Diff: VL53L0X.h

Revision:

0:cf752e491870

Child:

1:0ea6ac47f1ca

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X.h	Sat Apr 27 14:06:23 2019 +0000
@@ -0,0 +1,232 @@
+#ifndef VL53L0X_H
+#define VL53L0X_H
+
+#include "mbed.h"
+
+
+/** Classe VL53L0X
+ *  Librairie qui interface le capteur ToF VL53L0X.
+ *  Sert à mesurer des distances.
+ *
+ *  Source: https://os.mbed.com/users/open4416/code/VL53L0X_STM32compatible/
+ *  Adapté par: Charles Blanchard
+ *
+ *  Datasheet: https://www.st.com/resource/en/datasheet/vl53l0x.pdf
+ *  Cible: STM32-F401RE
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "VL53L0X.h"
+ * #include "TCA9548.h"
+ *
+ * #define SDA_pin D14
+ * #define SCL_pin D15
+ *
+ * VL53L0X sensor(SDA_pin,SCL_pin);
+ *
+ * Serial pc(SERIAL_TX, SERIAL_RX); //9600 bauds
+ *
+ * int main()
+ * {
+ *    uint32_t distance;
+ *
+ *     sensor.init();              //init SENSOR
+ *     sensor.setTimeout(500);
+ *     sensor.startContinuous();
+ *
+ *     while(1) {
+ *         wait_ms(100);
+ *         distance = sensor.readRangeContinuousMillimeters();
+ *         pc.printf("%d\r\n", distance);
+ *     }
+ * }
+ * @endcode
+ */
+
+// Adresse I2C par défaut du capteur
+#define ADDRESS_DEFAULT 0b0101001
+
+
+class VL53L0X
+{
+public:
+    // register addresses from API vl53l0x_device.h (ordered as listed there)
+    enum regAddr {
+        SYSRANGE_START                              = 0x00,
+
+        SYSTEM_THRESH_HIGH                          = 0x0C,
+        SYSTEM_THRESH_LOW                           = 0x0E,
+
+        SYSTEM_SEQUENCE_CONFIG                      = 0x01,
+        SYSTEM_RANGE_CONFIG                         = 0x09,
+        SYSTEM_INTERMEASUREMENT_PERIOD              = 0x04,
+
+        SYSTEM_INTERRUPT_CONFIG_GPIO                = 0x0A,
+
+        GPIO_HV_MUX_ACTIVE_HIGH                     = 0x84,
+
+        SYSTEM_INTERRUPT_CLEAR                      = 0x0B,
+
+        RESULT_INTERRUPT_STATUS                     = 0x13,
+        RESULT_RANGE_STATUS                         = 0x14,
+
+        RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN       = 0xBC,
+        RESULT_CORE_RANGING_TOTAL_EVENTS_RTN        = 0xC0,
+        RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF       = 0xD0,
+        RESULT_CORE_RANGING_TOTAL_EVENTS_REF        = 0xD4,
+        RESULT_PEAK_SIGNAL_RATE_REF                 = 0xB6,
+
+        ALGO_PART_TO_PART_RANGE_OFFSET_MM           = 0x28,
+
+        I2C_SLAVE_DEVICE_ADDRESS                    = 0x8A,
+
+        MSRC_CONFIG_CONTROL                         = 0x60,
+
+        PRE_RANGE_CONFIG_MIN_SNR                    = 0x27,
+        PRE_RANGE_CONFIG_VALID_PHASE_LOW            = 0x56,
+        PRE_RANGE_CONFIG_VALID_PHASE_HIGH           = 0x57,
+        PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT          = 0x64,
+
+        FINAL_RANGE_CONFIG_MIN_SNR                  = 0x67,
+        FINAL_RANGE_CONFIG_VALID_PHASE_LOW          = 0x47,
+        FINAL_RANGE_CONFIG_VALID_PHASE_HIGH         = 0x48,
+        FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,
+
+        PRE_RANGE_CONFIG_SIGMA_THRESH_HI            = 0x61,
+        PRE_RANGE_CONFIG_SIGMA_THRESH_LO            = 0x62,
+
+        PRE_RANGE_CONFIG_VCSEL_PERIOD               = 0x50,
+        PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI          = 0x51,
+        PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO          = 0x52,
+
+        SYSTEM_HISTOGRAM_BIN                        = 0x81,
+        HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT       = 0x33,
+        HISTOGRAM_CONFIG_READOUT_CTRL               = 0x55,
+
+        FINAL_RANGE_CONFIG_VCSEL_PERIOD             = 0x70,
+        FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI        = 0x71,
+        FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO        = 0x72,
+        CROSSTALK_COMPENSATION_PEAK_RATE_MCPS       = 0x20,
+
+        MSRC_CONFIG_TIMEOUT_MACROP                  = 0x46,
+
+        SOFT_RESET_GO2_SOFT_RESET_N                 = 0xBF,
+        IDENTIFICATION_MODEL_ID                     = 0xC0,
+        IDENTIFICATION_REVISION_ID                  = 0xC2,
+
+        OSC_CALIBRATE_VAL                           = 0xF8,
+
+        GLOBAL_CONFIG_VCSEL_WIDTH                   = 0x32,
+        GLOBAL_CONFIG_SPAD_ENABLES_REF_0            = 0xB0,
+        GLOBAL_CONFIG_SPAD_ENABLES_REF_1            = 0xB1,
+        GLOBAL_CONFIG_SPAD_ENABLES_REF_2            = 0xB2,
+        GLOBAL_CONFIG_SPAD_ENABLES_REF_3            = 0xB3,
+        GLOBAL_CONFIG_SPAD_ENABLES_REF_4            = 0xB4,
+        GLOBAL_CONFIG_SPAD_ENABLES_REF_5            = 0xB5,
+
+        GLOBAL_CONFIG_REF_EN_START_SELECT           = 0xB6,
+        DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD         = 0x4E,
+        DYNAMIC_SPAD_REF_EN_START_OFFSET            = 0x4F,
+        POWER_MANAGEMENT_GO1_POWER_FORCE            = 0x80,
+
+        VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV           = 0x89,
+
+        ALGO_PHASECAL_LIM                           = 0x30,
+        ALGO_PHASECAL_CONFIG_TIMEOUT                = 0x30,
+    };
+
+    enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange };
+
+    char last_status; // status of last I2C transmission
+
+    VL53L0X(PinName i2c_sda, PinName i2c_scl);
+
+    void setAddress(char new_addr);
+    inline char getAddress(void)
+    {
+        return address;
+    }
+
+    bool init(bool io_2v8 = true);
+
+    void writeReg(char reg, char value);
+    void writeReg16Bit(char reg, short value);
+    void writeReg32Bit(char reg, long value);
+    char readReg(char reg);
+    short readReg16Bit(char reg);
+    long readReg32Bit(char reg);
+
+    void writeMulti(char reg, char const * src, char count);
+    void readMulti(char reg, char * dst, char count);
+
+    bool setSignalRateLimit(float limit_Mcps);
+    float getSignalRateLimit(void);
+
+    bool setMeasurementTimingBudget(long budget_us);
+    long getMeasurementTimingBudget(void);
+
+    bool setVcselPulsePeriod(vcselPeriodType type, char period_pclks);
+    char getVcselPulsePeriod(vcselPeriodType type);
+
+    void startContinuous(long period_ms = 0);
+    void stopContinuous(void);
+    short readRangeContinuousMillimeters(void);
+    short readRangeSingleMillimeters(void);
+
+    inline void setTimeout(short timeout)
+    {
+        io_timeout = timeout;
+    }
+    inline short getTimeout(void)
+    {
+        return io_timeout;
+    }
+    bool timeoutOccurred(void);
+
+private:
+    // TCC: Target CentreCheck
+    // MSRC: Minimum Signal Rate Check
+    // DSS: Dynamic Spad Selection
+
+    I2C i2c;
+
+    struct SequenceStepEnables {
+        bool tcc, msrc, dss, pre_range, final_range;
+    };
+
+    struct SequenceStepTimeouts {
+        short pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
+
+        short msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
+        long msrc_dss_tcc_us,    pre_range_us,    final_range_us;
+    };
+
+    char    data_w_2[2];            //buff for write
+    char    data_w_3[3];            //buff for write
+    char    data_w_5[5];            //buff for write
+    char    data_r_1[1];            //buff for read
+    char    data_r_2[2];            //buff for read
+    char    data_r_4[4];            //buff for read
+    char    address;
+    short   io_timeout;
+    bool    did_timeout;
+    short   timeout_start_ms;
+
+    char stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X_DevData_t structure in API
+    long measurement_timing_budget_us;
+
+    bool getSpadInfo(char * count, bool * type_is_aperture);
+
+    void getSequenceStepEnables(SequenceStepEnables * enables);
+    void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);
+
+    bool performSingleRefCalibration(char vhv_init_byte);
+
+    static short decodeTimeout(short value);
+    static short encodeTimeout(short timeout_mclks);
+    static long timeoutMclksToMicroseconds(short timeout_period_mclks, char vcsel_period_pclks);
+    static long timeoutMicrosecondsToMclks(long timeout_period_us, char vcsel_period_pclks);
+};
+
+#endif
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