Tarek Lule
Condensed Version of Public VL53L0X
Diff: VL53L0X.h
- Revision:
- 5:b95f6951f7d5
- Parent:
- 4:d25c4fa216af
- Child:
- 7:41cbc431e1f4
--- a/VL53L0X.h Mon Dec 18 08:27:21 2017 +0000
+++ b/VL53L0X.h Sat Mar 23 21:28:30 2019 +0000
@@ -43,232 +43,102 @@
/* Includes ------------------------------------------------------------------*/
#include "mbed.h"
-#include "RangeSensor.h"
-#include "DevI2C.h"
+#include "pinmap.h"
#include "PinNames.h"
#include "VL53L0X_def.h"
-#include "VL53L0X_platform.h"
-#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 ""
-
-
+#define IDENTIFICATION_MODEL_ID 0x000
+#define STATUS_OK 0x00
+#define STATUS_FAIL 0x01
-/* 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 ""
-
+/** default device address */
+#define VL53L0X_DEFAULT_ADDRESS 0x52 /* (8-bit) */
-/* 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"
-/* 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"
+
+/* Classes -------------------------------------------------------------------*/
+/** Helper class DevI2C providing functions for multi-register I2C communication
+ * common for a series of I2C devices
+ */
+class DevI2C : public I2C
+{
+private:
+ static const unsigned int TEMP_BUF_SIZE = 64;
-#define VL53L0X_STRING_UNKNOW_ERROR_CODE \
- "Unknown Error Code"
-
-
+public:
+ /** Create a DevI2C Master interface, connected to the specified pins
+ *
+ * @param sda I2C data line pin
+ * @param scl I2C clock line pin
+ */
+ DevI2C(PinName sda, PinName scl) : I2C(sda, scl) {}
+
+ /**
+ * @brief Writes a buffer towards the I2C peripheral device.
+ * @param pBuffer pointer to the byte-array data to send
+ * @param DeviceAddr specifies the peripheral device slave address.
+ * @param RegisterAddr specifies the internal address register
+ * where to start writing to (must be correctly masked).
+ * @param NumByteToWrite number of bytes to be written.
+ * @retval 0 if ok,
+ * @retval -1 if an I2C error has occured, or
+ * @retval -2 on temporary buffer overflow (i.e. NumByteToWrite was too high)
+ * @note On some devices if NumByteToWrite is greater
+ * than one, the RegisterAddr must be masked correctly!
+ */
+ int i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
+ uint16_t NumByteToWrite) {
+ int ret;
+ uint8_t tmp[TEMP_BUF_SIZE];
-/* 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"
-
+ if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
-/* 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"
+ /* First, send device address. Then, send data and STOP condition */
+ tmp[0] = RegisterAddr;
+ memcpy(tmp+1, pBuffer, NumByteToWrite);
+ ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+1, false);
+
+ if(ret) return -1;
+ return 0;
+ }
-/* 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"
+ /**
+ * @brief Reads a buffer from the I2C peripheral device.
+ * @param pBuffer pointer to the byte-array to read data in to
+ * @param DeviceAddr specifies the peripheral device slave address.
+ * @param RegisterAddr specifies the internal address register
+ * where to start reading from (must be correctly masked).
+ * @param NumByteToRead 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!
+ */
+ int i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
+ uint16_t NumByteToRead) {
+ int ret;
-/* 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"
+ /* Send device address, with no STOP condition */
+ ret = write(DeviceAddr, (const char*)&RegisterAddr, 1, true);
+ if(!ret) {
+ /* Read data, with STOP condition */
+ ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
+ }
-/* 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(ret) return -1;
+ return 0;
+ }
+
+};
/* sensor operating modes */
typedef enum {
@@ -283,13 +153,10 @@
range_continuous_interrupt_out_of_window,
} OperatingMode;
-/** default device address */
-#define VL53L0X_DEFAULT_ADDRESS 0x52 /* (8-bit) */
-
/* Classes -------------------------------------------------------------------*/
/** Class representing a VL53L0 sensor component
*/
-class VL53L0X : public RangeSensor
+class VL53L0X
{
public:
/** Constructor
@@ -304,7 +171,6 @@
_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 {
@@ -312,34 +178,11 @@
}
}
- /** 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
- */
- 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;
- }
- }
/** Destructor
*/
virtual ~VL53L0X()
- {
- if (_gpio1Int != NULL) {
- delete _gpio1Int;
- }
+ { if (_gpio1Int != NULL) { delete _gpio1Int; }
}
/*** Interface Methods ***/
@@ -351,13 +194,7 @@
/* turns on the sensor */
void VL53L0X_on(void)
{
- if (_gpio0) {
- *_gpio0 = 1;
- } else {
- if (_expgpio0) {
- *_expgpio0 = 1;
- }
- }
+ if (_gpio0) { *_gpio0 = 1; }
wait_ms(10);
}
@@ -368,17 +205,10 @@
/* turns off the sensor */
void VL53L0X_off(void)
{
- if (_gpio0) {
- *_gpio0 = 0;
- } else {
- if (_expgpio0) {
- *_expgpio0 = 0;
- }
- }
+ if (_gpio0) { *_gpio0 = 0; }
wait_ms(10);
}
-
/**
* @brief Initialize the sensor with default values
* @return "0" on success
@@ -2107,9 +1937,7 @@
uint8_t id = 0;
status = read_id(&id);
- if (status) {
- VL53L0X_ErrLog("Failed to read ID device. Device not present!\n\r");
- }
+
return status;
}
@@ -2784,8 +2612,6 @@
DevI2C *_dev_i2c;
/* Digital out pin */
DigitalOut *_gpio0;
- /* GPIO expander */
- Stmpe1600DigiOut *_expgpio0;
/* Measure detection IRQ */
InterruptIn *_gpio1Int;
/* Device data */