amiro-lld / source / VL53L0X / v1 / alld_VL53L0X_v1.c @ 6ebebd4d
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/*
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AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file alld_vl53l0x.c
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* @brief Proximity Sensor function implementations.
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*
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* @addtogroup lld_proximity
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* @{
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*/
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#include <alld_VL53L0X.h> |
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//#include <string.h>
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//debugging
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//#include <aos_thread.h>
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#if (defined(AMIROLLD_CFG_VL53L0X) && (AMIROLLD_CFG_VL53L0X == 1)) || defined(__DOXYGEN__) |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/* general single register access */
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void print_pal_error(VL53L0X_Error Status){
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char buf[VL53L0X_MAX_STRING_LENGTH];
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VL53L0X_GetPalErrorString(Status, buf); |
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chprintf((BaseSequentialStream*)&SD1,"\t\tAPI Status: %i : %s\n", Status, buf);
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} |
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void print_range_status(VL53L0X_RangingMeasurementData_t* pRangingMeasurementData){
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char buf[VL53L0X_MAX_STRING_LENGTH];
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uint8_t RangeStatus; |
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/*
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* New Range Status: data is valid when pRangingMeasurementData->RangeStatus = 0
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*/
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RangeStatus = pRangingMeasurementData->RangeStatus; |
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VL53L0X_GetRangeStatusString(RangeStatus, buf); |
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chprintf((BaseSequentialStream*)&SD1,"Range Status: %i : %s\n", RangeStatus, buf);
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} |
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/**
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* @brief vl53l0x_lld_init useses the Vl53L0X functions so init the sensor. This function are VL53L0X_DataInit (performs the device initialization)
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* and VL53L0X_StaticInit (allows to load device settings specific for a given use case). These two function need 40 ms to perform.
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*
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* @param[in] vl53l0x
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* @return
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*/
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apalExitStatus_t vl53l0x_lld_init(VL53L0XDriver* vl53l0x) |
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{ |
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VL53L0X_Error status = VL53L0X_ERROR_NONE; |
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VL53L0X_DeviceInfo_t DeviceInfo; |
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if(status == VL53L0X_ERROR_NONE)
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{ |
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chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_DataInit\n");
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status = VL53L0X_DataInit(&(vl53l0x->vl53l0x_dev)); // Data initialization
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print_pal_error(status); |
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} |
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if(status == VL53L0X_ERROR_NONE)
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{ |
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status = VL53L0X_GetDeviceInfo(&(vl53l0x->vl53l0x_dev), &DeviceInfo); |
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if(status == VL53L0X_ERROR_NONE)
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{ |
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chprintf((BaseSequentialStream*)&SD1,"VL53L0X_GetDeviceInfo:\n");
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chprintf((BaseSequentialStream*)&SD1,"\tDevice Name : %s\n", DeviceInfo.Name);
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chprintf((BaseSequentialStream*)&SD1,"\tDevice Type : %s\n", DeviceInfo.Type);
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chprintf((BaseSequentialStream*)&SD1,"\tDevice ID : %s\n", DeviceInfo.ProductId);
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chprintf((BaseSequentialStream*)&SD1,"\tProductRevisionMajor : %d\n", DeviceInfo.ProductRevisionMajor);
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chprintf((BaseSequentialStream*)&SD1,"\tProductRevisionMinor : %d\n", DeviceInfo.ProductRevisionMinor);
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if ((DeviceInfo.ProductRevisionMinor != 1) && (DeviceInfo.ProductRevisionMinor != 1)) { |
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chprintf((BaseSequentialStream*)&SD1,"Error expected cut 1.1 but found cut %d.%d\n",
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DeviceInfo.ProductRevisionMajor, DeviceInfo.ProductRevisionMinor); |
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status = VL53L0X_ERROR_NOT_SUPPORTED; |
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} |
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} |
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print_pal_error(status); |
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} |
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/* static init and tests*/
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uint32_t refSpadCount; |
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uint8_t isApertureSpads; |
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uint8_t VhvSettings; |
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uint8_t PhaseCal; |
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if(status == VL53L0X_ERROR_NONE)
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{ |
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chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_StaticInit\n");
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status = VL53L0X_StaticInit(&(vl53l0x->vl53l0x_dev)); // Device Initialization
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print_pal_error(status); |
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} |
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/* START Load calibration data*/
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// need to be done after VL53L0X_StaticInit and before VL53L0X_PerformRefCalibration. In order to optimize the
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// dynamic of the system, the reference SPADs have to be calibrated
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// there are three different possibilities to set the Parameter
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/*
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- calibration has not been performed -> VL53L0X_PerformRefSpadManagement
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- Host has not programmed the number and type of SPADs -> VL53L0X_SetReferenceSpads
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- get the number and type of reference SPADs programmed into the device NVM -> VL53L0X_GetReferenceSpads
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*/
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if(status == VL53L0X_ERROR_NONE)
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{ |
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// only test
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status = VL53L0X_GetReferenceSpads(&(vl53l0x->vl53l0x_dev), &refSpadCount, &isApertureSpads); |
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chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_GetReferenceSpads with refSpadCount:%lu and isApertureSpads:%u \n", refSpadCount, isApertureSpads);
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chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_PerformRefSpadManagement\n");
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status |= VL53L0X_PerformRefSpadManagement(&(vl53l0x->vl53l0x_dev), |
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&refSpadCount, &isApertureSpads); // Device Initialization
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chprintf((BaseSequentialStream*)&SD1,"\trefSpadCount = %d, isApertureSpads = %d\n", refSpadCount, isApertureSpads);
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print_pal_error(status); |
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if(status == -6){ |
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status = VL53L0X_ERROR_NONE; |
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} |
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} |
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// calibration of two parameters (VHV and phase cal) which are temperature dependent, it should be
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// performed again when temperature varies more than 8degC compared to the initial calibration temperature
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// if the user has previously performed a calibration and stored the two parameters in the Host memory we can use VL53L0X_SetRefCalibration
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if(status == VL53L0X_ERROR_NONE)
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{ |
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chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_PerformRefCalibration\n");
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status = VL53L0X_PerformRefCalibration(&(vl53l0x->vl53l0x_dev), |
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&VhvSettings, &PhaseCal); // Device Initialization
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print_pal_error(status); |
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if(status == -6){ |
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status = VL53L0X_ERROR_NONE; |
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} |
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} |
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//Offset is get via VL53L0X_GetDeviceParameters in VL53L0X_DataInit
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//VL53L0X_SetOffsetCalibrationDataMicroMeter();
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// ross-talk correction is set in VL53L0X_DataInit to 0.
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// the Host will have to program the cross-talk correction factor and enable the cross-talk correction
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/* End Load calibration data*/
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// Enable/Disable Sigma and Signal check
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// why are no values set?? with VL53L0X_SetLimitCheckValue
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if (status == VL53L0X_ERROR_NONE) {
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status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev), |
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VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
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} |
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// why are no values seet?? with VL53L0X_SetLimitCheckValue
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if (status == VL53L0X_ERROR_NONE) {
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status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev), |
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VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
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} |
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// Signal rate minimum threshold. Measurements with signal rates below this value are ignored.
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//This ensures that false measurements are not made due to reflection from the housing.
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if (status == VL53L0X_ERROR_NONE) {
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status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev), |
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VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 1);
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} |
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if (status == VL53L0X_ERROR_NONE) {
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status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev), |
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VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
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(FixPoint1616_t)(1.5*0.023*65536)); |
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} |
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/* end static init and some tests */
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return status;
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} |
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/**
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* @brief vl53l0x_lld_set_mode set one of the thre possible modes.
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* @param vl53l0x[in]
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* @param mode[in] one of the VL53L0X_DeviceModes, VL53L0X_DEVICEMODE_SINGLE_RANGING == 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING == 1,
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* VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING == 3
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* @param interrupt[in] set one of the different interrupt modes: VL53L0X_GPIOFUNCTIONALITY_OFF == 0 no interrupt,
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* VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW == 1 Level Low (value < thresh_low),
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* VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH == 2 Level High (value > thresh_high),
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* VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT == 3 value < thresh_low OR value > thresh_high,
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* VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY == 4 New Sample Ready.
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* The Interruptpolarity is set to low, an interrupt is created if HIGH changes to LOW.
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* @return
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*/
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apalExitStatus_t vl53l0x_lld_set_mode(VL53L0XDriver* vl53l0x, VL53L0X_DeviceModes mode, VL53L0X_GpioFunctionality interrupt, |
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FixPoint1616_t low, FixPoint1616_t high) |
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{ |
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uint32_t ThresholdLow; |
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uint32_t ThresholdHigh; |
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VL53L0X_Error status = VL53L0X_ERROR_NONE; |
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if(status == VL53L0X_ERROR_NONE)
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{ |
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// no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
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chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_SetDeviceMode\n");
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status = VL53L0X_SetDeviceMode(&(vl53l0x->vl53l0x_dev), mode); // Setup in single ranging mode
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print_pal_error(status); |
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} |
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if(status == VL53L0X_ERROR_NONE)
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{ |
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// no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
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chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_SetGpioConfig\n");
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status = VL53L0X_SetGpioConfig(&(vl53l0x->vl53l0x_dev), 0, mode, interrupt, VL53L0X_INTERRUPTPOLARITY_LOW);
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print_pal_error(status); |
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} |
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if(status == VL53L0X_ERROR_NONE && interrupt != VL53L0X_GPIOFUNCTIONALITY_OFF)
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{ |
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// multiplication with 65536 is imported, no clue why!
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// in single ranging high and low must be below 255, otherwise there will be no interrupt. In the other two modes the ranging is a few ms slower!
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if(mode == VL53L0X_DEVICEMODE_SINGLE_RANGING && (low > 254 || high > 254)){ |
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chprintf((BaseSequentialStream*)&SD1,"Device mode is VL53L0X_DEVICEMODE_SINGLE_RANGING and therefore we get no Interrupt if the interrupt "
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"threshold is bigger than 254 mm\n");
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} |
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ThresholdLow = low * 65536;
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ThresholdHigh = high * 65536;
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// no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
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chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_SetInterruptThresholds\n");
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status = VL53L0X_SetInterruptThresholds(&(vl53l0x->vl53l0x_dev),interrupt,ThresholdLow ,ThresholdHigh); |
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print_pal_error(status); |
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} |
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return status;
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/*High Accurancy
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// Enable/Disable Sigma and Signal check
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),
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VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
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}
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),
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VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
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}
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),
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VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
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(FixPoint1616_t)(0.25*65536));
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}
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),
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VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
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(FixPoint1616_t)(18*65536));
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}
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&(vl53l0x->vl53l0x_dev),
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200000);
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}
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*/
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/*High Speed
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// Enable/Disable Sigma and Signal check
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),
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VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
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}
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),
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VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
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}
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),
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VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
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(FixPoint1616_t)(0.25*65536));
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}
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),
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VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
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(FixPoint1616_t)(32*65536));
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}
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&(vl53l0x->vl53l0x_dev),
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30000);
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}
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*/
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/*Long Range
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),
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VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
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}
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),
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VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
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}
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),
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VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
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(FixPoint1616_t)(0.1*65536));
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}
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),
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VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
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(FixPoint1616_t)(60*65536));
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}
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&(vl53l0x->vl53l0x_dev),
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33000);
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}
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetVcselPulsePeriod(&(vl53l0x->vl53l0x_dev),
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VL53L0X_VCSEL_PERIOD_PRE_RANGE, 18);
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}
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if (Status == VL53L0X_ERROR_NONE) {
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Status = VL53L0X_SetVcselPulsePeriod(&(vl53l0x->vl53l0x_dev),
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VL53L0X_VCSEL_PERIOD_FINAL_RANGE, 14);
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}
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*/
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} |
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/**
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* @brief vl53l0x_lld_start_measurement, use this method for interrupt mode. You must call vl53l0x_lld_set_mode beforehand.
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* @param vl53l0x
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* @return
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*/
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apalExitStatus_t vl53l0x_lld_start_measurement(VL53L0XDriver* vl53l0x) |
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{ |
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VL53L0X_Error status = VL53L0X_ERROR_NONE; |
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status = VL53L0X_StartMeasurement(&(vl53l0x->vl53l0x_dev)); |
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if(status == VL53L0X_ERROR_NONE)
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{ |
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// no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
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chprintf((BaseSequentialStream*)&SD1,"Successful startet measurement\n");
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print_pal_error(status); |
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}else{
|
424 |
chprintf((BaseSequentialStream*)&SD1,"Error in startet measurement\n");
|
425 |
print_pal_error(status); |
426 |
} |
427 |
|
428 |
return status;
|
429 |
|
430 |
} |
431 |
|
432 |
|
433 |
|
434 |
apalExitStatus_t vl53l0x_lld_stop_measurement(VL53L0XDriver* vl53l0x) |
435 |
{ |
436 |
|
437 |
VL53L0X_Error status = VL53L0X_ERROR_NONE; |
438 |
status = VL53L0X_StopMeasurement(&(vl53l0x->vl53l0x_dev)); |
439 |
|
440 |
return status;
|
441 |
} |
442 |
|
443 |
/**
|
444 |
* @brief vl53l0x_lld_perform_mesaurement with delay and not interrupts ! No need to call vl53l0x_lld_set_mode.
|
445 |
*
|
446 |
* write 16 Byte to 80, FF, 00, 91, 00, FF 80, 00
|
447 |
* -> read 00 and get 00 back
|
448 |
* listen on 13 till we get 44 back
|
449 |
* write the data from sensor 14 -> 12 B , 12 single BYTES_PER_DWORD
|
450 |
* clear things: 0B -> 01 and 0B -> 00
|
451 |
*
|
452 |
* @param vl53l0x
|
453 |
* @param data
|
454 |
* @param timeout
|
455 |
* @return
|
456 |
*/
|
457 |
apalExitStatus_t vl53l0x_lld_perform_mesaurement(VL53L0XDriver* vl53l0x, uint16_t* data) |
458 |
{ |
459 |
//the information of the measurement is saved in although in vl53l0x->vl53l0x_dev.Data.LastRangeMeasure, but only after VL53L0X_PerformSingleRangingMeasurement
|
460 |
// is called
|
461 |
VL53L0X_RangingMeasurementData_t RangingMeasurementData; |
462 |
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData = &RangingMeasurementData; |
463 |
VL53L0X_Error status = VL53L0X_ERROR_NONE; |
464 |
|
465 |
status = VL53L0X_PerformSingleMeasurement(&(vl53l0x->vl53l0x_dev)); |
466 |
|
467 |
if (status == VL53L0X_ERROR_NONE)
|
468 |
status = VL53L0X_GetRangingMeasurementData(&(vl53l0x->vl53l0x_dev), |
469 |
pRangingMeasurementData); |
470 |
|
471 |
|
472 |
if (status == VL53L0X_ERROR_NONE)
|
473 |
status = VL53L0X_ClearInterruptMask(&(vl53l0x->vl53l0x_dev), 0);
|
474 |
|
475 |
|
476 |
|
477 |
data[0] = RangingMeasurementData.RangeMilliMeter;
|
478 |
//chprintf((BaseSequentialStream*)&SD1, "Measured distance: %i\n\n", RangingMeasurementData.RangeMilliMeter);
|
479 |
|
480 |
|
481 |
//TODO write millimeter to data
|
482 |
//data = &RangingMeasurementData.RangeMilliMeter;
|
483 |
|
484 |
return status;
|
485 |
} |
486 |
|
487 |
/**
|
488 |
* @brief vl53l0x_lld_CheckRangingDataReady custom method, because in api was a strange phenonom
|
489 |
* @param vl53l0x[in]
|
490 |
* @param pMeasurementDataReady[in]
|
491 |
* @return
|
492 |
*/
|
493 |
apalExitStatus_t vl53l0x_lld_CheckRangingDataReady(VL53L0XDriver* vl53l0x, uint8_t *pMeasurementDataReady) |
494 |
{ |
495 |
VL53L0X_Error status = VL53L0X_ERROR_NONE; |
496 |
|
497 |
uint8_t sysRangeStatusRegister; |
498 |
uint8_t interruptConfig; |
499 |
uint32_t interruptMask; |
500 |
//LOG_FUNCTION_START("");
|
501 |
interruptConfig = vl53l0x->vl53l0x_dev.Data.DeviceSpecificParameters.Pin0GpioFunctionality; |
502 |
if (interruptConfig !=
|
503 |
VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED) { |
504 |
status = VL53L0X_GetInterruptMaskStatus(&(vl53l0x->vl53l0x_dev), &interruptMask); |
505 |
if (interruptMask == interruptConfig)
|
506 |
*pMeasurementDataReady = 1;
|
507 |
else
|
508 |
*pMeasurementDataReady = 0;
|
509 |
|
510 |
} else {
|
511 |
status = VL53L0X_RdByte(&(vl53l0x->vl53l0x_dev), VL53L0X_REG_RESULT_RANGE_STATUS, |
512 |
&sysRangeStatusRegister); |
513 |
if (status == VL53L0X_ERROR_NONE) {
|
514 |
if (sysRangeStatusRegister & 0x01) |
515 |
*pMeasurementDataReady = 1;
|
516 |
else
|
517 |
*pMeasurementDataReady = 0;
|
518 |
} |
519 |
} |
520 |
|
521 |
//LOG_FUNCTION_END(status);
|
522 |
return status;
|
523 |
} |
524 |
|
525 |
/**
|
526 |
* @brief vl53l0x_lld_getRangingData
|
527 |
* @param vl53l0x
|
528 |
* @param pRangingMeasurementData
|
529 |
* @return
|
530 |
*/
|
531 |
apalExitStatus_t vl53l0x_lld_getRangingData(VL53L0XDriver* vl53l0x, VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) |
532 |
{ |
533 |
VL53L0X_Error status = VL53L0X_ERROR_NONE; |
534 |
status = VL53L0X_GetRangingMeasurementData(&(vl53l0x->vl53l0x_dev), |
535 |
pRangingMeasurementData); |
536 |
|
537 |
status |= VL53L0X_ClearInterruptMask(&(vl53l0x->vl53l0x_dev), 0);
|
538 |
|
539 |
return status;
|
540 |
} |
541 |
|
542 |
|
543 |
|
544 |
/**
|
545 |
* @brief vl53l0x_lld_set_address
|
546 |
* @param vl53l0x
|
547 |
* @param new_address
|
548 |
* @return
|
549 |
*/
|
550 |
apalExitStatus_t vl53l0x_lld_set_address(VL53L0XDriver* vl53l0x, uint8_t new_address) |
551 |
{ |
552 |
|
553 |
VL53L0X_Error status = VL53L0X_ERROR_NONE; |
554 |
status = VL53L0X_SetDeviceAddress(&(vl53l0x->vl53l0x_dev), new_address ); |
555 |
return status;
|
556 |
} |
557 |
|
558 |
|
559 |
/*
|
560 |
|
561 |
|
562 |
examples for continous getting examples without interrupt
|
563 |
|
564 |
|
565 |
|
566 |
|
567 |
uint32_t measurement;
|
568 |
uint32_t no_of_measurements = 32;
|
569 |
|
570 |
uint16_t* pResults = (uint16_t*)malloc(sizeof(uint16_t) * no_of_measurements);
|
571 |
|
572 |
for(measurement=0; measurement<no_of_measurements; measurement++)
|
573 |
{
|
574 |
|
575 |
Status = WaitMeasurementDataReady(&(vl53l0x->vl53l0x_dev));
|
576 |
|
577 |
if(Status == VL53L0X_ERROR_NONE)
|
578 |
{
|
579 |
Status = VL53L0X_GetRangingMeasurementData(&(vl53l0x->vl53l0x_dev), pRangingMeasurementData);
|
580 |
|
581 |
*(pResults + measurement) = pRangingMeasurementData->RangeMilliMeter;
|
582 |
printf("In loop measurement %ld: %d\n", measurement, pRangingMeasurementData->RangeMilliMeter);
|
583 |
|
584 |
// Clear the interrupt
|
585 |
VL53L0X_ClearInterruptMask(&(vl53l0x->vl53l0x_dev), VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
|
586 |
usleep(20);
|
587 |
//VL53L0X_PollingDelay(&(vl53l0x->vl53l0x_dev);
|
588 |
} else {
|
589 |
break;
|
590 |
}
|
591 |
}
|
592 |
|
593 |
if(Status == VL53L0X_ERROR_NONE)
|
594 |
{
|
595 |
for(measurement=0; measurement<no_of_measurements; measurement++)
|
596 |
{
|
597 |
printf("measurement %ld: %d\n", measurement, *(pResults + measurement));
|
598 |
}
|
599 |
}
|
600 |
data = &pResults[0];
|
601 |
|
602 |
free(pResults);
|
603 |
|
604 |
|
605 |
|
606 |
example for measurement with interrupt single
|
607 |
|
608 |
|
609 |
example for measurement with interrupt continious
|
610 |
|
611 |
*/
|
612 |
|
613 |
|
614 |
/**
|
615 |
* @brief WaitMeasurementDataReady.
|
616 |
* @param Dev
|
617 |
* @return
|
618 |
*/
|
619 |
VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev) { |
620 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
621 |
uint8_t NewDatReady=0;
|
622 |
uint32_t LoopNb; |
623 |
|
624 |
// Wait until it finished
|
625 |
// use timeout to avoid deadlock
|
626 |
if (Status == VL53L0X_ERROR_NONE) {
|
627 |
LoopNb = 0;
|
628 |
do {
|
629 |
Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDatReady); |
630 |
if ((NewDatReady == 0x01) || Status != VL53L0X_ERROR_NONE) { |
631 |
break;
|
632 |
} |
633 |
LoopNb = LoopNb + 1;
|
634 |
// sleep for 50 ms
|
635 |
usleep(50);
|
636 |
} while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);
|
637 |
|
638 |
if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
|
639 |
Status = VL53L0X_ERROR_TIME_OUT; |
640 |
} |
641 |
} |
642 |
|
643 |
return Status;
|
644 |
} |
645 |
|
646 |
|
647 |
//#define VL53L0X_POLLINGDELAY_LOOPNB 250
|
648 |
//int32_t VL53L0X_PollingDelay(VL53L0X_DEV Dev){
|
649 |
// int32_t status = VL53L0X_ERROR_NONE;
|
650 |
// //LOG_FUNCTION_START("");
|
651 |
|
652 |
//// const DWORD cTimeout_ms = 1;
|
653 |
// usleep(1000);
|
654 |
|
655 |
//// HANDLE hEvent = CreateEvent(0, TRUE, FALSE, 0);
|
656 |
//// if(hEvent != NULL)
|
657 |
//// {
|
658 |
//// WaitForSingleObject(hEvent,cTimeout_ms);
|
659 |
//// }
|
660 |
|
661 |
// //LOG_FUNCTION_END(status);
|
662 |
// return status;
|
663 |
//}
|
664 |
|
665 |
|
666 |
/*============================================================================*/
|
667 |
/* threshold register access */
|
668 |
/*============================================================================*/
|
669 |
|
670 |
|
671 |
#endif /* defined(AMIROLLD_CFG_VL53L0X) && (AMIROLLD_CFG_VL53L0X == 1) */ |
672 |
|
673 |
/** @} */
|
674 |
|
675 |
|
676 |
|
677 |
|