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.
src/VL53L1CB.cpp@14:f06785b2a964, 2021-06-19 (annotated)
- Committer:
- Charles MacNeill
- Date:
- Sat Jun 19 16:45:54 2021 +0100
- Revision:
- 14:f06785b2a964
- Parent:
- 11:be14e3591d65
- Child:
- 16:27131f13570d
Fix the satellites not working issue.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Charles MacNeill |
9:66969b9016ad | 1 | /** |
| Charles MacNeill |
9:66969b9016ad | 2 | ****************************************************************************** |
| Charles MacNeill |
9:66969b9016ad | 3 | * @file vl53l1x_class.cpp |
| Charles MacNeill |
9:66969b9016ad | 4 | * @author JS |
| Charles MacNeill |
9:66969b9016ad | 5 | * @version V0.0.1 |
| Charles MacNeill |
9:66969b9016ad | 6 | * @date 15-January-2019 |
| Charles MacNeill |
9:66969b9016ad | 7 | * @brief Implementation file for the VL53L1 sensor component driver class |
| Charles MacNeill |
9:66969b9016ad | 8 | ****************************************************************************** |
| Charles MacNeill |
9:66969b9016ad | 9 | * @attention |
| Charles MacNeill |
9:66969b9016ad | 10 | * |
| Charles MacNeill |
9:66969b9016ad | 11 | * <h2><center>© COPYRIGHT(c) 2018 STMicroelectronics</center></h2> |
| Charles MacNeill |
9:66969b9016ad | 12 | * |
| Charles MacNeill |
9:66969b9016ad | 13 | * Redistribution and use in source and binary forms, with or without modification, |
| Charles MacNeill |
9:66969b9016ad | 14 | * are permitted provided that the following conditions are met: |
| Charles MacNeill |
9:66969b9016ad | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
| Charles MacNeill |
9:66969b9016ad | 16 | * this list of conditions and the following disclaimer. |
| Charles MacNeill |
9:66969b9016ad | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| Charles MacNeill |
9:66969b9016ad | 18 | * this list of conditions and the following disclaimer in the documentation |
| Charles MacNeill |
9:66969b9016ad | 19 | * and/or other materials provided with the distribution. |
| Charles MacNeill |
9:66969b9016ad | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| Charles MacNeill |
9:66969b9016ad | 21 | * may be used to endorse or promote products derived from this software |
| Charles MacNeill |
9:66969b9016ad | 22 | * without specific prior written permission. |
| Charles MacNeill |
9:66969b9016ad | 23 | * |
| Charles MacNeill |
9:66969b9016ad | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| Charles MacNeill |
9:66969b9016ad | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| Charles MacNeill |
9:66969b9016ad | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| Charles MacNeill |
9:66969b9016ad | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| Charles MacNeill |
9:66969b9016ad | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| Charles MacNeill |
9:66969b9016ad | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| Charles MacNeill |
9:66969b9016ad | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| Charles MacNeill |
9:66969b9016ad | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| Charles MacNeill |
9:66969b9016ad | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| Charles MacNeill |
9:66969b9016ad | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| Charles MacNeill |
9:66969b9016ad | 34 | * |
| Charles MacNeill |
9:66969b9016ad | 35 | ****************************************************************************** |
| Charles MacNeill |
9:66969b9016ad | 36 | */ |
| Charles MacNeill |
9:66969b9016ad | 37 | |
| Charles MacNeill |
9:66969b9016ad | 38 | /* Includes */ |
| Charles MacNeill |
9:66969b9016ad | 39 | #include <stdlib.h> |
| Charles MacNeill |
9:66969b9016ad | 40 | #include "VL53L1CB.h" |
| Charles MacNeill |
9:66969b9016ad | 41 | /************************************************/ |
| Charles MacNeill |
9:66969b9016ad | 42 | #include "vl53l1_platform_user_config.h" |
| Charles MacNeill |
9:66969b9016ad | 43 | #include "vl53l1_def.h" |
| Charles MacNeill |
9:66969b9016ad | 44 | #include "vl53l1_wait.h" |
| Charles MacNeill |
9:66969b9016ad | 45 | #include "vl53l1_api.h" |
| Charles MacNeill |
9:66969b9016ad | 46 | #include "vl53l1_api_debug.h" |
| Charles MacNeill |
9:66969b9016ad | 47 | #include "vl53l1_api_strings.h" |
| Charles MacNeill |
9:66969b9016ad | 48 | #include "vl53l1_preset_setup.h" |
| Charles MacNeill |
9:66969b9016ad | 49 | #include "vl53l1_api_calibration.h" |
| Charles MacNeill |
9:66969b9016ad | 50 | #include "vl53l1_nvm_structs.h" |
| Charles MacNeill |
9:66969b9016ad | 51 | #include "vl53l1_nvm.h" |
| Charles MacNeill |
9:66969b9016ad | 52 | #include "vl53l1_core.h" |
| Charles MacNeill |
9:66969b9016ad | 53 | #include "vl53l1_register_funcs.h" |
| Charles MacNeill |
9:66969b9016ad | 54 | /***********************************************************/ |
| Charles MacNeill |
9:66969b9016ad | 55 | #include "vl53l1_api_core.h" |
| Charles MacNeill |
9:66969b9016ad | 56 | |
| Charles MacNeill |
9:66969b9016ad | 57 | #include "vl53l1_configuration.h" |
| Charles MacNeill |
9:66969b9016ad | 58 | |
| Charles MacNeill |
9:66969b9016ad | 59 | |
| Charles MacNeill |
9:66969b9016ad | 60 | #ifndef MIN |
| Charles MacNeill |
9:66969b9016ad | 61 | #define MIN(v1, v2) ((v1) < (v2) ? (v1) : (v2)) |
| Charles MacNeill |
9:66969b9016ad | 62 | #endif |
| Charles MacNeill |
9:66969b9016ad | 63 | #ifndef MAX |
| Charles MacNeill |
9:66969b9016ad | 64 | #define MAX(v1, v2) ((v1) < (v2) ? (v2) : (v1)) |
| Charles MacNeill |
9:66969b9016ad | 65 | #endif |
| Charles MacNeill |
9:66969b9016ad | 66 | |
| Charles MacNeill |
9:66969b9016ad | 67 | |
| Charles MacNeill |
10:3687b5e79f98 | 68 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetSWVersion(VL53L1_Version_t *pVersion) |
| Charles MacNeill |
9:66969b9016ad | 69 | { |
| Charles MacNeill |
10:3687b5e79f98 | 70 | VL53L1CB_ERROR Status = 0; |
| Charles MacNeill |
9:66969b9016ad | 71 | |
| Charles MacNeill |
14:f06785b2a964 | 72 | pVersion->major = VL53L1_IMPLEMENTATION_VER_MAJOR; |
| Charles MacNeill |
14:f06785b2a964 | 73 | pVersion->minor = VL53L1_IMPLEMENTATION_VER_MINOR; |
| Charles MacNeill |
14:f06785b2a964 | 74 | pVersion->build = VL53L1_IMPLEMENTATION_VER_SUB; |
| Charles MacNeill |
14:f06785b2a964 | 75 | pVersion->revision = VL53L1_IMPLEMENTATION_VER_REVISION; |
| Charles MacNeill |
9:66969b9016ad | 76 | return Status; |
| Charles MacNeill |
9:66969b9016ad | 77 | } |
| Charles MacNeill |
9:66969b9016ad | 78 | |
| Charles MacNeill |
10:3687b5e79f98 | 79 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetI2CAddress(uint8_t new_address) |
| Charles MacNeill |
9:66969b9016ad | 80 | { |
| Charles MacNeill |
10:3687b5e79f98 | 81 | VL53L1CB_ERROR status = 0; |
| Charles MacNeill |
10:3687b5e79f98 | 82 | // status = (VL53L1CB_ERROR)VL53L1_SetDeviceAddress(Device,new_address); |
| Charles MacNeill |
9:66969b9016ad | 83 | |
| Charles MacNeill |
9:66969b9016ad | 84 | |
| Charles MacNeill |
9:66969b9016ad | 85 | // Device->i2c_slave_address = new_address; //~~ was |
| Charles MacNeill |
9:66969b9016ad | 86 | if ( Device->i2c_slave_address != new_address) |
| Charles MacNeill |
9:66969b9016ad | 87 | { |
| Charles MacNeill |
14:f06785b2a964 | 88 | status = VL53L1_WrByte(Device, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, new_address >> 1); |
| Charles MacNeill |
9:66969b9016ad | 89 | printf("VL53L1_SetI2CAddress %d to %d status = %d\n", Device->i2c_slave_address,new_address,status); |
| Charles MacNeill |
9:66969b9016ad | 90 | Device->i2c_slave_address = new_address; |
| Charles MacNeill |
9:66969b9016ad | 91 | |
| Charles MacNeill |
9:66969b9016ad | 92 | } |
| Charles MacNeill |
9:66969b9016ad | 93 | return status; |
| Charles MacNeill |
9:66969b9016ad | 94 | } |
| Charles MacNeill |
9:66969b9016ad | 95 | |
| Charles MacNeill |
10:3687b5e79f98 | 96 | int VL53L1CB::init_sensor(uint8_t new_addr) |
| Charles MacNeill |
9:66969b9016ad | 97 | { |
| Charles MacNeill |
9:66969b9016ad | 98 | Device->i2c_slave_address = new_addr; |
| Charles MacNeill |
9:66969b9016ad | 99 | int status = 0; |
| Charles MacNeill |
10:3687b5e79f98 | 100 | VL53L1CB_Off(); |
| Charles MacNeill |
10:3687b5e79f98 | 101 | VL53L1CB_On(); |
| Charles MacNeill |
9:66969b9016ad | 102 | |
| Charles MacNeill |
9:66969b9016ad | 103 | status = is_present(); |
| Charles MacNeill |
9:66969b9016ad | 104 | if (!status) { |
| Charles MacNeill |
9:66969b9016ad | 105 | printf("Failed to init VL53L0X sensor!\n\r"); |
| Charles MacNeill |
9:66969b9016ad | 106 | return status; |
| Charles MacNeill |
9:66969b9016ad | 107 | } |
| Charles MacNeill |
9:66969b9016ad | 108 | return status; |
| Charles MacNeill |
9:66969b9016ad | 109 | } |
| Charles MacNeill |
9:66969b9016ad | 110 | |
| Charles MacNeill |
9:66969b9016ad | 111 | |
| Charles MacNeill |
10:3687b5e79f98 | 112 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SensorInit() |
| Charles MacNeill |
9:66969b9016ad | 113 | { |
| Charles MacNeill |
10:3687b5e79f98 | 114 | VL53L1CB_ERROR status = 0; |
| Charles MacNeill |
9:66969b9016ad | 115 | uint8_t Addr = 0x00; |
| Charles MacNeill |
9:66969b9016ad | 116 | |
| Charles MacNeill |
9:66969b9016ad | 117 | for (Addr = 0x2D; Addr <= 0x87; Addr++){ |
| Charles MacNeill |
14:f06785b2a964 | 118 | status = VL53L1_WrByte(Device, Addr, VL51L1X_DEFAULT_CONFIGURATION[Addr - 0x2D]); |
| Charles MacNeill |
9:66969b9016ad | 119 | if (status != 0) |
| Charles MacNeill |
9:66969b9016ad | 120 | { |
| Charles MacNeill |
9:66969b9016ad | 121 | printf("Writing config failed - %d\r\n", status); |
| Charles MacNeill |
9:66969b9016ad | 122 | } |
| Charles MacNeill |
9:66969b9016ad | 123 | } |
| Charles MacNeill |
9:66969b9016ad | 124 | |
| Charles MacNeill |
9:66969b9016ad | 125 | // uint16_t sensorID= 0; |
| Charles MacNeill |
9:66969b9016ad | 126 | // status = VL53L1X_GetSensorId(&sensorID); |
| Charles MacNeill |
9:66969b9016ad | 127 | // printf("Sensor id is - %d (%X)\r\n", sensorID, sensorID); |
| Charles MacNeill |
9:66969b9016ad | 128 | |
| Charles MacNeill |
10:3687b5e79f98 | 129 | status = VL53L1CB_StartRanging(); |
| Charles MacNeill |
9:66969b9016ad | 130 | if (status != 0) |
| Charles MacNeill |
9:66969b9016ad | 131 | { |
| Charles MacNeill |
9:66969b9016ad | 132 | printf("start ranging failed - %d\r\n", status); |
| Charles MacNeill |
9:66969b9016ad | 133 | } |
| Charles MacNeill |
9:66969b9016ad | 134 | |
| Charles MacNeill |
10:3687b5e79f98 | 135 | status = VL53L1CB_ClearInterrupt(); |
| Charles MacNeill |
10:3687b5e79f98 | 136 | status = VL53L1CB_StopRanging(); |
| Charles MacNeill |
9:66969b9016ad | 137 | status = VL53L1_WrByte(Device, VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); // two bounds VHV |
| Charles MacNeill |
9:66969b9016ad | 138 | status = VL53L1_WrByte(Device, 0x0B, 0); // start VHV from the previous temperature |
| Charles MacNeill |
9:66969b9016ad | 139 | return status; |
| Charles MacNeill |
9:66969b9016ad | 140 | } |
| Charles MacNeill |
9:66969b9016ad | 141 | |
| Charles MacNeill |
9:66969b9016ad | 142 | |
| Charles MacNeill |
10:3687b5e79f98 | 143 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_ClearInterrupt() |
| Charles MacNeill |
9:66969b9016ad | 144 | { |
| Charles MacNeill |
10:3687b5e79f98 | 145 | VL53L1CB_ERROR status = 0; |
| Charles MacNeill |
9:66969b9016ad | 146 | |
| Charles MacNeill |
14:f06785b2a964 | 147 | status = VL53L1_WrByte(Device, SYSTEM__INTERRUPT_CLEAR, 0x01); |
| Charles MacNeill |
14:f06785b2a964 | 148 | // printf("VL53L1CB::VL53L1X_ClearInterrupt()\n"); |
| Charles MacNeill |
9:66969b9016ad | 149 | return status; |
| Charles MacNeill |
9:66969b9016ad | 150 | } |
| Charles MacNeill |
9:66969b9016ad | 151 | |
| Charles MacNeill |
9:66969b9016ad | 152 | |
| Charles MacNeill |
9:66969b9016ad | 153 | |
| Charles MacNeill |
9:66969b9016ad | 154 | |
| Charles MacNeill |
9:66969b9016ad | 155 | |
| Charles MacNeill |
10:3687b5e79f98 | 156 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetInterruptPolarity(uint8_t *pInterruptPolarity) |
| Charles MacNeill |
9:66969b9016ad | 157 | { |
| Charles MacNeill |
9:66969b9016ad | 158 | uint8_t Temp; |
| Charles MacNeill |
10:3687b5e79f98 | 159 | VL53L1CB_ERROR status = 0; |
| Charles MacNeill |
9:66969b9016ad | 160 | |
| Charles MacNeill |
14:f06785b2a964 | 161 | status = VL53L1_RdByte(Device, GPIO_HV_MUX__CTRL, &Temp); |
| Charles MacNeill |
9:66969b9016ad | 162 | Temp = Temp & 0x10; |
| Charles MacNeill |
9:66969b9016ad | 163 | *pInterruptPolarity = !(Temp>>4); |
| Charles MacNeill |
9:66969b9016ad | 164 | return status; |
| Charles MacNeill |
9:66969b9016ad | 165 | } |
| Charles MacNeill |
9:66969b9016ad | 166 | |
| Charles MacNeill |
9:66969b9016ad | 167 | |
| Charles MacNeill |
9:66969b9016ad | 168 | |
| Charles MacNeill |
10:3687b5e79f98 | 169 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_StartRanging() |
| Charles MacNeill |
9:66969b9016ad | 170 | { |
| Charles MacNeill |
10:3687b5e79f98 | 171 | VL53L1CB_ERROR status = 0; |
| Charles MacNeill |
9:66969b9016ad | 172 | |
| Charles MacNeill |
14:f06785b2a964 | 173 | status = VL53L1_WrByte(Device, SYSTEM__MODE_START, 0x40); |
| Charles MacNeill |
9:66969b9016ad | 174 | return status; |
| Charles MacNeill |
9:66969b9016ad | 175 | } |
| Charles MacNeill |
9:66969b9016ad | 176 | |
| Charles MacNeill |
9:66969b9016ad | 177 | |
| Charles MacNeill |
10:3687b5e79f98 | 178 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_StopRanging() |
| Charles MacNeill |
9:66969b9016ad | 179 | { |
| Charles MacNeill |
10:3687b5e79f98 | 180 | VL53L1CB_ERROR status = 0; |
| Charles MacNeill |
9:66969b9016ad | 181 | |
| Charles MacNeill |
14:f06785b2a964 | 182 | status = VL53L1_WrByte(Device, SYSTEM__MODE_START, 0x00); |
| Charles MacNeill |
9:66969b9016ad | 183 | return status; |
| Charles MacNeill |
9:66969b9016ad | 184 | } |
| Charles MacNeill |
9:66969b9016ad | 185 | |
| Charles MacNeill |
9:66969b9016ad | 186 | |
| Charles MacNeill |
9:66969b9016ad | 187 | |
| Charles MacNeill |
9:66969b9016ad | 188 | |
| Charles MacNeill |
10:3687b5e79f98 | 189 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_BootState(uint8_t *state) |
| Charles MacNeill |
9:66969b9016ad | 190 | { |
| Charles MacNeill |
10:3687b5e79f98 | 191 | VL53L1CB_ERROR status = 0; |
| Charles MacNeill |
9:66969b9016ad | 192 | uint8_t tmp = 0; |
| Charles MacNeill |
9:66969b9016ad | 193 | |
| Charles MacNeill |
14:f06785b2a964 | 194 | status = VL53L1_RdByte(Device,VL53L1_FIRMWARE__SYSTEM_STATUS, &tmp); |
| Charles MacNeill |
9:66969b9016ad | 195 | *state = tmp; |
| Charles MacNeill |
9:66969b9016ad | 196 | return status; |
| Charles MacNeill |
9:66969b9016ad | 197 | } |
| Charles MacNeill |
9:66969b9016ad | 198 | |
| Charles MacNeill |
9:66969b9016ad | 199 | |
| Charles MacNeill |
10:3687b5e79f98 | 200 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetDistance(uint16_t *distance) |
| Charles MacNeill |
9:66969b9016ad | 201 | { |
| Charles MacNeill |
10:3687b5e79f98 | 202 | VL53L1CB_ERROR status = 0; |
| Charles MacNeill |
9:66969b9016ad | 203 | uint16_t tmp; |
| Charles MacNeill |
9:66969b9016ad | 204 | |
| Charles MacNeill |
14:f06785b2a964 | 205 | status = (VL53L1_RdWord(Device, |
| Charles MacNeill |
14:f06785b2a964 | 206 | VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0, &tmp)); |
| Charles MacNeill |
9:66969b9016ad | 207 | *distance = tmp; |
| Charles MacNeill |
9:66969b9016ad | 208 | return status; |
| Charles MacNeill |
9:66969b9016ad | 209 | } |
| Charles MacNeill |
9:66969b9016ad | 210 | |
| Charles MacNeill |
9:66969b9016ad | 211 | |
| Charles MacNeill |
9:66969b9016ad | 212 | /* Write and read functions from I2C */ |
| Charles MacNeill |
9:66969b9016ad | 213 | |
| Charles MacNeill |
9:66969b9016ad | 214 | |
| Charles MacNeill |
10:3687b5e79f98 | 215 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_WriteMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count) |
| Charles MacNeill |
9:66969b9016ad | 216 | { |
| Charles MacNeill |
9:66969b9016ad | 217 | int status; |
| Charles MacNeill |
9:66969b9016ad | 218 | //printf(" class VL53L1_WriteMulti \n"); |
| Charles MacNeill |
10:3687b5e79f98 | 219 | status = VL53L1CB_I2CWrite(Dev->i2c_slave_address, index, pdata, (uint16_t)count); |
| Charles MacNeill |
9:66969b9016ad | 220 | return status; |
| Charles MacNeill |
9:66969b9016ad | 221 | } |
| Charles MacNeill |
9:66969b9016ad | 222 | |
| Charles MacNeill |
10:3687b5e79f98 | 223 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_ReadMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count) |
| Charles MacNeill |
9:66969b9016ad | 224 | { |
| Charles MacNeill |
9:66969b9016ad | 225 | int status; |
| Charles MacNeill |
9:66969b9016ad | 226 | |
| Charles MacNeill |
10:3687b5e79f98 | 227 | status = VL53L1CB_I2CRead(Dev->i2c_slave_address, index, pdata, (uint16_t)count); |
| Charles MacNeill |
9:66969b9016ad | 228 | |
| Charles MacNeill |
9:66969b9016ad | 229 | return status; |
| Charles MacNeill |
9:66969b9016ad | 230 | } |
| Charles MacNeill |
9:66969b9016ad | 231 | |
| Charles MacNeill |
9:66969b9016ad | 232 | |
| Charles MacNeill |
14:f06785b2a964 | 233 | VL53L1CB_ERROR VL53L1CB::VL53L1_WrByte(VL53L1_DEV Dev, uint16_t index, uint8_t data) |
| Charles MacNeill |
9:66969b9016ad | 234 | { |
| Charles MacNeill |
9:66969b9016ad | 235 | int status; |
| Charles MacNeill |
9:66969b9016ad | 236 | |
| Charles MacNeill |
10:3687b5e79f98 | 237 | status=VL53L1CB_I2CWrite(Dev->i2c_slave_address, index, &data, 1); |
| Charles MacNeill |
9:66969b9016ad | 238 | return status; |
| Charles MacNeill |
9:66969b9016ad | 239 | } |
| Charles MacNeill |
9:66969b9016ad | 240 | |
| Charles MacNeill |
14:f06785b2a964 | 241 | |
| Charles MacNeill |
14:f06785b2a964 | 242 | VL53L1CB_ERROR VL53L1CB::VL53L1_WrWord(VL53L1_DEV Dev, uint16_t index, uint16_t data) |
| Charles MacNeill |
9:66969b9016ad | 243 | { |
| Charles MacNeill |
9:66969b9016ad | 244 | int status; |
| Charles MacNeill |
9:66969b9016ad | 245 | uint8_t buffer[2]; |
| Charles MacNeill |
9:66969b9016ad | 246 | |
| Charles MacNeill |
9:66969b9016ad | 247 | buffer[0] = data >> 8; |
| Charles MacNeill |
9:66969b9016ad | 248 | buffer[1] = data & 0x00FF; |
| Charles MacNeill |
10:3687b5e79f98 | 249 | status=VL53L1CB_I2CWrite(Dev->i2c_slave_address, index, (uint8_t *)buffer, 2); |
| Charles MacNeill |
9:66969b9016ad | 250 | return status; |
| Charles MacNeill |
9:66969b9016ad | 251 | } |
| Charles MacNeill |
9:66969b9016ad | 252 | |
| Charles MacNeill |
14:f06785b2a964 | 253 | VL53L1CB_ERROR VL53L1CB::VL53L1_WrDWord(VL53L1_DEV Dev, uint16_t index, uint32_t data) |
| Charles MacNeill |
9:66969b9016ad | 254 | { |
| Charles MacNeill |
9:66969b9016ad | 255 | int status; |
| Charles MacNeill |
9:66969b9016ad | 256 | uint8_t buffer[4]; |
| Charles MacNeill |
9:66969b9016ad | 257 | |
| Charles MacNeill |
9:66969b9016ad | 258 | buffer[0] = (data >> 24) & 0xFF; |
| Charles MacNeill |
9:66969b9016ad | 259 | buffer[1] = (data >> 16) & 0xFF; |
| Charles MacNeill |
9:66969b9016ad | 260 | buffer[2] = (data >> 8) & 0xFF; |
| Charles MacNeill |
9:66969b9016ad | 261 | buffer[3] = (data >> 0) & 0xFF; |
| Charles MacNeill |
10:3687b5e79f98 | 262 | status=VL53L1CB_I2CWrite(Dev->i2c_slave_address, index, (uint8_t *)buffer, 4); |
| Charles MacNeill |
9:66969b9016ad | 263 | return status; |
| Charles MacNeill |
9:66969b9016ad | 264 | } |
| Charles MacNeill |
9:66969b9016ad | 265 | |
| Charles MacNeill |
9:66969b9016ad | 266 | |
| Charles MacNeill |
14:f06785b2a964 | 267 | VL53L1CB_ERROR VL53L1CB::VL53L1_RdByte(VL53L1_DEV Dev, uint16_t index, uint8_t *data) |
| Charles MacNeill |
9:66969b9016ad | 268 | { |
| Charles MacNeill |
9:66969b9016ad | 269 | int status; |
| Charles MacNeill |
9:66969b9016ad | 270 | |
| Charles MacNeill |
10:3687b5e79f98 | 271 | status = VL53L1CB_I2CRead(Dev->i2c_slave_address, index, data, 1); |
| Charles MacNeill |
9:66969b9016ad | 272 | |
| Charles MacNeill |
9:66969b9016ad | 273 | if(status) |
| Charles MacNeill |
9:66969b9016ad | 274 | return -1; |
| Charles MacNeill |
9:66969b9016ad | 275 | |
| Charles MacNeill |
9:66969b9016ad | 276 | return 0; |
| Charles MacNeill |
9:66969b9016ad | 277 | } |
| Charles MacNeill |
9:66969b9016ad | 278 | |
| Charles MacNeill |
14:f06785b2a964 | 279 | VL53L1CB_ERROR VL53L1CB::VL53L1_RdWord(VL53L1_DEV Dev, uint16_t index, uint16_t *data) |
| Charles MacNeill |
9:66969b9016ad | 280 | { |
| Charles MacNeill |
9:66969b9016ad | 281 | int status; |
| Charles MacNeill |
9:66969b9016ad | 282 | uint8_t buffer[2] = {0,0}; |
| Charles MacNeill |
9:66969b9016ad | 283 | |
| Charles MacNeill |
10:3687b5e79f98 | 284 | status = VL53L1CB_I2CRead(Dev->i2c_slave_address, index, buffer, 2); |
| Charles MacNeill |
9:66969b9016ad | 285 | if (!status) |
| Charles MacNeill |
9:66969b9016ad | 286 | { |
| Charles MacNeill |
9:66969b9016ad | 287 | *data = (buffer[0] << 8) + buffer[1]; |
| Charles MacNeill |
9:66969b9016ad | 288 | } |
| Charles MacNeill |
9:66969b9016ad | 289 | // printf("VL53L1_RdWord %d %d %d \n",Dev->i2c_slave_address,index,status); |
| Charles MacNeill |
9:66969b9016ad | 290 | return status; |
| Charles MacNeill |
9:66969b9016ad | 291 | |
| Charles MacNeill |
9:66969b9016ad | 292 | } |
| Charles MacNeill |
9:66969b9016ad | 293 | |
| Charles MacNeill |
14:f06785b2a964 | 294 | VL53L1CB_ERROR VL53L1CB::VL53L1_RdDWord(VL53L1_DEV Dev, uint16_t index, uint32_t *data) |
| Charles MacNeill |
9:66969b9016ad | 295 | { |
| Charles MacNeill |
9:66969b9016ad | 296 | int status; |
| Charles MacNeill |
9:66969b9016ad | 297 | uint8_t buffer[4] = {0,0,0,0}; |
| Charles MacNeill |
9:66969b9016ad | 298 | |
| Charles MacNeill |
10:3687b5e79f98 | 299 | status = VL53L1CB_I2CRead(Dev->i2c_slave_address, index, buffer, 4); |
| Charles MacNeill |
9:66969b9016ad | 300 | if(!status) |
| Charles MacNeill |
9:66969b9016ad | 301 | { |
| Charles MacNeill |
9:66969b9016ad | 302 | *data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3]; |
| Charles MacNeill |
9:66969b9016ad | 303 | } |
| Charles MacNeill |
9:66969b9016ad | 304 | return status; |
| Charles MacNeill |
9:66969b9016ad | 305 | |
| Charles MacNeill |
9:66969b9016ad | 306 | } |
| Charles MacNeill |
9:66969b9016ad | 307 | |
| Charles MacNeill |
14:f06785b2a964 | 308 | VL53L1CB_ERROR VL53L1CB::VL53L1_UpdateByte(VL53L1_DEV Dev, uint16_t index, uint8_t AndData, uint8_t OrData) |
| Charles MacNeill |
9:66969b9016ad | 309 | { |
| Charles MacNeill |
9:66969b9016ad | 310 | int status; |
| Charles MacNeill |
9:66969b9016ad | 311 | uint8_t buffer = 0; |
| Charles MacNeill |
9:66969b9016ad | 312 | |
| Charles MacNeill |
9:66969b9016ad | 313 | /* read data direct onto buffer */ |
| Charles MacNeill |
10:3687b5e79f98 | 314 | status = VL53L1CB_I2CRead(Dev->i2c_slave_address, index, &buffer,1); |
| Charles MacNeill |
9:66969b9016ad | 315 | if (!status) |
| Charles MacNeill |
9:66969b9016ad | 316 | { |
| Charles MacNeill |
9:66969b9016ad | 317 | buffer = (buffer & AndData) | OrData; |
| Charles MacNeill |
10:3687b5e79f98 | 318 | status = VL53L1CB_I2CWrite(Dev->i2c_slave_address, index, &buffer, (uint16_t)1); |
| Charles MacNeill |
9:66969b9016ad | 319 | } |
| Charles MacNeill |
9:66969b9016ad | 320 | return status; |
| Charles MacNeill |
9:66969b9016ad | 321 | } |
| Charles MacNeill |
9:66969b9016ad | 322 | |
| Charles MacNeill |
10:3687b5e79f98 | 323 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite) |
| Charles MacNeill |
9:66969b9016ad | 324 | { |
| Charles MacNeill |
9:66969b9016ad | 325 | int ret; |
| Charles MacNeill |
9:66969b9016ad | 326 | ret = dev_i2c->ToF_i2c_write(pBuffer, DeviceAddr, RegisterAddr, NumByteToWrite); |
| Charles MacNeill |
9:66969b9016ad | 327 | if (ret) { |
| Charles MacNeill |
9:66969b9016ad | 328 | return -1; |
| Charles MacNeill |
9:66969b9016ad | 329 | } |
| Charles MacNeill |
9:66969b9016ad | 330 | return 0; |
| Charles MacNeill |
9:66969b9016ad | 331 | |
| Charles MacNeill |
9:66969b9016ad | 332 | } |
| Charles MacNeill |
9:66969b9016ad | 333 | |
| Charles MacNeill |
10:3687b5e79f98 | 334 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead) |
| Charles MacNeill |
9:66969b9016ad | 335 | { |
| Charles MacNeill |
9:66969b9016ad | 336 | int ret; |
| Charles MacNeill |
9:66969b9016ad | 337 | |
| Charles MacNeill |
9:66969b9016ad | 338 | ret = dev_i2c->ToF_i2c_read(pBuffer, DeviceAddr, RegisterAddr, NumByteToRead); |
| Charles MacNeill |
9:66969b9016ad | 339 | //ret = dev_i2c->i2c_read(pBuffer, DeviceAddr, RegisterAddr, NumByteToRead); |
| Charles MacNeill |
9:66969b9016ad | 340 | if (ret) { |
| Charles MacNeill |
9:66969b9016ad | 341 | return -1; |
| Charles MacNeill |
9:66969b9016ad | 342 | } |
| Charles MacNeill |
9:66969b9016ad | 343 | return 0; |
| Charles MacNeill |
9:66969b9016ad | 344 | } |
| Charles MacNeill |
9:66969b9016ad | 345 | |
| Charles MacNeill |
9:66969b9016ad | 346 | |
| Charles MacNeill |
10:3687b5e79f98 | 347 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetTickCount( |
| Charles MacNeill |
9:66969b9016ad | 348 | uint32_t *ptick_count_ms) |
| Charles MacNeill |
9:66969b9016ad | 349 | { |
| Charles MacNeill |
9:66969b9016ad | 350 | |
| Charles MacNeill |
9:66969b9016ad | 351 | /* Returns current tick count in [ms] */ |
| Charles MacNeill |
9:66969b9016ad | 352 | |
| Charles MacNeill |
10:3687b5e79f98 | 353 | VL53L1CB_ERROR status = VL53L1_ERROR_NONE; |
| Charles MacNeill |
9:66969b9016ad | 354 | |
| Charles MacNeill |
9:66969b9016ad | 355 | //*ptick_count_ms = timeGetTime(); |
| Charles MacNeill |
9:66969b9016ad | 356 | *ptick_count_ms = us_ticker_read() / 1000; |
| Charles MacNeill |
9:66969b9016ad | 357 | |
| Charles MacNeill |
9:66969b9016ad | 358 | return status; |
| Charles MacNeill |
9:66969b9016ad | 359 | } |
| Charles MacNeill |
9:66969b9016ad | 360 | |
| Charles MacNeill |
9:66969b9016ad | 361 | |
| Charles MacNeill |
9:66969b9016ad | 362 | |
| Charles MacNeill |
10:3687b5e79f98 | 363 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_time) |
| Charles MacNeill |
9:66969b9016ad | 364 | { |
| Charles MacNeill |
9:66969b9016ad | 365 | //(void)pdev; |
| Charles MacNeill |
9:66969b9016ad | 366 | wait_us(wait_time); |
| Charles MacNeill |
9:66969b9016ad | 367 | return VL53L1_ERROR_NONE; |
| Charles MacNeill |
9:66969b9016ad | 368 | } |
| Charles MacNeill |
9:66969b9016ad | 369 | |
| Charles MacNeill |
9:66969b9016ad | 370 | |
| Charles MacNeill |
10:3687b5e79f98 | 371 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_time) |
| Charles MacNeill |
9:66969b9016ad | 372 | { |
| Charles MacNeill |
9:66969b9016ad | 373 | //(void)pdev; |
| Charles MacNeill |
9:66969b9016ad | 374 | |
| Charles MacNeill |
9:66969b9016ad | 375 | #if (MBED_VERSION > 60300) |
| Charles MacNeill |
9:66969b9016ad | 376 | thread_sleep_for(wait_time); |
| Charles MacNeill |
9:66969b9016ad | 377 | #else |
| Charles MacNeill |
9:66969b9016ad | 378 | wait_ms(wait_time); // NEEDS A DELAY BETWEEN SENSORS |
| Charles MacNeill |
9:66969b9016ad | 379 | #endif |
| Charles MacNeill |
9:66969b9016ad | 380 | return VL53L1_ERROR_NONE; |
| Charles MacNeill |
9:66969b9016ad | 381 | } |
| Charles MacNeill |
9:66969b9016ad | 382 | |
| Charles MacNeill |
9:66969b9016ad | 383 | |
| Charles MacNeill |
10:3687b5e79f98 | 384 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_WaitValueMaskEx( |
| Charles MacNeill |
9:66969b9016ad | 385 | VL53L1_Dev_t *pdev, |
| Charles MacNeill |
9:66969b9016ad | 386 | uint32_t timeout_ms, |
| Charles MacNeill |
9:66969b9016ad | 387 | uint16_t index, |
| Charles MacNeill |
9:66969b9016ad | 388 | uint8_t value, |
| Charles MacNeill |
9:66969b9016ad | 389 | uint8_t mask, |
| Charles MacNeill |
9:66969b9016ad | 390 | uint32_t poll_delay_ms) |
| Charles MacNeill |
9:66969b9016ad | 391 | { |
| Charles MacNeill |
9:66969b9016ad | 392 | |
| Charles MacNeill |
9:66969b9016ad | 393 | /* |
| Charles MacNeill |
9:66969b9016ad | 394 | * Platform implementation of WaitValueMaskEx V2WReg script command |
| Charles MacNeill |
9:66969b9016ad | 395 | * |
| Charles MacNeill |
9:66969b9016ad | 396 | * WaitValueMaskEx( |
| Charles MacNeill |
9:66969b9016ad | 397 | * duration_ms, |
| Charles MacNeill |
9:66969b9016ad | 398 | * index, |
| Charles MacNeill |
9:66969b9016ad | 399 | * value, |
| Charles MacNeill |
9:66969b9016ad | 400 | * mask, |
| Charles MacNeill |
9:66969b9016ad | 401 | * poll_delay_ms); |
| Charles MacNeill |
9:66969b9016ad | 402 | */ |
| Charles MacNeill |
9:66969b9016ad | 403 | |
| Charles MacNeill |
9:66969b9016ad | 404 | |
| Charles MacNeill |
9:66969b9016ad | 405 | return VL53L1_WaitValueMaskEx( pdev, timeout_ms,index, value, mask, poll_delay_ms); |
| Charles MacNeill |
9:66969b9016ad | 406 | } |
| Charles MacNeill |
9:66969b9016ad | 407 | |
| Charles MacNeill |
9:66969b9016ad | 408 | |
| Charles MacNeill |
9:66969b9016ad | 409 | /***************************************************************************/ |
| Charles MacNeill |
14:f06785b2a964 | 410 | //VL53L1CB_ERROR VL53L1CB::VL53L1_WaitValueMaskEx( |
| Charles MacNeill |
9:66969b9016ad | 411 | |
| Charles MacNeill |
10:3687b5e79f98 | 412 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_WaitDeviceBooted(VL53L1_DEV Dev) |
| Charles MacNeill |
9:66969b9016ad | 413 | { |
| Charles MacNeill |
9:66969b9016ad | 414 | |
| Charles MacNeill |
9:66969b9016ad | 415 | return VL53L1_WaitDeviceBooted(Dev); |
| Charles MacNeill |
9:66969b9016ad | 416 | } |
| Charles MacNeill |
9:66969b9016ad | 417 | |
| Charles MacNeill |
9:66969b9016ad | 418 | |
| Charles MacNeill |
9:66969b9016ad | 419 | static int32_t BDTable[VL53L1_TUNING_MAX_TUNABLE_KEY] = { |
| Charles MacNeill |
9:66969b9016ad | 420 | TUNING_VERSION, |
| Charles MacNeill |
9:66969b9016ad | 421 | TUNING_PROXY_MIN, |
| Charles MacNeill |
9:66969b9016ad | 422 | TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM, |
| Charles MacNeill |
9:66969b9016ad | 423 | TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER, |
| Charles MacNeill |
9:66969b9016ad | 424 | TUNING_MIN_AMBIENT_DMAX_VALID, |
| Charles MacNeill |
9:66969b9016ad | 425 | TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER, |
| Charles MacNeill |
9:66969b9016ad | 426 | TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM, |
| Charles MacNeill |
9:66969b9016ad | 427 | TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT, |
| Charles MacNeill |
9:66969b9016ad | 428 | TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN, |
| Charles MacNeill |
9:66969b9016ad | 429 | TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET, |
| Charles MacNeill |
9:66969b9016ad | 430 | TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR_DEFAULT, |
| Charles MacNeill |
9:66969b9016ad | 431 | }; |
| Charles MacNeill |
9:66969b9016ad | 432 | |
| Charles MacNeill |
9:66969b9016ad | 433 | |
| Charles MacNeill |
10:3687b5e79f98 | 434 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetVersion(VL53L1_Version_t *pVersion) |
| Charles MacNeill |
9:66969b9016ad | 435 | { |
| Charles MacNeill |
9:66969b9016ad | 436 | |
| Charles MacNeill |
9:66969b9016ad | 437 | return VL53L1_GetVersion(pVersion); |
| Charles MacNeill |
9:66969b9016ad | 438 | } |
| Charles MacNeill |
9:66969b9016ad | 439 | |
| Charles MacNeill |
9:66969b9016ad | 440 | |
| Charles MacNeill |
10:3687b5e79f98 | 441 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetProductRevision( |
| Charles MacNeill |
9:66969b9016ad | 442 | uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor) |
| Charles MacNeill |
9:66969b9016ad | 443 | { |
| Charles MacNeill |
9:66969b9016ad | 444 | return VL53L1_GetProductRevision(Device,pProductRevisionMajor,pProductRevisionMinor); |
| Charles MacNeill |
9:66969b9016ad | 445 | } |
| Charles MacNeill |
9:66969b9016ad | 446 | |
| Charles MacNeill |
9:66969b9016ad | 447 | //****************************************************************** |
| Charles MacNeill |
9:66969b9016ad | 448 | |
| Charles MacNeill |
9:66969b9016ad | 449 | |
| Charles MacNeill |
10:3687b5e79f98 | 450 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetDeviceInfo( |
| Charles MacNeill |
9:66969b9016ad | 451 | VL53L1_DeviceInfo_t *pVL53L1_DeviceInfo) |
| Charles MacNeill |
9:66969b9016ad | 452 | { |
| Charles MacNeill |
9:66969b9016ad | 453 | return VL53L1_GetDeviceInfo(Device,pVL53L1_DeviceInfo); |
| Charles MacNeill |
9:66969b9016ad | 454 | } |
| Charles MacNeill |
9:66969b9016ad | 455 | |
| Charles MacNeill |
10:3687b5e79f98 | 456 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetUID( uint64_t *pUid) |
| Charles MacNeill |
9:66969b9016ad | 457 | { |
| Charles MacNeill |
9:66969b9016ad | 458 | return VL53L1_GetUID(Device,pUid); |
| Charles MacNeill |
9:66969b9016ad | 459 | } |
| Charles MacNeill |
9:66969b9016ad | 460 | |
| Charles MacNeill |
10:3687b5e79f98 | 461 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetRangeStatusString(uint8_t RangeStatus, |
| Charles MacNeill |
9:66969b9016ad | 462 | char *pRangeStatusString) |
| Charles MacNeill |
9:66969b9016ad | 463 | { |
| Charles MacNeill |
9:66969b9016ad | 464 | return VL53L1_GetRangeStatusString(RangeStatus, |
| Charles MacNeill |
9:66969b9016ad | 465 | pRangeStatusString); |
| Charles MacNeill |
9:66969b9016ad | 466 | } |
| Charles MacNeill |
9:66969b9016ad | 467 | |
| Charles MacNeill |
10:3687b5e79f98 | 468 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetPalErrorString(VL53L1CB_ERROR PalErrorCode, |
| Charles MacNeill |
9:66969b9016ad | 469 | char *pPalErrorString) |
| Charles MacNeill |
9:66969b9016ad | 470 | { |
| Charles MacNeill |
9:66969b9016ad | 471 | return VL53L1_GetPalErrorString(PalErrorCode,pPalErrorString); |
| Charles MacNeill |
9:66969b9016ad | 472 | } |
| Charles MacNeill |
9:66969b9016ad | 473 | |
| Charles MacNeill |
10:3687b5e79f98 | 474 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetPalStateString(VL53L1_State PalStateCode, |
| Charles MacNeill |
9:66969b9016ad | 475 | char *pPalStateString) |
| Charles MacNeill |
9:66969b9016ad | 476 | { |
| Charles MacNeill |
9:66969b9016ad | 477 | return VL53L1_GetPalStateString(PalStateCode, pPalStateString); |
| Charles MacNeill |
9:66969b9016ad | 478 | } |
| Charles MacNeill |
9:66969b9016ad | 479 | |
| Charles MacNeill |
10:3687b5e79f98 | 480 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetPalState(VL53L1_DEV Dev, VL53L1_State *pPalState) |
| Charles MacNeill |
9:66969b9016ad | 481 | { |
| Charles MacNeill |
9:66969b9016ad | 482 | return VL53L1_GetPalState(Dev,pPalState); |
| Charles MacNeill |
9:66969b9016ad | 483 | } |
| Charles MacNeill |
9:66969b9016ad | 484 | |
| Charles MacNeill |
9:66969b9016ad | 485 | |
| Charles MacNeill |
10:3687b5e79f98 | 486 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetDeviceAddress(VL53L1_DEV Dev, uint8_t DeviceAddress) |
| Charles MacNeill |
9:66969b9016ad | 487 | { |
| Charles MacNeill |
10:3687b5e79f98 | 488 | VL53L1CB_ERROR Status = VL53L1_ERROR_NONE; |
| Charles MacNeill |
9:66969b9016ad | 489 | |
| Charles MacNeill |
9:66969b9016ad | 490 | // LOG_FUNCTION_START(""); |
| Charles MacNeill |
9:66969b9016ad | 491 | |
| Charles MacNeill |
14:f06785b2a964 | 492 | Status = VL53L1_WrByte(Dev, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, |
| Charles MacNeill |
9:66969b9016ad | 493 | DeviceAddress / 2); |
| Charles MacNeill |
9:66969b9016ad | 494 | |
| Charles MacNeill |
9:66969b9016ad | 495 | // LOG_FUNCTION_END(Status); |
| Charles MacNeill |
9:66969b9016ad | 496 | return Status; |
| Charles MacNeill |
9:66969b9016ad | 497 | } |
| Charles MacNeill |
9:66969b9016ad | 498 | |
| Charles MacNeill |
10:3687b5e79f98 | 499 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_DataInit() |
| Charles MacNeill |
9:66969b9016ad | 500 | { |
| Charles MacNeill |
9:66969b9016ad | 501 | printf("vl53L1_DataInit %d \n",Device->i2c_slave_address); |
| Charles MacNeill |
9:66969b9016ad | 502 | return VL53L1_DataInit( Device); |
| Charles MacNeill |
9:66969b9016ad | 503 | } |
| Charles MacNeill |
9:66969b9016ad | 504 | |
| Charles MacNeill |
9:66969b9016ad | 505 | |
| Charles MacNeill |
10:3687b5e79f98 | 506 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_StaticInit() |
| Charles MacNeill |
9:66969b9016ad | 507 | { |
| Charles MacNeill |
9:66969b9016ad | 508 | return VL53L1_StaticInit( Device); |
| Charles MacNeill |
9:66969b9016ad | 509 | } |
| Charles MacNeill |
9:66969b9016ad | 510 | |
| Charles MacNeill |
9:66969b9016ad | 511 | |
| Charles MacNeill |
10:3687b5e79f98 | 512 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetPresetMode(VL53L1_PresetModes PresetMode) |
| Charles MacNeill |
9:66969b9016ad | 513 | { |
| Charles MacNeill |
9:66969b9016ad | 514 | return VL53L1_SetPresetMode(Device,PresetMode); |
| Charles MacNeill |
9:66969b9016ad | 515 | } |
| Charles MacNeill |
9:66969b9016ad | 516 | |
| Charles MacNeill |
9:66969b9016ad | 517 | |
| Charles MacNeill |
10:3687b5e79f98 | 518 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetPresetMode( VL53L1_PresetModes *pPresetMode) |
| Charles MacNeill |
9:66969b9016ad | 519 | { |
| Charles MacNeill |
9:66969b9016ad | 520 | return VL53L1_GetPresetMode(Device,pPresetMode); |
| Charles MacNeill |
9:66969b9016ad | 521 | } |
| Charles MacNeill |
9:66969b9016ad | 522 | |
| Charles MacNeill |
9:66969b9016ad | 523 | |
| Charles MacNeill |
10:3687b5e79f98 | 524 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetDistanceMode(VL53L1_DistanceModes DistanceMode) |
| Charles MacNeill |
9:66969b9016ad | 525 | { |
| Charles MacNeill |
9:66969b9016ad | 526 | return VL53L1_SetDistanceMode(Device,DistanceMode); |
| Charles MacNeill |
9:66969b9016ad | 527 | } |
| Charles MacNeill |
9:66969b9016ad | 528 | |
| Charles MacNeill |
10:3687b5e79f98 | 529 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetDistanceMode(VL53L1_DistanceModes *pDistanceMode) |
| Charles MacNeill |
9:66969b9016ad | 530 | { |
| Charles MacNeill |
9:66969b9016ad | 531 | return VL53L1_GetDistanceMode(Device,pDistanceMode); |
| Charles MacNeill |
9:66969b9016ad | 532 | } |
| Charles MacNeill |
9:66969b9016ad | 533 | |
| Charles MacNeill |
10:3687b5e79f98 | 534 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetOutputMode(VL53L1_OutputModes OutputMode) |
| Charles MacNeill |
9:66969b9016ad | 535 | { |
| Charles MacNeill |
9:66969b9016ad | 536 | return VL53L1_SetOutputMode(Device,OutputMode); |
| Charles MacNeill |
9:66969b9016ad | 537 | } |
| Charles MacNeill |
9:66969b9016ad | 538 | |
| Charles MacNeill |
10:3687b5e79f98 | 539 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetOutputMode(VL53L1_OutputModes *pOutputMode) |
| Charles MacNeill |
9:66969b9016ad | 540 | { |
| Charles MacNeill |
9:66969b9016ad | 541 | return VL53L1_GetOutputMode(Device,pOutputMode); |
| Charles MacNeill |
9:66969b9016ad | 542 | } |
| Charles MacNeill |
9:66969b9016ad | 543 | |
| Charles MacNeill |
9:66969b9016ad | 544 | |
| Charles MacNeill |
9:66969b9016ad | 545 | |
| Charles MacNeill |
10:3687b5e79f98 | 546 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetMeasurementTimingBudgetMicroSeconds( |
| Charles MacNeill |
9:66969b9016ad | 547 | uint32_t MeasurementTimingBudgetMicroSeconds) |
| Charles MacNeill |
9:66969b9016ad | 548 | { |
| Charles MacNeill |
9:66969b9016ad | 549 | return VL53L1_SetMeasurementTimingBudgetMicroSeconds(Device, |
| Charles MacNeill |
9:66969b9016ad | 550 | MeasurementTimingBudgetMicroSeconds); |
| Charles MacNeill |
9:66969b9016ad | 551 | } |
| Charles MacNeill |
9:66969b9016ad | 552 | |
| Charles MacNeill |
9:66969b9016ad | 553 | |
| Charles MacNeill |
10:3687b5e79f98 | 554 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetMeasurementTimingBudgetMicroSeconds( |
| Charles MacNeill |
9:66969b9016ad | 555 | uint32_t *pMeasurementTimingBudgetMicroSeconds) |
| Charles MacNeill |
9:66969b9016ad | 556 | { |
| Charles MacNeill |
9:66969b9016ad | 557 | return VL53L1_GetMeasurementTimingBudgetMicroSeconds(Device, |
| Charles MacNeill |
9:66969b9016ad | 558 | pMeasurementTimingBudgetMicroSeconds); |
| Charles MacNeill |
9:66969b9016ad | 559 | } |
| Charles MacNeill |
9:66969b9016ad | 560 | |
| Charles MacNeill |
9:66969b9016ad | 561 | |
| Charles MacNeill |
9:66969b9016ad | 562 | |
| Charles MacNeill |
10:3687b5e79f98 | 563 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetInterMeasurementPeriodMilliSeconds( |
| Charles MacNeill |
9:66969b9016ad | 564 | uint32_t InterMeasurementPeriodMilliSeconds) |
| Charles MacNeill |
9:66969b9016ad | 565 | { |
| Charles MacNeill |
9:66969b9016ad | 566 | return VL53L1_SetInterMeasurementPeriodMilliSeconds(Device,InterMeasurementPeriodMilliSeconds); |
| Charles MacNeill |
9:66969b9016ad | 567 | } |
| Charles MacNeill |
9:66969b9016ad | 568 | |
| Charles MacNeill |
10:3687b5e79f98 | 569 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetInterMeasurementPeriodMilliSeconds( |
| Charles MacNeill |
9:66969b9016ad | 570 | uint32_t *pInterMeasurementPeriodMilliSeconds) |
| Charles MacNeill |
9:66969b9016ad | 571 | { |
| Charles MacNeill |
9:66969b9016ad | 572 | return VL53L1_GetInterMeasurementPeriodMilliSeconds(Device,pInterMeasurementPeriodMilliSeconds); |
| Charles MacNeill |
9:66969b9016ad | 573 | } |
| Charles MacNeill |
9:66969b9016ad | 574 | |
| Charles MacNeill |
10:3687b5e79f98 | 575 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetDmaxReflectance(FixPoint1616_t DmaxReflectance) |
| Charles MacNeill |
9:66969b9016ad | 576 | { |
| Charles MacNeill |
9:66969b9016ad | 577 | |
| Charles MacNeill |
9:66969b9016ad | 578 | return VL53L1_SetDmaxReflectance(Device,DmaxReflectance); |
| Charles MacNeill |
9:66969b9016ad | 579 | } |
| Charles MacNeill |
9:66969b9016ad | 580 | |
| Charles MacNeill |
10:3687b5e79f98 | 581 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetDmaxReflectance( |
| Charles MacNeill |
9:66969b9016ad | 582 | FixPoint1616_t *pDmaxReflectance) |
| Charles MacNeill |
9:66969b9016ad | 583 | { |
| Charles MacNeill |
9:66969b9016ad | 584 | return VL53L1_GetDmaxReflectance(Device,pDmaxReflectance); |
| Charles MacNeill |
9:66969b9016ad | 585 | } |
| Charles MacNeill |
9:66969b9016ad | 586 | |
| Charles MacNeill |
9:66969b9016ad | 587 | |
| Charles MacNeill |
10:3687b5e79f98 | 588 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetDmaxMode(VL53L1_DeviceDmaxModes DmaxMode) |
| Charles MacNeill |
9:66969b9016ad | 589 | { |
| Charles MacNeill |
9:66969b9016ad | 590 | return VL53L1_SetDmaxMode(Device,DmaxMode); |
| Charles MacNeill |
9:66969b9016ad | 591 | } |
| Charles MacNeill |
9:66969b9016ad | 592 | |
| Charles MacNeill |
9:66969b9016ad | 593 | |
| Charles MacNeill |
10:3687b5e79f98 | 594 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetDmaxMode( |
| Charles MacNeill |
9:66969b9016ad | 595 | VL53L1_DeviceDmaxModes *pDmaxMode) |
| Charles MacNeill |
9:66969b9016ad | 596 | { |
| Charles MacNeill |
9:66969b9016ad | 597 | return VL53L1_GetDmaxMode(Device,pDmaxMode); |
| Charles MacNeill |
9:66969b9016ad | 598 | } |
| Charles MacNeill |
9:66969b9016ad | 599 | |
| Charles MacNeill |
9:66969b9016ad | 600 | |
| Charles MacNeill |
9:66969b9016ad | 601 | |
| Charles MacNeill |
10:3687b5e79f98 | 602 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck) |
| Charles MacNeill |
9:66969b9016ad | 603 | { |
| Charles MacNeill |
10:3687b5e79f98 | 604 | VL53L1CB_ERROR Status = VL53L1_ERROR_NONE; |
| Charles MacNeill |
9:66969b9016ad | 605 | |
| Charles MacNeill |
9:66969b9016ad | 606 | // LOG_FUNCTION_START(""); |
| Charles MacNeill |
9:66969b9016ad | 607 | |
| Charles MacNeill |
9:66969b9016ad | 608 | *pNumberOfLimitCheck = VL53L1_CHECKENABLE_NUMBER_OF_CHECKS; |
| Charles MacNeill |
9:66969b9016ad | 609 | |
| Charles MacNeill |
9:66969b9016ad | 610 | // LOG_FUNCTION_END(Status); |
| Charles MacNeill |
9:66969b9016ad | 611 | return Status; |
| Charles MacNeill |
9:66969b9016ad | 612 | } |
| Charles MacNeill |
9:66969b9016ad | 613 | |
| Charles MacNeill |
10:3687b5e79f98 | 614 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetLimitCheckInfo(uint16_t LimitCheckId, |
| Charles MacNeill |
9:66969b9016ad | 615 | char *pLimitCheckString) |
| Charles MacNeill |
9:66969b9016ad | 616 | { |
| Charles MacNeill |
9:66969b9016ad | 617 | return VL53L1_GetLimitCheckInfo(LimitCheckId, |
| Charles MacNeill |
9:66969b9016ad | 618 | pLimitCheckString); |
| Charles MacNeill |
9:66969b9016ad | 619 | |
| Charles MacNeill |
9:66969b9016ad | 620 | } |
| Charles MacNeill |
9:66969b9016ad | 621 | |
| Charles MacNeill |
10:3687b5e79f98 | 622 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetLimitCheckStatus(uint16_t LimitCheckId, |
| Charles MacNeill |
9:66969b9016ad | 623 | uint8_t *pLimitCheckStatus) |
| Charles MacNeill |
9:66969b9016ad | 624 | { |
| Charles MacNeill |
9:66969b9016ad | 625 | return VL53L1_GetLimitCheckStatus(Device,LimitCheckId,pLimitCheckStatus); |
| Charles MacNeill |
9:66969b9016ad | 626 | } |
| Charles MacNeill |
9:66969b9016ad | 627 | |
| Charles MacNeill |
9:66969b9016ad | 628 | |
| Charles MacNeill |
10:3687b5e79f98 | 629 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetLimitCheckEnable(uint16_t LimitCheckId, |
| Charles MacNeill |
9:66969b9016ad | 630 | uint8_t LimitCheckEnable) |
| Charles MacNeill |
9:66969b9016ad | 631 | { |
| Charles MacNeill |
9:66969b9016ad | 632 | |
| Charles MacNeill |
9:66969b9016ad | 633 | return VL53L1_SetLimitCheckEnable(Device,LimitCheckId,LimitCheckEnable); |
| Charles MacNeill |
9:66969b9016ad | 634 | } |
| Charles MacNeill |
9:66969b9016ad | 635 | |
| Charles MacNeill |
10:3687b5e79f98 | 636 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetLimitCheckEnable(uint16_t LimitCheckId, |
| Charles MacNeill |
9:66969b9016ad | 637 | uint8_t *pLimitCheckEnable) |
| Charles MacNeill |
9:66969b9016ad | 638 | { |
| Charles MacNeill |
9:66969b9016ad | 639 | return VL53L1_GetLimitCheckEnable(Device,LimitCheckId,pLimitCheckEnable); |
| Charles MacNeill |
9:66969b9016ad | 640 | } |
| Charles MacNeill |
9:66969b9016ad | 641 | |
| Charles MacNeill |
10:3687b5e79f98 | 642 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetLimitCheckValue( uint16_t LimitCheckId, |
| Charles MacNeill |
9:66969b9016ad | 643 | FixPoint1616_t LimitCheckValue) |
| Charles MacNeill |
9:66969b9016ad | 644 | { |
| Charles MacNeill |
9:66969b9016ad | 645 | return VL53L1_SetLimitCheckValue(Device,LimitCheckId,LimitCheckValue); |
| Charles MacNeill |
9:66969b9016ad | 646 | } |
| Charles MacNeill |
9:66969b9016ad | 647 | |
| Charles MacNeill |
10:3687b5e79f98 | 648 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetLimitCheckValue( uint16_t LimitCheckId, |
| Charles MacNeill |
9:66969b9016ad | 649 | FixPoint1616_t *pLimitCheckValue) |
| Charles MacNeill |
9:66969b9016ad | 650 | { |
| Charles MacNeill |
9:66969b9016ad | 651 | return VL53L1_GetLimitCheckValue(Device,LimitCheckId,pLimitCheckValue); |
| Charles MacNeill |
9:66969b9016ad | 652 | } |
| Charles MacNeill |
9:66969b9016ad | 653 | |
| Charles MacNeill |
10:3687b5e79f98 | 654 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetLimitCheckCurrent( uint16_t LimitCheckId, |
| Charles MacNeill |
9:66969b9016ad | 655 | FixPoint1616_t *pLimitCheckCurrent) |
| Charles MacNeill |
9:66969b9016ad | 656 | { |
| Charles MacNeill |
9:66969b9016ad | 657 | return VL53L1_GetLimitCheckCurrent(Device,LimitCheckId,pLimitCheckCurrent); |
| Charles MacNeill |
9:66969b9016ad | 658 | } |
| Charles MacNeill |
9:66969b9016ad | 659 | |
| Charles MacNeill |
9:66969b9016ad | 660 | |
| Charles MacNeill |
10:3687b5e79f98 | 661 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetMaxNumberOfROI( uint8_t *pMaxNumberOfROI) |
| Charles MacNeill |
9:66969b9016ad | 662 | { |
| Charles MacNeill |
9:66969b9016ad | 663 | return VL53L1_GetMaxNumberOfROI(Device,pMaxNumberOfROI); |
| Charles MacNeill |
9:66969b9016ad | 664 | } |
| Charles MacNeill |
9:66969b9016ad | 665 | |
| Charles MacNeill |
10:3687b5e79f98 | 666 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetROI( VL53L1_RoiConfig_t *pRoiConfig) |
| Charles MacNeill |
9:66969b9016ad | 667 | { |
| Charles MacNeill |
9:66969b9016ad | 668 | |
| Charles MacNeill |
9:66969b9016ad | 669 | return VL53L1_SetROI(Device,pRoiConfig); |
| Charles MacNeill |
9:66969b9016ad | 670 | } |
| Charles MacNeill |
9:66969b9016ad | 671 | |
| Charles MacNeill |
10:3687b5e79f98 | 672 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetROI(VL53L1_RoiConfig_t *pRoiConfig) |
| Charles MacNeill |
9:66969b9016ad | 673 | { |
| Charles MacNeill |
9:66969b9016ad | 674 | return VL53L1_GetROI(Device,pRoiConfig); |
| Charles MacNeill |
9:66969b9016ad | 675 | } |
| Charles MacNeill |
9:66969b9016ad | 676 | |
| Charles MacNeill |
14:f06785b2a964 | 677 | |
| Charles MacNeill |
14:f06785b2a964 | 678 | |
| Charles MacNeill |
14:f06785b2a964 | 679 | |
| Charles MacNeill |
10:3687b5e79f98 | 680 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetNumberOfSequenceSteps(uint8_t *pNumberOfSequenceSteps) |
| Charles MacNeill |
9:66969b9016ad | 681 | { |
| Charles MacNeill |
10:3687b5e79f98 | 682 | VL53L1CB_ERROR Status = VL53L1_ERROR_NONE; |
| Charles MacNeill |
9:66969b9016ad | 683 | |
| Charles MacNeill |
9:66969b9016ad | 684 | // SUPPRESS_UNUSED_WARNING(Dev); |
| Charles MacNeill |
9:66969b9016ad | 685 | |
| Charles MacNeill |
9:66969b9016ad | 686 | // LOG_FUNCTION_START(""); |
| Charles MacNeill |
9:66969b9016ad | 687 | |
| Charles MacNeill |
9:66969b9016ad | 688 | *pNumberOfSequenceSteps = VL53L1_SEQUENCESTEP_NUMBER_OF_ITEMS; |
| Charles MacNeill |
9:66969b9016ad | 689 | |
| Charles MacNeill |
9:66969b9016ad | 690 | // LOG_FUNCTION_END(Status); |
| Charles MacNeill |
9:66969b9016ad | 691 | return Status; |
| Charles MacNeill |
9:66969b9016ad | 692 | } |
| Charles MacNeill |
9:66969b9016ad | 693 | |
| Charles MacNeill |
10:3687b5e79f98 | 694 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetSequenceStepsInfo(VL53L1_SequenceStepId SequenceStepId, |
| Charles MacNeill |
9:66969b9016ad | 695 | char *pSequenceStepsString) |
| Charles MacNeill |
9:66969b9016ad | 696 | { |
| Charles MacNeill |
9:66969b9016ad | 697 | return VL53L1_GetSequenceStepsInfo(SequenceStepId,pSequenceStepsString); |
| Charles MacNeill |
9:66969b9016ad | 698 | } |
| Charles MacNeill |
9:66969b9016ad | 699 | |
| Charles MacNeill |
10:3687b5e79f98 | 700 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetSequenceStepEnable(VL53L1_SequenceStepId SequenceStepId, |
| Charles MacNeill |
9:66969b9016ad | 701 | uint8_t SequenceStepEnabled) |
| Charles MacNeill |
9:66969b9016ad | 702 | { |
| Charles MacNeill |
9:66969b9016ad | 703 | |
| Charles MacNeill |
9:66969b9016ad | 704 | return VL53L1_SetSequenceStepEnable(Device,SequenceStepId,SequenceStepEnabled); |
| Charles MacNeill |
9:66969b9016ad | 705 | } |
| Charles MacNeill |
9:66969b9016ad | 706 | |
| Charles MacNeill |
9:66969b9016ad | 707 | |
| Charles MacNeill |
10:3687b5e79f98 | 708 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetSequenceStepEnable(VL53L1_SequenceStepId SequenceStepId, |
| Charles MacNeill |
9:66969b9016ad | 709 | uint8_t *pSequenceStepEnabled) |
| Charles MacNeill |
9:66969b9016ad | 710 | { |
| Charles MacNeill |
9:66969b9016ad | 711 | return VL53L1_GetSequenceStepEnable(Device,SequenceStepId,pSequenceStepEnabled); |
| Charles MacNeill |
9:66969b9016ad | 712 | } |
| Charles MacNeill |
9:66969b9016ad | 713 | |
| Charles MacNeill |
9:66969b9016ad | 714 | |
| Charles MacNeill |
9:66969b9016ad | 715 | |
| Charles MacNeill |
10:3687b5e79f98 | 716 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_StartMeasurement() |
| Charles MacNeill |
9:66969b9016ad | 717 | { |
| Charles MacNeill |
9:66969b9016ad | 718 | return VL53L1_StartMeasurement(Device); |
| Charles MacNeill |
9:66969b9016ad | 719 | } |
| Charles MacNeill |
9:66969b9016ad | 720 | |
| Charles MacNeill |
10:3687b5e79f98 | 721 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_StopMeasurement() |
| Charles MacNeill |
9:66969b9016ad | 722 | { |
| Charles MacNeill |
9:66969b9016ad | 723 | return VL53L1_StopMeasurement(Device); |
| Charles MacNeill |
9:66969b9016ad | 724 | } |
| Charles MacNeill |
9:66969b9016ad | 725 | |
| Charles MacNeill |
9:66969b9016ad | 726 | |
| Charles MacNeill |
14:f06785b2a964 | 727 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_learInterruptAndStartMeasurement() |
| Charles MacNeill |
9:66969b9016ad | 728 | { |
| Charles MacNeill |
9:66969b9016ad | 729 | |
| Charles MacNeill |
9:66969b9016ad | 730 | return VL53L1_ClearInterruptAndStartMeasurement(Device); |
| Charles MacNeill |
9:66969b9016ad | 731 | } |
| Charles MacNeill |
9:66969b9016ad | 732 | |
| Charles MacNeill |
9:66969b9016ad | 733 | |
| Charles MacNeill |
10:3687b5e79f98 | 734 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetMeasurementDataReady(uint8_t *pMeasurementDataReady) |
| Charles MacNeill |
9:66969b9016ad | 735 | { |
| Charles MacNeill |
9:66969b9016ad | 736 | return VL53L1_GetMeasurementDataReady(Device, pMeasurementDataReady); |
| Charles MacNeill |
9:66969b9016ad | 737 | } |
| Charles MacNeill |
9:66969b9016ad | 738 | |
| Charles MacNeill |
10:3687b5e79f98 | 739 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_WaitMeasurementDataReady() |
| Charles MacNeill |
9:66969b9016ad | 740 | { |
| Charles MacNeill |
9:66969b9016ad | 741 | return VL53L1_WaitMeasurementDataReady(Device); |
| Charles MacNeill |
9:66969b9016ad | 742 | } |
| Charles MacNeill |
9:66969b9016ad | 743 | |
| Charles MacNeill |
9:66969b9016ad | 744 | |
| Charles MacNeill |
9:66969b9016ad | 745 | //****************************************************************** |
| Charles MacNeill |
9:66969b9016ad | 746 | |
| Charles MacNeill |
9:66969b9016ad | 747 | |
| Charles MacNeill |
9:66969b9016ad | 748 | |
| Charles MacNeill |
10:3687b5e79f98 | 749 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetCalibrationData( |
| Charles MacNeill |
9:66969b9016ad | 750 | VL53L1_CalibrationData_t *pCalibrationData) |
| Charles MacNeill |
9:66969b9016ad | 751 | { |
| Charles MacNeill |
9:66969b9016ad | 752 | |
| Charles MacNeill |
10:3687b5e79f98 | 753 | VL53L1CB_ERROR Status = VL53L1_ERROR_NONE; |
| Charles MacNeill |
9:66969b9016ad | 754 | Status = VL53L1_GetCalibrationData(Device,pCalibrationData); |
| Charles MacNeill |
9:66969b9016ad | 755 | |
| Charles MacNeill |
9:66969b9016ad | 756 | return Status; |
| Charles MacNeill |
9:66969b9016ad | 757 | } |
| Charles MacNeill |
9:66969b9016ad | 758 | |
| Charles MacNeill |
9:66969b9016ad | 759 | |
| Charles MacNeill |
10:3687b5e79f98 | 760 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetRangingMeasurementData( |
| Charles MacNeill |
9:66969b9016ad | 761 | VL53L1_RangingMeasurementData_t *pRangingMeasurementData) |
| Charles MacNeill |
9:66969b9016ad | 762 | { |
| Charles MacNeill |
9:66969b9016ad | 763 | // printf(" VL53L1_GetRangingMeasurementData 000 \n"); |
| Charles MacNeill |
10:3687b5e79f98 | 764 | VL53L1CB_ERROR Status = VL53L1_ERROR_NONE; |
| Charles MacNeill |
9:66969b9016ad | 765 | Status = VL53L1_GetRangingMeasurementData(Device,pRangingMeasurementData); |
| Charles MacNeill |
9:66969b9016ad | 766 | |
| Charles MacNeill |
9:66969b9016ad | 767 | return Status; |
| Charles MacNeill |
9:66969b9016ad | 768 | } |
| Charles MacNeill |
9:66969b9016ad | 769 | |
| Charles MacNeill |
9:66969b9016ad | 770 | |
| Charles MacNeill |
9:66969b9016ad | 771 | |
| Charles MacNeill |
9:66969b9016ad | 772 | |
| Charles MacNeill |
9:66969b9016ad | 773 | |
| Charles MacNeill |
10:3687b5e79f98 | 774 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetMultiRangingData( |
| Charles MacNeill |
9:66969b9016ad | 775 | VL53L1_MultiRangingData_t *pMultiRangingData) |
| Charles MacNeill |
9:66969b9016ad | 776 | { |
| Charles MacNeill |
9:66969b9016ad | 777 | return VL53L1_GetMultiRangingData(Device,pMultiRangingData); |
| Charles MacNeill |
9:66969b9016ad | 778 | } |
| Charles MacNeill |
9:66969b9016ad | 779 | |
| Charles MacNeill |
10:3687b5e79f98 | 780 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetAdditionalData( |
| Charles MacNeill |
9:66969b9016ad | 781 | VL53L1_AdditionalData_t *pAdditionalData) |
| Charles MacNeill |
9:66969b9016ad | 782 | { |
| Charles MacNeill |
9:66969b9016ad | 783 | return VL53L1_GetAdditionalData(Device, pAdditionalData); |
| Charles MacNeill |
9:66969b9016ad | 784 | } |
| Charles MacNeill |
9:66969b9016ad | 785 | |
| Charles MacNeill |
9:66969b9016ad | 786 | |
| Charles MacNeill |
9:66969b9016ad | 787 | |
| Charles MacNeill |
10:3687b5e79f98 | 788 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetTuningParameter( |
| Charles MacNeill |
9:66969b9016ad | 789 | uint16_t TuningParameterId, int32_t TuningParameterValue) |
| Charles MacNeill |
9:66969b9016ad | 790 | { |
| Charles MacNeill |
9:66969b9016ad | 791 | return VL53L1_SetTuningParameter(Device,TuningParameterId,TuningParameterValue); |
| Charles MacNeill |
9:66969b9016ad | 792 | } |
| Charles MacNeill |
9:66969b9016ad | 793 | |
| Charles MacNeill |
10:3687b5e79f98 | 794 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetTuningParameter( |
| Charles MacNeill |
9:66969b9016ad | 795 | uint16_t TuningParameterId, int32_t *pTuningParameterValue) |
| Charles MacNeill |
9:66969b9016ad | 796 | { |
| Charles MacNeill |
9:66969b9016ad | 797 | |
| Charles MacNeill |
9:66969b9016ad | 798 | return VL53L1_GetTuningParameter(Device,TuningParameterId,pTuningParameterValue); |
| Charles MacNeill |
9:66969b9016ad | 799 | } |
| Charles MacNeill |
9:66969b9016ad | 800 | |
| Charles MacNeill |
9:66969b9016ad | 801 | |
| Charles MacNeill |
10:3687b5e79f98 | 802 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetXTalkCompensationEnable( |
| Charles MacNeill |
9:66969b9016ad | 803 | uint8_t XTalkCompensationEnable) |
| Charles MacNeill |
9:66969b9016ad | 804 | { |
| Charles MacNeill |
9:66969b9016ad | 805 | |
| Charles MacNeill |
9:66969b9016ad | 806 | return VL53L1_SetXTalkCompensationEnable(Device,XTalkCompensationEnable); |
| Charles MacNeill |
9:66969b9016ad | 807 | } |
| Charles MacNeill |
9:66969b9016ad | 808 | |
| Charles MacNeill |
9:66969b9016ad | 809 | |
| Charles MacNeill |
10:3687b5e79f98 | 810 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetXTalkCompensationEnable( |
| Charles MacNeill |
9:66969b9016ad | 811 | uint8_t *pXTalkCompensationEnable) |
| Charles MacNeill |
9:66969b9016ad | 812 | { |
| Charles MacNeill |
10:3687b5e79f98 | 813 | VL53L1CB_ERROR Status = VL53L1_ERROR_NONE; |
| Charles MacNeill |
9:66969b9016ad | 814 | |
| Charles MacNeill |
9:66969b9016ad | 815 | // LOG_FUNCTION_START(""); |
| Charles MacNeill |
9:66969b9016ad | 816 | |
| Charles MacNeill |
9:66969b9016ad | 817 | VL53L1_GetXTalkCompensationEnable( |
| Charles MacNeill |
9:66969b9016ad | 818 | Device, |
| Charles MacNeill |
9:66969b9016ad | 819 | pXTalkCompensationEnable); |
| Charles MacNeill |
9:66969b9016ad | 820 | |
| Charles MacNeill |
9:66969b9016ad | 821 | // LOG_FUNCTION_END(Status); |
| Charles MacNeill |
9:66969b9016ad | 822 | return Status; |
| Charles MacNeill |
9:66969b9016ad | 823 | } |
| Charles MacNeill |
9:66969b9016ad | 824 | |
| Charles MacNeill |
9:66969b9016ad | 825 | |
| Charles MacNeill |
10:3687b5e79f98 | 826 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_PerformXTalkCalibration( |
| Charles MacNeill |
9:66969b9016ad | 827 | uint8_t CalibrationOption) |
| Charles MacNeill |
9:66969b9016ad | 828 | { |
| Charles MacNeill |
9:66969b9016ad | 829 | |
| Charles MacNeill |
9:66969b9016ad | 830 | return VL53L1_PerformXTalkCalibration(Device,CalibrationOption); |
| Charles MacNeill |
9:66969b9016ad | 831 | } |
| Charles MacNeill |
9:66969b9016ad | 832 | |
| Charles MacNeill |
10:3687b5e79f98 | 833 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetOffsetCalibrationMode( |
| Charles MacNeill |
9:66969b9016ad | 834 | VL53L1_OffsetCalibrationModes OffsetCalibrationMode) |
| Charles MacNeill |
9:66969b9016ad | 835 | { |
| Charles MacNeill |
9:66969b9016ad | 836 | return VL53L1_SetOffsetCalibrationMode(Device,OffsetCalibrationMode); |
| Charles MacNeill |
9:66969b9016ad | 837 | } |
| Charles MacNeill |
9:66969b9016ad | 838 | |
| Charles MacNeill |
10:3687b5e79f98 | 839 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetOffsetCorrectionMode( |
| Charles MacNeill |
9:66969b9016ad | 840 | VL53L1_OffsetCorrectionModes OffsetCorrectionMode) |
| Charles MacNeill |
9:66969b9016ad | 841 | { |
| Charles MacNeill |
9:66969b9016ad | 842 | return VL53L1_SetOffsetCorrectionMode(Device,OffsetCorrectionMode); |
| Charles MacNeill |
9:66969b9016ad | 843 | } |
| Charles MacNeill |
9:66969b9016ad | 844 | |
| Charles MacNeill |
10:3687b5e79f98 | 845 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_PerformOffsetCalibration( |
| Charles MacNeill |
9:66969b9016ad | 846 | int32_t CalDistanceMilliMeter, FixPoint1616_t CalReflectancePercent) |
| Charles MacNeill |
9:66969b9016ad | 847 | { |
| Charles MacNeill |
9:66969b9016ad | 848 | return VL53L1_PerformOffsetCalibration(Device,CalDistanceMilliMeter,CalReflectancePercent); |
| Charles MacNeill |
9:66969b9016ad | 849 | } |
| Charles MacNeill |
9:66969b9016ad | 850 | |
| Charles MacNeill |
10:3687b5e79f98 | 851 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_PerformOffsetSimpleCalibration( |
| Charles MacNeill |
9:66969b9016ad | 852 | int32_t CalDistanceMilliMeter) |
| Charles MacNeill |
9:66969b9016ad | 853 | { |
| Charles MacNeill |
9:66969b9016ad | 854 | return VL53L1_PerformOffsetSimpleCalibration(Device,CalDistanceMilliMeter); |
| Charles MacNeill |
9:66969b9016ad | 855 | } |
| Charles MacNeill |
9:66969b9016ad | 856 | |
| Charles MacNeill |
10:3687b5e79f98 | 857 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_PerformOffsetZeroDistanceCalibration() |
| Charles MacNeill |
9:66969b9016ad | 858 | { |
| Charles MacNeill |
9:66969b9016ad | 859 | return VL53L1_PerformOffsetZeroDistanceCalibration(Device); |
| Charles MacNeill |
9:66969b9016ad | 860 | } |
| Charles MacNeill |
9:66969b9016ad | 861 | |
| Charles MacNeill |
10:3687b5e79f98 | 862 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetCalibrationData( |
| Charles MacNeill |
9:66969b9016ad | 863 | VL53L1_CalibrationData_t *pCalibrationData) |
| Charles MacNeill |
9:66969b9016ad | 864 | { |
| Charles MacNeill |
9:66969b9016ad | 865 | return VL53L1_SetCalibrationData(Device,pCalibrationData); |
| Charles MacNeill |
9:66969b9016ad | 866 | } |
| Charles MacNeill |
9:66969b9016ad | 867 | |
| Charles MacNeill |
9:66969b9016ad | 868 | |
| Charles MacNeill |
10:3687b5e79f98 | 869 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetZoneCalibrationData( |
| Charles MacNeill |
9:66969b9016ad | 870 | VL53L1_ZoneCalibrationData_t *pZoneCalibrationData) |
| Charles MacNeill |
9:66969b9016ad | 871 | { |
| Charles MacNeill |
9:66969b9016ad | 872 | return VL53L1_SetZoneCalibrationData(Device, pZoneCalibrationData); |
| Charles MacNeill |
9:66969b9016ad | 873 | } |
| Charles MacNeill |
9:66969b9016ad | 874 | |
| Charles MacNeill |
10:3687b5e79f98 | 875 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetZoneCalibrationData( |
| Charles MacNeill |
9:66969b9016ad | 876 | VL53L1_ZoneCalibrationData_t *pZoneCalibrationData) |
| Charles MacNeill |
9:66969b9016ad | 877 | { |
| Charles MacNeill |
9:66969b9016ad | 878 | return VL53L1_GetZoneCalibrationData(Device, pZoneCalibrationData); |
| Charles MacNeill |
9:66969b9016ad | 879 | } |
| Charles MacNeill |
9:66969b9016ad | 880 | |
| Charles MacNeill |
10:3687b5e79f98 | 881 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SmudgeCorrectionEnable( |
| Charles MacNeill |
9:66969b9016ad | 882 | VL53L1_SmudgeCorrectionModes Mode) |
| Charles MacNeill |
9:66969b9016ad | 883 | |
| Charles MacNeill |
9:66969b9016ad | 884 | { |
| Charles MacNeill |
9:66969b9016ad | 885 | return VL53L1_SmudgeCorrectionEnable(Device, Mode); |
| Charles MacNeill |
9:66969b9016ad | 886 | } |
| Charles MacNeill |
9:66969b9016ad | 887 | |
| Charles MacNeill |
10:3687b5e79f98 | 888 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetOpticalCenter( |
| Charles MacNeill |
9:66969b9016ad | 889 | FixPoint1616_t *pOpticalCenterX, |
| Charles MacNeill |
9:66969b9016ad | 890 | FixPoint1616_t *pOpticalCenterY) |
| Charles MacNeill |
9:66969b9016ad | 891 | { |
| Charles MacNeill |
9:66969b9016ad | 892 | return VL53L1_GetOpticalCenter(Device,pOpticalCenterX,pOpticalCenterY); |
| Charles MacNeill |
9:66969b9016ad | 893 | } |
| Charles MacNeill |
9:66969b9016ad | 894 | |
| Charles MacNeill |
14:f06785b2a964 | 895 | |
| Charles MacNeill |
14:f06785b2a964 | 896 | |
| Charles MacNeill |
14:f06785b2a964 | 897 | |
| Charles MacNeill |
14:f06785b2a964 | 898 | |
| Charles MacNeill |
14:f06785b2a964 | 899 | |
| Charles MacNeill |
10:3687b5e79f98 | 900 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetThresholdConfig(VL53L1_DetectionConfig_t *pConfig) |
| Charles MacNeill |
9:66969b9016ad | 901 | { |
| Charles MacNeill |
9:66969b9016ad | 902 | return VL53L1_SetThresholdConfig(Device,pConfig); |
| Charles MacNeill |
9:66969b9016ad | 903 | } |
| Charles MacNeill |
9:66969b9016ad | 904 | |
| Charles MacNeill |
9:66969b9016ad | 905 | |
| Charles MacNeill |
10:3687b5e79f98 | 906 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetThresholdConfig(VL53L1_DetectionConfig_t *pConfig) |
| Charles MacNeill |
9:66969b9016ad | 907 | { |
| Charles MacNeill |
9:66969b9016ad | 908 | return VL53L1_GetThresholdConfig(Device,pConfig); |
| Charles MacNeill |
9:66969b9016ad | 909 | } |
| Charles MacNeill |
9:66969b9016ad | 910 | |
| Charles MacNeill |
14:f06785b2a964 | 911 | |
| Charles MacNeill |
14:f06785b2a964 | 912 | |
| Charles MacNeill |
14:f06785b2a964 | 913 | |
| Charles MacNeill |
10:3687b5e79f98 | 914 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_PerformOffsetPerVcselCalibration(int32_t CalDistanceMilliMeter) |
| Charles MacNeill |
9:66969b9016ad | 915 | { |
| Charles MacNeill |
9:66969b9016ad | 916 | return VL53L1_PerformOffsetPerVcselCalibration(Device,CalDistanceMilliMeter); |
| Charles MacNeill |
9:66969b9016ad | 917 | } |
| Charles MacNeill |
9:66969b9016ad | 918 | |
| Charles MacNeill |
9:66969b9016ad | 919 | |
| Charles MacNeill |
9:66969b9016ad | 920 | |
| Charles MacNeill |
9:66969b9016ad | 921 | // from vl53l1_api_debug.c |
| Charles MacNeill |
9:66969b9016ad | 922 | |
| Charles MacNeill |
9:66969b9016ad | 923 | |
| Charles MacNeill |
10:3687b5e79f98 | 924 | VL53L1CB_ERROR VL53L1CB::VL53L1CB_get_additional_data( |
| Charles MacNeill |
9:66969b9016ad | 925 | VL53L1_DEV Dev, |
| Charles MacNeill |
9:66969b9016ad | 926 | VL53L1_additional_data_t *pdata) |
| Charles MacNeill |
9:66969b9016ad | 927 | { |
| Charles MacNeill |
9:66969b9016ad | 928 | return VL53L1_get_additional_data(Dev,pdata); |
| Charles MacNeill |
9:66969b9016ad | 929 | } |
| Charles MacNeill |
9:66969b9016ad | 930 | |
| Charles MacNeill |
9:66969b9016ad | 931 | |
| Charles MacNeill |
9:66969b9016ad | 932 | |
| Charles MacNeill |
10:3687b5e79f98 | 933 | int VL53L1CB::handle_irq(uint16_t *distance) |
| Charles MacNeill |
9:66969b9016ad | 934 | { |
| Charles MacNeill |
9:66969b9016ad | 935 | int status; |
| Charles MacNeill |
9:66969b9016ad | 936 | status = get_measurement(distance); |
| Charles MacNeill |
9:66969b9016ad | 937 | enable_interrupt_measure_detection_irq(); |
| Charles MacNeill |
9:66969b9016ad | 938 | return status; |
| Charles MacNeill |
9:66969b9016ad | 939 | } |
| Charles MacNeill |
9:66969b9016ad | 940 | |
| Charles MacNeill |
10:3687b5e79f98 | 941 | int VL53L1CB::get_measurement(uint16_t *distance) |
| Charles MacNeill |
9:66969b9016ad | 942 | { |
| Charles MacNeill |
9:66969b9016ad | 943 | int status = 0; |
| Charles MacNeill |
9:66969b9016ad | 944 | |
| Charles MacNeill |
10:3687b5e79f98 | 945 | status = VL53L1CB_GetDistance(distance); |
| Charles MacNeill |
10:3687b5e79f98 | 946 | status = VL53L1CB_ClearInterrupt(); |
| Charles MacNeill |
9:66969b9016ad | 947 | |
| Charles MacNeill |
9:66969b9016ad | 948 | return status; |
| Charles MacNeill |
9:66969b9016ad | 949 | } |
| Charles MacNeill |
9:66969b9016ad | 950 | |
| Charles MacNeill |
10:3687b5e79f98 | 951 | int VL53L1CB::start_measurement(void (*fptr)(void)) |
| Charles MacNeill |
9:66969b9016ad | 952 | { |
| Charles MacNeill |
9:66969b9016ad | 953 | int status = 0; |
| Charles MacNeill |
9:66969b9016ad | 954 | |
| Charles MacNeill |
9:66969b9016ad | 955 | if (_gpio1Int == NULL) { |
| Charles MacNeill |
9:66969b9016ad | 956 | printf("GPIO1 Error\r\n"); |
| Charles MacNeill |
9:66969b9016ad | 957 | return 1; |
| Charles MacNeill |
9:66969b9016ad | 958 | } |
| Charles MacNeill |
9:66969b9016ad | 959 | |
| Charles MacNeill |
10:3687b5e79f98 | 960 | status = VL53L1CB_StopRanging(); // it is safer to do this while sensor is stopped |
| Charles MacNeill |
9:66969b9016ad | 961 | |
| Charles MacNeill |
9:66969b9016ad | 962 | if (status == 0) { |
| Charles MacNeill |
9:66969b9016ad | 963 | attach_interrupt_measure_detection_irq(fptr); |
| Charles MacNeill |
9:66969b9016ad | 964 | enable_interrupt_measure_detection_irq(); |
| Charles MacNeill |
9:66969b9016ad | 965 | } |
| Charles MacNeill |
9:66969b9016ad | 966 | |
| Charles MacNeill |
9:66969b9016ad | 967 | if (status == 0) { |
| Charles MacNeill |
10:3687b5e79f98 | 968 | status = VL53L1CB_StartRanging(); |
| Charles MacNeill |
9:66969b9016ad | 969 | } |
| Charles MacNeill |
9:66969b9016ad | 970 | |
| Charles MacNeill |
9:66969b9016ad | 971 | return status; |
| Charles MacNeill |
9:66969b9016ad | 972 | } |
| Charles MacNeill |
9:66969b9016ad | 973 | |
| Charles MacNeill |
10:3687b5e79f98 | 974 | int VL53L1CB::stop_measurement() |
| Charles MacNeill |
9:66969b9016ad | 975 | { |
| Charles MacNeill |
9:66969b9016ad | 976 | int status = 0; |
| Charles MacNeill |
9:66969b9016ad | 977 | |
| Charles MacNeill |
9:66969b9016ad | 978 | if (status == 0) { |
| Charles MacNeill |
9:66969b9016ad | 979 | printf("Call of VL53L1_StopMeasurement\n"); |
| Charles MacNeill |
10:3687b5e79f98 | 980 | status = VL53L1CB_StopRanging(); |
| Charles MacNeill |
9:66969b9016ad | 981 | } |
| Charles MacNeill |
9:66969b9016ad | 982 | |
| Charles MacNeill |
9:66969b9016ad | 983 | if (status == 0) |
| Charles MacNeill |
10:3687b5e79f98 | 984 | status = VL53L1CB_ClearInterrupt(); |
| Charles MacNeill |
9:66969b9016ad | 985 | |
| Charles MacNeill |
9:66969b9016ad | 986 | return status; |
| Charles MacNeill |
9:66969b9016ad | 987 | } |
| Charles MacNeill |
9:66969b9016ad | 988 | |
| Charles MacNeill |
9:66969b9016ad | 989 |