Polybot Grenoble / VL53L0X_Vcdf

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Dependents:   capteur_cdf asservissement_robot2_Homologued_real

VL53L0X.h@2:022507164b8e, 2019-04-27 (annotated)

Committer:
CharlesBl
Date:
Sat Apr 27 18:40:01 2019 +0000
Revision:
2:022507164b8e
Parent:
1:0ea6ac47f1ca 
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
CharlesBl 0:cf752e491870 1 #ifndef VL53L0X_H
CharlesBl 0:cf752e491870 2 #define VL53L0X_H
CharlesBl 0:cf752e491870 3
CharlesBl 0:cf752e491870 4 #include "mbed.h"
CharlesBl 0:cf752e491870 5
CharlesBl 0:cf752e491870 6
CharlesBl 2:022507164b8e 7 // Adresse I2C par défaut du capteur
CharlesBl 2:022507164b8e 8 #define ADDRESS_DEFAULT 0b0101001
CharlesBl 2:022507164b8e 9
CharlesBl 2:022507164b8e 10
CharlesBl 0:cf752e491870 11 /** Classe VL53L0X
CharlesBl 0:cf752e491870 12 * Librairie qui interface le capteur ToF VL53L0X.
CharlesBl 0:cf752e491870 13 * Sert à mesurer des distances.
CharlesBl 0:cf752e491870 14 *
CharlesBl 0:cf752e491870 15 * Source: https://os.mbed.com/users/open4416/code/VL53L0X_STM32compatible/
CharlesBl 0:cf752e491870 16 * Adapté par: Charles Blanchard
CharlesBl 0:cf752e491870 17 *
CharlesBl 0:cf752e491870 18 * Datasheet: https://www.st.com/resource/en/datasheet/vl53l0x.pdf
CharlesBl 0:cf752e491870 19 * Cible: STM32-F401RE
CharlesBl 0:cf752e491870 20 *
CharlesBl 0:cf752e491870 21 * Example:
CharlesBl 0:cf752e491870 22 * @code
CharlesBl 0:cf752e491870 23 * #include "mbed.h"
CharlesBl 0:cf752e491870 24 * #include "VL53L0X.h"
CharlesBl 0:cf752e491870 25 *
CharlesBl 0:cf752e491870 26 * #define SDA_pin D14
CharlesBl 0:cf752e491870 27 * #define SCL_pin D15
CharlesBl 0:cf752e491870 28 *
CharlesBl 0:cf752e491870 29 * VL53L0X sensor(SDA_pin,SCL_pin);
CharlesBl 0:cf752e491870 30 *
CharlesBl 0:cf752e491870 31 * Serial pc(SERIAL_TX, SERIAL_RX); //9600 bauds
CharlesBl 0:cf752e491870 32 *
CharlesBl 0:cf752e491870 33 * int main()
CharlesBl 0:cf752e491870 34 * {
CharlesBl 0:cf752e491870 35 * uint32_t distance;
CharlesBl 0:cf752e491870 36 *
CharlesBl 0:cf752e491870 37 * sensor.init(); //init SENSOR
CharlesBl 0:cf752e491870 38 * sensor.setTimeout(500);
CharlesBl 0:cf752e491870 39 * sensor.startContinuous();
CharlesBl 0:cf752e491870 40 *
CharlesBl 0:cf752e491870 41 * while(1) {
CharlesBl 0:cf752e491870 42 * wait_ms(100);
CharlesBl 0:cf752e491870 43 * distance = sensor.readRangeContinuousMillimeters();
CharlesBl 0:cf752e491870 44 * pc.printf("%d\r\n", distance);
CharlesBl 0:cf752e491870 45 * }
CharlesBl 0:cf752e491870 46 * }
CharlesBl 0:cf752e491870 47 * @endcode
CharlesBl 0:cf752e491870 48 */
CharlesBl 0:cf752e491870 49
CharlesBl 0:cf752e491870 50 class VL53L0X
CharlesBl 0:cf752e491870 51 {
CharlesBl 0:cf752e491870 52 public:
CharlesBl 0:cf752e491870 53 // register addresses from API vl53l0x_device.h (ordered as listed there)
CharlesBl 0:cf752e491870 54 enum regAddr {
CharlesBl 0:cf752e491870 55 SYSRANGE_START = 0x00,
CharlesBl 0:cf752e491870 56
CharlesBl 0:cf752e491870 57 SYSTEM_THRESH_HIGH = 0x0C,
CharlesBl 0:cf752e491870 58 SYSTEM_THRESH_LOW = 0x0E,
CharlesBl 0:cf752e491870 59
CharlesBl 0:cf752e491870 60 SYSTEM_SEQUENCE_CONFIG = 0x01,
CharlesBl 0:cf752e491870 61 SYSTEM_RANGE_CONFIG = 0x09,
CharlesBl 0:cf752e491870 62 SYSTEM_INTERMEASUREMENT_PERIOD = 0x04,
CharlesBl 0:cf752e491870 63
CharlesBl 0:cf752e491870 64 SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A,
CharlesBl 0:cf752e491870 65
CharlesBl 0:cf752e491870 66 GPIO_HV_MUX_ACTIVE_HIGH = 0x84,
CharlesBl 0:cf752e491870 67
CharlesBl 0:cf752e491870 68 SYSTEM_INTERRUPT_CLEAR = 0x0B,
CharlesBl 0:cf752e491870 69
CharlesBl 0:cf752e491870 70 RESULT_INTERRUPT_STATUS = 0x13,
CharlesBl 0:cf752e491870 71 RESULT_RANGE_STATUS = 0x14,
CharlesBl 0:cf752e491870 72
CharlesBl 0:cf752e491870 73 RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC,
CharlesBl 0:cf752e491870 74 RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0,
CharlesBl 0:cf752e491870 75 RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0,
CharlesBl 0:cf752e491870 76 RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4,
CharlesBl 0:cf752e491870 77 RESULT_PEAK_SIGNAL_RATE_REF = 0xB6,
CharlesBl 0:cf752e491870 78
CharlesBl 0:cf752e491870 79 ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28,
CharlesBl 0:cf752e491870 80
CharlesBl 0:cf752e491870 81 I2C_SLAVE_DEVICE_ADDRESS = 0x8A,
CharlesBl 0:cf752e491870 82
CharlesBl 0:cf752e491870 83 MSRC_CONFIG_CONTROL = 0x60,
CharlesBl 0:cf752e491870 84
CharlesBl 0:cf752e491870 85 PRE_RANGE_CONFIG_MIN_SNR = 0x27,
CharlesBl 0:cf752e491870 86 PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56,
CharlesBl 0:cf752e491870 87 PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57,
CharlesBl 0:cf752e491870 88 PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64,
CharlesBl 0:cf752e491870 89
CharlesBl 0:cf752e491870 90 FINAL_RANGE_CONFIG_MIN_SNR = 0x67,
CharlesBl 0:cf752e491870 91 FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47,
CharlesBl 0:cf752e491870 92 FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48,
CharlesBl 0:cf752e491870 93 FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,
CharlesBl 0:cf752e491870 94
CharlesBl 0:cf752e491870 95 PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61,
CharlesBl 0:cf752e491870 96 PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62,
CharlesBl 0:cf752e491870 97
CharlesBl 0:cf752e491870 98 PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50,
CharlesBl 0:cf752e491870 99 PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51,
CharlesBl 0:cf752e491870 100 PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52,
CharlesBl 0:cf752e491870 101
CharlesBl 0:cf752e491870 102 SYSTEM_HISTOGRAM_BIN = 0x81,
CharlesBl 0:cf752e491870 103 HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33,
CharlesBl 0:cf752e491870 104 HISTOGRAM_CONFIG_READOUT_CTRL = 0x55,
CharlesBl 0:cf752e491870 105
CharlesBl 0:cf752e491870 106 FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70,
CharlesBl 0:cf752e491870 107 FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71,
CharlesBl 0:cf752e491870 108 FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72,
CharlesBl 0:cf752e491870 109 CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20,
CharlesBl 0:cf752e491870 110
CharlesBl 0:cf752e491870 111 MSRC_CONFIG_TIMEOUT_MACROP = 0x46,
CharlesBl 0:cf752e491870 112
CharlesBl 0:cf752e491870 113 SOFT_RESET_GO2_SOFT_RESET_N = 0xBF,
CharlesBl 0:cf752e491870 114 IDENTIFICATION_MODEL_ID = 0xC0,
CharlesBl 0:cf752e491870 115 IDENTIFICATION_REVISION_ID = 0xC2,
CharlesBl 0:cf752e491870 116
CharlesBl 0:cf752e491870 117 OSC_CALIBRATE_VAL = 0xF8,
CharlesBl 0:cf752e491870 118
CharlesBl 0:cf752e491870 119 GLOBAL_CONFIG_VCSEL_WIDTH = 0x32,
CharlesBl 0:cf752e491870 120 GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0,
CharlesBl 0:cf752e491870 121 GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1,
CharlesBl 0:cf752e491870 122 GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2,
CharlesBl 0:cf752e491870 123 GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3,
CharlesBl 0:cf752e491870 124 GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4,
CharlesBl 0:cf752e491870 125 GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5,
CharlesBl 0:cf752e491870 126
CharlesBl 0:cf752e491870 127 GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6,
CharlesBl 0:cf752e491870 128 DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E,
CharlesBl 0:cf752e491870 129 DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F,
CharlesBl 0:cf752e491870 130 POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80,
CharlesBl 0:cf752e491870 131
CharlesBl 0:cf752e491870 132 VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89,
CharlesBl 0:cf752e491870 133
CharlesBl 0:cf752e491870 134 ALGO_PHASECAL_LIM = 0x30,
CharlesBl 0:cf752e491870 135 ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30,
CharlesBl 0:cf752e491870 136 };
CharlesBl 0:cf752e491870 137
CharlesBl 0:cf752e491870 138 enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange };
CharlesBl 0:cf752e491870 139
CharlesBl 0:cf752e491870 140 char last_status; // status of last I2C transmission
CharlesBl 0:cf752e491870 141
CharlesBl 0:cf752e491870 142 VL53L0X(PinName i2c_sda, PinName i2c_scl);
CharlesBl 0:cf752e491870 143
CharlesBl 0:cf752e491870 144 void setAddress(char new_addr);
CharlesBl 0:cf752e491870 145 inline char getAddress(void)
CharlesBl 0:cf752e491870 146 {
CharlesBl 0:cf752e491870 147 return address;
CharlesBl 0:cf752e491870 148 }
CharlesBl 0:cf752e491870 149
CharlesBl 0:cf752e491870 150 bool init(bool io_2v8 = true);
CharlesBl 0:cf752e491870 151
CharlesBl 0:cf752e491870 152 void writeReg(char reg, char value);
CharlesBl 0:cf752e491870 153 void writeReg16Bit(char reg, short value);
CharlesBl 0:cf752e491870 154 void writeReg32Bit(char reg, long value);
CharlesBl 0:cf752e491870 155 char readReg(char reg);
CharlesBl 0:cf752e491870 156 short readReg16Bit(char reg);
CharlesBl 0:cf752e491870 157 long readReg32Bit(char reg);
CharlesBl 0:cf752e491870 158
CharlesBl 0:cf752e491870 159 void writeMulti(char reg, char const * src, char count);
CharlesBl 0:cf752e491870 160 void readMulti(char reg, char * dst, char count);
CharlesBl 0:cf752e491870 161
CharlesBl 0:cf752e491870 162 bool setSignalRateLimit(float limit_Mcps);
CharlesBl 0:cf752e491870 163 float getSignalRateLimit(void);
CharlesBl 0:cf752e491870 164
CharlesBl 0:cf752e491870 165 bool setMeasurementTimingBudget(long budget_us);
CharlesBl 0:cf752e491870 166 long getMeasurementTimingBudget(void);
CharlesBl 0:cf752e491870 167
CharlesBl 0:cf752e491870 168 bool setVcselPulsePeriod(vcselPeriodType type, char period_pclks);
CharlesBl 0:cf752e491870 169 char getVcselPulsePeriod(vcselPeriodType type);
CharlesBl 0:cf752e491870 170
CharlesBl 0:cf752e491870 171 void startContinuous(long period_ms = 0);
CharlesBl 0:cf752e491870 172 void stopContinuous(void);
CharlesBl 0:cf752e491870 173 short readRangeContinuousMillimeters(void);
CharlesBl 0:cf752e491870 174 short readRangeSingleMillimeters(void);
CharlesBl 0:cf752e491870 175
CharlesBl 0:cf752e491870 176 inline void setTimeout(short timeout)
CharlesBl 0:cf752e491870 177 {
CharlesBl 0:cf752e491870 178 io_timeout = timeout;
CharlesBl 0:cf752e491870 179 }
CharlesBl 0:cf752e491870 180 inline short getTimeout(void)
CharlesBl 0:cf752e491870 181 {
CharlesBl 0:cf752e491870 182 return io_timeout;
CharlesBl 0:cf752e491870 183 }
CharlesBl 0:cf752e491870 184 bool timeoutOccurred(void);
CharlesBl 0:cf752e491870 185
CharlesBl 0:cf752e491870 186 private:
CharlesBl 0:cf752e491870 187 // TCC: Target CentreCheck
CharlesBl 0:cf752e491870 188 // MSRC: Minimum Signal Rate Check
CharlesBl 0:cf752e491870 189 // DSS: Dynamic Spad Selection
CharlesBl 0:cf752e491870 190
CharlesBl 0:cf752e491870 191 I2C i2c;
CharlesBl 0:cf752e491870 192
CharlesBl 0:cf752e491870 193 struct SequenceStepEnables {
CharlesBl 0:cf752e491870 194 bool tcc, msrc, dss, pre_range, final_range;
CharlesBl 0:cf752e491870 195 };
CharlesBl 0:cf752e491870 196
CharlesBl 0:cf752e491870 197 struct SequenceStepTimeouts {
CharlesBl 0:cf752e491870 198 short pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
CharlesBl 0:cf752e491870 199
CharlesBl 0:cf752e491870 200 short msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
CharlesBl 0:cf752e491870 201 long msrc_dss_tcc_us, pre_range_us, final_range_us;
CharlesBl 0:cf752e491870 202 };
CharlesBl 0:cf752e491870 203
CharlesBl 0:cf752e491870 204 char data_w_2[2]; //buff for write
CharlesBl 0:cf752e491870 205 char data_w_3[3]; //buff for write
CharlesBl 0:cf752e491870 206 char data_w_5[5]; //buff for write
CharlesBl 0:cf752e491870 207 char data_r_1[1]; //buff for read
CharlesBl 0:cf752e491870 208 char data_r_2[2]; //buff for read
CharlesBl 0:cf752e491870 209 char data_r_4[4]; //buff for read
CharlesBl 0:cf752e491870 210 char address;
CharlesBl 0:cf752e491870 211 short io_timeout;
CharlesBl 0:cf752e491870 212 bool did_timeout;
CharlesBl 0:cf752e491870 213 short timeout_start_ms;
CharlesBl 0:cf752e491870 214
CharlesBl 0:cf752e491870 215 char stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X_DevData_t structure in API
CharlesBl 0:cf752e491870 216 long measurement_timing_budget_us;
CharlesBl 0:cf752e491870 217
CharlesBl 0:cf752e491870 218 bool getSpadInfo(char * count, bool * type_is_aperture);
CharlesBl 0:cf752e491870 219
CharlesBl 0:cf752e491870 220 void getSequenceStepEnables(SequenceStepEnables * enables);
CharlesBl 0:cf752e491870 221 void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);
CharlesBl 0:cf752e491870 222
CharlesBl 0:cf752e491870 223 bool performSingleRefCalibration(char vhv_init_byte);
CharlesBl 0:cf752e491870 224
CharlesBl 0:cf752e491870 225 static short decodeTimeout(short value);
CharlesBl 0:cf752e491870 226 static short encodeTimeout(short timeout_mclks);
CharlesBl 0:cf752e491870 227 static long timeoutMclksToMicroseconds(short timeout_period_mclks, char vcsel_period_pclks);
CharlesBl 0:cf752e491870 228 static long timeoutMicrosecondsToMclks(long timeout_period_us, char vcsel_period_pclks);
CharlesBl 0:cf752e491870 229 };
CharlesBl 0:cf752e491870 230
CharlesBl 0:cf752e491870 231 #endif