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modm::Vl53l0< I2cMaster > Class Template Reference
External Device Drivers » VL53L0X Proximity Sensor

#include <modm/driver/position/vl53l0.hpp>

Inheritance diagram for modm::Vl53l0< I2cMaster >:
modm::I2cDevice< I2cMaster, 5 > modm::NestedResumable< 10+1 >

Classes

struct  Data
 
struct  TimeOverhead
 

Public Typedefs

typedef modm::Configuration< RangeStatus_t, RangeErrorCode, 0x0F, 3 > RangeErrorCode_t
 
using Control_t = modm::FlagsGroup< Start_t, MeasurementSequenceStep_t, InterruptConfig_t, InterruptClear_t, GpioConfig_t, InterruptStatus_t, RangeStatus_t, MSRCConfig_t >
 

Public Types

enum  Register : uint8_t
 The addresses of the Configuration and Data Registers.
 
enum  Start : uint8_t
 SYSRANGE__START.
 
enum  MeasurementSequenceStep : uint8_t
 SYSTEM__SEQUENCE_CONFIG.
 
enum  InterruptConfig : uint8_t
 SYSTEM__INTERRUPT_CONFIG_GPIO.
 
enum  InterruptClear : uint8_t
 SYSTEM__INTERRUPT_CLEAR.
 
enum  GpioConfig : uint8_t
 
enum  InterruptStatus : uint8_t
 RESULT__INTERRUPT_STATUS_GPIO.
 
enum  RangeStatus : uint8_t
 RESULT__RANGE_STATUS.
 
enum  RangeErrorCode : uint8_t
 
enum  MSRCConfig : uint8_t
 

Public Member Functions

 MODM_FLAGS8 (Start)
 
 MODM_FLAGS8 (MeasurementSequenceStep)
 
 MODM_FLAGS8 (InterruptConfig)
 
 MODM_FLAGS8 (InterruptClear)
 
 MODM_FLAGS8 (GpioConfig)
 
 MODM_FLAGS8 (InterruptStatus)
 
 MODM_FLAGS8 (RangeStatus)
 
 MODM_FLAGS8 (MSRCConfig)
 
 Vl53l0 (Data &data, uint8_t address=0x29)
 Constructor, requires an vl53l0::Data object, sets address to default of 0x29.
 
modm::ResumableResult< bool > ping ()
 
modm::ResumableResult< bool > reset ()
 Soft reset of device.
 
modm::ResumableResult< bool > initialize ()
 
modm::ResumableResult< bool > setDeviceAddress (uint8_t address)
 
modm::ResumableResult< bool > readDistance ()
 Reads the distance and buffers the result.
 
RangeErrorCode getRangeError ()
 
template<typename T >
modm::ResumableResult< bool > updateRegister (Register reg, T setMask, T clearMask=T (0xff))
 
Data & getData ()
 the data object for this sensor.
 
modm::ResumableResult< bool > setMaxMeasurementTime (uint32_t timeUs)
 
uint32_t getMaxMeasurementTime ()
 Get the configured maximum measurement time.
 
void attachConfigurationHandler (I2c::ConfigurationHandler handler)
 
modm::ResumableResult< bool > read (uint8_t *buffer, std::size_t size)
 Starts a write transaction and waits until finished.
 
void setAddress (uint8_t address)
 
modm::ResumableResult< bool > write (const uint8_t *buffer, std::size_t size)
 Starts a write transaction and waits until finished.
 
modm::ResumableResult< bool > writeRead (const uint8_t *writeBuffer, std::size_t writeSize, uint8_t *readBuffer, std::size_t readSize)
 Starts a write-read transaction and waits until finished.
 

Static Public Attributes

static constexpr uint8_t ModelID [2] = { 0xEE, 0xAA }
 
static constexpr uint8_t RevisionID = 0x10
 
static constexpr uint32_t DefaultMeasurementTime = 30'000
 
static constexpr uint16_t DefaultSignalRateLimit = 32
 

Protected Member Functions

modm::ResumableResult< ReturnType > resumable function (...)
 
int8_t getResumableDepth () const
 
bool isResumableRunning () const
 
bool isTransactionRunning ()
 
modm::ResumableResult< bool > runTransaction ()
 Starts our own transaction and waits until finished.
 
bool startRead (uint8_t *buffer, std::size_t size)
 Configures the transaction with a read operation and starts it.
 
bool startTransaction ()
 Starts the transaction with our own transaction object.
 
bool startTransaction (modm::I2cTransaction *transaction)
 Starts the transaction with a separate transaction object.
 
bool startWrite (const uint8_t *buffer, std::size_t size)
 Configures the transaction with a write operation and starts it.
 
bool startWriteRead (const uint8_t *writeBuffer, std::size_t writeSize, uint8_t *readBuffer, std::size_t readSize)
 Configures the transaction with a write/read operation and starts it.
 
void stopResumable ()
 Force all resumable functions to stop running at the current nesting level.
 
bool wasTransactionSuccessful ()
 

Protected Attributes

I2cWriteReadTransaction transaction
 

Detailed Description

template<typename I2cMaster>
class modm::Vl53l0< I2cMaster >

The class is build for single-shot measurements.

Author
Christopher Durand

Member Enumeration Documentation

template<typename I2cMaster >
enum modm::Vl53l0::MSRCConfig : uint8_t
strong

MSRC__CONFIG_CONTROL MSRC = "minimum signal rate check"

Member Function Documentation

void modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::attachConfigurationHandler ( I2c::ConfigurationHandler  handler)
inheritedinline

Attaches a configuration handler, which is called before a transaction, whenever the configuration has to be changed.

modm::ResumableResult< ReturnType > resumable modm::NestedResumable< 1 >::function (   ...)
inherited

Run the resumable function.

You need to implement this method in you subclass yourself.

Returns
>NestingError if still running, <=NestingError if it has finished.
int8_t modm::NestedResumable< 1 >::getResumableDepth ( ) const
inheritedinline
Returns
the nesting depth in the current resumable function, or -1 if called outside any resumable function
bool modm::NestedResumable< 1 >::isResumableRunning ( ) const
inheritedinline
Returns
true if a resumable function is running at the current nesting level, else false
bool modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::isTransactionRunning ( )
inheritedinlineprotected
Returns
true when transaction is busy.
template<typename I2cMaster >
modm::ResumableResult<bool> modm::Vl53l0< I2cMaster >::ping ( )

Ping the I2C device. This overwrites the build-in ping method of I2cDevice with a read of the model number.

void modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::setAddress ( uint8_t  address)
inheritedinline

Sets a new address of the slave device.

Parameters
addressthe slave address not yet shifted left (address < 128).
template<typename I2cMaster >
modm::ResumableResult<bool> modm::Vl53l0< I2cMaster >::setDeviceAddress ( uint8_t  address)

Set a new I2C address (< 128) for this device. The address is not permanent and must be set again after every device boot.

template<typename I2cMaster >
modm::ResumableResult<bool> modm::Vl53l0< I2cMaster >::setMaxMeasurementTime ( uint32_t  timeUs)

Set the maximum measurement time.

Increasing this value will improve the accuracy. The default is ~30ms. ST recommends 2'000'000us = 200ms for high precision.

useful range of values: ~20'000us - 2'000'000us (20ms - 2s)

bool modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::wasTransactionSuccessful ( )
inheritedinlineprotected
Returns
true when transaction did not return an error.
The documentation for this class was generated from the following file: