init commit

.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into the executable file.
+
+The source code of each library should be placed in a separate directory
+("lib/your_library_name/[Code]").
+
+For example, see the structure of the following example libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Example contents of `src/main.c` using Foo and Bar:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+The PlatformIO Library Dependency Finder will find automatically dependent
+libraries by scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp32doit-devkit-v1]
+platform = espressif32
+board = esp32dev
+framework = arduino
+lib_deps = adafruit/Adafruit_VL53L0X@^1.2.4
+monitor_speed = 115200

src/main.cpp

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+#include <Arduino.h>
+
+#include <Adafruit_VL53L0X.h>
+#include <Wire.h>
+
+// Define which Wire objects to use, may depend on platform
+// or on your configurations.
+#define SENSOR1_WIRE Wire
+#define SENSOR2_WIRE Wire
+#if defined(WIRE_IMPLEMENT_WIRE1)
+#define SENSOR3_WIRE Wire1
+#define SENSOR4_WIRE Wire1
+#define SENSOR5_WIRE Wire1
+#else
+#define SENSOR3_WIRE Wire
+#define SENSOR4_WIRE Wire
+#define SENSOR5_WIRE Wire
+#endif
+// Setup mode for doing reads
+typedef enum {
+  RUN_MODE_DEFAULT = 1,
+  RUN_MODE_ASYNC,
+  RUN_MODE_GPIO,
+  RUN_MODE_CONT
+} runmode_t;
+
+runmode_t run_mode = RUN_MODE_DEFAULT;
+uint8_t show_command_list = 1;
+
+typedef struct {
+  Adafruit_VL53L0X *psensor; // pointer to object
+  TwoWire *pwire;
+  int id;            // id for the sensor
+  int shutdown_pin;  // which pin for shutdown;
+  int interrupt_pin; // which pin to use for interrupts.
+  Adafruit_VL53L0X::VL53L0X_Sense_config_t
+      sensor_config;     // options for how to use the sensor
+  uint16_t range;        // range value used in continuous mode stuff.
+  uint8_t sensor_status; // status from last ranging in continuous.
+} sensorList_t;
+
+// Actual object, could probably include in structure above61
+Adafruit_VL53L0X sensor1;
+Adafruit_VL53L0X sensor2;
+#ifndef ARDUINO_ARCH_AVR // not enough memory on uno for 4 objects
+Adafruit_VL53L0X sensor3;
+Adafruit_VL53L0X sensor4;
+Adafruit_VL53L0X sensor5;
+#endif
+// Setup for 4 sensors
+sensorList_t sensors[] = {
+#ifndef ARDUINO_ARCH_AVR // not enough memory on uno for 4 objects
+    {&sensor1, &SENSOR1_WIRE, 0x30, 0, 0, Adafruit_VL53L0X::VL53L0X_SENSE_LONG_RANGE, 0, 0},
+    {&sensor2, &SENSOR2_WIRE, 0x31, 2, 0, Adafruit_VL53L0X::VL53L0X_SENSE_HIGH_SPEED, 0, 0},
+    {&sensor3, &SENSOR3_WIRE, 0x32, 4, 0, Adafruit_VL53L0X::VL53L0X_SENSE_DEFAULT, 0, 0},
+    {&sensor4, &SENSOR4_WIRE, 0x33, 5, 0, Adafruit_VL53L0X::VL53L0X_SENSE_DEFAULT, 0, 0},
+    {&sensor5, &SENSOR4_WIRE, 0x34, 15, 0, Adafruit_VL53L0X::VL53L0X_SENSE_DEFAULT, 0, 0},
+#else
+     // AVR sensors move to other pins
+    {&sensor1, &SENSOR1_WIRE, 0x30, 6, 8,
+     Adafruit_VL53L0X::VL53L0X_SENSE_LONG_RANGE, 0, 0},
+    {&sensor2, &SENSOR2_WIRE, 0x31, 7, 9,
+     Adafruit_VL53L0X::VL53L0X_SENSE_HIGH_SPEED, 0, 0},
+#endif
+};
+
+const int COUNT_SENSORS = sizeof(sensors) / sizeof(sensors[0]);
+
+const uint16_t ALL_SENSORS_PENDING = ((1 << COUNT_SENSORS) - 1);
+uint16_t sensors_pending = ALL_SENSORS_PENDING;
+uint32_t sensor_last_cycle_time;
+
+/*
+    Reset all sensors by setting all of their XSHUT pins low for delay(10), then
+   set all XSHUT high to bring out of reset
+    Keep sensor #1 awake by keeping XSHUT pin high
+    Put all other sensors into shutdown by pulling XSHUT pins low
+    Initialize sensor #1 with lox.begin(new_i2c_address) Pick any number but
+   0x29 and it must be under 0x7F. Going with 0x30 to 0x3F is probably OK.
+    Keep sensor #1 awake, and now bring sensor #2 out of reset by setting its
+   XSHUT pin high.
+    Initialize sensor #2 with lox.begin(new_i2c_address) Pick any number but
+   0x29 and whatever you set the first sensor to
+*/
+void Initialize_sensors() {
+  bool found_any_sensors = false;
+  // Set all shutdown pins low to shutdown sensors
+  for (int i = 0; i < COUNT_SENSORS; i++)
+    digitalWrite(sensors[i].shutdown_pin, LOW);
+  delay(10);
+
+  for (int i = 0; i < COUNT_SENSORS; i++) {
+    // one by one enable sensors and set their ID
+    digitalWrite(sensors[i].shutdown_pin, HIGH);
+    delay(10); // give time to wake up.
+    if (sensors[i].psensor->begin(sensors[i].id, false, sensors[i].pwire,
+                                  sensors[i].sensor_config)) {
+      found_any_sensors = true;
+    } else {
+      Serial.print(i, DEC);
+      Serial.print(F(": failed to start\n"));
+    }
+  }
+  if (!found_any_sensors) {
+    Serial.println("No valid sensors found");
+    while (1)
+      ;
+  }
+}
+//====================================================================
+// Simple Sync read sensors.
+//====================================================================
+void read_sensors() {
+  // First use simple function
+  uint16_t ranges_mm[COUNT_SENSORS];
+  bool timeouts[COUNT_SENSORS];
+  uint32_t stop_times[COUNT_SENSORS];
+
+  digitalWrite(13, HIGH);
+  uint32_t start_time = millis();
+  for (int i = 0; i < COUNT_SENSORS; i++) {
+    ranges_mm[i] = sensors[i].psensor->readRange();
+    timeouts[i] = sensors[i].psensor->timeoutOccurred();
+    stop_times[i] = millis();
+  }
+  uint32_t delta_time = millis() - start_time;
+  digitalWrite(13, LOW);
+
+  Serial.print(delta_time, DEC);
+  Serial.print(F(" "));
+  for (int i = 0; i < COUNT_SENSORS; i++) {
+    Serial.print(i, DEC);
+    Serial.print(F(":"));
+    Serial.print(ranges_mm[i], DEC);
+    Serial.print(F(" "));
+    Serial.print(stop_times[i] - start_time, DEC);
+    if (timeouts[i])
+      Serial.print(F("(TIMEOUT) "));
+    else
+      Serial.print(F("          "));
+    start_time = stop_times[i];
+  }
+  Serial.println();
+}
+
+//====================================================================
+// Setup
+//====================================================================
+void setup() {
+  Serial.begin(115200);
+  Wire.begin();
+#if defined(WIRE_IMPLEMENT_WIRE1)
+  Wire1.begin();
+#endif
+  // wait until serial port opens ... For 5 seconds max
+  while (!Serial && millis() < 5000)
+    ;
+
+  pinMode(13, OUTPUT);
+
+  // initialize all of the pins.
+  Serial.println(F("VL53LOX_multi start, initialize IO pins"));
+  for (int i = 0; i < COUNT_SENSORS; i++) {
+    pinMode(sensors[i].shutdown_pin, OUTPUT);
+    digitalWrite(sensors[i].shutdown_pin, LOW);
+
+    if (sensors[i].interrupt_pin >= 0)
+      pinMode(sensors[i].interrupt_pin, INPUT_PULLUP);
+  }
+  Serial.println(F("Starting..."));
+  Initialize_sensors();
+}
+
+//====================================================================
+// loop
+//====================================================================
+void loop() {
+  if (show_command_list) {
+    Serial.println(
+        F("\nSet run mode by entering one of the following letters"));
+    Serial.println(F("    D - Default mode"));
+    Serial.println(
+        F("    A - Asynchronous mode - Try starting all Seonsors at once"));
+    Serial.println(F("    G - Asynchronous mode - Like above use GPIO pins"));
+    Serial.println(
+        F("    C - Continuous mode - Try starting all Seonsors at once"));
+    show_command_list = 0;
+  }
+  switch (run_mode) {
+  case RUN_MODE_DEFAULT:
+    read_sensors();
+    break;
+  }
+  if (run_mode != RUN_MODE_CONT)
+    delay(250);
+}
+0

test/README

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+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html