charles macneill / VL53L3_Board

VL53L3 Shield specific functions.

Dependents:   53L3A2_Ranging X_NUCLEO_53L3CX

NoShield53L3.h@3:6747fdb48f95, 2021-07-21 (annotated)

Committer:
charlesmn
Date:
Wed Jul 21 14:49:22 2021 +0000
Revision:
3:6747fdb48f95
Parent:
2:81763ffd2222 
remove warning

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:ba15439f45dd 1 /**
charlesmn 0:ba15439f45dd 2 ******************************************************************************
charlesmn 0:ba15439f45dd 3 * @file NoShield53l3.h
charlesmn 0:ba15439f45dd 4 * @author JS
charlesmn 0:ba15439f45dd 5 * @version V0.0.1
charlesmn 0:ba15439f45dd 6 * @date 15-January-2019
charlesmn 0:ba15439f45dd 7 * @brief Header file for component XNucleo53L1A1
charlesmn 0:ba15439f45dd 8 ******************************************************************************
charlesmn 0:ba15439f45dd 9 * @attention
charlesmn 0:ba15439f45dd 10 *
charlesmn 0:ba15439f45dd 11 * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
charlesmn 0:ba15439f45dd 12 *
charlesmn 0:ba15439f45dd 13 * Redistribution and use in source and binary forms, with or without modification,
charlesmn 0:ba15439f45dd 14 * are permitted provided that the following conditions are met:
charlesmn 0:ba15439f45dd 15 * 1. Redistributions of source code must retain the above copyright notice,
charlesmn 0:ba15439f45dd 16 * this list of conditions and the following disclaimer.
charlesmn 0:ba15439f45dd 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
charlesmn 0:ba15439f45dd 18 * this list of conditions and the following disclaimer in the documentation
charlesmn 0:ba15439f45dd 19 * and/or other materials provided with the distribution.
charlesmn 0:ba15439f45dd 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
charlesmn 0:ba15439f45dd 21 * may be used to endorse or promote products derived from this software
charlesmn 0:ba15439f45dd 22 * without specific prior written permission.
charlesmn 0:ba15439f45dd 23 *
charlesmn 0:ba15439f45dd 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
charlesmn 0:ba15439f45dd 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
charlesmn 0:ba15439f45dd 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
charlesmn 0:ba15439f45dd 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
charlesmn 0:ba15439f45dd 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
charlesmn 0:ba15439f45dd 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
charlesmn 0:ba15439f45dd 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
charlesmn 0:ba15439f45dd 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
charlesmn 0:ba15439f45dd 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
charlesmn 0:ba15439f45dd 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
charlesmn 0:ba15439f45dd 34 *
charlesmn 0:ba15439f45dd 35 ******************************************************************************
charlesmn 0:ba15439f45dd 36 */
charlesmn 0:ba15439f45dd 37
charlesmn 0:ba15439f45dd 38 #ifndef __VL53L1_NO_SHIELD_CLASS_H
charlesmn 0:ba15439f45dd 39 #define __VL53L1_NO_SHIELD_CLASS_H
charlesmn 0:ba15439f45dd 40
charlesmn 0:ba15439f45dd 41
charlesmn 0:ba15439f45dd 42 /* Includes ------------------------------------------------------------------*/
charlesmn 0:ba15439f45dd 43 #include "mbed.h"
charlesmn 0:ba15439f45dd 44 #include "PinNames.h"
charlesmn 2:81763ffd2222 45 #include "vl53l3cx_class.h"
charlesmn 0:ba15439f45dd 46 //#include "Stmpe1600.h"
charlesmn 0:ba15439f45dd 47 //#include "DevI2C.h"
charlesmn 1:8afec488fa83 48 #include "vl53L3_I2c.h"
charlesmn 0:ba15439f45dd 49
charlesmn 0:ba15439f45dd 50
charlesmn 0:ba15439f45dd 51 #define NEW_SENSOR_CENTRE_ADDRESS 0x56
charlesmn 0:ba15439f45dd 52 #define NEW_SENSOR_LEFT_ADDRESS 0x58
charlesmn 0:ba15439f45dd 53 #define NEW_SENSOR_RIGHT_ADDRESS 0x5a
charlesmn 0:ba15439f45dd 54
charlesmn 0:ba15439f45dd 55
charlesmn 0:ba15439f45dd 56 /* Classes--------------------------------------------------------------------*/
charlesmn 0:ba15439f45dd 57
charlesmn 0:ba15439f45dd 58 /* Classes -------------------------------------------------------------------*/
charlesmn 0:ba15439f45dd 59 /** Class representing the X-NUCLEO-VL53L1A1 expansion board
charlesmn 0:ba15439f45dd 60 */
charlesmn 0:ba15439f45dd 61 class NoShield53L3
charlesmn 0:ba15439f45dd 62 {
charlesmn 0:ba15439f45dd 63 public:
charlesmn 0:ba15439f45dd 64 /** Constructor 1
charlesmn 0:ba15439f45dd 65 * @param[in] &i2c device I2C to be used for communication
charlesmn 0:ba15439f45dd 66 */
charlesmn 1:8afec488fa83 67 NoShield53L3(vl53L3_DevI2C *ext_i2c) : dev_i2c(ext_i2c)
charlesmn 0:ba15439f45dd 68 {
charlesmn 2:81763ffd2222 69 sensor_centre = new VL53L3CX(ext_i2c, 0, A2);
charlesmn 2:81763ffd2222 70 sensor_left = new VL53L3CX(dev_i2c, 0, D8);
charlesmn 2:81763ffd2222 71 sensor_right = new VL53L3CX(dev_i2c, 0, D2);
charlesmn 0:ba15439f45dd 72 }
charlesmn 0:ba15439f45dd 73
charlesmn 0:ba15439f45dd 74 /** Constructor 2
charlesmn 0:ba15439f45dd 75 * @param[in] &i2c device I2C to be used for communication
charlesmn 0:ba15439f45dd 76 * @param[in] PinName gpio1_top Mbed DigitalOut pin name to be used as a top sensor GPIO_1 INT
charlesmn 0:ba15439f45dd 77 * @param[in] PinName gpio1_bottom Mbed DigitalOut pin name to be used as a bottom sensor GPIO_1 INT
charlesmn 0:ba15439f45dd 78 * @param[in] PinName gpio1_left Mbed DigitalOut pin name to be used as a left sensor GPIO_1 INT
charlesmn 0:ba15439f45dd 79 * @param[in] PinName gpio1_right Mbed DigitalOut pin name to be used as a right sensor GPIO_1 INT
charlesmn 0:ba15439f45dd 80 */
charlesmn 1:8afec488fa83 81 NoShield53L3(vl53L3_DevI2C *ext_i2c, PinName gpio1_centre,
charlesmn 0:ba15439f45dd 82 PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c)
charlesmn 0:ba15439f45dd 83 {
charlesmn 3:6747fdb48f95 84 printf("NoShield53L3 constructor %d %d %d %d\n",(int)ext_i2c,gpio1_centre,gpio1_left,gpio1_right);
charlesmn 0:ba15439f45dd 85
charlesmn 2:81763ffd2222 86 sensor_centre = new VL53L3CX(dev_i2c, 0, gpio1_centre);
charlesmn 2:81763ffd2222 87 sensor_left = new VL53L3CX(dev_i2c, 0, gpio1_left);
charlesmn 2:81763ffd2222 88 sensor_right = new VL53L3CX(dev_i2c, 0, gpio1_right);
charlesmn 0:ba15439f45dd 89 }
charlesmn 0:ba15439f45dd 90
charlesmn 0:ba15439f45dd 91
charlesmn 0:ba15439f45dd 92 /** Destructor
charlesmn 0:ba15439f45dd 93 */
charlesmn 0:ba15439f45dd 94 ~NoShield53L3()
charlesmn 0:ba15439f45dd 95 {
charlesmn 0:ba15439f45dd 96
charlesmn 0:ba15439f45dd 97 if (sensor_centre != NULL) {
charlesmn 0:ba15439f45dd 98 delete sensor_centre;
charlesmn 0:ba15439f45dd 99 sensor_centre = NULL;
charlesmn 0:ba15439f45dd 100 }
charlesmn 0:ba15439f45dd 101
charlesmn 0:ba15439f45dd 102 if (sensor_left != NULL) {
charlesmn 0:ba15439f45dd 103 delete sensor_left;
charlesmn 0:ba15439f45dd 104 sensor_left = NULL;
charlesmn 0:ba15439f45dd 105 }
charlesmn 0:ba15439f45dd 106
charlesmn 0:ba15439f45dd 107 if (sensor_right != NULL) {
charlesmn 0:ba15439f45dd 108 delete sensor_right;
charlesmn 0:ba15439f45dd 109 sensor_right = NULL;
charlesmn 0:ba15439f45dd 110 }
charlesmn 0:ba15439f45dd 111
charlesmn 0:ba15439f45dd 112 _instance = NULL;
charlesmn 0:ba15439f45dd 113 }
charlesmn 0:ba15439f45dd 114
charlesmn 0:ba15439f45dd 115
charlesmn 0:ba15439f45dd 116 /**
charlesmn 0:ba15439f45dd 117 * @brief Creates a singleton object instance
charlesmn 0:ba15439f45dd 118 * @param[in] &i2c device I2C to be used for communication
charlesmn 0:ba15439f45dd 119 * @return Pointer to the object instance
charlesmn 0:ba15439f45dd 120 */
charlesmn 1:8afec488fa83 121 static NoShield53L3 *instance(vl53L3_DevI2C *ext_i2c);
charlesmn 0:ba15439f45dd 122
charlesmn 0:ba15439f45dd 123 /**
charlesmn 0:ba15439f45dd 124 * @brief Creates a singleton object instance
charlesmn 0:ba15439f45dd 125 * @param[in] &i2c device I2C to be used for communication
charlesmn 0:ba15439f45dd 126 * @param[in] PinName gpio1_centre the pin connected to top sensor INT
charlesmn 0:ba15439f45dd 127 * @param[in] PinName gpio1_left the pin connected to left sensor INT
charlesmn 0:ba15439f45dd 128 * @param[in] PinName gpio1_right the pin connected to right sensor INT
charlesmn 0:ba15439f45dd 129 * @return Pointer to the object instance
charlesmn 0:ba15439f45dd 130 */
charlesmn 1:8afec488fa83 131 static NoShield53L3 *instance(vl53L3_DevI2C *ext_i2c, PinName gpio1_centre,
charlesmn 0:ba15439f45dd 132 PinName gpio1_left, PinName gpio1_right);
charlesmn 0:ba15439f45dd 133
charlesmn 0:ba15439f45dd 134 /**
charlesmn 0:ba15439f45dd 135 * @brief Initialize the board and sensors with deft values
charlesmn 0:ba15439f45dd 136 * @return 0 on success
charlesmn 0:ba15439f45dd 137 */
charlesmn 0:ba15439f45dd 138 int init_board();
charlesmn 0:ba15439f45dd 139 int init_board(PinName shut_centre, PinName shut_left, PinName shut_right);
charlesmn 0:ba15439f45dd 140
charlesmn 1:8afec488fa83 141 vl53L3_DevI2C *dev_i2c;
charlesmn 2:81763ffd2222 142 VL53L3CX *sensor_centre;
charlesmn 2:81763ffd2222 143 VL53L3CX *sensor_left;
charlesmn 2:81763ffd2222 144 VL53L3CX *sensor_right;
charlesmn 0:ba15439f45dd 145
charlesmn 0:ba15439f45dd 146 private:
charlesmn 0:ba15439f45dd 147 static NoShield53L3 *_instance;
charlesmn 0:ba15439f45dd 148 };
charlesmn 0:ba15439f45dd 149
charlesmn 0:ba15439f45dd 150
charlesmn 0:ba15439f45dd 151 #endif /* __VL53L1_NO_SHIELD_CLASS_H */