VL53L0X.cpp

00001 /**
00002  * @file VL53L0X.cpp
00003  * @author Joel von Rotz (joel.vonrotz@maxonmotor.com)
00004  * @brief 
00005  * @version 0.1
00006  * @date 2019-07-30
00007  * 
00008  * @copyright Copyright (c) 2019, maxon motor ag - all rights reserved
00009  * 
00010  */
00011 #include "VL53L0X.h "
00012 #include "mbed.h"
00013 
00014 #include "vl53l0x_api.h"
00015 #include "vl53l0x_platform.h"
00016 
00017 /**
00018  * @brief Construct a new VL53L0X object
00019  * 
00020  * The constructor is used to assign the needed values to the VL53L0X-Dev structure.
00021  * 
00022  * @param p_i2c_device A pointer to an mbed I2C-object
00023  */
00024 VL53L0X::VL53L0X(I2C* p_i2c_device)
00025 {
00026   m_vl_dev.i2c_frequency = 400000;
00027   m_vl_dev.i2c_device    = p_i2c_device;
00028   m_vl_dev.i2c_address   = ADDRESS_DEFAULT;
00029 
00030 }
00031 
00032 /**
00033  * @brief Set new Device Address
00034  * 
00035  * Replaces the current I2C-Address with a new one. Every value can be used.
00036  * Currently there is a small problem on reseting the mbed board: after reset (no power reset) the sensor still
00037  * uses it's new slave address. A power-reset is needed to reset the proximity sensors to their factory settings.
00038  * 
00039  * @param address   New desired 7-Bit address
00040  * @return true     no success
00041  * @return false    success
00042  */
00043 bool VL53L0X::setDeviceAddress(uint8_t address)
00044 {
00045   if(VL53L0X_SetDeviceAddress(&m_vl_dev, address << 1) == 0)
00046   {
00047     m_vl_dev.i2c_address = address;
00048     return 0;
00049   }
00050   return 1;
00051 }
00052 
00053 /**
00054  * @brief Initializes the Sensor
00055  * 
00056  * After constructing a VL53L0X object, the sensor needs to be initialized by calling this funciton.
00057  * 
00058  * @return true   never going to happen
00059  * @return false  maybe a success
00060  */
00061 bool VL53L0X::init()
00062 {
00063   VL53L0X_Error Status = VL53L0X_ERROR_NONE;
00064 
00065   VL53L0X_GetVersion(&m_vl_version);
00066 
00067   if (Status == VL53L0X_ERROR_NONE)
00068   {
00069     Status = VL53L0X_DataInit(&m_vl_dev); // Data initialization
00070   }
00071   if (Status == VL53L0X_ERROR_NONE)
00072   {
00073     Status = VL53L0X_GetDeviceInfo(&m_vl_dev, &m_vl_deviceinfo);
00074   }
00075   return 0;
00076 }
00077 
00078 /**
00079  * @brief Set Mode to Continuous
00080  * 
00081  * Configures the data acquisition of the sensor to 'continuous' 
00082  * 
00083  * @return true   never going to happen
00084  * @return false  maybe a success
00085  */
00086 bool VL53L0X::setModeContinuous()
00087 {
00088   uint32_t refSpadCount;
00089   uint8_t isApertureSpads;
00090   uint8_t VhvSettings;
00091   uint8_t PhaseCal;
00092   VL53L0X_StaticInit(&m_vl_dev); // Device Initialization
00093   VL53L0X_PerformRefCalibration(&m_vl_dev,    &VhvSettings, &PhaseCal); // Device Initialization
00094   VL53L0X_PerformRefSpadManagement(&m_vl_dev, &refSpadCount, &isApertureSpads); // Device Initialization
00095   VL53L0X_SetDeviceMode(&m_vl_dev, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in single ranging mode
00096   
00097   return 0;
00098 }
00099 
00100 /**
00101  * @brief Starts the Continuous Measurement Session
00102  * 
00103  * @return true   never going to happen
00104  * @return false  maybe a success
00105  */
00106 bool VL53L0X::startContinuous()
00107 {
00108   VL53L0X_StartMeasurement(&m_vl_dev);
00109   return 0;
00110 }
00111 
00112 /**
00113  * @brief Returns measured Range in Millimeters
00114  * 
00115  * @return uint16_t distance in [mm]
00116  */
00117 uint16_t VL53L0X::getRangeMillimeters()
00118 {
00119   VL53L0X_GetRangingMeasurementData(&m_vl_dev, &m_vl_results);
00120   return m_vl_results.RangeMilliMeter;
00121 }