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Dependencies:   mbed

VL53L0X.h@0:50572ec0871c, 2019-02-01 (annotated)

Committer:
kotakky
Date:
Fri Feb 01 08:32:05 2019 +0000
Revision:
0:50572ec0871c
hoge

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kotakky 0:50572ec0871c 1 #ifndef VL53L0X_h
kotakky 0:50572ec0871c 2 #define VL53L0X_h
kotakky 0:50572ec0871c 3
kotakky 0:50572ec0871c 4 #include "mbed.h"
kotakky 0:50572ec0871c 5
kotakky 0:50572ec0871c 6 class VL53L0X
kotakky 0:50572ec0871c 7 {
kotakky 0:50572ec0871c 8 public:
kotakky 0:50572ec0871c 9 // register addresses from API vl53l0x_device.h (ordered as listed there)
kotakky 0:50572ec0871c 10 enum regAddr
kotakky 0:50572ec0871c 11 {
kotakky 0:50572ec0871c 12 SYSRANGE_START = 0x00,
kotakky 0:50572ec0871c 13
kotakky 0:50572ec0871c 14 SYSTEM_THRESH_HIGH = 0x0C,
kotakky 0:50572ec0871c 15 SYSTEM_THRESH_LOW = 0x0E,
kotakky 0:50572ec0871c 16
kotakky 0:50572ec0871c 17 SYSTEM_SEQUENCE_CONFIG = 0x01,
kotakky 0:50572ec0871c 18 SYSTEM_RANGE_CONFIG = 0x09,
kotakky 0:50572ec0871c 19 SYSTEM_INTERMEASUREMENT_PERIOD = 0x04,
kotakky 0:50572ec0871c 20
kotakky 0:50572ec0871c 21 SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A,
kotakky 0:50572ec0871c 22
kotakky 0:50572ec0871c 23 GPIO_HV_MUX_ACTIVE_HIGH = 0x84,
kotakky 0:50572ec0871c 24
kotakky 0:50572ec0871c 25 SYSTEM_INTERRUPT_CLEAR = 0x0B,
kotakky 0:50572ec0871c 26
kotakky 0:50572ec0871c 27 RESULT_INTERRUPT_STATUS = 0x13,
kotakky 0:50572ec0871c 28 RESULT_RANGE_STATUS = 0x14,
kotakky 0:50572ec0871c 29
kotakky 0:50572ec0871c 30 RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC,
kotakky 0:50572ec0871c 31 RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0,
kotakky 0:50572ec0871c 32 RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0,
kotakky 0:50572ec0871c 33 RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4,
kotakky 0:50572ec0871c 34 RESULT_PEAK_SIGNAL_RATE_REF = 0xB6,
kotakky 0:50572ec0871c 35
kotakky 0:50572ec0871c 36 ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28,
kotakky 0:50572ec0871c 37
kotakky 0:50572ec0871c 38 I2C_SLAVE_DEVICE_ADDRESS = 0x8A,
kotakky 0:50572ec0871c 39
kotakky 0:50572ec0871c 40 MSRC_CONFIG_CONTROL = 0x60,
kotakky 0:50572ec0871c 41
kotakky 0:50572ec0871c 42 PRE_RANGE_CONFIG_MIN_SNR = 0x27,
kotakky 0:50572ec0871c 43 PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56,
kotakky 0:50572ec0871c 44 PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57,
kotakky 0:50572ec0871c 45 PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64,
kotakky 0:50572ec0871c 46
kotakky 0:50572ec0871c 47 FINAL_RANGE_CONFIG_MIN_SNR = 0x67,
kotakky 0:50572ec0871c 48 FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47,
kotakky 0:50572ec0871c 49 FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48,
kotakky 0:50572ec0871c 50 FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,
kotakky 0:50572ec0871c 51
kotakky 0:50572ec0871c 52 PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61,
kotakky 0:50572ec0871c 53 PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62,
kotakky 0:50572ec0871c 54
kotakky 0:50572ec0871c 55 PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50,
kotakky 0:50572ec0871c 56 PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51,
kotakky 0:50572ec0871c 57 PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52,
kotakky 0:50572ec0871c 58
kotakky 0:50572ec0871c 59 SYSTEM_HISTOGRAM_BIN = 0x81,
kotakky 0:50572ec0871c 60 HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33,
kotakky 0:50572ec0871c 61 HISTOGRAM_CONFIG_READOUT_CTRL = 0x55,
kotakky 0:50572ec0871c 62
kotakky 0:50572ec0871c 63 FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70,
kotakky 0:50572ec0871c 64 FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71,
kotakky 0:50572ec0871c 65 FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72,
kotakky 0:50572ec0871c 66 CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20,
kotakky 0:50572ec0871c 67
kotakky 0:50572ec0871c 68 MSRC_CONFIG_TIMEOUT_MACROP = 0x46,
kotakky 0:50572ec0871c 69
kotakky 0:50572ec0871c 70 SOFT_RESET_GO2_SOFT_RESET_N = 0xBF,
kotakky 0:50572ec0871c 71 IDENTIFICATION_MODEL_ID = 0xC0,
kotakky 0:50572ec0871c 72 IDENTIFICATION_REVISION_ID = 0xC2,
kotakky 0:50572ec0871c 73
kotakky 0:50572ec0871c 74 OSC_CALIBRATE_VAL = 0xF8,
kotakky 0:50572ec0871c 75
kotakky 0:50572ec0871c 76 GLOBAL_CONFIG_VCSEL_WIDTH = 0x32,
kotakky 0:50572ec0871c 77 GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0,
kotakky 0:50572ec0871c 78 GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1,
kotakky 0:50572ec0871c 79 GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2,
kotakky 0:50572ec0871c 80 GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3,
kotakky 0:50572ec0871c 81 GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4,
kotakky 0:50572ec0871c 82 GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5,
kotakky 0:50572ec0871c 83
kotakky 0:50572ec0871c 84 GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6,
kotakky 0:50572ec0871c 85 DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E,
kotakky 0:50572ec0871c 86 DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F,
kotakky 0:50572ec0871c 87 POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80,
kotakky 0:50572ec0871c 88
kotakky 0:50572ec0871c 89 VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89,
kotakky 0:50572ec0871c 90
kotakky 0:50572ec0871c 91 ALGO_PHASECAL_LIM = 0x30,
kotakky 0:50572ec0871c 92 ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30,
kotakky 0:50572ec0871c 93 };
kotakky 0:50572ec0871c 94
kotakky 0:50572ec0871c 95 enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange };
kotakky 0:50572ec0871c 96
kotakky 0:50572ec0871c 97 uint8_t last_status; // status of last I2C transmission
kotakky 0:50572ec0871c 98
kotakky 0:50572ec0871c 99 VL53L0X(I2C*, Timer*);
kotakky 0:50572ec0871c 100
kotakky 0:50572ec0871c 101 void setAddress(uint8_t new_addr);
kotakky 0:50572ec0871c 102 inline uint8_t getAddress(void) { return address; }
kotakky 0:50572ec0871c 103
kotakky 0:50572ec0871c 104 bool init(bool io_2v8 = true);
kotakky 0:50572ec0871c 105
kotakky 0:50572ec0871c 106 void writeReg(uint8_t reg, uint8_t value);
kotakky 0:50572ec0871c 107 void writeReg16Bit(uint8_t reg, uint16_t value);
kotakky 0:50572ec0871c 108 void writeReg32Bit(uint8_t reg, uint32_t value);
kotakky 0:50572ec0871c 109 uint8_t readReg(uint8_t reg);
kotakky 0:50572ec0871c 110 uint16_t readReg16Bit(uint8_t reg);
kotakky 0:50572ec0871c 111 uint32_t readReg32Bit(uint8_t reg);
kotakky 0:50572ec0871c 112
kotakky 0:50572ec0871c 113 void writeMulti(uint8_t reg, uint8_t const * src, uint8_t count);
kotakky 0:50572ec0871c 114 void readMulti(uint8_t reg, uint8_t * dst, uint8_t count);
kotakky 0:50572ec0871c 115
kotakky 0:50572ec0871c 116 bool setSignalRateLimit(float limit_Mcps);
kotakky 0:50572ec0871c 117 float getSignalRateLimit(void);
kotakky 0:50572ec0871c 118
kotakky 0:50572ec0871c 119 bool setMeasurementTimingBudget(uint32_t budget_us);
kotakky 0:50572ec0871c 120 uint32_t getMeasurementTimingBudget(void);
kotakky 0:50572ec0871c 121
kotakky 0:50572ec0871c 122 bool setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks);
kotakky 0:50572ec0871c 123 uint8_t getVcselPulsePeriod(vcselPeriodType type);
kotakky 0:50572ec0871c 124
kotakky 0:50572ec0871c 125 void startContinuous(uint32_t period_ms = 0);
kotakky 0:50572ec0871c 126 void stopContinuous(void);
kotakky 0:50572ec0871c 127 uint16_t readRangeContinuousMillimeters(void);
kotakky 0:50572ec0871c 128 uint16_t readRangeSingleMillimeters(void);
kotakky 0:50572ec0871c 129
kotakky 0:50572ec0871c 130 inline void setTimeout(uint16_t timeout) { io_timeout = timeout; }
kotakky 0:50572ec0871c 131 inline uint16_t getTimeout(void) { return io_timeout; }
kotakky 0:50572ec0871c 132 bool timeoutOccurred(void);
kotakky 0:50572ec0871c 133
kotakky 0:50572ec0871c 134 private:
kotakky 0:50572ec0871c 135 // TCC: Target CentreCheck
kotakky 0:50572ec0871c 136 // MSRC: Minimum Signal Rate Check
kotakky 0:50572ec0871c 137 // DSS: Dynamic Spad Selection
kotakky 0:50572ec0871c 138
kotakky 0:50572ec0871c 139 struct SequenceStepEnables
kotakky 0:50572ec0871c 140 {
kotakky 0:50572ec0871c 141 bool tcc, msrc, dss, pre_range, final_range;
kotakky 0:50572ec0871c 142 };
kotakky 0:50572ec0871c 143
kotakky 0:50572ec0871c 144 struct SequenceStepTimeouts
kotakky 0:50572ec0871c 145 {
kotakky 0:50572ec0871c 146 uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
kotakky 0:50572ec0871c 147
kotakky 0:50572ec0871c 148 uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
kotakky 0:50572ec0871c 149 uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us;
kotakky 0:50572ec0871c 150 };
kotakky 0:50572ec0871c 151
kotakky 0:50572ec0871c 152 uint8_t address;
kotakky 0:50572ec0871c 153 uint16_t io_timeout;
kotakky 0:50572ec0871c 154 bool did_timeout;
kotakky 0:50572ec0871c 155 uint16_t timeout_start_ms;
kotakky 0:50572ec0871c 156
kotakky 0:50572ec0871c 157 uint8_t stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X_DevData_t structure in API
kotakky 0:50572ec0871c 158 uint32_t measurement_timing_budget_us;
kotakky 0:50572ec0871c 159
kotakky 0:50572ec0871c 160 bool getSpadInfo(uint8_t * count, bool * type_is_aperture);
kotakky 0:50572ec0871c 161
kotakky 0:50572ec0871c 162 void getSequenceStepEnables(SequenceStepEnables * enables);
kotakky 0:50572ec0871c 163 void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);
kotakky 0:50572ec0871c 164
kotakky 0:50572ec0871c 165 bool performSingleRefCalibration(uint8_t vhv_init_byte);
kotakky 0:50572ec0871c 166
kotakky 0:50572ec0871c 167 static uint16_t decodeTimeout(uint16_t value);
kotakky 0:50572ec0871c 168 static uint16_t encodeTimeout(uint16_t timeout_mclks);
kotakky 0:50572ec0871c 169 static uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks);
kotakky 0:50572ec0871c 170 static uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks);
kotakky 0:50572ec0871c 171
kotakky 0:50572ec0871c 172 // mbed members
kotakky 0:50572ec0871c 173 I2C* i2c;
kotakky 0:50572ec0871c 174 Timer* timer;
kotakky 0:50572ec0871c 175 };
kotakky 0:50572ec0871c 176
kotakky 0:50572ec0871c 177 #endif