amiro-lld / drivers / VL53L1X / v1 / api / core / vl53l1_wait.c @ 3ed0cc4d
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1 | 4dba9195 | galberding | /*
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2 | * Copyright (c) 2017, STMicroelectronics - All Rights Reserved
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3 | *
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4 | * This file is part of VL53L1 Core and is dual licensed,
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5 | * either 'STMicroelectronics
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6 | * Proprietary license'
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7 | * or 'BSD 3-clause "New" or "Revised" License' , at your option.
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8 | *
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9 | ********************************************************************************
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10 | *
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11 | * 'STMicroelectronics Proprietary license'
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12 | *
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13 | ********************************************************************************
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14 | *
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15 | * License terms: STMicroelectronics Proprietary in accordance with licensing
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16 | * terms at www.st.com/sla0081
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17 | *
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18 | * STMicroelectronics confidential
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19 | * Reproduction and Communication of this document is strictly prohibited unless
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20 | * specifically authorized in writing by STMicroelectronics.
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21 | *
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22 | *
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23 | ********************************************************************************
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24 | *
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25 | * Alternatively, VL53L1 Core may be distributed under the terms of
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26 | * 'BSD 3-clause "New" or "Revised" License', in which case the following
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27 | * provisions apply instead of the ones mentioned above :
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28 | *
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29 | ********************************************************************************
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30 | *
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31 | * License terms: BSD 3-clause "New" or "Revised" License.
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32 | *
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33 | * Redistribution and use in source and binary forms, with or without
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34 | * modification, are permitted provided that the following conditions are met:
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35 | *
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36 | * 1. Redistributions of source code must retain the above copyright notice, this
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37 | * list of conditions and the following disclaimer.
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38 | *
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39 | * 2. Redistributions in binary form must reproduce the above copyright notice,
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40 | * this list of conditions and the following disclaimer in the documentation
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41 | * and/or other materials provided with the distribution.
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42 | *
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43 | * 3. Neither the name of the copyright holder nor the names of its contributors
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44 | * may be used to endorse or promote products derived from this software
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45 | * without specific prior written permission.
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46 | *
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47 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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48 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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49 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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50 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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51 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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52 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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53 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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54 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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55 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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56 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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57 | *
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58 | *
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59 | ********************************************************************************
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60 | *
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61 | */
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62 | |||
63 | /**
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64 | * @file vl53l1_wait.c
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65 | *
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66 | * @brief EwokPlus25 low level Driver wait function definition
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67 | */
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68 | |||
69 | |||
70 | #include "vl53l1_ll_def.h" |
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71 | #include "vl53l1_ll_device.h" |
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72 | #include "vl53l1_platform.h" |
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73 | #include "vl53l1_core.h" |
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74 | #include "vl53l1_silicon_core.h" |
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75 | #include "vl53l1_wait.h" |
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76 | #include "vl53l1_register_settings.h" |
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77 | |||
78 | |||
79 | #define LOG_FUNCTION_START(fmt, ...) \
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80 | _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) |
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81 | #define LOG_FUNCTION_END(status, ...) \
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82 | _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) |
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83 | #define LOG_FUNCTION_END_FMT(status, fmt, ...) \
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84 | _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, \ |
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85 | fmt, ##__VA_ARGS__) |
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86 | |||
87 | |||
88 | VL53L1_Error VL53L1_wait_for_boot_completion( |
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89 | VL53L1_DEV Dev) |
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90 | { |
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91 | |||
92 | /* Waits for firmware boot to finish
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93 | */
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94 | |||
95 | VL53L1_Error status = VL53L1_ERROR_NONE; |
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96 | VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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97 | |||
98 | uint8_t fw_ready = 0;
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99 | |||
100 | LOG_FUNCTION_START("");
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101 | |||
102 | if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) {
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103 | |||
104 | /* blocking version */
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105 | |||
106 | status = |
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107 | VL53L1_poll_for_boot_completion( |
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108 | Dev, |
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109 | VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS); |
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110 | |||
111 | } else {
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112 | |||
113 | /* implement non blocking version below */
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114 | |||
115 | fw_ready = 0;
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116 | while (fw_ready == 0x00 && status == VL53L1_ERROR_NONE) { |
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117 | status = VL53L1_is_boot_complete( |
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118 | Dev, |
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119 | &fw_ready); |
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120 | |||
121 | if (status == VL53L1_ERROR_NONE) {
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122 | status = VL53L1_WaitMs( |
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123 | Dev, |
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124 | VL53L1_POLLING_DELAY_MS); |
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125 | } |
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126 | } |
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127 | } |
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128 | |||
129 | LOG_FUNCTION_END(status); |
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130 | |||
131 | return status;
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132 | |||
133 | } |
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134 | |||
135 | |||
136 | VL53L1_Error VL53L1_wait_for_firmware_ready( |
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137 | VL53L1_DEV Dev) |
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138 | { |
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139 | |||
140 | /* If in timed mode or single shot then check firmware is ready
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141 | * before sending handshake
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142 | */
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143 | |||
144 | VL53L1_Error status = VL53L1_ERROR_NONE; |
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145 | VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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146 | |||
147 | uint8_t fw_ready = 0;
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148 | uint8_t mode_start = 0;
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149 | |||
150 | LOG_FUNCTION_START("");
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151 | |||
152 | /* Filter out tje measure mode part of the mode
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153 | * start register
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154 | */
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155 | mode_start = |
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156 | pdev->sys_ctrl.system__mode_start & |
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157 | VL53L1_DEVICEMEASUREMENTMODE_MODE_MASK; |
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158 | |||
159 | /*
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160 | * conditional wait for firmware ready
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161 | * only waits for timed and single shot modes
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162 | */
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163 | |||
164 | if ((mode_start == VL53L1_DEVICEMEASUREMENTMODE_TIMED) ||
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165 | (mode_start == VL53L1_DEVICEMEASUREMENTMODE_SINGLESHOT)) { |
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166 | |||
167 | if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) {
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168 | |||
169 | /* blocking version */
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170 | |||
171 | status = |
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172 | VL53L1_poll_for_firmware_ready( |
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173 | Dev, |
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174 | VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS); |
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175 | |||
176 | } else {
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177 | |||
178 | /* implement non blocking version below */
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179 | |||
180 | fw_ready = 0;
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181 | while (fw_ready == 0x00 && status == VL53L1_ERROR_NONE) { |
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182 | status = VL53L1_is_firmware_ready( |
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183 | Dev, |
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184 | &fw_ready); |
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185 | |||
186 | if (status == VL53L1_ERROR_NONE) {
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187 | status = VL53L1_WaitMs( |
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188 | Dev, |
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189 | VL53L1_POLLING_DELAY_MS); |
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190 | } |
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191 | } |
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192 | } |
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193 | } |
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194 | |||
195 | LOG_FUNCTION_END(status); |
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196 | |||
197 | return status;
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198 | } |
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199 | |||
200 | |||
201 | VL53L1_Error VL53L1_wait_for_range_completion( |
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202 | VL53L1_DEV Dev) |
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203 | { |
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204 | |||
205 | /* Wrapper function for waiting for range completion
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206 | */
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207 | |||
208 | VL53L1_Error status = VL53L1_ERROR_NONE; |
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209 | VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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210 | |||
211 | uint8_t data_ready = 0;
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212 | |||
213 | LOG_FUNCTION_START("");
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214 | |||
215 | if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) {
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216 | |||
217 | /* blocking version */
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218 | |||
219 | status = |
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220 | VL53L1_poll_for_range_completion( |
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221 | Dev, |
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222 | VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS); |
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223 | |||
224 | } else {
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225 | |||
226 | /* implement non blocking version below */
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227 | |||
228 | data_ready = 0;
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229 | while (data_ready == 0x00 && status == VL53L1_ERROR_NONE) { |
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230 | status = VL53L1_is_new_data_ready( |
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231 | Dev, |
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232 | &data_ready); |
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233 | |||
234 | if (status == VL53L1_ERROR_NONE) {
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235 | status = VL53L1_WaitMs( |
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236 | Dev, |
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237 | VL53L1_POLLING_DELAY_MS); |
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238 | } |
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239 | } |
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240 | } |
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241 | |||
242 | LOG_FUNCTION_END(status); |
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243 | |||
244 | return status;
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245 | } |
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246 | |||
247 | |||
248 | VL53L1_Error VL53L1_wait_for_test_completion( |
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249 | VL53L1_DEV Dev) |
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250 | { |
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251 | |||
252 | /* Wrapper function for waiting for test mode completion
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253 | */
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254 | |||
255 | VL53L1_Error status = VL53L1_ERROR_NONE; |
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256 | VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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257 | |||
258 | uint8_t data_ready = 0;
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259 | |||
260 | LOG_FUNCTION_START("");
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261 | |||
262 | if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) {
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263 | |||
264 | /* blocking version */
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265 | |||
266 | status = |
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267 | VL53L1_poll_for_range_completion( |
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268 | Dev, |
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269 | VL53L1_TEST_COMPLETION_POLLING_TIMEOUT_MS); |
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270 | |||
271 | } else {
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272 | |||
273 | /* implement non blocking version below */
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274 | |||
275 | data_ready = 0;
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276 | while (data_ready == 0x00 && status == VL53L1_ERROR_NONE) { |
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277 | status = VL53L1_is_new_data_ready( |
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278 | Dev, |
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279 | &data_ready); |
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280 | |||
281 | if (status == VL53L1_ERROR_NONE) {
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282 | status = VL53L1_WaitMs( |
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283 | Dev, |
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284 | VL53L1_POLLING_DELAY_MS); |
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285 | } |
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286 | } |
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287 | } |
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288 | |||
289 | LOG_FUNCTION_END(status); |
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290 | |||
291 | return status;
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292 | } |
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293 | |||
294 | |||
295 | |||
296 | |||
297 | VL53L1_Error VL53L1_is_boot_complete( |
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298 | VL53L1_DEV Dev, |
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299 | uint8_t *pready) |
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300 | { |
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301 | /**
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302 | * Determines if the firmware finished booting by reading
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303 | * bit 0 of firmware__system_status register
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304 | */
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305 | |||
306 | VL53L1_Error status = VL53L1_ERROR_NONE; |
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307 | uint8_t firmware__system_status = 0;
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308 | |||
309 | LOG_FUNCTION_START("");
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310 | |||
311 | /* read current range interrupt state */
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312 | |||
313 | status = |
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314 | VL53L1_RdByte( |
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315 | Dev, |
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316 | VL53L1_FIRMWARE__SYSTEM_STATUS, |
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317 | &firmware__system_status); |
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318 | |||
319 | /* set *pready = 1 if new range data ready complete
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320 | * zero otherwise
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321 | */
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322 | |||
323 | if ((firmware__system_status & 0x01) == 0x01) { |
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324 | *pready = 0x01;
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325 | VL53L1_init_ll_driver_state( |
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326 | Dev, |
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327 | VL53L1_DEVICESTATE_SW_STANDBY); |
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328 | } else {
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329 | *pready = 0x00;
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330 | VL53L1_init_ll_driver_state( |
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331 | Dev, |
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332 | VL53L1_DEVICESTATE_FW_COLDBOOT); |
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333 | } |
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334 | |||
335 | LOG_FUNCTION_END(status); |
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336 | |||
337 | return status;
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338 | } |
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339 | |||
340 | |||
341 | VL53L1_Error VL53L1_is_firmware_ready( |
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342 | VL53L1_DEV Dev, |
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343 | uint8_t *pready) |
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344 | { |
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345 | /**
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346 | * Determines if the firmware is ready to range
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347 | */
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348 | |||
349 | VL53L1_Error status = VL53L1_ERROR_NONE; |
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350 | VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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351 | |||
352 | LOG_FUNCTION_START("");
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353 | |||
354 | status = VL53L1_is_firmware_ready_silicon( |
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355 | Dev, |
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356 | pready); |
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357 | |||
358 | pdev->fw_ready = *pready; |
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359 | |||
360 | LOG_FUNCTION_END(status); |
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361 | |||
362 | return status;
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363 | } |
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364 | |||
365 | |||
366 | VL53L1_Error VL53L1_is_new_data_ready( |
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367 | VL53L1_DEV Dev, |
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368 | uint8_t *pready) |
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369 | { |
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370 | /**
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371 | * Determines if new range data is ready by reading bit 0 of
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372 | * VL53L1_GPIO__TIO_HV_STATUS to determine the current state
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373 | * of output interrupt pin
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374 | */
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375 | |||
376 | VL53L1_Error status = VL53L1_ERROR_NONE; |
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377 | VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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378 | |||
379 | uint8_t gpio__mux_active_high_hv = 0;
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380 | uint8_t gpio__tio_hv_status = 0;
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381 | uint8_t interrupt_ready = 0;
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382 | |||
383 | LOG_FUNCTION_START("");
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384 | |||
385 | gpio__mux_active_high_hv = |
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386 | pdev->stat_cfg.gpio_hv_mux__ctrl & |
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387 | VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_MASK; |
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388 | |||
389 | if (gpio__mux_active_high_hv == VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH)
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390 | interrupt_ready = 0x01;
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391 | else
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392 | interrupt_ready = 0x00;
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393 | |||
394 | /* read current range interrupt state */
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395 | |||
396 | status = VL53L1_RdByte( |
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397 | Dev, |
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398 | VL53L1_GPIO__TIO_HV_STATUS, |
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399 | &gpio__tio_hv_status); |
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400 | |||
401 | /* set *pready = 1 if new range data ready complete zero otherwise */
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402 | |||
403 | if ((gpio__tio_hv_status & 0x01) == interrupt_ready) |
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404 | *pready = 0x01;
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405 | else
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406 | *pready = 0x00;
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407 | |||
408 | LOG_FUNCTION_END(status); |
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409 | |||
410 | return status;
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411 | } |
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412 | |||
413 | |||
414 | |||
415 | |||
416 | VL53L1_Error VL53L1_poll_for_boot_completion( |
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417 | VL53L1_DEV Dev, |
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418 | uint32_t timeout_ms) |
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419 | { |
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420 | /**
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421 | 3ed0cc4d | Thomas Schöpping | * Polls the bit 0 of the FIRMWARE__SYSTEM_STATUS register to see if
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422 | 4dba9195 | galberding | * the firmware is ready.
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423 | */
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424 | |||
425 | VL53L1_Error status = VL53L1_ERROR_NONE; |
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426 | |||
427 | LOG_FUNCTION_START("");
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428 | |||
429 | /* after reset for the firmware blocks I2C access while
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430 | * it copies the NVM data into the G02 host register banks
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431 | * The host must wait the required time to allow the copy
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432 | * to complete before attempting to read the firmware status
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433 | */
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434 | |||
435 | status = VL53L1_WaitUs( |
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436 | Dev, |
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437 | VL53L1_FIRMWARE_BOOT_TIME_US); |
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438 | |||
439 | if (status == VL53L1_ERROR_NONE)
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440 | status = |
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441 | VL53L1_WaitValueMaskEx( |
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442 | Dev, |
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443 | timeout_ms, |
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444 | VL53L1_FIRMWARE__SYSTEM_STATUS, |
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445 | 0x01,
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446 | 0x01,
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447 | VL53L1_POLLING_DELAY_MS); |
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448 | |||
449 | if (status == VL53L1_ERROR_NONE)
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450 | VL53L1_init_ll_driver_state(Dev, VL53L1_DEVICESTATE_SW_STANDBY); |
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451 | |||
452 | LOG_FUNCTION_END(status); |
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453 | |||
454 | return status;
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455 | } |
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456 | |||
457 | |||
458 | VL53L1_Error VL53L1_poll_for_firmware_ready( |
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459 | VL53L1_DEV Dev, |
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460 | uint32_t timeout_ms) |
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461 | { |
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462 | /**
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463 | * Polls the bit 0 of the FIRMWARE__SYSTEM_STATUS register to see if
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464 | * the firmware is ready.
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465 | */
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466 | |||
467 | VL53L1_Error status = VL53L1_ERROR_NONE; |
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468 | VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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469 | |||
470 | uint32_t start_time_ms = 0;
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471 | uint32_t current_time_ms = 0;
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472 | int32_t poll_delay_ms = VL53L1_POLLING_DELAY_MS; |
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473 | uint8_t fw_ready = 0;
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474 | |||
475 | /* calculate time limit in absolute time */
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476 | |||
477 | VL53L1_GetTickCount(&start_time_ms); /*lint !e534 ignoring return*/
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478 | pdev->fw_ready_poll_duration_ms = 0;
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479 | |||
480 | /* wait until firmware is ready, timeout reached on error occurred */
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481 | |||
482 | while ((status == VL53L1_ERROR_NONE) &&
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483 | (pdev->fw_ready_poll_duration_ms < timeout_ms) && |
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484 | (fw_ready == 0)) {
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485 | |||
486 | status = VL53L1_is_firmware_ready( |
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487 | Dev, |
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488 | &fw_ready); |
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489 | |||
490 | if (status == VL53L1_ERROR_NONE &&
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491 | fw_ready == 0 &&
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492 | poll_delay_ms > 0) {
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493 | status = VL53L1_WaitMs( |
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494 | Dev, |
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495 | poll_delay_ms); |
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496 | } |
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497 | |||
498 | /*
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499 | * Update polling time (Compare difference rather than
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500 | * absolute to negate 32bit wrap around issue)
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501 | */
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502 | VL53L1_GetTickCount(¤t_time_ms); /*lint !e534 ignoring return*/
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503 | pdev->fw_ready_poll_duration_ms = |
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504 | current_time_ms - start_time_ms; |
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505 | } |
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506 | |||
507 | if (fw_ready == 0 && status == VL53L1_ERROR_NONE) |
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508 | status = VL53L1_ERROR_TIME_OUT; |
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509 | |||
510 | LOG_FUNCTION_END(status); |
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511 | |||
512 | return status;
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513 | } |
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514 | |||
515 | |||
516 | VL53L1_Error VL53L1_poll_for_range_completion( |
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517 | VL53L1_DEV Dev, |
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518 | uint32_t timeout_ms) |
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519 | { |
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520 | /**
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521 | * Polls bit 0 of VL53L1_GPIO__TIO_HV_STATUS to determine
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522 | * the state of output interrupt pin
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523 | *
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524 | * Interrupt may be either active high or active low. Use active_high to
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525 | * select the required level check
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526 | */
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527 | |||
528 | VL53L1_Error status = VL53L1_ERROR_NONE; |
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529 | VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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530 | |||
531 | uint8_t gpio__mux_active_high_hv = 0;
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532 | uint8_t interrupt_ready = 0;
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533 | |||
534 | LOG_FUNCTION_START("");
|
||
535 | |||
536 | gpio__mux_active_high_hv = |
||
537 | pdev->stat_cfg.gpio_hv_mux__ctrl & |
||
538 | VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_MASK; |
||
539 | |||
540 | if (gpio__mux_active_high_hv == VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH)
|
||
541 | interrupt_ready = 0x01;
|
||
542 | else
|
||
543 | interrupt_ready = 0x00;
|
||
544 | |||
545 | status = |
||
546 | VL53L1_WaitValueMaskEx( |
||
547 | Dev, |
||
548 | timeout_ms, |
||
549 | VL53L1_GPIO__TIO_HV_STATUS, |
||
550 | interrupt_ready, |
||
551 | 0x01,
|
||
552 | VL53L1_POLLING_DELAY_MS); |
||
553 | |||
554 | LOG_FUNCTION_END(status); |
||
555 | |||
556 | return status;
|
||
557 | } |
||
558 |