VL43L1X.c File Reference

#include <stdint.h>
#include <stdbool.h>
#include "debug_dbprint.h"
#include "delay.h"
#include "i2c.h"
#include "VL53L1X_api.h"

Go to the source code of this file.

Functions
int8_t	initVL53L1X (void)
	Initialize the sensor. More...
uint16_t	measureVL53L1X (void)
	Get a sensor reading. More...

Variables
int16_t	offset
uint16_t	xtalk

Function Documentation

initVL53L1X()

int8_t initVL53L1X

(

void

)

Initialize the sensor.

This method wait until the sensor is booted, initializes it and gets offset values.

Returns

• 0 - Calibration successful.
• -1 - Calibration failed.

Definition at line 69 of file VL43L1X.c.

{
    /* Returned status */
    int8_t status;

    /* Wait for device booted */
    uint8_t bootState = 0;
    uint8_t exitWhile = 0;

    while ((bootState != 1) && (exitWhile < 5))
    {
        status = VL53L1X_BootState(0x52, &bootState);

#if DEBUG_DBPRINT == 1 /* DEBUG_DBPRINT */
        if (status != 0) dbcritInt("VL53L1X_BootState status = ", status, "");
        dbinfoInt("VL53L1X_BootState = ", bootState, "");
#endif /* DEBUG_DBPRINT */

        /* 1s delay */
        delay(1000);

        /* Functionality so we don't end up forever in this loop */
        exitWhile++;
    }

    /* Initialize sensor */
    status = VL53L1X_SensorInit(0x52);

#if DEBUG_DBPRINT == 1 /* DEBUG_DBPRINT */
    if (status != 0) dbcritInt("VL53L1X_SensorInit status = ", status, "");
#endif /* DEBUG_DBPRINT */

    /* Get offset */
    status = VL53L1X_GetOffset(0x52, &offset);

#if DEBUG_DBPRINT == 1 /* DEBUG_DBPRINT */
    if (status != 0) dbcritInt("VL53L1X_GetOffset status = ", status, "");
    dbwarnInt("VL53L1X_GetOffset = ", offset, " mm");
#endif /* DEBUG_DBPRINT */

    /* Get Xtalk */
    status = VL53L1X_GetXtalk(0x52, &xtalk);

#if DEBUG_DBPRINT == 1 /* DEBUG_DBPRINT */
    if (status != 0) dbcritInt("VL53L1X_GetXtalk status = ", status, "");
    dbwarnInt("VL53L1X_GetXtalk = ", xtalk, " cps");
#endif /* DEBUG_DBPRINT */

    /* Configure distance mode to short (1.3m), better ambient immunity */
    status = VL53L1X_SetDistanceMode(0x52, 2); /* default = long (4m in the dark with 200 ms timing budget) */

#if DEBUG_DBPRINT == 1 /* DEBUG_DBPRINT */
#if DBPRINT_VERBOSE == 1 /* DBPRINT_VERBOSE */
    if (status != 0) dbcritInt("VL53L1X_SetDistanceMode status = ", status, "");
#endif /* DBPRINT_VERBOSE */
#endif /* DEBUG_DBPRINT */

    /* Configure inter-measurement period to 500 ms (IMP, has to be the same or greater than the timing budget) */
    status = VL53L1X_SetInterMeasurementInMs(0x52, 500); /* default = 100 ms */

#if DEBUG_DBPRINT == 1 /* DEBUG_DBPRINT */
    if (status != 0) dbcritInt("VL53L1X_SetInterMeasurementInMs status = ", status, "");
#endif /* DEBUG_DBPRINT */

    /* Configure timing budget to 200 ms */
    status = VL53L1X_SetTimingBudgetInMs(0x52, 200); /* default = 100 ms */

#if DEBUG_DBPRINT == 1 /* DEBUG_DBPRINT */
    if (status != 0) dbcritInt("VL53L1X_SetTimingBudgetInMs status = ", status, "");
#endif /* DEBUG_DBPRINT */

    /* Get sensor ID */
    uint16_t id; // must be 0xEEAC ??
    status = VL53L1X_GetSensorId(0x52, &id);

#if DEBUG_DBPRINT == 1 /* DEBUG_DBPRINT */
    if (status != 0) dbcritInt("VL53L1X_GetSensorId status = ", status, "");
    dbinfoInt_hex("VL53L1X_GetSensorId = ", id, "");
#endif /* DEBUG_DBPRINT */

    return (status);
}

measureVL53L1X()

uint16_t measureVL53L1X

(

void

)

Get a sensor reading.

Returns

The measured distance in mm.

Definition at line 160 of file VL43L1X.c.

{
    /* Start ranging */
    int8_t status = VL53L1X_StartRanging(0x52);

#if DEBUG_DBPRINT == 1 /* DEBUG_DBPRINT */
    if (status != 0) dbcritInt("VL53L1X_StartRanging status = ", status, "");
#endif /* DEBUG_DBPRINT */

    uint8_t dataReady;
    uint16_t distance;

    /* Wait for data ready */
    while (dataReady != 1)
    {
        status = VL53L1X_CheckForDataReady(0x52, &dataReady);

#if DEBUG_DBPRINT == 1 /* DEBUG_DBPRINT */
        if (status != 0) dbcritInt("VL53L1X_CheckForDataReady status = ", status, "");
#endif /* DEBUG_DBPRINT */

    }

    /* Get range status */
    uint8_t state;
    status = VL53L1X_GetRangeStatus(0x52, &state);

#if DEBUG_DBPRINT == 1 /* DEBUG_DBPRINT */
    if (status != 0) dbcritInt("VL53L1X_GetRangeStatus status = ", status, "");
    if (state != 0) dbcritInt("VL53L1X_GetRangeStatus = ", state, "");
#endif /* DEBUG_DBPRINT */

    /* Get distance */
    status = VL53L1X_GetDistance(0x52, &distance);

#if DEBUG_DBPRINT == 1 /* DEBUG_DBPRINT */
    if (status != 0) dbcritInt("VL53L1X_GetDistance status = ", status, "");
#endif /* DEBUG_DBPRINT */

    /* Clear interrupt */
    status = VL53L1X_ClearInterrupt(0x52);

#if DEBUG_DBPRINT == 1 /* DEBUG_DBPRINT */
    if (status != 0) dbcritInt("VL53L1X_ClearInterrupt status = ", status, "");
#endif /* DEBUG_DBPRINT */

    return (distance);
}

Variable Documentation

offset

int16_t offset

Definition at line 52 of file VL43L1X.c.

xtalk

uint16_t xtalk

Definition at line 53 of file VL43L1X.c.