Diff: inc/VL53L1CB.h

Revision:

18:0696efe39d08

Parent:

17:ca0ce4daf573

--- a/inc/VL53L1CB.h	Wed Jun 23 12:57:26 2021 +0000
+++ b/inc/VL53L1CB.h	Wed Jul 21 17:06:38 2021 +0200
@@ -1,11 +1,11 @@
 /*******************************************************************************
- * @file    vl53l1x_class.h
+ * @file    vl53l1cb_class.h
  * @author  JS
  * @version V0.0.1
  * @date    15-January-2019
  * @brief   Header file for VL53L1 sensor component
  ******************************************************************************
- Copyright © 2019, STMicroelectronics International N.V.
+ Copyright © 2021, STMicroelectronics International N.V.
  All rights reserved.
  Redistribution and use in source and binary forms, with or without
  modification, are permitted provided that the following conditions are met:
@@ -35,13 +35,13 @@
 
 
 #ifdef _MSC_VER
-#   ifdef VL53L1X_API_EXPORTS
-#       define VL53L1X_API  __declspec(dllexport)
+#   ifdef VL53L1CB_API_EXPORTS
+#       define VL53L1CB_API  __declspec(dllexport)
 #   else
-#       define VL53L1X_API
+#       define VL53L1CB_API
 #   endif
 #else
-#   define VL53L1X_API
+#   define VL53L1CB_API
 #endif
 
 
@@ -56,93 +56,29 @@
 #include "vl53l1_error_codes.h"
 #include "vl53l1_platform_user_data.h"
 
-//#include "DevI2C.h"
 #include "ToF_I2C.h"
 /**********************************************************/
 #include "vl53l1_def.h"
 /***********************************************************/
 
 
-#define VL53L1_IMPLEMENTATION_VER_MAJOR       1
-#define VL53L1_IMPLEMENTATION_VER_MINOR       0
-#define VL53L1_IMPLEMENTATION_VER_SUB         1
-#define VL53L1_IMPLEMENTATION_VER_REVISION  0000
+#define VL53L1CB_IMPLEMENTATION_VER_MAJOR       1
+#define VL53L1CB_IMPLEMENTATION_VER_MINOR       0
+#define VL53L1CB_IMPLEMENTATION_VER_SUB         2
+#define VL53L1CB_IMPLEMENTATION_VER_REVISION  0000
 
 typedef int8_t VL53L1CB_ERROR;
 
-//#define SOFT_RESET                                          0x0000
-#define VL53L1_I2C_SLAVE__DEVICE_ADDRESS                    0x0001
-#define VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND        0x0008
-#define ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS      0x0016
-#define ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS  0x0018
-#define ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS  0x001A
-#define ALGO__PART_TO_PART_RANGE_OFFSET_MM                  0x001E
-#define MM_CONFIG__INNER_OFFSET_MM                          0x0020
-#define MM_CONFIG__OUTER_OFFSET_MM                          0x0022
-#define GPIO_HV_MUX__CTRL                                   0x0030
-#define GPIO__TIO_HV_STATUS                                 0x0031
-#define SYSTEM__INTERRUPT_CONFIG_GPIO                       0x0046
-#define PHASECAL_CONFIG__TIMEOUT_MACROP                     0x004B
-#define RANGE_CONFIG__TIMEOUT_MACROP_A_HI                   0x005E
-#define RANGE_CONFIG__VCSEL_PERIOD_A                        0x0060
-#define RANGE_CONFIG__VCSEL_PERIOD_B                        0x0063
-#define RANGE_CONFIG__TIMEOUT_MACROP_B_HI                   0x0061
-#define RANGE_CONFIG__TIMEOUT_MACROP_B_LO                   0x0062
-#define RANGE_CONFIG__SIGMA_THRESH                          0x0064
-#define RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS         0x0066
-#define RANGE_CONFIG__VALID_PHASE_HIGH                      0x0069
-#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD              0x006C
-#define SYSTEM__THRESH_HIGH                                 0x0072
-#define SYSTEM__THRESH_LOW                                  0x0074
-#define SD_CONFIG__WOI_SD0                                  0x0078
-#define SD_CONFIG__INITIAL_PHASE_SD0                        0x007A
-#define ROI_CONFIG__USER_ROI_CENTRE_SPAD                    0x007F
-#define ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE       0x0080
-#define SYSTEM__SEQUENCE_CONFIG                             0x0081
-#define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD               0x0082
-#define SYSTEM__INTERRUPT_CLEAR                             0x0086
-#define SYSTEM__MODE_START                                  0x0087
-#define VL53L1_RESULT__RANGE_STATUS                         0x0089
-#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0       0x008C
-#define RESULT__AMBIENT_COUNT_RATE_MCPS_SD                  0x0090
-#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0               0x0096
-#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0  0x0098
-#define VL53L1_RESULT__OSC_CALIBRATE_VAL                    0x00DE
-#define VL53L1_FIRMWARE__SYSTEM_STATUS                      0x00E5
-#define VL53L1_IDENTIFICATION__MODEL_ID                     0x010F
-#define VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD             0x013E
-
-
-#define VL53L1_DEFAULT_DEVICE_ADDRESS                      0x52
-
-#define VL53L1_REG_IDENTIFICATION_MODEL_ID                 0x010F
-
-/****************************************
- * PRIVATE define do not edit
- ****************************************/
-
-/**
- *  @brief defines SW Version
- */
-//typedef struct {
- //   uint8_t      major;    /*!< major number */
-//    uint8_t      minor;    /*!< minor number */
-//    uint8_t      build;    /*!< build number */
-//    uint32_t     revision; /*!< revision number */
-//} VL53L1X_Version_t;
-
+#define VL53L1_DEFAULT_DEVICE_ADDRESS      0x52
+#define VL53L1_REG_IDENTIFICATION_MODEL_ID 0x010F
 
 /* Classes -------------------------------------------------------------------*/
 /** Class representing a VL53L1 sensor component
  */
 class VL53L1CB : public RangeSensor
 {
- 
-
- 
  public:
  
- 
  #define VL53L1DevStructGetLLDriverHandle(Dev) (&Dev->Data.LLData)
     /** Constructor
      * @param[in] &i2c device I2C to be used for communication
@@ -153,7 +89,8 @@
     VL53L1CB(ToF_DevI2C *i2c, DigitalOut *pin, PinName pin_gpio1, uint8_t dev_addr = VL53L1_DEFAULT_DEVICE_ADDRESS) 
     : RangeSensor(), dev_i2c(i2c), _gpio0(pin)
     {
-        MyDevice.i2c_slave_address=dev_addr;
+        MyDevice.i2c_slave_address = dev_addr;
+        MyDevice.dev_i2c = (void*) i2c;
         Device = &MyDevice;
                
         _expgpio0 = NULL;
@@ -174,7 +111,8 @@
             uint8_t dev_addr = VL53L1_DEFAULT_DEVICE_ADDRESS) 
             : dev_i2c(i2c), _expgpio0(pin)
     {
-        MyDevice.i2c_slave_address=dev_addr;
+        MyDevice.i2c_slave_address = dev_addr;
+        MyDevice.dev_i2c = (void*) i2c;
         Device = &MyDevice;
                
         _gpio0 = NULL;
@@ -219,7 +157,7 @@
                 *_expgpio0 = 1;
             }
         }
-#if (MBED_VERSION  > 60300) 
+#if (MBED_VERSION > 60300)
     thread_sleep_for(100);
 #else
     wait_ms(100);  // NEEDS A DELAY BETWEEN SENSORS
@@ -241,7 +179,7 @@
                 *_expgpio0 = 0;
             }
         }
-#if (MBED_VERSION  > 60300) 
+#if (MBED_VERSION > 60300)
     thread_sleep_for(100);
 #else
     wait_ms(100);  // NEEDS A DELAY BETWEEN SENSORS
@@ -267,23 +205,15 @@
      
      VL53L1CB_ERROR InitSensor(uint8_t address){
         VL53L1CB_ERROR status = 0;
-        uint8_t sensorState = 0;
         VL53L1CB_Off();
         VL53L1CB_On();
-        status = VL53L1CB_SetI2CAddress(address);
+        status = VL53L1CB_WaitDeviceBooted();
+        if(!status){
+            status = VL53L1CB_SetI2CAddress(address);
+        }
         if(!status){
             status = VL53L1CB_SensorInit();
         }      
-     
-        while(!status && !sensorState) {
-            status = VL53L1CB_BootState(&sensorState);
-
-#if (MBED_VERSION  > 60300) 
-        thread_sleep_for(2);
-#else
-        wait_ms(2);  // NEEDS A DELAY BETWEEN SENSORS
-#endif
-        }           
         return status;
      }
 
@@ -401,15 +331,13 @@
     {
     int status;
     uint16_t distance;
-    status = VL53L1CB_GetDistance(&distance);
+    status = get_measurement(&distance);
     *piData = (uint32_t) distance;
     return status;
     }
 
 
-/* VL53L1X_api.h functions */
-
-
+/* vl53l1_api.h functions */
 
     /**
      * @brief This function returns the SW driver version
@@ -429,58 +357,17 @@
     VL53L1CB_ERROR VL53L1CB_SensorInit();
 
     /**
-     * @brief This function clears the interrupt, to be called after a ranging data reading
-     * to arm the interrupt for the next data ready event.
-     */
-    VL53L1CB_ERROR VL53L1CB_ClearInterrupt();
-
-
-    /**
-     * @brief This function returns the current interrupt polarity\n
-     * 1=active high (default), 0=active low
-     */
-    VL53L1CB_ERROR VL53L1CB_GetInterruptPolarity(uint8_t *pIntPol);
-
-    /**
-     * @brief This function starts the ranging distance operation\n
-     * 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
-     * 1=active high (default), 0=active low, use SetInterruptPolarity() to change the interrupt polarity if required.
-     */
-    VL53L1CB_ERROR VL53L1CB_StartRanging();
-
-    /**
-     * @brief This function stops the ranging.
-     */
-    VL53L1CB_ERROR VL53L1CB_StopRanging();
-
-
-
-    /**
      * @brief This function returns the boot state of the device (1:booted, 0:not booted)
      */
     VL53L1CB_ERROR VL53L1CB_BootState(uint8_t *state);
 
-    /**
-     * @brief This function returns the sensor id, sensor Id must be 0xEEAC
-     */
-  //  VL53L1CB_ERROR VL53L1X_GetSensorId(uint16_t *id);
-
-    /**
-     * @brief This function returns the distance measured by the sensor in mm
-     */
-    VL53L1CB_ERROR VL53L1CB_GetDistance(uint16_t *distance);
-
-
-    
     
     /**************************************************************************/
-    VL53L1CB_ERROR VL53L1CB_WaitDeviceBooted(VL53L1_DEV Dev);
-    
+
+    VL53L1CB_ERROR VL53L1CB_WaitDeviceBooted();
     
     VL53L1CB_ERROR VL53L1CB_GetCalibrationData(VL53L1_CalibrationData_t  *pCalibrationData);
         
-    
-    
     VL53L1_GPIO_Interrupt_Mode ConvertModeToLLD(VL53L1CB_ERROR *pStatus,
         VL53L1_ThresholdMode CrossMode);
       
@@ -507,7 +394,7 @@
     char *pPalStateString);
     
     
-    VL53L1CB_ERROR VL53L1CB_GetPalState(VL53L1_DEV Dev, VL53L1_State *pPalState);
+    VL53L1CB_ERROR VL53L1CB_GetPalState(VL53L1_State *pPalState);
     
     VL53L1CB_ERROR VL53L1CB_DataInit();
     
@@ -685,12 +572,6 @@
     
     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);
     VL53L1CB_ERROR VL53L1CB_SetDeviceAddress(VL53L1_DEV Dev, uint8_t DeviceAddress);
-    
-    // from vl53l1_api_debug.c
-
-    VL53L1CB_ERROR VL53L1CB_get_additional_data(
-        VL53L1_DEV                       Dev,
-        VL53L1_additional_data_t        *pdata);
 
 
  protected:
@@ -712,4 +593,4 @@
 };
 
 
-#endif /* _VL53L1X_CLASS_H_ */
\ No newline at end of file
+#endif /* _VL53L1CB_CLASS_H_ */