adding ability to set optical center

Author: AndyEngland521

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun VL53L1X 4m Laser Distance Sensor
-version=1.1.6
+version=1.2.0
 author=SparkFun Electronics <[email protected]>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for the SparkFun Qwiic 4m Distance Sensor - VL53L1X

src/SparkFun_VL53L1X.cpp

@@ -1,3 +1,27 @@
+/*
+  This is a library written for the VL53L1X I2C Distance sensor.
+
+  Written by Andy England @ SparkFun Electronics, October 17th, 2017
+
+  The sensor uses I2C to communicate, as well as a single (optional)
+  interrupt line that is not currently supported in this driver.
+
+  https://github.com/sparkfun/SparkFun_VL53L1X_Arduino_Library
+
+  Do you like this library? Help support SparkFun. Buy a board!
+
+  Development environment specifics:
+  Arduino IDE 1.8.1
+
+  This program is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
 #include <stdlib.h>
 #include "Arduino.h"
 #include "SparkFun_VL53L1X.h"
@@ -273,9 +297,9 @@ uint16_t SFEVL53L1X::getDistanceThresholdHigh()
 	return temp;
 }
 
-void SFEVL53L1X::setROI(uint16_t x, uint16_t y)
+void SFEVL53L1X::setROI(uint8_t x, uint8_t y, uint8_t opticalCenter)
 {
-	_device->VL53L1X_SetROI(x, x);
+	_device->VL53L1X_SetROI(x, y, opticalCenter);
 }
 
 uint16_t SFEVL53L1X::getROIX()

src/SparkFun_VL53L1X.h

@@ -1,3 +1,27 @@
+/*
+  This is a library written for the VL53L1X I2C Distance sensor.
+
+  Written by Andy England @ SparkFun Electronics, October 17th, 2017
+
+  The sensor uses I2C to communicate, as well as a single (optional)
+  interrupt line that is not currently supported in this driver.
+
+  https://github.com/sparkfun/SparkFun_VL53L1X_Arduino_Library
+
+  Do you like this library? Help support SparkFun. Buy a board!
+
+  Development environment specifics:
+  Arduino IDE 1.8.1
+
+  This program is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
 #pragma once
 
 #include "Arduino.h"
@@ -53,7 +77,28 @@ class SFEVL53L1X
 	uint16_t getDistanceThresholdWindow(); //Returns distance threshold window option
 	uint16_t getDistanceThresholdLow(); //Returns lower bound in mm.
 	uint16_t getDistanceThresholdHigh(); //Returns upper bound in mm
-	void setROI(uint16_t x, uint16_t y); //Set the height and width of the ROI in SPADs, lowest possible option is 4. ROI is always centered.
+	/**Table of Optical Centers**
+	*
+	* 128,136,144,152,160,168,176,184,  192,200,208,216,224,232,240,248
+	* 129,137,145,153,161,169,177,185,  193,201,209,217,225,233,241,249
+	* 130,138,146,154,162,170,178,186,  194,202,210,218,226,234,242,250
+	* 131,139,147,155,163,171,179,187,  195,203,211,219,227,235,243,251
+	* 132,140,148,156,164,172,180,188,  196,204,212,220,228,236,244,252
+	* 133,141,149,157,165,173,181,189,  197,205,213,221,229,237,245,253
+	* 134,142,150,158,166,174,182,190,  198,206,214,222,230,238,246,254
+	* 135,143,151,159,167,175,183,191,  199,207,215,223,231,239,247,255
+	
+	* 127,119,111,103, 95, 87, 79, 71,  63, 55, 47, 39, 31, 23, 15, 7
+	* 126,118,110,102, 94, 86, 78, 70,  62, 54, 46, 38, 30, 22, 14, 6
+	* 125,117,109,101, 93, 85, 77, 69,  61, 53, 45, 37, 29, 21, 13, 5
+	* 124,116,108,100, 92, 84, 76, 68,  60, 52, 44, 36, 28, 20, 12, 4
+	* 123,115,107, 99, 91, 83, 75, 67,  59, 51, 43, 35, 27, 19, 11, 3
+	* 122,114,106, 98, 90, 82, 74, 66,  58, 50, 42, 34, 26, 18, 10, 2
+	* 121,113,105, 97, 89, 81, 73, 65,  57, 49, 41, 33, 25, 17, 9, 1
+	* 120,112,104, 96, 88, 80, 72, 64,  56, 48, 40, 32, 24, 16, 8, 0 Pin 1
+	*
+	* To set the center, set the pad that is to the right and above the exact center of the region you'd like to measure as your opticalCenter*/
+	void setROI(uint8_t x, uint8_t y, uint8_t opticalCenter); //Set the height and width of the ROI(region of interest) in SPADs, lowest possible option is 4. Set optical center based on above table
 	uint16_t getROIX(); //Returns the width of the ROI in SPADs
 	uint16_t getROIY(); //Returns the height of the ROI in SPADs
 	void setSignalThreshold(uint16_t signalThreshold); //Programs the necessary threshold to trigger a measurement. Default is 1024 kcps.

src/vl53l1x_class.cpp

@@ -738,20 +738,19 @@ VL53L1X_ERROR VL53L1X::VL53L1X_GetDistanceThresholdHigh(uint16_t *high)
 	return status;
 }
 
-VL53L1X_ERROR VL53L1X::VL53L1X_SetROI(uint16_t X, uint16_t Y)
+VL53L1X_ERROR VL53L1X::VL53L1X_SetROI(uint8_t X, uint8_t Y, uint8_t opticalCenter)
 {
-	uint8_t OpticalCenter;
 	VL53L1X_ERROR status = 0;
 
-	status =VL53L1_RdByte(Device, VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD, &OpticalCenter);
+	status =VL53L1_RdByte(Device, VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD, &opticalCenter);
 	if (X > 16)
 		X = 16;
 	if (Y > 16)
 		Y = 16;
 	if (X > 10 || Y > 10){
-		OpticalCenter = 199;
+		opticalCenter = 199;
 	}
-	status = VL53L1_WrByte(Device, ROI_CONFIG__USER_ROI_CENTRE_SPAD, OpticalCenter);
+	status = VL53L1_WrByte(Device, ROI_CONFIG__USER_ROI_CENTRE_SPAD, opticalCenter);
 	status = VL53L1_WrByte(Device, ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE,
 		       (Y - 1) << 4 | (X - 1));
 	return status;

src/vl53l1x_class.h

@@ -457,7 +457,7 @@ class VL53L1X : public RangeSensor
 	 * The smallest acceptable ROI size = 4\n
 	 * @param X:ROI Width; Y=ROI Height
 	 */
-	VL53L1X_ERROR VL53L1X_SetROI(uint16_t X, uint16_t Y);
+	VL53L1X_ERROR VL53L1X_SetROI(uint8_t X, uint8_t Y, uint8_t opticalCenter);
 
 	/**
 	 *@brief This function returns width X and height Y