pxt-common-packages/libs/proximity/vl53l0x.ts

Microsoft MakeCode (PXT) common packages

namespace vl53l0x {
    const VL53L0X_SYSRANGE_START = 0x00
    const VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK = 0x0002
    const VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS = 0x29

    const VL53L0X_REG_RESULT_RANGE_STATUS = 0x0014;

    const VL53L0X_REG_SYSTEM_RANGE_CONFIG = 0x0009;

    const VL53L0X_REG_IDENTIFICATION_MODEL_ID = 0x00c0;
    const VL53L0X_REG_IDENTIFICATION_REVISION_ID = 0x00c2;
    const VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x0050;
    const VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x0070;
    const VL53L0X_REG_SYSRANGE_START = 0x0000;


    export class VL53L0X extends sensors.PromixitySensor {
        private _distance: number;
        constructor() {
            super();
            this.init();
            this._distance = -1;
        }

        init() {
            // hoccus pokus!
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0x88, 0x00);
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0x80, 0x01);
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0xFF, 0x01);
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0x00, 0x00);
            pins.i2cReadRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0x91);
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0x91, 0x3c);
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0x00, 0x01);
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0xFF, 0x00);
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0x80, 0x00);

            // abra cadabra!
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0x80, 0x01);
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0xFF, 0x01);
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0x00, 0x00);
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0x91, 0x3c);
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0x00, 0x01);
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0xFF, 0x00);
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 0x80, 0x00);

            // alakazam! (continuous mode)
            pins.i2cWriteRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, VL53L0X_SYSRANGE_START, VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK);
        }

        /*
        printModelRevision() {
            const rev = pins.i2cReadRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, VL53L0X_REG_IDENTIFICATION_REVISION_ID)
            const model = pins.i2cReadRegister(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, VL53L0X_REG_IDENTIFICATION_MODEL_ID)

            control.dmesg("REV: ");
            control.dmesg(rev.toString());
            control.dmesg("model: ");
            control.dmesg(model.toString());
        }
        */

        distance(): number {
            pins.i2cWriteNumber(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, VL53L0X_REG_RESULT_RANGE_STATUS, NumberFormat.UInt8LE)
            const b = pins.i2cReadBuffer(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, 12);
            const dist = ((b[10] & 0xFF) << 8) | (b[11] & 0xFF);

            // control.dmesg("READ: ");
            // control.dmesg(dist.toString());

            if (dist != 20 && dist != 0)
                this._distance = dist;

            return this._distance / 10;
        }
    }
}