157 lines
4.2 KiB
C
157 lines
4.2 KiB
C
/**
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*
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* Copyright (c) 2023 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/***********************************/
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/* VL53LMZ ULD calibrate Xtalk */
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/***********************************/
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/*
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* This example shows the possibility of VL53LMZ to calibrate Xtalk. It
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* initializes the VL53LMZ ULD, perform a Xtalk calibration, and starts
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* a ranging to capture 10 frames.
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* In this example, we also suppose that the number of target per zone is
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* set to 1 , and all output are enabled (see file platform.h).
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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 "vl53lmz_api.h"
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#include "vl53lmz_plugin_xtalk.h"
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int example7(void)
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{
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/*********************************/
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/* VL53LMZ ranging variables */
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/*********************************/
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uint8_t status, loop, isAlive, isReady, i;
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VL53LMZ_Configuration Dev; /* Sensor configuration */
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VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
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/* Buffer containing Xtalk data */
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uint8_t xtalk_data[VL53LMZ_XTALK_BUFFER_SIZE];
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/*********************************/
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/* Customer platform */
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/*********************************/
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/* Fill the platform structure with customer's implementation. For this
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* example, only the I2C address is used.
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*/
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Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
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/* (Optional) Reset sensor toggling PINs (see platform, not in API) */
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//Reset_Sensor(&(Dev.platform));
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/* (Optional) Set a new I2C address if the wanted address is different
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* from the default one (filled with 0x20 for this example).
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*/
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//status = vl53lmz_set_i2c_address(&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 VL53LMZ sensor connected */
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status = vl53lmz_is_alive(&Dev, &isAlive);
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if(!isAlive || status)
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{
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printf("VL53LMZ not detected at requested address\n");
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return status;
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}
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/* (Mandatory) Init VL53LMZ sensor */
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status = vl53lmz_init(&Dev);
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if(status)
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{
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printf("VL53LMZ ULD Loading failed\n");
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return status;
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}
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printf("VL53LMZ ULD ready ! (Version : %s)\n",
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VL53LMZ_API_REVISION);
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/*********************************/
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/* Start Xtalk calibration */
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/*********************************/
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/* Start Xtalk calibration with a 3% reflective target at 600mm for the
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* sensor, using 4 samples.
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*/
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printf("Running Xtalk calibration...\n");
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status = vl53lmz_calibrate_xtalk(&Dev, 3, 4, 600);
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if(status)
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{
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printf("vl53lmz_calibrate_xtalk failed, status %u\n", status);
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return status;
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}else
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{
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printf("Xtalk calibration done\n");
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/* Get Xtalk calibration data, in order to use them later */
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status = vl53lmz_get_caldata_xtalk(&Dev, xtalk_data);
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/* Set Xtalk calibration data */
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status = vl53lmz_set_caldata_xtalk(&Dev, xtalk_data);
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}
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/*********************************/
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/* Ranging loop */
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/*********************************/
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status = vl53lmz_start_ranging(&Dev);
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loop = 0;
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while(loop < 10)
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{
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/* Use polling function to know when a new measurement is ready.
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* Another way can be to wait for HW interrupt raised on PIN A3
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* (GPIO 1) when a new measurement is ready */
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status = vl53lmz_check_data_ready(&Dev, &isReady);
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if(isReady)
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{
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vl53lmz_get_ranging_data(&Dev, &Results);
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/* As the sensor is set in 4x4 mode by default, we have a total
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* of 16 zones to print. For this example, only the data of first zone are
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* print */
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printf("Print data no : %3u\n", Dev.streamcount);
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for(i = 0; i < 16; i++)
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{
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printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
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i,
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Results.target_status[VL53LMZ_NB_TARGET_PER_ZONE*i],
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Results.distance_mm[VL53LMZ_NB_TARGET_PER_ZONE*i]);
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}
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printf("\n");
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loop++;
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}
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/* Wait a few ms to avoid too high polling (function in platform
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* file, not in API) */
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WaitMs(&(Dev.platform), 5);
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}
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status = vl53lmz_stop_ranging(&Dev);
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printf("End of ULD demo\n");
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return status;
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}
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