From ae5f47a5187fb972c12b2dd3e3642bd1f90ae90e Mon Sep 17 00:00:00 2001 From: Fabien-B Date: Thu, 29 Feb 2024 10:46:01 +0100 Subject: [PATCH] Add vl53l5cx driver (#3240) Based on St ULD --- conf/abi.xml | 9 + conf/modules/lidar_vl53l5cx.xml | 29 + .../arch/chibios/mcu_periph/i2c_arch.c | 4 + .../chibios/modules/lidar/lidar_vl53l5cx.c | 148 + .../chibios/modules/lidar/lidar_vl53l5cx.h | 35 + .../chibios/modules/lidar/vl53l5cx_platform.c | 118 + .../boards/tawaki/chibios/v2.0/board.h | 40 +- .../boards/tawaki/chibios/v2.0/tawaki_2.0.cfg | 4 +- sw/airborne/modules/core/abi_sender_ids.h | 9 + sw/airborne/modules/lidar/vl53l5cx_platform.h | 186 + sw/airborne/peripherals/vl53l5cx_api.c | 1311 + sw/airborne/peripherals/vl53l5cx_api.h | 722 + sw/airborne/peripherals/vl53l5cx_buffers.h | 22015 ++++++++++++++++ 13 files changed, 24608 insertions(+), 22 deletions(-) create mode 100644 conf/modules/lidar_vl53l5cx.xml create mode 100644 sw/airborne/arch/chibios/modules/lidar/lidar_vl53l5cx.c create mode 100644 sw/airborne/arch/chibios/modules/lidar/lidar_vl53l5cx.h create mode 100644 sw/airborne/arch/chibios/modules/lidar/vl53l5cx_platform.c create mode 100644 sw/airborne/modules/lidar/vl53l5cx_platform.h create mode 100644 sw/airborne/peripherals/vl53l5cx_api.c create mode 100644 sw/airborne/peripherals/vl53l5cx_api.h create mode 100644 sw/airborne/peripherals/vl53l5cx_buffers.h diff --git a/conf/abi.xml b/conf/abi.xml index fc939caf915..47e9e3122ce 100644 --- a/conf/abi.xml +++ b/conf/abi.xml @@ -248,6 +248,15 @@ + + + number of rows of the matrix + number of columns of the matrix + size of a matrix element + subtype of data, driver dependent (e.g. distance, reflectance, ...) + pointer to the data of the matrix + + diff --git a/conf/modules/lidar_vl53l5cx.xml b/conf/modules/lidar_vl53l5cx.xml new file mode 100644 index 00000000000..9e36456800d --- /dev/null +++ b/conf/modules/lidar_vl53l5cx.xml @@ -0,0 +1,29 @@ + + + + + VL53L5CX multizone range sensor. + Sends LIDAR_DATA Abi messages. + + + + + + i2c + +
+ +
+ + + + + + + + + + + + + diff --git a/sw/airborne/arch/chibios/mcu_periph/i2c_arch.c b/sw/airborne/arch/chibios/mcu_periph/i2c_arch.c index 3026444e103..23eb7d6fdbf 100644 --- a/sw/airborne/arch/chibios/mcu_periph/i2c_arch.c +++ b/sw/airborne/arch/chibios/mcu_periph/i2c_arch.c @@ -123,6 +123,8 @@ static void handle_i2c_thd(struct i2c_periph *p) // wait for a transaction to be pushed in the queue chSemWait(&i->sem); + i2cAcquireBus((I2CDriver *)p->reg_addr); + if (p->trans_insert_idx == p->trans_extract_idx) { p->status = I2CIdle; // no transaction pending @@ -231,6 +233,8 @@ static void handle_i2c_thd(struct i2c_periph *p) default: break; } + + i2cReleaseBus((I2CDriver *)p->reg_addr); } /** diff --git a/sw/airborne/arch/chibios/modules/lidar/lidar_vl53l5cx.c b/sw/airborne/arch/chibios/modules/lidar/lidar_vl53l5cx.c new file mode 100644 index 00000000000..7c9f6613331 --- /dev/null +++ b/sw/airborne/arch/chibios/modules/lidar/lidar_vl53l5cx.c @@ -0,0 +1,148 @@ +/* + * Copyright (C) 2024 Fabien-B + * + * This file is part of paparazzi + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, see + * . + */ + +/** @file "modules/lidar/lidar_vl53l5cx.c" + * @author Fabien-B + * VL53L5CX multizone range sensor. + */ + +#include "modules/lidar/lidar_vl53l5cx.h" +#include "mcu_periph/i2c.h" +#include "ch.h" +#include "lidar/vl53l5cx_platform.h" +#include "peripherals/vl53l5cx_api.h" +#include "modules/core/abi.h" +#include "modules/datalink/downlink.h" +#include "ch.h" +#include "hal.h" +#include "mcu_periph/ram_arch.h" + +#ifndef LIDAR_VL53L5CX_I2C_ADDR +#define LIDAR_VL53L5CX_I2C_ADDR 0x29 +#endif + +#define SUBTYPE_DISTANCE 0 + +static IN_DMA_SECTION(VL53L5CX_Configuration vl53l5cx_dev); +static IN_DMA_SECTION(VL53L5CX_ResultsData vl53l5cx_results); + +static THD_WORKING_AREA(wa_thd_lidar_vl53l5cx, 1024); +static void thd_lidar_vl53l5cx(void *arg); + + +char *VL53L5CX_ERROR_MSGS[] = { + "VL53L5CX_NO_ERROR", + "VL53L5CX_NOT_DETECTED", + "VL53L5CX_ULD_LOADING_FAILED", + "VL53L5CX_SET_RESOLUTION_FAILED", + "VL53L5CX_RUNTIME_ERROR", +}; + + +void lidar_vl53l5cx_init(void) +{ + vl53l5cx_dev.platform.i2cdev = &LIDAR_VL53L5CX_I2C_DEV; + vl53l5cx_dev.platform.address = LIDAR_VL53L5CX_I2C_ADDR; + vl53l5cx_dev.platform.user_data = NULL; + vl53l5cx_dev.platform.error_code = VL53L5CX_NO_ERROR; + + // Create thread + vl53l5cx_dev.platform.user_data = chThdCreateStatic(wa_thd_lidar_vl53l5cx, sizeof(wa_thd_lidar_vl53l5cx), + NORMALPRIO, thd_lidar_vl53l5cx, (void *)&vl53l5cx_dev); +} + +void lidar_vl53l5cx_periodic(void) +{ + + if (vl53l5cx_dev.platform.user_data != NULL) { + thread_t* thread_handle = (thread_t*) vl53l5cx_dev.platform.user_data; + // check thread status + if (thread_handle->state == CH_STATE_FINAL) { + vl53l5cx_dev.platform.error_code = (enum VL53L5CX_ERRORS) chThdWait(thread_handle); + vl53l5cx_dev.platform.user_data = NULL; + } + } else { + + // thread exited, send error code periodically + size_t len = strlen(VL53L5CX_ERROR_MSGS[vl53l5cx_dev.platform.error_code]); + // send exitcode to telemetry + RunOnceEvery(10, DOWNLINK_SEND_INFO_MSG(DefaultChannel, DefaultDevice, len, + VL53L5CX_ERROR_MSGS[vl53l5cx_dev.platform.error_code])); + ; + } + + + if (vl53l5cx_dev.platform.data_available) { + uint32_t now_ts = get_sys_time_usec(); + AbiSendMsgLIDAR_DATA(LIDAR_DATA_VL53L5CX_ID, now_ts, + 8, 8, sizeof(vl53l5cx_dev.platform.distances_mm[0]), SUBTYPE_DISTANCE, + (uint8_t *)vl53l5cx_dev.platform.distances_mm); + + vl53l5cx_dev.platform.data_available = false; + } + + +} + + + +static void thd_lidar_vl53l5cx(void *arg) +{ + chRegSetThreadName("vl53l5cx"); + VL53L5CX_Configuration *dev = (VL53L5CX_Configuration *) arg; + + uint8_t status, isAlive, isReady; + + + chThdSleepMilliseconds(2000); + + status = vl53l5cx_is_alive(dev, &isAlive); + if (!isAlive || status) { + chThdExit(VL53L5CX_NOT_DETECTED); + } + + status = vl53l5cx_init(dev); + if (status) { + chThdExit(VL53L5CX_ULD_LOADING_FAILED); + } + + status = vl53l5cx_set_resolution(dev, VL53L5CX_RESOLUTION_4X4); + if (status) { + chThdExit(VL53L5CX_SET_RESOLUTION_FAILED); + } + + status = vl53l5cx_start_ranging(dev); + + while (true) { + status = vl53l5cx_check_data_ready(dev, &isReady); + if (isReady) { + status = vl53l5cx_get_ranging_data(dev, &vl53l5cx_results); + if (status == 0) { + memcpy(dev->platform.distances_mm, vl53l5cx_results.distance_mm, 64 * sizeof(vl53l5cx_results.distance_mm[0])); + dev->platform.data_available = true; + } + } + + chThdSleepMilliseconds(100); + } + + +} + diff --git a/sw/airborne/arch/chibios/modules/lidar/lidar_vl53l5cx.h b/sw/airborne/arch/chibios/modules/lidar/lidar_vl53l5cx.h new file mode 100644 index 00000000000..ff4a3954d2a --- /dev/null +++ b/sw/airborne/arch/chibios/modules/lidar/lidar_vl53l5cx.h @@ -0,0 +1,35 @@ +/* + * Copyright (C) 2024 Fabien-B + * + * This file is part of paparazzi + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, see + * . + */ + +/** @file "modules/lidar/lidar_vl53l5cx.h" + * @author Fabien-B + * VL53L5CX multizone range sensor. + */ + +#ifndef LIDAR_VL53L5CX_H +#define LIDAR_VL53L5CX_H + +#include "stdint.h" +#include "peripherals/vl53l5cx_api.h" + +extern void lidar_vl53l5cx_init(void); +extern void lidar_vl53l5cx_periodic(void); + +#endif // LIDAR_VL53L5CX_H diff --git a/sw/airborne/arch/chibios/modules/lidar/vl53l5cx_platform.c b/sw/airborne/arch/chibios/modules/lidar/vl53l5cx_platform.c new file mode 100644 index 00000000000..f625b13823f --- /dev/null +++ b/sw/airborne/arch/chibios/modules/lidar/vl53l5cx_platform.c @@ -0,0 +1,118 @@ + +/* + * Copyright (C) 2024 Fabien-B + * + * This file is part of paparazzi + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + */ + + +#include "lidar/vl53l5cx_platform.h" +#include "hal.h" + +#define VL53L5_I2C_TIMEOUT chTimeMS2I(100) + + +uint8_t RdByte( + VL53L5CX_Platform *dev, + uint16_t index, + uint8_t *p_data) +{ + return RdMulti(dev, index, p_data, 1); +} + +uint8_t WrByte( + VL53L5CX_Platform *dev, + uint16_t index, + uint8_t data) +{ + return WrMulti(dev, index, &data, 1); +} + +uint8_t WrMulti( + VL53L5CX_Platform *dev, + uint16_t index, + uint8_t *pdata, + uint32_t count) +{ + I2CDriver * i2cd = (I2CDriver *)dev->i2cdev->reg_addr; + + i2cAcquireBus(i2cd); + + msg_t ret; + + for(size_t offset = 0; offsetbuf[0] = (reg_addr & 0xFF00) >> 8; // MSB first + dev->buf[1] = (reg_addr & 0x00FF); + size_t size = Min(count-offset, VL53L5CX_I2C_BUF_SIZE); + memcpy((uint8_t *) dev->buf + 2, (pdata + offset), size); + cacheBufferFlush(dev->buf, size+2); + ret = i2cMasterTransmitTimeout(i2cd, dev->address, dev->buf, size+2, NULL, 0, VL53L5_I2C_TIMEOUT); + } + + + i2cReleaseBus(i2cd); + + return ret; +} + +uint8_t RdMulti( + VL53L5CX_Platform *dev, + uint16_t index, + uint8_t *pdata, + uint32_t count) +{ + I2CDriver * i2cd = (I2CDriver *)dev->i2cdev->reg_addr; + + i2cAcquireBus(i2cd); + + msg_t ret = 0; + for(size_t offset = 0; offsetbuf[0] = (reg_addr & 0xFF00) >> 8; // MSB first + dev->buf[1] = (reg_addr & 0x00FF); + size_t size = Min(count-offset, VL53L5CX_I2C_BUF_SIZE); + + cacheBufferFlush(dev->buf, 2); + ret = i2cMasterTransmitTimeout(i2cd, dev->address, dev->buf, 2, dev->buf, size, VL53L5_I2C_TIMEOUT); + cacheBufferInvalidate(dev->buf, count); + memcpy(pdata+offset, dev->buf, count); + } + + i2cReleaseBus(i2cd); + + return ret; +} + +void SwapBuffer( + uint8_t *buffer, + uint16_t size) +{ + uint32_t i, tmp; + + /* Example of possible implementation using */ + for(i = 0; i < size; i = i + 4) + { + tmp = ( + buffer[i]<<24) + |(buffer[i+1]<<16) + |(buffer[i+2]<<8) + |(buffer[i+3]); + + memcpy(&(buffer[i]), &tmp, 4); + } +} + +uint8_t WaitMs( + VL53L5CX_Platform *p_platform, + uint32_t TimeMs) +{ + (void)p_platform; + chThdSleepMilliseconds(TimeMs); + return 0; +} diff --git a/sw/airborne/boards/tawaki/chibios/v2.0/board.h b/sw/airborne/boards/tawaki/chibios/v2.0/board.h index ac073512d95..8208aece6d4 100644 --- a/sw/airborne/boards/tawaki/chibios/v2.0/board.h +++ b/sw/airborne/boards/tawaki/chibios/v2.0/board.h @@ -88,8 +88,8 @@ #define AUX_B2 7U #define AUX_B3 8U #define AUX_B4 9U -#define I2C2_SCL_EXTERNAL 10U -#define I2C2_SDA_EXTERNAL 11U +#define I2C2_SCL 10U +#define I2C2_SDA 11U #define SPI2_EXTERNAL_CS 12U #define PB13 13U #define SPI2_EXTERNAL_MISO 14U @@ -275,8 +275,8 @@ #define LINE_AUX_B2 PAL_LINE(GPIOB, 7U) #define LINE_AUX_B3 PAL_LINE(GPIOB, 8U) #define LINE_AUX_B4 PAL_LINE(GPIOB, 9U) -#define LINE_I2C2_SCL_EXTERNAL PAL_LINE(GPIOB, 10U) -#define LINE_I2C2_SDA_EXTERNAL PAL_LINE(GPIOB, 11U) +#define LINE_I2C2_SCL PAL_LINE(GPIOB, 10U) +#define LINE_I2C2_SDA PAL_LINE(GPIOB, 11U) #define LINE_SPI2_EXTERNAL_CS PAL_LINE(GPIOB, 12U) #define LINE_SPI2_EXTERNAL_MISO PAL_LINE(GPIOB, 14U) #define LINE_SPI2_EXTERNAL_MOSI PAL_LINE(GPIOB, 15U) @@ -450,8 +450,8 @@ PIN_MODE_ALTERNATE(AUX_B2) | \ PIN_MODE_ALTERNATE(AUX_B3) | \ PIN_MODE_ALTERNATE(AUX_B4) | \ - PIN_MODE_ALTERNATE(I2C2_SCL_EXTERNAL) | \ - PIN_MODE_ALTERNATE(I2C2_SDA_EXTERNAL) | \ + PIN_MODE_ALTERNATE(I2C2_SCL) | \ + PIN_MODE_ALTERNATE(I2C2_SDA) | \ PIN_MODE_OUTPUT(SPI2_EXTERNAL_CS) | \ PIN_MODE_INPUT(PB13) | \ PIN_MODE_ALTERNATE(SPI2_EXTERNAL_MISO) | \ @@ -467,8 +467,8 @@ PIN_OTYPE_PUSHPULL(AUX_B2) | \ PIN_OTYPE_PUSHPULL(AUX_B3) | \ PIN_OTYPE_PUSHPULL(AUX_B4) | \ - PIN_OTYPE_OPENDRAIN(I2C2_SCL_EXTERNAL) | \ - PIN_OTYPE_OPENDRAIN(I2C2_SDA_EXTERNAL) | \ + PIN_OTYPE_OPENDRAIN(I2C2_SCL) | \ + PIN_OTYPE_OPENDRAIN(I2C2_SDA) | \ PIN_OTYPE_PUSHPULL(SPI2_EXTERNAL_CS) | \ PIN_OTYPE_PUSHPULL(PB13) | \ PIN_OTYPE_PUSHPULL(SPI2_EXTERNAL_MISO) | \ @@ -484,8 +484,8 @@ PIN_OSPEED_SPEED_HIGH(AUX_B2) | \ PIN_OSPEED_SPEED_HIGH(AUX_B3) | \ PIN_OSPEED_SPEED_HIGH(AUX_B4) | \ - PIN_OSPEED_SPEED_HIGH(I2C2_SCL_EXTERNAL) | \ - PIN_OSPEED_SPEED_HIGH(I2C2_SDA_EXTERNAL) | \ + PIN_OSPEED_SPEED_HIGH(I2C2_SCL) | \ + PIN_OSPEED_SPEED_HIGH(I2C2_SDA) | \ PIN_OSPEED_SPEED_HIGH(SPI2_EXTERNAL_CS) | \ PIN_OSPEED_SPEED_VERYLOW(PB13) | \ PIN_OSPEED_SPEED_HIGH(SPI2_EXTERNAL_MISO) | \ @@ -501,8 +501,8 @@ PIN_PUPDR_FLOATING(AUX_B2) | \ PIN_PUPDR_FLOATING(AUX_B3) | \ PIN_PUPDR_FLOATING(AUX_B4) | \ - PIN_PUPDR_PULLUP(I2C2_SCL_EXTERNAL) | \ - PIN_PUPDR_PULLUP(I2C2_SDA_EXTERNAL) | \ + PIN_PUPDR_PULLUP(I2C2_SCL) | \ + PIN_PUPDR_PULLUP(I2C2_SDA) | \ PIN_PUPDR_FLOATING(SPI2_EXTERNAL_CS) | \ PIN_PUPDR_PULLDOWN(PB13) | \ PIN_PUPDR_FLOATING(SPI2_EXTERNAL_MISO) | \ @@ -518,8 +518,8 @@ PIN_ODR_LEVEL_LOW(AUX_B2) | \ PIN_ODR_LEVEL_LOW(AUX_B3) | \ PIN_ODR_LEVEL_LOW(AUX_B4) | \ - PIN_ODR_LEVEL_HIGH(I2C2_SCL_EXTERNAL) | \ - PIN_ODR_LEVEL_HIGH(I2C2_SDA_EXTERNAL) | \ + PIN_ODR_LEVEL_HIGH(I2C2_SCL) | \ + PIN_ODR_LEVEL_HIGH(I2C2_SDA) | \ PIN_ODR_LEVEL_HIGH(SPI2_EXTERNAL_CS) | \ PIN_ODR_LEVEL_LOW(PB13) | \ PIN_ODR_LEVEL_HIGH(SPI2_EXTERNAL_MISO) | \ @@ -536,8 +536,8 @@ #define VAL_GPIOB_AFRH (PIN_AFIO_AF(AUX_B3, 2) | \ PIN_AFIO_AF(AUX_B4, 2) | \ - PIN_AFIO_AF(I2C2_SCL_EXTERNAL, 4) | \ - PIN_AFIO_AF(I2C2_SDA_EXTERNAL, 4) | \ + PIN_AFIO_AF(I2C2_SCL, 4) | \ + PIN_AFIO_AF(I2C2_SDA, 4) | \ PIN_AFIO_AF(SPI2_EXTERNAL_CS, 0) | \ PIN_AFIO_AF(PB13, 0) | \ PIN_AFIO_AF(SPI2_EXTERNAL_MISO, 5) | \ @@ -1506,10 +1506,10 @@ #define AF_LINE_AUX_B3 2U #define AF_AUX_B4 2U #define AF_LINE_AUX_B4 2U -#define AF_I2C2_SCL_EXTERNAL 4U -#define AF_LINE_I2C2_SCL_EXTERNAL 4U -#define AF_I2C2_SDA_EXTERNAL 4U -#define AF_LINE_I2C2_SDA_EXTERNAL 4U +#define AF_I2C2_SCL 4U +#define AF_LINE_I2C2_SCL 4U +#define AF_I2C2_SDA 4U +#define AF_LINE_I2C2_SDA 4U #define AF_SPI2_EXTERNAL_MISO 5U #define AF_LINE_SPI2_EXTERNAL_MISO 5U #define AF_SPI2_EXTERNAL_MOSI 5U diff --git a/sw/airborne/boards/tawaki/chibios/v2.0/tawaki_2.0.cfg b/sw/airborne/boards/tawaki/chibios/v2.0/tawaki_2.0.cfg index 29c2ee91605..dff72475fe2 100644 --- a/sw/airborne/boards/tawaki/chibios/v2.0/tawaki_2.0.cfg +++ b/sw/airborne/boards/tawaki/chibios/v2.0/tawaki_2.0.cfg @@ -109,8 +109,8 @@ PB06 AUX_B1 PWM AF:TIM4_CH1 PB07 AUX_B2 PWM AF:TIM4_CH2 PB08 AUX_B3 PWM AF:TIM4_CH3 PB09 AUX_B4 PWM AF:TIM4_CH4 -PB10 I2C2_SCL_EXTERNAL I2C AF:I2C2_SCL -PB11 I2C2_SDA_EXTERNAL I2C AF:I2C2_SDA +PB10 I2C2_SCL I2C AF:I2C2_SCL # External +PB11 I2C2_SDA I2C AF:I2C2_SDA # External PB12 SPI2_EXTERNAL_CS OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_HIGH PB14 SPI2_EXTERNAL_MISO SPI AF:SPI2_MISO PB15 SPI2_EXTERNAL_MOSI SPI AF:SPI2_MOSI diff --git a/sw/airborne/modules/core/abi_sender_ids.h b/sw/airborne/modules/core/abi_sender_ids.h index 770e08f887f..086ebc52284 100644 --- a/sw/airborne/modules/core/abi_sender_ids.h +++ b/sw/airborne/modules/core/abi_sender_ids.h @@ -636,4 +636,13 @@ #define VEL_SP_FCR_ID 1 // Approach Moving Target #endif + +/* + * IDs of LIDAR_DATA senders + */ +#ifndef LIDAR_DATA_VL53L5CX_ID +#define LIDAR_DATA_VL53L5CX_ID 1 +#endif + + #endif /* ABI_SENDER_IDS_H */ diff --git a/sw/airborne/modules/lidar/vl53l5cx_platform.h b/sw/airborne/modules/lidar/vl53l5cx_platform.h new file mode 100644 index 00000000000..2ac347b8fbe --- /dev/null +++ b/sw/airborne/modules/lidar/vl53l5cx_platform.h @@ -0,0 +1,186 @@ +/* + * Copyright (C) 2024 Fabien-B + * + * This file is part of paparazzi + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + */ + + +#ifndef _PLATFORM_H_ +#define _PLATFORM_H_ +#pragma once + +#include +#include +#include "mcu_periph/i2c.h" + +#define VL53L5CX_I2C_BUF_SIZE 512 + + +enum VL53L5CX_ERRORS { + VL53L5CX_NO_ERROR = 0, + VL53L5CX_NOT_DETECTED = 1, + VL53L5CX_ULD_LOADING_FAILED = 2, + VL53L5CX_SET_RESOLUTION_FAILED = 3, + VL53L5CX_RUNTIME_FAILURE = 4, +}; + +/** + * @brief Structure VL53L5CX_Platform needs to be filled by the customer, + * depending on his platform. At least, it contains the VL53L5CX I2C address. + * Some additional fields can be added, as descriptors, or platform + * dependencies. Anything added into this structure is visible into the platform + * layer. + */ + +typedef struct +{ + /* To be filled with customer's platform. At least an I2C address/descriptor + * needs to be added */ + /* Example for most standard platform : I2C address of sensor */ + uint16_t address; + //I2CDriver* i2cp; + struct i2c_periph *i2cdev; + bool data_available; + int16_t distances_mm[64]; + + enum VL53L5CX_ERRORS error_code; + uint8_t buf[VL53L5CX_I2C_BUF_SIZE+2]; + void* user_data; + +} VL53L5CX_Platform; + +/* + * @brief The macro below is used to define the number of target per zone sent + * through I2C. This value can be changed by user, in order to tune I2C + * transaction, and also the total memory size (a lower number of target per + * zone means a lower RAM). The value must be between 1 and 4. + */ + +#define VL53L5CX_NB_TARGET_PER_ZONE 1U + +/* + * @brief The macro below can be used to avoid data conversion into the driver. + * By default there is a conversion between firmware and user data. Using this macro + * allows to use the firmware format instead of user format. The firmware format allows + * an increased precision. + */ + +// #define VL53L5CX_USE_RAW_FORMAT + +/* + * @brief All macro below are used to configure the sensor output. User can + * define some macros if he wants to disable selected output, in order to reduce + * I2C access. + */ + +// #define VL53L5CX_DISABLE_AMBIENT_PER_SPAD +// #define VL53L5CX_DISABLE_NB_SPADS_ENABLED +// #define VL53L5CX_DISABLE_NB_TARGET_DETECTED +// #define VL53L5CX_DISABLE_SIGNAL_PER_SPAD +// #define VL53L5CX_DISABLE_RANGE_SIGMA_MM +// #define VL53L5CX_DISABLE_DISTANCE_MM +// #define VL53L5CX_DISABLE_REFLECTANCE_PERCENT +// #define VL53L5CX_DISABLE_TARGET_STATUS +// #define VL53L5CX_DISABLE_MOTION_INDICATOR + +/** + * @param (VL53L5CX_Platform*) p_platform : Pointer of VL53L5CX platform + * structure. + * @param (uint16_t) Address : I2C location of value to read. + * @param (uint8_t) *p_values : Pointer of value to read. + * @return (uint8_t) status : 0 if OK + */ + +uint8_t RdByte( + VL53L5CX_Platform *p_platform, + uint16_t RegisterAdress, + uint8_t *p_value); + +/** + * @brief Mandatory function used to write one single byte. + * @param (VL53L5CX_Platform*) p_platform : Pointer of VL53L5CX platform + * structure. + * @param (uint16_t) Address : I2C location of value to read. + * @param (uint8_t) value : Pointer of value to write. + * @return (uint8_t) status : 0 if OK + */ + +uint8_t WrByte( + VL53L5CX_Platform *p_platform, + uint16_t RegisterAdress, + uint8_t value); + +/** + * @brief Mandatory function used to read multiples bytes. + * @param (VL53L5CX_Platform*) p_platform : Pointer of VL53L5CX platform + * structure. + * @param (uint16_t) Address : I2C location of values to read. + * @param (uint8_t) *p_values : Buffer of bytes to read. + * @param (uint32_t) size : Size of *p_values buffer. + * @return (uint8_t) status : 0 if OK + */ + +uint8_t RdMulti( + VL53L5CX_Platform *p_platform, + uint16_t RegisterAdress, + uint8_t *p_values, + uint32_t size); + +/** + * @brief Mandatory function used to write multiples bytes. + * @param (VL53L5CX_Platform*) p_platform : Pointer of VL53L5CX platform + * structure. + * @param (uint16_t) Address : I2C location of values to write. + * @param (uint8_t) *p_values : Buffer of bytes to write. + * @param (uint32_t) size : Size of *p_values buffer. + * @return (uint8_t) status : 0 if OK + */ + +uint8_t WrMulti( + VL53L5CX_Platform *p_platform, + uint16_t RegisterAdress, + uint8_t *p_values, + uint32_t size); + +/** + * @brief Optional function, only used to perform an hardware reset of the + * sensor. This function is not used in the API, but it can be used by the host. + * This function is not mandatory to fill if user don't want to reset the + * sensor. + * @param (VL53L5CX_Platform*) p_platform : Pointer of VL53L5CX platform + * structure. + * @return (uint8_t) status : 0 if OK + */ + +// uint8_t Reset_Sensor( +// VL53L5CX_Platform *p_platform); + +/** + * @brief Mandatory function, used to swap a buffer. The buffer size is always a + * multiple of 4 (4, 8, 12, 16, ...). + * @param (uint8_t*) buffer : Buffer to swap, generally uint32_t + * @param (uint16_t) size : Buffer size to swap + */ + +void SwapBuffer( + uint8_t *buffer, + uint16_t size); +/** + * @brief Mandatory function, used to wait during an amount of time. It must be + * filled as it's used into the API. + * @param (VL53L5CX_Platform*) p_platform : Pointer of VL53L5CX platform + * structure. + * @param (uint32_t) TimeMs : Time to wait in ms. + * @return (uint8_t) status : 0 if wait is finished. + */ + +uint8_t WaitMs( + VL53L5CX_Platform *p_platform, + uint32_t TimeMs); + +#endif // _PLATFORM_H_ \ No newline at end of file diff --git a/sw/airborne/peripherals/vl53l5cx_api.c b/sw/airborne/peripherals/vl53l5cx_api.c new file mode 100644 index 00000000000..8ec4f34be80 --- /dev/null +++ b/sw/airborne/peripherals/vl53l5cx_api.c @@ -0,0 +1,1311 @@ +/** + * + * Copyright (c) 2021 STMicroelectronics. + * All rights reserved. + * + * This software component is provided to you as part of a software package and + * applicable license terms are in the Package_license file. If you received this + * software component outside of a package or without applicable license terms, + * the terms of the BSD-3-Clause license shall apply. + * You may obtain a copy of the BSD-3-Clause at: + * https://opensource.org/licenses/BSD-3-Clause + + * + ****************************************************************************** + */ + +#include +#include +#include "vl53l5cx_api.h" +#include "vl53l5cx_buffers.h" + +/** + * @brief Inner function, not available outside this file. This function is used + * to wait for an answer from VL53L5CX sensor. + */ + +static uint8_t _vl53l5cx_poll_for_answer( + VL53L5CX_Configuration *p_dev, + uint8_t size, + uint8_t pos, + uint16_t address, + uint8_t mask, + uint8_t expected_value) +{ + uint8_t status = VL53L5CX_STATUS_OK; + uint8_t timeout = 0; + + do { + status |= RdMulti(&(p_dev->platform), address, + p_dev->temp_buffer, size); + status |= WaitMs(&(p_dev->platform), 10); + + if(timeout >= (uint8_t)200) /* 2s timeout */ + { + status |= (uint8_t)VL53L5CX_STATUS_TIMEOUT_ERROR; + break; + }else if((size >= (uint8_t)4) + && (p_dev->temp_buffer[2] >= (uint8_t)0x7f)) + { + status |= VL53L5CX_MCU_ERROR; + break; + } + else + { + timeout++; + } + }while ((p_dev->temp_buffer[pos] & mask) != expected_value); + + return status; +} + +/* + * Inner function, not available outside this file. This function is used to + * wait for the MCU to boot. + */ +static uint8_t _vl53l5cx_poll_for_mcu_boot( + VL53L5CX_Configuration *p_dev) +{ + uint8_t go2_status0, go2_status1, status = VL53L5CX_STATUS_OK; + uint16_t timeout = 0; + + do { + status |= RdByte(&(p_dev->platform), 0x06, &go2_status0); + if((go2_status0 & (uint8_t)0x80) != (uint8_t)0){ + status |= RdByte(&(p_dev->platform), 0x07, &go2_status1); + status |= go2_status1; + break; + } + (void)WaitMs(&(p_dev->platform), 1); + timeout++; + + if((go2_status0 & (uint8_t)0x1) != (uint8_t)0){ + break; + } + + }while (timeout < (uint16_t)500); + + return status; +} + +/** + * @brief Inner function, not available outside this file. This function is used + * to set the offset data gathered from NVM. + */ + +static uint8_t _vl53l5cx_send_offset_data( + VL53L5CX_Configuration *p_dev, + uint8_t resolution) +{ + uint8_t status = VL53L5CX_STATUS_OK; + uint32_t signal_grid[64]; + int16_t range_grid[64]; + uint8_t dss_4x4[] = {0x0F, 0x04, 0x04, 0x00, 0x08, 0x10, 0x10, 0x07}; + uint8_t footer[] = {0x00, 0x00, 0x00, 0x0F, 0x03, 0x01, 0x01, 0xE4}; + int8_t i, j; + uint16_t k; + + (void)memcpy(p_dev->temp_buffer, + p_dev->offset_data, VL53L5CX_OFFSET_BUFFER_SIZE); + + /* Data extrapolation is required for 4X4 offset */ + if(resolution == (uint8_t)VL53L5CX_RESOLUTION_4X4){ + (void)memcpy(&(p_dev->temp_buffer[0x10]), dss_4x4, sizeof(dss_4x4)); + SwapBuffer(p_dev->temp_buffer, VL53L5CX_OFFSET_BUFFER_SIZE); + (void)memcpy(signal_grid,&(p_dev->temp_buffer[0x3C]), + sizeof(signal_grid)); + (void)memcpy(range_grid,&(p_dev->temp_buffer[0x140]), + sizeof(range_grid)); + + for (j = 0; j < (int8_t)4; j++) + { + for (i = 0; i < (int8_t)4 ; i++) + { + signal_grid[i+(4*j)] = + (signal_grid[(2*i)+(16*j)+ (int8_t)0] + + signal_grid[(2*i)+(16*j)+(int8_t)1] + + signal_grid[(2*i)+(16*j)+(int8_t)8] + + signal_grid[(2*i)+(16*j)+(int8_t)9]) + /(uint32_t)4; + range_grid[i+(4*j)] = + (range_grid[(2*i)+(16*j)] + + range_grid[(2*i)+(16*j)+1] + + range_grid[(2*i)+(16*j)+8] + + range_grid[(2*i)+(16*j)+9]) + /(int16_t)4; + } + } + (void)memset(&range_grid[0x10], 0, (uint16_t)96); + (void)memset(&signal_grid[0x10], 0, (uint16_t)192); + (void)memcpy(&(p_dev->temp_buffer[0x3C]), + signal_grid, sizeof(signal_grid)); + (void)memcpy(&(p_dev->temp_buffer[0x140]), + range_grid, sizeof(range_grid)); + SwapBuffer(p_dev->temp_buffer, VL53L5CX_OFFSET_BUFFER_SIZE); + } + + for(k = 0; k < (VL53L5CX_OFFSET_BUFFER_SIZE - (uint16_t)4); k++) + { + p_dev->temp_buffer[k] = p_dev->temp_buffer[k + (uint16_t)8]; + } + + (void)memcpy(&(p_dev->temp_buffer[0x1E0]), footer, 8); + status |= WrMulti(&(p_dev->platform), 0x2e18, p_dev->temp_buffer, + VL53L5CX_OFFSET_BUFFER_SIZE); + status |=_vl53l5cx_poll_for_answer(p_dev, 4, 1, + VL53L5CX_UI_CMD_STATUS, 0xff, 0x03); + + return status; +} + +/** + * @brief Inner function, not available outside this file. This function is used + * to set the Xtalk data from generic configuration, or user's calibration. + */ + +static uint8_t _vl53l5cx_send_xtalk_data( + VL53L5CX_Configuration *p_dev, + uint8_t resolution) +{ + uint8_t status = VL53L5CX_STATUS_OK; + uint8_t res4x4[] = {0x0F, 0x04, 0x04, 0x17, 0x08, 0x10, 0x10, 0x07}; + uint8_t dss_4x4[] = {0x00, 0x78, 0x00, 0x08, 0x00, 0x00, 0x00, 0x08}; + uint8_t profile_4x4[] = {0xA0, 0xFC, 0x01, 0x00}; + uint32_t signal_grid[64]; + int8_t i, j; + + (void)memcpy(p_dev->temp_buffer, &(p_dev->xtalk_data[0]), + VL53L5CX_XTALK_BUFFER_SIZE); + + /* Data extrapolation is required for 4X4 Xtalk */ + if(resolution == (uint8_t)VL53L5CX_RESOLUTION_4X4) + { + (void)memcpy(&(p_dev->temp_buffer[0x8]), + res4x4, sizeof(res4x4)); + (void)memcpy(&(p_dev->temp_buffer[0x020]), + dss_4x4, sizeof(dss_4x4)); + + SwapBuffer(p_dev->temp_buffer, VL53L5CX_XTALK_BUFFER_SIZE); + (void)memcpy(signal_grid, &(p_dev->temp_buffer[0x34]), + sizeof(signal_grid)); + + for (j = 0; j < (int8_t)4; j++) + { + for (i = 0; i < (int8_t)4 ; i++) + { + signal_grid[i+(4*j)] = + (signal_grid[(2*i)+(16*j)+0] + + signal_grid[(2*i)+(16*j)+1] + + signal_grid[(2*i)+(16*j)+8] + + signal_grid[(2*i)+(16*j)+9])/(uint32_t)4; + } + } + (void)memset(&signal_grid[0x10], 0, (uint32_t)192); + (void)memcpy(&(p_dev->temp_buffer[0x34]), + signal_grid, sizeof(signal_grid)); + SwapBuffer(p_dev->temp_buffer, VL53L5CX_XTALK_BUFFER_SIZE); + (void)memcpy(&(p_dev->temp_buffer[0x134]), + profile_4x4, sizeof(profile_4x4)); + (void)memset(&(p_dev->temp_buffer[0x078]),0 , + (uint32_t)4*sizeof(uint8_t)); + } + + status |= WrMulti(&(p_dev->platform), 0x2cf8, + p_dev->temp_buffer, VL53L5CX_XTALK_BUFFER_SIZE); + status |=_vl53l5cx_poll_for_answer(p_dev, 4, 1, + VL53L5CX_UI_CMD_STATUS, 0xff, 0x03); + + return status; +} + +uint8_t vl53l5cx_is_alive( + VL53L5CX_Configuration *p_dev, + uint8_t *p_is_alive) +{ + uint8_t status = VL53L5CX_STATUS_OK; + uint8_t device_id = 0, revision_id = 0; + + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= RdByte(&(p_dev->platform), 0, &device_id); + status |= RdByte(&(p_dev->platform), 1, &revision_id); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x02); + + if((device_id == (uint8_t)0xF0) && (revision_id == (uint8_t)0x02)) + { + *p_is_alive = 1; + } + else + { + *p_is_alive = 0; + } + + return status; +} + +uint8_t vl53l5cx_init( + VL53L5CX_Configuration *p_dev) +{ + uint8_t tmp, status = VL53L5CX_STATUS_OK; + uint8_t pipe_ctrl[] = {VL53L5CX_NB_TARGET_PER_ZONE, 0x00, 0x01, 0x00}; + uint32_t single_range = 0x01; + + p_dev->default_xtalk = (uint8_t*)VL53L5CX_DEFAULT_XTALK; + p_dev->default_configuration = (uint8_t*)VL53L5CX_DEFAULT_CONFIGURATION; + p_dev->is_auto_stop_enabled = (uint8_t)0x0; + + /* SW reboot sequence */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= WrByte(&(p_dev->platform), 0x0009, 0x04); + status |= WrByte(&(p_dev->platform), 0x000F, 0x40); + status |= WrByte(&(p_dev->platform), 0x000A, 0x03); + status |= RdByte(&(p_dev->platform), 0x7FFF, &tmp); + status |= WrByte(&(p_dev->platform), 0x000C, 0x01); + + status |= WrByte(&(p_dev->platform), 0x0101, 0x00); + status |= WrByte(&(p_dev->platform), 0x0102, 0x00); + status |= WrByte(&(p_dev->platform), 0x010A, 0x01); + status |= WrByte(&(p_dev->platform), 0x4002, 0x01); + status |= WrByte(&(p_dev->platform), 0x4002, 0x00); + status |= WrByte(&(p_dev->platform), 0x010A, 0x03); + status |= WrByte(&(p_dev->platform), 0x0103, 0x01); + status |= WrByte(&(p_dev->platform), 0x000C, 0x00); + status |= WrByte(&(p_dev->platform), 0x000F, 0x43); + status |= WaitMs(&(p_dev->platform), 1); + + status |= WrByte(&(p_dev->platform), 0x000F, 0x40); + status |= WrByte(&(p_dev->platform), 0x000A, 0x01); + status |= WaitMs(&(p_dev->platform), 100); + + /* Wait for sensor booted (several ms required to get sensor ready ) */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= _vl53l5cx_poll_for_answer(p_dev, 1, 0, 0x06, 0xff, 1); + if(status != (uint8_t)0){ + goto exit; + } + + status |= WrByte(&(p_dev->platform), 0x000E, 0x01); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x02); + + /* Enable FW access */ + status |= WrByte(&(p_dev->platform), 0x03, 0x0D); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x01); + status |= _vl53l5cx_poll_for_answer(p_dev, 1, 0, 0x21, 0x10, 0x10); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + + /* Enable host access to GO1 */ + status |= RdByte(&(p_dev->platform), 0x7fff, &tmp); + status |= WrByte(&(p_dev->platform), 0x0C, 0x01); + + /* Power ON status */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= WrByte(&(p_dev->platform), 0x101, 0x00); + status |= WrByte(&(p_dev->platform), 0x102, 0x00); + status |= WrByte(&(p_dev->platform), 0x010A, 0x01); + status |= WrByte(&(p_dev->platform), 0x4002, 0x01); + status |= WrByte(&(p_dev->platform), 0x4002, 0x00); + status |= WrByte(&(p_dev->platform), 0x010A, 0x03); + status |= WrByte(&(p_dev->platform), 0x103, 0x01); + status |= WrByte(&(p_dev->platform), 0x400F, 0x00); + status |= WrByte(&(p_dev->platform), 0x21A, 0x43); + status |= WrByte(&(p_dev->platform), 0x21A, 0x03); + status |= WrByte(&(p_dev->platform), 0x21A, 0x01); + status |= WrByte(&(p_dev->platform), 0x21A, 0x00); + status |= WrByte(&(p_dev->platform), 0x219, 0x00); + status |= WrByte(&(p_dev->platform), 0x21B, 0x00); + + /* Wake up MCU */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= RdByte(&(p_dev->platform), 0x7fff, &tmp); + status |= WrByte(&(p_dev->platform), 0x0C, 0x00); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x01); + status |= WrByte(&(p_dev->platform), 0x20, 0x07); + status |= WrByte(&(p_dev->platform), 0x20, 0x06); + + /* Download FW into VL53L5 */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x09); + status |= WrMulti(&(p_dev->platform),0, + (uint8_t*)&VL53L5CX_FIRMWARE[0],0x8000); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x0a); + status |= WrMulti(&(p_dev->platform),0, + (uint8_t*)&VL53L5CX_FIRMWARE[0x8000],0x8000); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x0b); + status |= WrMulti(&(p_dev->platform),0, + (uint8_t*)&VL53L5CX_FIRMWARE[0x10000],0x5000); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x01); + + /* Check if FW correctly downloaded */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x02); + status |= WrByte(&(p_dev->platform), 0x03, 0x0D); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x01); + status |= _vl53l5cx_poll_for_answer(p_dev, 1, 0, 0x21, 0x10, 0x10); + if(status != (uint8_t)0){ + goto exit; + } + + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= RdByte(&(p_dev->platform), 0x7fff, &tmp); + status |= WrByte(&(p_dev->platform), 0x0C, 0x01); + + /* Reset MCU and wait boot */ + status |= WrByte(&(p_dev->platform), 0x7FFF, 0x00); + status |= WrByte(&(p_dev->platform), 0x114, 0x00); + status |= WrByte(&(p_dev->platform), 0x115, 0x00); + status |= WrByte(&(p_dev->platform), 0x116, 0x42); + status |= WrByte(&(p_dev->platform), 0x117, 0x00); + status |= WrByte(&(p_dev->platform), 0x0B, 0x00); + status |= RdByte(&(p_dev->platform), 0x7fff, &tmp); + status |= WrByte(&(p_dev->platform), 0x0C, 0x00); + status |= WrByte(&(p_dev->platform), 0x0B, 0x01); + status |= _vl53l5cx_poll_for_mcu_boot(p_dev); + if(status != (uint8_t)0){ + goto exit; + } + + status |= WrByte(&(p_dev->platform), 0x7fff, 0x02); + + /* Get offset NVM data and store them into the offset buffer */ + status |= WrMulti(&(p_dev->platform), 0x2fd8, + (uint8_t*)VL53L5CX_GET_NVM_CMD, sizeof(VL53L5CX_GET_NVM_CMD)); + status |= _vl53l5cx_poll_for_answer(p_dev, 4, 0, + VL53L5CX_UI_CMD_STATUS, 0xff, 2); + status |= RdMulti(&(p_dev->platform), VL53L5CX_UI_CMD_START, + p_dev->temp_buffer, VL53L5CX_NVM_DATA_SIZE); + (void)memcpy(p_dev->offset_data, p_dev->temp_buffer, + VL53L5CX_OFFSET_BUFFER_SIZE); + status |= _vl53l5cx_send_offset_data(p_dev, VL53L5CX_RESOLUTION_4X4); + + /* Set default Xtalk shape. Send Xtalk to sensor */ + (void)memcpy(p_dev->xtalk_data, (uint8_t*)VL53L5CX_DEFAULT_XTALK, + VL53L5CX_XTALK_BUFFER_SIZE); + status |= _vl53l5cx_send_xtalk_data(p_dev, VL53L5CX_RESOLUTION_4X4); + + /* Send default configuration to VL53L5CX firmware */ + status |= WrMulti(&(p_dev->platform), 0x2c34, + p_dev->default_configuration, + sizeof(VL53L5CX_DEFAULT_CONFIGURATION)); + status |= _vl53l5cx_poll_for_answer(p_dev, 4, 1, + VL53L5CX_UI_CMD_STATUS, 0xff, 0x03); + + status |= vl53l5cx_dci_write_data(p_dev, (uint8_t*)&pipe_ctrl, + VL53L5CX_DCI_PIPE_CONTROL, (uint16_t)sizeof(pipe_ctrl)); +#if VL53L5CX_NB_TARGET_PER_ZONE != 1 + tmp = VL53L5CX_NB_TARGET_PER_ZONE; + status |= vl53l5cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L5CX_DCI_FW_NB_TARGET, 16, + (uint8_t*)&tmp, 1, 0x0C); +#endif + + status |= vl53l5cx_dci_write_data(p_dev, (uint8_t*)&single_range, + VL53L5CX_DCI_SINGLE_RANGE, + (uint16_t)sizeof(single_range)); + + tmp = (uint8_t)1; + status |= vl53l5cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L5CX_GLARE_FILTER, 40, (uint8_t*)&tmp, 1, 0x26); + status |= vl53l5cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L5CX_GLARE_FILTER, 40, (uint8_t*)&tmp, 1, 0x25); + +exit: + return status; +} + +uint8_t vl53l5cx_set_i2c_address( + VL53L5CX_Configuration *p_dev, + uint16_t i2c_address) +{ + uint8_t status = VL53L5CX_STATUS_OK; + + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= WrByte(&(p_dev->platform), 0x4, (uint8_t)(i2c_address >> 1)); + p_dev->platform.address = i2c_address; + status |= WrByte(&(p_dev->platform), 0x7fff, 0x02); + + return status; +} + +uint8_t vl53l5cx_get_power_mode( + VL53L5CX_Configuration *p_dev, + uint8_t *p_power_mode) +{ + uint8_t tmp, status = VL53L5CX_STATUS_OK; + + status |= WrByte(&(p_dev->platform), 0x7FFF, 0x00); + status |= RdByte(&(p_dev->platform), 0x009, &tmp); + + switch(tmp) + { + case 0x4: + *p_power_mode = VL53L5CX_POWER_MODE_WAKEUP; + break; + case 0x2: + *p_power_mode = VL53L5CX_POWER_MODE_SLEEP; + + break; + default: + *p_power_mode = 0; + status = VL53L5CX_STATUS_ERROR; + break; + } + + status |= WrByte(&(p_dev->platform), 0x7FFF, 0x02); + + return status; +} + +uint8_t vl53l5cx_set_power_mode( + VL53L5CX_Configuration *p_dev, + uint8_t power_mode) +{ + uint8_t current_power_mode, status = VL53L5CX_STATUS_OK; + + status |= vl53l5cx_get_power_mode(p_dev, ¤t_power_mode); + if(power_mode != current_power_mode) + { + switch(power_mode) + { + case VL53L5CX_POWER_MODE_WAKEUP: + status |= WrByte(&(p_dev->platform), 0x7FFF, 0x00); + status |= WrByte(&(p_dev->platform), 0x09, 0x04); + status |= _vl53l5cx_poll_for_answer( + p_dev, 1, 0, 0x06, 0x01, 1); + break; + + case VL53L5CX_POWER_MODE_SLEEP: + status |= WrByte(&(p_dev->platform), 0x7FFF, 0x00); + status |= WrByte(&(p_dev->platform), 0x09, 0x02); + status |= _vl53l5cx_poll_for_answer( + p_dev, 1, 0, 0x06, 0x01, 0); + break; + + default: + status = VL53L5CX_STATUS_ERROR; + break; + } + status |= WrByte(&(p_dev->platform), 0x7FFF, 0x02); + } + + return status; +} + +uint8_t vl53l5cx_start_ranging( + VL53L5CX_Configuration *p_dev) +{ + uint8_t resolution, status = VL53L5CX_STATUS_OK; + uint16_t tmp; + uint32_t i; + uint32_t header_config[2] = {0, 0}; + + union Block_header *bh_ptr; + uint8_t cmd[] = {0x00, 0x03, 0x00, 0x00}; + + status |= vl53l5cx_get_resolution(p_dev, &resolution); + p_dev->data_read_size = 0; + p_dev->streamcount = 255; + + /* Enable mandatory output (meta and common data) */ + uint32_t output_bh_enable[] = { + 0x00000007U, + 0x00000000U, + 0x00000000U, + 0xC0000000U}; + + /* Send addresses of possible output */ + uint32_t output[] ={VL53L5CX_START_BH, + VL53L5CX_METADATA_BH, + VL53L5CX_COMMONDATA_BH, + VL53L5CX_AMBIENT_RATE_BH, + VL53L5CX_SPAD_COUNT_BH, + VL53L5CX_NB_TARGET_DETECTED_BH, + VL53L5CX_SIGNAL_RATE_BH, + VL53L5CX_RANGE_SIGMA_MM_BH, + VL53L5CX_DISTANCE_BH, + VL53L5CX_REFLECTANCE_BH, + VL53L5CX_TARGET_STATUS_BH, + VL53L5CX_MOTION_DETECT_BH}; + + /* Enable selected outputs in the 'platform.h' file */ +#ifndef VL53L5CX_DISABLE_AMBIENT_PER_SPAD + output_bh_enable[0] += (uint32_t)8; +#endif +#ifndef VL53L5CX_DISABLE_NB_SPADS_ENABLED + output_bh_enable[0] += (uint32_t)16; +#endif +#ifndef VL53L5CX_DISABLE_NB_TARGET_DETECTED + output_bh_enable[0] += (uint32_t)32; +#endif +#ifndef VL53L5CX_DISABLE_SIGNAL_PER_SPAD + output_bh_enable[0] += (uint32_t)64; +#endif +#ifndef VL53L5CX_DISABLE_RANGE_SIGMA_MM + output_bh_enable[0] += (uint32_t)128; +#endif +#ifndef VL53L5CX_DISABLE_DISTANCE_MM + output_bh_enable[0] += (uint32_t)256; +#endif +#ifndef VL53L5CX_DISABLE_REFLECTANCE_PERCENT + output_bh_enable[0] += (uint32_t)512; +#endif +#ifndef VL53L5CX_DISABLE_TARGET_STATUS + output_bh_enable[0] += (uint32_t)1024; +#endif +#ifndef VL53L5CX_DISABLE_MOTION_INDICATOR + output_bh_enable[0] += (uint32_t)2048; +#endif + + /* Update data size */ + for (i = 0; i < (uint32_t)(sizeof(output)/sizeof(uint32_t)); i++) + { + if ((output[i] == (uint8_t)0) + || ((output_bh_enable[i/(uint32_t)32] + &((uint32_t)1 << (i%(uint32_t)32))) == (uint32_t)0)) + { + continue; + } + + bh_ptr = (union Block_header *)&(output[i]); + if (((uint8_t)bh_ptr->type >= (uint8_t)0x1) + && ((uint8_t)bh_ptr->type < (uint8_t)0x0d)) + { + if ((bh_ptr->idx >= (uint16_t)0x54d0) + && (bh_ptr->idx < (uint16_t)(0x54d0 + 960))) + { + bh_ptr->size = resolution; + } + else + { + bh_ptr->size = (uint16_t)((uint16_t)resolution + * (uint16_t)VL53L5CX_NB_TARGET_PER_ZONE); + } + p_dev->data_read_size += bh_ptr->type * bh_ptr->size; + } + else + { + p_dev->data_read_size += bh_ptr->size; + } + p_dev->data_read_size += (uint32_t)4; + } + p_dev->data_read_size += (uint32_t)24; + + status |= vl53l5cx_dci_write_data(p_dev, + (uint8_t*)&(output), VL53L5CX_DCI_OUTPUT_LIST, + (uint16_t)sizeof(output)); + + header_config[0] = p_dev->data_read_size; + header_config[1] = i + (uint32_t)1; + + status |= vl53l5cx_dci_write_data(p_dev, + (uint8_t*)&(header_config), VL53L5CX_DCI_OUTPUT_CONFIG, + (uint16_t)sizeof(header_config)); + + status |= vl53l5cx_dci_write_data(p_dev, + (uint8_t*)&(output_bh_enable), VL53L5CX_DCI_OUTPUT_ENABLES, + (uint16_t)sizeof(output_bh_enable)); + + /* Start xshut bypass (interrupt mode) */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= WrByte(&(p_dev->platform), 0x09, 0x05); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x02); + + /* Start ranging session */ + status |= WrMulti(&(p_dev->platform), VL53L5CX_UI_CMD_END - + (uint16_t)(4 - 1), (uint8_t*)cmd, sizeof(cmd)); + status |= _vl53l5cx_poll_for_answer(p_dev, 4, 1, + VL53L5CX_UI_CMD_STATUS, 0xff, 0x03); + + /* Read ui range data content and compare if data size is the correct one */ + status |= vl53l5cx_dci_read_data(p_dev, + (uint8_t*)p_dev->temp_buffer, 0x5440, 12); + (void)memcpy(&tmp, &(p_dev->temp_buffer[0x8]), sizeof(tmp)); + if(tmp != p_dev->data_read_size) + { + status |= VL53L5CX_STATUS_ERROR; + } + + return status; +} + +uint8_t vl53l5cx_stop_ranging( + VL53L5CX_Configuration *p_dev) +{ + uint8_t tmp = 0, status = VL53L5CX_STATUS_OK; + uint16_t timeout = 0; + uint32_t auto_stop_flag = 0; + + status |= RdMulti(&(p_dev->platform), + 0x2FFC, (uint8_t*)&auto_stop_flag, 4); + if((auto_stop_flag != (uint32_t)0x4FF) + && (p_dev->is_auto_stop_enabled == (uint8_t)0)) + { + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + + /* Provoke MCU stop */ + status |= WrByte(&(p_dev->platform), 0x15, 0x16); + status |= WrByte(&(p_dev->platform), 0x14, 0x01); + + /* Poll for G02 status 0 MCU stop */ + while(((tmp & (uint8_t)0x80) >> 7) == (uint8_t)0x00) + { + status |= RdByte(&(p_dev->platform), 0x6, &tmp); + status |= WaitMs(&(p_dev->platform), 10); + timeout++; /* Timeout reached after 5 seconds */ + + if(timeout > (uint16_t)500) + { + status |= tmp; + break; + } + } + } + + /* Check GO2 status 1 if status is still OK */ + status |= RdByte(&(p_dev->platform), 0x6, &tmp); + if((tmp & (uint8_t)0x80) != (uint8_t)0){ + status |= RdByte(&(p_dev->platform), 0x7, &tmp); + if((tmp != (uint8_t)0x84) && (tmp != (uint8_t)0x85)){ + status |= tmp; + } + } + + /* Undo MCU stop */ + status |= WrByte(&(p_dev->platform), 0x7fff, 0x00); + status |= WrByte(&(p_dev->platform), 0x14, 0x00); + status |= WrByte(&(p_dev->platform), 0x15, 0x00); + + /* Stop xshut bypass */ + status |= WrByte(&(p_dev->platform), 0x09, 0x04); + status |= WrByte(&(p_dev->platform), 0x7fff, 0x02); + + return status; +} + +uint8_t vl53l5cx_check_data_ready( + VL53L5CX_Configuration *p_dev, + uint8_t *p_isReady) +{ + uint8_t status = VL53L5CX_STATUS_OK; + + status |= RdMulti(&(p_dev->platform), 0x0, p_dev->temp_buffer, 4); + + if((p_dev->temp_buffer[0] != p_dev->streamcount) + && (p_dev->temp_buffer[0] != (uint8_t)255) + && (p_dev->temp_buffer[1] == (uint8_t)0x5) + && ((p_dev->temp_buffer[2] & (uint8_t)0x5) == (uint8_t)0x5) + && ((p_dev->temp_buffer[3] & (uint8_t)0x10) ==(uint8_t)0x10) + ) + { + *p_isReady = (uint8_t)1; + p_dev->streamcount = p_dev->temp_buffer[0]; + } + else + { + if ((p_dev->temp_buffer[3] & (uint8_t)0x80) != (uint8_t)0) + { + status |= p_dev->temp_buffer[2]; /* Return GO2 error status */ + } + + *p_isReady = 0; + } + + return status; +} + +uint8_t vl53l5cx_get_ranging_data( + VL53L5CX_Configuration *p_dev, + VL53L5CX_ResultsData *p_results) +{ + uint8_t status = VL53L5CX_STATUS_OK; + union Block_header *bh_ptr; + uint16_t header_id, footer_id; + uint32_t i, j, msize; + + status |= RdMulti(&(p_dev->platform), 0x0, + p_dev->temp_buffer, p_dev->data_read_size); + p_dev->streamcount = p_dev->temp_buffer[0]; + SwapBuffer(p_dev->temp_buffer, (uint16_t)p_dev->data_read_size); + + /* Start conversion at position 16 to avoid headers */ + for (i = (uint32_t)16; i + < (uint32_t)p_dev->data_read_size; i+=(uint32_t)4) + { + bh_ptr = (union Block_header *)&(p_dev->temp_buffer[i]); + if ((bh_ptr->type > (uint32_t)0x1) + && (bh_ptr->type < (uint32_t)0xd)) + { + msize = bh_ptr->type * bh_ptr->size; + } + else + { + msize = bh_ptr->size; + } + + switch(bh_ptr->idx){ + case VL53L5CX_METADATA_IDX: + p_results->silicon_temp_degc = + (int8_t)p_dev->temp_buffer[i + (uint32_t)12]; + break; + +#ifndef VL53L5CX_DISABLE_AMBIENT_PER_SPAD + case VL53L5CX_AMBIENT_RATE_IDX: + (void)memcpy(p_results->ambient_per_spad, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L5CX_DISABLE_NB_SPADS_ENABLED + case VL53L5CX_SPAD_COUNT_IDX: + (void)memcpy(p_results->nb_spads_enabled, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L5CX_DISABLE_NB_TARGET_DETECTED + case VL53L5CX_NB_TARGET_DETECTED_IDX: + (void)memcpy(p_results->nb_target_detected, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L5CX_DISABLE_SIGNAL_PER_SPAD + case VL53L5CX_SIGNAL_RATE_IDX: + (void)memcpy(p_results->signal_per_spad, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L5CX_DISABLE_RANGE_SIGMA_MM + case VL53L5CX_RANGE_SIGMA_MM_IDX: + (void)memcpy(p_results->range_sigma_mm, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L5CX_DISABLE_DISTANCE_MM + case VL53L5CX_DISTANCE_IDX: + (void)memcpy(p_results->distance_mm, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L5CX_DISABLE_REFLECTANCE_PERCENT + case VL53L5CX_REFLECTANCE_EST_PC_IDX: + (void)memcpy(p_results->reflectance, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L5CX_DISABLE_TARGET_STATUS + case VL53L5CX_TARGET_STATUS_IDX: + (void)memcpy(p_results->target_status, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif +#ifndef VL53L5CX_DISABLE_MOTION_INDICATOR + case VL53L5CX_MOTION_DETEC_IDX: + (void)memcpy(&p_results->motion_indicator, + &(p_dev->temp_buffer[i + (uint32_t)4]), msize); + break; +#endif + default: + break; + } + i += msize; + } + +#ifndef VL53L5CX_USE_RAW_FORMAT + + /* Convert data into their real format */ +#ifndef VL53L5CX_DISABLE_AMBIENT_PER_SPAD + for(i = 0; i < (uint32_t)VL53L5CX_RESOLUTION_8X8; i++) + { + p_results->ambient_per_spad[i] /= (uint32_t)2048; + } +#endif + + for(i = 0; i < (uint32_t)(VL53L5CX_RESOLUTION_8X8 + *VL53L5CX_NB_TARGET_PER_ZONE); i++) + { +#ifndef VL53L5CX_DISABLE_DISTANCE_MM + p_results->distance_mm[i] /= 4; + if(p_results->distance_mm[i] < 0) + { + p_results->distance_mm[i] = 0; + } +#endif +#ifndef VL53L5CX_DISABLE_REFLECTANCE_PERCENT + p_results->reflectance[i] /= (uint8_t)2; +#endif +#ifndef VL53L5CX_DISABLE_RANGE_SIGMA_MM + p_results->range_sigma_mm[i] /= (uint16_t)128; +#endif +#ifndef VL53L5CX_DISABLE_SIGNAL_PER_SPAD + p_results->signal_per_spad[i] /= (uint32_t)2048; +#endif + } + + /* Set target status to 255 if no target is detected for this zone */ +#ifndef VL53L5CX_DISABLE_NB_TARGET_DETECTED + for(i = 0; i < (uint32_t)VL53L5CX_RESOLUTION_8X8; i++) + { + if(p_results->nb_target_detected[i] == (uint8_t)0){ + for(j = 0; j < (uint32_t) + VL53L5CX_NB_TARGET_PER_ZONE; j++) + { +#ifndef VL53L5CX_DISABLE_TARGET_STATUS + p_results->target_status + [((uint32_t)VL53L5CX_NB_TARGET_PER_ZONE + *(uint32_t)i) + j]=(uint8_t)255; +#endif + } + } + } +#endif + +#ifndef VL53L5CX_DISABLE_MOTION_INDICATOR + for(i = 0; i < (uint32_t)32; i++) + { + p_results->motion_indicator.motion[i] /= (uint32_t)65535; + } +#endif + +#endif + + /* Check if footer id and header id are matching. This allows to detect + * corrupted frames */ + header_id = ((uint16_t)(p_dev->temp_buffer[0x8])<<8) & 0xFF00U; + header_id |= ((uint16_t)(p_dev->temp_buffer[0x9])) & 0x00FFU; + + footer_id = ((uint16_t)(p_dev->temp_buffer[p_dev->data_read_size + - (uint32_t)4]) << 8) & 0xFF00U; + footer_id |= ((uint16_t)(p_dev->temp_buffer[p_dev->data_read_size + - (uint32_t)3])) & 0xFFU; + + if(header_id != footer_id) + { + status |= VL53L5CX_STATUS_CORRUPTED_FRAME; + } + + return status; +} + +uint8_t vl53l5cx_get_resolution( + VL53L5CX_Configuration *p_dev, + uint8_t *p_resolution) +{ + uint8_t status = VL53L5CX_STATUS_OK; + + status |= vl53l5cx_dci_read_data(p_dev, p_dev->temp_buffer, + VL53L5CX_DCI_ZONE_CONFIG, 8); + *p_resolution = p_dev->temp_buffer[0x00]*p_dev->temp_buffer[0x01]; + + return status; +} + + + +uint8_t vl53l5cx_set_resolution( + VL53L5CX_Configuration *p_dev, + uint8_t resolution) +{ + uint8_t status = VL53L5CX_STATUS_OK; + + switch(resolution){ + case VL53L5CX_RESOLUTION_4X4: + status |= vl53l5cx_dci_read_data(p_dev, + p_dev->temp_buffer, + VL53L5CX_DCI_DSS_CONFIG, 16); + p_dev->temp_buffer[0x04] = 64; + p_dev->temp_buffer[0x06] = 64; + p_dev->temp_buffer[0x09] = 4; + status |= vl53l5cx_dci_write_data(p_dev, + p_dev->temp_buffer, + VL53L5CX_DCI_DSS_CONFIG, 16); + + status |= vl53l5cx_dci_read_data(p_dev, + p_dev->temp_buffer, + VL53L5CX_DCI_ZONE_CONFIG, 8); + p_dev->temp_buffer[0x00] = 4; + p_dev->temp_buffer[0x01] = 4; + p_dev->temp_buffer[0x04] = 8; + p_dev->temp_buffer[0x05] = 8; + status |= vl53l5cx_dci_write_data(p_dev, + p_dev->temp_buffer, + VL53L5CX_DCI_ZONE_CONFIG, 8); + break; + + case VL53L5CX_RESOLUTION_8X8: + status |= vl53l5cx_dci_read_data(p_dev, + p_dev->temp_buffer, + VL53L5CX_DCI_DSS_CONFIG, 16); + p_dev->temp_buffer[0x04] = 16; + p_dev->temp_buffer[0x06] = 16; + p_dev->temp_buffer[0x09] = 1; + status |= vl53l5cx_dci_write_data(p_dev, + p_dev->temp_buffer, + VL53L5CX_DCI_DSS_CONFIG, 16); + + status |= vl53l5cx_dci_read_data(p_dev, + p_dev->temp_buffer, + VL53L5CX_DCI_ZONE_CONFIG, 8); + p_dev->temp_buffer[0x00] = 8; + p_dev->temp_buffer[0x01] = 8; + p_dev->temp_buffer[0x04] = 4; + p_dev->temp_buffer[0x05] = 4; + status |= vl53l5cx_dci_write_data(p_dev, + p_dev->temp_buffer, + VL53L5CX_DCI_ZONE_CONFIG, 8); + + break; + + default: + status = VL53L5CX_STATUS_INVALID_PARAM; + break; + } + + status |= _vl53l5cx_send_offset_data(p_dev, resolution); + status |= _vl53l5cx_send_xtalk_data(p_dev, resolution); + + return status; +} + +uint8_t vl53l5cx_get_ranging_frequency_hz( + VL53L5CX_Configuration *p_dev, + uint8_t *p_frequency_hz) +{ + uint8_t status = VL53L5CX_STATUS_OK; + + status |= vl53l5cx_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer, + VL53L5CX_DCI_FREQ_HZ, 4); + *p_frequency_hz = p_dev->temp_buffer[0x01]; + + return status; +} + +uint8_t vl53l5cx_set_ranging_frequency_hz( + VL53L5CX_Configuration *p_dev, + uint8_t frequency_hz) +{ + uint8_t status = VL53L5CX_STATUS_OK; + + status |= vl53l5cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L5CX_DCI_FREQ_HZ, 4, + (uint8_t*)&frequency_hz, 1, 0x01); + + return status; +} + +uint8_t vl53l5cx_get_integration_time_ms( + VL53L5CX_Configuration *p_dev, + uint32_t *p_time_ms) +{ + uint8_t status = VL53L5CX_STATUS_OK; + + status |= vl53l5cx_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer, + VL53L5CX_DCI_INT_TIME, 20); + + (void)memcpy(p_time_ms, &(p_dev->temp_buffer[0x0]), 4); + *p_time_ms /= (uint32_t)1000; + + return status; +} + +uint8_t vl53l5cx_set_integration_time_ms( + VL53L5CX_Configuration *p_dev, + uint32_t integration_time_ms) +{ + uint8_t status = VL53L5CX_STATUS_OK; + uint32_t integration = integration_time_ms; + + /* Integration time must be between 2ms and 1000ms */ + if((integration < (uint32_t)2) + || (integration > (uint32_t)1000)) + { + status |= VL53L5CX_STATUS_INVALID_PARAM; + }else + { + integration *= (uint32_t)1000; + + status |= vl53l5cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L5CX_DCI_INT_TIME, 20, + (uint8_t*)&integration, 4, 0x00); + } + + return status; +} + +uint8_t vl53l5cx_get_sharpener_percent( + VL53L5CX_Configuration *p_dev, + uint8_t *p_sharpener_percent) +{ + uint8_t status = VL53L5CX_STATUS_OK; + + status |= vl53l5cx_dci_read_data(p_dev,p_dev->temp_buffer, + VL53L5CX_DCI_SHARPENER, 16); + + *p_sharpener_percent = (p_dev->temp_buffer[0xD] + *(uint8_t)100)/(uint8_t)255; + + return status; +} + +uint8_t vl53l5cx_set_sharpener_percent( + VL53L5CX_Configuration *p_dev, + uint8_t sharpener_percent) +{ + uint8_t status = VL53L5CX_STATUS_OK; + uint8_t sharpener; + + if(sharpener_percent >= (uint8_t)100) + { + status |= VL53L5CX_STATUS_INVALID_PARAM; + } + else + { + sharpener = (sharpener_percent*(uint8_t)255)/(uint8_t)100; + status |= vl53l5cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L5CX_DCI_SHARPENER, 16, + (uint8_t*)&sharpener, 1, 0xD); + } + + return status; +} + +uint8_t vl53l5cx_get_target_order( + VL53L5CX_Configuration *p_dev, + uint8_t *p_target_order) +{ + uint8_t status = VL53L5CX_STATUS_OK; + + status |= vl53l5cx_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer, + VL53L5CX_DCI_TARGET_ORDER, 4); + *p_target_order = (uint8_t)p_dev->temp_buffer[0x0]; + + return status; +} + +uint8_t vl53l5cx_set_target_order( + VL53L5CX_Configuration *p_dev, + uint8_t target_order) +{ + uint8_t status = VL53L5CX_STATUS_OK; + + if((target_order == (uint8_t)VL53L5CX_TARGET_ORDER_CLOSEST) + || (target_order == (uint8_t)VL53L5CX_TARGET_ORDER_STRONGEST)) + { + status |= vl53l5cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L5CX_DCI_TARGET_ORDER, 4, + (uint8_t*)&target_order, 1, 0x0); + }else + { + status |= VL53L5CX_STATUS_INVALID_PARAM; + } + + return status; +} + +uint8_t vl53l5cx_get_ranging_mode( + VL53L5CX_Configuration *p_dev, + uint8_t *p_ranging_mode) +{ + uint8_t status = VL53L5CX_STATUS_OK; + + status |= vl53l5cx_dci_read_data(p_dev, p_dev->temp_buffer, + VL53L5CX_DCI_RANGING_MODE, 8); + + if(p_dev->temp_buffer[0x01] == (uint8_t)0x1) + { + *p_ranging_mode = VL53L5CX_RANGING_MODE_CONTINUOUS; + } + else + { + *p_ranging_mode = VL53L5CX_RANGING_MODE_AUTONOMOUS; + } + + return status; +} + +uint8_t vl53l5cx_set_ranging_mode( + VL53L5CX_Configuration *p_dev, + uint8_t ranging_mode) +{ + uint8_t status = VL53L5CX_STATUS_OK; + uint32_t single_range = 0x00; + + status |= vl53l5cx_dci_read_data(p_dev, p_dev->temp_buffer, + VL53L5CX_DCI_RANGING_MODE, 8); + + switch(ranging_mode) + { + case VL53L5CX_RANGING_MODE_CONTINUOUS: + p_dev->temp_buffer[0x01] = 0x1; + p_dev->temp_buffer[0x03] = 0x3; + single_range = 0x00; + break; + + case VL53L5CX_RANGING_MODE_AUTONOMOUS: + p_dev->temp_buffer[0x01] = 0x3; + p_dev->temp_buffer[0x03] = 0x2; + single_range = 0x01; + break; + + default: + status = VL53L5CX_STATUS_INVALID_PARAM; + break; + } + + status |= vl53l5cx_dci_write_data(p_dev, p_dev->temp_buffer, + VL53L5CX_DCI_RANGING_MODE, (uint16_t)8); + + status |= vl53l5cx_dci_write_data(p_dev, (uint8_t*)&single_range, + VL53L5CX_DCI_SINGLE_RANGE, + (uint16_t)sizeof(single_range)); + + return status; +} + +uint8_t vl53l5cx_enable_internal_cp( + VL53L5CX_Configuration *p_dev) +{ + uint8_t status = VL53L5CX_STATUS_OK; + uint8_t vcsel_bootup_fsm = 1; + uint8_t analog_dynamic_pad_0 = 0; + + status |= vl53l5cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L5CX_DCI_INTERNAL_CP, 16, + (uint8_t*)&vcsel_bootup_fsm, 1, 0x0A); + + status |= vl53l5cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L5CX_DCI_INTERNAL_CP, 16, + (uint8_t*)&analog_dynamic_pad_0, 1, 0x0E); + + return status; +} + +uint8_t vl53l5cx_disable_internal_cp( + VL53L5CX_Configuration *p_dev) +{ + uint8_t status = VL53L5CX_STATUS_OK; + uint8_t vcsel_bootup_fsm = 0; + uint8_t analog_dynamic_pad_0 = 1; + + status |= vl53l5cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L5CX_DCI_INTERNAL_CP, 16, + (uint8_t*)&vcsel_bootup_fsm, 1, 0x0A); + + status |= vl53l5cx_dci_replace_data(p_dev, p_dev->temp_buffer, + VL53L5CX_DCI_INTERNAL_CP, 16, + (uint8_t*)&analog_dynamic_pad_0, 1, 0x0E); + + return status; +} + +uint8_t vl53l5cx_dci_read_data( + VL53L5CX_Configuration *p_dev, + uint8_t *data, + uint32_t index, + uint16_t data_size) +{ + int16_t i; + uint8_t status = VL53L5CX_STATUS_OK; + uint32_t rd_size = (uint32_t) data_size + (uint32_t)12; + uint8_t cmd[] = {0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x0f, + 0x00, 0x02, 0x00, 0x08}; + + /* Check if tmp buffer is large enough */ + if((data_size + (uint16_t)12)>(uint16_t)VL53L5CX_TEMPORARY_BUFFER_SIZE) + { + status |= VL53L5CX_STATUS_ERROR; + } + else + { + cmd[0] = (uint8_t)(index >> 8); + cmd[1] = (uint8_t)(index & (uint32_t)0xff); + cmd[2] = (uint8_t)((data_size & (uint16_t)0xff0) >> 4); + cmd[3] = (uint8_t)((data_size & (uint16_t)0xf) << 4); + + /* Request data reading from FW */ + status |= WrMulti(&(p_dev->platform), + (VL53L5CX_UI_CMD_END-(uint16_t)11),cmd, sizeof(cmd)); + status |= _vl53l5cx_poll_for_answer(p_dev, 4, 1, + VL53L5CX_UI_CMD_STATUS, + 0xff, 0x03); + + /* Read new data sent (4 bytes header + data_size + 8 bytes footer) */ + status |= RdMulti(&(p_dev->platform), VL53L5CX_UI_CMD_START, + p_dev->temp_buffer, rd_size); + SwapBuffer(p_dev->temp_buffer, data_size + (uint16_t)12); + + /* Copy data from FW into input structure (-4 bytes to remove header) */ + for(i = 0 ; i < (int16_t)data_size;i++){ + data[i] = p_dev->temp_buffer[i + 4]; + } + } + + return status; +} + +uint8_t vl53l5cx_dci_write_data( + VL53L5CX_Configuration *p_dev, + uint8_t *data, + uint32_t index, + uint16_t data_size) +{ + uint8_t status = VL53L5CX_STATUS_OK; + int16_t i; + + uint8_t headers[] = {0x00, 0x00, 0x00, 0x00}; + uint8_t footer[] = {0x00, 0x00, 0x00, 0x0f, 0x05, 0x01, + (uint8_t)((data_size + (uint16_t)8) >> 8), + (uint8_t)((data_size + (uint16_t)8) & (uint8_t)0xFF)}; + + uint16_t address = (uint16_t)VL53L5CX_UI_CMD_END - + (data_size + (uint16_t)12) + (uint16_t)1; + + /* Check if cmd buffer is large enough */ + if((data_size + (uint16_t)12) + > (uint16_t)VL53L5CX_TEMPORARY_BUFFER_SIZE) + { + status |= VL53L5CX_STATUS_ERROR; + } + else + { + headers[0] = (uint8_t)(index >> 8); + headers[1] = (uint8_t)(index & (uint32_t)0xff); + headers[2] = (uint8_t)(((data_size & (uint16_t)0xff0) >> 4)); + headers[3] = (uint8_t)((data_size & (uint16_t)0xf) << 4); + + /* Copy data from structure to FW format (+4 bytes to add header) */ + SwapBuffer(data, data_size); + for(i = (int16_t)data_size - (int16_t)1 ; i >= 0; i--) + { + p_dev->temp_buffer[i + 4] = data[i]; + } + + /* Add headers and footer */ + (void)memcpy(&p_dev->temp_buffer[0], headers, sizeof(headers)); + (void)memcpy(&p_dev->temp_buffer[data_size + (uint16_t)4], + footer, sizeof(footer)); + + /* Send data to FW */ + status |= WrMulti(&(p_dev->platform),address, + p_dev->temp_buffer, + (uint32_t)((uint32_t)data_size + (uint32_t)12)); + status |= _vl53l5cx_poll_for_answer(p_dev, 4, 1, + VL53L5CX_UI_CMD_STATUS, 0xff, 0x03); + + SwapBuffer(data, data_size); + } + + return status; +} + +uint8_t vl53l5cx_dci_replace_data( + VL53L5CX_Configuration *p_dev, + uint8_t *data, + uint32_t index, + uint16_t data_size, + uint8_t *new_data, + uint16_t new_data_size, + uint16_t new_data_pos) +{ + uint8_t status = VL53L5CX_STATUS_OK; + + status |= vl53l5cx_dci_read_data(p_dev, data, index, data_size); + (void)memcpy(&(data[new_data_pos]), new_data, new_data_size); + status |= vl53l5cx_dci_write_data(p_dev, data, index, data_size); + + return status; +} diff --git a/sw/airborne/peripherals/vl53l5cx_api.h b/sw/airborne/peripherals/vl53l5cx_api.h new file mode 100644 index 00000000000..43cf769dbd6 --- /dev/null +++ b/sw/airborne/peripherals/vl53l5cx_api.h @@ -0,0 +1,722 @@ +/** + * + * Copyright (c) 2021 STMicroelectronics. + * All rights reserved. + * + * This software component is provided to you as part of a software package and + * applicable license terms are in the Package_license file. If you received this + * software component outside of a package or without applicable license terms, + * the terms of the BSD-3-Clause license shall apply. + * You may obtain a copy of the BSD-3-Clause at: + * https://opensource.org/licenses/BSD-3-Clause + + * + ****************************************************************************** + */ + +#ifndef VL53L5CX_API_H_ +#define VL53L5CX_API_H_ + +#if defined (__ARMCC_VERSION) && (__ARMCC_VERSION < 6010050) +#pragma anon_unions +#endif + + + +#include "lidar/vl53l5cx_platform.h" + +/** + * @brief Current driver version. + */ + +#define VL53L5CX_API_REVISION "VL53L5CX_1.3.10" + +/** + * @brief Default I2C address of VL53L5CX sensor. Can be changed using function + * vl53l5cx_set_i2c_address() function is called. + */ + +#define VL53L5CX_DEFAULT_I2C_ADDRESS ((uint16_t)0x52) + +/** + * @brief Macro VL53L5CX_RESOLUTION_4X4 or VL53L5CX_RESOLUTION_8X8 allows + * setting sensor in 4x4 mode or 8x8 mode, using function + * vl53l5cx_set_resolution(). + */ + +#define VL53L5CX_RESOLUTION_4X4 ((uint8_t) 16U) +#define VL53L5CX_RESOLUTION_8X8 ((uint8_t) 64U) + + +/** + * @brief Macro VL53L5CX_TARGET_ORDER_STRONGEST or VL53L5CX_TARGET_ORDER_CLOSEST + * are used to select the target order for data output. + */ + +#define VL53L5CX_TARGET_ORDER_CLOSEST ((uint8_t) 1U) +#define VL53L5CX_TARGET_ORDER_STRONGEST ((uint8_t) 2U) + +/** + * @brief Macro VL53L5CX_RANGING_MODE_CONTINUOUS and + * VL53L5CX_RANGING_MODE_AUTONOMOUS are used to change the ranging mode. + * Autonomous mode can be used to set a precise integration time, whereas + * continuous is always maximum. + */ + +#define VL53L5CX_RANGING_MODE_CONTINUOUS ((uint8_t) 1U) +#define VL53L5CX_RANGING_MODE_AUTONOMOUS ((uint8_t) 3U) + +/** + * @brief The default power mode is VL53L5CX_POWER_MODE_WAKEUP. User can choose + * the mode VL53L5CX_POWER_MODE_SLEEP to save power consumption is the device + * is not used. The low power mode retains the firmware and the configuration. + * Both modes can be changed using function vl53l5cx_set_power_mode(). + */ + +#define VL53L5CX_POWER_MODE_SLEEP ((uint8_t) 0U) +#define VL53L5CX_POWER_MODE_WAKEUP ((uint8_t) 1U) + +/** + * @brief Macro VL53L5CX_STATUS_OK indicates that VL53L5 sensor has no error. + * Macro VL53L5CX_STATUS_ERROR indicates that something is wrong (value, + * I2C access, ...). Macro VL53L5CX_MCU_ERROR is used to indicate a MCU issue. + */ + +#define VL53L5CX_STATUS_OK ((uint8_t) 0U) +#define VL53L5CX_STATUS_TIMEOUT_ERROR ((uint8_t) 1U) +#define VL53L5CX_STATUS_CORRUPTED_FRAME ((uint8_t) 2U) +#define VL53L5CX_STATUS_CRC_CSUM_FAILED ((uint8_t) 3U) +#define VL53L5CX_STATUS_XTALK_FAILED ((uint8_t) 4U) +#define VL53L5CX_MCU_ERROR ((uint8_t) 66U) +#define VL53L5CX_STATUS_INVALID_PARAM ((uint8_t) 127U) +#define VL53L5CX_STATUS_ERROR ((uint8_t) 255U) + +/** + * @brief Definitions for Range results block headers + */ + +#if VL53L5CX_NB_TARGET_PER_ZONE == 1 + +#define VL53L5CX_START_BH ((uint32_t)0x0000000DU) +#define VL53L5CX_METADATA_BH ((uint32_t)0x54B400C0U) +#define VL53L5CX_COMMONDATA_BH ((uint32_t)0x54C00040U) +#define VL53L5CX_AMBIENT_RATE_BH ((uint32_t)0x54D00104U) +#define VL53L5CX_SPAD_COUNT_BH ((uint32_t)0x55D00404U) +#define VL53L5CX_NB_TARGET_DETECTED_BH ((uint32_t)0xDB840401U) +#define VL53L5CX_SIGNAL_RATE_BH ((uint32_t)0xDBC40404U) +#define VL53L5CX_RANGE_SIGMA_MM_BH ((uint32_t)0xDEC40402U) +#define VL53L5CX_DISTANCE_BH ((uint32_t)0xDF440402U) +#define VL53L5CX_REFLECTANCE_BH ((uint32_t)0xE0440401U) +#define VL53L5CX_TARGET_STATUS_BH ((uint32_t)0xE0840401U) +#define VL53L5CX_MOTION_DETECT_BH ((uint32_t)0xD85808C0U) + +#define VL53L5CX_METADATA_IDX ((uint16_t)0x54B4U) +#define VL53L5CX_SPAD_COUNT_IDX ((uint16_t)0x55D0U) +#define VL53L5CX_AMBIENT_RATE_IDX ((uint16_t)0x54D0U) +#define VL53L5CX_NB_TARGET_DETECTED_IDX ((uint16_t)0xDB84U) +#define VL53L5CX_SIGNAL_RATE_IDX ((uint16_t)0xDBC4U) +#define VL53L5CX_RANGE_SIGMA_MM_IDX ((uint16_t)0xDEC4U) +#define VL53L5CX_DISTANCE_IDX ((uint16_t)0xDF44U) +#define VL53L5CX_REFLECTANCE_EST_PC_IDX ((uint16_t)0xE044U) +#define VL53L5CX_TARGET_STATUS_IDX ((uint16_t)0xE084U) +#define VL53L5CX_MOTION_DETEC_IDX ((uint16_t)0xD858U) + +#else +#define VL53L5CX_START_BH ((uint32_t)0x0000000DU) +#define VL53L5CX_METADATA_BH ((uint32_t)0x54B400C0U) +#define VL53L5CX_COMMONDATA_BH ((uint32_t)0x54C00040U) +#define VL53L5CX_AMBIENT_RATE_BH ((uint32_t)0x54D00104U) +#define VL53L5CX_NB_TARGET_DETECTED_BH ((uint32_t)0x57D00401U) +#define VL53L5CX_SPAD_COUNT_BH ((uint32_t)0x55D00404U) +#define VL53L5CX_SIGNAL_RATE_BH ((uint32_t)0x58900404U) +#define VL53L5CX_RANGE_SIGMA_MM_BH ((uint32_t)0x64900402U) +#define VL53L5CX_DISTANCE_BH ((uint32_t)0x66900402U) +#define VL53L5CX_REFLECTANCE_BH ((uint32_t)0x6A900401U) +#define VL53L5CX_TARGET_STATUS_BH ((uint32_t)0x6B900401U) +#define VL53L5CX_MOTION_DETECT_BH ((uint32_t)0xCC5008C0U) + +#define VL53L5CX_METADATA_IDX ((uint16_t)0x54B4U) +#define VL53L5CX_SPAD_COUNT_IDX ((uint16_t)0x55D0U) +#define VL53L5CX_AMBIENT_RATE_IDX ((uint16_t)0x54D0U) +#define VL53L5CX_NB_TARGET_DETECTED_IDX ((uint16_t)0x57D0U) +#define VL53L5CX_SIGNAL_RATE_IDX ((uint16_t)0x5890U) +#define VL53L5CX_RANGE_SIGMA_MM_IDX ((uint16_t)0x6490U) +#define VL53L5CX_DISTANCE_IDX ((uint16_t)0x6690U) +#define VL53L5CX_REFLECTANCE_EST_PC_IDX ((uint16_t)0x6A90U) +#define VL53L5CX_TARGET_STATUS_IDX ((uint16_t)0x6B90U) +#define VL53L5CX_MOTION_DETEC_IDX ((uint16_t)0xCC50U) +#endif + + +/** + * @brief Inner Macro for API. Not for user, only for development. + */ + +#define VL53L5CX_NVM_DATA_SIZE ((uint16_t)492U) +#define VL53L5CX_CONFIGURATION_SIZE ((uint16_t)972U) +#define VL53L5CX_OFFSET_BUFFER_SIZE ((uint16_t)488U) +#define VL53L5CX_XTALK_BUFFER_SIZE ((uint16_t)776U) + +#define VL53L5CX_DCI_ZONE_CONFIG ((uint16_t)0x5450U) +#define VL53L5CX_DCI_FREQ_HZ ((uint16_t)0x5458U) +#define VL53L5CX_DCI_INT_TIME ((uint16_t)0x545CU) +#define VL53L5CX_DCI_FW_NB_TARGET ((uint16_t)0x5478) +#define VL53L5CX_DCI_RANGING_MODE ((uint16_t)0xAD30U) +#define VL53L5CX_DCI_DSS_CONFIG ((uint16_t)0xAD38U) +#define VL53L5CX_DCI_TARGET_ORDER ((uint16_t)0xAE64U) +#define VL53L5CX_DCI_SHARPENER ((uint16_t)0xAED8U) +#define VL53L5CX_DCI_INTERNAL_CP ((uint16_t)0xB39CU) +#define VL53L5CX_DCI_SYNC_PIN ((uint16_t)0xB5F0U) +#define VL53L5CX_DCI_MOTION_DETECTOR_CFG ((uint16_t)0xBFACU) +#define VL53L5CX_DCI_SINGLE_RANGE ((uint16_t)0xD964U) +#define VL53L5CX_DCI_OUTPUT_CONFIG ((uint16_t)0xD968U) +#define VL53L5CX_DCI_OUTPUT_ENABLES ((uint16_t)0xD970U) +#define VL53L5CX_DCI_OUTPUT_LIST ((uint16_t)0xD980U) +#define VL53L5CX_DCI_PIPE_CONTROL ((uint16_t)0xDB80U) +#define VL53L5CX_GLARE_FILTER ((uint16_t)0xE108U) + + +#define VL53L5CX_UI_CMD_STATUS ((uint16_t)0x2C00U) +#define VL53L5CX_UI_CMD_START ((uint16_t)0x2C04U) +#define VL53L5CX_UI_CMD_END ((uint16_t)0x2FFFU) + +/** + * @brief Inner values for API. Max buffer size depends of the selected output. + */ + +#ifndef VL53L5CX_DISABLE_AMBIENT_PER_SPAD +#define L5CX_AMB_SIZE 260U +#else +#define L5CX_AMB_SIZE 0U +#endif + +#ifndef VL53L5CX_DISABLE_NB_SPADS_ENABLED +#define L5CX_SPAD_SIZE 260U +#else +#define L5CX_SPAD_SIZE 0U +#endif + +#ifndef VL53L5CX_DISABLE_NB_TARGET_DETECTED +#define L5CX_NTAR_SIZE 68U +#else +#define L5CX_NTAR_SIZE 0U +#endif + +#ifndef VL53L5CX_DISABLE_SIGNAL_PER_SPAD +#define L5CX_SPS_SIZE ((256U * VL53L5CX_NB_TARGET_PER_ZONE) + 4U) +#else +#define L5CX_SPS_SIZE 0U +#endif + +#ifndef VL53L5CX_DISABLE_RANGE_SIGMA_MM +#define L5CX_SIGR_SIZE ((128U * VL53L5CX_NB_TARGET_PER_ZONE) + 4U) +#else +#define L5CX_SIGR_SIZE 0U +#endif + +#ifndef VL53L5CX_DISABLE_DISTANCE_MM +#define L5CX_DIST_SIZE ((128U * VL53L5CX_NB_TARGET_PER_ZONE) + 4U) +#else +#define L5CX_DIST_SIZE 0U +#endif + +#ifndef VL53L5CX_DISABLE_REFLECTANCE_PERCENT +#define L5CX_RFLEST_SIZE ((64U *VL53L5CX_NB_TARGET_PER_ZONE) + 4U) +#else +#define L5CX_RFLEST_SIZE 0U +#endif + +#ifndef VL53L5CX_DISABLE_TARGET_STATUS +#define L5CX_STA_SIZE ((64U *VL53L5CX_NB_TARGET_PER_ZONE) + 4U) +#else +#define L5CX_STA_SIZE 0U +#endif + +#ifndef VL53L5CX_DISABLE_MOTION_INDICATOR +#define L5CX_MOT_SIZE 144U +#else +#define L5CX_MOT_SIZE 0U +#endif + +/** + * @brief Macro VL53L5CX_MAX_RESULTS_SIZE indicates the maximum size used by + * output through I2C. Value 40 corresponds to headers + meta-data + common-data + * and 20 corresponds to the footer. + */ + +#define VL53L5CX_MAX_RESULTS_SIZE ( 40U \ + + L5CX_AMB_SIZE + L5CX_SPAD_SIZE + L5CX_NTAR_SIZE + L5CX_SPS_SIZE \ + + L5CX_SIGR_SIZE + L5CX_DIST_SIZE + L5CX_RFLEST_SIZE + L5CX_STA_SIZE \ + + L5CX_MOT_SIZE + 20U) + +/** + * @brief Macro VL53L5CX_TEMPORARY_BUFFER_SIZE can be used to know the size of + * the temporary buffer. The minimum size is 1024, and the maximum depends of + * the output configuration. + */ + +#if VL53L5CX_MAX_RESULTS_SIZE < 1024U +#define VL53L5CX_TEMPORARY_BUFFER_SIZE ((uint32_t) 1024U) +#else +#define VL53L5CX_TEMPORARY_BUFFER_SIZE ((uint32_t) VL53L5CX_MAX_RESULTS_SIZE) +#endif + + +/** + * @brief Structure VL53L5CX_Configuration contains the sensor configuration. + * User MUST not manually change these field, except for the sensor address. + */ + +typedef struct +{ + /* Platform, filled by customer into the 'platform.h' file */ + VL53L5CX_Platform platform; + /* Results streamcount, value auto-incremented at each range */ + uint8_t streamcount; + /* Size of data read though I2C */ + uint32_t data_read_size; + /* Address of default configuration buffer */ + uint8_t *default_configuration; + /* Address of default Xtalk buffer */ + uint8_t *default_xtalk; + /* Offset buffer */ + uint8_t offset_data[VL53L5CX_OFFSET_BUFFER_SIZE]; + /* Xtalk buffer */ + uint8_t xtalk_data[VL53L5CX_XTALK_BUFFER_SIZE]; + /* Temporary buffer used for internal driver processing */ + uint8_t temp_buffer[VL53L5CX_TEMPORARY_BUFFER_SIZE]; + /* Auto-stop flag for stopping the sensor */ + uint8_t is_auto_stop_enabled; +} VL53L5CX_Configuration; + + +/** + * @brief Structure VL53L5CX_ResultsData contains the ranging results of + * VL53L5CX. If user wants more than 1 target per zone, the results can be split + * into 2 sub-groups : + * - Per zone results. These results are common to all targets (ambient_per_spad + * , nb_target_detected and nb_spads_enabled). + * - Per target results : These results are different relative to the detected + * target (signal_per_spad, range_sigma_mm, distance_mm, reflectance, + * target_status). + */ + +typedef struct +{ + /* Internal sensor silicon temperature */ + int8_t silicon_temp_degc; + + /* Ambient noise in kcps/spads */ +#ifndef VL53L5CX_DISABLE_AMBIENT_PER_SPAD + uint32_t ambient_per_spad[VL53L5CX_RESOLUTION_8X8]; +#endif + + /* Number of valid target detected for 1 zone */ +#ifndef VL53L5CX_DISABLE_NB_TARGET_DETECTED + uint8_t nb_target_detected[VL53L5CX_RESOLUTION_8X8]; +#endif + + /* Number of spads enabled for this ranging */ +#ifndef VL53L5CX_DISABLE_NB_SPADS_ENABLED + uint32_t nb_spads_enabled[VL53L5CX_RESOLUTION_8X8]; +#endif + + /* Signal returned to the sensor in kcps/spads */ +#ifndef VL53L5CX_DISABLE_SIGNAL_PER_SPAD + uint32_t signal_per_spad[(VL53L5CX_RESOLUTION_8X8 + *VL53L5CX_NB_TARGET_PER_ZONE)]; +#endif + + /* Sigma of the current distance in mm */ +#ifndef VL53L5CX_DISABLE_RANGE_SIGMA_MM + uint16_t range_sigma_mm[(VL53L5CX_RESOLUTION_8X8 + *VL53L5CX_NB_TARGET_PER_ZONE)]; +#endif + + /* Measured distance in mm */ +#ifndef VL53L5CX_DISABLE_DISTANCE_MM + int16_t distance_mm[(VL53L5CX_RESOLUTION_8X8 + *VL53L5CX_NB_TARGET_PER_ZONE)]; +#endif + + /* Estimated reflectance in percent */ +#ifndef VL53L5CX_DISABLE_REFLECTANCE_PERCENT + uint8_t reflectance[(VL53L5CX_RESOLUTION_8X8 + *VL53L5CX_NB_TARGET_PER_ZONE)]; +#endif + + /* Status indicating the measurement validity (5 & 9 means ranging OK)*/ +#ifndef VL53L5CX_DISABLE_TARGET_STATUS + uint8_t target_status[(VL53L5CX_RESOLUTION_8X8 + *VL53L5CX_NB_TARGET_PER_ZONE)]; +#endif + + /* Motion detector results */ +#ifndef VL53L5CX_DISABLE_MOTION_INDICATOR + struct + { + uint32_t global_indicator_1; + uint32_t global_indicator_2; + uint8_t status; + uint8_t nb_of_detected_aggregates; + uint8_t nb_of_aggregates; + uint8_t spare; + uint32_t motion[32]; + } motion_indicator; +#endif + +} VL53L5CX_ResultsData; + + +union Block_header { + uint32_t bytes; + struct { + uint32_t type : 4; + uint32_t size : 12; + uint32_t idx : 16; + }; +}; + +uint8_t vl53l5cx_is_alive( + VL53L5CX_Configuration *p_dev, + uint8_t *p_is_alive); + +/** + * @brief Mandatory function used to initialize the sensor. This function must + * be called after a power on, to load the firmware into the VL53L5CX. It takes + * a few hundred milliseconds. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @return (uint8_t) status : 0 if initialization is OK. + */ + +uint8_t vl53l5cx_init( + VL53L5CX_Configuration *p_dev); + +/** + * @brief This function is used to change the I2C address of the sensor. If + * multiple VL53L5 sensors are connected to the same I2C line, all other LPn + * pins needs to be set to Low. The default sensor address is 0x52. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint16_t) i2c_address : New I2C address. + * @return (uint8_t) status : 0 if new address is OK + */ + +uint8_t vl53l5cx_set_i2c_address( + VL53L5CX_Configuration *p_dev, + uint16_t i2c_address); + +/** + * @brief This function is used to get the current sensor power mode. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint8_t) *p_power_mode : Current power mode. The value of this + * pointer is equal to 0 if the sensor is in low power, + * (VL53L5CX_POWER_MODE_SLEEP), or 1 if sensor is in standard mode + * (VL53L5CX_POWER_MODE_WAKEUP). + * @return (uint8_t) status : 0 if power mode is OK + */ + +uint8_t vl53l5cx_get_power_mode( + VL53L5CX_Configuration *p_dev, + uint8_t *p_power_mode); + +/** + * @brief This function is used to set the sensor in Low Power mode, for + * example if the sensor is not used during a long time. The macro + * VL53L5CX_POWER_MODE_SLEEP can be used to enable the low power mode. When user + * want to restart the sensor, he can use macro VL53L5CX_POWER_MODE_WAKEUP. + * Please ensure that the device is not streaming before calling the function. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint8_t) power_mode : Selected power mode (VL53L5CX_POWER_MODE_SLEEP + * or VL53L5CX_POWER_MODE_WAKEUP) + * @return (uint8_t) status : 0 if power mode is OK, or 127 if power mode + * requested by user is not valid. + */ + +uint8_t vl53l5cx_set_power_mode( + VL53L5CX_Configuration *p_dev, + uint8_t power_mode); + +/** + * @brief This function starts a ranging session. When the sensor streams, host + * cannot change settings 'on-the-fly'. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @return (uint8_t) status : 0 if start is OK. + */ + +uint8_t vl53l5cx_start_ranging( + VL53L5CX_Configuration *p_dev); + +/** + * @brief This function stops the ranging session. It must be used when the + * sensor streams, after calling vl53l5cx_start_ranging(). + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @return (uint8_t) status : 0 if stop is OK + */ + +uint8_t vl53l5cx_stop_ranging( + VL53L5CX_Configuration *p_dev); + +/** + * @brief This function checks if a new data is ready by polling I2C. If a new + * data is ready, a flag will be raised. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint8_t) *p_isReady : Value of this pointer be updated to 0 if data + * is not ready, or 1 if a new data is ready. + * @return (uint8_t) status : 0 if I2C reading is OK + */ + +uint8_t vl53l5cx_check_data_ready( + VL53L5CX_Configuration *p_dev, + uint8_t *p_isReady); + +/** + * @brief This function gets the ranging data, using the selected output and the + * resolution. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (VL53L5CX_ResultsData) *p_results : VL53L5 results structure. + * @return (uint8_t) status : 0 data are successfully get. + */ + +uint8_t vl53l5cx_get_ranging_data( + VL53L5CX_Configuration *p_dev, + VL53L5CX_ResultsData *p_results); + +/** + * @brief This function gets the current resolution (4x4 or 8x8). + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint8_t) *p_resolution : Value of this pointer will be equal to 16 + * for 4x4 mode, and 64 for 8x8 mode. + * @return (uint8_t) status : 0 if resolution is OK. + */ + +uint8_t vl53l5cx_get_resolution( + VL53L5CX_Configuration *p_dev, + uint8_t *p_resolution); + +/** + * @brief This function sets a new resolution (4x4 or 8x8). + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint8_t) resolution : Use macro VL53L5CX_RESOLUTION_4X4 or + * VL53L5CX_RESOLUTION_8X8 to set the resolution. + * @return (uint8_t) status : 0 if set resolution is OK. + */ + +uint8_t vl53l5cx_set_resolution( + VL53L5CX_Configuration *p_dev, + uint8_t resolution); + +/** + * @brief This function gets the current ranging frequency in Hz. Ranging + * frequency corresponds to the time between each measurement. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint8_t) *p_frequency_hz: Contains the ranging frequency in Hz. + * @return (uint8_t) status : 0 if ranging frequency is OK. + */ + +uint8_t vl53l5cx_get_ranging_frequency_hz( + VL53L5CX_Configuration *p_dev, + uint8_t *p_frequency_hz); + +/** + * @brief This function sets a new ranging frequency in Hz. Ranging frequency + * corresponds to the measurements frequency. This setting depends of + * the resolution, so please select your resolution before using this function. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint8_t) frequency_hz : Contains the ranging frequency in Hz. + * - For 4x4, min and max allowed values are : [1;60] + * - For 8x8, min and max allowed values are : [1;15] + * @return (uint8_t) status : 0 if ranging frequency is OK, or 127 if the value + * is not correct. + */ + +uint8_t vl53l5cx_set_ranging_frequency_hz( + VL53L5CX_Configuration *p_dev, + uint8_t frequency_hz); + +/** + * @brief This function gets the current integration time in ms. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint32_t) *p_time_ms: Contains integration time in ms. + * @return (uint8_t) status : 0 if integration time is OK. + */ + +uint8_t vl53l5cx_get_integration_time_ms( + VL53L5CX_Configuration *p_dev, + uint32_t *p_time_ms); + +/** + * @brief This function sets a new integration time in ms. Integration time must + * be computed to be lower than the ranging period, for a selected resolution. + * Please note that this function has no impact on ranging mode continous. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint32_t) time_ms : Contains the integration time in ms. For all + * resolutions and frequency, the minimum value is 2ms, and the maximum is + * 1000ms. + * @return (uint8_t) status : 0 if set integration time is OK. + */ + +uint8_t vl53l5cx_set_integration_time_ms( + VL53L5CX_Configuration *p_dev, + uint32_t integration_time_ms); + +/** + * @brief This function gets the current sharpener in percent. Sharpener can be + * changed to blur more or less zones depending of the application. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint32_t) *p_sharpener_percent: Contains the sharpener in percent. + * @return (uint8_t) status : 0 if get sharpener is OK. + */ + +uint8_t vl53l5cx_get_sharpener_percent( + VL53L5CX_Configuration *p_dev, + uint8_t *p_sharpener_percent); + +/** + * @brief This function sets a new sharpener value in percent. Sharpener can be + * changed to blur more or less zones depending of the application. Min value is + * 0 (disabled), and max is 99. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint32_t) sharpener_percent : Value between 0 (disabled) and 99%. + * @return (uint8_t) status : 0 if set sharpener is OK. + */ + +uint8_t vl53l5cx_set_sharpener_percent( + VL53L5CX_Configuration *p_dev, + uint8_t sharpener_percent); + +/** + * @brief This function gets the current target order (closest or strongest). + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint8_t) *p_target_order: Contains the target order. + * @return (uint8_t) status : 0 if get target order is OK. + */ + +uint8_t vl53l5cx_get_target_order( + VL53L5CX_Configuration *p_dev, + uint8_t *p_target_order); + +/** + * @brief This function sets a new target order. Please use macros + * VL53L5CX_TARGET_ORDER_STRONGEST and VL53L5CX_TARGET_ORDER_CLOSEST to define + * the new output order. By default, the sensor is configured with the strongest + * output. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint8_t) target_order : Required target order. + * @return (uint8_t) status : 0 if set target order is OK, or 127 if target + * order is unknown. + */ + +uint8_t vl53l5cx_set_target_order( + VL53L5CX_Configuration *p_dev, + uint8_t target_order); + +/** + * @brief This function is used to get the ranging mode. Two modes are + * available using ULD : Continuous and autonomous. The default + * mode is Autonomous. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint8_t) *p_ranging_mode : current ranging mode + * @return (uint8_t) status : 0 if get ranging mode is OK. + */ + +uint8_t vl53l5cx_get_ranging_mode( + VL53L5CX_Configuration *p_dev, + uint8_t *p_ranging_mode); + +/** + * @brief This function is used to set the ranging mode. Two modes are + * available using ULD : Continuous and autonomous. The default + * mode is Autonomous. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint8_t) ranging_mode : Use macros VL53L5CX_RANGING_MODE_CONTINUOUS, + * VL53L5CX_RANGING_MODE_CONTINUOUS. + * @return (uint8_t) status : 0 if set ranging mode is OK. + */ + +uint8_t vl53l5cx_set_ranging_mode( + VL53L5CX_Configuration *p_dev, + uint8_t ranging_mode); + +/** + * @brief This function is used to disable the VCSEL charge pump + * This optimizes the power consumption of the device + * To be used only if AVDD = 3.3V + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + */ +uint8_t vl53l5cx_enable_internal_cp( + VL53L5CX_Configuration *p_dev); + + +/** + * @brief This function is used to disable the VCSEL charge pump + * This optimizes the power consumption of the device + * To be used only if AVDD = 3.3V + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + */ +uint8_t vl53l5cx_disable_internal_cp( + VL53L5CX_Configuration *p_dev); + +/** + * @brief This function can be used to read 'extra data' from DCI. Using a known + * index, the function fills the casted structure passed in argument. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint8_t) *data : This field can be a casted structure, or a simple + * array. Please note that the FW only accept data of 32 bits. So field data can + * only have a size of 32, 64, 96, 128, bits .... + * @param (uint32_t) index : Index of required value. + * @param (uint16_t)*data_size : This field must be the structure or array size + * (using sizeof() function). + * @return (uint8_t) status : 0 if OK + */ + +uint8_t vl53l5cx_dci_read_data( + VL53L5CX_Configuration *p_dev, + uint8_t *data, + uint32_t index, + uint16_t data_size); + +/** + * @brief This function can be used to write 'extra data' to DCI. The data can + * be simple data, or casted structure. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint8_t) *data : This field can be a casted structure, or a simple + * array. Please note that the FW only accept data of 32 bits. So field data can + * only have a size of 32, 64, 96, 128, bits .. + * @param (uint32_t) index : Index of required value. + * @param (uint16_t)*data_size : This field must be the structure or array size + * (using sizeof() function). + * @return (uint8_t) status : 0 if OK + */ + +uint8_t vl53l5cx_dci_write_data( + VL53L5CX_Configuration *p_dev, + uint8_t *data, + uint32_t index, + uint16_t data_size); + +/** + * @brief This function can be used to replace 'extra data' in DCI. The data can + * be simple data, or casted structure. + * @param (VL53L5CX_Configuration) *p_dev : VL53L5CX configuration structure. + * @param (uint8_t) *data : This field can be a casted structure, or a simple + * array. Please note that the FW only accept data of 32 bits. So field data can + * only have a size of 32, 64, 96, 128, bits .. + * @param (uint32_t) index : Index of required value. + * @param (uint16_t)*data_size : This field must be the structure or array size + * (using sizeof() function). + * @param (uint8_t) *new_data : Contains the new fields. + * @param (uint16_t) new_data_size : New data size. + * @param (uint16_t) new_data_pos : New data position into the buffer. + * @return (uint8_t) status : 0 if OK + */ + +uint8_t vl53l5cx_dci_replace_data( + VL53L5CX_Configuration *p_dev, + uint8_t *data, + uint32_t index, + uint16_t data_size, + uint8_t *new_data, + uint16_t new_data_size, + uint16_t new_data_pos); + +#endif //VL53L5CX_API_H_ diff --git a/sw/airborne/peripherals/vl53l5cx_buffers.h b/sw/airborne/peripherals/vl53l5cx_buffers.h new file mode 100644 index 00000000000..3c39ff327f5 --- /dev/null +++ b/sw/airborne/peripherals/vl53l5cx_buffers.h @@ -0,0 +1,22015 @@ +/** + * + * Copyright (c) 2021 STMicroelectronics. + * All rights reserved. + * + * This software component is provided to you as part of a software package and + * applicable license terms are in the Package_license file. If you received this + * software component outside of a package or without applicable license terms, + * the terms of the BSD-3-Clause license shall apply. + * You may obtain a copy of the BSD-3-Clause at: + * https://opensource.org/licenses/BSD-3-Clause + + * + ****************************************************************************** + */ + + +#ifndef VL53L5CX_BUFFERS_H_ +#define VL53L5CX_BUFFERS_H_ + +#include "lidar/vl53l5cx_platform.h" + +/** + * @brief Inner internal number of targets. + */ + +#if VL53L5CX_NB_TARGET_PER_ZONE == 1 +#define VL53L5CX_FW_NBTAR_RANGING 2 +#else +#define VL53L5CX_FW_NBTAR_RANGING VL53L5CX_NB_TARGET_PER_ZONE +#endif + +/** + * @brief This buffer contains the VL53L5CX firmware (MM1.5) + */ + +const uint8_t VL53L5CX_FIRMWARE[] = { + + 0xe0, 0x00, 0x03, 0x08, + 0xe0, 0x00, 0x0a, 0xc8, + 0xe0, 0x00, 0x05, 0x08, + 0xe0, 0x60, 0x37, 0xc8, + 0xe0, 0x00, 0x0a, 0x88, + 0xe0, 0x00, 0x0a, 0x88, + 0xe0, 0x00, 0x0a, 0x88, + 0xe0, 0x00, 0x0a, 0x88, + 0xe0, 0x64, 0x1c, 0x28, + 0xe0, 0x64, 0x1f, 0xe8, + 0xe0, 0x64, 0x23, 0x48, + 0xe0, 0x64, 0x29, 0x88, + 0xe0, 0x64, 0x32, 0x68, + 0xe0, 0x68, 0x05, 0x68, + 0xe0, 0x68, 0x09, 0x48, + 0xe0, 0x68, 0x0c, 0xc8, + 0xe0, 0x68, 0x13, 0x28, + 0xe0, 0x68, 0x16, 0x48, + 0xe0, 0x00, 0x09, 0xe8, + 0xe0, 0x00, 0x09, 0xc8, + 0xe0, 0x00, 0x09, 0xa8, + 0xe0, 0x00, 0x09, 0x88, + 0xe0, 0x00, 0x09, 0x68, + 0xe0, 0x00, 0x09, 0x48, + 0xf8, 0x02, 0x00, 0x06, + 0xc1, 0xc3, 0x81, 0x01, + 0x1e, 0x06, 0xa1, 0x0b, + 0x1a, 0x06, 0x81, 0x00, + 0x99, 0x23, 0xe1, 0x00, + 0x97, 0xb3, 0x97, 0xe3, + 0x06, 0x2c, 0x97, 0x73, + 0x06, 0x34, 0xe2, 0xc0, + 0x06, 0x2c, 0xfc, 0x80, + 0xc1, 0x83, 0xe3, 0x40, + 0xe2, 0xc0, 0x06, 0x1c, + 0xfc, 0x98, 0x06, 0x34, + 0xfc, 0x9c, 0x06, 0x34, + 0xe3, 0x40, 0x06, 0x1c, + 0x69, 0x38, 0xc1, 0x83, + 0xc1, 0x43, 0xe8, 0x00, + 0xc1, 0xc3, 0x81, 0x05, + 0xe1, 0x00, 0x00, 0x0c, + 0xfa, 0x04, 0x5e, 0x65, + 0xec, 0x10, 0x0c, 0xf0, + 0xf4, 0x1c, 0x5e, 0x60, + 0xbc, 0x6e, 0x88, 0x61, + 0xff, 0x84, 0x07, 0xfc, + 0x9a, 0x14, 0xd8, 0x04, + 0xe4, 0x30, 0x04, 0x60, + 0xfc, 0x12, 0x4c, 0x06, + 0xe0, 0xd0, 0x4c, 0x4a, + 0xc1, 0xc3, 0x82, 0x15, + 0xc1, 0xc3, 0xc1, 0xc3, + 0xf8, 0x04, 0x17, 0x0c, + 0x81, 0x93, 0x81, 0x83, + 0xe2, 0xc0, 0x0c, 0x2c, + 0x1c, 0x8c, 0xd1, 0x67, + 0xe3, 0x6b, 0xe4, 0x04, + 0xe5, 0x6b, 0x8e, 0x05, + 0x80, 0x60, 0x33, 0x08, + 0x34, 0x58, 0xe7, 0x6b, + 0xe9, 0x6b, 0x80, 0x60, + 0xeb, 0x6b, 0x8a, 0xc5, + 0x80, 0x60, 0x35, 0x88, + 0x39, 0xd8, 0xed, 0x6b, + 0xf1, 0x6b, 0x80, 0x60, + 0x80, 0x60, 0x36, 0xa8, + 0x37, 0xf8, 0xf3, 0x6b, + 0xf5, 0x6b, 0x80, 0x60, + 0xf7, 0x6b, 0x8a, 0xc5, + 0xf9, 0x6b, 0x8c, 0x05, + 0xfb, 0x6b, 0x8c, 0x45, + 0x0c, 0x0a, 0x8a, 0x45, + 0x8a, 0x65, 0xe4, 0xb4, + 0xe4, 0xb8, 0x0c, 0x0a, + 0x39, 0xf8, 0x84, 0x45, + 0x40, 0x06, 0xe0, 0x60, + 0x40, 0x4a, 0xfc, 0x12, + 0x80, 0xd5, 0xe0, 0xd0, + 0xc1, 0xc3, 0xc1, 0xc3, + 0x1f, 0x0c, 0xc1, 0xc3, + 0x0f, 0xfc, 0xf0, 0x04, + 0xbc, 0xf4, 0xf7, 0x84, + 0xc1, 0x53, 0xfd, 0x64, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xe0, 0x80, 0x00, 0x0c, + 0xc1, 0xc3, 0xc1, 0x43, + 0xc1, 0xc3, 0xc1, 0x53, + 0xfa, 0xfc, 0x04, 0x0c, + 0x60, 0x00, 0x06, 0xda, + 0x0a, 0x20, 0xa1, 0x0b, + 0x18, 0x30, 0x64, 0x00, + 0x0e, 0x24, 0xe4, 0x00, + 0x02, 0x0a, 0x37, 0x80, + 0x0c, 0x06, 0x80, 0x00, + 0x08, 0x34, 0x20, 0x00, + 0x0a, 0x70, 0xb7, 0x80, + 0x58, 0x42, 0xa4, 0x04, + 0x81, 0x61, 0x32, 0x98, + 0x21, 0x2b, 0xaa, 0x45, + 0x06, 0x0a, 0x8c, 0xbb, + 0x0c, 0x10, 0x00, 0x00, + 0x04, 0x00, 0xe4, 0x00, + 0x18, 0x1a, 0x64, 0x00, + 0xa8, 0x25, 0xe0, 0x00, + 0x08, 0x04, 0xa1, 0x1d, + 0x0e, 0x14, 0x57, 0x80, + 0x10, 0x06, 0xd7, 0x80, + 0x04, 0x40, 0x40, 0x00, + 0x08, 0x54, 0xc4, 0x04, + 0x4c, 0x72, 0x76, 0x80, + 0x10, 0xc4, 0xd2, 0xa0, + 0x14, 0x40, 0x76, 0x80, + 0x0e, 0x64, 0xa4, 0x80, + 0x12, 0x24, 0xf6, 0x80, + 0xa1, 0x6b, 0x76, 0x80, + 0x3c, 0x01, 0x54, 0x80, + 0x8c, 0x8b, 0x40, 0x00, + 0x04, 0x80, 0x08, 0x90, + 0xdc, 0x00, 0x48, 0x70, + 0x84, 0x9b, 0x28, 0xa3, + 0xec, 0x04, 0x0e, 0xa0, + 0x9e, 0xe5, 0xa0, 0x7d, + 0x96, 0x4b, 0x21, 0x7b, + 0x0e, 0x8a, 0x86, 0x45, + 0x0e, 0x9a, 0xe5, 0x00, + 0x00, 0x06, 0x44, 0x80, + 0x16, 0xa0, 0x80, 0x00, + 0x08, 0x54, 0x2c, 0x84, + 0xc0, 0x00, 0x28, 0x9c, + 0x20, 0x01, 0x0e, 0x4a, + 0x00, 0x54, 0x40, 0x00, + 0x00, 0xc4, 0xa8, 0xac, + 0xc0, 0x00, 0x28, 0x9d, + 0x0f, 0x9c, 0x14, 0x54, + 0x40, 0x02, 0x88, 0x5b, + 0x80, 0xcb, 0x99, 0xa8, + 0x61, 0x84, 0x00, 0x84, + 0xe1, 0x84, 0x08, 0x94, + 0x12, 0x84, 0x01, 0xcb, + 0x32, 0x4f, 0xe0, 0xfc, + 0xe4, 0x04, 0x1c, 0x70, + 0x4b, 0x0a, 0x01, 0xa1, + 0x58, 0xda, 0x84, 0x10, + 0x94, 0xbb, 0x64, 0x00, + 0x6d, 0x84, 0x40, 0x1a, + 0x1c, 0x70, 0xc6, 0x1f, + 0x00, 0xc4, 0x24, 0x08, + 0x0e, 0x54, 0xa0, 0x84, + 0x08, 0x54, 0x21, 0xfc, + 0x40, 0x02, 0xa0, 0x84, + 0xa1, 0xeb, 0x39, 0x9c, + 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0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + +}; + +/** + * @brief This buffer contains the VL53L5CX default configuration. + */ + +const uint8_t VL53L5CX_DEFAULT_CONFIGURATION[] = { + 0x54, 0x50, 0x00, 0x80, + 0x00, 0x04, 0x04, 0x04, + 0x00, 0x00, 0x08, 0x08, + 0xAD, 0x30, 0x00, 0x80, + 0x02, 0x01, 0x03, 0x03, + 0x00, 0x00, 0x03, 0x00, + 0xAD, 0x38, 0x01, 0x00, + 0x01, 0xE0, 0x01, 0x40, + 0x00, 0x40, 0x00, 0x40, + 0x01, 0x00, 0x04, 0x00, + 0x00, 0x00, 0x00, 0x01, + 0x54, 0x58, 0x00, 0x40, + 0x04, 0x1A, 0x01, 0x00, + 0x54, 0x5C, 0x01, 0x40, + 0x00, 0x00, 0x27, 0x10, + 0x00, 0x00, 0x0F, 0xA0, + 0x0F, 0xA0, 0x03, 0xE8, + 0x02, 0x80, 0x1F, 0x40, + 0x00, 0x00, 0x05, 0x00, + 0x54, 0x70, 0x00, 0x80, + 0x03, 0x20, 0x03, 0x20, + 0x00, 0x00, 0x00, 0x08, + 0x54, 0x78, 0x01, 0x00, + 0x01, 0x13, 0x00, 0x29, + 0x00, 0x33, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x01, + 0x04, 0x01, 0x08, VL53L5CX_FW_NBTAR_RANGING, + 0x54, 0x88, 0x01, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x0C, 0x00, + 0xAD, 0x48, 0x01, 0x00, + 0x01, 0xF4, 0x00, 0x00, + 0x03, 0x06, 0x00, 0x10, + 0x08, 0x07, 0x08, 0x07, + 0x00, 0x00, 0x00, 0x08, + 0xAD, 0x60, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x80, + 0x00, 0x00, 0x00, 0x00, + 0x20, 0x1F, 0x01, 0xF4, + 0x00, 0x00, 0x1D, 0x0A, + 0xAD, 0x70, 0x00, 0x80, + 0x08, 0x00, 0x1F, 0x40, + 0x00, 0x00, 0x00, 0x01, + 0xAD, 0x78, 0x00, 0x80, + 0x00, 0xA0, 0x03, 0x20, + 0x00, 0x01, 0x01, 0x90, + 0xAD, 0x80, 0x00, 0x40, + 0x00, 0x00, 0x28, 0x00, + 0xAD, 0x84, 0x00, 0x80, + 0x00, 0x00, 0x32, 0x00, + 0x03, 0x20, 0x00, 0x00, + 0xAD, 0x8C, 0x00, 0x80, + 0x02, 0x58, 0xFF, 0x38, + 0x00, 0x00, 0x00, 0x0C, + 0xAD, 0x94, 0x01, 0x00, + 0x00, 0x01, 0x90, 0x00, + 0xFF, 0xFF, 0xFC, 0x00, + 0x00, 0x00, 0x04, 0x00, + 0x00, 0x00, 0x01, 0x01, + 0xAD, 0xA4, 0x00, 0xC0, + 0x04, 0x80, 0x06, 0x1A, + 0x00, 0x40, 0x05, 0x80, + 0x00, 0x00, 0x01, 0x06, + 0xAD, 0xB0, 0x00, 0xC0, + 0x04, 0x80, 0x06, 0x1A, + 0x19, 0x00, 0x05, 0x80, + 0x00, 0x00, 0x01, 0x90, + 0xAD, 0xBC, 0x04, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x12, 0x00, 0x25, + 0x00, 0x00, 0x00, 0x06, + 0x00, 0x00, 0x00, 0x05, + 0x00, 0x00, 0x00, 0x05, + 0x00, 0x00, 0x00, 0x06, + 0x00, 0x00, 0x00, 0x04, + 0x00, 0x00, 0x00, 0x0F, + 0x00, 0x00, 0x00, 0x5A, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x09, + 0x0B, 0x0C, 0x0B, 0x0B, + 0x03, 0x03, 0x11, 0x05, + 0x01, 0x01, 0x01, 0x01, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x0D, 0x00, 0x00, + 0xAE, 0x00, 0x01, 0x04, + 0x00, 0x00, 0x00, 0x04, + 0x00, 0x00, 0x00, 0x08, + 0x00, 0x00, 0x00, 0x0A, + 0x00, 0x00, 0x00, 0x0C, + 0x00, 0x00, 0x00, 0x0D, + 0x00, 0x00, 0x00, 0x0E, + 0x00, 0x00, 0x00, 0x08, + 0x00, 0x00, 0x00, 0x08, + 0x00, 0x00, 0x00, 0x10, + 0x00, 0x00, 0x00, 0x10, + 0x00, 0x00, 0x00, 0x20, + 0x00, 0x00, 0x00, 0x20, + 0x00, 0x00, 0x00, 0x06, + 0x00, 0x00, 0x05, 0x0A, + 0x02, 0x00, 0x0C, 0x08, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0x40, 0x00, 0x40, + 0x00, 0x00, 0x01, 0xFF, + 0xAE, 0x44, 0x00, 0x40, + 0x00, 0x10, 0x04, 0x01, + 0xAE, 0x48, 0x00, 0x40, + 0x00, 0x00, 0x10, 0x00, + 0xAE, 0x4C, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x01, + 0xAE, 0x50, 0x01, 0x40, + 0x00, 0x00, 0x00, 0x14, + 0x04, 0x00, 0x28, 0x00, + 0x03, 0x20, 0x6C, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x25, 0x80, + 0xAE, 0x64, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x02, + 0xAE, 0xD8, 0x01, 0x00, + 0x00, 0xC8, 0x05, 0xDC, + 0x00, 0x00, 0x0C, 0xCD, + 0x01, 0x04, 0x00, 0x00, + 0x00, 0x00, 0x26, 0x01, + 0xB5, 0x50, 0x02, 0x82, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB5, 0xA0, 0x02, 0x82, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB5, 0xF0, 0x00, 0x40, + 0x00, 0xFF, 0x00, 0x00, + 0xB3, 0x9C, 0x01, 0x00, + 0x40, 0x00, 0x05, 0x1E, + 0x02, 0x1B, 0x08, 0x7C, + 0x80, 0x01, 0x12, 0x01, + 0x00, 0x00, 0x08, 0x00, + 0xB6, 0xC0, 0x00, 0xC0, + 0x00, 0x00, 0x60, 0x00, + 0x00, 0x00, 0x20, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0xA8, 0x00, 0x40, + 0x00, 0x00, 0x04, 0x05, + 0xAE, 0xAC, 0x00, 0x80, + 0x01, 0x00, 0x01, 0x00, + 0x00, 0x02, 0x00, 0x00, + 0xAE, 0xB4, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0xB8, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0xC0, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xAE, 0xC8, 0x00, 0x81, + 0x08, 0x01, 0x01, 0x08, + 0x00, 0x00, 0x00, 0x08, + 0xAE, 0xD0, 0x00, 0x81, + 0x01, 0x08, 0x08, 0x08, + 0x00, 0x00, 0x00, 0x01, + 0xB5, 0xF4, 0x00, 0x80, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB5, 0xFC, 0x00, 0x80, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x04, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x08, 0x00, 0x44, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x18, 0x00, 0x44, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x28, 0x00, 0x44, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x38, 0x00, 0x44, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x48, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x58, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xB6, 0x68, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x0F, + 0x00, 0x01, 0x03, 0xc8 +}; + +/** + * @brief This buffer contains the VL53L5CX default Xtalk data. + */ + +const uint8_t VL53L5CX_DEFAULT_XTALK[] = { + 0x9f, 0xd8, 0x00, 0xc0, + 0x03, 0x20, 0x09, 0x60, + 0x0b, 0x08, 0x08, 0x17, + 0x08, 0x08, 0x08, 0x03, + 0x9f, 0xe4, 0x01, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x01, 0xe0, 0x00, 0x20, + 0x00, 0x00, 0x00, 0x20, + 0x9f, 0xf8, 0x00, 0x40, + 0x17, 0x17, 0x17, 0x17, + 0x9f, 0xfc, 0x04, 0x04, + 0x00, 0x00, 0x46, 0xa4, + 0x00, 0x00, 0x37, 0x66, + 0x00, 0x00, 0x26, 0x60, + 0x00, 0x00, 0x1c, 0xbc, + 0x00, 0x00, 0x17, 0x73, + 0x00, 0x00, 0x11, 0x25, + 0x00, 0x00, 0x11, 0x07, + 0x00, 0x00, 0x0e, 0x63, + 0x00, 0x00, 0x8b, 0x4c, + 0x00, 0x00, 0x60, 0xa2, + 0x00, 0x00, 0x3d, 0xc0, + 0x00, 0x00, 0x26, 0xaa, + 0x00, 0x00, 0x1b, 0xc2, + 0x00, 0x00, 0x18, 0x04, + 0x00, 0x00, 0x14, 0x97, + 0x00, 0x00, 0x10, 0xed, + 0x00, 0x01, 0x28, 0x1b, + 0x00, 0x00, 0x93, 0xf0, + 0x00, 0x00, 0x57, 0x61, + 0x00, 0x00, 0x30, 0x2b, + 0x00, 0x00, 0x20, 0xaa, + 0x00, 0x00, 0x1a, 0xb6, + 0x00, 0x00, 0x15, 0xc3, + 0x00, 0x00, 0x16, 0x0e, + 0x00, 0x01, 0x7f, 0xbb, + 0x00, 0x00, 0xad, 0x58, + 0x00, 0x00, 0x71, 0xaf, + 0x00, 0x00, 0x36, 0xd9, + 0x00, 0x00, 0x22, 0xfb, + 0x00, 0x00, 0x1c, 0x96, + 0x00, 0x00, 0x18, 0x83, + 0x00, 0x00, 0x17, 0x96, + 0x00, 0x01, 0x90, 0x00, + 0x00, 0x00, 0x97, 0xd6, + 0x00, 0x00, 0x66, 0x3b, + 0x00, 0x00, 0x33, 0x0a, + 0x00, 0x00, 0x20, 0xcd, + 0x00, 0x00, 0x19, 0x38, + 0x00, 0x00, 0x16, 0xa5, + 0x00, 0x00, 0x14, 0xbb, + 0x00, 0x00, 0xaf, 0xcf, + 0x00, 0x00, 0x65, 0x7d, + 0x00, 0x00, 0x3d, 0x93, + 0x00, 0x00, 0x29, 0xd1, + 0x00, 0x00, 0x19, 0x4e, + 0x00, 0x00, 0x15, 0xba, + 0x00, 0x00, 0x11, 0xc6, + 0x00, 0x00, 0x12, 0x7f, + 0x00, 0x00, 0x73, 0x1d, + 0x00, 0x00, 0x42, 0x2c, + 0x00, 0x00, 0x2e, 0x82, + 0x00, 0x00, 0x1e, 0x80, + 0x00, 0x00, 0x18, 0x1c, + 0x00, 0x00, 0x13, 0x2d, + 0x00, 0x00, 0x0f, 0xc6, + 0x00, 0x00, 0x0f, 0x85, + 0x00, 0x00, 0x4f, 0x04, + 0x00, 0x00, 0x33, 0xe9, + 0x00, 0x00, 0x1f, 0x06, + 0x00, 0x00, 0x18, 0x40, + 0x00, 0x00, 0x13, 0x2c, + 0x00, 0x00, 0x12, 0x97, + 0x00, 0x00, 0x0e, 0x01, + 0x00, 0x00, 0x0d, 0xac, + 0xa0, 0xfc, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x03, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa1, 0x0c, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x80, + 0x00, 0x00, 0x00, 0x03, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa1, 0x1c, 0x00, 0xc0, + 0x00, 0x00, 0x70, 0xeb, + 0x0c, 0x80, 0x01, 0xe0, + 0x00, 0x00, 0x00, 0x26, + 0xa1, 0x28, 0x09, 0x02, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x01, 0x00, 0x00, + 0x00, 0x36, 0x00, 0x03, + 0x01, 0xd9, 0x01, 0x43, + 0x02, 0x33, 0x02, 0x17, + 0x02, 0x4b, 0x02, 0x41, + 0x01, 0x17, 0x02, 0x22, + 0x00, 0x27, 0x00, 0x5d, + 0x00, 0x05, 0x00, 0x11, + 0x00, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x48, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x4c, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x54, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x5c, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x64, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x6c, 0x00, 0x84, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x8c, 0x00, 0x82, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x0F, + 0x05, 0x01, 0x03, 0x04 +}; + +/** + * @brief This buffer is used to get NVM data. + */ + +const uint8_t VL53L5CX_GET_NVM_CMD[] = { + 0x54, 0x00, 0x00, 0x40, + 0x9E, 0x14, 0x00, 0xC0, + 0x9E, 0x20, 0x01, 0x40, + 0x9E, 0x34, 0x00, 0x40, + 0x9E, 0x38, 0x04, 0x04, + 0x9F, 0x38, 0x04, 0x02, + 0x9F, 0xB8, 0x01, 0x00, + 0x9F, 0xC8, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x0F, + 0x02, 0x02, 0x00, 0x24 +}; + +#endif /* VL53L5CX_BUFFERS_H_ */ +