1+ /* !
2+ * @file WipperSnapper_I2C_Driver_VL53L4CX.h
3+ *
4+ * Device driver for the VL53L4CX ToF sensor.
5+ *
6+ * Adafruit invests time and resources providing this open source code,
7+ * please support Adafruit and open-source hardware by purchasing
8+ * products from Adafruit!
9+ *
10+ * Copyright (c) 2024 Tyeth Gundry for Adafruit Industries
11+ *
12+ * MIT license, all text here must be included in any redistribution.
13+ *
14+ */
15+ #ifndef WipperSnapper_I2C_Driver_VL53L4CX_H
16+ #define WipperSnapper_I2C_Driver_VL53L4CX_H
17+
18+ #include " WipperSnapper_I2C_Driver.h"
19+ #include < vl53l4cx_class.h>
20+ #include < vl53l4cx_def.h>
21+
22+ #define VL53_SHUTDOWN_PIN -1 // /< Shutdown pin for VL53L4CX sensor
23+ #define VL53_READING_DELAY 250 // /< Delay for reading data attempts
24+ #define VL53_TIMING_BUDGET_NS 200000 // /< Timing budget for VL53L4CX sensor
25+
26+ /* *************************************************************************/
27+ /* !
28+ @brief Class that provides a driver interface for a VL53L4CX sensor.
29+ */
30+ /* *************************************************************************/
31+ class WipperSnapper_I2C_Driver_VL53L4CX : public WipperSnapper_I2C_Driver {
32+ public:
33+ /* ******************************************************************************/
34+ /* !
35+ @brief Constructor for a VL53L4CX sensor.
36+ @param i2c
37+ The I2C interface.
38+ @param sensorAddress
39+ 7-bit device address.
40+ */
41+ /* ******************************************************************************/
42+ WipperSnapper_I2C_Driver_VL53L4CX (TwoWire *i2c, uint16_t sensorAddress)
43+ : WipperSnapper_I2C_Driver(i2c, sensorAddress) {
44+ _i2c = i2c;
45+ _sensorAddress = sensorAddress;
46+ }
47+
48+ /* ******************************************************************************/
49+ /* !
50+ @brief Destructor for an VL53L4CX sensor.
51+ */
52+ /* ******************************************************************************/
53+ ~WipperSnapper_I2C_Driver_VL53L4CX () {
54+ // Called when a VL53L4CX component is deleted.
55+ delete _VL53L4CX;
56+ }
57+
58+ /* ******************************************************************************/
59+ /* !
60+ @brief Initializes the VL53L4CX sensor and begins I2C.
61+ @returns True if initialized successfully, False otherwise.
62+ */
63+ /* ******************************************************************************/
64+ bool begin () {
65+ _VL53L4CX = new VL53L4CX (_i2c, VL53_SHUTDOWN_PIN);
66+
67+ if (_VL53L4CX->InitSensor ((uint8_t )_sensorAddress) != VL53L4CX_ERROR_NONE) {
68+ WS_DEBUG_PRINTLN (" Failed to initialize VL53L4CX sensor!"
69+ return false ;
70+ }
71+
72+ if (_VL53L4CX->VL53L4CX_SetDistanceMode (VL53L4CX_DISTANCEMODE_LONG) !=
73+ VL53L4CX_ERROR_NONE) {
74+ WS_DEBUG_PRINTLN (" Failed to set VL53L4CX distance mode to long!"
75+ return false ;
76+ }
77+
78+ // Set 200ms measurement time, the possible TimingBudget is 8-200ms
79+ if (_VL53L4CX->VL53L4CX_SetMeasurementTimingBudgetMicroSeconds (
80+ VL53_TIMING_BUDGET_NS) != VL53L4CX_ERROR_NONE) {
81+ WS_DEBUG_PRINTLN (" Failed to set VL53L4CX timing budget!"
82+ return false ;
83+ }
84+
85+ if (_VL53L4CX->VL53L4CX_StartMeasurement () != VL53L4CX_ERROR_NONE) {
86+ WS_DEBUG_PRINTLN (" Failed to start VL53L4CX ranging!"
87+ return false ;
88+ }
89+ return true ;
90+ }
91+
92+ /* ******************************************************************************/
93+ /* !
94+ @brief Gets the VL53L4CX's current proximity for first object if found.
95+ @param proximityEvent
96+ Pointer to an Adafruit_Sensor event.
97+ @returns True if the proximity was obtained successfully, False
98+ otherwise.
99+ */
100+ /* ******************************************************************************/
101+ bool getEventProximity (sensors_event_t *proximityEvent) {
102+ return getProximity (proximityEvent, 0 );
103+ }
104+
105+ /* ******************************************************************************/
106+ /* !
107+ @brief Gets the VL53L4CX's current proximity for second object if
108+ found.
109+ @param proximityEvent
110+ Pointer to an Adafruit_Sensor event.
111+ @returns True if the proximity was obtained successfully, False
112+ otherwise.
113+ */
114+ /* ******************************************************************************/
115+ bool getEventRaw (sensors_event_t *proximityEvent) {
116+ return getProximity (proximityEvent, 1 );
117+ }
118+
119+ /* ******************************************************************************/
120+ /* !
121+ @brief Gets the VL53L4CX's current proximity (first or second object).
122+ @param proximityEvent
123+ Pointer to an Adafruit_Sensor event.
124+ @param whichObject
125+ Index of the proximity object to get (0, or 1 for second
126+ object).
127+ @returns True if the proximity was obtained successfully, False
128+ otherwise.
129+ */
130+ /* ******************************************************************************/
131+ bool getProximity (sensors_event_t *proximityEvent, int whichObject = 0 ) {
132+ VL53L4CX_MultiRangingData_t MultiRangingData;
133+ VL53L4CX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
134+ uint8_t NewDataReady = 0 ;
135+ int status;
136+
137+ // Start fresh reading, seemed to be accepting stale value
138+ status = _VL53L4CX->VL53L4CX_ClearInterruptAndStartMeasurement ();
139+ if (status != VL53L4CX_ERROR_NONE) {
140+ WS_DEBUG_PRINT (
141+ " VL53L4CX Error clearing interrupt and starting measurement: "
142+ WS_DEBUG_PRINTLN (status);
143+ return false ;
144+ }
145+
146+ // Wait for data read period then update data ready status
147+ WS_DEBUG_PRINT (" Waiting for VL53L4CX data ready..."
148+ delay (VL53_READING_DELAY);
149+ status = _VL53L4CX->VL53L4CX_GetMeasurementDataReady (&NewDataReady);
150+
151+ if ((status != VL53L4CX_ERROR_NONE) || (NewDataReady == 0 )) {
152+ // error or no data ready
153+ WS_DEBUG_PRINT (" VL53L4CX Error checking for data ready: "
154+ WS_DEBUG_PRINTLN (status);
155+ return false ;
156+ }
157+
158+ // get data - still to verify which of one or two objects found
159+ status = _VL53L4CX->VL53L4CX_GetMultiRangingData (pMultiRangingData);
160+ if (status != VL53L4CX_ERROR_NONE) {
161+ WS_DEBUG_PRINT (" VL53L4CX Error getting multi ranging data: "
162+ WS_DEBUG_PRINTLN (status);
163+ return false ;
164+ }
165+
166+ // whichObject: 0-based index, return NaN(Object not found) if too few found
167+ if (pMultiRangingData->NumberOfObjectsFound - 1 < whichObject) {
168+ WS_DEBUG_PRINT (" Object not found at index #"
169+ WS_DEBUG_PRINT (whichObject + 1 ); // human readable 1-based index
170+ WS_DEBUG_PRINTLN (" , returning NaN"
171+ proximityEvent->data [0 ] = NAN;
172+ return true ;
173+ }
174+
175+ // RESULT: take the first or second detected object from ranging data,
176+ // if valid then set event data in proximityEvent or return false
177+ return updateDataPointIfValid (pMultiRangingData->RangeData [whichObject],
178+ proximityEvent);
179+ }
180+
181+ /* ******************************************************************************/
182+ /* !
183+ @brief Checks the VL53L4CX's proximity result and sets event value.
184+ @param rangingData
185+ The ranging data to check.
186+ @param proximityEvent
187+ Pointer to an Adafruit_Sensor event.
188+ @returns True if the proximity was obtained successfully, False
189+ otherwise.
190+ */
191+ /* ******************************************************************************/
192+ bool updateDataPointIfValid (VL53L4CX_TargetRangeData_t rangingData,
193+ sensors_event_t *proximityEvent) {
194+ if (rangingData.RangeStatus == VL53L4CX_RANGESTATUS_RANGE_VALID) {
195+ int16_t mm = rangingData.RangeMilliMeter ;
196+ proximityEvent->data [0 ] = (float )mm;
197+ return true ;
198+ }
199+ return false ;
200+ }
201+
202+ protected:
203+ VL53L4CX *_VL53L4CX; // /< Pointer to VL53L4CX temperature sensor object
204+ };
205+
206+ #endif // WipperSnapper_I2C_Driver_VL53L4CX
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