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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 3 | mjames | 1 | #include "vl53l0x_api.h" |
| 2 | #include "vl53l0x_platform.h" |
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| 3 | #include "required_version.h" |
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| 4 | #include <malloc.h> |
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| 5 | |||
| 6 | #include "useLidar.h" |
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| 7 | #include "ch.h" |
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| 8 | #include "hal.h" |
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| 9 | #include "shell.h" |
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| 10 | #include "chprintf.h" |
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| 11 | |||
| 12 | void print_pal_error(BaseSequentialStream *chp, VL53L0X_Error Status){ |
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| 13 | char buf[VL53L0X_MAX_STRING_LENGTH]; |
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| 14 | VL53L0X_GetPalErrorString(Status, buf); |
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| 15 | chprintf(chp,"API Status: %i : %s\r\n", Status, buf); |
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| 16 | } |
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| 17 | |||
| 18 | void print_range_status(BaseSequentialStream *chp,VL53L0X_RangingMeasurementData_t* pRangingMeasurementData){ |
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| 19 | char buf[VL53L0X_MAX_STRING_LENGTH]; |
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| 20 | uint8_t RangeStatus; |
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| 21 | |||
| 22 | /* |
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| 23 | * New Range Status: data is valid when pRangingMeasurementData->RangeStatus = 0 |
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| 24 | */ |
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| 25 | |||
| 26 | RangeStatus = pRangingMeasurementData->RangeStatus; |
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| 27 | |||
| 28 | VL53L0X_GetRangeStatusString(RangeStatus, buf); |
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| 29 | chprintf(chp,"Range Status: %i : %s\r\n", RangeStatus, buf); |
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| 30 | |||
| 31 | } |
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| 32 | |||
| 33 | |||
| 34 | VL53L0X_Error rangingTest(BaseSequentialStream *chp,VL53L0X_Dev_t *pMyDevice) |
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| 35 | { |
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| 36 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 37 | VL53L0X_RangingMeasurementData_t RangingMeasurementData; |
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| 38 | int i; |
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| 39 | uint32_t refSpadCount; |
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| 40 | uint8_t isApertureSpads; |
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| 41 | uint8_t VhvSettings; |
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| 42 | uint8_t PhaseCal; |
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| 43 | |||
| 44 | if(Status == VL53L0X_ERROR_NONE) |
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| 45 | { |
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| 46 | chprintf(chp,"Call of VL53L0X_StaticInit\r\n"); |
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| 47 | Status = VL53L0X_StaticInit(pMyDevice); // Device Initialization |
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| 48 | print_pal_error(chp,Status); |
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| 49 | } |
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| 50 | |||
| 51 | if(Status == VL53L0X_ERROR_NONE) |
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| 52 | { |
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| 53 | chprintf(chp,"Call of VL53L0X_PerformRefCalibration\r\n"); |
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| 54 | Status = VL53L0X_PerformRefCalibration(pMyDevice, |
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| 55 | &VhvSettings, &PhaseCal); // Device Initialization |
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| 56 | print_pal_error(chp,Status); |
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| 57 | } |
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| 58 | |||
| 59 | if(Status == VL53L0X_ERROR_NONE) |
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| 60 | { |
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| 61 | chprintf(chp,"Call of VL53L0X_PerformRefSpadManagement\r\n"); |
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| 62 | Status = VL53L0X_PerformRefSpadManagement(pMyDevice, |
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| 63 | &refSpadCount, &isApertureSpads); // Device Initialization |
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| 64 | chprintf(chp,"refSpadCount = %d, isApertureSpads = %d\r\n", refSpadCount, isApertureSpads); |
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| 65 | print_pal_error(chp,Status); |
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| 66 | } |
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| 67 | |||
| 68 | if(Status == VL53L0X_ERROR_NONE) |
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| 69 | { |
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| 70 | |||
| 71 | // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement |
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| 72 | chprintf(chp,"Call of VL53L0X_SetDeviceMode\r\n"); |
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| 73 | Status = VL53L0X_SetDeviceMode(pMyDevice, VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode |
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| 74 | print_pal_error(chp,Status); |
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| 75 | } |
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| 76 | |||
| 77 | // Enable/Disable Sigma and Signal check |
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| 78 | |||
| 79 | /* if (Status == VL53L0X_ERROR_NONE) { |
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| 80 | Status = VL53L0X_SetSequenceStepEnable(pMyDevice,VL53L0X_SEQUENCESTEP_DSS, 1); |
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| 81 | }*/ |
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| 82 | |||
| 83 | if (Status == VL53L0X_ERROR_NONE) { |
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| 84 | Status = VL53L0X_SetLimitCheckEnable(pMyDevice, |
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| 85 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1); |
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| 86 | } |
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| 87 | if (Status == VL53L0X_ERROR_NONE) { |
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| 88 | Status = VL53L0X_SetLimitCheckEnable(pMyDevice, |
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| 89 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1); |
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| 90 | } |
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| 91 | |||
| 92 | if (Status == VL53L0X_ERROR_NONE) { |
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| 93 | Status = VL53L0X_SetLimitCheckValue(pMyDevice, |
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| 94 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
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| 95 | (FixPoint1616_t)(0.1*65536)); |
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| 96 | } |
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| 97 | if (Status == VL53L0X_ERROR_NONE) { |
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| 98 | Status = VL53L0X_SetLimitCheckValue(pMyDevice, |
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| 99 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
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| 100 | (FixPoint1616_t)(60*65536)); |
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| 101 | } |
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| 102 | if (Status == VL53L0X_ERROR_NONE) { |
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| 103 | Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(pMyDevice, |
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| 104 | 33000); |
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| 105 | } |
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| 106 | |||
| 107 | if (Status == VL53L0X_ERROR_NONE) { |
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| 108 | Status = VL53L0X_SetVcselPulsePeriod(pMyDevice, |
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| 109 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, 18); |
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| 110 | } |
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| 111 | if (Status == VL53L0X_ERROR_NONE) { |
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| 112 | Status = VL53L0X_SetVcselPulsePeriod(pMyDevice, |
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| 113 | VL53L0X_VCSEL_PERIOD_FINAL_RANGE, 14); |
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| 114 | } |
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| 115 | |||
| 116 | |||
| 117 | /* |
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| 118 | * Step 4 : Test ranging mode |
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| 119 | */ |
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| 120 | |||
| 121 | if(Status == VL53L0X_ERROR_NONE) |
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| 122 | { |
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| 123 | for(i=0;i<50;i++){ |
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| 124 | chprintf(chp,"Call of VL53L0X_PerformSingleRangingMeasurement\r\n"); |
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| 125 | Status = VL53L0X_PerformSingleRangingMeasurement(pMyDevice, |
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| 126 | &RangingMeasurementData); |
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| 127 | |||
| 128 | print_pal_error(chp,Status); |
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| 129 | print_range_status(chp,&RangingMeasurementData); |
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| 130 | |||
| 131 | |||
| 132 | if (Status != VL53L0X_ERROR_NONE) break; |
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| 133 | |||
| 134 | chprintf(chp,"Measured distance: %i\r\n\r\n", RangingMeasurementData.RangeMilliMeter); |
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| 135 | |||
| 136 | |||
| 137 | } |
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| 138 | } |
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| 139 | return Status; |
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| 140 | } |
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| 141 | // make this into a shell command |
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| 142 | |||
| 143 | void shellLidar(BaseSequentialStream *chp, int argc, char *argv[]) |
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| 144 | { |
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| 145 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 146 | VL53L0X_Dev_t MyDevice; |
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| 147 | VL53L0X_Dev_t *pMyDevice = &MyDevice; |
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| 148 | VL53L0X_Version_t Version; |
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| 149 | VL53L0X_Version_t *pVersion = &Version; |
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| 150 | VL53L0X_DeviceInfo_t DeviceInfo; |
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| 151 | |||
| 152 | int32_t status_int; |
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| 153 | int32_t init_done = 0; |
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| 154 | // TCHAR SerialCommStr[MAX_VALUE_NAME]; |
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| 155 | |||
| 156 | |||
| 157 | |||
| 158 | chprintf(chp,"VL53L0X API Simple Ranging example\r\n\r\n"); |
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| 159 | // chprintf(chp,"Press a Key to continue!\r\n\r\n"); |
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| 160 | // getchar(); |
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| 161 | |||
| 162 | |||
| 163 | // Initialize Comms |
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| 164 | pMyDevice->I2cDevAddr = 0x29; // chibi-style |
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| 165 | pMyDevice->comms_type = 1; |
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| 4 | mjames | 166 | pMyDevice->comms_speed_khz = 100; |
| 3 | mjames | 167 | |
| 168 | |||
| 169 | /* |
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| 170 | * Disable VL53L0X API logging if you want to run at full speed |
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| 171 | */ |
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| 172 | #ifdef VL53L0X_LOG_ENABLE |
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| 173 | VL53L0X_trace_config("test.log", TRACE_MODULE_ALL, TRACE_LEVEL_ALL, TRACE_FUNCTION_ALL); |
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| 174 | #endif |
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| 175 | |||
| 176 | /* |
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| 177 | * Get the version of the VL53L0X API running in the firmware |
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| 178 | */ |
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| 179 | |||
| 180 | if(Status == VL53L0X_ERROR_NONE) |
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| 181 | { |
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| 182 | status_int = VL53L0X_GetVersion(pVersion); |
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| 183 | if (status_int != 0) |
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| 184 | Status = VL53L0X_ERROR_CONTROL_INTERFACE; |
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| 185 | } |
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| 186 | |||
| 187 | /* |
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| 188 | * Verify the version of the VL53L0X API running in the firmware |
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| 189 | */ |
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| 190 | |||
| 191 | if(Status == VL53L0X_ERROR_NONE) |
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| 192 | { |
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| 193 | if( pVersion->major != VERSION_REQUIRED_MAJOR || |
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| 194 | pVersion->minor != VERSION_REQUIRED_MINOR || |
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| 195 | pVersion->build != VERSION_REQUIRED_BUILD ) |
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| 196 | { |
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| 197 | chprintf(chp,"VL53L0X API Version Error: Your firmware has %d.%d.%d (revision %d). This example requires %d.%d.%d.\r\n", |
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| 198 | pVersion->major, pVersion->minor, pVersion->build, pVersion->revision, |
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| 199 | VERSION_REQUIRED_MAJOR, VERSION_REQUIRED_MINOR, VERSION_REQUIRED_BUILD); |
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| 200 | } |
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| 201 | } |
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| 202 | |||
| 203 | |||
| 204 | if(Status == VL53L0X_ERROR_NONE) |
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| 205 | { |
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| 206 | chprintf(chp,"Call of VL53L0X_DataInit\r\n"); |
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| 207 | Status = VL53L0X_DataInit(&MyDevice); // Data initialization |
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| 208 | print_pal_error(chp,Status); |
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| 209 | } |
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| 210 | |||
| 211 | if(Status == VL53L0X_ERROR_NONE) |
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| 212 | { |
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| 213 | Status = VL53L0X_GetDeviceInfo(&MyDevice, &DeviceInfo); |
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| 214 | if(Status == VL53L0X_ERROR_NONE) |
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| 215 | { |
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| 216 | chprintf(chp,"VL53L0X_GetDeviceInfo:\r\n"); |
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| 217 | chprintf(chp,"Device Name : %s\r\n", DeviceInfo.Name); |
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| 218 | chprintf(chp,"Device Type : %s\r\n", DeviceInfo.Type); |
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| 219 | chprintf(chp,"Device ID : %s\r\n", DeviceInfo.ProductId); |
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| 220 | chprintf(chp,"ProductRevisionMajor : %d\r\n", DeviceInfo.ProductRevisionMajor); |
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| 221 | chprintf(chp,"ProductRevisionMinor : %d\r\n", DeviceInfo.ProductRevisionMinor); |
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| 222 | |||
| 223 | if ((DeviceInfo.ProductRevisionMinor != 1) && (DeviceInfo.ProductRevisionMinor != 1)) { |
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| 224 | chprintf(chp,"Error expected cut 1.1 but found cut %d.%d\r\n", |
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| 225 | DeviceInfo.ProductRevisionMajor, DeviceInfo.ProductRevisionMinor); |
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| 226 | Status = VL53L0X_ERROR_NOT_SUPPORTED; |
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| 227 | } |
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| 228 | } |
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| 229 | print_pal_error(chp,Status); |
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| 230 | } |
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| 231 | |||
| 232 | if(Status == VL53L0X_ERROR_NONE) |
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| 233 | { |
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| 234 | Status = rangingTest(chp,pMyDevice); |
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| 235 | } |
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| 236 | |||
| 237 | print_pal_error(chp,Status); |
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| 238 | |||
| 239 | // Implementation specific |
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| 240 | |||
| 241 | /* |
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| 242 | * Disconnect comms - part of VL53L0X_platform.c |
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| 243 | */ |
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| 244 | |||
| 245 | if(init_done == 0) |
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| 246 | { |
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| 247 | chprintf(chp,"Close Comms\r\n"); |
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| 248 | status_int = VL53L0X_comms_close(); |
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| 249 | if (status_int != 0) |
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| 250 | Status = VL53L0X_ERROR_CONTROL_INTERFACE; |
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| 251 | } |
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| 252 | |||
| 253 | print_pal_error(chp,Status); |
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| 254 | |||
| 255 | // chprintf(chp,"\r\nPress a Key to continue!"); |
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| 256 | // getchar(); |
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| 257 | |||
| 258 | return (0); |
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| 259 | } |
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| 260 |