246 lines
8.7 KiB
C
246 lines
8.7 KiB
C
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/*******************************************************************************
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* Copyright (c) 2020, STMicroelectronics - All Rights Reserved
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*
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* This file is part of the VL53L8CX Ultra Lite Driver and is dual licensed,
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* either 'STMicroelectronics Proprietary license'
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* or 'BSD 3-clause "New" or "Revised" License' , at your option.
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*
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********************************************************************************
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*
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* 'STMicroelectronics Proprietary license'
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*
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********************************************************************************
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*
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* License terms: STMicroelectronics Proprietary in accordance with licensing
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* terms at www.st.com/sla0081
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*
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* STMicroelectronics confidential
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* Reproduction and Communication of this document is strictly prohibited unless
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* specifically authorized in writing by STMicroelectronics.
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*
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*
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********************************************************************************
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*
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* Alternatively, the VL53L8CX Ultra Lite Driver may be distributed under the
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* terms of 'BSD 3-clause "New" or "Revised" License', in which case the
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* following provisions apply instead of the ones mentioned above :
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*
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********************************************************************************
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*
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* License terms: BSD 3-clause "New" or "Revised" License.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*
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*******************************************************************************/
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/***********************************/
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/* VL53L8CX ULD interrupt checkers */
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/***********************************/
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/*
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* This example shows the possibility of VL53L8CX to program detection thresholds. It
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* initializes the VL53L8CX ULD, create 2 thresholds per zone for a 4x4 resolution,
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* and starts a ranging to capture 10 frames.
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* In this example, we also suppose that the number of target per zone is
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* set to 1 , and all output are enabled (see file platform.h).
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*/
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#include <stdlib.h>
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#include <string.h>
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#include <stdio.h>
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#include "vl53l8cx_api.h"
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#include "vl53l8cx_plugin_detection_thresholds.h"
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#define UNUSED(x) (void)(x)
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/* This function needs to be filled by the customer. It allows knowing when
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* the VL53L8CX interrupt is raised on GPIO1. This is the only way to use detection thresholds.
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*/
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int WaitForL8CXInterrupt(VL53L8CX_Configuration * pDev) {
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//Add your implementation here ...
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UNUSED(pDev);
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return 0;
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}
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int example9(void)
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{
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/*********************************/
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/* VL53L8CX ranging variables */
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/*********************************/
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uint8_t status, loop, isAlive, isReady, i;
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VL53L8CX_Configuration Dev; /* Sensor configuration */
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VL53L8CX_ResultsData Results; /* Results data from VL53L8CX */
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/*********************************/
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/* Customer platform */
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/*********************************/
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/* Fill the platform structure with customer's implementation. For this
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* example, only the I2C address is used.
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*/
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Dev.platform.address = VL53L8CX_DEFAULT_I2C_ADDRESS;
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/* (Optional) Reset sensor toggling PINs (see platform, not in API) */
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//Reset_Sensor(&(Dev.platform));
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/* (Optional) Set a new I2C address if the wanted address is different
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* from the default one (filled with 0x20 for this example).
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*/
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//status = vl53l8cx_set_i2c_address(&Dev, 0x20);
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/*********************************/
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/* Power on sensor and init */
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/*********************************/
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/* (Optional) Check if there is a VL53L8CX sensor connected */
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status = vl53l8cx_is_alive(&Dev, &isAlive);
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if(!isAlive || status)
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{
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printf("VL53L8CX not detected at requested address\n");
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return status;
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}
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/* (Mandatory) Init VL53L8CX sensor */
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status = vl53l8cx_init(&Dev);
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if(status)
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{
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printf("VL53L8CX ULD Loading failed\n");
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return status;
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}
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printf("VL53L8CX ULD ready ! (Version : %s)\n",
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VL53L8CX_API_REVISION);
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/*********************************/
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/* Program detection thresholds */
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/*********************************/
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/* In this example, we want 2 thresholds per zone for a 4x4 resolution */
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/* Create array of thresholds (size cannot be changed) */
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VL53L8CX_DetectionThresholds thresholds[VL53L8CX_NB_THRESHOLDS];
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/* Set all values to 0 */
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memset(&thresholds, 0, sizeof(thresholds));
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/* Add thresholds for all zones (16 zones in resolution 4x4, or 64 in 8x8) */
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for(i = 0; i < 16; i++){
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/* The first wanted thresholds is GREATER_THAN mode. Please note that the
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* first one must always be set with a mathematic_operation
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* VL53L8CX_OPERATION_NONE.
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* For this example, the signal thresholds is set to 150 kcps/spads
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* (the format is automatically updated inside driver)
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*/
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thresholds[2*i].zone_num = i;
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thresholds[2*i].measurement = VL53L8CX_SIGNAL_PER_SPAD_KCPS;
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thresholds[2*i].type = VL53L8CX_GREATER_THAN_MAX_CHECKER;
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thresholds[2*i].mathematic_operation = VL53L8CX_OPERATION_NONE;
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thresholds[2*i].param_low_thresh = 150;
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thresholds[2*i].param_high_thresh = 150;
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/* The second wanted checker is IN_WINDOW mode. We will set a
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* mathematical thresholds VL53L8CX_OPERATION_OR, to add the previous
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* checker to this one.
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* For this example, distance thresholds are set between 200mm and
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* 400mm (the format is automatically updated inside driver).
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*/
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thresholds[2*i+1].zone_num = i;
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thresholds[2*i+1].measurement = VL53L8CX_DISTANCE_MM;
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thresholds[2*i+1].type = VL53L8CX_IN_WINDOW;
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thresholds[2*i+1].mathematic_operation = VL53L8CX_OPERATION_OR;
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thresholds[2*i+1].param_low_thresh = 200;
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thresholds[2*i+1].param_high_thresh = 400;
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}
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/* The last thresholds must be clearly indicated. As we have 32
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* checkers (16 zones x 2), the last one is the 31 */
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thresholds[31].zone_num = VL53L8CX_LAST_THRESHOLD | thresholds[31].zone_num;
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/* Send array of thresholds to the sensor */
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vl53l8cx_set_detection_thresholds(&Dev, thresholds);
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/* Enable detection thresholds */
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vl53l8cx_set_detection_thresholds_enable(&Dev, 1);
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/*********************************/
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/* Ranging loop */
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/*********************************/
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status = vl53l8cx_set_ranging_frequency_hz(&Dev, 10);
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IntCount = 0;
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status = vl53l8cx_start_ranging(&Dev);
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printf("Put an object between 200mm and 400mm to catch an interrupt\n");
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loop = 0;
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while(loop < 100)
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{
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/* Function WaitForL8CXInterrupt() does not exists, and must be
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* implemented by user. It allows catching the interrupt raised on
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* pin A1 (INT), when the checkers detect the programmed
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* conditions.
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*/
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isReady = WaitForL8CXInterrupt(&Dev);
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if(isReady)
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{
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vl53l8cx_get_ranging_data(&Dev, &Results);
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/* As the sensor is set in 4x4 mode by default, we have a total
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* of 16 zones to print. For this example, only the data of
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* first zone are print */
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printf("Print data no : %3u\n", Dev.streamcount);
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for(i = 0; i < 16; i++)
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{
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printf("Zone : %3d, Status : %3u, Distance : %4d mm, Signal : %5lu kcps/SPADs\n",
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i,
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Results.target_status[VL53L8CX_NB_TARGET_PER_ZONE*i],
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Results.distance_mm[VL53L8CX_NB_TARGET_PER_ZONE*i],
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Results.signal_per_spad[VL53L8CX_NB_TARGET_PER_ZONE*i]);
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}
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printf("\n");
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loop++;
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}
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/* Wait a few ms to avoid too high polling (function in platform
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* file, not in API) */
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WaitMs(&(Dev.platform), 5);
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}
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status = vl53l8cx_stop_ranging(&Dev);
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printf("End of ULD demo\n");
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return status;
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}
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