Pablo Henrique
code for read VL53l0x sensor with CAN
Diff: VL53L0X_simple/VL53L0X.h
- Revision:
- 1:7bbfe329c62b
- Parent:
- 0:44429c0a71d4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X_simple/VL53L0X.h Mon Mar 18 22:45:39 2019 +0000
@@ -0,0 +1,414 @@
+/*******************************************************************************
+ Copyright © 2016, STMicroelectronics International N.V.
+ All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+ NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+ IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+ DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+
+#ifndef __VL53L0X_CLASS_H
+#define __VL53L0X_CLASS_H
+
+//------- Feburary 6th, 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)
+# else
+# define VL53L0X_API
+# endif
+#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"
+#endif
+
+#if !ORIGINAL
+//------- Feburary 4th, 2018 by JH1PJL / K.Arai --------------------------------
+// moved to following header file
+#include "VL53L0X_1st.h"
+//------------------------------------------------------------------------------
+#endif
+
+/* sensor operating modes */
+typedef enum {
+ range_single_shot_polling = 1,
+ range_continuous_polling,
+ range_continuous_interrupt,
+ range_continuous_polling_low_threshold,
+ range_continuous_polling_high_threshold,
+ range_continuous_polling_out_of_window,
+ range_continuous_interrupt_low_threshold,
+ range_continuous_interrupt_high_threshold,
+ 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.init_sensor(0x33<<1U); //new addres(not equal others)
+ * 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:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] pin Mbed DigitalInOut PinName to be used for XSHUT
+ * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName
+ * to be used as component GPIO_1 INT
+ */
+ VL53L0X(I2C& i2c, PinName xshut, PinName pin_gpio1) : _i2c(i2c),
+ _gpio0(xshut)
+ {
+ if (pin_gpio1 != NC) {
+ _gpio1Int = new InterruptIn(pin_gpio1);
+ } else {
+ _gpio1Int = NULL;
+ }
+ preparation();
+ }
+
+ /** Constructor 2 (another simple way)
+ * @param[in] Pin for I2C SDA & SDL
+ * @param[in] pin Mbed DigitalInOut PinName to be used for XSHUT
+ */
+ 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();
+ }
+
+ /** Constructor 3 (another simple way)
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] pin Mbed DigitalInOut PinName to be used for XSHUT
+ */
+ VL53L0X(I2C& p_i2c, PinName xshut) : _i2c(p_i2c), _gpio0(xshut) {
+ _gpio1Int = NULL;
+ preparation();
+ }
+
+ /** Destructor
+ */
+ virtual ~VL53L0X()
+ {
+ if (_gpio1Int != NULL) {
+ 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;
+ _range_mode = range_long_distance_33ms_200cm;
+ VL53L0X_off();
+ }
+#endif
+
+ /**
+ * @brief PowerOn the sensor
+ * @return void
+ */
+ /* turns on the sensor */
+ void VL53L0X_on(void)
+ {
+#if ORIGINAL
+ if (_gpio0) {
+ *_gpio0 = 1;
+ } else {
+ if (_expgpio0) {
+ *_expgpio0 = 1;
+ }
+ }
+ wait_ms(10);
+#else
+ _gpio0.output();
+ _gpio0 = 1;
+ _gpio0.input();
+ WAIT_MS(1);
+#endif
+ }
+
+ /**
+ * @brief PowerOff the sensor
+ * @return void
+ */
+ /* turns off the sensor */
+ void VL53L0X_off(void)
+ {
+#if ORIGINAL
+ if (_gpio0) {
+ *_gpio0 = 0;
+ } else {
+ if (_expgpio0) {
+ *_expgpio0 = 0;
+ }
+ }
+ wait_ms(10);
+#else
+ _gpio0 = 0;
+ _gpio0.output();
+ WAIT_MS(10);
+#endif
+ }
+
+ /**
+ * @brief Initialize the sensor with default values
+ * @param[in] new I2C address
+ * @return "0" on success
+ */
+ int init_sensor(uint8_t new_addr);
+
+#if !ORIGINAL
+ /**
+ * @brief Start the measure by single shot operating mode
+ * @param[in] operating mode
+ * @return "0" on success
+ */
+ int set_mode(RangeProfile range_mode) {
+ _range_mode = range_mode;
+ return start_measurement(range_single_shot_polling, NULL);
+ }
+
+ /**
+ * @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
+ * 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
+ * This function doesn't perform any data ready check!
+ *
+ * @param p_data Pointer to range distance
+ * @return "0" on success
+ */
+ virtual int get_distance(uint32_t *p_data)
+ {
+ 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);
+ }
+ if (p_ranging_measurement_data.RangeStatus == 0) {
+ // we have a valid range.
+ *p_data = p_ranging_measurement_data.RangeMilliMeter;
+ } else {
+ *p_data = 0;
+ status = VL53L0X_ERROR_RANGE_ERROR;
+ }
+ stop_measurement(range_single_shot_polling);
+ return status;
+ }
+#endif
+
+#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:
+
+#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;
+
+ 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;
+ }
+
+ int i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
+ uint16_t NumByteToRead) {
+ int ret;
+
+ //--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);
+ }
+ if(ret) return -1;
+ return 0;
+ }
+#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 */
+ VL53L0X_Dev_t _my_device;
+ VL53L0X_DEV _device;
+};
+
+#endif /* _VL53L0X_CLASS_H_ */