Polybot Grenoble / VL53L0X_Vcdf

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Dependents:   capteur_cdf asservissement_robot2_Homologued_real

VL53L0X.h@0:cf752e491870, 2019-04-27 (annotated)

Committer:
CharlesBl
Date:
Sat Apr 27 14:06:23 2019 +0000
Revision:
0:cf752e491870
Child:
1:0ea6ac47f1ca
trad

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 0:cf752e491870 7 /** Classe VL53L0X
CharlesBl 0:cf752e491870 8 * Librairie qui interface le capteur ToF VL53L0X.
CharlesBl 0:cf752e491870 9 * Sert à mesurer des distances.
CharlesBl 0:cf752e491870 10 *
CharlesBl 0:cf752e491870 11 * Source: https://os.mbed.com/users/open4416/code/VL53L0X_STM32compatible/
CharlesBl 0:cf752e491870 12 * Adapté par: Charles Blanchard
CharlesBl 0:cf752e491870 13 *
CharlesBl 0:cf752e491870 14 * Datasheet: https://www.st.com/resource/en/datasheet/vl53l0x.pdf
CharlesBl 0:cf752e491870 15 * Cible: STM32-F401RE
CharlesBl 0:cf752e491870 16 *
CharlesBl 0:cf752e491870 17 * Example:
CharlesBl 0:cf752e491870 18 * @code
CharlesBl 0:cf752e491870 19 * #include "mbed.h"
CharlesBl 0:cf752e491870 20 * #include "VL53L0X.h"
CharlesBl 0:cf752e491870 21 * #include "TCA9548.h"
CharlesBl 0:cf752e491870 22 *
CharlesBl 0:cf752e491870 23 * #define SDA_pin D14
CharlesBl 0:cf752e491870 24 * #define SCL_pin D15
CharlesBl 0:cf752e491870 25 *
CharlesBl 0:cf752e491870 26 * VL53L0X sensor(SDA_pin,SCL_pin);
CharlesBl 0:cf752e491870 27 *
CharlesBl 0:cf752e491870 28 * Serial pc(SERIAL_TX, SERIAL_RX); //9600 bauds
CharlesBl 0:cf752e491870 29 *
CharlesBl 0:cf752e491870 30 * int main()
CharlesBl 0:cf752e491870 31 * {
CharlesBl 0:cf752e491870 32 * uint32_t distance;
CharlesBl 0:cf752e491870 33 *
CharlesBl 0:cf752e491870 34 * sensor.init(); //init SENSOR
CharlesBl 0:cf752e491870 35 * sensor.setTimeout(500);
CharlesBl 0:cf752e491870 36 * sensor.startContinuous();
CharlesBl 0:cf752e491870 37 *
CharlesBl 0:cf752e491870 38 * while(1) {
CharlesBl 0:cf752e491870 39 * wait_ms(100);
CharlesBl 0:cf752e491870 40 * distance = sensor.readRangeContinuousMillimeters();
CharlesBl 0:cf752e491870 41 * pc.printf("%d\r\n", distance);
CharlesBl 0:cf752e491870 42 * }
CharlesBl 0:cf752e491870 43 * }
CharlesBl 0:cf752e491870 44 * @endcode
CharlesBl 0:cf752e491870 45 */
CharlesBl 0:cf752e491870 46
CharlesBl 0:cf752e491870 47 // Adresse I2C par défaut du capteur
CharlesBl 0:cf752e491870 48 #define ADDRESS_DEFAULT 0b0101001
CharlesBl 0:cf752e491870 49
CharlesBl 0:cf752e491870 50
CharlesBl 0:cf752e491870 51 class VL53L0X
CharlesBl 0:cf752e491870 52 {
CharlesBl 0:cf752e491870 53 public:
CharlesBl 0:cf752e491870 54 // register addresses from API vl53l0x_device.h (ordered as listed there)
CharlesBl 0:cf752e491870 55 enum regAddr {
CharlesBl 0:cf752e491870 56 SYSRANGE_START = 0x00,
CharlesBl 0:cf752e491870 57
CharlesBl 0:cf752e491870 58 SYSTEM_THRESH_HIGH = 0x0C,
CharlesBl 0:cf752e491870 59 SYSTEM_THRESH_LOW = 0x0E,
CharlesBl 0:cf752e491870 60
CharlesBl 0:cf752e491870 61 SYSTEM_SEQUENCE_CONFIG = 0x01,
CharlesBl 0:cf752e491870 62 SYSTEM_RANGE_CONFIG = 0x09,
CharlesBl 0:cf752e491870 63 SYSTEM_INTERMEASUREMENT_PERIOD = 0x04,
CharlesBl 0:cf752e491870 64
CharlesBl 0:cf752e491870 65 SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A,
CharlesBl 0:cf752e491870 66
CharlesBl 0:cf752e491870 67 GPIO_HV_MUX_ACTIVE_HIGH = 0x84,
CharlesBl 0:cf752e491870 68
CharlesBl 0:cf752e491870 69 SYSTEM_INTERRUPT_CLEAR = 0x0B,
CharlesBl 0:cf752e491870 70
CharlesBl 0:cf752e491870 71 RESULT_INTERRUPT_STATUS = 0x13,
CharlesBl 0:cf752e491870 72 RESULT_RANGE_STATUS = 0x14,
CharlesBl 0:cf752e491870 73
CharlesBl 0:cf752e491870 74 RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC,
CharlesBl 0:cf752e491870 75 RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0,
CharlesBl 0:cf752e491870 76 RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0,
CharlesBl 0:cf752e491870 77 RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4,
CharlesBl 0:cf752e491870 78 RESULT_PEAK_SIGNAL_RATE_REF = 0xB6,
CharlesBl 0:cf752e491870 79
CharlesBl 0:cf752e491870 80 ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28,
CharlesBl 0:cf752e491870 81
CharlesBl 0:cf752e491870 82 I2C_SLAVE_DEVICE_ADDRESS = 0x8A,
CharlesBl 0:cf752e491870 83
CharlesBl 0:cf752e491870 84 MSRC_CONFIG_CONTROL = 0x60,
CharlesBl 0:cf752e491870 85
CharlesBl 0:cf752e491870 86 PRE_RANGE_CONFIG_MIN_SNR = 0x27,
CharlesBl 0:cf752e491870 87 PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56,
CharlesBl 0:cf752e491870 88 PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57,
CharlesBl 0:cf752e491870 89 PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64,
CharlesBl 0:cf752e491870 90
CharlesBl 0:cf752e491870 91 FINAL_RANGE_CONFIG_MIN_SNR = 0x67,
CharlesBl 0:cf752e491870 92 FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47,
CharlesBl 0:cf752e491870 93 FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48,
CharlesBl 0:cf752e491870 94 FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,
CharlesBl 0:cf752e491870 95
CharlesBl 0:cf752e491870 96 PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61,
CharlesBl 0:cf752e491870 97 PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62,
CharlesBl 0:cf752e491870 98
CharlesBl 0:cf752e491870 99 PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50,
CharlesBl 0:cf752e491870 100 PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51,
CharlesBl 0:cf752e491870 101 PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52,
CharlesBl 0:cf752e491870 102
CharlesBl 0:cf752e491870 103 SYSTEM_HISTOGRAM_BIN = 0x81,
CharlesBl 0:cf752e491870 104 HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33,
CharlesBl 0:cf752e491870 105 HISTOGRAM_CONFIG_READOUT_CTRL = 0x55,
CharlesBl 0:cf752e491870 106
CharlesBl 0:cf752e491870 107 FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70,
CharlesBl 0:cf752e491870 108 FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71,
CharlesBl 0:cf752e491870 109 FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72,
CharlesBl 0:cf752e491870 110 CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20,
CharlesBl 0:cf752e491870 111
CharlesBl 0:cf752e491870 112 MSRC_CONFIG_TIMEOUT_MACROP = 0x46,
CharlesBl 0:cf752e491870 113
CharlesBl 0:cf752e491870 114 SOFT_RESET_GO2_SOFT_RESET_N = 0xBF,
CharlesBl 0:cf752e491870 115 IDENTIFICATION_MODEL_ID = 0xC0,
CharlesBl 0:cf752e491870 116 IDENTIFICATION_REVISION_ID = 0xC2,
CharlesBl 0:cf752e491870 117
CharlesBl 0:cf752e491870 118 OSC_CALIBRATE_VAL = 0xF8,
CharlesBl 0:cf752e491870 119
CharlesBl 0:cf752e491870 120 GLOBAL_CONFIG_VCSEL_WIDTH = 0x32,
CharlesBl 0:cf752e491870 121 GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0,
CharlesBl 0:cf752e491870 122 GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1,
CharlesBl 0:cf752e491870 123 GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2,
CharlesBl 0:cf752e491870 124 GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3,
CharlesBl 0:cf752e491870 125 GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4,
CharlesBl 0:cf752e491870 126 GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5,
CharlesBl 0:cf752e491870 127
CharlesBl 0:cf752e491870 128 GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6,
CharlesBl 0:cf752e491870 129 DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E,
CharlesBl 0:cf752e491870 130 DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F,
CharlesBl 0:cf752e491870 131 POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80,
CharlesBl 0:cf752e491870 132
CharlesBl 0:cf752e491870 133 VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89,
CharlesBl 0:cf752e491870 134
CharlesBl 0:cf752e491870 135 ALGO_PHASECAL_LIM = 0x30,
CharlesBl 0:cf752e491870 136 ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30,
CharlesBl 0:cf752e491870 137 };
CharlesBl 0:cf752e491870 138
CharlesBl 0:cf752e491870 139 enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange };
CharlesBl 0:cf752e491870 140
CharlesBl 0:cf752e491870 141 char last_status; // status of last I2C transmission
CharlesBl 0:cf752e491870 142
CharlesBl 0:cf752e491870 143 VL53L0X(PinName i2c_sda, PinName i2c_scl);
CharlesBl 0:cf752e491870 144
CharlesBl 0:cf752e491870 145 void setAddress(char new_addr);
CharlesBl 0:cf752e491870 146 inline char getAddress(void)
CharlesBl 0:cf752e491870 147 {
CharlesBl 0:cf752e491870 148 return address;
CharlesBl 0:cf752e491870 149 }
CharlesBl 0:cf752e491870 150
CharlesBl 0:cf752e491870 151 bool init(bool io_2v8 = true);
CharlesBl 0:cf752e491870 152
CharlesBl 0:cf752e491870 153 void writeReg(char reg, char value);
CharlesBl 0:cf752e491870 154 void writeReg16Bit(char reg, short value);
CharlesBl 0:cf752e491870 155 void writeReg32Bit(char reg, long value);
CharlesBl 0:cf752e491870 156 char readReg(char reg);
CharlesBl 0:cf752e491870 157 short readReg16Bit(char reg);
CharlesBl 0:cf752e491870 158 long readReg32Bit(char reg);
CharlesBl 0:cf752e491870 159
CharlesBl 0:cf752e491870 160 void writeMulti(char reg, char const * src, char count);
CharlesBl 0:cf752e491870 161 void readMulti(char reg, char * dst, char count);
CharlesBl 0:cf752e491870 162
CharlesBl 0:cf752e491870 163 bool setSignalRateLimit(float limit_Mcps);
CharlesBl 0:cf752e491870 164 float getSignalRateLimit(void);
CharlesBl 0:cf752e491870 165
CharlesBl 0:cf752e491870 166 bool setMeasurementTimingBudget(long budget_us);
CharlesBl 0:cf752e491870 167 long getMeasurementTimingBudget(void);
CharlesBl 0:cf752e491870 168
CharlesBl 0:cf752e491870 169 bool setVcselPulsePeriod(vcselPeriodType type, char period_pclks);
CharlesBl 0:cf752e491870 170 char getVcselPulsePeriod(vcselPeriodType type);
CharlesBl 0:cf752e491870 171
CharlesBl 0:cf752e491870 172 void startContinuous(long period_ms = 0);
CharlesBl 0:cf752e491870 173 void stopContinuous(void);
CharlesBl 0:cf752e491870 174 short readRangeContinuousMillimeters(void);
CharlesBl 0:cf752e491870 175 short readRangeSingleMillimeters(void);
CharlesBl 0:cf752e491870 176
CharlesBl 0:cf752e491870 177 inline void setTimeout(short timeout)
CharlesBl 0:cf752e491870 178 {
CharlesBl 0:cf752e491870 179 io_timeout = timeout;
CharlesBl 0:cf752e491870 180 }
CharlesBl 0:cf752e491870 181 inline short getTimeout(void)
CharlesBl 0:cf752e491870 182 {
CharlesBl 0:cf752e491870 183 return io_timeout;
CharlesBl 0:cf752e491870 184 }
CharlesBl 0:cf752e491870 185 bool timeoutOccurred(void);
CharlesBl 0:cf752e491870 186
CharlesBl 0:cf752e491870 187 private:
CharlesBl 0:cf752e491870 188 // TCC: Target CentreCheck
CharlesBl 0:cf752e491870 189 // MSRC: Minimum Signal Rate Check
CharlesBl 0:cf752e491870 190 // DSS: Dynamic Spad Selection
CharlesBl 0:cf752e491870 191
CharlesBl 0:cf752e491870 192 I2C i2c;
CharlesBl 0:cf752e491870 193
CharlesBl 0:cf752e491870 194 struct SequenceStepEnables {
CharlesBl 0:cf752e491870 195 bool tcc, msrc, dss, pre_range, final_range;
CharlesBl 0:cf752e491870 196 };
CharlesBl 0:cf752e491870 197
CharlesBl 0:cf752e491870 198 struct SequenceStepTimeouts {
CharlesBl 0:cf752e491870 199 short pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
CharlesBl 0:cf752e491870 200
CharlesBl 0:cf752e491870 201 short msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
CharlesBl 0:cf752e491870 202 long msrc_dss_tcc_us, pre_range_us, final_range_us;
CharlesBl 0:cf752e491870 203 };
CharlesBl 0:cf752e491870 204
CharlesBl 0:cf752e491870 205 char data_w_2[2]; //buff for write
CharlesBl 0:cf752e491870 206 char data_w_3[3]; //buff for write
CharlesBl 0:cf752e491870 207 char data_w_5[5]; //buff for write
CharlesBl 0:cf752e491870 208 char data_r_1[1]; //buff for read
CharlesBl 0:cf752e491870 209 char data_r_2[2]; //buff for read
CharlesBl 0:cf752e491870 210 char data_r_4[4]; //buff for read
CharlesBl 0:cf752e491870 211 char address;
CharlesBl 0:cf752e491870 212 short io_timeout;
CharlesBl 0:cf752e491870 213 bool did_timeout;
CharlesBl 0:cf752e491870 214 short timeout_start_ms;
CharlesBl 0:cf752e491870 215
CharlesBl 0:cf752e491870 216 char stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X_DevData_t structure in API
CharlesBl 0:cf752e491870 217 long measurement_timing_budget_us;
CharlesBl 0:cf752e491870 218
CharlesBl 0:cf752e491870 219 bool getSpadInfo(char * count, bool * type_is_aperture);
CharlesBl 0:cf752e491870 220
CharlesBl 0:cf752e491870 221 void getSequenceStepEnables(SequenceStepEnables * enables);
CharlesBl 0:cf752e491870 222 void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);
CharlesBl 0:cf752e491870 223
CharlesBl 0:cf752e491870 224 bool performSingleRefCalibration(char vhv_init_byte);
CharlesBl 0:cf752e491870 225
CharlesBl 0:cf752e491870 226 static short decodeTimeout(short value);
CharlesBl 0:cf752e491870 227 static short encodeTimeout(short timeout_mclks);
CharlesBl 0:cf752e491870 228 static long timeoutMclksToMicroseconds(short timeout_period_mclks, char vcsel_period_pclks);
CharlesBl 0:cf752e491870 229 static long timeoutMicrosecondsToMclks(long timeout_period_us, char vcsel_period_pclks);
CharlesBl 0:cf752e491870 230 };
CharlesBl 0:cf752e491870 231
CharlesBl 0:cf752e491870 232 #endif