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vl53l0x.h 9.98 KiB
/**
* || ____ _ __
* +------+ / __ )(_) /_______________ _____ ___
* | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
* +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
* || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
*
* Crazyflie control firmware
*
* Copyright (C) 2012 BitCraze AB
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, in version 3.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* vl53l0x.h: Time-of-flight distance sensor driver
*/
#ifndef _VL53L0X_H_
#define _VL53L0X_H_
#define VL53L0X_DEFAULT_ADDRESS 0b0101001
#define VL53L0X_RA_SYSRANGE_START 0x00
#define VL53L0X_RA_SYSTEM_THRESH_HIGH 0x0C
#define VL53L0X_RA_SYSTEM_THRESH_LOW 0x0E
#define VL53L0X_RA_SYSTEM_SEQUENCE_CONFIG 0x01
#define VL53L0X_RA_SYSTEM_RANGE_CONFIG 0x09
#define VL53L0X_RA_SYSTEM_INTERMEASUREMENT_PERIOD 0x04
#define VL53L0X_RA_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0A
#define VL53L0X_RA_GPIO_HV_MUX_ACTIVE_HIGH 0x84
#define VL53L0X_RA_SYSTEM_INTERRUPT_CLEAR 0x0B
#define VL53L0X_RA_RESULT_INTERRUPT_STATUS 0x13
#define VL53L0X_RA_RESULT_RANGE_STATUS 0x14
#define VL53L0X_RA_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0xBC
#define VL53L0X_RA_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0xC0
#define VL53L0X_RA_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0xD0
#define VL53L0X_RA_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0xD4
#define VL53L0X_RA_RESULT_PEAK_SIGNAL_RATE_REF 0xB6
#define VL53L0X_RA_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x28
#define VL53L0X_RA_I2C_SLAVE_DEVICE_ADDRESS 0x8A
#define VL53L0X_RA_MSRC_CONFIG_CONTROL 0x60
#define VL53L0X_RA_PRE_RANGE_CONFIG_MIN_SNR 0x27
#define VL53L0X_RA_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x56
#define VL53L0X_RA_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x57
#define VL53L0X_RA_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x64
#define VL53L0X_RA_FINAL_RANGE_CONFIG_MIN_SNR 0x67
#define VL53L0X_RA_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x47
#define VL53L0X_RA_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x48
#define VL53L0X_RA_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x44
#define VL53L0X_RA_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0x61
#define VL53L0X_RA_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0x62
#define VL53L0X_RA_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x50
#define VL53L0X_RA_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x51
#define VL53L0X_RA_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x52
#define VL53L0X_RA_SYSTEM_HISTOGRAM_BIN 0x81
#define VL53L0X_RA_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x33
#define VL53L0X_RA_HISTOGRAM_CONFIG_READOUT_CTRL 0x55
#define VL53L0X_RA_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x70
#define VL53L0X_RA_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x71
#define VL53L0X_RA_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x72
#define VL53L0X_RA_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x20
#define VL53L0X_RA_MSRC_CONFIG_TIMEOUT_MACROP 0x46
#define VL53L0X_RA_SOFT_RESET_GO2_SOFT_RESET_N 0xBF
#define VL53L0X_RA_IDENTIFICATION_MODEL_ID 0xC0
#define VL53L0X_RA_IDENTIFICATION_REVISION_ID 0xC2
#define VL53L0X_IDENTIFICATION_MODEL_ID 0xEEAA
#define VL53L0X_IDENTIFICATION_REVISION_ID 0x10
#define VL53L0X_RA_OSC_CALIBRATE_VAL 0xF8
#define VL53L0X_RA_GLOBAL_CONFIG_VCSEL_WIDTH 0x32
#define VL53L0X_RA_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0xB0
#define VL53L0X_RA_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0xB1
#define VL53L0X_RA_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0xB2
#define VL53L0X_RA_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0xB3
#define VL53L0X_RA_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0xB4
#define VL53L0X_RA_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0xB5
#define VL53L0X_RA_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6
#define VL53L0X_RA_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E
#define VL53L0X_RA_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F
#define VL53L0X_RA_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80
#define VL53L0X_RA_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x89
#define VL53L0X_RA_ALGO_PHASECAL_LIM 0x30
#define VL53L0X_RA_ALGO_PHASECAL_CONFIG_TIMEOUT 0x30
// TCC: Target CentreCheck
// MSRC: Minimum Signal Rate Check
// DSS: Dynamic Spad Selection
typedef struct {
bool tcc;
bool msrc;
bool dss;
bool pre_range;
bool final_range;
} SequenceStepEnables;
typedef struct
{
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;
} SequenceStepTimeouts;
typedef enum vcselPeriodType_t { VcselPeriodPreRange, VcselPeriodFinalRange } vcselPeriodType;
/** Default constructor, uses external I2C address.
* @see VL53L0X_DEFAULT_ADDRESS
*/
void vl53l0xInit(DeckInfo* info);
bool vl53l0xTest(void);
void vl53l0xTask(void* arg);
/** Verify the I2C connection.
* Make sure the device is connected and responds as expected.
* @return True if connection is valid, false otherwise
*/
bool vl53l0xTestConnection();
/** Get Model ID.
* This register is used to verify the model number of the device,
* but only before it has been configured to run
* @return Model ID
* @see VL53L0X_RA_IDENTIFICATION_MODEL_ID
* @see VL53L0X_IDENTIFICATION_MODEL_ID
*/
uint16_t vl53l0xGetModelID();
/** Get Revision ID.
* This register is used to verify the revision number of the device,
* but only before it has been configured to run
* @return Revision ID
* @see VL53L0X_RA_IDENTIFICATION_REVISION_ID
* @see VL53L0X_IDENTIFICATION_REVISION_ID
*/
uint8_t vl53l0xGetRevisionID();
// Initialize sensor using sequence based on VL53L0X_DataInit(),
// VL53L0X_StaticInit(), and VL53L0X_PerformRefCalibration().
// This function does not perform reference SPAD calibration
// (VL53L0X_PerformRefSpadManagement()), since the API user manual says that it
// is performed by ST on the bare modules; it seems like that should work well
// enough unless a cover glass is added.
// If io_2v8 (optional) is true or not given, the sensor is configured for 2V8
// mode.
bool vl53l0xInitSensor(bool io_2v8);
// Set the return signal rate limit check value in units of MCPS (mega counts
// per second). "This represents the amplitude of the signal reflected from the
// target and detected by the device"; setting this limit presumably determines
// the minimum measurement necessary for the sensor to report a valid reading.
// Setting a lower limit increases the potential range of the sensor but also
// seems to increase the likelihood of getting an inaccurate reading because of
// unwanted reflections from objects other than the intended target.
// Defaults to 0.25 MCPS as initialized by the ST API and this library.
bool vl53l0xSetSignalRateLimit(float limit_Mcps);
// 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 vl53l0xSetMeasurementTimingBudget(uint32_t budget_us);
// Get the measurement timing budget in microseconds
// based on VL53L0X_get_measurement_timing_budget_micro_seconds()
// in us
uint32_t vl53l0xGetMeasurementTimingBudget(void);
// 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 vl53l0xSetVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks);
// Get the VCSEL pulse period in PCLKs for the given period type.
// based on VL53L0X_get_vcsel_pulse_period()
uint8_t vl53l0xGetVcselPulsePeriod(vcselPeriodType type);
// 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 vl53l0xStartContinuous(uint32_t period_ms);
// Stop continuous measurements
// based on VL53L0X_StopMeasurement()
void vl53l0xStopContinuous(void);
// 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 vl53l0xReadRangeContinuousMillimeters(void);
// Performs a single-shot range measurement and returns the reading in
// millimeters
// based on VL53L0X_PerformSingleRangingMeasurement()
uint16_t vl53l0xReadRangeSingleMillimeters(void);
#endif /* _VL53L0X_H_ */