Jesi Miranda / VL53L1X_Filter

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VL53L1X.cpp@4:2cf917e98dbd, 2019-08-20 (annotated)

Committer:
JesiMiranda
Date:
Tue Aug 20 22:24:11 2019 +0000
Revision:
4:2cf917e98dbd
Parent:
2:ee9bc2e6dffd 
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jvfausto 0:617f20c6b21d 1 // Most of the functionality of this library is based on the VL53L1X API
jvfausto 0:617f20c6b21d 2 // provided by ST (STSW-IMG007), and some of the explanatory comments are quoted
jvfausto 0:617f20c6b21d 3 // or paraphrased from the API source code, API user manual (UM2356), and
jvfausto 0:617f20c6b21d 4 // VL53L1X datasheet.
jvfausto 0:617f20c6b21d 5
jvfausto 0:617f20c6b21d 6 #include "VL53L1X.h"
jvfausto 0:617f20c6b21d 7 #include "mbed.h"
jvfausto 0:617f20c6b21d 8
jvfausto 0:617f20c6b21d 9 // Constructors ////////////////////////////////////////////////////////////////
jvfausto 0:617f20c6b21d 10 VL53L1X::VL53L1X(PinName SDA, PinName SCL, PinName shutDown) :
jvfausto 0:617f20c6b21d 11 _i2c(SDA,SCL), _shutDown(shutDown)
jvfausto 0:617f20c6b21d 12 , io_timeout(0) // no timeout
jvfausto 0:617f20c6b21d 13 , did_timeout(false)
jvfausto 0:617f20c6b21d 14 , calibrated(false)
jvfausto 0:617f20c6b21d 15 , saved_vhv_init(0)
jvfausto 0:617f20c6b21d 16 , saved_vhv_timeout(0)
JesiMiranda 4:2cf917e98dbd 17 , distance_mode(Unknown)
JesiMiranda 4:2cf917e98dbd 18 {
jvfausto 0:617f20c6b21d 19 //Set I2C fast and bring reset line high
jvfausto 0:617f20c6b21d 20 _i2c.frequency(400000);
jvfausto 0:617f20c6b21d 21 address = AddressDefault << 1;
jvfausto 0:617f20c6b21d 22 turnOff();
jvfausto 0:617f20c6b21d 23 }
jvfausto 0:617f20c6b21d 24
jvfausto 0:617f20c6b21d 25 /*VL53L1X::VL53L1X()
jvfausto 0:617f20c6b21d 26 : address(AddressDefault)
jvfausto 0:617f20c6b21d 27 {
jvfausto 0:617f20c6b21d 28 }*/
jvfausto 0:617f20c6b21d 29
jvfausto 0:617f20c6b21d 30 // Public Methods //////////////////////////////////////////////////////////////
jvfausto 0:617f20c6b21d 31
jvfausto 0:617f20c6b21d 32 void VL53L1X::setAddress(uint8_t new_addr)
jvfausto 0:617f20c6b21d 33 {
jvfausto 0:617f20c6b21d 34 writeReg(I2C_SLAVE__DEVICE_ADDRESS, new_addr & 0x7F);
jvfausto 0:617f20c6b21d 35 wait(.01);
jvfausto 1:0038ad0a63af 36 ////printf("%x\r\n", readReg(I2C_SLAVE__DEVICE_ADDRESS));
jvfausto 0:617f20c6b21d 37 address = new_addr << 1;
jvfausto 0:617f20c6b21d 38 }
jvfausto 0:617f20c6b21d 39
jvfausto 0:617f20c6b21d 40 // Initialize sensor using settings taken mostly from VL53L1_DataInit() and
jvfausto 0:617f20c6b21d 41 // VL53L1_StaticInit().
jvfausto 0:617f20c6b21d 42 // If io_2v8 (optional) is true or not given, the sensor is configured for 2V8
jvfausto 0:617f20c6b21d 43 // mode.
jvfausto 0:617f20c6b21d 44 bool VL53L1X::init(bool io_2v8)
jvfausto 0:617f20c6b21d 45 {
jvfausto 0:617f20c6b21d 46 // check model ID and module type registers (values specified in datasheet)
jvfausto 0:617f20c6b21d 47 int tempRegister = readReg16Bit(IDENTIFICATION__MODEL_ID);
jvfausto 2:ee9bc2e6dffd 48 printf("temporary %x\r\n", tempRegister);
jvfausto 0:617f20c6b21d 49 if (tempRegister != 0xEACC) {
jvfausto 0:617f20c6b21d 50 return false;
jvfausto 0:617f20c6b21d 51 }
jvfausto 0:617f20c6b21d 52
jvfausto 0:617f20c6b21d 53 // VL53L1_software_reset() begin
jvfausto 0:617f20c6b21d 54
jvfausto 0:617f20c6b21d 55 writeReg(SOFT_RESET, 0x00);
jvfausto 0:617f20c6b21d 56 wait(.001);
jvfausto 0:617f20c6b21d 57 writeReg(SOFT_RESET, 0x01);
jvfausto 0:617f20c6b21d 58
jvfausto 0:617f20c6b21d 59 // VL53L1_poll_for_boot_completion() begin
jvfausto 0:617f20c6b21d 60
jvfausto 0:617f20c6b21d 61 startTimeout();
jvfausto 0:617f20c6b21d 62 int firmware = (readReg16Bit(FIRMWARE__SYSTEM_STATUS));
jvfausto 1:0038ad0a63af 63 //printf("firmware : %x\r\n", firmware);
jvfausto 0:617f20c6b21d 64 while ((readReg(FIRMWARE__SYSTEM_STATUS) & 0x01) == 0)
jvfausto 0:617f20c6b21d 65 {
jvfausto 1:0038ad0a63af 66 //printf("stuck\r\n");
jvfausto 0:617f20c6b21d 67 if (checkTimeoutExpired())
jvfausto 0:617f20c6b21d 68 {
jvfausto 0:617f20c6b21d 69 did_timeout = true;
jvfausto 0:617f20c6b21d 70 return false;
jvfausto 0:617f20c6b21d 71 }
jvfausto 0:617f20c6b21d 72 }
jvfausto 2:ee9bc2e6dffd 73
jvfausto 0:617f20c6b21d 74 // VL53L1_poll_for_boot_completion() end
jvfausto 0:617f20c6b21d 75
jvfausto 0:617f20c6b21d 76 // VL53L1_software_reset() end
jvfausto 0:617f20c6b21d 77
jvfausto 0:617f20c6b21d 78 // VL53L1_DataInit() begin
jvfausto 0:617f20c6b21d 79
jvfausto 0:617f20c6b21d 80 // sensor uses 1V8 mode for I/O by default; switch to 2V8 mode if necessary
jvfausto 0:617f20c6b21d 81 if (io_2v8)
jvfausto 0:617f20c6b21d 82 {
jvfausto 0:617f20c6b21d 83 writeReg(PAD_I2C_HV__EXTSUP_CONFIG,
jvfausto 0:617f20c6b21d 84 readReg(PAD_I2C_HV__EXTSUP_CONFIG) | 0x01);
jvfausto 0:617f20c6b21d 85 }
jvfausto 0:617f20c6b21d 86
jvfausto 0:617f20c6b21d 87 // store oscillator info for later use
jvfausto 0:617f20c6b21d 88 fast_osc_frequency = readReg16Bit(OSC_MEASURED__FAST_OSC__FREQUENCY);
jvfausto 0:617f20c6b21d 89 osc_calibrate_val = readReg16Bit(RESULT__OSC_CALIBRATE_VAL);
jvfausto 0:617f20c6b21d 90
jvfausto 0:617f20c6b21d 91 // VL53L1_DataInit() end
jvfausto 0:617f20c6b21d 92
jvfausto 0:617f20c6b21d 93 // VL53L1_StaticInit() begin
jvfausto 0:617f20c6b21d 94
jvfausto 0:617f20c6b21d 95 // Note that the API does not actually apply the configuration settings below
jvfausto 0:617f20c6b21d 96 // when VL53L1_StaticInit() is called: it keeps a copy of the sensor's
jvfausto 0:617f20c6b21d 97 // register contents in memory and doesn't actually write them until a
jvfausto 0:617f20c6b21d 98 // measurement is started. Writing the configuration here means we don't have
jvfausto 0:617f20c6b21d 99 // to keep it all in memory and avoids a lot of redundant writes later.
jvfausto 0:617f20c6b21d 100
jvfausto 0:617f20c6b21d 101 // the API sets the preset mode to LOWPOWER_AUTONOMOUS here:
jvfausto 0:617f20c6b21d 102 // VL53L1_set_preset_mode() begin
jvfausto 0:617f20c6b21d 103
jvfausto 0:617f20c6b21d 104 // VL53L1_preset_mode_standard_ranging() begin
jvfausto 0:617f20c6b21d 105
jvfausto 0:617f20c6b21d 106 // values labeled "tuning parm default" are from vl53l1_tuning_parm_defaults.h
jvfausto 0:617f20c6b21d 107 // (API uses these in VL53L1_init_tuning_parm_storage_struct())
jvfausto 0:617f20c6b21d 108
jvfausto 0:617f20c6b21d 109 // static config
jvfausto 0:617f20c6b21d 110 // API resets PAD_I2C_HV__EXTSUP_CONFIG here, but maybe we don't want to do
jvfausto 0:617f20c6b21d 111 // that? (seems like it would disable 2V8 mode)
jvfausto 0:617f20c6b21d 112 writeReg16Bit(DSS_CONFIG__TARGET_TOTAL_RATE_MCPS, TargetRate); // should already be this value after reset
jvfausto 0:617f20c6b21d 113 writeReg(GPIO__TIO_HV_STATUS, 0x02);
jvfausto 0:617f20c6b21d 114 writeReg(SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS, 8); // tuning parm default
jvfausto 0:617f20c6b21d 115 writeReg(SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS, 16); // tuning parm default
jvfausto 0:617f20c6b21d 116 writeReg(ALGO__CROSSTALK_COMPENSATION_VALID_HEIGHT_MM, 0x01);
jvfausto 0:617f20c6b21d 117 writeReg(ALGO__RANGE_IGNORE_VALID_HEIGHT_MM, 0xFF);
jvfausto 0:617f20c6b21d 118 writeReg(ALGO__RANGE_MIN_CLIP, 0); // tuning parm default
jvfausto 0:617f20c6b21d 119 writeReg(ALGO__CONSISTENCY_CHECK__TOLERANCE, 2); // tuning parm default
jvfausto 0:617f20c6b21d 120
jvfausto 0:617f20c6b21d 121 // general config
jvfausto 0:617f20c6b21d 122 writeReg16Bit(SYSTEM__THRESH_RATE_HIGH, 0x0000);
jvfausto 0:617f20c6b21d 123 writeReg16Bit(SYSTEM__THRESH_RATE_LOW, 0x0000);
jvfausto 0:617f20c6b21d 124 writeReg(DSS_CONFIG__APERTURE_ATTENUATION, 0x38);
jvfausto 0:617f20c6b21d 125
jvfausto 0:617f20c6b21d 126 // timing config
jvfausto 0:617f20c6b21d 127 // most of these settings will be determined later by distance and timing
jvfausto 0:617f20c6b21d 128 // budget configuration
jvfausto 0:617f20c6b21d 129 writeReg16Bit(RANGE_CONFIG__SIGMA_THRESH, 360); // tuning parm default
jvfausto 0:617f20c6b21d 130 writeReg16Bit(RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, 192); // tuning parm default
jvfausto 0:617f20c6b21d 131
jvfausto 0:617f20c6b21d 132 // dynamic config
jvfausto 0:617f20c6b21d 133
jvfausto 0:617f20c6b21d 134 writeReg(SYSTEM__GROUPED_PARAMETER_HOLD_0, 0x01);
jvfausto 0:617f20c6b21d 135 writeReg(SYSTEM__GROUPED_PARAMETER_HOLD_1, 0x01);
jvfausto 0:617f20c6b21d 136 writeReg(SD_CONFIG__QUANTIFIER, 2); // tuning parm default
jvfausto 0:617f20c6b21d 137
jvfausto 0:617f20c6b21d 138 // VL53L1_preset_mode_standard_ranging() end
jvfausto 0:617f20c6b21d 139
jvfausto 0:617f20c6b21d 140 // from VL53L1_preset_mode_timed_ranging_*
jvfausto 0:617f20c6b21d 141 // GPH is 0 after reset, but writing GPH0 and GPH1 above seem to set GPH to 1,
jvfausto 0:617f20c6b21d 142 // and things don't seem to work if we don't set GPH back to 0 (which the API
jvfausto 0:617f20c6b21d 143 // does here).
jvfausto 0:617f20c6b21d 144 writeReg(SYSTEM__GROUPED_PARAMETER_HOLD, 0x00);
jvfausto 0:617f20c6b21d 145 writeReg(SYSTEM__SEED_CONFIG, 1); // tuning parm default
jvfausto 0:617f20c6b21d 146
jvfausto 0:617f20c6b21d 147 // from VL53L1_config_low_power_auto_mode
jvfausto 0:617f20c6b21d 148 writeReg(SYSTEM__SEQUENCE_CONFIG, 0x8B); // VHV, PHASECAL, DSS1, RANGE
jvfausto 0:617f20c6b21d 149 writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 200 << 8);
jvfausto 0:617f20c6b21d 150 writeReg(DSS_CONFIG__ROI_MODE_CONTROL, 2); // REQUESTED_EFFFECTIVE_SPADS
jvfausto 0:617f20c6b21d 151
jvfausto 0:617f20c6b21d 152 // VL53L1_set_preset_mode() end
jvfausto 0:617f20c6b21d 153
jvfausto 0:617f20c6b21d 154 // default to long range, 50 ms timing budget
jvfausto 0:617f20c6b21d 155 // note that this is different than what the API defaults to
jvfausto 1:0038ad0a63af 156 setDistanceMode(Long);
jvfausto 0:617f20c6b21d 157 setMeasurementTimingBudget(50000);
jvfausto 0:617f20c6b21d 158
jvfausto 0:617f20c6b21d 159 // VL53L1_StaticInit() end
jvfausto 0:617f20c6b21d 160
jvfausto 0:617f20c6b21d 161 // the API triggers this change in VL53L1_init_and_start_range() once a
jvfausto 0:617f20c6b21d 162 // measurement is started; assumes MM1 and MM2 are disabled
jvfausto 0:617f20c6b21d 163 writeReg16Bit(ALGO__PART_TO_PART_RANGE_OFFSET_MM,
jvfausto 0:617f20c6b21d 164 readReg16Bit(MM_CONFIG__OUTER_OFFSET_MM) * 4);
jvfausto 0:617f20c6b21d 165 t.start();
jvfausto 0:617f20c6b21d 166 return true;
jvfausto 0:617f20c6b21d 167 }
jvfausto 0:617f20c6b21d 168
jvfausto 0:617f20c6b21d 169 // Write an 8-bit register
jvfausto 0:617f20c6b21d 170 void VL53L1X::writeReg(uint16_t registerAddr, uint8_t data)
jvfausto 0:617f20c6b21d 171 {
jvfausto 0:617f20c6b21d 172 char data_write[3];
jvfausto 0:617f20c6b21d 173 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:617f20c6b21d 174 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:617f20c6b21d 175 data_write[2] = data & 0xFF;
jvfausto 0:617f20c6b21d 176 _i2c.write(address, data_write, 3);
jvfausto 0:617f20c6b21d 177 }
jvfausto 0:617f20c6b21d 178
jvfausto 0:617f20c6b21d 179 void VL53L1X::writeReg16Bit(uint16_t registerAddr, uint16_t data)
jvfausto 0:617f20c6b21d 180 {
jvfausto 0:617f20c6b21d 181 char data_write[4];
jvfausto 0:617f20c6b21d 182 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:617f20c6b21d 183 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:617f20c6b21d 184 data_write[2] = (data >> 8) & 0xFF;
jvfausto 0:617f20c6b21d 185 data_write[3] = data & 0xFF;
jvfausto 0:617f20c6b21d 186 _i2c.write(address, data_write, 4);
jvfausto 0:617f20c6b21d 187 }
jvfausto 0:617f20c6b21d 188
jvfausto 0:617f20c6b21d 189
jvfausto 0:617f20c6b21d 190 // Write a 32-bit register
jvfausto 0:617f20c6b21d 191 /*
jvfausto 0:617f20c6b21d 192 void VL53L1X::writeReg32Bit(uint16_t registerAddr, uint32_t data)
jvfausto 0:617f20c6b21d 193 {
jvfausto 0:617f20c6b21d 194 char data_write[5];
jvfausto 0:617f20c6b21d 195 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:617f20c6b21d 196 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:617f20c6b21d 197 data_write[2] = (data >> 16) & 0xFF;
jvfausto 0:617f20c6b21d 198 data_write[3] = (data >> 8) & 0xFF;
jvfausto 0:617f20c6b21d 199 data_write[4] = data & 0xFF;
jvfausto 0:617f20c6b21d 200 _i2c.write(address, data_write, 5);
jvfausto 0:617f20c6b21d 201 }
jvfausto 0:617f20c6b21d 202 */
jvfausto 0:617f20c6b21d 203 void VL53L1X::writeReg32Bit(uint16_t registerAddr, uint32_t data)
jvfausto 0:617f20c6b21d 204 {
jvfausto 0:617f20c6b21d 205 char data_write[6];
jvfausto 0:617f20c6b21d 206 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:617f20c6b21d 207 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:617f20c6b21d 208 data_write[2] = (data >> 24) & 0xFF;
jvfausto 0:617f20c6b21d 209 data_write[3] = (data >> 16) & 0xFF;
jvfausto 0:617f20c6b21d 210 data_write[4] = (data >> 8) & 0xFF;;
jvfausto 0:617f20c6b21d 211 data_write[5] = data & 0xFF;
jvfausto 0:617f20c6b21d 212 _i2c.write(address, data_write, 6);
jvfausto 0:617f20c6b21d 213 }
jvfausto 0:617f20c6b21d 214
jvfausto 0:617f20c6b21d 215
jvfausto 0:617f20c6b21d 216 // Read an 8-bit register
jvfausto 0:617f20c6b21d 217 uint8_t VL53L1X::readReg(uint16_t registerAddr)
jvfausto 0:617f20c6b21d 218 {
jvfausto 0:617f20c6b21d 219 uint8_t data;
jvfausto 0:617f20c6b21d 220 char data_write[2];
jvfausto 0:617f20c6b21d 221 char data_read[1];
jvfausto 0:617f20c6b21d 222 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:617f20c6b21d 223 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:617f20c6b21d 224 _i2c.write(address, data_write, 2,0);
jvfausto 0:617f20c6b21d 225 _i2c.read(address,data_read,1,1);
jvfausto 0:617f20c6b21d 226 //Read Data from selected register
jvfausto 0:617f20c6b21d 227 data=data_read[0];
jvfausto 0:617f20c6b21d 228 return data;
jvfausto 0:617f20c6b21d 229 }
jvfausto 0:617f20c6b21d 230
jvfausto 0:617f20c6b21d 231 uint16_t VL53L1X::readReg16Bit(uint16_t registerAddr)
jvfausto 0:617f20c6b21d 232 {
jvfausto 0:617f20c6b21d 233 uint8_t data_low;
jvfausto 0:617f20c6b21d 234 uint8_t data_high;
jvfausto 0:617f20c6b21d 235 uint16_t data;
jvfausto 0:617f20c6b21d 236
jvfausto 0:617f20c6b21d 237 char data_write[2];
jvfausto 0:617f20c6b21d 238 char data_read[2];
jvfausto 0:617f20c6b21d 239 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:617f20c6b21d 240 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 2:ee9bc2e6dffd 241 _i2c.write(address, data_write, 2, 0);
jvfausto 2:ee9bc2e6dffd 242 _i2c.read(address,data_read,2, 1);
jvfausto 2:ee9bc2e6dffd 243 data_high = data_read[0]; //Read Data from selected register
jvfausto 2:ee9bc2e6dffd 244 data_low = data_read[1]; //Read Data from selected register
jvfausto 2:ee9bc2e6dffd 245 data = (data_high << 8)|data_low;
jvfausto 2:ee9bc2e6dffd 246
jvfausto 2:ee9bc2e6dffd 247 return data;
jvfausto 2:ee9bc2e6dffd 248 }
jvfausto 2:ee9bc2e6dffd 249 // Read a 32-bit register
jvfausto 2:ee9bc2e6dffd 250 uint32_t VL53L1X::readReg32Bit(uint16_t registerAddr)
jvfausto 2:ee9bc2e6dffd 251 {
jvfausto 2:ee9bc2e6dffd 252 uint8_t data_low;
jvfausto 2:ee9bc2e6dffd 253 uint8_t data_high;
jvfausto 2:ee9bc2e6dffd 254 uint16_t data;
jvfausto 2:ee9bc2e6dffd 255
jvfausto 2:ee9bc2e6dffd 256 char data_write[2];
jvfausto 2:ee9bc2e6dffd 257 char data_read[2];
jvfausto 2:ee9bc2e6dffd 258 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 2:ee9bc2e6dffd 259 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:617f20c6b21d 260 _i2c.write(address, data_write, 2,0);
jvfausto 0:617f20c6b21d 261 _i2c.read(address,data_read,2,1);
jvfausto 0:617f20c6b21d 262 data_high = data_read[0]; //Read Data from selected register
jvfausto 0:617f20c6b21d 263 data_low = data_read[1]; //Read Data from selected register
jvfausto 0:617f20c6b21d 264 data = (data_high << 8)|data_low;
jvfausto 2:ee9bc2e6dffd 265
jvfausto 2:ee9bc2e6dffd 266 return data;
jvfausto 2:ee9bc2e6dffd 267
jvfausto 0:617f20c6b21d 268 }
jvfausto 0:617f20c6b21d 269
jvfausto 0:617f20c6b21d 270 // set distance mode to Short, Medium, or Long
jvfausto 0:617f20c6b21d 271 // based on VL53L1_SetDistanceMode()
jvfausto 0:617f20c6b21d 272 bool VL53L1X::setDistanceMode(DistanceMode mode)
jvfausto 0:617f20c6b21d 273 {
jvfausto 0:617f20c6b21d 274 // save existing timing budget
jvfausto 0:617f20c6b21d 275 uint32_t budget_us = getMeasurementTimingBudget();
jvfausto 0:617f20c6b21d 276 switch (mode)
jvfausto 0:617f20c6b21d 277 {
jvfausto 0:617f20c6b21d 278 case Short:
jvfausto 0:617f20c6b21d 279 // from VL53L1_preset_mode_standard_ranging_short_range()
jvfausto 0:617f20c6b21d 280
jvfausto 0:617f20c6b21d 281 // timing config
jvfausto 0:617f20c6b21d 282 writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x07);
jvfausto 0:617f20c6b21d 283 writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x05);
jvfausto 0:617f20c6b21d 284 writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0x38);
jvfausto 0:617f20c6b21d 285
jvfausto 0:617f20c6b21d 286 // dynamic config
jvfausto 0:617f20c6b21d 287 writeReg(SD_CONFIG__WOI_SD0, 0x07);
jvfausto 0:617f20c6b21d 288 writeReg(SD_CONFIG__WOI_SD1, 0x05);
jvfausto 0:617f20c6b21d 289 writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 6); // tuning parm default
jvfausto 0:617f20c6b21d 290 writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 6); // tuning parm default
jvfausto 0:617f20c6b21d 291
jvfausto 0:617f20c6b21d 292 break;
jvfausto 0:617f20c6b21d 293
jvfausto 0:617f20c6b21d 294 case Medium:
jvfausto 0:617f20c6b21d 295 // from VL53L1_preset_mode_standard_ranging()
jvfausto 0:617f20c6b21d 296
jvfausto 0:617f20c6b21d 297 // timing config
jvfausto 0:617f20c6b21d 298 writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0B);
jvfausto 0:617f20c6b21d 299 writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x09);
jvfausto 0:617f20c6b21d 300 writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0x78);
jvfausto 0:617f20c6b21d 301
jvfausto 0:617f20c6b21d 302 // dynamic config
jvfausto 0:617f20c6b21d 303 writeReg(SD_CONFIG__WOI_SD0, 0x0B);
jvfausto 0:617f20c6b21d 304 writeReg(SD_CONFIG__WOI_SD1, 0x09);
jvfausto 0:617f20c6b21d 305 writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 10); // tuning parm default
jvfausto 0:617f20c6b21d 306 writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 10); // tuning parm default
jvfausto 0:617f20c6b21d 307
jvfausto 0:617f20c6b21d 308 break;
jvfausto 0:617f20c6b21d 309
jvfausto 0:617f20c6b21d 310 case Long: // long
jvfausto 0:617f20c6b21d 311 // from VL53L1_preset_mode_standard_ranging_long_range()
jvfausto 0:617f20c6b21d 312
jvfausto 0:617f20c6b21d 313 // timing config
jvfausto 0:617f20c6b21d 314 writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F);
jvfausto 0:617f20c6b21d 315 writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D);
jvfausto 0:617f20c6b21d 316 writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8);
jvfausto 0:617f20c6b21d 317
jvfausto 0:617f20c6b21d 318 // dynamic config
jvfausto 0:617f20c6b21d 319 writeReg(SD_CONFIG__WOI_SD0, 0x0F);
jvfausto 0:617f20c6b21d 320 writeReg(SD_CONFIG__WOI_SD1, 0x0D);
jvfausto 0:617f20c6b21d 321 writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 14); // tuning parm default
jvfausto 0:617f20c6b21d 322 writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 14); // tuning parm default
jvfausto 0:617f20c6b21d 323
jvfausto 0:617f20c6b21d 324 break;
jvfausto 0:617f20c6b21d 325
jvfausto 0:617f20c6b21d 326 default:
jvfausto 0:617f20c6b21d 327 // unrecognized mode - do nothing
jvfausto 0:617f20c6b21d 328 return false;
jvfausto 0:617f20c6b21d 329 }
jvfausto 0:617f20c6b21d 330
jvfausto 0:617f20c6b21d 331 // reapply timing budget
jvfausto 0:617f20c6b21d 332 setMeasurementTimingBudget(budget_us);
jvfausto 0:617f20c6b21d 333
jvfausto 0:617f20c6b21d 334 // save mode so it can be returned by getDistanceMode()
jvfausto 0:617f20c6b21d 335 distance_mode = mode;
jvfausto 0:617f20c6b21d 336
jvfausto 0:617f20c6b21d 337 return true;
jvfausto 0:617f20c6b21d 338 }
jvfausto 0:617f20c6b21d 339
jvfausto 0:617f20c6b21d 340 // Set the measurement timing budget in microseconds, which is the time allowed
jvfausto 0:617f20c6b21d 341 // for one measurement. A longer timing budget allows for more accurate
jvfausto 0:617f20c6b21d 342 // measurements.
jvfausto 0:617f20c6b21d 343 // based on VL53L1_SetMeasurementTimingBudgetMicroSeconds()
jvfausto 0:617f20c6b21d 344 bool VL53L1X::setMeasurementTimingBudget(uint32_t budget_us)
jvfausto 0:617f20c6b21d 345 {
jvfausto 0:617f20c6b21d 346 // assumes PresetMode is LOWPOWER_AUTONOMOUS
jvfausto 0:617f20c6b21d 347
jvfausto 0:617f20c6b21d 348 if (budget_us <= TimingGuard) { return false; }
jvfausto 0:617f20c6b21d 349
jvfausto 0:617f20c6b21d 350 uint32_t range_config_timeout_us = budget_us -= TimingGuard;
jvfausto 0:617f20c6b21d 351 if (range_config_timeout_us > 1100000) { return false; } // FDA_MAX_TIMING_BUDGET_US * 2
jvfausto 0:617f20c6b21d 352
jvfausto 0:617f20c6b21d 353 range_config_timeout_us /= 2;
jvfausto 0:617f20c6b21d 354
jvfausto 0:617f20c6b21d 355 // VL53L1_calc_timeout_register_values() begin
jvfausto 0:617f20c6b21d 356
jvfausto 0:617f20c6b21d 357 uint32_t macro_period_us;
jvfausto 0:617f20c6b21d 358
jvfausto 0:617f20c6b21d 359 // "Update Macro Period for Range A VCSEL Period"
jvfausto 0:617f20c6b21d 360 macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_A));
jvfausto 0:617f20c6b21d 361
jvfausto 0:617f20c6b21d 362 // "Update Phase timeout - uses Timing A"
jvfausto 0:617f20c6b21d 363 // Timeout of 1000 is tuning parm default (TIMED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT)
jvfausto 0:617f20c6b21d 364 // via VL53L1_get_preset_mode_timing_cfg().
jvfausto 0:617f20c6b21d 365 uint32_t phasecal_timeout_mclks = timeoutMicrosecondsToMclks(1000, macro_period_us);
jvfausto 0:617f20c6b21d 366 if (phasecal_timeout_mclks > 0xFF) { phasecal_timeout_mclks = 0xFF; }
jvfausto 0:617f20c6b21d 367 writeReg(PHASECAL_CONFIG__TIMEOUT_MACROP, phasecal_timeout_mclks);
jvfausto 0:617f20c6b21d 368
jvfausto 0:617f20c6b21d 369 // "Update MM Timing A timeout"
jvfausto 0:617f20c6b21d 370 // Timeout of 1 is tuning parm default (LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US_DEFAULT)
jvfausto 0:617f20c6b21d 371 // via VL53L1_get_preset_mode_timing_cfg(). With the API, the register
jvfausto 0:617f20c6b21d 372 // actually ends up with a slightly different value because it gets assigned,
jvfausto 0:617f20c6b21d 373 // retrieved, recalculated with a different macro period, and reassigned,
jvfausto 0:617f20c6b21d 374 // but it probably doesn't matter because it seems like the MM ("mode
jvfausto 0:617f20c6b21d 375 // mitigation"?) sequence steps are disabled in low power auto mode anyway.
jvfausto 0:617f20c6b21d 376 writeReg16Bit(MM_CONFIG__TIMEOUT_MACROP_A, encodeTimeout(
jvfausto 0:617f20c6b21d 377 timeoutMicrosecondsToMclks(1, macro_period_us)));
jvfausto 0:617f20c6b21d 378
jvfausto 0:617f20c6b21d 379 // "Update Range Timing A timeout"
jvfausto 0:617f20c6b21d 380 writeReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_A, encodeTimeout(
jvfausto 0:617f20c6b21d 381 timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us)));
jvfausto 0:617f20c6b21d 382
jvfausto 0:617f20c6b21d 383 // "Update Macro Period for Range B VCSEL Period"
jvfausto 0:617f20c6b21d 384 macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_B));
jvfausto 0:617f20c6b21d 385
jvfausto 0:617f20c6b21d 386 // "Update MM Timing B timeout"
jvfausto 0:617f20c6b21d 387 // (See earlier comment about MM Timing A timeout.)
jvfausto 0:617f20c6b21d 388 writeReg16Bit(MM_CONFIG__TIMEOUT_MACROP_B, encodeTimeout(
jvfausto 0:617f20c6b21d 389 timeoutMicrosecondsToMclks(1, macro_period_us)));
jvfausto 0:617f20c6b21d 390
jvfausto 0:617f20c6b21d 391 // "Update Range Timing B timeout"
jvfausto 0:617f20c6b21d 392 writeReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_B, encodeTimeout(
jvfausto 0:617f20c6b21d 393 timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us)));
jvfausto 0:617f20c6b21d 394 // VL53L1_calc_timeout_register_values() end
jvfausto 0:617f20c6b21d 395
jvfausto 0:617f20c6b21d 396 return true;
jvfausto 0:617f20c6b21d 397 }
jvfausto 0:617f20c6b21d 398
jvfausto 0:617f20c6b21d 399 // Get the measurement timing budget in microseconds
jvfausto 0:617f20c6b21d 400 // based on VL53L1_SetMeasurementTimingBudgetMicroSeconds()
jvfausto 0:617f20c6b21d 401 uint32_t VL53L1X::getMeasurementTimingBudget()
jvfausto 0:617f20c6b21d 402 {
jvfausto 0:617f20c6b21d 403 // assumes PresetMode is LOWPOWER_AUTONOMOUS and these sequence steps are
jvfausto 0:617f20c6b21d 404 // enabled: VHV, PHASECAL, DSS1, RANGE
jvfausto 0:617f20c6b21d 405
jvfausto 0:617f20c6b21d 406 // VL53L1_get_timeouts_us() begin
jvfausto 0:617f20c6b21d 407
jvfausto 0:617f20c6b21d 408 // "Update Macro Period for Range A VCSEL Period"
jvfausto 0:617f20c6b21d 409 uint32_t macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_A));
jvfausto 0:617f20c6b21d 410
jvfausto 0:617f20c6b21d 411 // "Get Range Timing A timeout"
jvfausto 0:617f20c6b21d 412
jvfausto 0:617f20c6b21d 413 uint32_t range_config_timeout_us = timeoutMclksToMicroseconds(decodeTimeout(
jvfausto 0:617f20c6b21d 414 readReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_A)), macro_period_us);
jvfausto 0:617f20c6b21d 415
jvfausto 0:617f20c6b21d 416 // VL53L1_get_timeouts_us() end
jvfausto 0:617f20c6b21d 417
jvfausto 0:617f20c6b21d 418 return 2 * range_config_timeout_us + TimingGuard;
jvfausto 0:617f20c6b21d 419 }
jvfausto 0:617f20c6b21d 420
jvfausto 0:617f20c6b21d 421 // Start continuous ranging measurements, with the given inter-measurement
jvfausto 0:617f20c6b21d 422 // period in milliseconds determining how often the sensor takes a measurement.
jvfausto 0:617f20c6b21d 423 void VL53L1X::startContinuous(uint32_t period_ms)
jvfausto 0:617f20c6b21d 424 {
jvfausto 0:617f20c6b21d 425 // from VL53L1_set_inter_measurement_period_ms()
jvfausto 0:617f20c6b21d 426 writeReg32Bit(SYSTEM__INTERMEASUREMENT_PERIOD, period_ms * osc_calibrate_val);
jvfausto 0:617f20c6b21d 427 writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range
jvfausto 0:617f20c6b21d 428 writeReg(SYSTEM__MODE_START, 0x40); // mode_range__timed
jvfausto 0:617f20c6b21d 429 }
jvfausto 0:617f20c6b21d 430
jvfausto 0:617f20c6b21d 431 // Stop continuous measurements
jvfausto 0:617f20c6b21d 432 // based on VL53L1_stop_range()
jvfausto 0:617f20c6b21d 433 void VL53L1X::stopContinuous()
jvfausto 0:617f20c6b21d 434 {
jvfausto 0:617f20c6b21d 435 writeReg(SYSTEM__MODE_START, 0x80); // mode_range__abort
jvfausto 0:617f20c6b21d 436
jvfausto 0:617f20c6b21d 437 // VL53L1_low_power_auto_data_stop_range() begin
jvfausto 0:617f20c6b21d 438
jvfausto 0:617f20c6b21d 439 calibrated = false;
jvfausto 0:617f20c6b21d 440
jvfausto 0:617f20c6b21d 441 // "restore vhv configs"
jvfausto 0:617f20c6b21d 442 if (saved_vhv_init != 0)
jvfausto 0:617f20c6b21d 443 {
jvfausto 0:617f20c6b21d 444 writeReg(VHV_CONFIG__INIT, saved_vhv_init);
jvfausto 0:617f20c6b21d 445 }
jvfausto 0:617f20c6b21d 446 if (saved_vhv_timeout != 0)
jvfausto 0:617f20c6b21d 447 {
jvfausto 0:617f20c6b21d 448 writeReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, saved_vhv_timeout);
jvfausto 0:617f20c6b21d 449 }
jvfausto 0:617f20c6b21d 450
jvfausto 0:617f20c6b21d 451 // "remove phasecal override"
jvfausto 0:617f20c6b21d 452 writeReg(PHASECAL_CONFIG__OVERRIDE, 0x00);
jvfausto 0:617f20c6b21d 453
jvfausto 0:617f20c6b21d 454 // VL53L1_low_power_auto_data_stop_range() end
jvfausto 0:617f20c6b21d 455 }
jvfausto 0:617f20c6b21d 456
jvfausto 0:617f20c6b21d 457 // Returns a range reading in millimeters when continuous mode is active
jvfausto 0:617f20c6b21d 458 // (readRangeSingleMillimetersx () also calls this function after starting a
jvfausto 0:617f20c6b21d 459 // single-shot range measurement)
jvfausto 0:617f20c6b21d 460 uint16_t VL53L1X::read(bool blocking)
jvfausto 0:617f20c6b21d 461 {
jvfausto 0:617f20c6b21d 462 if (blocking)
jvfausto 0:617f20c6b21d 463 {
jvfausto 0:617f20c6b21d 464 // startTimeout();
jvfausto 0:617f20c6b21d 465
jvfausto 0:617f20c6b21d 466 /* dataReady returns 0. Loop is never entered. */
jvfausto 0:617f20c6b21d 467 /*
jvfausto 0:617f20c6b21d 468 while (dataReady())
jvfausto 0:617f20c6b21d 469 {
jvfausto 0:617f20c6b21d 470 if (checkTimeoutExpired())
jvfausto 0:617f20c6b21d 471 {
jvfausto 0:617f20c6b21d 472 did_timeout = true;
jvfausto 0:617f20c6b21d 473 ranging_data.range_status = None;
jvfausto 0:617f20c6b21d 474 ranging_data.range_mm = 0;
jvfausto 0:617f20c6b21d 475 ranging_data.peak_signal_count_rate_MCPS = 0;
jvfausto 0:617f20c6b21d 476 ranging_data.ambient_count_rate_MCPS = 0;
jvfausto 0:617f20c6b21d 477 return ranging_data.range_mm;
jvfausto 0:617f20c6b21d 478 }
jvfausto 0:617f20c6b21d 479 }*/
jvfausto 0:617f20c6b21d 480 }
jvfausto 0:617f20c6b21d 481
jvfausto 0:617f20c6b21d 482 readResults();
jvfausto 0:617f20c6b21d 483
jvfausto 0:617f20c6b21d 484 if (!calibrated)
jvfausto 0:617f20c6b21d 485 {
jvfausto 0:617f20c6b21d 486 setupManualCalibration();
jvfausto 0:617f20c6b21d 487 calibrated = true;
jvfausto 0:617f20c6b21d 488 }
jvfausto 0:617f20c6b21d 489
jvfausto 0:617f20c6b21d 490 updateDSS();
jvfausto 0:617f20c6b21d 491
jvfausto 0:617f20c6b21d 492 getRangingData();
jvfausto 0:617f20c6b21d 493
jvfausto 0:617f20c6b21d 494 writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range
jvfausto 0:617f20c6b21d 495
jvfausto 0:617f20c6b21d 496 return ranging_data.range_mm;
jvfausto 0:617f20c6b21d 497 }
jvfausto 0:617f20c6b21d 498
jvfausto 0:617f20c6b21d 499 // convert a RangeStatus to a readable string
jvfausto 0:617f20c6b21d 500 // Note that on an AVR, these strings are stored in RAM (dynamic memory), which
jvfausto 0:617f20c6b21d 501 // makes working with them easier but uses up 200+ bytes of RAM (many AVR-based
jvfausto 0:617f20c6b21d 502 // Arduinos only have about 2000 bytes of RAM). You can avoid this memory usage
jvfausto 0:617f20c6b21d 503 // if you do not call this function in your sketch.
jvfausto 0:617f20c6b21d 504 const char * VL53L1X::rangeStatusToString(RangeStatus status)
jvfausto 0:617f20c6b21d 505 {
jvfausto 0:617f20c6b21d 506 switch (status)
jvfausto 0:617f20c6b21d 507 {
jvfausto 0:617f20c6b21d 508 case RangeValid:
jvfausto 0:617f20c6b21d 509 return "range valid";
jvfausto 0:617f20c6b21d 510
jvfausto 0:617f20c6b21d 511 case SigmaFail:
jvfausto 0:617f20c6b21d 512 return "sigma fail";
jvfausto 0:617f20c6b21d 513
jvfausto 0:617f20c6b21d 514 case SignalFail:
jvfausto 0:617f20c6b21d 515 return "signal fail";
jvfausto 0:617f20c6b21d 516
jvfausto 0:617f20c6b21d 517 case RangeValidMinRangeClipped:
jvfausto 0:617f20c6b21d 518 return "range valid, min range clipped";
jvfausto 0:617f20c6b21d 519
jvfausto 0:617f20c6b21d 520 case OutOfBoundsFail:
jvfausto 0:617f20c6b21d 521 return "out of bounds fail";
jvfausto 0:617f20c6b21d 522
jvfausto 0:617f20c6b21d 523 case HardwareFail:
jvfausto 0:617f20c6b21d 524 return "hardware fail";
jvfausto 0:617f20c6b21d 525
jvfausto 0:617f20c6b21d 526 case RangeValidNoWrapCheckFail:
jvfausto 0:617f20c6b21d 527 return "range valid, no wrap check fail";
jvfausto 0:617f20c6b21d 528
jvfausto 0:617f20c6b21d 529 case WrapTargetFail:
jvfausto 0:617f20c6b21d 530 return "wrap target fail";
jvfausto 0:617f20c6b21d 531
jvfausto 0:617f20c6b21d 532 case XtalkSignalFail:
jvfausto 0:617f20c6b21d 533 return "xtalk signal fail";
jvfausto 0:617f20c6b21d 534
jvfausto 0:617f20c6b21d 535 case SynchronizationInt:
jvfausto 0:617f20c6b21d 536 return "synchronization int";
jvfausto 0:617f20c6b21d 537
jvfausto 0:617f20c6b21d 538 case MinRangeFail:
jvfausto 0:617f20c6b21d 539 return "min range fail";
jvfausto 0:617f20c6b21d 540
jvfausto 0:617f20c6b21d 541 case None:
jvfausto 0:617f20c6b21d 542 return "no update";
jvfausto 0:617f20c6b21d 543
jvfausto 0:617f20c6b21d 544 default:
jvfausto 0:617f20c6b21d 545 return "unknown status";
jvfausto 0:617f20c6b21d 546 }
jvfausto 0:617f20c6b21d 547 }
jvfausto 0:617f20c6b21d 548
jvfausto 0:617f20c6b21d 549 // Did a timeout occur in one of the read functions since the last call to
jvfausto 0:617f20c6b21d 550 // timeoutOccurred()?
jvfausto 0:617f20c6b21d 551 bool VL53L1X::timeoutOccurred()
jvfausto 0:617f20c6b21d 552 {
jvfausto 0:617f20c6b21d 553 bool tmp = did_timeout;
jvfausto 0:617f20c6b21d 554 did_timeout = false;
jvfausto 0:617f20c6b21d 555 return tmp;
jvfausto 0:617f20c6b21d 556 }
jvfausto 0:617f20c6b21d 557
jvfausto 0:617f20c6b21d 558 // Private Methods /////////////////////////////////////////////////////////////
jvfausto 0:617f20c6b21d 559
jvfausto 0:617f20c6b21d 560 // "Setup ranges after the first one in low power auto mode by turning off
jvfausto 0:617f20c6b21d 561 // FW calibration steps and programming static values"
jvfausto 0:617f20c6b21d 562 // based on VL53L1_low_power_auto_setup_manual_calibration()
jvfausto 0:617f20c6b21d 563 void VL53L1X::setupManualCalibration()
jvfausto 0:617f20c6b21d 564 {
jvfausto 0:617f20c6b21d 565 // "save original vhv configs"
jvfausto 0:617f20c6b21d 566 saved_vhv_init = readReg(VHV_CONFIG__INIT);
jvfausto 0:617f20c6b21d 567 saved_vhv_timeout = readReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND);
jvfausto 0:617f20c6b21d 568
jvfausto 0:617f20c6b21d 569 // "disable VHV init"
jvfausto 0:617f20c6b21d 570 writeReg(VHV_CONFIG__INIT, saved_vhv_init & 0x7F);
jvfausto 0:617f20c6b21d 571
jvfausto 0:617f20c6b21d 572 // "set loop bound to tuning param"
jvfausto 0:617f20c6b21d 573 writeReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
jvfausto 0:617f20c6b21d 574 (saved_vhv_timeout & 0x03) + (3 << 2)); // tuning parm default (LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT)
jvfausto 0:617f20c6b21d 575
jvfausto 0:617f20c6b21d 576 // "override phasecal"
jvfausto 0:617f20c6b21d 577 writeReg(PHASECAL_CONFIG__OVERRIDE, 0x01);
jvfausto 0:617f20c6b21d 578 writeReg(CAL_CONFIG__VCSEL_START, readReg(PHASECAL_RESULT__VCSEL_START));
jvfausto 0:617f20c6b21d 579 }
jvfausto 0:617f20c6b21d 580
jvfausto 0:617f20c6b21d 581 // read measurement results into buffer
jvfausto 0:617f20c6b21d 582 void VL53L1X::readResults()
jvfausto 0:617f20c6b21d 583 {
jvfausto 0:617f20c6b21d 584 char infoToWrite[2];
jvfausto 0:617f20c6b21d 585 char infoToRead[18];
jvfausto 0:617f20c6b21d 586 //_i2c.beginTransmission(address);
jvfausto 0:617f20c6b21d 587 //_i2c.write(address);
jvfausto 0:617f20c6b21d 588 //_i2c.write((RESULT__RANGE_STATUS >> 8) & 0xFF); // reg high byte
jvfausto 0:617f20c6b21d 589 //_i2c.write( RESULT__RANGE_STATUS & 0xFF); // reg low byte
jvfausto 0:617f20c6b21d 590 // last_status = _i2c.endTransmission();
jvfausto 0:617f20c6b21d 591 infoToWrite[0] = ((RESULT__RANGE_STATUS >> 8) & 0xFF);
jvfausto 0:617f20c6b21d 592 infoToWrite[1] = ( RESULT__RANGE_STATUS & 0xFF);
jvfausto 0:617f20c6b21d 593 _i2c.write(address, infoToWrite, 2, 1);
jvfausto 0:617f20c6b21d 594
jvfausto 0:617f20c6b21d 595 // _i2c.requestFrom(address, (uint8_t)17);
jvfausto 0:617f20c6b21d 596 _i2c.read(address, infoToRead, 17, 0);
jvfausto 0:617f20c6b21d 597
jvfausto 0:617f20c6b21d 598 wait(.005);
jvfausto 0:617f20c6b21d 599 results.range_status = infoToRead[0];
jvfausto 0:617f20c6b21d 600
jvfausto 0:617f20c6b21d 601 // infoToRead[1]; // report_status: not used
jvfausto 0:617f20c6b21d 602
jvfausto 0:617f20c6b21d 603 results.stream_count = infoToRead[2];
jvfausto 0:617f20c6b21d 604
jvfausto 0:617f20c6b21d 605 results.dss_actual_effective_spads_sd0 = (uint16_t)infoToRead[3] << 8; // high byte
jvfausto 0:617f20c6b21d 606 results.dss_actual_effective_spads_sd0 |= infoToRead[4]; // low byte
jvfausto 0:617f20c6b21d 607
jvfausto 0:617f20c6b21d 608 // infoToRead[5]; // peak_signal_count_rate_mcps_sd0: not used
jvfausto 0:617f20c6b21d 609 // infoToRead[6];
jvfausto 0:617f20c6b21d 610
jvfausto 0:617f20c6b21d 611 results.ambient_count_rate_mcps_sd0 = (uint16_t)infoToRead[7] << 8; // high byte
jvfausto 0:617f20c6b21d 612 results.ambient_count_rate_mcps_sd0 |= infoToRead[8]; // low byte
jvfausto 0:617f20c6b21d 613
jvfausto 0:617f20c6b21d 614 // infoToRead[9]; // sigma_sd0: not used
jvfausto 0:617f20c6b21d 615 // infoToRead[10];
jvfausto 0:617f20c6b21d 616
jvfausto 0:617f20c6b21d 617 // infoToRead[11]; // phase_sd0: not used
jvfausto 0:617f20c6b21d 618 // infoToRead[12];
jvfausto 0:617f20c6b21d 619
jvfausto 0:617f20c6b21d 620 results.final_crosstalk_corrected_range_mm_sd0 = (uint16_t)infoToRead[13] << 8; // high byte
jvfausto 0:617f20c6b21d 621 results.final_crosstalk_corrected_range_mm_sd0 |= infoToRead[14]; // low byte
jvfausto 0:617f20c6b21d 622
jvfausto 0:617f20c6b21d 623 results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = (uint16_t)infoToRead[15] << 8; // high byte
jvfausto 0:617f20c6b21d 624 results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 |= infoToRead[16]; // low byte
jvfausto 0:617f20c6b21d 625 }
jvfausto 0:617f20c6b21d 626
jvfausto 0:617f20c6b21d 627 // perform Dynamic SPAD Selection calculation/update
jvfausto 0:617f20c6b21d 628 // based on VL53L1_low_power_auto_update_DSS()
jvfausto 0:617f20c6b21d 629 void VL53L1X::updateDSS()
jvfausto 0:617f20c6b21d 630 {
jvfausto 0:617f20c6b21d 631 uint16_t spadCount = results.dss_actual_effective_spads_sd0;
jvfausto 0:617f20c6b21d 632
jvfausto 0:617f20c6b21d 633 if (spadCount != 0)
jvfausto 0:617f20c6b21d 634 {
jvfausto 0:617f20c6b21d 635 // "Calc total rate per spad"
jvfausto 0:617f20c6b21d 636
jvfausto 0:617f20c6b21d 637 uint32_t totalRatePerSpad =
jvfausto 0:617f20c6b21d 638 (uint32_t)results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 +
jvfausto 0:617f20c6b21d 639 results.ambient_count_rate_mcps_sd0;
jvfausto 0:617f20c6b21d 640
jvfausto 0:617f20c6b21d 641 // "clip to 16 bits"
jvfausto 0:617f20c6b21d 642 if (totalRatePerSpad > 0xFFFF) { totalRatePerSpad = 0xFFFF; }
jvfausto 0:617f20c6b21d 643
jvfausto 0:617f20c6b21d 644 // "shift up to take advantage of 32 bits"
jvfausto 0:617f20c6b21d 645 totalRatePerSpad <<= 16;
jvfausto 0:617f20c6b21d 646
jvfausto 0:617f20c6b21d 647 totalRatePerSpad /= spadCount;
jvfausto 0:617f20c6b21d 648
jvfausto 0:617f20c6b21d 649 if (totalRatePerSpad != 0)
jvfausto 0:617f20c6b21d 650 {
jvfausto 0:617f20c6b21d 651 // "get the target rate and shift up by 16"
jvfausto 0:617f20c6b21d 652 uint32_t requiredSpads = ((uint32_t)TargetRate << 16) / totalRatePerSpad;
jvfausto 0:617f20c6b21d 653
jvfausto 0:617f20c6b21d 654 // "clip to 16 bit"
jvfausto 0:617f20c6b21d 655 if (requiredSpads > 0xFFFF) { requiredSpads = 0xFFFF; }
jvfausto 0:617f20c6b21d 656
jvfausto 0:617f20c6b21d 657 // "override DSS config"
jvfausto 0:617f20c6b21d 658 writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, requiredSpads);
jvfausto 0:617f20c6b21d 659 // DSS_CONFIG__ROI_MODE_CONTROL should already be set to REQUESTED_EFFFECTIVE_SPADS
jvfausto 0:617f20c6b21d 660
jvfausto 0:617f20c6b21d 661 return;
jvfausto 0:617f20c6b21d 662 }
jvfausto 0:617f20c6b21d 663 }
jvfausto 0:617f20c6b21d 664
jvfausto 0:617f20c6b21d 665 // If we reached this point, it means something above would have resulted in a
jvfausto 0:617f20c6b21d 666 // divide by zero.
jvfausto 0:617f20c6b21d 667 // "We want to gracefully set a spad target, not just exit with an error"
jvfausto 0:617f20c6b21d 668
jvfausto 0:617f20c6b21d 669 // "set target to mid point"
jvfausto 0:617f20c6b21d 670 writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 0x8000);
jvfausto 0:617f20c6b21d 671 }
jvfausto 0:617f20c6b21d 672
jvfausto 0:617f20c6b21d 673 // get range, status, rates from results buffer
jvfausto 0:617f20c6b21d 674 // based on VL53L1_GetRangingMeasurementData()
jvfausto 0:617f20c6b21d 675 void VL53L1X::getRangingData()
jvfausto 0:617f20c6b21d 676 {
jvfausto 0:617f20c6b21d 677 // VL53L1_copy_sys_and_core_results_to_range_results() begin
jvfausto 0:617f20c6b21d 678
jvfausto 0:617f20c6b21d 679 uint16_t range = results.final_crosstalk_corrected_range_mm_sd0;
jvfausto 0:617f20c6b21d 680
jvfausto 0:617f20c6b21d 681 // "apply correction gain"
jvfausto 0:617f20c6b21d 682 // gain factor of 2011 is tuning parm default (VL53L1_TUNINGPARM_LITE_RANGING_GAIN_FACTOR_DEFAULT)
jvfausto 0:617f20c6b21d 683 // Basically, this appears to scale the result by 2011/2048, or about 98%
jvfausto 0:617f20c6b21d 684 // (with the 1024 added for proper rounding).
jvfausto 0:617f20c6b21d 685 ranging_data.range_mm = ((uint32_t)range * 2011 + 0x0400) / 0x0800;
jvfausto 0:617f20c6b21d 686 wait(.005);
jvfausto 0:617f20c6b21d 687 // VL53L1_copy_sys_and_core_results_to_range_results() end
jvfausto 0:617f20c6b21d 688
jvfausto 0:617f20c6b21d 689 // set range_status in ranging_data based on value of RESULT__RANGE_STATUS register
jvfausto 0:617f20c6b21d 690 // mostly based on ConvertStatusLite()
jvfausto 0:617f20c6b21d 691 switch(results.range_status)
jvfausto 0:617f20c6b21d 692 {
jvfausto 0:617f20c6b21d 693 case 17: // MULTCLIPFAIL
jvfausto 0:617f20c6b21d 694 case 2: // VCSELWATCHDOGTESTFAILURE
jvfausto 0:617f20c6b21d 695 case 1: // VCSELCONTINUITYTESTFAILURE
jvfausto 0:617f20c6b21d 696 case 3: // NOVHVVALUEFOUND
jvfausto 0:617f20c6b21d 697 // from SetSimpleData()
jvfausto 0:617f20c6b21d 698 ranging_data.range_status = HardwareFail;
jvfausto 0:617f20c6b21d 699 break;
jvfausto 0:617f20c6b21d 700
jvfausto 0:617f20c6b21d 701 case 13: // USERROICLIP
jvfausto 0:617f20c6b21d 702 // from SetSimpleData()
jvfausto 0:617f20c6b21d 703 ranging_data.range_status = MinRangeFail;
jvfausto 0:617f20c6b21d 704 break;
jvfausto 0:617f20c6b21d 705
jvfausto 0:617f20c6b21d 706 case 18: // GPHSTREAMCOUNT0READY
jvfausto 0:617f20c6b21d 707 ranging_data.range_status = SynchronizationInt;
jvfausto 0:617f20c6b21d 708 break;
jvfausto 0:617f20c6b21d 709
jvfausto 0:617f20c6b21d 710 case 5: // RANGEPHASECHECK
jvfausto 0:617f20c6b21d 711 ranging_data.range_status = OutOfBoundsFail;
jvfausto 0:617f20c6b21d 712 break;
jvfausto 0:617f20c6b21d 713
jvfausto 0:617f20c6b21d 714 case 4: // MSRCNOTARGET
jvfausto 0:617f20c6b21d 715 ranging_data.range_status = SignalFail;
jvfausto 0:617f20c6b21d 716 break;
jvfausto 0:617f20c6b21d 717
jvfausto 0:617f20c6b21d 718 case 6: // SIGMATHRESHOLDCHECK
jvfausto 0:617f20c6b21d 719 ranging_data.range_status = SignalFail;
jvfausto 0:617f20c6b21d 720 break;
jvfausto 0:617f20c6b21d 721
jvfausto 0:617f20c6b21d 722 case 7: // PHASECONSISTENCY
jvfausto 0:617f20c6b21d 723 ranging_data.range_status = WrapTargetFail;
jvfausto 0:617f20c6b21d 724 break;
jvfausto 0:617f20c6b21d 725
jvfausto 0:617f20c6b21d 726 case 12: // RANGEIGNORETHRESHOLD
jvfausto 0:617f20c6b21d 727 ranging_data.range_status = XtalkSignalFail;
jvfausto 0:617f20c6b21d 728 break;
jvfausto 0:617f20c6b21d 729
jvfausto 0:617f20c6b21d 730 case 8: // MINCLIP
jvfausto 0:617f20c6b21d 731 ranging_data.range_status = RangeValidMinRangeClipped;
jvfausto 0:617f20c6b21d 732 break;
jvfausto 0:617f20c6b21d 733
jvfausto 0:617f20c6b21d 734 case 9: // RANGECOMPLETE
jvfausto 0:617f20c6b21d 735 // from VL53L1_copy_sys_and_core_results_to_range_results()
jvfausto 0:617f20c6b21d 736 if (results.stream_count == 0)
jvfausto 0:617f20c6b21d 737 {
jvfausto 0:617f20c6b21d 738 ranging_data.range_status = RangeValidNoWrapCheckFail;
jvfausto 0:617f20c6b21d 739 }
jvfausto 0:617f20c6b21d 740 else
jvfausto 0:617f20c6b21d 741 {
jvfausto 0:617f20c6b21d 742 ranging_data.range_status = RangeValid;
jvfausto 0:617f20c6b21d 743 }
jvfausto 0:617f20c6b21d 744 break;
jvfausto 0:617f20c6b21d 745
jvfausto 0:617f20c6b21d 746 default:
jvfausto 0:617f20c6b21d 747 ranging_data.range_status = None;
jvfausto 0:617f20c6b21d 748 }
jvfausto 0:617f20c6b21d 749
jvfausto 0:617f20c6b21d 750 // from SetSimpleData()
jvfausto 0:617f20c6b21d 751 ranging_data.peak_signal_count_rate_MCPS =
jvfausto 0:617f20c6b21d 752 countRateFixedToFloat(results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0);
jvfausto 0:617f20c6b21d 753 ranging_data.ambient_count_rate_MCPS =
jvfausto 0:617f20c6b21d 754 countRateFixedToFloat(results.ambient_count_rate_mcps_sd0);
jvfausto 0:617f20c6b21d 755 }
jvfausto 0:617f20c6b21d 756
jvfausto 0:617f20c6b21d 757 // Decode sequence step timeout in MCLKs from register value
jvfausto 0:617f20c6b21d 758 // based on VL53L1_decode_timeout()
jvfausto 0:617f20c6b21d 759 uint32_t VL53L1X::decodeTimeout(uint16_t reg_val)
jvfausto 0:617f20c6b21d 760 {
jvfausto 0:617f20c6b21d 761 return ((uint32_t)(reg_val & 0xFF) << (reg_val >> 8)) + 1;
jvfausto 0:617f20c6b21d 762 }
jvfausto 0:617f20c6b21d 763
jvfausto 0:617f20c6b21d 764 // Encode sequence step timeout register value from timeout in MCLKs
jvfausto 0:617f20c6b21d 765 // based on VL53L1_encode_timeout()
jvfausto 0:617f20c6b21d 766 uint16_t VL53L1X::encodeTimeout(uint32_t timeout_mclks)
jvfausto 0:617f20c6b21d 767 {
jvfausto 0:617f20c6b21d 768 // encoded format: "(LSByte * 2^MSByte) + 1"
jvfausto 0:617f20c6b21d 769
jvfausto 0:617f20c6b21d 770 uint32_t ls_byte = 0;
jvfausto 0:617f20c6b21d 771 uint16_t ms_byte = 0;
jvfausto 0:617f20c6b21d 772
jvfausto 0:617f20c6b21d 773 if (timeout_mclks > 0)
jvfausto 0:617f20c6b21d 774 {
jvfausto 0:617f20c6b21d 775 ls_byte = timeout_mclks - 1;
jvfausto 0:617f20c6b21d 776
jvfausto 0:617f20c6b21d 777 while ((ls_byte & 0xFFFFFF00) > 0)
jvfausto 0:617f20c6b21d 778 {
jvfausto 0:617f20c6b21d 779 ls_byte >>= 1;
jvfausto 0:617f20c6b21d 780 ms_byte++;
jvfausto 0:617f20c6b21d 781 }
jvfausto 0:617f20c6b21d 782
jvfausto 0:617f20c6b21d 783 return (ms_byte << 8) | (ls_byte & 0xFF);
jvfausto 0:617f20c6b21d 784 }
jvfausto 0:617f20c6b21d 785 else { return 0; }
jvfausto 0:617f20c6b21d 786 }
jvfausto 0:617f20c6b21d 787
jvfausto 0:617f20c6b21d 788 // Convert sequence step timeout from macro periods to microseconds with given
jvfausto 0:617f20c6b21d 789 // macro period in microseconds (12.12 format)
jvfausto 0:617f20c6b21d 790 // based on VL53L1_calc_timeout_us()
jvfausto 0:617f20c6b21d 791 uint32_t VL53L1X::timeoutMclksToMicroseconds(uint32_t timeout_mclks, uint32_t macro_period_us)
jvfausto 0:617f20c6b21d 792 {
jvfausto 0:617f20c6b21d 793 return ((uint64_t)timeout_mclks * macro_period_us + 0x800) >> 12;
jvfausto 0:617f20c6b21d 794 }
jvfausto 0:617f20c6b21d 795
jvfausto 0:617f20c6b21d 796 // Convert sequence step timeout from microseconds to macro periods with given
jvfausto 0:617f20c6b21d 797 // macro period in microseconds (12.12 format)
jvfausto 0:617f20c6b21d 798 // based on VL53L1_calc_timeout_mclks()
jvfausto 0:617f20c6b21d 799 uint32_t VL53L1X::timeoutMicrosecondsToMclks(uint32_t timeout_us, uint32_t macro_period_us)
jvfausto 0:617f20c6b21d 800 {
jvfausto 0:617f20c6b21d 801 return (((uint32_t)timeout_us << 12) + (macro_period_us >> 1)) / macro_period_us;
jvfausto 0:617f20c6b21d 802 }
jvfausto 0:617f20c6b21d 803
jvfausto 0:617f20c6b21d 804 // Calculate macro period in microseconds (12.12 format) with given VCSEL period
jvfausto 0:617f20c6b21d 805 // assumes fast_osc_frequency has been read and stored
jvfausto 0:617f20c6b21d 806 // based on VL53L1_calc_macro_period_us()
jvfausto 0:617f20c6b21d 807 uint32_t VL53L1X::calcMacroPeriod(uint8_t vcsel_period)
jvfausto 0:617f20c6b21d 808 {
jvfausto 0:617f20c6b21d 809 // from VL53L1_calc_pll_period_us()
jvfausto 0:617f20c6b21d 810 // fast osc frequency in 4.12 format; PLL period in 0.24 format
jvfausto 0:617f20c6b21d 811 uint32_t pll_period_us = ((uint32_t)0x01 << 30) / fast_osc_frequency;
jvfausto 0:617f20c6b21d 812
jvfausto 0:617f20c6b21d 813 // from VL53L1_decode_vcsel_period()
jvfausto 0:617f20c6b21d 814 uint8_t vcsel_period_pclks = (vcsel_period + 1) << 1;
jvfausto 0:617f20c6b21d 815
jvfausto 0:617f20c6b21d 816 // VL53L1_MACRO_PERIOD_VCSEL_PERIODS = 2304
jvfausto 0:617f20c6b21d 817 uint32_t macro_period_us = (uint32_t)2304 * pll_period_us;
jvfausto 0:617f20c6b21d 818 macro_period_us >>= 6;
jvfausto 0:617f20c6b21d 819 macro_period_us *= vcsel_period_pclks;
jvfausto 0:617f20c6b21d 820 macro_period_us >>= 6;
jvfausto 0:617f20c6b21d 821
jvfausto 0:617f20c6b21d 822 return macro_period_us;
jvfausto 0:617f20c6b21d 823 }
jvfausto 0:617f20c6b21d 824
jvfausto 0:617f20c6b21d 825
jvfausto 0:617f20c6b21d 826
jvfausto 0:617f20c6b21d 827
jvfausto 0:617f20c6b21d 828
jvfausto 0:617f20c6b21d 829
jvfausto 0:617f20c6b21d 830
jvfausto 0:617f20c6b21d 831
jvfausto 0:617f20c6b21d 832
jvfausto 0:617f20c6b21d 833
jvfausto 0:617f20c6b21d 834 bool VL53L1X::initReading(int addr, int timing_budget)
jvfausto 0:617f20c6b21d 835 {
jvfausto 0:617f20c6b21d 836 turnOn();
jvfausto 0:617f20c6b21d 837 wait_ms(100);
jvfausto 0:617f20c6b21d 838 setTimeout(500);
jvfausto 0:617f20c6b21d 839 if (!init()) {
jvfausto 0:617f20c6b21d 840 didInitialize = false;
jvfausto 0:617f20c6b21d 841 return false;
jvfausto 0:617f20c6b21d 842 }
jvfausto 2:ee9bc2e6dffd 843 setDistanceMode(VL53L1X::Long);//Short Medium Long
jvfausto 0:617f20c6b21d 844 setAddress(addr);//change I2C address for next sensor
jvfausto 0:617f20c6b21d 845 setMeasurementTimingBudget(timing_budget);//min 20ms for Short, 33ms for Medium and Long
jvfausto 0:617f20c6b21d 846 startContinuous(50);
jvfausto 0:617f20c6b21d 847 wait_ms(100);
jvfausto 0:617f20c6b21d 848 didInitialize = true;
jvfausto 0:617f20c6b21d 849 return true;
jvfausto 0:617f20c6b21d 850 }
jvfausto 0:617f20c6b21d 851 //*************************************
jvfausto 0:617f20c6b21d 852
jvfausto 0:617f20c6b21d 853 //*********GPIO***********
jvfausto 0:617f20c6b21d 854 void VL53L1X::turnOff(void)
jvfausto 0:617f20c6b21d 855 {
jvfausto 0:617f20c6b21d 856 //turn pin LOW
jvfausto 0:617f20c6b21d 857 _shutDown = false;
jvfausto 0:617f20c6b21d 858 }
jvfausto 0:617f20c6b21d 859 void VL53L1X::resetPin(void)
jvfausto 0:617f20c6b21d 860 {
jvfausto 0:617f20c6b21d 861 //reset pin and set it to LOW
jvfausto 0:617f20c6b21d 862 _shutDown = false;
jvfausto 0:617f20c6b21d 863 wait(.05);
jvfausto 0:617f20c6b21d 864 _shutDown = true;
jvfausto 0:617f20c6b21d 865 wait(.05);
jvfausto 0:617f20c6b21d 866 _shutDown = false;
jvfausto 0:617f20c6b21d 867 wait(.05);
jvfausto 0:617f20c6b21d 868
jvfausto 0:617f20c6b21d 869 }
jvfausto 0:617f20c6b21d 870 void VL53L1X::turnOn(void)
jvfausto 0:617f20c6b21d 871 {
jvfausto 0:617f20c6b21d 872 //turn pin HIGH
jvfausto 0:617f20c6b21d 873 _shutDown = true;
jvfausto 0:617f20c6b21d 874 }
jvfausto 0:617f20c6b21d 875 int VL53L1X::readFromOneSensor(void)
jvfausto 0:617f20c6b21d 876 {
jvfausto 0:617f20c6b21d 877 if (didInitialize) //create bool
jvfausto 0:617f20c6b21d 878 return medianFilter();
jvfausto 0:617f20c6b21d 879 else
jvfausto 0:617f20c6b21d 880 return -1;
jvfausto 0:617f20c6b21d 881 }
jvfausto 0:617f20c6b21d 882 int VL53L1X::medianFilter(void)
jvfausto 0:617f20c6b21d 883 {
jvfausto 0:617f20c6b21d 884 rawData[1] = rawData[0];
jvfausto 0:617f20c6b21d 885 rawData[2] = rawData[1];
jvfausto 0:617f20c6b21d 886 rawData[0] = read();
jvfausto 0:617f20c6b21d 887 if((rawData[0] < rawData[1] && rawData[0] > rawData[2]) || (rawData[0] > rawData[1] && rawData[0] < rawData[2]))
jvfausto 0:617f20c6b21d 888 return rawData[0];
jvfausto 0:617f20c6b21d 889 else if((rawData[1] < rawData[0] && rawData[1] > rawData[2]) || (rawData[1] > rawData[0] && rawData[1] < rawData[2]))
jvfausto 0:617f20c6b21d 890 return rawData[1];
jvfausto 0:617f20c6b21d 891 else
jvfausto 0:617f20c6b21d 892 return rawData[2];
jvfausto 0:617f20c6b21d 893 }