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Update Broadcom AFBR to v1.3.5 API

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This commit is contained in:
alexklimaj
2021-08-15 14:29:48 -06:00
committed by Daniel Agar
parent 439400f76e
commit 333629ce37
21 changed files with 1007 additions and 511 deletions
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18
src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp
View File

@@ -94,17 +94,16 @@ void AFBRS50::ProcessMeasurement(void *data)
argus_results_t res{};
status_t evaluate_status = Argus_EvaluateData(_hnd, &res, data);
if ((evaluate_status == STATUS_OK) && (res.Status == 0)) {
if ((evaluate_status == STATUS_OK) && (res.Status == STATUS_OK)) {
uint32_t result_mm = res.Bin.Range / (Q9_22_ONE / 1000);
float result_m = static_cast<float>(result_mm) / 1000.f;
//int8_t quality = res.Bin.SignalQuality;
int8_t quality = 100;
int8_t quality = res.Bin.SignalQuality;
// Signal quality indicates 100% for good signals, 50% and lower for weak signals.
// 1% is an errored signal (not reliable). Signal Quality of 0% is unknown.
//if (quality == 1) {
// quality = 0;
//}
if (quality == 1) {
quality = 0;
}
// distance quality check
if (result_m > _max_distance) {
@@ -264,7 +263,6 @@ void AFBRS50::Run()
if (status != STATUS_OK) {
PX4_ERR("CONFIGURE status not okay: %i", (int)status);
_state = STATE::STOP;
ScheduleNow();
} else {
@@ -316,6 +314,12 @@ void AFBRS50::UpdateMode()
PX4_ERR("set_rate status not okay: %i", (int)status);
}
status = set_rate(LONG_RANGE_MODE_HZ);
if (status != STATUS_OK) {
PX4_ERR("set_rate status not okay: %i", (int)status);
}
} else if ((_current_distance <= _short_range_threshold) && (_mode != ARGUS_MODE_B)) {
// change to short range mode
argus_mode_t mode = ARGUS_MODE_B;

225
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h
View File

@@ -47,7 +47,9 @@ extern "C" {
*
* @brief The main module of the API from the AFBR-S50 SDK.
*
* @details General API for the AFBR-S50 time-of-flight sensor device family.
* @details General API for the AFBR-S50 time-of-flight sensor device family.\n
* See the \ref getting_started Guide for a detailed description
* on how to use the module/API.
*
* @addtogroup argusapi
* @{
@@ -120,7 +122,7 @@ status_t Argus_Reinit(argus_hnd_t *hnd);
* @brief Deinitializes the API modules and the device.
*
* @details The function deinitializes the device and clear all internal states.
* Can be used to cleanup before releaseing the memory. The device
* Can be used to cleanup before releasing the memory. The device
* can not be used any more and must be initialized again prior to next
* usage.
*
@@ -149,10 +151,19 @@ status_t Argus_Deinit(argus_hnd_t *hnd);
* In order to implement an individual memory allocation method,
* define and implement the following weakly binded method and return
* a pointer to the newly allocated memory. *
*
* @code void * Argus_Malloc (size_t size) @endcode
*
* Also see the #Argus_DestroyHandle method for the corresponding
* deallocation of the allocated memory.
*
* @note Although the method is using memory allocated on the heap, it
* is eventually no dynamic memory allocation, since the block of
* memory is kept all the time and no memory blocks are dynamically
* freed and re-allocated. If the usage of heap must be avoided, one
* can always implement its own version of the `Argus_Malloc` function
* to create the memory elsewhere.
*
* @return Returns a pointer to the newly allocated device handler object.
* Returns a null pointer if the allocation failed!
*****************************************************************************/
@@ -176,6 +187,9 @@ argus_hnd_t *Argus_CreateHandle(void);
*
* @code void Argus_Free (void * ptr) @endcode
*
* Also see the #Argus_CreateHandle method for the corresponding
* allocation of the required memory.
*
* @param hnd The device handle object to be deallocated.
*****************************************************************************/
void Argus_DestroyHandle(argus_hnd_t *hnd);
@@ -269,46 +283,50 @@ s2pi_slave_t Argus_GetSPISlave(argus_hnd_t *hnd);
/*!***************************************************************************
* @brief Starts the timer based measurement cycle asynchronously.
*
* @details This function starts a timer based measurement cycle asynchronously.
* @details This function starts a timer based measurement cycle asynchronously
* in the background. A periodic timer interrupt triggers the measurement
* frames on the ASIC and the data readout afterwards. When the frame is
* finished, a callback (which is passed as a parameter to the function)
* is invoked in order to inform the main thread to call the \link
* #Argus_EvaluateData data evaluation method\endlink. This call is
* mandatory to release the data buffer for the next measurement cycle
* and it must not be invoked from the callback since it is within an
* interrupt service routine. Rather a flag should inform the main thread
* to invoke the evaluation as soon as possible in order to not introduce
* any unwanted delays to the next measurement frame.
* frames on the ASIC and the data readout afterwards.
*
* When the measurement has finished, a callback (which is passed as
* a parameter to the function) is invoked in order to inform the
* main thread to call the \link #Argus_EvaluateData data evaluation
* method\endlink. This call is mandatory to release the data buffer
* for the next measurement and it must not be invoked directly from
* the callback since it is currently within an interrupt service
* routine. Rather a flag should inform the main thread or task
* scheduler to invoke the evaluation as soon as possible in order
* to not introduce any unwanted delays to the next measurement frame.
*
* The next measurement frame will be started as soon as the pre-
* conditions are meet. These are:
* 1. timer flag set (i.e. a certain time has passed since the last
* measurement in order to fulfill eye-safety),
* 2. device idle (i.e. no measurement currently ongoing) and
* 3. data buffer ready (i.e. the previous data has been evaluated).
*
* Usually, the device idle and data buffer ready conditions are met
* before the timer tick occurs and thus the timer dictates the frame
* rate.
*
* The callback function pointer will be invoked when the measurement
* frame has finished successfully or whenever an error, that cannot
* be handled internally, occurs.
* The callback function pointer will be invoked when the measurement
* frame has finished successfully or whenever an error, that cannot
* be handled internally, occurs.
*
* The periodic timer interrupts are used to check the measurement status
* The periodic timer interrupts are used to check the measurement status
* for timeouts. An error is invoked when a measurement cycle have not
* finished within the specified time.
*
* Use #Argus_StopMeasurementTimer to stop the measurements.
*
* @note In order to use this function, the periodic interrupt timer module
* (see @ref argus_timer) must be implemented!
* (see @ref argus_timer) must be implemented!
*
* @param hnd The API handle; contains all internal states and data.
* @param cb Callback function that will be invoked when the measurement
* is completed. Its parameters are the \link #status_t status
* \endlink and a pointer to the \link #argus_results_t results
* \endlink structure. If an error occurred, the status differs
* from #STATUS_OK and the second parameter is null.
* is completed. Its parameters are the \link #status_t status
* \endlink and a pointer to the \link #argus_results_t results
* \endlink structure. If an error occurred, the status differs
* from #STATUS_OK and the second parameter is null.
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/
status_t Argus_StartMeasurementTimer(argus_hnd_t *hnd, argus_callback_t cb);
@@ -329,15 +347,19 @@ status_t Argus_StopMeasurementTimer(argus_hnd_t *hnd);
* @brief Triggers a single measurement frame asynchronously.
*
* @details This function immediately triggers a single measurement frame
* asynchronously if all the pre-conditions are met. Otherwise it returns
* with a corresponding status.
* When the frame is finished, a callback (which is passed as a parameter
* to the function) is invoked in order to inform the main thread to
* call the \link #Argus_EvaluateData data evaluation method\endlink.
* This call is mandatory to release the data buffer for the next
* measurement and it must not be invoked from the callback since it is
* within an interrupt service routine. Rather a flag should inform
* the main thread to invoke the evaluation.
* asynchronously if all the pre-conditions are met. Otherwise it
* returns with a corresponding status (e.g. #STATUS_BUSY or
* #STATUS_ARGUS_POWERLIMIT).
*
* When the measurement has finished, a callback (which is passed as
* a parameter to the function) is invoked in order to inform the
* main thread to call the \link #Argus_EvaluateData data evaluation
* method\endlink. This call is mandatory to release the data buffer
* for the next measurement and it must not be invoked directly from
* the callback since it is currently within an interrupt service
* routine. Rather a flag should inform the main thread or task
* scheduler to invoke the evaluation task.
*
* The pre-conditions for starting a measurement frame are:
* 1. timer flag set (i.e. a certain time has passed since the last
* measurement in order to fulfill eye-safety),
@@ -373,22 +395,23 @@ status_t Argus_Abort(argus_hnd_t *hnd);
/*!***************************************************************************
* @brief Checks the state of the device/driver.
*
* @details Returns the current module state:
* @details Returns the current module status or error if any.
* See the following for a list of errors:
*
* Status:
* - Idle/OK: Device and SPI interface are idle (== #STATUS_IDLE).
* - Busy: Device or SPI interface are busy (== #STATUS_BUSY).
* - Initializing: The modules and devices are currently initializing
* (== #STATUS_INITIALIZING).
* .
* - Busy: Device or SPI interface are busy (== #STATUS_BUSY).
* - Initializing: The modules and devices are currently initializing
* (== #STATUS_INITIALIZING).
* .
*
* Error:
* - Not Initialized: The modules (or any submodule) has not been
* initialized yet (== #ERROR_NOT_INITIALIZED).
* - Not Connected: No device has been connected (or connection errors
* have occured) (== #ERROR_ARGUS_NOT_CONNECTED).
* - Timeout: A previous frame measurement has not finished within a
* specified time (== #ERROR_TIMEOUT).
* Error:
* - Not Initialized: The modules (or any submodule) has not been
* initialized yet (== #ERROR_NOT_INITIALIZED).
* - Not Connected: No device has been connected (or connection errors
* have occurred) (== #ERROR_ARGUS_NOT_CONNECTED).
* - Timeout: A previous frame measurement has not finished within a
* specified time (== #ERROR_TIMEOUT).
* .
*
* @param hnd The API handle; contains all internal states and data.
@@ -412,21 +435,22 @@ status_t Argus_Ping(argus_hnd_t *hnd);
* @brief Evaluate useful information from the raw measurement data.
*
* @details This function is called with a pointer to the raw results obtained
* from the measurement cycle. It evaluates this data and creates
* useful information from it. Furthermore, calibration is applied to
* the data. Finally, the results are used in order to adapt the device
* configuration to the ambient conditions in order to achieve optimal
* device performance.\n
* Therefore, it consists of the following sub-functions:
* - Apply pre-calibration: Applies calibration steps before evaluating
* the data, i.e. calculations that are to the integration results
* directly.
* - Evaluate data: Calculates measurement parameters such as range,
* amplitude or ambient light intensity, depending on the configurations.
* - Apply post-calibration: Applies calibrations after evaluation of
* measurement data, i.e. calibrations applied to the calculated
* values such as range.
* - Dynamic Configuration Adaption: checks if the configuration needs
* from the measurement cycle. It evaluates this data and creates
* useful information from it. Furthermore, calibration is applied to
* the data. Finally, the results are used in order to adapt the device
* configuration to the ambient conditions in order to achieve optimal
* device performance.
*
* Therefore, it consists of the following sub-functions:
* - Apply pre-calibration: Applies calibration steps before evaluating
* the data, i.e. calculations that are to the integration results
* directly.
* - Evaluate data: Calculates measurement parameters such as range,
* amplitude or ambient light intensity, depending on the configurations.
* - Apply post-calibration: Applies calibrations after evaluation of
* measurement data, i.e. calibrations applied to the calculated
* values such as range.
* - Dynamic Configuration Adaption: checks if the configuration needs
* to be adjusted before the next measurement cycle in order to
* achieve optimum performance. Note that the configuration might not
* applied directly but before the next measurement starts. This is
@@ -506,10 +530,10 @@ status_t Argus_ExecuteXtalkCalibrationSequence(argus_hnd_t *hnd, argus_mode_t mo
* relative pixel offset w.r.t. the average range is also compensated.
* .
*
* After calibration has finished successfully, the obtained data is
* applied immediately and can be read from the API using the
* #Argus_GetCalibrationPixelRangeOffsets or
* #Argus_GetCalibrationGlobalRangeOffset function.
* After calibration has finished successfully, the obtained data is
* applied immediately and can be read from the API using the
* #Argus_GetCalibrationPixelRangeOffsets or
* #Argus_GetCalibrationGlobalRangeOffset function.
*
* @param hnd The API handle; contains all internal states and data.
* @param mode The targeted measurement mode.
@@ -556,10 +580,10 @@ status_t Argus_ExecuteRelativeRangeOffsetCalibrationSequence(argus_hnd_t *hnd,
* relative pixel offset w.r.t. the average range is also compensated.
* .
*
* After calibration has finished successfully, the obtained data is
* applied immediately and can be read from the API using the
* #Argus_GetCalibrationPixelRangeOffsets or
* #Argus_GetCalibrationGlobalRangeOffset function.
* After calibration has finished successfully, the obtained data is
* applied immediately and can be read from the API using the
* #Argus_GetCalibrationPixelRangeOffsets or
* #Argus_GetCalibrationGlobalRangeOffset function.
*
* @param hnd The API handle; contains all internal states and data.
* @param mode The targeted measurement mode.
@@ -684,6 +708,29 @@ status_t Argus_SetConfigurationShotNoiseMonitorMode(argus_hnd_t *hnd,
status_t Argus_GetConfigurationShotNoiseMonitorMode(argus_hnd_t *hnd,
argus_mode_t mode,
argus_snm_mode_t *value);
#if 0
///*!***************************************************************************
// * @brief Sets the Crosstalk Monitor (XTM) mode to a specified device.
// * @param hnd The API handle; contains all internal states and data.
// * @param mode The targeted measurement mode.
// * @param value The new XTM mode value (true: enabled; false: disabled).
// * @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
// *****************************************************************************/
//status_t Argus_SetConfigurationCrosstalkMonitorMode(argus_hnd_t * hnd,
// argus_mode_t mode,
// bool value);
//
///*!***************************************************************************
// * @brief Gets the Crosstalk Monitor (XTM) mode from a specified device.
// * @param hnd The API handle; contains all internal states and data.
// * @param mode The targeted measurement mode.
// * @param value The current XTM mode value (true: enabled; false: disabled).
// * @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
// *****************************************************************************/
//status_t Argus_GetConfigurationCrosstalkMonitorMode(argus_hnd_t * hnd,
// argus_mode_t mode,
// bool * value);
#endif
/*!***************************************************************************
* @brief Sets the full DCA module configuration to a specified device.
@@ -755,12 +802,12 @@ status_t Argus_GetConfigurationUnambiguousRange(argus_hnd_t *hnd,
*
* @param hnd The API handle; contains all internal states and data.
* @param mode The targeted measurement mode.
* @param value The new global range offset in meter and Q9.22 format.
* @param value The new global range offset in meter and Q0.15 format.
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/
status_t Argus_SetCalibrationGlobalRangeOffset(argus_hnd_t *hnd,
argus_mode_t mode,
q9_22_t value);
q0_15_t value);
/*!***************************************************************************
* @brief Gets the global range offset value from a specified device.
@@ -769,12 +816,12 @@ status_t Argus_SetCalibrationGlobalRangeOffset(argus_hnd_t *hnd,
*
* @param hnd The API handle; contains all internal states and data.
* @param mode The targeted measurement mode.
* @param value The current global range offset in meter and Q9.22 format.
* @param value The current global range offset in meter and Q0.15 format.
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/
status_t Argus_GetCalibrationGlobalRangeOffset(argus_hnd_t *hnd,
argus_mode_t mode,
q9_22_t *value);
q0_15_t *value);
/*!***************************************************************************
* @brief Sets the relative pixel offset table to a specified device.
@@ -922,22 +969,30 @@ void Argus_GetExternalPixelRangeOffsets_Callback(q0_15_t offsets[ARGUS_PIXELS_X]
argus_mode_t mode);
/*!***************************************************************************
* @brief Sets the sample count for the range offset calibration sequence.
* @brief Sets the sample time for the range offset calibration sequence.
*
* @details Gets the measurement sample acquisition time for executing the
* range offset calibration sequence and generate the offset data.\n
* Units: msec.
*
* @param hnd The API handle; contains all internal states and data.
* @param value The new range offset calibration sequence sample count.
* @param value The new range offset calibration sequence sample time.
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/
status_t Argus_SetCalibrationRangeOffsetSequenceSampleCount(argus_hnd_t *hnd, uint16_t value);
status_t Argus_SetCalibrationRangeOffsetSequenceSampleTime(argus_hnd_t *hnd, uint16_t value);
/*!***************************************************************************
* @brief Gets the sample count for the range offset calibration sequence.
* @brief Gets the sample time for the range offset calibration sequence.
*
* @details Gets the measurement sample acquisition time for executing the
* range offset calibration sequence and generate the ooffset data.\n
* Units: msec.
*
* @param hnd The API handle; contains all internal states and data.
* @param value The current range offset calibration sequence sample count.
* @param value The current range offset calibration sequence sample time.
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/
status_t Argus_GetCalibrationRangeOffsetSequenceSampleCount(argus_hnd_t *hnd, uint16_t *value);
status_t Argus_GetCalibrationRangeOffsetSequenceSampleTime(argus_hnd_t *hnd, uint16_t *value);
/*!***************************************************************************
* @brief Sets the pixel-to-pixel crosstalk compensation parameters to a specified device.
@@ -1067,23 +1122,31 @@ status_t Argus_ResetCalibrationCrosstalkVectorTable(argus_hnd_t *hnd,
argus_mode_t mode);
/*!***************************************************************************
* @brief Sets the sample count for the crosstalk calibration sequence.
* @brief Sets the sample time for the crosstalk calibration sequence.
*
* @details Sets the measurement sample acquisition time for executing the
* crosstalk calibration sequence and generate the crosstalk data.\n
* Units: msec.
*
* @param hnd The API handle; contains all internal states and data.
* @param value The new crosstalk calibration sequence sample count.
* @param value The new crosstalk calibration sequence sample time.
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/
status_t Argus_SetCalibrationCrosstalkSequenceSampleCount(argus_hnd_t *hnd,
status_t Argus_SetCalibrationCrosstalkSequenceSampleTime(argus_hnd_t *hnd,
uint16_t value);
/*!***************************************************************************
* @brief Gets the sample count for the crosstalk calibration sequence.
* @brief Gets the sample time for the crosstalk calibration sequence.
*
* @details Gets the measurement sample acquisition time for executing the
* crosstalk calibration sequence and generate the crosstalk data.\n
* Units: msec.
*
* @param hnd The API handle; contains all internal states and data.
* @param value The current crosstalk calibration sequence sample count.
* @param value The current crosstalk calibration sequence sample time.
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/
status_t Argus_GetCalibrationCrosstalkSequenceSampleCount(argus_hnd_t *hnd,
status_t Argus_GetCalibrationCrosstalkSequenceSampleTime(argus_hnd_t *hnd,
uint16_t *value);
/*!***************************************************************************

252
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h
View File

@@ -95,25 +95,19 @@
#define ARGUS_CFG_DCA_DEPTH_MIN ((uq10_6_t)(1U)) // 1/64, i.e. 1/2 nibble
/*! The maximum optical output power, i.e. the maximum VCSEL 1 high current in LSB. */
/*! The maximum optical output power, i.e. the maximum VCSEL high current in LSB. */
#define ARGUS_CFG_DCA_POWER_MAX_LSB (ADS_LASET_VCSEL_HC1_MASK >> ADS_LASET_VCSEL_HC1_SHIFT)
/*! The minimum optical output power, i.e. the minimum VCSEL 1 high current in mA. */
/*! The minimum optical output power, i.e. the minimum VCSEL high current in mA. */
#define ARGUS_CFG_DCA_POWER_MIN_LSB (1)
/*! The maximum optical output power, i.e. the maximum VCSEL 1 high current in LSB. */
/*! The maximum optical output power, i.e. the maximum VCSEL high current in LSB. */
#define ARGUS_CFG_DCA_POWER_MAX (ADS0032_HIGH_CURRENT_LSB2MA(ARGUS_CFG_DCA_POWER_MAX_LSB + 1))
/*! The minimum optical output power, i.e. the minimum VCSEL 1 high current in mA. */
/*! The minimum optical output power, i.e. the minimum VCSEL high current in mA. */
#define ARGUS_CFG_DCA_POWER_MIN (1)
/*! The dynamic configuration algorithm Pixel Input Gain stage count. */
#define ARGUS_DCA_GAIN_STAGE_COUNT (4U)
@@ -129,35 +123,32 @@
/*! The dynamic configuration algorithm Optical Output Power stage count. */
#define ARGUS_DCA_POWER_STAGE_COUNT (4U)
#define ARGUS_DCA_POWER_STAGE_COUNT (2U)
/*! The dynamic configuration algorithm state mask for the Optical Output Power stage. */
#define ARGUS_STATE_DCA_POWER_MASK (0x03U)
#define ARGUS_STATE_DCA_POWER_MASK (0x01U)
/*! The dynamic configuration algorithm state mask for the Optical Output Power stage. */
#define ARGUS_STATE_DCA_POWER_SHIFT (12U)
#define ARGUS_STATE_DCA_POWER_SHIFT (13U)
/*! Getter for the dynamic configuration algorithm Optical Output Power stage. */
#define ARGUS_STATE_DCA_POWER_GET(state) \
(((state) >> ARGUS_STATE_DCA_POWER_SHIFT) & ARGUS_STATE_DCA_POWER_MASK)
/*! The dynamic configuration algorithm state mask for the Max. Analog Integration Depth shift value. */
#define ARGUS_STATE_DCA_DEPTH_SHFT_MASK (0x0FU)
/*! The dynamic configuration algorithm state mask for the Max. Analog Integration Depth shift value. */
#define ARGUS_STATE_DCA_DEPTH_SHFT_SHIFT (8U)
/*! Getter for the dynamic configuration algorithm Max. Analog Integration Depth shift value. */
#define ARGUS_STATE_DCA_DEPTH_SHFT_GET(state) \
(((state) >> ARGUS_STATE_DCA_DEPTH_SHFT_SHIFT) & ARGUS_STATE_DCA_DEPTH_SHFT_MASK)
/*!***************************************************************************
* @brief The dynamic configuration algorithm enable flags.
*****************************************************************************/
typedef enum {
/*! DCA is disabled and will be completely skipped. */
/*! @internal
*
* DCA is disabled and will be completely skipped.
*
* @note This state is for internal/debugging usage only as it also
* disables laser safety checks of the device configuration.
* An error will occur when used with the API.*/
DCA_ENABLE_OFF = 0,
/*! DCA is enabled and will dynamically adjust the device configuration. */
@@ -168,21 +159,30 @@ typedef enum {
} argus_dca_enable_t;
/*!***************************************************************************
* @brief The DCA amplitude evaluation method.
*****************************************************************************/
typedef enum {
/*! Evaluate the DCA amplitude as the maximum of all valid amplitudes. */
DCA_AMPLITUDE_MAX = 1U,
/*! Evaluate the DCA amplitude as the average of all valid amplitudes. */
DCA_AMPLITUDE_AVG = 2U,
} argus_dca_amplitude_mode_t;
/*!***************************************************************************
* @brief The dynamic configuration algorithm Optical Output Power stages enumerator.
*****************************************************************************/
typedef enum {
/*! Low output power stage. */
/*! Use low output power stage. */
DCA_POWER_LOW = 0,
/*! Medium low output power stage. */
DCA_POWER_MEDIUM_LOW = 1,
/*! Use high output power stage. */
DCA_POWER_HIGH = 1,
/*! Medium high output power stage. */
DCA_POWER_MEDIUM_HIGH = 2,
/*! High output power stage. */
DCA_POWER_HIGH = 3
/*! Use low and high output power stages automatically. */
DCA_POWER_AUTO = 2
} argus_dca_power_t;
@@ -208,108 +208,126 @@ typedef enum {
/*!***************************************************************************
* @brief State flags for the current frame.
* @details State flags determine the current state of the measurement frame:
* - [0]: #ARGUS_STATE_MEASUREMENT_MODE: Measurement Mode:
* - 0: Mode A
* - 1: Mode B
* .
* - [1]: #ARGUS_STATE_DUAL_FREQ_MODE: Dual Frequency Mode Enabled Flag
* - 0: Disabled, measurements w/ base frequency only
* - 1: Enabled, measurements w/ detuned frequency
* .
* - [2]: #ARGUS_STATE_MEASUREMENT_FREQ: Measurement Frequency for
* Dual Frequency Mode, (only valid if #ARGUS_STATE_DUAL_FREQ_MODE
* flag is set)
* - 0: A-Frame w/ detuned frequency
* - 1: B-Frame w/ detuned frequency
* .
* - [0]: #ARGUS_STATE_MEASUREMENT_MODE
* - [1]: #ARGUS_STATE_DUAL_FREQ_MODE
* - [2]: #ARGUS_STATE_MEASUREMENT_FREQ
* - [3]: #ARGUS_STATE_DEBUG_MODE
* - [4]: #ARGUS_STATE_GOLDEN_PIXEL_MODE
* - [4]: #ARGUS_STATE_WEAK_SIGNAL
* - [5]: #ARGUS_STATE_BGL_WARNING
* - [6]: #ARGUS_STATE_BGL_ERROR
* - [7]: #ARGUS_STATE_PLL_LOCKED
* - 0: PLL_LOCKED bit was not set at start of integration;
* - 0: PLL_LOCKED bit was set at start of integration;
* .
* - [8-11]: Max. Depth Shift Value
* - [12-13]: Power Stages
* - [14-15]: Gain Stages
* - [8]: #ARGUS_STATE_LASER_WARNING
* - [9]: #ARGUS_STATE_LASER_ERROR
* - [10]: #ARGUS_STATE_HAS_DATA
* - [11]: #ARGUS_STATE_HAS_AUX_DATA
* - [12]: #ARGUS_STATE_DCA_MAX
* - [13]: DCA Power Stage
* - [14-15]: DCA Gain Stages
* .
*****************************************************************************/
typedef enum {
/*! No state flag set. */
ARGUS_STATE_NONE = 0,
/*! 0x01: Measurement Mode.
* - 0: Mode A: Long Range / Medium Precision
* - 1: Mode B: Short Range / High Precision */
/*! 0x0001: Measurement Mode.
* - 0: Mode A: Long Range / Medium Precision
* - 1: Mode B: Short Range / High Precision */
ARGUS_STATE_MEASUREMENT_MODE = 1U << 0U,
/*! 0x02: Dual Frequency Mode Enabled.
* - 0: Disabled: measurements with base frequency,
* - 1: Enabled: measurement with detuned frequency. */
/*! 0x0002: Dual Frequency Mode Enabled.
* - 0: Disabled: measurements with base frequency,
* - 1: Enabled: measurement with detuned frequency. */
ARGUS_STATE_DUAL_FREQ_MODE = 1U << 1U,
/*! 0x04: Measurement Frequency for Dual Frequency Mode
* (only if #ARGUS_STATE_DUAL_FREQ_MODE flag is set).
* - 0: A-Frame w/ detuned frequency,
* - 1: B-Frame w/ detuned frequency */
/*! 0x0004: Measurement Frequency for Dual Frequency Mode
* (only if #ARGUS_STATE_DUAL_FREQ_MODE flag is set).
* - 0: A-Frame w/ detuned frequency,
* - 1: B-Frame w/ detuned frequency */
ARGUS_STATE_MEASUREMENT_FREQ = 1U << 2U,
/*! 0x08: Debug Mode. If set, the range value of erroneous pixels are not
* cleared or reset.
* - 0: Disabled (default).
* - 1: Enabled. */
/*! 0x0008: Debug Mode. If set, the range value of erroneous pixels
* are not cleared or reset.
* - 0: Disabled (default).
* - 1: Enabled. */
ARGUS_STATE_DEBUG_MODE = 1U << 3U,
/*! 0x10: Golden Pixel Mode Flag.
* Set whenever the Pixel Binning Algorithm is operating in the
* Golden Pixel Mode.
* - 0: Normal Pixel Binning Mode.
* - 1: Golden Pixel Mode. */
ARGUS_STATE_GOLDEN_PIXEL_MODE = 1U << 4U,
/*! 0x0010: Weak Signal Flag.
* Set whenever the Pixel Binning Algorithm is detecting a
* weak signal, i.e. if the amplitude dies not reach its
* (absolute) threshold. If the Golden Pixel is enabled,
* this also indicates that the Pixel Binning Algorithm
* falls back to the Golden Pixel.
* - 0: Normal Signal.
* - 1: Weak Signal or Golden Pixel Mode. */
ARGUS_STATE_WEAK_SIGNAL = 1U << 4U,
/*! 0x20: Background Light Warning Flag.
* Set whenever the background light is very high and the
* measurement data might be unreliable.
* - 0: No Warning Background Light is within valid range.
* - 1: Warning: Background Light is very high. */
/*! 0x0020: Background Light Warning Flag.
* Set whenever the background light is very high and the
* measurement data might be unreliable.
* - 0: No Warning: Background Light is within valid range.
* - 1: Warning: Background Light is very high. */
ARGUS_STATE_BGL_WARNING = 1U << 5U,
/*! 0x40: Background Light Error Flag.
* Set whenever the background light is too high and the
* measurement data is unreliable or invalid.
* - 0: No Error, Background Light is within valid range.
* - 1: Error: Background Light is too high. */
/*! 0x0040: Background Light Error Flag.
* Set whenever the background light is too high and the
* measurement data is unreliable or invalid.
* - 0: No Error: Background Light is within valid range.
* - 1: Error: Background Light is too high. */
ARGUS_STATE_BGL_ERROR = 1U << 6U,
/*! 0x80: PLL_LOCKED bit.
* - 0: PLL not locked at start of integration.
* - 1: PLL locked at start of integration. */
/*! 0x0080: PLL_LOCKED bit.
* - 0: PLL not locked at start of integration.
* - 1: PLL locked at start of integration. */
ARGUS_STATE_PLL_LOCKED = 1U << 7U,
/*! DCA is in low Optical Output Power stage. */
ARGUS_STATE_DCA_POWER_LOW = DCA_GAIN_LOW << ARGUS_STATE_DCA_POWER_SHIFT,
/*! 0x0100: Laser Failure Warning Flag.
* Set whenever the an invalid system condition is detected.
* (i.e. DCA at max state but no amplitude on any (incl. reference)
* pixel, not amplitude but any saturated pixel).
* - 0: No Warning: Laser is operating properly.
* - 1: Warning: Invalid laser conditions detected. If the invalid
* condition stays, a laser malfunction error is raised. */
ARGUS_STATE_LASER_WARNING = 1U << 8U,
/*! DCA is in medium-low Optical Output Power stage. */
ARGUS_STATE_DCA_POWER_MED_LOW = DCA_GAIN_MEDIUM_LOW << ARGUS_STATE_DCA_POWER_SHIFT,
/*! 0x0200: Laser Failure Error Flag.
* Set whenever a laser malfunction error is raised and the
* system is put into a safe state.
* - 0: No Error: Laser is operating properly.
* - 1: Error: Invalid laser conditions are detected for a certain
* soak time and the system is put into a safe state. */
ARGUS_STATE_LASER_ERROR = 1U << 9U,
/*! DCA is in medium-high Optical Output Power stage. */
ARGUS_STATE_DCA_POWER_MED_HIGH = DCA_GAIN_MEDIUM_HIGH << ARGUS_STATE_DCA_POWER_SHIFT,
/*! 0x0400: Set if current frame has distance measurement data available.
* - 0: No measurement data available, all values are 0 or stalled.
* - 1: Measurement data is available and correctly evaluated. */
ARGUS_STATE_HAS_DATA = 1U << 10U,
/*! DCA is in high Optical Output Power stage. */
ARGUS_STATE_DCA_POWER_HIGH = DCA_GAIN_HIGH << ARGUS_STATE_DCA_POWER_SHIFT,
/*! 0x0800: Set if current frame has auxiliary measurement data available.
* - 0: No auxiliary data available, all values are 0 or stalled.
* - 1: Auxiliary data is available and correctly evaluated. */
ARGUS_STATE_HAS_AUX_DATA = 1U << 11U,
/*! 0x1000: DCA Maximum State Flag.
* Set whenever the DCA has extended all its parameters to their
* maximum values and can not increase the integration energy any
* further.
* - 0: DCA has not yet reached its maximum state.
* - 1: DCA has reached its maximum state and can not increase any further. */
ARGUS_STATE_DCA_MAX = 1U << 12U,
/*! 0x2000: DCA is in high Optical Output Power stage. */
ARGUS_STATE_DCA_POWER_HIGH = DCA_POWER_HIGH << ARGUS_STATE_DCA_POWER_SHIFT,
/*! DCA is in low Pixel Input Gain stage. */
ARGUS_STATE_DCA_GAIN_LOW = DCA_GAIN_LOW << ARGUS_STATE_DCA_GAIN_SHIFT,
/*! DCA is in medium-low Pixel Input Gain stage. */
/*! 0x4000: DCA is in medium-low Pixel Input Gain stage. */
ARGUS_STATE_DCA_GAIN_MED_LOW = DCA_GAIN_MEDIUM_LOW << ARGUS_STATE_DCA_GAIN_SHIFT,
/*! DCA is in medium-high Pixel Input Gain stage. */
/*! 0x8000: DCA is in medium-high Pixel Input Gain stage. */
ARGUS_STATE_DCA_GAIN_MED_HIGH = DCA_GAIN_MEDIUM_HIGH << ARGUS_STATE_DCA_GAIN_SHIFT,
/*! DCA is in high Pixel Input Gain stage. */
/*! 0xC000: DCA is in high Pixel Input Gain stage. */
ARGUS_STATE_DCA_GAIN_HIGH = DCA_GAIN_HIGH << ARGUS_STATE_DCA_GAIN_SHIFT,
} argus_state_t;
@@ -331,9 +349,7 @@ typedef enum {
typedef struct {
/*! Enables the automatic configuration adaption features.
* Enables the dynamic part if #DCA_ENABLE_DYNAMIC and the static only if
* #DCA_ENABLE_STATIC. If set to DCA_ENABLE_OFF, the DCA is completely
* skipped and the static register values are considered which is
* recommended for advanced debugging only. */
* #DCA_ENABLE_STATIC. */
argus_dca_enable_t Enabled;
/*! The threshold value of saturated pixels that causes a linear reduction
@@ -373,17 +389,16 @@ typedef struct {
* 1 <= SatPxThLin <= SatPxThExp <= SatPxThRst <= 33 */
uint8_t SatPxThRst;
/*! The amplitude to be targeted from the lower regime. If the amplitude
* lower than the target value, a linear increase of integration energy
* will happen in order to optimize for best performance.
/*! The DCA amplitude to be targeted from the lower regime. If the DCA
* amplitude lower than the target value, a linear increase of integration
* energy will happen in order to optimize for best performance.
*
* Valid values: #ARGUS_CFG_DCA_ATH_MIN, ... #ARGUS_CFG_DCA_ATH_MAX or 0
* Set 0 to disable optimization toward the target amplitude.
* Valid values: #ARGUS_CFG_DCA_ATH_MIN, ... #ARGUS_CFG_DCA_ATH_MAX
* Note further that the following condition must hold:
* 'MIN' <= AthLow <= Atarget <= AthHigh <= 'MAX' */
uq12_4_t Atarget;
/*! The low threshold value for the max. amplitude. If the max. amplitude
/*! The low threshold value for the DCA amplitude. If the DCA amplitude
* falls below this value, the integration depth will be increases.
*
* Valid values: #ARGUS_CFG_DCA_ATH_MIN, ... #ARGUS_CFG_DCA_ATH_MAX
@@ -391,7 +406,7 @@ typedef struct {
* 'MIN' <= AthLow <= Atarget <= AthHigh <= 'MAX' */
uq12_4_t AthLow;
/*! The high threshold value for the max. amplitude. If the max. amplitude
/*! The high threshold value for the DCA amplitude. If the DCA amplitude
* exceeds this value, the integration depth will be decreases. Note that
* also saturated pixels will cause a decrease of the integration depth.
*
@@ -400,6 +415,15 @@ typedef struct {
* 'MIN' <= AthLow <= Atarget <= AthHigh <= 'MAX' */
uq12_4_t AthHigh;
/*! The DCA amplitude calculation algorithm. Either maximum
* (#DCA_AMPLITUDE_MAX) or average (#DCA_AMPLITUDE_AVG) amplitude can be
* selected. */
argus_dca_amplitude_mode_t AmplitudeMode;
/*! The power stage selector.
* Selects the used power stages, i.e. LOW, HIGH or AUTO (LOW+HIGH). */
argus_dca_power_t Power;
/*! The nominal analog integration depth in UQ10.6 format,
* i.e. the nominal pattern count per sample.
*
@@ -424,22 +448,6 @@ typedef struct {
* 'MIN' <= DepthMin <= DepthNom <= DepthMax <= 'MAX' */
uq10_6_t DepthMax;
/*! The nominal optical output power in mA,
* i.e. the nominal VCSEL_HC1 setting.
*
* Valid values: #ARGUS_CFG_DCA_POWER_MIN, ... #ARGUS_CFG_DCA_POWER_MAX
* Note further that the following condition must hold:
* 'MIN' <= PowerMin <= PowerNom <= 'MAX' */
uq12_4_t PowerNom;
/*! The minimum optical output power in mA,
* i.e. the minimum VCSEL_HC1 setting.
*
* Valid values: #ARGUS_CFG_DCA_POWER_MIN, ... #ARGUS_CFG_DCA_POWER_MAX
* Note further that the following condition must hold:
* 'MIN' <= PowerMin <= PowerNom <= 'MAX' */
uq12_4_t PowerMin;
/*! The nominal pixel gain setting, i.e. the setting for
* nominal/default gain stage.
*

33
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_def.h
View File

@@ -129,7 +129,7 @@ typedef enum {
/*! Reserved for future extensions. */
Reserved = 0b111111
Reserved = 0x3F
} argus_module_version_t;
@@ -149,6 +149,9 @@ typedef enum {
/*! 680nm Red VCSEL v1 */
LASER_R_V1 = 3,
/*! 850nm Infra-Red VCSEL v2 /w extended mode. */
LASER_H_V2X = 4,
} argus_laser_type_t;
/*!***************************************************************************
@@ -158,14 +161,20 @@ typedef enum {
/*! No device connected or not recognized. */
ADS0032_NONE = 0,
/*! ADS0032 v1.0 */
ADS0032_V1_0 = 1,
/*! ADS0032 v1a */
ADS0032_V1A = 1,
/*! ADS0032 v1.1 */
ADS0032_V1_1 = 2,
/*! ADS0032 v1b */
ADS0032_V1B = 2,
/*! ADS0032 v1.2 */
ADS0032_V1_2 = 3,
/*! ADS0032 v1c */
ADS0032_V1C = 3,
/*! ADS0032 v1d */
ADS0032_V1D = 4,
/*! ADS0032 v1e */
ADS0032_V1E = 5,
} argus_chip_version_t;
@@ -192,11 +201,11 @@ typedef enum {
* @details Invoked by the API. The content of the abstract data pointer
* depends upon the context.
* @param status The module status that caused the callback. #STATUS_OK if
* everything was as expected.
* @param data An abstract pointer to an user defined data. This will
* usually be passed to the function that also takes the
* callback as an parameter. Otherwise it has a special
* meaning such as configuration or calibration data.
* everything was as expected.
* @param data An abstract pointer to an user defined data. This will usually
* be passed to the function that also takes the callback as an
* parameter. Otherwise it has a special meaning such as
* configuration or calibration data.
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/
typedef status_t (*argus_callback_t)(status_t status, void *data);

2
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dfm.h
View File

@@ -39,7 +39,7 @@
/*!***************************************************************************
* @defgroup argusdfm Dual Frequency Mode
* @ingroup argusdev
* @ingroup argusapi
*
* @brief Dual Frequency Mode (DFM) parameter definitions and API functions.
*

253
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h Normal file
View File

@@ -0,0 +1,253 @@
/*************************************************************************//**
* @file
* @brief This file is part of the AFBR-S50 API.
* @details Defines macros to work with pixel and ADC channel masks.
*
* @copyright
*
* Copyright (c) 2021, Broadcom Inc
* All rights reserved.
*
* 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.
*****************************************************************************/
#ifndef ARGUS_MAP_H
#define ARGUS_MAP_H
/*!***************************************************************************
* @defgroup argusmap ADC Channel Mapping
* @ingroup argusres
*
* @brief Pixel ADC Channel Mapping
*
* @details The ADC Channels of each pixel or auxiliary channel on the device
* are numbered in a way that is convenient on the chip architecture.
* The macros in this module are defined in order to map between the
* chip internal channel number (ch) to the two-dimensional
* x-y-indices or one-dimensional n-index representation.
*
* @addtogroup argusmap
* @{
*****************************************************************************/
#include "api/argus_def.h"
#include "utility/int_math.h"
/*!*****************************************************************************
* @brief Macro to determine the pixel ADC channel number from the x-z-indices.
* @param x The x-index of the pixel.
* @param y The y-index of the pixel.
* @return The ADC channel number of the pixel.
******************************************************************************/
#define PIXEL_XY2CH(x, y) ((((y) << 3U) & 0x10U) | (((x) ^ 0x07U) << 1U) | ((y) & 0x01U))
/*!*****************************************************************************
* @brief Macro to determine the pixel x-index from the ADC channel number.
* @param c The ADC channel number of the pixel.
* @return The x-index of the pixel.
******************************************************************************/
#define PIXEL_CH2X(c) ((((c) >> 1U) ^ 0x07U) & 0x07U)
/*!*****************************************************************************
* @brief Macro to determine the pixel y-index from the ADC channel number.
* @param c The ADC channel number of the pixel.
* @return The y-index of the pixel.
******************************************************************************/
#define PIXEL_CH2Y(c) ((((c) >> 3U) & 0x02U) | ((c) & 0x01U))
/*!*****************************************************************************
* @brief Macro to determine the n-index from the x-y-indices.
* @param x The x-index of the pixel.
* @param y The y-index of the pixel.
* @return The n-index of the pixel.
******************************************************************************/
#define PIXEL_XY2N(x, y) (((x) << 2U) | (y))
/*!*****************************************************************************
* @brief Macro to determine the pixel x-index from the n-index.
* @param n The n-index of the pixel.
* @return The x-index number of the pixel.
******************************************************************************/
#define PIXEL_N2X(n) ((n) >> 2U)
/*!*****************************************************************************
* @brief Macro to determine the pixel y-index from the n-index.
* @param n The n-index of the pixel.
* @return The y-index number of the pixel.
******************************************************************************/
#define PIXEL_N2Y(n) ((n) & 0x03U)
/*!*****************************************************************************
* @brief Macro to determine the pixel n-index from the ADC channel number.
* @param n The n-index of the pixel.
* @return The ADC channel number of the pixel.
******************************************************************************/
#define PIXEL_N2CH(n) ((((n) << 3U) & 0x10U) | ((((n) >> 1U) ^ 0x0EU) & 0x0EU) | ((n) & 0x01U))
/*!*****************************************************************************
* @brief Macro to determine the pixel
* @param c The ADC channel number of the pixel.
* @return The n-index of the pixel.
******************************************************************************/
#define PIXEL_CH2N(c) (((((c) << 1U) ^ 0x1CU) & 0x1CU) | (((c) >> 3U) & 0x02U) | ((c) & 0x01U))
/*!*****************************************************************************
* @brief Macro to determine if a pixel given by the n-index is enabled in a pixel mask.
* @param msk 32-bit pixel mask
* @param n n-index of the pixel.
* @return True if the pixel (n) is enabled.
******************************************************************************/
#define PIXELN_ISENABLED(msk, n) (((msk) >> (n)) & 0x01U)
/*!*****************************************************************************
* @brief Macro to enable a pixel given by the n-index in a pixel mask.
* @param msk 32-bit pixel mask
* @param n n-index of the pixel to enable.
******************************************************************************/
#define PIXELN_ENABLE(msk, n) ((msk) |= (0x01U << (n)))
/*!*****************************************************************************
* @brief Macro disable a pixel given by the n-index in a pixel mask.
* @param msk 32-bit pixel mask
* @param n n-index of the pixel to disable.
******************************************************************************/
#define PIXELN_DISABLE(msk, n) ((msk) &= (~(0x01U << (n))))
/*!*****************************************************************************
* @brief Macro to determine if an ADC pixel channel is enabled from a pixel mask.
* @param msk The 32-bit pixel mask
* @param c The ADC channel number of the pixel.
* @return True if the specified pixel ADC channel is enabled.
******************************************************************************/
#define PIXELCH_ISENABLED(msk, c) (PIXELN_ISENABLED(msk, PIXEL_CH2N(c)))
/*!*****************************************************************************
* @brief Macro to enable an ADC pixel channel in a pixel mask.
* @param msk The 32-bit pixel mask
* @param c The pixel ADC channel number to enable.
******************************************************************************/
#define PIXELCH_ENABLE(msk, c) (PIXELN_ENABLE(msk, PIXEL_CH2N(c)))
/*!*****************************************************************************
* @brief Macro to disable an ADC pixel channel in a pixel mask.
* @param msk The 32-bit pixel mask
* @param c The pixel ADC channel number to disable.
******************************************************************************/
#define PIXELCH_DISABLE(msk, c) (PIXELN_DISABLE(msk, PIXEL_CH2N(c)))
/*!*****************************************************************************
* @brief Macro to determine if a pixel given by the x-y-indices is enabled in a pixel mask.
* @param msk 32-bit pixel mask
* @param x x-index of the pixel.
* @param y y-index of the pixel.
* @return True if the pixel (x,y) is enabled.
******************************************************************************/
#define PIXELXY_ISENABLED(msk, x, y) (PIXELN_ISENABLED(msk, PIXEL_XY2N(x, y)))
/*!*****************************************************************************
* @brief Macro to enable a pixel given by the x-y-indices in a pixel mask.
* @param msk 32-bit pixel mask
* @param x x-index of the pixel to enable.
* @param y y-index of the pixel to enable.
******************************************************************************/
#define PIXELXY_ENABLE(msk, x, y) (PIXELN_ENABLE(msk, PIXEL_XY2N(x, y)))
/*!*****************************************************************************
* @brief Macro disable a pixel given by the x-y-indices in a pixel mask.
* @param msk 32-bit pixel mask
* @param x x-index of the pixel to disable.
* @param y y-index of the pixel to disable.
******************************************************************************/
#define PIXELXY_DISABLE(msk, x, y) (PIXELN_DISABLE(msk, PIXEL_XY2N(x, y)))
/*!*****************************************************************************
* @brief Macro to determine if an ADC channel is enabled in a channel mask.
* @param msk 32-bit channel mask
* @param ch channel number of the ADC channel.
* @return True if the ADC channel is enabled.
******************************************************************************/
#define CHANNELN_ISENABLED(msk, ch) (((msk) >> ((ch) - 32U)) & 0x01U)
/*!*****************************************************************************
* @brief Macro to determine if an ADC channel is enabled in a channel mask.
* @param msk 32-bit channel mask
* @param ch channel number of the ADC channel to enabled.
******************************************************************************/
#define CHANNELN_ENABLE(msk, ch) ((msk) |= (0x01U << ((ch) - 32U)))
/*!*****************************************************************************
* @brief Macro to determine if an ADC channel is disabled in a channel mask.
* @param msk 32-bit channel mask
* @param ch channel number of the ADC channel to disable.
******************************************************************************/
#define CHANNELN_DISABLE(msk, ch) ((msk) &= (~(0x01U << ((ch) - 32U))))
/*!*****************************************************************************
* @brief Macro to determine the number of enabled pixel/channels in a mask
* via a popcount algorithm.
* @param pxmsk 32-bit pixel mask
* @return The count of enabled pixel channels.
******************************************************************************/
#define PIXEL_COUNT(pxmsk) popcount(pxmsk)
/*!*****************************************************************************
* @brief Macro to determine the number of enabled channels via a popcount
* algorithm.
* @param pxmsk 32-bit pixel mask
* @param chmsk 32-bit channel mask
* @return The count of enabled ADC channels.
******************************************************************************/
#define CHANNEL_COUNT(pxmsk, chmsk) (popcount(pxmsk) + popcount(chmsk))
/*!*****************************************************************************
* @brief Converts a raw ADC channel mask to a x-y-sorted pixel mask.
* @param msk The raw ADC channel mask to be converted.
* @return The converted x-y-sorted pixel mask.
******************************************************************************/
static inline uint32_t ChannelToPixelMask(uint32_t msk)
{
uint32_t res = 0;
for (uint_fast8_t n = 0; n < 32; n += 2) {
res |= ((msk >> PIXEL_N2CH(n)) & 0x3U) << n;
}
return res;
}
/*! @} */
#endif /* ARGUS_MAP_H */

64
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_meas.h
View File

@@ -71,8 +71,17 @@
* measurement cycle. I.e. the data that defines a measurement frame.
*****************************************************************************/
typedef struct {
/*! ADC channel enabled mask for the first
* channels 0 .. 31 (active pixels channels).
/*! Frame integration time in microseconds.
* The integration time determines the measured time between
* the start signal and the IRQ. Note that this value will be
* slightly larger than the actual integration time since the
* watch is started before the SPI transfer and stopped in the
* IRQ service routine which also might be delayed due to higher
* priority tasks. */
uint32_t IntegrationTime;
/*! Pixel enabled mask for the 32 pixels sorted
* by x-y-indices.
* See [pixel mapping](@ref argusmap) for more
* details on the pixel mask. */
uint32_t PxEnMask;
@@ -80,29 +89,9 @@ typedef struct {
/*! ADS channel enabled mask for the remaining
* channels 31 .. 63 (miscellaneous values).
* See [pixel mapping](@ref argusmap) for more
* details on the channel mask. */
* details on the ADC channel mask. */
uint32_t ChEnMask;
/*! Pattern count per sample in uq10.6 format.
* Determines the analog integration depth. */
uq10_6_t AnalogIntegrationDepth;
/*! Sample count per phase/frame.
* Determines the digital integration depth. */
uint16_t DigitalIntegrationDepth;
/*! Laser current per sample in mA.
* Determines the optical output power. */
uq12_4_t OutputPower;
/*! Charge pump voltage per sample in LSB.
* Determines the pixel gain. */
uint8_t PixelGain;
/*! PLL Frequency Offset, caused by temperature
* compensation, in PLL_INT_PRD LSBs. */
int8_t PllOffset;
/*! The current state of the measurement frame:
* - Measurement Mode,
* - A/B Frame,
@@ -112,6 +101,35 @@ typedef struct {
* - ... */
argus_state_t State;
/*! Pattern count per sample in uq10.6 format.
* Determines the analog integration depth. */
uq10_6_t AnalogIntegrationDepth;
/*! Sample count per phase/frame.
* Determines the digital integration depth. */
uint16_t DigitalIntegrationDepth;
/*! Laser Modulation Current per sample in mA.
* Determines the optical output power. */
uq12_4_t OutputPower;
/*! The amplitude that is evaluated and used in the DCA module. */
uq12_4_t DCAAmplitude;
/*! Laser Bias Current Settings in LSB. */
uint8_t BiasCurrent;
/*! Charge pump voltage per sample in LSB.
* Determines the pixel gain. */
uint8_t PixelGain;
/*! PLL Frequency Offset, caused by temperature
* compensation, in PLL_INT_PRD LSBs. */
int8_t PllOffset;
/*! The current PLL_CTRL_CUR value. */
uint8_t PllCtrlCur;
} argus_meas_frame_t;
/*! @} */

2
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h
View File

@@ -153,7 +153,7 @@ typedef struct {
* final range value from the algorithm, for example, the average
* of all pixels. See #argus_pba_averaging_mode_t for more details
* about the individual evaluation modes. */
argus_pba_averaging_mode_t Mode;
argus_pba_averaging_mode_t AveragingMode;
/*! The Relative amplitude threshold value (in %) of the max. amplitude.
* Pixels with amplitude below this threshold value are dismissed.

11
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h
View File

@@ -138,6 +138,17 @@ typedef struct {
} argus_pixel_t;
/*!***************************************************************************
* @brief Representation of a correlation vector containing sine/cosine components.
*****************************************************************************/
typedef struct {
/*! The sine component. */
q15_16_t S;
/*! The cosine component. */
q15_16_t C;
} argus_vector_t;
/*! @} */
#endif /* ARGUS_PX_H */

103
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_res.h
View File

@@ -62,61 +62,67 @@
/*!***************************************************************************
* @brief The 1d measurement results data structure.
* @details The 1d measurement results obtained by the pixel binning algorithm.
* @details The 1d measurement results obtained by the Pixel Binning Algorithm.
*****************************************************************************/
typedef struct {
/*! Raw 1D range value in meter (Q9.22 format). The distance obtained by
* the pixel binning algorithm from the current measurement frame. */
* the Pixel Binning Algorithm from the current measurement frame. */
q9_22_t Range;
/*! The 1D amplitude in LSB (Q12.4 format). The (maximum) amplitude obtained
* by the pixel binning algorithm from the current measurement frame.
* by the Pixel Binning Algorithm from the current measurement frame.\n
* Special value: 0 == No/Invalid Result. */
uq12_4_t Amplitude;
/*! The current signal quality metric of the 1D range value in percentage:\n
* - 0: n/a,
* - 1: bad signal,
* - 100: good signal. */
uint8_t SignalQuality;
} argus_results_bin_t;
/*!***************************************************************************
* @brief The auxiliary measurement results data structure.
* @details The auxiliary measurement results obtained by the auxiliary task.
* @details The auxiliary measurement results obtained by the auxiliary task.\n
* Special values, i.e. 0xFFFFU, indicate no readout value available.
*****************************************************************************/
typedef struct {
/*! VDD ADC channel readout value.
* Special Value if no value has been measured:
/*! VDD ADC channel readout value.\n
* Special Value if no value has been measured:\n
* Invalid/NotAvailable = 0xFFFFU (UQ12_4_MAX) */
uq12_4_t VDD;
/*! Temperature sensor ADC channel readout value.
* Special Value if no value has been measured:
/*! Temperature sensor ADC channel readout value.\n
* Special Value if no value has been measured:\n
* Invalid/NotAvailable = 0x7FFFU (Q11_4_MAX) */
q11_4_t TEMP;
/*! Substrate Voltage ADC Channel readout value.
* Special Value if no value has been measured:
/*! Substrate Voltage ADC Channel readout value.\n
* Special Value if no value has been measured:\n
* Invalid/NotAvailable = 0xFFFFU (UQ12_4_MAX) */
uq12_4_t VSUB;
/*! VDD VCSEL ADC channel readout value.
* Special Value if no value has been measured:
/*! VDD VCSEL ADC channel readout value.\n
* Special Value if no value has been measured:\n
* Invalid/NotAvailable = 0xFFFFU (UQ12_4_MAX) */
uq12_4_t VDDL;
/*! APD current ADC Channel readout value.
* Special Value if no value has been measured:
/*! APD current ADC Channel readout value.\n
* Special Value if no value has been measured:\n
* Invalid/NotAvailable = 0xFFFFU (UQ12_4_MAX) */
uq12_4_t IAPD;
/*! Background Light Value in arbitrary. units,
* estimated by the substrate voltage control task.
* Special Value if no value is available:
* estimated by the substrate voltage control task.\n
* Special Value if no value is available:\n
* Invalid/NotAvailable = 0xFFFFU (UQ12_4_MAX) */
uq12_4_t BGL;
/*! Shot Noise Amplitude in LSB units,
* estimated by the shot noise monitor task from
* the average amplitude of the passive pixels.
* Special Value if no value is available:
* the average amplitude of the passive pixels.\n
* Special Value if no value is available:\n
* Invalid/NotAvailable = 0xFFFFU (UQ12_4_MAX) */
uq12_4_t SNA;
@@ -124,7 +130,20 @@ typedef struct {
/*!***************************************************************************
* @brief The measurement results data structure.
* @details Measurement data from the device.
* @details This structure contains all information obtained by a single
* distance measurement on the device:
* - The measurement status can be read from the #Status.
* - A timing information is given via the #TimeStamp.
* - Information about the frame state is in the #Frame structure.
* - The 1D distance results are gathered under #Bin.
* - The 3D distance results for each pixel is at #Pixels or #Pixel.
* - Auxiliary values such as temperature can be found at #Auxiliary.
* - Raw data from the device is stored in the #Data array.
* .
*
* The pixel x-y orientation is sketched in the following graph. Note that
* the laser source would be on the right side beyond the reference pixel.
* See also \link argusmap ADC Channel Mapping\endlink
* @code
* // Pixel Field: Pixel[x][y]
* //
@@ -149,21 +168,49 @@ typedef struct {
/*! The configuration for the current measurement frame. */
argus_meas_frame_t Frame;
/*! Raw unmapped ADC results from the device. */
/*! Raw x-y-sorted ADC results from the device.\n
* Data is arranged as 32-bit values in following order:
* index > phase; where index is pixel number n and auxiliary ADC channel.\n
* Note that disabled pixels are skipped.\n
* e.g. [n=0,p=0][n=0,p=1]..[n=0,p=3][n=1,p=0]...[n=1,p=3]...[n=31,p=3] */
uint32_t Data[ARGUS_RAW_DATA_VALUES];
/*! Raw Range Values from the device in meter.
* It is the actual distance before software adjustments/calibrations. */
argus_pixel_t PixelRef;
union {
/*! Pixel data indexed by channel number n.\n
* Contains calibrated range, amplitude and pixel status among others.
*
* Index n:
* - 0..31: active pixels
* - 32: reference pixel
*
* See also \link argusmap ADC Channel Mapping\endlink */
argus_pixel_t Pixels[ARGUS_PIXELS + 1U];
/*! Raw Range Values from the device in meter.
* It is the actual distance before software adjustments/calibrations. */
argus_pixel_t Pixel[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
struct {
/*! Pixel data indexed by x-y-indices.\n
* The pixels are ordered in a two dimensional array that represent
* the x and y indices of the pixel.\n
* See also \link argusmap ADC Channel Mapping\endlink
*
* Contains calibrated range, amplitude and pixel status among others. */
argus_pixel_t Pixel[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
/*! Pixel binned results. */
/*! Pixel data of the reference pixel.\n
* The reference pixel is an additional pixel that is located at the TX
* side in order to monitor the health state of the laser output source.
* It is mainly used to verify normal operation of the laser source and
* preventing the system from emitting continuous laser light that exceeds
* the laser safety limits.
*
* Contains calibrated range, amplitude and pixel status among others. */
argus_pixel_t PixelRef;
};
};
/*! The 1D measurement data, obtained by the the Pixel Binning Algorithm. */
argus_results_bin_t Bin;
/*! The auxiliary ADC channel data. */
/*! The auxiliary ADC channel data, e.g. sensor temperature. */
argus_results_aux_t Auxiliary;
} argus_results_t;

2
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_snm.h
View File

@@ -39,7 +39,7 @@
/*!***************************************************************************
* @defgroup argussnm Shot Noise Monitor
* @ingroup argusdev
* @ingroup argusapi
*
* @brief Shot Noise Monitor (SNM) parameter definitions and API functions.
*

11
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h
View File

@@ -128,7 +128,7 @@ enum Status {
ERROR_S2PI_INVALID_STATE = -53,
/*! -54: The specified baud rate is not valid. */
ERROR_S2PI_INVALID_BAUD_RATE = -54,
ERROR_S2PI_INVALID_BAUDRATE = -54,
/*! -55: The specified slave identifier is not valid. */
ERROR_S2PI_INVALID_SLAVE = -55,
@@ -158,12 +158,9 @@ enum Status {
* limitations. */
STATUS_ARGUS_POWERLIMIT = 105,
/*! 107: AFBR-S50 Status: No valid signal was detected at any active pixel
* via the Pixel Binning Algorithm. The Golden Pixel was Choosen as a
* fallback value that is consider to be the last pixel that has a valid
* signal for low reflective (or far away) objects.
* The current results should be considered carefully. */
STATUS_ARGUS_UNDERFLOW = 107,
/*! 106: AFBR-S50 Status: The PLL was not locked when the measurement was
* started. The measurement frequency and this the range might be off. */
STATUS_ARGUS_PLL_NOT_LOCKED = 106,
/*! 108: AFBR-S50 Status: No object was detected within the field-of-view
* and measurement range of the device. */

6
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h
View File

@@ -53,13 +53,13 @@
#define ARGUS_API_VERSION_MAJOR 1
/*! Minor version number of the AFBR-S50 API. */
#define ARGUS_API_VERSION_MINOR 2
#define ARGUS_API_VERSION_MINOR 3
/*! Bugfix version number of the AFBR-S50 API. */
#define ARGUS_API_VERSION_BUGFIX 3
#define ARGUS_API_VERSION_BUGFIX 5
/*! Build version nunber of the AFBR-S50 API. */
#define ARGUS_API_VERSION_BUILD "20201120091253"
#define ARGUS_API_VERSION_BUILD "20210812171515"
/*****************************************************************************/

20
src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_irq.h
View File

@@ -48,7 +48,7 @@ extern "C" {
* @brief Global Interrupt Control Layer
*
* @details This module provides functionality to globally enable/disable
* interrupts by turning the I-bit in the CPSR on/off.
* interrupts in a nested way.
*
* Here is a simple example implementation using the CMSIS functions
* "__enable_irq()" and "__disable_irq()". An integer counter is
@@ -84,6 +84,10 @@ extern "C" {
* instruction only. It does NOT lock interrupts for considerable
* amounts of time.
*
* @note The IRQ_LOCK might get called multiple times. Therefore, the
* API expects that the IRQ_UNLOCK must be called as many times as
* the IRQ_LOCK was called before the interrupts are enabled.
*
* @note The interrupts utilized by the AFBR-S50 API can be interrupted
* by other, higher prioritized interrupts, e.g. some system
* critical interrupts. In this case, the IRQ_LOCK/IRQ_UNLOCK
@@ -100,16 +104,22 @@ extern "C" {
/*!***************************************************************************
* @brief Enable IRQ Interrupts
*
* @details Enables IRQ interrupts by clearing the I-bit in the CPSR.
* Can only be executed in Privileged modes.
* @details Enables IRQ interrupts and enters an atomic or critical section.
*
* @note The IRQ_LOCK might get called multiple times. Therefore, the
* API expects that the IRQ_UNLOCK must be called as many times as
* the IRQ_LOCK was called before the interrupts are enabled.
*****************************************************************************/
void IRQ_UNLOCK(void);
/*!***************************************************************************
* @brief Disable IRQ Interrupts
*
* @details Disables IRQ interrupts by setting the I-bit in the CPSR.
* Can only be executed in Privileged modes.
* @details Disables IRQ interrupts and leaves the atomic or critical section.
*
* @note The IRQ_LOCK might get called multiple times. Therefore, the
* API expects that the IRQ_UNLOCK must be called as many times as
* the IRQ_LOCK was called before the interrupts are enabled.
*****************************************************************************/
void IRQ_LOCK(void);

1
src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_nvm.h
View File

@@ -126,7 +126,6 @@ status_t NVM_Write(uint32_t offset, uint32_t size, uint8_t const *buf);
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/
status_t NVM_Read(uint32_t offset, uint32_t size, uint8_t *buf);
#ifdef __cplusplus
}
#endif

47
src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_s2pi.h
View File

@@ -54,7 +54,7 @@ extern "C" {
*
* **SPI interface:**
*
* The SPI interface is based on a single function:
* The SPI interface is based around a single functionality:
*
* #S2PI_TransferFrame. This function transfers a specified number
* of bytes via the interfaces MOSI line and simultaneously reads
@@ -72,32 +72,34 @@ extern "C" {
*
* **GPIO interface:**
*
* The GPIO interface handles the measurement finished interrupt
* The GPIO part of the S2PI interface has two distinct concerns:
*
* First, the GPIO interface handles the measurement finished interrupt
* from the device. When the device invokes the interrupt, it pulls
* the interrupt line to low. Thus the interrupt must trigger when
* a transition from high to low occurs on the interrupt line.
*
* The module simply invokes a callback when this interrupt the
* pending. The #S2PI_SetIrqCallback method is used to install the
* callback for a specified slave. Each slave will have its own
* interrupt line. An additional callback parameter can be set that
* would be passed to the callback function.
* The module simply invokes a callback when this interrupt occurs.
* The #S2PI_SetIrqCallback method is used to install the callback
* for a specified slave. Each slave will have its own interrupt
* line. An additional callback parameter can be set that would be
* passed to the callback function.
*
* In addition to the interrupt, all SPI pins need to be accessible
* as GPIO pins through the interface. One basic operation would
* be to cycle the chip select pin which resets the device.
* Additional, the device contains an EEPROM that is connected to
* the SPI pins but requires a different protocol that is not
* compatible to any standard SPI interface. Therefore, the
* interface provides the possibility to switch to GPIO control
* that allows to emulate the EEPROM protocol via software bit
* banging. Two methods are provided to switch forth and back
* between SPI and GPIO control. In GPIO mode, several functions
* are used to read and write the individual GPIO pins.
* as GPIO pins through this interface. This is required to read
* the EEPROM memory on the device hat is connected to the SPI
* pins but requires a different protocol that is not compatible
* to any standard SPI interface. Therefore, the interface provides
* the possibility to switch to GPIO control mode that allows to
* emulate the EEPROM protocol via software bit banging.
*
* Two methods are provided to switch forth and back between SPI
* and GPIO control. In GPIO mode, several functions are used to
* read and write the individual GPIO pins.
*
* Note that the GPIO mode is only required to readout the EEPROM
* at initialization of the device, i.e. during execution of the
* #Argus_Init or #Argus_Reinit method. The GPIO mode is not used
* upon initialization of the device, i.e. during execution of the
* #Argus_Init or #Argus_Reinit methods. The GPIO mode is not used
* during measurements.
*
*
@@ -241,7 +243,9 @@ status_t S2PI_Abort(void);
* - #STATUS_OK: Successfully installation of the callback.
* - #ERROR_S2PI_INVALID_SLAVE: A wrong slave identifier is provided.
*****************************************************************************/
status_t S2PI_SetIrqCallback(s2pi_slave_t slave, s2pi_irq_callback_t callback, void *callbackData);
status_t S2PI_SetIrqCallback(s2pi_slave_t slave,
s2pi_irq_callback_t callback,
void *callbackData);
/*!***************************************************************************
* @brief Reads the current status of the IRQ pin.
@@ -339,11 +343,10 @@ status_t S2PI_WriteGpioPin(s2pi_slave_t slave, s2pi_pin_t pin, uint32_t value);
*
* @param slave The specified S2PI slave.
* @param pin The specified S2PI pin.
* @param value The GPIO pin state to read (0 = low, 1 = high).
* @param value The GPIO pin state to read (0 = low, GND level, 1 = high, VCC level).
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/
status_t S2PI_ReadGpioPin(s2pi_slave_t slave, s2pi_pin_t pin, uint32_t *value);
#ifdef __cplusplus
}
#endif

60
src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_timer.h
View File

@@ -70,10 +70,10 @@ extern "C" {
*
* The periodic interrupt timer is a simple callback interface.
* After installing the callback function pointer via #Timer_SetCallback,
* the timer can be started by setting interval via #Timer_SetInterval
* or #Timer_Start. From then, the callback is invoked periodically as
* the corresponding interval may specify. The timer is stopped via
* #Timer_Stop or by setting the interval to 0. The interval can be
* the timer can be started by setting interval via #Timer_SetInterval.
* From then, the callback is invoked periodically as the corresponding
* interval may specify. The timer is stopped by setting the interval
* to 0 using the #Timer_SetInterval function. The interval can be
* updated at any time by updating the interval via the #Timer_SetInterval
* function. To any of these functions, an abstract parameter pointer
* must be passed. This parameter is passed back to the callback any
@@ -84,11 +84,11 @@ extern "C" {
* at the same time. Therefore, the abstract parameter pointer is used
* to identify the corresponding callback interval. For example, there
* are two callbacks for two intervals, t1 and t2, required. The user
* can start two timers by calling the #Timer_Start method twice, but
* with an individual parameter pointer, ptr1 and ptr2, each:
* can start two timers by calling the #Timer_SetInterval method twice,
* but with an individual parameter pointer, ptr1 and ptr2, each:
* \code
* Timer_Start(100000, ptr1); // 10 ms callback w/ parameter ptr1
* Timer_Start(200000, ptr2); // 20 ms callback w/ parameter ptr1
* Timer_SetInterval(100000, ptr1); // 10 ms callback w/ parameter ptr1
* Timer_SetInterval(200000, ptr2); // 20 ms callback w/ parameter ptr1
* \endcode
*
* Note that the implemented timer module must therefore support
@@ -215,50 +215,6 @@ status_t Timer_SetCallback(timer_cb_t f);
*****************************************************************************/
status_t Timer_SetInterval(uint32_t dt_microseconds, void *param);
/*!***************************************************************************
* @brief Starts the timer for a specified callback parameter.
*
* @details Sets the callback interval for the specified parameter and starts
* the timer with a new interval. If there is already an interval with
* the given parameter, the timer is restarted with the given interval.
* Passing a interval of 0 disables the timer.
*
* Note that a microsecond granularity for the timer interrupt period is
* not required. Usually a microseconds granularity is sufficient.
* The required granularity depends on the targeted frame rate, e.g. in
* case of more than 1 kHz measurement rate, a granularity of less than
* a microsecond is required to achieve the given frame rate.
*
* @note The implementation of this function is optional for the correct
* execution of the API. If not implemented, a weak implementation
* within the API will be used that disable the periodic timer callback
* and thus the automatic starting of measurements from the background.
*
* @param dt_microseconds The callback interval in microseconds.
*
* @param param An abstract parameter to be passed to the callback. This is
* also the identifier of the given interval.
*
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/
status_t Timer_Start(uint32_t dt_microseconds, void *param);
/*!***************************************************************************
* @brief Stops the timer for a specified callback parameter.
*
* @details Stops a callback interval for the specified parameter.
*
* @note The implementation of this function is optional for the correct
* execution of the API. If not implemented, a weak implementation
* within the API will be used that disable the periodic timer callback
* and thus the automatic starting of measurements from the background.
*
* @param param An abstract parameter that identifies the interval to be stopped.
*
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/
status_t Timer_Stop(void *param);
#ifdef __cplusplus
}
#endif

400
src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_def.h
View File

@@ -59,7 +59,11 @@
#include <stdint.h>
/*******************************************************************************
* UQ6.2
***** Unsigned 8-Bit Values ***********************************************
******************************************************************************/
/*******************************************************************************
***** UQ6.2
******************************************************************************/
/*!***************************************************************************
* @brief Unsigned fixed point number: UQ6.2
@@ -70,9 +74,16 @@
*****************************************************************************/
typedef uint8_t uq6_2_t;
/*! Maximum value of UQ6.2 number format. */
#define UQ6_2_MAX ((uq6_2_t)UINT8_MAX)
/*! The 1/one/unity in UQ6.2 number format. */
#define UQ6_2_ONE ((uq6_2_t)(1U<<2U))
/*******************************************************************************
* UQ4.4
***** UQ4.4
******************************************************************************/
/*!***************************************************************************
* @brief Unsigned fixed point number: UQ4.4
@@ -90,8 +101,9 @@ typedef uint8_t uq4_4_t;
#define UQ4_4_ONE ((uq4_4_t)(1U<<4U))
/*******************************************************************************
* UQ2.6
***** UQ2.6
******************************************************************************/
/*!***************************************************************************
* @brief Unsigned fixed point number: UQ2.6
@@ -102,11 +114,16 @@ typedef uint8_t uq4_4_t;
*****************************************************************************/
typedef uint8_t uq2_6_t;
/*! Maximum value of UQ2.6 number format. */
#define UQ2_6_MAX ((uq2_6_t)UINT8_MAX)
/*! The 1/one/unity in UQ2.6 number format. */
#define UQ2_6_ONE ((uq2_6_t)(1U<<6U))
/*******************************************************************************
* UQ1.7
***** UQ1.7
******************************************************************************/
/*!***************************************************************************
* @brief Unsigned fixed point number: UQ1.7
@@ -117,20 +134,16 @@ typedef uint8_t uq2_6_t;
*****************************************************************************/
typedef uint8_t uq1_7_t;
/*******************************************************************************
* Q0.7
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q0.7
* @details An signed fixed point number format based on the 8-bit integer
* type with 0 integer and 7 fractional bits.
* - Range: -1 .. 0.9921875
* - Granularity: 0.0078125
*****************************************************************************/
//typedef int8_t q0_7_t;
/*! Maximum value of UQ1.7 number format. */
#define UQ1_7_MAX ((uq1_7_t)UINT8_MAX)
/*! The 1/one/unity in UQ1.7 number format. */
#define UQ1_7_ONE ((uq1_7_t)(1U<<7U))
/*******************************************************************************
* UQ0.8
***** UQ0.8
******************************************************************************/
/*!***************************************************************************
* @brief Unsigned fixed point number: UQ0.8
@@ -144,8 +157,62 @@ typedef uint8_t uq0_8_t;
/*! Maximum value of UQ0.8 number format. */
#define UQ0_8_MAX ((uq0_8_t)UINT8_MAX)
/*******************************************************************************
* UQ12.4
***** Signed 8-Bit Values *************************************************
******************************************************************************/
/*******************************************************************************
***** Q3.4
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q3.4
* @details A signed fixed point number format based on the 8-bit signed
* integer type with 3 integer and 4 fractional bits.
* - Range: -8 ... 7.9375
* - Granularity: 0.0625
*****************************************************************************/
typedef int8_t q3_4_t;
/*! Minimum value of Q3.4 number format. */
#define Q3_4_MIN ((q3_4_t)INT8_MIN)
/*! Maximum value of Q3.4 number format. */
#define Q3_4_MAX ((q3_4_t)INT8_MAX)
/*! The 1/one/unity in UQ3.4 number format. */
#define UQ3_4_ONE ((q3_4_t)(1 << 4))
/*******************************************************************************
***** Q1.6
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q1.6
* @details A signed fixed point number format based on the 8-bit signed
* integer type with 1 integer and 6 fractional bits.
* - Range: -2 ... 1.984375
* - Granularity: 0.015625
*****************************************************************************/
typedef int8_t q1_6_t;
/*! Minimum value of Q1_6 number format. */
#define Q1_6_MIN ((q1_6_t)INT8_MIN)
/*! Maximum value of Q1.6 number format. */
#define Q1_6_MAX ((q1_6_t)INT8_MAX)
/*! The 1/one/unity in UQ1.6 number format. */
#define UQ1_6_ONE ((q1_6_t)(1 << 4))
/*******************************************************************************
***** Unsigned 16-Bit Values **********************************************
******************************************************************************/
/*******************************************************************************
***** UQ12.4
******************************************************************************/
/*!***************************************************************************
* @brief Unsigned fixed point number: UQ12.4
@@ -162,29 +229,10 @@ typedef uint16_t uq12_4_t;
/*! The 1/one/unity in UQ12.4 number format. */
#define UQ12_4_ONE ((uq12_4_t)(1U<<4U))
/*******************************************************************************
* Q11.4
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q11.4
* @details An signed fixed point number format based on the 16-bit signed
* integer type with 11 integer and 4 fractional bits.
* - Range: -2048 ... 2047.9375
* - Granularity: 0.0625
*****************************************************************************/
typedef int16_t q11_4_t;
/*! The 1/one/unity in UQ11.4 number format. */
#define UQ11_4_ONE ((q11_4_t)(1 << 4))
/*! Maximum value of Q11.4 number format. */
#define Q11_4_MAX ((q11_4_t)INT16_MAX)
/*! Minimum value of Q11.4 number format. */
#define Q11_4_MIN ((q11_4_t)INT16_MIN)
/*******************************************************************************
* UQ10.6
***** UQ10.6
******************************************************************************/
/*!***************************************************************************
* @brief Unsigned fixed point number: UQ10.6
@@ -201,8 +249,10 @@ typedef uint16_t uq10_6_t;
/*! The 1/one/unity in UQ10.6 number format. */
#define UQ10_6_ONE ((uq10_6_t)(1U << 6U))
/*******************************************************************************
* UQ1.15
***** UQ1.15
******************************************************************************/
/*!***************************************************************************
* @brief Unsigned fixed point number: UQ1.15
@@ -219,58 +269,10 @@ typedef uint16_t uq1_15_t;
/*! The 1/one/unity in UQ1.15 number format. */
#define UQ1_15_ONE ((uq1_15_t)(1U << 15U))
/*******************************************************************************
* Q0.15
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q0.15
* @details An signed fixed point number format based on the 16-bit integer
* type with 0 integer and 15 fractional bits.
* - Range: -1 .. 0.999969482
* - Granularity: 0.000030518
*****************************************************************************/
typedef int16_t q0_15_t;
/*******************************************************************************
* Q2.13
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q2.13
* @details An signed fixed point number format based on the 16-bit integer
* type with 2 integer and 13 fractional bits.
* - Range: -4 .. 3.99987793
* - Granularity: 0.00012207
*****************************************************************************/
//typedef int16_t q2_13_t;
/*******************************************************************************
* Q13.2
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q13.2
* @details An signed fixed point number format based on the 16-bit integer
* type with 13 integer and 2 fractional bits.
* - Range: -8192 .. 8191.75
* - Granularity: 0.25
*****************************************************************************/
//typedef int16_t q13_2_t;
/*******************************************************************************
* Q3.12
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q3.12
* @details An signed fixed point number format based on the 16-bit integer
* type with 3 integer and 12 fractional bits.
* - Range: -8 .. 7.99975586
* - Granularity: 0.00024414
*****************************************************************************/
typedef int16_t q3_12_t;
/*******************************************************************************
* UQ0.16
***** UQ0.16
******************************************************************************/
/*!***************************************************************************
* @brief Unsigned fixed point number: UQ0.16
@@ -284,11 +286,107 @@ typedef uint16_t uq0_16_t;
/*! Maximum value of UQ0.16 number format. */
#define UQ0_16_MAX ((uq0_16_t)UINT16_MAX)
/*! The 1/one/unity in UQ0.16 number format. */
#define UQ0_16_ONE ((uq0_16_t)(1U<<16U))
/*******************************************************************************
* UQ28.4
***** Signed 16-Bit Values ************************************************
******************************************************************************/
/*******************************************************************************
***** Q11.4
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q11.4
* @details A signed fixed point number format based on the 16-bit signed
* integer type with 11 integer and 4 fractional bits.
* - Range: -2048 ... 2047.9375
* - Granularity: 0.0625
*****************************************************************************/
typedef int16_t q11_4_t;
/*! Minimum value of Q11.4 number format. */
#define Q11_4_MIN ((q11_4_t)INT16_MIN)
/*! Maximum value of Q11.4 number format. */
#define Q11_4_MAX ((q11_4_t)INT16_MAX)
/*! The 1/one/unity in Q11.4 number format. */
#define UQ11_4_ONE ((q11_4_t)(1 << 4))
/*******************************************************************************
***** Q7.8
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q7.8
* @details A signed fixed point number format based on the 16-bit signed
* integer type with 7 integer and 8 fractional bits.
* - Range: -128 .. 127.99609375
* - Granularity: 0.00390625
*****************************************************************************/
typedef int16_t q7_8_t;
/*! Minimum value of Q7.8 number format. */
#define Q7_8_MIN ((q7_8_t)INT16_MIN)
/*! Maximum value of Q7.8 number format. */
#define Q7_8_MAX ((q7_8_t)INT16_MAX)
/*! The 1/one/unity in Q7.8 number format. */
#define Q7_8_ONE ((q7_8_t)(1 << 8))
/*******************************************************************************
***** Q3.12
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q3.12
* @details A signed fixed point number format based on the 16-bit integer
* type with 3 integer and 12 fractional bits.
* - Range: -8 .. 7.99975586
* - Granularity: 0.00024414
*****************************************************************************/
typedef int16_t q3_12_t;
/*! Minimum value of Q3.12 number format. */
#define Q3_12_MIN ((q3_12_t)INT16_MIN)
/*! Maximum value of Q3.12 number format. */
#define Q3_12_MAX ((q3_12_t)INT16_MAX)
/*! The 1/one/unity in Q3.12 number format. */
#define Q3_12_ONE ((q3_12_t)(1 << 12))
/*******************************************************************************
***** Q0.15
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q0.15
* @details A signed fixed point number format based on the 16-bit integer
* type with 0 integer and 15 fractional bits.
* - Range: -1 .. 0.999969482
* - Granularity: 0.000030518
*****************************************************************************/
typedef int16_t q0_15_t;
/*! Minimum value of Q0.15 number format. */
#define Q0_15_MIN ((q0_15_t)INT16_MIN)
/*! Maximum value of Q0.15 number format. */
#define Q0_15_MAX ((q0_15_t)INT16_MAX)
/*******************************************************************************
***** Unsigned 32-Bit Values **********************************************
******************************************************************************/
/*******************************************************************************
***** UQ28.4
******************************************************************************/
/*!***************************************************************************
* @brief Unsigned fixed point number: UQ28.4
@@ -305,30 +403,10 @@ typedef uint32_t uq28_4_t;
/*! The 1/one/unity in UQ28.4 number format. */
#define UQ28_4_ONE ((uq28_4_t)(1U<<4U))
/*******************************************************************************
* Q27.4
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q27.4
* @details An signed fixed point number format based on the 32-bit signed
* integer type with 27 integer and 4 fractional bits.
* - Range: -134217728 ... 134217727.9375
* - Granularity: 0.0625
*****************************************************************************/
typedef int32_t q27_4_t;
/*! The 1/one/unity in UQ27.4 number format. */
#define UQ27_4_ONE ((q27_4_t)(1 << 4))
/*! Maximum value of Q27.4 number format. */
#define Q27_4_MAX ((q27_4_t)INT32_MAX)
/*! Minimum value of Q27.4 number format. */
#define Q27_4_MIN ((q27_4_t)INT32_MIN)
/*******************************************************************************
* UQ16.16
***** UQ16.16
******************************************************************************/
/*!***************************************************************************
* @brief Unsigned fixed point number: UQ16.16
@@ -339,39 +417,19 @@ typedef int32_t q27_4_t;
*****************************************************************************/
typedef uint32_t uq16_16_t;
/*! The 1/one/unity in UQ16.16 number format. */
#define UQ16_16_ONE ((uq16_16_t)(1U << 16U))
/*! Maximum value of UQ16.16 number format. */
#define UQ16_16_MAX ((uq16_16_t)UINT32_MAX)
/*! The 1/one/unity in UQ16.16 number format. */
#define UQ16_16_ONE ((uq16_16_t)(1U << 16U))
/*! Euler's number, e, in UQ16.16 format. */
#define UQ16_16_E (0x2B7E1U)
/*******************************************************************************
* Q15.16
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q15.16
* @details An signed fixed point number format based on the 32-bit integer
* type with 15 integer and 16 fractional bits.
* - Range: -32768 .. 32767.99998
* - Granularity: 1.52588E-05
*****************************************************************************/
typedef int32_t q15_16_t;
/*! The 1/one/unity in Q15.16 number format. */
#define Q15_16_ONE ((q15_16_t)(1 << 16))
/*! Maximum value of Q15.16 number format. */
#define Q15_16_MAX ((q15_16_t)INT32_MAX)
/*! Minimum value of Q15.16 number format. */
#define Q15_16_MIN ((q15_16_t)INT32_MIN)
/*******************************************************************************
* UQ10.22
***** UQ10.22
******************************************************************************/
/*!***************************************************************************
* @brief Unsigned fixed point number: UQ10.22
@@ -382,26 +440,86 @@ typedef int32_t q15_16_t;
*****************************************************************************/
typedef uint32_t uq10_22_t;
/*! Maximum value of UQ10.22 number format. */
#define UQ10_22_MAX ((uq10_22_t)UINT32_MAX)
/*! The 1/one/unity in UQ10.22 number format. */
#define UQ10_22_ONE ((uq10_22_t)(1U << 22U))
/*******************************************************************************
* Q9.22
***** Signed 32-Bit Values ************************************************
******************************************************************************/
/*******************************************************************************
***** Q27.4
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q27.4
* @details A signed fixed point number format based on the 32-bit signed
* integer type with 27 integer and 4 fractional bits.
* - Range: -134217728 ... 134217727.9375
* - Granularity: 0.0625
*****************************************************************************/
typedef int32_t q27_4_t;
/*! Minimum value of Q27.4 number format. */
#define Q27_4_MIN ((q27_4_t)INT32_MIN)
/*! Maximum value of Q27.4 number format. */
#define Q27_4_MAX ((q27_4_t)INT32_MAX)
/*! The 1/one/unity in UQ27.4 number format. */
#define UQ27_4_ONE ((q27_4_t)(1 << 4))
/*******************************************************************************
***** Q15.16
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q15.16
* @details A signed fixed point number format based on the 32-bit integer
* type with 15 integer and 16 fractional bits.
* - Range: -32768 .. 32767.99998
* - Granularity: 1.52588E-05
*****************************************************************************/
typedef int32_t q15_16_t;
/*! Minimum value of Q15.16 number format. */
#define Q15_16_MIN ((q15_16_t)INT32_MIN)
/*! Maximum value of Q15.16 number format. */
#define Q15_16_MAX ((q15_16_t)INT32_MAX)
/*! The 1/one/unity in Q15.16 number format. */
#define Q15_16_ONE ((q15_16_t)(1 << 16))
/*******************************************************************************
***** Q9.22
******************************************************************************/
/*!***************************************************************************
* @brief Signed fixed point number: Q9.22
* @details An signed fixed point number format based on the 32-bit integer
* @details A signed fixed point number format based on the 32-bit integer
* type with 9 integer and 22 fractional bits.
* - Range: -512 ... 511.9999998
* - Granularity: 2.38418579101562E-07
*****************************************************************************/
typedef int32_t q9_22_t;
/*! The 1/one/unity in Q9.22 number format. */
#define Q9_22_ONE ((q9_22_t)(1 << 22))
/*! Minimum value of Q9.22 number format. */
#define Q9_22_MIN ((q9_22_t)INT32_MIN)
/*! Maximum value of Q9.22 number format. */
#define Q9_22_MAX ((q9_22_t)INT32_MAX)
/*! Minimum value of Q9.22 number format. */
#define Q9_22_MIN ((q9_22_t)INT32_MIN)
/*! The 1/one/unity in Q9.22 number format. */
#define Q9_22_ONE ((q9_22_t)(1 << 22))
/*! @} */
#endif /* FP_DEF_H */

8
src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/time.h
View File

@@ -99,7 +99,7 @@ uint32_t Time_GetNowSec(void);
* @param t_elapsed Returns the elapsed time since t_start.
* @param t_start Start time point.
*****************************************************************************/
void Time_GetElapsed(ltc_t *t_elapsed, ltc_t *const t_start);
void Time_GetElapsed(ltc_t *t_elapsed, ltc_t const *t_start);
/*!***************************************************************************
* @brief Obtains the elapsed microseconds since a given time point.
@@ -107,7 +107,7 @@ void Time_GetElapsed(ltc_t *t_elapsed, ltc_t *const t_start);
* @param t_start Start time point.
* @return Elapsed microseconds since t_start as uint32_t.
*****************************************************************************/
uint32_t Time_GetElapsedUSec(ltc_t *const t_start);
uint32_t Time_GetElapsedUSec(ltc_t const *t_start);
/*!***************************************************************************
* @brief Obtains the elapsed milliseconds since a given time point.
@@ -115,14 +115,14 @@ uint32_t Time_GetElapsedUSec(ltc_t *const t_start);
* @param t_start Start time point.
* @return Elapsed milliseconds since t_start as uint32_t.
*****************************************************************************/
uint32_t Time_GetElapsedMSec(ltc_t *const t_start);
uint32_t Time_GetElapsedMSec(ltc_t const *t_start);
/*!***************************************************************************
* @brief Obtains the elapsed seconds since a given time point.
* @param t_start Start time point.
* @return Elapsed seconds since t_start as uint32_t.
*****************************************************************************/
uint32_t Time_GetElapsedSec(ltc_t *const t_start);
uint32_t Time_GetElapsedSec(ltc_t const *t_start);
/*!***************************************************************************
* @brief Obtains the time difference between two given time points.

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src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu.a
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src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu_os.a
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