Median of 3 filter for multiple time of flight sensors translated from arduino by pololu
Dependents: wheelchaircontrol wheelchaircontrol2 wheelchaircontrol3 wheelchaircontrol4 ... more
VL53L1X.cpp@5:a75d46c735c7, 2020-06-03 (annotated)
- Committer:
- jvfausto
- Date:
- Wed Jun 03 20:11:31 2020 +0000
- Revision:
- 5:a75d46c735c7
- Parent:
- 4:f6f0c2b9120a
Update
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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jvfausto | 0:617f20c6b21d | 1 | // Most of the functionality of this library is based on the VL53L1X API |
jvfausto | 0:617f20c6b21d | 2 | // provided by ST (STSW-IMG007), and some of the explanatory comments are quoted |
jvfausto | 0:617f20c6b21d | 3 | // or paraphrased from the API source code, API user manual (UM2356), and |
jvfausto | 0:617f20c6b21d | 4 | // VL53L1X datasheet. |
jvfausto | 0:617f20c6b21d | 5 | |
jvfausto | 0:617f20c6b21d | 6 | #include "VL53L1X.h" |
jvfausto | 0:617f20c6b21d | 7 | #include "mbed.h" |
jvfausto | 0:617f20c6b21d | 8 | |
jvfausto | 0:617f20c6b21d | 9 | // Constructors //////////////////////////////////////////////////////////////// |
jvfausto | 0:617f20c6b21d | 10 | VL53L1X::VL53L1X(PinName SDA, PinName SCL, PinName shutDown) : |
jvfausto | 0:617f20c6b21d | 11 | _i2c(SDA,SCL), _shutDown(shutDown) |
jvfausto | 0:617f20c6b21d | 12 | , io_timeout(0) // no timeout |
jvfausto | 0:617f20c6b21d | 13 | , did_timeout(false) |
jvfausto | 0:617f20c6b21d | 14 | , calibrated(false) |
jvfausto | 0:617f20c6b21d | 15 | , saved_vhv_init(0) |
jvfausto | 0:617f20c6b21d | 16 | , saved_vhv_timeout(0) |
jvfausto | 0:617f20c6b21d | 17 | , distance_mode(Unknown){ |
jvfausto | 0:617f20c6b21d | 18 | //Set I2C fast and bring reset line high |
jvfausto | 0:617f20c6b21d | 19 | _i2c.frequency(400000); |
jvfausto | 0:617f20c6b21d | 20 | address = AddressDefault << 1; |
jvfausto | 0:617f20c6b21d | 21 | turnOff(); |
jvfausto | 0:617f20c6b21d | 22 | } |
jvfausto | 0:617f20c6b21d | 23 | |
jvfausto | 0:617f20c6b21d | 24 | /*VL53L1X::VL53L1X() |
jvfausto | 0:617f20c6b21d | 25 | : address(AddressDefault) |
jvfausto | 0:617f20c6b21d | 26 | { |
jvfausto | 0:617f20c6b21d | 27 | }*/ |
jvfausto | 0:617f20c6b21d | 28 | |
jvfausto | 0:617f20c6b21d | 29 | // Public Methods ////////////////////////////////////////////////////////////// |
jvfausto | 0:617f20c6b21d | 30 | |
jvfausto | 0:617f20c6b21d | 31 | void VL53L1X::setAddress(uint8_t new_addr) |
jvfausto | 0:617f20c6b21d | 32 | { |
jvfausto | 0:617f20c6b21d | 33 | writeReg(I2C_SLAVE__DEVICE_ADDRESS, new_addr & 0x7F); |
jvfausto | 4:f6f0c2b9120a | 34 | wait(.02); |
jvfausto | 0:617f20c6b21d | 35 | address = new_addr << 1; |
jvfausto | 4:f6f0c2b9120a | 36 | printf("%x\r\n", readReg(I2C_SLAVE__DEVICE_ADDRESS)); |
jvfausto | 0:617f20c6b21d | 37 | } |
jvfausto | 0:617f20c6b21d | 38 | |
jvfausto | 0:617f20c6b21d | 39 | // Initialize sensor using settings taken mostly from VL53L1_DataInit() and |
jvfausto | 0:617f20c6b21d | 40 | // VL53L1_StaticInit(). |
jvfausto | 0:617f20c6b21d | 41 | // If io_2v8 (optional) is true or not given, the sensor is configured for 2V8 |
jvfausto | 0:617f20c6b21d | 42 | // mode. |
jvfausto | 0:617f20c6b21d | 43 | bool VL53L1X::init(bool io_2v8) |
jvfausto | 0:617f20c6b21d | 44 | { |
jvfausto | 0:617f20c6b21d | 45 | // check model ID and module type registers (values specified in datasheet) |
jvfausto | 0:617f20c6b21d | 46 | int tempRegister = readReg16Bit(IDENTIFICATION__MODEL_ID); |
jvfausto | 4:f6f0c2b9120a | 47 | printf("temporary %x\r\n", tempRegister); |
jvfausto | 0:617f20c6b21d | 48 | if (tempRegister != 0xEACC) { |
jvfausto | 0:617f20c6b21d | 49 | return false; |
jvfausto | 0:617f20c6b21d | 50 | } |
jvfausto | 0:617f20c6b21d | 51 | |
jvfausto | 0:617f20c6b21d | 52 | // VL53L1_software_reset() begin |
jvfausto | 0:617f20c6b21d | 53 | |
jvfausto | 0:617f20c6b21d | 54 | writeReg(SOFT_RESET, 0x00); |
jvfausto | 0:617f20c6b21d | 55 | wait(.001); |
jvfausto | 0:617f20c6b21d | 56 | writeReg(SOFT_RESET, 0x01); |
jvfausto | 0:617f20c6b21d | 57 | |
jvfausto | 0:617f20c6b21d | 58 | // VL53L1_poll_for_boot_completion() begin |
jvfausto | 0:617f20c6b21d | 59 | |
jvfausto | 0:617f20c6b21d | 60 | startTimeout(); |
jvfausto | 0:617f20c6b21d | 61 | int firmware = (readReg16Bit(FIRMWARE__SYSTEM_STATUS)); |
jvfausto | 4:f6f0c2b9120a | 62 | printf("firmware : %x\r\n", firmware); |
jvfausto | 0:617f20c6b21d | 63 | while ((readReg(FIRMWARE__SYSTEM_STATUS) & 0x01) == 0) |
jvfausto | 0:617f20c6b21d | 64 | { |
jvfausto | 4:f6f0c2b9120a | 65 | printf("stuck\r\n"); |
jvfausto | 0:617f20c6b21d | 66 | if (checkTimeoutExpired()) |
jvfausto | 0:617f20c6b21d | 67 | { |
jvfausto | 0:617f20c6b21d | 68 | did_timeout = true; |
jvfausto | 0:617f20c6b21d | 69 | return false; |
jvfausto | 0:617f20c6b21d | 70 | } |
jvfausto | 0:617f20c6b21d | 71 | } |
jvfausto | 0:617f20c6b21d | 72 | // VL53L1_poll_for_boot_completion() end |
jvfausto | 0:617f20c6b21d | 73 | |
jvfausto | 0:617f20c6b21d | 74 | // VL53L1_software_reset() end |
jvfausto | 0:617f20c6b21d | 75 | |
jvfausto | 0:617f20c6b21d | 76 | // VL53L1_DataInit() begin |
jvfausto | 0:617f20c6b21d | 77 | |
jvfausto | 0:617f20c6b21d | 78 | // sensor uses 1V8 mode for I/O by default; switch to 2V8 mode if necessary |
jvfausto | 0:617f20c6b21d | 79 | if (io_2v8) |
jvfausto | 0:617f20c6b21d | 80 | { |
jvfausto | 0:617f20c6b21d | 81 | writeReg(PAD_I2C_HV__EXTSUP_CONFIG, |
jvfausto | 0:617f20c6b21d | 82 | readReg(PAD_I2C_HV__EXTSUP_CONFIG) | 0x01); |
jvfausto | 0:617f20c6b21d | 83 | } |
jvfausto | 0:617f20c6b21d | 84 | |
jvfausto | 0:617f20c6b21d | 85 | // store oscillator info for later use |
jvfausto | 0:617f20c6b21d | 86 | fast_osc_frequency = readReg16Bit(OSC_MEASURED__FAST_OSC__FREQUENCY); |
jvfausto | 0:617f20c6b21d | 87 | osc_calibrate_val = readReg16Bit(RESULT__OSC_CALIBRATE_VAL); |
jvfausto | 0:617f20c6b21d | 88 | |
jvfausto | 0:617f20c6b21d | 89 | // VL53L1_DataInit() end |
jvfausto | 0:617f20c6b21d | 90 | |
jvfausto | 0:617f20c6b21d | 91 | // VL53L1_StaticInit() begin |
jvfausto | 0:617f20c6b21d | 92 | |
jvfausto | 0:617f20c6b21d | 93 | // Note that the API does not actually apply the configuration settings below |
jvfausto | 0:617f20c6b21d | 94 | // when VL53L1_StaticInit() is called: it keeps a copy of the sensor's |
jvfausto | 0:617f20c6b21d | 95 | // register contents in memory and doesn't actually write them until a |
jvfausto | 0:617f20c6b21d | 96 | // measurement is started. Writing the configuration here means we don't have |
jvfausto | 0:617f20c6b21d | 97 | // to keep it all in memory and avoids a lot of redundant writes later. |
jvfausto | 0:617f20c6b21d | 98 | |
jvfausto | 0:617f20c6b21d | 99 | // the API sets the preset mode to LOWPOWER_AUTONOMOUS here: |
jvfausto | 0:617f20c6b21d | 100 | // VL53L1_set_preset_mode() begin |
jvfausto | 0:617f20c6b21d | 101 | |
jvfausto | 0:617f20c6b21d | 102 | // VL53L1_preset_mode_standard_ranging() begin |
jvfausto | 0:617f20c6b21d | 103 | |
jvfausto | 0:617f20c6b21d | 104 | // values labeled "tuning parm default" are from vl53l1_tuning_parm_defaults.h |
jvfausto | 0:617f20c6b21d | 105 | // (API uses these in VL53L1_init_tuning_parm_storage_struct()) |
jvfausto | 0:617f20c6b21d | 106 | |
jvfausto | 0:617f20c6b21d | 107 | // static config |
jvfausto | 0:617f20c6b21d | 108 | // API resets PAD_I2C_HV__EXTSUP_CONFIG here, but maybe we don't want to do |
jvfausto | 0:617f20c6b21d | 109 | // that? (seems like it would disable 2V8 mode) |
jvfausto | 0:617f20c6b21d | 110 | writeReg16Bit(DSS_CONFIG__TARGET_TOTAL_RATE_MCPS, TargetRate); // should already be this value after reset |
jvfausto | 0:617f20c6b21d | 111 | writeReg(GPIO__TIO_HV_STATUS, 0x02); |
jvfausto | 0:617f20c6b21d | 112 | writeReg(SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS, 8); // tuning parm default |
jvfausto | 0:617f20c6b21d | 113 | writeReg(SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS, 16); // tuning parm default |
jvfausto | 0:617f20c6b21d | 114 | writeReg(ALGO__CROSSTALK_COMPENSATION_VALID_HEIGHT_MM, 0x01); |
jvfausto | 0:617f20c6b21d | 115 | writeReg(ALGO__RANGE_IGNORE_VALID_HEIGHT_MM, 0xFF); |
jvfausto | 0:617f20c6b21d | 116 | writeReg(ALGO__RANGE_MIN_CLIP, 0); // tuning parm default |
jvfausto | 0:617f20c6b21d | 117 | writeReg(ALGO__CONSISTENCY_CHECK__TOLERANCE, 2); // tuning parm default |
jvfausto | 0:617f20c6b21d | 118 | |
jvfausto | 0:617f20c6b21d | 119 | // general config |
jvfausto | 0:617f20c6b21d | 120 | writeReg16Bit(SYSTEM__THRESH_RATE_HIGH, 0x0000); |
jvfausto | 0:617f20c6b21d | 121 | writeReg16Bit(SYSTEM__THRESH_RATE_LOW, 0x0000); |
jvfausto | 0:617f20c6b21d | 122 | writeReg(DSS_CONFIG__APERTURE_ATTENUATION, 0x38); |
jvfausto | 0:617f20c6b21d | 123 | |
jvfausto | 0:617f20c6b21d | 124 | // timing config |
jvfausto | 0:617f20c6b21d | 125 | // most of these settings will be determined later by distance and timing |
jvfausto | 0:617f20c6b21d | 126 | // budget configuration |
jvfausto | 0:617f20c6b21d | 127 | writeReg16Bit(RANGE_CONFIG__SIGMA_THRESH, 360); // tuning parm default |
jvfausto | 0:617f20c6b21d | 128 | writeReg16Bit(RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, 192); // tuning parm default |
jvfausto | 0:617f20c6b21d | 129 | |
jvfausto | 0:617f20c6b21d | 130 | // dynamic config |
jvfausto | 0:617f20c6b21d | 131 | |
jvfausto | 0:617f20c6b21d | 132 | writeReg(SYSTEM__GROUPED_PARAMETER_HOLD_0, 0x01); |
jvfausto | 0:617f20c6b21d | 133 | writeReg(SYSTEM__GROUPED_PARAMETER_HOLD_1, 0x01); |
jvfausto | 0:617f20c6b21d | 134 | writeReg(SD_CONFIG__QUANTIFIER, 2); // tuning parm default |
jvfausto | 0:617f20c6b21d | 135 | |
jvfausto | 0:617f20c6b21d | 136 | // VL53L1_preset_mode_standard_ranging() end |
jvfausto | 0:617f20c6b21d | 137 | |
jvfausto | 0:617f20c6b21d | 138 | // from VL53L1_preset_mode_timed_ranging_* |
jvfausto | 0:617f20c6b21d | 139 | // GPH is 0 after reset, but writing GPH0 and GPH1 above seem to set GPH to 1, |
jvfausto | 0:617f20c6b21d | 140 | // and things don't seem to work if we don't set GPH back to 0 (which the API |
jvfausto | 0:617f20c6b21d | 141 | // does here). |
jvfausto | 0:617f20c6b21d | 142 | writeReg(SYSTEM__GROUPED_PARAMETER_HOLD, 0x00); |
jvfausto | 0:617f20c6b21d | 143 | writeReg(SYSTEM__SEED_CONFIG, 1); // tuning parm default |
jvfausto | 0:617f20c6b21d | 144 | |
jvfausto | 0:617f20c6b21d | 145 | // from VL53L1_config_low_power_auto_mode |
jvfausto | 0:617f20c6b21d | 146 | writeReg(SYSTEM__SEQUENCE_CONFIG, 0x8B); // VHV, PHASECAL, DSS1, RANGE |
jvfausto | 0:617f20c6b21d | 147 | writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 200 << 8); |
jvfausto | 0:617f20c6b21d | 148 | writeReg(DSS_CONFIG__ROI_MODE_CONTROL, 2); // REQUESTED_EFFFECTIVE_SPADS |
jvfausto | 0:617f20c6b21d | 149 | |
jvfausto | 0:617f20c6b21d | 150 | // VL53L1_set_preset_mode() end |
jvfausto | 0:617f20c6b21d | 151 | |
jvfausto | 0:617f20c6b21d | 152 | // default to long range, 50 ms timing budget |
jvfausto | 0:617f20c6b21d | 153 | // note that this is different than what the API defaults to |
jvfausto | 4:f6f0c2b9120a | 154 | setDistanceMode(Short); |
jvfausto | 0:617f20c6b21d | 155 | setMeasurementTimingBudget(50000); |
jvfausto | 0:617f20c6b21d | 156 | |
jvfausto | 0:617f20c6b21d | 157 | // VL53L1_StaticInit() end |
jvfausto | 0:617f20c6b21d | 158 | |
jvfausto | 0:617f20c6b21d | 159 | // the API triggers this change in VL53L1_init_and_start_range() once a |
jvfausto | 0:617f20c6b21d | 160 | // measurement is started; assumes MM1 and MM2 are disabled |
jvfausto | 0:617f20c6b21d | 161 | writeReg16Bit(ALGO__PART_TO_PART_RANGE_OFFSET_MM, |
jvfausto | 0:617f20c6b21d | 162 | readReg16Bit(MM_CONFIG__OUTER_OFFSET_MM) * 4); |
jvfausto | 0:617f20c6b21d | 163 | t.start(); |
jvfausto | 0:617f20c6b21d | 164 | return true; |
jvfausto | 0:617f20c6b21d | 165 | } |
jvfausto | 0:617f20c6b21d | 166 | |
jvfausto | 0:617f20c6b21d | 167 | // Write an 8-bit register |
jvfausto | 0:617f20c6b21d | 168 | void VL53L1X::writeReg(uint16_t registerAddr, uint8_t data) |
jvfausto | 0:617f20c6b21d | 169 | { |
jvfausto | 0:617f20c6b21d | 170 | char data_write[3]; |
jvfausto | 0:617f20c6b21d | 171 | data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address |
jvfausto | 0:617f20c6b21d | 172 | data_write[1] = registerAddr & 0xFF; //LSB of register address |
jvfausto | 0:617f20c6b21d | 173 | data_write[2] = data & 0xFF; |
jvfausto | 0:617f20c6b21d | 174 | _i2c.write(address, data_write, 3); |
jvfausto | 0:617f20c6b21d | 175 | } |
jvfausto | 0:617f20c6b21d | 176 | |
jvfausto | 0:617f20c6b21d | 177 | void VL53L1X::writeReg16Bit(uint16_t registerAddr, uint16_t data) |
jvfausto | 0:617f20c6b21d | 178 | { |
jvfausto | 0:617f20c6b21d | 179 | char data_write[4]; |
jvfausto | 0:617f20c6b21d | 180 | data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address |
jvfausto | 0:617f20c6b21d | 181 | data_write[1] = registerAddr & 0xFF; //LSB of register address |
jvfausto | 0:617f20c6b21d | 182 | data_write[2] = (data >> 8) & 0xFF; |
jvfausto | 0:617f20c6b21d | 183 | data_write[3] = data & 0xFF; |
jvfausto | 0:617f20c6b21d | 184 | _i2c.write(address, data_write, 4); |
jvfausto | 0:617f20c6b21d | 185 | } |
jvfausto | 0:617f20c6b21d | 186 | |
jvfausto | 0:617f20c6b21d | 187 | |
jvfausto | 0:617f20c6b21d | 188 | // Write a 32-bit register |
jvfausto | 0:617f20c6b21d | 189 | /* |
jvfausto | 0:617f20c6b21d | 190 | void VL53L1X::writeReg32Bit(uint16_t registerAddr, uint32_t data) |
jvfausto | 0:617f20c6b21d | 191 | { |
jvfausto | 0:617f20c6b21d | 192 | char data_write[5]; |
jvfausto | 0:617f20c6b21d | 193 | data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address |
jvfausto | 0:617f20c6b21d | 194 | data_write[1] = registerAddr & 0xFF; //LSB of register address |
jvfausto | 0:617f20c6b21d | 195 | data_write[2] = (data >> 16) & 0xFF; |
jvfausto | 0:617f20c6b21d | 196 | data_write[3] = (data >> 8) & 0xFF; |
jvfausto | 0:617f20c6b21d | 197 | data_write[4] = data & 0xFF; |
jvfausto | 0:617f20c6b21d | 198 | _i2c.write(address, data_write, 5); |
jvfausto | 0:617f20c6b21d | 199 | } |
jvfausto | 0:617f20c6b21d | 200 | */ |
jvfausto | 0:617f20c6b21d | 201 | void VL53L1X::writeReg32Bit(uint16_t registerAddr, uint32_t data) |
jvfausto | 0:617f20c6b21d | 202 | { |
jvfausto | 0:617f20c6b21d | 203 | char data_write[6]; |
jvfausto | 0:617f20c6b21d | 204 | data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address |
jvfausto | 0:617f20c6b21d | 205 | data_write[1] = registerAddr & 0xFF; //LSB of register address |
jvfausto | 0:617f20c6b21d | 206 | data_write[2] = (data >> 24) & 0xFF; |
jvfausto | 0:617f20c6b21d | 207 | data_write[3] = (data >> 16) & 0xFF; |
jvfausto | 0:617f20c6b21d | 208 | data_write[4] = (data >> 8) & 0xFF;; |
jvfausto | 0:617f20c6b21d | 209 | data_write[5] = data & 0xFF; |
jvfausto | 0:617f20c6b21d | 210 | _i2c.write(address, data_write, 6); |
jvfausto | 0:617f20c6b21d | 211 | } |
jvfausto | 0:617f20c6b21d | 212 | |
jvfausto | 0:617f20c6b21d | 213 | |
jvfausto | 0:617f20c6b21d | 214 | // Read an 8-bit register |
jvfausto | 0:617f20c6b21d | 215 | uint8_t VL53L1X::readReg(uint16_t registerAddr) |
jvfausto | 0:617f20c6b21d | 216 | { |
jvfausto | 0:617f20c6b21d | 217 | uint8_t data; |
jvfausto | 0:617f20c6b21d | 218 | char data_write[2]; |
jvfausto | 0:617f20c6b21d | 219 | char data_read[1]; |
jvfausto | 0:617f20c6b21d | 220 | data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address |
jvfausto | 0:617f20c6b21d | 221 | data_write[1] = registerAddr & 0xFF; //LSB of register address |
jvfausto | 0:617f20c6b21d | 222 | _i2c.write(address, data_write, 2,0); |
jvfausto | 0:617f20c6b21d | 223 | _i2c.read(address,data_read,1,1); |
jvfausto | 0:617f20c6b21d | 224 | //Read Data from selected register |
jvfausto | 0:617f20c6b21d | 225 | data=data_read[0]; |
jvfausto | 0:617f20c6b21d | 226 | return data; |
jvfausto | 0:617f20c6b21d | 227 | } |
jvfausto | 0:617f20c6b21d | 228 | |
jvfausto | 0:617f20c6b21d | 229 | uint16_t VL53L1X::readReg16Bit(uint16_t registerAddr) |
jvfausto | 0:617f20c6b21d | 230 | { |
jvfausto | 0:617f20c6b21d | 231 | uint8_t data_low; |
jvfausto | 0:617f20c6b21d | 232 | uint8_t data_high; |
jvfausto | 0:617f20c6b21d | 233 | uint16_t data; |
jvfausto | 0:617f20c6b21d | 234 | |
jvfausto | 4:f6f0c2b9120a | 235 | char data_write[2]; |
jvfausto | 0:617f20c6b21d | 236 | char data_read[2]; |
jvfausto | 0:617f20c6b21d | 237 | data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address |
jvfausto | 0:617f20c6b21d | 238 | data_write[1] = registerAddr & 0xFF; //LSB of register address |
jvfausto | 0:617f20c6b21d | 239 | _i2c.write(address, data_write, 2,0); |
jvfausto | 0:617f20c6b21d | 240 | _i2c.read(address,data_read,2,1); |
jvfausto | 0:617f20c6b21d | 241 | data_high = data_read[0]; //Read Data from selected register |
jvfausto | 0:617f20c6b21d | 242 | data_low = data_read[1]; //Read Data from selected register |
jvfausto | 0:617f20c6b21d | 243 | data = (data_high << 8)|data_low; |
jvfausto | 4:f6f0c2b9120a | 244 | |
jvfausto | 0:617f20c6b21d | 245 | return data; |
jvfausto | 0:617f20c6b21d | 246 | } |
jvfausto | 0:617f20c6b21d | 247 | // Read a 32-bit register |
jvfausto | 0:617f20c6b21d | 248 | uint32_t VL53L1X::readReg32Bit(uint16_t reg) |
jvfausto | 0:617f20c6b21d | 249 | { |
jvfausto | 0:617f20c6b21d | 250 | uint32_t value; |
jvfausto | 0:617f20c6b21d | 251 | /* |
jvfausto | 0:617f20c6b21d | 252 | _i2c.beginTransmission(address); |
jvfausto | 0:617f20c6b21d | 253 | _i2c.write((reg >> 8) & 0xFF); // reg high byte |
jvfausto | 0:617f20c6b21d | 254 | _i2c.write( reg & 0xFF); // reg low byte |
jvfausto | 0:617f20c6b21d | 255 | last_status = _i2c.endTransmission(); |
jvfausto | 0:617f20c6b21d | 256 | |
jvfausto | 0:617f20c6b21d | 257 | _i2c.requestFrom(address, (uint8_t)4); |
jvfausto | 0:617f20c6b21d | 258 | value = (uint32_t)_i2c.read() << 24; // value highest byte |
jvfausto | 0:617f20c6b21d | 259 | value |= (uint32_t)_i2c.read() << 16; |
jvfausto | 0:617f20c6b21d | 260 | value |= (uint16_t)_i2c.read() << 8; |
jvfausto | 0:617f20c6b21d | 261 | value |= _i2c.read(); // value lowest byte |
jvfausto | 0:617f20c6b21d | 262 | */ |
jvfausto | 0:617f20c6b21d | 263 | return value; |
jvfausto | 0:617f20c6b21d | 264 | } |
jvfausto | 0:617f20c6b21d | 265 | |
jvfausto | 0:617f20c6b21d | 266 | // set distance mode to Short, Medium, or Long |
jvfausto | 0:617f20c6b21d | 267 | // based on VL53L1_SetDistanceMode() |
jvfausto | 0:617f20c6b21d | 268 | bool VL53L1X::setDistanceMode(DistanceMode mode) |
jvfausto | 0:617f20c6b21d | 269 | { |
jvfausto | 0:617f20c6b21d | 270 | // save existing timing budget |
jvfausto | 0:617f20c6b21d | 271 | uint32_t budget_us = getMeasurementTimingBudget(); |
jvfausto | 0:617f20c6b21d | 272 | switch (mode) |
jvfausto | 0:617f20c6b21d | 273 | { |
jvfausto | 0:617f20c6b21d | 274 | case Short: |
jvfausto | 0:617f20c6b21d | 275 | // from VL53L1_preset_mode_standard_ranging_short_range() |
jvfausto | 0:617f20c6b21d | 276 | |
jvfausto | 0:617f20c6b21d | 277 | // timing config |
jvfausto | 0:617f20c6b21d | 278 | writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x07); |
jvfausto | 0:617f20c6b21d | 279 | writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x05); |
jvfausto | 0:617f20c6b21d | 280 | writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0x38); |
jvfausto | 0:617f20c6b21d | 281 | |
jvfausto | 0:617f20c6b21d | 282 | // dynamic config |
jvfausto | 0:617f20c6b21d | 283 | writeReg(SD_CONFIG__WOI_SD0, 0x07); |
jvfausto | 0:617f20c6b21d | 284 | writeReg(SD_CONFIG__WOI_SD1, 0x05); |
jvfausto | 0:617f20c6b21d | 285 | writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 6); // tuning parm default |
jvfausto | 0:617f20c6b21d | 286 | writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 6); // tuning parm default |
jvfausto | 0:617f20c6b21d | 287 | |
jvfausto | 0:617f20c6b21d | 288 | break; |
jvfausto | 0:617f20c6b21d | 289 | |
jvfausto | 0:617f20c6b21d | 290 | case Medium: |
jvfausto | 0:617f20c6b21d | 291 | // from VL53L1_preset_mode_standard_ranging() |
jvfausto | 0:617f20c6b21d | 292 | |
jvfausto | 0:617f20c6b21d | 293 | // timing config |
jvfausto | 0:617f20c6b21d | 294 | writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0B); |
jvfausto | 0:617f20c6b21d | 295 | writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x09); |
jvfausto | 0:617f20c6b21d | 296 | writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0x78); |
jvfausto | 0:617f20c6b21d | 297 | |
jvfausto | 0:617f20c6b21d | 298 | // dynamic config |
jvfausto | 0:617f20c6b21d | 299 | writeReg(SD_CONFIG__WOI_SD0, 0x0B); |
jvfausto | 0:617f20c6b21d | 300 | writeReg(SD_CONFIG__WOI_SD1, 0x09); |
jvfausto | 0:617f20c6b21d | 301 | writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 10); // tuning parm default |
jvfausto | 0:617f20c6b21d | 302 | writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 10); // tuning parm default |
jvfausto | 0:617f20c6b21d | 303 | |
jvfausto | 0:617f20c6b21d | 304 | break; |
jvfausto | 0:617f20c6b21d | 305 | |
jvfausto | 0:617f20c6b21d | 306 | case Long: // long |
jvfausto | 0:617f20c6b21d | 307 | // from VL53L1_preset_mode_standard_ranging_long_range() |
jvfausto | 0:617f20c6b21d | 308 | |
jvfausto | 0:617f20c6b21d | 309 | // timing config |
jvfausto | 0:617f20c6b21d | 310 | writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F); |
jvfausto | 0:617f20c6b21d | 311 | writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D); |
jvfausto | 0:617f20c6b21d | 312 | writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8); |
jvfausto | 0:617f20c6b21d | 313 | |
jvfausto | 0:617f20c6b21d | 314 | // dynamic config |
jvfausto | 0:617f20c6b21d | 315 | writeReg(SD_CONFIG__WOI_SD0, 0x0F); |
jvfausto | 0:617f20c6b21d | 316 | writeReg(SD_CONFIG__WOI_SD1, 0x0D); |
jvfausto | 0:617f20c6b21d | 317 | writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 14); // tuning parm default |
jvfausto | 0:617f20c6b21d | 318 | writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 14); // tuning parm default |
jvfausto | 0:617f20c6b21d | 319 | |
jvfausto | 0:617f20c6b21d | 320 | break; |
jvfausto | 0:617f20c6b21d | 321 | |
jvfausto | 0:617f20c6b21d | 322 | default: |
jvfausto | 0:617f20c6b21d | 323 | // unrecognized mode - do nothing |
jvfausto | 0:617f20c6b21d | 324 | return false; |
jvfausto | 0:617f20c6b21d | 325 | } |
jvfausto | 0:617f20c6b21d | 326 | |
jvfausto | 0:617f20c6b21d | 327 | // reapply timing budget |
jvfausto | 0:617f20c6b21d | 328 | setMeasurementTimingBudget(budget_us); |
jvfausto | 0:617f20c6b21d | 329 | |
jvfausto | 0:617f20c6b21d | 330 | // save mode so it can be returned by getDistanceMode() |
jvfausto | 0:617f20c6b21d | 331 | distance_mode = mode; |
jvfausto | 0:617f20c6b21d | 332 | |
jvfausto | 0:617f20c6b21d | 333 | return true; |
jvfausto | 0:617f20c6b21d | 334 | } |
jvfausto | 0:617f20c6b21d | 335 | |
jvfausto | 0:617f20c6b21d | 336 | // Set the measurement timing budget in microseconds, which is the time allowed |
jvfausto | 0:617f20c6b21d | 337 | // for one measurement. A longer timing budget allows for more accurate |
jvfausto | 0:617f20c6b21d | 338 | // measurements. |
jvfausto | 0:617f20c6b21d | 339 | // based on VL53L1_SetMeasurementTimingBudgetMicroSeconds() |
jvfausto | 0:617f20c6b21d | 340 | bool VL53L1X::setMeasurementTimingBudget(uint32_t budget_us) |
jvfausto | 0:617f20c6b21d | 341 | { |
jvfausto | 0:617f20c6b21d | 342 | // assumes PresetMode is LOWPOWER_AUTONOMOUS |
jvfausto | 0:617f20c6b21d | 343 | |
jvfausto | 0:617f20c6b21d | 344 | if (budget_us <= TimingGuard) { return false; } |
jvfausto | 0:617f20c6b21d | 345 | |
jvfausto | 0:617f20c6b21d | 346 | uint32_t range_config_timeout_us = budget_us -= TimingGuard; |
jvfausto | 0:617f20c6b21d | 347 | if (range_config_timeout_us > 1100000) { return false; } // FDA_MAX_TIMING_BUDGET_US * 2 |
jvfausto | 0:617f20c6b21d | 348 | |
jvfausto | 0:617f20c6b21d | 349 | range_config_timeout_us /= 2; |
jvfausto | 0:617f20c6b21d | 350 | |
jvfausto | 0:617f20c6b21d | 351 | // VL53L1_calc_timeout_register_values() begin |
jvfausto | 0:617f20c6b21d | 352 | |
jvfausto | 0:617f20c6b21d | 353 | uint32_t macro_period_us; |
jvfausto | 0:617f20c6b21d | 354 | |
jvfausto | 0:617f20c6b21d | 355 | // "Update Macro Period for Range A VCSEL Period" |
jvfausto | 0:617f20c6b21d | 356 | macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_A)); |
jvfausto | 0:617f20c6b21d | 357 | |
jvfausto | 0:617f20c6b21d | 358 | // "Update Phase timeout - uses Timing A" |
jvfausto | 0:617f20c6b21d | 359 | // Timeout of 1000 is tuning parm default (TIMED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT) |
jvfausto | 0:617f20c6b21d | 360 | // via VL53L1_get_preset_mode_timing_cfg(). |
jvfausto | 0:617f20c6b21d | 361 | uint32_t phasecal_timeout_mclks = timeoutMicrosecondsToMclks(1000, macro_period_us); |
jvfausto | 0:617f20c6b21d | 362 | if (phasecal_timeout_mclks > 0xFF) { phasecal_timeout_mclks = 0xFF; } |
jvfausto | 0:617f20c6b21d | 363 | writeReg(PHASECAL_CONFIG__TIMEOUT_MACROP, phasecal_timeout_mclks); |
jvfausto | 0:617f20c6b21d | 364 | |
jvfausto | 0:617f20c6b21d | 365 | // "Update MM Timing A timeout" |
jvfausto | 0:617f20c6b21d | 366 | // Timeout of 1 is tuning parm default (LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US_DEFAULT) |
jvfausto | 0:617f20c6b21d | 367 | // via VL53L1_get_preset_mode_timing_cfg(). With the API, the register |
jvfausto | 0:617f20c6b21d | 368 | // actually ends up with a slightly different value because it gets assigned, |
jvfausto | 0:617f20c6b21d | 369 | // retrieved, recalculated with a different macro period, and reassigned, |
jvfausto | 0:617f20c6b21d | 370 | // but it probably doesn't matter because it seems like the MM ("mode |
jvfausto | 0:617f20c6b21d | 371 | // mitigation"?) sequence steps are disabled in low power auto mode anyway. |
jvfausto | 0:617f20c6b21d | 372 | writeReg16Bit(MM_CONFIG__TIMEOUT_MACROP_A, encodeTimeout( |
jvfausto | 0:617f20c6b21d | 373 | timeoutMicrosecondsToMclks(1, macro_period_us))); |
jvfausto | 0:617f20c6b21d | 374 | |
jvfausto | 0:617f20c6b21d | 375 | // "Update Range Timing A timeout" |
jvfausto | 0:617f20c6b21d | 376 | writeReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_A, encodeTimeout( |
jvfausto | 0:617f20c6b21d | 377 | timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us))); |
jvfausto | 0:617f20c6b21d | 378 | |
jvfausto | 0:617f20c6b21d | 379 | // "Update Macro Period for Range B VCSEL Period" |
jvfausto | 0:617f20c6b21d | 380 | macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_B)); |
jvfausto | 0:617f20c6b21d | 381 | |
jvfausto | 0:617f20c6b21d | 382 | // "Update MM Timing B timeout" |
jvfausto | 0:617f20c6b21d | 383 | // (See earlier comment about MM Timing A timeout.) |
jvfausto | 0:617f20c6b21d | 384 | writeReg16Bit(MM_CONFIG__TIMEOUT_MACROP_B, encodeTimeout( |
jvfausto | 0:617f20c6b21d | 385 | timeoutMicrosecondsToMclks(1, macro_period_us))); |
jvfausto | 0:617f20c6b21d | 386 | |
jvfausto | 0:617f20c6b21d | 387 | // "Update Range Timing B timeout" |
jvfausto | 0:617f20c6b21d | 388 | writeReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_B, encodeTimeout( |
jvfausto | 0:617f20c6b21d | 389 | timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us))); |
jvfausto | 0:617f20c6b21d | 390 | // VL53L1_calc_timeout_register_values() end |
jvfausto | 0:617f20c6b21d | 391 | |
jvfausto | 0:617f20c6b21d | 392 | return true; |
jvfausto | 0:617f20c6b21d | 393 | } |
jvfausto | 0:617f20c6b21d | 394 | |
jvfausto | 0:617f20c6b21d | 395 | // Get the measurement timing budget in microseconds |
jvfausto | 0:617f20c6b21d | 396 | // based on VL53L1_SetMeasurementTimingBudgetMicroSeconds() |
jvfausto | 0:617f20c6b21d | 397 | uint32_t VL53L1X::getMeasurementTimingBudget() |
jvfausto | 0:617f20c6b21d | 398 | { |
jvfausto | 0:617f20c6b21d | 399 | // assumes PresetMode is LOWPOWER_AUTONOMOUS and these sequence steps are |
jvfausto | 0:617f20c6b21d | 400 | // enabled: VHV, PHASECAL, DSS1, RANGE |
jvfausto | 0:617f20c6b21d | 401 | |
jvfausto | 0:617f20c6b21d | 402 | // VL53L1_get_timeouts_us() begin |
jvfausto | 0:617f20c6b21d | 403 | |
jvfausto | 0:617f20c6b21d | 404 | // "Update Macro Period for Range A VCSEL Period" |
jvfausto | 0:617f20c6b21d | 405 | uint32_t macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_A)); |
jvfausto | 0:617f20c6b21d | 406 | |
jvfausto | 0:617f20c6b21d | 407 | // "Get Range Timing A timeout" |
jvfausto | 0:617f20c6b21d | 408 | |
jvfausto | 0:617f20c6b21d | 409 | uint32_t range_config_timeout_us = timeoutMclksToMicroseconds(decodeTimeout( |
jvfausto | 0:617f20c6b21d | 410 | readReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_A)), macro_period_us); |
jvfausto | 0:617f20c6b21d | 411 | |
jvfausto | 0:617f20c6b21d | 412 | // VL53L1_get_timeouts_us() end |
jvfausto | 0:617f20c6b21d | 413 | |
jvfausto | 0:617f20c6b21d | 414 | return 2 * range_config_timeout_us + TimingGuard; |
jvfausto | 0:617f20c6b21d | 415 | } |
jvfausto | 0:617f20c6b21d | 416 | |
jvfausto | 0:617f20c6b21d | 417 | // Start continuous ranging measurements, with the given inter-measurement |
jvfausto | 0:617f20c6b21d | 418 | // period in milliseconds determining how often the sensor takes a measurement. |
jvfausto | 0:617f20c6b21d | 419 | void VL53L1X::startContinuous(uint32_t period_ms) |
jvfausto | 0:617f20c6b21d | 420 | { |
jvfausto | 0:617f20c6b21d | 421 | // from VL53L1_set_inter_measurement_period_ms() |
jvfausto | 0:617f20c6b21d | 422 | writeReg32Bit(SYSTEM__INTERMEASUREMENT_PERIOD, period_ms * osc_calibrate_val); |
jvfausto | 0:617f20c6b21d | 423 | writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range |
jvfausto | 0:617f20c6b21d | 424 | writeReg(SYSTEM__MODE_START, 0x40); // mode_range__timed |
jvfausto | 0:617f20c6b21d | 425 | } |
jvfausto | 0:617f20c6b21d | 426 | |
jvfausto | 0:617f20c6b21d | 427 | // Stop continuous measurements |
jvfausto | 0:617f20c6b21d | 428 | // based on VL53L1_stop_range() |
jvfausto | 0:617f20c6b21d | 429 | void VL53L1X::stopContinuous() |
jvfausto | 0:617f20c6b21d | 430 | { |
jvfausto | 0:617f20c6b21d | 431 | writeReg(SYSTEM__MODE_START, 0x80); // mode_range__abort |
jvfausto | 0:617f20c6b21d | 432 | |
jvfausto | 0:617f20c6b21d | 433 | // VL53L1_low_power_auto_data_stop_range() begin |
jvfausto | 0:617f20c6b21d | 434 | |
jvfausto | 0:617f20c6b21d | 435 | calibrated = false; |
jvfausto | 0:617f20c6b21d | 436 | |
jvfausto | 0:617f20c6b21d | 437 | // "restore vhv configs" |
jvfausto | 0:617f20c6b21d | 438 | if (saved_vhv_init != 0) |
jvfausto | 0:617f20c6b21d | 439 | { |
jvfausto | 0:617f20c6b21d | 440 | writeReg(VHV_CONFIG__INIT, saved_vhv_init); |
jvfausto | 0:617f20c6b21d | 441 | } |
jvfausto | 0:617f20c6b21d | 442 | if (saved_vhv_timeout != 0) |
jvfausto | 0:617f20c6b21d | 443 | { |
jvfausto | 0:617f20c6b21d | 444 | writeReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, saved_vhv_timeout); |
jvfausto | 0:617f20c6b21d | 445 | } |
jvfausto | 0:617f20c6b21d | 446 | |
jvfausto | 0:617f20c6b21d | 447 | // "remove phasecal override" |
jvfausto | 0:617f20c6b21d | 448 | writeReg(PHASECAL_CONFIG__OVERRIDE, 0x00); |
jvfausto | 0:617f20c6b21d | 449 | |
jvfausto | 0:617f20c6b21d | 450 | // VL53L1_low_power_auto_data_stop_range() end |
jvfausto | 0:617f20c6b21d | 451 | } |
jvfausto | 0:617f20c6b21d | 452 | |
jvfausto | 0:617f20c6b21d | 453 | // Returns a range reading in millimeters when continuous mode is active |
jvfausto | 0:617f20c6b21d | 454 | // (readRangeSingleMillimetersx () also calls this function after starting a |
jvfausto | 0:617f20c6b21d | 455 | // single-shot range measurement) |
jvfausto | 0:617f20c6b21d | 456 | uint16_t VL53L1X::read(bool blocking) |
jvfausto | 0:617f20c6b21d | 457 | { |
jvfausto | 0:617f20c6b21d | 458 | if (blocking) |
jvfausto | 0:617f20c6b21d | 459 | { |
jvfausto | 0:617f20c6b21d | 460 | // startTimeout(); |
jvfausto | 0:617f20c6b21d | 461 | |
jvfausto | 0:617f20c6b21d | 462 | /* dataReady returns 0. Loop is never entered. */ |
jvfausto | 0:617f20c6b21d | 463 | /* |
jvfausto | 0:617f20c6b21d | 464 | while (dataReady()) |
jvfausto | 0:617f20c6b21d | 465 | { |
jvfausto | 0:617f20c6b21d | 466 | if (checkTimeoutExpired()) |
jvfausto | 0:617f20c6b21d | 467 | { |
jvfausto | 0:617f20c6b21d | 468 | did_timeout = true; |
jvfausto | 0:617f20c6b21d | 469 | ranging_data.range_status = None; |
jvfausto | 0:617f20c6b21d | 470 | ranging_data.range_mm = 0; |
jvfausto | 0:617f20c6b21d | 471 | ranging_data.peak_signal_count_rate_MCPS = 0; |
jvfausto | 0:617f20c6b21d | 472 | ranging_data.ambient_count_rate_MCPS = 0; |
jvfausto | 0:617f20c6b21d | 473 | return ranging_data.range_mm; |
jvfausto | 0:617f20c6b21d | 474 | } |
jvfausto | 0:617f20c6b21d | 475 | }*/ |
jvfausto | 0:617f20c6b21d | 476 | } |
jvfausto | 0:617f20c6b21d | 477 | |
jvfausto | 0:617f20c6b21d | 478 | readResults(); |
jvfausto | 0:617f20c6b21d | 479 | |
jvfausto | 0:617f20c6b21d | 480 | if (!calibrated) |
jvfausto | 0:617f20c6b21d | 481 | { |
jvfausto | 0:617f20c6b21d | 482 | setupManualCalibration(); |
jvfausto | 0:617f20c6b21d | 483 | calibrated = true; |
jvfausto | 0:617f20c6b21d | 484 | } |
jvfausto | 0:617f20c6b21d | 485 | |
jvfausto | 0:617f20c6b21d | 486 | updateDSS(); |
jvfausto | 0:617f20c6b21d | 487 | |
jvfausto | 0:617f20c6b21d | 488 | getRangingData(); |
jvfausto | 0:617f20c6b21d | 489 | |
jvfausto | 0:617f20c6b21d | 490 | writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range |
jvfausto | 5:a75d46c735c7 | 491 | |
jvfausto | 0:617f20c6b21d | 492 | return ranging_data.range_mm; |
jvfausto | 0:617f20c6b21d | 493 | } |
jvfausto | 0:617f20c6b21d | 494 | |
jvfausto | 0:617f20c6b21d | 495 | // convert a RangeStatus to a readable string |
jvfausto | 0:617f20c6b21d | 496 | // Note that on an AVR, these strings are stored in RAM (dynamic memory), which |
jvfausto | 0:617f20c6b21d | 497 | // makes working with them easier but uses up 200+ bytes of RAM (many AVR-based |
jvfausto | 0:617f20c6b21d | 498 | // Arduinos only have about 2000 bytes of RAM). You can avoid this memory usage |
jvfausto | 0:617f20c6b21d | 499 | // if you do not call this function in your sketch. |
jvfausto | 0:617f20c6b21d | 500 | const char * VL53L1X::rangeStatusToString(RangeStatus status) |
jvfausto | 0:617f20c6b21d | 501 | { |
jvfausto | 0:617f20c6b21d | 502 | switch (status) |
jvfausto | 0:617f20c6b21d | 503 | { |
jvfausto | 0:617f20c6b21d | 504 | case RangeValid: |
jvfausto | 0:617f20c6b21d | 505 | return "range valid"; |
jvfausto | 0:617f20c6b21d | 506 | |
jvfausto | 0:617f20c6b21d | 507 | case SigmaFail: |
jvfausto | 0:617f20c6b21d | 508 | return "sigma fail"; |
jvfausto | 0:617f20c6b21d | 509 | |
jvfausto | 0:617f20c6b21d | 510 | case SignalFail: |
jvfausto | 0:617f20c6b21d | 511 | return "signal fail"; |
jvfausto | 0:617f20c6b21d | 512 | |
jvfausto | 0:617f20c6b21d | 513 | case RangeValidMinRangeClipped: |
jvfausto | 0:617f20c6b21d | 514 | return "range valid, min range clipped"; |
jvfausto | 0:617f20c6b21d | 515 | |
jvfausto | 0:617f20c6b21d | 516 | case OutOfBoundsFail: |
jvfausto | 0:617f20c6b21d | 517 | return "out of bounds fail"; |
jvfausto | 0:617f20c6b21d | 518 | |
jvfausto | 0:617f20c6b21d | 519 | case HardwareFail: |
jvfausto | 0:617f20c6b21d | 520 | return "hardware fail"; |
jvfausto | 0:617f20c6b21d | 521 | |
jvfausto | 0:617f20c6b21d | 522 | case RangeValidNoWrapCheckFail: |
jvfausto | 0:617f20c6b21d | 523 | return "range valid, no wrap check fail"; |
jvfausto | 0:617f20c6b21d | 524 | |
jvfausto | 0:617f20c6b21d | 525 | case WrapTargetFail: |
jvfausto | 0:617f20c6b21d | 526 | return "wrap target fail"; |
jvfausto | 0:617f20c6b21d | 527 | |
jvfausto | 0:617f20c6b21d | 528 | case XtalkSignalFail: |
jvfausto | 0:617f20c6b21d | 529 | return "xtalk signal fail"; |
jvfausto | 0:617f20c6b21d | 530 | |
jvfausto | 0:617f20c6b21d | 531 | case SynchronizationInt: |
jvfausto | 0:617f20c6b21d | 532 | return "synchronization int"; |
jvfausto | 0:617f20c6b21d | 533 | |
jvfausto | 0:617f20c6b21d | 534 | case MinRangeFail: |
jvfausto | 0:617f20c6b21d | 535 | return "min range fail"; |
jvfausto | 0:617f20c6b21d | 536 | |
jvfausto | 0:617f20c6b21d | 537 | case None: |
jvfausto | 0:617f20c6b21d | 538 | return "no update"; |
jvfausto | 0:617f20c6b21d | 539 | |
jvfausto | 0:617f20c6b21d | 540 | default: |
jvfausto | 0:617f20c6b21d | 541 | return "unknown status"; |
jvfausto | 0:617f20c6b21d | 542 | } |
jvfausto | 0:617f20c6b21d | 543 | } |
jvfausto | 0:617f20c6b21d | 544 | |
jvfausto | 0:617f20c6b21d | 545 | // Did a timeout occur in one of the read functions since the last call to |
jvfausto | 0:617f20c6b21d | 546 | // timeoutOccurred()? |
jvfausto | 0:617f20c6b21d | 547 | bool VL53L1X::timeoutOccurred() |
jvfausto | 0:617f20c6b21d | 548 | { |
jvfausto | 0:617f20c6b21d | 549 | bool tmp = did_timeout; |
jvfausto | 0:617f20c6b21d | 550 | did_timeout = false; |
jvfausto | 0:617f20c6b21d | 551 | return tmp; |
jvfausto | 0:617f20c6b21d | 552 | } |
jvfausto | 0:617f20c6b21d | 553 | |
jvfausto | 0:617f20c6b21d | 554 | // Private Methods ///////////////////////////////////////////////////////////// |
jvfausto | 0:617f20c6b21d | 555 | |
jvfausto | 0:617f20c6b21d | 556 | // "Setup ranges after the first one in low power auto mode by turning off |
jvfausto | 0:617f20c6b21d | 557 | // FW calibration steps and programming static values" |
jvfausto | 0:617f20c6b21d | 558 | // based on VL53L1_low_power_auto_setup_manual_calibration() |
jvfausto | 0:617f20c6b21d | 559 | void VL53L1X::setupManualCalibration() |
jvfausto | 0:617f20c6b21d | 560 | { |
jvfausto | 0:617f20c6b21d | 561 | // "save original vhv configs" |
jvfausto | 0:617f20c6b21d | 562 | saved_vhv_init = readReg(VHV_CONFIG__INIT); |
jvfausto | 0:617f20c6b21d | 563 | saved_vhv_timeout = readReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND); |
jvfausto | 0:617f20c6b21d | 564 | |
jvfausto | 0:617f20c6b21d | 565 | // "disable VHV init" |
jvfausto | 0:617f20c6b21d | 566 | writeReg(VHV_CONFIG__INIT, saved_vhv_init & 0x7F); |
jvfausto | 0:617f20c6b21d | 567 | |
jvfausto | 0:617f20c6b21d | 568 | // "set loop bound to tuning param" |
jvfausto | 0:617f20c6b21d | 569 | writeReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, |
jvfausto | 0:617f20c6b21d | 570 | (saved_vhv_timeout & 0x03) + (3 << 2)); // tuning parm default (LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT) |
jvfausto | 0:617f20c6b21d | 571 | |
jvfausto | 0:617f20c6b21d | 572 | // "override phasecal" |
jvfausto | 0:617f20c6b21d | 573 | writeReg(PHASECAL_CONFIG__OVERRIDE, 0x01); |
jvfausto | 0:617f20c6b21d | 574 | writeReg(CAL_CONFIG__VCSEL_START, readReg(PHASECAL_RESULT__VCSEL_START)); |
jvfausto | 0:617f20c6b21d | 575 | } |
jvfausto | 0:617f20c6b21d | 576 | |
jvfausto | 0:617f20c6b21d | 577 | // read measurement results into buffer |
jvfausto | 0:617f20c6b21d | 578 | void VL53L1X::readResults() |
jvfausto | 0:617f20c6b21d | 579 | { |
jvfausto | 0:617f20c6b21d | 580 | char infoToWrite[2]; |
jvfausto | 0:617f20c6b21d | 581 | char infoToRead[18]; |
jvfausto | 0:617f20c6b21d | 582 | //_i2c.beginTransmission(address); |
jvfausto | 0:617f20c6b21d | 583 | //_i2c.write(address); |
jvfausto | 0:617f20c6b21d | 584 | //_i2c.write((RESULT__RANGE_STATUS >> 8) & 0xFF); // reg high byte |
jvfausto | 0:617f20c6b21d | 585 | //_i2c.write( RESULT__RANGE_STATUS & 0xFF); // reg low byte |
jvfausto | 0:617f20c6b21d | 586 | // last_status = _i2c.endTransmission(); |
jvfausto | 0:617f20c6b21d | 587 | infoToWrite[0] = ((RESULT__RANGE_STATUS >> 8) & 0xFF); |
jvfausto | 0:617f20c6b21d | 588 | infoToWrite[1] = ( RESULT__RANGE_STATUS & 0xFF); |
jvfausto | 0:617f20c6b21d | 589 | _i2c.write(address, infoToWrite, 2, 1); |
jvfausto | 0:617f20c6b21d | 590 | |
jvfausto | 0:617f20c6b21d | 591 | // _i2c.requestFrom(address, (uint8_t)17); |
jvfausto | 0:617f20c6b21d | 592 | _i2c.read(address, infoToRead, 17, 0); |
jvfausto | 0:617f20c6b21d | 593 | |
jvfausto | 0:617f20c6b21d | 594 | wait(.005); |
jvfausto | 0:617f20c6b21d | 595 | results.range_status = infoToRead[0]; |
jvfausto | 0:617f20c6b21d | 596 | |
jvfausto | 0:617f20c6b21d | 597 | // infoToRead[1]; // report_status: not used |
jvfausto | 0:617f20c6b21d | 598 | |
jvfausto | 0:617f20c6b21d | 599 | results.stream_count = infoToRead[2]; |
jvfausto | 0:617f20c6b21d | 600 | |
jvfausto | 0:617f20c6b21d | 601 | results.dss_actual_effective_spads_sd0 = (uint16_t)infoToRead[3] << 8; // high byte |
jvfausto | 0:617f20c6b21d | 602 | results.dss_actual_effective_spads_sd0 |= infoToRead[4]; // low byte |
jvfausto | 0:617f20c6b21d | 603 | |
jvfausto | 0:617f20c6b21d | 604 | // infoToRead[5]; // peak_signal_count_rate_mcps_sd0: not used |
jvfausto | 0:617f20c6b21d | 605 | // infoToRead[6]; |
jvfausto | 0:617f20c6b21d | 606 | |
jvfausto | 0:617f20c6b21d | 607 | results.ambient_count_rate_mcps_sd0 = (uint16_t)infoToRead[7] << 8; // high byte |
jvfausto | 0:617f20c6b21d | 608 | results.ambient_count_rate_mcps_sd0 |= infoToRead[8]; // low byte |
jvfausto | 0:617f20c6b21d | 609 | |
jvfausto | 0:617f20c6b21d | 610 | // infoToRead[9]; // sigma_sd0: not used |
jvfausto | 0:617f20c6b21d | 611 | // infoToRead[10]; |
jvfausto | 0:617f20c6b21d | 612 | |
jvfausto | 0:617f20c6b21d | 613 | // infoToRead[11]; // phase_sd0: not used |
jvfausto | 0:617f20c6b21d | 614 | // infoToRead[12]; |
jvfausto | 0:617f20c6b21d | 615 | |
jvfausto | 0:617f20c6b21d | 616 | results.final_crosstalk_corrected_range_mm_sd0 = (uint16_t)infoToRead[13] << 8; // high byte |
jvfausto | 0:617f20c6b21d | 617 | results.final_crosstalk_corrected_range_mm_sd0 |= infoToRead[14]; // low byte |
jvfausto | 0:617f20c6b21d | 618 | |
jvfausto | 0:617f20c6b21d | 619 | results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = (uint16_t)infoToRead[15] << 8; // high byte |
jvfausto | 0:617f20c6b21d | 620 | results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 |= infoToRead[16]; // low byte |
jvfausto | 0:617f20c6b21d | 621 | } |
jvfausto | 0:617f20c6b21d | 622 | |
jvfausto | 0:617f20c6b21d | 623 | // perform Dynamic SPAD Selection calculation/update |
jvfausto | 0:617f20c6b21d | 624 | // based on VL53L1_low_power_auto_update_DSS() |
jvfausto | 0:617f20c6b21d | 625 | void VL53L1X::updateDSS() |
jvfausto | 0:617f20c6b21d | 626 | { |
jvfausto | 0:617f20c6b21d | 627 | uint16_t spadCount = results.dss_actual_effective_spads_sd0; |
jvfausto | 0:617f20c6b21d | 628 | |
jvfausto | 0:617f20c6b21d | 629 | if (spadCount != 0) |
jvfausto | 0:617f20c6b21d | 630 | { |
jvfausto | 0:617f20c6b21d | 631 | // "Calc total rate per spad" |
jvfausto | 0:617f20c6b21d | 632 | |
jvfausto | 0:617f20c6b21d | 633 | uint32_t totalRatePerSpad = |
jvfausto | 0:617f20c6b21d | 634 | (uint32_t)results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 + |
jvfausto | 0:617f20c6b21d | 635 | results.ambient_count_rate_mcps_sd0; |
jvfausto | 0:617f20c6b21d | 636 | |
jvfausto | 0:617f20c6b21d | 637 | // "clip to 16 bits" |
jvfausto | 0:617f20c6b21d | 638 | if (totalRatePerSpad > 0xFFFF) { totalRatePerSpad = 0xFFFF; } |
jvfausto | 0:617f20c6b21d | 639 | |
jvfausto | 0:617f20c6b21d | 640 | // "shift up to take advantage of 32 bits" |
jvfausto | 0:617f20c6b21d | 641 | totalRatePerSpad <<= 16; |
jvfausto | 0:617f20c6b21d | 642 | |
jvfausto | 0:617f20c6b21d | 643 | totalRatePerSpad /= spadCount; |
jvfausto | 0:617f20c6b21d | 644 | |
jvfausto | 0:617f20c6b21d | 645 | if (totalRatePerSpad != 0) |
jvfausto | 0:617f20c6b21d | 646 | { |
jvfausto | 0:617f20c6b21d | 647 | // "get the target rate and shift up by 16" |
jvfausto | 0:617f20c6b21d | 648 | uint32_t requiredSpads = ((uint32_t)TargetRate << 16) / totalRatePerSpad; |
jvfausto | 0:617f20c6b21d | 649 | |
jvfausto | 0:617f20c6b21d | 650 | // "clip to 16 bit" |
jvfausto | 0:617f20c6b21d | 651 | if (requiredSpads > 0xFFFF) { requiredSpads = 0xFFFF; } |
jvfausto | 0:617f20c6b21d | 652 | |
jvfausto | 0:617f20c6b21d | 653 | // "override DSS config" |
jvfausto | 0:617f20c6b21d | 654 | writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, requiredSpads); |
jvfausto | 0:617f20c6b21d | 655 | // DSS_CONFIG__ROI_MODE_CONTROL should already be set to REQUESTED_EFFFECTIVE_SPADS |
jvfausto | 0:617f20c6b21d | 656 | |
jvfausto | 0:617f20c6b21d | 657 | return; |
jvfausto | 0:617f20c6b21d | 658 | } |
jvfausto | 0:617f20c6b21d | 659 | } |
jvfausto | 0:617f20c6b21d | 660 | |
jvfausto | 0:617f20c6b21d | 661 | // If we reached this point, it means something above would have resulted in a |
jvfausto | 0:617f20c6b21d | 662 | // divide by zero. |
jvfausto | 0:617f20c6b21d | 663 | // "We want to gracefully set a spad target, not just exit with an error" |
jvfausto | 0:617f20c6b21d | 664 | |
jvfausto | 0:617f20c6b21d | 665 | // "set target to mid point" |
jvfausto | 0:617f20c6b21d | 666 | writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 0x8000); |
jvfausto | 0:617f20c6b21d | 667 | } |
jvfausto | 0:617f20c6b21d | 668 | |
jvfausto | 0:617f20c6b21d | 669 | // get range, status, rates from results buffer |
jvfausto | 0:617f20c6b21d | 670 | // based on VL53L1_GetRangingMeasurementData() |
jvfausto | 0:617f20c6b21d | 671 | void VL53L1X::getRangingData() |
jvfausto | 0:617f20c6b21d | 672 | { |
jvfausto | 0:617f20c6b21d | 673 | // VL53L1_copy_sys_and_core_results_to_range_results() begin |
jvfausto | 0:617f20c6b21d | 674 | |
jvfausto | 0:617f20c6b21d | 675 | uint16_t range = results.final_crosstalk_corrected_range_mm_sd0; |
jvfausto | 0:617f20c6b21d | 676 | |
jvfausto | 0:617f20c6b21d | 677 | // "apply correction gain" |
jvfausto | 0:617f20c6b21d | 678 | // gain factor of 2011 is tuning parm default (VL53L1_TUNINGPARM_LITE_RANGING_GAIN_FACTOR_DEFAULT) |
jvfausto | 0:617f20c6b21d | 679 | // Basically, this appears to scale the result by 2011/2048, or about 98% |
jvfausto | 0:617f20c6b21d | 680 | // (with the 1024 added for proper rounding). |
jvfausto | 0:617f20c6b21d | 681 | ranging_data.range_mm = ((uint32_t)range * 2011 + 0x0400) / 0x0800; |
jvfausto | 0:617f20c6b21d | 682 | wait(.005); |
jvfausto | 0:617f20c6b21d | 683 | // VL53L1_copy_sys_and_core_results_to_range_results() end |
jvfausto | 0:617f20c6b21d | 684 | |
jvfausto | 0:617f20c6b21d | 685 | // set range_status in ranging_data based on value of RESULT__RANGE_STATUS register |
jvfausto | 0:617f20c6b21d | 686 | // mostly based on ConvertStatusLite() |
jvfausto | 0:617f20c6b21d | 687 | switch(results.range_status) |
jvfausto | 0:617f20c6b21d | 688 | { |
jvfausto | 0:617f20c6b21d | 689 | case 17: // MULTCLIPFAIL |
jvfausto | 0:617f20c6b21d | 690 | case 2: // VCSELWATCHDOGTESTFAILURE |
jvfausto | 0:617f20c6b21d | 691 | case 1: // VCSELCONTINUITYTESTFAILURE |
jvfausto | 0:617f20c6b21d | 692 | case 3: // NOVHVVALUEFOUND |
jvfausto | 0:617f20c6b21d | 693 | // from SetSimpleData() |
jvfausto | 0:617f20c6b21d | 694 | ranging_data.range_status = HardwareFail; |
jvfausto | 0:617f20c6b21d | 695 | break; |
jvfausto | 0:617f20c6b21d | 696 | |
jvfausto | 0:617f20c6b21d | 697 | case 13: // USERROICLIP |
jvfausto | 0:617f20c6b21d | 698 | // from SetSimpleData() |
jvfausto | 0:617f20c6b21d | 699 | ranging_data.range_status = MinRangeFail; |
jvfausto | 0:617f20c6b21d | 700 | break; |
jvfausto | 0:617f20c6b21d | 701 | |
jvfausto | 0:617f20c6b21d | 702 | case 18: // GPHSTREAMCOUNT0READY |
jvfausto | 0:617f20c6b21d | 703 | ranging_data.range_status = SynchronizationInt; |
jvfausto | 0:617f20c6b21d | 704 | break; |
jvfausto | 0:617f20c6b21d | 705 | |
jvfausto | 0:617f20c6b21d | 706 | case 5: // RANGEPHASECHECK |
jvfausto | 0:617f20c6b21d | 707 | ranging_data.range_status = OutOfBoundsFail; |
jvfausto | 0:617f20c6b21d | 708 | break; |
jvfausto | 0:617f20c6b21d | 709 | |
jvfausto | 0:617f20c6b21d | 710 | case 4: // MSRCNOTARGET |
jvfausto | 0:617f20c6b21d | 711 | ranging_data.range_status = SignalFail; |
jvfausto | 0:617f20c6b21d | 712 | break; |
jvfausto | 0:617f20c6b21d | 713 | |
jvfausto | 0:617f20c6b21d | 714 | case 6: // SIGMATHRESHOLDCHECK |
jvfausto | 0:617f20c6b21d | 715 | ranging_data.range_status = SignalFail; |
jvfausto | 0:617f20c6b21d | 716 | break; |
jvfausto | 0:617f20c6b21d | 717 | |
jvfausto | 0:617f20c6b21d | 718 | case 7: // PHASECONSISTENCY |
jvfausto | 0:617f20c6b21d | 719 | ranging_data.range_status = WrapTargetFail; |
jvfausto | 0:617f20c6b21d | 720 | break; |
jvfausto | 0:617f20c6b21d | 721 | |
jvfausto | 0:617f20c6b21d | 722 | case 12: // RANGEIGNORETHRESHOLD |
jvfausto | 0:617f20c6b21d | 723 | ranging_data.range_status = XtalkSignalFail; |
jvfausto | 0:617f20c6b21d | 724 | break; |
jvfausto | 0:617f20c6b21d | 725 | |
jvfausto | 0:617f20c6b21d | 726 | case 8: // MINCLIP |
jvfausto | 0:617f20c6b21d | 727 | ranging_data.range_status = RangeValidMinRangeClipped; |
jvfausto | 0:617f20c6b21d | 728 | break; |
jvfausto | 0:617f20c6b21d | 729 | |
jvfausto | 0:617f20c6b21d | 730 | case 9: // RANGECOMPLETE |
jvfausto | 0:617f20c6b21d | 731 | // from VL53L1_copy_sys_and_core_results_to_range_results() |
jvfausto | 0:617f20c6b21d | 732 | if (results.stream_count == 0) |
jvfausto | 0:617f20c6b21d | 733 | { |
jvfausto | 0:617f20c6b21d | 734 | ranging_data.range_status = RangeValidNoWrapCheckFail; |
jvfausto | 0:617f20c6b21d | 735 | } |
jvfausto | 0:617f20c6b21d | 736 | else |
jvfausto | 0:617f20c6b21d | 737 | { |
jvfausto | 0:617f20c6b21d | 738 | ranging_data.range_status = RangeValid; |
jvfausto | 0:617f20c6b21d | 739 | } |
jvfausto | 0:617f20c6b21d | 740 | break; |
jvfausto | 0:617f20c6b21d | 741 | |
jvfausto | 0:617f20c6b21d | 742 | default: |
jvfausto | 0:617f20c6b21d | 743 | ranging_data.range_status = None; |
jvfausto | 0:617f20c6b21d | 744 | } |
jvfausto | 0:617f20c6b21d | 745 | |
jvfausto | 0:617f20c6b21d | 746 | // from SetSimpleData() |
jvfausto | 0:617f20c6b21d | 747 | ranging_data.peak_signal_count_rate_MCPS = |
jvfausto | 0:617f20c6b21d | 748 | countRateFixedToFloat(results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0); |
jvfausto | 0:617f20c6b21d | 749 | ranging_data.ambient_count_rate_MCPS = |
jvfausto | 0:617f20c6b21d | 750 | countRateFixedToFloat(results.ambient_count_rate_mcps_sd0); |
jvfausto | 0:617f20c6b21d | 751 | } |
jvfausto | 0:617f20c6b21d | 752 | |
jvfausto | 0:617f20c6b21d | 753 | // Decode sequence step timeout in MCLKs from register value |
jvfausto | 0:617f20c6b21d | 754 | // based on VL53L1_decode_timeout() |
jvfausto | 0:617f20c6b21d | 755 | uint32_t VL53L1X::decodeTimeout(uint16_t reg_val) |
jvfausto | 0:617f20c6b21d | 756 | { |
jvfausto | 0:617f20c6b21d | 757 | return ((uint32_t)(reg_val & 0xFF) << (reg_val >> 8)) + 1; |
jvfausto | 0:617f20c6b21d | 758 | } |
jvfausto | 0:617f20c6b21d | 759 | |
jvfausto | 0:617f20c6b21d | 760 | // Encode sequence step timeout register value from timeout in MCLKs |
jvfausto | 0:617f20c6b21d | 761 | // based on VL53L1_encode_timeout() |
jvfausto | 0:617f20c6b21d | 762 | uint16_t VL53L1X::encodeTimeout(uint32_t timeout_mclks) |
jvfausto | 0:617f20c6b21d | 763 | { |
jvfausto | 0:617f20c6b21d | 764 | // encoded format: "(LSByte * 2^MSByte) + 1" |
jvfausto | 0:617f20c6b21d | 765 | |
jvfausto | 0:617f20c6b21d | 766 | uint32_t ls_byte = 0; |
jvfausto | 0:617f20c6b21d | 767 | uint16_t ms_byte = 0; |
jvfausto | 0:617f20c6b21d | 768 | |
jvfausto | 0:617f20c6b21d | 769 | if (timeout_mclks > 0) |
jvfausto | 0:617f20c6b21d | 770 | { |
jvfausto | 0:617f20c6b21d | 771 | ls_byte = timeout_mclks - 1; |
jvfausto | 0:617f20c6b21d | 772 | |
jvfausto | 0:617f20c6b21d | 773 | while ((ls_byte & 0xFFFFFF00) > 0) |
jvfausto | 0:617f20c6b21d | 774 | { |
jvfausto | 0:617f20c6b21d | 775 | ls_byte >>= 1; |
jvfausto | 0:617f20c6b21d | 776 | ms_byte++; |
jvfausto | 0:617f20c6b21d | 777 | } |
jvfausto | 0:617f20c6b21d | 778 | |
jvfausto | 0:617f20c6b21d | 779 | return (ms_byte << 8) | (ls_byte & 0xFF); |
jvfausto | 0:617f20c6b21d | 780 | } |
jvfausto | 0:617f20c6b21d | 781 | else { return 0; } |
jvfausto | 0:617f20c6b21d | 782 | } |
jvfausto | 0:617f20c6b21d | 783 | |
jvfausto | 0:617f20c6b21d | 784 | // Convert sequence step timeout from macro periods to microseconds with given |
jvfausto | 0:617f20c6b21d | 785 | // macro period in microseconds (12.12 format) |
jvfausto | 0:617f20c6b21d | 786 | // based on VL53L1_calc_timeout_us() |
jvfausto | 0:617f20c6b21d | 787 | uint32_t VL53L1X::timeoutMclksToMicroseconds(uint32_t timeout_mclks, uint32_t macro_period_us) |
jvfausto | 0:617f20c6b21d | 788 | { |
jvfausto | 0:617f20c6b21d | 789 | return ((uint64_t)timeout_mclks * macro_period_us + 0x800) >> 12; |
jvfausto | 0:617f20c6b21d | 790 | } |
jvfausto | 0:617f20c6b21d | 791 | |
jvfausto | 0:617f20c6b21d | 792 | // Convert sequence step timeout from microseconds to macro periods with given |
jvfausto | 0:617f20c6b21d | 793 | // macro period in microseconds (12.12 format) |
jvfausto | 0:617f20c6b21d | 794 | // based on VL53L1_calc_timeout_mclks() |
jvfausto | 0:617f20c6b21d | 795 | uint32_t VL53L1X::timeoutMicrosecondsToMclks(uint32_t timeout_us, uint32_t macro_period_us) |
jvfausto | 0:617f20c6b21d | 796 | { |
jvfausto | 0:617f20c6b21d | 797 | return (((uint32_t)timeout_us << 12) + (macro_period_us >> 1)) / macro_period_us; |
jvfausto | 0:617f20c6b21d | 798 | } |
jvfausto | 0:617f20c6b21d | 799 | |
jvfausto | 0:617f20c6b21d | 800 | // Calculate macro period in microseconds (12.12 format) with given VCSEL period |
jvfausto | 0:617f20c6b21d | 801 | // assumes fast_osc_frequency has been read and stored |
jvfausto | 0:617f20c6b21d | 802 | // based on VL53L1_calc_macro_period_us() |
jvfausto | 0:617f20c6b21d | 803 | uint32_t VL53L1X::calcMacroPeriod(uint8_t vcsel_period) |
jvfausto | 0:617f20c6b21d | 804 | { |
jvfausto | 0:617f20c6b21d | 805 | // from VL53L1_calc_pll_period_us() |
jvfausto | 0:617f20c6b21d | 806 | // fast osc frequency in 4.12 format; PLL period in 0.24 format |
jvfausto | 0:617f20c6b21d | 807 | uint32_t pll_period_us = ((uint32_t)0x01 << 30) / fast_osc_frequency; |
jvfausto | 0:617f20c6b21d | 808 | |
jvfausto | 0:617f20c6b21d | 809 | // from VL53L1_decode_vcsel_period() |
jvfausto | 0:617f20c6b21d | 810 | uint8_t vcsel_period_pclks = (vcsel_period + 1) << 1; |
jvfausto | 0:617f20c6b21d | 811 | |
jvfausto | 0:617f20c6b21d | 812 | // VL53L1_MACRO_PERIOD_VCSEL_PERIODS = 2304 |
jvfausto | 0:617f20c6b21d | 813 | uint32_t macro_period_us = (uint32_t)2304 * pll_period_us; |
jvfausto | 0:617f20c6b21d | 814 | macro_period_us >>= 6; |
jvfausto | 0:617f20c6b21d | 815 | macro_period_us *= vcsel_period_pclks; |
jvfausto | 0:617f20c6b21d | 816 | macro_period_us >>= 6; |
jvfausto | 0:617f20c6b21d | 817 | |
jvfausto | 0:617f20c6b21d | 818 | return macro_period_us; |
jvfausto | 0:617f20c6b21d | 819 | } |
jvfausto | 0:617f20c6b21d | 820 | |
jvfausto | 0:617f20c6b21d | 821 | |
jvfausto | 0:617f20c6b21d | 822 | |
jvfausto | 0:617f20c6b21d | 823 | |
jvfausto | 0:617f20c6b21d | 824 | |
jvfausto | 0:617f20c6b21d | 825 | |
jvfausto | 0:617f20c6b21d | 826 | |
jvfausto | 0:617f20c6b21d | 827 | |
jvfausto | 0:617f20c6b21d | 828 | |
jvfausto | 0:617f20c6b21d | 829 | |
jvfausto | 0:617f20c6b21d | 830 | bool VL53L1X::initReading(int addr, int timing_budget) |
jvfausto | 0:617f20c6b21d | 831 | { |
jvfausto | 0:617f20c6b21d | 832 | turnOn(); |
jvfausto | 0:617f20c6b21d | 833 | wait_ms(100); |
jvfausto | 0:617f20c6b21d | 834 | setTimeout(500); |
jvfausto | 0:617f20c6b21d | 835 | if (!init()) { |
jvfausto | 0:617f20c6b21d | 836 | didInitialize = false; |
jvfausto | 0:617f20c6b21d | 837 | return false; |
jvfausto | 0:617f20c6b21d | 838 | } |
jvfausto | 0:617f20c6b21d | 839 | // setDistanceMode(VL53L1X::Short);//Short Medium Long |
jvfausto | 0:617f20c6b21d | 840 | setAddress(addr);//change I2C address for next sensor |
jvfausto | 0:617f20c6b21d | 841 | setMeasurementTimingBudget(timing_budget);//min 20ms for Short, 33ms for Medium and Long |
jvfausto | 0:617f20c6b21d | 842 | startContinuous(50); |
jvfausto | 0:617f20c6b21d | 843 | wait_ms(100); |
jvfausto | 0:617f20c6b21d | 844 | didInitialize = true; |
jvfausto | 0:617f20c6b21d | 845 | return true; |
jvfausto | 0:617f20c6b21d | 846 | } |
jvfausto | 0:617f20c6b21d | 847 | //************************************* |
jvfausto | 0:617f20c6b21d | 848 | |
jvfausto | 0:617f20c6b21d | 849 | //*********GPIO*********** |
jvfausto | 0:617f20c6b21d | 850 | void VL53L1X::turnOff(void) |
jvfausto | 0:617f20c6b21d | 851 | { |
jvfausto | 0:617f20c6b21d | 852 | //turn pin LOW |
jvfausto | 0:617f20c6b21d | 853 | _shutDown = false; |
jvfausto | 0:617f20c6b21d | 854 | } |
jvfausto | 0:617f20c6b21d | 855 | void VL53L1X::resetPin(void) |
jvfausto | 0:617f20c6b21d | 856 | { |
jvfausto | 0:617f20c6b21d | 857 | //reset pin and set it to LOW |
jvfausto | 0:617f20c6b21d | 858 | _shutDown = false; |
jvfausto | 0:617f20c6b21d | 859 | wait(.05); |
jvfausto | 0:617f20c6b21d | 860 | _shutDown = true; |
jvfausto | 0:617f20c6b21d | 861 | wait(.05); |
jvfausto | 0:617f20c6b21d | 862 | _shutDown = false; |
jvfausto | 0:617f20c6b21d | 863 | wait(.05); |
jvfausto | 0:617f20c6b21d | 864 | |
jvfausto | 0:617f20c6b21d | 865 | } |
jvfausto | 0:617f20c6b21d | 866 | void VL53L1X::turnOn(void) |
jvfausto | 0:617f20c6b21d | 867 | { |
jvfausto | 0:617f20c6b21d | 868 | //turn pin HIGH |
jvfausto | 0:617f20c6b21d | 869 | _shutDown = true; |
jvfausto | 0:617f20c6b21d | 870 | } |
jvfausto | 0:617f20c6b21d | 871 | int VL53L1X::readFromOneSensor(void) |
jvfausto | 0:617f20c6b21d | 872 | { |
jvfausto | 0:617f20c6b21d | 873 | if (didInitialize) //create bool |
jvfausto | 0:617f20c6b21d | 874 | return medianFilter(); |
jvfausto | 0:617f20c6b21d | 875 | else |
jvfausto | 0:617f20c6b21d | 876 | return -1; |
jvfausto | 0:617f20c6b21d | 877 | } |
jvfausto | 0:617f20c6b21d | 878 | int VL53L1X::medianFilter(void) |
jvfausto | 0:617f20c6b21d | 879 | { |
jvfausto | 0:617f20c6b21d | 880 | rawData[1] = rawData[0]; |
jvfausto | 0:617f20c6b21d | 881 | rawData[2] = rawData[1]; |
jvfausto | 0:617f20c6b21d | 882 | rawData[0] = read(); |
jvfausto | 0:617f20c6b21d | 883 | if((rawData[0] < rawData[1] && rawData[0] > rawData[2]) || (rawData[0] > rawData[1] && rawData[0] < rawData[2])) |
jvfausto | 0:617f20c6b21d | 884 | return rawData[0]; |
jvfausto | 0:617f20c6b21d | 885 | else if((rawData[1] < rawData[0] && rawData[1] > rawData[2]) || (rawData[1] > rawData[0] && rawData[1] < rawData[2])) |
jvfausto | 0:617f20c6b21d | 886 | return rawData[1]; |
jvfausto | 0:617f20c6b21d | 887 | else |
jvfausto | 0:617f20c6b21d | 888 | return rawData[2]; |
jvfausto | 0:617f20c6b21d | 889 | } |