Diff: NoShield53L3.cpp

Revision:

0:ba15439f45dd

Child:

1:8afec488fa83

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/NoShield53L3.cpp	Fri Oct 16 15:11:45 2020 +0000
@@ -0,0 +1,97 @@
+#include "NoShield53L3.h"
+
+NoShield53L3 *NoShield53L3::_instance = NULL;
+
+
+NoShield53L3 *NoShield53L3::instance(vl53L1X_DevI2C *ext_i2c)
+{
+    if (_instance == NULL) {
+        _instance = new NoShield53L3(ext_i2c);
+    } else {
+        printf("Failed to create NoShield53l3 instance\n\r\r\n");
+    }
+    return _instance;
+}
+
+NoShield53L3 *NoShield53L3::instance(vl53L1X_DevI2C *ext_i2c,
+                                       PinName gpio1_centre,
+                                       PinName gpio1_left, PinName gpio1_right)
+{
+    if (_instance == NULL) {
+//        printf("instance %d z\n",ext_i2c);
+        _instance = new NoShield53L3(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
+    } else {
+        printf("Failed to create XNucleo53L0A1 instance\n\r");
+    }
+    return _instance;
+}
+
+
+// no stmpe1600. Shutdown lijnes controlled from pins passed in
+int NoShield53L3::init_board(PinName shut_centre,
+                                       PinName shut_left, PinName shut_right)
+{
+    printf("init_board \n");
+    int status, n_dev = 0;
+    
+        // set the shutdown pins to be outputs ( they are inputs on power up)
+    DigitalOut sensor1shut(shut_centre);
+    DigitalOut sensor2shut(shut_left);
+    DigitalOut sensor3shut(shut_right);
+    
+    // On startup or on the shutdown pin going high the VL53l1 devices have a i2c address of 0x52.
+    // To initialise then we have to bring up one device at a time This involves raising the shutdown pin for that device,
+    // initialising then setting the i2c address to a unique value. Once that is done the shutdown pins don't need to be touched.
+
+    // set the shutdown pins to low, this will reset the VL53l1
+    sensor1shut =0;
+    sensor2shut =0;
+    sensor3shut =0;
+// select the first VL53l1. It will have i2c address of 0x52. Set the i2c address to
+//NEW_SENSOR_CENTRE_ADDRESS
+
+    sensor1shut =1;
+    printf("InitSensor \n");
+    status = sensor_centre->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
+    if (status) {
+        delete sensor_centre;
+        sensor_centre = NULL;
+        printf("Sensor centre not present\n\r");
+    } else {
+        printf("Sensor centre present\n\r");
+        n_dev++;
+    }
+    
+    // select the second VL53l1. It will have i2c address of 0x52. Set the i2c address to
+    //NEW_SENSOR_LEFT_ADDRESS
+    sensor2shut =1;
+    status = sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
+    if (status) {
+        delete sensor_left;
+        sensor_left = NULL;
+        printf("Sensor left not present\n\r");
+    } else {
+        printf("Sensor left present\n\r");
+        n_dev++;
+    }
+    
+     // select the 3rd VL53l1. It will have i2c address of 0x52. Set the i2c address to
+    //NEW_SENSOR_RIGHT_ADDRESS 
+    sensor3shut =1;
+    status = sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
+    if (status) {
+        delete sensor_right;
+        sensor_right = NULL;
+        printf("Sensor right not present\n\r");
+    } else {
+        printf("Sensor right present\n\r");
+        n_dev++;
+    }
+
+return 0;
+    if (n_dev == 0) {
+        return 1;
+    } else {
+        return 0;
+    }
+}