VL53L0X_SH.h

00001 #ifndef VL53L0X_SH_h
00002 #define VL53L0X_SH_h
00003 #include "mbed.h"
00004 
00005 extern  I2C         i2c;
00006 class   VL53L0X
00007 {
00008 public:
00009     // register addresses from API vl53l0x_device.h (ordered as listed there)
00010     enum regAddr {
00011         SYSRANGE_START                              = 0x00,
00012 
00013         SYSTEM_THRESH_HIGH                          = 0x0C,
00014         SYSTEM_THRESH_LOW                           = 0x0E,
00015 
00016         SYSTEM_SEQUENCE_CONFIG                      = 0x01,
00017         SYSTEM_RANGE_CONFIG                         = 0x09,
00018         SYSTEM_INTERMEASUREMENT_PERIOD              = 0x04,
00019 
00020         SYSTEM_INTERRUPT_CONFIG_GPIO                = 0x0A,
00021 
00022         GPIO_HV_MUX_ACTIVE_HIGH                     = 0x84,
00023 
00024         SYSTEM_INTERRUPT_CLEAR                      = 0x0B,
00025 
00026         RESULT_INTERRUPT_STATUS                     = 0x13,
00027         RESULT_RANGE_STATUS                         = 0x14,
00028 
00029         RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN       = 0xBC,
00030         RESULT_CORE_RANGING_TOTAL_EVENTS_RTN        = 0xC0,
00031         RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF       = 0xD0,
00032         RESULT_CORE_RANGING_TOTAL_EVENTS_REF        = 0xD4,
00033         RESULT_PEAK_SIGNAL_RATE_REF                 = 0xB6,
00034 
00035         ALGO_PART_TO_PART_RANGE_OFFSET_MM           = 0x28,
00036 
00037         I2C_SLAVE_DEVICE_ADDRESS                    = 0x8A,
00038 
00039         MSRC_CONFIG_CONTROL                         = 0x60,
00040 
00041         PRE_RANGE_CONFIG_MIN_SNR                    = 0x27,
00042         PRE_RANGE_CONFIG_VALID_PHASE_LOW            = 0x56,
00043         PRE_RANGE_CONFIG_VALID_PHASE_HIGH           = 0x57,
00044         PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT          = 0x64,
00045 
00046         FINAL_RANGE_CONFIG_MIN_SNR                  = 0x67,
00047         FINAL_RANGE_CONFIG_VALID_PHASE_LOW          = 0x47,
00048         FINAL_RANGE_CONFIG_VALID_PHASE_HIGH         = 0x48,
00049         FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,
00050 
00051         PRE_RANGE_CONFIG_SIGMA_THRESH_HI            = 0x61,
00052         PRE_RANGE_CONFIG_SIGMA_THRESH_LO            = 0x62,
00053 
00054         PRE_RANGE_CONFIG_VCSEL_PERIOD               = 0x50,
00055         PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI          = 0x51,
00056         PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO          = 0x52,
00057 
00058         SYSTEM_HISTOGRAM_BIN                        = 0x81,
00059         HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT       = 0x33,
00060         HISTOGRAM_CONFIG_READOUT_CTRL               = 0x55,
00061 
00062         FINAL_RANGE_CONFIG_VCSEL_PERIOD             = 0x70,
00063         FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI        = 0x71,
00064         FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO        = 0x72,
00065         CROSSTALK_COMPENSATION_PEAK_RATE_MCPS       = 0x20,
00066 
00067         MSRC_CONFIG_TIMEOUT_MACROP                  = 0x46,
00068 
00069         SOFT_RESET_GO2_SOFT_RESET_N                 = 0xBF,
00070         IDENTIFICATION_MODEL_ID                     = 0xC0,
00071         IDENTIFICATION_REVISION_ID                  = 0xC2,
00072 
00073         OSC_CALIBRATE_VAL                           = 0xF8,
00074 
00075         GLOBAL_CONFIG_VCSEL_WIDTH                   = 0x32,
00076         GLOBAL_CONFIG_SPAD_ENABLES_REF_0            = 0xB0,
00077         GLOBAL_CONFIG_SPAD_ENABLES_REF_1            = 0xB1,
00078         GLOBAL_CONFIG_SPAD_ENABLES_REF_2            = 0xB2,
00079         GLOBAL_CONFIG_SPAD_ENABLES_REF_3            = 0xB3,
00080         GLOBAL_CONFIG_SPAD_ENABLES_REF_4            = 0xB4,
00081         GLOBAL_CONFIG_SPAD_ENABLES_REF_5            = 0xB5,
00082 
00083         GLOBAL_CONFIG_REF_EN_START_SELECT           = 0xB6,
00084         DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD         = 0x4E,
00085         DYNAMIC_SPAD_REF_EN_START_OFFSET            = 0x4F,
00086         POWER_MANAGEMENT_GO1_POWER_FORCE            = 0x80,
00087 
00088         VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV           = 0x89,
00089 
00090         ALGO_PHASECAL_LIM                           = 0x30,
00091         ALGO_PHASECAL_CONFIG_TIMEOUT                = 0x30,
00092     };
00093 
00094     enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange };
00095 
00096     char last_status; // status of last I2C transmission
00097 
00098     VL53L0X(void);
00099 
00100     void setAddress(char new_addr);
00101     inline char getAddress(void) {
00102         return address;
00103     }
00104 
00105     bool init(bool io_2v8 = true);
00106 
00107     void writeReg(char reg, char value);
00108     void writeReg16Bit(char reg, short value);
00109     void writeReg32Bit(char reg, long value);
00110     char readReg(char reg);
00111     short readReg16Bit(char reg);
00112     long readReg32Bit(char reg);
00113 
00114     void writeMulti(char reg, char const * src, char count);
00115     void readMulti(char reg, char * dst, char count);
00116 
00117     bool setSignalRateLimit(float limit_Mcps);
00118     float getSignalRateLimit(void);
00119 
00120     bool setMeasurementTimingBudget(long budget_us);
00121     long getMeasurementTimingBudget(void);
00122 
00123     bool setVcselPulsePeriod(vcselPeriodType type, char period_pclks);
00124     char getVcselPulsePeriod(vcselPeriodType type);
00125 
00126     void startContinuous(long period_ms = 0);
00127     void stopContinuous(void);
00128     short readRangeContinuousMillimeters(void);
00129     short readRangeSingleMillimeters(void);
00130 
00131     inline void setTimeout(short timeout) {
00132         io_timeout = timeout;
00133     }
00134     inline short getTimeout(void) {
00135         return io_timeout;
00136     }
00137     bool timeoutOccurred(void);
00138 
00139 private:
00140     // TCC: Target CentreCheck
00141     // MSRC: Minimum Signal Rate Check
00142     // DSS: Dynamic Spad Selection
00143 
00144     struct SequenceStepEnables {
00145         bool tcc, msrc, dss, pre_range, final_range;
00146     };
00147 
00148     struct SequenceStepTimeouts {
00149         short pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
00150 
00151         short msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
00152         long msrc_dss_tcc_us,    pre_range_us,    final_range_us;
00153     };
00154 
00155     char    data_w_2[2];            //buff for write
00156     char    data_w_3[3];            //buff for write
00157     char    data_w_5[5];            //buff for write
00158     char    data_r_1[1];            //buff for read
00159     char    data_r_2[2];            //buff for read
00160     char    data_r_4[4];            //buff for read
00161     char    address;
00162     short   io_timeout;
00163     bool    did_timeout;
00164     short   timeout_start_ms;
00165 
00166     char stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X_DevData_t structure in API
00167     long measurement_timing_budget_us;
00168 
00169     bool getSpadInfo(char * count, bool * type_is_aperture);
00170 
00171     void getSequenceStepEnables(SequenceStepEnables * enables);
00172     void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);
00173 
00174     bool performSingleRefCalibration(char vhv_init_byte);
00175 
00176     static short decodeTimeout(short value);
00177     static short encodeTimeout(short timeout_mclks);
00178     static long timeoutMclksToMicroseconds(short timeout_period_mclks, char vcsel_period_pclks);
00179     static long timeoutMicrosecondsToMclks(long timeout_period_us, char vcsel_period_pclks);
00180 };
00181 
00182 #endif