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) 2022 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+ /* *************************************************************************/
23+ /* !
24+ @brief Class that provides a driver interface for a VL53L4CX sensor.
25+ */
26+ /* *************************************************************************/
27+ class WipperSnapper_I2C_Driver_VL53L4CX : public WipperSnapper_I2C_Driver {
28+ public:
29+ /* ******************************************************************************/
30+ /* !
31+ @brief Constructor for a VL53L4CX sensor.
32+ @param i2c
33+ The I2C interface.
34+ @param sensorAddress
35+ 7-bit device address.
36+ */
37+ /* ******************************************************************************/
38+ WipperSnapper_I2C_Driver_VL53L4CX (TwoWire *i2c, uint16_t sensorAddress)
39+ : WipperSnapper_I2C_Driver(i2c, sensorAddress) {
40+ _i2c = i2c;
41+ _sensorAddress = sensorAddress;
42+ }
43+
44+ /* ******************************************************************************/
45+ /* !
46+ @brief Destructor for an VL53L4CX sensor.
47+ */
48+ /* ******************************************************************************/
49+ ~WipperSnapper_I2C_Driver_VL53L4CX () {
50+ // Called when a VL53L4CX component is deleted.
51+ delete _VL53L4CX;
52+ }
53+
54+ /* *************************************************************************/
55+ /* !
56+ @brief Gets a human-readable description of a VL53L4CX status code.
57+ @param statusCode
58+ The status code to describe.
59+ @returns A human-readable description of the status code.
60+ */
61+ const char *getVL53L4CXStatusDescription (int statusCode) {
62+ switch (statusCode) {
63+ case VL53L4CX_RANGESTATUS_RANGE_VALID:
64+ return " VL53L4CX_RANGESTATUS_RANGE_VALID"
65+ case VL53L4CX_RANGESTATUS_SIGMA_FAIL:
66+ return " VL53L4CX_RANGESTATUS_SIGMA_FAIL"
67+ case VL53L4CX_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED:
68+ return " VL53L4CX_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED"
69+ case VL53L4CX_RANGESTATUS_OUTOFBOUNDS_FAIL:
70+ return " VL53L4CX_RANGESTATUS_OUTOFBOUNDS_FAIL"
71+ case VL53L4CX_RANGESTATUS_HARDWARE_FAIL:
72+ return " VL53L4CX_RANGESTATUS_HARDWARE_FAIL"
73+ case VL53L4CX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL:
74+ return " VL53L4CX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL"
75+ case VL53L4CX_RANGESTATUS_WRAP_TARGET_FAIL:
76+ return " VL53L4CX_RANGESTATUS_WRAP_TARGET_FAIL"
77+ case VL53L4CX_RANGESTATUS_PROCESSING_FAIL:
78+ return " VL53L4CX_RANGESTATUS_PROCESSING_FAIL"
79+ case VL53L4CX_RANGESTATUS_XTALK_SIGNAL_FAIL:
80+ return " VL53L4CX_RANGESTATUS_XTALK_SIGNAL_FAIL"
81+ case VL53L4CX_RANGESTATUS_SYNCRONISATION_INT:
82+ return " VL53L4CX_RANGESTATUS_SYNCRONISATION_INT"
83+ case VL53L4CX_RANGESTATUS_RANGE_VALID_MERGED_PULSE:
84+ return " VL53L4CX_RANGESTATUS_RANGE_VALID_MERGED_PULSE"
85+ case VL53L4CX_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL:
86+ return " VL53L4CX_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL"
87+ case VL53L4CX_RANGESTATUS_MIN_RANGE_FAIL:
88+ return " VL53L4CX_RANGESTATUS_MIN_RANGE_FAIL"
89+ case VL53L4CX_RANGESTATUS_RANGE_INVALID:
90+ return " VL53L4CX_RANGESTATUS_RANGE_INVALID"
91+ case VL53L4CX_RANGESTATUS_NONE:
92+ return " VL53L4CX_RANGESTATUS_NONE"
93+ default :
94+ return ((" UNKNOWN STATUS: " String (statusCode)).c_str ();
95+ }
96+ }
97+
98+ /* ******************************************************************************/
99+ /* !
100+ @brief Initializes the VL53L4CX sensor and begins I2C.
101+ @returns True if initialized successfully, False otherwise.
102+ */
103+ /* ******************************************************************************/
104+ bool begin () {
105+ _VL53L4CX = new VL53L4CX (_i2c, -1 );
106+
107+ /* Reinstate if shutdown pin utilised
108+ * // Configure VL53L4CX satellite component.
109+ * _VL53L4CX->begin();
110+ *
111+ * // Switch off VL53L4CX satellite component.
112+ * _VL53L4CX->VL53L4CX_Off();
113+ */
114+
115+ if (_VL53L4CX->InitSensor ((uint8_t )_sensorAddress) != VL53L4CX_ERROR_NONE) {
116+ WS_DEBUG_PRINTLN (" Failed to initialize VL53L4CX sensor!"
117+ return false ;
118+ }
119+ // // Program the highest possible TimingBudget, no interval time
120+ // if (_VL53L4CX-> VL53L4CX_SetRangeTiming(200, 0) != VL53L4CX_ERROR_NONE) {
121+ // WS_DEBUG_PRINTLN("Failed to set VL53L4CX timing!");
122+ // return false;
123+ // }
124+
125+ // uint16_t signalThreshold = -1;
126+ // if (_VL53L4CX->VL53L4CX_GetSignalThreshold(&signalThreshold) !=
127+ // VL53L4CX_ERROR_NONE) {
128+ // WS_DEBUG_PRINTLN("Failed to get VL53L4CX signal threshold!");
129+ // } else {
130+ // WS_DEBUG_PRINT("VL53L4CX old signal threshold: ");
131+ // WS_DEBUG_PRINTLN(signalThreshold);
132+ // }
133+ // if (_VL53L4CX->VL53L4CX_SetSignalThreshold(50) != VL53L4CX_ERROR_NONE) {
134+ // WS_DEBUG_PRINTLN("Failed to set VL53L4CX signal threshold!");
135+ // } else {
136+ // WS_DEBUG_PRINT("VL53L4CX new signal threshold: ");
137+ // WS_DEBUG_PRINTLN(8);
138+ // }
139+
140+ // uint16_t sigmaThreshold = -1;
141+ // if (_VL53L4CX->VL53L4CX_GetSigmaThreshold(&sigmaThreshold) !=
142+ // VL53L4CX_ERROR_NONE) {
143+ // WS_DEBUG_PRINTLN("Failed to get VL53L4CX sigma threshold!");
144+ // } else {
145+ // WS_DEBUG_PRINT("VL53L4CX old sigma threshold: ");
146+ // WS_DEBUG_PRINTLN(sigmaThreshold);
147+ // }
148+ // if (_VL53L4CX->VL53L4CX_SetSigmaThreshold(100) != VL53L4CX_ERROR_NONE) {
149+ // WS_DEBUG_PRINTLN("Failed to set VL53L4CX sigma threshold!");
150+ // } else {
151+ // WS_DEBUG_PRINT("VL53L4CX new sigma threshold: ");
152+ // WS_DEBUG_PRINTLN(100);
153+ // }
154+
155+ if (_VL53L4CX->VL53L4CX_StartMeasurement () != VL53L4CX_ERROR_NONE) {
156+ WS_DEBUG_PRINTLN (" Failed to start VL53L4CX ranging!"
157+ return false ;
158+ }
159+ return true ;
160+ }
161+
162+ /* ******************************************************************************/
163+ /* !
164+ @brief Gets the VL53L4CX's current proximity for first object if found.
165+ @param proximityEvent
166+ Pointer to an Adafruit_Sensor event.
167+ @returns True if the proximity was obtained successfully, False
168+ otherwise.
169+ */
170+ /* ******************************************************************************/
171+ bool getEventProximity (sensors_event_t *proximityEvent) {
172+ return getProximity (proximityEvent, 0 );
173+ }
174+
175+
176+ /* ******************************************************************************/
177+ /* !
178+ @brief Gets the VL53L4CX's current proximity for second object if found.
179+ @param proximityEvent
180+ Pointer to an Adafruit_Sensor event.
181+ @returns True if the proximity was obtained successfully, False
182+ otherwise.
183+ */
184+ /* ******************************************************************************/
185+ bool getEventRaw (sensors_event_t *proximityEvent) {
186+ return getProximity (proximityEvent, 1 );
187+ }
188+
189+
190+ /* ******************************************************************************/
191+ /* !
192+ @brief Gets the VL53L4CX's current proximity (first or second object).
193+ @param proximityEvent
194+ Pointer to an Adafruit_Sensor event.
195+ @param index
196+ Index of the proximity to get (0 or 1).
197+ @returns True if the proximity was obtained successfully, False
198+ otherwise.
199+ */
200+ /* ******************************************************************************/
201+ bool getProximity (sensors_event_t *proximityEvent, int index = 0 ) {
202+ VL53L4CX_MultiRangingData_t MultiRangingData;
203+ VL53L4CX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
204+ uint8_t NewDataReady = 0 ;
205+ int no_of_object_found = 0 ;
206+ int j = 0 ;
207+ int status;
208+ // Start fresh reading, seemed to be accepting stale value
209+ status = _VL53L4CX->VL53L4CX_ClearInterruptAndStartMeasurement ();
210+ WS_DEBUG_PRINT (" Waiting for VL53L4CX data ready..."
211+ delay (250 );
212+
213+ for (uint8_t i = 0 ;
214+ (status = _VL53L4CX->VL53L4CX_GetMeasurementDataReady (&NewDataReady)) &&
215+ !NewDataReady && i < 3 ;
216+ i++)
217+ {
218+ delay (300 );
219+ WS_DEBUG_PRINT (" ."
220+ }
221+ WS_DEBUG_PRINTLN (" "
222+ if ((status == VL53L4CX_ERROR_NONE) && (NewDataReady != 0 )) {
223+ status = _VL53L4CX->VL53L4CX_GetMultiRangingData (pMultiRangingData);
224+ no_of_object_found = pMultiRangingData->NumberOfObjectsFound ;
225+
226+ for (j = 0 ; j < no_of_object_found; j++) {
227+ if (pMultiRangingData->RangeData [j].RangeStatus == VL53L4CX_RANGESTATUS_RANGE_VALID ||
228+ pMultiRangingData->RangeData [j].RangeStatus == VL53L4CX_RANGESTATUS_RANGE_VALID_MERGED_PULSE) {
229+ int16_t mm = pMultiRangingData->RangeData [j].RangeMilliMeter ;
230+ if (j == index) {
231+ proximityEvent->data [0 ] = (float )mm;
232+ return true ;
233+ }
234+ }
235+ }
236+ // TODO: Once I2C sensors fire all data points during a single call, we
237+ // can return both distances and other metrics like the std deviation
238+ } else {
239+ WS_DEBUG_PRINTLN (" VL53L4CX Error: " String (getVL53L4CXStatusDescription (status)));
240+ }
241+ return false ;
242+ }
243+
244+ protected:
245+ VL53L4CX *_VL53L4CX = nullptr ; // /< Pointer to VL53L4CX temperature sensor object
246+ };
247+
248+ #endif // WipperSnapper_I2C_Driver_VL53L4CX
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