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| 1 | +/* |
| 2 | +*************************************************************************************** |
| 3 | +@file Deneyap_DerinlikOlcer.cpp |
| 4 | +@mainpage Deneyap ToF Range Finder Sensor VL53L0X Arduino library source file |
| 5 | +@maintainer RFtek Electronics <[email protected]> |
| 6 | +@version v1.0.0 |
| 7 | +@date June 23, 2022 |
| 8 | +@brief Includes functions to control Deneyap ToF Range Finder Sensor VL53L0X |
| 9 | + Arduino library |
| 10 | +
|
| 11 | +Library includes: |
| 12 | +--> Configuration functions |
| 13 | +--> Data manipulation functions |
| 14 | +--> I2C communication functions |
| 15 | +************************************************************************************** |
| 16 | +*/ |
| 17 | + |
| 18 | +#include "Deneyap_DerinlikOlcer.h" |
| 19 | + |
| 20 | +/** |
| 21 | + * @brief I2C initialization and read check |
| 22 | + * @param adress: Device adress |
| 23 | + * @retval None |
| 24 | +**/ |
| 25 | +bool TofRangeFinder::begin(uint8_t address, TwoWire &wirePort) { |
| 26 | + _address = address; |
| 27 | + Wire.begin(); |
| 28 | + Wire.beginTransmission(address); |
| 29 | + if (!Wire.endTransmission()) |
| 30 | + return true; |
| 31 | + return false; |
| 32 | +} |
| 33 | + |
| 34 | +/** |
| 35 | + * @brief |
| 36 | + * @param |
| 37 | + * @retval |
| 38 | +**/ |
| 39 | +bool TofRangeFinder::init() { |
| 40 | + begin(_address); |
| 41 | + write8(0x88, 0x00); |
| 42 | + write8(0x80, 0x01); |
| 43 | + write8(0xFF, 0x01); |
| 44 | + write8(0x00, 0x00); |
| 45 | + read8(0x91); |
| 46 | + write8(0x91, 0x3c); |
| 47 | + write8(0x00, 0x01); |
| 48 | + write8(0xFF, 0x00); |
| 49 | + write8(0x80, 0x00); |
| 50 | + |
| 51 | + write8(0x80, 0x01); |
| 52 | + write8(0xFF, 0x01); |
| 53 | + write8(0x00, 0x00); |
| 54 | + write8(0x91, 0x3c); |
| 55 | + write8(0x00, 0x01); |
| 56 | + write8(0xFF, 0x00); |
| 57 | + write8(0x80, 0x00); |
| 58 | + |
| 59 | + write8(VL53L0X_REG_SYSRANGE_START, VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK); |
| 60 | + return 1; |
| 61 | +} |
| 62 | + |
| 63 | +/** |
| 64 | + * @brief |
| 65 | + * @param |
| 66 | + * @retval |
| 67 | +**/ |
| 68 | +void TofRangeFinder::write8(unsigned char Reg, unsigned char byte) { |
| 69 | + Wire.beginTransmission(_address); |
| 70 | + Wire.write(Reg); |
| 71 | + Wire.write((uint8_t)byte); |
| 72 | + Wire.endTransmission(); |
| 73 | +} |
| 74 | + |
| 75 | +/** |
| 76 | + * @brief |
| 77 | + * @param |
| 78 | + * @retval |
| 79 | +**/ |
| 80 | +void TofRangeFinder::readData(unsigned char Reg, unsigned char Num) { |
| 81 | + Wire.beginTransmission(_address); |
| 82 | + Wire.write((uint8_t)Reg); |
| 83 | + Wire.endTransmission(); |
| 84 | + Wire.requestFrom((uint8_t)_address, (uint8_t)Num); |
| 85 | + |
| 86 | + for (int i = 0; i < Num; i++) { |
| 87 | + Data[i] = Wire.read(); |
| 88 | + delay(1); |
| 89 | + } |
| 90 | +} |
| 91 | + |
| 92 | +/** |
| 93 | + * @brief |
| 94 | + * @param |
| 95 | + * @retval |
| 96 | +**/ |
| 97 | +uint8_t TofRangeFinder::read8(unsigned char Reg) { |
| 98 | + Wire.beginTransmission(_address); |
| 99 | + Wire.write((uint8_t)Reg); |
| 100 | + Wire.endTransmission(); |
| 101 | + Wire.requestFrom((uint8_t)_address, (uint8_t)1); |
| 102 | + return Wire.read(); |
| 103 | +} |
| 104 | + |
| 105 | +/** |
| 106 | + * @brief |
| 107 | + * @param |
| 108 | + * @retval |
| 109 | +**/ |
| 110 | +float TofRangeFinder::ReadDistance() { |
| 111 | + readData(VL53L0X_REG_RESULT_RANGE_STATUS, 12); |
| 112 | + distance = ((Data[10] & 0xFF) << 8) | |
| 113 | + (Data[11] & 0xFF); |
| 114 | + write8(VL53L0X_REG_SYSTEM_RANGE_CONFIG, 1); |
| 115 | + if (distance == 20) |
| 116 | + distance = _distance; |
| 117 | + else |
| 118 | + _distance = distance; |
| 119 | + return distance / 40; |
| 120 | +} |
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