VL53L0X World smallest Time-of-Flight (ToF) ranging sensor
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: HelloWorld_ST_Sensors mbed-os-mqtt-client Multi_VL53L0X DISCO-IOT01_HomeEnv ... more
Fork of VL53L0X by
vl53l1x_class.h@5:f16727052990, 2019-01-28 (annotated)
- Committer:
- JerrySzczurak
- Date:
- Mon Jan 28 10:14:03 2019 +0000
- Revision:
- 5:f16727052990
Initial Cpp mass market sensor class declaration
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JerrySzczurak | 5:f16727052990 | 1 | /******************************************************************************* |
JerrySzczurak | 5:f16727052990 | 2 | * @file vl53l1x_class.h |
JerrySzczurak | 5:f16727052990 | 3 | * @author JS |
JerrySzczurak | 5:f16727052990 | 4 | * @version V0.0.1 |
JerrySzczurak | 5:f16727052990 | 5 | * @date 15-January-2019 |
JerrySzczurak | 5:f16727052990 | 6 | * @brief Header file for VL53L1 sensor component |
JerrySzczurak | 5:f16727052990 | 7 | ****************************************************************************** |
JerrySzczurak | 5:f16727052990 | 8 | Copyright © 2019, STMicroelectronics International N.V. |
JerrySzczurak | 5:f16727052990 | 9 | All rights reserved. |
JerrySzczurak | 5:f16727052990 | 10 | Redistribution and use in source and binary forms, with or without |
JerrySzczurak | 5:f16727052990 | 11 | modification, are permitted provided that the following conditions are met: |
JerrySzczurak | 5:f16727052990 | 12 | * Redistributions of source code must retain the above copyright |
JerrySzczurak | 5:f16727052990 | 13 | notice, this list of conditions and the following disclaimer. |
JerrySzczurak | 5:f16727052990 | 14 | * Redistributions in binary form must reproduce the above copyright |
JerrySzczurak | 5:f16727052990 | 15 | notice, this list of conditions and the following disclaimer in the |
JerrySzczurak | 5:f16727052990 | 16 | documentation and/or other materials provided with the distribution. |
JerrySzczurak | 5:f16727052990 | 17 | * Neither the name of STMicroelectronics nor the |
JerrySzczurak | 5:f16727052990 | 18 | names of its contributors may be used to endorse or promote products |
JerrySzczurak | 5:f16727052990 | 19 | derived from this software without specific prior written permission. |
JerrySzczurak | 5:f16727052990 | 20 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND |
JerrySzczurak | 5:f16727052990 | 21 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
JerrySzczurak | 5:f16727052990 | 22 | WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND |
JerrySzczurak | 5:f16727052990 | 23 | NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. |
JerrySzczurak | 5:f16727052990 | 24 | IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY |
JerrySzczurak | 5:f16727052990 | 25 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
JerrySzczurak | 5:f16727052990 | 26 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
JerrySzczurak | 5:f16727052990 | 27 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND |
JerrySzczurak | 5:f16727052990 | 28 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
JerrySzczurak | 5:f16727052990 | 29 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
JerrySzczurak | 5:f16727052990 | 30 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
JerrySzczurak | 5:f16727052990 | 31 | *****************************************************************************/ |
JerrySzczurak | 5:f16727052990 | 32 | |
JerrySzczurak | 5:f16727052990 | 33 | #ifndef __VL53L1X_CLASS_H |
JerrySzczurak | 5:f16727052990 | 34 | #define __VL53L1X_CLASS_H |
JerrySzczurak | 5:f16727052990 | 35 | |
JerrySzczurak | 5:f16727052990 | 36 | |
JerrySzczurak | 5:f16727052990 | 37 | #ifdef _MSC_VER |
JerrySzczurak | 5:f16727052990 | 38 | # ifdef VL53L1X_API_EXPORTS |
JerrySzczurak | 5:f16727052990 | 39 | # define VL53L1X_API __declspec(dllexport) |
JerrySzczurak | 5:f16727052990 | 40 | # else |
JerrySzczurak | 5:f16727052990 | 41 | # define VL53L1X_API |
JerrySzczurak | 5:f16727052990 | 42 | # endif |
JerrySzczurak | 5:f16727052990 | 43 | #else |
JerrySzczurak | 5:f16727052990 | 44 | # define VL53L1X_API |
JerrySzczurak | 5:f16727052990 | 45 | #endif |
JerrySzczurak | 5:f16727052990 | 46 | |
JerrySzczurak | 5:f16727052990 | 47 | |
JerrySzczurak | 5:f16727052990 | 48 | /* Includes ------------------------------------------------------------------*/ |
JerrySzczurak | 5:f16727052990 | 49 | #include "mbed.h" |
JerrySzczurak | 5:f16727052990 | 50 | #include "PinNames.h" |
JerrySzczurak | 5:f16727052990 | 51 | #include "RangeSensor.h" |
JerrySzczurak | 5:f16727052990 | 52 | #include "vl53l1x_error_codes.h" |
JerrySzczurak | 5:f16727052990 | 53 | //#include "DevI2C.h" |
JerrySzczurak | 5:f16727052990 | 54 | #include "vl53L1x_I2c.h" |
JerrySzczurak | 5:f16727052990 | 55 | #include "Stmpe1600.h" |
JerrySzczurak | 5:f16727052990 | 56 | |
JerrySzczurak | 5:f16727052990 | 57 | |
JerrySzczurak | 5:f16727052990 | 58 | #define VL53L1X_IMPLEMENTATION_VER_MAJOR 1 |
JerrySzczurak | 5:f16727052990 | 59 | #define VL53L1X_IMPLEMENTATION_VER_MINOR 0 |
JerrySzczurak | 5:f16727052990 | 60 | #define VL53L1X_IMPLEMENTATION_VER_SUB 1 |
JerrySzczurak | 5:f16727052990 | 61 | #define VL53L1X_IMPLEMENTATION_VER_REVISION 0000 |
JerrySzczurak | 5:f16727052990 | 62 | |
JerrySzczurak | 5:f16727052990 | 63 | typedef int8_t VL53L1X_ERROR; |
JerrySzczurak | 5:f16727052990 | 64 | |
JerrySzczurak | 5:f16727052990 | 65 | //#define SOFT_RESET 0x0000 |
JerrySzczurak | 5:f16727052990 | 66 | #define VL53L1_I2C_SLAVE__DEVICE_ADDRESS 0x0001 |
JerrySzczurak | 5:f16727052990 | 67 | #define VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x0008 |
JerrySzczurak | 5:f16727052990 | 68 | #define ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x0016 |
JerrySzczurak | 5:f16727052990 | 69 | #define ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS 0x0018 |
JerrySzczurak | 5:f16727052990 | 70 | #define ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS 0x001A |
JerrySzczurak | 5:f16727052990 | 71 | #define ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x001E |
JerrySzczurak | 5:f16727052990 | 72 | #define MM_CONFIG__INNER_OFFSET_MM 0x0020 |
JerrySzczurak | 5:f16727052990 | 73 | #define MM_CONFIG__OUTER_OFFSET_MM 0x0022 |
JerrySzczurak | 5:f16727052990 | 74 | #define GPIO_HV_MUX__CTRL 0x0030 |
JerrySzczurak | 5:f16727052990 | 75 | #define GPIO__TIO_HV_STATUS 0x0031 |
JerrySzczurak | 5:f16727052990 | 76 | #define SYSTEM__INTERRUPT_CONFIG_GPIO 0x0046 |
JerrySzczurak | 5:f16727052990 | 77 | #define PHASECAL_CONFIG__TIMEOUT_MACROP 0x004B |
JerrySzczurak | 5:f16727052990 | 78 | #define RANGE_CONFIG__TIMEOUT_MACROP_A_HI 0x005E |
JerrySzczurak | 5:f16727052990 | 79 | #define RANGE_CONFIG__VCSEL_PERIOD_A 0x0060 |
JerrySzczurak | 5:f16727052990 | 80 | #define RANGE_CONFIG__VCSEL_PERIOD_B 0x0063 |
JerrySzczurak | 5:f16727052990 | 81 | #define RANGE_CONFIG__TIMEOUT_MACROP_B_HI 0x0061 |
JerrySzczurak | 5:f16727052990 | 82 | #define RANGE_CONFIG__TIMEOUT_MACROP_B_LO 0x0062 |
JerrySzczurak | 5:f16727052990 | 83 | #define RANGE_CONFIG__SIGMA_THRESH 0x0064 |
JerrySzczurak | 5:f16727052990 | 84 | #define RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS 0x0066 |
JerrySzczurak | 5:f16727052990 | 85 | #define RANGE_CONFIG__VALID_PHASE_HIGH 0x0069 |
JerrySzczurak | 5:f16727052990 | 86 | #define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD 0x006C |
JerrySzczurak | 5:f16727052990 | 87 | #define SYSTEM__THRESH_HIGH 0x0072 |
JerrySzczurak | 5:f16727052990 | 88 | #define SYSTEM__THRESH_LOW 0x0074 |
JerrySzczurak | 5:f16727052990 | 89 | #define SD_CONFIG__WOI_SD0 0x0078 |
JerrySzczurak | 5:f16727052990 | 90 | #define SD_CONFIG__INITIAL_PHASE_SD0 0x007A |
JerrySzczurak | 5:f16727052990 | 91 | #define ROI_CONFIG__USER_ROI_CENTRE_SPAD 0x007F |
JerrySzczurak | 5:f16727052990 | 92 | #define ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE 0x0080 |
JerrySzczurak | 5:f16727052990 | 93 | #define SYSTEM__SEQUENCE_CONFIG 0x0081 |
JerrySzczurak | 5:f16727052990 | 94 | #define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD 0x0082 |
JerrySzczurak | 5:f16727052990 | 95 | #define SYSTEM__INTERRUPT_CLEAR 0x0086 |
JerrySzczurak | 5:f16727052990 | 96 | #define SYSTEM__MODE_START 0x0087 |
JerrySzczurak | 5:f16727052990 | 97 | #define VL53L1_RESULT__RANGE_STATUS 0x0089 |
JerrySzczurak | 5:f16727052990 | 98 | #define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x008C |
JerrySzczurak | 5:f16727052990 | 99 | #define RESULT__AMBIENT_COUNT_RATE_MCPS_SD 0x0090 |
JerrySzczurak | 5:f16727052990 | 100 | #define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0096 |
JerrySzczurak | 5:f16727052990 | 101 | #define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0098 |
JerrySzczurak | 5:f16727052990 | 102 | #define VL53L1_RESULT__OSC_CALIBRATE_VAL 0x00DE |
JerrySzczurak | 5:f16727052990 | 103 | #define VL53L1_FIRMWARE__SYSTEM_STATUS 0x00E5 |
JerrySzczurak | 5:f16727052990 | 104 | #define VL53L1_IDENTIFICATION__MODEL_ID 0x010F |
JerrySzczurak | 5:f16727052990 | 105 | #define VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD 0x013E |
JerrySzczurak | 5:f16727052990 | 106 | |
JerrySzczurak | 5:f16727052990 | 107 | |
JerrySzczurak | 5:f16727052990 | 108 | #define VL53L1X_DEFAULT_DEVICE_ADDRESS 0x52 |
JerrySzczurak | 5:f16727052990 | 109 | |
JerrySzczurak | 5:f16727052990 | 110 | #define VL53L1X_REG_IDENTIFICATION_MODEL_ID 0x010F |
JerrySzczurak | 5:f16727052990 | 111 | /**************************************** |
JerrySzczurak | 5:f16727052990 | 112 | * PRIVATE define do not edit |
JerrySzczurak | 5:f16727052990 | 113 | ****************************************/ |
JerrySzczurak | 5:f16727052990 | 114 | |
JerrySzczurak | 5:f16727052990 | 115 | /** |
JerrySzczurak | 5:f16727052990 | 116 | * @brief defines SW Version |
JerrySzczurak | 5:f16727052990 | 117 | */ |
JerrySzczurak | 5:f16727052990 | 118 | typedef struct { |
JerrySzczurak | 5:f16727052990 | 119 | uint8_t major; /*!< major number */ |
JerrySzczurak | 5:f16727052990 | 120 | uint8_t minor; /*!< minor number */ |
JerrySzczurak | 5:f16727052990 | 121 | uint8_t build; /*!< build number */ |
JerrySzczurak | 5:f16727052990 | 122 | uint32_t revision; /*!< revision number */ |
JerrySzczurak | 5:f16727052990 | 123 | } VL53L1X_Version_t; |
JerrySzczurak | 5:f16727052990 | 124 | |
JerrySzczurak | 5:f16727052990 | 125 | |
JerrySzczurak | 5:f16727052990 | 126 | typedef struct { |
JerrySzczurak | 5:f16727052990 | 127 | |
JerrySzczurak | 5:f16727052990 | 128 | uint8_t I2cDevAddr; |
JerrySzczurak | 5:f16727052990 | 129 | |
JerrySzczurak | 5:f16727052990 | 130 | } VL53L1_Dev_t; |
JerrySzczurak | 5:f16727052990 | 131 | |
JerrySzczurak | 5:f16727052990 | 132 | typedef VL53L1_Dev_t *VL53L1_DEV; |
JerrySzczurak | 5:f16727052990 | 133 | |
JerrySzczurak | 5:f16727052990 | 134 | |
JerrySzczurak | 5:f16727052990 | 135 | /* Classes -------------------------------------------------------------------*/ |
JerrySzczurak | 5:f16727052990 | 136 | /** Class representing a VL53L1 sensor component |
JerrySzczurak | 5:f16727052990 | 137 | */ |
JerrySzczurak | 5:f16727052990 | 138 | class VL53L1X : public RangeSensor |
JerrySzczurak | 5:f16727052990 | 139 | { |
JerrySzczurak | 5:f16727052990 | 140 | public: |
JerrySzczurak | 5:f16727052990 | 141 | /** Constructor |
JerrySzczurak | 5:f16727052990 | 142 | * @param[in] &i2c device I2C to be used for communication |
JerrySzczurak | 5:f16727052990 | 143 | * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT |
JerrySzczurak | 5:f16727052990 | 144 | * @param[in] DevAddr device address, 0x52 by default |
JerrySzczurak | 5:f16727052990 | 145 | */ |
JerrySzczurak | 5:f16727052990 | 146 | VL53L1X(vl53L1X_DevI2C *i2c, DigitalOut *pin, PinName pin_gpio1, uint8_t dev_addr = VL53L1X_DEFAULT_DEVICE_ADDRESS) |
JerrySzczurak | 5:f16727052990 | 147 | : RangeSensor(), dev_i2c(i2c), _gpio0(pin) |
JerrySzczurak | 5:f16727052990 | 148 | { |
JerrySzczurak | 5:f16727052990 | 149 | MyDevice.I2cDevAddr=dev_addr; |
JerrySzczurak | 5:f16727052990 | 150 | Device = &MyDevice; |
JerrySzczurak | 5:f16727052990 | 151 | |
JerrySzczurak | 5:f16727052990 | 152 | _expgpio0 = NULL; |
JerrySzczurak | 5:f16727052990 | 153 | if (pin_gpio1 != NC) { |
JerrySzczurak | 5:f16727052990 | 154 | _gpio1Int = new InterruptIn(pin_gpio1); |
JerrySzczurak | 5:f16727052990 | 155 | } else { |
JerrySzczurak | 5:f16727052990 | 156 | _gpio1Int = NULL; |
JerrySzczurak | 5:f16727052990 | 157 | } |
JerrySzczurak | 5:f16727052990 | 158 | } |
JerrySzczurak | 5:f16727052990 | 159 | |
JerrySzczurak | 5:f16727052990 | 160 | /** Constructor 2 (STMPE1600DigiOut) |
JerrySzczurak | 5:f16727052990 | 161 | * @param[in] i2c device I2C to be used for communication |
JerrySzczurak | 5:f16727052990 | 162 | * @param[in] &pin Gpio Expander STMPE1600DigiOut pin to be used as component GPIO_0 CE |
JerrySzczurak | 5:f16727052990 | 163 | * @param[in] pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT |
JerrySzczurak | 5:f16727052990 | 164 | * @param[in] device address, 0x29 by default |
JerrySzczurak | 5:f16727052990 | 165 | */ |
JerrySzczurak | 5:f16727052990 | 166 | VL53L1X(vl53L1X_DevI2C *i2c, Stmpe1600DigiOut *pin, PinName pin_gpio1, |
JerrySzczurak | 5:f16727052990 | 167 | uint8_t dev_addr = VL53L1X_DEFAULT_DEVICE_ADDRESS) |
JerrySzczurak | 5:f16727052990 | 168 | : dev_i2c(i2c), _expgpio0(pin) |
JerrySzczurak | 5:f16727052990 | 169 | { |
JerrySzczurak | 5:f16727052990 | 170 | MyDevice.I2cDevAddr=dev_addr; |
JerrySzczurak | 5:f16727052990 | 171 | Device = &MyDevice; |
JerrySzczurak | 5:f16727052990 | 172 | |
JerrySzczurak | 5:f16727052990 | 173 | _gpio0 = NULL; |
JerrySzczurak | 5:f16727052990 | 174 | if (pin_gpio1 != NC) { |
JerrySzczurak | 5:f16727052990 | 175 | _gpio1Int = new InterruptIn(pin_gpio1); |
JerrySzczurak | 5:f16727052990 | 176 | } else { |
JerrySzczurak | 5:f16727052990 | 177 | _gpio1Int = NULL; |
JerrySzczurak | 5:f16727052990 | 178 | } |
JerrySzczurak | 5:f16727052990 | 179 | } |
JerrySzczurak | 5:f16727052990 | 180 | |
JerrySzczurak | 5:f16727052990 | 181 | /** Destructor |
JerrySzczurak | 5:f16727052990 | 182 | */ |
JerrySzczurak | 5:f16727052990 | 183 | virtual ~VL53L1X() |
JerrySzczurak | 5:f16727052990 | 184 | { |
JerrySzczurak | 5:f16727052990 | 185 | if (_gpio1Int != NULL) { |
JerrySzczurak | 5:f16727052990 | 186 | delete _gpio1Int; |
JerrySzczurak | 5:f16727052990 | 187 | } |
JerrySzczurak | 5:f16727052990 | 188 | } |
JerrySzczurak | 5:f16727052990 | 189 | |
JerrySzczurak | 5:f16727052990 | 190 | |
JerrySzczurak | 5:f16727052990 | 191 | |
JerrySzczurak | 5:f16727052990 | 192 | VL53L1_DEV getDevicePtr() { return Device; } |
JerrySzczurak | 5:f16727052990 | 193 | |
JerrySzczurak | 5:f16727052990 | 194 | |
JerrySzczurak | 5:f16727052990 | 195 | /* warning: VL53L1 class inherits from GenericSensor, RangeSensor and LightSensor, that haven`t a destructor. |
JerrySzczurak | 5:f16727052990 | 196 | The warning should request to introduce a virtual destructor to make sure to delete the object */ |
JerrySzczurak | 5:f16727052990 | 197 | |
JerrySzczurak | 5:f16727052990 | 198 | /*** Interface Methods ***/ |
JerrySzczurak | 5:f16727052990 | 199 | /*** High level API ***/ |
JerrySzczurak | 5:f16727052990 | 200 | /** |
JerrySzczurak | 5:f16727052990 | 201 | * @brief PowerOn the sensor |
JerrySzczurak | 5:f16727052990 | 202 | * @return void |
JerrySzczurak | 5:f16727052990 | 203 | */ |
JerrySzczurak | 5:f16727052990 | 204 | /* turns on the sensor */ |
JerrySzczurak | 5:f16727052990 | 205 | virtual void VL53L1_On(void) |
JerrySzczurak | 5:f16727052990 | 206 | { |
JerrySzczurak | 5:f16727052990 | 207 | printf("VL53L1_On\r\n"); |
JerrySzczurak | 5:f16727052990 | 208 | if (_gpio0) { |
JerrySzczurak | 5:f16727052990 | 209 | *_gpio0 = 1; |
JerrySzczurak | 5:f16727052990 | 210 | } else { |
JerrySzczurak | 5:f16727052990 | 211 | if (_expgpio0) { |
JerrySzczurak | 5:f16727052990 | 212 | *_expgpio0 = 1; |
JerrySzczurak | 5:f16727052990 | 213 | } |
JerrySzczurak | 5:f16727052990 | 214 | } |
JerrySzczurak | 5:f16727052990 | 215 | wait_ms(10); |
JerrySzczurak | 5:f16727052990 | 216 | } |
JerrySzczurak | 5:f16727052990 | 217 | |
JerrySzczurak | 5:f16727052990 | 218 | /** |
JerrySzczurak | 5:f16727052990 | 219 | * @brief PowerOff the sensor |
JerrySzczurak | 5:f16727052990 | 220 | * @return void |
JerrySzczurak | 5:f16727052990 | 221 | */ |
JerrySzczurak | 5:f16727052990 | 222 | /* turns off the sensor */ |
JerrySzczurak | 5:f16727052990 | 223 | virtual void VL53L1_Off(void) |
JerrySzczurak | 5:f16727052990 | 224 | { |
JerrySzczurak | 5:f16727052990 | 225 | printf("VL53L1_Off\r\n"); |
JerrySzczurak | 5:f16727052990 | 226 | if (_gpio0) { |
JerrySzczurak | 5:f16727052990 | 227 | *_gpio0 = 0; |
JerrySzczurak | 5:f16727052990 | 228 | } else { |
JerrySzczurak | 5:f16727052990 | 229 | if (_expgpio0) { |
JerrySzczurak | 5:f16727052990 | 230 | *_expgpio0 = 0; |
JerrySzczurak | 5:f16727052990 | 231 | } |
JerrySzczurak | 5:f16727052990 | 232 | } |
JerrySzczurak | 5:f16727052990 | 233 | wait_ms(10); |
JerrySzczurak | 5:f16727052990 | 234 | } |
JerrySzczurak | 5:f16727052990 | 235 | |
JerrySzczurak | 5:f16727052990 | 236 | int is_present() |
JerrySzczurak | 5:f16727052990 | 237 | { |
JerrySzczurak | 5:f16727052990 | 238 | int status; |
JerrySzczurak | 5:f16727052990 | 239 | uint8_t id = 0; |
JerrySzczurak | 5:f16727052990 | 240 | |
JerrySzczurak | 5:f16727052990 | 241 | status = read_id(&id); |
JerrySzczurak | 5:f16727052990 | 242 | if (status) { |
JerrySzczurak | 5:f16727052990 | 243 | printf("Failed to read ID device. Device not present!\n\r"); |
JerrySzczurak | 5:f16727052990 | 244 | } |
JerrySzczurak | 5:f16727052990 | 245 | return status; |
JerrySzczurak | 5:f16727052990 | 246 | } |
JerrySzczurak | 5:f16727052990 | 247 | |
JerrySzczurak | 5:f16727052990 | 248 | /** |
JerrySzczurak | 5:f16727052990 | 249 | * @brief Initialize the sensor with default values |
JerrySzczurak | 5:f16727052990 | 250 | * @return 0 on Success |
JerrySzczurak | 5:f16727052990 | 251 | */ |
JerrySzczurak | 5:f16727052990 | 252 | |
JerrySzczurak | 5:f16727052990 | 253 | VL53L1X_ERROR InitSensor(uint8_t address){ |
JerrySzczurak | 5:f16727052990 | 254 | VL53L1X_ERROR status = 0; |
JerrySzczurak | 5:f16727052990 | 255 | uint8_t sensorState = 0; |
JerrySzczurak | 5:f16727052990 | 256 | VL53L1_Off(); |
JerrySzczurak | 5:f16727052990 | 257 | VL53L1_On(); |
JerrySzczurak | 5:f16727052990 | 258 | status = VL53L1X_SetI2CAddress(address); |
JerrySzczurak | 5:f16727052990 | 259 | |
JerrySzczurak | 5:f16727052990 | 260 | if(!status){ |
JerrySzczurak | 5:f16727052990 | 261 | status = VL53L1X_SensorInit(); |
JerrySzczurak | 5:f16727052990 | 262 | } |
JerrySzczurak | 5:f16727052990 | 263 | |
JerrySzczurak | 5:f16727052990 | 264 | while(!status && !sensorState) { |
JerrySzczurak | 5:f16727052990 | 265 | status = VL53L1X_BootState(&sensorState); |
JerrySzczurak | 5:f16727052990 | 266 | wait_ms(2); |
JerrySzczurak | 5:f16727052990 | 267 | } |
JerrySzczurak | 5:f16727052990 | 268 | |
JerrySzczurak | 5:f16727052990 | 269 | return status; |
JerrySzczurak | 5:f16727052990 | 270 | } |
JerrySzczurak | 5:f16727052990 | 271 | |
JerrySzczurak | 5:f16727052990 | 272 | |
JerrySzczurak | 5:f16727052990 | 273 | |
JerrySzczurak | 5:f16727052990 | 274 | /** |
JerrySzczurak | 5:f16727052990 | 275 | * |
JerrySzczurak | 5:f16727052990 | 276 | * @brief One time device initialization |
JerrySzczurak | 5:f16727052990 | 277 | * @param void |
JerrySzczurak | 5:f16727052990 | 278 | * @return 0 on success, @a #CALIBRATION_WARNING if failed |
JerrySzczurak | 5:f16727052990 | 279 | */ |
JerrySzczurak | 5:f16727052990 | 280 | virtual int init(void *init) |
JerrySzczurak | 5:f16727052990 | 281 | { |
JerrySzczurak | 5:f16727052990 | 282 | return VL53L1X_SensorInit(); |
JerrySzczurak | 5:f16727052990 | 283 | } |
JerrySzczurak | 5:f16727052990 | 284 | |
JerrySzczurak | 5:f16727052990 | 285 | |
JerrySzczurak | 5:f16727052990 | 286 | /** |
JerrySzczurak | 5:f16727052990 | 287 | * @brief Initialize the sensor with default values |
JerrySzczurak | 5:f16727052990 | 288 | * @return "0" on success |
JerrySzczurak | 5:f16727052990 | 289 | */ |
JerrySzczurak | 5:f16727052990 | 290 | int init_sensor(uint8_t new_addr); |
JerrySzczurak | 5:f16727052990 | 291 | |
JerrySzczurak | 5:f16727052990 | 292 | /* Read function of the ID device */ |
JerrySzczurak | 5:f16727052990 | 293 | virtual int read_id(uint8_t *id){ |
JerrySzczurak | 5:f16727052990 | 294 | int status = 0; |
JerrySzczurak | 5:f16727052990 | 295 | uint16_t rl_id = 0; |
JerrySzczurak | 5:f16727052990 | 296 | |
JerrySzczurak | 5:f16727052990 | 297 | uint8_t ExpanderData[2]; |
JerrySzczurak | 5:f16727052990 | 298 | |
JerrySzczurak | 5:f16727052990 | 299 | ExpanderData[0] = 0; |
JerrySzczurak | 5:f16727052990 | 300 | ExpanderData[1] = 0; |
JerrySzczurak | 5:f16727052990 | 301 | rl_id = 0; |
JerrySzczurak | 5:f16727052990 | 302 | dev_i2c->v53l1x_i2c_read(&ExpanderData[0], Device->I2cDevAddr, VL53L1X_REG_IDENTIFICATION_MODEL_ID, 2); |
JerrySzczurak | 5:f16727052990 | 303 | |
JerrySzczurak | 5:f16727052990 | 304 | rl_id = (ExpanderData[0] << 8) + ExpanderData[1]; |
JerrySzczurak | 5:f16727052990 | 305 | printf("Model ID is: %d (%X) \r\n",rl_id, rl_id); |
JerrySzczurak | 5:f16727052990 | 306 | |
JerrySzczurak | 5:f16727052990 | 307 | uint8_t tmp = 0; |
JerrySzczurak | 5:f16727052990 | 308 | ExpanderData[0] = VL53L1_FIRMWARE__SYSTEM_STATUS >> 8; |
JerrySzczurak | 5:f16727052990 | 309 | ExpanderData[1] = VL53L1_FIRMWARE__SYSTEM_STATUS & 0x0FF; |
JerrySzczurak | 5:f16727052990 | 310 | dev_i2c->v53l1x_i2c_read(&tmp, Device->I2cDevAddr, VL53L1_FIRMWARE__SYSTEM_STATUS, 1); |
JerrySzczurak | 5:f16727052990 | 311 | |
JerrySzczurak | 5:f16727052990 | 312 | printf("Firmware system is: %d\r\n",tmp); |
JerrySzczurak | 5:f16727052990 | 313 | |
JerrySzczurak | 5:f16727052990 | 314 | if (rl_id == 0xEACC) { |
JerrySzczurak | 5:f16727052990 | 315 | printf("Device is present %d:\r\n", rl_id); |
JerrySzczurak | 5:f16727052990 | 316 | return status; |
JerrySzczurak | 5:f16727052990 | 317 | } |
JerrySzczurak | 5:f16727052990 | 318 | return -1; |
JerrySzczurak | 5:f16727052990 | 319 | } |
JerrySzczurak | 5:f16727052990 | 320 | |
JerrySzczurak | 5:f16727052990 | 321 | |
JerrySzczurak | 5:f16727052990 | 322 | |
JerrySzczurak | 5:f16727052990 | 323 | /** |
JerrySzczurak | 5:f16727052990 | 324 | * @brief Get ranging result and only that |
JerrySzczurak | 5:f16727052990 | 325 | * @param pRange_mm Pointer to range distance |
JerrySzczurak | 5:f16727052990 | 326 | * @return 0 on success |
JerrySzczurak | 5:f16727052990 | 327 | */ |
JerrySzczurak | 5:f16727052990 | 328 | virtual int get_distance(uint32_t *piData) |
JerrySzczurak | 5:f16727052990 | 329 | { |
JerrySzczurak | 5:f16727052990 | 330 | int status; |
JerrySzczurak | 5:f16727052990 | 331 | uint16_t distance; |
JerrySzczurak | 5:f16727052990 | 332 | status = VL53L1X_GetDistance(&distance); |
JerrySzczurak | 5:f16727052990 | 333 | *piData = (uint32_t) distance; |
JerrySzczurak | 5:f16727052990 | 334 | return status; |
JerrySzczurak | 5:f16727052990 | 335 | } |
JerrySzczurak | 5:f16727052990 | 336 | |
JerrySzczurak | 5:f16727052990 | 337 | |
JerrySzczurak | 5:f16727052990 | 338 | /* VL53L1X_api.h functions */ |
JerrySzczurak | 5:f16727052990 | 339 | |
JerrySzczurak | 5:f16727052990 | 340 | |
JerrySzczurak | 5:f16727052990 | 341 | |
JerrySzczurak | 5:f16727052990 | 342 | /** |
JerrySzczurak | 5:f16727052990 | 343 | * @brief This function returns the SW driver version |
JerrySzczurak | 5:f16727052990 | 344 | */ |
JerrySzczurak | 5:f16727052990 | 345 | VL53L1X_ERROR VL53L1X_GetSWVersion(VL53L1X_Version_t *pVersion); |
JerrySzczurak | 5:f16727052990 | 346 | |
JerrySzczurak | 5:f16727052990 | 347 | /** |
JerrySzczurak | 5:f16727052990 | 348 | * @brief This function sets the sensor I2C address used in case multiple devices application, default address 0x52 |
JerrySzczurak | 5:f16727052990 | 349 | */ |
JerrySzczurak | 5:f16727052990 | 350 | VL53L1X_ERROR VL53L1X_SetI2CAddress(uint8_t new_address); |
JerrySzczurak | 5:f16727052990 | 351 | |
JerrySzczurak | 5:f16727052990 | 352 | /** |
JerrySzczurak | 5:f16727052990 | 353 | * @brief This function loads the 135 bytes default values to initialize the sensor. |
JerrySzczurak | 5:f16727052990 | 354 | * @param dev Device address |
JerrySzczurak | 5:f16727052990 | 355 | * @return 0:success, != 0:failed |
JerrySzczurak | 5:f16727052990 | 356 | */ |
JerrySzczurak | 5:f16727052990 | 357 | VL53L1X_ERROR VL53L1X_SensorInit(); |
JerrySzczurak | 5:f16727052990 | 358 | |
JerrySzczurak | 5:f16727052990 | 359 | /** |
JerrySzczurak | 5:f16727052990 | 360 | * @brief This function clears the interrupt, to be called after a ranging data reading |
JerrySzczurak | 5:f16727052990 | 361 | * to arm the interrupt for the next data ready event. |
JerrySzczurak | 5:f16727052990 | 362 | */ |
JerrySzczurak | 5:f16727052990 | 363 | VL53L1X_ERROR VL53L1X_ClearInterrupt(); |
JerrySzczurak | 5:f16727052990 | 364 | |
JerrySzczurak | 5:f16727052990 | 365 | /** |
JerrySzczurak | 5:f16727052990 | 366 | * @brief This function programs the interrupt polarity\n |
JerrySzczurak | 5:f16727052990 | 367 | * 1=active high (default), 0=active low |
JerrySzczurak | 5:f16727052990 | 368 | */ |
JerrySzczurak | 5:f16727052990 | 369 | VL53L1X_ERROR VL53L1X_SetInterruptPolarity(uint8_t IntPol); |
JerrySzczurak | 5:f16727052990 | 370 | |
JerrySzczurak | 5:f16727052990 | 371 | /** |
JerrySzczurak | 5:f16727052990 | 372 | * @brief This function returns the current interrupt polarity\n |
JerrySzczurak | 5:f16727052990 | 373 | * 1=active high (default), 0=active low |
JerrySzczurak | 5:f16727052990 | 374 | */ |
JerrySzczurak | 5:f16727052990 | 375 | VL53L1X_ERROR VL53L1X_GetInterruptPolarity(uint8_t *pIntPol); |
JerrySzczurak | 5:f16727052990 | 376 | |
JerrySzczurak | 5:f16727052990 | 377 | /** |
JerrySzczurak | 5:f16727052990 | 378 | * @brief This function starts the ranging distance operation\n |
JerrySzczurak | 5:f16727052990 | 379 | * 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 |
JerrySzczurak | 5:f16727052990 | 380 | * 1=active high (default), 0=active low, use SetInterruptPolarity() to change the interrupt polarity if required. |
JerrySzczurak | 5:f16727052990 | 381 | */ |
JerrySzczurak | 5:f16727052990 | 382 | VL53L1X_ERROR VL53L1X_StartRanging(); |
JerrySzczurak | 5:f16727052990 | 383 | |
JerrySzczurak | 5:f16727052990 | 384 | /** |
JerrySzczurak | 5:f16727052990 | 385 | * @brief This function stops the ranging. |
JerrySzczurak | 5:f16727052990 | 386 | */ |
JerrySzczurak | 5:f16727052990 | 387 | VL53L1X_ERROR VL53L1X_StopRanging(); |
JerrySzczurak | 5:f16727052990 | 388 | |
JerrySzczurak | 5:f16727052990 | 389 | /** |
JerrySzczurak | 5:f16727052990 | 390 | * @brief This function checks if the new ranging data is available by polling the dedicated register. |
JerrySzczurak | 5:f16727052990 | 391 | * @param : isDataReady==0 -> not ready; isDataReady==1 -> ready |
JerrySzczurak | 5:f16727052990 | 392 | */ |
JerrySzczurak | 5:f16727052990 | 393 | VL53L1X_ERROR VL53L1X_CheckForDataReady(uint8_t *isDataReady); |
JerrySzczurak | 5:f16727052990 | 394 | |
JerrySzczurak | 5:f16727052990 | 395 | /** |
JerrySzczurak | 5:f16727052990 | 396 | * @brief This function programs the timing budget in ms. |
JerrySzczurak | 5:f16727052990 | 397 | * Predefined values = 15, 20, 33, 50, 100(default), 200, 500. |
JerrySzczurak | 5:f16727052990 | 398 | */ |
JerrySzczurak | 5:f16727052990 | 399 | VL53L1X_ERROR VL53L1X_SetTimingBudgetInMs(uint16_t TimingBudgetInMs); |
JerrySzczurak | 5:f16727052990 | 400 | |
JerrySzczurak | 5:f16727052990 | 401 | /** |
JerrySzczurak | 5:f16727052990 | 402 | * @brief This function returns the current timing budget in ms. |
JerrySzczurak | 5:f16727052990 | 403 | */ |
JerrySzczurak | 5:f16727052990 | 404 | VL53L1X_ERROR VL53L1X_GetTimingBudgetInMs(uint16_t *pTimingBudgetInMs); |
JerrySzczurak | 5:f16727052990 | 405 | |
JerrySzczurak | 5:f16727052990 | 406 | /** |
JerrySzczurak | 5:f16727052990 | 407 | * @brief This function programs the distance mode (1=short, 2=long(default)). |
JerrySzczurak | 5:f16727052990 | 408 | * Short mode max distance is limited to 1.3 m but better ambient immunity.\n |
JerrySzczurak | 5:f16727052990 | 409 | * Long mode can range up to 4 m in the dark with 200 ms timing budget. |
JerrySzczurak | 5:f16727052990 | 410 | */ |
JerrySzczurak | 5:f16727052990 | 411 | VL53L1X_ERROR VL53L1X_SetDistanceMode(uint16_t DistanceMode); |
JerrySzczurak | 5:f16727052990 | 412 | |
JerrySzczurak | 5:f16727052990 | 413 | /** |
JerrySzczurak | 5:f16727052990 | 414 | * @brief This function returns the current distance mode (1=short, 2=long). |
JerrySzczurak | 5:f16727052990 | 415 | */ |
JerrySzczurak | 5:f16727052990 | 416 | VL53L1X_ERROR VL53L1X_GetDistanceMode(uint16_t *pDistanceMode); |
JerrySzczurak | 5:f16727052990 | 417 | |
JerrySzczurak | 5:f16727052990 | 418 | /** |
JerrySzczurak | 5:f16727052990 | 419 | * @brief This function programs the Intermeasurement period in ms\n |
JerrySzczurak | 5:f16727052990 | 420 | * Intermeasurement period must be >/= timing budget. This condition is not checked by the API, |
JerrySzczurak | 5:f16727052990 | 421 | * the customer has the duty to check the condition. Default = 100 ms |
JerrySzczurak | 5:f16727052990 | 422 | */ |
JerrySzczurak | 5:f16727052990 | 423 | VL53L1X_ERROR VL53L1X_SetInterMeasurementInMs(uint16_t InterMeasurementInMs); |
JerrySzczurak | 5:f16727052990 | 424 | |
JerrySzczurak | 5:f16727052990 | 425 | /** |
JerrySzczurak | 5:f16727052990 | 426 | * @brief This function returns the Intermeasurement period in ms. |
JerrySzczurak | 5:f16727052990 | 427 | */ |
JerrySzczurak | 5:f16727052990 | 428 | VL53L1X_ERROR VL53L1X_GetInterMeasurementInMs(uint16_t * pIM); |
JerrySzczurak | 5:f16727052990 | 429 | |
JerrySzczurak | 5:f16727052990 | 430 | /** |
JerrySzczurak | 5:f16727052990 | 431 | * @brief This function returns the boot state of the device (1:booted, 0:not booted) |
JerrySzczurak | 5:f16727052990 | 432 | */ |
JerrySzczurak | 5:f16727052990 | 433 | VL53L1X_ERROR VL53L1X_BootState(uint8_t *state); |
JerrySzczurak | 5:f16727052990 | 434 | |
JerrySzczurak | 5:f16727052990 | 435 | /** |
JerrySzczurak | 5:f16727052990 | 436 | * @brief This function returns the sensor id, sensor Id must be 0xEEAC |
JerrySzczurak | 5:f16727052990 | 437 | */ |
JerrySzczurak | 5:f16727052990 | 438 | VL53L1X_ERROR VL53L1X_GetSensorId(uint16_t *id); |
JerrySzczurak | 5:f16727052990 | 439 | |
JerrySzczurak | 5:f16727052990 | 440 | /** |
JerrySzczurak | 5:f16727052990 | 441 | * @brief This function returns the distance measured by the sensor in mm |
JerrySzczurak | 5:f16727052990 | 442 | */ |
JerrySzczurak | 5:f16727052990 | 443 | VL53L1X_ERROR VL53L1X_GetDistance(uint16_t *distance); |
JerrySzczurak | 5:f16727052990 | 444 | |
JerrySzczurak | 5:f16727052990 | 445 | /** |
JerrySzczurak | 5:f16727052990 | 446 | * @brief This function returns the returned signal per SPAD in kcps/SPAD. |
JerrySzczurak | 5:f16727052990 | 447 | * With kcps stands for Kilo Count Per Second |
JerrySzczurak | 5:f16727052990 | 448 | */ |
JerrySzczurak | 5:f16727052990 | 449 | VL53L1X_ERROR VL53L1X_GetSignalPerSpad(uint16_t *signalPerSp); |
JerrySzczurak | 5:f16727052990 | 450 | |
JerrySzczurak | 5:f16727052990 | 451 | /** |
JerrySzczurak | 5:f16727052990 | 452 | * @brief This function returns the ambient per SPAD in kcps/SPAD |
JerrySzczurak | 5:f16727052990 | 453 | */ |
JerrySzczurak | 5:f16727052990 | 454 | VL53L1X_ERROR VL53L1X_GetAmbientPerSpad(uint16_t *amb); |
JerrySzczurak | 5:f16727052990 | 455 | |
JerrySzczurak | 5:f16727052990 | 456 | /** |
JerrySzczurak | 5:f16727052990 | 457 | * @brief This function returns the returned signal in kcps. |
JerrySzczurak | 5:f16727052990 | 458 | */ |
JerrySzczurak | 5:f16727052990 | 459 | VL53L1X_ERROR VL53L1X_GetSignalRate(uint16_t *signalRate); |
JerrySzczurak | 5:f16727052990 | 460 | |
JerrySzczurak | 5:f16727052990 | 461 | /** |
JerrySzczurak | 5:f16727052990 | 462 | * @brief This function returns the current number of enabled SPADs |
JerrySzczurak | 5:f16727052990 | 463 | */ |
JerrySzczurak | 5:f16727052990 | 464 | VL53L1X_ERROR VL53L1X_GetSpadNb(uint16_t *spNb); |
JerrySzczurak | 5:f16727052990 | 465 | |
JerrySzczurak | 5:f16727052990 | 466 | /** |
JerrySzczurak | 5:f16727052990 | 467 | * @brief This function returns the ambient rate in kcps |
JerrySzczurak | 5:f16727052990 | 468 | */ |
JerrySzczurak | 5:f16727052990 | 469 | VL53L1X_ERROR VL53L1X_GetAmbientRate(uint16_t *ambRate); |
JerrySzczurak | 5:f16727052990 | 470 | |
JerrySzczurak | 5:f16727052990 | 471 | /** |
JerrySzczurak | 5:f16727052990 | 472 | * @brief This function returns the ranging status error \n |
JerrySzczurak | 5:f16727052990 | 473 | * (0:no error, 1:sigma failed, 2:signal failed, ..., 7:wrap-around) |
JerrySzczurak | 5:f16727052990 | 474 | */ |
JerrySzczurak | 5:f16727052990 | 475 | VL53L1X_ERROR VL53L1X_GetRangeStatus(uint8_t *rangeStatus); |
JerrySzczurak | 5:f16727052990 | 476 | |
JerrySzczurak | 5:f16727052990 | 477 | /** |
JerrySzczurak | 5:f16727052990 | 478 | * @brief This function programs the offset correction in mm |
JerrySzczurak | 5:f16727052990 | 479 | * @param OffsetValue:the offset correction value to program in mm |
JerrySzczurak | 5:f16727052990 | 480 | */ |
JerrySzczurak | 5:f16727052990 | 481 | VL53L1X_ERROR VL53L1X_SetOffset(int16_t OffsetValue); |
JerrySzczurak | 5:f16727052990 | 482 | |
JerrySzczurak | 5:f16727052990 | 483 | /** |
JerrySzczurak | 5:f16727052990 | 484 | * @brief This function returns the programmed offset correction value in mm |
JerrySzczurak | 5:f16727052990 | 485 | */ |
JerrySzczurak | 5:f16727052990 | 486 | VL53L1X_ERROR VL53L1X_GetOffset(int16_t *Offset); |
JerrySzczurak | 5:f16727052990 | 487 | |
JerrySzczurak | 5:f16727052990 | 488 | /** |
JerrySzczurak | 5:f16727052990 | 489 | * @brief This function programs the xtalk correction value in cps (Count Per Second).\n |
JerrySzczurak | 5:f16727052990 | 490 | * This is the number of photons reflected back from the cover glass in cps. |
JerrySzczurak | 5:f16727052990 | 491 | */ |
JerrySzczurak | 5:f16727052990 | 492 | VL53L1X_ERROR VL53L1X_SetXtalk(uint16_t XtalkValue); |
JerrySzczurak | 5:f16727052990 | 493 | |
JerrySzczurak | 5:f16727052990 | 494 | /** |
JerrySzczurak | 5:f16727052990 | 495 | * @brief This function returns the current programmed xtalk correction value in cps |
JerrySzczurak | 5:f16727052990 | 496 | */ |
JerrySzczurak | 5:f16727052990 | 497 | VL53L1X_ERROR VL53L1X_GetXtalk(uint16_t *Xtalk); |
JerrySzczurak | 5:f16727052990 | 498 | |
JerrySzczurak | 5:f16727052990 | 499 | /** |
JerrySzczurak | 5:f16727052990 | 500 | * @brief This function programs the threshold detection mode\n |
JerrySzczurak | 5:f16727052990 | 501 | * Example:\n |
JerrySzczurak | 5:f16727052990 | 502 | * VL53L1X_SetDistanceThreshold(dev,100,300,0,1): Below 100 \n |
JerrySzczurak | 5:f16727052990 | 503 | * VL53L1X_SetDistanceThreshold(dev,100,300,1,1): Above 300 \n |
JerrySzczurak | 5:f16727052990 | 504 | * VL53L1X_SetDistanceThreshold(dev,100,300,2,1): Out of window \n |
JerrySzczurak | 5:f16727052990 | 505 | * VL53L1X_SetDistanceThreshold(dev,100,300,3,1): In window \n |
JerrySzczurak | 5:f16727052990 | 506 | * @param dev : device address |
JerrySzczurak | 5:f16727052990 | 507 | * @param ThreshLow(in mm) : the threshold under which one the device raises an interrupt if Window = 0 |
JerrySzczurak | 5:f16727052990 | 508 | * @param ThreshHigh(in mm) : the threshold above which one the device raises an interrupt if Window = 1 |
JerrySzczurak | 5:f16727052990 | 509 | * @param Window detection mode : 0=below, 1=above, 2=out, 3=in |
JerrySzczurak | 5:f16727052990 | 510 | * @param IntOnNoTarget = 1 (No longer used - just use 1) |
JerrySzczurak | 5:f16727052990 | 511 | */ |
JerrySzczurak | 5:f16727052990 | 512 | VL53L1X_ERROR VL53L1X_SetDistanceThreshold(uint16_t ThreshLow, |
JerrySzczurak | 5:f16727052990 | 513 | uint16_t ThreshHigh, uint8_t Window, |
JerrySzczurak | 5:f16727052990 | 514 | uint8_t IntOnNoTarget); |
JerrySzczurak | 5:f16727052990 | 515 | |
JerrySzczurak | 5:f16727052990 | 516 | /** |
JerrySzczurak | 5:f16727052990 | 517 | * @brief This function returns the window detection mode (0=below; 1=above; 2=out; 3=in) |
JerrySzczurak | 5:f16727052990 | 518 | */ |
JerrySzczurak | 5:f16727052990 | 519 | VL53L1X_ERROR VL53L1X_GetDistanceThresholdWindow(uint16_t *window); |
JerrySzczurak | 5:f16727052990 | 520 | |
JerrySzczurak | 5:f16727052990 | 521 | /** |
JerrySzczurak | 5:f16727052990 | 522 | * @brief This function returns the low threshold in mm |
JerrySzczurak | 5:f16727052990 | 523 | */ |
JerrySzczurak | 5:f16727052990 | 524 | VL53L1X_ERROR VL53L1X_GetDistanceThresholdLow(uint16_t *low); |
JerrySzczurak | 5:f16727052990 | 525 | |
JerrySzczurak | 5:f16727052990 | 526 | /** |
JerrySzczurak | 5:f16727052990 | 527 | * @brief This function returns the high threshold in mm |
JerrySzczurak | 5:f16727052990 | 528 | */ |
JerrySzczurak | 5:f16727052990 | 529 | VL53L1X_ERROR VL53L1X_GetDistanceThresholdHigh(uint16_t *high); |
JerrySzczurak | 5:f16727052990 | 530 | |
JerrySzczurak | 5:f16727052990 | 531 | /** |
JerrySzczurak | 5:f16727052990 | 532 | * @brief This function programs the ROI (Region of Interest)\n |
JerrySzczurak | 5:f16727052990 | 533 | * The ROI position is centered, only the ROI size can be reprogrammed.\n |
JerrySzczurak | 5:f16727052990 | 534 | * The smallest acceptable ROI size = 4\n |
JerrySzczurak | 5:f16727052990 | 535 | * @param X:ROI Width; Y=ROI Height |
JerrySzczurak | 5:f16727052990 | 536 | */ |
JerrySzczurak | 5:f16727052990 | 537 | VL53L1X_ERROR VL53L1X_SetROI(uint16_t X, uint16_t Y); |
JerrySzczurak | 5:f16727052990 | 538 | |
JerrySzczurak | 5:f16727052990 | 539 | /** |
JerrySzczurak | 5:f16727052990 | 540 | *@brief This function returns width X and height Y |
JerrySzczurak | 5:f16727052990 | 541 | */ |
JerrySzczurak | 5:f16727052990 | 542 | VL53L1X_ERROR VL53L1X_GetROI_XY(uint16_t *ROI_X, uint16_t *ROI_Y); |
JerrySzczurak | 5:f16727052990 | 543 | |
JerrySzczurak | 5:f16727052990 | 544 | /** |
JerrySzczurak | 5:f16727052990 | 545 | * @brief This function programs a new signal threshold in kcps (default=1024 kcps\n |
JerrySzczurak | 5:f16727052990 | 546 | */ |
JerrySzczurak | 5:f16727052990 | 547 | VL53L1X_ERROR VL53L1X_SetSignalThreshold(uint16_t signal); |
JerrySzczurak | 5:f16727052990 | 548 | |
JerrySzczurak | 5:f16727052990 | 549 | /** |
JerrySzczurak | 5:f16727052990 | 550 | * @brief This function returns the current signal threshold in kcps |
JerrySzczurak | 5:f16727052990 | 551 | */ |
JerrySzczurak | 5:f16727052990 | 552 | VL53L1X_ERROR VL53L1X_GetSignalThreshold(uint16_t *signal); |
JerrySzczurak | 5:f16727052990 | 553 | |
JerrySzczurak | 5:f16727052990 | 554 | /** |
JerrySzczurak | 5:f16727052990 | 555 | * @brief This function programs a new sigma threshold in mm (default=15 mm) |
JerrySzczurak | 5:f16727052990 | 556 | */ |
JerrySzczurak | 5:f16727052990 | 557 | VL53L1X_ERROR VL53L1X_SetSigmaThreshold(uint16_t sigma); |
JerrySzczurak | 5:f16727052990 | 558 | |
JerrySzczurak | 5:f16727052990 | 559 | /** |
JerrySzczurak | 5:f16727052990 | 560 | * @brief This function returns the current sigma threshold in mm |
JerrySzczurak | 5:f16727052990 | 561 | */ |
JerrySzczurak | 5:f16727052990 | 562 | VL53L1X_ERROR VL53L1X_GetSigmaThreshold(uint16_t *signal); |
JerrySzczurak | 5:f16727052990 | 563 | |
JerrySzczurak | 5:f16727052990 | 564 | /** |
JerrySzczurak | 5:f16727052990 | 565 | * @brief This function performs the temperature calibration. |
JerrySzczurak | 5:f16727052990 | 566 | * It is recommended to call this function any time the temperature might have changed by more than 8 deg C |
JerrySzczurak | 5:f16727052990 | 567 | * without sensor ranging activity for an extended period. |
JerrySzczurak | 5:f16727052990 | 568 | */ |
JerrySzczurak | 5:f16727052990 | 569 | VL53L1X_ERROR VL53L1X_StartTemperatureUpdate(); |
JerrySzczurak | 5:f16727052990 | 570 | |
JerrySzczurak | 5:f16727052990 | 571 | |
JerrySzczurak | 5:f16727052990 | 572 | /* VL53L1X_calibration.h functions */ |
JerrySzczurak | 5:f16727052990 | 573 | |
JerrySzczurak | 5:f16727052990 | 574 | /** |
JerrySzczurak | 5:f16727052990 | 575 | * @brief This function performs the offset calibration.\n |
JerrySzczurak | 5:f16727052990 | 576 | * The function returns the offset value found and programs the offset compensation into the device. |
JerrySzczurak | 5:f16727052990 | 577 | * @param TargetDistInMm target distance in mm, ST recommended 100 mm |
JerrySzczurak | 5:f16727052990 | 578 | * Target reflectance = grey17% |
JerrySzczurak | 5:f16727052990 | 579 | * @return 0:success, !=0: failed |
JerrySzczurak | 5:f16727052990 | 580 | * @return offset pointer contains the offset found in mm |
JerrySzczurak | 5:f16727052990 | 581 | */ |
JerrySzczurak | 5:f16727052990 | 582 | int8_t VL53L1X_CalibrateOffset(uint16_t TargetDistInMm, int16_t *offset); |
JerrySzczurak | 5:f16727052990 | 583 | |
JerrySzczurak | 5:f16727052990 | 584 | /** |
JerrySzczurak | 5:f16727052990 | 585 | * @brief This function performs the xtalk calibration.\n |
JerrySzczurak | 5:f16727052990 | 586 | * The function returns the xtalk value found and programs the xtalk compensation to the device |
JerrySzczurak | 5:f16727052990 | 587 | * @param TargetDistInMm target distance in mm\n |
JerrySzczurak | 5:f16727052990 | 588 | * The target distance : the distance where the sensor start to "under range"\n |
JerrySzczurak | 5:f16727052990 | 589 | * due to the influence of the photons reflected back from the cover glass becoming strong\n |
JerrySzczurak | 5:f16727052990 | 590 | * It's also called inflection point\n |
JerrySzczurak | 5:f16727052990 | 591 | * Target reflectance = grey 17% |
JerrySzczurak | 5:f16727052990 | 592 | * @return 0: success, !=0: failed |
JerrySzczurak | 5:f16727052990 | 593 | * @return xtalk pointer contains the xtalk value found in cps (number of photons in count per second) |
JerrySzczurak | 5:f16727052990 | 594 | */ |
JerrySzczurak | 5:f16727052990 | 595 | int8_t VL53L1X_CalibrateXtalk(uint16_t TargetDistInMm, uint16_t *xtalk); |
JerrySzczurak | 5:f16727052990 | 596 | |
JerrySzczurak | 5:f16727052990 | 597 | |
JerrySzczurak | 5:f16727052990 | 598 | /* Write and read functions from I2C */ |
JerrySzczurak | 5:f16727052990 | 599 | |
JerrySzczurak | 5:f16727052990 | 600 | VL53L1X_ERROR VL53L1_WrByte(VL53L1_DEV dev, uint16_t index, uint8_t data); |
JerrySzczurak | 5:f16727052990 | 601 | VL53L1X_ERROR VL53L1_WrWord(VL53L1_DEV dev, uint16_t index, uint16_t data); |
JerrySzczurak | 5:f16727052990 | 602 | VL53L1X_ERROR VL53L1_WrDWord(VL53L1_DEV dev, uint16_t index, uint32_t data); |
JerrySzczurak | 5:f16727052990 | 603 | VL53L1X_ERROR VL53L1_RdByte(VL53L1_DEV dev, uint16_t index, uint8_t *data); |
JerrySzczurak | 5:f16727052990 | 604 | VL53L1X_ERROR VL53L1_RdWord(VL53L1_DEV dev, uint16_t index, uint16_t *data); |
JerrySzczurak | 5:f16727052990 | 605 | VL53L1X_ERROR VL53L1_RdDWord(VL53L1_DEV dev, uint16_t index, uint32_t *data); |
JerrySzczurak | 5:f16727052990 | 606 | VL53L1X_ERROR VL53L1_UpdateByte(VL53L1_DEV dev, uint16_t index, uint8_t AndData, uint8_t OrData); |
JerrySzczurak | 5:f16727052990 | 607 | |
JerrySzczurak | 5:f16727052990 | 608 | VL53L1X_ERROR VL53L1_WriteMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count); |
JerrySzczurak | 5:f16727052990 | 609 | VL53L1X_ERROR VL53L1_ReadMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count); |
JerrySzczurak | 5:f16727052990 | 610 | |
JerrySzczurak | 5:f16727052990 | 611 | VL53L1X_ERROR VL53L1_I2CWrite(uint8_t dev, uint16_t index, uint8_t *data, uint16_t number_of_bytes); |
JerrySzczurak | 5:f16727052990 | 612 | VL53L1X_ERROR VL53L1_I2CRead(uint8_t dev, uint16_t index, uint8_t *data, uint16_t number_of_bytes); |
JerrySzczurak | 5:f16727052990 | 613 | VL53L1X_ERROR VL53L1_GetTickCount(uint32_t *ptick_count_ms); |
JerrySzczurak | 5:f16727052990 | 614 | VL53L1X_ERROR VL53L1_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_us); |
JerrySzczurak | 5:f16727052990 | 615 | VL53L1X_ERROR VL53L1_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_ms); |
JerrySzczurak | 5:f16727052990 | 616 | |
JerrySzczurak | 5:f16727052990 | 617 | VL53L1X_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); |
JerrySzczurak | 5:f16727052990 | 618 | |
JerrySzczurak | 5:f16727052990 | 619 | protected: |
JerrySzczurak | 5:f16727052990 | 620 | |
JerrySzczurak | 5:f16727052990 | 621 | /* IO Device */ |
JerrySzczurak | 5:f16727052990 | 622 | vl53L1X_DevI2C *dev_i2c; |
JerrySzczurak | 5:f16727052990 | 623 | |
JerrySzczurak | 5:f16727052990 | 624 | /* Digital out pin */ |
JerrySzczurak | 5:f16727052990 | 625 | DigitalOut *_gpio0; |
JerrySzczurak | 5:f16727052990 | 626 | /* GPIO expander */ |
JerrySzczurak | 5:f16727052990 | 627 | Stmpe1600DigiOut *_expgpio0; |
JerrySzczurak | 5:f16727052990 | 628 | /* Measure detection IRQ */ |
JerrySzczurak | 5:f16727052990 | 629 | InterruptIn *_gpio1Int; |
JerrySzczurak | 5:f16727052990 | 630 | |
JerrySzczurak | 5:f16727052990 | 631 | ///* Digital out pin */ |
JerrySzczurak | 5:f16727052990 | 632 | //int gpio0; |
JerrySzczurak | 5:f16727052990 | 633 | //int gpio1Int; |
JerrySzczurak | 5:f16727052990 | 634 | /* Device data */ |
JerrySzczurak | 5:f16727052990 | 635 | VL53L1_Dev_t MyDevice; |
JerrySzczurak | 5:f16727052990 | 636 | VL53L1_DEV Device; |
JerrySzczurak | 5:f16727052990 | 637 | }; |
JerrySzczurak | 5:f16727052990 | 638 | |
JerrySzczurak | 5:f16727052990 | 639 | |
JerrySzczurak | 5:f16727052990 | 640 | #endif /* _VL53L1X_CLASS_H_ */ |