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[driver] vl53l5, vl53l7, vl53l8 driver and examples
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‎examples/nucleo_h723zg/vl53/vl53l5cx_i2c/main.cpp‎

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/*
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* Copyright (c) 2025, Henrik Hose
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include <modm/board.hpp>
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#include <modm/ext/vl53/vl53.hpp>
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#include <modm/ext/vl53/vl53_transport.hpp>
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extern "C" {
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#include <vl53/vl53l5cx/examples/Example_1_ranging_basic.h>
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#include <vl53/vl53l5cx/examples/Example_2_get_set_params.h>
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#include <vl53/vl53l5cx/examples/Example_3_ranging_modes.h>
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#include <vl53/vl53l5cx/examples/Example_5_multiple_targets_per_zone.h>
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}
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using namespace Board;
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using I2c = I2cMaster1;
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using Scl = GpioB8; // D15
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using Sda = GpioB9; // D14
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using Rst = GpioD6;
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using Snc = GpioB1;
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using LPn = GpioA3;
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using Int = GpioD7;
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modm::Vl53I2cTransport<I2c, LPn> transport{VL53L5CX_DEFAULT_I2C_ADDRESS};
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int
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main()
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{
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Board::initialize();
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Leds::setOutput();
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LPn::setOutput(false);
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Snc::setOutput(false);
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transport.resetSensor();
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I2c::connect<Scl::Scl, Sda::Sda>(I2c::PullUps::Internal);
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I2c::initialize<Board::SystemClock, 100_kHz, 10_pct>();
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example1(&transport);
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example2(&transport);
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example3(&transport);
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example5(&transport);
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}

‎examples/nucleo_h723zg/vl53/vl53l5cx_i2c/project.xml‎

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<library>
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<extends>modm:nucleo-h723zg</extends>
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<options>
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<option name="modm:build:build.path">../../../../build/nucleo_h723zg/vl53l8_vl53l8_i2c</option>
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<option name="modm:vl53:vl53l5cx:examples">yes</option>
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<option name="modm:platform:cortex-m:main_stack_size">64Ki</option>
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</options>
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<modules>
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<module>modm:build:scons</module>
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<module>modm:platform:dma</module>
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<module>modm:platform:exti</module>
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<module>modm:platform:i2c:1</module>
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<module>modm:vl53:vl53l5cx</module>
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</modules>
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</library>

‎examples/nucleo_h723zg/vl53/vl53l7_vl53l8_i2c/main.cpp‎

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/*
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* Copyright (c) 2025, Henrik Hose
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include <modm/board.hpp>
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#include <modm/ext/vl53/vl53.hpp>
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#include <modm/ext/vl53/vl53_transport.hpp>
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extern "C" {
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#include <vl53/vl53lmz/examples/Example_12_cnh_data.h>
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#include <vl53/vl53lmz/examples/Example_1_ranging_basic.h>
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#include <vl53/vl53lmz/examples/Example_2_get_set_params.h>
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#include <vl53/vl53lmz/examples/Example_3_ranging_modes.h>
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#include <vl53/vl53lmz/examples/Example_5_multiple_targets_per_zone.h>
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}
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using namespace Board;
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using I2c = I2cMaster1;
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using Scl = GpioB8; // D15
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using Sda = GpioB9; // D14
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using Rst = GpioD6;
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using Snc = GpioB1;
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using LPn = GpioA3;
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using Int = GpioD7;
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modm::Vl53I2cTransport<I2c, LPn> transport{VL53LMZ_DEFAULT_I2C_ADDRESS};
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int
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main()
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{
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Board::initialize();
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Leds::setOutput();
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LPn::setOutput(false);
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Snc::setOutput(false);
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transport.resetSensor();
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I2c::connect<Scl::Scl, Sda::Sda>(I2c::PullUps::Internal);
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I2c::initialize<Board::SystemClock, 100_kHz, 10_pct>();
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example1(&transport);
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example2(&transport);
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example3(&transport);
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example5(&transport);
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example12(&transport);
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}

‎examples/nucleo_h723zg/vl53/vl53l7_vl53l8_i2c/project.xml‎

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<library>
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<extends>modm:nucleo-h723zg</extends>
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<options>
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<option name="modm:build:build.path">../../../../build/nucleo_h723zg/vl53l8_vl53l8_i2c</option>
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<option name="modm:vl53:vl53lmz:examples">yes</option>
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<option name="modm:platform:cortex-m:main_stack_size">64Ki</option>
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</options>
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<modules>
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<module>modm:build:scons</module>
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<module>modm:platform:dma</module>
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<module>modm:platform:exti</module>
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<module>modm:platform:i2c:1</module>
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<module>modm:vl53:vl53lmz</module>
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</modules>
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</library>

‎examples/nucleo_h723zg/vl53/vl53l8_spi/main.cpp‎

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/*
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* Copyright (c) 2025, Henrik Hose
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include <modm/board.hpp>
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extern "C" {
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#include <vl53/vl53lmz/examples/Example_12_cnh_data.h>
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#include <vl53/vl53lmz/examples/Example_1_ranging_basic.h>
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#include <vl53/vl53lmz/examples/Example_2_get_set_params.h>
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#include <vl53/vl53lmz/examples/Example_3_ranging_modes.h>
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#include <vl53/vl53lmz/examples/Example_5_multiple_targets_per_zone.h>
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}
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#include <modm/ext/vl53/vl53.hpp>
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#include <modm/ext/vl53/vl53_transport.hpp>
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using namespace Board;
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using SpiMaster = SpiMaster2_Dma<Dma1::Channel0, Dma1::Channel1>;
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// using SpiMaster = SpiMaster2;
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using Cs = GpioC0;
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using Mosi = GpioB15;
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using Miso = GpioC2;
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using Sck = GpioD3;
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using Rst = GpioD6;
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using Snc = GpioB1;
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using LPn = GpioA3;
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using Int = GpioD7;
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modm::Vl53SpiTransport<SpiMaster, Cs, LPn> transport;
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int
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main()
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{
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Board::initialize();
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Dma1::enable();
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Leds::setOutput();
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LPn::setOutput(false);
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Snc::setOutput(false);
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Cs::setOutput(true);
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transport.resetSensor();
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SpiMaster::connect<Sck::Sck, Mosi::Mosi, Miso::Miso>();
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SpiMaster::initialize<Board::SystemClock, 2.2_MHz, 10_pct>();
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example1(&transport);
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example2(&transport);
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example3(&transport);
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example5(&transport);
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example12(&transport);
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}

‎examples/nucleo_h723zg/vl53/vl53l8_spi/project.xml‎

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<library>
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<extends>modm:nucleo-h723zg</extends>
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<options>
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<option name="modm:build:build.path">../../../../build/nucleo_h723zg/vl53l8_spi</option>
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<option name="modm:vl53:vl53lmz:examples">yes</option>
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<option name="modm:platform:cortex-m:main_stack_size">64Ki</option>
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</options>
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<modules>
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<module>modm:build:scons</module>
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<module>modm:platform:dma</module>
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<module>modm:platform:exti</module>
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<module>modm:platform:spi:2</module>
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<module>modm:vl53:vl53lmz</module>
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</modules>
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</library>

‎ext/vl53/vl53.hpp‎

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/*
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* Copyright (c) 2025, Henrik Hose
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include <modm/platform.hpp>
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#include "vl53_transport.hpp"
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extern "C" {
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#include "vl53_platform.h"
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uint8_t
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VL53_RdByte(VL53_Platform *p_platform, uint16_t RegisterAddress, uint8_t *p_value)
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{
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auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
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return iface->readByte(RegisterAddress, p_value);
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}
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uint8_t
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VL53_WrByte(VL53_Platform *p_platform, uint16_t RegisterAddress, uint8_t value)
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{
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auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
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return iface->writeByte(RegisterAddress, value);
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}
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uint8_t
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VL53_WrMulti(VL53_Platform *p_platform, uint16_t RegisterAddress, uint8_t *p_values, uint32_t size)
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{
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auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
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return iface->writeMulti(RegisterAddress, p_values, size);
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}
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uint8_t
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VL53_RdMulti(VL53_Platform *p_platform, uint16_t RegisterAddress, uint8_t *p_values, uint32_t size)
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{
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auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
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return iface->readMulti(RegisterAddress, p_values, size);
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}
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void
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VL53_SwapBuffer(uint8_t *buffer, uint16_t size)
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{
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uint32_t i, tmp;
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for (i = 0; i < size; i = i + 4)
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{
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tmp = (buffer[i] << 24) | (buffer[i + 1] << 16) | (buffer[i + 2] << 8) | (buffer[i + 3]);
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memcpy(&(buffer[i]), &tmp, 4);
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}
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}
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uint8_t
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VL53_WaitMs(VL53_Platform *p_platform, uint32_t TimeMs)
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{
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modm::delay_ms(TimeMs);
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return 0;
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}
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uint8_t
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VL53_Reset_Sensor(VL53_Platform *p_platform)
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{
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auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
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return iface->resetSensor();
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}
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}

‎ext/vl53/vl53.lb‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# Copyright (c) 2025, Henrik Hose
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#
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# This file is part of the modm project.
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#
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# This Source Code Form is subject to the terms of the Mozilla Public
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# License, v. 2.0. If a copy of the MPL was not distributed with this
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# file, You can obtain one at http://mozilla.org/MPL/2.0/.
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# -----------------------------------------------------------------------------
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class Vl53l5cx(Module):
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def init(self, module):
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module.name = "vl53l5cx"
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module.description = "Driver for ST VL53L5CX Multi-Zone Time-of-Flight Sensor"
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def prepare(self, module, options):
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module.add_option(
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BooleanOption(
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name="examples",
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description="",
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default=False
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)
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)
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return True
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def build(self, env):
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env.outbasepath = "modm/ext"
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env.copy("vl53/vl53l5cx/src")
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env.copy("vl53/vl53l5cx/inc")
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env.copy("vl53/vl53l5cx/LICENSE.txt")
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if env[":vl53:vl53l5cx:examples"]:
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env.copy("vl53/vl53l5cx/examples")
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env.collect(":build:path.include", "modm/ext/vl53/")
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env.collect(":build:path.include", "modm/ext/vl53/vl53l5cx/inc")
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class Vl53lmz(Module):
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def init(self, module):
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module.name = "vl53lmz"
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module.description = "Driver for ST VL53L7 and VL53L8 Multi-Zone Time-of-Flight Sensors"
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def prepare(self, module, options):
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module.add_option(
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BooleanOption(
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name="examples",
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description="",
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default=False
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)
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)
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return True
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def build(self, env):
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env.outbasepath = "modm/ext"
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env.copy("vl53/vl53lmz/src")
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env.copy("vl53/vl53lmz/inc")
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env.copy("vl53/vl53lmz/LICENSE.txt")
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if env[":vl53:vl53lmz:examples"]:
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env.copy("vl53/vl53lmz/examples")
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env.collect(":build:path.include", "modm/ext/vl53/")
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env.collect(":build:path.include", "modm/ext/vl53/vl53lmz/inc")
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def init(module):
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module.name = ":vl53"
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module.description = """\
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# ST's VL53 Time-of-Flight ULD Drivers
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Currently supported sensors:
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- With VL53LMZ driver: VL53L7CX, VL53L7CH, VL53L8CX, VL53L8CH
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- VL53L5CX driver
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"""
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def prepare(module, options):
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module.add_submodule(Vl53l5cx())
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module.add_submodule(Vl53lmz())
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module.depends(":architecture:spi.device")
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module.depends(":architecture:i2c.device")
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return True
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def build(env):
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env.outbasepath = "modm/ext/vl53"
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env.copy("vl53.hpp")
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env.copy("vl53_transport.hpp")
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env.copy("vl53_transport_impl.hpp")
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env.copy("vl53_platform.h")

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