MiniR4_MXLaserV2.h File Reference

A library for interfacing with the MATRIX Laser V2 ToF sensor via I2C. More...

#include <Arduino.h>
#include <Wire.h>

Go to the source code of this file.

Classes
class	MatrixLaserV2
	A class for MATRIX Laser V2 ToF sensor. More...

Macros
#define	ADDR_PCA954X   0x70
#define	ADDRESS_DEFAULT   0b0101001
#define	startTimeout()
#define	checkTimeoutExpired()
#define	decodeVcselPeriod(reg_val)
#define	encodeVcselPeriod(period_pclks)
#define	calcMacroPeriod(vcsel_period_pclks)

Detailed Description

A library for interfacing with the MATRIX Laser V2 ToF sensor via I2C.

This class allows reading distance data from the MXLaserV2 sensor. Based on: https://github.com/pololu/vl53l0x-arduino Add: Merge into MiniR4.I2C instance.

Author

MATRIX Robotics

Version

1.0

Date

2024 @license MIT License

Definition in file MiniR4_MXLaserV2.h.

Macro Definition Documentation

ADDR_PCA954X

#define ADDR_PCA954X   0x70

Definition at line 21 of file MiniR4_MXLaserV2.h.

ADDRESS_DEFAULT

#define ADDRESS_DEFAULT   0b0101001

Definition at line 28 of file MiniR4_MXLaserV2.h.

calcMacroPeriod

#define calcMacroPeriod

(

vcsel_period_pclks

)

Value:

((((uint32_t)2304 * (vcsel_period_pclks) * 1655) + 500) / 1000)

Definition at line 48 of file MiniR4_MXLaserV2.h.

checkTimeoutExpired

#define checkTimeoutExpired

(

)

Value:

(io_timeout > 0 && ((uint16_t)(millis() - timeout_start_ms) > io_timeout))

Definition at line 34 of file MiniR4_MXLaserV2.h.

decodeVcselPeriod

#define decodeVcselPeriod

(

reg_val

)

Value:

(((reg_val) + 1) << 1)

Definition at line 39 of file MiniR4_MXLaserV2.h.

encodeVcselPeriod

#define encodeVcselPeriod

(

period_pclks

)

Value:

(((period_pclks) >> 1) - 1)

Definition at line 43 of file MiniR4_MXLaserV2.h.

startTimeout

#define startTimeout

(

)

Value:

(timeout_start_ms = millis())

Definition at line 31 of file MiniR4_MXLaserV2.h.