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119 lines
3.2 KiB
119 lines
3.2 KiB
// -----------------------------------------------------------------------------
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// VL53L1X Sensor over I2C
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// Copyright (C) 2017-2019 by Xose Pérez <xose dot perez at gmail dot com>
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// -----------------------------------------------------------------------------
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#if SENSOR_SUPPORT && VL53L1X_SUPPORT
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#pragma once
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#undef I2C_SUPPORT
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#define I2C_SUPPORT 1 // Explicitly request I2C support.
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#include "Arduino.h"
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#include "I2CSensor.h"
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#include "VL53L1X.h"
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class VL53L1XSensor : public I2CSensor {
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public:
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// ---------------------------------------------------------------------
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// Public
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// ---------------------------------------------------------------------
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VL53L1XSensor(): I2CSensor() {
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_count = 1;
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_sensor_id = SENSOR_VL53L1X_ID;
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_vl53l1x = new VL53L1X();
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}
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~VL53L1XSensor() {
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delete _vl53l1x;
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}
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// ---------------------------------------------------------------------
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void setDistanceMode(VL53L1X::DistanceMode mode) {
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_vl53l1x->setDistanceMode(mode);
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}
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void setMeasurementTimingBudget(uint32_t budget_us) {
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_vl53l1x->setMeasurementTimingBudget(budget_us);
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}
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void setInterMeasurementPeriod(unsigned int period) {
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if (_inter_measurement_period == period) return;
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_inter_measurement_period = period;
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_dirty = true;
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}
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// ---------------------------------------------------------------------
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// Sensor API
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// ---------------------------------------------------------------------
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void begin() {
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if (!_dirty) {
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return;
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}
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// I2C auto-discover
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unsigned char addresses[] = {0x29};
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_address = _begin_i2c(_address, sizeof(addresses), addresses);
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if (_address == 0) return;
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_vl53l1x->setAddress(_address);
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if (!_vl53l1x->init()) {
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return;
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};
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_vl53l1x->startContinuous(_inter_measurement_period);
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_ready = true;
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_dirty = false;
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}
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// Descriptive name of the sensor
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String description() {
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char buffer[21];
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snprintf(buffer, sizeof(buffer), "VL53L1X @ I2C (0x%02X)", _address);
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return String(buffer);
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}
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// Descriptive name of the slot # index
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String slot(unsigned char index) {
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return description();
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};
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// Type for slot # index
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unsigned char type(unsigned char index) {
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if (index == 0) return MAGNITUDE_DISTANCE;
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return MAGNITUDE_NONE;
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}
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// Pre-read hook (usually to populate registers with up-to-date data)
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void pre() {
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if (!_vl53l1x->dataReady()) {
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return;
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}
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_distance = (double) _vl53l1x->read(false) / 1000.00;
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}
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// Current value for slot # index
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double value(unsigned char index) {
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if (index != 0) return 0;
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return _distance;
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}
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protected:
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VL53L1X * _vl53l1x = NULL;
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unsigned int _inter_measurement_period;
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double _distance = 0;
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};
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#endif // SENSOR_SUPPORT && VL53L1X_SUPPORT
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