charles macneill / VL53L3_Board

VL53L3 Shield specific functions.

Dependents:   53L3A2_Ranging X_NUCLEO_53L3CX

XNucleo53LX.cpp@0:ba15439f45dd, 2020-10-16 (annotated)

Committer:
charlesmn
Date:
Fri Oct 16 15:11:45 2020 +0000
Revision:
0:ba15439f45dd
Child:
1:8afec488fa83
Change VL53L1 to VL53L3. Change name

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:ba15439f45dd 1 #include "XNucleo53LX.h"
charlesmn 0:ba15439f45dd 2
charlesmn 0:ba15439f45dd 3 XNucleo53LX *XNucleo53LX::_instance = NULL;
charlesmn 0:ba15439f45dd 4
charlesmn 0:ba15439f45dd 5
charlesmn 0:ba15439f45dd 6 XNucleo53LX *XNucleo53LX::instance(vl53L1X_DevI2C *ext_i2c)
charlesmn 0:ba15439f45dd 7 {
charlesmn 0:ba15439f45dd 8 if (_instance == NULL) {
charlesmn 0:ba15439f45dd 9 _instance = new XNucleo53LX(ext_i2c);
charlesmn 0:ba15439f45dd 10 } else {
charlesmn 0:ba15439f45dd 11 printf("Failed to create XNucleo53LX instance\n\r\r\n");
charlesmn 0:ba15439f45dd 12 }
charlesmn 0:ba15439f45dd 13 return _instance;
charlesmn 0:ba15439f45dd 14 }
charlesmn 0:ba15439f45dd 15
charlesmn 0:ba15439f45dd 16 XNucleo53LX *XNucleo53LX::instance(vl53L1X_DevI2C *ext_i2c,
charlesmn 0:ba15439f45dd 17 PinName gpio1_centre,
charlesmn 0:ba15439f45dd 18 PinName gpio1_left, PinName gpio1_right)
charlesmn 0:ba15439f45dd 19 {
charlesmn 0:ba15439f45dd 20 if (_instance == NULL) {
charlesmn 0:ba15439f45dd 21 // printf("instance %d z\n",ext_i2c);
charlesmn 0:ba15439f45dd 22 _instance = new XNucleo53LX(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
charlesmn 0:ba15439f45dd 23 } else {
charlesmn 0:ba15439f45dd 24 printf("Failed to create XNucleo53LX instance\n\r");
charlesmn 0:ba15439f45dd 25 }
charlesmn 0:ba15439f45dd 26 return _instance;
charlesmn 0:ba15439f45dd 27 }
charlesmn 0:ba15439f45dd 28
charlesmn 0:ba15439f45dd 29
charlesmn 0:ba15439f45dd 30 int XNucleo53LX::init_board()
charlesmn 0:ba15439f45dd 31 {
charlesmn 0:ba15439f45dd 32 printf("init_board \n");
charlesmn 0:ba15439f45dd 33 int status, n_dev = 0;
charlesmn 0:ba15439f45dd 34
charlesmn 0:ba15439f45dd 35 sensor_centre->VL53LX_Off();
charlesmn 0:ba15439f45dd 36 sensor_left->VL53LX_Off();
charlesmn 0:ba15439f45dd 37 sensor_right->VL53LX_Off();
charlesmn 0:ba15439f45dd 38
charlesmn 0:ba15439f45dd 39
charlesmn 0:ba15439f45dd 40
charlesmn 0:ba15439f45dd 41 // On startup or on the shutdown pin going high the VL53l1 devices have a i2c address of 0x52.
charlesmn 0:ba15439f45dd 42 // To initialise then we have to bring up one device at a time This involves raising the shutdown pin for that device,
charlesmn 0:ba15439f45dd 43 // initialising then setting the i2c address to a unique value. Once that is done the shutdown pins don't need to be touched.
charlesmn 0:ba15439f45dd 44
charlesmn 0:ba15439f45dd 45 // set the shutdown pins to be outputs ( they are inputs on power up)
charlesmn 0:ba15439f45dd 46 stmpe1600_exp1->set_gpio_dir(GPIO_15,OUTPUT);
charlesmn 0:ba15439f45dd 47 stmpe1600_exp0->set_gpio_dir(GPIO_14,OUTPUT);
charlesmn 0:ba15439f45dd 48 stmpe1600_exp0->set_gpio_dir(GPIO_15,OUTPUT);
charlesmn 0:ba15439f45dd 49
charlesmn 0:ba15439f45dd 50 // set the shutdown pins to low, this will reset the VL53l1s
charlesmn 0:ba15439f45dd 51 stmpe1600_exp1->clear_gpio(GPIO_15);
charlesmn 0:ba15439f45dd 52 stmpe1600_exp0->clear_gpio(GPIO_14);
charlesmn 0:ba15439f45dd 53 stmpe1600_exp0->clear_gpio(GPIO_15);
charlesmn 0:ba15439f45dd 54
charlesmn 0:ba15439f45dd 55 // select the first VL53l1. It will have i2c address of 0x52. Set the i2c address to
charlesmn 0:ba15439f45dd 56 //NEW_SENSOR_CENTRE_ADDRESS
charlesmn 0:ba15439f45dd 57 stmpe1600_exp1->set_gpio(GPIO_15);
charlesmn 0:ba15439f45dd 58 printf("InitSensor \n");
charlesmn 0:ba15439f45dd 59 status = sensor_centre->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
charlesmn 0:ba15439f45dd 60 if (status) {
charlesmn 0:ba15439f45dd 61 delete sensor_centre;
charlesmn 0:ba15439f45dd 62 delete xshutdown_centre;
charlesmn 0:ba15439f45dd 63 sensor_centre = NULL;
charlesmn 0:ba15439f45dd 64 xshutdown_centre = NULL;
charlesmn 0:ba15439f45dd 65 printf("Sensor centre not present\n\r");
charlesmn 0:ba15439f45dd 66 } else {
charlesmn 0:ba15439f45dd 67 printf("Sensor centre present\n\r");
charlesmn 0:ba15439f45dd 68 n_dev++;
charlesmn 0:ba15439f45dd 69 }
charlesmn 0:ba15439f45dd 70
charlesmn 0:ba15439f45dd 71 // select the second VL53l1. It will have i2c address of 0x52. Set the i2c address to
charlesmn 0:ba15439f45dd 72 //NEW_SENSOR_LEFT_ADDRESS
charlesmn 0:ba15439f45dd 73
charlesmn 0:ba15439f45dd 74 stmpe1600_exp0->set_gpio(GPIO_14);
charlesmn 0:ba15439f45dd 75
charlesmn 0:ba15439f45dd 76 status = sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
charlesmn 0:ba15439f45dd 77 if (status) {
charlesmn 0:ba15439f45dd 78 delete sensor_left;
charlesmn 0:ba15439f45dd 79 delete xshutdown_left;
charlesmn 0:ba15439f45dd 80 sensor_left = NULL;
charlesmn 0:ba15439f45dd 81 xshutdown_left = NULL;
charlesmn 0:ba15439f45dd 82 printf("Sensor left not present\n\r");
charlesmn 0:ba15439f45dd 83 } else {
charlesmn 0:ba15439f45dd 84 printf("Sensor left present\n\r");
charlesmn 0:ba15439f45dd 85 n_dev++;
charlesmn 0:ba15439f45dd 86 }
charlesmn 0:ba15439f45dd 87
charlesmn 0:ba15439f45dd 88 // select the 3rd VL53l1. It will have i2c address of 0x52. Set the i2c address to
charlesmn 0:ba15439f45dd 89 //NEW_SENSOR_RIGHT_ADDRESS
charlesmn 0:ba15439f45dd 90 stmpe1600_exp0->set_gpio(GPIO_15);
charlesmn 0:ba15439f45dd 91 status = sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
charlesmn 0:ba15439f45dd 92 if (status) {
charlesmn 0:ba15439f45dd 93 delete sensor_right;
charlesmn 0:ba15439f45dd 94 delete xshutdown_right;
charlesmn 0:ba15439f45dd 95 sensor_right = NULL;
charlesmn 0:ba15439f45dd 96 xshutdown_right = NULL;
charlesmn 0:ba15439f45dd 97 printf("Sensor right not present\n\r");
charlesmn 0:ba15439f45dd 98 } else {
charlesmn 0:ba15439f45dd 99 printf("Sensor right present\n\r");
charlesmn 0:ba15439f45dd 100 n_dev++;
charlesmn 0:ba15439f45dd 101 }
charlesmn 0:ba15439f45dd 102
charlesmn 0:ba15439f45dd 103 return 0;
charlesmn 0:ba15439f45dd 104 if (n_dev == 0) {
charlesmn 0:ba15439f45dd 105 return 1;
charlesmn 0:ba15439f45dd 106 } else {
charlesmn 0:ba15439f45dd 107 return 0;
charlesmn 0:ba15439f45dd 108 }
charlesmn 0:ba15439f45dd 109 }
charlesmn 0:ba15439f45dd 110