From e859e11686be70b3ec6308e2448e6456db614b84 Mon Sep 17 00:00:00 2001 From: Victor Lomba Date: Sat, 12 Aug 2023 13:40:25 -0400 Subject: [PATCH 1/4] Added (Short/Long) range accuracy functionality --- src/inc/tmf882x_mode_app_ioctl.h | 26 ++++++++++++ src/qwiic_tmf882x.cpp | 61 ++++++++++++++++++++++++++ src/qwiic_tmf882x.h | 53 +++++++++++++++++++++++ src/tmf882x_mode_app.c | 73 ++++++++++++++++++++++++++++++++ 4 files changed, 213 insertions(+) diff --git a/src/inc/tmf882x_mode_app_ioctl.h b/src/inc/tmf882x_mode_app_ioctl.h index 73d9d0c..e60c8bb 100644 --- a/src/inc/tmf882x_mode_app_ioctl.h +++ b/src/inc/tmf882x_mode_app_ioctl.h @@ -72,6 +72,8 @@ enum _tmf882x_mode_app_iocnr{ APP_SET_CLKADJ, APP_SET_8X8MODE, APP_IS_8X8MODE, + APP_SET_SHORTRANGE, + APP_IS_SHORTRANGE, NUM_APP_IOCTL }; @@ -336,6 +338,30 @@ struct tmf882x_mode_app_dev_UID { APP_IS_8X8MODE, \ bool ) +/** + * @brief + * IOCTL command code to Set the short-range mode + * @param[in] input type: bool * + * @param[out] output type: none + * @return zero for success, fail otherwise + * @warn Note that changing to/from short-range mode will clear the device + * calibration + */ +#define IOCAPP_SET_SHORTRANGE _IOCTL_W( TMF882X_IOCTL_APP_MODE, \ + APP_SET_SHORTRANGE, \ + bool ) + +/** + * @brief + * IOCTL command code to Read the short-range operating mode state + * @param[in] input type: none + * @param[out] output type: bool * + * @return zero for success, fail otherwise + */ +#define IOCAPP_IS_SHORTRANGE _IOCTL_R( TMF882X_IOCTL_APP_MODE, \ + APP_IS_SHORTRANGE, \ + bool ) + #ifdef __cplusplus } #endif diff --git a/src/qwiic_tmf882x.cpp b/src/qwiic_tmf882x.cpp index f740af2..43be8bc 100644 --- a/src/qwiic_tmf882x.cpp +++ b/src/qwiic_tmf882x.cpp @@ -823,6 +823,67 @@ bool QwDevTMF882X::setSPADConfig(struct tmf882x_mode_app_spad_config &spadConfig return true; } +////////////////////////////////////////////////////////////////////////////////// +// getRange() +// +// Get the range accuracy mode on the connected TMF882X +// +// The range can either be long range (default setting, 5m distance), or short +// range (higher accuracy, 1m distance) +// +// See the TMF882X datasheet for data on the accuracy of each mode +// +// Parameter Description +// --------- ----------------------------- +// range enum to hold the range setting +// retval True on success, false on error + +bool QwDevTMF882X::getRange(TMF882XRange &range) +{ + if (!_isInitialized) + return false; + + bool shortRange = false; + if (tmf882x_ioctl(&_TOF, IOCAPP_IS_SHORTRANGE, NULL, &shortRange)) + return false; + + range = shortRange ? SHORT_RANGE : LONG_RANGE; + + return true; +} + +////////////////////////////////////////////////////////////////////////////////// +// setRange() +// +// Set the range accuracy mode on the connected TMF882X +// +// Range accuracy can be either short range or long range. Long range is +// the default setting which is able to detect objects up to 5 meters away. +// The short range setting gives higher accuracy up to 1 meter. The range +// setting will also take effect on the histogram output. +// +// See the TMF882X datasheet for data on the accuracy of each mode +// +// Parameter Description +// --------- ----------------------------- +// range The range setting +// retval True on success, false on error + +bool QwDevTMF882X::setRange(TMF882XRange &range) +{ + if (range == FAILED) + return false; + + if (!_isInitialized) + return false; + + bool shortRange = range == SHORT_RANGE; + if (tmf882x_ioctl(&_TOF, IOCAPP_SET_SHORTRANGE, &shortRange, NULL)) + return false; + + return true; +} + //////////////////////////////////////////////////////////////////////////////////// // setCommunicationBus() // diff --git a/src/qwiic_tmf882x.h b/src/qwiic_tmf882x.h index ada4c03..40ce1c6 100644 --- a/src/qwiic_tmf882x.h +++ b/src/qwiic_tmf882x.h @@ -65,6 +65,23 @@ #define TMF882X_MSG_ALL 0x07 #define TMF882X_MSG_NONE 0x00 +/////////////////////////////////////////////////////////////////////// +// TMF882XRange +// +// enum used to set and get the current range value. +// +// Property Description +// -------- ----------------------------- +// FAILED Attempt to get the range accuracy value failed +// SHORT_RANGE Short range accuracy. (<=1m range, higher accuracy) +// LONG_RANGE Long range accuracy. (<=5m range, default accuracy) + +enum TMF882XRange { + FAILED = 0, + SHORT_RANGE = 0x6E, + LONG_RANGE = 0x6F +}; + ////////////////////////////////////////////////////////////////////////////// // Messaage Callback Types // @@ -499,6 +516,42 @@ class QwDevTMF882X bool setSPADConfig(struct tmf882x_mode_app_spad_config &tofSpad); + ////////////////////////////////////////////////////////////////////////////////// + // getRange() + // + // Get the range accuracy mode on the connected TMF882X + // + // The range can either be long range (default setting, 5m distance), or short + // range (higher accuracy, 1m distance) + // + // See the TMF882X datasheet for data on the accuracy of each mode + // + // Parameter Description + // --------- ----------------------------- + // range enum to hold the range setting + // retval True on success, false on error + + bool getRange(TMF882XRange &range); + + ////////////////////////////////////////////////////////////////////////////////// + // setRange() + // + // Set the range accuracy mode on the connected TMF882X + // + // Range accuracy can be either short range or long range. Long range is + // the default setting which is able to detect objects up to 5 meters away. + // The short range setting gives higher accuracy up to 1 meter. The range + // setting will also have an effect on the histogram output. + // + // See the TMF882X datasheet for data on the accuracy of each mode + // + // Parameter Description + // --------- ----------------------------- + // range The range setting + // retval True on success, false on error + + bool setRange(TMF882XRange &range); + ////////////////////////////////////////////////////////////////////////////////// // getTMF882XContext() // diff --git a/src/tmf882x_mode_app.c b/src/tmf882x_mode_app.c index 63fd035..b455052 100644 --- a/src/tmf882x_mode_app.c +++ b/src/tmf882x_mode_app.c @@ -1893,6 +1893,72 @@ static int32_t tmf882x_mode_app_set_calib_data(struct tmf882x_mode_app *app, return rc; } +static bool tmf882x_mode_app_is_shortrange_mode(struct tmf882x_mode_app *app) +{ + int32_t error = 0; + uint8_t reg = 0; + if (!app) return false; + + // register 0x19 is short-range mode state + // 0x6e: short range + // 0x6f: long range + // 0: no short-range support + error = tof_get_register(priv(app), 0x19, ®); + if (error) { + tof_err(priv(app), "Error reading shortrange mode register (%d)", error); + return false; + } + + return (reg == 0x6E); +} + +static int32_t tmf882x_mode_app_set_shortrange_mode(struct tmf882x_mode_app *app, bool is_shortrange) +{ + int32_t rc = 0; + struct tmf882x_mode_app_i2c_msg *i2c_msg; + bool capture_state = false; + + // issue cmd 0x6e -> short range mode + // issue cmd 0x6f -> long range mode (default) + + if (is_shortrange == tmf882x_mode_app_is_shortrange_mode(app)) + return 0; // nothing to do, already in correct mode + + if ((capture_state = is_measuring(app))) { + rc = tmf882x_mode_app_stop_measurements(&app->mode); + if (rc) { + tof_err(priv(app), "Error (%d) stopping measurements " + "switching shortrange mode", rc); + return -1; + } + } + + i2c_msg = to_i2cmsg(app); + i2c_msg->cmd = is_shortrange ? 0x6E : 0x6F; + i2c_msg->size = 0; + rc = tmf882x_mode_app_i2c_msg_send_timeout(app, i2c_msg, CMD_DEF_TIMEOUT_MS); + if (rc) { + tof_err(priv(app), "Error (%d) setting shortrange mode to %u", rc, is_shortrange); + return -1; + } + + // check if the switch was successful + if (is_shortrange != tmf882x_mode_app_is_shortrange_mode(app)) { + tof_err(priv(app), "Error (%d) setting shortrange mode to '%u'", rc, is_shortrange); + return -1; + } + + if (capture_state) { + rc = tmf882x_mode_app_start_measurements(&app->mode); + if (rc) { + tof_err(priv(app), "Error (%d) re-starting measurements", rc); + return -1; + } + } + + return 0; +} + static int32_t tmf882x_mode_app_do_factory_calib(struct tmf882x_mode_app *app, struct tmf882x_mode_app_calib *calib) { @@ -2128,6 +2194,13 @@ static int32_t tmf882x_mode_app_ioctl(struct tmf882x_mode *self, uint32_t cmd, (*(bool *)output) = tmf882x_mode_app_is_8x8_mode(app); rc = 0; break; + case APP_SET_SHORTRANGE: + rc = tmf882x_mode_app_set_shortrange_mode(app, (*(bool *)input)); + break; + case APP_IS_SHORTRANGE: + (*(bool *)output) = tmf882x_mode_app_is_shortrange_mode(app); + rc = 0; + break; default: tof_err(priv(app), "Error unhandled IOCTL cmd [%x]", cmd); } From 84d40fc53425d5e97d075a1902c51a6fdd2a625b Mon Sep 17 00:00:00 2001 From: Victor Lomba Date: Sat, 12 Aug 2023 13:48:10 -0400 Subject: [PATCH 2/4] Updated tof_bin_image to SDK source v1.19 --- src/tof_bin_image.c | 807 ++++++++++++++++++++++++++++++++------------ src/tof_bin_image.h | 2 - 2 files changed, 594 insertions(+), 215 deletions(-) diff --git a/src/tof_bin_image.c b/src/tof_bin_image.c index 9137d48..d86066f 100644 --- a/src/tof_bin_image.c +++ b/src/tof_bin_image.c @@ -1,220 +1,601 @@ /* http://srecord.sourceforge.net/ */ const unsigned char tof_bin_image[] = -{ -0x00, 0x80, 0x20, 0x00, 0x9D, 0x00, 0x20, 0x00, 0xD5, 0x20, 0x10, 0x00, -0xD7, 0x20, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, -0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, -0x09, 0x12, 0x56, 0x34, 0xAC, 0x09, 0x00, 0x00, 0xD9, 0x20, 0x10, 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0x0E, 0x00, 0x00, 0x07, 0x0E, 0x00, 0x00, + 0x07, 0x0E, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x0E, 0x00, 0x00, + 0x07, 0x0E, 0x00, 0x00, 0x07, 0x0E, 0x00, 0x00, 0x07, 0x0E, 0x00, 0x00, + 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, + 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, + 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, + 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, + 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, + 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, + 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x12, 0x0A, 0x00, 0x00, 0x00, 0x00, + 0x1C, 0x38, 0x00, 0x00, 0x1C, 0x38, 0x00, 0x00, 0x1C, 0x38, 0x00, 0x00, + 0x1C, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1C, 0x38, 0x00, 0x00, + 0x1C, 0x38, 0x00, 0x00, 0x1C, 0x38, 0x00, 0x00, 0x1C, 0x38, 0x00, 0x00, + 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, + 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, + 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, + 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, + 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, + 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, + 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x12, 0x0A, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xE0, 0x00, 0x00, 0x70, 0xE0, 0x00, 0x00, 0x70, 0xE0, 0x00, 0x00, + 0x70, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x70, 0xE0, 0x00, 0x00, + 0x70, 0xE0, 0x00, 0x00, 0x70, 0xE0, 0x00, 0x00, 0x70, 0xE0, 0x00, 0x00, + 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, + 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, + 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, + 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, + 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, + 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, + 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x12, 0x0A, 0x00, 0x00, 0x00, 0x00, + 0xC0, 0x81, 0x03, 0x00, 0xC0, 0x81, 0x03, 0x00, 0xC0, 0x81, 0x03, 0x00, + 0xC0, 0x81, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0x81, 0x03, 0x00, + 0xC0, 0x81, 0x03, 0x00, 0xC0, 0x81, 0x03, 0x00, 0xC0, 0x81, 0x03, 0x00, + 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, + 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, + 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, 0xDE, 0x63, 0x0C, 0x3C, + 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, + 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, + 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, 0x00, 0x18, 0x83, 0x0D, + 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x12, 0x0A, 0x00, 0x00, 0x88, 0x05, + 0x37, 0x0B, 0x27, 0x11, 0x65, 0x17, 0x02, 0x1E, 0x1E, 0x25, 0xBF, 0x2C, + 0xF5, 0x34, 0xC7, 0x3D, 0x27, 0x47, 0xF6, 0x50, 0x09, 0x5B, 0x38, 0x65, + 0x61, 0x6F, 0x72, 0x79, 0x62, 0x83, 0x30, 0x8D, 0xDC, 0x96, 0x62, 0xA0, + 0xBA, 0xA9, 0xD9, 0xB2, 0xAE, 0xBB, 0x2B, 0xC4, 0x3F, 0xCC, 0xE9, 0xD3, + 0x2E, 0xDB, 0x06, 0xE2, 0x8B, 0xE8, 0xB8, 0xEE, 0xA9, 0xF4, 0x68, 0xFA, + 0xFF, 0xFF, 0x00, 0x00, + }; const unsigned long tof_bin_image_termination = 0x00200089; const unsigned long tof_bin_image_start = 0x00200000; -const unsigned long tof_bin_image_finish = 0x002009AC; -const unsigned long tof_bin_image_length = 0x000009AC; +const unsigned long tof_bin_image_finish = 0x00201B88; +const unsigned long tof_bin_image_length = 0x00001B88; #define TOF_BIN_IMAGE_TERMINATION 0x00200089 #define TOF_BIN_IMAGE_START 0x00200000 -#define TOF_BIN_IMAGE_FINISH 0x002009AC -#define TOF_BIN_IMAGE_LENGTH 0x000009AC +#define TOF_BIN_IMAGE_FINISH 0x00201B88 +#define TOF_BIN_IMAGE_LENGTH 0x00001B88 \ No newline at end of file diff --git a/src/tof_bin_image.h b/src/tof_bin_image.h index ba65c64..f18d0ff 100644 --- a/src/tof_bin_image.h +++ b/src/tof_bin_image.h @@ -1,8 +1,6 @@ #ifndef TOF_BIN_IMAGE_H #define TOF_BIN_IMAGE_H -#define _HAS_BUILTIN_FW - extern const unsigned long tof_bin_image_termination; extern const unsigned long tof_bin_image_start; extern const unsigned long tof_bin_image_finish; From 9e6ff104c3fbfe045bfb055726870336cf87b11e Mon Sep 17 00:00:00 2001 From: Victor Lomba Date: Mon, 14 Aug 2023 14:35:28 -0400 Subject: [PATCH 3/4] Removed enum TMF882XRange and now only using bool --- src/qwiic_tmf882x.cpp | 17 +++++------------ src/qwiic_tmf882x.h | 12 ++++++------ 2 files changed, 11 insertions(+), 18 deletions(-) diff --git a/src/qwiic_tmf882x.cpp b/src/qwiic_tmf882x.cpp index 43be8bc..7cf6107 100644 --- a/src/qwiic_tmf882x.cpp +++ b/src/qwiic_tmf882x.cpp @@ -824,7 +824,7 @@ bool QwDevTMF882X::setSPADConfig(struct tmf882x_mode_app_spad_config &spadConfig } ////////////////////////////////////////////////////////////////////////////////// -// getRange() +// isShortRange() // // Get the range accuracy mode on the connected TMF882X // @@ -835,25 +835,22 @@ bool QwDevTMF882X::setSPADConfig(struct tmf882x_mode_app_spad_config &spadConfig // // Parameter Description // --------- ----------------------------- -// range enum to hold the range setting +// shortRange bool to hold the range setting // retval True on success, false on error -bool QwDevTMF882X::getRange(TMF882XRange &range) +bool QwDevTMF882X::isShortRange(bool &shortRange) { if (!_isInitialized) return false; - bool shortRange = false; if (tmf882x_ioctl(&_TOF, IOCAPP_IS_SHORTRANGE, NULL, &shortRange)) return false; - range = shortRange ? SHORT_RANGE : LONG_RANGE; - return true; } ////////////////////////////////////////////////////////////////////////////////// -// setRange() +// setShortRange() // // Set the range accuracy mode on the connected TMF882X // @@ -869,15 +866,11 @@ bool QwDevTMF882X::getRange(TMF882XRange &range) // range The range setting // retval True on success, false on error -bool QwDevTMF882X::setRange(TMF882XRange &range) +bool QwDevTMF882X::setShortRange(bool shortRange) { - if (range == FAILED) - return false; - if (!_isInitialized) return false; - bool shortRange = range == SHORT_RANGE; if (tmf882x_ioctl(&_TOF, IOCAPP_SET_SHORTRANGE, &shortRange, NULL)) return false; diff --git a/src/qwiic_tmf882x.h b/src/qwiic_tmf882x.h index 40ce1c6..7d290f4 100644 --- a/src/qwiic_tmf882x.h +++ b/src/qwiic_tmf882x.h @@ -517,7 +517,7 @@ class QwDevTMF882X bool setSPADConfig(struct tmf882x_mode_app_spad_config &tofSpad); ////////////////////////////////////////////////////////////////////////////////// - // getRange() + // isShortRange() // // Get the range accuracy mode on the connected TMF882X // @@ -528,13 +528,13 @@ class QwDevTMF882X // // Parameter Description // --------- ----------------------------- - // range enum to hold the range setting + // shortRange bool to hold the range setting // retval True on success, false on error - bool getRange(TMF882XRange &range); + bool isShortRange(bool &shortRange); ////////////////////////////////////////////////////////////////////////////////// - // setRange() + // setShortRange() // // Set the range accuracy mode on the connected TMF882X // @@ -547,10 +547,10 @@ class QwDevTMF882X // // Parameter Description // --------- ----------------------------- - // range The range setting + // shortRange The range setting // retval True on success, false on error - bool setRange(TMF882XRange &range); + bool setShortRange(bool shortRange); ////////////////////////////////////////////////////////////////////////////////// // getTMF882XContext() From 9298b0aa71d480dbc385f2f61378e73f78beb7f3 Mon Sep 17 00:00:00 2001 From: Victor Lomba Date: Mon, 14 Aug 2023 14:39:53 -0400 Subject: [PATCH 4/4] Deleted enum TMF882xRange --- src/qwiic_tmf882x.h | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/src/qwiic_tmf882x.h b/src/qwiic_tmf882x.h index 7d290f4..cf70df6 100644 --- a/src/qwiic_tmf882x.h +++ b/src/qwiic_tmf882x.h @@ -65,23 +65,6 @@ #define TMF882X_MSG_ALL 0x07 #define TMF882X_MSG_NONE 0x00 -/////////////////////////////////////////////////////////////////////// -// TMF882XRange -// -// enum used to set and get the current range value. -// -// Property Description -// -------- ----------------------------- -// FAILED Attempt to get the range accuracy value failed -// SHORT_RANGE Short range accuracy. (<=1m range, higher accuracy) -// LONG_RANGE Long range accuracy. (<=5m range, default accuracy) - -enum TMF882XRange { - FAILED = 0, - SHORT_RANGE = 0x6E, - LONG_RANGE = 0x6F -}; - ////////////////////////////////////////////////////////////////////////////// // Messaage Callback Types //