XNucleo53L1A1.cpp

00001 #include "XNucleo53L1A1.h"
00002 
00003 XNucleo53L1A1 *XNucleo53L1A1::_instance = NULL;
00004 
00005 
00006 XNucleo53L1A1 *XNucleo53L1A1::instance(VL53L1X_DevI2C *ext_i2c)
00007 {
00008     if (_instance == NULL) {
00009         _instance = new XNucleo53L1A1(ext_i2c);
00010     } else {
00011         printf("Failed to create XNucleo53L1A1 instance\n\r\r\n");
00012     }
00013     return _instance;
00014 }
00015 
00016 XNucleo53L1A1 *XNucleo53L1A1::instance(VL53L1X_DevI2C *ext_i2c,
00017                                        PinName gpio1_centre,
00018                                        PinName gpio1_left, PinName gpio1_right)
00019 {
00020     if (_instance == NULL) {
00021         _instance = new XNucleo53L1A1(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
00022     } else {
00023         printf("Failed to create XNucleo53L0A1 instance\n\r");
00024     }
00025     return _instance;
00026 }
00027 
00028 
00029 int XNucleo53L1A1::init_board()
00030 {
00031     int status, n_dev = 0;
00032 
00033     sensor_centre->vl53l1_off();
00034     sensor_left->vl53l1_off();
00035     sensor_right->vl53l1_off();
00036     status = sensor_centre->init_sensor(NEW_SENSOR_CENTRE_ADDRESS);
00037     if (status) {
00038         delete sensor_centre;
00039         delete xshutdown_centre;
00040         sensor_centre = NULL;
00041         xshutdown_centre = NULL;
00042         printf("Sensor centre not present\n\r");
00043     } else {
00044         printf("Sensor centre present\n\r");
00045         n_dev++;
00046     }
00047 
00048     status = sensor_left->init_sensor(NEW_SENSOR_LEFT_ADDRESS);
00049     if (status) {
00050         delete sensor_left;
00051         delete xshutdown_left;
00052         sensor_left = NULL;
00053         xshutdown_left = NULL;
00054         printf("Sensor left not present\n\r");
00055     } else {
00056         printf("Sensor left present\n\r");
00057         n_dev++;
00058     }
00059 
00060     status = sensor_right->init_sensor(NEW_SENSOR_RIGHT_ADDRESS);
00061     if (status) {
00062         delete sensor_right;
00063         delete xshutdown_right;
00064         sensor_right = NULL;
00065         xshutdown_right = NULL;
00066         printf("Sensor right not present\n\r");
00067     } else {
00068         printf("Sensor right present\n\r");
00069         n_dev++;
00070     }
00071 
00072     if (n_dev == 0) {
00073         return 1;
00074     } else {
00075         return 0;
00076     }
00077 }
00078