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
Diff: vl53l1x_class.cpp
- Revision:
- 5:f16727052990
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/vl53l1x_class.cpp Mon Jan 28 10:14:03 2019 +0000 @@ -0,0 +1,1074 @@ +/** + ****************************************************************************** + * @file vl53l1x_class.cpp + * @author JS + * @version V0.0.1 + * @date 15-January-2019 + * @brief Implementation file for the VL53L1 sensor component driver class + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2018 STMicroelectronics</center></h2> + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. 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. + * 3. 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 AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 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. + * + ****************************************************************************** +*/ + +/* Includes */ +#include <stdlib.h> +#include "vl53l1x_class.h" + + +#define ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x001E +#define MM_CONFIG__INNER_OFFSET_MM 0x0020 +#define MM_CONFIG__OUTER_OFFSET_MM 0x0022 + +#include "vl53l1x_configuration.h" + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetSWVersion(VL53L1X_Version_t *pVersion) +{ + VL53L1X_ERROR Status = 0; + + pVersion->major = VL53L1X_IMPLEMENTATION_VER_MAJOR; + pVersion->minor = VL53L1X_IMPLEMENTATION_VER_MINOR; + pVersion->build = VL53L1X_IMPLEMENTATION_VER_SUB; + pVersion->revision = VL53L1X_IMPLEMENTATION_VER_REVISION; + return Status; +} + +VL53L1X_ERROR VL53L1X::VL53L1X_SetI2CAddress(uint8_t new_address) +{ + VL53L1X_ERROR status = 0; + + Device->I2cDevAddr = new_address; + status = VL53L1_WrByte(Device, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, new_address >> 1); + return status; +} + +int VL53L1X::init_sensor(uint8_t new_addr) +{ + Device->I2cDevAddr = new_addr; + int status = 0; + VL53L1_Off(); + VL53L1_On(); + + status = is_present(); + if (!status) { + printf("Failed to init VL53L0X sensor!\n\r"); + return status; + } + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_SensorInit() +{ + VL53L1X_ERROR status = 0; + uint8_t Addr = 0x00; + + for (Addr = 0x2D; Addr <= 0x87; Addr++){ + status = VL53L1_WrByte(Device, Addr, VL51L1X_DEFAULT_CONFIGURATION[Addr - 0x2D]); + if (status != 0) + { + printf("Writing config failed - %d\r\n", status); + } + } + + uint16_t sensorID= 0; + status = VL53L1X_GetSensorId(&sensorID); + printf("Sensor id is - %d (%X)\r\n", sensorID, sensorID); + + status = VL53L1X_StartRanging(); + if (status != 0) + { + printf("start ranging failed - %d\r\n", status); + } + + status = VL53L1X_ClearInterrupt(); + status = VL53L1X_StopRanging(); + status = VL53L1_WrByte(Device, VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); /* two bounds VHV */ + status = VL53L1_WrByte(Device, 0x0B, 0); /* start VHV from the previous temperature */ + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_ClearInterrupt() +{ + VL53L1X_ERROR status = 0; + + status = VL53L1_WrByte(Device, SYSTEM__INTERRUPT_CLEAR, 0x01); + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_SetInterruptPolarity(uint8_t NewPolarity) +{ + uint8_t Temp; + VL53L1X_ERROR status = 0; + + status = VL53L1_RdByte(Device, GPIO_HV_MUX__CTRL, &Temp); + Temp = Temp & 0xEF; + status = VL53L1_WrByte(Device, GPIO_HV_MUX__CTRL, Temp | (!(NewPolarity & 1)) << 4); + return status; +} + + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetInterruptPolarity(uint8_t *pInterruptPolarity) +{ + uint8_t Temp; + VL53L1X_ERROR status = 0; + + status = VL53L1_RdByte(Device, GPIO_HV_MUX__CTRL, &Temp); + Temp = Temp & 0x10; + *pInterruptPolarity = !(Temp>>4); + return status; +} + + + +VL53L1X_ERROR VL53L1X::VL53L1X_StartRanging() +{ + VL53L1X_ERROR status = 0; +/* + uint8_t Addr = 0x00; + + for (Addr = 0x2D; Addr <= 0x87; Addr++){ + status = VL53L1_WrByte(Device, Addr, VL51L1X_DEFAULT_CONFIGURATION[Addr - 0x2D]); + } +*/ + status = VL53L1_WrByte(Device, SYSTEM__MODE_START, 0x40); /* Enable VL53L1X */ + return status; +} + +VL53L1X_ERROR VL53L1X::VL53L1X_StopRanging() +{ + VL53L1X_ERROR status = 0; + + status = VL53L1_WrByte(Device, SYSTEM__MODE_START, 0x00); /* Disable VL53L1X */ + return status; +} + + + +VL53L1X_ERROR VL53L1X::VL53L1X_CheckForDataReady(uint8_t *isDataReady) +{ + uint8_t Temp; + uint8_t IntPol; + VL53L1X_ERROR status = 0; + + status = VL53L1X_GetInterruptPolarity(&IntPol); + status = VL53L1_RdByte(Device, GPIO__TIO_HV_STATUS, &Temp); + /* Read in the register to check if a new value is available */ + if (status == 0){ + if ((Temp & 1) == IntPol) + *isDataReady = 1; + else + *isDataReady = 0; + } + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_SetTimingBudgetInMs(uint16_t TimingBudgetInMs) +{ + uint16_t DM; + VL53L1X_ERROR status=0; + + status = VL53L1X_GetDistanceMode(&DM); + if (DM == 0) + return 1; + else if (DM == 1) { /* Short DistanceMode */ + switch (TimingBudgetInMs) { + case 15: /* only available in short distance mode */ + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, + 0x01D); + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + 0x0027); + break; + case 20: + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, + 0x0051); + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + 0x006E); + break; + case 33: + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, + 0x00D6); + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + 0x006E); + break; + case 50: + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, + 0x1AE); + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + 0x01E8); + break; + case 100: + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, + 0x02E1); + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + 0x0388); + break; + case 200: + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, + 0x03E1); + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + 0x0496); + break; + case 500: + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, + 0x0591); + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + 0x05C1); + break; + default: + status = 1; + break; + } + } else { + switch (TimingBudgetInMs) { + case 20: + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, + 0x001E); + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + 0x0022); + break; + case 33: + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, + 0x0060); + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + 0x006E); + break; + case 50: + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, + 0x00AD); + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + 0x00C6); + break; + case 100: + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, + 0x01CC); + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + 0x01EA); + break; + case 200: + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, + 0x02D9); + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + 0x02F8); + break; + case 500: + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, + 0x048F); + VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + 0x04A4); + break; + default: + status = 1; + break; + } + } + return status; +} + +VL53L1X_ERROR VL53L1X::VL53L1X_GetTimingBudgetInMs(uint16_t *pTimingBudget) +{ + uint16_t Temp; + VL53L1X_ERROR status = 0; + + status = VL53L1_RdWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, &Temp); + switch (Temp) { + case 0x001D : + *pTimingBudget = 15; + break; + case 0x0051 : + case 0x001E : + *pTimingBudget = 20; + break; + case 0x00D6 : + case 0x0060 : + *pTimingBudget = 33; + break; + case 0x1AE : + case 0x00AD : + *pTimingBudget = 50; + break; + case 0x02E1 : + case 0x01CC : + *pTimingBudget = 100; + break; + case 0x03E1 : + case 0x02D9 : + *pTimingBudget = 200; + break; + case 0x0591 : + case 0x048F : + *pTimingBudget = 500; + break; + default: + *pTimingBudget = 0; + break; + } + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_SetDistanceMode(uint16_t DM) +{ + uint16_t TB; + VL53L1X_ERROR status = 0; + + status = VL53L1X_GetTimingBudgetInMs(&TB); + + + switch (DM) { + case 1: + status = VL53L1_WrByte(Device, PHASECAL_CONFIG__TIMEOUT_MACROP, 0x14); + status = VL53L1_WrByte(Device, RANGE_CONFIG__VCSEL_PERIOD_A, 0x07); + status = VL53L1_WrByte(Device, RANGE_CONFIG__VCSEL_PERIOD_B, 0x05); + status = VL53L1_WrByte(Device, RANGE_CONFIG__VALID_PHASE_HIGH, 0x38); + status = VL53L1_WrWord(Device, SD_CONFIG__WOI_SD0, 0x0705); + status = VL53L1_WrWord(Device, SD_CONFIG__INITIAL_PHASE_SD0, 0x0606); + break; + case 2: + status = VL53L1_WrByte(Device, PHASECAL_CONFIG__TIMEOUT_MACROP, 0x0A); + status = VL53L1_WrByte(Device, RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F); + status = VL53L1_WrByte(Device, RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D); + status = VL53L1_WrByte(Device, RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8); + status = VL53L1_WrWord(Device, SD_CONFIG__WOI_SD0, 0x0F0D); + status = VL53L1_WrWord(Device, SD_CONFIG__INITIAL_PHASE_SD0, 0x0E0E); + break; + default: + break; + } + status = VL53L1X_SetTimingBudgetInMs(TB); + return status; +} + + + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetDistanceMode(uint16_t *DM) +{ + uint8_t TempDM, status=0; + + status = VL53L1_RdByte(Device,PHASECAL_CONFIG__TIMEOUT_MACROP, &TempDM); + if (TempDM == 0x14) + *DM=1; + if(TempDM == 0x0A) + *DM=2; + return status; +} + + + +VL53L1X_ERROR VL53L1X::VL53L1X_SetInterMeasurementInMs(uint16_t InterMeasMs) +{ + uint16_t ClockPLL; + VL53L1X_ERROR status = 0; + + status = VL53L1_RdWord(Device, VL53L1_RESULT__OSC_CALIBRATE_VAL, &ClockPLL); + ClockPLL = ClockPLL&0x3FF; + VL53L1_WrDWord(Device, VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD, + (uint32_t)(ClockPLL * InterMeasMs * 1.075)); + return status; + +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetInterMeasurementInMs(uint16_t *pIM) +{ + uint16_t ClockPLL; + VL53L1X_ERROR status = 0; + uint32_t tmp; + + status = VL53L1_RdDWord(Device,VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD, &tmp); + *pIM = (uint16_t)tmp; + status = VL53L1_RdWord(Device, VL53L1_RESULT__OSC_CALIBRATE_VAL, &ClockPLL); + ClockPLL = ClockPLL&0x3FF; + *pIM= (uint16_t)(*pIM/(ClockPLL*1.065)); + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_BootState(uint8_t *state) +{ + VL53L1X_ERROR status = 0; + uint8_t tmp = 0; + + status = VL53L1_RdByte(Device,VL53L1_FIRMWARE__SYSTEM_STATUS, &tmp); + *state = tmp; + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetSensorId(uint16_t *sensorId) +{ + VL53L1X_ERROR status = 0; + uint16_t tmp = 0; + + status = VL53L1_RdWord(Device, VL53L1_IDENTIFICATION__MODEL_ID, &tmp); + *sensorId = tmp; + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetDistance(uint16_t *distance) +{ + VL53L1X_ERROR status = 0; + uint16_t tmp; + + status = (VL53L1_RdWord(Device, + VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0, &tmp)); + *distance = tmp; + return status; +} + +VL53L1X_ERROR VL53L1X::VL53L1X_GetSignalPerSpad(uint16_t *signalRate) +{ + VL53L1X_ERROR status = 0; + uint16_t SpNb=1, signal; + + status = VL53L1_RdWord(Device, + VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0, &signal); + status = VL53L1_RdWord(Device, + VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &SpNb); + *signalRate = (uint16_t) (2000.0*signal/SpNb); + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetAmbientPerSpad(uint16_t *ambPerSp) +{ + VL53L1X_ERROR status=0; + uint16_t AmbientRate, SpNb=1; + + status = VL53L1_RdWord(Device, RESULT__AMBIENT_COUNT_RATE_MCPS_SD, &AmbientRate); + status = VL53L1_RdWord(Device, VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &SpNb); + *ambPerSp=(uint16_t) (2000.0 * AmbientRate / SpNb); + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetSignalRate(uint16_t *signal) +{ + VL53L1X_ERROR status = 0; + uint16_t tmp; + + status = VL53L1_RdWord(Device, + VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0, &tmp); + *signal = tmp*8; + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetSpadNb(uint16_t *spNb) +{ + VL53L1X_ERROR status = 0; + uint16_t tmp; + + status = VL53L1_RdWord(Device, + VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &tmp); + *spNb = tmp >> 8; + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetAmbientRate(uint16_t *ambRate) +{ + VL53L1X_ERROR status = 0; + uint16_t tmp; + + status = VL53L1_RdWord(Device, RESULT__AMBIENT_COUNT_RATE_MCPS_SD, &tmp); + *ambRate = tmp*8; + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetRangeStatus(uint8_t *rangeStatus) +{ + VL53L1X_ERROR status = 0; + uint8_t RgSt; + + status = VL53L1_RdByte(Device, VL53L1_RESULT__RANGE_STATUS, &RgSt); + RgSt = RgSt&0x1F; + switch (RgSt) { + case 9: + RgSt = 0; + break; + case 6: + RgSt = 1; + break; + case 4: + RgSt = 2; + break; + case 8: + RgSt = 3; + break; + case 5: + RgSt = 4; + break; + case 3: + RgSt = 5; + break; + case 19: + RgSt = 6; + break; + case 7: + RgSt = 7; + break; + case 12: + RgSt = 9; + break; + case 18: + RgSt = 10; + break; + case 22: + RgSt = 11; + break; + case 23: + RgSt = 12; + break; + case 13: + RgSt = 13; + break; + default: + RgSt = 255; + break; + } + *rangeStatus = RgSt; + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_SetOffset(int16_t OffsetValue) +{ + VL53L1X_ERROR status = 0; + int16_t Temp; + + Temp = (OffsetValue*4); + VL53L1_WrWord(Device, ALGO__PART_TO_PART_RANGE_OFFSET_MM, + (uint16_t)Temp); + VL53L1_WrWord(Device, MM_CONFIG__INNER_OFFSET_MM, 0x0); + VL53L1_WrWord(Device, MM_CONFIG__OUTER_OFFSET_MM, 0x0); + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetOffset(int16_t *offset) +{ + VL53L1X_ERROR status = 0; + uint16_t Temp; + + status = VL53L1_RdWord(Device,ALGO__PART_TO_PART_RANGE_OFFSET_MM, &Temp); + Temp = Temp<<3; + Temp = Temp >>5; + *offset = (int16_t)(Temp); + return status; +} + +VL53L1X_ERROR VL53L1X::VL53L1X_SetXtalk(uint16_t XtalkValue) +{ +/* XTalkValue in count per second to avoid float type */ + VL53L1X_ERROR status = 0; + + status = VL53L1_WrWord(Device, + ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS, + 0x0000); + status = VL53L1_WrWord(Device, ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS, + 0x0000); + status = VL53L1_WrWord(Device, ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS, + (XtalkValue<<9)/1000); /* * << 9 (7.9 format) and /1000 to convert cps to kpcs */ + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetXtalk(uint16_t *xtalk ) +{ + VL53L1X_ERROR status = 0; + uint16_t tmp; + + status = VL53L1_RdWord(Device,ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS, &tmp); + *xtalk = (tmp*1000)>>9; /* * 1000 to convert kcps to cps and >> 9 (7.9 format) */ + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_SetDistanceThreshold(uint16_t ThreshLow, + uint16_t ThreshHigh, uint8_t Window, + uint8_t IntOnNoTarget) +{ + VL53L1X_ERROR status = 0; + uint8_t Temp = 0; + + status = VL53L1_RdByte(Device, SYSTEM__INTERRUPT_CONFIG_GPIO, &Temp); + Temp = Temp & 0x47; + if (IntOnNoTarget == 0) { + status = VL53L1_WrByte(Device, SYSTEM__INTERRUPT_CONFIG_GPIO, + (Temp | (Window & 0x07))); + } else { + status = VL53L1_WrByte(Device, SYSTEM__INTERRUPT_CONFIG_GPIO, + ((Temp | (Window & 0x07)) | 0x40)); + } + status = VL53L1_WrWord(Device, SYSTEM__THRESH_HIGH, ThreshHigh); + status = VL53L1_WrWord(Device, SYSTEM__THRESH_LOW, ThreshLow); + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetDistanceThresholdWindow(uint16_t *window) +{ + VL53L1X_ERROR status = 0; + uint8_t tmp; + status = VL53L1_RdByte(Device,SYSTEM__INTERRUPT_CONFIG_GPIO, &tmp); + *window = (uint16_t)(tmp & 0x7); + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_GetDistanceThresholdLow(uint16_t *low) +{ + VL53L1X_ERROR status = 0; + uint16_t tmp; + + status = VL53L1_RdWord(Device,SYSTEM__THRESH_LOW, &tmp); + *low = tmp; + return status; +} + +VL53L1X_ERROR VL53L1X::VL53L1X_GetDistanceThresholdHigh(uint16_t *high) +{ + VL53L1X_ERROR status = 0; + uint16_t tmp; + + status = VL53L1_RdWord(Device,SYSTEM__THRESH_HIGH, &tmp); + *high = tmp; + return status; +} + +VL53L1X_ERROR VL53L1X::VL53L1X_SetROI(uint16_t X, uint16_t Y) +{ + uint8_t OpticalCenter; + VL53L1X_ERROR status = 0; + + status =VL53L1_RdByte(Device, VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD, &OpticalCenter); + if (X > 16) + X = 16; + if (Y > 16) + Y = 16; + if (X > 10 || Y > 10){ + OpticalCenter = 199; + } + status = VL53L1_WrByte(Device, ROI_CONFIG__USER_ROI_CENTRE_SPAD, OpticalCenter); + status = VL53L1_WrByte(Device, ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE, + (Y - 1) << 4 | (X - 1)); + return status; +} + +VL53L1X_ERROR VL53L1X::VL53L1X_GetROI_XY(uint16_t *ROI_X, uint16_t *ROI_Y) +{ + VL53L1X_ERROR status = 0; + uint8_t tmp; + + status = VL53L1_RdByte(Device,ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE, &tmp); + *ROI_X = ((uint16_t)tmp & 0x0F) + 1; + *ROI_Y = (((uint16_t)tmp & 0xF0) >> 4) + 1; + return status; +} + +VL53L1X_ERROR VL53L1X::VL53L1X_SetSignalThreshold(uint16_t Signal) +{ + VL53L1X_ERROR status = 0; + + VL53L1_WrWord(Device,RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS,Signal>>3); + return status; +} + +VL53L1X_ERROR VL53L1X::VL53L1X_GetSignalThreshold(uint16_t *signal) +{ + VL53L1X_ERROR status = 0; + uint16_t tmp; + + status = VL53L1_RdWord(Device, + RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, &tmp); + *signal = tmp <<3; + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1X_SetSigmaThreshold(uint16_t Sigma) +{ + VL53L1X_ERROR status = 0; + + if(Sigma>(0xFFFF>>2)){ + return 1; + } + /* 16 bits register 14.2 format */ + status = VL53L1_WrWord(Device,RANGE_CONFIG__SIGMA_THRESH,Sigma<<2); + return status; +} + +VL53L1X_ERROR VL53L1X::VL53L1X_GetSigmaThreshold(uint16_t *sigma) +{ + VL53L1X_ERROR status = 0; + uint16_t tmp; + + status = VL53L1_RdWord(Device,RANGE_CONFIG__SIGMA_THRESH, &tmp); + *sigma = tmp >> 2; + return status; + +} + +VL53L1X_ERROR VL53L1X::VL53L1X_StartTemperatureUpdate() +{ + VL53L1X_ERROR status = 0; + uint8_t tmp=0; + + status = VL53L1_WrByte(Device,VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,0x81); /* full VHV */ + status = VL53L1_WrByte(Device,0x0B,0x92); + status = VL53L1X_StartRanging(); + while(tmp==0){ + status = VL53L1X_CheckForDataReady(&tmp); + } + tmp = 0; + status = VL53L1X_ClearInterrupt(); + status = VL53L1X_StopRanging(); + status = VL53L1_WrByte(Device, VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); /* two bounds VHV */ + status = VL53L1_WrByte(Device, 0x0B, 0); /* start VHV from the previous temperature */ + return status; +} + + /* VL53L1X_calibration.h functions */ + +int8_t VL53L1X::VL53L1X_CalibrateOffset(uint16_t TargetDistInMm, int16_t *offset) +{ + uint8_t i = 0, tmp; + int16_t AverageDistance = 0; + uint16_t distance; + VL53L1X_ERROR status = 0; + + status = VL53L1_WrWord(Device, ALGO__PART_TO_PART_RANGE_OFFSET_MM, 0x0); + status = VL53L1_WrWord(Device, MM_CONFIG__INNER_OFFSET_MM, 0x0); + status = VL53L1_WrWord(Device, MM_CONFIG__OUTER_OFFSET_MM, 0x0); + status = VL53L1X_StartRanging(); /* Enable VL53L1X sensor */ + for (i = 0; i < 50; i++) { + while (tmp == 0){ + status = VL53L1X_CheckForDataReady(&tmp); + } + tmp = 0; + status = VL53L1X_GetDistance(&distance); + status = VL53L1X_ClearInterrupt(); + AverageDistance = AverageDistance + distance; + } + status = VL53L1X_StopRanging(); + AverageDistance = AverageDistance / 50; + *offset = TargetDistInMm - AverageDistance; + status = VL53L1_WrWord(Device, ALGO__PART_TO_PART_RANGE_OFFSET_MM, *offset*4); + return status; +} + + +int8_t VL53L1X::VL53L1X_CalibrateXtalk(uint16_t TargetDistInMm, uint16_t *xtalk) +{ + uint8_t i, tmp= 0; + float AverageSignalRate = 0; + float AverageDistance = 0; + float AverageSpadNb = 0; + uint16_t distance = 0, spadNum; + uint16_t sr; + VL53L1X_ERROR status = 0; + + status = VL53L1_WrWord(Device, 0x0016,0); + status = VL53L1X_StartRanging(); + for (i = 0; i < 50; i++) { + while (tmp == 0){ + status = VL53L1X_CheckForDataReady(&tmp); + } + tmp=0; + status= VL53L1X_GetSignalRate(&sr); + status= VL53L1X_GetDistance(&distance); + status = VL53L1X_ClearInterrupt(); + AverageDistance = AverageDistance + distance; + status = VL53L1X_GetSpadNb(&spadNum); + AverageSpadNb = AverageSpadNb + spadNum; + AverageSignalRate = + AverageSignalRate + sr; + } + status = VL53L1X_StopRanging(); + AverageDistance = AverageDistance / 50; + AverageSpadNb = AverageSpadNb / 50; + AverageSignalRate = AverageSignalRate / 50; + /* Calculate Xtalk value */ + *xtalk = (uint16_t)(512*(AverageSignalRate*(1-(AverageDistance/TargetDistInMm)))/AverageSpadNb); + status = VL53L1_WrWord(Device, 0x0016, *xtalk); + return status; +} + + + + + /* Write and read functions from I2C */ + + +VL53L1X_ERROR VL53L1X::VL53L1_WriteMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count) +{ + int status; + + status = VL53L1_I2CWrite(Dev->I2cDevAddr, index, pdata, (uint16_t)count); + return status; +} + +VL53L1X_ERROR VL53L1X::VL53L1_ReadMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count) +{ + int status; + + status = VL53L1_I2CRead(Dev->I2cDevAddr, index, pdata, (uint16_t)count); + + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1_WrByte(VL53L1_DEV Dev, uint16_t index, uint8_t data) +{ + int status; + + status=VL53L1_I2CWrite(Dev->I2cDevAddr, index, &data, 1); + return status; +} + +VL53L1X_ERROR VL53L1X::VL53L1_WrWord(VL53L1_DEV Dev, uint16_t index, uint16_t data) +{ + int status; + uint8_t buffer[2]; + + buffer[0] = data >> 8; + buffer[1] = data & 0x00FF; + status=VL53L1_I2CWrite(Dev->I2cDevAddr, index, (uint8_t *)buffer, 2); + return status; +} + +VL53L1X_ERROR VL53L1X::VL53L1_WrDWord(VL53L1_DEV Dev, uint16_t index, uint32_t data) +{ + int status; + uint8_t buffer[4]; + + buffer[0] = (data >> 24) & 0xFF; + buffer[1] = (data >> 16) & 0xFF; + buffer[2] = (data >> 8) & 0xFF; + buffer[3] = (data >> 0) & 0xFF; + status=VL53L1_I2CWrite(Dev->I2cDevAddr, index, (uint8_t *)buffer, 4); + return status; +} + + +VL53L1X_ERROR VL53L1X::VL53L1_RdByte(VL53L1_DEV Dev, uint16_t index, uint8_t *data) +{ + int status; + + status = VL53L1_I2CRead(Dev->I2cDevAddr, index, data, 1); + + if(status) + return -1; + + return 0; +} + +VL53L1X_ERROR VL53L1X::VL53L1_RdWord(VL53L1_DEV Dev, uint16_t index, uint16_t *data) +{ + int status; + uint8_t buffer[2] = {0,0}; + + status = VL53L1_I2CRead(Dev->I2cDevAddr, index, buffer, 2); + if (!status) + { + *data = (buffer[0] << 8) + buffer[1]; + } + return status; + +} + +VL53L1X_ERROR VL53L1X::VL53L1_RdDWord(VL53L1_DEV Dev, uint16_t index, uint32_t *data) +{ + int status; + uint8_t buffer[4] = {0,0,0,0}; + + status = VL53L1_I2CRead(Dev->I2cDevAddr, index, buffer, 4); + if(!status) + { + *data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3]; + } + return status; + +} + +VL53L1X_ERROR VL53L1X::VL53L1_UpdateByte(VL53L1_DEV Dev, uint16_t index, uint8_t AndData, uint8_t OrData) +{ + int status; + uint8_t buffer = 0; + + /* read data direct onto buffer */ + status = VL53L1_I2CRead(Dev->I2cDevAddr, index, &buffer,1); + if (!status) + { + buffer = (buffer & AndData) | OrData; + status = VL53L1_I2CWrite(Dev->I2cDevAddr, index, &buffer, (uint16_t)1); + } + return status; +} + +VL53L1X_ERROR VL53L1X::VL53L1_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite) +{ + int ret; + ret = dev_i2c->v53l1x_i2c_write(pBuffer, DeviceAddr, RegisterAddr, NumByteToWrite); + if (ret) { + return -1; + } + return 0; + +} + +VL53L1X_ERROR VL53L1X::VL53L1_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead) +{ + int ret; + + ret = dev_i2c->v53l1x_i2c_read(pBuffer, DeviceAddr, RegisterAddr, NumByteToRead); + //ret = dev_i2c->i2c_read(pBuffer, DeviceAddr, RegisterAddr, NumByteToRead); + + if (ret) { + return -1; + } + return 0; +} + + +VL53L1X_ERROR VL53L1X::VL53L1_GetTickCount( + uint32_t *ptick_count_ms) +{ + + /* Returns current tick count in [ms] */ + + VL53L1X_ERROR status = VL53L1_ERROR_NONE; + + //*ptick_count_ms = timeGetTime(); + *ptick_count_ms = 0; + + return status; +} + + + +VL53L1X_ERROR VL53L1X::VL53L1_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_us) +{ + //(void)pdev; + //wait_ms(wait_us/1000); + return VL53L1_ERROR_NONE; +} + + +VL53L1X_ERROR VL53L1X::VL53L1_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_ms) +{ + //(void)pdev; + //wait_ms(wait_ms); + return VL53L1_ERROR_NONE; +} + + +VL53L1X_ERROR VL53L1X::VL53L1_WaitValueMaskEx( + VL53L1_Dev_t *pdev, + uint32_t timeout_ms, + uint16_t index, + uint8_t value, + uint8_t mask, + uint32_t poll_delay_ms) +{ + + /* + * Platform implementation of WaitValueMaskEx V2WReg script command + * + * WaitValueMaskEx( + * duration_ms, + * index, + * value, + * mask, + * poll_delay_ms); + */ + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint32_t start_time_ms = 0; + uint32_t current_time_ms = 0; + uint32_t polling_time_ms = 0; + uint8_t byte_value = 0; + uint8_t found = 0; + + + + /* calculate time limit in absolute time */ + + VL53L1_GetTickCount(&start_time_ms); + + /* remember current trace functions and temporarily disable + * function logging + */ + + + /* wait until value is found, timeout reached on error occurred */ + + while ((status == VL53L1_ERROR_NONE) && + (polling_time_ms < timeout_ms) && + (found == 0)) { + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_RdByte( + pdev, + index, + &byte_value); + + if ((byte_value & mask) == value) + found = 1; + + if (status == VL53L1_ERROR_NONE && + found == 0 && + poll_delay_ms > 0) + status = VL53L1_WaitMs( + pdev, + poll_delay_ms); + + /* Update polling time (Compare difference rather than absolute to + negate 32bit wrap around issue) */ + VL53L1_GetTickCount(¤t_time_ms); + polling_time_ms = current_time_ms - start_time_ms; + + } + + + if (found == 0 && status == VL53L1_ERROR_NONE) + status = VL53L1_ERROR_TIME_OUT; + + return status; +} + + +