235 lines
7.6 KiB
C
235 lines
7.6 KiB
C
/*******************************************************************************
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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 basic example */
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/***********************************/
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/*
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* This example is the most basic. It initializes the VL53L8CX ULD, and starts
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* a ranging to capture 10 frames.
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*
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* By default, ULD is configured to have the following settings :
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* - Resolution 4x4
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* - Ranging period 1Hz
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*
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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 "pico/stdlib.h"
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#include "hardware/i2c.h"
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void main(void)
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{
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stdio_init_all();
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gpio_set_function(0, GPIO_FUNC_I2C);
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gpio_set_function(1, GPIO_FUNC_I2C);
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i2c_init(i2c0, 400 * 1000);
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printf("3\n");
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WaitMs(0, 1000);
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printf("2\n");
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WaitMs(0, 1000);
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printf("1\n");
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WaitMs(0, 1000);
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printf("0\n");
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WaitMs(0, 1000);
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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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while(1);
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}else{printf("VL53L8CX detected !\n");
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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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while(1){
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printf("VL53L8CX ULD Loading failed :%d\n", status);
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WaitMs(&(Dev.platform), 1000);
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}
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return;
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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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status = vl53l8cx_set_resolution(&Dev, VL53L8CX_RESOLUTION_8X8);
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if(status !=0){
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while(1){
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printf("vl53l8cx_set_resolution failed :%d\n", status);
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WaitMs(&(Dev.platform), 1000);
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}
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}
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status = vl53l8cx_set_ranging_frequency_hz(&Dev, 15);
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if(status !=0){
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while(1){
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printf("vl53l8cx_set_ranging_frequency_hz (15hz) failed :%d\n", status);
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WaitMs(&(Dev.platform), 1000);
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}
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}
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//vl53l8cx_set_target_order(&Dev, VL53L8CX_TARGET_ORDER_CLOSEST);
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vl53l8cx_set_target_order(&Dev, VL53L8CX_TARGET_ORDER_STRONGEST);
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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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uint32_t time0, time1, time2, time3;
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while(1)
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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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time0 = time_us_32();
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status = vl53l8cx_check_data_ready(&Dev, &isReady);
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time1 = time_us_32();
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if(isReady)
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{
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vl53l8cx_get_ranging_data(&Dev, &Results);
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time2 = time_us_32();
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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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printf(">distance:");
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for(int row=0; row < 8; row++){
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for(int col=0; col < 8; col++){
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if(Results.target_status[col+ 8*row] == 255 ||// No Target detected
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Results.target_status[col+ 8*row] == 10 ||// Range valid, but no target detected at previous range
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Results.target_status[col+ 8*row] == 4 ||// Target consistency failed
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Results.target_status[col+ 8*row] == 3 ){// Sigma error too high
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Results.distance_mm[col+ 8*row] = 3000;
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}
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printf("%04d,", Results.distance_mm[col+ 8*row]);
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if((row == 0 ||row == 1 ) && Results.distance_mm[col+ 8*row] < 650){
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// printf("\nStatus: %d\n",Results.target_status[col+ 8*row]);
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}
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}
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}
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printf("\n");
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time3 = time_us_32();
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loop++;
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printf("temps : %d, %d, %d\n", time1-time0, time2-time0, time3-time0);
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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;
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}
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