Jesus Fausto / VL53L1X_Pololu

ToF sensor code by Pololu translated from Arduino to mbed

VL53L1X.cpp@3:20f0c879da8c, 2018-08-01 (annotated)

Committer:
jvfausto
Date:
Wed Aug 01 18:42:33 2018 +0000
Revision:
3:20f0c879da8c
Parent:
2:bb0cd79ef201 
Few Revisions

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 2:bb0cd79ef201 5
jvfausto 0:76ea242a637f 6 #include "VL53L1X.h"
jvfausto 0:76ea242a637f 7 #include "mbed.h"
jvfausto 2:bb0cd79ef201 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 2:bb0cd79ef201 27
jvfausto 0:76ea242a637f 28 // Public Methods //////////////////////////////////////////////////////////////
jvfausto 2:bb0cd79ef201 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 2:bb0cd79ef201 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 0:76ea242a637f 42 // check model ID and module type registers (values specified in datasheet)
jvfausto 0:76ea242a637f 43 int tempRegister = readReg16Bit(IDENTIFICATION__MODEL_ID);
jvfausto 0:76ea242a637f 44 if (tempRegister != 0xEACC) {
jvfausto 0:76ea242a637f 45 return false;
jvfausto 0:76ea242a637f 46 }
jvfausto 2:bb0cd79ef201 47
jvfausto 0:76ea242a637f 48 // VL53L1_software_reset() begin
jvfausto 2:bb0cd79ef201 49
jvfausto 0:76ea242a637f 50 writeReg(SOFT_RESET, 0x00);
jvfausto 0:76ea242a637f 51 wait(.001);
jvfausto 0:76ea242a637f 52 writeReg(SOFT_RESET, 0x01);
jvfausto 2:bb0cd79ef201 53
jvfausto 0:76ea242a637f 54 // VL53L1_poll_for_boot_completion() begin
jvfausto 2:bb0cd79ef201 55
jvfausto 0:76ea242a637f 56 startTimeout();
jvfausto 2:bb0cd79ef201 57 int firmware = (readReg16Bit(FIRMWARE__SYSTEM_STATUS));
jvfausto 0:76ea242a637f 58 while ((readReg(FIRMWARE__SYSTEM_STATUS) & 0x01) == 0)
jvfausto 0:76ea242a637f 59 {
jvfausto 0:76ea242a637f 60 if (checkTimeoutExpired())
jvfausto 0:76ea242a637f 61 {
jvfausto 0:76ea242a637f 62 did_timeout = true;
jvfausto 0:76ea242a637f 63 return false;
jvfausto 0:76ea242a637f 64 }
jvfausto 0:76ea242a637f 65 }
jvfausto 0:76ea242a637f 66 // VL53L1_poll_for_boot_completion() end
jvfausto 2:bb0cd79ef201 67
jvfausto 0:76ea242a637f 68 // VL53L1_software_reset() end
jvfausto 2:bb0cd79ef201 69
jvfausto 0:76ea242a637f 70 // VL53L1_DataInit() begin
jvfausto 2:bb0cd79ef201 71
jvfausto 0:76ea242a637f 72 // sensor uses 1V8 mode for I/O by default; switch to 2V8 mode if necessary
jvfausto 0:76ea242a637f 73 if (io_2v8)
jvfausto 0:76ea242a637f 74 {
jvfausto 0:76ea242a637f 75 writeReg(PAD_I2C_HV__EXTSUP_CONFIG,
jvfausto 0:76ea242a637f 76 readReg(PAD_I2C_HV__EXTSUP_CONFIG) | 0x01);
jvfausto 0:76ea242a637f 77 }
jvfausto 2:bb0cd79ef201 78
jvfausto 0:76ea242a637f 79 // store oscillator info for later use
jvfausto 0:76ea242a637f 80 fast_osc_frequency = readReg16Bit(OSC_MEASURED__FAST_OSC__FREQUENCY);
jvfausto 0:76ea242a637f 81 osc_calibrate_val = readReg16Bit(RESULT__OSC_CALIBRATE_VAL);
jvfausto 2:bb0cd79ef201 82
jvfausto 0:76ea242a637f 83 // VL53L1_DataInit() end
jvfausto 2:bb0cd79ef201 84
jvfausto 0:76ea242a637f 85 // VL53L1_StaticInit() begin
jvfausto 2:bb0cd79ef201 86
jvfausto 0:76ea242a637f 87 // Note that the API does not actually apply the configuration settings below
jvfausto 0:76ea242a637f 88 // when VL53L1_StaticInit() is called: it keeps a copy of the sensor's
jvfausto 0:76ea242a637f 89 // register contents in memory and doesn't actually write them until a
jvfausto 0:76ea242a637f 90 // measurement is started. Writing the configuration here means we don't have
jvfausto 0:76ea242a637f 91 // to keep it all in memory and avoids a lot of redundant writes later.
jvfausto 2:bb0cd79ef201 92
jvfausto 0:76ea242a637f 93 // the API sets the preset mode to LOWPOWER_AUTONOMOUS here:
jvfausto 0:76ea242a637f 94 // VL53L1_set_preset_mode() begin
jvfausto 2:bb0cd79ef201 95
jvfausto 0:76ea242a637f 96 // VL53L1_preset_mode_standard_ranging() begin
jvfausto 2:bb0cd79ef201 97
jvfausto 0:76ea242a637f 98 // values labeled "tuning parm default" are from vl53l1_tuning_parm_defaults.h
jvfausto 0:76ea242a637f 99 // (API uses these in VL53L1_init_tuning_parm_storage_struct())
jvfausto 2:bb0cd79ef201 100
jvfausto 0:76ea242a637f 101 // static config
jvfausto 0:76ea242a637f 102 // API resets PAD_I2C_HV__EXTSUP_CONFIG here, but maybe we don't want to do
jvfausto 0:76ea242a637f 103 // that? (seems like it would disable 2V8 mode)
jvfausto 0:76ea242a637f 104 writeReg16Bit(DSS_CONFIG__TARGET_TOTAL_RATE_MCPS, TargetRate); // should already be this value after reset
jvfausto 0:76ea242a637f 105 writeReg(GPIO__TIO_HV_STATUS, 0x02);
jvfausto 0:76ea242a637f 106 writeReg(SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS, 8); // tuning parm default
jvfausto 0:76ea242a637f 107 writeReg(SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS, 16); // tuning parm default
jvfausto 0:76ea242a637f 108 writeReg(ALGO__CROSSTALK_COMPENSATION_VALID_HEIGHT_MM, 0x01);
jvfausto 0:76ea242a637f 109 writeReg(ALGO__RANGE_IGNORE_VALID_HEIGHT_MM, 0xFF);
jvfausto 0:76ea242a637f 110 writeReg(ALGO__RANGE_MIN_CLIP, 0); // tuning parm default
jvfausto 0:76ea242a637f 111 writeReg(ALGO__CONSISTENCY_CHECK__TOLERANCE, 2); // tuning parm default
jvfausto 2:bb0cd79ef201 112
jvfausto 0:76ea242a637f 113 // general config
jvfausto 0:76ea242a637f 114 writeReg16Bit(SYSTEM__THRESH_RATE_HIGH, 0x0000);
jvfausto 0:76ea242a637f 115 writeReg16Bit(SYSTEM__THRESH_RATE_LOW, 0x0000);
jvfausto 0:76ea242a637f 116 writeReg(DSS_CONFIG__APERTURE_ATTENUATION, 0x38);
jvfausto 2:bb0cd79ef201 117
jvfausto 0:76ea242a637f 118 // timing config
jvfausto 0:76ea242a637f 119 // most of these settings will be determined later by distance and timing
jvfausto 0:76ea242a637f 120 // budget configuration
jvfausto 0:76ea242a637f 121 writeReg16Bit(RANGE_CONFIG__SIGMA_THRESH, 360); // tuning parm default
jvfausto 0:76ea242a637f 122 writeReg16Bit(RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, 192); // tuning parm default
jvfausto 2:bb0cd79ef201 123
jvfausto 0:76ea242a637f 124 // dynamic config
jvfausto 2:bb0cd79ef201 125
jvfausto 0:76ea242a637f 126 writeReg(SYSTEM__GROUPED_PARAMETER_HOLD_0, 0x01);
jvfausto 0:76ea242a637f 127 writeReg(SYSTEM__GROUPED_PARAMETER_HOLD_1, 0x01);
jvfausto 0:76ea242a637f 128 writeReg(SD_CONFIG__QUANTIFIER, 2); // tuning parm default
jvfausto 2:bb0cd79ef201 129
jvfausto 0:76ea242a637f 130 // VL53L1_preset_mode_standard_ranging() end
jvfausto 2:bb0cd79ef201 131
jvfausto 0:76ea242a637f 132 // from VL53L1_preset_mode_timed_ranging_*
jvfausto 0:76ea242a637f 133 // GPH is 0 after reset, but writing GPH0 and GPH1 above seem to set GPH to 1,
jvfausto 0:76ea242a637f 134 // and things don't seem to work if we don't set GPH back to 0 (which the API
jvfausto 0:76ea242a637f 135 // does here).
jvfausto 0:76ea242a637f 136 writeReg(SYSTEM__GROUPED_PARAMETER_HOLD, 0x00);
jvfausto 0:76ea242a637f 137 writeReg(SYSTEM__SEED_CONFIG, 1); // tuning parm default
jvfausto 2:bb0cd79ef201 138
jvfausto 0:76ea242a637f 139 // from VL53L1_config_low_power_auto_mode
jvfausto 0:76ea242a637f 140 writeReg(SYSTEM__SEQUENCE_CONFIG, 0x8B); // VHV, PHASECAL, DSS1, RANGE
jvfausto 0:76ea242a637f 141 writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 200 << 8);
jvfausto 0:76ea242a637f 142 writeReg(DSS_CONFIG__ROI_MODE_CONTROL, 2); // REQUESTED_EFFFECTIVE_SPADS
jvfausto 2:bb0cd79ef201 143
jvfausto 0:76ea242a637f 144 // VL53L1_set_preset_mode() end
jvfausto 2:bb0cd79ef201 145
jvfausto 0:76ea242a637f 146 // default to long range, 50 ms timing budget
jvfausto 0:76ea242a637f 147 // note that this is different than what the API defaults to
jvfausto 2:bb0cd79ef201 148 setDistanceMode(Short);
jvfausto 0:76ea242a637f 149 setMeasurementTimingBudget(50000);
jvfausto 2:bb0cd79ef201 150
jvfausto 0:76ea242a637f 151 // VL53L1_StaticInit() end
jvfausto 2:bb0cd79ef201 152
jvfausto 0:76ea242a637f 153 // the API triggers this change in VL53L1_init_and_start_range() once a
jvfausto 0:76ea242a637f 154 // measurement is started; assumes MM1 and MM2 are disabled
jvfausto 0:76ea242a637f 155 writeReg16Bit(ALGO__PART_TO_PART_RANGE_OFFSET_MM,
jvfausto 0:76ea242a637f 156 readReg16Bit(MM_CONFIG__OUTER_OFFSET_MM) * 4);
jvfausto 2:bb0cd79ef201 157
jvfausto 0:76ea242a637f 158 return true;
jvfausto 0:76ea242a637f 159 }
jvfausto 2:bb0cd79ef201 160
jvfausto 0:76ea242a637f 161 // Write an 8-bit register
jvfausto 0:76ea242a637f 162 void VL53L1X::writeReg(uint16_t registerAddr, uint8_t data)
jvfausto 0:76ea242a637f 163 {
jvfausto 0:76ea242a637f 164 char data_write[3];
jvfausto 0:76ea242a637f 165 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 166 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 167 data_write[2] = data & 0xFF;
jvfausto 0:76ea242a637f 168 _i2c.write(address, data_write, 3);
jvfausto 0:76ea242a637f 169 }
jvfausto 0:76ea242a637f 170
jvfausto 0:76ea242a637f 171 void VL53L1X::writeReg16Bit(uint16_t registerAddr, uint16_t data)
jvfausto 0:76ea242a637f 172 {
jvfausto 0:76ea242a637f 173 char data_write[4];
jvfausto 0:76ea242a637f 174 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 175 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 176 data_write[2] = (data >> 8) & 0xFF;
jvfausto 0:76ea242a637f 177 data_write[3] = data & 0xFF;
jvfausto 0:76ea242a637f 178 _i2c.write(address, data_write, 4);
jvfausto 0:76ea242a637f 179 }
jvfausto 0:76ea242a637f 180
jvfausto 2:bb0cd79ef201 181
jvfausto 0:76ea242a637f 182 // Write a 32-bit register
jvfausto 2:bb0cd79ef201 183 /*
jvfausto 2:bb0cd79ef201 184 void VL53L1X::writeReg32Bit(uint16_t registerAddr, uint32_t data)
jvfausto 2:bb0cd79ef201 185 {
jvfausto 2:bb0cd79ef201 186 char data_write[5];
jvfausto 2:bb0cd79ef201 187 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 2:bb0cd79ef201 188 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 2:bb0cd79ef201 189 data_write[2] = (data >> 16) & 0xFF;
jvfausto 2:bb0cd79ef201 190 data_write[3] = (data >> 8) & 0xFF;
jvfausto 2:bb0cd79ef201 191 data_write[4] = data & 0xFF;
jvfausto 2:bb0cd79ef201 192 _i2c.write(address, data_write, 5);
jvfausto 2:bb0cd79ef201 193 }
jvfausto 2:bb0cd79ef201 194 */
jvfausto 0:76ea242a637f 195 void VL53L1X::writeReg32Bit(uint16_t registerAddr, uint32_t data)
jvfausto 0:76ea242a637f 196 {
jvfausto 0:76ea242a637f 197 char data_write[6];
jvfausto 0:76ea242a637f 198 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 199 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 200 data_write[2] = (data >> 24) & 0xFF;
jvfausto 0:76ea242a637f 201 data_write[3] = (data >> 16) & 0xFF;
jvfausto 0:76ea242a637f 202 data_write[4] = (data >> 8) & 0xFF;;
jvfausto 0:76ea242a637f 203 data_write[5] = data & 0xFF;
jvfausto 0:76ea242a637f 204 _i2c.write(address, data_write, 6);
jvfausto 0:76ea242a637f 205 }
jvfausto 2:bb0cd79ef201 206
jvfausto 2:bb0cd79ef201 207
jvfausto 0:76ea242a637f 208 // Read an 8-bit register
jvfausto 0:76ea242a637f 209 uint8_t VL53L1X::readReg(uint16_t registerAddr)
jvfausto 0:76ea242a637f 210 {
jvfausto 0:76ea242a637f 211 uint8_t data;
jvfausto 0:76ea242a637f 212 char data_write[2];
jvfausto 0:76ea242a637f 213 char data_read[1];
jvfausto 0:76ea242a637f 214 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 215 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 216 _i2c.write(address, data_write, 2,0);
jvfausto 0:76ea242a637f 217 _i2c.read(address,data_read,1,1);
jvfausto 0:76ea242a637f 218 //Read Data from selected register
jvfausto 0:76ea242a637f 219 data=data_read[0];
jvfausto 0:76ea242a637f 220 return data;
jvfausto 0:76ea242a637f 221 }
jvfausto 0:76ea242a637f 222
jvfausto 0:76ea242a637f 223 uint16_t VL53L1X::readReg16Bit(uint16_t registerAddr)
jvfausto 0:76ea242a637f 224 {
jvfausto 0:76ea242a637f 225 uint8_t data_low;
jvfausto 0:76ea242a637f 226 uint8_t data_high;
jvfausto 0:76ea242a637f 227 uint16_t data;
jvfausto 0:76ea242a637f 228
jvfausto 0:76ea242a637f 229 char data_write[2];
jvfausto 0:76ea242a637f 230 char data_read[2];
jvfausto 0:76ea242a637f 231 data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address
jvfausto 0:76ea242a637f 232 data_write[1] = registerAddr & 0xFF; //LSB of register address
jvfausto 0:76ea242a637f 233 _i2c.write(address, data_write, 2,0);
jvfausto 0:76ea242a637f 234 _i2c.read(address,data_read,2,1);
jvfausto 0:76ea242a637f 235 data_high = data_read[0]; //Read Data from selected register
jvfausto 0:76ea242a637f 236 data_low = data_read[1]; //Read Data from selected register
jvfausto 0:76ea242a637f 237 data = (data_high << 8)|data_low;
jvfausto 0:76ea242a637f 238
jvfausto 0:76ea242a637f 239 return data;
jvfausto 0:76ea242a637f 240 }
jvfausto 0:76ea242a637f 241 // Read a 32-bit register
jvfausto 0:76ea242a637f 242 uint32_t VL53L1X::readReg32Bit(uint16_t reg)
jvfausto 0:76ea242a637f 243 {
jvfausto 0:76ea242a637f 244 uint32_t value;
jvfausto 2:bb0cd79ef201 245 /*
jvfausto 2:bb0cd79ef201 246 _i2c.beginTransmission(address);
jvfausto 2:bb0cd79ef201 247 _i2c.write((reg >> 8) & 0xFF); // reg high byte
jvfausto 2:bb0cd79ef201 248 _i2c.write( reg & 0xFF); // reg low byte
jvfausto 2:bb0cd79ef201 249 last_status = _i2c.endTransmission();
jvfausto 2:bb0cd79ef201 250
jvfausto 2:bb0cd79ef201 251 _i2c.requestFrom(address, (uint8_t)4);
jvfausto 2:bb0cd79ef201 252 value = (uint32_t)_i2c.read() << 24; // value highest byte
jvfausto 2:bb0cd79ef201 253 value |= (uint32_t)_i2c.read() << 16;
jvfausto 2:bb0cd79ef201 254 value |= (uint16_t)_i2c.read() << 8;
jvfausto 2:bb0cd79ef201 255 value |= _i2c.read(); // value lowest byte
jvfausto 2:bb0cd79ef201 256 */
jvfausto 0:76ea242a637f 257 return value;
jvfausto 0:76ea242a637f 258 }
jvfausto 2:bb0cd79ef201 259
jvfausto 0:76ea242a637f 260 // set distance mode to Short, Medium, or Long
jvfausto 0:76ea242a637f 261 // based on VL53L1_SetDistanceMode()
jvfausto 0:76ea242a637f 262 bool VL53L1X::setDistanceMode(DistanceMode mode)
jvfausto 0:76ea242a637f 263 {
jvfausto 0:76ea242a637f 264 // save existing timing budget
jvfausto 0:76ea242a637f 265 uint32_t budget_us = getMeasurementTimingBudget();
jvfausto 0:76ea242a637f 266 switch (mode)
jvfausto 0:76ea242a637f 267 {
jvfausto 0:76ea242a637f 268 case Short:
jvfausto 0:76ea242a637f 269 // from VL53L1_preset_mode_standard_ranging_short_range()
jvfausto 2:bb0cd79ef201 270
jvfausto 0:76ea242a637f 271 // timing config
jvfausto 0:76ea242a637f 272 writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x07);
jvfausto 0:76ea242a637f 273 writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x05);
jvfausto 0:76ea242a637f 274 writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0x38);
jvfausto 2:bb0cd79ef201 275
jvfausto 0:76ea242a637f 276 // dynamic config
jvfausto 0:76ea242a637f 277 writeReg(SD_CONFIG__WOI_SD0, 0x07);
jvfausto 0:76ea242a637f 278 writeReg(SD_CONFIG__WOI_SD1, 0x05);
jvfausto 0:76ea242a637f 279 writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 6); // tuning parm default
jvfausto 0:76ea242a637f 280 writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 6); // tuning parm default
jvfausto 2:bb0cd79ef201 281
jvfausto 0:76ea242a637f 282 break;
jvfausto 2:bb0cd79ef201 283
jvfausto 0:76ea242a637f 284 case Medium:
jvfausto 0:76ea242a637f 285 // from VL53L1_preset_mode_standard_ranging()
jvfausto 2:bb0cd79ef201 286
jvfausto 0:76ea242a637f 287 // timing config
jvfausto 0:76ea242a637f 288 writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0B);
jvfausto 0:76ea242a637f 289 writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x09);
jvfausto 0:76ea242a637f 290 writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0x78);
jvfausto 2:bb0cd79ef201 291
jvfausto 0:76ea242a637f 292 // dynamic config
jvfausto 0:76ea242a637f 293 writeReg(SD_CONFIG__WOI_SD0, 0x0B);
jvfausto 0:76ea242a637f 294 writeReg(SD_CONFIG__WOI_SD1, 0x09);
jvfausto 0:76ea242a637f 295 writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 10); // tuning parm default
jvfausto 0:76ea242a637f 296 writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 10); // tuning parm default
jvfausto 2:bb0cd79ef201 297
jvfausto 0:76ea242a637f 298 break;
jvfausto 2:bb0cd79ef201 299
jvfausto 0:76ea242a637f 300 case Long: // long
jvfausto 0:76ea242a637f 301 // from VL53L1_preset_mode_standard_ranging_long_range()
jvfausto 2:bb0cd79ef201 302
jvfausto 0:76ea242a637f 303 // timing config
jvfausto 0:76ea242a637f 304 writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F);
jvfausto 0:76ea242a637f 305 writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D);
jvfausto 0:76ea242a637f 306 writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8);
jvfausto 2:bb0cd79ef201 307
jvfausto 0:76ea242a637f 308 // dynamic config
jvfausto 0:76ea242a637f 309 writeReg(SD_CONFIG__WOI_SD0, 0x0F);
jvfausto 0:76ea242a637f 310 writeReg(SD_CONFIG__WOI_SD1, 0x0D);
jvfausto 0:76ea242a637f 311 writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 14); // tuning parm default
jvfausto 0:76ea242a637f 312 writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 14); // tuning parm default
jvfausto 2:bb0cd79ef201 313
jvfausto 0:76ea242a637f 314 break;
jvfausto 2:bb0cd79ef201 315
jvfausto 0:76ea242a637f 316 default:
jvfausto 0:76ea242a637f 317 // unrecognized mode - do nothing
jvfausto 0:76ea242a637f 318 return false;
jvfausto 0:76ea242a637f 319 }
jvfausto 2:bb0cd79ef201 320
jvfausto 0:76ea242a637f 321 // reapply timing budget
jvfausto 0:76ea242a637f 322 setMeasurementTimingBudget(budget_us);
jvfausto 2:bb0cd79ef201 323
jvfausto 0:76ea242a637f 324 // save mode so it can be returned by getDistanceMode()
jvfausto 0:76ea242a637f 325 distance_mode = mode;
jvfausto 2:bb0cd79ef201 326
jvfausto 0:76ea242a637f 327 return true;
jvfausto 0:76ea242a637f 328 }
jvfausto 2:bb0cd79ef201 329
jvfausto 0:76ea242a637f 330 // Set the measurement timing budget in microseconds, which is the time allowed
jvfausto 0:76ea242a637f 331 // for one measurement. A longer timing budget allows for more accurate
jvfausto 0:76ea242a637f 332 // measurements.
jvfausto 0:76ea242a637f 333 // based on VL53L1_SetMeasurementTimingBudgetMicroSeconds()
jvfausto 0:76ea242a637f 334 bool VL53L1X::setMeasurementTimingBudget(uint32_t budget_us)
jvfausto 0:76ea242a637f 335 {
jvfausto 0:76ea242a637f 336 // assumes PresetMode is LOWPOWER_AUTONOMOUS
jvfausto 2:bb0cd79ef201 337
jvfausto 0:76ea242a637f 338 if (budget_us <= TimingGuard) { return false; }
jvfausto 2:bb0cd79ef201 339
jvfausto 0:76ea242a637f 340 uint32_t range_config_timeout_us = budget_us -= TimingGuard;
jvfausto 0:76ea242a637f 341 if (range_config_timeout_us > 1100000) { return false; } // FDA_MAX_TIMING_BUDGET_US * 2
jvfausto 2:bb0cd79ef201 342
jvfausto 0:76ea242a637f 343 range_config_timeout_us /= 2;
jvfausto 2:bb0cd79ef201 344
jvfausto 0:76ea242a637f 345 // VL53L1_calc_timeout_register_values() begin
jvfausto 2:bb0cd79ef201 346
jvfausto 0:76ea242a637f 347 uint32_t macro_period_us;
jvfausto 2:bb0cd79ef201 348
jvfausto 0:76ea242a637f 349 // "Update Macro Period for Range A VCSEL Period"
jvfausto 0:76ea242a637f 350 macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_A));
jvfausto 2:bb0cd79ef201 351
jvfausto 0:76ea242a637f 352 // "Update Phase timeout - uses Timing A"
jvfausto 0:76ea242a637f 353 // Timeout of 1000 is tuning parm default (TIMED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT)
jvfausto 0:76ea242a637f 354 // via VL53L1_get_preset_mode_timing_cfg().
jvfausto 0:76ea242a637f 355 uint32_t phasecal_timeout_mclks = timeoutMicrosecondsToMclks(1000, macro_period_us);
jvfausto 0:76ea242a637f 356 if (phasecal_timeout_mclks > 0xFF) { phasecal_timeout_mclks = 0xFF; }
jvfausto 0:76ea242a637f 357 writeReg(PHASECAL_CONFIG__TIMEOUT_MACROP, phasecal_timeout_mclks);
jvfausto 2:bb0cd79ef201 358
jvfausto 0:76ea242a637f 359 // "Update MM Timing A timeout"
jvfausto 0:76ea242a637f 360 // Timeout of 1 is tuning parm default (LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US_DEFAULT)
jvfausto 0:76ea242a637f 361 // via VL53L1_get_preset_mode_timing_cfg(). With the API, the register
jvfausto 0:76ea242a637f 362 // actually ends up with a slightly different value because it gets assigned,
jvfausto 0:76ea242a637f 363 // retrieved, recalculated with a different macro period, and reassigned,
jvfausto 0:76ea242a637f 364 // but it probably doesn't matter because it seems like the MM ("mode
jvfausto 0:76ea242a637f 365 // mitigation"?) sequence steps are disabled in low power auto mode anyway.
jvfausto 0:76ea242a637f 366 writeReg16Bit(MM_CONFIG__TIMEOUT_MACROP_A, encodeTimeout(
jvfausto 0:76ea242a637f 367 timeoutMicrosecondsToMclks(1, macro_period_us)));
jvfausto 2:bb0cd79ef201 368
jvfausto 0:76ea242a637f 369 // "Update Range Timing A timeout"
jvfausto 0:76ea242a637f 370 writeReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_A, encodeTimeout(
jvfausto 0:76ea242a637f 371 timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us)));
jvfausto 2:bb0cd79ef201 372
jvfausto 0:76ea242a637f 373 // "Update Macro Period for Range B VCSEL Period"
jvfausto 0:76ea242a637f 374 macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_B));
jvfausto 2:bb0cd79ef201 375
jvfausto 0:76ea242a637f 376 // "Update MM Timing B timeout"
jvfausto 0:76ea242a637f 377 // (See earlier comment about MM Timing A timeout.)
jvfausto 0:76ea242a637f 378 writeReg16Bit(MM_CONFIG__TIMEOUT_MACROP_B, encodeTimeout(
jvfausto 0:76ea242a637f 379 timeoutMicrosecondsToMclks(1, macro_period_us)));
jvfausto 2:bb0cd79ef201 380
jvfausto 0:76ea242a637f 381 // "Update Range Timing B timeout"
jvfausto 0:76ea242a637f 382 writeReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_B, encodeTimeout(
jvfausto 0:76ea242a637f 383 timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us)));
jvfausto 0:76ea242a637f 384 // VL53L1_calc_timeout_register_values() end
jvfausto 2:bb0cd79ef201 385
jvfausto 0:76ea242a637f 386 return true;
jvfausto 0:76ea242a637f 387 }
jvfausto 2:bb0cd79ef201 388
jvfausto 0:76ea242a637f 389 // Get the measurement timing budget in microseconds
jvfausto 0:76ea242a637f 390 // based on VL53L1_SetMeasurementTimingBudgetMicroSeconds()
jvfausto 0:76ea242a637f 391 uint32_t VL53L1X::getMeasurementTimingBudget()
jvfausto 0:76ea242a637f 392 {
jvfausto 0:76ea242a637f 393 // assumes PresetMode is LOWPOWER_AUTONOMOUS and these sequence steps are
jvfausto 0:76ea242a637f 394 // enabled: VHV, PHASECAL, DSS1, RANGE
jvfausto 2:bb0cd79ef201 395
jvfausto 0:76ea242a637f 396 // VL53L1_get_timeouts_us() begin
jvfausto 2:bb0cd79ef201 397
jvfausto 0:76ea242a637f 398 // "Update Macro Period for Range A VCSEL Period"
jvfausto 0:76ea242a637f 399 uint32_t macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_A));
jvfausto 2:bb0cd79ef201 400
jvfausto 0:76ea242a637f 401 // "Get Range Timing A timeout"
jvfausto 2:bb0cd79ef201 402
jvfausto 0:76ea242a637f 403 uint32_t range_config_timeout_us = timeoutMclksToMicroseconds(decodeTimeout(
jvfausto 0:76ea242a637f 404 readReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_A)), macro_period_us);
jvfausto 2:bb0cd79ef201 405
jvfausto 0:76ea242a637f 406 // VL53L1_get_timeouts_us() end
jvfausto 2:bb0cd79ef201 407
jvfausto 0:76ea242a637f 408 return 2 * range_config_timeout_us + TimingGuard;
jvfausto 0:76ea242a637f 409 }
jvfausto 2:bb0cd79ef201 410
jvfausto 0:76ea242a637f 411 // Start continuous ranging measurements, with the given inter-measurement
jvfausto 0:76ea242a637f 412 // period in milliseconds determining how often the sensor takes a measurement.
jvfausto 0:76ea242a637f 413 void VL53L1X::startContinuous(uint32_t period_ms)
jvfausto 0:76ea242a637f 414 {
jvfausto 0:76ea242a637f 415 // from VL53L1_set_inter_measurement_period_ms()
jvfausto 0:76ea242a637f 416 writeReg32Bit(SYSTEM__INTERMEASUREMENT_PERIOD, period_ms * osc_calibrate_val);
jvfausto 0:76ea242a637f 417 writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range
jvfausto 0:76ea242a637f 418 writeReg(SYSTEM__MODE_START, 0x40); // mode_range__timed
jvfausto 0:76ea242a637f 419 }
jvfausto 2:bb0cd79ef201 420
jvfausto 0:76ea242a637f 421 // Stop continuous measurements
jvfausto 0:76ea242a637f 422 // based on VL53L1_stop_range()
jvfausto 0:76ea242a637f 423 void VL53L1X::stopContinuous()
jvfausto 0:76ea242a637f 424 {
jvfausto 0:76ea242a637f 425 writeReg(SYSTEM__MODE_START, 0x80); // mode_range__abort
jvfausto 2:bb0cd79ef201 426
jvfausto 0:76ea242a637f 427 // VL53L1_low_power_auto_data_stop_range() begin
jvfausto 2:bb0cd79ef201 428
jvfausto 0:76ea242a637f 429 calibrated = false;
jvfausto 2:bb0cd79ef201 430
jvfausto 0:76ea242a637f 431 // "restore vhv configs"
jvfausto 0:76ea242a637f 432 if (saved_vhv_init != 0)
jvfausto 0:76ea242a637f 433 {
jvfausto 0:76ea242a637f 434 writeReg(VHV_CONFIG__INIT, saved_vhv_init);
jvfausto 0:76ea242a637f 435 }
jvfausto 0:76ea242a637f 436 if (saved_vhv_timeout != 0)
jvfausto 0:76ea242a637f 437 {
jvfausto 0:76ea242a637f 438 writeReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, saved_vhv_timeout);
jvfausto 0:76ea242a637f 439 }
jvfausto 2:bb0cd79ef201 440
jvfausto 0:76ea242a637f 441 // "remove phasecal override"
jvfausto 0:76ea242a637f 442 writeReg(PHASECAL_CONFIG__OVERRIDE, 0x00);
jvfausto 2:bb0cd79ef201 443
jvfausto 0:76ea242a637f 444 // VL53L1_low_power_auto_data_stop_range() end
jvfausto 0:76ea242a637f 445 }
jvfausto 2:bb0cd79ef201 446
jvfausto 0:76ea242a637f 447 // Returns a range reading in millimeters when continuous mode is active
jvfausto 2:bb0cd79ef201 448 // (readRangeSingleMillimetersx () also calls this function after starting a
jvfausto 0:76ea242a637f 449 // single-shot range measurement)
jvfausto 0:76ea242a637f 450 uint16_t VL53L1X::read(bool blocking)
jvfausto 0:76ea242a637f 451 {
jvfausto 0:76ea242a637f 452 if (blocking)
jvfausto 0:76ea242a637f 453 {
jvfausto 0:76ea242a637f 454 startTimeout();
jvfausto 2:bb0cd79ef201 455
jvfausto 2:bb0cd79ef201 456 /* dataReady returns 0. Loop is never entered. */
jvfausto 0:76ea242a637f 457 while (dataReady())
jvfausto 0:76ea242a637f 458 {
jvfausto 0:76ea242a637f 459 if (checkTimeoutExpired())
jvfausto 0:76ea242a637f 460 {
jvfausto 0:76ea242a637f 461 did_timeout = true;
jvfausto 0:76ea242a637f 462 ranging_data.range_status = None;
jvfausto 0:76ea242a637f 463 ranging_data.range_mm = 0;
jvfausto 0:76ea242a637f 464 ranging_data.peak_signal_count_rate_MCPS = 0;
jvfausto 0:76ea242a637f 465 ranging_data.ambient_count_rate_MCPS = 0;
jvfausto 0:76ea242a637f 466 return ranging_data.range_mm;
jvfausto 0:76ea242a637f 467 }
jvfausto 0:76ea242a637f 468 }
jvfausto 0:76ea242a637f 469 }
jvfausto 2:bb0cd79ef201 470
jvfausto 0:76ea242a637f 471 readResults();
jvfausto 2:bb0cd79ef201 472
jvfausto 0:76ea242a637f 473 if (!calibrated)
jvfausto 0:76ea242a637f 474 {
jvfausto 0:76ea242a637f 475 setupManualCalibration();
jvfausto 0:76ea242a637f 476 calibrated = true;
jvfausto 0:76ea242a637f 477 }
jvfausto 2:bb0cd79ef201 478
jvfausto 0:76ea242a637f 479 updateDSS();
jvfausto 2:bb0cd79ef201 480
jvfausto 0:76ea242a637f 481 getRangingData();
jvfausto 2:bb0cd79ef201 482
jvfausto 0:76ea242a637f 483 writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range
jvfausto 2:bb0cd79ef201 484
jvfausto 0:76ea242a637f 485 return ranging_data.range_mm;
jvfausto 0:76ea242a637f 486 }
jvfausto 2:bb0cd79ef201 487
jvfausto 0:76ea242a637f 488 // convert a RangeStatus to a readable string
jvfausto 0:76ea242a637f 489 // Note that on an AVR, these strings are stored in RAM (dynamic memory), which
jvfausto 0:76ea242a637f 490 // makes working with them easier but uses up 200+ bytes of RAM (many AVR-based
jvfausto 0:76ea242a637f 491 // Arduinos only have about 2000 bytes of RAM). You can avoid this memory usage
jvfausto 0:76ea242a637f 492 // if you do not call this function in your sketch.
jvfausto 0:76ea242a637f 493 const char * VL53L1X::rangeStatusToString(RangeStatus status)
jvfausto 0:76ea242a637f 494 {
jvfausto 0:76ea242a637f 495 switch (status)
jvfausto 0:76ea242a637f 496 {
jvfausto 0:76ea242a637f 497 case RangeValid:
jvfausto 0:76ea242a637f 498 return "range valid";
jvfausto 2:bb0cd79ef201 499
jvfausto 0:76ea242a637f 500 case SigmaFail:
jvfausto 0:76ea242a637f 501 return "sigma fail";
jvfausto 2:bb0cd79ef201 502
jvfausto 0:76ea242a637f 503 case SignalFail:
jvfausto 0:76ea242a637f 504 return "signal fail";
jvfausto 2:bb0cd79ef201 505
jvfausto 0:76ea242a637f 506 case RangeValidMinRangeClipped:
jvfausto 0:76ea242a637f 507 return "range valid, min range clipped";
jvfausto 2:bb0cd79ef201 508
jvfausto 0:76ea242a637f 509 case OutOfBoundsFail:
jvfausto 0:76ea242a637f 510 return "out of bounds fail";
jvfausto 2:bb0cd79ef201 511
jvfausto 0:76ea242a637f 512 case HardwareFail:
jvfausto 0:76ea242a637f 513 return "hardware fail";
jvfausto 2:bb0cd79ef201 514
jvfausto 0:76ea242a637f 515 case RangeValidNoWrapCheckFail:
jvfausto 0:76ea242a637f 516 return "range valid, no wrap check fail";
jvfausto 2:bb0cd79ef201 517
jvfausto 0:76ea242a637f 518 case WrapTargetFail:
jvfausto 0:76ea242a637f 519 return "wrap target fail";
jvfausto 2:bb0cd79ef201 520
jvfausto 0:76ea242a637f 521 case XtalkSignalFail:
jvfausto 0:76ea242a637f 522 return "xtalk signal fail";
jvfausto 2:bb0cd79ef201 523
jvfausto 0:76ea242a637f 524 case SynchronizationInt:
jvfausto 0:76ea242a637f 525 return "synchronization int";
jvfausto 2:bb0cd79ef201 526
jvfausto 0:76ea242a637f 527 case MinRangeFail:
jvfausto 0:76ea242a637f 528 return "min range fail";
jvfausto 2:bb0cd79ef201 529
jvfausto 0:76ea242a637f 530 case None:
jvfausto 0:76ea242a637f 531 return "no update";
jvfausto 2:bb0cd79ef201 532
jvfausto 0:76ea242a637f 533 default:
jvfausto 0:76ea242a637f 534 return "unknown status";
jvfausto 0:76ea242a637f 535 }
jvfausto 0:76ea242a637f 536 }
jvfausto 2:bb0cd79ef201 537
jvfausto 0:76ea242a637f 538 // Did a timeout occur in one of the read functions since the last call to
jvfausto 0:76ea242a637f 539 // timeoutOccurred()?
jvfausto 0:76ea242a637f 540 bool VL53L1X::timeoutOccurred()
jvfausto 0:76ea242a637f 541 {
jvfausto 0:76ea242a637f 542 bool tmp = did_timeout;
jvfausto 0:76ea242a637f 543 did_timeout = false;
jvfausto 0:76ea242a637f 544 return tmp;
jvfausto 0:76ea242a637f 545 }
jvfausto 2:bb0cd79ef201 546
jvfausto 0:76ea242a637f 547 // Private Methods /////////////////////////////////////////////////////////////
jvfausto 2:bb0cd79ef201 548
jvfausto 0:76ea242a637f 549 // "Setup ranges after the first one in low power auto mode by turning off
jvfausto 0:76ea242a637f 550 // FW calibration steps and programming static values"
jvfausto 0:76ea242a637f 551 // based on VL53L1_low_power_auto_setup_manual_calibration()
jvfausto 0:76ea242a637f 552 void VL53L1X::setupManualCalibration()
jvfausto 0:76ea242a637f 553 {
jvfausto 0:76ea242a637f 554 // "save original vhv configs"
jvfausto 0:76ea242a637f 555 saved_vhv_init = readReg(VHV_CONFIG__INIT);
jvfausto 0:76ea242a637f 556 saved_vhv_timeout = readReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND);
jvfausto 2:bb0cd79ef201 557
jvfausto 0:76ea242a637f 558 // "disable VHV init"
jvfausto 0:76ea242a637f 559 writeReg(VHV_CONFIG__INIT, saved_vhv_init & 0x7F);
jvfausto 2:bb0cd79ef201 560
jvfausto 0:76ea242a637f 561 // "set loop bound to tuning param"
jvfausto 0:76ea242a637f 562 writeReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
jvfausto 0:76ea242a637f 563 (saved_vhv_timeout & 0x03) + (3 << 2)); // tuning parm default (LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT)
jvfausto 2:bb0cd79ef201 564
jvfausto 0:76ea242a637f 565 // "override phasecal"
jvfausto 0:76ea242a637f 566 writeReg(PHASECAL_CONFIG__OVERRIDE, 0x01);
jvfausto 0:76ea242a637f 567 writeReg(CAL_CONFIG__VCSEL_START, readReg(PHASECAL_RESULT__VCSEL_START));
jvfausto 0:76ea242a637f 568 }
jvfausto 2:bb0cd79ef201 569
jvfausto 0:76ea242a637f 570 // read measurement results into buffer
jvfausto 0:76ea242a637f 571 void VL53L1X::readResults()
jvfausto 0:76ea242a637f 572 {
jvfausto 2:bb0cd79ef201 573 char infoToWrite[2];
jvfausto 2:bb0cd79ef201 574 char infoToRead[18];
jvfausto 0:76ea242a637f 575 //_i2c.beginTransmission(address);
jvfausto 2:bb0cd79ef201 576 //_i2c.write(address);
jvfausto 2:bb0cd79ef201 577 //_i2c.write((RESULT__RANGE_STATUS >> 8) & 0xFF); // reg high byte
jvfausto 2:bb0cd79ef201 578 //_i2c.write( RESULT__RANGE_STATUS & 0xFF); // reg low byte
jvfausto 2:bb0cd79ef201 579 // last_status = _i2c.endTransmission();
jvfausto 2:bb0cd79ef201 580 infoToWrite[0] = ((RESULT__RANGE_STATUS >> 8) & 0xFF);
jvfausto 2:bb0cd79ef201 581 infoToWrite[1] = ( RESULT__RANGE_STATUS & 0xFF);
jvfausto 2:bb0cd79ef201 582 _i2c.write(address, infoToWrite, 2, 1);
jvfausto 2:bb0cd79ef201 583
jvfausto 2:bb0cd79ef201 584 // _i2c.requestFrom(address, (uint8_t)17);
jvfausto 0:76ea242a637f 585 _i2c.read(address, infoToRead, 17, 0);
jvfausto 2:bb0cd79ef201 586
jvfausto 2:bb0cd79ef201 587 wait(.04);
jvfausto 0:76ea242a637f 588 results.range_status = infoToRead[0];
jvfausto 2:bb0cd79ef201 589
jvfausto 0:76ea242a637f 590 // infoToRead[1]; // report_status: not used
jvfausto 2:bb0cd79ef201 591
jvfausto 0:76ea242a637f 592 results.stream_count = infoToRead[2];
jvfausto 2:bb0cd79ef201 593
jvfausto 0:76ea242a637f 594 results.dss_actual_effective_spads_sd0 = (uint16_t)infoToRead[3] << 8; // high byte
jvfausto 0:76ea242a637f 595 results.dss_actual_effective_spads_sd0 |= infoToRead[4]; // low byte
jvfausto 2:bb0cd79ef201 596
jvfausto 0:76ea242a637f 597 // infoToRead[5]; // peak_signal_count_rate_mcps_sd0: not used
jvfausto 0:76ea242a637f 598 // infoToRead[6];
jvfausto 2:bb0cd79ef201 599
jvfausto 0:76ea242a637f 600 results.ambient_count_rate_mcps_sd0 = (uint16_t)infoToRead[7] << 8; // high byte
jvfausto 0:76ea242a637f 601 results.ambient_count_rate_mcps_sd0 |= infoToRead[8]; // low byte
jvfausto 2:bb0cd79ef201 602
jvfausto 0:76ea242a637f 603 // infoToRead[9]; // sigma_sd0: not used
jvfausto 0:76ea242a637f 604 // infoToRead[10];
jvfausto 2:bb0cd79ef201 605
jvfausto 0:76ea242a637f 606 // infoToRead[11]; // phase_sd0: not used
jvfausto 0:76ea242a637f 607 // infoToRead[12];
jvfausto 2:bb0cd79ef201 608
jvfausto 0:76ea242a637f 609 results.final_crosstalk_corrected_range_mm_sd0 = (uint16_t)infoToRead[13] << 8; // high byte
jvfausto 0:76ea242a637f 610 results.final_crosstalk_corrected_range_mm_sd0 |= infoToRead[14]; // low byte
jvfausto 2:bb0cd79ef201 611
jvfausto 0:76ea242a637f 612 results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = (uint16_t)infoToRead[15] << 8; // high byte
jvfausto 0:76ea242a637f 613 results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 |= infoToRead[16]; // low byte
jvfausto 0:76ea242a637f 614 }
jvfausto 2:bb0cd79ef201 615
jvfausto 0:76ea242a637f 616 // perform Dynamic SPAD Selection calculation/update
jvfausto 0:76ea242a637f 617 // based on VL53L1_low_power_auto_update_DSS()
jvfausto 0:76ea242a637f 618 void VL53L1X::updateDSS()
jvfausto 0:76ea242a637f 619 {
jvfausto 0:76ea242a637f 620 uint16_t spadCount = results.dss_actual_effective_spads_sd0;
jvfausto 2:bb0cd79ef201 621
jvfausto 0:76ea242a637f 622 if (spadCount != 0)
jvfausto 0:76ea242a637f 623 {
jvfausto 0:76ea242a637f 624 // "Calc total rate per spad"
jvfausto 2:bb0cd79ef201 625
jvfausto 0:76ea242a637f 626 uint32_t totalRatePerSpad =
jvfausto 0:76ea242a637f 627 (uint32_t)results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 +
jvfausto 0:76ea242a637f 628 results.ambient_count_rate_mcps_sd0;
jvfausto 2:bb0cd79ef201 629
jvfausto 0:76ea242a637f 630 // "clip to 16 bits"
jvfausto 0:76ea242a637f 631 if (totalRatePerSpad > 0xFFFF) { totalRatePerSpad = 0xFFFF; }
jvfausto 2:bb0cd79ef201 632
jvfausto 0:76ea242a637f 633 // "shift up to take advantage of 32 bits"
jvfausto 0:76ea242a637f 634 totalRatePerSpad <<= 16;
jvfausto 2:bb0cd79ef201 635
jvfausto 0:76ea242a637f 636 totalRatePerSpad /= spadCount;
jvfausto 2:bb0cd79ef201 637
jvfausto 0:76ea242a637f 638 if (totalRatePerSpad != 0)
jvfausto 0:76ea242a637f 639 {
jvfausto 0:76ea242a637f 640 // "get the target rate and shift up by 16"
jvfausto 0:76ea242a637f 641 uint32_t requiredSpads = ((uint32_t)TargetRate << 16) / totalRatePerSpad;
jvfausto 2:bb0cd79ef201 642
jvfausto 0:76ea242a637f 643 // "clip to 16 bit"
jvfausto 0:76ea242a637f 644 if (requiredSpads > 0xFFFF) { requiredSpads = 0xFFFF; }
jvfausto 2:bb0cd79ef201 645
jvfausto 0:76ea242a637f 646 // "override DSS config"
jvfausto 0:76ea242a637f 647 writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, requiredSpads);
jvfausto 0:76ea242a637f 648 // DSS_CONFIG__ROI_MODE_CONTROL should already be set to REQUESTED_EFFFECTIVE_SPADS
jvfausto 2:bb0cd79ef201 649
jvfausto 0:76ea242a637f 650 return;
jvfausto 0:76ea242a637f 651 }
jvfausto 0:76ea242a637f 652 }
jvfausto 2:bb0cd79ef201 653
jvfausto 0:76ea242a637f 654 // If we reached this point, it means something above would have resulted in a
jvfausto 0:76ea242a637f 655 // divide by zero.
jvfausto 0:76ea242a637f 656 // "We want to gracefully set a spad target, not just exit with an error"
jvfausto 2:bb0cd79ef201 657
jvfausto 0:76ea242a637f 658 // "set target to mid point"
jvfausto 0:76ea242a637f 659 writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 0x8000);
jvfausto 0:76ea242a637f 660 }
jvfausto 2:bb0cd79ef201 661
jvfausto 0:76ea242a637f 662 // get range, status, rates from results buffer
jvfausto 0:76ea242a637f 663 // based on VL53L1_GetRangingMeasurementData()
jvfausto 0:76ea242a637f 664 void VL53L1X::getRangingData()
jvfausto 0:76ea242a637f 665 {
jvfausto 0:76ea242a637f 666 // VL53L1_copy_sys_and_core_results_to_range_results() begin
jvfausto 2:bb0cd79ef201 667
jvfausto 0:76ea242a637f 668 uint16_t range = results.final_crosstalk_corrected_range_mm_sd0;
jvfausto 2:bb0cd79ef201 669
jvfausto 0:76ea242a637f 670 // "apply correction gain"
jvfausto 0:76ea242a637f 671 // gain factor of 2011 is tuning parm default (VL53L1_TUNINGPARM_LITE_RANGING_GAIN_FACTOR_DEFAULT)
jvfausto 0:76ea242a637f 672 // Basically, this appears to scale the result by 2011/2048, or about 98%
jvfausto 0:76ea242a637f 673 // (with the 1024 added for proper rounding).
jvfausto 0:76ea242a637f 674 ranging_data.range_mm = ((uint32_t)range * 2011 + 0x0400) / 0x0800;
jvfausto 2:bb0cd79ef201 675 wait(.01);
jvfausto 0:76ea242a637f 676 // VL53L1_copy_sys_and_core_results_to_range_results() end
jvfausto 2:bb0cd79ef201 677
jvfausto 0:76ea242a637f 678 // set range_status in ranging_data based on value of RESULT__RANGE_STATUS register
jvfausto 0:76ea242a637f 679 // mostly based on ConvertStatusLite()
jvfausto 0:76ea242a637f 680 switch(results.range_status)
jvfausto 0:76ea242a637f 681 {
jvfausto 0:76ea242a637f 682 case 17: // MULTCLIPFAIL
jvfausto 0:76ea242a637f 683 case 2: // VCSELWATCHDOGTESTFAILURE
jvfausto 0:76ea242a637f 684 case 1: // VCSELCONTINUITYTESTFAILURE
jvfausto 0:76ea242a637f 685 case 3: // NOVHVVALUEFOUND
jvfausto 0:76ea242a637f 686 // from SetSimpleData()
jvfausto 0:76ea242a637f 687 ranging_data.range_status = HardwareFail;
jvfausto 0:76ea242a637f 688 break;
jvfausto 2:bb0cd79ef201 689
jvfausto 0:76ea242a637f 690 case 13: // USERROICLIP
jvfausto 0:76ea242a637f 691 // from SetSimpleData()
jvfausto 0:76ea242a637f 692 ranging_data.range_status = MinRangeFail;
jvfausto 0:76ea242a637f 693 break;
jvfausto 2:bb0cd79ef201 694
jvfausto 0:76ea242a637f 695 case 18: // GPHSTREAMCOUNT0READY
jvfausto 0:76ea242a637f 696 ranging_data.range_status = SynchronizationInt;
jvfausto 0:76ea242a637f 697 break;
jvfausto 2:bb0cd79ef201 698
jvfausto 0:76ea242a637f 699 case 5: // RANGEPHASECHECK
jvfausto 0:76ea242a637f 700 ranging_data.range_status = OutOfBoundsFail;
jvfausto 0:76ea242a637f 701 break;
jvfausto 2:bb0cd79ef201 702
jvfausto 0:76ea242a637f 703 case 4: // MSRCNOTARGET
jvfausto 0:76ea242a637f 704 ranging_data.range_status = SignalFail;
jvfausto 0:76ea242a637f 705 break;
jvfausto 2:bb0cd79ef201 706
jvfausto 0:76ea242a637f 707 case 6: // SIGMATHRESHOLDCHECK
jvfausto 0:76ea242a637f 708 ranging_data.range_status = SignalFail;
jvfausto 0:76ea242a637f 709 break;
jvfausto 2:bb0cd79ef201 710
jvfausto 0:76ea242a637f 711 case 7: // PHASECONSISTENCY
jvfausto 0:76ea242a637f 712 ranging_data.range_status = WrapTargetFail;
jvfausto 0:76ea242a637f 713 break;
jvfausto 2:bb0cd79ef201 714
jvfausto 0:76ea242a637f 715 case 12: // RANGEIGNORETHRESHOLD
jvfausto 0:76ea242a637f 716 ranging_data.range_status = XtalkSignalFail;
jvfausto 0:76ea242a637f 717 break;
jvfausto 2:bb0cd79ef201 718
jvfausto 0:76ea242a637f 719 case 8: // MINCLIP
jvfausto 0:76ea242a637f 720 ranging_data.range_status = RangeValidMinRangeClipped;
jvfausto 0:76ea242a637f 721 break;
jvfausto 2:bb0cd79ef201 722
jvfausto 0:76ea242a637f 723 case 9: // RANGECOMPLETE
jvfausto 0:76ea242a637f 724 // from VL53L1_copy_sys_and_core_results_to_range_results()
jvfausto 0:76ea242a637f 725 if (results.stream_count == 0)
jvfausto 0:76ea242a637f 726 {
jvfausto 0:76ea242a637f 727 ranging_data.range_status = RangeValidNoWrapCheckFail;
jvfausto 0:76ea242a637f 728 }
jvfausto 0:76ea242a637f 729 else
jvfausto 0:76ea242a637f 730 {
jvfausto 0:76ea242a637f 731 ranging_data.range_status = RangeValid;
jvfausto 0:76ea242a637f 732 }
jvfausto 0:76ea242a637f 733 break;
jvfausto 2:bb0cd79ef201 734
jvfausto 0:76ea242a637f 735 default:
jvfausto 0:76ea242a637f 736 ranging_data.range_status = None;
jvfausto 0:76ea242a637f 737 }
jvfausto 2:bb0cd79ef201 738
jvfausto 0:76ea242a637f 739 // from SetSimpleData()
jvfausto 0:76ea242a637f 740 ranging_data.peak_signal_count_rate_MCPS =
jvfausto 0:76ea242a637f 741 countRateFixedToFloat(results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0);
jvfausto 0:76ea242a637f 742 ranging_data.ambient_count_rate_MCPS =
jvfausto 0:76ea242a637f 743 countRateFixedToFloat(results.ambient_count_rate_mcps_sd0);
jvfausto 0:76ea242a637f 744 }
jvfausto 2:bb0cd79ef201 745
jvfausto 0:76ea242a637f 746 // Decode sequence step timeout in MCLKs from register value
jvfausto 0:76ea242a637f 747 // based on VL53L1_decode_timeout()
jvfausto 0:76ea242a637f 748 uint32_t VL53L1X::decodeTimeout(uint16_t reg_val)
jvfausto 0:76ea242a637f 749 {
jvfausto 0:76ea242a637f 750 return ((uint32_t)(reg_val & 0xFF) << (reg_val >> 8)) + 1;
jvfausto 0:76ea242a637f 751 }
jvfausto 2:bb0cd79ef201 752
jvfausto 0:76ea242a637f 753 // Encode sequence step timeout register value from timeout in MCLKs
jvfausto 0:76ea242a637f 754 // based on VL53L1_encode_timeout()
jvfausto 0:76ea242a637f 755 uint16_t VL53L1X::encodeTimeout(uint32_t timeout_mclks)
jvfausto 0:76ea242a637f 756 {
jvfausto 0:76ea242a637f 757 // encoded format: "(LSByte * 2^MSByte) + 1"
jvfausto 2:bb0cd79ef201 758
jvfausto 0:76ea242a637f 759 uint32_t ls_byte = 0;
jvfausto 0:76ea242a637f 760 uint16_t ms_byte = 0;
jvfausto 2:bb0cd79ef201 761
jvfausto 0:76ea242a637f 762 if (timeout_mclks > 0)
jvfausto 0:76ea242a637f 763 {
jvfausto 0:76ea242a637f 764 ls_byte = timeout_mclks - 1;
jvfausto 2:bb0cd79ef201 765
jvfausto 0:76ea242a637f 766 while ((ls_byte & 0xFFFFFF00) > 0)
jvfausto 0:76ea242a637f 767 {
jvfausto 0:76ea242a637f 768 ls_byte >>= 1;
jvfausto 0:76ea242a637f 769 ms_byte++;
jvfausto 0:76ea242a637f 770 }
jvfausto 2:bb0cd79ef201 771
jvfausto 0:76ea242a637f 772 return (ms_byte << 8) | (ls_byte & 0xFF);
jvfausto 0:76ea242a637f 773 }
jvfausto 0:76ea242a637f 774 else { return 0; }
jvfausto 0:76ea242a637f 775 }
jvfausto 2:bb0cd79ef201 776
jvfausto 0:76ea242a637f 777 // Convert sequence step timeout from macro periods to microseconds with given
jvfausto 0:76ea242a637f 778 // macro period in microseconds (12.12 format)
jvfausto 0:76ea242a637f 779 // based on VL53L1_calc_timeout_us()
jvfausto 0:76ea242a637f 780 uint32_t VL53L1X::timeoutMclksToMicroseconds(uint32_t timeout_mclks, uint32_t macro_period_us)
jvfausto 0:76ea242a637f 781 {
jvfausto 0:76ea242a637f 782 return ((uint64_t)timeout_mclks * macro_period_us + 0x800) >> 12;
jvfausto 0:76ea242a637f 783 }
jvfausto 2:bb0cd79ef201 784
jvfausto 0:76ea242a637f 785 // Convert sequence step timeout from microseconds to macro periods with given
jvfausto 0:76ea242a637f 786 // macro period in microseconds (12.12 format)
jvfausto 0:76ea242a637f 787 // based on VL53L1_calc_timeout_mclks()
jvfausto 0:76ea242a637f 788 uint32_t VL53L1X::timeoutMicrosecondsToMclks(uint32_t timeout_us, uint32_t macro_period_us)
jvfausto 0:76ea242a637f 789 {
jvfausto 0:76ea242a637f 790 return (((uint32_t)timeout_us << 12) + (macro_period_us >> 1)) / macro_period_us;
jvfausto 0:76ea242a637f 791 }
jvfausto 2:bb0cd79ef201 792
jvfausto 0:76ea242a637f 793 // Calculate macro period in microseconds (12.12 format) with given VCSEL period
jvfausto 0:76ea242a637f 794 // assumes fast_osc_frequency has been read and stored
jvfausto 0:76ea242a637f 795 // based on VL53L1_calc_macro_period_us()
jvfausto 0:76ea242a637f 796 uint32_t VL53L1X::calcMacroPeriod(uint8_t vcsel_period)
jvfausto 0:76ea242a637f 797 {
jvfausto 0:76ea242a637f 798 // from VL53L1_calc_pll_period_us()
jvfausto 0:76ea242a637f 799 // fast osc frequency in 4.12 format; PLL period in 0.24 format
jvfausto 0:76ea242a637f 800 uint32_t pll_period_us = ((uint32_t)0x01 << 30) / fast_osc_frequency;
jvfausto 2:bb0cd79ef201 801
jvfausto 0:76ea242a637f 802 // from VL53L1_decode_vcsel_period()
jvfausto 0:76ea242a637f 803 uint8_t vcsel_period_pclks = (vcsel_period + 1) << 1;
jvfausto 2:bb0cd79ef201 804
jvfausto 0:76ea242a637f 805 // VL53L1_MACRO_PERIOD_VCSEL_PERIODS = 2304
jvfausto 0:76ea242a637f 806 uint32_t macro_period_us = (uint32_t)2304 * pll_period_us;
jvfausto 0:76ea242a637f 807 macro_period_us >>= 6;
jvfausto 0:76ea242a637f 808 macro_period_us *= vcsel_period_pclks;
jvfausto 0:76ea242a637f 809 macro_period_us >>= 6;
jvfausto 2:bb0cd79ef201 810
jvfausto 0:76ea242a637f 811 return macro_period_us;
jvfausto 0:76ea242a637f 812 }