From e720009794c9cb394d399b90960229d659661e75 Mon Sep 17 00:00:00 2001 From: spdis Date: Mon, 6 Jul 2026 17:11:15 +0800 Subject: [PATCH] =?UTF-8?q?fix:=20boost=E6=94=B9=E4=B8=BA=E5=9B=BA?= =?UTF-8?q?=E5=AE=9A26=20+=20=E5=88=A0=E9=99=A4=E6=AD=BB=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - motor_update: boost从乘法改为固定值26 - 删除废弃的font_bitmap.h中文渲染代码(已改用PNG) - 移除无源码的lcd_test编译目标 - 设备speed=20 --- lib/global.h | 214 +++---- lib/vl53l0x.h | 56 +- lib/vl53l0x_def.h | 1280 +++++++++++++++++++++--------------------- lib/vl53l0x_device.h | 514 ++++++++--------- main/CMakeLists.txt | 3 - main/main.cpp | 88 +-- src/camera.cpp | 73 +-- src/global.cpp | 132 ++--- src/vl53l0x.cpp | 348 ++++++------ 9 files changed, 1317 insertions(+), 1391 deletions(-) diff --git a/lib/global.h b/lib/global.h index 9320caa..1e643ee 100644 --- a/lib/global.h +++ b/lib/global.h @@ -1,107 +1,107 @@ -#ifndef GLOBAL_H -#define GLOBAL_H - -#include - -// ── 参数文件名 ── -const std::string kp_file = "./kp"; -const std::string ki_file = "./ki"; -const std::string kd_file = "./kd"; - -const std::string start_file = "./start"; -const std::string showImg_file = "./showImg"; -const std::string destfps_file = "./destfps"; -const std::string foresee_file = "./foresee"; -const std::string foresee_lost_scale_file = "./foresee_lost_scale"; -const std::string sharp_turn_scale_file = "./sharp_turn_scale"; -const std::string zebrasee_file = "./zebrasee"; -const std::string saveImg_file = "./saveImg"; -const std::string speed_file = "./speed"; -const std::string deadband_file = "./deadband"; -const std::string steer_gain_file = "./steer_gain"; -const std::string center_bias_file = "./center_bias"; -const std::string debug_file = "./debug"; - -const std::string cone_avoid_gain_file = "./cone_avoid_gain"; -const std::string cone_avoid_range_file = "./cone_avoid_range"; -const std::string cone_speed_file = "./cone_speed"; -const std::string cone_min_frames_file = "./cone_min_frames"; -const std::string cone_margin_file = "./cone_margin"; -const std::string cone_thresh_file = "./cone_thresh"; -const std::string cone_hold_frames_file = "./cone_hold_frames"; -const std::string cone_return_gain_file = "./cone_return_gain"; -const std::string cone_return_frames_file = "./cone_return_frames"; - -const std::string brake_scale_file = "./brake_scale"; -const std::string brake_max_file = "./brake_max"; - -const std::string curve_slope_file = "./curve_slope"; -const std::string curve_min_file = "./curve_min"; - -const std::string lidar_thresh_file = "./lidar_thresh"; -const std::string lidar_pre_file = "./lidar_pre"; -const std::string lidar_near_file = "./lidar_near"; -const std::string lidar_far_file = "./lidar_far"; -const std::string lidar_near_start_file = "./lidar_near_start"; -const std::string lidar_near_end_file = "./lidar_near_end"; -const std::string lidar_far_span_file = "./lidar_far_span"; -const std::string lidar_min_frames_file = "./lidar_min_frames"; -const std::string lidar_avoid_gain_file = "./lidar_avoid_gain"; -const std::string lidar_avoid_range_file = "./lidar_avoid_range"; -const std::string lidar_speed_file = "./lidar_speed"; -const std::string lidar_hold_frames_file = "./lidar_hold_frames"; -const std::string lidar_enable_file = "./lidar_enable"; - -double readDoubleFromFile(const std::string &filename); -bool readFlag(const std::string &filename); -void cfg_load_all(); - -// ── 启动时缓存的运行参数 ── -struct CfgCache { - double speed = 60; // 目标速度(占空比 %) - double foresee = 80; // 前瞻行 - double foresee_lost_scale = 0.7; // 丢线时前瞻缩放 (<1=看更远) - double sharp_turn_scale = 0.5; // 急弯时前瞻缩放 (<1=看更远) - double zebrasee = 60; // 斑马线触发距离阈值 - double deadband = 5; // 舵机死区 - double steer_gain = 1.0; // 舵机增益 - double center_bias = 0; // 中线偏移修正 - int start = 0; // 1=启动 0=停止 - int showImg = 0; // LCD 预览开关 - int debug = 0; // debug 模式 - - double cone_avoid_gain = 0.3; // 锥桶中线变形推离量 (归一化) - int cone_avoid_range = 30; // 变形斜坡陡峭度 - double cone_speed = 0.5; // 锥桶触发时速度倍率 - int cone_min_frames = 1; // 确认帧数 (1=单帧即确认, 视觉巡线响应快导致检测窗口极短) - int cone_margin = 0; // 0=中心点 1=框边缘 - double cone_thresh = 0.80; // 锥桶置信度阈值 - int cone_hold_frames = 15; // 锥桶消失后保持变形的帧数 - double cone_return_gain = 1.0; // 回弹力度 (倍乘, 1.0=等同于避让力度) - int cone_return_frames = 30; // 回弹持续帧数 - - double brake_scale = 10; // 速度(pps) → 刹车占空比(ns) 缩放系数 - int brake_max = 10000; // 最大刹车占空比 (ns) - - double curve_slope = 0.4; // 弯道减速斜率 (越大越猛) - double curve_min = 0.8; // 弯道最低速度倍率 - - int lidar_thresh = 300; // 激光障碍判定距离阈值 (mm), 必须<此值才触发 - int lidar_pre = 800; // 预触发去抖窗口, <此值开始攒帧 - int lidar_near = 50; // row=lt_h-1 对应的物理距离 (mm) - int lidar_far = 1200; // row=10 对应的物理距离 (mm) - int lidar_near_start = 1; // near_valid 检测起始偏移 - int lidar_near_end = 4; // near_valid 检测终止偏移 - int lidar_far_span = 6; // far_lost 检测跨度 - int lidar_min_frames = 3; // 连续确认帧数 - double lidar_avoid_gain = 0.4; // 绕行中线推离力度 (归一化) - int lidar_avoid_range = 30; // 绕行斜坡陡峭度 (行数) - double lidar_speed = 0.4; // 绕行时速度倍率 - int lidar_hold_frames = 30; // 消失后变形保持帧数 - int lidar_enable = 1; // 激光避障总开关 -}; -extern CfgCache g_cfg; - -extern double target_speed; - -#endif +#ifndef GLOBAL_H +#define GLOBAL_H + +#include + +// ── 参数文件名 ── +const std::string kp_file = "./kp"; +const std::string ki_file = "./ki"; +const std::string kd_file = "./kd"; + +const std::string start_file = "./start"; +const std::string showImg_file = "./showImg"; +const std::string destfps_file = "./destfps"; +const std::string foresee_file = "./foresee"; +const std::string foresee_lost_scale_file = "./foresee_lost_scale"; +const std::string sharp_turn_scale_file = "./sharp_turn_scale"; +const std::string zebrasee_file = "./zebrasee"; +const std::string saveImg_file = "./saveImg"; +const std::string speed_file = "./speed"; +const std::string deadband_file = "./deadband"; +const std::string steer_gain_file = "./steer_gain"; +const std::string center_bias_file = "./center_bias"; +const std::string debug_file = "./debug"; + +const std::string cone_avoid_gain_file = "./cone_avoid_gain"; +const std::string cone_avoid_range_file = "./cone_avoid_range"; +const std::string cone_speed_file = "./cone_speed"; +const std::string cone_min_frames_file = "./cone_min_frames"; +const std::string cone_margin_file = "./cone_margin"; +const std::string cone_thresh_file = "./cone_thresh"; +const std::string cone_hold_frames_file = "./cone_hold_frames"; +const std::string cone_return_gain_file = "./cone_return_gain"; +const std::string cone_return_frames_file = "./cone_return_frames"; + +const std::string brake_scale_file = "./brake_scale"; +const std::string brake_max_file = "./brake_max"; + +const std::string curve_slope_file = "./curve_slope"; +const std::string curve_min_file = "./curve_min"; + +const std::string lidar_thresh_file = "./lidar_thresh"; +const std::string lidar_pre_file = "./lidar_pre"; +const std::string lidar_near_file = "./lidar_near"; +const std::string lidar_far_file = "./lidar_far"; +const std::string lidar_near_start_file = "./lidar_near_start"; +const std::string lidar_near_end_file = "./lidar_near_end"; +const std::string lidar_far_span_file = "./lidar_far_span"; +const std::string lidar_min_frames_file = "./lidar_min_frames"; +const std::string lidar_avoid_gain_file = "./lidar_avoid_gain"; +const std::string lidar_avoid_range_file = "./lidar_avoid_range"; +const std::string lidar_speed_file = "./lidar_speed"; +const std::string lidar_hold_frames_file = "./lidar_hold_frames"; +const std::string lidar_enable_file = "./lidar_enable"; + +double readDoubleFromFile(const std::string &filename); +bool readFlag(const std::string &filename); +void cfg_load_all(); + +// ── 启动时缓存的运行参数 ── +struct CfgCache { + double speed = 60; // 目标速度(占空比 %) + double foresee = 80; // 前瞻行 + double foresee_lost_scale = 0.7; // 丢线时前瞻缩放 (<1=看更远) + double sharp_turn_scale = 0.5; // 急弯时前瞻缩放 (<1=看更远) + double zebrasee = 60; // 斑马线触发距离阈值 + double deadband = 5; // 舵机死区 + double steer_gain = 1.0; // 舵机增益 + double center_bias = 0; // 中线偏移修正 + int start = 0; // 1=启动 0=停止 + int showImg = 0; // LCD 预览开关 + int debug = 0; // debug 模式 + + double cone_avoid_gain = 0.3; // 锥桶中线变形推离量 (归一化) + int cone_avoid_range = 30; // 变形斜坡陡峭度 + double cone_speed = 0.5; // 锥桶触发时速度倍率 + int cone_min_frames = 1; // 确认帧数 (1=单帧即确认, 视觉巡线响应快导致检测窗口极短) + int cone_margin = 0; // 0=中心点 1=框边缘 + double cone_thresh = 0.80; // 锥桶置信度阈值 + int cone_hold_frames = 15; // 锥桶消失后保持变形的帧数 + double cone_return_gain = 1.0; // 回弹力度 (倍乘, 1.0=等同于避让力度) + int cone_return_frames = 30; // 回弹持续帧数 + + double brake_scale = 10; // 速度(pps) → 刹车占空比(ns) 缩放系数 + int brake_max = 10000; // 最大刹车占空比 (ns) + + double curve_slope = 0.4; // 弯道减速斜率 (越大越猛) + double curve_min = 0.8; // 弯道最低速度倍率 + + int lidar_thresh = 300; // 激光障碍判定距离阈值 (mm), 必须<此值才触发 + int lidar_pre = 800; // 预触发去抖窗口, <此值开始攒帧 + int lidar_near = 50; // row=lt_h-1 对应的物理距离 (mm) + int lidar_far = 1200; // row=10 对应的物理距离 (mm) + int lidar_near_start = 1; // near_valid 检测起始偏移 + int lidar_near_end = 4; // near_valid 检测终止偏移 + int lidar_far_span = 6; // far_lost 检测跨度 + int lidar_min_frames = 3; // 连续确认帧数 + double lidar_avoid_gain = 0.4; // 绕行中线推离力度 (归一化) + int lidar_avoid_range = 30; // 绕行斜坡陡峭度 (行数) + double lidar_speed = 0.4; // 绕行时速度倍率 + int lidar_hold_frames = 30; // 消失后变形保持帧数 + int lidar_enable = 1; // 激光避障总开关 +}; +extern CfgCache g_cfg; + +extern double target_speed; + +#endif diff --git a/lib/vl53l0x.h b/lib/vl53l0x.h index d423705..01a3473 100644 --- a/lib/vl53l0x.h +++ b/lib/vl53l0x.h @@ -1,28 +1,28 @@ -#ifndef VL53L0X_H -#define VL53L0X_H - -#include - -extern "C" { -#include "vl53l0x_platform.h" -} - -class VL53L0X -{ -public: - VL53L0X(); - ~VL53L0X(); - - bool init(); - bool startMeasure(); - bool readResult(VL53L0X_RangingMeasurementData_t &data); - bool readRange(VL53L0X_RangingMeasurementData_t &data); - bool stop(); - -private: - int fd; - bool initialized; - vl53l0x_dev_t dev; -}; - -#endif +#ifndef VL53L0X_H +#define VL53L0X_H + +#include + +extern "C" { +#include "vl53l0x_platform.h" +} + +class VL53L0X +{ +public: + VL53L0X(); + ~VL53L0X(); + + bool init(); + bool startMeasure(); + bool readResult(VL53L0X_RangingMeasurementData_t &data); + bool readRange(VL53L0X_RangingMeasurementData_t &data); + bool stop(); + +private: + int fd; + bool initialized; + vl53l0x_dev_t dev; +}; + +#endif diff --git a/lib/vl53l0x_def.h b/lib/vl53l0x_def.h index cc04929..57a29d3 100644 --- a/lib/vl53l0x_def.h +++ b/lib/vl53l0x_def.h @@ -1,640 +1,640 @@ -/******************************************************************************* -Copyright 2016, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*******************************************************************************/ - -/** - * @file VL53L0X_def.h - * - * @brief Type definitions for VL53L0X API. - * - */ - - -#ifndef _VL53L0X_DEF_H_ -#define _VL53L0X_DEF_H_ - - -#ifdef __cplusplus -extern "C" { -#endif - -/** @defgroup VL53L0X_globaldefine_group VL53L0X Defines - * @brief VL53L0X Defines - * @{ - */ - - -/** PAL SPECIFICATION major version */ -#define VL53L0X10_SPECIFICATION_VER_MAJOR 1 -/** PAL SPECIFICATION minor version */ -#define VL53L0X10_SPECIFICATION_VER_MINOR 2 -/** PAL SPECIFICATION sub version */ -#define VL53L0X10_SPECIFICATION_VER_SUB 7 -/** PAL SPECIFICATION sub version */ -#define VL53L0X10_SPECIFICATION_VER_REVISION 1440 - -/** VL53L0X PAL IMPLEMENTATION major version */ -#define VL53L0X10_IMPLEMENTATION_VER_MAJOR 1 -/** VL53L0X PAL IMPLEMENTATION minor version */ -#define VL53L0X10_IMPLEMENTATION_VER_MINOR 0 -/** VL53L0X PAL IMPLEMENTATION sub version */ -#define VL53L0X10_IMPLEMENTATION_VER_SUB 9 -/** VL53L0X PAL IMPLEMENTATION sub version */ -#define VL53L0X10_IMPLEMENTATION_VER_REVISION 3673 - -/** PAL SPECIFICATION major version */ -#define VL53L0X_SPECIFICATION_VER_MAJOR 1 -/** PAL SPECIFICATION minor version */ -#define VL53L0X_SPECIFICATION_VER_MINOR 2 -/** PAL SPECIFICATION sub version */ -#define VL53L0X_SPECIFICATION_VER_SUB 7 -/** PAL SPECIFICATION sub version */ -#define VL53L0X_SPECIFICATION_VER_REVISION 1440 - -/** VL53L0X PAL IMPLEMENTATION major version */ -#define VL53L0X_IMPLEMENTATION_VER_MAJOR 1 -/** VL53L0X PAL IMPLEMENTATION minor version */ -#define VL53L0X_IMPLEMENTATION_VER_MINOR 0 -/** VL53L0X PAL IMPLEMENTATION sub version */ -#define VL53L0X_IMPLEMENTATION_VER_SUB 1 -/** VL53L0X PAL IMPLEMENTATION sub version */ -#define VL53L0X_IMPLEMENTATION_VER_REVISION 4606 -#define VL53L0X_DEFAULT_MAX_LOOP 200 -#define VL53L0X_MAX_STRING_LENGTH 32 - - -#include "vl53l0x_device.h" -#include "vl53l0x_types.h" - - -/**************************************** - * PRIVATE define do not edit - ****************************************/ - -/** @brief Defines the parameters of the Get Version Functions - */ -typedef struct { - uint32_t revision; /*!< revision number */ - uint8_t major; /*!< major number */ - uint8_t minor; /*!< minor number */ - uint8_t build; /*!< build number */ -} VL53L0X_Version_t; - - -/** @brief Defines the parameters of the Get Device Info Functions - */ -typedef struct { - char Name[VL53L0X_MAX_STRING_LENGTH]; - /*!< Name of the Device e.g. Left_Distance */ - char Type[VL53L0X_MAX_STRING_LENGTH]; - /*!< Type of the Device e.g VL53L0X */ - char ProductId[VL53L0X_MAX_STRING_LENGTH]; - /*!< Product Identifier String */ - uint8_t ProductType; - /*!< Product Type, VL53L0X = 1, VL53L1 = 2 */ - uint8_t ProductRevisionMajor; - /*!< Product revision major */ - uint8_t ProductRevisionMinor; - /*!< Product revision minor */ -} VL53L0X_DeviceInfo_t; - - -/** @defgroup VL53L0X_define_Error_group Error and Warning code returned by API - * The following DEFINE are used to identify the PAL ERROR - * @{ - */ - -typedef int8_t VL53L0X_Error; - -#define VL53L0X_ERROR_NONE ((VL53L0X_Error) 0) -#define VL53L0X_ERROR_CALIBRATION_WARNING ((VL53L0X_Error) -1) - /*!< Warning invalid calibration data may be in used - \a VL53L0X_InitData() - \a VL53L0X_GetOffsetCalibrationData - \a VL53L0X_SetOffsetCalibrationData */ -#define VL53L0X_ERROR_MIN_CLIPPED ((VL53L0X_Error) -2) - /*!< Warning parameter passed was clipped to min before to be applied */ - -#define VL53L0X_ERROR_UNDEFINED ((VL53L0X_Error) -3) - /*!< Unqualified error */ -#define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error) -4) - /*!< Parameter passed is invalid or out of range */ -#define VL53L0X_ERROR_NOT_SUPPORTED ((VL53L0X_Error) -5) - /*!< Function is not supported in current mode or configuration */ -#define VL53L0X_ERROR_RANGE_ERROR ((VL53L0X_Error) -6) - /*!< Device report a ranging error interrupt status */ -#define VL53L0X_ERROR_TIME_OUT ((VL53L0X_Error) -7) - /*!< Aborted due to time out */ -#define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error) -8) - /*!< Asked mode is not supported by the device */ -#define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error) -9) - /*!< ... */ -#define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error) -10) - /*!< User tried to setup a non-existing GPIO pin */ -#define VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L0X_Error) -11) - /*!< unsupported GPIO functionality */ -#define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error) -12) - /*!< Error during interrupt clear */ -#define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error) -20) - /*!< error reported from IO functions */ -#define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error) -30) - /*!< The command is not allowed in the current device state - * (power down) */ -#define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error) -40) - /*!< In the function a division by zero occurs */ -#define VL53L0X_ERROR_REF_SPAD_INIT ((VL53L0X_Error) -50) - /*!< Error during reference SPAD initialization */ -#define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error) -99) - /*!< Tells requested functionality has not been implemented yet or - * not compatible with the device */ -/** @} VL53L0X_define_Error_group */ - - -/** @defgroup VL53L0X_define_DeviceModes_group Defines Device modes - * Defines all possible modes for the device - * @{ - */ -typedef uint8_t VL53L0X_DeviceModes; - -#define VL53L0X_DEVICEMODE_SINGLE_RANGING ((VL53L0X_DeviceModes) 0) -#define VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ((VL53L0X_DeviceModes) 1) -#define VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0X_DeviceModes) 2) -#define VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0X_DeviceModes) 3) -#define VL53L0X_DEVICEMODE_SINGLE_ALS ((VL53L0X_DeviceModes) 10) -#define VL53L0X_DEVICEMODE_GPIO_DRIVE ((VL53L0X_DeviceModes) 20) -#define VL53L0X_DEVICEMODE_GPIO_OSC ((VL53L0X_DeviceModes) 21) - /* ... Modes to be added depending on device */ -/** @} VL53L0X_define_DeviceModes_group */ - - - -/** @defgroup VL53L0X_define_HistogramModes_group Defines Histogram modes - * Defines all possible Histogram modes for the device - * @{ - */ -typedef uint8_t VL53L0X_HistogramModes; - -#define VL53L0X_HISTOGRAMMODE_DISABLED ((VL53L0X_HistogramModes) 0) - /*!< Histogram Disabled */ -#define VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY ((VL53L0X_HistogramModes) 1) - /*!< Histogram Reference array only */ -#define VL53L0X_HISTOGRAMMODE_RETURN_ONLY ((VL53L0X_HistogramModes) 2) - /*!< Histogram Return array only */ -#define VL53L0X_HISTOGRAMMODE_BOTH ((VL53L0X_HistogramModes) 3) - /*!< Histogram both Reference and Return Arrays */ - /* ... Modes to be added depending on device */ -/** @} VL53L0X_define_HistogramModes_group */ - - -/** @defgroup VL53L0X_define_PowerModes_group List of available Power Modes - * List of available Power Modes - * @{ - */ - -typedef uint8_t VL53L0X_PowerModes; - -#define VL53L0X_POWERMODE_STANDBY_LEVEL1 ((VL53L0X_PowerModes) 0) - /*!< Standby level 1 */ -#define VL53L0X_POWERMODE_STANDBY_LEVEL2 ((VL53L0X_PowerModes) 1) - /*!< Standby level 2 */ -#define VL53L0X_POWERMODE_IDLE_LEVEL1 ((VL53L0X_PowerModes) 2) - /*!< Idle level 1 */ -#define VL53L0X_POWERMODE_IDLE_LEVEL2 ((VL53L0X_PowerModes) 3) - /*!< Idle level 2 */ - -/** @} VL53L0X_define_PowerModes_group */ - - -/** @brief Defines all parameters for the device - */ -typedef struct { - VL53L0X_DeviceModes DeviceMode; - /*!< Defines type of measurement to be done for the next measure */ - VL53L0X_HistogramModes HistogramMode; - /*!< Defines type of histogram measurement to be done for the next - * measure */ - uint32_t MeasurementTimingBudgetMicroSeconds; - /*!< Defines the allowed total time for a single measurement */ - uint32_t InterMeasurementPeriodMilliSeconds; - /*!< Defines time between two consecutive measurements (between two - * measurement starts). If set to 0 means back-to-back mode */ - uint8_t XTalkCompensationEnable; - /*!< Tells if Crosstalk compensation shall be enable or not */ - uint16_t XTalkCompensationRangeMilliMeter; - /*!< CrossTalk compensation range in millimeter */ - FixPoint1616_t XTalkCompensationRateMegaCps; - /*!< CrossTalk compensation rate in Mega counts per seconds. - * Expressed in 16.16 fixed point format. */ - int32_t RangeOffsetMicroMeters; - /*!< Range offset adjustment (mm). */ - - uint8_t LimitChecksEnable[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; - /*!< This Array store all the Limit Check enable for this device. */ - uint8_t LimitChecksStatus[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; - /*!< This Array store all the Status of the check linked to last - * measurement. */ - FixPoint1616_t LimitChecksValue[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; - /*!< This Array store all the Limit Check value for this device */ - - uint8_t WrapAroundCheckEnable; - /*!< Tells if Wrap Around Check shall be enable or not */ -} VL53L0X_DeviceParameters_t; - - -/** @defgroup VL53L0X_define_State_group Defines the current status of the device - * Defines the current status of the device - * @{ - */ - -typedef uint8_t VL53L0X_State; - -#define VL53L0X_STATE_POWERDOWN ((VL53L0X_State) 0) - /*!< Device is in HW reset */ -#define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State) 1) - /*!< Device is initialized and wait for static initialization */ -#define VL53L0X_STATE_STANDBY ((VL53L0X_State) 2) - /*!< Device is in Low power Standby mode */ -#define VL53L0X_STATE_IDLE ((VL53L0X_State) 3) - /*!< Device has been initialized and ready to do measurements */ -#define VL53L0X_STATE_RUNNING ((VL53L0X_State) 4) - /*!< Device is performing measurement */ -#define VL53L0X_STATE_UNKNOWN ((VL53L0X_State) 98) - /*!< Device is in unknown state and need to be rebooted */ -#define VL53L0X_STATE_ERROR ((VL53L0X_State) 99) - /*!< Device is in error state and need to be rebooted */ - -/** @} VL53L0X_define_State_group */ - - -/** @brief Structure containing the Dmax computation parameters and data - */ -typedef struct { - int32_t AmbTuningWindowFactor_K; - /*!< internal algo tuning (*1000) */ - int32_t RetSignalAt0mm; - /*!< intermediate dmax computation value caching */ -} VL53L0X_DMaxData_t; - -/** - * @struct VL53L0X_RangeData_t - * @brief Range measurement data. - */ -typedef struct { - uint32_t TimeStamp; /*!< 32-bit time stamp. */ - uint32_t MeasurementTimeUsec; - /*!< Give the Measurement time needed by the device to do the - * measurement.*/ - - - uint16_t RangeMilliMeter; /*!< range distance in millimeter. */ - - uint16_t RangeDMaxMilliMeter; - /*!< Tells what is the maximum detection distance of the device - * in current setup and environment conditions (Filled when - * applicable) */ - - FixPoint1616_t SignalRateRtnMegaCps; - /*!< Return signal rate (MCPS)\n these is a 16.16 fix point - * value, which is effectively a measure of target - * reflectance.*/ - FixPoint1616_t AmbientRateRtnMegaCps; - /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point - * value, which is effectively a measure of the ambien - * t light.*/ - - uint16_t EffectiveSpadRtnCount; - /*!< Return the effective SPAD count for the return signal. - * To obtain Real value it should be divided by 256 */ - - uint8_t ZoneId; - /*!< Denotes which zone and range scheduler stage the range - * data relates to. */ - uint8_t RangeFractionalPart; - /*!< Fractional part of range distance. Final value is a - * FixPoint168 value. */ - uint8_t RangeStatus; - /*!< Range Status for the current measurement. This is device - * dependent. Value = 0 means value is valid. - * See \ref RangeStatusPage */ -} VL53L0X_RangingMeasurementData_t; - - -#define VL53L0X_HISTOGRAM_BUFFER_SIZE 24 - -/** - * @struct VL53L0X_HistogramData_t - * @brief Histogram measurement data. - */ -typedef struct { - /* Histogram Measurement data */ - uint32_t HistogramData[VL53L0X_HISTOGRAM_BUFFER_SIZE]; - /*!< Histogram data */ - uint8_t HistogramType; /*!< Indicate the types of histogram data : - Return only, Reference only, both Return and Reference */ - uint8_t FirstBin; /*!< First Bin value */ - uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/ - uint8_t NumberOfBins; - /*!< Number of bins filled by the histogram measurement */ - - VL53L0X_DeviceError ErrorStatus; - /*!< Error status of the current measurement. \n - see @a ::VL53L0X_DeviceError @a VL53L0X_GetStatusErrorString() */ -} VL53L0X_HistogramMeasurementData_t; - -#define VL53L0X_REF_SPAD_BUFFER_SIZE 6 - -/** - * @struct VL53L0X_SpadData_t - * @brief Spad Configuration Data. - */ -typedef struct { - uint8_t RefSpadEnables[VL53L0X_REF_SPAD_BUFFER_SIZE]; - /*!< Reference Spad Enables */ - uint8_t RefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE]; - /*!< Reference Spad Good Spad Map */ -} VL53L0X_SpadData_t; - -typedef struct { - FixPoint1616_t OscFrequencyMHz; /* Frequency used */ - - uint16_t LastEncodedTimeout; - /* last encoded Time out used for timing budget*/ - - VL53L0X_GpioFunctionality Pin0GpioFunctionality; - /* store the functionality of the GPIO: pin0 */ - - uint32_t FinalRangeTimeoutMicroSecs; - /*!< Execution time of the final range*/ - uint8_t FinalRangeVcselPulsePeriod; - /*!< Vcsel pulse period (pll clocks) for the final range measurement*/ - uint32_t PreRangeTimeoutMicroSecs; - /*!< Execution time of the final range*/ - uint8_t PreRangeVcselPulsePeriod; - /*!< Vcsel pulse period (pll clocks) for the pre-range measurement*/ - - uint16_t SigmaEstRefArray; - /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */ - uint16_t SigmaEstEffPulseWidth; - /*!< Effective Pulse width for sigma estimate in 1/100th - * of ns e.g. 900 = 9.0ns */ - uint16_t SigmaEstEffAmbWidth; - /*!< Effective Ambient width for sigma estimate in 1/100th of ns - * e.g. 500 = 5.0ns */ - - - uint8_t ReadDataFromDeviceDone; /* Indicate if read from device has - been done (==1) or not (==0) */ - uint8_t ModuleId; /* Module ID */ - uint8_t Revision; /* test Revision */ - char ProductId[VL53L0X_MAX_STRING_LENGTH]; - /* Product Identifier String */ - uint8_t ReferenceSpadCount; /* used for ref spad management */ - uint8_t ReferenceSpadType; /* used for ref spad management */ - uint8_t RefSpadsInitialised; /* reports if ref spads are initialised. */ - uint32_t PartUIDUpper; /*!< Unique Part ID Upper */ - uint32_t PartUIDLower; /*!< Unique Part ID Lower */ - FixPoint1616_t SignalRateMeasFixed400mm; /*!< Peek Signal rate - at 400 mm*/ - -} VL53L0X_DeviceSpecificParameters_t; - -/** - * @struct VL53L0X_DevData_t - * - * @brief VL53L0X PAL device ST private data structure \n - * End user should never access any of these field directly - * - * These must never access directly but only via macro - */ -typedef struct { - VL53L0X_DMaxData_t DMaxData; - /*!< Dmax Data */ - int32_t Part2PartOffsetNVMMicroMeter; - /*!< backed up NVM value */ - int32_t Part2PartOffsetAdjustmentNVMMicroMeter; - /*!< backed up NVM value representing additional offset adjustment */ - VL53L0X_DeviceParameters_t CurrentParameters; - /*!< Current Device Parameter */ - VL53L0X_RangingMeasurementData_t LastRangeMeasure; - /*!< Ranging Data */ - VL53L0X_HistogramMeasurementData_t LastHistogramMeasure; - /*!< Histogram Data */ - VL53L0X_DeviceSpecificParameters_t DeviceSpecificParameters; - /*!< Parameters specific to the device */ - VL53L0X_SpadData_t SpadData; - /*!< Spad Data */ - uint8_t SequenceConfig; - /*!< Internal value for the sequence config */ - uint8_t RangeFractionalEnable; - /*!< Enable/Disable fractional part of ranging data */ - VL53L0X_State PalState; - /*!< Current state of the PAL for this device */ - VL53L0X_PowerModes PowerMode; - /*!< Current Power Mode */ - uint16_t SigmaEstRefArray; - /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */ - uint16_t SigmaEstEffPulseWidth; - /*!< Effective Pulse width for sigma estimate in 1/100th - * of ns e.g. 900 = 9.0ns */ - uint16_t SigmaEstEffAmbWidth; - /*!< Effective Ambient width for sigma estimate in 1/100th of ns - * e.g. 500 = 5.0ns */ - uint8_t StopVariable; - /*!< StopVariable used during the stop sequence */ - uint16_t targetRefRate; - /*!< Target Ambient Rate for Ref spad management */ - FixPoint1616_t SigmaEstimate; - /*!< Sigma Estimate - based on ambient & VCSEL rates and - * signal_total_events */ - FixPoint1616_t SignalEstimate; - /*!< Signal Estimate - based on ambient & VCSEL rates and cross talk */ - FixPoint1616_t LastSignalRefMcps; - /*!< Latest Signal ref in Mcps */ - uint8_t *pTuningSettingsPointer; - /*!< Pointer for Tuning Settings table */ - uint8_t UseInternalTuningSettings; - /*!< Indicate if we use Tuning Settings table */ - uint16_t LinearityCorrectiveGain; - /*!< Linearity Corrective Gain value in x1000 */ - uint16_t DmaxCalRangeMilliMeter; - /*!< Dmax Calibration Range millimeter */ - FixPoint1616_t DmaxCalSignalRateRtnMegaCps; - /*!< Dmax Calibration Signal Rate Return MegaCps */ - -} VL53L0X_DevData_t; - - -/** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity - * of the Interrupt - * Defines the Polarity of the Interrupt - * @{ - */ -typedef uint8_t VL53L0X_InterruptPolarity; - -#define VL53L0X_INTERRUPTPOLARITY_LOW ((VL53L0X_InterruptPolarity) 0) -/*!< Set active low polarity best setup for falling edge. */ -#define VL53L0X_INTERRUPTPOLARITY_HIGH ((VL53L0X_InterruptPolarity) 1) -/*!< Set active high polarity best setup for rising edge. */ - -/** @} VL53L0X_define_InterruptPolarity_group */ - - -/** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines - * Defines the range measurement for which to access the vcsel period. - * @{ - */ -typedef uint8_t VL53L0X_VcselPeriod; - -#define VL53L0X_VCSEL_PERIOD_PRE_RANGE ((VL53L0X_VcselPeriod) 0) -/*!>9)&0xFFFF) -#define VL53L0X_FIXPOINT97TOFIXPOINT1616(Value) \ - (FixPoint1616_t)(Value<<9) - -#define VL53L0X_FIXPOINT1616TOFIXPOINT88(Value) \ - (uint16_t)((Value>>8)&0xFFFF) -#define VL53L0X_FIXPOINT88TOFIXPOINT1616(Value) \ - (FixPoint1616_t)(Value<<8) - -#define VL53L0X_FIXPOINT1616TOFIXPOINT412(Value) \ - (uint16_t)((Value>>4)&0xFFFF) -#define VL53L0X_FIXPOINT412TOFIXPOINT1616(Value) \ - (FixPoint1616_t)(Value<<4) - -#define VL53L0X_FIXPOINT1616TOFIXPOINT313(Value) \ - (uint16_t)((Value>>3)&0xFFFF) -#define VL53L0X_FIXPOINT313TOFIXPOINT1616(Value) \ - (FixPoint1616_t)(Value<<3) - -#define VL53L0X_FIXPOINT1616TOFIXPOINT08(Value) \ - (uint8_t)((Value>>8)&0x00FF) -#define VL53L0X_FIXPOINT08TOFIXPOINT1616(Value) \ - (FixPoint1616_t)(Value<<8) - -#define VL53L0X_FIXPOINT1616TOFIXPOINT53(Value) \ - (uint8_t)((Value>>13)&0x00FF) -#define VL53L0X_FIXPOINT53TOFIXPOINT1616(Value) \ - (FixPoint1616_t)(Value<<13) - -#define VL53L0X_FIXPOINT1616TOFIXPOINT102(Value) \ - (uint16_t)((Value>>14)&0x0FFF) -#define VL53L0X_FIXPOINT102TOFIXPOINT1616(Value) \ - (FixPoint1616_t)(Value<<12) - -#define VL53L0X_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \ - (uint16_t)lsb) - -/** @} VL53L0X_define_GeneralMacro_group */ - -/** @} VL53L0X_globaldefine_group */ - - - - - - - -#ifdef __cplusplus -} -#endif - - -#endif /* _VL53L0X_DEF_H_ */ +/******************************************************************************* +Copyright 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +/** + * @file VL53L0X_def.h + * + * @brief Type definitions for VL53L0X API. + * + */ + + +#ifndef _VL53L0X_DEF_H_ +#define _VL53L0X_DEF_H_ + + +#ifdef __cplusplus +extern "C" { +#endif + +/** @defgroup VL53L0X_globaldefine_group VL53L0X Defines + * @brief VL53L0X Defines + * @{ + */ + + +/** PAL SPECIFICATION major version */ +#define VL53L0X10_SPECIFICATION_VER_MAJOR 1 +/** PAL SPECIFICATION minor version */ +#define VL53L0X10_SPECIFICATION_VER_MINOR 2 +/** PAL SPECIFICATION sub version */ +#define VL53L0X10_SPECIFICATION_VER_SUB 7 +/** PAL SPECIFICATION sub version */ +#define VL53L0X10_SPECIFICATION_VER_REVISION 1440 + +/** VL53L0X PAL IMPLEMENTATION major version */ +#define VL53L0X10_IMPLEMENTATION_VER_MAJOR 1 +/** VL53L0X PAL IMPLEMENTATION minor version */ +#define VL53L0X10_IMPLEMENTATION_VER_MINOR 0 +/** VL53L0X PAL IMPLEMENTATION sub version */ +#define VL53L0X10_IMPLEMENTATION_VER_SUB 9 +/** VL53L0X PAL IMPLEMENTATION sub version */ +#define VL53L0X10_IMPLEMENTATION_VER_REVISION 3673 + +/** PAL SPECIFICATION major version */ +#define VL53L0X_SPECIFICATION_VER_MAJOR 1 +/** PAL SPECIFICATION minor version */ +#define VL53L0X_SPECIFICATION_VER_MINOR 2 +/** PAL SPECIFICATION sub version */ +#define VL53L0X_SPECIFICATION_VER_SUB 7 +/** PAL SPECIFICATION sub version */ +#define VL53L0X_SPECIFICATION_VER_REVISION 1440 + +/** VL53L0X PAL IMPLEMENTATION major version */ +#define VL53L0X_IMPLEMENTATION_VER_MAJOR 1 +/** VL53L0X PAL IMPLEMENTATION minor version */ +#define VL53L0X_IMPLEMENTATION_VER_MINOR 0 +/** VL53L0X PAL IMPLEMENTATION sub version */ +#define VL53L0X_IMPLEMENTATION_VER_SUB 1 +/** VL53L0X PAL IMPLEMENTATION sub version */ +#define VL53L0X_IMPLEMENTATION_VER_REVISION 4606 +#define VL53L0X_DEFAULT_MAX_LOOP 200 +#define VL53L0X_MAX_STRING_LENGTH 32 + + +#include "vl53l0x_device.h" +#include "vl53l0x_types.h" + + +/**************************************** + * PRIVATE define do not edit + ****************************************/ + +/** @brief Defines the parameters of the Get Version Functions + */ +typedef struct { + uint32_t revision; /*!< revision number */ + uint8_t major; /*!< major number */ + uint8_t minor; /*!< minor number */ + uint8_t build; /*!< build number */ +} VL53L0X_Version_t; + + +/** @brief Defines the parameters of the Get Device Info Functions + */ +typedef struct { + char Name[VL53L0X_MAX_STRING_LENGTH]; + /*!< Name of the Device e.g. Left_Distance */ + char Type[VL53L0X_MAX_STRING_LENGTH]; + /*!< Type of the Device e.g VL53L0X */ + char ProductId[VL53L0X_MAX_STRING_LENGTH]; + /*!< Product Identifier String */ + uint8_t ProductType; + /*!< Product Type, VL53L0X = 1, VL53L1 = 2 */ + uint8_t ProductRevisionMajor; + /*!< Product revision major */ + uint8_t ProductRevisionMinor; + /*!< Product revision minor */ +} VL53L0X_DeviceInfo_t; + + +/** @defgroup VL53L0X_define_Error_group Error and Warning code returned by API + * The following DEFINE are used to identify the PAL ERROR + * @{ + */ + +typedef int8_t VL53L0X_Error; + +#define VL53L0X_ERROR_NONE ((VL53L0X_Error) 0) +#define VL53L0X_ERROR_CALIBRATION_WARNING ((VL53L0X_Error) -1) + /*!< Warning invalid calibration data may be in used + \a VL53L0X_InitData() + \a VL53L0X_GetOffsetCalibrationData + \a VL53L0X_SetOffsetCalibrationData */ +#define VL53L0X_ERROR_MIN_CLIPPED ((VL53L0X_Error) -2) + /*!< Warning parameter passed was clipped to min before to be applied */ + +#define VL53L0X_ERROR_UNDEFINED ((VL53L0X_Error) -3) + /*!< Unqualified error */ +#define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error) -4) + /*!< Parameter passed is invalid or out of range */ +#define VL53L0X_ERROR_NOT_SUPPORTED ((VL53L0X_Error) -5) + /*!< Function is not supported in current mode or configuration */ +#define VL53L0X_ERROR_RANGE_ERROR ((VL53L0X_Error) -6) + /*!< Device report a ranging error interrupt status */ +#define VL53L0X_ERROR_TIME_OUT ((VL53L0X_Error) -7) + /*!< Aborted due to time out */ +#define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error) -8) + /*!< Asked mode is not supported by the device */ +#define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error) -9) + /*!< ... */ +#define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error) -10) + /*!< User tried to setup a non-existing GPIO pin */ +#define VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L0X_Error) -11) + /*!< unsupported GPIO functionality */ +#define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error) -12) + /*!< Error during interrupt clear */ +#define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error) -20) + /*!< error reported from IO functions */ +#define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error) -30) + /*!< The command is not allowed in the current device state + * (power down) */ +#define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error) -40) + /*!< In the function a division by zero occurs */ +#define VL53L0X_ERROR_REF_SPAD_INIT ((VL53L0X_Error) -50) + /*!< Error during reference SPAD initialization */ +#define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error) -99) + /*!< Tells requested functionality has not been implemented yet or + * not compatible with the device */ +/** @} VL53L0X_define_Error_group */ + + +/** @defgroup VL53L0X_define_DeviceModes_group Defines Device modes + * Defines all possible modes for the device + * @{ + */ +typedef uint8_t VL53L0X_DeviceModes; + +#define VL53L0X_DEVICEMODE_SINGLE_RANGING ((VL53L0X_DeviceModes) 0) +#define VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ((VL53L0X_DeviceModes) 1) +#define VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0X_DeviceModes) 2) +#define VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0X_DeviceModes) 3) +#define VL53L0X_DEVICEMODE_SINGLE_ALS ((VL53L0X_DeviceModes) 10) +#define VL53L0X_DEVICEMODE_GPIO_DRIVE ((VL53L0X_DeviceModes) 20) +#define VL53L0X_DEVICEMODE_GPIO_OSC ((VL53L0X_DeviceModes) 21) + /* ... Modes to be added depending on device */ +/** @} VL53L0X_define_DeviceModes_group */ + + + +/** @defgroup VL53L0X_define_HistogramModes_group Defines Histogram modes + * Defines all possible Histogram modes for the device + * @{ + */ +typedef uint8_t VL53L0X_HistogramModes; + +#define VL53L0X_HISTOGRAMMODE_DISABLED ((VL53L0X_HistogramModes) 0) + /*!< Histogram Disabled */ +#define VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY ((VL53L0X_HistogramModes) 1) + /*!< Histogram Reference array only */ +#define VL53L0X_HISTOGRAMMODE_RETURN_ONLY ((VL53L0X_HistogramModes) 2) + /*!< Histogram Return array only */ +#define VL53L0X_HISTOGRAMMODE_BOTH ((VL53L0X_HistogramModes) 3) + /*!< Histogram both Reference and Return Arrays */ + /* ... Modes to be added depending on device */ +/** @} VL53L0X_define_HistogramModes_group */ + + +/** @defgroup VL53L0X_define_PowerModes_group List of available Power Modes + * List of available Power Modes + * @{ + */ + +typedef uint8_t VL53L0X_PowerModes; + +#define VL53L0X_POWERMODE_STANDBY_LEVEL1 ((VL53L0X_PowerModes) 0) + /*!< Standby level 1 */ +#define VL53L0X_POWERMODE_STANDBY_LEVEL2 ((VL53L0X_PowerModes) 1) + /*!< Standby level 2 */ +#define VL53L0X_POWERMODE_IDLE_LEVEL1 ((VL53L0X_PowerModes) 2) + /*!< Idle level 1 */ +#define VL53L0X_POWERMODE_IDLE_LEVEL2 ((VL53L0X_PowerModes) 3) + /*!< Idle level 2 */ + +/** @} VL53L0X_define_PowerModes_group */ + + +/** @brief Defines all parameters for the device + */ +typedef struct { + VL53L0X_DeviceModes DeviceMode; + /*!< Defines type of measurement to be done for the next measure */ + VL53L0X_HistogramModes HistogramMode; + /*!< Defines type of histogram measurement to be done for the next + * measure */ + uint32_t MeasurementTimingBudgetMicroSeconds; + /*!< Defines the allowed total time for a single measurement */ + uint32_t InterMeasurementPeriodMilliSeconds; + /*!< Defines time between two consecutive measurements (between two + * measurement starts). If set to 0 means back-to-back mode */ + uint8_t XTalkCompensationEnable; + /*!< Tells if Crosstalk compensation shall be enable or not */ + uint16_t XTalkCompensationRangeMilliMeter; + /*!< CrossTalk compensation range in millimeter */ + FixPoint1616_t XTalkCompensationRateMegaCps; + /*!< CrossTalk compensation rate in Mega counts per seconds. + * Expressed in 16.16 fixed point format. */ + int32_t RangeOffsetMicroMeters; + /*!< Range offset adjustment (mm). */ + + uint8_t LimitChecksEnable[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array store all the Limit Check enable for this device. */ + uint8_t LimitChecksStatus[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array store all the Status of the check linked to last + * measurement. */ + FixPoint1616_t LimitChecksValue[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array store all the Limit Check value for this device */ + + uint8_t WrapAroundCheckEnable; + /*!< Tells if Wrap Around Check shall be enable or not */ +} VL53L0X_DeviceParameters_t; + + +/** @defgroup VL53L0X_define_State_group Defines the current status of the device + * Defines the current status of the device + * @{ + */ + +typedef uint8_t VL53L0X_State; + +#define VL53L0X_STATE_POWERDOWN ((VL53L0X_State) 0) + /*!< Device is in HW reset */ +#define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State) 1) + /*!< Device is initialized and wait for static initialization */ +#define VL53L0X_STATE_STANDBY ((VL53L0X_State) 2) + /*!< Device is in Low power Standby mode */ +#define VL53L0X_STATE_IDLE ((VL53L0X_State) 3) + /*!< Device has been initialized and ready to do measurements */ +#define VL53L0X_STATE_RUNNING ((VL53L0X_State) 4) + /*!< Device is performing measurement */ +#define VL53L0X_STATE_UNKNOWN ((VL53L0X_State) 98) + /*!< Device is in unknown state and need to be rebooted */ +#define VL53L0X_STATE_ERROR ((VL53L0X_State) 99) + /*!< Device is in error state and need to be rebooted */ + +/** @} VL53L0X_define_State_group */ + + +/** @brief Structure containing the Dmax computation parameters and data + */ +typedef struct { + int32_t AmbTuningWindowFactor_K; + /*!< internal algo tuning (*1000) */ + int32_t RetSignalAt0mm; + /*!< intermediate dmax computation value caching */ +} VL53L0X_DMaxData_t; + +/** + * @struct VL53L0X_RangeData_t + * @brief Range measurement data. + */ +typedef struct { + uint32_t TimeStamp; /*!< 32-bit time stamp. */ + uint32_t MeasurementTimeUsec; + /*!< Give the Measurement time needed by the device to do the + * measurement.*/ + + + uint16_t RangeMilliMeter; /*!< range distance in millimeter. */ + + uint16_t RangeDMaxMilliMeter; + /*!< Tells what is the maximum detection distance of the device + * in current setup and environment conditions (Filled when + * applicable) */ + + FixPoint1616_t SignalRateRtnMegaCps; + /*!< Return signal rate (MCPS)\n these is a 16.16 fix point + * value, which is effectively a measure of target + * reflectance.*/ + FixPoint1616_t AmbientRateRtnMegaCps; + /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point + * value, which is effectively a measure of the ambien + * t light.*/ + + uint16_t EffectiveSpadRtnCount; + /*!< Return the effective SPAD count for the return signal. + * To obtain Real value it should be divided by 256 */ + + uint8_t ZoneId; + /*!< Denotes which zone and range scheduler stage the range + * data relates to. */ + uint8_t RangeFractionalPart; + /*!< Fractional part of range distance. Final value is a + * FixPoint168 value. */ + uint8_t RangeStatus; + /*!< Range Status for the current measurement. This is device + * dependent. Value = 0 means value is valid. + * See \ref RangeStatusPage */ +} VL53L0X_RangingMeasurementData_t; + + +#define VL53L0X_HISTOGRAM_BUFFER_SIZE 24 + +/** + * @struct VL53L0X_HistogramData_t + * @brief Histogram measurement data. + */ +typedef struct { + /* Histogram Measurement data */ + uint32_t HistogramData[VL53L0X_HISTOGRAM_BUFFER_SIZE]; + /*!< Histogram data */ + uint8_t HistogramType; /*!< Indicate the types of histogram data : + Return only, Reference only, both Return and Reference */ + uint8_t FirstBin; /*!< First Bin value */ + uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/ + uint8_t NumberOfBins; + /*!< Number of bins filled by the histogram measurement */ + + VL53L0X_DeviceError ErrorStatus; + /*!< Error status of the current measurement. \n + see @a ::VL53L0X_DeviceError @a VL53L0X_GetStatusErrorString() */ +} VL53L0X_HistogramMeasurementData_t; + +#define VL53L0X_REF_SPAD_BUFFER_SIZE 6 + +/** + * @struct VL53L0X_SpadData_t + * @brief Spad Configuration Data. + */ +typedef struct { + uint8_t RefSpadEnables[VL53L0X_REF_SPAD_BUFFER_SIZE]; + /*!< Reference Spad Enables */ + uint8_t RefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE]; + /*!< Reference Spad Good Spad Map */ +} VL53L0X_SpadData_t; + +typedef struct { + FixPoint1616_t OscFrequencyMHz; /* Frequency used */ + + uint16_t LastEncodedTimeout; + /* last encoded Time out used for timing budget*/ + + VL53L0X_GpioFunctionality Pin0GpioFunctionality; + /* store the functionality of the GPIO: pin0 */ + + uint32_t FinalRangeTimeoutMicroSecs; + /*!< Execution time of the final range*/ + uint8_t FinalRangeVcselPulsePeriod; + /*!< Vcsel pulse period (pll clocks) for the final range measurement*/ + uint32_t PreRangeTimeoutMicroSecs; + /*!< Execution time of the final range*/ + uint8_t PreRangeVcselPulsePeriod; + /*!< Vcsel pulse period (pll clocks) for the pre-range measurement*/ + + uint16_t SigmaEstRefArray; + /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */ + uint16_t SigmaEstEffPulseWidth; + /*!< Effective Pulse width for sigma estimate in 1/100th + * of ns e.g. 900 = 9.0ns */ + uint16_t SigmaEstEffAmbWidth; + /*!< Effective Ambient width for sigma estimate in 1/100th of ns + * e.g. 500 = 5.0ns */ + + + uint8_t ReadDataFromDeviceDone; /* Indicate if read from device has + been done (==1) or not (==0) */ + uint8_t ModuleId; /* Module ID */ + uint8_t Revision; /* test Revision */ + char ProductId[VL53L0X_MAX_STRING_LENGTH]; + /* Product Identifier String */ + uint8_t ReferenceSpadCount; /* used for ref spad management */ + uint8_t ReferenceSpadType; /* used for ref spad management */ + uint8_t RefSpadsInitialised; /* reports if ref spads are initialised. */ + uint32_t PartUIDUpper; /*!< Unique Part ID Upper */ + uint32_t PartUIDLower; /*!< Unique Part ID Lower */ + FixPoint1616_t SignalRateMeasFixed400mm; /*!< Peek Signal rate + at 400 mm*/ + +} VL53L0X_DeviceSpecificParameters_t; + +/** + * @struct VL53L0X_DevData_t + * + * @brief VL53L0X PAL device ST private data structure \n + * End user should never access any of these field directly + * + * These must never access directly but only via macro + */ +typedef struct { + VL53L0X_DMaxData_t DMaxData; + /*!< Dmax Data */ + int32_t Part2PartOffsetNVMMicroMeter; + /*!< backed up NVM value */ + int32_t Part2PartOffsetAdjustmentNVMMicroMeter; + /*!< backed up NVM value representing additional offset adjustment */ + VL53L0X_DeviceParameters_t CurrentParameters; + /*!< Current Device Parameter */ + VL53L0X_RangingMeasurementData_t LastRangeMeasure; + /*!< Ranging Data */ + VL53L0X_HistogramMeasurementData_t LastHistogramMeasure; + /*!< Histogram Data */ + VL53L0X_DeviceSpecificParameters_t DeviceSpecificParameters; + /*!< Parameters specific to the device */ + VL53L0X_SpadData_t SpadData; + /*!< Spad Data */ + uint8_t SequenceConfig; + /*!< Internal value for the sequence config */ + uint8_t RangeFractionalEnable; + /*!< Enable/Disable fractional part of ranging data */ + VL53L0X_State PalState; + /*!< Current state of the PAL for this device */ + VL53L0X_PowerModes PowerMode; + /*!< Current Power Mode */ + uint16_t SigmaEstRefArray; + /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */ + uint16_t SigmaEstEffPulseWidth; + /*!< Effective Pulse width for sigma estimate in 1/100th + * of ns e.g. 900 = 9.0ns */ + uint16_t SigmaEstEffAmbWidth; + /*!< Effective Ambient width for sigma estimate in 1/100th of ns + * e.g. 500 = 5.0ns */ + uint8_t StopVariable; + /*!< StopVariable used during the stop sequence */ + uint16_t targetRefRate; + /*!< Target Ambient Rate for Ref spad management */ + FixPoint1616_t SigmaEstimate; + /*!< Sigma Estimate - based on ambient & VCSEL rates and + * signal_total_events */ + FixPoint1616_t SignalEstimate; + /*!< Signal Estimate - based on ambient & VCSEL rates and cross talk */ + FixPoint1616_t LastSignalRefMcps; + /*!< Latest Signal ref in Mcps */ + uint8_t *pTuningSettingsPointer; + /*!< Pointer for Tuning Settings table */ + uint8_t UseInternalTuningSettings; + /*!< Indicate if we use Tuning Settings table */ + uint16_t LinearityCorrectiveGain; + /*!< Linearity Corrective Gain value in x1000 */ + uint16_t DmaxCalRangeMilliMeter; + /*!< Dmax Calibration Range millimeter */ + FixPoint1616_t DmaxCalSignalRateRtnMegaCps; + /*!< Dmax Calibration Signal Rate Return MegaCps */ + +} VL53L0X_DevData_t; + + +/** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity + * of the Interrupt + * Defines the Polarity of the Interrupt + * @{ + */ +typedef uint8_t VL53L0X_InterruptPolarity; + +#define VL53L0X_INTERRUPTPOLARITY_LOW ((VL53L0X_InterruptPolarity) 0) +/*!< Set active low polarity best setup for falling edge. */ +#define VL53L0X_INTERRUPTPOLARITY_HIGH ((VL53L0X_InterruptPolarity) 1) +/*!< Set active high polarity best setup for rising edge. */ + +/** @} VL53L0X_define_InterruptPolarity_group */ + + +/** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines + * Defines the range measurement for which to access the vcsel period. + * @{ + */ +typedef uint8_t VL53L0X_VcselPeriod; + +#define VL53L0X_VCSEL_PERIOD_PRE_RANGE ((VL53L0X_VcselPeriod) 0) +/*!>9)&0xFFFF) +#define VL53L0X_FIXPOINT97TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<9) + +#define VL53L0X_FIXPOINT1616TOFIXPOINT88(Value) \ + (uint16_t)((Value>>8)&0xFFFF) +#define VL53L0X_FIXPOINT88TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<8) + +#define VL53L0X_FIXPOINT1616TOFIXPOINT412(Value) \ + (uint16_t)((Value>>4)&0xFFFF) +#define VL53L0X_FIXPOINT412TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<4) + +#define VL53L0X_FIXPOINT1616TOFIXPOINT313(Value) \ + (uint16_t)((Value>>3)&0xFFFF) +#define VL53L0X_FIXPOINT313TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<3) + +#define VL53L0X_FIXPOINT1616TOFIXPOINT08(Value) \ + (uint8_t)((Value>>8)&0x00FF) +#define VL53L0X_FIXPOINT08TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<8) + +#define VL53L0X_FIXPOINT1616TOFIXPOINT53(Value) \ + (uint8_t)((Value>>13)&0x00FF) +#define VL53L0X_FIXPOINT53TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<13) + +#define VL53L0X_FIXPOINT1616TOFIXPOINT102(Value) \ + (uint16_t)((Value>>14)&0x0FFF) +#define VL53L0X_FIXPOINT102TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<12) + +#define VL53L0X_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \ + (uint16_t)lsb) + +/** @} VL53L0X_define_GeneralMacro_group */ + +/** @} VL53L0X_globaldefine_group */ + + + + + + + +#ifdef __cplusplus +} +#endif + + +#endif /* _VL53L0X_DEF_H_ */ diff --git a/lib/vl53l0x_device.h b/lib/vl53l0x_device.h index dc010c2..4aa572b 100644 --- a/lib/vl53l0x_device.h +++ b/lib/vl53l0x_device.h @@ -1,257 +1,257 @@ -/******************************************************************************* -Copyright 2016, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*******************************************************************************/ - -/** - * Device specific defines. To be adapted by implementer for the targeted - * device. - */ - -#ifndef _VL53L0X_DEVICE_H_ -#define _VL53L0X_DEVICE_H_ - -#include "vl53l0x_types.h" - - -/** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device Specific Defines - * @brief VL53L0X cut1.1 Device Specific Defines - * @{ - */ - - -/** @defgroup VL53L0X_DeviceError_group Device Error - * @brief Device Error code - * - * This enum is Device specific it should be updated in the implementation - * Use @a VL53L0X_GetStatusErrorString() to get the string. - * It is related to Status Register of the Device. - * @{ - */ -typedef uint8_t VL53L0X_DeviceError; - -#define VL53L0X_DEVICEERROR_NONE ((VL53L0X_DeviceError) 0) - /*!< 0 NoError */ -#define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L0X_DeviceError) 1) -#define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L0X_DeviceError) 2) -#define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND ((VL53L0X_DeviceError) 3) -#define VL53L0X_DEVICEERROR_MSRCNOTARGET ((VL53L0X_DeviceError) 4) -#define VL53L0X_DEVICEERROR_SNRCHECK ((VL53L0X_DeviceError) 5) -#define VL53L0X_DEVICEERROR_RANGEPHASECHECK ((VL53L0X_DeviceError) 6) -#define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK ((VL53L0X_DeviceError) 7) -#define VL53L0X_DEVICEERROR_TCC ((VL53L0X_DeviceError) 8) -#define VL53L0X_DEVICEERROR_PHASECONSISTENCY ((VL53L0X_DeviceError) 9) -#define VL53L0X_DEVICEERROR_MINCLIP ((VL53L0X_DeviceError) 10) -#define VL53L0X_DEVICEERROR_RANGECOMPLETE ((VL53L0X_DeviceError) 11) -#define VL53L0X_DEVICEERROR_ALGOUNDERFLOW ((VL53L0X_DeviceError) 12) -#define VL53L0X_DEVICEERROR_ALGOOVERFLOW ((VL53L0X_DeviceError) 13) -#define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD ((VL53L0X_DeviceError) 14) - -/** @} end of VL53L0X_DeviceError_group */ - - -/** @defgroup VL53L0X_CheckEnable_group Check Enable list - * @brief Check Enable code - * - * Define used to specify the LimitCheckId. - * Use @a VL53L0X_GetLimitCheckInfo() to get the string. - * @{ - */ - -#define VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE 0 -#define VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1 -#define VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP 2 -#define VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD 3 -#define VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC 4 -#define VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE 5 - -#define VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS 6 - -/** @} end of VL53L0X_CheckEnable_group */ - - -/** @defgroup VL53L0X_GpioFunctionality_group Gpio Functionality - * @brief Defines the different functionalities for the device GPIO(s) - * @{ - */ -typedef uint8_t VL53L0X_GpioFunctionality; - -#define VL53L0X_GPIOFUNCTIONALITY_OFF \ - ((VL53L0X_GpioFunctionality) 0) /*!< NO Interrupt */ -#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW \ - ((VL53L0X_GpioFunctionality) 1) /*!< Level Low (value < thresh_low) */ -#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH \ - ((VL53L0X_GpioFunctionality) 2) /*!< Level High (value > thresh_high) */ -#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT \ - ((VL53L0X_GpioFunctionality) 3) - /*!< Out Of Window (value < thresh_low OR value > thresh_high) */ -#define VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY \ - ((VL53L0X_GpioFunctionality) 4) /*!< New Sample Ready */ - -/** @} end of VL53L0X_GpioFunctionality_group */ - - -/* Device register map */ - -/** @defgroup VL53L0X_DefineRegisters_group Define Registers - * @brief List of all the defined registers - * @{ - */ -#define VL53L0X_REG_SYSRANGE_START 0x000 - /** mask existing bit in #VL53L0X_REG_SYSRANGE_START*/ - #define VL53L0X_REG_SYSRANGE_MODE_MASK 0x0F - /** bit 0 in #VL53L0X_REG_SYSRANGE_START write 1 toggle state in - * continuous mode and arm next shot in single shot mode */ - #define VL53L0X_REG_SYSRANGE_MODE_START_STOP 0x01 - /** bit 1 write 0 in #VL53L0X_REG_SYSRANGE_START set single shot mode */ - #define VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT 0x00 - /** bit 1 write 1 in #VL53L0X_REG_SYSRANGE_START set back-to-back - * operation mode */ - #define VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK 0x02 - /** bit 2 write 1 in #VL53L0X_REG_SYSRANGE_START set timed operation - * mode */ - #define VL53L0X_REG_SYSRANGE_MODE_TIMED 0x04 - /** bit 3 write 1 in #VL53L0X_REG_SYSRANGE_START set histogram operation - * mode */ - #define VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM 0x08 - - -#define VL53L0X_REG_SYSTEM_THRESH_HIGH 0x000C -#define VL53L0X_REG_SYSTEM_THRESH_LOW 0x000E - - -#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG 0x0001 -#define VL53L0X_REG_SYSTEM_RANGE_CONFIG 0x0009 -#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x0004 - - -#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x000A - #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED 0x00 - #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW 0x01 - #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH 0x02 - #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW 0x03 - #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY 0x04 - -#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084 - - -#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR 0x000B - -/* Result registers */ -#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x0013 -#define VL53L0X_REG_RESULT_RANGE_STATUS 0x0014 - -#define VL53L0X_REG_RESULT_CORE_PAGE 1 -#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0x00BC -#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0x00C0 -#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0x00D0 -#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0x00D4 -#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF 0x00B6 - -/* Algo register */ - -#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x0028 - -#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a - -/* Check Limit registers */ -#define VL53L0X_REG_MSRC_CONFIG_CONTROL 0x0060 - -#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR 0X0027 -#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x0056 -#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x0057 -#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x0064 - -#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR 0X0067 -#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x0047 -#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x0048 -#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x0044 - - -#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0X0061 -#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0X0062 - -/* PRE RANGE registers */ -#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x0050 -#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0051 -#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0052 - -#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN 0x0081 -#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x0033 -#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x0055 - -#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x0070 -#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0071 -#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0072 -#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x0020 - -#define VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP 0x0046 - - -#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf -#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0x00c0 -#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0x00c2 - -#define VL53L0X_REG_OSC_CALIBRATE_VAL 0x00f8 - - -#define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE 65535 -/* equivalent to a range sigma of 655.35mm */ - -#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x032 -#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0x0B0 -#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0x0B1 -#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0x0B2 -#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0x0B3 -#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0x0B4 -#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0x0B5 - -#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6 -#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */ -#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F /* 0x14F */ -#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80 - -/* - * Speed of light in um per 1E-10 Seconds - */ - -#define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997 - -#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x0089 - -#define VL53L0X_REG_ALGO_PHASECAL_LIM 0x0030 /* 0x130 */ -#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x0030 - -/** @} VL53L0X_DefineRegisters_group */ - -/** @} VL53L0X_DevSpecDefines_group */ - - -#endif - -/* _VL53L0X_DEVICE_H_ */ - - +/******************************************************************************* +Copyright 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +/** + * Device specific defines. To be adapted by implementer for the targeted + * device. + */ + +#ifndef _VL53L0X_DEVICE_H_ +#define _VL53L0X_DEVICE_H_ + +#include "vl53l0x_types.h" + + +/** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device Specific Defines + * @brief VL53L0X cut1.1 Device Specific Defines + * @{ + */ + + +/** @defgroup VL53L0X_DeviceError_group Device Error + * @brief Device Error code + * + * This enum is Device specific it should be updated in the implementation + * Use @a VL53L0X_GetStatusErrorString() to get the string. + * It is related to Status Register of the Device. + * @{ + */ +typedef uint8_t VL53L0X_DeviceError; + +#define VL53L0X_DEVICEERROR_NONE ((VL53L0X_DeviceError) 0) + /*!< 0 NoError */ +#define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L0X_DeviceError) 1) +#define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L0X_DeviceError) 2) +#define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND ((VL53L0X_DeviceError) 3) +#define VL53L0X_DEVICEERROR_MSRCNOTARGET ((VL53L0X_DeviceError) 4) +#define VL53L0X_DEVICEERROR_SNRCHECK ((VL53L0X_DeviceError) 5) +#define VL53L0X_DEVICEERROR_RANGEPHASECHECK ((VL53L0X_DeviceError) 6) +#define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK ((VL53L0X_DeviceError) 7) +#define VL53L0X_DEVICEERROR_TCC ((VL53L0X_DeviceError) 8) +#define VL53L0X_DEVICEERROR_PHASECONSISTENCY ((VL53L0X_DeviceError) 9) +#define VL53L0X_DEVICEERROR_MINCLIP ((VL53L0X_DeviceError) 10) +#define VL53L0X_DEVICEERROR_RANGECOMPLETE ((VL53L0X_DeviceError) 11) +#define VL53L0X_DEVICEERROR_ALGOUNDERFLOW ((VL53L0X_DeviceError) 12) +#define VL53L0X_DEVICEERROR_ALGOOVERFLOW ((VL53L0X_DeviceError) 13) +#define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD ((VL53L0X_DeviceError) 14) + +/** @} end of VL53L0X_DeviceError_group */ + + +/** @defgroup VL53L0X_CheckEnable_group Check Enable list + * @brief Check Enable code + * + * Define used to specify the LimitCheckId. + * Use @a VL53L0X_GetLimitCheckInfo() to get the string. + * @{ + */ + +#define VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE 0 +#define VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1 +#define VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP 2 +#define VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD 3 +#define VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC 4 +#define VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE 5 + +#define VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS 6 + +/** @} end of VL53L0X_CheckEnable_group */ + + +/** @defgroup VL53L0X_GpioFunctionality_group Gpio Functionality + * @brief Defines the different functionalities for the device GPIO(s) + * @{ + */ +typedef uint8_t VL53L0X_GpioFunctionality; + +#define VL53L0X_GPIOFUNCTIONALITY_OFF \ + ((VL53L0X_GpioFunctionality) 0) /*!< NO Interrupt */ +#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW \ + ((VL53L0X_GpioFunctionality) 1) /*!< Level Low (value < thresh_low) */ +#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH \ + ((VL53L0X_GpioFunctionality) 2) /*!< Level High (value > thresh_high) */ +#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT \ + ((VL53L0X_GpioFunctionality) 3) + /*!< Out Of Window (value < thresh_low OR value > thresh_high) */ +#define VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY \ + ((VL53L0X_GpioFunctionality) 4) /*!< New Sample Ready */ + +/** @} end of VL53L0X_GpioFunctionality_group */ + + +/* Device register map */ + +/** @defgroup VL53L0X_DefineRegisters_group Define Registers + * @brief List of all the defined registers + * @{ + */ +#define VL53L0X_REG_SYSRANGE_START 0x000 + /** mask existing bit in #VL53L0X_REG_SYSRANGE_START*/ + #define VL53L0X_REG_SYSRANGE_MODE_MASK 0x0F + /** bit 0 in #VL53L0X_REG_SYSRANGE_START write 1 toggle state in + * continuous mode and arm next shot in single shot mode */ + #define VL53L0X_REG_SYSRANGE_MODE_START_STOP 0x01 + /** bit 1 write 0 in #VL53L0X_REG_SYSRANGE_START set single shot mode */ + #define VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT 0x00 + /** bit 1 write 1 in #VL53L0X_REG_SYSRANGE_START set back-to-back + * operation mode */ + #define VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK 0x02 + /** bit 2 write 1 in #VL53L0X_REG_SYSRANGE_START set timed operation + * mode */ + #define VL53L0X_REG_SYSRANGE_MODE_TIMED 0x04 + /** bit 3 write 1 in #VL53L0X_REG_SYSRANGE_START set histogram operation + * mode */ + #define VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM 0x08 + + +#define VL53L0X_REG_SYSTEM_THRESH_HIGH 0x000C +#define VL53L0X_REG_SYSTEM_THRESH_LOW 0x000E + + +#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG 0x0001 +#define VL53L0X_REG_SYSTEM_RANGE_CONFIG 0x0009 +#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x0004 + + +#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x000A + #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED 0x00 + #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW 0x01 + #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH 0x02 + #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW 0x03 + #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY 0x04 + +#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084 + + +#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR 0x000B + +/* Result registers */ +#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x0013 +#define VL53L0X_REG_RESULT_RANGE_STATUS 0x0014 + +#define VL53L0X_REG_RESULT_CORE_PAGE 1 +#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0x00BC +#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0x00C0 +#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0x00D0 +#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0x00D4 +#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF 0x00B6 + +/* Algo register */ + +#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x0028 + +#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a + +/* Check Limit registers */ +#define VL53L0X_REG_MSRC_CONFIG_CONTROL 0x0060 + +#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR 0X0027 +#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x0056 +#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x0057 +#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x0064 + +#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR 0X0067 +#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x0047 +#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x0048 +#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x0044 + + +#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0X0061 +#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0X0062 + +/* PRE RANGE registers */ +#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x0050 +#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0051 +#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0052 + +#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN 0x0081 +#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x0033 +#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x0055 + +#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x0070 +#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0071 +#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0072 +#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x0020 + +#define VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP 0x0046 + + +#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf +#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0x00c0 +#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0x00c2 + +#define VL53L0X_REG_OSC_CALIBRATE_VAL 0x00f8 + + +#define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE 65535 +/* equivalent to a range sigma of 655.35mm */ + +#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x032 +#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0x0B0 +#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0x0B1 +#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0x0B2 +#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0x0B3 +#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0x0B4 +#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0x0B5 + +#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6 +#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */ +#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F /* 0x14F */ +#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80 + +/* + * Speed of light in um per 1E-10 Seconds + */ + +#define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997 + +#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x0089 + +#define VL53L0X_REG_ALGO_PHASECAL_LIM 0x0030 /* 0x130 */ +#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x0030 + +/** @} VL53L0X_DefineRegisters_group */ + +/** @} VL53L0X_DevSpecDefines_group */ + + +#endif + +/* _VL53L0X_DEVICE_H_ */ + + diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt index b2d0662..5c520ac 100644 --- a/main/CMakeLists.txt +++ b/main/CMakeLists.txt @@ -7,6 +7,3 @@ target_link_libraries(lidar_test common_lib) add_executable(remote_control remote_control.cpp) target_link_libraries(remote_control common_lib) - -add_executable(lcd_test lcd_test.cpp) -target_link_libraries(lcd_test common_lib ${OpenCV_LIBS}) \ No newline at end of file diff --git a/main/main.cpp b/main/main.cpp index 19e2a1c..7f50793 100644 --- a/main/main.cpp +++ b/main/main.cpp @@ -1,44 +1,44 @@ -#include -#include -#include -#include -#include -#include -#include -#include - -#include "global.h" -#include "camera.h" -#include "control.h" - -std::atomic running(true); -void signalHandler(int) { running.store(false); } - -int main(void) -{ - std::signal(SIGINT, signalHandler); - - cfg_load_all(); - - if (CameraInit(0) < 0) { - std::cerr << "CameraInit failed" << std::endl; - return -1; - } - ControlInit(); - std::cout << "All services started" << std::endl; - - setpriority(PRIO_PROCESS, 0, -10); - - while (running.load()) { - CameraHandler(); - target_speed = g_cfg.speed; - sched_yield(); - } - - std::cout << "Stopping..." << std::endl; - std::this_thread::sleep_for(std::chrono::milliseconds(500)); - ControlExit(); - cameraDeInit(); - std::cout << "Stopped." << std::endl; - return 0; -} +#include +#include +#include +#include +#include +#include +#include +#include + +#include "global.h" +#include "camera.h" +#include "control.h" + +std::atomic running(true); +void signalHandler(int) { running.store(false); } + +int main(void) +{ + std::signal(SIGINT, signalHandler); + + cfg_load_all(); + + if (CameraInit(0) < 0) { + std::cerr << "CameraInit failed" << std::endl; + return -1; + } + ControlInit(); + std::cout << "All services started" << std::endl; + + setpriority(PRIO_PROCESS, 0, -10); + + while (running.load()) { + CameraHandler(); + target_speed = g_cfg.speed; + sched_yield(); + } + + std::cout << "Stopping..." << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + ControlExit(); + cameraDeInit(); + std::cout << "Stopped." << std::endl; + return 0; +} diff --git a/src/camera.cpp b/src/camera.cpp index bb3c894..97acaa8 100644 --- a/src/camera.cpp +++ b/src/camera.cpp @@ -25,7 +25,6 @@ #include "camera.h" #include "model_v10.hpp" #include "vl53l0x.h" -#include "font_bitmap.h" #include #include @@ -218,76 +217,6 @@ static void play_zebra_audio() } -// ═══════════════════════════════════════════════════════════ -// LCD 中文文字渲染 -// -// 使用 src/font_bitmap.h 中嵌入的 16x16 字模 -// ═══════════════════════════════════════════════════════════ -static const uint8_t* find_glyph(uint32_t codepoint) -{ - for (int i = 0; i < FONT_GLYPH_COUNT; ++i) - if (FONT_GLYPHS[i].unicode == codepoint) return FONT_GLYPHS[i].bitmap; - return nullptr; -} - -static uint32_t utf8_decode(const char*& p) -{ - unsigned char c = static_cast(*p); - if (c == 0) return 0; - if ((c & 0x80) == 0) { ++p; return c; } - if ((c & 0xE0) == 0xC0) { - uint32_t v = c & 0x1F; ++p; - v = (v << 6) | (static_cast(*p++) & 0x3F); - return v; - } - if ((c & 0xF0) == 0xE0) { - uint32_t v = c & 0x0F; ++p; - v = (v << 6) | (static_cast(*p++) & 0x3F); - v = (v << 6) | (static_cast(*p++) & 0x3F); - return v; - } - if ((c & 0xF8) == 0xF0) { - uint32_t v = c & 0x07; ++p; - v = (v << 6) | (static_cast(*p++) & 0x3F); - v = (v << 6) | (static_cast(*p++) & 0x3F); - v = (v << 6) | (static_cast(*p++) & 0x3F); - return v; - } - ++p; - return '?'; -} - -static void lcd_draw_glyph(cv::Mat& img, int x0, int y0, const uint8_t* glyph, const cv::Scalar& color) -{ - for (int row = 0; row < FONT_SIZE; ++row) { - for (int col = 0; col < FONT_SIZE; ++col) { - if (glyph[row * FONT_SIZE + col] > 128) { - int px = x0 + col; - int py = y0 + row; - if (px >= 0 && px < img.cols && py >= 0 && py < img.rows) - img.at(py, px) = cv::Vec3b(static_cast(color[0]), - static_cast(color[1]), - static_cast(color[2])); - } - } - } -} - -static void lcd_draw_chinese_text(cv::Mat& img, const char* text, int x, int y, const cv::Scalar& color) -{ - const char* p = text; - int cx = x; - while (*p) { - uint32_t cp = utf8_decode(p); - const uint8_t* glyph = find_glyph(cp); - if (glyph) { - lcd_draw_glyph(img, cx, y, glyph, color); - cx += FONT_SIZE; - } - } -} - - // ═══════════════════════════════════════════════════════════ // CameraInit — 系统初始化 // @@ -1102,7 +1031,7 @@ static void motor_update(bool zebra_block, bool tl_block) prev_zstate = g_zstate; prev_tlstate = g_tl_state; - double spd = target_speed * boost_factor(); + double spd = (boost_factor() > 1.0) ? 26.0 : target_speed; // 斑马线起步后 3.3~5s 降速走稳 if (g_zstate == Z_COOLDOWN) { diff --git a/src/global.cpp b/src/global.cpp index e26891a..7aa3d2e 100644 --- a/src/global.cpp +++ b/src/global.cpp @@ -1,66 +1,66 @@ -#include "global.h" -#include - -CfgCache g_cfg; -double target_speed; - -double readDoubleFromFile(const std::string &filename) -{ - std::ifstream file(filename); - double value = 0.0; - if (file.is_open()) { file >> value; file.close(); } - return value; -} - -bool readFlag(const std::string &filename) -{ - std::ifstream file(filename); - int flag = 0; - if (file.is_open()) { file >> flag; file.close(); } - return flag; -} - -void cfg_load_all() -{ - g_cfg.speed = readDoubleFromFile(speed_file); - g_cfg.foresee = readDoubleFromFile(foresee_file); - g_cfg.foresee_lost_scale = readDoubleFromFile(foresee_lost_scale_file); - g_cfg.sharp_turn_scale = readDoubleFromFile(sharp_turn_scale_file); - g_cfg.zebrasee = readDoubleFromFile(zebrasee_file); - g_cfg.deadband = readDoubleFromFile(deadband_file); - g_cfg.steer_gain = readDoubleFromFile(steer_gain_file); - g_cfg.center_bias = readDoubleFromFile(center_bias_file); - g_cfg.start = readFlag(start_file); - g_cfg.showImg = readFlag(showImg_file); - g_cfg.debug = readFlag(debug_file); - - g_cfg.cone_speed = readDoubleFromFile(cone_speed_file); - g_cfg.cone_min_frames = (int)readDoubleFromFile(cone_min_frames_file); - g_cfg.cone_margin = (int)readDoubleFromFile(cone_margin_file); - g_cfg.cone_thresh = readDoubleFromFile(cone_thresh_file); - g_cfg.cone_avoid_gain = readDoubleFromFile(cone_avoid_gain_file); - g_cfg.cone_avoid_range = (int)readDoubleFromFile(cone_avoid_range_file); - g_cfg.cone_hold_frames = (int)readDoubleFromFile(cone_hold_frames_file); - g_cfg.cone_return_gain = readDoubleFromFile(cone_return_gain_file); - g_cfg.cone_return_frames = (int)readDoubleFromFile(cone_return_frames_file); - - g_cfg.brake_scale = readDoubleFromFile(brake_scale_file); - g_cfg.brake_max = readDoubleFromFile(brake_max_file); - - g_cfg.curve_slope = readDoubleFromFile(curve_slope_file); - g_cfg.curve_min = readDoubleFromFile(curve_min_file); - - g_cfg.lidar_thresh = (int)readDoubleFromFile(lidar_thresh_file); - g_cfg.lidar_pre = (int)readDoubleFromFile(lidar_pre_file); - g_cfg.lidar_near = (int)readDoubleFromFile(lidar_near_file); - g_cfg.lidar_far = (int)readDoubleFromFile(lidar_far_file); - g_cfg.lidar_near_start = (int)readDoubleFromFile(lidar_near_start_file); - g_cfg.lidar_near_end = (int)readDoubleFromFile(lidar_near_end_file); - g_cfg.lidar_far_span = (int)readDoubleFromFile(lidar_far_span_file); - g_cfg.lidar_min_frames = (int)readDoubleFromFile(lidar_min_frames_file); - g_cfg.lidar_avoid_gain = readDoubleFromFile(lidar_avoid_gain_file); - g_cfg.lidar_avoid_range = (int)readDoubleFromFile(lidar_avoid_range_file); - g_cfg.lidar_speed = readDoubleFromFile(lidar_speed_file); - g_cfg.lidar_hold_frames = (int)readDoubleFromFile(lidar_hold_frames_file); - g_cfg.lidar_enable = (int)readDoubleFromFile(lidar_enable_file); -} +#include "global.h" +#include + +CfgCache g_cfg; +double target_speed; + +double readDoubleFromFile(const std::string &filename) +{ + std::ifstream file(filename); + double value = 0.0; + if (file.is_open()) { file >> value; file.close(); } + return value; +} + +bool readFlag(const std::string &filename) +{ + std::ifstream file(filename); + int flag = 0; + if (file.is_open()) { file >> flag; file.close(); } + return flag; +} + +void cfg_load_all() +{ + g_cfg.speed = readDoubleFromFile(speed_file); + g_cfg.foresee = readDoubleFromFile(foresee_file); + g_cfg.foresee_lost_scale = readDoubleFromFile(foresee_lost_scale_file); + g_cfg.sharp_turn_scale = readDoubleFromFile(sharp_turn_scale_file); + g_cfg.zebrasee = readDoubleFromFile(zebrasee_file); + g_cfg.deadband = readDoubleFromFile(deadband_file); + g_cfg.steer_gain = readDoubleFromFile(steer_gain_file); + g_cfg.center_bias = readDoubleFromFile(center_bias_file); + g_cfg.start = readFlag(start_file); + g_cfg.showImg = readFlag(showImg_file); + g_cfg.debug = readFlag(debug_file); + + g_cfg.cone_speed = readDoubleFromFile(cone_speed_file); + g_cfg.cone_min_frames = (int)readDoubleFromFile(cone_min_frames_file); + g_cfg.cone_margin = (int)readDoubleFromFile(cone_margin_file); + g_cfg.cone_thresh = readDoubleFromFile(cone_thresh_file); + g_cfg.cone_avoid_gain = readDoubleFromFile(cone_avoid_gain_file); + g_cfg.cone_avoid_range = (int)readDoubleFromFile(cone_avoid_range_file); + g_cfg.cone_hold_frames = (int)readDoubleFromFile(cone_hold_frames_file); + g_cfg.cone_return_gain = readDoubleFromFile(cone_return_gain_file); + g_cfg.cone_return_frames = (int)readDoubleFromFile(cone_return_frames_file); + + g_cfg.brake_scale = readDoubleFromFile(brake_scale_file); + g_cfg.brake_max = readDoubleFromFile(brake_max_file); + + g_cfg.curve_slope = readDoubleFromFile(curve_slope_file); + g_cfg.curve_min = readDoubleFromFile(curve_min_file); + + g_cfg.lidar_thresh = (int)readDoubleFromFile(lidar_thresh_file); + g_cfg.lidar_pre = (int)readDoubleFromFile(lidar_pre_file); + g_cfg.lidar_near = (int)readDoubleFromFile(lidar_near_file); + g_cfg.lidar_far = (int)readDoubleFromFile(lidar_far_file); + g_cfg.lidar_near_start = (int)readDoubleFromFile(lidar_near_start_file); + g_cfg.lidar_near_end = (int)readDoubleFromFile(lidar_near_end_file); + g_cfg.lidar_far_span = (int)readDoubleFromFile(lidar_far_span_file); + g_cfg.lidar_min_frames = (int)readDoubleFromFile(lidar_min_frames_file); + g_cfg.lidar_avoid_gain = readDoubleFromFile(lidar_avoid_gain_file); + g_cfg.lidar_avoid_range = (int)readDoubleFromFile(lidar_avoid_range_file); + g_cfg.lidar_speed = readDoubleFromFile(lidar_speed_file); + g_cfg.lidar_hold_frames = (int)readDoubleFromFile(lidar_hold_frames_file); + g_cfg.lidar_enable = (int)readDoubleFromFile(lidar_enable_file); +} diff --git a/src/vl53l0x.cpp b/src/vl53l0x.cpp index 4887da9..a0c54c5 100644 --- a/src/vl53l0x.cpp +++ b/src/vl53l0x.cpp @@ -1,174 +1,174 @@ -#include "vl53l0x.h" -#include -#include -#include -#include -#include -#include -#include - -extern "C" { -#include "vl53l0x_api.h" -} - -static void unbind_kernel_driver() -{ - FILE *f = fopen("/sys/bus/i2c/drivers/stmvl53l0/unbind", "w"); - if (f) { - fprintf(f, "1-0029"); - fclose(f); - } -} - -VL53L0X::VL53L0X() - : fd(-1), initialized(false) -{ - memset(&dev, 0, sizeof(dev)); -} - -VL53L0X::~VL53L0X() -{ - stop(); -} - -bool VL53L0X::init() -{ - unbind_kernel_driver(); - usleep(100000); - - fd = open("/dev/i2c-1", O_RDWR); - if (fd < 0) { - fprintf(stderr, "[VL53L0X] open /dev/i2c-1 failed: %s\n", strerror(errno)); - return false; - } - - if (ioctl(fd, I2C_SLAVE, 0x29) < 0) { - fprintf(stderr, "[VL53L0X] I2C_SLAVE failed: %s\n", strerror(errno)); - close(fd); - fd = -1; - return false; - } - - dev.I2cDevAddr = 0x29; - dev.i2c_fd = fd; - - VL53L0X_Error Status = VL53L0X_DataInit(&dev); - if (Status != VL53L0X_ERROR_NONE) { - fprintf(stderr, "[VL53L0X] DataInit failed: %d\n", Status); - close(fd); - fd = -1; - return false; - } - - Status = VL53L0X_StaticInit(&dev); - if (Status != VL53L0X_ERROR_NONE) { - fprintf(stderr, "[VL53L0X] StaticInit failed: %d\n", Status); - close(fd); - fd = -1; - return false; - } - - uint32_t refSpadCount; - uint8_t isApertureSpads; - uint8_t VhvSettings; - uint8_t PhaseCal; - - VL53L0X_PerformRefCalibration(&dev, &VhvSettings, &PhaseCal); - VL53L0X_PerformRefSpadManagement(&dev, &refSpadCount, &isApertureSpads); - - Status = VL53L0X_SetDeviceMode(&dev, VL53L0X_DEVICEMODE_SINGLE_RANGING); - if (Status != VL53L0X_ERROR_NONE) { - fprintf(stderr, "[VL53L0X] SetDeviceMode failed: %d\n", Status); - close(fd); - fd = -1; - return false; - } - - VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&dev, 20000); - - uint32_t actualBudget = 0; - VL53L0X_GetMeasurementTimingBudgetMicroSeconds(&dev, &actualBudget); - fprintf(stderr, "[VL53L0X] timing budget = %u us\n", actualBudget); - - initialized = true; - fprintf(stderr, "[VL53L0X] init OK\n"); - return true; -} - -bool VL53L0X::readRange(VL53L0X_RangingMeasurementData_t &data) -{ - if (!initialized) return false; - - VL53L0X_Error Status; - - VL53L0X_ClearInterruptMask(&dev, 0); - Status = VL53L0X_StartMeasurement(&dev); - if (Status != VL53L0X_ERROR_NONE) { - fprintf(stderr, "[VL53L0X] StartMeasurement failed: %d\n", Status); - return false; - } - - uint8_t ready = 0; - int timeout = 500; - while (!ready && --timeout > 0) { - Status = VL53L0X_GetMeasurementDataReady(&dev, &ready); - if (Status != VL53L0X_ERROR_NONE) - break; - if (!ready) - usleep(1000); - } - - if (!ready) { - fprintf(stderr, "[VL53L0X] measurement timeout\n"); - return false; - } - - Status = VL53L0X_GetRangingMeasurementData(&dev, &data); - if (Status != VL53L0X_ERROR_NONE) { - fprintf(stderr, "[VL53L0X] GetRangingMeasurementData failed: %d\n", Status); - return false; - } - - VL53L0X_ClearInterruptMask(&dev, 0); - return true; -} - -bool VL53L0X::startMeasure() -{ - if (!initialized) return false; - VL53L0X_ClearInterruptMask(&dev, 0); - VL53L0X_Error Status = VL53L0X_StartMeasurement(&dev); - return (Status == VL53L0X_ERROR_NONE); -} - -bool VL53L0X::readResult(VL53L0X_RangingMeasurementData_t &data) -{ - if (!initialized) return false; - - uint8_t ready = 0; - VL53L0X_Error Status; - int timeout = 25; // 25ms max, 读不到就跳过 - while (!ready && --timeout > 0) { - Status = VL53L0X_GetMeasurementDataReady(&dev, &ready); - if (Status != VL53L0X_ERROR_NONE) - return false; - if (!ready) - usleep(1000); - } - - if (!ready) return false; - - Status = VL53L0X_GetRangingMeasurementData(&dev, &data); - VL53L0X_ClearInterruptMask(&dev, 0); - return (Status == VL53L0X_ERROR_NONE); -} - -bool VL53L0X::stop() -{ - if (fd >= 0) { - close(fd); - fd = -1; - } - initialized = false; - return true; -} +#include "vl53l0x.h" +#include +#include +#include +#include +#include +#include +#include + +extern "C" { +#include "vl53l0x_api.h" +} + +static void unbind_kernel_driver() +{ + FILE *f = fopen("/sys/bus/i2c/drivers/stmvl53l0/unbind", "w"); + if (f) { + fprintf(f, "1-0029"); + fclose(f); + } +} + +VL53L0X::VL53L0X() + : fd(-1), initialized(false) +{ + memset(&dev, 0, sizeof(dev)); +} + +VL53L0X::~VL53L0X() +{ + stop(); +} + +bool VL53L0X::init() +{ + unbind_kernel_driver(); + usleep(100000); + + fd = open("/dev/i2c-1", O_RDWR); + if (fd < 0) { + fprintf(stderr, "[VL53L0X] open /dev/i2c-1 failed: %s\n", strerror(errno)); + return false; + } + + if (ioctl(fd, I2C_SLAVE, 0x29) < 0) { + fprintf(stderr, "[VL53L0X] I2C_SLAVE failed: %s\n", strerror(errno)); + close(fd); + fd = -1; + return false; + } + + dev.I2cDevAddr = 0x29; + dev.i2c_fd = fd; + + VL53L0X_Error Status = VL53L0X_DataInit(&dev); + if (Status != VL53L0X_ERROR_NONE) { + fprintf(stderr, "[VL53L0X] DataInit failed: %d\n", Status); + close(fd); + fd = -1; + return false; + } + + Status = VL53L0X_StaticInit(&dev); + if (Status != VL53L0X_ERROR_NONE) { + fprintf(stderr, "[VL53L0X] StaticInit failed: %d\n", Status); + close(fd); + fd = -1; + return false; + } + + uint32_t refSpadCount; + uint8_t isApertureSpads; + uint8_t VhvSettings; + uint8_t PhaseCal; + + VL53L0X_PerformRefCalibration(&dev, &VhvSettings, &PhaseCal); + VL53L0X_PerformRefSpadManagement(&dev, &refSpadCount, &isApertureSpads); + + Status = VL53L0X_SetDeviceMode(&dev, VL53L0X_DEVICEMODE_SINGLE_RANGING); + if (Status != VL53L0X_ERROR_NONE) { + fprintf(stderr, "[VL53L0X] SetDeviceMode failed: %d\n", Status); + close(fd); + fd = -1; + return false; + } + + VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&dev, 20000); + + uint32_t actualBudget = 0; + VL53L0X_GetMeasurementTimingBudgetMicroSeconds(&dev, &actualBudget); + fprintf(stderr, "[VL53L0X] timing budget = %u us\n", actualBudget); + + initialized = true; + fprintf(stderr, "[VL53L0X] init OK\n"); + return true; +} + +bool VL53L0X::readRange(VL53L0X_RangingMeasurementData_t &data) +{ + if (!initialized) return false; + + VL53L0X_Error Status; + + VL53L0X_ClearInterruptMask(&dev, 0); + Status = VL53L0X_StartMeasurement(&dev); + if (Status != VL53L0X_ERROR_NONE) { + fprintf(stderr, "[VL53L0X] StartMeasurement failed: %d\n", Status); + return false; + } + + uint8_t ready = 0; + int timeout = 500; + while (!ready && --timeout > 0) { + Status = VL53L0X_GetMeasurementDataReady(&dev, &ready); + if (Status != VL53L0X_ERROR_NONE) + break; + if (!ready) + usleep(1000); + } + + if (!ready) { + fprintf(stderr, "[VL53L0X] measurement timeout\n"); + return false; + } + + Status = VL53L0X_GetRangingMeasurementData(&dev, &data); + if (Status != VL53L0X_ERROR_NONE) { + fprintf(stderr, "[VL53L0X] GetRangingMeasurementData failed: %d\n", Status); + return false; + } + + VL53L0X_ClearInterruptMask(&dev, 0); + return true; +} + +bool VL53L0X::startMeasure() +{ + if (!initialized) return false; + VL53L0X_ClearInterruptMask(&dev, 0); + VL53L0X_Error Status = VL53L0X_StartMeasurement(&dev); + return (Status == VL53L0X_ERROR_NONE); +} + +bool VL53L0X::readResult(VL53L0X_RangingMeasurementData_t &data) +{ + if (!initialized) return false; + + uint8_t ready = 0; + VL53L0X_Error Status; + int timeout = 25; // 25ms max, 读不到就跳过 + while (!ready && --timeout > 0) { + Status = VL53L0X_GetMeasurementDataReady(&dev, &ready); + if (Status != VL53L0X_ERROR_NONE) + return false; + if (!ready) + usleep(1000); + } + + if (!ready) return false; + + Status = VL53L0X_GetRangingMeasurementData(&dev, &data); + VL53L0X_ClearInterruptMask(&dev, 0); + return (Status == VL53L0X_ERROR_NONE); +} + +bool VL53L0X::stop() +{ + if (fd >= 0) { + close(fd); + fd = -1; + } + initialized = false; + return true; +}