/**
******************************************************************************
* @file 53l4a2_ranging_sensor.c
* @author IMG SW Application Team
* @brief This file includes the driver for Ranging Sensor modules mounted on
* X-NUCLEO 53L4A2 expansion board.
******************************************************************************
* @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.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------ */
#include "53l4a2_ranging_sensor.h"
/** @addtogroup BSP
* @{
*/
/** @addtogroup XNUCLEO_53L4A2
* @{
*/
/** @addtogroup XNUCLEO_53L4A2_RANGING_SENSOR
* @{
*/
/** @addtogroup XNUCLEO_53L4A2_RANGING_SENSOR_Exported_Variables
* @{
*/
void *VL53L4A2_RANGING_SENSOR_CompObj[RANGING_SENSOR_INSTANCES_NBR] = {0};
/**
* @}
*/
/** @defgroup XNUCLEO_53L4A2_RANGING_SENSOR_Private_Variables Private Variables
* @{
*/
static RANGING_SENSOR_Drv_t *VL53L4A2_RANGING_SENSOR_Drv = NULL;
static RANGING_SENSOR_Capabilities_t VL53L4A2_RANGING_SENSOR_Cap;
/**
* @}
*/
/** @defgroup XNUCLEO_53L4A2_RANGING_SENSOR_Private_Functions_Prototypes Private Functions Prototypes
* @{
*/
static int32_t VL53L4CX_Probe(uint32_t Instance);
/**
* @}
*/
/**
* @brief Initialize the ranging sensor.
* @param Instance Ranging sensor instance.
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_Init(uint32_t Instance)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
ret = VL53L4CX_Probe(Instance);
}
return ret;
}
/**
* @brief De-initialize the ranging sensor.
* @param Instance Ranging sensor instance.
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_DeInit(uint32_t Instance)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->DeInit(VL53L4A2_RANGING_SENSOR_CompObj[Instance]) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/**
* @brief Read the ranging sensor device ID.
* @param Instance Ranging sensor instance.
* @param pId Pointer to the device ID.
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_ReadID(uint32_t Instance, uint32_t *pId)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->ReadID(VL53L4A2_RANGING_SENSOR_CompObj[Instance], pId) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/**
* @brief Get the ranging sensor capabilities.
* @param Instance Ranging sensor instance.
* @param pCapabilities Pointer to the ranging sensor capabilities.
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_GetCapabilities(uint32_t Instance, RANGING_SENSOR_Capabilities_t *pCapabilities)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->GetCapabilities(VL53L4A2_RANGING_SENSOR_CompObj[Instance], pCapabilities) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/**
* @brief Set the ranging configuration profile.
* @param Instance Ranging sensor instance.
* @param pConfig Pointer to the new configuration profile to be applied.
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_ConfigProfile(uint32_t Instance, RANGING_SENSOR_ProfileConfig_t *pConfig)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->ConfigProfile(VL53L4A2_RANGING_SENSOR_CompObj[Instance], pConfig) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/**
* @brief Configure the Region of Interest of the ranging sensor.
* @param Instance Ranging sensor instance.
* @param pConfig Pointer to the ROI configuration struct.
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_ConfigROI(uint32_t Instance, RANGING_SENSOR_ROIConfig_t *pConfig)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4A2_RANGING_SENSOR_Cap.CustomROI == 0U)
{
ret = BSP_ERROR_FEATURE_NOT_SUPPORTED;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->ConfigROI(VL53L4A2_RANGING_SENSOR_CompObj[Instance], pConfig) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/**
* @brief Configure the IT event generation parameters.
* @param Instance Ranging sensor instance.
* @param pConfig Pointer to the IT configuration struct.
* @note The threshold modes can be used only if supported by the device (check the capabilities).
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_ConfigIT(uint32_t Instance, RANGING_SENSOR_ITConfig_t *pConfig)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->ConfigIT(VL53L4A2_RANGING_SENSOR_CompObj[Instance], pConfig) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/**
* @brief Get the last distance measurement information.
* @param Instance Ranging sensor instance.
* @param pResult Pointer to the result struct.
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_GetDistance(uint32_t Instance, RANGING_SENSOR_Result_t *pResult)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->GetDistance(VL53L4A2_RANGING_SENSOR_CompObj[Instance], pResult) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/**
* @brief Start ranging.
* @param Instance Ranging sensor instance.
* @param Mode The desired RANGING_SENSOR_Mode_t
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_Start(uint32_t Instance, uint32_t Mode)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->Start(VL53L4A2_RANGING_SENSOR_CompObj[Instance], Mode) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/**
* @brief Stop ranging.
* @param Instance Ranging sensor instance.
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_Stop(uint32_t Instance)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->Stop(VL53L4A2_RANGING_SENSOR_CompObj[Instance]) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/**
* @brief Set the I2C address of the device.
* @param Instance Ranging sensor instance.
* @param Address New I2C address.
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_SetAddress(uint32_t Instance, uint32_t Address)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->SetAddress(VL53L4A2_RANGING_SENSOR_CompObj[Instance], Address) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/**
* @brief Get the I2C address of the device.
* @param Instance Ranging sensor instance.
* @param pAddress Pointer to the current I2C address.
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_GetAddress(uint32_t Instance, uint32_t *pAddress)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->GetAddress(VL53L4A2_RANGING_SENSOR_CompObj[Instance], pAddress) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/**
* @brief Set the power mode.
* @param Instance Ranging sensor instance.
* @param PowerMode New power mode to be entered.
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_SetPowerMode(uint32_t Instance, uint32_t PowerMode)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->SetPowerMode(VL53L4A2_RANGING_SENSOR_CompObj[Instance], PowerMode) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/**
* @brief Set the power mode.
* @param Instance Ranging sensor instance.
* @param pPowerMode Pointer to the current power mode.
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_GetPowerMode(uint32_t Instance, uint32_t *pPowerMode)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->GetPowerMode(VL53L4A2_RANGING_SENSOR_CompObj[Instance], pPowerMode) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/**
* @brief Perform an offset calibration.
* @param Instance Ranging sensor instance.
* @param CalDistance Calibration distance in mm.
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_OffsetCalibration(uint32_t Instance, uint32_t CalDistance)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4CX_OffsetCalibration(VL53L4A2_RANGING_SENSOR_CompObj[Instance], CalDistance) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/**
* @brief Perform a xtalk calibration.
* @param Instance Ranging sensor instance.
* @retval BSP status
*/
int32_t VL53L4A2_RANGING_SENSOR_XTalkCalibration(uint32_t Instance)
{
int32_t ret;
if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (VL53L4CX_XTalkCalibration(VL53L4A2_RANGING_SENSOR_CompObj[Instance]) < 0)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
return ret;
}
/** @defgroup XNUCLEO_53L4A2_RANGING_SENSOR_Private_Functions Private Functions
* @{
*/
/**
* @brief Register Bus IOs if component ID is OK.
* @param Instance Ranging sensor instance.
* @retval BSP status
*/
static int32_t VL53L4CX_Probe(uint32_t Instance)
{
int32_t ret;
VL53L4CX_IO_t IOCtx;
uint32_t id;
static VL53L4CX_Object_t VL53L4CXObj[RANGING_SENSOR_INSTANCES_NBR];
/* Configure the ranging sensor driver */
IOCtx.Address = RANGING_SENSOR_VL53L4CX_ADDRESS;
IOCtx.Init = VL53L4A2_I2C_INIT;
IOCtx.DeInit = VL53L4A2_I2C_DEINIT;
IOCtx.WriteReg = VL53L4A2_I2C_WRITEREG;
IOCtx.ReadReg = VL53L4A2_I2C_READREG;
IOCtx.GetTick = VL53L4A2_GETTICK;
if (VL53L4CX_RegisterBusIO(&(VL53L4CXObj[Instance]), &IOCtx) != VL53L4CX_OK)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
VL53L4A2_RANGING_SENSOR_Drv = (RANGING_SENSOR_Drv_t *) &VL53L4CX_RANGING_SENSOR_Driver;
VL53L4A2_RANGING_SENSOR_CompObj[Instance] = &(VL53L4CXObj[Instance]);
if (VL53L4CX_ReadID(&(VL53L4CXObj[Instance]), &id) != VL53L4CX_OK)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else if (id != VL53L4CX_ID)
{
ret = BSP_ERROR_UNKNOWN_COMPONENT;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->Init(VL53L4A2_RANGING_SENSOR_CompObj[Instance]) != VL53L4CX_OK)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else if (VL53L4A2_RANGING_SENSOR_Drv->GetCapabilities(VL53L4A2_RANGING_SENSOR_CompObj[Instance],
&VL53L4A2_RANGING_SENSOR_Cap) != VL53L4CX_OK)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
}
return ret;
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/