VL53L0X.h

00001 /**
00002  * @file VL53L0X.h
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 #ifndef VL53L0X_H
00012 #define VL53L0X_H
00013 
00014 #include "mbed.h"
00015 #include "vl53l0x_platform.h"
00016 #include "vl53l0x_def.h"
00017 
00018 #define ADDRESS_DEFAULT (0x29)
00019 
00020 /**
00021  * @brief Class for Proximity Sensor VL53L0X
00022  * 
00023  * The VL53L0X is a laser based proximity sensor which can measure up to 2m.
00024  * This library is a wrapper for the API from STMicrocontrollers and the goal of this
00025  * library is the easier access to this sensor. 
00026  * 
00027  * Something really cool about these sensors is the ability to change the I2C-address.
00028  * So you can hook multiple, identical sensors on the same I2C-line.
00029  * 
00030  * <h2>Examples</h2>
00031  * 
00032  * <h3>One Sensor</h3>
00033  * Using one sensor is pretty simple, connect the I2C-pins to the sensor (Shutdown should be pulled high
00034  * using a pull-up resistor).
00035  * 
00036  * @code
00037  * #include "mbed.h"
00038  * #include "VL53L0X.h"
00039  *
00040  * I2C         i2c(p9, p10);
00041  * VL53L0X     vl_sensor(&i2c);
00042  * DigitalOut  vl_shutdown(p11);
00043  * Serial      usb(USBTX, USBRX, 115200);
00044  *
00045  * int main(void)
00046  * {
00047  *   usb.printf("Single VL53L0X\n\n\r");
00048  *  
00049  *   vl_shutdown = 1;  //turn VL53L0X on
00050  *   vl_sensor.init();
00051  *   vl_sensor.setModeContinuous();
00052  *   vl_sensor.startContinuous();
00053  *   while(1)
00054  *   {
00055  *     usb.printf("%4imm\n\r", vl_sensor.getRangeMillimeters());
00056  *   }
00057  * }
00058  * @endcode
00059  * 
00060  * <h3>Multiple Sensors</h3>
00061  * To use multiple sensors, at the start of the programm every sensor needs to be
00062  * turned off by setting their shutdown pin to low. Now one sensor is turned on,
00063  * and configured with the new address. After that's done, the next sensor can be
00064  * configured.
00065  * 
00066  * @code
00067  * #include "mbed.h"
00068  * #include "VL53L0X.h"
00069  *
00070  * I2C         i2c(p9, p10);
00071  * VL53L0X     vl_sensors[6] = {(&i2c),(&i2c),(&i2c),(&i2c),(&i2c),(&i2c)};
00072  * BusOut      vl_shutdown(p11,p12,p13,p14,p15,p16);
00073  * Serial      usb(USBTX, USBRX, 115200);
00074  *
00075  * int main(void)
00076  * {
00077  *   usb.printf("Multiple VL53L0X\n\n\r");
00078  * 
00079  *   uint8_t expander_shutdown_mask = 1;
00080  *   for(uint8_t i = 0; i < 6 ; i++)
00081  *   {
00082  *     vl_shutdown = expander_shutdown_mask;
00083  *     expander_shutdown_mask = (expander_shutdown_mask << 1) + 1;
00084  *     vl_sensors[i].init();
00085  *     vl_sensors[i].setDeviceAddress(0x40 + i);
00086  *     vl_sensors[i].setModeContinuous();
00087  *     vl_sensors[i].startContinuous();
00088  *   }
00089  *   uint16_t results[6];
00090  *   while(1)
00091  *   {
00092  *     for(uint8_t i = 0; i < 6 ; i++)
00093  *     {
00094  *       results[i] = vl_sensors[i].getRangeMillimeters(); 
00095  *     }
00096  *     usb.printf("1: %4imm 2: %4imm 3: %4imm) 4: %4imm 5: %4imm 6: %4imm)\n\r", results[0], results[1], results[2], results[3], results[4], results[5]);
00097  *   }
00098  * }
00099  * @endcode
00100  * 
00101  * <strong>NOTE</strong> - The library is gigantic, so it is recommended to use this library
00102  * on devices with enough storage.
00103  * 
00104  */
00105 class VL53L0X
00106 {
00107 public:
00108   VL53L0X(I2C* p_i2c_device);
00109 
00110   bool     setDeviceAddress(uint8_t address = ADDRESS_DEFAULT);
00111 
00112   bool     init();
00113 
00114   bool     setModeContinuous();
00115   bool     startContinuous();
00116   uint16_t getRangeMillimeters();
00117 private:
00118   VL53L0X_Dev_t                     m_vl_dev;
00119   VL53L0X_RangingMeasurementData_t  m_vl_results,m_old_results;
00120 
00121   VL53L0X_Version_t                 m_vl_version;
00122   VL53L0X_DeviceInfo_t              m_vl_deviceinfo;
00123 
00124 };
00125 
00126 #endif  /* */