VL53L5CX: Class wrapper

drivers/vl53l5cx/vl53l5cx.cpp

@@ -0,0 +1,61 @@
+#include "vl53l5cx.hpp"
+
+namespace pimoroni {
+    bool VL53L5CX::init() {
+        uint8_t status = vl53l5cx_init(configuration);
+        return status == VL53L5CX_STATUS_OK;
+    }
+    bool VL53L5CX::start_ranging() {
+        uint8_t status = vl53l5cx_start_ranging(configuration);
+        return status == VL53L5CX_STATUS_OK;
+    }
+    bool VL53L5CX::stop_ranging() {
+        uint8_t status = vl53l5cx_stop_ranging(configuration);
+        return status == VL53L5CX_STATUS_OK;
+    }
+    bool VL53L5CX::set_i2c_address(uint8_t i2c_address) {
+        /* Must be a 7-bit i2c address */
+        uint8_t status = vl53l5cx_set_i2c_address(configuration, i2c_address << 1);
+        return status == VL53L5CX_STATUS_OK;
+    }
+    bool VL53L5CX::set_ranging_mode(RangingMode ranging_mode) {
+        uint8_t status = vl53l5cx_set_ranging_mode(configuration, (uint8_t)ranging_mode);
+        return status == VL53L5CX_STATUS_OK;
+    }
+    bool VL53L5CX::set_ranging_frequency_hz(uint8_t ranging_frequency_hz) {
+        uint8_t status = vl53l5cx_set_ranging_frequency_hz(configuration, ranging_frequency_hz);
+        return status == VL53L5CX_STATUS_OK;
+    }
+    bool VL53L5CX::set_resolution(Resolution resolution) {
+        /* One of VL53L5CX_RESOLUTION_4X4 or VL53L5CX_RESOLUTION_8X8 */
+        uint8_t status = vl53l5cx_set_resolution(configuration, (uint8_t)resolution);
+        return status == VL53L5CX_STATUS_OK;
+    }
+    bool VL53L5CX::set_integration_time_ms(uint32_t integration_time_ms) {
+        /* Integration time between 2ms and 1000ms */
+        uint8_t status = vl53l5cx_set_integration_time_ms(configuration, integration_time_ms);
+        return status == VL53L5CX_STATUS_OK;
+    }
+    bool VL53L5CX::set_sharpener_percent(uint8_t sharpener_percent) {
+        /* Sharpener intensity from 0 to 99 */
+        uint8_t status = vl53l5cx_set_sharpener_percent(configuration, sharpener_percent);
+        return status == VL53L5CX_STATUS_OK;
+    }
+    bool VL53L5CX::set_target_order(TargetOrder target_order) {
+        uint8_t status = vl53l5cx_set_target_order(configuration, (uint8_t)target_order);
+        return status == VL53L5CX_STATUS_OK;
+    }
+    bool VL53L5CX::set_power_mode(PowerMode power_mode) {
+        uint8_t status = vl53l5cx_set_power_mode(configuration, (uint8_t)power_mode);
+        return status == VL53L5CX_STATUS_OK;
+    }
+    bool VL53L5CX::data_ready() {
+        uint8_t is_ready;
+        uint8_t status = vl53l5cx_check_data_ready(configuration, &is_ready);
+        return status == VL53L5CX_STATUS_OK && is_ready;
+    }
+    bool VL53L5CX::get_data(ResultsData *results) {
+        uint8_t status = vl53l5cx_get_ranging_data(configuration, results);
+        return status == VL53L5CX_STATUS_OK;
+    }
+}

drivers/vl53l5cx/vl53l5cx.hpp

@@ -2,4 +2,57 @@
 
 extern "C" {
 #include "drivers/vl53l5cx/src/VL53L5CX_ULD_API/inc/vl53l5cx_api.h"
+}
+
+#include "common/pimoroni_i2c.hpp"
+#include "src/VL53L5CX_ULD_API/inc/vl53l5cx_api.h"
+
+namespace pimoroni {
+    class VL53L5CX {
+        public:
+            typedef VL53L5CX_ResultsData ResultsData;
+            enum TargetOrder : uint8_t {
+                TARGET_ORDER_CLOSEST = VL53L5CX_TARGET_ORDER_CLOSEST,
+                TARGET_ORDER_STRONGEST = VL53L5CX_TARGET_ORDER_STRONGEST
+            };
+            enum Resolution : uint8_t {
+                RESOLUTION_4X4 = VL53L5CX_RESOLUTION_4X4,
+                RESOLUTION_8X8 = VL53L5CX_RESOLUTION_8X8
+            };
+            enum RangingMode : uint8_t {
+                RANGING_MODE_CONTINUOUS = VL53L5CX_RANGING_MODE_CONTINUOUS,
+                RANGING_MODE_AUTONOMOUS = VL53L5CX_RANGING_MODE_AUTONOMOUS
+            };
+            enum PowerMode : uint8_t {
+                POWER_MODE_SLEEP = VL53L5CX_POWER_MODE_SLEEP,
+                POWER_MODE_WAKEUP = VL53L5CX_POWER_MODE_WAKEUP
+            };
+
+            // 7-bit version of the default address (0x52)
+            static const uint8_t DEFAULT_ADDRESS = VL53L5CX_DEFAULT_I2C_ADDRESS >> 1;
+
+            VL53L5CX(I2C *i2c, uint8_t i2c_addr=DEFAULT_ADDRESS) {
+                configuration = new VL53L5CX_Configuration{
+                    .platform = VL53L5CX_Platform{
+                        .address = i2c_addr,
+                        .i2c = i2c->get_i2c()
+                    },
+                };
+            }
+            bool init();
+            bool start_ranging();
+            bool stop_ranging();
+            bool set_i2c_address(uint8_t i2c_address);
+            bool set_ranging_mode(RangingMode ranging_mode);
+            bool set_ranging_frequency_hz(uint8_t ranging_frequency_hz);
+            bool set_resolution(Resolution resolution);
+            bool set_integration_time_ms(uint32_t integration_time_ms);
+            bool set_sharpener_percent(uint8_t sharpener_percent);
+            bool set_target_order(TargetOrder target_order);
+            bool set_power_mode(PowerMode power_mode);
+            bool data_ready();
+            bool get_data(ResultsData *results);
+        private:
+            VL53L5CX_Configuration *configuration;
+    };
 }

examples/breakout_vl53l5cx/vl53l5cx_demo.cpp

@@ -5,37 +5,28 @@
 
 #include "common/pimoroni_i2c.hpp"
 
-//using namespace pimoroni;
+using namespace pimoroni;
 
-pimoroni::I2C i2c(4, 5);
-
-VL53L5CX_Configuration configuration {
-    .platform = VL53L5CX_Platform{
-        .address = 0x29,
-        .i2c = i2c0
-    },
-};
+I2C i2c(4, 5);
+VL53L5CX vl53l5cx(&i2c);
 
 int main() {
   stdio_init_all();
 
-  vl53l5cx_init(&configuration);
-  vl53l5cx_set_ranging_mode(&configuration, VL53L5CX_RANGING_MODE_AUTONOMOUS);
-  vl53l5cx_set_resolution(&configuration, VL53L5CX_RESOLUTION_4X4);
-  vl53l5cx_start_ranging(&configuration);
+  vl53l5cx.init();
+  vl53l5cx.set_ranging_mode(VL53L5CX::RANGING_MODE_AUTONOMOUS);
+  vl53l5cx.set_resolution(VL53L5CX::RESOLUTION_4X4);
+  vl53l5cx.start_ranging();
 
   while(true) {
-      uint8_t is_ready;
-    if(vl53l5cx_check_data_ready(&configuration, &is_ready) == VL53L5CX_STATUS_OK) {
-        if(is_ready){
-            VL53L5CX_ResultsData result;
-            if(vl53l5cx_get_ranging_data(&configuration, &result) == VL53L5CX_STATUS_OK) {
-                printf("Distance: %dmm\n", result.distance_mm[0]);
-            }
+    if(vl53l5cx.data_ready()) {
+        VL53L5CX::ResultsData result;
+        if(vl53l5cx.get_data(&result)) {
+            printf("Distance: %dmm\n", result.distance_mm[0]);
         }
     }
     sleep_ms(20);
   }
 
   return 0;
-}
+}