#include "vl53l1x.h"

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Macros
#define	REG_SOFT_RESET 0x0000u

#define	REG_VHV_TIMEOUT_LOOP_BOUND 0x0008u

#define	REG_VHV_START 0x000Bu

#define	REG_GPIO_HV_MUX_CTRL 0x0030u

#define	REG_GPIO_TIO_HV_STATUS 0x0031u

#define	REG_PHASECAL_TIMEOUT 0x004Bu

#define	REG_RANGE_TIMEOUT_A_HI 0x005Eu

#define	REG_RANGE_VCSEL_PERIOD_A 0x0060u

#define	REG_RANGE_TIMEOUT_B_HI 0x0061u

#define	REG_RANGE_VCSEL_PERIOD_B 0x0063u

#define	REG_RANGE_VALID_PHASE_HIGH 0x0069u

#define	REG_INTERMEASUREMENT 0x006Cu

#define	REG_SD_WOI_SD0 0x0078u

#define	REG_SD_INITIAL_PHASE_SD0 0x007Au

#define	REG_INTERRUPT_CLEAR 0x0086u

#define	REG_MODE_START 0x0087u

#define	REG_RESULT_RANGE_STATUS 0x0089u

#define	REG_RESULT_DISTANCE 0x0096u

#define	REG_OSC_CALIBRATE_VAL 0x00DEu

#define	REG_FIRMWARE_SYSTEM_STATUS 0x00E5u

#define	REG_MODEL_ID 0x010Fu

Functions
static int32_t	wr8 (vl53_t *d, uint16_t reg, uint8_t v)

static int32_t	wr16 (vl53_t *d, uint16_t reg, uint16_t v)

static int32_t	wr32 (vl53_t *d, uint16_t reg, uint32_t v)

static int32_t	rd8 (vl53_t d, uint16_t reg, uint8_t v)

static int32_t	rd16 (vl53_t d, uint16_t reg, uint16_t v)

static void	dly (vl53_t *d, uint32_t ms)

static int32_t	data_ready (vl53_t d, uint8_t rdy)

static uint8_t	map_status (uint8_t s)

int32_t	vl53_init (vl53_t d, const vl53_bus_t bus, uint16_t budget_ms)
	0 = sensor found and ranging; < 0 = absent or error (the board works without it)

int32_t	vl53_poll (vl53_t d, vl53_sample_t s)
	1 = new sample in *s, 0 = none yet, < 0 = bus error

Variables
static const uint8_t	k_default [0x87 - 0x2D+1]

Detailed Description

VL53L1X driver (see vl53l1x.h).

Derived from ST's VL53L1X ULD: COPYRIGHT(c) 2018 STMicroelectronics. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the BSD-3-Clause conditions are met (copyright notice, this list of conditions and the disclaimer below retained; no endorsement by STMicroelectronics). THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES ARE DISCLAIMED.

Definition in file vl53l1x.c.

Macro Definition Documentation

◆ REG_SOFT_RESET

#define REG_SOFT_RESET 0x0000u

Definition at line 15 of file vl53l1x.c.

◆ REG_VHV_TIMEOUT_LOOP_BOUND

#define REG_VHV_TIMEOUT_LOOP_BOUND 0x0008u

Definition at line 16 of file vl53l1x.c.

◆ REG_VHV_START

#define REG_VHV_START 0x000Bu

Definition at line 17 of file vl53l1x.c.

◆ REG_GPIO_HV_MUX_CTRL

#define REG_GPIO_HV_MUX_CTRL 0x0030u

Definition at line 18 of file vl53l1x.c.

◆ REG_GPIO_TIO_HV_STATUS

#define REG_GPIO_TIO_HV_STATUS 0x0031u

Definition at line 19 of file vl53l1x.c.

◆ REG_PHASECAL_TIMEOUT

#define REG_PHASECAL_TIMEOUT 0x004Bu

Definition at line 20 of file vl53l1x.c.

◆ REG_RANGE_TIMEOUT_A_HI

#define REG_RANGE_TIMEOUT_A_HI 0x005Eu

Definition at line 21 of file vl53l1x.c.

◆ REG_RANGE_VCSEL_PERIOD_A

#define REG_RANGE_VCSEL_PERIOD_A 0x0060u

Definition at line 22 of file vl53l1x.c.

◆ REG_RANGE_TIMEOUT_B_HI

#define REG_RANGE_TIMEOUT_B_HI 0x0061u

Definition at line 23 of file vl53l1x.c.

◆ REG_RANGE_VCSEL_PERIOD_B

#define REG_RANGE_VCSEL_PERIOD_B 0x0063u

Definition at line 24 of file vl53l1x.c.

◆ REG_RANGE_VALID_PHASE_HIGH

#define REG_RANGE_VALID_PHASE_HIGH 0x0069u

Definition at line 25 of file vl53l1x.c.

◆ REG_INTERMEASUREMENT

#define REG_INTERMEASUREMENT 0x006Cu

Definition at line 26 of file vl53l1x.c.

◆ REG_SD_WOI_SD0

#define REG_SD_WOI_SD0 0x0078u

Definition at line 27 of file vl53l1x.c.

◆ REG_SD_INITIAL_PHASE_SD0

#define REG_SD_INITIAL_PHASE_SD0 0x007Au

Definition at line 28 of file vl53l1x.c.

◆ REG_INTERRUPT_CLEAR

#define REG_INTERRUPT_CLEAR 0x0086u

Definition at line 29 of file vl53l1x.c.

◆ REG_MODE_START

#define REG_MODE_START 0x0087u

Definition at line 30 of file vl53l1x.c.

◆ REG_RESULT_RANGE_STATUS

#define REG_RESULT_RANGE_STATUS 0x0089u

Definition at line 31 of file vl53l1x.c.

◆ REG_RESULT_DISTANCE

#define REG_RESULT_DISTANCE 0x0096u

Definition at line 32 of file vl53l1x.c.

◆ REG_OSC_CALIBRATE_VAL

#define REG_OSC_CALIBRATE_VAL 0x00DEu

Definition at line 33 of file vl53l1x.c.

◆ REG_FIRMWARE_SYSTEM_STATUS

#define REG_FIRMWARE_SYSTEM_STATUS 0x00E5u

Definition at line 34 of file vl53l1x.c.

◆ REG_MODEL_ID

#define REG_MODEL_ID 0x010Fu

Definition at line 35 of file vl53l1x.c.

Function Documentation

◆ wr8()

static int32_t wr8	(	vl53_t *	d,
		uint16_t	reg,
		uint8_t	v
	)

static

Definition at line 47 of file vl53l1x.c.

References vl53_t::bus, vl53_bus_t::handle, and vl53_bus_t::write.

Referenced by vl53_init(), and vl53_poll().

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◆ wr16()

static int32_t wr16	(	vl53_t *	d,
		uint16_t	reg,
		uint16_t	v
	)

static

Definition at line 48 of file vl53l1x.c.

References b, vl53_t::bus, vl53_bus_t::handle, and vl53_bus_t::write.

Referenced by vl53_init().

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◆ wr32()

static int32_t wr32	(	vl53_t *	d,
		uint16_t	reg,
		uint32_t	v
	)

static

Definition at line 53 of file vl53l1x.c.

References b, vl53_t::bus, vl53_bus_t::handle, and vl53_bus_t::write.

Referenced by vl53_init().

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◆ rd8()

static int32_t rd8	(	vl53_t *	d,
		uint16_t	reg,
		uint8_t *	v
	)

static

Definition at line 58 of file vl53l1x.c.

References vl53_t::bus, vl53_bus_t::handle, and vl53_bus_t::read.

Referenced by data_ready(), and vl53_init().

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◆ rd16()

static int32_t rd16	(	vl53_t *	d,
		uint16_t	reg,
		uint16_t *	v
	)

static

Definition at line 59 of file vl53l1x.c.

References b, vl53_t::bus, vl53_bus_t::handle, and vl53_bus_t::read.

Referenced by vl53_init().

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◆ dly()

static void dly	(	vl53_t *	d,
		uint32_t	ms
	)

static

Definition at line 66 of file vl53l1x.c.

References vl53_t::bus, vl53_bus_t::delay_ms, and ms.

Referenced by vl53_init().

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◆ data_ready()

static int32_t data_ready	(	vl53_t *	d,
		uint8_t *	rdy
	)

static

Definition at line 68 of file vl53l1x.c.

References vl53_t::int_pol, rd8(), and REG_GPIO_TIO_HV_STATUS.

Referenced by vl53_init(), and vl53_poll().

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◆ map_status()

static uint8_t map_status ( uint8_t s )

static

Definition at line 76 of file vl53l1x.c.

References s.

Referenced by vl53_poll().

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◆ vl53_init()

int32_t vl53_init	(	vl53_t *	d,
		const vl53_bus_t *	bus,
		uint16_t	budget_ms
	)

0 = sensor found and ranging; < 0 = absent or error (the board works without it)

Definition at line 86 of file vl53l1x.c.

References b, vl53_t::bus, data_ready(), dly(), vl53_bus_t::handle, vl53_t::int_pol, k_default, vl53_t::ok, rd16(), rd8(), REG_FIRMWARE_SYSTEM_STATUS, REG_GPIO_HV_MUX_CTRL, REG_INTERMEASUREMENT, REG_INTERRUPT_CLEAR, REG_MODE_START, REG_MODEL_ID, REG_OSC_CALIBRATE_VAL, REG_PHASECAL_TIMEOUT, REG_RANGE_TIMEOUT_A_HI, REG_RANGE_TIMEOUT_B_HI, REG_RANGE_VALID_PHASE_HIGH, REG_RANGE_VCSEL_PERIOD_A, REG_RANGE_VCSEL_PERIOD_B, REG_SD_INITIAL_PHASE_SD0, REG_SD_WOI_SD0, REG_VHV_START, REG_VHV_TIMEOUT_LOOP_BOUND, st(), VL53L1X_MODEL_ID, wr16(), wr32(), wr8(), and vl53_bus_t::write.

Referenced by ext_step().

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◆ vl53_poll()

int32_t vl53_poll	(	vl53_t *	d,
		vl53_sample_t *	s
	)

1 = new sample in *s, 0 = none yet, < 0 = bus error

Definition at line 137 of file vl53l1x.c.

References vl53_t::bus, data_ready(), vl53_bus_t::handle, map_status(), vl53_t::ok, vl53_bus_t::read, REG_INTERRUPT_CLEAR, REG_RESULT_RANGE_STATUS, s, and wr8().

Referenced by ext_step().

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Variable Documentation

◆ k_default

const uint8_t k_default[0x87 - 0x2D+1]

static

Initial value:

= {
    0x00, 0x01, 0x01, 0x01, 0x02, 0x00, 0x02, 0x08, 0x00, 0x08, 0x10, 0x01, 0x01, 0x00, 0x00, 0x00,
    0x00, 0xff, 0x00, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0x0b, 0x00, 0x00, 0x02, 0x0a, 0x21,
    0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x38, 0xff, 0x01, 0x00, 0x08, 0x00,
    0x00, 0x01, 0xdb, 0x0f, 0x01, 0xf1, 0x0d, 0x01, 0x68, 0x00, 0x80, 0x08, 0xb8, 0x00, 0x00, 0x00,
    0x00, 0x0f, 0x89, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x0f, 0x0d, 0x0e, 0x0e, 0x00,
    0x00, 0x02, 0xc7, 0xff, 0x9B, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00
}

Definition at line 38 of file vl53l1x.c.

Referenced by vl53_init().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ REG_SOFT_RESET

◆ REG_VHV_TIMEOUT_LOOP_BOUND

◆ REG_VHV_START

◆ REG_GPIO_HV_MUX_CTRL

◆ REG_GPIO_TIO_HV_STATUS

◆ REG_PHASECAL_TIMEOUT

◆ REG_RANGE_TIMEOUT_A_HI

◆ REG_RANGE_VCSEL_PERIOD_A

◆ REG_RANGE_TIMEOUT_B_HI

◆ REG_RANGE_VCSEL_PERIOD_B

◆ REG_RANGE_VALID_PHASE_HIGH

◆ REG_INTERMEASUREMENT

◆ REG_SD_WOI_SD0

◆ REG_SD_INITIAL_PHASE_SD0

◆ REG_INTERRUPT_CLEAR

◆ REG_MODE_START

◆ REG_RESULT_RANGE_STATUS

◆ REG_RESULT_DISTANCE

◆ REG_OSC_CALIBRATE_VAL

◆ REG_FIRMWARE_SYSTEM_STATUS

◆ REG_MODEL_ID

Function Documentation

◆ wr8()

◆ wr16()

◆ wr32()

◆ rd8()

◆ rd16()

◆ dly()

◆ data_ready()

◆ map_status()

◆ vl53_init()

◆ vl53_poll()

Variable Documentation

◆ k_default