Diff: VL53L0X/VL53L0X.h

Revision:

12:2bbe233d25fb

Parent:

11:b3a7164c4e12

Child:

15:e07de535b86f

diff -r b3a7164c4e12 -r 2bbe233d25fb VL53L0X/VL53L0X.h
--- a/VL53L0X/VL53L0X.h	Mon Sep 24 17:25:20 2018 +0000
+++ b/VL53L0X/VL53L0X.h	Wed Sep 26 13:14:36 2018 +0000
@@ -1,9 +1,9 @@
 #ifndef VL53L0X_h
 #define VL53L0X_h
+#include "mbed.h"
+//#include "millis.h"
 
-#include "mbed.h"
-
-/** VL53L0X (lidar sensor) class
+/** LPS25H (barometer sensor) class
  *
  * Example code (print pressure and altitude data on serial port every 0.2 second):
  * @code
@@ -12,19 +12,15 @@
  * #include "VL53L0X.h"
  *
  * USBSerial pc;
- * VL53L0X lidar(PC_9,PA_8);
+ * VL53L0X range(PB_7,PB_6);
  * 
  * int main() 
  * {
- *     if(!lidar.init())
- *     {
- *          pc.printf("Failed to detect and initialize lidar on I2C bus!");    
- *          while(1);
- *     }
+ *     range.init();
  *     while(1)
  *     {
- *          lidar.read();
- *          pc.printf("Distance   [m]: %6.2f \n\n", lidar.z);
+ *          range.read();
+ *          pc.printf("Range [m]: %6.2f \n\n", range.z);
  *          wait(0.2);
  *     }
  * }
@@ -33,12 +29,181 @@
  */
 class VL53L0X
 {
-    public:
-        /** Class constructor */
-        VL53L0X(PinName sda, PinName scl);
-    private:
-        /** I2C bus */
-        I2C i2c;
+  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(PinName sda_pin, PinName scl_pin);
+
+    void setAddress(uint8_t new_addr);
+    inline uint8_t getAddress(void) { return address; }
+
+    bool init_original(bool io_2v8 = true);
+
+
+
+    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);
+    
+    /** Initialize sensor */
+    bool init();
+    /** Read sensor data */
+    void read();
+        
+    /** Range data [m] */
+    float z;
+
+  private:
+    // TCC: Target CentreCheck
+    // MSRC: Minimum Signal Rate Check
+    // DSS: Dynamic Spad Selection
+    I2C m_i2c;
+    int m_addr;
+
+    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, char src[], uint8_t count);
+    void readMulti(uint8_t reg, char dst[], uint8_t count);
+
+    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);
 };
 
-#endif
\ No newline at end of file
+#endif