Ian Kilburn
Simple library for VL53L0X ToF Sensor
Diff: VL53L0X.h
- Revision:
- 0:aae0c331fe7e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X.h Sun Feb 26 12:45:46 2017 +0000
@@ -0,0 +1,176 @@
+#ifndef VL53L0X_h
+#define VL53L0X_h
+#include "mbed.h"
+//#include "millis.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(PinName sda_pin, PinName scl_pin);
+
+ void setAddress(uint8_t new_addr);
+ inline uint8_t getAddress(void) { return address; }
+
+ bool init(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);
+
+ 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