From 3ebac86f82d085c2531902eceab66af13e86f5db Mon Sep 17 00:00:00 2001 From: Samuel Date: Tue, 30 Apr 2024 18:30:37 +0200 Subject: [PATCH] =?UTF-8?q?Premi=C3=A8re=20lecture=20avec=20le=20capteur?= =?UTF-8?q?=20VL53L8X?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .vscode/settings.json | 4 +- CMakeLists.txt | 11 +- Platform/LICENSE.txt | 6 + Platform/platform.c | 198 + Platform/platform.h | 166 + VL53L8CX_ULD_API/LICENSE.txt | 6 + VL53L8CX_ULD_API/inc/vl53l8cx_api.h | 730 + VL53L8CX_ULD_API/inc/vl53l8cx_buffers.h | 22010 ++++++++++++++++ .../vl53l8cx_plugin_detection_thresholds.h | 186 + .../inc/vl53l8cx_plugin_motion_indicator.h | 96 + VL53L8CX_ULD_API/inc/vl53l8cx_plugin_xtalk.h | 391 + VL53L8CX_ULD_API/src/vl53l8cx_api.c | 1337 + .../vl53l8cx_plugin_detection_thresholds.c | 187 + .../src/vl53l8cx_plugin_motion_indicator.c | 122 + VL53L8CX_ULD_API/src/vl53l8cx_plugin_xtalk.c | 366 + VL53L8_2024.c | 145 + VL53L8_2024.h | 4 + i2c_maitre.c | 274 + i2c_maitre.h | 15 + main.c | 19 +- 20 files changed, 26269 insertions(+), 4 deletions(-) create mode 100644 Platform/LICENSE.txt create mode 100644 Platform/platform.c create mode 100644 Platform/platform.h create mode 100644 VL53L8CX_ULD_API/LICENSE.txt create mode 100644 VL53L8CX_ULD_API/inc/vl53l8cx_api.h create mode 100644 VL53L8CX_ULD_API/inc/vl53l8cx_buffers.h create mode 100644 VL53L8CX_ULD_API/inc/vl53l8cx_plugin_detection_thresholds.h create mode 100644 VL53L8CX_ULD_API/inc/vl53l8cx_plugin_motion_indicator.h create mode 100644 VL53L8CX_ULD_API/inc/vl53l8cx_plugin_xtalk.h create mode 100644 VL53L8CX_ULD_API/src/vl53l8cx_api.c create mode 100644 VL53L8CX_ULD_API/src/vl53l8cx_plugin_detection_thresholds.c create mode 100644 VL53L8CX_ULD_API/src/vl53l8cx_plugin_motion_indicator.c create mode 100644 VL53L8CX_ULD_API/src/vl53l8cx_plugin_xtalk.c create mode 100644 VL53L8_2024.c create mode 100644 VL53L8_2024.h create mode 100644 i2c_maitre.c create mode 100644 i2c_maitre.h diff --git a/.vscode/settings.json b/.vscode/settings.json index d2f1e26..64aec37 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -4,6 +4,8 @@ "geometrie_robot.h": "c", "commande_vitesse.h": "c", "asser_moteurs.h": "c", - "localisation.h": "c" + "localisation.h": "c", + "vl53l8_2024.h": "c", + "trajet.h": "c" } } \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index 70aa8b3..f9f23d3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -15,21 +15,28 @@ add_executable(Mon_Projet Asser_Moteurs.c Commande_vitesse.c Geometrie.c + i2c_maitre.c Moteurs.c Localisation.c main.c + QEI.c Temps.c Trajectoire_bezier.c Trajectoire_circulaire.c Trajectoire_droite.c Trajectoire.c Trajet.c - QEI.c + VL53L8CX_ULD_API/src/vl53l8cx_api.c + VL53L8CX_ULD_API/src/vl53l8cx_plugin_detection_thresholds.c + VL53L8CX_ULD_API/src/vl53l8cx_plugin_motion_indicator.c + VL53L8CX_ULD_API/src/vl53l8cx_plugin_xtalk.c + VL53L8_2024.c + Platform/platform.c ) pico_generate_pio_header(Mon_Projet ${CMAKE_CURRENT_LIST_DIR}/quadrature_encoder.pio) -target_include_directories(Mon_Projet PRIVATE Mon_Projet_ULD_API/inc/) +target_include_directories(Mon_Projet PRIVATE VL53L8CX_ULD_API/inc/) target_link_libraries(Mon_Projet hardware_adc diff --git a/Platform/LICENSE.txt b/Platform/LICENSE.txt new file mode 100644 index 0000000..3edc4d1 --- /dev/null +++ b/Platform/LICENSE.txt @@ -0,0 +1,6 @@ +This software component is provided to you as part of a software package and +applicable license terms are in the Package_license file. If you received this +software component outside of a package or without applicable license terms, +the terms of the BSD-3-Clause license shall apply. +You may obtain a copy of the BSD-3-Clause at: +https://opensource.org/licenses/BSD-3-Clause diff --git a/Platform/platform.c b/Platform/platform.c new file mode 100644 index 0000000..209d1dc --- /dev/null +++ b/Platform/platform.c @@ -0,0 +1,198 @@ +/** + * + * Copyright (c) 2021 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + + +#include "platform.h" +#include "pico/stdlib.h" +#include "hardware/i2c.h" +#include "hardware/gpio.h" +#include + +#define I2C_SUCCESS 0 +#define I2C_FAILED 1 +#define I2C_BUFFER_EXCEEDED 2 + +#define I2C_DEVICE i2c1 + +#define MAX_I2C_BUFFER 0x8100 + + +/// @brief Blocking function allowing to write a register on an I2C device +/// @param address_7_bits +/// @param index : register to write +/// @param values : values to write +/// @param count : number of byte to send +/// @return 0: Success, -1 or -2: Failed +int8_t i2c_write_register(char adresse_7_bits, uint16_t index, uint8_t * values, uint32_t count){ + int statu; + uint8_t buffer[MAX_I2C_BUFFER]; + uint8_t index_to_unint8[2]; + absolute_time_t timeout_time; + + if(count > MAX_I2C_BUFFER - 2){ + return I2C_BUFFER_EXCEEDED; + } + + index_to_unint8[0] = (index >> 8) & 0xFF; + index_to_unint8[1] = index & 0xFF; + + buffer[0] = index_to_unint8[0]; + buffer[1] = index_to_unint8[1]; + + for(uint32_t i=0; i> 8) & 0xFF; + index_to_unint8[1] = index & 0xFF; + + statu = i2c_write_blocking (I2C_DEVICE, adresse_7_bits, index_to_unint8, 2, 0); + if(statu == PICO_ERROR_GENERIC){ + printf("I2C - Write - Envoi registre Echec %x\n", adresse_7_bits); + return I2C_FAILED; + } + + statu = i2c_read_blocking (I2C_DEVICE, adresse_7_bits, pdata, count, 0); + if(statu == PICO_ERROR_GENERIC){ + printf("I2C - Lecture registre Echec\n"); + return I2C_FAILED; + } + + return I2C_SUCCESS; +} + + +uint8_t RdByte( + VL53L8CX_Platform *p_platform, + uint16_t RegisterAdress, + uint8_t *p_value) +{ + uint8_t status = 255; + + /* Need to be implemented by customer. This function returns 0 if OK */ + return i2c_read_register(p_platform->address >> 1, RegisterAdress, p_value, 1); +} + +uint8_t WrByte( + VL53L8CX_Platform *p_platform, + uint16_t RegisterAdress, + uint8_t value) +{ + uint8_t status = 255; + + /* Need to be implemented by customer. This function returns 0 if OK */ + return i2c_write_register(p_platform->address >> 1, RegisterAdress, &value, 1); + +} + +uint8_t WrMulti( + VL53L8CX_Platform *p_platform, + uint16_t RegisterAdress, + uint8_t *p_values, + uint32_t size) +{ + uint8_t status = 255; + + return i2c_write_register(p_platform->address >> 1, RegisterAdress, p_values, size); + +} + +uint8_t RdMulti( + VL53L8CX_Platform *p_platform, + uint16_t RegisterAdress, + uint8_t *p_values, + uint32_t size) +{ + uint8_t status = 255; + + return i2c_read_register(p_platform->address >> 1, RegisterAdress, p_values, size); + +} + +uint8_t Reset_Sensor( + VL53L8CX_Platform *p_platform) +{ + uint8_t status = 0; + + /* (Optional) Need to be implemented by customer. This function returns 0 if OK */ + + /* Set pin LPN to LOW */ + /* Set pin AVDD to LOW */ + /* Set pin VDDIO to LOW */ + /* Set pin CORE_1V8 to LOW */ + WaitMs(p_platform, 100); + + /* Set pin LPN to HIGH */ + /* Set pin AVDD to HIGH */ + /* Set pin VDDIO to HIGH */ + /* Set pin CORE_1V8 to HIGH */ + WaitMs(p_platform, 100); + + return status; +} + +void SwapBuffer( + uint8_t *buffer, + uint16_t size) +{ + uint32_t i, tmp; + + /* Example of possible implementation using */ + for(i = 0; i < size; i = i + 4) + { + tmp = ( + buffer[i]<<24) + |(buffer[i+1]<<16) + |(buffer[i+2]<<8) + |(buffer[i+3]); + + memcpy(&(buffer[i]), &tmp, 4); + } +} + +uint8_t WaitMs( + VL53L8CX_Platform *p_platform, + uint32_t TimeMs) +{ + /* Need to be implemented by customer. This function returns 0 if OK */ + sleep_ms(TimeMs); + + return 0; +} diff --git a/Platform/platform.h b/Platform/platform.h new file mode 100644 index 0000000..ee06db7 --- /dev/null +++ b/Platform/platform.h @@ -0,0 +1,166 @@ +/** + * + * Copyright (c) 2021 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +#ifndef _PLATFORM_H_ +#define _PLATFORM_H_ +#pragma once + +#include +#include + +/** + * @brief Structure VL53L8CX_Platform needs to be filled by the customer, + * depending on his platform. At least, it contains the VL53L8CX I2C address. + * Some additional fields can be added, as descriptors, or platform + * dependencies. Anything added into this structure is visible into the platform + * layer. + */ + +typedef struct +{ + /* To be filled with customer's platform. At least an I2C address/descriptor + * needs to be added */ + /* Example for most standard platform : I2C address of sensor */ + uint16_t address; + +} VL53L8CX_Platform; + +/* + * @brief The macro below is used to define the number of target per zone sent + * through I2C. This value can be changed by user, in order to tune I2C + * transaction, and also the total memory size (a lower number of target per + * zone means a lower RAM). The value must be between 1 and 4. + */ + +#define VL53L8CX_NB_TARGET_PER_ZONE 1U + +/* + * @brief The macro below can be used to avoid data conversion into the driver. + * By default there is a conversion between firmware and user data. Using this macro + * allows to use the firmware format instead of user format. The firmware format allows + * an increased precision. + */ + +// #define VL53L8CX_USE_RAW_FORMAT + +/* + * @brief All macro below are used to configure the sensor output. User can + * define some macros if he wants to disable selected output, in order to reduce + * I2C access. + */ + +// #define VL53L8CX_DISABLE_AMBIENT_PER_SPAD +// #define VL53L8CX_DISABLE_NB_SPADS_ENABLED +// #define VL53L8CX_DISABLE_NB_TARGET_DETECTED +// #define VL53L8CX_DISABLE_SIGNAL_PER_SPAD +// #define VL53L8CX_DISABLE_RANGE_SIGMA_MM +// #define VL53L8CX_DISABLE_DISTANCE_MM +// #define VL53L8CX_DISABLE_REFLECTANCE_PERCENT +// #define VL53L8CX_DISABLE_TARGET_STATUS +// #define VL53L8CX_DISABLE_MOTION_INDICATOR + +/** + * @param (VL53L8CX_Platform*) p_platform : Pointer of VL53L8CX platform + * structure. + * @param (uint16_t) Address : I2C location of value to read. + * @param (uint8_t) *p_values : Pointer of value to read. + * @return (uint8_t) status : 0 if OK + */ + +uint8_t RdByte( + VL53L8CX_Platform *p_platform, + uint16_t RegisterAdress, + uint8_t *p_value); + +/** + * @brief Mandatory function used to write one single byte. + * @param (VL53L8CX_Platform*) p_platform : Pointer of VL53L8CX platform + * structure. + * @param (uint16_t) Address : I2C location of value to read. + * @param (uint8_t) value : Pointer of value to write. + * @return (uint8_t) status : 0 if OK + */ + +uint8_t WrByte( + VL53L8CX_Platform *p_platform, + uint16_t RegisterAdress, + uint8_t value); + +/** + * @brief Mandatory function used to read multiples bytes. + * @param (VL53L8CX_Platform*) p_platform : Pointer of VL53L8CX platform + * structure. + * @param (uint16_t) Address : I2C location of values to read. + * @param (uint8_t) *p_values : Buffer of bytes to read. + * @param (uint32_t) size : Size of *p_values buffer. + * @return (uint8_t) status : 0 if OK + */ + +uint8_t RdMulti( + VL53L8CX_Platform *p_platform, + uint16_t RegisterAdress, + uint8_t *p_values, + uint32_t size); + +/** + * @brief Mandatory function used to write multiples bytes. + * @param (VL53L8CX_Platform*) p_platform : Pointer of VL53L8CX platform + * structure. + * @param (uint16_t) Address : I2C location of values to write. + * @param (uint8_t) *p_values : Buffer of bytes to write. + * @param (uint32_t) size : Size of *p_values buffer. + * @return (uint8_t) status : 0 if OK + */ + +uint8_t WrMulti( + VL53L8CX_Platform *p_platform, + uint16_t RegisterAdress, + uint8_t *p_values, + uint32_t size); + +/** + * @brief Optional function, only used to perform an hardware reset of the + * sensor. This function is not used in the API, but it can be used by the host. + * This function is not mandatory to fill if user don't want to reset the + * sensor. + * @param (VL53L8CX_Platform*) p_platform : Pointer of VL53L8CX platform + * structure. + * @return (uint8_t) status : 0 if OK + */ + +uint8_t Reset_Sensor( + VL53L8CX_Platform *p_platform); + +/** + * @brief Mandatory function, used to swap a buffer. The buffer size is always a + * multiple of 4 (4, 8, 12, 16, ...). + * @param (uint8_t*) buffer : Buffer to swap, generally uint32_t + * @param (uint16_t) size : Buffer size to swap + */ + +void SwapBuffer( + uint8_t *buffer, + uint16_t size); +/** + * @brief Mandatory function, used to wait during an amount of time. It must be + * filled as it's used into the API. + * @param (VL53L8CX_Platform*) p_platform : Pointer of VL53L8CX platform + * structure. + * @param (uint32_t) TimeMs : Time to wait in ms. + * @return (uint8_t) status : 0 if wait is finished. + */ + +uint8_t WaitMs( + VL53L8CX_Platform *p_platform, + uint32_t TimeMs); + +#endif // _PLATFORM_H_ \ No newline at end of file diff --git a/VL53L8CX_ULD_API/LICENSE.txt b/VL53L8CX_ULD_API/LICENSE.txt new file mode 100644 index 0000000..3edc4d1 --- /dev/null +++ b/VL53L8CX_ULD_API/LICENSE.txt @@ -0,0 +1,6 @@ +This software component is provided to you as part of a software package and +applicable license terms are in the Package_license file. If you received this +software component outside of a package or without applicable license terms, +the terms of the BSD-3-Clause license shall apply. +You may obtain a copy of the BSD-3-Clause at: +https://opensource.org/licenses/BSD-3-Clause diff --git a/VL53L8CX_ULD_API/inc/vl53l8cx_api.h b/VL53L8CX_ULD_API/inc/vl53l8cx_api.h new file mode 100644 index 0000000..3a6d3ce --- /dev/null +++ b/VL53L8CX_ULD_API/inc/vl53l8cx_api.h @@ -0,0 +1,730 @@ +/** + * + * Copyright (c) 2021 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +#ifndef VL53L8CX_API_H_ +#define VL53L8CX_API_H_ + +#if defined (__ARMCC_VERSION) && (__ARMCC_VERSION < 6010050) +#pragma anon_unions +#endif + + + +#include "../../Platform/platform.h" + +/** + * @brief Current driver version. + */ + +#define VL53L8CX_API_REVISION "VL53L8CX_1.1.0" + +/** + * @brief Default I2C address of VL53L8CX sensor. Can be changed using function + * vl53l8cx_set_i2c_address() function is called. + */ + +#define VL53L8CX_DEFAULT_I2C_ADDRESS ((uint16_t)0x52) + +/** + * @brief Macro VL53L8CX_RESOLUTION_4X4 or VL53L8CX_RESOLUTION_8X8 allows + * setting sensor in 4x4 mode or 8x8 mode, using function + * vl53l8cx_set_resolution(). + */ + +#define VL53L8CX_RESOLUTION_4X4 ((uint8_t) 16U) +#define VL53L8CX_RESOLUTION_8X8 ((uint8_t) 64U) + + +/** + * @brief Macro VL53L8CX_TARGET_ORDER_STRONGEST or VL53L8CX_TARGET_ORDER_CLOSEST + * are used to select the target order for data output. + */ + +#define VL53L8CX_TARGET_ORDER_CLOSEST ((uint8_t) 1U) +#define VL53L8CX_TARGET_ORDER_STRONGEST ((uint8_t) 2U) + +/** + * @brief Macro VL53L8CX_RANGING_MODE_CONTINUOUS and + * VL53L8CX_RANGING_MODE_AUTONOMOUS are used to change the ranging mode. + * Autonomous mode can be used to set a precise integration time, whereas + * continuous is always maximum. + */ + +#define VL53L8CX_RANGING_MODE_CONTINUOUS ((uint8_t) 1U) +#define VL53L8CX_RANGING_MODE_AUTONOMOUS ((uint8_t) 3U) + +/** + * @brief The default power mode is VL53L8CX_POWER_MODE_WAKEUP. User can choose + * the mode VL53L8CX_POWER_MODE_SLEEP to save power consumption is the device + * is not used. The low power mode retains the firmware and the configuration. + * Both modes can be changed using function vl53l8cx_set_power_mode(). + */ + +#define VL53L8CX_POWER_MODE_SLEEP ((uint8_t) 0U) +#define VL53L8CX_POWER_MODE_WAKEUP ((uint8_t) 1U) + +/** + * @brief Macro VL53L8CX_STATUS_OK indicates that VL53L5 sensor has no error. + * Macro VL53L8CX_STATUS_ERROR indicates that something is wrong (value, + * I2C access, ...). Macro VL53L8CX_MCU_ERROR is used to indicate a MCU issue. + */ + +#define VL53L8CX_STATUS_OK ((uint8_t) 0U) +#define VL53L8CX_STATUS_TIMEOUT_ERROR ((uint8_t) 1U) +#define VL53L8CX_STATUS_CORRUPTED_FRAME ((uint8_t) 2U) +#define VL53L8CX_STATUS_LASER_SAFETY ((uint8_t) 3U) +#define VL53L8CX_STATUS_XTALK_FAILED ((uint8_t) 4U) +#define VL53L8CX_STATUS_FW_CHECKSUM_FAIL ((uint8_t) 5U) +#define VL53L8CX_MCU_ERROR ((uint8_t) 66U) +#define VL53L8CX_STATUS_INVALID_PARAM ((uint8_t) 127U) +#define VL53L8CX_STATUS_ERROR ((uint8_t) 255U) + +/** + * @brief Definitions for Range results block headers + */ + +#if VL53L8CX_NB_TARGET_PER_ZONE == 1 + +#define VL53L8CX_START_BH ((uint32_t)0x0000000DU) +#define VL53L8CX_METADATA_BH ((uint32_t)0x54B400C0U) +#define VL53L8CX_COMMONDATA_BH ((uint32_t)0x54C00040U) +#define VL53L8CX_AMBIENT_RATE_BH ((uint32_t)0x54D00104U) +#define VL53L8CX_SPAD_COUNT_BH ((uint32_t)0x55D00404U) +#define VL53L8CX_NB_TARGET_DETECTED_BH ((uint32_t)0xDB840401U) +#define VL53L8CX_SIGNAL_RATE_BH ((uint32_t)0xDBC40404U) +#define VL53L8CX_RANGE_SIGMA_MM_BH ((uint32_t)0xDEC40402U) +#define VL53L8CX_DISTANCE_BH ((uint32_t)0xDF440402U) +#define VL53L8CX_REFLECTANCE_BH ((uint32_t)0xE0440401U) +#define VL53L8CX_TARGET_STATUS_BH ((uint32_t)0xE0840401U) +#define VL53L8CX_MOTION_DETECT_BH ((uint32_t)0xD85808C0U) + +#define VL53L8CX_METADATA_IDX ((uint16_t)0x54B4U) +#define VL53L8CX_SPAD_COUNT_IDX ((uint16_t)0x55D0U) +#define VL53L8CX_AMBIENT_RATE_IDX ((uint16_t)0x54D0U) +#define VL53L8CX_NB_TARGET_DETECTED_IDX ((uint16_t)0xDB84U) +#define VL53L8CX_SIGNAL_RATE_IDX ((uint16_t)0xDBC4U) +#define VL53L8CX_RANGE_SIGMA_MM_IDX ((uint16_t)0xDEC4U) +#define VL53L8CX_DISTANCE_IDX ((uint16_t)0xDF44U) +#define VL53L8CX_REFLECTANCE_EST_PC_IDX ((uint16_t)0xE044U) +#define VL53L8CX_TARGET_STATUS_IDX ((uint16_t)0xE084U) +#define VL53L8CX_MOTION_DETEC_IDX ((uint16_t)0xD858U) + +#else +#define VL53L8CX_START_BH ((uint32_t)0x0000000DU) +#define VL53L8CX_METADATA_BH ((uint32_t)0x54B400C0U) +#define VL53L8CX_COMMONDATA_BH ((uint32_t)0x54C00040U) +#define VL53L8CX_AMBIENT_RATE_BH ((uint32_t)0x54D00104U) +#define VL53L8CX_NB_TARGET_DETECTED_BH ((uint32_t)0x57D00401U) +#define VL53L8CX_SPAD_COUNT_BH ((uint32_t)0x55D00404U) +#define VL53L8CX_SIGNAL_RATE_BH ((uint32_t)0x58900404U) +#define VL53L8CX_RANGE_SIGMA_MM_BH ((uint32_t)0x64900402U) +#define VL53L8CX_DISTANCE_BH ((uint32_t)0x66900402U) +#define VL53L8CX_REFLECTANCE_BH ((uint32_t)0x6A900401U) +#define VL53L8CX_TARGET_STATUS_BH ((uint32_t)0x6B900401U) +#define VL53L8CX_MOTION_DETECT_BH ((uint32_t)0xCC5008C0U) + +#define VL53L8CX_METADATA_IDX ((uint16_t)0x54B4U) +#define VL53L8CX_SPAD_COUNT_IDX ((uint16_t)0x55D0U) +#define VL53L8CX_AMBIENT_RATE_IDX ((uint16_t)0x54D0U) +#define VL53L8CX_NB_TARGET_DETECTED_IDX ((uint16_t)0x57D0U) +#define VL53L8CX_SIGNAL_RATE_IDX ((uint16_t)0x5890U) +#define VL53L8CX_RANGE_SIGMA_MM_IDX ((uint16_t)0x6490U) +#define VL53L8CX_DISTANCE_IDX ((uint16_t)0x6690U) +#define VL53L8CX_REFLECTANCE_EST_PC_IDX ((uint16_t)0x6A90U) +#define VL53L8CX_TARGET_STATUS_IDX ((uint16_t)0x6B90U) +#define VL53L8CX_MOTION_DETEC_IDX ((uint16_t)0xCC50U) +#endif + + +/** + * @brief Inner Macro for API. Not for user, only for development. + */ + +#define VL53L8CX_NVM_DATA_SIZE ((uint16_t)492U) +#define VL53L8CX_CONFIGURATION_SIZE ((uint16_t)972U) +#define VL53L8CX_OFFSET_BUFFER_SIZE ((uint16_t)488U) +#define VL53L8CX_XTALK_BUFFER_SIZE ((uint16_t)776U) + +#define VL53L8CX_DCI_ZONE_CONFIG ((uint16_t)0x5450U) +#define VL53L8CX_DCI_FREQ_HZ ((uint16_t)0x5458U) +#define VL53L8CX_DCI_INT_TIME ((uint16_t)0x545CU) +#define VL53L8CX_DCI_FW_NB_TARGET ((uint16_t)0x5478) +#define VL53L8CX_DCI_RANGING_MODE ((uint16_t)0xAD30U) +#define VL53L8CX_DCI_DSS_CONFIG ((uint16_t)0xAD38U) +#define VL53L8CX_DCI_TARGET_ORDER ((uint16_t)0xAE64U) +#define VL53L8CX_DCI_SHARPENER ((uint16_t)0xAED8U) +#define VL53L8CX_DCI_INTERNAL_CP ((uint16_t)0xB39CU) +#define VL53L8CX_DCI_SYNC_PIN ((uint16_t)0xB5F0U) +#define VL53L8CX_DCI_MOTION_DETECTOR_CFG ((uint16_t)0xBFACU) +#define VL53L8CX_DCI_SINGLE_RANGE ((uint16_t)0xD964U) +#define VL53L8CX_DCI_OUTPUT_CONFIG ((uint16_t)0xD968U) +#define VL53L8CX_DCI_OUTPUT_ENABLES ((uint16_t)0xD970U) +#define VL53L8CX_DCI_OUTPUT_LIST ((uint16_t)0xD980U) +#define VL53L8CX_DCI_PIPE_CONTROL ((uint16_t)0xDB80U) + +#define VL53L8CX_UI_CMD_STATUS ((uint16_t)0x2C00U) +#define VL53L8CX_UI_CMD_START ((uint16_t)0x2C04U) +#define VL53L8CX_UI_CMD_END ((uint16_t)0x2FFFU) + +/** + * @brief Inner values for API. Max buffer size depends of the selected output. + */ + +#ifndef VL53L8CX_DISABLE_AMBIENT_PER_SPAD +#define L5CX_AMB_SIZE 260U +#else +#define L5CX_AMB_SIZE 0U +#endif + +#ifndef VL53L8CX_DISABLE_NB_SPADS_ENABLED +#define L5CX_SPAD_SIZE 260U +#else +#define L5CX_SPAD_SIZE 0U +#endif + +#ifndef VL53L8CX_DISABLE_NB_TARGET_DETECTED +#define L5CX_NTAR_SIZE 68U +#else +#define L5CX_NTAR_SIZE 0U +#endif + +#ifndef VL53L8CX_DISABLE_SIGNAL_PER_SPAD +#define L5CX_SPS_SIZE ((256U * VL53L8CX_NB_TARGET_PER_ZONE) + 4U) +#else +#define L5CX_SPS_SIZE 0U +#endif + +#ifndef VL53L8CX_DISABLE_RANGE_SIGMA_MM +#define L5CX_SIGR_SIZE ((128U * VL53L8CX_NB_TARGET_PER_ZONE) + 4U) +#else +#define L5CX_SIGR_SIZE 0U +#endif + +#ifndef VL53L8CX_DISABLE_DISTANCE_MM +#define L5CX_DIST_SIZE ((128U * VL53L8CX_NB_TARGET_PER_ZONE) + 4U) +#else +#define L5CX_DIST_SIZE 0U +#endif + +#ifndef VL53L8CX_DISABLE_REFLECTANCE_PERCENT +#define L5CX_RFLEST_SIZE ((64U *VL53L8CX_NB_TARGET_PER_ZONE) + 4U) +#else +#define L5CX_RFLEST_SIZE 0U +#endif + +#ifndef VL53L8CX_DISABLE_TARGET_STATUS +#define L5CX_STA_SIZE ((64U *VL53L8CX_NB_TARGET_PER_ZONE) + 4U) +#else +#define L5CX_STA_SIZE 0U +#endif + +#ifndef VL53L8CX_DISABLE_MOTION_INDICATOR +#define L5CX_MOT_SIZE 144U +#else +#define L5CX_MOT_SIZE 0U +#endif + +/** + * @brief Macro VL53L8CX_MAX_RESULTS_SIZE indicates the maximum size used by + * output through I2C. Value 40 corresponds to headers + meta-data + common-data + * and 20 corresponds to the footer. + */ + +#define VL53L8CX_MAX_RESULTS_SIZE ( 40U \ + + L5CX_AMB_SIZE + L5CX_SPAD_SIZE + L5CX_NTAR_SIZE + L5CX_SPS_SIZE \ + + L5CX_SIGR_SIZE + L5CX_DIST_SIZE + L5CX_RFLEST_SIZE + L5CX_STA_SIZE \ + + L5CX_MOT_SIZE + 20U) + +/** + * @brief Macro VL53L8CX_TEMPORARY_BUFFER_SIZE can be used to know the size of + * the temporary buffer. The minimum size is 1024, and the maximum depends of + * the output configuration. + */ + +#if VL53L8CX_MAX_RESULTS_SIZE < 1024U +#define VL53L8CX_TEMPORARY_BUFFER_SIZE ((uint32_t) 1024U) +#else +#define VL53L8CX_TEMPORARY_BUFFER_SIZE ((uint32_t) VL53L8CX_MAX_RESULTS_SIZE) +#endif + + +/** + * @brief Structure VL53L8CX_Configuration contains the sensor configuration. + * User MUST not manually change these field, except for the sensor address. + */ + +typedef struct +{ + /* Platform, filled by customer into the 'platform.h' file */ + VL53L8CX_Platform platform; + /* Results streamcount, value auto-incremented at each range */ + uint8_t streamcount; + /* Size of data read though I2C */ + uint32_t data_read_size; + /* Address of default configuration buffer */ + uint8_t *default_configuration; + /* Address of default Xtalk buffer */ + uint8_t *default_xtalk; + /* Offset buffer */ + uint8_t offset_data[VL53L8CX_OFFSET_BUFFER_SIZE]; + /* Xtalk buffer */ + uint8_t xtalk_data[VL53L8CX_XTALK_BUFFER_SIZE]; + /* Temporary buffer used for internal driver processing */ + uint8_t temp_buffer[VL53L8CX_TEMPORARY_BUFFER_SIZE]; + /* Auto-stop flag for stopping the sensor */ + uint8_t is_auto_stop_enabled; +} VL53L8CX_Configuration; + + +/** + * @brief Structure VL53L8CX_ResultsData contains the ranging results of + * VL53L8CX. If user wants more than 1 target per zone, the results can be split + * into 2 sub-groups : + * - Per zone results. These results are common to all targets (ambient_per_spad + * , nb_target_detected and nb_spads_enabled). + * - Per target results : These results are different relative to the detected + * target (signal_per_spad, range_sigma_mm, distance_mm, reflectance, + * target_status). + */ + +typedef struct +{ + /* Internal sensor silicon temperature */ + int8_t silicon_temp_degc; + + /* Ambient noise in kcps/spads */ +#ifndef VL53L8CX_DISABLE_AMBIENT_PER_SPAD + uint32_t ambient_per_spad[VL53L8CX_RESOLUTION_8X8]; +#endif + + /* Number of valid target detected for 1 zone */ +#ifndef VL53L8CX_DISABLE_NB_TARGET_DETECTED + uint8_t nb_target_detected[VL53L8CX_RESOLUTION_8X8]; +#endif + + /* Number of spads enabled for this ranging */ +#ifndef VL53L8CX_DISABLE_NB_SPADS_ENABLED + uint32_t nb_spads_enabled[VL53L8CX_RESOLUTION_8X8]; +#endif + + /* Signal returned to the sensor in kcps/spads */ +#ifndef VL53L8CX_DISABLE_SIGNAL_PER_SPAD + uint32_t signal_per_spad[(VL53L8CX_RESOLUTION_8X8 + *VL53L8CX_NB_TARGET_PER_ZONE)]; +#endif + + /* Sigma of the current distance in mm */ +#ifndef VL53L8CX_DISABLE_RANGE_SIGMA_MM + uint16_t range_sigma_mm[(VL53L8CX_RESOLUTION_8X8 + *VL53L8CX_NB_TARGET_PER_ZONE)]; +#endif + + /* Measured distance in mm */ +#ifndef VL53L8CX_DISABLE_DISTANCE_MM + int16_t distance_mm[(VL53L8CX_RESOLUTION_8X8 + *VL53L8CX_NB_TARGET_PER_ZONE)]; +#endif + + /* Estimated reflectance in percent */ +#ifndef VL53L8CX_DISABLE_REFLECTANCE_PERCENT + uint8_t reflectance[(VL53L8CX_RESOLUTION_8X8 + *VL53L8CX_NB_TARGET_PER_ZONE)]; +#endif + + /* Status indicating the measurement validity (5 & 9 means ranging OK)*/ +#ifndef VL53L8CX_DISABLE_TARGET_STATUS + uint8_t target_status[(VL53L8CX_RESOLUTION_8X8 + *VL53L8CX_NB_TARGET_PER_ZONE)]; +#endif + + /* Motion detector results */ +#ifndef VL53L8CX_DISABLE_MOTION_INDICATOR + struct + { + uint32_t global_indicator_1; + uint32_t global_indicator_2; + uint8_t status; + uint8_t nb_of_detected_aggregates; + uint8_t nb_of_aggregates; + uint8_t spare; + uint32_t motion[32]; + } motion_indicator; +#endif + +} VL53L8CX_ResultsData; + + +union Block_header { + uint32_t bytes; + struct { + uint32_t type : 4; + uint32_t size : 12; + uint32_t idx : 16; + }; +}; + +uint8_t vl53l8cx_is_alive( + VL53L8CX_Configuration *p_dev, + uint8_t *p_is_alive); + +/** + * @brief Mandatory function used to initialize the sensor. This function must + * be called after a power on, to load the firmware into the VL53L8CX. It takes + * a few hundred milliseconds. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @return (uint8_t) status : 0 if initialization is OK. + */ + +uint8_t vl53l8cx_init( + VL53L8CX_Configuration *p_dev); + +/** + * @brief This function is used to change the I2C address of the sensor. If + * multiple VL53L5 sensors are connected to the same I2C line, all other LPn + * pins needs to be set to Low. The default sensor address is 0x52. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint16_t) i2c_address : New I2C address. + * @return (uint8_t) status : 0 if new address is OK + */ + +uint8_t vl53l8cx_set_i2c_address( + VL53L8CX_Configuration *p_dev, + uint16_t i2c_address); + +/** + * @brief This function is used to get the current sensor power mode. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) *p_power_mode : Current power mode. The value of this + * pointer is equal to 0 if the sensor is in low power, + * (VL53L8CX_POWER_MODE_SLEEP), or 1 if sensor is in standard mode + * (VL53L8CX_POWER_MODE_WAKEUP). + * @return (uint8_t) status : 0 if power mode is OK + */ + +uint8_t vl53l8cx_get_power_mode( + VL53L8CX_Configuration *p_dev, + uint8_t *p_power_mode); + +/** + * @brief This function is used to set the sensor in Low Power mode, for + * example if the sensor is not used during a long time. The macro + * VL53L8CX_POWER_MODE_SLEEP can be used to enable the low power mode. When user + * want to restart the sensor, he can use macro VL53L8CX_POWER_MODE_WAKEUP. + * Please ensure that the device is not streaming before calling the function. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) power_mode : Selected power mode (VL53L8CX_POWER_MODE_SLEEP + * or VL53L8CX_POWER_MODE_WAKEUP) + * @return (uint8_t) status : 0 if power mode is OK, or 127 if power mode + * requested by user is not valid. + */ + +uint8_t vl53l8cx_set_power_mode( + VL53L8CX_Configuration *p_dev, + uint8_t power_mode); + +/** + * @brief This function starts a ranging session. When the sensor streams, host + * cannot change settings 'on-the-fly'. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @return (uint8_t) status : 0 if start is OK. + */ + +uint8_t vl53l8cx_start_ranging( + VL53L8CX_Configuration *p_dev); + +/** + * @brief This function stops the ranging session. It must be used when the + * sensor streams, after calling vl53l8cx_start_ranging(). + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @return (uint8_t) status : 0 if stop is OK + */ + +uint8_t vl53l8cx_stop_ranging( + VL53L8CX_Configuration *p_dev); + +/** + * @brief This function checks if a new data is ready by polling I2C. If a new + * data is ready, a flag will be raised. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) *p_isReady : Value of this pointer be updated to 0 if data + * is not ready, or 1 if a new data is ready. + * @return (uint8_t) status : 0 if I2C reading is OK + */ + +uint8_t vl53l8cx_check_data_ready( + VL53L8CX_Configuration *p_dev, + uint8_t *p_isReady); + +/** + * @brief This function gets the ranging data, using the selected output and the + * resolution. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (VL53L8CX_ResultsData) *p_results : VL53L5 results structure. + * @return (uint8_t) status : 0 data are successfully get. + */ + +uint8_t vl53l8cx_get_ranging_data( + VL53L8CX_Configuration *p_dev, + VL53L8CX_ResultsData *p_results); + +/** + * @brief This function gets the current resolution (4x4 or 8x8). + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) *p_resolution : Value of this pointer will be equal to 16 + * for 4x4 mode, and 64 for 8x8 mode. + * @return (uint8_t) status : 0 if resolution is OK. + */ + +uint8_t vl53l8cx_get_resolution( + VL53L8CX_Configuration *p_dev, + uint8_t *p_resolution); + +/** + * @brief This function sets a new resolution (4x4 or 8x8). + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) resolution : Use macro VL53L8CX_RESOLUTION_4X4 or + * VL53L8CX_RESOLUTION_8X8 to set the resolution. + * @return (uint8_t) status : 0 if set resolution is OK. + */ + +uint8_t vl53l8cx_set_resolution( + VL53L8CX_Configuration *p_dev, + uint8_t resolution); + +/** + * @brief This function gets the current ranging frequency in Hz. Ranging + * frequency corresponds to the time between each measurement. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) *p_frequency_hz: Contains the ranging frequency in Hz. + * @return (uint8_t) status : 0 if ranging frequency is OK. + */ + +uint8_t vl53l8cx_get_ranging_frequency_hz( + VL53L8CX_Configuration *p_dev, + uint8_t *p_frequency_hz); + +/** + * @brief This function sets a new ranging frequency in Hz. Ranging frequency + * corresponds to the measurements frequency. This setting depends of + * the resolution, so please select your resolution before using this function. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) frequency_hz : Contains the ranging frequency in Hz. + * - For 4x4, min and max allowed values are : [1;60] + * - For 8x8, min and max allowed values are : [1;15] + * @return (uint8_t) status : 0 if ranging frequency is OK, or 127 if the value + * is not correct. + */ + +uint8_t vl53l8cx_set_ranging_frequency_hz( + VL53L8CX_Configuration *p_dev, + uint8_t frequency_hz); + +/** + * @brief This function gets the current integration time in ms. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint32_t) *p_time_ms: Contains integration time in ms. + * @return (uint8_t) status : 0 if integration time is OK. + */ + +uint8_t vl53l8cx_get_integration_time_ms( + VL53L8CX_Configuration *p_dev, + uint32_t *p_time_ms); + +/** + * @brief This function sets a new integration time in ms. Integration time must + * be computed to be lower than the ranging period, for a selected resolution. + * Please note that this function has no impact on ranging mode continous. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint32_t) time_ms : Contains the integration time in ms. For all + * resolutions and frequency, the minimum value is 2ms, and the maximum is + * 1000ms. + * @return (uint8_t) status : 0 if set integration time is OK. + */ + +uint8_t vl53l8cx_set_integration_time_ms( + VL53L8CX_Configuration *p_dev, + uint32_t integration_time_ms); + +/** + * @brief This function gets the current sharpener in percent. Sharpener can be + * changed to blur more or less zones depending of the application. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint32_t) *p_sharpener_percent: Contains the sharpener in percent. + * @return (uint8_t) status : 0 if get sharpener is OK. + */ + +uint8_t vl53l8cx_get_sharpener_percent( + VL53L8CX_Configuration *p_dev, + uint8_t *p_sharpener_percent); + +/** + * @brief This function sets a new sharpener value in percent. Sharpener can be + * changed to blur more or less zones depending of the application. Min value is + * 0 (disabled), and max is 99. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint32_t) sharpener_percent : Value between 0 (disabled) and 99%. + * @return (uint8_t) status : 0 if set sharpener is OK. + */ + +uint8_t vl53l8cx_set_sharpener_percent( + VL53L8CX_Configuration *p_dev, + uint8_t sharpener_percent); + +/** + * @brief This function gets the current target order (closest or strongest). + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) *p_target_order: Contains the target order. + * @return (uint8_t) status : 0 if get target order is OK. + */ + +uint8_t vl53l8cx_get_target_order( + VL53L8CX_Configuration *p_dev, + uint8_t *p_target_order); + +/** + * @brief This function sets a new target order. Please use macros + * VL53L8CX_TARGET_ORDER_STRONGEST and VL53L8CX_TARGET_ORDER_CLOSEST to define + * the new output order. By default, the sensor is configured with the strongest + * output. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) target_order : Required target order. + * @return (uint8_t) status : 0 if set target order is OK, or 127 if target + * order is unknown. + */ + +uint8_t vl53l8cx_set_target_order( + VL53L8CX_Configuration *p_dev, + uint8_t target_order); + +/** + * @brief This function is used to get the ranging mode. Two modes are + * available using ULD : Continuous and autonomous. The default + * mode is Autonomous. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) *p_ranging_mode : current ranging mode + * @return (uint8_t) status : 0 if get ranging mode is OK. + */ + +uint8_t vl53l8cx_get_ranging_mode( + VL53L8CX_Configuration *p_dev, + uint8_t *p_ranging_mode); + +/** + * @brief This function is used to set the ranging mode. Two modes are + * available using ULD : Continuous and autonomous. The default + * mode is Autonomous. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) ranging_mode : Use macros VL53L8CX_RANGING_MODE_CONTINUOUS, + * VL53L8CX_RANGING_MODE_CONTINUOUS. + * @return (uint8_t) status : 0 if set ranging mode is OK. + */ + +uint8_t vl53l8cx_set_ranging_mode( + VL53L8CX_Configuration *p_dev, + uint8_t ranging_mode); + +/** + * @brief This function is used to check if the synchronization pin is enabled + * or disabled. When it is enabled, the sensor waits an interrupt on B1 pin + * to start the next measurement. It is useful for multi-devices + * synchronization. By default the sync pin is disabled. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t*) p_is_sync_pin_enabled : Pointer of sync pin status. Value + * overridden to 0 if the pin is disabled, or 1 if the pin is enabled. + * @return (uint8_t) status : 0 if get sync pin OK. + */ +uint8_t vl53l8cx_get_external_sync_pin_enable( + VL53L8CX_Configuration *p_dev, + uint8_t *p_is_sync_pin_enabled); + + +/** + * @brief This function is used to enable or disable the synchronization pin. When + * it is enabled, the sensor waits an interrupt on B1 pin to start the next + * measurement. It is useful for multi-devices synchronization. By default the sync + * pin is disabled. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) enable_sync_pin : Ste the value to 1 to enable the sync + * pin, or 0 to disable it. + * @return (uint8_t) status : 0 if set sync pin OK. + */ +uint8_t vl53l8cx_set_external_sync_pin_enable( + VL53L8CX_Configuration *p_dev, + uint8_t enable_sync_pin); + + + + +/** + * @brief This function can be used to read 'extra data' from DCI. Using a known + * index, the function fills the casted structure passed in argument. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) *data : This field can be a casted structure, or a simple + * array. Please note that the FW only accept data of 32 bits. So field data can + * only have a size of 32, 64, 96, 128, bits .... + * @param (uint32_t) index : Index of required value. + * @param (uint16_t)*data_size : This field must be the structure or array size + * (using sizeof() function). + * @return (uint8_t) status : 0 if OK + */ + +uint8_t vl53l8cx_dci_read_data( + VL53L8CX_Configuration *p_dev, + uint8_t *data, + uint32_t index, + uint16_t data_size); + +/** + * @brief This function can be used to write 'extra data' to DCI. The data can + * be simple data, or casted structure. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) *data : This field can be a casted structure, or a simple + * array. Please note that the FW only accept data of 32 bits. So field data can + * only have a size of 32, 64, 96, 128, bits .. + * @param (uint32_t) index : Index of required value. + * @param (uint16_t)*data_size : This field must be the structure or array size + * (using sizeof() function). + * @return (uint8_t) status : 0 if OK + */ + +uint8_t vl53l8cx_dci_write_data( + VL53L8CX_Configuration *p_dev, + uint8_t *data, + uint32_t index, + uint16_t data_size); + +/** + * @brief This function can be used to replace 'extra data' in DCI. The data can + * be simple data, or casted structure. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) *data : This field can be a casted structure, or a simple + * array. Please note that the FW only accept data of 32 bits. So field data can + * only have a size of 32, 64, 96, 128, bits .. + * @param (uint32_t) index : Index of required value. + * @param (uint16_t)*data_size : This field must be the structure or array size + * (using sizeof() function). + * @param (uint8_t) *new_data : Contains the new fields. + * @param (uint16_t) new_data_size : New data size. + * @param (uint16_t) new_data_pos : New data position into the buffer. + * @return (uint8_t) status : 0 if OK + */ + +uint8_t vl53l8cx_dci_replace_data( + VL53L8CX_Configuration *p_dev, + uint8_t *data, + uint32_t index, + uint16_t data_size, + uint8_t *new_data, + uint16_t new_data_size, + uint16_t new_data_pos); + +#endif //VL53L8CX_API_H_ diff --git a/VL53L8CX_ULD_API/inc/vl53l8cx_buffers.h b/VL53L8CX_ULD_API/inc/vl53l8cx_buffers.h new file mode 100644 index 0000000..a724636 --- /dev/null +++ b/VL53L8CX_ULD_API/inc/vl53l8cx_buffers.h @@ -0,0 +1,22010 @@ +/** + * + * Copyright (c) 2021 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + + +#ifndef VL53L8CX_BUFFERS_H_ +#define VL53L8CX_BUFFERS_H_ + +#include "../../Platform/platform.h" + +/** + * @brief Inner internal number of targets. + */ + +#if VL53L8CX_NB_TARGET_PER_ZONE == 1 +#define VL53L8CX_FW_NBTAR_RANGING 2 +#else +#define VL53L8CX_FW_NBTAR_RANGING VL53L8CX_NB_TARGET_PER_ZONE +#endif + +/** + * @brief This buffer contains the VL53L8CX firmware (MM1.6.1) + */ + +const uint8_t VL53L8CX_FIRMWARE[] = { + + 0xe0, 0x00, 0x03, 0x08, + 0xe0, 0x00, 0x0a, 0xc8, + 0xe0, 0x00, 0x05, 0x08, + 0xe0, 0x60, 0x38, 0xc8, + 0xe0, 0x00, 0x0a, 0x88, + 0xe0, 0x00, 0x0a, 0x88, + 0xe0, 0x00, 0x0a, 0x88, + 0xe0, 0x00, 0x0a, 0x88, + 0xe0, 0x64, 0x1e, 0x68, + 0xe0, 0x64, 0x22, 0x28, + 0xe0, 0x64, 0x25, 0x88, + 0xe0, 0x64, 0x2b, 0xc8, + 0xe0, 0x64, 0x34, 0xa8, + 0xe0, 0x68, 0x07, 0xa8, + 0xe0, 0x68, 0x0b, 0x88, + 0xe0, 0x68, 0x0f, 0x08, + 0xe0, 0x68, 0x15, 0x68, + 0xe0, 0x68, 0x18, 0x88, + 0xe0, 0x00, 0x09, 0xe8, + 0xe0, 0x00, 0x09, 0xc8, + 0xe0, 0x00, 0x09, 0xa8, + 0xe0, 0x00, 0x09, 0x88, + 0xe0, 0x00, 0x09, 0x68, + 0xe0, 0x00, 0x09, 0x48, + 0xf8, 0x02, 0x00, 0x06, + 0xc1, 0xc3, 0x81, 0x01, + 0x1e, 0x06, 0xa1, 0x0b, + 0x1a, 0x06, 0x81, 0x00, + 0x99, 0x23, 0xe1, 0x00, + 0x97, 0xb3, 0x97, 0xe3, + 0x06, 0x2c, 0x97, 0x73, + 0x06, 0x34, 0xe2, 0xc0, + 0x06, 0x2c, 0xfc, 0x80, + 0xc1, 0x83, 0xe3, 0x40, + 0xe2, 0xc0, 0x06, 0x1c, + 0xfc, 0x98, 0x06, 0x34, + 0xfc, 0x9c, 0x06, 0x34, + 0xe3, 0x40, 0x06, 0x1c, + 0x69, 0x38, 0xc1, 0x83, + 0xc1, 0x43, 0xe8, 0x00, + 0xc1, 0xc3, 0x81, 0x05, + 0xe1, 0x00, 0x00, 0x0c, + 0xfa, 0x04, 0x5e, 0x65, + 0xec, 0x10, 0x0c, 0xf0, + 0xf4, 0x1c, 0x5e, 0x60, + 0xbc, 0x6e, 0x88, 0x61, + 0xff, 0x84, 0x07, 0xfc, + 0x9a, 0x14, 0xd8, 0x04, + 0xe4, 0x30, 0x04, 0x60, + 0xfc, 0x12, 0x4c, 0x06, + 0xe0, 0xd0, 0x4c, 0x4a, + 0xc1, 0xc3, 0x82, 0x15, + 0xc1, 0xc3, 0xc1, 0xc3, + 0xf8, 0x04, 0x17, 0x0c, + 0x81, 0x93, 0x81, 0x83, + 0xe2, 0xc0, 0x0c, 0x2c, + 0x1c, 0x8c, 0xd1, 0x67, + 0xe3, 0x6b, 0xe4, 0x04, + 0xe5, 0x6b, 0x8e, 0x05, + 0x80, 0x60, 0x34, 0x08, + 0x35, 0x58, 0xe7, 0x6b, + 0xe9, 0x6b, 0x80, 0x60, + 0xeb, 0x6b, 0x8a, 0xc5, + 0x80, 0x60, 0x36, 0x88, + 0x3a, 0xd8, 0xed, 0x6b, + 0xf1, 0x6b, 0x80, 0x60, + 0x80, 0x60, 0x37, 0xa8, + 0x38, 0xf8, 0xf3, 0x6b, + 0xf5, 0x6b, 0x80, 0x60, + 0xf7, 0x6b, 0x8a, 0xc5, + 0xf9, 0x6b, 0x8c, 0x05, + 0xfb, 0x6b, 0x8c, 0x45, + 0x0c, 0x0a, 0x8a, 0x45, + 0x8a, 0x65, 0xe4, 0xb4, + 0xe4, 0xb8, 0x0c, 0x0a, + 0x3a, 0xf8, 0x84, 0x45, + 0x40, 0x06, 0xe0, 0x60, + 0x40, 0x4a, 0xfc, 0x12, + 0x80, 0xd5, 0xe0, 0xd0, + 0xc1, 0xc3, 0xc1, 0xc3, + 0x1f, 0x0c, 0xc1, 0xc3, + 0x0f, 0xfc, 0xf0, 0x04, + 0xbc, 0xf4, 0xf7, 0x84, + 0xc1, 0x53, 0xfd, 0x64, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xc1, 0xc3, 0xc1, 0x43, + 0xc1, 0xc3, 0xc1, 0x53, + 0xfa, 0xfc, 0x04, 0x0c, + 0x60, 0x00, 0x06, 0xda, + 0x0a, 0x20, 0xa1, 0x0b, + 0x18, 0x30, 0x64, 0x00, + 0x0e, 0x24, 0xe4, 0x00, + 0x02, 0x0a, 0x37, 0x80, + 0x0c, 0x06, 0x80, 0x00, + 0x08, 0x34, 0x20, 0x00, + 0x0a, 0x70, 0xb7, 0x80, + 0x58, 0x42, 0xa4, 0x04, + 0x81, 0x61, 0x32, 0x98, + 0x21, 0x2b, 0xaa, 0x45, + 0x06, 0x0a, 0x8c, 0xbb, + 0x0c, 0x10, 0x00, 0x00, + 0x04, 0x00, 0xe4, 0x00, + 0x18, 0x1a, 0x64, 0x00, + 0xa8, 0x25, 0xe0, 0x00, + 0x08, 0x04, 0xa1, 0x1d, + 0x0e, 0x14, 0x57, 0x80, + 0x10, 0x06, 0xd7, 0x80, + 0x04, 0x40, 0x40, 0x00, + 0x08, 0x54, 0xc4, 0x04, + 0x4c, 0x72, 0x76, 0x80, + 0x10, 0xc4, 0xd2, 0xa0, + 0x14, 0x40, 0x76, 0x80, + 0x0e, 0x64, 0xa4, 0x80, + 0x12, 0x24, 0xf6, 0x80, + 0xa1, 0x6b, 0x76, 0x80, + 0x3c, 0x01, 0x54, 0x80, + 0x8c, 0x8b, 0x40, 0x00, + 0x04, 0x80, 0x08, 0x90, + 0xdc, 0x00, 0x48, 0x70, + 0x84, 0x9b, 0x28, 0xa3, + 0xec, 0x04, 0x0e, 0xa0, + 0x9e, 0xe5, 0xa0, 0x7d, + 0x96, 0x4b, 0x21, 0x7b, + 0x0e, 0x8a, 0x86, 0x45, + 0x0e, 0x9a, 0xe5, 0x00, + 0x00, 0x06, 0x44, 0x80, + 0x16, 0xa0, 0x80, 0x00, + 0x08, 0x54, 0x2c, 0x84, + 0xc0, 0x00, 0x28, 0x9c, + 0x20, 0x01, 0x0e, 0x4a, + 0x00, 0x54, 0x40, 0x00, + 0x00, 0xc4, 0xa8, 0xac, + 0xc0, 0x00, 0x28, 0x9d, + 0x0f, 0x9c, 0x14, 0x54, + 0x40, 0x02, 0x88, 0x5b, + 0x80, 0xcb, 0x99, 0xa8, + 0x61, 0x84, 0x00, 0x84, + 0xe1, 0x84, 0x08, 0x94, + 0x12, 0x84, 0x01, 0xcb, + 0x32, 0x4f, 0xe0, 0xfc, + 0xe4, 0x04, 0x1c, 0x70, + 0x4b, 0x0a, 0x01, 0xa1, + 0x58, 0xda, 0x84, 0x10, + 0x94, 0xbb, 0x64, 0x00, + 0x6d, 0x84, 0x40, 0x1a, + 0x1c, 0x70, 0xc6, 0x1f, + 0x00, 0xc4, 0x24, 0x08, + 0x0e, 0x54, 0xa0, 0x84, + 0x08, 0x54, 0x21, 0xfc, + 0x40, 0x02, 0xa0, 0x84, + 0xa1, 0xeb, 0x39, 0x9c, + 0x3c, 0x00, 0x58, 0x00, + 0xbc, 0x00, 0x4a, 0x40, + 0x1d, 0x5a, 0x08, 0xc5, + 0x0e, 0xe0, 0xe0, 0x04, + 0x0d, 0xcb, 0xec, 0x04, + 0xe1, 0xfc, 0x00, 0xa4, + 0x4b, 0x0a, 0x42, 0xb7, + 0x58, 0xfa, 0x84, 0x08, + 0x08, 0xc4, 0x64, 0x18, + 0x10, 0xa4, 0xe0, 0xfc, + 0x40, 0x0a, 0x60, 0x84, + 0x20, 0xbf, 0xed, 0x8c, + 0x00, 0x54, 0x90, 0xab, + 0x14, 0x84, 0x61, 0x84, + 0x28, 0x0f, 0x9c, 0x80, + 0x91, 0x94, 0x48, 0x22, + 0x13, 0xb0, 0x4a, 0x62, + 0x4c, 0x50, 0xc3, 0xc7, + 0x80, 0x5b, 0x1c, 0x00, + 0x27, 0xf0, 0x4e, 0xd8, + 0x9c, 0x00, 0x44, 0x40, + 0x96, 0x0b, 0x21, 0x1d, + 0x57, 0x80, 0x04, 0xa4, + 0xd7, 0x80, 0x02, 0xb4, + 0x40, 0x00, 0x06, 0x06, + 0xc4, 0x04, 0x04, 0x20, + 0x52, 0x8c, 0x42, 0x12, + 0x40, 0x10, 0x94, 0x6b, + 0x4c, 0x20, 0x5c, 0x00, + 0x80, 0x1b, 0xdc, 0x00, + 0x0c, 0x0c, 0x8c, 0x0b, + 0xdd, 0x93, 0xf2, 0xfc, + 0x8c, 0x1b, 0x7f, 0xc5, + 0x80, 0x6b, 0x7f, 0xa5, + 0x96, 0x7b, 0x73, 0xe5, + 0xfa, 0x3c, 0x04, 0x0c, + 0x81, 0xc1, 0x21, 0x0b, + 0x00, 0x00, 0x02, 0x0a, + 0xa0, 0x85, 0x98, 0x6b, + 0x76, 0x80, 0x0a, 0x14, + 0x08, 0x24, 0xa1, 0x2b, + 0x06, 0x0a, 0x76, 0x80, + 0x0c, 0x04, 0x80, 0x00, + 0x98, 0x8b, 0x76, 0x80, + 0x06, 0x1a, 0x1e, 0xc5, + 0x18, 0x34, 0xe0, 0x00, + 0xa1, 0x1b, 0x76, 0x80, + 0xa4, 0x80, 0x0e, 0x40, + 0x3c, 0x01, 0x4e, 0xc0, + 0x08, 0x60, 0xc0, 0x00, + 0x48, 0x50, 0x04, 0x80, + 0xa8, 0x73, 0xdc, 0x00, + 0xec, 0x04, 0x0a, 0x70, + 0x9a, 0xc5, 0xa0, 0x5d, + 0x90, 0xcb, 0x21, 0x5b, + 0x0a, 0x8a, 0x86, 0x45, + 0x0a, 0x9a, 0xe5, 0x00, + 0x08, 0x06, 0x44, 0x80, + 0x10, 0x70, 0x80, 0x00, + 0x0a, 0x4a, 0x2c, 0x84, + 0xc0, 0x00, 0x20, 0x00, + 0x28, 0x95, 0x08, 0x34, + 0x0c, 0x24, 0x40, 0x00, + 0x08, 0x24, 0x8f, 0x94, + 0x18, 0x24, 0x28, 0xa0, + 0xc0, 0x00, 0x28, 0x94, + 0x19, 0x98, 0x48, 0x42, + 0x88, 0x3b, 0x98, 0x2b, + 0x61, 0x84, 0x08, 0x14, + 0xe0, 0xfc, 0x0c, 0x14, + 0x61, 0x84, 0x18, 0x04, + 0x2c, 0xcf, 0x89, 0x3b, + 0xe4, 0x10, 0x46, 0xda, + 0x04, 0x30, 0x45, 0x0a, + 0xe4, 0x04, 0x12, 0x50, + 0x6d, 0x84, 0x40, 0x1a, + 0x12, 0x50, 0x81, 0xc1, + 0x0c, 0x24, 0x24, 0x08, + 0x08, 0x34, 0xa1, 0xfc, + 0x0a, 0x24, 0x20, 0x84, + 0x48, 0x42, 0xa0, 0x84, + 0xa1, 0x9b, 0x39, 0x98, + 0x3c, 0x00, 0x46, 0x40, + 0xbc, 0x00, 0x44, 0x50, + 0x13, 0x5a, 0x18, 0x6b, + 0x88, 0xc5, 0xe0, 0x04, + 0xec, 0x04, 0x0e, 0x90, + 0x46, 0xfa, 0x03, 0x3b, + 0x45, 0x0a, 0xe4, 0x04, + 0x0a, 0x24, 0x04, 0x00, + 0x10, 0x34, 0xe1, 0x84, + 0xc2, 0x67, 0x60, 0xfc, + 0x60, 0x84, 0x1c, 0xc4, + 0xed, 0x8c, 0x40, 0x0a, + 0x61, 0x84, 0x08, 0x34, + 0x10, 0xc4, 0xb0, 0x5f, + 0x9c, 0xcb, 0x61, 0xfc, + 0x50, 0x02, 0x30, 0x6f, + 0x44, 0x12, 0x91, 0x88, + 0x88, 0x3b, 0x13, 0x8c, + 0x1c, 0x00, 0x42, 0x20, + 0x40, 0x80, 0x8a, 0x2b, + 0x18, 0xe4, 0x1c, 0x00, + 0x4f, 0xd8, 0x9c, 0x80, + 0x18, 0x0b, 0xa7, 0xec, + 0x0c, 0x0c, 0x8c, 0x1b, + 0xdd, 0x93, 0xf2, 0x3c, + 0x82, 0x6b, 0x00, 0xcb, + 0x75, 0xf5, 0xff, 0x95, + 0xc1, 0xc3, 0x90, 0x5b, + 0xfa, 0xfc, 0x04, 0x0c, + 0x80, 0x8b, 0x21, 0x0b, + 0x00, 0x00, 0x02, 0x0a, + 0x04, 0x6b, 0x82, 0x9b, + 0x80, 0xe5, 0x86, 0x7b, + 0x06, 0x0a, 0xa1, 0x2b, + 0x40, 0x0a, 0x80, 0x00, + 0x80, 0xe5, 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0x1a, 0x48, + 0x00, 0x00, 0xfb, 0x78, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x17, 0xec, + 0x00, 0x00, 0x18, 0x54, + 0x00, 0x00, 0x18, 0xbc, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x1a, 0x3f, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x00, + 0xab, 0xcd, 0x33, 0x0e, + 0xe6, 0x6d, 0x12, 0x34, + 0x00, 0x05, 0xde, 0xec, + 0x00, 0x00, 0x00, 0x0b, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + +}; + +/** + * @brief This buffer contains the VL53L8CX default configuration. + */ + +const uint8_t VL53L8CX_DEFAULT_CONFIGURATION[] = { + 0x54, 0x50, 0x00, 0x80, + 0x00, 0x04, 0x04, 0x04, + 0x00, 0x00, 0x08, 0x08, + 0xAD, 0x30, 0x00, 0x80, + 0x02, 0x01, 0x03, 0x03, + 0x00, 0x00, 0x03, 0x00, + 0xAD, 0x38, 0x01, 0x00, + 0x01, 0xE0, 0x01, 0x40, + 0x00, 0x40, 0x00, 0x40, + 0x01, 0x00, 0x04, 0x00, + 0x00, 0x00, 0x00, 0x01, + 0x54, 0x58, 0x00, 0x40, + 0x04, 0x1A, 0x01, 0x00, + 0x54, 0x5C, 0x01, 0x40, + 0x00, 0x00, 0x27, 0x10, + 0x00, 0x00, 0x0F, 0xA0, + 0x0F, 0xA0, 0x03, 0xE8, + 0x02, 0x80, 0x1F, 0x40, + 0x00, 0x00, 0x05, 0x00, + 0x54, 0x70, 0x00, 0x80, + 0x03, 0x20, 0x03, 0x20, + 0x00, 0x00, 0x00, 0x08, + 0x54, 0x78, 0x01, 0x00, + 0x01, 0x13, 0x00, 0x29, + 0x00, 0x33, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x01, + 0x04, 0x01, 0x08, VL53L8CX_FW_NBTAR_RANGING, + 0x54, 0x88, 0x01, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x0C, 0x00, + 0xAD, 0x48, 0x01, 0x00, + 0x01, 0xF4, 0x00, 0x00, + 0x03, 0x06, 0x00, 0x10, + 0x08, 0x07, 0x08, 0x07, + 0x00, 0x00, 0x00, 0x08, + 0xAD, 0x60, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x80, + 0x00, 0x00, 0x00, 0x00, + 0x20, 0x1F, 0x01, 0xF4, + 0x00, 0x00, 0x1D, 0x0A, + 0xAD, 0x70, 0x00, 0x80, + 0x08, 0x00, 0x1F, 0x40, + 0x00, 0x00, 0x00, 0x01, + 0xAD, 0x78, 0x00, 0x80, + 0x00, 0xA0, 0x03, 0x20, + 0x00, 0x01, 0x01, 0x90, + 0xAD, 0x80, 0x00, 0x40, + 0x00, 0x00, 0x28, 0x00, + 0xAD, 0x84, 0x00, 0x80, + 0x00, 0x00, 0x32, 0x00, + 0x03, 0x20, 0x00, 0x00, + 0xAD, 0x8C, 0x00, 0x80, + 0x02, 0x58, 0xFF, 0x38, + 0x00, 0x00, 0x00, 0x0C, + 0xAD, 0x94, 0x01, 0x00, + 0x00, 0x01, 0x90, 0x00, + 0xFF, 0xFF, 0xFC, 0x00, + 0x00, 0x00, 0x04, 0x00, + 0x00, 0x00, 0x01, 0x01, + 0xAD, 0xA4, 0x00, 0xC0, + 0x04, 0x80, 0x06, 0x1A, + 0x00, 0x40, 0x05, 0x80, + 0x00, 0x00, 0x01, 0x06, + 0xAD, 0xB0, 0x00, 0xC0, + 0x04, 0x80, 0x06, 0x1A, + 0x19, 0x00, 0x05, 0x80, + 0x00, 0x00, 0x01, 0x90, + 0xAD, 0xBC, 0x04, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x12, 0x00, 0x25, + 0x00, 0x00, 0x00, 0x06, + 0x00, 0x00, 0x00, 0x05, + 0x00, 0x00, 0x00, 0x05, + 0x00, 0x00, 0x00, 0x06, + 0x00, 0x00, 0x00, 0x04, + 0x00, 0x00, 0x00, 0x0F, + 0x00, 0x00, 0x00, 0x5A, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x09, + 0x0B, 0x0C, 0x0B, 0x0B, + 0x03, 0x03, 0x11, 0x05, + 0x01, 0x01, 0x01, 0x01, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x0D, 0x00, 0x00, + 0xAE, 0x00, 0x01, 0x04, + 0x00, 0x00, 0x00, 0x04, + 0x00, 0x00, 0x00, 0x08, + 0x00, 0x00, 0x00, 0x0A, + 0x00, 0x00, 0x00, 0x0C, + 0x00, 0x00, 0x00, 0x0D, + 0x00, 0x00, 0x00, 0x0E, + 0x00, 0x00, 0x00, 0x08, + 0x00, 0x00, 0x00, 0x08, + 0x00, 0x00, 0x00, 0x10, + 0x00, 0x00, 0x00, 0x10, + 0x00, 0x00, 0x00, 0x20, + 0x00, 0x00, 0x00, 0x20, + 0x00, 0x00, 0x00, 0x06, + 0x00, 0x00, 0x05, 0x0A, + 0x02, 0x00, 0x0C, 0x08, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0x40, 0x00, 0x40, + 0x00, 0x00, 0x01, 0xFF, + 0xAE, 0x44, 0x00, 0x40, + 0x00, 0x10, 0x04, 0x01, + 0xAE, 0x48, 0x00, 0x40, + 0x00, 0x00, 0x10, 0x00, + 0xAE, 0x4C, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x01, + 0xAE, 0x50, 0x01, 0x40, + 0x00, 0x00, 0x00, 0x14, + 0x04, 0x00, 0x28, 0x00, + 0x03, 0x20, 0x6C, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x25, 0x80, + 0xAE, 0x64, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x02, + 0xAE, 0xD8, 0x01, 0x00, + 0x00, 0xC8, 0x05, 0xDC, + 0x00, 0x00, 0x07, 0xAE, + 0x01, 0x04, 0x00, 0x00, + 0x00, 0x00, 0x03, 0x01, + 0xB5, 0x50, 0x02, 0x82, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB5, 0xA0, 0x02, 0x82, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB5, 0xF0, 0x00, 0x40, + 0x00, 0xFF, 0x00, 0x00, + 0xB3, 0x9C, 0x01, 0x00, + 0x40, 0x00, 0x05, 0x1E, + 0x02, 0x1B, 0x08, 0x7C, + 0x80, 0x00, 0x12, 0x01, + 0x00, 0x01, 0x08, 0x00, + 0xB6, 0xC0, 0x00, 0xC0, + 0x00, 0x00, 0x60, 0x00, + 0x00, 0x00, 0x20, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0xA8, 0x00, 0x40, + 0x00, 0x00, 0x04, 0x05, + 0xAE, 0xAC, 0x00, 0x80, + 0x01, 0x00, 0x01, 0x00, + 0x00, 0x02, 0x00, 0x00, + 0xAE, 0xB4, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0xB8, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0xC0, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0xC8, 0x00, 0x81, + 0x08, 0x01, 0x01, 0x08, + 0x00, 0x00, 0x00, 0x08, + 0xAE, 0xD0, 0x00, 0x81, + 0x01, 0x08, 0x08, 0x08, + 0x00, 0x00, 0x00, 0x01, + 0xB5, 0xF4, 0x00, 0x80, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB5, 0xFC, 0x00, 0x80, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x04, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x08, 0x00, 0x44, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x18, 0x00, 0x44, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x28, 0x00, 0x44, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x38, 0x00, 0x44, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x48, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x58, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x68, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x0F, + 0x00, 0x01, 0x03, 0xc8 +}; + +/** + * @brief This buffer contains the VL53L8CX default Xtalk data. + */ + +const uint8_t VL53L8CX_DEFAULT_XTALK[] = { + 0x9f, 0xd8, 0x00, 0xc0, + 0x03, 0x20, 0x09, 0x60, + 0x0b, 0x08, 0x08, 0x17, + 0x08, 0x08, 0x08, 0x03, + 0x9f, 0xe4, 0x01, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x01, 0xe0, 0x00, 0x20, + 0x00, 0x00, 0x00, 0x20, + 0x9f, 0xf8, 0x00, 0x40, + 0x17, 0x17, 0x17, 0x17, + 0x9f, 0xfc, 0x04, 0x04, + 0x00, 0x00, 0x46, 0xa4, + 0x00, 0x00, 0x37, 0x66, + 0x00, 0x00, 0x26, 0x60, + 0x00, 0x00, 0x1c, 0xbc, + 0x00, 0x00, 0x17, 0x73, + 0x00, 0x00, 0x11, 0x25, + 0x00, 0x00, 0x11, 0x07, + 0x00, 0x00, 0x0e, 0x63, + 0x00, 0x00, 0x8b, 0x4c, + 0x00, 0x00, 0x60, 0xa2, + 0x00, 0x00, 0x3d, 0xc0, + 0x00, 0x00, 0x26, 0xaa, + 0x00, 0x00, 0x1b, 0xc2, + 0x00, 0x00, 0x18, 0x04, + 0x00, 0x00, 0x14, 0x97, + 0x00, 0x00, 0x10, 0xed, + 0x00, 0x01, 0x28, 0x1b, + 0x00, 0x00, 0x93, 0xf0, + 0x00, 0x00, 0x57, 0x61, + 0x00, 0x00, 0x30, 0x2b, + 0x00, 0x00, 0x20, 0xaa, + 0x00, 0x00, 0x1a, 0xb6, + 0x00, 0x00, 0x15, 0xc3, + 0x00, 0x00, 0x16, 0x0e, + 0x00, 0x01, 0x7f, 0xbb, + 0x00, 0x00, 0xad, 0x58, + 0x00, 0x00, 0x71, 0xaf, + 0x00, 0x00, 0x36, 0xd9, + 0x00, 0x00, 0x22, 0xfb, + 0x00, 0x00, 0x1c, 0x96, + 0x00, 0x00, 0x18, 0x83, + 0x00, 0x00, 0x17, 0x96, + 0x00, 0x01, 0x90, 0x00, + 0x00, 0x00, 0x97, 0xd6, + 0x00, 0x00, 0x66, 0x3b, + 0x00, 0x00, 0x33, 0x0a, + 0x00, 0x00, 0x20, 0xcd, + 0x00, 0x00, 0x19, 0x38, + 0x00, 0x00, 0x16, 0xa5, + 0x00, 0x00, 0x14, 0xbb, + 0x00, 0x00, 0xaf, 0xcf, + 0x00, 0x00, 0x65, 0x7d, + 0x00, 0x00, 0x3d, 0x93, + 0x00, 0x00, 0x29, 0xd1, + 0x00, 0x00, 0x19, 0x4e, + 0x00, 0x00, 0x15, 0xba, + 0x00, 0x00, 0x11, 0xc6, + 0x00, 0x00, 0x12, 0x7f, + 0x00, 0x00, 0x73, 0x1d, + 0x00, 0x00, 0x42, 0x2c, + 0x00, 0x00, 0x2e, 0x82, + 0x00, 0x00, 0x1e, 0x80, + 0x00, 0x00, 0x18, 0x1c, + 0x00, 0x00, 0x13, 0x2d, + 0x00, 0x00, 0x0f, 0xc6, + 0x00, 0x00, 0x0f, 0x85, + 0x00, 0x00, 0x4f, 0x04, + 0x00, 0x00, 0x33, 0xe9, + 0x00, 0x00, 0x1f, 0x06, + 0x00, 0x00, 0x18, 0x40, + 0x00, 0x00, 0x13, 0x2c, + 0x00, 0x00, 0x12, 0x97, + 0x00, 0x00, 0x0e, 0x01, + 0x00, 0x00, 0x0d, 0xac, + 0xa0, 0xfc, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x03, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa1, 0x0c, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x80, + 0x00, 0x00, 0x00, 0x03, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa1, 0x1c, 0x00, 0xc0, + 0x00, 0x00, 0x70, 0xeb, + 0x0c, 0x80, 0x01, 0xe0, + 0x00, 0x00, 0x00, 0x26, + 0xa1, 0x28, 0x09, 0x02, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x01, 0x00, 0x00, + 0x00, 0x36, 0x00, 0x03, + 0x01, 0xd9, 0x01, 0x43, + 0x02, 0x33, 0x02, 0x17, + 0x02, 0x4b, 0x02, 0x41, + 0x01, 0x17, 0x02, 0x22, + 0x00, 0x27, 0x00, 0x5d, + 0x00, 0x05, 0x00, 0x11, + 0x00, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x48, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x4c, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x54, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x5c, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x64, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x6c, 0x00, 0x84, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x8c, 0x00, 0x82, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x0F, + 0x05, 0x01, 0x03, 0x04 +}; + +/** + * @brief This buffer is used to get NVM data. + */ + +const uint8_t VL53L8CX_GET_NVM_CMD[] = { + 0x54, 0x00, 0x00, 0x40, + 0x9E, 0x14, 0x00, 0xC0, + 0x9E, 0x20, 0x01, 0x40, + 0x9E, 0x34, 0x00, 0x40, + 0x9E, 0x38, 0x04, 0x04, + 0x9F, 0x38, 0x04, 0x02, + 0x9F, 0xB8, 0x01, 0x00, + 0x9F, 0xC8, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x0F, + 0x02, 0x02, 0x00, 0x24 +}; + +#endif /* VL53L8CX_BUFFERS_H_ */ diff --git a/VL53L8CX_ULD_API/inc/vl53l8cx_plugin_detection_thresholds.h b/VL53L8CX_ULD_API/inc/vl53l8cx_plugin_detection_thresholds.h new file mode 100644 index 0000000..e4068ef --- /dev/null +++ b/VL53L8CX_ULD_API/inc/vl53l8cx_plugin_detection_thresholds.h @@ -0,0 +1,186 @@ +/** + * + * Copyright (c) 2021 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +#ifndef VL53L8CX_PLUGIN_DETECTION_THRESHOLDS_H_ +#define VL53L8CX_PLUGIN_DETECTION_THRESHOLDS_H_ + +#include "vl53l8cx_api.h" + +/** + * @brief Macro VL53L8CX_NB_THRESHOLDS indicates the number of checkers. This + * value cannot be changed. + */ + +#define VL53L8CX_NB_THRESHOLDS ((uint8_t)64U) + +/** + * @brief Inner Macro for API. Not for user, only for development. + */ + +#define VL53L8CX_DCI_DET_THRESH_CONFIG ((uint16_t)0x5488U) +#define VL53L8CX_DCI_DET_THRESH_GLOBAL_CONFIG ((uint16_t)0xB6E0U) +#define VL53L8CX_DCI_DET_THRESH_START ((uint16_t)0xB6E8U) +#define VL53L8CX_DCI_DET_THRESH_VALID_STATUS ((uint16_t)0xB9F0U) + +/** + * @brief Macro VL53L8CX_LAST_THRESHOLD is used to indicate the end of checkers + * programming. + */ + +#define VL53L8CX_LAST_THRESHOLD ((uint8_t)128U) + +/** + * @brief The following macro are used to define the 'param_type' of a checker. + * They indicate what is the measurement to catch. + */ + +#define VL53L8CX_DISTANCE_MM ((uint8_t)1U) +#define VL53L8CX_SIGNAL_PER_SPAD_KCPS ((uint8_t)2U) +#define VL53L8CX_RANGE_SIGMA_MM ((uint8_t)4U) +#define VL53L8CX_AMBIENT_PER_SPAD_KCPS ((uint8_t)8U) +#define VL53L8CX_NB_TARGET_DETECTED ((uint8_t)9U) +#define VL53L8CX_TARGET_STATUS ((uint8_t)12U) +#define VL53L8CX_NB_SPADS_ENABLED ((uint8_t)13U) +#define VL53L8CX_MOTION_INDICATOR ((uint8_t)19U) + +/** + * @brief The following macro are used to define the 'type' of a checker. + * They indicate the window of measurements, defined by low and a high + * thresholds. + */ + +#define VL53L8CX_IN_WINDOW ((uint8_t)0U) +#define VL53L8CX_OUT_OF_WINDOW ((uint8_t)1U) +#define VL53L8CX_LESS_THAN_EQUAL_MIN_CHECKER ((uint8_t)2U) +#define VL53L8CX_GREATER_THAN_MAX_CHECKER ((uint8_t)3U) +#define VL53L8CX_EQUAL_MIN_CHECKER ((uint8_t)4U) +#define VL53L8CX_NOT_EQUAL_MIN_CHECKER ((uint8_t)5U) + +/** + * @brief The following macro are used to define multiple checkers in the same + * zone, using operators. Please note that the first checker MUST always be a OR + * operation. + */ + +#define VL53L8CX_OPERATION_NONE ((uint8_t)0U) +#define VL53L8CX_OPERATION_OR ((uint8_t)0U) +#define VL53L8CX_OPERATION_AND ((uint8_t)2U) + +/** + * @brief Structure VL53L8CX_DetectionThresholds contains a single threshold. + * This structure is never used alone, it must be used as an array of 64 + * thresholds (defined by macro VL53L8CX_NB_THRESHOLDS). + */ + +typedef struct { + + /* Low threshold */ + int32_t param_low_thresh; + /* High threshold */ + int32_t param_high_thresh; + /* Measurement to catch (VL53L8CX_MEDIAN_RANGE_MM,...)*/ + uint8_t measurement; + /* Windows type (VL53L8CX_IN_WINDOW, VL53L8CX_OUT_WINDOW, ...) */ + uint8_t type; + /* Zone id. Please read VL53L5 user manual to find the zone id.Set macro + * VL53L8CX_LAST_THRESHOLD to indicates the end of checkers */ + uint8_t zone_num; + /* Mathematics operation (AND/OR). The first threshold is always OR.*/ + uint8_t mathematic_operation; +}VL53L8CX_DetectionThresholds; + +/** + * @brief This function allows indicating if the detection thresholds are + * enabled. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) *p_enabled : Set to 1 if enabled, or 0 if disable. + * @return (uint8_t) status : 0 if OK + */ + +uint8_t vl53l8cx_get_detection_thresholds_enable( + VL53L8CX_Configuration *p_dev, + uint8_t *p_enabled); + +/** + * @brief This function allows enable the detection thresholds. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) enabled : Set to 1 to enable, or 0 to disable thresholds. + * @return (uint8_t) status : 0 if programming is OK + */ + +uint8_t vl53l8cx_set_detection_thresholds_enable( + VL53L8CX_Configuration *p_dev, + uint8_t enabled); + +/** + * @brief This function allows getting the detection thresholds. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (VL53L8CX_DetectionThresholds) *p_thresholds : Array of 64 thresholds. + * @return (uint8_t) status : 0 if programming is OK + */ + +uint8_t vl53l8cx_get_detection_thresholds( + VL53L8CX_Configuration *p_dev, + VL53L8CX_DetectionThresholds *p_thresholds); + +/** + * @brief This function allows programming the detection thresholds. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (VL53L8CX_DetectionThresholds) *p_thresholds : Array of 64 thresholds. + * @return (uint8_t) status : 0 if programming is OK + */ + +uint8_t vl53l8cx_set_detection_thresholds( + VL53L8CX_Configuration *p_dev, + VL53L8CX_DetectionThresholds *p_thresholds); + +/** + * @brief This function is used to enable or disable the auto-stop feature. + * When ToF runs in autonomous mode with detection threshold, the sensor + * only emits an interrupt (INT pin) when a threshold is reached. Interrupt + * is raised when the measurement is completed. It is possible to abort the ranging + * without waiting for end of measurement completed by enabling the auto-stop. The + * sensor emits an interrupt and quickly aborts the measurements in progress. Please + * note that vl53l8cx_stop_ranging() function needs to be used after interrupt raised + * for a clean stop. + * This function is used to get the auto_stop flag. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) *p_auto_stop : Pointer of auto-stop feature, 0 disabled + * (default) or 1 enabled. + * @return (uint8_t) status : 0 if programming is OK + */ + +uint8_t vl53l8cx_get_detection_thresholds_auto_stop( + VL53L8CX_Configuration *p_dev, + uint8_t *p_auto_stop); + +/** + * @brief This function is used to enable or disable the auto-stop feature. + * When ToF runs in autonomous mode with detection threshold, the sensor + * only emits an interrupt (INT pin) when a threshold is reached. Interrupt + * is raised when the measurement is completed. It is possible to abort the ranging + * without waiting for end of measurement completed by enabling the auto-stop. The + * sensor emits an interrupt and quickly aborts the measurements in progress. Please + * note that vl53l8cx_stop_ranging() function needs to be used after interrupt raised + * for a clean stop. + * This function is used to set the auto_stop flag. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint8_t) *p_auto_stop : Pointer of auto-stop feature, 0 disabled + * (default) or 1 enabled. + * @return (uint8_t) status : 0 if programming is OK + */ + +uint8_t vl53l8cx_set_detection_thresholds_auto_stop( + VL53L8CX_Configuration *p_dev, + uint8_t auto_stop); + +#endif /* VL53L8CX_PLUGIN_DETECTION_THRESHOLDS_H_ */ diff --git a/VL53L8CX_ULD_API/inc/vl53l8cx_plugin_motion_indicator.h b/VL53L8CX_ULD_API/inc/vl53l8cx_plugin_motion_indicator.h new file mode 100644 index 0000000..d720c9a --- /dev/null +++ b/VL53L8CX_ULD_API/inc/vl53l8cx_plugin_motion_indicator.h @@ -0,0 +1,96 @@ +/** + * + * Copyright (c) 2021 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +#ifndef VL53L8CX_PLUGIN_MOTION_INDICATOR_H_ +#define VL53L8CX_PLUGIN_MOTION_INDICATOR_H_ + +#include "vl53l8cx_api.h" + +/** + * @brief Motion indicator internal configuration structure. + */ + +typedef struct { + int32_t ref_bin_offset; + uint32_t detection_threshold; + uint32_t extra_noise_sigma; + uint32_t null_den_clip_value; + uint8_t mem_update_mode; + uint8_t mem_update_choice; + uint8_t sum_span; + uint8_t feature_length; + uint8_t nb_of_aggregates; + uint8_t nb_of_temporal_accumulations; + uint8_t min_nb_for_global_detection; + uint8_t global_indicator_format_1; + uint8_t global_indicator_format_2; + uint8_t spare_1; + uint8_t spare_2; + uint8_t spare_3; + int8_t map_id[64]; + uint8_t indicator_format_1[32]; + uint8_t indicator_format_2[32]; +}VL53L8CX_Motion_Configuration; + +/** + * @brief This function is used to initialized the motion indicator. By default, + * indicator is programmed to monitor movements between 400mm and 1500mm. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (VL53L8CX_Motion_Configuration) *p_motion_config : Structure + * containing the initialized motion configuration. + * @param (uint8_t) resolution : Wanted resolution, defined by macros + * VL53L8CX_RESOLUTION_4X4 or VL53L8CX_RESOLUTION_8X8. + * @return (uint8_t) status : 0 if OK, or 127 is the resolution is unknown. + */ + +uint8_t vl53l8cx_motion_indicator_init( + VL53L8CX_Configuration *p_dev, + VL53L8CX_Motion_Configuration *p_motion_config, + uint8_t resolution); + +/** + * @brief This function can be used to change the working distance of motion + * indicator. By default, indicator is programmed to monitor movements between + * 400mm and 1500mm. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (VL53L8CX_Motion_Configuration) *p_motion_config : Structure + * containing the initialized motion configuration. + * @param (uint16_t) distance_min_mm : Minimum distance for indicator (min value + * 400mm, max 4000mm). + * @param (uint16_t) distance_max_mm : Maximum distance for indicator (min value + * 400mm, max 4000mm). + * VL53L8CX_RESOLUTION_4X4 or VL53L8CX_RESOLUTION_8X8. + * @return (uint8_t) status : 0 if OK, or 127 if an argument is invalid. + */ + +uint8_t vl53l8cx_motion_indicator_set_distance_motion( + VL53L8CX_Configuration *p_dev, + VL53L8CX_Motion_Configuration *p_motion_config, + uint16_t distance_min_mm, + uint16_t distance_max_mm); + +/** + * @brief This function is used to update the internal motion indicator map. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (VL53L8CX_Motion_Configuration) *p_motion_config : Structure + * containing the initialized motion configuration. + * @param (uint8_t) resolution : Wanted SCI resolution, defined by macros + * VL53L8CX_RESOLUTION_4X4 or VL53L8CX_RESOLUTION_8X8. + * @return (uint8_t) status : 0 if OK, or 127 is the resolution is unknown. + */ + +uint8_t vl53l8cx_motion_indicator_set_resolution( + VL53L8CX_Configuration *p_dev, + VL53L8CX_Motion_Configuration *p_motion_config, + uint8_t resolution); + +#endif /* VL53L8CX_PLUGIN_MOTION_INDICATOR_H_ */ diff --git a/VL53L8CX_ULD_API/inc/vl53l8cx_plugin_xtalk.h b/VL53L8CX_ULD_API/inc/vl53l8cx_plugin_xtalk.h new file mode 100644 index 0000000..21e9550 --- /dev/null +++ b/VL53L8CX_ULD_API/inc/vl53l8cx_plugin_xtalk.h @@ -0,0 +1,391 @@ +/** + * + * Copyright (c) 2021 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +#ifndef VL53L8CX_PLUGIN_XTALK_H_ +#define VL53L8CX_PLUGIN_XTALK_H_ + +#include "vl53l8cx_api.h" + +/** + * @brief Inner internal number of targets. + */ + +#if VL53L8CX_NB_TARGET_PER_ZONE == 1 +#define VL53L8CX_FW_NBTAR_XTALK 2 +#else +#define VL53L8CX_FW_NBTAR_XTALK VL53L8CX_NB_TARGET_PER_ZONE +#endif + +/** + * @brief Inner Macro for plugin. Not for user, only for development. + */ + +#define VL53L8CX_DCI_CAL_CFG ((uint16_t)0x5470U) +#define VL53L8CX_DCI_XTALK_CFG ((uint16_t)0xAD94U) + + +/** + * @brief This function starts the VL53L8CX sensor in order to calibrate Xtalk. + * This calibration is recommended is user wants to use a coverglass. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint16_t) reflectance_percent : Target reflectance in percent. This + * value is include between 1 and 99%. For a better efficiency, ST recommends a + * 3% target reflectance. + * @param (uint8_t) nb_samples : Nb of samples used for calibration. A higher + * number of samples means a higher accuracy, but it increases the calibration + * time. Minimum is 1 and maximum is 16. + * @param (uint16_t) distance_mm : Target distance in mm. The minimum allowed + * distance is 600mm, and maximum is 3000mm. The target must stay in Full FOV, + * so short distance are easier for calibration. + * @return (uint8_t) status : 0 if calibration OK, 127 if an argument has an + * incorrect value, or 255 is something failed. + */ + +uint8_t vl53l8cx_calibrate_xtalk( + VL53L8CX_Configuration *p_dev, + uint16_t reflectance_percent, + uint8_t nb_samples, + uint16_t distance_mm); + +/** + * @brief This function gets the Xtalk buffer. The buffer is available after + * using the function vl53l8cx_calibrate_xtalk(). + * @param (VL53L8CX_Configuration) *p_dev : VL53L5 configuration structure. + * @param (uint8_t) *p_xtalk_data : Buffer with a size defined by + * macro VL53L8CX_XTALK_SIZE. + * @return (uint8_t) status : 0 if buffer reading OK + */ + +uint8_t vl53l8cx_get_caldata_xtalk( + VL53L8CX_Configuration *p_dev, + uint8_t *p_xtalk_data); + +/** + * @brief This function sets the Xtalk buffer. This function can be used to + * override default Xtalk buffer. + * @param (VL53L8CX_Configuration) *p_dev : VL53L5 configuration structure. + * @param (uint8_t) *p_xtalk_data : Buffer with a size defined by + * macro VL53L8CX_XTALK_SIZE. + * @return (uint8_t) status : 0 if buffer OK + */ + +uint8_t vl53l8cx_set_caldata_xtalk( + VL53L8CX_Configuration *p_dev, + uint8_t *p_xtalk_data); + +/** + * @brief This function gets the Xtalk margin. This margin is used to increase + * the Xtalk threshold. It can also be used to avoid false positives after the + * Xtalk calibration. The default value is 50 kcps/spads. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint32_t) *p_xtalk_margin : Xtalk margin in kcps/spads. + * @return (uint8_t) status : 0 if reading OK + */ + +uint8_t vl53l8cx_get_xtalk_margin( + VL53L8CX_Configuration *p_dev, + uint32_t *p_xtalk_margin); + +/** + * @brief This function sets the Xtalk margin. This margin is used to increase + * the Xtalk threshold. It can also be used to avoid false positives after the + * Xtalk calibration. The default value is 50 kcps/spads. + * @param (VL53L8CX_Configuration) *p_dev : VL53L8CX configuration structure. + * @param (uint32_t) xtalk_margin : New Xtalk margin in kcps/spads. Min value is + * 0 kcps/spads, and max is 10.000 kcps/spads + * @return (uint8_t) status : 0 if set margin is OK, or 127 is the margin is + * invalid. + */ + +uint8_t vl53l8cx_set_xtalk_margin( + VL53L8CX_Configuration *p_dev, + uint32_t xtalk_margin); + +/** + * @brief Command used to get Xtalk calibration data + */ + +static const uint8_t VL53L8CX_GET_XTALK_CMD[] = { + 0x54, 0x00, 0x00, 0x40, + 0x9F, 0xD8, 0x00, 0xC0, + 0x9F, 0xE4, 0x01, 0x40, + 0x9F, 0xF8, 0x00, 0x40, + 0x9F, 0xFC, 0x04, 0x04, + 0xA0, 0xFC, 0x01, 0x00, + 0xA1, 0x0C, 0x01, 0x00, + 0xA1, 0x1C, 0x00, 0xC0, + 0xA1, 0x28, 0x09, 0x02, + 0xA2, 0x48, 0x00, 0x40, + 0xA2, 0x4C, 0x00, 0x81, + 0xA2, 0x54, 0x00, 0x81, + 0xA2, 0x5C, 0x00, 0x81, + 0xA2, 0x64, 0x00, 0x81, + 0xA2, 0x6C, 0x00, 0x84, + 0xA2, 0x8C, 0x00, 0x82, + 0x00, 0x00, 0x00, 0x0F, + 0x07, 0x02, 0x00, 0x44 +}; + +/** + * @brief Command used to get run Xtalk calibration + */ + +static const uint8_t VL53L8CX_CALIBRATE_XTALK[] = { + 0x54, 0x50, 0x00, 0x80, + 0x00, 0x04, 0x08, 0x08, + 0x00, 0x00, 0x04, 0x04, + 0xAD, 0x30, 0x00, 0x80, + 0x03, 0x01, 0x06, 0x03, + 0x00, 0x00, 0x01, 0x00, + 0xAD, 0x38, 0x01, 0x00, + 0x01, 0xE0, 0x01, 0x40, + 0x00, 0x10, 0x00, 0x10, + 0x01, 0x00, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x01, + 0x54, 0x58, 0x00, 0x40, + 0x04, 0x1A, 0x02, 0x00, + 0x54, 0x5C, 0x01, 0x40, + 0x00, 0x01, 0x00, 0x51, + 0x00, 0x00, 0x0F, 0xA0, + 0x0F, 0xA0, 0x03, 0xE8, + 0x02, 0x80, 0x1F, 0x40, + 0x00, 0x00, 0x05, 0x00, + 0x54, 0x70, 0x00, 0x80, + 0x03, 0x20, 0x03, 0x20, + 0x00, 0x00, 0x00, 0x08, + 0x54, 0x78, 0x01, 0x00, + 0x01, 0x1B, 0x00, 0x21, + 0x00, 0x33, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x01, + 0x04, 0x01, 0x08, VL53L8CX_FW_NBTAR_XTALK, + 0x54, 0x88, 0x01, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x08, 0x00, + 0xAD, 0x48, 0x01, 0x00, + 0x01, 0xF4, 0x00, 0x00, + 0x03, 0x06, 0x00, 0x10, + 0x08, 0x08, 0x08, 0x08, + 0x00, 0x00, 0x00, 0x08, + 0xAD, 0x60, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x80, + 0x00, 0x00, 0x00, 0x00, + 0x20, 0x1F, 0x01, 0xF4, + 0x00, 0x00, 0x1D, 0x0A, + 0xAD, 0x70, 0x00, 0x80, + 0x08, 0x00, 0x1F, 0x40, + 0x00, 0x00, 0x00, 0x01, + 0xAD, 0x78, 0x00, 0x80, + 0x00, 0xA0, 0x03, 0x20, + 0x00, 0x01, 0x01, 0x90, + 0xAD, 0x80, 0x00, 0x40, + 0x00, 0x00, 0x28, 0x00, + 0xAD, 0x84, 0x00, 0x80, + 0x00, 0x00, 0x32, 0x00, + 0x03, 0x20, 0x00, 0x00, + 0xAD, 0x8C, 0x00, 0x80, + 0x02, 0x58, 0xFF, 0x38, + 0x00, 0x00, 0x00, 0x0C, + 0xAD, 0x94, 0x01, 0x00, + 0x00, 0x01, 0x90, 0x00, + 0xFF, 0xFF, 0xFC, 0x00, + 0x00, 0x00, 0x04, 0x00, + 0x00, 0x00, 0x01, 0x00, + 0xAD, 0xA4, 0x00, 0xC0, + 0x04, 0x80, 0x06, 0x1A, + 0x00, 0x80, 0x05, 0x80, + 0x00, 0x00, 0x01, 0x06, + 0xAD, 0xB0, 0x00, 0xC0, + 0x04, 0x80, 0x06, 0x1A, + 0x19, 0x00, 0x05, 0x80, + 0x00, 0x00, 0x01, 0x90, + 0xAD, 0xBC, 0x04, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x12, 0x00, 0x25, + 0x00, 0x00, 0x00, 0x06, + 0x00, 0x00, 0x00, 0x05, + 0x00, 0x00, 0x00, 0x05, + 0x00, 0x00, 0x00, 0x06, + 0x00, 0x00, 0x00, 0x04, + 0x00, 0x00, 0x00, 0x0F, + 0x00, 0x00, 0x00, 0x5A, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x09, + 0x0B, 0x0C, 0x0B, 0x0B, + 0x03, 0x03, 0x11, 0x05, + 0x01, 0x01, 0x01, 0x01, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x0D, 0x00, 0x00, + 0xAE, 0x00, 0x01, 0x04, + 0x00, 0x00, 0x00, 0x04, + 0x00, 0x00, 0x00, 0x08, + 0x00, 0x00, 0x00, 0x0A, + 0x00, 0x00, 0x00, 0x0C, + 0x00, 0x00, 0x00, 0x0D, + 0x00, 0x00, 0x00, 0x0E, + 0x00, 0x00, 0x00, 0x08, + 0x00, 0x00, 0x00, 0x08, + 0x00, 0x00, 0x00, 0x10, + 0x00, 0x00, 0x00, 0x10, + 0x00, 0x00, 0x00, 0x20, + 0x00, 0x00, 0x00, 0x20, + 0x00, 0x00, 0x00, 0x06, + 0x00, 0x00, 0x05, 0x0A, + 0x02, 0x00, 0x0C, 0x08, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0x40, 0x00, 0x40, + 0x00, 0x00, 0x00, 0xFF, + 0xAE, 0x44, 0x00, 0x40, + 0x00, 0x10, 0x04, 0x01, + 0xAE, 0x48, 0x00, 0x40, + 0x00, 0x00, 0x10, 0x00, + 0xAE, 0x4C, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x01, + 0xAE, 0x50, 0x01, 0x40, + 0x00, 0x00, 0x00, 0x14, + 0x04, 0x00, 0x28, 0x00, + 0x03, 0x20, 0x6C, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0x64, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x01, + 0xAE, 0xD8, 0x01, 0x00, + 0x00, 0xC8, 0x05, 0xDC, + 0x00, 0x00, 0x0C, 0xCD, + 0x01, 0x04, 0x00, 0x00, + 0x00, 0x01, 0x26, 0x01, + 0xB5, 0x50, 0x02, 0x82, + 0xA3, 0xE8, 0xA3, 0xB8, + 0xA4, 0x38, 0xA4, 0x28, + 0xA6, 0x48, 0xA4, 0x48, + 0xA7, 0x88, 0xA7, 0x48, + 0xAC, 0x10, 0xA7, 0x90, + 0x99, 0xBC, 0x99, 0xB4, + 0x9A, 0xFC, 0x9A, 0xBC, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB5, 0xA0, 0x02, 0x82, + 0x00, 0x88, 0x03, 0x00, + 0x00, 0x82, 0x00, 0x82, + 0x04, 0x04, 0x04, 0x08, + 0x00, 0x80, 0x04, 0x01, + 0x09, 0x02, 0x09, 0x08, + 0x04, 0x04, 0x00, 0x80, + 0x04, 0x01, 0x04, 0x01, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB5, 0xF0, 0x00, 0x40, + 0x00, 0x04, 0x00, 0x00, + 0xB3, 0x9C, 0x01, 0x00, + 0x40, 0x00, 0x05, 0x1E, + 0x02, 0x1B, 0x08, 0x7C, + 0x80, 0x00, 0x12, 0x01, + 0x00, 0x01, 0x08, 0x00, + 0xB6, 0xC0, 0x00, 0xC0, + 0x00, 0x00, 0x60, 0x00, + 0x00, 0x00, 0x20, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0xA8, 0x00, 0x40, + 0x00, 0x00, 0x04, 0x05, + 0xAE, 0xAC, 0x00, 0x80, + 0x01, 0x00, 0x01, 0x00, + 0x00, 0x02, 0x00, 0x00, + 0xAE, 0xB4, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0xB8, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0xC0, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0xC8, 0x00, 0x81, + 0x08, 0x01, 0x01, 0x08, + 0x00, 0x00, 0x00, 0x08, + 0xAE, 0xD0, 0x00, 0x81, + 0x01, 0x08, 0x08, 0x08, + 0x00, 0x00, 0x00, 0x01, + 0xB5, 0xF4, 0x00, 0x80, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB5, 0xFC, 0x00, 0x80, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x04, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x08, 0x00, 0x44, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x18, 0x00, 0x44, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x28, 0x00, 0x44, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x38, 0x00, 0x44, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x48, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x58, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x68, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x54, 0x70, 0x00, 0x80, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x02, + 0x00, 0x00, 0x00, 0x0F, + 0x00, 0x01, 0x03, 0xD4 +}; + +#endif /* VL53L8CX_PLUGIN_XTALK_H_ */ diff --git a/VL53L8CX_ULD_API/src/vl53l8cx_api.c b/VL53L8CX_ULD_API/src/vl53l8cx_api.c new file mode 100644 index 0000000..88347b6 --- /dev/null +++ b/VL53L8CX_ULD_API/src/vl53l8cx_api.c @@ -0,0 +1,1337 @@ +/** + * + * Copyright (c) 2021 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +#include +#include +#include "vl53l8cx_api.h" +#include "vl53l8cx_buffers.h" + +/** + * @brief Inner function, not available outside this file. This function is used + * to wait for an answer from VL53L8CX sensor. + */ + +static uint8_t _vl53l8cx_poll_for_answer( + VL53L8CX_Configuration *p_dev, + uint8_t size, + uint8_t pos, + uint16_t address, + uint8_t mask, + uint8_t expected_value) +{ + uint8_t status = VL53L8CX_STATUS_OK; + uint8_t timeout = 0; + + do { + status |= RdMulti(&(p_dev->platform), address, + p_dev->temp_buffer, size); + status |= WaitMs(&(p_dev->platform), 10); + + if(timeout >= (uint8_t)200) /* 2s timeout */ + { + status |= (uint8_t)VL53L8CX_STATUS_TIMEOUT_ERROR; + break; + }else if((size >= (uint8_t)4) + && (p_dev->temp_buffer[2] >= (uint8_t)0x7f)) + { + status |= VL53L8CX_MCU_ERROR; + break; + } + else + { + timeout++; + } + }while ((p_dev->temp_buffer[pos] & mask) != expected_value); + + return status; +} + +/* + * Inner function, not available outside this file. This function is used to + * wait for the MCU to boot. + */ +static uint8_t _vl53l8cx_poll_for_mcu_boot( + VL53L8CX_Configuration *p_dev) +{ + uint8_t go2_status0, go2_status1, status = VL53L8CX_STATUS_OK; + uint16_t timeout = 0; + + do { + status |= RdByte(&(p_dev->platform), 0x06, &go2_status0); + if((go2_status0 & (uint8_t)0x80) != (uint8_t)0){ + status |= RdByte(&(p_dev->platform), 0x07, &go2_status1); + if(go2_status1 & (uint8_t)0x01) + { + status |= VL53L8CX_STATUS_OK; + break; + } + } + (void)WaitMs(&(p_dev->platform), 1); + timeout++; + + if((go2_status0 & (uint8_t)0x1) != (uint8_t)0){ + break; + } + }while (timeout < (uint16_t)500); + + return status; +} + +/** + * @brief Inner function, not available outside this file. This function is used + * to set the offset data gathered from NVM. + */ + +static uint8_t _vl53l8cx_send_offset_data( + VL53L8CX_Configuration *p_dev, + uint8_t resolution) +{ + uint8_t status = VL53L8CX_STATUS_OK; + uint32_t signal_grid[64]; + int16_t range_grid[64]; + uint8_t dss_4x4[] = {0x0F, 0x04, 0x04, 0x00, 0x08, 0x10, 0x10, 0x07}; + uint8_t footer[] = {0x00, 0x00, 0x00, 0x0F, 0x03, 0x01, 0x01, 0xE4}; + int8_t i, j; + uint16_t k; + + (void)memcpy(p_dev->temp_buffer, + p_dev->offset_data, VL53L8CX_OFFSET_BUFFER_SIZE); + + /* Data extrapolation is required for 4X4 offset */ + if(resolution == (uint8_t)VL53L8CX_RESOLUTION_4X4){ + (void)memcpy(&(p_dev->temp_buffer[0x10]), dss_4x4, sizeof(dss_4x4)); + SwapBuffer(p_dev->temp_buffer, VL53L8CX_OFFSET_BUFFER_SIZE); + (void)memcpy(signal_grid,&(p_dev->temp_buffer[0x3C]), + sizeof(signal_grid)); + (void)memcpy(range_grid,&(p_dev->temp_buffer[0x140]), + sizeof(range_grid)); + + for (j = 0; j < (int8_t)4; j++) + { + for (i = 0; i < (int8_t)4 ; i++) + { + signal_grid[i+(4*j)] = + (signal_grid[(2*i)+(16*j)+ (int8_t)0] + + signal_grid[(2*i)+(16*j)+(int8_t)1] + + signal_grid[(2*i)+(16*j)+(int8_t)8] + + signal_grid[(2*i)+(16*j)+(int8_t)9]) + /(uint32_t)4; + range_grid[i+(4*j)] = + (range_grid[(2*i)+(16*j)] + + range_grid[(2*i)+(16*j)+1] + + range_grid[(2*i)+(16*j)+8] + + range_grid[(2*i)+(16*j)+9]) + /(int16_t)4; + } + } + (void)memset(&range_grid[0x10], 0, (uint16_t)96); + (void)memset(&signal_grid[0x10], 0, (uint16_t)192); + (void)memcpy(&(p_dev->temp_buffer[0x3C]), + signal_grid, sizeof(signal_grid)); + (void)memcpy(&(p_dev->temp_buffer[0x140]), + range_grid, sizeof(range_grid)); + SwapBuffer(p_dev->temp_buffer, VL53L8CX_OFFSET_BUFFER_SIZE); + } + + for(k = 0; k < (VL53L8CX_OFFSET_BUFFER_SIZE - (uint16_t)4); k++) + { + p_dev->temp_buffer[k] = p_dev->temp_buffer[k + (uint16_t)8]; + } + + (void)memcpy(&(p_dev->temp_buffer[0x1E0]), footer, 8); + status |= WrMulti(&(p_dev->platform), 0x2e18, p_dev->temp_buffer, + VL53L8CX_OFFSET_BUFFER_SIZE); + status |=_vl53l8cx_poll_for_answer(p_dev, 4, 1, + VL53L8CX_UI_CMD_STATUS, 0xff, 0x03); + + return status; +} + +/** + * @brief Inner function, not available outside this file. This function is used + * to set the Xtalk data from generic configuration, or user's calibration. + */ + +static uint8_t _vl53l8cx_send_xtalk_data( + VL53L8CX_Configuration *p_dev, + uint8_t resolution) +{ + uint8_t status = VL53L8CX_STATUS_OK; + uint8_t res4x4[] = {0x0F, 0x04, 0x04, 0x17, 0x08, 0x10, 0x10, 0x07}; + uint8_t dss_4x4[] = {0x00, 0x78, 0x00, 0x08, 0x00, 0x00, 0x00, 0x08}; + uint8_t profile_4x4[] = {0xA0, 0xFC, 0x01, 0x00}; + uint32_t signal_grid[64]; + int8_t i, j; + + (void)memcpy(p_dev->temp_buffer, &(p_dev->xtalk_data[0]), + VL53L8CX_XTALK_BUFFER_SIZE); + + /* Data extrapolation is required for 4X4 Xtalk */ + if(resolution == (uint8_t)VL53L8CX_RESOLUTION_4X4) + { + (void)memcpy(&(p_dev->temp_buffer[0x8]), + res4x4, sizeof(res4x4)); + (void)memcpy(&(p_dev->temp_buffer[0x020]), + dss_4x4, sizeof(dss_4x4)); + + SwapBuffer(p_dev->temp_buffer, VL53L8CX_XTALK_BUFFER_SIZE); + (void)memcpy(signal_grid, &(p_dev->temp_buffer[0x34]), + sizeof(signal_grid)); + + for (j = 0; j < (int8_t)4; j++) + { + for (i = 0; i < (int8_t)4 ; i++) + { + signal_grid[i+(4*j)] = + (signal_grid[(2*i)+(16*j)+0] + + signal_grid[(2*i)+(16*j)+1] + + signal_grid[(2*i)+(16*j)+8] + + signal_grid[(2*i)+(16*j)+9])/(uint32_t)4; + } + } + (void)memset(&signal_grid[0x10], 0, (uint32_t)192); + (void)memcpy(&(p_dev->temp_buffer[0x34]), + signal_grid, sizeof(signal_grid)); + SwapBuffer(p_dev->temp_buffer, VL53L8CX_XTALK_BUFFER_SIZE); + (void)memcpy(&(p_dev->temp_buffer[0x134]), + profile_4x4, sizeof(profile_4x4)); + (void)memset(&(p_dev->temp_buffer[0x078]),0 , + (uint32_t)4*sizeof(uint8_t)); + } + + status |= WrMulti(&(p_dev->platform), 0x2cf8, + p_dev->temp_buffer, VL53L8CX_XTALK_BUFFER_SIZE); + status |=_vl53l8cx_poll_for_answer(p_dev, 4, 1, + VL53L8CX_UI_CMD_STATUS, 0xff, 0x03); + + return status; +} + +uint8_t vl53l8cx_is_alive( + VL53L8CX_Configuration *p_dev, + uint8_t *p_is_alive) +{ + uint8_t status = VL53L8CX_STATUS_OK; + uint8_t device_id, revision_id; + + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= RdByte(&(p_dev->platform), 0, &device_id); + status |= RdByte(&(p_dev->platform), 1, &revision_id); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x02); + + if (status){ + printf("status:%d\n", status); + return status; + } + + if((device_id == (uint8_t)0xF0) && (revision_id == (uint8_t)0x0C)) + { + *p_is_alive = 1; + } + else + { + *p_is_alive = 0; + printf("device_id:%d,revision_id:%d\n",device_id, revision_id); + } + + return status; +} + +uint8_t vl53l8cx_init( + VL53L8CX_Configuration *p_dev) +{ + uint8_t tmp, status = VL53L8CX_STATUS_OK; + uint8_t pipe_ctrl[] = {VL53L8CX_NB_TARGET_PER_ZONE, 0x00, 0x01, 0x00}; + uint32_t single_range = 0x01; + uint32_t crc_checksum = 0x00; + + p_dev->default_xtalk = (uint8_t*)VL53L8CX_DEFAULT_XTALK; + p_dev->default_configuration = (uint8_t*)VL53L8CX_DEFAULT_CONFIGURATION; + p_dev->is_auto_stop_enabled = (uint8_t)0x0; + + /* SW reboot sequence */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= WrByte(&(p_dev->platform), 0x0009, 0x04); + status |= WrByte(&(p_dev->platform), 0x000F, 0x40); + status |= WrByte(&(p_dev->platform), 0x000A, 0x03); + status |= RdByte(&(p_dev->platform), 0x7FFF, &tmp); + status |= WrByte(&(p_dev->platform), 0x000C, 0x01); + + status |= WrByte(&(p_dev->platform), 0x0101, 0x00); + status |= WrByte(&(p_dev->platform), 0x0102, 0x00); + status |= WrByte(&(p_dev->platform), 0x010A, 0x01); + status |= WrByte(&(p_dev->platform), 0x4002, 0x01); + status |= WrByte(&(p_dev->platform), 0x4002, 0x00); + status |= WrByte(&(p_dev->platform), 0x010A, 0x03); + status |= WrByte(&(p_dev->platform), 0x0103, 0x01); + status |= WrByte(&(p_dev->platform), 0x000C, 0x00); + status |= WrByte(&(p_dev->platform), 0x000F, 0x43); + status |= WaitMs(&(p_dev->platform), 1); + + status |= WrByte(&(p_dev->platform), 0x000F, 0x40); + status |= WrByte(&(p_dev->platform), 0x000A, 0x01); + status |= WaitMs(&(p_dev->platform), 100); + + /* Wait for sensor booted (several ms required to get sensor ready ) */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= _vl53l8cx_poll_for_answer(p_dev, 1, 0, 0x06, 0xff, 1); + if(status != (uint8_t)0){ + goto exit; + } + + status |= WrByte(&(p_dev->platform), 0x000E, 0x01); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x02); + + /* Enable FW access */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x01); + status |= WrByte(&(p_dev->platform), 0x06, 0x01); + status |= _vl53l8cx_poll_for_answer(p_dev, 1, 0, 0x21, 0xFF, 0x4); + + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + + /* Enable host access to GO1 */ + status |= RdByte(&(p_dev->platform), 0x7fff, &tmp); + status |= WrByte(&(p_dev->platform), 0x0C, 0x01); + + /* Power ON status */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= WrByte(&(p_dev->platform), 0x101, 0x00); + status |= WrByte(&(p_dev->platform), 0x102, 0x00); + status |= WrByte(&(p_dev->platform), 0x010A, 0x01); + status |= WrByte(&(p_dev->platform), 0x4002, 0x01); + status |= WrByte(&(p_dev->platform), 0x4002, 0x00); + status |= WrByte(&(p_dev->platform), 0x010A, 0x03); + status |= WrByte(&(p_dev->platform), 0x103, 0x01); + status |= WrByte(&(p_dev->platform), 0x400F, 0x00); + status |= WrByte(&(p_dev->platform), 0x21A, 0x43); + status |= WrByte(&(p_dev->platform), 0x21A, 0x03); + status |= WrByte(&(p_dev->platform), 0x21A, 0x01); + status |= WrByte(&(p_dev->platform), 0x21A, 0x00); + status |= WrByte(&(p_dev->platform), 0x219, 0x00); + status |= WrByte(&(p_dev->platform), 0x21B, 0x00); + + /* Wake up MCU */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= RdByte(&(p_dev->platform), 0x7fff, &tmp); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x01); + status |= WrByte(&(p_dev->platform), 0x20, 0x07); + status |= WrByte(&(p_dev->platform), 0x20, 0x06); + + /* Download FW into VL53L8CX */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x09); + status |= WrMulti(&(p_dev->platform),0, + (uint8_t*)&VL53L8CX_FIRMWARE[0],0x8000); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x0a); + status |= WrMulti(&(p_dev->platform),0, + (uint8_t*)&VL53L8CX_FIRMWARE[0x8000],0x8000); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x0b); + status |= WrMulti(&(p_dev->platform),0, + (uint8_t*)&VL53L8CX_FIRMWARE[0x10000],0x5000); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x01); + + /* Check if FW correctly downloaded */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x01); + status |= WrByte(&(p_dev->platform), 0x06, 0x03); + + status |= WaitMs(&(p_dev->platform), 5); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= RdByte(&(p_dev->platform), 0x7fff, &tmp); + status |= WrByte(&(p_dev->platform), 0x0C, 0x01); + + /* Reset MCU and wait boot */ + status |= WrByte(&(p_dev->platform), 0x7FFF, 0x00); + status |= WrByte(&(p_dev->platform), 0x114, 0x00); + status |= WrByte(&(p_dev->platform), 0x115, 0x00); + status |= WrByte(&(p_dev->platform), 0x116, 0x42); + status |= WrByte(&(p_dev->platform), 0x117, 0x00); + status |= WrByte(&(p_dev->platform), 0x0B, 0x00); + status |= RdByte(&(p_dev->platform), 0x7fff, &tmp); + status |= WrByte(&(p_dev->platform), 0x0C, 0x00); + status |= WrByte(&(p_dev->platform), 0x0B, 0x01); + + status |= _vl53l8cx_poll_for_mcu_boot(p_dev); + if(status != (uint8_t)0){ + goto exit; + } + + status |= WrByte(&(p_dev->platform), 0x7fff, 0x02); + + /* Firmware checksum */ + status |= RdMulti(&(p_dev->platform), (uint16_t)(0x812FFC & 0xFFFF), + p_dev->temp_buffer, 4); + SwapBuffer(p_dev->temp_buffer, 4); + memcpy((uint8_t*)&crc_checksum, &(p_dev->temp_buffer[0]), 4); + if (crc_checksum != (uint32_t)0xee922b77) + { + status |= VL53L8CX_STATUS_FW_CHECKSUM_FAIL; + } + //crc_checksum = *((uint32_t *)&p_dev->temp_buffer[0]); + + /* Get offset NVM data and store them into the offset buffer */ + status |= WrMulti(&(p_dev->platform), 0x2fd8, + (uint8_t*)VL53L8CX_GET_NVM_CMD, sizeof(VL53L8CX_GET_NVM_CMD)); + status |= _vl53l8cx_poll_for_answer(p_dev, 4, 0, + VL53L8CX_UI_CMD_STATUS, 0xff, 2); + status |= RdMulti(&(p_dev->platform), VL53L8CX_UI_CMD_START, + p_dev->temp_buffer, VL53L8CX_NVM_DATA_SIZE); + (void)memcpy(p_dev->offset_data, p_dev->temp_buffer, + VL53L8CX_OFFSET_BUFFER_SIZE); + status |= _vl53l8cx_send_offset_data(p_dev, VL53L8CX_RESOLUTION_4X4); + + /* Set default Xtalk shape. Send Xtalk to sensor */ + (void)memcpy(p_dev->xtalk_data, (uint8_t*)VL53L8CX_DEFAULT_XTALK, + VL53L8CX_XTALK_BUFFER_SIZE); + status |= _vl53l8cx_send_xtalk_data(p_dev, VL53L8CX_RESOLUTION_4X4); + + /* Send default configuration to VL53L8CX firmware */ + status |= WrMulti(&(p_dev->platform), 0x2c34, + p_dev->default_configuration, + sizeof(VL53L8CX_DEFAULT_CONFIGURATION)); + status |= _vl53l8cx_poll_for_answer(p_dev, 4, 1, + VL53L8CX_UI_CMD_STATUS, 0xff, 0x03); + + status |= vl53l8cx_dci_write_data(p_dev, (uint8_t*)&pipe_ctrl, + VL53L8CX_DCI_PIPE_CONTROL, (uint16_t)sizeof(pipe_ctrl)); + +#if VL53L8CX_NB_TARGET_PER_ZONE != 1 + tmp = VL53L8CX_NB_TARGET_PER_ZONE; + status |= vl53l8cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_FW_NB_TARGET, 16, + (uint8_t*)&tmp, 1, 0x0C); +#endif + + status |= vl53l8cx_dci_write_data(p_dev, (uint8_t*)&single_range, + VL53L8CX_DCI_SINGLE_RANGE, + (uint16_t)sizeof(single_range)); + +exit: + return status; +} + +uint8_t vl53l8cx_set_i2c_address( + VL53L8CX_Configuration *p_dev, + uint16_t i2c_address) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= WrByte(&(p_dev->platform), 0x4, (uint8_t)(i2c_address >> 1)); + p_dev->platform.address = i2c_address; + status |= WrByte(&(p_dev->platform), 0x7fff, 0x02); + + return status; +} + +uint8_t vl53l8cx_get_power_mode( + VL53L8CX_Configuration *p_dev, + uint8_t *p_power_mode) +{ + uint8_t tmp, status = VL53L8CX_STATUS_OK; + + status |= WrByte(&(p_dev->platform), 0x7FFF, 0x00); + status |= RdByte(&(p_dev->platform), 0x009, &tmp); + + switch(tmp) + { + case 0x4: + *p_power_mode = VL53L8CX_POWER_MODE_WAKEUP; + break; + case 0x2: + *p_power_mode = VL53L8CX_POWER_MODE_SLEEP; + + break; + default: + *p_power_mode = 0; + status = VL53L8CX_STATUS_ERROR; + break; + } + + status |= WrByte(&(p_dev->platform), 0x7FFF, 0x02); + + return status; +} + +uint8_t vl53l8cx_set_power_mode( + VL53L8CX_Configuration *p_dev, + uint8_t power_mode) +{ + uint8_t current_power_mode, status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_get_power_mode(p_dev, ¤t_power_mode); + if(power_mode != current_power_mode) + { + switch(power_mode) + { + case VL53L8CX_POWER_MODE_WAKEUP: + status |= WrByte(&(p_dev->platform), 0x7FFF, 0x00); + status |= WrByte(&(p_dev->platform), 0x09, 0x04); + status |= _vl53l8cx_poll_for_answer( + p_dev, 1, 0, 0x06, 0x01, 1); + break; + + case VL53L8CX_POWER_MODE_SLEEP: + status |= WrByte(&(p_dev->platform), 0x7FFF, 0x00); + status |= WrByte(&(p_dev->platform), 0x09, 0x02); + status |= _vl53l8cx_poll_for_answer( + p_dev, 1, 0, 0x06, 0x01, 0); + break; + + default: + status = VL53L8CX_STATUS_ERROR; + break; + } + status |= WrByte(&(p_dev->platform), 0x7FFF, 0x02); + } + + return status; +} + +uint8_t vl53l8cx_start_ranging( + VL53L8CX_Configuration *p_dev) +{ + uint8_t resolution, status = VL53L8CX_STATUS_OK; + uint16_t tmp; + uint32_t i; + uint32_t header_config[2] = {0, 0}; + + union Block_header *bh_ptr; + uint8_t cmd[] = {0x00, 0x03, 0x00, 0x00}; + + status |= vl53l8cx_get_resolution(p_dev, &resolution); + p_dev->data_read_size = 0; + p_dev->streamcount = 255; + + /* Enable mandatory output (meta and common data) */ + uint32_t output_bh_enable[] = { + 0x00000007U, + 0x00000000U, + 0x00000000U, + 0xC0000000U}; + + /* Send addresses of possible output */ + uint32_t output[] ={VL53L8CX_START_BH, + VL53L8CX_METADATA_BH, + VL53L8CX_COMMONDATA_BH, + VL53L8CX_AMBIENT_RATE_BH, + VL53L8CX_SPAD_COUNT_BH, + VL53L8CX_NB_TARGET_DETECTED_BH, + VL53L8CX_SIGNAL_RATE_BH, + VL53L8CX_RANGE_SIGMA_MM_BH, + VL53L8CX_DISTANCE_BH, + VL53L8CX_REFLECTANCE_BH, + VL53L8CX_TARGET_STATUS_BH, + VL53L8CX_MOTION_DETECT_BH}; + + /* Enable selected outputs in the 'platform.h' file */ +#ifndef VL53L8CX_DISABLE_AMBIENT_PER_SPAD + output_bh_enable[0] += (uint32_t)8; +#endif +#ifndef VL53L8CX_DISABLE_NB_SPADS_ENABLED + output_bh_enable[0] += (uint32_t)16; +#endif +#ifndef VL53L8CX_DISABLE_NB_TARGET_DETECTED + output_bh_enable[0] += (uint32_t)32; +#endif +#ifndef VL53L8CX_DISABLE_SIGNAL_PER_SPAD + output_bh_enable[0] += (uint32_t)64; +#endif +#ifndef VL53L8CX_DISABLE_RANGE_SIGMA_MM + output_bh_enable[0] += (uint32_t)128; +#endif +#ifndef VL53L8CX_DISABLE_DISTANCE_MM + output_bh_enable[0] += (uint32_t)256; +#endif +#ifndef VL53L8CX_DISABLE_REFLECTANCE_PERCENT + output_bh_enable[0] += (uint32_t)512; +#endif +#ifndef VL53L8CX_DISABLE_TARGET_STATUS + output_bh_enable[0] += (uint32_t)1024; +#endif +#ifndef VL53L8CX_DISABLE_MOTION_INDICATOR + output_bh_enable[0] += (uint32_t)2048; +#endif + + /* Update data size */ + for (i = 0; i < (uint32_t)(sizeof(output)/sizeof(uint32_t)); i++) + { + if ((output[i] == (uint8_t)0) + || ((output_bh_enable[i/(uint32_t)32] + &((uint32_t)1 << (i%(uint32_t)32))) == (uint32_t)0)) + { + continue; + } + + bh_ptr = (union Block_header *)&(output[i]); + if (((uint8_t)bh_ptr->type >= (uint8_t)0x1) + && ((uint8_t)bh_ptr->type < (uint8_t)0x0d)) + { + if ((bh_ptr->idx >= (uint16_t)0x54d0) + && (bh_ptr->idx < (uint16_t)(0x54d0 + 960))) + { + bh_ptr->size = resolution; + } + else + { + bh_ptr->size = (uint16_t)((uint16_t)resolution + * (uint16_t)VL53L8CX_NB_TARGET_PER_ZONE); + } + p_dev->data_read_size += bh_ptr->type * bh_ptr->size; + } + else + { + p_dev->data_read_size += bh_ptr->size; + } + p_dev->data_read_size += (uint32_t)4; + } + p_dev->data_read_size += (uint32_t)24; + + status |= vl53l8cx_dci_write_data(p_dev, + (uint8_t*)&(output), VL53L8CX_DCI_OUTPUT_LIST, + (uint16_t)sizeof(output)); + + header_config[0] = p_dev->data_read_size; + header_config[1] = i + (uint32_t)1; + + status |= vl53l8cx_dci_write_data(p_dev, + (uint8_t*)&(header_config), VL53L8CX_DCI_OUTPUT_CONFIG, + (uint16_t)sizeof(header_config)); + + status |= vl53l8cx_dci_write_data(p_dev, + (uint8_t*)&(output_bh_enable), VL53L8CX_DCI_OUTPUT_ENABLES, + (uint16_t)sizeof(output_bh_enable)); + + /* Start xshut bypass (interrupt mode) */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= WrByte(&(p_dev->platform), 0x09, 0x05); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x02); + + /* Start ranging session */ + status |= WrMulti(&(p_dev->platform), VL53L8CX_UI_CMD_END - + (uint16_t)(4 - 1), (uint8_t*)cmd, sizeof(cmd)); + status |= _vl53l8cx_poll_for_answer(p_dev, 4, 1, + VL53L8CX_UI_CMD_STATUS, 0xff, 0x03); + + /* Read ui range data content and compare if data size is the correct one */ + status |= vl53l8cx_dci_read_data(p_dev, + (uint8_t*)p_dev->temp_buffer, 0x5440, 12); + (void)memcpy(&tmp, &(p_dev->temp_buffer[0x8]), sizeof(tmp)); + if(tmp != p_dev->data_read_size) + { + status |= VL53L8CX_STATUS_ERROR; + } + + /* Ensure that there is no laser safety fault */ + status |= vl53l8cx_dci_read_data(p_dev, + (uint8_t*)p_dev->temp_buffer, 0xE0C4, 8); + if((uint8_t)p_dev->temp_buffer[0x6] != (uint8_t)0) + { + status |= VL53L8CX_STATUS_LASER_SAFETY; + } + + return status; +} + +uint8_t vl53l8cx_stop_ranging( + VL53L8CX_Configuration *p_dev) +{ + uint8_t tmp = 0, status = VL53L8CX_STATUS_OK; + uint16_t timeout = 0; + uint32_t auto_stop_flag = 0; + + status |= RdMulti(&(p_dev->platform), + 0x2FFC, (uint8_t*)&auto_stop_flag, 4); + if((auto_stop_flag != (uint32_t)0x4FF) + && (p_dev->is_auto_stop_enabled == (uint8_t)0)) + { + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + + /* Provoke MCU stop */ + status |= WrByte(&(p_dev->platform), 0x15, 0x16); + status |= WrByte(&(p_dev->platform), 0x14, 0x01); + + /* Poll for G02 status 0 MCU stop */ + while(((tmp & (uint8_t)0x80) >> 7) == (uint8_t)0x00) + { + status |= RdByte(&(p_dev->platform), 0x6, &tmp); + status |= WaitMs(&(p_dev->platform), 10); + timeout++; /* Timeout reached after 5 seconds */ + + if(timeout > (uint16_t)500) + { + status |= tmp; + break; + } + } + } + + /* Check GO2 status 1 if status is still OK */ + status |= RdByte(&(p_dev->platform), 0x6, &tmp); + if((tmp & (uint8_t)0x80) != (uint8_t)0){ + status |= RdByte(&(p_dev->platform), 0x7, &tmp); + if((tmp != (uint8_t)0x84) && (tmp != (uint8_t)0x85)){ + status |= tmp; + } + } + + /* Undo MCU stop */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= WrByte(&(p_dev->platform), 0x14, 0x00); + status |= WrByte(&(p_dev->platform), 0x15, 0x00); + + /* Stop xshut bypass */ + status |= WrByte(&(p_dev->platform), 0x09, 0x04); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x02); + + return status; +} + +uint8_t vl53l8cx_check_data_ready( + VL53L8CX_Configuration *p_dev, + uint8_t *p_isReady) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= RdMulti(&(p_dev->platform), 0x0, p_dev->temp_buffer, 4); + + if((p_dev->temp_buffer[0] != p_dev->streamcount) + && (p_dev->temp_buffer[0] != (uint8_t)255) + && (p_dev->temp_buffer[1] == (uint8_t)0x5) + && ((p_dev->temp_buffer[2] & (uint8_t)0x5) == (uint8_t)0x5) + && ((p_dev->temp_buffer[3] & (uint8_t)0x10) ==(uint8_t)0x10) + ) + { + *p_isReady = (uint8_t)1; + p_dev->streamcount = p_dev->temp_buffer[0]; + } + else + { + if ((p_dev->temp_buffer[3] & (uint8_t)0x80) != (uint8_t)0) + { + status |= p_dev->temp_buffer[2]; /* Return GO2 error status */ + } + + *p_isReady = 0; + } + + return status; +} + +uint8_t vl53l8cx_get_ranging_data( + VL53L8CX_Configuration *p_dev, + VL53L8CX_ResultsData *p_results) +{ + uint8_t status = VL53L8CX_STATUS_OK; + uint16_t header_id, footer_id; + union Block_header *bh_ptr; + uint32_t i, j, msize; + status |= RdMulti(&(p_dev->platform), 0x0, + p_dev->temp_buffer, p_dev->data_read_size); + p_dev->streamcount = p_dev->temp_buffer[0]; + SwapBuffer(p_dev->temp_buffer, (uint16_t)p_dev->data_read_size); + + /* Start conversion at position 16 to avoid headers */ + for (i = (uint32_t)16; i + < (uint32_t)p_dev->data_read_size; i+=(uint32_t)4) + { + bh_ptr = (union Block_header *)&(p_dev->temp_buffer[i]); + if ((bh_ptr->type > (uint32_t)0x1) + && (bh_ptr->type < (uint32_t)0xd)) + { + msize = bh_ptr->type * bh_ptr->size; + } + else + { + msize = bh_ptr->size; + } + + switch(bh_ptr->idx){ + case VL53L8CX_METADATA_IDX: + p_results->silicon_temp_degc = + (int8_t)p_dev->temp_buffer[i + (uint32_t)12]; + break; + +#ifndef VL53L8CX_DISABLE_AMBIENT_PER_SPAD + case VL53L8CX_AMBIENT_RATE_IDX: + (void)memcpy(p_results->ambient_per_spad, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L8CX_DISABLE_NB_SPADS_ENABLED + case VL53L8CX_SPAD_COUNT_IDX: + (void)memcpy(p_results->nb_spads_enabled, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L8CX_DISABLE_NB_TARGET_DETECTED + case VL53L8CX_NB_TARGET_DETECTED_IDX: + (void)memcpy(p_results->nb_target_detected, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L8CX_DISABLE_SIGNAL_PER_SPAD + case VL53L8CX_SIGNAL_RATE_IDX: + (void)memcpy(p_results->signal_per_spad, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L8CX_DISABLE_RANGE_SIGMA_MM + case VL53L8CX_RANGE_SIGMA_MM_IDX: + (void)memcpy(p_results->range_sigma_mm, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L8CX_DISABLE_DISTANCE_MM + case VL53L8CX_DISTANCE_IDX: + (void)memcpy(p_results->distance_mm, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L8CX_DISABLE_REFLECTANCE_PERCENT + case VL53L8CX_REFLECTANCE_EST_PC_IDX: + (void)memcpy(p_results->reflectance, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L8CX_DISABLE_TARGET_STATUS + case VL53L8CX_TARGET_STATUS_IDX: + (void)memcpy(p_results->target_status, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L8CX_DISABLE_MOTION_INDICATOR + case VL53L8CX_MOTION_DETEC_IDX: + (void)memcpy(&p_results->motion_indicator, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif + default: + break; + } + i += msize; + } + +#ifndef VL53L8CX_USE_RAW_FORMAT + + /* Convert data into their real format */ +#ifndef VL53L8CX_DISABLE_AMBIENT_PER_SPAD + for(i = 0; i < (uint32_t)VL53L8CX_RESOLUTION_8X8; i++) + { + p_results->ambient_per_spad[i] /= (uint32_t)2048; + } +#endif + + for(i = 0; i < (uint32_t)(VL53L8CX_RESOLUTION_8X8 + *VL53L8CX_NB_TARGET_PER_ZONE); i++) + { +#ifndef VL53L8CX_DISABLE_DISTANCE_MM + p_results->distance_mm[i] /= 4; +#endif +#ifndef VL53L8CX_DISABLE_REFLECTANCE_PERCENT + p_results->reflectance[i] /= (uint8_t)2; +#endif +#ifndef VL53L8CX_DISABLE_RANGE_SIGMA_MM + p_results->range_sigma_mm[i] /= (uint16_t)128; +#endif +#ifndef VL53L8CX_DISABLE_SIGNAL_PER_SPAD + p_results->signal_per_spad[i] /= (uint32_t)2048; +#endif + } + + /* Set target status to 255 if no target is detected for this zone */ +#ifndef VL53L8CX_DISABLE_NB_TARGET_DETECTED + for(i = 0; i < (uint32_t)VL53L8CX_RESOLUTION_8X8; i++) + { + if(p_results->nb_target_detected[i] == (uint8_t)0){ + for(j = 0; j < (uint32_t) + VL53L8CX_NB_TARGET_PER_ZONE; j++) + { +#ifndef VL53L8CX_DISABLE_TARGET_STATUS + p_results->target_status + [((uint32_t)VL53L8CX_NB_TARGET_PER_ZONE + *(uint32_t)i) + j]=(uint8_t)255; +#endif + } + } + } +#endif + +#ifndef VL53L8CX_DISABLE_MOTION_INDICATOR + for(i = 0; i < (uint32_t)32; i++) + { + p_results->motion_indicator.motion[i] /= (uint32_t)65535; + } +#endif + +#endif + + /* Check if footer id and header id are matching. This allows to detect + * corrupted frames */ + header_id = ((uint16_t)(p_dev->temp_buffer[0x8])<<8) & 0xFF00U; + header_id |= ((uint16_t)(p_dev->temp_buffer[0x9])) & 0x00FFU; + + footer_id = ((uint16_t)(p_dev->temp_buffer[p_dev->data_read_size + - (uint32_t)4]) << 8) & 0xFF00U; + footer_id |= ((uint16_t)(p_dev->temp_buffer[p_dev->data_read_size + - (uint32_t)3])) & 0xFFU; + + if(header_id != footer_id) + { + status |= VL53L8CX_STATUS_CORRUPTED_FRAME; + } + + return status; +} + +uint8_t vl53l8cx_get_resolution( + VL53L8CX_Configuration *p_dev, + uint8_t *p_resolution) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_dci_read_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_ZONE_CONFIG, 8); + *p_resolution = p_dev->temp_buffer[0x00]*p_dev->temp_buffer[0x01]; + + return status; +} + + + +uint8_t vl53l8cx_set_resolution( + VL53L8CX_Configuration *p_dev, + uint8_t resolution) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + switch(resolution){ + case VL53L8CX_RESOLUTION_4X4: + status |= vl53l8cx_dci_read_data(p_dev, + p_dev->temp_buffer, + VL53L8CX_DCI_DSS_CONFIG, 16); + p_dev->temp_buffer[0x04] = 64; + p_dev->temp_buffer[0x06] = 64; + p_dev->temp_buffer[0x09] = 4; + status |= vl53l8cx_dci_write_data(p_dev, + p_dev->temp_buffer, + VL53L8CX_DCI_DSS_CONFIG, 16); + + status |= vl53l8cx_dci_read_data(p_dev, + p_dev->temp_buffer, + VL53L8CX_DCI_ZONE_CONFIG, 8); + p_dev->temp_buffer[0x00] = 4; + p_dev->temp_buffer[0x01] = 4; + p_dev->temp_buffer[0x04] = 8; + p_dev->temp_buffer[0x05] = 8; + status |= vl53l8cx_dci_write_data(p_dev, + p_dev->temp_buffer, + VL53L8CX_DCI_ZONE_CONFIG, 8); + break; + + case VL53L8CX_RESOLUTION_8X8: + status |= vl53l8cx_dci_read_data(p_dev, + p_dev->temp_buffer, + VL53L8CX_DCI_DSS_CONFIG, 16); + p_dev->temp_buffer[0x04] = 16; + p_dev->temp_buffer[0x06] = 16; + p_dev->temp_buffer[0x09] = 1; + status |= vl53l8cx_dci_write_data(p_dev, + p_dev->temp_buffer, + VL53L8CX_DCI_DSS_CONFIG, 16); + + status |= vl53l8cx_dci_read_data(p_dev, + p_dev->temp_buffer, + VL53L8CX_DCI_ZONE_CONFIG, 8); + p_dev->temp_buffer[0x00] = 8; + p_dev->temp_buffer[0x01] = 8; + p_dev->temp_buffer[0x04] = 4; + p_dev->temp_buffer[0x05] = 4; + status |= vl53l8cx_dci_write_data(p_dev, + p_dev->temp_buffer, + VL53L8CX_DCI_ZONE_CONFIG, 8); + + break; + + default: + status = VL53L8CX_STATUS_INVALID_PARAM; + break; + } + + status |= _vl53l8cx_send_offset_data(p_dev, resolution); + status |= _vl53l8cx_send_xtalk_data(p_dev, resolution); + + return status; +} + +uint8_t vl53l8cx_get_ranging_frequency_hz( + VL53L8CX_Configuration *p_dev, + uint8_t *p_frequency_hz) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer, + VL53L8CX_DCI_FREQ_HZ, 4); + *p_frequency_hz = p_dev->temp_buffer[0x01]; + + return status; +} + +uint8_t vl53l8cx_set_ranging_frequency_hz( + VL53L8CX_Configuration *p_dev, + uint8_t frequency_hz) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_FREQ_HZ, 4, + (uint8_t*)&frequency_hz, 1, 0x01); + + return status; +} + +uint8_t vl53l8cx_get_integration_time_ms( + VL53L8CX_Configuration *p_dev, + uint32_t *p_time_ms) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer, + VL53L8CX_DCI_INT_TIME, 20); + + (void)memcpy(p_time_ms, &(p_dev->temp_buffer[0x0]), 4); + *p_time_ms /= (uint32_t)1000; + + return status; +} + +uint8_t vl53l8cx_set_integration_time_ms( + VL53L8CX_Configuration *p_dev, + uint32_t integration_time_ms) +{ + uint8_t status = VL53L8CX_STATUS_OK; + uint32_t integration = integration_time_ms; + + /* Integration time must be between 2ms and 1000ms */ + if((integration < (uint32_t)2) + || (integration > (uint32_t)1000)) + { + status |= VL53L8CX_STATUS_INVALID_PARAM; + }else + { + integration *= (uint32_t)1000; + + status |= vl53l8cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_INT_TIME, 20, + (uint8_t*)&integration, 4, 0x00); + } + + return status; +} + +uint8_t vl53l8cx_get_sharpener_percent( + VL53L8CX_Configuration *p_dev, + uint8_t *p_sharpener_percent) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_dci_read_data(p_dev,p_dev->temp_buffer, + VL53L8CX_DCI_SHARPENER, 16); + + *p_sharpener_percent = (p_dev->temp_buffer[0xD] + *(uint8_t)100)/(uint8_t)255; + + return status; +} + +uint8_t vl53l8cx_set_sharpener_percent( + VL53L8CX_Configuration *p_dev, + uint8_t sharpener_percent) +{ + uint8_t status = VL53L8CX_STATUS_OK; + uint8_t sharpener; + + if(sharpener_percent >= (uint8_t)100) + { + status |= VL53L8CX_STATUS_INVALID_PARAM; + } + else + { + sharpener = (sharpener_percent*(uint8_t)255)/(uint8_t)100; + status |= vl53l8cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_SHARPENER, 16, + (uint8_t*)&sharpener, 1, 0xD); + } + + return status; +} + +uint8_t vl53l8cx_get_target_order( + VL53L8CX_Configuration *p_dev, + uint8_t *p_target_order) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer, + VL53L8CX_DCI_TARGET_ORDER, 4); + *p_target_order = (uint8_t)p_dev->temp_buffer[0x0]; + + return status; +} + +uint8_t vl53l8cx_set_target_order( + VL53L8CX_Configuration *p_dev, + uint8_t target_order) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + if((target_order == (uint8_t)VL53L8CX_TARGET_ORDER_CLOSEST) + || (target_order == (uint8_t)VL53L8CX_TARGET_ORDER_STRONGEST)) + { + status |= vl53l8cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_TARGET_ORDER, 4, + (uint8_t*)&target_order, 1, 0x0); + }else + { + status |= VL53L8CX_STATUS_INVALID_PARAM; + } + + return status; +} + +uint8_t vl53l8cx_get_ranging_mode( + VL53L8CX_Configuration *p_dev, + uint8_t *p_ranging_mode) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_dci_read_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_RANGING_MODE, 8); + + if(p_dev->temp_buffer[0x01] == (uint8_t)0x1) + { + *p_ranging_mode = VL53L8CX_RANGING_MODE_CONTINUOUS; + } + else + { + *p_ranging_mode = VL53L8CX_RANGING_MODE_AUTONOMOUS; + } + + return status; +} + +uint8_t vl53l8cx_set_ranging_mode( + VL53L8CX_Configuration *p_dev, + uint8_t ranging_mode) +{ + uint8_t status = VL53L8CX_STATUS_OK; + uint32_t single_range = 0x00; + + status |= vl53l8cx_dci_read_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_RANGING_MODE, 8); + + switch(ranging_mode) + { + case VL53L8CX_RANGING_MODE_CONTINUOUS: + p_dev->temp_buffer[0x01] = 0x1; + p_dev->temp_buffer[0x03] = 0x3; + single_range = 0x00; + break; + + case VL53L8CX_RANGING_MODE_AUTONOMOUS: + p_dev->temp_buffer[0x01] = 0x3; + p_dev->temp_buffer[0x03] = 0x2; + single_range = 0x01; + break; + + default: + status = VL53L8CX_STATUS_INVALID_PARAM; + break; + } + + status |= vl53l8cx_dci_write_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_RANGING_MODE, (uint16_t)8); + + status |= vl53l8cx_dci_write_data(p_dev, (uint8_t*)&single_range, + VL53L8CX_DCI_SINGLE_RANGE, + (uint16_t)sizeof(single_range)); + + return status; +} + +uint8_t vl53l8cx_get_external_sync_pin_enable( + VL53L8CX_Configuration *p_dev, + uint8_t *p_is_sync_pin_enabled) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_dci_read_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_SYNC_PIN, 4); + + /* Check bit 1 value (get sync pause bit) */ + if((p_dev->temp_buffer[3] & (uint8_t)0x2) != (uint8_t)0) + { + *p_is_sync_pin_enabled = (uint8_t)1; + } + else + { + *p_is_sync_pin_enabled = (uint8_t)0; + } + + return status; +} + +uint8_t vl53l8cx_set_external_sync_pin_enable( + VL53L8CX_Configuration *p_dev, + uint8_t enable_sync_pin) +{ + uint8_t status = VL53L8CX_STATUS_OK; + uint32_t tmp; + + status |= vl53l8cx_dci_read_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_SYNC_PIN, 4); + tmp = (uint32_t)p_dev->temp_buffer[3]; + + /* Update bit 1 with mask (set sync pause bit) */ + if(enable_sync_pin == (uint8_t)0) + { + tmp &= ~(1UL << 1); + + } + else + { + tmp |= 1UL << 1; + } + + p_dev->temp_buffer[3] = (uint8_t)tmp; + status |= vl53l8cx_dci_write_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_SYNC_PIN, 4); + + return status; +} + +uint8_t vl53l8cx_dci_read_data( + VL53L8CX_Configuration *p_dev, + uint8_t *data, + uint32_t index, + uint16_t data_size) +{ + int16_t i; + uint8_t status = VL53L8CX_STATUS_OK; + uint32_t rd_size = (uint32_t) data_size + (uint32_t)12; + uint8_t cmd[] = {0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x0f, + 0x00, 0x02, 0x00, 0x08}; + + /* Check if tmp buffer is large enough */ + if((data_size + (uint16_t)12)>(uint16_t)VL53L8CX_TEMPORARY_BUFFER_SIZE) + { + status |= VL53L8CX_STATUS_ERROR; + } + else + { + cmd[0] = (uint8_t)(index >> 8); + cmd[1] = (uint8_t)(index & (uint32_t)0xff); + cmd[2] = (uint8_t)((data_size & (uint16_t)0xff0) >> 4); + cmd[3] = (uint8_t)((data_size & (uint16_t)0xf) << 4); + + /* Request data reading from FW */ + status |= WrMulti(&(p_dev->platform), + (VL53L8CX_UI_CMD_END-(uint16_t)11),cmd, sizeof(cmd)); + status |= _vl53l8cx_poll_for_answer(p_dev, 4, 1, + VL53L8CX_UI_CMD_STATUS, + 0xff, 0x03); + + /* Read new data sent (4 bytes header + data_size + 8 bytes footer) */ + status |= RdMulti(&(p_dev->platform), VL53L8CX_UI_CMD_START, + p_dev->temp_buffer, rd_size); + SwapBuffer(p_dev->temp_buffer, data_size + (uint16_t)12); + + /* Copy data from FW into input structure (-4 bytes to remove header) */ + for(i = 0 ; i < (int16_t)data_size;i++){ + data[i] = p_dev->temp_buffer[i + 4]; + } + } + + return status; +} + +uint8_t vl53l8cx_dci_write_data( + VL53L8CX_Configuration *p_dev, + uint8_t *data, + uint32_t index, + uint16_t data_size) +{ + uint8_t status = VL53L8CX_STATUS_OK; + int16_t i; + + uint8_t headers[] = {0x00, 0x00, 0x00, 0x00}; + uint8_t footer[] = {0x00, 0x00, 0x00, 0x0f, 0x05, 0x01, + (uint8_t)((data_size + (uint16_t)8) >> 8), + (uint8_t)((data_size + (uint16_t)8) & (uint8_t)0xFF)}; + + uint16_t address = (uint16_t)VL53L8CX_UI_CMD_END - + (data_size + (uint16_t)12) + (uint16_t)1; + + /* Check if cmd buffer is large enough */ + if((data_size + (uint16_t)12) + > (uint16_t)VL53L8CX_TEMPORARY_BUFFER_SIZE) + { + status |= VL53L8CX_STATUS_ERROR; + } + else + { + headers[0] = (uint8_t)(index >> 8); + headers[1] = (uint8_t)(index & (uint32_t)0xff); + headers[2] = (uint8_t)(((data_size & (uint16_t)0xff0) >> 4)); + headers[3] = (uint8_t)((data_size & (uint16_t)0xf) << 4); + + /* Copy data from structure to FW format (+4 bytes to add header) */ + SwapBuffer(data, data_size); + for(i = (int16_t)data_size - (int16_t)1 ; i >= 0; i--) + { + p_dev->temp_buffer[i + 4] = data[i]; + } + + /* Add headers and footer */ + (void)memcpy(&p_dev->temp_buffer[0], headers, sizeof(headers)); + (void)memcpy(&p_dev->temp_buffer[data_size + (uint16_t)4], + footer, sizeof(footer)); + + /* Send data to FW */ + status |= WrMulti(&(p_dev->platform),address, + p_dev->temp_buffer, + (uint32_t)((uint32_t)data_size + (uint32_t)12)); + status |= _vl53l8cx_poll_for_answer(p_dev, 4, 1, + VL53L8CX_UI_CMD_STATUS, 0xff, 0x03); + + SwapBuffer(data, data_size); + } + + return status; +} + +uint8_t vl53l8cx_dci_replace_data( + VL53L8CX_Configuration *p_dev, + uint8_t *data, + uint32_t index, + uint16_t data_size, + uint8_t *new_data, + uint16_t new_data_size, + uint16_t new_data_pos) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_dci_read_data(p_dev, data, index, data_size); + (void)memcpy(&(data[new_data_pos]), new_data, new_data_size); + status |= vl53l8cx_dci_write_data(p_dev, data, index, data_size); + + return status; +} diff --git a/VL53L8CX_ULD_API/src/vl53l8cx_plugin_detection_thresholds.c b/VL53L8CX_ULD_API/src/vl53l8cx_plugin_detection_thresholds.c new file mode 100644 index 0000000..4209644 --- /dev/null +++ b/VL53L8CX_ULD_API/src/vl53l8cx_plugin_detection_thresholds.c @@ -0,0 +1,187 @@ +/** + * + * Copyright (c) 2021 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +#include "vl53l8cx_plugin_detection_thresholds.h" + +uint8_t vl53l8cx_get_detection_thresholds_enable( + VL53L8CX_Configuration *p_dev, + uint8_t *p_enabled) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer, + VL53L8CX_DCI_DET_THRESH_GLOBAL_CONFIG, 8); + *p_enabled = p_dev->temp_buffer[0x1]; + + return status; +} + +uint8_t vl53l8cx_set_detection_thresholds_enable( + VL53L8CX_Configuration *p_dev, + uint8_t enabled) +{ + uint8_t tmp, status = VL53L8CX_STATUS_OK; + uint8_t grp_global_config[] = {0x01, 0x00, 0x01, 0x00}; + + if(enabled == (uint8_t)1) + { + grp_global_config[0x01] = 0x01; + tmp = 0x04; + } + else + { + grp_global_config[0x01] = 0x00; + tmp = 0x0C; + } + + /* Set global interrupt config */ + status |= vl53l8cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_DET_THRESH_GLOBAL_CONFIG, 8, + (uint8_t*)&grp_global_config, 4, 0x00); + + /* Update interrupt config */ + status |= vl53l8cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_DET_THRESH_CONFIG, 20, + (uint8_t*)&tmp, 1, 0x11); + + return status; +} + +uint8_t vl53l8cx_get_detection_thresholds( + VL53L8CX_Configuration *p_dev, + VL53L8CX_DetectionThresholds *p_thresholds) +{ + uint8_t i, status = VL53L8CX_STATUS_OK; + + /* Get thresholds configuration */ + status |= vl53l8cx_dci_read_data(p_dev, (uint8_t*)p_thresholds, + VL53L8CX_DCI_DET_THRESH_START, + (uint16_t)VL53L8CX_NB_THRESHOLDS + *(uint16_t)sizeof(VL53L8CX_DetectionThresholds)); + + for(i = 0; i < (uint8_t)VL53L8CX_NB_THRESHOLDS; i++) + { + switch(p_thresholds[i].measurement) + { + case VL53L8CX_DISTANCE_MM: + p_thresholds[i].param_low_thresh /= 4; + p_thresholds[i].param_high_thresh /= 4; + break; + case VL53L8CX_SIGNAL_PER_SPAD_KCPS: + p_thresholds[i].param_low_thresh /= 2048; + p_thresholds[i].param_high_thresh /= 2048; + break; + case VL53L8CX_RANGE_SIGMA_MM: + p_thresholds[i].param_low_thresh /= 128; + p_thresholds[i].param_high_thresh /= 128; + break; + case VL53L8CX_AMBIENT_PER_SPAD_KCPS: + p_thresholds[i].param_low_thresh /= 2048; + p_thresholds[i].param_high_thresh /= 2048; + break; + case VL53L8CX_NB_SPADS_ENABLED: + p_thresholds[i].param_low_thresh /= 256; + p_thresholds[i].param_high_thresh /= 256; + break; + case VL53L8CX_MOTION_INDICATOR: + p_thresholds[i].param_low_thresh /= 65535; + p_thresholds[i].param_high_thresh /= 65535; + break; + default: + break; + } + } + + return status; +} + +uint8_t vl53l8cx_set_detection_thresholds( + VL53L8CX_Configuration *p_dev, + VL53L8CX_DetectionThresholds *p_thresholds) +{ + uint8_t i, status = VL53L8CX_STATUS_OK; + uint8_t grp_valid_target_cfg[] = {0x05, 0x05, 0x05, 0x05, + 0x05, 0x05, 0x05, 0x05}; + + for(i = 0; i < (uint8_t) VL53L8CX_NB_THRESHOLDS; i++) + { + switch(p_thresholds->measurement) + { + case VL53L8CX_DISTANCE_MM: + p_thresholds[i].param_low_thresh *= 4; + p_thresholds[i].param_high_thresh *= 4; + break; + case VL53L8CX_SIGNAL_PER_SPAD_KCPS: + p_thresholds[i].param_low_thresh *= 2048; + p_thresholds[i].param_high_thresh *= 2048; + break; + case VL53L8CX_RANGE_SIGMA_MM: + p_thresholds[i].param_low_thresh *= 128; + p_thresholds[i].param_high_thresh *= 128; + break; + case VL53L8CX_AMBIENT_PER_SPAD_KCPS: + p_thresholds[i].param_low_thresh *= 2048; + p_thresholds[i].param_high_thresh *= 2048; + break; + case VL53L8CX_NB_SPADS_ENABLED: + p_thresholds[i].param_low_thresh *= 256; + p_thresholds[i].param_high_thresh *= 256; + break; + case VL53L8CX_MOTION_INDICATOR: + p_thresholds[i].param_low_thresh *= 65535; + p_thresholds[i].param_high_thresh *= 65535; + break; + default: + break; + } + } + + /* Set valid target list */ + status |= vl53l8cx_dci_write_data(p_dev, (uint8_t*)grp_valid_target_cfg, + VL53L8CX_DCI_DET_THRESH_VALID_STATUS, + (uint16_t)sizeof(grp_valid_target_cfg)); + + /* Set thresholds configuration */ + status |= vl53l8cx_dci_write_data(p_dev, (uint8_t*)p_thresholds, + VL53L8CX_DCI_DET_THRESH_START, + (uint16_t)(VL53L8CX_NB_THRESHOLDS + *sizeof(VL53L8CX_DetectionThresholds))); + + return status; +} + +uint8_t vl53l8cx_get_detection_thresholds_auto_stop( + VL53L8CX_Configuration *p_dev, + uint8_t *p_auto_stop) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer, + VL53L8CX_DCI_PIPE_CONTROL, 4); + *p_auto_stop = p_dev->temp_buffer[0x3]; + + return status; +} + +uint8_t vl53l8cx_set_detection_thresholds_auto_stop( + VL53L8CX_Configuration *p_dev, + uint8_t auto_stop) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_PIPE_CONTROL, 4, + (uint8_t*)&auto_stop, 1, 0x03); + p_dev->is_auto_stop_enabled = (uint8_t)auto_stop; + + return status; +} diff --git a/VL53L8CX_ULD_API/src/vl53l8cx_plugin_motion_indicator.c b/VL53L8CX_ULD_API/src/vl53l8cx_plugin_motion_indicator.c new file mode 100644 index 0000000..40acab8 --- /dev/null +++ b/VL53L8CX_ULD_API/src/vl53l8cx_plugin_motion_indicator.c @@ -0,0 +1,122 @@ +/** + * + * Copyright (c) 2021 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +#include +#include "vl53l8cx_plugin_motion_indicator.h" + +uint8_t vl53l8cx_motion_indicator_init( + VL53L8CX_Configuration *p_dev, + VL53L8CX_Motion_Configuration *p_motion_config, + uint8_t resolution) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + (void)memset(p_motion_config, 0, sizeof(VL53L8CX_Motion_Configuration)); + + p_motion_config->ref_bin_offset = 13633; + p_motion_config->detection_threshold = 2883584; + p_motion_config->extra_noise_sigma = 0; + p_motion_config->null_den_clip_value = 0; + p_motion_config->mem_update_mode = 6; + p_motion_config->mem_update_choice = 2; + p_motion_config->sum_span = 4; + p_motion_config->feature_length = 9; + p_motion_config->nb_of_aggregates = 16; + p_motion_config->nb_of_temporal_accumulations = 16; + p_motion_config->min_nb_for_global_detection = 1; + p_motion_config->global_indicator_format_1 = 8; + p_motion_config->global_indicator_format_2 = 0; + p_motion_config->spare_1 = 0; + p_motion_config->spare_2 = 0; + p_motion_config->spare_3 = 0; + + status |= vl53l8cx_motion_indicator_set_resolution(p_dev, + p_motion_config, resolution); + + return status; +} + +uint8_t vl53l8cx_motion_indicator_set_distance_motion( + VL53L8CX_Configuration *p_dev, + VL53L8CX_Motion_Configuration *p_motion_config, + uint16_t distance_min_mm, + uint16_t distance_max_mm) +{ + uint8_t status = VL53L8CX_STATUS_OK; + float_t tmp; + + if(((distance_max_mm - distance_min_mm) > (uint16_t)1500) + || (distance_min_mm < (uint16_t)400) + || (distance_max_mm > (uint16_t)4000)) + { + status |= VL53L8CX_STATUS_INVALID_PARAM; + } + else + { + tmp = (float_t)((((float_t)distance_min_mm/(float_t)37.5348) + -(float_t)4.0)*(float_t)2048.5); + p_motion_config->ref_bin_offset = (int32_t)tmp; + + tmp = (float_t)((((((float_t)distance_max_mm- + (float_t)distance_min_mm)/(float_t)10.0)+(float_t)30.02784) + /((float_t)15.01392))+(float_t)0.5); + p_motion_config->feature_length = (uint8_t)tmp; + + status |= vl53l8cx_dci_write_data(p_dev, + (uint8_t*)(p_motion_config), + VL53L8CX_DCI_MOTION_DETECTOR_CFG, + (uint16_t)sizeof(*p_motion_config)); + } + + return status; +} + +uint8_t vl53l8cx_motion_indicator_set_resolution( + VL53L8CX_Configuration *p_dev, + VL53L8CX_Motion_Configuration *p_motion_config, + uint8_t resolution) +{ + uint8_t i, status = VL53L8CX_STATUS_OK; + + switch(resolution) + { + case VL53L8CX_RESOLUTION_4X4: + for(i = 0; i < (uint8_t)VL53L8CX_RESOLUTION_4X4; i++) + { + p_motion_config->map_id[i] = (int8_t)i; + } + (void)memset(p_motion_config->map_id + 16, -1, 48); + break; + + case VL53L8CX_RESOLUTION_8X8: + for(i = 0; i < (uint8_t)VL53L8CX_RESOLUTION_8X8; i++) + { + p_motion_config->map_id[i] = (int8_t)((((int8_t) + i % 8)/2) + (4*((int8_t)i/16))); + } + break; + + default: + status |= VL53L8CX_STATUS_ERROR; + break; + } + + if(status == VL53L8CX_STATUS_OK) + { + status |= vl53l8cx_dci_write_data(p_dev, + (uint8_t*)(p_motion_config), + VL53L8CX_DCI_MOTION_DETECTOR_CFG, + (uint16_t)sizeof(*p_motion_config)); + } + + return status; +} diff --git a/VL53L8CX_ULD_API/src/vl53l8cx_plugin_xtalk.c b/VL53L8CX_ULD_API/src/vl53l8cx_plugin_xtalk.c new file mode 100644 index 0000000..7785441 --- /dev/null +++ b/VL53L8CX_ULD_API/src/vl53l8cx_plugin_xtalk.c @@ -0,0 +1,366 @@ +/** + * + * Copyright (c) 2021 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +#include "vl53l8cx_plugin_xtalk.h" + +/* + * Inner function, not available outside this file. This function is used to + * wait for an answer from VL53L5 sensor. + */ + +static uint8_t _vl53l8cx_poll_for_answer( + VL53L8CX_Configuration *p_dev, + uint16_t address, + uint8_t expected_value) +{ + uint8_t status = VL53L8CX_STATUS_OK; + uint8_t timeout = 0; + + do { + status |= RdMulti(&(p_dev->platform), + address, p_dev->temp_buffer, 4); + status |= WaitMs(&(p_dev->platform), 10); + + /* 2s timeout or FW error*/ + if((timeout >= (uint8_t)200) + || (p_dev->temp_buffer[2] >= (uint8_t) 0x7f)) + { + status |= VL53L8CX_MCU_ERROR; + break; + } + else + { + timeout++; + } + }while ((p_dev->temp_buffer[0x1]) != expected_value); + + return status; +} + +/* + * Inner function, not available outside this file. This function is used to + * program the output using the macro defined into the 'platform.h' file. + */ + +static uint8_t _vl53l8cx_program_output_config( + VL53L8CX_Configuration *p_dev) +{ + uint8_t resolution, status = VL53L8CX_STATUS_OK; + uint32_t i; + uint32_t header_config[2] = {0, 0}; + union Block_header *bh_ptr; + + status |= vl53l8cx_get_resolution(p_dev, &resolution); + p_dev->data_read_size = 0; + + /* Enable mandatory output (meta and common data) */ + uint32_t output_bh_enable[] = { + 0x0001FFFFU, + 0x00000000U, + 0x00000000U, + 0xC0000000U}; + + /* Send addresses of possible output */ + uint32_t output[] ={ + 0x0000000DU, + 0x54000040U, + 0x9FD800C0U, + 0x9FE40140U, + 0x9FF80040U, + 0x9FFC0404U, + 0xA0FC0100U, + 0xA10C0100U, + 0xA11C00C0U, + 0xA1280902U, + 0xA2480040U, + 0xA24C0081U, + 0xA2540081U, + 0xA25C0081U, + 0xA2640081U, + 0xA26C0084U, + 0xA28C0082U}; + + /* Update data size */ + for (i = 0; i < (uint32_t)(sizeof(output)/sizeof(uint32_t)); i++) + { + if ((output[i] == (uint8_t)0) + || ((output_bh_enable[i/(uint32_t)32] + &((uint32_t)1 << (i%(uint32_t)32))) == (uint32_t)0)) + { + continue; + } + + bh_ptr = (union Block_header *)&(output[i]); + if (((uint8_t)bh_ptr->type >= (uint8_t)0x1) + && ((uint8_t)bh_ptr->type < (uint8_t)0x0d)) + { + if ((bh_ptr->idx >= (uint16_t)0x54d0) + && (bh_ptr->idx < (uint16_t)(0x54d0 + 960))) + { + bh_ptr->size = resolution; + } + else + { + bh_ptr->size = (uint8_t)(resolution + * (uint8_t)VL53L8CX_NB_TARGET_PER_ZONE); + } + + + p_dev->data_read_size += bh_ptr->type * bh_ptr->size; + } + else + { + p_dev->data_read_size += bh_ptr->size; + } + + p_dev->data_read_size += (uint32_t)4; + } + p_dev->data_read_size += (uint32_t)24; + + status |= vl53l8cx_dci_write_data(p_dev, + (uint8_t*)&(output), + VL53L8CX_DCI_OUTPUT_LIST, (uint16_t)sizeof(output)); + + header_config[0] = p_dev->data_read_size; + header_config[1] = i + (uint32_t)1; + + status |= vl53l8cx_dci_write_data(p_dev, (uint8_t*)&(header_config), + VL53L8CX_DCI_OUTPUT_CONFIG, + (uint16_t)sizeof(header_config)); + status |= vl53l8cx_dci_write_data(p_dev, (uint8_t*)&(output_bh_enable), + VL53L8CX_DCI_OUTPUT_ENABLES, + (uint16_t)sizeof(output_bh_enable)); + + return status; +} + +uint8_t vl53l8cx_calibrate_xtalk( + VL53L8CX_Configuration *p_dev, + uint16_t reflectance_percent, + uint8_t nb_samples, + uint16_t distance_mm) +{ + uint16_t timeout = 0; + uint8_t cmd[] = {0x00, 0x03, 0x00, 0x00}; + uint8_t footer[] = {0x00, 0x00, 0x00, 0x0F, 0x00, 0x01, 0x03, 0x04}; + uint8_t continue_loop = 1, status = VL53L8CX_STATUS_OK; + + uint8_t resolution, frequency, target_order, sharp_prct, ranging_mode; + uint32_t integration_time_ms, xtalk_margin; + + uint16_t reflectance = reflectance_percent; + uint8_t samples = nb_samples; + uint16_t distance = distance_mm; + uint8_t *default_xtalk_ptr; + + /* Get initial configuration */ + status |= vl53l8cx_get_resolution(p_dev, &resolution); + status |= vl53l8cx_get_ranging_frequency_hz(p_dev, &frequency); + status |= vl53l8cx_get_integration_time_ms(p_dev, &integration_time_ms); + status |= vl53l8cx_get_sharpener_percent(p_dev, &sharp_prct); + status |= vl53l8cx_get_target_order(p_dev, &target_order); + status |= vl53l8cx_get_xtalk_margin(p_dev, &xtalk_margin); + status |= vl53l8cx_get_ranging_mode(p_dev, &ranging_mode); + + /* Check input arguments validity */ + if(((reflectance < (uint16_t)1) || (reflectance > (uint16_t)99)) + || ((distance < (uint16_t)600) || (distance > (uint16_t)3000)) + || ((samples < (uint8_t)1) || (samples > (uint8_t)16))) + { + status |= VL53L8CX_STATUS_INVALID_PARAM; + } + else + { + status |= vl53l8cx_set_resolution(p_dev, + VL53L8CX_RESOLUTION_8X8); + + /* Send Xtalk calibration buffer */ + (void)memcpy(p_dev->temp_buffer, VL53L8CX_CALIBRATE_XTALK, + sizeof(VL53L8CX_CALIBRATE_XTALK)); + status |= WrMulti(&(p_dev->platform), 0x2c28, + p_dev->temp_buffer, + (uint16_t)sizeof(VL53L8CX_CALIBRATE_XTALK)); + status |= _vl53l8cx_poll_for_answer(p_dev, + VL53L8CX_UI_CMD_STATUS, 0x3); + + /* Format input argument */ + reflectance = reflectance * (uint16_t)16; + distance = distance * (uint16_t)4; + + /* Update required fields */ + status |= vl53l8cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_CAL_CFG, 8, + (uint8_t*)&distance, 2, 0x00); + + status |= vl53l8cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_CAL_CFG, 8, + (uint8_t*)&reflectance, 2,0x02); + + status |= vl53l8cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_CAL_CFG, 8, + (uint8_t*)&samples, 1, 0x04); + + /* Program output for Xtalk calibration */ + status |= _vl53l8cx_program_output_config(p_dev); + + /* Start ranging session */ + status |= WrMulti(&(p_dev->platform), + VL53L8CX_UI_CMD_END - (uint16_t)(4 - 1), + (uint8_t*)cmd, sizeof(cmd)); + status |= _vl53l8cx_poll_for_answer(p_dev, + VL53L8CX_UI_CMD_STATUS, 0x3); + + /* Wait for end of calibration */ + do { + status |= RdMulti(&(p_dev->platform), + 0x0, p_dev->temp_buffer, 4); + if(p_dev->temp_buffer[0] != VL53L8CX_STATUS_ERROR) + { + /* Coverglass too good for Xtalk calibration */ + if((p_dev->temp_buffer[2] >= (uint8_t)0x7f) && + (((uint16_t)(p_dev->temp_buffer[3] & + (uint16_t)0x80) >> 7) == (uint16_t)1)) + { + default_xtalk_ptr = p_dev->default_xtalk; + (void)memcpy(p_dev->xtalk_data, + default_xtalk_ptr, + sizeof(p_dev->xtalk_data)); + status |= VL53L8CX_STATUS_XTALK_FAILED; + } + continue_loop = (uint8_t)0; + } + else if(timeout >= (uint16_t)400) + { + status |= VL53L8CX_STATUS_ERROR; + continue_loop = (uint8_t)0; + } + else + { + timeout++; + status |= WaitMs(&(p_dev->platform), 50); + } + + }while (continue_loop == (uint8_t)1); + } + + /* Save Xtalk data into the Xtalk buffer */ + (void)memcpy(p_dev->temp_buffer, VL53L8CX_GET_XTALK_CMD, + sizeof(VL53L8CX_GET_XTALK_CMD)); + status |= WrMulti(&(p_dev->platform), 0x2fb8, + p_dev->temp_buffer, + (uint16_t)sizeof(VL53L8CX_GET_XTALK_CMD)); + status |= _vl53l8cx_poll_for_answer(p_dev,VL53L8CX_UI_CMD_STATUS, 0x03); + status |= RdMulti(&(p_dev->platform), VL53L8CX_UI_CMD_START, + p_dev->temp_buffer, + VL53L8CX_XTALK_BUFFER_SIZE + (uint16_t)4); + + (void)memcpy(&(p_dev->xtalk_data[0]), &(p_dev->temp_buffer[8]), + VL53L8CX_XTALK_BUFFER_SIZE - (uint16_t)8); + (void)memcpy(&(p_dev->xtalk_data[VL53L8CX_XTALK_BUFFER_SIZE + - (uint16_t)8]), footer, sizeof(footer)); + + /* Reset default buffer */ + status |= WrMulti(&(p_dev->platform), 0x2c34, + p_dev->default_configuration, + VL53L8CX_CONFIGURATION_SIZE); + status |= _vl53l8cx_poll_for_answer(p_dev,VL53L8CX_UI_CMD_STATUS, 0x03); + + /* Reset initial configuration */ + status |= vl53l8cx_set_resolution(p_dev, resolution); + status |= vl53l8cx_set_ranging_frequency_hz(p_dev, frequency); + status |= vl53l8cx_set_integration_time_ms(p_dev, integration_time_ms); + status |= vl53l8cx_set_sharpener_percent(p_dev, sharp_prct); + status |= vl53l8cx_set_target_order(p_dev, target_order); + status |= vl53l8cx_set_xtalk_margin(p_dev, xtalk_margin); + status |= vl53l8cx_set_ranging_mode(p_dev, ranging_mode); + + return status; +} + +uint8_t vl53l8cx_get_caldata_xtalk( + VL53L8CX_Configuration *p_dev, + uint8_t *p_xtalk_data) +{ + uint8_t status = VL53L8CX_STATUS_OK, resolution; + uint8_t footer[] = {0x00, 0x00, 0x00, 0x0F, 0x00, 0x01, 0x03, 0x04}; + + status |= vl53l8cx_get_resolution(p_dev, &resolution); + status |= vl53l8cx_set_resolution(p_dev, VL53L8CX_RESOLUTION_8X8); + + (void)memcpy(p_dev->temp_buffer, VL53L8CX_GET_XTALK_CMD, + sizeof(VL53L8CX_GET_XTALK_CMD)); + status |= WrMulti(&(p_dev->platform), 0x2fb8, + p_dev->temp_buffer, sizeof(VL53L8CX_GET_XTALK_CMD)); + status |= _vl53l8cx_poll_for_answer(p_dev,VL53L8CX_UI_CMD_STATUS, 0x03); + status |= RdMulti(&(p_dev->platform), VL53L8CX_UI_CMD_START, + p_dev->temp_buffer, + VL53L8CX_XTALK_BUFFER_SIZE + (uint16_t)4); + + (void)memcpy(&(p_xtalk_data[0]), &(p_dev->temp_buffer[8]), + VL53L8CX_XTALK_BUFFER_SIZE-(uint16_t)8); + (void)memcpy(&(p_xtalk_data[VL53L8CX_XTALK_BUFFER_SIZE - (uint16_t)8]), + footer, sizeof(footer)); + + status |= vl53l8cx_set_resolution(p_dev, resolution); + + return status; +} + +uint8_t vl53l8cx_set_caldata_xtalk( + VL53L8CX_Configuration *p_dev, + uint8_t *p_xtalk_data) +{ + uint8_t resolution, status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_get_resolution(p_dev, &resolution); + (void)memcpy(p_dev->xtalk_data, p_xtalk_data, VL53L8CX_XTALK_BUFFER_SIZE); + status |= vl53l8cx_set_resolution(p_dev, resolution); + + return status; +} + +uint8_t vl53l8cx_get_xtalk_margin( + VL53L8CX_Configuration *p_dev, + uint32_t *p_xtalk_margin) +{ + uint8_t status = VL53L8CX_STATUS_OK; + + status |= vl53l8cx_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer, + VL53L8CX_DCI_XTALK_CFG, 16); + + (void)memcpy(p_xtalk_margin, p_dev->temp_buffer, 4); + *p_xtalk_margin = *p_xtalk_margin/(uint32_t)2048; + + return status; +} + +uint8_t vl53l8cx_set_xtalk_margin( + VL53L8CX_Configuration *p_dev, + uint32_t xtalk_margin) +{ + uint8_t status = VL53L8CX_STATUS_OK; + uint32_t margin_kcps = xtalk_margin; + + if(margin_kcps > (uint32_t)10000) + { + status |= VL53L8CX_STATUS_INVALID_PARAM; + } + else + { + margin_kcps = margin_kcps*(uint32_t)2048; + status |= vl53l8cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L8CX_DCI_XTALK_CFG, 16, + (uint8_t*)&margin_kcps, 4, 0x00); + } + + return status; +} diff --git a/VL53L8_2024.c b/VL53L8_2024.c new file mode 100644 index 0000000..c12688c --- /dev/null +++ b/VL53L8_2024.c @@ -0,0 +1,145 @@ +#include "vl53l8cx_api.h" +#include + +int masque[64]={ + + 3000,3000,3000,3000,3000,3000,3000,3000, + 3000,3000,3000,3000,3000,3000,3000,3000, + 3000,3000,3000,3000,3000,3000,3000,3000, + 3000,3000,3000,3000,3000,3000,3000,3000, + 3000,3000,3000,3000,3000,3000,3000,3000, + 350,350,350,350,350,350,350,350, + 281,286,299,306,310,314,302,286, + 195,200,202,206,213,200,200,202 +}; + +void VL53L8_init(VL53L8CX_Configuration * Dev){ + uint8_t status, isAlive, isReady, i; + + + /*********************************/ + /* Customer platform */ + /*********************************/ + + /* Fill the platform structure with customer's implementation. For this + * example, only the I2C address is used. + */ + Dev->platform.address = VL53L8CX_DEFAULT_I2C_ADDRESS; + + /* (Optional) Reset sensor toggling PINs (see platform, not in API) */ + //Reset_Sensor(&(Dev.platform)); + + /* (Optional) Set a new I2C address if the wanted address is different + * from the default one (filled with 0x20 for this example). + */ + //status = vl53l8cx_set_i2c_address(&Dev, 0x20); + + + /*********************************/ + /* Power on sensor and init */ + /*********************************/ + + /* (Optional) Check if there is a VL53L8CX sensor connected */ + do{ + status = vl53l8cx_is_alive(Dev, &isAlive); + if(status){ + + printf("VL53L8CX not detected at requested address\n"); + WaitMs(&(Dev->platform), 1000); + } + if(!isAlive){ + printf("VL53L8CX not alived\n"); + WaitMs(&(Dev->platform), 1000); + } + }while(!isAlive || status); + printf("VL53L8CX detected !\n"); + + + /* (Mandatory) Init VL53L8CX sensor */ + status = vl53l8cx_init(Dev); + if(status) + { + while(1){ + printf("VL53L8CX ULD Loading failed :%d\n", status); + WaitMs(&(Dev->platform), 1000); + } + + return; + } + + printf("VL53L8CX ULD ready ! (Version : %s)\n", + VL53L8CX_API_REVISION); + + status = vl53l8cx_set_resolution(Dev, VL53L8CX_RESOLUTION_8X8); + if(status !=0){ + while(1){ + printf("vl53l8cx_set_resolution failed :%d\n", status); + WaitMs(&(Dev->platform), 1000); + } + } + + status = vl53l8cx_set_ranging_frequency_hz(Dev, 15); + if(status !=0){ + while(1){ + printf("vl53l8cx_set_ranging_frequency_hz (15hz) failed :%d\n", status); + WaitMs(&(Dev->platform), 1000); + } + } + + //vl53l8cx_set_target_order(&Dev, VL53L8CX_TARGET_ORDER_CLOSEST); + vl53l8cx_set_target_order(Dev, VL53L8CX_TARGET_ORDER_STRONGEST); + + + /*********************************/ + /* Ranging loop */ + /*********************************/ + + status = vl53l8cx_start_ranging(Dev); + +} + + +void VL53L8_lecture(VL53L8CX_Configuration * Dev, VL53L8CX_ResultsData * Results){ + uint8_t error; + error = vl53l8cx_get_ranging_data(Dev, Results); + if(error){ + printf("Error VL53L8\n"); + VL53L8_init(Dev); + } + + + /* As the sensor is set in 4x4 mode by default, we have a total + * of 16 zones to print. For this example, only the data of first zone are + * print */ + + // Filtrage des données + for(int row=0; row < 8; row++){ + for(int col=0; col < 8; col++){ + /*if(Results.target_status[col+ 8*row] == 255 ||// No Target detected + Results.target_status[col+ 8*row] == 10 ||// Range valid, but no target detected at previous range + Results.target_status[col+ 8*row] == 4 ||// Target consistency failed + Results.target_status[col+ 8*row] == 3 ){// Sigma error too high + Results.distance_mm[col+ 8*row] = 3000; + }*/ + // Seul status 100% valid + if(Results->target_status[col+ 8*row] != 5){ + Results->distance_mm[col+ 8*row] = 3000; + } + if(Results->distance_mm[col+ 8*row] > 0.9 * masque[col+ 8*row]){ + Results->distance_mm[col+ 8*row] = 3000; + } + if(Results->distance_mm[col+ 8*row] < 0){ + printf("Valeur négative %d, status:%d\n", Results->distance_mm[col+ 8*row], Results->target_status[col+ 8*row]); + } + } + } + + // Affichage des données + printf(">distance:"); + for(int row=0; row < 8; row++){ + for(int col=0; col < 8; col++){ + printf("%d,", Results->distance_mm[col+ 8*row]); + } + } + printf("\n"); +} \ No newline at end of file diff --git a/VL53L8_2024.h b/VL53L8_2024.h new file mode 100644 index 0000000..641b9ee --- /dev/null +++ b/VL53L8_2024.h @@ -0,0 +1,4 @@ +#include "vl53l8cx_api.h" + +void VL53L8_init(VL53L8CX_Configuration * Dev); +void VL53L8_lecture(VL53L8CX_Configuration * Dev, VL53L8CX_ResultsData * Results); diff --git a/i2c_maitre.c b/i2c_maitre.c new file mode 100644 index 0000000..c24e0f1 --- /dev/null +++ b/i2c_maitre.c @@ -0,0 +1,274 @@ +#include "i2c_maitre.h" +#include "hardware/gpio.h" +#include "hardware/i2c.h" +#include "pico/stdlib.h" +#include + +#define I2C1_SDA_PIN 14 +#define I2C1_SCL_PIN 15 + +#define I2C_NB_MAX_TAMPON 20 + +enum i2c_statu_t{ + I2C_STATU_LIBRE, + I2C_STATU_OCCUPE +} i2c_statu_i2c1; + +uint16_t I2C_tampon_envoi[I2C_NB_MAX_TAMPON]; +uint8_t I2C_tampon_reception[I2C_NB_MAX_TAMPON]; +uint16_t I2C_nb_a_envoyer, I2C_nb_a_recevoir; +uint8_t adresse_7_bits; +uint32_t i2c_error_code; // value of i2c->hw->tx_abrt_source if anything wrong happen, 0 if everything was fine. + +enum transaction_statu_t{ + TRANSACTION_EN_COURS, + TRANSACTION_TERMINEE +} statu_emission, statu_reception; + +void i2d_set_adresse_esclave(uint8_t _adresse_7bits); +void i2c_charger_tampon_envoi(uint8_t* emission, uint16_t nb_envoi, uint16_t nb_reception); +enum i2c_resultat_t i2c_transmission(uint8_t _adresse_7bits, uint8_t* emission, uint16_t nb_envoi, uint16_t nb_reception); + +void i2c_maitre_init(void){ + //stdio_init_all(); + i2c_init(i2c1, 400 * 1000); + + printf("Initialisation des broches\n"); + printf("%d et %d en I2C\n", I2C1_SDA_PIN, I2C1_SCL_PIN); + gpio_set_function(I2C1_SDA_PIN, GPIO_FUNC_I2C); + gpio_set_function(I2C1_SCL_PIN, GPIO_FUNC_I2C); + gpio_pull_up(I2C1_SDA_PIN); + gpio_pull_up(I2C1_SCL_PIN); + + i2c_statu_i2c1 = I2C_STATU_LIBRE; +} + +/// @brief Fonction à appeler régulièrement ou en interruption. +/// @param i2c +void i2c_gestion(i2c_inst_t *i2c){ + // on veut gérer l'i2c avec cette fonction. + // 2 cas : + // - Soit écriture simple (plusieurs octets (W)) + // - Soit écriture + lecture (Adresse (W), registre (W), données (R)) + // Pour écrire 1 octet, i2c->hw->data_cmd = xxx, (avec CMD:8 à 0, ) + // Pour lire 1 octet, i2c->hw->data_cmd = xxx (avec CMD:8 à 1) + // Il faut mettre CMD:9 à 1 pour le dernier octet. + + // Envoi des données (ou des demandes de lecture) + static uint16_t index_envoi=0, index_reception=0; + + // Acquitement des erreurs, pas 100% fonctionnel ! TODO ! + if(i2c->hw->tx_abrt_source !=0){ + // Seule solution trouvée pour réinitialiser l'I2C. + char a; + i2c_read_blocking(i2c, adresse_7_bits, &a, 1, false); + + I2C_nb_a_envoyer = 0; + index_reception = 0; + I2C_nb_a_recevoir = 0; + statu_emission = TRANSACTION_TERMINEE; + statu_reception = TRANSACTION_TERMINEE; + i2c_statu_i2c1 = I2C_STATU_LIBRE; + } + + while( (index_envoi < I2C_nb_a_envoyer) && (i2c_get_write_available(i2c)) ){ + bool restart = false; + bool last = false; + + if (index_envoi == 0){ + // Début de l'envoi, assurons nous d'avoir la bonne adresse de l'esclave + i2c->hw->enable = 0; + i2c->hw->tar = adresse_7_bits; + i2c->hw->enable = 1; + }else{ + // Passage de l'écriture à la lecture, on envoie un bit de restart. + if( !(I2C_tampon_envoi[index_envoi-1] & I2C_IC_DATA_CMD_CMD_BITS) && + (I2C_tampon_envoi[index_envoi] & I2C_IC_DATA_CMD_CMD_BITS)){ + restart = true; + } + } + + if(index_envoi + 1 == I2C_nb_a_envoyer){ + // Fin de la trame, nous devons envoyer un bit de stop. + last = true; + } + + i2c->hw->data_cmd = + I2C_tampon_envoi[index_envoi] | + bool_to_bit(restart) << I2C_IC_DATA_CMD_RESTART_LSB | + bool_to_bit(last) << I2C_IC_DATA_CMD_STOP_LSB; + + if(last){ + statu_emission = TRANSACTION_TERMINEE; + index_envoi = 0; + I2C_nb_a_envoyer = 0; + //printf("I2C emission terminee\n"); + }else{ + index_envoi++; + } + + } + + // Réception des données - Lecture des données présentes dans le tampon + while( (index_reception < I2C_nb_a_recevoir) && (i2c_get_read_available(i2c)) ){ + I2C_tampon_reception[index_reception] = (uint8_t) i2c->hw->data_cmd; + index_reception++; + } + if(index_reception == I2C_nb_a_recevoir){ + statu_reception = TRANSACTION_TERMINEE; + index_reception = 0; + I2C_nb_a_recevoir = 0; + } + + if(statu_reception == TRANSACTION_TERMINEE && statu_emission == TRANSACTION_TERMINEE){ + i2c_statu_i2c1 = I2C_STATU_LIBRE; + } + +} + +/// @brief Charge le tampon d'émission pour pré-mâcher le travail à la fonction i2c_gestion +/// @param emission +/// @param nb_envoi +/// @param nb_reception +void i2c_charger_tampon_envoi(uint8_t* emission, uint16_t nb_envoi, uint16_t nb_reception){ + // Données à envoyer + for(unsigned int index=0; index Non, voir i2c_lire_registre_nb +/// @param adresse_7_bits +/// @param +/// @return 0: en cours, +int i2c_lire_registre(char adresse_7_bits, char registre, char * reception, char len){ + int statu; + char emission[1]; + + emission[0] = registre; + statu = i2c_write_blocking (i2c1, adresse_7_bits, emission, 1, 0); + if(statu == PICO_ERROR_GENERIC){ + printf("I2C - Envoi registre Echec - adresse %x\n", adresse_7_bits); + return I2C_ECHEC; + } + + statu = i2c_read_blocking (i2c1, adresse_7_bits, reception, len, 0); + if(statu == PICO_ERROR_GENERIC){ + printf("I2C - lecture registre Echec - adresse %x\n", adresse_7_bits); + return I2C_ECHEC; + } + + return I2C_SUCCES; +} + +int i2c_ecrire_registre(char adresse_7_bits, char registre, char valeur_registre){ + int statu; + char emission[2]; + + emission[0] = registre; + emission[1] = valeur_registre; + statu = i2c_write_blocking (i2c1, adresse_7_bits, emission, 2, 0); + if(statu == PICO_ERROR_GENERIC){ + printf("Erreur ecrire registre\n"); + return I2C_ECHEC; + } + + printf("i2c Registre %x, valeur %x\n", registre, valeur_registre); + + return I2C_SUCCES; +} \ No newline at end of file diff --git a/i2c_maitre.h b/i2c_maitre.h new file mode 100644 index 0000000..970b207 --- /dev/null +++ b/i2c_maitre.h @@ -0,0 +1,15 @@ +#include "pico/stdlib.h" +#include "hardware/i2c.h" + +enum i2c_resultat_t { + I2C_EN_COURS, + I2C_SUCCES, + I2C_ECHEC +}; + +void i2c_maitre_init(void); +void i2c_gestion(i2c_inst_t *i2c); +enum i2c_resultat_t i2c_lire_registre_nb(uint8_t adresse_7_bits, uint8_t registre, uint8_t * reception, uint8_t len); +enum i2c_resultat_t i2c_ecrire_registre_nb(uint8_t adresse_7_bits, uint8_t registre, uint8_t * _emission, uint8_t len); +int i2c_ecrire_registre(char adresse_7_bits, char registre, char valeur_registre); +int i2c_lire_registre(char adresse_7_bits, char registre, char * reception, char len); diff --git a/main.c b/main.c index 63dffc0..2f22191 100644 --- a/main.c +++ b/main.c @@ -15,6 +15,8 @@ #include "Temps.h" #include "Trajectoire.h" #include "Trajet.h" +#include "VL53L8_2024.h" +#include "vl53l8cx_api.h" #include #include #include "QEI.h" @@ -41,11 +43,13 @@ float distance1_mm=0, distance2_mm=0; extern float abscisse; extern struct point_xyo_t point; float vitesse; +VL53L8CX_Configuration Dev; void main(void) { int ledpower = 500; - + VL53L8CX_ResultsData Results; + stdio_init_all(); @@ -54,6 +58,19 @@ void main(void) identifiant_init(); Localisation_init(); Trajet_init(); + i2c_maitre_init(); + + VL53L8_init(&Dev); + sleep_ms(100); + VL53L8_lecture( &Dev, &Results); // une première lecture + uint8_t status, isReady; + while(1){ + status = vl53l8cx_check_data_ready(&Dev, &isReady); + if(isReady){ + VL53L8_lecture( &Dev, &Results); + } + + } uint32_t temps_ms = Temps_get_temps_ms(); uint32_t temps_depart_ms;