File content as of revision 1:7bbfe329c62b:

/*******************************************************************************
 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_ */