From c71e052cd8857039892f9c45572d36983315813d Mon Sep 17 00:00:00 2001 From: ZengHongKun <431250696@qq.com> Date: Sat, 23 May 2026 23:07:31 +0800 Subject: [PATCH 1/4] =?UTF-8?q?=E6=9B=B4=E6=96=B00.96oled=E6=98=BE?= =?UTF-8?q?=E7=A4=BA=EF=BC=8C=E4=BB=A5=E5=8F=8A=E7=A1=AC=E4=BB=B6iic?= =?UTF-8?q?=E9=80=9A=E4=BF=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- common/i2c/Base_I2C.c | 13 +- common/i2c/Base_I2C.h | 52 ++-- modules/oled/HW_OLED.c | 535 +++++++++++------------------------- modules/oled/HW_OLED.h | 251 ++++++----------- modules/oled/HW_OLED_Font.h | 262 ------------------ modules/oled/OLED_Font.h | 202 ++++++++++++++ 6 files changed, 469 insertions(+), 846 deletions(-) delete mode 100644 modules/oled/HW_OLED_Font.h create mode 100644 modules/oled/OLED_Font.h diff --git a/common/i2c/Base_I2C.c b/common/i2c/Base_I2C.c index ff59664..c140748 100644 --- a/common/i2c/Base_I2C.c +++ b/common/i2c/Base_I2C.c @@ -1,12 +1,11 @@ #include "Base_I2C.h" - - -HAL_StatusTypeDef Base_I2C_WriteCmd(uint8_t* hi2cX, uint16_t addr, uint8_t* txData, uint8_t len, uint16_t timeout) +HAL_StatusTypeDef Base_I2C_WriteCmd(I2C_HandleTypeDef *hi2cx, uint16_t addr, uint8_t *txData, uint16_t len, uint16_t timeout) { - return HAL_I2C_Master_Transmit((I2C_HandleTypeDef*)hi2cX, addr, (uint8_t*)txData, len, timeout); + // 调用HAL库I2C主机发送函数，直接透传参数 + return HAL_I2C_Master_Transmit(hi2cx, addr, txData, len, timeout); } - -HAL_StatusTypeDef Base_I2C_ReadCmd(uint8_t* hi2cX, uint16_t addr, uint8_t* rxData, uint8_t len, uint16_t timeout) +HAL_StatusTypeDef Base_I2C_ReadRegs(I2C_HandleTypeDef *hi2cx,uint16_t DevAddr, uint8_t RegAddr, uint8_t *buf, uint16_t len,uint16_t timeout) { - return HAL_I2C_Master_Receive((I2C_HandleTypeDef*)hi2cX, addr, (uint8_t*)rxData, len, timeout); + // 调用HAL库存储器读函数，使用8位寄存器地址模式读取数据 + return HAL_I2C_Mem_Read(hi2cx,DevAddr,RegAddr,I2C_MEMADD_SIZE_8BIT,buf,len,timeout); } diff --git a/common/i2c/Base_I2C.h b/common/i2c/Base_I2C.h index 9e79dad..a358f61 100644 --- a/common/i2c/Base_I2C.h +++ b/common/i2c/Base_I2C.h @@ -1,39 +1,29 @@ -#ifndef __Base_I2C_H -#define __Base_I2C_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include "stm32f1xx_hal.h" +#ifndef __BASE_I2C_H +#define __BASE_I2C_H +#include "main.h" #include "i2c.h" - - /** - * @brief 閫氳繃 I2C 鎺ュ彛鍐欏叆鍛戒护鏁版嵁 - * @param hi2cX: 鎸囧悜 I2C 鍙ユ焺鐨勬寚閽堬紝鐢ㄤ簬鎸囧畾浣跨敤鐨 I2C 鎬荤嚎瀹炰緥 - * @param addr: 鐩爣璁惧鐨 I2C 鍦板潃(7bit)锛屾爣璇嗚涓庝箣閫氫俊鐨勪粠璁惧 - * @param txData: 鎸囧悜寰呭彂閫佹暟鎹殑鎸囬拡锛屽寘鍚簡瑕佸啓鍏 I2C 璁惧鐨勫懡浠ゆ垨鏁版嵁鍐呭 - * @param len: 瑕佸彂閫佹暟鎹殑闀垮害锛屽嵆 txData 涓暟鎹殑瀛楄妭鏁 - * @param timeout: 鎿嶄綔瓒呮椂鏃堕棿锛岃嫢鍦ㄨ鏃堕棿鍐呮搷浣滄湭瀹屾垚锛屽垯鎿嶄綔澶辫触;鍗曚綅ms - * @retval HAL_StatusTypeDef: 鎿嶄綔鐘舵侊紝濡 HAL_OK 琛ㄧず鎴愬姛锛屽叾浠栧艰〃绀哄け璐 + * @brief I2C 主机发送指令（纯数据发送，无寄存器地址） + * @param hi2cx : I2C句柄指针（如 &hi2c1） + * @param addr : I2C设备地址（左移前的7位地址） + * @param txData : 发送数据缓冲区指针 + * @param len : 要发送的数据长度 + * @param timeout : 超时时间（单位ms） + * @retval HAL_StatusTypeDef HAL库状态值（HAL_OK表示成功） */ -HAL_StatusTypeDef Base_I2C_WriteCmd(uint8_t* hi2cX, uint16_t addr, uint8_t* txData, uint8_t len, uint16_t timeout = 100); +HAL_StatusTypeDef Base_I2C_WriteCmd(I2C_HandleTypeDef *hi2cx, uint16_t addr, uint8_t *txData, uint16_t len, uint16_t timeout); /** - * @brief 閫氳繃 I2C 鎺ュ彛璇诲彇鍛戒护鍝嶅簲鏁版嵁 - * @param hi2cX: 鎸囧悜 I2C 鍙ユ焺鐨勬寚閽堬紝鐢ㄤ簬鎸囧畾浣跨敤鐨 I2C 鎬荤嚎瀹炰緥 - * @param addr: 鐩爣璁惧鐨 I2C 鍦板潃(7bit)锛屾爣璇嗚涓庝箣閫氫俊鐨勪粠璁惧 - * @param rxData: 鎸囧悜鐢ㄤ簬瀛樺偍鎺ユ敹鍒版暟鎹殑缂撳啿鍖虹殑鎸囬拡锛岃鍙栧埌鐨勬暟鎹細瀛樹簬姝 - * @param len: 瑕佽鍙栨暟鎹殑闀垮害锛屽嵆鏈熸湜浠 I2C 璁惧璇诲彇鐨勫瓧鑺傛暟 - * @param timeout: 鎿嶄綔瓒呮椂鏃堕棿锛岃嫢鍦ㄨ鏃堕棿鍐呮搷浣滄湭瀹屾垚锛屽垯鎿嶄綔澶辫触;鍗曚綅ms - * @retval HAL_StatusTypeDef: 鎿嶄綔鐘舵侊紝濡 HAL_OK 琛ㄧず鎴愬姛锛屽叾浠栧艰〃绀哄け璐 + * @brief 读取 I2C 设备多个连续寄存器 + * @param hi2cx : I2C句柄指针（如 &hi2c1） + * @param DevAddr : 设备7位I2C地址（左移前） 如 0x15 + * @param RegAddr : 起始寄存器地址 如 0x01 + * @param buf : 接收数据的缓冲区 + * @param len : 要读取的字节数 + * @param timeout : 超时时间（单位ms） + * @retval HAL_OK 读取成功 + * @retval 其他值 读取失败 */ -HAL_StatusTypeDef Base_I2C_ReadCmd(uint8_t* hi2cx, uint16_t addr, uint8_t* rxData, uint8_t len, uint16_t timeout = 100); - -#ifdef __cplusplus -} +HAL_StatusTypeDef Base_I2C_ReadRegs(I2C_HandleTypeDef *hi2cx,uint16_t DevAddr, uint8_t RegAddr, uint8_t *buf, uint16_t len,uint16_t timeout); #endif -#endif /* __Base_I2C_H */ -//author: 淇℃伅23 闊╂灄鏉 \ No newline at end of file diff --git a/modules/oled/HW_OLED.c b/modules/oled/HW_OLED.c index 37ea8b3..cc7edee 100644 --- a/modules/oled/HW_OLED.c +++ b/modules/oled/HW_OLED.c @@ -1,387 +1,176 @@ -#include "oled_font.h" -#include "oled.h" -#include "Base_i2c.h" -#include "string.h" - -#define LEFT 0x27 -#define RIGHT 0x26 -#define UP 0X29 -#define DOWN 0x2A // 淇鎷煎啓 -#define ON 0xA7 -#define OFF 0xA6 - -#define OLED_Addr 0x78 - -uint16_t const displayWidth = 128; -uint16_t const displayHeight = 64; - -static uint8_t OLED_RAM[8][128]; - -// 淇褰㈠弬鍛藉悕涓哄皬椹煎嘲 +#include "main.h" +#include "i2c.h" +#include "Base_I2C.h" +#include "OLED_Font.h" +#include "HW_OLED.h" void HW_OLED_WriteByte(uint8_t regAddr, uint8_t data) { uint8_t TxData[2] = {regAddr, data}; Base_I2C_WriteCmd(&hi2c1, OLED_Addr, (uint8_t*)TxData, 2, 10); } - -// 淇褰㈠弬鍛藉悕涓哄皬椹煎嘲 -void HW_OLED_WriteCmd(uint8_t iicCommand) { - HAL_I2C_WriteByte(0x00, iicCommand); -} - -// 淇褰㈠弬鍛藉悕涓哄皬椹煎嘲 -void HW_OLED_WriteDat(uint8_t iicData) { - HAL_I2C_WriteByte(0x40, iicData); -} - -void HW_OLED_Init(void) { - HAL_Delay(500); - - HW_OLED_WriteCmd(0xAE); - HW_OLED_WriteCmd(0x20); +void OLED_WriteCommand(uint8_t iicCommand) { + HW_OLED_WriteByte(0x00, iicCommand); +} +void OLED_WriteData(uint8_t iicData) { + HW_OLED_WriteByte(0x40, iicData); +} +void OLED_SetCursor(uint8_t Y, uint8_t X) +{ + OLED_WriteCommand(0xB0 | Y); //设置Y位置 + OLED_WriteCommand(0x10 | ((X & 0xF0) >> 4)); //设置X位置高4位 + OLED_WriteCommand(0x00 | (X & 0x0F)); //设置X位置低4位 +} + +void OLED_Clear(void) +{ + uint8_t i, j; + for (j = 0; j < 8; j++) + { + OLED_SetCursor(j, 0); + for(i = 0; i < 128; i++) + { + OLED_WriteData(0x00); + } + } +} +void my_OLED_Clear(void) +{ + uint8_t i, j; + for (j = 0; j < 8; j++) + { + OLED_SetCursor(j, 0); + for(i = 0; i < 128; i++) + { + OLED_WriteData(0xff); + } + } +} + +void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char) +{ + uint8_t i; + OLED_SetCursor((Line - 1) * 2, (Column - 1) * 8); //设置光标位置在上半部分 + for (i = 0; i < 8; i++) + { + OLED_WriteData(OLED_F8x16[Char - ' '][i]); //显示上半部分内容 + } + OLED_SetCursor((Line - 1) * 2 + 1, (Column - 1) * 8); //设置光标位置在下半部分 + for (i = 0; i < 8; i++) + { + OLED_WriteData(OLED_F8x16[Char - ' '][i + 8]); //显示下半部分内容 + } +} + +void OLED_ShowString(uint8_t Line, uint8_t Column, char *String) +{ + uint8_t i; + for (i = 0; String[i] != '\0'; i++) + { + OLED_ShowChar(Line, Column + i, String[i]); + } +} + +uint32_t OLED_Pow(uint32_t X, uint32_t Y) +{ + uint32_t Result = 1; + while (Y--) + { + Result *= X; + } + return Result; +} +void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length) +{ + uint8_t i; + for (i = 0; i < Length; i++) + { + OLED_ShowChar(Line, Column + i, Number / OLED_Pow(10, Length - i - 1) % 10 + '0'); + } +} + +void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length) +{ + uint8_t i; + uint32_t Number1; + if (Number >= 0) + { + OLED_ShowChar(Line, Column, '+'); + Number1 = Number; + } + else + { + OLED_ShowChar(Line, Column, '-'); + Number1 = -Number; + } + for (i = 0; i < Length; i++) + { + OLED_ShowChar(Line, Column + i + 1, Number1 / OLED_Pow(10, Length - i - 1) % 10 + '0'); + } +} +void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length) +{ + uint8_t i, SingleNumber; + for (i = 0; i < Length; i++) + { + SingleNumber = Number / OLED_Pow(16, Length - i - 1) % 16; + if (SingleNumber < 10) + { + OLED_ShowChar(Line, Column + i, SingleNumber + '0'); + } + else + { + OLED_ShowChar(Line, Column + i, SingleNumber - 10 + 'A'); + } + } +} +void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length) +{ + uint8_t i; + for (i = 0; i < Length; i++) + { + OLED_ShowChar(Line, Column + i, Number / OLED_Pow(2, Length - i - 1) % 2 + '0'); + } +} +void OLED_Init(void) +{ + HAL_Delay(100); + OLED_WriteCommand(0xAE); //关闭显示 - HW_OLED_WriteCmd(0x10); - HW_OLED_WriteCmd(0xb0); - HW_OLED_WriteCmd(0x00); - HW_OLED_WriteCmd(0x10); - - HW_OLED_WriteCmd(0xc8); - HW_OLED_WriteCmd(0x40); - HW_OLED_WriteCmd(0x81); - HW_OLED_WriteCmd(0xff); - HW_OLED_WriteCmd(0xa1); - HW_OLED_WriteCmd(0xa6); - HW_OLED_WriteCmd(0xa8); - HW_OLED_WriteCmd(0x3F); - HW_OLED_WriteCmd(0xa4); - HW_OLED_WriteCmd(0xd3); - HW_OLED_WriteCmd(0x00); - HW_OLED_WriteCmd(0xd5); - HW_OLED_WriteCmd(0xf0); - HW_OLED_WriteCmd(0xd9); - HW_OLED_WriteCmd(0x22); - HW_OLED_WriteCmd(0xda); - HW_OLED_WriteCmd(0x12); - HW_OLED_WriteCmd(0xdb); - HW_OLED_WriteCmd(0x20); - HW_OLED_WriteCmd(0x8d); - HW_OLED_WriteCmd(0x14); - HW_OLED_WriteCmd(0xaf); - - HW_OLED_FullyClear(); -} - -void HW_OLED_On(void) { - HW_OLED_WriteCmd(0X8D); - HW_OLED_WriteCmd(0X14); - HW_OLED_WriteCmd(0XAF); -} - -void HW_OLED_Off(void) { - HW_OLED_WriteCmd(0X8D); - HW_OLED_WriteCmd(0X10); - HW_OLED_WriteCmd(0XAE); -} - -void HW_OLED_RefreshRAM(void) { - for(uint16_t m = 0; m < displayHeight/8; m++) { - HW_OLED_WriteCmd(0xb0 + m); - HW_OLED_WriteCmd(0x00); - HW_OLED_WriteCmd(0x10); - for(uint16_t n = 0; n < displayWidth; n++) { - HW_OLED_WriteDat(OLED_RAM[m][n]); - } - } -} - -// 淇璇硶锛氱洿鎺ュ垵濮嬪寲鏁扮粍锛屽幓鎺夐敊璇惊鐜 -void HW_OLED_ClearRAM(void) { - memset(OLED_RAM, 0x00, sizeof(OLED_RAM)); -} - -void HW_OLED_FullyFill(uint8_t fillData) { - for(uint16_t m = 0; m < displayHeight/8; m++) { - for(uint16_t n = 0; n < displayWidth; n++) { - OLED_RAM[m][n] = fillData; - } - } - HW_OLED_RefreshRAM(); -} - -void HW_OLED_FullyClear(void) { - HW_OLED_FullyFill(RESET_PIXEL); -} - -void HW_OLED_SetPixel(int16_t x, int16_t y, uint8_t setPixel) { - if (x >= 0 && x < displayWidth && y >= 0 && y < displayHeight) { - if (setPixel) { - OLED_RAM[y/8][x] |= (0x01 << (y%8)); - } else { - OLED_RAM[y/8][x] &= ~(0x01 << (y%8)); - } - } -} - -PixelStatus HW_OLED_GetPixel(int16_t x, int16_t y) { - if (OLED_RAM[y/8][x] >> (y%8) & 0x01) - return SET_PIXEL; - return RESET_PIXEL; -} - -// 淇褰㈠弬鍛藉悕锛歝h 鈫 str锛孴extSize 鈫 textSize -void HW_OLED_ShowStr(int16_t x, int16_t y, uint8_t str[], uint8_t textSize) { - if (x >= 0 && x < displayWidth && y >= 0 && y < displayHeight) { - int32_t c = 0; - uint8_t j = 0; - switch (textSize) { - case 1: { - while (str[j] != '\0') { - c = str[j] - 32; - if (c < 0) - break; - - if (x >= 125 || (127 - x < 6)) { - x = 0; - y += 8; - if (63 - y < 8) - break; - } - for (uint8_t m = 0; m < 6; m++) { - for (uint8_t n = 0; n < 8; n++) { - HW_OLED_SetPixel(x + m, y + n, (F6x8[c][m] >> n) & 0x01); - } - } - x += 6; - j++; - } - } break; - case 2: { - while (str[j] != '\0') { - c = str[j] - 32; - if (c < 0) - break; - - if (x >= 127 || (127 - x < 8)) { - x = 0; - y += 16; - if (63 - y < 16) - break; - } - for (uint8_t m = 0; m < 2; m++) { - for (uint8_t n = 0; n < 8; n++) { - for (uint8_t i = 0; i < 8; i++) { - HW_OLED_SetPixel(x + n, y + i + m*8, (F8X16[c][n + m*8] >> i) & 0x01); - } - } - } - x += 8; - j++; - } - } break; - } - } - HW_OLED_RefreshRAM(); -} - -void HW_OLED_ShowCN(int16_t x, int16_t y, uint8_t* str) { - if (x >= 0 && x < displayWidth && y >= 0 && y < displayHeight) { - int32_t len = 0, offset = sizeof(F16x16_CN[0].index); - - while (str[len] != '\0') { - if (x >= 127 || (127 - x < 16)) { - x = 0; - y += 16; - if (63 - y < 16) - break; - } - for (uint8_t i = 0; i < sizeof(F16x16_CN)/sizeof(GB2312_CN); i++) { - if (((F16x16_CN[i].index[0] == str[len]) && (F16x16_CN[i].index[1] == str[len+1]))) { - for (uint8_t m = 0; m < 2; m++) { - for (uint8_t n = 0; n < 16; n++) { - for (uint8_t j = 0; j < 8; j++) { - HW_OLED_SetPixel(x + n, y + j + m*8, (F16x16_CN[i].encoder[n + m*16] >> j) & 0x01); - } - } - } - x += 16; - len += offset; - break; - } - else if (F16x16_CN[i].index[0] == str[len] && str[len] == 0x20) { - for (uint8_t m = 0; m < 2; m++) { - for (uint8_t n = 0; n < 16; n++) { - for (uint8_t j = 0; j < 8; j++) { - HW_OLED_SetPixel(x + n, y + j + m*8, (F16x16_CN[i].encoder[n + m*16] >> j) & 0x01); - } - } - } - x += 16; - len++; - break; - } - } - } - } - HW_OLED_RefreshRAM(); -} - -void HW_OLED_ShowMixedCH(int16_t x, int16_t y, uint8_t* str) { - if (x >= 0 && x < displayWidth && y >= 0 && y < displayHeight) { - int32_t len = 0, c, offset = sizeof(F16x16_CN[0].index); - - while (str[len] != '\0') { - if (str[len] >= 0xa1) { - for (uint8_t i = 0; i < sizeof(F16x16_CN)/sizeof(GB2312_CN); i++) { - if (((F16x16_CN[i].index[0] == str[len]) && (F16x16_CN[i].index[1] == str[len+1]))) { - if (x >= 127 || (127 - x < 16)) { - x = 0; - y += 16; - if (63 - y < 16) - break; - } - for (uint8_t m = 0; m < 2; m++) { - for (uint8_t n = 0; n < 16; n++) { - for (uint8_t j = 0; j < 8; j++) { - HW_OLED_SetPixel(x + n, y + j + m*8, (F16x16_CN[i].encoder[n + m*16] >> j) & 0x01); - } - } - } - x += 16; - len += offset; - break; - } - } - } - else if (str[len] <= 127) { - c = str[len] - 32; - if (c < 0) - break; - if (x >= 127 || (127 - x < 8)) { - x = 0; - y += 16; - if (63 - y < 16) - break; - } - for (uint8_t m = 0; m < 2; m++) { - for (uint8_t n = 0; n < 8; n++) { - for (uint8_t i = 0; i < 8; i++) { - HW_OLED_SetPixel(x + n, y + i + m*8, (F8X16[c][n + m*8] >> i) & 0x01); - } - } - } - x += 8; - len++; - } - } - } - HW_OLED_RefreshRAM(); -} - -// 淇褰㈠弬鍛藉悕锛歀 鈫 width锛孒 鈫 height锛孊MP 鈫 bmpData -void HW_OLED_DrawBMP(int16_t x0, int16_t y0, int16_t width, int16_t height, const uint8_t bmpData[]) { - if (x0 >= 0 && x0 < displayWidth && x0 + width <= displayWidth && - y0 >= 0 && y0 < displayHeight && y0 + height <= displayHeight) { - uint8_t *p = (uint8_t *)bmpData; - for(int16_t y = y0; y < y0 + height; y +=8) { - for(int16_t x = x0; x < x0 + width; x++) { - for(int16_t i = 0; i < 8; i++) { - HW_OLED_SetPixel(x, y + i, ((*p) >> i) & 0x01); - } - p++; - } - } - } - HW_OLED_RefreshRAM(); -} - -// 淇褰㈠弬鍛藉悕锛歀 鈫 width锛孒 鈫 height -void OLED_AreaFill(int16_t x0, int16_t y0, int16_t width, int16_t height, uint8_t fillData) { - if (x0 >= 0 && x0 < displayWidth && x0 + width <= displayWidth && - y0 >= 0 && y0 < displayHeight && y0 + height <= displayHeight) { - for(int16_t y = y0; y < y0 + height; y++) { - for(int16_t x = x0; x < x0 + width; x++) { - for(int16_t i = 0; i < 8; i++) { - HW_OLED_SetPixel(x, y + i, (fillData >> i) & SET_PIXEL); - } - } - } - HW_OLED_RefreshRAM(); - } -} - -// 淇褰㈠弬鍛藉悕锛歀 鈫 width锛孒 鈫 height -void OLED_AreaClear(int16_t x0, int16_t y0, int16_t width, int16_t height) { - if (x0 >= 0 && x0 < displayWidth && x0 + width <= displayWidth && - y0 >= 0 && y0 < displayHeight && y0 + height <= displayHeight) { - for(int16_t y = y0; y < y0 + height; y +=8) { - for(int16_t x = x0; x < x0 + width; x++) { - for(int16_t i = 0; i < 8; i++) { - HW_OLED_SetPixel(x, y + i, RESET_PIXEL); - } - } - } - HW_OLED_RefreshRAM(); - } -} + OLED_WriteCommand(0xD5); //设置显示时钟分频比/振荡器频率 + OLED_WriteCommand(0x80); + + OLED_WriteCommand(0xA8); //设置多路复用率 + OLED_WriteCommand(0x3F); + + OLED_WriteCommand(0xD3); //设置显示偏移 + OLED_WriteCommand(0x00); + + OLED_WriteCommand(0x40); //设置显示开始行 + + OLED_WriteCommand(0xA1); //设置左右方向，0xA1正常 0xA0左右反置 + + OLED_WriteCommand(0xC8); //设置上下方向，0xC8正常 0xC0上下反置 -void HW_OLED_FullyToggle(void) { - for(uint16_t m = 0; m < displayHeight/8; m++) { - for(uint16_t n = 0; n < displayWidth; n++) { - OLED_RAM[m][n] = ~OLED_RAM[m][n]; - } - } - HW_OLED_RefreshRAM(); -} + OLED_WriteCommand(0xDA); //设置COM引脚硬件配置 + OLED_WriteCommand(0x12); + + OLED_WriteCommand(0x81); //设置对比度控制 + OLED_WriteCommand(0xCF); -// 淇褰㈠弬鍛藉悕锛歀 鈫 width锛孒 鈫 height -void HW_OLED_AreaToggle(int16_t x0, int16_t y0, int16_t width, int16_t height) { - if (x0 >= 0 && x0 < displayWidth && x0 + width <= displayWidth && - y0 >= 0 && y0 < displayHeight && y0 + height <= displayHeight) { - for(int16_t y = y0; y < y0 + height; y +=8) { - for(int16_t x = x0; x < x0 + width; x++) { - for(int16_t i = 0; i < 8; i++) { - HW_OLED_SetPixel(x, y + i, !HW_OLED_GetPixel(x, y + i)); - } - } - } - HW_OLED_RefreshRAM(); - } -} + OLED_WriteCommand(0xD9); //设置预充电周期 + OLED_WriteCommand(0xF1); -void HW_OLED_VerticalShift(void) { - for(uint8_t i = 0; i < displayHeight; i++) { - HW_OLED_WriteCmd(0xd3); - HW_OLED_WriteCmd(i); - HAL_Delay(40); - } -} + OLED_WriteCommand(0xDB); //设置VCOMH取消选择级别 + OLED_WriteCommand(0x30); -void HW_OLED_HorizontalShift(uint8_t direction) { - HW_OLED_WriteCmd(direction); - HW_OLED_WriteCmd(0x00); - HW_OLED_WriteCmd(0x00); - HW_OLED_WriteCmd(0x05); - HW_OLED_WriteCmd(0x07); - HW_OLED_WriteCmd(0x00); - HW_OLED_WriteCmd(0xff); - HW_OLED_WriteCmd(0x2f); -} + OLED_WriteCommand(0xA4); //设置整个显示打开/关闭 -void HW_OLED_VerticalAndHorizontalShift(uint8_t direction) { - HW_OLED_WriteCmd(direction); - HW_OLED_WriteCmd(0x00); - HW_OLED_WriteCmd(0x00); - HW_OLED_WriteCmd(0x05); - HW_OLED_WriteCmd(0x07); - HW_OLED_WriteCmd(0x01); - HW_OLED_WriteCmd(0x2f); -} + OLED_WriteCommand(0xA6); //设置正常/倒转显示 -void HW_OLED_DisplayMode(uint8_t mode) { - HW_OLED_WriteCmd(mode); -} + OLED_WriteCommand(0x8D); //设置充电泵 + OLED_WriteCommand(0x14); -void HW_OLED_IntensityControl(uint8_t intensity) { - HW_OLED_WriteCmd(0x81); - HW_OLED_WriteCmd(intensity); + OLED_WriteCommand(0xAF); //开启显示 + + OLED_Clear(); //OLED清屏 } diff --git a/modules/oled/HW_OLED.h b/modules/oled/HW_OLED.h index 57ac6b3..2adff44 100644 --- a/modules/oled/HW_OLED.h +++ b/modules/oled/HW_OLED.h @@ -1,220 +1,125 @@ -#ifndef OLED_H__ -#define OLED_H__ +#ifndef __HW_OLED_H +#define __HW_OLED_H -#include "stm32f1xx_hal.h" // 鍖呭惈HAL搴 +#include "main.h" +#include "i2c.h" -/* BMP鍥剧墖璇存槑 - 鍥剧墖鏍煎紡涓轰綅鏄犲皠锛岀储寮曞垎鍒搴斿浘鐗囩殑瀹藉拰楂橈紝 - BMP_xx[H/8][L]; -*/ -extern const uint8_t BMP_Picture[64/8][64]; +/************************* + * 功能：OLED I2C 驱动头文件 + * 依赖：STM32 HAL库 I2C + * 说明：提供OLED初始化、清屏、显示字符串等基础接口 + *************************/ -/* 鍍忕礌鐘舵佹灇涓 */ -typedef enum -{ - SET_PIXEL = 0x01, - RESET_PIXEL = 0x00, -} PixelStatus; +/*==================== OLED 控制命令宏定义 ====================*/ +#define LEFT 0x27 // 左移命令 +#define RIGHT 0x26 // 右移命令 +#define UP 0x29 // 上移命令 +#define DOWN 0x2A // 下移命令 +#define ON 0xA7 // 显示开启/点亮命令 +#define OFF 0xA6 // 显示关闭/熄灭命令 -/** - * @brief 閫氳繃I2C鍐欏叆涓涓瓧鑺傛暟鎹 - * @param regAddr: 瑕佸啓鍏ユ暟鎹殑鍦板潃锛屽彇鍊艰寖鍥翠负0x00 - 0xFF - * @param data: 瑕佸啓鍏ョ殑瀛楄妭鏁版嵁锛屽彇鍊艰寖鍥翠负0x00 - 0xFF - * @retval 鏃 - */ -void HW_OLED_WriteByte(uint8_t regAddr, uint8_t data); - -/** - * @brief 鍐欏懡浠 - * @param iicCommand: 瑕佸啓鍏ョ殑IIC鍛戒护锛屽彇鍊艰寖鍥翠负0x00 - 0xFF - * @retval 鏃 - */ -void HW_OLED_WriteCmd(uint8_t iicCommand); - -/** - * @brief 鍐欐暟鎹 - * @param iicData: 瑕佸啓鍏ョ殑IIC鏁版嵁锛屽彇鍊艰寖鍥翠负0x00 - 0xFF - * @retval 鏃 - */ -void HW_OLED_WriteDat(uint8_t iicData); - -/** - * @brief 鍒濆鍖朞LED妯″潡 - * @param 鏃 - * @retval 鏃 - */ -void HW_OLED_Init(void); - -/** - * @brief 鎵撳紑OLED鏄剧ず - * @param 鏃 - * @retval 鏃 - */ -void HW_OLED_On(void); - -/** - * @brief 鍏抽棴OLED鏄剧ず -- 鐫＄湢妯″紡涓嬶紝OLED鍔熻楀皬浜10uA - * @param 鏃 - * @retval 鏃 - */ -void HW_OLED_Off(void); +#define OLED_Addr 0x78 // OLED I2C 设备地址 -/** - * @brief 鍏ㄩ噺鍒锋柊 - * @param 鏃 - * @retval 鏃 - */ -void HW_OLED_RefreshRAM(void); - -/** - * @brief 娓呯┖鏁版嵁缂撳瓨 - * @param 鏃 - * @retval 鏃 - */ -void HW_OLED_ClearRAM(void); - -/** - * @brief 鍏ㄥ睆濉厖 0x00~0xff - * @param fillData: 濉厖鏁版嵁锛1瀛楄妭锛夛紝鍙栧艰寖鍥翠负0x00 - 0xFF - * @retval 鏃 - */ -void HW_OLED_FullyFill(uint8_t fillData); - -/** - * @brief 鍏ㄥ睆娓呯┖ - * @param 鏃 - * @retval 鏃 - */ -void HW_OLED_FullyClear(void); - -/** - * @brief 璁剧疆鎸囧畾鍍忕礌鐐圭殑鐘舵 - * @param x: 璧峰妯潗鏍囷紝鍙栧艰寖鍥翠负0 - 127 - * @param y: 璧峰绾靛潗鏍囷紝鍙栧艰寖鍥翠负0 - 63 - * @param setPixel: 璁剧疆鍍忕礌鐘舵侊紝鍙栧间负SET_PIXEL锛堢偣浜儚绱狅級鎴朢ESET_PIXEL锛堢唲鐏儚绱狅級 - * @retval 鏃 - */ -void HW_OLED_SetPixel(int16_t x, int16_t y, uint8_t setPixel); +/*==================== OLED 屏幕参数 ====================*/ +#define displayWidth 128 // OLED宽度：128 +#define displayHeight 64 // OLED高度：64 +/*==================== 底层I2C写函数 ====================*/ /** - * @brief 鑾峰彇鎸囧畾鍍忕礌鐐圭殑鐘舵 - * @param x: 璧峰妯潗鏍囷紝鍙栧艰寖鍥翠负0 - 127 - * @param y: 璧峰绾靛潗鏍囷紝鍙栧艰寖鍥翠负0 - 63 - * @retval PixelStatus: 杩斿洖鍍忕礌鐨勭姸鎬侊紝SET_PIXEL锛堝儚绱犵偣浜級鎴朢ESET_PIXEL锛堝儚绱犵唲鐏級 + * @brief OLED通过I2C写入一个字节（命令/数据） + * @param regAddr: 控制字节 0x00=命令 0x40=数据 + * @param data: 要写入的命令或数据 + * @retval 无 */ -PixelStatus HW_OLED_GetPixel(int16_t x, int16_t y); - -/** - * @brief 鏄剧ずcodetab.h涓殑ASCII瀛楃锛屾湁6*8鍜8*16鍙 - * @param x: 璧峰妯潗鏍囷紝鍙栧艰寖鍥翠负0 - 127 - * @param y: 璧峰绾靛潗鏍囷紝鍙栧艰寖鍥翠负0 - 63 - * @param str[]: 瑕佹樉绀虹殑瀛楃涓 - * @param textSize: 瀛椾綋澶у皬锛屽彇鍊间负1锛6*8瀛椾綋锛夋垨2锛8*16瀛椾綋锛 - * @retval 鏃 - */ -void HW_OLED_ShowStr(int16_t x, int16_t y, uint8_t str[], uint8_t textSize); +void HW_OLED_WriteByte(uint8_t regAddr, uint8_t data); /** - * @brief 鏄剧ずcodetab.h涓殑姹夊瓧锛16*16鐐归樀 - * @param x: 璧峰妯潗鏍囷紝鍙栧艰寖鍥翠负0 - 127 - * @param y: 璧峰绾靛潗鏍囷紝鍙栧艰寖鍥翠负0 - 7 - * @param str: 瀵瑰簲codetab.h涓殑姹夊瓧 - * @retval 鏃 + * @brief 向OLED写入命令 + * @param iicCommand: 命令值 + * @retval 无 */ -void HW_OLED_ShowCN(int16_t x, int16_t y, uint8_t* str); +void OLED_WriteCommand(uint8_t iicCommand); /** - * @brief 鏄剧ずcodetab.h涓殑姹夊瓧锛16*16鐐归樀锛岃嫳鏂囷紝8*16鐐归樀 - * @param x: 璧峰妯潗鏍囷紝鍙栧艰寖鍥翠负0 - 127 - * @param y: 璧峰绾靛潗鏍囷紝鍙栧艰寖鍥翠负0 - 7 - * @param str: 瀵瑰簲codetab.h涓殑姹夊瓧鍜岃嫳鏂 - * @retval 鏃 + * @brief 向OLED写入数据 + * @param iicData: 显示数据 + * @retval 无 */ -void HW_OLED_ShowMixedCH(int16_t x, int16_t y, uint8_t* str); +void OLED_WriteData(uint8_t iicData); /** - * @brief 鍥剧墖鏄剧ず鍑芥暟锛屾樉绀築MP浣嶅浘锛屾牸寮忎娇鐢ㄤ簩缁存暟缁勫瓨鍌 - * @param x0: 璧峰妯潗鏍囷紝鍙栧艰寖鍥翠负0 - 127 - * @param y0: 璧峰绾靛潗鏍囷紝鍙栧艰寖鍥翠负0 - 63 - * @param width: 鍥剧墖闀垮害锛屽彇鍊奸渶淇濊瘉鍥剧墖涓嶄細瓒呭嚭灞忓箷鑼冨洿 - * @param height: 鍥剧墖楂樺害锛屽彇鍊奸渶淇濊瘉鍥剧墖涓嶄細瓒呭嚭灞忓箷鑼冨洿 - * @param bmpData: 浣嶅浘鏁版嵁 - * @retval 鏃 + * @brief 设置OLED光标位置 + * @param Y: 页地址 0~7 + * @param X: 列地址 0~127 + * @retval 无 */ -void HW_OLED_DrawBMP(int16_t x0, int16_t y0, int16_t width, int16_t height, const uint8_t bmpData[]); +void OLED_SetCursor(uint8_t Y, uint8_t X); +/*==================== 屏幕操作函数 ====================*/ /** - * @brief 鍖哄煙濉厖 - * @param x0: 璧峰妯潗鏍囷紝鍙栧艰寖鍥翠负0 - 127 - * @param y0: 璧峰绾靛潗鏍囷紝鍙栧艰寖鍥翠负0 - 63 - * @param width: 濉厖鍖哄煙闀垮害锛屽彇鍊奸渶淇濊瘉鍖哄煙涓嶄細瓒呭嚭灞忓箷鑼冨洿 - * @param height: 濉厖鍖哄煙楂樺害锛屽彇鍊奸渶淇濊瘉鍖哄煙涓嶄細瓒呭嚭灞忓箷鑼冨洿 - * @param fillData: 濉厖鏁版嵁锛屽彇鍊艰寖鍥翠负0x00 - 0xFF - * @retval 鏃 + * @brief OLED初始化（上电必须调用） + * @param 无 + * @retval 无 */ -void HW_OLED_AreaFill(int16_t x0, int16_t y0, int16_t width, int16_t height, uint8_t fillData); +void OLED_Init(void); /** - * @brief 鍖哄煙娓呯┖ - * @param x0: 璧峰妯潗鏍囷紝鍙栧艰寖鍥翠负0 - 127 - * @param y0: 璧峰绾靛潗鏍囷紝鍙栧艰寖鍥翠负0 - 63 - * @param width: 娓呯┖鍖哄煙闀垮害锛屽彇鍊奸渶淇濊瘉鍖哄煙涓嶄細瓒呭嚭灞忓箷鑼冨洿 - * @param height: 娓呯┖鍖哄煙楂樺害锛屽彇鍊奸渶淇濊瘉鍖哄煙涓嶄細瓒呭嚭灞忓箷鑼冨洿 - * @retval 鏃 + * @brief OLED清屏（全黑） + * @param 无 + * @retval 无 */ -void HW_OLED_AreaClear(int16_t x0, int16_t y0, int16_t width, int16_t height); +void OLED_Clear(void); /** - * @brief 鍏ㄥ睆鍙嶈壊鏄剧ず - * @param 鏃 - * @retval 鏃 + * @brief OLED满屏点亮（全白） + * @param 无 + * @retval 无 */ -void HW_OLED_FullyToggle(void); +void my_OLED_Clear(void); +/*==================== 显示函数 ====================*/ /** - * @brief 鍖哄煙鍙嶈壊鏄剧ず - * @param x0: 璧峰妯潗鏍囷紝鍙栧艰寖鍥翠负0 - 127 - * @param y0: 璧峰绾靛潗鏍囷紝鍙栧艰寖鍥翠负0 - 63 - * @param width: 鍙嶈壊鍖哄煙闀垮害锛屽彇鍊奸渶淇濊瘉鍖哄煙涓嶄細瓒呭嚭灞忓箷鑼冨洿 - * @param height: 鍙嶈壊鍖哄煙楂樺害锛屽彇鍊奸渶淇濊瘉鍖哄煙涓嶄細瓒呭嚭灞忓箷鑼冨洿 - * @retval 鏃 + * @brief OLED显示单个字符（8x16字体） + * @param Line: 行 1~4 + * @param Column: 列 1~16 + * @param Char: 要显示的字符 + * @retval 无 */ -void HW_OLED_AreaToggle(int16_t x0, int16_t y0, int16_t width, int16_t height); +void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char); /** - * @brief 鍏ㄥ睆鍨傜洿婊氬姩鏄剧ず - * @param 鏃 - * @retval 鏃 + * @brief OLED显示字符串 + * @param Line: 起始行 1~4 + * @param Column: 起始列 1~16 + * @param String: 字符串指针 + * @retval 无 */ -void HW_OLED_VerticalShift(void); +void OLED_ShowString(uint8_t Line, uint8_t Column, char *String); /** - * @brief 鍏ㄥ睆姘村钩婊氬姩鏄剧ず - * @param direction: 婊氬姩鏂瑰悜锛屽叿浣撳彇鍊煎惈涔夐渶鏍规嵁瀹為檯瀹炵幇纭畾 - * @retval 鏃 + * @brief OLED显示无符号十进制数字 + * @param Line: 行 + * @param Column: 列 + * @param Number: 数字 0~4294967295 + * @param Length: 显示位数 + * @retval 无 */ -void HW_OLED_HorizontalShift(uint8_t direction); +void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length); /** - * @brief 鍏ㄥ睆鍚屾椂鍨傜洿鍜屾按骞虫粴鍔ㄦ樉绀 - * @param direction: 婊氬姩鏂瑰悜锛屽叿浣撳彇鍊煎惈涔夐渶鏍规嵁瀹為檯瀹炵幇纭畾 - * @retval 鏃 + * @brief OLED显示有符号十进制数字 */ -void HW_OLED_VerticalAndHorizontalShift(uint8_t direction); +void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length); /** - * @brief 灞忓箷鏄剧ず妯″紡閫夋嫨 - * @param mode: 鏄剧ず妯″紡锛屽叿浣撳彇鍊煎惈涔夐渶鏍规嵁瀹為檯瀹炵幇纭畾 - * @retval 鏃 + * @brief OLED显示十六进制数字 */ -void HW_OLED_DisplayMode(uint8_t mode); +void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length); /** - * @brief 灞忓箷浜害鎺у埗 - * @param intensity: 浜害鍊硷紝鍙栧艰寖鍥撮渶鏍规嵁瀹為檯纭欢纭畾 - * @retval 鏃 + * @brief OLED显示二进制数字 */ -void HW_OLED_IntensityControl(uint8_t intensity); +void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length); #endif diff --git a/modules/oled/HW_OLED_Font.h b/modules/oled/HW_OLED_Font.h deleted file mode 100644 index ee300e1..0000000 --- a/modules/oled/HW_OLED_Font.h +++ /dev/null @@ -1,262 +0,0 @@ -#ifndef OLED_FONT_H__ -#define OLED_FONT_H__ -#ifdef __cplusplus - extern "C" { -#endif - -#include "stm32f1xx_hal.h" - -const uint8_t F6x8[][6] = -{ - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,// sp - 0x00, 0x00, 0x00, 0x2f, 0x00, 0x00,// ! - 0x00, 0x00, 0x07, 0x00, 0x07, 0x00,// " - 0x00, 0x14, 0x7f, 0x14, 0x7f, 0x14,// # - 0x00, 0x24, 0x2a, 0x7f, 0x2a, 0x12,// $ - 0x00, 0x62, 0x64, 0x08, 0x13, 0x23,// % - 0x00, 0x36, 0x49, 0x55, 0x22, 0x50,// & - 0x00, 0x00, 0x05, 0x03, 0x00, 0x00,// ' - 0x00, 0x00, 0x1c, 0x22, 0x41, 0x00,// ( - 0x00, 0x00, 0x41, 0x22, 0x1c, 0x00,// ) - 0x00, 0x14, 0x08, 0x3E, 0x08, 0x14,// * - 0x00, 0x08, 0x08, 0x3E, 0x08, 0x08,// + - 0x00, 0x00, 0x00, 0xA0, 0x60, 0x00,// , - 0x00, 0x08, 0x08, 0x08, 0x08, 0x08,// - - 0x00, 0x00, 0x60, 0x60, 0x00, 0x00,// . - 0x00, 0x20, 0x10, 0x08, 0x04, 0x02,// / - 0x00, 0x3E, 0x51, 0x49, 0x45, 0x3E,// 0 - 0x00, 0x00, 0x42, 0x7F, 0x40, 0x00,// 1 - 0x00, 0x42, 0x61, 0x51, 0x49, 0x46,// 2 - 0x00, 0x21, 0x41, 0x45, 0x4B, 0x31,// 3 - 0x00, 0x18, 0x14, 0x12, 0x7F, 0x10,// 4 - 0x00, 0x27, 0x45, 0x45, 0x45, 0x39,// 5 - 0x00, 0x3C, 0x4A, 0x49, 0x49, 0x30,// 6 - 0x00, 0x01, 0x71, 0x09, 0x05, 0x03,// 7 - 0x00, 0x36, 0x49, 0x49, 0x49, 0x36,// 8 - 0x00, 0x06, 0x49, 0x49, 0x29, 0x1E,// 9 - 0x00, 0x00, 0x36, 0x36, 0x00, 0x00,// : - 0x00, 0x00, 0x56, 0x36, 0x00, 0x00,// ; - 0x00, 0x08, 0x14, 0x22, 0x41, 0x00,// < - 0x00, 0x14, 0x14, 0x14, 0x14, 0x14,// = - 0x00, 0x00, 0x41, 0x22, 0x14, 0x08,// > - 0x00, 0x02, 0x01, 0x51, 0x09, 0x06,// ? - 0x00, 0x32, 0x49, 0x59, 0x51, 0x3E,// @ - 0x00, 0x7C, 0x12, 0x11, 0x12, 0x7C,// A - 0x00, 0x7F, 0x49, 0x49, 0x49, 0x36,// B - 0x00, 0x3E, 0x41, 0x41, 0x41, 0x22,// C - 0x00, 0x7F, 0x41, 0x41, 0x22, 0x1C,// D - 0x00, 0x7F, 0x49, 0x49, 0x49, 0x41,// E - 0x00, 0x7F, 0x09, 0x09, 0x09, 0x01,// F - 0x00, 0x3E, 0x41, 0x49, 0x49, 0x7A,// G - 0x00, 0x7F, 0x08, 0x08, 0x08, 0x7F,// H - 0x00, 0x00, 0x41, 0x7F, 0x41, 0x00,// I - 0x00, 0x20, 0x40, 0x41, 0x3F, 0x01,// J - 0x00, 0x7F, 0x08, 0x14, 0x22, 0x41,// K - 0x00, 0x7F, 0x40, 0x40, 0x40, 0x40,// L - 0x00, 0x7F, 0x02, 0x0C, 0x02, 0x7F,// M - 0x00, 0x7F, 0x04, 0x08, 0x10, 0x7F,// N - 0x00, 0x3E, 0x41, 0x41, 0x41, 0x3E,// O - 0x00, 0x7F, 0x09, 0x09, 0x09, 0x06,// P - 0x00, 0x3E, 0x41, 0x51, 0x21, 0x5E,// Q - 0x00, 0x7F, 0x09, 0x19, 0x29, 0x46,// R - 0x00, 0x46, 0x49, 0x49, 0x49, 0x31,// S - 0x00, 0x01, 0x01, 0x7F, 0x01, 0x01,// T - 0x00, 0x3F, 0x40, 0x40, 0x40, 0x3F,// U - 0x00, 0x1F, 0x20, 0x40, 0x20, 0x1F,// V - 0x00, 0x3F, 0x40, 0x38, 0x40, 0x3F,// W - 0x00, 0x63, 0x14, 0x08, 0x14, 0x63,// X - 0x00, 0x07, 0x08, 0x70, 0x08, 0x07,// Y - 0x00, 0x61, 0x51, 0x49, 0x45, 0x43,// Z - 0x00, 0x00, 0x7F, 0x41, 0x41, 0x00,// [ - 0x00, 0x55, 0x2A, 0x55, 0x2A, 0x55,// 55 - 0x00, 0x00, 0x41, 0x41, 0x7F, 0x00,// ] - 0x00, 0x04, 0x02, 0x01, 0x02, 0x04,// ^ - 0x00, 0x40, 0x40, 0x40, 0x40, 0x40,// _ - 0x00, 0x00, 0x01, 0x02, 0x04, 0x00,// ' - 0x00, 0x20, 0x54, 0x54, 0x54, 0x78,// a - 0x00, 0x7F, 0x48, 0x44, 0x44, 0x38,// b - 0x00, 0x38, 0x44, 0x44, 0x44, 0x20,// c - 0x00, 0x38, 0x44, 0x44, 0x48, 0x7F,// d - 0x00, 0x38, 0x54, 0x54, 0x54, 0x18,// e - 0x00, 0x08, 0x7E, 0x09, 0x01, 0x02,// f - 0x00, 0x18, 0xA4, 0xA4, 0xA4, 0x7C,// g - 0x00, 0x7F, 0x08, 0x04, 0x04, 0x78,// h - 0x00, 0x00, 0x44, 0x7D, 0x40, 0x00,// i - 0x00, 0x40, 0x80, 0x84, 0x7D, 0x00,// j - 0x00, 0x7F, 0x10, 0x28, 0x44, 0x00,// k - 0x00, 0x00, 0x41, 0x7F, 0x40, 0x00,// l - 0x00, 0x7C, 0x04, 0x18, 0x04, 0x78,// m - 0x00, 0x7C, 0x08, 0x04, 0x04, 0x78,// n - 0x00, 0x38, 0x44, 0x44, 0x44, 0x38,// o - 0x00, 0xFC, 0x24, 0x24, 0x24, 0x18,// p - 0x00, 0x18, 0x24, 0x24, 0x18, 0xFC,// q - 0x00, 0x7C, 0x08, 0x04, 0x04, 0x08,// r - 0x00, 0x48, 0x54, 0x54, 0x54, 0x20,// s - 0x00, 0x04, 0x3F, 0x44, 0x40, 0x20,// t - 0x00, 0x3C, 0x40, 0x40, 0x20, 0x7C,// u - 0x00, 0x1C, 0x20, 0x40, 0x20, 0x1C,// v - 0x00, 0x3C, 0x40, 0x30, 0x40, 0x3C,// w - 0x00, 0x44, 0x28, 0x10, 0x28, 0x44,// x - 0x00, 0x1C, 0xA0, 0xA0, 0xA0, 0x7C,// y - 0x00, 0x44, 0x64, 0x54, 0x4C, 0x44,// z - 0x14, 0x14, 0x14, 0x14, 0x14, 0x14,// horiz lines -}; -/****************************************8*16鐨勭偣闃************************************/ -const uint8_t F8X16[][16]= -{ - 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0 - 0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1 - 0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2 - 0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3 - 0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4 - 0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5 - 0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6 - 0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7 - 0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8 - 0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9 - 0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10 - 0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11 - 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12 - 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13 - 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14 - 0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15 - 0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16 - 0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17 - 0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18 - 0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19 - 0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20 - 0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21 - 0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22 - 0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23 - 0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24 - 0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25 - 0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26 - 0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27 - 0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28 - 0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29 - 0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30 - 0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31 - 0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32 - 0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33 - 0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34 - 0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35 - 0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36 - 0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37 - 0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38 - 0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39 - 0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40 - 0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41 - 0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42 - 0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43 - 0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44 - 0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45 - 0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46 - 0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47 - 0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48 - 0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49 - 0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50 - 0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51 - 0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52 - 0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53 - 0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54 - 0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55 - 0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56 - 0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57 - 0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58 - 0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59 - 0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60 - 0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61 - 0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62 - 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63 - 0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64 - 0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65 - 0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66 - 0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67 - 0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68 - 0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69 - 0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70 - 0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71 - 0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72 - 0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73 - 0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74 - 0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75 - 0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76 - 0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77 - 0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78 - 0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79 - 0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80 - 0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81 - 0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82 - 0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83 - 0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84 - 0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85 - 0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86 - 0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87 - 0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88 - 0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89 - 0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90 - 0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91 - 0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92 - 0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93 - 0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94 -}; - -typedef struct { - char index[2]; - uint8_t encoder[32]; -}GB2312_CN; - -const GB2312_CN F16x16_CN[] = { - {"娓", - 0x10,0x60,0x02,0x8C,0x00,0x00,0xFE,0x92,0x92,0x92,0x92,0x92,0xFE,0x00,0x00,0x00,0x04,0x04,0x7E,0x01,0x40,0x7E,0x42,0x42,0x7E,0x42,0x7E,0x42,0x42,0x7E,0x40,0x00,/*"娓"*/ - }, - {"搴", - 0x00,0x00,0xFC,0x24,0x24,0x24,0xFC,0x25,0x26,0x24,0xFC,0x24,0x24,0x24,0x04,0x00,0x40,0x30,0x8F,0x80,0x84,0x4C,0x55,0x25,0x25,0x25,0x55,0x4C,0x80,0x80,0x80,0x00,/*"搴"*/ - } -}; - -const uint8_t BMP_Picture[64/8][64] = { -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80, -0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x40,0x30,0x1E, -0x03,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xC0,0x3C,0x40,0x60,0x20,0x20,0x20,0x20, -0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x60,0xC0,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x30,0x10,0x10,0x08,0x04,0x04,0x02,0xFD,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x10,0x10,0x0C,0x06,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFE, -0x00,0x30,0x10,0x10,0x10,0x10,0x10,0x08,0x08,0x04,0x07,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFB,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xC0,0x30,0x00,0x00,0x00,0x00,0x03, -0xFC,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xE0, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x00,0x00,0x50,0x80,0x00,0x00,0x80, -0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x04,0x70,0xF0,0x0F, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, -}; - - - -#ifdef __cplusplus -} -#endif -#endif - - - - diff --git a/modules/oled/OLED_Font.h b/modules/oled/OLED_Font.h new file mode 100644 index 0000000..6cd34bf --- /dev/null +++ b/modules/oled/OLED_Font.h @@ -0,0 +1,202 @@ +#ifndef __OLED_FONT_H +#define __OLED_FONT_H +#include "main.h" +/*OLED瀛楁ā搴擄紝瀹8鍍忕礌锛岄珮16鍍忕礌*/ +const uint8_t OLED_F8x16[][16]= +{ + {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},// 0 + + {0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00},//! 1 + + {0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},//" 2 + + {0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00},//# 3 + + {0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00},//$ 4 + + {0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00},//% 5 + + {0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10},//& 6 + + {0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},//' 7 + + {0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00},//( 8 + + {0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00},//) 9 + + {0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00},//* 10 + + {0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00},//+ 11 + + {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00},//, 12 + + {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01},//- 13 + + {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00},//. 14 + + {0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00},/// 15 + + {0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00},//0 16 + + {0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00},//1 17 + + {0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00},//2 18 + + {0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00},//3 19 + + {0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00},//4 20 + + {0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00},//5 21 + + {0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00},//6 22 + + {0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00},//7 23 + + {0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00},//8 24 + + {0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00},//9 25 + + {0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00},//: 26 + + {0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00},//; 27 + + {0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00},//< 28 + + {0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00},//= 29 + + {0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00},//> 30 + + {0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00},//? 31 + + {0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00},//@ 32 + + {0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20},//A 33 + + {0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00},//B 34 + + {0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00},//C 35 + + {0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00},//D 36 + + {0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00},//E 37 + + {0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00},//F 38 + + {0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00},//G 39 + + {0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20},//H 40 + + {0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00},//I 41 + + {0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00},//J 42 + + {0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00},//K 43 + + {0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00},//L 44 + + {0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00},//M 45 + + {0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00},//N 46 + + {0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00},//O 47 + + {0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00},//P 48 + + {0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00},//Q 49 + + {0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20},//R 50 + + {0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00},//S 51 + + {0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00},//T 52 + + {0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00},//U 53 + + {0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00},//V 54 + + {0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00},//W 55 + + {0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20},//X 56 + + {0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00},//Y 57 + + {0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00},//Z 58 + + {0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00},//[ 59 + + {0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00},//\ 60 + + {0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00},//] 61 + + {0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},//^ 62 + + {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80},//_ 63 + + {0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},//` 64 + + {0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20},//a 65 + + {0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00},//b 66 + + {0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00},//c 67 + + {0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20},//d 68 + + {0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00},//e 69 + + {0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00},//f 70 + + {0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00},//g 71 + + {0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20},//h 72 + + {0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00},//i 73 + + {0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00},//j 74 + + {0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00},//k 75 + + {0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00},//l 76 + + {0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F},//m 77 + + {0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20},//n 78 + + {0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00},//o 79 + + {0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00},//p 80 + + {0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80},//q 81 + + {0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00},//r 82 + + {0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00},//s 83 + + {0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00},//t 84 + + {0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20},//u 85 + + {0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00},//v 86 + + {0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00},//w 87 + + {0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00},//x 88 + + {0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00},//y 89 + + {0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00},//z 90 + + {0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40},//{ 91 + + {0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00},//| 92 + + {0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00},//} 93 + +// 0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04, +// 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94 + {0x00,0x00,0xF0,0xFC,0xFC,0xF0,0x00,0x00,0xF0,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xF0}, +// 0x00,0x00,0xF0,0xFF,0xFF,0xF0,0x00,0x00, +// 0xF8,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xF8,/*"鏈懡鍚嶆枃浠",0*/ +}; + +#endif -- Gitee From 1c83408f52bb04aadeeadb2ab881fd8d7d472920 Mon Sep 17 00:00:00 2001 From: ZengHongKun <431250696@qq.com> Date: Sat, 30 May 2026 10:52:00 +0800 Subject: [PATCH 2/4] =?UTF-8?q?=E4=BB=A3=E7=A0=81=E8=A7=84=E8=8C=831.0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- common/i2c/Base_I2C.c | 18 +- common/i2c/Base_I2C.h | 47 ++-- modules/oled/.keep | 0 modules/oled/HW_OLED.c | 219 ++++++------------ modules/oled/HW_OLED.h | 134 +++-------- .../{OLED_Font.h => OLED_FONT_8X16_ENGLISH.h} | 17 +- modules/oled/OLED_FONT_MANAGE.h | 23 ++ 7 files changed, 169 insertions(+), 289 deletions(-) delete mode 100644 modules/oled/.keep rename modules/oled/{OLED_Font.h => OLED_FONT_8X16_ENGLISH.h} (95%) create mode 100644 modules/oled/OLED_FONT_MANAGE.h diff --git a/common/i2c/Base_I2C.c b/common/i2c/Base_I2C.c index c140748..18d2da9 100644 --- a/common/i2c/Base_I2C.c +++ b/common/i2c/Base_I2C.c @@ -1,11 +1,15 @@ #include "Base_I2C.h" -HAL_StatusTypeDef Base_I2C_WriteCmd(I2C_HandleTypeDef *hi2cx, uint16_t addr, uint8_t *txData, uint16_t len, uint16_t timeout) + +HAL_StatusTypeDef BASE_I2C_Write_Cmd(I2C_HandleTypeDef *hi2cX, uint16_t devAddr, + uint8_t *txData, uint16_t dataLen, uint16_t timeoutMs) { - // 调用HAL库I2C主机发送函数，直接透传参数 - return HAL_I2C_Master_Transmit(hi2cx, addr, txData, len, timeout); + return HAL_I2C_Master_Transmit(hi2cX, devAddr, txData, dataLen, timeoutMs); } -HAL_StatusTypeDef Base_I2C_ReadRegs(I2C_HandleTypeDef *hi2cx,uint16_t DevAddr, uint8_t RegAddr, uint8_t *buf, uint16_t len,uint16_t timeout) + +HAL_StatusTypeDef BASE_I2C_Read_Regs(I2C_HandleTypeDef *hi2cX, uint16_t devAddr, + uint8_t regAddr, uint8_t *outBuffer, + uint16_t bufferLen, uint16_t timeoutMs) { - // 调用HAL库存储器读函数，使用8位寄存器地址模式读取数据 - return HAL_I2C_Mem_Read(hi2cx,DevAddr,RegAddr,I2C_MEMADD_SIZE_8BIT,buf,len,timeout); -} + return HAL_I2C_Mem_Read(hi2cX, devAddr, regAddr, I2C_MEMADD_SIZE_8BIT, + outBuffer, bufferLen, timeoutMs); +} \ No newline at end of file diff --git a/common/i2c/Base_I2C.h b/common/i2c/Base_I2C.h index a358f61..5a896db 100644 --- a/common/i2c/Base_I2C.h +++ b/common/i2c/Base_I2C.h @@ -1,29 +1,32 @@ -#ifndef __BASE_I2C_H -#define __BASE_I2C_H -#include "main.h" +#ifndef BASE_I2C_H +#define BASE_I2C_H + #include "i2c.h" + /** - * @brief I2C 主机发送指令（纯数据发送，无寄存器地址） - * @param hi2cx : I2C句柄指针（如 &hi2c1） - * @param addr : I2C设备地址（左移前的7位地址） - * @param txData : 发送数据缓冲区指针 - * @param len : 要发送的数据长度 - * @param timeout : 超时时间（单位ms） - * @retval HAL_StatusTypeDef HAL库状态值（HAL_OK表示成功） + * @brief I2C涓绘満鍙戦佹寚浠(绾暟鎹彂閫,鏃犲瘎瀛樺櫒鍦板潃) + * @param hi2cX : I2C鍙ユ焺鎸囬拡(濡 &hi2c1) + * @param devAddr : I2C璁惧鍦板潃(宸︾Щ鍓嶇殑7浣嶅湴鍧) + * @param txData : 鍙戦佹暟鎹紦鍐插尯鎸囬拡 + * @param dataLen : 瑕佸彂閫佺殑鏁版嵁闀垮害 + * @param timeoutMs : 瓒呮椂鏃堕棿(鍗曚綅ms) + * @retval HAL_StatusTypeDef HAL搴撶姸鎬佸(HAL_OK琛ㄧず鎴愬姛) */ -HAL_StatusTypeDef Base_I2C_WriteCmd(I2C_HandleTypeDef *hi2cx, uint16_t addr, uint8_t *txData, uint16_t len, uint16_t timeout); +HAL_StatusTypeDef BASE_I2C_Write_Cmd(I2C_HandleTypeDef *hi2cX, uint16_t devAddr, + uint8_t *txData, uint16_t dataLen, uint16_t timeoutMs); /** - * @brief 读取 I2C 设备多个连续寄存器 - * @param hi2cx : I2C句柄指针（如 &hi2c1） - * @param DevAddr : 设备7位I2C地址（左移前） 如 0x15 - * @param RegAddr : 起始寄存器地址 如 0x01 - * @param buf : 接收数据的缓冲区 - * @param len : 要读取的字节数 - * @param timeout : 超时时间（单位ms） - * @retval HAL_OK 读取成功 - * @retval 其他值 读取失败 + * @brief 璇诲彇I2C璁惧澶氫釜杩炵画瀵勫瓨鍣 + * @param hi2cX : I2C鍙ユ焺鎸囬拡(濡 &hi2c1) + * @param devAddr : 璁惧7浣岻2C鍦板潃(宸︾Щ鍓) + * @param regAddr : 璧峰瀵勫瓨鍣ㄥ湴鍧 + * @param outBuffer : 鎺ユ敹鏁版嵁鐨勭紦鍐插尯 + * @param bufferLen : 瑕佽鍙栫殑瀛楄妭鏁 + * @param timeoutMs : 瓒呮椂鏃堕棿(鍗曚綅ms) + * @retval HAL_OK 璇诲彇鎴愬姛, 鍏朵粬鍊艰鍙栧け璐 */ -HAL_StatusTypeDef Base_I2C_ReadRegs(I2C_HandleTypeDef *hi2cx,uint16_t DevAddr, uint8_t RegAddr, uint8_t *buf, uint16_t len,uint16_t timeout); -#endif +HAL_StatusTypeDef BASE_I2C_Read_Regs(I2C_HandleTypeDef *hi2cX, uint16_t devAddr, + uint8_t regAddr, uint8_t *outBuffer, + uint16_t bufferLen, uint16_t timeoutMs); +#endif diff --git a/modules/oled/.keep b/modules/oled/.keep deleted file mode 100644 index e69de29..0000000 diff --git a/modules/oled/HW_OLED.c b/modules/oled/HW_OLED.c index cc7edee..ff13474 100644 --- a/modules/oled/HW_OLED.c +++ b/modules/oled/HW_OLED.c @@ -1,176 +1,87 @@ -#include "main.h" -#include "i2c.h" -#include "Base_I2C.h" -#include "OLED_Font.h" -#include "HW_OLED.h" -void HW_OLED_WriteByte(uint8_t regAddr, uint8_t data) { - uint8_t TxData[2] = {regAddr, data}; - Base_I2C_WriteCmd(&hi2c1, OLED_Addr, (uint8_t*)TxData, 2, 10); -} -void OLED_WriteCommand(uint8_t iicCommand) { - HW_OLED_WriteByte(0x00, iicCommand); -} -void OLED_WriteData(uint8_t iicData) { - HW_OLED_WriteByte(0x40, iicData); -} -void OLED_SetCursor(uint8_t Y, uint8_t X) -{ - OLED_WriteCommand(0xB0 | Y); //设置Y位置 - OLED_WriteCommand(0x10 | ((X & 0xF0) >> 4)); //设置X位置高4位 - OLED_WriteCommand(0x00 | (X & 0x0F)); //设置X位置低4位 -} +#include "hw_oled.h" -void OLED_Clear(void) -{ - uint8_t i, j; - for (j = 0; j < 8; j++) - { - OLED_SetCursor(j, 0); - for(i = 0; i < 128; i++) - { - OLED_WriteData(0x00); - } - } -} -void my_OLED_Clear(void) -{ - uint8_t i, j; - for (j = 0; j < 8; j++) - { - OLED_SetCursor(j, 0); - for(i = 0; i < 128; i++) - { - OLED_WriteData(0xff); - } - } -} +static I2C_HandleTypeDef *gI2cHandle; // 鍏ㄥ眬I2C鍙ユ焺鎸囬拡 -void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char) -{ - uint8_t i; - OLED_SetCursor((Line - 1) * 2, (Column - 1) * 8); //设置光标位置在上半部分 - for (i = 0; i < 8; i++) - { - OLED_WriteData(OLED_F8x16[Char - ' '][i]); //显示上半部分内容 - } - OLED_SetCursor((Line - 1) * 2 + 1, (Column - 1) * 8); //设置光标位置在下半部分 - for (i = 0; i < 8; i++) - { - OLED_WriteData(OLED_F8x16[Char - ' '][i + 8]); //显示下半部分内容 - } -} - -void OLED_ShowString(uint8_t Line, uint8_t Column, char *String) +// 绉佹湁杈呭姪鍑芥暟 -------------------------------------------------------------- +static void OLED_Write_Byte(uint8_t regCtrl, uint8_t byteVal) { - uint8_t i; - for (i = 0; String[i] != '\0'; i++) - { - OLED_ShowChar(Line, Column + i, String[i]); - } + uint8_t txBuf[2] = {regCtrl, byteVal}; + BASE_I2C_Write_Cmd(gI2cHandle, OLED_I2C_ADDR, txBuf, 2, 10); } -uint32_t OLED_Pow(uint32_t X, uint32_t Y) +static void OLED_Write_Cmd(uint8_t cmd) { - uint32_t Result = 1; - while (Y--) - { - Result *= X; - } - return Result; + OLED_Write_Byte(0x00, cmd); } -void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length) + +static void OLED_Write_Data(uint8_t data) { - uint8_t i; - for (i = 0; i < Length; i++) - { - OLED_ShowChar(Line, Column + i, Number / OLED_Pow(10, Length - i - 1) % 10 + '0'); - } + OLED_Write_Byte(0x40, data); } -void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length) +static void OLED_Set_Cursor(uint8_t page, uint8_t column) { - uint8_t i; - uint32_t Number1; - if (Number >= 0) - { - OLED_ShowChar(Line, Column, '+'); - Number1 = Number; - } - else - { - OLED_ShowChar(Line, Column, '-'); - Number1 = -Number; - } - for (i = 0; i < Length; i++) - { - OLED_ShowChar(Line, Column + i + 1, Number1 / OLED_Pow(10, Length - i - 1) % 10 + '0'); - } + OLED_Write_Cmd(0xB0 | page); + OLED_Write_Cmd(0x10 | ((column & 0xF0) >> 4)); + OLED_Write_Cmd(0x00 | (column & 0x0F)); } -void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length) + +static void OLED_Write_Batch(uint8_t page, uint8_t startCol, const uint8_t *data, uint8_t dataLen) { - uint8_t i, SingleNumber; - for (i = 0; i < Length; i++) - { - SingleNumber = Number / OLED_Pow(16, Length - i - 1) % 16; - if (SingleNumber < 10) - { - OLED_ShowChar(Line, Column + i, SingleNumber + '0'); - } - else - { - OLED_ShowChar(Line, Column + i, SingleNumber - 10 + 'A'); - } - } + OLED_Set_Cursor(page, startCol); + for (uint8_t i = 0; i < dataLen; ++i) + { + OLED_Write_Data(data[i]); + } } -void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length) + +static void OLED_Write_Page(uint8_t page, uint8_t fillValue) { - uint8_t i; - for (i = 0; i < Length; i++) - { - OLED_ShowChar(Line, Column + i, Number / OLED_Pow(2, Length - i - 1) % 2 + '0'); - } + OLED_Set_Cursor(page, 0); + for (uint8_t i = 0; i < 128; ++i) + { + OLED_Write_Data(fillValue); + } } -void OLED_Init(void) -{ - HAL_Delay(100); - OLED_WriteCommand(0xAE); //关闭显示 - - OLED_WriteCommand(0xD5); //设置显示时钟分频比/振荡器频率 - OLED_WriteCommand(0x80); - - OLED_WriteCommand(0xA8); //设置多路复用率 - OLED_WriteCommand(0x3F); - - OLED_WriteCommand(0xD3); //设置显示偏移 - OLED_WriteCommand(0x00); - - OLED_WriteCommand(0x40); //设置显示开始行 - - OLED_WriteCommand(0xA1); //设置左右方向，0xA1正常 0xA0左右反置 - - OLED_WriteCommand(0xC8); //设置上下方向，0xC8正常 0xC0上下反置 - - OLED_WriteCommand(0xDA); //设置COM引脚硬件配置 - OLED_WriteCommand(0x12); - - OLED_WriteCommand(0x81); //设置对比度控制 - OLED_WriteCommand(0xCF); - - OLED_WriteCommand(0xD9); //设置预充电周期 - OLED_WriteCommand(0xF1); - OLED_WriteCommand(0xDB); //设置VCOMH取消选择级别 - OLED_WriteCommand(0x30); - - OLED_WriteCommand(0xA4); //设置整个显示打开/关闭 +// 鍏叡API ------------------------------------------------------------------- +void HW_OLED_Init(void) +{ + gI2cHandle = &hi2c1; // 鍋囪浣跨敤 hi2c1锛屾牴鎹疄闄呬慨鏀 + HAL_Delay(100); - OLED_WriteCommand(0xA6); //设置正常/倒转显示 + // 鍒濆鍖栧懡浠ゅ簭鍒 + OLED_Write_Cmd(0xAE); // 鍏抽棴鏄剧ず + OLED_Write_Cmd(0xD5); OLED_Write_Cmd(0x80); + OLED_Write_Cmd(0xA8); OLED_Write_Cmd(0x3F); + OLED_Write_Cmd(0xD3); OLED_Write_Cmd(0x00); + OLED_Write_Cmd(0x40); // 璧峰琛 + OLED_Write_Cmd(0xA1); // 宸﹀彸鍙嶇疆 + OLED_Write_Cmd(0xC8); // 涓婁笅鍙嶇疆 + OLED_Write_Cmd(0xDA); OLED_Write_Cmd(0x12); + OLED_Write_Cmd(0x81); OLED_Write_Cmd(0xCF); + OLED_Write_Cmd(0xD9); OLED_Write_Cmd(0xF1); + OLED_Write_Cmd(0xDB); OLED_Write_Cmd(0x30); + OLED_Write_Cmd(0xA4); // 鍏ㄥ眬鏄剧ず寮鍚 + OLED_Write_Cmd(0xA6); // 姝ｅ父鏄剧ず + OLED_Write_Cmd(0x8D); OLED_Write_Cmd(0x14); // 鐢佃嵎娉典娇鑳 + OLED_Write_Cmd(0xAF); // 寮鍚樉绀 - OLED_WriteCommand(0x8D); //设置充电泵 - OLED_WriteCommand(0x14); + HW_OLED_Clear(); +} - OLED_WriteCommand(0xAF); //开启显示 - - OLED_Clear(); //OLED清屏 +void HW_OLED_Clear(void) +{ + for (uint8_t page = 0; page < 8; ++page) + { + OLED_Write_Page(page, 0x00); + } } +void HW_OLED_Fill(void) +{ + for (uint8_t page = 0; page < 8; ++page) + { + OLED_Write_Page(page, 0xFF); + } +} \ No newline at end of file diff --git a/modules/oled/HW_OLED.h b/modules/oled/HW_OLED.h index 2adff44..d67e923 100644 --- a/modules/oled/HW_OLED.h +++ b/modules/oled/HW_OLED.h @@ -1,125 +1,67 @@ -#ifndef __HW_OLED_H -#define __HW_OLED_H +#ifndef HW_OLED_H +#define HW_OLED_H -#include "main.h" #include "i2c.h" +#include "Base_I2C.h" -/************************* - * 功能：OLED I2C 驱动头文件 - * 依赖：STM32 HAL库 I2C - * 说明：提供OLED初始化、清屏、显示字符串等基础接口 - *************************/ +/*==================== OLED鎺у埗鍛戒护瀹忓畾涔 ====================*/ +#define OLED_CMD_LEFT 0x27 // 宸︾Щ鍛戒护 +#define OLED_CMD_RIGHT 0x26 // 鍙崇Щ鍛戒护 +#define OLED_CMD_UP 0x29 // 涓婄Щ鍛戒护 +#define OLED_CMD_DOWN 0x2A // 涓嬬Щ鍛戒护 +#define OLED_CMD_ON 0xA7 // 鏄剧ず寮鍚/鐐逛寒鍛戒护 +#define OLED_CMD_OFF 0xA6 // 鏄剧ず鍏抽棴/鐔勭伃鍛戒护 -/*==================== OLED 控制命令宏定义 ====================*/ -#define LEFT 0x27 // 左移命令 -#define RIGHT 0x26 // 右移命令 -#define UP 0x29 // 上移命令 -#define DOWN 0x2A // 下移命令 -#define ON 0xA7 // 显示开启/点亮命令 -#define OFF 0xA6 // 显示关闭/熄灭命令 +#define OLED_I2C_ADDR 0x78 // OLED I2C璁惧鍦板潃 -#define OLED_Addr 0x78 // OLED I2C 设备地址 +/*==================== OLED灞忓箷鍙傛暟 ====================*/ +#define OLED_WIDTH 128 // OLED瀹藉害:128 +#define OLED_HEIGHT 64 // OLED楂樺害:64 -/*==================== OLED 屏幕参数 ====================*/ -#define displayWidth 128 // OLED宽度：128 -#define displayHeight 64 // OLED高度：64 -/*==================== 底层I2C写函数 ====================*/ +/*==================== 灞忓箷鎿嶄綔鍑芥暟 ====================*/ /** - * @brief OLED通过I2C写入一个字节（命令/数据） - * @param regAddr: 控制字节 0x00=命令 0x40=数据 - * @param data: 要写入的命令或数据 - * @retval 无 + * @brief OLED鍒濆鍖(涓婄數蹇呴』璋冪敤) */ -void HW_OLED_WriteByte(uint8_t regAddr, uint8_t data); +void HW_OLED_Init(void); /** - * @brief 向OLED写入命令 - * @param iicCommand: 命令值 - * @retval 无 + * @brief OLED娓呭睆(鍏ㄩ粦) */ -void OLED_WriteCommand(uint8_t iicCommand); +void HW_OLED_Clear(void); /** - * @brief 向OLED写入数据 - * @param iicData: 显示数据 - * @retval 无 + * @brief OLED婊″睆鐐逛寒(鍏ㄧ櫧) */ -void OLED_WriteData(uint8_t iicData); +void HW_OLED_Fill(void); /** - * @brief 设置OLED光标位置 - * @param Y: 页地址 0~7 - * @param X: 列地址 0~127 - * @retval 无 + * @brief 璁剧疆鍏夋爣浣嶇疆骞惰繛缁啓鍏ュ涓瓧鑺傛暟鎹紙閫傜敤浜庨潪閲嶅鏁版嵁锛 + * @param page 椤靛湴鍧锛0~7锛屽搴 Y 鍧愭爣姣 8 鍍忕礌涓椤碉級 + * @param column 鍒楄捣濮嬪湴鍧锛0~127锛屽搴 X 鍧愭爣锛 + * @param data 寰呭啓鍏ョ殑鏁版嵁缂撳啿鍖烘寚閽 + * @param dataLen 瑕佸啓鍏ョ殑瀛楄妭鏁 */ -void OLED_SetCursor(uint8_t Y, uint8_t X); +static void HW_OLED_SetCursorAndWriteData(uint8_t page, uint8_t column, + const uint8_t *data, uint8_t dataLen); -/*==================== 屏幕操作函数 ====================*/ /** - * @brief OLED初始化（上电必须调用） - * @param 无 - * @retval 无 + * @brief 灏嗘暣椤碉紙128 鍒楋級濉厖涓烘寚瀹氬 + * @param page 椤靛湴鍧锛0~7锛 + * @param fillValue 濉厖鍊硷紙0x00 娓呯┖锛0xFF 鍏ㄤ寒锛 */ -void OLED_Init(void); +static void HW_OLED_WritePage(uint8_t page, uint8_t fillValue); /** - * @brief OLED清屏（全黑） - * @param 无 - * @retval 无 + * @brief 鍚 OLED 鍐欏叆鍛戒护瀛楄妭 + * @param cmd 鍛戒护瀛楄妭锛堝 0xAE 鍏抽棴鏄剧ず锛 */ -void OLED_Clear(void); +static void HW_OLED_WriteCommand(uint8_t cmd); /** - * @brief OLED满屏点亮（全白） - * @param 无 - * @retval 无 + * @brief 鍚 OLED 鍐欏叆鏁版嵁瀛楄妭锛堟樉绀哄唴瀹癸級 + * @param data 瑕佹樉绀虹殑鏁版嵁瀛楄妭锛堜竴鍒 8 鍍忕礌鐐癸級 */ -void my_OLED_Clear(void); - -/*==================== 显示函数 ====================*/ -/** - * @brief OLED显示单个字符（8x16字体） - * @param Line: 行 1~4 - * @param Column: 列 1~16 - * @param Char: 要显示的字符 - * @retval 无 - */ -void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char); - -/** - * @brief OLED显示字符串 - * @param Line: 起始行 1~4 - * @param Column: 起始列 1~16 - * @param String: 字符串指针 - * @retval 无 - */ -void OLED_ShowString(uint8_t Line, uint8_t Column, char *String); - -/** - * @brief OLED显示无符号十进制数字 - * @param Line: 行 - * @param Column: 列 - * @param Number: 数字 0~4294967295 - * @param Length: 显示位数 - * @retval 无 - */ -void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length); - -/** - * @brief OLED显示有符号十进制数字 - */ -void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length); - -/** - * @brief OLED显示十六进制数字 - */ -void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length); - -/** - * @brief OLED显示二进制数字 - */ -void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length); +static void HW_OLED_WriteData(uint8_t data); #endif - diff --git a/modules/oled/OLED_Font.h b/modules/oled/OLED_FONT_8X16_ENGLISH.h similarity index 95% rename from modules/oled/OLED_Font.h rename to modules/oled/OLED_FONT_8X16_ENGLISH.h index 6cd34bf..9039df5 100644 --- a/modules/oled/OLED_Font.h +++ b/modules/oled/OLED_FONT_8X16_ENGLISH.h @@ -1,8 +1,9 @@ -#ifndef __OLED_FONT_H -#define __OLED_FONT_H -#include "main.h" -/*OLED瀛楁ā搴擄紝瀹8鍍忕礌锛岄珮16鍍忕礌*/ -const uint8_t OLED_F8x16[][16]= +#ifndef OLED_FONT_8X16_ENGLISH_H +#define OLED_FONT_8X16_ENGLISH_H + +#include + +static const uint8_t OLED_F8x16[][16]= { {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},// 0 @@ -192,11 +193,7 @@ const uint8_t OLED_F8x16[][16]= {0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00},//} 93 -// 0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04, -// 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94 - {0x00,0x00,0xF0,0xFC,0xFC,0xF0,0x00,0x00,0xF0,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xF0}, -// 0x00,0x00,0xF0,0xFF,0xFF,0xF0,0x00,0x00, -// 0xF8,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xF8,/*"鏈懡鍚嶆枃浠",0*/ + {0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}//~ 94 }; #endif diff --git a/modules/oled/OLED_FONT_MANAGE.h b/modules/oled/OLED_FONT_MANAGE.h new file mode 100644 index 0000000..aa8a781 --- /dev/null +++ b/modules/oled/OLED_FONT_MANAGE.h @@ -0,0 +1,23 @@ +#ifndef OLED_FONT_MANAGE_H +#define OLED_FONT_MANAGE_H + +#include +#include "HW_OLED.h" + +// 瀹忓畾涔:閫夋嫨褰撳墠浣跨敤鐨凮LED瀛楀簱(浠呭紑鍚竴涓嵆鍙) +#define OLED_FONT_8X16_ENGLISH // 8x16鑻辨枃瀛楀簱(榛樿寮鍚) +//#define OLED_FONT_16X16_CHINESE // 16x16涓枃瀛楀簱 +//#define OLED_FONT_8X16_NUMBER // 8x16鏁板瓧瀛楀簱 + +#ifdef OLED_FONT_8X16_ENGLISH + #include "OLED_FONT_8X16_ENGLISH.h" +#elif defined(OLED_FONT_16X16_CHINESE) + #include "OLED_FONT_16X16_CHINESE.h" +#elif defined(OLED_FONT_8X16_NUMBER) + #include "OLED_FONT_8X16_NUMBER.h" +#else + + #include "OLED_FONT_8X16_ENGLISH.h" // 鏃犱换浣曞瓧搴撳畾涔夋椂,榛樿鍔犺浇鏍囧噯鑻辨枃瀛楀簱 +#endif + +#endif -- Gitee From c5ee774145a5fe7e49c8d6f72281db441a97d900 Mon Sep 17 00:00:00 2001 From: ZengHongKun <431250696@qq.com> Date: Sat, 30 May 2026 12:00:36 +0800 Subject: [PATCH 3/4] Trigger PR update -- Gitee From 8852eabc37f9fec4fa3de22ba438a92508473d54 Mon Sep 17 00:00:00 2001 From: ZengHongKun <431250696@qq.com> Date: Thu, 16 Jul 2026 22:38:54 +0800 Subject: [PATCH 4/4] =?UTF-8?q?=E6=BF=80=E5=85=89=E6=B5=8B=E8=B7=9D?= =?UTF-8?q?=E6=A8=A1=E5=9D=97?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- modules/VL53L0X/inc/bsp_VL53L0X.h | 52 + modules/VL53L0X/inc/sys.h | 60 + modules/VL53L0X/inc/vl53l0x_api.h | 1953 +++++++++++ modules/VL53L0X/inc/vl53l0x_api_calibration.h | 85 + modules/VL53L0X/inc/vl53l0x_api_core.h | 108 + modules/VL53L0X/inc/vl53l0x_api_ranging.h | 47 + modules/VL53L0X/inc/vl53l0x_api_strings.h | 277 ++ modules/VL53L0X/inc/vl53l0x_cali.h | 26 + modules/VL53L0X/inc/vl53l0x_def.h | 640 ++++ modules/VL53L0X/inc/vl53l0x_device.h | 257 ++ modules/VL53L0X/inc/vl53l0x_gen.h | 16 + modules/VL53L0X/inc/vl53l0x_i2c.h | 67 + .../vl53l0x_interrupt_threshold_settings.h | 194 ++ modules/VL53L0X/inc/vl53l0x_it.h | 9 + modules/VL53L0X/inc/vl53l0x_platform.h | 40 + modules/VL53L0X/inc/vl53l0x_platform_log.h | 157 + modules/VL53L0X/inc/vl53l0x_tuning.h | 146 + modules/VL53L0X/inc/vl53l0x_types.h | 112 + modules/VL53L0X/my_vl53l0.h | 9 + modules/VL53L0X/src/bsp_VL53L0X.c | 170 + modules/VL53L0X/src/vl53l0x_api.c | 3035 +++++++++++++++++ modules/VL53L0X/src/vl53l0x_api_calibration.c | 1276 +++++++ modules/VL53L0X/src/vl53l0x_api_core.c | 2239 ++++++++++++ modules/VL53L0X/src/vl53l0x_api_ranging.c | 42 + modules/VL53L0X/src/vl53l0x_api_strings.c | 462 +++ modules/VL53L0X/src/vl53l0x_cali.c | 180 + modules/VL53L0X/src/vl53l0x_gen.c | 81 + modules/VL53L0X/src/vl53l0x_i2c.c | 428 +++ modules/VL53L0X/src/vl53l0x_it.c | 262 ++ modules/VL53L0X/src/vl53l0x_platform.c | 271 ++ ...7\347\224\250\346\226\271\346\263\225.txt" | 44 + ...0\345\212\237\346\241\210\344\276\213.zip" | Bin 0 -> 1040537 bytes 32 files changed, 12745 insertions(+) create mode 100644 modules/VL53L0X/inc/bsp_VL53L0X.h create mode 100644 modules/VL53L0X/inc/sys.h create mode 100644 modules/VL53L0X/inc/vl53l0x_api.h create mode 100644 modules/VL53L0X/inc/vl53l0x_api_calibration.h create mode 100644 modules/VL53L0X/inc/vl53l0x_api_core.h create mode 100644 modules/VL53L0X/inc/vl53l0x_api_ranging.h create mode 100644 modules/VL53L0X/inc/vl53l0x_api_strings.h create mode 100644 modules/VL53L0X/inc/vl53l0x_cali.h create mode 100644 modules/VL53L0X/inc/vl53l0x_def.h create mode 100644 modules/VL53L0X/inc/vl53l0x_device.h create mode 100644 modules/VL53L0X/inc/vl53l0x_gen.h create mode 100644 modules/VL53L0X/inc/vl53l0x_i2c.h create mode 100644 modules/VL53L0X/inc/vl53l0x_interrupt_threshold_settings.h create mode 100644 modules/VL53L0X/inc/vl53l0x_it.h create mode 100644 modules/VL53L0X/inc/vl53l0x_platform.h create mode 100644 modules/VL53L0X/inc/vl53l0x_platform_log.h create mode 100644 modules/VL53L0X/inc/vl53l0x_tuning.h create mode 100644 modules/VL53L0X/inc/vl53l0x_types.h create mode 100644 modules/VL53L0X/my_vl53l0.h create mode 100644 modules/VL53L0X/src/bsp_VL53L0X.c create mode 100644 modules/VL53L0X/src/vl53l0x_api.c create mode 100644 modules/VL53L0X/src/vl53l0x_api_calibration.c create mode 100644 modules/VL53L0X/src/vl53l0x_api_core.c create mode 100644 modules/VL53L0X/src/vl53l0x_api_ranging.c create mode 100644 modules/VL53L0X/src/vl53l0x_api_strings.c create mode 100644 modules/VL53L0X/src/vl53l0x_cali.c create mode 100644 modules/VL53L0X/src/vl53l0x_gen.c create mode 100644 modules/VL53L0X/src/vl53l0x_i2c.c create mode 100644 modules/VL53L0X/src/vl53l0x_it.c create mode 100644 modules/VL53L0X/src/vl53l0x_platform.c create mode 100644 "modules/VL53L0X/\344\275\277\347\224\250\346\226\271\346\263\225.txt" create mode 100644 "modules/VL53L0X/\346\272\220\344\273\243\347\240\201/\345\244\251\347\251\272\346\230\237STM32F407-VL53L0X\346\277\200\345\205\211\346\265\213\350\267\235\344\274\240\346\204\237\345\231\250\347\247\273\346\244\215\346\210\220\345\212\237\346\241\210\344\276\213.zip" diff --git a/modules/VL53L0X/inc/bsp_VL53L0X.h b/modules/VL53L0X/inc/bsp_VL53L0X.h new file mode 100644 index 0000000..9b7b0bd --- /dev/null +++ b/modules/VL53L0X/inc/bsp_VL53L0X.h @@ -0,0 +1,52 @@ +#ifndef __VL53L0X_H +#define __VL53L0X_H + +#include "vl53l0x_api.h" +#include "vl53l0x_platform.h" +#include "vl53l0x_gen.h" +#include "vl53l0x_cali.h" +#include "vl53l0x_it.h" +#include "sys.h" +#include "my_vl53l0.h" + + +//VL53L0X传感器上电默认IIC地址为0X52(不包含最低位) +#define VL53L0X_Addr 0x52 + +//控制Xshut电平,从而使能VL53L0X工作 1:使能 0:关闭 + + +//使能2.8V IO电平模式 +#define USE_I2C_2V8 1 + +//测量模式 +#define Default_Mode 0// 默认 +#define HIGH_ACCURACY 1//高精度 +#define LONG_RANGE 2//长距离 +#define HIGH_SPEED 3//高速 + +//vl53l0x模式配置参数集 +typedef struct packed_2 +{ + FixPoint1616_t signalLimit; //Signal极限数值 + FixPoint1616_t sigmaLimit; //Sigmal极限数值 + uint32_t timingBudget; //采样时间周期 + uint8_t preRangeVcselPeriod ; //VCSEL脉冲周期 + uint8_t finalRangeVcselPeriod ;//VCSEL脉冲周期范围 + +}mode_data; + + +extern mode_data Mode_data[]; +extern uint8_t AjustOK; + +VL53L0X_Error vl53l0x_init(VL53L0X_Dev_t *dev);//初始化vl53l0x +void print_pal_error(VL53L0X_Error Status);//错误信息打印 +void mode_string(u8 mode,char *buf);//模式字符串显示 +void vl53l0x_test(void);//vl53l0x测试 +void vl53l0x_reset(VL53L0X_Dev_t *dev);//vl53l0x复位 + +void vl53l0x_info(void);//获取vl53l0x设备ID信息 +void One_measurement(u8 mode);//获取一次测量距离数据 +#endif + diff --git a/modules/VL53L0X/inc/sys.h b/modules/VL53L0X/inc/sys.h new file mode 100644 index 0000000..176eeff --- /dev/null +++ b/modules/VL53L0X/inc/sys.h @@ -0,0 +1,60 @@ +/* + * 立创开发板软硬件资料与相关扩展板软硬件资料官网全部开源 + * 开发板官网：www.lckfb.com + * 技术支持常驻论坛，任何技术问题欢迎随时交流学习 + * 立创论坛：club.szlcsc.com + * 关注bilibili账号：【立创开发板】，掌握我们的最新动态！ + * 不靠卖板赚钱，以培养中国工程师为己任 + * + + Change Logs: + * Date Author Notes + * 2024-03-07 LCKFB-LP first version + */ + +#ifndef __SYS_H__ +#define __SYS_H__ + +#include "stm32f4xx.h" + +// 位带操作的宏定义，直接使用您提供的BIT_ADDR宏 +#define BIT_ADDR(byte_offset,bitnum) (volatile unsigned long*)(0x42000000 + (byte_offset * 32) + (bitnum * 4)) + +// 计算GPIOB寄存器的位带别名区地址 +#define GPIOA_OCTL_OFFSET ((GPIOA_BASE + 0x14) - 0x40000000) +#define GPIOB_OCTL_OFFSET ((GPIOB_BASE + 0x14) - 0x40000000) +#define GPIOC_OCTL_OFFSET ((GPIOC_BASE + 0x14) - 0x40000000) +#define GPIOD_OCTL_OFFSET ((GPIOD_BASE + 0x14) - 0x40000000) +#define GPIOE_OCTL_OFFSET ((GPIOE_BASE + 0x14) - 0x40000000) +#define GPIOF_OCTL_OFFSET ((GPIOF_BASE + 0x14) - 0x40000000) +#define GPIOG_OCTL_OFFSET ((GPIOG_BASE + 0x14) - 0x40000000) + +#define GPIOA_ISTAT_OFFSET ((GPIOA_BASE + 0x10) - 0x40000000) +#define GPIOB_ISTAT_OFFSET ((GPIOB_BASE + 0x10) - 0x40000000) +#define GPIOC_ISTAT_OFFSET ((GPIOC_BASE + 0x10) - 0x40000000) +#define GPIOD_ISTAT_OFFSET ((GPIOD_BASE + 0x10) - 0x40000000) +#define GPIOE_ISTAT_OFFSET ((GPIOE_BASE + 0x10) - 0x40000000) +#define GPIOF_ISTAT_OFFSET ((GPIOF_BASE + 0x10) - 0x40000000) +#define GPIOG_ISTAT_OFFSET ((GPIOG_BASE + 0x10) - 0x40000000) + + +// 定义输出和输入宏 +#define PAin(n) *(BIT_ADDR(GPIOA_ISTAT_OFFSET,n)) // PA输入 +#define PBin(n) *(BIT_ADDR(GPIOB_ISTAT_OFFSET,n)) // PB输入 +#define PCin(n) *(BIT_ADDR(GPIOC_ISTAT_OFFSET,n)) // PC输入 +#define PDin(n) *(BIT_ADDR(GPIOD_ISTAT_OFFSET,n)) // PD输入 +#define PEin(n) *(BIT_ADDR(GPIOE_ISTAT_OFFSET,n)) // PE输入 +#define PFin(n) *(BIT_ADDR(GPIOF_ISTAT_OFFSET,n)) // PF输入 +#define PGin(n) *(BIT_ADDR(GPIOG_ISTAT_OFFSET,n)) // PG输入 + +#define PAout(n) *(BIT_ADDR(GPIOA_OCTL_OFFSET,n)) // PA输出 +#define PBout(n) *(BIT_ADDR(GPIOB_OCTL_OFFSET,n)) // PB输出 +#define PCout(n) *(BIT_ADDR(GPIOC_OCTL_OFFSET,n)) // PC输出 +#define PDout(n) *(BIT_ADDR(GPIOD_OCTL_OFFSET,n)) // PD输出 +#define PEout(n) *(BIT_ADDR(GPIOE_OCTL_OFFSET,n)) // PE输出 +#define PFout(n) *(BIT_ADDR(GPIOF_OCTL_OFFSET,n)) // PF输出 +#define PGout(n) *(BIT_ADDR(GPIOG_OCTL_OFFSET,n)) // PG输出 + + + +#endif diff --git a/modules/VL53L0X/inc/vl53l0x_api.h b/modules/VL53L0X/inc/vl53l0x_api.h new file mode 100644 index 0000000..48148e2 --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_api.h @@ -0,0 +1,1953 @@ +/******************************************************************************* + Copyright 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. + *****************************************************************************/ + +#ifndef _VL53L0X_API_H_ +#define _VL53L0X_API_H_ + +#include "vl53l0x_api_strings.h" +#include "vl53l0x_def.h" +#include "vl53l0x_platform.h" +#include "bsp_vl53l0x.h" + + + +#ifdef __cplusplus +extern "C" +{ +#endif + +#ifdef _MSC_VER +# ifdef VL53L0X_API_EXPORTS +# define VL53L0X_API __declspec(dllexport) +# else +# define VL53L0X_API +# endif +#else +# define VL53L0X_API +#endif + +/** @defgroup VL53L0X_cut11_group VL53L0X cut1.1 Function Definition + * @brief VL53L0X cut1.1 Function Definition + * @{ + */ + +/** @defgroup VL53L0X_general_group VL53L0X General Functions + * @brief General functions and definitions + * @{ + */ + +/** + * @brief Return the VL53L0X PAL Implementation Version + * + * @note This function doesn't access to the device + * + * @param pVersion Pointer to current PAL Implementation Version + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetVersion(VL53L0X_Version_t *pVersion); + +/** + * @brief Return the PAL Specification Version used for the current + * implementation. + * + * @note This function doesn't access to the device + * + * @param pPalSpecVersion Pointer to current PAL Specification Version + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetPalSpecVersion( + VL53L0X_Version_t *pPalSpecVersion); + +/** + * @brief Reads the Product Revision for a for given Device + * This function can be used to distinguish cut1.0 from cut1.1. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pProductRevisionMajor Pointer to Product Revision Major + * for a given Device + * @param pProductRevisionMinor Pointer to Product Revision Minor + * for a given Device + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetProductRevision(VL53L0X_DEV Dev, + uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor); + +/** + * @brief Reads the Device information for given Device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pVL53L0X_DeviceInfo Pointer to current device info for a given + * Device + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev, + VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo); + +/** + * @brief Read current status of the error register for the selected device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pDeviceErrorStatus Pointer to current error code of the device + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetDeviceErrorStatus(VL53L0X_DEV Dev, + VL53L0X_DeviceError *pDeviceErrorStatus); + +/** + * @brief Human readable Range Status string for a given RangeStatus + * + * @note This function doesn't access to the device + * + * @param RangeStatus The RangeStatus code as stored on + * @a VL53L0X_RangingMeasurementData_t + * @param pRangeStatusString The returned RangeStatus string. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetRangeStatusString(uint8_t RangeStatus, + char *pRangeStatusString); + +/** + * @brief Human readable error string for a given Error Code + * + * @note This function doesn't access to the device + * + * @param ErrorCode The error code as stored on ::VL53L0X_DeviceError + * @param pDeviceErrorString The error string corresponding to the ErrorCode + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetDeviceErrorString( + VL53L0X_DeviceError ErrorCode, char *pDeviceErrorString); + +/** + * @brief Human readable error string for current PAL error status + * + * @note This function doesn't access to the device + * + * @param PalErrorCode The error code as stored on @a VL53L0X_Error + * @param pPalErrorString The error string corresponding to the + * PalErrorCode + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetPalErrorString(VL53L0X_Error PalErrorCode, + char *pPalErrorString); + +/** + * @brief Human readable PAL State string + * + * @note This function doesn't access to the device + * + * @param PalStateCode The State code as stored on @a VL53L0X_State + * @param pPalStateString The State string corresponding to the + * PalStateCode + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetPalStateString(VL53L0X_State PalStateCode, + char *pPalStateString); + +/** + * @brief Reads the internal state of the PAL for a given Device + * + * @note This function doesn't access to the device + * + * @param Dev Device Handle + * @param pPalState Pointer to current state of the PAL for a + * given Device + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetPalState(VL53L0X_DEV Dev, + VL53L0X_State *pPalState); + +/** + * @brief Set the power mode for a given Device + * The power mode can be Standby or Idle. Different level of both Standby and + * Idle can exists. + * This function should not be used when device is in Ranging state. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param PowerMode The value of the power mode to set. + * see ::VL53L0X_PowerModes + * Valid values are: + * VL53L0X_POWERMODE_STANDBY_LEVEL1, + * VL53L0X_POWERMODE_IDLE_LEVEL1 + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when PowerMode + * is not in the supported list + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetPowerMode(VL53L0X_DEV Dev, + VL53L0X_PowerModes PowerMode); + +/** + * @brief Get the power mode for a given Device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pPowerMode Pointer to the current value of the power + * mode. see ::VL53L0X_PowerModes + * Valid values are: + * VL53L0X_POWERMODE_STANDBY_LEVEL1, + * VL53L0X_POWERMODE_IDLE_LEVEL1 + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetPowerMode(VL53L0X_DEV Dev, + VL53L0X_PowerModes *pPowerMode); + +/** + * Set or over-hide part to part calibration offset + * \sa VL53L0X_DataInit() VL53L0X_GetOffsetCalibrationDataMicroMeter() + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param OffsetCalibrationDataMicroMeter Offset (microns) + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetOffsetCalibrationDataMicroMeter( + VL53L0X_DEV Dev, int32_t OffsetCalibrationDataMicroMeter); + +/** + * @brief Get part to part calibration offset + * + * @par Function Description + * Should only be used after a successful call to @a VL53L0X_DataInit to backup + * device NVM value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pOffsetCalibrationDataMicroMeter Return part to part + * calibration offset from device (microns) + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetOffsetCalibrationDataMicroMeter( + VL53L0X_DEV Dev, int32_t *pOffsetCalibrationDataMicroMeter); + +/** + * Set the linearity corrective gain + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LinearityCorrectiveGain Linearity corrective + * gain in x1000 + * if value is 1000 then no modification is applied. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetLinearityCorrectiveGain(VL53L0X_DEV Dev, + int16_t LinearityCorrectiveGain); + +/** + * @brief Get the linearity corrective gain + * + * @par Function Description + * Should only be used after a successful call to @a VL53L0X_DataInit to backup + * device NVM value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pLinearityCorrectiveGain Pointer to the linearity + * corrective gain in x1000 + * if value is 1000 then no modification is applied. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetLinearityCorrectiveGain(VL53L0X_DEV Dev, + uint16_t *pLinearityCorrectiveGain); + +/** + * Set Group parameter Hold state + * + * @par Function Description + * Set or remove device internal group parameter hold + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param GroupParamHold Group parameter Hold state to be set (on/off) + * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetGroupParamHold(VL53L0X_DEV Dev, + uint8_t GroupParamHold); + +/** + * @brief Get the maximal distance for actual setup + * @par Function Description + * Device must be initialized through @a VL53L0X_SetParameters() prior calling + * this function. + * + * Any range value more than the value returned is to be considered as + * "no target detected" or + * "no target in detectable range"\n + * @warning The maximal distance depends on the setup + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param pUpperLimitMilliMeter The maximal range limit for actual setup + * (in millimeter) + * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetUpperLimitMilliMeter(VL53L0X_DEV Dev, + uint16_t *pUpperLimitMilliMeter); + + +/** + * @brief Get the Total Signal Rate + * @par Function Description + * This function will return the Total Signal Rate after a good ranging is done. + * + * @note This function access to Device + * + * @param Dev Device Handle + * @param pTotalSignalRate Total Signal Rate value in Mega count per second + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_Error VL53L0X_GetTotalSignalRate(VL53L0X_DEV Dev, + FixPoint1616_t *pTotalSignalRate); + +/** @} VL53L0X_general_group */ + +/** @defgroup VL53L0X_init_group VL53L0X Init Functions + * @brief VL53L0X Init Functions + * @{ + */ + +/** + * @brief Set new device address + * + * After completion the device will answer to the new address programmed. + * This function should be called when several devices are used in parallel + * before start programming the sensor. + * When a single device us used, there is no need to call this function. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param DeviceAddress The new Device address + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, + uint8_t DeviceAddress); + +/** + * + * @brief One time device initialization + * + * To be called once and only once after device is brought out of reset + * (Chip enable) and booted see @a VL53L0X_WaitDeviceBooted() + * + * @par Function Description + * When not used after a fresh device "power up" or reset, it may return + * @a #VL53L0X_ERROR_CALIBRATION_WARNING meaning wrong calibration data + * may have been fetched from device that can result in ranging offset error\n + * If application cannot execute device reset or need to run VL53L0X_DataInit + * multiple time then it must ensure proper offset calibration saving and + * restore on its own by using @a VL53L0X_GetOffsetCalibrationData() on first + * power up and then @a VL53L0X_SetOffsetCalibrationData() in all subsequent init + * This function will change the VL53L0X_State from VL53L0X_STATE_POWERDOWN to + * VL53L0X_STATE_WAIT_STATICINIT. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_DataInit(VL53L0X_DEV Dev); + +/** + * @brief Set the tuning settings pointer + * + * This function is used to specify the Tuning settings buffer to be used + * for a given device. The buffer contains all the necessary data to permit + * the API to write tuning settings. + * This function permit to force the usage of either external or internal + * tuning settings. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pTuningSettingBuffer Pointer to tuning settings buffer. + * @param UseInternalTuningSettings Use internal tuning settings value. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetTuningSettingBuffer(VL53L0X_DEV Dev, + uint8_t *pTuningSettingBuffer, uint8_t UseInternalTuningSettings); + +/** + * @brief Get the tuning settings pointer and the internal external switch + * value. + * + * This function is used to get the Tuning settings buffer pointer and the + * value. + * of the switch to select either external or internal tuning settings. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param ppTuningSettingBuffer Pointer to tuning settings buffer. + * @param pUseInternalTuningSettings Pointer to store Use internal tuning + * settings value. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetTuningSettingBuffer(VL53L0X_DEV Dev, + uint8_t **ppTuningSettingBuffer, uint8_t *pUseInternalTuningSettings); + +/** + * @brief Do basic device init (and eventually patch loading) + * This function will change the VL53L0X_State from + * VL53L0X_STATE_WAIT_STATICINIT to VL53L0X_STATE_IDLE. + * In this stage all default setting will be applied. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_StaticInit(VL53L0X_DEV Dev); + +/** + * @brief Wait for device booted after chip enable (hardware standby) + * This function can be run only when VL53L0X_State is VL53L0X_STATE_POWERDOWN. + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented + * + */ +VL53L0X_API VL53L0X_Error VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev); + +/** + * @brief Do an hard reset or soft reset (depending on implementation) of the + * device \nAfter call of this function, device must be in same state as right + * after a power-up sequence.This function will change the VL53L0X_State to + * VL53L0X_STATE_POWERDOWN. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_ResetDevice(VL53L0X_DEV Dev); + +/** @} VL53L0X_init_group */ + +/** @defgroup VL53L0X_parameters_group VL53L0X Parameters Functions + * @brief Functions used to prepare and setup the device + * @{ + */ + +/** + * @brief Prepare device for operation + * @par Function Description + * Update device with provided parameters + * @li Then start ranging operation. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pDeviceParameters Pointer to store current device parameters. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetDeviceParameters(VL53L0X_DEV Dev, + const VL53L0X_DeviceParameters_t *pDeviceParameters); + +/** + * @brief Retrieve current device parameters + * @par Function Description + * Get actual parameters of the device + * @li Then start ranging operation. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pDeviceParameters Pointer to store current device parameters. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev, + VL53L0X_DeviceParameters_t *pDeviceParameters); + +/** + * @brief Set a new device mode + * @par Function Description + * Set device to a new mode (ranging, histogram ...) + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param DeviceMode New device mode to apply + * Valid values are: + * VL53L0X_DEVICEMODE_SINGLE_RANGING + * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING + * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING + * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM + * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY + * VL53L0X_HISTOGRAMMODE_RETURN_ONLY + * VL53L0X_HISTOGRAMMODE_BOTH + * + * + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when DeviceMode is + * not in the supported list + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, + VL53L0X_DeviceModes DeviceMode); + +/** + * @brief Get current new device mode + * @par Function Description + * Get actual mode of the device(ranging, histogram ...) + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pDeviceMode Pointer to current apply mode value + * Valid values are: + * VL53L0X_DEVICEMODE_SINGLE_RANGING + * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING + * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING + * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM + * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY + * VL53L0X_HISTOGRAMMODE_RETURN_ONLY + * VL53L0X_HISTOGRAMMODE_BOTH + * + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when + * DeviceMode is not in the supported list + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetDeviceMode(VL53L0X_DEV Dev, + VL53L0X_DeviceModes *pDeviceMode); + +/** + * @brief Sets the resolution of range measurements. + * @par Function Description + * Set resolution of range measurements to either 0.25mm if + * fraction enabled or 1mm if not enabled. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param Enable Enable high resolution + * + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetRangeFractionEnable(VL53L0X_DEV Dev, + uint8_t Enable); + +/** + * @brief Gets the fraction enable parameter indicating the resolution of + * range measurements. + * + * @par Function Description + * Gets the fraction enable state, which translates to the resolution of + * range measurements as follows :Enabled:=0.25mm resolution, + * Not Enabled:=1mm resolution. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param pEnable Output Parameter reporting the fraction enable state. + * + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, + uint8_t *pEnable); + +/** + * @brief Set a new Histogram mode + * @par Function Description + * Set device to a new Histogram mode + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param HistogramMode New device mode to apply + * Valid values are: + * VL53L0X_HISTOGRAMMODE_DISABLED + * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM + * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY + * VL53L0X_HISTOGRAMMODE_RETURN_ONLY + * VL53L0X_HISTOGRAMMODE_BOTH + * + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when + * HistogramMode is not in the supported list + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetHistogramMode(VL53L0X_DEV Dev, + VL53L0X_HistogramModes HistogramMode); + +/** + * @brief Get current new device mode + * @par Function Description + * Get current Histogram mode of a Device + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pHistogramMode Pointer to current Histogram Mode value + * Valid values are: + * VL53L0X_HISTOGRAMMODE_DISABLED + * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM + * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY + * VL53L0X_HISTOGRAMMODE_RETURN_ONLY + * VL53L0X_HISTOGRAMMODE_BOTH + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetHistogramMode(VL53L0X_DEV Dev, + VL53L0X_HistogramModes *pHistogramMode); + +/** + * @brief Set Ranging Timing Budget in microseconds + * + * @par Function Description + * Defines the maximum time allowed by the user to the device to run a + * full ranging sequence for the current mode (ranging, histogram, ASL ...) + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param MeasurementTimingBudgetMicroSeconds Max measurement time in + * microseconds. + * Valid values are: + * >= 17000 microsecs when wraparound enabled + * >= 12000 microsecs when wraparound disabled + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned if + MeasurementTimingBudgetMicroSeconds out of range + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetMeasurementTimingBudgetMicroSeconds( + VL53L0X_DEV Dev, uint32_t MeasurementTimingBudgetMicroSeconds); + +/** + * @brief Get Ranging Timing Budget in microseconds + * + * @par Function Description + * Returns the programmed the maximum time allowed by the user to the + * device to run a full ranging sequence for the current mode + * (ranging, histogram, ASL ...) + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pMeasurementTimingBudgetMicroSeconds Max measurement time in + * microseconds. + * Valid values are: + * >= 17000 microsecs when wraparound enabled + * >= 12000 microsecs when wraparound disabled + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetMeasurementTimingBudgetMicroSeconds( + VL53L0X_DEV Dev, uint32_t *pMeasurementTimingBudgetMicroSeconds); + +/** + * @brief Gets the VCSEL pulse period. + * + * @par Function Description + * This function retrieves the VCSEL pulse period for the given period type. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param VcselPeriodType VCSEL period identifier (pre-range|final). + * @param pVCSELPulsePeriod Pointer to VCSEL period value. + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not + * supported. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev, + VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriod); + +/** + * @brief Sets the VCSEL pulse period. + * + * @par Function Description + * This function retrieves the VCSEL pulse period for the given period type. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param VcselPeriodType VCSEL period identifier (pre-range|final). + * @param VCSELPulsePeriod VCSEL period value + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not + * supported. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev, + VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriod); + +/** + * @brief Sets the (on/off) state of a requested sequence step. + * + * @par Function Description + * This function enables/disables a requested sequence step. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param SequenceStepId Sequence step identifier. + * @param SequenceStepEnabled Demanded state {0=Off,1=On} + * is enabled. + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not + * supported. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev, + VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled); + +/** + * @brief Gets the (on/off) state of a requested sequence step. + * + * @par Function Description + * This function retrieves the state of a requested sequence step, i.e. on/off. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param SequenceStepId Sequence step identifier. + * @param pSequenceStepEnabled Out parameter reporting if the sequence step + * is enabled {0=Off,1=On}. + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not + * supported. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetSequenceStepEnable(VL53L0X_DEV Dev, + VL53L0X_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled); + +/** + * @brief Gets the (on/off) state of all sequence steps. + * + * @par Function Description + * This function retrieves the state of all sequence step in the scheduler. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param pSchedulerSequenceSteps Pointer to struct containing result. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev, + VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps); + +/** + * @brief Sets the timeout of a requested sequence step. + * + * @par Function Description + * This function sets the timeout of a requested sequence step. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param SequenceStepId Sequence step identifier. + * @param TimeOutMilliSecs Demanded timeout + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not + * supported. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetSequenceStepTimeout(VL53L0X_DEV Dev, + VL53L0X_SequenceStepId SequenceStepId, FixPoint1616_t TimeOutMilliSecs); + +/** + * @brief Gets the timeout of a requested sequence step. + * + * @par Function Description + * This function retrieves the timeout of a requested sequence step. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param SequenceStepId Sequence step identifier. + * @param pTimeOutMilliSecs Timeout value. + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not + * supported. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetSequenceStepTimeout(VL53L0X_DEV Dev, + VL53L0X_SequenceStepId SequenceStepId, + FixPoint1616_t *pTimeOutMilliSecs); + +/** + * @brief Gets number of sequence steps managed by the API. + * + * @par Function Description + * This function retrieves the number of sequence steps currently managed + * by the API + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param pNumberOfSequenceSteps Out parameter reporting the number of + * sequence steps. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetNumberOfSequenceSteps(VL53L0X_DEV Dev, + uint8_t *pNumberOfSequenceSteps); + +/** + * @brief Gets the name of a given sequence step. + * + * @par Function Description + * This function retrieves the name of sequence steps corresponding to + * SequenceStepId. + * + * @note This function doesn't Accesses the device + * + * @param SequenceStepId Sequence step identifier. + * @param pSequenceStepsString Pointer to Info string + * + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetSequenceStepsInfo( + VL53L0X_SequenceStepId SequenceStepId, char *pSequenceStepsString); + +/** + * Program continuous mode Inter-Measurement period in milliseconds + * + * @par Function Description + * When trying to set too short time return INVALID_PARAMS minimal value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param InterMeasurementPeriodMilliSeconds Inter-Measurement Period in ms. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetInterMeasurementPeriodMilliSeconds( + VL53L0X_DEV Dev, uint32_t InterMeasurementPeriodMilliSeconds); + +/** + * Get continuous mode Inter-Measurement period in milliseconds + * + * @par Function Description + * When trying to set too short time return INVALID_PARAMS minimal value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pInterMeasurementPeriodMilliSeconds Pointer to programmed + * Inter-Measurement Period in milliseconds. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetInterMeasurementPeriodMilliSeconds( + VL53L0X_DEV Dev, uint32_t *pInterMeasurementPeriodMilliSeconds); + +/** + * @brief Enable/Disable Cross talk compensation feature + * + * @note This function is not Implemented. + * Enable/Disable Cross Talk by set to zero the Cross Talk value + * by using @a VL53L0X_SetXTalkCompensationRateMegaCps(). + * + * @param Dev Device Handle + * @param XTalkCompensationEnable Cross talk compensation + * to be set 0=disabled else = enabled + * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetXTalkCompensationEnable(VL53L0X_DEV Dev, + uint8_t XTalkCompensationEnable); + +/** + * @brief Get Cross talk compensation rate + * + * @note This function is not Implemented. + * Enable/Disable Cross Talk by set to zero the Cross Talk value by + * using @a VL53L0X_SetXTalkCompensationRateMegaCps(). + * + * @param Dev Device Handle + * @param pXTalkCompensationEnable Pointer to the Cross talk compensation + * state 0=disabled or 1 = enabled + * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev, + uint8_t *pXTalkCompensationEnable); + +/** + * @brief Set Cross talk compensation rate + * + * @par Function Description + * Set Cross talk compensation rate. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param XTalkCompensationRateMegaCps Compensation rate in + * Mega counts per second (16.16 fix point) see datasheet for details + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev, + FixPoint1616_t XTalkCompensationRateMegaCps); + +/** + * @brief Get Cross talk compensation rate + * + * @par Function Description + * Get Cross talk compensation rate. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pXTalkCompensationRateMegaCps Pointer to Compensation rate + in Mega counts per second (16.16 fix point) see datasheet for details + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev, + FixPoint1616_t *pXTalkCompensationRateMegaCps); + +/** + * @brief Set Reference Calibration Parameters + * + * @par Function Description + * Set Reference Calibration Parameters. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param VhvSettings Parameter for VHV + * @param PhaseCal Parameter for PhaseCal + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetRefCalibration(VL53L0X_DEV Dev, + uint8_t VhvSettings, uint8_t PhaseCal); + +/** + * @brief Get Reference Calibration Parameters + * + * @par Function Description + * Get Reference Calibration Parameters. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pVhvSettings Pointer to VHV parameter + * @param pPhaseCal Pointer to PhaseCal Parameter + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetRefCalibration(VL53L0X_DEV Dev, + uint8_t *pVhvSettings, uint8_t *pPhaseCal); + +/** + * @brief Get the number of the check limit managed by a given Device + * + * @par Function Description + * This function give the number of the check limit managed by the Device + * + * @note This function doesn't Access to the device + * + * @param pNumberOfLimitCheck Pointer to the number of check limit. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetNumberOfLimitCheck( + uint16_t *pNumberOfLimitCheck); + +/** + * @brief Return a description string for a given limit check number + * + * @par Function Description + * This function returns a description string for a given limit check number. + * The limit check is identified with the LimitCheckId. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). + * @param pLimitCheckString Pointer to the + description string of the given check limit. + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS This error is + returned when LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetLimitCheckInfo(VL53L0X_DEV Dev, + uint16_t LimitCheckId, char *pLimitCheckString); + +/** + * @brief Return a the Status of the specified check limit + * + * @par Function Description + * This function returns the Status of the specified check limit. + * The value indicate if the check is fail or not. + * The limit check is identified with the LimitCheckId. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). + * @param pLimitCheckStatus Pointer to the + Limit Check Status of the given check limit. + * LimitCheckStatus : + * 0 the check is not fail + * 1 the check if fail or not enabled + * + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS This error is + returned when LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetLimitCheckStatus(VL53L0X_DEV Dev, + uint16_t LimitCheckId, uint8_t *pLimitCheckStatus); + +/** + * @brief Enable/Disable a specific limit check + * + * @par Function Description + * This function Enable/Disable a specific limit check. + * The limit check is identified with the LimitCheckId. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). + * @param LimitCheckEnable if 1 the check limit + * corresponding to LimitCheckId is Enabled + * if 0 the check limit + * corresponding to LimitCheckId is disabled + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned + * when LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, + uint16_t LimitCheckId, uint8_t LimitCheckEnable); + +/** + * @brief Get specific limit check enable state + * + * @par Function Description + * This function get the enable state of a specific limit check. + * The limit check is identified with the LimitCheckId. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). + * @param pLimitCheckEnable Pointer to the check limit enable + * value. + * if 1 the check limit + * corresponding to LimitCheckId is Enabled + * if 0 the check limit + * corresponding to LimitCheckId is disabled + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned + * when LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, + uint16_t LimitCheckId, uint8_t *pLimitCheckEnable); + +/** + * @brief Set a specific limit check value + * + * @par Function Description + * This function set a specific limit check value. + * The limit check is identified with the LimitCheckId. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). + * @param LimitCheckValue Limit check Value for a given + * LimitCheckId + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned when either + * LimitCheckId or LimitCheckValue value is out of range. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t LimitCheckValue); + +/** + * @brief Get a specific limit check value + * + * @par Function Description + * This function get a specific limit check value from device then it updates + * internal values and check enables. + * The limit check is identified with the LimitCheckId. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). + * @param pLimitCheckValue Pointer to Limit + * check Value for a given LimitCheckId. + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned + * when LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckValue); + +/** + * @brief Get the current value of the signal used for the limit check + * + * @par Function Description + * This function get a the current value of the signal used for the limit check. + * To obtain the latest value you should run a ranging before. + * The value reported is linked to the limit check identified with the + * LimitCheckId. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). + * @param pLimitCheckCurrent Pointer to current Value for a + * given LimitCheckId. + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned when + * LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetLimitCheckCurrent(VL53L0X_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckCurrent); + +/** + * @brief Enable (or disable) Wrap around Check + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param WrapAroundCheckEnable Wrap around Check to be set + * 0=disabled, other = enabled + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetWrapAroundCheckEnable(VL53L0X_DEV Dev, + uint8_t WrapAroundCheckEnable); + +/** + * @brief Get setup of Wrap around Check + * + * @par Function Description + * This function get the wrapAround check enable parameters + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pWrapAroundCheckEnable Pointer to the Wrap around Check state + * 0=disabled or 1 = enabled + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev, + uint8_t *pWrapAroundCheckEnable); + +/** + * @brief Set Dmax Calibration Parameters for a given device + * When one of the parameter is zero, this function will get parameter + * from NVM. + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param RangeMilliMeter Calibration Distance + * @param SignalRateRtnMegaCps Signal rate return read at CalDistance + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetDmaxCalParameters(VL53L0X_DEV Dev, + uint16_t RangeMilliMeter, FixPoint1616_t SignalRateRtnMegaCps); + +/** + * @brief Get Dmax Calibration Parameters for a given device + * + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pRangeMilliMeter Pointer to Calibration Distance + * @param pSignalRateRtnMegaCps Pointer to Signal rate return + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetDmaxCalParameters(VL53L0X_DEV Dev, + uint16_t *pRangeMilliMeter, FixPoint1616_t *pSignalRateRtnMegaCps); + +/** @} VL53L0X_parameters_group */ + +/** @defgroup VL53L0X_measurement_group VL53L0X Measurement Functions + * @brief Functions used for the measurements + * @{ + */ + +/** + * @brief Single shot measurement. + * + * @par Function Description + * Perform simple measurement sequence (Start measure, Wait measure to end, + * and returns when measurement is done). + * Once function returns, user can get valid data by calling + * VL53L0X_GetRangingMeasurement or VL53L0X_GetHistogramMeasurement + * depending on defined measurement mode + * User should Clear the interrupt in case this are enabled by using the + * function VL53L0X_ClearInterruptMask(). + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev); + +/** + * @brief Perform Reference Calibration + * + * @details Perform a reference calibration of the Device. + * This function should be run from time to time before doing + * a ranging measurement. + * This function will launch a special ranging measurement, so + * if interrupt are enable an interrupt will be done. + * This function will clear the interrupt generated automatically. + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pVhvSettings Pointer to vhv settings parameter. + * @param pPhaseCal Pointer to PhaseCal parameter. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, + uint8_t *pVhvSettings, uint8_t *pPhaseCal); + +/** + * @brief Perform XTalk Measurement + * + * @details Measures the current cross talk from glass in front + * of the sensor. + * This functions performs a histogram measurement and uses the results + * to measure the crosstalk. For the function to be successful, there + * must be no target in front of the sensor. + * + * @warning This function is a blocking function + * + * @warning This function is not supported when the final range + * vcsel clock period is set below 10 PCLKS. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param TimeoutMs Histogram measurement duration. + * @param pXtalkPerSpad Output parameter containing the crosstalk + * measurement result, in MCPS/Spad. Format fixpoint 16:16. + * @param pAmbientTooHigh Output parameter which indicate that + * pXtalkPerSpad is not good if the Ambient is too high. + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS vcsel clock period not supported + * for this operation. Must not be less than 10PCLKS. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_PerformXTalkMeasurement(VL53L0X_DEV Dev, + uint32_t TimeoutMs, FixPoint1616_t *pXtalkPerSpad, + uint8_t *pAmbientTooHigh); + +/** + * @brief Perform XTalk Calibration + * + * @details Perform a XTalk calibration of the Device. + * This function will launch a ranging measurement, if interrupts + * are enabled an interrupt will be done. + * This function will clear the interrupt generated automatically. + * This function will program a new value for the XTalk compensation + * and it will enable the cross talk before exit. + * This function will disable the VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD. + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @note This function change the device mode to + * VL53L0X_DEVICEMODE_SINGLE_RANGING + * + * @param Dev Device Handle + * @param XTalkCalDistance XTalkCalDistance value used for the XTalk + * computation. + * @param pXTalkCompensationRateMegaCps Pointer to new + * XTalkCompensation value. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_PerformXTalkCalibration(VL53L0X_DEV Dev, + FixPoint1616_t XTalkCalDistance, + FixPoint1616_t *pXTalkCompensationRateMegaCps); + +/** + * @brief Perform Offset Calibration + * + * @details Perform a Offset calibration of the Device. + * This function will launch a ranging measurement, if interrupts are + * enabled an interrupt will be done. + * This function will clear the interrupt generated automatically. + * This function will program a new value for the Offset calibration value + * This function will disable the VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD. + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @note This function does not change the device mode. + * + * @param Dev Device Handle + * @param CalDistanceMilliMeter Calibration distance value used for the + * offset compensation. + * @param pOffsetMicroMeter Pointer to new Offset value computed by the + * function. + * + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_PerformOffsetCalibration(VL53L0X_DEV Dev, + FixPoint1616_t CalDistanceMilliMeter, int32_t *pOffsetMicroMeter); + +/** + * @brief Start device measurement + * + * @details Started measurement will depend on device parameters set through + * @a VL53L0X_SetParameters() + * This is a non-blocking function. + * This function will change the VL53L0X_State from VL53L0X_STATE_IDLE to + * VL53L0X_STATE_RUNNING. + * + * @note This function Access to the device + * + + * @param Dev Device Handle + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when + * DeviceMode programmed with @a VL53L0X_SetDeviceMode is not in the supported + * list: + * Supported mode are: + * VL53L0X_DEVICEMODE_SINGLE_RANGING, + * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, + * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING + * @return VL53L0X_ERROR_TIME_OUT Time out on start measurement + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_StartMeasurement(VL53L0X_DEV Dev); + +/** + * @brief Stop device measurement + * + * @details Will set the device in standby mode at end of current measurement\n + * Not necessary in single mode as device shall return automatically + * in standby mode at end of measurement. + * This function will change the VL53L0X_State from VL53L0X_STATE_RUNNING + * to VL53L0X_STATE_IDLE. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_StopMeasurement(VL53L0X_DEV Dev); + +/** + * @brief Return Measurement Data Ready + * + * @par Function Description + * This function indicate that a measurement data is ready. + * This function check if interrupt mode is used then check is done accordingly. + * If perform function clear the interrupt, this function will not work, + * like in case of @a VL53L0X_PerformSingleRangingMeasurement(). + * The previous function is blocking function, VL53L0X_GetMeasurementDataReady + * is used for non-blocking capture. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pMeasurementDataReady Pointer to Measurement Data Ready. + * 0=data not ready, 1 = data ready + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev, + uint8_t *pMeasurementDataReady); + +/** + * @brief Wait for device ready for a new measurement command. + * Blocking function. + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param MaxLoop Max Number of polling loop (timeout). + * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0X_API VL53L0X_Error VL53L0X_WaitDeviceReadyForNewMeasurement(VL53L0X_DEV Dev, + uint32_t MaxLoop); + +/** + * @brief Retrieve the Reference Signal after a measurements + * + * @par Function Description + * Get Reference Signal from last successful Ranging measurement + * This function return a valid value after that you call the + * @a VL53L0X_GetRangingMeasurementData(). + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pMeasurementRefSignal Pointer to the Ref Signal to fill up. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetMeasurementRefSignal(VL53L0X_DEV Dev, + FixPoint1616_t *pMeasurementRefSignal); + +/** + * @brief Retrieve the measurements from device for a given setup + * + * @par Function Description + * Get data from last successful Ranging measurement + * @warning USER should take care about @a VL53L0X_GetNumberOfROIZones() + * before get data. + * PAL will fill a NumberOfROIZones times the corresponding data + * structure used in the measurement function. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pRangingMeasurementData Pointer to the data structure to fill up. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev, + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData); + +/** + * @brief Retrieve the measurements from device for a given setup + * + * @par Function Description + * Get data from last successful Histogram measurement + * @warning USER should take care about @a VL53L0X_GetNumberOfROIZones() + * before get data. + * PAL will fill a NumberOfROIZones times the corresponding data structure + * used in the measurement function. + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param pHistogramMeasurementData Pointer to the histogram data structure. + * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetHistogramMeasurementData(VL53L0X_DEV Dev, + VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData); + +/** + * @brief Performs a single ranging measurement and retrieve the ranging + * measurement data + * + * @par Function Description + * This function will change the device mode to VL53L0X_DEVICEMODE_SINGLE_RANGING + * with @a VL53L0X_SetDeviceMode(), + * It performs measurement with @a VL53L0X_PerformSingleMeasurement() + * It get data from last successful Ranging measurement with + * @a VL53L0X_GetRangingMeasurementData. + * Finally it clear the interrupt with @a VL53L0X_ClearInterruptMask(). + * + * @note This function Access to the device + * + * @note This function change the device mode to + * VL53L0X_DEVICEMODE_SINGLE_RANGING + * + * @param Dev Device Handle + * @param pRangingMeasurementData Pointer to the data structure to fill up. + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev, + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData); + +/** + * @brief Performs a single histogram measurement and retrieve the histogram + * measurement data + * Is equivalent to VL53L0X_PerformSingleMeasurement + + * VL53L0X_GetHistogramMeasurementData + * + * @par Function Description + * Get data from last successful Ranging measurement. + * This function will clear the interrupt in case of these are enabled. + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param pHistogramMeasurementData Pointer to the data structure to fill up. + * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0X_API VL53L0X_Error VL53L0X_PerformSingleHistogramMeasurement(VL53L0X_DEV Dev, + VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData); + +/** + * @brief Set the number of ROI Zones to be used for a specific Device + * + * @par Function Description + * Set the number of ROI Zones to be used for a specific Device. + * The programmed value should be less than the max number of ROI Zones given + * with @a VL53L0X_GetMaxNumberOfROIZones(). + * This version of API manage only one zone. + * + * @param Dev Device Handle + * @param NumberOfROIZones Number of ROI Zones to be used for a + * specific Device. + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned if + * NumberOfROIZones != 1 + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetNumberOfROIZones(VL53L0X_DEV Dev, + uint8_t NumberOfROIZones); + +/** + * @brief Get the number of ROI Zones managed by the Device + * + * @par Function Description + * Get number of ROI Zones managed by the Device + * USER should take care about @a VL53L0X_GetNumberOfROIZones() + * before get data after a perform measurement. + * PAL will fill a NumberOfROIZones times the corresponding data + * structure used in the measurement function. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pNumberOfROIZones Pointer to the Number of ROI Zones value. + * @return VL53L0X_ERROR_NONE Success + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetNumberOfROIZones(VL53L0X_DEV Dev, + uint8_t *pNumberOfROIZones); + +/** + * @brief Get the Maximum number of ROI Zones managed by the Device + * + * @par Function Description + * Get Maximum number of ROI Zones managed by the Device. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pMaxNumberOfROIZones Pointer to the Maximum Number + * of ROI Zones value. + * @return VL53L0X_ERROR_NONE Success + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetMaxNumberOfROIZones(VL53L0X_DEV Dev, + uint8_t *pMaxNumberOfROIZones); + +/** @} VL53L0X_measurement_group */ + +/** @defgroup VL53L0X_interrupt_group VL53L0X Interrupt Functions + * @brief Functions used for interrupt managements + * @{ + */ + +/** + * @brief Set the configuration of GPIO pin for a given device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param Pin ID of the GPIO Pin + * @param Functionality Select Pin functionality. + * Refer to ::VL53L0X_GpioFunctionality + * @param DeviceMode Device Mode associated to the Gpio. + * @param Polarity Set interrupt polarity. Active high + * or active low see ::VL53L0X_InterruptPolarity + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted. + * @return VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED This error occurs + * when Functionality programmed is not in the supported list: + * Supported value are: + * VL53L0X_GPIOFUNCTIONALITY_OFF, + * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW, + * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH, + VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT, + * VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, + VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality, + VL53L0X_InterruptPolarity Polarity); + +/** + * @brief Get current configuration for GPIO pin for a given device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param Pin ID of the GPIO Pin + * @param pDeviceMode Pointer to Device Mode associated to the Gpio. + * @param pFunctionality Pointer to Pin functionality. + * Refer to ::VL53L0X_GpioFunctionality + * @param pPolarity Pointer to interrupt polarity. + * Active high or active low see ::VL53L0X_InterruptPolarity + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted. + * @return VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED This error occurs + * when Functionality programmed is not in the supported list: + * Supported value are: + * VL53L0X_GPIOFUNCTIONALITY_OFF, + * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW, + * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH, + * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT, + * VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, + VL53L0X_DeviceModes *pDeviceMode, + VL53L0X_GpioFunctionality *pFunctionality, + VL53L0X_InterruptPolarity *pPolarity); + +/** + * @brief Set low and high Interrupt thresholds for a given mode + * (ranging, ALS, ...) for a given device + * + * @par Function Description + * Set low and high Interrupt thresholds for a given mode (ranging, ALS, ...) + * for a given device + * + * @note This function Access to the device + * + * @note DeviceMode is ignored for the current device + * + * @param Dev Device Handle + * @param DeviceMode Device Mode for which change thresholds + * @param ThresholdLow Low threshold (mm, lux ..., depending on the mode) + * @param ThresholdHigh High threshold (mm, lux ..., depending on the mode) + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetInterruptThresholds(VL53L0X_DEV Dev, + VL53L0X_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow, + FixPoint1616_t ThresholdHigh); + +/** + * @brief Get high and low Interrupt thresholds for a given mode + * (ranging, ALS, ...) for a given device + * + * @par Function Description + * Get high and low Interrupt thresholds for a given mode (ranging, ALS, ...) + * for a given device + * + * @note This function Access to the device + * + * @note DeviceMode is ignored for the current device + * + * @param Dev Device Handle + * @param DeviceMode Device Mode from which read thresholds + * @param pThresholdLow Low threshold (mm, lux ..., depending on the mode) + * @param pThresholdHigh High threshold (mm, lux ..., depending on the mode) + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev, + VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow, + FixPoint1616_t *pThresholdHigh); + +/** + * @brief Return device stop completion status + * + * @par Function Description + * Returns stop completiob status. + * User shall call this function after a stop command + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pStopStatus Pointer to status variable to update + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev, + uint32_t *pStopStatus); + + +/** + * @brief Clear given system interrupt condition + * + * @par Function Description + * Clear given interrupt(s). + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param InterruptMask Mask of interrupts to clear + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_INTERRUPT_NOT_CLEARED Cannot clear interrupts + * + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, + uint32_t InterruptMask); + +/** + * @brief Return device interrupt status + * + * @par Function Description + * Returns currently raised interrupts by the device. + * User shall be able to activate/deactivate interrupts through + * @a VL53L0X_SetGpioConfig() + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pInterruptMaskStatus Pointer to status variable to update + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev, + uint32_t *pInterruptMaskStatus); + +/** + * @brief Configure ranging interrupt reported to system + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param InterruptMask Mask of interrupt to Enable/disable + * (0:interrupt disabled or 1: interrupt enabled) + * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0X_API VL53L0X_Error VL53L0X_EnableInterruptMask(VL53L0X_DEV Dev, + uint32_t InterruptMask); + +/** @} VL53L0X_interrupt_group */ + +/** @defgroup VL53L0X_SPADfunctions_group VL53L0X SPAD Functions + * @brief Functions used for SPAD managements + * @{ + */ + +/** + * @brief Set the SPAD Ambient Damper Threshold value + * + * @par Function Description + * This function set the SPAD Ambient Damper Threshold value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param SpadAmbientDamperThreshold SPAD Ambient Damper Threshold value + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetSpadAmbientDamperThreshold(VL53L0X_DEV Dev, + uint16_t SpadAmbientDamperThreshold); + +/** + * @brief Get the current SPAD Ambient Damper Threshold value + * + * @par Function Description + * This function get the SPAD Ambient Damper Threshold value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pSpadAmbientDamperThreshold Pointer to programmed + * SPAD Ambient Damper Threshold value + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetSpadAmbientDamperThreshold(VL53L0X_DEV Dev, + uint16_t *pSpadAmbientDamperThreshold); + +/** + * @brief Set the SPAD Ambient Damper Factor value + * + * @par Function Description + * This function set the SPAD Ambient Damper Factor value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param SpadAmbientDamperFactor SPAD Ambient Damper Factor value + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetSpadAmbientDamperFactor(VL53L0X_DEV Dev, + uint16_t SpadAmbientDamperFactor); + +/** + * @brief Get the current SPAD Ambient Damper Factor value + * + * @par Function Description + * This function get the SPAD Ambient Damper Factor value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pSpadAmbientDamperFactor Pointer to programmed SPAD Ambient + * Damper Factor value + * @return VL53L0X_ERROR_NONE Success + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetSpadAmbientDamperFactor(VL53L0X_DEV Dev, + uint16_t *pSpadAmbientDamperFactor); + +/** + * @brief Performs Reference Spad Management + * + * @par Function Description + * The reference SPAD initialization procedure determines the minimum amount + * of reference spads to be enables to achieve a target reference signal rate + * and should be performed once during initialization. + * + * @note This function Access to the device + * + * @note This function change the device mode to + * VL53L0X_DEVICEMODE_SINGLE_RANGING + * + * @param Dev Device Handle + * @param refSpadCount Reports ref Spad Count + * @param isApertureSpads Reports if spads are of type + * aperture or non-aperture. + * 1:=aperture, 0:=Non-Aperture + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the Ref Spad procedure. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev, + uint32_t *refSpadCount, uint8_t *isApertureSpads); + +/** + * @brief Applies Reference SPAD configuration + * + * @par Function Description + * This function applies a given number of reference spads, identified as + * either Aperture or Non-Aperture. + * The requested spad count and type are stored within the device specific + * parameters data for access by the host. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param refSpadCount Number of ref spads. + * @param isApertureSpads Defines if spads are of type + * aperture or non-aperture. + * 1:=aperture, 0:=Non-Aperture + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference + * spad configuration. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_SetReferenceSpads(VL53L0X_DEV Dev, + uint32_t refSpadCount, uint8_t isApertureSpads); + +/** + * @brief Retrieves SPAD configuration + * + * @par Function Description + * This function retrieves the current number of applied reference spads + * and also their type : Aperture or Non-Aperture. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param refSpadCount Number ref Spad Count + * @param isApertureSpads Reports if spads are of type + * aperture or non-aperture. + * 1:=aperture, 0:=Non-Aperture + * @return VL53L0X_ERROR_NONE Success + * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference + * spad configuration. + * @return "Other error code" See ::VL53L0X_Error + */ +VL53L0X_API VL53L0X_Error VL53L0X_GetReferenceSpads(VL53L0X_DEV Dev, + uint32_t *refSpadCount, uint8_t *isApertureSpads); + +/** @} VL53L0X_SPADfunctions_group */ + +/** @} VL53L0X_cut11_group */ + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L0X_API_H_ */ diff --git a/modules/VL53L0X/inc/vl53l0x_api_calibration.h b/modules/VL53L0X/inc/vl53l0x_api_calibration.h new file mode 100644 index 0000000..9f9739a --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_api_calibration.h @@ -0,0 +1,85 @@ +/******************************************************************************* +Copyright 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. +*******************************************************************************/ + +#ifndef _VL53L0X_API_CALIBRATION_H_ +#define _VL53L0X_API_CALIBRATION_H_ + +#include "vl53l0x_def.h" +#include "vl53l0x_platform.h" + + +#ifdef __cplusplus +extern "C" { +#endif + +VL53L0X_Error VL53L0X_perform_xtalk_calibration(VL53L0X_DEV Dev, + FixPoint1616_t XTalkCalDistance, + FixPoint1616_t *pXTalkCompensationRateMegaCps); + +VL53L0X_Error VL53L0X_perform_offset_calibration(VL53L0X_DEV Dev, + FixPoint1616_t CalDistanceMilliMeter, + int32_t *pOffsetMicroMeter); + +VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev, + int32_t OffsetCalibrationDataMicroMeter); + +VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev, + int32_t *pOffsetCalibrationDataMicroMeter); + +VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev); + +VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev, + uint32_t *refSpadCount, uint8_t *isApertureSpads); + +VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV Dev, + uint32_t count, uint8_t isApertureSpads); + +VL53L0X_Error VL53L0X_get_reference_spads(VL53L0X_DEV Dev, + uint32_t *pSpadCount, uint8_t *pIsApertureSpads); + +VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev, + uint8_t *pPhaseCal, const uint8_t get_data_enable, + const uint8_t restore_config); + +VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev, + uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable); + +VL53L0X_Error VL53L0X_set_ref_calibration(VL53L0X_DEV Dev, + uint8_t VhvSettings, uint8_t PhaseCal); + +VL53L0X_Error VL53L0X_get_ref_calibration(VL53L0X_DEV Dev, + uint8_t *pVhvSettings, uint8_t *pPhaseCal); + + + + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L0X_API_CALIBRATION_H_ */ diff --git a/modules/VL53L0X/inc/vl53l0x_api_core.h b/modules/VL53L0X/inc/vl53l0x_api_core.h new file mode 100644 index 0000000..91f2042 --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_api_core.h @@ -0,0 +1,108 @@ +/******************************************************************************* +Copyright 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. +*******************************************************************************/ + +#ifndef _VL53L0X_API_CORE_H_ +#define _VL53L0X_API_CORE_H_ + +#include "vl53l0x_def.h" +#include "vl53l0x_platform.h" + + +#ifdef __cplusplus +extern "C" { +#endif + + +VL53L0X_Error VL53L0X_reverse_bytes(uint8_t *data, uint32_t size); + +VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev); + +uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks); + +uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg); + +uint32_t VL53L0X_isqrt(uint32_t num); + +uint32_t VL53L0X_quadrature_sum(uint32_t a, uint32_t b); + +VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option); + +VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev, + VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK); + +VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev, + VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK); + +uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout); + +VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV Dev, + VL53L0X_SequenceStepId SequenceStepId, + uint32_t *pTimeOutMicroSecs); + +VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV Dev, + VL53L0X_SequenceStepId SequenceStepId, + uint32_t TimeOutMicroSecs); + +VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev, + uint32_t MeasurementTimingBudgetMicroSeconds); + +VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev, + uint32_t *pMeasurementTimingBudgetMicroSeconds); + +VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV Dev, + uint8_t *pTuningSettingBuffer); + +VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev, + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, + FixPoint1616_t *pSigmaEstimate, uint32_t *pDmax_mm); + +VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev, + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, + FixPoint1616_t *ptotal_xtalk_rate_mcps); + +VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev, + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, + FixPoint1616_t *ptotal_signal_rate_mcps); + +VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV Dev, + uint8_t DeviceRangeStatus, + FixPoint1616_t SignalRate, + uint16_t EffectiveSpadRtnCount, + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, + uint8_t *pPalRangeStatus); + +uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev, + uint32_t timeout_period_us, uint8_t vcsel_period_pclks); + +uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks); + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L0X_API_CORE_H_ */ diff --git a/modules/VL53L0X/inc/vl53l0x_api_ranging.h b/modules/VL53L0X/inc/vl53l0x_api_ranging.h new file mode 100644 index 0000000..6d9f4b0 --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_api_ranging.h @@ -0,0 +1,47 @@ +/******************************************************************************* +Copyright 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. +*******************************************************************************/ + +#ifndef _VL53L0X_API_RANGING_H_ +#define _VL53L0X_API_RANGING_H_ + +#include "vl53l0x_def.h" +#include "vl53l0x_platform.h" + + +#ifdef __cplusplus +extern "C" { +#endif + + + + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L0X_API_RANGING_H_ */ diff --git a/modules/VL53L0X/inc/vl53l0x_api_strings.h b/modules/VL53L0X/inc/vl53l0x_api_strings.h new file mode 100644 index 0000000..20d594a --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_api_strings.h @@ -0,0 +1,277 @@ +/******************************************************************************* +Copyright 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. +*******************************************************************************/ + +#ifndef VL53L0X_API_STRINGS_H_ +#define VL53L0X_API_STRINGS_H_ + +#include "vl53l0x_def.h" +#include "vl53l0x_platform.h" + +#ifdef __cplusplus +extern "C" { +#endif + + +VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV Dev, + VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo); + +VL53L0X_Error VL53L0X_get_device_error_string(VL53L0X_DeviceError ErrorCode, + char *pDeviceErrorString); + +VL53L0X_Error VL53L0X_get_range_status_string(uint8_t RangeStatus, + char *pRangeStatusString); + +VL53L0X_Error VL53L0X_get_pal_error_string(VL53L0X_Error PalErrorCode, + char *pPalErrorString); + +VL53L0X_Error VL53L0X_get_pal_state_string(VL53L0X_State PalStateCode, + char *pPalStateString); + +VL53L0X_Error VL53L0X_get_sequence_steps_info( + VL53L0X_SequenceStepId SequenceStepId, + char *pSequenceStepsString); + +VL53L0X_Error VL53L0X_get_limit_check_info(VL53L0X_DEV Dev, uint16_t LimitCheckId, + char *pLimitCheckString); + + +#ifdef USE_EMPTY_STRING + #define VL53L0X_STRING_DEVICE_INFO_NAME "" + #define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 "" + #define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 "" + #define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 "" + #define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 "" + #define VL53L0X_STRING_DEVICE_INFO_TYPE "" + + /* PAL ERROR strings */ + #define VL53L0X_STRING_ERROR_NONE "" + #define VL53L0X_STRING_ERROR_CALIBRATION_WARNING "" + #define VL53L0X_STRING_ERROR_MIN_CLIPPED "" + #define VL53L0X_STRING_ERROR_UNDEFINED "" + #define VL53L0X_STRING_ERROR_INVALID_PARAMS "" + #define VL53L0X_STRING_ERROR_NOT_SUPPORTED "" + #define VL53L0X_STRING_ERROR_RANGE_ERROR "" + #define VL53L0X_STRING_ERROR_TIME_OUT "" + #define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED "" + #define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL "" + #define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING "" + #define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED "" + #define VL53L0X_STRING_ERROR_CONTROL_INTERFACE "" + #define VL53L0X_STRING_ERROR_INVALID_COMMAND "" + #define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO "" + #define VL53L0X_STRING_ERROR_REF_SPAD_INIT "" + #define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED "" + + #define VL53L0X_STRING_UNKNOW_ERROR_CODE "" + + + + /* Range Status */ + #define VL53L0X_STRING_RANGESTATUS_NONE "" + #define VL53L0X_STRING_RANGESTATUS_RANGEVALID "" + #define VL53L0X_STRING_RANGESTATUS_SIGMA "" + #define VL53L0X_STRING_RANGESTATUS_SIGNAL "" + #define VL53L0X_STRING_RANGESTATUS_MINRANGE "" + #define VL53L0X_STRING_RANGESTATUS_PHASE "" + #define VL53L0X_STRING_RANGESTATUS_HW "" + + + /* Range Status */ + #define VL53L0X_STRING_STATE_POWERDOWN "" + #define VL53L0X_STRING_STATE_WAIT_STATICINIT "" + #define VL53L0X_STRING_STATE_STANDBY "" + #define VL53L0X_STRING_STATE_IDLE "" + #define VL53L0X_STRING_STATE_RUNNING "" + #define VL53L0X_STRING_STATE_UNKNOWN "" + #define VL53L0X_STRING_STATE_ERROR "" + + + /* Device Specific */ + #define VL53L0X_STRING_DEVICEERROR_NONE "" + #define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE "" + #define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE "" + #define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND "" + #define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET "" + #define VL53L0X_STRING_DEVICEERROR_SNRCHECK "" + #define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK "" + #define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK "" + #define VL53L0X_STRING_DEVICEERROR_TCC "" + #define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY "" + #define VL53L0X_STRING_DEVICEERROR_MINCLIP "" + #define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE "" + #define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW "" + #define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW "" + #define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD "" + #define VL53L0X_STRING_DEVICEERROR_UNKNOWN "" + + /* Check Enable */ + #define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE "" + #define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE "" + #define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP "" + #define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD "" + + /* Sequence Step */ + #define VL53L0X_STRING_SEQUENCESTEP_TCC "" + #define VL53L0X_STRING_SEQUENCESTEP_DSS "" + #define VL53L0X_STRING_SEQUENCESTEP_MSRC "" + #define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE "" + #define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE "" +#else + #define VL53L0X_STRING_DEVICE_INFO_NAME "VL53L0X cut1.0" + #define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 "VL53L0X TS0" + #define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 "VL53L0X TS1" + #define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 "VL53L0X TS2" + #define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 "VL53L0X ES1 or later" + #define VL53L0X_STRING_DEVICE_INFO_TYPE "VL53L0X" + + /* PAL ERROR strings */ + #define VL53L0X_STRING_ERROR_NONE \ + "No Error" + #define VL53L0X_STRING_ERROR_CALIBRATION_WARNING \ + "Calibration Warning Error" + #define VL53L0X_STRING_ERROR_MIN_CLIPPED \ + "Min clipped error" + #define VL53L0X_STRING_ERROR_UNDEFINED \ + "Undefined error" + #define VL53L0X_STRING_ERROR_INVALID_PARAMS \ + "Invalid parameters error" + #define VL53L0X_STRING_ERROR_NOT_SUPPORTED \ + "Not supported error" + #define VL53L0X_STRING_ERROR_RANGE_ERROR \ + "Range error" + #define VL53L0X_STRING_ERROR_TIME_OUT \ + "Time out error" + #define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED \ + "Mode not supported error" + #define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL \ + "Buffer too small" + #define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING \ + "GPIO not existing" + #define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \ + "GPIO funct not supported" + #define VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED \ + "Interrupt not Cleared" + #define VL53L0X_STRING_ERROR_CONTROL_INTERFACE \ + "Control Interface Error" + #define VL53L0X_STRING_ERROR_INVALID_COMMAND \ + "Invalid Command Error" + #define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO \ + "Division by zero Error" + #define VL53L0X_STRING_ERROR_REF_SPAD_INIT \ + "Reference Spad Init Error" + #define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED \ + "Not implemented error" + + #define VL53L0X_STRING_UNKNOW_ERROR_CODE \ + "Unknown Error Code" + + + + /* Range Status */ + #define VL53L0X_STRING_RANGESTATUS_NONE "No Update " + #define VL53L0X_STRING_RANGESTATUS_RANGEVALID "Range Valid " + #define VL53L0X_STRING_RANGESTATUS_SIGMA "Sigma Fail " + #define VL53L0X_STRING_RANGESTATUS_SIGNAL "Signal Fail " + #define VL53L0X_STRING_RANGESTATUS_MINRANGE "Min Range Fail" + #define VL53L0X_STRING_RANGESTATUS_PHASE "Phase Fail " + #define VL53L0X_STRING_RANGESTATUS_HW "Hardware Fail " + + + /* Range Status */ + #define VL53L0X_STRING_STATE_POWERDOWN "POWERDOWN State" + #define VL53L0X_STRING_STATE_WAIT_STATICINIT \ + "Wait for staticinit State" + #define VL53L0X_STRING_STATE_STANDBY "STANDBY State" + #define VL53L0X_STRING_STATE_IDLE "IDLE State" + #define VL53L0X_STRING_STATE_RUNNING "RUNNING State" + #define VL53L0X_STRING_STATE_UNKNOWN "UNKNOWN State" + #define VL53L0X_STRING_STATE_ERROR "ERROR State" + + + /* Device Specific */ + #define VL53L0X_STRING_DEVICEERROR_NONE "No Update" + #define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \ + "VCSEL Continuity Test Failure" + #define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \ + "VCSEL Watchdog Test Failure" + #define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND \ + "No VHV Value found" + #define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET \ + "MSRC No Target Error" + #define VL53L0X_STRING_DEVICEERROR_SNRCHECK \ + "SNR Check Exit" + #define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK \ + "Range Phase Check Error" + #define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK \ + "Sigma Threshold Check Error" + #define VL53L0X_STRING_DEVICEERROR_TCC \ + "TCC Error" + #define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY \ + "Phase Consistency Error" + #define VL53L0X_STRING_DEVICEERROR_MINCLIP \ + "Min Clip Error" + #define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE \ + "Range Complete" + #define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW \ + "Range Algo Underflow Error" + #define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW \ + "Range Algo Overlow Error" + #define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \ + "Range Ignore Threshold Error" + #define VL53L0X_STRING_DEVICEERROR_UNKNOWN \ + "Unknown error code" + + /* Check Enable */ + #define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \ + "SIGMA FINAL RANGE" + #define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \ + "SIGNAL RATE FINAL RANGE" + #define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP \ + "SIGNAL REF CLIP" + #define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \ + "RANGE IGNORE THRESHOLD" + #define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC \ + "SIGNAL RATE MSRC" + #define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE \ + "SIGNAL RATE PRE RANGE" + + /* Sequence Step */ + #define VL53L0X_STRING_SEQUENCESTEP_TCC "TCC" + #define VL53L0X_STRING_SEQUENCESTEP_DSS "DSS" + #define VL53L0X_STRING_SEQUENCESTEP_MSRC "MSRC" + #define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE "PRE RANGE" + #define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE "FINAL RANGE" +#endif /* USE_EMPTY_STRING */ + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/modules/VL53L0X/inc/vl53l0x_cali.h b/modules/VL53L0X/inc/vl53l0x_cali.h new file mode 100644 index 0000000..d4b3309 --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_cali.h @@ -0,0 +1,26 @@ +#ifndef __VL53L0X_CAIL_H +#define __VL53L0X_CAIL_H + +#include "bsp_vl53l0x.h" + + +//vl53l0x传感器校准信息结构体定义 +typedef struct packed_1 +{ + uint8_t adjustok; //校准成功标志，0XAA，已校准;其他，未校准 + uint8_t isApertureSpads; //ApertureSpads值 + uint8_t VhvSettings; //VhvSettings值 + uint8_t PhaseCal; //PhaseCal值 + uint32_t XTalkCalDistance; //XTalkCalDistance值 + uint32_t XTalkCompensationRateMegaCps;//XTalkCompensationRateMegaCps值 + uint32_t CalDistanceMilliMeter; //CalDistanceMilliMeter值 + int32_t OffsetMicroMeter; //OffsetMicroMeter值 + uint32_t refSpadCount; //refSpadCount值 + +}_vl53l0x_adjust; + +extern _vl53l0x_adjust Vl53l0x_data; + +void vl53l0x_calibration_test(VL53L0X_Dev_t *dev); + +#endif diff --git a/modules/VL53L0X/inc/vl53l0x_def.h b/modules/VL53L0X/inc/vl53l0x_def.h new file mode 100644 index 0000000..6c9af35 --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_def.h @@ -0,0 +1,640 @@ +/******************************************************************************* +Copyright 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. +*******************************************************************************/ + +/** + * @file VL53L0X_def.h + * + * @brief Type definitions for VL53L0X API. + * + */ + + +#ifndef _VL53L0X_DEF_H_ +#define _VL53L0X_DEF_H_ + + +#ifdef __cplusplus +extern "C" { +#endif + +/** @defgroup VL53L0X_globaldefine_group VL53L0X Defines + * @brief VL53L0X Defines + * @{ + */ + + +/** PAL SPECIFICATION major version */ +#define VL53L0X10_SPECIFICATION_VER_MAJOR 1 +/** PAL SPECIFICATION minor version */ +#define VL53L0X10_SPECIFICATION_VER_MINOR 2 +/** PAL SPECIFICATION sub version */ +#define VL53L0X10_SPECIFICATION_VER_SUB 7 +/** PAL SPECIFICATION sub version */ +#define VL53L0X10_SPECIFICATION_VER_REVISION 1440 + +/** VL53L0X PAL IMPLEMENTATION major version */ +#define VL53L0X10_IMPLEMENTATION_VER_MAJOR 1 +/** VL53L0X PAL IMPLEMENTATION minor version */ +#define VL53L0X10_IMPLEMENTATION_VER_MINOR 0 +/** VL53L0X PAL IMPLEMENTATION sub version */ +#define VL53L0X10_IMPLEMENTATION_VER_SUB 9 +/** VL53L0X PAL IMPLEMENTATION sub version */ +#define VL53L0X10_IMPLEMENTATION_VER_REVISION 3673 + +/** PAL SPECIFICATION major version */ +#define VL53L0X_SPECIFICATION_VER_MAJOR 1 +/** PAL SPECIFICATION minor version */ +#define VL53L0X_SPECIFICATION_VER_MINOR 2 +/** PAL SPECIFICATION sub version */ +#define VL53L0X_SPECIFICATION_VER_SUB 7 +/** PAL SPECIFICATION sub version */ +#define VL53L0X_SPECIFICATION_VER_REVISION 1440 + +/** VL53L0X PAL IMPLEMENTATION major version */ +#define VL53L0X_IMPLEMENTATION_VER_MAJOR 1 +/** VL53L0X PAL IMPLEMENTATION minor version */ +#define VL53L0X_IMPLEMENTATION_VER_MINOR 0 +/** VL53L0X PAL IMPLEMENTATION sub version */ +#define VL53L0X_IMPLEMENTATION_VER_SUB 2 +/** VL53L0X PAL IMPLEMENTATION sub version */ +#define VL53L0X_IMPLEMENTATION_VER_REVISION 4823 +#define VL53L0X_DEFAULT_MAX_LOOP 2000 +#define VL53L0X_MAX_STRING_LENGTH 32 + + +#include "vl53l0x_device.h" +#include "vl53l0x_types.h" + + +/**************************************** + * PRIVATE define do not edit + ****************************************/ + +/** @brief Defines the parameters of the Get Version Functions + */ +typedef struct { + uint32_t revision; /*!< revision number */ + uint8_t major; /*!< major number */ + uint8_t minor; /*!< minor number */ + uint8_t build; /*!< build number */ +} VL53L0X_Version_t; + + +/** @brief Defines the parameters of the Get Device Info Functions + */ +typedef struct { + char Name[VL53L0X_MAX_STRING_LENGTH]; + /*!< Name of the Device e.g. Left_Distance */ + char Type[VL53L0X_MAX_STRING_LENGTH]; + /*!< Type of the Device e.g VL53L0X */ + char ProductId[VL53L0X_MAX_STRING_LENGTH]; + /*!< Product Identifier String */ + uint8_t ProductType; + /*!< Product Type, VL53L0X = 1, VL53L1 = 2 */ + uint8_t ProductRevisionMajor; + /*!< Product revision major */ + uint8_t ProductRevisionMinor; + /*!< Product revision minor */ +} VL53L0X_DeviceInfo_t; + + +/** @defgroup VL53L0X_define_Error_group Error and Warning code returned by API + * The following DEFINE are used to identify the PAL ERROR + * @{ + */ + +typedef int8_t VL53L0X_Error; + +#define VL53L0X_ERROR_NONE ((VL53L0X_Error) 0) +#define VL53L0X_ERROR_CALIBRATION_WARNING ((VL53L0X_Error) -1) + /*!< Warning invalid calibration data may be in used + \a VL53L0X_InitData() + \a VL53L0X_GetOffsetCalibrationData + \a VL53L0X_SetOffsetCalibrationData */ +#define VL53L0X_ERROR_MIN_CLIPPED ((VL53L0X_Error) -2) + /*!< Warning parameter passed was clipped to min before to be applied */ + +#define VL53L0X_ERROR_UNDEFINED ((VL53L0X_Error) -3) + /*!< Unqualified error */ +#define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error) -4) + /*!< Parameter passed is invalid or out of range */ +#define VL53L0X_ERROR_NOT_SUPPORTED ((VL53L0X_Error) -5) + /*!< Function is not supported in current mode or configuration */ +#define VL53L0X_ERROR_RANGE_ERROR ((VL53L0X_Error) -6) + /*!< Device report a ranging error interrupt status */ +#define VL53L0X_ERROR_TIME_OUT ((VL53L0X_Error) -7) + /*!< Aborted due to time out */ +#define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error) -8) + /*!< Asked mode is not supported by the device */ +#define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error) -9) + /*!< ... */ +#define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error) -10) + /*!< User tried to setup a non-existing GPIO pin */ +#define VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L0X_Error) -11) + /*!< unsupported GPIO functionality */ +#define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error) -12) + /*!< Error during interrupt clear */ +#define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error) -20) + /*!< error reported from IO functions */ +#define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error) -30) + /*!< The command is not allowed in the current device state + * (power down) */ +#define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error) -40) + /*!< In the function a division by zero occurs */ +#define VL53L0X_ERROR_REF_SPAD_INIT ((VL53L0X_Error) -50) + /*!< Error during reference SPAD initialization */ +#define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error) -99) + /*!< Tells requested functionality has not been implemented yet or + * not compatible with the device */ +/** @} VL53L0X_define_Error_group */ + + +/** @defgroup VL53L0X_define_DeviceModes_group Defines Device modes + * Defines all possible modes for the device + * @{ + */ +typedef uint8_t VL53L0X_DeviceModes; + +#define VL53L0X_DEVICEMODE_SINGLE_RANGING ((VL53L0X_DeviceModes) 0) +#define VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ((VL53L0X_DeviceModes) 1) +#define VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0X_DeviceModes) 2) +#define VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0X_DeviceModes) 3) +#define VL53L0X_DEVICEMODE_SINGLE_ALS ((VL53L0X_DeviceModes) 10) +#define VL53L0X_DEVICEMODE_GPIO_DRIVE ((VL53L0X_DeviceModes) 20) +#define VL53L0X_DEVICEMODE_GPIO_OSC ((VL53L0X_DeviceModes) 21) + /* ... Modes to be added depending on device */ +/** @} VL53L0X_define_DeviceModes_group */ + + + +/** @defgroup VL53L0X_define_HistogramModes_group Defines Histogram modes + * Defines all possible Histogram modes for the device + * @{ + */ +typedef uint8_t VL53L0X_HistogramModes; + +#define VL53L0X_HISTOGRAMMODE_DISABLED ((VL53L0X_HistogramModes) 0) + /*!< Histogram Disabled */ +#define VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY ((VL53L0X_HistogramModes) 1) + /*!< Histogram Reference array only */ +#define VL53L0X_HISTOGRAMMODE_RETURN_ONLY ((VL53L0X_HistogramModes) 2) + /*!< Histogram Return array only */ +#define VL53L0X_HISTOGRAMMODE_BOTH ((VL53L0X_HistogramModes) 3) + /*!< Histogram both Reference and Return Arrays */ + /* ... Modes to be added depending on device */ +/** @} VL53L0X_define_HistogramModes_group */ + + +/** @defgroup VL53L0X_define_PowerModes_group List of available Power Modes + * List of available Power Modes + * @{ + */ + +typedef uint8_t VL53L0X_PowerModes; + +#define VL53L0X_POWERMODE_STANDBY_LEVEL1 ((VL53L0X_PowerModes) 0) + /*!< Standby level 1 */ +#define VL53L0X_POWERMODE_STANDBY_LEVEL2 ((VL53L0X_PowerModes) 1) + /*!< Standby level 2 */ +#define VL53L0X_POWERMODE_IDLE_LEVEL1 ((VL53L0X_PowerModes) 2) + /*!< Idle level 1 */ +#define VL53L0X_POWERMODE_IDLE_LEVEL2 ((VL53L0X_PowerModes) 3) + /*!< Idle level 2 */ + +/** @} VL53L0X_define_PowerModes_group */ + + +/** @brief Defines all parameters for the device + */ +typedef struct { + VL53L0X_DeviceModes DeviceMode; + /*!< Defines type of measurement to be done for the next measure */ + VL53L0X_HistogramModes HistogramMode; + /*!< Defines type of histogram measurement to be done for the next + * measure */ + uint32_t MeasurementTimingBudgetMicroSeconds; + /*!< Defines the allowed total time for a single measurement */ + uint32_t InterMeasurementPeriodMilliSeconds; + /*!< Defines time between two consecutive measurements (between two + * measurement starts). If set to 0 means back-to-back mode */ + uint8_t XTalkCompensationEnable; + /*!< Tells if Crosstalk compensation shall be enable or not */ + uint16_t XTalkCompensationRangeMilliMeter; + /*!< CrossTalk compensation range in millimeter */ + FixPoint1616_t XTalkCompensationRateMegaCps; + /*!< CrossTalk compensation rate in Mega counts per seconds. + * Expressed in 16.16 fixed point format. */ + int32_t RangeOffsetMicroMeters; + /*!< Range offset adjustment (mm). */ + + uint8_t LimitChecksEnable[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array store all the Limit Check enable for this device. */ + uint8_t LimitChecksStatus[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array store all the Status of the check linked to last + * measurement. */ + FixPoint1616_t LimitChecksValue[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array store all the Limit Check value for this device */ + + uint8_t WrapAroundCheckEnable; + /*!< Tells if Wrap Around Check shall be enable or not */ +} VL53L0X_DeviceParameters_t; + + +/** @defgroup VL53L0X_define_State_group Defines the current status of the device + * Defines the current status of the device + * @{ + */ + +typedef uint8_t VL53L0X_State; + +#define VL53L0X_STATE_POWERDOWN ((VL53L0X_State) 0) + /*!< Device is in HW reset */ +#define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State) 1) + /*!< Device is initialized and wait for static initialization */ +#define VL53L0X_STATE_STANDBY ((VL53L0X_State) 2) + /*!< Device is in Low power Standby mode */ +#define VL53L0X_STATE_IDLE ((VL53L0X_State) 3) + /*!< Device has been initialized and ready to do measurements */ +#define VL53L0X_STATE_RUNNING ((VL53L0X_State) 4) + /*!< Device is performing measurement */ +#define VL53L0X_STATE_UNKNOWN ((VL53L0X_State) 98) + /*!< Device is in unknown state and need to be rebooted */ +#define VL53L0X_STATE_ERROR ((VL53L0X_State) 99) + /*!< Device is in error state and need to be rebooted */ + +/** @} VL53L0X_define_State_group */ + + +/** @brief Structure containing the Dmax computation parameters and data + */ +typedef struct { + int32_t AmbTuningWindowFactor_K; + /*!< internal algo tuning (*1000) */ + int32_t RetSignalAt0mm; + /*!< intermediate dmax computation value caching */ +} VL53L0X_DMaxData_t; + +/** + * @struct VL53L0X_RangeData_t + * @brief Range measurement data. + */ +typedef struct { + uint32_t TimeStamp; /*!< 32-bit time stamp. */ + uint32_t MeasurementTimeUsec; + /*!< Give the Measurement time needed by the device to do the + * measurement.*/ + + + uint16_t RangeMilliMeter; /*!< range distance in millimeter. */ + + uint16_t RangeDMaxMilliMeter; + /*!< Tells what is the maximum detection distance of the device + * in current setup and environment conditions (Filled when + * applicable) */ + + FixPoint1616_t SignalRateRtnMegaCps; + /*!< Return signal rate (MCPS)\n these is a 16.16 fix point + * value, which is effectively a measure of target + * reflectance.*/ + FixPoint1616_t AmbientRateRtnMegaCps; + /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point + * value, which is effectively a measure of the ambien + * t light.*/ + + uint16_t EffectiveSpadRtnCount; + /*!< Return the effective SPAD count for the return signal. + * To obtain Real value it should be divided by 256 */ + + uint8_t ZoneId; + /*!< Denotes which zone and range scheduler stage the range + * data relates to. */ + uint8_t RangeFractionalPart; + /*!< Fractional part of range distance. Final value is a + * FixPoint168 value. */ + uint8_t RangeStatus; + /*!< Range Status for the current measurement. This is device + * dependent. Value = 0 means value is valid. + * See \ref RangeStatusPage */ +} VL53L0X_RangingMeasurementData_t; + + +#define VL53L0X_HISTOGRAM_BUFFER_SIZE 24 + +/** + * @struct VL53L0X_HistogramData_t + * @brief Histogram measurement data. + */ +typedef struct { + /* Histogram Measurement data */ + uint32_t HistogramData[VL53L0X_HISTOGRAM_BUFFER_SIZE]; + /*!< Histogram data */ + uint8_t HistogramType; /*!< Indicate the types of histogram data : + Return only, Reference only, both Return and Reference */ + uint8_t FirstBin; /*!< First Bin value */ + uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/ + uint8_t NumberOfBins; + /*!< Number of bins filled by the histogram measurement */ + + VL53L0X_DeviceError ErrorStatus; + /*!< Error status of the current measurement. \n + see @a ::VL53L0X_DeviceError @a VL53L0X_GetStatusErrorString() */ +} VL53L0X_HistogramMeasurementData_t; + +#define VL53L0X_REF_SPAD_BUFFER_SIZE 6 + +/** + * @struct VL53L0X_SpadData_t + * @brief Spad Configuration Data. + */ +typedef struct { + uint8_t RefSpadEnables[VL53L0X_REF_SPAD_BUFFER_SIZE]; + /*!< Reference Spad Enables */ + uint8_t RefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE]; + /*!< Reference Spad Good Spad Map */ +} VL53L0X_SpadData_t; + +typedef struct { + FixPoint1616_t OscFrequencyMHz; /* Frequency used */ + + uint16_t LastEncodedTimeout; + /* last encoded Time out used for timing budget*/ + + VL53L0X_GpioFunctionality Pin0GpioFunctionality; + /* store the functionality of the GPIO: pin0 */ + + uint32_t FinalRangeTimeoutMicroSecs; + /*!< Execution time of the final range*/ + uint8_t FinalRangeVcselPulsePeriod; + /*!< Vcsel pulse period (pll clocks) for the final range measurement*/ + uint32_t PreRangeTimeoutMicroSecs; + /*!< Execution time of the final range*/ + uint8_t PreRangeVcselPulsePeriod; + /*!< Vcsel pulse period (pll clocks) for the pre-range measurement*/ + + uint16_t SigmaEstRefArray; + /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */ + uint16_t SigmaEstEffPulseWidth; + /*!< Effective Pulse width for sigma estimate in 1/100th + * of ns e.g. 900 = 9.0ns */ + uint16_t SigmaEstEffAmbWidth; + /*!< Effective Ambient width for sigma estimate in 1/100th of ns + * e.g. 500 = 5.0ns */ + + + uint8_t ReadDataFromDeviceDone; /* Indicate if read from device has + been done (==1) or not (==0) */ + uint8_t ModuleId; /* Module ID */ + uint8_t Revision; /* test Revision */ + char ProductId[VL53L0X_MAX_STRING_LENGTH]; + /* Product Identifier String */ + uint8_t ReferenceSpadCount; /* used for ref spad management */ + uint8_t ReferenceSpadType; /* used for ref spad management */ + uint8_t RefSpadsInitialised; /* reports if ref spads are initialised. */ + uint32_t PartUIDUpper; /*!< Unique Part ID Upper */ + uint32_t PartUIDLower; /*!< Unique Part ID Lower */ + FixPoint1616_t SignalRateMeasFixed400mm; /*!< Peek Signal rate + at 400 mm*/ + +} VL53L0X_DeviceSpecificParameters_t; + +/** + * @struct VL53L0X_DevData_t + * + * @brief VL53L0X PAL device ST private data structure \n + * End user should never access any of these field directly + * + * These must never access directly but only via macro + */ +typedef struct { + VL53L0X_DMaxData_t DMaxData; + /*!< Dmax Data */ + int32_t Part2PartOffsetNVMMicroMeter; + /*!< backed up NVM value */ + int32_t Part2PartOffsetAdjustmentNVMMicroMeter; + /*!< backed up NVM value representing additional offset adjustment */ + VL53L0X_DeviceParameters_t CurrentParameters; + /*!< Current Device Parameter */ + VL53L0X_RangingMeasurementData_t LastRangeMeasure; + /*!< Ranging Data */ + VL53L0X_HistogramMeasurementData_t LastHistogramMeasure; + /*!< Histogram Data */ + VL53L0X_DeviceSpecificParameters_t DeviceSpecificParameters; + /*!< Parameters specific to the device */ + VL53L0X_SpadData_t SpadData; + /*!< Spad Data */ + uint8_t SequenceConfig; + /*!< Internal value for the sequence config */ + uint8_t RangeFractionalEnable; + /*!< Enable/Disable fractional part of ranging data */ + VL53L0X_State PalState; + /*!< Current state of the PAL for this device */ + VL53L0X_PowerModes PowerMode; + /*!< Current Power Mode */ + uint16_t SigmaEstRefArray; + /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */ + uint16_t SigmaEstEffPulseWidth; + /*!< Effective Pulse width for sigma estimate in 1/100th + * of ns e.g. 900 = 9.0ns */ + uint16_t SigmaEstEffAmbWidth; + /*!< Effective Ambient width for sigma estimate in 1/100th of ns + * e.g. 500 = 5.0ns */ + uint8_t StopVariable; + /*!< StopVariable used during the stop sequence */ + uint16_t targetRefRate; + /*!< Target Ambient Rate for Ref spad management */ + FixPoint1616_t SigmaEstimate; + /*!< Sigma Estimate - based on ambient & VCSEL rates and + * signal_total_events */ + FixPoint1616_t SignalEstimate; + /*!< Signal Estimate - based on ambient & VCSEL rates and cross talk */ + FixPoint1616_t LastSignalRefMcps; + /*!< Latest Signal ref in Mcps */ + uint8_t *pTuningSettingsPointer; + /*!< Pointer for Tuning Settings table */ + uint8_t UseInternalTuningSettings; + /*!< Indicate if we use Tuning Settings table */ + uint16_t LinearityCorrectiveGain; + /*!< Linearity Corrective Gain value in x1000 */ + uint16_t DmaxCalRangeMilliMeter; + /*!< Dmax Calibration Range millimeter */ + FixPoint1616_t DmaxCalSignalRateRtnMegaCps; + /*!< Dmax Calibration Signal Rate Return MegaCps */ + +} VL53L0X_DevData_t; + + +/** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity + * of the Interrupt + * Defines the Polarity of the Interrupt + * @{ + */ +typedef uint8_t VL53L0X_InterruptPolarity; + +#define VL53L0X_INTERRUPTPOLARITY_LOW ((VL53L0X_InterruptPolarity) 0) +/*!< Set active low polarity best setup for falling edge. */ +#define VL53L0X_INTERRUPTPOLARITY_HIGH ((VL53L0X_InterruptPolarity) 1) +/*!< Set active high polarity best setup for rising edge. */ + +/** @} VL53L0X_define_InterruptPolarity_group */ + + +/** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines + * Defines the range measurement for which to access the vcsel period. + * @{ + */ +typedef uint8_t VL53L0X_VcselPeriod; + +#define VL53L0X_VCSEL_PERIOD_PRE_RANGE ((VL53L0X_VcselPeriod) 0) +/*!>9)&0xFFFF) +#define VL53L0X_FIXPOINT97TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<9) + +#define VL53L0X_FIXPOINT1616TOFIXPOINT88(Value) \ + (uint16_t)((Value>>8)&0xFFFF) +#define VL53L0X_FIXPOINT88TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<8) + +#define VL53L0X_FIXPOINT1616TOFIXPOINT412(Value) \ + (uint16_t)((Value>>4)&0xFFFF) +#define VL53L0X_FIXPOINT412TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<4) + +#define VL53L0X_FIXPOINT1616TOFIXPOINT313(Value) \ + (uint16_t)((Value>>3)&0xFFFF) +#define VL53L0X_FIXPOINT313TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<3) + +#define VL53L0X_FIXPOINT1616TOFIXPOINT08(Value) \ + (uint8_t)((Value>>8)&0x00FF) +#define VL53L0X_FIXPOINT08TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<8) + +#define VL53L0X_FIXPOINT1616TOFIXPOINT53(Value) \ + (uint8_t)((Value>>13)&0x00FF) +#define VL53L0X_FIXPOINT53TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<13) + +#define VL53L0X_FIXPOINT1616TOFIXPOINT102(Value) \ + (uint16_t)((Value>>14)&0x0FFF) +#define VL53L0X_FIXPOINT102TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<12) + +#define VL53L0X_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \ + (uint16_t)lsb) + +/** @} VL53L0X_define_GeneralMacro_group */ + +/** @} VL53L0X_globaldefine_group */ + + + + + + + +#ifdef __cplusplus +} +#endif + + +#endif /* _VL53L0X_DEF_H_ */ diff --git a/modules/VL53L0X/inc/vl53l0x_device.h b/modules/VL53L0X/inc/vl53l0x_device.h new file mode 100644 index 0000000..dc010c2 --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_device.h @@ -0,0 +1,257 @@ +/******************************************************************************* +Copyright 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. +*******************************************************************************/ + +/** + * Device specific defines. To be adapted by implementer for the targeted + * device. + */ + +#ifndef _VL53L0X_DEVICE_H_ +#define _VL53L0X_DEVICE_H_ + +#include "vl53l0x_types.h" + + +/** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device Specific Defines + * @brief VL53L0X cut1.1 Device Specific Defines + * @{ + */ + + +/** @defgroup VL53L0X_DeviceError_group Device Error + * @brief Device Error code + * + * This enum is Device specific it should be updated in the implementation + * Use @a VL53L0X_GetStatusErrorString() to get the string. + * It is related to Status Register of the Device. + * @{ + */ +typedef uint8_t VL53L0X_DeviceError; + +#define VL53L0X_DEVICEERROR_NONE ((VL53L0X_DeviceError) 0) + /*!< 0 NoError */ +#define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L0X_DeviceError) 1) +#define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L0X_DeviceError) 2) +#define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND ((VL53L0X_DeviceError) 3) +#define VL53L0X_DEVICEERROR_MSRCNOTARGET ((VL53L0X_DeviceError) 4) +#define VL53L0X_DEVICEERROR_SNRCHECK ((VL53L0X_DeviceError) 5) +#define VL53L0X_DEVICEERROR_RANGEPHASECHECK ((VL53L0X_DeviceError) 6) +#define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK ((VL53L0X_DeviceError) 7) +#define VL53L0X_DEVICEERROR_TCC ((VL53L0X_DeviceError) 8) +#define VL53L0X_DEVICEERROR_PHASECONSISTENCY ((VL53L0X_DeviceError) 9) +#define VL53L0X_DEVICEERROR_MINCLIP ((VL53L0X_DeviceError) 10) +#define VL53L0X_DEVICEERROR_RANGECOMPLETE ((VL53L0X_DeviceError) 11) +#define VL53L0X_DEVICEERROR_ALGOUNDERFLOW ((VL53L0X_DeviceError) 12) +#define VL53L0X_DEVICEERROR_ALGOOVERFLOW ((VL53L0X_DeviceError) 13) +#define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD ((VL53L0X_DeviceError) 14) + +/** @} end of VL53L0X_DeviceError_group */ + + +/** @defgroup VL53L0X_CheckEnable_group Check Enable list + * @brief Check Enable code + * + * Define used to specify the LimitCheckId. + * Use @a VL53L0X_GetLimitCheckInfo() to get the string. + * @{ + */ + +#define VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE 0 +#define VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1 +#define VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP 2 +#define VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD 3 +#define VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC 4 +#define VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE 5 + +#define VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS 6 + +/** @} end of VL53L0X_CheckEnable_group */ + + +/** @defgroup VL53L0X_GpioFunctionality_group Gpio Functionality + * @brief Defines the different functionalities for the device GPIO(s) + * @{ + */ +typedef uint8_t VL53L0X_GpioFunctionality; + +#define VL53L0X_GPIOFUNCTIONALITY_OFF \ + ((VL53L0X_GpioFunctionality) 0) /*!< NO Interrupt */ +#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW \ + ((VL53L0X_GpioFunctionality) 1) /*!< Level Low (value < thresh_low) */ +#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH \ + ((VL53L0X_GpioFunctionality) 2) /*!< Level High (value > thresh_high) */ +#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT \ + ((VL53L0X_GpioFunctionality) 3) + /*!< Out Of Window (value < thresh_low OR value > thresh_high) */ +#define VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY \ + ((VL53L0X_GpioFunctionality) 4) /*!< New Sample Ready */ + +/** @} end of VL53L0X_GpioFunctionality_group */ + + +/* Device register map */ + +/** @defgroup VL53L0X_DefineRegisters_group Define Registers + * @brief List of all the defined registers + * @{ + */ +#define VL53L0X_REG_SYSRANGE_START 0x000 + /** mask existing bit in #VL53L0X_REG_SYSRANGE_START*/ + #define VL53L0X_REG_SYSRANGE_MODE_MASK 0x0F + /** bit 0 in #VL53L0X_REG_SYSRANGE_START write 1 toggle state in + * continuous mode and arm next shot in single shot mode */ + #define VL53L0X_REG_SYSRANGE_MODE_START_STOP 0x01 + /** bit 1 write 0 in #VL53L0X_REG_SYSRANGE_START set single shot mode */ + #define VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT 0x00 + /** bit 1 write 1 in #VL53L0X_REG_SYSRANGE_START set back-to-back + * operation mode */ + #define VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK 0x02 + /** bit 2 write 1 in #VL53L0X_REG_SYSRANGE_START set timed operation + * mode */ + #define VL53L0X_REG_SYSRANGE_MODE_TIMED 0x04 + /** bit 3 write 1 in #VL53L0X_REG_SYSRANGE_START set histogram operation + * mode */ + #define VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM 0x08 + + +#define VL53L0X_REG_SYSTEM_THRESH_HIGH 0x000C +#define VL53L0X_REG_SYSTEM_THRESH_LOW 0x000E + + +#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG 0x0001 +#define VL53L0X_REG_SYSTEM_RANGE_CONFIG 0x0009 +#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x0004 + + +#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x000A + #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED 0x00 + #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW 0x01 + #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH 0x02 + #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW 0x03 + #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY 0x04 + +#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084 + + +#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR 0x000B + +/* Result registers */ +#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x0013 +#define VL53L0X_REG_RESULT_RANGE_STATUS 0x0014 + +#define VL53L0X_REG_RESULT_CORE_PAGE 1 +#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0x00BC +#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0x00C0 +#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0x00D0 +#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0x00D4 +#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF 0x00B6 + +/* Algo register */ + +#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x0028 + +#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a + +/* Check Limit registers */ +#define VL53L0X_REG_MSRC_CONFIG_CONTROL 0x0060 + +#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR 0X0027 +#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x0056 +#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x0057 +#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x0064 + +#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR 0X0067 +#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x0047 +#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x0048 +#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x0044 + + +#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0X0061 +#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0X0062 + +/* PRE RANGE registers */ +#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x0050 +#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0051 +#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0052 + +#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN 0x0081 +#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x0033 +#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x0055 + +#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x0070 +#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0071 +#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0072 +#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x0020 + +#define VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP 0x0046 + + +#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf +#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0x00c0 +#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0x00c2 + +#define VL53L0X_REG_OSC_CALIBRATE_VAL 0x00f8 + + +#define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE 65535 +/* equivalent to a range sigma of 655.35mm */ + +#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x032 +#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0x0B0 +#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0x0B1 +#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0x0B2 +#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0x0B3 +#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0x0B4 +#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0x0B5 + +#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6 +#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */ +#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F /* 0x14F */ +#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80 + +/* + * Speed of light in um per 1E-10 Seconds + */ + +#define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997 + +#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x0089 + +#define VL53L0X_REG_ALGO_PHASECAL_LIM 0x0030 /* 0x130 */ +#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x0030 + +/** @} VL53L0X_DefineRegisters_group */ + +/** @} VL53L0X_DevSpecDefines_group */ + + +#endif + +/* _VL53L0X_DEVICE_H_ */ + + diff --git a/modules/VL53L0X/inc/vl53l0x_gen.h b/modules/VL53L0X/inc/vl53l0x_gen.h new file mode 100644 index 0000000..d28669b --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_gen.h @@ -0,0 +1,16 @@ +#ifndef __VL53L0X_GEN_H +#define __VL53L0X_GEN_H + +#include "bsp_vl53l0x.h" + + +extern VL53L0X_RangingMeasurementData_t vl53l0x_data; + +VL53L0X_Error vl53l0x_set_mode(VL53L0X_Dev_t *dev,u8 mode); +void vl53l0x_general_test(VL53L0X_Dev_t *dev); + +//启动普通测量 +void vl53l0x_general_start(VL53L0X_Dev_t *dev,u8 mode); +#endif + + diff --git a/modules/VL53L0X/inc/vl53l0x_i2c.h b/modules/VL53L0X/inc/vl53l0x_i2c.h new file mode 100644 index 0000000..1f0cbd9 --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_i2c.h @@ -0,0 +1,67 @@ +#ifndef __VL53L0_I2C_H +#define __VL53L0_I2C_H + +#include "stm32f4xx.h" +#include "my_vl53l0.h" +#ifndef u8 +#define u8 uint8_t +#endif +#ifndef u16 +#define u16 uint16_t +#endif +#ifndef u32 +#define u32 uint32_t +#endif + +//端口移植 +//#define RCC_VL53L0x RCC_AHB1Periph_GPIOB + + +// 设置 SDA 为推挽输出模式 +#define SDA_OUT() { \ + GPIO_InitTypeDef GPIO_InitStruct = {0}; \ + GPIO_InitStruct.Pin = GPIO_SDA; \ + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; \ + GPIO_InitStruct.Pull = GPIO_NOPULL; \ + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; \ + HAL_GPIO_Init(PORT_VL53L0x, &GPIO_InitStruct); \ +} + +// 设置 SDA 为输入模式 +#define SDA_IN() { \ + GPIO_InitTypeDef GPIO_InitStruct = {0}; \ + GPIO_InitStruct.Pin = GPIO_SDA; \ + GPIO_InitStruct.Mode = GPIO_MODE_INPUT; \ + GPIO_InitStruct.Pull = GPIO_NOPULL; \ + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; \ + HAL_GPIO_Init(PORT_VL53L0x, &GPIO_InitStruct); \ +} + +// 读取 SDA 引脚电平 +#define SDA_GET() HAL_GPIO_ReadPin(PORT_VL53L0x, GPIO_SDA) + +// SDA / SCL 输出电平（x 为 1 置高，0 置低） +#define SDA(x) HAL_GPIO_WritePin(PORT_VL53L0x, GPIO_SDA, (x) ? GPIO_PIN_SET : GPIO_PIN_RESET) +#define SCL(x) HAL_GPIO_WritePin(PORT_VL53L0x, GPIO_SCL, (x) ? GPIO_PIN_SET : GPIO_PIN_RESET) + +//状态 +#define STATUS_OK 0x00 +#define STATUS_FAIL 0x01 + +//IIC操作函数 +//void VL53L0X_i2c_init(void);//初始化IIC的IO口 + +u8 VL53L0X_write_byte(u8 address,u8 index,u8 data); //IIC写一个8位数据 +u8 VL53L0X_write_word(u8 address,u8 index,u16 data); //IIC写一个16位数据 +u8 VL53L0X_write_dword(u8 address,u8 index,u32 data); //IIC写一个32位数据 +u8 VL53L0X_write_multi(u8 address, u8 index,u8 *pdata,u16 count);//IIC连续写 + +u8 VL53L0X_read_byte(u8 address,u8 index,u8 *pdata); //IIC读一个8位数据 +u8 VL53L0X_read_word(u8 address,u8 index,u16 *pdata); //IIC读一个16位数据 +u8 VL53L0X_read_dword(u8 address,u8 index,u32 *pdata); //IIC读一个32位数据 +u8 VL53L0X_read_multi(u8 address,u8 index,u8 *pdata,u16 count); //IIC连续读 + + +#endif + + diff --git a/modules/VL53L0X/inc/vl53l0x_interrupt_threshold_settings.h b/modules/VL53L0X/inc/vl53l0x_interrupt_threshold_settings.h new file mode 100644 index 0000000..41677f1 --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_interrupt_threshold_settings.h @@ -0,0 +1,194 @@ +/******************************************************************************* +Copyright 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. +*******************************************************************************/ + + +#ifndef _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_ +#define _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_ + + +#ifdef __cplusplus +extern "C" { +#endif + + +uint8_t InterruptThresholdSettings[] = { + + /* Start of Interrupt Threshold Settings */ + 0x1, 0xff, 0x00, + 0x1, 0x80, 0x01, + 0x1, 0xff, 0x01, + 0x1, 0x00, 0x00, + 0x1, 0xff, 0x01, + 0x1, 0x4f, 0x02, + 0x1, 0xFF, 0x0E, + 0x1, 0x00, 0x03, + 0x1, 0x01, 0x84, + 0x1, 0x02, 0x0A, + 0x1, 0x03, 0x03, + 0x1, 0x04, 0x08, + 0x1, 0x05, 0xC8, + 0x1, 0x06, 0x03, + 0x1, 0x07, 0x8D, + 0x1, 0x08, 0x08, + 0x1, 0x09, 0xC6, + 0x1, 0x0A, 0x01, + 0x1, 0x0B, 0x02, + 0x1, 0x0C, 0x00, + 0x1, 0x0D, 0xD5, + 0x1, 0x0E, 0x18, + 0x1, 0x0F, 0x12, + 0x1, 0x10, 0x01, + 0x1, 0x11, 0x82, + 0x1, 0x12, 0x00, + 0x1, 0x13, 0xD5, + 0x1, 0x14, 0x18, + 0x1, 0x15, 0x13, + 0x1, 0x16, 0x03, + 0x1, 0x17, 0x86, + 0x1, 0x18, 0x0A, + 0x1, 0x19, 0x09, + 0x1, 0x1A, 0x08, + 0x1, 0x1B, 0xC2, + 0x1, 0x1C, 0x03, + 0x1, 0x1D, 0x8F, + 0x1, 0x1E, 0x0A, + 0x1, 0x1F, 0x06, + 0x1, 0x20, 0x01, + 0x1, 0x21, 0x02, + 0x1, 0x22, 0x00, + 0x1, 0x23, 0xD5, + 0x1, 0x24, 0x18, + 0x1, 0x25, 0x22, + 0x1, 0x26, 0x01, + 0x1, 0x27, 0x82, + 0x1, 0x28, 0x00, + 0x1, 0x29, 0xD5, + 0x1, 0x2A, 0x18, + 0x1, 0x2B, 0x0B, + 0x1, 0x2C, 0x28, + 0x1, 0x2D, 0x78, + 0x1, 0x2E, 0x28, + 0x1, 0x2F, 0x91, + 0x1, 0x30, 0x00, + 0x1, 0x31, 0x0B, + 0x1, 0x32, 0x00, + 0x1, 0x33, 0x0B, + 0x1, 0x34, 0x00, + 0x1, 0x35, 0xA1, + 0x1, 0x36, 0x00, + 0x1, 0x37, 0xA0, + 0x1, 0x38, 0x00, + 0x1, 0x39, 0x04, + 0x1, 0x3A, 0x28, + 0x1, 0x3B, 0x30, + 0x1, 0x3C, 0x0C, + 0x1, 0x3D, 0x04, + 0x1, 0x3E, 0x0F, + 0x1, 0x3F, 0x79, + 0x1, 0x40, 0x28, + 0x1, 0x41, 0x1E, + 0x1, 0x42, 0x2F, + 0x1, 0x43, 0x87, + 0x1, 0x44, 0x00, + 0x1, 0x45, 0x0B, + 0x1, 0x46, 0x00, + 0x1, 0x47, 0x0B, + 0x1, 0x48, 0x00, + 0x1, 0x49, 0xA7, + 0x1, 0x4A, 0x00, + 0x1, 0x4B, 0xA6, + 0x1, 0x4C, 0x00, + 0x1, 0x4D, 0x04, + 0x1, 0x4E, 0x01, + 0x1, 0x4F, 0x00, + 0x1, 0x50, 0x00, + 0x1, 0x51, 0x80, + 0x1, 0x52, 0x09, + 0x1, 0x53, 0x08, + 0x1, 0x54, 0x01, + 0x1, 0x55, 0x00, + 0x1, 0x56, 0x0F, + 0x1, 0x57, 0x79, + 0x1, 0x58, 0x09, + 0x1, 0x59, 0x05, + 0x1, 0x5A, 0x00, + 0x1, 0x5B, 0x60, + 0x1, 0x5C, 0x05, + 0x1, 0x5D, 0xD1, + 0x1, 0x5E, 0x0C, + 0x1, 0x5F, 0x3C, + 0x1, 0x60, 0x00, + 0x1, 0x61, 0xD0, + 0x1, 0x62, 0x0B, + 0x1, 0x63, 0x03, + 0x1, 0x64, 0x28, + 0x1, 0x65, 0x10, + 0x1, 0x66, 0x2A, + 0x1, 0x67, 0x39, + 0x1, 0x68, 0x0B, + 0x1, 0x69, 0x02, + 0x1, 0x6A, 0x28, + 0x1, 0x6B, 0x10, + 0x1, 0x6C, 0x2A, + 0x1, 0x6D, 0x61, + 0x1, 0x6E, 0x0C, + 0x1, 0x6F, 0x00, + 0x1, 0x70, 0x0F, + 0x1, 0x71, 0x79, + 0x1, 0x72, 0x00, + 0x1, 0x73, 0x0B, + 0x1, 0x74, 0x00, + 0x1, 0x75, 0x0B, + 0x1, 0x76, 0x00, + 0x1, 0x77, 0xA1, + 0x1, 0x78, 0x00, + 0x1, 0x79, 0xA0, + 0x1, 0x7A, 0x00, + 0x1, 0x7B, 0x04, + 0x1, 0xFF, 0x04, + 0x1, 0x79, 0x1D, + 0x1, 0x7B, 0x27, + 0x1, 0x96, 0x0E, + 0x1, 0x97, 0xFE, + 0x1, 0x98, 0x03, + 0x1, 0x99, 0xEF, + 0x1, 0x9A, 0x02, + 0x1, 0x9B, 0x44, + 0x1, 0x73, 0x07, + 0x1, 0x70, 0x01, + 0x1, 0xff, 0x01, + 0x1, 0x00, 0x01, + 0x1, 0xff, 0x00, + 0x00, 0x00, 0x00 +}; + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_ */ diff --git a/modules/VL53L0X/inc/vl53l0x_it.h b/modules/VL53L0X/inc/vl53l0x_it.h new file mode 100644 index 0000000..c4f8c35 --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_it.h @@ -0,0 +1,9 @@ +#ifndef __ALARM_H +#define __ALARM_H + +#include "bsp_vl53l0x.h" + +void vl53l0x_interrupt_test(VL53L0X_Dev_t *dev); + + +#endif diff --git a/modules/VL53L0X/inc/vl53l0x_platform.h b/modules/VL53L0X/inc/vl53l0x_platform.h new file mode 100644 index 0000000..9149869 --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_platform.h @@ -0,0 +1,40 @@ +#ifndef __VL53L0X_PLATFORM_H +#define __VL53L0X_PLATFORM_H + +#include "vl53l0x_def.h" +#include "vl53l0x_i2c.h" +#include "vl53l0x_platform_log.h" + + +//vl53l0x设备I2C信息 +typedef struct { + VL53L0X_DevData_t Data; /*!< embed ST Ewok Dev data as "Data"*/ + /*!< user specific field */ + uint8_t I2cDevAddr; /*!< i2c device address user specific field */ + uint8_t comms_type; /*!< Type of comms : VL53L0X_COMMS_I2C or VL53L0X_COMMS_SPI */ + uint16_t comms_speed_khz; /*!< Comms speed [kHz] : typically 400kHz for I2C */ + +} VL53L0X_Dev_t; + + +typedef VL53L0X_Dev_t* VL53L0X_DEV; + +#define VL53L0X_MAX_I2C_XFER_SIZE 64 //定义I2C写的最大字节数 +#define PALDevDataGet(Dev, field) (Dev->Data.field) +#define PALDevDataSet(Dev, field, data) (Dev->Data.field)=(data) + + +VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata,uint32_t count); +VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata,uint32_t count); +VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data); +VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data); +VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data); +VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData); +VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data); +VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data); +VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data); +VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev); + + +#endif + diff --git a/modules/VL53L0X/inc/vl53l0x_platform_log.h b/modules/VL53L0X/inc/vl53l0x_platform_log.h new file mode 100644 index 0000000..3cb2146 --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_platform_log.h @@ -0,0 +1,157 @@ +///******************************************************************************* +//Copyright 2015, STMicroelectronics International N.V. +//All rights reserved. + +//Redistribution and use in source and binary forms, with or without +//modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * 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. +// * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND +//NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +//IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. +//********************************************************************************/ + + +//#ifndef _VL53L0X_PLATFORM_LOG_H_ +//#define _VL53L0X_PLATFORM_LOG_H_ + +//#include +//#include +///* LOG Functions */ + +//#ifdef __cplusplus +//extern "C" { +//#endif + + +///** +// * @file vl53l0x_platform_log.h +// * +// * @brief platform log function definition +// */ + +////#define VL53L0X_LOG_ENABLE 0 + +//enum { +// TRACE_LEVEL_NONE, +// TRACE_LEVEL_ERRORS, +// TRACE_LEVEL_WARNING, +// TRACE_LEVEL_INFO, +// TRACE_LEVEL_DEBUG, +// TRACE_LEVEL_ALL, +// TRACE_LEVEL_IGNORE +//}; + +//enum { +// TRACE_FUNCTION_NONE = 0, +// TRACE_FUNCTION_I2C = 1, +// TRACE_FUNCTION_ALL = 0x7fffffff //all bits except sign +//}; + +//enum { +// TRACE_MODULE_NONE = 0x0, +// TRACE_MODULE_API = 0x1, +// TRACE_MODULE_PLATFORM = 0x2, +// TRACE_MODULE_ALL = 0x7fffffff //all bits except sign +//}; + + +//#if defined(VL53L0X_LOG_ENABLE) && (TRACE_UART==1) + +//#include +//extern int uart_printf(const char *msg, ...); +//extern int uart_vprintf(const char *msg, va_list ap); + +//#define trace_printf uart_printf +//#define trace_vprintf uart_vprintf + + +//extern uint32_t _trace_level; + + + +//int32_t VL53L0X_trace_config(char *filename, uint32_t modules, uint32_t level, uint32_t functions); +//void trace_print_module_function(uint32_t module, uint32_t level, uint32_t function, const char *format, ...); + + +////extern FILE * log_file; + +//#define LOG_GET_TIME() (int)HAL_GetTick() + +//#define _LOG_FUNCTION_START(module, fmt, ... ) \ +// trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld %s "fmt"\n", LOG_GET_TIME(), __FUNCTION__, ##__VA_ARGS__); + +//#define _LOG_FUNCTION_END(module, status, ... )\ +// trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%d %s %d\n", LOG_GET_TIME(), __FUNCTION__, (int)status, ##__VA_ARGS__) + +//#define _LOG_FUNCTION_END_FMT(module, status, fmt, ... )\ +// trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%d %s %d "fmt"\n", LOG_GET_TIME(), __FUNCTION__, (int)status,##__VA_ARGS__) + + +//#else /* VL53L0X_LOG_ENABLE no logging or no TRACE_UART */ +// #define VL53L0X_ErrLog(...) (void)0 +// #define _LOG_FUNCTION_START(module, fmt, ... ) (void)0 +// #define _LOG_FUNCTION_END(module, status, ... ) (void)0 +// #define _LOG_FUNCTION_END_FMT(module, status, fmt, ... ) (void)0 +// #define trace_vprintf(...) (void)0 +// #define VL53L0X_trace_config(...) (void)0 + +//#endif /* else */ + +//#define VL53L0_COPYSTRING(str, ...) strcpy(str, ##__VA_ARGS__) + +//#endif /* _VL53L0X_PLATFORM_LOG_H_ */ + + +#ifndef _VL53L0X_PLATFORM_LOG_H_ +#define _VL53L0X_PLATFORM_LOG_H_ + +#include +#include + +enum { + TRACE_LEVEL_NONE, + TRACE_LEVEL_ERRORS, + TRACE_LEVEL_WARNING, + TRACE_LEVEL_INFO, + TRACE_LEVEL_DEBUG, + TRACE_LEVEL_ALL, + TRACE_LEVEL_IGNORE +}; + +enum { + TRACE_FUNCTION_NONE = 0, + TRACE_FUNCTION_I2C = 1, + TRACE_FUNCTION_ALL = 0x7fffffff //all bits except sign +}; + +enum { + TRACE_MODULE_NONE = 0x0, + TRACE_MODULE_API = 0x1, + TRACE_MODULE_PLATFORM = 0x2, + TRACE_MODULE_ALL = 0x7fffffff //all bits except sign +}; + + +#define VL53L0X_ErrLog(...) (void)0 +#define _LOG_FUNCTION_START(module, fmt, ... ) (void)0 +#define _LOG_FUNCTION_END(module, status, ... ) (void)0 +#define _LOG_FUNCTION_END_FMT(module, status, fmt, ... ) (void)0 +#define VL53L0X_COPYSTRING(str, ...) strcpy(str, __VA_ARGS__) + +#endif /* _VL53L0X_PLATFORM_LOG_H_ */ diff --git a/modules/VL53L0X/inc/vl53l0x_tuning.h b/modules/VL53L0X/inc/vl53l0x_tuning.h new file mode 100644 index 0000000..a7ad71b --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_tuning.h @@ -0,0 +1,146 @@ +/******************************************************************************* +Copyright 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. +*******************************************************************************/ + + +#ifndef _VL53L0X_TUNING_H_ +#define _VL53L0X_TUNING_H_ + +#include "vl53l0x_def.h" + + +#ifdef __cplusplus +extern "C" { +#endif + + +uint8_t DefaultTuningSettings[] = { + + /* update 02/11/2015_v36 */ + 0x01, 0xFF, 0x01, + 0x01, 0x00, 0x00, + + 0x01, 0xFF, 0x00, + 0x01, 0x09, 0x00, + 0x01, 0x10, 0x00, + 0x01, 0x11, 0x00, + + 0x01, 0x24, 0x01, + 0x01, 0x25, 0xff, + 0x01, 0x75, 0x00, + + 0x01, 0xFF, 0x01, + 0x01, 0x4e, 0x2c, + 0x01, 0x48, 0x00, + 0x01, 0x30, 0x20, + + 0x01, 0xFF, 0x00, + 0x01, 0x30, 0x09, /* mja changed from 0x64. */ + 0x01, 0x54, 0x00, + 0x01, 0x31, 0x04, + 0x01, 0x32, 0x03, + 0x01, 0x40, 0x83, + 0x01, 0x46, 0x25, + 0x01, 0x60, 0x00, + 0x01, 0x27, 0x00, + 0x01, 0x50, 0x06, + 0x01, 0x51, 0x00, + 0x01, 0x52, 0x96, + 0x01, 0x56, 0x08, + 0x01, 0x57, 0x30, + 0x01, 0x61, 0x00, + 0x01, 0x62, 0x00, + 0x01, 0x64, 0x00, + 0x01, 0x65, 0x00, + 0x01, 0x66, 0xa0, + + 0x01, 0xFF, 0x01, + 0x01, 0x22, 0x32, + 0x01, 0x47, 0x14, + 0x01, 0x49, 0xff, + 0x01, 0x4a, 0x00, + + 0x01, 0xFF, 0x00, + 0x01, 0x7a, 0x0a, + 0x01, 0x7b, 0x00, + 0x01, 0x78, 0x21, + + 0x01, 0xFF, 0x01, + 0x01, 0x23, 0x34, + 0x01, 0x42, 0x00, + 0x01, 0x44, 0xff, + 0x01, 0x45, 0x26, + 0x01, 0x46, 0x05, + 0x01, 0x40, 0x40, + 0x01, 0x0E, 0x06, + 0x01, 0x20, 0x1a, + 0x01, 0x43, 0x40, + + 0x01, 0xFF, 0x00, + 0x01, 0x34, 0x03, + 0x01, 0x35, 0x44, + + 0x01, 0xFF, 0x01, + 0x01, 0x31, 0x04, + 0x01, 0x4b, 0x09, + 0x01, 0x4c, 0x05, + 0x01, 0x4d, 0x04, + + + 0x01, 0xFF, 0x00, + 0x01, 0x44, 0x00, + 0x01, 0x45, 0x20, + 0x01, 0x47, 0x08, + 0x01, 0x48, 0x28, + 0x01, 0x67, 0x00, + 0x01, 0x70, 0x04, + 0x01, 0x71, 0x01, + 0x01, 0x72, 0xfe, + 0x01, 0x76, 0x00, + 0x01, 0x77, 0x00, + + 0x01, 0xFF, 0x01, + 0x01, 0x0d, 0x01, + + 0x01, 0xFF, 0x00, + 0x01, 0x80, 0x01, + 0x01, 0x01, 0xF8, + + 0x01, 0xFF, 0x01, + 0x01, 0x8e, 0x01, + 0x01, 0x00, 0x01, + 0x01, 0xFF, 0x00, + 0x01, 0x80, 0x00, + + 0x00, 0x00, 0x00 +}; + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L0X_TUNING_H_ */ diff --git a/modules/VL53L0X/inc/vl53l0x_types.h b/modules/VL53L0X/inc/vl53l0x_types.h new file mode 100644 index 0000000..db9e81d --- /dev/null +++ b/modules/VL53L0X/inc/vl53l0x_types.h @@ -0,0 +1,112 @@ +/******************************************************************************* +Copyright ?2015, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. +********************************************************************************/ +/** + * @file vl53l0_types.h + * @brief VL53L0 types definition + */ + +#ifndef VL53L0X_TYPES_H_ +#define VL53L0X_TYPES_H_ + +/** @defgroup porting_type Basic type definition + * @ingroup VL53L0X_platform_group + * + * @brief file vl53l0_types.h files hold basic type definition that may requires porting + * + * contains type that must be defined for the platform\n + * when target platform and compiler provide stdint.h and stddef.h it is enough to include it.\n + * If stdint.h is not available review and adapt all signed and unsigned 8/16/32 bits basic types. \n + * If stddef.h is not available review and adapt NULL definition . + */ +#include +#include +#include "stm32f4xx.h" + +#ifndef NULL +#error "Error NULL definition should be done. Please add required include " +#endif + + +#if ! defined(STDINT_H) && !defined(_GCC_STDINT_H) &&!defined(__STDINT_DECLS) && !defined(_GCC_WRAP_STDINT_H) + + #pragma message("Please review type definition of STDINT define for your platform and add to list above ") + + /* + * target platform do not provide stdint or use a different #define than above + * to avoid seeing the message below addapt the #define list above or implement + * all type and delete these pragma + */ + +/** \ingroup VL53L0X_portingType_group + * @{ + */ + + +//typedef unsigned long long uint64_t; + + +/** @brief Typedef defining 32 bit unsigned int type.\n + * The developer should modify this to suit the platform being deployed. + */ +//typedef unsigned int uint32_t; + +/** @brief Typedef defining 32 bit int type.\n + * The developer should modify this to suit the platform being deployed. + */ +//typedef int int32_t; + +/** @brief Typedef defining 16 bit unsigned short type.\n + * The developer should modify this to suit the platform being deployed. + */ +//typedef unsigned short uint16_t; + +/** @brief Typedef defining 16 bit short type.\n + * The developer should modify this to suit the platform being deployed. + */ +//typedef short int16_t; + +/** @brief Typedef defining 8 bit unsigned char type.\n + * The developer should modify this to suit the platform being deployed. + */ +//typedef unsigned char uint8_t; + +/** @brief Typedef defining 8 bit char type.\n + * The developer should modify this to suit the platform being deployed. + */ +//typedef signed char int8_t; + +/** @} */ +#endif /* _STDINT_H */ + + +/** use where fractional values are expected + * + * Given a floating point value f it's .16 bit point is (int)(f*(1<<16))*/ +typedef uint32_t FixPoint1616_t; + +#endif /* VL53L0X_TYPES_H_ */ diff --git a/modules/VL53L0X/my_vl53l0.h b/modules/VL53L0X/my_vl53l0.h new file mode 100644 index 0000000..745a371 --- /dev/null +++ b/modules/VL53L0X/my_vl53l0.h @@ -0,0 +1,9 @@ +#ifndef __my_vl53l0_H +#define __my_vl53l0_H +#include "stm32f4xx_hal.h" + +#define VL53L0X_Xshut PDout(5) +#define PORT_VL53L0x GPIOD +#define GPIO_SDA GPIO_PIN_6 +#define GPIO_SCL GPIO_PIN_7 +#endif diff --git a/modules/VL53L0X/src/bsp_VL53L0X.c b/modules/VL53L0X/src/bsp_VL53L0X.c new file mode 100644 index 0000000..25f772e --- /dev/null +++ b/modules/VL53L0X/src/bsp_VL53L0X.c @@ -0,0 +1,170 @@ +#include "bsp_vl53l0x.h" +#include "my_vl53l0.h" +#include "delay.h" + +VL53L0X_Dev_t vl53l0x_dev;//设备I2C数据参数 +VL53L0X_DeviceInfo_t vl53l0x_dev_info;//设备ID版本信息 +uint8_t AjustOK=0;//校准标志位 + +//VL53L0X各测量模式参数 +//0：默认;1:高精度;2:长距离;3:高速 +mode_data Mode_data[]= +{ + {(FixPoint1616_t)(0.25*65536), + (FixPoint1616_t)(18*65536), + 33000, + 14, + 10},//默认 + + {(FixPoint1616_t)(0.25*65536) , + (FixPoint1616_t)(18*65536), + 200000, + 14, + 10},//高精度 + + {(FixPoint1616_t)(0.1*65536) , + (FixPoint1616_t)(60*65536), + 33000, + 18, + 14},//长距离 + + {(FixPoint1616_t)(0.25*65536) , + (FixPoint1616_t)(32*65536), + 20000, + 14, + 10},//高速 + +}; + +//API错误信息打印 +//Status：详情看VL53L0X_Error参数的定义 +void print_pal_error(VL53L0X_Error Status) +{ + + char buf[VL53L0X_MAX_STRING_LENGTH]; + + VL53L0X_GetPalErrorString(Status,buf);//根据Status状态获取错误信息字符串 + + printf("API Status: %i : %s\r\n",Status, buf);//打印状态和错误信息 +} + + +//配置VL53L0X设备I2C地址 +//dev:设备I2C参数结构体 +//newaddr:设备新I2C地址 +VL53L0X_Error vl53l0x_Addr_set(VL53L0X_Dev_t *dev,uint8_t newaddr) +{ + uint16_t Id; + uint8_t FinalAddress; + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + u8 sta=0x00; + + FinalAddress = newaddr; + + if(FinalAddress==dev->I2cDevAddr)//新设备I2C地址与旧地址一致,直接退出 + return VL53L0X_ERROR_NONE; + //在进行第一个寄存器访问之前设置I2C标准模式(400Khz) + Status = VL53L0X_WrByte(dev,0x88,0x00); + if(Status!=VL53L0X_ERROR_NONE) + { + sta=0x01;//设置I2C标准模式出错 + goto set_error; + } + //尝试使用默认的0x52地址读取一个寄存器 + Status = VL53L0X_RdWord(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Id); + if(Status!=VL53L0X_ERROR_NONE) + { + sta=0x02;//读取寄存器出错 + goto set_error; + } + if(Id == 0xEEAA) + { + //设置设备新的I2C地址 + Status = VL53L0X_SetDeviceAddress(dev,FinalAddress); + if(Status!=VL53L0X_ERROR_NONE) + { + sta=0x03;//设置I2C地址出错 + goto set_error; + } + //修改参数结构体的I2C地址 + dev->I2cDevAddr = FinalAddress; + //检查新的I2C地址读写是否正常 + Status = VL53L0X_RdWord(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Id); + if(Status!=VL53L0X_ERROR_NONE) + { + sta=0x04;//新I2C地址读写出错 + goto set_error; + } + } + set_error: + if(Status!=VL53L0X_ERROR_NONE) + { + print_pal_error(Status);//打印错误信息 + } + if(sta!=0) + printf("sta:0x%x\r\n",sta); + return Status; +} + +//vl53l0x复位函数 +//dev:设备I2C参数结构体 +void vl53l0x_reset(VL53L0X_Dev_t *dev) +{ + uint8_t addr; + addr = dev->I2cDevAddr;//保存设备原I2C地址 + VL53L0X_Xshut=0;//失能VL53L0X + delay_ms(30); + VL53L0X_Xshut=1;//使能VL53L0X,让传感器处于工作(I2C地址会恢复默认0X52) + delay_ms(30); + dev->I2cDevAddr=0x52; + vl53l0x_Addr_set(dev,addr);//设置VL53L0X传感器原来上电前原I2C地址 + VL53L0X_DataInit(dev); +} + +//初始化vl53l0x +//dev:设备I2C参数结构体 +VL53L0X_Error vl53l0x_init(VL53L0X_Dev_t *dev) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + VL53L0X_Dev_t *pMyDevice = dev; + +// RCC_AHB1PeriphClockCmd(RCC_VL53L0x, ENABLE); // 使能GPIO时钟 +// +// GPIO_InitTypeDef GPIO_InitStructure; + +// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; +// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; +// GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; +// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; +// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; +// GPIO_Init(PORT_VL53L0x, &GPIO_InitStructure); + + + pMyDevice->I2cDevAddr = VL53L0X_Addr;//I2C地址(上电默认0x52) + pMyDevice->comms_type = 1; //I2C通信模式 + pMyDevice->comms_speed_khz = 400; //I2C通信速率 + + //VL53L0X_i2c_init();//初始化IIC总线 + + VL53L0X_Xshut=0;//失能VL53L0X + delay_ms(50); + VL53L0X_Xshut=1;//使能VL53L0X,让传感器处于工作 + delay_ms(50); + + vl53l0x_Addr_set(pMyDevice,0x54);//设置VL53L0X传感器I2C地址 + if(Status!=VL53L0X_ERROR_NONE) goto error; + Status = VL53L0X_DataInit(pMyDevice);//设备初始化 + if(Status!=VL53L0X_ERROR_NONE) goto error; + delay_ms(2); + Status = VL53L0X_GetDeviceInfo(pMyDevice,&vl53l0x_dev_info);//获取设备ID信息 + if(Status!=VL53L0X_ERROR_NONE) goto error; + + error: + if(Status!=VL53L0X_ERROR_NONE) + { + print_pal_error(Status);//打印错误信息 + return Status; + } + + return Status; +} diff --git a/modules/VL53L0X/src/vl53l0x_api.c b/modules/VL53L0X/src/vl53l0x_api.c new file mode 100644 index 0000000..0163f73 --- /dev/null +++ b/modules/VL53L0X/src/vl53l0x_api.c @@ -0,0 +1,3035 @@ +/******************************************************************************* + Copyright 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. + ******************************************************************************/ + +#include "vl53l0x_api.h" +#include "vl53l0x_tuning.h" +#include "vl53l0x_interrupt_threshold_settings.h" +#include "vl53l0x_api_core.h" +#include "vl53l0x_api_calibration.h" +#include "vl53l0x_api_strings.h" + +#ifndef __KERNEL__ +#include +#endif +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + +#ifdef VL53L0X_LOG_ENABLE +#define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \ + level, TRACE_FUNCTION_NONE, ##__VA_ARGS__) +#endif + +/* Group PAL General Functions */ + +VL53L0X_Error VL53L0X_GetVersion(VL53L0X_Version_t *pVersion) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + pVersion->major = VL53L0X_IMPLEMENTATION_VER_MAJOR; + pVersion->minor = VL53L0X_IMPLEMENTATION_VER_MINOR; + pVersion->build = VL53L0X_IMPLEMENTATION_VER_SUB; + + pVersion->revision = VL53L0X_IMPLEMENTATION_VER_REVISION; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetPalSpecVersion(VL53L0X_Version_t *pPalSpecVersion) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + pPalSpecVersion->major = VL53L0X_SPECIFICATION_VER_MAJOR; + pPalSpecVersion->minor = VL53L0X_SPECIFICATION_VER_MINOR; + pPalSpecVersion->build = VL53L0X_SPECIFICATION_VER_SUB; + + pPalSpecVersion->revision = VL53L0X_SPECIFICATION_VER_REVISION; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetProductRevision(VL53L0X_DEV Dev, + uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t revision_id; + + LOG_FUNCTION_START(""); + + Status = VL53L0X_RdByte(Dev, VL53L0X_REG_IDENTIFICATION_REVISION_ID, + &revision_id); + *pProductRevisionMajor = 1; + *pProductRevisionMinor = (revision_id & 0xF0) >> 4; + + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L0X_Error VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev, + VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_get_device_info(Dev, pVL53L0X_DeviceInfo); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetDeviceErrorStatus(VL53L0X_DEV Dev, + VL53L0X_DeviceError *pDeviceErrorStatus) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t RangeStatus; + + LOG_FUNCTION_START(""); + + Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS, + &RangeStatus); + + *pDeviceErrorStatus = (VL53L0X_DeviceError)((RangeStatus & 0x78) >> 3); + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L0X_Error VL53L0X_GetDeviceErrorString(VL53L0X_DeviceError ErrorCode, + char *pDeviceErrorString) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L0X_get_device_error_string(ErrorCode, pDeviceErrorString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetRangeStatusString(uint8_t RangeStatus, + char *pRangeStatusString) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_get_range_status_string(RangeStatus, + pRangeStatusString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetPalErrorString(VL53L0X_Error PalErrorCode, + char *pPalErrorString) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_get_pal_error_string(PalErrorCode, pPalErrorString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetPalStateString(VL53L0X_State PalStateCode, + char *pPalStateString) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_get_pal_state_string(PalStateCode, pPalStateString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetPalState(VL53L0X_DEV Dev, VL53L0X_State *pPalState) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + *pPalState = PALDevDataGet(Dev, PalState); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetPowerMode(VL53L0X_DEV Dev, VL53L0X_PowerModes PowerMode) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + /* Only level1 of Power mode exists */ + if ((PowerMode != VL53L0X_POWERMODE_STANDBY_LEVEL1) + && (PowerMode != VL53L0X_POWERMODE_IDLE_LEVEL1)) { + Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; + } else if (PowerMode == VL53L0X_POWERMODE_STANDBY_LEVEL1) { + /* set the standby level1 of power mode */ + Status = VL53L0X_WrByte(Dev, 0x80, 0x00); + if (Status == VL53L0X_ERROR_NONE) { + /* Set PAL State to standby */ + PALDevDataSet(Dev, PalState, VL53L0X_STATE_STANDBY); + PALDevDataSet(Dev, PowerMode, + VL53L0X_POWERMODE_STANDBY_LEVEL1); + } + + } else { + /* VL53L0X_POWERMODE_IDLE_LEVEL1 */ + Status = VL53L0X_WrByte(Dev, 0x80, 0x00); + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_StaticInit(Dev); + + if (Status == VL53L0X_ERROR_NONE) + PALDevDataSet(Dev, PowerMode, + VL53L0X_POWERMODE_IDLE_LEVEL1); + + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetPowerMode(VL53L0X_DEV Dev, VL53L0X_PowerModes *pPowerMode) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t Byte; + LOG_FUNCTION_START(""); + + /* Only level1 of Power mode exists */ + Status = VL53L0X_RdByte(Dev, 0x80, &Byte); + + if (Status == VL53L0X_ERROR_NONE) { + if (Byte == 1) { + PALDevDataSet(Dev, PowerMode, + VL53L0X_POWERMODE_IDLE_LEVEL1); + } else { + PALDevDataSet(Dev, PowerMode, + VL53L0X_POWERMODE_STANDBY_LEVEL1); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, + int32_t OffsetCalibrationDataMicroMeter) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_set_offset_calibration_data_micro_meter(Dev, + OffsetCalibrationDataMicroMeter); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, + int32_t *pOffsetCalibrationDataMicroMeter) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_get_offset_calibration_data_micro_meter(Dev, + pOffsetCalibrationDataMicroMeter); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetLinearityCorrectiveGain(VL53L0X_DEV Dev, + int16_t LinearityCorrectiveGain) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + if ((LinearityCorrectiveGain < 0) || (LinearityCorrectiveGain > 1000)) + Status = VL53L0X_ERROR_INVALID_PARAMS; + else { + PALDevDataSet(Dev, LinearityCorrectiveGain, + LinearityCorrectiveGain); + + if (LinearityCorrectiveGain != 1000) { + /* Disable FW Xtalk */ + Status = VL53L0X_WrWord(Dev, + VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, 0); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetLinearityCorrectiveGain(VL53L0X_DEV Dev, + uint16_t *pLinearityCorrectiveGain) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + *pLinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetGroupParamHold(VL53L0X_DEV Dev, uint8_t GroupParamHold) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + /* not implemented on VL53L0X */ + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetUpperLimitMilliMeter(VL53L0X_DEV Dev, + uint16_t *pUpperLimitMilliMeter) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + /* not implemented on VL53L0X */ + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetTotalSignalRate(VL53L0X_DEV Dev, + FixPoint1616_t *pTotalSignalRate) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; + + LOG_FUNCTION_START(""); + + LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure); + + Status = VL53L0X_get_total_signal_rate( + Dev, &LastRangeDataBuffer, pTotalSignalRate); + + LOG_FUNCTION_END(Status); + return Status; +} + +/* End Group PAL General Functions */ + +/* Group PAL Init Functions */ +VL53L0X_Error VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, uint8_t DeviceAddress) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, + DeviceAddress / 2); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_DataInit(VL53L0X_DEV Dev) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + VL53L0X_DeviceParameters_t CurrentParameters; + int i; + uint8_t StopVariable; + + LOG_FUNCTION_START(""); + + /* by default the I2C is running at 1V8 if you want to change it you + * need to include this define at compilation level. */ +#ifdef USE_I2C_2V8 + Status = VL53L0X_UpdateByte(Dev, + VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, + 0xFE, + 0x01); +#endif + + /* Set I2C standard mode */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, 0x88, 0x00); + + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, 0); + +#ifdef USE_IQC_STATION + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_apply_offset_adjustment(Dev); +#endif + + /* Default value is 1000 for Linearity Corrective Gain */ + PALDevDataSet(Dev, LinearityCorrectiveGain, 1000); + + /* Dmax default Parameter */ + PALDevDataSet(Dev, DmaxCalRangeMilliMeter, 400); + PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, + (FixPoint1616_t)((0x00016B85))); /* 1.42 No Cover Glass*/ + + /* Set Default static parameters + *set first temporary values 9.44MHz * 65536 = 618660 */ + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, 618660); + + /* Set Default XTalkCompensationRateMegaCps to 0 */ + VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, 0); + + /* Get default parameters */ + Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters); + if (Status == VL53L0X_ERROR_NONE) { + /* initialize PAL values */ + CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING; + CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED; + PALDevDataSet(Dev, CurrentParameters, CurrentParameters); + } + + /* Sigma estimator variable */ + PALDevDataSet(Dev, SigmaEstRefArray, 100); + PALDevDataSet(Dev, SigmaEstEffPulseWidth, 900); + PALDevDataSet(Dev, SigmaEstEffAmbWidth, 500); + PALDevDataSet(Dev, targetRefRate, 0x0A00); /* 20 MCPS in 9:7 format */ + + /* Use internal default settings */ + PALDevDataSet(Dev, UseInternalTuningSettings, 1); + + Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); + Status |= VL53L0X_RdByte(Dev, 0x91, &StopVariable); + PALDevDataSet(Dev, StopVariable, StopVariable); + Status |= VL53L0X_WrByte(Dev, 0x00, 0x01); + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); + + /* Enable all check */ + for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { + if (Status == VL53L0X_ERROR_NONE) + Status |= VL53L0X_SetLimitCheckEnable(Dev, i, 1); + else + break; + + } + + /* Disable the following checks */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetLimitCheckEnable(Dev, + VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetLimitCheckEnable(Dev, + VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetLimitCheckEnable(Dev, + VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetLimitCheckEnable(Dev, + VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0); + + /* Limit default values */ + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_SetLimitCheckValue(Dev, + VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, + (FixPoint1616_t)(18 * 65536)); + } + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_SetLimitCheckValue(Dev, + VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (FixPoint1616_t)(25 * 65536 / 100)); + /* 0.25 * 65536 */ + } + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_SetLimitCheckValue(Dev, + VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, + (FixPoint1616_t)(35 * 65536)); + } + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_SetLimitCheckValue(Dev, + VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + (FixPoint1616_t)(0 * 65536)); + } + + if (Status == VL53L0X_ERROR_NONE) { + + PALDevDataSet(Dev, SequenceConfig, 0xFF); + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, + 0xFF); + + /* Set PAL state to tell that we are waiting for call to + * VL53L0X_StaticInit */ + PALDevDataSet(Dev, PalState, VL53L0X_STATE_WAIT_STATICINIT); + } + + if (Status == VL53L0X_ERROR_NONE) + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 0); + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetTuningSettingBuffer(VL53L0X_DEV Dev, + uint8_t *pTuningSettingBuffer, uint8_t UseInternalTuningSettings) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (UseInternalTuningSettings == 1) { + /* Force use internal settings */ + PALDevDataSet(Dev, UseInternalTuningSettings, 1); + } else { + + /* check that the first byte is not 0 */ + if (*pTuningSettingBuffer != 0) { + PALDevDataSet(Dev, pTuningSettingsPointer, + pTuningSettingBuffer); + PALDevDataSet(Dev, UseInternalTuningSettings, 0); + + } else { + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetTuningSettingBuffer(VL53L0X_DEV Dev, + uint8_t **ppTuningSettingBuffer, uint8_t *pUseInternalTuningSettings) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *ppTuningSettingBuffer = PALDevDataGet(Dev, pTuningSettingsPointer); + *pUseInternalTuningSettings = PALDevDataGet(Dev, + UseInternalTuningSettings); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_StaticInit(VL53L0X_DEV Dev) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + VL53L0X_DeviceParameters_t CurrentParameters = {0}; + uint8_t *pTuningSettingBuffer; + uint16_t tempword = 0; + uint8_t tempbyte = 0; + uint8_t UseInternalTuningSettings = 0; + uint32_t count = 0; + uint8_t isApertureSpads = 0; + uint32_t refSpadCount = 0; + uint8_t ApertureSpads = 0; + uint8_t vcselPulsePeriodPCLK; + uint32_t seqTimeoutMicroSecs; + + LOG_FUNCTION_START(""); + + Status = VL53L0X_get_info_from_device(Dev, 1); + + /* set the ref spad from NVM */ + count = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadCount); + ApertureSpads = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadType); + + /* NVM value invalid */ + if ((ApertureSpads > 1) || + ((ApertureSpads == 1) && (count > 32)) || + ((ApertureSpads == 0) && (count > 12))) + Status = VL53L0X_perform_ref_spad_management(Dev, &refSpadCount, + &isApertureSpads); + else + Status = VL53L0X_set_reference_spads(Dev, count, ApertureSpads); + + + /* Initialize tuning settings buffer to prevent compiler warning. */ + pTuningSettingBuffer = DefaultTuningSettings; + + if (Status == VL53L0X_ERROR_NONE) { + UseInternalTuningSettings = PALDevDataGet(Dev, + UseInternalTuningSettings); + + if (UseInternalTuningSettings == 0) + pTuningSettingBuffer = PALDevDataGet(Dev, + pTuningSettingsPointer); + else + pTuningSettingBuffer = DefaultTuningSettings; + + } + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_load_tuning_settings(Dev, pTuningSettingBuffer); + + + /* Set interrupt config to new sample ready */ + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_SetGpioConfig(Dev, 0, 0, + VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY, + VL53L0X_INTERRUPTPOLARITY_LOW); + } + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0X_RdWord(Dev, 0x84, &tempword); + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); + } + + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, + VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword)); + } + + /* After static init, some device parameters may be changed, + * so update them */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters); + + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_GetFractionEnable(Dev, &tempbyte); + if (Status == VL53L0X_ERROR_NONE) + PALDevDataSet(Dev, RangeFractionalEnable, tempbyte); + + } + + if (Status == VL53L0X_ERROR_NONE) + PALDevDataSet(Dev, CurrentParameters, CurrentParameters); + + + /* read the sequence config and save it */ + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_RdByte(Dev, + VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte); + if (Status == VL53L0X_ERROR_NONE) + PALDevDataSet(Dev, SequenceConfig, tempbyte); + + } + + /* Disable MSRC and TCC by default */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetSequenceStepEnable(Dev, + VL53L0X_SEQUENCESTEP_TCC, 0); + + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetSequenceStepEnable(Dev, + VL53L0X_SEQUENCESTEP_MSRC, 0); + + + /* Set PAL State to standby */ + if (Status == VL53L0X_ERROR_NONE) + PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); + + + + /* Store pre-range vcsel period */ + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_GetVcselPulsePeriod( + Dev, + VL53L0X_VCSEL_PERIOD_PRE_RANGE, + &vcselPulsePeriodPCLK); + } + + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETDEVICESPECIFICPARAMETER( + Dev, + PreRangeVcselPulsePeriod, + vcselPulsePeriodPCLK); + } + + /* Store final-range vcsel period */ + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_GetVcselPulsePeriod( + Dev, + VL53L0X_VCSEL_PERIOD_FINAL_RANGE, + &vcselPulsePeriodPCLK); + } + + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETDEVICESPECIFICPARAMETER( + Dev, + FinalRangeVcselPulsePeriod, + vcselPulsePeriodPCLK); + } + + /* Store pre-range timeout */ + if (Status == VL53L0X_ERROR_NONE) { + Status = get_sequence_step_timeout( + Dev, + VL53L0X_SEQUENCESTEP_PRE_RANGE, + &seqTimeoutMicroSecs); + } + + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETDEVICESPECIFICPARAMETER( + Dev, + PreRangeTimeoutMicroSecs, + seqTimeoutMicroSecs); + } + + /* Store final-range timeout */ + if (Status == VL53L0X_ERROR_NONE) { + Status = get_sequence_step_timeout( + Dev, + VL53L0X_SEQUENCESTEP_FINAL_RANGE, + &seqTimeoutMicroSecs); + } + + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETDEVICESPECIFICPARAMETER( + Dev, + FinalRangeTimeoutMicroSecs, + seqTimeoutMicroSecs); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + /* not implemented on VL53L0X */ + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_ResetDevice(VL53L0X_DEV Dev) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t Byte; + LOG_FUNCTION_START(""); + + /* Set reset bit */ + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N, + 0x00); + + /* Wait for some time */ + if (Status == VL53L0X_ERROR_NONE) { + do { + Status = VL53L0X_RdByte(Dev, + VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Byte); + } while (Byte != 0x00); + } + + VL53L0X_PollingDelay(Dev); + + /* Release reset */ + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N, + 0x01); + + /* Wait until correct boot-up of the device */ + if (Status == VL53L0X_ERROR_NONE) { + do { + Status = VL53L0X_RdByte(Dev, + VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Byte); + } while (Byte == 0x00); + } + + VL53L0X_PollingDelay(Dev); + + /* Set PAL State to VL53L0X_STATE_POWERDOWN */ + if (Status == VL53L0X_ERROR_NONE) + PALDevDataSet(Dev, PalState, VL53L0X_STATE_POWERDOWN); + + + LOG_FUNCTION_END(Status); + return Status; +} +/* End Group PAL Init Functions */ + +/* Group PAL Parameters Functions */ +VL53L0X_Error VL53L0X_SetDeviceParameters(VL53L0X_DEV Dev, + const VL53L0X_DeviceParameters_t *pDeviceParameters) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + int i; + LOG_FUNCTION_START(""); + Status = VL53L0X_SetDeviceMode(Dev, pDeviceParameters->DeviceMode); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetInterMeasurementPeriodMilliSeconds(Dev, + pDeviceParameters->InterMeasurementPeriodMilliSeconds); + + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetXTalkCompensationRateMegaCps(Dev, + pDeviceParameters->XTalkCompensationRateMegaCps); + + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev, + pDeviceParameters->RangeOffsetMicroMeters); + + + for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { + if (Status == VL53L0X_ERROR_NONE) + Status |= VL53L0X_SetLimitCheckEnable(Dev, i, + pDeviceParameters->LimitChecksEnable[i]); + else + break; + + if (Status == VL53L0X_ERROR_NONE) + Status |= VL53L0X_SetLimitCheckValue(Dev, i, + pDeviceParameters->LimitChecksValue[i]); + else + break; + + } + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetWrapAroundCheckEnable(Dev, + pDeviceParameters->WrapAroundCheckEnable); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, + pDeviceParameters->MeasurementTimingBudgetMicroSeconds); + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev, + VL53L0X_DeviceParameters_t *pDeviceParameters) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + int i; + + LOG_FUNCTION_START(""); + + Status = VL53L0X_GetDeviceMode(Dev, &(pDeviceParameters->DeviceMode)); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_GetInterMeasurementPeriodMilliSeconds(Dev, + &(pDeviceParameters->InterMeasurementPeriodMilliSeconds)); + + + if (Status == VL53L0X_ERROR_NONE) + pDeviceParameters->XTalkCompensationEnable = 0; + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_GetXTalkCompensationRateMegaCps(Dev, + &(pDeviceParameters->XTalkCompensationRateMegaCps)); + + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_GetOffsetCalibrationDataMicroMeter(Dev, + &(pDeviceParameters->RangeOffsetMicroMeters)); + + + if (Status == VL53L0X_ERROR_NONE) { + for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { + /* get first the values, then the enables. + * VL53L0X_GetLimitCheckValue will modify the enable + * flags + */ + if (Status == VL53L0X_ERROR_NONE) { + Status |= VL53L0X_GetLimitCheckValue(Dev, i, + &(pDeviceParameters->LimitChecksValue[i])); + } else { + break; + } + if (Status == VL53L0X_ERROR_NONE) { + Status |= VL53L0X_GetLimitCheckEnable(Dev, i, + &(pDeviceParameters->LimitChecksEnable[i])); + } else { + break; + } + } + } + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_GetWrapAroundCheckEnable(Dev, + &(pDeviceParameters->WrapAroundCheckEnable)); + } + + /* Need to be done at the end as it uses VCSELPulsePeriod */ + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_GetMeasurementTimingBudgetMicroSeconds(Dev, + &(pDeviceParameters->MeasurementTimingBudgetMicroSeconds)); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, VL53L0X_DeviceModes DeviceMode) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START("%d", (int)DeviceMode); + + switch (DeviceMode) { + case VL53L0X_DEVICEMODE_SINGLE_RANGING: + case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING: + case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING: + case VL53L0X_DEVICEMODE_GPIO_DRIVE: + case VL53L0X_DEVICEMODE_GPIO_OSC: + /* Supported modes */ + VL53L0X_SETPARAMETERFIELD(Dev, DeviceMode, DeviceMode); + break; + default: + /* Unsupported mode */ + Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetDeviceMode(VL53L0X_DEV Dev, + VL53L0X_DeviceModes *pDeviceMode) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + VL53L0X_GETPARAMETERFIELD(Dev, DeviceMode, *pDeviceMode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetRangeFractionEnable(VL53L0X_DEV Dev, uint8_t Enable) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START("%d", (int)Enable); + + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, Enable); + + if (Status == VL53L0X_ERROR_NONE) + PALDevDataSet(Dev, RangeFractionalEnable, Enable); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, uint8_t *pEnabled) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, pEnabled); + + if (Status == VL53L0X_ERROR_NONE) + *pEnabled = (*pEnabled & 1); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetHistogramMode(VL53L0X_DEV Dev, + VL53L0X_HistogramModes HistogramMode) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + /* not implemented on VL53L0X */ + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetHistogramMode(VL53L0X_DEV Dev, + VL53L0X_HistogramModes *pHistogramMode) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + /* not implemented on VL53L0X */ + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev, + uint32_t MeasurementTimingBudgetMicroSeconds) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_set_measurement_timing_budget_micro_seconds(Dev, + MeasurementTimingBudgetMicroSeconds); + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0X_Error VL53L0X_GetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev, + uint32_t *pMeasurementTimingBudgetMicroSeconds) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_get_measurement_timing_budget_micro_seconds(Dev, + pMeasurementTimingBudgetMicroSeconds); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev, + VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_set_vcsel_pulse_period(Dev, VcselPeriodType, + VCSELPulsePeriodPCLK); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev, + VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_get_vcsel_pulse_period(Dev, VcselPeriodType, + pVCSELPulsePeriodPCLK); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev, + VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t SequenceConfig = 0; + uint8_t SequenceConfigNew = 0; + uint32_t MeasurementTimingBudgetMicroSeconds; + LOG_FUNCTION_START(""); + + Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, + &SequenceConfig); + + SequenceConfigNew = SequenceConfig; + + if (Status == VL53L0X_ERROR_NONE) { + if (SequenceStepEnabled == 1) { + + /* Enable requested sequence step + */ + switch (SequenceStepId) { + case VL53L0X_SEQUENCESTEP_TCC: + SequenceConfigNew |= 0x10; + break; + case VL53L0X_SEQUENCESTEP_DSS: + SequenceConfigNew |= 0x28; + break; + case VL53L0X_SEQUENCESTEP_MSRC: + SequenceConfigNew |= 0x04; + break; + case VL53L0X_SEQUENCESTEP_PRE_RANGE: + SequenceConfigNew |= 0x40; + break; + case VL53L0X_SEQUENCESTEP_FINAL_RANGE: + SequenceConfigNew |= 0x80; + break; + default: + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + } else { + /* Disable requested sequence step + */ + switch (SequenceStepId) { + case VL53L0X_SEQUENCESTEP_TCC: + SequenceConfigNew &= 0xef; + break; + case VL53L0X_SEQUENCESTEP_DSS: + SequenceConfigNew &= 0xd7; + break; + case VL53L0X_SEQUENCESTEP_MSRC: + SequenceConfigNew &= 0xfb; + break; + case VL53L0X_SEQUENCESTEP_PRE_RANGE: + SequenceConfigNew &= 0xbf; + break; + case VL53L0X_SEQUENCESTEP_FINAL_RANGE: + SequenceConfigNew &= 0x7f; + break; + default: + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + } + } + + if (SequenceConfigNew != SequenceConfig) { + /* Apply New Setting */ + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, SequenceConfigNew); + } + if (Status == VL53L0X_ERROR_NONE) + PALDevDataSet(Dev, SequenceConfig, SequenceConfigNew); + + + /* Recalculate timing budget */ + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_GETPARAMETERFIELD(Dev, + MeasurementTimingBudgetMicroSeconds, + MeasurementTimingBudgetMicroSeconds); + + VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, + MeasurementTimingBudgetMicroSeconds); + } + } + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0X_Error sequence_step_enabled(VL53L0X_DEV Dev, + VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig, + uint8_t *pSequenceStepEnabled) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + *pSequenceStepEnabled = 0; + LOG_FUNCTION_START(""); + + switch (SequenceStepId) { + case VL53L0X_SEQUENCESTEP_TCC: + *pSequenceStepEnabled = (SequenceConfig & 0x10) >> 4; + break; + case VL53L0X_SEQUENCESTEP_DSS: + *pSequenceStepEnabled = (SequenceConfig & 0x08) >> 3; + break; + case VL53L0X_SEQUENCESTEP_MSRC: + *pSequenceStepEnabled = (SequenceConfig & 0x04) >> 2; + break; + case VL53L0X_SEQUENCESTEP_PRE_RANGE: + *pSequenceStepEnabled = (SequenceConfig & 0x40) >> 6; + break; + case VL53L0X_SEQUENCESTEP_FINAL_RANGE: + *pSequenceStepEnabled = (SequenceConfig & 0x80) >> 7; + break; + default: + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetSequenceStepEnable(VL53L0X_DEV Dev, + VL53L0X_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t SequenceConfig = 0; + LOG_FUNCTION_START(""); + + Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, + &SequenceConfig); + + if (Status == VL53L0X_ERROR_NONE) { + Status = sequence_step_enabled(Dev, SequenceStepId, + SequenceConfig, pSequenceStepEnabled); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev, + VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t SequenceConfig = 0; + LOG_FUNCTION_START(""); + + Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, + &SequenceConfig); + + if (Status == VL53L0X_ERROR_NONE) { + Status = sequence_step_enabled(Dev, + VL53L0X_SEQUENCESTEP_TCC, SequenceConfig, + &pSchedulerSequenceSteps->TccOn); + } + if (Status == VL53L0X_ERROR_NONE) { + Status = sequence_step_enabled(Dev, + VL53L0X_SEQUENCESTEP_DSS, SequenceConfig, + &pSchedulerSequenceSteps->DssOn); + } + if (Status == VL53L0X_ERROR_NONE) { + Status = sequence_step_enabled(Dev, + VL53L0X_SEQUENCESTEP_MSRC, SequenceConfig, + &pSchedulerSequenceSteps->MsrcOn); + } + if (Status == VL53L0X_ERROR_NONE) { + Status = sequence_step_enabled(Dev, + VL53L0X_SEQUENCESTEP_PRE_RANGE, SequenceConfig, + &pSchedulerSequenceSteps->PreRangeOn); + } + if (Status == VL53L0X_ERROR_NONE) { + Status = sequence_step_enabled(Dev, + VL53L0X_SEQUENCESTEP_FINAL_RANGE, SequenceConfig, + &pSchedulerSequenceSteps->FinalRangeOn); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetNumberOfSequenceSteps(VL53L0X_DEV Dev, + uint8_t *pNumberOfSequenceSteps) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + *pNumberOfSequenceSteps = VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetSequenceStepsInfo(VL53L0X_SequenceStepId SequenceStepId, + char *pSequenceStepsString) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_get_sequence_steps_info( + SequenceStepId, + pSequenceStepsString); + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0X_Error VL53L0X_SetSequenceStepTimeout(VL53L0X_DEV Dev, + VL53L0X_SequenceStepId SequenceStepId, FixPoint1616_t TimeOutMilliSecs) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + VL53L0X_Error Status1 = VL53L0X_ERROR_NONE; + uint32_t TimeoutMicroSeconds = ((TimeOutMilliSecs * 1000) + 0x8000) + >> 16; + uint32_t MeasurementTimingBudgetMicroSeconds; + FixPoint1616_t OldTimeOutMicroSeconds; + + LOG_FUNCTION_START(""); + + /* Read back the current value in case we need to revert back to this. + */ + Status = get_sequence_step_timeout(Dev, SequenceStepId, + &OldTimeOutMicroSeconds); + + if (Status == VL53L0X_ERROR_NONE) { + Status = set_sequence_step_timeout(Dev, SequenceStepId, + TimeoutMicroSeconds); + } + + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_GETPARAMETERFIELD(Dev, + MeasurementTimingBudgetMicroSeconds, + MeasurementTimingBudgetMicroSeconds); + + /* At this point we don't know if the requested value is valid, + therefore proceed to update the entire timing budget and + if this fails, revert back to the previous value. + */ + Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, + MeasurementTimingBudgetMicroSeconds); + + if (Status != VL53L0X_ERROR_NONE) { + Status1 = set_sequence_step_timeout(Dev, SequenceStepId, + OldTimeOutMicroSeconds); + + if (Status1 == VL53L0X_ERROR_NONE) { + Status1 = + VL53L0X_SetMeasurementTimingBudgetMicroSeconds( + Dev, + MeasurementTimingBudgetMicroSeconds); + } + + Status = Status1; + } + } + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0X_Error VL53L0X_GetSequenceStepTimeout(VL53L0X_DEV Dev, + VL53L0X_SequenceStepId SequenceStepId, FixPoint1616_t *pTimeOutMilliSecs) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint32_t TimeoutMicroSeconds; + LOG_FUNCTION_START(""); + + Status = get_sequence_step_timeout(Dev, SequenceStepId, + &TimeoutMicroSeconds); + if (Status == VL53L0X_ERROR_NONE) { + TimeoutMicroSeconds <<= 8; + *pTimeOutMilliSecs = (TimeoutMicroSeconds + 500)/1000; + *pTimeOutMilliSecs <<= 8; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev, + uint32_t InterMeasurementPeriodMilliSeconds) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint16_t osc_calibrate_val; + uint32_t IMPeriodMilliSeconds; + + LOG_FUNCTION_START(""); + + Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL, + &osc_calibrate_val); + + if (Status == VL53L0X_ERROR_NONE) { + if (osc_calibrate_val != 0) { + IMPeriodMilliSeconds = + InterMeasurementPeriodMilliSeconds + * osc_calibrate_val; + } else { + IMPeriodMilliSeconds = + InterMeasurementPeriodMilliSeconds; + } + Status = VL53L0X_WrDWord(Dev, + VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD, + IMPeriodMilliSeconds); + } + + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETPARAMETERFIELD(Dev, + InterMeasurementPeriodMilliSeconds, + InterMeasurementPeriodMilliSeconds); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev, + uint32_t *pInterMeasurementPeriodMilliSeconds) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint16_t osc_calibrate_val; + uint32_t IMPeriodMilliSeconds; + + LOG_FUNCTION_START(""); + + Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL, + &osc_calibrate_val); + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_RdDWord(Dev, + VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD, + &IMPeriodMilliSeconds); + } + + if (Status == VL53L0X_ERROR_NONE) { + if (osc_calibrate_val != 0) { + *pInterMeasurementPeriodMilliSeconds = + IMPeriodMilliSeconds / osc_calibrate_val; + } + VL53L0X_SETPARAMETERFIELD(Dev, + InterMeasurementPeriodMilliSeconds, + *pInterMeasurementPeriodMilliSeconds); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetXTalkCompensationEnable(VL53L0X_DEV Dev, + uint8_t XTalkCompensationEnable) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + FixPoint1616_t TempFix1616; + uint16_t LinearityCorrectiveGain; + + LOG_FUNCTION_START(""); + + LinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); + + if ((XTalkCompensationEnable == 0) + || (LinearityCorrectiveGain != 1000)) { + TempFix1616 = 0; + } else { + VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, + TempFix1616); + } + + /* the following register has a format 3.13 */ + Status = VL53L0X_WrWord(Dev, + VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, + VL53L0X_FIXPOINT1616TOFIXPOINT313(TempFix1616)); + + if (Status == VL53L0X_ERROR_NONE) { + if (XTalkCompensationEnable == 0) { + VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, + 0); + } else { + VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, + 1); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev, + uint8_t *pXTalkCompensationEnable) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t Temp8; + LOG_FUNCTION_START(""); + + VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8); + *pXTalkCompensationEnable = Temp8; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev, + FixPoint1616_t XTalkCompensationRateMegaCps) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t Temp8; + uint16_t LinearityCorrectiveGain; + uint16_t data; + LOG_FUNCTION_START(""); + + VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8); + LinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); + + if (Temp8 == 0) { /* disabled write only internal value */ + VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, + XTalkCompensationRateMegaCps); + } else { + /* the following register has a format 3.13 */ + if (LinearityCorrectiveGain == 1000) { + data = VL53L0X_FIXPOINT1616TOFIXPOINT313( + XTalkCompensationRateMegaCps); + } else { + data = 0; + } + + Status = VL53L0X_WrWord(Dev, + VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, data); + + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETPARAMETERFIELD(Dev, + XTalkCompensationRateMegaCps, + XTalkCompensationRateMegaCps); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev, + FixPoint1616_t *pXTalkCompensationRateMegaCps) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint16_t Value; + FixPoint1616_t TempFix1616; + + LOG_FUNCTION_START(""); + + Status = VL53L0X_RdWord(Dev, + VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&Value); + if (Status == VL53L0X_ERROR_NONE) { + if (Value == 0) { + /* the Xtalk is disabled return value from memory */ + VL53L0X_GETPARAMETERFIELD(Dev, + XTalkCompensationRateMegaCps, TempFix1616); + *pXTalkCompensationRateMegaCps = TempFix1616; + VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, + 0); + } else { + TempFix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(Value); + *pXTalkCompensationRateMegaCps = TempFix1616; + VL53L0X_SETPARAMETERFIELD(Dev, + XTalkCompensationRateMegaCps, TempFix1616); + VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, + 1); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetRefCalibration(VL53L0X_DEV Dev, uint8_t VhvSettings, + uint8_t PhaseCal) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_set_ref_calibration(Dev, VhvSettings, PhaseCal); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings, + uint8_t *pPhaseCal) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_get_ref_calibration(Dev, pVhvSettings, pPhaseCal); + + LOG_FUNCTION_END(Status); + return Status; +} + +/* + * CHECK LIMIT FUNCTIONS + */ + +VL53L0X_Error VL53L0X_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + *pNumberOfLimitCheck = VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetLimitCheckInfo(VL53L0X_DEV Dev, uint16_t LimitCheckId, + char *pLimitCheckString) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L0X_get_limit_check_info(Dev, LimitCheckId, + pLimitCheckString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetLimitCheckStatus(VL53L0X_DEV Dev, uint16_t LimitCheckId, + uint8_t *pLimitCheckStatus) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t Temp8; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L0X_ERROR_INVALID_PARAMS; + } else { + + VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + LimitCheckId, Temp8); + + *pLimitCheckStatus = Temp8; + + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId, + uint8_t LimitCheckEnable) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + FixPoint1616_t TempFix1616 = 0; + uint8_t LimitCheckEnableInt = 0; + uint8_t LimitCheckDisable = 0; + uint8_t Temp8; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L0X_ERROR_INVALID_PARAMS; + } else { + if (LimitCheckEnable == 0) { + TempFix1616 = 0; + LimitCheckEnableInt = 0; + LimitCheckDisable = 1; + + } else { + VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + LimitCheckId, TempFix1616); + LimitCheckDisable = 0; + /* this to be sure to have either 0 or 1 */ + LimitCheckEnableInt = 1; + } + + switch (LimitCheckId) { + + case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: + /* internal computation: */ + VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, + LimitCheckEnableInt); + + break; + + case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + + Status = VL53L0X_WrWord(Dev, + VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, + VL53L0X_FIXPOINT1616TOFIXPOINT97(TempFix1616)); + + break; + + case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: + + /* internal computation: */ + VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, + LimitCheckEnableInt); + + break; + + case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: + + /* internal computation: */ + VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + LimitCheckEnableInt); + + break; + + case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: + + Temp8 = (uint8_t)(LimitCheckDisable << 1); + Status = VL53L0X_UpdateByte(Dev, + VL53L0X_REG_MSRC_CONFIG_CONTROL, + 0xFE, Temp8); + + break; + + case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: + + Temp8 = (uint8_t)(LimitCheckDisable << 4); + Status = VL53L0X_UpdateByte(Dev, + VL53L0X_REG_MSRC_CONFIG_CONTROL, + 0xEF, Temp8); + + break; + + + default: + Status = VL53L0X_ERROR_INVALID_PARAMS; + + } + + } + + if (Status == VL53L0X_ERROR_NONE) { + if (LimitCheckEnable == 0) { + VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + LimitCheckId, 0); + } else { + VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + LimitCheckId, 1); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId, + uint8_t *pLimitCheckEnable) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t Temp8; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L0X_ERROR_INVALID_PARAMS; + *pLimitCheckEnable = 0; + } else { + VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + LimitCheckId, Temp8); + *pLimitCheckEnable = Temp8; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId, + FixPoint1616_t LimitCheckValue) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t Temp8; + + LOG_FUNCTION_START(""); + + VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, LimitCheckId, + Temp8); + + if (Temp8 == 0) { /* disabled write only internal value */ + VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + LimitCheckId, LimitCheckValue); + } else { + + switch (LimitCheckId) { + + case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: + /* internal computation: */ + VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, + LimitCheckValue); + break; + + case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + + Status = VL53L0X_WrWord(Dev, + VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, + VL53L0X_FIXPOINT1616TOFIXPOINT97( + LimitCheckValue)); + + break; + + case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: + + /* internal computation: */ + VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, + LimitCheckValue); + + break; + + case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: + + /* internal computation: */ + VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + LimitCheckValue); + + break; + + case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: + case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: + + Status = VL53L0X_WrWord(Dev, + VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, + VL53L0X_FIXPOINT1616TOFIXPOINT97( + LimitCheckValue)); + + break; + + default: + Status = VL53L0X_ERROR_INVALID_PARAMS; + + } + + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + LimitCheckId, LimitCheckValue); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId, + FixPoint1616_t *pLimitCheckValue) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t EnableZeroValue = 0; + uint16_t Temp16; + FixPoint1616_t TempFix1616; + + LOG_FUNCTION_START(""); + + switch (LimitCheckId) { + + case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: + /* internal computation: */ + VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, TempFix1616); + EnableZeroValue = 0; + break; + + case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + Status = VL53L0X_RdWord(Dev, + VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, + &Temp16); + if (Status == VL53L0X_ERROR_NONE) + TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16); + + + EnableZeroValue = 1; + break; + + case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: + /* internal computation: */ + VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, TempFix1616); + EnableZeroValue = 0; + break; + + case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: + /* internal computation: */ + VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, TempFix1616); + EnableZeroValue = 0; + break; + + case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: + case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: + Status = VL53L0X_RdWord(Dev, + VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, + &Temp16); + if (Status == VL53L0X_ERROR_NONE) + TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16); + + + EnableZeroValue = 0; + break; + + default: + Status = VL53L0X_ERROR_INVALID_PARAMS; + + } + + if (Status == VL53L0X_ERROR_NONE) { + + if (EnableZeroValue == 1) { + + if (TempFix1616 == 0) { + /* disabled: return value from memory */ + VL53L0X_GETARRAYPARAMETERFIELD(Dev, + LimitChecksValue, LimitCheckId, + TempFix1616); + *pLimitCheckValue = TempFix1616; + VL53L0X_SETARRAYPARAMETERFIELD(Dev, + LimitChecksEnable, LimitCheckId, 0); + } else { + *pLimitCheckValue = TempFix1616; + VL53L0X_SETARRAYPARAMETERFIELD(Dev, + LimitChecksValue, LimitCheckId, + TempFix1616); + VL53L0X_SETARRAYPARAMETERFIELD(Dev, + LimitChecksEnable, LimitCheckId, 1); + } + } else { + *pLimitCheckValue = TempFix1616; + } + } + + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L0X_Error VL53L0X_GetLimitCheckCurrent(VL53L0X_DEV Dev, uint16_t LimitCheckId, + FixPoint1616_t *pLimitCheckCurrent) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L0X_ERROR_INVALID_PARAMS; + } else { + switch (LimitCheckId) { + case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: + /* Need to run a ranging to have the latest values */ + *pLimitCheckCurrent = PALDevDataGet(Dev, SigmaEstimate); + + break; + + case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + /* Need to run a ranging to have the latest values */ + LastRangeDataBuffer = PALDevDataGet(Dev, + LastRangeMeasure); + *pLimitCheckCurrent = + LastRangeDataBuffer.SignalRateRtnMegaCps; + + break; + + case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: + /* Need to run a ranging to have the latest values */ + *pLimitCheckCurrent = PALDevDataGet(Dev, + LastSignalRefMcps); + + break; + + case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: + /* Need to run a ranging to have the latest values */ + LastRangeDataBuffer = PALDevDataGet(Dev, + LastRangeMeasure); + *pLimitCheckCurrent = + LastRangeDataBuffer.SignalRateRtnMegaCps; + + break; + + case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: + /* Need to run a ranging to have the latest values */ + LastRangeDataBuffer = PALDevDataGet(Dev, + LastRangeMeasure); + *pLimitCheckCurrent = + LastRangeDataBuffer.SignalRateRtnMegaCps; + + break; + + case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: + /* Need to run a ranging to have the latest values */ + LastRangeDataBuffer = PALDevDataGet(Dev, + LastRangeMeasure); + *pLimitCheckCurrent = + LastRangeDataBuffer.SignalRateRtnMegaCps; + + break; + + default: + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + } + + LOG_FUNCTION_END(Status); + return Status; + +} + +/* + * WRAPAROUND Check + */ +VL53L0X_Error VL53L0X_SetWrapAroundCheckEnable(VL53L0X_DEV Dev, + uint8_t WrapAroundCheckEnable) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t Byte; + uint8_t WrapAroundCheckEnableInt; + + LOG_FUNCTION_START(""); + + Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &Byte); + if (WrapAroundCheckEnable == 0) { + /* Disable wraparound */ + Byte = Byte & 0x7F; + WrapAroundCheckEnableInt = 0; + } else { + /*Enable wraparound */ + Byte = Byte | 0x80; + WrapAroundCheckEnableInt = 1; + } + + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, Byte); + + if (Status == VL53L0X_ERROR_NONE) { + PALDevDataSet(Dev, SequenceConfig, Byte); + VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, + WrapAroundCheckEnableInt); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev, + uint8_t *pWrapAroundCheckEnable) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t data; + + LOG_FUNCTION_START(""); + + Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data); + if (Status == VL53L0X_ERROR_NONE) { + PALDevDataSet(Dev, SequenceConfig, data); + if (data & (0x01 << 7)) + *pWrapAroundCheckEnable = 0x01; + else + *pWrapAroundCheckEnable = 0x00; + } + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, + *pWrapAroundCheckEnable); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetDmaxCalParameters(VL53L0X_DEV Dev, + uint16_t RangeMilliMeter, FixPoint1616_t SignalRateRtnMegaCps) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + FixPoint1616_t SignalRateRtnMegaCpsTemp = 0; + + LOG_FUNCTION_START(""); + + /* Check if one of input parameter is zero, in that case the + * value are get from NVM */ + if ((RangeMilliMeter == 0) || (SignalRateRtnMegaCps == 0)) { + /* NVM parameters */ + /* Run VL53L0X_get_info_from_device wit option 4 to get + * signal rate at 400 mm if the value have been already + * get this function will return with no access to device */ + VL53L0X_get_info_from_device(Dev, 4); + + SignalRateRtnMegaCpsTemp = VL53L0X_GETDEVICESPECIFICPARAMETER( + Dev, SignalRateMeasFixed400mm); + + PALDevDataSet(Dev, DmaxCalRangeMilliMeter, 400); + PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, + SignalRateRtnMegaCpsTemp); + } else { + /* User parameters */ + PALDevDataSet(Dev, DmaxCalRangeMilliMeter, RangeMilliMeter); + PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, + SignalRateRtnMegaCps); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetDmaxCalParameters(VL53L0X_DEV Dev, + uint16_t *pRangeMilliMeter, FixPoint1616_t *pSignalRateRtnMegaCps) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pRangeMilliMeter = PALDevDataGet(Dev, DmaxCalRangeMilliMeter); + *pSignalRateRtnMegaCps = PALDevDataGet(Dev, + DmaxCalSignalRateRtnMegaCps); + + LOG_FUNCTION_END(Status); + return Status; +} + +/* End Group PAL Parameters Functions */ + +/* Group PAL Measurement Functions */ +VL53L0X_Error VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + VL53L0X_DeviceModes DeviceMode; + + LOG_FUNCTION_START(""); + + /* Get Current DeviceMode */ + Status = VL53L0X_GetDeviceMode(Dev, &DeviceMode); + + /* Start immediately to run a single ranging measurement in case of + * single ranging or single histogram */ + if (Status == VL53L0X_ERROR_NONE + && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) + Status = VL53L0X_StartMeasurement(Dev); + + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_measurement_poll_for_completion(Dev); + + + /* Change PAL State in case of single ranging or single histogram */ + if (Status == VL53L0X_ERROR_NONE + && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) + PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_PerformSingleHistogramMeasurement(VL53L0X_DEV Dev, + VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + /* not implemented on VL53L0X */ + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings, + uint8_t *pPhaseCal) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_perform_ref_calibration(Dev, pVhvSettings, + pPhaseCal, 1); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_PerformXTalkMeasurement(VL53L0X_DEV Dev, + uint32_t TimeoutMs, FixPoint1616_t *pXtalkPerSpad, + uint8_t *pAmbientTooHigh) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + /* not implemented on VL53L0X */ + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_PerformXTalkCalibration(VL53L0X_DEV Dev, + FixPoint1616_t XTalkCalDistance, + FixPoint1616_t *pXTalkCompensationRateMegaCps) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_perform_xtalk_calibration(Dev, XTalkCalDistance, + pXTalkCompensationRateMegaCps); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_PerformOffsetCalibration(VL53L0X_DEV Dev, + FixPoint1616_t CalDistanceMilliMeter, int32_t *pOffsetMicroMeter) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_perform_offset_calibration(Dev, CalDistanceMilliMeter, + pOffsetMicroMeter); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_CheckAndLoadInterruptSettings(VL53L0X_DEV Dev, + uint8_t StartNotStopFlag) +{ + uint8_t InterruptConfig; + FixPoint1616_t ThresholdLow; + FixPoint1616_t ThresholdHigh; + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, + Pin0GpioFunctionality); + + if ((InterruptConfig == + VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) || + (InterruptConfig == + VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) || + (InterruptConfig == + VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) { + + Status = VL53L0X_GetInterruptThresholds(Dev, + VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, + &ThresholdLow, &ThresholdHigh); + + if (((ThresholdLow > 255*65536) || + (ThresholdHigh > 255*65536)) && + (Status == VL53L0X_ERROR_NONE)) { + + if (StartNotStopFlag != 0) { + Status = VL53L0X_load_tuning_settings(Dev, + InterruptThresholdSettings); + } else { + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x04); + Status |= VL53L0X_WrByte(Dev, 0x70, 0x00); + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); + } + + } + + + } + + return Status; + +} + + +VL53L0X_Error VL53L0X_StartMeasurement(VL53L0X_DEV Dev) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + VL53L0X_DeviceModes DeviceMode; + uint8_t Byte; + uint8_t StartStopByte = VL53L0X_REG_SYSRANGE_MODE_START_STOP; + uint32_t LoopNb; + LOG_FUNCTION_START(""); + + /* Get Current DeviceMode */ + VL53L0X_GetDeviceMode(Dev, &DeviceMode); + + Status = VL53L0X_WrByte(Dev, 0x80, 0x01); + Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); + Status = VL53L0X_WrByte(Dev, 0x00, 0x00); + Status = VL53L0X_WrByte(Dev, 0x91, PALDevDataGet(Dev, StopVariable)); + Status = VL53L0X_WrByte(Dev, 0x00, 0x01); + Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); + Status = VL53L0X_WrByte(Dev, 0x80, 0x00); + + switch (DeviceMode) { + case VL53L0X_DEVICEMODE_SINGLE_RANGING: + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x01); + + Byte = StartStopByte; + if (Status == VL53L0X_ERROR_NONE) { + /* Wait until start bit has been cleared */ + LoopNb = 0; + do { + if (LoopNb > 0) + Status = VL53L0X_RdByte(Dev, + VL53L0X_REG_SYSRANGE_START, &Byte); + LoopNb = LoopNb + 1; + } while (((Byte & StartStopByte) == StartStopByte) + && (Status == VL53L0X_ERROR_NONE) + && (LoopNb < VL53L0X_DEFAULT_MAX_LOOP)); + + if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) + Status = VL53L0X_ERROR_TIME_OUT; + + } + + break; + case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING: + /* Back-to-back mode */ + + /* Check if need to apply interrupt settings */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1); + + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_SYSRANGE_START, + VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK); + if (Status == VL53L0X_ERROR_NONE) { + /* Set PAL State to Running */ + PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING); + } + break; + case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING: + /* Continuous mode */ + /* Check if need to apply interrupt settings */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1); + + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_SYSRANGE_START, + VL53L0X_REG_SYSRANGE_MODE_TIMED); + + if (Status == VL53L0X_ERROR_NONE) { + /* Set PAL State to Running */ + PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING); + } + break; + default: + /* Selected mode not supported */ + Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; + } + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_StopMeasurement(VL53L0X_DEV Dev) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, + VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT); + + Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); + Status = VL53L0X_WrByte(Dev, 0x00, 0x00); + Status = VL53L0X_WrByte(Dev, 0x91, 0x00); + Status = VL53L0X_WrByte(Dev, 0x00, 0x01); + Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); + + if (Status == VL53L0X_ERROR_NONE) { + /* Set PAL State to Idle */ + PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); + } + + /* Check if need to apply interrupt settings */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 0); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev, + uint8_t *pMeasurementDataReady) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t SysRangeStatusRegister; + uint8_t InterruptConfig; + uint32_t InterruptMask; + LOG_FUNCTION_START(""); + + InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, + Pin0GpioFunctionality); + + if (InterruptConfig == + VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) { + Status = VL53L0X_GetInterruptMaskStatus(Dev, &InterruptMask); + if (InterruptMask == + VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) + *pMeasurementDataReady = 1; + else + *pMeasurementDataReady = 0; + } else { + Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS, + &SysRangeStatusRegister); + if (Status == VL53L0X_ERROR_NONE) { + if (SysRangeStatusRegister & 0x01) + *pMeasurementDataReady = 1; + else + *pMeasurementDataReady = 0; + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_WaitDeviceReadyForNewMeasurement(VL53L0X_DEV Dev, + uint32_t MaxLoop) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + /* not implemented for VL53L0X */ + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L0X_Error VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev, + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t DeviceRangeStatus; + uint8_t RangeFractionalEnable; + uint8_t PalRangeStatus; + uint8_t XTalkCompensationEnable; + uint16_t AmbientRate; + FixPoint1616_t SignalRate; + uint16_t XTalkCompensationRateMegaCps; + uint16_t EffectiveSpadRtnCount; + uint16_t tmpuint16; + uint16_t XtalkRangeMilliMeter; + uint16_t LinearityCorrectiveGain; + uint8_t localBuffer[12]; + VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; + + LOG_FUNCTION_START(""); + + /* + * use multi read even if some registers are not useful, result will + * be more efficient + * start reading at 0x14 dec20 + * end reading at 0x21 dec33 total 14 bytes to read + */ + Status = VL53L0X_ReadMulti(Dev, 0x14, localBuffer, 12); + + if (Status == VL53L0X_ERROR_NONE) { + + pRangingMeasurementData->ZoneId = 0; /* Only one zone */ + pRangingMeasurementData->TimeStamp = 0; /* Not Implemented */ + + tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], localBuffer[10]); + /* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional + *(format 11.2) else no fractional + */ + + pRangingMeasurementData->MeasurementTimeUsec = 0; + + SignalRate = VL53L0X_FIXPOINT97TOFIXPOINT1616( + VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6])); + /* peak_signal_count_rate_rtn_mcps */ + pRangingMeasurementData->SignalRateRtnMegaCps = SignalRate; + + AmbientRate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]); + pRangingMeasurementData->AmbientRateRtnMegaCps = + VL53L0X_FIXPOINT97TOFIXPOINT1616(AmbientRate); + + EffectiveSpadRtnCount = VL53L0X_MAKEUINT16(localBuffer[3], + localBuffer[2]); + /* EffectiveSpadRtnCount is 8.8 format */ + pRangingMeasurementData->EffectiveSpadRtnCount = + EffectiveSpadRtnCount; + + DeviceRangeStatus = localBuffer[0]; + + /* Get Linearity Corrective Gain */ + LinearityCorrectiveGain = PALDevDataGet(Dev, + LinearityCorrectiveGain); + + /* Get ranging configuration */ + RangeFractionalEnable = PALDevDataGet(Dev, + RangeFractionalEnable); + + if (LinearityCorrectiveGain != 1000) { + + tmpuint16 = (uint16_t)((LinearityCorrectiveGain + * tmpuint16 + 500) / 1000); + + /* Implement Xtalk */ + VL53L0X_GETPARAMETERFIELD(Dev, + XTalkCompensationRateMegaCps, + XTalkCompensationRateMegaCps); + VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, + XTalkCompensationEnable); + + if (XTalkCompensationEnable) { + + if ((SignalRate + - ((XTalkCompensationRateMegaCps + * EffectiveSpadRtnCount) >> 8)) + <= 0) { + if (RangeFractionalEnable) + XtalkRangeMilliMeter = 8888; + else + XtalkRangeMilliMeter = 8888 + << 2; + } else { + XtalkRangeMilliMeter = + (tmpuint16 * SignalRate) + / (SignalRate + - ((XTalkCompensationRateMegaCps + * EffectiveSpadRtnCount) + >> 8)); + } + + tmpuint16 = XtalkRangeMilliMeter; + } + + } + + if (RangeFractionalEnable) { + pRangingMeasurementData->RangeMilliMeter = + (uint16_t)((tmpuint16) >> 2); + pRangingMeasurementData->RangeFractionalPart = + (uint8_t)((tmpuint16 & 0x03) << 6); + } else { + pRangingMeasurementData->RangeMilliMeter = tmpuint16; + pRangingMeasurementData->RangeFractionalPart = 0; + } + + /* + * For a standard definition of RangeStatus, this should + * return 0 in case of good result after a ranging + * The range status depends on the device so call a device + * specific function to obtain the right Status. + */ + Status |= VL53L0X_get_pal_range_status(Dev, DeviceRangeStatus, + SignalRate, EffectiveSpadRtnCount, + pRangingMeasurementData, &PalRangeStatus); + + if (Status == VL53L0X_ERROR_NONE) + pRangingMeasurementData->RangeStatus = PalRangeStatus; + + } + + if (Status == VL53L0X_ERROR_NONE) { + /* Copy last read data into Dev buffer */ + LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure); + + LastRangeDataBuffer.RangeMilliMeter = + pRangingMeasurementData->RangeMilliMeter; + LastRangeDataBuffer.RangeFractionalPart = + pRangingMeasurementData->RangeFractionalPart; + LastRangeDataBuffer.RangeDMaxMilliMeter = + pRangingMeasurementData->RangeDMaxMilliMeter; + LastRangeDataBuffer.MeasurementTimeUsec = + pRangingMeasurementData->MeasurementTimeUsec; + LastRangeDataBuffer.SignalRateRtnMegaCps = + pRangingMeasurementData->SignalRateRtnMegaCps; + LastRangeDataBuffer.AmbientRateRtnMegaCps = + pRangingMeasurementData->AmbientRateRtnMegaCps; + LastRangeDataBuffer.EffectiveSpadRtnCount = + pRangingMeasurementData->EffectiveSpadRtnCount; + LastRangeDataBuffer.RangeStatus = + pRangingMeasurementData->RangeStatus; + + PALDevDataSet(Dev, LastRangeMeasure, LastRangeDataBuffer); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetMeasurementRefSignal(VL53L0X_DEV Dev, + FixPoint1616_t *pMeasurementRefSignal) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t SignalRefClipLimitCheckEnable = 0; + LOG_FUNCTION_START(""); + + Status = VL53L0X_GetLimitCheckEnable(Dev, + VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, + &SignalRefClipLimitCheckEnable); + if (SignalRefClipLimitCheckEnable != 0) { + *pMeasurementRefSignal = PALDevDataGet(Dev, LastSignalRefMcps); + } else { + Status = VL53L0X_ERROR_INVALID_COMMAND; + } + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0X_Error VL53L0X_GetHistogramMeasurementData(VL53L0X_DEV Dev, + VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev, + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + /* This function will do a complete single ranging + * Here we fix the mode! */ + Status = VL53L0X_SetDeviceMode(Dev, VL53L0X_DEVICEMODE_SINGLE_RANGING); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_PerformSingleMeasurement(Dev); + + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_GetRangingMeasurementData(Dev, + pRangingMeasurementData); + + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_ClearInterruptMask(Dev, 0); + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetNumberOfROIZones(VL53L0X_DEV Dev, + uint8_t NumberOfROIZones) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (NumberOfROIZones != 1) + Status = VL53L0X_ERROR_INVALID_PARAMS; + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetNumberOfROIZones(VL53L0X_DEV Dev, + uint8_t *pNumberOfROIZones) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pNumberOfROIZones = 1; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetMaxNumberOfROIZones(VL53L0X_DEV Dev, + uint8_t *pMaxNumberOfROIZones) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pMaxNumberOfROIZones = 1; + + LOG_FUNCTION_END(Status); + return Status; +} + +/* End Group PAL Measurement Functions */ + +VL53L0X_Error VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, + VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality, + VL53L0X_InterruptPolarity Polarity) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t data; + + LOG_FUNCTION_START(""); + + if (Pin != 0) { + Status = VL53L0X_ERROR_GPIO_NOT_EXISTING; + } else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_DRIVE) { + if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW) + data = 0x10; + else + data = 1; + + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data); + + } else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_OSC) { + + Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); + + Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); + Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); + Status |= VL53L0X_WrByte(Dev, 0x85, 0x02); + + Status |= VL53L0X_WrByte(Dev, 0xff, 0x04); + Status |= VL53L0X_WrByte(Dev, 0xcd, 0x00); + Status |= VL53L0X_WrByte(Dev, 0xcc, 0x11); + + Status |= VL53L0X_WrByte(Dev, 0xff, 0x07); + Status |= VL53L0X_WrByte(Dev, 0xbe, 0x00); + + Status |= VL53L0X_WrByte(Dev, 0xff, 0x06); + Status |= VL53L0X_WrByte(Dev, 0xcc, 0x09); + + Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); + Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); + + } else { + + if (Status == VL53L0X_ERROR_NONE) { + switch (Functionality) { + case VL53L0X_GPIOFUNCTIONALITY_OFF: + data = 0x00; + break; + case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW: + data = 0x01; + break; + case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH: + data = 0x02; + break; + case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT: + data = 0x03; + break; + case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY: + data = 0x04; + break; + default: + Status = + VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; + } + } + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data); + + if (Status == VL53L0X_ERROR_NONE) { + if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW) + data = 0; + else + data = (uint8_t)(1 << 4); + + Status = VL53L0X_UpdateByte(Dev, + VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data); + } + + if (Status == VL53L0X_ERROR_NONE) + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + Pin0GpioFunctionality, Functionality); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_ClearInterruptMask(Dev, 0); + + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, + VL53L0X_DeviceModes *pDeviceMode, + VL53L0X_GpioFunctionality *pFunctionality, + VL53L0X_InterruptPolarity *pPolarity) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + VL53L0X_GpioFunctionality GpioFunctionality; + uint8_t data; + + LOG_FUNCTION_START(""); + + /* pDeviceMode not managed by Ewok it return the current mode */ + + Status = VL53L0X_GetDeviceMode(Dev, pDeviceMode); + + if (Status == VL53L0X_ERROR_NONE) { + if (Pin != 0) { + Status = VL53L0X_ERROR_GPIO_NOT_EXISTING; + } else { + Status = VL53L0X_RdByte(Dev, + VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, &data); + } + } + + if (Status == VL53L0X_ERROR_NONE) { + switch (data & 0x07) { + case 0x00: + GpioFunctionality = VL53L0X_GPIOFUNCTIONALITY_OFF; + break; + case 0x01: + GpioFunctionality = + VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW; + break; + case 0x02: + GpioFunctionality = + VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH; + break; + case 0x03: + GpioFunctionality = + VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT; + break; + case 0x04: + GpioFunctionality = + VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY; + break; + default: + Status = VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; + } + } + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_RdByte(Dev, VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, + &data); + + if (Status == VL53L0X_ERROR_NONE) { + if ((data & (uint8_t)(1 << 4)) == 0) + *pPolarity = VL53L0X_INTERRUPTPOLARITY_LOW; + else + *pPolarity = VL53L0X_INTERRUPTPOLARITY_HIGH; + } + + if (Status == VL53L0X_ERROR_NONE) { + *pFunctionality = GpioFunctionality; + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, Pin0GpioFunctionality, + GpioFunctionality); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetInterruptThresholds(VL53L0X_DEV Dev, + VL53L0X_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow, + FixPoint1616_t ThresholdHigh) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint16_t Threshold16; + LOG_FUNCTION_START(""); + + /* no dependency on DeviceMode for Ewok */ + /* Need to divide by 2 because the FW will apply a x2 */ + Threshold16 = (uint16_t)((ThresholdLow >> 17) & 0x00fff); + Status = VL53L0X_WrWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, Threshold16); + + if (Status == VL53L0X_ERROR_NONE) { + /* Need to divide by 2 because the FW will apply a x2 */ + Threshold16 = (uint16_t)((ThresholdHigh >> 17) & 0x00fff); + Status = VL53L0X_WrWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH, + Threshold16); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev, + VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow, + FixPoint1616_t *pThresholdHigh) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint16_t Threshold16; + LOG_FUNCTION_START(""); + + /* no dependency on DeviceMode for Ewok */ + + Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &Threshold16); + /* Need to multiply by 2 because the FW will apply a x2 */ + *pThresholdLow = (FixPoint1616_t)((0x00fff & Threshold16) << 17); + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH, + &Threshold16); + /* Need to multiply by 2 because the FW will apply a x2 */ + *pThresholdHigh = + (FixPoint1616_t)((0x00fff & Threshold16) << 17); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev, + uint32_t *pStopStatus) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t Byte = 0; + LOG_FUNCTION_START(""); + + Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_RdByte(Dev, 0x04, &Byte); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, 0xFF, 0x0); + + *pStopStatus = Byte; + + if (Byte == 0) { + Status = VL53L0X_WrByte(Dev, 0x80, 0x01); + Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); + Status = VL53L0X_WrByte(Dev, 0x00, 0x00); + Status = VL53L0X_WrByte(Dev, 0x91, + PALDevDataGet(Dev, StopVariable)); + Status = VL53L0X_WrByte(Dev, 0x00, 0x01); + Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); + Status = VL53L0X_WrByte(Dev, 0x80, 0x00); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +/* Group PAL Interrupt Functions */ +VL53L0X_Error VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t LoopCount; + uint8_t Byte; + LOG_FUNCTION_START(""); + + /* clear bit 0 range interrupt, bit 1 error interrupt */ + LoopCount = 0; + do { + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01); + Status |= VL53L0X_WrByte(Dev, + VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00); + Status |= VL53L0X_RdByte(Dev, + VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte); + LoopCount++; + } while (((Byte & 0x07) != 0x00) + && (LoopCount < 3) + && (Status == VL53L0X_ERROR_NONE)); + + + if (LoopCount >= 3) + Status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev, + uint32_t *pInterruptMaskStatus) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t Byte; + LOG_FUNCTION_START(""); + + Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte); + *pInterruptMaskStatus = Byte & 0x07; + + if (Byte & 0x18) + Status = VL53L0X_ERROR_RANGE_ERROR; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_EnableInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + /* not implemented for VL53L0X */ + + LOG_FUNCTION_END(Status); + return Status; +} + +/* End Group PAL Interrupt Functions */ + +/* Group SPAD functions */ + +VL53L0X_Error VL53L0X_SetSpadAmbientDamperThreshold(VL53L0X_DEV Dev, + uint16_t SpadAmbientDamperThreshold) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0X_WrWord(Dev, 0x40, SpadAmbientDamperThreshold); + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetSpadAmbientDamperThreshold(VL53L0X_DEV Dev, + uint16_t *pSpadAmbientDamperThreshold) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0X_RdWord(Dev, 0x40, pSpadAmbientDamperThreshold); + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_SetSpadAmbientDamperFactor(VL53L0X_DEV Dev, + uint16_t SpadAmbientDamperFactor) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t Byte; + LOG_FUNCTION_START(""); + + Byte = (uint8_t)(SpadAmbientDamperFactor & 0x00FF); + + Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0X_WrByte(Dev, 0x42, Byte); + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_GetSpadAmbientDamperFactor(VL53L0X_DEV Dev, + uint16_t *pSpadAmbientDamperFactor) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t Byte; + LOG_FUNCTION_START(""); + + Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0X_RdByte(Dev, 0x42, &Byte); + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); + *pSpadAmbientDamperFactor = (uint16_t)Byte; + + LOG_FUNCTION_END(Status); + return Status; +} + +/* END Group SPAD functions */ + +/***************************************************************************** + * Internal functions + *****************************************************************************/ + +VL53L0X_Error VL53L0X_SetReferenceSpads(VL53L0X_DEV Dev, uint32_t count, + uint8_t isApertureSpads) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_set_reference_spads(Dev, count, isApertureSpads); + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0X_Error VL53L0X_GetReferenceSpads(VL53L0X_DEV Dev, uint32_t *pSpadCount, + uint8_t *pIsApertureSpads) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_get_reference_spads(Dev, pSpadCount, pIsApertureSpads); + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0X_Error VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev, + uint32_t *refSpadCount, uint8_t *isApertureSpads) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0X_perform_ref_spad_management(Dev, refSpadCount, + isApertureSpads); + + LOG_FUNCTION_END(Status); + + return Status; +} diff --git a/modules/VL53L0X/src/vl53l0x_api_calibration.c b/modules/VL53L0X/src/vl53l0x_api_calibration.c new file mode 100644 index 0000000..2995897 --- /dev/null +++ b/modules/VL53L0X/src/vl53l0x_api_calibration.c @@ -0,0 +1,1276 @@ +/******************************************************************************* + Copyright 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. + ******************************************************************************/ + +#include "vl53l0x_api.h" +#include "vl53l0x_api_core.h" +#include "vl53l0x_api_calibration.h" + +#ifndef __KERNEL__ +#include +#endif + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + +#define REF_ARRAY_SPAD_0 0 +#define REF_ARRAY_SPAD_5 5 +#define REF_ARRAY_SPAD_10 10 + +uint32_t refArrayQuadrants[4] = {REF_ARRAY_SPAD_10, REF_ARRAY_SPAD_5, + REF_ARRAY_SPAD_0, REF_ARRAY_SPAD_5 }; + +VL53L0X_Error VL53L0X_perform_xtalk_calibration(VL53L0X_DEV Dev, + FixPoint1616_t XTalkCalDistance, + FixPoint1616_t *pXTalkCompensationRateMegaCps) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint16_t sum_ranging = 0; + uint16_t sum_spads = 0; + FixPoint1616_t sum_signalRate = 0; + FixPoint1616_t total_count = 0; + uint8_t xtalk_meas = 0; + VL53L0X_RangingMeasurementData_t RangingMeasurementData; + FixPoint1616_t xTalkStoredMeanSignalRate; + FixPoint1616_t xTalkStoredMeanRange; + FixPoint1616_t xTalkStoredMeanRtnSpads; + uint32_t signalXTalkTotalPerSpad; + uint32_t xTalkStoredMeanRtnSpadsAsInt; + uint32_t xTalkCalDistanceAsInt; + FixPoint1616_t XTalkCompensationRateMegaCps; + + if (XTalkCalDistance <= 0) + Status = VL53L0X_ERROR_INVALID_PARAMS; + + /* Disable the XTalk compensation */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetXTalkCompensationEnable(Dev, 0); + + /* Disable the RIT */ + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_SetLimitCheckEnable(Dev, + VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0); + } + + /* Perform 50 measurements and compute the averages */ + if (Status == VL53L0X_ERROR_NONE) { + sum_ranging = 0; + sum_spads = 0; + sum_signalRate = 0; + total_count = 0; + for (xtalk_meas = 0; xtalk_meas < 50; xtalk_meas++) { + Status = VL53L0X_PerformSingleRangingMeasurement(Dev, + &RangingMeasurementData); + + if (Status != VL53L0X_ERROR_NONE) + break; + + /* The range is valid when RangeStatus = 0 */ + if (RangingMeasurementData.RangeStatus == 0) { + sum_ranging = sum_ranging + + RangingMeasurementData.RangeMilliMeter; + sum_signalRate = sum_signalRate + + RangingMeasurementData.SignalRateRtnMegaCps; + sum_spads = sum_spads + + RangingMeasurementData.EffectiveSpadRtnCount + / 256; + total_count = total_count + 1; + } + } + + /* no valid values found */ + if (total_count == 0) + Status = VL53L0X_ERROR_RANGE_ERROR; + + } + + + if (Status == VL53L0X_ERROR_NONE) { + /* FixPoint1616_t / uint16_t = FixPoint1616_t */ + xTalkStoredMeanSignalRate = sum_signalRate / total_count; + xTalkStoredMeanRange = (FixPoint1616_t)((uint32_t)( + sum_ranging << 16) / total_count); + xTalkStoredMeanRtnSpads = (FixPoint1616_t)((uint32_t)( + sum_spads << 16) / total_count); + + /* Round Mean Spads to Whole Number. + * Typically the calculated mean SPAD count is a whole number + * or very close to a whole + * number, therefore any truncation will not result in a + * significant loss in accuracy. + * Also, for a grey target at a typical distance of around + * 400mm, around 220 SPADs will + * be enabled, therefore, any truncation will result in a loss + * of accuracy of less than + * 0.5%. + */ + xTalkStoredMeanRtnSpadsAsInt = (xTalkStoredMeanRtnSpads + + 0x8000) >> 16; + + /* Round Cal Distance to Whole Number. + * Note that the cal distance is in mm, therefore no resolution + * is lost.*/ + xTalkCalDistanceAsInt = (XTalkCalDistance + 0x8000) >> 16; + + if (xTalkStoredMeanRtnSpadsAsInt == 0 || + xTalkCalDistanceAsInt == 0 || + xTalkStoredMeanRange >= XTalkCalDistance) { + XTalkCompensationRateMegaCps = 0; + } else { + /* Round Cal Distance to Whole Number. + Note that the cal distance is in mm, therefore no + resolution is lost.*/ + xTalkCalDistanceAsInt = (XTalkCalDistance + + 0x8000) >> 16; + + /* Apply division by mean spad count early in the + * calculation to keep the numbers small. + * This ensures we can maintain a 32bit calculation. + * Fixed1616 / int := Fixed1616 */ + signalXTalkTotalPerSpad = (xTalkStoredMeanSignalRate) / + xTalkStoredMeanRtnSpadsAsInt; + + /* Complete the calculation for total Signal XTalk per + * SPAD + * Fixed1616 * (Fixed1616 - Fixed1616/int) := + * (2^16 * Fixed1616) + */ + signalXTalkTotalPerSpad *= ((1 << 16) - + (xTalkStoredMeanRange / xTalkCalDistanceAsInt)); + + /* Round from 2^16 * Fixed1616, to Fixed1616. */ + XTalkCompensationRateMegaCps = (signalXTalkTotalPerSpad + + 0x8000) >> 16; + } + + *pXTalkCompensationRateMegaCps = XTalkCompensationRateMegaCps; + + /* Enable the XTalk compensation */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetXTalkCompensationEnable(Dev, 1); + + /* Enable the XTalk compensation */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetXTalkCompensationRateMegaCps(Dev, + XTalkCompensationRateMegaCps); + + } + + return Status; +} + +VL53L0X_Error VL53L0X_perform_offset_calibration(VL53L0X_DEV Dev, + FixPoint1616_t CalDistanceMilliMeter, + int32_t *pOffsetMicroMeter) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint16_t sum_ranging = 0; + FixPoint1616_t total_count = 0; + VL53L0X_RangingMeasurementData_t RangingMeasurementData; + FixPoint1616_t StoredMeanRange; + uint32_t StoredMeanRangeAsInt; + uint32_t CalDistanceAsInt_mm; + uint8_t SequenceStepEnabled; + int meas = 0; + + if (CalDistanceMilliMeter <= 0) + Status = VL53L0X_ERROR_INVALID_PARAMS; + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev, 0); + + + /* Get the value of the TCC */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_GetSequenceStepEnable(Dev, + VL53L0X_SEQUENCESTEP_TCC, &SequenceStepEnabled); + + + /* Disable the TCC */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetSequenceStepEnable(Dev, + VL53L0X_SEQUENCESTEP_TCC, 0); + + + /* Disable the RIT */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_SetLimitCheckEnable(Dev, + VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0); + + /* Perform 50 measurements and compute the averages */ + if (Status == VL53L0X_ERROR_NONE) { + sum_ranging = 0; + total_count = 0; + for (meas = 0; meas < 50; meas++) { + Status = VL53L0X_PerformSingleRangingMeasurement(Dev, + &RangingMeasurementData); + + if (Status != VL53L0X_ERROR_NONE) + break; + + /* The range is valid when RangeStatus = 0 */ + if (RangingMeasurementData.RangeStatus == 0) { + sum_ranging = sum_ranging + + RangingMeasurementData.RangeMilliMeter; + total_count = total_count + 1; + } + } + + /* no valid values found */ + if (total_count == 0) + Status = VL53L0X_ERROR_RANGE_ERROR; + } + + + if (Status == VL53L0X_ERROR_NONE) { + /* FixPoint1616_t / uint16_t = FixPoint1616_t */ + StoredMeanRange = (FixPoint1616_t)((uint32_t)(sum_ranging << 16) + / total_count); + + StoredMeanRangeAsInt = (StoredMeanRange + 0x8000) >> 16; + + /* Round Cal Distance to Whole Number. + * Note that the cal distance is in mm, therefore no resolution + * is lost.*/ + CalDistanceAsInt_mm = (CalDistanceMilliMeter + 0x8000) >> 16; + + *pOffsetMicroMeter = (CalDistanceAsInt_mm - + StoredMeanRangeAsInt) * 1000; + + /* Apply the calculated offset */ + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETPARAMETERFIELD(Dev, RangeOffsetMicroMeters, + *pOffsetMicroMeter); + Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev, + *pOffsetMicroMeter); + } + + } + + /* Restore the TCC */ + if (Status == VL53L0X_ERROR_NONE) { + if (SequenceStepEnabled != 0) + Status = VL53L0X_SetSequenceStepEnable(Dev, + VL53L0X_SEQUENCESTEP_TCC, 1); + } + + return Status; +} + + +VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev, + int32_t OffsetCalibrationDataMicroMeter) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + int32_t cMaxOffsetMicroMeter = 511000; + int32_t cMinOffsetMicroMeter = -512000; + int16_t cOffsetRange = 4096; + uint32_t encodedOffsetVal; + + LOG_FUNCTION_START(""); + + if (OffsetCalibrationDataMicroMeter > cMaxOffsetMicroMeter) + OffsetCalibrationDataMicroMeter = cMaxOffsetMicroMeter; + else if (OffsetCalibrationDataMicroMeter < cMinOffsetMicroMeter) + OffsetCalibrationDataMicroMeter = cMinOffsetMicroMeter; + + /* The offset register is 10.2 format and units are mm + * therefore conversion is applied by a division of + * 250. + */ + if (OffsetCalibrationDataMicroMeter >= 0) { + encodedOffsetVal = + OffsetCalibrationDataMicroMeter/250; + } else { + encodedOffsetVal = + cOffsetRange + + OffsetCalibrationDataMicroMeter/250; + } + + Status = VL53L0X_WrWord(Dev, + VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM, + encodedOffsetVal); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev, + int32_t *pOffsetCalibrationDataMicroMeter) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint16_t RangeOffsetRegister; + int16_t cMaxOffset = 2047; + int16_t cOffsetRange = 4096; + + /* Note that offset has 10.2 format */ + + Status = VL53L0X_RdWord(Dev, + VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM, + &RangeOffsetRegister); + + if (Status == VL53L0X_ERROR_NONE) { + RangeOffsetRegister = (RangeOffsetRegister & 0x0fff); + + /* Apply 12 bit 2's compliment conversion */ + if (RangeOffsetRegister > cMaxOffset) + *pOffsetCalibrationDataMicroMeter = + (int16_t)(RangeOffsetRegister - cOffsetRange) + * 250; + else + *pOffsetCalibrationDataMicroMeter = + (int16_t)RangeOffsetRegister * 250; + + } + + return Status; +} + + +VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + int32_t CorrectedOffsetMicroMeters; + int32_t CurrentOffsetMicroMeters; + + /* if we run on this function we can read all the NVM info + * used by the API */ + Status = VL53L0X_get_info_from_device(Dev, 7); + + /* Read back current device offset */ + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_GetOffsetCalibrationDataMicroMeter(Dev, + &CurrentOffsetMicroMeters); + } + + /* Apply Offset Adjustment derived from 400mm measurements */ + if (Status == VL53L0X_ERROR_NONE) { + + /* Store initial device offset */ + PALDevDataSet(Dev, Part2PartOffsetNVMMicroMeter, + CurrentOffsetMicroMeters); + + CorrectedOffsetMicroMeters = CurrentOffsetMicroMeters + + (int32_t)PALDevDataGet(Dev, + Part2PartOffsetAdjustmentNVMMicroMeter); + + Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev, + CorrectedOffsetMicroMeters); + + /* store current, adjusted offset */ + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETPARAMETERFIELD(Dev, RangeOffsetMicroMeters, + CorrectedOffsetMicroMeters); + } + } + + return Status; +} + +void get_next_good_spad(uint8_t goodSpadArray[], uint32_t size, + uint32_t curr, int32_t *next) +{ + uint32_t startIndex; + uint32_t fineOffset; + uint32_t cSpadsPerByte = 8; + uint32_t coarseIndex; + uint32_t fineIndex; + uint8_t dataByte; + uint8_t success = 0; + + /* + * Starting with the current good spad, loop through the array to find + * the next. i.e. the next bit set in the sequence. + * + * The coarse index is the byte index of the array and the fine index is + * the index of the bit within each byte. + */ + + *next = -1; + + startIndex = curr / cSpadsPerByte; + fineOffset = curr % cSpadsPerByte; + + for (coarseIndex = startIndex; ((coarseIndex < size) && !success); + coarseIndex++) { + fineIndex = 0; + dataByte = goodSpadArray[coarseIndex]; + + if (coarseIndex == startIndex) { + /* locate the bit position of the provided current + * spad bit before iterating */ + dataByte >>= fineOffset; + fineIndex = fineOffset; + } + + while (fineIndex < cSpadsPerByte) { + if ((dataByte & 0x1) == 1) { + success = 1; + *next = coarseIndex * cSpadsPerByte + fineIndex; + break; + } + dataByte >>= 1; + fineIndex++; + } + } +} + + +uint8_t is_aperture(uint32_t spadIndex) +{ + /* + * This function reports if a given spad index is an aperture SPAD by + * deriving the quadrant. + */ + uint32_t quadrant; + uint8_t isAperture = 1; + quadrant = spadIndex >> 6; + if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0) + isAperture = 0; + + return isAperture; +} + + +VL53L0X_Error enable_spad_bit(uint8_t spadArray[], uint32_t size, + uint32_t spadIndex) +{ + VL53L0X_Error status = VL53L0X_ERROR_NONE; + uint32_t cSpadsPerByte = 8; + uint32_t coarseIndex; + uint32_t fineIndex; + + coarseIndex = spadIndex / cSpadsPerByte; + fineIndex = spadIndex % cSpadsPerByte; + if (coarseIndex >= size) + status = VL53L0X_ERROR_REF_SPAD_INIT; + else + spadArray[coarseIndex] |= (1 << fineIndex); + + return status; +} + +VL53L0X_Error count_enabled_spads(uint8_t spadArray[], + uint32_t byteCount, uint32_t maxSpads, + uint32_t *pTotalSpadsEnabled, uint8_t *pIsAperture) +{ + VL53L0X_Error status = VL53L0X_ERROR_NONE; + uint32_t cSpadsPerByte = 8; + uint32_t lastByte; + uint32_t lastBit; + uint32_t byteIndex = 0; + uint32_t bitIndex = 0; + uint8_t tempByte; + uint8_t spadTypeIdentified = 0; + + /* The entire array will not be used for spads, therefore the last + * byte and last bit is determined from the max spads value. + */ + + lastByte = maxSpads / cSpadsPerByte; + lastBit = maxSpads % cSpadsPerByte; + + /* Check that the max spads value does not exceed the array bounds. */ + if (lastByte >= byteCount) + status = VL53L0X_ERROR_REF_SPAD_INIT; + + *pTotalSpadsEnabled = 0; + + /* Count the bits enabled in the whole bytes */ + for (byteIndex = 0; byteIndex <= (lastByte - 1); byteIndex++) { + tempByte = spadArray[byteIndex]; + + for (bitIndex = 0; bitIndex <= cSpadsPerByte; bitIndex++) { + if ((tempByte & 0x01) == 1) { + (*pTotalSpadsEnabled)++; + + if (!spadTypeIdentified) { + *pIsAperture = 1; + if ((byteIndex < 2) && (bitIndex < 4)) + *pIsAperture = 0; + spadTypeIdentified = 1; + } + } + tempByte >>= 1; + } + } + + /* Count the number of bits enabled in the last byte accounting + * for the fact that not all bits in the byte may be used. + */ + tempByte = spadArray[lastByte]; + + for (bitIndex = 0; bitIndex <= lastBit; bitIndex++) { + if ((tempByte & 0x01) == 1) + (*pTotalSpadsEnabled)++; + } + + return status; +} + +VL53L0X_Error set_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray) +{ + VL53L0X_Error status = VL53L0X_WriteMulti(Dev, + VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, + refSpadArray, 6); + return status; +} + +VL53L0X_Error get_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray) +{ + VL53L0X_Error status = VL53L0X_ReadMulti(Dev, + VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, + refSpadArray, + 6); + return status; +} + +VL53L0X_Error enable_ref_spads(VL53L0X_DEV Dev, + uint8_t apertureSpads, + uint8_t goodSpadArray[], + uint8_t spadArray[], + uint32_t size, + uint32_t start, + uint32_t offset, + uint32_t spadCount, + uint32_t *lastSpad) +{ + VL53L0X_Error status = VL53L0X_ERROR_NONE; + uint32_t index; + uint32_t i; + int32_t nextGoodSpad = offset; + uint32_t currentSpad; + uint8_t checkSpadArray[6]; + + /* + * This function takes in a spad array which may or may not have SPADS + * already enabled and appends from a given offset a requested number + * of new SPAD enables. The 'good spad map' is applied to + * determine the next SPADs to enable. + * + * This function applies to only aperture or only non-aperture spads. + * Checks are performed to ensure this. + */ + + currentSpad = offset; + for (index = 0; index < spadCount; index++) { + get_next_good_spad(goodSpadArray, size, currentSpad, + &nextGoodSpad); + + if (nextGoodSpad == -1) { + status = VL53L0X_ERROR_REF_SPAD_INIT; + break; + } + + /* Confirm that the next good SPAD is non-aperture */ + if (is_aperture(start + nextGoodSpad) != apertureSpads) { + /* if we can't get the required number of good aperture + * spads from the current quadrant then this is an error + */ + status = VL53L0X_ERROR_REF_SPAD_INIT; + break; + } + currentSpad = (uint32_t)nextGoodSpad; + enable_spad_bit(spadArray, size, currentSpad); + currentSpad++; + } + *lastSpad = currentSpad; + + if (status == VL53L0X_ERROR_NONE) + status = set_ref_spad_map(Dev, spadArray); + + + if (status == VL53L0X_ERROR_NONE) { + status = get_ref_spad_map(Dev, checkSpadArray); + + i = 0; + + /* Compare spad maps. If not equal report error. */ + while (i < size) { + if (spadArray[i] != checkSpadArray[i]) { + status = VL53L0X_ERROR_REF_SPAD_INIT; + break; + } + i++; + } + } + return status; +} + + +VL53L0X_Error perform_ref_signal_measurement(VL53L0X_DEV Dev, + uint16_t *refSignalRate) +{ + VL53L0X_Error status = VL53L0X_ERROR_NONE; + VL53L0X_RangingMeasurementData_t rangingMeasurementData; + + uint8_t SequenceConfig = 0; + + /* store the value of the sequence config, + * this will be reset before the end of the function + */ + + SequenceConfig = PALDevDataGet(Dev, SequenceConfig); + + /* + * This function performs a reference signal rate measurement. + */ + if (status == VL53L0X_ERROR_NONE) + status = VL53L0X_WrByte(Dev, + VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0); + + if (status == VL53L0X_ERROR_NONE) + status = VL53L0X_PerformSingleRangingMeasurement(Dev, + &rangingMeasurementData); + + if (status == VL53L0X_ERROR_NONE) + status = VL53L0X_WrByte(Dev, 0xFF, 0x01); + + if (status == VL53L0X_ERROR_NONE) + status = VL53L0X_RdWord(Dev, + VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF, + refSignalRate); + + if (status == VL53L0X_ERROR_NONE) + status = VL53L0X_WrByte(Dev, 0xFF, 0x00); + + if (status == VL53L0X_ERROR_NONE) { + /* restore the previous Sequence Config */ + status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, + SequenceConfig); + if (status == VL53L0X_ERROR_NONE) + PALDevDataSet(Dev, SequenceConfig, SequenceConfig); + } + + return status; +} + +VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev, + uint32_t *refSpadCount, + uint8_t *isApertureSpads) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t lastSpadArray[6]; + uint8_t startSelect = 0xB4; + uint32_t minimumSpadCount = 3; + uint32_t maxSpadCount = 44; + uint32_t currentSpadIndex = 0; + uint32_t lastSpadIndex = 0; + int32_t nextGoodSpad = 0; + uint16_t targetRefRate = 0x0A00; /* 20 MCPS in 9:7 format */ + uint16_t peakSignalRateRef; + uint32_t needAptSpads = 0; + uint32_t index = 0; + uint32_t spadArraySize = 6; + uint32_t signalRateDiff = 0; + uint32_t lastSignalRateDiff = 0; + uint8_t complete = 0; + uint8_t VhvSettings = 0; + uint8_t PhaseCal = 0; + uint32_t refSpadCount_int = 0; + uint8_t isApertureSpads_int = 0; + + /* + * The reference SPAD initialization procedure determines the minimum + * amount of reference spads to be enables to achieve a target reference + * signal rate and should be performed once during initialization. + * + * Either aperture or non-aperture spads are applied but never both. + * Firstly non-aperture spads are set, begining with 5 spads, and + * increased one spad at a time until the closest measurement to the + * target rate is achieved. + * + * If the target rate is exceeded when 5 non-aperture spads are enabled, + * initialization is performed instead with aperture spads. + * + * When setting spads, a 'Good Spad Map' is applied. + * + * This procedure operates within a SPAD window of interest of a maximum + * 44 spads. + * The start point is currently fixed to 180, which lies towards the end + * of the non-aperture quadrant and runs in to the adjacent aperture + * quadrant. + */ + + + targetRefRate = PALDevDataGet(Dev, targetRefRate); + + /* + * Initialize Spad arrays. + * Currently the good spad map is initialised to 'All good'. + * This is a short term implementation. The good spad map will be + * provided as an input. + * Note that there are 6 bytes. Only the first 44 bits will be used to + * represent spads. + */ + for (index = 0; index < spadArraySize; index++) + Dev->Data.SpadData.RefSpadEnables[index] = 0; + + + Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT, + startSelect); + + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0); + + /* Perform ref calibration */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_perform_ref_calibration(Dev, &VhvSettings, + &PhaseCal, 0); + + if (Status == VL53L0X_ERROR_NONE) { + /* Enable Minimum NON-APERTURE Spads */ + currentSpadIndex = 0; + lastSpadIndex = currentSpadIndex; + needAptSpads = 0; + Status = enable_ref_spads(Dev, + needAptSpads, + Dev->Data.SpadData.RefGoodSpadMap, + Dev->Data.SpadData.RefSpadEnables, + spadArraySize, + startSelect, + currentSpadIndex, + minimumSpadCount, + &lastSpadIndex); + } + + if (Status == VL53L0X_ERROR_NONE) { + currentSpadIndex = lastSpadIndex; + + Status = perform_ref_signal_measurement(Dev, + &peakSignalRateRef); + if ((Status == VL53L0X_ERROR_NONE) && + (peakSignalRateRef > targetRefRate)) { + /* Signal rate measurement too high, + * switch to APERTURE SPADs */ + + for (index = 0; index < spadArraySize; index++) + Dev->Data.SpadData.RefSpadEnables[index] = 0; + + + /* Increment to the first APERTURE spad */ + while ((is_aperture(startSelect + currentSpadIndex) + == 0) && (currentSpadIndex < maxSpadCount)) { + currentSpadIndex++; + } + + needAptSpads = 1; + + Status = enable_ref_spads(Dev, + needAptSpads, + Dev->Data.SpadData.RefGoodSpadMap, + Dev->Data.SpadData.RefSpadEnables, + spadArraySize, + startSelect, + currentSpadIndex, + minimumSpadCount, + &lastSpadIndex); + + if (Status == VL53L0X_ERROR_NONE) { + currentSpadIndex = lastSpadIndex; + Status = perform_ref_signal_measurement(Dev, + &peakSignalRateRef); + + if ((Status == VL53L0X_ERROR_NONE) && + (peakSignalRateRef > targetRefRate)) { + /* Signal rate still too high after + * setting the minimum number of + * APERTURE spads. Can do no more + * therefore set the min number of + * aperture spads as the result. + */ + isApertureSpads_int = 1; + refSpadCount_int = minimumSpadCount; + } + } + } else { + needAptSpads = 0; + } + } + + if ((Status == VL53L0X_ERROR_NONE) && + (peakSignalRateRef < targetRefRate)) { + /* At this point, the minimum number of either aperture + * or non-aperture spads have been set. Proceed to add + * spads and perform measurements until the target + * reference is reached. + */ + isApertureSpads_int = needAptSpads; + refSpadCount_int = minimumSpadCount; + + memcpy(lastSpadArray, Dev->Data.SpadData.RefSpadEnables, + spadArraySize); + lastSignalRateDiff = abs(peakSignalRateRef - + targetRefRate); + complete = 0; + + while (!complete) { + get_next_good_spad( + Dev->Data.SpadData.RefGoodSpadMap, + spadArraySize, currentSpadIndex, + &nextGoodSpad); + + if (nextGoodSpad == -1) { + Status = VL53L0X_ERROR_REF_SPAD_INIT; + break; + } + + /* Cannot combine Aperture and Non-Aperture spads, so + * ensure the current spad is of the correct type. + */ + if (is_aperture((uint32_t)startSelect + nextGoodSpad) != + needAptSpads) { + /* At this point we have enabled the maximum + * number of Aperture spads. + */ + complete = 1; + break; + } + + (refSpadCount_int)++; + + currentSpadIndex = nextGoodSpad; + Status = enable_spad_bit( + Dev->Data.SpadData.RefSpadEnables, + spadArraySize, currentSpadIndex); + + if (Status == VL53L0X_ERROR_NONE) { + currentSpadIndex++; + /* Proceed to apply the additional spad and + * perform measurement. */ + Status = set_ref_spad_map(Dev, + Dev->Data.SpadData.RefSpadEnables); + } + + if (Status != VL53L0X_ERROR_NONE) + break; + + Status = perform_ref_signal_measurement(Dev, + &peakSignalRateRef); + + if (Status != VL53L0X_ERROR_NONE) + break; + + signalRateDiff = abs(peakSignalRateRef - targetRefRate); + + if (peakSignalRateRef > targetRefRate) { + /* Select the spad map that provides the + * measurement closest to the target rate, + * either above or below it. + */ + if (signalRateDiff > lastSignalRateDiff) { + /* Previous spad map produced a closer + * measurement, so choose this. */ + Status = set_ref_spad_map(Dev, + lastSpadArray); + memcpy( + Dev->Data.SpadData.RefSpadEnables, + lastSpadArray, spadArraySize); + + (refSpadCount_int)--; + } + complete = 1; + } else { + /* Continue to add spads */ + lastSignalRateDiff = signalRateDiff; + memcpy(lastSpadArray, + Dev->Data.SpadData.RefSpadEnables, + spadArraySize); + } + + } /* while */ + } + + if (Status == VL53L0X_ERROR_NONE) { + *refSpadCount = refSpadCount_int; + *isApertureSpads = isApertureSpads_int; + + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 1); + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadCount, (uint8_t)(*refSpadCount)); + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadType, *isApertureSpads); + } + + return Status; +} + +VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV Dev, + uint32_t count, uint8_t isApertureSpads) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint32_t currentSpadIndex = 0; + uint8_t startSelect = 0xB4; + uint32_t spadArraySize = 6; + uint32_t maxSpadCount = 44; + uint32_t lastSpadIndex; + uint32_t index; + + /* + * This function applies a requested number of reference spads, either + * aperture or + * non-aperture, as requested. + * The good spad map will be applied. + */ + + Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT, + startSelect); + + for (index = 0; index < spadArraySize; index++) + Dev->Data.SpadData.RefSpadEnables[index] = 0; + + if (isApertureSpads) { + /* Increment to the first APERTURE spad */ + while ((is_aperture(startSelect + currentSpadIndex) == 0) && + (currentSpadIndex < maxSpadCount)) { + currentSpadIndex++; + } + } + Status = enable_ref_spads(Dev, + isApertureSpads, + Dev->Data.SpadData.RefGoodSpadMap, + Dev->Data.SpadData.RefSpadEnables, + spadArraySize, + startSelect, + currentSpadIndex, + count, + &lastSpadIndex); + + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 1); + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadCount, (uint8_t)(count)); + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadType, isApertureSpads); + } + + return Status; +} + +VL53L0X_Error VL53L0X_get_reference_spads(VL53L0X_DEV Dev, + uint32_t *pSpadCount, uint8_t *pIsApertureSpads) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t refSpadsInitialised; + uint8_t refSpadArray[6]; + uint32_t cMaxSpadCount = 44; + uint32_t cSpadArraySize = 6; + uint32_t spadsEnabled; + uint8_t isApertureSpads = 0; + + refSpadsInitialised = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, + RefSpadsInitialised); + + if (refSpadsInitialised == 1) { + + *pSpadCount = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadCount); + *pIsApertureSpads = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadType); + } else { + + /* obtain spad info from device.*/ + Status = get_ref_spad_map(Dev, refSpadArray); + + if (Status == VL53L0X_ERROR_NONE) { + /* count enabled spads within spad map array and + * determine if Aperture or Non-Aperture. + */ + Status = count_enabled_spads(refSpadArray, + cSpadArraySize, + cMaxSpadCount, + &spadsEnabled, + &isApertureSpads); + + if (Status == VL53L0X_ERROR_NONE) { + + *pSpadCount = spadsEnabled; + *pIsApertureSpads = isApertureSpads; + + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + RefSpadsInitialised, 1); + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadCount, + (uint8_t)spadsEnabled); + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadType, isApertureSpads); + } + } + } + + return Status; +} + + +VL53L0X_Error VL53L0X_perform_single_ref_calibration(VL53L0X_DEV Dev, + uint8_t vhv_init_byte) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, + VL53L0X_REG_SYSRANGE_MODE_START_STOP | + vhv_init_byte); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_measurement_poll_for_completion(Dev); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_ClearInterruptMask(Dev, 0); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x00); + + return Status; +} + + +VL53L0X_Error VL53L0X_ref_calibration_io(VL53L0X_DEV Dev, uint8_t read_not_write, + uint8_t VhvSettings, uint8_t PhaseCal, + uint8_t *pVhvSettings, uint8_t *pPhaseCal, + const uint8_t vhv_enable, const uint8_t phase_enable) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t PhaseCalint = 0; + + /* Read VHV from device */ + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); + + if (read_not_write) { + if (vhv_enable) + Status |= VL53L0X_RdByte(Dev, 0xCB, pVhvSettings); + if (phase_enable) + Status |= VL53L0X_RdByte(Dev, 0xEE, &PhaseCalint); + } else { + if (vhv_enable) + Status |= VL53L0X_WrByte(Dev, 0xCB, VhvSettings); + if (phase_enable) + Status |= VL53L0X_UpdateByte(Dev, 0xEE, 0x80, PhaseCal); + } + + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0X_WrByte(Dev, 0x00, 0x01); + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); + + *pPhaseCal = (uint8_t)(PhaseCalint&0xEF); + + return Status; +} + + +VL53L0X_Error VL53L0X_perform_vhv_calibration(VL53L0X_DEV Dev, + uint8_t *pVhvSettings, const uint8_t get_data_enable, + const uint8_t restore_config) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t SequenceConfig = 0; + uint8_t VhvSettings = 0; + uint8_t PhaseCal = 0; + uint8_t PhaseCalInt = 0; + + /* store the value of the sequence config, + * this will be reset before the end of the function + */ + + if (restore_config) + SequenceConfig = PALDevDataGet(Dev, SequenceConfig); + + /* Run VHV */ + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x01); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_perform_single_ref_calibration(Dev, 0x40); + + /* Read VHV from device */ + if ((Status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) { + Status = VL53L0X_ref_calibration_io(Dev, 1, + VhvSettings, PhaseCal, /* Not used here */ + pVhvSettings, &PhaseCalInt, + 1, 0); + } else + *pVhvSettings = 0; + + + if ((Status == VL53L0X_ERROR_NONE) && restore_config) { + /* restore the previous Sequence Config */ + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, + SequenceConfig); + if (Status == VL53L0X_ERROR_NONE) + PALDevDataSet(Dev, SequenceConfig, SequenceConfig); + + } + + return Status; +} + +VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev, + uint8_t *pPhaseCal, const uint8_t get_data_enable, + const uint8_t restore_config) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t SequenceConfig = 0; + uint8_t VhvSettings = 0; + uint8_t PhaseCal = 0; + uint8_t VhvSettingsint; + + /* store the value of the sequence config, + * this will be reset before the end of the function + */ + + if (restore_config) + SequenceConfig = PALDevDataGet(Dev, SequenceConfig); + + /* Run PhaseCal */ + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x02); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_perform_single_ref_calibration(Dev, 0x0); + + /* Read PhaseCal from device */ + if ((Status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) { + Status = VL53L0X_ref_calibration_io(Dev, 1, + VhvSettings, PhaseCal, /* Not used here */ + &VhvSettingsint, pPhaseCal, + 0, 1); + } else + *pPhaseCal = 0; + + + if ((Status == VL53L0X_ERROR_NONE) && restore_config) { + /* restore the previous Sequence Config */ + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, + SequenceConfig); + if (Status == VL53L0X_ERROR_NONE) + PALDevDataSet(Dev, SequenceConfig, SequenceConfig); + + } + + return Status; +} + +VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev, + uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t SequenceConfig = 0; + + /* store the value of the sequence config, + * this will be reset before the end of the function + */ + + SequenceConfig = PALDevDataGet(Dev, SequenceConfig); + + /* In the following function we don't save the config to optimize + * writes on device. Config is saved and restored only once. */ + Status = VL53L0X_perform_vhv_calibration( + Dev, pVhvSettings, get_data_enable, 0); + + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_perform_phase_calibration( + Dev, pPhaseCal, get_data_enable, 0); + + + if (Status == VL53L0X_ERROR_NONE) { + /* restore the previous Sequence Config */ + Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, + SequenceConfig); + if (Status == VL53L0X_ERROR_NONE) + PALDevDataSet(Dev, SequenceConfig, SequenceConfig); + + } + + return Status; +} + +VL53L0X_Error VL53L0X_set_ref_calibration(VL53L0X_DEV Dev, + uint8_t VhvSettings, uint8_t PhaseCal) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t pVhvSettings; + uint8_t pPhaseCal; + + Status = VL53L0X_ref_calibration_io(Dev, 0, + VhvSettings, PhaseCal, + &pVhvSettings, &pPhaseCal, + 1, 1); + + return Status; +} + +VL53L0X_Error VL53L0X_get_ref_calibration(VL53L0X_DEV Dev, + uint8_t *pVhvSettings, uint8_t *pPhaseCal) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t VhvSettings = 0; + uint8_t PhaseCal = 0; + + Status = VL53L0X_ref_calibration_io(Dev, 1, + VhvSettings, PhaseCal, + pVhvSettings, pPhaseCal, + 1, 1); + + return Status; +} diff --git a/modules/VL53L0X/src/vl53l0x_api_core.c b/modules/VL53L0X/src/vl53l0x_api_core.c new file mode 100644 index 0000000..8f0632a --- /dev/null +++ b/modules/VL53L0X/src/vl53l0x_api_core.c @@ -0,0 +1,2239 @@ +/******************************************************************************* + Copyright 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. + ******************************************************************************/ + +#include "vl53l0x_api.h" +#include "vl53l0x_api_core.h" +#include "vl53l0x_api_calibration.h" + + +#ifndef __KERNEL__ +#include +#endif +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + +VL53L0X_Error VL53L0X_reverse_bytes(uint8_t *data, uint32_t size) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t tempData; + uint32_t mirrorIndex; + uint32_t middle = size/2; + uint32_t index; + + for (index = 0; index < middle; index++) { + mirrorIndex = size - index - 1; + tempData = data[index]; + data[index] = data[mirrorIndex]; + data[mirrorIndex] = tempData; + } + return Status; +} + +VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t NewDataReady = 0; + uint32_t LoopNb; + + LOG_FUNCTION_START(""); + + LoopNb = 0; + + do { + Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDataReady); + if (Status != 0) + break; /* the error is set */ + + if (NewDataReady == 1) + break; /* done note that status == 0 */ + + LoopNb++; + if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) { + Status = VL53L0X_ERROR_TIME_OUT; + break; + } + + VL53L0X_PollingDelay(Dev); + } while (1); + + LOG_FUNCTION_END(Status); + + return Status; +} + + +uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg) +{ + /*! + * Converts the encoded VCSEL period register value into the real + * period in PLL clocks + */ + + uint8_t vcsel_period_pclks = 0; + + vcsel_period_pclks = (vcsel_period_reg + 1) << 1; + + return vcsel_period_pclks; +} + +uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks) +{ + /*! + * Converts the encoded VCSEL period register value into the real period + * in PLL clocks + */ + + uint8_t vcsel_period_reg = 0; + + vcsel_period_reg = (vcsel_period_pclks >> 1) - 1; + + return vcsel_period_reg; +} + + +uint32_t VL53L0X_isqrt(uint32_t num) +{ + /* + * Implements an integer square root + * + * From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots + */ + + uint32_t res = 0; + uint32_t bit = 1 << 30; + /* The second-to-top bit is set: + * 1 << 14 for 16-bits, 1 << 30 for 32 bits */ + + /* "bit" starts at the highest power of four <= the argument. */ + while (bit > num) + bit >>= 2; + + + while (bit != 0) { + if (num >= res + bit) { + num -= res + bit; + res = (res >> 1) + bit; + } else + res >>= 1; + + bit >>= 2; + } + + return res; +} + + +uint32_t VL53L0X_quadrature_sum(uint32_t a, uint32_t b) +{ + /* + * Implements a quadrature sum + * + * rea = sqrt(a^2 + b^2) + * + * Trap overflow case max input value is 65535 (16-bit value) + * as internal calc are 32-bit wide + * + * If overflow then seta output to maximum + */ + uint32_t res = 0; + + if (a > 65535 || b > 65535) + res = 65535; + else + res = VL53L0X_isqrt(a * a + b * b); + + return res; +} + + +VL53L0X_Error VL53L0X_device_read_strobe(VL53L0X_DEV Dev) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t strobe; + uint32_t LoopNb; + LOG_FUNCTION_START(""); + + Status |= VL53L0X_WrByte(Dev, 0x83, 0x00); + + /* polling + * use timeout to avoid deadlock*/ + if (Status == VL53L0X_ERROR_NONE) { + LoopNb = 0; + do { + Status = VL53L0X_RdByte(Dev, 0x83, &strobe); + if ((strobe != 0x00) || Status != VL53L0X_ERROR_NONE) + break; + + LoopNb = LoopNb + 1; + } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP); + + if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) + Status = VL53L0X_ERROR_TIME_OUT; + + } + + Status |= VL53L0X_WrByte(Dev, 0x83, 0x01); + + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option) +{ + + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t byte; + uint32_t TmpDWord; + uint8_t ModuleId; + uint8_t Revision; + uint8_t ReferenceSpadCount = 0; + uint8_t ReferenceSpadType = 0; + uint32_t PartUIDUpper = 0; + uint32_t PartUIDLower = 0; + uint32_t OffsetFixed1104_mm = 0; + int16_t OffsetMicroMeters = 0; + uint32_t DistMeasTgtFixed1104_mm = 400 << 4; + uint32_t DistMeasFixed1104_400_mm = 0; + uint32_t SignalRateMeasFixed1104_400_mm = 0; + char ProductId[19]; + char *ProductId_tmp; + uint8_t ReadDataFromDeviceDone; + FixPoint1616_t SignalRateMeasFixed400mmFix = 0; + uint8_t NvmRefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE]; + int i; + + + LOG_FUNCTION_START(""); + + ReadDataFromDeviceDone = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, + ReadDataFromDeviceDone); + + /* This access is done only once after that a GetDeviceInfo or + * datainit is done*/ + if (ReadDataFromDeviceDone != 7) { + + Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); + + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06); + Status |= VL53L0X_RdByte(Dev, 0x83, &byte); + Status |= VL53L0X_WrByte(Dev, 0x83, byte|4); + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x07); + Status |= VL53L0X_WrByte(Dev, 0x81, 0x01); + + Status |= VL53L0X_PollingDelay(Dev); + + Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); + + if (((option & 1) == 1) && + ((ReadDataFromDeviceDone & 1) == 0)) { + Status |= VL53L0X_WrByte(Dev, 0x94, 0x6b); + Status |= VL53L0X_device_read_strobe(Dev); + Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); + + ReferenceSpadCount = (uint8_t)((TmpDWord >> 8) & 0x07f); + ReferenceSpadType = (uint8_t)((TmpDWord >> 15) & 0x01); + + Status |= VL53L0X_WrByte(Dev, 0x94, 0x24); + Status |= VL53L0X_device_read_strobe(Dev); + Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); + + + NvmRefGoodSpadMap[0] = (uint8_t)((TmpDWord >> 24) + & 0xff); + NvmRefGoodSpadMap[1] = (uint8_t)((TmpDWord >> 16) + & 0xff); + NvmRefGoodSpadMap[2] = (uint8_t)((TmpDWord >> 8) + & 0xff); + NvmRefGoodSpadMap[3] = (uint8_t)(TmpDWord & 0xff); + + Status |= VL53L0X_WrByte(Dev, 0x94, 0x25); + Status |= VL53L0X_device_read_strobe(Dev); + Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); + + NvmRefGoodSpadMap[4] = (uint8_t)((TmpDWord >> 24) + & 0xff); + NvmRefGoodSpadMap[5] = (uint8_t)((TmpDWord >> 16) + & 0xff); + } + + if (((option & 2) == 2) && + ((ReadDataFromDeviceDone & 2) == 0)) { + + Status |= VL53L0X_WrByte(Dev, 0x94, 0x02); + Status |= VL53L0X_device_read_strobe(Dev); + Status |= VL53L0X_RdByte(Dev, 0x90, &ModuleId); + + Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B); + Status |= VL53L0X_device_read_strobe(Dev); + Status |= VL53L0X_RdByte(Dev, 0x90, &Revision); + + Status |= VL53L0X_WrByte(Dev, 0x94, 0x77); + Status |= VL53L0X_device_read_strobe(Dev); + Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); + + ProductId[0] = (char)((TmpDWord >> 25) & 0x07f); + ProductId[1] = (char)((TmpDWord >> 18) & 0x07f); + ProductId[2] = (char)((TmpDWord >> 11) & 0x07f); + ProductId[3] = (char)((TmpDWord >> 4) & 0x07f); + + byte = (uint8_t)((TmpDWord & 0x00f) << 3); + + Status |= VL53L0X_WrByte(Dev, 0x94, 0x78); + Status |= VL53L0X_device_read_strobe(Dev); + Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); + + ProductId[4] = (char)(byte + + ((TmpDWord >> 29) & 0x07f)); + ProductId[5] = (char)((TmpDWord >> 22) & 0x07f); + ProductId[6] = (char)((TmpDWord >> 15) & 0x07f); + ProductId[7] = (char)((TmpDWord >> 8) & 0x07f); + ProductId[8] = (char)((TmpDWord >> 1) & 0x07f); + + byte = (uint8_t)((TmpDWord & 0x001) << 6); + + Status |= VL53L0X_WrByte(Dev, 0x94, 0x79); + + Status |= VL53L0X_device_read_strobe(Dev); + + Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); + + ProductId[9] = (char)(byte + + ((TmpDWord >> 26) & 0x07f)); + ProductId[10] = (char)((TmpDWord >> 19) & 0x07f); + ProductId[11] = (char)((TmpDWord >> 12) & 0x07f); + ProductId[12] = (char)((TmpDWord >> 5) & 0x07f); + + byte = (uint8_t)((TmpDWord & 0x01f) << 2); + + Status |= VL53L0X_WrByte(Dev, 0x94, 0x7A); + + Status |= VL53L0X_device_read_strobe(Dev); + + Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); + + ProductId[13] = (char)(byte + + ((TmpDWord >> 30) & 0x07f)); + ProductId[14] = (char)((TmpDWord >> 23) & 0x07f); + ProductId[15] = (char)((TmpDWord >> 16) & 0x07f); + ProductId[16] = (char)((TmpDWord >> 9) & 0x07f); + ProductId[17] = (char)((TmpDWord >> 2) & 0x07f); + ProductId[18] = '\0'; + + } + + if (((option & 4) == 4) && + ((ReadDataFromDeviceDone & 4) == 0)) { + + Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B); + Status |= VL53L0X_device_read_strobe(Dev); + Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDUpper); + + Status |= VL53L0X_WrByte(Dev, 0x94, 0x7C); + Status |= VL53L0X_device_read_strobe(Dev); + Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDLower); + + Status |= VL53L0X_WrByte(Dev, 0x94, 0x73); + Status |= VL53L0X_device_read_strobe(Dev); + Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); + + SignalRateMeasFixed1104_400_mm = (TmpDWord & + 0x0000000ff) << 8; + + Status |= VL53L0X_WrByte(Dev, 0x94, 0x74); + Status |= VL53L0X_device_read_strobe(Dev); + Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); + + SignalRateMeasFixed1104_400_mm |= ((TmpDWord & + 0xff000000) >> 24); + + Status |= VL53L0X_WrByte(Dev, 0x94, 0x75); + Status |= VL53L0X_device_read_strobe(Dev); + Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); + + DistMeasFixed1104_400_mm = (TmpDWord & 0x0000000ff) + << 8; + + Status |= VL53L0X_WrByte(Dev, 0x94, 0x76); + Status |= VL53L0X_device_read_strobe(Dev); + Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); + + DistMeasFixed1104_400_mm |= ((TmpDWord & 0xff000000) + >> 24); + } + + Status |= VL53L0X_WrByte(Dev, 0x81, 0x00); + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06); + Status |= VL53L0X_RdByte(Dev, 0x83, &byte); + Status |= VL53L0X_WrByte(Dev, 0x83, byte&0xfb); + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0X_WrByte(Dev, 0x00, 0x01); + + Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); + } + + if ((Status == VL53L0X_ERROR_NONE) && + (ReadDataFromDeviceDone != 7)) { + /* Assign to variable if status is ok */ + if (((option & 1) == 1) && + ((ReadDataFromDeviceDone & 1) == 0)) { + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadCount, ReferenceSpadCount); + + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadType, ReferenceSpadType); + + for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) { + Dev->Data.SpadData.RefGoodSpadMap[i] = + NvmRefGoodSpadMap[i]; + } + } + + if (((option & 2) == 2) && + ((ReadDataFromDeviceDone & 2) == 0)) { + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + ModuleId, ModuleId); + + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + Revision, Revision); + + ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, + ProductId); + VL53L0X_COPYSTRING(ProductId_tmp, ProductId); + + } + + if (((option & 4) == 4) && + ((ReadDataFromDeviceDone & 4) == 0)) { + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + PartUIDUpper, PartUIDUpper); + + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + PartUIDLower, PartUIDLower); + + SignalRateMeasFixed400mmFix = + VL53L0X_FIXPOINT97TOFIXPOINT1616( + SignalRateMeasFixed1104_400_mm); + + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + SignalRateMeasFixed400mm, + SignalRateMeasFixed400mmFix); + + OffsetMicroMeters = 0; + if (DistMeasFixed1104_400_mm != 0) { + OffsetFixed1104_mm = + DistMeasFixed1104_400_mm - + DistMeasTgtFixed1104_mm; + OffsetMicroMeters = (OffsetFixed1104_mm + * 1000) >> 4; + OffsetMicroMeters *= -1; + } + + PALDevDataSet(Dev, + Part2PartOffsetAdjustmentNVMMicroMeter, + OffsetMicroMeters); + } + byte = (uint8_t)(ReadDataFromDeviceDone|option); + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, + byte); + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +uint32_t VL53L0X_calc_macro_period_ps(VL53L0X_DEV Dev, uint8_t vcsel_period_pclks) +{ + uint64_t PLL_period_ps; + uint32_t macro_period_vclks; + uint32_t macro_period_ps; + + LOG_FUNCTION_START(""); + + /* The above calculation will produce rounding errors, + therefore set fixed value + */ + PLL_period_ps = 1655; + + macro_period_vclks = 2304; + macro_period_ps = (uint32_t)(macro_period_vclks + * vcsel_period_pclks * PLL_period_ps); + + LOG_FUNCTION_END(""); + return macro_period_ps; +} + +uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks) +{ + /*! + * Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format + */ + + uint16_t encoded_timeout = 0; + uint32_t ls_byte = 0; + uint16_t ms_byte = 0; + + if (timeout_macro_clks > 0) { + ls_byte = timeout_macro_clks - 1; + + while ((ls_byte & 0xFFFFFF00) > 0) { + ls_byte = ls_byte >> 1; + ms_byte++; + } + + encoded_timeout = (ms_byte << 8) + + (uint16_t) (ls_byte & 0x000000FF); + } + + return encoded_timeout; + +} + +uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout) +{ + /*! + * Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1 + */ + + uint32_t timeout_macro_clks = 0; + + timeout_macro_clks = ((uint32_t) (encoded_timeout & 0x00FF) + << (uint32_t) ((encoded_timeout & 0xFF00) >> 8)) + 1; + + return timeout_macro_clks; +} + + +/* To convert ms into register value */ +uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev, + uint32_t timeout_period_us, + uint8_t vcsel_period_pclks) +{ + uint32_t macro_period_ps; + uint32_t macro_period_ns; + uint32_t timeout_period_mclks = 0; + + macro_period_ps = VL53L0X_calc_macro_period_ps(Dev, vcsel_period_pclks); + macro_period_ns = (macro_period_ps + 500) / 1000; + + timeout_period_mclks = + (uint32_t) (((timeout_period_us * 1000) + + (macro_period_ns / 2)) / macro_period_ns); + + return timeout_period_mclks; +} + +/* To convert register value into us */ +uint32_t VL53L0X_calc_timeout_us(VL53L0X_DEV Dev, + uint16_t timeout_period_mclks, + uint8_t vcsel_period_pclks) +{ + uint32_t macro_period_ps; + uint32_t macro_period_ns; + uint32_t actual_timeout_period_us = 0; + + macro_period_ps = VL53L0X_calc_macro_period_ps(Dev, vcsel_period_pclks); + macro_period_ns = (macro_period_ps + 500) / 1000; + + actual_timeout_period_us = + ((timeout_period_mclks * macro_period_ns) + 500) / 1000; + + return actual_timeout_period_us; +} + + +VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV Dev, + VL53L0X_SequenceStepId SequenceStepId, + uint32_t *pTimeOutMicroSecs) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t CurrentVCSELPulsePeriodPClk; + uint8_t EncodedTimeOutByte = 0; + uint32_t TimeoutMicroSeconds = 0; + uint16_t PreRangeEncodedTimeOut = 0; + uint16_t MsrcTimeOutMClks; + uint16_t PreRangeTimeOutMClks; + uint16_t FinalRangeTimeOutMClks = 0; + uint16_t FinalRangeEncodedTimeOut; + VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; + + if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) || + (SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) || + (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) { + + Status = VL53L0X_GetVcselPulsePeriod(Dev, + VL53L0X_VCSEL_PERIOD_PRE_RANGE, + &CurrentVCSELPulsePeriodPClk); + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_RdByte(Dev, + VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP, + &EncodedTimeOutByte); + } + MsrcTimeOutMClks = VL53L0X_decode_timeout(EncodedTimeOutByte); + + TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev, + MsrcTimeOutMClks, + CurrentVCSELPulsePeriodPClk); + } else if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) { + /* Retrieve PRE-RANGE VCSEL Period */ + Status = VL53L0X_GetVcselPulsePeriod(Dev, + VL53L0X_VCSEL_PERIOD_PRE_RANGE, + &CurrentVCSELPulsePeriodPClk); + + /* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */ + if (Status == VL53L0X_ERROR_NONE) { + + /* Retrieve PRE-RANGE VCSEL Period */ + Status = VL53L0X_GetVcselPulsePeriod(Dev, + VL53L0X_VCSEL_PERIOD_PRE_RANGE, + &CurrentVCSELPulsePeriodPClk); + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_RdWord(Dev, + VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, + &PreRangeEncodedTimeOut); + } + + PreRangeTimeOutMClks = VL53L0X_decode_timeout( + PreRangeEncodedTimeOut); + + TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev, + PreRangeTimeOutMClks, + CurrentVCSELPulsePeriodPClk); + } + } else if (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) { + + VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); + PreRangeTimeOutMClks = 0; + + if (SchedulerSequenceSteps.PreRangeOn) { + /* Retrieve PRE-RANGE VCSEL Period */ + Status = VL53L0X_GetVcselPulsePeriod(Dev, + VL53L0X_VCSEL_PERIOD_PRE_RANGE, + &CurrentVCSELPulsePeriodPClk); + + /* Retrieve PRE-RANGE Timeout in Macro periods + * (MCLKS) */ + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_RdWord(Dev, + VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, + &PreRangeEncodedTimeOut); + PreRangeTimeOutMClks = VL53L0X_decode_timeout( + PreRangeEncodedTimeOut); + } + } + + if (Status == VL53L0X_ERROR_NONE) { + /* Retrieve FINAL-RANGE VCSEL Period */ + Status = VL53L0X_GetVcselPulsePeriod(Dev, + VL53L0X_VCSEL_PERIOD_FINAL_RANGE, + &CurrentVCSELPulsePeriodPClk); + } + + /* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */ + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_RdWord(Dev, + VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, + &FinalRangeEncodedTimeOut); + FinalRangeTimeOutMClks = VL53L0X_decode_timeout( + FinalRangeEncodedTimeOut); + } + + FinalRangeTimeOutMClks -= PreRangeTimeOutMClks; + TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev, + FinalRangeTimeOutMClks, + CurrentVCSELPulsePeriodPClk); + } + + *pTimeOutMicroSecs = TimeoutMicroSeconds; + + return Status; +} + + +VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV Dev, + VL53L0X_SequenceStepId SequenceStepId, + uint32_t TimeOutMicroSecs) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t CurrentVCSELPulsePeriodPClk; + uint8_t MsrcEncodedTimeOut; + uint16_t PreRangeEncodedTimeOut; + uint16_t PreRangeTimeOutMClks; + uint16_t MsrcRangeTimeOutMClks; + uint32_t FinalRangeTimeOutMClks; + uint16_t FinalRangeEncodedTimeOut; + VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; + + if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) || + (SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) || + (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) { + + Status = VL53L0X_GetVcselPulsePeriod(Dev, + VL53L0X_VCSEL_PERIOD_PRE_RANGE, + &CurrentVCSELPulsePeriodPClk); + + if (Status == VL53L0X_ERROR_NONE) { + MsrcRangeTimeOutMClks = VL53L0X_calc_timeout_mclks(Dev, + TimeOutMicroSecs, + (uint8_t)CurrentVCSELPulsePeriodPClk); + + if (MsrcRangeTimeOutMClks > 256) + MsrcEncodedTimeOut = 255; + else + MsrcEncodedTimeOut = + (uint8_t)MsrcRangeTimeOutMClks - 1; + + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + LastEncodedTimeout, + MsrcEncodedTimeOut); + } + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP, + MsrcEncodedTimeOut); + } + } else { + + if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) { + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_GetVcselPulsePeriod(Dev, + VL53L0X_VCSEL_PERIOD_PRE_RANGE, + &CurrentVCSELPulsePeriodPClk); + PreRangeTimeOutMClks = + VL53L0X_calc_timeout_mclks(Dev, + TimeOutMicroSecs, + (uint8_t)CurrentVCSELPulsePeriodPClk); + PreRangeEncodedTimeOut = VL53L0X_encode_timeout( + PreRangeTimeOutMClks); + + VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, + LastEncodedTimeout, + PreRangeEncodedTimeOut); + } + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_WrWord(Dev, + VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, + PreRangeEncodedTimeOut); + } + + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETDEVICESPECIFICPARAMETER( + Dev, + PreRangeTimeoutMicroSecs, + TimeOutMicroSecs); + } + } else if (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) { + + /* For the final range timeout, the pre-range timeout + * must be added. To do this both final and pre-range + * timeouts must be expressed in macro periods MClks + * because they have different vcsel periods. + */ + + VL53L0X_GetSequenceStepEnables(Dev, + &SchedulerSequenceSteps); + PreRangeTimeOutMClks = 0; + if (SchedulerSequenceSteps.PreRangeOn) { + + /* Retrieve PRE-RANGE VCSEL Period */ + Status = VL53L0X_GetVcselPulsePeriod(Dev, + VL53L0X_VCSEL_PERIOD_PRE_RANGE, + &CurrentVCSELPulsePeriodPClk); + + /* Retrieve PRE-RANGE Timeout in Macro periods + * (MCLKS) */ + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_RdWord(Dev, 0x51, + &PreRangeEncodedTimeOut); + PreRangeTimeOutMClks = + VL53L0X_decode_timeout( + PreRangeEncodedTimeOut); + } + } + + /* Calculate FINAL RANGE Timeout in Macro Periods + * (MCLKS) and add PRE-RANGE value + */ + if (Status == VL53L0X_ERROR_NONE) { + + Status = VL53L0X_GetVcselPulsePeriod(Dev, + VL53L0X_VCSEL_PERIOD_FINAL_RANGE, + &CurrentVCSELPulsePeriodPClk); + } + if (Status == VL53L0X_ERROR_NONE) { + + FinalRangeTimeOutMClks = + VL53L0X_calc_timeout_mclks(Dev, + TimeOutMicroSecs, + (uint8_t) CurrentVCSELPulsePeriodPClk); + + FinalRangeTimeOutMClks += PreRangeTimeOutMClks; + + FinalRangeEncodedTimeOut = + VL53L0X_encode_timeout(FinalRangeTimeOutMClks); + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_WrWord(Dev, 0x71, + FinalRangeEncodedTimeOut); + } + + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETDEVICESPECIFICPARAMETER( + Dev, + FinalRangeTimeoutMicroSecs, + TimeOutMicroSecs); + } + } + } else + Status = VL53L0X_ERROR_INVALID_PARAMS; + + } + return Status; +} + +VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev, + VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t vcsel_period_reg; + uint8_t MinPreVcselPeriodPCLK = 12; + uint8_t MaxPreVcselPeriodPCLK = 18; + uint8_t MinFinalVcselPeriodPCLK = 8; + uint8_t MaxFinalVcselPeriodPCLK = 14; + uint32_t MeasurementTimingBudgetMicroSeconds; + uint32_t FinalRangeTimeoutMicroSeconds; + uint32_t PreRangeTimeoutMicroSeconds; + uint32_t MsrcTimeoutMicroSeconds; + uint8_t PhaseCalInt = 0; + + /* Check if valid clock period requested */ + + if ((VCSELPulsePeriodPCLK % 2) != 0) { + /* Value must be an even number */ + Status = VL53L0X_ERROR_INVALID_PARAMS; + } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE && + (VCSELPulsePeriodPCLK < MinPreVcselPeriodPCLK || + VCSELPulsePeriodPCLK > MaxPreVcselPeriodPCLK)) { + Status = VL53L0X_ERROR_INVALID_PARAMS; + } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE && + (VCSELPulsePeriodPCLK < MinFinalVcselPeriodPCLK || + VCSELPulsePeriodPCLK > MaxFinalVcselPeriodPCLK)) { + + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + + /* Apply specific settings for the requested clock period */ + + if (Status != VL53L0X_ERROR_NONE) + return Status; + + + if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE) { + + /* Set phase check limits */ + if (VCSELPulsePeriodPCLK == 12) { + + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x18); + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + } else if (VCSELPulsePeriodPCLK == 14) { + + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x30); + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + } else if (VCSELPulsePeriodPCLK == 16) { + + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x40); + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + } else if (VCSELPulsePeriodPCLK == 18) { + + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x50); + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + } + } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) { + + if (VCSELPulsePeriodPCLK == 8) { + + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x10); + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + + Status |= VL53L0X_WrByte(Dev, + VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02); + Status |= VL53L0X_WrByte(Dev, + VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C); + + Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0X_WrByte(Dev, + VL53L0X_REG_ALGO_PHASECAL_LIM, + 0x30); + Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); + } else if (VCSELPulsePeriodPCLK == 10) { + + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x28); + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + + Status |= VL53L0X_WrByte(Dev, + VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); + Status |= VL53L0X_WrByte(Dev, + VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09); + + Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0X_WrByte(Dev, + VL53L0X_REG_ALGO_PHASECAL_LIM, + 0x20); + Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); + } else if (VCSELPulsePeriodPCLK == 12) { + + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x38); + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + + Status |= VL53L0X_WrByte(Dev, + VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); + Status |= VL53L0X_WrByte(Dev, + VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08); + + Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0X_WrByte(Dev, + VL53L0X_REG_ALGO_PHASECAL_LIM, + 0x20); + Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); + } else if (VCSELPulsePeriodPCLK == 14) { + + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x048); + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + + Status |= VL53L0X_WrByte(Dev, + VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); + Status |= VL53L0X_WrByte(Dev, + VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07); + + Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0X_WrByte(Dev, + VL53L0X_REG_ALGO_PHASECAL_LIM, + 0x20); + Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); + } + } + + + /* Re-calculate and apply timeouts, in macro periods */ + + if (Status == VL53L0X_ERROR_NONE) { + vcsel_period_reg = VL53L0X_encode_vcsel_period((uint8_t) + VCSELPulsePeriodPCLK); + + /* When the VCSEL period for the pre or final range is changed, + * the corresponding timeout must be read from the device using + * the current VCSEL period, then the new VCSEL period can be + * applied. The timeout then must be written back to the device + * using the new VCSEL period. + * + * For the MSRC timeout, the same applies - this timeout being + * dependant on the pre-range vcsel period. + */ + switch (VcselPeriodType) { + case VL53L0X_VCSEL_PERIOD_PRE_RANGE: + Status = get_sequence_step_timeout(Dev, + VL53L0X_SEQUENCESTEP_PRE_RANGE, + &PreRangeTimeoutMicroSeconds); + + if (Status == VL53L0X_ERROR_NONE) + Status = get_sequence_step_timeout(Dev, + VL53L0X_SEQUENCESTEP_MSRC, + &MsrcTimeoutMicroSeconds); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, + vcsel_period_reg); + + + if (Status == VL53L0X_ERROR_NONE) + Status = set_sequence_step_timeout(Dev, + VL53L0X_SEQUENCESTEP_PRE_RANGE, + PreRangeTimeoutMicroSeconds); + + + if (Status == VL53L0X_ERROR_NONE) + Status = set_sequence_step_timeout(Dev, + VL53L0X_SEQUENCESTEP_MSRC, + MsrcTimeoutMicroSeconds); + + VL53L0X_SETDEVICESPECIFICPARAMETER( + Dev, + PreRangeVcselPulsePeriod, + VCSELPulsePeriodPCLK); + break; + case VL53L0X_VCSEL_PERIOD_FINAL_RANGE: + Status = get_sequence_step_timeout(Dev, + VL53L0X_SEQUENCESTEP_FINAL_RANGE, + &FinalRangeTimeoutMicroSeconds); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, + VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, + vcsel_period_reg); + + + if (Status == VL53L0X_ERROR_NONE) + Status = set_sequence_step_timeout(Dev, + VL53L0X_SEQUENCESTEP_FINAL_RANGE, + FinalRangeTimeoutMicroSeconds); + + VL53L0X_SETDEVICESPECIFICPARAMETER( + Dev, + FinalRangeVcselPulsePeriod, + VCSELPulsePeriodPCLK); + break; + default: + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + } + + /* Finally, the timing budget must be re-applied */ + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_GETPARAMETERFIELD(Dev, + MeasurementTimingBudgetMicroSeconds, + MeasurementTimingBudgetMicroSeconds); + + Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, + MeasurementTimingBudgetMicroSeconds); + } + + /* Perform the phase calibration. This is needed after changing on + * vcsel period. + * get_data_enable = 0, restore_config = 1 */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_perform_phase_calibration( + Dev, &PhaseCalInt, 0, 1); + + return Status; +} + +VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev, + VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t vcsel_period_reg; + + switch (VcselPeriodType) { + case VL53L0X_VCSEL_PERIOD_PRE_RANGE: + Status = VL53L0X_RdByte(Dev, + VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, + &vcsel_period_reg); + break; + case VL53L0X_VCSEL_PERIOD_FINAL_RANGE: + Status = VL53L0X_RdByte(Dev, + VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, + &vcsel_period_reg); + break; + default: + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + + if (Status == VL53L0X_ERROR_NONE) + *pVCSELPulsePeriodPCLK = + VL53L0X_decode_vcsel_period(vcsel_period_reg); + + return Status; +} + + + +VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev, + uint32_t MeasurementTimingBudgetMicroSeconds) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint32_t FinalRangeTimingBudgetMicroSeconds; + VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; + uint32_t MsrcDccTccTimeoutMicroSeconds = 2000; + uint32_t StartOverheadMicroSeconds = 1910; + uint32_t EndOverheadMicroSeconds = 960; + uint32_t MsrcOverheadMicroSeconds = 660; + uint32_t TccOverheadMicroSeconds = 590; + uint32_t DssOverheadMicroSeconds = 690; + uint32_t PreRangeOverheadMicroSeconds = 660; + uint32_t FinalRangeOverheadMicroSeconds = 550; + uint32_t PreRangeTimeoutMicroSeconds = 0; + uint32_t cMinTimingBudgetMicroSeconds = 20000; + uint32_t SubTimeout = 0; + + LOG_FUNCTION_START(""); + + if (MeasurementTimingBudgetMicroSeconds + < cMinTimingBudgetMicroSeconds) { + Status = VL53L0X_ERROR_INVALID_PARAMS; + return Status; + } + + FinalRangeTimingBudgetMicroSeconds = + MeasurementTimingBudgetMicroSeconds - + (StartOverheadMicroSeconds + EndOverheadMicroSeconds); + + Status = VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); + + if (Status == VL53L0X_ERROR_NONE && + (SchedulerSequenceSteps.TccOn || + SchedulerSequenceSteps.MsrcOn || + SchedulerSequenceSteps.DssOn)) { + + /* TCC, MSRC and DSS all share the same timeout */ + Status = get_sequence_step_timeout(Dev, + VL53L0X_SEQUENCESTEP_MSRC, + &MsrcDccTccTimeoutMicroSeconds); + + /* Subtract the TCC, MSRC and DSS timeouts if they are + * enabled. */ + + if (Status != VL53L0X_ERROR_NONE) + return Status; + + /* TCC */ + if (SchedulerSequenceSteps.TccOn) { + + SubTimeout = MsrcDccTccTimeoutMicroSeconds + + TccOverheadMicroSeconds; + + if (SubTimeout < + FinalRangeTimingBudgetMicroSeconds) { + FinalRangeTimingBudgetMicroSeconds -= + SubTimeout; + } else { + /* Requested timeout too big. */ + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + } + + if (Status != VL53L0X_ERROR_NONE) { + LOG_FUNCTION_END(Status); + return Status; + } + + /* DSS */ + if (SchedulerSequenceSteps.DssOn) { + + SubTimeout = 2 * (MsrcDccTccTimeoutMicroSeconds + + DssOverheadMicroSeconds); + + if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) { + FinalRangeTimingBudgetMicroSeconds + -= SubTimeout; + } else { + /* Requested timeout too big. */ + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + } else if (SchedulerSequenceSteps.MsrcOn) { + /* MSRC */ + SubTimeout = MsrcDccTccTimeoutMicroSeconds + + MsrcOverheadMicroSeconds; + + if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) { + FinalRangeTimingBudgetMicroSeconds + -= SubTimeout; + } else { + /* Requested timeout too big. */ + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + } + + } + + if (Status != VL53L0X_ERROR_NONE) { + LOG_FUNCTION_END(Status); + return Status; + } + + if (SchedulerSequenceSteps.PreRangeOn) { + + /* Subtract the Pre-range timeout if enabled. */ + + Status = get_sequence_step_timeout(Dev, + VL53L0X_SEQUENCESTEP_PRE_RANGE, + &PreRangeTimeoutMicroSeconds); + + SubTimeout = PreRangeTimeoutMicroSeconds + + PreRangeOverheadMicroSeconds; + + if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) { + FinalRangeTimingBudgetMicroSeconds -= SubTimeout; + } else { + /* Requested timeout too big. */ + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + } + + + if (Status == VL53L0X_ERROR_NONE && + SchedulerSequenceSteps.FinalRangeOn) { + + FinalRangeTimingBudgetMicroSeconds -= + FinalRangeOverheadMicroSeconds; + + /* Final Range Timeout + * Note that the final range timeout is determined by the timing + * budget and the sum of all other timeouts within the sequence. + * If there is no room for the final range timeout, then an error + * will be set. Otherwise the remaining time will be applied to + * the final range. + */ + Status = set_sequence_step_timeout(Dev, + VL53L0X_SEQUENCESTEP_FINAL_RANGE, + FinalRangeTimingBudgetMicroSeconds); + + VL53L0X_SETPARAMETERFIELD(Dev, + MeasurementTimingBudgetMicroSeconds, + MeasurementTimingBudgetMicroSeconds); + } + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev, + uint32_t *pMeasurementTimingBudgetMicroSeconds) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; + uint32_t FinalRangeTimeoutMicroSeconds; + uint32_t MsrcDccTccTimeoutMicroSeconds = 2000; + uint32_t StartOverheadMicroSeconds = 1910; + uint32_t EndOverheadMicroSeconds = 960; + uint32_t MsrcOverheadMicroSeconds = 660; + uint32_t TccOverheadMicroSeconds = 590; + uint32_t DssOverheadMicroSeconds = 690; + uint32_t PreRangeOverheadMicroSeconds = 660; + uint32_t FinalRangeOverheadMicroSeconds = 550; + uint32_t PreRangeTimeoutMicroSeconds = 0; + + LOG_FUNCTION_START(""); + + /* Start and end overhead times always present */ + *pMeasurementTimingBudgetMicroSeconds + = StartOverheadMicroSeconds + EndOverheadMicroSeconds; + + Status = VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); + + if (Status != VL53L0X_ERROR_NONE) { + LOG_FUNCTION_END(Status); + return Status; + } + + + if (SchedulerSequenceSteps.TccOn || + SchedulerSequenceSteps.MsrcOn || + SchedulerSequenceSteps.DssOn) { + + Status = get_sequence_step_timeout(Dev, + VL53L0X_SEQUENCESTEP_MSRC, + &MsrcDccTccTimeoutMicroSeconds); + + if (Status == VL53L0X_ERROR_NONE) { + if (SchedulerSequenceSteps.TccOn) { + *pMeasurementTimingBudgetMicroSeconds += + MsrcDccTccTimeoutMicroSeconds + + TccOverheadMicroSeconds; + } + + if (SchedulerSequenceSteps.DssOn) { + *pMeasurementTimingBudgetMicroSeconds += + 2 * (MsrcDccTccTimeoutMicroSeconds + + DssOverheadMicroSeconds); + } else if (SchedulerSequenceSteps.MsrcOn) { + *pMeasurementTimingBudgetMicroSeconds += + MsrcDccTccTimeoutMicroSeconds + + MsrcOverheadMicroSeconds; + } + } + } + + if (Status == VL53L0X_ERROR_NONE) { + if (SchedulerSequenceSteps.PreRangeOn) { + Status = get_sequence_step_timeout(Dev, + VL53L0X_SEQUENCESTEP_PRE_RANGE, + &PreRangeTimeoutMicroSeconds); + *pMeasurementTimingBudgetMicroSeconds += + PreRangeTimeoutMicroSeconds + + PreRangeOverheadMicroSeconds; + } + } + + if (Status == VL53L0X_ERROR_NONE) { + if (SchedulerSequenceSteps.FinalRangeOn) { + Status = get_sequence_step_timeout(Dev, + VL53L0X_SEQUENCESTEP_FINAL_RANGE, + &FinalRangeTimeoutMicroSeconds); + *pMeasurementTimingBudgetMicroSeconds += + (FinalRangeTimeoutMicroSeconds + + FinalRangeOverheadMicroSeconds); + } + } + + if (Status == VL53L0X_ERROR_NONE) { + VL53L0X_SETPARAMETERFIELD(Dev, + MeasurementTimingBudgetMicroSeconds, + *pMeasurementTimingBudgetMicroSeconds); + } + + LOG_FUNCTION_END(Status); + return Status; +} + + + +VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV Dev, + uint8_t *pTuningSettingBuffer) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + int i; + int Index; + uint8_t msb; + uint8_t lsb; + uint8_t SelectParam; + uint8_t NumberOfWrites; + uint8_t Address; + uint8_t localBuffer[4]; /* max */ + uint16_t Temp16; + + LOG_FUNCTION_START(""); + + Index = 0; + + while ((*(pTuningSettingBuffer + Index) != 0) && + (Status == VL53L0X_ERROR_NONE)) { + NumberOfWrites = *(pTuningSettingBuffer + Index); + Index++; + if (NumberOfWrites == 0xFF) { + /* internal parameters */ + SelectParam = *(pTuningSettingBuffer + Index); + Index++; + switch (SelectParam) { + case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */ + msb = *(pTuningSettingBuffer + Index); + Index++; + lsb = *(pTuningSettingBuffer + Index); + Index++; + Temp16 = VL53L0X_MAKEUINT16(lsb, msb); + PALDevDataSet(Dev, SigmaEstRefArray, Temp16); + break; + case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */ + msb = *(pTuningSettingBuffer + Index); + Index++; + lsb = *(pTuningSettingBuffer + Index); + Index++; + Temp16 = VL53L0X_MAKEUINT16(lsb, msb); + PALDevDataSet(Dev, SigmaEstEffPulseWidth, + Temp16); + break; + case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */ + msb = *(pTuningSettingBuffer + Index); + Index++; + lsb = *(pTuningSettingBuffer + Index); + Index++; + Temp16 = VL53L0X_MAKEUINT16(lsb, msb); + PALDevDataSet(Dev, SigmaEstEffAmbWidth, Temp16); + break; + case 3: /* uint16_t targetRefRate -> 2 bytes */ + msb = *(pTuningSettingBuffer + Index); + Index++; + lsb = *(pTuningSettingBuffer + Index); + Index++; + Temp16 = VL53L0X_MAKEUINT16(lsb, msb); + PALDevDataSet(Dev, targetRefRate, Temp16); + break; + default: /* invalid parameter */ + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + + } else if (NumberOfWrites <= 4) { + Address = *(pTuningSettingBuffer + Index); + Index++; + + for (i = 0; i < NumberOfWrites; i++) { + localBuffer[i] = *(pTuningSettingBuffer + + Index); + Index++; + } + + Status = VL53L0X_WriteMulti(Dev, Address, localBuffer, + NumberOfWrites); + + } else { + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev, + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, + FixPoint1616_t *ptotal_xtalk_rate_mcps) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + uint8_t xtalkCompEnable; + FixPoint1616_t totalXtalkMegaCps; + FixPoint1616_t xtalkPerSpadMegaCps; + + *ptotal_xtalk_rate_mcps = 0; + + Status = VL53L0X_GetXTalkCompensationEnable(Dev, &xtalkCompEnable); + if (Status == VL53L0X_ERROR_NONE) { + + if (xtalkCompEnable) { + + VL53L0X_GETPARAMETERFIELD( + Dev, + XTalkCompensationRateMegaCps, + xtalkPerSpadMegaCps); + + /* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */ + totalXtalkMegaCps = + pRangingMeasurementData->EffectiveSpadRtnCount * + xtalkPerSpadMegaCps; + + /* FixPoint0824 >> 8 = FixPoint1616 */ + *ptotal_xtalk_rate_mcps = + (totalXtalkMegaCps + 0x80) >> 8; + } + } + + return Status; +} + +VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev, + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, + FixPoint1616_t *ptotal_signal_rate_mcps) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + FixPoint1616_t totalXtalkMegaCps; + + LOG_FUNCTION_START(""); + + *ptotal_signal_rate_mcps = + pRangingMeasurementData->SignalRateRtnMegaCps; + + Status = VL53L0X_get_total_xtalk_rate( + Dev, pRangingMeasurementData, &totalXtalkMegaCps); + + if (Status == VL53L0X_ERROR_NONE) + *ptotal_signal_rate_mcps += totalXtalkMegaCps; + + return Status; +} + +VL53L0X_Error VL53L0X_calc_dmax( + VL53L0X_DEV Dev, + FixPoint1616_t totalSignalRate_mcps, + FixPoint1616_t totalCorrSignalRate_mcps, + FixPoint1616_t pwMult, + uint32_t sigmaEstimateP1, + FixPoint1616_t sigmaEstimateP2, + uint32_t peakVcselDuration_us, + uint32_t *pdmax_mm) +{ + const uint32_t cSigmaLimit = 18; + const FixPoint1616_t cSignalLimit = 0x4000; /* 0.25 */ + const FixPoint1616_t cSigmaEstRef = 0x00000042; /* 0.001 */ + const uint32_t cAmbEffWidthSigmaEst_ns = 6; + const uint32_t cAmbEffWidthDMax_ns = 7; + uint32_t dmaxCalRange_mm; + FixPoint1616_t dmaxCalSignalRateRtn_mcps; + FixPoint1616_t minSignalNeeded; + FixPoint1616_t minSignalNeeded_p1; + FixPoint1616_t minSignalNeeded_p2; + FixPoint1616_t minSignalNeeded_p3; + FixPoint1616_t minSignalNeeded_p4; + FixPoint1616_t sigmaLimitTmp; + FixPoint1616_t sigmaEstSqTmp; + FixPoint1616_t signalLimitTmp; + FixPoint1616_t SignalAt0mm; + FixPoint1616_t dmaxDark; + FixPoint1616_t dmaxAmbient; + FixPoint1616_t dmaxDarkTmp; + FixPoint1616_t sigmaEstP2Tmp; + uint32_t signalRateTemp_mcps; + + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + dmaxCalRange_mm = + PALDevDataGet(Dev, DmaxCalRangeMilliMeter); + + dmaxCalSignalRateRtn_mcps = + PALDevDataGet(Dev, DmaxCalSignalRateRtnMegaCps); + + /* uint32 * FixPoint1616 = FixPoint1616 */ + SignalAt0mm = dmaxCalRange_mm * dmaxCalSignalRateRtn_mcps; + + /* FixPoint1616 >> 8 = FixPoint2408 */ + SignalAt0mm = (SignalAt0mm + 0x80) >> 8; + SignalAt0mm *= dmaxCalRange_mm; + + minSignalNeeded_p1 = 0; + if (totalCorrSignalRate_mcps > 0) { + + /* Shift by 10 bits to increase resolution prior to the + * division */ + signalRateTemp_mcps = totalSignalRate_mcps << 10; + + /* Add rounding value prior to division */ + minSignalNeeded_p1 = signalRateTemp_mcps + + (totalCorrSignalRate_mcps/2); + + /* FixPoint0626/FixPoint1616 = FixPoint2210 */ + minSignalNeeded_p1 /= totalCorrSignalRate_mcps; + + /* Apply a factored version of the speed of light. + Correction to be applied at the end */ + minSignalNeeded_p1 *= 3; + + /* FixPoint2210 * FixPoint2210 = FixPoint1220 */ + minSignalNeeded_p1 *= minSignalNeeded_p1; + + /* FixPoint1220 >> 16 = FixPoint2804 */ + minSignalNeeded_p1 = (minSignalNeeded_p1 + 0x8000) >> 16; + } + + minSignalNeeded_p2 = pwMult * sigmaEstimateP1; + + /* FixPoint1616 >> 16 = uint32 */ + minSignalNeeded_p2 = (minSignalNeeded_p2 + 0x8000) >> 16; + + /* uint32 * uint32 = uint32 */ + minSignalNeeded_p2 *= minSignalNeeded_p2; + + /* Check sigmaEstimateP2 + * If this value is too high there is not enough signal rate + * to calculate dmax value so set a suitable value to ensure + * a very small dmax. + */ + sigmaEstP2Tmp = (sigmaEstimateP2 + 0x8000) >> 16; + sigmaEstP2Tmp = (sigmaEstP2Tmp + cAmbEffWidthSigmaEst_ns/2)/ + cAmbEffWidthSigmaEst_ns; + sigmaEstP2Tmp *= cAmbEffWidthDMax_ns; + + if (sigmaEstP2Tmp > 0xffff) { + minSignalNeeded_p3 = 0xfff00000; + } else { + + /* DMAX uses a different ambient width from sigma, so apply + * correction. + * Perform division before multiplication to prevent overflow. + */ + sigmaEstimateP2 = (sigmaEstimateP2 + cAmbEffWidthSigmaEst_ns/2)/ + cAmbEffWidthSigmaEst_ns; + sigmaEstimateP2 *= cAmbEffWidthDMax_ns; + + /* FixPoint1616 >> 16 = uint32 */ + minSignalNeeded_p3 = (sigmaEstimateP2 + 0x8000) >> 16; + + minSignalNeeded_p3 *= minSignalNeeded_p3; + + } + + /* FixPoint1814 / uint32 = FixPoint1814 */ + sigmaLimitTmp = ((cSigmaLimit << 14) + 500) / 1000; + + /* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */ + sigmaLimitTmp *= sigmaLimitTmp; + + /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ + sigmaEstSqTmp = cSigmaEstRef * cSigmaEstRef; + + /* FixPoint3232 >> 4 = FixPoint0428 */ + sigmaEstSqTmp = (sigmaEstSqTmp + 0x08) >> 4; + + /* FixPoint0428 - FixPoint0428 = FixPoint0428 */ + sigmaLimitTmp -= sigmaEstSqTmp; + + /* uint32_t * FixPoint0428 = FixPoint0428 */ + minSignalNeeded_p4 = 4 * 12 * sigmaLimitTmp; + + /* FixPoint0428 >> 14 = FixPoint1814 */ + minSignalNeeded_p4 = (minSignalNeeded_p4 + 0x2000) >> 14; + + /* uint32 + uint32 = uint32 */ + minSignalNeeded = (minSignalNeeded_p2 + minSignalNeeded_p3); + + /* uint32 / uint32 = uint32 */ + minSignalNeeded += (peakVcselDuration_us/2); + minSignalNeeded /= peakVcselDuration_us; + + /* uint32 << 14 = FixPoint1814 */ + minSignalNeeded <<= 14; + + /* FixPoint1814 / FixPoint1814 = uint32 */ + minSignalNeeded += (minSignalNeeded_p4/2); + minSignalNeeded /= minSignalNeeded_p4; + + /* FixPoint3200 * FixPoint2804 := FixPoint2804*/ + minSignalNeeded *= minSignalNeeded_p1; + + /* Apply correction by dividing by 1000000. + * This assumes 10E16 on the numerator of the equation + * and 10E-22 on the denominator. + * We do this because 32bit fix point calculation can't + * handle the larger and smaller elements of this equation, + * i.e. speed of light and pulse widths. + */ + minSignalNeeded = (minSignalNeeded + 500) / 1000; + minSignalNeeded <<= 4; + + minSignalNeeded = (minSignalNeeded + 500) / 1000; + + /* FixPoint1616 >> 8 = FixPoint2408 */ + signalLimitTmp = (cSignalLimit + 0x80) >> 8; + + /* FixPoint2408/FixPoint2408 = uint32 */ + if (signalLimitTmp != 0) + dmaxDarkTmp = (SignalAt0mm + (signalLimitTmp / 2)) + / signalLimitTmp; + else + dmaxDarkTmp = 0; + + dmaxDark = VL53L0X_isqrt(dmaxDarkTmp); + + /* FixPoint2408/FixPoint2408 = uint32 */ + if (minSignalNeeded != 0) + dmaxAmbient = (SignalAt0mm + minSignalNeeded/2) + / minSignalNeeded; + else + dmaxAmbient = 0; + + dmaxAmbient = VL53L0X_isqrt(dmaxAmbient); + + *pdmax_mm = dmaxDark; + if (dmaxDark > dmaxAmbient) + *pdmax_mm = dmaxAmbient; + + LOG_FUNCTION_END(Status); + + return Status; +} + + +VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev, + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, + FixPoint1616_t *pSigmaEstimate, + uint32_t *pDmax_mm) +{ + /* Expressed in 100ths of a ns, i.e. centi-ns */ + const uint32_t cPulseEffectiveWidth_centi_ns = 800; + /* Expressed in 100ths of a ns, i.e. centi-ns */ + const uint32_t cAmbientEffectiveWidth_centi_ns = 600; + const FixPoint1616_t cDfltFinalRangeIntegrationTimeMilliSecs = 0x00190000; /* 25ms */ + const uint32_t cVcselPulseWidth_ps = 4700; /* pico secs */ + const FixPoint1616_t cSigmaEstMax = 0x028F87AE; + const FixPoint1616_t cSigmaEstRtnMax = 0xF000; + const FixPoint1616_t cAmbToSignalRatioMax = 0xF0000000/ + cAmbientEffectiveWidth_centi_ns; + /* Time Of Flight per mm (6.6 pico secs) */ + const FixPoint1616_t cTOF_per_mm_ps = 0x0006999A; + const uint32_t c16BitRoundingParam = 0x00008000; + const FixPoint1616_t cMaxXTalk_kcps = 0x00320000; + const uint32_t cPllPeriod_ps = 1655; + + uint32_t vcselTotalEventsRtn; + uint32_t finalRangeTimeoutMicroSecs; + uint32_t preRangeTimeoutMicroSecs; + uint32_t finalRangeIntegrationTimeMilliSecs; + FixPoint1616_t sigmaEstimateP1; + FixPoint1616_t sigmaEstimateP2; + FixPoint1616_t sigmaEstimateP3; + FixPoint1616_t deltaT_ps; + FixPoint1616_t pwMult; + FixPoint1616_t sigmaEstRtn; + FixPoint1616_t sigmaEstimate; + FixPoint1616_t xTalkCorrection; + FixPoint1616_t ambientRate_kcps; + FixPoint1616_t peakSignalRate_kcps; + FixPoint1616_t xTalkCompRate_mcps; + uint32_t xTalkCompRate_kcps; + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + FixPoint1616_t diff1_mcps; + FixPoint1616_t diff2_mcps; + FixPoint1616_t sqr1; + FixPoint1616_t sqr2; + FixPoint1616_t sqrSum; + FixPoint1616_t sqrtResult_centi_ns; + FixPoint1616_t sqrtResult; + FixPoint1616_t totalSignalRate_mcps; + FixPoint1616_t correctedSignalRate_mcps; + FixPoint1616_t sigmaEstRef; + uint32_t vcselWidth; + uint32_t finalRangeMacroPCLKS; + uint32_t preRangeMacroPCLKS; + uint32_t peakVcselDuration_us; + uint8_t finalRangeVcselPCLKS; + uint8_t preRangeVcselPCLKS; + /*! \addtogroup calc_sigma_estimate + * @{ + * + * Estimates the range sigma + */ + + LOG_FUNCTION_START(""); + + VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, + xTalkCompRate_mcps); + + /* + * We work in kcps rather than mcps as this helps keep within the + * confines of the 32 Fix1616 type. + */ + + ambientRate_kcps = + (pRangingMeasurementData->AmbientRateRtnMegaCps * 1000) >> 16; + + correctedSignalRate_mcps = + pRangingMeasurementData->SignalRateRtnMegaCps; + + + Status = VL53L0X_get_total_signal_rate( + Dev, pRangingMeasurementData, &totalSignalRate_mcps); + Status = VL53L0X_get_total_xtalk_rate( + Dev, pRangingMeasurementData, &xTalkCompRate_mcps); + + + /* Signal rate measurement provided by device is the + * peak signal rate, not average. + */ + peakSignalRate_kcps = (totalSignalRate_mcps * 1000); + peakSignalRate_kcps = (peakSignalRate_kcps + 0x8000) >> 16; + + xTalkCompRate_kcps = xTalkCompRate_mcps * 1000; + + if (xTalkCompRate_kcps > cMaxXTalk_kcps) + xTalkCompRate_kcps = cMaxXTalk_kcps; + + if (Status == VL53L0X_ERROR_NONE) { + + /* Calculate final range macro periods */ + finalRangeTimeoutMicroSecs = VL53L0X_GETDEVICESPECIFICPARAMETER( + Dev, FinalRangeTimeoutMicroSecs); + + finalRangeVcselPCLKS = VL53L0X_GETDEVICESPECIFICPARAMETER( + Dev, FinalRangeVcselPulsePeriod); + + finalRangeMacroPCLKS = VL53L0X_calc_timeout_mclks( + Dev, finalRangeTimeoutMicroSecs, finalRangeVcselPCLKS); + + /* Calculate pre-range macro periods */ + preRangeTimeoutMicroSecs = VL53L0X_GETDEVICESPECIFICPARAMETER( + Dev, PreRangeTimeoutMicroSecs); + + preRangeVcselPCLKS = VL53L0X_GETDEVICESPECIFICPARAMETER( + Dev, PreRangeVcselPulsePeriod); + + preRangeMacroPCLKS = VL53L0X_calc_timeout_mclks( + Dev, preRangeTimeoutMicroSecs, preRangeVcselPCLKS); + + vcselWidth = 3; + if (finalRangeVcselPCLKS == 8) + vcselWidth = 2; + + + peakVcselDuration_us = vcselWidth * 2048 * + (preRangeMacroPCLKS + finalRangeMacroPCLKS); + peakVcselDuration_us = (peakVcselDuration_us + 500)/1000; + peakVcselDuration_us *= cPllPeriod_ps; + peakVcselDuration_us = (peakVcselDuration_us + 500)/1000; + + /* Fix1616 >> 8 = Fix2408 */ + totalSignalRate_mcps = (totalSignalRate_mcps + 0x80) >> 8; + + /* Fix2408 * uint32 = Fix2408 */ + vcselTotalEventsRtn = totalSignalRate_mcps * + peakVcselDuration_us; + + /* Fix2408 >> 8 = uint32 */ + vcselTotalEventsRtn = (vcselTotalEventsRtn + 0x80) >> 8; + + /* Fix2408 << 8 = Fix1616 = */ + totalSignalRate_mcps <<= 8; + } + + if (Status != VL53L0X_ERROR_NONE) { + LOG_FUNCTION_END(Status); + return Status; + } + + if (peakSignalRate_kcps == 0) { + *pSigmaEstimate = cSigmaEstMax; + PALDevDataSet(Dev, SigmaEstimate, cSigmaEstMax); + *pDmax_mm = 0; + } else { + if (vcselTotalEventsRtn < 1) + vcselTotalEventsRtn = 1; + + sigmaEstimateP1 = cPulseEffectiveWidth_centi_ns; + + /* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */ + sigmaEstimateP2 = (ambientRate_kcps << 16)/peakSignalRate_kcps; + if (sigmaEstimateP2 > cAmbToSignalRatioMax) { + /* Clip to prevent overflow. Will ensure safe + * max result. */ + sigmaEstimateP2 = cAmbToSignalRatioMax; + } + sigmaEstimateP2 *= cAmbientEffectiveWidth_centi_ns; + + sigmaEstimateP3 = 2 * VL53L0X_isqrt(vcselTotalEventsRtn * 12); + + /* uint32 * FixPoint1616 = FixPoint1616 */ + deltaT_ps = pRangingMeasurementData->RangeMilliMeter * + cTOF_per_mm_ps; + + /* + * vcselRate - xtalkCompRate + * (uint32 << 16) - FixPoint1616 = FixPoint1616. + * Divide result by 1000 to convert to mcps. + * 500 is added to ensure rounding when integer division + * truncates. + */ + diff1_mcps = (((peakSignalRate_kcps << 16) - + 2 * xTalkCompRate_kcps) + 500)/1000; + + /* vcselRate + xtalkCompRate */ + diff2_mcps = ((peakSignalRate_kcps << 16) + 500)/1000; + + /* Shift by 8 bits to increase resolution prior to the + * division */ + diff1_mcps <<= 8; + + /* FixPoint0824/FixPoint1616 = FixPoint2408 */ + xTalkCorrection = abs(diff1_mcps/diff2_mcps); + + /* FixPoint2408 << 8 = FixPoint1616 */ + xTalkCorrection <<= 8; + + if(pRangingMeasurementData->RangeStatus != 0){ + pwMult = 1 << 16; + } else { + /* FixPoint1616/uint32 = FixPoint1616 */ + pwMult = deltaT_ps/cVcselPulseWidth_ps; /* smaller than 1.0f */ + + /* + * FixPoint1616 * FixPoint1616 = FixPoint3232, however both + * values are small enough such that32 bits will not be + * exceeded. + */ + pwMult *= ((1 << 16) - xTalkCorrection); + + /* (FixPoint3232 >> 16) = FixPoint1616 */ + pwMult = (pwMult + c16BitRoundingParam) >> 16; + + /* FixPoint1616 + FixPoint1616 = FixPoint1616 */ + pwMult += (1 << 16); + + /* + * At this point the value will be 1.xx, therefore if we square + * the value this will exceed 32 bits. To address this perform + * a single shift to the right before the multiplication. + */ + pwMult >>= 1; + /* FixPoint1715 * FixPoint1715 = FixPoint3430 */ + pwMult = pwMult * pwMult; + + /* (FixPoint3430 >> 14) = Fix1616 */ + pwMult >>= 14; + } + + /* FixPoint1616 * uint32 = FixPoint1616 */ + sqr1 = pwMult * sigmaEstimateP1; + + /* (FixPoint1616 >> 16) = FixPoint3200 */ + sqr1 = (sqr1 + 0x8000) >> 16; + + /* FixPoint3200 * FixPoint3200 = FixPoint6400 */ + sqr1 *= sqr1; + + sqr2 = sigmaEstimateP2; + + /* (FixPoint1616 >> 16) = FixPoint3200 */ + sqr2 = (sqr2 + 0x8000) >> 16; + + /* FixPoint3200 * FixPoint3200 = FixPoint6400 */ + sqr2 *= sqr2; + + /* FixPoint64000 + FixPoint6400 = FixPoint6400 */ + sqrSum = sqr1 + sqr2; + + /* SQRT(FixPoin6400) = FixPoint3200 */ + sqrtResult_centi_ns = VL53L0X_isqrt(sqrSum); + + /* (FixPoint3200 << 16) = FixPoint1616 */ + sqrtResult_centi_ns <<= 16; + + /* + * Note that the Speed Of Light is expressed in um per 1E-10 + * seconds (2997) Therefore to get mm/ns we have to divide by + * 10000 + */ + sigmaEstRtn = (((sqrtResult_centi_ns+50)/100) / + sigmaEstimateP3); + sigmaEstRtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR; + + /* Add 5000 before dividing by 10000 to ensure rounding. */ + sigmaEstRtn += 5000; + sigmaEstRtn /= 10000; + + if (sigmaEstRtn > cSigmaEstRtnMax) { + /* Clip to prevent overflow. Will ensure safe + * max result. */ + sigmaEstRtn = cSigmaEstRtnMax; + } + finalRangeIntegrationTimeMilliSecs = + (finalRangeTimeoutMicroSecs + preRangeTimeoutMicroSecs + 500)/1000; + + /* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range) + * sqrt(FixPoint1616/int) = FixPoint2408) + */ + sigmaEstRef = + VL53L0X_isqrt((cDfltFinalRangeIntegrationTimeMilliSecs + + finalRangeIntegrationTimeMilliSecs/2)/ + finalRangeIntegrationTimeMilliSecs); + + /* FixPoint2408 << 8 = FixPoint1616 */ + sigmaEstRef <<= 8; + sigmaEstRef = (sigmaEstRef + 500)/1000; + + /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ + sqr1 = sigmaEstRtn * sigmaEstRtn; + /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ + sqr2 = sigmaEstRef * sigmaEstRef; + + /* sqrt(FixPoint3232) = FixPoint1616 */ + sqrtResult = VL53L0X_isqrt((sqr1 + sqr2)); + /* + * Note that the Shift by 4 bits increases resolution prior to + * the sqrt, therefore the result must be shifted by 2 bits to + * the right to revert back to the FixPoint1616 format. + */ + + sigmaEstimate = 1000 * sqrtResult; + + if ((peakSignalRate_kcps < 1) || (vcselTotalEventsRtn < 1) || + (sigmaEstimate > cSigmaEstMax)) { + sigmaEstimate = cSigmaEstMax; + } + + *pSigmaEstimate = (uint32_t)(sigmaEstimate); + PALDevDataSet(Dev, SigmaEstimate, *pSigmaEstimate); + Status = VL53L0X_calc_dmax( + Dev, + totalSignalRate_mcps, + correctedSignalRate_mcps, + pwMult, + sigmaEstimateP1, + sigmaEstimateP2, + peakVcselDuration_us, + pDmax_mm); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV Dev, + uint8_t DeviceRangeStatus, + FixPoint1616_t SignalRate, + uint16_t EffectiveSpadRtnCount, + VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, + uint8_t *pPalRangeStatus) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t NoneFlag; + uint8_t SigmaLimitflag = 0; + uint8_t SignalRefClipflag = 0; + uint8_t RangeIgnoreThresholdflag = 0; + uint8_t SigmaLimitCheckEnable = 0; + uint8_t SignalRateFinalRangeLimitCheckEnable = 0; + uint8_t SignalRefClipLimitCheckEnable = 0; + uint8_t RangeIgnoreThresholdLimitCheckEnable = 0; + FixPoint1616_t SigmaEstimate; + FixPoint1616_t SigmaLimitValue; + FixPoint1616_t SignalRefClipValue; + FixPoint1616_t RangeIgnoreThresholdValue; + FixPoint1616_t SignalRatePerSpad; + uint8_t DeviceRangeStatusInternal = 0; + uint16_t tmpWord = 0; + uint8_t Temp8; + uint32_t Dmax_mm = 0; + FixPoint1616_t LastSignalRefMcps; + + LOG_FUNCTION_START(""); + + + /* + * VL53L0X has a good ranging when the value of the + * DeviceRangeStatus = 11. This function will replace the value 0 with + * the value 11 in the DeviceRangeStatus. + * In addition, the SigmaEstimator is not included in the VL53L0X + * DeviceRangeStatus, this will be added in the PalRangeStatus. + */ + + DeviceRangeStatusInternal = ((DeviceRangeStatus & 0x78) >> 3); + + if (DeviceRangeStatusInternal == 0 || + DeviceRangeStatusInternal == 5 || + DeviceRangeStatusInternal == 7 || + DeviceRangeStatusInternal == 12 || + DeviceRangeStatusInternal == 13 || + DeviceRangeStatusInternal == 14 || + DeviceRangeStatusInternal == 15 + ) { + NoneFlag = 1; + } else { + NoneFlag = 0; + } + + /* + * Check if Sigma limit is enabled, if yes then do comparison with limit + * value and put the result back into pPalRangeStatus. + */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_GetLimitCheckEnable(Dev, + VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, + &SigmaLimitCheckEnable); + + if ((SigmaLimitCheckEnable != 0) && (Status == VL53L0X_ERROR_NONE)) { + /* + * compute the Sigma and check with limit + */ + Status = VL53L0X_calc_sigma_estimate( + Dev, + pRangingMeasurementData, + &SigmaEstimate, + &Dmax_mm); + if (Status == VL53L0X_ERROR_NONE) + pRangingMeasurementData->RangeDMaxMilliMeter = Dmax_mm; + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_GetLimitCheckValue(Dev, + VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, + &SigmaLimitValue); + + if ((SigmaLimitValue > 0) && + (SigmaEstimate > SigmaLimitValue)) + /* Limit Fail */ + SigmaLimitflag = 1; + } + } + + /* + * Check if Signal ref clip limit is enabled, if yes then do comparison + * with limit value and put the result back into pPalRangeStatus. + */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_GetLimitCheckEnable(Dev, + VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, + &SignalRefClipLimitCheckEnable); + + if ((SignalRefClipLimitCheckEnable != 0) && + (Status == VL53L0X_ERROR_NONE)) { + + Status = VL53L0X_GetLimitCheckValue(Dev, + VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, + &SignalRefClipValue); + + /* Read LastSignalRefMcps from device */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_RdWord(Dev, + VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF, + &tmpWord); + + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); + + LastSignalRefMcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmpWord); + PALDevDataSet(Dev, LastSignalRefMcps, LastSignalRefMcps); + + if ((SignalRefClipValue > 0) && + (LastSignalRefMcps > SignalRefClipValue)) { + /* Limit Fail */ + SignalRefClipflag = 1; + } + } + + /* + * Check if Signal ref clip limit is enabled, if yes then do comparison + * with limit value and put the result back into pPalRangeStatus. + * EffectiveSpadRtnCount has a format 8.8 + * If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL + */ + if (Status == VL53L0X_ERROR_NONE) + Status = VL53L0X_GetLimitCheckEnable(Dev, + VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + &RangeIgnoreThresholdLimitCheckEnable); + + if ((RangeIgnoreThresholdLimitCheckEnable != 0) && + (Status == VL53L0X_ERROR_NONE)) { + + /* Compute the signal rate per spad */ + if (EffectiveSpadRtnCount == 0) { + SignalRatePerSpad = 0; + } else { + SignalRatePerSpad = (FixPoint1616_t)((256 * SignalRate) + / EffectiveSpadRtnCount); + } + + Status = VL53L0X_GetLimitCheckValue(Dev, + VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + &RangeIgnoreThresholdValue); + + if ((RangeIgnoreThresholdValue > 0) && + (SignalRatePerSpad < RangeIgnoreThresholdValue)) { + /* Limit Fail add 2^6 to range status */ + RangeIgnoreThresholdflag = 1; + } + } + + if (Status == VL53L0X_ERROR_NONE) { + if (NoneFlag == 1) { + *pPalRangeStatus = 255; /* NONE */ + } else if (DeviceRangeStatusInternal == 1 || + DeviceRangeStatusInternal == 2 || + DeviceRangeStatusInternal == 3) { + *pPalRangeStatus = 5; /* HW fail */ + } else if (DeviceRangeStatusInternal == 6 || + DeviceRangeStatusInternal == 9) { + *pPalRangeStatus = 4; /* Phase fail */ + } else if (DeviceRangeStatusInternal == 8 || + DeviceRangeStatusInternal == 10 || + SignalRefClipflag == 1) { + *pPalRangeStatus = 3; /* Min range */ + } else if (DeviceRangeStatusInternal == 4 || + RangeIgnoreThresholdflag == 1) { + *pPalRangeStatus = 2; /* Signal Fail */ + } else if (SigmaLimitflag == 1) { + *pPalRangeStatus = 1; /* Sigma Fail */ + } else { + *pPalRangeStatus = 0; /* Range Valid */ + } + } + + /* DMAX only relevant during range error */ + if (*pPalRangeStatus == 0) + pRangingMeasurementData->RangeDMaxMilliMeter = 0; + + /* fill the Limit Check Status */ + + Status = VL53L0X_GetLimitCheckEnable(Dev, + VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + &SignalRateFinalRangeLimitCheckEnable); + + if (Status == VL53L0X_ERROR_NONE) { + if ((SigmaLimitCheckEnable == 0) || (SigmaLimitflag == 1)) + Temp8 = 1; + else + Temp8 = 0; + VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8); + + if ((DeviceRangeStatusInternal == 4) || + (SignalRateFinalRangeLimitCheckEnable == 0)) + Temp8 = 1; + else + Temp8 = 0; + VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + Temp8); + + if ((SignalRefClipLimitCheckEnable == 0) || + (SignalRefClipflag == 1)) + Temp8 = 1; + else + Temp8 = 0; + + VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, Temp8); + + if ((RangeIgnoreThresholdLimitCheckEnable == 0) || + (RangeIgnoreThresholdflag == 1)) + Temp8 = 1; + else + Temp8 = 0; + + VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + Temp8); + } + + LOG_FUNCTION_END(Status); + return Status; + +} diff --git a/modules/VL53L0X/src/vl53l0x_api_ranging.c b/modules/VL53L0X/src/vl53l0x_api_ranging.c new file mode 100644 index 0000000..f07283f --- /dev/null +++ b/modules/VL53L0X/src/vl53l0x_api_ranging.c @@ -0,0 +1,42 @@ +/******************************************************************************* + Copyright 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. + ******************************************************************************/ + +#include "vl53l0x_api.h" +#include "vl53l0x_api_core.h" + + +#ifndef __KERNEL__ +#include +#endif +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + diff --git a/modules/VL53L0X/src/vl53l0x_api_strings.c b/modules/VL53L0X/src/vl53l0x_api_strings.c new file mode 100644 index 0000000..bc2bd30 --- /dev/null +++ b/modules/VL53L0X/src/vl53l0x_api_strings.c @@ -0,0 +1,462 @@ +/******************************************************************************* + Copyright 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * 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. + * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. + ******************************************************************************/ + +#include "vl53l0x_api.h" +#include "vl53l0x_api_core.h" +#include "vl53l0x_api_strings.h" + +#ifndef __KERNEL__ +#include +#endif + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + + +VL53L0X_Error VL53L0X_check_part_used(VL53L0X_DEV Dev, + uint8_t *Revision, + VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t ModuleIdInt; + char *ProductId_tmp; + + LOG_FUNCTION_START(""); + + Status = VL53L0X_get_info_from_device(Dev, 2); + + if (Status == VL53L0X_ERROR_NONE) { + ModuleIdInt = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, ModuleId); + + if (ModuleIdInt == 0) { + *Revision = 0; + VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, ""); + } else { + *Revision = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, Revision); + ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, + ProductId); + VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, ProductId_tmp); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV Dev, + VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + uint8_t revision_id; + uint8_t Revision; + + Status = VL53L0X_check_part_used(Dev, &Revision, pVL53L0X_DeviceInfo); + + if (Status == VL53L0X_ERROR_NONE) { + if (Revision == 0) { + VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name, + VL53L0X_STRING_DEVICE_INFO_NAME_TS0); + } else if ((Revision <= 34) && (Revision != 32)) { + VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name, + VL53L0X_STRING_DEVICE_INFO_NAME_TS1); + } else if (Revision < 39) { + VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name, + VL53L0X_STRING_DEVICE_INFO_NAME_TS2); + } else { + VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name, + VL53L0X_STRING_DEVICE_INFO_NAME_ES1); + } + + VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Type, + VL53L0X_STRING_DEVICE_INFO_TYPE); + + } + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_RdByte(Dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID, + &pVL53L0X_DeviceInfo->ProductType); + } + + if (Status == VL53L0X_ERROR_NONE) { + Status = VL53L0X_RdByte(Dev, + VL53L0X_REG_IDENTIFICATION_REVISION_ID, + &revision_id); + pVL53L0X_DeviceInfo->ProductRevisionMajor = 1; + pVL53L0X_DeviceInfo->ProductRevisionMinor = + (revision_id & 0xF0) >> 4; + } + + return Status; +} + + +VL53L0X_Error VL53L0X_get_device_error_string(VL53L0X_DeviceError ErrorCode, + char *pDeviceErrorString) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + switch (ErrorCode) { + case VL53L0X_DEVICEERROR_NONE: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_NONE); + break; + case VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE); + break; + case VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE); + break; + case VL53L0X_DEVICEERROR_NOVHVVALUEFOUND: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND); + break; + case VL53L0X_DEVICEERROR_MSRCNOTARGET: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET); + break; + case VL53L0X_DEVICEERROR_SNRCHECK: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_SNRCHECK); + break; + case VL53L0X_DEVICEERROR_RANGEPHASECHECK: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK); + break; + case VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK); + break; + case VL53L0X_DEVICEERROR_TCC: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_TCC); + break; + case VL53L0X_DEVICEERROR_PHASECONSISTENCY: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY); + break; + case VL53L0X_DEVICEERROR_MINCLIP: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_MINCLIP); + break; + case VL53L0X_DEVICEERROR_RANGECOMPLETE: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE); + break; + case VL53L0X_DEVICEERROR_ALGOUNDERFLOW: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW); + break; + case VL53L0X_DEVICEERROR_ALGOOVERFLOW: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW); + break; + case VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD); + break; + + default: + VL53L0X_COPYSTRING(pDeviceErrorString, + VL53L0X_STRING_UNKNOW_ERROR_CODE); + + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_get_range_status_string(uint8_t RangeStatus, + char *pRangeStatusString) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + switch (RangeStatus) { + case 0: + VL53L0X_COPYSTRING(pRangeStatusString, + VL53L0X_STRING_RANGESTATUS_RANGEVALID); + break; + case 1: + VL53L0X_COPYSTRING(pRangeStatusString, + VL53L0X_STRING_RANGESTATUS_SIGMA); + break; + case 2: + VL53L0X_COPYSTRING(pRangeStatusString, + VL53L0X_STRING_RANGESTATUS_SIGNAL); + break; + case 3: + VL53L0X_COPYSTRING(pRangeStatusString, + VL53L0X_STRING_RANGESTATUS_MINRANGE); + break; + case 4: + VL53L0X_COPYSTRING(pRangeStatusString, + VL53L0X_STRING_RANGESTATUS_PHASE); + break; + case 5: + VL53L0X_COPYSTRING(pRangeStatusString, + VL53L0X_STRING_RANGESTATUS_HW); + break; + + default: /**/ + VL53L0X_COPYSTRING(pRangeStatusString, + VL53L0X_STRING_RANGESTATUS_NONE); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_get_pal_error_string(VL53L0X_Error PalErrorCode, + char *pPalErrorString) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + switch (PalErrorCode) { + case VL53L0X_ERROR_NONE: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_NONE); + break; + case VL53L0X_ERROR_CALIBRATION_WARNING: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_CALIBRATION_WARNING); + break; + case VL53L0X_ERROR_MIN_CLIPPED: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_MIN_CLIPPED); + break; + case VL53L0X_ERROR_UNDEFINED: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_UNDEFINED); + break; + case VL53L0X_ERROR_INVALID_PARAMS: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_INVALID_PARAMS); + break; + case VL53L0X_ERROR_NOT_SUPPORTED: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_NOT_SUPPORTED); + break; + case VL53L0X_ERROR_INTERRUPT_NOT_CLEARED: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED); + break; + case VL53L0X_ERROR_RANGE_ERROR: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_RANGE_ERROR); + break; + case VL53L0X_ERROR_TIME_OUT: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_TIME_OUT); + break; + case VL53L0X_ERROR_MODE_NOT_SUPPORTED: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED); + break; + case VL53L0X_ERROR_BUFFER_TOO_SMALL: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL); + break; + case VL53L0X_ERROR_GPIO_NOT_EXISTING: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING); + break; + case VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED); + break; + case VL53L0X_ERROR_CONTROL_INTERFACE: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_CONTROL_INTERFACE); + break; + case VL53L0X_ERROR_INVALID_COMMAND: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_INVALID_COMMAND); + break; + case VL53L0X_ERROR_DIVISION_BY_ZERO: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_DIVISION_BY_ZERO); + break; + case VL53L0X_ERROR_REF_SPAD_INIT: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_REF_SPAD_INIT); + break; + case VL53L0X_ERROR_NOT_IMPLEMENTED: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_ERROR_NOT_IMPLEMENTED); + break; + + default: + VL53L0X_COPYSTRING(pPalErrorString, + VL53L0X_STRING_UNKNOW_ERROR_CODE); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_get_pal_state_string(VL53L0X_State PalStateCode, + char *pPalStateString) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + switch (PalStateCode) { + case VL53L0X_STATE_POWERDOWN: + VL53L0X_COPYSTRING(pPalStateString, + VL53L0X_STRING_STATE_POWERDOWN); + break; + case VL53L0X_STATE_WAIT_STATICINIT: + VL53L0X_COPYSTRING(pPalStateString, + VL53L0X_STRING_STATE_WAIT_STATICINIT); + break; + case VL53L0X_STATE_STANDBY: + VL53L0X_COPYSTRING(pPalStateString, + VL53L0X_STRING_STATE_STANDBY); + break; + case VL53L0X_STATE_IDLE: + VL53L0X_COPYSTRING(pPalStateString, + VL53L0X_STRING_STATE_IDLE); + break; + case VL53L0X_STATE_RUNNING: + VL53L0X_COPYSTRING(pPalStateString, + VL53L0X_STRING_STATE_RUNNING); + break; + case VL53L0X_STATE_UNKNOWN: + VL53L0X_COPYSTRING(pPalStateString, + VL53L0X_STRING_STATE_UNKNOWN); + break; + case VL53L0X_STATE_ERROR: + VL53L0X_COPYSTRING(pPalStateString, + VL53L0X_STRING_STATE_ERROR); + break; + + default: + VL53L0X_COPYSTRING(pPalStateString, + VL53L0X_STRING_STATE_UNKNOWN); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0X_Error VL53L0X_get_sequence_steps_info( + VL53L0X_SequenceStepId SequenceStepId, + char *pSequenceStepsString) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + LOG_FUNCTION_START(""); + + switch (SequenceStepId) { + case VL53L0X_SEQUENCESTEP_TCC: + VL53L0X_COPYSTRING(pSequenceStepsString, + VL53L0X_STRING_SEQUENCESTEP_TCC); + break; + case VL53L0X_SEQUENCESTEP_DSS: + VL53L0X_COPYSTRING(pSequenceStepsString, + VL53L0X_STRING_SEQUENCESTEP_DSS); + break; + case VL53L0X_SEQUENCESTEP_MSRC: + VL53L0X_COPYSTRING(pSequenceStepsString, + VL53L0X_STRING_SEQUENCESTEP_MSRC); + break; + case VL53L0X_SEQUENCESTEP_PRE_RANGE: + VL53L0X_COPYSTRING(pSequenceStepsString, + VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE); + break; + case VL53L0X_SEQUENCESTEP_FINAL_RANGE: + VL53L0X_COPYSTRING(pSequenceStepsString, + VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE); + break; + + default: + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + + LOG_FUNCTION_END(Status); + + return Status; +} + + +VL53L0X_Error VL53L0X_get_limit_check_info(VL53L0X_DEV Dev, uint16_t LimitCheckId, + char *pLimitCheckString) +{ + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + LOG_FUNCTION_START(""); + + switch (LimitCheckId) { + case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: + VL53L0X_COPYSTRING(pLimitCheckString, + VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE); + break; + case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + VL53L0X_COPYSTRING(pLimitCheckString, + VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE); + break; + case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: + VL53L0X_COPYSTRING(pLimitCheckString, + VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP); + break; + case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: + VL53L0X_COPYSTRING(pLimitCheckString, + VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD); + break; + + case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: + VL53L0X_COPYSTRING(pLimitCheckString, + VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC); + break; + + case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: + VL53L0X_COPYSTRING(pLimitCheckString, + VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE); + break; + + default: + VL53L0X_COPYSTRING(pLimitCheckString, + VL53L0X_STRING_UNKNOW_ERROR_CODE); + + } + + LOG_FUNCTION_END(Status); + return Status; +} diff --git a/modules/VL53L0X/src/vl53l0x_cali.c b/modules/VL53L0X/src/vl53l0x_cali.c new file mode 100644 index 0000000..2885891 --- /dev/null +++ b/modules/VL53L0X/src/vl53l0x_cali.c @@ -0,0 +1,180 @@ +#include "vl53l0x_cali.h" +#include "delay.h" + +_vl53l0x_adjust Vl53l0x_adjust; //鏍″噯鏁版嵁24c02鍐欑紦瀛樺尯(鐢ㄤ簬鍦ㄦ牎鍑嗘ā寮忔牎鍑嗘暟鎹啓鍏24c02) +_vl53l0x_adjust Vl53l0x_data; //鏍″噯鏁版嵁24c02璇荤紦瀛樺尯锛堢敤浜庣郴缁熷垵濮嬪寲鏃跺悜24C02璇诲彇鏁版嵁锛 + +#define adjust_num 5//鏍″噯閿欒娆℃暟 + +//VL53L0X鏍″噯鍑芥暟 +//dev:璁惧I2C鍙傛暟缁撴瀯浣 +VL53L0X_Error vl53l0x_adjust(VL53L0X_Dev_t *dev) +{ + + VL53L0X_DeviceError Status = VL53L0X_ERROR_NONE; + uint32_t refSpadCount = 7; + uint8_t isApertureSpads = 0; + uint32_t XTalkCalDistance = 100; + uint32_t XTalkCompensationRateMegaCps; + uint32_t CalDistanceMilliMeter = 100<<16; + int32_t OffsetMicroMeter = 30000; + uint8_t VhvSettings = 23; + uint8_t PhaseCal = 1; + u8 i=0; + + VL53L0X_StaticInit(dev);//鏁板兼仮澶嶉粯璁,浼犳劅鍣ㄥ浜庣┖闂茬姸鎬 +// LED1=0; + //SPADS鏍″噯---------------------------- + spads: + delay_ms(10); + printf("The SPADS Calibration Start...\r\n"); + Status = VL53L0X_PerformRefSpadManagement(dev,&refSpadCount,&isApertureSpads);//鎵ц鍙傝僑pad绠＄悊 + if(Status == VL53L0X_ERROR_NONE) + { + printf("refSpadCount = %d\r\n",refSpadCount); + Vl53l0x_adjust.refSpadCount = refSpadCount; + printf("isApertureSpads = %d\r\n",isApertureSpads); + Vl53l0x_adjust.isApertureSpads = isApertureSpads; + printf("The SPADS Calibration Finish...\r\n\r\n"); + i=0; + } + else + { + i++; + if(i==adjust_num) return Status; + printf("SPADS Calibration Error,Restart this step\r\n"); + goto spads; + } + //璁惧鍙傝冩牎鍑--------------------------------------------------- + ref: + delay_ms(10); + printf("The Ref Calibration Start...\r\n"); + Status = VL53L0X_PerformRefCalibration(dev,&VhvSettings,&PhaseCal);//Ref鍙傝冩牎鍑 + if(Status == VL53L0X_ERROR_NONE) + { + printf("VhvSettings = %d\r\n",VhvSettings); + Vl53l0x_adjust.VhvSettings = VhvSettings; + printf("PhaseCal = %d\r\n",PhaseCal); + Vl53l0x_adjust.PhaseCal = PhaseCal; + printf("The Ref Calibration Finish...\r\n\r\n"); + i=0; + } + else + { + i++; + if(i==adjust_num) return Status; + printf("Ref Calibration Error,Restart this step\r\n"); + goto ref; + } + //鍋忕Щ鏍″噯------------------------------------------------ + offset: + delay_ms(10); + printf("Offset Calibration:need a white target,in black space,and the distance keep 100mm!\r\n"); + printf("The Offset Calibration Start...\r\n"); + + Status = VL53L0X_PerformOffsetCalibration(dev,CalDistanceMilliMeter,&OffsetMicroMeter);//鍋忕Щ鏍″噯 + if(Status == VL53L0X_ERROR_NONE) + { + printf("CalDistanceMilliMeter = %d mm\r\n",CalDistanceMilliMeter); + Vl53l0x_adjust.CalDistanceMilliMeter = CalDistanceMilliMeter; + printf("OffsetMicroMeter = %d mm\r\n",OffsetMicroMeter); + Vl53l0x_adjust.OffsetMicroMeter = OffsetMicroMeter; + printf("The Offset Calibration Finish...\r\n\r\n"); + i=0; + } + else + { + i++; + if(i==adjust_num) return Status; + printf("Offset Calibration Error,Restart this step\r\n"); + goto offset; + } + //涓叉壈鏍″噯----------------------------------------------------- + xtalk: + delay_ms(20); + printf("Cross Talk Calibration:need a grey target\r\n"); + printf("The Cross Talk Calibration Start...\r\n"); + Status = VL53L0X_PerformXTalkCalibration(dev,XTalkCalDistance,&XTalkCompensationRateMegaCps);//涓叉壈鏍″噯 + if(Status == VL53L0X_ERROR_NONE) + { + printf("XTalkCalDistance = %d mm\r\n",XTalkCalDistance); + Vl53l0x_adjust.XTalkCalDistance = XTalkCalDistance; + printf("XTalkCompensationRateMegaCps = %d\r\n",XTalkCompensationRateMegaCps); + Vl53l0x_adjust.XTalkCompensationRateMegaCps = XTalkCompensationRateMegaCps; + printf("The Cross Talk Calibration Finish...\r\n\r\n"); + i=0; + } + else + { + i++; + if(i==adjust_num) return Status; + printf("Cross Talk Calibration Error,Restart this step\r\n"); + goto xtalk; + } +// LED1=1; + printf("All the Calibration has Finished!\r\n"); + printf("Calibration is successful!!\r\n"); + + Vl53l0x_adjust.adjustok = 0xAA;//鏍″噯鎴愬姛 +// AT24CXX_Write(0,(u8*)&Vl53l0x_adjust,sizeof(_vl53l0x_adjust));//灏嗘牎鍑嗘暟鎹繚瀛樺埌24c02 + memcpy(&Vl53l0x_data,&Vl53l0x_adjust,sizeof(_vl53l0x_adjust)); + return Status; +} + +////vl53l0x鏍″噯娴嬭瘯 +////dev:璁惧I2C鍙傛暟缁撴瀯浣 +//void vl53l0x_calibration_test(VL53L0X_Dev_t *dev) +//{ +// VL53L0X_Error status = VL53L0X_ERROR_NONE; +// u8 key=0; +// u8 i=0; +// +//// LCD_Fill(30,170,320,300,WHITE); +//// POINT_COLOR=RED;//璁剧疆瀛椾綋涓虹孩鑹 +//// LCD_ShowString(30,170,300,16,16,"need a white target,and "); +//// LCD_ShowString(30,190,250,16,16,"the distance keep 100mm."); +//// POINT_COLOR=BLUE;//璁剧疆瀛椾綋涓鸿摑鑹 +//// LCD_ShowString(30,220,200,16,16,"KEY_UP: Return menu"); +//// LCD_ShowString(30,240,200,16,16,"KEY1: Calibration"); +// printf("need a white target,and the distance keep 100mm.\n\r"); +// printf("KEY_UP: Return menu\n\r"); +// printf("KEY1 : Calibration\n\r"); +// while(1) +// { +////// key = KEY_Scan(0); +////// if(key==KEY1_PRES) +////// { +////// POINT_COLOR=RED;//璁剧疆瀛椾綋涓虹孩鑹 +////// LCD_ShowString(30,260,200,16,16,"Start calibration..."); +//// status = vl53l0x_adjust(dev);//杩涘叆鏍″噯 +//// if(status!=VL53L0X_ERROR_NONE)//鏍″噯澶辫触 +//// { +//// printf("Calibration is error!!\r\n"); +//// i=3; +//// while(i--) +//// { +//// delay_1ms(500); +////// LCD_ShowString(30,260,200,16,16," "); +////// delay_1ms(500); +////// LCD_ShowString(30,260,200,16,16,"Calibration is error"); +//// } +//// } +//// else +////// LCD_ShowString(30,260,200,16,16,"Calibration is complete!"); +//// delay_1ms(500); + +//// break; +//// +//// } +//// else if(key==WKUP_PRES) +//// { +//// LED1=1; +//// break;//杩斿洖涓婁竴鑿滃崟 +//// } +// printf("%s\r\n",__FILE__); +// delay_1ms(200); +//// LED0=!LED0; +// +// } +// +//} diff --git a/modules/VL53L0X/src/vl53l0x_gen.c b/modules/VL53L0X/src/vl53l0x_gen.c new file mode 100644 index 0000000..df9ffab --- /dev/null +++ b/modules/VL53L0X/src/vl53l0x_gen.c @@ -0,0 +1,81 @@ +#include "vl53l0x_gen.h" +#include "delay.h" + +#ifndef vu16 +#define vu16 uint16_t +#endif + +VL53L0X_RangingMeasurementData_t vl53l0x_data;//测距测量结构体 +vu16 Distance_data=0;//保存测距数据 + +//VL53L0X 测量模式配置 +//dev:设备I2C参数结构体 +//mode: 0:默认;1:高精度;2:长距离 +VL53L0X_Error vl53l0x_set_mode(VL53L0X_Dev_t *dev,u8 mode) +{ + + VL53L0X_Error status = VL53L0X_ERROR_NONE; + uint8_t VhvSettings; + uint8_t PhaseCal; + uint32_t refSpadCount; + uint8_t isApertureSpads; + + vl53l0x_reset(dev);//复位vl53l0x(频繁切换工作模式容易导致采集距离数据不准，需加上这一代码) + status = VL53L0X_StaticInit(dev); + + if(AjustOK!=0)//已校准好了,写入校准值 + { + status= VL53L0X_SetReferenceSpads(dev,Vl53l0x_data.refSpadCount,Vl53l0x_data.isApertureSpads);//设定Spads校准值 + if(status!=VL53L0X_ERROR_NONE) goto error; + delay_ms(2); + status= VL53L0X_SetRefCalibration(dev,Vl53l0x_data.VhvSettings,Vl53l0x_data.PhaseCal);//设定Ref校准值 + if(status!=VL53L0X_ERROR_NONE) goto error; + delay_ms(2); + status=VL53L0X_SetOffsetCalibrationDataMicroMeter(dev,Vl53l0x_data.OffsetMicroMeter);//设定偏移校准值 + if(status!=VL53L0X_ERROR_NONE) goto error; + delay_ms(2); + status=VL53L0X_SetXTalkCompensationRateMegaCps(dev,Vl53l0x_data.XTalkCompensationRateMegaCps);//设定串扰校准值 + if(status!=VL53L0X_ERROR_NONE) goto error; + delay_ms(2); + } + else + { + status = VL53L0X_PerformRefCalibration(dev, &VhvSettings, &PhaseCal);//Ref参考校准 + if(status!=VL53L0X_ERROR_NONE) goto error; + delay_ms(2); + status = VL53L0X_PerformRefSpadManagement(dev, &refSpadCount, &isApertureSpads);//执行参考SPAD管理 + if(status!=VL53L0X_ERROR_NONE) goto error; + delay_ms(2); + } + status = VL53L0X_SetDeviceMode(dev,VL53L0X_DEVICEMODE_SINGLE_RANGING);//使能单次测量模式 + if(status!=VL53L0X_ERROR_NONE) goto error; + delay_ms(2); + status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,1);//使能SIGMA范围检查 + if(status!=VL53L0X_ERROR_NONE) goto error; + delay_ms(2); + status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,1);//使能信号速率范围检查 + if(status!=VL53L0X_ERROR_NONE) goto error; + delay_ms(2); + status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,Mode_data[mode].sigmaLimit);//设定SIGMA范围 + if(status!=VL53L0X_ERROR_NONE) goto error; + delay_ms(2); + status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,Mode_data[mode].signalLimit);//设定信号速率范围范围 + if(status!=VL53L0X_ERROR_NONE) goto error; + delay_ms(2); + status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(dev,Mode_data[mode].timingBudget);//设定完整测距最长时间 + if(status!=VL53L0X_ERROR_NONE) goto error; + delay_ms(2); + status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_PRE_RANGE, Mode_data[mode].preRangeVcselPeriod);//设定VCSEL脉冲周期 + if(status!=VL53L0X_ERROR_NONE) goto error; + delay_ms(2); + status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_FINAL_RANGE, Mode_data[mode].finalRangeVcselPeriod);//设定VCSEL脉冲周期范围 + + error://错误信息 + if(status!=VL53L0X_ERROR_NONE) + { + print_pal_error(status); + return status; + } + return status; + +} diff --git a/modules/VL53L0X/src/vl53l0x_i2c.c b/modules/VL53L0X/src/vl53l0x_i2c.c new file mode 100644 index 0000000..c2de632 --- /dev/null +++ b/modules/VL53L0X/src/vl53l0x_i2c.c @@ -0,0 +1,428 @@ +#include "vl53l0x_i2c.h" +#include "delay.h" + + + +//VL53L0X I2C初始化 +//void VL53L0X_i2c_init(void) +//{ +// RCC_AHB1PeriphClockCmd(RCC_VL53L0x, ENABLE); // 使能GPIO时钟 +// +// GPIO_InitTypeDef GPIO_InitStructure; + +// GPIO_InitStructure.GPIO_Pin = GPIO_SDA|GPIO_SCL; +// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; +// GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; +// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; +// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; +// GPIO_Init(PORT_VL53L0x, &GPIO_InitStructure); + +//} + +/****************************************************************** + * 函 数 名 称：IIC_Start + * 函 数 说 明：IIC起始时序 + * 函 数 形 参：无 + * 函 数 返 回：无 + * 作 者：LC + * 备 注：无 +******************************************************************/ +void IIC_Start(void) +{ + SDA_OUT(); + + SDA(1); + delay_us(5); + SCL(1); + delay_us(5); + + SDA(0); + delay_us(5); + SCL(0); + delay_us(5); + +} +/****************************************************************** + * 函 数 名 称：IIC_Stop + * 函 数 说 明：IIC停止信号 + * 函 数 形 参：无 + * 函 数 返 回：无 + * 作 者：LC + * 备 注：无 +******************************************************************/ +void IIC_Stop(void) +{ + SDA_OUT(); + SCL(0); + SDA(0); + + SCL(1); + delay_us(5); + SDA(1); + delay_us(5); + +} + +/****************************************************************** + * 函 数 名 称：IIC_Send_Ack + * 函 数 说 明：主机发送应答或者非应答信号 + * 函 数 形 参：0发送应答 1发送非应答 + * 函 数 返 回：无 + * 作 者：LC + * 备 注：无 +******************************************************************/ +void IIC_Send_Ack(unsigned char ack) +{ + SDA_OUT(); + SCL(0); + SDA(0); + delay_us(5); + if(!ack) SDA(0); + else SDA(1); + SCL(1); + delay_us(5); + SCL(0); + SDA(1); +} + + +/****************************************************************** + * 函 数 名 称：I2C_WaitAck + * 函 数 说 明：等待从机应答 + * 函 数 形 参：无 + * 函 数 返 回：0有应答 1超时无应答 + * 作 者：LC + * 备 注：无 +******************************************************************/ +unsigned char I2C_WaitAck(void) +{ + + char ack = 0; + unsigned char ack_flag = 10; + SCL(0); + SDA(1); + SDA_IN(); + delay_us(5); + SCL(1); + delay_us(5); + + while( (SDA_GET()==1) && ( ack_flag ) ) + { + ack_flag--; + delay_us(5); + } + + if( ack_flag <= 0 ) + { + IIC_Stop(); + return 1; + } + else + { + SCL(0); + SDA_OUT(); + } + return ack; +} + +/****************************************************************** + * 函 数 名 称：Send_Byte + * 函 数 说 明：写入一个字节 + * 函 数 形 参：dat要写人的数据 + * 函 数 返 回：无 + * 作 者：LC + * 备 注：无 +******************************************************************/ +void Send_Byte(uint8_t dat) +{ + int i = 0; + SDA_OUT(); + SCL(0);//拉低时钟开始数据传输 + + for( i = 0; i < 8; i++ ) + { + SDA( (dat & 0x80) >> 7 ); + delay_us(1); + SCL(1); + delay_us(5); + SCL(0); + delay_us(5); + dat<<=1; + } +} + +/****************************************************************** + * 函 数 名 称：Read_Byte + * 函 数 说 明：IIC读时序 + * 函 数 形 参：ack=1时，发送ACK，ack=0，发送nACK + * 函 数 返 回：读到的数据 + * 作 者：LC + * 备 注：无 +******************************************************************/ +unsigned char Read_Byte(unsigned char ack) +{ + unsigned char i,receive=0; + SDA_IN();//SDA设置为输入 + for(i=0;i<8;i++ ) + { + SCL(0); + delay_us(4); + SCL(1); + receive<<=1; + if( SDA_GET() )receive++; + delay_us(4); //1 + } + if (!ack) + IIC_Send_Ack(1);//发送nACK + else + IIC_Send_Ack(0); //发送ACK + return receive; +} + + +//IIC写一个字节数据 +u8 VL_IIC_Write_1Byte(u8 SlaveAddress, u8 REG_Address,u8 REG_data) +{ + IIC_Start(); + Send_Byte(SlaveAddress); + if(I2C_WaitAck()) + { + IIC_Stop();//释放总线 + return 1;//没应答则退出 + + } + Send_Byte(REG_Address); + I2C_WaitAck(); + Send_Byte(REG_data); + I2C_WaitAck(); + IIC_Stop(); + + return 0; +} + +//IIC读一个字节数据 +u8 VL_IIC_Read_1Byte(u8 SlaveAddress, u8 REG_Address,u8 *REG_data) +{ + IIC_Start(); + Send_Byte(SlaveAddress);//发写命令 + if(I2C_WaitAck()) + { + IIC_Stop();//释放总线 + return 1;//没应答则退出 + } + Send_Byte(REG_Address); + I2C_WaitAck(); + IIC_Start(); + Send_Byte(SlaveAddress|0x01);//发读命令 + I2C_WaitAck(); + *REG_data = Read_Byte(0); + IIC_Stop(); + + return 0; +} + +//IIC写n字节数据 +u8 VL_IIC_Write_nByte(u8 SlaveAddress, u8 REG_Address,u16 len, u8 *buf) +{ + IIC_Start(); + Send_Byte(SlaveAddress);//发写命令 + if(I2C_WaitAck()) + { + IIC_Stop();//释放总线 + return 1;//没应答则退出 + } + Send_Byte(REG_Address); + I2C_WaitAck(); + while(len--) + { + Send_Byte(*buf++);//发送buff的数据 + I2C_WaitAck(); + } + IIC_Stop();//释放总线 + + return 0; + +} + +//IIC读n字节数据 +u8 VL_IIC_Read_nByte(u8 SlaveAddress, u8 REG_Address,u16 len,u8 *buf) +{ + IIC_Start(); + Send_Byte(SlaveAddress);//发写命令 + if(I2C_WaitAck()) + { + IIC_Stop();//释放总线 + return 1;//没应答则退出 + } + Send_Byte(REG_Address); + I2C_WaitAck(); + + IIC_Start(); + Send_Byte(SlaveAddress|0x01);//发读命令 + I2C_WaitAck(); + while(len) + { + if(len==1) + { + *buf = Read_Byte(0); + } + else + { + *buf = Read_Byte(1); + } + buf++; + len--; + } + IIC_Stop();//释放总线 + + return 0; + +} + +//VL53L0X 写多个数据 +//address:地址 +//index:偏移地址 +//pdata:数据指针 +//count:长度 最大65535 +u8 VL53L0X_write_multi(u8 address, u8 index,u8 *pdata,u16 count) +{ + u8 status = STATUS_OK; + + if(VL_IIC_Write_nByte(address,index,count,pdata)) + { + status = STATUS_FAIL; + } + return status; +} + + +//VL53L0X 读多个数据 +//address:地址 +//index:偏移地址 +//pdata:数据指针 +//count:长度 最大65535 +u8 VL53L0X_read_multi(u8 address,u8 index,u8 *pdata,u16 count) +{ + u8 status = STATUS_OK; + + if(VL_IIC_Read_nByte(address,index,count,pdata)) + { + status = STATUS_FAIL; + } + + return status; +} + +//VL53L0X 写1个数据(单字节) +//address:地址 +//index:偏移地址 +//data:数据(8位) +u8 VL53L0X_write_byte(u8 address,u8 index,u8 data) +{ + u8 status = STATUS_OK; + + status = VL53L0X_write_multi(address,index,&data,1); + + return status; +} + +//VL53L0X 写1个数据(双字节) +//address:地址 +//index:偏移地址 +//data:数据(16位) +u8 VL53L0X_write_word(u8 address,u8 index,u16 data) +{ + u8 status = STATUS_OK; + + u8 buffer[2]; + + //将16位数据拆分成8位 + buffer[0] = (u8)(data>>8);//高八位 + buffer[1] = (u8)(data&0xff);//低八位 + + if(index%2==1) + { + //串行通信不能处理对非2字节对齐寄存器的字节 + status = VL53L0X_write_multi(address,index,&buffer[0],1); + status = VL53L0X_write_multi(address,index,&buffer[0],1); + }else + { + status = VL53L0X_write_multi(address,index,buffer,2); + } + + return status; +} + +//VL53L0X 写1个数据(四字节) +//address:地址 +//index:偏移地址 +//data:数据(32位) +u8 VL53L0X_write_dword(u8 address,u8 index,u32 data) +{ + + u8 status = STATUS_OK; + + u8 buffer[4]; + + //将32位数据拆分成8位 + buffer[0] = (u8)(data>>24); + buffer[1] = (u8)((data&0xff0000)>>16); + buffer[2] = (u8)((data&0xff00)>>8); + buffer[3] = (u8)(data&0xff); + + status = VL53L0X_write_multi(address,index,buffer,4); + + return status; + +} + + +//VL53L0X 读1个数据(单字节) +//address:地址 +//index:偏移地址 +//data:数据(8位) +u8 VL53L0X_read_byte(u8 address,u8 index,u8 *pdata) +{ + u8 status = STATUS_OK; + + status = VL53L0X_read_multi(address,index,pdata,1); + + return status; + +} + +//VL53L0X 读个数据(双字节) +//address:地址 +//index:偏移地址 +//data:数据(16位) +u8 VL53L0X_read_word(u8 address,u8 index,u16 *pdata) +{ + u8 status = STATUS_OK; + + u8 buffer[2]; + + status = VL53L0X_read_multi(address,index,buffer,2); + + *pdata = ((u16)buffer[0]<<8)+(u16)buffer[1]; + + return status; + +} + +//VL53L0X 读1个数据(四字节) +//address:地址 +//index:偏移地址 +//data:数据(32位) +u8 VL53L0X_read_dword(u8 address,u8 index,u32 *pdata) +{ + u8 status = STATUS_OK; + + u8 buffer[4]; + + status = VL53L0X_read_multi(address,index,buffer,4); + + *pdata = ((u32)buffer[0]<<24)+((u32)buffer[1]<<16)+((u32)buffer[2]<<8)+((u32)buffer[3]); + + return status; + +} diff --git a/modules/VL53L0X/src/vl53l0x_it.c b/modules/VL53L0X/src/vl53l0x_it.c new file mode 100644 index 0000000..ecc6032 --- /dev/null +++ b/modules/VL53L0X/src/vl53l0x_it.c @@ -0,0 +1,262 @@ +#include "vl53l0x_it.h" + +/* +//上下限距离值 单位:mm +#define Thresh_Low 60 +#define Thresh_High 150 + +//中断模式参数结构体 +typedef struct +{ + const int VL53L0X_Mode;//模式 + uint32_t ThreshLow; //下限值 + uint32_t ThreshHigh; //上限值 +}AlrmMode_t; + +AlrmMode_t AlarmModes ={ + + VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT,// value < thresh_low OR value > thresh_high + Thresh_Low<<16, + Thresh_High<<16 +}; + +//中断配置初始化 +static void exti1_init(void) +{ +// GPIO_InitTypeDef GPIO_InitStructure; +// EXTI_InitTypeDef EXTI_InitStructure; +// NVIC_InitTypeDef NVIC_InitStructure; +// +// RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE);//使能GPIOF时钟 +// RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);//使能SYSCFG时钟 +// +// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; +// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;//普通输出模式 +// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz +// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉 +// GPIO_Init(GPIOF, &GPIO_InitStructure);//初始化 + +// SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOF, EXTI_PinSource6);//PF6 连接到中断线6 +// +// EXTI_InitStructure.EXTI_Line = EXTI_Line6;//LINE6 +// EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;//中断事件 +// EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling; //下降沿触发 +// EXTI_InitStructure.EXTI_LineCmd = ENABLE;//使能LINE6 +// EXTI_Init(&EXTI_InitStructure);//配置 +// +// NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;//外部中断6 +// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x03;//抢占优先级3 +// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x02;//子优先级2 +// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;//使能外部中断通道 +// NVIC_Init(&NVIC_InitStructure); + +} + +//警报标志位 alarm_flag +//1:有警报 +//0：无 +u8 alarm_flag=0; + +//外部中断服务函数 +void EXTI9_5_IRQHandler(void) +{ + alarm_flag=1;//标志 +// EXTI_ClearITPendingBit(EXTI_Line6); //清除LINE6上的中断标志位 +} + +extern uint8_t AjustOK; +extern mode_data Mode_data[]; + +//vl53l0x中断测量模式测试 +//dev:设备I2C参数结构体 +//mode: 0:默认;1:高精度;2:长距离;3:高速 +void vl53l0x_interrupt_start(VL53L0X_Dev_t *dev,uint8_t mode) +{ +// uint8_t VhvSettings; +// uint8_t PhaseCal; +// uint32_t refSpadCount; +// uint8_t isApertureSpads; +// VL53L0X_RangingMeasurementData_t RangingMeasurementData; +// static char buf[VL53L0X_MAX_STRING_LENGTH];//测试模式字符串字符缓冲区 +// VL53L0X_Error status=VL53L0X_ERROR_NONE;//工作状态 +// u8 key; + +// exti_init();//中断初始化 +// LED0=1; +// mode_string(mode,buf);//显示当前配置的模式 +// LCD_Fill(30,170,300,300,WHITE); +// POINT_COLOR=RED; //设置字体为红色 +// LCD_ShowString(30,140+30,300,16,16,"Interrupt Mode "); +// POINT_COLOR=BLUE; //设置字体为蓝色 +// LCD_ShowString(30,140+50,200,16,16,"KEY_UP: Exit the test "); +// LCD_ShowString(30,140+70,200,16,16,"Mode: "); +// LCD_ShowString(80,140+70,200,16,16,(u8*)buf); +// sprintf((char*)buf,"Thresh Low: %d mm ",Thresh_Low); +// printf("Thresh Low: %d mm \n\r",Thresh_Low); +// LCD_ShowString(30,140+90,300,16,16,(u8*)buf); +// sprintf((char*)buf,"Thresh High: %d mm",Thresh_High); +// printf("Thresh High: %d mm \n\r",Thresh_High); +// LCD_ShowString(30,140+110,300,16,16,(u8*)buf); +// LCD_ShowString(30,140+130,300,16,16,"Now value: mm"); +// +// vl53l0x_reset(dev);//复位vl53l0x(频繁切换工作模式容易导致采集距离数据不准，需加上这一代码) +// status = VL53L0X_StaticInit(dev); +// if(status!=VL53L0X_ERROR_NONE) goto error; + +// if(AjustOK!=0)//已校准好了,写入校准值 +// { +// status= VL53L0X_SetReferenceSpads(dev,Vl53l0x_data.refSpadCount,Vl53l0x_data.isApertureSpads);//设定Spads校准值 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status= VL53L0X_SetRefCalibration(dev,Vl53l0x_data.VhvSettings,Vl53l0x_data.PhaseCal);//设定Ref校准值 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status=VL53L0X_SetOffsetCalibrationDataMicroMeter(dev,Vl53l0x_data.OffsetMicroMeter);//设定偏移校准值 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status=VL53L0X_SetXTalkCompensationRateMegaCps(dev,Vl53l0x_data.XTalkCompensationRateMegaCps);//设定串扰校准值 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// }else +// { +// status = VL53L0X_PerformRefCalibration(dev, &VhvSettings, &PhaseCal);//Ref参考校准 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status = VL53L0X_PerformRefSpadManagement(dev, &refSpadCount, &isApertureSpads);//执行参考SPAD管理 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// } +// status = VL53L0X_SetDeviceMode(dev,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);//使能连续测量模式 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status = VL53L0X_SetInterMeasurementPeriodMilliSeconds(dev,Mode_data[mode].timingBudget);//设置内部周期测量时间 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,1);//使能SIGMA范围检查 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status = VL53L0X_SetLimitCheckEnable(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,1);//使能信号速率范围检查 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,Mode_data[mode].sigmaLimit);//设定SIGMA范围 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status = VL53L0X_SetLimitCheckValue(dev,VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,Mode_data[mode].signalLimit);//设定信号速率范围范围 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(dev,Mode_data[mode].timingBudget);//设定完整测距最长时间 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_PRE_RANGE, Mode_data[mode].preRangeVcselPeriod);//设定VCSEL脉冲周期 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status = VL53L0X_SetVcselPulsePeriod(dev, VL53L0X_VCSEL_PERIOD_FINAL_RANGE, Mode_data[mode].finalRangeVcselPeriod);//设定VCSEL脉冲周期范围 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status = VL53L0X_StopMeasurement(dev);//停止测量 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status = VL53L0X_SetInterruptThresholds(dev,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,AlarmModes.ThreshLow, AlarmModes.ThreshHigh);//设定触发中断上、下限值 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status = VL53L0X_SetGpioConfig(dev,0,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,AlarmModes.VL53L0X_Mode,VL53L0X_INTERRUPTPOLARITY_LOW);//设定触发中断模式 下降沿 +// if(status!=VL53L0X_ERROR_NONE) goto error; +// delay_ms(2); +// status = VL53L0X_ClearInterruptMask(dev,0);//清除VL53L0X中断标志位 +// +// error://错误信息 +// if(status!=VL53L0X_ERROR_NONE) +// { +// print_pal_error(status); +// return ; +// } + +// alarm_flag = 0; +// VL53L0X_StartMeasurement(dev);//启动测量 +// while(1) +// { +// key = KEY_Scan(0); +// if(key==WKUP_PRES) +// { +// VL53L0X_ClearInterruptMask(dev,0);//清除VL53L0X中断标志位 +// status = VL53L0X_StopMeasurement(dev); //停止测量 +// LED1=1; +// break;//返回上一菜单 +// } +// if(alarm_flag==1)//触发中断 +// { +// alarm_flag=0; +// VL53L0X_GetRangingMeasurementData(dev,&RangingMeasurementData);//获取测量距离,并且显示距离 +// printf("d: %3d mm\r\n",RangingMeasurementData.RangeMilliMeter); +// LCD_ShowxNum(110,140+130,RangingMeasurementData.RangeMilliMeter,4,16,0); +// delay_ms(70); +// VL53L0X_ClearInterruptMask(dev,0);//清除VL53L0X中断标志位 +// +// } +// delay_ms(30); +// LED1=!LED1; + +// } + +} + +//vl53l0x中断测量模式UI +void interrupt_ui(void) +{ +// LCD_Fill(30,140+20,300,300,WHITE); +// POINT_COLOR=RED; //设置字体为红色 +// LCD_ShowString(30,140+30,300,16,16,"Interrupt Mode "); +// LCD_ShowString(30,140+55,300,16,16,"KEY1: Switch working mode "); +// POINT_COLOR=BLUE; //设置字体为蓝色 +// LCD_ShowString(30,140+75,300,16,16, "KEY_UP: Return menu "); +// LCD_ShowString(30,140+95,300,16,16, "KEY0: Default "); +// printf("interrupt_test \n\r"); +// printf("WK_UP: Return menu \n\r"); +// printf("KEY1 : Switch working mode \n\r"); +// printf("KEY0 : START! \n\r"); +} + +//vl53l0x中断测量模式测试 +//dev:设备I2C参数结构体 +void vl53l0x_interrupt_test(VL53L0X_Dev_t *dev) +{ +// u8 key=0; +// u8 i=0; +// u8 mode=0; +// LED1=1; +// interrupt_ui();//显示中断测量模式UI +// +// while(1) +// { +// key = KEY_Scan(0); +// +// if(key==WKUP_PRES) break;//返回主菜单 +// +// else if(key==KEY1_PRES)//选择工作模式 +// { +// mode++; +// if(mode==4) mode=0; +// +// switch(mode) +// { +// case Default_Mode: LCD_ShowString(95,140+95,300,16,16, "Default "); printf("Default \n\r"); break;//默认 +// case HIGH_ACCURACY: LCD_ShowString(95,140+95,300,16,16, "High Accuracy "); printf("High Accuracy \n\r"); break;//高精度 +// case LONG_RANGE: LCD_ShowString(95,140+95,300,16,16, "Long Range "); printf("Long Range \n\r"); break;//长距离 +// case HIGH_SPEED: LCD_ShowString(95,140+95,300,16,16, "High Speed "); printf("High Speed \n\r"); break;//高速 +// } +// } +// else if(key==KEY0_PRES)//启动测量 +// { +// vl53l0x_interrupt_start(dev,mode); +// interrupt_ui(); +// mode=0; +// } +// i++; +// if(i==5) +// { +// i=0; +// LED0=!LED0; +// } +// delay_ms(50); +// } + +}*/ diff --git a/modules/VL53L0X/src/vl53l0x_platform.c b/modules/VL53L0X/src/vl53l0x_platform.c new file mode 100644 index 0000000..fefd91d --- /dev/null +++ b/modules/VL53L0X/src/vl53l0x_platform.c @@ -0,0 +1,271 @@ +#include "vl53l0x_platform.h" + +//VL53L0X连续写数据 +//Dev:设备I2C参数结构体 +//index:偏移地址 +//pdata:数据指针 +//count:长度 +//返回值: 0:成功 +// 其他:错误 +VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata,uint32_t count) +{ + + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + int32_t status_int = 0; + + uint8_t deviceAddress; + + if(count >=VL53L0X_MAX_I2C_XFER_SIZE) + { + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0X_write_multi(deviceAddress, index, pdata, count); + + if(status_int !=0) + Status = VL53L0X_ERROR_CONTROL_INTERFACE; + + return Status; + +} + +//VL53L0X连续读数据 +//Dev:设备I2C参数结构体 +//index:偏移地址 +//pdata:数据指针 +//count:长度 +//返回值: 0:成功 +// 其他:错误 +VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata,uint32_t count) +{ + + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + + int32_t status_int; + + uint8_t deviceAddress; + + if(count >=VL53L0X_MAX_I2C_XFER_SIZE) + { + Status = VL53L0X_ERROR_INVALID_PARAMS; + } + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0X_read_multi(deviceAddress, index, pdata, count); + + if(status_int!=0) + Status = VL53L0X_ERROR_CONTROL_INTERFACE; + + return Status; + +} + +//VL53L0X 写单字节寄存器 +//Dev:设备I2C参数结构体 +//index:偏移地址 +//pdata:数据指针 +//count:长度 +//返回值: 0:成功 +// 其他:失败 +VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data) +{ + + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0X_write_byte(deviceAddress,index,data); + + if(status_int!=0) + Status = VL53L0X_ERROR_CONTROL_INTERFACE; + + return Status; + +} + +//VL53L0X 写字（2字节）寄存器 +//Dev:设备I2C参数结构体 +//index:偏移地址 +//pdata:数据指针 +//count:长度 +//返回值: 0:成功 +// 其他:失败 +VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data) +{ + + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0X_write_word(deviceAddress,index,data); + + if(status_int!=0) + Status = VL53L0X_ERROR_CONTROL_INTERFACE; + + return Status; + +} + +//VL53L0X 写双字（4字节）寄存器 +//Dev:设备I2C参数结构体 +//index:偏移地址 +//pdata:数据指针 +//count:长度 +//返回值: 0:成功 +// 其他:失败 +VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data) +{ + + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0X_write_dword(deviceAddress, index, data); + + if (status_int != 0) + Status = VL53L0X_ERROR_CONTROL_INTERFACE; + + return Status; + +} + +//VL53L0X 威胁安全更新(读/修改/写)单字节寄存器 +//Dev:设备I2C参数结构体 +//index:偏移地址 +//AndData:8位与数据 +//OrData:8位或数据 +//返回值: 0:成功 +// 其他:错误 +VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData) +{ + + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + uint8_t data; + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0X_read_byte(deviceAddress,index,&data); + + if(status_int!=0) + Status = VL53L0X_ERROR_CONTROL_INTERFACE; + + if(Status == VL53L0X_ERROR_NONE) + { + data = (data & AndData) | OrData; + status_int = VL53L0X_write_byte(deviceAddress, index,data); + + + if(status_int !=0) + Status = VL53L0X_ERROR_CONTROL_INTERFACE; + + } + + return Status; + +} + +//VL53L0X 读单字节寄存器 +//Dev:设备I2C参数结构体 +//index:偏移地址 +//pdata:数据指针 +//count:长度 +//返回值: 0:成功 +// 其他:错误 +VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data) +{ + + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0X_read_byte(deviceAddress, index, data); + + if(status_int !=0) + Status = VL53L0X_ERROR_CONTROL_INTERFACE; + + return Status; + +} + +//VL53L0X 读字（2字节）寄存器 +//Dev:设备I2C参数结构体 +//index:偏移地址 +//pdata:数据指针 +//count:长度 +//返回值: 0:成功 +// 其他:错误 +VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data) +{ + + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0X_read_word(deviceAddress, index, data); + + if(status_int !=0) + Status = VL53L0X_ERROR_CONTROL_INTERFACE; + + return Status; + +} + +//VL53L0X 读双字（4字节）寄存器 +//Dev:设备I2C参数结构体 +//index:偏移地址 +//pdata:数据指针 +//count:长度 +//返回值: 0:成功 +// 其他:错误 +VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data) +{ + + VL53L0X_Error Status = VL53L0X_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0X_read_dword(deviceAddress, index, data); + + if (status_int != 0) + Status = VL53L0X_ERROR_CONTROL_INTERFACE; + + return Status; +} + +//VL53L0X 底层延时函数 +//Dev:设备I2C参数结构体 +//返回值: 0:成功 +// 其他:错误 +#define VL53L0X_POLLINGDELAY_LOOPNB 250 +VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev) +{ + + VL53L0X_Error status = VL53L0X_ERROR_NONE; + volatile uint32_t i; + + for(i=0;i zmx_=kB8dnpq6*G)p4i$(6%O^B9B|Hl^v-_dI;|$5Gdm?};!2Y`CdG}GB0LbZ8fEB_ z**F+|e2w}#y6tVtHKNO2^M2&^5lkJC>yegM7>Mb!qQQq<4bHjzP;8qQNgXZ6GY~STaAHjo4|U;4F%3QL>^5n2R_xR2PE|1|Ygj zzLRkpx656pj)E5eCih$u?tEYoax#g zP2THKb-c>O^7=HkcHVV2Wxge1$6(fVe3+6ZFOtK%VgdBv|>|A!p9Q#sIhhu>?0+S`gYev0cqJ{;>BQV4S zA=7_c28?paVBLkfV=WDtp&kY$^4dSkpR3AiM}>8Xt)Vlw2l&%4napiKiS=-F&Mgz$ zvv>0`oSUwd-I(I*Il7wjH`N(-J|}4iA~6c$M=mQuy<4L{&_=BV^HJm)W=H2e-5^UD9*vzN<;07KY}`$BlE;?yQGj8M6=~ 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