ExpGpioPinDirection GPDR10, ExpGpioPinDirection GPDR11,
-               ExpGpioPinDirection GPDR12, ExpGpioPinDirection GPDR13, ExpGpioPinDirection GPDR14, 
-               ExpGpioPinDirection GPDR15, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS ) :dev_i2c(i2c)
-
+    STMPE1600 (DevI2C &i2c, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS ) : dev_i2c(i2c)
     { 
        dev_i2c = i2c;								
        expdevaddr = DevAddr;
+			 writeSYS_CTRL (SOFT_RESET);
+			
        GPDR0_15 = (uint16_t)0;	// gpio dir all IN
+			 write16bitReg (GPDR_0_7, &GPDR0_15);			
        GPSR0_15 = (uint16_t)0x0ffff;  // gpio status all 1
-       if (GPDR0  == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0001;
-       if (GPDR1  == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0002;																		 
-       if (GPDR2  == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0004;
-       if (GPDR3  == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0008;																		 
-       if (GPDR4  == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0010;
-       if (GPDR5  == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0020;																		 
-       if (GPDR6  == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0040;
-       if (GPDR7  == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0080;
-       if (GPDR8  == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0100;
-       if (GPDR9  == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0200;
-       if (GPDR10 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0400;
-       if (GPDR11 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x0800;																		 
-       if (GPDR12 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x1000;																		 
-       if (GPDR13 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x2000;																		 
-       if (GPDR14 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x4000;									
-       if (GPDR15 == OUTPUT) GPDR0_15 = GPDR0_15 | (uint16_t)0x8000;	
-       dev_i2c.i2c_write((uint8_t*)&GPDR0_15, expdevaddr, GPDR_0_7, 2);	
-       dev_i2c.i2c_write((uint8_t*)&GPSR0_15, expdevaddr, GPSR_0_7, 2);	
+			 write16bitReg (GPSR_0_7, &GPSR0_15);			
     }
-											
-    void readGPSR0_15 (uint16_t * gpsr0_15)
+
+    void writeSYS_CTRL (uint8_t data)     // data = SOFT_RESET reset the device
     {
-       dev_i2c.i2c_read((uint8_t*)gpsr0_15, expdevaddr, GPSR_0_7, 2);
-       GPSR0_15 = gpsr0_15;
+	     dev_i2c.i2c_write((uint8_t*)SYS_CTRL, expdevaddr, data, 1);
     }
 
-    void writeGPSR0_15 (uint16_t *gpsr0_15)
-    {
-       dev_i2c.i2c_write((uint8_t*)*gpsr0_15, expdevaddr, GPSR_0_7, 2);	
-       GPSR0_15 = *gpsr0_15;
-    }
+		bool setGPIO (ExpGpioPinName PinName) 
+		{
+			 if (PinName == NOT_CON) return true;			
+			 GPSR0_15 = GPSR0_15 | ((uint16_t)0x0001<<PinName);
+			 write16bitReg (GPSR_0_7 , &GPSR0_15);
+			 return false;
+		}
+
+		bool clrGPIO (ExpGpioPinName PinName) 
+		{
+			 if (PinName == NOT_CON) return true;			
+			 GPSR0_15 = GPSR0_15 & (~((uint16_t)0x0001<<PinName));
+			 write16bitReg (GPSR_0_7 , &GPSR0_15);
+			 return false;
+		}		
 		
- private:
+		bool rdGPIO (ExpGpioPinName PinName) 
+		{				
+			  uint16_t gpmr0_15;
+			  if (PinName == NOT_CON) return true;
+			  read16bitReg (GPMR_0_7, &gpmr0_15);
+			  gpmr0_15 = gpmr0_15 & ((uint16_t)0x0001<<PinName);
+			  if (gpmr0_15) return true; 			
+			  return false;			
+		}
+
+		bool setGPIOdir (ExpGpioPinName PinName, ExpGpioPinDirection PinDir) 
+		{
+				 if (PinName == NOT_CON || PinDir == NOT_CONNECTED) return true; 
+			   GPDR0_15 = GPDR0_15 & (~((uint16_t)0x0001<<PinName));  // clear the Pin
+			   GPDR0_15 = GPDR0_15 | ((uint16_t)PinDir<<PinName);
+			   write16bitReg (GPDR_0_7 , &GPDR0_15);
+			   return false;
+		}
+
+    void read16bitReg (uint8_t Reg16Addr, uint16_t *Reg16Data)
+    {
+       dev_i2c.i2c_read((uint8_t*)Reg16Data, expdevaddr, Reg16Addr, 2);	
+    }				
+		
+    void write16bitReg (uint8_t Reg16Addr, uint16_t *Reg16Data)
+    {
+       dev_i2c.i2c_write((uint8_t*)Reg16Data, expdevaddr, Reg16Addr, 2);	
+    }		
+
+ private:					
     DevI2C &dev_i2c; 	 
-    uint16_t GPDR0_15;
-    uint16_t GPSR0_15;
-    uint8_t expdevaddr;
+    uint16_t GPDR0_15;  // local copy of bit direction reg 
+    uint16_t GPSR0_15;  // local copy of bit status reg 
+    uint8_t expdevaddr; // expander device i2c addr
 };
-*/
+
 #endif // __STMPE1600_CLASS

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Switch/Switch_class.h	Tue Nov 17 17:15:47 2015 +0100
@@ -0,0 +1,82 @@
+/**
+ ******************************************************************************
+ * @file    Switch_class.h
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    14-April-2015
+ * @brief   Header file for red switch
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 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 __SWITCH_H
+#define __SWITCH_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "stmpe1600_class.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef enum {
+    RANGE = 0,
+    ALS
+}SwitchState;
+	
+/* Classes -------------------------------------------------------------------*/
+/** Class representing Red Switch
+ */ 
+ 
+class SWITCH
+{
+ public:
+	 SWITCH(STMPE1600 &stmpe_1600, ExpGpioPinName Pin_Name=GPIO_11) : stmpe1600(stmpe_1600), PinName(Pin_Name) {
+		 stmpe1600.setGPIOdir(PinName, INPUT);
+	 }
+ 
+		bool RdSwitch () {
+		   return stmpe1600.rdGPIO(PinName);
+		}
+			
+    operator int() 
+    {		
+       return RdSwitch();
+    }		
+		
+ private:
+		STMPE1600 &stmpe1600;
+		ExpGpioPinName PinName;
+};
+
+#ifdef __cplusplus
+}
+#endif
+#endif // __SWITCH_H
\ No newline at end of file

--- a/Components/VL6180X/vl6180x_cfg.h	Tue Nov 10 10:46:15 2015 +0000
+++ b/Components/VL6180X/vl6180x_cfg.h	Tue Nov 17 17:15:47 2015 +0100
@@ -108,7 +108,8 @@
  */
 //#define VL6180x_EXTENDED_RANGE 0
 
-#define EXTENDED_RANGE_50CM     0
+//#define EXTENDED_RANGE_50CM     0
+#define EXTENDED_RANGE_50CM     1
 
 #if EXTENDED_RANGE_50CM
 #define VL6180x_UPSCALE_SUPPORT -3

--- a/x_nucleo_6180xa1.h	Tue Nov 10 10:46:15 2015 +0000
+++ b/x_nucleo_6180xa1.h	Tue Nov 17 17:15:47 2015 +0100
@@ -46,6 +46,7 @@
 #include "Display_class.h"
 #include "stmpe1600_class.h"
 #include "DevI2C.h"
+#include "Switch_class.h"
 
 /** New device addresses */
 #define NEW_SENSOR_TOP_ADDRESS			0x10
@@ -60,7 +61,12 @@
  public:
     X_NUCLEO_6180XA1(DevI2C *ext_i2c) : dev_i2c(ext_i2c)
     {
-       digit1=new STMPE1600DigiOut(*dev_i2c, GPIO_7);
+		   stmpe1600 = new STMPE1600(*ext_i2c);		
+			 stmpe1600->writeSYS_CTRL (SOFT_RESET);		
+       Switch = new SWITCH (*stmpe1600, GPIO_11);	
+			 display = new Display(*stmpe1600);			
+			
+       /*digit1=new STMPE1600DigiOut(*dev_i2c, GPIO_7);
        digit2=new STMPE1600DigiOut(*dev_i2c, GPIO_8);
        digit3=new STMPE1600DigiOut(*dev_i2c, GPIO_9);
        digit4=new STMPE1600DigiOut(*dev_i2c, GPIO_10);			
@@ -71,9 +77,9 @@
        dispD=new STMPE1600DigiOut(*dev_i2c, GPIO_3);			
        dispE=new STMPE1600DigiOut(*dev_i2c, GPIO_4);			
        dispF=new STMPE1600DigiOut(*dev_i2c, GPIO_5);			
-       dispG=new STMPE1600DigiOut(*dev_i2c, GPIO_6);						
+       dispG=new STMPE1600DigiOut(*dev_i2c, GPIO_6);*/
        //display=new Display(*digit1,*digit2,*digit3,*digit4,*dispA,*dispB,*dispC,*dispD,*dispE,*dispF,*dispG);
-       display=new Display(*ext_i2c);
+       //display=new Display(*ext_i2c);
 
        gpio0_top=new STMPE1600DigiOut(*dev_i2c, GPIO_12);
        sensor_top=new VL6180X(*dev_i2c, *gpio0_top, PB_0);
@@ -98,7 +104,7 @@
        if(sensor_top!=NULL)
        {
           delete sensor_top;
-	  sensor_top=NULL;
+	        sensor_top=NULL;
        }
        if(gpio0_bottom!=NULL)
        {
@@ -108,7 +114,7 @@
        if(sensor_bottom!=NULL)
        {
           delete sensor_bottom;
-	  sensor_bottom=NULL;
+	        sensor_bottom=NULL;
        }
        if(gpio0_left!=NULL)
        {
@@ -118,7 +124,7 @@
        if(sensor_left!=NULL)
        {
           delete sensor_left;
-	  sensor_left=NULL;
+	        sensor_left=NULL;
        }
        if(gpio0_right!=NULL)
        {
@@ -128,9 +134,9 @@
        if(sensor_right!=NULL)
        {
           delete sensor_right;
-	  sensor_right=NULL;
+	        sensor_right=NULL;
        }
-       delete digit1;
+       /*delete digit1;
        delete digit2;
        delete digit3;
        delete digit4;
@@ -140,18 +146,27 @@
        delete dispD;
        delete dispE;
        delete dispF;
-       delete dispG;
-       delete display;
+       delete dispG;*/
+			 delete stmpe1600;
+			 delete Switch;
+			 delete display;
        _instance=NULL;
     }
-		  
+
+    bool RdSwitch () {
+	     return Switch->RdSwitch();	
+    }
+		
     DevI2C *dev_i2c;
         
     VL6180X *sensor_top;
     VL6180X *sensor_bottom;
     VL6180X *sensor_left;
     VL6180X *sensor_right;
-    
+ 
+		STMPE1600 * stmpe1600;
+		SWITCH * Switch;
+		
     STMPE1600DigiOut *gpio0_top;
     STMPE1600DigiOut *gpio0_bottom;
     STMPE1600DigiOut *gpio0_left;