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Add distance sensor, README update in next commit

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Adam Prochazka 2 years ago
parent 7ace5ef5a2
commit 11003a1eab
24 changed files with 3208 additions and 15 deletions
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5
Firmware/CMakeLists.txt
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@ -69,11 +69,6 @@ ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/*.c
${CMAKE_CURRENT_SOURCE_DIR}/Drivers/*.c) ${CMAKE_CURRENT_SOURCE_DIR}/Drivers/*.c)
#set(PROJECT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/Project)
#file(GLOB_RECURSE PROJECT_SOURCES CONFIGURE_DEPENDS
# ${PROJECT_DIR}/*.cpp
# ${PROJECT_DIR}/*.c)
set(PROJECT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src) set(PROJECT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src)
file(GLOB_RECURSE PROJECT_SOURCES CONFIGURE_DEPENDS file(GLOB_RECURSE PROJECT_SOURCES CONFIGURE_DEPENDS
${PROJECT_DIR}/*.cpp ${PROJECT_DIR}/*.cpp

393
Firmware/Core/Inc/VL53L1X_api.h
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@ -0,0 +1,393 @@
/*
* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
*
* This file : part of VL53L1 Core and : dual licensed,
* either 'STMicroelectronics
* Proprietary license'
* or 'BSD 3-clause "New" or "Revised" License' , at your option.
*
********************************************************************************
*
* 'STMicroelectronics Proprietary license'
*
********************************************************************************
*
* License terms: STMicroelectronics Proprietary in accordance with licensing
* terms at www.st.com/sla0081
*
* STMicroelectronics confidential
* Reproduction and Communication of this document : strictly prohibited unless
* specifically authorized in writing by STMicroelectronics.
*
*
********************************************************************************
*
* Alternatively, VL53L1 Core may be distributed under the terms of
* 'BSD 3-clause "New" or "Revised" License', in which case the following
* provisions apply instead of the ones mentioned above :
*
********************************************************************************
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
********************************************************************************
*
*/
/**
* @file vl53l1x_api.h
* @brief Functions definition
*/
#ifndef _API_H_
#define _API_H_
#include "vl53l1_platform.h"
#define VL53L1X_IMPLEMENTATION_VER_MAJOR 3
#define VL53L1X_IMPLEMENTATION_VER_MINOR 5
#define VL53L1X_IMPLEMENTATION_VER_SUB 2
#define VL53L1X_IMPLEMENTATION_VER_REVISION 0000
typedef int8_t VL53L1X_ERROR;
#define SOFT_RESET 0x0000
#define VL53L1_I2C_SLAVE__DEVICE_ADDRESS 0x0001
#define VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x0008
#define ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x0016
#define ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS 0x0018
#define ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS 0x001A
#define ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x001E
#define MM_CONFIG__INNER_OFFSET_MM 0x0020
#define MM_CONFIG__OUTER_OFFSET_MM 0x0022
#define GPIO_HV_MUX__CTRL 0x0030
#define GPIO__TIO_HV_STATUS 0x0031
#define SYSTEM__INTERRUPT_CONFIG_GPIO 0x0046
#define PHASECAL_CONFIG__TIMEOUT_MACROP 0x004B
#define RANGE_CONFIG__TIMEOUT_MACROP_A_HI 0x005E
#define RANGE_CONFIG__VCSEL_PERIOD_A 0x0060
#define RANGE_CONFIG__VCSEL_PERIOD_B 0x0063
#define RANGE_CONFIG__TIMEOUT_MACROP_B_HI 0x0061
#define RANGE_CONFIG__TIMEOUT_MACROP_B_LO 0x0062
#define RANGE_CONFIG__SIGMA_THRESH 0x0064
#define RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS 0x0066
#define RANGE_CONFIG__VALID_PHASE_HIGH 0x0069
#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD 0x006C
#define SYSTEM__THRESH_HIGH 0x0072
#define SYSTEM__THRESH_LOW 0x0074
#define SD_CONFIG__WOI_SD0 0x0078
#define SD_CONFIG__INITIAL_PHASE_SD0 0x007A
#define ROI_CONFIG__USER_ROI_CENTRE_SPAD 0x007F
#define ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE 0x0080
#define SYSTEM__SEQUENCE_CONFIG 0x0081
#define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD 0x0082
#define SYSTEM__INTERRUPT_CLEAR 0x0086
#define SYSTEM__MODE_START 0x0087
#define VL53L1_RESULT__RANGE_STATUS 0x0089
#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x008C
#define RESULT__AMBIENT_COUNT_RATE_MCPS_SD 0x0090
#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0096
#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0098
#define VL53L1_RESULT__OSC_CALIBRATE_VAL 0x00DE
#define VL53L1_FIRMWARE__SYSTEM_STATUS 0x00E5
#define VL53L1_IDENTIFICATION__MODEL_ID 0x010F
#define VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD 0x013E
/****************************************
* PRIVATE define do not edit
****************************************/
/**
* @brief defines SW Version
*/
typedef struct {
uint8_t major; /*!< major number */
uint8_t minor; /*!< minor number */
uint8_t build; /*!< build number */
uint32_t revision; /*!< revision number */
} VL53L1X_Version_t;
/**
* @brief defines packed reading results type
*/
typedef struct {
uint8_t Status; /*!< ResultStatus */
uint16_t Distance; /*!< ResultDistance */
uint16_t Ambient; /*!< ResultAmbient */
uint16_t SigPerSPAD;/*!< ResultSignalPerSPAD */
uint16_t NumSPADs; /*!< ResultNumSPADs */
} VL53L1X_Result_t;
/**
* @brief This function returns the SW driver version
*/
VL53L1X_ERROR VL53L1X_GetSWVersion(VL53L1X_Version_t *pVersion);
/**
* @brief This function sets the sensor I2C address used in case multiple devices application, default address 0x52
*/
VL53L1X_ERROR VL53L1X_SetI2CAddress(uint16_t, uint8_t new_address);
/**
* @brief This function loads the 135 bytes default values to initialize the sensor.
* @param dev Device address
* @return 0:success, != 0:failed
*/
VL53L1X_ERROR VL53L1X_SensorInit(uint16_t dev);
/**
* @brief This function clears the interrupt, to be called after a ranging data reading
* to arm the interrupt for the next data ready event.
*/
VL53L1X_ERROR VL53L1X_ClearInterrupt(uint16_t dev);
/**
* @brief This function programs the interrupt polarity\n
* 1=active high (default), 0=active low
*/
VL53L1X_ERROR VL53L1X_SetInterruptPolarity(uint16_t dev, uint8_t IntPol);
/**
* @brief This function returns the current interrupt polarity\n
* 1=active high (default), 0=active low
*/
VL53L1X_ERROR VL53L1X_GetInterruptPolarity(uint16_t dev, uint8_t *pIntPol);
/**
* @brief This function starts the ranging distance operation\n
* The ranging operation is continuous. The clear interrupt has to be done after each get data to allow the interrupt to raise when the next data is ready\n
* 1=active high (default), 0=active low, use SetInterruptPolarity() to change the interrupt polarity if required.
*/
VL53L1X_ERROR VL53L1X_StartRanging(uint16_t dev);
/**
* @brief This function stops the ranging.
*/
VL53L1X_ERROR VL53L1X_StopRanging(uint16_t dev);
/**
* @brief This function checks if the new ranging data is available by polling the dedicated register.
* @param : isDataReady==0 -> not ready; isDataReady==1 -> ready
*/
VL53L1X_ERROR VL53L1X_CheckForDataReady(uint16_t dev, uint8_t *isDataReady);
/**
* @brief This function programs the timing budget in ms.
* Predefined values = 15, 20, 33, 50, 100(default), 200, 500.
*/
VL53L1X_ERROR VL53L1X_SetTimingBudgetInMs(uint16_t dev, uint16_t TimingBudgetInMs);
/**
* @brief This function returns the current timing budget in ms.
*/
VL53L1X_ERROR VL53L1X_GetTimingBudgetInMs(uint16_t dev, uint16_t *pTimingBudgetInMs);
/**
* @brief This function programs the distance mode (1=short, 2=long(default)).
* Short mode max distance is limited to 1.3 m but better ambient immunity.\n
* Long mode can range up to 4 m in the dark with 200 ms timing budget.
*/
VL53L1X_ERROR VL53L1X_SetDistanceMode(uint16_t dev, uint16_t DistanceMode);
/**
* @brief This function returns the current distance mode (1=short, 2=long).
*/
VL53L1X_ERROR VL53L1X_GetDistanceMode(uint16_t dev, uint16_t *pDistanceMode);
/**
* @brief This function programs the Intermeasurement period in ms\n
* Intermeasurement period must be >/= timing budget. This condition is not checked by the API,
* the customer has the duty to check the condition. Default = 100 ms
*/
VL53L1X_ERROR VL53L1X_SetInterMeasurementInMs(uint16_t dev,
uint32_t InterMeasurementInMs);
/**
* @brief This function returns the Intermeasurement period in ms.
*/
VL53L1X_ERROR VL53L1X_GetInterMeasurementInMs(uint16_t dev, uint16_t * pIM);
/**
* @brief This function returns the boot state of the device (1:booted, 0:not booted)
*/
VL53L1X_ERROR VL53L1X_BootState(uint16_t dev, uint8_t *state);
/**
* @brief This function returns the sensor id, sensor Id must be 0xEEAC
*/
VL53L1X_ERROR VL53L1X_GetSensorId(uint16_t dev, uint16_t *id);
/**
* @brief This function returns the distance measured by the sensor in mm
*/
VL53L1X_ERROR VL53L1X_GetDistance(uint16_t dev, uint16_t *distance);
/**
* @brief This function returns the returned signal per SPAD in kcps/SPAD.
* With kcps stands for Kilo Count Per Second
*/
VL53L1X_ERROR VL53L1X_GetSignalPerSpad(uint16_t dev, uint16_t *signalPerSp);
/**
* @brief This function returns the ambient per SPAD in kcps/SPAD
*/
VL53L1X_ERROR VL53L1X_GetAmbientPerSpad(uint16_t dev, uint16_t *amb);
/**
* @brief This function returns the returned signal in kcps.
*/
VL53L1X_ERROR VL53L1X_GetSignalRate(uint16_t dev, uint16_t *signalRate);
/**
* @brief This function returns the current number of enabled SPADs
*/
VL53L1X_ERROR VL53L1X_GetSpadNb(uint16_t dev, uint16_t *spNb);
/**
* @brief This function returns the ambient rate in kcps
*/
VL53L1X_ERROR VL53L1X_GetAmbientRate(uint16_t dev, uint16_t *ambRate);
/**
* @brief This function returns the ranging status error \n
* (0:no error, 1:sigma failed, 2:signal failed, ..., 7:wrap-around)
*/
VL53L1X_ERROR VL53L1X_GetRangeStatus(uint16_t dev, uint8_t *rangeStatus);
/**
* @brief This function returns measurements and the range status in a single read access
*/
VL53L1X_ERROR VL53L1X_GetResult(uint16_t dev, VL53L1X_Result_t *pResult);
/**
* @brief This function programs the offset correction in mm
* @param OffsetValue:the offset correction value to program in mm
*/
VL53L1X_ERROR VL53L1X_SetOffset(uint16_t dev, int16_t OffsetValue);
/**
* @brief This function returns the programmed offset correction value in mm
*/
VL53L1X_ERROR VL53L1X_GetOffset(uint16_t dev, int16_t *Offset);
/**
* @brief This function programs the xtalk correction value in cps (Count Per Second).\n
* This is the number of photons reflected back from the cover glass in cps.
*/
VL53L1X_ERROR VL53L1X_SetXtalk(uint16_t dev, uint16_t XtalkValue);
/**
* @brief This function returns the current programmed xtalk correction value in cps
*/
VL53L1X_ERROR VL53L1X_GetXtalk(uint16_t dev, uint16_t *Xtalk);
/**
* @brief This function programs the threshold detection mode\n
* Example:\n
* VL53L1X_SetDistanceThreshold(dev,100,300,0,1): Below 100 \n
* VL53L1X_SetDistanceThreshold(dev,100,300,1,1): Above 300 \n
* VL53L1X_SetDistanceThreshold(dev,100,300,2,1): Out of window \n
* VL53L1X_SetDistanceThreshold(dev,100,300,3,1): In window \n
* @param dev : device address
* @param ThreshLow(in mm) : the threshold under which one the device raises an interrupt if Window = 0
* @param ThreshHigh(in mm) : the threshold above which one the device raises an interrupt if Window = 1
* @param Window detection mode : 0=below, 1=above, 2=out, 3=in
* @param IntOnNoTarget = 0 (No longer used - just use 0)
*/
VL53L1X_ERROR VL53L1X_SetDistanceThreshold(uint16_t dev, uint16_t ThreshLow,
uint16_t ThreshHigh, uint8_t Window,
uint8_t IntOnNoTarget);
/**
* @brief This function returns the window detection mode (0=below; 1=above; 2=out; 3=in)
*/
VL53L1X_ERROR VL53L1X_GetDistanceThresholdWindow(uint16_t dev, uint16_t *window);
/**
* @brief This function returns the low threshold in mm
*/
VL53L1X_ERROR VL53L1X_GetDistanceThresholdLow(uint16_t dev, uint16_t *low);
/**
* @brief This function returns the high threshold in mm
*/
VL53L1X_ERROR VL53L1X_GetDistanceThresholdHigh(uint16_t dev, uint16_t *high);
/**
* @brief This function programs the ROI (Region of Interest)\n
* The ROI position is centered, only the ROI size can be reprogrammed.\n
* The smallest acceptable ROI size = 4\n
* @param X:ROI Width; Y=ROI Height
*/
VL53L1X_ERROR VL53L1X_SetROI(uint16_t dev, uint16_t X, uint16_t Y);
/**
*@brief This function returns width X and height Y
*/
VL53L1X_ERROR VL53L1X_GetROI_XY(uint16_t dev, uint16_t *ROI_X, uint16_t *ROI_Y);
/**
*@brief This function programs the new user ROI center, please to be aware that there is no check in this function.
*if the ROI center vs ROI size is out of border the ranging function return error #13
*/
VL53L1X_ERROR VL53L1X_SetROICenter(uint16_t dev, uint8_t ROICenter);
/**
*@brief This function returns the current user ROI center
*/
VL53L1X_ERROR VL53L1X_GetROICenter(uint16_t dev, uint8_t *ROICenter);
/**
* @brief This function programs a new signal threshold in kcps (default=1024 kcps\n
*/
VL53L1X_ERROR VL53L1X_SetSignalThreshold(uint16_t dev, uint16_t signal);
/**
* @brief This function returns the current signal threshold in kcps
*/
VL53L1X_ERROR VL53L1X_GetSignalThreshold(uint16_t dev, uint16_t *signal);
/**
* @brief This function programs a new sigma threshold in mm (default=15 mm)
*/
VL53L1X_ERROR VL53L1X_SetSigmaThreshold(uint16_t dev, uint16_t sigma);
/**
* @brief This function returns the current sigma threshold in mm
*/
VL53L1X_ERROR VL53L1X_GetSigmaThreshold(uint16_t dev, uint16_t *signal);
/**
* @brief This function performs the temperature calibration.
* It is recommended to call this function any time the temperature might have changed by more than 8 deg C
* without sensor ranging activity for an extended period.
*/
VL53L1X_ERROR VL53L1X_StartTemperatureUpdate(uint16_t dev);
#endif

93
Firmware/Core/Inc/VL53L1X_calibration.h
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@ -0,0 +1,93 @@
/*
* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
*
* This file : part of VL53L1 Core and : dual licensed,
* either 'STMicroelectronics
* Proprietary license'
* or 'BSD 3-clause "New" or "Revised" License' , at your option.
*
********************************************************************************
*
* 'STMicroelectronics Proprietary license'
*
********************************************************************************
*
* License terms: STMicroelectronics Proprietary in accordance with licensing
* terms at www.st.com/sla0081
*
* STMicroelectronics confidential
* Reproduction and Communication of this document : strictly prohibited unless
* specifically authorized in writing by STMicroelectronics.
*
*
********************************************************************************
*
* Alternatively, VL53L1 Core may be distributed under the terms of
* 'BSD 3-clause "New" or "Revised" License', in which case the following
* provisions apply instead of the ones mentioned above :
*
********************************************************************************
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
********************************************************************************
*
*/
/**
* @file vl53l1x_calibration.h
* @brief Calibration Functions definition
*/
#ifndef _CALIBRATION_H_
#define _CALIBRATION_H_
/**
* @brief This function performs the offset calibration.\n
* The function returns the offset value found and programs the offset compensation into the device.
* @param TargetDistInMm target distance in mm, ST recommended 100 mm
* Target reflectance = grey17%
* @return 0:success, !=0: failed
* @return offset pointer contains the offset found in mm
*/
int8_t VL53L1X_CalibrateOffset(uint16_t dev, uint16_t TargetDistInMm, int16_t *offset);
/**
* @brief This function performs the xtalk calibration.\n
* The function returns the xtalk value found and programs the xtalk compensation to the device
* @param TargetDistInMm target distance in mm\n
* The target distance : the distance where the sensor start to "under range"\n
* due to the influence of the photons reflected back from the cover glass becoming strong\n
* It's also called inflection point\n
* Target reflectance = grey 17%
* @return 0: success, !=0: failed
* @return xtalk pointer contains the xtalk value found in cps (number of photons in count per second)
*/
int8_t VL53L1X_CalibrateXtalk(uint16_t dev, uint16_t TargetDistInMm, uint16_t *xtalk);
#endif

10
Firmware/Core/Inc/main.h
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@ -39,9 +39,11 @@ extern "C" {
#include "tusb.h" #include "tusb.h"
#include "Cam.h" #include "Cam.h"
#include "usb_descriptors.h" #include "usb_descriptors.h"
#include "VL53L1X_api.h"
//#include "Distance.h"
// #include "portable/st/synopsys/dcd_synopsys.c" // #include "portable/st/synopsys/dcd_synopsys.c"
// #include "portable/st/synopsys/synopsys_common.h" // #include "portable/st/synopsys/synopsys_common.h"
/* USER CODE END Includes */ /* USER CODE END Includes */
@ -68,6 +70,10 @@ void Error_Handler(void);
/* USER CODE END EFP */ /* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/ /* Private defines -----------------------------------------------------------*/
extern I2C_HandleTypeDef hi2c1;
#define MCO_Pin GPIO_PIN_0 #define MCO_Pin GPIO_PIN_0
#define MCO_GPIO_Port GPIOA #define MCO_GPIO_Port GPIOA
#define DEBUG_LED_Pin GPIO_PIN_1 #define DEBUG_LED_Pin GPIO_PIN_1

68
Firmware/Core/Inc/mxconstants.h
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/**
******************************************************************************
* File Name : mxconstants.h
* Description : This file contains the common defines of the application
******************************************************************************
*
* COPYRIGHT(c) 2015 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of 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 AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private define ------------------------------------------------------------*/
#define B1_Pin GPIO_PIN_13
#define B1_GPIO_Port GPIOC
#define USART_TX_Pin GPIO_PIN_2
#define USART_TX_GPIO_Port GPIOA
#define USART_RX_Pin GPIO_PIN_3
#define USART_RX_GPIO_Port GPIOA
#define LD2_Pin GPIO_PIN_5
#define LD2_GPIO_Port GPIOA
#define TMS_Pin GPIO_PIN_13
#define TMS_GPIO_Port GPIOA
#define TCK_Pin GPIO_PIN_14
#define TCK_GPIO_Port GPIOA
#define SWO_Pin GPIO_PIN_3
#define SWO_GPIO_Port GPIOB
#define VL53L0_OsDelay() HAL_Delay(1)
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

73
Firmware/Core/Inc/stm32xxx_hal.h
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@ -0,0 +1,73 @@
/**
******************************************************************************
* @file stm32xxx_hal.h
* @date 10/03/2015 18:07:07
* @brief This file allows to select the right stm32 hal file
******************************************************************************
*
* COPYRIGHT(c) 2015 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of 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 AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32xxx_HAL_H
#define __STM32xxx_HAL_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "mxconstants.h"
#ifdef STM32F401xE
#include "stm32f4xx_hal.h"
#define MCU_NAME "STM32F401xE"
#endif
#ifdef STM32L476xx
#include "stm32l4xx_hal.h"
#define MCU_NAME "STM32L476"
#endif
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
#if TRACE_UART
# define trace_printf uart_printf
extern int uart_printf(const char *msg, ...);
#else
# define trace_printf(...) (void)0
# define uart_printf(...) (void)0
#endif
/* Exported functions ------------------------------------------------------- */
#ifdef __cplusplus
}
#endif
#endif /* __STM32xxx_HAL_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/*
* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
*
* This file is part of VL53L1 Core and is dual licensed,
* either 'STMicroelectronics
* Proprietary license'
* or 'BSD 3-clause "New" or "Revised" License' , at your option.
*
********************************************************************************
*
* 'STMicroelectronics Proprietary license'
*
********************************************************************************
*
* License terms: STMicroelectronics Proprietary in accordance with licensing
* terms at www.st.com/sla0081
*
* STMicroelectronics confidential
* Reproduction and Communication of this document is strictly prohibited unless
* specifically authorized in writing by STMicroelectronics.
*
*
********************************************************************************
*
* Alternatively, VL53L1 Core may be distributed under the terms of
* 'BSD 3-clause "New" or "Revised" License', in which case the following
* provisions apply instead of the ones mentioned above :
*
********************************************************************************
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
********************************************************************************
*
*/
/**
* @file vl53l1_error_codes.h
*
* @brief Error Code definitions for VL53L1 API.
*
*/
#ifndef _VL53L1_ERROR_CODES_H_
#define _VL53L1_ERROR_CODES_H_
#include "vl53l1_types.h"
#ifdef __cplusplus
extern "C" {
#endif
/****************************************
* PRIVATE define do not edit
****************************************/
/** @defgroup VL53L1_define_Error_group Error and Warning code returned by API
* The following DEFINE are used to identify the PAL ERROR
* @{
*/
typedef int8_t VL53L1_Error;
#define VL53L1_ERROR_NONE ((VL53L1_Error) 0)
#define VL53L1_ERROR_CALIBRATION_WARNING ((VL53L1_Error) - 1)
/*!< Warning invalid calibration data may be in used
\a VL53L1_InitData()
\a VL53L1_GetOffsetCalibrationData
\a VL53L1_SetOffsetCalibrationData */
#define VL53L1_ERROR_MIN_CLIPPED ((VL53L1_Error) - 2)
/*!< Warning parameter passed was clipped to min before to be applied */
#define VL53L1_ERROR_UNDEFINED ((VL53L1_Error) - 3)
/*!< Unqualified error */
#define VL53L1_ERROR_INVALID_PARAMS ((VL53L1_Error) - 4)
/*!< Parameter passed is invalid or out of range */
#define VL53L1_ERROR_NOT_SUPPORTED ((VL53L1_Error) - 5)
/*!< Function is not supported in current mode or configuration */
#define VL53L1_ERROR_RANGE_ERROR ((VL53L1_Error) - 6)
/*!< Device report a ranging error interrupt status */
#define VL53L1_ERROR_TIME_OUT ((VL53L1_Error) - 7)
/*!< Aborted due to time out */
#define VL53L1_ERROR_MODE_NOT_SUPPORTED ((VL53L1_Error) - 8)
/*!< Asked mode is not supported by the device */
#define VL53L1_ERROR_BUFFER_TOO_SMALL ((VL53L1_Error) - 9)
/*!< ... */
#define VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL ((VL53L1_Error) - 10)
/*!< Supplied buffer is larger than I2C supports */
#define VL53L1_ERROR_GPIO_NOT_EXISTING ((VL53L1_Error) - 11)
/*!< User tried to setup a non-existing GPIO pin */
#define VL53L1_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L1_Error) - 12)
/*!< unsupported GPIO functionality */
#define VL53L1_ERROR_CONTROL_INTERFACE ((VL53L1_Error) - 13)
/*!< error reported from IO functions */
#define VL53L1_ERROR_INVALID_COMMAND ((VL53L1_Error) - 14)
/*!< The command is not allowed in the current device state
* (power down) */
#define VL53L1_ERROR_DIVISION_BY_ZERO ((VL53L1_Error) - 15)
/*!< In the function a division by zero occurs */
#define VL53L1_ERROR_REF_SPAD_INIT ((VL53L1_Error) - 16)
/*!< Error during reference SPAD initialization */
#define VL53L1_ERROR_GPH_SYNC_CHECK_FAIL ((VL53L1_Error) - 17)
/*!< GPH sync interrupt check fail - API out of sync with device*/
#define VL53L1_ERROR_STREAM_COUNT_CHECK_FAIL ((VL53L1_Error) - 18)
/*!< Stream count check fail - API out of sync with device */
#define VL53L1_ERROR_GPH_ID_CHECK_FAIL ((VL53L1_Error) - 19)
/*!< GPH ID check fail - API out of sync with device */
#define VL53L1_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL ((VL53L1_Error) - 20)
/*!< Zone dynamic config stream count check failed - API out of sync */
#define VL53L1_ERROR_ZONE_GPH_ID_CHECK_FAIL ((VL53L1_Error) - 21)
/*!< Zone dynamic config GPH ID check failed - API out of sync */
#define VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL ((VL53L1_Error) - 22)
/*!< Thrown when run_xtalk_extraction fn has 0 succesful samples
* when using the full array to sample the xtalk. In this case there is
* not enough information to generate new Xtalk parm info. The function
* will exit and leave the current xtalk parameters unaltered */
#define VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL ((VL53L1_Error) - 23)
/*!< Thrown when run_xtalk_extraction fn has found that the
* avg sigma estimate of the full array xtalk sample is > than the
* maximal limit allowed. In this case the xtalk sample is too noisy for
* measurement. The function will exit and leave the current xtalk parameters
* unaltered. */
#define VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL ((VL53L1_Error) - 24)
/*!< Thrown if there one of stages has no valid offset calibration
* samples. A fatal error calibration not valid */
#define VL53L1_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL ((VL53L1_Error) - 25)
/*!< Thrown if there one of stages has zero effective SPADS
* Traps the case when MM1 SPADs is zero.
* A fatal error calibration not valid */
#define VL53L1_ERROR_ZONE_CAL_NO_SAMPLE_FAIL ((VL53L1_Error) - 26)
/*!< Thrown if then some of the zones have no valid samples
* A fatal error calibration not valid */
#define VL53L1_ERROR_TUNING_PARM_KEY_MISMATCH ((VL53L1_Error) - 27)
/*!< Thrown if the tuning file key table version does not match with
* expected value. The driver expects the key table version to match
* the compiled default version number in the define
* #VL53L1_TUNINGPARM_KEY_TABLE_VERSION_DEFAULT
* */
#define VL53L1_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS ((VL53L1_Error) - 28)
/*!< Thrown if there are less than 5 good SPADs are available. */
#define VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH ((VL53L1_Error) - 29)
/*!< Thrown if the final reference rate is greater than
the upper reference rate limit - default is 40 Mcps.
Implies a minimum Q3 (x10) SPAD (5) selected */
#define VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW ((VL53L1_Error) - 30)
/*!< Thrown if the final reference rate is less than
the lower reference rate limit - default is 10 Mcps.
Implies maximum Q1 (x1) SPADs selected */
#define VL53L1_WARNING_OFFSET_CAL_MISSING_SAMPLES ((VL53L1_Error) - 31)
/*!< Thrown if there is less than the requested number of
* valid samples. */
#define VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH ((VL53L1_Error) - 32)
/*!< Thrown if the offset calibration range sigma estimate is greater
* than 8.0 mm. This is the recommended min value to yield a stable
* offset measurement */
#define VL53L1_WARNING_OFFSET_CAL_RATE_TOO_HIGH ((VL53L1_Error) - 33)
/*!< Thrown when VL53L1_run_offset_calibration() peak rate is greater
than that 50.0Mcps. This is the recommended max rate to avoid
pile-up influencing the offset measurement */
#define VL53L1_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW ((VL53L1_Error) - 34)
/*!< Thrown when VL53L1_run_offset_calibration() when one of stages
range has less that 5.0 effective SPADS. This is the recommended
min value to yield a stable offset */
#define VL53L1_WARNING_ZONE_CAL_MISSING_SAMPLES ((VL53L1_Error) - 35)
/*!< Thrown if one of more of the zones have less than
the requested number of valid samples */
#define VL53L1_WARNING_ZONE_CAL_SIGMA_TOO_HIGH ((VL53L1_Error) - 36)
/*!< Thrown if one or more zones have sigma estimate value greater
* than 8.0 mm. This is the recommended min value to yield a stable
* offset measurement */
#define VL53L1_WARNING_ZONE_CAL_RATE_TOO_HIGH ((VL53L1_Error) - 37)
/*!< Thrown if one of more zones have peak rate higher than
that 50.0Mcps. This is the recommended max rate to avoid
pile-up influencing the offset measurement */
#define VL53L1_WARNING_XTALK_MISSING_SAMPLES ((VL53L1_Error) - 38)
/*!< Thrown to notify that some of the xtalk samples did not yield
* valid ranging pulse data while attempting to measure
* the xtalk signal in vl53l1_run_xtalk_extract(). This can signify any of
* the zones are missing samples, for further debug information the
* xtalk_results struct should be referred to. This warning is for
* notification only, the xtalk pulse and shape have still been generated
*/
#define VL53L1_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT ((VL53L1_Error) - 39)
/*!< Thrown to notify that some of teh xtalk samples used for gradient
* generation did not yield valid ranging pulse data while attempting to
* measure the xtalk signal in vl53l1_run_xtalk_extract(). This can signify
* that any one of the zones 0-3 yielded no successful samples. The
* xtalk_results struct should be referred to for further debug info.
* This warning is for notification only, the xtalk pulse and shape
* have still been generated.
*/
#define VL53L1_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT ((VL53L1_Error) - 40)
/*!< Thrown to notify that some of the xtalk samples used for gradient
* generation did not pass the sigma limit check while attempting to
* measure the xtalk signal in vl53l1_run_xtalk_extract(). This can signify
* that any one of the zones 0-3 yielded an avg sigma_mm value > the limit.
* The xtalk_results struct should be referred to for further debug info.
* This warning is for notification only, the xtalk pulse and shape
* have still been generated.
*/
#define VL53L1_ERROR_NOT_IMPLEMENTED ((VL53L1_Error) - 41)
/*!< Tells requested functionality has not been implemented yet or
* not compatible with the device */
#define VL53L1_ERROR_PLATFORM_SPECIFIC_START ((VL53L1_Error) - 60)
/*!< Tells the starting code for platform */
/** @} VL53L1_define_Error_group */
#ifdef __cplusplus
}
#endif
#endif /* _VL53L1_ERROR_CODES_H_ */

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/**
* @file vl53l1_platform.h
* @brief Those platform functions are platform dependent and have to be implemented by the user
*/
#ifndef _VL53L1_PLATFORM_H_
#define _VL53L1_PLATFORM_H_
#include "vl53l1_types.h"
#ifdef __cplusplus
extern "C"
{
#endif
typedef struct {
uint32_t dummy;
} VL53L1_Dev_t;
typedef VL53L1_Dev_t *VL53L1_DEV;
/** @brief VL53L1_WriteMulti() definition.\n
* To be implemented by the developer
*/
int8_t VL53L1_WriteMulti(
uint16_t dev,
uint16_t index,
uint8_t *pdata,
uint32_t count);
/** @brief VL53L1_ReadMulti() definition.\n
* To be implemented by the developer
*/
int8_t VL53L1_ReadMulti(
uint16_t dev,
uint16_t index,
uint8_t *pdata,
uint32_t count);
/** @brief VL53L1_WrByte() definition.\n
* To be implemented by the developer
*/
int8_t VL53L1_WrByte(
uint16_t dev,
uint16_t index,
uint8_t data);
/** @brief VL53L1_WrWord() definition.\n
* To be implemented by the developer
*/
int8_t VL53L1_WrWord(
uint16_t dev,
uint16_t index,
uint16_t data);
/** @brief VL53L1_WrDWord() definition.\n
* To be implemented by the developer
*/
int8_t VL53L1_WrDWord(
uint16_t dev,
uint16_t index,
uint32_t data);
/** @brief VL53L1_RdByte() definition.\n
* To be implemented by the developer
*/
int8_t VL53L1_RdByte(
uint16_t dev,
uint16_t index,
uint8_t *pdata);
/** @brief VL53L1_RdWord() definition.\n
* To be implemented by the developer
*/
int8_t VL53L1_RdWord(
uint16_t dev,
uint16_t index,
uint16_t *pdata);
/** @brief VL53L1_RdDWord() definition.\n
* To be implemented by the developer
*/
int8_t VL53L1_RdDWord(
uint16_t dev,
uint16_t index,
uint32_t *data);
/** @brief VL53L1_WaitMs() definition.\n
* To be implemented by the developer
*/
int8_t VL53L1_WaitMs(
uint16_t dev,
int32_t wait_ms);
#ifdef __cplusplus
}
#endif
#endif

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/*******************************************************************************
Copyright (C) 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 vl53l1_platform_log.h
*
* @brief EwokPlus25 platform logging function definition
*/
#ifndef _VL53L1_PLATFORM_LOG_H_
#define _VL53L1_PLATFORM_LOG_H_
#ifdef VL53L1_LOG_ENABLE
#include "vl53l1_platform_user_config.h"
#ifdef _MSC_VER
# define EWOKPLUS_EXPORTS __declspec(dllexport)
#else
# define EWOKPLUS_EXPORTS
#endif
#include "vl53l1_types.h"
#ifdef __cplusplus
extern "C" {
#endif
#include <time.h>
/**
* @brief Set the level, output and specific functions for module logging.
*
*
* @param filename - full path of output log file, NULL for print to stdout
*
* @param modules - Module or None or All to trace
* VL53L1_TRACE_MODULE_NONE
* VL53L1_TRACE_MODULE_API
* VL53L1_TRACE_MODULE_CORE
* VL53L1_TRACE_MODULE_TUNING
* VL53L1_TRACE_MODULE_CHARACTERISATION
* VL53L1_TRACE_MODULE_PLATFORM
* VL53L1_TRACE_MODULE_ALL
*
* @param level - trace level
* VL53L1_TRACE_LEVEL_NONE
* VL53L1_TRACE_LEVEL_ERRORS
* VL53L1_TRACE_LEVEL_WARNING
* VL53L1_TRACE_LEVEL_INFO
* VL53L1_TRACE_LEVEL_DEBUG
* VL53L1_TRACE_LEVEL_ALL
* VL53L1_TRACE_LEVEL_IGNORE
*
* @param functions - function level to trace;
* VL53L1_TRACE_FUNCTION_NONE
* VL53L1_TRACE_FUNCTION_I2C
* VL53L1_TRACE_FUNCTION_ALL
*
* @return status - always VL53L1_ERROR_NONE
*
*/
#define VL53L1_TRACE_LEVEL_NONE 0x00000000
#define VL53L1_TRACE_LEVEL_ERRORS 0x00000001
#define VL53L1_TRACE_LEVEL_WARNING 0x00000002
#define VL53L1_TRACE_LEVEL_INFO 0x00000004
#define VL53L1_TRACE_LEVEL_DEBUG 0x00000008
#define VL53L1_TRACE_LEVEL_ALL 0x00000010
#define VL53L1_TRACE_LEVEL_IGNORE 0x00000020
#define VL53L1_TRACE_FUNCTION_NONE 0x00000000
#define VL53L1_TRACE_FUNCTION_I2C 0x00000001
#define VL53L1_TRACE_FUNCTION_ALL 0x7fffffff
#define VL53L1_TRACE_MODULE_NONE 0x00000000
#define VL53L1_TRACE_MODULE_API 0x00000001
#define VL53L1_TRACE_MODULE_CORE 0x00000002
#define VL53L1_TRACE_MODULE_PROTECTED 0x00000004
#define VL53L1_TRACE_MODULE_HISTOGRAM 0x00000008
#define VL53L1_TRACE_MODULE_REGISTERS 0x00000010
#define VL53L1_TRACE_MODULE_PLATFORM 0x00000020
#define VL53L1_TRACE_MODULE_NVM 0x00000040
#define VL53L1_TRACE_MODULE_CALIBRATION_DATA 0x00000080
#define VL53L1_TRACE_MODULE_NVM_DATA 0x00000100
#define VL53L1_TRACE_MODULE_HISTOGRAM_DATA 0x00000200
#define VL53L1_TRACE_MODULE_RANGE_RESULTS_DATA 0x00000400
#define VL53L1_TRACE_MODULE_XTALK_DATA 0x00000800
#define VL53L1_TRACE_MODULE_OFFSET_DATA 0x00001000
#define VL53L1_TRACE_MODULE_DATA_INIT 0x00002000
#define VL53L1_TRACE_MODULE_REF_SPAD_CHAR 0x00004000
#define VL53L1_TRACE_MODULE_SPAD_RATE_MAP 0x00008000
#ifdef PAL_EXTENDED
#define VL53L1_TRACE_MODULE_SPAD 0x01000000
#define VL53L1_TRACE_MODULE_FMT 0x02000000
#define VL53L1_TRACE_MODULE_UTILS 0x04000000
#define VL53L1_TRACE_MODULE_BENCH_FUNCS 0x08000000
#endif
#define VL53L1_TRACE_MODULE_CUSTOMER_API 0x40000000
#define VL53L1_TRACE_MODULE_ALL 0x7fffffff
extern uint32_t _trace_level;
/*
* NOTE: dynamically exported if we enable logging.
* this way, Python interfaces can access this function, but we don't
* need to include it in the .def files.
*/
EWOKPLUS_EXPORTS int8_t VL53L1_trace_config(
char *filename,
uint32_t modules,
uint32_t level,
uint32_t functions);
/**
* @brief Print trace module function.
*
* @param module - ??
* @param level - ??
* @param function - ??
* @param format - ??
*
*/
EWOKPLUS_EXPORTS void VL53L1_trace_print_module_function(
uint32_t module,
uint32_t level,
uint32_t function,
const char *format, ...);
/**
* @brief Get global _trace_functions parameter
*
* @return _trace_functions
*/
uint32_t VL53L1_get_trace_functions(void);
/**
* @brief Set global _trace_functions parameter
*
* @param[in] function : new function code
*/
void VL53L1_set_trace_functions(uint32_t function);
/*
* @brief Returns the current system tick count in [ms]
*
* @return time_ms : current time in [ms]
*
*/
uint32_t VL53L1_clock(void);
#define LOG_GET_TIME() \
((int)VL53L1_clock())
#define _LOG_TRACE_PRINT(module, level, function, ...) \
VL53L1_trace_print_module_function(module, level, function, ##__VA_ARGS__);
#define _LOG_FUNCTION_START(module, fmt, ...) \
VL53L1_trace_print_module_function(module, _trace_level, VL53L1_TRACE_FUNCTION_ALL, "%6ld <START> %s "fmt"\n", LOG_GET_TIME(), __FUNCTION__, ##__VA_ARGS__);
#define _LOG_FUNCTION_END(module, status, ...)\
VL53L1_trace_print_module_function(module, _trace_level, VL53L1_TRACE_FUNCTION_ALL, "%6ld <END> %s %d\n", LOG_GET_TIME(), __FUNCTION__, (int)status, ##__VA_ARGS__)
#define _LOG_FUNCTION_END_FMT(module, status, fmt, ...)\
VL53L1_trace_print_module_function(module, _trace_level, VL53L1_TRACE_FUNCTION_ALL, "%6ld <END> %s %d "fmt"\n", LOG_GET_TIME(), __FUNCTION__, (int)status, ##__VA_ARGS__)
#define _LOG_GET_TRACE_FUNCTIONS()\
VL53L1_get_trace_functions()
#define _LOG_SET_TRACE_FUNCTIONS(functions)\
VL53L1_set_trace_functions(functions)
#define _LOG_STRING_BUFFER(x) char x[VL53L1_MAX_STRING_LENGTH]
#ifdef __cplusplus
}
#endif
#else /* VL53L1_LOG_ENABLE - no logging */
#define _LOG_TRACE_PRINT(module, level, function, ...)
#define _LOG_FUNCTION_START(module, fmt, ...)
#define _LOG_FUNCTION_END(module, status, ...)
#define _LOG_FUNCTION_END_FMT(module, status, fmt, ...)
#define _LOG_GET_TRACE_FUNCTIONS() 0
#define _LOG_SET_TRACE_FUNCTIONS(functions)
#define _LOG_STRING_BUFFER(x)
#endif /* VL53L1_LOG_ENABLE */
#endif /* _VL53L1_PLATFORM_LOG_H_ */

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/*******************************************************************************
Copyright (C) 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 vl53l1_platform_user_config.h
*
* @brief EwokPlus compile time user modifiable configuration
*/
#ifndef _VL53L1_PLATFORM_USER_CONFIG_H_
#define _VL53L1_PLATFORM_USER_CONFIG_H_
#define VL53L1_BYTES_PER_WORD 2
#define VL53L1_BYTES_PER_DWORD 4
/* Define polling delays */
#define VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS 500
#define VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS 2000
#define VL53L1_TEST_COMPLETION_POLLING_TIMEOUT_MS 60000
#define VL53L1_POLLING_DELAY_MS 1
/* Define LLD TuningParms Page Base Address
* - Part of Patch_AddedTuningParms_11761
*/
#define VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS 0x8000
#define VL53L1_TUNINGPARM_PRIVATE_PAGE_BASE_ADDRESS 0xC000
#define VL53L1_GAIN_FACTOR__STANDARD_DEFAULT 0x0800
/*!< Default standard ranging gain correction factor
1.11 format. 1.0 = 0x0800, 0.980 = 0x07D7 */
#define VL53L1_OFFSET_CAL_MIN_EFFECTIVE_SPADS 0x0500
/*!< Lower Limit for the MM1 effective SPAD count during offset
calibration Format 8.8 0x0500 -> 5.0 effective SPADs */
#define VL53L1_OFFSET_CAL_MAX_PRE_PEAK_RATE_MCPS 0x1900
/*!< Max Limit for the pre range peak rate during offset
calibration Format 9.7 0x1900 -> 50.0 Mcps.
If larger then in pile up */
#define VL53L1_OFFSET_CAL_MAX_SIGMA_MM 0x0040
/*!< Max sigma estimate limit during offset calibration
Check applies to pre-range, mm1 and mm2 ranges
Format 14.2 0x0040 -> 16.0mm. */
#define VL53L1_MAX_USER_ZONES 169
/*!< Max number of user Zones - maximal limitation from
FW stream divide - value of 254 */
#define VL53L1_MAX_RANGE_RESULTS 2
/*!< Allocates storage for return and reference restults */
#define VL53L1_MAX_STRING_LENGTH 512
#endif /* _VL53L1_PLATFORM_USER_CONFIG_H_ */

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Firmware/Core/Inc/vl53l1_platform_user_data.h
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/*
* This file is part of VL53L1 Platform
*
* Copyright (c) 2016, STMicroelectronics - All Rights Reserved
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFIT S; 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 _VL53L1_PLATFORM_USER_DATA_H_
#define _VL53L1_PLATFORM_USER_DATA_H_
#include "stm32xxx_hal.h"
//#include "vl53l1_def.h"
#ifdef __cplusplus
extern "C"
{
#endif
typedef struct {
VL53L1_DevData_t Data;
uint8_t I2cDevAddr;
uint8_t comms_type;
uint16_t comms_speed_khz;
uint32_t new_data_ready_poll_duration_ms;
I2C_HandleTypeDef *I2cHandle;
} VL53L1_Dev_t;
typedef VL53L1_Dev_t *VL53L1_DEV;
#define VL53L1DevDataGet(Dev, field) (Dev->Data.field)
#define VL53L1DevDataSet(Dev, field, VL53L1_PRM_00005) ((Dev->Data.field) = (VL53L1_PRM_00005))
#define VL53L1DevStructGetLLDriverHandle(Dev) (&Dev->Data.LLData)
#define VL53L1DevStructGetLLResultsHandle(Dev) (&Dev->Data.llresults)
#ifdef __cplusplus
}
#endif
#endif

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Firmware/Core/Inc/vl53l1_platform_user_defines.h
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/*******************************************************************************
Copyright (C) 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 _VL53L1_PLATFORM_USER_DEFINES_H_
#define _VL53L1_PLATFORM_USER_DEFINES_H_
#ifdef __cplusplus
extern "C"
{
#endif
/**
* @file vl53l1_platform_user_defines.h
*
* @brief All end user OS/platform/application definitions
*/
/**
* @def do_division_u
* @brief customer supplied division operation - 64-bit unsigned
*
* @param dividend unsigned 64-bit numerator
* @param divisor unsigned 64-bit denominator
*/
#define do_division_u(dividend, divisor) (dividend / divisor)
/**
* @def do_division_s
* @brief customer supplied division operation - 64-bit signed
*
* @param dividend signed 64-bit numerator
* @param divisor signed 64-bit denominator
*/
#define do_division_s(dividend, divisor) (dividend / divisor)
/**
* @def WARN_OVERRIDE_STATUS
* @brief customer supplied macro to optionally output info when a specific
error has been overridden with success within the EwokPlus driver
*
* @param __X__ the macro which enabled the suppression
*/
#define WARN_OVERRIDE_STATUS(__X__)\
trace_print (VL53L1_TRACE_LEVEL_WARNING, #__X__);
#ifdef _MSC_VER
#define DISABLE_WARNINGS() { \
__pragma (warning (push)); \
__pragma (warning (disable:4127)); \
}
#define ENABLE_WARNINGS() { \
__pragma (warning (pop)); \
}
#else
#define DISABLE_WARNINGS()
#define ENABLE_WARNINGS()
#endif
#ifdef __cplusplus
}
#endif
#endif // _VL53L1_PLATFORM_USER_DEFINES_H_

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Firmware/Core/Inc/vl53l1_types.h
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/*******************************************************************************
Copyright (C) 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 vl53l1_types.h
* @brief VL53L1 types definition
*/
#ifndef _VL53L1_TYPES_H_
#define _VL53L1_TYPES_H_
/** @defgroup porting_type Basic type definition
* @ingroup api_platform
*
* @brief file vl53l1_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 <stdint.h>
#include <stddef.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#ifndef NULL
#error "Error NULL definition should be done. Please add required include "
#endif
#if !defined(STDINT_H) && !defined(_STDINT_H) && !defined(_GCC_STDINT_H) && !defined(__STDINT_DECLS) && !defined(_GCC_WRAP_STDINT_H) && !defined(_STDINT)
#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 VL53L1_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 /* VL53L1_TYPES_H_ */

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Firmware/Core/Src/VL53L1X_api.c
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/*
Copyright (c) 2017, STMicroelectronics - All Rights Reserved
This file : part of VL53L1 Core and : dual licensed,
either 'STMicroelectronics
Proprietary license'
or 'BSD 3-clause "New" or "Revised" License' , at your option.
*******************************************************************************
'STMicroelectronics Proprietary license'
*******************************************************************************
License terms: STMicroelectronics Proprietary in accordance with licensing
terms at www.st.com/sla0081
STMicroelectronics confidential
Reproduction and Communication of this document : strictly prohibited unless
specifically authorized in writing by STMicroelectronics.
*******************************************************************************
Alternatively, VL53L1 Core may be distributed under the terms of
'BSD 3-clause "New" or "Revised" License', in which case the following
provisions apply instead of the ones mentioned above :
*******************************************************************************
License terms: BSD 3-clause "New" or "Revised" License.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*******************************************************************************
*/
/**
* @file vl53l1x_api.c
* @brief Functions implementation
*/
#include "VL53L1X_api.h"
#include <string.h>
#if 0
uint8_t VL51L1X_NVM_CONFIGURATION[] = {
0x00, /* 0x00 : not user-modifiable */
0x29, /* 0x01 : 7 bits I2C address (default=0x29), use SetI2CAddress(). Warning: after changing the register value to a new I2C address, the device will only answer to the new address */
0x00, /* 0x02 : not user-modifiable */
0x00, /* 0x03 : not user-modifiable */
0x00, /* 0x04 : not user-modifiable */
0x00, /* 0x05 : not user-modifiable */
0x00, /* 0x06 : not user-modifiable */
0x00, /* 0x07 : not user-modifiable */
0x00, /* 0x08 : not user-modifiable */
0x50, /* 0x09 : not user-modifiable */
0x00, /* 0x0A : not user-modifiable */
0x00, /* 0x0B : not user-modifiable */
0x00, /* 0x0C : not user-modifiable */
0x00, /* 0x0D : not user-modifiable */
0x0a, /* 0x0E : not user-modifiable */
0x00, /* 0x0F : not user-modifiable */
0x00, /* 0x10 : not user-modifiable */
0x00, /* 0x11 : not user-modifiable */
0x00, /* 0x12 : not user-modifiable */
0x00, /* 0x13 : not user-modifiable */
0x00, /* 0x14 : not user-modifiable */
0x00, /* 0x15 : not user-modifiable */
0x00, /* 0x16 : Xtalk calibration value MSB (7.9 format in kcps), use SetXtalk() */
0x00, /* 0x17 : Xtalk calibration value LSB */
0x00, /* 0x18 : not user-modifiable */
0x00, /* 0x19 : not user-modifiable */
0x00, /* 0x1a : not user-modifiable */
0x00, /* 0x1b : not user-modifiable */
0x00, /* 0x1e : Part to Part offset x4 MSB (in mm), use SetOffset() */
0x50, /* 0x1f : Part to Part offset x4 LSB */
0x00, /* 0x20 : not user-modifiable */
0x00, /* 0x21 : not user-modifiable */
0x00, /* 0x22 : not user-modifiable */
0x00, /* 0x23 : not user-modifiable */
}
#endif
const uint8_t VL51L1X_DEFAULT_CONFIGURATION[] = {
0x00, /* 0x2d : set bit 2 and 5 to 1 for fast plus mode (1MHz I2C), else don't touch */
0x00, /* 0x2e : bit 0 if I2C pulled up at 1.8V, else set bit 0 to 1 (pull up at AVDD) */
0x00, /* 0x2f : bit 0 if GPIO pulled up at 1.8V, else set bit 0 to 1 (pull up at AVDD) */
0x01, /* 0x30 : set bit 4 to 0 for active high interrupt and 1 for active low (bits 3:0 must be 0x1), use SetInterruptPolarity() */
0x02, /* 0x31 : bit 1 = interrupt depending on the polarity, use CheckForDataReady() */
0x00, /* 0x32 : not user-modifiable */
0x02, /* 0x33 : not user-modifiable */
0x08, /* 0x34 : not user-modifiable */
0x00, /* 0x35 : not user-modifiable */
0x08, /* 0x36 : not user-modifiable */
0x10, /* 0x37 : not user-modifiable */
0x01, /* 0x38 : not user-modifiable */
0x01, /* 0x39 : not user-modifiable */
0x00, /* 0x3a : not user-modifiable */
0x00, /* 0x3b : not user-modifiable */
0x00, /* 0x3c : not user-modifiable */
0x00, /* 0x3d : not user-modifiable */
0xff, /* 0x3e : not user-modifiable */
0x00, /* 0x3f : not user-modifiable */
0x0F, /* 0x40 : not user-modifiable */
0x00, /* 0x41 : not user-modifiable */
0x00, /* 0x42 : not user-modifiable */
0x00, /* 0x43 : not user-modifiable */
0x00, /* 0x44 : not user-modifiable */
0x00, /* 0x45 : not user-modifiable */
0x20, /* 0x46 : interrupt configuration 0->level low detection, 1-> level high, 2-> Out of window, 3->In window, 0x20-> New sample ready , TBC */
0x0b, /* 0x47 : not user-modifiable */
0x00, /* 0x48 : not user-modifiable */
0x00, /* 0x49 : not user-modifiable */
0x02, /* 0x4a : not user-modifiable */
0x0a, /* 0x4b : not user-modifiable */
0x21, /* 0x4c : not user-modifiable */
0x00, /* 0x4d : not user-modifiable */
0x00, /* 0x4e : not user-modifiable */
0x05, /* 0x4f : not user-modifiable */
0x00, /* 0x50 : not user-modifiable */
0x00, /* 0x51 : not user-modifiable */
0x00, /* 0x52 : not user-modifiable */
0x00, /* 0x53 : not user-modifiable */
0xc8, /* 0x54 : not user-modifiable */
0x00, /* 0x55 : not user-modifiable */
0x00, /* 0x56 : not user-modifiable */
0x38, /* 0x57 : not user-modifiable */
0xff, /* 0x58 : not user-modifiable */
0x01, /* 0x59 : not user-modifiable */
0x00, /* 0x5a : not user-modifiable */
0x08, /* 0x5b : not user-modifiable */
0x00, /* 0x5c : not user-modifiable */
0x00, /* 0x5d : not user-modifiable */
0x01, /* 0x5e : not user-modifiable */
0xcc, /* 0x5f : not user-modifiable */
0x0f, /* 0x60 : not user-modifiable */
0x01, /* 0x61 : not user-modifiable */
0xf1, /* 0x62 : not user-modifiable */
0x0d, /* 0x63 : not user-modifiable */
0x01, /* 0x64 : Sigma threshold MSB (mm in 14.2 format for MSB+LSB), use SetSigmaThreshold(), default value 90 mm */
0x68, /* 0x65 : Sigma threshold LSB */
0x00, /* 0x66 : Min count Rate MSB (MCPS in 9.7 format for MSB+LSB), use SetSignalThreshold() */
0x80, /* 0x67 : Min count Rate LSB */
0x08, /* 0x68 : not user-modifiable */
0xb8, /* 0x69 : not user-modifiable */
0x00, /* 0x6a : not user-modifiable */
0x00, /* 0x6b : not user-modifiable */
0x00, /* 0x6c : Intermeasurement period MSB, 32 bits register, use SetIntermeasurementInMs() */
0x00, /* 0x6d : Intermeasurement period */
0x0f, /* 0x6e : Intermeasurement period */
0x89, /* 0x6f : Intermeasurement period LSB */
0x00, /* 0x70 : not user-modifiable */
0x00, /* 0x71 : not user-modifiable */
0x00, /* 0x72 : distance threshold high MSB (in mm, MSB+LSB), use SetD:tanceThreshold() */
0x00, /* 0x73 : distance threshold high LSB */
0x00, /* 0x74 : distance threshold low MSB ( in mm, MSB+LSB), use SetD:tanceThreshold() */
0x00, /* 0x75 : distance threshold low LSB */
0x00, /* 0x76 : not user-modifiable */
0x01, /* 0x77 : not user-modifiable */
0x0f, /* 0x78 : not user-modifiable */
0x0d, /* 0x79 : not user-modifiable */
0x0e, /* 0x7a : not user-modifiable */
0x0e, /* 0x7b : not user-modifiable */
0x00, /* 0x7c : not user-modifiable */
0x00, /* 0x7d : not user-modifiable */
0x02, /* 0x7e : not user-modifiable */
0xc7, /* 0x7f : ROI center, use SetROI() */
0xff, /* 0x80 : XY ROI (X=Width, Y=Height), use SetROI() */
0x9B, /* 0x81 : not user-modifiable */
0x00, /* 0x82 : not user-modifiable */
0x00, /* 0x83 : not user-modifiable */
0x00, /* 0x84 : not user-modifiable */
0x01, /* 0x85 : not user-modifiable */
0x00, /* 0x86 : clear interrupt, use ClearInterrupt() */
0x00 /* 0x87 : start ranging, use StartRanging() or StopRanging(), If you want an automatic start after VL53L1X_init() call, put 0x40 in location 0x87 */
};
static const uint8_t status_rtn[24] = { 255, 255, 255, 5, 2, 4, 1, 7, 3, 0,
255, 255, 9, 13, 255, 255, 255, 255, 10, 6,
255, 255, 11, 12
};
VL53L1X_ERROR VL53L1X_GetSWVersion(VL53L1X_Version_t *pVersion)
{
VL53L1X_ERROR Status = 0;
pVersion->major = VL53L1X_IMPLEMENTATION_VER_MAJOR;
pVersion->minor = VL53L1X_IMPLEMENTATION_VER_MINOR;
pVersion->build = VL53L1X_IMPLEMENTATION_VER_SUB;
pVersion->revision = VL53L1X_IMPLEMENTATION_VER_REVISION;
return Status;
}
VL53L1X_ERROR VL53L1X_SetI2CAddress(uint16_t dev, uint8_t new_address)
{
VL53L1X_ERROR status = 0;
status |= VL53L1_WrByte(dev, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, new_address >> 1);
return status;
}
VL53L1X_ERROR VL53L1X_SensorInit(uint16_t dev)
{
VL53L1X_ERROR status = 0;
uint8_t Addr = 0x00, tmp;
for (Addr = 0x2D; Addr <= 0x87; Addr++){
status |= VL53L1_WrByte(dev, Addr, VL51L1X_DEFAULT_CONFIGURATION[Addr - 0x2D]);
}
status |= VL53L1X_StartRanging(dev);
tmp = 0;
while(tmp==0){
status |= VL53L1X_CheckForDataReady(dev, &tmp);
}
status |= VL53L1X_ClearInterrupt(dev);
status |= VL53L1X_StopRanging(dev);
status |= VL53L1_WrByte(dev, VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); /* two bounds VHV */
status |= VL53L1_WrByte(dev, 0x0B, 0); /* start VHV from the previous temperature */
return status;
}
VL53L1X_ERROR VL53L1X_ClearInterrupt(uint16_t dev)
{
VL53L1X_ERROR status = 0;
status |= VL53L1_WrByte(dev, SYSTEM__INTERRUPT_CLEAR, 0x01);
return status;
}
VL53L1X_ERROR VL53L1X_SetInterruptPolarity(uint16_t dev, uint8_t NewPolarity)
{
uint8_t Temp;
VL53L1X_ERROR status = 0;
status |= VL53L1_RdByte(dev, GPIO_HV_MUX__CTRL, &Temp);
Temp = Temp & 0xEF;
status |= VL53L1_WrByte(dev, GPIO_HV_MUX__CTRL, Temp | (!(NewPolarity & 1)) << 4);
return status;
}
VL53L1X_ERROR VL53L1X_GetInterruptPolarity(uint16_t dev, uint8_t *pInterruptPolarity)
{
uint8_t Temp;
VL53L1X_ERROR status = 0;
status |= VL53L1_RdByte(dev, GPIO_HV_MUX__CTRL, &Temp);
Temp = Temp & 0x10;
*pInterruptPolarity = !(Temp>>4);
return status;
}
VL53L1X_ERROR VL53L1X_StartRanging(uint16_t dev)
{
VL53L1X_ERROR status = 0;
status |= VL53L1_WrByte(dev, SYSTEM__MODE_START, 0x40); /* Enable VL53L1X */
return status;
}
VL53L1X_ERROR VL53L1X_StopRanging(uint16_t dev)
{
VL53L1X_ERROR status = 0;
status |= VL53L1_WrByte(dev, SYSTEM__MODE_START, 0x00); /* Disable VL53L1X */
return status;
}
VL53L1X_ERROR VL53L1X_CheckForDataReady(uint16_t dev, uint8_t *isDataReady)
{
uint8_t Temp;
uint8_t IntPol;
VL53L1X_ERROR status = 0;
status |= VL53L1X_GetInterruptPolarity(dev, &IntPol);
status |= VL53L1_RdByte(dev, GPIO__TIO_HV_STATUS, &Temp);
/* Read in the register to check if a new value is available */
if (status == 0){
if ((Temp & 1) == IntPol)
*isDataReady = 1;
else
*isDataReady = 0;
}
return status;
}
VL53L1X_ERROR VL53L1X_SetTimingBudgetInMs(uint16_t dev, uint16_t TimingBudgetInMs)
{
uint16_t DM;
VL53L1X_ERROR status=0;
status |= VL53L1X_GetDistanceMode(dev, &DM);
if (DM == 0)
return 1;
else if (DM == 1) { /* Short DistanceMode */
switch (TimingBudgetInMs) {
case 15: /* only available in short distance mode */
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
0x01D);
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
0x0027);
break;
case 20:
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
0x0051);
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
0x006E);
break;
case 33:
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
0x00D6);
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
0x006E);
break;
case 50:
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
0x1AE);
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
0x01E8);
break;
case 100:
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
0x02E1);
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
0x0388);
break;
case 200:
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
0x03E1);
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
0x0496);
break;
case 500:
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
0x0591);
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
0x05C1);
break;
default:
status = 1;
break;
}
} else {
switch (TimingBudgetInMs) {
case 20:
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
0x001E);
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
0x0022);
break;
case 33:
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
0x0060);
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
0x006E);
break;
case 50:
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
0x00AD);
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
0x00C6);
break;
case 100:
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
0x01CC);
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
0x01EA);
break;
case 200:
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
0x02D9);
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
0x02F8);
break;
case 500:
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
0x048F);
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
0x04A4);
break;
default:
status = 1;
break;
}
}
return status;
}
VL53L1X_ERROR VL53L1X_GetTimingBudgetInMs(uint16_t dev, uint16_t *pTimingBudget)
{
uint16_t Temp;
VL53L1X_ERROR status = 0;
status |= VL53L1_RdWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, &Temp);
switch (Temp) {
case 0x001D :
*pTimingBudget = 15;
break;
case 0x0051 :
case 0x001E :
*pTimingBudget = 20;
break;
case 0x00D6 :
case 0x0060 :
*pTimingBudget = 33;
break;
case 0x1AE :
case 0x00AD :
*pTimingBudget = 50;
break;
case 0x02E1 :
case 0x01CC :
*pTimingBudget = 100;
break;
case 0x03E1 :
case 0x02D9 :
*pTimingBudget = 200;
break;
case 0x0591 :
case 0x048F :
*pTimingBudget = 500;
break;
default:
status = 1;
*pTimingBudget = 0;
}
return status;
}
VL53L1X_ERROR VL53L1X_SetDistanceMode(uint16_t dev, uint16_t DM)
{
uint16_t TB;
VL53L1X_ERROR status = 0;
status |= VL53L1X_GetTimingBudgetInMs(dev, &TB);
if (status != 0)
return 1;
switch (DM) {
case 1:
status = VL53L1_WrByte(dev, PHASECAL_CONFIG__TIMEOUT_MACROP, 0x14);
status = VL53L1_WrByte(dev, RANGE_CONFIG__VCSEL_PERIOD_A, 0x07);
status = VL53L1_WrByte(dev, RANGE_CONFIG__VCSEL_PERIOD_B, 0x05);
status = VL53L1_WrByte(dev, RANGE_CONFIG__VALID_PHASE_HIGH, 0x38);
status = VL53L1_WrWord(dev, SD_CONFIG__WOI_SD0, 0x0705);
status = VL53L1_WrWord(dev, SD_CONFIG__INITIAL_PHASE_SD0, 0x0606);
break;
case 2:
status = VL53L1_WrByte(dev, PHASECAL_CONFIG__TIMEOUT_MACROP, 0x0A);
status = VL53L1_WrByte(dev, RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F);
status = VL53L1_WrByte(dev, RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D);
status = VL53L1_WrByte(dev, RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8);
status = VL53L1_WrWord(dev, SD_CONFIG__WOI_SD0, 0x0F0D);
status = VL53L1_WrWord(dev, SD_CONFIG__INITIAL_PHASE_SD0, 0x0E0E);
break;
default:
status = 1;
break;
}
if (status == 0)
status |= VL53L1X_SetTimingBudgetInMs(dev, TB);
return status;
}
VL53L1X_ERROR VL53L1X_GetDistanceMode(uint16_t dev, uint16_t *DM)
{
uint8_t TempDM, status=0;
status |= VL53L1_RdByte(dev,PHASECAL_CONFIG__TIMEOUT_MACROP, &TempDM);
if (TempDM == 0x14)
*DM=1;
if(TempDM == 0x0A)
*DM=2;
return status;
}
VL53L1X_ERROR VL53L1X_SetInterMeasurementInMs(uint16_t dev, uint32_t InterMeasMs)
{
uint16_t ClockPLL;
VL53L1X_ERROR status = 0;
status |= VL53L1_RdWord(dev, VL53L1_RESULT__OSC_CALIBRATE_VAL, &ClockPLL);
ClockPLL = ClockPLL&0x3FF;
VL53L1_WrDWord(dev, VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD,
(uint32_t)(ClockPLL * InterMeasMs * 1.075));
return status;
}
VL53L1X_ERROR VL53L1X_GetInterMeasurementInMs(uint16_t dev, uint16_t *pIM)
{
uint16_t ClockPLL;
VL53L1X_ERROR status = 0;
uint32_t tmp;
status |= VL53L1_RdDWord(dev,VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD, &tmp);
*pIM = (uint16_t)tmp;
status |= VL53L1_RdWord(dev, VL53L1_RESULT__OSC_CALIBRATE_VAL, &ClockPLL);
ClockPLL = ClockPLL&0x3FF;
*pIM= (uint16_t)(*pIM/(ClockPLL*1.065));
return status;
}
VL53L1X_ERROR VL53L1X_BootState(uint16_t dev, uint8_t *state)
{
VL53L1X_ERROR status = 0;
uint8_t tmp = 0;
status |= VL53L1_RdByte(dev,VL53L1_FIRMWARE__SYSTEM_STATUS, &tmp);
*state = tmp;
return status;
}
VL53L1X_ERROR VL53L1X_GetSensorId(uint16_t dev, uint16_t *sensorId)
{
VL53L1X_ERROR status = 0;
uint16_t tmp = 0;
status |= VL53L1_RdWord(dev, VL53L1_IDENTIFICATION__MODEL_ID, &tmp);
*sensorId = tmp;
return status;
}
VL53L1X_ERROR VL53L1X_GetDistance(uint16_t dev, uint16_t *distance)
{
VL53L1X_ERROR status = 0;
uint16_t tmp;
status |= (VL53L1_RdWord(dev,
VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0, &tmp));
*distance = tmp;
return status;
}
VL53L1X_ERROR VL53L1X_GetSignalPerSpad(uint16_t dev, uint16_t *signalRate)
{
VL53L1X_ERROR status = 0;
uint16_t SpNb=1, signal;
status |= VL53L1_RdWord(dev,
VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0, &signal);
status |= VL53L1_RdWord(dev,
VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &SpNb);
*signalRate = (uint16_t) (200.0*signal/SpNb);
return status;
}
VL53L1X_ERROR VL53L1X_GetAmbientPerSpad(uint16_t dev, uint16_t *ambPerSp)
{
VL53L1X_ERROR status = 0;
uint16_t AmbientRate, SpNb = 1;
status |= VL53L1_RdWord(dev, RESULT__AMBIENT_COUNT_RATE_MCPS_SD, &AmbientRate);
status |= VL53L1_RdWord(dev, VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &SpNb);
*ambPerSp=(uint16_t) (200.0 * AmbientRate / SpNb);
return status;
}
VL53L1X_ERROR VL53L1X_GetSignalRate(uint16_t dev, uint16_t *signal)
{
VL53L1X_ERROR status = 0;
uint16_t tmp;
status |= VL53L1_RdWord(dev,
VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0, &tmp);
*signal = tmp*8;
return status;
}
VL53L1X_ERROR VL53L1X_GetSpadNb(uint16_t dev, uint16_t *spNb)
{
VL53L1X_ERROR status = 0;
uint16_t tmp;
status |= VL53L1_RdWord(dev,
VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &tmp);
*spNb = tmp >> 8;
return status;
}
VL53L1X_ERROR VL53L1X_GetAmbientRate(uint16_t dev, uint16_t *ambRate)
{
VL53L1X_ERROR status = 0;
uint16_t tmp;
status |= VL53L1_RdWord(dev, RESULT__AMBIENT_COUNT_RATE_MCPS_SD, &tmp);
*ambRate = tmp*8;
return status;
}
VL53L1X_ERROR VL53L1X_GetRangeStatus(uint16_t dev, uint8_t *rangeStatus)
{
VL53L1X_ERROR status = 0;
uint8_t RgSt;
*rangeStatus = 255;
status |= VL53L1_RdByte(dev, VL53L1_RESULT__RANGE_STATUS, &RgSt);
RgSt = RgSt & 0x1F;
if (RgSt < 24)
*rangeStatus = status_rtn[RgSt];
return status;
}
VL53L1X_ERROR VL53L1X_GetResult(uint16_t dev, VL53L1X_Result_t *pResult)
{
VL53L1X_ERROR status = 0;
uint8_t Temp[17];
uint8_t RgSt = 255;
status |= VL53L1_ReadMulti(dev, VL53L1_RESULT__RANGE_STATUS, Temp, 17);
RgSt = Temp[0] & 0x1F;
if (RgSt < 24)
RgSt = status_rtn[RgSt];
pResult->Status = RgSt;
pResult->Ambient = (Temp[7] << 8 | Temp[8]) * 8;
pResult->NumSPADs = Temp[3];
pResult->SigPerSPAD = (Temp[15] << 8 | Temp[16]) * 8;
pResult->Distance = Temp[13] << 8 | Temp[14];
return status;
}
VL53L1X_ERROR VL53L1X_SetOffset(uint16_t dev, int16_t OffsetValue)
{
VL53L1X_ERROR status = 0;
int16_t Temp;
Temp = (OffsetValue*4);
status |= VL53L1_WrWord(dev, ALGO__PART_TO_PART_RANGE_OFFSET_MM,
(uint16_t)Temp);
status |= VL53L1_WrWord(dev, MM_CONFIG__INNER_OFFSET_MM, 0x0);
status |= VL53L1_WrWord(dev, MM_CONFIG__OUTER_OFFSET_MM, 0x0);
return status;
}
VL53L1X_ERROR VL53L1X_GetOffset(uint16_t dev, int16_t *offset)
{
VL53L1X_ERROR status = 0;
uint16_t Temp;
status |= VL53L1_RdWord(dev,ALGO__PART_TO_PART_RANGE_OFFSET_MM, &Temp);
Temp = Temp<<3;
Temp = Temp>>5;
*offset = (int16_t)(Temp);
if(*offset > 1024)
{
*offset = *offset - 2048;
}
return status;
}
VL53L1X_ERROR VL53L1X_SetXtalk(uint16_t dev, uint16_t XtalkValue)
{
/* XTalkValue in count per second to avoid float type */
VL53L1X_ERROR status = 0;
status |= VL53L1_WrWord(dev,
ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS,
0x0000);
status |= VL53L1_WrWord(dev, ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS,
0x0000);
status |= VL53L1_WrWord(dev, ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS,
(XtalkValue<<9)/1000); /* * << 9 (7.9 format) and /1000 to convert cps to kpcs */
return status;
}
VL53L1X_ERROR VL53L1X_GetXtalk(uint16_t dev, uint16_t *xtalk )
{
VL53L1X_ERROR status = 0;
status |= VL53L1_RdWord(dev,ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS, xtalk);
*xtalk = (uint16_t)((*xtalk*1000)>>9); /* * 1000 to convert kcps to cps and >> 9 (7.9 format) */
return status;
}
VL53L1X_ERROR VL53L1X_SetDistanceThreshold(uint16_t dev, uint16_t ThreshLow,
uint16_t ThreshHigh, uint8_t Window,
uint8_t IntOnNoTarget)
{
VL53L1X_ERROR status = 0;
uint8_t Temp = 0;
status |= VL53L1_RdByte(dev, SYSTEM__INTERRUPT_CONFIG_GPIO, &Temp);
Temp = Temp & 0x47;
if (IntOnNoTarget == 0) {
status = VL53L1_WrByte(dev, SYSTEM__INTERRUPT_CONFIG_GPIO,
(Temp | (Window & 0x07)));
} else {
status = VL53L1_WrByte(dev, SYSTEM__INTERRUPT_CONFIG_GPIO,
((Temp | (Window & 0x07)) | 0x40));
}
status |= VL53L1_WrWord(dev, SYSTEM__THRESH_HIGH, ThreshHigh);
status |= VL53L1_WrWord(dev, SYSTEM__THRESH_LOW, ThreshLow);
return status;
}
VL53L1X_ERROR VL53L1X_GetDistanceThresholdWindow(uint16_t dev, uint16_t *window)
{
VL53L1X_ERROR status = 0;
uint8_t tmp;
status |= VL53L1_RdByte(dev,SYSTEM__INTERRUPT_CONFIG_GPIO, &tmp);
*window = (uint16_t)(tmp & 0x7);
return status;
}
VL53L1X_ERROR VL53L1X_GetDistanceThresholdLow(uint16_t dev, uint16_t *low)
{
VL53L1X_ERROR status = 0;
uint16_t tmp;
status |= VL53L1_RdWord(dev,SYSTEM__THRESH_LOW, &tmp);
*low = tmp;
return status;
}
VL53L1X_ERROR VL53L1X_GetDistanceThresholdHigh(uint16_t dev, uint16_t *high)
{
VL53L1X_ERROR status = 0;
uint16_t tmp;
status |= VL53L1_RdWord(dev,SYSTEM__THRESH_HIGH, &tmp);
*high = tmp;
return status;
}
VL53L1X_ERROR VL53L1X_SetROICenter(uint16_t dev, uint8_t ROICenter)
{
VL53L1X_ERROR status = 0;
status |= VL53L1_WrByte(dev, ROI_CONFIG__USER_ROI_CENTRE_SPAD, ROICenter);
return status;
}
VL53L1X_ERROR VL53L1X_GetROICenter(uint16_t dev, uint8_t *ROICenter)
{
VL53L1X_ERROR status = 0;
uint8_t tmp;
status |= VL53L1_RdByte(dev, ROI_CONFIG__USER_ROI_CENTRE_SPAD, &tmp);
*ROICenter = tmp;
return status;
}
VL53L1X_ERROR VL53L1X_SetROI(uint16_t dev, uint16_t X, uint16_t Y)
{
uint8_t OpticalCenter;
VL53L1X_ERROR status = 0;
status |=VL53L1_RdByte(dev, VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD, &OpticalCenter);
if (X > 16)
X = 16;
if (Y > 16)
Y = 16;
if (X > 10 || Y > 10){
OpticalCenter = 199;
}
status |= VL53L1_WrByte(dev, ROI_CONFIG__USER_ROI_CENTRE_SPAD, OpticalCenter);
status |= VL53L1_WrByte(dev, ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE,
(Y - 1) << 4 | (X - 1));
return status;
}
VL53L1X_ERROR VL53L1X_GetROI_XY(uint16_t dev, uint16_t *ROI_X, uint16_t *ROI_Y)
{
VL53L1X_ERROR status = 0;
uint8_t tmp;
status = VL53L1_RdByte(dev,ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE, &tmp);
*ROI_X |= ((uint16_t)tmp & 0x0F) + 1;
*ROI_Y |= (((uint16_t)tmp & 0xF0) >> 4) + 1;
return status;
}
VL53L1X_ERROR VL53L1X_SetSignalThreshold(uint16_t dev, uint16_t Signal)
{
VL53L1X_ERROR status = 0;
status |= VL53L1_WrWord(dev,RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS,Signal>>3);
return status;
}
VL53L1X_ERROR VL53L1X_GetSignalThreshold(uint16_t dev, uint16_t *signal)
{
VL53L1X_ERROR status = 0;
uint16_t tmp;
status |= VL53L1_RdWord(dev,
RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, &tmp);
*signal = tmp <<3;
return status;
}
VL53L1X_ERROR VL53L1X_SetSigmaThreshold(uint16_t dev, uint16_t Sigma)
{
VL53L1X_ERROR status = 0;
if(Sigma>(0xFFFF>>2)){
return 1;
}
/* 16 bits register 14.2 format */
status |= VL53L1_WrWord(dev,RANGE_CONFIG__SIGMA_THRESH,Sigma<<2);
return status;
}
VL53L1X_ERROR VL53L1X_GetSigmaThreshold(uint16_t dev, uint16_t *sigma)
{
VL53L1X_ERROR status = 0;
uint16_t tmp;
status |= VL53L1_RdWord(dev,RANGE_CONFIG__SIGMA_THRESH, &tmp);
*sigma = tmp >> 2;
return status;
}
VL53L1X_ERROR VL53L1X_StartTemperatureUpdate(uint16_t dev)
{
VL53L1X_ERROR status = 0;
uint8_t tmp=0;
status |= VL53L1_WrByte(dev,VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,0x81); /* full VHV */
status |= VL53L1_WrByte(dev,0x0B,0x92);
status |= VL53L1X_StartRanging(dev);
while(tmp==0){
status |= VL53L1X_CheckForDataReady(dev, &tmp);
}
tmp = 0;
status |= VL53L1X_ClearInterrupt(dev);
status |= VL53L1X_StopRanging(dev);
status |= VL53L1_WrByte(dev, VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); /* two bounds VHV */
status |= VL53L1_WrByte(dev, 0x0B, 0); /* start VHV from the previous temperature */
return status;
}

138
Firmware/Core/Src/VL53L1X_calibration.c
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@ -0,0 +1,138 @@
/*
* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
*
* This file : part of VL53L1 Core and : dual licensed,
* either 'STMicroelectronics
* Proprietary license'
* or 'BSD 3-clause "New" or "Revised" License' , at your option.
*
********************************************************************************
*
* 'STMicroelectronics Proprietary license'
*
********************************************************************************
*
* License terms: STMicroelectronics Proprietary in accordance with licensing
* terms at www.st.com/sla0081
*
* STMicroelectronics confidential
* Reproduction and Communication of this document : strictly prohibited unless
* specifically authorized in writing by STMicroelectronics.
*
*
********************************************************************************
*
* Alternatively, VL53L1 Core may be distributed under the terms of
* 'BSD 3-clause "New" or "Revised" License', in which case the following
* provisions apply instead of the ones mentioned above :
*
********************************************************************************
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
********************************************************************************
*
*/
/**
* @file vl53l1x_calibration.c
* @brief Calibration functions implementation
*/
#include "VL53L1X_api.h"
#include "VL53L1X_calibration.h"
#define ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x001E
#define MM_CONFIG__INNER_OFFSET_MM 0x0020
#define MM_CONFIG__OUTER_OFFSET_MM 0x0022
int8_t VL53L1X_CalibrateOffset(uint16_t dev, uint16_t TargetDistInMm, int16_t *offset)
{
uint8_t i, tmp;
int16_t AverageDistance = 0;
uint16_t distance;
VL53L1X_ERROR status = 0;
status |= VL53L1_WrWord(dev, ALGO__PART_TO_PART_RANGE_OFFSET_MM, 0x0);
status |= VL53L1_WrWord(dev, MM_CONFIG__INNER_OFFSET_MM, 0x0);
status |= VL53L1_WrWord(dev, MM_CONFIG__OUTER_OFFSET_MM, 0x0);
status |= VL53L1X_StartRanging(dev); /* Enable VL53L1X sensor */
for (i = 0; i < 50; i++) {
tmp = 0;
while (tmp == 0){
status |= VL53L1X_CheckForDataReady(dev, &tmp);
}
status |= VL53L1X_GetDistance(dev, &distance);
status |= VL53L1X_ClearInterrupt(dev);
AverageDistance = AverageDistance + distance;
}
status |= VL53L1X_StopRanging(dev);
AverageDistance = AverageDistance / 50;
*offset = TargetDistInMm - AverageDistance;
status |= VL53L1_WrWord(dev, ALGO__PART_TO_PART_RANGE_OFFSET_MM, *offset*4);
return status;
}
int8_t VL53L1X_CalibrateXtalk(uint16_t dev, uint16_t TargetDistInMm, uint16_t *xtalk)
{
uint8_t i, tmp;
float AverageSignalRate = 0;
float AverageDistance = 0;
float AverageSpadNb = 0;
uint16_t distance = 0, spadNum;
uint16_t sr;
VL53L1X_ERROR status = 0;
uint32_t calXtalk;
status |= VL53L1_WrWord(dev, 0x0016,0);
status |= VL53L1X_StartRanging(dev);
for (i = 0; i < 50; i++) {
tmp = 0;
while (tmp == 0){
status |= VL53L1X_CheckForDataReady(dev, &tmp);
}
status |= VL53L1X_GetSignalRate(dev, &sr);
status |= VL53L1X_GetDistance(dev, &distance);
status |= VL53L1X_ClearInterrupt(dev);
AverageDistance = AverageDistance + distance;
status = VL53L1X_GetSpadNb(dev, &spadNum);
AverageSpadNb = AverageSpadNb + spadNum;
AverageSignalRate =
AverageSignalRate + sr;
}
status |= VL53L1X_StopRanging(dev);
AverageDistance = AverageDistance / 50;
AverageSpadNb = AverageSpadNb / 50;
AverageSignalRate = AverageSignalRate / 50;
/* Calculate Xtalk value */
calXtalk = (uint16_t)(512*(AverageSignalRate*(1-(AverageDistance/TargetDistInMm)))/AverageSpadNb);
if(calXtalk > 0xffff)
calXtalk = 0xffff;
*xtalk = (uint16_t)((calXtalk*1000)>>9);
status |= VL53L1_WrWord(dev, 0x0016, (uint16_t)calXtalk);
return status;
}

67
Firmware/Core/Src/main.c
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@ -40,7 +40,6 @@
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1; I2C_HandleTypeDef hi2c1;
SPI_HandleTypeDef hspi1; SPI_HandleTypeDef hspi1;
DMA_HandleTypeDef hdma_spi1_rx; DMA_HandleTypeDef hdma_spi1_rx;
DMA_HandleTypeDef hdma_spi1_tx; DMA_HandleTypeDef hdma_spi1_tx;
@ -49,6 +48,11 @@ UART_HandleTypeDef huart2;
PCD_HandleTypeDef hpcd_USB_FS; PCD_HandleTypeDef hpcd_USB_FS;
uint16_t dev=0x52;
int status=0;
volatile int IntCount;
#define isInterrupt 1 /* If isInterrupt = 1 then device working in interrupt mode, else device working in polling mode */
/* USER CODE BEGIN PV */ /* USER CODE BEGIN PV */
//DAC_HandleTypeDef hdac1; //DAC_HandleTypeDef hdac1;
@ -82,6 +86,16 @@ static void MX_USB_PCD_Init(void);
int main(void) int main(void)
{ {
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
//uint8_t byteData, sensorState=0;
//uint16_t wordData;
//uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
uint16_t Distance = 0;
uint16_t SignalRate;
uint16_t AmbientRate;
uint16_t SpadNum;
uint8_t RangeStatus;
//uint8_t dataReady;
/* USER CODE END 1 */ /* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/ /* MCU Configuration--------------------------------------------------------*/
@ -109,9 +123,28 @@ int main(void)
MX_I2C1_Init(); MX_I2C1_Init();
MX_USB_PCD_Init(); MX_USB_PCD_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
HAL_PWREx_EnableVddUSB();
HAL_Delay(100);
//ToFSensor = 1; // Select ToFSensor: 0=Left, 1=Center, 2=Right
status = VL53L1X_SensorInit(dev);
status = VL53L1X_SetDistanceMode(dev, 2);
status = VL53L1X_SetTimingBudgetInMs(dev, 100);
status = VL53L1X_SetInterMeasurementInMs(dev, 100);
status = VL53L1X_StartRanging(dev);
HAL_Delay(1000);
status = VL53L1X_GetRangeStatus(dev, &RangeStatus);
status = VL53L1X_GetDistance(dev, &Distance);
status = VL53L1X_GetSignalRate(dev, &SignalRate);
status = VL53L1X_GetAmbientRate(dev, &AmbientRate);
status = VL53L1X_GetSpadNb(dev, &SpadNum);
status = VL53L1X_ClearInterrupt(dev);
LED_On(); LED_On();
HAL_PWREx_EnableVddUSB();
HAL_Delay(1); HAL_Delay(1);
tud_init(BOARD_DEVICE_RHPORT_NUM); tud_init(BOARD_DEVICE_RHPORT_NUM);
@ -127,6 +160,7 @@ int main(void)
uint8_t cdc_buff[CDC_BUFF_SIZE+CDC_FRAME_SIZE]; uint8_t cdc_buff[CDC_BUFF_SIZE+CDC_FRAME_SIZE];
for(int i = 0; i < (CDC_BUFF_SIZE+CDC_FRAME_SIZE); i++) cdc_buff[i] = 0x00; for(int i = 0; i < (CDC_BUFF_SIZE+CDC_FRAME_SIZE); i++) cdc_buff[i] = 0x00;
//Distance_Sensor_Init(&hi2c1);
Cam_Init(&hi2c1, &hspi1); Cam_Init(&hi2c1, &hspi1);
@ -147,6 +181,10 @@ int main(void)
//for(int i = 0; i < CDC_BUFF_SIZE; i++) cdc_buff[i] = 0x00; //for(int i = 0; i < CDC_BUFF_SIZE; i++) cdc_buff[i] = 0x00;
VL53L1X_GetDistance(dev, &Distance);
HAL_Delay(2);
VL53L1X_ClearInterrupt(dev);
CS_Off(); CS_Off();
CS_On(); CS_On();
@ -155,6 +193,8 @@ int main(void)
image_size = Cam_FIFO_length(&hspi1); image_size = Cam_FIFO_length(&hspi1);
Cam_Start_Burst_Read(&hspi1); Cam_Start_Burst_Read(&hspi1);
//getDistance(&hi2c1);
LED_On(); LED_On();
continue; continue;
@ -198,6 +238,29 @@ int main(void)
} }
while(last_sent_idx < buff_stop_idx); while(last_sent_idx < buff_stop_idx);
if(buff_stop_idx >= (int)image_size){
HAL_Delay(100);
tud_task();
uint8_t distance_buff[12];
distance_buff[0] = 0xff;
distance_buff[1] = 0xff;
distance_buff[2] = 0xff;
distance_buff[3] = 0x69;
distance_buff[4] = (uint8_t)(Distance >> 8);
distance_buff[5] = (Distance & 0xff);
distance_buff[6] = 0xff;
distance_buff[7] = 0x69;
distance_buff[8] = 0xff;
distance_buff[9] = 0xff;
distance_buff[10] = '\n';
distance_buff[11] = '\r';
tud_cdc_write(&distance_buff[0], 12);
HAL_Delay(1);
tud_cdc_write_flush();
HAL_Delay(1);
tud_task();
}
/* USER CODE END WHILE */ /* USER CODE END WHILE */
/* USER CODE BEGIN 3 */ /* USER CODE BEGIN 3 */

78
Firmware/Core/Src/syscalls.c
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@ -0,0 +1,78 @@
/*
* This file is create on December 8 2017 from the original syscalls.c to allow using the _write function in AC6
*
* Copyright (c) 2016, STMicroelectronics - All Rights Reserved
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
/*
*******************************************************************************
**
** File : syscalls.c
**
** Abstract : System Workbench Minimal System calls file
**
** For more information about which c-functions
** need which of these lowlevel functions
** please consult the Newlib libc-manual
**
** Environment : System Workbench for MCU
**
** Distribution: The file is distributed <EFBFBD>as is,<EFBFBD> without any warranty
** of any kind.
**
** (c)Copyright System Workbench for MCU.
** You may use this file as-is or modify it according to the needs of your
** project. Distribution of this file (unmodified or modified) is not
** permitted. System Workbench for MCU permit registered System Workbench(R) users the
** rights to distribute the assembled, compiled & linked contents of this
** file as part of an application binary file, provided that it is built
** using the System Workbench for MCU toolchain.
**
*****************************************************************************
*/
/*
extern int fputc(int ch) __attribute__((weak));
int _write(int file, char *ptr, int len)
{
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
fputc(*ptr++);
}
return len;
}
*/

458
Firmware/Core/Src/vl53l1_platform.c
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@ -0,0 +1,458 @@
/*
* This file is part of VL53L1 Platform
*
* Copyright (c) 2016, STMicroelectronics - All Rights Reserved
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#include "vl53l1_platform.h"
#include "vl53l1_platform_log.h"
//#include "vl53l1_api.h"
#include "vl53l1_platform_user_config.h"
#include "stm32xxx_hal.h"
#include "main.h"
#include <string.h>
#include <time.h>
#include <math.h>
#include "vl53l1_error_codes.h"
//#include "X-NUCLEO-53L1A1.h"
#define I2C_TIME_OUT_BASE 10
#define I2C_TIME_OUT_BYTE 1
#ifdef VL53L1_LOG_ENABLE
#define trace_print(level, ...) VL53L1_trace_print_module_function(VL53L1_TRACE_MODULE_PLATFORM, level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__)
#define trace_i2c(...) VL53L1_trace_print_module_function(VL53L1_TRACE_MODULE_NONE, VL53L1_TRACE_LEVEL_NONE, VL53L1_TRACE_FUNCTION_I2C, ##__VA_ARGS__)
#endif
#ifndef HAL_I2C_MODULE_ENABLED
#warning "HAL I2C module must be enable "
#endif
//#define VL53L0X_pI2cHandle (&hi2c1)
/* when not customized by application define dummy one */
#ifndef VL53L1_GetI2cBus
/** This macro can be overloaded by user to enforce i2c sharing in RTOS context
*/
# define VL53L1_GetI2cBus(...) (void)0
#endif
#ifndef VL53L1_PutI2cBus
/** This macro can be overloaded by user to enforce i2c sharing in RTOS context
*/
# define VL53L1_PutI2cBus(...) (void)0
#endif
uint8_t _I2CBuffer[256];
int _I2CWrite(uint16_t Dev, uint8_t *pdata, uint32_t count) {
int status;
//int i2c_time_out = I2C_TIME_OUT_BASE+ count* I2C_TIME_OUT_BYTE;
status = HAL_I2C_Master_Transmit(&hi2c1, Dev, pdata, count, HAL_MAX_DELAY);
if (status) {
//VL6180x_ErrLog("I2C error 0x%x %d len", dev->I2cAddr, len);
//XNUCLEO6180XA1_I2C1_Init(&hi2c1);
}
return status;
}
int _I2CRead(uint16_t Dev, uint8_t *pdata, uint32_t count) {
int status;
//int i2c_time_out = I2C_TIME_OUT_BASE+ count* I2C_TIME_OUT_BYTE;
status = HAL_I2C_Master_Receive(&hi2c1, Dev|1, pdata, count, HAL_MAX_DELAY);
if (status) {
//VL6180x_ErrLog("I2C error 0x%x %d len", dev->I2cAddr, len);
//XNUCLEO6180XA1_I2C1_Init(&hi2c1);
}
return status;
}
int8_t VL53L1_WriteMulti(uint16_t Dev, uint16_t index, uint8_t *pdata, uint32_t count) {
int status_int;
VL53L1_Error Status = VL53L1_ERROR_NONE;
if (count > sizeof(_I2CBuffer) - 1) {
return VL53L1_ERROR_INVALID_PARAMS;
}
_I2CBuffer[0] = index>>8;
_I2CBuffer[1] = index&0xFF;
memcpy(&_I2CBuffer[2], pdata, count);
VL53L1_GetI2cBus();
status_int = _I2CWrite(Dev, _I2CBuffer, count + 2);
if (status_int != 0) {
Status = VL53L1_ERROR_CONTROL_INTERFACE;
}
VL53L1_PutI2cBus();
return Status;
}
// the ranging_sensor_comms.dll will take care of the page selection
VL53L1_Error VL53L1_ReadMulti(uint16_t Dev, uint16_t index, uint8_t *pdata, uint32_t count) {
VL53L1_Error Status = VL53L1_ERROR_NONE;
int32_t status_int;
_I2CBuffer[0] = index>>8;
_I2CBuffer[1] = index&0xFF;
VL53L1_GetI2cBus();
status_int = _I2CWrite(Dev, _I2CBuffer, 2);
if (status_int != 0) {
Status = VL53L1_ERROR_CONTROL_INTERFACE;
goto done;
}
status_int = _I2CRead(Dev, pdata, count);
if (status_int != 0) {
Status = VL53L1_ERROR_CONTROL_INTERFACE;
}
done:
VL53L1_PutI2cBus();
return Status;
}
VL53L1_Error VL53L1_WrByte(uint16_t Dev, uint16_t index, uint8_t data) {
VL53L1_Error Status = VL53L1_ERROR_NONE;
int32_t status_int;
_I2CBuffer[0] = index>>8;
_I2CBuffer[1] = index&0xFF;
_I2CBuffer[2] = data;
VL53L1_GetI2cBus();
status_int = _I2CWrite(Dev, _I2CBuffer, 3);
if (status_int != 0) {
Status = VL53L1_ERROR_CONTROL_INTERFACE;
}
VL53L1_PutI2cBus();
return Status;
}
VL53L1_Error VL53L1_WrWord(uint16_t Dev, uint16_t index, uint16_t data) {
VL53L1_Error Status = VL53L1_ERROR_NONE;
int32_t status_int;
_I2CBuffer[0] = index>>8;
_I2CBuffer[1] = index&0xFF;
_I2CBuffer[2] = data >> 8;
_I2CBuffer[3] = data & 0x00FF;
VL53L1_GetI2cBus();
status_int = _I2CWrite(Dev, _I2CBuffer, 4);
if (status_int != 0) {
Status = VL53L1_ERROR_CONTROL_INTERFACE;
}
VL53L1_PutI2cBus();
return Status;
}
VL53L1_Error VL53L1_WrDWord(uint16_t Dev, uint16_t index, uint32_t data) {
VL53L1_Error Status = VL53L1_ERROR_NONE;
int32_t status_int;
_I2CBuffer[0] = index>>8;
_I2CBuffer[1] = index&0xFF;
_I2CBuffer[2] = (data >> 24) & 0xFF;
_I2CBuffer[3] = (data >> 16) & 0xFF;
_I2CBuffer[4] = (data >> 8) & 0xFF;
_I2CBuffer[5] = (data >> 0 ) & 0xFF;
VL53L1_GetI2cBus();
status_int = _I2CWrite(Dev, _I2CBuffer, 6);
if (status_int != 0) {
Status = VL53L1_ERROR_CONTROL_INTERFACE;
}
VL53L1_PutI2cBus();
return Status;
}
VL53L1_Error VL53L1_UpdateByte(uint16_t Dev, uint16_t index, uint8_t AndData, uint8_t OrData) {
VL53L1_Error Status = VL53L1_ERROR_NONE;
uint8_t data;
Status = VL53L1_RdByte(Dev, index, &data);
if (Status) {
goto done;
}
data = (data & AndData) | OrData;
Status = VL53L1_WrByte(Dev, index, data);
done:
return Status;
}
VL53L1_Error VL53L1_RdByte(uint16_t Dev, uint16_t index, uint8_t *data) {
VL53L1_Error Status = VL53L1_ERROR_NONE;
int32_t status_int;
_I2CBuffer[0] = index>>8;
_I2CBuffer[1] = index&0xFF;
VL53L1_GetI2cBus();
status_int = _I2CWrite(Dev, _I2CBuffer, 2);
if( status_int ){
Status = VL53L1_ERROR_CONTROL_INTERFACE;
goto done;
}
status_int = _I2CRead(Dev, data, 1);
if (status_int != 0) {
Status = VL53L1_ERROR_CONTROL_INTERFACE;
}
done:
VL53L1_PutI2cBus();
return Status;
}
int8_t VL53L1_RdWord(uint16_t Dev, uint16_t index, uint16_t *data) {
VL53L1_Error Status = VL53L1_ERROR_NONE;
int32_t status_int;
_I2CBuffer[0] = index>>8;
_I2CBuffer[1] = index&0xFF;
VL53L1_GetI2cBus();
status_int = _I2CWrite(Dev, _I2CBuffer, 2);
if( status_int ){
Status = VL53L1_ERROR_CONTROL_INTERFACE;
goto done;
}
status_int = _I2CRead(Dev, _I2CBuffer, 2);
if (status_int != 0) {
Status = VL53L1_ERROR_CONTROL_INTERFACE;
goto done;
}
*data = ((uint16_t)_I2CBuffer[0]<<8) + (uint16_t)_I2CBuffer[1];
done:
VL53L1_PutI2cBus();
return Status;
}
int8_t VL53L1_RdDWord(uint16_t Dev, uint16_t index, uint32_t *data) {
VL53L1_Error Status = VL53L1_ERROR_NONE;
int32_t status_int;
_I2CBuffer[0] = index>>8;
_I2CBuffer[1] = index&0xFF;
VL53L1_GetI2cBus();
status_int = _I2CWrite(Dev, _I2CBuffer, 2);
if (status_int != 0) {
Status = VL53L1_ERROR_CONTROL_INTERFACE;
goto done;
}
status_int = _I2CRead(Dev, _I2CBuffer, 4);
if (status_int != 0) {
Status = VL53L1_ERROR_CONTROL_INTERFACE;
goto done;
}
*data = ((uint32_t)_I2CBuffer[0]<<24) + ((uint32_t)_I2CBuffer[1]<<16) + ((uint32_t)_I2CBuffer[2]<<8) + (uint32_t)_I2CBuffer[3];
done:
VL53L1_PutI2cBus();
return Status;
}
VL53L1_Error VL53L1_GetTickCount(
uint32_t *ptick_count_ms)
{
/* Returns current tick count in [ms] */
VL53L1_Error status = VL53L1_ERROR_NONE;
//*ptick_count_ms = timeGetTime();
*ptick_count_ms = 0;
#ifdef VL53L1_LOG_ENABLE
trace_print(
VL53L1_TRACE_LEVEL_DEBUG,
"VL53L1_GetTickCount() = %5u ms;\n",
*ptick_count_ms);
#endif
return status;
}
#define trace_print(level, ...) \
_LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_PLATFORM, \
level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__)
#define trace_i2c(...) \
_LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_NONE, \
VL53L1_TRACE_LEVEL_NONE, VL53L1_TRACE_FUNCTION_I2C, ##__VA_ARGS__)
VL53L1_Error VL53L1_GetTimerFrequency(int32_t *ptimer_freq_hz)
{
*ptimer_freq_hz = 0;
trace_print(VL53L1_TRACE_LEVEL_INFO, "VL53L1_GetTimerFrequency: Freq : %dHz\n", *ptimer_freq_hz);
return VL53L1_ERROR_NONE;
}
VL53L1_Error VL53L1_WaitMs(uint16_t dev, int32_t wait_ms){
(void)dev;
HAL_Delay(wait_ms);
return VL53L1_ERROR_NONE;
}
VL53L1_Error VL53L1_WaitUs(uint16_t dev, int32_t wait_us){
(void)dev;
HAL_Delay(wait_us/1000);
return VL53L1_ERROR_NONE;
}
VL53L1_Error VL53L1_WaitValueMaskEx(
uint16_t dev,
uint32_t timeout_ms,
uint16_t index,
uint8_t value,
uint8_t mask,
uint32_t poll_delay_ms)
{
/*
* Platform implementation of WaitValueMaskEx V2WReg script command
*
* WaitValueMaskEx(
* duration_ms,
* index,
* value,
* mask,
* poll_delay_ms);
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
uint32_t start_time_ms = 0;
uint32_t current_time_ms = 0;
uint32_t polling_time_ms = 0;
uint8_t byte_value = 0;
uint8_t found = 0;
#ifdef VL53L1_LOG_ENABLE
uint8_t trace_functions = VL53L1_TRACE_FUNCTION_NONE;
#endif
// char register_name[VL53L1_MAX_STRING_LENGTH];
/* look up register name */
#ifdef PAL_EXTENDED
VL53L1_get_register_name(
index,
register_name);
#else
// VL53L1_COPYSTRING(register_name, "");
#endif
/* Output to I2C logger for FMT/DFT */
/*trace_i2c("WaitValueMaskEx(%5d, 0x%04X, 0x%02X, 0x%02X, %5d);\n",
timeout_ms, index, value, mask, poll_delay_ms); */
trace_i2c("WaitValueMaskEx(%5d, %s, 0x%02X, 0x%02X, %5d);\n",
timeout_ms, register_name, value, mask, poll_delay_ms);
/* calculate time limit in absolute time */
VL53L1_GetTickCount(&start_time_ms);
/* remember current trace functions and temporarily disable
* function logging
*/
#ifdef VL53L1_LOG_ENABLE
trace_functions = VL53L1_get_trace_functions();
VL53L1_set_trace_functions(VL53L1_TRACE_FUNCTION_NONE);
#endif
/* wait until value is found, timeout reached on error occurred */
while ((status == VL53L1_ERROR_NONE) &&
(polling_time_ms < timeout_ms) &&
(found == 0)) {
if (status == VL53L1_ERROR_NONE)
status = VL53L1_RdByte(
dev,
index,
&byte_value);
if ((byte_value & mask) == value)
found = 1;
if (status == VL53L1_ERROR_NONE &&
found == 0 &&
poll_delay_ms > 0)
status = VL53L1_WaitMs(
dev,
poll_delay_ms);
/* Update polling time (Compare difference rather than absolute to
negate 32bit wrap around issue) */
VL53L1_GetTickCount(&current_time_ms);
polling_time_ms = current_time_ms - start_time_ms;
}
#ifdef VL53L1_LOG_ENABLE
/* Restore function logging */
VL53L1_set_trace_functions(trace_functions);
#endif
if (found == 0 && status == VL53L1_ERROR_NONE)
status = VL53L1_ERROR_TIME_OUT;
return status;
}

BIN
Receiver/Displayer.o
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53
Receiver/Receiver.cpp
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@ -11,7 +11,7 @@ void Receiver::printHex(unsigned char value) {
void Receiver::openStream(){ void Receiver::openStream(){
while(1){ while(1){
// Open the CDC device file for reading // Open the CDC device file for reading
cdcFile = open("/dev/ttyACM0", O_RDWR | O_NOCTTY); cdcFile = open("/dev/ttyACM1", O_RDWR | O_NOCTTY);
if(cdcFile == -1){ if(cdcFile == -1){
std::cerr << "Failed to open CDC device file" << std::endl; std::cerr << "Failed to open CDC device file" << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(500)); std::this_thread::sleep_for(std::chrono::milliseconds(500));
@ -118,6 +118,49 @@ int Receiver::simulateRead(unsigned char (*character)[CDC_FRAME_SIZE]){
return 0; return 0;
} }
int Receiver::getDistance(){
uint16_t dist = 0;
int distCorrupted = 1;
unsigned char distanceFrame[12];
int bytesRead = read(cdcFile, distanceFrame, 12);
if(bytesRead == -1){
std::cout<<"ERROR IN READ!!! ";
}
std::cout<<"distance: ";
for(int i=0; i<7; i++){
if(distanceFrame[i] == 0xff && distanceFrame[i+1] == 0x69 && distanceFrame [i+4] == 0xff && distanceFrame[i+5] == 0x69){
dist = (distanceFrame[i+2] << 8 | distanceFrame[i+3]);
std::cout << " - " << static_cast<int>(dist) << " - ";
Receiver::printHex(distanceFrame[i+2]);
std::cout << " ";
Receiver::printHex(distanceFrame[i+3]);
std::cout << std::endl;
distCorrupted = 0;
return 0;
}
}
if(distCorrupted) {
std::cout << "Corrupted :( -> ";
for(int i = 0; i<12; i++) {
Receiver::printHex(distanceFrame[i]);
std::cout << " ";
}
std::cout << std::endl;
}
return 1;
}
int Receiver::fillBuffer(){ int Receiver::fillBuffer(){
unsigned char character[CDC_FRAME_SIZE]; unsigned char character[CDC_FRAME_SIZE];
std::vector<uint8_t> tempVec{}; std::vector<uint8_t> tempVec{};
@ -142,6 +185,8 @@ int Receiver::fillBuffer(){
tempVec.insert(tempVec.end(), character, character + i + 2); tempVec.insert(tempVec.end(), character, character + i + 2);
Receiver::getDistance();
//////////// SAVE FRAMES TO FILES //////////// SAVE FRAMES TO FILES
/* /*
std::ofstream outfile(std::to_string(debugFileIdx) + ".jpg", std::ios::out | std::ios::binary); std::ofstream outfile(std::to_string(debugFileIdx) + ".jpg", std::ios::out | std::ios::binary);
@ -184,15 +229,15 @@ void Receiver::bufferToDisplay(){
currentBufferIndexMutex.unlock(); currentBufferIndexMutex.unlock();
switch(buffIdx){ switch(buffIdx){
case 0: case 0:
std::cout << buffer1.size() << std::endl; //std::cout << buffer1.size() << std::endl;
dis->vectorToTexture(&buffer1); dis->vectorToTexture(&buffer1);
break; break;
case 1: case 1:
std::cout << buffer2.size() << std::endl; //std::cout << buffer2.size() << std::endl;
dis->vectorToTexture(&buffer2); dis->vectorToTexture(&buffer2);
break; break;
case 2: case 2:
std::cout << buffer3.size() << std::endl; //std::cout << buffer3.size() << std::endl;
dis->vectorToTexture(&buffer3); dis->vectorToTexture(&buffer3);
break; break;
default: default:

2
Receiver/Receiver.hpp
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@ -62,6 +62,8 @@ class Receiver{
void printHex(unsigned char value); void printHex(unsigned char value);
int fillBuffer(); int fillBuffer();
int getDistance();
void bufferToDisplay(); void bufferToDisplay();
void initTextures(); void initTextures();

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Receiver/Receiver.o
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Receiver/main
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