kopia lustrzana https://github.com/pimoroni/pimoroni-pico
84 wiersze
3.4 KiB
C++
84 wiersze
3.4 KiB
C++
#pragma once
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extern "C" {
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#include "drivers/vl53l5cx/src/VL53L5CX_ULD_API/inc/vl53l5cx_api.h"
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#include "drivers/vl53l5cx/src/VL53L5CX_ULD_API/inc/vl53l5cx_plugin_motion_indicator.h"
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}
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#include <new>
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#include "common/pimoroni_i2c.hpp"
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#include "src/VL53L5CX_ULD_API/inc/vl53l5cx_api.h"
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#include "src/VL53L5CX_ULD_API/inc/vl53l5cx_plugin_motion_indicator.h"
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namespace pimoroni {
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class VL53L5CX {
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public:
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typedef VL53L5CX_ResultsData ResultsData;
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enum TargetOrder : uint8_t {
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TARGET_ORDER_CLOSEST = VL53L5CX_TARGET_ORDER_CLOSEST,
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TARGET_ORDER_STRONGEST = VL53L5CX_TARGET_ORDER_STRONGEST
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};
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enum Resolution : uint8_t {
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RESOLUTION_4X4 = VL53L5CX_RESOLUTION_4X4,
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RESOLUTION_8X8 = VL53L5CX_RESOLUTION_8X8
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};
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enum RangingMode : uint8_t {
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RANGING_MODE_CONTINUOUS = VL53L5CX_RANGING_MODE_CONTINUOUS,
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RANGING_MODE_AUTONOMOUS = VL53L5CX_RANGING_MODE_AUTONOMOUS
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};
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enum PowerMode : uint8_t {
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POWER_MODE_SLEEP = VL53L5CX_POWER_MODE_SLEEP,
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POWER_MODE_WAKEUP = VL53L5CX_POWER_MODE_WAKEUP
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};
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// 7-bit version of the default address (0x52)
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static const uint8_t DEFAULT_ADDRESS = VL53L5CX_DEFAULT_I2C_ADDRESS >> 1;
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VL53L5CX(I2C *i2c, uint8_t *firmware, uint8_t i2c_addr=DEFAULT_ADDRESS, void* configuration_buffer=nullptr, void* motion_configuration_buffer=nullptr) {
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if(!configuration_buffer) configuration_buffer = new VL53L5CX_Configuration;
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if(!motion_configuration_buffer) motion_configuration_buffer = new VL53L5CX_Motion_Configuration;
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configuration = new(configuration_buffer) VL53L5CX_Configuration{
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.platform = VL53L5CX_Platform{
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.address = i2c_addr,
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.i2c = i2c->get_i2c(),
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.firmware = firmware
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},
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};
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motion_configuration = new(motion_configuration_buffer) VL53L5CX_Motion_Configuration{};
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}
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~VL53L5CX() {
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delete configuration;
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delete motion_configuration;
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}
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bool init();
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bool is_alive();
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bool start_ranging();
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bool stop_ranging();
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bool enable_motion_indicator(Resolution resolution);
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bool set_motion_distance(uint16_t distance_min, uint16_t distance_max);
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bool set_i2c_address(uint8_t i2c_address);
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bool set_ranging_mode(RangingMode ranging_mode);
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bool set_ranging_frequency_hz(uint8_t ranging_frequency_hz);
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bool set_resolution(Resolution resolution);
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Resolution get_resolution();
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bool set_integration_time_ms(uint32_t integration_time_ms);
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bool set_sharpener_percent(uint8_t sharpener_percent);
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bool set_target_order(TargetOrder target_order);
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bool set_power_mode(PowerMode power_mode);
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bool data_ready();
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bool get_data(ResultsData *results);
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VL53L5CX_Configuration* get_configuration() {
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return configuration;
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}
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private:
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VL53L5CX_Configuration *configuration;
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VL53L5CX_Motion_Configuration *motion_configuration;
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Resolution resolution = RESOLUTION_8X8;
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};
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} |