RFD77402 ToF-sensor

Diff: RFD77402.h

Revision:

0:661414c07859

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RFD77402.h	Tue Nov 21 21:29:58 2017 +0000
@@ -0,0 +1,117 @@
+/*
+  This is a library written for the RFD77402 Time of Flight sensor.
+  SparkFun sells these at its website: www.sparkfun.com
+  Written by Nathan Seidle @ SparkFun Electronics, June 9th, 2017
+  The VCSEL (vertical-cavity surface-emitting laser) Time of Flight sensor 
+  can accurately measure from 10cm to 200cm (2m) with milimeter precision.
+  This library handles the initialization of the RFD77402 and bringing in of
+  various readings.
+  https://github.com/sparkfun/SparkFun_RFD77402_Arduino_Library
+  Do you like this library? Help support SparkFun. Buy a board!
+  Development environment specifics:
+  Arduino IDE 1.8.1
+  This program is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+  GNU General Public License for more details.
+  You should have received a copy of the GNU General Public License
+  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    
+  I just ported the sourcecode provided by sparkfun 
+  (on https://github.com/sparkfun/SparkFun_RFD77402_Arduino_Library) to the 
+  mbed-environment. So if you like it, please support them by e.g. buying a
+  sparkfun-board :)
+*/
+
+#ifndef RFD77402_H_
+#define RFD77402_H_
+#endif
+#ifndef MBED_H_
+#define MBED_H_
+#endif
+
+#define RFD77402_ADDR 0x98 //8-bit --> 0x4C in 7-bit I2C Address
+
+//Register addresses
+#define RFD77402_ICSR 0x00
+#define RFD77402_INTERRUPTS 0x02
+#define RFD77402_COMMAND 0x04
+#define RFD77402_DEVICE_STATUS 0x06
+#define RFD77402_RESULT 0x08
+#define RFD77402_RESULT_CONFIDENCE 0x0A
+#define RFD77402_CONFIGURE_A 0x0C
+#define RFD77402_CONFIGURE_B 0x0E
+#define RFD77402_HOST_TO_MCPU_MAILBOX 0x10
+#define RFD77402_MCPU_TO_HOST_MAILBOX 0x12
+#define RFD77402_CONFIGURE_PMU 0x14
+#define RFD77402_CONFIGURE_I2C 0x1C
+#define RFD77402_CONFIGURE_HW_0 0x20
+#define RFD77402_CONFIGURE_HW_1 0x22
+#define RFD77402_CONFIGURE_HW_2 0x24
+#define RFD77402_CONFIGURE_HW_3 0x26
+#define RFD77402_MOD_CHIP_ID 0x28
+
+#define RFD77402_MODE_MEASUREMENT 0x01
+#define RFD77402_MODE_STANDBY 0x10
+#define RFD77402_MODE_OFF 0x11
+#define RFD77402_MODE_ON 0x12
+
+#define CODE_VALID_DATA 0x00
+#define CODE_FAILED_PIXELS 0x01
+#define CODE_FAILED_SIGNAL 0x02
+#define CODE_FAILED_SATURATED 0x03
+#define CODE_FAILED_NOT_NEW 0x04
+#define CODE_FAILED_TIMEOUT 0x05
+
+#define I2C_SPEED_STANDARD        100000
+#define I2C_SPEED_FAST            400000
+
+class RFD77402 {
+  public:
+
+    //By default use Wire, standard I2C speed, and the defaul AK9750 address
+    bool begin(I2C &i2cPort);
+
+    uint8_t takeMeasurement(); //Takes a single measurement and sets the global variables with new data
+    uint16_t getDistance(); //Returns the local variable to the caller
+    uint8_t getValidPixels(); //Returns the number of valid pixels found when taking measurement
+    uint16_t getConfidenceValue(); //Returns the qualitative value representing how confident the sensor is about its reported distance
+    uint8_t getMode(); //Read the command opcode and covert to mode
+
+    bool goToStandbyMode(); //Tell MCPU to go to standby mode. Return true if successful
+    bool goToOffMode(); //Tell MCPU to go to off state. Return true if successful
+    bool goToOnMode(); //Tell MCPU to go to on state. Return true if successful
+    bool goToMeasurementMode(); //Tell MCPU to go to measurement mode. Takes a measurement. If measurement data is ready, return true
+    
+    uint8_t getPeak(); //Returns the VCSEL peak 4-bit value
+    void setPeak(uint8_t peakValue); //Sets the VCSEL peak 4-bit value
+    uint8_t getThreshold(); //Returns the VCSEL Threshold 4-bit value
+    void setThreshold(uint8_t threshold); //Sets the VCSEL Threshold 4-bit value
+    uint8_t getFrequency(); //Returns the VCSEL Frequency 4-bit value
+    void setFrequency(uint8_t threshold); //Sets the VCSEL Frequency 4-bit value
+
+    uint16_t getMailbox(); //Gets whatever is in the 'MCPU to Host' mailbox. Check ICSR bit 5 before reading.
+    void reset(); //Software reset the device
+    uint16_t getChipID(); //Returns the chip ID. Should be 0xAD01 or higher.
+
+    //Retreive 2*27 bytes from MCPU for computation of calibration parameters
+    //Reads 54 bytes into the calibration[] array
+    //Returns true if new cal data is loaded
+    bool getCalibrationData();
+
+    uint16_t readRegister16(char addr); //Reads two bytes from a given location from the RFD77402
+    uint8_t readRegister(char addr); //Reads from a given location from the RFD77402
+    void writeRegister16(char addr, uint16_t val); //Write a 16 bit value to a spot in the RFD77402
+    void writeRegister(char addr, char val); //Write a value to a spot in the RFD77402
+
+    //Variables
+    uint16_t distance;
+    uint8_t validPixels;
+    uint16_t confidenceValue;
+    uint8_t calibrationData[54]; //Loaded by the 0x006 mailbox command
+
+  private:
+
+    //Variables
+    I2C *_i2cPort; //The generic connection to user's chosen I2C hardware
+};