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distancesensor.ts
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distancesensor.ts
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namespace distanceSensor {
enum DS_Constants {
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,
ADDRESS_DEFAULT = 0x29,
ADDRESS_TARGET = 0x2A
}
enum DS_IndexSequenceStepEnables {
tcc,
msrc,
dss,
pre_range,
final_range
}
enum DS_IndexSequenceStepTimeouts {
pre_range_vcsel_period_pclks,
final_range_vcsel_period_pclks,
msrc_dss_tcc_mclks,
pre_range_mclks,
final_range_mclks,
msrc_dss_tcc_us,
pre_range_us,
final_range_us
}
let DS_VcselPeriodPreRange = 0
let DS_VcselPeriodFinalRange = 1
// "global variables"
let DS_io_timeout = 0
let DS_did_timeout = false
let DS_stop_variable = 0
let DS_timeout_start = 0
let DS_measurement_timing_budget_us = 0
// The I2C address is software programmable (volatile), and defaults to 0x52 >> 1 = 0x29.
// __init__ changes the address (default to 0x54 >> 1 = 0x2A) to prevent conflicts.
let DS_ADDRESS = DS_Constants.ADDRESS_DEFAULT
// I2C functions
function I2C_WriteReg8(addr: number, reg: number, val: number) {
let buf = pins.createBuffer(2)
buf.setNumber(NumberFormat.UInt8BE, 0, reg)
buf.setNumber(NumberFormat.UInt8BE, 1, val)
pins.i2cWriteBuffer(addr, buf)
}
function I2C_WriteReg16(addr: number, reg: number, val: number) {
let buf = pins.createBuffer(3)
buf.setNumber(NumberFormat.UInt8BE, 0, reg)
// Big endian
buf.setNumber(NumberFormat.UInt8BE, 1, ((val >> 8) & 0xFF))
buf.setNumber(NumberFormat.UInt8BE, 2, (val & 0xFF))
pins.i2cWriteBuffer(addr, buf)
}
function I2C_WriteReg32(addr: number, reg: number, val: number) {
let buf = pins.createBuffer(5)
buf.setNumber(NumberFormat.UInt8BE, 0, reg)
// Big endian
buf.setNumber(NumberFormat.UInt8BE, 1, ((val >> 24) & 0xFF))
buf.setNumber(NumberFormat.UInt8BE, 2, ((val >> 16) & 0xFF))
buf.setNumber(NumberFormat.UInt8BE, 3, ((val >> 8) & 0xFF))
buf.setNumber(NumberFormat.UInt8BE, 4, (val & 0xFF))
pins.i2cWriteBuffer(addr, buf)
}
function I2C_WriteRegList(addr: number, reg: number, list: number[], len: number) {
let buf = pins.createBuffer(1 + len)
buf.setNumber(NumberFormat.UInt8BE, 0, reg)
for (let b = 0; b < len; b++) {
buf.setNumber(NumberFormat.UInt8BE, 1 + b, list[b])
}
pins.i2cWriteBuffer(addr, buf)
}
function I2C_ReadReg8(addr: number, reg: number): number {
let buf = pins.createBuffer(1)
buf.setNumber(NumberFormat.UInt8BE, 0, reg)
pins.i2cWriteBuffer(addr, buf)
buf = pins.i2cReadBuffer(addr, 1)
return buf.getNumber(NumberFormat.UInt8BE, 0);
}
function I2C_ReadReg16(addr: number, reg: number): number {
let buf = pins.createBuffer(1)
buf.setNumber(NumberFormat.UInt8BE, 0, reg)
pins.i2cWriteBuffer(addr, buf)
buf = pins.i2cReadBuffer(addr, 2)
// Big endian
return ((buf.getNumber(NumberFormat.UInt8BE, 0) << 8) | buf.getNumber(NumberFormat.UInt8BE, 1));
}
function I2C_ReadReg32(addr: number, reg: number): number {
let buf = pins.createBuffer(1)
buf.setNumber(NumberFormat.UInt8BE, 0, reg)
pins.i2cWriteBuffer(addr, buf)
buf = pins.i2cReadBuffer(addr, 4)
// Big endian
return ((buf.getNumber(NumberFormat.UInt8BE, 0) << 24) | (buf.getNumber(NumberFormat.UInt8BE, 1) << 16) | (buf.getNumber(NumberFormat.UInt8BE, 2) << 8) | buf.getNumber(NumberFormat.UInt8BE, 3));
}
function I2C_ReadRegList(addr: number, reg: number, len: number): number[] {
let buf = pins.createBuffer(1)
buf.setNumber(NumberFormat.UInt8BE, 0, reg)
pins.i2cWriteBuffer(addr, buf)
buf = pins.i2cReadBuffer(addr, len)
let list: number[] = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
for (let b = 0; b < len; b++) {
list[b] = buf.getNumber(NumberFormat.UInt8BE, b);
}
return list
}
function DS_set_address(address: number) {
address &= 0x7f
I2C_WriteReg8(DS_ADDRESS, DS_Constants.I2C_SLAVE_DEVICE_ADDRESS, address)
}
function DS_initialize(): boolean {
// set bit 0
I2C_WriteReg8(DS_ADDRESS, DS_Constants.VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, (I2C_ReadReg8(DS_ADDRESS, DS_Constants.VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV) | 0x01))
// "Set I2C standard mode"
I2C_WriteReg8(DS_ADDRESS, 0x88, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x80, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x00, 0x00)
DS_stop_variable = I2C_ReadReg8(DS_ADDRESS, 0x91)
I2C_WriteReg8(DS_ADDRESS, 0x00, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x80, 0x00)
// disable SIGNAL_RATE_MSRC (bit 1) and SIGNAL_RATE_PRE_RANGE (bit 4) limit checks
I2C_WriteReg8(DS_ADDRESS, DS_Constants.MSRC_CONFIG_CONTROL, (I2C_ReadReg8(DS_ADDRESS, DS_Constants.MSRC_CONFIG_CONTROL) | 0x12))
// set final range signal rate limit to 0.25 MCPS (million counts per second)
// 0.25 * (1 << 7) = 32
setSignalRateLimitRaw(32)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SYSTEM_SEQUENCE_CONFIG, 0xFF)
// VL53L0X_DataInit() end
// VL53L0X_StaticInit() begin
let DS_get_spad_info_result = DS_get_spad_info()
let spad_count = DS_get_spad_info_result[0]
let spad_type_is_aperture = DS_get_spad_info_result[1]
let success = DS_get_spad_info_result[2]
if (!success) {
return false
}
// The SPAD map (RefGoodSpadMap) is read by VL53L0X_get_info_from_device() in
// the API, but the same data seems to be more easily readable from
// GLOBAL_CONFIG_SPAD_ENABLES_REF_0 through _6, so read it from there
let ref_spad_map = I2C_ReadRegList(DS_ADDRESS, DS_Constants.GLOBAL_CONFIG_SPAD_ENABLES_REF_0, 6)
// -- VL53L0X_set_reference_spads() begin (assume NVM values are valid)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.GLOBAL_CONFIG_REF_EN_START_SELECT, 0xB4)
let first_spad_to_enable = 0
if (spad_type_is_aperture) {
first_spad_to_enable = 12 // 12 is the first aperture spad
}
let spads_enabled = 0
for (let i = 0; i < 48; i++) {
if (i < first_spad_to_enable || spads_enabled == spad_count) {
// This bit is lower than the first one that should be enabled, or
// (reference_spad_count) bits have already been enabled, so zero this bit
ref_spad_map[Math.idiv(i, 8)] &= (0xFF - (1 << (i % 8))) // bitwise NOT `~` does not work. Use `0xFF -` instead
} else if ((ref_spad_map[Math.idiv(i, 8)] >> (i % 8)) & 0x1) {
spads_enabled += 1
}
}
I2C_WriteRegList(DS_ADDRESS, DS_Constants.GLOBAL_CONFIG_SPAD_ENABLES_REF_0, ref_spad_map, 6)
// -- VL53L0X_set_reference_spads() end
// -- VL53L0X_load_tuning_settings() begin
// DefaultTuningSettings from vl53l0x_tuning.h
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x00, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x09, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x10, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x11, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x24, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x25, 0xFF)
I2C_WriteReg8(DS_ADDRESS, 0x75, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x4E, 0x2C)
I2C_WriteReg8(DS_ADDRESS, 0x48, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x30, 0x20)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x30, 0x09)
I2C_WriteReg8(DS_ADDRESS, 0x54, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x31, 0x04)
I2C_WriteReg8(DS_ADDRESS, 0x32, 0x03)
I2C_WriteReg8(DS_ADDRESS, 0x40, 0x83)
I2C_WriteReg8(DS_ADDRESS, 0x46, 0x25)
I2C_WriteReg8(DS_ADDRESS, 0x60, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x27, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x50, 0x06)
I2C_WriteReg8(DS_ADDRESS, 0x51, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x52, 0x96)
I2C_WriteReg8(DS_ADDRESS, 0x56, 0x08)
I2C_WriteReg8(DS_ADDRESS, 0x57, 0x30)
I2C_WriteReg8(DS_ADDRESS, 0x61, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x62, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x64, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x65, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x66, 0xA0)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x22, 0x32)
I2C_WriteReg8(DS_ADDRESS, 0x47, 0x14)
I2C_WriteReg8(DS_ADDRESS, 0x49, 0xFF)
I2C_WriteReg8(DS_ADDRESS, 0x4A, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x7A, 0x0A)
I2C_WriteReg8(DS_ADDRESS, 0x7B, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x78, 0x21)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x23, 0x34)
I2C_WriteReg8(DS_ADDRESS, 0x42, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x44, 0xFF)
I2C_WriteReg8(DS_ADDRESS, 0x45, 0x26)
I2C_WriteReg8(DS_ADDRESS, 0x46, 0x05)
I2C_WriteReg8(DS_ADDRESS, 0x40, 0x40)
I2C_WriteReg8(DS_ADDRESS, 0x0E, 0x06)
I2C_WriteReg8(DS_ADDRESS, 0x20, 0x1A)
I2C_WriteReg8(DS_ADDRESS, 0x43, 0x40)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x34, 0x03)
I2C_WriteReg8(DS_ADDRESS, 0x35, 0x44)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x31, 0x04)
I2C_WriteReg8(DS_ADDRESS, 0x4B, 0x09)
I2C_WriteReg8(DS_ADDRESS, 0x4C, 0x05)
I2C_WriteReg8(DS_ADDRESS, 0x4D, 0x04)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x44, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x45, 0x20)
I2C_WriteReg8(DS_ADDRESS, 0x47, 0x08)
I2C_WriteReg8(DS_ADDRESS, 0x48, 0x28)
I2C_WriteReg8(DS_ADDRESS, 0x67, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x70, 0x04)
I2C_WriteReg8(DS_ADDRESS, 0x71, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x72, 0xFE)
I2C_WriteReg8(DS_ADDRESS, 0x76, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x77, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x0D, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x80, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x01, 0xF8)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x8E, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x00, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x80, 0x00)
// -- VL53L0X_load_tuning_settings() end
// "Set interrupt config to new sample ready"
// -- VL53L0X_SetGpioConfig() begin
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SYSTEM_INTERRUPT_CONFIG_GPIO, 0x04)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.GPIO_HV_MUX_ACTIVE_HIGH, (I2C_ReadReg8(DS_ADDRESS, DS_Constants.GPIO_HV_MUX_ACTIVE_HIGH) & (0xFF - 0x04))) // active low // bitwise NOT `~` does not work. Use `0xFF -` instead
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SYSTEM_INTERRUPT_CLEAR, 0x01)
// -- VL53L0X_SetGpioConfig() end
DS_measurement_timing_budget_us = DS_get_measurement_timing_budget()
// "Disable MSRC and TCC by default"
// MSRC = Minimum Signal Rate Check
// TCC = Target CentreCheck
// -- VL53L0X_SetSequenceStepEnable() begin
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SYSTEM_SEQUENCE_CONFIG, 0xE8)
// -- VL53L0X_SetSequenceStepEnable() end
// "Recalculate timing budget"
DS_set_measurement_timing_budget(DS_measurement_timing_budget_us)
// VL53L0X_StaticInit() end
// VL53L0X_PerformRefCalibration() begin (VL53L0X_perform_ref_calibration())
// -- VL53L0X_perform_vhv_calibration() begin
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SYSTEM_SEQUENCE_CONFIG, 0x01)
if (!DS_perform_single_ref_calibration(0x40)) {
return false
}
// -- VL53L0X_perform_vhv_calibration() end
// -- VL53L0X_perform_phase_calibration() begin
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SYSTEM_SEQUENCE_CONFIG, 0x02)
if (!DS_perform_single_ref_calibration(0x00)) {
return false
}
// -- VL53L0X_perform_phase_calibration() end
// "restore the previous Sequence Config"
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SYSTEM_SEQUENCE_CONFIG, 0xE8)
// VL53L0X_PerformRefCalibration() end
return true
}
function DS_set_timeout(timeout: number) {
DS_io_timeout = timeout
}
// Get reference SPAD (single photon avalanche diode) count and type
// based on VL53L0X_get_info_from_device(),
// but only gets reference SPAD count and type
function DS_get_spad_info(): number[] {
I2C_WriteReg8(DS_ADDRESS, 0x80, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x00, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x06)
I2C_WriteReg8(DS_ADDRESS, 0x83, (I2C_ReadReg8(DS_ADDRESS, 0x83) | 0x04))
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x07)
I2C_WriteReg8(DS_ADDRESS, 0x81, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x80, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x94, 0x6b)
I2C_WriteReg8(DS_ADDRESS, 0x83, 0x00)
DS_start_timeout()
let return_values: number[] = [0, 0, 0];
while (I2C_ReadReg8(DS_ADDRESS, 0x83) == 0x00) {
if (DS_check_timeout_expired()) {
return return_values
}
}
I2C_WriteReg8(DS_ADDRESS, 0x83, 0x01)
let tmp = I2C_ReadReg8(DS_ADDRESS, 0x92)
let count = tmp & 0x7f
let type_is_aperture = (tmp >> 7) & 0x01
I2C_WriteReg8(DS_ADDRESS, 0x81, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x06)
I2C_WriteReg8(DS_ADDRESS, 0x83, (I2C_ReadReg8(DS_ADDRESS, 0x83) & (0xFF - 0x04))) // bitwise NOT `~` does not work. Use `0xFF -` instead
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x00, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x80, 0x00)
return_values[0] = count
return_values[1] = type_is_aperture
return_values[2] = 1
return return_values
}
// Check if timeout is enabled (set to nonzero value) and has expired
function DS_check_timeout_expired(): boolean {
if (DS_io_timeout > 0 && ((input.runningTimeMicros() / 1000) - DS_timeout_start) > DS_io_timeout) {
return true
}
return false
}
// Record the current time to check an upcoming timeout against
function DS_start_timeout() {
DS_timeout_start = (input.runningTimeMicros() / 1000)
}
function DS_get_measurement_timing_budget(): number {
let StartOverhead = 1910 // note that this is different than the value in set_
let EndOverhead = 960
let MsrcOverhead = 660
let TccOverhead = 590
let DssOverhead = 690
let PreRangeOverhead = 660
let FinalRangeOverhead = 550
// "Start and end overhead times always present"
let budget_us = StartOverhead + EndOverhead
let enables = DS_get_sequence_step_enables()
let timeouts = DS_get_sequence_step_timeouts(enables[DS_IndexSequenceStepEnables.pre_range])
if (enables[DS_IndexSequenceStepEnables.tcc]) {
budget_us += (timeouts[DS_IndexSequenceStepTimeouts.msrc_dss_tcc_us] + TccOverhead)
}
if (enables[DS_IndexSequenceStepEnables.dss]) {
budget_us += 2 * (timeouts[DS_IndexSequenceStepTimeouts.msrc_dss_tcc_us] + DssOverhead)
} else if (enables[DS_IndexSequenceStepEnables.msrc]) {
budget_us += (timeouts[DS_IndexSequenceStepTimeouts.msrc_dss_tcc_us] + MsrcOverhead)
}
if (enables[DS_IndexSequenceStepEnables.pre_range]) {
budget_us += (timeouts[DS_IndexSequenceStepTimeouts.pre_range_us] + PreRangeOverhead)
}
if (enables[DS_IndexSequenceStepEnables.final_range]) {
budget_us += (timeouts[DS_IndexSequenceStepTimeouts.final_range_us] + FinalRangeOverhead)
}
DS_measurement_timing_budget_us = budget_us // store for internal reuse
return budget_us
}
// Get sequence step enables
// based on VL53L0X_get_sequence_step_enables()
function DS_get_sequence_step_enables(): number[] {
let sequence_config = I2C_ReadReg8(DS_ADDRESS, DS_Constants.SYSTEM_SEQUENCE_CONFIG)
let SequenceStepEnables: number[] = [0, 0, 0, 0, 0]
SequenceStepEnables[DS_IndexSequenceStepEnables.tcc] = (sequence_config >> 4) & 0x1
SequenceStepEnables[DS_IndexSequenceStepEnables.dss] = (sequence_config >> 3) & 0x1
SequenceStepEnables[DS_IndexSequenceStepEnables.msrc] = (sequence_config >> 2) & 0x1
SequenceStepEnables[DS_IndexSequenceStepEnables.pre_range] = (sequence_config >> 6) & 0x1
SequenceStepEnables[DS_IndexSequenceStepEnables.final_range] = (sequence_config >> 7) & 0x1
return SequenceStepEnables
}
// Get sequence step timeouts
// based on get_sequence_step_timeout(),
// but gets all timeouts instead of just the requested one, and also stores
// intermediate values
function DS_get_sequence_step_timeouts(pre_range: number): number[] {
let SequenceStepTimeouts: number[] = [0, 0, 0, 0, 0, 0, 0, 0]
SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.pre_range_vcsel_period_pclks] = getVcselPulsePeriod(DS_VcselPeriodPreRange)
SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.msrc_dss_tcc_mclks] = I2C_ReadReg8(DS_ADDRESS, DS_Constants.MSRC_CONFIG_TIMEOUT_MACROP) + 1
SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.msrc_dss_tcc_us] = DS_timeout_mclks_to_microseconds(SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.msrc_dss_tcc_mclks], SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.pre_range_vcsel_period_pclks])
SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.pre_range_mclks] = DS_decode_timeout(I2C_ReadReg16(DS_ADDRESS, DS_Constants.PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI))
SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.pre_range_us] = DS_timeout_mclks_to_microseconds(SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.pre_range_mclks], SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.pre_range_vcsel_period_pclks])
SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.final_range_vcsel_period_pclks] = getVcselPulsePeriod(DS_VcselPeriodFinalRange)
SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.final_range_mclks] = DS_decode_timeout(I2C_ReadReg16(DS_ADDRESS, DS_Constants.FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI))
if (pre_range) {
SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.final_range_mclks] -= SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.pre_range_mclks]
}
SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.final_range_us] = DS_timeout_mclks_to_microseconds(SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.final_range_mclks], SequenceStepTimeouts[DS_IndexSequenceStepTimeouts.final_range_vcsel_period_pclks])
return SequenceStepTimeouts
}
// Decode VCSEL (vertical cavity surface emitting laser) pulse period in PCLKs
// from register value
// based on VL53L0X_decode_vcsel_period()
function DS_decode_vcsel_period(reg_val: number): number {
return (((reg_val) + 1) << 1)
}
// Get the VCSEL pulse period in PCLKs for the given period type.
// based on VL53L0X_get_vcsel_pulse_period()
function getVcselPulsePeriod(type: number): number {
if (type == DS_VcselPeriodPreRange) {
return DS_decode_vcsel_period(I2C_ReadReg8(DS_ADDRESS, DS_Constants.PRE_RANGE_CONFIG_VCSEL_PERIOD))
} else if (type == DS_VcselPeriodFinalRange) {
return DS_decode_vcsel_period(I2C_ReadReg8(DS_ADDRESS, DS_Constants.FINAL_RANGE_CONFIG_VCSEL_PERIOD))
} else {
return 255
}
}
// Convert sequence step timeout from MCLKs to microseconds with given VCSEL period in PCLKs
// based on VL53L0X_calc_timeout_us()
function DS_timeout_mclks_to_microseconds(timeout_period_mclks: number, vcsel_period_pclks: number): number {
let macro_period_ns = DS_calc_macro_period(vcsel_period_pclks)
return ((timeout_period_mclks * macro_period_ns) + (macro_period_ns / 2)) / 1000
}
// Calculate macro period in *nanoseconds* from VCSEL period in PCLKs
// based on VL53L0X_calc_macro_period_ps()
// PLL_period_ps = 1655; macro_period_vclks = 2304
function DS_calc_macro_period(vcsel_period_pclks: number): number {
return (((2304 * vcsel_period_pclks * 1655) + 500) / 1000)
}
// Decode sequence step timeout in MCLKs from register value
// based on VL53L0X_decode_timeout()
// Note: the original function returned a uint32_t, but the return value is
//always stored in a uint16_t.
function DS_decode_timeout(reg_val: number): number {
// format: "(LSByte * 2^MSByte) + 1"
return ((reg_val & 0x00FF) << ((reg_val & 0xFF00) >> 8)) + 1;
}
// Set the measurement timing budget in microseconds, which is the time allowed
// for one measurement the ST API and this library take care of splitting the
// timing budget among the sub-steps in the ranging sequence. A longer timing
// budget allows for more accurate measurements. Increasing the budget by a
// factor of N decreases the range measurement standard deviation by a factor of
// sqrt(N). Defaults to about 33 milliseconds the minimum is 20 ms.
// based on VL53L0X_set_measurement_timing_budget_micro_seconds()
function DS_set_measurement_timing_budget(budget_us: number): boolean {
let StartOverhead = 1320 // note that this is different than the value in get_
let EndOverhead = 960
let MsrcOverhead = 660
let TccOverhead = 590
let DssOverhead = 690
let PreRangeOverhead = 660
let FinalRangeOverhead = 550
let MinTimingBudget = 20000
if (budget_us < MinTimingBudget) {
return false
}
let used_budget_us = StartOverhead + EndOverhead
let enables = DS_get_sequence_step_enables()
let timeouts = DS_get_sequence_step_timeouts(enables[DS_IndexSequenceStepEnables.pre_range])
if (enables[DS_IndexSequenceStepEnables.tcc]) {
used_budget_us += (timeouts[DS_IndexSequenceStepTimeouts.msrc_dss_tcc_us] + TccOverhead)
}
if (enables[DS_IndexSequenceStepEnables.dss]) {
used_budget_us += 2 * (timeouts[DS_IndexSequenceStepTimeouts.msrc_dss_tcc_us] + DssOverhead)
} else if (enables[DS_IndexSequenceStepEnables.msrc]) {
used_budget_us += (timeouts[DS_IndexSequenceStepTimeouts.msrc_dss_tcc_us] + MsrcOverhead)
}
if (enables[DS_IndexSequenceStepEnables.pre_range]) {
used_budget_us += (timeouts[DS_IndexSequenceStepTimeouts.pre_range_us] + PreRangeOverhead)
}
if (enables[DS_IndexSequenceStepEnables.final_range]) {
used_budget_us += FinalRangeOverhead
// "Note that the final range timeout is determined by the timing
// budget and the sum of all other timeouts within the sequence.
// If there is no room for the final range timeout, then an error
// will be set. Otherwise the remaining time will be applied to
// the final range."
if (used_budget_us > budget_us) {
// "Requested timeout too big."
return false
}
let final_range_timeout_us = budget_us - used_budget_us
// set_sequence_step_timeout() begin
// (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE)
// "For the final range timeout, the pre-range timeout
// must be added. To do this both final and pre-range
// timeouts must be expressed in macro periods MClks
// because they have different vcsel periods."
let final_range_timeout_mclks = DS_timeout_microseconds_to_mclks(final_range_timeout_us, timeouts[DS_IndexSequenceStepTimeouts.final_range_vcsel_period_pclks])
if (enables[DS_IndexSequenceStepEnables.pre_range]) {
final_range_timeout_mclks += timeouts[DS_IndexSequenceStepTimeouts.pre_range_mclks]
}
I2C_WriteReg16(DS_ADDRESS, DS_Constants.FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, DS_encode_timeout(final_range_timeout_mclks))
// set_sequence_step_timeout() end
DS_measurement_timing_budget_us = budget_us // store for internal reuse
}
return true
}
// Encode sequence step timeout register value from timeout in MCLKs
// based on VL53L0X_encode_timeout()
// Note: the original function took a uint16_t, but the argument passed to it
// is always a uint16_t.
function DS_encode_timeout(timeout_mclks: number): number {
// format: "(LSByte * 2^MSByte) + 1"
let ls_byte = 0
let ms_byte = 0
if (timeout_mclks > 0) {
ls_byte = timeout_mclks - 1
while (ls_byte > 255) { //while ((ls_byte & 0xFFFFFF00) > 0){
ls_byte /= 2 // >>=
ms_byte += 1
}
return ((ms_byte << 8) | (ls_byte & 0xFF))
} else {
return 0
}
}
// Convert sequence step timeout from microseconds to MCLKs with given VCSEL period in PCLKs
// based on VL53L0X_calc_timeout_mclks()
function DS_timeout_microseconds_to_mclks(timeout_period_us: number, vcsel_period_pclks: number): number {
let macro_period_ns = DS_calc_macro_period(vcsel_period_pclks)
return (((timeout_period_us * 1000) + (macro_period_ns / 2)) / macro_period_ns)
}
// based on VL53L0X_perform_single_ref_calibration()
function DS_perform_single_ref_calibration(vhv_init_byte: number): boolean {
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SYSRANGE_START, 0x01 | vhv_init_byte) // VL53L0X_REG_SYSRANGE_MODE_START_STOP
DS_start_timeout()
while ((I2C_ReadReg8(DS_ADDRESS, DS_Constants.RESULT_INTERRUPT_STATUS) & 0x07) == 0) {
if (DS_check_timeout_expired()) {
return false
}
}
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SYSTEM_INTERRUPT_CLEAR, 0x01)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SYSRANGE_START, 0x00)
return true
}
// Did a timeout occur in one of the read functions since the last call to
// timeout_occurred()?
function timeoutOccurred(): boolean {
let tmp = DS_did_timeout
DS_did_timeout = false
return tmp
}
// Encode VCSEL pulse period register value from period in PCLKs
// based on VL53L0X_encode_vcsel_period()
function encodeVcselPeriod(period_pclks: number): number {
return ((period_pclks >> 1) - 1)
}
//
// Distance Sensor exported functions
//
export function vcselPeriodPreRange() {
return DS_VcselPeriodPreRange
}
export function vcselPeriodFinalRange() {
return DS_VcselPeriodFinalRange
}
export function init() {
// try resetting from ADDRESS_TARGET
I2C_WriteReg8(DS_Constants.ADDRESS_TARGET, DS_Constants.SOFT_RESET_GO2_SOFT_RESET_N, 0x00)
DS_ADDRESS = DS_Constants.ADDRESS_DEFAULT
basic.pause(2)
// reset ADDRESS_DEFAULT
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SOFT_RESET_GO2_SOFT_RESET_N, 0x00)
basic.pause(5)
// release reset
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SOFT_RESET_GO2_SOFT_RESET_N, 0x01)
basic.pause(5)
DS_set_address(DS_Constants.ADDRESS_TARGET)
DS_ADDRESS = DS_Constants.ADDRESS_TARGET
// initialize the sensor
DS_initialize()
// set the timeout
DS_set_timeout(500) // 0.5 seconds
}
// Start continuous ranging measurements. If period_ms (optional) is 0 or not
// given, continuous back-to-back mode is used (the sensor takes measurements as
// often as possible) otherwise, continuous timed mode is used, with the given
// inter-measurement period in milliseconds determining how often the sensor
// takes a measurement.
// based on VL53L0X_StartMeasurement()
export function startContinuous(period_ms: number) { // period_ms = 0
I2C_WriteReg8(DS_ADDRESS, 0x80, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0x00, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x91, DS_stop_variable)
I2C_WriteReg8(DS_ADDRESS, 0x00, 0x01)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
I2C_WriteReg8(DS_ADDRESS, 0x80, 0x00)
if (period_ms != 0) {
// continuous timed mode
// VL53L0X_SetInterMeasurementPeriodMilliSeconds() begin
let osc_calibrate_val = I2C_ReadReg16(DS_ADDRESS, DS_Constants.OSC_CALIBRATE_VAL)
if (osc_calibrate_val != 0) {
period_ms *= osc_calibrate_val
}
I2C_WriteReg32(DS_ADDRESS, DS_Constants.SYSTEM_INTERMEASUREMENT_PERIOD, period_ms)
// VL53L0X_SetInterMeasurementPeriodMilliSeconds() end
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SYSRANGE_START, 0x04) // VL53L0X_REG_SYSRANGE_MODE_TIMED
} else {
// continuous back-to-back mode
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SYSRANGE_START, 0x02) // VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK
}
}
// Set the return signal rate limit check value in units of MCPS (mega counts
// per second). "This represents the amplitude of the signal reflected from the
// target and detected by the device"; setting this limit presumably determines
// the minimum measurement necessary for the sensor to report a valid reading.
// Setting a lower limit increases the potential range of the sensor but also
// seems to increase the likelihood of getting an inaccurate reading because of
// unwanted reflections from objects other than the intended target.
// Defaults to 0.25 MCPS as initialized by the ST API and this library.
export function setSignalRateLimitRaw(limit_Mcps_raw: number) {
// Being called with a constant, don't bother checking range and returning a value.
//if (limit_Mcps < 0 or limit_Mcps > 65535):
// return false
// Q9.7 fixed point format (9 integer bits, 7 fractional bits)
I2C_WriteReg16(DS_ADDRESS, DS_Constants.FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, limit_Mcps_raw)
//return true
}
// Returns a range reading in millimeters when continuous mode is active
// (DS_read_range_single_millimeters() also calls this function after starting a
// single-shot range measurement)
export function readRangeContinuousMillimeters(): number {
DS_start_timeout()
while ((I2C_ReadReg8(DS_ADDRESS, DS_Constants.RESULT_INTERRUPT_STATUS) & 0x07) == 0) {
if (DS_check_timeout_expired()) {
DS_did_timeout = true
return -1 // timeout
}
}
// assumptions: Linearity Corrective Gain is 1000 (default)
// fractional ranging is not enabled
let range = I2C_ReadReg16(DS_ADDRESS, DS_Constants.RESULT_RANGE_STATUS + 10)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.SYSTEM_INTERRUPT_CLEAR, 0x01)
return range
}
// Set the VCSEL (vertical cavity surface emitting laser) pulse period for the
// given period type (pre-range or final range) to the given value in PCLKs.
// Longer periods seem to increase the potential range of the sensor.
// Valid values are (even numbers only):
// pre: 12 to 18 (initialized default: 14)
// final: 8 to 14 (initialized default: 10)
// based on VL53L0X_setVcselPulsePeriod()
export function setVcselPulsePeriod(type: number, period_pclks: number): boolean {
let vcsel_period_reg = encodeVcselPeriod(period_pclks)
let enables = DS_get_sequence_step_enables()
let timeouts = DS_get_sequence_step_timeouts(enables[DS_IndexSequenceStepEnables.pre_range])
// "Apply specific settings for the requested clock period"
// "Re-calculate and apply timeouts, in macro periods"
// "When the VCSEL period for the pre or final range is changed,
// the corresponding timeout must be read from the device using
// the current VCSEL period, then the new VCSEL period can be
// applied. The timeout then must be written back to the device
// using the new VCSEL period.
//
// For the MSRC timeout, the same applies - this timeout being
// dependant on the pre-range vcsel period."
if (type == DS_VcselPeriodPreRange) {
// "Set phase check limits"
if (period_pclks == 12) {
I2C_WriteReg8(DS_ADDRESS, DS_Constants.PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x18)
} else if (period_pclks == 14) {
I2C_WriteReg8(DS_ADDRESS, DS_Constants.PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x30)
} else if (period_pclks == 16) {
I2C_WriteReg8(DS_ADDRESS, DS_Constants.PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x40)
} else if (period_pclks == 18) {
I2C_WriteReg8(DS_ADDRESS, DS_Constants.PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x50)
} else {
return false
}
I2C_WriteReg8(DS_ADDRESS, DS_Constants.PRE_RANGE_CONFIG_VALID_PHASE_LOW, 0x08)
// apply new VCSEL period
I2C_WriteReg8(DS_ADDRESS, DS_Constants.PRE_RANGE_CONFIG_VCSEL_PERIOD, vcsel_period_reg)
// update timeouts
// set_sequence_step_timeout() begin
// (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE)
let new_pre_range_timeout_mclks = DS_timeout_microseconds_to_mclks(timeouts[DS_IndexSequenceStepTimeouts.pre_range_us], period_pclks)
I2C_WriteReg16(DS_ADDRESS, DS_Constants.PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, DS_encode_timeout(new_pre_range_timeout_mclks))
// set_sequence_step_timeout() end
// set_sequence_step_timeout() begin
// (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)
let new_msrc_timeout_mclks = DS_timeout_microseconds_to_mclks(timeouts[DS_IndexSequenceStepTimeouts.msrc_dss_tcc_us], period_pclks)
if (new_msrc_timeout_mclks > 256) {
I2C_WriteReg8(DS_ADDRESS, DS_Constants.MSRC_CONFIG_TIMEOUT_MACROP, 255)
} else {
I2C_WriteReg8(DS_ADDRESS, DS_Constants.MSRC_CONFIG_TIMEOUT_MACROP, (new_msrc_timeout_mclks - 1))
}
// set_sequence_step_timeout() end
} else if (type == DS_VcselPeriodFinalRange) {
if (period_pclks == 8) {
I2C_WriteReg8(DS_ADDRESS, DS_Constants.FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x10)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.GLOBAL_CONFIG_VCSEL_WIDTH, 0x02)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.ALGO_PHASECAL_LIM, 0x30)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
} else if (period_pclks == 10) {
I2C_WriteReg8(DS_ADDRESS, DS_Constants.FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x28)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.GLOBAL_CONFIG_VCSEL_WIDTH, 0x03)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.ALGO_PHASECAL_LIM, 0x20)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
} else if (period_pclks == 12) {
I2C_WriteReg8(DS_ADDRESS, DS_Constants.FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x38)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.GLOBAL_CONFIG_VCSEL_WIDTH, 0x03)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.ALGO_PHASECAL_LIM, 0x20)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
} else if (period_pclks == 14) {
I2C_WriteReg8(DS_ADDRESS, DS_Constants.FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x48)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.GLOBAL_CONFIG_VCSEL_WIDTH, 0x03)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x01)
I2C_WriteReg8(DS_ADDRESS, DS_Constants.ALGO_PHASECAL_LIM, 0x20)
I2C_WriteReg8(DS_ADDRESS, 0xFF, 0x00)
} else {
// invalid period
return false
}
// apply new VCSEL period
I2C_WriteReg8(DS_ADDRESS, DS_Constants.FINAL_RANGE_CONFIG_VCSEL_PERIOD, vcsel_period_reg)
// update timeouts
// set_sequence_step_timeout() begin
// (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE)
// "For the final range timeout, the pre-range timeout
// must be added. To do this both final and pre-range
// timeouts must be expressed in macro periods MClks
// because they have different vcsel periods."
let new_final_range_timeout_mclks = DS_timeout_microseconds_to_mclks(timeouts[DS_IndexSequenceStepTimeouts.final_range_us], period_pclks)
if (enables[DS_IndexSequenceStepEnables.pre_range]) {
new_final_range_timeout_mclks += timeouts[DS_IndexSequenceStepTimeouts.pre_range_mclks]
}
I2C_WriteReg16(DS_ADDRESS, DS_Constants.FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, DS_encode_timeout(new_final_range_timeout_mclks))
// set_sequence_step_timeout end
} else {
// invalid type
return false
}