Kenji Arai
/
VL53L0X_simple
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Dependents: Check_VL53L0X_simple_with_three_ToF Check_VL53L0X_simple_ToF_Sensor Check_VL53L0X_simple_with_three_ToF Check_VL53L0X_simple_ToF_Sensor ... more
Diff: VL53L0X.h
- Revision:
- 5:ac6604b75d50
- Parent:
- 4:d25c4fa216af
- Child:
- 6:083fbed585c5
diff -r d25c4fa216af -r ac6604b75d50 VL53L0X.h
--- a/VL53L0X.h Mon Dec 18 08:27:21 2017 +0000
+++ b/VL53L0X.h Sun Feb 04 02:27:01 2018 +0000
@@ -29,7 +29,14 @@
#ifndef __VL53L0X_CLASS_H
#define __VL53L0X_CLASS_H
+//------- Feburary 4th, 2018 by JH1PJL / K.Arai --------------------------------
+//ORIGINAL=1 does NOT mean anything but just keep original source code as it is!
+//You can NOT compile with ORIGINAL=1 !!
+#define ORIGINAL 0 // Just keep = 0
+#define USE_I2C_2V8
+//------------------------------------------------------------------------------
+#if ORIGINAL
#ifdef _MSC_VER
# ifdef VL53L0X_API_EXPORTS
# define VL53L0X_API __declspec(dllexport)
@@ -39,236 +46,27 @@
#else
# define VL53L0X_API
#endif
-
+#endif
/* Includes ------------------------------------------------------------------*/
#include "mbed.h"
+#if ORIGINAL
#include "RangeSensor.h"
#include "DevI2C.h"
#include "PinNames.h"
+#endif
#include "VL53L0X_def.h"
#include "VL53L0X_platform.h"
+#if ORIGINAL
#include "Stmpe1600.h"
-
-
-/**
- * The device model ID
- */
-#define IDENTIFICATION_MODEL_ID 0x000
-
-
-#define STATUS_OK 0x00
-#define STATUS_FAIL 0x01
-
-#define VL53L0X_OsDelay(...) wait_ms(2) // 2 msec delay. can also use wait(float secs)/wait_us(int)
-
-#ifdef USE_EMPTY_STRING
-#define VL53L0X_STRING_DEVICE_INFO_NAME ""
-#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 ""
-#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 ""
-#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 ""
-#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 ""
-#define VL53L0X_STRING_DEVICE_INFO_TYPE ""
-
-/* PAL ERROR strings */
-#define VL53L0X_STRING_ERROR_NONE ""
-#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING ""
-#define VL53L0X_STRING_ERROR_MIN_CLIPPED ""
-#define VL53L0X_STRING_ERROR_UNDEFINED ""
-#define VL53L0X_STRING_ERROR_INVALID_PARAMS ""
-#define VL53L0X_STRING_ERROR_NOT_SUPPORTED ""
-#define VL53L0X_STRING_ERROR_RANGE_ERROR ""
-#define VL53L0X_STRING_ERROR_TIME_OUT ""
-#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED ""
-#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL ""
-#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING ""
-#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ""
-#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE ""
-#define VL53L0X_STRING_ERROR_INVALID_COMMAND ""
-#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO ""
-#define VL53L0X_STRING_ERROR_REF_SPAD_INIT ""
-#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED ""
-
-#define VL53L0X_STRING_UNKNOW_ERROR_CODE ""
-
-
-
-/* Range Status */
-#define VL53L0X_STRING_RANGESTATUS_NONE ""
-#define VL53L0X_STRING_RANGESTATUS_RANGEVALID ""
-#define VL53L0X_STRING_RANGESTATUS_SIGMA ""
-#define VL53L0X_STRING_RANGESTATUS_SIGNAL ""
-#define VL53L0X_STRING_RANGESTATUS_MINRANGE ""
-#define VL53L0X_STRING_RANGESTATUS_PHASE ""
-#define VL53L0X_STRING_RANGESTATUS_HW ""
-
-
-/* Range Status */
-#define VL53L0X_STRING_STATE_POWERDOWN ""
-#define VL53L0X_STRING_STATE_WAIT_STATICINIT ""
-#define VL53L0X_STRING_STATE_STANDBY ""
-#define VL53L0X_STRING_STATE_IDLE ""
-#define VL53L0X_STRING_STATE_RUNNING ""
-#define VL53L0X_STRING_STATE_UNKNOWN ""
-#define VL53L0X_STRING_STATE_ERROR ""
-
-
-/* Device Specific */
-#define VL53L0X_STRING_DEVICEERROR_NONE ""
-#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ""
-#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ""
-#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND ""
-#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET ""
-#define VL53L0X_STRING_DEVICEERROR_SNRCHECK ""
-#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK ""
-#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK ""
-#define VL53L0X_STRING_DEVICEERROR_TCC ""
-#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY ""
-#define VL53L0X_STRING_DEVICEERROR_MINCLIP ""
-#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE ""
-#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW ""
-#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW ""
-#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD ""
-#define VL53L0X_STRING_DEVICEERROR_UNKNOWN ""
-
-/* Check Enable */
-#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE ""
-#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE ""
-#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP ""
-#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD ""
-
-/* Sequence Step */
-#define VL53L0X_STRING_SEQUENCESTEP_TCC ""
-#define VL53L0X_STRING_SEQUENCESTEP_DSS ""
-#define VL53L0X_STRING_SEQUENCESTEP_MSRC ""
-#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE ""
-#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE ""
-#else
-#define VL53L0X_STRING_DEVICE_INFO_NAME "VL53L0X cut1.0"
-#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 "VL53L0X TS0"
-#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 "VL53L0X TS1"
-#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 "VL53L0X TS2"
-#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 "VL53L0X ES1 or later"
-#define VL53L0X_STRING_DEVICE_INFO_TYPE "VL53L0X"
+#endif
-/* PAL ERROR strings */
-#define VL53L0X_STRING_ERROR_NONE \
- "No Error"
-#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING \
- "Calibration Warning Error"
-#define VL53L0X_STRING_ERROR_MIN_CLIPPED \
- "Min clipped error"
-#define VL53L0X_STRING_ERROR_UNDEFINED \
- "Undefined error"
-#define VL53L0X_STRING_ERROR_INVALID_PARAMS \
- "Invalid parameters error"
-#define VL53L0X_STRING_ERROR_NOT_SUPPORTED \
- "Not supported error"
-#define VL53L0X_STRING_ERROR_RANGE_ERROR \
- "Range error"
-#define VL53L0X_STRING_ERROR_TIME_OUT \
- "Time out error"
-#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED \
- "Mode not supported error"
-#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL \
- "Buffer too small"
-#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING \
- "GPIO not existing"
-#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \
- "GPIO funct not supported"
-#define VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED \
- "Interrupt not Cleared"
-#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE \
- "Control Interface Error"
-#define VL53L0X_STRING_ERROR_INVALID_COMMAND \
- "Invalid Command Error"
-#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO \
- "Division by zero Error"
-#define VL53L0X_STRING_ERROR_REF_SPAD_INIT \
- "Reference Spad Init Error"
-#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED \
- "Not implemented error"
-
-#define VL53L0X_STRING_UNKNOW_ERROR_CODE \
- "Unknown Error Code"
-
-
-
-/* Range Status */
-#define VL53L0X_STRING_RANGESTATUS_NONE "No Update"
-#define VL53L0X_STRING_RANGESTATUS_RANGEVALID "Range Valid"
-#define VL53L0X_STRING_RANGESTATUS_SIGMA "Sigma Fail"
-#define VL53L0X_STRING_RANGESTATUS_SIGNAL "Signal Fail"
-#define VL53L0X_STRING_RANGESTATUS_MINRANGE "Min Range Fail"
-#define VL53L0X_STRING_RANGESTATUS_PHASE "Phase Fail"
-#define VL53L0X_STRING_RANGESTATUS_HW "Hardware Fail"
-
-
-/* Range Status */
-#define VL53L0X_STRING_STATE_POWERDOWN "POWERDOWN State"
-#define VL53L0X_STRING_STATE_WAIT_STATICINIT \
- "Wait for staticinit State"
-#define VL53L0X_STRING_STATE_STANDBY "STANDBY State"
-#define VL53L0X_STRING_STATE_IDLE "IDLE State"
-#define VL53L0X_STRING_STATE_RUNNING "RUNNING State"
-#define VL53L0X_STRING_STATE_UNKNOWN "UNKNOWN State"
-#define VL53L0X_STRING_STATE_ERROR "ERROR State"
-
-
-/* Device Specific */
-#define VL53L0X_STRING_DEVICEERROR_NONE "No Update"
-#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \
- "VCSEL Continuity Test Failure"
-#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \
- "VCSEL Watchdog Test Failure"
-#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND \
- "No VHV Value found"
-#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET \
- "MSRC No Target Error"
-#define VL53L0X_STRING_DEVICEERROR_SNRCHECK \
- "SNR Check Exit"
-#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK \
- "Range Phase Check Error"
-#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK \
- "Sigma Threshold Check Error"
-#define VL53L0X_STRING_DEVICEERROR_TCC \
- "TCC Error"
-#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY \
- "Phase Consistency Error"
-#define VL53L0X_STRING_DEVICEERROR_MINCLIP \
- "Min Clip Error"
-#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE \
- "Range Complete"
-#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW \
- "Range Algo Underflow Error"
-#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW \
- "Range Algo Overlow Error"
-#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \
- "Range Ignore Threshold Error"
-#define VL53L0X_STRING_DEVICEERROR_UNKNOWN \
- "Unknown error code"
-
-/* Check Enable */
-#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \
- "SIGMA FINAL RANGE"
-#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \
- "SIGNAL RATE FINAL RANGE"
-#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP \
- "SIGNAL REF CLIP"
-#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \
- "RANGE IGNORE THRESHOLD"
-#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC \
- "SIGNAL RATE MSRC"
-#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE \
- "SIGNAL RATE PRE RANGE"
-
-/* Sequence Step */
-#define VL53L0X_STRING_SEQUENCESTEP_TCC "TCC"
-#define VL53L0X_STRING_SEQUENCESTEP_DSS "DSS"
-#define VL53L0X_STRING_SEQUENCESTEP_MSRC "MSRC"
-#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE "PRE RANGE"
-#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE "FINAL RANGE"
-#endif /* USE_EMPTY_STRING */
+#if !ORIGINAL
+//------- Feburary 4th, 2018 by JH1PJL / K.Arai --------------------------------
+// moved to following header file
+#include "VL53L0X_1st.h"
+//------------------------------------------------------------------------------
+#endif
/* sensor operating modes */
typedef enum {
@@ -283,54 +81,115 @@
range_continuous_interrupt_out_of_window,
} OperatingMode;
+#if !ORIGINAL
+/* sensor range profiles */
+typedef enum {
+ range_long_distance_33ms_200cm = 1,
+ range_hi_accurate_200ms_120cm,
+ range_hi_speed_20ms_120cm,
+} RangeProfile;
+#endif
+
/** default device address */
+#if ORIGINAL
#define VL53L0X_DEFAULT_ADDRESS 0x52 /* (8-bit) */
+#else
+// No other choice
+#define VL53L0X_DEFAULT_ADDRESS 0x52 // 8-bit(0x53/Read & 0x52?Write) 0x29(7bit)
+#endif
+
+#if !ORIGINAL
+#if (MBED_MAJOR_VERSION == 2)
+#define WAIT_MS(x) wait_ms(x)
+#define VL53L0X_OsDelay(...) wait_ms(2)
+#elif (MBED_MAJOR_VERSION == 5)
+#define WAIT_MS(x) Thread::wait(x)
+#define VL53L0X_OsDelay(...) Thread::wait(2)
+#else
+#warning "I cannot control wait_ms()!!"
+#endif
+#endif // !ORIGINAL
+
+#if !ORIGINAL
+//--------------- Simple debug -------------------------------------------------
+//extern DigitalOut myled;
+//------------------------------------------------------------------------------
+
+/** Interface for STMicronics VL53L0X
+ * World smallest Time-of-Flight (ToF) ranging sensor
+ *
+ * @code
+ * #include "mbed.h"
+ *
+ * // I2C Communication
+ * VL53L0X sensor(I2C_SDA, I2C_SCL, D8); // SDA, SCL & XSHUT
+ * // If you connected I2C line not only this device but also other devices,
+ * // you need to declare following method.
+ * I2C i2c(I2C_SDA, I2C_SCL);
+ * VL53L0X sensor(i2c, D8); // I2C, XSHUT
+ *
+ * int main()
+ * {
+ * int status = VL53L0X_ERROR_NONE;
+ * uint32_t data;
+ *
+ * status = sensor.set_mode(range_long_distance_33ms_200cm);
+ * //status = sensor.set_mode(range_hi_accurate_200ms_120cm);
+ * //status = sensor.set_mode(range_hi_speed_20ms_120cm);
+ * while (true) {
+ * status = sensor.get_distance(&data);
+ * if (status == VL53L0X_ERROR_NONE) {
+ * printf("%5d\r\n", data);
+ * } else {
+ * printf("error\r\n");
+ * }
+ * }
+ * }
+ * @endcode
+ */
/* Classes -------------------------------------------------------------------*/
/** Class representing a VL53L0 sensor component
*/
-class VL53L0X : public RangeSensor
+class VL53L0X
{
public:
/** Constructor
* @param[in] &i2c device I2C to be used for communication
- * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
- * @param[in] dev_addr device address, 0x29 by default
+ * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName
+ * to be used as component GPIO_1 INT
*/
- VL53L0X(DevI2C *i2c, DigitalOut *pin, PinName pin_gpio1, uint8_t dev_addr = VL53L0X_DEFAULT_ADDRESS) : _dev_i2c(i2c),
- _gpio0(pin)
+ VL53L0X(I2C& i2c, PinName xshut, PinName pin_gpio1) : _i2c(i2c),
+ _gpio0(xshut)
{
- _my_device.I2cDevAddr = dev_addr;
- _my_device.comms_type = 1; // VL53L0X_COMMS_I2C
- _my_device.comms_speed_khz = 400;
- _device = &_my_device;
- _expgpio0 = NULL;
if (pin_gpio1 != NC) {
_gpio1Int = new InterruptIn(pin_gpio1);
} else {
_gpio1Int = NULL;
}
+ preparation();
+ init_sensor(VL53L0X_DEFAULT_ADDRESS);
}
- /** Constructor 2 (STMPE1600DigiOut)
- * @param[in] i2c device I2C to be used for communication
- * @param[in] &pin Gpio Expander STMPE1600DigiOut pin to be used as component GPIO_0 CE
- * @param[in] pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
- * @param[in] device address, 0x29 by default
+ /** Constructor 2 (another simple way)
+ * @param[in] Pin for I2C SDA & SDL
+ * @param[in] pin Mbed DigitalOut PinName to be used for XSHUT
*/
- VL53L0X(DevI2C *i2c, Stmpe1600DigiOut *pin, PinName pin_gpio1,
- uint8_t dev_addr = VL53L0X_DEFAULT_ADDRESS) : _dev_i2c(i2c), _expgpio0(pin)
- {
- _my_device.I2cDevAddr = dev_addr;
- _my_device.comms_type = 1; // VL53L0X_COMMS_I2C
- _my_device.comms_speed_khz = 400;
- _device = &_my_device;
- _gpio0 = NULL;
- if (pin_gpio1 != NC) {
- _gpio1Int = new InterruptIn(pin_gpio1);
- } else {
- _gpio1Int = NULL;
- }
+ VL53L0X(PinName p_sda, PinName p_scl, PinName xshut)
+ : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p), _gpio0(xshut) {
+ _gpio1Int = NULL;
+ preparation();
+ init_sensor(VL53L0X_DEFAULT_ADDRESS);
+ }
+
+ /** Constructor 3 (another simple way)
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] pin Mbed DigitalOut PinName to be used for XSHUT
+ */
+ VL53L0X(I2C& p_i2c, PinName xshut) : _i2c(p_i2c), _gpio0(xshut) {
+ _gpio1Int = NULL;
+ preparation();
+ init_sensor(VL53L0X_DEFAULT_ADDRESS);
}
/** Destructor
@@ -341,9 +200,29 @@
delete _gpio1Int;
}
}
+#else
+#warning "please recover original constractor form VL53L0X_header_original.txt"
+#endif
/*** Interface Methods ***/
/*** High level API ***/
+#if !ORIGINAL
+ /**
+ * @brief initialize
+ * @return void
+ */
+ /* turns on the sensor */
+ void preparation(void)
+ {
+ _my_device.I2cDevAddr = VL53L0X_DEFAULT_ADDRESS;
+ _my_device.comms_type = 1; // VL53L0X_COMMS_I2C
+ _my_device.comms_speed_khz = 400;
+ _device = &_my_device;
+ _gpio0 = 0;
+ _gpio0.output();
+ }
+#endif
+
/**
* @brief PowerOn the sensor
* @return void
@@ -351,6 +230,7 @@
/* turns on the sensor */
void VL53L0X_on(void)
{
+#if ORIGINAL
if (_gpio0) {
*_gpio0 = 1;
} else {
@@ -359,6 +239,12 @@
}
}
wait_ms(10);
+#else
+ _gpio0.output();
+ _gpio0 = 1;
+ _gpio0.input();
+ WAIT_MS(1);
+#endif
}
/**
@@ -368,6 +254,7 @@
/* turns off the sensor */
void VL53L0X_off(void)
{
+#if ORIGINAL
if (_gpio0) {
*_gpio0 = 0;
} else {
@@ -376,174 +263,37 @@
}
}
wait_ms(10);
+#else
+ _gpio0 = 0;
+ _gpio0.output();
+ WAIT_MS(10);
+#endif
}
-
/**
* @brief Initialize the sensor with default values
* @return "0" on success
*/
int init_sensor(uint8_t new_addr);
- /**
- * @brief Start the measure indicated by operating mode
- * @param[in] operating_mode specifies requested measure
- * @param[in] fptr specifies call back function must be !NULL in case of interrupt measure
- * @return "0" on success
- */
- int start_measurement(OperatingMode operating_mode, void (*fptr)(void));
-
- /**
- * @brief Get results for the measure indicated by operating mode
- * @param[in] operating_mode specifies requested measure results
- * @param[out] p_data pointer to the MeasureData_t structure to read data in to
- * @return "0" on success
- */
- int get_measurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *p_data);
-
- /**
- * @brief Stop the currently running measure indicate by operating_mode
- * @param[in] operating_mode specifies requested measure to stop
- * @return "0" on success
- */
- int stop_measurement(OperatingMode operating_mode);
-
- /**
- * @brief Interrupt handling func to be called by user after an INT is occourred
- * @param[in] opeating_mode indicating the in progress measure
- * @param[out] Data pointer to the MeasureData_t structure to read data in to
- * @return "0" on success
- */
- int handle_irq(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *data);
-
- /**
- * @brief Enable interrupt measure IRQ
- * @return "0" on success
- */
- void enable_interrupt_measure_detection_irq(void)
- {
- if (_gpio1Int != NULL) {
- _gpio1Int->enable_irq();
- }
- }
-
- /**
- * @brief Disable interrupt measure IRQ
- * @return "0" on success
- */
- void disable_interrupt_measure_detection_irq(void)
- {
- if (_gpio1Int != NULL) {
- _gpio1Int->disable_irq();
- }
- }
-
- /**
- * @brief Attach a function to call when an interrupt is detected, i.e. measurement is ready
- * @param[in] fptr pointer to call back function to be called whenever an interrupt occours
- * @return "0" on success
- */
- void attach_interrupt_measure_detection_irq(void (*fptr)(void))
- {
- if (_gpio1Int != NULL) {
- _gpio1Int->rise(fptr);
- }
- }
-
- /** Wrapper functions */
- /** @defgroup api_init Init functions
- * @brief API init functions
- * @ingroup api_hl
- * @{
- */
/**
- *
- * @brief One time device initialization
- *
- * To be called once and only once after device is brought out of reset (Chip enable) and booted.
- *
- * @par Function Description
- * When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING
- * meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n
- * If application cannot execute device reset or need to run VL53L0X_data_init multiple time
- * then it must ensure proper offset calibration saving and restore on its own
- * by using @a VL53L0X_get_offset_calibration_data_micro_meter() on first power up and then @a VL53L0X_set_offset_calibration_data_micro_meter() all all subsequent init
- *
- * @param void
- * @return "0" on success, @a #CALIBRATION_WARNING if failed
+ * @brief Start the measure by single shot operating mode
+ * @param[in] operating mode
+ * @return "0" on success
*/
- virtual int init(void *init)
- {
- return VL53L0X_data_init(_device);
+ int set_mode(RangeProfile range_mode) {
+ _range_mode = range_mode;
+ return start_measurement(range_single_shot_polling, NULL);
}
- /**
- * @brief Prepare device for operation
- * @par Function Description
- * Does static initialization and reprogram common default settings \n
- * Device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n
- * After prepare user can : \n
- * @li Call other API function to set other settings\n
- * @li Configure the interrupt pins, etc... \n
- * @li Then start ranging or ALS operations in single shot or continuous mode
- *
- * @param void
- * @return "0" on success
- */
- int prepare()
- {
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t ref_spad_count;
- uint8_t is_aperture_spads;
- uint8_t vhv_settings;
- uint8_t phase_cal;
-
- if (status == VL53L0X_ERROR_NONE) {
- //printf("Call of VL53L0X_StaticInit\r\n");
- status = VL53L0X_static_init(_device); // Device Initialization
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- //printf("Call of VL53L0X_PerformRefCalibration\r\n");
- status = VL53L0X_perform_ref_calibration(_device,
- &vhv_settings, &phase_cal); // Device Initialization
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- //printf("Call of VL53L0X_PerformRefSpadManagement\r\n");
- status = VL53L0X_perform_ref_spad_management(_device,
- &ref_spad_count, &is_aperture_spads); // Device Initialization
-// printf ("refSpadCount = %d, isApertureSpads = %d\r\n", refSpadCount, isApertureSpads);
- }
-
- return status;
- }
-
- /**
- * @brief Start continuous ranging mode
- *
- * @details End user should ensure device is in idle state and not already running
- * @return "0" on success
- */
- int range_start_continuous_mode()
- {
- int status;
- status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
-
- if (status == VL53L0X_ERROR_NONE) {
- //printf ("Call of VL53L0X_StartMeasurement\r\n");
- status = VL53L0X_start_measurement(_device);
- }
-
- return status;
- }
-
+#if !ORIGINAL
/**
* @brief Get ranging result and only that
*
* @par Function Description
- * Unlike @a VL53L0X_get_ranging_measurement_data() this function only retrieves the range in millimeter \n
+ * Unlike @a VL53L0X_get_ranging_measurement_data()
+ * this function only retrieves the range in millimeter \n
* It does any required up-scale translation\n
* It can be called after success status polling or in interrupt mode \n
* @warning these function is not doing wrap around filtering \n
@@ -557,9 +307,14 @@
int status = 0;
VL53L0X_RangingMeasurementData_t p_ranging_measurement_data;
+#if ORIGINAL
status = start_measurement(range_single_shot_polling, NULL);
+#else
+ status = VL53L0X_start_measurement(_device);
+#endif
if (!status) {
- status = get_measurement(range_single_shot_polling, &p_ranging_measurement_data);
+ status = get_measurement(range_single_shot_polling,
+ &p_ranging_measurement_data);
}
if (p_ranging_measurement_data.RangeStatus == 0) {
// we have a valid range.
@@ -571,2221 +326,83 @@
stop_measurement(range_single_shot_polling);
return status;
}
-
- /** @} */
+#endif
- /**
- * @brief Set new device i2c address
- *
- * After completion the device will answer to the new address programmed.
- *
- * @param new_addr The new i2c address (7bit)
- * @return "0" on success
- */
- int set_device_address(int new_addr)
- {
- int status;
+#if !ORIGINAL
+//------- Feburary 4th, 2018 by JH1PJL / K.Arai --------------------------------
+// moved to following header file
+#include "VL53L0X_2nd.h"
+//------------------------------------------------------------------------------
+#else
+#warning "please recover original functions form VL53L0X_2nd.h"
+#endif
+
+private:
- status = VL53L0X_set_device_address(_device, new_addr);
- if (!status) {
- _device->I2cDevAddr = new_addr;
- }
- return status;
-
- }
+#if !ORIGINAL
+//------- Feburary 4th, 2018 by JH1PJL / K.Arai --------------------------------
+// moved to following header file
+#include "VL53L0X_3rd.h"
+//------------------------------------------------------------------------------
+#else
+#warning "please recover original functions form VL53L0X_3rd.h"
+#endif
+#if !ORIGINAL
+ static const unsigned int TEMP_BUF_SIZE = 32;
- /**
- * @brief Clear given system interrupt condition
- *
- * @par Function Description
- * Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register.
- * @param dev The device
- * @param int_clear Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR.
- * @return "0" on success
- */
- int clear_interrupt(uint8_t int_clear)
- {
- return VL53L0X_clear_interrupt_mask(_device, int_clear);
+ int i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
+ uint16_t NumByteToWrite) {
+ int ret;
+ uint8_t tmp[TEMP_BUF_SIZE];
+
+ if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
+ /* First, send device address. Then, send data and STOP condition */
+ tmp[0] = RegisterAddr;
+ memcpy(tmp+1, pBuffer, NumByteToWrite);
+ ret = _i2c.write(DeviceAddr, (const char*)tmp, NumByteToWrite+1, false);
+ if(ret) return -1;
+ return 0;
}
- /**
- *
- * @brief Get the 53L0 device
- *
- * To be called to retrive the internal device descriptor to allow usage of
- * low level API having device as parameter. To be called after set_device_address()
- * (if any).
- *
- * @par Function Description
- * To be called if low level API usage is needed as those functions requires
- * device as a parameter.TICINIT.
- *
- * @note This function return a pointer to an object internal structure
- *
- * @param dev ptr to ptr to Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error vl53l0x_get_device(VL53L0X_DEV *dev)
-{
- *dev = _device;
- return VL53L0X_ERROR_NONE;
-}
-
- /**
- *
- * @brief One time device initialization
- *
- * To be called once and only once after device is brought out of reset
- * (Chip enable) and booted see @a VL53L0X_WaitDeviceBooted()
- *
- * @par Function Description
- * When not used after a fresh device "power up" or reset, it may return
- * @a #VL53L0X_ERROR_CALIBRATION_WARNING meaning wrong calibration data
- * may have been fetched from device that can result in ranging offset error\n
- * If application cannot execute device reset or need to run VL53L0X_DataInit
- * multiple time then it must ensure proper offset calibration saving and
- * restore on its own by using @a VL53L0X_GetOffsetCalibrationData() on first
- * power up and then @a VL53L0X_SetOffsetCalibrationData() in all subsequent init
- * This function will change the VL53L0X_State from VL53L0X_STATE_POWERDOWN to
- * VL53L0X_STATE_WAIT_STATICINIT.
- *
- * @note This function accesses to the device
- *
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_data_init(VL53L0X_DEV dev);
-
- /**
- * @brief Do basic device init (and eventually patch loading)
- * This function will change the VL53L0X_State from
- * VL53L0X_STATE_WAIT_STATICINIT to VL53L0X_STATE_IDLE.
- * In this stage all default setting will be applied.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_static_init(VL53L0X_DEV dev);
-
- /**
- * @brief Perform Reference Calibration
- *
- * @details Perform a reference calibration of the Device.
- * This function should be run from time to time before doing
- * a ranging measurement.
- * This function will launch a special ranging measurement, so
- * if interrupt are enable an interrupt will be done.
- * This function will clear the interrupt generated automatically.
- *
- * @warning This function is a blocking function
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_vhv_settings Pointer to vhv settings parameter.
- * @param p_phase_cal Pointer to PhaseCal parameter.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV dev, uint8_t *p_vhv_settings,
- uint8_t *p_phase_cal);
-
- /**
- * @brief Get Reference Calibration Parameters
- *
- * @par Function Description
- * Get Reference Calibration Parameters.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_vhv_settings Pointer to VHV parameter
- * @param p_phase_cal Pointer to PhaseCal Parameter
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_ref_calibration(VL53L0X_DEV dev,
- uint8_t *p_vhv_settings, uint8_t *p_phase_cal);
-
- VL53L0X_Error VL53L0X_set_ref_calibration(VL53L0X_DEV dev,
- uint8_t vhv_settings, uint8_t phase_cal);
-
- /**
- * @brief Performs Reference Spad Management
- *
- * @par Function Description
- * The reference SPAD initialization procedure determines the minimum amount
- * of reference spads to be enables to achieve a target reference signal rate
- * and should be performed once during initialization.
- *
- * @note This function Access to the device
- *
- * @note This function change the device mode to
- * VL53L0X_DEVICEMODE_SINGLE_RANGING
- *
- * @param dev Device Handle
- * @param ref_spad_count Reports ref Spad Count
- * @param is_aperture_spads Reports if spads are of type
- * aperture or non-aperture.
- * 1:=aperture, 0:=Non-Aperture
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the Ref Spad procedure.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev,
- uint32_t *ref_spad_count, uint8_t *is_aperture_spads);
-
- /**
- * @brief Applies Reference SPAD configuration
- *
- * @par Function Description
- * This function applies a given number of reference spads, identified as
- * either Aperture or Non-Aperture.
- * The requested spad count and type are stored within the device specific
- * parameters data for access by the host.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param refSpadCount Number of ref spads.
- * @param is_aperture_spads Defines if spads are of type
- * aperture or non-aperture.
- * 1:=aperture, 0:=Non-Aperture
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference
- * spad configuration.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV dev,
- uint32_t refSpadCount, uint8_t is_aperture_spads);
-
- /**
- * @brief Retrieves SPAD configuration
- *
- * @par Function Description
- * This function retrieves the current number of applied reference spads
- * and also their type : Aperture or Non-Aperture.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_spad_count Number ref Spad Count
- * @param p_is_aperture_spads Reports if spads are of type
- * aperture or non-aperture.
- * 1:=aperture, 0:=Non-Aperture
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference
- * spad configuration.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_reference_spads(VL53L0X_DEV dev,
- uint32_t *p_spad_count, uint8_t *p_is_aperture_spads);
-
- /**
- * @brief Get part to part calibration offset
- *
- * @par Function Description
- * Should only be used after a successful call to @a VL53L0X_DataInit to backup
- * device NVM value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_offset_calibration_data_micro_meter Return part to part
- * calibration offset from device (microns)
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t *p_offset_calibration_data_micro_meter);
- /**
- * Set or over-hide part to part calibration offset
- * \sa VL53L0X_DataInit() VL53L0X_GetOffsetCalibrationDataMicroMeter()
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_offset_calibration_data_micro_meter Offset (microns)
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t offset_calibration_data_micro_meter);
-
- VL53L0X_Error VL53L0X_perform_offset_calibration(VL53L0X_DEV dev,
- FixPoint1616_t cal_distance_milli_meter,
- int32_t *p_offset_micro_meter);
-
- VL53L0X_Error VL53L0X_perform_xtalk_calibration(VL53L0X_DEV dev,
- FixPoint1616_t xtalk_cal_distance,
- FixPoint1616_t *p_xtalk_compensation_rate_mega_cps);
-
- /**
- * @brief Perform XTalk Measurement
- *
- * @details Measures the current cross talk from glass in front
- * of the sensor.
- * This functions performs a histogram measurement and uses the results
- * to measure the crosstalk. For the function to be successful, there
- * must be no target in front of the sensor.
- *
- * @warning This function is a blocking function
- *
- * @warning This function is not supported when the final range
- * vcsel clock period is set below 10 PCLKS.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param timeout_ms Histogram measurement duration.
- * @param p_xtalk_per_spad Output parameter containing the crosstalk
- * measurement result, in MCPS/Spad.
- * Format fixpoint 16:16.
- * @param p_ambient_too_high Output parameter which indicate that
- * pXtalkPerSpad is not good if the Ambient
- * is too high.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS vcsel clock period not supported
- * for this operation.
- * Must not be less than 10PCLKS.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_perform_xtalk_measurement(VL53L0X_DEV dev,
- uint32_t timeout_ms, FixPoint1616_t *p_xtalk_per_spad,
- uint8_t *p_ambient_too_high);
-
- /**
- * @brief Enable/Disable Cross talk compensation feature
- *
- * @note This function is not Implemented.
- * Enable/Disable Cross Talk by set to zero the Cross Talk value
- * by using @a VL53L0X_SetXTalkCompensationRateMegaCps().
- *
- * @param dev Device Handle
- * @param x_talk_compensation_enable Cross talk compensation
- * to be set 0=disabled else = enabled
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- */
- VL53L0X_Error VL53L0X_set_x_talk_compensation_enable(VL53L0X_DEV dev,
- uint8_t x_talk_compensation_enable);
-
- /**
- * @brief Get Cross talk compensation rate
- *
- * @note This function is not Implemented.
- * Enable/Disable Cross Talk by set to zero the Cross Talk value by
- * using @a VL53L0X_SetXTalkCompensationRateMegaCps().
- *
- * @param dev Device Handle
- * @param p_x_talk_compensation_enable Pointer to the Cross talk compensation
- * state 0=disabled or 1 = enabled
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- */
- VL53L0X_Error VL53L0X_get_x_talk_compensation_enable(VL53L0X_DEV dev,
- uint8_t *p_x_talk_compensation_enable);
- /**
- * @brief Set Cross talk compensation rate
- *
- * @par Function Description
- * Set Cross talk compensation rate.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param x_talk_compensation_rate_mega_cps Compensation rate in
- * Mega counts per second
- * (16.16 fix point) see
- * datasheet for details
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_x_talk_compensation_rate_mega_cps(VL53L0X_DEV dev,
- FixPoint1616_t x_talk_compensation_rate_mega_cps);
-
- /**
- * @brief Get Cross talk compensation rate
- *
- * @par Function Description
- * Get Cross talk compensation rate.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_xtalk_compensation_rate_mega_cps Pointer to Compensation rate
- * in Mega counts per second
- * (16.16 fix point) see
- * datasheet for details
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_x_talk_compensation_rate_mega_cps(VL53L0X_DEV dev,
- FixPoint1616_t *p_xtalk_compensation_rate_mega_cps);
-
- /**
- * @brief Set a new device mode
- * @par Function Description
- * Set device to a new mode (ranging, histogram ...)
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param device_mode New device mode to apply
- * Valid values are:
- * VL53L0X_DEVICEMODE_SINGLE_RANGING
- * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING
- * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING
- * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
- * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
- * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
- * VL53L0X_HISTOGRAMMODE_BOTH
- *
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
- * DeviceMode is not in the
- * supported list
- */
- VL53L0X_Error VL53L0X_set_device_mode(VL53L0X_DEV dev, VL53L0X_DeviceModes device_mode);
-
- /**
- * @brief Get current new device mode
- * @par Function Description
- * Get actual mode of the device(ranging, histogram ...)
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param p_device_mode Pointer to current apply mode value
- * Valid values are:
- * VL53L0X_DEVICEMODE_SINGLE_RANGING
- * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING
- * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING
- * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
- * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
- * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
- * VL53L0X_HISTOGRAMMODE_BOTH
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
- * DeviceMode is not in the
- * supported list
- */
- VL53L0X_Error VL53L0X_get_device_mode(VL53L0X_DEV dev,
- VL53L0X_DeviceModes *p_device_mode);
-
- /**
- * @brief Get current configuration for GPIO pin for a given device
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param pin ID of the GPIO Pin
- * @param p_device_mode Pointer to Device Mode associated to the Gpio.
- * @param p_functionality Pointer to Pin functionality.
- * Refer to ::VL53L0X_GpioFunctionality
- * @param p_polarity Pointer to interrupt polarity.
- * Active high or active low see
- * ::VL53L0X_InterruptPolarity
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted.
- * @return VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED
- * This error occurs
- * when Funcionality programmed is not in the supported list:
- * Supported value are:
- * VL53L0X_GPIOFUNCTIONALITY_OFF,
- * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW,
- * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH,
- * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT,
- * VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_gpio_config(VL53L0X_DEV dev, uint8_t pin,
- VL53L0X_DeviceModes *p_device_mode,
- VL53L0X_GpioFunctionality *p_functionality,
- VL53L0X_InterruptPolarity *p_polarity);
-
- /**
- * @brief Set the configuration of GPIO pin for a given device
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param pin ID of the GPIO Pin
- * @param functionality Select Pin functionality.
- * Refer to ::VL53L0X_GpioFunctionality
- * @param device_mode Device Mode associated to the Gpio.
- * @param polarity Set interrupt polarity. Active high
- * or active low see ::VL53L0X_InterruptPolarity
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted.
- * @return VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED This error occurs
- * when Functionality programmed is not in the supported list:
- * Supported value are:
- * VL53L0X_GPIOFUNCTIONALITY_OFF,
- * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW,
- * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH,
- VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT,
- * VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_gpio_config(VL53L0X_DEV dev, uint8_t pin,
- VL53L0X_DeviceModes device_mode, VL53L0X_GpioFunctionality functionality,
- VL53L0X_InterruptPolarity polarity);
-
- /**
- * @brief Start device measurement
- *
- * @details Started measurement will depend on device parameters set through
- * @a VL53L0X_SetParameters()
- * This is a non-blocking function.
- * This function will change the VL53L0X_State from VL53L0X_STATE_IDLE to
- * VL53L0X_STATE_RUNNING.
- *
- * @note This function Access to the device
- *
-
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
- * DeviceMode programmed with @a VL53L0X_SetDeviceMode is not in the supported
- * list:
- * Supported mode are:
- * VL53L0X_DEVICEMODE_SINGLE_RANGING,
- * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
- * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING
- * @return VL53L0X_ERROR_TIME_OUT Time out on start measurement
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_start_measurement(VL53L0X_DEV dev);
-
- /**
- * @brief Stop device measurement
- *
- * @details Will set the device in standby mode at end of current measurement\n
- * Not necessary in single mode as device shall return automatically
- * in standby mode at end of measurement.
- * This function will change the VL53L0X_State from VL53L0X_STATE_RUNNING
- * to VL53L0X_STATE_IDLE.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_stop_measurement(VL53L0X_DEV dev);
-
- /**
- * @brief Return device stop completion status
- *
- * @par Function Description
- * Returns stop completiob status.
- * User shall call this function after a stop command
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_stop_status Pointer to status variable to update
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_stop_completed_status(VL53L0X_DEV dev,
- uint32_t *p_stop_status);
-
- /**
- * @brief Return Measurement Data Ready
- *
- * @par Function Description
- * This function indicate that a measurement data is ready.
- * This function check if interrupt mode is used then check is done accordingly.
- * If perform function clear the interrupt, this function will not work,
- * like in case of @a VL53L0X_PerformSingleRangingMeasurement().
- * The previous function is blocking function, VL53L0X_GetMeasurementDataReady
- * is used for non-blocking capture.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_measurement_data_ready Pointer to Measurement Data Ready.
- * 0=data not ready, 1 = data ready
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_measurement_data_ready(VL53L0X_DEV dev,
- uint8_t *p_measurement_data_ready);
-
- /**
- * @brief Retrieve the measurements from device for a given setup
- *
- * @par Function Description
- * Get data from last successful Ranging measurement
- * @warning USER should take care about @a VL53L0X_GetNumberOfROIZones()
- * before get data.
- * PAL will fill a NumberOfROIZones times the corresponding data
- * structure used in the measurement function.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_ranging_measurement_data Pointer to the data structure to fill up.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_ranging_measurement_data(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data);
-
- /**
- * @brief Clear given system interrupt condition
- *
- * @par Function Description
- * Clear given interrupt(s).
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param interrupt_mask Mask of interrupts to clear
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INTERRUPT_NOT_CLEARED Cannot clear interrupts
- *
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_clear_interrupt_mask(VL53L0X_DEV dev, uint32_t interrupt_mask);
-
- /**
- * @brief Return device interrupt status
- *
- * @par Function Description
- * Returns currently raised interrupts by the device.
- * User shall be able to activate/deactivate interrupts through
- * @a VL53L0X_SetGpioConfig()
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_interrupt_mask_status Pointer to status variable to update
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_interrupt_mask_status(VL53L0X_DEV dev,
- uint32_t *p_interrupt_mask_status);
-
- /**
- * @brief Performs a single ranging measurement and retrieve the ranging
- * measurement data
- *
- * @par Function Description
- * This function will change the device mode to VL53L0X_DEVICEMODE_SINGLE_RANGING
- * with @a VL53L0X_SetDeviceMode(),
- * It performs measurement with @a VL53L0X_PerformSingleMeasurement()
- * It get data from last successful Ranging measurement with
- * @a VL53L0X_GetRangingMeasurementData.
- * Finally it clear the interrupt with @a VL53L0X_ClearInterruptMask().
- *
- * @note This function Access to the device
- *
- * @note This function change the device mode to
- * VL53L0X_DEVICEMODE_SINGLE_RANGING
- *
- * @param dev Device Handle
- * @param p_ranging_measurement_data Pointer to the data structure to fill up.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_perform_single_ranging_measurement(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data);
-
- /**
- * @brief Single shot measurement.
- *
- * @par Function Description
- * Perform simple measurement sequence (Start measure, Wait measure to end,
- * and returns when measurement is done).
- * Once function returns, user can get valid data by calling
- * VL53L0X_GetRangingMeasurement or VL53L0X_GetHistogramMeasurement
- * depending on defined measurement mode
- * User should Clear the interrupt in case this are enabled by using the
- * function VL53L0X_ClearInterruptMask().
- *
- * @warning This function is a blocking function
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_perform_single_measurement(VL53L0X_DEV dev);
-
- /**
- * @brief Read current status of the error register for the selected device
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_device_error_status Pointer to current error code of the device
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_device_error_status(VL53L0X_DEV dev,
- VL53L0X_DeviceError *p_device_error_status);
-
- /**
- * @brief Human readable error string for a given Error Code
- *
- * @note This function doesn't access to the device
- *
- * @param error_code The error code as stored on ::VL53L0X_DeviceError
- * @param p_device_error_string The error string corresponding to the ErrorCode
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_device_error_string(
- VL53L0X_DeviceError error_code, char *p_device_error_string);
-
- /**
- * @brief Human readable Range Status string for a given RangeStatus
- *
- * @note This function doesn't access to the device
- *
- * @param range_status The RangeStatus code as stored on
- * @a VL53L0X_RangingMeasurementData_t
- * @param p_range_status_string The returned RangeStatus string.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_range_status_string(uint8_t range_status,
- char *p_range_status_string);
-
- VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_total_signal_rate_mcps);
-
- VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_total_xtalk_rate_mcps);
-
- /**
- * @brief Get Ranging Timing Budget in microseconds
- *
- * @par Function Description
- * Returns the programmed the maximum time allowed by the user to the
- * device to run a full ranging sequence for the current mode
- * (ranging, histogram, ASL ...)
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_measurement_timing_budget_micro_seconds Max measurement time in
- * microseconds.
- * Valid values are:
- * >= 17000 microsecs when wraparound enabled
- * >= 12000 microsecs when wraparound disabled
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t *p_measurement_timing_budget_micro_seconds);
-
- /**
- * @brief Set Ranging Timing Budget in microseconds
- *
- * @par Function Description
- * Defines the maximum time allowed by the user to the device to run a
- * full ranging sequence for the current mode (ranging, histogram, ASL ...)
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param measurement_timing_budget_micro_seconds Max measurement time in
- * microseconds.
- * Valid values are:
- * >= 17000 microsecs when wraparound enabled
- * >= 12000 microsecs when wraparound disabled
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned if
- MeasurementTimingBudgetMicroSeconds out of range
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t measurement_timing_budget_micro_seconds);
-
- /**
- * @brief Get specific limit check enable state
- *
- * @par Function Description
- * This function get the enable state of a specific limit check.
- * The limit check is identified with the LimitCheckId.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param limit_check_id Limit Check ID
- * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
- * @param p_limit_check_enable Pointer to the check limit enable
- * value.
- * if 1 the check limit
- * corresponding to LimitCheckId is Enabled
- * if 0 the check limit
- * corresponding to LimitCheckId is disabled
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned
- * when LimitCheckId value is out of range.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
- uint8_t *p_limit_check_enable);
-
- /**
- * @brief Enable/Disable a specific limit check
- *
- * @par Function Description
- * This function Enable/Disable a specific limit check.
- * The limit check is identified with the LimitCheckId.
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param limit_check_id Limit Check ID
- * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
- * @param limit_check_enable if 1 the check limit
- * corresponding to LimitCheckId is Enabled
- * if 0 the check limit
- * corresponding to LimitCheckId is disabled
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned
- * when LimitCheckId value is out of range.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
- uint8_t limit_check_enable);
-
- /**
- * @brief Get a specific limit check value
- *
- * @par Function Description
- * This function get a specific limit check value from device then it updates
- * internal values and check enables.
- * The limit check is identified with the LimitCheckId.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param limit_check_id Limit Check ID
- * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
- * @param p_limit_check_value Pointer to Limit
- * check Value for a given LimitCheckId.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned
- * when LimitCheckId value is out of range.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
- FixPoint1616_t *p_limit_check_value);
-
- /**
- * @brief Set a specific limit check value
- *
- * @par Function Description
- * This function set a specific limit check value.
- * The limit check is identified with the LimitCheckId.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param limit_check_id Limit Check ID
- * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
- * @param limit_check_value Limit check Value for a given
- * LimitCheckId
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned when either
- * LimitCheckId or LimitCheckValue value is out of range.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
- FixPoint1616_t limit_check_value);
-
- /**
- * @brief Get the current value of the signal used for the limit check
- *
- * @par Function Description
- * This function get a the current value of the signal used for the limit check.
- * To obtain the latest value you should run a ranging before.
- * The value reported is linked to the limit check identified with the
- * LimitCheckId.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param limit_check_id Limit Check ID
- * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
- * @param p_limit_check_current Pointer to current Value for a
- * given LimitCheckId.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned when
- * LimitCheckId value is out of range.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_limit_check_current(VL53L0X_DEV dev, uint16_t limit_check_id,
- FixPoint1616_t *p_limit_check_current);
-
- /**
- * @brief Return a the Status of the specified check limit
- *
- * @par Function Description
- * This function returns the Status of the specified check limit.
- * The value indicate if the check is fail or not.
- * The limit check is identified with the LimitCheckId.
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param limit_check_id Limit Check ID
- (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
- * @param p_limit_check_status Pointer to the
- Limit Check Status of the given check limit.
- * LimitCheckStatus :
- * 0 the check is not fail
- * 1 the check if fail or not enabled
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is
- returned when LimitCheckId value is out of range.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_limit_check_status(VL53L0X_DEV dev,
- uint16_t limit_check_id, uint8_t *p_limit_check_status);
-
- /**
- * Get continuous mode Inter-Measurement period in milliseconds
- *
- * @par Function Description
- * When trying to set too short time return INVALID_PARAMS minimal value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_inter_measurement_period_milli_seconds Pointer to programmed
- * Inter-Measurement Period in milliseconds.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_inter_measurement_period_milli_seconds(VL53L0X_DEV dev,
- uint32_t *p_inter_measurement_period_milli_seconds);
-
- /**
- * Program continuous mode Inter-Measurement period in milliseconds
- *
- * @par Function Description
- * When trying to set too short time return INVALID_PARAMS minimal value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param inter_measurement_period_milli_seconds Inter-Measurement Period in ms.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_inter_measurement_period_milli_seconds(
- VL53L0X_DEV dev, uint32_t inter_measurement_period_milli_seconds);
-
- /**
- * @brief Set new device address
- *
- * After completion the device will answer to the new address programmed.
- * This function should be called when several devices are used in parallel
- * before start programming the sensor.
- * When a single device us used, there is no need to call this function.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param device_address The new Device address
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_device_address(VL53L0X_DEV dev, uint8_t device_address);
-
- /**
- * @brief Do an hard reset or soft reset (depending on implementation) of the
- * device \nAfter call of this function, device must be in same state as right
- * after a power-up sequence.This function will change the VL53L0X_State to
- * VL53L0X_STATE_POWERDOWN.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_reset_device(VL53L0X_DEV dev);
-
- /**
- * @brief Get setup of Wrap around Check
- *
- * @par Function Description
- * This function get the wrapAround check enable parameters
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_wrap_around_check_enable Pointer to the Wrap around Check state
- * 0=disabled or 1 = enabled
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_wrap_around_check_enable(VL53L0X_DEV dev,
- uint8_t *p_wrap_around_check_enable);
-
- /**
- * @brief Enable (or disable) Wrap around Check
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param wrap_around_check_enable Wrap around Check to be set
- * 0=disabled, other = enabled
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_wrap_around_check_enable(VL53L0X_DEV dev,
- uint8_t wrap_around_check_enable);
-
- /**
- * @brief Gets the VCSEL pulse period.
- *
- * @par Function Description
- * This function retrieves the VCSEL pulse period for the given period type.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param vcsel_period_type VCSEL period identifier (pre-range|final).
- * @param p_vcsel_pulse_period_pclk Pointer to VCSEL period value.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not
- * supported.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk);
-
- /**
- * @brief Sets the VCSEL pulse period.
- *
- * @par Function Description
- * This function retrieves the VCSEL pulse period for the given period type.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param vcsel_period_type VCSEL period identifier (pre-range|final).
- * @param vcsel_pulse_period VCSEL period value
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not
- * supported.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period);
-
- /**
- * @brief Set low and high Interrupt thresholds for a given mode
- * (ranging, ALS, ...) for a given device
- *
- * @par Function Description
- * Set low and high Interrupt thresholds for a given mode (ranging, ALS, ...)
- * for a given device
- *
- * @note This function Access to the device
- *
- * @note DeviceMode is ignored for the current device
- *
- * @param dev Device Handle
- * @param device_mode Device Mode for which change thresholds
- * @param threshold_low Low threshold (mm, lux ..., depending on the mode)
- * @param threshold_high High threshold (mm, lux ..., depending on the mode)
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_interrupt_thresholds(VL53L0X_DEV dev,
- VL53L0X_DeviceModes device_mode, FixPoint1616_t threshold_low,
- FixPoint1616_t threshold_high);
-
- /**
- * @brief Get high and low Interrupt thresholds for a given mode
- * (ranging, ALS, ...) for a given device
- *
- * @par Function Description
- * Get high and low Interrupt thresholds for a given mode (ranging, ALS, ...)
- * for a given device
- *
- * @note This function Access to the device
- *
- * @note DeviceMode is ignored for the current device
- *
- * @param dev Device Handle
- * @param device_mode Device Mode from which read thresholds
- * @param p_threshold_low Low threshold (mm, lux ..., depending on the mode)
- * @param p_threshold_high High threshold (mm, lux ..., depending on the mode)
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_interrupt_thresholds(VL53L0X_DEV dev,
- VL53L0X_DeviceModes device_mode, FixPoint1616_t *p_threshold_low,
- FixPoint1616_t *p_threshold_high);
-
- /**
- * @brief Reads the Device information for given Device
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_VL53L0X_device_info Pointer to current device info for a given
- * Device
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV dev,
- VL53L0X_DeviceInfo_t *p_VL53L0X_device_info);
-
- /**
- * @brief Gets the (on/off) state of all sequence steps.
- *
- * @par Function Description
- * This function retrieves the state of all sequence step in the scheduler.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param p_scheduler_sequence_steps Pointer to struct containing result.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_sequence_step_enables(VL53L0X_DEV dev,
- VL53L0X_SchedulerSequenceSteps_t *p_scheduler_sequence_steps);
-
- /**
- * @brief Sets the (on/off) state of a requested sequence step.
- *
- * @par Function Description
- * This function enables/disables a requested sequence step.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param sequence_step_id Sequence step identifier.
- * @param sequence_step_enabled Demanded state {0=Off,1=On}
- * is enabled.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
- * supported.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_sequence_step_enable(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_step_enabled);
+ int i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
+ uint16_t NumByteToRead) {
+ int ret;
- /**
- * @brief Gets the fraction enable parameter indicating the resolution of
- * range measurements.
- *
- * @par Function Description
- * Gets the fraction enable state, which translates to the resolution of
- * range measurements as follows :Enabled:=0.25mm resolution,
- * Not Enabled:=1mm resolution.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param p_enabled Output Parameter reporting the fraction enable state.
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_fraction_enable(VL53L0X_DEV dev, uint8_t *p_enabled);
-
- /**
- * @brief Sets the resolution of range measurements.
- * @par Function Description
- * Set resolution of range measurements to either 0.25mm if
- * fraction enabled or 1mm if not enabled.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param enable Enable high resolution
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_range_fraction_enable(VL53L0X_DEV dev,
- uint8_t enable);
-
- /**
- * @brief Return the VL53L0X PAL Implementation Version
- *
- * @note This function doesn't access to the device
- *
- * @param p_version Pointer to current PAL Implementation Version
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_version(VL53L0X_Version_t *p_version);
-
- /**
- * @brief Reads the Product Revision for a for given Device
- * This function can be used to distinguish cut1.0 from cut1.1.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_product_revision_major Pointer to Product Revision Major
- * for a given Device
- * @param p_product_revision_minor Pointer to Product Revision Minor
- * for a given Device
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_product_revision(VL53L0X_DEV dev,
- uint8_t *p_product_revision_major, uint8_t *p_product_revision_minor);
-
- /**
- * @brief Retrieve current device parameters
- * @par Function Description
- * Get actual parameters of the device
- * @li Then start ranging operation.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_device_parameters Pointer to store current device parameters.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_device_parameters(VL53L0X_DEV dev,
- VL53L0X_DeviceParameters_t *p_device_parameters);
-
- /**
- * @brief Human readable error string for current PAL error status
- *
- * @note This function doesn't access to the device
- *
- * @param pal_error_code The error code as stored on @a VL53L0X_Error
- * @param p_pal_error_string The error string corresponding to the
- * PalErrorCode
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_pal_error_string(VL53L0X_Error pal_error_code,
- char *p_pal_error_string);
-
- /**
- * @brief Return the PAL Specification Version used for the current
- * implementation.
- *
- * @note This function doesn't access to the device
- *
- * @param p_pal_spec_version Pointer to current PAL Specification Version
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_pal_spec_version(
- VL53L0X_Version_t *p_pal_spec_version);
-
- /**
- * @brief Reads the internal state of the PAL for a given Device
- *
- * @note This function doesn't access to the device
- *
- * @param dev Device Handle
- * @param p_pal_state Pointer to current state of the PAL for a
- * given Device
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_pal_state(VL53L0X_DEV dev,
- VL53L0X_State *p_pal_state);
-
- /**
- * @brief Human readable PAL State string
- *
- * @note This function doesn't access to the device
- *
- * @param pal_state_code The State code as stored on @a VL53L0X_State
- * @param p_pal_state_string The State string corresponding to the
- * PalStateCode
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_pal_state_string(VL53L0X_State pal_state_code,
- char *p_pal_state_string);
-
- /*** End High level API ***/
-private:
- /* api.h functions */
-
- /**
- * @brief Wait for device booted after chip enable (hardware standby)
- * This function can be run only when VL53L0X_State is VL53L0X_STATE_POWERDOWN.
- *
- * @note This function is not Implemented
- *
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- *
- */
- VL53L0X_Error VL53L0X_wait_device_booted(VL53L0X_DEV dev);
-
-
- VL53L0X_Error sequence_step_enabled(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_config,
- uint8_t *p_sequence_step_enabled);
-
- VL53L0X_Error VL53L0X_check_and_load_interrupt_settings(VL53L0X_DEV dev,
- uint8_t start_not_stopflag);
-
-
- /* api_core.h functions */
-
- VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV dev, uint8_t option);
-
- VL53L0X_Error VL53L0X_device_read_strobe(VL53L0X_DEV dev);
-
- VL53L0X_Error wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t *p_measurement_timing_budget_micro_seconds);
-
- VL53L0X_Error wrapped_VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk);
-
- uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg);
-
- uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout);
-
- uint32_t VL53L0X_calc_timeout_us(VL53L0X_DEV dev,
- uint16_t timeout_period_mclks,
- uint8_t vcsel_period_pclks);
-
- uint32_t VL53L0X_calc_macro_period_ps(VL53L0X_DEV dev, uint8_t vcsel_period_pclks);
-
- VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV dev);
-
- VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV dev,
- uint8_t *p_tuning_setting_buffer);
-
- VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV dev,
- uint8_t device_range_status,
- FixPoint1616_t signal_rate,
- uint16_t effective_spad_rtn_count,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- uint8_t *p_pal_range_status);
- VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_sigma_estimate,
- uint32_t *p_dmax_mm);
- uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV dev,
- uint32_t timeout_period_us,
- uint8_t vcsel_period_pclks);
- uint32_t VL53L0X_isqrt(uint32_t num);
-
- uint32_t VL53L0X_quadrature_sum(uint32_t a, uint32_t b);
-
- VL53L0X_Error VL53L0X_calc_dmax(
- VL53L0X_DEV dev,
- FixPoint1616_t total_signal_rate_mcps,
- FixPoint1616_t total_corr_signal_rate_mcps,
- FixPoint1616_t pw_mult,
- uint32_t sigma_estimate_p1,
- FixPoint1616_t sigma_estimate_p2,
- uint32_t peak_vcsel_duration_us,
- uint32_t *pd_max_mm);
- VL53L0X_Error wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t measurement_timing_budget_micro_seconds);
- VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id,
- uint32_t *p_time_out_micro_secs);
- VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id,
- uint32_t timeout_micro_secs);
- uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks);
- VL53L0X_Error wrapped_VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period_pclk);
- uint8_t lv53l0x_encode_vcsel_period(uint8_t vcsel_period_pclks);
-
- /* api_calibration.h functions */
- VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV dev);
- VL53L0X_Error wrapped_VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t *p_offset_calibration_data_micro_meter);
- VL53L0X_Error wrapped_VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t offset_calibration_data_micro_meter);
- VL53L0X_Error wrapped_VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev,
- uint32_t *ref_spad_count,
- uint8_t *is_aperture_spads);
- VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV dev,
- uint8_t *p_vhv_settings, uint8_t *p_phase_cal, uint8_t get_data_enable);
- VL53L0X_Error VL53L0X_perform_vhv_calibration(VL53L0X_DEV dev,
- uint8_t *p_vhv_settings, const uint8_t get_data_enable,
- const uint8_t restore_config);
- VL53L0X_Error VL53L0X_perform_single_ref_calibration(VL53L0X_DEV dev,
- uint8_t vhv_init_byte);
- VL53L0X_Error VL53L0X_ref_calibration_io(VL53L0X_DEV dev, uint8_t read_not_write,
- uint8_t vhv_settings, uint8_t phase_cal,
- uint8_t *p_vhv_settings, uint8_t *p_phase_cal,
- const uint8_t vhv_enable, const uint8_t phase_enable);
- VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV dev,
- uint8_t *p_phase_cal, const uint8_t get_data_enable,
- const uint8_t restore_config);
- VL53L0X_Error enable_ref_spads(VL53L0X_DEV dev,
- uint8_t aperture_spads,
- uint8_t good_spad_array[],
- uint8_t spad_array[],
- uint32_t size,
- uint32_t start,
- uint32_t offset,
- uint32_t spad_count,
- uint32_t *p_last_spad);
- void get_next_good_spad(uint8_t good_spad_array[], uint32_t size,
- uint32_t curr, int32_t *p_next);
- uint8_t is_aperture(uint32_t spad_index);
- VL53L0X_Error enable_spad_bit(uint8_t spad_array[], uint32_t size,
- uint32_t spad_index);
- VL53L0X_Error set_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array);
- VL53L0X_Error get_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array);
- VL53L0X_Error perform_ref_signal_measurement(VL53L0X_DEV dev,
- uint16_t *p_ref_signal_rate);
- VL53L0X_Error wrapped_VL53L0X_set_reference_spads(VL53L0X_DEV dev,
- uint32_t count, uint8_t is_aperture_spads);
-
- /* api_strings.h functions */
- VL53L0X_Error wrapped_VL53L0X_get_device_info(VL53L0X_DEV dev,
- VL53L0X_DeviceInfo_t *p_VL53L0X_device_info);
- VL53L0X_Error VL53L0X_check_part_used(VL53L0X_DEV dev,
- uint8_t *revision,
- VL53L0X_DeviceInfo_t *p_VL53L0X_device_info);
-
- /* Read function of the ID device */
- // virtual int read_id();
- virtual int read_id(uint8_t *id);
-
- VL53L0X_Error wait_measurement_data_ready(VL53L0X_DEV dev);
-
- VL53L0X_Error wait_stop_completed(VL53L0X_DEV dev);
-
- /* Write and read functions from I2C */
- /**
- * Write single byte register
- * @param dev Device Handle
- * @param index The register index
- * @param data 8 bit register data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_write_byte(VL53L0X_DEV dev, uint8_t index, uint8_t data);
- /**
- * Write word register
- * @param dev Device Handle
- * @param index The register index
- * @param data 16 bit register data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_write_word(VL53L0X_DEV dev, uint8_t index, uint16_t data);
- /**
- * Write double word (4 byte) register
- * @param dev Device Handle
- * @param index The register index
- * @param data 32 bit register data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_write_dword(VL53L0X_DEV dev, uint8_t index, uint32_t data);
- /**
- * Read single byte register
- * @param dev Device Handle
- * @param index The register index
- * @param data pointer to 8 bit data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_read_byte(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data);
- /**
- * Read word (2byte) register
- * @param dev Device Handle
- * @param index The register index
- * @param data pointer to 16 bit data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_read_word(VL53L0X_DEV dev, uint8_t index, uint16_t *p_data);
- /**
- * Read dword (4byte) register
- * @param dev Device Handle
- * @param index The register index
- * @param data pointer to 32 bit data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_read_dword(VL53L0X_DEV dev, uint8_t index, uint32_t *p_data);
- /**
- * Threat safe Update (read/modify/write) single byte register
- *
- * Final_reg = (Initial_reg & and_data) |or_data
- *
- * @param dev Device Handle
- * @param index The register index
- * @param and_data 8 bit and data
- * @param or_data 8 bit or data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_update_byte(VL53L0X_DEV dev, uint8_t index, uint8_t and_data, uint8_t or_data);
- /**
- * Writes the supplied byte buffer to the device
- * @param dev Device Handle
- * @param index The register index
- * @param p_data Pointer to uint8_t buffer containing the data to be written
- * @param count Number of bytes in the supplied byte buffer
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_write_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count);
- /**
- * Reads the requested number of bytes from the device
- * @param dev Device Handle
- * @param index The register index
- * @param p_data Pointer to the uint8_t buffer to store read data
- * @param count Number of uint8_t's to read
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_read_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count);
-
- /**
- * @brief Writes a buffer towards the I2C peripheral device.
- * @param dev Device Handle
- * @param p_data pointer to the byte-array data to send
- * @param number_of_bytes number of bytes to be written.
- * @retval 0 if ok,
- * @retval -1 if an I2C error has occured
- * @note On some devices if NumByteToWrite is greater
- * than one, the RegisterAddr must be masked correctly!
- */
- VL53L0X_Error VL53L0X_i2c_write(uint8_t dev, uint8_t index, uint8_t *p_data, uint16_t number_of_bytes);
-
- /**
- * @brief Reads a buffer from the I2C peripheral device.
- * @param dev Device Handle
- * @param p_data pointer to the byte-array to read data in to
- * @param number_of_bytes number of bytes to be read.
- * @retval 0 if ok,
- * @retval -1 if an I2C error has occured
- * @note On some devices if NumByteToWrite is greater
- * than one, the RegisterAddr must be masked correctly!
- */
- VL53L0X_Error VL53L0X_i2c_read(uint8_t dev, uint8_t index, uint8_t *p_data, uint16_t number_of_bytes);
-
- /**
- * @brief execute delay in all polling API call
- *
- * A typical multi-thread or RTOs implementation is to sleep the task for some 5ms (with 100Hz max rate faster polling is not needed)
- * if nothing specific is need you can define it as an empty/void macro
- * @code
- * #define VL53L0X_PollingDelay(...) (void)0
- * @endcode
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_polling_delay(VL53L0X_DEV dev); /* usually best implemented as a real function */
-
- int is_present()
- {
- int status;
- uint8_t id = 0;
-
- status = read_id(&id);
- if (status) {
- VL53L0X_ErrLog("Failed to read ID device. Device not present!\n\r");
+ //--debug--
+ //myled = 1;
+ /* Send device address, with no STOP condition */
+ ret = _i2c.write(DeviceAddr, (const char*)&RegisterAddr, 1, true);
+ //--debug--
+ //myled = 0;
+ if(!ret) {
+ /* Read data, with STOP condition */
+ ret = _i2c.read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
}
- return status;
+ if(ret) return -1;
+ return 0;
}
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////
- //Added functions //
- ///////////////////////////////////////////////////////////////////////////////////////////////////////
-
- /**
- * @brief Cycle Power to Device
- *
- * @return status - status 0 = ok, 1 = error
- *
- */
- int32_t VL53L0X_cycle_power(void);
-
- uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks);
-
- VL53L0X_Error wrapped_VL53L0X_get_device_error_string(VL53L0X_DeviceError error_code,
- char *p_device_error_string);
-
- VL53L0X_Error wrapped_VL53L0X_get_limit_check_info(VL53L0X_DEV dev, uint16_t limit_check_id,
- char *p_limit_check_string);
-
- VL53L0X_Error wrapped_VL53L0X_get_pal_error_string(VL53L0X_Error pal_error_code,
- char *p_pal_error_string);
-
- VL53L0X_Error wrapped_VL53L0X_get_pal_state_string(VL53L0X_State pal_state_code,
- char *p_pal_state_string);
-
- VL53L0X_Error wrapped_VL53L0X_get_range_status_string(uint8_t range_status,
- char *p_range_status_string);
-
- VL53L0X_Error wrapped_VL53L0X_get_ref_calibration(VL53L0X_DEV dev,
- uint8_t *p_vhv_settings, uint8_t *p_phase_cal);
-
-
- VL53L0X_Error count_enabled_spads(uint8_t spad_array[],
- uint32_t byte_count, uint32_t max_spads,
- uint32_t *p_total_spads_enabled, uint8_t *p_is_aperture);
-
- VL53L0X_Error wrapped_VL53L0X_get_sequence_steps_info(VL53L0X_SequenceStepId sequence_step_id,
- char *p_sequence_steps_string);
-
-
- /**
- * @brief Gets the name of a given sequence step.
- *
- * @par Function Description
- * This function retrieves the name of sequence steps corresponding to
- * SequenceStepId.
- *
- * @note This function doesn't Accesses the device
- *
- * @param sequence_step_id Sequence step identifier.
- * @param p_sequence_steps_string Pointer to Info string
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_sequence_steps_info(VL53L0X_SequenceStepId sequence_step_id,
- char *p_sequence_steps_string);
-
- /**
- * @brief Get the frequency of the timer used for ranging results time stamps
- *
- * @param[out] p_timer_freq_hz : pointer for timer frequency
- *
- * @return status : 0 = ok, 1 = error
- *
- */
- int32_t VL53L0X_get_timer_frequency(int32_t *p_timer_freq_hz);
-
- /**
- * @brief Get the timer value in units of timer_freq_hz (see VL53L0X_get_timestamp_frequency())
- *
- * @param[out] p_timer_count : pointer for timer count value
- *
- * @return status : 0 = ok, 1 = error
- *
- */
- int32_t VL53L0X_get_timer_value(int32_t *p_timer_count);
-
- /**
- * @brief Configure ranging interrupt reported to system
- *
- * @note This function is not Implemented
- *
- * @param dev Device Handle
- * @param interrupt_mask Mask of interrupt to Enable/disable
- * (0:interrupt disabled or 1: interrupt enabled)
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- */
- VL53L0X_Error VL53L0X_enable_interrupt_mask(VL53L0X_DEV dev,
- uint32_t interrupt_mask);
-
- /**
- * @brief Get Dmax Calibration Parameters for a given device
- *
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_range_milli_meter Pointer to Calibration Distance
- * @param p_signal_rate_rtn_mega_cps Pointer to Signal rate return
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_dmax_cal_parameters(VL53L0X_DEV dev,
- uint16_t *p_range_milli_meter, FixPoint1616_t *p_signal_rate_rtn_mega_cps);
-
- /**
- * @brief Set Dmax Calibration Parameters for a given device
- * When one of the parameter is zero, this function will get parameter
- * from NVM.
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param range_milli_meter Calibration Distance
- * @param signal_rate_rtn_mega_cps Signal rate return read at CalDistance
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_dmax_cal_parameters(VL53L0X_DEV dev,
- uint16_t range_milli_meter, FixPoint1616_t signal_rate_rtn_mega_cps);
-
- /**
- * @brief Retrieve the measurements from device for a given setup
- *
- * @par Function Description
- * Get data from last successful Histogram measurement
- * @warning USER should take care about @a VL53L0X_GetNumberOfROIZones()
- * before get data.
- * PAL will fill a NumberOfROIZones times the corresponding data structure
- * used in the measurement function.
- *
- * @note This function is not Implemented
- *
- * @param dev Device Handle
- * @param p_histogram_measurement_data Pointer to the histogram data structure.
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- */
- VL53L0X_Error VL53L0X_get_histogram_measurement_data(VL53L0X_DEV dev,
- VL53L0X_HistogramMeasurementData_t *p_histogram_measurement_data);
-
- /**
- * @brief Get current new device mode
- * @par Function Description
- * Get current Histogram mode of a Device
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param p_histogram_mode Pointer to current Histogram Mode value
- * Valid values are:
- * VL53L0X_HISTOGRAMMODE_DISABLED
- * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
- * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
- * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
- * VL53L0X_HISTOGRAMMODE_BOTH
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_histogram_mode(VL53L0X_DEV dev,
- VL53L0X_HistogramModes *p_histogram_mode);
-
- /**
- * @brief Set a new Histogram mode
- * @par Function Description
- * Set device to a new Histogram mode
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param histogram_mode New device mode to apply
- * Valid values are:
- * VL53L0X_HISTOGRAMMODE_DISABLED
- * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
- * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
- * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
- * VL53L0X_HISTOGRAMMODE_BOTH
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
- * HistogramMode is not in the supported list
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_histogram_mode(VL53L0X_DEV dev,
- VL53L0X_HistogramModes histogram_mode);
-
- /**
- * @brief Return a description string for a given limit check number
- *
- * @par Function Description
- * This function returns a description string for a given limit check number.
- * The limit check is identified with the LimitCheckId.
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param limit_check_id Limit Check ID
- (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
- * @param p_limit_check_string Pointer to the
- description string of the given check limit.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is
- returned when LimitCheckId value is out of range.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_limit_check_info(VL53L0X_DEV dev,
- uint16_t limit_check_id, char *p_limit_check_string);
-
- /**
- * @brief Get the linearity corrective gain
- *
- * @par Function Description
- * Should only be used after a successful call to @a VL53L0X_DataInit to backup
- * device NVM value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_linearity_corrective_gain Pointer to the linearity
- * corrective gain in x1000
- * if value is 1000 then no modification is applied.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_linearity_corrective_gain(VL53L0X_DEV dev,
- uint16_t *p_linearity_corrective_gain);
-
- /**
- * Set the linearity corrective gain
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param linearity_corrective_gain Linearity corrective
- * gain in x1000
- * if value is 1000 then no modification is applied.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_linearity_corrective_gain(VL53L0X_DEV dev,
- int16_t linearity_corrective_gain);
-
- /**
- * @brief Get the Maximum number of ROI Zones managed by the Device
- *
- * @par Function Description
- * Get Maximum number of ROI Zones managed by the Device.
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param p_max_number_of_roi_zones Pointer to the Maximum Number
- * of ROI Zones value.
- * @return VL53L0X_ERROR_NONE Success
- */
- VL53L0X_Error VL53L0X_get_max_number_of_roi_zones(VL53L0X_DEV dev,
- uint8_t *p_max_number_of_roi_zones);
-
- /**
- * @brief Retrieve the Reference Signal after a measurements
- *
- * @par Function Description
- * Get Reference Signal from last successful Ranging measurement
- * This function return a valid value after that you call the
- * @a VL53L0X_GetRangingMeasurementData().
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_measurement_ref_signal Pointer to the Ref Signal to fill up.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_measurement_ref_signal(VL53L0X_DEV dev,
- FixPoint1616_t *p_measurement_ref_signal);
-
- /**
- * @brief Get the number of the check limit managed by a given Device
- *
- * @par Function Description
- * This function give the number of the check limit managed by the Device
- *
- * @note This function doesn't Access to the device
- *
- * @param p_number_of_limit_check Pointer to the number of check limit.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_number_of_limit_check(
- uint16_t *p_number_of_limit_check);
-
- /**
- * @brief Get the number of ROI Zones managed by the Device
- *
- * @par Function Description
- * Get number of ROI Zones managed by the Device
- * USER should take care about @a VL53L0X_GetNumberOfROIZones()
- * before get data after a perform measurement.
- * PAL will fill a NumberOfROIZones times the corresponding data
- * structure used in the measurement function.
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param p_number_of_roi_zones Pointer to the Number of ROI Zones value.
- * @return VL53L0X_ERROR_NONE Success
- */
- VL53L0X_Error VL53L0X_get_number_of_roi_zones(VL53L0X_DEV dev,
- uint8_t *p_number_of_roi_zones);
-
- /**
- * @brief Set the number of ROI Zones to be used for a specific Device
- *
- * @par Function Description
- * Set the number of ROI Zones to be used for a specific Device.
- * The programmed value should be less than the max number of ROI Zones given
- * with @a VL53L0X_GetMaxNumberOfROIZones().
- * This version of API manage only one zone.
- *
- * @param dev Device Handle
- * @param number_of_roi_zones Number of ROI Zones to be used for a
- * specific Device.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned if
- * NumberOfROIZones != 1
- */
- VL53L0X_Error VL53L0X_set_number_of_roi_zones(VL53L0X_DEV dev,
- uint8_t number_of_roi_zones);
-
- /**
- * @brief Gets number of sequence steps managed by the API.
- *
- * @par Function Description
- * This function retrieves the number of sequence steps currently managed
- * by the API
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param p_number_of_sequence_steps Out parameter reporting the number of
- * sequence steps.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_number_of_sequence_steps(VL53L0X_DEV dev,
- uint8_t *p_number_of_sequence_steps);
- /**
- * @brief Get the power mode for a given Device
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_power_mode Pointer to the current value of the power
- * mode. see ::VL53L0X_PowerModes
- * Valid values are:
- * VL53L0X_POWERMODE_STANDBY_LEVEL1,
- * VL53L0X_POWERMODE_IDLE_LEVEL1
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_power_mode(VL53L0X_DEV dev,
- VL53L0X_PowerModes *p_power_mode);
-
- /**
- * @brief Set the power mode for a given Device
- * The power mode can be Standby or Idle. Different level of both Standby and
- * Idle can exists.
- * This function should not be used when device is in Ranging state.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param power_mode The value of the power mode to set.
- * see ::VL53L0X_PowerModes
- * Valid values are:
- * VL53L0X_POWERMODE_STANDBY_LEVEL1,
- * VL53L0X_POWERMODE_IDLE_LEVEL1
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when PowerMode
- * is not in the supported list
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_power_mode(VL53L0X_DEV dev,
- VL53L0X_PowerModes power_mode);
-
- /**
- * @brief Retrieves SPAD configuration
- *
- * @par Function Description
- * This function retrieves the current number of applied reference spads
- * and also their type : Aperture or Non-Aperture.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_spad_count Number ref Spad Count
- * @param p_is_aperture_spads Reports if spads are of type
- * aperture or non-aperture.
- * 1:=aperture, 0:=Non-Aperture
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference
- * spad configuration.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error wrapped_VL53L0X_get_reference_spads(VL53L0X_DEV dev,
- uint32_t *p_spad_count, uint8_t *p_is_aperture_spads);
-
- /**
- * @brief Gets the (on/off) state of a requested sequence step.
- *
- * @par Function Description
- * This function retrieves the state of a requested sequence step, i.e. on/off.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param sequence_step_id Sequence step identifier.
- * @param p_sequence_step_enabled Out parameter reporting if the sequence step
- * is enabled {0=Off,1=On}.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
- * supported.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_sequence_step_enable(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id, uint8_t *p_sequence_step_enabled);
-
-
- /**
- * @brief Gets the timeout of a requested sequence step.
- *
- * @par Function Description
- * This function retrieves the timeout of a requested sequence step.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param sequence_step_id Sequence step identifier.
- * @param p_time_out_milli_secs Timeout value.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
- * supported.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_sequence_step_timeout(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id,
- FixPoint1616_t *p_time_out_milli_secs);
-
- /**
- * @brief Sets the timeout of a requested sequence step.
- *
- * @par Function Description
- * This function sets the timeout of a requested sequence step.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param sequence_step_id Sequence step identifier.
- * @param time_out_milli_secs Demanded timeout
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
- * supported.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_sequence_step_timeout(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id, FixPoint1616_t time_out_milli_secs);
-
- /**
- * @brief Get the current SPAD Ambient Damper Factor value
- *
- * @par Function Description
- * This function get the SPAD Ambient Damper Factor value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_spad_ambient_damper_factor Pointer to programmed SPAD Ambient
- * Damper Factor value
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_spad_ambient_damper_factor(VL53L0X_DEV dev,
- uint16_t *p_spad_ambient_damper_factor);
- /**
- * @brief Set the SPAD Ambient Damper Factor value
- *
- * @par Function Description
- * This function set the SPAD Ambient Damper Factor value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param spad_ambient_damper_factor SPAD Ambient Damper Factor value
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_spad_ambient_damper_factor(VL53L0X_DEV dev,
- uint16_t spad_ambient_damper_factor);
-
- /**
- * @brief Get the current SPAD Ambient Damper Threshold value
- *
- * @par Function Description
- * This function get the SPAD Ambient Damper Threshold value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_spad_ambient_damper_threshold Pointer to programmed
- * SPAD Ambient Damper Threshold value
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_spad_ambient_damper_threshold(VL53L0X_DEV dev,
- uint16_t *p_spad_ambient_damper_threshold);
-
- /**
- * @brief Set the SPAD Ambient Damper Threshold value
- *
- * @par Function Description
- * This function set the SPAD Ambient Damper Threshold value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param spad_ambient_damper_threshold SPAD Ambient Damper Threshold value
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_spad_ambient_damper_threshold(VL53L0X_DEV dev,
- uint16_t spad_ambient_damper_threshold);
-
- /**
- * @brief Get the maximal distance for actual setup
- * @par Function Description
- * Device must be initialized through @a VL53L0X_SetParameters() prior calling
- * this function.
- *
- * Any range value more than the value returned is to be considered as
- * "no target detected" or
- * "no target in detectable range"\n
- * @warning The maximal distance depends on the setup
- *
- * @note This function is not Implemented
- *
- * @param dev Device Handle
- * @param p_upper_limit_milli_meter The maximal range limit for actual setup
- * (in millimeter)
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- */
- VL53L0X_Error VL53L0X_get_upper_limit_milli_meter(VL53L0X_DEV dev,
- uint16_t *p_upper_limit_milli_meter);
-
- /**
- * @brief Get the tuning settings pointer and the internal external switch
- * value.
- *
- * This function is used to get the Tuning settings buffer pointer and the
- * value.
- * of the switch to select either external or internal tuning settings.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param pp_tuning_setting_buffer Pointer to tuning settings buffer.
- * @param p_use_internal_tuning_settings Pointer to store Use internal tuning
- * settings value.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_tuning_setting_buffer(VL53L0X_DEV dev,
- uint8_t **pp_tuning_setting_buffer, uint8_t *p_use_internal_tuning_settings);
-
- /**
- * @brief Set the tuning settings pointer
- *
- * This function is used to specify the Tuning settings buffer to be used
- * for a given device. The buffer contains all the necessary data to permit
- * the API to write tuning settings.
- * This function permit to force the usage of either external or internal
- * tuning settings.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_tuning_setting_buffer Pointer to tuning settings buffer.
- * @param use_internal_tuning_settings Use internal tuning settings value.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_tuning_setting_buffer(VL53L0X_DEV dev,
- uint8_t *p_tuning_setting_buffer, uint8_t use_internal_tuning_settings);
-
- /**
- * @defgroup VL53L0X_registerAccess_group PAL Register Access Functions
- * @brief PAL Register Access Functions
- * @{
- */
-
- /**
- * Lock comms interface to serialize all commands to a shared I2C interface for a specific device
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_lock_sequence_access(VL53L0X_DEV dev);
-
- /**
- * Unlock comms interface to serialize all commands to a shared I2C interface for a specific device
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_unlock_sequence_access(VL53L0X_DEV dev);
-
- /**
- * @brief Prepare device for operation
- * @par Function Description
- * Update device with provided parameters
- * @li Then start ranging operation.
- *
- * @note This function Access to the device
- *
- * @param Dev Device Handle
- * @param pDeviceParameters Pointer to store current device parameters.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error vl53L0x_set_device_parameters(VL53L0X_DEV Dev,
- const VL53L0X_DeviceParameters_t *pDeviceParameters);
-
- /**
- * Set Group parameter Hold state
- *
- * @par Function Description
- * Set or remove device internal group parameter hold
- *
- * @note This function is not Implemented
- *
- * @param dev Device Handle
- * @param group_param_hold Group parameter Hold state to be set (on/off)
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- */
- VL53L0X_Error VL53L0X_set_group_param_hold(VL53L0X_DEV dev,
- uint8_t group_param_hold);
-
-
- /**
- * @brief Wait for device ready for a new measurement command.
- * Blocking function.
- *
- * @note This function is not Implemented
- *
- * @param dev Device Handle
- * @param max_loop Max Number of polling loop (timeout).
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- */
- VL53L0X_Error VL53L0X_wait_device_ready_for_new_measurement(VL53L0X_DEV dev,
- uint32_t max_loop);
-
- VL53L0X_Error VL53L0X_reverse_bytes(uint8_t *data, uint32_t size);
-
- int range_meas_int_continuous_mode(void (*fptr)(void));
-
+#endif
VL53L0X_DeviceInfo_t _device_info;
+#if !ORIGINAL
+ RangeProfile _range_mode;
+#endif
+
+#if ORIGINAL
/* IO Device */
DevI2C *_dev_i2c;
/* Digital out pin */
DigitalOut *_gpio0;
/* GPIO expander */
Stmpe1600DigiOut *_expgpio0;
+#else
+ /* IO Device */
+ I2C *_i2c_p;
+ I2C &_i2c;
+ /* Digital in and out pin */
+ DigitalInOut _gpio0;
+#endif
/* Measure detection IRQ */
InterruptIn *_gpio1Int;
/* Device data */