Jugesh Sundram / VL53L0X

ToF based ranging sensor library

VL53L0X.h@0:11d7d761514f, 2017-10-23 (annotated)

Committer:
codemonk
Date:
Mon Oct 23 09:19:27 2017 +0000
Revision:
0:11d7d761514f
Imported the .cpp and .h files from https://github.com/pololu/vl53l0x-arduino. Needs modifications.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
codemonk 0:11d7d761514f 1 #ifndef VL53L0X_h
codemonk 0:11d7d761514f 2 #define VL53L0X_h
codemonk 0:11d7d761514f 3
codemonk 0:11d7d761514f 4 #include <Arduino.h>
codemonk 0:11d7d761514f 5
codemonk 0:11d7d761514f 6 class VL53L0X
codemonk 0:11d7d761514f 7 {
codemonk 0:11d7d761514f 8 public:
codemonk 0:11d7d761514f 9 // register addresses from API vl53l0x_device.h (ordered as listed there)
codemonk 0:11d7d761514f 10 enum regAddr
codemonk 0:11d7d761514f 11 {
codemonk 0:11d7d761514f 12 SYSRANGE_START = 0x00,
codemonk 0:11d7d761514f 13
codemonk 0:11d7d761514f 14 SYSTEM_THRESH_HIGH = 0x0C,
codemonk 0:11d7d761514f 15 SYSTEM_THRESH_LOW = 0x0E,
codemonk 0:11d7d761514f 16
codemonk 0:11d7d761514f 17 SYSTEM_SEQUENCE_CONFIG = 0x01,
codemonk 0:11d7d761514f 18 SYSTEM_RANGE_CONFIG = 0x09,
codemonk 0:11d7d761514f 19 SYSTEM_INTERMEASUREMENT_PERIOD = 0x04,
codemonk 0:11d7d761514f 20
codemonk 0:11d7d761514f 21 SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A,
codemonk 0:11d7d761514f 22
codemonk 0:11d7d761514f 23 GPIO_HV_MUX_ACTIVE_HIGH = 0x84,
codemonk 0:11d7d761514f 24
codemonk 0:11d7d761514f 25 SYSTEM_INTERRUPT_CLEAR = 0x0B,
codemonk 0:11d7d761514f 26
codemonk 0:11d7d761514f 27 RESULT_INTERRUPT_STATUS = 0x13,
codemonk 0:11d7d761514f 28 RESULT_RANGE_STATUS = 0x14,
codemonk 0:11d7d761514f 29
codemonk 0:11d7d761514f 30 RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC,
codemonk 0:11d7d761514f 31 RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0,
codemonk 0:11d7d761514f 32 RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0,
codemonk 0:11d7d761514f 33 RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4,
codemonk 0:11d7d761514f 34 RESULT_PEAK_SIGNAL_RATE_REF = 0xB6,
codemonk 0:11d7d761514f 35
codemonk 0:11d7d761514f 36 ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28,
codemonk 0:11d7d761514f 37
codemonk 0:11d7d761514f 38 I2C_SLAVE_DEVICE_ADDRESS = 0x8A,
codemonk 0:11d7d761514f 39
codemonk 0:11d7d761514f 40 MSRC_CONFIG_CONTROL = 0x60,
codemonk 0:11d7d761514f 41
codemonk 0:11d7d761514f 42 PRE_RANGE_CONFIG_MIN_SNR = 0x27,
codemonk 0:11d7d761514f 43 PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56,
codemonk 0:11d7d761514f 44 PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57,
codemonk 0:11d7d761514f 45 PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64,
codemonk 0:11d7d761514f 46
codemonk 0:11d7d761514f 47 FINAL_RANGE_CONFIG_MIN_SNR = 0x67,
codemonk 0:11d7d761514f 48 FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47,
codemonk 0:11d7d761514f 49 FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48,
codemonk 0:11d7d761514f 50 FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,
codemonk 0:11d7d761514f 51
codemonk 0:11d7d761514f 52 PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61,
codemonk 0:11d7d761514f 53 PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62,
codemonk 0:11d7d761514f 54
codemonk 0:11d7d761514f 55 PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50,
codemonk 0:11d7d761514f 56 PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51,
codemonk 0:11d7d761514f 57 PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52,
codemonk 0:11d7d761514f 58
codemonk 0:11d7d761514f 59 SYSTEM_HISTOGRAM_BIN = 0x81,
codemonk 0:11d7d761514f 60 HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33,
codemonk 0:11d7d761514f 61 HISTOGRAM_CONFIG_READOUT_CTRL = 0x55,
codemonk 0:11d7d761514f 62
codemonk 0:11d7d761514f 63 FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70,
codemonk 0:11d7d761514f 64 FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71,
codemonk 0:11d7d761514f 65 FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72,
codemonk 0:11d7d761514f 66 CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20,
codemonk 0:11d7d761514f 67
codemonk 0:11d7d761514f 68 MSRC_CONFIG_TIMEOUT_MACROP = 0x46,
codemonk 0:11d7d761514f 69
codemonk 0:11d7d761514f 70 SOFT_RESET_GO2_SOFT_RESET_N = 0xBF,
codemonk 0:11d7d761514f 71 IDENTIFICATION_MODEL_ID = 0xC0,
codemonk 0:11d7d761514f 72 IDENTIFICATION_REVISION_ID = 0xC2,
codemonk 0:11d7d761514f 73
codemonk 0:11d7d761514f 74 OSC_CALIBRATE_VAL = 0xF8,
codemonk 0:11d7d761514f 75
codemonk 0:11d7d761514f 76 GLOBAL_CONFIG_VCSEL_WIDTH = 0x32,
codemonk 0:11d7d761514f 77 GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0,
codemonk 0:11d7d761514f 78 GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1,
codemonk 0:11d7d761514f 79 GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2,
codemonk 0:11d7d761514f 80 GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3,
codemonk 0:11d7d761514f 81 GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4,
codemonk 0:11d7d761514f 82 GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5,
codemonk 0:11d7d761514f 83
codemonk 0:11d7d761514f 84 GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6,
codemonk 0:11d7d761514f 85 DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E,
codemonk 0:11d7d761514f 86 DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F,
codemonk 0:11d7d761514f 87 POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80,
codemonk 0:11d7d761514f 88
codemonk 0:11d7d761514f 89 VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89,
codemonk 0:11d7d761514f 90
codemonk 0:11d7d761514f 91 ALGO_PHASECAL_LIM = 0x30,
codemonk 0:11d7d761514f 92 ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30,
codemonk 0:11d7d761514f 93 };
codemonk 0:11d7d761514f 94
codemonk 0:11d7d761514f 95 enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange };
codemonk 0:11d7d761514f 96
codemonk 0:11d7d761514f 97 uint8_t last_status; // status of last I2C transmission
codemonk 0:11d7d761514f 98
codemonk 0:11d7d761514f 99 VL53L0X(void);
codemonk 0:11d7d761514f 100
codemonk 0:11d7d761514f 101 void setAddress(uint8_t new_addr);
codemonk 0:11d7d761514f 102 inline uint8_t getAddress(void) { return address; }
codemonk 0:11d7d761514f 103
codemonk 0:11d7d761514f 104 bool init(bool io_2v8 = true);
codemonk 0:11d7d761514f 105
codemonk 0:11d7d761514f 106 void writeReg(uint8_t reg, uint8_t value);
codemonk 0:11d7d761514f 107 void writeReg16Bit(uint8_t reg, uint16_t value);
codemonk 0:11d7d761514f 108 void writeReg32Bit(uint8_t reg, uint32_t value);
codemonk 0:11d7d761514f 109 uint8_t readReg(uint8_t reg);
codemonk 0:11d7d761514f 110 uint16_t readReg16Bit(uint8_t reg);
codemonk 0:11d7d761514f 111 uint32_t readReg32Bit(uint8_t reg);
codemonk 0:11d7d761514f 112
codemonk 0:11d7d761514f 113 void writeMulti(uint8_t reg, uint8_t const * src, uint8_t count);
codemonk 0:11d7d761514f 114 void readMulti(uint8_t reg, uint8_t * dst, uint8_t count);
codemonk 0:11d7d761514f 115
codemonk 0:11d7d761514f 116 bool setSignalRateLimit(float limit_Mcps);
codemonk 0:11d7d761514f 117 float getSignalRateLimit(void);
codemonk 0:11d7d761514f 118
codemonk 0:11d7d761514f 119 bool setMeasurementTimingBudget(uint32_t budget_us);
codemonk 0:11d7d761514f 120 uint32_t getMeasurementTimingBudget(void);
codemonk 0:11d7d761514f 121
codemonk 0:11d7d761514f 122 bool setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks);
codemonk 0:11d7d761514f 123 uint8_t getVcselPulsePeriod(vcselPeriodType type);
codemonk 0:11d7d761514f 124
codemonk 0:11d7d761514f 125 void startContinuous(uint32_t period_ms = 0);
codemonk 0:11d7d761514f 126 void stopContinuous(void);
codemonk 0:11d7d761514f 127 uint16_t readRangeContinuousMillimeters(void);
codemonk 0:11d7d761514f 128 uint16_t readRangeSingleMillimeters(void);
codemonk 0:11d7d761514f 129
codemonk 0:11d7d761514f 130 inline void setTimeout(uint16_t timeout) { io_timeout = timeout; }
codemonk 0:11d7d761514f 131 inline uint16_t getTimeout(void) { return io_timeout; }
codemonk 0:11d7d761514f 132 bool timeoutOccurred(void);
codemonk 0:11d7d761514f 133
codemonk 0:11d7d761514f 134 private:
codemonk 0:11d7d761514f 135 // TCC: Target CentreCheck
codemonk 0:11d7d761514f 136 // MSRC: Minimum Signal Rate Check
codemonk 0:11d7d761514f 137 // DSS: Dynamic Spad Selection
codemonk 0:11d7d761514f 138
codemonk 0:11d7d761514f 139 struct SequenceStepEnables
codemonk 0:11d7d761514f 140 {
codemonk 0:11d7d761514f 141 boolean tcc, msrc, dss, pre_range, final_range;
codemonk 0:11d7d761514f 142 };
codemonk 0:11d7d761514f 143
codemonk 0:11d7d761514f 144 struct SequenceStepTimeouts
codemonk 0:11d7d761514f 145 {
codemonk 0:11d7d761514f 146 uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
codemonk 0:11d7d761514f 147
codemonk 0:11d7d761514f 148 uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
codemonk 0:11d7d761514f 149 uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us;
codemonk 0:11d7d761514f 150 };
codemonk 0:11d7d761514f 151
codemonk 0:11d7d761514f 152 uint8_t address;
codemonk 0:11d7d761514f 153 uint16_t io_timeout;
codemonk 0:11d7d761514f 154 bool did_timeout;
codemonk 0:11d7d761514f 155 uint16_t timeout_start_ms;
codemonk 0:11d7d761514f 156
codemonk 0:11d7d761514f 157 uint8_t stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X_DevData_t structure in API
codemonk 0:11d7d761514f 158 uint32_t measurement_timing_budget_us;
codemonk 0:11d7d761514f 159
codemonk 0:11d7d761514f 160 bool getSpadInfo(uint8_t * count, bool * type_is_aperture);
codemonk 0:11d7d761514f 161
codemonk 0:11d7d761514f 162 void getSequenceStepEnables(SequenceStepEnables * enables);
codemonk 0:11d7d761514f 163 void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);
codemonk 0:11d7d761514f 164
codemonk 0:11d7d761514f 165 bool performSingleRefCalibration(uint8_t vhv_init_byte);
codemonk 0:11d7d761514f 166
codemonk 0:11d7d761514f 167 static uint16_t decodeTimeout(uint16_t value);
codemonk 0:11d7d761514f 168 static uint16_t encodeTimeout(uint16_t timeout_mclks);
codemonk 0:11d7d761514f 169 static uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks);
codemonk 0:11d7d761514f 170 static uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks);
codemonk 0:11d7d761514f 171 };
codemonk 0:11d7d761514f 172
codemonk 0:11d7d761514f 173 #endif
codemonk 0:11d7d761514f 174
codemonk 0:11d7d761514f 175
codemonk 0:11d7d761514f 176