VL53L0X.h

00001 #ifndef VL53L0X_h
00002 #define VL53L0X_h
00003 
00004 #include <mbed.h>
00005 
00006 class VL53L0X
00007 {
00008   public:
00009     // register addresses from API vl53l0x_device.h (ordered as listed there)
00010     enum regAddr
00011     {
00012       SYSRANGE_START                              = 0x00,
00013 
00014       SYSTEM_THRESH_HIGH                          = 0x0C,
00015       SYSTEM_THRESH_LOW                           = 0x0E,
00016 
00017       SYSTEM_SEQUENCE_CONFIG                      = 0x01,
00018       SYSTEM_RANGE_CONFIG                         = 0x09,
00019       SYSTEM_INTERMEASUREMENT_PERIOD              = 0x04,
00020 
00021       SYSTEM_INTERRUPT_CONFIG_GPIO                = 0x0A,
00022 
00023       GPIO_HV_MUX_ACTIVE_HIGH                     = 0x84,
00024 
00025       SYSTEM_INTERRUPT_CLEAR                      = 0x0B,
00026 
00027       RESULT_INTERRUPT_STATUS                     = 0x13,
00028       RESULT_RANGE_STATUS                         = 0x14,
00029 
00030       RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN       = 0xBC,
00031       RESULT_CORE_RANGING_TOTAL_EVENTS_RTN        = 0xC0,
00032       RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF       = 0xD0,
00033       RESULT_CORE_RANGING_TOTAL_EVENTS_REF        = 0xD4,
00034       RESULT_PEAK_SIGNAL_RATE_REF                 = 0xB6,
00035 
00036       ALGO_PART_TO_PART_RANGE_OFFSET_MM           = 0x28,
00037 
00038       I2C_SLAVE_DEVICE_ADDRESS                    = 0x8A,
00039 
00040       MSRC_CONFIG_CONTROL                         = 0x60,
00041 
00042       PRE_RANGE_CONFIG_MIN_SNR                    = 0x27,
00043       PRE_RANGE_CONFIG_VALID_PHASE_LOW            = 0x56,
00044       PRE_RANGE_CONFIG_VALID_PHASE_HIGH           = 0x57,
00045       PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT          = 0x64,
00046 
00047       FINAL_RANGE_CONFIG_MIN_SNR                  = 0x67,
00048       FINAL_RANGE_CONFIG_VALID_PHASE_LOW          = 0x47,
00049       FINAL_RANGE_CONFIG_VALID_PHASE_HIGH         = 0x48,
00050       FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,
00051 
00052       PRE_RANGE_CONFIG_SIGMA_THRESH_HI            = 0x61,
00053       PRE_RANGE_CONFIG_SIGMA_THRESH_LO            = 0x62,
00054 
00055       PRE_RANGE_CONFIG_VCSEL_PERIOD               = 0x50,
00056       PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI          = 0x51,
00057       PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO          = 0x52,
00058 
00059       SYSTEM_HISTOGRAM_BIN                        = 0x81,
00060       HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT       = 0x33,
00061       HISTOGRAM_CONFIG_READOUT_CTRL               = 0x55,
00062 
00063       FINAL_RANGE_CONFIG_VCSEL_PERIOD             = 0x70,
00064       FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI        = 0x71,
00065       FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO        = 0x72,
00066       CROSSTALK_COMPENSATION_PEAK_RATE_MCPS       = 0x20,
00067 
00068       MSRC_CONFIG_TIMEOUT_MACROP                  = 0x46,
00069 
00070       SOFT_RESET_GO2_SOFT_RESET_N                 = 0xBF,
00071       IDENTIFICATION_MODEL_ID                     = 0xC0,
00072       IDENTIFICATION_REVISION_ID                  = 0xC2,
00073 
00074       OSC_CALIBRATE_VAL                           = 0xF8,
00075 
00076       GLOBAL_CONFIG_VCSEL_WIDTH                   = 0x32,
00077       GLOBAL_CONFIG_SPAD_ENABLES_REF_0            = 0xB0,
00078       GLOBAL_CONFIG_SPAD_ENABLES_REF_1            = 0xB1,
00079       GLOBAL_CONFIG_SPAD_ENABLES_REF_2            = 0xB2,
00080       GLOBAL_CONFIG_SPAD_ENABLES_REF_3            = 0xB3,
00081       GLOBAL_CONFIG_SPAD_ENABLES_REF_4            = 0xB4,
00082       GLOBAL_CONFIG_SPAD_ENABLES_REF_5            = 0xB5,
00083 
00084       GLOBAL_CONFIG_REF_EN_START_SELECT           = 0xB6,
00085       DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD         = 0x4E,
00086       DYNAMIC_SPAD_REF_EN_START_OFFSET            = 0x4F,
00087       POWER_MANAGEMENT_GO1_POWER_FORCE            = 0x80,
00088 
00089       VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV           = 0x89,
00090 
00091       ALGO_PHASECAL_LIM                           = 0x30,
00092       ALGO_PHASECAL_CONFIG_TIMEOUT                = 0x30,
00093     };
00094 
00095     enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange };
00096 
00097     uint8_t last_status; // status of last I2C transmission
00098 
00099     VL53L0X(I2C*, Timer*);
00100 
00101     void setAddress(uint8_t new_addr);
00102     inline uint8_t getAddress(void) { return address; }
00103 
00104     bool init(bool io_2v8 = true);
00105 
00106     void writeReg(uint8_t reg, uint8_t value);
00107     void writeReg16Bit(uint8_t reg, uint16_t value);
00108     void writeReg32Bit(uint8_t reg, uint32_t value);
00109     uint8_t readReg(uint8_t reg);
00110     uint16_t readReg16Bit(uint8_t reg);
00111     uint32_t readReg32Bit(uint8_t reg);
00112 
00113     void writeMulti(uint8_t reg, uint8_t const * src, uint8_t count);
00114     void readMulti(uint8_t reg, uint8_t * dst, uint8_t count);
00115 
00116     bool setSignalRateLimit(float limit_Mcps);
00117     float getSignalRateLimit(void);
00118 
00119     bool setMeasurementTimingBudget(uint32_t budget_us);
00120     uint32_t getMeasurementTimingBudget(void);
00121 
00122     bool setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks);
00123     uint8_t getVcselPulsePeriod(vcselPeriodType type);
00124 
00125     void startContinuous(uint32_t period_ms = 0);
00126     void stopContinuous(void);
00127     uint16_t readRangeContinuousMillimeters(void);
00128     uint16_t readRangeSingleMillimeters(void);
00129 
00130     inline void setTimeout(uint16_t timeout) { io_timeout = timeout; }
00131     inline uint16_t getTimeout(void) { return io_timeout; }
00132     bool timeoutOccurred(void);
00133 
00134   private:
00135     // TCC: Target CentreCheck
00136     // MSRC: Minimum Signal Rate Check
00137     // DSS: Dynamic Spad Selection
00138 
00139     struct SequenceStepEnables
00140     {
00141       bool tcc, msrc, dss, pre_range, final_range;
00142     };
00143 
00144     struct SequenceStepTimeouts
00145     {
00146       uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
00147 
00148       uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
00149       uint32_t msrc_dss_tcc_us,    pre_range_us,    final_range_us;
00150     };
00151 
00152     uint8_t address;
00153     uint16_t io_timeout;
00154     bool did_timeout;
00155     uint16_t timeout_start_ms;
00156 
00157     uint8_t stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X_DevData_t structure in API
00158     uint32_t measurement_timing_budget_us;
00159 
00160     bool getSpadInfo(uint8_t * count, bool * type_is_aperture);
00161 
00162     void getSequenceStepEnables(SequenceStepEnables * enables);
00163     void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);
00164 
00165     bool performSingleRefCalibration(uint8_t vhv_init_byte);
00166 
00167     static uint16_t decodeTimeout(uint16_t value);
00168     static uint16_t encodeTimeout(uint16_t timeout_mclks);
00169     static uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks);
00170     static uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks);
00171 
00172     // mbed members
00173     I2C* i2c;
00174     Timer* timer;
00175 };
00176 
00177 #endif
00178