Christian Benitez / Mbed 2 deprecated VL53L1X__

No range status update (error 255)

Dependencies:   mbed

Fork of VL53L1X by Jesus Fausto

VL53L1X.cpp@0:03b7e8deb3ee, 2018-07-18 (annotated)

Committer:
jvfausto
Date:
Wed Jul 18 16:47:45 2018 +0000
Revision:
0:03b7e8deb3ee
Child:
1:0d762892f7af
VL53L1X mbed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jvfausto 0:03b7e8deb3ee 1 #include "VL53L1X.h"
jvfausto 0:03b7e8deb3ee 2
jvfausto 0:03b7e8deb3ee 3
jvfausto 0:03b7e8deb3ee 4 uint8_t configBlock[] = {
jvfausto 0:03b7e8deb3ee 5 0x29, 0x02, 0x10, 0x00, 0x28, 0xBC, 0x7A, 0x81, //8
jvfausto 0:03b7e8deb3ee 6 0x80, 0x07, 0x95, 0x00, 0xED, 0xFF, 0xF7, 0xFD, //16
jvfausto 0:03b7e8deb3ee 7 0x9E, 0x0E, 0x00, 0x10, 0x01, 0x00, 0x00, 0x00, //24
jvfausto 0:03b7e8deb3ee 8 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x34, 0x00, //32
jvfausto 0:03b7e8deb3ee 9 0x28, 0x00, 0x0D, 0x0A, 0x00, 0x00, 0x00, 0x00, //40
jvfausto 0:03b7e8deb3ee 10 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, //48
jvfausto 0:03b7e8deb3ee 11 0x02, 0x00, 0x02, 0x08, 0x00, 0x08, 0x10, 0x01, //56
jvfausto 0:03b7e8deb3ee 12 0x01, 0x00, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x02, //64
jvfausto 0:03b7e8deb3ee 13 0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0x0B, 0x00, //72
jvfausto 0:03b7e8deb3ee 14 0x00, 0x02, 0x0A, 0x21, 0x00, 0x00, 0x02, 0x00, //80
jvfausto 0:03b7e8deb3ee 15 0x00, 0x00, 0x00, 0xC8, 0x00, 0x00, 0x38, 0xFF, //88
jvfausto 0:03b7e8deb3ee 16 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0x0F, //96
jvfausto 0:03b7e8deb3ee 17 0x00, 0xA5, 0x0D, 0x00, 0x80, 0x00, 0x0C, 0x08, //104
jvfausto 0:03b7e8deb3ee 18 0xB8, 0x00, 0x00, 0x00, 0x00, 0x0E, 0x10, 0x00, //112
jvfausto 0:03b7e8deb3ee 19 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x0F, //120
jvfausto 0:03b7e8deb3ee 20 0x0D, 0x0E, 0x0E, 0x01, 0x00, 0x02, 0xC7, 0xFF, //128
jvfausto 0:03b7e8deb3ee 21 0x8B, 0x00, 0x00, 0x00, 0x01, 0x01, 0x40 //129 - 135 (0x81 - 0x87)
jvfausto 0:03b7e8deb3ee 22 };
jvfausto 0:03b7e8deb3ee 23 //VL6180x::VL6180x(PinName sda, PinName scl, uint8_t addr) : m_i2c(sda, scl), m_addr(addr) {}
jvfausto 0:03b7e8deb3ee 24
jvfausto 0:03b7e8deb3ee 25 VL53L1X::VL53L1X(PinName SDA, PinName SCL) : _i2c(SDA,SCL){
jvfausto 0:03b7e8deb3ee 26 //Set I2C fast and bring reset line high
jvfausto 0:03b7e8deb3ee 27 // _i2c.frequency(400000);
jvfausto 0:03b7e8deb3ee 28 _deviceAddress = defaultAddress_VL53L1X;
jvfausto 0:03b7e8deb3ee 29 }
jvfausto 0:03b7e8deb3ee 30
jvfausto 0:03b7e8deb3ee 31 void VL53L1X::startMeasurement(uint8_t offset)
jvfausto 0:03b7e8deb3ee 32 {
jvfausto 0:03b7e8deb3ee 33 uint8_t address = 1 + offset; //Start at memory location 0x01, add offset
jvfausto 0:03b7e8deb3ee 34 uint8_t leftToSend = sizeof(configBlock) - offset;
jvfausto 0:03b7e8deb3ee 35 while (leftToSend > 0)
jvfausto 0:03b7e8deb3ee 36 {
jvfausto 0:03b7e8deb3ee 37 uint16_t toSend = I2C_BUFFER_LENGTH - 2; //Max I2C buffer on Arduino is 32, and we need 2 bytes for address
jvfausto 0:03b7e8deb3ee 38 if (toSend > leftToSend) toSend = leftToSend;
jvfausto 0:03b7e8deb3ee 39
jvfausto 0:03b7e8deb3ee 40 _i2c.write(address << 1);// _i2c.beginTransmission(_deviceAddress);
jvfausto 0:03b7e8deb3ee 41
jvfausto 0:03b7e8deb3ee 42 _i2c.write(0); //We're only in lower address space. No MSB needed.
jvfausto 0:03b7e8deb3ee 43 _i2c.write(address);
jvfausto 0:03b7e8deb3ee 44
jvfausto 0:03b7e8deb3ee 45 for (char x = 0 ; x < toSend ; x++)
jvfausto 0:03b7e8deb3ee 46 _i2c.write(configBlock[address + x - 1 - offset]);
jvfausto 0:03b7e8deb3ee 47
jvfausto 0:03b7e8deb3ee 48 // _i2c.endTransmission();
jvfausto 0:03b7e8deb3ee 49
jvfausto 0:03b7e8deb3ee 50 leftToSend -= toSend;
jvfausto 0:03b7e8deb3ee 51 address += toSend;
jvfausto 0:03b7e8deb3ee 52 }
jvfausto 0:03b7e8deb3ee 53 }
jvfausto 0:03b7e8deb3ee 54
jvfausto 0:03b7e8deb3ee 55 bool VL53L1X::newDataReady(void)
jvfausto 0:03b7e8deb3ee 56 {
jvfausto 0:03b7e8deb3ee 57 if (readRegister(VL53L1_GPIO__TIO_HV_STATUS) != 0x03) return(true); //New measurement!
jvfausto 0:03b7e8deb3ee 58 return(false); //No new data
jvfausto 0:03b7e8deb3ee 59 }
jvfausto 0:03b7e8deb3ee 60
jvfausto 0:03b7e8deb3ee 61 //Reset sensor via software
jvfausto 0:03b7e8deb3ee 62 void VL53L1X::softReset()
jvfausto 0:03b7e8deb3ee 63 {
jvfausto 0:03b7e8deb3ee 64 writeRegister(VL53L1_SOFT_RESET, 0x00); //Reset
jvfausto 0:03b7e8deb3ee 65 wait(.001); //Driver uses 100us
jvfausto 0:03b7e8deb3ee 66 writeRegister(VL53L1_SOFT_RESET, 0x01); //Exit reset
jvfausto 0:03b7e8deb3ee 67 }
jvfausto 0:03b7e8deb3ee 68
jvfausto 0:03b7e8deb3ee 69 uint16_t VL53L1X::getDistance()
jvfausto 0:03b7e8deb3ee 70 {
jvfausto 0:03b7e8deb3ee 71 return (readRegister16(VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0));
jvfausto 0:03b7e8deb3ee 72 }
jvfausto 0:03b7e8deb3ee 73
jvfausto 0:03b7e8deb3ee 74 uint16_t VL53L1X::getSignalRate()
jvfausto 0:03b7e8deb3ee 75 {
jvfausto 0:03b7e8deb3ee 76 //From vl53l1_api.c line 2041
jvfausto 0:03b7e8deb3ee 77 uint16_t reading = readRegister16(VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0);// << 9; //FIXPOINT97TOFIXPOINT1616
jvfausto 0:03b7e8deb3ee 78 //float signalRate = (float)reading/65536.0;
jvfausto 0:03b7e8deb3ee 79 return (reading);
jvfausto 0:03b7e8deb3ee 80 }
jvfausto 0:03b7e8deb3ee 81
jvfausto 0:03b7e8deb3ee 82 void VL53L1X::setDistanceMode(uint8_t mode)
jvfausto 0:03b7e8deb3ee 83 {
jvfausto 0:03b7e8deb3ee 84 uint8_t periodA;
jvfausto 0:03b7e8deb3ee 85 uint8_t periodB;
jvfausto 0:03b7e8deb3ee 86 uint8_t phaseHigh;
jvfausto 0:03b7e8deb3ee 87 uint8_t phaseInit;
jvfausto 0:03b7e8deb3ee 88 switch (mode)
jvfausto 0:03b7e8deb3ee 89 {
jvfausto 0:03b7e8deb3ee 90 case 0:
jvfausto 0:03b7e8deb3ee 91 periodA = 0x07;
jvfausto 0:03b7e8deb3ee 92 periodB = 0x05;
jvfausto 0:03b7e8deb3ee 93 phaseHigh = 0x38;
jvfausto 0:03b7e8deb3ee 94 phaseInit = 6;
jvfausto 0:03b7e8deb3ee 95 break;
jvfausto 0:03b7e8deb3ee 96 case 1:
jvfausto 0:03b7e8deb3ee 97 periodA = 0x0B;
jvfausto 0:03b7e8deb3ee 98 periodB = 0x09;
jvfausto 0:03b7e8deb3ee 99 phaseHigh = 0x78;
jvfausto 0:03b7e8deb3ee 100 phaseInit = 10;
jvfausto 0:03b7e8deb3ee 101 break;
jvfausto 0:03b7e8deb3ee 102 case 2:
jvfausto 0:03b7e8deb3ee 103 periodA = 0x0F;
jvfausto 0:03b7e8deb3ee 104 periodB = 0x0D;
jvfausto 0:03b7e8deb3ee 105 phaseHigh = 0xB8;
jvfausto 0:03b7e8deb3ee 106 phaseInit = 14;
jvfausto 0:03b7e8deb3ee 107 break;
jvfausto 0:03b7e8deb3ee 108 //If user inputs wrong range, we default to long range
jvfausto 0:03b7e8deb3ee 109 default:
jvfausto 0:03b7e8deb3ee 110 periodA = 0x0F;
jvfausto 0:03b7e8deb3ee 111 periodB = 0x0D;
jvfausto 0:03b7e8deb3ee 112 phaseHigh = 0xB8;
jvfausto 0:03b7e8deb3ee 113 phaseInit = 14;
jvfausto 0:03b7e8deb3ee 114 break;
jvfausto 0:03b7e8deb3ee 115 }
jvfausto 0:03b7e8deb3ee 116 //timing
jvfausto 0:03b7e8deb3ee 117 writeRegister(VL53L1_RANGE_CONFIG__VCSEL_PERIOD_A, periodA);
jvfausto 0:03b7e8deb3ee 118 writeRegister(VL53L1_RANGE_CONFIG__VCSEL_PERIOD_B , periodB);
jvfausto 0:03b7e8deb3ee 119 writeRegister(VL53L1_RANGE_CONFIG__VALID_PHASE_HIGH, phaseHigh);
jvfausto 0:03b7e8deb3ee 120
jvfausto 0:03b7e8deb3ee 121 //dynamic
jvfausto 0:03b7e8deb3ee 122 writeRegister(VL53L1_SD_CONFIG__WOI_SD0 , periodA);
jvfausto 0:03b7e8deb3ee 123 writeRegister(VL53L1_SD_CONFIG__WOI_SD1, periodB);
jvfausto 0:03b7e8deb3ee 124 writeRegister(VL53L1_SD_CONFIG__INITIAL_PHASE_SD0, phaseInit);
jvfausto 0:03b7e8deb3ee 125 writeRegister(VL53L1_SD_CONFIG__INITIAL_PHASE_SD1, phaseInit);
jvfausto 0:03b7e8deb3ee 126
jvfausto 0:03b7e8deb3ee 127 _distanceMode = mode;
jvfausto 0:03b7e8deb3ee 128 }
jvfausto 0:03b7e8deb3ee 129 uint8_t VL53L1X::getDistanceMode()
jvfausto 0:03b7e8deb3ee 130 {
jvfausto 0:03b7e8deb3ee 131 return _distanceMode;
jvfausto 0:03b7e8deb3ee 132 }
jvfausto 0:03b7e8deb3ee 133
jvfausto 0:03b7e8deb3ee 134 uint8_t VL53L1X::getRangeStatus()
jvfausto 0:03b7e8deb3ee 135 {
jvfausto 0:03b7e8deb3ee 136 #define VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ( 1)
jvfausto 0:03b7e8deb3ee 137 #define VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ( 2)
jvfausto 0:03b7e8deb3ee 138 #define VL53L1_DEVICEERROR_NOVHVVALUEFOUND ( 3)
jvfausto 0:03b7e8deb3ee 139 #define VL53L1_DEVICEERROR_MSRCNOTARGET ( 4)
jvfausto 0:03b7e8deb3ee 140 #define VL53L1_DEVICEERROR_RANGEPHASECHECK ( 5)
jvfausto 0:03b7e8deb3ee 141 #define VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK ( 6)
jvfausto 0:03b7e8deb3ee 142 #define VL53L1_DEVICEERROR_PHASECONSISTENCY ( 7)
jvfausto 0:03b7e8deb3ee 143 #define VL53L1_DEVICEERROR_MINCLIP ( 8)
jvfausto 0:03b7e8deb3ee 144 #define VL53L1_DEVICEERROR_RANGECOMPLETE ( 9)
jvfausto 0:03b7e8deb3ee 145 #define VL53L1_DEVICEERROR_ALGOUNDERFLOW ( 10)
jvfausto 0:03b7e8deb3ee 146 #define VL53L1_DEVICEERROR_ALGOOVERFLOW ( 11)
jvfausto 0:03b7e8deb3ee 147 #define VL53L1_DEVICEERROR_RANGEIGNORETHRESHOLD ( 12)
jvfausto 0:03b7e8deb3ee 148 #define VL53L1_DEVICEERROR_USERROICLIP ( 13)
jvfausto 0:03b7e8deb3ee 149 #define VL53L1_DEVICEERROR_REFSPADCHARNOTENOUGHDPADS ( 14)
jvfausto 0:03b7e8deb3ee 150 #define VL53L1_DEVICEERROR_REFSPADCHARMORETHANTARGET ( 15)
jvfausto 0:03b7e8deb3ee 151 #define VL53L1_DEVICEERROR_REFSPADCHARLESSTHANTARGET ( 16)
jvfausto 0:03b7e8deb3ee 152 #define VL53L1_DEVICEERROR_MULTCLIPFAIL ( 17)
jvfausto 0:03b7e8deb3ee 153 #define VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY ( 18)
jvfausto 0:03b7e8deb3ee 154 #define VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK ( 19)
jvfausto 0:03b7e8deb3ee 155 #define VL53L1_DEVICEERROR_EVENTCONSISTENCY ( 20)
jvfausto 0:03b7e8deb3ee 156 #define VL53L1_DEVICEERROR_MINSIGNALEVENTCHECK ( 21)
jvfausto 0:03b7e8deb3ee 157 #define VL53L1_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE ( 22)
jvfausto 0:03b7e8deb3ee 158
jvfausto 0:03b7e8deb3ee 159 #define VL53L1_RANGESTATUS_RANGE_VALID 0 /*!<The Range is valid. */
jvfausto 0:03b7e8deb3ee 160 #define VL53L1_RANGESTATUS_SIGMA_FAIL 1 /*!<Sigma Fail. */
jvfausto 0:03b7e8deb3ee 161 #define VL53L1_RANGESTATUS_SIGNAL_FAIL 2 /*!<Signal fail. */
jvfausto 0:03b7e8deb3ee 162 #define VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED 3 /*!<Target is below minimum detection threshold. */
jvfausto 0:03b7e8deb3ee 163 #define VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL 4 /*!<Phase out of valid limits - different to a wrap exit. */
jvfausto 0:03b7e8deb3ee 164 #define VL53L1_RANGESTATUS_HARDWARE_FAIL 5 /*!<Hardware fail. */
jvfausto 0:03b7e8deb3ee 165 #define VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL 6 /*!<The Range is valid but the wraparound check has not been done. */
jvfausto 0:03b7e8deb3ee 166 #define VL53L1_RANGESTATUS_WRAP_TARGET_FAIL 7 /*!<Wrapped target - no matching phase in other VCSEL period timing. */
jvfausto 0:03b7e8deb3ee 167 #define VL53L1_RANGESTATUS_PROCESSING_FAIL 8 /*!<Internal algo underflow or overflow in lite ranging. */
jvfausto 0:03b7e8deb3ee 168 #define VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL 9 /*!<Specific to lite ranging. */
jvfausto 0:03b7e8deb3ee 169 #define VL53L1_RANGESTATUS_SYNCRONISATION_INT 10 /*!<1st interrupt when starting ranging in back to back mode. Ignore data. */
jvfausto 0:03b7e8deb3ee 170 #define VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE 11 /*!<All Range ok but object is result of multiple pulses merging together.*/
jvfausto 0:03b7e8deb3ee 171 #define VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL 12 /*!<Used by RQL as different to phase fail. */
jvfausto 0:03b7e8deb3ee 172 #define VL53L1_RANGESTATUS_MIN_RANGE_FAIL 13 /*!<User ROI input is not valid e.g. beyond SPAD Array.*/
jvfausto 0:03b7e8deb3ee 173 #define VL53L1_RANGESTATUS_RANGE_INVALID 14 /*!<lld returned valid range but negative value ! */
jvfausto 0:03b7e8deb3ee 174 #define VL53L1_RANGESTATUS_NONE 255 /*!<No Update. */
jvfausto 0:03b7e8deb3ee 175
jvfausto 0:03b7e8deb3ee 176 //Read status
jvfausto 0:03b7e8deb3ee 177 uint8_t measurementStatus = readRegister(VL53L1_RESULT__RANGE_STATUS) & 0x1F;
jvfausto 0:03b7e8deb3ee 178
jvfausto 0:03b7e8deb3ee 179 //Convert status from one to another - From vl53l1_api.c
jvfausto 0:03b7e8deb3ee 180 switch (measurementStatus) {
jvfausto 0:03b7e8deb3ee 181 case VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY:
jvfausto 0:03b7e8deb3ee 182 measurementStatus = VL53L1_RANGESTATUS_SYNCRONISATION_INT;
jvfausto 0:03b7e8deb3ee 183 break;
jvfausto 0:03b7e8deb3ee 184 case VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK:
jvfausto 0:03b7e8deb3ee 185 measurementStatus = VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL;
jvfausto 0:03b7e8deb3ee 186 break;
jvfausto 0:03b7e8deb3ee 187 case VL53L1_DEVICEERROR_RANGEPHASECHECK:
jvfausto 0:03b7e8deb3ee 188 measurementStatus = VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL;
jvfausto 0:03b7e8deb3ee 189 break;
jvfausto 0:03b7e8deb3ee 190 case VL53L1_DEVICEERROR_MSRCNOTARGET:
jvfausto 0:03b7e8deb3ee 191 measurementStatus = VL53L1_RANGESTATUS_SIGNAL_FAIL;
jvfausto 0:03b7e8deb3ee 192 break;
jvfausto 0:03b7e8deb3ee 193 case VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK:
jvfausto 0:03b7e8deb3ee 194 measurementStatus = VL53L1_RANGESTATUS_SIGMA_FAIL;
jvfausto 0:03b7e8deb3ee 195 break;
jvfausto 0:03b7e8deb3ee 196 case VL53L1_DEVICEERROR_PHASECONSISTENCY:
jvfausto 0:03b7e8deb3ee 197 measurementStatus = VL53L1_RANGESTATUS_WRAP_TARGET_FAIL;
jvfausto 0:03b7e8deb3ee 198 break;
jvfausto 0:03b7e8deb3ee 199 case VL53L1_DEVICEERROR_RANGEIGNORETHRESHOLD:
jvfausto 0:03b7e8deb3ee 200 measurementStatus = VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL;
jvfausto 0:03b7e8deb3ee 201 break;
jvfausto 0:03b7e8deb3ee 202 case VL53L1_DEVICEERROR_MINCLIP:
jvfausto 0:03b7e8deb3ee 203 measurementStatus = VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED;
jvfausto 0:03b7e8deb3ee 204 break;
jvfausto 0:03b7e8deb3ee 205 case VL53L1_DEVICEERROR_RANGECOMPLETE:
jvfausto 0:03b7e8deb3ee 206 measurementStatus = VL53L1_RANGESTATUS_RANGE_VALID;
jvfausto 0:03b7e8deb3ee 207 break;
jvfausto 0:03b7e8deb3ee 208 default:
jvfausto 0:03b7e8deb3ee 209 measurementStatus = VL53L1_RANGESTATUS_NONE;
jvfausto 0:03b7e8deb3ee 210 }
jvfausto 0:03b7e8deb3ee 211
jvfausto 0:03b7e8deb3ee 212 return measurementStatus;
jvfausto 0:03b7e8deb3ee 213 }
jvfausto 0:03b7e8deb3ee 214
jvfausto 0:03b7e8deb3ee 215
jvfausto 0:03b7e8deb3ee 216 uint8_t VL53L1X::readRegister(uint16_t registerAddr)
jvfausto 0:03b7e8deb3ee 217 {
jvfausto 0:03b7e8deb3ee 218 uint8_t data;
jvfausto 0:03b7e8deb3ee 219 char data_write[2];
jvfausto 0:03b7e8deb3ee 220 char data_read[1];
jvfausto 0:03b7e8deb3ee 221 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:03b7e8deb3ee 222 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:03b7e8deb3ee 223 _i2c.write(_deviceAddress, data_write, 2,0);
jvfausto 0:03b7e8deb3ee 224 _i2c.read(_deviceAddress,data_read,1,1);
jvfausto 0:03b7e8deb3ee 225 //Read Data from selected register
jvfausto 0:03b7e8deb3ee 226 data=data_read[0];
jvfausto 0:03b7e8deb3ee 227 return data;
jvfausto 0:03b7e8deb3ee 228 }
jvfausto 0:03b7e8deb3ee 229 uint16_t VL53L1X::readRegister16(uint16_t registerAddr)
jvfausto 0:03b7e8deb3ee 230 {
jvfausto 0:03b7e8deb3ee 231 uint8_t data_low;
jvfausto 0:03b7e8deb3ee 232 uint8_t data_high;
jvfausto 0:03b7e8deb3ee 233 uint16_t data;
jvfausto 0:03b7e8deb3ee 234
jvfausto 0:03b7e8deb3ee 235 char data_write[2];
jvfausto 0:03b7e8deb3ee 236 char data_read[2];
jvfausto 0:03b7e8deb3ee 237 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:03b7e8deb3ee 238 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:03b7e8deb3ee 239 _i2c.write(_deviceAddress, data_write, 2,0);
jvfausto 0:03b7e8deb3ee 240 _i2c.read(_deviceAddress,data_read,2,1);
jvfausto 0:03b7e8deb3ee 241 data_high = data_read[0]; //Read Data from selected register
jvfausto 0:03b7e8deb3ee 242 data_low = data_read[1]; //Read Data from selected register
jvfausto 0:03b7e8deb3ee 243 data = (data_high << 8)|data_low;
jvfausto 0:03b7e8deb3ee 244
jvfausto 0:03b7e8deb3ee 245 return data;
jvfausto 0:03b7e8deb3ee 246 }
jvfausto 0:03b7e8deb3ee 247
jvfausto 0:03b7e8deb3ee 248
jvfausto 0:03b7e8deb3ee 249 void VL53L1X::writeRegister(uint16_t registerAddr, uint8_t data)
jvfausto 0:03b7e8deb3ee 250 {
jvfausto 0:03b7e8deb3ee 251 char data_write[3];
jvfausto 0:03b7e8deb3ee 252 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:03b7e8deb3ee 253 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:03b7e8deb3ee 254 data_write[2] = data & 0xFF;
jvfausto 0:03b7e8deb3ee 255 _i2c.write(_deviceAddress, data_write, 3);
jvfausto 0:03b7e8deb3ee 256 }
jvfausto 0:03b7e8deb3ee 257
jvfausto 0:03b7e8deb3ee 258 void VL53L1X::writeRegister16(uint16_t registerAddr, uint16_t data)
jvfausto 0:03b7e8deb3ee 259 {
jvfausto 0:03b7e8deb3ee 260 char data_write[4];
jvfausto 0:03b7e8deb3ee 261 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:03b7e8deb3ee 262 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:03b7e8deb3ee 263 data_write[2] = (data >> 8) & 0xFF;
jvfausto 0:03b7e8deb3ee 264 data_write[3] = data & 0xFF;
jvfausto 0:03b7e8deb3ee 265 _i2c.write(_deviceAddress, data_write, 4);
jvfausto 0:03b7e8deb3ee 266 }