ST
Initial release.
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: X_NUCLEO_53L1A1_mbed X_NUCLEO_53L1A1_mbed VL53L1X_Ranging_With_Standalone_Satellite_MbedOS X_NUCLEO_53L1A1
Diff: vl53l1x_class.cpp
- Revision:
- 7:6d3ab15363a2
- Parent:
- 6:aa13392d16bb
- Child:
- 8:744e8b1b9837
--- a/vl53l1x_class.cpp Fri May 17 09:07:55 2019 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1115 +0,0 @@
-/**
- ******************************************************************************
- * @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;
-
- status = VL53L1_WrByte(Device, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, new_address >> 1);
- Device->I2cDevAddr = new_address;
- 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;
-
- 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);
-
- 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 = 0;
-
- return status;
-}
-
-
-
-VL53L1X_ERROR VL53L1X::VL53L1_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_us)
-{
- return VL53L1_ERROR_NONE;
-}
-
-
-VL53L1X_ERROR VL53L1X::VL53L1_WaitMs(VL53L1_Dev_t *pdev, int32_t 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;
-}
-
-int VL53L1X::handle_irq(uint16_t *distance)
-{
- int status;
- status = get_measurement(distance);
- enable_interrupt_measure_detection_irq();
- return status;
-}
-
-int VL53L1X::get_measurement(uint16_t *distance)
-{
- int status = 0;
-
- status = VL53L1X_GetDistance(distance);
- status = VL53L1X_ClearInterrupt();
-
- return status;
-}
-
-int VL53L1X::start_measurement(void (*fptr)(void))
-{
- int status = 0;
-
- if (_gpio1Int == NULL) {
- printf("GPIO1 Error\r\n");
- return 1;
- }
-
- status = VL53L1X_StopRanging(); // it is safer to do this while sensor is stopped
-
- if (status == 0) {
- attach_interrupt_measure_detection_irq(fptr);
- enable_interrupt_measure_detection_irq();
- }
-
- if (status == 0) {
- status = VL53L1X_StartRanging();
- }
-
- return status;
-}
-
-int VL53L1X::stop_measurement()
-{
- int status = 0;
-
- if (status == 0) {
- printf("Call of VL53L0X_StopMeasurement\n");
- status = VL53L1X_StopRanging();
- }
-
- if (status == 0)
- status = VL53L1X_ClearInterrupt();
-
- return status;
-}