Add child class to VL53L1 which accepts GpioInterface.

Author: dhebbeker

robot-control-src/VL53L1GpioInterface.cpp

@@ -0,0 +1,45 @@
+#include "VL53L1GpioInterface.hpp"
+#include "GpioInterface.hpp"
+#include <Arduino.h>
+
+VL53L1GpioInterface::~VL53L1GpioInterface() {
+  end();
+}
+
+VL53L1GpioInterface::VL53L1GpioInterface(TwoWire *const i2cDevice,
+    GpioInterface &xshutdownPin) : VL53L1(i2cDevice, -1), xshutdown(xshutdownPin) {
+}
+
+void VL53L1GpioInterface::VL53L1_SetDeviceAddressValue(
+    std::uint8_t const newValue) {
+  VL53L1_SetDeviceAddress(newValue << 1);
+}
+
+std::uint8_t VL53L1GpioInterface::VL53L1_GetDeviceAddressValue() const {
+  return MyDevice.I2cDevAddr >> 1;
+}
+
+VL53L1_Error VL53L1GpioInterface::initSensorWithAddressValue(
+    std::uint8_t const addressValue) {
+  return InitSensor(addressValue << 1);
+}
+
+void VL53L1GpioInterface::VL53L1_Off() {
+  digitalWrite(xshutdown, LOW);
+  delay(10);
+}
+
+int VL53L1GpioInterface::end() {
+  pinMode(xshutdown, INPUT);
+  return 0;
+}
+
+void VL53L1GpioInterface::VL53L1_On() {
+  digitalWrite(xshutdown, HIGH);
+  delay(10);
+}
+
+int VL53L1GpioInterface::begin() {
+  pinMode(xshutdown, OUTPUT);
+  return 0;
+}

robot-control-src/VL53L1GpioInterface.hpp

@@ -0,0 +1,76 @@
+#ifndef VL53L1GPIOINTERFACE_HPP_
+#define VL53L1GPIOINTERFACE_HPP_
+
+#include <vl53l1_class.h>
+#include <cstdint>
+
+class TwoWire;
+class GpioInterface;
+
+class VL53L1GpioInterface : public VL53L1 {
+public:
+  /** Calls end(). */
+  virtual ~VL53L1GpioInterface();
+
+  /**
+   * Sets default values for members.
+   * @param i2cDevice Is the I2C interface to be used.
+   *                  It must be initialized and started.
+   * @param xshutdownPin Is the digital output connected to XSHUT.
+   */
+  VL53L1GpioInterface(TwoWire * const i2cDevice, GpioInterface& xshutdownPin);
+
+  /** The 7 bits of the default address  value right aligned. */
+  static constexpr std::uint8_t defaultAddressValue = VL53L1_DEFAULT_DEVICE_ADDRESS >> 1;
+
+  /**
+   * Initializes the sensor and sets it's address.
+   * @param addressValue 7 bits of the address right aligned.
+   * @return VL53L1_ERROR_NONE on success
+   */
+  virtual VL53L1_Error initSensorWithAddressValue(const std::uint8_t addressValue = defaultAddressValue);
+
+  /**
+   * Sets the address of the sensor.
+   * @param newValue is the 7 bits of the address value right aligned.
+   */
+  virtual void VL53L1_SetDeviceAddressValue(const std::uint8_t newValue);
+
+  /**
+   * Gets the address which has been written to the sensor.
+   *
+   * @return The 7 bits of the address value right-aligned.
+   */
+  virtual std::uint8_t VL53L1_GetDeviceAddressValue() const;
+
+  /**
+   * Sets the mode of the xshutdownPin to OUTPUT.
+   * @return 0
+   */
+  virtual int begin() override;
+
+  /**
+   * Sets the mode of XShutdown pin to INPUT.
+   * @return 0
+   */
+  virtual int end() override;
+
+  /**
+   * Switches on the sensor.
+   *
+   * The digital output connected to XSHUT is set to high.
+   */
+  virtual void VL53L1_On() override;
+
+  /**
+   * Switches off the sensor.
+   *
+   * The digital output connected to XSHUT is set to low.
+   */
+  virtual void VL53L1_Off() override;
+
+protected:
+  GpioInterface& xshutdown;
+};
+
+#endif /* VL53L1GPIOINTERFACE_HPP_ */