#include "AP_RangeFinder_VL53L0X.h"
#include <utility>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/sparse-endian.h>
#include <stdio.h>

Include dependency graph for AP_RangeFinder_VL53L0X.cpp:

Macros
#define	decodeVcselPeriod(reg_val) (((reg_val) + 1) << 1)

#define	calcMacroPeriod(vcsel_period_pclks) ((((uint32_t)2304 * (vcsel_period_pclks) * 1655) + 500) / 1000)

Enumerations
enum	regAddr { SYSRANGE_START = 0x00, SYSTEM_THRESH_HIGH = 0x0C, SYSTEM_THRESH_LOW = 0x0E, SYSTEM_SEQUENCE_CONFIG = 0x01, SYSTEM_RANGE_CONFIG = 0x09, SYSTEM_INTERMEASUREMENT_PERIOD = 0x04, SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A, GPIO_HV_MUX_ACTIVE_HIGH = 0x84, SYSTEM_INTERRUPT_CLEAR = 0x0B, RESULT_INTERRUPT_STATUS = 0x13, RESULT_RANGE_STATUS = 0x14, RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC, RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0, RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0, RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4, RESULT_PEAK_SIGNAL_RATE_REF = 0xB6, ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28, I2C_SLAVE_DEVICE_ADDRESS = 0x8A, MSRC_CONFIG_CONTROL = 0x60, PRE_RANGE_CONFIG_MIN_SNR = 0x27, PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56, PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57, PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64, FINAL_RANGE_CONFIG_MIN_SNR = 0x67, FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47, FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48, FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44, PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61, PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62, PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50, PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51, PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52, SYSTEM_HISTOGRAM_BIN = 0x81, HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33, HISTOGRAM_CONFIG_READOUT_CTRL = 0x55, FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70, FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71, FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72, CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20, MSRC_CONFIG_TIMEOUT_MACROP = 0x46, SOFT_RESET_GO2_SOFT_RESET_N = 0xBF, IDENTIFICATION_MODEL_ID = 0xC0, IDENTIFICATION_REVISION_ID = 0xC2, OSC_CALIBRATE_VAL = 0xF8, GLOBAL_CONFIG_VCSEL_WIDTH = 0x32, GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0, GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1, GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2, GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3, GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4, GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5, GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6, DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E, DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F, POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80, VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89, ALGO_PHASECAL_LIM = 0x30, ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30 }

Variables
const AP_HAL::HAL &	hal
	-- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -- More...

Macro Definition Documentation

◆ calcMacroPeriod

#define calcMacroPeriod ( vcsel_period_pclks ) ((((uint32_t)2304 * (vcsel_period_pclks) * 1655) + 500) / 1000)

Referenced by AP_RangeFinder_VL53L0X::timeoutMclksToMicroseconds(), and AP_RangeFinder_VL53L0X::timeoutMicrosecondsToMclks().

◆ decodeVcselPeriod

#define decodeVcselPeriod ( reg_val ) (((reg_val) + 1) << 1)

Referenced by AP_RangeFinder_VL53L0X::getVcselPulsePeriod().

Enumeration Type Documentation

◆ regAddr

enum regAddr

Enumerator
SYSRANGE_START
SYSTEM_THRESH_HIGH
SYSTEM_THRESH_LOW
SYSTEM_SEQUENCE_CONFIG
SYSTEM_RANGE_CONFIG
SYSTEM_INTERMEASUREMENT_PERIOD
SYSTEM_INTERRUPT_CONFIG_GPIO
GPIO_HV_MUX_ACTIVE_HIGH
SYSTEM_INTERRUPT_CLEAR
RESULT_INTERRUPT_STATUS
RESULT_RANGE_STATUS
RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN
RESULT_CORE_RANGING_TOTAL_EVENTS_RTN
RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF
RESULT_CORE_RANGING_TOTAL_EVENTS_REF
RESULT_PEAK_SIGNAL_RATE_REF
ALGO_PART_TO_PART_RANGE_OFFSET_MM
I2C_SLAVE_DEVICE_ADDRESS
MSRC_CONFIG_CONTROL
PRE_RANGE_CONFIG_MIN_SNR
PRE_RANGE_CONFIG_VALID_PHASE_LOW
PRE_RANGE_CONFIG_VALID_PHASE_HIGH
PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT
FINAL_RANGE_CONFIG_MIN_SNR
FINAL_RANGE_CONFIG_VALID_PHASE_LOW
FINAL_RANGE_CONFIG_VALID_PHASE_HIGH
FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT
PRE_RANGE_CONFIG_SIGMA_THRESH_HI
PRE_RANGE_CONFIG_SIGMA_THRESH_LO
PRE_RANGE_CONFIG_VCSEL_PERIOD
PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI
PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO
SYSTEM_HISTOGRAM_BIN
HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT
HISTOGRAM_CONFIG_READOUT_CTRL
FINAL_RANGE_CONFIG_VCSEL_PERIOD
FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI
FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO
CROSSTALK_COMPENSATION_PEAK_RATE_MCPS
MSRC_CONFIG_TIMEOUT_MACROP
SOFT_RESET_GO2_SOFT_RESET_N
IDENTIFICATION_MODEL_ID
IDENTIFICATION_REVISION_ID
OSC_CALIBRATE_VAL
GLOBAL_CONFIG_VCSEL_WIDTH
GLOBAL_CONFIG_SPAD_ENABLES_REF_0
GLOBAL_CONFIG_SPAD_ENABLES_REF_1
GLOBAL_CONFIG_SPAD_ENABLES_REF_2
GLOBAL_CONFIG_SPAD_ENABLES_REF_3
GLOBAL_CONFIG_SPAD_ENABLES_REF_4
GLOBAL_CONFIG_SPAD_ENABLES_REF_5
GLOBAL_CONFIG_REF_EN_START_SELECT
DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD
DYNAMIC_SPAD_REF_EN_START_OFFSET
POWER_MANAGEMENT_GO1_POWER_FORCE
VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV
ALGO_PHASECAL_LIM
ALGO_PHASECAL_CONFIG_TIMEOUT

Definition at line 31 of file AP_RangeFinder_VL53L0X.cpp.

Variable Documentation

◆ hal

const AP_HAL::HAL& hal

-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

Definition at line 14 of file AC_PID_test.cpp.

Macros

Enumerations