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Merge pull request #564 from tyeth/add-VL53L4CX
Refactored commit - VL53L4CX default settings
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src/components/i2c/drivers/WipperSnapper_I2C_Driver_VL53L4CX.h
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| /*! | ||
| * @file WipperSnapper_I2C_Driver_VL53L4CX.h | ||
| * | ||
| * Device driver for the VL53L4CX ToF sensor. | ||
| * | ||
| * Adafruit invests time and resources providing this open source code, | ||
| * please support Adafruit and open-source hardware by purchasing | ||
| * products from Adafruit! | ||
| * | ||
| * Copyright (c) 2024 Tyeth Gundry for Adafruit Industries | ||
| * | ||
| * MIT license, all text here must be included in any redistribution. | ||
| * | ||
| */ | ||
| #ifndef WipperSnapper_I2C_Driver_VL53L4CX_H | ||
| #define WipperSnapper_I2C_Driver_VL53L4CX_H | ||
|
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||
| #include "WipperSnapper_I2C_Driver.h" | ||
| #include <vl53l4cx_class.h> | ||
| #include <vl53l4cx_def.h> | ||
|
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||
| #define VL53_SHUTDOWN_PIN -1 ///< Shutdown pin for VL53L4CX sensor | ||
| #define VL53_READING_DELAY 250 ///< Delay for reading data attempts | ||
| #define VL53_TIMING_BUDGET_NS 200000 ///< Timing budget for VL53L4CX sensor | ||
|
|
||
| /**************************************************************************/ | ||
| /*! | ||
| @brief Class that provides a driver interface for a VL53L4CX sensor. | ||
| */ | ||
| /**************************************************************************/ | ||
| class WipperSnapper_I2C_Driver_VL53L4CX : public WipperSnapper_I2C_Driver { | ||
| public: | ||
| /*******************************************************************************/ | ||
| /*! | ||
| @brief Constructor for a VL53L4CX sensor. | ||
| @param i2c | ||
| The I2C interface. | ||
| @param sensorAddress | ||
| 7-bit device address. | ||
| */ | ||
| /*******************************************************************************/ | ||
| WipperSnapper_I2C_Driver_VL53L4CX(TwoWire *i2c, uint16_t sensorAddress) | ||
| : WipperSnapper_I2C_Driver(i2c, sensorAddress) { | ||
| _i2c = i2c; | ||
| _sensorAddress = sensorAddress; | ||
| } | ||
|
|
||
| /*******************************************************************************/ | ||
| /*! | ||
| @brief Destructor for an VL53L4CX sensor. | ||
| */ | ||
| /*******************************************************************************/ | ||
| ~WipperSnapper_I2C_Driver_VL53L4CX() { | ||
| // Called when a VL53L4CX component is deleted. | ||
| delete _VL53L4CX; | ||
| } | ||
|
|
||
| /*******************************************************************************/ | ||
| /*! | ||
| @brief Initializes the VL53L4CX sensor and begins I2C. | ||
| @returns True if initialized successfully, False otherwise. | ||
| */ | ||
| /*******************************************************************************/ | ||
| bool begin() { | ||
| _VL53L4CX = new VL53L4CX(_i2c, VL53_SHUTDOWN_PIN); | ||
|
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| if (_VL53L4CX->InitSensor((uint8_t)_sensorAddress) != VL53L4CX_ERROR_NONE) { | ||
| WS_DEBUG_PRINTLN("Failed to initialize VL53L4CX sensor!"); | ||
| return false; | ||
| } | ||
|
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||
| if (_VL53L4CX->VL53L4CX_SetDistanceMode(VL53L4CX_DISTANCEMODE_LONG) != | ||
| VL53L4CX_ERROR_NONE) { | ||
| WS_DEBUG_PRINTLN("Failed to set VL53L4CX distance mode to long!"); | ||
| return false; | ||
| } | ||
|
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||
| // Set 200ms measurement time, the possible TimingBudget is 8-200ms | ||
| if (_VL53L4CX->VL53L4CX_SetMeasurementTimingBudgetMicroSeconds( | ||
| VL53_TIMING_BUDGET_NS) != VL53L4CX_ERROR_NONE) { | ||
| WS_DEBUG_PRINTLN("Failed to set VL53L4CX timing budget!"); | ||
| return false; | ||
| } | ||
|
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| if (_VL53L4CX->VL53L4CX_StartMeasurement() != VL53L4CX_ERROR_NONE) { | ||
| WS_DEBUG_PRINTLN("Failed to start VL53L4CX ranging!"); | ||
| return false; | ||
| } | ||
| return true; | ||
| } | ||
|
|
||
| /*******************************************************************************/ | ||
| /*! | ||
| @brief Gets the VL53L4CX's current proximity for first object if found. | ||
| @param proximityEvent | ||
| Pointer to an Adafruit_Sensor event. | ||
| @returns True if the proximity was obtained successfully, False | ||
| otherwise. | ||
| */ | ||
| /*******************************************************************************/ | ||
| bool getEventProximity(sensors_event_t *proximityEvent) { | ||
| return getProximity(proximityEvent, 0); | ||
| } | ||
|
|
||
| /*******************************************************************************/ | ||
| /*! | ||
| @brief Gets the VL53L4CX's current proximity for second object if | ||
| found. | ||
| @param proximityEvent | ||
| Pointer to an Adafruit_Sensor event. | ||
| @returns True if the proximity was obtained successfully, False | ||
| otherwise. | ||
| */ | ||
| /*******************************************************************************/ | ||
| bool getEventRaw(sensors_event_t *proximityEvent) { | ||
| return getProximity(proximityEvent, 1); | ||
| } | ||
|
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||
| /*******************************************************************************/ | ||
| /*! | ||
| @brief Gets the VL53L4CX's current proximity (first or second object). | ||
| @param proximityEvent | ||
| Pointer to an Adafruit_Sensor event. | ||
| @param whichObject | ||
| Index of the proximity object to get (0, or 1 for second | ||
| object). | ||
| @returns True if the proximity was obtained successfully, False | ||
| otherwise. | ||
| */ | ||
| /*******************************************************************************/ | ||
| bool getProximity(sensors_event_t *proximityEvent, int whichObject = 0) { | ||
| VL53L4CX_MultiRangingData_t MultiRangingData; | ||
| VL53L4CX_MultiRangingData_t *pMultiRangingData = &MultiRangingData; | ||
| uint8_t NewDataReady = 0; | ||
| int status; | ||
|
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| // Start fresh reading, seemed to be accepting stale value | ||
| status = _VL53L4CX->VL53L4CX_ClearInterruptAndStartMeasurement(); | ||
| if (status != VL53L4CX_ERROR_NONE) { | ||
| WS_DEBUG_PRINT( | ||
| "VL53L4CX Error clearing interrupt and starting measurement: "); | ||
| WS_DEBUG_PRINTLN(status); | ||
| return false; | ||
| } | ||
|
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||
| // Wait for data read period then update data ready status | ||
| WS_DEBUG_PRINT("Waiting for VL53L4CX data ready..."); | ||
| delay(VL53_READING_DELAY); | ||
| status = _VL53L4CX->VL53L4CX_GetMeasurementDataReady(&NewDataReady); | ||
|
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||
| if ((status != VL53L4CX_ERROR_NONE) || (NewDataReady == 0)) { | ||
| // error or no data ready | ||
| WS_DEBUG_PRINT("VL53L4CX Error checking for data ready: "); | ||
| WS_DEBUG_PRINTLN(status); | ||
| return false; | ||
| } | ||
|
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| // get data - still to verify which of one or two objects found | ||
| status = _VL53L4CX->VL53L4CX_GetMultiRangingData(pMultiRangingData); | ||
| if (status != VL53L4CX_ERROR_NONE) { | ||
| WS_DEBUG_PRINT("VL53L4CX Error getting multi ranging data: "); | ||
| WS_DEBUG_PRINTLN(status); | ||
| return false; | ||
| } | ||
|
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| // whichObject: 0-based index, return NaN(Object not found) if too few found | ||
| if (pMultiRangingData->NumberOfObjectsFound - 1 < whichObject) { | ||
| WS_DEBUG_PRINT("Object not found at index #"); | ||
| WS_DEBUG_PRINT(whichObject + 1); // human readable 1-based index | ||
| WS_DEBUG_PRINTLN(", returning NaN"); | ||
| proximityEvent->data[0] = NAN; | ||
| return true; | ||
| } | ||
|
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| // RESULT: take the first or second detected object from ranging data, | ||
| // if valid then set event data in proximityEvent or return false | ||
| return updateDataPointIfValid(pMultiRangingData->RangeData[whichObject], | ||
| proximityEvent); | ||
| } | ||
|
|
||
| /*******************************************************************************/ | ||
| /*! | ||
| @brief Checks the VL53L4CX's proximity result and sets event value. | ||
| @param rangingData | ||
| The ranging data to check. | ||
| @param proximityEvent | ||
| Pointer to an Adafruit_Sensor event. | ||
| @returns True if the proximity was obtained successfully, False | ||
| otherwise. | ||
| */ | ||
| /*******************************************************************************/ | ||
| bool updateDataPointIfValid(VL53L4CX_TargetRangeData_t rangingData, | ||
| sensors_event_t *proximityEvent) { | ||
| if (rangingData.RangeStatus == VL53L4CX_RANGESTATUS_RANGE_VALID) { | ||
| int16_t mm = rangingData.RangeMilliMeter; | ||
| proximityEvent->data[0] = (float)mm; | ||
| return true; | ||
| } | ||
| return false; | ||
| } | ||
|
|
||
| protected: | ||
| VL53L4CX *_VL53L4CX; ///< Pointer to VL53L4CX temperature sensor object | ||
| }; | ||
|
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| #endif // WipperSnapper_I2C_Driver_VL53L4CX |