Jonathan Wheadon / Mbed OS SOFT564Z_Group3

For coursework of group 3 in SOFT564Z

Dependencies:   Motordriver ros_lib_kinetic

VL6180.hpp@12:82b8fe254222, 2020-01-05 (annotated)

Committer:
Jonathan738
Date:
Sun Jan 05 15:42:22 2020 +0000
Revision:
12:82b8fe254222
Parent:
10:c752a8d76ee2 
Added working version of TOF code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jonathan738 10:c752a8d76ee2 1 #include "mbed.h"
Jonathan738 12:82b8fe254222 2 //#include "General.hpp"
Jonathan738 12:82b8fe254222 3 //#include "rtos.h"
Jonathan738 10:c752a8d76ee2 4 #include "Pins.h"
Jonathan738 10:c752a8d76ee2 5
Jonathan738 10:c752a8d76ee2 6 #ifndef Define_ONCE_VL6180
Jonathan738 10:c752a8d76ee2 7 #define Define_ONCE_VL6180
Jonathan738 10:c752a8d76ee2 8
Jonathan738 10:c752a8d76ee2 9 #define num_VL6180 1
Jonathan738 10:c752a8d76ee2 10 #define SHDN_Pins_Cell {PC_9} //, PC_11, PD_2, PG_3}
Jonathan738 10:c752a8d76ee2 11 #define TOF_Addresses {0x29} //, 0x2A, 0x2B, 0x2C}
Jonathan738 10:c752a8d76ee2 12 #define Shifted_TOF_Addresses {0x82} //, 0x84, 0x86, 0x88}
Jonathan738 10:c752a8d76ee2 13
Jonathan738 12:82b8fe254222 14
Jonathan738 12:82b8fe254222 15 //Addresses
Jonathan738 12:82b8fe254222 16 #define address1 (0x29)
Jonathan738 12:82b8fe254222 17 #define address2 (0x2A)
Jonathan738 12:82b8fe254222 18 #define address3 (0x2B)
Jonathan738 12:82b8fe254222 19 #define address4 (0x2C)
Jonathan738 10:c752a8d76ee2 20
Jonathan738 12:82b8fe254222 21 //Shifted addresses, so the R/W command can be added
Jonathan738 12:82b8fe254222 22 #define address1shift (address1<<1)
Jonathan738 12:82b8fe254222 23 #define address2shift (address2<<1)
Jonathan738 12:82b8fe254222 24 #define address3shift (address3<<1)
Jonathan738 12:82b8fe254222 25 #define address4shift (address4<<1)
Jonathan738 12:82b8fe254222 26
Jonathan738 10:c752a8d76ee2 27
Jonathan738 12:82b8fe254222 28 // Thread that runs TOF sensors
Jonathan738 12:82b8fe254222 29 void TOF_Handler();
Jonathan738 10:c752a8d76ee2 30
Jonathan738 12:82b8fe254222 31 int VL6180_Init(char addr);
Jonathan738 12:82b8fe254222 32 void WriteByte_Uninitialized(wchar_t reg, char data, char addr);
Jonathan738 12:82b8fe254222 33 char ReadByte(wchar_t reg, char addr);
Jonathan738 12:82b8fe254222 34 int VL6180_Start_Range(char addr);
Jonathan738 12:82b8fe254222 35 int VL6180_Poll_Range(char addr);
Jonathan738 12:82b8fe254222 36 int VL6180_Read_Range(char addr);
Jonathan738 12:82b8fe254222 37 int VL6180_Clear_Interrupts(char addr);
Jonathan738 12:82b8fe254222 38 void Get_TOF_Reading(void);
Jonathan738 12:82b8fe254222 39
Jonathan738 10:c752a8d76ee2 40 #endif