amiro-lld / source / VL53L0X / v1 / alld_VL53L0X_v1.c @ c368a765
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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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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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apalDbgPrintf("\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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apalDbgPrintf("Range Status: %i : %s\n", RangeStatus, buf);
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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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/**
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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 driver with i2cadress, vl53l0x_data and more.
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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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apalExitStatus_t status_driver = APAL_STATUS_OK; |
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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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apalDbgPrintf("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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}else{
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status_driver = APAL_STATUS_ERROR; |
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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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apalDbgPrintf("VL53L0X_GetDeviceInfo:\n");
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apalDbgPrintf("\tDevice Name : %s\n", DeviceInfo.Name);
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apalDbgPrintf("\tDevice Type : %s\n", DeviceInfo.Type);
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apalDbgPrintf("\tDevice ID : %s\n", DeviceInfo.ProductId);
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apalDbgPrintf("\tProductRevisionMajor : %d\n", DeviceInfo.ProductRevisionMajor);
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apalDbgPrintf("\tProductRevisionMinor : %d\n", DeviceInfo.ProductRevisionMinor);
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if ((DeviceInfo.ProductRevisionMinor != 1) && (DeviceInfo.ProductRevisionMinor != 1)) { |
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apalDbgPrintf("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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}else{
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status_driver = APAL_STATUS_ERROR; |
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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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apalDbgPrintf("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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}else{
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status_driver = APAL_STATUS_ERROR; |
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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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apalDbgPrintf("Call of VL53L0X_GetReferenceSpads with refSpadCount:%lu and isApertureSpads:%u \n", refSpadCount, isApertureSpads);
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apalDbgPrintf("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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apalDbgPrintf("\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_driver = APAL_STATUS_ERROR; |
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status = VL53L0X_ERROR_NONE; |
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} |
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}else{
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status_driver = APAL_STATUS_ERROR; |
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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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apalDbgPrintf("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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status_driver = APAL_STATUS_ERROR; |
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} |
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}else{
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status_driver = APAL_STATUS_ERROR; |
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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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}else{
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status_driver = APAL_STATUS_ERROR; |
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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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}else{
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status_driver = APAL_STATUS_ERROR; |
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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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}else{
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status_driver = APAL_STATUS_ERROR; |
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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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}else{
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status_driver = APAL_STATUS_ERROR; |
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} |
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/* end static init and some tests */
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return status_driver;
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} |
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/**
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* @brief vl53l0x_lld_set_mode set one of the thre possible modes. Same as VL53L0X_SetDeviceMode and VL53L0X_SetGpioConfig.
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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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apalExitStatus_t status_driver = APAL_STATUS_OK; |
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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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apalDbgPrintf("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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}else{
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status_driver = APAL_STATUS_ERROR; |
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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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apalDbgPrintf("Call of VL53L0X_SetGpioConfig\n");
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status = VL53L0X_SetGpioConfig(&(vl53l0x->vl53l0x_dev), 0, mode, interrupt, VL53L0X_INTERRUPTPOLARITY_HIGH);
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print_pal_error(status); |
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}else{
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status_driver = APAL_STATUS_ERROR; |
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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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apalDbgPrintf("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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apalDbgPrintf("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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if(status != VL53L0X_ERROR_NONE)
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{
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status_driver = APAL_STATUS_ERROR; |
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} |
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} |
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return status_driver;
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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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| 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 |
apalExitStatus_t status_driver = APAL_STATUS_OK; |
| 451 |
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 |
apalDbgPrintf("Successful startet measurement\n");
|
| 457 |
print_pal_error(status); |
| 458 |
}else{
|
| 459 |
apalDbgPrintf("Error in startet measurement\n");
|
| 460 |
print_pal_error(status); |
| 461 |
status_driver = APAL_STATUS_ERROR; |
| 462 |
} |
| 463 |
|
| 464 |
return status_driver;
|
| 465 |
|
| 466 |
} |
| 467 |
|
| 468 |
|
| 469 |
|
| 470 |
/**
|
| 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 |
apalExitStatus_t vl53l0x_lld_stop_measurement(VL53L0XDriver* vl53l0x) |
| 476 |
{
|
| 477 |
|
| 478 |
VL53L0X_Error status = VL53L0X_ERROR_NONE; |
| 479 |
apalExitStatus_t status_driver = APAL_STATUS_OK; |
| 480 |
status = VL53L0X_StopMeasurement(&(vl53l0x->vl53l0x_dev)); |
| 481 |
if(status != VL53L0X_ERROR_NONE)
|
| 482 |
{
|
| 483 |
print_pal_error(status); |
| 484 |
status_driver = APAL_STATUS_ERROR; |
| 485 |
} |
| 486 |
|
| 487 |
return status_driver;
|
| 488 |
} |
| 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 |
apalExitStatus_t status_driver = APAL_STATUS_OK; |
| 512 |
|
| 513 |
status = VL53L0X_PerformSingleMeasurement(&(vl53l0x->vl53l0x_dev)); |
| 514 |
|
| 515 |
if (status == VL53L0X_ERROR_NONE)
|
| 516 |
status = VL53L0X_GetRangingMeasurementData(&(vl53l0x->vl53l0x_dev), |
| 517 |
pRangingMeasurementData); |
| 518 |
else
|
| 519 |
status_driver = APAL_STATUS_ERROR; |
| 520 |
|
| 521 |
|
| 522 |
if (status == VL53L0X_ERROR_NONE)
|
| 523 |
status = VL53L0X_ClearInterruptMask(&(vl53l0x->vl53l0x_dev), 0);
|
| 524 |
else
|
| 525 |
status_driver = APAL_STATUS_ERROR; |
| 526 |
|
| 527 |
|
| 528 |
|
| 529 |
data[0] = RangingMeasurementData.RangeMilliMeter;
|
| 530 |
//apalDbgPrintf( "Measured distance: %i\n\n", RangingMeasurementData.RangeMilliMeter);
|
| 531 |
|
| 532 |
|
| 533 |
//TODO write millimeter to data
|
| 534 |
//data = &RangingMeasurementData.RangeMilliMeter;
|
| 535 |
|
| 536 |
return status_driver;
|
| 537 |
} |
| 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 |
apalExitStatus_t status_driver = APAL_STATUS_OK; |
| 549 |
|
| 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 |
if(status != VL53L0X_ERROR_NONE)
|
| 575 |
{
|
| 576 |
print_pal_error(status); |
| 577 |
status_driver = APAL_STATUS_ERROR; |
| 578 |
} |
| 579 |
|
| 580 |
|
| 581 |
//LOG_FUNCTION_END(status);
|
| 582 |
return status_driver;
|
| 583 |
} |
| 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 |
apalExitStatus_t status_driver = APAL_STATUS_OK; |
| 595 |
status = VL53L0X_GetRangingMeasurementData(&(vl53l0x->vl53l0x_dev), |
| 596 |
pRangingMeasurementData); |
| 597 |
|
| 598 |
status |= VL53L0X_ClearInterruptMask(&(vl53l0x->vl53l0x_dev), 0);
|
| 599 |
|
| 600 |
if(status != VL53L0X_ERROR_NONE)
|
| 601 |
{
|
| 602 |
print_pal_error(status); |
| 603 |
status_driver = APAL_STATUS_ERROR; |
| 604 |
} |
| 605 |
|
| 606 |
return status_driver;
|
| 607 |
} |
| 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 |
apalExitStatus_t status_driver = APAL_STATUS_OK; |
| 622 |
status = VL53L0X_SetDeviceAddress(&(vl53l0x->vl53l0x_dev), new_address ); |
| 623 |
if(status != VL53L0X_ERROR_NONE)
|
| 624 |
{
|
| 625 |
print_pal_error(status); |
| 626 |
status_driver = APAL_STATUS_ERROR; |
| 627 |
} |
| 628 |
|
| 629 |
return status_driver;
|
| 630 |
} |
| 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 |
|
| 733 |
|