Jesus Fausto / Mbed 2 deprecated VL53L1X_Filter

Median of 3 filter for multiple time of flight sensors translated from arduino by pololu

Dependencies:   mbed

Dependents:   wheelchaircontrol wheelchaircontrol2 wheelchaircontrol3 wheelchaircontrol4 ... more

VL53L1X.cpp@4:f6f0c2b9120a, 2019-08-08 (annotated)

Committer:
jvfausto
Date:
Thu Aug 08 16:15:17 2019 +0000
Revision:
4:f6f0c2b9120a
Parent:
3:0d2f2f31469b
Child:
5:a75d46c735c7
Fixing bugs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
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 0:617f20c6b21d 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 }