takuya ichise / TI_VL53L0X

This is a library that makes VL53L0X easy to handle.

Dependencies:   vl53l0x_api

# Example

include the mbed library with this snippet

#include "mbed.h"
#include "TI_VL53L0X.h"

DigitalOut led1(LED1);

DigitalIn button(p11);

TI_VL53L0X vl53l0x;

int main() {
  led1 = 0;

  vl53l0x.setup();
  vl53l0x.calibration();

  while (true) {

    if (led1) {
      int averageRange = vl53l0x.getMeasurement();

      if (9999 != averageRange) {
        printf("VL53L0X measurement average %d\n", averageRange);

        if (averageRange > 300) {
          led1 = 0;
        } else {
          led1 = 1;
        }
      }
    }

    if (button) {
      printf("Button Pressed\n\r");
      wait(0.7);

      led1 = !led1;

      if (led1) {
        vl53l0x.startMeasurement();
      } else {
        vl53l0x.stopMeasurement();
      }
    }
  }
}

TI_VL53L0X.cpp@0:9d485cd4147c, 2018-06-05 (annotated)

Committer:
tichise
Date:
Tue Jun 05 15:52:04 2018 +0000
Revision:
0:9d485cd4147c
new;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tichise 0:9d485cd4147c 1 #include "TI_VL53L0X.h"
tichise 0:9d485cd4147c 2 #include "mbed.h"
tichise 0:9d485cd4147c 3
tichise 0:9d485cd4147c 4 TI_VL53L0X::TI_VL53L0X() {
tichise 0:9d485cd4147c 5 status = VL53L0X_ERROR_NONE;
tichise 0:9d485cd4147c 6 pMyDevice = &myDevice;
tichise 0:9d485cd4147c 7 }
tichise 0:9d485cd4147c 8
tichise 0:9d485cd4147c 9 /**
tichise 0:9d485cd4147c 10 * APIの状態を取得する
tichise 0:9d485cd4147c 11 */
tichise 0:9d485cd4147c 12 void TI_VL53L0X::printPalState(VL53L0X_State state) {
tichise 0:9d485cd4147c 13 char buf[VL53L0X_MAX_STRING_LENGTH];
tichise 0:9d485cd4147c 14 VL53L0X_GetPalStateString(state, buf);
tichise 0:9d485cd4147c 15 // printf("API State: %i : %s\n", state, buf);
tichise 0:9d485cd4147c 16 }
tichise 0:9d485cd4147c 17
tichise 0:9d485cd4147c 18 void TI_VL53L0X::printPalError(VL53L0X_Error status) {
tichise 0:9d485cd4147c 19 char buf[VL53L0X_MAX_STRING_LENGTH];
tichise 0:9d485cd4147c 20 VL53L0X_GetPalErrorString(status, buf);
tichise 0:9d485cd4147c 21 // printf("API Status: %i : %s\n", status, buf);
tichise 0:9d485cd4147c 22 }
tichise 0:9d485cd4147c 23
tichise 0:9d485cd4147c 24 /**
tichise 0:9d485cd4147c 25 * 範囲ステータスをprint
tichise 0:9d485cd4147c 26 */
tichise 0:9d485cd4147c 27 void TI_VL53L0X::printRangeStatus(
tichise 0:9d485cd4147c 28 VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) {
tichise 0:9d485cd4147c 29 char buf[VL53L0X_MAX_STRING_LENGTH];
tichise 0:9d485cd4147c 30 uint8_t rangeStatus = pRangingMeasurementData->RangeStatus;
tichise 0:9d485cd4147c 31
tichise 0:9d485cd4147c 32 VL53L0X_GetRangeStatusString(rangeStatus, buf);
tichise 0:9d485cd4147c 33 // printf("Range Status: %i : %s\n", rangeStatus, buf);
tichise 0:9d485cd4147c 34 }
tichise 0:9d485cd4147c 35
tichise 0:9d485cd4147c 36 /**
tichise 0:9d485cd4147c 37 * 測定データ準備完了まで待つ
tichise 0:9d485cd4147c 38 */
tichise 0:9d485cd4147c 39 VL53L0X_Error TI_VL53L0X::waitMeasurementDataReady(VL53L0X_DEV dev) {
tichise 0:9d485cd4147c 40 VL53L0X_Error status = VL53L0X_ERROR_NONE;
tichise 0:9d485cd4147c 41 uint8_t newDatReady = 0;
tichise 0:9d485cd4147c 42 uint32_t loopNb;
tichise 0:9d485cd4147c 43
tichise 0:9d485cd4147c 44 // 完了するまで待つ
tichise 0:9d485cd4147c 45 //タイムアウトを使用してデッドロックを回避する
tichise 0:9d485cd4147c 46 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 47 loopNb = 0;
tichise 0:9d485cd4147c 48
tichise 0:9d485cd4147c 49 do {
tichise 0:9d485cd4147c 50 status = VL53L0X_GetMeasurementDataReady(dev, &newDatReady);
tichise 0:9d485cd4147c 51 if ((newDatReady == 0x01) || status != VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 52 break;
tichise 0:9d485cd4147c 53 }
tichise 0:9d485cd4147c 54
tichise 0:9d485cd4147c 55 loopNb = loopNb + 1;
tichise 0:9d485cd4147c 56 VL53L0X_PollingDelay(dev);
tichise 0:9d485cd4147c 57 } while (loopNb < VL53L0X_DEFAULT_MAX_LOOP);
tichise 0:9d485cd4147c 58
tichise 0:9d485cd4147c 59 if (loopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
tichise 0:9d485cd4147c 60 status = VL53L0X_ERROR_TIME_OUT;
tichise 0:9d485cd4147c 61 }
tichise 0:9d485cd4147c 62 }
tichise 0:9d485cd4147c 63
tichise 0:9d485cd4147c 64 return status;
tichise 0:9d485cd4147c 65 }
tichise 0:9d485cd4147c 66
tichise 0:9d485cd4147c 67 /**
tichise 0:9d485cd4147c 68 * 停止完了を待つ
tichise 0:9d485cd4147c 69 */
tichise 0:9d485cd4147c 70 VL53L0X_Error TI_VL53L0X::waitStopCompleted(VL53L0X_DEV dev) {
tichise 0:9d485cd4147c 71 VL53L0X_Error status = VL53L0X_ERROR_NONE;
tichise 0:9d485cd4147c 72 uint32_t stopCompleted = 0;
tichise 0:9d485cd4147c 73 uint32_t loopNb;
tichise 0:9d485cd4147c 74
tichise 0:9d485cd4147c 75 // 完了するまで待つ
tichise 0:9d485cd4147c 76 //タイムアウトを使用してデッドロックを回避する
tichise 0:9d485cd4147c 77 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 78 loopNb = 0;
tichise 0:9d485cd4147c 79
tichise 0:9d485cd4147c 80 do {
tichise 0:9d485cd4147c 81 status = VL53L0X_GetStopCompletedStatus(dev, &stopCompleted);
tichise 0:9d485cd4147c 82
tichise 0:9d485cd4147c 83 if ((stopCompleted == 0x00) || status != VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 84 break;
tichise 0:9d485cd4147c 85 }
tichise 0:9d485cd4147c 86
tichise 0:9d485cd4147c 87 loopNb = loopNb + 1;
tichise 0:9d485cd4147c 88 VL53L0X_PollingDelay(dev);
tichise 0:9d485cd4147c 89 } while (loopNb < VL53L0X_DEFAULT_MAX_LOOP);
tichise 0:9d485cd4147c 90
tichise 0:9d485cd4147c 91 if (loopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
tichise 0:9d485cd4147c 92 status = VL53L0X_ERROR_TIME_OUT;
tichise 0:9d485cd4147c 93 }
tichise 0:9d485cd4147c 94 }
tichise 0:9d485cd4147c 95
tichise 0:9d485cd4147c 96 return status;
tichise 0:9d485cd4147c 97 }
tichise 0:9d485cd4147c 98
tichise 0:9d485cd4147c 99 void TI_VL53L0X::setup() {
tichise 0:9d485cd4147c 100 VL53L0X_Version_t version;
tichise 0:9d485cd4147c 101 VL53L0X_Version_t *pVersion = &version;
tichise 0:9d485cd4147c 102 VL53L0X_DeviceInfo_t deviceInfo;
tichise 0:9d485cd4147c 103
tichise 0:9d485cd4147c 104 int32_t status_int;
tichise 0:9d485cd4147c 105
tichise 0:9d485cd4147c 106 // Initialize Comms
tichise 0:9d485cd4147c 107 pMyDevice->I2cDevAddr = 0x52;
tichise 0:9d485cd4147c 108 pMyDevice->comms_type = 1;
tichise 0:9d485cd4147c 109 pMyDevice->comms_speed_khz = 400;
tichise 0:9d485cd4147c 110
tichise 0:9d485cd4147c 111 printf("VL53L0X init\r\n");
tichise 0:9d485cd4147c 112
tichise 0:9d485cd4147c 113 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 114 status_int = VL53L0X_GetVersion(pVersion);
tichise 0:9d485cd4147c 115
tichise 0:9d485cd4147c 116 if (status_int != 0) {
tichise 0:9d485cd4147c 117 status = VL53L0X_ERROR_CONTROL_INTERFACE;
tichise 0:9d485cd4147c 118 }
tichise 0:9d485cd4147c 119 }
tichise 0:9d485cd4147c 120
tichise 0:9d485cd4147c 121 // printf("VL53L0X API Version: %d.%d.%d (revision %d)\r\n", pVersion->major,
tichise 0:9d485cd4147c 122 // pVersion->minor, pVersion->build, pVersion->revision);
tichise 0:9d485cd4147c 123
tichise 0:9d485cd4147c 124 int addr = VL53L0X_scan();
tichise 0:9d485cd4147c 125 printf("VL53L0X Device found at: %i\r\n", addr);
tichise 0:9d485cd4147c 126
tichise 0:9d485cd4147c 127 // VL53L0X_DataInit（）関数が1回呼び出され、デバイスの初期化が実行されます。
tichise 0:9d485cd4147c 128 // デバイスがリセット解除された後、一度だけ呼び出されます。
tichise 0:9d485cd4147c 129 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 130 printf("VL53L0X Data init\n");
tichise 0:9d485cd4147c 131 uint16_t oscCalibrateVal = 0;
tichise 0:9d485cd4147c 132 status = VL53L0X_RdWord(&myDevice, VL53L0X_REG_OSC_CALIBRATE_VAL,
tichise 0:9d485cd4147c 133 &oscCalibrateVal);
tichise 0:9d485cd4147c 134 printf("%i\n", oscCalibrateVal);
tichise 0:9d485cd4147c 135 status = VL53L0X_DataInit(&myDevice);
tichise 0:9d485cd4147c 136 printPalError(status);
tichise 0:9d485cd4147c 137 }
tichise 0:9d485cd4147c 138
tichise 0:9d485cd4147c 139 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 140 status = VL53L0X_GetDeviceInfo(&myDevice, &deviceInfo);
tichise 0:9d485cd4147c 141
tichise 0:9d485cd4147c 142 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 143 printf("VL53L0X Get Device Info:\n");
tichise 0:9d485cd4147c 144 printf("Device Name : %s\n", deviceInfo.Name);
tichise 0:9d485cd4147c 145 printf("Device Type : %s\n", deviceInfo.Type);
tichise 0:9d485cd4147c 146 printf("Device ID : %s\n", deviceInfo.ProductId);
tichise 0:9d485cd4147c 147 printf("Product Revision Major : %d\n", deviceInfo.ProductRevisionMajor);
tichise 0:9d485cd4147c 148 printf("Product Revision Minor : %d\n", deviceInfo.ProductRevisionMinor);
tichise 0:9d485cd4147c 149
tichise 0:9d485cd4147c 150 if ((deviceInfo.ProductRevisionMinor != 1) &&
tichise 0:9d485cd4147c 151 (deviceInfo.ProductRevisionMinor != 1)) {
tichise 0:9d485cd4147c 152 printf("Error expected cut 1.1 but found cut %d.%d\n",
tichise 0:9d485cd4147c 153 deviceInfo.ProductRevisionMajor,
tichise 0:9d485cd4147c 154 deviceInfo.ProductRevisionMinor);
tichise 0:9d485cd4147c 155 status = VL53L0X_ERROR_NOT_SUPPORTED;
tichise 0:9d485cd4147c 156 }
tichise 0:9d485cd4147c 157 }
tichise 0:9d485cd4147c 158 printPalError(status);
tichise 0:9d485cd4147c 159 }
tichise 0:9d485cd4147c 160
tichise 0:9d485cd4147c 161 // VL53L0X_StaticInit（）関数を使用すると、特定の用途に固有のデバイス設定をロードできます
tichise 0:9d485cd4147c 162 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 163 // printf("VL53L0X Static init\n");
tichise 0:9d485cd4147c 164 status = VL53L0X_StaticInit(pMyDevice);
tichise 0:9d485cd4147c 165 TI_VL53L0X::printPalError(status);
tichise 0:9d485cd4147c 166 }
tichise 0:9d485cd4147c 167 }
tichise 0:9d485cd4147c 168
tichise 0:9d485cd4147c 169 /**
tichise 0:9d485cd4147c 170 * 1回だけ実行
tichise 0:9d485cd4147c 171 */
tichise 0:9d485cd4147c 172 void TI_VL53L0X::calibration() {
tichise 0:9d485cd4147c 173
tichise 0:9d485cd4147c 174 status = VL53L0X_ERROR_NONE;
tichise 0:9d485cd4147c 175 uint32_t refSpadCount;
tichise 0:9d485cd4147c 176 uint8_t isApertureSpads;
tichise 0:9d485cd4147c 177 uint8_t vhvSettings;
tichise 0:9d485cd4147c 178 uint8_t phaseCal;
tichise 0:9d485cd4147c 179
tichise 0:9d485cd4147c 180 FixPoint1616_t calDistanceMilliMeter;
tichise 0:9d485cd4147c 181 int32_t pOffsetMicroMeter;
tichise 0:9d485cd4147c 182
tichise 0:9d485cd4147c 183 // 基準SPADの較正
tichise 0:9d485cd4147c 184 // 直接 TOF 法に用いられる SPAD（single photon avalanche diode）では，
tichise 0:9d485cd4147c 185 // 入射した単一フォトンにより発生したキャリヤーをアバランシ増倍を用いて電気的パルスに変換して，
tichise 0:9d485cd4147c 186 // その到来時刻を TDC（time to digital converter）により計測する
tichise 0:9d485cd4147c 187
tichise 0:9d485cd4147c 188 // VL53L0X_StaticInitのあとに実行可能、VL53L0X_PerformRefCalibrationの前に実行必須
tichise 0:9d485cd4147c 189 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 190 // printf("VL53L0X Spad Management\n");
tichise 0:9d485cd4147c 191 status = VL53L0X_PerformRefSpadManagement(
tichise 0:9d485cd4147c 192 pMyDevice, &refSpadCount, &isApertureSpads); // Device Initialization
tichise 0:9d485cd4147c 193 TI_VL53L0X::printPalError(status);
tichise 0:9d485cd4147c 194 }
tichise 0:9d485cd4147c 195
tichise 0:9d485cd4147c 196 // 温度キャリブレーション。VL53L0X_PerformRefSpadManagementのあとに実行可能
tichise 0:9d485cd4147c 197 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 198 // printf("VL53L0X Calibration\n");
tichise 0:9d485cd4147c 199 status = VL53L0X_PerformRefCalibration(pMyDevice, &vhvSettings, &phaseCal);
tichise 0:9d485cd4147c 200 TI_VL53L0X::printPalError(status);
tichise 0:9d485cd4147c 201 }
tichise 0:9d485cd4147c 202
tichise 0:9d485cd4147c 203 /*
tichise 0:9d485cd4147c 204 // オフセットキャリブレーション。VL53L0X_PerformRefCalibrationのあとに実行可能
tichise 0:9d485cd4147c 205 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 206 status = VL53L0X_PerformOffsetCalibration(pMyDevice, calDistanceMilliMeter,&pOffsetMicroMeter);
tichise 0:9d485cd4147c 207 TI_VL53L0X::printPalError(status);
tichise 0:9d485cd4147c 208 }
tichise 0:9d485cd4147c 209 */
tichise 0:9d485cd4147c 210
tichise 0:9d485cd4147c 211 /*
tichise 0:9d485cd4147c 212 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 213 FixPoint1616_t xTalkCalDistance,
tichise 0:9d485cd4147c 214 FixPoint1616_t pXTalkCompensationRateMegaCps
tichise 0:9d485cd4147c 215
tichise 0:9d485cd4147c 216 status = VL53L0X_PerformXTalkCalibration(pMyDevice, &xTalkCalDistance, &pXTalkCompensationRateMegaCps);
tichise 0:9d485cd4147c 217 TI_VL53L0X::printPalError(status);
tichise 0:9d485cd4147c 218 }
tichise 0:9d485cd4147c 219 */
tichise 0:9d485cd4147c 220
tichise 0:9d485cd4147c 221 // クロストーク補正
tichise 0:9d485cd4147c 222 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 223
tichise 0:9d485cd4147c 224 // printf("VL53L0X set device Mode\n");
tichise 0:9d485cd4147c 225 status = VL53L0X_SetXTalkCompensationRateMegaCps(pMyDevice, 0);
tichise 0:9d485cd4147c 226
tichise 0:9d485cd4147c 227 // 下記は実装されてない
tichise 0:9d485cd4147c 228 // status = VL53L0X_SetXTalkCompensationEnable(pMyDevice, 1);
tichise 0:9d485cd4147c 229
tichise 0:9d485cd4147c 230 TI_VL53L0X::printPalError(status);
tichise 0:9d485cd4147c 231 }
tichise 0:9d485cd4147c 232
tichise 0:9d485cd4147c 233 // デバイスモード
tichise 0:9d485cd4147c 234 // VL53L0X_SetDeviceMode（）は、次のいずれかのモードを選択します。
tichise 0:9d485cd4147c 235 // シングルレンジング
tichise 0:9d485cd4147c 236 // 継続的な距離
tichise 0:9d485cd4147c 237 // 継続的なタイムレンジ
tichise 0:9d485cd4147c 238 // VL53L0X_GetDeviceMode（）は、実際にどのモードがプログラムされているかを知るために使用します。
tichise 0:9d485cd4147c 239 // これらのモードは、VL53L0Xのデータシートに記載されています。
tichise 0:9d485cd4147c 240 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 241
tichise 0:9d485cd4147c 242 // printf("VL53L0X set device Mode\n");
tichise 0:9d485cd4147c 243 status = VL53L0X_SetDeviceMode(
tichise 0:9d485cd4147c 244 pMyDevice,
tichise 0:9d485cd4147c 245 VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in single ranging mode
tichise 0:9d485cd4147c 246 TI_VL53L0X::printPalError(status);
tichise 0:9d485cd4147c 247 }
tichise 0:9d485cd4147c 248 }
tichise 0:9d485cd4147c 249
tichise 0:9d485cd4147c 250 void TI_VL53L0X::startMeasurement() {
tichise 0:9d485cd4147c 251 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 252 printf("VL53L0X start Measurement\n");
tichise 0:9d485cd4147c 253 status = VL53L0X_StartMeasurement(pMyDevice);
tichise 0:9d485cd4147c 254 TI_VL53L0X::printPalError(status);
tichise 0:9d485cd4147c 255 }
tichise 0:9d485cd4147c 256 }
tichise 0:9d485cd4147c 257
tichise 0:9d485cd4147c 258 /**
tichise 0:9d485cd4147c 259 * 計測開始
tichise 0:9d485cd4147c 260 */
tichise 0:9d485cd4147c 261 int TI_VL53L0X::getMeasurement() {
tichise 0:9d485cd4147c 262 int averageRange = 9999;
tichise 0:9d485cd4147c 263
tichise 0:9d485cd4147c 264 VL53L0X_RangingMeasurementData_t rangingMeasurementData;
tichise 0:9d485cd4147c 265 VL53L0X_RangingMeasurementData_t *pRangingMeasurementData =
tichise 0:9d485cd4147c 266 &rangingMeasurementData;
tichise 0:9d485cd4147c 267
tichise 0:9d485cd4147c 268 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 269 uint32_t measurement;
tichise 0:9d485cd4147c 270 // uint32_t tryCount = 32;
tichise 0:9d485cd4147c 271 uint32_t tryCount = 3;
tichise 0:9d485cd4147c 272
tichise 0:9d485cd4147c 273 uint16_t *pResults = (uint16_t *)malloc(sizeof(uint16_t) * tryCount);
tichise 0:9d485cd4147c 274
tichise 0:9d485cd4147c 275 // 計測���始
tichise 0:9d485cd4147c 276 for (measurement = 0; measurement < tryCount; measurement++) {
tichise 0:9d485cd4147c 277
tichise 0:9d485cd4147c 278 status = TI_VL53L0X::waitMeasurementDataReady(pMyDevice);
tichise 0:9d485cd4147c 279
tichise 0:9d485cd4147c 280 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 281 status = VL53L0X_GetRangingMeasurementData(pMyDevice,
tichise 0:9d485cd4147c 282 pRangingMeasurementData);
tichise 0:9d485cd4147c 283
tichise 0:9d485cd4147c 284 *(pResults + measurement) = pRangingMeasurementData->RangeMilliMeter;
tichise 0:9d485cd4147c 285 // printf("VL53L0X In loop measurement %lu: %d\n", measurement,
tichise 0:9d485cd4147c 286 // pRangingMeasurementData->RangeMilliMeter);
tichise 0:9d485cd4147c 287
tichise 0:9d485cd4147c 288 // 割り込みをクリアする
tichise 0:9d485cd4147c 289 VL53L0X_ClearInterruptMask(
tichise 0:9d485cd4147c 290 pMyDevice, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
tichise 0:9d485cd4147c 291 VL53L0X_PollingDelay(pMyDevice);
tichise 0:9d485cd4147c 292 } else {
tichise 0:9d485cd4147c 293 break;
tichise 0:9d485cd4147c 294 }
tichise 0:9d485cd4147c 295 }
tichise 0:9d485cd4147c 296
tichise 0:9d485cd4147c 297 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 298
tichise 0:9d485cd4147c 299 int total = 0;
tichise 0:9d485cd4147c 300 // 距離を計測
tichise 0:9d485cd4147c 301 for (measurement = 0; measurement < tryCount; measurement++) {
tichise 0:9d485cd4147c 302 // printf("VL53L0X measurement %lu: %d\n", measurement, *(pResults +
tichise 0:9d485cd4147c 303 // measurement));
tichise 0:9d485cd4147c 304
tichise 0:9d485cd4147c 305 total = total + *(pResults + measurement);
tichise 0:9d485cd4147c 306 }
tichise 0:9d485cd4147c 307
tichise 0:9d485cd4147c 308 averageRange = total / tryCount;
tichise 0:9d485cd4147c 309 }
tichise 0:9d485cd4147c 310
tichise 0:9d485cd4147c 311 free(pResults);
tichise 0:9d485cd4147c 312 }
tichise 0:9d485cd4147c 313
tichise 0:9d485cd4147c 314 // printf("VL53L0X measurement average %d\n", averageRange);
tichise 0:9d485cd4147c 315
tichise 0:9d485cd4147c 316 return averageRange;
tichise 0:9d485cd4147c 317 }
tichise 0:9d485cd4147c 318
tichise 0:9d485cd4147c 319 void TI_VL53L0X::stopMeasurement() {
tichise 0:9d485cd4147c 320 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 321 // printf("VL53L0X stop measurement\n");
tichise 0:9d485cd4147c 322 status = VL53L0X_StopMeasurement(pMyDevice);
tichise 0:9d485cd4147c 323 }
tichise 0:9d485cd4147c 324
tichise 0:9d485cd4147c 325 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 326 printf("VL53L0X wait stop completed\n");
tichise 0:9d485cd4147c 327 // 停止完了を待つ
tichise 0:9d485cd4147c 328 status = TI_VL53L0X::waitStopCompleted(pMyDevice);
tichise 0:9d485cd4147c 329 }
tichise 0:9d485cd4147c 330
tichise 0:9d485cd4147c 331 if (status == VL53L0X_ERROR_NONE) {
tichise 0:9d485cd4147c 332 status = VL53L0X_ClearInterruptMask(
tichise 0:9d485cd4147c 333 pMyDevice, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
tichise 0:9d485cd4147c 334 }
tichise 0:9d485cd4147c 335 }
tichise 0:9d485cd4147c 336