ST
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 
Nicola Capovilla
Diff: vl53l1x_class.h
- Revision:
- 6:8ac15bf6d635
- Parent:
- 5:f16727052990
--- a/vl53l1x_class.h Mon Jan 28 10:14:03 2019 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,640 +0,0 @@
-/*******************************************************************************
- * @file vl53l1x_class.h
- * @author JS
- * @version V0.0.1
- * @date 15-January-2019
- * @brief Header file for VL53L1 sensor component
- ******************************************************************************
- Copyright © 2019, STMicroelectronics International N.V.
- All rights reserved.
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions are met:
- * Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- * Neither the name of STMicroelectronics nor the
- names of its contributors may be used to endorse or promote products
- derived from this software without specific prior written permission.
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
- NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
- IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
- DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *****************************************************************************/
-
-#ifndef __VL53L1X_CLASS_H
-#define __VL53L1X_CLASS_H
-
-
-#ifdef _MSC_VER
-# ifdef VL53L1X_API_EXPORTS
-# define VL53L1X_API __declspec(dllexport)
-# else
-# define VL53L1X_API
-# endif
-#else
-# define VL53L1X_API
-#endif
-
-
-/* Includes ------------------------------------------------------------------*/
-#include "mbed.h"
-#include "PinNames.h"
-#include "RangeSensor.h"
-#include "vl53l1x_error_codes.h"
-//#include "DevI2C.h"
-#include "vl53L1x_I2c.h"
-#include "Stmpe1600.h"
-
-
-#define VL53L1X_IMPLEMENTATION_VER_MAJOR 1
-#define VL53L1X_IMPLEMENTATION_VER_MINOR 0
-#define VL53L1X_IMPLEMENTATION_VER_SUB 1
-#define VL53L1X_IMPLEMENTATION_VER_REVISION 0000
-
-typedef int8_t VL53L1X_ERROR;
-
-//#define SOFT_RESET 0x0000
-#define VL53L1_I2C_SLAVE__DEVICE_ADDRESS 0x0001
-#define VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x0008
-#define ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x0016
-#define ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS 0x0018
-#define ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS 0x001A
-#define ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x001E
-#define MM_CONFIG__INNER_OFFSET_MM 0x0020
-#define MM_CONFIG__OUTER_OFFSET_MM 0x0022
-#define GPIO_HV_MUX__CTRL 0x0030
-#define GPIO__TIO_HV_STATUS 0x0031
-#define SYSTEM__INTERRUPT_CONFIG_GPIO 0x0046
-#define PHASECAL_CONFIG__TIMEOUT_MACROP 0x004B
-#define RANGE_CONFIG__TIMEOUT_MACROP_A_HI 0x005E
-#define RANGE_CONFIG__VCSEL_PERIOD_A 0x0060
-#define RANGE_CONFIG__VCSEL_PERIOD_B 0x0063
-#define RANGE_CONFIG__TIMEOUT_MACROP_B_HI 0x0061
-#define RANGE_CONFIG__TIMEOUT_MACROP_B_LO 0x0062
-#define RANGE_CONFIG__SIGMA_THRESH 0x0064
-#define RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS 0x0066
-#define RANGE_CONFIG__VALID_PHASE_HIGH 0x0069
-#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD 0x006C
-#define SYSTEM__THRESH_HIGH 0x0072
-#define SYSTEM__THRESH_LOW 0x0074
-#define SD_CONFIG__WOI_SD0 0x0078
-#define SD_CONFIG__INITIAL_PHASE_SD0 0x007A
-#define ROI_CONFIG__USER_ROI_CENTRE_SPAD 0x007F
-#define ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE 0x0080
-#define SYSTEM__SEQUENCE_CONFIG 0x0081
-#define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD 0x0082
-#define SYSTEM__INTERRUPT_CLEAR 0x0086
-#define SYSTEM__MODE_START 0x0087
-#define VL53L1_RESULT__RANGE_STATUS 0x0089
-#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x008C
-#define RESULT__AMBIENT_COUNT_RATE_MCPS_SD 0x0090
-#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0096
-#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0098
-#define VL53L1_RESULT__OSC_CALIBRATE_VAL 0x00DE
-#define VL53L1_FIRMWARE__SYSTEM_STATUS 0x00E5
-#define VL53L1_IDENTIFICATION__MODEL_ID 0x010F
-#define VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD 0x013E
-
-
-#define VL53L1X_DEFAULT_DEVICE_ADDRESS 0x52
-
-#define VL53L1X_REG_IDENTIFICATION_MODEL_ID 0x010F
-/****************************************
- * PRIVATE define do not edit
- ****************************************/
-
-/**
- * @brief defines SW Version
- */
-typedef struct {
- uint8_t major; /*!< major number */
- uint8_t minor; /*!< minor number */
- uint8_t build; /*!< build number */
- uint32_t revision; /*!< revision number */
-} VL53L1X_Version_t;
-
-
-typedef struct {
-
- uint8_t I2cDevAddr;
-
-} VL53L1_Dev_t;
-
-typedef VL53L1_Dev_t *VL53L1_DEV;
-
-
-/* Classes -------------------------------------------------------------------*/
-/** Class representing a VL53L1 sensor component
- */
-class VL53L1X : public RangeSensor
-{
- public:
- /** Constructor
- * @param[in] &i2c device I2C to be used for communication
- * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
- * @param[in] DevAddr device address, 0x52 by default
- */
- VL53L1X(vl53L1X_DevI2C *i2c, DigitalOut *pin, PinName pin_gpio1, uint8_t dev_addr = VL53L1X_DEFAULT_DEVICE_ADDRESS)
- : RangeSensor(), dev_i2c(i2c), _gpio0(pin)
- {
- MyDevice.I2cDevAddr=dev_addr;
- Device = &MyDevice;
-
- _expgpio0 = NULL;
- if (pin_gpio1 != NC) {
- _gpio1Int = new InterruptIn(pin_gpio1);
- } else {
- _gpio1Int = NULL;
- }
- }
-
- /** Constructor 2 (STMPE1600DigiOut)
- * @param[in] i2c device I2C to be used for communication
- * @param[in] &pin Gpio Expander STMPE1600DigiOut pin to be used as component GPIO_0 CE
- * @param[in] pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
- * @param[in] device address, 0x29 by default
- */
- VL53L1X(vl53L1X_DevI2C *i2c, Stmpe1600DigiOut *pin, PinName pin_gpio1,
- uint8_t dev_addr = VL53L1X_DEFAULT_DEVICE_ADDRESS)
- : dev_i2c(i2c), _expgpio0(pin)
- {
- MyDevice.I2cDevAddr=dev_addr;
- Device = &MyDevice;
-
- _gpio0 = NULL;
- if (pin_gpio1 != NC) {
- _gpio1Int = new InterruptIn(pin_gpio1);
- } else {
- _gpio1Int = NULL;
- }
- }
-
- /** Destructor
- */
- virtual ~VL53L1X()
- {
- if (_gpio1Int != NULL) {
- delete _gpio1Int;
- }
- }
-
-
-
- VL53L1_DEV getDevicePtr() { return Device; }
-
-
- /* warning: VL53L1 class inherits from GenericSensor, RangeSensor and LightSensor, that haven`t a destructor.
- The warning should request to introduce a virtual destructor to make sure to delete the object */
-
- /*** Interface Methods ***/
- /*** High level API ***/
- /**
- * @brief PowerOn the sensor
- * @return void
- */
- /* turns on the sensor */
- virtual void VL53L1_On(void)
- {
- printf("VL53L1_On\r\n");
- if (_gpio0) {
- *_gpio0 = 1;
- } else {
- if (_expgpio0) {
- *_expgpio0 = 1;
- }
- }
- wait_ms(10);
- }
-
- /**
- * @brief PowerOff the sensor
- * @return void
- */
- /* turns off the sensor */
- virtual void VL53L1_Off(void)
- {
- printf("VL53L1_Off\r\n");
- if (_gpio0) {
- *_gpio0 = 0;
- } else {
- if (_expgpio0) {
- *_expgpio0 = 0;
- }
- }
- wait_ms(10);
- }
-
- int is_present()
- {
- int status;
- uint8_t id = 0;
-
- status = read_id(&id);
- if (status) {
- printf("Failed to read ID device. Device not present!\n\r");
- }
- return status;
- }
-
- /**
- * @brief Initialize the sensor with default values
- * @return 0 on Success
- */
-
- VL53L1X_ERROR InitSensor(uint8_t address){
- VL53L1X_ERROR status = 0;
- uint8_t sensorState = 0;
- VL53L1_Off();
- VL53L1_On();
- status = VL53L1X_SetI2CAddress(address);
-
- if(!status){
- status = VL53L1X_SensorInit();
- }
-
- while(!status && !sensorState) {
- status = VL53L1X_BootState(&sensorState);
- wait_ms(2);
- }
-
- return status;
- }
-
-
-
-/**
- *
- * @brief One time device initialization
- * @param void
- * @return 0 on success, @a #CALIBRATION_WARNING if failed
- */
- virtual int init(void *init)
- {
- return VL53L1X_SensorInit();
- }
-
-
- /**
- * @brief Initialize the sensor with default values
- * @return "0" on success
- */
- int init_sensor(uint8_t new_addr);
-
- /* Read function of the ID device */
- virtual int read_id(uint8_t *id){
- int status = 0;
- uint16_t rl_id = 0;
-
- uint8_t ExpanderData[2];
-
- ExpanderData[0] = 0;
- ExpanderData[1] = 0;
- rl_id = 0;
- dev_i2c->v53l1x_i2c_read(&ExpanderData[0], Device->I2cDevAddr, VL53L1X_REG_IDENTIFICATION_MODEL_ID, 2);
-
- rl_id = (ExpanderData[0] << 8) + ExpanderData[1];
- printf("Model ID is: %d (%X) \r\n",rl_id, rl_id);
-
- uint8_t tmp = 0;
- ExpanderData[0] = VL53L1_FIRMWARE__SYSTEM_STATUS >> 8;
- ExpanderData[1] = VL53L1_FIRMWARE__SYSTEM_STATUS & 0x0FF;
- dev_i2c->v53l1x_i2c_read(&tmp, Device->I2cDevAddr, VL53L1_FIRMWARE__SYSTEM_STATUS, 1);
-
- printf("Firmware system is: %d\r\n",tmp);
-
- if (rl_id == 0xEACC) {
- printf("Device is present %d:\r\n", rl_id);
- return status;
- }
- return -1;
- }
-
-
-
-/**
- * @brief Get ranging result and only that
- * @param pRange_mm Pointer to range distance
- * @return 0 on success
- */
- virtual int get_distance(uint32_t *piData)
- {
- int status;
- uint16_t distance;
- status = VL53L1X_GetDistance(&distance);
- *piData = (uint32_t) distance;
- return status;
- }
-
-
-/* VL53L1X_api.h functions */
-
-
-
- /**
- * @brief This function returns the SW driver version
- */
- VL53L1X_ERROR VL53L1X_GetSWVersion(VL53L1X_Version_t *pVersion);
-
- /**
- * @brief This function sets the sensor I2C address used in case multiple devices application, default address 0x52
- */
- VL53L1X_ERROR VL53L1X_SetI2CAddress(uint8_t new_address);
-
- /**
- * @brief This function loads the 135 bytes default values to initialize the sensor.
- * @param dev Device address
- * @return 0:success, != 0:failed
- */
- VL53L1X_ERROR VL53L1X_SensorInit();
-
- /**
- * @brief This function clears the interrupt, to be called after a ranging data reading
- * to arm the interrupt for the next data ready event.
- */
- VL53L1X_ERROR VL53L1X_ClearInterrupt();
-
- /**
- * @brief This function programs the interrupt polarity\n
- * 1=active high (default), 0=active low
- */
- VL53L1X_ERROR VL53L1X_SetInterruptPolarity(uint8_t IntPol);
-
- /**
- * @brief This function returns the current interrupt polarity\n
- * 1=active high (default), 0=active low
- */
- VL53L1X_ERROR VL53L1X_GetInterruptPolarity(uint8_t *pIntPol);
-
- /**
- * @brief This function starts the ranging distance operation\n
- * The ranging operation is continuous. The clear interrupt has to be done after each get data to allow the interrupt to raise when the next data is ready\n
- * 1=active high (default), 0=active low, use SetInterruptPolarity() to change the interrupt polarity if required.
- */
- VL53L1X_ERROR VL53L1X_StartRanging();
-
- /**
- * @brief This function stops the ranging.
- */
- VL53L1X_ERROR VL53L1X_StopRanging();
-
- /**
- * @brief This function checks if the new ranging data is available by polling the dedicated register.
- * @param : isDataReady==0 -> not ready; isDataReady==1 -> ready
- */
- VL53L1X_ERROR VL53L1X_CheckForDataReady(uint8_t *isDataReady);
-
- /**
- * @brief This function programs the timing budget in ms.
- * Predefined values = 15, 20, 33, 50, 100(default), 200, 500.
- */
- VL53L1X_ERROR VL53L1X_SetTimingBudgetInMs(uint16_t TimingBudgetInMs);
-
- /**
- * @brief This function returns the current timing budget in ms.
- */
- VL53L1X_ERROR VL53L1X_GetTimingBudgetInMs(uint16_t *pTimingBudgetInMs);
-
- /**
- * @brief This function programs the distance mode (1=short, 2=long(default)).
- * Short mode max distance is limited to 1.3 m but better ambient immunity.\n
- * Long mode can range up to 4 m in the dark with 200 ms timing budget.
- */
- VL53L1X_ERROR VL53L1X_SetDistanceMode(uint16_t DistanceMode);
-
- /**
- * @brief This function returns the current distance mode (1=short, 2=long).
- */
- VL53L1X_ERROR VL53L1X_GetDistanceMode(uint16_t *pDistanceMode);
-
- /**
- * @brief This function programs the Intermeasurement period in ms\n
- * Intermeasurement period must be >/= timing budget. This condition is not checked by the API,
- * the customer has the duty to check the condition. Default = 100 ms
- */
- VL53L1X_ERROR VL53L1X_SetInterMeasurementInMs(uint16_t InterMeasurementInMs);
-
- /**
- * @brief This function returns the Intermeasurement period in ms.
- */
- VL53L1X_ERROR VL53L1X_GetInterMeasurementInMs(uint16_t * pIM);
-
- /**
- * @brief This function returns the boot state of the device (1:booted, 0:not booted)
- */
- VL53L1X_ERROR VL53L1X_BootState(uint8_t *state);
-
- /**
- * @brief This function returns the sensor id, sensor Id must be 0xEEAC
- */
- VL53L1X_ERROR VL53L1X_GetSensorId(uint16_t *id);
-
- /**
- * @brief This function returns the distance measured by the sensor in mm
- */
- VL53L1X_ERROR VL53L1X_GetDistance(uint16_t *distance);
-
- /**
- * @brief This function returns the returned signal per SPAD in kcps/SPAD.
- * With kcps stands for Kilo Count Per Second
- */
- VL53L1X_ERROR VL53L1X_GetSignalPerSpad(uint16_t *signalPerSp);
-
- /**
- * @brief This function returns the ambient per SPAD in kcps/SPAD
- */
- VL53L1X_ERROR VL53L1X_GetAmbientPerSpad(uint16_t *amb);
-
- /**
- * @brief This function returns the returned signal in kcps.
- */
- VL53L1X_ERROR VL53L1X_GetSignalRate(uint16_t *signalRate);
-
- /**
- * @brief This function returns the current number of enabled SPADs
- */
- VL53L1X_ERROR VL53L1X_GetSpadNb(uint16_t *spNb);
-
- /**
- * @brief This function returns the ambient rate in kcps
- */
- VL53L1X_ERROR VL53L1X_GetAmbientRate(uint16_t *ambRate);
-
- /**
- * @brief This function returns the ranging status error \n
- * (0:no error, 1:sigma failed, 2:signal failed, ..., 7:wrap-around)
- */
- VL53L1X_ERROR VL53L1X_GetRangeStatus(uint8_t *rangeStatus);
-
- /**
- * @brief This function programs the offset correction in mm
- * @param OffsetValue:the offset correction value to program in mm
- */
- VL53L1X_ERROR VL53L1X_SetOffset(int16_t OffsetValue);
-
- /**
- * @brief This function returns the programmed offset correction value in mm
- */
- VL53L1X_ERROR VL53L1X_GetOffset(int16_t *Offset);
-
- /**
- * @brief This function programs the xtalk correction value in cps (Count Per Second).\n
- * This is the number of photons reflected back from the cover glass in cps.
- */
- VL53L1X_ERROR VL53L1X_SetXtalk(uint16_t XtalkValue);
-
- /**
- * @brief This function returns the current programmed xtalk correction value in cps
- */
- VL53L1X_ERROR VL53L1X_GetXtalk(uint16_t *Xtalk);
-
- /**
- * @brief This function programs the threshold detection mode\n
- * Example:\n
- * VL53L1X_SetDistanceThreshold(dev,100,300,0,1): Below 100 \n
- * VL53L1X_SetDistanceThreshold(dev,100,300,1,1): Above 300 \n
- * VL53L1X_SetDistanceThreshold(dev,100,300,2,1): Out of window \n
- * VL53L1X_SetDistanceThreshold(dev,100,300,3,1): In window \n
- * @param dev : device address
- * @param ThreshLow(in mm) : the threshold under which one the device raises an interrupt if Window = 0
- * @param ThreshHigh(in mm) : the threshold above which one the device raises an interrupt if Window = 1
- * @param Window detection mode : 0=below, 1=above, 2=out, 3=in
- * @param IntOnNoTarget = 1 (No longer used - just use 1)
- */
- VL53L1X_ERROR VL53L1X_SetDistanceThreshold(uint16_t ThreshLow,
- uint16_t ThreshHigh, uint8_t Window,
- uint8_t IntOnNoTarget);
-
- /**
- * @brief This function returns the window detection mode (0=below; 1=above; 2=out; 3=in)
- */
- VL53L1X_ERROR VL53L1X_GetDistanceThresholdWindow(uint16_t *window);
-
- /**
- * @brief This function returns the low threshold in mm
- */
- VL53L1X_ERROR VL53L1X_GetDistanceThresholdLow(uint16_t *low);
-
- /**
- * @brief This function returns the high threshold in mm
- */
- VL53L1X_ERROR VL53L1X_GetDistanceThresholdHigh(uint16_t *high);
-
- /**
- * @brief This function programs the ROI (Region of Interest)\n
- * The ROI position is centered, only the ROI size can be reprogrammed.\n
- * The smallest acceptable ROI size = 4\n
- * @param X:ROI Width; Y=ROI Height
- */
- VL53L1X_ERROR VL53L1X_SetROI(uint16_t X, uint16_t Y);
-
- /**
- *@brief This function returns width X and height Y
- */
- VL53L1X_ERROR VL53L1X_GetROI_XY(uint16_t *ROI_X, uint16_t *ROI_Y);
-
- /**
- * @brief This function programs a new signal threshold in kcps (default=1024 kcps\n
- */
- VL53L1X_ERROR VL53L1X_SetSignalThreshold(uint16_t signal);
-
- /**
- * @brief This function returns the current signal threshold in kcps
- */
- VL53L1X_ERROR VL53L1X_GetSignalThreshold(uint16_t *signal);
-
- /**
- * @brief This function programs a new sigma threshold in mm (default=15 mm)
- */
- VL53L1X_ERROR VL53L1X_SetSigmaThreshold(uint16_t sigma);
-
- /**
- * @brief This function returns the current sigma threshold in mm
- */
- VL53L1X_ERROR VL53L1X_GetSigmaThreshold(uint16_t *signal);
-
- /**
- * @brief This function performs the temperature calibration.
- * It is recommended to call this function any time the temperature might have changed by more than 8 deg C
- * without sensor ranging activity for an extended period.
- */
- VL53L1X_ERROR VL53L1X_StartTemperatureUpdate();
-
-
- /* VL53L1X_calibration.h functions */
-
- /**
- * @brief This function performs the offset calibration.\n
- * The function returns the offset value found and programs the offset compensation into the device.
- * @param TargetDistInMm target distance in mm, ST recommended 100 mm
- * Target reflectance = grey17%
- * @return 0:success, !=0: failed
- * @return offset pointer contains the offset found in mm
- */
- int8_t VL53L1X_CalibrateOffset(uint16_t TargetDistInMm, int16_t *offset);
-
- /**
- * @brief This function performs the xtalk calibration.\n
- * The function returns the xtalk value found and programs the xtalk compensation to the device
- * @param TargetDistInMm target distance in mm\n
- * The target distance : the distance where the sensor start to "under range"\n
- * due to the influence of the photons reflected back from the cover glass becoming strong\n
- * It's also called inflection point\n
- * Target reflectance = grey 17%
- * @return 0: success, !=0: failed
- * @return xtalk pointer contains the xtalk value found in cps (number of photons in count per second)
- */
- int8_t VL53L1X_CalibrateXtalk(uint16_t TargetDistInMm, uint16_t *xtalk);
-
-
- /* Write and read functions from I2C */
-
- VL53L1X_ERROR VL53L1_WrByte(VL53L1_DEV dev, uint16_t index, uint8_t data);
- VL53L1X_ERROR VL53L1_WrWord(VL53L1_DEV dev, uint16_t index, uint16_t data);
- VL53L1X_ERROR VL53L1_WrDWord(VL53L1_DEV dev, uint16_t index, uint32_t data);
- VL53L1X_ERROR VL53L1_RdByte(VL53L1_DEV dev, uint16_t index, uint8_t *data);
- VL53L1X_ERROR VL53L1_RdWord(VL53L1_DEV dev, uint16_t index, uint16_t *data);
- VL53L1X_ERROR VL53L1_RdDWord(VL53L1_DEV dev, uint16_t index, uint32_t *data);
- VL53L1X_ERROR VL53L1_UpdateByte(VL53L1_DEV dev, uint16_t index, uint8_t AndData, uint8_t OrData);
-
- VL53L1X_ERROR VL53L1_WriteMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count);
- VL53L1X_ERROR VL53L1_ReadMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count);
-
- VL53L1X_ERROR VL53L1_I2CWrite(uint8_t dev, uint16_t index, uint8_t *data, uint16_t number_of_bytes);
- VL53L1X_ERROR VL53L1_I2CRead(uint8_t dev, uint16_t index, uint8_t *data, uint16_t number_of_bytes);
- VL53L1X_ERROR VL53L1_GetTickCount(uint32_t *ptick_count_ms);
- VL53L1X_ERROR VL53L1_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_us);
- VL53L1X_ERROR VL53L1_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_ms);
-
- 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);
-
- protected:
-
- /* IO Device */
- vl53L1X_DevI2C *dev_i2c;
-
- /* Digital out pin */
- DigitalOut *_gpio0;
- /* GPIO expander */
- Stmpe1600DigiOut *_expgpio0;
- /* Measure detection IRQ */
- InterruptIn *_gpio1Int;
-
- ///* Digital out pin */
- //int gpio0;
- //int gpio1Int;
- /* Device data */
- VL53L1_Dev_t MyDevice;
- VL53L1_DEV Device;
-};
-
-
-#endif /* _VL53L1X_CLASS_H_ */
\ No newline at end of file