;vl53l0x converted from picaxe
#chip 16F886,8
#option Explicit
#define W_ADDRESS 0xEC
#define R_ADDRESS 0xED
#define VL53Dev 0x52
#define HI2C_BAUD_RATE 400
#define HI2C_DATA PORTC.5
#define HI2C_CLOCK PORTC.4
HI2CMode Master
#define USART_BAUD_RATE 9600
#define USART_TX_BLOCKING
#define USART_DELAY 1 ms
dim VL52ByteValue as byte
dim VL52WordValue as word
dim DATABUFFER_POINTER as byte
'VL53L0x Registers Write and Read
'No. Command Return value Description
'1 0XA0 BYTE1,BYTE2 Word output mode, the output distance is (BYTE1 < 8) &BYTE2;
' the conversion to 10 is the actual measurement distance, the unit is mm
'2 0XA1 BYTE1,BYTE2 VL53L0X initialization (initialization time is 500mS)
'3 0XB0 0XB0 The module baud rate is set to 9600, and it takes effect in time (default)
'4 0XB1 0XB1 The module baud rate is set to 19200, and it takes effect in time
'5 0XB2 0XB2 The module baud rate is set to 115200, and it takes effect in time
'6 0XC0 0XC0 Set up as a long distance measurement mode (default)
'7 0XC1 0XC1 Set up as a high-speed measurement model
'8 0XC2 0XC2 Set to high precision measurement mode (measurement interval is greater than 180mS)
'9 0XD0 0XD0 Set XSHUT to high level, module work normally and initialize module
'10 0XD1 0XD1 Setting XSHUT to low level, VL53L0X closes
'11 0XF0 BYTE1--BYTE4 Current baud rate (MSB)
' BYTE5 0X00 long distance mode 0X01 high speed measurement mode
' 0X02 high precision measurement mode
' BYTE6 The status of the current XSHUT
dim da(14) as byte
'Symbol Da1 = b10
'Symbol Da2 = b11
'Symbol Da3 = b12
'Symbol Da4 = b13
'Symbol Da5 = b14
'Symbol Da6 = b15
'Symbol Da7 = b16
'Symbol Da8 = b17
'Symbol Da9 = b18
'Symbol Da10 = b19
'Symbol Da11 = b20
'Symbol Da12 = b21
'
'Symbol devError = b22
'Symbol datoVL = b23
'Symbol Distance = w12
'Symbol Signal = w13
'Symbol SPAD = w14
'Symbol Ambient = w15
dim devError,datoVL,tmp,addr,ctr as byte
dim Distance,Signal,SPAD,Ambient as word
;hi2csetup I2CMASTER, $52, i2cfast, i2cbyte
'do
; hi2cin $C0,(b0)
rd_byte_verVL53( VL53Dev, 0xC0, VL52ByteValue )
HSerPrint "Device ID 0xEE 0x"
HSerPrint hex(VL52ByteValue)
HSerPrintCRLF
wait 10 ms
; hi2cin $C1,(b0)
rd_byte_verVL53( VL53Dev, 0xC1, VL52ByteValue )
HSerPrint "Address 0xC1 0xAA 0x"
HSerPrint hex(VL52ByteValue)
HSerPrintCRLF
wait 10 ms
; hi2cin $C2,(b0)
rd_byte_verVL53( VL53Dev, 0xC2, VL52ByteValue )
HSerPrint "Revision ID 0x10 0x"
HSerPrint hex(VL52ByteValue)
HSerPrintCRLF
wait 1 s
' Soft reset
'hi2cout $89,($01)
wr_byte_VL52 ( VL53Dev,0x89, 0x01 )
wait 200 ms
do
'Sys range start
';hi2cout $00,($01)
wr_byte_VL52 ( VL53Dev,0x00, 0x01 )
'Read 12 raw data of Sensor:
;hi2cin $14,(da1,da2,da3,da4,da5,da6,da7,da8,da9,da10,da11,da12)
rd_multi_verVL53 ( VL53Dev, 0x14, 12, Da() )
;sertxd (#da1," ",#da2," ",#da3," ",#da4," ",#da5," ",#da6," ",#da7," ",#da8," ",#da9," ",#da10," ",#da11," ",#da12,cr,lf)
for ctr=1 to 12
hserprint str(da(ctr))+" , "
next ctr
hserprintcrlf
'Resolve sensor errors
devError = (Da(1) and 0x78)/8 ;>> 3 ' // Check for errors
hserprint "Status: "
;sertxd("Status: ")
;hserprint str(tmp)
;If devError = $00 Then sertxd ("Data OK!") : endif ' No device error
If devError = 0 Then hserprint "Data OK!"
;If devError = $01 Then sertxd ("VCSEL CONTINUITY TEST FAILURE!") : endif
If devError = 1 Then hserprint "VCSEL CONTINUITY TEST FAILURE!"
;If devError = $02 Then sertxd ("VCSEL WATCHDOG TEST FAILURE!") : endif
If devError = 2 Then hserprint "VCSEL WATCHDOG TEST FAILURE!"
;If devError = $03 Then sertxd ("NO VHV VALUE FOUND!") : endif
If devError = 3 Then hserprint "NO VHV VALUE FOUND!"
;If devError = $04 Then sertxd ("MSRC NO TARGET!") : endif
If devError = 4 Then hserprint "MSRC NO TARGET!"
;If devError = $05 Then sertxd ("SNR CHECK!") : endif
If devError = 5 Then hserprint "SNR CHECK!"
;If devError = $06 Then sertxd ("RANGE PHASE CHECK!") : endif
If devError = 6 Then hserprint "RANGE PHASE CHECK!"
;If devError = $07 Then sertxd ("SIGMA THRESHOLD CHECK!") : endif
If devError = 7 Then hserprint "SIGMA THRESHOLD CHECK!"
;If devError = $08 Then sertxd ("TCC!"): endif
If devError = 8 Then hserprint "TCC!"
;If devError = $09 Then sertxd ("PHASE CONSISTENCY!") : endif
If devError = 9 Then hserprint "PHASE CONSISTENCY!"
;If devError = $0A Then sertxd ("MIN CLIP!" ): endif
If devError = 10 Then hserprint "MIN CLIP!"
;If devError = $0B Then sertxd ("RANGE COMPLETE!") : endif
If devError = 11 Then hserprint "RANGE COMPLETE!"
;If devError = $0C Then sertxd ("ALGO UNDERFLOW!") : endif
If devError = 12 Then hserprint "ALGO UNDERFLOW!"
;If devError = $0D Then sertxd ("ALGO OVERFLOW!") : endif
If devError = 13 Then hserprint "ALGO OVERFLOW!"
;If devError = $0E Then sertxd ("RANGE IGNORE THRESHOLD!") : endif
If devError = 14 Then hserprint "RANGE IGNORE THRESHOLD!"
;sertxd (" (",devError,")",cr,lf)
hserprint "devError= "+str(devError)
hserprintcrlf
'Resolve info of sensor VL53L0x:
'If devError = $00 or devError = $06 update Distance
'If devError = $00 Or devError = $06Then
Distance=Da(10)*256+Da(11)
'endif
'Effective SPAD Return Count
SPAD = Da(2) + Da(3) /255
'Signal Rate
Signal = Da(6)*256+Da(7)
'Ambient Rate
Ambient= Da(8)*256+Da(9)
'Send terminal info:
;sertxd ( "Distance: ", #Distance," mm",13,10 )
hserprint "Distance: "+str(Distance)+" mm"
hserprintcrlf
;sertxd ("Ambient ", #Ambient,"mc/s",13,10 )
hserprint "Ambient "+str(Ambient)+" mc/s"
hserprintcrlf
;sertxd ( "Signal Rate = ",#Signal,"mc/s",13,10 )
hserprint "Signal Rate = "+str(Signal)+" mc/s"
hserprintcrlf
;sertxd ( "SPAD = ",#SPAD,13,10 )
hserprint "SPAD = "+str(SPAD)
hserprintcrlf
wait 5 s
loop
sub rd_byte_verVL53( in VL53Dev as byte, in VL53Addr as byte, out VL53ByteVal as byte )
;read a single byte from an address
#ifdef HI2C_DATA
HI2CStart
HI2CSend(VL53Dev)
HI2CSend(VL53Addr)
HI2CReStart
HI2CSend(VL53Dev or 1) ;set the read flag
HI2CReceive(VL53ByteVal, NACK) ;read one byte and conclude
HI2CStop
#endif
#ifdef I2C_DATA
I2CStart ;generate a start signal
I2CSend(VL53Dev) ;inidcate a write
I2CSend(VL53Addr)
I2CReStart
I2CSend(VL53Dev or 1) ;set the read flag
I2CReceive(VL53ByteVal, NACK) ;read one byte and conclude
I2CStop
I2CAckPoll(VL53Dev) ;wait for buffer write
#endif
end sub
sub rd_word_verVL53( in VL53Dev as byte, in VL53Addr as byte, out VL53WordVal as word )
;read a single byte from an address
#ifdef HI2C_DATA
HI2CStart
HI2CSend(VL53Dev)
HI2CSend(VL53Addr)
HI2CReStart
HI2CSend(VL53Dev or 1) ;set the read flag
HI2CReceive(VL53WordVal_h) ;read one byte and conclude
HI2CReceive(VL53WordVal, NACK) ;read one byte and conclude
HI2CStop
#endif
#ifdef I2C_DATA
I2CStart ;generate a start signal
I2CSend(VL53Dev) ;inidcate a write
I2CSend(VL53Addr)
I2CReStart
I2CSend(VL53Dev or 1) ;set the read flag
I2CReceive(VL53WordVal_h) ;read one byte and conclude
I2CReceive(VL53WordVal, NACK) ;read one byte and conclude
I2CStop
I2CAckPoll(VL53Dev) ;wait for buffer write
#endif
end sub
sub rd_multi_verVL53 ( in VL53Dev as byte, in VL53Addr as byte, in NumOfByteData as byte, out DataBuffer() )
'NumOfByteData--
#ifdef I2C_DATA
I2CStart
I2CSend(VL53Dev) ;Send address
I2CSend(VL53Addr)
I2CReStart
I2CSend(VL53Dev+1) ;indicate a read operation
For DataBuffer_Pointer = 0 to (NumOfByteData -1)
I2CReceive DataBuffer( DataBuffer_Pointer), ACK
next
I2CReceive BME280_DataBuffer( NumOfByteData ) , NACK
I2CStop
#endif
#ifdef HI2C_DATA
HI2CStart
HI2CSend(VL53Dev)
HI2CSend(VL53Addr)
HI2CReStart
HI2CSend(VL53Dev+1) ;indicate a read operation
For DataBuffer_Pointer = 0 to (NumOfByteData -1)
HI2CReceive DataBuffer( DataBuffer_Pointer), ACK
next
HI2CReceive DataBuffer( NumOfByteData ), NACK
HI2CStop
#endif
end sub
sub wr_byte_VL52 ( in VL52Dev as byte, in VL52Address as byte, in VL52_SendByte as byte )
#ifdef I2C_DATA
I2CStart
I2CSend(VL52Dev) ;Send address
I2CSend(VL52Address)
I2CSend(VL52_SendByte) ;Send data
I2CStop
#endif
#ifdef HI2C_DATA
HI2CStart
HI2CSend(VL52Dev)
HI2CSend(VL52Address)
HI2CSend(VL52_SendByte)
HI2CStop
#endif
end sub
