Revision 9:367d1f390cb2, committed 2017-06-07

Comitter:

johnAlexander

Date:

Wed Jun 07 12:53:53 2017 +0000

Parent:

8:8d27ebb4e1eb

Child:

10:faf8d62ce6d1

Commit message:

Enable support for left and right sensors. Tested with mbed_143.

Changed in this revision

--- a/Components/Display/Display_class.h	Wed Dec 07 14:49:50 2016 +0000
+++ b/Components/Display/Display_class.h	Wed Jun 07 12:53:53 2017 +0000
@@ -382,6 +382,7 @@
 //        stmpe1600_exp1.write16bitReg(GPSR, (uint16_t *)&CurIOVal.bytes[2]);
 
 // ordered low-byte/high-byte!
+        CurIOVal.bytes[1] |= 0xC0; // ensure highest bits are high, as these are xshutdown pins for left & right sensors!
         ExpanderData = (CurIOVal.bytes[1] << 8) + CurIOVal.bytes[0];
         stmpe1600_exp0.write16bitReg(GPSR, &ExpanderData);
         CurIOVal.bytes[3] |= 0x80; // ensure highest bit is high, as this is xshutdown pin on central sensor!

--- a/Components/STMPE1600/stmpe1600_class.h	Wed Dec 07 14:49:50 2016 +0000
+++ b/Components/STMPE1600/stmpe1600_class.h	Wed Jun 07 12:53:53 2017 +0000
@@ -220,7 +220,7 @@
 	 */		
     void writeSYS_CTRL (uint8_t data)     // data = SOFT_RESET reset the device
     {
-	     dev_i2c.i2c_write((uint8_t*)data, expdevaddr, SYS_CTRL, 1);
+	     dev_i2c.i2c_write(&data, expdevaddr, SYS_CTRL, 1);
     }
     
 	/**

--- a/Components/VL53L0X/vl53l0x_class.cpp	Wed Dec 07 14:49:50 2016 +0000
+++ b/Components/VL53L0X/vl53l0x_class.cpp	Wed Jun 07 12:53:53 2017 +0000
@@ -5113,7 +5113,7 @@
    status=IsPresent();
    if(!status)
    {
-      VL53L0X_DataInit(Device);
+      status=Init(&MyDevice);
       if(status != VL53L0X_ERROR_NONE)
       {
            printf("Failed to init VL53L0X sensor!\n\r");
@@ -5131,7 +5131,6 @@
          return status;
       }
 
-/*
       if(NewAddr!=DEFAULT_DEVICE_ADDRESS)
       {
          status=SetDeviceAddress(NewAddr);
@@ -5146,8 +5145,6 @@
          printf("Invalid new address!\n\r");
          return VL53L0X_ERROR_INVALID_PARAMS;
       }
-*/
-//      Device->Ready=1;
    }
    return status; 
 }
@@ -5347,3 +5344,5 @@
 
 
 
+
+

--- a/Components/VL53L0X/vl53l0x_class.h	Wed Dec 07 14:49:50 2016 +0000
+++ b/Components/VL53L0X/vl53l0x_class.h	Wed Jun 07 12:53:53 2017 +0000
@@ -1,5 +1,5 @@
 /*******************************************************************************
- Copyright © 2016, STMicroelectronics International N.V.
+ Copyright © 2016, STMicroelectronics International N.V.
  All rights reserved.
 
  Redistribution and use in source and binary forms, with or without
@@ -42,7 +42,6 @@
 
 
 /* Includes ------------------------------------------------------------------*/
-#include "mbed.h"
 #include "RangeSensor.h"
 #include "DevI2C.h" 
 
@@ -61,7 +60,7 @@
 #define STATUS_FAIL            0x01
 
 
-#define VL53L0X_OsDelay(...) wait_ms(2) // 2 msec delay. can also use wait(float secs)/wait_us(int)
+#define VL53L0X_OsDelay(...) HAL_Delay(2)
 
 #ifdef USE_EMPTY_STRING
 	#define  VL53L0X_STRING_DEVICE_INFO_NAME                             ""
@@ -328,7 +327,7 @@
        Device=&MyDevice;
        gpio0=NULL;		
        if (pin_gpio1 != NC) { gpio1Int = new InterruptIn(pin_gpio1); }
-       	else { gpio1Int = NULL; }
+       	else { gpio1Int = NULL; } 		 
     }  	 
     
    /** Destructor
@@ -352,7 +351,7 @@
 	          *gpio0 = 1;
         else if (expgpio0) 
             *expgpio0 = 1;
-        wait_ms(1);
+        wait_ms(10);
     } 
 
 	/**
@@ -366,14 +365,22 @@
 	          *gpio0 = 0;
         else if (expgpio0) 
             *expgpio0 = 0;
-        wait_ms(1);
+        wait_ms(10);
     }
     
 	/**
 	 * @brief       Initialize the sensor with default values
 	 * @return      0 on Success
-	 */
+	 */					 
     int InitSensor(uint8_t NewAddr);
+    
+    int RawInitSensor(void);
+    int initDevice(VL53L0X_DEV Dev);
+    int setLongRangePresets(VL53L0X_DEV Dev);
+    int DoRanging(VL53L0X_Dev_t *pMyDevice);
+
+
+
 
 	/**
 	 * @brief       Start the measure indicated by operating mode
@@ -486,9 +493,12 @@
  * @param void
  * @return     0 on success,  @a #CALIBRATION_WARNING if failed
  */		
-    virtual int Init(void * NewAddr)
+    virtual int Init(void *init)
+//    virtual int Init()
     {
-       return VL53L0X_DataInit(Device);
+       return VL53L0X_DataInit(&MyDevice);
+//       return VL53L0X_DataInit(Device);
+//			return 1;
     }
 
 /**
@@ -529,6 +539,7 @@
   */		
     int Prepare()
     {
+//       return VL6180x_Prepare(Device);
 			// taken from rangingTest() in vl53l0x_SingleRanging_Example.c
 		VL53L0X_Error Status = VL53L0X_ERROR_NONE;
         uint32_t refSpadCount;
@@ -680,24 +691,10 @@
  * @return           0 on success
  */		
     virtual int GetDistance(uint32_t *piData)
+//    virtual int GetRange(int32_t *piData)
     {
-        int status=0;
-        VL53L0X_RangingMeasurementData_t pRangingMeasurementData;
-
-        status=StartMeasurement(range_single_shot_polling, NULL);
-        if (!status) {
-            status=GetMeasurement(range_single_shot_polling, &pRangingMeasurementData);
-        }
-        if (pRangingMeasurementData.RangeStatus == 0) {
-        // we have a valid range.
-            *piData = pRangingMeasurementData.RangeMilliMeter;
-        }
-        else {
-            *piData = 0;
-            status = VL53L0X_ERROR_RANGE_ERROR;
-        }
-        StopMeasurement(range_single_shot_polling);
-        return status;
+//       return VL6180x_RangeGetResult(Device, piData);
+			return 1;
     }
 		
 /**
@@ -1332,6 +1329,7 @@
     		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);
@@ -1358,8 +1356,9 @@
     int IsPresent()
     {
        int status;
+       uint8_t id=0;
 			
-       status=ReadID((uint8_t *)MyDevice.I2cDevAddr);
+       status=ReadID(&id);
        if(status)
           VL53L0X_ErrLog("Failed to read ID device. Device not present!\n\r");
        return status;
@@ -1378,6 +1377,9 @@
 		
     /* IO Device */
     DevI2C &dev_i2c;
+    /* GPIO expander */
+//    STMPE1600 &io_expander;
+//    ExpGpioPinName xshutdown;
     /* Digital out pin */
     DigitalOut *gpio0;
     /* GPIO expander */
@@ -1393,3 +1395,5 @@
 #endif /* _VL53L0X_CLASS_H_ */
 
 
+
+

--- a/x_nucleo_53l0a1.cpp	Wed Dec 07 14:49:50 2016 +0000
+++ b/x_nucleo_53l0a1.cpp	Wed Jun 07 12:53:53 2017 +0000
@@ -84,7 +84,7 @@
       printf("Sensor centre present\n\r");
       n_dev++;
    }
-/*   status=sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
+   status=sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
    if(status)
    {
       delete sensor_left;
@@ -98,8 +98,8 @@
       printf("Sensor left present\n\r");
       n_dev++;
    }
-*/
-/*   status=sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
+
+   status=sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
    if(status)
    {
       delete sensor_right;
@@ -113,7 +113,7 @@
       printf("Sensor right present\n\r");
       n_dev++;
    }
-*/
+
    if(n_dev==0)
       return 1;
    else

--- a/x_nucleo_53l0a1.h	Wed Dec 07 14:49:50 2016 +0000
+++ b/x_nucleo_53l0a1.h	Wed Jun 07 12:53:53 2017 +0000
@@ -47,8 +47,7 @@
 #include "DevI2C.h"
 
 /** New device addresses */
-//#define NEW_SENSOR_CENTRE_ADDRESS		0x54
-#define NEW_SENSOR_CENTRE_ADDRESS		0x52
+#define NEW_SENSOR_CENTRE_ADDRESS		0x54
 #define NEW_SENSOR_LEFT_ADDRESS			0x56
 #define NEW_SENSOR_RIGHT_ADDRESS		0x58
 
@@ -66,10 +65,8 @@
     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);
 			
@@ -93,10 +90,8 @@
     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);