Jesus Fausto / Mbed 2 deprecated VL53L1X_Multiple

This library allows you to read from multiple VL53L1X sensors.

Dependencies:   mbed

Fork of VL53L1X_Pololu by Jesus Fausto

VL53L1X.cpp@3:7777bbcf11f6, 2018-08-09 (annotated)

Committer:
jvfausto
Date:
Thu Aug 09 19:39:36 2018 +0000
Revision:
3:7777bbcf11f6
Parent:
2:f570ff03fb81 
Faster frequency

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jvfausto 0:76ea242a637f 1 // Most of the functionality of this library is based on the VL53L1X API
jvfausto 0:76ea242a637f 2 // provided by ST (STSW-IMG007), and some of the explanatory comments are quoted
jvfausto 0:76ea242a637f 3 // or paraphrased from the API source code, API user manual (UM2356), and
jvfausto 0:76ea242a637f 4 // VL53L1X datasheet.
jvfausto 1:e54ded4af43a 5
jvfausto 0:76ea242a637f 6 #include "VL53L1X.h"
jvfausto 0:76ea242a637f 7 #include "mbed.h"
jvfausto 1:e54ded4af43a 8
jvfausto 0:76ea242a637f 9 // Constructors ////////////////////////////////////////////////////////////////
jvfausto 1:e54ded4af43a 10 VL53L1X::VL53L1X(PinName SDA, PinName SCL, PinName shutDown) :
jvfausto 1:e54ded4af43a 11 _i2c(SDA,SCL), _shutDown(shutDown)
jvfausto 0:76ea242a637f 12 , io_timeout(0) // no timeout
jvfausto 0:76ea242a637f 13 , did_timeout(false)
jvfausto 0:76ea242a637f 14 , calibrated(false)
jvfausto 0:76ea242a637f 15 , saved_vhv_init(0)
jvfausto 0:76ea242a637f 16 , saved_vhv_timeout(0)
jvfausto 0:76ea242a637f 17 , distance_mode(Unknown){
jvfausto 0:76ea242a637f 18 //Set I2C fast and bring reset line high
jvfausto 0:76ea242a637f 19 _i2c.frequency(400000);
jvfausto 0:76ea242a637f 20 address = AddressDefault << 1;
jvfausto 2:f570ff03fb81 21 turnOff();
jvfausto 0:76ea242a637f 22 }
jvfausto 0:76ea242a637f 23
jvfausto 0:76ea242a637f 24 /*VL53L1X::VL53L1X()
jvfausto 0:76ea242a637f 25 : address(AddressDefault)
jvfausto 0:76ea242a637f 26 {
jvfausto 0:76ea242a637f 27 }*/
jvfausto 1:e54ded4af43a 28
jvfausto 0:76ea242a637f 29 // Public Methods //////////////////////////////////////////////////////////////
jvfausto 1:e54ded4af43a 30
jvfausto 0:76ea242a637f 31 void VL53L1X::setAddress(uint8_t new_addr)
jvfausto 0:76ea242a637f 32 {
jvfausto 0:76ea242a637f 33 writeReg(I2C_SLAVE__DEVICE_ADDRESS, new_addr & 0x7F);
jvfausto 1:e54ded4af43a 34 wait(.01);
jvfausto 1:e54ded4af43a 35 printf("%x\r\n", readReg(I2C_SLAVE__DEVICE_ADDRESS));
jvfausto 1:e54ded4af43a 36 address = new_addr << 1;
jvfausto 0:76ea242a637f 37 }
jvfausto 1:e54ded4af43a 38
jvfausto 0:76ea242a637f 39 // Initialize sensor using settings taken mostly from VL53L1_DataInit() and
jvfausto 0:76ea242a637f 40 // VL53L1_StaticInit().
jvfausto 0:76ea242a637f 41 // If io_2v8 (optional) is true or not given, the sensor is configured for 2V8
jvfausto 0:76ea242a637f 42 // mode.
jvfausto 0:76ea242a637f 43 bool VL53L1X::init(bool io_2v8)
jvfausto 0:76ea242a637f 44 {
jvfausto 0:76ea242a637f 45 // check model ID and module type registers (values specified in datasheet)
jvfausto 0:76ea242a637f 46 int tempRegister = readReg16Bit(IDENTIFICATION__MODEL_ID);
jvfausto 0:76ea242a637f 47 printf("temporary %x\r\n", tempRegister);
jvfausto 0:76ea242a637f 48 if (tempRegister != 0xEACC) {
jvfausto 0:76ea242a637f 49 return false;
jvfausto 0:76ea242a637f 50 }
jvfausto 1:e54ded4af43a 51
jvfausto 0:76ea242a637f 52 // VL53L1_software_reset() begin
jvfausto 1:e54ded4af43a 53
jvfausto 0:76ea242a637f 54 writeReg(SOFT_RESET, 0x00);
jvfausto 0:76ea242a637f 55 wait(.001);
jvfausto 0:76ea242a637f 56 writeReg(SOFT_RESET, 0x01);
jvfausto 1:e54ded4af43a 57
jvfausto 0:76ea242a637f 58 // VL53L1_poll_for_boot_completion() begin
jvfausto 1:e54ded4af43a 59
jvfausto 0:76ea242a637f 60 startTimeout();
jvfausto 1:e54ded4af43a 61 int firmware = (readReg16Bit(FIRMWARE__SYSTEM_STATUS));
jvfausto 0:76ea242a637f 62 printf("firmware : %x\r\n", firmware);
jvfausto 0:76ea242a637f 63 while ((readReg(FIRMWARE__SYSTEM_STATUS) & 0x01) == 0)
jvfausto 0:76ea242a637f 64 {
jvfausto 0:76ea242a637f 65 printf("stuck\r\n");
jvfausto 0:76ea242a637f 66 if (checkTimeoutExpired())
jvfausto 0:76ea242a637f 67 {
jvfausto 0:76ea242a637f 68 did_timeout = true;
jvfausto 0:76ea242a637f 69 return false;
jvfausto 0:76ea242a637f 70 }
jvfausto 0:76ea242a637f 71 }
jvfausto 0:76ea242a637f 72 // VL53L1_poll_for_boot_completion() end
jvfausto 1:e54ded4af43a 73
jvfausto 0:76ea242a637f 74 // VL53L1_software_reset() end
jvfausto 1:e54ded4af43a 75
jvfausto 0:76ea242a637f 76 // VL53L1_DataInit() begin
jvfausto 1:e54ded4af43a 77
jvfausto 0:76ea242a637f 78 // sensor uses 1V8 mode for I/O by default; switch to 2V8 mode if necessary
jvfausto 0:76ea242a637f 79 if (io_2v8)
jvfausto 0:76ea242a637f 80 {
jvfausto 0:76ea242a637f 81 writeReg(PAD_I2C_HV__EXTSUP_CONFIG,
jvfausto 0:76ea242a637f 82 readReg(PAD_I2C_HV__EXTSUP_CONFIG) | 0x01);
jvfausto 0:76ea242a637f 83 }
jvfausto 1:e54ded4af43a 84
jvfausto 0:76ea242a637f 85 // store oscillator info for later use
jvfausto 0:76ea242a637f 86 fast_osc_frequency = readReg16Bit(OSC_MEASURED__FAST_OSC__FREQUENCY);
jvfausto 0:76ea242a637f 87 osc_calibrate_val = readReg16Bit(RESULT__OSC_CALIBRATE_VAL);
jvfausto 1:e54ded4af43a 88
jvfausto 0:76ea242a637f 89 // VL53L1_DataInit() end
jvfausto 1:e54ded4af43a 90
jvfausto 0:76ea242a637f 91 // VL53L1_StaticInit() begin
jvfausto 1:e54ded4af43a 92
jvfausto 0:76ea242a637f 93 // Note that the API does not actually apply the configuration settings below
jvfausto 0:76ea242a637f 94 // when VL53L1_StaticInit() is called: it keeps a copy of the sensor's
jvfausto 0:76ea242a637f 95 // register contents in memory and doesn't actually write them until a
jvfausto 0:76ea242a637f 96 // measurement is started. Writing the configuration here means we don't have
jvfausto 0:76ea242a637f 97 // to keep it all in memory and avoids a lot of redundant writes later.
jvfausto 1:e54ded4af43a 98
jvfausto 0:76ea242a637f 99 // the API sets the preset mode to LOWPOWER_AUTONOMOUS here:
jvfausto 0:76ea242a637f 100 // VL53L1_set_preset_mode() begin
jvfausto 1:e54ded4af43a 101
jvfausto 0:76ea242a637f 102 // VL53L1_preset_mode_standard_ranging() begin
jvfausto 1:e54ded4af43a 103
jvfausto 0:76ea242a637f 104 // values labeled "tuning parm default" are from vl53l1_tuning_parm_defaults.h
jvfausto 0:76ea242a637f 105 // (API uses these in VL53L1_init_tuning_parm_storage_struct())
jvfausto 1:e54ded4af43a 106
jvfausto 0:76ea242a637f 107 // static config
jvfausto 0:76ea242a637f 108 // API resets PAD_I2C_HV__EXTSUP_CONFIG here, but maybe we don't want to do
jvfausto 0:76ea242a637f 109 // that? (seems like it would disable 2V8 mode)
jvfausto 0:76ea242a637f 110 writeReg16Bit(DSS_CONFIG__TARGET_TOTAL_RATE_MCPS, TargetRate); // should already be this value after reset
jvfausto 0:76ea242a637f 111 writeReg(GPIO__TIO_HV_STATUS, 0x02);
jvfausto 0:76ea242a637f 112 writeReg(SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS, 8); // tuning parm default
jvfausto 0:76ea242a637f 113 writeReg(SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS, 16); // tuning parm default
jvfausto 0:76ea242a637f 114 writeReg(ALGO__CROSSTALK_COMPENSATION_VALID_HEIGHT_MM, 0x01);
jvfausto 0:76ea242a637f 115 writeReg(ALGO__RANGE_IGNORE_VALID_HEIGHT_MM, 0xFF);
jvfausto 0:76ea242a637f 116 writeReg(ALGO__RANGE_MIN_CLIP, 0); // tuning parm default
jvfausto 0:76ea242a637f 117 writeReg(ALGO__CONSISTENCY_CHECK__TOLERANCE, 2); // tuning parm default
jvfausto 1:e54ded4af43a 118
jvfausto 0:76ea242a637f 119 // general config
jvfausto 0:76ea242a637f 120 writeReg16Bit(SYSTEM__THRESH_RATE_HIGH, 0x0000);
jvfausto 0:76ea242a637f 121 writeReg16Bit(SYSTEM__THRESH_RATE_LOW, 0x0000);
jvfausto 0:76ea242a637f 122 writeReg(DSS_CONFIG__APERTURE_ATTENUATION, 0x38);
jvfausto 1:e54ded4af43a 123
jvfausto 0:76ea242a637f 124 // timing config
jvfausto 0:76ea242a637f 125 // most of these settings will be determined later by distance and timing
jvfausto 0:76ea242a637f 126 // budget configuration
jvfausto 0:76ea242a637f 127 writeReg16Bit(RANGE_CONFIG__SIGMA_THRESH, 360); // tuning parm default
jvfausto 0:76ea242a637f 128 writeReg16Bit(RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, 192); // tuning parm default
jvfausto 1:e54ded4af43a 129
jvfausto 0:76ea242a637f 130 // dynamic config
jvfausto 1:e54ded4af43a 131
jvfausto 0:76ea242a637f 132 writeReg(SYSTEM__GROUPED_PARAMETER_HOLD_0, 0x01);
jvfausto 0:76ea242a637f 133 writeReg(SYSTEM__GROUPED_PARAMETER_HOLD_1, 0x01);
jvfausto 0:76ea242a637f 134 writeReg(SD_CONFIG__QUANTIFIER, 2); // tuning parm default
jvfausto 1:e54ded4af43a 135
jvfausto 0:76ea242a637f 136 // VL53L1_preset_mode_standard_ranging() end
jvfausto 1:e54ded4af43a 137
jvfausto 0:76ea242a637f 138 // from VL53L1_preset_mode_timed_ranging_*
jvfausto 0:76ea242a637f 139 // GPH is 0 after reset, but writing GPH0 and GPH1 above seem to set GPH to 1,
jvfausto 0:76ea242a637f 140 // and things don't seem to work if we don't set GPH back to 0 (which the API
jvfausto 0:76ea242a637f 141 // does here).
jvfausto 0:76ea242a637f 142 writeReg(SYSTEM__GROUPED_PARAMETER_HOLD, 0x00);
jvfausto 0:76ea242a637f 143 writeReg(SYSTEM__SEED_CONFIG, 1); // tuning parm default
jvfausto 1:e54ded4af43a 144
jvfausto 0:76ea242a637f 145 // from VL53L1_config_low_power_auto_mode
jvfausto 0:76ea242a637f 146 writeReg(SYSTEM__SEQUENCE_CONFIG, 0x8B); // VHV, PHASECAL, DSS1, RANGE
jvfausto 0:76ea242a637f 147 writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 200 << 8);
jvfausto 0:76ea242a637f 148 writeReg(DSS_CONFIG__ROI_MODE_CONTROL, 2); // REQUESTED_EFFFECTIVE_SPADS
jvfausto 1:e54ded4af43a 149
jvfausto 0:76ea242a637f 150 // VL53L1_set_preset_mode() end
jvfausto 1:e54ded4af43a 151
jvfausto 0:76ea242a637f 152 // default to long range, 50 ms timing budget
jvfausto 0:76ea242a637f 153 // note that this is different than what the API defaults to
jvfausto 1:e54ded4af43a 154 setDistanceMode(Short);
jvfausto 0:76ea242a637f 155 setMeasurementTimingBudget(50000);
jvfausto 1:e54ded4af43a 156
jvfausto 0:76ea242a637f 157 // VL53L1_StaticInit() end
jvfausto 1:e54ded4af43a 158
jvfausto 0:76ea242a637f 159 // the API triggers this change in VL53L1_init_and_start_range() once a
jvfausto 0:76ea242a637f 160 // measurement is started; assumes MM1 and MM2 are disabled
jvfausto 0:76ea242a637f 161 writeReg16Bit(ALGO__PART_TO_PART_RANGE_OFFSET_MM,
jvfausto 0:76ea242a637f 162 readReg16Bit(MM_CONFIG__OUTER_OFFSET_MM) * 4);
jvfausto 1:e54ded4af43a 163 t.start();
jvfausto 0:76ea242a637f 164 return true;
jvfausto 0:76ea242a637f 165 }
jvfausto 1:e54ded4af43a 166
jvfausto 0:76ea242a637f 167 // Write an 8-bit register
jvfausto 0:76ea242a637f 168 void VL53L1X::writeReg(uint16_t registerAddr, uint8_t data)
jvfausto 0:76ea242a637f 169 {
jvfausto 0:76ea242a637f 170 char data_write[3];
jvfausto 0:76ea242a637f 171 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 172 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 173 data_write[2] = data & 0xFF;
jvfausto 0:76ea242a637f 174 _i2c.write(address, data_write, 3);
jvfausto 0:76ea242a637f 175 }
jvfausto 0:76ea242a637f 176
jvfausto 0:76ea242a637f 177 void VL53L1X::writeReg16Bit(uint16_t registerAddr, uint16_t data)
jvfausto 0:76ea242a637f 178 {
jvfausto 0:76ea242a637f 179 char data_write[4];
jvfausto 0:76ea242a637f 180 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 181 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 182 data_write[2] = (data >> 8) & 0xFF;
jvfausto 0:76ea242a637f 183 data_write[3] = data & 0xFF;
jvfausto 0:76ea242a637f 184 _i2c.write(address, data_write, 4);
jvfausto 0:76ea242a637f 185 }
jvfausto 0:76ea242a637f 186
jvfausto 1:e54ded4af43a 187
jvfausto 0:76ea242a637f 188 // Write a 32-bit register
jvfausto 1:e54ded4af43a 189 /*
jvfausto 1:e54ded4af43a 190 void VL53L1X::writeReg32Bit(uint16_t registerAddr, uint32_t data)
jvfausto 1:e54ded4af43a 191 {
jvfausto 1:e54ded4af43a 192 char data_write[5];
jvfausto 1:e54ded4af43a 193 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 1:e54ded4af43a 194 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 1:e54ded4af43a 195 data_write[2] = (data >> 16) & 0xFF;
jvfausto 1:e54ded4af43a 196 data_write[3] = (data >> 8) & 0xFF;
jvfausto 1:e54ded4af43a 197 data_write[4] = data & 0xFF;
jvfausto 1:e54ded4af43a 198 _i2c.write(address, data_write, 5);
jvfausto 1:e54ded4af43a 199 }
jvfausto 1:e54ded4af43a 200 */
jvfausto 0:76ea242a637f 201 void VL53L1X::writeReg32Bit(uint16_t registerAddr, uint32_t data)
jvfausto 0:76ea242a637f 202 {
jvfausto 0:76ea242a637f 203 char data_write[6];
jvfausto 0:76ea242a637f 204 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 205 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 206 data_write[2] = (data >> 24) & 0xFF;
jvfausto 0:76ea242a637f 207 data_write[3] = (data >> 16) & 0xFF;
jvfausto 0:76ea242a637f 208 data_write[4] = (data >> 8) & 0xFF;;
jvfausto 0:76ea242a637f 209 data_write[5] = data & 0xFF;
jvfausto 0:76ea242a637f 210 _i2c.write(address, data_write, 6);
jvfausto 0:76ea242a637f 211 }
jvfausto 1:e54ded4af43a 212
jvfausto 1:e54ded4af43a 213
jvfausto 0:76ea242a637f 214 // Read an 8-bit register
jvfausto 0:76ea242a637f 215 uint8_t VL53L1X::readReg(uint16_t registerAddr)
jvfausto 0:76ea242a637f 216 {
jvfausto 0:76ea242a637f 217 uint8_t data;
jvfausto 0:76ea242a637f 218 char data_write[2];
jvfausto 0:76ea242a637f 219 char data_read[1];
jvfausto 0:76ea242a637f 220 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 221 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 222 _i2c.write(address, data_write, 2,0);
jvfausto 0:76ea242a637f 223 _i2c.read(address,data_read,1,1);
jvfausto 0:76ea242a637f 224 //Read Data from selected register
jvfausto 0:76ea242a637f 225 data=data_read[0];
jvfausto 0:76ea242a637f 226 return data;
jvfausto 0:76ea242a637f 227 }
jvfausto 0:76ea242a637f 228
jvfausto 0:76ea242a637f 229 uint16_t VL53L1X::readReg16Bit(uint16_t registerAddr)
jvfausto 0:76ea242a637f 230 {
jvfausto 0:76ea242a637f 231 uint8_t data_low;
jvfausto 0:76ea242a637f 232 uint8_t data_high;
jvfausto 0:76ea242a637f 233 uint16_t data;
jvfausto 0:76ea242a637f 234
jvfausto 0:76ea242a637f 235 char data_write[2];
jvfausto 0:76ea242a637f 236 char data_read[2];
jvfausto 0:76ea242a637f 237 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 238 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 239 _i2c.write(address, data_write, 2,0);
jvfausto 0:76ea242a637f 240 _i2c.read(address,data_read,2,1);
jvfausto 0:76ea242a637f 241 data_high = data_read[0]; //Read Data from selected register
jvfausto 0:76ea242a637f 242 data_low = data_read[1]; //Read Data from selected register
jvfausto 0:76ea242a637f 243 data = (data_high << 8)|data_low;
jvfausto 0:76ea242a637f 244
jvfausto 0:76ea242a637f 245 return data;
jvfausto 0:76ea242a637f 246 }
jvfausto 0:76ea242a637f 247 // Read a 32-bit register
jvfausto 0:76ea242a637f 248 uint32_t VL53L1X::readReg32Bit(uint16_t reg)
jvfausto 0:76ea242a637f 249 {
jvfausto 0:76ea242a637f 250 uint32_t value;
jvfausto 0:76ea242a637f 251 /*
jvfausto 0:76ea242a637f 252 _i2c.beginTransmission(address);
jvfausto 0:76ea242a637f 253 _i2c.write((reg >> 8) & 0xFF); // reg high byte
jvfausto 0:76ea242a637f 254 _i2c.write( reg & 0xFF); // reg low byte
jvfausto 0:76ea242a637f 255 last_status = _i2c.endTransmission();
jvfausto 1:e54ded4af43a 256
jvfausto 0:76ea242a637f 257 _i2c.requestFrom(address, (uint8_t)4);
jvfausto 0:76ea242a637f 258 value = (uint32_t)_i2c.read() << 24; // value highest byte
jvfausto 0:76ea242a637f 259 value |= (uint32_t)_i2c.read() << 16;
jvfausto 0:76ea242a637f 260 value |= (uint16_t)_i2c.read() << 8;
jvfausto 0:76ea242a637f 261 value |= _i2c.read(); // value lowest byte
jvfausto 0:76ea242a637f 262 */
jvfausto 0:76ea242a637f 263 return value;
jvfausto 0:76ea242a637f 264 }
jvfausto 1:e54ded4af43a 265
jvfausto 0:76ea242a637f 266 // set distance mode to Short, Medium, or Long
jvfausto 0:76ea242a637f 267 // based on VL53L1_SetDistanceMode()
jvfausto 0:76ea242a637f 268 bool VL53L1X::setDistanceMode(DistanceMode mode)
jvfausto 0:76ea242a637f 269 {
jvfausto 0:76ea242a637f 270 // save existing timing budget
jvfausto 0:76ea242a637f 271 uint32_t budget_us = getMeasurementTimingBudget();
jvfausto 0:76ea242a637f 272 switch (mode)
jvfausto 0:76ea242a637f 273 {
jvfausto 0:76ea242a637f 274 case Short:
jvfausto 0:76ea242a637f 275 // from VL53L1_preset_mode_standard_ranging_short_range()
jvfausto 1:e54ded4af43a 276
jvfausto 0:76ea242a637f 277 // timing config
jvfausto 0:76ea242a637f 278 writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x07);
jvfausto 0:76ea242a637f 279 writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x05);
jvfausto 0:76ea242a637f 280 writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0x38);
jvfausto 1:e54ded4af43a 281
jvfausto 0:76ea242a637f 282 // dynamic config
jvfausto 0:76ea242a637f 283 writeReg(SD_CONFIG__WOI_SD0, 0x07);
jvfausto 0:76ea242a637f 284 writeReg(SD_CONFIG__WOI_SD1, 0x05);
jvfausto 0:76ea242a637f 285 writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 6); // tuning parm default
jvfausto 0:76ea242a637f 286 writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 6); // tuning parm default
jvfausto 1:e54ded4af43a 287
jvfausto 0:76ea242a637f 288 break;
jvfausto 1:e54ded4af43a 289
jvfausto 0:76ea242a637f 290 case Medium:
jvfausto 0:76ea242a637f 291 // from VL53L1_preset_mode_standard_ranging()
jvfausto 1:e54ded4af43a 292
jvfausto 0:76ea242a637f 293 // timing config
jvfausto 0:76ea242a637f 294 writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0B);
jvfausto 0:76ea242a637f 295 writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x09);
jvfausto 0:76ea242a637f 296 writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0x78);
jvfausto 1:e54ded4af43a 297
jvfausto 0:76ea242a637f 298 // dynamic config
jvfausto 0:76ea242a637f 299 writeReg(SD_CONFIG__WOI_SD0, 0x0B);
jvfausto 0:76ea242a637f 300 writeReg(SD_CONFIG__WOI_SD1, 0x09);
jvfausto 0:76ea242a637f 301 writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 10); // tuning parm default
jvfausto 0:76ea242a637f 302 writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 10); // tuning parm default
jvfausto 1:e54ded4af43a 303
jvfausto 0:76ea242a637f 304 break;
jvfausto 1:e54ded4af43a 305
jvfausto 0:76ea242a637f 306 case Long: // long
jvfausto 0:76ea242a637f 307 // from VL53L1_preset_mode_standard_ranging_long_range()
jvfausto 1:e54ded4af43a 308
jvfausto 0:76ea242a637f 309 // timing config
jvfausto 0:76ea242a637f 310 writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F);
jvfausto 0:76ea242a637f 311 writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D);
jvfausto 0:76ea242a637f 312 writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8);
jvfausto 1:e54ded4af43a 313
jvfausto 0:76ea242a637f 314 // dynamic config
jvfausto 0:76ea242a637f 315 writeReg(SD_CONFIG__WOI_SD0, 0x0F);
jvfausto 0:76ea242a637f 316 writeReg(SD_CONFIG__WOI_SD1, 0x0D);
jvfausto 0:76ea242a637f 317 writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 14); // tuning parm default
jvfausto 0:76ea242a637f 318 writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 14); // tuning parm default
jvfausto 1:e54ded4af43a 319
jvfausto 0:76ea242a637f 320 break;
jvfausto 1:e54ded4af43a 321
jvfausto 0:76ea242a637f 322 default:
jvfausto 0:76ea242a637f 323 // unrecognized mode - do nothing
jvfausto 0:76ea242a637f 324 return false;
jvfausto 0:76ea242a637f 325 }
jvfausto 1:e54ded4af43a 326
jvfausto 0:76ea242a637f 327 // reapply timing budget
jvfausto 0:76ea242a637f 328 setMeasurementTimingBudget(budget_us);
jvfausto 1:e54ded4af43a 329
jvfausto 0:76ea242a637f 330 // save mode so it can be returned by getDistanceMode()
jvfausto 0:76ea242a637f 331 distance_mode = mode;
jvfausto 1:e54ded4af43a 332
jvfausto 0:76ea242a637f 333 return true;
jvfausto 0:76ea242a637f 334 }
jvfausto 1:e54ded4af43a 335
jvfausto 0:76ea242a637f 336 // Set the measurement timing budget in microseconds, which is the time allowed
jvfausto 0:76ea242a637f 337 // for one measurement. A longer timing budget allows for more accurate
jvfausto 0:76ea242a637f 338 // measurements.
jvfausto 0:76ea242a637f 339 // based on VL53L1_SetMeasurementTimingBudgetMicroSeconds()
jvfausto 0:76ea242a637f 340 bool VL53L1X::setMeasurementTimingBudget(uint32_t budget_us)
jvfausto 0:76ea242a637f 341 {
jvfausto 0:76ea242a637f 342 // assumes PresetMode is LOWPOWER_AUTONOMOUS
jvfausto 1:e54ded4af43a 343
jvfausto 0:76ea242a637f 344 if (budget_us <= TimingGuard) { return false; }
jvfausto 1:e54ded4af43a 345
jvfausto 0:76ea242a637f 346 uint32_t range_config_timeout_us = budget_us -= TimingGuard;
jvfausto 0:76ea242a637f 347 if (range_config_timeout_us > 1100000) { return false; } // FDA_MAX_TIMING_BUDGET_US * 2
jvfausto 1:e54ded4af43a 348
jvfausto 0:76ea242a637f 349 range_config_timeout_us /= 2;
jvfausto 1:e54ded4af43a 350
jvfausto 0:76ea242a637f 351 // VL53L1_calc_timeout_register_values() begin
jvfausto 1:e54ded4af43a 352
jvfausto 0:76ea242a637f 353 uint32_t macro_period_us;
jvfausto 1:e54ded4af43a 354
jvfausto 0:76ea242a637f 355 // "Update Macro Period for Range A VCSEL Period"
jvfausto 0:76ea242a637f 356 macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_A));
jvfausto 1:e54ded4af43a 357
jvfausto 0:76ea242a637f 358 // "Update Phase timeout - uses Timing A"
jvfausto 0:76ea242a637f 359 // Timeout of 1000 is tuning parm default (TIMED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT)
jvfausto 0:76ea242a637f 360 // via VL53L1_get_preset_mode_timing_cfg().
jvfausto 0:76ea242a637f 361 uint32_t phasecal_timeout_mclks = timeoutMicrosecondsToMclks(1000, macro_period_us);
jvfausto 0:76ea242a637f 362 if (phasecal_timeout_mclks > 0xFF) { phasecal_timeout_mclks = 0xFF; }
jvfausto 0:76ea242a637f 363 writeReg(PHASECAL_CONFIG__TIMEOUT_MACROP, phasecal_timeout_mclks);
jvfausto 1:e54ded4af43a 364
jvfausto 0:76ea242a637f 365 // "Update MM Timing A timeout"
jvfausto 0:76ea242a637f 366 // Timeout of 1 is tuning parm default (LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US_DEFAULT)
jvfausto 0:76ea242a637f 367 // via VL53L1_get_preset_mode_timing_cfg(). With the API, the register
jvfausto 0:76ea242a637f 368 // actually ends up with a slightly different value because it gets assigned,
jvfausto 0:76ea242a637f 369 // retrieved, recalculated with a different macro period, and reassigned,
jvfausto 0:76ea242a637f 370 // but it probably doesn't matter because it seems like the MM ("mode
jvfausto 0:76ea242a637f 371 // mitigation"?) sequence steps are disabled in low power auto mode anyway.
jvfausto 0:76ea242a637f 372 writeReg16Bit(MM_CONFIG__TIMEOUT_MACROP_A, encodeTimeout(
jvfausto 0:76ea242a637f 373 timeoutMicrosecondsToMclks(1, macro_period_us)));
jvfausto 1:e54ded4af43a 374
jvfausto 0:76ea242a637f 375 // "Update Range Timing A timeout"
jvfausto 0:76ea242a637f 376 writeReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_A, encodeTimeout(
jvfausto 0:76ea242a637f 377 timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us)));
jvfausto 1:e54ded4af43a 378
jvfausto 0:76ea242a637f 379 // "Update Macro Period for Range B VCSEL Period"
jvfausto 0:76ea242a637f 380 macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_B));
jvfausto 1:e54ded4af43a 381
jvfausto 0:76ea242a637f 382 // "Update MM Timing B timeout"
jvfausto 0:76ea242a637f 383 // (See earlier comment about MM Timing A timeout.)
jvfausto 0:76ea242a637f 384 writeReg16Bit(MM_CONFIG__TIMEOUT_MACROP_B, encodeTimeout(
jvfausto 0:76ea242a637f 385 timeoutMicrosecondsToMclks(1, macro_period_us)));
jvfausto 1:e54ded4af43a 386
jvfausto 0:76ea242a637f 387 // "Update Range Timing B timeout"
jvfausto 0:76ea242a637f 388 writeReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_B, encodeTimeout(
jvfausto 0:76ea242a637f 389 timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us)));
jvfausto 0:76ea242a637f 390 // VL53L1_calc_timeout_register_values() end
jvfausto 1:e54ded4af43a 391
jvfausto 0:76ea242a637f 392 return true;
jvfausto 0:76ea242a637f 393 }
jvfausto 1:e54ded4af43a 394
jvfausto 0:76ea242a637f 395 // Get the measurement timing budget in microseconds
jvfausto 0:76ea242a637f 396 // based on VL53L1_SetMeasurementTimingBudgetMicroSeconds()
jvfausto 0:76ea242a637f 397 uint32_t VL53L1X::getMeasurementTimingBudget()
jvfausto 0:76ea242a637f 398 {
jvfausto 0:76ea242a637f 399 // assumes PresetMode is LOWPOWER_AUTONOMOUS and these sequence steps are
jvfausto 0:76ea242a637f 400 // enabled: VHV, PHASECAL, DSS1, RANGE
jvfausto 1:e54ded4af43a 401
jvfausto 0:76ea242a637f 402 // VL53L1_get_timeouts_us() begin
jvfausto 1:e54ded4af43a 403
jvfausto 0:76ea242a637f 404 // "Update Macro Period for Range A VCSEL Period"
jvfausto 0:76ea242a637f 405 uint32_t macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_A));
jvfausto 1:e54ded4af43a 406
jvfausto 0:76ea242a637f 407 // "Get Range Timing A timeout"
jvfausto 1:e54ded4af43a 408
jvfausto 0:76ea242a637f 409 uint32_t range_config_timeout_us = timeoutMclksToMicroseconds(decodeTimeout(
jvfausto 0:76ea242a637f 410 readReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_A)), macro_period_us);
jvfausto 1:e54ded4af43a 411
jvfausto 0:76ea242a637f 412 // VL53L1_get_timeouts_us() end
jvfausto 1:e54ded4af43a 413
jvfausto 0:76ea242a637f 414 return 2 * range_config_timeout_us + TimingGuard;
jvfausto 0:76ea242a637f 415 }
jvfausto 1:e54ded4af43a 416
jvfausto 0:76ea242a637f 417 // Start continuous ranging measurements, with the given inter-measurement
jvfausto 0:76ea242a637f 418 // period in milliseconds determining how often the sensor takes a measurement.
jvfausto 0:76ea242a637f 419 void VL53L1X::startContinuous(uint32_t period_ms)
jvfausto 0:76ea242a637f 420 {
jvfausto 0:76ea242a637f 421 // from VL53L1_set_inter_measurement_period_ms()
jvfausto 0:76ea242a637f 422 writeReg32Bit(SYSTEM__INTERMEASUREMENT_PERIOD, period_ms * osc_calibrate_val);
jvfausto 0:76ea242a637f 423 writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range
jvfausto 0:76ea242a637f 424 writeReg(SYSTEM__MODE_START, 0x40); // mode_range__timed
jvfausto 0:76ea242a637f 425 }
jvfausto 1:e54ded4af43a 426
jvfausto 0:76ea242a637f 427 // Stop continuous measurements
jvfausto 0:76ea242a637f 428 // based on VL53L1_stop_range()
jvfausto 0:76ea242a637f 429 void VL53L1X::stopContinuous()
jvfausto 0:76ea242a637f 430 {
jvfausto 0:76ea242a637f 431 writeReg(SYSTEM__MODE_START, 0x80); // mode_range__abort
jvfausto 1:e54ded4af43a 432
jvfausto 0:76ea242a637f 433 // VL53L1_low_power_auto_data_stop_range() begin
jvfausto 1:e54ded4af43a 434
jvfausto 0:76ea242a637f 435 calibrated = false;
jvfausto 1:e54ded4af43a 436
jvfausto 0:76ea242a637f 437 // "restore vhv configs"
jvfausto 0:76ea242a637f 438 if (saved_vhv_init != 0)
jvfausto 0:76ea242a637f 439 {
jvfausto 0:76ea242a637f 440 writeReg(VHV_CONFIG__INIT, saved_vhv_init);
jvfausto 0:76ea242a637f 441 }
jvfausto 0:76ea242a637f 442 if (saved_vhv_timeout != 0)
jvfausto 0:76ea242a637f 443 {
jvfausto 0:76ea242a637f 444 writeReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, saved_vhv_timeout);
jvfausto 0:76ea242a637f 445 }
jvfausto 1:e54ded4af43a 446
jvfausto 0:76ea242a637f 447 // "remove phasecal override"
jvfausto 0:76ea242a637f 448 writeReg(PHASECAL_CONFIG__OVERRIDE, 0x00);
jvfausto 1:e54ded4af43a 449
jvfausto 0:76ea242a637f 450 // VL53L1_low_power_auto_data_stop_range() end
jvfausto 0:76ea242a637f 451 }
jvfausto 1:e54ded4af43a 452
jvfausto 0:76ea242a637f 453 // Returns a range reading in millimeters when continuous mode is active
jvfausto 1:e54ded4af43a 454 // (readRangeSingleMillimetersx () also calls this function after starting a
jvfausto 0:76ea242a637f 455 // single-shot range measurement)
jvfausto 0:76ea242a637f 456 uint16_t VL53L1X::read(bool blocking)
jvfausto 0:76ea242a637f 457 {
jvfausto 0:76ea242a637f 458 if (blocking)
jvfausto 0:76ea242a637f 459 {
jvfausto 1:e54ded4af43a 460 // startTimeout();
jvfausto 1:e54ded4af43a 461
jvfausto 1:e54ded4af43a 462 /* dataReady returns 0. Loop is never entered. */
jvfausto 1:e54ded4af43a 463 /*
jvfausto 0:76ea242a637f 464 while (dataReady())
jvfausto 0:76ea242a637f 465 {
jvfausto 0:76ea242a637f 466 if (checkTimeoutExpired())
jvfausto 0:76ea242a637f 467 {
jvfausto 0:76ea242a637f 468 did_timeout = true;
jvfausto 0:76ea242a637f 469 ranging_data.range_status = None;
jvfausto 0:76ea242a637f 470 ranging_data.range_mm = 0;
jvfausto 0:76ea242a637f 471 ranging_data.peak_signal_count_rate_MCPS = 0;
jvfausto 0:76ea242a637f 472 ranging_data.ambient_count_rate_MCPS = 0;
jvfausto 0:76ea242a637f 473 return ranging_data.range_mm;
jvfausto 0:76ea242a637f 474 }
jvfausto 1:e54ded4af43a 475 }*/
jvfausto 0:76ea242a637f 476 }
jvfausto 1:e54ded4af43a 477
jvfausto 0:76ea242a637f 478 readResults();
jvfausto 1:e54ded4af43a 479
jvfausto 0:76ea242a637f 480 if (!calibrated)
jvfausto 0:76ea242a637f 481 {
jvfausto 0:76ea242a637f 482 setupManualCalibration();
jvfausto 0:76ea242a637f 483 calibrated = true;
jvfausto 0:76ea242a637f 484 }
jvfausto 1:e54ded4af43a 485
jvfausto 0:76ea242a637f 486 updateDSS();
jvfausto 1:e54ded4af43a 487
jvfausto 0:76ea242a637f 488 getRangingData();
jvfausto 1:e54ded4af43a 489
jvfausto 0:76ea242a637f 490 writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range
jvfausto 1:e54ded4af43a 491
jvfausto 0:76ea242a637f 492 return ranging_data.range_mm;
jvfausto 0:76ea242a637f 493 }
jvfausto 1:e54ded4af43a 494
jvfausto 0:76ea242a637f 495 // convert a RangeStatus to a readable string
jvfausto 0:76ea242a637f 496 // Note that on an AVR, these strings are stored in RAM (dynamic memory), which
jvfausto 0:76ea242a637f 497 // makes working with them easier but uses up 200+ bytes of RAM (many AVR-based
jvfausto 0:76ea242a637f 498 // Arduinos only have about 2000 bytes of RAM). You can avoid this memory usage
jvfausto 0:76ea242a637f 499 // if you do not call this function in your sketch.
jvfausto 0:76ea242a637f 500 const char * VL53L1X::rangeStatusToString(RangeStatus status)
jvfausto 0:76ea242a637f 501 {
jvfausto 0:76ea242a637f 502 switch (status)
jvfausto 0:76ea242a637f 503 {
jvfausto 0:76ea242a637f 504 case RangeValid:
jvfausto 0:76ea242a637f 505 return "range valid";
jvfausto 1:e54ded4af43a 506
jvfausto 0:76ea242a637f 507 case SigmaFail:
jvfausto 0:76ea242a637f 508 return "sigma fail";
jvfausto 1:e54ded4af43a 509
jvfausto 0:76ea242a637f 510 case SignalFail:
jvfausto 0:76ea242a637f 511 return "signal fail";
jvfausto 1:e54ded4af43a 512
jvfausto 0:76ea242a637f 513 case RangeValidMinRangeClipped:
jvfausto 0:76ea242a637f 514 return "range valid, min range clipped";
jvfausto 1:e54ded4af43a 515
jvfausto 0:76ea242a637f 516 case OutOfBoundsFail:
jvfausto 0:76ea242a637f 517 return "out of bounds fail";
jvfausto 1:e54ded4af43a 518
jvfausto 0:76ea242a637f 519 case HardwareFail:
jvfausto 0:76ea242a637f 520 return "hardware fail";
jvfausto 1:e54ded4af43a 521
jvfausto 0:76ea242a637f 522 case RangeValidNoWrapCheckFail:
jvfausto 0:76ea242a637f 523 return "range valid, no wrap check fail";
jvfausto 1:e54ded4af43a 524
jvfausto 0:76ea242a637f 525 case WrapTargetFail:
jvfausto 0:76ea242a637f 526 return "wrap target fail";
jvfausto 1:e54ded4af43a 527
jvfausto 0:76ea242a637f 528 case XtalkSignalFail:
jvfausto 0:76ea242a637f 529 return "xtalk signal fail";
jvfausto 1:e54ded4af43a 530
jvfausto 0:76ea242a637f 531 case SynchronizationInt:
jvfausto 0:76ea242a637f 532 return "synchronization int";
jvfausto 1:e54ded4af43a 533
jvfausto 0:76ea242a637f 534 case MinRangeFail:
jvfausto 0:76ea242a637f 535 return "min range fail";
jvfausto 1:e54ded4af43a 536
jvfausto 0:76ea242a637f 537 case None:
jvfausto 0:76ea242a637f 538 return "no update";
jvfausto 1:e54ded4af43a 539
jvfausto 0:76ea242a637f 540 default:
jvfausto 0:76ea242a637f 541 return "unknown status";
jvfausto 0:76ea242a637f 542 }
jvfausto 0:76ea242a637f 543 }
jvfausto 1:e54ded4af43a 544
jvfausto 0:76ea242a637f 545 // Did a timeout occur in one of the read functions since the last call to
jvfausto 0:76ea242a637f 546 // timeoutOccurred()?
jvfausto 0:76ea242a637f 547 bool VL53L1X::timeoutOccurred()
jvfausto 0:76ea242a637f 548 {
jvfausto 0:76ea242a637f 549 bool tmp = did_timeout;
jvfausto 0:76ea242a637f 550 did_timeout = false;
jvfausto 0:76ea242a637f 551 return tmp;
jvfausto 0:76ea242a637f 552 }
jvfausto 1:e54ded4af43a 553
jvfausto 0:76ea242a637f 554 // Private Methods /////////////////////////////////////////////////////////////
jvfausto 1:e54ded4af43a 555
jvfausto 0:76ea242a637f 556 // "Setup ranges after the first one in low power auto mode by turning off
jvfausto 0:76ea242a637f 557 // FW calibration steps and programming static values"
jvfausto 0:76ea242a637f 558 // based on VL53L1_low_power_auto_setup_manual_calibration()
jvfausto 0:76ea242a637f 559 void VL53L1X::setupManualCalibration()
jvfausto 0:76ea242a637f 560 {
jvfausto 0:76ea242a637f 561 // "save original vhv configs"
jvfausto 0:76ea242a637f 562 saved_vhv_init = readReg(VHV_CONFIG__INIT);
jvfausto 0:76ea242a637f 563 saved_vhv_timeout = readReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND);
jvfausto 1:e54ded4af43a 564
jvfausto 0:76ea242a637f 565 // "disable VHV init"
jvfausto 0:76ea242a637f 566 writeReg(VHV_CONFIG__INIT, saved_vhv_init & 0x7F);
jvfausto 1:e54ded4af43a 567
jvfausto 0:76ea242a637f 568 // "set loop bound to tuning param"
jvfausto 0:76ea242a637f 569 writeReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
jvfausto 0:76ea242a637f 570 (saved_vhv_timeout & 0x03) + (3 << 2)); // tuning parm default (LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT)
jvfausto 1:e54ded4af43a 571
jvfausto 0:76ea242a637f 572 // "override phasecal"
jvfausto 0:76ea242a637f 573 writeReg(PHASECAL_CONFIG__OVERRIDE, 0x01);
jvfausto 0:76ea242a637f 574 writeReg(CAL_CONFIG__VCSEL_START, readReg(PHASECAL_RESULT__VCSEL_START));
jvfausto 0:76ea242a637f 575 }
jvfausto 1:e54ded4af43a 576
jvfausto 0:76ea242a637f 577 // read measurement results into buffer
jvfausto 0:76ea242a637f 578 void VL53L1X::readResults()
jvfausto 0:76ea242a637f 579 {
jvfausto 1:e54ded4af43a 580 char infoToWrite[2];
jvfausto 1:e54ded4af43a 581 char infoToRead[18];
jvfausto 0:76ea242a637f 582 //_i2c.beginTransmission(address);
jvfausto 1:e54ded4af43a 583 //_i2c.write(address);
jvfausto 1:e54ded4af43a 584 //_i2c.write((RESULT__RANGE_STATUS >> 8) & 0xFF); // reg high byte
jvfausto 1:e54ded4af43a 585 //_i2c.write( RESULT__RANGE_STATUS & 0xFF); // reg low byte
jvfausto 0:76ea242a637f 586 // last_status = _i2c.endTransmission();
jvfausto 1:e54ded4af43a 587 infoToWrite[0] = ((RESULT__RANGE_STATUS >> 8) & 0xFF);
jvfausto 1:e54ded4af43a 588 infoToWrite[1] = ( RESULT__RANGE_STATUS & 0xFF);
jvfausto 1:e54ded4af43a 589 _i2c.write(address, infoToWrite, 2, 1);
jvfausto 1:e54ded4af43a 590
jvfausto 0:76ea242a637f 591 // _i2c.requestFrom(address, (uint8_t)17);
jvfausto 0:76ea242a637f 592 _i2c.read(address, infoToRead, 17, 0);
jvfausto 1:e54ded4af43a 593
jvfausto 3:7777bbcf11f6 594 wait(.005);
jvfausto 0:76ea242a637f 595 results.range_status = infoToRead[0];
jvfausto 1:e54ded4af43a 596
jvfausto 0:76ea242a637f 597 // infoToRead[1]; // report_status: not used
jvfausto 1:e54ded4af43a 598
jvfausto 0:76ea242a637f 599 results.stream_count = infoToRead[2];
jvfausto 1:e54ded4af43a 600
jvfausto 0:76ea242a637f 601 results.dss_actual_effective_spads_sd0 = (uint16_t)infoToRead[3] << 8; // high byte
jvfausto 0:76ea242a637f 602 results.dss_actual_effective_spads_sd0 |= infoToRead[4]; // low byte
jvfausto 1:e54ded4af43a 603
jvfausto 0:76ea242a637f 604 // infoToRead[5]; // peak_signal_count_rate_mcps_sd0: not used
jvfausto 0:76ea242a637f 605 // infoToRead[6];
jvfausto 1:e54ded4af43a 606
jvfausto 0:76ea242a637f 607 results.ambient_count_rate_mcps_sd0 = (uint16_t)infoToRead[7] << 8; // high byte
jvfausto 0:76ea242a637f 608 results.ambient_count_rate_mcps_sd0 |= infoToRead[8]; // low byte
jvfausto 1:e54ded4af43a 609
jvfausto 0:76ea242a637f 610 // infoToRead[9]; // sigma_sd0: not used
jvfausto 0:76ea242a637f 611 // infoToRead[10];
jvfausto 1:e54ded4af43a 612
jvfausto 0:76ea242a637f 613 // infoToRead[11]; // phase_sd0: not used
jvfausto 0:76ea242a637f 614 // infoToRead[12];
jvfausto 1:e54ded4af43a 615
jvfausto 0:76ea242a637f 616 results.final_crosstalk_corrected_range_mm_sd0 = (uint16_t)infoToRead[13] << 8; // high byte
jvfausto 0:76ea242a637f 617 results.final_crosstalk_corrected_range_mm_sd0 |= infoToRead[14]; // low byte
jvfausto 1:e54ded4af43a 618
jvfausto 0:76ea242a637f 619 results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = (uint16_t)infoToRead[15] << 8; // high byte
jvfausto 0:76ea242a637f 620 results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 |= infoToRead[16]; // low byte
jvfausto 0:76ea242a637f 621 }
jvfausto 1:e54ded4af43a 622
jvfausto 0:76ea242a637f 623 // perform Dynamic SPAD Selection calculation/update
jvfausto 0:76ea242a637f 624 // based on VL53L1_low_power_auto_update_DSS()
jvfausto 0:76ea242a637f 625 void VL53L1X::updateDSS()
jvfausto 0:76ea242a637f 626 {
jvfausto 0:76ea242a637f 627 uint16_t spadCount = results.dss_actual_effective_spads_sd0;
jvfausto 1:e54ded4af43a 628
jvfausto 0:76ea242a637f 629 if (spadCount != 0)
jvfausto 0:76ea242a637f 630 {
jvfausto 0:76ea242a637f 631 // "Calc total rate per spad"
jvfausto 1:e54ded4af43a 632
jvfausto 0:76ea242a637f 633 uint32_t totalRatePerSpad =
jvfausto 0:76ea242a637f 634 (uint32_t)results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 +
jvfausto 0:76ea242a637f 635 results.ambient_count_rate_mcps_sd0;
jvfausto 1:e54ded4af43a 636
jvfausto 0:76ea242a637f 637 // "clip to 16 bits"
jvfausto 0:76ea242a637f 638 if (totalRatePerSpad > 0xFFFF) { totalRatePerSpad = 0xFFFF; }
jvfausto 1:e54ded4af43a 639
jvfausto 0:76ea242a637f 640 // "shift up to take advantage of 32 bits"
jvfausto 0:76ea242a637f 641 totalRatePerSpad <<= 16;
jvfausto 1:e54ded4af43a 642
jvfausto 0:76ea242a637f 643 totalRatePerSpad /= spadCount;
jvfausto 1:e54ded4af43a 644
jvfausto 0:76ea242a637f 645 if (totalRatePerSpad != 0)
jvfausto 0:76ea242a637f 646 {
jvfausto 0:76ea242a637f 647 // "get the target rate and shift up by 16"
jvfausto 0:76ea242a637f 648 uint32_t requiredSpads = ((uint32_t)TargetRate << 16) / totalRatePerSpad;
jvfausto 1:e54ded4af43a 649
jvfausto 0:76ea242a637f 650 // "clip to 16 bit"
jvfausto 0:76ea242a637f 651 if (requiredSpads > 0xFFFF) { requiredSpads = 0xFFFF; }
jvfausto 1:e54ded4af43a 652
jvfausto 0:76ea242a637f 653 // "override DSS config"
jvfausto 0:76ea242a637f 654 writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, requiredSpads);
jvfausto 0:76ea242a637f 655 // DSS_CONFIG__ROI_MODE_CONTROL should already be set to REQUESTED_EFFFECTIVE_SPADS
jvfausto 1:e54ded4af43a 656
jvfausto 0:76ea242a637f 657 return;
jvfausto 0:76ea242a637f 658 }
jvfausto 0:76ea242a637f 659 }
jvfausto 1:e54ded4af43a 660
jvfausto 0:76ea242a637f 661 // If we reached this point, it means something above would have resulted in a
jvfausto 0:76ea242a637f 662 // divide by zero.
jvfausto 0:76ea242a637f 663 // "We want to gracefully set a spad target, not just exit with an error"
jvfausto 1:e54ded4af43a 664
jvfausto 0:76ea242a637f 665 // "set target to mid point"
jvfausto 0:76ea242a637f 666 writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 0x8000);
jvfausto 0:76ea242a637f 667 }
jvfausto 1:e54ded4af43a 668
jvfausto 0:76ea242a637f 669 // get range, status, rates from results buffer
jvfausto 0:76ea242a637f 670 // based on VL53L1_GetRangingMeasurementData()
jvfausto 0:76ea242a637f 671 void VL53L1X::getRangingData()
jvfausto 0:76ea242a637f 672 {
jvfausto 0:76ea242a637f 673 // VL53L1_copy_sys_and_core_results_to_range_results() begin
jvfausto 1:e54ded4af43a 674
jvfausto 0:76ea242a637f 675 uint16_t range = results.final_crosstalk_corrected_range_mm_sd0;
jvfausto 1:e54ded4af43a 676
jvfausto 0:76ea242a637f 677 // "apply correction gain"
jvfausto 0:76ea242a637f 678 // gain factor of 2011 is tuning parm default (VL53L1_TUNINGPARM_LITE_RANGING_GAIN_FACTOR_DEFAULT)
jvfausto 0:76ea242a637f 679 // Basically, this appears to scale the result by 2011/2048, or about 98%
jvfausto 0:76ea242a637f 680 // (with the 1024 added for proper rounding).
jvfausto 0:76ea242a637f 681 ranging_data.range_mm = ((uint32_t)range * 2011 + 0x0400) / 0x0800;
jvfausto 3:7777bbcf11f6 682 wait(.005);
jvfausto 0:76ea242a637f 683 // VL53L1_copy_sys_and_core_results_to_range_results() end
jvfausto 1:e54ded4af43a 684
jvfausto 0:76ea242a637f 685 // set range_status in ranging_data based on value of RESULT__RANGE_STATUS register
jvfausto 0:76ea242a637f 686 // mostly based on ConvertStatusLite()
jvfausto 0:76ea242a637f 687 switch(results.range_status)
jvfausto 0:76ea242a637f 688 {
jvfausto 0:76ea242a637f 689 case 17: // MULTCLIPFAIL
jvfausto 0:76ea242a637f 690 case 2: // VCSELWATCHDOGTESTFAILURE
jvfausto 0:76ea242a637f 691 case 1: // VCSELCONTINUITYTESTFAILURE
jvfausto 0:76ea242a637f 692 case 3: // NOVHVVALUEFOUND
jvfausto 0:76ea242a637f 693 // from SetSimpleData()
jvfausto 0:76ea242a637f 694 ranging_data.range_status = HardwareFail;
jvfausto 0:76ea242a637f 695 break;
jvfausto 1:e54ded4af43a 696
jvfausto 0:76ea242a637f 697 case 13: // USERROICLIP
jvfausto 0:76ea242a637f 698 // from SetSimpleData()
jvfausto 0:76ea242a637f 699 ranging_data.range_status = MinRangeFail;
jvfausto 0:76ea242a637f 700 break;
jvfausto 1:e54ded4af43a 701
jvfausto 0:76ea242a637f 702 case 18: // GPHSTREAMCOUNT0READY
jvfausto 0:76ea242a637f 703 ranging_data.range_status = SynchronizationInt;
jvfausto 0:76ea242a637f 704 break;
jvfausto 1:e54ded4af43a 705
jvfausto 0:76ea242a637f 706 case 5: // RANGEPHASECHECK
jvfausto 0:76ea242a637f 707 ranging_data.range_status = OutOfBoundsFail;
jvfausto 0:76ea242a637f 708 break;
jvfausto 1:e54ded4af43a 709
jvfausto 0:76ea242a637f 710 case 4: // MSRCNOTARGET
jvfausto 0:76ea242a637f 711 ranging_data.range_status = SignalFail;
jvfausto 0:76ea242a637f 712 break;
jvfausto 1:e54ded4af43a 713
jvfausto 0:76ea242a637f 714 case 6: // SIGMATHRESHOLDCHECK
jvfausto 0:76ea242a637f 715 ranging_data.range_status = SignalFail;
jvfausto 0:76ea242a637f 716 break;
jvfausto 1:e54ded4af43a 717
jvfausto 0:76ea242a637f 718 case 7: // PHASECONSISTENCY
jvfausto 0:76ea242a637f 719 ranging_data.range_status = WrapTargetFail;
jvfausto 0:76ea242a637f 720 break;
jvfausto 1:e54ded4af43a 721
jvfausto 0:76ea242a637f 722 case 12: // RANGEIGNORETHRESHOLD
jvfausto 0:76ea242a637f 723 ranging_data.range_status = XtalkSignalFail;
jvfausto 0:76ea242a637f 724 break;
jvfausto 1:e54ded4af43a 725
jvfausto 0:76ea242a637f 726 case 8: // MINCLIP
jvfausto 0:76ea242a637f 727 ranging_data.range_status = RangeValidMinRangeClipped;
jvfausto 0:76ea242a637f 728 break;
jvfausto 1:e54ded4af43a 729
jvfausto 0:76ea242a637f 730 case 9: // RANGECOMPLETE
jvfausto 0:76ea242a637f 731 // from VL53L1_copy_sys_and_core_results_to_range_results()
jvfausto 0:76ea242a637f 732 if (results.stream_count == 0)
jvfausto 0:76ea242a637f 733 {
jvfausto 0:76ea242a637f 734 ranging_data.range_status = RangeValidNoWrapCheckFail;
jvfausto 0:76ea242a637f 735 }
jvfausto 0:76ea242a637f 736 else
jvfausto 0:76ea242a637f 737 {
jvfausto 0:76ea242a637f 738 ranging_data.range_status = RangeValid;
jvfausto 0:76ea242a637f 739 }
jvfausto 0:76ea242a637f 740 break;
jvfausto 1:e54ded4af43a 741
jvfausto 0:76ea242a637f 742 default:
jvfausto 0:76ea242a637f 743 ranging_data.range_status = None;
jvfausto 0:76ea242a637f 744 }
jvfausto 1:e54ded4af43a 745
jvfausto 0:76ea242a637f 746 // from SetSimpleData()
jvfausto 0:76ea242a637f 747 ranging_data.peak_signal_count_rate_MCPS =
jvfausto 0:76ea242a637f 748 countRateFixedToFloat(results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0);
jvfausto 0:76ea242a637f 749 ranging_data.ambient_count_rate_MCPS =
jvfausto 0:76ea242a637f 750 countRateFixedToFloat(results.ambient_count_rate_mcps_sd0);
jvfausto 0:76ea242a637f 751 }
jvfausto 1:e54ded4af43a 752
jvfausto 0:76ea242a637f 753 // Decode sequence step timeout in MCLKs from register value
jvfausto 0:76ea242a637f 754 // based on VL53L1_decode_timeout()
jvfausto 0:76ea242a637f 755 uint32_t VL53L1X::decodeTimeout(uint16_t reg_val)
jvfausto 0:76ea242a637f 756 {
jvfausto 0:76ea242a637f 757 return ((uint32_t)(reg_val & 0xFF) << (reg_val >> 8)) + 1;
jvfausto 0:76ea242a637f 758 }
jvfausto 1:e54ded4af43a 759
jvfausto 0:76ea242a637f 760 // Encode sequence step timeout register value from timeout in MCLKs
jvfausto 0:76ea242a637f 761 // based on VL53L1_encode_timeout()
jvfausto 0:76ea242a637f 762 uint16_t VL53L1X::encodeTimeout(uint32_t timeout_mclks)
jvfausto 0:76ea242a637f 763 {
jvfausto 0:76ea242a637f 764 // encoded format: "(LSByte * 2^MSByte) + 1"
jvfausto 1:e54ded4af43a 765
jvfausto 0:76ea242a637f 766 uint32_t ls_byte = 0;
jvfausto 0:76ea242a637f 767 uint16_t ms_byte = 0;
jvfausto 1:e54ded4af43a 768
jvfausto 0:76ea242a637f 769 if (timeout_mclks > 0)
jvfausto 0:76ea242a637f 770 {
jvfausto 0:76ea242a637f 771 ls_byte = timeout_mclks - 1;
jvfausto 1:e54ded4af43a 772
jvfausto 0:76ea242a637f 773 while ((ls_byte & 0xFFFFFF00) > 0)
jvfausto 0:76ea242a637f 774 {
jvfausto 0:76ea242a637f 775 ls_byte >>= 1;
jvfausto 0:76ea242a637f 776 ms_byte++;
jvfausto 0:76ea242a637f 777 }
jvfausto 1:e54ded4af43a 778
jvfausto 0:76ea242a637f 779 return (ms_byte << 8) | (ls_byte & 0xFF);
jvfausto 0:76ea242a637f 780 }
jvfausto 0:76ea242a637f 781 else { return 0; }
jvfausto 0:76ea242a637f 782 }
jvfausto 1:e54ded4af43a 783
jvfausto 0:76ea242a637f 784 // Convert sequence step timeout from macro periods to microseconds with given
jvfausto 0:76ea242a637f 785 // macro period in microseconds (12.12 format)
jvfausto 0:76ea242a637f 786 // based on VL53L1_calc_timeout_us()
jvfausto 0:76ea242a637f 787 uint32_t VL53L1X::timeoutMclksToMicroseconds(uint32_t timeout_mclks, uint32_t macro_period_us)
jvfausto 0:76ea242a637f 788 {
jvfausto 0:76ea242a637f 789 return ((uint64_t)timeout_mclks * macro_period_us + 0x800) >> 12;
jvfausto 0:76ea242a637f 790 }
jvfausto 1:e54ded4af43a 791
jvfausto 0:76ea242a637f 792 // Convert sequence step timeout from microseconds to macro periods with given
jvfausto 0:76ea242a637f 793 // macro period in microseconds (12.12 format)
jvfausto 0:76ea242a637f 794 // based on VL53L1_calc_timeout_mclks()
jvfausto 0:76ea242a637f 795 uint32_t VL53L1X::timeoutMicrosecondsToMclks(uint32_t timeout_us, uint32_t macro_period_us)
jvfausto 0:76ea242a637f 796 {
jvfausto 0:76ea242a637f 797 return (((uint32_t)timeout_us << 12) + (macro_period_us >> 1)) / macro_period_us;
jvfausto 0:76ea242a637f 798 }
jvfausto 1:e54ded4af43a 799
jvfausto 0:76ea242a637f 800 // Calculate macro period in microseconds (12.12 format) with given VCSEL period
jvfausto 0:76ea242a637f 801 // assumes fast_osc_frequency has been read and stored
jvfausto 0:76ea242a637f 802 // based on VL53L1_calc_macro_period_us()
jvfausto 0:76ea242a637f 803 uint32_t VL53L1X::calcMacroPeriod(uint8_t vcsel_period)
jvfausto 0:76ea242a637f 804 {
jvfausto 0:76ea242a637f 805 // from VL53L1_calc_pll_period_us()
jvfausto 0:76ea242a637f 806 // fast osc frequency in 4.12 format; PLL period in 0.24 format
jvfausto 0:76ea242a637f 807 uint32_t pll_period_us = ((uint32_t)0x01 << 30) / fast_osc_frequency;
jvfausto 1:e54ded4af43a 808
jvfausto 0:76ea242a637f 809 // from VL53L1_decode_vcsel_period()
jvfausto 0:76ea242a637f 810 uint8_t vcsel_period_pclks = (vcsel_period + 1) << 1;
jvfausto 1:e54ded4af43a 811
jvfausto 0:76ea242a637f 812 // VL53L1_MACRO_PERIOD_VCSEL_PERIODS = 2304
jvfausto 0:76ea242a637f 813 uint32_t macro_period_us = (uint32_t)2304 * pll_period_us;
jvfausto 0:76ea242a637f 814 macro_period_us >>= 6;
jvfausto 0:76ea242a637f 815 macro_period_us *= vcsel_period_pclks;
jvfausto 0:76ea242a637f 816 macro_period_us >>= 6;
jvfausto 1:e54ded4af43a 817
jvfausto 0:76ea242a637f 818 return macro_period_us;
jvfausto 1:e54ded4af43a 819 }
jvfausto 1:e54ded4af43a 820
jvfausto 1:e54ded4af43a 821
jvfausto 1:e54ded4af43a 822
jvfausto 1:e54ded4af43a 823
jvfausto 1:e54ded4af43a 824
jvfausto 1:e54ded4af43a 825
jvfausto 1:e54ded4af43a 826
jvfausto 1:e54ded4af43a 827
jvfausto 1:e54ded4af43a 828
jvfausto 1:e54ded4af43a 829
jvfausto 1:e54ded4af43a 830 bool VL53L1X::initReading(int addr, int timing_budget)
jvfausto 1:e54ded4af43a 831 {
jvfausto 1:e54ded4af43a 832 turnOn();
jvfausto 1:e54ded4af43a 833 wait_ms(100);
jvfausto 1:e54ded4af43a 834 setTimeout(500);
jvfausto 1:e54ded4af43a 835 if (!init()) {
jvfausto 2:f570ff03fb81 836 didInitialize = false;
jvfausto 1:e54ded4af43a 837 return false;
jvfausto 1:e54ded4af43a 838 }
jvfausto 1:e54ded4af43a 839 // setDistanceMode(VL53L1X::Short);//Short Medium Long
jvfausto 1:e54ded4af43a 840 setAddress(addr);//change I2C address for next sensor
jvfausto 1:e54ded4af43a 841 setMeasurementTimingBudget(timing_budget);//min 20ms for Short, 33ms for Medium and Long
jvfausto 3:7777bbcf11f6 842 startContinuous(50);
jvfausto 1:e54ded4af43a 843 wait_ms(100);
jvfausto 2:f570ff03fb81 844 didInitialize = true;
jvfausto 1:e54ded4af43a 845 return true;
jvfausto 1:e54ded4af43a 846 }
jvfausto 1:e54ded4af43a 847 //*************************************
jvfausto 1:e54ded4af43a 848
jvfausto 1:e54ded4af43a 849 //*********GPIO***********
jvfausto 1:e54ded4af43a 850 void VL53L1X::turnOff(void)
jvfausto 1:e54ded4af43a 851 {
jvfausto 1:e54ded4af43a 852 //turn pin LOW
jvfausto 1:e54ded4af43a 853 _shutDown = false;
jvfausto 1:e54ded4af43a 854 }
jvfausto 1:e54ded4af43a 855 void VL53L1X::resetPin(void)
jvfausto 1:e54ded4af43a 856 {
jvfausto 1:e54ded4af43a 857 //reset pin and set it to LOW
jvfausto 1:e54ded4af43a 858 _shutDown = false;
jvfausto 1:e54ded4af43a 859 wait(.05);
jvfausto 1:e54ded4af43a 860 _shutDown = true;
jvfausto 1:e54ded4af43a 861 wait(.05);
jvfausto 1:e54ded4af43a 862 _shutDown = false;
jvfausto 1:e54ded4af43a 863 wait(.05);
jvfausto 2:f570ff03fb81 864
jvfausto 1:e54ded4af43a 865 }
jvfausto 1:e54ded4af43a 866 void VL53L1X::turnOn(void)
jvfausto 1:e54ded4af43a 867 {
jvfausto 1:e54ded4af43a 868 //turn pin HIGH
jvfausto 1:e54ded4af43a 869 _shutDown = true;
jvfausto 2:f570ff03fb81 870 }
jvfausto 2:f570ff03fb81 871 int VL53L1X::readFromOneSensor(void)
jvfausto 2:f570ff03fb81 872 {
jvfausto 2:f570ff03fb81 873 if (didInitialize) //create bool
jvfausto 3:7777bbcf11f6 874 return read();
jvfausto 2:f570ff03fb81 875 else
jvfausto 3:7777bbcf11f6 876 return -1;
jvfausto 0:76ea242a637f 877 }