ToF4M unit. More...

#include <unit_VL53L1X.hpp>

Inheritance diagram for m5::unit::UnitVL53L1X:

Classes
struct	config_t
	Settings for begin. More...

Public Member Functions
	UnitVL53L1X (const uint8_t addr=DEFAULT_ADDRESS)

virtual bool	begin () override

virtual void	update (const bool force=false) override

bool	readDistanceMode (vl53l1x::Distance &d)
	Read the distance mode.

bool	writeDistanceMode (const vl53l1x::Distance d)
	Write the distance mode.

bool	softReset ()
	Software reset.

Settings for begin
config_t	config () const
	Gets the configration.

void	config (const config_t &cfg)
	Set the configration.

Measurement data by periodic
int16_t	range () const
	Oldest measured range(mm)

bool	valid () const
	Is valid oldest data?

vl53l1x::RangeStatus	range_status () const
	Oldest measured range status.

Properties
vl53l1x::Distance	distanceMode () const
	Gets the inner distance mode.

vl53l1x::Timing	timingBudget () const
	Gets the inner timing budget.

Periodic measurement
bool	startPeriodicMeasurement ()
	Start periodic measurement in the current settings.

bool	startPeriodicMeasurement (const vl53l1x::Distance dist, const vl53l1x::Timing tb=vl53l1x::Timing::Budget50ms)
	Start periodic measurement.

bool	stopPeriodicMeasurement ()
	Stop periodic measurement.

Single shot measurement
bool	measureSingleshot (vl53l1x::Data &d)
	Measurement single shot in the current settings.

Offset
bool	calibrateOffset (int16_t &offset, const uint16_t targetmm=100)
	Calculate and write calibration offsets for a given target value.

bool	readOffset (int16_t &offset)
	Read the offset.

bool	writeOffset (const int16_t offset)
	Write the offset.

Crosstalk
bool	calibrateXtalk (uint16_t &xtalk, const uint16_t targetmm=100)
	Calculate and write calibration crosstalk for a given target value.

bool	readXtalk (uint16_t &xtalk)
	Read the crosstalk.

bool	writeXtalk (const uint16_t xtalk)
	Write the crosstalk.

Timing considerations
bool	readTimingBudget (vl53l1x::Timing &tb)
	Read the timing budget.

bool	writeTimingBudget (const vl53l1x::Timing tb)
	Write the timing budget.

bool	readInterMeasurementPeriod (uint16_t &ms)
	Read the inter-measurement period(IMP)

bool	writeInterMeasurementPeriod (const uint16_t ms)
	Write the inter-measurement period(IMP)

Window
bool	readDistanceThresholdWindow (vl53l1x::Window &window)
	Read the window detection mode.

bool	readDistanceThresholdLow (uint16_t &mm)
	Read the lower distance threshould.

bool	readDistanceThresholdHigh (uint16_t &mm)
	Read the higher distance threshould.

bool	writeDistanceThreshold (const vl53l1x::Window window, const uint16_t low, const uint16_t high)
	Write the threshold and window detection mode.

bool	clearDistanceThreshold ()
	Go back to the regular ranging mode.

ROI(Region Of Interest)
ROI coodinate 128,136,144,152,160,168,176,184, 192,200,208,216,224,232,240,248 129,137,145,153,161,169,177,185, 193,201,209,217,225,233,241,249 130,138,146,154,162,170,178,186, 194,202,210,218,226,234,242,250 131,139,147,155,163,171,179,187, 195,203,211,219,227,235,243,251 132,140,148,156,164,172,180,188, 196,204,212,220,228,236,244,252 133,141,149,157,165,173,181,189, 197,205,213,221,229,237,245,253 134,142,150,158,166,174,182,190, 198,206,214,222,230,238,246,254 135,143,151,159,167,175,183,191, 199,207,215,223,231,239,247,255 127,119,111,103, 95, 87, 79, 71, 63, 55, 47, 39, 31, 23, 15, 7 126,118,110,102, 94, 86, 78, 70, 62, 54, 46, 38, 30, 22, 14, 6 125,117,109,101, 93, 85, 77, 69, 61, 53, 45, 37, 29, 21, 13, 5 124,116,108,100, 92, 84, 76, 68, 60, 52, 44, 36, 28, 20, 12, 4 123,115,107, 99, 91, 83, 75, 67, 59, 51, 43, 35, 27, 19, 11, 3 122,114,106, 98, 90, 82, 74, 66, 58, 50, 42, 34, 26, 18, 10, 2 121,113,105, 97, 89, 81, 73, 65, 57, 49, 41, 33, 25, 17, 9, 1 120,112,104, 96, 88, 80, 72, 64, 56, 48, 40, 32, 24, 16, 8, 0
bool	readROI (uint8_t &wid, uint8_t &hgt)
	Read the ROI width and height.

bool	readROICenter (uint8_t &center)
	Read the center of the ROI.

bool	writeROI (const uint8_t wid, const uint8_t hgt)
	Write the ROI width and height.

bool	writeROICenter (const uint8_t center)
	Write the center of the ROI.

I2C Address
Warning Handling warning
bool	readI2CAddress (uint8_t &i2c_address)
	Read the I2C address.

bool	changeI2CAddress (const uint8_t i2c_address)
	Change unit I2C address.

Protected Member Functions
bool	start_periodic_measurement ()

bool	start_periodic_measurement (const vl53l1x::Distance dist, const vl53l1x::Timing tb)

bool	stop_periodic_measurement ()

bool	write_operating_condition (const vl53l1x::Operating oc)

bool	write_timing_budget (const vl53l1x::Timing tb, const vl53l1x::Distance distance)

bool	read_data_ready_status ()

bool	read_measurement (vl53l1x::Data &d)

bool	soft_reset ()

bool	write_default_values ()

bool	wait_booted ()

	M5_UNIT_COMPONENT_PERIODIC_MEASUREMENT_ADAPTER_HPP_BUILDER (UnitVL53L1X, vl53l1x::Data)

Protected Attributes
vl53l1x::Distance	_distance {vl53l1x::Distance::Unknown}

vl53l1x::Timing	_tb {vl53l1x::Timing::BudgetUnknown}

std::unique_ptr< m5::container::CircularBuffer< vl53l1x::Data > >	_data {}

config_t	_cfg {}

Detailed Description

ToF4M unit.

Member Function Documentation

◆ calibrateOffset()

bool m5::unit::UnitVL53L1X::calibrateOffset	(	int16_t &	offset,
		const uint16_t	targetmm = 100 )

Calculate and write calibration offsets for a given target value.

Parameters

[out]	offset	Calculated offset value
	targetmm	Target distance (mm)

Returns: True if successful

◆ calibrateXtalk()

bool m5::unit::UnitVL53L1X::calibrateXtalk	(	uint16_t &	xtalk,
		const uint16_t	targetmm = 100 )

Calculate and write calibration crosstalk for a given target value.

Parameters

[out]	xtalk	Calculated crosstalk value
	targetmm	Target distance (mm)

Returns: True if successful

◆ changeI2CAddress()

bool m5::unit::UnitVL53L1X::changeI2CAddress ( const uint8_t i2c_address )

Change unit I2C address.

Parameters

i2c_address I2C address

Returns: True if successful

◆ clearDistanceThreshold()

bool m5::unit::UnitVL53L1X::clearDistanceThreshold ( )

inline

Go back to the regular ranging mode.

Returns: True if successful

◆ distanceMode()

vl53l1x::Distance m5::unit::UnitVL53L1X::distanceMode ( ) const

inline

Gets the inner distance mode.

Note: Updated by writeDistanceMode

◆ measureSingleshot()

bool m5::unit::UnitVL53L1X::measureSingleshot ( vl53l1x::Data & d )

Measurement single shot in the current settings.

Parameters

[out] data Measuerd data

Returns: True if successful

Warning: During periodic detection runs, an error is returned; Processing is blocked until results are returned

◆ range()

int16_t m5::unit::UnitVL53L1X::range ( ) const

inline

Oldest measured range(mm)

Warning: Returns a negative value if there is a range error or empty

◆ readDistanceMode()

bool m5::unit::UnitVL53L1X::readDistanceMode ( vl53l1x::Distance & d )

Read the distance mode.

Parameters

[out] d distance

Returns: True if successful

◆ readDistanceThresholdHigh()

bool m5::unit::UnitVL53L1X::readDistanceThresholdHigh ( uint16_t & mm )

Read the higher distance threshould.

Parameters

[out] mm distance (mm)

Returns: True if successful

◆ readDistanceThresholdLow()

bool m5::unit::UnitVL53L1X::readDistanceThresholdLow ( uint16_t & mm )

Read the lower distance threshould.

Parameters

[out] mm distance (mm)

Returns: True if successful

◆ readDistanceThresholdWindow()

bool m5::unit::UnitVL53L1X::readDistanceThresholdWindow ( vl53l1x::Window & window )

Read the window detection mode.

Parameters

[out] window Window mode

Returns: True if successful

◆ readI2CAddress()

bool m5::unit::UnitVL53L1X::readI2CAddress ( uint8_t & i2c_address )

Read the I2C address.

Parameters

i2c_address[out] I2C address

Returns: True if successful

◆ readInterMeasurementPeriod()

bool m5::unit::UnitVL53L1X::readInterMeasurementPeriod ( uint16_t & ms )

Read the inter-measurement period(IMP)

Parameters

[out] ms period (ms)

Returns: True if successful

◆ readOffset()

bool m5::unit::UnitVL53L1X::readOffset ( int16_t & offset )

Read the offset.

Parameters

[out] offset Offset value

Returns: True if successful

◆ readROI()

bool m5::unit::UnitVL53L1X::readROI	(	uint8_t &	wid,
		uint8_t &	hgt )

Read the ROI width and height.

Parameters

[out]	wid	width
[out]	hgt	height

Returns: True if successful

◆ readROICenter()

bool m5::unit::UnitVL53L1X::readROICenter ( uint8_t & center )

Read the center of the ROI.

Parameters

[out] center ROI coordinates

Returns: True if successful

◆ readTimingBudget()

bool m5::unit::UnitVL53L1X::readTimingBudget ( vl53l1x::Timing & tb )

Read the timing budget.

Parameters

[out] tb timing budget

Returns: True if successful

◆ readXtalk()

bool m5::unit::UnitVL53L1X::readXtalk ( uint16_t & xtalk )

Read the crosstalk.

Parameters

[out] xtalk Crosstalk value

Returns: True if successful

◆ startPeriodicMeasurement() [1/2]

bool m5::unit::UnitVL53L1X::startPeriodicMeasurement ( )

inline

Start periodic measurement in the current settings.

Returns: True if successful

◆ startPeriodicMeasurement() [2/2]

bool m5::unit::UnitVL53L1X::startPeriodicMeasurement	(	const vl53l1x::Distance	dist,
		const vl53l1x::Timing	tb = vl53l1x::Timing::Budget50ms )

inline

Start periodic measurement.

Parameters

dist	Distance mode
tb	Timing budget

Returns: True if successful

◆ stopPeriodicMeasurement()

bool m5::unit::UnitVL53L1X::stopPeriodicMeasurement ( )

inline

Stop periodic measurement.

Returns: True if successful

◆ timingBudget()

vl53l1x::Timing m5::unit::UnitVL53L1X::timingBudget ( ) const

inline

Gets the inner timing budget.

Note: Updated by writeTimingBudget

◆ writeDistanceMode()

bool m5::unit::UnitVL53L1X::writeDistanceMode ( const vl53l1x::Distance d )

Write the distance mode.

Parameters

d distance

Returns: True if successful

◆ writeDistanceThreshold()

bool m5::unit::UnitVL53L1X::writeDistanceThreshold	(	const vl53l1x::Window	window,
		const uint16_t	low,
		const uint16_t	high )

Write the threshold and window detection mode.

Parameters

window	window mode
low	lower distance threshold (mm)
high	lower distance threshold (mm)

Returns: True if successful

◆ writeInterMeasurementPeriod()

bool m5::unit::UnitVL53L1X::writeInterMeasurementPeriod ( const uint16_t ms )

Write the inter-measurement period(IMP)

Parameters

ms	period (ms)

Returns: True if successful

Warning: The IMP must gerater than or equal to the TB otherwise the actual IMP is double the expected value

◆ writeOffset()

bool m5::unit::UnitVL53L1X::writeOffset ( const int16_t offset )

Write the offset.

Parameters

offset Offset value

Returns: True if successful

Warning: Valid range -1024 - 1023

◆ writeROI()

bool m5::unit::UnitVL53L1X::writeROI	(	const uint8_t	wid,
		const uint8_t	hgt )

Write the ROI width and height.

Parameters

wid	width
hgt	height

Returns: True if successful

Note: If wid or hgt is greater than 10, the center position is also changed

Warning: Valid param between 4 and 16

◆ writeROICenter()

bool m5::unit::UnitVL53L1X::writeROICenter ( const uint8_t center )

Write the center of the ROI.

Parameters

center ROI coordinates

Returns: True if successful

Warning: If the center is outside the ROI size boundary, the measurement returns an error

◆ writeTimingBudget()

bool m5::unit::UnitVL53L1X::writeTimingBudget ( const vl53l1x::Timing tb )

inline

Write the timing budget.

Parameters

tb	Timing budget

Returns: True if successful

Postcondition: Need to call writeInterMeasurementPeriod for adjust inter-measurement period

◆ writeXtalk()

bool m5::unit::UnitVL53L1X::writeXtalk ( const uint16_t xtalk )

Write the crosstalk.

Parameters

xtalk Crosstalk value

Returns: True if successful

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ calibrateOffset()

◆ calibrateXtalk()

◆ changeI2CAddress()

◆ clearDistanceThreshold()

◆ distanceMode()

◆ measureSingleshot()

◆ range()

◆ readDistanceMode()

◆ readDistanceThresholdHigh()

◆ readDistanceThresholdLow()

◆ readDistanceThresholdWindow()

◆ readI2CAddress()

◆ readInterMeasurementPeriod()

◆ readOffset()

◆ readROI()

◆ readROICenter()

◆ readTimingBudget()

◆ readXtalk()

◆ startPeriodicMeasurement() [1/2]

◆ startPeriodicMeasurement() [2/2]

◆ stopPeriodicMeasurement()

◆ timingBudget()

◆ writeDistanceMode()

◆ writeDistanceThreshold()

◆ writeInterMeasurementPeriod()

◆ writeOffset()

◆ writeROI()

◆ writeROICenter()

◆ writeTimingBudget()

◆ writeXtalk()