/**
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/***********************************/
/* VL53LMZ ULD CNH Data */
/***********************************/
/*
* This example how to configure, capture and decode CNH data from
* the VL53L7CH/VL53LCH sensors.
*
* In this example, we also suppose that the number of targets per zone is
* set to 1(see file platform.h).
*/
#include <stdlib.h>
#include <string.h>
#include <stdio.h>
#include "vl53lmz_api.h"
#include "vl53lmz_plugin_cnh.h"
int example12(void)
{
/*********************************/
/* VL53LMZ ranging variables */
/*********************************/
uint8_t status, loop, isAlive, isReady, i;
VL53LMZ_Configuration Dev; /* Sensor configuration */
VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
VL53LMZ_Motion_Configuration cnh_config; /* Motion Configuration is shared with CNH */
cnh_data_buffer_t cnh_data_buffer; /* cnh_data_bufer_t is sized to take the largest data transfer */
/* possible from the device. If smaller CNH configuration is */
/* used then cnh_data_buffer size could be make smaller. */
uint32_t cnh_data_size; /* This will be used to record the actual size of CNH data */
/* generated by the set CNH configuration. */
int agg_id, bin_num;
float amb_value, bin_value;
/* variables needed for call to vl53lmz_cnh_get_mem_block_addresses() */
int32_t *p_hist = NULL;
int8_t *p_hist_scaler = NULL;
int32_t *p_ambient = NULL;
int8_t *p_ambient_scaler = NULL;
/*********************************/
/* Customer platform */
/*********************************/
/* Fill the platform structure with customer's implementation. For this
* example, only the I2C address is used.
*/
Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
/* (Optional) Reset sensor toggling PINs (see platform, not in API) */
//Reset_Sensor(&(Dev.platform));
/* (Optional) Set a new I2C address if the wanted address is different
* from the default one (filled with 0x20 for this example).
*/
//status = vl53lmz_set_i2c_address(&Dev, 0x20);
/*********************************/
/* Power on sensor and init */
/*********************************/
/* (Optional) Check if there is a VL53LMZ sensor connected */
status = vl53lmz_is_alive(&Dev, &isAlive);
if(!isAlive || status)
{
printf("VL53LMZ not detected at requested address\n");
return status;
}
/* (Mandatory) Initialise the VL53LMZ sensor */
status = vl53lmz_init(&Dev);
if(status)
{
printf("VL53LMZ ULD Loading failed\n");
return status;
}
printf("VL53LMZ ULD ready ! (Version : %s)\n",
VL53LMZ_API_REVISION);
/*********************************/
/* Set basic ranging settings */
/*********************************/
status = vl53lmz_set_resolution(&Dev, 16);
status |= vl53lmz_set_ranging_mode(&Dev, VL53LMZ_RANGING_MODE_AUTONOMOUS);
status |= vl53lmz_set_ranging_frequency_hz(&Dev, 5);
status |= vl53lmz_set_integration_time_ms(&Dev, 20);
if(status)
{
printf("ERROR - Failed basic configuration sequence, status=%u\n", status);
return status;
}
/*********************************/
/* CNH specific configuration */
/*********************************/
/* Populate the basic CNH parameters into the CNH configuration structure */
status = vl53lmz_cnh_init_config( &cnh_config,
0, /* StartBin */
24, /* NumBins */
4 ); /* SubSample */
if (status != VL53LMZ_STATUS_OK){
printf("ERROR at %s(%d) : vl53lmz_cnh_init_config failed : %d\n",__func__, __LINE__,status);
return status;
}
/* Add the aggregate map that maps zones to aggregates. Resolution of map */
/* must follow that set by vl53lmz_set_resolution(), either 16 or 64 zones. */
status = vl53lmz_cnh_create_agg_map( &cnh_config,
16, /* Resolution. Must match value used in vl53lmz_set_resolution() */
0, /* StartX */
0, /* StartY */
1, /* MergeX */
1, /* MergeY */
4, /* Cols */
4 ); /* Rows */
if (status != VL53LMZ_STATUS_OK){
printf("ERROR at %s(%d) : vl53lmz_cnh_create_agg_map failed : %d\n",__func__, __LINE__,status);
return status;
}
/* Check that the requested configuration will not generate CNH data that is */
/* too large for the available space on the sensor. */
/* Store the size of data generate so we can next setup an optimize data transfer */
/* from sensor to host. */
status = vl53lmz_cnh_calc_required_memory( &cnh_config, &cnh_data_size );
if (status != VL53LMZ_STATUS_OK){
printf("ERROR at %s(%d) : vl53lmz_cnh_calc_required_memory : %d\n",__func__, __LINE__,status);
if (cnh_data_size < 0){
printf("Required memory is too high : %lu. Maximum is %lu!\n", cnh_data_size, VL53LMZ_CNH_MAX_DATA_BYTES);
}
return status;
}
/* Send this CNH configuration to the sensor. */
status = vl53lmz_cnh_send_config(&Dev,&cnh_config);
if (status != VL53LMZ_STATUS_OK){
printf("ERROR at %s(%d) : vl53lmz_cnh_send_config failed : %d\n",__func__, __LINE__,status);
return status;
}
/* Because we want to use a non-standard data transfer from the device we can not */
/* use the standard vl53lmz_start_ranging() function, instead we need to use */
/* vl53lmz_create_output_config() followed by vl53lmz_send_output_config_and_start() */
/* This allows us to modify the data transfer requested between the two functions. */
/* First create the standard data upload(output) configuration. */
status = vl53lmz_create_output_config(&Dev);
if (status != VL53LMZ_STATUS_OK){
printf("ERROR at %s(%d) : vl53lmz_create_output_config failed : %d\n",__func__, __LINE__,status);
return status;
}
/* Next, add the CNH data block, sized correctly for the configuration we are using. */
union Block_header cnh_data_bh;
cnh_data_bh.idx = VL53LMZ_CNH_DATA_IDX;
cnh_data_bh.type = 4;
cnh_data_bh.size = cnh_data_size / 4;
status = vl53lmz_add_output_block(&Dev, cnh_data_bh.bytes);
if (status != VL53LMZ_STATUS_OK){
printf("ERROR at %s(%d) : vl53lmz_add_output_block failed : %d\n",__func__, __LINE__,status);
return status;
}
/*********************************/
/* Start the sensor ranging */
/*********************************/
/* Finally, send the output configuration and start the sensor ranging. */
status = vl53lmz_send_output_config_and_start(&Dev);
printf("Started ranging\n");
loop = 0;
while(loop < 10)
{
status = vl53lmz_check_data_ready(&Dev, &isReady);
if(isReady)
{
vl53lmz_get_ranging_data(&Dev, &Results);
/* As the sensor is set in 4x4 mode by default, we have a total of 16 zones */
/* to print. This example assumes VL53LMZ_NB_TARGET_PER_ZONE == 1 */
printf("Print data no : %3u\n", Dev.streamcount);
for(i = 0; i < 16; i++)
{
printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
i,
Results.target_status[VL53LMZ_NB_TARGET_PER_ZONE*i],
Results.distance_mm[VL53LMZ_NB_TARGET_PER_ZONE*i]);
}
/* Because we use a non-standard upload configuration for CNH data we */
/* must extract the data from the ULD transfer buffer and place it in */
/* our own data area before accessing it. */
status = vl53lmz_results_extract_block( &Dev, VL53LMZ_CNH_DATA_IDX, (uint8_t *)cnh_data_buffer, cnh_data_size );
if (status != VL53LMZ_STATUS_OK){
printf("ERROR at %s(%d) : vl53lmz_results_extract_block failed : %d\n",__func__, __LINE__,status);
return status;
}
for(agg_id = 0; agg_id < cnh_config.nb_of_aggregates; agg_id++)
{
/* Start address of each aggregates data blocks within the cnh_data_buffer depends */
/* on the exact CNH configuration in use. Function below calculates these start */
/* locations for us. */
vl53lmz_cnh_get_block_addresses( &cnh_config,
agg_id,
cnh_data_buffer,
&(p_hist), &(p_hist_scaler),
&(p_ambient), &(p_ambient_scaler));
/* there is just a single ambient value per aggregate */
amb_value = ((float)*p_ambient)/(2<<*p_ambient_scaler);
printf("Agg, %2d, Ambient, % .1f, Bins, ", agg_id, amb_value );
for( bin_num = 0; bin_num < cnh_config.feature_length; bin_num++ ) {
bin_value = ((float)p_hist[bin_num])/(2<<p_hist_scaler[bin_num]);
printf("% .1f, ",bin_value);
}
printf("\n");
}
loop++;
}
/* Wait a few ms to avoid too high polling (function in platform
* file, not in API) */
WaitMs(&(Dev.platform), 5);
}
status = vl53lmz_stop_ranging(&Dev);
printf("Stop ranging autonomous\n");
printf("End of ULD demo\n");
return status;
}