VL53L0X.h

00001 #ifndef VL53L0X_h
00002 #define VL53L0X_h
00003 #include "mbed.h"
00004 //#include "millis.h"
00005 class VL53L0X
00006 {
00007   public:
00008     // register addresses from API vl53l0x_device.h (ordered as listed there)
00009     enum regAddr
00010     {
00011       SYSRANGE_START                              = 0x00,
00012 
00013       SYSTEM_THRESH_HIGH                          = 0x0C,
00014       SYSTEM_THRESH_LOW                           = 0x0E,
00015 
00016       SYSTEM_SEQUENCE_CONFIG                      = 0x01,
00017       SYSTEM_RANGE_CONFIG                         = 0x09,
00018       SYSTEM_INTERMEASUREMENT_PERIOD              = 0x04,
00019 
00020       SYSTEM_INTERRUPT_CONFIG_GPIO                = 0x0A,
00021 
00022       GPIO_HV_MUX_ACTIVE_HIGH                     = 0x84,
00023 
00024       SYSTEM_INTERRUPT_CLEAR                      = 0x0B,
00025 
00026       RESULT_INTERRUPT_STATUS                     = 0x13,
00027       RESULT_RANGE_STATUS                         = 0x14,
00028 
00029       RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN       = 0xBC,
00030       RESULT_CORE_RANGING_TOTAL_EVENTS_RTN        = 0xC0,
00031       RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF       = 0xD0,
00032       RESULT_CORE_RANGING_TOTAL_EVENTS_REF        = 0xD4,
00033       RESULT_PEAK_SIGNAL_RATE_REF                 = 0xB6,
00034 
00035       ALGO_PART_TO_PART_RANGE_OFFSET_MM           = 0x28,
00036 
00037       I2C_SLAVE_DEVICE_ADDRESS                    = 0x8A,
00038 
00039       MSRC_CONFIG_CONTROL                         = 0x60,
00040 
00041       PRE_RANGE_CONFIG_MIN_SNR                    = 0x27,
00042       PRE_RANGE_CONFIG_VALID_PHASE_LOW            = 0x56,
00043       PRE_RANGE_CONFIG_VALID_PHASE_HIGH           = 0x57,
00044       PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT          = 0x64,
00045 
00046       FINAL_RANGE_CONFIG_MIN_SNR                  = 0x67,
00047       FINAL_RANGE_CONFIG_VALID_PHASE_LOW          = 0x47,
00048       FINAL_RANGE_CONFIG_VALID_PHASE_HIGH         = 0x48,
00049       FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,
00050 
00051       PRE_RANGE_CONFIG_SIGMA_THRESH_HI            = 0x61,
00052       PRE_RANGE_CONFIG_SIGMA_THRESH_LO            = 0x62,
00053 
00054       PRE_RANGE_CONFIG_VCSEL_PERIOD               = 0x50,
00055       PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI          = 0x51,
00056       PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO          = 0x52,
00057 
00058       SYSTEM_HISTOGRAM_BIN                        = 0x81,
00059       HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT       = 0x33,
00060       HISTOGRAM_CONFIG_READOUT_CTRL               = 0x55,
00061 
00062       FINAL_RANGE_CONFIG_VCSEL_PERIOD             = 0x70,
00063       FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI        = 0x71,
00064       FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO        = 0x72,
00065       CROSSTALK_COMPENSATION_PEAK_RATE_MCPS       = 0x20,
00066 
00067       MSRC_CONFIG_TIMEOUT_MACROP                  = 0x46,
00068 
00069       SOFT_RESET_GO2_SOFT_RESET_N                 = 0xBF,
00070       IDENTIFICATION_MODEL_ID                     = 0xC0,
00071       IDENTIFICATION_REVISION_ID                  = 0xC2,
00072 
00073       OSC_CALIBRATE_VAL                           = 0xF8,
00074 
00075       GLOBAL_CONFIG_VCSEL_WIDTH                   = 0x32,
00076       GLOBAL_CONFIG_SPAD_ENABLES_REF_0            = 0xB0,
00077       GLOBAL_CONFIG_SPAD_ENABLES_REF_1            = 0xB1,
00078       GLOBAL_CONFIG_SPAD_ENABLES_REF_2            = 0xB2,
00079       GLOBAL_CONFIG_SPAD_ENABLES_REF_3            = 0xB3,
00080       GLOBAL_CONFIG_SPAD_ENABLES_REF_4            = 0xB4,
00081       GLOBAL_CONFIG_SPAD_ENABLES_REF_5            = 0xB5,
00082 
00083       GLOBAL_CONFIG_REF_EN_START_SELECT           = 0xB6,
00084       DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD         = 0x4E,
00085       DYNAMIC_SPAD_REF_EN_START_OFFSET            = 0x4F,
00086       POWER_MANAGEMENT_GO1_POWER_FORCE            = 0x80,
00087 
00088       VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV           = 0x89,
00089 
00090       ALGO_PHASECAL_LIM                           = 0x30,
00091       ALGO_PHASECAL_CONFIG_TIMEOUT                = 0x30,
00092     };
00093 
00094     enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange };
00095 
00096     uint8_t last_status; // status of last I2C transmission
00097 
00098     VL53L0X(PinName sda_pin, PinName scl_pin);
00099 
00100     void setAddress(uint8_t new_addr);
00101     inline uint8_t getAddress(void) { return address; }
00102 
00103     bool init(bool io_2v8 = true);
00104 
00105 
00106 
00107     bool setSignalRateLimit(float limit_Mcps);
00108     float getSignalRateLimit(void);
00109 
00110     bool setMeasurementTimingBudget(uint32_t budget_us);
00111     uint32_t getMeasurementTimingBudget(void);
00112 
00113     bool setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks);
00114     uint8_t getVcselPulsePeriod(vcselPeriodType type);
00115 
00116     void startContinuous(uint32_t period_ms = 0);
00117     void stopContinuous(void);
00118     uint16_t readRangeContinuousMillimeters(void);
00119     uint16_t readRangeSingleMillimeters(void);
00120 
00121     inline void setTimeout(uint16_t timeout) { io_timeout = timeout; }
00122     inline uint16_t getTimeout(void) { return io_timeout; }
00123     bool timeoutOccurred(void);
00124 
00125   private:
00126     // TCC: Target CentreCheck
00127     // MSRC: Minimum Signal Rate Check
00128     // DSS: Dynamic Spad Selection
00129     I2C m_i2c;
00130     int m_addr;
00131 
00132     void writeReg(uint8_t reg, uint8_t value);
00133     void writeReg16Bit(uint8_t reg, uint16_t value);
00134     void writeReg32Bit(uint8_t reg, uint32_t value);
00135     uint8_t readReg(uint8_t reg);
00136     uint16_t readReg16Bit(uint8_t reg);
00137     uint32_t readReg32Bit(uint8_t reg);
00138 
00139     void writeMulti(uint8_t reg, char src[], uint8_t count);
00140     void readMulti(uint8_t reg, char dst[], uint8_t count);
00141 
00142     struct SequenceStepEnables
00143     {
00144       bool tcc, msrc, dss, pre_range, final_range;
00145     };
00146 
00147     struct SequenceStepTimeouts
00148     {
00149       uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
00150 
00151       uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
00152       uint32_t msrc_dss_tcc_us,    pre_range_us,    final_range_us;
00153     };
00154 
00155     uint8_t address;
00156     uint16_t io_timeout;
00157     bool did_timeout;
00158     uint16_t timeout_start_ms;
00159 
00160     uint8_t stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X_DevData_t structure in API
00161     uint32_t measurement_timing_budget_us;
00162 
00163     bool getSpadInfo(uint8_t * count, bool * type_is_aperture);
00164 
00165     void getSequenceStepEnables(SequenceStepEnables * enables);
00166     void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);
00167 
00168     bool performSingleRefCalibration(uint8_t vhv_init_byte);
00169 
00170     static uint16_t decodeTimeout(uint16_t value);
00171     static uint16_t encodeTimeout(uint16_t timeout_mclks);
00172     static uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks);
00173     static uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks);
00174 };
00175 
00176 #endif