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dhebbekerdhebbeker
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Use 4 VL53L1 distance sensors in combination with MCP23017.
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‎README.md

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@@ -61,4 +61,5 @@ Also the IO-expander `I11` has been disconnected in order to be able to control
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Software
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========
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The source code is written in C++. It is compiled and programmed with the [Arduino IDE](https://www.arduino.cc/en/Main/Software). The [board support package for the ESP8266 chip](https://github.com/esp8266/Arduino) must be installed.
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The source code is written in C++. It is compiled and programmed with the [Arduino IDE](https://www.arduino.cc/en/Main/Software). The [board support package for the ESP8266 chip](https://github.com/esp8266/Arduino) must be installed.
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The [Arduino library VL53L1](https://github.com/stm32duino/VL53L1) must be installed.

‎robot-control-src/DigitalPin.hpp

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‎robot-control-src/GpioInterface.hpp

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#include <cstdint>
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class GpioInterface {
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/**
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* Interface for digital input and output pins.
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*
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* Implementations may provide access to the pins of the microprocessor or
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* external pins of IO-expanders.
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*
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* Parameters and return values are compatible to the Arduino library.
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*/
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class GpioInterface
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{
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public:
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/**
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* Sets output value of the pin.
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* @param value may be HIGH or LOW (see Arduino.h)
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* @pre Configure the mode to OUTPUT using setMode().
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*/
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virtual void write(const std::uint8_t value) = 0;
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/**
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* Reads the value of the pin.
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* @return Either HIGH or LOW (see Arduino.h).
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* @pre Configure the mode to INPUT or INPUT_PULLUP using setMode().
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*/
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virtual int read() = 0;
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/**
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* Configures the pin to be either input or output.
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* @param mode INPUT, OUTPUT, or INPUT_PULLUP (see Arduino.h).
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*/
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virtual void setMode(const std::uint8_t mode) = 0;
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virtual ~GpioInterface() {};
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virtual ~GpioInterface() = default;
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};
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/** @name Digital I/O function overload for GpioInterface objects.
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*
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* These functions provide an interface to GpioInterface objects compatible
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* to the Arduino library digital I/O functions.
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*/
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/** @{ */ /* Start group for digital I/O */
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/**
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* Sets output value of the pin.
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* @param gpio digital output pin
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* @param value may be HIGH or LOW (see Arduino.h)
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* @pre Configure the mode to OUTPUT using pinMode().
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*/
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void digitalWrite(GpioInterface& gpio, const std::uint8_t value);
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/**
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* Reads the value of the pin.
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* @param gpio digital input pin
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* @return Either HIGH or LOW (see Arduino.h).
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* @pre Configure the mode to INPUT or INPUT_PULLUP using pinMode().
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*/
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int digitalRead(GpioInterface& gpio);
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/**
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* Configures the pin to be either input or output.
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* @param gpio digital pin
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* @param mode INPUT, OUTPUT, or INPUT_PULLUP (see Arduino.h).
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*/
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void pinMode(GpioInterface& gpio, const std::uint8_t mode);
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/** @} */ /* End group for digital I/O */
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#endif /* GPIOINTERFACE_HPP_ */

‎robot-control-src/GpioPin.hpp

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#ifndef GPIOPIN_HPP_
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#define GPIOPIN_HPP_
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#include "GpioInterface.hpp"
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#include <Arduino.h>
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/**
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* Extension of GpioInterface for the processors general purpose input/output pins.
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*
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* Adds method to set PWM duty cycle.
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*
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* @tparam PIN is the Arduino pin number
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*/
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template<std::uint8_t PIN>
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class GpioPin: public GpioInterface
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{
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public:
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static constexpr std::uint8_t pin = PIN;
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virtual int read() override
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{
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return digitalRead(pin);
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}
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virtual void setMode(const std::uint8_t mode) override
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{
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pinMode(pin, mode);
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}
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virtual void write(const std::uint8_t value) override
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{
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digitalWrite(pin, value);
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}
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/**
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* Sets PWM duty cycle.
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* @param dutyCycle between 0 and 255
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*/
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void setDutyCycle(const int dutyCycle) const
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{
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analogWrite(pin, dutyCycle);
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}
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};
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/* If digitalPinToInterrupt is defined as C preprocessor macro it needs to be
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* undefined. digitalPinToInterrupt must be overloaded for GpioPin. This is
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* not possible for macros.
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*/
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#if defined(digitalPinToInterrupt)
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/**
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* Wrapper for digitalPinToInterrupt.
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*
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* Encapsulates the digitalPinToInterrupt functionality before it is undefined.
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* In contrast to the C preprocessor macro this function can be overridden.
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*
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* @param pinNumber is the Arduino pin number
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* @return interrupt number
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*/
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inline constexpr int digitalPinToInterruptWrapper(const int pinNumber)
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{
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return digitalPinToInterrupt(pinNumber);
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}
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/* Undefine macro in order to enable function declaration with the same name. */
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#undef digitalPinToInterrupt
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/**
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* Getter for the interrupt number for a digital input pin.
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*
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* This is an adapter to digitalPinToInterruptWrapper().
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* @param pinNumber is the Arduino pin number
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* @return interrupt number
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*/
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inline constexpr int digitalPinToInterrupt(const int pinNumber)
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{
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return digitalPinToInterruptWrapper(pinNumber);
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}
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#endif /* defined(digitalPinToInterrupt) */
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/** @name Function overload for GpioPin objects.
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*
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* These functions provide an interface to GpioPin objects compatible
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* to the Arduino library functions.
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*/
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/** @{ */ /* Start group for function overloads */
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/**
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* Getter for the interrupt number for a digital input pin.
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*
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* This is an overload to digitalPinToInterrupt().
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* @tparam PIN is the Arduino pin number
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* @return interrupt number
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*/
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template<std::uint8_t PIN>
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int constexpr digitalPinToInterrupt(const GpioPin<PIN>& gpio)
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{
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return digitalPinToInterrupt(gpio.pin);
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}
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/**
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* Attach function to be called on external interrupt.
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*
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* @param gpio is the input pin to attach interrupt to
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* @param interruptServiceRoutine is the function to be called when interrupt occurs
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* @param mode may be LOW, CHANGE, RISING, FALLING (see Arduino.h)
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* @tparam PIN is the Arduino pin number
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*/
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template<std::uint8_t PIN>
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void attachInterrupt(const GpioPin<PIN>& gpio, void (* const interruptServiceRoutine)(void), const int mode)
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{
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attachInterrupt(digitalPinToInterrupt(gpio.pin), interruptServiceRoutine, mode);
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}
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/**
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* Sets PWM duty cycle to pin.
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* @tparam PIN is the Arduino pin number
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* @param gpio output pin to set duty cycle to.
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* @param dutyCycle between 0 and 255
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*/
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template<std::uint8_t PIN>
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void analogWrite(const GpioPin<PIN>& gpio, const int dutyCycle)
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{
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analogWrite(gpio.pin, dutyCycle);
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}
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/** @} */ /* End group for function overloads */
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#endif /* GPIOPIN_HPP_ */

‎robot-control-src/VL53L1GpioInterface.cpp

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

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