241 lines
7.9 KiB
C
241 lines
7.9 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 visualize Xtalk */
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/***********************************/
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/*
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* This example shows the possibility of VL53L8CX to visualize Xtalk data. It
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* initializes the VL53L8CX ULD, perform a Xtalk calibration, and starts
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* 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_xtalk.h"
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int example8(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;
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VL53L8CX_Configuration Dev; /* Sensor configuration */
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VL53L8CX_ResultsData Results; /* Results data from VL53L8CX */
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/* Buffer containing Xtalk data */
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uint8_t xtalk_data[VL53L8CX_XTALK_BUFFER_SIZE];
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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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/* Start Xtalk calibration */
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/*********************************/
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/* Start Xtalk calibration with a 3% reflective target at 600mm for the
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* sensor, using 4 samples.
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*/
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printf("Running Xtalk calibration...\n");
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status = vl53l8cx_calibrate_xtalk(&Dev, 3, 4, 600);
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if(status)
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{
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printf("vl53l8cx_calibrate_xtalk failed, status %u\n", status);
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return status;
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}else
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{
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printf("Xtalk calibration done\n");
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/* Get Xtalk calibration data, in order to use them later */
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status = vl53l8cx_get_caldata_xtalk(&Dev, xtalk_data);
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/* Set Xtalk calibration data */
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status = vl53l8cx_set_caldata_xtalk(&Dev, xtalk_data);
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}
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/* (Optional) Visualize Xtalk grid and Xtalk shape */
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uint32_t i, j;
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union Block_header *bh_ptr;
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uint32_t xtalk_signal_kcps_grid[VL53L8CX_RESOLUTION_8X8];
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uint16_t xtalk_shape_bins[144];
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/* Swap buffer */
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SwapBuffer(xtalk_data, VL53L8CX_XTALK_BUFFER_SIZE);
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/* Get data */
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for(i = 0; i < VL53L8CX_XTALK_BUFFER_SIZE; i = i + 4)
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{
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bh_ptr = (union Block_header *)&(xtalk_data[i]);
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if (bh_ptr->idx == 0xA128){
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printf("Xtalk shape bins located at position %#06x\n", (int)i);
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for (j = 0; j < 144; j++){
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memcpy(&(xtalk_shape_bins[j]), &(xtalk_data[i + 4 + j * 2]), 2);
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printf("xtalk_shape_bins[%d] = %d\n", (int)j, (int)xtalk_shape_bins[j]);
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}
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}
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if (bh_ptr->idx == 0x9FFC){
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printf("Xtalk signal kcps located at position %#06x\n", (int)i);
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for (j = 0; j < VL53L8CX_RESOLUTION_8X8; j++){
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memcpy(&(xtalk_signal_kcps_grid[j]), &(xtalk_data[i + 4 + j * 4]), 4);
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xtalk_signal_kcps_grid[j] /= 2048;
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printf("xtalk_signal_kcps_grid[%d] = %d\n", (int)j, (int)xtalk_signal_kcps_grid[j]);
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}
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}
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}
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/* Re-Swap buffer (in case of re-using data later) */
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SwapBuffer(xtalk_data, VL53L8CX_XTALK_BUFFER_SIZE);
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/*********************************/
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/* Ranging loop */
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/*********************************/
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status = vl53l8cx_start_ranging(&Dev);
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loop = 0;
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while(loop < 10)
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{
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/* Use polling function to know when a new measurement is ready.
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* Another way can be to wait for HW interrupt raised on PIN A1
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* (INT) when a new measurement is ready */
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status = vl53l8cx_check_data_ready(&Dev, &isReady);
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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 first zone are
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* 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\n",
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(int)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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}
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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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