ST Expansion SW Team / VL53L1CB

The VL53L1CB proximity sensor, based on ST’s FlightSense™, Time-of-Flight technology.

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   VL53L1CB_noshield_1sensor_polls_auton VL53L1CB_noshield_1sensor_interrupt_auton X_NUCLEO_53L1A2

Based on VL53L1 library, this is a library for the VL53L1CB ToF chip.

inc/VL53L1CB.h@17:ca0ce4daf573, 2021-06-23 (annotated)

Committer:
johnAlexander
Date:
Wed Jun 23 12:57:26 2021 +0000
Revision:
17:ca0ce4daf573
Parent:
16:27131f13570d
Child:
18:0696efe39d08
Enable default constructor, taking Mbed pins names as inputs.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Charles MacNeill 9:66969b9016ad 1 /*******************************************************************************
Charles MacNeill 9:66969b9016ad 2 * @file vl53l1x_class.h
Charles MacNeill 9:66969b9016ad 3 * @author JS
Charles MacNeill 9:66969b9016ad 4 * @version V0.0.1
Charles MacNeill 9:66969b9016ad 5 * @date 15-January-2019
Charles MacNeill 9:66969b9016ad 6 * @brief Header file for VL53L1 sensor component
Charles MacNeill 9:66969b9016ad 7 ******************************************************************************
Charles MacNeill 9:66969b9016ad 8 Copyright © 2019, STMicroelectronics International N.V.
Charles MacNeill 9:66969b9016ad 9 All rights reserved.
Charles MacNeill 9:66969b9016ad 10 Redistribution and use in source and binary forms, with or without
Charles MacNeill 9:66969b9016ad 11 modification, are permitted provided that the following conditions are met:
Charles MacNeill 9:66969b9016ad 12 * Redistributions of source code must retain the above copyright
Charles MacNeill 9:66969b9016ad 13 notice, this list of conditions and the following disclaimer.
Charles MacNeill 9:66969b9016ad 14 * Redistributions in binary form must reproduce the above copyright
Charles MacNeill 9:66969b9016ad 15 notice, this list of conditions and the following disclaimer in the
Charles MacNeill 9:66969b9016ad 16 documentation and/or other materials provided with the distribution.
Charles MacNeill 9:66969b9016ad 17 * Neither the name of STMicroelectronics nor the
Charles MacNeill 9:66969b9016ad 18 names of its contributors may be used to endorse or promote products
Charles MacNeill 9:66969b9016ad 19 derived from this software without specific prior written permission.
Charles MacNeill 9:66969b9016ad 20 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
Charles MacNeill 9:66969b9016ad 21 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
Charles MacNeill 9:66969b9016ad 22 WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
Charles MacNeill 9:66969b9016ad 23 NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
Charles MacNeill 9:66969b9016ad 24 IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
Charles MacNeill 9:66969b9016ad 25 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
Charles MacNeill 9:66969b9016ad 26 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
Charles MacNeill 9:66969b9016ad 27 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
Charles MacNeill 9:66969b9016ad 28 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
Charles MacNeill 9:66969b9016ad 29 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
Charles MacNeill 9:66969b9016ad 30 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Charles MacNeill 9:66969b9016ad 31 *****************************************************************************/
Charles MacNeill 9:66969b9016ad 32
Charles MacNeill 14:f06785b2a964 33 #ifndef __VL53L1CB_CLASS_H
Charles MacNeill 14:f06785b2a964 34 #define __VL53L1CB_CLASS_H
Charles MacNeill 14:f06785b2a964 35
Charles MacNeill 9:66969b9016ad 36
Charles MacNeill 14:f06785b2a964 37 #ifdef _MSC_VER
Charles MacNeill 14:f06785b2a964 38 # ifdef VL53L1X_API_EXPORTS
Charles MacNeill 14:f06785b2a964 39 # define VL53L1X_API __declspec(dllexport)
Charles MacNeill 14:f06785b2a964 40 # else
Charles MacNeill 14:f06785b2a964 41 # define VL53L1X_API
Charles MacNeill 14:f06785b2a964 42 # endif
Charles MacNeill 14:f06785b2a964 43 #else
Charles MacNeill 14:f06785b2a964 44 # define VL53L1X_API
Charles MacNeill 14:f06785b2a964 45 #endif
Charles MacNeill 9:66969b9016ad 46
Charles MacNeill 9:66969b9016ad 47
Charles MacNeill 9:66969b9016ad 48 /* Includes ------------------------------------------------------------------*/
Charles MacNeill 9:66969b9016ad 49
Charles MacNeill 9:66969b9016ad 50 #include "mbed.h"
Charles MacNeill 9:66969b9016ad 51 #include "PinNames.h"
Charles MacNeill 9:66969b9016ad 52
Charles MacNeill 9:66969b9016ad 53 #include "RangeSensor.h"
Charles MacNeill 9:66969b9016ad 54 #include "Stmpe1600.h"
Charles MacNeill 9:66969b9016ad 55
Charles MacNeill 9:66969b9016ad 56 #include "vl53l1_error_codes.h"
Charles MacNeill 9:66969b9016ad 57 #include "vl53l1_platform_user_data.h"
Charles MacNeill 9:66969b9016ad 58
Charles MacNeill 9:66969b9016ad 59 //#include "DevI2C.h"
Charles MacNeill 9:66969b9016ad 60 #include "ToF_I2C.h"
Charles MacNeill 9:66969b9016ad 61 /**********************************************************/
Charles MacNeill 9:66969b9016ad 62 #include "vl53l1_def.h"
Charles MacNeill 9:66969b9016ad 63 /***********************************************************/
Charles MacNeill 9:66969b9016ad 64
Charles MacNeill 9:66969b9016ad 65
Charles MacNeill 14:f06785b2a964 66 #define VL53L1_IMPLEMENTATION_VER_MAJOR 1
Charles MacNeill 14:f06785b2a964 67 #define VL53L1_IMPLEMENTATION_VER_MINOR 0
Charles MacNeill 14:f06785b2a964 68 #define VL53L1_IMPLEMENTATION_VER_SUB 1
Charles MacNeill 14:f06785b2a964 69 #define VL53L1_IMPLEMENTATION_VER_REVISION 0000
Charles MacNeill 9:66969b9016ad 70
Charles MacNeill 10:3687b5e79f98 71 typedef int8_t VL53L1CB_ERROR;
Charles MacNeill 9:66969b9016ad 72
Charles MacNeill 9:66969b9016ad 73 //#define SOFT_RESET 0x0000
Charles MacNeill 14:f06785b2a964 74 #define VL53L1_I2C_SLAVE__DEVICE_ADDRESS 0x0001
Charles MacNeill 14:f06785b2a964 75 #define VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x0008
Charles MacNeill 9:66969b9016ad 76 #define ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x0016
Charles MacNeill 9:66969b9016ad 77 #define ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS 0x0018
Charles MacNeill 9:66969b9016ad 78 #define ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS 0x001A
Charles MacNeill 9:66969b9016ad 79 #define ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x001E
Charles MacNeill 9:66969b9016ad 80 #define MM_CONFIG__INNER_OFFSET_MM 0x0020
Charles MacNeill 9:66969b9016ad 81 #define MM_CONFIG__OUTER_OFFSET_MM 0x0022
Charles MacNeill 9:66969b9016ad 82 #define GPIO_HV_MUX__CTRL 0x0030
Charles MacNeill 9:66969b9016ad 83 #define GPIO__TIO_HV_STATUS 0x0031
Charles MacNeill 9:66969b9016ad 84 #define SYSTEM__INTERRUPT_CONFIG_GPIO 0x0046
Charles MacNeill 9:66969b9016ad 85 #define PHASECAL_CONFIG__TIMEOUT_MACROP 0x004B
Charles MacNeill 9:66969b9016ad 86 #define RANGE_CONFIG__TIMEOUT_MACROP_A_HI 0x005E
Charles MacNeill 9:66969b9016ad 87 #define RANGE_CONFIG__VCSEL_PERIOD_A 0x0060
Charles MacNeill 9:66969b9016ad 88 #define RANGE_CONFIG__VCSEL_PERIOD_B 0x0063
Charles MacNeill 9:66969b9016ad 89 #define RANGE_CONFIG__TIMEOUT_MACROP_B_HI 0x0061
Charles MacNeill 9:66969b9016ad 90 #define RANGE_CONFIG__TIMEOUT_MACROP_B_LO 0x0062
Charles MacNeill 9:66969b9016ad 91 #define RANGE_CONFIG__SIGMA_THRESH 0x0064
Charles MacNeill 9:66969b9016ad 92 #define RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS 0x0066
Charles MacNeill 9:66969b9016ad 93 #define RANGE_CONFIG__VALID_PHASE_HIGH 0x0069
Charles MacNeill 14:f06785b2a964 94 #define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD 0x006C
Charles MacNeill 9:66969b9016ad 95 #define SYSTEM__THRESH_HIGH 0x0072
Charles MacNeill 9:66969b9016ad 96 #define SYSTEM__THRESH_LOW 0x0074
Charles MacNeill 9:66969b9016ad 97 #define SD_CONFIG__WOI_SD0 0x0078
Charles MacNeill 9:66969b9016ad 98 #define SD_CONFIG__INITIAL_PHASE_SD0 0x007A
Charles MacNeill 9:66969b9016ad 99 #define ROI_CONFIG__USER_ROI_CENTRE_SPAD 0x007F
Charles MacNeill 9:66969b9016ad 100 #define ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE 0x0080
Charles MacNeill 9:66969b9016ad 101 #define SYSTEM__SEQUENCE_CONFIG 0x0081
Charles MacNeill 14:f06785b2a964 102 #define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD 0x0082
Charles MacNeill 9:66969b9016ad 103 #define SYSTEM__INTERRUPT_CLEAR 0x0086
Charles MacNeill 9:66969b9016ad 104 #define SYSTEM__MODE_START 0x0087
Charles MacNeill 14:f06785b2a964 105 #define VL53L1_RESULT__RANGE_STATUS 0x0089
Charles MacNeill 14:f06785b2a964 106 #define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x008C
Charles MacNeill 9:66969b9016ad 107 #define RESULT__AMBIENT_COUNT_RATE_MCPS_SD 0x0090
Charles MacNeill 14:f06785b2a964 108 #define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0096
Charles MacNeill 14:f06785b2a964 109 #define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0098
Charles MacNeill 14:f06785b2a964 110 #define VL53L1_RESULT__OSC_CALIBRATE_VAL 0x00DE
Charles MacNeill 14:f06785b2a964 111 #define VL53L1_FIRMWARE__SYSTEM_STATUS 0x00E5
Charles MacNeill 14:f06785b2a964 112 #define VL53L1_IDENTIFICATION__MODEL_ID 0x010F
Charles MacNeill 14:f06785b2a964 113 #define VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD 0x013E
Charles MacNeill 9:66969b9016ad 114
Charles MacNeill 9:66969b9016ad 115
Charles MacNeill 14:f06785b2a964 116 #define VL53L1_DEFAULT_DEVICE_ADDRESS 0x52
Charles MacNeill 9:66969b9016ad 117
Charles MacNeill 14:f06785b2a964 118 #define VL53L1_REG_IDENTIFICATION_MODEL_ID 0x010F
Charles MacNeill 9:66969b9016ad 119
Charles MacNeill 9:66969b9016ad 120 /****************************************
Charles MacNeill 9:66969b9016ad 121 * PRIVATE define do not edit
Charles MacNeill 9:66969b9016ad 122 ****************************************/
Charles MacNeill 9:66969b9016ad 123
Charles MacNeill 9:66969b9016ad 124 /**
Charles MacNeill 9:66969b9016ad 125 * @brief defines SW Version
Charles MacNeill 9:66969b9016ad 126 */
Charles MacNeill 9:66969b9016ad 127 //typedef struct {
Charles MacNeill 9:66969b9016ad 128 // uint8_t major; /*!< major number */
Charles MacNeill 9:66969b9016ad 129 // uint8_t minor; /*!< minor number */
Charles MacNeill 9:66969b9016ad 130 // uint8_t build; /*!< build number */
Charles MacNeill 9:66969b9016ad 131 // uint32_t revision; /*!< revision number */
Charles MacNeill 9:66969b9016ad 132 //} VL53L1X_Version_t;
Charles MacNeill 9:66969b9016ad 133
Charles MacNeill 9:66969b9016ad 134
Charles MacNeill 9:66969b9016ad 135 /* Classes -------------------------------------------------------------------*/
Charles MacNeill 14:f06785b2a964 136 /** Class representing a VL53L1 sensor component
Charles MacNeill 9:66969b9016ad 137 */
Charles MacNeill 10:3687b5e79f98 138 class VL53L1CB : public RangeSensor
Charles MacNeill 9:66969b9016ad 139 {
Charles MacNeill 9:66969b9016ad 140
Charles MacNeill 9:66969b9016ad 141
Charles MacNeill 9:66969b9016ad 142
Charles MacNeill 9:66969b9016ad 143 public:
Charles MacNeill 9:66969b9016ad 144
Charles MacNeill 9:66969b9016ad 145
Charles MacNeill 9:66969b9016ad 146 #define VL53L1DevStructGetLLDriverHandle(Dev) (&Dev->Data.LLData)
Charles MacNeill 9:66969b9016ad 147 /** Constructor
Charles MacNeill 9:66969b9016ad 148 * @param[in] &i2c device I2C to be used for communication
Charles MacNeill 9:66969b9016ad 149 * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
Charles MacNeill 9:66969b9016ad 150 * @param[in] DevAddr device address, 0x52 by default
Charles MacNeill 9:66969b9016ad 151 */
johnAlexander 17:ca0ce4daf573 152
Charles MacNeill 14:f06785b2a964 153 VL53L1CB(ToF_DevI2C *i2c, DigitalOut *pin, PinName pin_gpio1, uint8_t dev_addr = VL53L1_DEFAULT_DEVICE_ADDRESS)
Charles MacNeill 9:66969b9016ad 154 : RangeSensor(), dev_i2c(i2c), _gpio0(pin)
Charles MacNeill 9:66969b9016ad 155 {
Charles MacNeill 9:66969b9016ad 156 MyDevice.i2c_slave_address=dev_addr;
Charles MacNeill 9:66969b9016ad 157 Device = &MyDevice;
Charles MacNeill 9:66969b9016ad 158
Charles MacNeill 9:66969b9016ad 159 _expgpio0 = NULL;
Charles MacNeill 9:66969b9016ad 160 if (pin_gpio1 != NC) {
Charles MacNeill 9:66969b9016ad 161 _gpio1Int = new InterruptIn(pin_gpio1);
Charles MacNeill 9:66969b9016ad 162 } else {
Charles MacNeill 9:66969b9016ad 163 _gpio1Int = NULL;
Charles MacNeill 9:66969b9016ad 164 }
Charles MacNeill 9:66969b9016ad 165 }
johnAlexander 17:ca0ce4daf573 166
Charles MacNeill 9:66969b9016ad 167 /** Constructor 2 (STMPE1600DigiOut)
Charles MacNeill 9:66969b9016ad 168 * @param[in] i2c device I2C to be used for communication
Charles MacNeill 9:66969b9016ad 169 * @param[in] &pin Gpio Expander STMPE1600DigiOut pin to be used as component GPIO_0 CE
Charles MacNeill 9:66969b9016ad 170 * @param[in] pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
Charles MacNeill 9:66969b9016ad 171 * @param[in] device address, 0x29 by default
Charles MacNeill 9:66969b9016ad 172 */
Charles MacNeill 10:3687b5e79f98 173 VL53L1CB(ToF_DevI2C *i2c, Stmpe1600DigiOut *pin, PinName pin_gpio1,
Charles MacNeill 14:f06785b2a964 174 uint8_t dev_addr = VL53L1_DEFAULT_DEVICE_ADDRESS)
Charles MacNeill 9:66969b9016ad 175 : dev_i2c(i2c), _expgpio0(pin)
Charles MacNeill 9:66969b9016ad 176 {
Charles MacNeill 9:66969b9016ad 177 MyDevice.i2c_slave_address=dev_addr;
Charles MacNeill 9:66969b9016ad 178 Device = &MyDevice;
Charles MacNeill 9:66969b9016ad 179
Charles MacNeill 9:66969b9016ad 180 _gpio0 = NULL;
Charles MacNeill 9:66969b9016ad 181 if (pin_gpio1 != NC) {
Charles MacNeill 9:66969b9016ad 182 _gpio1Int = new InterruptIn(pin_gpio1);
Charles MacNeill 9:66969b9016ad 183 } else {
Charles MacNeill 9:66969b9016ad 184 _gpio1Int = NULL;
Charles MacNeill 9:66969b9016ad 185 }
Charles MacNeill 9:66969b9016ad 186 }
Charles MacNeill 9:66969b9016ad 187
Charles MacNeill 9:66969b9016ad 188 /** Destructor
Charles MacNeill 9:66969b9016ad 189 */
Charles MacNeill 10:3687b5e79f98 190 virtual ~VL53L1CB()
Charles MacNeill 9:66969b9016ad 191 {
Charles MacNeill 9:66969b9016ad 192 if (_gpio1Int != NULL) {
Charles MacNeill 9:66969b9016ad 193 delete _gpio1Int;
Charles MacNeill 9:66969b9016ad 194 }
Charles MacNeill 9:66969b9016ad 195 }
Charles MacNeill 9:66969b9016ad 196
Charles MacNeill 9:66969b9016ad 197
Charles MacNeill 9:66969b9016ad 198
Charles MacNeill 9:66969b9016ad 199 VL53L1_DEV getDevicePtr() { return Device; }
Charles MacNeill 9:66969b9016ad 200
Charles MacNeill 9:66969b9016ad 201
Charles MacNeill 14:f06785b2a964 202 /* warning: VL53L1 class inherits from GenericSensor, RangeSensor and LightSensor, that haven`t a destructor.
Charles MacNeill 9:66969b9016ad 203 The warning should request to introduce a virtual destructor to make sure to delete the object */
Charles MacNeill 9:66969b9016ad 204
Charles MacNeill 9:66969b9016ad 205 /*** Interface Methods ***/
Charles MacNeill 9:66969b9016ad 206 /*** High level API ***/
Charles MacNeill 9:66969b9016ad 207 /**
Charles MacNeill 9:66969b9016ad 208 * @brief PowerOn the sensor
Charles MacNeill 9:66969b9016ad 209 * @return void
Charles MacNeill 9:66969b9016ad 210 */
Charles MacNeill 9:66969b9016ad 211 /* turns on the sensor */
Charles MacNeill 10:3687b5e79f98 212 virtual void VL53L1CB_On(void)
Charles MacNeill 9:66969b9016ad 213 {
Charles MacNeill 14:f06785b2a964 214 printf("VL53L1_On\r\n");
Charles MacNeill 9:66969b9016ad 215 if (_gpio0) {
Charles MacNeill 9:66969b9016ad 216 *_gpio0 = 1;
Charles MacNeill 9:66969b9016ad 217 } else {
Charles MacNeill 9:66969b9016ad 218 if (_expgpio0) {
Charles MacNeill 9:66969b9016ad 219 *_expgpio0 = 1;
Charles MacNeill 9:66969b9016ad 220 }
Charles MacNeill 9:66969b9016ad 221 }
Charles MacNeill 9:66969b9016ad 222 #if (MBED_VERSION > 60300)
Charles MacNeill 9:66969b9016ad 223 thread_sleep_for(100);
Charles MacNeill 9:66969b9016ad 224 #else
Charles MacNeill 9:66969b9016ad 225 wait_ms(100); // NEEDS A DELAY BETWEEN SENSORS
Charles MacNeill 9:66969b9016ad 226 #endif
Charles MacNeill 9:66969b9016ad 227 }
Charles MacNeill 9:66969b9016ad 228
Charles MacNeill 9:66969b9016ad 229 /**
Charles MacNeill 9:66969b9016ad 230 * @brief PowerOff the sensor
Charles MacNeill 9:66969b9016ad 231 * @return void
Charles MacNeill 9:66969b9016ad 232 */
Charles MacNeill 9:66969b9016ad 233 /* turns off the sensor */
Charles MacNeill 10:3687b5e79f98 234 virtual void VL53L1CB_Off(void)
Charles MacNeill 9:66969b9016ad 235 {
Charles MacNeill 9:66969b9016ad 236 printf("VL53L1_Off\r\n");
Charles MacNeill 9:66969b9016ad 237 if (_gpio0) {
Charles MacNeill 9:66969b9016ad 238 *_gpio0 = 0;
Charles MacNeill 9:66969b9016ad 239 } else {
Charles MacNeill 9:66969b9016ad 240 if (_expgpio0) {
Charles MacNeill 9:66969b9016ad 241 *_expgpio0 = 0;
Charles MacNeill 9:66969b9016ad 242 }
Charles MacNeill 9:66969b9016ad 243 }
Charles MacNeill 9:66969b9016ad 244 #if (MBED_VERSION > 60300)
Charles MacNeill 9:66969b9016ad 245 thread_sleep_for(100);
Charles MacNeill 9:66969b9016ad 246 #else
Charles MacNeill 9:66969b9016ad 247 wait_ms(100); // NEEDS A DELAY BETWEEN SENSORS
Charles MacNeill 9:66969b9016ad 248 #endif
Charles MacNeill 9:66969b9016ad 249 }
Charles MacNeill 9:66969b9016ad 250
Charles MacNeill 9:66969b9016ad 251 int is_present()
Charles MacNeill 9:66969b9016ad 252 {
Charles MacNeill 9:66969b9016ad 253 int status;
Charles MacNeill 9:66969b9016ad 254 uint8_t id = 0;
Charles MacNeill 9:66969b9016ad 255
Charles MacNeill 9:66969b9016ad 256 status = read_id(&id);
Charles MacNeill 9:66969b9016ad 257 if (status) {
Charles MacNeill 9:66969b9016ad 258 printf("Failed to read ID device. Device not present!\n\r");
Charles MacNeill 9:66969b9016ad 259 }
Charles MacNeill 9:66969b9016ad 260 return status;
Charles MacNeill 9:66969b9016ad 261 }
Charles MacNeill 9:66969b9016ad 262
Charles MacNeill 9:66969b9016ad 263 /**
Charles MacNeill 9:66969b9016ad 264 * @brief Initialize the sensor with default values
Charles MacNeill 9:66969b9016ad 265 * @return 0 on Success
Charles MacNeill 9:66969b9016ad 266 */
Charles MacNeill 9:66969b9016ad 267
Charles MacNeill 10:3687b5e79f98 268 VL53L1CB_ERROR InitSensor(uint8_t address){
Charles MacNeill 10:3687b5e79f98 269 VL53L1CB_ERROR status = 0;
Charles MacNeill 9:66969b9016ad 270 uint8_t sensorState = 0;
Charles MacNeill 10:3687b5e79f98 271 VL53L1CB_Off();
Charles MacNeill 10:3687b5e79f98 272 VL53L1CB_On();
Charles MacNeill 10:3687b5e79f98 273 status = VL53L1CB_SetI2CAddress(address);
Charles MacNeill 9:66969b9016ad 274 if(!status){
Charles MacNeill 10:3687b5e79f98 275 status = VL53L1CB_SensorInit();
Charles MacNeill 9:66969b9016ad 276 }
Charles MacNeill 9:66969b9016ad 277
Charles MacNeill 9:66969b9016ad 278 while(!status && !sensorState) {
Charles MacNeill 10:3687b5e79f98 279 status = VL53L1CB_BootState(&sensorState);
Charles MacNeill 9:66969b9016ad 280
Charles MacNeill 9:66969b9016ad 281 #if (MBED_VERSION > 60300)
Charles MacNeill 9:66969b9016ad 282 thread_sleep_for(2);
Charles MacNeill 9:66969b9016ad 283 #else
Charles MacNeill 9:66969b9016ad 284 wait_ms(2); // NEEDS A DELAY BETWEEN SENSORS
Charles MacNeill 9:66969b9016ad 285 #endif
Charles MacNeill 9:66969b9016ad 286 }
Charles MacNeill 9:66969b9016ad 287 return status;
Charles MacNeill 9:66969b9016ad 288 }
Charles MacNeill 9:66969b9016ad 289
Charles MacNeill 9:66969b9016ad 290
Charles MacNeill 9:66969b9016ad 291
Charles MacNeill 9:66969b9016ad 292 /**
Charles MacNeill 9:66969b9016ad 293 *
Charles MacNeill 9:66969b9016ad 294 * @brief One time device initialization
Charles MacNeill 9:66969b9016ad 295 * @param void
Charles MacNeill 9:66969b9016ad 296 * @return 0 on success, @a #CALIBRATION_WARNING if failed
Charles MacNeill 9:66969b9016ad 297 */
Charles MacNeill 9:66969b9016ad 298 virtual int init(void *init)
Charles MacNeill 9:66969b9016ad 299 {
Charles MacNeill 10:3687b5e79f98 300 return VL53L1CB_SensorInit();
Charles MacNeill 9:66969b9016ad 301 return 0;
Charles MacNeill 9:66969b9016ad 302 }
Charles MacNeill 9:66969b9016ad 303
Charles MacNeill 9:66969b9016ad 304
Charles MacNeill 9:66969b9016ad 305 /**
Charles MacNeill 9:66969b9016ad 306 * @brief Initialize the sensor with default values
Charles MacNeill 9:66969b9016ad 307 * @return "0" on success
Charles MacNeill 9:66969b9016ad 308 */
Charles MacNeill 9:66969b9016ad 309 int init_sensor(uint8_t new_addr);
Charles MacNeill 9:66969b9016ad 310
Charles MacNeill 9:66969b9016ad 311 /* Read function of the ID device */
Charles MacNeill 9:66969b9016ad 312 virtual int read_id(uint8_t *id){
Charles MacNeill 9:66969b9016ad 313 int status = 0;
Charles MacNeill 9:66969b9016ad 314 uint16_t rl_id = 0;
Charles MacNeill 9:66969b9016ad 315
Charles MacNeill 9:66969b9016ad 316 uint8_t ExpanderData[2];
Charles MacNeill 9:66969b9016ad 317
Charles MacNeill 9:66969b9016ad 318 ExpanderData[0] = 0;
Charles MacNeill 9:66969b9016ad 319 ExpanderData[1] = 0;
Charles MacNeill 9:66969b9016ad 320 rl_id = 0;
Charles MacNeill 14:f06785b2a964 321 dev_i2c->ToF_i2c_read(&ExpanderData[0], Device->i2c_slave_address, VL53L1_REG_IDENTIFICATION_MODEL_ID, 2);
Charles MacNeill 9:66969b9016ad 322
Charles MacNeill 9:66969b9016ad 323 rl_id = (ExpanderData[0] << 8) + ExpanderData[1];
Charles MacNeill 9:66969b9016ad 324 printf("Model ID is: %d (%X) \r\n",rl_id, rl_id);
Charles MacNeill 9:66969b9016ad 325
Charles MacNeill 9:66969b9016ad 326 uint8_t tmp = 0;
Charles MacNeill 14:f06785b2a964 327 ExpanderData[0] = VL53L1_FIRMWARE__SYSTEM_STATUS >> 8;
Charles MacNeill 14:f06785b2a964 328 ExpanderData[1] = VL53L1_FIRMWARE__SYSTEM_STATUS & 0x0FF;
Charles MacNeill 14:f06785b2a964 329 dev_i2c->ToF_i2c_read(&tmp, Device->i2c_slave_address, VL53L1_FIRMWARE__SYSTEM_STATUS, 1);
Charles MacNeill 9:66969b9016ad 330
Charles MacNeill 9:66969b9016ad 331 printf("Firmware system is: %d\r\n",tmp);
Charles MacNeill 9:66969b9016ad 332
Charles MacNeill 9:66969b9016ad 333 if (rl_id == 0xEACC) {
Charles MacNeill 9:66969b9016ad 334 printf("Device is present %d:\r\n", rl_id);
Charles MacNeill 9:66969b9016ad 335 return status;
Charles MacNeill 9:66969b9016ad 336 }
Charles MacNeill 9:66969b9016ad 337 return -1;
Charles MacNeill 9:66969b9016ad 338 }
Charles MacNeill 9:66969b9016ad 339
Charles MacNeill 9:66969b9016ad 340
Charles MacNeill 9:66969b9016ad 341 /**
Charles MacNeill 9:66969b9016ad 342 * @brief Interrupt handling func to be called by user after an INT is occurred
Charles MacNeill 9:66969b9016ad 343 * @param[out] Data pointer to the distance to read data in to
Charles MacNeill 9:66969b9016ad 344 * @return 0 on Success
Charles MacNeill 9:66969b9016ad 345 */
Charles MacNeill 9:66969b9016ad 346 int handle_irq(uint16_t *distance);
Charles MacNeill 9:66969b9016ad 347
Charles MacNeill 9:66969b9016ad 348 /**
Charles MacNeill 9:66969b9016ad 349 * @brief Start the measure indicated by operating mode
Charles MacNeill 9:66969b9016ad 350 * @param[in] fptr specifies call back function must be !NULL in case of interrupt measure
Charles MacNeill 9:66969b9016ad 351 * @return 0 on Success
Charles MacNeill 9:66969b9016ad 352 */
Charles MacNeill 9:66969b9016ad 353 int start_measurement(void (*fptr)(void));
Charles MacNeill 9:66969b9016ad 354 /**
Charles MacNeill 9:66969b9016ad 355 * @brief Stop the currently running measure indicate by operating_mode
Charles MacNeill 9:66969b9016ad 356 * @return 0 on Success
Charles MacNeill 9:66969b9016ad 357 */
Charles MacNeill 9:66969b9016ad 358 int stop_measurement();
Charles MacNeill 9:66969b9016ad 359 /**
Charles MacNeill 9:66969b9016ad 360 * @brief Get results for the measure
Charles MacNeill 9:66969b9016ad 361 * @param[out] Data pointer to the distance_data to read data in to
Charles MacNeill 9:66969b9016ad 362 * @return 0 on Success
Charles MacNeill 9:66969b9016ad 363 */
Charles MacNeill 9:66969b9016ad 364 int get_measurement(uint16_t *distance);
Charles MacNeill 9:66969b9016ad 365 /**
Charles MacNeill 9:66969b9016ad 366 * @brief Enable interrupt measure IRQ
Charles MacNeill 9:66969b9016ad 367 * @return 0 on Success
Charles MacNeill 9:66969b9016ad 368 */
Charles MacNeill 9:66969b9016ad 369 void enable_interrupt_measure_detection_irq(void)
Charles MacNeill 9:66969b9016ad 370 {
Charles MacNeill 9:66969b9016ad 371 if (_gpio1Int != NULL)
Charles MacNeill 9:66969b9016ad 372 _gpio1Int->enable_irq();
Charles MacNeill 9:66969b9016ad 373 }
Charles MacNeill 9:66969b9016ad 374
Charles MacNeill 9:66969b9016ad 375 /**
Charles MacNeill 9:66969b9016ad 376 * @brief Disable interrupt measure IRQ
Charles MacNeill 9:66969b9016ad 377 * @return 0 on Success
Charles MacNeill 9:66969b9016ad 378 */
Charles MacNeill 9:66969b9016ad 379 void disable_interrupt_measure_detection_irq(void)
Charles MacNeill 9:66969b9016ad 380 {
Charles MacNeill 9:66969b9016ad 381 if (_gpio1Int != NULL)
Charles MacNeill 9:66969b9016ad 382 _gpio1Int->disable_irq();
Charles MacNeill 9:66969b9016ad 383 }
Charles MacNeill 9:66969b9016ad 384 /**
Charles MacNeill 9:66969b9016ad 385 * @brief Attach a function to call when an interrupt is detected, i.e. measurement is ready
Charles MacNeill 9:66969b9016ad 386 * @param[in] fptr pointer to call back function to be called whenever an interrupt occours
Charles MacNeill 9:66969b9016ad 387 * @return 0 on Success
Charles MacNeill 9:66969b9016ad 388 */
Charles MacNeill 9:66969b9016ad 389 void attach_interrupt_measure_detection_irq(void (*fptr)(void))
Charles MacNeill 9:66969b9016ad 390 {
Charles MacNeill 9:66969b9016ad 391 if (_gpio1Int != NULL)
Charles MacNeill 9:66969b9016ad 392 _gpio1Int->rise(fptr);
Charles MacNeill 9:66969b9016ad 393 }
Charles MacNeill 9:66969b9016ad 394
Charles MacNeill 9:66969b9016ad 395 /**
Charles MacNeill 9:66969b9016ad 396 * @brief Get ranging result and only that
Charles MacNeill 9:66969b9016ad 397 * @param pRange_mm Pointer to range distance
Charles MacNeill 9:66969b9016ad 398 * @return 0 on success
Charles MacNeill 9:66969b9016ad 399 */
Charles MacNeill 9:66969b9016ad 400 virtual int get_distance(uint32_t *piData)
Charles MacNeill 9:66969b9016ad 401 {
Charles MacNeill 9:66969b9016ad 402 int status;
Charles MacNeill 9:66969b9016ad 403 uint16_t distance;
Charles MacNeill 10:3687b5e79f98 404 status = VL53L1CB_GetDistance(&distance);
Charles MacNeill 9:66969b9016ad 405 *piData = (uint32_t) distance;
Charles MacNeill 9:66969b9016ad 406 return status;
Charles MacNeill 9:66969b9016ad 407 }
Charles MacNeill 9:66969b9016ad 408
Charles MacNeill 9:66969b9016ad 409
Charles MacNeill 9:66969b9016ad 410 /* VL53L1X_api.h functions */
Charles MacNeill 9:66969b9016ad 411
Charles MacNeill 9:66969b9016ad 412
Charles MacNeill 9:66969b9016ad 413
Charles MacNeill 9:66969b9016ad 414 /**
Charles MacNeill 9:66969b9016ad 415 * @brief This function returns the SW driver version
Charles MacNeill 9:66969b9016ad 416 */
Charles MacNeill 10:3687b5e79f98 417 VL53L1CB_ERROR VL53L1CB_GetSWVersion(VL53L1_Version_t *pVersion);
Charles MacNeill 9:66969b9016ad 418
Charles MacNeill 9:66969b9016ad 419 /**
Charles MacNeill 9:66969b9016ad 420 * @brief This function sets the sensor I2C address used in case multiple devices application, default address 0x52
Charles MacNeill 9:66969b9016ad 421 */
Charles MacNeill 10:3687b5e79f98 422 VL53L1CB_ERROR VL53L1CB_SetI2CAddress(uint8_t new_address);
Charles MacNeill 9:66969b9016ad 423
Charles MacNeill 9:66969b9016ad 424 /**
Charles MacNeill 9:66969b9016ad 425 * @brief This function loads the 135 bytes default values to initialize the sensor.
Charles MacNeill 9:66969b9016ad 426 * @param dev Device address
Charles MacNeill 9:66969b9016ad 427 * @return 0:success, != 0:failed
Charles MacNeill 9:66969b9016ad 428 */
Charles MacNeill 10:3687b5e79f98 429 VL53L1CB_ERROR VL53L1CB_SensorInit();
Charles MacNeill 9:66969b9016ad 430
Charles MacNeill 9:66969b9016ad 431 /**
Charles MacNeill 9:66969b9016ad 432 * @brief This function clears the interrupt, to be called after a ranging data reading
Charles MacNeill 9:66969b9016ad 433 * to arm the interrupt for the next data ready event.
Charles MacNeill 9:66969b9016ad 434 */
Charles MacNeill 10:3687b5e79f98 435 VL53L1CB_ERROR VL53L1CB_ClearInterrupt();
Charles MacNeill 9:66969b9016ad 436
Charles MacNeill 9:66969b9016ad 437
Charles MacNeill 9:66969b9016ad 438 /**
Charles MacNeill 9:66969b9016ad 439 * @brief This function returns the current interrupt polarity\n
Charles MacNeill 9:66969b9016ad 440 * 1=active high (default), 0=active low
Charles MacNeill 9:66969b9016ad 441 */
Charles MacNeill 10:3687b5e79f98 442 VL53L1CB_ERROR VL53L1CB_GetInterruptPolarity(uint8_t *pIntPol);
Charles MacNeill 9:66969b9016ad 443
Charles MacNeill 9:66969b9016ad 444 /**
Charles MacNeill 9:66969b9016ad 445 * @brief This function starts the ranging distance operation\n
Charles MacNeill 9:66969b9016ad 446 * The ranging operation is continuous. The clear interrupt has to be done after each get data to allow the interrupt to raise when the next data is ready\n
Charles MacNeill 9:66969b9016ad 447 * 1=active high (default), 0=active low, use SetInterruptPolarity() to change the interrupt polarity if required.
Charles MacNeill 9:66969b9016ad 448 */
Charles MacNeill 10:3687b5e79f98 449 VL53L1CB_ERROR VL53L1CB_StartRanging();
Charles MacNeill 9:66969b9016ad 450
Charles MacNeill 9:66969b9016ad 451 /**
Charles MacNeill 9:66969b9016ad 452 * @brief This function stops the ranging.
Charles MacNeill 9:66969b9016ad 453 */
Charles MacNeill 10:3687b5e79f98 454 VL53L1CB_ERROR VL53L1CB_StopRanging();
Charles MacNeill 9:66969b9016ad 455
Charles MacNeill 9:66969b9016ad 456
Charles MacNeill 9:66969b9016ad 457
Charles MacNeill 9:66969b9016ad 458 /**
Charles MacNeill 9:66969b9016ad 459 * @brief This function returns the boot state of the device (1:booted, 0:not booted)
Charles MacNeill 9:66969b9016ad 460 */
Charles MacNeill 10:3687b5e79f98 461 VL53L1CB_ERROR VL53L1CB_BootState(uint8_t *state);
Charles MacNeill 9:66969b9016ad 462
Charles MacNeill 9:66969b9016ad 463 /**
Charles MacNeill 9:66969b9016ad 464 * @brief This function returns the sensor id, sensor Id must be 0xEEAC
Charles MacNeill 9:66969b9016ad 465 */
Charles MacNeill 10:3687b5e79f98 466 // VL53L1CB_ERROR VL53L1X_GetSensorId(uint16_t *id);
Charles MacNeill 9:66969b9016ad 467
Charles MacNeill 9:66969b9016ad 468 /**
Charles MacNeill 9:66969b9016ad 469 * @brief This function returns the distance measured by the sensor in mm
Charles MacNeill 9:66969b9016ad 470 */
Charles MacNeill 10:3687b5e79f98 471 VL53L1CB_ERROR VL53L1CB_GetDistance(uint16_t *distance);
Charles MacNeill 9:66969b9016ad 472
Charles MacNeill 9:66969b9016ad 473
Charles MacNeill 9:66969b9016ad 474
Charles MacNeill 9:66969b9016ad 475
Charles MacNeill 9:66969b9016ad 476 /**************************************************************************/
Charles MacNeill 10:3687b5e79f98 477 VL53L1CB_ERROR VL53L1CB_WaitDeviceBooted(VL53L1_DEV Dev);
Charles MacNeill 9:66969b9016ad 478
Charles MacNeill 9:66969b9016ad 479
Charles MacNeill 10:3687b5e79f98 480 VL53L1CB_ERROR VL53L1CB_GetCalibrationData(VL53L1_CalibrationData_t *pCalibrationData);
Charles MacNeill 9:66969b9016ad 481
Charles MacNeill 9:66969b9016ad 482
Charles MacNeill 9:66969b9016ad 483
Charles MacNeill 10:3687b5e79f98 484 VL53L1_GPIO_Interrupt_Mode ConvertModeToLLD(VL53L1CB_ERROR *pStatus,
Charles MacNeill 9:66969b9016ad 485 VL53L1_ThresholdMode CrossMode);
Charles MacNeill 9:66969b9016ad 486
Charles MacNeill 10:3687b5e79f98 487 VL53L1CB_ERROR VL53L1CB_GetVersion(VL53L1_Version_t *pVersion);
Charles MacNeill 9:66969b9016ad 488
Charles MacNeill 10:3687b5e79f98 489 VL53L1CB_ERROR VL53L1CB_GetProductRevision(
Charles MacNeill 9:66969b9016ad 490 uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor);
Charles MacNeill 9:66969b9016ad 491
Charles MacNeill 9:66969b9016ad 492
Charles MacNeill 10:3687b5e79f98 493 VL53L1CB_ERROR VL53L1CB_GetDeviceInfo(
Charles MacNeill 9:66969b9016ad 494 VL53L1_DeviceInfo_t *pVL53L1_DeviceInfo);
Charles MacNeill 9:66969b9016ad 495
Charles MacNeill 10:3687b5e79f98 496 VL53L1CB_ERROR VL53L1CB_GetUID( uint64_t *pUid);
Charles MacNeill 9:66969b9016ad 497
Charles MacNeill 10:3687b5e79f98 498 VL53L1CB_ERROR VL53L1CB_GetRangeStatusString(uint8_t RangeStatus,
Charles MacNeill 9:66969b9016ad 499 char *pRangeStatusString);
Charles MacNeill 9:66969b9016ad 500
Charles MacNeill 9:66969b9016ad 501
Charles MacNeill 10:3687b5e79f98 502 VL53L1CB_ERROR VL53L1CB_GetPalErrorString(VL53L1CB_ERROR PalErrorCode,
Charles MacNeill 9:66969b9016ad 503 char *pPalErrorString);
Charles MacNeill 9:66969b9016ad 504
Charles MacNeill 9:66969b9016ad 505
Charles MacNeill 10:3687b5e79f98 506 VL53L1CB_ERROR VL53L1CB_GetPalStateString(VL53L1_State PalStateCode,
Charles MacNeill 9:66969b9016ad 507 char *pPalStateString);
Charles MacNeill 9:66969b9016ad 508
Charles MacNeill 9:66969b9016ad 509
Charles MacNeill 10:3687b5e79f98 510 VL53L1CB_ERROR VL53L1CB_GetPalState(VL53L1_DEV Dev, VL53L1_State *pPalState);
Charles MacNeill 9:66969b9016ad 511
Charles MacNeill 10:3687b5e79f98 512 VL53L1CB_ERROR VL53L1CB_DataInit();
Charles MacNeill 9:66969b9016ad 513
Charles MacNeill 10:3687b5e79f98 514 VL53L1CB_ERROR VL53L1CB_StaticInit();
Charles MacNeill 9:66969b9016ad 515
charlesmn 16:27131f13570d 516 VL53L1CB_ERROR VL53L1CB_ClearInterruptAndStartMeasurement();
Charles MacNeill 9:66969b9016ad 517
Charles MacNeill 10:3687b5e79f98 518 VL53L1CB_ERROR VL53L1CB_GetRangingMeasurementData(
Charles MacNeill 9:66969b9016ad 519 VL53L1_RangingMeasurementData_t *pRangingMeasurementData);
Charles MacNeill 9:66969b9016ad 520
Charles MacNeill 10:3687b5e79f98 521 VL53L1CB_ERROR VL53L1CB_GetMultiRangingData(
Charles MacNeill 9:66969b9016ad 522 VL53L1_MultiRangingData_t *pMultiRangingData);
Charles MacNeill 9:66969b9016ad 523
Charles MacNeill 10:3687b5e79f98 524 VL53L1CB_ERROR VL53L1CB_GetAdditionalData(
Charles MacNeill 9:66969b9016ad 525 VL53L1_AdditionalData_t *pAdditionalData);
Charles MacNeill 9:66969b9016ad 526
Charles MacNeill 10:3687b5e79f98 527 VL53L1CB_ERROR VL53L1CB_SetTuningParameter(
Charles MacNeill 9:66969b9016ad 528 uint16_t TuningParameterId, int32_t TuningParameterValue);
Charles MacNeill 9:66969b9016ad 529
Charles MacNeill 10:3687b5e79f98 530 VL53L1CB_ERROR VL53L1CB_GetTuningParameter(
Charles MacNeill 9:66969b9016ad 531 uint16_t TuningParameterId, int32_t *pTuningParameterValue);
Charles MacNeill 9:66969b9016ad 532
Charles MacNeill 10:3687b5e79f98 533 VL53L1CB_ERROR VL53L1CB_SetXTalkCompensationEnable(
Charles MacNeill 9:66969b9016ad 534 uint8_t XTalkCompensationEnable);
Charles MacNeill 9:66969b9016ad 535
Charles MacNeill 9:66969b9016ad 536
Charles MacNeill 10:3687b5e79f98 537 VL53L1CB_ERROR VL53L1CB_GetXTalkCompensationEnable(
Charles MacNeill 9:66969b9016ad 538 uint8_t *pXTalkCompensationEnable);
Charles MacNeill 9:66969b9016ad 539
Charles MacNeill 10:3687b5e79f98 540 VL53L1CB_ERROR VL53L1CB_PerformXTalkCalibration(
Charles MacNeill 9:66969b9016ad 541 uint8_t CalibrationOption);
Charles MacNeill 9:66969b9016ad 542
Charles MacNeill 10:3687b5e79f98 543 VL53L1CB_ERROR VL53L1CB_SetOffsetCalibrationMode(
Charles MacNeill 9:66969b9016ad 544 VL53L1_OffsetCalibrationModes OffsetCalibrationMode);
Charles MacNeill 9:66969b9016ad 545
Charles MacNeill 9:66969b9016ad 546
Charles MacNeill 10:3687b5e79f98 547 VL53L1CB_ERROR VL53L1CB_SetOffsetCorrectionMode(
Charles MacNeill 9:66969b9016ad 548 VL53L1_OffsetCorrectionModes OffsetCorrectionMode);
Charles MacNeill 9:66969b9016ad 549
Charles MacNeill 10:3687b5e79f98 550 VL53L1CB_ERROR VL53L1CB_PerformOffsetCalibration(
Charles MacNeill 9:66969b9016ad 551 int32_t CalDistanceMilliMeter, FixPoint1616_t CalReflectancePercent);
Charles MacNeill 9:66969b9016ad 552
Charles MacNeill 10:3687b5e79f98 553 VL53L1CB_ERROR VL53L1CB_PerformOffsetSimpleCalibration(
Charles MacNeill 9:66969b9016ad 554 int32_t CalDistanceMilliMeter);
Charles MacNeill 9:66969b9016ad 555
Charles MacNeill 10:3687b5e79f98 556 VL53L1CB_ERROR VL53L1CB_PerformOffsetZeroDistanceCalibration();
Charles MacNeill 9:66969b9016ad 557
Charles MacNeill 10:3687b5e79f98 558 VL53L1CB_ERROR VL53L1CB_SetCalibrationData(
Charles MacNeill 9:66969b9016ad 559 VL53L1_CalibrationData_t *pCalibrationData);
Charles MacNeill 9:66969b9016ad 560
Charles MacNeill 10:3687b5e79f98 561 VL53L1CB_ERROR VL53L1CB_SetZoneCalibrationData(
Charles MacNeill 9:66969b9016ad 562 VL53L1_ZoneCalibrationData_t *pZoneCalibrationData);
Charles MacNeill 9:66969b9016ad 563
Charles MacNeill 10:3687b5e79f98 564 VL53L1CB_ERROR VL53L1CB_GetZoneCalibrationData(
Charles MacNeill 9:66969b9016ad 565 VL53L1_ZoneCalibrationData_t *pZoneCalibrationData);
Charles MacNeill 9:66969b9016ad 566
Charles MacNeill 10:3687b5e79f98 567 VL53L1CB_ERROR VL53L1CB_GetOpticalCenter(
Charles MacNeill 9:66969b9016ad 568 FixPoint1616_t *pOpticalCenterX,
Charles MacNeill 9:66969b9016ad 569 FixPoint1616_t *pOpticalCenterY);
Charles MacNeill 9:66969b9016ad 570
Charles MacNeill 10:3687b5e79f98 571 VL53L1CB_ERROR VL53L1CB_SetThresholdConfig(VL53L1_DetectionConfig_t *pConfig);
Charles MacNeill 9:66969b9016ad 572
Charles MacNeill 9:66969b9016ad 573
Charles MacNeill 10:3687b5e79f98 574 VL53L1CB_ERROR VL53L1CB_GetLimitCheckStatus( uint16_t LimitCheckId,
Charles MacNeill 9:66969b9016ad 575 uint8_t *pLimitCheckStatus);
Charles MacNeill 9:66969b9016ad 576
Charles MacNeill 9:66969b9016ad 577
Charles MacNeill 10:3687b5e79f98 578 VL53L1CB_ERROR VL53L1CB_SetLimitCheckEnable( uint16_t LimitCheckId,
Charles MacNeill 9:66969b9016ad 579 uint8_t LimitCheckEnable);
Charles MacNeill 9:66969b9016ad 580
Charles MacNeill 10:3687b5e79f98 581 VL53L1CB_ERROR VL53L1CB_GetLimitCheckEnable(uint16_t LimitCheckId,
Charles MacNeill 9:66969b9016ad 582 uint8_t *pLimitCheckEnable);
Charles MacNeill 9:66969b9016ad 583
Charles MacNeill 10:3687b5e79f98 584 VL53L1CB_ERROR VL53L1CB_GetThresholdConfig(VL53L1_DetectionConfig_t *pConfig);
Charles MacNeill 9:66969b9016ad 585
Charles MacNeill 9:66969b9016ad 586
Charles MacNeill 10:3687b5e79f98 587 VL53L1CB_ERROR VL53L1CB_PerformOffsetPerVcselCalibration(int32_t CalDistanceMilliMeter);
Charles MacNeill 9:66969b9016ad 588
Charles MacNeill 10:3687b5e79f98 589 VL53L1CB_ERROR VL53L1CB_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck);
Charles MacNeill 9:66969b9016ad 590
Charles MacNeill 10:3687b5e79f98 591 VL53L1CB_ERROR VL53L1CB_GetLimitCheckInfo(uint16_t LimitCheckId,
Charles MacNeill 9:66969b9016ad 592 char *pLimitCheckString);
Charles MacNeill 9:66969b9016ad 593
Charles MacNeill 10:3687b5e79f98 594 VL53L1CB_ERROR VL53L1CB_SetPresetMode(VL53L1_PresetModes PresetMode);
Charles MacNeill 9:66969b9016ad 595
Charles MacNeill 10:3687b5e79f98 596 VL53L1CB_ERROR VL53L1CB_GetPresetMode( VL53L1_PresetModes *pPresetMode);
Charles MacNeill 9:66969b9016ad 597
Charles MacNeill 10:3687b5e79f98 598 VL53L1CB_ERROR VL53L1CB_SetDistanceMode( VL53L1_DistanceModes DistanceMode);
Charles MacNeill 9:66969b9016ad 599
Charles MacNeill 10:3687b5e79f98 600 VL53L1CB_ERROR VL53L1CB_GetDistanceMode(VL53L1_DistanceModes *pDistanceMode);
Charles MacNeill 9:66969b9016ad 601
Charles MacNeill 10:3687b5e79f98 602 VL53L1CB_ERROR VL53L1CB_SetOutputMode(VL53L1_OutputModes OutputMode);
Charles MacNeill 9:66969b9016ad 603
Charles MacNeill 10:3687b5e79f98 604 VL53L1CB_ERROR VL53L1CB_GetOutputMode(VL53L1_OutputModes *pOutputMode);
Charles MacNeill 9:66969b9016ad 605
Charles MacNeill 10:3687b5e79f98 606 VL53L1CB_ERROR VL53L1CB_SetMeasurementTimingBudgetMicroSeconds(uint32_t MeasurementTimingBudgetMicroSeconds);
Charles MacNeill 9:66969b9016ad 607
Charles MacNeill 10:3687b5e79f98 608 VL53L1CB_ERROR VL53L1CB_SetInterMeasurementPeriodMilliSeconds(uint32_t InterMeasurementPeriodMilliSeconds);
Charles MacNeill 9:66969b9016ad 609
Charles MacNeill 9:66969b9016ad 610
Charles MacNeill 10:3687b5e79f98 611 VL53L1CB_ERROR VL53L1CB_GetInterMeasurementPeriodMilliSeconds(
Charles MacNeill 9:66969b9016ad 612 uint32_t *pInterMeasurementPeriodMilliSeconds);
Charles MacNeill 9:66969b9016ad 613
Charles MacNeill 9:66969b9016ad 614
Charles MacNeill 10:3687b5e79f98 615 VL53L1CB_ERROR VL53L1CB_SetDmaxReflectance( FixPoint1616_t DmaxReflectance);
Charles MacNeill 9:66969b9016ad 616
Charles MacNeill 10:3687b5e79f98 617 VL53L1CB_ERROR VL53L1CB_GetDmaxReflectance(FixPoint1616_t *pDmaxReflectance);
Charles MacNeill 9:66969b9016ad 618
Charles MacNeill 9:66969b9016ad 619
Charles MacNeill 10:3687b5e79f98 620 VL53L1CB_ERROR VL53L1CB_GetDmaxMode( VL53L1_DeviceDmaxModes *pDmaxMode);
Charles MacNeill 9:66969b9016ad 621
Charles MacNeill 10:3687b5e79f98 622 VL53L1CB_ERROR VL53L1CB_GetMeasurementTimingBudgetMicroSeconds(
Charles MacNeill 9:66969b9016ad 623 uint32_t *pMeasurementTimingBudgetMicroSeconds);
Charles MacNeill 9:66969b9016ad 624
Charles MacNeill 10:3687b5e79f98 625 VL53L1CB_ERROR VL53L1CB_SetDmaxMode(VL53L1_DeviceDmaxModes DmaxMode);
Charles MacNeill 9:66969b9016ad 626
Charles MacNeill 10:3687b5e79f98 627 VL53L1CB_ERROR VL53L1CB_SetLimitCheckValue( uint16_t LimitCheckId,
Charles MacNeill 9:66969b9016ad 628 FixPoint1616_t LimitCheckValue);
Charles MacNeill 9:66969b9016ad 629
Charles MacNeill 10:3687b5e79f98 630 VL53L1CB_ERROR VL53L1CB_GetLimitCheckValue(uint16_t LimitCheckId,
Charles MacNeill 9:66969b9016ad 631 FixPoint1616_t *pLimitCheckValue);
Charles MacNeill 9:66969b9016ad 632
Charles MacNeill 10:3687b5e79f98 633 VL53L1CB_ERROR VL53L1CB_GetLimitCheckCurrent( uint16_t LimitCheckId,
Charles MacNeill 9:66969b9016ad 634 FixPoint1616_t *pLimitCheckCurrent);
Charles MacNeill 9:66969b9016ad 635
Charles MacNeill 10:3687b5e79f98 636 VL53L1CB_ERROR VL53L1CB_GetMaxNumberOfROI( uint8_t *pMaxNumberOfROI);
Charles MacNeill 9:66969b9016ad 637
Charles MacNeill 10:3687b5e79f98 638 VL53L1CB_ERROR VL53L1CB_SetROI(VL53L1_RoiConfig_t *pRoiConfig);
Charles MacNeill 9:66969b9016ad 639
Charles MacNeill 14:f06785b2a964 640 VL53L1CB_ERROR VL53L1CB_GetROI(VL53L1_RoiConfig_t *pRoiConfig);
Charles MacNeill 9:66969b9016ad 641
Charles MacNeill 10:3687b5e79f98 642 VL53L1CB_ERROR VL53L1CB_GetNumberOfSequenceSteps(uint8_t *pNumberOfSequenceSteps);
Charles MacNeill 9:66969b9016ad 643
Charles MacNeill 10:3687b5e79f98 644 VL53L1CB_ERROR VL53L1CB_GetSequenceStepsInfo(VL53L1_SequenceStepId SequenceStepId,
Charles MacNeill 9:66969b9016ad 645 char *pSequenceStepsString);
Charles MacNeill 9:66969b9016ad 646
Charles MacNeill 9:66969b9016ad 647
Charles MacNeill 10:3687b5e79f98 648 VL53L1CB_ERROR VL53L1CB_SetSequenceStepEnable(VL53L1_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled);
Charles MacNeill 9:66969b9016ad 649
Charles MacNeill 9:66969b9016ad 650
Charles MacNeill 10:3687b5e79f98 651 VL53L1CB_ERROR VL53L1CB_GetSequenceStepEnable(VL53L1_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled);
Charles MacNeill 9:66969b9016ad 652
Charles MacNeill 9:66969b9016ad 653
Charles MacNeill 10:3687b5e79f98 654 VL53L1CB_ERROR VL53L1CB_StartMeasurement();
Charles MacNeill 9:66969b9016ad 655
Charles MacNeill 10:3687b5e79f98 656 VL53L1CB_ERROR VL53L1CB_StopMeasurement();
Charles MacNeill 9:66969b9016ad 657
Charles MacNeill 9:66969b9016ad 658
Charles MacNeill 10:3687b5e79f98 659 VL53L1CB_ERROR VL53L1CB_GetMeasurementDataReady(uint8_t *pMeasurementDataReady);
Charles MacNeill 9:66969b9016ad 660
Charles MacNeill 10:3687b5e79f98 661 VL53L1CB_ERROR VL53L1CB_WaitMeasurementDataReady();
Charles MacNeill 9:66969b9016ad 662
Charles MacNeill 10:3687b5e79f98 663 VL53L1CB_ERROR VL53L1CB_SmudgeCorrectionEnable(VL53L1_SmudgeCorrectionModes Mode);
Charles MacNeill 9:66969b9016ad 664 /***************************************************************************/
Charles MacNeill 9:66969b9016ad 665
Charles MacNeill 9:66969b9016ad 666
Charles MacNeill 9:66969b9016ad 667 /* Write and read functions from I2C */
Charles MacNeill 9:66969b9016ad 668
Charles MacNeill 14:f06785b2a964 669 VL53L1CB_ERROR VL53L1_WrByte(VL53L1_DEV dev, uint16_t index, uint8_t data); // DON'T CHANGE NAME, SATELLITES STOP WORKING
Charles MacNeill 14:f06785b2a964 670 VL53L1CB_ERROR VL53L1_WrWord(VL53L1_DEV dev, uint16_t index, uint16_t data); // DON'T CHANGE NAME, SATELLITES STOP WORKING
Charles MacNeill 14:f06785b2a964 671 VL53L1CB_ERROR VL53L1_WrDWord(VL53L1_DEV dev, uint16_t index, uint32_t data); // DON'T CHANGE NAME, SATELLITES STOP WORKING
Charles MacNeill 14:f06785b2a964 672 VL53L1CB_ERROR VL53L1_RdByte(VL53L1_DEV dev, uint16_t index, uint8_t *data); // DON'T CHANGE NAME, SATELLITES STOP WORKING
Charles MacNeill 14:f06785b2a964 673 VL53L1CB_ERROR VL53L1_RdWord(VL53L1_DEV dev, uint16_t index, uint16_t *data); // DON'T CHANGE NAME, SATELLITES STOP WORKING
Charles MacNeill 14:f06785b2a964 674 VL53L1CB_ERROR VL53L1_RdDWord(VL53L1_DEV dev, uint16_t index, uint32_t *data);// DON'T CHANGE NAME, SATELLITES STOP WORKING
Charles MacNeill 14:f06785b2a964 675 VL53L1CB_ERROR VL53L1_UpdateByte(VL53L1_DEV dev, uint16_t index, uint8_t AndData, uint8_t OrData); // DON'T CHANGE NAME, SATELLITES STOP WORKING
Charles MacNeill 9:66969b9016ad 676
Charles MacNeill 10:3687b5e79f98 677 VL53L1CB_ERROR VL53L1CB_WriteMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count);
Charles MacNeill 10:3687b5e79f98 678 VL53L1CB_ERROR VL53L1CB_ReadMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count);
Charles MacNeill 9:66969b9016ad 679
Charles MacNeill 10:3687b5e79f98 680 VL53L1CB_ERROR VL53L1CB_I2CWrite(uint8_t dev, uint16_t index, uint8_t *data, uint16_t number_of_bytes);
Charles MacNeill 10:3687b5e79f98 681 VL53L1CB_ERROR VL53L1CB_I2CRead(uint8_t dev, uint16_t index, uint8_t *data, uint16_t number_of_bytes);
Charles MacNeill 10:3687b5e79f98 682 VL53L1CB_ERROR VL53L1CB_GetTickCount(uint32_t *ptick_count_ms);
Charles MacNeill 10:3687b5e79f98 683 VL53L1CB_ERROR VL53L1CB_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_us);
Charles MacNeill 10:3687b5e79f98 684 VL53L1CB_ERROR VL53L1CB_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_ms);
Charles MacNeill 9:66969b9016ad 685
Charles MacNeill 10:3687b5e79f98 686 VL53L1CB_ERROR VL53L1CB_WaitValueMaskEx(VL53L1_Dev_t *pdev, uint32_t timeout_ms, uint16_t index, uint8_t value, uint8_t mask, uint32_t poll_delay_ms);
Charles MacNeill 10:3687b5e79f98 687 VL53L1CB_ERROR VL53L1CB_SetDeviceAddress(VL53L1_DEV Dev, uint8_t DeviceAddress);
Charles MacNeill 9:66969b9016ad 688
Charles MacNeill 9:66969b9016ad 689 // from vl53l1_api_debug.c
Charles MacNeill 9:66969b9016ad 690
Charles MacNeill 10:3687b5e79f98 691 VL53L1CB_ERROR VL53L1CB_get_additional_data(
Charles MacNeill 9:66969b9016ad 692 VL53L1_DEV Dev,
Charles MacNeill 9:66969b9016ad 693 VL53L1_additional_data_t *pdata);
Charles MacNeill 9:66969b9016ad 694
Charles MacNeill 9:66969b9016ad 695
Charles MacNeill 9:66969b9016ad 696 protected:
Charles MacNeill 9:66969b9016ad 697
Charles MacNeill 9:66969b9016ad 698 /* IO Device */
Charles MacNeill 9:66969b9016ad 699 ToF_DevI2C *dev_i2c;
Charles MacNeill 9:66969b9016ad 700
Charles MacNeill 9:66969b9016ad 701 /* Digital out pin */
Charles MacNeill 9:66969b9016ad 702 DigitalOut *_gpio0;
Charles MacNeill 9:66969b9016ad 703 /* GPIO expander */
Charles MacNeill 9:66969b9016ad 704 Stmpe1600DigiOut *_expgpio0;
Charles MacNeill 9:66969b9016ad 705 /* Measure detection IRQ */
Charles MacNeill 9:66969b9016ad 706 InterruptIn *_gpio1Int;
Charles MacNeill 9:66969b9016ad 707
Charles MacNeill 9:66969b9016ad 708 ///* Digital out pin */
Charles MacNeill 9:66969b9016ad 709 /* Device data */
Charles MacNeill 9:66969b9016ad 710 VL53L1_Dev_t MyDevice;
Charles MacNeill 9:66969b9016ad 711 VL53L1_DEV Device;
Charles MacNeill 9:66969b9016ad 712 };
Charles MacNeill 9:66969b9016ad 713
Charles MacNeill 9:66969b9016ad 714
Charles MacNeill 9:66969b9016ad 715 #endif /* _VL53L1X_CLASS_H_ */