ST Expansion SW Team
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.
Diff: inc/VL53l1CB.h
- Revision:
- 9:66969b9016ad
- Child:
- 10:3687b5e79f98
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/VL53l1CB.h Wed Jun 09 08:40:49 2021 +0100
@@ -0,0 +1,716 @@
+/*******************************************************************************
+ * @file vl53l1x_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.
+ All rights reserved.
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+ NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+ IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+ DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+
+#ifndef __VL53L1X_CLASS_H
+#define __VL53L1X_CLASS_H
+
+
+#ifdef _MSC_VER
+# ifdef VL53L1X_API_EXPORTS
+# define VL53L1X_API __declspec(dllexport)
+# else
+# define VL53L1X_API
+# endif
+#else
+# define VL53L1X_API
+#endif
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "mbed.h"
+#include "PinNames.h"
+
+#include "RangeSensor.h"
+#include "Stmpe1600.h"
+
+#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
+
+typedef int8_t VL53L1_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;
+
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a VL53L1 sensor component
+ */
+class VL53L1 : public RangeSensor
+{
+
+
+
+ public:
+
+
+ #define VL53L1DevStructGetLLDriverHandle(Dev) (&Dev->Data.LLData)
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
+ * @param[in] DevAddr device address, 0x52 by default
+ */
+
+ VL53L1(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;
+ Device = &MyDevice;
+
+ _expgpio0 = NULL;
+ if (pin_gpio1 != NC) {
+ _gpio1Int = new InterruptIn(pin_gpio1);
+ } else {
+ _gpio1Int = NULL;
+ }
+ }
+
+
+ /** Constructor 2 (STMPE1600DigiOut)
+ * @param[in] i2c device I2C to be used for communication
+ * @param[in] &pin Gpio Expander STMPE1600DigiOut pin to be used as component GPIO_0 CE
+ * @param[in] pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
+ * @param[in] device address, 0x29 by default
+ */
+ VL53L1(ToF_DevI2C *i2c, Stmpe1600DigiOut *pin, PinName pin_gpio1,
+ uint8_t dev_addr = VL53L1_DEFAULT_DEVICE_ADDRESS)
+ : dev_i2c(i2c), _expgpio0(pin)
+ {
+ MyDevice.i2c_slave_address=dev_addr;
+ Device = &MyDevice;
+
+ _gpio0 = NULL;
+ if (pin_gpio1 != NC) {
+ _gpio1Int = new InterruptIn(pin_gpio1);
+ } else {
+ _gpio1Int = NULL;
+ }
+ }
+
+ /** Destructor
+ */
+ virtual ~VL53L1()
+ {
+ if (_gpio1Int != NULL) {
+ delete _gpio1Int;
+ }
+ }
+
+
+
+ VL53L1_DEV getDevicePtr() { return Device; }
+
+
+ /* warning: VL53L1 class inherits from GenericSensor, RangeSensor and LightSensor, that haven`t a destructor.
+ The warning should request to introduce a virtual destructor to make sure to delete the object */
+
+ /*** Interface Methods ***/
+ /*** High level API ***/
+ /**
+ * @brief PowerOn the sensor
+ * @return void
+ */
+ /* turns on the sensor */
+ virtual void VL53L1_On(void)
+ {
+ printf("VL53L1_On\r\n");
+ if (_gpio0) {
+ *_gpio0 = 1;
+ } else {
+ if (_expgpio0) {
+ *_expgpio0 = 1;
+ }
+ }
+#if (MBED_VERSION > 60300)
+ thread_sleep_for(100);
+#else
+ wait_ms(100); // NEEDS A DELAY BETWEEN SENSORS
+#endif
+ }
+
+ /**
+ * @brief PowerOff the sensor
+ * @return void
+ */
+ /* turns off the sensor */
+ virtual void VL53L1_Off(void)
+ {
+ printf("VL53L1_Off\r\n");
+ if (_gpio0) {
+ *_gpio0 = 0;
+ } else {
+ if (_expgpio0) {
+ *_expgpio0 = 0;
+ }
+ }
+#if (MBED_VERSION > 60300)
+ thread_sleep_for(100);
+#else
+ wait_ms(100); // NEEDS A DELAY BETWEEN SENSORS
+#endif
+ }
+
+ int is_present()
+ {
+ int status;
+ uint8_t id = 0;
+
+ status = read_id(&id);
+ if (status) {
+ printf("Failed to read ID device. Device not present!\n\r");
+ }
+ return status;
+ }
+
+ /**
+ * @brief Initialize the sensor with default values
+ * @return 0 on Success
+ */
+
+ VL53L1_ERROR InitSensor(uint8_t address){
+ VL53L1_ERROR status = 0;
+ uint8_t sensorState = 0;
+ VL53L1_Off();
+ VL53L1_On();
+ status = vl53L1_SetI2CAddress(address);
+ if(!status){
+ status = VL53L1_SensorInit();
+ }
+
+ while(!status && !sensorState) {
+ status = vl53L1_BootState(&sensorState);
+
+#if (MBED_VERSION > 60300)
+ thread_sleep_for(2);
+#else
+ wait_ms(2); // NEEDS A DELAY BETWEEN SENSORS
+#endif
+ }
+ return status;
+ }
+
+
+
+/**
+ *
+ * @brief One time device initialization
+ * @param void
+ * @return 0 on success, @a #CALIBRATION_WARNING if failed
+ */
+ virtual int init(void *init)
+ {
+ return VL53L1_SensorInit();
+ return 0;
+ }
+
+
+ /**
+ * @brief Initialize the sensor with default values
+ * @return "0" on success
+ */
+ int init_sensor(uint8_t new_addr);
+
+ /* Read function of the ID device */
+ virtual int read_id(uint8_t *id){
+ int status = 0;
+ uint16_t rl_id = 0;
+
+ uint8_t ExpanderData[2];
+
+ ExpanderData[0] = 0;
+ ExpanderData[1] = 0;
+ rl_id = 0;
+ dev_i2c->ToF_i2c_read(&ExpanderData[0], Device->i2c_slave_address, VL53L1_REG_IDENTIFICATION_MODEL_ID, 2);
+
+ rl_id = (ExpanderData[0] << 8) + ExpanderData[1];
+ printf("Model ID is: %d (%X) \r\n",rl_id, rl_id);
+
+ uint8_t tmp = 0;
+ ExpanderData[0] = VL53L1_FIRMWARE__SYSTEM_STATUS >> 8;
+ ExpanderData[1] = VL53L1_FIRMWARE__SYSTEM_STATUS & 0x0FF;
+ dev_i2c->ToF_i2c_read(&tmp, Device->i2c_slave_address, VL53L1_FIRMWARE__SYSTEM_STATUS, 1);
+
+ printf("Firmware system is: %d\r\n",tmp);
+
+ if (rl_id == 0xEACC) {
+ printf("Device is present %d:\r\n", rl_id);
+ return status;
+ }
+ return -1;
+ }
+
+
+ /**
+ * @brief Interrupt handling func to be called by user after an INT is occurred
+ * @param[out] Data pointer to the distance to read data in to
+ * @return 0 on Success
+ */
+ int handle_irq(uint16_t *distance);
+
+ /**
+ * @brief Start the measure indicated by operating mode
+ * @param[in] fptr specifies call back function must be !NULL in case of interrupt measure
+ * @return 0 on Success
+ */
+ int start_measurement(void (*fptr)(void));
+ /**
+ * @brief Stop the currently running measure indicate by operating_mode
+ * @return 0 on Success
+ */
+ int stop_measurement();
+ /**
+ * @brief Get results for the measure
+ * @param[out] Data pointer to the distance_data to read data in to
+ * @return 0 on Success
+ */
+ int get_measurement(uint16_t *distance);
+ /**
+ * @brief Enable interrupt measure IRQ
+ * @return 0 on Success
+ */
+ void enable_interrupt_measure_detection_irq(void)
+ {
+ if (_gpio1Int != NULL)
+ _gpio1Int->enable_irq();
+ }
+
+ /**
+ * @brief Disable interrupt measure IRQ
+ * @return 0 on Success
+ */
+ void disable_interrupt_measure_detection_irq(void)
+ {
+ if (_gpio1Int != NULL)
+ _gpio1Int->disable_irq();
+ }
+ /**
+ * @brief Attach a function to call when an interrupt is detected, i.e. measurement is ready
+ * @param[in] fptr pointer to call back function to be called whenever an interrupt occours
+ * @return 0 on Success
+ */
+ void attach_interrupt_measure_detection_irq(void (*fptr)(void))
+ {
+ if (_gpio1Int != NULL)
+ _gpio1Int->rise(fptr);
+ }
+
+/**
+ * @brief Get ranging result and only that
+ * @param pRange_mm Pointer to range distance
+ * @return 0 on success
+ */
+ virtual int get_distance(uint32_t *piData)
+ {
+ int status;
+ uint16_t distance;
+ status = VL53L1_GetDistance(&distance);
+ *piData = (uint32_t) distance;
+ return status;
+ }
+
+
+/* VL53L1X_api.h functions */
+
+
+
+ /**
+ * @brief This function returns the SW driver version
+ */
+ VL53L1_ERROR VL53L1_GetSWVersion(VL53L1_Version_t *pVersion);
+
+ /**
+ * @brief This function sets the sensor I2C address used in case multiple devices application, default address 0x52
+ */
+ VL53L1_ERROR vl53L1_SetI2CAddress(uint8_t new_address);
+
+ /**
+ * @brief This function loads the 135 bytes default values to initialize the sensor.
+ * @param dev Device address
+ * @return 0:success, != 0:failed
+ */
+ VL53L1_ERROR VL53L1_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.
+ */
+ VL53L1_ERROR VL53L1_ClearInterrupt();
+
+
+ /**
+ * @brief This function returns the current interrupt polarity\n
+ * 1=active high (default), 0=active low
+ */
+ VL53L1_ERROR VL53L1_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.
+ */
+ VL53L1_ERROR VL53L1_StartRanging();
+
+ /**
+ * @brief This function stops the ranging.
+ */
+ VL53L1_ERROR VL53L1_StopRanging();
+
+
+
+ /**
+ * @brief This function returns the boot state of the device (1:booted, 0:not booted)
+ */
+ VL53L1_ERROR vl53L1_BootState(uint8_t *state);
+
+ /**
+ * @brief This function returns the sensor id, sensor Id must be 0xEEAC
+ */
+ // VL53L1_ERROR VL53L1X_GetSensorId(uint16_t *id);
+
+ /**
+ * @brief This function returns the distance measured by the sensor in mm
+ */
+ VL53L1_ERROR VL53L1_GetDistance(uint16_t *distance);
+
+
+
+
+ /**************************************************************************/
+ VL53L1_ERROR vl53L1_WaitDeviceBooted(VL53L1_DEV Dev);
+
+
+ VL53L1_ERROR vl53L1_GetCalibrationData(VL53L1_CalibrationData_t *pCalibrationData);
+
+
+
+ VL53L1_GPIO_Interrupt_Mode ConvertModeToLLD(VL53L1_Error *pStatus,
+ VL53L1_ThresholdMode CrossMode);
+
+ VL53L1_ERROR vl53L1_GetVersion(VL53L1_Version_t *pVersion);
+
+ VL53L1_ERROR vl53L1_GetProductRevision(
+ uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor);
+
+
+ VL53L1_ERROR vl53L1_GetDeviceInfo(
+ VL53L1_DeviceInfo_t *pVL53L1_DeviceInfo);
+
+ VL53L1_ERROR vl53L1_GetUID( uint64_t *pUid);
+
+ VL53L1_ERROR vl53L1_GetRangeStatusString(uint8_t RangeStatus,
+ char *pRangeStatusString);
+
+
+ VL53L1_ERROR vl53L1_GetPalErrorString(VL53L1_Error PalErrorCode,
+ char *pPalErrorString);
+
+
+ VL53L1_ERROR vl53L1_GetPalStateString(VL53L1_State PalStateCode,
+ char *pPalStateString);
+
+
+ VL53L1_ERROR vl53L1_GetPalState(VL53L1_DEV Dev, VL53L1_State *pPalState);
+
+ VL53L1_ERROR vl53L1_DataInit();
+
+ VL53L1_ERROR vl53L1_StaticInit();
+
+ VL53L1_Error vl53L1_ClearInterruptAndStartMeasurement();
+
+ VL53L1_ERROR vl53L1_GetRangingMeasurementData(
+ VL53L1_RangingMeasurementData_t *pRangingMeasurementData);
+
+ VL53L1_ERROR vl53L1_GetMultiRangingData(
+ VL53L1_MultiRangingData_t *pMultiRangingData);
+
+ VL53L1_ERROR vl53L1_GetAdditionalData(
+ VL53L1_AdditionalData_t *pAdditionalData);
+
+ VL53L1_ERROR vl53L1_SetTuningParameter(
+ uint16_t TuningParameterId, int32_t TuningParameterValue);
+
+ VL53L1_ERROR vl53L1_GetTuningParameter(
+ uint16_t TuningParameterId, int32_t *pTuningParameterValue);
+
+ VL53L1_ERROR vl53L1_SetXTalkCompensationEnable(
+ uint8_t XTalkCompensationEnable);
+
+
+ VL53L1_ERROR vl53L1_GetXTalkCompensationEnable(
+ uint8_t *pXTalkCompensationEnable);
+
+ VL53L1_ERROR vl53L1_PerformXTalkCalibration(
+ uint8_t CalibrationOption);
+
+ VL53L1_ERROR vl53L1_SetOffsetCalibrationMode(
+ VL53L1_OffsetCalibrationModes OffsetCalibrationMode);
+
+
+ VL53L1_ERROR vl53L1_SetOffsetCorrectionMode(
+ VL53L1_OffsetCorrectionModes OffsetCorrectionMode);
+
+ VL53L1_ERROR vl53L1_PerformOffsetCalibration(
+ int32_t CalDistanceMilliMeter, FixPoint1616_t CalReflectancePercent);
+
+ VL53L1_ERROR vl53L1_PerformOffsetSimpleCalibration(
+ int32_t CalDistanceMilliMeter);
+
+ VL53L1_ERROR vl53L1_PerformOffsetZeroDistanceCalibration();
+
+ VL53L1_ERROR vl53L1_SetCalibrationData(
+ VL53L1_CalibrationData_t *pCalibrationData);
+
+ VL53L1_ERROR vl53L1_SetZoneCalibrationData(
+ VL53L1_ZoneCalibrationData_t *pZoneCalibrationData);
+
+ VL53L1_ERROR vl53L1_GetZoneCalibrationData(
+ VL53L1_ZoneCalibrationData_t *pZoneCalibrationData);
+
+ VL53L1_ERROR vl53L1_GetOpticalCenter(
+ FixPoint1616_t *pOpticalCenterX,
+ FixPoint1616_t *pOpticalCenterY);
+
+ VL53L1_ERROR vl53L1_SetThresholdConfig(VL53L1_DetectionConfig_t *pConfig);
+
+
+ VL53L1_ERROR vl53L1_GetLimitCheckStatus( uint16_t LimitCheckId,
+ uint8_t *pLimitCheckStatus);
+
+
+ VL53L1_ERROR vl53L1_SetLimitCheckEnable( uint16_t LimitCheckId,
+ uint8_t LimitCheckEnable);
+
+ VL53L1_ERROR vl53L1_GetLimitCheckEnable(uint16_t LimitCheckId,
+ uint8_t *pLimitCheckEnable);
+
+ VL53L1_ERROR vl53L1_GetThresholdConfig(VL53L1_DetectionConfig_t *pConfig);
+
+
+ VL53L1_ERROR vl53L1_PerformOffsetPerVcselCalibration(int32_t CalDistanceMilliMeter);
+
+ VL53L1_ERROR vl53L1_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck);
+
+ VL53L1_ERROR vl53L1_GetLimitCheckInfo(uint16_t LimitCheckId,
+ char *pLimitCheckString);
+
+ VL53L1_ERROR vl53L1_SetPresetMode(VL53L1_PresetModes PresetMode);
+
+ VL53L1_ERROR vl53L1_GetPresetMode( VL53L1_PresetModes *pPresetMode);
+
+ VL53L1_ERROR vl53L1_SetDistanceMode( VL53L1_DistanceModes DistanceMode);
+
+ VL53L1_ERROR vl53L1_GetDistanceMode(VL53L1_DistanceModes *pDistanceMode);
+
+ VL53L1_ERROR vl53L1_SetOutputMode(VL53L1_OutputModes OutputMode);
+
+ VL53L1_ERROR vl53L1_GetOutputMode(VL53L1_OutputModes *pOutputMode);
+
+ VL53L1_ERROR vl53L1_SetMeasurementTimingBudgetMicroSeconds(uint32_t MeasurementTimingBudgetMicroSeconds);
+
+ VL53L1_ERROR vl53L1_SetInterMeasurementPeriodMilliSeconds(uint32_t InterMeasurementPeriodMilliSeconds);
+
+
+ VL53L1_ERROR vl53L1_GetInterMeasurementPeriodMilliSeconds(
+ uint32_t *pInterMeasurementPeriodMilliSeconds);
+
+
+ VL53L1_ERROR vl53L1_SetDmaxReflectance( FixPoint1616_t DmaxReflectance);
+
+ VL53L1_ERROR vl53L1_GetDmaxReflectance(FixPoint1616_t *pDmaxReflectance);
+
+
+ VL53L1_ERROR vl53L1_GetDmaxMode( VL53L1_DeviceDmaxModes *pDmaxMode);
+
+ VL53L1_ERROR vl53L1_GetMeasurementTimingBudgetMicroSeconds(
+ uint32_t *pMeasurementTimingBudgetMicroSeconds);
+
+ VL53L1_ERROR vl53L1_SetDmaxMode(VL53L1_DeviceDmaxModes DmaxMode);
+
+ VL53L1_ERROR vl53L1_SetLimitCheckValue( uint16_t LimitCheckId,
+ FixPoint1616_t LimitCheckValue);
+
+ VL53L1_ERROR vl53L1_GetLimitCheckValue(uint16_t LimitCheckId,
+ FixPoint1616_t *pLimitCheckValue);
+
+ VL53L1_ERROR vl53L1_GetLimitCheckCurrent( uint16_t LimitCheckId,
+ FixPoint1616_t *pLimitCheckCurrent);
+
+ VL53L1_ERROR vl53L1_GetMaxNumberOfROI( uint8_t *pMaxNumberOfROI);
+
+ VL53L1_ERROR vl53L1_SetROI(VL53L1_RoiConfig_t *pRoiConfig);
+
+ VL53L1_ERROR vl53L1_GetROI(VL53L1_RoiConfig_t *pRoiConfig);
+
+ VL53L1_ERROR vl53L1_GetNumberOfSequenceSteps(uint8_t *pNumberOfSequenceSteps);
+
+ VL53L1_ERROR vl53L1_GetSequenceStepsInfo(VL53L1_SequenceStepId SequenceStepId,
+ char *pSequenceStepsString);
+
+
+ VL53L1_ERROR vl53L1_SetSequenceStepEnable(VL53L1_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled);
+
+
+ VL53L1_ERROR vl53L1_GetSequenceStepEnable(VL53L1_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled);
+
+
+ VL53L1_ERROR vl53L1_StartMeasurement();
+
+ VL53L1_ERROR vl53L1_StopMeasurement();
+
+
+ VL53L1_ERROR vl53L1_GetMeasurementDataReady(uint8_t *pMeasurementDataReady);
+
+ VL53L1_ERROR vl53L1_WaitMeasurementDataReady();
+
+ VL53L1_Error vl53L1_SmudgeCorrectionEnable(VL53L1_SmudgeCorrectionModes Mode);
+ /***************************************************************************/
+
+
+ /* Write and read functions from I2C */
+
+ VL53L1_ERROR VL53L1_WrByte(VL53L1_DEV dev, uint16_t index, uint8_t data);
+ VL53L1_ERROR VL53L1_WrWord(VL53L1_DEV dev, uint16_t index, uint16_t data);
+ VL53L1_ERROR VL53L1_WrDWord(VL53L1_DEV dev, uint16_t index, uint32_t data);
+ VL53L1_ERROR VL53L1_RdByte(VL53L1_DEV dev, uint16_t index, uint8_t *data);
+ VL53L1_ERROR VL53L1_RdWord(VL53L1_DEV dev, uint16_t index, uint16_t *data);
+ VL53L1_ERROR VL53L1_RdDWord(VL53L1_DEV dev, uint16_t index, uint32_t *data);
+ VL53L1_ERROR VL53L1_UpdateByte(VL53L1_DEV dev, uint16_t index, uint8_t AndData, uint8_t OrData);
+
+ VL53L1_ERROR VL53L1_WriteMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count);
+ VL53L1_ERROR VL53L1_ReadMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count);
+
+ VL53L1_ERROR VL53L1_I2CWrite(uint8_t dev, uint16_t index, uint8_t *data, uint16_t number_of_bytes);
+ VL53L1_ERROR VL53L1_I2CRead(uint8_t dev, uint16_t index, uint8_t *data, uint16_t number_of_bytes);
+ VL53L1_ERROR VL53L1_GetTickCount(uint32_t *ptick_count_ms);
+ VL53L1_ERROR VL53L1_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_us);
+ VL53L1_ERROR VL53L1_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_ms);
+
+ VL53L1_ERROR vl53L1_WaitValueMaskEx(VL53L1_Dev_t *pdev, uint32_t timeout_ms, uint16_t index, uint8_t value, uint8_t mask, uint32_t poll_delay_ms);
+ VL53L1_ERROR VL53L1_SetDeviceAddress(VL53L1_DEV Dev, uint8_t DeviceAddress);
+
+ // from vl53l1_api_debug.c
+
+ VL53L1_Error vl53L1_get_additional_data(
+ VL53L1_DEV Dev,
+ VL53L1_additional_data_t *pdata);
+
+
+ protected:
+
+ /* IO Device */
+ ToF_DevI2C *dev_i2c;
+
+ /* Digital out pin */
+ DigitalOut *_gpio0;
+ /* GPIO expander */
+ Stmpe1600DigiOut *_expgpio0;
+ /* Measure detection IRQ */
+ InterruptIn *_gpio1Int;
+
+ ///* Digital out pin */
+ /* Device data */
+ VL53L1_Dev_t MyDevice;
+ VL53L1_DEV Device;
+};
+
+
+#endif /* _VL53L1X_CLASS_H_ */
\ No newline at end of file