Diff: VL53L0X.cpp

Revision:

0:11ad6aaed10a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X.cpp	Tue Jul 30 13:49:02 2019 +0000
@@ -0,0 +1,121 @@
+/**
+ * @file VL53L0X.cpp
+ * @author Joel von Rotz (joel.vonrotz@maxonmotor.com)
+ * @brief 
+ * @version 0.1
+ * @date 2019-07-30
+ * 
+ * @copyright Copyright (c) 2019, maxon motor ag - all rights reserved
+ * 
+ */
+#include "VL53L0X.h"
+#include "mbed.h"
+
+#include "vl53l0x_api.h"
+#include "vl53l0x_platform.h"
+
+/**
+ * @brief Construct a new VL53L0X object
+ * 
+ * The constructor is used to assign the needed values to the VL53L0X-Dev structure.
+ * 
+ * @param p_i2c_device A pointer to an mbed I2C-object
+ */
+VL53L0X::VL53L0X(I2C* p_i2c_device)
+{
+  m_vl_dev.i2c_frequency = 400000;
+  m_vl_dev.i2c_device    = p_i2c_device;
+  m_vl_dev.i2c_address   = ADDRESS_DEFAULT;
+
+}
+
+/**
+ * @brief Set new Device Address
+ * 
+ * Replaces the current I2C-Address with a new one. Every value can be used.
+ * Currently there is a small problem on reseting the mbed board: after reset (no power reset) the sensor still
+ * uses it's new slave address. A power-reset is needed to reset the proximity sensors to their factory settings.
+ * 
+ * @param address   New desired 7-Bit address
+ * @return true     no success
+ * @return false    success
+ */
+bool VL53L0X::setDeviceAddress(uint8_t address)
+{
+  if(VL53L0X_SetDeviceAddress(&m_vl_dev, address << 1) == 0)
+  {
+    m_vl_dev.i2c_address = address;
+    return 0;
+  }
+  return 1;
+}
+
+/**
+ * @brief Initializes the Sensor
+ * 
+ * After constructing a VL53L0X object, the sensor needs to be initialized by calling this funciton.
+ * 
+ * @return true   never going to happen
+ * @return false  maybe a success
+ */
+bool VL53L0X::init()
+{
+  VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+  VL53L0X_GetVersion(&m_vl_version);
+
+  if (Status == VL53L0X_ERROR_NONE)
+  {
+    Status = VL53L0X_DataInit(&m_vl_dev); // Data initialization
+  }
+  if (Status == VL53L0X_ERROR_NONE)
+  {
+    Status = VL53L0X_GetDeviceInfo(&m_vl_dev, &m_vl_deviceinfo);
+  }
+  return 0;
+}
+
+/**
+ * @brief Set Mode to Continuous
+ * 
+ * Configures the data acquisition of the sensor to 'continuous' 
+ * 
+ * @return true   never going to happen
+ * @return false  maybe a success
+ */
+bool VL53L0X::setModeContinuous()
+{
+  uint32_t refSpadCount;
+  uint8_t isApertureSpads;
+  uint8_t VhvSettings;
+  uint8_t PhaseCal;
+  VL53L0X_StaticInit(&m_vl_dev); // Device Initialization
+  VL53L0X_PerformRefCalibration(&m_vl_dev,    &VhvSettings, &PhaseCal); // Device Initialization
+  VL53L0X_PerformRefSpadManagement(&m_vl_dev, &refSpadCount, &isApertureSpads); // Device Initialization
+  VL53L0X_SetDeviceMode(&m_vl_dev, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in single ranging mode
+  
+  return 0;
+}
+
+/**
+ * @brief Starts the Continuous Measurement Session
+ * 
+ * @return true   never going to happen
+ * @return false  maybe a success
+ */
+bool VL53L0X::startContinuous()
+{
+  VL53L0X_StartMeasurement(&m_vl_dev);
+  return 0;
+}
+
+/**
+ * @brief Returns measured Range in Millimeters
+ * 
+ * @return uint16_t distance in [mm]
+ */
+uint16_t VL53L0X::getRangeMillimeters()
+{
+  VL53L0X_GetRangingMeasurementData(&m_vl_dev, &m_vl_results);
+  return m_vl_results.RangeMilliMeter;
+}