amiro-lld / drivers / VL53L1X / v1 / api / core / vl53l1_wait.c @ f0dd1ac4
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/*
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* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
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*
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* This file is part of VL53L1 Core and is dual licensed,
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* either 'STMicroelectronics
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* Proprietary license'
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* or 'BSD 3-clause "New" or "Revised" License' , at your option.
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*
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********************************************************************************
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*
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* 'STMicroelectronics Proprietary license'
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*
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********************************************************************************
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*
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* License terms: STMicroelectronics Proprietary in accordance with licensing
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* terms at www.st.com/sla0081
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*
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* STMicroelectronics confidential
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* Reproduction and Communication of this document is strictly prohibited unless
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* specifically authorized in writing by STMicroelectronics.
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*
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*
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********************************************************************************
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*
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* Alternatively, VL53L1 Core may be distributed under the terms of
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* 'BSD 3-clause "New" or "Revised" License', in which case the following
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* provisions apply instead of the ones mentioned above :
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*
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********************************************************************************
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*
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* License terms: BSD 3-clause "New" or "Revised" License.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*
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********************************************************************************
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*
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*/
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/**
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* @file vl53l1_wait.c
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*
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* @brief EwokPlus25 low level Driver wait function definition
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*/
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#include "vl53l1_ll_def.h" |
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#include "vl53l1_ll_device.h" |
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#include "vl53l1_platform.h" |
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#include "vl53l1_core.h" |
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#include "vl53l1_silicon_core.h" |
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#include "vl53l1_wait.h" |
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#include "vl53l1_register_settings.h" |
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#define LOG_FUNCTION_START(fmt, ...) \
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_LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) |
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#define LOG_FUNCTION_END(status, ...) \
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_LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) |
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#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
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_LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, \ |
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fmt, ##__VA_ARGS__) |
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VL53L1_Error VL53L1_wait_for_boot_completion( |
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VL53L1_DEV Dev) |
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{
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/* Waits for firmware boot to finish
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*/
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VL53L1_Error status = VL53L1_ERROR_NONE; |
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VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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uint8_t fw_ready = 0;
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LOG_FUNCTION_START("");
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if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) {
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/* blocking version */
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status = |
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VL53L1_poll_for_boot_completion( |
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Dev, |
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VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS); |
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} else {
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/* implement non blocking version below */
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fw_ready = 0;
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while (fw_ready == 0x00 && status == VL53L1_ERROR_NONE) { |
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status = VL53L1_is_boot_complete( |
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Dev, |
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&fw_ready); |
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if (status == VL53L1_ERROR_NONE) {
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status = VL53L1_WaitMs( |
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Dev, |
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VL53L1_POLLING_DELAY_MS); |
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} |
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} |
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} |
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LOG_FUNCTION_END(status); |
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return status;
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} |
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VL53L1_Error VL53L1_wait_for_firmware_ready( |
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VL53L1_DEV Dev) |
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{
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/* If in timed mode or single shot then check firmware is ready
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* before sending handshake
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*/
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VL53L1_Error status = VL53L1_ERROR_NONE; |
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VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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uint8_t fw_ready = 0;
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uint8_t mode_start = 0;
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LOG_FUNCTION_START("");
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/* Filter out tje measure mode part of the mode
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* start register
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*/
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mode_start = |
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pdev->sys_ctrl.system__mode_start & |
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VL53L1_DEVICEMEASUREMENTMODE_MODE_MASK; |
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/*
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* conditional wait for firmware ready
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* only waits for timed and single shot modes
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*/
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if ((mode_start == VL53L1_DEVICEMEASUREMENTMODE_TIMED) ||
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(mode_start == VL53L1_DEVICEMEASUREMENTMODE_SINGLESHOT)) {
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if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) {
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/* blocking version */
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status = |
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VL53L1_poll_for_firmware_ready( |
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Dev, |
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VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS); |
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} else {
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/* implement non blocking version below */
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fw_ready = 0;
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while (fw_ready == 0x00 && status == VL53L1_ERROR_NONE) { |
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status = VL53L1_is_firmware_ready( |
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Dev, |
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&fw_ready); |
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if (status == VL53L1_ERROR_NONE) {
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status = VL53L1_WaitMs( |
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Dev, |
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VL53L1_POLLING_DELAY_MS); |
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} |
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} |
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} |
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} |
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LOG_FUNCTION_END(status); |
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return status;
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} |
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VL53L1_Error VL53L1_wait_for_range_completion( |
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VL53L1_DEV Dev) |
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{
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/* Wrapper function for waiting for range completion
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*/
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VL53L1_Error status = VL53L1_ERROR_NONE; |
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VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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uint8_t data_ready = 0;
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LOG_FUNCTION_START("");
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if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) {
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/* blocking version */
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status = |
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VL53L1_poll_for_range_completion( |
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Dev, |
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VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS); |
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} else {
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/* implement non blocking version below */
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data_ready = 0;
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while (data_ready == 0x00 && status == VL53L1_ERROR_NONE) { |
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status = VL53L1_is_new_data_ready( |
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Dev, |
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&data_ready); |
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if (status == VL53L1_ERROR_NONE) {
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status = VL53L1_WaitMs( |
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Dev, |
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VL53L1_POLLING_DELAY_MS); |
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} |
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} |
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} |
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LOG_FUNCTION_END(status); |
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return status;
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} |
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VL53L1_Error VL53L1_wait_for_test_completion( |
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VL53L1_DEV Dev) |
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{
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/* Wrapper function for waiting for test mode completion
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*/
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VL53L1_Error status = VL53L1_ERROR_NONE; |
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VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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uint8_t data_ready = 0;
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LOG_FUNCTION_START("");
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if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) {
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/* blocking version */
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status = |
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VL53L1_poll_for_range_completion( |
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Dev, |
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VL53L1_TEST_COMPLETION_POLLING_TIMEOUT_MS); |
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} else {
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/* implement non blocking version below */
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data_ready = 0;
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while (data_ready == 0x00 && status == VL53L1_ERROR_NONE) { |
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status = VL53L1_is_new_data_ready( |
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Dev, |
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&data_ready); |
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if (status == VL53L1_ERROR_NONE) {
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status = VL53L1_WaitMs( |
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Dev, |
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VL53L1_POLLING_DELAY_MS); |
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} |
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} |
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} |
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LOG_FUNCTION_END(status); |
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return status;
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} |
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VL53L1_Error VL53L1_is_boot_complete( |
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VL53L1_DEV Dev, |
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uint8_t *pready) |
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{
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/**
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* Determines if the firmware finished booting by reading
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* bit 0 of firmware__system_status register
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*/
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VL53L1_Error status = VL53L1_ERROR_NONE; |
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uint8_t firmware__system_status = 0;
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LOG_FUNCTION_START("");
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/* read current range interrupt state */
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status = |
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VL53L1_RdByte( |
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Dev, |
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VL53L1_FIRMWARE__SYSTEM_STATUS, |
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&firmware__system_status); |
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/* set *pready = 1 if new range data ready complete
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* zero otherwise
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*/
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if ((firmware__system_status & 0x01) == 0x01) { |
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*pready = 0x01;
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VL53L1_init_ll_driver_state( |
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Dev, |
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VL53L1_DEVICESTATE_SW_STANDBY); |
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} else {
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*pready = 0x00;
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VL53L1_init_ll_driver_state( |
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Dev, |
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VL53L1_DEVICESTATE_FW_COLDBOOT); |
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} |
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LOG_FUNCTION_END(status); |
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return status;
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} |
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VL53L1_Error VL53L1_is_firmware_ready( |
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VL53L1_DEV Dev, |
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uint8_t *pready) |
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{
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/**
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* Determines if the firmware is ready to range
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*/
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VL53L1_Error status = VL53L1_ERROR_NONE; |
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VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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LOG_FUNCTION_START("");
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status = VL53L1_is_firmware_ready_silicon( |
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Dev, |
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pready); |
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pdev->fw_ready = *pready; |
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LOG_FUNCTION_END(status); |
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return status;
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} |
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VL53L1_Error VL53L1_is_new_data_ready( |
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VL53L1_DEV Dev, |
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uint8_t *pready) |
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{
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/**
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* Determines if new range data is ready by reading bit 0 of
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* VL53L1_GPIO__TIO_HV_STATUS to determine the current state
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* of output interrupt pin
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*/
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VL53L1_Error status = VL53L1_ERROR_NONE; |
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VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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uint8_t gpio__mux_active_high_hv = 0;
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uint8_t gpio__tio_hv_status = 0;
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uint8_t interrupt_ready = 0;
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LOG_FUNCTION_START("");
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gpio__mux_active_high_hv = |
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pdev->stat_cfg.gpio_hv_mux__ctrl & |
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VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_MASK; |
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if (gpio__mux_active_high_hv == VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH)
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interrupt_ready = 0x01;
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else
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interrupt_ready = 0x00;
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/* read current range interrupt state */
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status = VL53L1_RdByte( |
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Dev, |
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VL53L1_GPIO__TIO_HV_STATUS, |
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&gpio__tio_hv_status); |
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/* set *pready = 1 if new range data ready complete zero otherwise */
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if ((gpio__tio_hv_status & 0x01) == interrupt_ready) |
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*pready = 0x01;
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else
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*pready = 0x00;
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LOG_FUNCTION_END(status); |
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return status;
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} |
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|
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|
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|
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|
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VL53L1_Error VL53L1_poll_for_boot_completion( |
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VL53L1_DEV Dev, |
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uint32_t timeout_ms) |
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{
|
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/**
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* Polls the bit 0 of the FIRMWARE__SYSTEM_STATUS register to see if
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* the firmware is ready.
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*/
|
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|
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VL53L1_Error status = VL53L1_ERROR_NONE; |
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LOG_FUNCTION_START("");
|
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|
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/* after reset for the firmware blocks I2C access while
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* it copies the NVM data into the G02 host register banks
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* The host must wait the required time to allow the copy
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* to complete before attempting to read the firmware status
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*/
|
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|
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status = VL53L1_WaitUs( |
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Dev, |
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VL53L1_FIRMWARE_BOOT_TIME_US); |
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|
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if (status == VL53L1_ERROR_NONE)
|
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status = |
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VL53L1_WaitValueMaskEx( |
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Dev, |
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timeout_ms, |
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VL53L1_FIRMWARE__SYSTEM_STATUS, |
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0x01,
|
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0x01,
|
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VL53L1_POLLING_DELAY_MS); |
| 448 |
|
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if (status == VL53L1_ERROR_NONE)
|
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VL53L1_init_ll_driver_state(Dev, VL53L1_DEVICESTATE_SW_STANDBY); |
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|
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LOG_FUNCTION_END(status); |
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|
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return status;
|
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} |
| 456 |
|
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|
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VL53L1_Error VL53L1_poll_for_firmware_ready( |
| 459 |
VL53L1_DEV Dev, |
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uint32_t timeout_ms) |
| 461 |
{
|
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/**
|
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* Polls the bit 0 of the FIRMWARE__SYSTEM_STATUS register to see if
|
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* the firmware is ready.
|
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*/
|
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|
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VL53L1_Error status = VL53L1_ERROR_NONE; |
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VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
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|
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uint32_t start_time_ms = 0;
|
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uint32_t current_time_ms = 0;
|
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int32_t poll_delay_ms = VL53L1_POLLING_DELAY_MS; |
| 473 |
uint8_t fw_ready = 0;
|
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|
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/* calculate time limit in absolute time */
|
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|
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VL53L1_GetTickCount(&start_time_ms); /*lint !e534 ignoring return*/
|
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pdev->fw_ready_poll_duration_ms = 0;
|
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|
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/* wait until firmware is ready, timeout reached on error occurred */
|
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|
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while ((status == VL53L1_ERROR_NONE) &&
|
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(pdev->fw_ready_poll_duration_ms < timeout_ms) && |
| 484 |
(fw_ready == 0)) {
|
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|
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status = VL53L1_is_firmware_ready( |
| 487 |
Dev, |
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&fw_ready); |
| 489 |
|
| 490 |
if (status == VL53L1_ERROR_NONE &&
|
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fw_ready == 0 &&
|
| 492 |
poll_delay_ms > 0) {
|
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status = VL53L1_WaitMs( |
| 494 |
Dev, |
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poll_delay_ms); |
| 496 |
} |
| 497 |
|
| 498 |
/*
|
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* Update polling time (Compare difference rather than
|
| 500 |
* absolute to negate 32bit wrap around issue)
|
| 501 |
*/
|
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VL53L1_GetTickCount(¤t_time_ms); /*lint !e534 ignoring return*/
|
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pdev->fw_ready_poll_duration_ms = |
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current_time_ms - start_time_ms; |
| 505 |
} |
| 506 |
|
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if (fw_ready == 0 && status == VL53L1_ERROR_NONE) |
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status = VL53L1_ERROR_TIME_OUT; |
| 509 |
|
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LOG_FUNCTION_END(status); |
| 511 |
|
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return status;
|
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} |
| 514 |
|
| 515 |
|
| 516 |
VL53L1_Error VL53L1_poll_for_range_completion( |
| 517 |
VL53L1_DEV Dev, |
| 518 |
uint32_t timeout_ms) |
| 519 |
{
|
| 520 |
/**
|
| 521 |
* Polls bit 0 of VL53L1_GPIO__TIO_HV_STATUS to determine
|
| 522 |
* the state of output interrupt pin
|
| 523 |
*
|
| 524 |
* Interrupt may be either active high or active low. Use active_high to
|
| 525 |
* select the required level check
|
| 526 |
*/
|
| 527 |
|
| 528 |
VL53L1_Error status = VL53L1_ERROR_NONE; |
| 529 |
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
| 530 |
|
| 531 |
uint8_t gpio__mux_active_high_hv = 0;
|
| 532 |
uint8_t interrupt_ready = 0;
|
| 533 |
|
| 534 |
LOG_FUNCTION_START("");
|
| 535 |
|
| 536 |
gpio__mux_active_high_hv = |
| 537 |
pdev->stat_cfg.gpio_hv_mux__ctrl & |
| 538 |
VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_MASK; |
| 539 |
|
| 540 |
if (gpio__mux_active_high_hv == VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH)
|
| 541 |
interrupt_ready = 0x01;
|
| 542 |
else
|
| 543 |
interrupt_ready = 0x00;
|
| 544 |
|
| 545 |
status = |
| 546 |
VL53L1_WaitValueMaskEx( |
| 547 |
Dev, |
| 548 |
timeout_ms, |
| 549 |
VL53L1_GPIO__TIO_HV_STATUS, |
| 550 |
interrupt_ready, |
| 551 |
0x01,
|
| 552 |
VL53L1_POLLING_DELAY_MS); |
| 553 |
|
| 554 |
LOG_FUNCTION_END(status); |
| 555 |
|
| 556 |
return status;
|
| 557 |
} |
| 558 |
|