Revision 7:35ecf3e060c3, committed 2016-12-05

Comitter:

johnAlexander

Date:

Mon Dec 05 11:50:38 2016 +0000

Parent:

6:fa6944a8850f

Parent:

4:4e1576541eed

Child:

8:8d27ebb4e1eb

Commit message:

Replace STM32 HAL_delay call with equivalent mbed wait_ms, for cross processor compatibility.; Import mbed.h in VL53L0X class to ease finding InterruptIn.; Minor code tidy up.

Changed in this revision

--- a/Components/VL53L0X/vl53l0x_class.h	Mon Dec 05 11:38:38 2016 +0000
+++ b/Components/VL53L0X/vl53l0x_class.h	Mon Dec 05 11:50:38 2016 +0000
@@ -373,7 +373,6 @@
 	 */
     int InitSensor(uint8_t NewAddr);
 
-
 	/**
 	 * @brief       Start the measure indicated by operating mode
 	 * @param[in]   operating_mode specifies requested measure 
@@ -1331,7 +1330,6 @@
     		VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
 
     /* Read function of the ID device */
-//    virtual int ReadID();
     virtual int ReadID(uint8_t *id);
     
     VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev);

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/x_nucleo_53l0a1.h.orig	Mon Dec 05 11:50:38 2016 +0000
@@ -0,0 +1,198 @@
+/**
+ ******************************************************************************
+ * @file    x_nucleo_53L0A1.h
+ * @author  IMG 
+ * @version V1.0.0
+ * @date    28-November-2016
+ * @brief   Header file for class X_NUCLEO_53L0A1 representing a X-NUCLEO-53L0A1
+ *          expansion board
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __X_NUCLEO_53L0A1_H
+#define __X_NUCLEO_53L0A1_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "vl53l0x_class.h"
+#include "Display_class.h"
+#include "stmpe1600_class.h"
+#include "DevI2C.h"
+
+/** New device addresses */
+//#define NEW_SENSOR_CENTRE_ADDRESS		0x54
+#define NEW_SENSOR_CENTRE_ADDRESS		0x52
+#define NEW_SENSOR_LEFT_ADDRESS			0x56
+#define NEW_SENSOR_RIGHT_ADDRESS		0x58
+
+/* Classes--------------------------------------------------------------------*/
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing the X-NUCLEO-VL53L0A1 expansion board
+ */
+class X_NUCLEO_53L0A1
+{
+public:
+     /** Constructor 1
+     * @param[in] &i2c device I2C to be used for communication
+     */
+    X_NUCLEO_53L0A1(DevI2C *ext_i2c) : dev_i2c(ext_i2c)
+    {
+        stmpe1600_exp0 = new STMPE1600(*ext_i2c, (0x43 * 2)); // U21
+        stmpe1600_exp0->writeSYS_CTRL (SOFT_RESET);
+
+        stmpe1600_exp1 = new STMPE1600(*ext_i2c, (0x42 * 2)); // U19
+        stmpe1600_exp1->writeSYS_CTRL (SOFT_RESET);
+
+        display = new Display(*stmpe1600_exp0, *stmpe1600_exp1);
+			
+        xshutdown_centre=new STMPE1600DigiOut(*dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
+        sensor_centre=new VL53L0X(*dev_i2c, *xshutdown_centre, A2);
+       
+        xshutdown_left=new STMPE1600DigiOut(*dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
+        sensor_left=new VL53L0X(*dev_i2c, *xshutdown_left, D8);
+       
+        xshutdown_right=new STMPE1600DigiOut(*dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
+        sensor_right=new VL53L0X(*dev_i2c, *xshutdown_right, D2);
+    }
+    
+    /** Constructor 2
+     * @param[in] &i2c device I2C to be used for communication
+     * @param[in] PinName gpio1_top Mbed DigitalOut pin name to be used as a top sensor GPIO_1 INT
+     * @param[in] PinName gpio1_bottom Mbed DigitalOut pin name to be used as a bottom sensor GPIO_1 INT
+     * @param[in] PinName gpio1_left Mbed DigitalOut pin name to be used as a left sensor GPIO_1 INT
+     * @param[in] PinName gpio1_right Mbed DigitalOut pin name to be used as a right sensor GPIO_1 INT               
+     */    
+    X_NUCLEO_53L0A1(DevI2C *ext_i2c, PinName gpio1_centre,
+    		 						  PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c) {
+        stmpe1600_exp0 = new STMPE1600(*ext_i2c, (0x43 * 2)); // U21
+        stmpe1600_exp0->writeSYS_CTRL(SOFT_RESET);
+
+        stmpe1600_exp1 = new STMPE1600(*ext_i2c, (0x42 * 2)); // U19
+        stmpe1600_exp1->writeSYS_CTRL(SOFT_RESET);
+
+        display = new Display(*stmpe1600_exp0, *stmpe1600_exp1);
+
+       xshutdown_centre=new STMPE1600DigiOut(*dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
+       sensor_centre=new VL53L0X(*dev_i2c, *xshutdown_centre, gpio1_centre);
+       
+       xshutdown_left=new STMPE1600DigiOut(*dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
+       sensor_left=new VL53L0X(*dev_i2c, *xshutdown_left, gpio1_left);
+       
+       xshutdown_right=new STMPE1600DigiOut(*dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
+       sensor_right=new VL53L0X(*dev_i2c, *xshutdown_right, gpio1_right);
+    }  
+
+   /** Destructor
+    */		
+    ~X_NUCLEO_53L0A1()
+    {
+        if(xshutdown_centre!=NULL)
+        {
+           delete xshutdown_centre;
+           xshutdown_centre=NULL;
+        }
+       if(sensor_centre!=NULL)
+       {
+          delete sensor_centre;
+	        sensor_centre=NULL;
+       }
+       if(xshutdown_left!=NULL)
+       {
+          delete xshutdown_left;
+          xshutdown_left=NULL;
+       }
+       if(sensor_left!=NULL)
+       {
+          delete sensor_left;
+	        sensor_left=NULL;
+       }
+       if(xshutdown_right!=NULL)
+       {
+          delete xshutdown_right;
+          xshutdown_right=NULL;
+       }
+       if(sensor_right!=NULL)
+       {
+          delete sensor_right;
+	        sensor_right=NULL;
+       }
+
+	   delete stmpe1600_exp0;
+	   stmpe1600_exp0 = NULL;
+	   delete stmpe1600_exp1;
+	   stmpe1600_exp1 = NULL;
+	   delete display;
+	   display = NULL;
+       _instance=NULL;
+    }
+
+	/**
+	 * @brief       Creates a singleton object instance
+     * @param[in]   &i2c device I2C to be used for communication
+	 * @return      Pointer to the object instance
+	 */					     
+    static X_NUCLEO_53L0A1 *Instance(DevI2C *ext_i2c);
+    
+	/**
+	 * @brief       Creates a singleton object instance
+     * @param[in]   &i2c device I2C to be used for communication
+     * @param[in]   PinName gpio1_centre the pin connected to top sensor INT     
+     * @param[in]   PinName gpio1_left the pin connected to left sensor INT          
+     * @param[in]   PinName gpio1_right the pin connected to right sensor INT          
+	 * @return      Pointer to the object instance
+	 */					         
+    static X_NUCLEO_53L0A1 *Instance(DevI2C *ext_i2c, PinName gpio1_centre, 
+                                             PinName gpio1_left, PinName gpio1_right);
+
+	/**
+	 * @brief       Initialize the board and sensors with deft values
+	 * @return      0 on success
+	 */		
+    int InitBoard();
+
+    DevI2C *dev_i2c;
+    VL53L0X *sensor_centre;
+    VL53L0X *sensor_left;
+    VL53L0X *sensor_right;
+  	STMPE1600 *stmpe1600_exp0;
+  	STMPE1600 *stmpe1600_exp1;
+    STMPE1600DigiOut *xshutdown_centre;
+    STMPE1600DigiOut *xshutdown_left;
+    STMPE1600DigiOut *xshutdown_right;
+    Display *display;
+    
+ private:		 		
+    static X_NUCLEO_53L0A1 *_instance;
+};
+
+#endif /* __X_NUCLEO_53L0A1_H */
+
+