/******************************************************************************* * Copyright (c) 2020, STMicroelectronics - All Rights Reserved * * This file is part of the VL53L8CX Ultra Lite Driver and is dual licensed, * either 'STMicroelectronics Proprietary license' * or 'BSD 3-clause "New" or "Revised" License' , at your option. * ******************************************************************************** * * 'STMicroelectronics Proprietary license' * ******************************************************************************** * * License terms: STMicroelectronics Proprietary in accordance with licensing * terms at www.st.com/sla0081 * * STMicroelectronics confidential * Reproduction and Communication of this document is strictly prohibited unless * specifically authorized in writing by STMicroelectronics. * * ******************************************************************************** * * Alternatively, the VL53L8CX Ultra Lite Driver may be distributed under the * terms of 'BSD 3-clause "New" or "Revised" License', in which case the * following provisions apply instead of the ones mentioned above : * ******************************************************************************** * * License terms: BSD 3-clause "New" or "Revised" License. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright notice, this * list of conditions and the following disclaimer. * * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * * 3. Neither the name of the copyright holder nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * * *******************************************************************************/ /***********************************/ /* VL53L8CX ULD ranging mode */ /***********************************/ /* * This example shows the differences between ranging modes of VL53L8CX * (mode continuous and autonomous). For both modes, it initializes the VL53L8CX * ULD, set the mode, and starts a ranging to capture 10 frames. * * In this example, we also suppose that the number of target per zone is * set to 1 , and all output are enabled (see file platform.h). */ #include #include #include #include "vl53l8cx_api.h" int example3(void) { /*********************************/ /* VL53L8CX ranging variables */ /*********************************/ uint8_t status, loop, isAlive, isReady, i; VL53L8CX_Configuration Dev; /* Sensor configuration */ VL53L8CX_ResultsData Results; /* Results data from VL53L8CX */ /*********************************/ /* 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 */ status = vl53l8cx_is_alive(&Dev, &isAlive); if(!isAlive || status) { printf("VL53L8CX not detected at requested address\n"); return status; } /* (Mandatory) Init VL53L8CX sensor */ status = vl53l8cx_init(&Dev); if(status) { printf("VL53L8CX ULD Loading failed\n"); return status; } printf("VL53L8CX ULD ready ! (Version : %s)\n", VL53L8CX_API_REVISION); /*********************************/ /* Set ranging mode autonomous */ /*********************************/ status = vl53l8cx_set_ranging_mode(&Dev, VL53L8CX_RANGING_MODE_AUTONOMOUS); if(status) { printf("vl53l8cx_set_ranging_mode failed, status %u\n", status); return status; } /* Using autonomous mode, the integration time can be updated (not possible * using continuous) */ status = vl53l8cx_set_integration_time_ms(&Dev, 20); /* Start a ranging session */ status = vl53l8cx_start_ranging(&Dev); printf("Start ranging autonomous\n"); loop = 0; while(loop < 10) { status = vl53l8cx_check_data_ready(&Dev, &isReady); if(isReady) { vl53l8cx_get_ranging_data(&Dev, &Results); /* 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 */ printf("Print data no : %3u\n", Dev.streamcount); for(i = 0; i < 16; i++) { printf("Zone : %3d, Status : %3u, Distance : %4d mm\n", i, Results.target_status[VL53L8CX_NB_TARGET_PER_ZONE*i], Results.distance_mm[VL53L8CX_NB_TARGET_PER_ZONE*i]); } printf("\n"); loop++; } /* Wait a few ms to avoid too high polling (function in platform * file, not in API) */ WaitMs(&(Dev.platform), 5); } status = vl53l8cx_stop_ranging(&Dev); printf("Stop ranging autonomous\n"); WaitMs(&(Dev.platform), 1); /*********************************/ /* Set ranging mode continuous */ /*********************************/ /* In continuous mode, the integration time cannot be programmed * (automatically set to maximum value) */ status = vl53l8cx_set_ranging_mode(&Dev, VL53L8CX_RANGING_MODE_CONTINUOUS); if(status) { printf("vl53l8cx_set_ranging_mode failed, status %u\n", status); return status; } /* Trying to update value below will have no impact on integration time */ //status = vl53l8cx_set_integration_time_ms(&Dev, 20); /* Start a ranging session */ status = vl53l8cx_start_ranging(&Dev); printf("Start ranging continuous\n"); loop = 0; while(loop < 10) { status = vl53l8cx_check_data_ready(&Dev, &isReady); if(isReady) { vl53l8cx_get_ranging_data(&Dev, &Results); /* As the sensor is set in 4x4 mode by default, we have a total * of 16 zones to print */ printf("Print data no : %3u\n", Dev.streamcount); for(i = 0; i < 16; i++) { printf("Zone : %3d, Status : %3u, Distance : %4d mm\n", i, Results.target_status[VL53L8CX_NB_TARGET_PER_ZONE*i], Results.distance_mm[VL53L8CX_NB_TARGET_PER_ZONE*i]); } printf("\n"); loop++; } /* Wait a few ms to avoid too high polling (function in platform * file, not in API) */ WaitMs(&(Dev.platform), 5); } status = vl53l8cx_stop_ranging(&Dev); printf("Stop ranging continuous\n"); printf("End of ULD demo\n"); return status; }