/* * Copyright (c) 2017, STMicroelectronics - All Rights Reserved * * This file is part of VL53L1 Core and is dual licensed, * either 'STMicroelectronics * Proprietary license' * or 'BSD 3-clause "New" or "Revised" License' , at your option. * ******************************************************************************** * * 'STMicroelectronics Proprietary license' * ******************************************************************************** * * License terms: STMicroelectronics Proprietary in accordance with licensing * terms at www.st.com/sla0081 * * STMicroelectronics confidential * Reproduction and Communication of this document is strictly prohibited unless * specifically authorized in writing by STMicroelectronics. * * ******************************************************************************** * * Alternatively, VL53L1 Core may be distributed under the terms of * 'BSD 3-clause "New" or "Revised" License', in which case the following * provisions apply instead of the ones mentioned above : * ******************************************************************************** * * License terms: BSD 3-clause "New" or "Revised" License. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright notice, this * list of conditions and the following disclaimer. * * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * * 3. Neither the name of the copyright holder nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * * ******************************************************************************** * */ /** * @file vl53l1_wait.c * * @brief EwokPlus25 low level Driver wait function definition */ #include "vl53l1_ll_def.h" #include "vl53l1_ll_device.h" #include "vl53l1_platform.h" #include "vl53l1_core.h" #include "vl53l1_silicon_core.h" #include "vl53l1_wait.h" #include "vl53l1_register_settings.h" #define LOG_FUNCTION_START(fmt, ...) \ _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) #define LOG_FUNCTION_END(status, ...) \ _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) #define LOG_FUNCTION_END_FMT(status, fmt, ...) \ _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, \ fmt, ##__VA_ARGS__) VL53L1_Error VL53L1_wait_for_boot_completion( VL53L1_DEV Dev) { /* Waits for firmware boot to finish */ VL53L1_Error status = VL53L1_ERROR_NONE; VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); uint8_t fw_ready = 0; LOG_FUNCTION_START(""); if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) { /* blocking version */ status = VL53L1_poll_for_boot_completion( Dev, VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS); } else { /* implement non blocking version below */ fw_ready = 0; while (fw_ready == 0x00 && status == VL53L1_ERROR_NONE) { status = VL53L1_is_boot_complete( Dev, &fw_ready); if (status == VL53L1_ERROR_NONE) { status = VL53L1_WaitMs( Dev, VL53L1_POLLING_DELAY_MS); } } } LOG_FUNCTION_END(status); return status; } VL53L1_Error VL53L1_wait_for_firmware_ready( VL53L1_DEV Dev) { /* If in timed mode or single shot then check firmware is ready * before sending handshake */ VL53L1_Error status = VL53L1_ERROR_NONE; VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); uint8_t fw_ready = 0; uint8_t mode_start = 0; LOG_FUNCTION_START(""); /* Filter out tje measure mode part of the mode * start register */ mode_start = pdev->sys_ctrl.system__mode_start & VL53L1_DEVICEMEASUREMENTMODE_MODE_MASK; /* * conditional wait for firmware ready * only waits for timed and single shot modes */ if ((mode_start == VL53L1_DEVICEMEASUREMENTMODE_TIMED) || (mode_start == VL53L1_DEVICEMEASUREMENTMODE_SINGLESHOT)) { if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) { /* blocking version */ status = VL53L1_poll_for_firmware_ready( Dev, VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS); } else { /* implement non blocking version below */ fw_ready = 0; while (fw_ready == 0x00 && status == VL53L1_ERROR_NONE) { status = VL53L1_is_firmware_ready( Dev, &fw_ready); if (status == VL53L1_ERROR_NONE) { status = VL53L1_WaitMs( Dev, VL53L1_POLLING_DELAY_MS); } } } } LOG_FUNCTION_END(status); return status; } VL53L1_Error VL53L1_wait_for_range_completion( VL53L1_DEV Dev) { /* Wrapper function for waiting for range completion */ VL53L1_Error status = VL53L1_ERROR_NONE; VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); uint8_t data_ready = 0; LOG_FUNCTION_START(""); if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) { /* blocking version */ status = VL53L1_poll_for_range_completion( Dev, VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS); } else { /* implement non blocking version below */ data_ready = 0; while (data_ready == 0x00 && status == VL53L1_ERROR_NONE) { status = VL53L1_is_new_data_ready( Dev, &data_ready); if (status == VL53L1_ERROR_NONE) { status = VL53L1_WaitMs( Dev, VL53L1_POLLING_DELAY_MS); } } } LOG_FUNCTION_END(status); return status; } VL53L1_Error VL53L1_wait_for_test_completion( VL53L1_DEV Dev) { /* Wrapper function for waiting for test mode completion */ VL53L1_Error status = VL53L1_ERROR_NONE; VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); uint8_t data_ready = 0; LOG_FUNCTION_START(""); if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) { /* blocking version */ status = VL53L1_poll_for_range_completion( Dev, VL53L1_TEST_COMPLETION_POLLING_TIMEOUT_MS); } else { /* implement non blocking version below */ data_ready = 0; while (data_ready == 0x00 && status == VL53L1_ERROR_NONE) { status = VL53L1_is_new_data_ready( Dev, &data_ready); if (status == VL53L1_ERROR_NONE) { status = VL53L1_WaitMs( Dev, VL53L1_POLLING_DELAY_MS); } } } LOG_FUNCTION_END(status); return status; } VL53L1_Error VL53L1_is_boot_complete( VL53L1_DEV Dev, uint8_t *pready) { /** * Determines if the firmware finished booting by reading * bit 0 of firmware__system_status register */ VL53L1_Error status = VL53L1_ERROR_NONE; uint8_t firmware__system_status = 0; LOG_FUNCTION_START(""); /* read current range interrupt state */ status = VL53L1_RdByte( Dev, VL53L1_FIRMWARE__SYSTEM_STATUS, &firmware__system_status); /* set *pready = 1 if new range data ready complete * zero otherwise */ if ((firmware__system_status & 0x01) == 0x01) { *pready = 0x01; VL53L1_init_ll_driver_state( Dev, VL53L1_DEVICESTATE_SW_STANDBY); } else { *pready = 0x00; VL53L1_init_ll_driver_state( Dev, VL53L1_DEVICESTATE_FW_COLDBOOT); } LOG_FUNCTION_END(status); return status; } VL53L1_Error VL53L1_is_firmware_ready( VL53L1_DEV Dev, uint8_t *pready) { /** * Determines if the firmware is ready to range */ VL53L1_Error status = VL53L1_ERROR_NONE; VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); LOG_FUNCTION_START(""); status = VL53L1_is_firmware_ready_silicon( Dev, pready); pdev->fw_ready = *pready; LOG_FUNCTION_END(status); return status; } VL53L1_Error VL53L1_is_new_data_ready( VL53L1_DEV Dev, uint8_t *pready) { /** * Determines if new range data is ready by reading bit 0 of * VL53L1_GPIO__TIO_HV_STATUS to determine the current state * of output interrupt pin */ VL53L1_Error status = VL53L1_ERROR_NONE; VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); uint8_t gpio__mux_active_high_hv = 0; uint8_t gpio__tio_hv_status = 0; uint8_t interrupt_ready = 0; LOG_FUNCTION_START(""); gpio__mux_active_high_hv = pdev->stat_cfg.gpio_hv_mux__ctrl & VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_MASK; if (gpio__mux_active_high_hv == VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH) interrupt_ready = 0x01; else interrupt_ready = 0x00; /* read current range interrupt state */ status = VL53L1_RdByte( Dev, VL53L1_GPIO__TIO_HV_STATUS, &gpio__tio_hv_status); /* set *pready = 1 if new range data ready complete zero otherwise */ if ((gpio__tio_hv_status & 0x01) == interrupt_ready) *pready = 0x01; else *pready = 0x00; LOG_FUNCTION_END(status); return status; } VL53L1_Error VL53L1_poll_for_boot_completion( VL53L1_DEV Dev, uint32_t timeout_ms) { /** * Polls the bit 0 of the FIRMWARE__SYSTEM_STATUS register to see if * the firmware is ready. */ VL53L1_Error status = VL53L1_ERROR_NONE; LOG_FUNCTION_START(""); /* after reset for the firmware blocks I2C access while * it copies the NVM data into the G02 host register banks * The host must wait the required time to allow the copy * to complete before attempting to read the firmware status */ status = VL53L1_WaitUs( Dev, VL53L1_FIRMWARE_BOOT_TIME_US); if (status == VL53L1_ERROR_NONE) status = VL53L1_WaitValueMaskEx( Dev, timeout_ms, VL53L1_FIRMWARE__SYSTEM_STATUS, 0x01, 0x01, VL53L1_POLLING_DELAY_MS); if (status == VL53L1_ERROR_NONE) VL53L1_init_ll_driver_state(Dev, VL53L1_DEVICESTATE_SW_STANDBY); LOG_FUNCTION_END(status); return status; } VL53L1_Error VL53L1_poll_for_firmware_ready( VL53L1_DEV Dev, uint32_t timeout_ms) { /** * Polls the bit 0 of the FIRMWARE__SYSTEM_STATUS register to see if * the firmware is ready. */ VL53L1_Error status = VL53L1_ERROR_NONE; VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); uint32_t start_time_ms = 0; uint32_t current_time_ms = 0; int32_t poll_delay_ms = VL53L1_POLLING_DELAY_MS; uint8_t fw_ready = 0; /* calculate time limit in absolute time */ VL53L1_GetTickCount(&start_time_ms); /*lint !e534 ignoring return*/ pdev->fw_ready_poll_duration_ms = 0; /* wait until firmware is ready, timeout reached on error occurred */ while ((status == VL53L1_ERROR_NONE) && (pdev->fw_ready_poll_duration_ms < timeout_ms) && (fw_ready == 0)) { status = VL53L1_is_firmware_ready( Dev, &fw_ready); if (status == VL53L1_ERROR_NONE && fw_ready == 0 && poll_delay_ms > 0) { status = VL53L1_WaitMs( Dev, poll_delay_ms); } /* * Update polling time (Compare difference rather than * absolute to negate 32bit wrap around issue) */ VL53L1_GetTickCount(¤t_time_ms); /*lint !e534 ignoring return*/ pdev->fw_ready_poll_duration_ms = current_time_ms - start_time_ms; } if (fw_ready == 0 && status == VL53L1_ERROR_NONE) status = VL53L1_ERROR_TIME_OUT; LOG_FUNCTION_END(status); return status; } VL53L1_Error VL53L1_poll_for_range_completion( VL53L1_DEV Dev, uint32_t timeout_ms) { /** * Polls bit 0 of VL53L1_GPIO__TIO_HV_STATUS to determine * the state of output interrupt pin * * Interrupt may be either active high or active low. Use active_high to * select the required level check */ VL53L1_Error status = VL53L1_ERROR_NONE; VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); uint8_t gpio__mux_active_high_hv = 0; uint8_t interrupt_ready = 0; LOG_FUNCTION_START(""); gpio__mux_active_high_hv = pdev->stat_cfg.gpio_hv_mux__ctrl & VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_MASK; if (gpio__mux_active_high_hv == VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH) interrupt_ready = 0x01; else interrupt_ready = 0x00; status = VL53L1_WaitValueMaskEx( Dev, timeout_ms, VL53L1_GPIO__TIO_HV_STATUS, interrupt_ready, 0x01, VL53L1_POLLING_DELAY_MS); LOG_FUNCTION_END(status); return status; }