From 333629ce3797dc79ea1b0f120068dd1af1eaec51 Mon Sep 17 00:00:00 2001 From: alexklimaj Date: Sun, 15 Aug 2021 14:29:48 -0600 Subject: [PATCH] Update Broadcom AFBR to v1.3.5 API --- .../broadcom/afbrs50/AFBRS50.cpp | 18 +- .../broadcom/afbrs50/Inc/api/argus_api.h | 225 ++++++---- .../broadcom/afbrs50/Inc/api/argus_dca.h | 252 +++++------ .../broadcom/afbrs50/Inc/api/argus_def.h | 33 +- .../broadcom/afbrs50/Inc/api/argus_dfm.h | 2 +- .../broadcom/afbrs50/Inc/api/argus_map.h | 253 +++++++++++ .../broadcom/afbrs50/Inc/api/argus_meas.h | 64 ++- .../broadcom/afbrs50/Inc/api/argus_pba.h | 2 +- .../broadcom/afbrs50/Inc/api/argus_px.h | 11 + .../broadcom/afbrs50/Inc/api/argus_res.h | 103 +++-- .../broadcom/afbrs50/Inc/api/argus_snm.h | 2 +- .../broadcom/afbrs50/Inc/api/argus_status.h | 11 +- .../broadcom/afbrs50/Inc/api/argus_version.h | 6 +- .../broadcom/afbrs50/Inc/platform/argus_irq.h | 20 +- .../broadcom/afbrs50/Inc/platform/argus_nvm.h | 1 - .../afbrs50/Inc/platform/argus_s2pi.h | 47 +- .../afbrs50/Inc/platform/argus_timer.h | 60 +-- .../broadcom/afbrs50/Inc/utility/fp_def.h | 400 ++++++++++++------ .../broadcom/afbrs50/Inc/utility/time.h | 8 +- .../broadcom/afbrs50/Lib/libafbrs50_m4_fpu.a | Bin 226886 -> 222646 bytes .../afbrs50/Lib/libafbrs50_m4_fpu_os.a | Bin 186050 -> 186938 bytes 21 files changed, 1007 insertions(+), 511 deletions(-) create mode 100644 src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp b/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp index 22c3105c89..af1d5a1eb5 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp +++ b/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp @@ -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(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; diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h index 598b33375c..a933976370 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h @@ -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); /*!*************************************************************************** diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h index f5f6845368..f23d117648 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h @@ -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. * diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_def.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_def.h index 4762e1d9cd..c639922a7d 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_def.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_def.h @@ -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); diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dfm.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dfm.h index c5ec32dfa8..b2517182f8 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dfm.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dfm.h @@ -39,7 +39,7 @@ /*!*************************************************************************** * @defgroup argusdfm Dual Frequency Mode - * @ingroup argusdev + * @ingroup argusapi * * @brief Dual Frequency Mode (DFM) parameter definitions and API functions. * diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h new file mode 100644 index 0000000000..64588d25f1 --- /dev/null +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h @@ -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 */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_meas.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_meas.h index e57de35711..0e074c6a8b 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_meas.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_meas.h @@ -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; /*! @} */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h index 1d4a5c43b9..07b4853bda 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h @@ -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. diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h index 2977312d8e..faa031aeb7 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h @@ -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 */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_res.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_res.h index 468a913671..f59d817634 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_res.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_res.h @@ -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; diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_snm.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_snm.h index 2bb6ad0a0d..2776308143 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_snm.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_snm.h @@ -39,7 +39,7 @@ /*!*************************************************************************** * @defgroup argussnm Shot Noise Monitor - * @ingroup argusdev + * @ingroup argusapi * * @brief Shot Noise Monitor (SNM) parameter definitions and API functions. * diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h index 77ac2fcafc..244ad1beec 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h @@ -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. */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h index 2a2ca9d62c..ea16342c84 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h @@ -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" /*****************************************************************************/ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_irq.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_irq.h index 0a9e11241e..3eb7d2cfd4 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_irq.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_irq.h @@ -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); diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_nvm.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_nvm.h index 0c0bf237cb..69939b7759 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_nvm.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_nvm.h @@ -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 diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_s2pi.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_s2pi.h index 3c17096e8e..4b8f5331b5 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_s2pi.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_s2pi.h @@ -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 diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_timer.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_timer.h index 0390020aff..80deb42016 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_timer.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_timer.h @@ -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 diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_def.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_def.h index 06f39681e5..ae7422ada5 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_def.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_def.h @@ -59,7 +59,11 @@ #include /******************************************************************************* - * 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 */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/time.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/time.h index ed96f7337a..9c5f930351 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/time.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/time.h @@ -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. diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu.a b/src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu.a index b99488bb4b4c7b7f8c3d562f4fcb5fa4f74d1a2b..c646ab311623e8bdb3fc3f7b7adcd503e5b0f0b3 100644 GIT binary patch literal 222646 zcmeEv33yY-weY$3YO^f7vKZqS*)m{bW4sU`OH=zwzJ{=fV3MY#EeKm6HMS)rnE+`U zu{2Ae35l}+rY#9+U$!QgKuelXIZKl?C4DkW9^fV+T@cuLc`~-iE$$!w@65d;U0sWW zyuA1Ky?+0EpM7=aoH=vm%sz8wrr>&quhDgbak@FtRnDxMJ!^L5tgC06%@qWt{BJhT zs+u`d3bEV>0D}Nm-6#DOJr4iR{_55P`Mc#O5c^v?6X4tLN`H-G;dB2sd<>WU`t(bD2>UA4^F+URL=0tK6#1YF{7aW1QO1{Qj5SN^`a z!P%&U7pPz*Sl8_E`khTNav4rwA^Rn;k^N$ z-hfMvNcJUO4KDXeS~+C@hCsZupqHFUj%N1?NrehFsys#VMLwt3;d90_I?iLh!|(Jp zI956X>#Uv@ud~&!EPF_&%z1e6)ZeRxY41FXx)%x<>?QaHPfo z!P?s$Zj#crn68{_P>q=SHou~jB={>hG&lowKA(qXJd#Y{br z>S=3L`jZq(1w?3e&^nA!%yIaW`Zr+fICoX6M{0eRIQ+LM6@v}y<*`)2gcd_i&;n0W zTdet!{j4sxcdjil9q4z9)8~&jdNQ%3yLDcrMn)E9NqdUYP0H39N3$Cn+1lpj#m-f3 ze<0p%Boa`pLMBN~3J}i`rVeiybXq1tUqmXf7^=B zK-add9f`F%nz1B|Y>`GH6b-W!sNUgjO=u#~pXPF`cR^1@gMnZ|E}@4sI-zZ%B1=Xh zUi# zZeL{@)MJyfOpz8~iD%(0v{@hp$M1KxtY~&Bx;FH#TkC9W3plavE23|Z%A=C0Oekec zT+qu?DymFUdRqhSdTkAI4YxIr5<|LuK!`MrbfQE;;8^gXU}t<8lssioU}agaC~vPUUuCMr&SnSB(>^b6 zNs8q#wJZFd=C;6A3NWt=P*q#d9S=N1sKj=4)Hm>S%E{ z);2l3iW#a}U&*P|yhyLgyIWfmYDt1vBWUL|#`$^_gSa#ZG^Mc$Z_DD4wEMpu+-bAxbf~O%(M?LL|nKY>1}F-?&Dv zn2;#qGpNl3jq48WcTw;7U zMx;Tcd{r(%BxdYq(=J2}9 zJ=0|$C$8#_^zp86B=HTz7erMY0Gb+MEl6mTw^_

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