tof library
Diff: VL53L0X.h
- Revision:
- 0:1c8c01640f54
diff -r 000000000000 -r 1c8c01640f54 VL53L0X.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/VL53L0X.h Tue Oct 01 12:33:27 2019 +0000 @@ -0,0 +1,177 @@ +#ifndef VL53L0X_h +#define VL53L0X_h + +#include <mbed.h> + +class VL53L0X +{ + public: + // register addresses from API vl53l0x_device.h (ordered as listed there) + enum regAddr + { + SYSRANGE_START = 0x00, + + SYSTEM_THRESH_HIGH = 0x0C, + SYSTEM_THRESH_LOW = 0x0E, + + SYSTEM_SEQUENCE_CONFIG = 0x01, + SYSTEM_RANGE_CONFIG = 0x09, + SYSTEM_INTERMEASUREMENT_PERIOD = 0x04, + + SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A, + + GPIO_HV_MUX_ACTIVE_HIGH = 0x84, + + SYSTEM_INTERRUPT_CLEAR = 0x0B, + + RESULT_INTERRUPT_STATUS = 0x13, + RESULT_RANGE_STATUS = 0x14, + + RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC, + RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0, + RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0, + RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4, + RESULT_PEAK_SIGNAL_RATE_REF = 0xB6, + + ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28, + + I2C_SLAVE_DEVICE_ADDRESS = 0x8A, + + MSRC_CONFIG_CONTROL = 0x60, + + PRE_RANGE_CONFIG_MIN_SNR = 0x27, + PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56, + PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57, + PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64, + + FINAL_RANGE_CONFIG_MIN_SNR = 0x67, + FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47, + FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48, + FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44, + + PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61, + PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62, + + PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50, + PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51, + PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52, + + SYSTEM_HISTOGRAM_BIN = 0x81, + HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33, + HISTOGRAM_CONFIG_READOUT_CTRL = 0x55, + + FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70, + FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71, + FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72, + CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20, + + MSRC_CONFIG_TIMEOUT_MACROP = 0x46, + + SOFT_RESET_GO2_SOFT_RESET_N = 0xBF, + IDENTIFICATION_MODEL_ID = 0xC0, + IDENTIFICATION_REVISION_ID = 0xC2, + + OSC_CALIBRATE_VAL = 0xF8, + + GLOBAL_CONFIG_VCSEL_WIDTH = 0x32, + GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0, + GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1, + GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2, + GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3, + GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4, + GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5, + + GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6, + DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E, + DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F, + POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80, + + VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89, + + ALGO_PHASECAL_LIM = 0x30, + ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30, + }; + + enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange }; + + uint8_t last_status; // status of last I2C transmission + + VL53L0X(I2C*, Timer*); + + void setAddress(uint8_t new_addr); + inline uint8_t getAddress(void) { return address; } + + bool init(bool io_2v8 = true); + + void writeReg(uint8_t reg, uint8_t value); + void writeReg16Bit(uint8_t reg, uint16_t value); + void writeReg32Bit(uint8_t reg, uint32_t value); + uint8_t readReg(uint8_t reg); + uint16_t readReg16Bit(uint8_t reg); + uint32_t readReg32Bit(uint8_t reg); + + void writeMulti(uint8_t reg, uint8_t const * src, uint8_t count); + void readMulti(uint8_t reg, uint8_t * dst, uint8_t count); + + bool setSignalRateLimit(float limit_Mcps); + float getSignalRateLimit(void); + + bool setMeasurementTimingBudget(uint32_t budget_us); + uint32_t getMeasurementTimingBudget(void); + + bool setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks); + uint8_t getVcselPulsePeriod(vcselPeriodType type); + + void startContinuous(uint32_t period_ms = 0); + void stopContinuous(void); + uint16_t readRangeContinuousMillimeters(void); + uint16_t readRangeSingleMillimeters(void); + + inline void setTimeout(uint16_t timeout) { io_timeout = timeout; } + inline uint16_t getTimeout(void) { return io_timeout; } + bool timeoutOccurred(void); + + private: + // TCC: Target CentreCheck + // MSRC: Minimum Signal Rate Check + // DSS: Dynamic Spad Selection + + struct SequenceStepEnables + { + bool tcc, msrc, dss, pre_range, final_range; + }; + + struct SequenceStepTimeouts + { + uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks; + + uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks; + uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us; + }; + + uint8_t address; + uint16_t io_timeout; + bool did_timeout; + uint16_t timeout_start_ms; + + uint8_t stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X_DevData_t structure in API + uint32_t measurement_timing_budget_us; + + bool getSpadInfo(uint8_t * count, bool * type_is_aperture); + + void getSequenceStepEnables(SequenceStepEnables * enables); + void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts); + + bool performSingleRefCalibration(uint8_t vhv_init_byte); + + static uint16_t decodeTimeout(uint16_t value); + static uint16_t encodeTimeout(uint16_t timeout_mclks); + static uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks); + static uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks); + + // mbed members + I2C* i2c; + Timer* timer; +}; + +#endif