224 lines
7.4 KiB
C
224 lines
7.4 KiB
C
/*
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Copyright (c) 2021, STMicroelectronics - All Rights Reserved
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This file : part of VL53L1X ULP and : dual licensed,
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either 'STMicroelectronics
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Proprietary license'
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or 'BSD 3-clause "New" or "Revised" License' , at your option.
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*******************************************************************************
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'STMicroelectronics Proprietary license'
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*******************************************************************************
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License terms: STMicroelectronics Proprietary in accordance with licensing
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terms at www.st.com/sla0081
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STMicroelectronics confidential
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Reproduction and Communication of this document : strictly prohibited unless
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specifically authorized in writing by STMicroelectronics.
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*******************************************************************************
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Alternatively, VL53L1X ULP may be distributed under the terms of
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'BSD 3-clause "New" or "Revised" License', in which case the following
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provisions apply instead of the ones mentioned above :
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*******************************************************************************
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License terms: BSD 3-clause "New" or "Revised" License.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its contributors
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may be used to endorse or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*******************************************************************************
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*/
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/****************************************/
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/* VL53L1X Low Power basic ranging */
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/****************************************/
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/*
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* This example shows how to use the VL53L1X Ultra Low Power driver in a very
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* simple example. It initializes the VL53L1X driver, configure the sensor and
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* starts a ranging to capture 200 frames.
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*/
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#include <stdlib.h>
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#include <string.h>
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#include <stdio.h>
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#include "sys_app.h"
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#include "VL53L1X_ULP_api.h"
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extern uint8_t ToF_EventDetected;
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/*
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uint8_t IsInterruptDetected(uint16_t dev)
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{
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// To be filled with customer HW. This function should
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// return 1 when an interrupt is raised by the ToF on GPIO1 pin (pin7)
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if (ToF_EventDetected )
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{
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APP_LOG(TS_OFF, VLEVEL_L,"############### TOF EVENT DETECTED \r\n");
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ToF_EventDetected =0;
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return 1;
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} else {
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return 0;
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}
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}
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*/
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int Example_1_basic_ranging(void)
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{ /*
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int sts_vl53lx_ranging(uint8_t vl_model, uint8_t range_mode,
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uint16_t distance_threshold_mm, uint16_t inter_measurement_ms, uint16_t macro_timing,
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uint16_t roi_width, uint16_t sigma_mm, uint16_t signal_kcps, uint16_t i_ambient_kcps);
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*/
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/*********************************/
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/* VL53L1X ranging variables */
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/*********************************/
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uint8_t status, loop;
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uint8_t dev;
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uint16_t sensor_id;
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uint8_t measurement_status;
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uint16_t estimated_distance_mm, signal_kcps, sigma_mm, ambient_kcps;
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/*********************************/
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/* Customer platform */
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/*********************************/
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/* Default VL53L1X Ultra Low Power I2C address */
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dev = 0x52;
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/* (Optional) Change I2C address */
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// status = VL53L1X_ULP_SetI2CAddress(dev, 0x52); //0x20
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// dev = 0x20;
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/*********************************/
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/* Power on sensor and init */
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/*********************************/
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/* (Optional) Check if there is a VL53L1X sensor connected */
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status = VL53L1X_ULP_GetSensorId(dev, &sensor_id);
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APP_LOG(TS_OFF,VLEVEL_L,"VL53L1X address =%X\r\n",sensor_id );
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if(status || (sensor_id != 0xEACC))
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{
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APP_LOG(TS_OFF,VLEVEL_L,"VL53L1X not detected at requested address\n");
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return status;
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}
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/* (Mandatory) Init VL53L1X sensor */
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status = VL53L1X_ULP_SensorInit(dev);
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if(status)
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{
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APP_LOG(TS_OFF,VLEVEL_L,"VL53L1X ultra low power Loading failed\n");
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//HAL_Delay(100);
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return status;
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}
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APP_LOG(TS_OFF,VLEVEL_L,"VL53L1X ultra low power ready ! \r\n");
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/*********************************/
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/* Sensor configuration */
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/*********************************/
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/* (Optional) Program sensor to raise an interrupt ONLY below 300mm */
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status = VL53L1X_ULP_SetInterruptConfiguration(dev, 800, 1); //i_distance_threshold_mm
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/* (Optional) Program a 10Hz ranging frequency */
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status = VL53L1X_ULP_SetInterMeasurementInMs(dev, 100); // range_interval_ms
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{
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/* Increase the macro timing. This is equivalent as increasing the integration time */
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status = VL53L1X_ULP_SetMacroTiming(dev, 100); // micro_timing_ms
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/* Enable all the SPADS */
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status = VL53L1X_ULP_SetROI(dev, 16); // SPADS { 1 -- 16 }
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// STS---001 for ultra low power
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/* Reduce the macro timing to minimum. This is equivalent as reducing the integration time */
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//status = VL53L1X_ULP_SetMacroTiming(dev, 1);
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/* Reduce at maximum the SPADS */
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//status = VL53L1X_ULP_SetROI(dev, 4);
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// STS ---002 for short distance
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/* Example for robust and short distance measurements. Max distance reduced
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* but very low number of false-positives */
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status |= VL53L1X_ULP_SetSigmaThreshold(dev, 30);
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status |= VL53L1X_ULP_SetSignalThreshold(dev, 2000);
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// STS --- 003 for long range
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/* Relax some limits. Be careful, it can create false-positives !*/
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//status |= VL53L1X_ULP_SetSigmaThreshold(dev, 60);
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//status |= VL53L1X_ULP_SetSignalThreshold(dev, 1200);
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}
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/*********************************/
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/* Ranging loop */
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/*********************************/
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status = VL53L1X_ULP_StartRanging(dev);
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if(status)
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{
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APP_LOG(TS_OFF,VLEVEL_L,"VL53L1X_ULP_StartRanging failed with status %u\n", status);
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return status;
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}
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APP_LOG(TS_OFF,VLEVEL_L,"Ranging started. Put your hand close to the sensor to generate an interrupt...\n");
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loop = 0;
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while(loop < 20)
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{
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/* Use this external function to detect when a hardware interrupt is
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* generated on PIN 7 (GPIO1). It means that a new measurement is ready.
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*/
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//if(IsInterruptDetected(dev))
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{
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/* (Mandatory) Clear HW interrupt to restart measurements */
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VL53L1X_ULP_ClearInterrupt(dev);
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/* Dump debug data */
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status = VL53L1X_ULP_DumpDebugData(dev, &measurement_status,
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&estimated_distance_mm, &sigma_mm, &signal_kcps, &ambient_kcps);
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APP_LOG(TS_OFF,VLEVEL_L,"Target detected! Interrupt raised by sensor, Distance =%d mm \r\n", estimated_distance_mm );
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loop++;
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}
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}
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status = VL53L1X_ULP_StopRanging(dev);
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APP_LOG(TS_OFF,VLEVEL_L,"End of VL53L1X ultra low power demo\n");
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return status;
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}
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