/* * Copyright (c) 2017, STMicroelectronics - All Rights Reserved * * This file is part of VL53L1 Core and is dual licensed, either * 'STMicroelectronics Proprietary license' * or 'BSD 3-clause "New" or "Revised" License' , at your option. * ******************************************************************************** * * 'STMicroelectronics Proprietary license' * ******************************************************************************** * * License terms: STMicroelectronics Proprietary in accordance with licensing * terms at www.st.com/sla0044 * * STMicroelectronics confidential * Reproduction and Communication of this document is strictly prohibited unless * specifically authorized in writing by STMicroelectronics. * * ******************************************************************************** * * Alternatively, VL53L1 Core may be distributed under the terms of * 'BSD 3-clause "New" or "Revised" License', in which case the following * provisions apply instead of the ones * mentioned above : * ******************************************************************************** * * License terms: BSD 3-clause "New" or "Revised" License. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright notice, this * list of conditions and the following disclaimer. * * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * * 3. Neither the name of the copyright holder nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * * ******************************************************************************** * */ #include #include "vl53l1_api.h" #include "vl53l1_platform_init.h" #define trace_print(level, ...) \ VL53L1_trace_print_module_function(VL53L1_TRACE_MODULE_CORE, \ level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) /* #define DETAILS_ON */ void print_pal_error(VL53L1_Error Status){ char buf[VL53L1_MAX_STRING_LENGTH]; VL53L1_GetPalErrorString(Status, buf); printf("API Status: %i : %s\n", Status, buf); } int RunAutoDistanceLoop(VL53L1_DEV dev) { VL53L1_Error Status = VL53L1_ERROR_NONE; uint8_t no_of_object_found = 0; int j; VL53L1_MultiRangingData_t MultiRangingData; VL53L1_DistanceModes CurrDistMode; VL53L1_DistanceModes NextInternal; const char *sModes[]={"SHORT ","MEDIUM","LONG "}; #ifndef DETAILS_ON const char *sTabs []={"SHORT","\t\t\tMEDIUM","\t\t\t\t\t\tLONG "}; #endif Status = VL53L1_StartMeasurement(dev); /* Very first ranging measurement completion interrupt must be ignored */ Status = VL53L1_WaitMeasurementDataReady(dev); Status = VL53L1_GetMultiRangingData(dev, &MultiRangingData); Status = VL53L1_ClearInterruptAndStartMeasurement(dev); /* Actual measurement loop starts here... */ while (1) { /* Wait for range completion */ Status = VL53L1_WaitMeasurementDataReady(dev); if(Status == VL53L1_ERROR_NONE) { Status = VL53L1_GetMultiRangingData(dev, &MultiRangingData); no_of_object_found = MultiRangingData.NumberOfObjectsFound; Status = VL53L1_GetDistanceMode(dev, &CurrDistMode); #ifdef DETAILS_ON printf("%s objects %d ", sModes[CurrDistMode-1], no_of_object_found); #else printf("%s objects %d ", sTabs[CurrDistMode-1], no_of_object_found); #endif if (no_of_object_found <= 1) no_of_object_found = 1; for(j = 0; j < no_of_object_found; j++) { #ifdef DETAILS_ON printf("[ROI %d s_cnt %3d ", MultiRangingData.RoiNumber, MultiRangingData.RangeData[j].StreamCount); printf(" Rng %4d sigRate %f Rate %f sigma %f dmax_mm %4d Status %d] ", MultiRangingData.RangeData[j].RangeMilliMeter, MultiRangingData.RangeData[j].SignalRateRtnMegaCps/65536.0, MultiRangingData.RangeData[j].AmbientRateRtnMegaCps/65536.0, MultiRangingData.RangeData[j].SigmaMilliMeter/65536.0, MultiRangingData.DmaxMilliMeter, MultiRangingData.RangeData[j].RangeStatus); #else printf(" Rng %4d] ", MultiRangingData.RangeData[j].RangeMilliMeter); #endif } printf("\n"); Status = VL53L1_ClearInterruptAndStartMeasurement(dev); if (CurrDistMode != MultiRangingData.RecommendedDistanceMode) { VL53L1_StopMeasurement(dev); NextInternal = MultiRangingData.RecommendedDistanceMode; printf("Change distance mode %s -> %s\n", sModes[CurrDistMode-1], sModes[NextInternal-1]); Status = VL53L1_SetDistanceMode(dev, NextInternal); Status = VL53L1_StartMeasurement(dev); /* Very first ranging measurement completion interrupt must be ignored */ Status = VL53L1_WaitMeasurementDataReady(dev); Status = VL53L1_GetMultiRangingData(dev, &MultiRangingData); Status = VL53L1_ClearInterruptAndStartMeasurement(dev); } fflush(stdout); } } /* Call StopMeasurement whatever the previous status but take into account its own error as final result */ VL53L1_StopMeasurement(dev); return Status; } int main(int argc, char **argv) { VL53L1_Error Status = VL53L1_ERROR_NONE; VL53L1_Dev_t dev; VL53L1_DEV Dev = &dev; VL53L1_PresetModes PresetMode; VL53L1_DeviceInfo_t DeviceInfo; VL53L1_Version_t Version; VL53L1_ll_version_t llVersion; #ifdef VL53L1_LOG_ENABLE char filename[] = "./trace.log"; #endif setvbuf(stdout, NULL, _IONBF, 0); setvbuf(stderr, NULL, _IONBF, 0); printf ("VL53L1 Auto distance adaptation example\n\n"); SUPPRESS_UNUSED_WARNING(argc); SUPPRESS_UNUSED_WARNING(argv); /* * Configure logging - turn everything on */ #if defined(VL53L1_LOG_ENABLE) && defined(_WIN64) Status = VL53L1_trace_config( filename, VL53L1_TRACE_MODULE_ALL, VL53L1_TRACE_LEVEL_ALL, VL53L1_TRACE_FUNCTION_ALL); #elif defined(VL53L1_LOG_ENABLE) && !defined(_WIN64) Status = VL53L1_trace_config( NULL, VL53L1_TRACE_MODULE_NONE, VL53L1_TRACE_LEVEL_NONE, VL53L1_TRACE_FUNCTION_NONE); #endif VL53L1_GetVersion(&Version); printf("driver version\t %d.%d.%d rev %d\n", Version.major, Version.minor, Version.build, Version.revision); VL53L1_get_version(Dev, &llVersion); printf("lld version\t %d.%d.%d rev %d\n", llVersion.ll_major, llVersion.ll_minor, llVersion.ll_build, llVersion.ll_revision); printf("\n"); /* * Initialize the platform interface */ if (Status == VL53L1_ERROR_NONE) Status = VL53L1_platform_init( Dev, (0x29 << 1), /* EVK requires 8-bit I2C */ 1, /* comms_type I2C*/ 400); /* comms_speed_khz - 400kHz recommended */ /* * Wait for firmware to finish booting */ if (Status == VL53L1_ERROR_NONE) Status = VL53L1_WaitDeviceBooted(Dev); /* * Initialise Dev data structure */ if (Status == VL53L1_ERROR_NONE) Status = VL53L1_DataInit(Dev); if(Status == VL53L1_ERROR_NONE) { Status = VL53L1_GetDeviceInfo(Dev, &DeviceInfo); if(Status == VL53L1_ERROR_NONE) { printf("VL53L1_GetDeviceInfo:\n"); printf("Device Name : %s\n", DeviceInfo.Name); printf("Device Type : %s\n", DeviceInfo.Type); printf("Device ID : %s\n", DeviceInfo.ProductId); printf("ProductRevisionMajor : %d\n", DeviceInfo.ProductRevisionMajor); printf("ProductRevisionMinor : %d\n", DeviceInfo.ProductRevisionMinor); if ((DeviceInfo.ProductRevisionMajor != 1) || (DeviceInfo.ProductRevisionMinor != 1)) { printf("Error expected cut 1.1 but found cut %d.%d\n", DeviceInfo.ProductRevisionMajor, DeviceInfo.ProductRevisionMinor); Status = VL53L1_ERROR_NOT_SUPPORTED; } } print_pal_error(Status); } if (Status == VL53L1_ERROR_NONE) Status = VL53L1_StaticInit(Dev); /* * Run reference SPAD characterisation */ #ifndef VL53L1_NOCALIB if (Status == VL53L1_ERROR_NONE) Status = VL53L1_PerformRefSpadManagement(Dev); #endif /* * Initialize configuration data structures for the * given preset mode. Does *not* apply the settings * to the device just initializes the data structures */ if (Status == VL53L1_ERROR_NONE) { PresetMode = VL53L1_PRESETMODE_RANGING; Status = VL53L1_SetPresetMode(Dev, PresetMode); } if (Status == VL53L1_ERROR_NONE) { Status = VL53L1_SetDistanceMode(Dev, VL53L1_DISTANCEMODE_LONG); } if (Status == VL53L1_ERROR_NONE) { Status = VL53L1_SetMeasurementTimingBudgetMicroSeconds(Dev, 16000); } if (Status == VL53L1_ERROR_NONE) { Status = RunAutoDistanceLoop(Dev); } if (Status == VL53L1_ERROR_NONE) Status = VL53L1_platform_terminate(Dev); print_pal_error(Status); return (Status); }