Jerry Szczurak
Changes to the library related to interrupt mode.
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Dependents: Display_53L0A1_IntSatelites Display_53L0A1_InterruptMode
Fork of
X_NUCLEO_53L0A1
by 
ST
Components/VL53L0X/vl53l0x_class.h
- Committer:
- JerrySzczurak
- Date:
- 2017-06-14
- Revision:
- 12:820afb1af4ef
- Parent:
- 11:c955adfbb19b
File content as of revision 12:820afb1af4ef:
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#ifndef __VL53L0X_CLASS_H
#define __VL53L0X_CLASS_H
#ifdef _MSC_VER
# ifdef VL53L0X_API_EXPORTS
# define VL53L0X_API __declspec(dllexport)
# else
# define VL53L0X_API
# endif
#else
# define VL53L0X_API
#endif
/* Includes ------------------------------------------------------------------*/
#include "mbed.h"
#include "RangeSensor.h"
#include "DevI2C.h"
#include "vl53l0x_def.h"
#include "vl53l0x_platform.h"
#include "stmpe1600_class.h"
/**
* The device model ID
*/
#define IDENTIFICATION_MODEL_ID 0x000
#define STATUS_OK 0x00
#define STATUS_FAIL 0x01
#define VL53L0X_OsDelay(...) HAL_Delay(2)
#ifdef USE_EMPTY_STRING
#define VL53L0X_STRING_DEVICE_INFO_NAME ""
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 ""
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 ""
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 ""
#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 ""
#define VL53L0X_STRING_DEVICE_INFO_TYPE ""
/* PAL ERROR strings */
#define VL53L0X_STRING_ERROR_NONE ""
#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING ""
#define VL53L0X_STRING_ERROR_MIN_CLIPPED ""
#define VL53L0X_STRING_ERROR_UNDEFINED ""
#define VL53L0X_STRING_ERROR_INVALID_PARAMS ""
#define VL53L0X_STRING_ERROR_NOT_SUPPORTED ""
#define VL53L0X_STRING_ERROR_RANGE_ERROR ""
#define VL53L0X_STRING_ERROR_TIME_OUT ""
#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED ""
#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL ""
#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING ""
#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ""
#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE ""
#define VL53L0X_STRING_ERROR_INVALID_COMMAND ""
#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO ""
#define VL53L0X_STRING_ERROR_REF_SPAD_INIT ""
#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED ""
#define VL53L0X_STRING_UNKNOW_ERROR_CODE ""
/* Range Status */
#define VL53L0X_STRING_RANGESTATUS_NONE ""
#define VL53L0X_STRING_RANGESTATUS_RANGEVALID ""
#define VL53L0X_STRING_RANGESTATUS_SIGMA ""
#define VL53L0X_STRING_RANGESTATUS_SIGNAL ""
#define VL53L0X_STRING_RANGESTATUS_MINRANGE ""
#define VL53L0X_STRING_RANGESTATUS_PHASE ""
#define VL53L0X_STRING_RANGESTATUS_HW ""
/* Range Status */
#define VL53L0X_STRING_STATE_POWERDOWN ""
#define VL53L0X_STRING_STATE_WAIT_STATICINIT ""
#define VL53L0X_STRING_STATE_STANDBY ""
#define VL53L0X_STRING_STATE_IDLE ""
#define VL53L0X_STRING_STATE_RUNNING ""
#define VL53L0X_STRING_STATE_UNKNOWN ""
#define VL53L0X_STRING_STATE_ERROR ""
/* Device Specific */
#define VL53L0X_STRING_DEVICEERROR_NONE ""
#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ""
#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ""
#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND ""
#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET ""
#define VL53L0X_STRING_DEVICEERROR_SNRCHECK ""
#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK ""
#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK ""
#define VL53L0X_STRING_DEVICEERROR_TCC ""
#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY ""
#define VL53L0X_STRING_DEVICEERROR_MINCLIP ""
#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE ""
#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW ""
#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW ""
#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD ""
#define VL53L0X_STRING_DEVICEERROR_UNKNOWN ""
/* Check Enable */
#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE ""
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE ""
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP ""
#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD ""
/* Sequence Step */
#define VL53L0X_STRING_SEQUENCESTEP_TCC ""
#define VL53L0X_STRING_SEQUENCESTEP_DSS ""
#define VL53L0X_STRING_SEQUENCESTEP_MSRC ""
#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE ""
#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE ""
#else
#define VL53L0X_STRING_DEVICE_INFO_NAME "VL53L0X cut1.0"
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 "VL53L0X TS0"
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 "VL53L0X TS1"
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 "VL53L0X TS2"
#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 "VL53L0X ES1 or later"
#define VL53L0X_STRING_DEVICE_INFO_TYPE "VL53L0X"
/* PAL ERROR strings */
#define VL53L0X_STRING_ERROR_NONE \
"No Error"
#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING \
"Calibration Warning Error"
#define VL53L0X_STRING_ERROR_MIN_CLIPPED \
"Min clipped error"
#define VL53L0X_STRING_ERROR_UNDEFINED \
"Undefined error"
#define VL53L0X_STRING_ERROR_INVALID_PARAMS \
"Invalid parameters error"
#define VL53L0X_STRING_ERROR_NOT_SUPPORTED \
"Not supported error"
#define VL53L0X_STRING_ERROR_RANGE_ERROR \
"Range error"
#define VL53L0X_STRING_ERROR_TIME_OUT \
"Time out error"
#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED \
"Mode not supported error"
#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL \
"Buffer too small"
#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING \
"GPIO not existing"
#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \
"GPIO funct not supported"
#define VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED \
"Interrupt not Cleared"
#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE \
"Control Interface Error"
#define VL53L0X_STRING_ERROR_INVALID_COMMAND \
"Invalid Command Error"
#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO \
"Division by zero Error"
#define VL53L0X_STRING_ERROR_REF_SPAD_INIT \
"Reference Spad Init Error"
#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED \
"Not implemented error"
#define VL53L0X_STRING_UNKNOW_ERROR_CODE \
"Unknown Error Code"
/* Range Status */
#define VL53L0X_STRING_RANGESTATUS_NONE "No Update"
#define VL53L0X_STRING_RANGESTATUS_RANGEVALID "Range Valid"
#define VL53L0X_STRING_RANGESTATUS_SIGMA "Sigma Fail"
#define VL53L0X_STRING_RANGESTATUS_SIGNAL "Signal Fail"
#define VL53L0X_STRING_RANGESTATUS_MINRANGE "Min Range Fail"
#define VL53L0X_STRING_RANGESTATUS_PHASE "Phase Fail"
#define VL53L0X_STRING_RANGESTATUS_HW "Hardware Fail"
/* Range Status */
#define VL53L0X_STRING_STATE_POWERDOWN "POWERDOWN State"
#define VL53L0X_STRING_STATE_WAIT_STATICINIT \
"Wait for staticinit State"
#define VL53L0X_STRING_STATE_STANDBY "STANDBY State"
#define VL53L0X_STRING_STATE_IDLE "IDLE State"
#define VL53L0X_STRING_STATE_RUNNING "RUNNING State"
#define VL53L0X_STRING_STATE_UNKNOWN "UNKNOWN State"
#define VL53L0X_STRING_STATE_ERROR "ERROR State"
/* Device Specific */
#define VL53L0X_STRING_DEVICEERROR_NONE "No Update"
#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \
"VCSEL Continuity Test Failure"
#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \
"VCSEL Watchdog Test Failure"
#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND \
"No VHV Value found"
#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET \
"MSRC No Target Error"
#define VL53L0X_STRING_DEVICEERROR_SNRCHECK \
"SNR Check Exit"
#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK \
"Range Phase Check Error"
#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK \
"Sigma Threshold Check Error"
#define VL53L0X_STRING_DEVICEERROR_TCC \
"TCC Error"
#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY \
"Phase Consistency Error"
#define VL53L0X_STRING_DEVICEERROR_MINCLIP \
"Min Clip Error"
#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE \
"Range Complete"
#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW \
"Range Algo Underflow Error"
#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW \
"Range Algo Overlow Error"
#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \
"Range Ignore Threshold Error"
#define VL53L0X_STRING_DEVICEERROR_UNKNOWN \
"Unknown error code"
/* Check Enable */
#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \
"SIGMA FINAL RANGE"
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \
"SIGNAL RATE FINAL RANGE"
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP \
"SIGNAL REF CLIP"
#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \
"RANGE IGNORE THRESHOLD"
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC \
"SIGNAL RATE MSRC"
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE \
"SIGNAL RATE PRE RANGE"
/* Sequence Step */
#define VL53L0X_STRING_SEQUENCESTEP_TCC "TCC"
#define VL53L0X_STRING_SEQUENCESTEP_DSS "DSS"
#define VL53L0X_STRING_SEQUENCESTEP_MSRC "MSRC"
#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE "PRE RANGE"
#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE "FINAL RANGE"
#endif /* USE_EMPTY_STRING */
/* sensor operating modes */
typedef enum
{
range_single_shot_polling=1,
range_continuous_polling,
range_continuous_interrupt,
range_continuous_polling_low_threshold,
range_continuous_polling_high_threshold,
range_continuous_polling_out_of_window,
range_continuous_interrupt_low_threshold,
range_continuous_interrupt_high_threshold,
range_continuous_interrupt_out_of_window,
}OperatingMode;
/** default device address */
#define DEFAULT_DEVICE_ADDRESS 0x52 /* (8-bit) */
/* Classes -------------------------------------------------------------------*/
/** Class representing a VL53L0 sensor component
*/
class VL53L0X : 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, 0x29 by default
*/
VL53L0X(DevI2C &i2c, DigitalOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : dev_i2c(i2c), gpio0(&pin)
{
MyDevice.I2cDevAddr=DevAddr;
MyDevice.comms_type=1; // VL53L0X_COMMS_I2C
MyDevice.comms_speed_khz=400;
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
*/
VL53L0X(DevI2C &i2c, STMPE1600DigiOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : dev_i2c(i2c), expgpio0(&pin)
{
MyDevice.I2cDevAddr=DevAddr;
MyDevice.comms_type=1; // VL53L0X_COMMS_I2C
MyDevice.comms_speed_khz=400;
Device=&MyDevice;
gpio0=NULL;
if (pin_gpio1 != NC) { gpio1Int = new InterruptIn(pin_gpio1); }
else { gpio1Int = NULL; }
}
/** Destructor
*/
virtual ~VL53L0X(){
if (gpio1Int != NULL) delete gpio1Int;
}
/* warning: VL53L0X 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 */
void VL53L0X_On(void)
{
if (gpio0)
*gpio0 = 1;
else if (expgpio0)
*expgpio0 = 1;
wait_ms(10);
}
/**
* @brief PowerOff the sensor
* @return void
*/
/* turns off the sensor */
void VL53L0X_Off(void)
{
if (gpio0)
*gpio0 = 0;
else if (expgpio0)
*expgpio0 = 0;
wait_ms(10);
}
/**
* @brief Initialize the sensor with default values
* @return 0 on Success
*/
int InitSensor(uint8_t NewAddr);
int RawInitSensor(void);
int initDevice(VL53L0X_DEV Dev);
int setLongRangePresets(VL53L0X_DEV Dev);
int DoRanging(VL53L0X_Dev_t *pMyDevice);
/**
* @brief Start the measure indicated by operating mode
* @param[in] operating_mode specifies requested measure
* @param[in] fptr specifies call back function must be !NULL in case of interrupt measure
* @return 0 on Success
*/
int StartMeasurement(OperatingMode operating_mode, void (*fptr)(void));
/**
* @brief Get results for the measure indicated by operating mode
* @param[in] operating_mode specifies requested measure results
* @param[out] Data pointer to the MeasureData_t structure to read data in to
* @return 0 on Success
*/
int GetMeasurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
/**
* @brief Stop the currently running measure indicate by operating_mode
* @param[in] operating_mode specifies requested measure to stop
* @return 0 on Success
*/
int StopMeasurement(OperatingMode operating_mode);
/**
* @brief Interrupt handling func to be called by user after an INT is occourred
* @param[in] opeating_mode indicating the in progress measure
* @param[out] Data pointer to the MeasureData_t structure to read data in to
* @return 0 on Success
*/
int HandleIRQ(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
/**
* @brief Enable interrupt measure IRQ
* @return 0 on Success
*/
void EnableInterruptMeasureDetectionIRQ(void)
{
if (gpio1Int != NULL) gpio1Int->enable_irq();
}
/**
* @brief Disable interrupt measure IRQ
* @return 0 on Success
*/
void DisableInterruptMeasureDetectionIRQ(void)
{
if (gpio1Int != NULL) gpio1Int->disable_irq();
}
/*** End High level API ***/
/**
* @brief Attach a function to call when an interrupt is detected, i.e. measurement is ready
* @param[in] fptr pointer to call back function to be called whenever an interrupt occours
* @return 0 on Success
*/
void AttachInterruptMeasureDetectionIRQ(void (*fptr)(void))
{
if (gpio1Int != NULL) gpio1Int->rise(fptr);
}
/**
* @brief Check the sensor presence
* @return 1 when device is present
*/
unsigned Present()
{
// return Device->Present;
return 1;
}
/** Wrapper functions */
/** @defgroup api_init Init functions
* @brief API init functions
* @ingroup api_hl
* @{
*/
/**
* @brief Wait for device booted after chip enable (hardware standby)
* @par Function Description
* After Chip enable Application you can also simply wait at least 1ms to ensure device is ready
* @warning After device chip enable (gpio0) de-asserted user must wait gpio1 to get asserted (hardware standby).
* or wait at least 400usec prior to do any low level access or api call .
*
* This function implements polling for standby but you must ensure 400usec from chip enable passed\n
* @warning if device get prepared @a VL53L0X_Prepare() re-using these function can hold indefinitely\n
*
* @param void
* @return 0 on success
*/
int WaitDeviceBooted()
{
return VL53L0X_WaitDeviceBooted(Device);
// return 1;
}
/**
*
* @brief One time device initialization
*
* To be called once and only once after device is brought out of reset (Chip enable) and booted see @a VL6180x_WaitDeviceBooted()
*
* @par Function Description
* When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING
* meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n
* If application cannot execute device reset or need to run VL6180x_InitData multiple time
* then it must ensure proper offset calibration saving and restore on its own
* by using @a VL6180x_GetOffsetCalibrationData() on first power up and then @a VL6180x_SetOffsetCalibrationData() all all subsequent init
*
* @param void
* @return 0 on success, @a #CALIBRATION_WARNING if failed
*/
virtual int init(void *init)
{
return VL53L0X_DataInit(Device);
}
/** deprecated Init funtion from ComponentObject. for backward compatibility
*/
virtual int Init(void * NewAddr)
{
return init(NewAddr);
}
/**
* @brief Configure GPIO1 function and set polarity.
* @par Function Description
* To be used prior to arm single shot measure or start continuous mode.
*
* The function uses @a VL6180x_SetupGPIOx() for setting gpio 1.
* @warning changing polarity can generate a spurious interrupt on pins.
* It sets an interrupt flags condition that must be cleared to avoid polling hangs. \n
* It is safe to run VL6180x_ClearAllInterrupt() just after.
*
* @param IntFunction The interrupt functionality to use one of :\n
* @a #GPIOx_SELECT_OFF \n
* @a #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT
* @param ActiveHigh The interrupt line polarity see ::IntrPol_e
* use @a #INTR_POL_LOW (falling edge) or @a #INTR_POL_HIGH (rising edge)
* @return 0 on success
*/
int SetupGPIO1(uint8_t InitFunction, int ActiveHigh)
{
// return VL6180x_SetupGPIO1(Device, InitFunction, ActiveHigh);
return 1;
}
/**
* @brief Prepare device for operation
* @par Function Description
* Does static initialization and reprogram common default settings \n
* Device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n
* After prepare user can : \n
* @li Call other API function to set other settings\n
* @li Configure the interrupt pins, etc... \n
* @li Then start ranging or ALS operations in single shot or continuous mode
*
* @param void
* @return 0 on success
*/
int Prepare()
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint32_t refSpadCount;
uint8_t isApertureSpads;
uint8_t VhvSettings;
uint8_t PhaseCal;
if(Status == VL53L0X_ERROR_NONE)
{
printf ("Call of VL53L0X_StaticInit\n");
Status = VL53L0X_StaticInit(Device); // Device Initialization
}
if(Status == VL53L0X_ERROR_NONE)
{
printf ("Call of VL53L0X_PerformRefCalibration\n");
Status = VL53L0X_PerformRefCalibration(Device,
&VhvSettings, &PhaseCal); // Device Initialization
}
if(Status == VL53L0X_ERROR_NONE)
{
printf ("Call of VL53L0X_PerformRefSpadManagement\n");
Status = VL53L0X_PerformRefSpadManagement(Device,
&refSpadCount, &isApertureSpads); // Device Initialization
// printf ("refSpadCount = %d, isApertureSpads = %d\n", refSpadCount, isApertureSpads);
}
return Status;
}
/**
* @brief Start continuous ranging mode
*
* @details End user should ensure device is in idle state and not already running
* @return 0 on success
*/
int RangeStartContinuousMode()
{
int status;
status = RangeSetSystemMode(VL53L0X_REG_SYSRANGE_MODE_START_STOP|VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK);
return status;
}
/**
* @brief Start single shot ranging measure
*
* @details End user should ensure device is in idle state and not already running
* @return 0 on success
*/
int RangeStartSingleShot()
{
// return VL6180x_RangeStartSingleShot(Device);
return 1;
}
/**
* @brief Set maximum convergence time
*
* @par Function Description
* Setting a low convergence time can impact maximal detectable distance.
* Refer to VL6180x Datasheet Table 7 : Typical range convergence time.
* A typical value for up to x3 scaling is 50 ms
*
* @param MaxConTime_msec
* @return 0 on success. <0 on error. >0 for calibration warning status
*/
int RangeSetMaxConvergenceTime(uint8_t MaxConTime_msec)
{
// return VL6180x_RangeSetMaxConvergenceTime(Device, MaxConTime_msec);
return 1;
}
/**
* @brief Single shot Range measurement in polling mode.
*
* @par Function Description
* Kick off a new single shot range then wait for ready to retrieve it by polling interrupt status \n
* Ranging must be prepared by a first call to @a VL6180x_Prepare() and it is safer to clear very first poll call \n
* This function reference VL6180x_PollDelay(dev) porting macro/call on each polling loop,
* but PollDelay(dev) may never be called if measure in ready on first poll loop \n
* Should not be use in continuous mode operation as it will stop it and cause stop/start misbehaviour \n
* \n This function clears Range Interrupt status , but not error one. For that uses @a VL6180x_ClearErrorInterrupt() \n
* This range error is not related VL6180x_RangeData_t::errorStatus that refer measure status \n
*
* @param pRangeData Will be populated with the result ranging data @a VL6180x_RangeData_t
* @return 0 on success , @a #RANGE_ERROR if device reports an error case in it status (not cleared) use
*
* \sa ::VL6180x_RangeData_t
*/
int RangePollMeasurement(VL53L0X_RangingMeasurementData_t *pRangeData)
{
// return VL6180x_RangePollMeasurement(Device, pRangeData);
return 1;
}
/**
* @brief Check for measure readiness and get it if ready
*
* @par Function Description
* Using this function is an alternative to @a VL6180x_RangePollMeasurement() to avoid polling operation. This is suitable for applications
* where host CPU is triggered on a interrupt (not from VL6180X) to perform ranging operation. In this scenario, we assume that the very first ranging
* operation is triggered by a call to @a VL6180x_RangeStartSingleShot(). Then, host CPU regularly calls @a VL6180x_RangeGetMeasurementIfReady() to
* get a distance measure if ready. In case the distance is not ready, host may get it at the next call.\n
*
* @warning
* This function does not re-start a new measurement : this is up to the host CPU to do it.\n
* This function clears Range Interrupt for measure ready , but not error interrupts. For that, uses @a VL6180x_ClearErrorInterrupt() \n
*
* @param pRangeData Will be populated with the result ranging data if available
* @return 0 when measure is ready pRange data is updated (untouched when not ready), >0 for warning and @a #NOT_READY if measurement not yet ready, <0 for error @a #RANGE_ERROR if device report an error,
*/
int RangeGetMeasurementIfReady(VL53L0X_RangingMeasurementData_t *pRangeData)
{
// return VL6180x_RangeGetMeasurementIfReady(Device, pRangeData);
return 1;
}
/**
* @brief Retrieve range measurements set from device
*
* @par Function Description
* The measurement is made of range_mm status and error code @a VL6180x_RangeData_t \n
* Based on configuration selected extra measures are included.
*
* @warning should not be used in continuous if wrap around filter is active \n
* Does not perform any wait nor check for result availability or validity.
*\sa VL6180x_RangeGetResult for "range only" measurement
*
* @param pRangeData Pointer to the data structure to fill up
* @return 0 on success
*/
int RangeGetMeasurement(VL53L0X_RangingMeasurementData_t *pRangeData)
{
// return VL6180x_RangeGetMeasurement(Device, pRangeData);
return 1;
}
/**
* @brief Get ranging result and only that
*
* @par Function Description
* Unlike @a VL6180x_RangeGetMeasurement() this function only retrieves the range in millimeter \n
* It does any required up-scale translation\n
* It can be called after success status polling or in interrupt mode \n
* @warning these function is not doing wrap around filtering \n
* This function doesn't perform any data ready check!
*
* @param pRange_mm Pointer to range distance
* @return 0 on success
*/
virtual int get_distance(uint32_t *piData)
{
int status=0;
VL53L0X_RangingMeasurementData_t pRangingMeasurementData;
status=StartMeasurement(range_single_shot_polling, NULL);
if (!status) {
status=GetMeasurement(range_single_shot_polling, &pRangingMeasurementData);
}
if (pRangingMeasurementData.RangeStatus == 0) {
// we have a valid range.
*piData = pRangingMeasurementData.RangeMilliMeter;
}
else {
*piData = 0;
status = VL53L0X_ERROR_RANGE_ERROR;
}
StopMeasurement(range_single_shot_polling);
return status;
}
/* Deprecated funtion from RangeSensor class. For backward compatibility*/
virtual int GetDistance(uint32_t *piData)
{
return get_distance(piData);
}
/**
* @brief Configure ranging interrupt reported to application
*
* @param ConfigGpioInt Select ranging report\n select one (and only one) of:\n
* @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
* @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
* @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
* @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
* @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
* @return 0 on success
*/
int RangeConfigInterrupt(uint8_t ConfigGpioInt)
{
int status;
if( ConfigGpioInt<= VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY)
{
status = VL53L0X_UpdateByte(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~(0x7<<0)), ConfigGpioInt);
}
else
{
status = 1;
}
// return VL6180x_RangeConfigInterrupt(Device, ConfigGpioInt);
return status;
}
/**
* @brief Return ranging error interrupt status
*
* @par Function Description
* Appropriate Interrupt report must have been selected first by @a VL6180x_RangeConfigInterrupt() or @a VL6180x_Prepare() \n
*
* Can be used in polling loop to wait for a given ranging event or in interrupt to read the trigger \n
* Events triggers are : \n
* @a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n
* @a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n
* @a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n (RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD|RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
* @a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY \n
*
* @sa IntrStatus_t
* @param pIntStatus Pointer to status variable to update
* @return 0 on success
*/
int RangeGetInterruptStatus(uint8_t *pIntStatus)
{
// return VL6180x_RangeGetInterruptStatus(Device, pIntStatus);
return 1;
}
/**
* @brief Low level ranging and ALS register static settings (you should call @a VL6180x_Prepare() function instead)
*
* @return 0 on success
*/
int StaticInit()
{
// return VL6180x_StaticInit(Device);
return 1;
}
/**
* @brief Wait for device to be ready (before a new ranging command can be issued by application)
* @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop
* @return 0 on success. <0 when fail \n
* @ref VL6180x_ErrCode_t::TIME_OUT for time out \n
* @ref VL6180x_ErrCode_t::INVALID_PARAMS if MaxLop<1
*/
int RangeWaitDeviceReady(int MaxLoop )
{
// return VL6180x_RangeWaitDeviceReady(Device, MaxLoop);
return 1;
}
/**
* @brief Program Inter measurement period (used only in continuous mode)
*
* @par Function Description
* When trying to set too long time, it returns #INVALID_PARAMS
*
* @param InterMeasTime_msec Requires inter-measurement time in msec
* @return 0 on success
*/
int RangeSetInterMeasPeriod(uint32_t InterMeasTime_msec)
{
// return VL6180x_RangeSetInterMeasPeriod(Device, InterMeasTime_msec);
return 1;
}
/**
* @brief Set device ranging scaling factor
*
* @par Function Description
* The ranging scaling factor is applied on the raw distance measured by the device to increase operating ranging at the price of the precision.
* Changing the scaling factor when device is not in f/w standby state (free running) is not safe.
* It can be source of spurious interrupt, wrongly scaled range etc ...
* @warning __This function doesns't update high/low threshold and other programmed settings linked to scaling factor__.
* To ensure proper operation, threshold and scaling changes should be done following this procedure: \n
* @li Set Group hold : @a VL6180x_SetGroupParamHold() \n
* @li Get Threshold @a VL6180x_RangeGetThresholds() \n
* @li Change scaling : @a VL6180x_UpscaleSetScaling() \n
* @li Set Threshold : @a VL6180x_RangeSetThresholds() \n
* @li Unset Group Hold : @a VL6180x_SetGroupParamHold()
*
* @param scaling Scaling factor to apply (1,2 or 3)
* @return 0 on success when up-scale support is not configured it fail for any
* scaling than the one statically configured.
*/
int UpscaleSetScaling(uint8_t scaling)
{
// return VL6180x_UpscaleSetScaling(Device, scaling);
return 1;
}
/**
* @brief Get current ranging scaling factor
*
* @return The current scaling factor
*/
int UpscaleGetScaling()
{
// return VL6180x_UpscaleGetScaling(Device);
return 1;
}
/**
* @brief Get the maximal distance for actual scaling
* @par Function Description
* Do not use prior to @a VL6180x_Prepare() or at least @a VL6180x_InitData()
*
* Any range value more than the value returned by this function is to be considered as "no target detected"
* or "no target in detectable range" \n
* @warning The maximal distance depends on the scaling
*
* @return The maximal range limit for actual mode and scaling
*/
uint16_t GetUpperLimit()
{
// return VL6180x_GetUpperLimit(Device);
return 1;
}
/**
* @brief Apply low and high ranging thresholds that are considered only in continuous mode
*
* @par Function Description
* This function programs low and high ranging thresholds that are considered in continuous mode :
* interrupt will be raised only when an object is detected at a distance inside this [low:high] range.
* The function takes care of applying current scaling factor if any.\n
* To be safe, in continuous operation, thresholds must be changed under "group parameter hold" cover.
* Group hold can be activated/deactivated directly in the function or externally (then set 0)
* using /a VL6180x_SetGroupParamHold() function.
*
* @param low Low threshold in mm
* @param high High threshold in mm
* @param SafeHold Use of group parameters hold to surround threshold programming.
* @return 0 On success
*/
int RangeSetThresholds(uint16_t low, uint16_t high, int SafeHold)
{
// return VL6180x_RangeSetThresholds(Device, low, high, SafeHold);
return 1;
}
/**
* @brief Get scaled high and low threshold from device
*
* @par Function Description
* Due to scaling factor, the returned value may be different from what has been programmed first (precision lost).
* For instance VL6180x_RangeSetThresholds(dev,11,22) with scale 3
* will read back 9 ((11/3)x3) and 21 ((22/3)x3).
*
* @param low scaled low Threshold ptr can be NULL if not needed
* @param high scaled High Threshold ptr can be NULL if not needed
* @return 0 on success, return value is undefined if both low and high are NULL
* @warning return value is undefined if both low and high are NULL
*/
int RangeGetThresholds(uint16_t *low, uint16_t *high)
{
// return VL6180x_RangeGetThresholds(Device, low, high);
return 1;
}
/**
* @brief Set ranging raw thresholds (scaling not considered so not recommended to use it)
*
* @param low raw low threshold set to raw register
* @param high raw high threshold set to raw register
* @return 0 on success
*/
int RangeSetRawThresholds(uint8_t low, uint8_t high)
{
// return VL6180x_RangeSetRawThresholds(Device, low, high);
return 1;
}
/**
* @brief Set Early Convergence Estimate ratio
* @par Function Description
* For more information on ECE check datasheet
* @warning May return a calibration warning in some use cases
*
* @param FactorM ECE factor M in M/D
* @param FactorD ECE factor D in M/D
* @return 0 on success. <0 on error. >0 on warning
*/
int RangeSetEceFactor(uint16_t FactorM, uint16_t FactorD)
{
// return VL6180x_RangeSetEceFactor(Device, FactorM, FactorD);
return 1;
}
/**
* @brief Set Early Convergence Estimate state (See #SYSRANGE_RANGE_CHECK_ENABLES register)
* @param enable State to be set 0=disabled, otherwise enabled
* @return 0 on success
*/
int RangeSetEceState(int enable)
{
// return VL6180x_RangeSetEceState(Device, enable);
return 1;
}
/**
* @brief Set activation state of the wrap around filter
* @param state New activation state (0=off, otherwise on)
* @return 0 on success
*/
int FilterSetState(int state)
{
// return VL6180x_FilterSetState(Device, state);
return 1;
}
/**
* Get activation state of the wrap around filter
* @return Filter enabled or not, when filter is not supported it always returns 0S
*/
int FilterGetState()
{
// return VL6180x_FilterGetState(Device);
return 1;
}
/**
* @brief Set activation state of DMax computation
* @param state New activation state (0=off, otherwise on)
* @return 0 on success
*/
int DMaxSetState(int state)
{
// return VL6180x_DMaxSetState(Device, state);
return 1;
}
/**
* Get activation state of DMax computation
* @return Filter enabled or not, when filter is not supported it always returns 0S
*/
int DMaxGetState()
{
// return VL6180x_DMaxGetState(Device);
return 1;
}
/**
* @brief Set ranging mode and start/stop measure (use high level functions instead : @a VL6180x_RangeStartSingleShot() or @a VL6180x_RangeStartContinuousMode())
*
* @par Function Description
* When used outside scope of known polling single shot stopped state, \n
* user must ensure the device state is "idle" before to issue a new command.
*
* @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start/stop condition (#MODE_START_STOP) \n
* @return 0 on success
*/
int RangeSetSystemMode(uint8_t mode)
{
int status;
/* FIXME we are not checking device is ready via @a VL6180X_RangeWaitDeviceReady
* so if called back to back real fast we are not checking
* if previous mode "set" got absorbed => bit 0 must be 0 so that it work
*/
if( mode <= 3){
status=VL53L0X_WrByte(Device, VL53L0X_REG_SYSRANGE_START, mode);
if( status ){
VL53L0X_ErrLog("SYSRANGE_START wr fail");
}
}
else{
status = 1;
}
return status;
// return VL6180x_RangeSetSystemMode(Device, mode);
// return 1;
}
/** @} */
/** @defgroup api_ll_range_calibration Ranging calibration functions
* @brief Ranging calibration functions
* @ingroup api_ll
* @{
*/
/**
* @brief Get part to part calibration offset
*
* @par Function Description
* Should only be used after a successful call to @a VL6180x_InitData to backup device nvm value
*
* @return part to part calibration offset from device
*/
int8_t GetOffsetCalibrationData()
{
// return VL6180x_GetOffsetCalibrationData(Device);
return 1;
}
/**
* Set or over-write part to part calibration offset
* \sa VL6180x_InitData(), VL6180x_GetOffsetCalibrationData()
* @param offset Offset
*/
void SetOffsetCalibrationData(int8_t offset)
{
// return VL6180x_SetOffsetCalibrationData(Device, offset);
return;
}
/**
* @brief Set Cross talk compensation rate
*
* @par Function Description
* It programs register @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE
*
* @param Rate Compensation rate (9.7 fix point) see datasheet for details
* @return 0 on success
*/
int SetXTalkCompensationRate(uint16_t Rate)
{
// return VL6180x_SetXTalkCompensationRate(Device, Rate);
return 1;
}
/** @} */
/**
* @brief Set new device i2c address
*
* After completion the device will answer to the new address programmed.
*
* @sa AN4478: Using multiple VL6180X's in a single design
* @param NewAddr The new i2c address (7bit)
* @return 0 on success
*/
int SetDeviceAddress(int NewAddr)
{
int status;
status=VL53L0X_SetDeviceAddress(Device, NewAddr);
if(!status)
Device->I2cDevAddr=NewAddr;
return status;
}
/**
* @brief Fully configure gpio 0/1 pin : polarity and functionality
*
* @param pin gpio pin 0 or 1
* @param IntFunction Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
* @param ActiveHigh Set active high polarity, or active low see @a ::IntrPol_e
* @return 0 on success
*/
int SetupGPIOx(int pin, uint8_t IntFunction, int ActiveHigh)
{
// return VL6180x_SetupGPIOx(Device, pin, IntFunction, ActiveHigh);
return 1;
}
/**
* @brief Set interrupt pin polarity for the given GPIO
*
* @param pin Pin 0 or 1
* @param active_high select active high or low polarity using @ref IntrPol_e
* @return 0 on success
*/
int SetGPIOxPolarity(int pin, int active_high)
{
// return VL6180x_SetGPIOxPolarity(Device, pin, active_high);
return 1;
}
/**
* Select interrupt functionality for the given GPIO
*
* @par Function Description
* Functionality refer to @a SYSTEM_MODE_GPIO0
*
* @param pin Pin to configure 0 or 1 (gpio0 or gpio1)\nNote that gpio0 is chip enable at power up !
* @param functionality Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
* @return 0 on success
*/
int SetGPIOxFunctionality(int pin, uint8_t functionality)
{
// return VL6180x_SetGPIOxFunctionality(Device, pin, functionality);
return 1;
}
/**
* #brief Disable and turn to Hi-Z gpio output pin
*
* @param pin The pin number to disable 0 or 1
* @return 0 on success
*/
int DisableGPIOxOut(int pin)
{
// return VL6180x_DisableGPIOxOut(Device, pin);
return 1;
}
/** @} */
/** @defgroup api_ll_intr Interrupts management functions
* @brief Interrupts management functions
* @ingroup api_ll
* @{
*/
/**
* @brief Get all interrupts cause
*
* @param status Ptr to interrupt status. You can use @a IntrStatus_t::val
* @return 0 on success
*/
int GetInterruptStatus(uint8_t *status)
{
// return VL6180x_GetInterruptStatus(Device, status);
return 1;
}
/**
* @brief Clear given system interrupt condition
*
* @par Function Description
* Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register.
* @param dev The device
* @param IntClear Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR.
* @return 0 On success
*/
int ClearInterrupt(uint8_t IntClear)
{
int status = VL53L0X_WrByte(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, IntClear);
// return VL6180x_ClearInterrupt(Device, IntClear );
return status;
}
/**
* @brief Clear error interrupt
*
* @param dev The device
* @return 0 On success
*/
#define VL6180x_ClearErrorInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR)
/**
* @brief Clear All interrupt causes (als+range+error)
*
* @param dev The device
* @return 0 On success
*/
#define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
private:
/* api.h functions */
VL53L0X_Error VL53L0X_DataInit(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_GetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, int32_t *pOffsetCalibrationDataMicroMeter);
VL53L0X_Error VL53L0X_SetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev,
int32_t OffsetCalibrationDataMicroMeter);
VL53L0X_Error VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev,
VL53L0X_DeviceParameters_t *pDeviceParameters);
VL53L0X_Error VL53L0X_GetDeviceMode(VL53L0X_DEV Dev,
VL53L0X_DeviceModes *pDeviceMode);
VL53L0X_Error VL53L0X_GetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev,
uint32_t *pInterMeasurementPeriodMilliSeconds);
VL53L0X_Error VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev,
FixPoint1616_t *pXTalkCompensationRateMegaCps);
VL53L0X_Error VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
FixPoint1616_t *pLimitCheckValue);
VL53L0X_Error VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
uint8_t *pLimitCheckEnable);
VL53L0X_Error VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev,
uint8_t *pWrapAroundCheckEnable);
VL53L0X_Error VL53L0X_GetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
uint32_t *pMeasurementTimingBudgetMicroSeconds);
VL53L0X_Error VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev,
VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps);
VL53L0X_Error sequence_step_enabled(VL53L0X_DEV Dev,
VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig,
uint8_t *pSequenceStepEnabled);
VL53L0X_Error VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev,
VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK);
VL53L0X_Error VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev,
VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
VL53L0X_Error VL53L0X_StaticInit(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev,
uint8_t *pMeasurementDataReady);
VL53L0X_Error VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev,
uint32_t *pInterruptMaskStatus);
VL53L0X_Error VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask);
VL53L0X_Error VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev,
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData);
VL53L0X_Error VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, VL53L0X_DeviceModes DeviceMode);
VL53L0X_Error VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_StartMeasurement(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_CheckAndLoadInterruptSettings(VL53L0X_DEV Dev,
uint8_t StartNotStopFlag);
VL53L0X_Error VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev,
VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow,
FixPoint1616_t *pThresholdHigh);
VL53L0X_Error VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev,
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData);
VL53L0X_Error VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev,
uint8_t *pXTalkCompensationEnable);
VL53L0X_Error VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings,
uint8_t *pPhaseCal);
VL53L0X_Error VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev,
uint32_t *refSpadCount, uint8_t *isApertureSpads);
VL53L0X_Error VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, uint8_t DeviceAddress);
VL53L0X_Error VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin,
VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality,
VL53L0X_InterruptPolarity Polarity);
VL53L0X_Error VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, uint8_t *pEnabled);
VL53L0X_Error VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev,
VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled);
VL53L0X_Error VL53L0X_SetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
uint32_t MeasurementTimingBudgetMicroSeconds);
VL53L0X_Error VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
uint8_t LimitCheckEnable);
VL53L0X_Error VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
FixPoint1616_t LimitCheckValue);
VL53L0X_Error VL53L0X_StopMeasurement(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev,
uint32_t *pStopStatus);
VL53L0X_Error VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev,
VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriod);
/* api_core.h functions */
VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option);
VL53L0X_Error VL53L0X_device_read_strobe(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev,
uint32_t *pMeasurementTimingBudgetMicroSeconds);
VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev,
VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK);
uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg);
uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout);
uint32_t VL53L0X_calc_timeout_us(VL53L0X_DEV Dev,
uint16_t timeout_period_mclks,
uint8_t vcsel_period_pclks);
uint32_t VL53L0X_calc_macro_period_ps(VL53L0X_DEV Dev, uint8_t vcsel_period_pclks);
VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV Dev,
uint8_t *pTuningSettingBuffer);
VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV Dev,
uint8_t DeviceRangeStatus,
FixPoint1616_t SignalRate,
uint16_t EffectiveSpadRtnCount,
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
uint8_t *pPalRangeStatus);
VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev,
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
FixPoint1616_t *pSigmaEstimate,
uint32_t *pDmax_mm);
VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev,
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
FixPoint1616_t *ptotal_signal_rate_mcps);
VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev,
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
FixPoint1616_t *ptotal_xtalk_rate_mcps);
uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev,
uint32_t timeout_period_us,
uint8_t vcsel_period_pclks);
uint32_t VL53L0X_isqrt(uint32_t num);
VL53L0X_Error VL53L0X_calc_dmax(
VL53L0X_DEV Dev,
FixPoint1616_t totalSignalRate_mcps,
FixPoint1616_t totalCorrSignalRate_mcps,
FixPoint1616_t pwMult,
uint32_t sigmaEstimateP1,
FixPoint1616_t sigmaEstimateP2,
uint32_t peakVcselDuration_us,
uint32_t *pdmax_mm);
VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev,
uint32_t MeasurementTimingBudgetMicroSeconds);
VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV Dev,
VL53L0X_SequenceStepId SequenceStepId,
uint32_t *pTimeOutMicroSecs);
VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV Dev,
VL53L0X_SequenceStepId SequenceStepId,
uint32_t TimeOutMicroSecs);
uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks);
VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev,
VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK);
uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks);
/* api_calibration.h functions */
VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
int32_t *pOffsetCalibrationDataMicroMeter);
VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
int32_t OffsetCalibrationDataMicroMeter);
VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev,
uint32_t *refSpadCount,
uint8_t *isApertureSpads);
VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev,
uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable);
VL53L0X_Error VL53L0X_perform_vhv_calibration(VL53L0X_DEV Dev,
uint8_t *pVhvSettings, const uint8_t get_data_enable,
const uint8_t restore_config);
VL53L0X_Error VL53L0X_perform_single_ref_calibration(VL53L0X_DEV Dev,
uint8_t vhv_init_byte);
VL53L0X_Error VL53L0X_ref_calibration_io(VL53L0X_DEV Dev, uint8_t read_not_write,
uint8_t VhvSettings, uint8_t PhaseCal,
uint8_t *pVhvSettings, uint8_t *pPhaseCal,
const uint8_t vhv_enable, const uint8_t phase_enable);
VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev,
uint8_t *pPhaseCal, const uint8_t get_data_enable,
const uint8_t restore_config);
VL53L0X_Error enable_ref_spads(VL53L0X_DEV Dev,
uint8_t apertureSpads,
uint8_t goodSpadArray[],
uint8_t spadArray[],
uint32_t size,
uint32_t start,
uint32_t offset,
uint32_t spadCount,
uint32_t *lastSpad);
void get_next_good_spad(uint8_t goodSpadArray[], uint32_t size,
uint32_t curr, int32_t *next);
uint8_t is_aperture(uint32_t spadIndex);
VL53L0X_Error enable_spad_bit(uint8_t spadArray[], uint32_t size,
uint32_t spadIndex);
VL53L0X_Error set_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray);
VL53L0X_Error get_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray);
VL53L0X_Error perform_ref_signal_measurement(VL53L0X_DEV Dev,
uint16_t *refSignalRate);
VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV Dev,
uint32_t count, uint8_t isApertureSpads);
/* api_strings.h functions */
VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV Dev,
VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
VL53L0X_Error VL53L0X_check_part_used(VL53L0X_DEV Dev,
uint8_t *Revision,
VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
/* deprecated Read function from Component class for backward compatibility*/
// virtual int ReadID();
virtual int ReadID(uint8_t *id);
/* Read function of the ID device */
// virtual int read_id();
virtual int read_id(uint8_t *id);
VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev);
VL53L0X_Error WaitStopCompleted(VL53L0X_DEV Dev);
/* Write and read functions from I2C */
VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV dev, uint8_t index, uint8_t data);
VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV dev, uint8_t index, uint16_t data);
VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV dev, uint8_t index, uint32_t data);
VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV dev, uint8_t index, uint8_t *data);
VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV dev, uint8_t index, uint16_t *data);
VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV dev, uint8_t index, uint32_t *data);
VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV dev, uint8_t index, uint8_t AndData, uint8_t OrData);
VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
VL53L0X_Error VL53L0X_I2CWrite(uint8_t dev, uint8_t index, uint8_t *data, uint16_t number_of_bytes);
VL53L0X_Error VL53L0X_I2CRead(uint8_t dev, uint8_t index, uint8_t *data, uint16_t number_of_bytes);
VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev); /* usually best implemented as a real function */
int IsPresent()
{
int status;
uint8_t id=0;
status=ReadID(&id);
if(status)
VL53L0X_ErrLog("Failed to read ID device. Device not present!\n\r");
return status;
}
int StopRangeMeasurement(OperatingMode operating_mode);
int GetRangeMeas(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
int RangeSetLowThreshold(uint16_t threshold);
int RangeSetHighThreshold(uint16_t threshold);
int GetRangeError(VL53L0X_RangingMeasurementData_t *Data, VL53L0X_RangingMeasurementData_t RangeData);
int RangeMeasPollSingleShot();
int RangeMeasPollContinuousMode();
int RangeMeasIntContinuousMode(void (*fptr)(void));
VL53L0X_DeviceInfo_t DeviceInfo;
/* IO Device */
DevI2C &dev_i2c;
/* Digital out pin */
DigitalOut *gpio0;
/* GPIO expander */
STMPE1600DigiOut *expgpio0;
/* Measure detection IRQ */
InterruptIn *gpio1Int;
/* Device data */
VL53L0X_Dev_t MyDevice;
VL53L0X_DEV Device;
};
#endif /* _VL53L0X_CLASS_H_ */