Re-adding ROI

Author: AndyEngland521

src/SparkFun_VL53L1X_Arduino_Library.cpp

@@ -271,6 +271,71 @@ uint8_t VL53L1X::getDistanceMode()
 	return _distanceMode;
 }
 
+ //Set a custom zone from the array of sensors.  Minimum of 4x4, maximum of 16x16.	
+ //lower left corner of the array is (0, 0) and upper right is (15, 15)	
+ void VL53L1X::setUserRoi(UserRoi *roi)	
+ {	
+ 	uint8_t centerX = (roi->topLeftX + roi->bottomRightX + 1) / 2;	
+ 	uint8_t centerY = (roi->topLeftY + roi->bottomRightY + 1) / 2;	
+ 	uint8_t width = roi->bottomRightX - roi->topLeftX;	
+ 	uint8_t height = roi->topLeftY - roi->bottomRightY;	
+ 
+  	//Check boundary conditions, if incorrect set to default values.	
+ 	if (width < 3 || height < 3){	
+ 		setCenter((uint8_t)8, (uint8_t)8);	
+ 		setZoneSize((uint8_t)15, (uint8_t)15);	
+ 	}	
+ 	else{	
+ 		setCenter(centerX, centerY);	
+ 		setZoneSize(width, height);	
+ 	}	
+ }	
+ 
+  void VL53L1X::setCenter(uint8_t centerX, uint8_t centerY){	
+ 	uint8_t centerValue;	
+ 
+  	if (centerY > 7){	
+ 		centerValue = 128 + (centerX << 3) + (15 - centerY);	
+ 	} 	
+ 	else {	
+ 		centerValue = ((15 - centerX) << 3) + centerY;	
+ 	}	
+ 
+  	writeRegister(VL53L1_ROI_CONFIG__USER_ROI_CENTRE_SPAD , centerValue);	
+ }	
+ 
+  void VL53L1X::setZoneSize(uint8_t width, uint8_t height){	
+ 	uint8_t dimensions = (height << 4)  + width;	
+ 	writeRegister(VL53L1_ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE, dimensions);	
+ }	
+ 
+  UserRoi* VL53L1X::getUserRoi(){	
+ 	UserRoi* roi = new UserRoi();	
+ 
+  	uint8_t center = readRegister(VL53L1_ROI_CONFIG__USER_ROI_CENTRE_SPAD);	
+ 	uint8_t row = 0;	
+ 	uint8_t col = 0;	
+ 	if (center > 127){	
+ 		row = 8 + ((255-center) & 0x07);	
+ 		col = (center - 128) >> 3;	
+ 	} else {	
+ 		row = center & 0x07;	
+ 		col = (127 - center) >> 3;	
+ 	}	
+ 
+  	uint8_t dimensions = readRegister(VL53L1_ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE);	
+ 	uint8_t height = dimensions >> 4;	
+ 	uint8_t width = dimensions & 0x0F;	
+ 
+  
+  	roi->topLeftX = (2 * col - width) >> 1;	
+ 	roi->topLeftY = (2 * row - height) >> 1;	
+ 	roi->bottomRightX = (2 * col + width) >> 1;	
+ 	roi->bottomRightY = (2 * row + height) >> 1;	
+ 
+  	return roi;	
+ }	
+
 //The sensor returns a range status that needs to be re-mapped to one of 9 different statuses
 //This does that.
 uint8_t VL53L1X::getRangeStatus()

src/SparkFun_VL53L1X_Arduino_Library.h

@@ -79,6 +79,14 @@ const byte defaultAddress_VL53L1X = 0x29; //The default I2C address for the VL53
 #endif
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
+
+typedef struct{	
+ 		uint8_t topLeftX;	
+ 		uint8_t topLeftY;	
+ 		uint8_t bottomRightX;	
+ 		uint8_t bottomRightY;	
+ 	}UserRoi;
+	
 class VL53L1X {
   public:
 
@@ -96,6 +104,11 @@ class VL53L1X {
 	void setDistanceMode(uint8_t mode = 2);//Defaults to long range
 	uint8_t getDistanceMode();
     uint8_t getRangeStatus(); //Returns the results from the last measurement, 0 == valid
+	
+	void setUserRoi(UserRoi*);  //Set custom sensor zones	
+ 	void setCenter(uint8_t centerX, uint8_t centerY);  //Set the center of a custom zone	
+ 	void setZoneSize(uint8_t width, uint8_t height);  //Set the size of a custom zone	
+ 	UserRoi* getUserRoi();
 
 	void setupManualCalibration();