Jesus Fausto / VL53L1X_Pololu

ToF sensor code by Pololu translated from Arduino to mbed

VL53L1X.cpp@1:bc3ff1b884b3, 2018-07-31 (annotated)

Committer:
jvfausto
Date:
Tue Jul 31 16:03:14 2018 +0000
Revision:
1:bc3ff1b884b3
Parent:
0:76ea242a637f
Child:
2:bb0cd79ef201
Backup before trying other stuff;

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 0:76ea242a637f 5
jvfausto 0:76ea242a637f 6 #include "VL53L1X.h"
jvfausto 0:76ea242a637f 7 #include "mbed.h"
jvfausto 0:76ea242a637f 8
jvfausto 0:76ea242a637f 9 // Constructors ////////////////////////////////////////////////////////////////
jvfausto 0:76ea242a637f 10 VL53L1X::VL53L1X(PinName SDA, PinName SCL) :
jvfausto 0:76ea242a637f 11 _i2c(SDA,SCL)
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 0:76ea242a637f 21 }
jvfausto 0:76ea242a637f 22
jvfausto 0:76ea242a637f 23 /*VL53L1X::VL53L1X()
jvfausto 0:76ea242a637f 24 : address(AddressDefault)
jvfausto 0:76ea242a637f 25 {
jvfausto 0:76ea242a637f 26 }*/
jvfausto 0:76ea242a637f 27
jvfausto 0:76ea242a637f 28 // Public Methods //////////////////////////////////////////////////////////////
jvfausto 0:76ea242a637f 29
jvfausto 0:76ea242a637f 30 void VL53L1X::setAddress(uint8_t new_addr)
jvfausto 0:76ea242a637f 31 {
jvfausto 0:76ea242a637f 32 writeReg(I2C_SLAVE__DEVICE_ADDRESS, new_addr & 0x7F);
jvfausto 0:76ea242a637f 33 address = new_addr;
jvfausto 0:76ea242a637f 34 }
jvfausto 0:76ea242a637f 35
jvfausto 0:76ea242a637f 36 // Initialize sensor using settings taken mostly from VL53L1_DataInit() and
jvfausto 0:76ea242a637f 37 // VL53L1_StaticInit().
jvfausto 0:76ea242a637f 38 // If io_2v8 (optional) is true or not given, the sensor is configured for 2V8
jvfausto 0:76ea242a637f 39 // mode.
jvfausto 0:76ea242a637f 40 bool VL53L1X::init(bool io_2v8)
jvfausto 0:76ea242a637f 41 {
jvfausto 1:bc3ff1b884b3 42 t.start();
jvfausto 0:76ea242a637f 43 // check model ID and module type registers (values specified in datasheet)
jvfausto 0:76ea242a637f 44 int tempRegister = readReg16Bit(IDENTIFICATION__MODEL_ID);
jvfausto 0:76ea242a637f 45 printf("temporary %x\r\n", tempRegister);
jvfausto 0:76ea242a637f 46 if (tempRegister != 0xEACC) {
jvfausto 0:76ea242a637f 47 return false;
jvfausto 0:76ea242a637f 48 }
jvfausto 0:76ea242a637f 49
jvfausto 0:76ea242a637f 50 // VL53L1_software_reset() begin
jvfausto 0:76ea242a637f 51
jvfausto 0:76ea242a637f 52 writeReg(SOFT_RESET, 0x00);
jvfausto 0:76ea242a637f 53 wait(.001);
jvfausto 0:76ea242a637f 54 writeReg(SOFT_RESET, 0x01);
jvfausto 0:76ea242a637f 55
jvfausto 0:76ea242a637f 56 // VL53L1_poll_for_boot_completion() begin
jvfausto 0:76ea242a637f 57
jvfausto 0:76ea242a637f 58 startTimeout();
jvfausto 0:76ea242a637f 59 int firmware = (readReg(FIRMWARE__SYSTEM_STATUS));
jvfausto 0:76ea242a637f 60 printf("firmware : %x\r\n", firmware);
jvfausto 0:76ea242a637f 61 while ((readReg(FIRMWARE__SYSTEM_STATUS) & 0x01) == 0)
jvfausto 0:76ea242a637f 62 {
jvfausto 0:76ea242a637f 63 printf("stuck\r\n");
jvfausto 0:76ea242a637f 64 if (checkTimeoutExpired())
jvfausto 0:76ea242a637f 65 {
jvfausto 0:76ea242a637f 66 did_timeout = true;
jvfausto 0:76ea242a637f 67 return false;
jvfausto 0:76ea242a637f 68 }
jvfausto 0:76ea242a637f 69 }
jvfausto 0:76ea242a637f 70 // VL53L1_poll_for_boot_completion() end
jvfausto 0:76ea242a637f 71
jvfausto 0:76ea242a637f 72 // VL53L1_software_reset() end
jvfausto 0:76ea242a637f 73
jvfausto 0:76ea242a637f 74 // VL53L1_DataInit() begin
jvfausto 0:76ea242a637f 75
jvfausto 0:76ea242a637f 76 // sensor uses 1V8 mode for I/O by default; switch to 2V8 mode if necessary
jvfausto 0:76ea242a637f 77 if (io_2v8)
jvfausto 0:76ea242a637f 78 {
jvfausto 0:76ea242a637f 79 writeReg(PAD_I2C_HV__EXTSUP_CONFIG,
jvfausto 0:76ea242a637f 80 readReg(PAD_I2C_HV__EXTSUP_CONFIG) | 0x01);
jvfausto 0:76ea242a637f 81 }
jvfausto 0:76ea242a637f 82
jvfausto 0:76ea242a637f 83 // store oscillator info for later use
jvfausto 0:76ea242a637f 84 fast_osc_frequency = readReg16Bit(OSC_MEASURED__FAST_OSC__FREQUENCY);
jvfausto 0:76ea242a637f 85 osc_calibrate_val = readReg16Bit(RESULT__OSC_CALIBRATE_VAL);
jvfausto 1:bc3ff1b884b3 86 printf("fast_osc_frequency %d, osc_calibrate_val %d\r\n",fast_osc_frequency, osc_calibrate_val);
jvfausto 0:76ea242a637f 87 // VL53L1_DataInit() end
jvfausto 0:76ea242a637f 88
jvfausto 0:76ea242a637f 89 // VL53L1_StaticInit() begin
jvfausto 0:76ea242a637f 90
jvfausto 0:76ea242a637f 91 // Note that the API does not actually apply the configuration settings below
jvfausto 0:76ea242a637f 92 // when VL53L1_StaticInit() is called: it keeps a copy of the sensor's
jvfausto 0:76ea242a637f 93 // register contents in memory and doesn't actually write them until a
jvfausto 0:76ea242a637f 94 // measurement is started. Writing the configuration here means we don't have
jvfausto 0:76ea242a637f 95 // to keep it all in memory and avoids a lot of redundant writes later.
jvfausto 0:76ea242a637f 96
jvfausto 0:76ea242a637f 97 // the API sets the preset mode to LOWPOWER_AUTONOMOUS here:
jvfausto 0:76ea242a637f 98 // VL53L1_set_preset_mode() begin
jvfausto 0:76ea242a637f 99
jvfausto 0:76ea242a637f 100 // VL53L1_preset_mode_standard_ranging() begin
jvfausto 0:76ea242a637f 101
jvfausto 0:76ea242a637f 102 // values labeled "tuning parm default" are from vl53l1_tuning_parm_defaults.h
jvfausto 0:76ea242a637f 103 // (API uses these in VL53L1_init_tuning_parm_storage_struct())
jvfausto 0:76ea242a637f 104
jvfausto 0:76ea242a637f 105 // static config
jvfausto 0:76ea242a637f 106 // API resets PAD_I2C_HV__EXTSUP_CONFIG here, but maybe we don't want to do
jvfausto 0:76ea242a637f 107 // that? (seems like it would disable 2V8 mode)
jvfausto 0:76ea242a637f 108 writeReg16Bit(DSS_CONFIG__TARGET_TOTAL_RATE_MCPS, TargetRate); // should already be this value after reset
jvfausto 0:76ea242a637f 109 writeReg(GPIO__TIO_HV_STATUS, 0x02);
jvfausto 0:76ea242a637f 110 writeReg(SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS, 8); // tuning parm default
jvfausto 0:76ea242a637f 111 writeReg(SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS, 16); // tuning parm default
jvfausto 0:76ea242a637f 112 writeReg(ALGO__CROSSTALK_COMPENSATION_VALID_HEIGHT_MM, 0x01);
jvfausto 0:76ea242a637f 113 writeReg(ALGO__RANGE_IGNORE_VALID_HEIGHT_MM, 0xFF);
jvfausto 0:76ea242a637f 114 writeReg(ALGO__RANGE_MIN_CLIP, 0); // tuning parm default
jvfausto 0:76ea242a637f 115 writeReg(ALGO__CONSISTENCY_CHECK__TOLERANCE, 2); // tuning parm default
jvfausto 0:76ea242a637f 116
jvfausto 0:76ea242a637f 117 // general config
jvfausto 0:76ea242a637f 118 writeReg16Bit(SYSTEM__THRESH_RATE_HIGH, 0x0000);
jvfausto 0:76ea242a637f 119 writeReg16Bit(SYSTEM__THRESH_RATE_LOW, 0x0000);
jvfausto 0:76ea242a637f 120 writeReg(DSS_CONFIG__APERTURE_ATTENUATION, 0x38);
jvfausto 0:76ea242a637f 121
jvfausto 0:76ea242a637f 122 // timing config
jvfausto 0:76ea242a637f 123 // most of these settings will be determined later by distance and timing
jvfausto 0:76ea242a637f 124 // budget configuration
jvfausto 0:76ea242a637f 125 writeReg16Bit(RANGE_CONFIG__SIGMA_THRESH, 360); // tuning parm default
jvfausto 0:76ea242a637f 126 writeReg16Bit(RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, 192); // tuning parm default
jvfausto 0:76ea242a637f 127
jvfausto 0:76ea242a637f 128 // dynamic config
jvfausto 0:76ea242a637f 129
jvfausto 0:76ea242a637f 130 writeReg(SYSTEM__GROUPED_PARAMETER_HOLD_0, 0x01);
jvfausto 0:76ea242a637f 131 writeReg(SYSTEM__GROUPED_PARAMETER_HOLD_1, 0x01);
jvfausto 0:76ea242a637f 132 writeReg(SD_CONFIG__QUANTIFIER, 2); // tuning parm default
jvfausto 0:76ea242a637f 133
jvfausto 0:76ea242a637f 134 // VL53L1_preset_mode_standard_ranging() end
jvfausto 0:76ea242a637f 135
jvfausto 0:76ea242a637f 136 // from VL53L1_preset_mode_timed_ranging_*
jvfausto 0:76ea242a637f 137 // GPH is 0 after reset, but writing GPH0 and GPH1 above seem to set GPH to 1,
jvfausto 0:76ea242a637f 138 // and things don't seem to work if we don't set GPH back to 0 (which the API
jvfausto 0:76ea242a637f 139 // does here).
jvfausto 0:76ea242a637f 140 writeReg(SYSTEM__GROUPED_PARAMETER_HOLD, 0x00);
jvfausto 0:76ea242a637f 141 writeReg(SYSTEM__SEED_CONFIG, 1); // tuning parm default
jvfausto 0:76ea242a637f 142
jvfausto 0:76ea242a637f 143 // from VL53L1_config_low_power_auto_mode
jvfausto 0:76ea242a637f 144 writeReg(SYSTEM__SEQUENCE_CONFIG, 0x8B); // VHV, PHASECAL, DSS1, RANGE
jvfausto 0:76ea242a637f 145 writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 200 << 8);
jvfausto 0:76ea242a637f 146 writeReg(DSS_CONFIG__ROI_MODE_CONTROL, 2); // REQUESTED_EFFFECTIVE_SPADS
jvfausto 0:76ea242a637f 147
jvfausto 0:76ea242a637f 148 // VL53L1_set_preset_mode() end
jvfausto 0:76ea242a637f 149
jvfausto 0:76ea242a637f 150 // default to long range, 50 ms timing budget
jvfausto 0:76ea242a637f 151 // note that this is different than what the API defaults to
jvfausto 0:76ea242a637f 152 setDistanceMode(Long);
jvfausto 0:76ea242a637f 153 setMeasurementTimingBudget(50000);
jvfausto 0:76ea242a637f 154
jvfausto 0:76ea242a637f 155 // VL53L1_StaticInit() end
jvfausto 0:76ea242a637f 156
jvfausto 0:76ea242a637f 157 // the API triggers this change in VL53L1_init_and_start_range() once a
jvfausto 0:76ea242a637f 158 // measurement is started; assumes MM1 and MM2 are disabled
jvfausto 0:76ea242a637f 159 writeReg16Bit(ALGO__PART_TO_PART_RANGE_OFFSET_MM,
jvfausto 0:76ea242a637f 160 readReg16Bit(MM_CONFIG__OUTER_OFFSET_MM) * 4);
jvfausto 0:76ea242a637f 161
jvfausto 0:76ea242a637f 162 return true;
jvfausto 0:76ea242a637f 163 }
jvfausto 0:76ea242a637f 164
jvfausto 0:76ea242a637f 165 // Write an 8-bit register
jvfausto 0:76ea242a637f 166 void VL53L1X::writeReg(uint16_t registerAddr, uint8_t data)
jvfausto 0:76ea242a637f 167 {
jvfausto 0:76ea242a637f 168 char data_write[3];
jvfausto 0:76ea242a637f 169 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 170 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 171 data_write[2] = data & 0xFF;
jvfausto 0:76ea242a637f 172 _i2c.write(address, data_write, 3);
jvfausto 0:76ea242a637f 173 }
jvfausto 0:76ea242a637f 174
jvfausto 0:76ea242a637f 175 void VL53L1X::writeReg16Bit(uint16_t registerAddr, uint16_t data)
jvfausto 0:76ea242a637f 176 {
jvfausto 0:76ea242a637f 177 char data_write[4];
jvfausto 0:76ea242a637f 178 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 179 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 180 data_write[2] = (data >> 8) & 0xFF;
jvfausto 0:76ea242a637f 181 data_write[3] = data & 0xFF;
jvfausto 0:76ea242a637f 182 _i2c.write(address, data_write, 4);
jvfausto 0:76ea242a637f 183 }
jvfausto 0:76ea242a637f 184
jvfausto 0:76ea242a637f 185
jvfausto 0:76ea242a637f 186 // Write a 32-bit register
jvfausto 0:76ea242a637f 187 void VL53L1X::writeReg32Bit(uint16_t registerAddr, uint32_t data)
jvfausto 0:76ea242a637f 188 {
jvfausto 0:76ea242a637f 189 char data_write[6];
jvfausto 0:76ea242a637f 190 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 191 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 192 data_write[2] = (data >> 24) & 0xFF;
jvfausto 0:76ea242a637f 193 data_write[3] = (data >> 16) & 0xFF;
jvfausto 0:76ea242a637f 194 data_write[4] = (data >> 8) & 0xFF;;
jvfausto 0:76ea242a637f 195 data_write[5] = data & 0xFF;
jvfausto 0:76ea242a637f 196 _i2c.write(address, data_write, 6);
jvfausto 0:76ea242a637f 197 }
jvfausto 0:76ea242a637f 198
jvfausto 0:76ea242a637f 199 // Read an 8-bit register
jvfausto 0:76ea242a637f 200 uint8_t VL53L1X::readReg(uint16_t registerAddr)
jvfausto 0:76ea242a637f 201 {
jvfausto 0:76ea242a637f 202 uint8_t data;
jvfausto 0:76ea242a637f 203 char data_write[2];
jvfausto 0:76ea242a637f 204 char data_read[1];
jvfausto 0:76ea242a637f 205 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 206 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 207 _i2c.write(address, data_write, 2,0);
jvfausto 0:76ea242a637f 208 _i2c.read(address,data_read,1,1);
jvfausto 0:76ea242a637f 209 //Read Data from selected register
jvfausto 0:76ea242a637f 210 data=data_read[0];
jvfausto 0:76ea242a637f 211 return data;
jvfausto 0:76ea242a637f 212 }
jvfausto 0:76ea242a637f 213
jvfausto 0:76ea242a637f 214 uint16_t VL53L1X::readReg16Bit(uint16_t registerAddr)
jvfausto 0:76ea242a637f 215 {
jvfausto 0:76ea242a637f 216 uint8_t data_low;
jvfausto 0:76ea242a637f 217 uint8_t data_high;
jvfausto 0:76ea242a637f 218 uint16_t data;
jvfausto 0:76ea242a637f 219
jvfausto 0:76ea242a637f 220 char data_write[2];
jvfausto 0:76ea242a637f 221 char data_read[2];
jvfausto 0:76ea242a637f 222 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 223 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 224 _i2c.write(address, data_write, 2,0);
jvfausto 0:76ea242a637f 225 _i2c.read(address,data_read,2,1);
jvfausto 0:76ea242a637f 226 data_high = data_read[0]; //Read Data from selected register
jvfausto 0:76ea242a637f 227 data_low = data_read[1]; //Read Data from selected register
jvfausto 0:76ea242a637f 228 data = (data_high << 8)|data_low;
jvfausto 0:76ea242a637f 229
jvfausto 0:76ea242a637f 230 return data;
jvfausto 0:76ea242a637f 231 }
jvfausto 0:76ea242a637f 232 // Read a 32-bit register
jvfausto 0:76ea242a637f 233 uint32_t VL53L1X::readReg32Bit(uint16_t reg)
jvfausto 0:76ea242a637f 234 {
jvfausto 0:76ea242a637f 235 uint32_t value;
jvfausto 0:76ea242a637f 236
jvfausto 0:76ea242a637f 237 return value;
jvfausto 0:76ea242a637f 238 }
jvfausto 0:76ea242a637f 239
jvfausto 0:76ea242a637f 240 // set distance mode to Short, Medium, or Long
jvfausto 0:76ea242a637f 241 // based on VL53L1_SetDistanceMode()
jvfausto 0:76ea242a637f 242 bool VL53L1X::setDistanceMode(DistanceMode mode)
jvfausto 0:76ea242a637f 243 {
jvfausto 0:76ea242a637f 244 // save existing timing budget
jvfausto 0:76ea242a637f 245 uint32_t budget_us = getMeasurementTimingBudget();
jvfausto 1:bc3ff1b884b3 246
jvfausto 0:76ea242a637f 247 switch (mode)
jvfausto 0:76ea242a637f 248 {
jvfausto 0:76ea242a637f 249 case Short:
jvfausto 0:76ea242a637f 250 // from VL53L1_preset_mode_standard_ranging_short_range()
jvfausto 0:76ea242a637f 251
jvfausto 0:76ea242a637f 252 // timing config
jvfausto 0:76ea242a637f 253 writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x07);
jvfausto 0:76ea242a637f 254 writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x05);
jvfausto 0:76ea242a637f 255 writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0x38);
jvfausto 0:76ea242a637f 256
jvfausto 0:76ea242a637f 257 // dynamic config
jvfausto 0:76ea242a637f 258 writeReg(SD_CONFIG__WOI_SD0, 0x07);
jvfausto 0:76ea242a637f 259 writeReg(SD_CONFIG__WOI_SD1, 0x05);
jvfausto 0:76ea242a637f 260 writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 6); // tuning parm default
jvfausto 0:76ea242a637f 261 writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 6); // tuning parm default
jvfausto 0:76ea242a637f 262
jvfausto 0:76ea242a637f 263 break;
jvfausto 0:76ea242a637f 264
jvfausto 0:76ea242a637f 265 case Medium:
jvfausto 0:76ea242a637f 266 // from VL53L1_preset_mode_standard_ranging()
jvfausto 0:76ea242a637f 267
jvfausto 0:76ea242a637f 268 // timing config
jvfausto 0:76ea242a637f 269 writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0B);
jvfausto 0:76ea242a637f 270 writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x09);
jvfausto 0:76ea242a637f 271 writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0x78);
jvfausto 0:76ea242a637f 272
jvfausto 0:76ea242a637f 273 // dynamic config
jvfausto 0:76ea242a637f 274 writeReg(SD_CONFIG__WOI_SD0, 0x0B);
jvfausto 0:76ea242a637f 275 writeReg(SD_CONFIG__WOI_SD1, 0x09);
jvfausto 0:76ea242a637f 276 writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 10); // tuning parm default
jvfausto 0:76ea242a637f 277 writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 10); // tuning parm default
jvfausto 0:76ea242a637f 278
jvfausto 0:76ea242a637f 279 break;
jvfausto 0:76ea242a637f 280
jvfausto 0:76ea242a637f 281 case Long: // long
jvfausto 0:76ea242a637f 282 // from VL53L1_preset_mode_standard_ranging_long_range()
jvfausto 0:76ea242a637f 283
jvfausto 0:76ea242a637f 284 // timing config
jvfausto 0:76ea242a637f 285 writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F);
jvfausto 0:76ea242a637f 286 writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D);
jvfausto 0:76ea242a637f 287 writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8);
jvfausto 0:76ea242a637f 288
jvfausto 0:76ea242a637f 289 // dynamic config
jvfausto 0:76ea242a637f 290 writeReg(SD_CONFIG__WOI_SD0, 0x0F);
jvfausto 0:76ea242a637f 291 writeReg(SD_CONFIG__WOI_SD1, 0x0D);
jvfausto 0:76ea242a637f 292 writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 14); // tuning parm default
jvfausto 0:76ea242a637f 293 writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 14); // tuning parm default
jvfausto 0:76ea242a637f 294
jvfausto 0:76ea242a637f 295 break;
jvfausto 0:76ea242a637f 296
jvfausto 0:76ea242a637f 297 default:
jvfausto 0:76ea242a637f 298 // unrecognized mode - do nothing
jvfausto 0:76ea242a637f 299 return false;
jvfausto 0:76ea242a637f 300 }
jvfausto 0:76ea242a637f 301
jvfausto 0:76ea242a637f 302 // reapply timing budget
jvfausto 0:76ea242a637f 303 setMeasurementTimingBudget(budget_us);
jvfausto 0:76ea242a637f 304
jvfausto 0:76ea242a637f 305 // save mode so it can be returned by getDistanceMode()
jvfausto 0:76ea242a637f 306 distance_mode = mode;
jvfausto 0:76ea242a637f 307
jvfausto 0:76ea242a637f 308 return true;
jvfausto 0:76ea242a637f 309 }
jvfausto 0:76ea242a637f 310 // Set the measurement timing budget in microseconds, which is the time allowed
jvfausto 0:76ea242a637f 311 // for one measurement. A longer timing budget allows for more accurate
jvfausto 0:76ea242a637f 312 // measurements.
jvfausto 0:76ea242a637f 313 // based on VL53L1_SetMeasurementTimingBudgetMicroSeconds()
jvfausto 0:76ea242a637f 314 bool VL53L1X::setMeasurementTimingBudget(uint32_t budget_us)
jvfausto 0:76ea242a637f 315 {
jvfausto 0:76ea242a637f 316 // assumes PresetMode is LOWPOWER_AUTONOMOUS
jvfausto 0:76ea242a637f 317
jvfausto 0:76ea242a637f 318 if (budget_us <= TimingGuard) { return false; }
jvfausto 0:76ea242a637f 319
jvfausto 0:76ea242a637f 320 uint32_t range_config_timeout_us = budget_us -= TimingGuard;
jvfausto 0:76ea242a637f 321 if (range_config_timeout_us > 1100000) { return false; } // FDA_MAX_TIMING_BUDGET_US * 2
jvfausto 0:76ea242a637f 322
jvfausto 0:76ea242a637f 323 range_config_timeout_us /= 2;
jvfausto 0:76ea242a637f 324
jvfausto 0:76ea242a637f 325 // VL53L1_calc_timeout_register_values() begin
jvfausto 0:76ea242a637f 326
jvfausto 0:76ea242a637f 327 uint32_t macro_period_us;
jvfausto 0:76ea242a637f 328
jvfausto 0:76ea242a637f 329 // "Update Macro Period for Range A VCSEL Period"
jvfausto 0:76ea242a637f 330 macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_A));
jvfausto 0:76ea242a637f 331
jvfausto 0:76ea242a637f 332 // "Update Phase timeout - uses Timing A"
jvfausto 0:76ea242a637f 333 // Timeout of 1000 is tuning parm default (TIMED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT)
jvfausto 0:76ea242a637f 334 // via VL53L1_get_preset_mode_timing_cfg().
jvfausto 0:76ea242a637f 335 uint32_t phasecal_timeout_mclks = timeoutMicrosecondsToMclks(1000, macro_period_us);
jvfausto 0:76ea242a637f 336 if (phasecal_timeout_mclks > 0xFF) { phasecal_timeout_mclks = 0xFF; }
jvfausto 0:76ea242a637f 337 writeReg(PHASECAL_CONFIG__TIMEOUT_MACROP, phasecal_timeout_mclks);
jvfausto 0:76ea242a637f 338
jvfausto 0:76ea242a637f 339 // "Update MM Timing A timeout"
jvfausto 0:76ea242a637f 340 // Timeout of 1 is tuning parm default (LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US_DEFAULT)
jvfausto 0:76ea242a637f 341 // via VL53L1_get_preset_mode_timing_cfg(). With the API, the register
jvfausto 0:76ea242a637f 342 // actually ends up with a slightly different value because it gets assigned,
jvfausto 0:76ea242a637f 343 // retrieved, recalculated with a different macro period, and reassigned,
jvfausto 0:76ea242a637f 344 // but it probably doesn't matter because it seems like the MM ("mode
jvfausto 0:76ea242a637f 345 // mitigation"?) sequence steps are disabled in low power auto mode anyway.
jvfausto 0:76ea242a637f 346 writeReg16Bit(MM_CONFIG__TIMEOUT_MACROP_A, encodeTimeout(
jvfausto 0:76ea242a637f 347 timeoutMicrosecondsToMclks(1, macro_period_us)));
jvfausto 0:76ea242a637f 348
jvfausto 0:76ea242a637f 349 // "Update Range Timing A timeout"
jvfausto 0:76ea242a637f 350 writeReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_A, encodeTimeout(
jvfausto 0:76ea242a637f 351 timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us)));
jvfausto 0:76ea242a637f 352
jvfausto 0:76ea242a637f 353 // "Update Macro Period for Range B VCSEL Period"
jvfausto 0:76ea242a637f 354 macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_B));
jvfausto 0:76ea242a637f 355
jvfausto 0:76ea242a637f 356 // "Update MM Timing B timeout"
jvfausto 0:76ea242a637f 357 // (See earlier comment about MM Timing A timeout.)
jvfausto 0:76ea242a637f 358 writeReg16Bit(MM_CONFIG__TIMEOUT_MACROP_B, encodeTimeout(
jvfausto 0:76ea242a637f 359 timeoutMicrosecondsToMclks(1, macro_period_us)));
jvfausto 0:76ea242a637f 360
jvfausto 0:76ea242a637f 361 // "Update Range Timing B timeout"
jvfausto 0:76ea242a637f 362 writeReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_B, encodeTimeout(
jvfausto 0:76ea242a637f 363 timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us)));
jvfausto 0:76ea242a637f 364 // VL53L1_calc_timeout_register_values() end
jvfausto 0:76ea242a637f 365
jvfausto 0:76ea242a637f 366 return true;
jvfausto 0:76ea242a637f 367 }
jvfausto 0:76ea242a637f 368
jvfausto 0:76ea242a637f 369 // Get the measurement timing budget in microseconds
jvfausto 0:76ea242a637f 370 // based on VL53L1_SetMeasurementTimingBudgetMicroSeconds()
jvfausto 0:76ea242a637f 371 uint32_t VL53L1X::getMeasurementTimingBudget()
jvfausto 0:76ea242a637f 372 {
jvfausto 0:76ea242a637f 373 // assumes PresetMode is LOWPOWER_AUTONOMOUS and these sequence steps are
jvfausto 0:76ea242a637f 374 // enabled: VHV, PHASECAL, DSS1, RANGE
jvfausto 0:76ea242a637f 375
jvfausto 0:76ea242a637f 376 // VL53L1_get_timeouts_us() begin
jvfausto 0:76ea242a637f 377
jvfausto 0:76ea242a637f 378 // "Update Macro Period for Range A VCSEL Period"
jvfausto 0:76ea242a637f 379 uint32_t macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_A));
jvfausto 0:76ea242a637f 380
jvfausto 0:76ea242a637f 381 // "Get Range Timing A timeout"
jvfausto 0:76ea242a637f 382
jvfausto 0:76ea242a637f 383 uint32_t range_config_timeout_us = timeoutMclksToMicroseconds(decodeTimeout(
jvfausto 0:76ea242a637f 384 readReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_A)), macro_period_us);
jvfausto 0:76ea242a637f 385
jvfausto 0:76ea242a637f 386 // VL53L1_get_timeouts_us() end
jvfausto 0:76ea242a637f 387
jvfausto 0:76ea242a637f 388 return 2 * range_config_timeout_us + TimingGuard;
jvfausto 0:76ea242a637f 389 }
jvfausto 0:76ea242a637f 390
jvfausto 0:76ea242a637f 391 // Start continuous ranging measurements, with the given inter-measurement
jvfausto 0:76ea242a637f 392 // period in milliseconds determining how often the sensor takes a measurement.
jvfausto 0:76ea242a637f 393 void VL53L1X::startContinuous(uint32_t period_ms)
jvfausto 0:76ea242a637f 394 {
jvfausto 0:76ea242a637f 395 // from VL53L1_set_inter_measurement_period_ms()
jvfausto 0:76ea242a637f 396 writeReg32Bit(SYSTEM__INTERMEASUREMENT_PERIOD, period_ms * osc_calibrate_val);
jvfausto 0:76ea242a637f 397 writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range
jvfausto 0:76ea242a637f 398 writeReg(SYSTEM__MODE_START, 0x40); // mode_range__timed
jvfausto 0:76ea242a637f 399 }
jvfausto 0:76ea242a637f 400
jvfausto 0:76ea242a637f 401 // Stop continuous measurements
jvfausto 0:76ea242a637f 402 // based on VL53L1_stop_range()
jvfausto 0:76ea242a637f 403 void VL53L1X::stopContinuous()
jvfausto 0:76ea242a637f 404 {
jvfausto 0:76ea242a637f 405 writeReg(SYSTEM__MODE_START, 0x80); // mode_range__abort
jvfausto 0:76ea242a637f 406
jvfausto 0:76ea242a637f 407 // VL53L1_low_power_auto_data_stop_range() begin
jvfausto 0:76ea242a637f 408
jvfausto 0:76ea242a637f 409 calibrated = false;
jvfausto 0:76ea242a637f 410
jvfausto 0:76ea242a637f 411 // "restore vhv configs"
jvfausto 0:76ea242a637f 412 if (saved_vhv_init != 0)
jvfausto 0:76ea242a637f 413 {
jvfausto 0:76ea242a637f 414 writeReg(VHV_CONFIG__INIT, saved_vhv_init);
jvfausto 0:76ea242a637f 415 }
jvfausto 0:76ea242a637f 416 if (saved_vhv_timeout != 0)
jvfausto 0:76ea242a637f 417 {
jvfausto 0:76ea242a637f 418 writeReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, saved_vhv_timeout);
jvfausto 0:76ea242a637f 419 }
jvfausto 0:76ea242a637f 420
jvfausto 0:76ea242a637f 421 // "remove phasecal override"
jvfausto 0:76ea242a637f 422 writeReg(PHASECAL_CONFIG__OVERRIDE, 0x00);
jvfausto 0:76ea242a637f 423
jvfausto 0:76ea242a637f 424 // VL53L1_low_power_auto_data_stop_range() end
jvfausto 0:76ea242a637f 425 }
jvfausto 0:76ea242a637f 426
jvfausto 0:76ea242a637f 427 // Returns a range reading in millimeters when continuous mode is active
jvfausto 0:76ea242a637f 428 // (readRangeSingleMillimeters() also calls this function after starting a
jvfausto 0:76ea242a637f 429 // single-shot range measurement)
jvfausto 0:76ea242a637f 430 uint16_t VL53L1X::read(bool blocking)
jvfausto 0:76ea242a637f 431 {
jvfausto 0:76ea242a637f 432 if (blocking)
jvfausto 0:76ea242a637f 433 {
jvfausto 0:76ea242a637f 434 startTimeout();
jvfausto 0:76ea242a637f 435 while (dataReady())
jvfausto 0:76ea242a637f 436 {
jvfausto 0:76ea242a637f 437 if (checkTimeoutExpired())
jvfausto 0:76ea242a637f 438 {
jvfausto 1:bc3ff1b884b3 439 printf("i timed out\r\n");
jvfausto 0:76ea242a637f 440 did_timeout = true;
jvfausto 0:76ea242a637f 441 ranging_data.range_status = None;
jvfausto 0:76ea242a637f 442 ranging_data.range_mm = 0;
jvfausto 0:76ea242a637f 443 ranging_data.peak_signal_count_rate_MCPS = 0;
jvfausto 0:76ea242a637f 444 ranging_data.ambient_count_rate_MCPS = 0;
jvfausto 0:76ea242a637f 445 return ranging_data.range_mm;
jvfausto 0:76ea242a637f 446 }
jvfausto 0:76ea242a637f 447 }
jvfausto 0:76ea242a637f 448 }
jvfausto 0:76ea242a637f 449 readResults();
jvfausto 0:76ea242a637f 450
jvfausto 0:76ea242a637f 451 if (!calibrated)
jvfausto 0:76ea242a637f 452 {
jvfausto 0:76ea242a637f 453 setupManualCalibration();
jvfausto 0:76ea242a637f 454 calibrated = true;
jvfausto 0:76ea242a637f 455 }
jvfausto 0:76ea242a637f 456
jvfausto 0:76ea242a637f 457 updateDSS();
jvfausto 0:76ea242a637f 458
jvfausto 0:76ea242a637f 459 getRangingData();
jvfausto 0:76ea242a637f 460
jvfausto 0:76ea242a637f 461 writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range
jvfausto 0:76ea242a637f 462
jvfausto 0:76ea242a637f 463 return ranging_data.range_mm;
jvfausto 0:76ea242a637f 464 }
jvfausto 0:76ea242a637f 465
jvfausto 0:76ea242a637f 466 // convert a RangeStatus to a readable string
jvfausto 0:76ea242a637f 467 // Note that on an AVR, these strings are stored in RAM (dynamic memory), which
jvfausto 0:76ea242a637f 468 // makes working with them easier but uses up 200+ bytes of RAM (many AVR-based
jvfausto 0:76ea242a637f 469 // Arduinos only have about 2000 bytes of RAM). You can avoid this memory usage
jvfausto 0:76ea242a637f 470 // if you do not call this function in your sketch.
jvfausto 0:76ea242a637f 471 const char * VL53L1X::rangeStatusToString(RangeStatus status)
jvfausto 0:76ea242a637f 472 {
jvfausto 0:76ea242a637f 473 switch (status)
jvfausto 0:76ea242a637f 474 {
jvfausto 0:76ea242a637f 475 case RangeValid:
jvfausto 0:76ea242a637f 476 return "range valid";
jvfausto 0:76ea242a637f 477
jvfausto 0:76ea242a637f 478 case SigmaFail:
jvfausto 0:76ea242a637f 479 return "sigma fail";
jvfausto 0:76ea242a637f 480
jvfausto 0:76ea242a637f 481 case SignalFail:
jvfausto 0:76ea242a637f 482 return "signal fail";
jvfausto 0:76ea242a637f 483
jvfausto 0:76ea242a637f 484 case RangeValidMinRangeClipped:
jvfausto 0:76ea242a637f 485 return "range valid, min range clipped";
jvfausto 0:76ea242a637f 486
jvfausto 0:76ea242a637f 487 case OutOfBoundsFail:
jvfausto 0:76ea242a637f 488 return "out of bounds fail";
jvfausto 0:76ea242a637f 489
jvfausto 0:76ea242a637f 490 case HardwareFail:
jvfausto 0:76ea242a637f 491 return "hardware fail";
jvfausto 0:76ea242a637f 492
jvfausto 0:76ea242a637f 493 case RangeValidNoWrapCheckFail:
jvfausto 0:76ea242a637f 494 return "range valid, no wrap check fail";
jvfausto 0:76ea242a637f 495
jvfausto 0:76ea242a637f 496 case WrapTargetFail:
jvfausto 0:76ea242a637f 497 return "wrap target fail";
jvfausto 0:76ea242a637f 498
jvfausto 0:76ea242a637f 499 case XtalkSignalFail:
jvfausto 0:76ea242a637f 500 return "xtalk signal fail";
jvfausto 0:76ea242a637f 501
jvfausto 0:76ea242a637f 502 case SynchronizationInt:
jvfausto 0:76ea242a637f 503 return "synchronization int";
jvfausto 0:76ea242a637f 504
jvfausto 0:76ea242a637f 505 case MinRangeFail:
jvfausto 0:76ea242a637f 506 return "min range fail";
jvfausto 0:76ea242a637f 507
jvfausto 0:76ea242a637f 508 case None:
jvfausto 0:76ea242a637f 509 return "no update";
jvfausto 0:76ea242a637f 510
jvfausto 0:76ea242a637f 511 default:
jvfausto 0:76ea242a637f 512 return "unknown status";
jvfausto 0:76ea242a637f 513 }
jvfausto 0:76ea242a637f 514 }
jvfausto 0:76ea242a637f 515
jvfausto 0:76ea242a637f 516 // Did a timeout occur in one of the read functions since the last call to
jvfausto 0:76ea242a637f 517 // timeoutOccurred()?
jvfausto 0:76ea242a637f 518 bool VL53L1X::timeoutOccurred()
jvfausto 0:76ea242a637f 519 {
jvfausto 0:76ea242a637f 520 bool tmp = did_timeout;
jvfausto 0:76ea242a637f 521 did_timeout = false;
jvfausto 0:76ea242a637f 522 return tmp;
jvfausto 0:76ea242a637f 523 }
jvfausto 0:76ea242a637f 524
jvfausto 0:76ea242a637f 525 // Private Methods /////////////////////////////////////////////////////////////
jvfausto 0:76ea242a637f 526
jvfausto 0:76ea242a637f 527 // "Setup ranges after the first one in low power auto mode by turning off
jvfausto 0:76ea242a637f 528 // FW calibration steps and programming static values"
jvfausto 0:76ea242a637f 529 // based on VL53L1_low_power_auto_setup_manual_calibration()
jvfausto 0:76ea242a637f 530 void VL53L1X::setupManualCalibration()
jvfausto 0:76ea242a637f 531 {
jvfausto 0:76ea242a637f 532 // "save original vhv configs"
jvfausto 0:76ea242a637f 533 saved_vhv_init = readReg(VHV_CONFIG__INIT);
jvfausto 0:76ea242a637f 534 saved_vhv_timeout = readReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND);
jvfausto 0:76ea242a637f 535
jvfausto 0:76ea242a637f 536 // "disable VHV init"
jvfausto 0:76ea242a637f 537 writeReg(VHV_CONFIG__INIT, saved_vhv_init & 0x7F);
jvfausto 0:76ea242a637f 538
jvfausto 0:76ea242a637f 539 // "set loop bound to tuning param"
jvfausto 0:76ea242a637f 540 writeReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
jvfausto 0:76ea242a637f 541 (saved_vhv_timeout & 0x03) + (3 << 2)); // tuning parm default (LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT)
jvfausto 0:76ea242a637f 542
jvfausto 0:76ea242a637f 543 // "override phasecal"
jvfausto 0:76ea242a637f 544 writeReg(PHASECAL_CONFIG__OVERRIDE, 0x01);
jvfausto 0:76ea242a637f 545 writeReg(CAL_CONFIG__VCSEL_START, readReg(PHASECAL_RESULT__VCSEL_START));
jvfausto 0:76ea242a637f 546 }
jvfausto 0:76ea242a637f 547
jvfausto 0:76ea242a637f 548 // read measurement results into buffer
jvfausto 0:76ea242a637f 549 void VL53L1X::readResults()
jvfausto 0:76ea242a637f 550 {
jvfausto 0:76ea242a637f 551 // char infoToWrite[2];
jvfausto 0:76ea242a637f 552 char infoToRead[17];
jvfausto 0:76ea242a637f 553 //_i2c.beginTransmission(address);
jvfausto 1:bc3ff1b884b3 554 char data_write[2];
jvfausto 1:bc3ff1b884b3 555 data_write[0] = (RESULT__RANGE_STATUS >> 8) & 0xFF; //MSB of register address
jvfausto 1:bc3ff1b884b3 556 data_write[1] = RESULT__RANGE_STATUS & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 557
jvfausto 1:bc3ff1b884b3 558 _i2c.write(address, data_write, 2);
jvfausto 1:bc3ff1b884b3 559
jvfausto 0:76ea242a637f 560 _i2c.read(address, infoToRead, 17, 0);
jvfausto 0:76ea242a637f 561 results.range_status = infoToRead[0];
jvfausto 0:76ea242a637f 562
jvfausto 0:76ea242a637f 563 // infoToRead[1]; // report_status: not used
jvfausto 0:76ea242a637f 564
jvfausto 0:76ea242a637f 565 results.stream_count = infoToRead[2];
jvfausto 0:76ea242a637f 566
jvfausto 0:76ea242a637f 567 results.dss_actual_effective_spads_sd0 = (uint16_t)infoToRead[3] << 8; // high byte
jvfausto 0:76ea242a637f 568 results.dss_actual_effective_spads_sd0 |= infoToRead[4]; // low byte
jvfausto 0:76ea242a637f 569
jvfausto 0:76ea242a637f 570 // infoToRead[5]; // peak_signal_count_rate_mcps_sd0: not used
jvfausto 0:76ea242a637f 571 // infoToRead[6];
jvfausto 0:76ea242a637f 572
jvfausto 0:76ea242a637f 573 results.ambient_count_rate_mcps_sd0 = (uint16_t)infoToRead[7] << 8; // high byte
jvfausto 0:76ea242a637f 574 results.ambient_count_rate_mcps_sd0 |= infoToRead[8]; // low byte
jvfausto 0:76ea242a637f 575
jvfausto 0:76ea242a637f 576 // infoToRead[9]; // sigma_sd0: not used
jvfausto 0:76ea242a637f 577 // infoToRead[10];
jvfausto 0:76ea242a637f 578
jvfausto 0:76ea242a637f 579 // infoToRead[11]; // phase_sd0: not used
jvfausto 0:76ea242a637f 580 // infoToRead[12];
jvfausto 0:76ea242a637f 581
jvfausto 0:76ea242a637f 582 results.final_crosstalk_corrected_range_mm_sd0 = (uint16_t)infoToRead[13] << 8; // high byte
jvfausto 0:76ea242a637f 583 results.final_crosstalk_corrected_range_mm_sd0 |= infoToRead[14]; // low byte
jvfausto 0:76ea242a637f 584
jvfausto 0:76ea242a637f 585 results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = (uint16_t)infoToRead[15] << 8; // high byte
jvfausto 0:76ea242a637f 586 results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 |= infoToRead[16]; // low byte
jvfausto 0:76ea242a637f 587 }
jvfausto 0:76ea242a637f 588
jvfausto 0:76ea242a637f 589 // perform Dynamic SPAD Selection calculation/update
jvfausto 0:76ea242a637f 590 // based on VL53L1_low_power_auto_update_DSS()
jvfausto 0:76ea242a637f 591 void VL53L1X::updateDSS()
jvfausto 0:76ea242a637f 592 {
jvfausto 0:76ea242a637f 593 uint16_t spadCount = results.dss_actual_effective_spads_sd0;
jvfausto 0:76ea242a637f 594
jvfausto 0:76ea242a637f 595 if (spadCount != 0)
jvfausto 0:76ea242a637f 596 {
jvfausto 0:76ea242a637f 597 // "Calc total rate per spad"
jvfausto 0:76ea242a637f 598
jvfausto 0:76ea242a637f 599 uint32_t totalRatePerSpad =
jvfausto 0:76ea242a637f 600 (uint32_t)results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 +
jvfausto 0:76ea242a637f 601 results.ambient_count_rate_mcps_sd0;
jvfausto 0:76ea242a637f 602
jvfausto 0:76ea242a637f 603 // "clip to 16 bits"
jvfausto 0:76ea242a637f 604 if (totalRatePerSpad > 0xFFFF) { totalRatePerSpad = 0xFFFF; }
jvfausto 0:76ea242a637f 605
jvfausto 0:76ea242a637f 606 // "shift up to take advantage of 32 bits"
jvfausto 0:76ea242a637f 607 totalRatePerSpad <<= 16;
jvfausto 0:76ea242a637f 608
jvfausto 0:76ea242a637f 609 totalRatePerSpad /= spadCount;
jvfausto 0:76ea242a637f 610
jvfausto 0:76ea242a637f 611 if (totalRatePerSpad != 0)
jvfausto 0:76ea242a637f 612 {
jvfausto 0:76ea242a637f 613 // "get the target rate and shift up by 16"
jvfausto 0:76ea242a637f 614 uint32_t requiredSpads = ((uint32_t)TargetRate << 16) / totalRatePerSpad;
jvfausto 0:76ea242a637f 615
jvfausto 0:76ea242a637f 616 // "clip to 16 bit"
jvfausto 0:76ea242a637f 617 if (requiredSpads > 0xFFFF) { requiredSpads = 0xFFFF; }
jvfausto 0:76ea242a637f 618
jvfausto 0:76ea242a637f 619 // "override DSS config"
jvfausto 0:76ea242a637f 620 writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, requiredSpads);
jvfausto 0:76ea242a637f 621 // DSS_CONFIG__ROI_MODE_CONTROL should already be set to REQUESTED_EFFFECTIVE_SPADS
jvfausto 0:76ea242a637f 622
jvfausto 0:76ea242a637f 623 return;
jvfausto 0:76ea242a637f 624 }
jvfausto 0:76ea242a637f 625 }
jvfausto 0:76ea242a637f 626
jvfausto 0:76ea242a637f 627 // If we reached this point, it means something above would have resulted in a
jvfausto 0:76ea242a637f 628 // divide by zero.
jvfausto 0:76ea242a637f 629 // "We want to gracefully set a spad target, not just exit with an error"
jvfausto 0:76ea242a637f 630
jvfausto 0:76ea242a637f 631 // "set target to mid point"
jvfausto 0:76ea242a637f 632 writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 0x8000);
jvfausto 0:76ea242a637f 633 }
jvfausto 0:76ea242a637f 634
jvfausto 0:76ea242a637f 635 // get range, status, rates from results buffer
jvfausto 0:76ea242a637f 636 // based on VL53L1_GetRangingMeasurementData()
jvfausto 0:76ea242a637f 637 void VL53L1X::getRangingData()
jvfausto 0:76ea242a637f 638 {
jvfausto 0:76ea242a637f 639 // VL53L1_copy_sys_and_core_results_to_range_results() begin
jvfausto 0:76ea242a637f 640
jvfausto 0:76ea242a637f 641 uint16_t range = results.final_crosstalk_corrected_range_mm_sd0;
jvfausto 0:76ea242a637f 642
jvfausto 0:76ea242a637f 643 // "apply correction gain"
jvfausto 0:76ea242a637f 644 // gain factor of 2011 is tuning parm default (VL53L1_TUNINGPARM_LITE_RANGING_GAIN_FACTOR_DEFAULT)
jvfausto 0:76ea242a637f 645 // Basically, this appears to scale the result by 2011/2048, or about 98%
jvfausto 0:76ea242a637f 646 // (with the 1024 added for proper rounding).
jvfausto 0:76ea242a637f 647 ranging_data.range_mm = ((uint32_t)range * 2011 + 0x0400) / 0x0800;
jvfausto 0:76ea242a637f 648
jvfausto 0:76ea242a637f 649 // VL53L1_copy_sys_and_core_results_to_range_results() end
jvfausto 0:76ea242a637f 650
jvfausto 0:76ea242a637f 651 // set range_status in ranging_data based on value of RESULT__RANGE_STATUS register
jvfausto 0:76ea242a637f 652 // mostly based on ConvertStatusLite()
jvfausto 0:76ea242a637f 653 switch(results.range_status)
jvfausto 0:76ea242a637f 654 {
jvfausto 0:76ea242a637f 655 case 17: // MULTCLIPFAIL
jvfausto 0:76ea242a637f 656 case 2: // VCSELWATCHDOGTESTFAILURE
jvfausto 0:76ea242a637f 657 case 1: // VCSELCONTINUITYTESTFAILURE
jvfausto 0:76ea242a637f 658 case 3: // NOVHVVALUEFOUND
jvfausto 0:76ea242a637f 659 // from SetSimpleData()
jvfausto 0:76ea242a637f 660 ranging_data.range_status = HardwareFail;
jvfausto 0:76ea242a637f 661 break;
jvfausto 0:76ea242a637f 662
jvfausto 0:76ea242a637f 663 case 13: // USERROICLIP
jvfausto 0:76ea242a637f 664 // from SetSimpleData()
jvfausto 0:76ea242a637f 665 ranging_data.range_status = MinRangeFail;
jvfausto 0:76ea242a637f 666 break;
jvfausto 0:76ea242a637f 667
jvfausto 0:76ea242a637f 668 case 18: // GPHSTREAMCOUNT0READY
jvfausto 0:76ea242a637f 669 ranging_data.range_status = SynchronizationInt;
jvfausto 0:76ea242a637f 670 break;
jvfausto 0:76ea242a637f 671
jvfausto 0:76ea242a637f 672 case 5: // RANGEPHASECHECK
jvfausto 0:76ea242a637f 673 ranging_data.range_status = OutOfBoundsFail;
jvfausto 0:76ea242a637f 674 break;
jvfausto 0:76ea242a637f 675
jvfausto 0:76ea242a637f 676 case 4: // MSRCNOTARGET
jvfausto 0:76ea242a637f 677 ranging_data.range_status = SignalFail;
jvfausto 0:76ea242a637f 678 break;
jvfausto 0:76ea242a637f 679
jvfausto 0:76ea242a637f 680 case 6: // SIGMATHRESHOLDCHECK
jvfausto 0:76ea242a637f 681 ranging_data.range_status = SignalFail;
jvfausto 0:76ea242a637f 682 break;
jvfausto 0:76ea242a637f 683
jvfausto 0:76ea242a637f 684 case 7: // PHASECONSISTENCY
jvfausto 0:76ea242a637f 685 ranging_data.range_status = WrapTargetFail;
jvfausto 0:76ea242a637f 686 break;
jvfausto 0:76ea242a637f 687
jvfausto 0:76ea242a637f 688 case 12: // RANGEIGNORETHRESHOLD
jvfausto 0:76ea242a637f 689 ranging_data.range_status = XtalkSignalFail;
jvfausto 0:76ea242a637f 690 break;
jvfausto 0:76ea242a637f 691
jvfausto 0:76ea242a637f 692 case 8: // MINCLIP
jvfausto 0:76ea242a637f 693 ranging_data.range_status = RangeValidMinRangeClipped;
jvfausto 0:76ea242a637f 694 break;
jvfausto 0:76ea242a637f 695
jvfausto 0:76ea242a637f 696 case 9: // RANGECOMPLETE
jvfausto 0:76ea242a637f 697 // from VL53L1_copy_sys_and_core_results_to_range_results()
jvfausto 0:76ea242a637f 698 if (results.stream_count == 0)
jvfausto 0:76ea242a637f 699 {
jvfausto 0:76ea242a637f 700 ranging_data.range_status = RangeValidNoWrapCheckFail;
jvfausto 0:76ea242a637f 701 }
jvfausto 0:76ea242a637f 702 else
jvfausto 0:76ea242a637f 703 {
jvfausto 0:76ea242a637f 704 ranging_data.range_status = RangeValid;
jvfausto 0:76ea242a637f 705 }
jvfausto 0:76ea242a637f 706 break;
jvfausto 0:76ea242a637f 707
jvfausto 0:76ea242a637f 708 default:
jvfausto 0:76ea242a637f 709 ranging_data.range_status = None;
jvfausto 0:76ea242a637f 710 }
jvfausto 0:76ea242a637f 711
jvfausto 0:76ea242a637f 712 // from SetSimpleData()
jvfausto 0:76ea242a637f 713 ranging_data.peak_signal_count_rate_MCPS =
jvfausto 0:76ea242a637f 714 countRateFixedToFloat(results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0);
jvfausto 0:76ea242a637f 715 ranging_data.ambient_count_rate_MCPS =
jvfausto 0:76ea242a637f 716 countRateFixedToFloat(results.ambient_count_rate_mcps_sd0);
jvfausto 0:76ea242a637f 717 }
jvfausto 0:76ea242a637f 718
jvfausto 0:76ea242a637f 719 // Decode sequence step timeout in MCLKs from register value
jvfausto 0:76ea242a637f 720 // based on VL53L1_decode_timeout()
jvfausto 0:76ea242a637f 721 uint32_t VL53L1X::decodeTimeout(uint16_t reg_val)
jvfausto 0:76ea242a637f 722 {
jvfausto 0:76ea242a637f 723 return ((uint32_t)(reg_val & 0xFF) << (reg_val >> 8)) + 1;
jvfausto 0:76ea242a637f 724 }
jvfausto 0:76ea242a637f 725
jvfausto 0:76ea242a637f 726 // Encode sequence step timeout register value from timeout in MCLKs
jvfausto 0:76ea242a637f 727 // based on VL53L1_encode_timeout()
jvfausto 0:76ea242a637f 728 uint16_t VL53L1X::encodeTimeout(uint32_t timeout_mclks)
jvfausto 0:76ea242a637f 729 {
jvfausto 0:76ea242a637f 730 // encoded format: "(LSByte * 2^MSByte) + 1"
jvfausto 0:76ea242a637f 731
jvfausto 0:76ea242a637f 732 uint32_t ls_byte = 0;
jvfausto 0:76ea242a637f 733 uint16_t ms_byte = 0;
jvfausto 0:76ea242a637f 734
jvfausto 0:76ea242a637f 735 if (timeout_mclks > 0)
jvfausto 0:76ea242a637f 736 {
jvfausto 0:76ea242a637f 737 ls_byte = timeout_mclks - 1;
jvfausto 0:76ea242a637f 738
jvfausto 0:76ea242a637f 739 while ((ls_byte & 0xFFFFFF00) > 0)
jvfausto 0:76ea242a637f 740 {
jvfausto 0:76ea242a637f 741 ls_byte >>= 1;
jvfausto 0:76ea242a637f 742 ms_byte++;
jvfausto 0:76ea242a637f 743 }
jvfausto 0:76ea242a637f 744
jvfausto 0:76ea242a637f 745 return (ms_byte << 8) | (ls_byte & 0xFF);
jvfausto 0:76ea242a637f 746 }
jvfausto 0:76ea242a637f 747 else { return 0; }
jvfausto 0:76ea242a637f 748 }
jvfausto 0:76ea242a637f 749
jvfausto 0:76ea242a637f 750 // Convert sequence step timeout from macro periods to microseconds with given
jvfausto 0:76ea242a637f 751 // macro period in microseconds (12.12 format)
jvfausto 0:76ea242a637f 752 // based on VL53L1_calc_timeout_us()
jvfausto 0:76ea242a637f 753 uint32_t VL53L1X::timeoutMclksToMicroseconds(uint32_t timeout_mclks, uint32_t macro_period_us)
jvfausto 0:76ea242a637f 754 {
jvfausto 0:76ea242a637f 755 return ((uint64_t)timeout_mclks * macro_period_us + 0x800) >> 12;
jvfausto 0:76ea242a637f 756 }
jvfausto 0:76ea242a637f 757
jvfausto 0:76ea242a637f 758 // Convert sequence step timeout from microseconds to macro periods with given
jvfausto 0:76ea242a637f 759 // macro period in microseconds (12.12 format)
jvfausto 0:76ea242a637f 760 // based on VL53L1_calc_timeout_mclks()
jvfausto 0:76ea242a637f 761 uint32_t VL53L1X::timeoutMicrosecondsToMclks(uint32_t timeout_us, uint32_t macro_period_us)
jvfausto 0:76ea242a637f 762 {
jvfausto 0:76ea242a637f 763 return (((uint32_t)timeout_us << 12) + (macro_period_us >> 1)) / macro_period_us;
jvfausto 0:76ea242a637f 764 }
jvfausto 0:76ea242a637f 765
jvfausto 0:76ea242a637f 766 // Calculate macro period in microseconds (12.12 format) with given VCSEL period
jvfausto 0:76ea242a637f 767 // assumes fast_osc_frequency has been read and stored
jvfausto 0:76ea242a637f 768 // based on VL53L1_calc_macro_period_us()
jvfausto 0:76ea242a637f 769 uint32_t VL53L1X::calcMacroPeriod(uint8_t vcsel_period)
jvfausto 0:76ea242a637f 770 {
jvfausto 0:76ea242a637f 771 // from VL53L1_calc_pll_period_us()
jvfausto 0:76ea242a637f 772 // fast osc frequency in 4.12 format; PLL period in 0.24 format
jvfausto 0:76ea242a637f 773 uint32_t pll_period_us = ((uint32_t)0x01 << 30) / fast_osc_frequency;
jvfausto 0:76ea242a637f 774
jvfausto 0:76ea242a637f 775 // from VL53L1_decode_vcsel_period()
jvfausto 0:76ea242a637f 776 uint8_t vcsel_period_pclks = (vcsel_period + 1) << 1;
jvfausto 0:76ea242a637f 777
jvfausto 0:76ea242a637f 778 // VL53L1_MACRO_PERIOD_VCSEL_PERIODS = 2304
jvfausto 0:76ea242a637f 779 uint32_t macro_period_us = (uint32_t)2304 * pll_period_us;
jvfausto 0:76ea242a637f 780 macro_period_us >>= 6;
jvfausto 0:76ea242a637f 781 macro_period_us *= vcsel_period_pclks;
jvfausto 0:76ea242a637f 782 macro_period_us >>= 6;
jvfausto 0:76ea242a637f 783
jvfausto 0:76ea242a637f 784 return macro_period_us;
jvfausto 0:76ea242a637f 785 }