added modulino distance for demo purpose

Author: gbr1

README.md

@@ -9,3 +9,8 @@ Library to use the Science Kit Carrier rev3 sensors and make possible the connec
 
 ## NOTE
 This library requires at least firmware 1.5.0 on your NINA module.
+
+# WARNING - WIP
+
+this branch works only with Modulino Distance and ESP32.
+When building this branch, please choose "pin numbering: by GPIO number (legacy)" from the tool tab in Arduino IDE.

src/Arduino_ScienceKitCarrier.cpp

@@ -112,6 +112,10 @@ ScienceKitCarrier::ScienceKitCarrier(){
   enable_led_green = false;
   enable_led_blue = false;
   led_time_base = 20;
+
+  //Modulino.begin(Wire);
+  tof = new ModulinoDistance();
+  
 }
 
 
@@ -133,7 +137,7 @@ int ScienceKitCarrier::begin(const uint8_t auxiliary_threads){
     digitalWrite(LED_BLUE,HIGH);
   #endif
 
-
+  Modulino.begin();
   Wire.begin();
 
   // most of begin functions return always 0, it is a code-style or future implementation
@@ -170,6 +174,15 @@ int ScienceKitCarrier::begin(const uint8_t auxiliary_threads){
   }
   #endif
 
+
+  if (!tof->begin()){
+    tof_connected = false;
+  }
+  else{
+    tof_connected = true;
+    ultrasonic_is_connected = true;
+  }
+
   // let's start bme688, external ds18b20 probe and ultrasonic sensor
   startAuxiliaryThreads(auxiliary_threads);
   return 1;
@@ -791,6 +804,7 @@ void ScienceKitCarrier::updateUltrasonic(){
     distance = -1.0;
     travel_time = -1.0;
   }
+
 }
 
 void ScienceKitCarrier::requestUltrasonicUpdate(){
@@ -826,8 +840,10 @@ bool ScienceKitCarrier::getUltrasonicIsConnected(){
 
 void ScienceKitCarrier::threadUltrasonic(){
   while(1){
-    updateUltrasonic();
-    delay(200);
+    //updateUltrasonic();
+    updateTOF();
+    //delay(200);
+    delay(100);
   }
 }
 
@@ -1017,7 +1033,19 @@ void ScienceKitCarrier::startAuxiliaryThreads(const uint8_t auxiliary_threads){
   #endif
 }
 
-
+// WIP
+void ScienceKitCarrier::updateTOF(){
+  if (tof_connected){
+    if (tof->available()){
+      distance = tof->get();
+      travel_time = distance*2.0/0.343;
+    }
+  }
+  else{
+    distance = -1.0;
+    travel_time = -1.0;
+  }
+}
 
 
 

src/Arduino_ScienceKitCarrier.h

@@ -69,6 +69,7 @@ static  Placeholder<OneWireNg_CurrentPlatform> ow;
 #define wire_unlock xSemaphoreGive(wire_semaphore)
 #endif
 
+#include <Arduino_Modulino.h>
 
 class ScienceKitCarrier{
   private:
@@ -143,6 +144,12 @@ class ScienceKitCarrier{
     void requestUltrasonicUpdate();
     void retriveUltrasonicUpdate();
 
+    // WIP
+    
+    ModulinoDistance * tof;
+    bool tof_connected;
+    
+
   public:
     ScienceKitCarrier();
 
@@ -254,7 +261,8 @@ class ScienceKitCarrier{
     static void freeRTOSUltrasonic(void * pvParameters);
     #endif
 
-
+    //WIP
+    void updateTOF();
 
     /* External temperature probe - Dallas DS18B20 */
     int beginExternalTemperature();

src/utils/Arduino_ScienceKitCarrier_definitions.h

@@ -21,8 +21,8 @@
 #define __ARDUINO_SCIENCEKITCARRIER_DEFINITIONS_H__
 
 // Grove pads
-#define INPUTA_PIN A0
-#define INPUTB_PIN A1
+#define INPUTA_PIN 1
+#define INPUTB_PIN 2
 #define ANALOGIN_DISABLED 0
 #define UPDATE_ALL 0
 #define UPDATE_INPUT_A 1
@@ -36,7 +36,7 @@
 #endif
 
 // APDS9960
-#define INT_APDS9960 9
+#define INT_APDS9960 18
 #define APDS9960_VERSION 0
 #define APDS9999_VERSION 1
 
@@ -45,7 +45,7 @@ const uint32_t SHUNT_MICRO_OHM{100000};    // check schematic R20
 const uint16_t MAXIMUM_AMPS{1};            // 1A
 
 // Resistance
-#define RESISTANCE_PIN A2
+#define RESISTANCE_PIN 3
 #define RESISTOR_AUX  1000.0
 #ifdef ARDUINO_NANO_RP2040_CONNECT
 #define REF_VOLTAGE 3.3
@@ -66,14 +66,14 @@ const uint16_t MAXIMUM_AMPS{1};            // 1A
 #define G_EARTH 9.807
 
 // Bme688
-#define BME688_CS 10
+#define BME688_CS 21
 
 // External temperature connected on input A
 #ifdef ARDUINO_NANO_RP2040_CONNECT
 #define OW_PIN digitalPinToPinName(INPUTA_PIN)
 #endif
 #ifdef ARDUINO_NANO_ESP32
-#define OW_PIN digitalPinToGPIONumber(INPUTA_PIN)
+#define OW_PIN INPUTA_PIN
 #endif
 #define EXTERNAL_TEMPERATURE_DISABLED -273.15; // absolute zero xD
 
@@ -134,8 +134,8 @@ const uint16_t MAXIMUM_AMPS{1};            // 1A
 
 
 // Servos
-#define SERVO_A_PIN 3
-#define SERVO_B_PIN 2
+#define SERVO_A_PIN 6
+#define SERVO_B_PIN 5