Library containing Crazyflie 2.0 sensors drivers: - LPS25H (barometer) - MPU9250 (IMU) - PMW3901 (optical flow) - VL53L0X (range)
Dependents: Drones-Controlador controladoatitude_cteste Drone_Controlador_Atitude optical_test
VL53L0X/VL53L0X.h@12:2bbe233d25fb, 2018-09-26 (annotated)
- Committer:
- fbob
- Date:
- Wed Sep 26 13:14:36 2018 +0000
- Revision:
- 12:2bbe233d25fb
- Parent:
- 11:b3a7164c4e12
- Child:
- 15:e07de535b86f
Included VL53L0X (range) sensor class
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
fbob | 11:b3a7164c4e12 | 1 | #ifndef VL53L0X_h |
fbob | 11:b3a7164c4e12 | 2 | #define VL53L0X_h |
fbob | 12:2bbe233d25fb | 3 | #include "mbed.h" |
fbob | 12:2bbe233d25fb | 4 | //#include "millis.h" |
fbob | 11:b3a7164c4e12 | 5 | |
fbob | 12:2bbe233d25fb | 6 | /** LPS25H (barometer sensor) class |
fbob | 11:b3a7164c4e12 | 7 | * |
fbob | 11:b3a7164c4e12 | 8 | * Example code (print pressure and altitude data on serial port every 0.2 second): |
fbob | 11:b3a7164c4e12 | 9 | * @code |
fbob | 11:b3a7164c4e12 | 10 | * #include "mbed.h" |
fbob | 11:b3a7164c4e12 | 11 | * #include "USBSerial.h" |
fbob | 11:b3a7164c4e12 | 12 | * #include "VL53L0X.h" |
fbob | 11:b3a7164c4e12 | 13 | * |
fbob | 11:b3a7164c4e12 | 14 | * USBSerial pc; |
fbob | 12:2bbe233d25fb | 15 | * VL53L0X range(PB_7,PB_6); |
fbob | 11:b3a7164c4e12 | 16 | * |
fbob | 11:b3a7164c4e12 | 17 | * int main() |
fbob | 11:b3a7164c4e12 | 18 | * { |
fbob | 12:2bbe233d25fb | 19 | * range.init(); |
fbob | 11:b3a7164c4e12 | 20 | * while(1) |
fbob | 11:b3a7164c4e12 | 21 | * { |
fbob | 12:2bbe233d25fb | 22 | * range.read(); |
fbob | 12:2bbe233d25fb | 23 | * pc.printf("Range [m]: %6.2f \n\n", range.z); |
fbob | 11:b3a7164c4e12 | 24 | * wait(0.2); |
fbob | 11:b3a7164c4e12 | 25 | * } |
fbob | 11:b3a7164c4e12 | 26 | * } |
fbob | 11:b3a7164c4e12 | 27 | * @endcode |
fbob | 11:b3a7164c4e12 | 28 | * (Need to target to NUCLEO-F401RE board platform) |
fbob | 11:b3a7164c4e12 | 29 | */ |
fbob | 11:b3a7164c4e12 | 30 | class VL53L0X |
fbob | 11:b3a7164c4e12 | 31 | { |
fbob | 12:2bbe233d25fb | 32 | public: |
fbob | 12:2bbe233d25fb | 33 | // register addresses from API vl53l0x_device.h (ordered as listed there) |
fbob | 12:2bbe233d25fb | 34 | enum regAddr |
fbob | 12:2bbe233d25fb | 35 | { |
fbob | 12:2bbe233d25fb | 36 | SYSRANGE_START = 0x00, |
fbob | 12:2bbe233d25fb | 37 | |
fbob | 12:2bbe233d25fb | 38 | SYSTEM_THRESH_HIGH = 0x0C, |
fbob | 12:2bbe233d25fb | 39 | SYSTEM_THRESH_LOW = 0x0E, |
fbob | 12:2bbe233d25fb | 40 | |
fbob | 12:2bbe233d25fb | 41 | SYSTEM_SEQUENCE_CONFIG = 0x01, |
fbob | 12:2bbe233d25fb | 42 | SYSTEM_RANGE_CONFIG = 0x09, |
fbob | 12:2bbe233d25fb | 43 | SYSTEM_INTERMEASUREMENT_PERIOD = 0x04, |
fbob | 12:2bbe233d25fb | 44 | |
fbob | 12:2bbe233d25fb | 45 | SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A, |
fbob | 12:2bbe233d25fb | 46 | |
fbob | 12:2bbe233d25fb | 47 | GPIO_HV_MUX_ACTIVE_HIGH = 0x84, |
fbob | 12:2bbe233d25fb | 48 | |
fbob | 12:2bbe233d25fb | 49 | SYSTEM_INTERRUPT_CLEAR = 0x0B, |
fbob | 12:2bbe233d25fb | 50 | |
fbob | 12:2bbe233d25fb | 51 | RESULT_INTERRUPT_STATUS = 0x13, |
fbob | 12:2bbe233d25fb | 52 | RESULT_RANGE_STATUS = 0x14, |
fbob | 12:2bbe233d25fb | 53 | |
fbob | 12:2bbe233d25fb | 54 | RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC, |
fbob | 12:2bbe233d25fb | 55 | RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0, |
fbob | 12:2bbe233d25fb | 56 | RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0, |
fbob | 12:2bbe233d25fb | 57 | RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4, |
fbob | 12:2bbe233d25fb | 58 | RESULT_PEAK_SIGNAL_RATE_REF = 0xB6, |
fbob | 12:2bbe233d25fb | 59 | |
fbob | 12:2bbe233d25fb | 60 | ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28, |
fbob | 12:2bbe233d25fb | 61 | |
fbob | 12:2bbe233d25fb | 62 | I2C_SLAVE_DEVICE_ADDRESS = 0x8A, |
fbob | 12:2bbe233d25fb | 63 | |
fbob | 12:2bbe233d25fb | 64 | MSRC_CONFIG_CONTROL = 0x60, |
fbob | 12:2bbe233d25fb | 65 | |
fbob | 12:2bbe233d25fb | 66 | PRE_RANGE_CONFIG_MIN_SNR = 0x27, |
fbob | 12:2bbe233d25fb | 67 | PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56, |
fbob | 12:2bbe233d25fb | 68 | PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57, |
fbob | 12:2bbe233d25fb | 69 | PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64, |
fbob | 12:2bbe233d25fb | 70 | |
fbob | 12:2bbe233d25fb | 71 | FINAL_RANGE_CONFIG_MIN_SNR = 0x67, |
fbob | 12:2bbe233d25fb | 72 | FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47, |
fbob | 12:2bbe233d25fb | 73 | FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48, |
fbob | 12:2bbe233d25fb | 74 | FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44, |
fbob | 12:2bbe233d25fb | 75 | |
fbob | 12:2bbe233d25fb | 76 | PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61, |
fbob | 12:2bbe233d25fb | 77 | PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62, |
fbob | 12:2bbe233d25fb | 78 | |
fbob | 12:2bbe233d25fb | 79 | PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50, |
fbob | 12:2bbe233d25fb | 80 | PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51, |
fbob | 12:2bbe233d25fb | 81 | PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52, |
fbob | 12:2bbe233d25fb | 82 | |
fbob | 12:2bbe233d25fb | 83 | SYSTEM_HISTOGRAM_BIN = 0x81, |
fbob | 12:2bbe233d25fb | 84 | HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33, |
fbob | 12:2bbe233d25fb | 85 | HISTOGRAM_CONFIG_READOUT_CTRL = 0x55, |
fbob | 12:2bbe233d25fb | 86 | |
fbob | 12:2bbe233d25fb | 87 | FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70, |
fbob | 12:2bbe233d25fb | 88 | FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71, |
fbob | 12:2bbe233d25fb | 89 | FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72, |
fbob | 12:2bbe233d25fb | 90 | CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20, |
fbob | 12:2bbe233d25fb | 91 | |
fbob | 12:2bbe233d25fb | 92 | MSRC_CONFIG_TIMEOUT_MACROP = 0x46, |
fbob | 12:2bbe233d25fb | 93 | |
fbob | 12:2bbe233d25fb | 94 | SOFT_RESET_GO2_SOFT_RESET_N = 0xBF, |
fbob | 12:2bbe233d25fb | 95 | IDENTIFICATION_MODEL_ID = 0xC0, |
fbob | 12:2bbe233d25fb | 96 | IDENTIFICATION_REVISION_ID = 0xC2, |
fbob | 12:2bbe233d25fb | 97 | |
fbob | 12:2bbe233d25fb | 98 | OSC_CALIBRATE_VAL = 0xF8, |
fbob | 12:2bbe233d25fb | 99 | |
fbob | 12:2bbe233d25fb | 100 | GLOBAL_CONFIG_VCSEL_WIDTH = 0x32, |
fbob | 12:2bbe233d25fb | 101 | GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0, |
fbob | 12:2bbe233d25fb | 102 | GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1, |
fbob | 12:2bbe233d25fb | 103 | GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2, |
fbob | 12:2bbe233d25fb | 104 | GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3, |
fbob | 12:2bbe233d25fb | 105 | GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4, |
fbob | 12:2bbe233d25fb | 106 | GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5, |
fbob | 12:2bbe233d25fb | 107 | |
fbob | 12:2bbe233d25fb | 108 | GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6, |
fbob | 12:2bbe233d25fb | 109 | DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E, |
fbob | 12:2bbe233d25fb | 110 | DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F, |
fbob | 12:2bbe233d25fb | 111 | POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80, |
fbob | 12:2bbe233d25fb | 112 | |
fbob | 12:2bbe233d25fb | 113 | VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89, |
fbob | 12:2bbe233d25fb | 114 | |
fbob | 12:2bbe233d25fb | 115 | ALGO_PHASECAL_LIM = 0x30, |
fbob | 12:2bbe233d25fb | 116 | ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30, |
fbob | 12:2bbe233d25fb | 117 | }; |
fbob | 12:2bbe233d25fb | 118 | |
fbob | 12:2bbe233d25fb | 119 | enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange }; |
fbob | 12:2bbe233d25fb | 120 | |
fbob | 12:2bbe233d25fb | 121 | uint8_t last_status; // status of last I2C transmission |
fbob | 12:2bbe233d25fb | 122 | |
fbob | 12:2bbe233d25fb | 123 | VL53L0X(PinName sda_pin, PinName scl_pin); |
fbob | 12:2bbe233d25fb | 124 | |
fbob | 12:2bbe233d25fb | 125 | void setAddress(uint8_t new_addr); |
fbob | 12:2bbe233d25fb | 126 | inline uint8_t getAddress(void) { return address; } |
fbob | 12:2bbe233d25fb | 127 | |
fbob | 12:2bbe233d25fb | 128 | bool init_original(bool io_2v8 = true); |
fbob | 12:2bbe233d25fb | 129 | |
fbob | 12:2bbe233d25fb | 130 | |
fbob | 12:2bbe233d25fb | 131 | |
fbob | 12:2bbe233d25fb | 132 | bool setSignalRateLimit(float limit_Mcps); |
fbob | 12:2bbe233d25fb | 133 | float getSignalRateLimit(void); |
fbob | 12:2bbe233d25fb | 134 | |
fbob | 12:2bbe233d25fb | 135 | bool setMeasurementTimingBudget(uint32_t budget_us); |
fbob | 12:2bbe233d25fb | 136 | uint32_t getMeasurementTimingBudget(void); |
fbob | 12:2bbe233d25fb | 137 | |
fbob | 12:2bbe233d25fb | 138 | bool setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks); |
fbob | 12:2bbe233d25fb | 139 | uint8_t getVcselPulsePeriod(vcselPeriodType type); |
fbob | 12:2bbe233d25fb | 140 | |
fbob | 12:2bbe233d25fb | 141 | void startContinuous(uint32_t period_ms = 0); |
fbob | 12:2bbe233d25fb | 142 | void stopContinuous(void); |
fbob | 12:2bbe233d25fb | 143 | uint16_t readRangeContinuousMillimeters(void); |
fbob | 12:2bbe233d25fb | 144 | uint16_t readRangeSingleMillimeters(void); |
fbob | 12:2bbe233d25fb | 145 | |
fbob | 12:2bbe233d25fb | 146 | inline void setTimeout(uint16_t timeout) { io_timeout = timeout; } |
fbob | 12:2bbe233d25fb | 147 | inline uint16_t getTimeout(void) { return io_timeout; } |
fbob | 12:2bbe233d25fb | 148 | bool timeoutOccurred(void); |
fbob | 12:2bbe233d25fb | 149 | |
fbob | 12:2bbe233d25fb | 150 | /** Initialize sensor */ |
fbob | 12:2bbe233d25fb | 151 | bool init(); |
fbob | 12:2bbe233d25fb | 152 | /** Read sensor data */ |
fbob | 12:2bbe233d25fb | 153 | void read(); |
fbob | 12:2bbe233d25fb | 154 | |
fbob | 12:2bbe233d25fb | 155 | /** Range data [m] */ |
fbob | 12:2bbe233d25fb | 156 | float z; |
fbob | 12:2bbe233d25fb | 157 | |
fbob | 12:2bbe233d25fb | 158 | private: |
fbob | 12:2bbe233d25fb | 159 | // TCC: Target CentreCheck |
fbob | 12:2bbe233d25fb | 160 | // MSRC: Minimum Signal Rate Check |
fbob | 12:2bbe233d25fb | 161 | // DSS: Dynamic Spad Selection |
fbob | 12:2bbe233d25fb | 162 | I2C m_i2c; |
fbob | 12:2bbe233d25fb | 163 | int m_addr; |
fbob | 12:2bbe233d25fb | 164 | |
fbob | 12:2bbe233d25fb | 165 | void writeReg(uint8_t reg, uint8_t value); |
fbob | 12:2bbe233d25fb | 166 | void writeReg16Bit(uint8_t reg, uint16_t value); |
fbob | 12:2bbe233d25fb | 167 | void writeReg32Bit(uint8_t reg, uint32_t value); |
fbob | 12:2bbe233d25fb | 168 | uint8_t readReg(uint8_t reg); |
fbob | 12:2bbe233d25fb | 169 | uint16_t readReg16Bit(uint8_t reg); |
fbob | 12:2bbe233d25fb | 170 | uint32_t readReg32Bit(uint8_t reg); |
fbob | 12:2bbe233d25fb | 171 | |
fbob | 12:2bbe233d25fb | 172 | void writeMulti(uint8_t reg, char src[], uint8_t count); |
fbob | 12:2bbe233d25fb | 173 | void readMulti(uint8_t reg, char dst[], uint8_t count); |
fbob | 12:2bbe233d25fb | 174 | |
fbob | 12:2bbe233d25fb | 175 | struct SequenceStepEnables |
fbob | 12:2bbe233d25fb | 176 | { |
fbob | 12:2bbe233d25fb | 177 | bool tcc, msrc, dss, pre_range, final_range; |
fbob | 12:2bbe233d25fb | 178 | }; |
fbob | 12:2bbe233d25fb | 179 | |
fbob | 12:2bbe233d25fb | 180 | struct SequenceStepTimeouts |
fbob | 12:2bbe233d25fb | 181 | { |
fbob | 12:2bbe233d25fb | 182 | uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks; |
fbob | 12:2bbe233d25fb | 183 | |
fbob | 12:2bbe233d25fb | 184 | uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks; |
fbob | 12:2bbe233d25fb | 185 | uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us; |
fbob | 12:2bbe233d25fb | 186 | }; |
fbob | 12:2bbe233d25fb | 187 | |
fbob | 12:2bbe233d25fb | 188 | uint8_t address; |
fbob | 12:2bbe233d25fb | 189 | uint16_t io_timeout; |
fbob | 12:2bbe233d25fb | 190 | bool did_timeout; |
fbob | 12:2bbe233d25fb | 191 | uint16_t timeout_start_ms; |
fbob | 12:2bbe233d25fb | 192 | |
fbob | 12:2bbe233d25fb | 193 | uint8_t stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X_DevData_t structure in API |
fbob | 12:2bbe233d25fb | 194 | uint32_t measurement_timing_budget_us; |
fbob | 12:2bbe233d25fb | 195 | |
fbob | 12:2bbe233d25fb | 196 | bool getSpadInfo(uint8_t * count, bool * type_is_aperture); |
fbob | 12:2bbe233d25fb | 197 | |
fbob | 12:2bbe233d25fb | 198 | void getSequenceStepEnables(SequenceStepEnables * enables); |
fbob | 12:2bbe233d25fb | 199 | void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts); |
fbob | 12:2bbe233d25fb | 200 | |
fbob | 12:2bbe233d25fb | 201 | bool performSingleRefCalibration(uint8_t vhv_init_byte); |
fbob | 12:2bbe233d25fb | 202 | |
fbob | 12:2bbe233d25fb | 203 | static uint16_t decodeTimeout(uint16_t value); |
fbob | 12:2bbe233d25fb | 204 | static uint16_t encodeTimeout(uint16_t timeout_mclks); |
fbob | 12:2bbe233d25fb | 205 | static uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks); |
fbob | 12:2bbe233d25fb | 206 | static uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks); |
fbob | 11:b3a7164c4e12 | 207 | }; |
fbob | 11:b3a7164c4e12 | 208 | |
fbob | 12:2bbe233d25fb | 209 | #endif |