VL53L0X laser-ranging sensor sample code for PIC16F628A

'****************************************************************
'*  Name    : VL53L0x.BAS                                       *
'*  Author  : MTH                                               *
'*  Notice  : Copyright (c) 2017 SaitekControl Argentina        *
'*          : All Rights Reserved                               *
'*  Date    : 20/12/2017                                        *
'*  Version : 1.0                                               *
'*  Notes   :                                                   *
'*          :                                                   *
'****************************************************************
Device = 16F628A


Config FOSC_INTOSCIO, WDTE_OFF, PWRTE_OFF, MCLRE_OFF, BOREN_OFF, LVP_OFF, CPD_OFF, CP_OFF


;**** End of Fuse Configurator Settings ****
;-------------------------------------------------------------------------------


'Config 16F628A
Xtal 4
CMCON = 7
VRCON = 0
Declare PortB_Pullups = Off
Declare Watchdog =Off
Declare All_Digital On




'Ports i2C VL53L0x
Symbol SDA = PORTA.0
Symbol SCL = PORTA.1
'Port Serial monitor
Symbol Data_TX = PORTA.2


'VL53L0x Registers Write and Read
Symbol W_ADDRESS    = $52
Symbol R_ADDRESS    = $53




'Variables
Dim i As Byte
Dim DatoVL As Byte
Dim DatoSensor[12] As Byte
Dim Distance As Word
Dim devError As Byte
Dim SPAD As Float
Dim Signal As Word
Dim Ambient As Word
'Config TTL Serial
Declare Serial_Baud 4800  
Declare RsOut_Pin Data_TX
Declare RsOut_Mode TRUE 
High Data_TX

DelayMS 100






'Send info data
RsOut 13,10,13,10,13,10
 RsOut "Test sensor VL53L0x V13-12-17 by MTH Argentina",13,10,13,10
 GoSub Info_VL53


 DelayMS 1000

'Loop of program
While 1=1
Clrwdt
'Sys range start
I2COut SDA,SCL,W_ADDRESS,[$00,$01]
  DelayMS 5
'Range status 
I2COut SDA,SCL,W_ADDRESS,[$14]
  DelayMS 5                                
'Read 12 raw data of Sensor:
I2CIn  SDA,SCL,R_ADDRESS,[Str DatoSensor]
'  'Activate for view raw data
'  If 1=0 Then
'   For i=0 To 11
[I]'    RsOut Dec3 DatoSensor
'    If i<11 Then RsOut ","
'   Next i
'   RsOut 13,10
'  EndIf
  'Resolve sensor error list:
devError = DatoSensor[0] & 0x78 >> 3 ' // Check for errors
RsOut "Status: "
If devError = $00 Then  RsOut "Data OK!" ';// No device error
If devError = $01 Then  RsOut "VCSEL CONTINUITY TEST FAILURE!"
  If devError = $02 Then  RsOut "VCSEL WATCHDOG TEST FAILURE!"
If devError = $03 Then  RsOut "NO VHV VALUE FOUND!"
If devError = $04 Then  RsOut "MSRC NO TARGET!"
If devError = $05 Then  RsOut "SNR CHECK!"
If devError = $06 Then  RsOut "RANGE PHASE CHECK!"
  If devError = $07 Then  RsOut "SIGMA THRESHOLD CHECK!"
If devError = $08 Then  RsOut "TCC!"
If devError = $09 Then  RsOut "PHASE CONSISTENCY!"
If devError = $0A Then  RsOut "MIN CLIP!"
If devError = $0B Then  RsOut "RANGE COMPLETE!"
If devError = $0C Then  RsOut "ALGO UNDERFLOW!"
If devError = $0D Then  RsOut "ALGO OVERFLOW!"
  If devError = $0E Then  RsOut "RANGE IGNORE THRESHOLD!"
RsOut "(",Hex2 devError,")",13,10


'Resolve info of sensor VL53L0x:
  'If devError = $00 or devError = $06 update Distance
  'If devError = $00 Or devError = $06Then 
Distance=DatoSensor[10]*256+DatoSensor[11] 
'endif
  'Effective SPAD Return Count        
SPAD = DatoSensor[2] + DatoSensor[3]/255
  'Signal Rate
Signal = DatoSensor[6]*256+DatoSensor[7]
  'Ambient Rate 
Ambient= DatoSensor[8]*256+DatoSensor[9]




'Send terminal info:
RsOut "Distance: ",Dec Distance," mm",13,10
  RsOut "Ambient Rate = ",Dec Ambient,"mc/s",13,10
  RsOut "Signal Rate = ",Dec Signal,"mc/s",13,10
  RsOut "SPAD = ",Dec SPAD,13,10

'wait a moment for view info
DelayMS 1000
 Wend
'Read sensor info 
Info_VL53:
'IDENTIFICATION REVISION ID
I2CIn  SDA,SCL,R_ADDRESS,$C2,[DatoVL]
  RsOut "Revision ID: ",Hex2 DatoVL,13,10


'IDENTIFICATION MODEL ID
I2CIn  SDA,SCL,R_ADDRESS,$C0,[DatoVL]
  RsOut "Device ID: ",Hex2 DatoVL,13,10


'PRE RANGE CONFIG VCSEL PERIOD
I2CIn  SDA,SCL,R_ADDRESS,$50,[DatoVL]
  RsOut "Pre Range Config Period: ",Hex2 DatoVL,13,10 


'FINAL RANGE CONFIG VCSEL PERIOD
I2CIn  SDA,SCL,R_ADDRESS,$70,[DatoVL]
  RsOut "Final Period: ",Hex2 DatoVL,13,10


 Return