public/laserhead-distance-sensor
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Initial import

Browse Source
This commit is contained in:
erwin
2023-06-29 22:14:17 +02:00
parent 14c1d42cbf
commit 90cb70e140
245 changed files with 292356 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

974
code/lib/Adafruit_VL53L0X-1.2.3/src/Adafruit_VL53L0X.cpp Normal file
View File

@@ -0,0 +1,974 @@
/*!
* @file Adafruit_VL53L0X.cpp
*
* @mainpage Adafruit VL53L0X time-of-flight sensor
*
* @section intro_sec Introduction
*
* This is the documentation for Adafruit's VL53L0X driver for the
* Arduino platform. It is designed specifically to work with the
* Adafruit VL53L0X breakout: https://www.adafruit.com/product/3317
*
* These sensors use I2C to communicate, 2 pins (SCL+SDA) are required
* to interface with the breakout.
*
* Adafruit invests time and resources providing this open source code,
* please support Adafruit and open-source hardware by purchasing
* products from Adafruit!
*
* @section dependencies Dependencies
*
*
* @section author Author
*
* Written by Limor Fried/Ladyada for Adafruit Industries.
*
* Updated by Andrew DeVries for Digital Example to include methods needed for
* Interrupt triggering
*
* @section license License
*
* BSD license, all text here must be included in any redistribution.
*
*/
#include "Adafruit_VL53L0X.h"
#include "vl53l0x_api_core.h"
#define VERSION_REQUIRED_MAJOR 1 ///< Required sensor major version
#define VERSION_REQUIRED_MINOR 0 ///< Required sensor minor version
#define VERSION_REQUIRED_BUILD 1 ///< Required sensor build
#define STR_HELPER(x) #x ///< a string helper
#define STR(x) STR_HELPER(x) ///< string helper wrapper
/**************************************************************************/
/*!
@brief Setups the I2C interface and hardware
@param i2c_addr Optional I2C address the sensor can be found on. Default is
0x29
@param debug Optional debug flag. If true, debug information will print out
via Serial.print during setup. Defaults to false.
@param i2c Optional I2C bus the sensor is located on. Default is Wire
@param vl_config Sensor configuration
@returns True if device is set up, false on any failure
*/
/**************************************************************************/
boolean Adafruit_VL53L0X::begin(uint8_t i2c_addr, boolean debug, TwoWire *i2c,
VL53L0X_Sense_config_t vl_config) {
uint32_t refSpadCount;
uint8_t isApertureSpads;
uint8_t VhvSettings;
uint8_t PhaseCal;
// Initialize Comms
pMyDevice->I2cDevAddr = VL53L0X_I2C_ADDR; // default
pMyDevice->comms_type = 1;
pMyDevice->comms_speed_khz = 400;
pMyDevice->i2c = i2c;
pMyDevice->i2c->begin(); // VL53L0X_i2c_init();
// unclear if this is even needed:
if (VL53L0X_IMPLEMENTATION_VER_MAJOR != VERSION_REQUIRED_MAJOR ||
VL53L0X_IMPLEMENTATION_VER_MINOR != VERSION_REQUIRED_MINOR ||
VL53L0X_IMPLEMENTATION_VER_SUB != VERSION_REQUIRED_BUILD) {
if (debug) {
Serial.println(F(
"Found " STR(VL53L0X_IMPLEMENTATION_VER_MAJOR) "." STR(VL53L0X_IMPLEMENTATION_VER_MINOR) "." STR(
VL53L0X_IMPLEMENTATION_VER_SUB) " rev " STR(VL53L0X_IMPLEMENTATION_VER_REVISION)));
Serial.println(F("Requires " STR(VERSION_REQUIRED_MAJOR) "." STR(
VERSION_REQUIRED_MINOR) "." STR(VERSION_REQUIRED_BUILD)));
}
Status = VL53L0X_ERROR_NOT_SUPPORTED;
return false;
}
Status = VL53L0X_DataInit(&MyDevice); // Data initialization
if (!setAddress(i2c_addr)) {
return false;
}
Status = VL53L0X_GetDeviceInfo(&MyDevice, &DeviceInfo);
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("VL53L0X Info:"));
Serial.print(F("Device Name: "));
Serial.print(DeviceInfo.Name);
Serial.print(F(", Type: "));
Serial.print(DeviceInfo.Type);
Serial.print(F(", ID: "));
Serial.println(DeviceInfo.ProductId);
Serial.print(F("Rev Major: "));
Serial.print(DeviceInfo.ProductRevisionMajor);
Serial.print(F(", Minor: "));
Serial.println(DeviceInfo.ProductRevisionMinor);
}
if ((DeviceInfo.ProductRevisionMajor != 1) ||
(DeviceInfo.ProductRevisionMinor != 1)) {
if (debug) {
Serial.print(F("Error expected cut 1.1 but found "));
Serial.print(DeviceInfo.ProductRevisionMajor);
Serial.print(',');
Serial.println(DeviceInfo.ProductRevisionMinor);
}
Status = VL53L0X_ERROR_NOT_SUPPORTED;
}
}
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("VL53L0X: StaticInit"));
}
Status = VL53L0X_StaticInit(pMyDevice); // Device Initialization
}
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("VL53L0X: PerformRefSpadManagement"));
}
Status = VL53L0X_PerformRefSpadManagement(
pMyDevice, &refSpadCount, &isApertureSpads); // Device Initialization
if (debug) {
Serial.print(F("refSpadCount = "));
Serial.print(refSpadCount);
Serial.print(F(", isApertureSpads = "));
Serial.println(isApertureSpads);
}
}
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("VL53L0X: PerformRefCalibration"));
}
Status = VL53L0X_PerformRefCalibration(pMyDevice, &VhvSettings,
&PhaseCal); // Device Initialization
}
if (Status == VL53L0X_ERROR_NONE) {
// no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
if (debug) {
Serial.println(F("VL53L0X: SetDeviceMode"));
}
Status = VL53L0X_SetDeviceMode(
pMyDevice,
VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
}
// call off to the config function to do the last part of configuration.
if (Status == VL53L0X_ERROR_NONE) {
configSensor(vl_config);
}
if (Status == VL53L0X_ERROR_NONE) {
return true;
} else {
if (debug) {
Serial.print(F("VL53L0X Error: "));
Serial.println(Status);
}
return false;
}
}
/**************************************************************************/
/*!
@brief Change the I2C address of the sensor
@param newAddr the new address to set the sensor to
@returns True if address was set successfully, False otherwise
*/
/**************************************************************************/
boolean Adafruit_VL53L0X::setAddress(uint8_t newAddr) {
newAddr &= 0x7F;
Status = VL53L0X_SetDeviceAddress(pMyDevice, newAddr * 2); // 7->8 bit
delay(10);
if (Status == VL53L0X_ERROR_NONE) {
pMyDevice->I2cDevAddr = newAddr; // 7 bit addr
return true;
}
return false;
}
/**************************************************************************/
/*!
@brief Configure the sensor for one of the ways the example ST
sketches configure the sensors for different usages.
@param vl_config Which configureation you are trying to configure for
It should be one of the following
VL53L0X_SENSE_DEFAULT
VL53L0X_SENSE_LONG_RANGE
VL53L0X_SENSE_HIGH_SPEED,
VL53L0X_SENSE_HIGH_ACCURACY
@returns True if address was set successfully, False otherwise
*/
/**************************************************************************/
boolean Adafruit_VL53L0X::configSensor(VL53L0X_Sense_config_t vl_config) {
// All of them appear to configure a few things
// Serial.print(F("VL53L0X: configSensor "));
// Serial.println((int)vl_config, DEC);
// Enable/Disable Sigma and Signal check
Status = VL53L0X_SetLimitCheckEnable(
pMyDevice, VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetLimitCheckEnable(
pMyDevice, VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
}
if (Status != VL53L0X_ERROR_NONE)
return false;
switch (vl_config) {
case VL53L0X_SENSE_DEFAULT:
// Taken directly from SDK vl5310x_SingleRanging_example.c
// Maybe should convert to helper functions but...
// Serial.println(" VL53L0X_SENSE_DEFAULT");
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetLimitCheckEnable(
pMyDevice, VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 1);
}
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetLimitCheckValue(
pMyDevice, VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
(FixPoint1616_t)(1.5 * 0.023 * 65536));
}
break;
case VL53L0X_SENSE_LONG_RANGE:
Serial.println(" VL53L0X_SENSE_LONG_RANGE");
Status = VL53L0X_SetLimitCheckValue(
pMyDevice, VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
(FixPoint1616_t)(0.1 * 65536));
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetLimitCheckValue(pMyDevice,
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
(FixPoint1616_t)(60 * 65536));
}
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(pMyDevice, 33000);
}
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetVcselPulsePeriod(pMyDevice,
VL53L0X_VCSEL_PERIOD_PRE_RANGE, 18);
}
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetVcselPulsePeriod(
pMyDevice, VL53L0X_VCSEL_PERIOD_FINAL_RANGE, 14);
}
break;
case VL53L0X_SENSE_HIGH_SPEED:
// Serial.println(" VL53L0X_SENSE_HIGH_SPEED");
Status = VL53L0X_SetLimitCheckValue(
pMyDevice, VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
(FixPoint1616_t)(0.25 * 65536));
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetLimitCheckValue(pMyDevice,
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
(FixPoint1616_t)(32 * 65536));
}
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(pMyDevice, 30000);
}
break;
case VL53L0X_SENSE_HIGH_ACCURACY:
// increase timing budget to 200 ms
if (Status == VL53L0X_ERROR_NONE) {
setLimitCheckValue(VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
(FixPoint1616_t)(0.25 * 65536));
}
if (Status == VL53L0X_ERROR_NONE) {
setLimitCheckValue(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
(FixPoint1616_t)(18 * 65536));
}
if (Status == VL53L0X_ERROR_NONE) {
setMeasurementTimingBudgetMicroSeconds(200000);
}
// Not sure about ignore threshold, try turnning it off...
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetLimitCheckEnable(
pMyDevice, VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0);
}
break;
}
return (Status == VL53L0X_ERROR_NONE);
}
/**************************************************************************/
/*!
@brief get a ranging measurement from the device
@param RangingMeasurementData the pointer to the struct the data will be
stored in
@param debug Optional debug flag. If true debug information will print via
Serial.print during execution. Defaults to false.
@returns True if address was set successfully, False otherwise
*/
/**************************************************************************/
VL53L0X_Error Adafruit_VL53L0X::getSingleRangingMeasurement(
VL53L0X_RangingMeasurementData_t *RangingMeasurementData, boolean debug) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
FixPoint1616_t LimitCheckCurrent;
/*
* Step 4 : Test ranging mode
*/
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("sVL53L0X: PerformSingleRangingMeasurement"));
}
Status = VL53L0X_PerformSingleRangingMeasurement(pMyDevice,
RangingMeasurementData);
if (debug) {
printRangeStatus(RangingMeasurementData);
}
if (debug) {
VL53L0X_GetLimitCheckCurrent(pMyDevice,
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
&LimitCheckCurrent);
Serial.print(F("RANGE IGNORE THRESHOLD: "));
Serial.println((float)LimitCheckCurrent / 65536.0);
Serial.print(F("Measured distance: "));
Serial.println(RangingMeasurementData->RangeMilliMeter);
}
}
return Status;
}
/**************************************************************************/
/*!
@brief Start the ranging measurement from the device
@param debug Optional debug flag. If true debug information will print via
Serial.print during execution. Defaults to false.
@returns status code
*/
/**************************************************************************/
VL53L0X_Error Adafruit_VL53L0X::startMeasurement(boolean debug) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("sVL53L0X: StartMeasurement"));
}
Status = VL53L0X_StartMeasurement(pMyDevice);
}
return Status;
}
/**************************************************************************/
/*!
@brief Stop ranging measurement from the device
@param debug Optional debug flag. If true debug information will print via
Serial.print during execution. Defaults to false.
@returns status code
*/
/**************************************************************************/
VL53L0X_Error Adafruit_VL53L0X::stopMeasurement(boolean debug) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("sVL53L0X: StopMeasurement"));
}
Status = VL53L0X_StopMeasurement(pMyDevice);
}
return Status;
}
/**************************************************************************/
/*!
@brief Stop ranging measurement from the device
@param LimitCheckId Limit Check ID (0<= LimitCheckId <
VL53L0X_GetNumberOfLimitCheck() ).
@param pLimitCheckCurrent Pointer to current Value for a given LimitCheckId.
@param debug Optional debug flag. If true debug information will print via
Serial.print during execution. Defaults to false.
@returns status code
*/
/**************************************************************************/
VL53L0X_Error Adafruit_VL53L0X::getLimitCheckCurrent(
uint8_t LimitCheckId, FixPoint1616_t *pLimitCheckCurrent, boolean debug) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint16_t intLimitCheckId = LimitCheckId;
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("sVL53L0X: getLimitCheckCurrent"));
}
Status = VL53L0X_GetLimitCheckCurrent(pMyDevice, intLimitCheckId,
pLimitCheckCurrent);
}
return Status;
}
/**************************************************************************/
/*!
@brief Set a new device mode
@param DeviceMode New device mode to apply
Valid values are:
VL53L0X_DEVICEMODE_SINGLE_RANGING
VL53L0X_DEVICEMODE_CONTINUOUS_RANGING
VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING
VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
VL53L0X_HISTOGRAMMODE_RETURN_ONLY
VL53L0X_HISTOGRAMMODE_BOTH
@param debug Optional debug flag. If true debug information will print via
Serial.print during execution. Defaults to false.
@returns status code
*/
/**************************************************************************/
VL53L0X_Error Adafruit_VL53L0X::setDeviceMode(VL53L0X_DeviceModes DeviceMode,
boolean debug) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("sVL53L0X: setDeviceMode"));
}
Status = VL53L0X_SetDeviceMode(pMyDevice, DeviceMode);
}
return Status;
}
/**************************************************************************/
/*!
@brief Set low and high Interrupt thresholds
@param ThresholdLow Low threshold (mm, lux ..., depending on the mode)
@param ThresholdHigh High threshold (mm, lux ..., depending on the mode)
@param debug Optional debug flag. If true debug information will print via
Serial.print during execution. Defaults to false.
@returns status code
*/
/**************************************************************************/
VL53L0X_Error Adafruit_VL53L0X::setInterruptThresholds(
FixPoint1616_t ThresholdLow, FixPoint1616_t ThresholdHigh, boolean debug) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("sVL53L0X: setInterruptThresholds"));
}
// ST API Comments "no dependency on DeviceMode for Ewok " so device mode
// not used but API requires something so pass in
// VL53L0X_DEVICEMODE_CONTINUOUS_RANGING even though not used
Status = VL53L0X_SetInterruptThresholds(
pMyDevice, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, ThresholdLow,
ThresholdHigh);
}
return Status;
}
/**************************************************************************/
/*!
@brief Get high and low Interrupt thresholds
@param pThresholdLow Low threshold (mm, lux ..., depending on the mode)
@param pThresholdHigh High threshold (mm, lux ..., depending on the mode)
@param debug Optional debug flag. If true debug information will print via
Serial.print during execution. Defaults to false.
@returns status code
*/
/**************************************************************************/
VL53L0X_Error
Adafruit_VL53L0X::getInterruptThresholds(FixPoint1616_t *pThresholdLow,
FixPoint1616_t *pThresholdHigh,
boolean debug) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("sVL53L0X: getInterruptThresholds"));
}
// ST API Comments "no dependency on DeviceMode for Ewok " so device mode
// not used but API requires something so pass in
// VL53L0X_DEVICEMODE_CONTINUOUS_RANGING even though not used
Status = VL53L0X_GetInterruptThresholds(
pMyDevice, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, pThresholdLow,
pThresholdHigh);
}
return Status;
}
/**************************************************************************/
/*!
@brief Get current new device mode
@param pDeviceMode Pointer to current apply mode value
@param debug Optional debug flag. If true debug information will print via
Serial.print during execution. Defaults to false.
@returns status code
*/
/**************************************************************************/
VL53L0X_Error Adafruit_VL53L0X::getDeviceMode(VL53L0X_DeviceModes *pDeviceMode,
boolean debug) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("sVL53L0X: getDeviceMode"));
}
Status = VL53L0X_GetDeviceMode(pMyDevice, pDeviceMode);
}
return Status;
}
/**************************************************************************/
/*!
@brief Clear system interrupt condition
@param debug Optional debug flag. If true debug information will print via
Serial.print during execution. Defaults to false.
@returns status code
*/
/**************************************************************************/
VL53L0X_Error Adafruit_VL53L0X::clearInterruptMask(boolean debug) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("sVL53L0X: clearInterruptMask"));
}
Status = VL53L0X_ClearInterruptMask(pMyDevice, 0);
}
return Status;
}
/**************************************************************************/
/*!
@brief Set the configuration of GPIO pin 0
@param DeviceMode Device Mode associated to the Gpio.
@param Functionality Select Pin functionality.
@param Polarity Set interrupt polarity. Active high or active low.
@param debug Optional debug flag. If true debug information will print via
Serial.print during execution. Defaults to false.
@returns status code
*/
/**************************************************************************/
VL53L0X_Error Adafruit_VL53L0X::setGpioConfig(
VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality,
VL53L0X_InterruptPolarity Polarity, boolean debug) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("sVL53L0X: setGpioConfig"));
}
// Pin is always 0, Devicemode is ignored if not
// VL53L0X_DEVICEMODE_GPIO_DRIVE or VL53L0X_DEVICEMODE_GPIO_OSC
Status = VL53L0X_SetGpioConfig(pMyDevice, 0, DeviceMode, Functionality,
Polarity);
}
return Status;
}
/**************************************************************************/
/*!
@brief Get current configuration for GPIO pin 0
@param pDeviceMode Pointer to Device Mode associated to the Gpio.
@param pFunctionality Pointer to Pin functionality.
@param pPolarity Pointer to interrupt polarity. Active high or active low.
@param debug Optional debug flag. If true debug information will print via
Serial.print during execution. Defaults to false.
@returns status code
*/
/**************************************************************************/
VL53L0X_Error Adafruit_VL53L0X::getGpioConfig(
VL53L0X_DeviceModes *pDeviceMode, VL53L0X_GpioFunctionality *pFunctionality,
VL53L0X_InterruptPolarity *pPolarity, boolean debug) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("sVL53L0X: getGpioConfig"));
}
// Pin is always 0, Devicemode is ignored if not
// VL53L0X_DEVICEMODE_GPIO_DRIVE or VL53L0X_DEVICEMODE_GPIO_OSC
Status = VL53L0X_GetGpioConfig(pMyDevice, 0, pDeviceMode, pFunctionality,
pPolarity);
}
return Status;
}
/**************************************************************************/
/*!
@brief get a ranging measurement from the device
@param RangingMeasurementData the pointer to the struct the data will be
stored in
@param debug Optional debug flag. If true debug information will print via
Serial.print during execution. Defaults to false.
@returns VL53L0X_ERROR_NONE or Error if one occured
*/
/**************************************************************************/
VL53L0X_Error Adafruit_VL53L0X::getRangingMeasurement(
VL53L0X_RangingMeasurementData_t *RangingMeasurementData, boolean debug) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
FixPoint1616_t LimitCheckCurrent;
if (Status == VL53L0X_ERROR_NONE) {
if (debug) {
Serial.println(F("sVL53L0X: getRangingMeasurement"));
}
Status =
VL53L0X_GetRangingMeasurementData(pMyDevice, RangingMeasurementData);
if (debug) {
printRangeStatus(RangingMeasurementData);
}
if (debug) {
VL53L0X_GetLimitCheckCurrent(pMyDevice,
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
&LimitCheckCurrent);
Serial.print(F("RANGE IGNORE THRESHOLD: "));
Serial.println((float)LimitCheckCurrent / 65536.0);
Serial.print(F("Measured distance: "));
Serial.println(RangingMeasurementData->RangeMilliMeter);
}
}
return Status;
}
/**************************************************************************/
/*!
@brief print a ranging measurement out via Serial.print in a human-readable
format
@param pRangingMeasurementData a pointer to the ranging measurement data
*/
/**************************************************************************/
void Adafruit_VL53L0X::printRangeStatus(
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) {
char buf[VL53L0X_MAX_STRING_LENGTH];
uint8_t RangeStatus;
/*
* New Range Status: data is valid when pRangingMeasurementData->RangeStatus =
* 0
*/
RangeStatus = pRangingMeasurementData->RangeStatus;
VL53L0X_GetRangeStatusString(RangeStatus, buf);
Serial.print(F("Range Status: "));
Serial.print(RangeStatus);
Serial.print(F(" : "));
Serial.println(buf);
}
/**************************************************************************/
/*!
@brief Single shot ranging. Be sure to check the return of readRangeStatus
to before using the return value!
@return Distance in millimeters if valid
*/
/**************************************************************************/
uint16_t Adafruit_VL53L0X::readRange(void) {
VL53L0X_RangingMeasurementData_t measure; // keep our own private copy
Status = getSingleRangingMeasurement(&measure, false);
_rangeStatus = measure.RangeStatus;
if (Status == VL53L0X_ERROR_NONE)
return measure.RangeMilliMeter;
// Other status return something totally out of bounds...
return 0xffff;
}
/**************************************************************************/
/*!
@brief Request ranging success/error message (retrieve after ranging)
@returns One of possible VL6180X_ERROR_* values
*/
/**************************************************************************/
uint8_t Adafruit_VL53L0X::readRangeStatus(void) { return _rangeStatus; }
/**************************************************************************/
/*!
@brief Start a range operation
@return true if range operation successfully started.
*/
/**************************************************************************/
boolean Adafruit_VL53L0X::startRange(void) {
/* This function will do a complete single ranging
* Here we fix the mode! */
// first lets set the device in SINGLE_Ranging mode
Status = VL53L0X_SetDeviceMode(pMyDevice, VL53L0X_DEVICEMODE_SINGLE_RANGING);
if (Status == VL53L0X_ERROR_NONE) {
// Lets start up the measurement
Status = VL53L0X_StartMeasurement(pMyDevice);
}
return (Status == VL53L0X_ERROR_NONE);
}
/**************************************************************************/
/*!
@brief Checks to see if a range operation has completed
@return true if range operation completed or an error has happened
*/
/**************************************************************************/
boolean Adafruit_VL53L0X::isRangeComplete(void) {
uint8_t NewDataReady = 0;
Status = VL53L0X_GetMeasurementDataReady(pMyDevice, &NewDataReady);
return ((Status != VL53L0X_ERROR_NONE) || (NewDataReady == 1));
}
/**************************************************************************/
/*!
@brief Wait until Range operation has completed.
@return true if range operation completed, false if error.
*/
/**************************************************************************/
boolean Adafruit_VL53L0X::waitRangeComplete(void) {
Status = VL53L0X_measurement_poll_for_completion(pMyDevice);
return (Status == VL53L0X_ERROR_NONE);
}
/**************************************************************************/
/*!
@brief Return the range in mm for the last operation.
@return Range in mm.
*/
/**************************************************************************/
uint16_t Adafruit_VL53L0X::readRangeResult(void) {
VL53L0X_RangingMeasurementData_t measure; // keep our own private copy
Status = VL53L0X_GetRangingMeasurementData(pMyDevice, &measure);
_rangeStatus = measure.RangeStatus;
if (Status == VL53L0X_ERROR_NONE)
Status = VL53L0X_ClearInterruptMask(pMyDevice, 0);
if ((Status == VL53L0X_ERROR_NONE) && (_rangeStatus != 4))
return measure.RangeMilliMeter;
return 0xffff; // some out of range value
}
/**************************************************************************/
/*!
@brief Start a continuous range operation
@param period_ms inter measurement period in milliseconds
@return True if successful, false otherwise
*/
/**************************************************************************/
boolean Adafruit_VL53L0X::startRangeContinuous(uint16_t period_ms) {
/* This function will do a complete single ranging
* Here we fix the mode! */
// first lets set the device in SINGLE_Ranging mode
Status = VL53L0X_SetDeviceMode(pMyDevice,
VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING);
if (Status == VL53L0X_ERROR_NONE) {
Status =
VL53L0X_SetInterMeasurementPeriodMilliSeconds(pMyDevice, period_ms);
}
if (Status == VL53L0X_ERROR_NONE) {
// Lets start up the measurement
Status = VL53L0X_StartMeasurement(pMyDevice);
}
return (Status == VL53L0X_ERROR_NONE);
}
/**************************************************************************/
/*!
@brief Stop a continuous ranging operation
*/
/**************************************************************************/
void Adafruit_VL53L0X::stopRangeContinuous(void) {
Status = VL53L0X_StopMeasurement(pMyDevice);
// lets wait until that completes.
uint32_t StopCompleted = 0;
uint32_t LoopNb;
// Wait until it finished
// use timeout to avoid deadlock
if (Status == VL53L0X_ERROR_NONE) {
LoopNb = 0;
do {
Status = VL53L0X_GetStopCompletedStatus(pMyDevice, &StopCompleted);
if ((StopCompleted == 0x00) || Status != VL53L0X_ERROR_NONE) {
break;
}
LoopNb = LoopNb + 1;
VL53L0X_PollingDelay(pMyDevice);
} while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);
if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
Status = VL53L0X_ERROR_TIME_OUT;
}
}
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_ClearInterruptMask(
pMyDevice, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
}
}
/**************************************************************************/
/*!
@brief Wrapper to ST library code to budget how long a measurement
should take
@param budget_us the new budget
@returns True if success
*/
/**************************************************************************/
boolean
Adafruit_VL53L0X::setMeasurementTimingBudgetMicroSeconds(uint32_t budget_us) {
Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(pMyDevice, budget_us);
return (Status == VL53L0X_ERROR_NONE);
}
/**************************************************************************/
/*!
@brief Wrapper to ST library code to budget how long a measurement
should take
@returns the current budget time in microseconds.
*/
/**************************************************************************/
uint32_t Adafruit_VL53L0X::getMeasurementTimingBudgetMicroSeconds() {
uint32_t budget_us;
Status =
VL53L0X_GetMeasurementTimingBudgetMicroSeconds(pMyDevice, &budget_us);
return (budget_us);
}
/**************************************************************************/
/*!
@brief Sets the VCSEL pulse period.
@param VcselPeriodType VCSEL period identifier (pre-range|final).
@param VCSELPulsePeriod VCSEL period value
@returns True if success
*/
/**************************************************************************/
boolean
Adafruit_VL53L0X::setVcselPulsePeriod(VL53L0X_VcselPeriod VcselPeriodType,
uint8_t VCSELPulsePeriod) {
Status =
VL53L0X_SetVcselPulsePeriod(pMyDevice, VcselPeriodType, VCSELPulsePeriod);
return (Status == VL53L0X_ERROR_NONE);
}
/**************************************************************************/
/*!
@brief Gets the VCSEL pulse period.
@param VcselPeriodType VCSEL period identifier (pre-range|final).
@returns the current pulse peried for the given type.
*/
/**************************************************************************/
uint8_t
Adafruit_VL53L0X::getVcselPulsePeriod(VL53L0X_VcselPeriod VcselPeriodType) {
uint8_t cur_period;
Status = VL53L0X_GetVcselPulsePeriod(pMyDevice, VcselPeriodType, &cur_period);
return (cur_period);
}
/**************************************************************************/
/*!
@brief Enable/Disable a specific limit check
@param LimitCheckId Limit Check ID
(0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
@param LimitCheckEnable if 1 the check limit
corresponding to LimitCheckId is Enabled
if 0 the check limit
corresponding to LimitCheckId is disabled
@return true if succeeded
*/
/**************************************************************************/
boolean Adafruit_VL53L0X::setLimitCheckEnable(uint16_t LimitCheckId,
uint8_t LimitCheckEnable) {
Status =
VL53L0X_SetLimitCheckEnable(pMyDevice, LimitCheckId, LimitCheckEnable);
return (Status == VL53L0X_ERROR_NONE);
}
/**************************************************************************/
/*!
@brief Get specific limit check enable state
@param LimitCheckId Limit Check ID
(0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
@return current state of limit enabled
*/
/**************************************************************************/
uint8_t Adafruit_VL53L0X::getLimitCheckEnable(uint16_t LimitCheckId) {
uint8_t cur_limit;
Status = VL53L0X_GetLimitCheckEnable(pMyDevice, LimitCheckId, &cur_limit);
return (cur_limit);
}
/**************************************************************************/
/*!
@brief Set a specific limit check value
@param LimitCheckId Limit Check ID
(0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
LimitCheckId
@param LimitCheckValue Limit Check Value
@return true if succeeded.
*/
/**************************************************************************/
boolean Adafruit_VL53L0X::setLimitCheckValue(uint16_t LimitCheckId,
FixPoint1616_t LimitCheckValue) {
Status = VL53L0X_SetLimitCheckValue(pMyDevice, LimitCheckId, LimitCheckValue);
return (Status == VL53L0X_ERROR_NONE);
}
/**************************************************************************/
/*!
@brief Get a specific limit check value
@param LimitCheckId Limit Check ID
(0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
@return limit check value in FixPoint1616
*/
/**************************************************************************/
FixPoint1616_t Adafruit_VL53L0X::getLimitCheckValue(uint16_t LimitCheckId) {
FixPoint1616_t LimitCheckValue;
Status =
VL53L0X_GetLimitCheckValue(pMyDevice, LimitCheckId, &LimitCheckValue);
return (LimitCheckValue);
}

164
code/lib/Adafruit_VL53L0X-1.2.3/src/Adafruit_VL53L0X.h Normal file
View File

@@ -0,0 +1,164 @@
/*!
* @file Adafruit_VL53L0X.h
This is a library for the Adafruit VL53L0X Sensor Breakout
Designed specifically to work with the VL53L0X sensor from Adafruit
----> https://www.adafruit.com/products/3317
These sensors use I2C to communicate, 2 pins are required to
interface
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
Written by Limor Fried/Ladyada for Adafruit Industries.
Updated by Andrew DeVries for Digital Example to include methods needed for
Interrupt triggering.
BSD license, all text above must be included in any
redistribution
****************************************************/
#ifndef ADAFRUIT_VL53L0X_H
#define ADAFRUIT_VL53L0X_H
#if (ARDUINO >= 100)
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include "Wire.h"
#include "vl53l0x_api.h"
#define VL53L0X_I2C_ADDR 0x29 ///< Default sensor I2C address
/**************************************************************************/
/*!
@brief Class that stores state and functions for interacting with VL53L0X
time-of-flight sensor chips
*/
/**************************************************************************/
class Adafruit_VL53L0X {
public:
/** Sensor configurations */
typedef enum {
VL53L0X_SENSE_DEFAULT = 0,
VL53L0X_SENSE_LONG_RANGE,
VL53L0X_SENSE_HIGH_SPEED,
VL53L0X_SENSE_HIGH_ACCURACY
} VL53L0X_Sense_config_t;
boolean begin(uint8_t i2c_addr = VL53L0X_I2C_ADDR, boolean debug = false,
TwoWire *i2c = &Wire,
VL53L0X_Sense_config_t vl_config = VL53L0X_SENSE_DEFAULT);
boolean setAddress(uint8_t newAddr);
// uint8_t getAddress(void); // not currently implemented
/**************************************************************************/
/*!
@brief get a ranging measurement from the device
@param pRangingMeasurementData the pointer to the struct the data will be
stored in
@param debug Optional debug flag. If true debug information will print via
Serial.print during execution. Defaults to false.
@returns True if address was set successfully, False otherwise
*/
/**************************************************************************/
VL53L0X_Error
rangingTest(VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
boolean debug = false) {
return getSingleRangingMeasurement(pRangingMeasurementData, debug);
};
VL53L0X_Error getSingleRangingMeasurement(
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
boolean debug = false);
void
printRangeStatus(VL53L0X_RangingMeasurementData_t *pRangingMeasurementData);
VL53L0X_Error getRangingMeasurement(
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
boolean debug = false);
VL53L0X_Error startMeasurement(boolean debug = false);
VL53L0X_Error stopMeasurement(boolean debug = false);
VL53L0X_Error getLimitCheckCurrent(uint8_t LimitCheckId,
FixPoint1616_t *pLimitCheckCurrent,
boolean debug = false);
VL53L0X_Error getDeviceMode(VL53L0X_DeviceModes *pDeviceMode,
boolean debug = false);
VL53L0X_Error setDeviceMode(VL53L0X_DeviceModes DeviceMode,
boolean debug = false);
VL53L0X_Error setInterruptThresholds(FixPoint1616_t ThresholdLow,
FixPoint1616_t ThresholdHigh,
boolean debug = false);
VL53L0X_Error getInterruptThresholds(FixPoint1616_t *pThresholdLow,
FixPoint1616_t *pThresholdHigh,
boolean debug = false);
VL53L0X_Error clearInterruptMask(boolean debug = false);
VL53L0X_Error getGpioConfig(VL53L0X_DeviceModes *pDeviceMode,
VL53L0X_GpioFunctionality *pFunctionality,
VL53L0X_InterruptPolarity *pPolarity,
boolean debug = false);
VL53L0X_Error setGpioConfig(VL53L0X_DeviceModes DeviceMode,
VL53L0X_GpioFunctionality Functionality,
VL53L0X_InterruptPolarity Polarity,
boolean debug = false);
VL53L0X_Error Status =
VL53L0X_ERROR_NONE; ///< indicates whether or not the sensor has
///< encountered an error
// Add similar methods as Adafruit_VL6180X class adapted to range of device
uint16_t readRange(void);
// float readLux(uint8_t gain);
uint8_t readRangeStatus(void);
boolean startRange(void);
boolean isRangeComplete(void);
boolean waitRangeComplete(void);
uint16_t readRangeResult(void);
boolean startRangeContinuous(uint16_t period_ms = 50);
void stopRangeContinuous(void);
// void setTimeout(uint16_t timeout) { io_timeout = timeout; }
// uint16_t getTimeout(void) { return io_timeout; }
/**************************************************************************/
/*!
@brief timeout status
@returns True if timeout has occurred, False otherwise
*/
/**************************************************************************/
boolean timeoutOccurred(void) { return false; }
boolean configSensor(VL53L0X_Sense_config_t vl_config);
// Export some wrappers to internal setting functions
// that are used by the above helper function to allow
// more complete control.
boolean setMeasurementTimingBudgetMicroSeconds(uint32_t budget_us);
uint32_t getMeasurementTimingBudgetMicroSeconds(void);
boolean setVcselPulsePeriod(VL53L0X_VcselPeriod VcselPeriodType,
uint8_t VCSELPulsePeriod);
uint8_t getVcselPulsePeriod(VL53L0X_VcselPeriod VcselPeriodType);
boolean setLimitCheckEnable(uint16_t LimitCheckId, uint8_t LimitCheckEnable);
uint8_t getLimitCheckEnable(uint16_t LimitCheckId);
boolean setLimitCheckValue(uint16_t LimitCheckId,
FixPoint1616_t LimitCheckValue);
FixPoint1616_t getLimitCheckValue(uint16_t LimitCheckId);
private:
VL53L0X_Dev_t MyDevice;
VL53L0X_Dev_t *pMyDevice = &MyDevice;
VL53L0X_DeviceInfo_t DeviceInfo;
uint8_t _rangeStatus;
};
#endif

2811
code/lib/Adafruit_VL53L0X-1.2.3/src/core/src/vl53l0x_api.cpp Normal file
View File

File diff suppressed because it is too large Load Diff

1153
code/lib/Adafruit_VL53L0X-1.2.3/src/core/src/vl53l0x_api_calibration.cpp Normal file
View File

File diff suppressed because it is too large Load Diff

2023
code/lib/Adafruit_VL53L0X-1.2.3/src/core/src/vl53l0x_api_core.cpp Normal file
View File

File diff suppressed because it is too large Load Diff

40
code/lib/Adafruit_VL53L0X-1.2.3/src/core/src/vl53l0x_api_ranging.cpp Normal file
View File

@@ -0,0 +1,40 @@
/*******************************************************************************
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.
******************************************************************************/
#include "../../vl53l0x_api.h"
#include "../../vl53l0x_api_core.h"
#ifndef __KERNEL__
#include <stdlib.h>
#endif
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__)

406
code/lib/Adafruit_VL53L0X-1.2.3/src/core/src/vl53l0x_api_strings.cpp Normal file
View File

@@ -0,0 +1,406 @@
/*******************************************************************************
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.
******************************************************************************/
#include "../../vl53l0x_api_strings.h"
#include "../../vl53l0x_api.h"
#include "../../vl53l0x_api_core.h"
#ifndef __KERNEL__
#include <stdlib.h>
#endif
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__)
VL53L0X_Error
VL53L0X_check_part_used(VL53L0X_DEV Dev, uint8_t *Revision,
VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint8_t ModuleIdInt;
char *ProductId_tmp;
LOG_FUNCTION_START("");
Status = VL53L0X_get_info_from_device(Dev, 2);
if (Status == VL53L0X_ERROR_NONE) {
ModuleIdInt = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, ModuleId);
if (ModuleIdInt == 0) {
*Revision = 0;
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, "");
} else {
*Revision = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, Revision);
ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, ProductId);
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, ProductId_tmp);
}
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53L0X_Error
VL53L0X_get_device_info(VL53L0X_DEV Dev,
VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint8_t revision_id;
uint8_t Revision;
Status = VL53L0X_check_part_used(Dev, &Revision, pVL53L0X_DeviceInfo);
if (Status == VL53L0X_ERROR_NONE) {
if (Revision == 0) {
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
VL53L0X_STRING_DEVICE_INFO_NAME_TS0);
} else if ((Revision <= 34) && (Revision != 32)) {
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
VL53L0X_STRING_DEVICE_INFO_NAME_TS1);
} else if (Revision < 39) {
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
VL53L0X_STRING_DEVICE_INFO_NAME_TS2);
} else {
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
VL53L0X_STRING_DEVICE_INFO_NAME_ES1);
}
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Type,
VL53L0X_STRING_DEVICE_INFO_TYPE);
}
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID,
&pVL53L0X_DeviceInfo->ProductType);
}
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_IDENTIFICATION_REVISION_ID,
&revision_id);
pVL53L0X_DeviceInfo->ProductRevisionMajor = 1;
pVL53L0X_DeviceInfo->ProductRevisionMinor = (revision_id & 0xF0) >> 4;
}
return Status;
}
VL53L0X_Error VL53L0X_get_device_error_string(VL53L0X_DeviceError ErrorCode,
char *pDeviceErrorString) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START("");
switch (ErrorCode) {
case VL53L0X_DEVICEERROR_NONE:
VL53L0X_COPYSTRING(pDeviceErrorString, VL53L0X_STRING_DEVICEERROR_NONE);
break;
case VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE);
break;
case VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE);
break;
case VL53L0X_DEVICEERROR_NOVHVVALUEFOUND:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND);
break;
case VL53L0X_DEVICEERROR_MSRCNOTARGET:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET);
break;
case VL53L0X_DEVICEERROR_SNRCHECK:
VL53L0X_COPYSTRING(pDeviceErrorString, VL53L0X_STRING_DEVICEERROR_SNRCHECK);
break;
case VL53L0X_DEVICEERROR_RANGEPHASECHECK:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK);
break;
case VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK);
break;
case VL53L0X_DEVICEERROR_TCC:
VL53L0X_COPYSTRING(pDeviceErrorString, VL53L0X_STRING_DEVICEERROR_TCC);
break;
case VL53L0X_DEVICEERROR_PHASECONSISTENCY:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY);
break;
case VL53L0X_DEVICEERROR_MINCLIP:
VL53L0X_COPYSTRING(pDeviceErrorString, VL53L0X_STRING_DEVICEERROR_MINCLIP);
break;
case VL53L0X_DEVICEERROR_RANGECOMPLETE:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE);
break;
case VL53L0X_DEVICEERROR_ALGOUNDERFLOW:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW);
break;
case VL53L0X_DEVICEERROR_ALGOOVERFLOW:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW);
break;
case VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD);
break;
default:
VL53L0X_COPYSTRING(pDeviceErrorString, VL53L0X_STRING_UNKNOW_ERROR_CODE);
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53L0X_Error VL53L0X_get_range_status_string(uint8_t RangeStatus,
char *pRangeStatusString) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START("");
switch (RangeStatus) {
case 0:
VL53L0X_COPYSTRING(pRangeStatusString,
VL53L0X_STRING_RANGESTATUS_RANGEVALID);
break;
case 1:
VL53L0X_COPYSTRING(pRangeStatusString, VL53L0X_STRING_RANGESTATUS_SIGMA);
break;
case 2:
VL53L0X_COPYSTRING(pRangeStatusString, VL53L0X_STRING_RANGESTATUS_SIGNAL);
break;
case 3:
VL53L0X_COPYSTRING(pRangeStatusString, VL53L0X_STRING_RANGESTATUS_MINRANGE);
break;
case 4:
VL53L0X_COPYSTRING(pRangeStatusString, VL53L0X_STRING_RANGESTATUS_PHASE);
break;
case 5:
VL53L0X_COPYSTRING(pRangeStatusString, VL53L0X_STRING_RANGESTATUS_HW);
break;
default: /**/
VL53L0X_COPYSTRING(pRangeStatusString, VL53L0X_STRING_RANGESTATUS_NONE);
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53L0X_Error VL53L0X_get_pal_error_string(VL53L0X_Error PalErrorCode,
char *pPalErrorString) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START("");
switch (PalErrorCode) {
case VL53L0X_ERROR_NONE:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_ERROR_NONE);
break;
case VL53L0X_ERROR_CALIBRATION_WARNING:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_CALIBRATION_WARNING);
break;
case VL53L0X_ERROR_MIN_CLIPPED:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_ERROR_MIN_CLIPPED);
break;
case VL53L0X_ERROR_UNDEFINED:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_ERROR_UNDEFINED);
break;
case VL53L0X_ERROR_INVALID_PARAMS:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_ERROR_INVALID_PARAMS);
break;
case VL53L0X_ERROR_NOT_SUPPORTED:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_ERROR_NOT_SUPPORTED);
break;
case VL53L0X_ERROR_INTERRUPT_NOT_CLEARED:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED);
break;
case VL53L0X_ERROR_RANGE_ERROR:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_ERROR_RANGE_ERROR);
break;
case VL53L0X_ERROR_TIME_OUT:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_ERROR_TIME_OUT);
break;
case VL53L0X_ERROR_MODE_NOT_SUPPORTED:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED);
break;
case VL53L0X_ERROR_BUFFER_TOO_SMALL:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL);
break;
case VL53L0X_ERROR_GPIO_NOT_EXISTING:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING);
break;
case VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED);
break;
case VL53L0X_ERROR_CONTROL_INTERFACE:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_ERROR_CONTROL_INTERFACE);
break;
case VL53L0X_ERROR_INVALID_COMMAND:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_ERROR_INVALID_COMMAND);
break;
case VL53L0X_ERROR_DIVISION_BY_ZERO:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_ERROR_DIVISION_BY_ZERO);
break;
case VL53L0X_ERROR_REF_SPAD_INIT:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_ERROR_REF_SPAD_INIT);
break;
case VL53L0X_ERROR_NOT_IMPLEMENTED:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_ERROR_NOT_IMPLEMENTED);
break;
default:
VL53L0X_COPYSTRING(pPalErrorString, VL53L0X_STRING_UNKNOW_ERROR_CODE);
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53L0X_Error VL53L0X_get_pal_state_string(VL53L0X_State PalStateCode,
char *pPalStateString) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START("");
switch (PalStateCode) {
case VL53L0X_STATE_POWERDOWN:
VL53L0X_COPYSTRING(pPalStateString, VL53L0X_STRING_STATE_POWERDOWN);
break;
case VL53L0X_STATE_WAIT_STATICINIT:
VL53L0X_COPYSTRING(pPalStateString, VL53L0X_STRING_STATE_WAIT_STATICINIT);
break;
case VL53L0X_STATE_STANDBY:
VL53L0X_COPYSTRING(pPalStateString, VL53L0X_STRING_STATE_STANDBY);
break;
case VL53L0X_STATE_IDLE:
VL53L0X_COPYSTRING(pPalStateString, VL53L0X_STRING_STATE_IDLE);
break;
case VL53L0X_STATE_RUNNING:
VL53L0X_COPYSTRING(pPalStateString, VL53L0X_STRING_STATE_RUNNING);
break;
case VL53L0X_STATE_UNKNOWN:
VL53L0X_COPYSTRING(pPalStateString, VL53L0X_STRING_STATE_UNKNOWN);
break;
case VL53L0X_STATE_ERROR:
VL53L0X_COPYSTRING(pPalStateString, VL53L0X_STRING_STATE_ERROR);
break;
default:
VL53L0X_COPYSTRING(pPalStateString, VL53L0X_STRING_STATE_UNKNOWN);
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53L0X_Error
VL53L0X_get_sequence_steps_info(VL53L0X_SequenceStepId SequenceStepId,
char *pSequenceStepsString) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START("");
switch (SequenceStepId) {
case VL53L0X_SEQUENCESTEP_TCC:
VL53L0X_COPYSTRING(pSequenceStepsString, VL53L0X_STRING_SEQUENCESTEP_TCC);
break;
case VL53L0X_SEQUENCESTEP_DSS:
VL53L0X_COPYSTRING(pSequenceStepsString, VL53L0X_STRING_SEQUENCESTEP_DSS);
break;
case VL53L0X_SEQUENCESTEP_MSRC:
VL53L0X_COPYSTRING(pSequenceStepsString, VL53L0X_STRING_SEQUENCESTEP_MSRC);
break;
case VL53L0X_SEQUENCESTEP_PRE_RANGE:
VL53L0X_COPYSTRING(pSequenceStepsString,
VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE);
break;
case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
VL53L0X_COPYSTRING(pSequenceStepsString,
VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE);
break;
default:
Status = VL53L0X_ERROR_INVALID_PARAMS;
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53L0X_Error VL53L0X_get_limit_check_info(VL53L0X_DEV Dev,
uint16_t LimitCheckId,
char *pLimitCheckString) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START("");
switch (LimitCheckId) {
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
VL53L0X_COPYSTRING(pLimitCheckString,
VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE);
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
VL53L0X_COPYSTRING(pLimitCheckString,
VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE);
break;
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
VL53L0X_COPYSTRING(pLimitCheckString,
VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP);
break;
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
VL53L0X_COPYSTRING(pLimitCheckString,
VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD);
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
VL53L0X_COPYSTRING(pLimitCheckString,
VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC);
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
VL53L0X_COPYSTRING(pLimitCheckString,
VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE);
break;
default:
VL53L0X_COPYSTRING(pLimitCheckString, VL53L0X_STRING_UNKNOW_ERROR_CODE);
}
LOG_FUNCTION_END(Status);
return Status;
}

128
code/lib/Adafruit_VL53L0X-1.2.3/src/platform/src/vl53l0x_i2c_comms.cpp Normal file
View File

@@ -0,0 +1,128 @@
#include "../../vl53l0x_def.h"
#include "../../vl53l0x_i2c_platform.h"
//#define I2C_DEBUG
int VL53L0X_i2c_init(TwoWire *i2c) {
i2c->begin();
return VL53L0X_ERROR_NONE;
}
int VL53L0X_write_multi(uint8_t deviceAddress, uint8_t index, uint8_t *pdata,
uint32_t count, TwoWire *i2c) {
i2c->beginTransmission(deviceAddress);
i2c->write(index);
#ifdef I2C_DEBUG
Serial.print("\tWriting ");
Serial.print(count);
Serial.print(" to addr 0x");
Serial.print(index, HEX);
Serial.print(": ");
#endif
while (count--) {
i2c->write((uint8_t)pdata[0]);
#ifdef I2C_DEBUG
Serial.print("0x");
Serial.print(pdata[0], HEX);
Serial.print(", ");
#endif
pdata++;
}
#ifdef I2C_DEBUG
Serial.println();
#endif
i2c->endTransmission();
return VL53L0X_ERROR_NONE;
}
int VL53L0X_read_multi(uint8_t deviceAddress, uint8_t index, uint8_t *pdata,
uint32_t count, TwoWire *i2c) {
i2c->beginTransmission(deviceAddress);
i2c->write(index);
i2c->endTransmission();
i2c->requestFrom(deviceAddress, (byte)count);
#ifdef I2C_DEBUG
Serial.print("\tReading ");
Serial.print(count);
Serial.print(" from addr 0x");
Serial.print(index, HEX);
Serial.print(": ");
#endif
while (count--) {
pdata[0] = i2c->read();
#ifdef I2C_DEBUG
Serial.print("0x");
Serial.print(pdata[0], HEX);
Serial.print(", ");
#endif
pdata++;
}
#ifdef I2C_DEBUG
Serial.println();
#endif
return VL53L0X_ERROR_NONE;
}
int VL53L0X_write_byte(uint8_t deviceAddress, uint8_t index, uint8_t data,
TwoWire *i2c) {
return VL53L0X_write_multi(deviceAddress, index, &data, 1, i2c);
}
int VL53L0X_write_word(uint8_t deviceAddress, uint8_t index, uint16_t data,
TwoWire *i2c) {
uint8_t buff[2];
buff[1] = data & 0xFF;
buff[0] = data >> 8;
return VL53L0X_write_multi(deviceAddress, index, buff, 2, i2c);
}
int VL53L0X_write_dword(uint8_t deviceAddress, uint8_t index, uint32_t data,
TwoWire *i2c) {
uint8_t buff[4];
buff[3] = data & 0xFF;
buff[2] = data >> 8;
buff[1] = data >> 16;
buff[0] = data >> 24;
return VL53L0X_write_multi(deviceAddress, index, buff, 4, i2c);
}
int VL53L0X_read_byte(uint8_t deviceAddress, uint8_t index, uint8_t *data,
TwoWire *i2c) {
return VL53L0X_read_multi(deviceAddress, index, data, 1, i2c);
}
int VL53L0X_read_word(uint8_t deviceAddress, uint8_t index, uint16_t *data,
TwoWire *i2c) {
uint8_t buff[2];
int r = VL53L0X_read_multi(deviceAddress, index, buff, 2, i2c);
uint16_t tmp;
tmp = buff[0];
tmp <<= 8;
tmp |= buff[1];
*data = tmp;
return r;
}
int VL53L0X_read_dword(uint8_t deviceAddress, uint8_t index, uint32_t *data,
TwoWire *i2c) {
uint8_t buff[4];
int r = VL53L0X_read_multi(deviceAddress, index, buff, 4, i2c);
uint32_t tmp;
tmp = buff[0];
tmp <<= 8;
tmp |= buff[1];
tmp <<= 8;
tmp |= buff[2];
tmp <<= 8;
tmp |= buff[3];
*data = tmp;
return r;
}

285
code/lib/Adafruit_VL53L0X-1.2.3/src/platform/src/vl53l0x_platform.cpp Normal file
View File

@@ -0,0 +1,285 @@
/*******************************************************************************
Copyright 2015, 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.
********************************************************************************/
/**
* @file VL53L0X_i2c.c
*
* Copyright (C) 2014 ST MicroElectronics
*
* provide variable word size byte/Word/dword VL6180x register access via i2c
*
*/
#include "../../vl53l0x_platform.h"
#include "../../vl53l0x_api.h"
#include "../../vl53l0x_i2c_platform.h"
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(TRACE_MODULE_PLATFORM, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(TRACE_MODULE_PLATFORM, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(TRACE_MODULE_PLATFORM, status, fmt, ##__VA_ARGS__)
/**
* @def I2C_BUFFER_CONFIG
*
* @brief Configure Device register I2C access
*
* @li 0 : one GLOBAL buffer \n
* Use one global buffer of MAX_I2C_XFER_SIZE byte in data space \n
* This solution is not multi-Device compliant nor multi-thread cpu safe \n
* It can be the best option for small 8/16 bit MCU without stack and limited
* ram (STM8s, 80C51 ...)
*
* @li 1 : ON_STACK/local \n
* Use local variable (on stack) buffer \n
* This solution is multi-thread with use of i2c resource lock or mutex see
* VL6180x_GetI2CAccess() \n
*
* @li 2 : User defined \n
* Per Device potentially dynamic allocated. Requires VL6180x_GetI2cBuffer()
* to be implemented.
* @ingroup Configuration
*/
#define I2C_BUFFER_CONFIG 1
/** Maximum buffer size to be used in i2c */
#define VL53L0X_MAX_I2C_XFER_SIZE \
64 /* Maximum buffer size to be used in i2c \
*/
#if I2C_BUFFER_CONFIG == 0
/* GLOBAL config buffer */
uint8_t i2c_global_buffer[VL53L0X_MAX_I2C_XFER_SIZE];
#define DECL_I2C_BUFFER
#define VL53L0X_GetLocalBuffer(Dev, n_byte) i2c_global_buffer
#elif I2C_BUFFER_CONFIG == 1
/* ON STACK */
#define DECL_I2C_BUFFER uint8_t LocBuffer[VL53L0X_MAX_I2C_XFER_SIZE];
#define VL53L0X_GetLocalBuffer(Dev, n_byte) LocBuffer
#elif I2C_BUFFER_CONFIG == 2
/* user define buffer type declare DECL_I2C_BUFFER as access via
* VL53L0X_GetLocalBuffer */
#define DECL_I2C_BUFFER
#else
#error "invalid I2C_BUFFER_CONFIG "
#endif
#define VL53L0X_I2C_USER_VAR /* none but could be for a flag var to get/pass \
to mutex interruptible return flags and try \
again */
#define VL53L0X_GetI2CAccess(Dev) /* todo mutex acquire */
#define VL53L0X_DoneI2CAcces(Dev) /* todo mutex release */
VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
return Status;
}
VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
return Status;
}
// the ranging_sensor_comms.dll will take care of the page selection
VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata,
uint32_t count) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
int32_t status_int = 0;
uint8_t deviceAddress;
if (count >= VL53L0X_MAX_I2C_XFER_SIZE) {
Status = VL53L0X_ERROR_INVALID_PARAMS;
}
deviceAddress = Dev->I2cDevAddr;
status_int =
VL53L0X_write_multi(deviceAddress, index, pdata, count, Dev->i2c);
if (status_int != 0)
Status = VL53L0X_ERROR_CONTROL_INTERFACE;
return Status;
}
// the ranging_sensor_comms.dll will take care of the page selection
VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata,
uint32_t count) {
VL53L0X_I2C_USER_VAR
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
int32_t status_int;
uint8_t deviceAddress;
if (count >= VL53L0X_MAX_I2C_XFER_SIZE) {
Status = VL53L0X_ERROR_INVALID_PARAMS;
}
deviceAddress = Dev->I2cDevAddr;
status_int = VL53L0X_read_multi(deviceAddress, index, pdata, count, Dev->i2c);
if (status_int != 0)
Status = VL53L0X_ERROR_CONTROL_INTERFACE;
return Status;
}
VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
int32_t status_int;
uint8_t deviceAddress;
deviceAddress = Dev->I2cDevAddr;
status_int = VL53L0X_write_byte(deviceAddress, index, data, Dev->i2c);
if (status_int != 0)
Status = VL53L0X_ERROR_CONTROL_INTERFACE;
return Status;
}
VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
int32_t status_int;
uint8_t deviceAddress;
deviceAddress = Dev->I2cDevAddr;
status_int = VL53L0X_write_word(deviceAddress, index, data, Dev->i2c);
if (status_int != 0)
Status = VL53L0X_ERROR_CONTROL_INTERFACE;
return Status;
}
VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
int32_t status_int;
uint8_t deviceAddress;
deviceAddress = Dev->I2cDevAddr;
status_int = VL53L0X_write_dword(deviceAddress, index, data, Dev->i2c);
if (status_int != 0)
Status = VL53L0X_ERROR_CONTROL_INTERFACE;
return Status;
}
VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index,
uint8_t AndData, uint8_t OrData) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
int32_t status_int;
uint8_t deviceAddress;
uint8_t data;
deviceAddress = Dev->I2cDevAddr;
status_int = VL53L0X_read_byte(deviceAddress, index, &data, Dev->i2c);
if (status_int != 0)
Status = VL53L0X_ERROR_CONTROL_INTERFACE;
if (Status == VL53L0X_ERROR_NONE) {
data = (data & AndData) | OrData;
status_int = VL53L0X_write_byte(deviceAddress, index, data, Dev->i2c);
if (status_int != 0)
Status = VL53L0X_ERROR_CONTROL_INTERFACE;
}
return Status;
}
VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
int32_t status_int;
uint8_t deviceAddress;
deviceAddress = Dev->I2cDevAddr;
status_int = VL53L0X_read_byte(deviceAddress, index, data, Dev->i2c);
if (status_int != 0)
Status = VL53L0X_ERROR_CONTROL_INTERFACE;
return Status;
}
VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
int32_t status_int;
uint8_t deviceAddress;
deviceAddress = Dev->I2cDevAddr;
status_int = VL53L0X_read_word(deviceAddress, index, data, Dev->i2c);
if (status_int != 0)
Status = VL53L0X_ERROR_CONTROL_INTERFACE;
return Status;
}
VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data) {
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
int32_t status_int;
uint8_t deviceAddress;
deviceAddress = Dev->I2cDevAddr;
status_int = VL53L0X_read_dword(deviceAddress, index, data, Dev->i2c);
if (status_int != 0)
Status = VL53L0X_ERROR_CONTROL_INTERFACE;
return Status;
}
#define VL53L0X_POLLINGDELAY_LOOPNB 250
VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev) {
VL53L0X_Error status = VL53L0X_ERROR_NONE;
volatile uint32_t i;
LOG_FUNCTION_START("");
for (i = 0; i < VL53L0X_POLLINGDELAY_LOOPNB; i++) {
// Do nothing
asm("nop");
}
LOG_FUNCTION_END(status);
return status;
}

1972
code/lib/Adafruit_VL53L0X-1.2.3/src/vl53l0x_api.h Normal file
View File

File diff suppressed because it is too large Load Diff

87
code/lib/Adafruit_VL53L0X-1.2.3/src/vl53l0x_api_calibration.h Normal file
View File

@@ -0,0 +1,87 @@
/*******************************************************************************
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_API_CALIBRATION_H_
#define _VL53L0X_API_CALIBRATION_H_
#include "vl53l0x_def.h"
#include "vl53l0x_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
VL53L0X_Error VL53L0X_perform_xtalk_calibration(
VL53L0X_DEV Dev, FixPoint1616_t XTalkCalDistance,
FixPoint1616_t *pXTalkCompensationRateMegaCps);
VL53L0X_Error
VL53L0X_perform_offset_calibration(VL53L0X_DEV Dev,
FixPoint1616_t CalDistanceMilliMeter,
int32_t *pOffsetMicroMeter);
VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(
VL53L0X_DEV Dev, int32_t OffsetCalibrationDataMicroMeter);
VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(
VL53L0X_DEV Dev, int32_t *pOffsetCalibrationDataMicroMeter);
VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev,
uint32_t *refSpadCount,
uint8_t *isApertureSpads);
VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV Dev, uint32_t count,
uint8_t isApertureSpads);
VL53L0X_Error VL53L0X_get_reference_spads(VL53L0X_DEV Dev, uint32_t *pSpadCount,
uint8_t *pIsApertureSpads);
VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev,
uint8_t *pPhaseCal,
const uint8_t get_data_enable,
const uint8_t restore_config);
VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev,
uint8_t *pVhvSettings,
uint8_t *pPhaseCal,
uint8_t get_data_enable);
VL53L0X_Error VL53L0X_set_ref_calibration(VL53L0X_DEV Dev, uint8_t VhvSettings,
uint8_t PhaseCal);
VL53L0X_Error VL53L0X_get_ref_calibration(VL53L0X_DEV Dev,
uint8_t *pVhvSettings,
uint8_t *pPhaseCal);
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_API_CALIBRATION_H_ */

109
code/lib/Adafruit_VL53L0X-1.2.3/src/vl53l0x_api_core.h Normal file
View File

@@ -0,0 +1,109 @@
/*******************************************************************************
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_API_CORE_H_
#define _VL53L0X_API_CORE_H_
#include "vl53l0x_def.h"
#include "vl53l0x_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
VL53L0X_Error VL53L0X_reverse_bytes(uint8_t *data, uint32_t size);
VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev);
uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks);
uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg);
uint32_t VL53L0X_isqrt(uint32_t num);
uint32_t VL53L0X_quadrature_sum(uint32_t a, uint32_t b);
VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option);
VL53L0X_Error
VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev,
VL53L0X_VcselPeriod VcselPeriodType,
uint8_t VCSELPulsePeriodPCLK);
VL53L0X_Error
VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev,
VL53L0X_VcselPeriod VcselPeriodType,
uint8_t *pVCSELPulsePeriodPCLK);
uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout);
VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV Dev,
VL53L0X_SequenceStepId SequenceStepId,
uint32_t *pTimeOutMicroSecs);
VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV Dev,
VL53L0X_SequenceStepId SequenceStepId,
uint32_t TimeOutMicroSecs);
VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(
VL53L0X_DEV Dev, uint32_t MeasurementTimingBudgetMicroSeconds);
VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(
VL53L0X_DEV Dev, uint32_t *pMeasurementTimingBudgetMicroSeconds);
VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV Dev,
uint8_t *pTuningSettingBuffer);
VL53L0X_Error VL53L0X_calc_sigma_estimate(
VL53L0X_DEV Dev, VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
FixPoint1616_t *pSigmaEstimate, uint32_t *pDmax_mm);
VL53L0X_Error VL53L0X_get_total_xtalk_rate(
VL53L0X_DEV Dev, VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
FixPoint1616_t *ptotal_xtalk_rate_mcps);
VL53L0X_Error VL53L0X_get_total_signal_rate(
VL53L0X_DEV Dev, VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
FixPoint1616_t *ptotal_signal_rate_mcps);
VL53L0X_Error VL53L0X_get_pal_range_status(
VL53L0X_DEV Dev, uint8_t DeviceRangeStatus, FixPoint1616_t SignalRate,
uint16_t EffectiveSpadRtnCount,
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
uint8_t *pPalRangeStatus);
uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev, uint32_t timeout_period_us,
uint8_t vcsel_period_pclks);
uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks);
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_API_CORE_H_ */

43
code/lib/Adafruit_VL53L0X-1.2.3/src/vl53l0x_api_ranging.h Normal file
View File

@@ -0,0 +1,43 @@
/*******************************************************************************
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_API_RANGING_H_
#define _VL53L0X_API_RANGING_H_
#include "vl53l0x_def.h"
#include "vl53l0x_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_API_RANGING_H_ */

233
code/lib/Adafruit_VL53L0X-1.2.3/src/vl53l0x_api_strings.h Normal file
View File

@@ -0,0 +1,233 @@
/*******************************************************************************
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_API_STRINGS_H_
#define VL53L0X_API_STRINGS_H_
#include "vl53l0x_def.h"
#include "vl53l0x_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
VL53L0X_Error
VL53L0X_get_device_info(VL53L0X_DEV Dev,
VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
VL53L0X_Error VL53L0X_get_device_error_string(VL53L0X_DeviceError ErrorCode,
char *pDeviceErrorString);
VL53L0X_Error VL53L0X_get_range_status_string(uint8_t RangeStatus,
char *pRangeStatusString);
VL53L0X_Error VL53L0X_get_pal_error_string(VL53L0X_Error PalErrorCode,
char *pPalErrorString);
VL53L0X_Error VL53L0X_get_pal_state_string(VL53L0X_State PalStateCode,
char *pPalStateString);
VL53L0X_Error
VL53L0X_get_sequence_steps_info(VL53L0X_SequenceStepId SequenceStepId,
char *pSequenceStepsString);
VL53L0X_Error VL53L0X_get_limit_check_info(VL53L0X_DEV Dev,
uint16_t LimitCheckId,
char *pLimitCheckString);
#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 ""
/* 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 ""
/* 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"
#define VL53L0X_STRING_UNKNOW_ERROR_CODE "Unknown Error Code"
/* 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"
/* 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"
/* 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 Overflow Error"
#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \
"Range Ignore Threshold Error"
#define VL53L0X_STRING_DEVICEERROR_UNKNOWN "Unknown error code"
/* 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"
/* 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 */
#ifdef __cplusplus
}
#endif
#endif

602
code/lib/Adafruit_VL53L0X-1.2.3/src/vl53l0x_def.h Normal file
View File

@@ -0,0 +1,602 @@
/*******************************************************************************
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.
*******************************************************************************/
/**
* @file VL53L0X_def.h
*
* @brief Type definitions for VL53L0X API.
*
*/
#ifndef _VL53L0X_DEF_H_
#define _VL53L0X_DEF_H_
#ifdef __cplusplus
extern "C" {
#endif
/** @defgroup VL53L0X_globaldefine_group VL53L0X Defines
* @brief VL53L0X Defines
* @{
*/
/** PAL SPECIFICATION major version */
#define VL53L0X10_SPECIFICATION_VER_MAJOR 1
/** PAL SPECIFICATION minor version */
#define VL53L0X10_SPECIFICATION_VER_MINOR 2
/** PAL SPECIFICATION sub version */
#define VL53L0X10_SPECIFICATION_VER_SUB 7
/** PAL SPECIFICATION sub version */
#define VL53L0X10_SPECIFICATION_VER_REVISION 1440
/** VL53L0X PAL IMPLEMENTATION major version */
#define VL53L0X10_IMPLEMENTATION_VER_MAJOR 1
/** VL53L0X PAL IMPLEMENTATION minor version */
#define VL53L0X10_IMPLEMENTATION_VER_MINOR 0
/** VL53L0X PAL IMPLEMENTATION sub version */
#define VL53L0X10_IMPLEMENTATION_VER_SUB 9
/** VL53L0X PAL IMPLEMENTATION sub version */
#define VL53L0X10_IMPLEMENTATION_VER_REVISION 3673
/** PAL SPECIFICATION major version */
#define VL53L0X_SPECIFICATION_VER_MAJOR 1
/** PAL SPECIFICATION minor version */
#define VL53L0X_SPECIFICATION_VER_MINOR 2
/** PAL SPECIFICATION sub version */
#define VL53L0X_SPECIFICATION_VER_SUB 7
/** PAL SPECIFICATION sub version */
#define VL53L0X_SPECIFICATION_VER_REVISION 1440
/** VL53L0X PAL IMPLEMENTATION major version */
#define VL53L0X_IMPLEMENTATION_VER_MAJOR 1
/** VL53L0X PAL IMPLEMENTATION minor version */
#define VL53L0X_IMPLEMENTATION_VER_MINOR 0
/** VL53L0X PAL IMPLEMENTATION sub version */
#define VL53L0X_IMPLEMENTATION_VER_SUB 1
/** VL53L0X PAL IMPLEMENTATION sub version */
#define VL53L0X_IMPLEMENTATION_VER_REVISION 4606
#define VL53L0X_DEFAULT_MAX_LOOP 200
#define VL53L0X_MAX_STRING_LENGTH 32
#include "vl53l0x_device.h"
#include "vl53l0x_types.h"
/****************************************
* PRIVATE define do not edit
****************************************/
/** @brief Defines the parameters of the Get Version Functions
*/
typedef struct {
uint32_t revision; /*!< revision number */
uint8_t major; /*!< major number */
uint8_t minor; /*!< minor number */
uint8_t build; /*!< build number */
} VL53L0X_Version_t;
/** @brief Defines the parameters of the Get Device Info Functions
*/
typedef struct {
char Name[VL53L0X_MAX_STRING_LENGTH];
/*!< Name of the Device e.g. Left_Distance */
char Type[VL53L0X_MAX_STRING_LENGTH];
/*!< Type of the Device e.g VL53L0X */
char ProductId[VL53L0X_MAX_STRING_LENGTH];
/*!< Product Identifier String */
uint8_t ProductType;
/*!< Product Type, VL53L0X = 1, VL53L1 = 2 */
uint8_t ProductRevisionMajor;
/*!< Product revision major */
uint8_t ProductRevisionMinor;
/*!< Product revision minor */
} VL53L0X_DeviceInfo_t;
/** @defgroup VL53L0X_define_Error_group Error and Warning code returned by API
* The following DEFINE are used to identify the PAL ERROR
* @{
*/
typedef int8_t VL53L0X_Error;
#define VL53L0X_ERROR_NONE ((VL53L0X_Error)0)
#define VL53L0X_ERROR_CALIBRATION_WARNING ((VL53L0X_Error)-1)
/*!< Warning invalid calibration data may be in used
\a VL53L0X_InitData()
\a VL53L0X_GetOffsetCalibrationData
\a VL53L0X_SetOffsetCalibrationData */
#define VL53L0X_ERROR_MIN_CLIPPED ((VL53L0X_Error)-2)
/*!< Warning parameter passed was clipped to min before to be applied */
#define VL53L0X_ERROR_UNDEFINED ((VL53L0X_Error)-3)
/*!< Unqualified error */
#define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error)-4)
/*!< Parameter passed is invalid or out of range */
#define VL53L0X_ERROR_NOT_SUPPORTED ((VL53L0X_Error)-5)
/*!< Function is not supported in current mode or configuration */
#define VL53L0X_ERROR_RANGE_ERROR ((VL53L0X_Error)-6)
/*!< Device report a ranging error interrupt status */
#define VL53L0X_ERROR_TIME_OUT ((VL53L0X_Error)-7)
/*!< Aborted due to time out */
#define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error)-8)
/*!< Asked mode is not supported by the device */
#define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error)-9)
/*!< ... */
#define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error)-10)
/*!< User tried to setup a non-existing GPIO pin */
#define VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L0X_Error)-11)
/*!< unsupported GPIO functionality */
#define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error)-12)
/*!< Error during interrupt clear */
#define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error)-20)
/*!< error reported from IO functions */
#define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error)-30)
/*!< The command is not allowed in the current device state
* (power down) */
#define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error)-40)
/*!< In the function a division by zero occurs */
#define VL53L0X_ERROR_REF_SPAD_INIT ((VL53L0X_Error)-50)
/*!< Error during reference SPAD initialization */
#define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error)-99)
/*!< Tells requested functionality has not been implemented yet or
* not compatible with the device */
/** @} VL53L0X_define_Error_group */
/** @defgroup VL53L0X_define_DeviceModes_group Defines Device modes
* Defines all possible modes for the device
* @{
*/
typedef uint8_t VL53L0X_DeviceModes;
#define VL53L0X_DEVICEMODE_SINGLE_RANGING ((VL53L0X_DeviceModes)0)
#define VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ((VL53L0X_DeviceModes)1)
#define VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0X_DeviceModes)2)
#define VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0X_DeviceModes)3)
#define VL53L0X_DEVICEMODE_SINGLE_ALS ((VL53L0X_DeviceModes)10)
#define VL53L0X_DEVICEMODE_GPIO_DRIVE ((VL53L0X_DeviceModes)20)
#define VL53L0X_DEVICEMODE_GPIO_OSC ((VL53L0X_DeviceModes)21)
/* ... Modes to be added depending on device */
/** @} VL53L0X_define_DeviceModes_group */
/** @defgroup VL53L0X_define_HistogramModes_group Defines Histogram modes
* Defines all possible Histogram modes for the device
* @{
*/
typedef uint8_t VL53L0X_HistogramModes;
#define VL53L0X_HISTOGRAMMODE_DISABLED ((VL53L0X_HistogramModes)0)
/*!< Histogram Disabled */
#define VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY ((VL53L0X_HistogramModes)1)
/*!< Histogram Reference array only */
#define VL53L0X_HISTOGRAMMODE_RETURN_ONLY ((VL53L0X_HistogramModes)2)
/*!< Histogram Return array only */
#define VL53L0X_HISTOGRAMMODE_BOTH ((VL53L0X_HistogramModes)3)
/*!< Histogram both Reference and Return Arrays */
/* ... Modes to be added depending on device */
/** @} VL53L0X_define_HistogramModes_group */
/** @defgroup VL53L0X_define_PowerModes_group List of available Power Modes
* List of available Power Modes
* @{
*/
typedef uint8_t VL53L0X_PowerModes;
#define VL53L0X_POWERMODE_STANDBY_LEVEL1 ((VL53L0X_PowerModes)0)
/*!< Standby level 1 */
#define VL53L0X_POWERMODE_STANDBY_LEVEL2 ((VL53L0X_PowerModes)1)
/*!< Standby level 2 */
#define VL53L0X_POWERMODE_IDLE_LEVEL1 ((VL53L0X_PowerModes)2)
/*!< Idle level 1 */
#define VL53L0X_POWERMODE_IDLE_LEVEL2 ((VL53L0X_PowerModes)3)
/*!< Idle level 2 */
/** @} VL53L0X_define_PowerModes_group */
/** @brief Defines all parameters for the device
*/
typedef struct {
VL53L0X_DeviceModes DeviceMode;
/*!< Defines type of measurement to be done for the next measure */
VL53L0X_HistogramModes HistogramMode;
/*!< Defines type of histogram measurement to be done for the next
* measure */
uint32_t MeasurementTimingBudgetMicroSeconds;
/*!< Defines the allowed total time for a single measurement */
uint32_t InterMeasurementPeriodMilliSeconds;
/*!< Defines time between two consecutive measurements (between two
* measurement starts). If set to 0 means back-to-back mode */
uint8_t XTalkCompensationEnable;
/*!< Tells if Crosstalk compensation shall be enable or not */
uint16_t XTalkCompensationRangeMilliMeter;
/*!< CrossTalk compensation range in millimeter */
FixPoint1616_t XTalkCompensationRateMegaCps;
/*!< CrossTalk compensation rate in Mega counts per seconds.
* Expressed in 16.16 fixed point format. */
int32_t RangeOffsetMicroMeters;
/*!< Range offset adjustment (mm). */
uint8_t LimitChecksEnable[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
/*!< This Array store all the Limit Check enable for this device. */
uint8_t LimitChecksStatus[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
/*!< This Array store all the Status of the check linked to last
* measurement. */
FixPoint1616_t LimitChecksValue[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
/*!< This Array store all the Limit Check value for this device */
uint8_t WrapAroundCheckEnable;
/*!< Tells if Wrap Around Check shall be enable or not */
} VL53L0X_DeviceParameters_t;
/** @defgroup VL53L0X_define_State_group Defines the current status of the
*device Defines the current status of the device
* @{
*/
typedef uint8_t VL53L0X_State;
#define VL53L0X_STATE_POWERDOWN ((VL53L0X_State)0)
/*!< Device is in HW reset */
#define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State)1)
/*!< Device is initialized and wait for static initialization */
#define VL53L0X_STATE_STANDBY ((VL53L0X_State)2)
/*!< Device is in Low power Standby mode */
#define VL53L0X_STATE_IDLE ((VL53L0X_State)3)
/*!< Device has been initialized and ready to do measurements */
#define VL53L0X_STATE_RUNNING ((VL53L0X_State)4)
/*!< Device is performing measurement */
#define VL53L0X_STATE_UNKNOWN ((VL53L0X_State)98)
/*!< Device is in unknown state and need to be rebooted */
#define VL53L0X_STATE_ERROR ((VL53L0X_State)99)
/*!< Device is in error state and need to be rebooted */
/** @} VL53L0X_define_State_group */
/** @brief Structure containing the Dmax computation parameters and data
*/
typedef struct {
int32_t AmbTuningWindowFactor_K;
/*!< internal algo tuning (*1000) */
int32_t RetSignalAt0mm;
/*!< intermediate dmax computation value caching */
} VL53L0X_DMaxData_t;
/**
* @struct VL53L0X_RangeData_t
* @brief Range measurement data.
*/
typedef struct {
uint32_t TimeStamp; /*!< 32-bit time stamp. */
uint32_t MeasurementTimeUsec;
/*!< Give the Measurement time needed by the device to do the
* measurement.*/
uint16_t RangeMilliMeter; /*!< range distance in millimeter. */
uint16_t RangeDMaxMilliMeter;
/*!< Tells what is the maximum detection distance of the device
* in current setup and environment conditions (Filled when
* applicable) */
FixPoint1616_t SignalRateRtnMegaCps;
/*!< Return signal rate (MCPS)\n these is a 16.16 fix point
* value, which is effectively a measure of target
* reflectance.*/
FixPoint1616_t AmbientRateRtnMegaCps;
/*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
* value, which is effectively a measure of the ambien
* t light.*/
uint16_t EffectiveSpadRtnCount;
/*!< Return the effective SPAD count for the return signal.
* To obtain Real value it should be divided by 256 */
uint8_t ZoneId;
/*!< Denotes which zone and range scheduler stage the range
* data relates to. */
uint8_t RangeFractionalPart;
/*!< Fractional part of range distance. Final value is a
* FixPoint168 value. */
uint8_t RangeStatus;
/*!< Range Status for the current measurement. This is device
* dependent. Value = 0 means value is valid.
* See \ref RangeStatusPage */
} VL53L0X_RangingMeasurementData_t;
#define VL53L0X_HISTOGRAM_BUFFER_SIZE 24
/**
* @struct VL53L0X_HistogramData_t
* @brief Histogram measurement data.
*/
typedef struct {
/* Histogram Measurement data */
uint32_t HistogramData[VL53L0X_HISTOGRAM_BUFFER_SIZE];
/*!< Histogram data */
uint8_t HistogramType; /*!< Indicate the types of histogram data :
Return only, Reference only, both Return and Reference */
uint8_t FirstBin; /*!< First Bin value */
uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/
uint8_t NumberOfBins;
/*!< Number of bins filled by the histogram measurement */
VL53L0X_DeviceError ErrorStatus;
/*!< Error status of the current measurement. \n
see @a ::VL53L0X_DeviceError @a VL53L0X_GetStatusErrorString() */
} VL53L0X_HistogramMeasurementData_t;
#define VL53L0X_REF_SPAD_BUFFER_SIZE 6
/**
* @struct VL53L0X_SpadData_t
* @brief Spad Configuration Data.
*/
typedef struct {
uint8_t RefSpadEnables[VL53L0X_REF_SPAD_BUFFER_SIZE];
/*!< Reference Spad Enables */
uint8_t RefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE];
/*!< Reference Spad Good Spad Map */
} VL53L0X_SpadData_t;
typedef struct {
FixPoint1616_t OscFrequencyMHz; /* Frequency used */
uint16_t LastEncodedTimeout;
/* last encoded Time out used for timing budget*/
VL53L0X_GpioFunctionality Pin0GpioFunctionality;
/* store the functionality of the GPIO: pin0 */
uint32_t FinalRangeTimeoutMicroSecs;
/*!< Execution time of the final range*/
uint8_t FinalRangeVcselPulsePeriod;
/*!< Vcsel pulse period (pll clocks) for the final range measurement*/
uint32_t PreRangeTimeoutMicroSecs;
/*!< Execution time of the final range*/
uint8_t PreRangeVcselPulsePeriod;
/*!< Vcsel pulse period (pll clocks) for the pre-range measurement*/
uint16_t SigmaEstRefArray;
/*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */
uint16_t SigmaEstEffPulseWidth;
/*!< Effective Pulse width for sigma estimate in 1/100th
* of ns e.g. 900 = 9.0ns */
uint16_t SigmaEstEffAmbWidth;
/*!< Effective Ambient width for sigma estimate in 1/100th of ns
* e.g. 500 = 5.0ns */
uint8_t ReadDataFromDeviceDone; /* Indicate if read from device has
been done (==1) or not (==0) */
uint8_t ModuleId; /* Module ID */
uint8_t Revision; /* test Revision */
char ProductId[VL53L0X_MAX_STRING_LENGTH];
/* Product Identifier String */
uint8_t ReferenceSpadCount; /* used for ref spad management */
uint8_t ReferenceSpadType; /* used for ref spad management */
uint8_t RefSpadsInitialised; /* reports if ref spads are initialised. */
uint32_t PartUIDUpper; /*!< Unique Part ID Upper */
uint32_t PartUIDLower; /*!< Unique Part ID Lower */
FixPoint1616_t SignalRateMeasFixed400mm; /*!< Peek Signal rate
at 400 mm*/
} VL53L0X_DeviceSpecificParameters_t;
/**
* @struct VL53L0X_DevData_t
*
* @brief VL53L0X PAL device ST private data structure \n
* End user should never access any of these field directly
*
* These must never access directly but only via macro
*/
typedef struct {
VL53L0X_DMaxData_t DMaxData;
/*!< Dmax Data */
int32_t Part2PartOffsetNVMMicroMeter;
/*!< backed up NVM value */
int32_t Part2PartOffsetAdjustmentNVMMicroMeter;
/*!< backed up NVM value representing additional offset adjustment */
VL53L0X_DeviceParameters_t CurrentParameters;
/*!< Current Device Parameter */
VL53L0X_RangingMeasurementData_t LastRangeMeasure;
/*!< Ranging Data */
VL53L0X_HistogramMeasurementData_t LastHistogramMeasure;
/*!< Histogram Data */
VL53L0X_DeviceSpecificParameters_t DeviceSpecificParameters;
/*!< Parameters specific to the device */
VL53L0X_SpadData_t SpadData;
/*!< Spad Data */
uint8_t SequenceConfig;
/*!< Internal value for the sequence config */
uint8_t RangeFractionalEnable;
/*!< Enable/Disable fractional part of ranging data */
VL53L0X_State PalState;
/*!< Current state of the PAL for this device */
VL53L0X_PowerModes PowerMode;
/*!< Current Power Mode */
uint16_t SigmaEstRefArray;
/*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */
uint16_t SigmaEstEffPulseWidth;
/*!< Effective Pulse width for sigma estimate in 1/100th
* of ns e.g. 900 = 9.0ns */
uint16_t SigmaEstEffAmbWidth;
/*!< Effective Ambient width for sigma estimate in 1/100th of ns
* e.g. 500 = 5.0ns */
uint8_t StopVariable;
/*!< StopVariable used during the stop sequence */
uint16_t targetRefRate;
/*!< Target Ambient Rate for Ref spad management */
FixPoint1616_t SigmaEstimate;
/*!< Sigma Estimate - based on ambient & VCSEL rates and
* signal_total_events */
FixPoint1616_t SignalEstimate;
/*!< Signal Estimate - based on ambient & VCSEL rates and cross talk */
FixPoint1616_t LastSignalRefMcps;
/*!< Latest Signal ref in Mcps */
uint8_t *pTuningSettingsPointer;
/*!< Pointer for Tuning Settings table */
uint8_t UseInternalTuningSettings;
/*!< Indicate if we use Tuning Settings table */
uint16_t LinearityCorrectiveGain;
/*!< Linearity Corrective Gain value in x1000 */
uint16_t DmaxCalRangeMilliMeter;
/*!< Dmax Calibration Range millimeter */
FixPoint1616_t DmaxCalSignalRateRtnMegaCps;
/*!< Dmax Calibration Signal Rate Return MegaCps */
} VL53L0X_DevData_t;
/** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity
* of the Interrupt
* Defines the Polarity of the Interrupt
* @{
*/
typedef uint8_t VL53L0X_InterruptPolarity;
#define VL53L0X_INTERRUPTPOLARITY_LOW ((VL53L0X_InterruptPolarity)0)
/*!< Set active low polarity best setup for falling edge. */
#define VL53L0X_INTERRUPTPOLARITY_HIGH ((VL53L0X_InterruptPolarity)1)
/*!< Set active high polarity best setup for rising edge. */
/** @} VL53L0X_define_InterruptPolarity_group */
/** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines
* Defines the range measurement for which to access the vcsel period.
* @{
*/
typedef uint8_t VL53L0X_VcselPeriod;
#define VL53L0X_VCSEL_PERIOD_PRE_RANGE ((VL53L0X_VcselPeriod)0)
/*!<Identifies the pre-range vcsel period. */
#define VL53L0X_VCSEL_PERIOD_FINAL_RANGE ((VL53L0X_VcselPeriod)1)
/*!<Identifies the final range vcsel period. */
/** @} VL53L0X_define_VcselPeriod_group */
/** @defgroup VL53L0X_define_SchedulerSequence_group Defines the steps
* carried out by the scheduler during a range measurement.
* @{
* Defines the states of all the steps in the scheduler
* i.e. enabled/disabled.
*/
typedef struct {
uint8_t TccOn; /*!<Reports if Target Centre Check On */
uint8_t MsrcOn; /*!<Reports if MSRC On */
uint8_t DssOn; /*!<Reports if DSS On */
uint8_t PreRangeOn; /*!<Reports if Pre-Range On */
uint8_t FinalRangeOn; /*!<Reports if Final-Range On */
} VL53L0X_SchedulerSequenceSteps_t;
/** @} VL53L0X_define_SchedulerSequence_group */
/** @defgroup VL53L0X_define_SequenceStepId_group Defines the Polarity
* of the Interrupt
* Defines the the sequence steps performed during ranging..
* @{
*/
typedef uint8_t VL53L0X_SequenceStepId;
#define VL53L0X_SEQUENCESTEP_TCC ((VL53L0X_VcselPeriod)0)
/*!<Target CentreCheck identifier. */
#define VL53L0X_SEQUENCESTEP_DSS ((VL53L0X_VcselPeriod)1)
/*!<Dynamic Spad Selection function Identifier. */
#define VL53L0X_SEQUENCESTEP_MSRC ((VL53L0X_VcselPeriod)2)
/*!<Minimum Signal Rate Check function Identifier. */
#define VL53L0X_SEQUENCESTEP_PRE_RANGE ((VL53L0X_VcselPeriod)3)
/*!<Pre-Range check Identifier. */
#define VL53L0X_SEQUENCESTEP_FINAL_RANGE ((VL53L0X_VcselPeriod)4)
/*!<Final Range Check Identifier. */
#define VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS 5
/*!<Number of Sequence Step Managed by the API. */
/** @} VL53L0X_define_SequenceStepId_group */
/* MACRO Definitions */
/** @defgroup VL53L0X_define_GeneralMacro_group General Macro Defines
* General Macro Defines
* @{
*/
/* Defines */
#define VL53L0X_SETPARAMETERFIELD(Dev, field, value) \
PALDevDataSet(Dev, CurrentParameters.field, value)
#define VL53L0X_GETPARAMETERFIELD(Dev, field, variable) \
variable = PALDevDataGet(Dev, CurrentParameters).field
#define VL53L0X_SETARRAYPARAMETERFIELD(Dev, field, index, value) \
PALDevDataSet(Dev, CurrentParameters.field[index], value)
#define VL53L0X_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \
variable = PALDevDataGet(Dev, CurrentParameters).field[index]
#define VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, field, value) \
PALDevDataSet(Dev, DeviceSpecificParameters.field, value)
#define VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, field) \
PALDevDataGet(Dev, DeviceSpecificParameters).field
#define VL53L0X_FIXPOINT1616TOFIXPOINT97(Value) \
(uint16_t)((Value >> 9) & 0xFFFF)
#define VL53L0X_FIXPOINT97TOFIXPOINT1616(Value) (FixPoint1616_t)(Value << 9)
#define VL53L0X_FIXPOINT1616TOFIXPOINT88(Value) \
(uint16_t)((Value >> 8) & 0xFFFF)
#define VL53L0X_FIXPOINT88TOFIXPOINT1616(Value) (FixPoint1616_t)(Value << 8)
#define VL53L0X_FIXPOINT1616TOFIXPOINT412(Value) \
(uint16_t)((Value >> 4) & 0xFFFF)
#define VL53L0X_FIXPOINT412TOFIXPOINT1616(Value) (FixPoint1616_t)(Value << 4)
#define VL53L0X_FIXPOINT1616TOFIXPOINT313(Value) \
(uint16_t)((Value >> 3) & 0xFFFF)
#define VL53L0X_FIXPOINT313TOFIXPOINT1616(Value) (FixPoint1616_t)(Value << 3)
#define VL53L0X_FIXPOINT1616TOFIXPOINT08(Value) (uint8_t)((Value >> 8) & 0x00FF)
#define VL53L0X_FIXPOINT08TOFIXPOINT1616(Value) (FixPoint1616_t)(Value << 8)
#define VL53L0X_FIXPOINT1616TOFIXPOINT53(Value) \
(uint8_t)((Value >> 13) & 0x00FF)
#define VL53L0X_FIXPOINT53TOFIXPOINT1616(Value) (FixPoint1616_t)(Value << 13)
#define VL53L0X_FIXPOINT1616TOFIXPOINT102(Value) \
(uint16_t)((Value >> 14) & 0x0FFF)
#define VL53L0X_FIXPOINT102TOFIXPOINT1616(Value) (FixPoint1616_t)(Value << 12)
#define VL53L0X_MAKEUINT16(lsb, msb) \
(uint16_t)((((uint16_t)msb) << 8) + (uint16_t)lsb)
/** @} VL53L0X_define_GeneralMacro_group */
/** @} VL53L0X_globaldefine_group */
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_DEF_H_ */

243
code/lib/Adafruit_VL53L0X-1.2.3/src/vl53l0x_device.h Normal file
View File

@@ -0,0 +1,243 @@
/*******************************************************************************
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.
*******************************************************************************/
/**
* Device specific defines. To be adapted by implementer for the targeted
* device.
*/
#ifndef _VL53L0X_DEVICE_H_
#define _VL53L0X_DEVICE_H_
#include "vl53l0x_types.h"
/** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device Specific
* Defines
* @brief VL53L0X cut1.1 Device Specific Defines
* @{
*/
/** @defgroup VL53L0X_DeviceError_group Device Error
* @brief Device Error code
*
* This enum is Device specific it should be updated in the implementation
* Use @a VL53L0X_GetStatusErrorString() to get the string.
* It is related to Status Register of the Device.
* @{
*/
typedef uint8_t VL53L0X_DeviceError;
#define VL53L0X_DEVICEERROR_NONE ((VL53L0X_DeviceError)0)
/*!< 0 NoError */
#define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L0X_DeviceError)1)
#define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L0X_DeviceError)2)
#define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND ((VL53L0X_DeviceError)3)
#define VL53L0X_DEVICEERROR_MSRCNOTARGET ((VL53L0X_DeviceError)4)
#define VL53L0X_DEVICEERROR_SNRCHECK ((VL53L0X_DeviceError)5)
#define VL53L0X_DEVICEERROR_RANGEPHASECHECK ((VL53L0X_DeviceError)6)
#define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK ((VL53L0X_DeviceError)7)
#define VL53L0X_DEVICEERROR_TCC ((VL53L0X_DeviceError)8)
#define VL53L0X_DEVICEERROR_PHASECONSISTENCY ((VL53L0X_DeviceError)9)
#define VL53L0X_DEVICEERROR_MINCLIP ((VL53L0X_DeviceError)10)
#define VL53L0X_DEVICEERROR_RANGECOMPLETE ((VL53L0X_DeviceError)11)
#define VL53L0X_DEVICEERROR_ALGOUNDERFLOW ((VL53L0X_DeviceError)12)
#define VL53L0X_DEVICEERROR_ALGOOVERFLOW ((VL53L0X_DeviceError)13)
#define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD ((VL53L0X_DeviceError)14)
/** @} end of VL53L0X_DeviceError_group */
/** @defgroup VL53L0X_CheckEnable_group Check Enable list
* @brief Check Enable code
*
* Define used to specify the LimitCheckId.
* Use @a VL53L0X_GetLimitCheckInfo() to get the string.
* @{
*/
#define VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE 0
#define VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1
#define VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP 2
#define VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD 3
#define VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC 4
#define VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE 5
#define VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS 6
/** @} end of VL53L0X_CheckEnable_group */
/** @defgroup VL53L0X_GpioFunctionality_group Gpio Functionality
* @brief Defines the different functionalities for the device GPIO(s)
* @{
*/
typedef uint8_t VL53L0X_GpioFunctionality;
#define VL53L0X_GPIOFUNCTIONALITY_OFF \
((VL53L0X_GpioFunctionality)0) /*!< NO Interrupt */
#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW \
((VL53L0X_GpioFunctionality)1) /*!< Level Low (value < thresh_low) */
#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH \
((VL53L0X_GpioFunctionality)2) /*!< Level High (value > thresh_high) */
#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT \
((VL53L0X_GpioFunctionality)3)
/*!< Out Of Window (value < thresh_low OR value > thresh_high) */
#define VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY \
((VL53L0X_GpioFunctionality)4) /*!< New Sample Ready */
/** @} end of VL53L0X_GpioFunctionality_group */
/* Device register map */
/** @defgroup VL53L0X_DefineRegisters_group Define Registers
* @brief List of all the defined registers
* @{
*/
#define VL53L0X_REG_SYSRANGE_START 0x000
/** mask existing bit in #VL53L0X_REG_SYSRANGE_START*/
#define VL53L0X_REG_SYSRANGE_MODE_MASK 0x0F
/** bit 0 in #VL53L0X_REG_SYSRANGE_START write 1 toggle state in
* continuous mode and arm next shot in single shot mode */
#define VL53L0X_REG_SYSRANGE_MODE_START_STOP 0x01
/** bit 1 write 0 in #VL53L0X_REG_SYSRANGE_START set single shot mode */
#define VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT 0x00
/** bit 1 write 1 in #VL53L0X_REG_SYSRANGE_START set back-to-back
* operation mode */
#define VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK 0x02
/** bit 2 write 1 in #VL53L0X_REG_SYSRANGE_START set timed operation
* mode */
#define VL53L0X_REG_SYSRANGE_MODE_TIMED 0x04
/** bit 3 write 1 in #VL53L0X_REG_SYSRANGE_START set histogram operation
* mode */
#define VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM 0x08
#define VL53L0X_REG_SYSTEM_THRESH_HIGH 0x000C
#define VL53L0X_REG_SYSTEM_THRESH_LOW 0x000E
#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG 0x0001
#define VL53L0X_REG_SYSTEM_RANGE_CONFIG 0x0009
#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x0004
#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x000A
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED 0x00
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW 0x01
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH 0x02
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW 0x03
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY 0x04
#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084
#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR 0x000B
/* Result registers */
#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x0013
#define VL53L0X_REG_RESULT_RANGE_STATUS 0x0014
#define VL53L0X_REG_RESULT_CORE_PAGE 1
#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0x00BC
#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0x00C0
#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0x00D0
#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0x00D4
#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF 0x00B6
/* Algo register */
#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x0028
#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a
/* Check Limit registers */
#define VL53L0X_REG_MSRC_CONFIG_CONTROL 0x0060
#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR 0X0027
#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x0056
#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x0057
#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x0064
#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR 0X0067
#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x0047
#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x0048
#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x0044
#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0X0061
#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0X0062
/* PRE RANGE registers */
#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x0050
#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0051
#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0052
#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN 0x0081
#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x0033
#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x0055
#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x0070
#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0071
#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0072
#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x0020
#define VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP 0x0046
#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf
#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0x00c0
#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0x00c2
#define VL53L0X_REG_OSC_CALIBRATE_VAL 0x00f8
#define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE 65535
/* equivalent to a range sigma of 655.35mm */
#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x032
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0x0B0
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0x0B1
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0x0B2
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0x0B3
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0x0B4
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0x0B5
#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6
#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */
#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F /* 0x14F */
#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80
/*
* Speed of light in um per 1E-10 Seconds
*/
#define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997
#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x0089
#define VL53L0X_REG_ALGO_PHASECAL_LIM 0x0030 /* 0x130 */
#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x0030
/** @} VL53L0X_DefineRegisters_group */
/** @} VL53L0X_DevSpecDefines_group */
#endif
/* _VL53L0X_DEVICE_H_ */

21
code/lib/Adafruit_VL53L0X-1.2.3/src/vl53l0x_i2c_platform.h Normal file
View File

@@ -0,0 +1,21 @@
#include "Arduino.h"
#include "Wire.h"
// initialize I2C
int VL53L0X_i2c_init(TwoWire *i2c);
int VL53L0X_write_multi(uint8_t deviceAddress, uint8_t index, uint8_t *pdata,
uint32_t count, TwoWire *i2c);
int VL53L0X_read_multi(uint8_t deviceAddress, uint8_t index, uint8_t *pdata,
uint32_t count, TwoWire *i2c);
int VL53L0X_write_byte(uint8_t deviceAddress, uint8_t index, uint8_t data,
TwoWire *i2c);
int VL53L0X_write_word(uint8_t deviceAddress, uint8_t index, uint16_t data,
TwoWire *i2c);
int VL53L0X_write_dword(uint8_t deviceAddress, uint8_t index, uint32_t data,
TwoWire *i2c);
int VL53L0X_read_byte(uint8_t deviceAddress, uint8_t index, uint8_t *data,
TwoWire *i2c);
int VL53L0X_read_word(uint8_t deviceAddress, uint8_t index, uint16_t *data,
TwoWire *i2c);
int VL53L0X_read_dword(uint8_t deviceAddress, uint8_t index, uint32_t *data,
TwoWire *i2c);

81
code/lib/Adafruit_VL53L0X-1.2.3/src/vl53l0x_interrupt_threshold_settings.h Normal file
View File

@@ -0,0 +1,81 @@
/*******************************************************************************
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_INTERRUPT_THRESHOLD_SETTINGS_H_
#define _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_
#ifdef __cplusplus
extern "C" {
#endif
uint8_t InterruptThresholdSettings[] = {
/* Start of Interrupt Threshold Settings */
0x1, 0xff, 0x00, 0x1, 0x80, 0x01, 0x1, 0xff, 0x01, 0x1, 0x00, 0x00,
0x1, 0xff, 0x01, 0x1, 0x4f, 0x02, 0x1, 0xFF, 0x0E, 0x1, 0x00, 0x03,
0x1, 0x01, 0x84, 0x1, 0x02, 0x0A, 0x1, 0x03, 0x03, 0x1, 0x04, 0x08,
0x1, 0x05, 0xC8, 0x1, 0x06, 0x03, 0x1, 0x07, 0x8D, 0x1, 0x08, 0x08,
0x1, 0x09, 0xC6, 0x1, 0x0A, 0x01, 0x1, 0x0B, 0x02, 0x1, 0x0C, 0x00,
0x1, 0x0D, 0xD5, 0x1, 0x0E, 0x18, 0x1, 0x0F, 0x12, 0x1, 0x10, 0x01,
0x1, 0x11, 0x82, 0x1, 0x12, 0x00, 0x1, 0x13, 0xD5, 0x1, 0x14, 0x18,
0x1, 0x15, 0x13, 0x1, 0x16, 0x03, 0x1, 0x17, 0x86, 0x1, 0x18, 0x0A,
0x1, 0x19, 0x09, 0x1, 0x1A, 0x08, 0x1, 0x1B, 0xC2, 0x1, 0x1C, 0x03,
0x1, 0x1D, 0x8F, 0x1, 0x1E, 0x0A, 0x1, 0x1F, 0x06, 0x1, 0x20, 0x01,
0x1, 0x21, 0x02, 0x1, 0x22, 0x00, 0x1, 0x23, 0xD5, 0x1, 0x24, 0x18,
0x1, 0x25, 0x22, 0x1, 0x26, 0x01, 0x1, 0x27, 0x82, 0x1, 0x28, 0x00,
0x1, 0x29, 0xD5, 0x1, 0x2A, 0x18, 0x1, 0x2B, 0x0B, 0x1, 0x2C, 0x28,
0x1, 0x2D, 0x78, 0x1, 0x2E, 0x28, 0x1, 0x2F, 0x91, 0x1, 0x30, 0x00,
0x1, 0x31, 0x0B, 0x1, 0x32, 0x00, 0x1, 0x33, 0x0B, 0x1, 0x34, 0x00,
0x1, 0x35, 0xA1, 0x1, 0x36, 0x00, 0x1, 0x37, 0xA0, 0x1, 0x38, 0x00,
0x1, 0x39, 0x04, 0x1, 0x3A, 0x28, 0x1, 0x3B, 0x30, 0x1, 0x3C, 0x0C,
0x1, 0x3D, 0x04, 0x1, 0x3E, 0x0F, 0x1, 0x3F, 0x79, 0x1, 0x40, 0x28,
0x1, 0x41, 0x1E, 0x1, 0x42, 0x2F, 0x1, 0x43, 0x87, 0x1, 0x44, 0x00,
0x1, 0x45, 0x0B, 0x1, 0x46, 0x00, 0x1, 0x47, 0x0B, 0x1, 0x48, 0x00,
0x1, 0x49, 0xA7, 0x1, 0x4A, 0x00, 0x1, 0x4B, 0xA6, 0x1, 0x4C, 0x00,
0x1, 0x4D, 0x04, 0x1, 0x4E, 0x01, 0x1, 0x4F, 0x00, 0x1, 0x50, 0x00,
0x1, 0x51, 0x80, 0x1, 0x52, 0x09, 0x1, 0x53, 0x08, 0x1, 0x54, 0x01,
0x1, 0x55, 0x00, 0x1, 0x56, 0x0F, 0x1, 0x57, 0x79, 0x1, 0x58, 0x09,
0x1, 0x59, 0x05, 0x1, 0x5A, 0x00, 0x1, 0x5B, 0x60, 0x1, 0x5C, 0x05,
0x1, 0x5D, 0xD1, 0x1, 0x5E, 0x0C, 0x1, 0x5F, 0x3C, 0x1, 0x60, 0x00,
0x1, 0x61, 0xD0, 0x1, 0x62, 0x0B, 0x1, 0x63, 0x03, 0x1, 0x64, 0x28,
0x1, 0x65, 0x10, 0x1, 0x66, 0x2A, 0x1, 0x67, 0x39, 0x1, 0x68, 0x0B,
0x1, 0x69, 0x02, 0x1, 0x6A, 0x28, 0x1, 0x6B, 0x10, 0x1, 0x6C, 0x2A,
0x1, 0x6D, 0x61, 0x1, 0x6E, 0x0C, 0x1, 0x6F, 0x00, 0x1, 0x70, 0x0F,
0x1, 0x71, 0x79, 0x1, 0x72, 0x00, 0x1, 0x73, 0x0B, 0x1, 0x74, 0x00,
0x1, 0x75, 0x0B, 0x1, 0x76, 0x00, 0x1, 0x77, 0xA1, 0x1, 0x78, 0x00,
0x1, 0x79, 0xA0, 0x1, 0x7A, 0x00, 0x1, 0x7B, 0x04, 0x1, 0xFF, 0x04,
0x1, 0x79, 0x1D, 0x1, 0x7B, 0x27, 0x1, 0x96, 0x0E, 0x1, 0x97, 0xFE,
0x1, 0x98, 0x03, 0x1, 0x99, 0xEF, 0x1, 0x9A, 0x02, 0x1, 0x9B, 0x44,
0x1, 0x73, 0x07, 0x1, 0x70, 0x01, 0x1, 0xff, 0x01, 0x1, 0x00, 0x01,
0x1, 0xff, 0x00, 0x00, 0x00, 0x00};
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_ */

247
code/lib/Adafruit_VL53L0X-1.2.3/src/vl53l0x_platform.h Normal file
View File

@@ -0,0 +1,247 @@
/*******************************************************************************
Copyright 2015, 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_PLATFORM_H_
#define _VL53L0X_PLATFORM_H_
#include "vl53l0x_def.h"
#include "vl53l0x_i2c_platform.h"
#include "vl53l0x_platform_log.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @file vl53l0_platform.h
*
* @brief All end user OS/platform/application porting
*/
/**
* @defgroup VL53L0X_platform_group VL53L0 Platform Functions
* @brief VL53L0 Platform Functions
* @{
*/
/**
* @struct VL53L0X_Dev_t
* @brief Generic PAL device type that does link between API and platform
* abstraction layer
*
*/
typedef struct {
VL53L0X_DevData_t Data; /*!< embed ST Ewok Dev data as "Data"*/
/*!< user specific field */
uint8_t I2cDevAddr; /*!< i2c device address user specific field */
uint8_t
comms_type; /*!< Type of comms : VL53L0X_COMMS_I2C or VL53L0X_COMMS_SPI */
uint16_t comms_speed_khz; /*!< Comms speed [kHz] : typically 400kHz for I2C */
TwoWire *i2c;
} VL53L0X_Dev_t;
/**
* @brief Declare the device Handle as a pointer of the structure @a
* VL53L0X_Dev_t.
*
*/
typedef VL53L0X_Dev_t *VL53L0X_DEV;
/**
* @def PALDevDataGet
* @brief Get ST private structure @a VL53L0X_DevData_t data access
*
* @param Dev Device Handle
* @param field ST structure field name
* It maybe used and as real data "ref" not just as "get" for sub-structure item
* like PALDevDataGet(FilterData.field)[i] or
* PALDevDataGet(FilterData.MeasurementIndex)++
*/
#define PALDevDataGet(Dev, field) (Dev->Data.field)
/**
* @def PALDevDataSet(Dev, field, data)
* @brief Set ST private structure @a VL53L0X_DevData_t data field
* @param Dev Device Handle
* @param field ST structure field name
* @param data Data to be set
*/
#define PALDevDataSet(Dev, field, data) (Dev->Data.field) = (data)
/**
* @defgroup VL53L0X_registerAccess_group PAL Register Access Functions
* @brief PAL Register Access Functions
* @{
*/
/**
* Lock comms interface to serialize all commands to a shared I2C interface for
* a specific device
* @param Dev Device Handle
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev);
/**
* Unlock comms interface to serialize all commands to a shared I2C interface
* for a specific device
* @param Dev Device Handle
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev);
/**
* Writes the supplied byte buffer to the device
* @param Dev Device Handle
* @param index The register index
* @param pdata Pointer to uint8_t buffer containing the data to be
* written
* @param count Number of bytes in the supplied byte buffer
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata,
uint32_t count);
/**
* Reads the requested number of bytes from the device
* @param Dev Device Handle
* @param index The register index
* @param pdata Pointer to the uint8_t buffer to store read data
* @param count Number of uint8_t's to read
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata,
uint32_t count);
/**
* Write single byte register
* @param Dev Device Handle
* @param index The register index
* @param data 8 bit register data
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data);
/**
* Write word register
* @param Dev Device Handle
* @param index The register index
* @param data 16 bit register data
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data);
/**
* Write double word (4 byte) register
* @param Dev Device Handle
* @param index The register index
* @param data 32 bit register data
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data);
/**
* Read single byte register
* @param Dev Device Handle
* @param index The register index
* @param data pointer to 8 bit data
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data);
/**
* Read word (2byte) register
* @param Dev Device Handle
* @param index The register index
* @param data pointer to 16 bit data
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data);
/**
* Read dword (4byte) register
* @param Dev Device Handle
* @param index The register index
* @param data pointer to 32 bit data
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data);
/**
* Threat safe Update (read/modify/write) single byte register
*
* Final_reg = (Initial_reg & and_data) |or_data
*
* @param Dev Device Handle
* @param index The register index
* @param AndData 8 bit and data
* @param OrData 8 bit or data
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index,
uint8_t AndData, uint8_t OrData);
/** @} end of VL53L0X_registerAccess_group */
/**
* @brief execute delay in all polling API call
*
* A typical multi-thread or RTOs implementation is to sleep the task for some
* 5ms (with 100Hz max rate faster polling is not needed) if nothing specific is
* need you can define it as an empty/void macro
* @code
* #define VL53L0X_PollingDelay(...) (void)0
* @endcode
* @param Dev Device Handle
* @return VL53L0X_ERROR_NONE Success
* @return "Other error code" See ::VL53L0X_Error
*/
VL53L0X_Error VL53L0X_PollingDelay(
VL53L0X_DEV Dev); /* usually best implemented as a real function */
/** @} end of VL53L0X_platform_group */
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_PLATFORM_H_ */

119
code/lib/Adafruit_VL53L0X-1.2.3/src/vl53l0x_platform_log.h Normal file
View File

@@ -0,0 +1,119 @@
/*******************************************************************************
Copyright 2015, 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_PLATFORM_LOG_H_
#define _VL53L0X_PLATFORM_LOG_H_
#include <stdio.h>
#include <string.h>
/* LOG Functions */
#ifdef __cplusplus
extern "C" {
#endif
/**
* @file vl53l0_platform_log.h
*
* @brief platform log function definition
*/
//#define VL53L0X_LOG_ENABLE 0
enum {
TRACE_LEVEL_NONE,
TRACE_LEVEL_ERRORS,
TRACE_LEVEL_WARNING,
TRACE_LEVEL_INFO,
TRACE_LEVEL_DEBUG,
TRACE_LEVEL_ALL,
TRACE_LEVEL_IGNORE
};
enum {
TRACE_FUNCTION_NONE = 0,
TRACE_FUNCTION_I2C = 1,
TRACE_FUNCTION_ALL = 0x7fffffff // all bits except sign
};
enum {
TRACE_MODULE_NONE = 0x0,
TRACE_MODULE_API = 0x1,
TRACE_MODULE_PLATFORM = 0x2,
TRACE_MODULE_ALL = 0x7fffffff // all bits except sign
};
#ifdef VL53L0X_LOG_ENABLE
#include <sys/time.h>
extern uint32_t _trace_level;
int32_t VL53L0X_trace_config(char *filename, uint32_t modules, uint32_t level,
uint32_t functions);
void trace_print_module_function(uint32_t module, uint32_t level,
uint32_t function, const char *format, ...);
// extern FILE * log_file;
#define LOG_GET_TIME() (int)clock()
#define _LOG_FUNCTION_START(module, fmt, ...) \
trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, \
"%ld <START> %s " fmt "\n", LOG_GET_TIME(), \
__FUNCTION__, ##__VA_ARGS__);
#define _LOG_FUNCTION_END(module, status, ...) \
trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, \
"%ld <END> %s %d\n", LOG_GET_TIME(), \
__FUNCTION__, (int)status, ##__VA_ARGS__)
#define _LOG_FUNCTION_END_FMT(module, status, fmt, ...) \
trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, \
"%ld <END> %s %d " fmt "\n", LOG_GET_TIME(), \
__FUNCTION__, (int)status, ##__VA_ARGS__)
// __func__ is gcc only
//#define VL53L0X_ErrLog( fmt, ...) fprintf(stderr, "VL53L0X_ErrLog %s" fmt
//"\n", __func__, ##__VA_ARGS__)
#else /* VL53L0X_LOG_ENABLE no logging */
#define VL53L0X_ErrLog(...) (void)0
#define _LOG_FUNCTION_START(module, fmt, ...) (void)0
#define _LOG_FUNCTION_END(module, status, ...) (void)0
#define _LOG_FUNCTION_END_FMT(module, status, fmt, ...) (void)0
#endif /* else */
#define VL53L0X_COPYSTRING(str, ...) strcpy(str, ##__VA_ARGS__)
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_PLATFORM_LOG_H_ */

87
code/lib/Adafruit_VL53L0X-1.2.3/src/vl53l0x_tuning.h Normal file
View File

@@ -0,0 +1,87 @@
/*******************************************************************************
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_TUNING_H_
#define _VL53L0X_TUNING_H_
#include "vl53l0x_def.h"
#ifdef __cplusplus
extern "C" {
#endif
uint8_t DefaultTuningSettings[] = {
/* update 02/11/2015_v36 */
0x01, 0xFF, 0x01, 0x01, 0x00, 0x00,
0x01, 0xFF, 0x00, 0x01, 0x09, 0x00, 0x01, 0x10, 0x00, 0x01, 0x11, 0x00,
0x01, 0x24, 0x01, 0x01, 0x25, 0xff, 0x01, 0x75, 0x00,
0x01, 0xFF, 0x01, 0x01, 0x4e, 0x2c, 0x01, 0x48, 0x00, 0x01, 0x30, 0x20,
0x01, 0xFF, 0x00, 0x01, 0x30, 0x09, /* mja changed from 0x64. */
0x01, 0x54, 0x00, 0x01, 0x31, 0x04, 0x01, 0x32, 0x03, 0x01, 0x40, 0x83,
0x01, 0x46, 0x25, 0x01, 0x60, 0x00, 0x01, 0x27, 0x00, 0x01, 0x50, 0x06,
0x01, 0x51, 0x00, 0x01, 0x52, 0x96, 0x01, 0x56, 0x08, 0x01, 0x57, 0x30,
0x01, 0x61, 0x00, 0x01, 0x62, 0x00, 0x01, 0x64, 0x00, 0x01, 0x65, 0x00,
0x01, 0x66, 0xa0,
0x01, 0xFF, 0x01, 0x01, 0x22, 0x32, 0x01, 0x47, 0x14, 0x01, 0x49, 0xff,
0x01, 0x4a, 0x00,
0x01, 0xFF, 0x00, 0x01, 0x7a, 0x0a, 0x01, 0x7b, 0x00, 0x01, 0x78, 0x21,
0x01, 0xFF, 0x01, 0x01, 0x23, 0x34, 0x01, 0x42, 0x00, 0x01, 0x44, 0xff,
0x01, 0x45, 0x26, 0x01, 0x46, 0x05, 0x01, 0x40, 0x40, 0x01, 0x0E, 0x06,
0x01, 0x20, 0x1a, 0x01, 0x43, 0x40,
0x01, 0xFF, 0x00, 0x01, 0x34, 0x03, 0x01, 0x35, 0x44,
0x01, 0xFF, 0x01, 0x01, 0x31, 0x04, 0x01, 0x4b, 0x09, 0x01, 0x4c, 0x05,
0x01, 0x4d, 0x04,
0x01, 0xFF, 0x00, 0x01, 0x44, 0x00, 0x01, 0x45, 0x20, 0x01, 0x47, 0x08,
0x01, 0x48, 0x28, 0x01, 0x67, 0x00, 0x01, 0x70, 0x04, 0x01, 0x71, 0x01,
0x01, 0x72, 0xfe, 0x01, 0x76, 0x00, 0x01, 0x77, 0x00,
0x01, 0xFF, 0x01, 0x01, 0x0d, 0x01,
0x01, 0xFF, 0x00, 0x01, 0x80, 0x01, 0x01, 0x01, 0xF8,
0x01, 0xFF, 0x01, 0x01, 0x8e, 0x01, 0x01, 0x00, 0x01, 0x01, 0xFF, 0x00,
0x01, 0x80, 0x00,
0x00, 0x00, 0x00};
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_TUNING_H_ */

111
code/lib/Adafruit_VL53L0X-1.2.3/src/vl53l0x_types.h Normal file
View File

@@ -0,0 +1,111 @@
/*******************************************************************************
Copyright 2015, 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.
********************************************************************************/
/**
* @file vl53l0_types.h
* @brief VL53L0 types definition
*/
#ifndef VL53L0X_TYPES_H_
#define VL53L0X_TYPES_H_
/** @defgroup porting_type Basic type definition
* @ingroup VL53L0X_platform_group
*
* @brief file vl53l0_types.h files hold basic type definition that may
* requires porting
*
* contains type that must be defined for the platform\n
* when target platform and compiler provide stdint.h and stddef.h it is enough
* to include it.\n If stdint.h is not available review and adapt all signed and
* unsigned 8/16/32 bits basic types. \n If stddef.h is not available review and
* adapt NULL definition .
*/
#include <stddef.h>
#include <stdint.h>
#ifndef NULL
#error "Error NULL definition should be done. Please add required include "
#endif
#if !defined(STDINT_H) && !defined(_STDINT_H) && !defined(_GCC_STDINT_H) && \
!defined(__STDINT_DECLS) && !defined(_GCC_WRAP_STDINT_H)
#pragma message( \
"Please review type definition of STDINT define for your platform and add to list above ")
/*
* target platform do not provide stdint or use a different #define than above
* to avoid seeing the message below adapt the #define list above or implement
* all type and delete these pragma
*/
/** \ingroup VL53L0X_portingType_group
* @{
*/
typedef unsigned long long uint64_t;
/** @brief Typedef defining 32 bit unsigned int type.\n
* The developer should modify this to suit the platform being deployed.
*/
typedef unsigned int uint32_t;
/** @brief Typedef defining 32 bit int type.\n
* The developer should modify this to suit the platform being deployed.
*/
typedef int int32_t;
/** @brief Typedef defining 16 bit unsigned short type.\n
* The developer should modify this to suit the platform being deployed.
*/
typedef unsigned short uint16_t;
/** @brief Typedef defining 16 bit short type.\n
* The developer should modify this to suit the platform being deployed.
*/
typedef short int16_t;
/** @brief Typedef defining 8 bit unsigned char type.\n
* The developer should modify this to suit the platform being deployed.
*/
typedef unsigned char uint8_t;
/** @brief Typedef defining 8 bit char type.\n
* The developer should modify this to suit the platform being deployed.
*/
typedef signed char int8_t;
/** @} */
#endif /* _STDINT_H */
/** use where fractional values are expected
*
* Given a floating point value f it's .16 bit point is (int)(f*(1<<16))*/
typedef uint32_t FixPoint1616_t;
#endif /* VL53L0X_TYPES_H_ */