yebin20070714 lenos
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X_NUCLEO_53L0A1
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XNucleo53L0A1.h
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00001 /** 00002 ****************************************************************************** 00003 * @file XNucleo53L0A1.h 00004 * @author IMG 00005 * @version V1.0.0 00006 * @date 28-November-2016 00007 * @brief Header file for class XNucleo53L0A1 representing a X-NUCLEO-53L0A1 00008 * expansion board 00009 ****************************************************************************** 00010 * @attention 00011 * 00012 * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> 00013 * 00014 * Redistribution and use in source and binary forms, with or without modification, 00015 * are permitted provided that the following conditions are met: 00016 * 1. Redistributions of source code must retain the above copyright notice, 00017 * this list of conditions and the following disclaimer. 00018 * 2. Redistributions in binary form must reproduce the above copyright notice, 00019 * this list of conditions and the following disclaimer in the documentation 00020 * and/or other materials provided with the distribution. 00021 * 3. Neither the name of STMicroelectronics nor the names of its contributors 00022 * may be used to endorse or promote products derived from this software 00023 * without specific prior written permission. 00024 * 00025 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00026 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00027 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00028 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00029 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00030 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00031 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00033 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00034 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 ****************************************************************************** 00037 */ 00038 00039 /* Define to prevent from recursive inclusion --------------------------------*/ 00040 #ifndef __XNucleo53L0A1_H 00041 #define __XNucleo53L0A1_H 00042 00043 /* Includes ------------------------------------------------------------------*/ 00044 #include "VL53L0X.h" 00045 #include "Display.h" 00046 #include "Stmpe1600.h" 00047 #include "DevI2C.h" 00048 00049 /** New device addresses */ 00050 #define NEW_SENSOR_CENTRE_ADDRESS 0x54 00051 #define NEW_SENSOR_LEFT_ADDRESS 0x56 00052 #define NEW_SENSOR_RIGHT_ADDRESS 0x58 00053 00054 /* Classes--------------------------------------------------------------------*/ 00055 00056 /* Classes -------------------------------------------------------------------*/ 00057 /** Class representing the X-NUCLEO-VL53L0A1 expansion board 00058 */ 00059 class XNucleo53L0A1 00060 { 00061 public: 00062 /** Constructor 1 00063 * @param[in] &i2c device I2C to be used for communication 00064 */ 00065 XNucleo53L0A1(DevI2C *ext_i2c) : dev_i2c(ext_i2c) 00066 { 00067 stmpe1600_exp0 = new Stmpe1600(ext_i2c, (0x43 * 2)); // U21 00068 00069 stmpe1600_exp1 = new Stmpe1600(ext_i2c, (0x42 * 2)); // U19 00070 00071 display = new Display(stmpe1600_exp0, stmpe1600_exp1); 00072 00073 xshutdown_centre = new Stmpe1600DigiOut(dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic 00074 sensor_centre = new VL53L0X(dev_i2c, xshutdown_centre, A2); 00075 00076 xshutdown_left = new Stmpe1600DigiOut(dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic 00077 sensor_left = new VL53L0X(dev_i2c, xshutdown_left, D8); 00078 00079 xshutdown_right = new Stmpe1600DigiOut(dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic 00080 sensor_right = new VL53L0X(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 XNucleo53L0A1(DevI2C *ext_i2c, PinName gpio1_centre, 00091 PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c) 00092 { 00093 stmpe1600_exp0 = new Stmpe1600(ext_i2c, (0x43 * 2)); // U21 00094 00095 stmpe1600_exp1 = new Stmpe1600(ext_i2c, (0x42 * 2)); // U19 00096 00097 display = new Display(stmpe1600_exp0, stmpe1600_exp1); 00098 00099 xshutdown_centre = new Stmpe1600DigiOut(dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic 00100 sensor_centre = new VL53L0X(dev_i2c, xshutdown_centre, gpio1_centre); 00101 00102 xshutdown_left = new Stmpe1600DigiOut(dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic 00103 sensor_left = new VL53L0X(dev_i2c, xshutdown_left, gpio1_left); 00104 00105 xshutdown_right = new Stmpe1600DigiOut(dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic 00106 sensor_right = new VL53L0X(dev_i2c, xshutdown_right, gpio1_right); 00107 } 00108 00109 /** Destructor 00110 */ 00111 ~XNucleo53L0A1() 00112 { 00113 if (xshutdown_centre != NULL) { 00114 delete xshutdown_centre; 00115 xshutdown_centre = NULL; 00116 } 00117 if (sensor_centre != NULL) { 00118 delete sensor_centre; 00119 sensor_centre = NULL; 00120 } 00121 if (xshutdown_left != NULL) { 00122 delete xshutdown_left; 00123 xshutdown_left = NULL; 00124 } 00125 if (sensor_left != NULL) { 00126 delete sensor_left; 00127 sensor_left = NULL; 00128 } 00129 if (xshutdown_right != NULL) { 00130 delete xshutdown_right; 00131 xshutdown_right = NULL; 00132 } 00133 if (sensor_right != NULL) { 00134 delete sensor_right; 00135 sensor_right = NULL; 00136 } 00137 00138 delete stmpe1600_exp0; 00139 stmpe1600_exp0 = NULL; 00140 delete stmpe1600_exp1; 00141 stmpe1600_exp1 = NULL; 00142 delete display; 00143 display = NULL; 00144 _instance = NULL; 00145 } 00146 00147 /** 00148 * @brief Creates a singleton object instance 00149 * @param[in] &i2c device I2C to be used for communication 00150 * @return Pointer to the object instance 00151 */ 00152 static XNucleo53L0A1 *instance(DevI2C *ext_i2c); 00153 00154 /** 00155 * @brief Creates a singleton object instance 00156 * @param[in] &i2c device I2C to be used for communication 00157 * @param[in] PinName gpio1_centre the pin connected to top sensor INT 00158 * @param[in] PinName gpio1_left the pin connected to left sensor INT 00159 * @param[in] PinName gpio1_right the pin connected to right sensor INT 00160 * @return Pointer to the object instance 00161 */ 00162 static XNucleo53L0A1 *instance(DevI2C *ext_i2c, PinName gpio1_centre, 00163 PinName gpio1_left, PinName gpio1_right); 00164 00165 /** 00166 * @brief Initialize the board and sensors with deft values 00167 * @return 0 on success 00168 */ 00169 int init_board(); 00170 00171 DevI2C *dev_i2c; 00172 VL53L0X *sensor_centre; 00173 VL53L0X *sensor_left; 00174 VL53L0X *sensor_right; 00175 Stmpe1600 *stmpe1600_exp0; 00176 Stmpe1600 *stmpe1600_exp1; 00177 Stmpe1600DigiOut *xshutdown_centre; 00178 Stmpe1600DigiOut *xshutdown_left; 00179 Stmpe1600DigiOut *xshutdown_right; 00180 Display *display; 00181 00182 private: 00183 static XNucleo53L0A1 *_instance; 00184 }; 00185 00186 #endif /* __XNucleo53L0A1_H */ 00187 00188
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