Merge pull request #1 from cparata/master

First release of the X-NUCLEO-53L0A1 library

LICENSE.md

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+COPYRIGHT(c) 2017 STMicroelectronics
+
+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.

README.md

@@ -1,2 +1,48 @@
 # X-NUCLEO-53L0A1
+
 Arduino library to support the X-NUCLEO-53L0A1 based on VL53L0X Time-of-Flight and gesture-detection sensor
+This sensor uses I2C to communicate. An I2C instance is required to access to the sensor.
+The APIs provide simple distance measure, single swipe gesture detection,
+directional (left/right) swipe gesture detection and single tap gesture detection.
+
+## Examples
+
+There are 4 examples with the  X-NUCLEO-53L0A1 library.
+* X_NUCLEO_53L0A1_HelloWorld: This example code is to show how to get proximity
+  values of the onboard VL53L0X sensor and eventually of the two satellites
+
+* X_NUCLEO_53L0A1_Gesture_DirSwipe: This example code is to show how to combine the
+  proximity values of the two VL53L0X sensor satellites together with the gesture library
+  in order to detect a directional swipe gesture.
+
+* X_NUCLEO_53L0A1_Gesture_Swipe1: This example code is to show how to combine the
+  proximity value of the onboard VL53L0X sensor together with the gesture library
+  in order to detect a simple swipe gesture without considering the direction.
+
+* X_NUCLEO_53L0A1_Gesture_Tap1: This example code is to show how to combine the
+  proximity value of the onboard VL53L0X sensor together with the gesture
+  library in order to detect a simple tap gesture.
+
+##Dependencies
+
+This package requires the following Arduino libraries:
+* VL53L0X: https://github.com/stm32duino/VL53L0X
+* Proximity_Gesture: https://github.com/stm32duino/Proximity_Gesture
+
+## Note
+
+The maximum detection distance is influenced by the color of the target and
+the indoor or outdoor situation due to absence or presence of external
+infrared.
+The detection range can be comprise between ~40cm and ~120cm. (see chapter 5 of
+the VL53L0X datasheet).
+If you need an higher accuracy (up to +200cm), you should implement your own
+function.
+
+## Documentation
+
+You can find the source files at  
+https://github.com/stm32duino/X-NUCLEO-53L0A1
+
+The VL53L0X datasheet is available at  
+http://www.st.com/content/st_com/en/products/imaging-and-photonics-solutions/proximity-sensors/vl53l0x.html

examples/X_NUCLEO_53L0A1_Gesture_DirSwipe/X_NUCLEO_53L0A1_Gesture_DirSwipe.ino

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+/**
+ ******************************************************************************
+ * @file    X_NUCLEO_53L0A1_Gesture_DirSwipe.ino
+ * @author  AST
+ * @version V1.0.0
+ * @date    21 April 2017
+ * @brief   Arduino test application for the STMicrolectronics X-NUCLEO-53L0A1
+ *          proximity sensor expansion board based on FlightSense and gesture library.
+ *          This application makes use of C++ classes obtained from the C
+ *          components' drivers.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2017 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Includes ------------------------------------------------------------------*/
+#include <Arduino.h>
+#include <Wire.h>
+#include <vl53l0x_x_nucleo_53l0a1_class.h>
+#include <stmpe1600_class.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <assert.h>
+#include <tof_gestures.h>
+#include <tof_gestures_DIRSWIPE_1.h>
+
+#define DEV_I2C Wire
+#define SerialPort Serial
+
+// Components.
+STMPE1600DigiOut *xshutdown_top;
+STMPE1600DigiOut *xshutdown_left;
+STMPE1600DigiOut *xshutdown_right;
+VL53L0X_X_NUCLEO_53L0A1 *sensor_vl53l0x_top;
+VL53L0X_X_NUCLEO_53L0A1 *sensor_vl53l0x_left;
+VL53L0X_X_NUCLEO_53L0A1 *sensor_vl53l0x_right;
+
+// Gesture structure.
+Gesture_DIRSWIPE_1_Data_t gestureDirSwipeData;
+
+// Range values
+uint32_t distance_left, distance_right;
+
+/**
+ *  Setup all sensors for single shot mode
+ */
+void SetupSingleShot(void){
+  int status;
+  uint8_t VhvSettings;
+  uint8_t PhaseCal;
+  uint32_t refSpadCount;
+  uint8_t isApertureSpads;
+
+  status = sensor_vl53l0x_left->StaticInit();
+  if( status ){
+    SerialPort.println("StaticInit left sensor failed");
+  }
+
+  status = sensor_vl53l0x_left->PerformRefCalibration(&VhvSettings, &PhaseCal);
+  if( status ){
+    SerialPort.println("PerformRefCalibration left sensor failed");
+  }
+
+  status = sensor_vl53l0x_left->PerformRefSpadManagement(&refSpadCount, &isApertureSpads);
+  if( status ){
+    SerialPort.println("PerformRefSpadManagement left sensor failed");
+  }
+
+  status = sensor_vl53l0x_left->SetDeviceMode(VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
+  if( status ){
+    SerialPort.println("SetDeviceMode left sensor failed");
+  }
+
+  status = sensor_vl53l0x_left->SetMeasurementTimingBudgetMicroSeconds(20*1000);
+  if( status ){
+    SerialPort.println("SetMeasurementTimingBudgetMicroSeconds left sensor failed");
+  }
+
+  status = sensor_vl53l0x_right->StaticInit();
+  if( status ){
+    SerialPort.println("StaticInit right sensor failed");
+  }
+
+  status = sensor_vl53l0x_right->PerformRefCalibration(&VhvSettings, &PhaseCal);
+  if( status ){
+    SerialPort.println("PerformRefCalibration right sensor failed");
+  }
+
+  status = sensor_vl53l0x_right->PerformRefSpadManagement(&refSpadCount, &isApertureSpads);
+  if( status ){
+    SerialPort.println("PerformRefSpadManagement right sensor failed");
+  }
+
+  status = sensor_vl53l0x_right->SetDeviceMode(VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
+  if( status ){
+    SerialPort.println("SetDeviceMode right sensor failed");
+  }
+
+  status = sensor_vl53l0x_right->SetMeasurementTimingBudgetMicroSeconds(20*1000);
+  if( status ){
+    SerialPort.println("SetMeasurementTimingBudgetMicroSeconds right sensor failed");
+  }
+}
+
+/* Setup ---------------------------------------------------------------------*/
+
+void setup() {
+  int status;
+  // Led.
+  pinMode(13, OUTPUT);
+
+  // Initialize serial for output.
+  SerialPort.begin(115200);
+
+  // Initialize I2C bus.
+  DEV_I2C.begin();
+  DEV_I2C.setClock(400000);
+
+  // Create VL53L0X top component.
+  xshutdown_top = new STMPE1600DigiOut(&DEV_I2C, GPIO_15, (0x42 * 2));
+  sensor_vl53l0x_top = new VL53L0X_X_NUCLEO_53L0A1(&DEV_I2C, xshutdown_top, A2);
+
+  // Switch off VL53L0X top component.
+  sensor_vl53l0x_top->VL53L0X_Off();
+
+  // Create (if present) VL53L0X left component.
+  xshutdown_left = new STMPE1600DigiOut(&DEV_I2C, GPIO_14, (0x43 * 2));
+  sensor_vl53l0x_left = new VL53L0X_X_NUCLEO_53L0A1(&DEV_I2C, xshutdown_left, D8);
+
+  // Switch off (if present) VL53L0X left component.
+  sensor_vl53l0x_left->VL53L0X_Off();
+
+  // Create (if present) VL53L0X right component.
+  xshutdown_right = new STMPE1600DigiOut(&DEV_I2C, GPIO_15, (0x43 * 2));
+  sensor_vl53l0x_right = new VL53L0X_X_NUCLEO_53L0A1(&DEV_I2C, xshutdown_right, D2);
+
+  // Switch off (if present) VL53L0X right component.
+  sensor_vl53l0x_right->VL53L0X_Off();
+
+  // Initialize VL53L0X left component.
+  status = sensor_vl53l0x_left->InitSensor(0x12);
+  if(status)
+  {
+    SerialPort.println("Init sensor_vl53l0x_left failed...");
+  }
+
+  // Initialize VL53L0X right component.
+  status = sensor_vl53l0x_right->InitSensor(0x14);
+  if(status)
+  {
+    SerialPort.println("Init sensor_vl53l0x_right failed...");
+  }
+
+  // Initialize VL6180X gesture library.
+  tof_gestures_initDIRSWIPE_1(400, 0, 1000, &gestureDirSwipeData);
+
+  SetupSingleShot();
+}
+
+
+/* Loop ----------------------------------------------------------------------*/
+
+void loop() {
+  int gesture_code;
+  int status;
+
+  sensor_vl53l0x_left->StartMeasurement();
+  sensor_vl53l0x_right->StartMeasurement();
+
+  int left_done = 0;
+  int right_done = 0;
+  uint8_t NewDataReady=0;
+  VL53L0X_RangingMeasurementData_t pRangingMeasurementData;
+
+  do
+  {
+    if(left_done == 0)
+    {
+      NewDataReady = 0;
+      int status = sensor_vl53l0x_left->GetMeasurementDataReady(&NewDataReady);
+
+      if( status ){
+        SerialPort.println("GetMeasurementDataReady left sensor failed");
+      }
+
+      if(NewDataReady)
+      {
+        status = sensor_vl53l0x_left->ClearInterruptMask(0);
+        if( status ){
+          SerialPort.println("ClearInterruptMask left sensor failed");
+        }
+
+        status = sensor_vl53l0x_left->GetRangingMeasurementData(&pRangingMeasurementData);
+        if( status ){
+          SerialPort.println("GetRangingMeasurementData left sensor failed");
+        }
+
+        if (pRangingMeasurementData.RangeStatus == 0) {
+          // we have a valid range.
+          distance_left = pRangingMeasurementData.RangeMilliMeter;
+        }else {
+          distance_left = 1200;
+        }
+
+        left_done = 1;
+      }
+    }
+
+    if(right_done == 0)
+    {
+      NewDataReady = 0;
+      int status = sensor_vl53l0x_right->GetMeasurementDataReady(&NewDataReady);
+
+      if( status ){
+        SerialPort.println("GetMeasurementDataReady right sensor failed");
+      }
+
+      if(NewDataReady)
+      {
+        status = sensor_vl53l0x_right->ClearInterruptMask(0);
+        if( status ){
+          SerialPort.println("ClearInterruptMask right sensor failed");
+        }
+
+        status = sensor_vl53l0x_right->GetRangingMeasurementData(&pRangingMeasurementData);
+        if( status ){
+          SerialPort.println("GetRangingMeasurementData right sensor failed");
+        }
+
+        if (pRangingMeasurementData.RangeStatus == 0) {
+          // we have a valid range.
+          distance_right = pRangingMeasurementData.RangeMilliMeter;
+        }else {
+          distance_right = 1200;
+        }
+
+        right_done = 1;
+      }
+    }
+  }while(left_done == 0 || right_done == 0);
+
+  // Launch gesture detection algorithm.
+  gesture_code = tof_gestures_detectDIRSWIPE_1(distance_left, distance_right, &gestureDirSwipeData);
+
+  // Check the result of the gesture detection algorithm.
+  switch(gesture_code)
+  {
+    case GESTURES_SWIPE_LEFT_RIGHT:
+      SerialPort.println("From LEFT to RIGHT --->");
+      break;
+    case GESTURES_SWIPE_RIGHT_LEFT:
+      SerialPort.println("From RIGHT to LEFT <---");
+      break;
+    default:
+      // Do nothing
+      break;
+  }
+}
+