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ESP8266lib/ext/sens/VL53L0X.h
kazu 5cb02880b3 many updates.. 
new sensors.. display.. led.. drawing.. stuff..
2019-01-17 23:12:01 +01:00

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#ifndef SENS_VL53L0X_H
#define SENS_VL53L0X_H
#include "../../io/SoftI2C.h"
#include "../../Debug.h"
/**
* TOF distance measurement sensor
*
* there seems to be no register-map from the vendor. only a poor API..
* used values from this library:
* https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.h
* https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp
*/
class VL53L0X {
private:
static constexpr const char* NAME = "VL53L0X";
static constexpr uint8_t ADDR = 0b0101001 ;
bool inited = false;
enum Register {
SYSRANGE_START = 0x00,
SYSTEM_THRESH_HIGH = 0x0C,
SYSTEM_THRESH_LOW = 0x0E,
SYSTEM_SEQUENCE_CONFIG = 0x01,
SYSTEM_RANGE_CONFIG = 0x09,
SYSTEM_INTERMEASUREMENT_PERIOD = 0x04,
SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A,
GPIO_HV_MUX_ACTIVE_HIGH = 0x84,
SYSTEM_INTERRUPT_CLEAR = 0x0B,
RESULT_INTERRUPT_STATUS = 0x13,
RESULT_RANGE_STATUS = 0x14,
RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC,
RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0,
RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0,
RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4,
RESULT_PEAK_SIGNAL_RATE_REF = 0xB6,
ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28,
I2C_SLAVE_DEVICE_ADDRESS = 0x8A,
MSRC_CONFIG_CONTROL = 0x60,
PRE_RANGE_CONFIG_MIN_SNR = 0x27,
PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56,
PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57,
PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64,
FINAL_RANGE_CONFIG_MIN_SNR = 0x67,
FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47,
FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48,
FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,
PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61,
PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62,
PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50,
PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51,
PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52,
SYSTEM_HISTOGRAM_BIN = 0x81,
HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33,
HISTOGRAM_CONFIG_READOUT_CTRL = 0x55,
FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70,
FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71,
FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72,
CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20,
MSRC_CONFIG_TIMEOUT_MACROP = 0x46,
SOFT_RESET_GO2_SOFT_RESET_N = 0xBF,
IDENTIFICATION_MODEL_ID = 0xC0,
IDENTIFICATION_REVISION_ID = 0xC2,
OSC_CALIBRATE_VAL = 0xF8,
GLOBAL_CONFIG_VCSEL_WIDTH = 0x32,
GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0,
GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1,
GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2,
GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3,
GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4,
GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5,
GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6,
DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E,
DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F,
POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80,
VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89,
ALGO_PHASECAL_LIM = 0x30,
ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30,
};
// Calculate macro period in *nanoseconds* from VCSEL period in PCLKs
// based on VL53L0X_calc_macro_period_ps()
// PLL_period_ps = 1655; macro_period_vclks = 2304
#define calcMacroPeriod(vcsel_period_pclks) ((((uint32_t)2304 * (vcsel_period_pclks) * 1655) + 500) / 1000)
// Decode VCSEL (vertical cavity surface emitting laser) pulse period in PCLKs
// from register value
// based on VL53L0X_decode_vcsel_period()
#define decodeVcselPeriod(reg_val) (((reg_val) + 1) << 1)
// Encode VCSEL pulse period register value from period in PCLKs
// based on VL53L0X_encode_vcsel_period()
#define encodeVcselPeriod(period_pclks) (((period_pclks) >> 1) - 1)
uint8_t stop_variable;
uint32_t measurement_timing_budget_us;
struct SequenceStepEnables {
bool tcc, msrc, dss, pre_range, final_range;
};
struct SequenceStepTimeouts {
uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us;
};
enum vcselPeriodType {
VcselPeriodPreRange,
VcselPeriodFinalRange
};
private:
bool init() {
debugMod(NAME, "init()");
// VL53L0X_DataInit() begin
// // sensor uses 1V8 mode for I/O by default; switch to 2V8 mode if necessary
// if (io_2v8)
// {
// writeReg8(VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
// readReg8(VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV) | 0x01); // set bit 0
// }
// "Set I2C standard mode"
writeReg8(0x88, 0x00);
writeReg8(0x80, 0x01);
writeReg8(0xFF, 0x01);
writeReg8(0x00, 0x00);
stop_variable = readReg8(0x91);
writeReg8(0x00, 0x01);
writeReg8(0xFF, 0x00);
writeReg8(0x80, 0x00);
// disable SIGNAL_RATE_MSRC (bit 1) and SIGNAL_RATE_PRE_RANGE (bit 4) limit checks
writeReg8(MSRC_CONFIG_CONTROL, readReg8(MSRC_CONFIG_CONTROL) | 0x12);
// set final range signal rate limit to 0.25 MCPS (million counts per second)
////////setSignalRateLimit(0.25);
writeReg8(SYSTEM_SEQUENCE_CONFIG, 0xFF);
// VL53L0X_DataInit() end
// VL53L0X_StaticInit() begin
debugMod(NAME, "getting SPAD info");
uint8_t spad_count;
bool spad_type_is_aperture;
if (!getSpadInfo(&spad_count, &spad_type_is_aperture)) {
debugMod(NAME, "failed to get SPAD info");
return false;
}
// The SPAD map (RefGoodSpadMap) is read by VL53L0X_get_info_from_device() in
// the API, but the same data seems to be more easily readable from
// GLOBAL_CONFIG_SPAD_ENABLES_REF_0 through _6, so read it from there
uint8_t ref_spad_map[6];
readRegN(GLOBAL_CONFIG_SPAD_ENABLES_REF_0, ref_spad_map, 6);
// -- VL53L0X_set_reference_spads() begin (assume NVM values are valid)
writeReg8(0xFF, 0x01);
writeReg8(DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
writeReg8(DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
writeReg8(0xFF, 0x00);
writeReg8(GLOBAL_CONFIG_REF_EN_START_SELECT, 0xB4);
uint8_t first_spad_to_enable = spad_type_is_aperture ? 12 : 0; // 12 is the first aperture spad
uint8_t spads_enabled = 0;
for (uint8_t i = 0; i < 48; i++) {
if (i < first_spad_to_enable || spads_enabled == spad_count) {
// This bit is lower than the first one that should be enabled, or
// (reference_spad_count) bits have already been enabled, so zero this bit
ref_spad_map[i / 8] &= ~(1 << (i % 8));
} else if ((ref_spad_map[i / 8] >> (i % 8)) & 0x1) {
spads_enabled++;
}
}
debugMod1(NAME, "enabled SPADs: %d", spads_enabled);
writeRegN(GLOBAL_CONFIG_SPAD_ENABLES_REF_0, ref_spad_map, 6);
// -- VL53L0X_set_reference_spads() end
// -- VL53L0X_load_tuning_settings() begin
// DefaultTuningSettings from vl53l0x_tuning.h
writeReg8(0xFF, 0x01);
writeReg8(0x00, 0x00);
writeReg8(0xFF, 0x00);
writeReg8(0x09, 0x00);
writeReg8(0x10, 0x00);
writeReg8(0x11, 0x00);
writeReg8(0x24, 0x01);
writeReg8(0x25, 0xFF);
writeReg8(0x75, 0x00);
writeReg8(0xFF, 0x01);
writeReg8(0x4E, 0x2C);
writeReg8(0x48, 0x00);
writeReg8(0x30, 0x20);
writeReg8(0xFF, 0x00);
writeReg8(0x30, 0x09);
writeReg8(0x54, 0x00);
writeReg8(0x31, 0x04);
writeReg8(0x32, 0x03);
writeReg8(0x40, 0x83);
writeReg8(0x46, 0x25);
writeReg8(0x60, 0x00);
writeReg8(0x27, 0x00);
writeReg8(0x50, 0x06);
writeReg8(0x51, 0x00);
writeReg8(0x52, 0x96);
writeReg8(0x56, 0x08);
writeReg8(0x57, 0x30);
writeReg8(0x61, 0x00);
writeReg8(0x62, 0x00);
writeReg8(0x64, 0x00);
writeReg8(0x65, 0x00);
writeReg8(0x66, 0xA0);
writeReg8(0xFF, 0x01);
writeReg8(0x22, 0x32);
writeReg8(0x47, 0x14);
writeReg8(0x49, 0xFF);
writeReg8(0x4A, 0x00);
writeReg8(0xFF, 0x00);
writeReg8(0x7A, 0x0A);
writeReg8(0x7B, 0x00);
writeReg8(0x78, 0x21);
writeReg8(0xFF, 0x01);
writeReg8(0x23, 0x34);
writeReg8(0x42, 0x00);
writeReg8(0x44, 0xFF);
writeReg8(0x45, 0x26);
writeReg8(0x46, 0x05);
writeReg8(0x40, 0x40);
writeReg8(0x0E, 0x06);
writeReg8(0x20, 0x1A);
writeReg8(0x43, 0x40);
writeReg8(0xFF, 0x00);
writeReg8(0x34, 0x03);
writeReg8(0x35, 0x44);
writeReg8(0xFF, 0x01);
writeReg8(0x31, 0x04);
writeReg8(0x4B, 0x09);
writeReg8(0x4C, 0x05);
writeReg8(0x4D, 0x04);
writeReg8(0xFF, 0x00);
writeReg8(0x44, 0x00);
writeReg8(0x45, 0x20);
writeReg8(0x47, 0x08);
writeReg8(0x48, 0x28);
writeReg8(0x67, 0x00);
writeReg8(0x70, 0x04);
writeReg8(0x71, 0x01);
writeReg8(0x72, 0xFE);
writeReg8(0x76, 0x00);
writeReg8(0x77, 0x00);
writeReg8(0xFF, 0x01);
writeReg8(0x0D, 0x01);
writeReg8(0xFF, 0x00);
writeReg8(0x80, 0x01);
writeReg8(0x01, 0xF8);
writeReg8(0xFF, 0x01);
writeReg8(0x8E, 0x01);
writeReg8(0x00, 0x01);
writeReg8(0xFF, 0x00);
writeReg8(0x80, 0x00);
// -- VL53L0X_load_tuning_settings() end
// "Set interrupt config to new sample ready"
// -- VL53L0X_SetGpioConfig() begin
writeReg8(SYSTEM_INTERRUPT_CONFIG_GPIO, 0x04);
writeReg8(GPIO_HV_MUX_ACTIVE_HIGH, readReg8(GPIO_HV_MUX_ACTIVE_HIGH) & ~0x10); // active low
writeReg8(SYSTEM_INTERRUPT_CLEAR, 0x01);
// -- VL53L0X_SetGpioConfig() end
measurement_timing_budget_us = getMeasurementTimingBudget();
debugMod1(NAME, "timing budget: %d", measurement_timing_budget_us)
// "Disable MSRC and TCC by default"
// MSRC = Minimum Signal Rate Check
// TCC = Target CentreCheck
// -- VL53L0X_SetSequenceStepEnable() begin
writeReg8(SYSTEM_SEQUENCE_CONFIG, 0xE8);
// -- VL53L0X_SetSequenceStepEnable() end
// KAZU
setVcselPulsePeriod(VcselPeriodPreRange, 18);
setVcselPulsePeriod(VcselPeriodFinalRange, 14);
// "Recalculate timing budget"
debugMod(NAME, "new setting timing budget");
bool ok = setMeasurementTimingBudget(measurement_timing_budget_us);
if (!ok) {
debugMod(NAME, "failed to set timing budget");
return false;
}
// VL53L0X_StaticInit() end
// VL53L0X_PerformRefCalibration() begin (VL53L0X_perform_ref_calibration())
// -- VL53L0X_perform_vhv_calibration() begin
debugMod(NAME, "VHV calibration");
writeReg8(SYSTEM_SEQUENCE_CONFIG, 0x01);
if (!performSingleRefCalibration(0x40)) {
debugMod(NAME, "VHV calibration failed");
return false;
} else {
debugMod(NAME, "VHV calibration OK");
}
// -- VL53L0X_perform_vhv_calibration() end
// -- VL53L0X_perform_phase_calibration() begin
debugMod(NAME, "PHASE calibration");
writeReg8(SYSTEM_SEQUENCE_CONFIG, 0x02);
if (!performSingleRefCalibration(0x00)) {
debugMod(NAME, "PHASE calibration failed");
return false;
} else {
debugMod(NAME, "PHASE calibration OK");
}
// -- VL53L0X_perform_phase_calibration() end
// "restore the previous Sequence Config"
writeReg8(SYSTEM_SEQUENCE_CONFIG, 0xE8);
// VL53L0X_PerformRefCalibration() end
return true;
}
// Get reference SPAD (single photon avalanche diode) count and type
// based on VL53L0X_get_info_from_device(),
// but only gets reference SPAD count and type
bool getSpadInfo(uint8_t * count, bool * type_is_aperture) {
uint8_t tmp;
writeReg8(0x80, 0x01);
writeReg8(0xFF, 0x01);
writeReg8(0x00, 0x00);
writeReg8(0xFF, 0x06);
writeReg8(0x83, readReg8(0x83) | 0x04);
writeReg8(0xFF, 0x07);
writeReg8(0x81, 0x01);
writeReg8(0x80, 0x01);
writeReg8(0x94, 0x6b);
writeReg8(0x83, 0x00);
int cnt = 0;
while (readReg8(0x83) == 0x00) {
if (++cnt > 100) {
debugMod(NAME, "SPAD timeout");
return false;
}
}
writeReg8(0x83, 0x01);
tmp = readReg8(0x92);
*count = tmp & 0x7f;
*type_is_aperture = (tmp >> 7) & 0x01;
writeReg8(0x81, 0x00);
writeReg8(0xFF, 0x06);
writeReg8(0x83, readReg8(0x83) & ~0x04);
writeReg8(0xFF, 0x01);
writeReg8(0x00, 0x01);
writeReg8(0xFF, 0x00);
writeReg8(0x80, 0x00);
return true;
}
// Get the measurement timing budget in microseconds
// based on VL53L0X_get_measurement_timing_budget_micro_seconds()
// in us
uint32_t getMeasurementTimingBudget(void) {
SequenceStepEnables enables;
SequenceStepTimeouts timeouts;
uint16_t const StartOverhead = 1910; // note that this is different than the value in set_
uint16_t const EndOverhead = 960;
uint16_t const MsrcOverhead = 660;
uint16_t const TccOverhead = 590;
uint16_t const DssOverhead = 690;
uint16_t const PreRangeOverhead = 660;
uint16_t const FinalRangeOverhead = 550;
// "Start and end overhead times always present"
uint32_t budget_us = StartOverhead + EndOverhead;
getSequenceStepEnables(&enables);
getSequenceStepTimeouts(&enables, &timeouts);
if (enables.tcc) {
budget_us += (timeouts.msrc_dss_tcc_us + TccOverhead);
}
if (enables.dss) {
budget_us += 2 * (timeouts.msrc_dss_tcc_us + DssOverhead);
} else if (enables.msrc) {
budget_us += (timeouts.msrc_dss_tcc_us + MsrcOverhead);
}
if (enables.pre_range) {
budget_us += (timeouts.pre_range_us + PreRangeOverhead);
}
if (enables.final_range) {
budget_us += (timeouts.final_range_us + FinalRangeOverhead);
}
measurement_timing_budget_us = budget_us; // store for internal reuse
return budget_us;
}
// Set the measurement timing budget in microseconds, which is the time allowed
// for one measurement; the ST API and this library take care of splitting the
// timing budget among the sub-steps in the ranging sequence. A longer timing
// budget allows for more accurate measurements. Increasing the budget by a
// factor of N decreases the range measurement standard deviation by a factor of
// sqrt(N). Defaults to about 33 milliseconds; the minimum is 20 ms.
// based on VL53L0X_set_measurement_timing_budget_micro_seconds()
bool setMeasurementTimingBudget(uint32_t budget_us) {
SequenceStepEnables enables;
SequenceStepTimeouts timeouts;
uint16_t const StartOverhead = 1320; // note that this is different than the value in get_
uint16_t const EndOverhead = 960;
uint16_t const MsrcOverhead = 660;
uint16_t const TccOverhead = 590;
uint16_t const DssOverhead = 690;
uint16_t const PreRangeOverhead = 660;
uint16_t const FinalRangeOverhead = 550;
uint32_t const MinTimingBudget = 20000;
if (budget_us < MinTimingBudget) { return false; }
uint32_t used_budget_us = StartOverhead + EndOverhead;
getSequenceStepEnables(&enables);
getSequenceStepTimeouts(&enables, &timeouts);
if (enables.tcc) {
used_budget_us += (timeouts.msrc_dss_tcc_us + TccOverhead);
}
if (enables.dss) {
used_budget_us += 2 * (timeouts.msrc_dss_tcc_us + DssOverhead);
} else if (enables.msrc) {
used_budget_us += (timeouts.msrc_dss_tcc_us + MsrcOverhead);
}
if (enables.pre_range) {
used_budget_us += (timeouts.pre_range_us + PreRangeOverhead);
}
if (enables.final_range) {
used_budget_us += FinalRangeOverhead;
// "Note that the final range timeout is determined by the timing
// budget and the sum of all other timeouts within the sequence.
// If there is no room for the final range timeout, then an error
// will be set. Otherwise the remaining time will be applied to
// the final range."
if (used_budget_us > budget_us) {
// "Requested timeout too big."
return false;
}
uint32_t final_range_timeout_us = budget_us - used_budget_us;
// set_sequence_step_timeout() begin
// (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE)
// "For the final range timeout, the pre-range timeout
// must be added. To do this both final and pre-range
// timeouts must be expressed in macro periods MClks
// because they have different vcsel periods."
uint16_t final_range_timeout_mclks = timeoutMicrosecondsToMclks(final_range_timeout_us, timeouts.final_range_vcsel_period_pclks);
if (enables.pre_range) {
final_range_timeout_mclks += timeouts.pre_range_mclks;
}
writeReg16(FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, encodeTimeout(final_range_timeout_mclks));
// set_sequence_step_timeout() end
measurement_timing_budget_us = budget_us; // store for internal reuse
}
return true;
}
// Get sequence step enables
// based on VL53L0X_GetSequenceStepEnables()
void getSequenceStepEnables(SequenceStepEnables* enables) {
uint8_t sequence_config = readReg8(SYSTEM_SEQUENCE_CONFIG);
enables->tcc = (sequence_config >> 4) & 0x1;
enables->dss = (sequence_config >> 3) & 0x1;
enables->msrc = (sequence_config >> 2) & 0x1;
enables->pre_range = (sequence_config >> 6) & 0x1;
enables->final_range = (sequence_config >> 7) & 0x1;
}
// Get sequence step timeouts
// based on get_sequence_step_timeout(),
// but gets all timeouts instead of just the requested one, and also stores
// intermediate values
void getSequenceStepTimeouts(SequenceStepEnables const* enables, SequenceStepTimeouts* timeouts) {
timeouts->pre_range_vcsel_period_pclks = getVcselPulsePeriod(VcselPeriodPreRange);
timeouts->msrc_dss_tcc_mclks = readReg8(MSRC_CONFIG_TIMEOUT_MACROP) + 1;
timeouts->msrc_dss_tcc_us =
timeoutMclksToMicroseconds(timeouts->msrc_dss_tcc_mclks, timeouts->pre_range_vcsel_period_pclks);
timeouts->pre_range_mclks =
decodeTimeout(readReg16(PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI));
timeouts->pre_range_us =
timeoutMclksToMicroseconds(timeouts->pre_range_mclks, timeouts->pre_range_vcsel_period_pclks);
timeouts->final_range_vcsel_period_pclks = getVcselPulsePeriod(VcselPeriodFinalRange);
timeouts->final_range_mclks =
decodeTimeout(readReg16(FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI));
if (enables->pre_range) {
timeouts->final_range_mclks -= timeouts->pre_range_mclks;
}
timeouts->final_range_us = timeoutMclksToMicroseconds(timeouts->final_range_mclks, timeouts->final_range_vcsel_period_pclks);
debugMod2(NAME, "current timing is pre: %d, final: %d", timeouts->pre_range_vcsel_period_pclks, timeouts->final_range_vcsel_period_pclks);
}
// based on VL53L0X_perform_single_ref_calibration()
bool performSingleRefCalibration(uint8_t vhv_init_byte) {
writeReg8(SYSRANGE_START, 0x01 | vhv_init_byte); // VL53L0X_REG_SYSRANGE_MODE_START_STOP
int cnt = 0;
while ((readReg8(RESULT_INTERRUPT_STATUS) & 0x07) == 0) {
if (++cnt > 100) {
debugMod(NAME, "calibration timeout");
return false;
}
}
writeReg8(SYSTEM_INTERRUPT_CLEAR, 0x01);
writeReg8(SYSRANGE_START, 0x00);
return true;
}
// Convert sequence step timeout from MCLKs to microseconds with given VCSEL period in PCLKs
// based on VL53L0X_calc_timeout_us()
uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks) {
uint32_t macro_period_ns = calcMacroPeriod(vcsel_period_pclks);
return ((timeout_period_mclks * macro_period_ns) + (macro_period_ns / 2)) / 1000;
}
// Convert sequence step timeout from microseconds to MCLKs with given VCSEL period in PCLKs
// based on VL53L0X_calc_timeout_mclks()
uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks) {
uint32_t macro_period_ns = calcMacroPeriod(vcsel_period_pclks);
return (((timeout_period_us * 1000) + (macro_period_ns / 2)) / macro_period_ns);
}
// Get the VCSEL pulse period in PCLKs for the given period type.
// based on VL53L0X_get_vcsel_pulse_period()
uint8_t getVcselPulsePeriod(vcselPeriodType type) {
if (type == VcselPeriodPreRange) {
return decodeVcselPeriod(readReg8(PRE_RANGE_CONFIG_VCSEL_PERIOD));
} else if (type == VcselPeriodFinalRange) {
return decodeVcselPeriod(readReg8(FINAL_RANGE_CONFIG_VCSEL_PERIOD));
} else {
return 255;
}
}
// Decode sequence step timeout in MCLKs from register value
// based on VL53L0X_decode_timeout()
// Note: the original function returned a uint32_t, but the return value is
// always stored in a uint16_t.
uint16_t decodeTimeout(uint16_t reg_val) {
// format: "(LSByte * 2^MSByte) + 1"
return (uint16_t)((reg_val & 0x00FF) << (uint16_t)((reg_val & 0xFF00) >> 8)) + 1;
}
// Encode sequence step timeout register value from timeout in MCLKs
// based on VL53L0X_encode_timeout()
// Note: the original function took a uint16_t, but the argument passed to it
// is always a uint16_t.
uint16_t encodeTimeout(uint16_t timeout_mclks) {
// format: "(LSByte * 2^MSByte) + 1"
uint32_t ls_byte = 0;
uint16_t ms_byte = 0;
if (timeout_mclks > 0) {
ls_byte = timeout_mclks - 1;
while ((ls_byte & 0xFFFFFF00) > 0) {
ls_byte >>= 1;
ms_byte++;
}
return (ms_byte << 8) | (ls_byte & 0xFF);
} else {
return 0;
}
}
// Set the VCSEL (vertical cavity surface emitting laser) pulse period for the
// given period type (pre-range or final range) to the given value in PCLKs.
// Longer periods seem to increase the potential range of the sensor.
// Valid values are (even numbers only):
// pre: 12 to 18 (initialized default: 14)
// final: 8 to 14 (initialized default: 10)
// based on VL53L0X_set_vcsel_pulse_period()
bool setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks) {
uint8_t vcsel_period_reg = encodeVcselPeriod(period_pclks);
SequenceStepEnables enables;
SequenceStepTimeouts timeouts;
getSequenceStepEnables(&enables);
getSequenceStepTimeouts(&enables, &timeouts);
// "Apply specific settings for the requested clock period"
// "Re-calculate and apply timeouts, in macro periods"
// "When the VCSEL period for the pre or final range is changed,
// the corresponding timeout must be read from the device using
// the current VCSEL period, then the new VCSEL period can be
// applied. The timeout then must be written back to the device
// using the new VCSEL period.
//
// For the MSRC timeout, the same applies - this timeout being
// dependant on the pre-range vcsel period."
if (type == VcselPeriodPreRange) {
// "Set phase check limits"
switch (period_pclks) {
case 12:
writeReg8(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x18);
break;
case 14:
writeReg8(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x30);
break;
case 16:
writeReg8(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x40);
break;
case 18:
writeReg8(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x50);
break;
default:
// invalid period
return false;
}
writeReg8(PRE_RANGE_CONFIG_VALID_PHASE_LOW, 0x08);
// apply new VCSEL period
writeReg8(PRE_RANGE_CONFIG_VCSEL_PERIOD, vcsel_period_reg);
// update timeouts
// set_sequence_step_timeout() begin
// (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE)
uint16_t new_pre_range_timeout_mclks = timeoutMicrosecondsToMclks(timeouts.pre_range_us, period_pclks);
writeReg16(PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, encodeTimeout(new_pre_range_timeout_mclks));
// set_sequence_step_timeout() end
// set_sequence_step_timeout() begin
// (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)
uint16_t new_msrc_timeout_mclks = timeoutMicrosecondsToMclks(timeouts.msrc_dss_tcc_us, period_pclks);
writeReg8(MSRC_CONFIG_TIMEOUT_MACROP, (new_msrc_timeout_mclks > 256) ? 255 : (new_msrc_timeout_mclks - 1));
// set_sequence_step_timeout() end
} else if (type == VcselPeriodFinalRange) {
switch (period_pclks) {
case 8:
writeReg8(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x10);
writeReg8(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08);
writeReg8(GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
writeReg8(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
writeReg8(0xFF, 0x01);
writeReg8(ALGO_PHASECAL_LIM, 0x30);
writeReg8(0xFF, 0x00);
break;
case 10:
writeReg8(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x28);
writeReg8(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08);
writeReg8(GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
writeReg8(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
writeReg8(0xFF, 0x01);
writeReg8(ALGO_PHASECAL_LIM, 0x20);
writeReg8(0xFF, 0x00);
break;
case 12:
writeReg8(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x38);
writeReg8(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08);
writeReg8(GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
writeReg8(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08);
writeReg8(0xFF, 0x01);
writeReg8(ALGO_PHASECAL_LIM, 0x20);
writeReg8(0xFF, 0x00);
break;
case 14:
writeReg8(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x48);
writeReg8(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08);
writeReg8(GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
writeReg8(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
writeReg8(0xFF, 0x01);
writeReg8(ALGO_PHASECAL_LIM, 0x20);
writeReg8(0xFF, 0x00);
break;
default:
// invalid period
return false;
}
// apply new VCSEL period
writeReg8(FINAL_RANGE_CONFIG_VCSEL_PERIOD, vcsel_period_reg);
// update timeouts
// set_sequence_step_timeout() begin
// (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE)
// "For the final range timeout, the pre-range timeout
// must be added. To do this both final and pre-range
// timeouts must be expressed in macro periods MClks
// because they have different vcsel periods."
uint16_t new_final_range_timeout_mclks = timeoutMicrosecondsToMclks(timeouts.final_range_us, period_pclks);
if (enables.pre_range) {
new_final_range_timeout_mclks += timeouts.pre_range_mclks;
}
writeReg16(FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, encodeTimeout(new_final_range_timeout_mclks));
// set_sequence_step_timeout end
} else {
// invalid type
return false;
}
// "Finally, the timing budget must be re-applied"
setMeasurementTimingBudget(measurement_timing_budget_us);
// "Perform the phase calibration. This is needed after changing on vcsel period."
// VL53L0X_perform_phase_calibration() begin
uint8_t sequence_config = readReg8(SYSTEM_SEQUENCE_CONFIG);
writeReg8(SYSTEM_SEQUENCE_CONFIG, 0x02);
performSingleRefCalibration(0x0);
writeReg8(SYSTEM_SEQUENCE_CONFIG, sequence_config);
// VL53L0X_perform_phase_calibration() end
return true;
}
private:
uint8_t readReg8(const uint8_t reg) {
beginReadRegister(reg);
uint8_t res = 0;
i2c::readBytes(&res, 1);
i2c::stop();
return res;
}
uint16_t readReg16(const uint8_t reg) {
beginReadRegister(reg);
uint8_t buf[2];
i2c::readBytes(buf, 2);
i2c::stop();
uint16_t res = buf[0];
res <<= 8;
res |= buf[1];
return res;
}
void readRegN(const uint8_t reg, uint8_t* dst, const size_t len) {
beginReadRegister(reg);
i2c::readBytes(dst, len);
i2c::stop();
}
/** internal helper method. begin writing to the device */
void beginWriteRegister(const uint8_t reg) {
bool ok;
// select device for writing
ok = i2c::startWrite(ADDR);
if (!ok) {debugMod(NAME, "failed startWrite()");}
// select register to write to
ok = i2c::writeByteAndCheck(reg);
if (!ok) {debugMod1(NAME, "failed to select register %d", reg);}
}
/** internal helper method. begin reading from the device */
void beginReadRegister(const uint8_t reg) {
bool ok;
// select device for writing
ok = i2c::startWrite(ADDR);
if (!ok) {debugMod(NAME, "failed startWrite()");}
// select register to read from
ok = i2c::writeByteAndCheck(reg);
if (!ok) {debugMod1(NAME, "failed to select register %d", reg);}
i2c::stop();
// re-address in read mode
ok = i2c::startRead(ADDR);
if (!ok) {debugMod(NAME, "failed startRead()");}
}
void writeReg8(const uint8_t reg, const uint8_t val) {
beginWriteRegister(reg);
bool ok = i2c::writeByteAndCheck(val);
if (!ok) {debugMod(NAME, "failed to write byte");}
i2c::stop();
}
void writeReg16(const uint8_t reg, const uint16_t val) {
beginWriteRegister(reg);
bool ok;
ok = i2c::writeByteAndCheck(val >> 8);
if (!ok) {debugMod(NAME, "failed to write 1st byte");}
ok = i2c::writeByteAndCheck(val >> 0);
if (!ok) {debugMod(NAME, "failed to write 2nd byte");}
i2c::stop();
}
void writeReg32(const uint8_t reg, const uint32_t val) {
beginWriteRegister(reg);
bool ok;
ok = i2c::writeByteAndCheck(val >> 24);
if (!ok) {debugMod(NAME, "failed to write 1st byte");}
ok = i2c::writeByteAndCheck(val >> 16);
if (!ok) {debugMod(NAME, "failed to write 2nd byte");}
ok = i2c::writeByteAndCheck(val >> 8);
if (!ok) {debugMod(NAME, "failed to write 3rd byte");}
ok = i2c::writeByteAndCheck(val >> 0);
if (!ok) {debugMod(NAME, "failed to write 4th byte");}
i2c::stop();
}
void writeRegN(const uint8_t reg, const uint8_t* data, const size_t len) {
beginWriteRegister(reg);
for (size_t i = 0; i < len; ++i) {
bool ok = i2c::writeByteAndCheck(data[i]);
if (!ok) {debugMod(NAME, "failed to write byte"); break;}
}
i2c::stop();
}
public:
void initOnce() {
if (inited) {return;}
init();
inited = true;
}
bool isPresent() {
return i2c::query(ADDR);
}
/** check whether the sensor responds with some known values */
bool check() {
const uint8_t v1 = readReg8(0xC0); // should be 0xEE
const uint8_t v2 = readReg8(0xC1); // should be 0xAA
const uint8_t v3 = readReg8(0xC2); // should be 0x10
const bool ok = (v1 == 0xEE) && (v2 == 0xAA) && (v3 == 0x10);
os_printf("res. %d %d %d\n\n", v1, v2, v3);
return ok;
}
// Start continuous ranging measurements. If period_ms (optional) is 0 or not
// given, continuous back-to-back mode is used (the sensor takes measurements as
// often as possible); otherwise, continuous timed mode is used, with the given
// inter-measurement period in milliseconds determining how often the sensor
// takes a measurement.
// based on VL53L0X_StartMeasurement()
void startContinuous(uint32_t period_ms) {
writeReg8(0x80, 0x01);
writeReg8(0xFF, 0x01);
writeReg8(0x00, 0x00);
writeReg8(0x91, stop_variable);
writeReg8(0x00, 0x01);
writeReg8(0xFF, 0x00);
writeReg8(0x80, 0x00);
if (period_ms != 0) {
// continuous timed mode
// VL53L0X_SetInterMeasurementPeriodMilliSeconds() begin
uint16_t osc_calibrate_val = readReg16(OSC_CALIBRATE_VAL);
if (osc_calibrate_val != 0) {
period_ms *= osc_calibrate_val;
}
writeReg32(SYSTEM_INTERMEASUREMENT_PERIOD, period_ms);
// VL53L0X_SetInterMeasurementPeriodMilliSeconds() end
writeReg8(SYSRANGE_START, 0x04); // VL53L0X_REG_SYSRANGE_MODE_TIMED
} else {
// continuous back-to-back mode
writeReg8(SYSRANGE_START, 0x02); // VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK
}
}
// Stop continuous measurements
// based on VL53L0X_StopMeasurement()
void stopContinuous(void) {
writeReg8(SYSRANGE_START, 0x01); // VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT
writeReg8(0xFF, 0x01);
writeReg8(0x00, 0x00);
writeReg8(0x91, 0x00);
writeReg8(0x00, 0x01);
writeReg8(0xFF, 0x00);
}
// Returns a range reading in millimeters when continuous mode is active
// (readRangeSingleMillimeters() also calls this function after starting a
// single-shot range measurement)
uint16_t readRangeContinuousMillimeters(void) {
int cnt = 0;
while ((readReg8(RESULT_INTERRUPT_STATUS) & 0x07) == 0) {
if (++cnt > 100) {
debugMod(NAME, "measurement timeout!");
return 65535;
}
}
// assumptions: Linearity Corrective Gain is 1000 (default);
// fractional ranging is not enabled
uint16_t range = readReg16(RESULT_RANGE_STATUS + 10);
writeReg8(SYSTEM_INTERRUPT_CLEAR, 0x01);
return range;
}
};
#endif // VL53L0X
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