XNucleo53L1A1.h

00001 /**
00002  ******************************************************************************
00003  * @file    XNucleo53L1A1.h
00004  * @author  JS
00005  * @version V0.0.1
00006  * @date    15-January-2019
00007  * @brief   Header file for component XNucleo53L1A1
00008  ******************************************************************************
00009  * @attention
00010  *
00011  * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
00012  *
00013  * Redistribution and use in source and binary forms, with or without modification,
00014  * are permitted provided that the following conditions are met:
00015  *   1. Redistributions of source code must retain the above copyright notice,
00016  *      this list of conditions and the following disclaimer.
00017  *   2. Redistributions in binary form must reproduce the above copyright notice,
00018  *      this list of conditions and the following disclaimer in the documentation
00019  *      and/or other materials provided with the distribution.
00020  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00021  *      may be used to endorse or promote products derived from this software
00022  *       without specific prior written permission.
00023  *
00024  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00025  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00026  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00027  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00028  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00029  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00030  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00032  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00033  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  ******************************************************************************
00036 */
00037 
00038 #ifndef __VL53L1_X_NUCLEO_CLASS_H
00039 #define __VL53L1_X_NUCLEO_CLASS_H
00040 
00041 
00042 /* Includes ------------------------------------------------------------------*/
00043 #include "VL53L1X_Class.h"
00044 #include "Stmpe1600.h"
00045 //#include "DevI2C.h"
00046 #include "VL53L1X_I2C.h"
00047 
00048 
00049 /** New device addresses */
00050 //#define NEW_SENSOR_CENTRE_ADDRESS   0x52
00051 #define NEW_SENSOR_CENTRE_ADDRESS       0x54
00052 #define NEW_SENSOR_LEFT_ADDRESS         0x56
00053 #define NEW_SENSOR_RIGHT_ADDRESS        0x58
00054 
00055 
00056 /* Classes--------------------------------------------------------------------*/
00057 
00058 /* Classes -------------------------------------------------------------------*/
00059 /** Class representing the X-NUCLEO-VL53L1A1 expansion board
00060  */
00061 class XNucleo53L1A1
00062 {
00063 public:
00064     /** Constructor 1
00065     * @param[in] &i2c device I2C to be used for communication
00066     */
00067     XNucleo53L1A1(VL53L1X_DevI2C *ext_i2c) : dev_i2c(ext_i2c)
00068     {
00069         stmpe1600_exp0 = new Stmpe1600((DevI2C *)ext_i2c, (0x43 * 2));    // U21
00070 
00071         stmpe1600_exp1 = new Stmpe1600((DevI2C *)ext_i2c, (0x42 * 2));    // U19
00072 
00073         xshutdown_centre = new Stmpe1600DigiOut((DevI2C *)dev_i2c, GPIO_15, (0x42 * 2));    // U19 on schematic
00074         sensor_centre = new VL53L1X(dev_i2c, xshutdown_centre, A2);
00075 
00076         xshutdown_left = new Stmpe1600DigiOut((DevI2C *)dev_i2c, GPIO_14, (0x43 * 2));    // U21 on schematic
00077         sensor_left = new VL53L1X(dev_i2c, xshutdown_left, D8);
00078 
00079         xshutdown_right = new Stmpe1600DigiOut((DevI2C *)dev_i2c, GPIO_15, (0x43 * 2));    // U21 on schematic
00080         sensor_right = new VL53L1X(dev_i2c, xshutdown_right, D2);
00081     }
00082 
00083     /** Constructor 2
00084      * @param[in] &i2c device I2C to be used for communication
00085      * @param[in] PinName gpio1_top Mbed DigitalOut pin name to be used as a top sensor GPIO_1 INT
00086      * @param[in] PinName gpio1_bottom Mbed DigitalOut pin name to be used as a bottom sensor GPIO_1 INT
00087      * @param[in] PinName gpio1_left Mbed DigitalOut pin name to be used as a left sensor GPIO_1 INT
00088      * @param[in] PinName gpio1_right Mbed DigitalOut pin name to be used as a right sensor GPIO_1 INT
00089      */
00090     XNucleo53L1A1(VL53L1X_DevI2C *ext_i2c, PinName gpio1_centre,
00091                   PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c)
00092     {
00093         stmpe1600_exp0 = new Stmpe1600((DevI2C *)ext_i2c, (0x43 * 2));    // U21
00094 
00095         stmpe1600_exp1 = new Stmpe1600((DevI2C *)ext_i2c, (0x42 * 2));    // U19
00096 
00097         xshutdown_centre = new Stmpe1600DigiOut((DevI2C *)dev_i2c, GPIO_15, (0x42 * 2));    // U19 on schematic
00098         sensor_centre = new VL53L1X(dev_i2c, xshutdown_centre, gpio1_centre);
00099 
00100         xshutdown_left = new Stmpe1600DigiOut((DevI2C *)dev_i2c, GPIO_14, (0x43 * 2));    // U21 on schematic
00101         sensor_left = new VL53L1X(dev_i2c, xshutdown_left, gpio1_left);
00102 
00103         xshutdown_right = new Stmpe1600DigiOut((DevI2C *)dev_i2c, GPIO_15, (0x43 * 2));    // U21 on schematic
00104         sensor_right = new VL53L1X(dev_i2c, xshutdown_right, gpio1_right);
00105     }
00106 
00107 
00108     /** Destructor
00109      */
00110     ~XNucleo53L1A1()
00111     {
00112         if (xshutdown_centre != NULL) {
00113             delete xshutdown_centre;
00114             xshutdown_centre = NULL;
00115         }
00116         if (sensor_centre != NULL) {
00117             delete sensor_centre;
00118             sensor_centre = NULL;
00119         }
00120         if (xshutdown_left != NULL) {
00121             delete xshutdown_left;
00122             xshutdown_left = NULL;
00123         }
00124         if (sensor_left != NULL) {
00125             delete sensor_left;
00126             sensor_left = NULL;
00127         }
00128         if (xshutdown_right != NULL) {
00129             delete xshutdown_right;
00130             xshutdown_right = NULL;
00131         }
00132         if (sensor_right != NULL) {
00133             delete sensor_right;
00134             sensor_right = NULL;
00135         }
00136 
00137         delete stmpe1600_exp0;
00138         stmpe1600_exp0 = NULL;
00139         delete stmpe1600_exp1;
00140         stmpe1600_exp1 = NULL;
00141         _instance = NULL;
00142     }
00143 
00144 
00145     /**
00146      * @brief       Creates a singleton object instance
00147      * @param[in]   &i2c device I2C to be used for communication
00148      * @return      Pointer to the object instance
00149      */
00150     static XNucleo53L1A1 *instance(VL53L1X_DevI2C *ext_i2c);
00151 
00152     /**
00153      * @brief       Creates a singleton object instance
00154      * @param[in]   &i2c device I2C to be used for communication
00155      * @param[in]   PinName gpio1_centre the pin connected to top sensor INT
00156      * @param[in]   PinName gpio1_left the pin connected to left sensor INT
00157      * @param[in]   PinName gpio1_right the pin connected to right sensor INT
00158      * @return      Pointer to the object instance
00159      */
00160     static XNucleo53L1A1 *instance(VL53L1X_DevI2C *ext_i2c, PinName gpio1_centre,
00161                                    PinName gpio1_left, PinName gpio1_right);
00162 
00163     /**
00164      * @brief       Initialize the board and sensors with deft values
00165      * @return      0 on success
00166      */
00167     int init_board();
00168 
00169     VL53L1X_DevI2C *dev_i2c;
00170     VL53L1X *sensor_centre;
00171     VL53L1X *sensor_left;
00172     VL53L1X *sensor_right;
00173     Stmpe1600 *stmpe1600_exp0;
00174     Stmpe1600 *stmpe1600_exp1;
00175     Stmpe1600DigiOut *xshutdown_centre;
00176     Stmpe1600DigiOut *xshutdown_left;
00177     Stmpe1600DigiOut *xshutdown_right;
00178 
00179 private:
00180     static XNucleo53L1A1 *_instance;
00181 };
00182 
00183 
00184 #endif /* __VL53L1_X_NUCLEO_CLASS_H */