Diff: VL53L1X.cpp

Revision:

0:03b7e8deb3ee

Child:

1:0d762892f7af

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L1X.cpp	Wed Jul 18 16:47:45 2018 +0000
@@ -0,0 +1,266 @@
+#include "VL53L1X.h"
+
+
+uint8_t configBlock[] = {
+  0x29, 0x02, 0x10, 0x00, 0x28, 0xBC, 0x7A, 0x81, //8
+  0x80, 0x07, 0x95, 0x00, 0xED, 0xFF, 0xF7, 0xFD, //16
+  0x9E, 0x0E, 0x00, 0x10, 0x01, 0x00, 0x00, 0x00, //24
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x34, 0x00, //32
+  0x28, 0x00, 0x0D, 0x0A, 0x00, 0x00, 0x00, 0x00, //40
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, //48
+  0x02, 0x00, 0x02, 0x08, 0x00, 0x08, 0x10, 0x01, //56
+  0x01, 0x00, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x02, //64
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0x0B, 0x00, //72
+  0x00, 0x02, 0x0A, 0x21, 0x00, 0x00, 0x02, 0x00, //80
+  0x00, 0x00, 0x00, 0xC8, 0x00, 0x00, 0x38, 0xFF, //88
+  0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0x0F, //96
+  0x00, 0xA5, 0x0D, 0x00, 0x80, 0x00, 0x0C, 0x08, //104
+  0xB8, 0x00, 0x00, 0x00, 0x00, 0x0E, 0x10, 0x00, //112
+  0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x0F, //120
+  0x0D, 0x0E, 0x0E, 0x01, 0x00, 0x02, 0xC7, 0xFF, //128
+  0x8B, 0x00, 0x00, 0x00, 0x01, 0x01, 0x40 //129 - 135 (0x81 - 0x87)
+};
+//VL6180x::VL6180x(PinName sda, PinName scl, uint8_t addr) : m_i2c(sda, scl), m_addr(addr) {}
+
+VL53L1X::VL53L1X(PinName SDA, PinName SCL) : _i2c(SDA,SCL){
+    //Set I2C fast and bring reset line high
+ //   _i2c.frequency(400000);
+    _deviceAddress = defaultAddress_VL53L1X;
+    }
+    
+void VL53L1X::startMeasurement(uint8_t offset)
+{
+  uint8_t address = 1 + offset; //Start at memory location 0x01, add offset
+  uint8_t leftToSend = sizeof(configBlock) - offset;
+  while (leftToSend > 0)
+  {
+    uint16_t toSend = I2C_BUFFER_LENGTH - 2; //Max I2C buffer on Arduino is 32, and we need 2 bytes for address
+    if (toSend > leftToSend) toSend = leftToSend;
+
+    _i2c.write(address << 1);//    _i2c.beginTransmission(_deviceAddress);
+    
+    _i2c.write(0); //We're only in lower address space. No MSB needed.
+    _i2c.write(address);
+
+    for (char x = 0 ; x < toSend ; x++)
+      _i2c.write(configBlock[address + x - 1 - offset]);
+
+ //   _i2c.endTransmission();
+
+    leftToSend -= toSend;
+    address += toSend;
+  }
+}
+
+bool VL53L1X::newDataReady(void)
+{
+  if (readRegister(VL53L1_GPIO__TIO_HV_STATUS) != 0x03) return(true); //New measurement!
+  return(false); //No new data
+}
+
+//Reset sensor via software
+void VL53L1X::softReset()
+{
+  writeRegister(VL53L1_SOFT_RESET, 0x00); //Reset
+  wait(.001); //Driver uses 100us
+  writeRegister(VL53L1_SOFT_RESET, 0x01); //Exit reset
+}
+
+uint16_t VL53L1X::getDistance()
+{
+  return (readRegister16(VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0));
+}
+
+uint16_t VL53L1X::getSignalRate()
+{
+  //From vl53l1_api.c line 2041
+  uint16_t reading = readRegister16(VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0);// << 9; //FIXPOINT97TOFIXPOINT1616
+  //float signalRate = (float)reading/65536.0;
+  return (reading);
+}
+
+void VL53L1X::setDistanceMode(uint8_t mode)
+{
+    uint8_t periodA;
+    uint8_t periodB;
+    uint8_t phaseHigh;
+    uint8_t phaseInit;
+    switch (mode)
+    {
+        case 0:
+          periodA = 0x07;
+          periodB = 0x05;
+          phaseHigh = 0x38;
+          phaseInit = 6;
+          break;
+        case 1:
+          periodA = 0x0B;
+          periodB = 0x09;
+          phaseHigh = 0x78;
+          phaseInit = 10;
+          break;
+        case 2:
+          periodA = 0x0F;
+          periodB = 0x0D;
+          phaseHigh = 0xB8;
+          phaseInit = 14;
+          break;
+        //If user inputs wrong range, we default to long range
+        default:
+          periodA = 0x0F;
+          periodB = 0x0D;
+          phaseHigh = 0xB8;
+          phaseInit = 14;
+          break;
+    }
+    //timing
+    writeRegister(VL53L1_RANGE_CONFIG__VCSEL_PERIOD_A, periodA);
+    writeRegister(VL53L1_RANGE_CONFIG__VCSEL_PERIOD_B , periodB);
+    writeRegister(VL53L1_RANGE_CONFIG__VALID_PHASE_HIGH, phaseHigh);
+    
+    //dynamic
+    writeRegister(VL53L1_SD_CONFIG__WOI_SD0 , periodA);
+    writeRegister(VL53L1_SD_CONFIG__WOI_SD1, periodB);
+    writeRegister(VL53L1_SD_CONFIG__INITIAL_PHASE_SD0, phaseInit);
+    writeRegister(VL53L1_SD_CONFIG__INITIAL_PHASE_SD1, phaseInit);
+    
+    _distanceMode = mode;
+}
+uint8_t VL53L1X::getDistanceMode()
+{
+    return _distanceMode;
+}
+
+uint8_t VL53L1X::getRangeStatus()
+{
+#define VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE  ( 1)
+#define VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE    ( 2)
+#define VL53L1_DEVICEERROR_NOVHVVALUEFOUND             ( 3)
+#define VL53L1_DEVICEERROR_MSRCNOTARGET                ( 4)
+#define VL53L1_DEVICEERROR_RANGEPHASECHECK             ( 5)
+#define VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK         ( 6)
+#define VL53L1_DEVICEERROR_PHASECONSISTENCY            ( 7)
+#define VL53L1_DEVICEERROR_MINCLIP                     ( 8)
+#define VL53L1_DEVICEERROR_RANGECOMPLETE               ( 9)
+#define VL53L1_DEVICEERROR_ALGOUNDERFLOW               ( 10)
+#define VL53L1_DEVICEERROR_ALGOOVERFLOW                ( 11)
+#define VL53L1_DEVICEERROR_RANGEIGNORETHRESHOLD        ( 12)
+#define VL53L1_DEVICEERROR_USERROICLIP                 ( 13)
+#define VL53L1_DEVICEERROR_REFSPADCHARNOTENOUGHDPADS   ( 14)
+#define VL53L1_DEVICEERROR_REFSPADCHARMORETHANTARGET   ( 15)
+#define VL53L1_DEVICEERROR_REFSPADCHARLESSTHANTARGET   ( 16)
+#define VL53L1_DEVICEERROR_MULTCLIPFAIL                ( 17)
+#define VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY        ( 18)
+#define VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK ( 19)
+#define VL53L1_DEVICEERROR_EVENTCONSISTENCY            ( 20)
+#define VL53L1_DEVICEERROR_MINSIGNALEVENTCHECK         ( 21)
+#define VL53L1_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE  ( 22)
+
+#define VL53L1_RANGESTATUS_RANGE_VALID       0 /*!<The Range is valid. */
+#define VL53L1_RANGESTATUS_SIGMA_FAIL        1 /*!<Sigma Fail. */
+#define VL53L1_RANGESTATUS_SIGNAL_FAIL       2 /*!<Signal fail. */
+#define VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED 3 /*!<Target is below minimum detection threshold. */
+#define VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL      4 /*!<Phase out of valid limits -  different to a wrap exit. */
+#define VL53L1_RANGESTATUS_HARDWARE_FAIL     5 /*!<Hardware fail. */
+#define VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL  6 /*!<The Range is valid but the wraparound check has not been done. */
+#define VL53L1_RANGESTATUS_WRAP_TARGET_FAIL     7 /*!<Wrapped target - no matching phase in other VCSEL period timing. */
+#define VL53L1_RANGESTATUS_PROCESSING_FAIL      8 /*!<Internal algo underflow or overflow in lite ranging. */
+#define VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL      9 /*!<Specific to lite ranging. */
+#define VL53L1_RANGESTATUS_SYNCRONISATION_INT     10 /*!<1st interrupt when starting ranging in back to back mode. Ignore data. */
+#define VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE   11 /*!<All Range ok but object is result of multiple pulses merging together.*/
+#define VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL  12 /*!<Used  by RQL  as different to phase fail. */
+#define VL53L1_RANGESTATUS_MIN_RANGE_FAIL     13 /*!<User ROI input is not valid e.g. beyond SPAD Array.*/
+#define VL53L1_RANGESTATUS_RANGE_INVALID      14 /*!<lld returned valid range but negative value ! */
+#define VL53L1_RANGESTATUS_NONE        255 /*!<No Update. */
+
+  //Read status
+  uint8_t measurementStatus = readRegister(VL53L1_RESULT__RANGE_STATUS) & 0x1F;
+
+  //Convert status from one to another - From vl53l1_api.c
+  switch (measurementStatus) {
+    case VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY:
+      measurementStatus = VL53L1_RANGESTATUS_SYNCRONISATION_INT;
+      break;
+    case VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK:
+      measurementStatus = VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL;
+      break;
+    case VL53L1_DEVICEERROR_RANGEPHASECHECK:
+      measurementStatus = VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL;
+      break;
+    case VL53L1_DEVICEERROR_MSRCNOTARGET:
+      measurementStatus = VL53L1_RANGESTATUS_SIGNAL_FAIL;
+      break;
+    case VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK:
+      measurementStatus = VL53L1_RANGESTATUS_SIGMA_FAIL;
+      break;
+    case VL53L1_DEVICEERROR_PHASECONSISTENCY:
+      measurementStatus = VL53L1_RANGESTATUS_WRAP_TARGET_FAIL;
+      break;
+    case VL53L1_DEVICEERROR_RANGEIGNORETHRESHOLD:
+      measurementStatus = VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL;
+      break;
+    case VL53L1_DEVICEERROR_MINCLIP:
+      measurementStatus = VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED;
+      break;
+    case VL53L1_DEVICEERROR_RANGECOMPLETE:
+      measurementStatus = VL53L1_RANGESTATUS_RANGE_VALID;
+      break;
+    default:
+      measurementStatus = VL53L1_RANGESTATUS_NONE;
+  }
+
+  return measurementStatus;
+}
+
+
+uint8_t VL53L1X::readRegister(uint16_t registerAddr)
+{
+  uint8_t data;
+  char data_write[2];
+  char data_read[1];
+  data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address 
+  data_write[1] = registerAddr & 0xFF; //LSB of register address 
+  _i2c.write(_deviceAddress, data_write, 2,0); 
+  _i2c.read(_deviceAddress,data_read,1,1);
+  //Read Data from selected register
+  data=data_read[0];
+  return data;
+}
+uint16_t VL53L1X::readRegister16(uint16_t registerAddr)
+{
+  uint8_t data_low;
+  uint8_t data_high;
+  uint16_t data;
+
+  char data_write[2];
+  char data_read[2];
+  data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address 
+  data_write[1] = registerAddr & 0xFF; //LSB of register address 
+  _i2c.write(_deviceAddress, data_write, 2,0); 
+  _i2c.read(_deviceAddress,data_read,2,1);
+  data_high = data_read[0]; //Read Data from selected register
+  data_low = data_read[1]; //Read Data from selected register
+  data = (data_high << 8)|data_low;
+
+  return data;
+}
+
+
+void VL53L1X::writeRegister(uint16_t registerAddr, uint8_t data)
+{
+    char data_write[3];
+    data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address 
+    data_write[1] = registerAddr & 0xFF; //LSB of register address 
+    data_write[2] = data & 0xFF; 
+    _i2c.write(_deviceAddress, data_write, 3); 
+}
+
+void VL53L1X::writeRegister16(uint16_t registerAddr, uint16_t data)
+{
+    char data_write[4];
+    data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address 
+    data_write[1] = registerAddr & 0xFF; //LSB of register address 
+    data_write[2] = (data >> 8) & 0xFF;
+    data_write[3] = data & 0xFF; 
+    _i2c.write(_deviceAddress, data_write, 4); 
+}
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