Jesus Fausto / VL53L1X

This is the SparkFun_VL53L1X_Arduino_Library translated into mbed, with some elements of Ian Kilburn's VL6180x mbed library.

Dependents:   Hug2Go_ver_2 Nucleo_rtos_basic_f103rb

VL53L1X.cpp@3:a7f10344f941, 2018-07-20 (annotated)

Committer:
jvfausto
Date:
Fri Jul 20 16:39:22 2018 +0000
Revision:
3:a7f10344f941
Parent:
2:fbaee2407103
Child:
4:2c3181cc4e98
fkljdl;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jvfausto 0:03b7e8deb3ee 1 #include "VL53L1X.h"
jvfausto 1:0d762892f7af 2 #include "mbed.h"
jvfausto 0:03b7e8deb3ee 3
jvfausto 1:0d762892f7af 4 //Serial pc(USBTX,USBRX);
jvfausto 0:03b7e8deb3ee 5
jvfausto 0:03b7e8deb3ee 6 uint8_t configBlock[] = {
jvfausto 0:03b7e8deb3ee 7 0x29, 0x02, 0x10, 0x00, 0x28, 0xBC, 0x7A, 0x81, //8
jvfausto 0:03b7e8deb3ee 8 0x80, 0x07, 0x95, 0x00, 0xED, 0xFF, 0xF7, 0xFD, //16
jvfausto 0:03b7e8deb3ee 9 0x9E, 0x0E, 0x00, 0x10, 0x01, 0x00, 0x00, 0x00, //24
jvfausto 0:03b7e8deb3ee 10 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x34, 0x00, //32
jvfausto 0:03b7e8deb3ee 11 0x28, 0x00, 0x0D, 0x0A, 0x00, 0x00, 0x00, 0x00, //40
jvfausto 0:03b7e8deb3ee 12 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, //48
jvfausto 0:03b7e8deb3ee 13 0x02, 0x00, 0x02, 0x08, 0x00, 0x08, 0x10, 0x01, //56
jvfausto 0:03b7e8deb3ee 14 0x01, 0x00, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x02, //64
jvfausto 0:03b7e8deb3ee 15 0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0x0B, 0x00, //72
jvfausto 0:03b7e8deb3ee 16 0x00, 0x02, 0x0A, 0x21, 0x00, 0x00, 0x02, 0x00, //80
jvfausto 0:03b7e8deb3ee 17 0x00, 0x00, 0x00, 0xC8, 0x00, 0x00, 0x38, 0xFF, //88
jvfausto 0:03b7e8deb3ee 18 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0x0F, //96
jvfausto 0:03b7e8deb3ee 19 0x00, 0xA5, 0x0D, 0x00, 0x80, 0x00, 0x0C, 0x08, //104
jvfausto 0:03b7e8deb3ee 20 0xB8, 0x00, 0x00, 0x00, 0x00, 0x0E, 0x10, 0x00, //112
jvfausto 0:03b7e8deb3ee 21 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x0F, //120
jvfausto 0:03b7e8deb3ee 22 0x0D, 0x0E, 0x0E, 0x01, 0x00, 0x02, 0xC7, 0xFF, //128
jvfausto 0:03b7e8deb3ee 23 0x8B, 0x00, 0x00, 0x00, 0x01, 0x01, 0x40 //129 - 135 (0x81 - 0x87)
jvfausto 0:03b7e8deb3ee 24 };
jvfausto 0:03b7e8deb3ee 25
jvfausto 0:03b7e8deb3ee 26 VL53L1X::VL53L1X(PinName SDA, PinName SCL) : _i2c(SDA,SCL){
jvfausto 0:03b7e8deb3ee 27 //Set I2C fast and bring reset line high
jvfausto 1:0d762892f7af 28 _i2c.frequency(400000);
jvfausto 2:fbaee2407103 29 _deviceAddress = defaultAddress_VL53L1X << 1;
jvfausto 0:03b7e8deb3ee 30 }
jvfausto 0:03b7e8deb3ee 31
jvfausto 1:0d762892f7af 32 bool VL53L1X::begin()
jvfausto 1:0d762892f7af 33 {
jvfausto 1:0d762892f7af 34 // _deviceAddress = defaultAddress_VL53L1X; //If provided, store the I2C address from user
jvfausto 1:0d762892f7af 35
jvfausto 1:0d762892f7af 36 //We expect caller to begin their I2C port, with the speed of their choice external to the library
jvfausto 1:0d762892f7af 37 //But if they forget, we start the hardware here.
jvfausto 1:0d762892f7af 38 //_i2c.begin();
jvfausto 1:0d762892f7af 39
jvfausto 1:0d762892f7af 40 //Check the device ID
jvfausto 1:0d762892f7af 41 uint16_t modelID = readRegister16(VL53L1_IDENTIFICATION__MODEL_ID);
jvfausto 1:0d762892f7af 42 printf("%x \r\n", modelID);
jvfausto 1:0d762892f7af 43 if (modelID != 0xEACC){
jvfausto 1:0d762892f7af 44 return (false);
jvfausto 1:0d762892f7af 45 }
jvfausto 1:0d762892f7af 46 softReset();
jvfausto 1:0d762892f7af 47
jvfausto 1:0d762892f7af 48 //Polls the bit 0 of the FIRMWARE__SYSTEM_STATUS register to see if the firmware is ready
jvfausto 1:0d762892f7af 49 int counter = 0;
jvfausto 2:fbaee2407103 50 int Firmware = readRegister16(VL53L1_FIRMWARE__SYSTEM_STATUS);
jvfausto 2:fbaee2407103 51 printf("Firmware = %x\r\n", Firmware);
jvfausto 2:fbaee2407103 52 while ((Firmware & 0x01) == 0)
jvfausto 1:0d762892f7af 53 {
jvfausto 2:fbaee2407103 54 Firmware = readRegister16(VL53L1_FIRMWARE__SYSTEM_STATUS);
jvfausto 2:fbaee2407103 55 printf("Firmware = %x\r\n", Firmware);
jvfausto 1:0d762892f7af 56 if (counter++ == 100) return (false); //Sensor timed out
jvfausto 2:fbaee2407103 57 wait(.1);
jvfausto 1:0d762892f7af 58 }
jvfausto 1:0d762892f7af 59
jvfausto 1:0d762892f7af 60 //Set I2C to 2.8V mode. In this mode 3.3V I2C is allowed.
jvfausto 1:0d762892f7af 61 uint16_t result = readRegister16(VL53L1_PAD_I2C_HV__EXTSUP_CONFIG);
jvfausto 1:0d762892f7af 62 result = (result & 0xFE) | 0x01;
jvfausto 1:0d762892f7af 63 writeRegister16(VL53L1_PAD_I2C_HV__EXTSUP_CONFIG, result);
jvfausto 1:0d762892f7af 64
jvfausto 1:0d762892f7af 65 //Gets trim resistors from chip
jvfausto 1:0d762892f7af 66 for (uint16_t i = 0; i < 36; i++) {
jvfausto 1:0d762892f7af 67 uint8_t regVal = readRegister(i + 1);
jvfausto 2:fbaee2407103 68 // if(configBlock[i] != regVal) printf("thanks for letting me know, %d, %x\r\n", i, regVal);
jvfausto 1:0d762892f7af 69 configBlock[i] = regVal;
jvfausto 1:0d762892f7af 70 }
jvfausto 1:0d762892f7af 71 startMeasurement();
jvfausto 1:0d762892f7af 72
jvfausto 1:0d762892f7af 73 return (true); //Sensor online!
jvfausto 1:0d762892f7af 74 }
jvfausto 1:0d762892f7af 75
jvfausto 1:0d762892f7af 76
jvfausto 0:03b7e8deb3ee 77 void VL53L1X::startMeasurement(uint8_t offset)
jvfausto 0:03b7e8deb3ee 78 {
jvfausto 0:03b7e8deb3ee 79 uint8_t address = 1 + offset; //Start at memory location 0x01, add offset
jvfausto 0:03b7e8deb3ee 80 uint8_t leftToSend = sizeof(configBlock) - offset;
jvfausto 0:03b7e8deb3ee 81 while (leftToSend > 0)
jvfausto 0:03b7e8deb3ee 82 {
jvfausto 0:03b7e8deb3ee 83 uint16_t toSend = I2C_BUFFER_LENGTH - 2; //Max I2C buffer on Arduino is 32, and we need 2 bytes for address
jvfausto 0:03b7e8deb3ee 84 if (toSend > leftToSend) toSend = leftToSend;
jvfausto 0:03b7e8deb3ee 85
jvfausto 2:fbaee2407103 86 _i2c.write(address << 1);// _i2c.beginTransmission(_deviceAddress);
jvfausto 0:03b7e8deb3ee 87 _i2c.write(0); //We're only in lower address space. No MSB needed.
jvfausto 0:03b7e8deb3ee 88 _i2c.write(address);
jvfausto 0:03b7e8deb3ee 89
jvfausto 2:fbaee2407103 90 for (char x = 0 ; x < toSend ; x++){
jvfausto 0:03b7e8deb3ee 91 _i2c.write(configBlock[address + x - 1 - offset]);
jvfausto 2:fbaee2407103 92 // printf("Data sent %x\r\n", configBlock[address + x - 1 - offset]);
jvfausto 2:fbaee2407103 93 }
jvfausto 2:fbaee2407103 94
jvfausto 0:03b7e8deb3ee 95
jvfausto 0:03b7e8deb3ee 96 // _i2c.endTransmission();
jvfausto 0:03b7e8deb3ee 97
jvfausto 0:03b7e8deb3ee 98 leftToSend -= toSend;
jvfausto 0:03b7e8deb3ee 99 address += toSend;
jvfausto 2:fbaee2407103 100 // printf("I actually went through %d\r\n", leftToSend);
jvfausto 0:03b7e8deb3ee 101 }
jvfausto 0:03b7e8deb3ee 102 }
jvfausto 0:03b7e8deb3ee 103
jvfausto 0:03b7e8deb3ee 104 bool VL53L1X::newDataReady(void)
jvfausto 0:03b7e8deb3ee 105 {
jvfausto 2:fbaee2407103 106 int read = readRegister(VL53L1_GPIO__TIO_HV_STATUS);
jvfausto 2:fbaee2407103 107 printf("read register %x\r\n", read);
jvfausto 2:fbaee2407103 108
jvfausto 2:fbaee2407103 109 if (read != 0x03) return(true); //New measurement!
jvfausto 0:03b7e8deb3ee 110 return(false); //No new data
jvfausto 0:03b7e8deb3ee 111 }
jvfausto 0:03b7e8deb3ee 112
jvfausto 0:03b7e8deb3ee 113 //Reset sensor via software
jvfausto 0:03b7e8deb3ee 114 void VL53L1X::softReset()
jvfausto 0:03b7e8deb3ee 115 {
jvfausto 0:03b7e8deb3ee 116 writeRegister(VL53L1_SOFT_RESET, 0x00); //Reset
jvfausto 0:03b7e8deb3ee 117 wait(.001); //Driver uses 100us
jvfausto 0:03b7e8deb3ee 118 writeRegister(VL53L1_SOFT_RESET, 0x01); //Exit reset
jvfausto 0:03b7e8deb3ee 119 }
jvfausto 0:03b7e8deb3ee 120
jvfausto 0:03b7e8deb3ee 121 uint16_t VL53L1X::getDistance()
jvfausto 0:03b7e8deb3ee 122 {
jvfausto 0:03b7e8deb3ee 123 return (readRegister16(VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0));
jvfausto 0:03b7e8deb3ee 124 }
jvfausto 0:03b7e8deb3ee 125
jvfausto 0:03b7e8deb3ee 126 uint16_t VL53L1X::getSignalRate()
jvfausto 0:03b7e8deb3ee 127 {
jvfausto 0:03b7e8deb3ee 128 //From vl53l1_api.c line 2041
jvfausto 0:03b7e8deb3ee 129 uint16_t reading = readRegister16(VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0);// << 9; //FIXPOINT97TOFIXPOINT1616
jvfausto 0:03b7e8deb3ee 130 //float signalRate = (float)reading/65536.0;
jvfausto 0:03b7e8deb3ee 131 return (reading);
jvfausto 0:03b7e8deb3ee 132 }
jvfausto 0:03b7e8deb3ee 133
jvfausto 0:03b7e8deb3ee 134 void VL53L1X::setDistanceMode(uint8_t mode)
jvfausto 0:03b7e8deb3ee 135 {
jvfausto 0:03b7e8deb3ee 136 uint8_t periodA;
jvfausto 0:03b7e8deb3ee 137 uint8_t periodB;
jvfausto 0:03b7e8deb3ee 138 uint8_t phaseHigh;
jvfausto 0:03b7e8deb3ee 139 uint8_t phaseInit;
jvfausto 3:a7f10344f941 140
jvfausto 0:03b7e8deb3ee 141 switch (mode)
jvfausto 0:03b7e8deb3ee 142 {
jvfausto 0:03b7e8deb3ee 143 case 0:
jvfausto 0:03b7e8deb3ee 144 periodA = 0x07;
jvfausto 0:03b7e8deb3ee 145 periodB = 0x05;
jvfausto 0:03b7e8deb3ee 146 phaseHigh = 0x38;
jvfausto 0:03b7e8deb3ee 147 phaseInit = 6;
jvfausto 0:03b7e8deb3ee 148 break;
jvfausto 0:03b7e8deb3ee 149 case 1:
jvfausto 0:03b7e8deb3ee 150 periodA = 0x0B;
jvfausto 0:03b7e8deb3ee 151 periodB = 0x09;
jvfausto 0:03b7e8deb3ee 152 phaseHigh = 0x78;
jvfausto 0:03b7e8deb3ee 153 phaseInit = 10;
jvfausto 0:03b7e8deb3ee 154 break;
jvfausto 0:03b7e8deb3ee 155 case 2:
jvfausto 0:03b7e8deb3ee 156 periodA = 0x0F;
jvfausto 0:03b7e8deb3ee 157 periodB = 0x0D;
jvfausto 0:03b7e8deb3ee 158 phaseHigh = 0xB8;
jvfausto 0:03b7e8deb3ee 159 phaseInit = 14;
jvfausto 0:03b7e8deb3ee 160 break;
jvfausto 0:03b7e8deb3ee 161 //If user inputs wrong range, we default to long range
jvfausto 0:03b7e8deb3ee 162 default:
jvfausto 0:03b7e8deb3ee 163 periodA = 0x0F;
jvfausto 0:03b7e8deb3ee 164 periodB = 0x0D;
jvfausto 0:03b7e8deb3ee 165 phaseHigh = 0xB8;
jvfausto 0:03b7e8deb3ee 166 phaseInit = 14;
jvfausto 0:03b7e8deb3ee 167 break;
jvfausto 0:03b7e8deb3ee 168 }
jvfausto 0:03b7e8deb3ee 169 //timing
jvfausto 0:03b7e8deb3ee 170 writeRegister(VL53L1_RANGE_CONFIG__VCSEL_PERIOD_A, periodA);
jvfausto 0:03b7e8deb3ee 171 writeRegister(VL53L1_RANGE_CONFIG__VCSEL_PERIOD_B , periodB);
jvfausto 0:03b7e8deb3ee 172 writeRegister(VL53L1_RANGE_CONFIG__VALID_PHASE_HIGH, phaseHigh);
jvfausto 0:03b7e8deb3ee 173
jvfausto 0:03b7e8deb3ee 174 //dynamic
jvfausto 0:03b7e8deb3ee 175 writeRegister(VL53L1_SD_CONFIG__WOI_SD0 , periodA);
jvfausto 0:03b7e8deb3ee 176 writeRegister(VL53L1_SD_CONFIG__WOI_SD1, periodB);
jvfausto 0:03b7e8deb3ee 177 writeRegister(VL53L1_SD_CONFIG__INITIAL_PHASE_SD0, phaseInit);
jvfausto 0:03b7e8deb3ee 178 writeRegister(VL53L1_SD_CONFIG__INITIAL_PHASE_SD1, phaseInit);
jvfausto 0:03b7e8deb3ee 179
jvfausto 0:03b7e8deb3ee 180 _distanceMode = mode;
jvfausto 0:03b7e8deb3ee 181 }
jvfausto 0:03b7e8deb3ee 182 uint8_t VL53L1X::getDistanceMode()
jvfausto 0:03b7e8deb3ee 183 {
jvfausto 0:03b7e8deb3ee 184 return _distanceMode;
jvfausto 0:03b7e8deb3ee 185 }
jvfausto 0:03b7e8deb3ee 186
jvfausto 0:03b7e8deb3ee 187 uint8_t VL53L1X::getRangeStatus()
jvfausto 0:03b7e8deb3ee 188 {
jvfausto 0:03b7e8deb3ee 189 #define VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ( 1)
jvfausto 0:03b7e8deb3ee 190 #define VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ( 2)
jvfausto 0:03b7e8deb3ee 191 #define VL53L1_DEVICEERROR_NOVHVVALUEFOUND ( 3)
jvfausto 0:03b7e8deb3ee 192 #define VL53L1_DEVICEERROR_MSRCNOTARGET ( 4)
jvfausto 0:03b7e8deb3ee 193 #define VL53L1_DEVICEERROR_RANGEPHASECHECK ( 5)
jvfausto 0:03b7e8deb3ee 194 #define VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK ( 6)
jvfausto 0:03b7e8deb3ee 195 #define VL53L1_DEVICEERROR_PHASECONSISTENCY ( 7)
jvfausto 0:03b7e8deb3ee 196 #define VL53L1_DEVICEERROR_MINCLIP ( 8)
jvfausto 0:03b7e8deb3ee 197 #define VL53L1_DEVICEERROR_RANGECOMPLETE ( 9)
jvfausto 0:03b7e8deb3ee 198 #define VL53L1_DEVICEERROR_ALGOUNDERFLOW ( 10)
jvfausto 0:03b7e8deb3ee 199 #define VL53L1_DEVICEERROR_ALGOOVERFLOW ( 11)
jvfausto 0:03b7e8deb3ee 200 #define VL53L1_DEVICEERROR_RANGEIGNORETHRESHOLD ( 12)
jvfausto 0:03b7e8deb3ee 201 #define VL53L1_DEVICEERROR_USERROICLIP ( 13)
jvfausto 0:03b7e8deb3ee 202 #define VL53L1_DEVICEERROR_REFSPADCHARNOTENOUGHDPADS ( 14)
jvfausto 0:03b7e8deb3ee 203 #define VL53L1_DEVICEERROR_REFSPADCHARMORETHANTARGET ( 15)
jvfausto 0:03b7e8deb3ee 204 #define VL53L1_DEVICEERROR_REFSPADCHARLESSTHANTARGET ( 16)
jvfausto 0:03b7e8deb3ee 205 #define VL53L1_DEVICEERROR_MULTCLIPFAIL ( 17)
jvfausto 0:03b7e8deb3ee 206 #define VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY ( 18)
jvfausto 0:03b7e8deb3ee 207 #define VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK ( 19)
jvfausto 0:03b7e8deb3ee 208 #define VL53L1_DEVICEERROR_EVENTCONSISTENCY ( 20)
jvfausto 0:03b7e8deb3ee 209 #define VL53L1_DEVICEERROR_MINSIGNALEVENTCHECK ( 21)
jvfausto 0:03b7e8deb3ee 210 #define VL53L1_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE ( 22)
jvfausto 0:03b7e8deb3ee 211
jvfausto 0:03b7e8deb3ee 212 #define VL53L1_RANGESTATUS_RANGE_VALID 0 /*!<The Range is valid. */
jvfausto 0:03b7e8deb3ee 213 #define VL53L1_RANGESTATUS_SIGMA_FAIL 1 /*!<Sigma Fail. */
jvfausto 0:03b7e8deb3ee 214 #define VL53L1_RANGESTATUS_SIGNAL_FAIL 2 /*!<Signal fail. */
jvfausto 0:03b7e8deb3ee 215 #define VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED 3 /*!<Target is below minimum detection threshold. */
jvfausto 0:03b7e8deb3ee 216 #define VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL 4 /*!<Phase out of valid limits - different to a wrap exit. */
jvfausto 0:03b7e8deb3ee 217 #define VL53L1_RANGESTATUS_HARDWARE_FAIL 5 /*!<Hardware fail. */
jvfausto 0:03b7e8deb3ee 218 #define VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL 6 /*!<The Range is valid but the wraparound check has not been done. */
jvfausto 0:03b7e8deb3ee 219 #define VL53L1_RANGESTATUS_WRAP_TARGET_FAIL 7 /*!<Wrapped target - no matching phase in other VCSEL period timing. */
jvfausto 0:03b7e8deb3ee 220 #define VL53L1_RANGESTATUS_PROCESSING_FAIL 8 /*!<Internal algo underflow or overflow in lite ranging. */
jvfausto 0:03b7e8deb3ee 221 #define VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL 9 /*!<Specific to lite ranging. */
jvfausto 0:03b7e8deb3ee 222 #define VL53L1_RANGESTATUS_SYNCRONISATION_INT 10 /*!<1st interrupt when starting ranging in back to back mode. Ignore data. */
jvfausto 0:03b7e8deb3ee 223 #define VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE 11 /*!<All Range ok but object is result of multiple pulses merging together.*/
jvfausto 0:03b7e8deb3ee 224 #define VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL 12 /*!<Used by RQL as different to phase fail. */
jvfausto 0:03b7e8deb3ee 225 #define VL53L1_RANGESTATUS_MIN_RANGE_FAIL 13 /*!<User ROI input is not valid e.g. beyond SPAD Array.*/
jvfausto 0:03b7e8deb3ee 226 #define VL53L1_RANGESTATUS_RANGE_INVALID 14 /*!<lld returned valid range but negative value ! */
jvfausto 0:03b7e8deb3ee 227 #define VL53L1_RANGESTATUS_NONE 255 /*!<No Update. */
jvfausto 0:03b7e8deb3ee 228
jvfausto 0:03b7e8deb3ee 229 //Read status
jvfausto 0:03b7e8deb3ee 230 uint8_t measurementStatus = readRegister(VL53L1_RESULT__RANGE_STATUS) & 0x1F;
jvfausto 0:03b7e8deb3ee 231
jvfausto 0:03b7e8deb3ee 232 //Convert status from one to another - From vl53l1_api.c
jvfausto 0:03b7e8deb3ee 233 switch (measurementStatus) {
jvfausto 0:03b7e8deb3ee 234 case VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY:
jvfausto 0:03b7e8deb3ee 235 measurementStatus = VL53L1_RANGESTATUS_SYNCRONISATION_INT;
jvfausto 0:03b7e8deb3ee 236 break;
jvfausto 0:03b7e8deb3ee 237 case VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK:
jvfausto 0:03b7e8deb3ee 238 measurementStatus = VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL;
jvfausto 0:03b7e8deb3ee 239 break;
jvfausto 0:03b7e8deb3ee 240 case VL53L1_DEVICEERROR_RANGEPHASECHECK:
jvfausto 0:03b7e8deb3ee 241 measurementStatus = VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL;
jvfausto 0:03b7e8deb3ee 242 break;
jvfausto 0:03b7e8deb3ee 243 case VL53L1_DEVICEERROR_MSRCNOTARGET:
jvfausto 0:03b7e8deb3ee 244 measurementStatus = VL53L1_RANGESTATUS_SIGNAL_FAIL;
jvfausto 0:03b7e8deb3ee 245 break;
jvfausto 0:03b7e8deb3ee 246 case VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK:
jvfausto 0:03b7e8deb3ee 247 measurementStatus = VL53L1_RANGESTATUS_SIGMA_FAIL;
jvfausto 0:03b7e8deb3ee 248 break;
jvfausto 0:03b7e8deb3ee 249 case VL53L1_DEVICEERROR_PHASECONSISTENCY:
jvfausto 0:03b7e8deb3ee 250 measurementStatus = VL53L1_RANGESTATUS_WRAP_TARGET_FAIL;
jvfausto 0:03b7e8deb3ee 251 break;
jvfausto 0:03b7e8deb3ee 252 case VL53L1_DEVICEERROR_RANGEIGNORETHRESHOLD:
jvfausto 0:03b7e8deb3ee 253 measurementStatus = VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL;
jvfausto 0:03b7e8deb3ee 254 break;
jvfausto 0:03b7e8deb3ee 255 case VL53L1_DEVICEERROR_MINCLIP:
jvfausto 0:03b7e8deb3ee 256 measurementStatus = VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED;
jvfausto 0:03b7e8deb3ee 257 break;
jvfausto 0:03b7e8deb3ee 258 case VL53L1_DEVICEERROR_RANGECOMPLETE:
jvfausto 0:03b7e8deb3ee 259 measurementStatus = VL53L1_RANGESTATUS_RANGE_VALID;
jvfausto 0:03b7e8deb3ee 260 break;
jvfausto 0:03b7e8deb3ee 261 default:
jvfausto 0:03b7e8deb3ee 262 measurementStatus = VL53L1_RANGESTATUS_NONE;
jvfausto 0:03b7e8deb3ee 263 }
jvfausto 0:03b7e8deb3ee 264
jvfausto 0:03b7e8deb3ee 265 return measurementStatus;
jvfausto 0:03b7e8deb3ee 266 }
jvfausto 0:03b7e8deb3ee 267
jvfausto 0:03b7e8deb3ee 268
jvfausto 0:03b7e8deb3ee 269 uint8_t VL53L1X::readRegister(uint16_t registerAddr)
jvfausto 0:03b7e8deb3ee 270 {
jvfausto 0:03b7e8deb3ee 271 uint8_t data;
jvfausto 0:03b7e8deb3ee 272 char data_write[2];
jvfausto 0:03b7e8deb3ee 273 char data_read[1];
jvfausto 0:03b7e8deb3ee 274 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:03b7e8deb3ee 275 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 2:fbaee2407103 276 _i2c.write(_deviceAddress, data_write, 2,0);
jvfausto 2:fbaee2407103 277 _i2c.read(_deviceAddress,data_read,1,1);
jvfausto 0:03b7e8deb3ee 278 //Read Data from selected register
jvfausto 0:03b7e8deb3ee 279 data=data_read[0];
jvfausto 0:03b7e8deb3ee 280 return data;
jvfausto 0:03b7e8deb3ee 281 }
jvfausto 0:03b7e8deb3ee 282 uint16_t VL53L1X::readRegister16(uint16_t registerAddr)
jvfausto 0:03b7e8deb3ee 283 {
jvfausto 0:03b7e8deb3ee 284 uint8_t data_low;
jvfausto 0:03b7e8deb3ee 285 uint8_t data_high;
jvfausto 0:03b7e8deb3ee 286 uint16_t data;
jvfausto 0:03b7e8deb3ee 287
jvfausto 0:03b7e8deb3ee 288 char data_write[2];
jvfausto 0:03b7e8deb3ee 289 char data_read[2];
jvfausto 0:03b7e8deb3ee 290 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:03b7e8deb3ee 291 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 2:fbaee2407103 292 _i2c.write(_deviceAddress, data_write, 2,0);
jvfausto 2:fbaee2407103 293 _i2c.read(_deviceAddress,data_read,2,1);
jvfausto 0:03b7e8deb3ee 294 data_high = data_read[0]; //Read Data from selected register
jvfausto 0:03b7e8deb3ee 295 data_low = data_read[1]; //Read Data from selected register
jvfausto 0:03b7e8deb3ee 296 data = (data_high << 8)|data_low;
jvfausto 0:03b7e8deb3ee 297
jvfausto 0:03b7e8deb3ee 298 return data;
jvfausto 0:03b7e8deb3ee 299 }
jvfausto 0:03b7e8deb3ee 300
jvfausto 0:03b7e8deb3ee 301
jvfausto 0:03b7e8deb3ee 302 void VL53L1X::writeRegister(uint16_t registerAddr, uint8_t data)
jvfausto 0:03b7e8deb3ee 303 {
jvfausto 0:03b7e8deb3ee 304 char data_write[3];
jvfausto 0:03b7e8deb3ee 305 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:03b7e8deb3ee 306 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:03b7e8deb3ee 307 data_write[2] = data & 0xFF;
jvfausto 0:03b7e8deb3ee 308 _i2c.write(_deviceAddress, data_write, 3);
jvfausto 0:03b7e8deb3ee 309 }
jvfausto 0:03b7e8deb3ee 310
jvfausto 0:03b7e8deb3ee 311 void VL53L1X::writeRegister16(uint16_t registerAddr, uint16_t data)
jvfausto 0:03b7e8deb3ee 312 {
jvfausto 0:03b7e8deb3ee 313 char data_write[4];
jvfausto 0:03b7e8deb3ee 314 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:03b7e8deb3ee 315 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:03b7e8deb3ee 316 data_write[2] = (data >> 8) & 0xFF;
jvfausto 0:03b7e8deb3ee 317 data_write[3] = data & 0xFF;
jvfausto 0:03b7e8deb3ee 318 _i2c.write(_deviceAddress, data_write, 4);
jvfausto 0:03b7e8deb3ee 319 }