John Alexander / VL53L3ExpansionBoard

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Dependencies:   VL53L3_Lib

Dependents:  

X_NUCLEO_COMMON/Board/NoShield53L3.cpp@0:293607457a02, 2020-10-16 (annotated)

Committer:
charlesmn
Date:
Fri Oct 16 15:04:28 2020 +0000
Revision:
0:293607457a02
Change typo in name

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:293607457a02 1 #include "NoShield53L3.h"
charlesmn 0:293607457a02 2
charlesmn 0:293607457a02 3 NoShield53L3 *NoShield53L3::_instance = NULL;
charlesmn 0:293607457a02 4
charlesmn 0:293607457a02 5
charlesmn 0:293607457a02 6 NoShield53L3 *NoShield53L3::instance(vl53L1X_DevI2C *ext_i2c)
charlesmn 0:293607457a02 7 {
charlesmn 0:293607457a02 8 if (_instance == NULL) {
charlesmn 0:293607457a02 9 _instance = new NoShield53L3(ext_i2c);
charlesmn 0:293607457a02 10 } else {
charlesmn 0:293607457a02 11 printf("Failed to create NoShield53l3 instance\n\r\r\n");
charlesmn 0:293607457a02 12 }
charlesmn 0:293607457a02 13 return _instance;
charlesmn 0:293607457a02 14 }
charlesmn 0:293607457a02 15
charlesmn 0:293607457a02 16 NoShield53L3 *NoShield53L3::instance(vl53L1X_DevI2C *ext_i2c,
charlesmn 0:293607457a02 17 PinName gpio1_centre,
charlesmn 0:293607457a02 18 PinName gpio1_left, PinName gpio1_right)
charlesmn 0:293607457a02 19 {
charlesmn 0:293607457a02 20 if (_instance == NULL) {
charlesmn 0:293607457a02 21 // printf("instance %d z\n",ext_i2c);
charlesmn 0:293607457a02 22 _instance = new NoShield53L3(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
charlesmn 0:293607457a02 23 } else {
charlesmn 0:293607457a02 24 printf("Failed to create XNucleo53L0A1 instance\n\r");
charlesmn 0:293607457a02 25 }
charlesmn 0:293607457a02 26 return _instance;
charlesmn 0:293607457a02 27 }
charlesmn 0:293607457a02 28
charlesmn 0:293607457a02 29
charlesmn 0:293607457a02 30 // no stmpe1600. Shutdown lijnes controlled from pins passed in
charlesmn 0:293607457a02 31 int NoShield53L3::init_board(PinName shut_centre,
charlesmn 0:293607457a02 32 PinName shut_left, PinName shut_right)
charlesmn 0:293607457a02 33 {
charlesmn 0:293607457a02 34 printf("init_board \n");
charlesmn 0:293607457a02 35 int status, n_dev = 0;
charlesmn 0:293607457a02 36
charlesmn 0:293607457a02 37 // set the shutdown pins to be outputs ( they are inputs on power up)
charlesmn 0:293607457a02 38 DigitalOut sensor1shut(shut_centre);
charlesmn 0:293607457a02 39 DigitalOut sensor2shut(shut_left);
charlesmn 0:293607457a02 40 DigitalOut sensor3shut(shut_right);
charlesmn 0:293607457a02 41
charlesmn 0:293607457a02 42 // On startup or on the shutdown pin going high the VL53l1 devices have a i2c address of 0x52.
charlesmn 0:293607457a02 43 // To initialise then we have to bring up one device at a time This involves raising the shutdown pin for that device,
charlesmn 0:293607457a02 44 // initialising then setting the i2c address to a unique value. Once that is done the shutdown pins don't need to be touched.
charlesmn 0:293607457a02 45
charlesmn 0:293607457a02 46 // set the shutdown pins to low, this will reset the VL53l1
charlesmn 0:293607457a02 47 sensor1shut =0;
charlesmn 0:293607457a02 48 sensor2shut =0;
charlesmn 0:293607457a02 49 sensor3shut =0;
charlesmn 0:293607457a02 50 // select the first VL53l1. It will have i2c address of 0x52. Set the i2c address to
charlesmn 0:293607457a02 51 //NEW_SENSOR_CENTRE_ADDRESS
charlesmn 0:293607457a02 52
charlesmn 0:293607457a02 53 sensor1shut =1;
charlesmn 0:293607457a02 54 printf("InitSensor \n");
charlesmn 0:293607457a02 55 status = sensor_centre->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
charlesmn 0:293607457a02 56 if (status) {
charlesmn 0:293607457a02 57 delete sensor_centre;
charlesmn 0:293607457a02 58 sensor_centre = NULL;
charlesmn 0:293607457a02 59 printf("Sensor centre not present\n\r");
charlesmn 0:293607457a02 60 } else {
charlesmn 0:293607457a02 61 printf("Sensor centre present\n\r");
charlesmn 0:293607457a02 62 n_dev++;
charlesmn 0:293607457a02 63 }
charlesmn 0:293607457a02 64
charlesmn 0:293607457a02 65 // select the second VL53l1. It will have i2c address of 0x52. Set the i2c address to
charlesmn 0:293607457a02 66 //NEW_SENSOR_LEFT_ADDRESS
charlesmn 0:293607457a02 67 sensor2shut =1;
charlesmn 0:293607457a02 68 status = sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
charlesmn 0:293607457a02 69 if (status) {
charlesmn 0:293607457a02 70 delete sensor_left;
charlesmn 0:293607457a02 71 sensor_left = NULL;
charlesmn 0:293607457a02 72 printf("Sensor left not present\n\r");
charlesmn 0:293607457a02 73 } else {
charlesmn 0:293607457a02 74 printf("Sensor left present\n\r");
charlesmn 0:293607457a02 75 n_dev++;
charlesmn 0:293607457a02 76 }
charlesmn 0:293607457a02 77
charlesmn 0:293607457a02 78 // select the 3rd VL53l1. It will have i2c address of 0x52. Set the i2c address to
charlesmn 0:293607457a02 79 //NEW_SENSOR_RIGHT_ADDRESS
charlesmn 0:293607457a02 80 sensor3shut =1;
charlesmn 0:293607457a02 81 status = sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
charlesmn 0:293607457a02 82 if (status) {
charlesmn 0:293607457a02 83 delete sensor_right;
charlesmn 0:293607457a02 84 sensor_right = NULL;
charlesmn 0:293607457a02 85 printf("Sensor right not present\n\r");
charlesmn 0:293607457a02 86 } else {
charlesmn 0:293607457a02 87 printf("Sensor right present\n\r");
charlesmn 0:293607457a02 88 n_dev++;
charlesmn 0:293607457a02 89 }
charlesmn 0:293607457a02 90
charlesmn 0:293607457a02 91 return 0;
charlesmn 0:293607457a02 92 if (n_dev == 0) {
charlesmn 0:293607457a02 93 return 1;
charlesmn 0:293607457a02 94 } else {
charlesmn 0:293607457a02 95 return 0;
charlesmn 0:293607457a02 96 }
charlesmn 0:293607457a02 97 }