Jonathan Wheadon / Mbed OS SOFT564Z_Group3

For coursework of group 3 in SOFT564Z

Dependencies:   Motordriver ros_lib_kinetic

VL6180.hpp@10:c752a8d76ee2, 2019-12-17 (annotated)

Committer:
Jonathan738
Date:
Tue Dec 17 16:33:46 2019 +0000
Revision:
10:c752a8d76ee2
Child:
12:82b8fe254222
Added TOF class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jonathan738 10:c752a8d76ee2 1 #include "mbed.h"
Jonathan738 10:c752a8d76ee2 2 #include "General.hpp"
Jonathan738 10:c752a8d76ee2 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 10:c752a8d76ee2 14 // Thread that runs TOF sensors
Jonathan738 10:c752a8d76ee2 15 int TOF_Thread();
Jonathan738 10:c752a8d76ee2 16
Jonathan738 10:c752a8d76ee2 17 // Class Terminal expects tx and rx pins and is used for controlling a serialy conected terminal
Jonathan738 10:c752a8d76ee2 18 class VL6180
Jonathan738 10:c752a8d76ee2 19 {
Jonathan738 10:c752a8d76ee2 20 public:
Jonathan738 10:c752a8d76ee2 21 VL6180(I2C& comm_bus, PinName SHDWN, char Address) : shutdown(SHDWN), i2c(comm_bus){addr = Address;};
Jonathan738 10:c752a8d76ee2 22
Jonathan738 10:c752a8d76ee2 23 bool Init(void);
Jonathan738 10:c752a8d76ee2 24 bool TOF_PWR(bool State);
Jonathan738 10:c752a8d76ee2 25 void WriteByte(wchar_t reg, char data);
Jonathan738 10:c752a8d76ee2 26 void WriteByte_Uninitialized(wchar_t reg, char data, char Uninitialized_Address);
Jonathan738 10:c752a8d76ee2 27 int Start_Range(void);
Jonathan738 10:c752a8d76ee2 28 int Poll_Range(void);
Jonathan738 10:c752a8d76ee2 29 int Read_Range(void);
Jonathan738 10:c752a8d76ee2 30 int Clear_Interrupts(void);
Jonathan738 10:c752a8d76ee2 31
Jonathan738 10:c752a8d76ee2 32 private:
Jonathan738 10:c752a8d76ee2 33 // I2C Bus TOF is connected to
Jonathan738 10:c752a8d76ee2 34 I2C& i2c;
Jonathan738 10:c752a8d76ee2 35 // Private functions
Jonathan738 10:c752a8d76ee2 36 char ReadByte(wchar_t reg);
Jonathan738 10:c752a8d76ee2 37 char ReadByte_Uninitialized(wchar_t reg, char Uninitialized_Address);
Jonathan738 10:c752a8d76ee2 38 void WriteByte_Uninitialized(wchar_t reg, char data);
Jonathan738 10:c752a8d76ee2 39 // Private Variables
Jonathan738 10:c752a8d76ee2 40 char addr;
Jonathan738 10:c752a8d76ee2 41 // IOs
Jonathan738 10:c752a8d76ee2 42 DigitalOut shutdown;
Jonathan738 10:c752a8d76ee2 43 };
Jonathan738 10:c752a8d76ee2 44
Jonathan738 10:c752a8d76ee2 45 // TypeDef for pointer to the TOF class (needed for dynamic creation of objects)
Jonathan738 10:c752a8d76ee2 46 typedef VL6180* TOFsPtr;
Jonathan738 10:c752a8d76ee2 47 // Function to Initialise all TOF sensors
Jonathan738 10:c752a8d76ee2 48 bool Init_All_TOFs(TOFsPtr *tof);
Jonathan738 10:c752a8d76ee2 49 #endif