537 lines
13 KiB
C
537 lines
13 KiB
C
/**
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******************************************************************************
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* @file 53l7a1_ranging_sensor.c
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* @author IMG SW Application Team
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* @brief This file includes the driver for Ranging Sensor modules mounted on
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* X-NUCLEO 53L7A1 expansion board.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2022 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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/* File Info: ------------------------------------------------------------------
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* User NOTES
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* Includes ------------------------------------------------------------------ */
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#include "53l7a1_ranging_sensor.h"
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/** @addtogroup BSP
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* @{
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*/
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/** @addtogroup XNUCLEO_53L7A1
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* @{
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*/
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/** @addtogroup XNUCLEO_53L7A1_RANGING_SENSOR
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* @{
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*/
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/** @defgroup XNUCLEO_53L7A1_RANGING_SENSOR_Exported_Variables Exported Variables
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* @{
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*/
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void *VL53L7A1_RANGING_SENSOR_CompObj[RANGING_SENSOR_INSTANCES_NBR] = {0};
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/**
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* @}
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*/
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/** @defgroup XNUCLEO_53L7A1_RANGING_SENSOR_Private_Variables Private Variables
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* @{
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*/
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static RANGING_SENSOR_Drv_t *VL53L7A1_RANGING_SENSOR_Drv = NULL;
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static RANGING_SENSOR_Capabilities_t VL53L7A1_RANGING_SENSOR_Cap;
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/**
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* @}
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*/
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/** @defgroup XNUCLEO_53L7A1_RANGING_SENSOR_Private_Functions_Prototypes Private Functions Prototypes
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* @{
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*/
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static int32_t VL53L7CX_Probe(uint32_t Instance);
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/**
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* @}
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*/
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/**
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* @brief Initializes the ranging sensor.
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* @param Instance Ranging sensor instance.
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_Init(uint32_t Instance)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else
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{
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ret = VL53L7CX_Probe(Instance);
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}
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return ret;
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}
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/**
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* @brief Deinitializes the ranging sensor.
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* @param Instance Ranging sensor instance.
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_DeInit(uint32_t Instance)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->DeInit(VL53L7A1_RANGING_SENSOR_CompObj[Instance]) < 0)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
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}
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return ret;
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}
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/**
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* @brief Read the ranging sensor device ID.
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* @param Instance Ranging sensor instance.
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* @param pId Pointer to the device ID.
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_ReadID(uint32_t Instance, uint32_t *pId)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->ReadID(VL53L7A1_RANGING_SENSOR_CompObj[Instance], pId) < 0)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
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}
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return ret;
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}
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/**
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* @brief Get the ranging sensor capabilities.
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* @param Instance Ranging sensor instance.
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* @param pCapabilities Pointer to the ranging sensor capabilities.
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_GetCapabilities(uint32_t Instance, RANGING_SENSOR_Capabilities_t *pCapabilities)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->GetCapabilities(VL53L7A1_RANGING_SENSOR_CompObj[Instance], pCapabilities) < 0)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
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}
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return ret;
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}
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/**
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* @brief Set the ranging configuration profile.
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* @param Instance Ranging sensor instance.
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* @param pConfig Pointer to the new configuration profile to be applied.
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_ConfigProfile(uint32_t Instance, RANGING_SENSOR_ProfileConfig_t *pConfig)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->ConfigProfile(VL53L7A1_RANGING_SENSOR_CompObj[Instance], pConfig) < 0)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
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}
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return ret;
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}
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/**
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* @brief Configure the Region of Interest of the ranging sensor.
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* @param Instance Ranging sensor instance.
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* @param pConfig Pointer to the ROI configuration struct.
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_ConfigROI(uint32_t Instance, RANGING_SENSOR_ROIConfig_t *pConfig)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if (VL53L7A1_RANGING_SENSOR_Cap.CustomROI == 0U)
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{
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ret = BSP_ERROR_FEATURE_NOT_SUPPORTED;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->ConfigROI(VL53L7A1_RANGING_SENSOR_CompObj[Instance], pConfig) < 0)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
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}
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return ret;
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}
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/**
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* @brief Configure the IT event generation parameters.
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* @param Instance Ranging sensor instance.
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* @param pConfig Pointer to the IT configuration struct.
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* @note The threshold modes can be used only if supported by the device (check the capabilities).
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_ConfigIT(
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uint32_t Instance,
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RANGING_SENSOR_ITConfig_t *pConfig)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->ConfigIT(
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VL53L7A1_RANGING_SENSOR_CompObj[Instance],
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pConfig) < 0)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
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}
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return ret;
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}
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/**
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* @brief Get the last distance measurement information.
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* @param Instance Ranging sensor instance.
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* @param pResult Pointer to the result struct.
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_GetDistance(uint32_t Instance, RANGING_SENSOR_Result_t *pResult)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->GetDistance(VL53L7A1_RANGING_SENSOR_CompObj[Instance], pResult) < 0)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
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}
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return ret;
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}
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/**
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* @brief Start ranging.
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* @param Instance Ranging sensor instance.
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* @param Mode The desired ranging mode
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_Start(uint32_t Instance, uint32_t Mode)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->Start(VL53L7A1_RANGING_SENSOR_CompObj[Instance], Mode) < 0)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
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}
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return ret;
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}
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/**
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* @brief Stop ranging.
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* @param Instance Ranging sensor instance.
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_Stop(uint32_t Instance)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->Stop(VL53L7A1_RANGING_SENSOR_CompObj[Instance]) < 0)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
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}
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return ret;
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}
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/**
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* @brief Set The I2C address of the device.
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* @param Instance Ranging sensor instance.
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* @param Address New I2C address.
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_SetAddress(uint32_t Instance, uint32_t Address)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->SetAddress(VL53L7A1_RANGING_SENSOR_CompObj[Instance], Address) < 0)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
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}
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return ret;
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}
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/**
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* @brief Get the I2C address of the device.
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* @param Instance Ranging sensor instance.
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* @param pAddress Pointer to the current I2C address.
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_GetAddress(uint32_t Instance, uint32_t *pAddress)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->GetAddress(VL53L7A1_RANGING_SENSOR_CompObj[Instance], pAddress) < 0)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
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}
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return ret;
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}
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/**
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* @brief Set the power mode.
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* @param Instance Ranging sensor instance.
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* @param PowerMode New power mode to be entered.
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_SetPowerMode(uint32_t Instance, uint32_t PowerMode)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if ((PowerMode != RANGING_SENSOR_POWERMODE_SLEEP) &&
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(PowerMode != RANGING_SENSOR_POWERMODE_WAKEUP))
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->SetPowerMode(VL53L7A1_RANGING_SENSOR_CompObj[Instance], (uint8_t)PowerMode) < 0)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
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}
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return ret;
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}
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/**
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* @brief Get the power mode.
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* @param Instance Ranging sensor instance.
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* @param pPowerMode Pointer to the current power mode.
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_GetPowerMode(uint32_t Instance, uint32_t *pPowerMode)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->GetPowerMode(VL53L7A1_RANGING_SENSOR_CompObj[Instance], pPowerMode) < 0)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
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}
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return ret;
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}
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/**
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* @brief Perform a xtalk calibration.
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* @param Instance Ranging sensor instance.
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* @param Reflectance Target reflectance in percent (range: 1 - 99 %).
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* @param Distance Target distance in mm (range 600 - 3000 mm).
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* @note The recommended target reflectance value for Xtalk calibration is 3 %.
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* @retval BSP status
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*/
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int32_t VL53L7A1_RANGING_SENSOR_XTalkCalibration(uint32_t Instance, uint16_t Reflectance, uint16_t Distance)
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{
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int32_t ret;
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if (Instance >= RANGING_SENSOR_INSTANCES_NBR)
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{
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ret = BSP_ERROR_WRONG_PARAM;
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}
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else if (VL53L7CX_XTalkCalibration(VL53L7A1_RANGING_SENSOR_CompObj[Instance], Reflectance, Distance) < 0)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
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}
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return ret;
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}
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/** @defgroup XNUCLEO_53L7A1_RANGING_SENSOR_Private_Functions Private Functions
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* @{
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*/
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/**
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* @brief Register Bus IOs if component ID is OK.
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* @param Instance Ranging sensor instance.
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* @retval BSP status
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*/
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static int32_t VL53L7CX_Probe(uint32_t Instance)
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{
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int32_t ret;
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VL53L7CX_IO_t IOCtx;
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uint32_t id;
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static VL53L7CX_Object_t VL53L7CXObj[RANGING_SENSOR_INSTANCES_NBR];
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/* Configure the ranging sensor driver */
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IOCtx.Address = RANGING_SENSOR_VL53L7CX_ADDRESS;
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IOCtx.Init = VL53L7A1_I2C_INIT;
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IOCtx.DeInit = VL53L7A1_I2C_DEINIT;
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IOCtx.WriteReg = VL53L7A1_I2C_WRITEREG;
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IOCtx.ReadReg = VL53L7A1_I2C_READREG;
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IOCtx.GetTick = VL53L7A1_GETTICK;
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if (VL53L7CX_RegisterBusIO(&(VL53L7CXObj[Instance]), &IOCtx) != VL53L7CX_OK)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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VL53L7A1_RANGING_SENSOR_Drv = (RANGING_SENSOR_Drv_t *) &VL53L7CX_RANGING_SENSOR_Driver;
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VL53L7A1_RANGING_SENSOR_CompObj[Instance] = &(VL53L7CXObj[Instance]);
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if (VL53L7CX_ReadID(&(VL53L7CXObj[Instance]), &id) != VL53L7CX_OK)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else if (id != VL53L7CX_ID)
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{
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ret = BSP_ERROR_UNKNOWN_COMPONENT;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->Init(VL53L7A1_RANGING_SENSOR_CompObj[Instance]) != VL53L7CX_OK)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else if (VL53L7A1_RANGING_SENSOR_Drv->GetCapabilities(VL53L7A1_RANGING_SENSOR_CompObj[Instance],
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&VL53L7A1_RANGING_SENSOR_Cap) != VL53L7CX_OK)
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{
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ret = BSP_ERROR_COMPONENT_FAILURE;
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}
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else
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{
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ret = BSP_ERROR_NONE;
|
|
}
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @}
|
|
*/
|