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VL53L0X Time-Of-Flight sensor driver

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HAL Driver for VL53L0X Time-Of-Flight sensor.  Basic implementation, which doesn't include most of the calibration etc. so is very lean on memory and CPU but not as accurate as it could be.
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Neil McKechnie 2021-09-14 12:34:31 +01:00
parent 2ed578821f
commit d316b72069
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/*
* © 2021, Neil McKechnie. All rights reserved.
*
* This file is part of DCC++EX API
*
* This 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, either version 3 of the License, or
* (at your option) any later version.
*
* It 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 CommandStation. If not, see <https://www.gnu.org/licenses/>.
*/
/*
* The VL53L0X Time-Of-Flight sensor operates by sending a short laser pulse and detecting
* the reflection of the pulse. The time between the pulse and the receipt of reflections
* is measured and used to determine the distance to the reflecting object.
*
* For economy of memory and processing time, this driver includes only part of the code
* that ST provide in their API. Also, the API code isn't very clear and it is not easy
* to identify what operations are useful and what are not.
* The operation shown here doesn't include any calibration, so is probably not as accurate
* as using the full driver, but it's probably accurate enough for the purpose.
*
* The device driver allocates up to 3 vpins to the device. A digital read on any of the pins
* will return a value that indicates whether the object is within the threshold range (1)
* or not (0). An analogue read on the first pin returns the last measured distance (in mm),
* the second pin returns the signal strength, and the third pin returns detected
* ambient light level.
*
* The VL53L0X is initially set to respond to I2C address 0x29. If you only have one module,
* you can use this address. However, the address can be modified by software. If
* you select another address, that address will be written to the device and used until the device is reset.
*
* If you have more than one module, then you will need to specify a digital VPIN (Arduino
* digital output or I/O extender pin) which you connect to the module's XSHUT pin. Now,
* when the device driver starts, the XSHUT pin is set LOW to turn the module off. Once
* all VL53L0X modules are turned off, the driver works through each module in turn by
* setting XSHUT to HIGH to turn the module on,, then writing the module's desired I2C address.
* In this way, many VL53L0X modules can be connected to the one I2C bus, each one
* using with a distinct I2C address.
*
* The driver is configured as follows:
*
* Single VL53L0X module:
* VL53L0X::create(firstVpin, nPins, i2cAddress, lowThreshold, highThreshold);
* Where firstVpin is the first vpin reserved for reading the device,
* nPins is 1, 2 or 3,
* i2cAddress is the address of the device (normally 0x29),
* lowThreshold is the distance at which the digital vpin state is set to 1 (in mm),
* and highThreshold is the distance at which the digital vpin state is set to 0 (in mm).
*
* Multiple VL53L0X modules:
* VL53L0X::create(firstVpin, nPins, i2cAddress, lowThreshold, highThreshold, xshutPin);
* ...
* Where firstVpin is the first vpin reserved for reading the device,
* nPins is 1, 2 or 3,
* i2cAddress is the address of the device (any valid address except 0x29),
* lowThreshold is the distance at which the digital vpin state is set to 1 (in mm),
* highThreshold is the distance at which the digital vpin state is set to 0 (in mm),
* and xshutPin is the VPIN number corresponding to a digital output that is connected to the
* XSHUT terminal on the module.
*
* Example:
* In mySetup function within mySetup.cpp:
* VL53L0X::create(4000, 3, 0x29, 200, 250);
* Sensor::create(4000, 4000, 0); // Create a sensor
*
* When an object comes within 200mm of the sensor, a message
* <Q 4000>
* will be sent over the serial USB, and when the object moves more than 250mm from the sensor,
* a message
* <q 4000>
* will be sent.
*
*/
#ifndef IO_VL53L0X_h
#define IO_VL53L0X_h
#include "IODevice.h"
class VL53L0X : public IODevice {
private:
uint8_t _i2cAddress;
uint16_t _ambient;
uint16_t _distance;
uint16_t _signal;
uint16_t _onThreshold;
uint16_t _offThreshold;
uint8_t _xshutPin;
bool _value;
bool _initialising = true;
uint8_t _entryCount = 0;
unsigned long _lastEntryTime = 0;
bool _scanInProgress = false;
// Register addresses
enum : uint8_t {
VL53L0X_REG_SYSRANGE_START=0x00,
VL53L0X_REG_RESULT_INTERRUPT_STATUS=0x13,
VL53L0X_REG_RESULT_RANGE_STATUS=0x14,
VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS=0x8A,
};
const uint8_t VL53L0X_I2C_DEFAULT_ADDRESS=0x29;
public:
VL53L0X(VPIN firstVpin, int nPins, uint8_t i2cAddress, uint16_t onThreshold, uint16_t offThreshold, VPIN xshutPin = VPIN_NONE) {
_firstVpin = firstVpin;
_nPins = min(nPins, 3);
_i2cAddress = i2cAddress;
_onThreshold = onThreshold;
_offThreshold = offThreshold;
_xshutPin = xshutPin;
_value = 0;
addDevice(this);
}
static void create(VPIN firstVpin, int nPins, uint8_t i2cAddress, uint16_t onThreshold, uint16_t offThreshold, VPIN xshutPin = VPIN_NONE) {
new VL53L0X(firstVpin, nPins, i2cAddress, onThreshold, offThreshold, xshutPin);
}
protected:
void _begin() override {
_initialising = true;
// Check if device is already responding on the nominated address.
if (I2CManager.exists(_i2cAddress)) {
// Yes, it's already on this address, so skip the address initialisation.
_entryCount = 3;
} else {
_entryCount = 0;
}
}
void _loop(unsigned long currentMicros) override {
if (_initialising) {
switch (_entryCount++) {
case 0:
// On first entry to loop, reset this module by pulling XSHUT low. All modules
// will be reset in turn.
if (_xshutPin != VPIN_NONE) IODevice::write(_xshutPin, 0);
break;
case 1:
// On second entry, set XSHUT pin high to allow the module to restart.
// On the module, there is a diode in series with the XSHUT pin to
// protect the low-voltage pin against +5V.
if (_xshutPin != VPIN_NONE) IODevice::write(_xshutPin, 1);
// Allow the module time to restart
delay(10);
// Then write the desired I2C address to the device, while this is the only
// module responding to the default address.
I2CManager.write(VL53L0X_I2C_DEFAULT_ADDRESS, 2, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, _i2cAddress);
break;
case 3:
if (I2CManager.exists(_i2cAddress)) {
_display();
}
_initialising = false;
_entryCount = 0;
break;
default:
break;
}
} else if (_lastEntryTime - currentMicros > 10000UL) {
// Service device every 10ms
_lastEntryTime = currentMicros;
if (!_scanInProgress) {
// Not scanning, so initiate a scan
write_reg(VL53L0X_REG_SYSRANGE_START, 0x01);
_scanInProgress = true;
} else {
// Scan in progress, so check for completion.
uint8_t status = read_reg(VL53L0X_REG_RESULT_RANGE_STATUS);
if (status & 1) {
// Completed. Retrieve data
uint8_t inBuffer[12];
read_registers(VL53L0X_REG_RESULT_RANGE_STATUS, inBuffer, 12);
uint8_t deviceRangeStatus = ((inBuffer[0] & 0x78) >> 3);
if (deviceRangeStatus == 0x0b) {
// Range status OK, so use data
_ambient = makeuint16(inBuffer[7], inBuffer[6]);
_signal = makeuint16(inBuffer[9], inBuffer[8]);
_distance = makeuint16(inBuffer[11], inBuffer[10]);
if (_distance <= _onThreshold)
_value = true;
else if (_distance > _offThreshold)
_value = false;
}
_scanInProgress = false;
}
}
}
}
// For analogue read, first pin returns distance, second pin is signal strength, and third is ambient level.
int _readAnalogue(VPIN vpin) override {
int pin = vpin - _firstVpin;
switch (pin) {
case 0:
return _distance;
case 1:
return _signal;
case 2:
return _ambient;
default:
return -1;
}
}
// For digital read, return the same value for all pins.
int _read(VPIN vpin) override {
return _value;
}
void _display() override {
DIAG(F("VL53L0X I2C:x%x Configured on Vpins:%d-%d On:%dmm Off:%dmm"),
_i2cAddress, _firstVpin, _firstVpin+_nPins-1, _onThreshold, _offThreshold);
}
private:
inline uint16_t makeuint16(byte lsb, byte msb) {
return (((uint16_t)msb) << 8) | lsb;
}
void write_reg(uint8_t reg, uint8_t data) {
// write byte to register
uint8_t outBuffer[2];
outBuffer[0] = reg;
outBuffer[1] = data;
I2CManager.write(_i2cAddress, outBuffer, 2);
}
uint8_t read_reg(uint8_t reg) {
// read byte from register register
uint8_t inBuffer[1];
I2CManager.read(_i2cAddress, inBuffer, 1, &reg, 1);
return inBuffer[0];
}
void read_registers(uint8_t reg, uint8_t buffer[], uint8_t size) {
I2CManager.read(_i2cAddress, buffer, size, &reg, 1);
}
};
#endif // IO_VL53L0X_h