amiro-lld / source / VL53L0X / v1 / alld_VL53L0X_v1.c @ c368a765
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1 | 6ebebd4d | Andre Raming | /*
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2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU Lesser General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU Lesser General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU Lesser General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | /**
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20 | * @file alld_vl53l0x.c
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21 | * @brief Proximity Sensor function implementations.
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22 | *
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23 | * @addtogroup lld_proximity
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24 | * @{
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25 | */
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26 | |||
27 | |||
28 | #include <alld_VL53L0X.h> |
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29 | //#include <string.h>
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30 | //debugging
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31 | //#include <aos_thread.h>
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32 | |||
33 | |||
34 | #if (defined(AMIROLLD_CFG_VL53L0X) && (AMIROLLD_CFG_VL53L0X == 1)) || defined(__DOXYGEN__) |
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35 | |||
36 | |||
37 | |||
38 | /******************************************************************************/
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39 | /* LOCAL DEFINITIONS */
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40 | /******************************************************************************/
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41 | |||
42 | /******************************************************************************/
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43 | /* EXPORTED VARIABLES */
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44 | /******************************************************************************/
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45 | |||
46 | /******************************************************************************/
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47 | /* LOCAL TYPES */
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48 | /******************************************************************************/
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49 | |||
50 | /******************************************************************************/
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51 | /* LOCAL VARIABLES */
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52 | /******************************************************************************/
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53 | |||
54 | /******************************************************************************/
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55 | /* LOCAL FUNCTIONS */
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56 | /******************************************************************************/
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57 | |||
58 | void print_pal_error(VL53L0X_Error Status){
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59 | char buf[VL53L0X_MAX_STRING_LENGTH];
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60 | VL53L0X_GetPalErrorString(Status, buf); |
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61 | c368a765 | Andre Raming | apalDbgPrintf("\t\tAPI Status: %i : %s\n", Status, buf);
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62 | 6ebebd4d | Andre Raming | } |
63 | |||
64 | |||
65 | |||
66 | void print_range_status(VL53L0X_RangingMeasurementData_t* pRangingMeasurementData){
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67 | char buf[VL53L0X_MAX_STRING_LENGTH];
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68 | uint8_t RangeStatus; |
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69 | |||
70 | /*
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71 | * New Range Status: data is valid when pRangingMeasurementData->RangeStatus = 0
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72 | */
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73 | |||
74 | RangeStatus = pRangingMeasurementData->RangeStatus; |
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75 | |||
76 | VL53L0X_GetRangeStatusString(RangeStatus, buf); |
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77 | c368a765 | Andre Raming | apalDbgPrintf("Range Status: %i : %s\n", RangeStatus, buf);
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78 | 6ebebd4d | Andre Raming | |
79 | } |
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80 | |||
81 | |||
82 | c368a765 | Andre Raming | /******************************************************************************/
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83 | /* EXPORTED FUNCTIONS */
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84 | /******************************************************************************/
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85 | |||
86 | /* general single register access */
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87 | |||
88 | |||
89 | |||
90 | |||
91 | |||
92 | 6ebebd4d | Andre Raming | /**
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93 | * @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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94 | * 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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95 | *
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96 | c368a765 | Andre Raming | * @param[in] vl53l0x driver with i2cadress, vl53l0x_data and more.
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97 | 6ebebd4d | Andre Raming | * @return
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98 | */
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99 | |||
100 | |||
101 | apalExitStatus_t vl53l0x_lld_init(VL53L0XDriver* vl53l0x) |
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102 | { |
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103 | |||
104 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
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105 | c368a765 | Andre Raming | apalExitStatus_t status_driver = APAL_STATUS_OK; |
106 | 6ebebd4d | Andre Raming | |
107 | VL53L0X_DeviceInfo_t DeviceInfo; |
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108 | |||
109 | |||
110 | if(status == VL53L0X_ERROR_NONE)
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111 | { |
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112 | c368a765 | Andre Raming | apalDbgPrintf("Call of VL53L0X_DataInit\n");
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113 | 6ebebd4d | Andre Raming | status = VL53L0X_DataInit(&(vl53l0x->vl53l0x_dev)); // Data initialization
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114 | c368a765 | Andre Raming | |
115 | 6ebebd4d | Andre Raming | print_pal_error(status); |
116 | c368a765 | Andre Raming | }else{
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117 | status_driver = APAL_STATUS_ERROR; |
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118 | } |
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119 | 6ebebd4d | Andre Raming | |
120 | |||
121 | if(status == VL53L0X_ERROR_NONE)
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122 | { |
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123 | status = VL53L0X_GetDeviceInfo(&(vl53l0x->vl53l0x_dev), &DeviceInfo); |
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124 | if(status == VL53L0X_ERROR_NONE)
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125 | { |
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126 | c368a765 | Andre Raming | apalDbgPrintf("VL53L0X_GetDeviceInfo:\n");
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127 | apalDbgPrintf("\tDevice Name : %s\n", DeviceInfo.Name);
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128 | apalDbgPrintf("\tDevice Type : %s\n", DeviceInfo.Type);
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129 | apalDbgPrintf("\tDevice ID : %s\n", DeviceInfo.ProductId);
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130 | apalDbgPrintf("\tProductRevisionMajor : %d\n", DeviceInfo.ProductRevisionMajor);
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131 | apalDbgPrintf("\tProductRevisionMinor : %d\n", DeviceInfo.ProductRevisionMinor);
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132 | 6ebebd4d | Andre Raming | |
133 | if ((DeviceInfo.ProductRevisionMinor != 1) && (DeviceInfo.ProductRevisionMinor != 1)) { |
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134 | c368a765 | Andre Raming | apalDbgPrintf("Error expected cut 1.1 but found cut %d.%d\n",
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135 | 6ebebd4d | Andre Raming | DeviceInfo.ProductRevisionMajor, DeviceInfo.ProductRevisionMinor); |
136 | status = VL53L0X_ERROR_NOT_SUPPORTED; |
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137 | } |
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138 | } |
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139 | print_pal_error(status); |
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140 | c368a765 | Andre Raming | }else{
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141 | status_driver = APAL_STATUS_ERROR; |
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142 | 6ebebd4d | Andre Raming | } |
143 | |||
144 | |||
145 | /* static init and tests*/
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146 | uint32_t refSpadCount; |
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147 | uint8_t isApertureSpads; |
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148 | uint8_t VhvSettings; |
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149 | uint8_t PhaseCal; |
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150 | |||
151 | if(status == VL53L0X_ERROR_NONE)
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152 | { |
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153 | c368a765 | Andre Raming | apalDbgPrintf("Call of VL53L0X_StaticInit\n");
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154 | 6ebebd4d | Andre Raming | status = VL53L0X_StaticInit(&(vl53l0x->vl53l0x_dev)); // Device Initialization
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155 | print_pal_error(status); |
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156 | c368a765 | Andre Raming | }else{
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157 | status_driver = APAL_STATUS_ERROR; |
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158 | 6ebebd4d | Andre Raming | } |
159 | |||
160 | |||
161 | /* START Load calibration data*/
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162 | |||
163 | |||
164 | // need to be done after VL53L0X_StaticInit and before VL53L0X_PerformRefCalibration. In order to optimize the
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165 | // dynamic of the system, the reference SPADs have to be calibrated
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166 | // there are three different possibilities to set the Parameter
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167 | /*
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168 | - calibration has not been performed -> VL53L0X_PerformRefSpadManagement
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169 | - Host has not programmed the number and type of SPADs -> VL53L0X_SetReferenceSpads
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170 | - get the number and type of reference SPADs programmed into the device NVM -> VL53L0X_GetReferenceSpads
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171 | |||
172 | */
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173 | if(status == VL53L0X_ERROR_NONE)
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174 | { |
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175 | // only test
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176 | status = VL53L0X_GetReferenceSpads(&(vl53l0x->vl53l0x_dev), &refSpadCount, &isApertureSpads); |
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177 | c368a765 | Andre Raming | apalDbgPrintf("Call of VL53L0X_GetReferenceSpads with refSpadCount:%lu and isApertureSpads:%u \n", refSpadCount, isApertureSpads);
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178 | 6ebebd4d | Andre Raming | |
179 | c368a765 | Andre Raming | apalDbgPrintf("Call of VL53L0X_PerformRefSpadManagement\n");
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180 | 6ebebd4d | Andre Raming | status |= VL53L0X_PerformRefSpadManagement(&(vl53l0x->vl53l0x_dev), |
181 | &refSpadCount, &isApertureSpads); // Device Initialization
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182 | c368a765 | Andre Raming | apalDbgPrintf("\trefSpadCount = %d, isApertureSpads = %d\n", refSpadCount, isApertureSpads);
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183 | 6ebebd4d | Andre Raming | print_pal_error(status); |
184 | if(status == -6){ |
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185 | c368a765 | Andre Raming | status_driver = APAL_STATUS_ERROR; |
186 | 6ebebd4d | Andre Raming | status = VL53L0X_ERROR_NONE; |
187 | } |
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188 | c368a765 | Andre Raming | }else{
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189 | status_driver = APAL_STATUS_ERROR; |
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190 | 6ebebd4d | Andre Raming | } |
191 | |||
192 | |||
193 | |||
194 | |||
195 | // calibration of two parameters (VHV and phase cal) which are temperature dependent, it should be
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196 | // performed again when temperature varies more than 8degC compared to the initial calibration temperature
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197 | // 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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198 | if(status == VL53L0X_ERROR_NONE)
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199 | { |
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200 | c368a765 | Andre Raming | apalDbgPrintf("Call of VL53L0X_PerformRefCalibration\n");
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201 | 6ebebd4d | Andre Raming | status = VL53L0X_PerformRefCalibration(&(vl53l0x->vl53l0x_dev), |
202 | &VhvSettings, &PhaseCal); // Device Initialization
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203 | print_pal_error(status); |
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204 | if(status == -6){ |
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205 | status = VL53L0X_ERROR_NONE; |
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206 | c368a765 | Andre Raming | status_driver = APAL_STATUS_ERROR; |
207 | 6ebebd4d | Andre Raming | } |
208 | c368a765 | Andre Raming | }else{
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209 | status_driver = APAL_STATUS_ERROR; |
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210 | 6ebebd4d | Andre Raming | } |
211 | |||
212 | |||
213 | //Offset is get via VL53L0X_GetDeviceParameters in VL53L0X_DataInit
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214 | //VL53L0X_SetOffsetCalibrationDataMicroMeter();
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215 | |||
216 | // ross-talk correction is set in VL53L0X_DataInit to 0.
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217 | // the Host will have to program the cross-talk correction factor and enable the cross-talk correction
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218 | |||
219 | /* End Load calibration data*/
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220 | |||
221 | |||
222 | |||
223 | // Enable/Disable Sigma and Signal check
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224 | // why are no values set?? with VL53L0X_SetLimitCheckValue
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225 | if (status == VL53L0X_ERROR_NONE) {
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226 | status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev), |
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227 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
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228 | c368a765 | Andre Raming | }else{
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229 | status_driver = APAL_STATUS_ERROR; |
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230 | 6ebebd4d | Andre Raming | } |
231 | |||
232 | // why are no values seet?? with VL53L0X_SetLimitCheckValue
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233 | if (status == VL53L0X_ERROR_NONE) {
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234 | status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev), |
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235 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
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236 | c368a765 | Andre Raming | }else{
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237 | status_driver = APAL_STATUS_ERROR; |
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238 | 6ebebd4d | Andre Raming | } |
239 | |||
240 | |||
241 | |||
242 | // Signal rate minimum threshold. Measurements with signal rates below this value are ignored.
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243 | //This ensures that false measurements are not made due to reflection from the housing.
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244 | if (status == VL53L0X_ERROR_NONE) {
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245 | status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev), |
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246 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 1);
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247 | c368a765 | Andre Raming | }else{
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248 | status_driver = APAL_STATUS_ERROR; |
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249 | 6ebebd4d | Andre Raming | } |
250 | |||
251 | if (status == VL53L0X_ERROR_NONE) {
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252 | status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev), |
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253 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
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254 | (FixPoint1616_t)(1.5*0.023*65536)); |
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255 | c368a765 | Andre Raming | }else{
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256 | status_driver = APAL_STATUS_ERROR; |
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257 | 6ebebd4d | Andre Raming | } |
258 | /* end static init and some tests */
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259 | |||
260 | |||
261 | c368a765 | Andre Raming | return status_driver;
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262 | 6ebebd4d | Andre Raming | |
263 | |||
264 | } |
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265 | |||
266 | |||
267 | /**
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268 | c368a765 | Andre Raming | * @brief vl53l0x_lld_set_mode set one of the thre possible modes. Same as VL53L0X_SetDeviceMode and VL53L0X_SetGpioConfig.
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269 | 6ebebd4d | Andre Raming | * @param vl53l0x[in]
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270 | * @param mode[in] one of the VL53L0X_DeviceModes, VL53L0X_DEVICEMODE_SINGLE_RANGING == 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING == 1,
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271 | * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING == 3
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272 | * @param interrupt[in] set one of the different interrupt modes: VL53L0X_GPIOFUNCTIONALITY_OFF == 0 no interrupt,
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273 | * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW == 1 Level Low (value < thresh_low),
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274 | * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH == 2 Level High (value > thresh_high),
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275 | * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT == 3 value < thresh_low OR value > thresh_high,
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276 | * VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY == 4 New Sample Ready.
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277 | * The Interruptpolarity is set to low, an interrupt is created if HIGH changes to LOW.
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278 | * @return
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279 | */
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280 | apalExitStatus_t vl53l0x_lld_set_mode(VL53L0XDriver* vl53l0x, VL53L0X_DeviceModes mode, VL53L0X_GpioFunctionality interrupt, |
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281 | FixPoint1616_t low, FixPoint1616_t high) |
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282 | { |
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283 | |||
284 | uint32_t ThresholdLow; |
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285 | uint32_t ThresholdHigh; |
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286 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
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287 | c368a765 | Andre Raming | apalExitStatus_t status_driver = APAL_STATUS_OK; |
288 | 6ebebd4d | Andre Raming | |
289 | if(status == VL53L0X_ERROR_NONE)
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290 | { |
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291 | |||
292 | // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
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293 | c368a765 | Andre Raming | apalDbgPrintf("Call of VL53L0X_SetDeviceMode\n");
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294 | 6ebebd4d | Andre Raming | status = VL53L0X_SetDeviceMode(&(vl53l0x->vl53l0x_dev), mode); // Setup in single ranging mode
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295 | print_pal_error(status); |
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296 | c368a765 | Andre Raming | }else{
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297 | status_driver = APAL_STATUS_ERROR; |
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298 | 6ebebd4d | Andre Raming | } |
299 | |||
300 | |||
301 | if(status == VL53L0X_ERROR_NONE)
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302 | { |
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303 | // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
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304 | c368a765 | Andre Raming | apalDbgPrintf("Call of VL53L0X_SetGpioConfig\n");
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305 | status = VL53L0X_SetGpioConfig(&(vl53l0x->vl53l0x_dev), 0, mode, interrupt, VL53L0X_INTERRUPTPOLARITY_HIGH);
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306 | 6ebebd4d | Andre Raming | print_pal_error(status); |
307 | c368a765 | Andre Raming | }else{
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308 | status_driver = APAL_STATUS_ERROR; |
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309 | 6ebebd4d | Andre Raming | } |
310 | |||
311 | |||
312 | if(status == VL53L0X_ERROR_NONE && interrupt != VL53L0X_GPIOFUNCTIONALITY_OFF)
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313 | { |
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314 | |||
315 | // multiplication with 65536 is imported, no clue why!
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316 | // 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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317 | if(mode == VL53L0X_DEVICEMODE_SINGLE_RANGING && (low > 254 || high > 254)){ |
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318 | c368a765 | Andre Raming | apalDbgPrintf("Device mode is VL53L0X_DEVICEMODE_SINGLE_RANGING and therefore we get no Interrupt if the interrupt "
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319 | 6ebebd4d | Andre Raming | "threshold is bigger than 254 mm\n");
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320 | } |
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321 | |||
322 | ThresholdLow = low * 65536;
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323 | ThresholdHigh = high * 65536;
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324 | |||
325 | |||
326 | |||
327 | // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
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328 | c368a765 | Andre Raming | apalDbgPrintf("Call of VL53L0X_SetInterruptThresholds\n");
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329 | 6ebebd4d | Andre Raming | status = VL53L0X_SetInterruptThresholds(&(vl53l0x->vl53l0x_dev),interrupt,ThresholdLow ,ThresholdHigh); |
330 | print_pal_error(status); |
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331 | c368a765 | Andre Raming | if(status != VL53L0X_ERROR_NONE)
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332 | { |
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333 | status_driver = APAL_STATUS_ERROR; |
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334 | } |
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335 | 6ebebd4d | Andre Raming | } |
336 | |||
337 | c368a765 | Andre Raming | return status_driver;
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338 | 6ebebd4d | Andre Raming | |
339 | |||
340 | |||
341 | |||
342 | /*High Accurancy
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343 | |||
344 | // Enable/Disable Sigma and Signal check
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345 | if (Status == VL53L0X_ERROR_NONE) {
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346 | Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),
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347 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
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348 | }
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349 | if (Status == VL53L0X_ERROR_NONE) {
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350 | Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),
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351 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
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352 | }
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353 | |||
354 | if (Status == VL53L0X_ERROR_NONE) {
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355 | Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),
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356 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
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357 | (FixPoint1616_t)(0.25*65536));
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358 | }
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359 | if (Status == VL53L0X_ERROR_NONE) {
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360 | Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),
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361 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
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362 | (FixPoint1616_t)(18*65536));
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363 | }
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364 | if (Status == VL53L0X_ERROR_NONE) {
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365 | Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&(vl53l0x->vl53l0x_dev),
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366 | 200000);
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367 | }
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368 | |||
369 | */
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370 | |||
371 | /*High Speed
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372 | |||
373 | // Enable/Disable Sigma and Signal check
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374 | if (Status == VL53L0X_ERROR_NONE) {
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375 | Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),
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376 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
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377 | }
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378 | if (Status == VL53L0X_ERROR_NONE) {
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379 | Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),
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380 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
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381 | }
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382 | |||
383 | if (Status == VL53L0X_ERROR_NONE) {
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384 | Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),
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385 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
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386 | (FixPoint1616_t)(0.25*65536));
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387 | }
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388 | if (Status == VL53L0X_ERROR_NONE) {
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389 | Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),
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390 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
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391 | (FixPoint1616_t)(32*65536));
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392 | }
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393 | if (Status == VL53L0X_ERROR_NONE) {
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394 | Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&(vl53l0x->vl53l0x_dev),
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395 | 30000);
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396 | }
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397 | |||
398 | |||
399 | */
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400 | |||
401 | /*Long Range
|
||
402 | |||
403 | |||
404 | if (Status == VL53L0X_ERROR_NONE) {
|
||
405 | Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),
|
||
406 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
|
||
407 | }
|
||
408 | if (Status == VL53L0X_ERROR_NONE) {
|
||
409 | Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),
|
||
410 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
|
||
411 | }
|
||
412 | |||
413 | if (Status == VL53L0X_ERROR_NONE) {
|
||
414 | Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),
|
||
415 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
|
||
416 | (FixPoint1616_t)(0.1*65536));
|
||
417 | }
|
||
418 | if (Status == VL53L0X_ERROR_NONE) {
|
||
419 | Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),
|
||
420 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
|
||
421 | (FixPoint1616_t)(60*65536));
|
||
422 | }
|
||
423 | if (Status == VL53L0X_ERROR_NONE) {
|
||
424 | Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&(vl53l0x->vl53l0x_dev),
|
||
425 | 33000);
|
||
426 | }
|
||
427 | |||
428 | if (Status == VL53L0X_ERROR_NONE) {
|
||
429 | Status = VL53L0X_SetVcselPulsePeriod(&(vl53l0x->vl53l0x_dev),
|
||
430 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, 18);
|
||
431 | }
|
||
432 | if (Status == VL53L0X_ERROR_NONE) {
|
||
433 | Status = VL53L0X_SetVcselPulsePeriod(&(vl53l0x->vl53l0x_dev),
|
||
434 | VL53L0X_VCSEL_PERIOD_FINAL_RANGE, 14);
|
||
435 | }
|
||
436 | |||
437 | */
|
||
438 | |||
439 | |||
440 | } |
||
441 | |||
442 | /**
|
||
443 | * @brief vl53l0x_lld_start_measurement, use this method for interrupt mode. You must call vl53l0x_lld_set_mode beforehand.
|
||
444 | * @param vl53l0x
|
||
445 | * @return
|
||
446 | */
|
||
447 | apalExitStatus_t vl53l0x_lld_start_measurement(VL53L0XDriver* vl53l0x) |
||
448 | { |
||
449 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
||
450 | c368a765 | Andre Raming | apalExitStatus_t status_driver = APAL_STATUS_OK; |
451 | 6ebebd4d | Andre Raming | status = VL53L0X_StartMeasurement(&(vl53l0x->vl53l0x_dev)); |
452 | |||
453 | if(status == VL53L0X_ERROR_NONE)
|
||
454 | { |
||
455 | // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
|
||
456 | c368a765 | Andre Raming | apalDbgPrintf("Successful startet measurement\n");
|
457 | 6ebebd4d | Andre Raming | print_pal_error(status); |
458 | }else{
|
||
459 | c368a765 | Andre Raming | apalDbgPrintf("Error in startet measurement\n");
|
460 | 6ebebd4d | Andre Raming | print_pal_error(status); |
461 | c368a765 | Andre Raming | status_driver = APAL_STATUS_ERROR; |
462 | 6ebebd4d | Andre Raming | } |
463 | |||
464 | c368a765 | Andre Raming | return status_driver;
|
465 | 6ebebd4d | Andre Raming | |
466 | } |
||
467 | |||
468 | |||
469 | |||
470 | c368a765 | Andre Raming | /**
|
471 | * @brief vl53l0x_lld_stop_measurement, stops a measurement when the measurement were started with vl53l0x_lld_start_measurement
|
||
472 | * @param vl53l0x[in]
|
||
473 | * @return
|
||
474 | */
|
||
475 | 6ebebd4d | Andre Raming | apalExitStatus_t vl53l0x_lld_stop_measurement(VL53L0XDriver* vl53l0x) |
476 | { |
||
477 | |||
478 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
||
479 | c368a765 | Andre Raming | apalExitStatus_t status_driver = APAL_STATUS_OK; |
480 | 6ebebd4d | Andre Raming | status = VL53L0X_StopMeasurement(&(vl53l0x->vl53l0x_dev)); |
481 | c368a765 | Andre Raming | if(status != VL53L0X_ERROR_NONE)
|
482 | { |
||
483 | print_pal_error(status); |
||
484 | status_driver = APAL_STATUS_ERROR; |
||
485 | } |
||
486 | 6ebebd4d | Andre Raming | |
487 | c368a765 | Andre Raming | return status_driver;
|
488 | 6ebebd4d | Andre Raming | } |
489 | |||
490 | /**
|
||
491 | * @brief vl53l0x_lld_perform_mesaurement with delay and not interrupts ! No need to call vl53l0x_lld_set_mode.
|
||
492 | *
|
||
493 | * write 16 Byte to 80, FF, 00, 91, 00, FF 80, 00
|
||
494 | * -> read 00 and get 00 back
|
||
495 | * listen on 13 till we get 44 back
|
||
496 | * write the data from sensor 14 -> 12 B , 12 single BYTES_PER_DWORD
|
||
497 | * clear things: 0B -> 01 and 0B -> 00
|
||
498 | *
|
||
499 | * @param vl53l0x
|
||
500 | * @param data
|
||
501 | * @param timeout
|
||
502 | * @return
|
||
503 | */
|
||
504 | apalExitStatus_t vl53l0x_lld_perform_mesaurement(VL53L0XDriver* vl53l0x, uint16_t* data) |
||
505 | { |
||
506 | //the information of the measurement is saved in although in vl53l0x->vl53l0x_dev.Data.LastRangeMeasure, but only after VL53L0X_PerformSingleRangingMeasurement
|
||
507 | // is called
|
||
508 | VL53L0X_RangingMeasurementData_t RangingMeasurementData; |
||
509 | VL53L0X_RangingMeasurementData_t *pRangingMeasurementData = &RangingMeasurementData; |
||
510 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
||
511 | c368a765 | Andre Raming | apalExitStatus_t status_driver = APAL_STATUS_OK; |
512 | 6ebebd4d | Andre Raming | |
513 | status = VL53L0X_PerformSingleMeasurement(&(vl53l0x->vl53l0x_dev)); |
||
514 | |||
515 | if (status == VL53L0X_ERROR_NONE)
|
||
516 | status = VL53L0X_GetRangingMeasurementData(&(vl53l0x->vl53l0x_dev), |
||
517 | pRangingMeasurementData); |
||
518 | c368a765 | Andre Raming | else
|
519 | status_driver = APAL_STATUS_ERROR; |
||
520 | 6ebebd4d | Andre Raming | |
521 | |||
522 | if (status == VL53L0X_ERROR_NONE)
|
||
523 | status = VL53L0X_ClearInterruptMask(&(vl53l0x->vl53l0x_dev), 0);
|
||
524 | c368a765 | Andre Raming | else
|
525 | status_driver = APAL_STATUS_ERROR; |
||
526 | 6ebebd4d | Andre Raming | |
527 | |||
528 | |||
529 | data[0] = RangingMeasurementData.RangeMilliMeter;
|
||
530 | c368a765 | Andre Raming | //apalDbgPrintf( "Measured distance: %i\n\n", RangingMeasurementData.RangeMilliMeter);
|
531 | 6ebebd4d | Andre Raming | |
532 | |||
533 | //TODO write millimeter to data
|
||
534 | //data = &RangingMeasurementData.RangeMilliMeter;
|
||
535 | |||
536 | c368a765 | Andre Raming | return status_driver;
|
537 | 6ebebd4d | Andre Raming | } |
538 | |||
539 | /**
|
||
540 | * @brief vl53l0x_lld_CheckRangingDataReady custom method, because in api was a strange phenonom
|
||
541 | * @param vl53l0x[in]
|
||
542 | * @param pMeasurementDataReady[in]
|
||
543 | * @return
|
||
544 | */
|
||
545 | apalExitStatus_t vl53l0x_lld_CheckRangingDataReady(VL53L0XDriver* vl53l0x, uint8_t *pMeasurementDataReady) |
||
546 | { |
||
547 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
||
548 | c368a765 | Andre Raming | apalExitStatus_t status_driver = APAL_STATUS_OK; |
549 | 6ebebd4d | Andre Raming | |
550 | uint8_t sysRangeStatusRegister; |
||
551 | uint8_t interruptConfig; |
||
552 | uint32_t interruptMask; |
||
553 | //LOG_FUNCTION_START("");
|
||
554 | interruptConfig = vl53l0x->vl53l0x_dev.Data.DeviceSpecificParameters.Pin0GpioFunctionality; |
||
555 | if (interruptConfig !=
|
||
556 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED) { |
||
557 | status = VL53L0X_GetInterruptMaskStatus(&(vl53l0x->vl53l0x_dev), &interruptMask); |
||
558 | if (interruptMask == interruptConfig)
|
||
559 | *pMeasurementDataReady = 1;
|
||
560 | else
|
||
561 | *pMeasurementDataReady = 0;
|
||
562 | |||
563 | } else {
|
||
564 | status = VL53L0X_RdByte(&(vl53l0x->vl53l0x_dev), VL53L0X_REG_RESULT_RANGE_STATUS, |
||
565 | &sysRangeStatusRegister); |
||
566 | if (status == VL53L0X_ERROR_NONE) {
|
||
567 | if (sysRangeStatusRegister & 0x01) |
||
568 | *pMeasurementDataReady = 1;
|
||
569 | else
|
||
570 | *pMeasurementDataReady = 0;
|
||
571 | } |
||
572 | } |
||
573 | |||
574 | c368a765 | Andre Raming | if(status != VL53L0X_ERROR_NONE)
|
575 | { |
||
576 | print_pal_error(status); |
||
577 | status_driver = APAL_STATUS_ERROR; |
||
578 | } |
||
579 | |||
580 | |||
581 | 6ebebd4d | Andre Raming | //LOG_FUNCTION_END(status);
|
582 | c368a765 | Andre Raming | return status_driver;
|
583 | 6ebebd4d | Andre Raming | } |
584 | |||
585 | /**
|
||
586 | * @brief vl53l0x_lld_getRangingData
|
||
587 | * @param vl53l0x
|
||
588 | * @param pRangingMeasurementData
|
||
589 | * @return
|
||
590 | */
|
||
591 | apalExitStatus_t vl53l0x_lld_getRangingData(VL53L0XDriver* vl53l0x, VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) |
||
592 | { |
||
593 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
||
594 | c368a765 | Andre Raming | apalExitStatus_t status_driver = APAL_STATUS_OK; |
595 | 6ebebd4d | Andre Raming | status = VL53L0X_GetRangingMeasurementData(&(vl53l0x->vl53l0x_dev), |
596 | pRangingMeasurementData); |
||
597 | |||
598 | status |= VL53L0X_ClearInterruptMask(&(vl53l0x->vl53l0x_dev), 0);
|
||
599 | |||
600 | c368a765 | Andre Raming | if(status != VL53L0X_ERROR_NONE)
|
601 | { |
||
602 | print_pal_error(status); |
||
603 | status_driver = APAL_STATUS_ERROR; |
||
604 | } |
||
605 | |||
606 | return status_driver;
|
||
607 | 6ebebd4d | Andre Raming | } |
608 | |||
609 | |||
610 | |||
611 | /**
|
||
612 | * @brief vl53l0x_lld_set_address
|
||
613 | * @param vl53l0x
|
||
614 | * @param new_address
|
||
615 | * @return
|
||
616 | */
|
||
617 | apalExitStatus_t vl53l0x_lld_set_address(VL53L0XDriver* vl53l0x, uint8_t new_address) |
||
618 | { |
||
619 | |||
620 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
||
621 | c368a765 | Andre Raming | apalExitStatus_t status_driver = APAL_STATUS_OK; |
622 | 6ebebd4d | Andre Raming | status = VL53L0X_SetDeviceAddress(&(vl53l0x->vl53l0x_dev), new_address ); |
623 | c368a765 | Andre Raming | if(status != VL53L0X_ERROR_NONE)
|
624 | { |
||
625 | print_pal_error(status); |
||
626 | status_driver = APAL_STATUS_ERROR; |
||
627 | } |
||
628 | |||
629 | return status_driver;
|
||
630 | 6ebebd4d | Andre Raming | } |
631 | |||
632 | |||
633 | /*
|
||
634 | |||
635 | |||
636 | examples for continous getting examples without interrupt
|
||
637 | |||
638 | |||
639 | |||
640 | |||
641 | uint32_t measurement;
|
||
642 | uint32_t no_of_measurements = 32;
|
||
643 | |||
644 | uint16_t* pResults = (uint16_t*)malloc(sizeof(uint16_t) * no_of_measurements);
|
||
645 | |||
646 | for(measurement=0; measurement<no_of_measurements; measurement++)
|
||
647 | {
|
||
648 | |||
649 | Status = WaitMeasurementDataReady(&(vl53l0x->vl53l0x_dev));
|
||
650 | |||
651 | if(Status == VL53L0X_ERROR_NONE)
|
||
652 | {
|
||
653 | Status = VL53L0X_GetRangingMeasurementData(&(vl53l0x->vl53l0x_dev), pRangingMeasurementData);
|
||
654 | |||
655 | *(pResults + measurement) = pRangingMeasurementData->RangeMilliMeter;
|
||
656 | printf("In loop measurement %ld: %d\n", measurement, pRangingMeasurementData->RangeMilliMeter);
|
||
657 | |||
658 | // Clear the interrupt
|
||
659 | VL53L0X_ClearInterruptMask(&(vl53l0x->vl53l0x_dev), VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
|
||
660 | usleep(20);
|
||
661 | //VL53L0X_PollingDelay(&(vl53l0x->vl53l0x_dev);
|
||
662 | } else {
|
||
663 | break;
|
||
664 | }
|
||
665 | }
|
||
666 | |||
667 | if(Status == VL53L0X_ERROR_NONE)
|
||
668 | {
|
||
669 | for(measurement=0; measurement<no_of_measurements; measurement++)
|
||
670 | {
|
||
671 | printf("measurement %ld: %d\n", measurement, *(pResults + measurement));
|
||
672 | }
|
||
673 | }
|
||
674 | data = &pResults[0];
|
||
675 | |||
676 | free(pResults);
|
||
677 | |||
678 | |||
679 | |||
680 | example for measurement with interrupt single
|
||
681 | |||
682 | |||
683 | example for measurement with interrupt continious
|
||
684 | |||
685 | */
|
||
686 | |||
687 | |||
688 | /**
|
||
689 | * @brief WaitMeasurementDataReady.
|
||
690 | * @param Dev
|
||
691 | * @return
|
||
692 | */
|
||
693 | VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev) { |
||
694 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
695 | uint8_t NewDatReady=0;
|
||
696 | uint32_t LoopNb; |
||
697 | |||
698 | // Wait until it finished
|
||
699 | // use timeout to avoid deadlock
|
||
700 | if (Status == VL53L0X_ERROR_NONE) {
|
||
701 | LoopNb = 0;
|
||
702 | do {
|
||
703 | Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDatReady); |
||
704 | if ((NewDatReady == 0x01) || Status != VL53L0X_ERROR_NONE) { |
||
705 | break;
|
||
706 | } |
||
707 | LoopNb = LoopNb + 1;
|
||
708 | // sleep for 50 ms
|
||
709 | usleep(50);
|
||
710 | } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);
|
||
711 | |||
712 | if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
|
||
713 | Status = VL53L0X_ERROR_TIME_OUT; |
||
714 | } |
||
715 | } |
||
716 | |||
717 | return Status;
|
||
718 | } |
||
719 | |||
720 | |||
721 | |||
722 | /*============================================================================*/
|
||
723 | /* threshold register access */
|
||
724 | /*============================================================================*/
|
||
725 | |||
726 | |||
727 | #endif /* defined(AMIROLLD_CFG_VL53L0X) && (AMIROLLD_CFG_VL53L0X == 1) */ |
||
728 | |||
729 | /** @} */
|
||
730 | |||
731 | |||
732 |