Contains Ayoub's Ranging and Custom interfaces for the VL53L3CX
vl53l3cx.c@0:c1910e04fc6c, 2021-07-21 (annotated)
- Committer:
- charlesmn
- Date:
- Wed Jul 21 14:19:31 2021 +0000
- Revision:
- 0:c1910e04fc6c
- Child:
- 1:dae4cb24beec
Change from directory to lib
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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charlesmn | 0:c1910e04fc6c | 1 | /** |
charlesmn | 0:c1910e04fc6c | 2 | ****************************************************************************** |
charlesmn | 0:c1910e04fc6c | 3 | * @file vl53l3cx.c |
charlesmn | 0:c1910e04fc6c | 4 | * @author IMG SW Application Team |
charlesmn | 0:c1910e04fc6c | 5 | * @brief This file provides the VL53L3CX ranging sensor component driver |
charlesmn | 0:c1910e04fc6c | 6 | ****************************************************************************** |
charlesmn | 0:c1910e04fc6c | 7 | * @attention |
charlesmn | 0:c1910e04fc6c | 8 | * |
charlesmn | 0:c1910e04fc6c | 9 | * <h2><center>© Copyright (c) 2021 STMicroelectronics. |
charlesmn | 0:c1910e04fc6c | 10 | * All rights reserved.</center></h2> |
charlesmn | 0:c1910e04fc6c | 11 | * |
charlesmn | 0:c1910e04fc6c | 12 | * This software component is licensed by ST under BSD 3-Clause license, |
charlesmn | 0:c1910e04fc6c | 13 | * the "License"; You may not use this file except in compliance with the |
charlesmn | 0:c1910e04fc6c | 14 | * License. You may obtain a copy of the License at: |
charlesmn | 0:c1910e04fc6c | 15 | * opensource.org/licenses/BSD-3-Clause |
charlesmn | 0:c1910e04fc6c | 16 | * |
charlesmn | 0:c1910e04fc6c | 17 | ****************************************************************************** |
charlesmn | 0:c1910e04fc6c | 18 | */ |
charlesmn | 0:c1910e04fc6c | 19 | |
charlesmn | 0:c1910e04fc6c | 20 | /* Includes ------------------------------------------------------------------*/ |
charlesmn | 0:c1910e04fc6c | 21 | #include "vl53l3cx.h" |
charlesmn | 0:c1910e04fc6c | 22 | #include "vl53lx_platform.h" |
charlesmn | 0:c1910e04fc6c | 23 | #include "vl53lx_api.h" |
charlesmn | 0:c1910e04fc6c | 24 | #include "spi_interface.h" |
charlesmn | 0:c1910e04fc6c | 25 | |
charlesmn | 0:c1910e04fc6c | 26 | /** @addtogroup BSP |
charlesmn | 0:c1910e04fc6c | 27 | * @{ |
charlesmn | 0:c1910e04fc6c | 28 | */ |
charlesmn | 0:c1910e04fc6c | 29 | |
charlesmn | 0:c1910e04fc6c | 30 | /** @addtogroup Components |
charlesmn | 0:c1910e04fc6c | 31 | * @{ |
charlesmn | 0:c1910e04fc6c | 32 | */ |
charlesmn | 0:c1910e04fc6c | 33 | |
charlesmn | 0:c1910e04fc6c | 34 | /** @addtogroup VL53L3CX |
charlesmn | 0:c1910e04fc6c | 35 | * @brief This file provides a set of functions needed to drive the |
charlesmn | 0:c1910e04fc6c | 36 | * VL53L3CX ranging sensor. |
charlesmn | 0:c1910e04fc6c | 37 | * @{ |
charlesmn | 0:c1910e04fc6c | 38 | */ |
charlesmn | 0:c1910e04fc6c | 39 | |
charlesmn | 0:c1910e04fc6c | 40 | /** @defgroup VL53L3CX_Private_TypesDefinitions Private Types Definitions |
charlesmn | 0:c1910e04fc6c | 41 | * @{ |
charlesmn | 0:c1910e04fc6c | 42 | */ |
charlesmn | 0:c1910e04fc6c | 43 | |
charlesmn | 0:c1910e04fc6c | 44 | #define V53L3CX_POLL_TIMEOUT (0xFFFFU) |
charlesmn | 0:c1910e04fc6c | 45 | #define UNUSED(x) (void)(x) |
charlesmn | 0:c1910e04fc6c | 46 | |
charlesmn | 0:c1910e04fc6c | 47 | /** |
charlesmn | 0:c1910e04fc6c | 48 | * @} |
charlesmn | 0:c1910e04fc6c | 49 | */ |
charlesmn | 0:c1910e04fc6c | 50 | /** @defgroup VL53L3CX_Private_Variables Private Variables |
charlesmn | 0:c1910e04fc6c | 51 | * @{ |
charlesmn | 0:c1910e04fc6c | 52 | */ |
charlesmn | 0:c1910e04fc6c | 53 | |
charlesmn | 0:c1910e04fc6c | 54 | VL53L3CX_RANGING_SENSOR_Drv_t VL53L3CX_RANGING_SENSOR_Driver = |
charlesmn | 0:c1910e04fc6c | 55 | { |
charlesmn | 0:c1910e04fc6c | 56 | VL53L3CX_Init, |
charlesmn | 0:c1910e04fc6c | 57 | VL53L3CX_DeInit, |
charlesmn | 0:c1910e04fc6c | 58 | VL53L3CX_ReadID, |
charlesmn | 0:c1910e04fc6c | 59 | VL53L3CX_GetCapabilities, |
charlesmn | 0:c1910e04fc6c | 60 | VL53L3CX_ConfigProfile, |
charlesmn | 0:c1910e04fc6c | 61 | VL53L3CX_ConfigROI, |
charlesmn | 0:c1910e04fc6c | 62 | VL53L3CX_ConfigIT, |
charlesmn | 0:c1910e04fc6c | 63 | VL53L3CX_GetDistance, |
charlesmn | 0:c1910e04fc6c | 64 | VL53L3CX_Start, |
charlesmn | 0:c1910e04fc6c | 65 | VL53L3CX_Stop, |
charlesmn | 0:c1910e04fc6c | 66 | VL53L3CX_SetAddress, |
charlesmn | 0:c1910e04fc6c | 67 | VL53L3CX_GetAddress, |
charlesmn | 0:c1910e04fc6c | 68 | VL53L3CX_SetPowerMode, |
charlesmn | 0:c1910e04fc6c | 69 | VL53L3CX_GetPowerMode |
charlesmn | 0:c1910e04fc6c | 70 | }; |
charlesmn | 0:c1910e04fc6c | 71 | |
charlesmn | 0:c1910e04fc6c | 72 | /** |
charlesmn | 0:c1910e04fc6c | 73 | * @} |
charlesmn | 0:c1910e04fc6c | 74 | */ |
charlesmn | 0:c1910e04fc6c | 75 | |
charlesmn | 0:c1910e04fc6c | 76 | |
charlesmn | 0:c1910e04fc6c | 77 | /** @defgroup VL53L3CX_Private_Functions_Prototypes Private Functions Prototypes |
charlesmn | 0:c1910e04fc6c | 78 | * @{ |
charlesmn | 0:c1910e04fc6c | 79 | */ |
charlesmn | 0:c1910e04fc6c | 80 | static int32_t vl53l3cx_poll_for_measurement(VL53L3CX_Object_t *pObj, uint32_t Timeout); |
charlesmn | 0:c1910e04fc6c | 81 | static int32_t vl53l3cx_get_result(VL53L3CX_Object_t *pObj, VL53L3CX_Result_t *pResult); |
charlesmn | 0:c1910e04fc6c | 82 | |
charlesmn | 0:c1910e04fc6c | 83 | /** |
charlesmn | 0:c1910e04fc6c | 84 | * @} |
charlesmn | 0:c1910e04fc6c | 85 | */ |
charlesmn | 0:c1910e04fc6c | 86 | |
charlesmn | 0:c1910e04fc6c | 87 | /** |
charlesmn | 0:c1910e04fc6c | 88 | * @brief Initializes the vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 89 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 90 | * @param pIO BSP IO struct. |
charlesmn | 0:c1910e04fc6c | 91 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 92 | */ |
charlesmn | 0:c1910e04fc6c | 93 | int32_t VL53L3CX_RegisterBusIO(VL53L3CX_Object_t *pObj, VL53L3CX_IO_t *pIO) |
charlesmn | 0:c1910e04fc6c | 94 | { |
charlesmn | 0:c1910e04fc6c | 95 | int32_t ret = 0; |
charlesmn | 0:c1910e04fc6c | 96 | |
charlesmn | 0:c1910e04fc6c | 97 | if (pObj == NULL) |
charlesmn | 0:c1910e04fc6c | 98 | { |
charlesmn | 0:c1910e04fc6c | 99 | ret = VL53L3CX_INVALID_PARAM; |
charlesmn | 0:c1910e04fc6c | 100 | } |
charlesmn | 0:c1910e04fc6c | 101 | else |
charlesmn | 0:c1910e04fc6c | 102 | { |
charlesmn | 0:c1910e04fc6c | 103 | // pObj->IO.Init = pIO->Init; |
charlesmn | 0:c1910e04fc6c | 104 | // pObj->IO.DeInit = pIO->DeInit; |
charlesmn | 0:c1910e04fc6c | 105 | pObj->IO.Address = pIO->Address; |
charlesmn | 0:c1910e04fc6c | 106 | // pObj->IO.WriteReg = pIO->WriteReg; |
charlesmn | 0:c1910e04fc6c | 107 | // pObj->IO.ReadReg = pIO->ReadReg; |
charlesmn | 0:c1910e04fc6c | 108 | pObj->IO.GetTick = pIO->GetTick; |
charlesmn | 0:c1910e04fc6c | 109 | |
charlesmn | 0:c1910e04fc6c | 110 | // if (pObj->IO.Init != NULL) |
charlesmn | 0:c1910e04fc6c | 111 | // { |
charlesmn | 0:c1910e04fc6c | 112 | // ret = pObj->IO.Init(); |
charlesmn | 0:c1910e04fc6c | 113 | // } |
charlesmn | 0:c1910e04fc6c | 114 | // else |
charlesmn | 0:c1910e04fc6c | 115 | // { |
charlesmn | 0:c1910e04fc6c | 116 | // ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 117 | // } |
charlesmn | 0:c1910e04fc6c | 118 | } |
charlesmn | 0:c1910e04fc6c | 119 | |
charlesmn | 0:c1910e04fc6c | 120 | |
charlesmn | 0:c1910e04fc6c | 121 | |
charlesmn | 0:c1910e04fc6c | 122 | |
charlesmn | 0:c1910e04fc6c | 123 | return ret; |
charlesmn | 0:c1910e04fc6c | 124 | } |
charlesmn | 0:c1910e04fc6c | 125 | |
charlesmn | 0:c1910e04fc6c | 126 | /** |
charlesmn | 0:c1910e04fc6c | 127 | * @brief Initializes the vl53l3cx. |
charlesmn | 0:c1910e04fc6c | 128 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 129 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 130 | */ |
charlesmn | 0:c1910e04fc6c | 131 | int32_t VL53L3CX_Init(VL53L3CX_Object_t *pObj) |
charlesmn | 0:c1910e04fc6c | 132 | { |
charlesmn | 0:c1910e04fc6c | 133 | int32_t ret; |
charlesmn | 0:c1910e04fc6c | 134 | |
charlesmn | 0:c1910e04fc6c | 135 | if (pObj->IsInitialized != 0U) |
charlesmn | 0:c1910e04fc6c | 136 | { |
charlesmn | 0:c1910e04fc6c | 137 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 138 | } |
charlesmn | 0:c1910e04fc6c | 139 | else if (VL53LX_WaitDeviceBooted(pObj) != VL53LX_ERROR_NONE) |
charlesmn | 0:c1910e04fc6c | 140 | { |
charlesmn | 0:c1910e04fc6c | 141 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 142 | } |
charlesmn | 0:c1910e04fc6c | 143 | else if (VL53LX_DataInit(pObj) != VL53LX_ERROR_NONE) |
charlesmn | 0:c1910e04fc6c | 144 | { |
charlesmn | 0:c1910e04fc6c | 145 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 146 | } |
charlesmn | 0:c1910e04fc6c | 147 | else if (VL53LX_PerformRefSpadManagement(pObj) != VL53LX_ERROR_NONE) |
charlesmn | 0:c1910e04fc6c | 148 | { |
charlesmn | 0:c1910e04fc6c | 149 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 150 | } |
charlesmn | 0:c1910e04fc6c | 151 | else |
charlesmn | 0:c1910e04fc6c | 152 | { |
charlesmn | 0:c1910e04fc6c | 153 | pObj->IsRanging = 0; |
charlesmn | 0:c1910e04fc6c | 154 | pObj->IsBlocking = 0; |
charlesmn | 0:c1910e04fc6c | 155 | pObj->IsContinuous = 0; |
charlesmn | 0:c1910e04fc6c | 156 | pObj->IsAmbientEnabled = 0; |
charlesmn | 0:c1910e04fc6c | 157 | pObj->IsSignalEnabled = 0; |
charlesmn | 0:c1910e04fc6c | 158 | pObj->IsInitialized = 1; |
charlesmn | 0:c1910e04fc6c | 159 | ret = VL53L3CX_OK; |
charlesmn | 0:c1910e04fc6c | 160 | } |
charlesmn | 0:c1910e04fc6c | 161 | |
charlesmn | 0:c1910e04fc6c | 162 | return ret; |
charlesmn | 0:c1910e04fc6c | 163 | } |
charlesmn | 0:c1910e04fc6c | 164 | |
charlesmn | 0:c1910e04fc6c | 165 | /** |
charlesmn | 0:c1910e04fc6c | 166 | * @brief Deinitializes the vl53l3cx. |
charlesmn | 0:c1910e04fc6c | 167 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 168 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 169 | */ |
charlesmn | 0:c1910e04fc6c | 170 | int32_t VL53L3CX_DeInit(VL53L3CX_Object_t *pObj) |
charlesmn | 0:c1910e04fc6c | 171 | { |
charlesmn | 0:c1910e04fc6c | 172 | int32_t ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 173 | |
charlesmn | 0:c1910e04fc6c | 174 | if (pObj->IsInitialized == 1U) |
charlesmn | 0:c1910e04fc6c | 175 | { |
charlesmn | 0:c1910e04fc6c | 176 | /* De-initialize the vl53l3cx interface */ |
charlesmn | 0:c1910e04fc6c | 177 | if (pObj->IO.DeInit() != 0) |
charlesmn | 0:c1910e04fc6c | 178 | { |
charlesmn | 0:c1910e04fc6c | 179 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 180 | } |
charlesmn | 0:c1910e04fc6c | 181 | else |
charlesmn | 0:c1910e04fc6c | 182 | { |
charlesmn | 0:c1910e04fc6c | 183 | ret = VL53L3CX_OK; |
charlesmn | 0:c1910e04fc6c | 184 | pObj->IsInitialized = 0; |
charlesmn | 0:c1910e04fc6c | 185 | } |
charlesmn | 0:c1910e04fc6c | 186 | } |
charlesmn | 0:c1910e04fc6c | 187 | |
charlesmn | 0:c1910e04fc6c | 188 | return ret; |
charlesmn | 0:c1910e04fc6c | 189 | } |
charlesmn | 0:c1910e04fc6c | 190 | |
charlesmn | 0:c1910e04fc6c | 191 | /** |
charlesmn | 0:c1910e04fc6c | 192 | * @brief Read the vl53l3cx device ID. |
charlesmn | 0:c1910e04fc6c | 193 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 194 | * @param pId Pointer to the device ID. |
charlesmn | 0:c1910e04fc6c | 195 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 196 | */ |
charlesmn | 0:c1910e04fc6c | 197 | int32_t VL53L3CX_ReadID(VL53L3CX_Object_t *pObj, uint32_t *pId) |
charlesmn | 0:c1910e04fc6c | 198 | { |
charlesmn | 0:c1910e04fc6c | 199 | int32_t ret; |
charlesmn | 0:c1910e04fc6c | 200 | |
charlesmn | 0:c1910e04fc6c | 201 | if ((pObj == NULL) || (pId == NULL)) |
charlesmn | 0:c1910e04fc6c | 202 | { |
charlesmn | 0:c1910e04fc6c | 203 | ret = VL53L3CX_INVALID_PARAM; |
charlesmn | 0:c1910e04fc6c | 204 | } |
charlesmn | 0:c1910e04fc6c | 205 | else |
charlesmn | 0:c1910e04fc6c | 206 | { |
charlesmn | 0:c1910e04fc6c | 207 | printf("VL53L3CX_ReadID \n"); |
charlesmn | 0:c1910e04fc6c | 208 | *pId = 0; |
charlesmn | 0:c1910e04fc6c | 209 | ret = VL53LX_RdWord(pObj, VL53L3CX_ID_REG, (uint16_t *) pId); |
charlesmn | 0:c1910e04fc6c | 210 | } |
charlesmn | 0:c1910e04fc6c | 211 | |
charlesmn | 0:c1910e04fc6c | 212 | return ret; |
charlesmn | 0:c1910e04fc6c | 213 | } |
charlesmn | 0:c1910e04fc6c | 214 | |
charlesmn | 0:c1910e04fc6c | 215 | /** |
charlesmn | 0:c1910e04fc6c | 216 | * @brief Get the vl53l3cx capabilities. |
charlesmn | 0:c1910e04fc6c | 217 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 218 | * @param pCap Pointer to the vl53l3cx capabilities. |
charlesmn | 0:c1910e04fc6c | 219 | * @note This function should be called after the init. |
charlesmn | 0:c1910e04fc6c | 220 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 221 | */ |
charlesmn | 0:c1910e04fc6c | 222 | int32_t VL53L3CX_GetCapabilities(VL53L3CX_Object_t *pObj, VL53L3CX_Capabilities_t *pCap) |
charlesmn | 0:c1910e04fc6c | 223 | { |
charlesmn | 0:c1910e04fc6c | 224 | int32_t ret; |
charlesmn | 0:c1910e04fc6c | 225 | |
charlesmn | 0:c1910e04fc6c | 226 | if ((pObj == NULL) || (pCap == NULL)) |
charlesmn | 0:c1910e04fc6c | 227 | { |
charlesmn | 0:c1910e04fc6c | 228 | ret = VL53L3CX_INVALID_PARAM; |
charlesmn | 0:c1910e04fc6c | 229 | } |
charlesmn | 0:c1910e04fc6c | 230 | else |
charlesmn | 0:c1910e04fc6c | 231 | { |
charlesmn | 0:c1910e04fc6c | 232 | pCap->NumberOfZones = 1; |
charlesmn | 0:c1910e04fc6c | 233 | pCap->MaxNumberOfTargetsPerZone = VL53L3CX_NB_TARGET_PER_ZONE; |
charlesmn | 0:c1910e04fc6c | 234 | pCap->CustomROI = 1; |
charlesmn | 0:c1910e04fc6c | 235 | pCap->ThresholdDetection = 0; |
charlesmn | 0:c1910e04fc6c | 236 | |
charlesmn | 0:c1910e04fc6c | 237 | ret = VL53L3CX_OK; |
charlesmn | 0:c1910e04fc6c | 238 | } |
charlesmn | 0:c1910e04fc6c | 239 | |
charlesmn | 0:c1910e04fc6c | 240 | return ret; |
charlesmn | 0:c1910e04fc6c | 241 | } |
charlesmn | 0:c1910e04fc6c | 242 | |
charlesmn | 0:c1910e04fc6c | 243 | /** |
charlesmn | 0:c1910e04fc6c | 244 | * @brief Set the ranging configuration profile. |
charlesmn | 0:c1910e04fc6c | 245 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 246 | * @param pConfig Pointer to the new configuration profile to be applied. |
charlesmn | 0:c1910e04fc6c | 247 | * @note for VL53L3CX the profile corresponds to the distance modes. |
charlesmn | 0:c1910e04fc6c | 248 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 249 | */ |
charlesmn | 0:c1910e04fc6c | 250 | int32_t VL53L3CX_ConfigProfile(VL53L3CX_Object_t *pObj, VL53L3CX_ProfileConfig_t *pConfig) |
charlesmn | 0:c1910e04fc6c | 251 | { |
charlesmn | 0:c1910e04fc6c | 252 | int32_t ret; |
charlesmn | 0:c1910e04fc6c | 253 | uint8_t ranging_profile; |
charlesmn | 0:c1910e04fc6c | 254 | |
charlesmn | 0:c1910e04fc6c | 255 | if ((pObj != NULL) && (pConfig != NULL)) |
charlesmn | 0:c1910e04fc6c | 256 | { |
charlesmn | 0:c1910e04fc6c | 257 | ranging_profile = pConfig->RangingProfile; |
charlesmn | 0:c1910e04fc6c | 258 | } |
charlesmn | 0:c1910e04fc6c | 259 | else |
charlesmn | 0:c1910e04fc6c | 260 | { |
charlesmn | 0:c1910e04fc6c | 261 | printf("VL53L3CX_ConfigProfile pObj \n"); |
charlesmn | 0:c1910e04fc6c | 262 | return VL53L3CX_INVALID_PARAM; |
charlesmn | 0:c1910e04fc6c | 263 | } |
charlesmn | 0:c1910e04fc6c | 264 | |
charlesmn | 0:c1910e04fc6c | 265 | if ((ranging_profile != VL53L3CX_PROFILE_SHORT) && |
charlesmn | 0:c1910e04fc6c | 266 | (ranging_profile != VL53L3CX_PROFILE_MEDIUM) && |
charlesmn | 0:c1910e04fc6c | 267 | (ranging_profile != VL53L3CX_PROFILE_LONG)) |
charlesmn | 0:c1910e04fc6c | 268 | { |
charlesmn | 0:c1910e04fc6c | 269 | printf("VL53L3CX_ConfigProfile ranging_profile \n"); |
charlesmn | 0:c1910e04fc6c | 270 | ret = VL53L3CX_INVALID_PARAM; |
charlesmn | 0:c1910e04fc6c | 271 | } |
charlesmn | 0:c1910e04fc6c | 272 | else if (VL53LX_SetDistanceMode(pObj, ranging_profile) != VL53LX_ERROR_NONE) |
charlesmn | 0:c1910e04fc6c | 273 | { |
charlesmn | 0:c1910e04fc6c | 274 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 275 | } |
charlesmn | 0:c1910e04fc6c | 276 | else if (VL53LX_SetMeasurementTimingBudgetMicroSeconds( |
charlesmn | 0:c1910e04fc6c | 277 | pObj, (1000U * pConfig->TimingBudget)) != VL53LX_ERROR_NONE) |
charlesmn | 0:c1910e04fc6c | 278 | { |
charlesmn | 0:c1910e04fc6c | 279 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 280 | } |
charlesmn | 0:c1910e04fc6c | 281 | else |
charlesmn | 0:c1910e04fc6c | 282 | { |
charlesmn | 0:c1910e04fc6c | 283 | pObj->IsAmbientEnabled = (pConfig->EnableAmbient == 0U) ? 0U : 1U; |
charlesmn | 0:c1910e04fc6c | 284 | pObj->IsSignalEnabled = (pConfig->EnableSignal == 0U) ? 0U : 1U; |
charlesmn | 0:c1910e04fc6c | 285 | pObj->EnableInterrupt = pConfig->EnableInterrupt; |
charlesmn | 0:c1910e04fc6c | 286 | pObj->pin_gpio1 = pConfig->pin_gpio1; |
charlesmn | 0:c1910e04fc6c | 287 | pObj->Interrupt_Func = pConfig->Interrupt_Func; |
charlesmn | 0:c1910e04fc6c | 288 | |
charlesmn | 0:c1910e04fc6c | 289 | delete_interrupt_measure_detection_irq(); // delete any existing interrupt |
charlesmn | 0:c1910e04fc6c | 290 | if ( pObj->EnableInterrupt == 1) |
charlesmn | 0:c1910e04fc6c | 291 | create_interrupt_measure_detection_irq(pObj->pin_gpio1); |
charlesmn | 0:c1910e04fc6c | 292 | |
charlesmn | 0:c1910e04fc6c | 293 | ret = VL53L3CX_OK; |
charlesmn | 0:c1910e04fc6c | 294 | } |
charlesmn | 0:c1910e04fc6c | 295 | printf("VL53L3CX_ConfigProfile %d \n",ret); |
charlesmn | 0:c1910e04fc6c | 296 | return ret; |
charlesmn | 0:c1910e04fc6c | 297 | } |
charlesmn | 0:c1910e04fc6c | 298 | |
charlesmn | 0:c1910e04fc6c | 299 | /** |
charlesmn | 0:c1910e04fc6c | 300 | * @brief Configure the Region of Interest of the vl53l3cx. |
charlesmn | 0:c1910e04fc6c | 301 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 302 | * @param pROIConfig Pointer to the ROI configuration struct. |
charlesmn | 0:c1910e04fc6c | 303 | * @note Minimal ROI size is 4x4 spads. |
charlesmn | 0:c1910e04fc6c | 304 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 305 | */ |
charlesmn | 0:c1910e04fc6c | 306 | int32_t VL53L3CX_ConfigROI(VL53L3CX_Object_t *pObj, VL53L3CX_ROIConfig_t *pROIConfig) |
charlesmn | 0:c1910e04fc6c | 307 | { |
charlesmn | 0:c1910e04fc6c | 308 | int32_t ret; |
charlesmn | 0:c1910e04fc6c | 309 | VL53LX_UserRoi_t roi_settings; |
charlesmn | 0:c1910e04fc6c | 310 | |
charlesmn | 0:c1910e04fc6c | 311 | if ((pObj == NULL) || (pROIConfig == NULL)) |
charlesmn | 0:c1910e04fc6c | 312 | { |
charlesmn | 0:c1910e04fc6c | 313 | ret = VL53L3CX_INVALID_PARAM; |
charlesmn | 0:c1910e04fc6c | 314 | } |
charlesmn | 0:c1910e04fc6c | 315 | else |
charlesmn | 0:c1910e04fc6c | 316 | { |
charlesmn | 0:c1910e04fc6c | 317 | roi_settings.BotRightX = pROIConfig->BotRightX; |
charlesmn | 0:c1910e04fc6c | 318 | roi_settings.BotRightY = pROIConfig->BotRightY; |
charlesmn | 0:c1910e04fc6c | 319 | roi_settings.TopLeftX = pROIConfig->TopLeftX; |
charlesmn | 0:c1910e04fc6c | 320 | roi_settings.TopLeftY = pROIConfig->TopLeftY; |
charlesmn | 0:c1910e04fc6c | 321 | |
charlesmn | 0:c1910e04fc6c | 322 | if (VL53LX_SetUserROI(pObj, &roi_settings) != VL53LX_ERROR_NONE) |
charlesmn | 0:c1910e04fc6c | 323 | { |
charlesmn | 0:c1910e04fc6c | 324 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 325 | } |
charlesmn | 0:c1910e04fc6c | 326 | else |
charlesmn | 0:c1910e04fc6c | 327 | { |
charlesmn | 0:c1910e04fc6c | 328 | ret = VL53L3CX_OK; |
charlesmn | 0:c1910e04fc6c | 329 | } |
charlesmn | 0:c1910e04fc6c | 330 | } |
charlesmn | 0:c1910e04fc6c | 331 | |
charlesmn | 0:c1910e04fc6c | 332 | return ret; |
charlesmn | 0:c1910e04fc6c | 333 | } |
charlesmn | 0:c1910e04fc6c | 334 | |
charlesmn | 0:c1910e04fc6c | 335 | /** |
charlesmn | 0:c1910e04fc6c | 336 | * @brief Configure the IT event generation parameters. |
charlesmn | 0:c1910e04fc6c | 337 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 338 | * @param pITConfig Pointer to the IT configuration struct. |
charlesmn | 0:c1910e04fc6c | 339 | * @note The threshold modes can be used only if supported by the device (check the capabilities) |
charlesmn | 0:c1910e04fc6c | 340 | * @warning This device does not support this feature. |
charlesmn | 0:c1910e04fc6c | 341 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 342 | */ |
charlesmn | 0:c1910e04fc6c | 343 | int32_t VL53L3CX_ConfigIT(VL53L3CX_Object_t *pObj, VL53L3CX_ITConfig_t *pITConfig) |
charlesmn | 0:c1910e04fc6c | 344 | { |
charlesmn | 0:c1910e04fc6c | 345 | UNUSED(pObj); |
charlesmn | 0:c1910e04fc6c | 346 | UNUSED(pITConfig); |
charlesmn | 0:c1910e04fc6c | 347 | return VL53L3CX_NOT_IMPLEMENTED; |
charlesmn | 0:c1910e04fc6c | 348 | } |
charlesmn | 0:c1910e04fc6c | 349 | |
charlesmn | 0:c1910e04fc6c | 350 | /** |
charlesmn | 0:c1910e04fc6c | 351 | * @brief Get the last distance measurement information. |
charlesmn | 0:c1910e04fc6c | 352 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 353 | * @param pResult Pointer to the result struct. |
charlesmn | 0:c1910e04fc6c | 354 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 355 | */ |
charlesmn | 0:c1910e04fc6c | 356 | int32_t VL53L3CX_GetDistance(VL53L3CX_Object_t *pObj, VL53L3CX_Result_t *pResult) |
charlesmn | 0:c1910e04fc6c | 357 | { |
charlesmn | 0:c1910e04fc6c | 358 | int32_t ret; |
charlesmn | 0:c1910e04fc6c | 359 | |
charlesmn | 0:c1910e04fc6c | 360 | if ((pObj == NULL) || (pResult == NULL)) |
charlesmn | 0:c1910e04fc6c | 361 | { |
charlesmn | 0:c1910e04fc6c | 362 | ret = VL53L3CX_INVALID_PARAM; |
charlesmn | 0:c1910e04fc6c | 363 | } |
charlesmn | 0:c1910e04fc6c | 364 | else if (pObj->IsRanging == 0U) |
charlesmn | 0:c1910e04fc6c | 365 | { |
charlesmn | 0:c1910e04fc6c | 366 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 367 | } |
charlesmn | 0:c1910e04fc6c | 368 | else |
charlesmn | 0:c1910e04fc6c | 369 | { |
charlesmn | 0:c1910e04fc6c | 370 | if (pObj->IsBlocking == 1U) |
charlesmn | 0:c1910e04fc6c | 371 | { |
charlesmn | 0:c1910e04fc6c | 372 | ret = vl53l3cx_poll_for_measurement(pObj, V53L3CX_POLL_TIMEOUT); |
charlesmn | 0:c1910e04fc6c | 373 | } |
charlesmn | 0:c1910e04fc6c | 374 | else |
charlesmn | 0:c1910e04fc6c | 375 | { |
charlesmn | 0:c1910e04fc6c | 376 | ret = vl53l3cx_poll_for_measurement(pObj, 0U); |
charlesmn | 0:c1910e04fc6c | 377 | } |
charlesmn | 0:c1910e04fc6c | 378 | } |
charlesmn | 0:c1910e04fc6c | 379 | |
charlesmn | 0:c1910e04fc6c | 380 | /* a new measure is available if no error is returned by the poll function */ |
charlesmn | 0:c1910e04fc6c | 381 | if (ret == VL53L3CX_OK) |
charlesmn | 0:c1910e04fc6c | 382 | { |
charlesmn | 0:c1910e04fc6c | 383 | /* retrieve measurements and fill result structure */ |
charlesmn | 0:c1910e04fc6c | 384 | if (vl53l3cx_get_result(pObj, pResult) != VL53L3CX_OK) |
charlesmn | 0:c1910e04fc6c | 385 | { |
charlesmn | 0:c1910e04fc6c | 386 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 387 | } |
charlesmn | 0:c1910e04fc6c | 388 | else if (pObj->IsContinuous == 1U) |
charlesmn | 0:c1910e04fc6c | 389 | { |
charlesmn | 0:c1910e04fc6c | 390 | /* trigger new measurement if device configured in continuous mode */ |
charlesmn | 0:c1910e04fc6c | 391 | ret = (int32_t)VL53LX_ClearInterruptAndStartMeasurement(pObj); |
charlesmn | 0:c1910e04fc6c | 392 | } |
charlesmn | 0:c1910e04fc6c | 393 | else |
charlesmn | 0:c1910e04fc6c | 394 | { |
charlesmn | 0:c1910e04fc6c | 395 | ret = VL53L3CX_OK; |
charlesmn | 0:c1910e04fc6c | 396 | } |
charlesmn | 0:c1910e04fc6c | 397 | } |
charlesmn | 0:c1910e04fc6c | 398 | return ret; |
charlesmn | 0:c1910e04fc6c | 399 | } |
charlesmn | 0:c1910e04fc6c | 400 | |
charlesmn | 0:c1910e04fc6c | 401 | /** |
charlesmn | 0:c1910e04fc6c | 402 | * @brief Start ranging. |
charlesmn | 0:c1910e04fc6c | 403 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 404 | * @param Mode The desired ranging mode. |
charlesmn | 0:c1910e04fc6c | 405 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 406 | */ |
charlesmn | 0:c1910e04fc6c | 407 | int32_t VL53L3CX_Start(VL53L3CX_Object_t *pObj, uint32_t Mode) |
charlesmn | 0:c1910e04fc6c | 408 | { |
charlesmn | 0:c1910e04fc6c | 409 | int32_t ret; |
charlesmn | 0:c1910e04fc6c | 410 | |
charlesmn | 0:c1910e04fc6c | 411 | if (pObj == NULL) |
charlesmn | 0:c1910e04fc6c | 412 | { |
charlesmn | 0:c1910e04fc6c | 413 | printf("VL53L3CX_Start NULL \n"); |
charlesmn | 0:c1910e04fc6c | 414 | ret = VL53L3CX_INVALID_PARAM; |
charlesmn | 0:c1910e04fc6c | 415 | } |
charlesmn | 0:c1910e04fc6c | 416 | else if (pObj->IsRanging == 1U) |
charlesmn | 0:c1910e04fc6c | 417 | { |
charlesmn | 0:c1910e04fc6c | 418 | printf("VL53L3CX_Start IsRanging \n"); |
charlesmn | 0:c1910e04fc6c | 419 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 420 | } |
charlesmn | 0:c1910e04fc6c | 421 | else if (VL53LX_StartMeasurement(pObj) == VL53LX_ERROR_NONE) |
charlesmn | 0:c1910e04fc6c | 422 | { |
charlesmn | 0:c1910e04fc6c | 423 | pObj->IsRanging = 1; |
charlesmn | 0:c1910e04fc6c | 424 | ret = VL53L3CX_OK; |
charlesmn | 0:c1910e04fc6c | 425 | |
charlesmn | 0:c1910e04fc6c | 426 | switch (Mode) |
charlesmn | 0:c1910e04fc6c | 427 | { |
charlesmn | 0:c1910e04fc6c | 428 | case VL53L3CX_MODE_BLOCKING_CONTINUOUS: |
charlesmn | 0:c1910e04fc6c | 429 | pObj->IsContinuous = 1U; |
charlesmn | 0:c1910e04fc6c | 430 | pObj->IsBlocking = 1U; |
charlesmn | 0:c1910e04fc6c | 431 | break; |
charlesmn | 0:c1910e04fc6c | 432 | |
charlesmn | 0:c1910e04fc6c | 433 | case VL53L3CX_MODE_BLOCKING_ONESHOT: |
charlesmn | 0:c1910e04fc6c | 434 | pObj->IsContinuous = 0U; |
charlesmn | 0:c1910e04fc6c | 435 | pObj->IsBlocking = 1U; |
charlesmn | 0:c1910e04fc6c | 436 | break; |
charlesmn | 0:c1910e04fc6c | 437 | |
charlesmn | 0:c1910e04fc6c | 438 | case VL53L3CX_MODE_ASYNC_CONTINUOUS: |
charlesmn | 0:c1910e04fc6c | 439 | pObj->IsContinuous = 1U; |
charlesmn | 0:c1910e04fc6c | 440 | pObj->IsBlocking = 0U; |
charlesmn | 0:c1910e04fc6c | 441 | break; |
charlesmn | 0:c1910e04fc6c | 442 | |
charlesmn | 0:c1910e04fc6c | 443 | case VL53L3CX_MODE_ASYNC_ONESHOT: |
charlesmn | 0:c1910e04fc6c | 444 | pObj->IsContinuous = 0U; |
charlesmn | 0:c1910e04fc6c | 445 | pObj->IsBlocking = 0U; |
charlesmn | 0:c1910e04fc6c | 446 | break; |
charlesmn | 0:c1910e04fc6c | 447 | |
charlesmn | 0:c1910e04fc6c | 448 | default: |
charlesmn | 0:c1910e04fc6c | 449 | printf("VL53L3CX_Start default \n"); |
charlesmn | 0:c1910e04fc6c | 450 | pObj->IsRanging = 0U; |
charlesmn | 0:c1910e04fc6c | 451 | ret = VL53L3CX_INVALID_PARAM; |
charlesmn | 0:c1910e04fc6c | 452 | break; |
charlesmn | 0:c1910e04fc6c | 453 | } |
charlesmn | 0:c1910e04fc6c | 454 | } |
charlesmn | 0:c1910e04fc6c | 455 | else |
charlesmn | 0:c1910e04fc6c | 456 | { |
charlesmn | 0:c1910e04fc6c | 457 | printf("VL53L3CX_Start end err \n"); |
charlesmn | 0:c1910e04fc6c | 458 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 459 | } |
charlesmn | 0:c1910e04fc6c | 460 | return ret; |
charlesmn | 0:c1910e04fc6c | 461 | } |
charlesmn | 0:c1910e04fc6c | 462 | |
charlesmn | 0:c1910e04fc6c | 463 | /** |
charlesmn | 0:c1910e04fc6c | 464 | * @brief Stop ranging. |
charlesmn | 0:c1910e04fc6c | 465 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 466 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 467 | */ |
charlesmn | 0:c1910e04fc6c | 468 | int32_t VL53L3CX_Stop(VL53L3CX_Object_t *pObj) |
charlesmn | 0:c1910e04fc6c | 469 | { |
charlesmn | 0:c1910e04fc6c | 470 | int32_t ret; |
charlesmn | 0:c1910e04fc6c | 471 | |
charlesmn | 0:c1910e04fc6c | 472 | if (pObj == NULL) |
charlesmn | 0:c1910e04fc6c | 473 | { |
charlesmn | 0:c1910e04fc6c | 474 | ret = VL53L3CX_INVALID_PARAM; |
charlesmn | 0:c1910e04fc6c | 475 | } |
charlesmn | 0:c1910e04fc6c | 476 | else if (pObj->IsRanging == 0U) |
charlesmn | 0:c1910e04fc6c | 477 | { |
charlesmn | 0:c1910e04fc6c | 478 | /* ranging not started */ |
charlesmn | 0:c1910e04fc6c | 479 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 480 | } |
charlesmn | 0:c1910e04fc6c | 481 | else if (VL53LX_StopMeasurement(pObj) == VL53LX_ERROR_NONE) |
charlesmn | 0:c1910e04fc6c | 482 | { |
charlesmn | 0:c1910e04fc6c | 483 | pObj->IsRanging = 0U; |
charlesmn | 0:c1910e04fc6c | 484 | ret = VL53L3CX_OK; |
charlesmn | 0:c1910e04fc6c | 485 | } |
charlesmn | 0:c1910e04fc6c | 486 | else |
charlesmn | 0:c1910e04fc6c | 487 | { |
charlesmn | 0:c1910e04fc6c | 488 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 489 | } |
charlesmn | 0:c1910e04fc6c | 490 | |
charlesmn | 0:c1910e04fc6c | 491 | return ret; |
charlesmn | 0:c1910e04fc6c | 492 | } |
charlesmn | 0:c1910e04fc6c | 493 | |
charlesmn | 0:c1910e04fc6c | 494 | /** |
charlesmn | 0:c1910e04fc6c | 495 | * @brief Set the I2C address of the device. |
charlesmn | 0:c1910e04fc6c | 496 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 497 | * @param Address New I2C address. |
charlesmn | 0:c1910e04fc6c | 498 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 499 | */ |
charlesmn | 0:c1910e04fc6c | 500 | int32_t VL53L3CX_SetAddress(VL53L3CX_Object_t *pObj, uint32_t Address) |
charlesmn | 0:c1910e04fc6c | 501 | { |
charlesmn | 0:c1910e04fc6c | 502 | int32_t ret; |
charlesmn | 0:c1910e04fc6c | 503 | |
charlesmn | 0:c1910e04fc6c | 504 | if (pObj == NULL) |
charlesmn | 0:c1910e04fc6c | 505 | { |
charlesmn | 0:c1910e04fc6c | 506 | ret = VL53L3CX_INVALID_PARAM; |
charlesmn | 0:c1910e04fc6c | 507 | } |
charlesmn | 0:c1910e04fc6c | 508 | else if (VL53LX_SetDeviceAddress(pObj, (uint8_t)Address) != VL53LX_ERROR_NONE) |
charlesmn | 0:c1910e04fc6c | 509 | { |
charlesmn | 0:c1910e04fc6c | 510 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 511 | } |
charlesmn | 0:c1910e04fc6c | 512 | else |
charlesmn | 0:c1910e04fc6c | 513 | { |
charlesmn | 0:c1910e04fc6c | 514 | pObj->IO.Address = (uint16_t) Address; |
charlesmn | 0:c1910e04fc6c | 515 | ret = VL53L3CX_OK; |
charlesmn | 0:c1910e04fc6c | 516 | } |
charlesmn | 0:c1910e04fc6c | 517 | |
charlesmn | 0:c1910e04fc6c | 518 | return ret; |
charlesmn | 0:c1910e04fc6c | 519 | } |
charlesmn | 0:c1910e04fc6c | 520 | |
charlesmn | 0:c1910e04fc6c | 521 | /** |
charlesmn | 0:c1910e04fc6c | 522 | * @brief Get the current I2C address. |
charlesmn | 0:c1910e04fc6c | 523 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 524 | * @param pAddress Pointer to the current I2C address. |
charlesmn | 0:c1910e04fc6c | 525 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 526 | */ |
charlesmn | 0:c1910e04fc6c | 527 | int32_t VL53L3CX_GetAddress(VL53L3CX_Object_t *pObj, uint32_t *pAddress) |
charlesmn | 0:c1910e04fc6c | 528 | { |
charlesmn | 0:c1910e04fc6c | 529 | int32_t ret; |
charlesmn | 0:c1910e04fc6c | 530 | |
charlesmn | 0:c1910e04fc6c | 531 | if ((pObj == NULL) || (pAddress == NULL)) |
charlesmn | 0:c1910e04fc6c | 532 | { |
charlesmn | 0:c1910e04fc6c | 533 | ret = VL53L3CX_INVALID_PARAM; |
charlesmn | 0:c1910e04fc6c | 534 | } |
charlesmn | 0:c1910e04fc6c | 535 | else |
charlesmn | 0:c1910e04fc6c | 536 | { |
charlesmn | 0:c1910e04fc6c | 537 | *pAddress = pObj->IO.Address; |
charlesmn | 0:c1910e04fc6c | 538 | ret = VL53L3CX_OK; |
charlesmn | 0:c1910e04fc6c | 539 | } |
charlesmn | 0:c1910e04fc6c | 540 | |
charlesmn | 0:c1910e04fc6c | 541 | return ret; |
charlesmn | 0:c1910e04fc6c | 542 | } |
charlesmn | 0:c1910e04fc6c | 543 | |
charlesmn | 0:c1910e04fc6c | 544 | /** |
charlesmn | 0:c1910e04fc6c | 545 | * @brief Set the power mode. |
charlesmn | 0:c1910e04fc6c | 546 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 547 | * @param PowerMode New power mode to be entered. |
charlesmn | 0:c1910e04fc6c | 548 | * @note Not implemented for this device |
charlesmn | 0:c1910e04fc6c | 549 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 550 | */ |
charlesmn | 0:c1910e04fc6c | 551 | int32_t VL53L3CX_SetPowerMode(VL53L3CX_Object_t *pObj, uint32_t PowerMode) |
charlesmn | 0:c1910e04fc6c | 552 | { |
charlesmn | 0:c1910e04fc6c | 553 | UNUSED(pObj); |
charlesmn | 0:c1910e04fc6c | 554 | UNUSED(PowerMode); |
charlesmn | 0:c1910e04fc6c | 555 | return VL53L3CX_NOT_IMPLEMENTED; |
charlesmn | 0:c1910e04fc6c | 556 | } |
charlesmn | 0:c1910e04fc6c | 557 | |
charlesmn | 0:c1910e04fc6c | 558 | /** |
charlesmn | 0:c1910e04fc6c | 559 | * @brief Get the power mode. |
charlesmn | 0:c1910e04fc6c | 560 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 561 | * @param pPowerMode Pointer to the current power mode. |
charlesmn | 0:c1910e04fc6c | 562 | * @note Not implemented for this device |
charlesmn | 0:c1910e04fc6c | 563 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 564 | */ |
charlesmn | 0:c1910e04fc6c | 565 | int32_t VL53L3CX_GetPowerMode(VL53L3CX_Object_t *pObj, uint32_t *pPowerMode) |
charlesmn | 0:c1910e04fc6c | 566 | { |
charlesmn | 0:c1910e04fc6c | 567 | UNUSED(pObj); |
charlesmn | 0:c1910e04fc6c | 568 | UNUSED(pPowerMode); |
charlesmn | 0:c1910e04fc6c | 569 | return VL53L3CX_NOT_IMPLEMENTED; |
charlesmn | 0:c1910e04fc6c | 570 | } |
charlesmn | 0:c1910e04fc6c | 571 | |
charlesmn | 0:c1910e04fc6c | 572 | /** |
charlesmn | 0:c1910e04fc6c | 573 | * @brief Perform an offset calibration. |
charlesmn | 0:c1910e04fc6c | 574 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 575 | * @param CalDistance Calibration distance in mm. |
charlesmn | 0:c1910e04fc6c | 576 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 577 | */ |
charlesmn | 0:c1910e04fc6c | 578 | int32_t VL53L3CX_OffsetCalibration(VL53L3CX_Object_t *pObj, uint32_t CalDistance) |
charlesmn | 0:c1910e04fc6c | 579 | { |
charlesmn | 0:c1910e04fc6c | 580 | int32_t ret; |
charlesmn | 0:c1910e04fc6c | 581 | |
charlesmn | 0:c1910e04fc6c | 582 | VL53LX_OffsetCorrectionModes Mode = VL53LX_OFFSETCORRECTIONMODE_STANDARD; |
charlesmn | 0:c1910e04fc6c | 583 | |
charlesmn | 0:c1910e04fc6c | 584 | if (VL53LX_SetOffsetCorrectionMode(pObj, Mode) != VL53LX_ERROR_NONE) |
charlesmn | 0:c1910e04fc6c | 585 | { |
charlesmn | 0:c1910e04fc6c | 586 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 587 | } |
charlesmn | 0:c1910e04fc6c | 588 | else if (VL53LX_PerformOffsetSimpleCalibration(pObj, (int32_t)CalDistance) != VL53LX_ERROR_NONE) |
charlesmn | 0:c1910e04fc6c | 589 | { |
charlesmn | 0:c1910e04fc6c | 590 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 591 | } |
charlesmn | 0:c1910e04fc6c | 592 | else |
charlesmn | 0:c1910e04fc6c | 593 | { |
charlesmn | 0:c1910e04fc6c | 594 | ret = VL53L3CX_OK; |
charlesmn | 0:c1910e04fc6c | 595 | } |
charlesmn | 0:c1910e04fc6c | 596 | |
charlesmn | 0:c1910e04fc6c | 597 | return ret; |
charlesmn | 0:c1910e04fc6c | 598 | } |
charlesmn | 0:c1910e04fc6c | 599 | |
charlesmn | 0:c1910e04fc6c | 600 | /** |
charlesmn | 0:c1910e04fc6c | 601 | * @brief Perform a xtalk calibration. |
charlesmn | 0:c1910e04fc6c | 602 | * @param pObj vl53l3cx context object. |
charlesmn | 0:c1910e04fc6c | 603 | * @retval VL53L3CX status |
charlesmn | 0:c1910e04fc6c | 604 | */ |
charlesmn | 0:c1910e04fc6c | 605 | int32_t VL53L3CX_XTalkCalibration(VL53L3CX_Object_t *pObj) |
charlesmn | 0:c1910e04fc6c | 606 | { |
charlesmn | 0:c1910e04fc6c | 607 | int32_t ret; |
charlesmn | 0:c1910e04fc6c | 608 | |
charlesmn | 0:c1910e04fc6c | 609 | if (VL53LX_PerformXTalkCalibration(pObj) != VL53LX_ERROR_NONE) |
charlesmn | 0:c1910e04fc6c | 610 | { |
charlesmn | 0:c1910e04fc6c | 611 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 612 | } |
charlesmn | 0:c1910e04fc6c | 613 | else |
charlesmn | 0:c1910e04fc6c | 614 | { |
charlesmn | 0:c1910e04fc6c | 615 | ret = VL53L3CX_OK; |
charlesmn | 0:c1910e04fc6c | 616 | } |
charlesmn | 0:c1910e04fc6c | 617 | |
charlesmn | 0:c1910e04fc6c | 618 | return ret; |
charlesmn | 0:c1910e04fc6c | 619 | } |
charlesmn | 0:c1910e04fc6c | 620 | |
charlesmn | 0:c1910e04fc6c | 621 | /** @defgroup VL53L3CX_Private_Functions Private Functions |
charlesmn | 0:c1910e04fc6c | 622 | * @{ |
charlesmn | 0:c1910e04fc6c | 623 | */ |
charlesmn | 0:c1910e04fc6c | 624 | |
charlesmn | 0:c1910e04fc6c | 625 | static int32_t vl53l3cx_poll_for_measurement(VL53L3CX_Object_t *pObj, uint32_t Timeout) |
charlesmn | 0:c1910e04fc6c | 626 | { |
charlesmn | 0:c1910e04fc6c | 627 | uint32_t TickStart; |
charlesmn | 0:c1910e04fc6c | 628 | uint8_t NewDataReady = 0; |
charlesmn | 0:c1910e04fc6c | 629 | |
charlesmn | 0:c1910e04fc6c | 630 | if (pObj == NULL) |
charlesmn | 0:c1910e04fc6c | 631 | { |
charlesmn | 0:c1910e04fc6c | 632 | return VL53L3CX_INVALID_PARAM; |
charlesmn | 0:c1910e04fc6c | 633 | } |
charlesmn | 0:c1910e04fc6c | 634 | |
charlesmn | 0:c1910e04fc6c | 635 | |
charlesmn | 0:c1910e04fc6c | 636 | TickStart = pObj->IO.GetTick(); |
charlesmn | 0:c1910e04fc6c | 637 | |
charlesmn | 0:c1910e04fc6c | 638 | do |
charlesmn | 0:c1910e04fc6c | 639 | { |
charlesmn | 0:c1910e04fc6c | 640 | (void)VL53LX_GetMeasurementDataReady(pObj, &NewDataReady); |
charlesmn | 0:c1910e04fc6c | 641 | |
charlesmn | 0:c1910e04fc6c | 642 | if (NewDataReady == 1U) |
charlesmn | 0:c1910e04fc6c | 643 | { |
charlesmn | 0:c1910e04fc6c | 644 | return VL53L3CX_OK; |
charlesmn | 0:c1910e04fc6c | 645 | } |
charlesmn | 0:c1910e04fc6c | 646 | } while ((pObj->IO.GetTick() - TickStart) < Timeout); |
charlesmn | 0:c1910e04fc6c | 647 | return VL53L3CX_TIMEOUT; |
charlesmn | 0:c1910e04fc6c | 648 | } |
charlesmn | 0:c1910e04fc6c | 649 | |
charlesmn | 0:c1910e04fc6c | 650 | static int32_t vl53l3cx_get_result(VL53L3CX_Object_t *pObj, VL53L3CX_Result_t *pResult) |
charlesmn | 0:c1910e04fc6c | 651 | { |
charlesmn | 0:c1910e04fc6c | 652 | int32_t ret; |
charlesmn | 0:c1910e04fc6c | 653 | uint8_t i, j; |
charlesmn | 0:c1910e04fc6c | 654 | uint16_t spad_count; /* number of active spads for the current measurement */ |
charlesmn | 0:c1910e04fc6c | 655 | float_t ambient_temp, signal_temp; /* temporary variables used for computation */ |
charlesmn | 0:c1910e04fc6c | 656 | VL53LX_MultiRangingData_t data; |
charlesmn | 0:c1910e04fc6c | 657 | |
charlesmn | 0:c1910e04fc6c | 658 | if ((pObj == NULL) || (pResult == NULL)) |
charlesmn | 0:c1910e04fc6c | 659 | { |
charlesmn | 0:c1910e04fc6c | 660 | ret = VL53L3CX_INVALID_PARAM; |
charlesmn | 0:c1910e04fc6c | 661 | } |
charlesmn | 0:c1910e04fc6c | 662 | else if (VL53LX_GetMultiRangingData(pObj, &data) != VL53LX_ERROR_NONE) |
charlesmn | 0:c1910e04fc6c | 663 | { |
charlesmn | 0:c1910e04fc6c | 664 | ret = VL53L3CX_ERROR; |
charlesmn | 0:c1910e04fc6c | 665 | } |
charlesmn | 0:c1910e04fc6c | 666 | else |
charlesmn | 0:c1910e04fc6c | 667 | { |
charlesmn | 0:c1910e04fc6c | 668 | for (i = 0; i < VL53L3CX_MAX_NB_ZONES; i++) |
charlesmn | 0:c1910e04fc6c | 669 | { |
charlesmn | 0:c1910e04fc6c | 670 | pResult->NumberOfZones = VL53L3CX_MAX_NB_ZONES; |
charlesmn | 0:c1910e04fc6c | 671 | /* number of detected targets by the device */ |
charlesmn | 0:c1910e04fc6c | 672 | pResult->ZoneResult[i].NumberOfTargets = data.NumberOfObjectsFound; |
charlesmn | 0:c1910e04fc6c | 673 | |
charlesmn | 0:c1910e04fc6c | 674 | for (j = 0; j < data.NumberOfObjectsFound; j++) |
charlesmn | 0:c1910e04fc6c | 675 | { |
charlesmn | 0:c1910e04fc6c | 676 | /* clip the value if negative */ |
charlesmn | 0:c1910e04fc6c | 677 | if (data.RangeData[j].RangeMilliMeter < 0) |
charlesmn | 0:c1910e04fc6c | 678 | { |
charlesmn | 0:c1910e04fc6c | 679 | pResult->ZoneResult[i].Distance[j] = 0U; |
charlesmn | 0:c1910e04fc6c | 680 | } |
charlesmn | 0:c1910e04fc6c | 681 | else |
charlesmn | 0:c1910e04fc6c | 682 | { |
charlesmn | 0:c1910e04fc6c | 683 | pResult->ZoneResult[i].Distance[j] = (uint32_t)data.RangeData[j].RangeMilliMeter; |
charlesmn | 0:c1910e04fc6c | 684 | } |
charlesmn | 0:c1910e04fc6c | 685 | |
charlesmn | 0:c1910e04fc6c | 686 | /* compute and return Ambient value if ambient rate output is enabled : |
charlesmn | 0:c1910e04fc6c | 687 | * - convert value from FixPoint1616 to Mcps by dividing by 65536 |
charlesmn | 0:c1910e04fc6c | 688 | * - convert value from Mcps to Kcps by multiplying it by 1000 |
charlesmn | 0:c1910e04fc6c | 689 | * - obtain number of active spads by dividing EffectiveSpadRtnCount by 256 |
charlesmn | 0:c1910e04fc6c | 690 | * - convert ambient value from Kcps to Kcps/spad diving by the number of active spads |
charlesmn | 0:c1910e04fc6c | 691 | */ |
charlesmn | 0:c1910e04fc6c | 692 | if (pObj->IsAmbientEnabled == 1U) |
charlesmn | 0:c1910e04fc6c | 693 | { |
charlesmn | 0:c1910e04fc6c | 694 | ambient_temp = (data.RangeData[j].AmbientRateRtnMegaCps / 65536.0f) * 1000.0f; |
charlesmn | 0:c1910e04fc6c | 695 | spad_count = data.EffectiveSpadRtnCount >> 8; |
charlesmn | 0:c1910e04fc6c | 696 | pResult->ZoneResult[i].Ambient[j] = ambient_temp / (float_t)spad_count; |
charlesmn | 0:c1910e04fc6c | 697 | } |
charlesmn | 0:c1910e04fc6c | 698 | else |
charlesmn | 0:c1910e04fc6c | 699 | { |
charlesmn | 0:c1910e04fc6c | 700 | pResult->ZoneResult[i].Ambient[j] = 0.0f; |
charlesmn | 0:c1910e04fc6c | 701 | } |
charlesmn | 0:c1910e04fc6c | 702 | |
charlesmn | 0:c1910e04fc6c | 703 | /* compute and return Ambient value if signal rate output is enabled : |
charlesmn | 0:c1910e04fc6c | 704 | * - convert value from FixPoint1616 to Mcps by dividing by 65536 |
charlesmn | 0:c1910e04fc6c | 705 | * - convert value from Mcps to Kcps by multiplying it by 1000 |
charlesmn | 0:c1910e04fc6c | 706 | * - obtain number of active spads by dividing EffectiveSpadRtnCount by 256 |
charlesmn | 0:c1910e04fc6c | 707 | * - convert ambient value from Kcps to Kcps/spad diving by the number of active spads |
charlesmn | 0:c1910e04fc6c | 708 | */ |
charlesmn | 0:c1910e04fc6c | 709 | if (pObj->IsSignalEnabled == 1U) |
charlesmn | 0:c1910e04fc6c | 710 | { |
charlesmn | 0:c1910e04fc6c | 711 | signal_temp = (data.RangeData[j].SignalRateRtnMegaCps / 65536.0f) * 1000.0f; |
charlesmn | 0:c1910e04fc6c | 712 | spad_count = data.EffectiveSpadRtnCount >> 8; |
charlesmn | 0:c1910e04fc6c | 713 | pResult->ZoneResult[i].Signal[j] = signal_temp / (float_t)spad_count; |
charlesmn | 0:c1910e04fc6c | 714 | } |
charlesmn | 0:c1910e04fc6c | 715 | else |
charlesmn | 0:c1910e04fc6c | 716 | { |
charlesmn | 0:c1910e04fc6c | 717 | pResult->ZoneResult[i].Signal[j] = 0.0f; |
charlesmn | 0:c1910e04fc6c | 718 | } |
charlesmn | 0:c1910e04fc6c | 719 | |
charlesmn | 0:c1910e04fc6c | 720 | pResult->ZoneResult[i].Status[j] = data.RangeData[j].RangeStatus; |
charlesmn | 0:c1910e04fc6c | 721 | } |
charlesmn | 0:c1910e04fc6c | 722 | } |
charlesmn | 0:c1910e04fc6c | 723 | |
charlesmn | 0:c1910e04fc6c | 724 | |
charlesmn | 0:c1910e04fc6c | 725 | ret = VL53L3CX_OK; |
charlesmn | 0:c1910e04fc6c | 726 | } |
charlesmn | 0:c1910e04fc6c | 727 | |
charlesmn | 0:c1910e04fc6c | 728 | return ret; |
charlesmn | 0:c1910e04fc6c | 729 | } |
charlesmn | 0:c1910e04fc6c | 730 | |
charlesmn | 0:c1910e04fc6c | 731 | /** |
charlesmn | 0:c1910e04fc6c | 732 | * @} |
charlesmn | 0:c1910e04fc6c | 733 | */ |
charlesmn | 0:c1910e04fc6c | 734 | |
charlesmn | 0:c1910e04fc6c | 735 | /** |
charlesmn | 0:c1910e04fc6c | 736 | * @} |
charlesmn | 0:c1910e04fc6c | 737 | */ |
charlesmn | 0:c1910e04fc6c | 738 | |
charlesmn | 0:c1910e04fc6c | 739 | /** |
charlesmn | 0:c1910e04fc6c | 740 | * @} |
charlesmn | 0:c1910e04fc6c | 741 | */ |
charlesmn | 0:c1910e04fc6c | 742 | |
charlesmn | 0:c1910e04fc6c | 743 | /** |
charlesmn | 0:c1910e04fc6c | 744 | * @} |
charlesmn | 0:c1910e04fc6c | 745 | */ |
charlesmn | 0:c1910e04fc6c | 746 |