/**
******************************************************************************
* @file : app_tof.c
* @author : IMG SW Application Team
* @brief : This file provides code for the configuration
* of the STMicroelectronics.X-CUBE-TOF1.3.2.0 instances.
******************************************************************************
*
* @attention
*
* Copyright (c) 2022 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.
*
******************************************************************************
*/
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "app_tof.h"
#include "main.h"
#include "sys_app.h"
#include <stdio.h>
//#include "VL53L1X_ULP_api.h"
//#include "53l1a2_ranging_sensor.h"
#include "stm32wlxx_nucleo.h"
#ifdef STS_P2
#include "VL53L1X_api.h"
#endif
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
#define TIMING_BUDGET (30U) /* 16 ms < TimingBudget < 500 ms */
#define POLLING_PERIOD (250U) /* refresh rate for polling mode (milliseconds, shall be consistent with TimingBudget value) */
/* Private variables ---------------------------------------------------------*/
//static RANGING_SENSOR_Capabilities_t Cap;
//static RANGING_SENSOR_ProfileConfig_t Profile;
//static int32_t status = 0;
volatile uint8_t ToF_EventDetected = 0;
uint16_t sensor_id=0;
/* Private function prototypes -----------------------------------------------*/
#ifdef STS_P2
uint8_t sts_vl53lx_ranging(uint16_t *ranged_distance, uint8_t range_mode, uint16_t distance_threshold_mm,
uint16_t inter_measurement_ms, uint16_t macro_timing,uint16_t roi_width, uint16_t sigma_mm, uint16_t signal_kcps);
#endif
uint8_t IsInterruptDetected(uint16_t dev);
#ifdef STS_P2
void STS_TOF_VL53LX_Range_Process(uint8_t range_mode, uint16_t *range_distance);
#endif
void MX_TOF_Init(void)
{
/* USER CODE BEGIN SV */
/* USER CODE END SV */
/* USER CODE BEGIN TOF_Init_PreTreatment */
/* USER CODE END TOF_Init_PreTreatment */
/* Initialize the peripherals and the TOF components */
APP_LOG(TS_OFF,VLEVEL_L,"\r\n###################### MX TOF Init... \r\n");
//MX_53L1A2_SimpleRanging_Init();
//STS_TOF_VL53LX_PeopleCounting_Process();
/* USER CODE BEGIN TOF_Init_PostTreatment */
/* USER CODE END TOF_Init_PostTreatment */
}
/*
* LM background task
*/
uint16_t MX_TOF_Ranging_Process(void)
{ uint16_t range_distance=0;
uint8_t range_mode = 2; //STS_TOF_LONG_RANGE;
#ifdef STS_P2
STS_TOF_VL53LX_Range_Process(range_mode, &range_distance);
APP_LOG(TS_OFF, VLEVEL_M, "\n VL53L1 Range distance =%u mm \n\r", (uint16_t)range_distance);
#endif
return (uint16_t) range_distance;
}
void MX_TOF_Process(void)
{
/* USER CODE BEGIN TOF_Process_PreTreatment */
/* USER CODE END TOF_Process_PreTreatment */
//APP_LOG(TS_OFF,VLEVEL_L,"\r\n###################### MX TOF Process... \r\n");
//STS_TOF_VL53LX_Range_Process();
//STS_TOF_VL53LX_PeopleCounting_Process();
//sts_tof_vl53lx_peoplecount_subprocess();
/* USER CODE BEGIN TOF_Process_PostTreatment */
/* USER CODE END TOF_Process_PostTreatment */
}
uint8_t IsInterruptDetected(uint16_t dev)
{
// To be filled with customer HW. This function should
// return 1 when an interrupt is raised by the ToF on GPIO1 pin (pin7)
if (ToF_EventDetected )
{
APP_LOG(TS_OFF, VLEVEL_L,"############### TOF EVENT DETECTED \r\n");
ToF_EventDetected =0;
return 1;
} else {
return 0;
}
}
#ifdef STS_P2
void STS_TOF_VL53LX_Range_Process(uint8_t range_mode, uint16_t *range_distance)
{
//uint8_t vl53lx_model = STS_TOF_VL53L1X;
//uint8_t range_mode = STS_TOF_SHORT_RANGE;
uint16_t i_distance_measured = 0;
uint16_t i_distance_threshold_mm = 800;
uint16_t i_inter_measurement_ms=100, i_macro_timing=33;
uint16_t i_roi_width=16, i_sigma_mm=30, i_signal_kcps=2000;
switch (range_mode)
{
case STS_TOF_SHORT_RANGE:
// STS ---002 for short distance
/* Example for robust and short distance measurements. Max distance reduced
* but very low number of false-positives */
//status |= VL53L1X_ULP_SetSigmaThreshold(dev, 30);
//status |= VL53L1X_ULP_SetSignalThreshold(dev, 2000);
i_sigma_mm = 30; //increase this for longer distance, reduce for shorter distance
i_signal_kcps = 2000; // 1000- 6000 kcps
i_distance_threshold_mm = 900;
i_inter_measurement_ms = 100; // 100 - 1000 ms
i_macro_timing = 100;
//i_roi_width = 16;
break;
case STS_TOF_LONG_RANGE:
// STS --- 003 for long range
/* Relax some limits. Be careful, it can create false-positives !*/
//status |= VL53L1X_ULP_SetSigmaThreshold(dev, 60);
//status |= VL53L1X_ULP_SetSignalThreshold(dev, 1200);
i_sigma_mm = 85; // increase this for longer distance, reduce for short distance
i_signal_kcps = 1000; // 1000- 6000 kcps
i_distance_threshold_mm = 4000; //4000;
i_inter_measurement_ms = 200; // 100 - 1000 ms
i_macro_timing = 30; // 1 - 100 ms
i_roi_width = 8;
break;
case STS_TOF_LOW_POWER_RANGE:
// STS---001 for ultra low power
/* Reduce the macro timing to minimum. This is equivalent as reducing the integration time */
//status = VL53L1X_ULP_SetMacroTiming(dev, 1);
i_distance_threshold_mm = 4000;
i_inter_measurement_ms = 100; // 100 - 1000 ms
i_macro_timing = 1;
/* Reduce at maximum the SPADS */
//status = VL53L1X_ULP_SetROI(dev, 4);
i_roi_width = 4;
break;
default:
break;
}
sts_vl53lx_ranging(&i_distance_measured, range_mode, i_distance_threshold_mm, i_inter_measurement_ms,i_macro_timing, i_roi_width, i_sigma_mm, i_signal_kcps);
APP_LOG(TS_OFF, VLEVEL_M, "I_DISTANCE_MEASURED = %d \n", i_distance_measured);
*range_distance = i_distance_measured;
}
void BSP_PB_Callback(Button_TypeDef Button)
{
//PushButtonDetected = 1;
}
uint8_t sts_vl53lx_ranging(uint16_t *ranged_distance, uint8_t range_mode, uint16_t distance_threshold_mm, uint16_t inter_measurement_ms, uint16_t macro_timing,
uint16_t roi_width, uint16_t sigma_mm, uint16_t signal_kcps)
{
uint8_t status=0, dev=0x52;
uint16_t estimated_distance_mm=0;
status = VL53L1X_SensorInit(dev);
status += VL53L1X_SetDistanceMode(dev, 2); /* 1=short, 2=long, DISTANCE_MODE */
status += VL53L1X_SetTimingBudgetInMs(dev, 100); /* TIMING_BUDGET, in ms possible values [15, 20, 50, 100, 200, 500] */
status += VL53L1X_SetInterMeasurementInMs(dev, 50);
status += VL53L1X_SetROI(dev, 8, 8); /* minimum ROI 4,4 */
if (status != 0) {
APP_LOG(TS_OFF, VLEVEL_L,"Initialization or configuration of the device\n");
return (-1);
}
status = VL53L1X_StartRanging(dev); /* This function has to be called to enable the ranging */
if (status != 0) {
APP_LOG(TS_OFF, VLEVEL_L,"Start Range failed\n");
return (-1);
}
status = VL53L1X_GetDistance(dev, &estimated_distance_mm);
APP_LOG(TS_OFF,VLEVEL_M,"Target detected! Distance =%d mm \r\n", estimated_distance_mm );
*ranged_distance = estimated_distance_mm;
status = VL53L1X_StopRanging(dev);
APP_LOG(TS_OFF,VLEVEL_M,"End of VL53L1X Ranging Process\n");
return status;
#if 0
/*********************************/
/* VL53L1X ranging variables */
/*********************************/
uint8_t status, loop;
uint8_t dev;
//uint16_t sensor_id=0;
uint8_t measurement_status;
uint16_t estimated_distance_mm, r_signal_kcps, r_sigma_mm, r_ambient_kcps;
/*********************************/
/* Customer platform */
/*********************************/
/* Default VL53L1X Ultra Low Power I2C address */
dev = 0x52;
/* (Optional) Change I2C address */
// status = VL53L1X_ULP_SetI2CAddress(dev, 0x52);
// dev = 0x20;
/*********************************/
/* Power on sensor and init */
/*********************************/
APP_LOG(TS_OFF,VLEVEL_L,"Range Mode =%d \r\n",range_mode);
/* (Optional) Check if there is a VL53L1X sensor connected */
status = VL53L1X_GetSensorId(dev, &sensor_id);
APP_LOG(TS_OFF,VLEVEL_L,"VL53L1X address =%X\r\n",sensor_id );
if(status || (sensor_id != 0xEACC))
{
APP_LOG(TS_OFF,VLEVEL_L,"VL53L1X not detected at requested address\n");
return status;
}
/* (Mandatory) Init VL53L1X sensor */
status = VL53L1X_SensorInit(dev);
if(status)
{
APP_LOG(TS_OFF,VLEVEL_L,"VL53L1X ultra low power Loading failed\n");
//HAL_Delay(100);
return status;
}
APP_LOG(TS_OFF,VLEVEL_L,"VL53L1X ultra low power ready ! \r\n");
/*********************************/
/* Sensor configuration */
/*********************************/
/* (Optional) Program sensor to raise an interrupt ONLY below 300mm */
//status = VL53L1X_SetInterruptConfiguration(dev, distance_threshold_mm, 1); //i_distance_threshold_mm
status = VL53L1X_SetDistanceThreshold(dev, distance_threshold_mm,distance_threshold_mm, 0,1); //i_distance_threshold_mm
/* (Optional) Program a 10Hz ranging frequency */
status = VL53L1X_SetInterMeasurementInMs(dev, inter_measurement_ms); // range_interval_ms
/* Increase the macro timing. This is equivalent as increasing the integration time */
//status = VL53L1X_SetMacroTiming(dev, macro_timing); // micro_timing_ms
status = VL53L1X_SetTimingBudgetInMs(dev, macro_timing);
/* Enable all the SPADS */
status = VL53L1X_SetROI(dev, roi_width, roi_width); // SPADS { 1 -- 16 }
if(range_mode != STS_TOF_LOW_POWER_RANGE)
{
/* Example for robust and short distance measurements. Max distance reduced
* but very low number of false-positives */
status |= VL53L1X_SetSigmaThreshold(dev, sigma_mm);
status |= VL53L1X_SetSignalThreshold(dev, signal_kcps);
}
/*********************************/
/* Ranging loop */
/*********************************/
status = VL53L1X_StartRanging(dev);
if(status)
{
APP_LOG(TS_OFF,VLEVEL_L,"VL53L1X_ULP_StartRanging failed with status %u\n", status);
return status;
}
APP_LOG(TS_OFF,VLEVEL_L,"Ranging started. Put your hand close to the sensor to generate an interrupt...\n");
loop = 0;
while(loop < 20)
{
/* Use this external function to detect when a hardware interrupt is generated on PIN 7 (GPIO1). It means that a new measurement is ready.
*/
if(IsInterruptDetected(dev))
{
/* (Mandatory) Clear HW interrupt to restart measurements */
VL53L1X_ClearInterrupt(dev);
/* Dump debug data */
#if 0
status = VL53L1X_DumpDebugData(dev, &measurement_status,
&estimated_distance_mm, &r_sigma_mm, &r_signal_kcps, &r_ambient_kcps);
*ranged_distance = estimated_distance_mm;
APP_LOG(TS_OFF,VLEVEL_L,"Target detected! Interrupt raised by sensor, Distance =%d mm \r\n", estimated_distance_mm );
#endif
status = VL53L1X_GetDistance(dev, &estimated_distance_mm);
APP_LOG(TS_OFF,VLEVEL_L,"Target detected! Interrupt raised by sensor, Distance =%d mm \r\n", estimated_distance_mm );
loop++;
}
}
status = VL53L1X_StopRanging(dev);
APP_LOG(TS_OFF,VLEVEL_L,"End of VL53L1X ultra low power demo\n");
return status;
#endif
}
#endif
#ifdef __cplusplus
}
#endif