drivers/distance_sensor: New Broadcom AFBR-S50LV85D distance sensor driver

* Basic Broadcom AFBR-S50 driver using vendor API and binary blob https://github.com/Broadcom/AFBR-S50-API * fix ARK Flow paw3902 rotation
2026-05-20 15:17:34 +08:00 · 2021-06-15 10:12:24 -06:00
parent e828ba4288
commit dddd2c3297
51 changed files with 7753 additions and 37 deletions
@@ -108,3 +108,5 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # SITL
 dataman
 eeprom/
+
+!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
@@ -12,6 +12,7 @@ px4_add_board(
 	UAVCAN_INTERFACES 1
 	DRIVERS
 		bootloaders
+		distance_sensor/broadcom/afbrs50
 		imu/bosch/bmi088
 		optical_flow/paw3902
 		uavcannode
@@ -20,14 +21,13 @@ px4_add_board(
 		load_mon
 		#sensors
 	SYSTEMCMDS
-		mft
-		mtd
 		param
 		perf
 		reboot
 		system_time
 		top
-		topic_listener
+		#topic_listener
+		uorb
 		ver
 		work_queue
 )
@@ -13,6 +13,7 @@ px4_add_board(
 	UAVCAN_INTERFACES 1
 	DRIVERS
 		bootloaders
+		distance_sensor/broadcom/afbrs50
 		imu/bosch/bmi088
 		optical_flow/paw3902
 		uavcannode
@@ -21,14 +22,13 @@ px4_add_board(
 		#load_mon
 		#sensors
 	SYSTEMCMDS
-		mft
-		mtd
 		param
 		#perf
 		#reboot
 		#system_time
 		#top
 		#topic_listener
+		#uorb
 		#ver
 		#work_queue
 )
@@ -4,6 +4,8 @@
 #------------------------------------------------------------------------------

 # Internal SPI
-paw3902 -s start -Y 90
+paw3902 -s start -Y 180
 bmi088 -A -s -R 4 start
 bmi088 -G -s -R 4 start
+
+afbrs50 start
@@ -133,8 +133,8 @@
 #define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1

-#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1
-#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1
-#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1
+#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
+#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
+#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1  /* PB10 */

 #endif /* __ARCH_BOARD_BOARD_H */
@@ -40,6 +40,4 @@
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
 #define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
-#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX     // DMA2, Stream 3, Channel 0
-#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX     // DMA2, Stream 4, Channel 0
 #define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3
@@ -144,8 +144,6 @@ CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
 CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI2_DMA=y
-CONFIG_STM32_SPI2_DMA_BUFFER=1024
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM8=y
 CONFIG_STM32_USART2=y
@@ -56,6 +56,13 @@
 #define GPIO_nLED_RED          /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
 #define GPIO_nLED_BLUE         /* PA8  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)

+#define BROADCOM_AFBR_S50_S2PI_SPI_BUS 2
+#define BROADCOM_AFBR_S50_S2PI_CS   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
+#define BROADCOM_AFBR_S50_S2PI_IRQ  /* PB4  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4|GPIO_EXTI)
+#define BROADCOM_AFBR_S50_S2PI_CLK  /* PB10 */  GPIO_SPI2_SCK_1
+#define BROADCOM_AFBR_S50_S2PI_MOSI /* PB15 */  GPIO_SPI2_MOSI_1
+#define BROADCOM_AFBR_S50_S2PI_MISO /* PB14 */  GPIO_SPI2_MISO_1
+
 #define BOARD_HAS_CONTROL_STATUS_LEDS      1
 #define BOARD_OVERLOAD_LED     LED_RED
 #define BOARD_ARMED_STATE_LED  LED_BLUE
@@ -160,7 +160,7 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc

 	/*  Turn the sense lines to digital outputs LOW */

-	imxrt_config_gpio(PX4_MAKE_GPIO_OUTPUT(gpio_sense));
+	imxrt_config_gpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(gpio_sense));


 	up_udelay(100); /* About 10 TC assuming 485 K */
@@ -172,7 +172,7 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc

 	/*  Write the sense lines HIGH */

-	imxrt_gpio_write(PX4_MAKE_GPIO_OUTPUT(gpio_sense), 1);
+	imxrt_gpio_write(PX4_MAKE_GPIO_OUTPUT_CLEAR(gpio_sense), 1);

 	up_udelay(100); /* About 10 TC assuming 485 K */

@@ -113,6 +113,7 @@ int kinetis_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, boo

 #define _PX4_MAKE_GPIO(pin_ftmx, io)    ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
 #define PX4_MAKE_GPIO_INPUT(gpio) _PX4_MAKE_GPIO(gpio, GPIO_PULLUP)
-#define PX4_MAKE_GPIO_OUTPUT(gpio) _PX4_MAKE_GPIO(gpio, GPIO_HIGHDRIVE)
+#define PX4_MAKE_GPIO_OUTPUT_SET(gpio) _PX4_MAKE_GPIO(gpio, GPIO_HIGHDRIVE)
+#define PX4_MAKE_GPIO_OUTPUT_CLEAR(gpio) _PX4_MAKE_GPIO(gpio, GPIO_LOWDRIVE)

 __END_DECLS
@@ -105,6 +105,7 @@ int imxrt_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, bool
 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  imxrt_gpiosetevent(pinset,r,f,e,fp,a)

 #define PX4_MAKE_GPIO_INPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ))
-#define PX4_MAKE_GPIO_OUTPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST))
+#define PX4_MAKE_GPIO_OUTPUT_CLEAR(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST))
+#define PX4_MAKE_GPIO_OUTPUT_SET(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT | GPIO_OUTPUT_ONE | IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST))

 __END_DECLS
@@ -170,7 +170,7 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc

 	/*  Turn the sense lines to digital outputs LOW */

-	stm32_configgpio(PX4_MAKE_GPIO_OUTPUT(gpio_sense));
+	stm32_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(gpio_sense));


 	up_udelay(100); /* About 10 TC assuming 485 K */
@@ -182,7 +182,7 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc

 	/*  Write the sense lines HIGH */

-	stm32_gpiowrite(PX4_MAKE_GPIO_OUTPUT(gpio_sense), 1);
+	stm32_gpiowrite(PX4_MAKE_GPIO_OUTPUT_CLEAR(gpio_sense), 1);

 	up_udelay(100); /* About 10 TC assuming 485 K */

@@ -103,7 +103,8 @@ __BEGIN_DECLS
 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  stm32_gpiosetevent(pinset,r,f,e,fp,a)

 #define PX4_MAKE_GPIO_INPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
-#define PX4_MAKE_GPIO_OUTPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
+#define PX4_MAKE_GPIO_OUTPUT_CLEAR(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
+#define PX4_MAKE_GPIO_OUTPUT_SET(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET))

 #define PX4_GPIO_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_2MHz))

@@ -31,6 +31,7 @@
 #
 ############################################################################

+add_subdirectory(broadcom)
 add_subdirectory(cm8jl65)
 add_subdirectory(leddar_one)
 add_subdirectory(ll40ls)
@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2021 PX4 Development Team. 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 PX4 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 OWNER 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.
+#
+############################################################################
+
+#add_subdirectory(afbrs50) # not suitable for general inclusion
@@ -0,0 +1,360 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. 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 PX4 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 OWNER 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.
+ *
+ ****************************************************************************/
+
+/* Include Files */
+#include "AFBRS50.hpp"
+
+#include <lib/drivers/device/Device.hpp>
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+
+#define AFBRS50_MEASURE_INTERVAL     (1000000 / 100) // 10Hz
+
+/*! Define the SPI baud rate (to be used in the SPI module). */
+#define SPI_BAUD_RATE 5000000
+
+#include "s2pi.h"
+#include "timer.h"
+#include "argus_hal_test.h"
+
+AFBRS50 *g_dev{nullptr};
+
+AFBRS50::AFBRS50(uint8_t device_orientation):
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
+	_px4_rangefinder(0, device_orientation)
+{
+	device::Device::DeviceId device_id{};
+	device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SPI;
+	device_id.devid_s.bus = BROADCOM_AFBR_S50_S2PI_SPI_BUS;
+	device_id.devid_s.devtype = DRV_DIST_DEVTYPE_AFBRS50;
+
+	_px4_rangefinder.set_device_id(device_id.devid);
+}
+
+AFBRS50::~AFBRS50()
+{
+	stop();
+
+	perf_free(_sample_perf);
+}
+
+status_t AFBRS50::measurement_ready_callback(status_t status, void *data)
+{
+	if (!up_interrupt_context()) {
+		if (status == STATUS_OK) {
+			if (g_dev) {
+				g_dev->ProcessMeasurement(data);
+			}
+		}
+	}
+
+	return status;
+}
+
+void AFBRS50::ProcessMeasurement(void *data)
+{
+	if (data != nullptr) {
+		perf_count(_sample_perf);
+
+		argus_results_t res{};
+		status_t evaluate_status = Argus_EvaluateData(_hnd, &res, data);
+
+		if ((evaluate_status == STATUS_OK) && (res.Status == 0)) {
+			uint32_t result_mm = res.Bin.Range / (Q9_22_ONE / 1000);
+			float result_m = static_cast<float>(result_mm) / 1000.f;
+			_px4_rangefinder.update(((res.TimeStamp.sec * 1000000ULL) + res.TimeStamp.usec), result_m);
+		}
+	}
+}
+
+int AFBRS50::init()
+{
+	if (_hnd != nullptr) {
+		// retry
+		Argus_Deinit(_hnd);
+		Argus_DestroyHandle(_hnd);
+		_hnd = nullptr;
+	}
+
+	_hnd = Argus_CreateHandle();
+
+	if (_hnd == nullptr) {
+		PX4_ERR("Handle not initialized");
+		return PX4_ERROR;
+	}
+
+	// Initialize the S2PI hardware required by the API.
+	S2PI_Init(BROADCOM_AFBR_S50_S2PI_SPI_BUS, SPI_BAUD_RATE);
+
+	status_t status = Argus_Init(_hnd, BROADCOM_AFBR_S50_S2PI_SPI_BUS);
+
+	if (status == STATUS_OK) {
+		uint32_t id = Argus_GetChipID(_hnd);
+		uint32_t value = Argus_GetAPIVersion();
+		uint8_t a = (value >> 24) & 0xFFU;
+		uint8_t b = (value >> 16) & 0xFFU;
+		uint8_t c = value & 0xFFFFU;
+		PX4_INFO_RAW("AFBR-S50 Chip ID: %d, API Version: %d v%d.%d.%d\n", id, value, a, b, c);
+
+		argus_module_version_t mv = Argus_GetModuleVersion(_hnd);
+
+		switch (mv) {
+		case AFBR_S50MV85G_V1:
+
+		// FALLTHROUGH
+		case AFBR_S50MV85G_V2:
+
+		// FALLTHROUGH
+		case AFBR_S50MV85G_V3:
+			_px4_rangefinder.set_min_distance(0.08f);
+			_px4_rangefinder.set_max_distance(10.f);
+			_px4_rangefinder.set_fov(math::radians(6.f));
+			PX4_INFO_RAW("AFBR-S50MV85G\n");
+			break;
+
+		case AFBR_S50LV85D_V1:
+			_px4_rangefinder.set_min_distance(0.08f);
+			_px4_rangefinder.set_max_distance(30.f);
+			_px4_rangefinder.set_fov(math::radians(6.f));
+			PX4_INFO_RAW("AFBR-S50LV85D (v1)\n");
+			break;
+
+		case AFBR_S50MV68B_V1:
+			_px4_rangefinder.set_min_distance(0.08f);
+			_px4_rangefinder.set_max_distance(10.f);
+			_px4_rangefinder.set_fov(math::radians(1.f));
+			PX4_INFO_RAW("AFBR-S50MV68B (v1)\n");
+			break;
+
+		case AFBR_S50MV85I_V1:
+			_px4_rangefinder.set_min_distance(0.08f);
+			_px4_rangefinder.set_max_distance(5.f);
+			_px4_rangefinder.set_fov(math::radians(6.f));
+			PX4_INFO_RAW("AFBR-S50MV85I (v1)\n");
+			break;
+
+		case AFBR_S50SV85K_V1:
+			_px4_rangefinder.set_min_distance(0.08f);
+			_px4_rangefinder.set_max_distance(10.f);
+			_px4_rangefinder.set_fov(math::radians(4.f));
+			PX4_INFO_RAW("AFBR-S50SV85K (v1)\n");
+			break;
+
+		default:
+			break;
+		}
+
+		_state = STATE::CONFIGURE;
+		ScheduleDelayed(AFBRS50_MEASURE_INTERVAL);
+		return PX4_OK;
+	}
+
+	return PX4_ERROR;
+}
+
+void AFBRS50::Run()
+{
+	// backup schedule
+	ScheduleDelayed(100_ms);
+
+	switch (_state) {
+	case STATE::TEST: {
+			Argus_VerifyHALImplementation(Argus_GetSPISlave(_hnd));
+
+			_state = STATE::CONFIGURE;
+			ScheduleDelayed(100_ms);
+		}
+		break;
+
+	case STATE::CONFIGURE: {
+			Argus_SetConfigurationFrameTime(_hnd, AFBRS50_MEASURE_INTERVAL);
+
+			status_t status = Argus_StartMeasurementTimer(_hnd, measurement_ready_callback);
+
+			if (status != STATUS_OK) {
+				PX4_ERR("CONFIGURE status not okay: %i", status);
+				_state = STATE::STOP;
+				ScheduleNow();
+
+			} else {
+				_state = STATE::COLLECT;
+				ScheduleDelayed(AFBRS50_MEASURE_INTERVAL);
+			}
+		}
+		break;
+
+	case STATE::COLLECT: {
+			// currently handeled by measurement_ready_callback
+		}
+		break;
+
+	case STATE::STOP: {
+			Argus_StopMeasurementTimer(_hnd);
+			Argus_Deinit(_hnd);
+			Argus_DestroyHandle(_hnd);
+		}
+		break;
+
+	default:
+		break;
+	}
+}
+
+void AFBRS50::stop()
+{
+	_state = STATE::STOP;
+	ScheduleNow();
+}
+
+void AFBRS50::print_info()
+{
+	perf_print_counter(_sample_perf);
+}
+
+namespace afbrs50
+{
+
+static int start(const uint8_t rotation)
+{
+	if (g_dev != nullptr) {
+		PX4_ERR("already started");
+		return PX4_ERROR;
+	}
+
+	g_dev = new AFBRS50(rotation);
+
+	if (g_dev == nullptr) {
+		PX4_ERR("object instantiate failed");
+		return PX4_ERROR;
+	}
+
+	// Initialize the sensor.
+	if (g_dev->init() != PX4_OK) {
+		PX4_ERR("driver start failed");
+		delete g_dev;
+		g_dev = nullptr;
+		return PX4_ERROR;
+	}
+
+	return PX4_OK;
+}
+
+static int status()
+{
+	if (g_dev == nullptr) {
+		PX4_ERR("driver not running");
+		return PX4_ERROR;
+	}
+
+	g_dev->print_info();
+
+	return PX4_OK;
+}
+
+static int stop()
+{
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+
+	}
+
+	PX4_INFO("driver stopped");
+	return PX4_OK;
+}
+
+static int usage()
+{
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+Driver for the Broadcom AFBRS50.
+
+### Examples
+
+Attempt to start driver on a specified serial device.
+$ afbrs50 start
+Stop driver
+$ afbrs50 stop
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("afbrs50", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver");
+	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
+	PRINT_MODULE_USAGE_PARAM_INT('r', 25, 0, 25, "Sensor rotation - downward facing by default", true);
+	PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop driver");
+	return PX4_OK;
+}
+
+} // namespace
+
+extern "C" __EXPORT int afbrs50_main(int argc, char *argv[])
+{
+	const char *myoptarg = nullptr;
+
+	int ch = 0;
+	int myoptind = 1;
+
+	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+
+	while ((ch = px4_getopt(argc, argv, "d:r", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'r':
+			rotation = (uint8_t)atoi(myoptarg);
+			break;
+
+		default:
+			PX4_WARN("Unknown option");
+			return afbrs50::usage();
+		}
+	}
+
+	if (myoptind >= argc) {
+		return afbrs50::usage();
+	}
+
+	if (!strcmp(argv[myoptind], "start")) {
+		return afbrs50::start(rotation);
+
+	} else if (!strcmp(argv[myoptind], "status")) {
+		return afbrs50::status();
+
+	} else if (!strcmp(argv[myoptind], "stop")) {
+		return afbrs50::stop();
+	}
+
+	return afbrs50::usage();
+}
@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. 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 PX4 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 OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file AFBRS50.hpp
+ *
+ * Driver for the Broadcom AFBR-S50 connected via SPI.
+ *
+ */
+#pragma once
+
+#include "argus.h"
+
+#include <drivers/drv_hrt.h>
+#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+
+using namespace time_literals;
+
+class AFBRS50 : public px4::ScheduledWorkItem
+{
+public:
+	AFBRS50(const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
+	~AFBRS50() override;
+
+	int init();
+
+	/**
+	 * Diagnostics - print some basic information about the driver.
+	 */
+	void print_info();
+
+	/**
+	 * Stop the automatic measurement state machine.
+	 */
+	void stop();
+
+private:
+	void Run() override;
+
+	void ProcessMeasurement(void *data);
+
+	static status_t measurement_ready_callback(status_t status, void *data);
+
+	argus_hnd_t *_hnd{nullptr};
+
+	enum class STATE : uint8_t {
+		TEST,
+		CONFIGURE,
+		COLLECT,
+		STOP
+	} _state{STATE::CONFIGURE};
+
+	PX4Rangefinder _px4_rangefinder;
+
+	hrt_abstime _measurement_time{0};
+
+	perf_counter_t _sample_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": sample interval")};
+};
@@ -0,0 +1,35 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		This file provides functionality to globally turn IRQs on/off.
+ *
+ * @copyright	Copyright c 2016-2019, Avago Technologies GmbH.
+ * 				All rights reserved.
+ *
+ *****************************************************************************/
+
+#ifndef IRQ_H
+#define IRQ_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*!***************************************************************************
+ * @defgroup	IRQ IRQ: Global Interrupt Control
+ * @ingroup		driver
+ * @brief		Global IRQ Module
+ * @details		This module provides functionality to globally enable/disable
+ * 				interrupts by turning the I-bit in the CPSR on/off.
+ * @addtogroup 	IRQ
+ * @{
+ *****************************************************************************/
+
+#include "platform/argus_irq.h"
+
+#ifdef __cplusplus
+}
+#endif
+
+/*! @} */
+#endif /* IRQ_H */
@@ -0,0 +1,107 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		This file provides an interface for the required S2PI module.
+ *
+ * @copyright	Copyright c 2016-2019, Avago Technologies GmbH.
+ * 				All rights reserved.
+ *
+ *****************************************************************************/
+
+#ifndef S2PI_H
+#define S2PI_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*!***************************************************************************
+ * @defgroup	SPI SPI: Serial Peripheral Interface
+ * @ingroup		driver
+ * @brief		S2PI: SPI incl. GPIO Hardware Layer Module
+ *
+ * @details		Provides driver functionality for the S2PI interface module.
+ *
+ * 				The S2PI module consists of a standard SPI interface plus a
+ *				single GPIO interrupt line. Furthermore, the SPI pins are
+ *				accessible via GPIO control to allow a software emulation of
+ *				additional protocols using the same pins.
+ *
+ * 				This module actually implements the #argus_s2pi interface that
+ * 				is required for the Argus API. Refer to the module for more
+ * 				information.
+ *
+ * @addtogroup 	SPI
+ * @{
+ *****************************************************************************/
+
+#include "platform/argus_s2pi.h"
+
+
+/*! Enables the SPI slaves that utilize a GPIO pin for chip select. */
+#define S2PI_GPIO_SLAVES 0
+
+/*! The S2PI slaves. */
+enum S2PISlaves {
+	/*! No SPI slave selected (all pins are disabled w/ high z state). */
+	S2PI_NONE = 0,
+
+	/*! The S2PI slave 1 (connected via adapter board). */
+	S2PI_S1 = 1,
+
+	/*! The S2PI slave 2 (connected via cable). */
+	S2PI_S2 = 2,
+
+#if S2PI_GPIO_SLAVES
+
+	/*! The S2PI slave 3. */
+	S2PI_S3 = 3,
+
+	/*! The S2PI slave 4. */
+	S2PI_S4 = 4,
+
+	/*! The experimental S2PI slave 1 w/ GPIO CS
+	 *  (connected via adapter board). */
+	S2PI_S1_GPIO = 5,
+
+	/*! The experimental S2PI slave 2 w/ GPIO CS
+	 *  (connected via cable). */
+	S2PI_S2_GPIO = 6,
+
+#endif
+
+	/*! No SPI slave selected (all pins go to low state). */
+	S2PI_PINS_LOW = 0xFFU,
+};
+
+
+/*!***************************************************************************
+ * @brief	Initializes the S2PI module.
+ *
+ * @details	Setup the board as a S2PI master, this also sets up up the S2PI pins.
+ * 			The SPI interface is initialized with the corresponding default
+ * 			SPI slave (i.e. CS and IRQ lines) and the default baud rate.
+ *
+ * @param	defaultSlave The default SPI slave to be addressed right after
+ * 						 module initialization.
+ * @param	baudRate_Bps The default SPI baud rate in bauds-per-second.
+ *
+ * @return 	Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ *****************************************************************************/
+status_t S2PI_Init(s2pi_slave_t defaultSlave, uint32_t baudRate_Bps);
+
+/*!***************************************************************************
+ * @brief	Sets the SPI baud rate in bps.
+ * @param	baudRate_Bps The default SPI baud rate in bauds-per-second.
+ * @return 	Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ * 			- #STATUS_OK on success
+ * 			- #ERROR_S2PI_INVALID_BAUD_RATE on invalid baud rate value.
+ *****************************************************************************/
+status_t S2PI_SetBaudRate(uint32_t baudRate_Bps);
+
+#ifdef __cplusplus
+}
+#endif
+
+/*! @} */
+#endif // S2PI_H
@@ -0,0 +1,52 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		This file provides driver functionality for PIT (periodic interrupt timer).
+ *
+ * @copyright	Copyright c 2016-2019, Avago Technologies GmbH.
+ * 				All rights reserved.
+ *
+ *****************************************************************************/
+
+#ifndef TIMER_H
+#define TIMER_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*!***************************************************************************
+ * @defgroup	timer Timer Module
+ * @ingroup		driver
+ * @brief		Timer Hardware Driver Module
+ * @details		Provides driver functionality for the timer peripherals.
+ * 				This module actually implements the #argus_timer interface that
+ * 				is required for the Argus API. It contains two timing
+ * 				functionalities: A periodic interrupt/callback timer and
+ * 				an lifetime counter.
+ *
+ * 				Note that the current implementation only features a single
+ * 				callback timer interval and does not yet support the feature
+ * 				of multiple intervalls at a time.
+ *
+ * @addtogroup 	timer
+ * @{
+ *****************************************************************************/
+
+/*******************************************************************************
+ * Include Files
+ ******************************************************************************/
+
+#include "platform/argus_timer.h"
+
+/*!***************************************************************************
+ * @brief	Initializes the timer hardware.
+ *****************************************************************************/
+void Timer_Init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+/*! @} */
+#endif /* TIMER_H */
@@ -0,0 +1,24 @@
+
+#include <nuttx/irq.h>
+
+static volatile irqstate_t irqstate_flags;
+
+/*!***************************************************************************
+* @brief Enable IRQ Interrupts
+*
+* @return -
+*****************************************************************************/
+void IRQ_UNLOCK(void)
+{
+	leave_critical_section(irqstate_flags);
+}
+
+/*!***************************************************************************
+* @brief Disable IRQ Interrupts
+*
+* @return -
+*****************************************************************************/
+void IRQ_LOCK(void)
+{
+	irqstate_flags = enter_critical_section();
+}
@@ -0,0 +1,431 @@
+
+
+#include "irq.h"
+#include "s2pi.h"
+
+#include <stdio.h>
+
+#include <board_config.h>
+
+#include <nuttx/spi/spi.h>
+
+#include <drivers/drv_hrt.h>
+#include <px4_platform_common/workqueue.h>
+
+#include <lib/perf/perf_counter.h>
+
+/*! A structure to hold all internal data required by the S2PI module. */
+typedef struct {
+	/*! Determines the current driver status. */
+	volatile status_t Status;
+
+	/*! Determines the current S2PI slave. */
+	volatile s2pi_slave_t Slave;
+
+	/*! A callback function to be called after transfer/run mode is completed. */
+	s2pi_callback_t Callback;
+
+	/*! A parameter to be passed to the callback function. */
+	void *CallbackData;
+
+	/*! A callback function to be called after external interrupt is triggered. */
+	s2pi_irq_callback_t IrqCallback;
+
+	/*! A parameter to be passed to the interrupt callback function. */
+	void *IrqCallbackData;
+
+	struct spi_dev_s *spidev;
+	uint8_t *spi_tx_data;
+	uint8_t *spi_rx_data;
+	size_t spi_frame_size;
+
+	/*! The mapping of the GPIO blocks and pins for this device. */
+	const uint32_t GPIOs[ S2PI_IRQ + 1 ];
+}
+s2pi_handle_t;
+
+s2pi_handle_t s2pi_ = { .GPIOs = { [ S2PI_CLK ]  = BROADCOM_AFBR_S50_S2PI_CLK,
+				   [ S2PI_CS ]   = BROADCOM_AFBR_S50_S2PI_CS,
+				   [ S2PI_MOSI ] = BROADCOM_AFBR_S50_S2PI_MOSI,
+				   [ S2PI_MISO ] = BROADCOM_AFBR_S50_S2PI_MISO,
+				   [ S2PI_IRQ ]  = BROADCOM_AFBR_S50_S2PI_IRQ
+				 }
+		      };
+
+static struct work_s broadcom_s2pi_transfer_work = {};
+
+static perf_counter_t s2pi_transfer_perf = NULL;
+static perf_counter_t s2pi_transfer_callback_perf = NULL;
+static perf_counter_t s2pi_irq_callback_perf = NULL;
+
+/*!***************************************************************************
+* @brief Initialize the S2PI module.
+* @details Setup the board as a S2PI master, this also sets up up the S2PI
+* pins.
+* The SPI interface is initialized with the corresponding default
+* SPI slave (i.e. CS and IRQ lines) and the default baud rate.
+*
+* @param defaultSlave The default SPI slave to be addressed right after
+* module initialization.
+* @param baudRate_Bps The default SPI baud rate in bauds-per-second.
+*
+* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
+*****************************************************************************/
+
+static int gpio_falling_edge(int irq, void *context, void *arg)
+{
+	if (s2pi_.IrqCallback != 0) {
+		perf_begin(s2pi_irq_callback_perf);
+		s2pi_.IrqCallback(s2pi_.IrqCallbackData);
+		perf_end(s2pi_irq_callback_perf);
+	}
+
+	return 0;
+}
+
+status_t S2PI_Init(s2pi_slave_t defaultSlave, uint32_t baudRate_Bps)
+{
+	px4_arch_configgpio(BROADCOM_AFBR_S50_S2PI_CS);
+
+	s2pi_.spidev = px4_spibus_initialize(BROADCOM_AFBR_S50_S2PI_SPI_BUS);
+
+	px4_arch_configgpio(BROADCOM_AFBR_S50_S2PI_IRQ);
+	px4_arch_gpiosetevent(BROADCOM_AFBR_S50_S2PI_IRQ, false, true, false, &gpio_falling_edge, NULL);
+
+	s2pi_transfer_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": transfer");
+	s2pi_transfer_callback_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": transfer callback");
+	s2pi_irq_callback_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": irq callback");
+
+	return S2PI_SetBaudRate(baudRate_Bps);
+}
+
+/*!***************************************************************************
+* @brief Returns the status of the SPI module.
+*
+* @return Returns the \link #status_t status\endlink:
+* - #STATUS_IDLE: No SPI transfer or GPIO access is ongoing.
+* - #STATUS_BUSY: An SPI transfer is in progress.
+* - #STATUS_S2PI_GPIO_MODE: The module is in GPIO mode.
+*****************************************************************************/
+status_t S2PI_GetStatus(void)
+{
+	return s2pi_.Status;
+}
+
+/*!***************************************************************************
+* @brief Sets the SPI baud rate in bps.
+* @param baudRate_Bps The default SPI baud rate in bauds-per-second.
+* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
+* - #STATUS_OK on success
+* - #ERROR_S2PI_INVALID_BAUD_RATE on invalid baud rate value.
+*****************************************************************************/
+status_t S2PI_SetBaudRate(uint32_t baudRate_Bps)
+{
+	SPI_SETMODE(s2pi_.spidev, SPIDEV_MODE3);
+	SPI_SETBITS(s2pi_.spidev, 8);
+	SPI_SETFREQUENCY(s2pi_.spidev, baudRate_Bps);
+	return STATUS_OK;
+}
+
+/*!*****************************************************************************
+* @brief Captures the S2PI pins for GPIO usage.
+* @details The SPI is disabled (module status: #STATUS_S2PI_GPIO_MODE) and the
+* pins are configured for GPIO operation. The GPIO control must be
+* release with the #S2PI_ReleaseGpioControl function in order to
+* switch back to ordinary SPI functionality.
+* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
+*****************************************************************************/
+status_t S2PI_CaptureGpioControl(void)
+{
+	/* Check if something is ongoing. */
+	IRQ_LOCK();
+	status_t status = s2pi_.Status;
+
+	if (status != STATUS_IDLE) {
+		IRQ_UNLOCK();
+		return status;
+	}
+
+	s2pi_.Status = STATUS_S2PI_GPIO_MODE;
+	IRQ_UNLOCK();
+
+	// GPIO mode (output push pull)
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_SET(s2pi_.GPIOs[S2PI_CLK]));
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_SET(s2pi_.GPIOs[S2PI_MISO]));
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_SET(s2pi_.GPIOs[S2PI_MOSI]));
+
+	return STATUS_OK;
+}
+
+/*!*****************************************************************************
+* @brief Releases the S2PI pins from GPIO usage and switches back to SPI mode.
+* @details The GPIO pins are configured for SPI operation and the GPIO mode is
+* left. Must be called if the pins are captured for GPIO operation via
+* the #S2PI_CaptureGpioControl function.
+* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
+*****************************************************************************/
+status_t S2PI_ReleaseGpioControl(void)
+{
+	/* Check if something is ongoing. */
+	IRQ_LOCK();
+	status_t status = s2pi_.Status;
+
+	if (status != STATUS_S2PI_GPIO_MODE) {
+		IRQ_UNLOCK();
+		return status;
+	}
+
+	s2pi_.Status = STATUS_IDLE;
+	IRQ_UNLOCK();
+
+	// SPI alternate
+	stm32_configgpio(s2pi_.GPIOs[S2PI_CLK]);
+	stm32_configgpio(s2pi_.GPIOs[S2PI_MISO]);
+	stm32_configgpio(s2pi_.GPIOs[S2PI_MOSI]);
+
+	// probably not necessary
+	stm32_spibus_initialize(BROADCOM_AFBR_S50_S2PI_SPI_BUS);
+
+	return STATUS_OK;
+}
+
+/*!*****************************************************************************
+* @brief Writes the output for a specified SPI pin in GPIO mode.
+* @details This function writes the value of an SPI pin if the SPI pins are
+* captured for GPIO operation via the #S2PI_CaptureGpioControl previously.
+* @param slave The specified S2PI slave.
+* @param pin The specified S2PI pin.
+* @param value The GPIO pin state to write (0 = low, 1 = high).
+* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
+*****************************************************************************/
+status_t S2PI_WriteGpioPin(s2pi_slave_t slave, s2pi_pin_t pin, uint32_t value)
+{
+	/* Check if pin is valid. */
+	if (pin > S2PI_IRQ || value > 1) {
+		return ERROR_INVALID_ARGUMENT;
+	}
+
+	/* Check if in GPIO mode. */
+	if (s2pi_.Status != STATUS_S2PI_GPIO_MODE) {
+		return ERROR_S2PI_INVALID_STATE;
+	}
+
+	px4_arch_gpiowrite(s2pi_.GPIOs[pin], value);
+
+	return STATUS_OK;
+}
+
+/*!*****************************************************************************
+* @brief Reads the input from a specified SPI pin in GPIO mode.
+* @details This function reads the value of an SPI pin if the SPI pins are
+* captured for GPIO operation via the #S2PI_CaptureGpioControl previously.
+* @param slave The specified S2PI slave.
+* @param pin The specified S2PI pin.
+* @param value The GPIO pin state to read (0 = low, 1 = high).
+* @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)
+{
+	/* Check if pin is valid. */
+	if (pin > S2PI_IRQ || !value) {
+		return ERROR_INVALID_ARGUMENT;
+	}
+
+	/* Check if in GPIO mode. */
+	if (s2pi_.Status != STATUS_S2PI_GPIO_MODE) {
+		return ERROR_S2PI_INVALID_STATE;
+	}
+
+	*value = px4_arch_gpioread(s2pi_.GPIOs[pin]);
+
+	return STATUS_OK;
+}
+
+/*!***************************************************************************
+* @brief Cycles the chip select line.
+* @details In order to cancel the integration on the ASIC, a fast toggling
+* of the chip select pin of the corresponding SPI slave is required.
+* Therefore, this function toggles the CS from high to low and back.
+* The SPI instance for the specified S2PI slave must be idle,
+* otherwise the status #STATUS_BUSY is returned.
+* @param slave The specified S2PI slave.
+* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
+*****************************************************************************/
+status_t S2PI_CycleCsPin(s2pi_slave_t slave)
+{
+	/* Check the driver status. */
+	IRQ_LOCK();
+	status_t status = s2pi_.Status;
+
+	if (status != STATUS_IDLE) {
+		IRQ_UNLOCK();
+		return status;
+	}
+
+	s2pi_.Status = STATUS_BUSY;
+	IRQ_UNLOCK();
+
+	px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 0);
+	px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 1);
+
+	s2pi_.Status = STATUS_IDLE;
+
+	return STATUS_OK;
+}
+
+/*!***************************************************************************
+* @brief Transfers a single SPI frame asynchronously.
+* @details Transfers a single SPI frame in asynchronous manner. The Tx data
+* buffer is written to the device via the MOSI line.
+* Optionally the data on the MISO line is written to the provided
+* Rx data buffer. If null, the read data is dismissed.
+* The transfer of a single frame requires to not toggle the chip
+* select line to high in between the data frame.
+* An optional callback is invoked when the asynchronous transfer
+* is finished. Note that the provided buffer must not change while
+* the transfer is ongoing. Use the slave parameter to determine
+* the corresponding slave via the given chip select line.
+*
+* @param slave The specified S2PI slave.
+* @param txData The 8-bit values to write to the SPI bus MOSI line.
+* @param rxData The 8-bit values received from the SPI bus MISO line
+* (pass a null pointer if the data don't need to be read).
+* @param frameSize The number of 8-bit values to be sent/received.
+* @param callback A callback function to be invoked when the transfer is
+* finished. Pass a null pointer if no callback is required.
+* @param callbackData A pointer to a state that will be passed to the
+* callback. Pass a null pointer if not used.
+*
+* @return Returns the \link #status_t status\endlink:
+* - #STATUS_OK: Successfully invoked the transfer.
+* - #ERROR_INVALID_ARGUMENT: An invalid parameter has been passed.
+* - #ERROR_S2PI_INVALID_SLAVE: A wrong slave identifier is provided.
+* - #STATUS_BUSY: An SPI transfer is already in progress. The
+* transfer was not started.
+* - #STATUS_S2PI_GPIO_MODE: The module is in GPIO mode. The transfer
+* was not started.
+*****************************************************************************/
+
+static void broadcom_s2pi_transfer_callout(void *arg)
+{
+	perf_begin(s2pi_transfer_perf);
+	px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 0);
+	SPI_EXCHANGE(s2pi_.spidev, s2pi_.spi_tx_data, s2pi_.spi_rx_data, s2pi_.spi_frame_size);
+	s2pi_.Status = STATUS_IDLE;
+	px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 1);
+	perf_end(s2pi_transfer_perf);
+
+	/* Invoke callback if there is one */
+	if (s2pi_.Callback != 0) {
+		perf_begin(s2pi_transfer_callback_perf);
+		s2pi_callback_t callback = s2pi_.Callback;
+		s2pi_.Callback = 0;
+		callback(STATUS_OK, s2pi_.CallbackData);
+		perf_end(s2pi_transfer_callback_perf);
+	}
+}
+
+status_t S2PI_TransferFrame(s2pi_slave_t spi_slave, uint8_t const *txData, uint8_t *rxData, size_t frameSize,
+			    s2pi_callback_t callback, void *callbackData)
+{
+	/* Verify arguments. */
+	if (!txData || frameSize == 0 || frameSize >= 0x10000) {
+		return ERROR_INVALID_ARGUMENT;
+	}
+
+	/* Check the spi slave.*/
+	if (spi_slave != S2PI_S2) {
+		return ERROR_S2PI_INVALID_SLAVE;
+	}
+
+	/* Check the driver status, lock if idle. */
+	IRQ_LOCK();
+	status_t status = s2pi_.Status;
+
+	if (status != STATUS_IDLE) {
+		IRQ_UNLOCK();
+		return status;
+	}
+
+	s2pi_.Status = STATUS_BUSY;
+
+	/* Set the callback information */
+	s2pi_.Callback = callback;
+	s2pi_.CallbackData = callbackData;
+
+	s2pi_.spi_tx_data = (uint8_t *)txData;
+	s2pi_.spi_rx_data = rxData;
+	s2pi_.spi_frame_size = frameSize;
+	work_queue(HPWORK, &broadcom_s2pi_transfer_work, broadcom_s2pi_transfer_callout, NULL, 0);
+
+	IRQ_UNLOCK();
+
+	return STATUS_OK;
+}
+
+/*!***************************************************************************
+* @brief Terminates a currently ongoing asynchronous SPI transfer.
+* @details When a callback is set for the current ongoing activity, it is
+* invoked with the #ERROR_ABORTED error byte.
+* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
+*****************************************************************************/
+status_t S2PI_Abort(void)
+{
+	status_t status = s2pi_.Status;
+
+	/* Check if something is ongoing. */
+	if (status == STATUS_IDLE) {
+		return STATUS_OK;
+	}
+
+	/* Abort SPI transfer. */
+	if (status == STATUS_BUSY) {
+		work_cancel(HPWORK, &broadcom_s2pi_transfer_work);
+	}
+
+	return STATUS_OK;
+}
+
+/*!***************************************************************************
+* @brief Set a callback for the GPIO IRQ for a specified S2PI slave.
+*
+* @param slave The specified S2PI slave.
+* @param callback A callback function to be invoked when the specified
+* S2PI slave IRQ occurs. Pass a null pointer to disable
+* the callback.
+* @param callbackData A pointer to a state that will be passed to the
+* callback. Pass a null pointer if not used.
+*
+* @return Returns the \link #status_t status\endlink:
+* - #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)
+{
+	s2pi_.IrqCallback = callback;
+	s2pi_.IrqCallbackData = callbackData;
+
+	return STATUS_OK;
+}
+
+/*!***************************************************************************
+* @brief Reads the current status of the IRQ pin.
+* @details In order to keep a low priority for GPIO IRQs, the state of the
+* IRQ pin must be read in order to reliable check for chip timeouts.
+*
+* The execution of the interrupt service routine for the data-ready
+* interrupt from the corresponding GPIO pin might be delayed due to
+* priority issues. The delayed execution might disable the timeout
+* for the eye-safety checker too late causing false error messages.
+* In order to overcome the issue, the state of the IRQ GPIO input
+* pin is read before raising a timeout error in order to check if
+* the device has already finished but the IRQ is still pending to be
+* executed!
+* @param slave The specified S2PI slave.
+* @return Returns 1U if the IRQ pin is high (IRQ not pending) and 0U if the
+* devices pulls the pin to low state (IRQ pending).
+*****************************************************************************/
+uint32_t S2PI_ReadIrqPin(s2pi_slave_t slave)
+{
+	return px4_arch_gpioread(s2pi_.GPIOs[S2PI_IRQ]);
+}
@@ -0,0 +1,138 @@
+
+#include "timer.h"
+
+#include <drivers/drv_hrt.h>
+
+#include <stdio.h>
+
+#include <board_config.h>
+
+static struct hrt_call broadcom_hrt_call = {};
+
+static timer_cb_t timer_callback_; /*! Callback function for PIT timer */
+
+static uint32_t period_us_;
+
+/*! Storage for the callback parameter */
+static void *callback_param_;
+
+static void broadcom_hrt_callout(void *arg)
+{
+	if (timer_callback_ != 0) {
+		//timer_callback_(arg);
+		timer_callback_(callback_param_);
+		hrt_call_after(&broadcom_hrt_call, period_us_, broadcom_hrt_callout, callback_param_);
+	}
+}
+
+void Timer_Init(void)
+{
+	hrt_cancel(&broadcom_hrt_call);
+}
+
+/*!***************************************************************************
+* @brief Obtains the lifetime counter value from the timers.
+*
+* @details The function is required to get the current time relative to any
+* point in time, e.g. the startup time. The returned values \p hct and
+* \p lct are given in seconds and microseconds respectively. The current
+* elapsed time since the reference time is then calculated from:
+*
+* t_now [usec] = hct * 1000000 usec + lct * 1 usec
+*
+* @param hct A pointer to the high counter value bits representing current
+* time in seconds.
+* @param lct A pointer to the low counter value bits representing current
+* time in microseconds. Range: 0, .., 999999 usec
+* @return -
+*****************************************************************************/
+
+void Timer_GetCounterValue(uint32_t *hct, uint32_t *lct)
+{
+	hrt_abstime time = hrt_absolute_time();
+	*hct = time / 1000000ULL;
+	*lct = time - (*hct * 1000000ULL);
+}
+
+/*!***************************************************************************
+* @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.
+* @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 period, void *param)
+{
+	callback_param_ = param;
+	period_us_ = period;
+
+	if (period != 0) {
+		hrt_call_after(&broadcom_hrt_call, period, broadcom_hrt_callout, param);
+
+	} else {
+		hrt_cancel(&broadcom_hrt_call);
+	}
+
+	return STATUS_OK;
+}
+
+/*!***************************************************************************
+* @brief Stops the timer for a specified callback parameter.
+* @details Stops a callback interval for the specified parameter.
+* @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)
+{
+	period_us_ = 0;
+	callback_param_ = 0;
+	hrt_cancel(&broadcom_hrt_call);
+	return STATUS_OK;
+}
+
+/*!***************************************************************************
+* @brief Sets the timer interval 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.
+* If the same time interval as already set is passed, nothing happens.
+* Passing a interval of 0 disables the timer.
+* @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_SetInterval(uint32_t dt_microseconds, void *param)
+{
+	if (dt_microseconds != 0) {
+		period_us_ = dt_microseconds;
+		hrt_call_after(&broadcom_hrt_call, dt_microseconds, broadcom_hrt_callout, param);
+
+	} else {
+		hrt_cancel(&broadcom_hrt_call);
+	}
+
+	return STATUS_OK;
+}
+
+/*!***************************************************************************
+* @brief Installs an periodic timer callback function.
+* @details Installs an periodic timer callback function that is invoked whenever
+* an interval elapses. The callback is the same for any interval,
+* however, the single intervals can be identified by the passed
+* parameter.
+* Passing a zero-pointer removes and disables the callback.
+* @param f The timer callback function.
+* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
+*****************************************************************************/
+
+status_t Timer_SetCallback(timer_cb_t f)
+{
+	timer_callback_ = f;
+	return STATUS_OK;
+}
@@ -0,0 +1,59 @@
+############################################################################
+#
+#   Copyright (c) 2021 PX4 Development Team. 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 PX4 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 OWNER 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.
+#
+############################################################################
+
+add_library(afbrs50_m4_fpu STATIC IMPORTED GLOBAL)
+set_property(TARGET afbrs50_m4_fpu PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/Lib/libafbrs50_m4_fpu.a)
+
+px4_add_module(
+	MODULE drivers__distance_sensor__afbrs50
+	MAIN afbrs50
+	COMPILE_FLAGS
+	STACK_MAIN
+		4096
+	INCLUDES
+		API/Inc
+		Inc
+	SRCS
+		AFBRS50.cpp
+		AFBRS50.hpp
+		API/Src/irq.c
+		API/Src/s2pi.c
+		API/Src/timer.c
+		argus_hal_test.c
+	DEPENDS
+		px4_work_queue
+		drivers_rangefinder
+		afbrs50_m4_fpu
+	)
+
+target_link_libraries(afbrs50_m4_fpu INTERFACE drivers__distance_sensor__afbrs50)
@@ -0,0 +1,489 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		Defines the dynamic configuration adaption (DCA) setup parameters
+ * 				and data structure.
+ *
+ * @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_DCA_H
+#define ARGUS_DCA_H
+
+/*!***************************************************************************
+ * @defgroup 	argusdca Dynamic Configuration Adaption
+ * @ingroup		argusapi
+ *
+ * @brief		Dynamic Configuration Adaption (DCA) parameter definitions and API functions.
+ *
+ * @details		The DCA contains an algorithms that detect ambient conditions
+ * 				and adopt the device configuration to the changing parameters
+ * 				dynamically while operating the sensor. This is achieved by
+ * 				rating the currently received signal quality and changing the
+ * 				device configuration accordingly to the gathered information
+ * 				from the current measurement frame results before the next
+ * 				integration cycle starts.
+ *
+ * 				The DCA consists of the following features:
+ * 			 	- Static or Dynamic mode. The first is utilizing the nominal
+ * 			 	  values while the latter is dynamically adopting between min.
+ * 			 	  and max. value and starting from the nominal values.
+ * 			 	- Analog Integration Depth Adaption (from multiple patterns down to single pulses)
+ * 			 	- Optical Output Power Adaption
+ * 			 	- Pixel Input Gain Adaption (w/ ambient light rejection)
+ * 			 	- ADC Sensitivity (i.e. ADC Range) Adaption
+ * 			 	- Power Saving Ratio (to decrease the average output power and thus the current consumption)
+ * 			 	- All that features are heeding the Laser Safety limits.
+ * 				.
+ *
+ * @addtogroup 	argusdca
+ * @{
+ *****************************************************************************/
+
+#include "argus_def.h"
+
+
+
+/*! The minimum amplitude threshold value. */
+#define ARGUS_CFG_DCA_ATH_MIN		(1U << 6U)
+
+/*! The maximum amplitude threshold value. */
+#define ARGUS_CFG_DCA_ATH_MAX		(0xFFFFU)
+
+
+/*! The minimum saturated pixel threshold value. */
+#define ARGUS_CFG_DCA_PXTH_MIN		(1U)
+
+/*! The maximum saturated pixel threshold value. */
+#define ARGUS_CFG_DCA_PXTH_MAX		(33U)
+
+
+/*! The maximum analog integration depth in UQ10.6 format,
+ * i.e. the maximum pattern count per sample. */
+#define ARGUS_CFG_DCA_DEPTH_MAX 	((uq10_6_t)(ADS_SEQCT_N_MASK << (6U - ADS_SEQCT_N_SHIFT)))
+
+/*! The minimum analog integration depth in UQ10.6 format,
+ *  i.e. the minimum pattern count per sample. */
+#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. */
+#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. */
+#define ARGUS_CFG_DCA_POWER_MIN_LSB (1)
+
+/*! The maximum optical output power, i.e. the maximum VCSEL 1 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. */
+#define ARGUS_CFG_DCA_POWER_MIN 	(1)
+
+
+
+
+
+
+
+
+/*! The dynamic configuration algorithm Pixel Input Gain stage count. */
+#define ARGUS_DCA_GAIN_STAGE_COUNT (4U)
+
+/*! The dynamic configuration algorithm state mask for the Pixel Input Gain stage. */
+#define ARGUS_STATE_DCA_GAIN_MASK (0x03U)
+
+/*! The dynamic configuration algorithm state mask for the Pixel Input Gain stage. */
+#define ARGUS_STATE_DCA_GAIN_SHIFT (14U)
+
+/*! Getter for the dynamic configuration algorithm Pixel Input Gain stage. */
+#define ARGUS_STATE_DCA_GAIN_GET(state) \
+	(((state) >> ARGUS_STATE_DCA_GAIN_SHIFT) & ARGUS_STATE_DCA_GAIN_MASK)
+
+
+/*! The dynamic configuration algorithm Optical Output Power stage count. */
+#define ARGUS_DCA_POWER_STAGE_COUNT (4U)
+
+/*! The dynamic configuration algorithm state mask for the Optical Output Power stage. */
+#define ARGUS_STATE_DCA_POWER_MASK (0x03U)
+
+/*! The dynamic configuration algorithm state mask for the Optical Output Power stage. */
+#define ARGUS_STATE_DCA_POWER_SHIFT (12U)
+
+/*! 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. */
+	DCA_ENABLE_OFF = 0,
+
+	/*! DCA is enabled and will dynamically adjust the device configuration. */
+	DCA_ENABLE_DYNAMIC = 1,
+
+	/*! DCA is enabled and will apply the static (nominal) values to the device. */
+	DCA_ENABLE_STATIC = -1,
+
+} argus_dca_enable_t;
+
+/*!***************************************************************************
+ * @brief	The dynamic configuration algorithm Optical Output Power stages enumerator.
+ *****************************************************************************/
+typedef enum {
+	/*! Low output power stage. */
+	DCA_POWER_LOW = 0,
+
+	/*! Medium low output power stage. */
+	DCA_POWER_MEDIUM_LOW = 1,
+
+	/*! Medium high output power stage. */
+	DCA_POWER_MEDIUM_HIGH = 2,
+
+	/*! High output power stage. */
+	DCA_POWER_HIGH = 3
+
+} argus_dca_power_t;
+
+/*!***************************************************************************
+ * @brief	The dynamic configuration algorithm Pixel Input Gain stages enumerator.
+ *****************************************************************************/
+typedef enum {
+	/*! Low gain stage. */
+	DCA_GAIN_LOW = 0,
+
+	/*! Medium low gain stage. */
+	DCA_GAIN_MEDIUM_LOW = 1,
+
+	/*! Medium high gain stage. */
+	DCA_GAIN_MEDIUM_HIGH = 2,
+
+	/*! High gain stage. */
+	DCA_GAIN_HIGH = 3
+
+} argus_dca_gain_t;
+
+
+/*!***************************************************************************
+ * @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
+ * 				.
+ * 			- [3]: #ARGUS_STATE_DEBUG_MODE
+ * 			- [4]: #ARGUS_STATE_GOLDEN_PIXEL_MODE
+ * 			- [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
+ * 			.
+ *****************************************************************************/
+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 */
+	ARGUS_STATE_MEASUREMENT_MODE = 1U << 0U,
+
+	/*! 0x02: 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 */
+	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. */
+	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,
+
+	/*! 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. */
+	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. */
+	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. */
+	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,
+
+	/*! DCA is in medium-low Optical Output Power stage. */
+	ARGUS_STATE_DCA_POWER_MED_LOW = DCA_GAIN_MEDIUM_LOW << ARGUS_STATE_DCA_POWER_SHIFT,
+
+	/*! DCA is in medium-high Optical Output Power stage. */
+	ARGUS_STATE_DCA_POWER_MED_HIGH = DCA_GAIN_MEDIUM_HIGH << ARGUS_STATE_DCA_POWER_SHIFT,
+
+	/*! DCA is in high Optical Output Power stage. */
+	ARGUS_STATE_DCA_POWER_HIGH = DCA_GAIN_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. */
+	ARGUS_STATE_DCA_GAIN_MED_LOW = DCA_GAIN_MEDIUM_LOW << ARGUS_STATE_DCA_GAIN_SHIFT,
+
+	/*! 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. */
+	ARGUS_STATE_DCA_GAIN_HIGH = DCA_GAIN_HIGH << ARGUS_STATE_DCA_GAIN_SHIFT,
+
+} argus_state_t;
+
+/*!***************************************************************************
+ * @brief	Dynamic Configuration Adaption (DCA) Parameters.
+ * @details	DCA contains:
+ * 			 - Static or dynamic mode. The first is utilizing the nominal values
+ * 			   while the latter is dynamically adopting between min. and max.
+ * 			   value and starting form the nominal values.
+ * 			 - Analog Integration Depth Adaption down to single pulses.
+ * 			 - Optical Output Power Adaption
+ * 			 - Pixel Input Gain Adaption
+ * 			 - Digital Integration Depth Adaption
+ * 			 - Dynamic Global Phase Shift Injection.
+ * 			 - All that features are heeding the Laser Safety limits.
+ * 			 .
+ *****************************************************************************/
+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. */
+	argus_dca_enable_t Enabled;
+
+	/*! The threshold value of saturated pixels that causes a linear reduction
+	 *  of the integration energy, i.e. if the number of saturated pixels are
+	 *  larger or equal to this value, the integration energy will be reduced
+	 *  by a single step (one pattern if the current integration depth is > 1,
+	 *  one pulse if the current integration depth is <= 1 or one power LSB for
+	 *  the optical power range).
+	 *
+	 *  Valid values: 1, ..., 33; (use 33 to disable the linear decrease)
+	 *  Note that the linear value must be smaller or equal to the exponential
+	 *  value. To sum up, it must hold:
+	 *  1 <= SatPxThLin <= SatPxThExp <= SatPxThRst <= 33 */
+	uint8_t SatPxThLin;
+
+	/*! The threshold number of saturated pixels that causes a exponential
+	 *  reduction of the integration energy, i.e. if the number of saturated
+	 *  pixels is larger or equal to this value, the integration energy will be
+	 *  halved.
+	 *
+	 *  Valid values: 1, ..., 33; (use 33 to disable the exponential decrease)
+	 *  Note that the exponential value must be between the linear and reset
+	 *  values. To sum up, it must hold:
+	 *  1 <= SatPxThLin <= SatPxThExp <= SatPxThRst <= 33 */
+	uint8_t SatPxThExp;
+
+	/*! The threshold number of saturated pixels that causes a sudden reset of
+	 *  the integration energy to the minimal value, i.e. if the number of
+	 *  saturated pixels are larger or equal to this value, the integration
+	 *  energy will suddenly be reset to the minimum values. The gain setting
+	 *  will stay at the mid value and a decrease happens after the next step
+	 *  if still required.
+	 *
+	 *  Valid values: 1, ..., 33; (use 33 to disable the sudden reset)
+	 *  Note that the reset value must be larger or equal to the exponential
+	 *  value. To sum up, it must hold:
+	 *  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.
+	 *
+	 *  Valid values: #ARGUS_CFG_DCA_ATH_MIN, ... #ARGUS_CFG_DCA_ATH_MAX or 0
+	 *  Set 0 to disable optimization toward the target amplitude.
+	 *  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
+	 *  falls below this value, the integration depth will be increases.
+	 *
+	 *  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 AthLow;
+
+	/*! The high threshold value for the max. amplitude. If the max. amplitude
+	 *  exceeds this value, the integration depth will be decreases. Note that
+	 *  also saturated pixels will cause a decrease of the integration depth.
+	 *
+	 *  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 AthHigh;
+
+	/*! The nominal analog integration depth in UQ10.6 format,
+	 *  i.e. the nominal pattern count per sample.
+	 *
+	 *  Valid values: #ARGUS_CFG_DCA_DEPTH_MIN, ... #ARGUS_CFG_DCA_DEPTH_MAX
+	 *  Note further that the following condition must hold:
+	 *  'MIN' <= DepthLow <= DepthNom <= DepthHigh <= 'MAX' */
+	uq10_6_t DepthNom;
+
+	/*! The minimum analog integration depth in UQ10.6 format,
+	 *  i.e. the minimum pattern count per sample.
+	 *
+	 *  Valid values: #ARGUS_CFG_DCA_DEPTH_MIN, ... #ARGUS_CFG_DCA_DEPTH_MAX
+	 *  Note further that the following condition must hold:
+	 *  'MIN' <= DepthLow <= DepthNom <= DepthHigh <= 'MAX' */
+	uq10_6_t DepthMin;
+
+	/*! The maximum analog integration depth in UQ10.6 format,
+	 *  i.e. the maximum pattern count per sample.
+	 *
+	 *  Valid values: #ARGUS_CFG_DCA_DEPTH_MIN, ... #ARGUS_CFG_DCA_DEPTH_MAX
+	 *  Note further that the following condition must hold:
+	 *  '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.
+	 *
+	 *  Valid values: 0,..,3: #DCA_GAIN_LOW, ... #DCA_GAIN_HIGH
+	 *  Note further that the following condition must hold:
+	 *  'MIN' <= GainMin <= GainNom <= GainMax <= 'MAX' */
+	argus_dca_gain_t GainNom;
+
+	/*! The minimal pixel gain setting, i.e. the setting for
+	 *  minimum gain stage.
+	 *
+	 *  Valid values: 0,..,3: #DCA_GAIN_LOW, ... #DCA_GAIN_HIGH
+	 *  Note further that the following condition must hold:
+	 *  'MIN' <= GainMin <= GainNom <= GainMax <= 'MAX' */
+	argus_dca_gain_t GainMin;
+
+	/*! The maximum pixel gain setting, i.e. the setting for
+	 *  maximum gain stage.
+	 *
+	 *  Valid values: 0,..,3: #DCA_GAIN_LOW, ... #DCA_GAIN_HIGH
+	 *  Note further that the following condition must hold:
+	 *  'MIN' <= GainMin <= GainNom <= GainMax <= 'MAX' */
+	argus_dca_gain_t GainMax;
+
+	/*! Power Saving Ratio value.
+	 *
+	 *  Determines the percentage of the full available frame time that is not
+	 *  exploited for digital integration. Thus the device is idle within the
+	 *  specified portion of the frame time and does consume less energy.
+	 *
+	 *  Note that the laser safety might already limit the maximum integration
+	 *  depth and the power saving ratio might not take effect for all ambient
+	 *  situations. Thus the Power Saving Ratio is to be understood as a minimum
+	 *  percentage where the device is idle per frame.
+	 *
+	 *  The value is a UQ0.8 format that ranges from 0.0 (=0x00) to 0.996 (=0xFF),
+	 *  where 0 means no power saving (i.e. feature disabled) and 0xFF determines
+	 *  maximum power saving, i.e. the digital integration depth is limited to a
+	 *  single sample.
+	 *
+	 *  Range: 0x00, .., 0xFF; set 0 to disable. */
+	uq0_8_t PowerSavingRatio;
+
+} argus_cfg_dca_t;
+
+/*! @} */
+#endif /* ARGUS_DCA_H */
@@ -0,0 +1,205 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 hardware API.
+ * @details		This file provides generic definitions belonging to all
+ * 				devices from the AFBR-S50 product family.
+ *
+ * @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_DEF_H
+#define ARGUS_DEF_H
+
+/*!***************************************************************************
+ * Include files
+ *****************************************************************************/
+#include "argus_status.h"
+#include "argus_version.h"
+#include "utility/fp_def.h"
+#include "utility/time.h"
+#include <assert.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <string.h>
+
+/*!***************************************************************************
+ * @addtogroup 	argusapi
+ * @{
+ *****************************************************************************/
+
+/*!***************************************************************************
+ * @brief	Maximum number of phases per measurement cycle.
+ * @details	The actual phase number is defined in the register configuration.
+ * 			However the software does only support a fixed value of 4 yet.
+ *****************************************************************************/
+#define ARGUS_PHASECOUNT 4U
+
+/*!***************************************************************************
+ * @brief	The device pixel field size in x direction (long edge).
+ *****************************************************************************/
+#define ARGUS_PIXELS_X	8U
+
+/*!***************************************************************************
+ * @brief	The device pixel field size in y direction (short edge).
+ *****************************************************************************/
+#define ARGUS_PIXELS_Y	4U
+
+/*!***************************************************************************
+ * @brief	The total device pixel count.
+ *****************************************************************************/
+#define ARGUS_PIXELS	((ARGUS_PIXELS_X)*(ARGUS_PIXELS_Y))
+
+/*!***************************************************************************
+ * @brief	The AFBR-S50 module types.
+ *****************************************************************************/
+typedef enum {
+	/*! No device connected or not recognized. */
+	MODULE_NONE = 0,
+
+	/*! AFBR-S50MV85G: an ADS0032 based multi-pixel range finder device
+	 *  w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for
+	 *  medium range 3D applications.
+	 *  Version 1 - legacy version! */
+	AFBR_S50MV85G_V1 = 1,
+
+	/*! AFBR-S50MV85G: an ADS0032 based multi-pixel range finder device
+	 *  w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for
+	 *  medium range 3D applications.
+	 *  Version 2 - legacy version! */
+	AFBR_S50MV85G_V2 = 2,
+
+	/*! AFBR-S50MV85G: an ADS0032 based multi-pixel range finder device
+	 *  w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for
+	 *  medium range 3D applications.
+	 *  Version 7 - current version! */
+	AFBR_S50MV85G_V3 = 7,
+
+	/*! AFBR-S50LV85D: an ADS0032 based multi-pixel range finder device
+	 *  w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for
+	 *  long range 1D applications.
+	 *  Version 1 - current version! */
+	AFBR_S50LV85D_V1 = 3,
+
+	/*! AFBR-S50MV68B: an ADS0032 based multi-pixel range finder device
+	 *  w/ 4x8 pixel matrix and red, 680 nm, laser source for
+	 *  medium range 1D applications.
+	 *  Version 1 - current version! */
+	AFBR_S50MV68B_V1 = 4,
+
+	/*! AFBR-S50MV85I: an ADS0032 based multi-pixel range finder device
+	 *  w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for
+	 *  medium range 3D applications.
+	 *  Version 1 - current version! */
+	AFBR_S50MV85I_V1 = 5,
+
+	/*! AFBR-S50MV85G: an ADS0032 based multi-pixel range finder device
+	 *  w/ 4x8 pixel matrix and infra-red, 850 nm, laser source for
+	 *  short range 3D applications.
+	 *  Version 1 - current version! */
+	AFBR_S50SV85K_V1 = 6,
+
+
+	/*! Reserved for future extensions. */
+	Reserved = 0b111111
+
+} argus_module_version_t;
+
+/*!***************************************************************************
+ * @brief	The AFBR-S50 laser configurations.
+ *****************************************************************************/
+typedef enum {
+	/*! No laser connected. */
+	LASER_NONE = 0,
+
+	/*! 850nm Infra-Red VCSEL v1 */
+	LASER_H_V1 = 1,
+
+	/*! 850nm Infra-Red VCSEL v2 */
+	LASER_H_V2 = 2,
+
+	/*! 680nm Red VCSEL v1 */
+	LASER_R_V1 = 3,
+
+} argus_laser_type_t;
+
+/*!***************************************************************************
+ * @brief	The AFBR-S50 chip versions.
+ *****************************************************************************/
+typedef enum {
+	/*! No device connected or not recognized. */
+	ADS0032_NONE = 0,
+
+	/*! ADS0032 v1.0 */
+	ADS0032_V1_0 = 1,
+
+	/*! ADS0032 v1.1 */
+	ADS0032_V1_1 = 2,
+
+	/*! ADS0032 v1.2 */
+	ADS0032_V1_2 = 3,
+
+} argus_chip_version_t;
+
+/*!***************************************************************************
+ * @brief	The number of measurement modes with distinct configuration and
+ * 			calibration records.
+ *****************************************************************************/
+#define ARGUS_MODE_COUNT (2)
+
+/*!***************************************************************************
+ * @brief	The measurement modes.
+ *****************************************************************************/
+typedef enum {
+	/*! Measurement Mode A: Long Range Mode. */
+	ARGUS_MODE_A = 1,
+
+	/*! Measurement Mode B: Short Range Mode. */
+	ARGUS_MODE_B = 2,
+
+} argus_mode_t;
+
+/*!***************************************************************************
+ * @brief	Generic API callback function.
+ * @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.
+ * @return 	Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ *****************************************************************************/
+typedef status_t (*argus_callback_t)(status_t status, void *data);
+
+/*! @} */
+#endif /* ARGUS_DEF_H */
@@ -0,0 +1,81 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		Defines the dual frequency mode (DFM) setup parameters.
+ *
+ * @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_DFM_H
+#define ARGUS_DFM_H
+
+/*!***************************************************************************
+ * @defgroup 	argusdfm Dual Frequency Mode
+ * @ingroup		argusdev
+ *
+ * @brief		Dual Frequency Mode (DFM) parameter definitions and API functions.
+ *
+ * @details		The DFM is an algorithm to extend the unambiguous range of the
+ * 				sensor by utilizing two detuned measurement frequencies.
+ *
+ *				The AFBR-S50 API provides three measurement modes:
+ *				- 1X: Single Frequency Measurement
+ *				- 4X: Dual Frequency Measurement w/ 4 times the unambiguous
+ *				      range of the Single Frequency Measurement
+ *				- 8X: Dual Frequency Measurement w/ 8 times the unambiguous
+ *				      range of the Single Frequency Measurement
+ *
+ * @addtogroup 	argusdfm
+ * @{
+ *****************************************************************************/
+
+/*! The Dual Frequency Mode frequency count. */
+#define ARGUS_DFM_FRAME_COUNT (2U)
+
+/*! The Dual Frequency Mode measurement modes count. Excluding the disabled mode. */
+#define ARGUS_DFM_MODE_COUNT (2U) // expect off-mode!
+
+/*! The Dual Frequency Mode measurement modes enumeration. */
+typedef enum {
+	/*! Single Frequency Measurement Mode (w/ 1x Unambiguous Range). */
+	DFM_MODE_OFF = 0U,
+
+	/*! 4X Dual Frequency Measurement Mode (w/ 4x Unambiguous Range). */
+	DFM_MODE_4X = 1U,
+
+	/*! 8X Dual Frequency Measurement Mode (w/ 8x Unambiguous Range). */
+	DFM_MODE_8X = 2U,
+
+} argus_dfm_mode_t;
+
+
+/*! @} */
+#endif /* ARGUS_DFM_H */
@@ -0,0 +1,118 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 hardware API.
+ * @details		Defines the generic measurement parameters and data structures.
+ *
+ * @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_MEAS_H
+#define ARGUS_MEAS_H
+
+/*!***************************************************************************
+ * @defgroup 	argusmeas Measurement/Device Control
+ * @ingroup		argusapi
+ *
+ * @brief 		Measurement/Device control module
+ *
+ * @details		This module contains measurement and device control specific
+ * 				definitions and methods.
+ *
+ * @addtogroup 	argusmeas
+ * @{
+ *****************************************************************************/
+
+#include "argus_dca.h"
+#include "argus_def.h"
+
+/*! Number of raw data values. */
+#define ARGUS_RAW_DATA_VALUES 132U // 33 channels * 4 phases
+
+/*! Size of the raw data in bytes. */
+#define ARGUS_RAW_DATA_SIZE (3U * ARGUS_RAW_DATA_VALUES) // 3 bytes * 33 channels * 4 phases
+
+/*! The number channels for auxiliary measurements readout. */
+#define ARGUS_AUX_CHANNEL_COUNT (5U)
+
+/*! Size of the auxiliary data in bytes. */
+#define ARGUS_AUX_DATA_SIZE (3U * ARGUS_AUX_CHANNEL_COUNT) // 3 bytes * x channels * 1 phase
+
+/*!***************************************************************************
+ * @brief	The device measurement configuration structure.
+ * @details	The portion of the configuration data that belongs to the
+ * 			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).
+	 *  See [pixel mapping](@ref argusmap) for more
+	 *  details on the pixel mask. */
+	uint32_t PxEnMask;
+
+	/*! ADS channel enabled mask for the remaining
+	 *  channels 31 .. 63 (miscellaneous values).
+	 *  See [pixel mapping](@ref argusmap) for more
+	 *  details on the 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,
+	 *  - PLL_Locked Bit,
+	 *  - BGL Warning/Error,
+	 *  - DCA State,
+	 *  - ... */
+	argus_state_t State;
+
+} argus_meas_frame_t;
+
+/*! @} */
+#endif /* ARGUS_MEAS_H */
@@ -0,0 +1,170 @@
+/*************************************************************************//**
+ * @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_MSK_H
+#define ARGUS_MSK_H
+
+/*!***************************************************************************
+ * @defgroup	argusmap ADC Channel Mapping
+ * @ingroup		argusres
+ *
+ * @brief		Pixel ADC Channel (n) to x-y-Index Mapping
+ *
+ * @details		The ADC Channels of each pixel or auxiliary channel on the device
+ * 				is numbered in a way that is convenient on the chip. The macros
+ * 				in this module are defined in order to obtain the x-y-indices of
+ * 				each channel and vice versa.
+ *
+ * @addtogroup 	argusmap
+ * @{
+ *****************************************************************************/
+
+#include "api/argus_def.h"
+#include "utility/int_math.h"
+
+/*!*****************************************************************************
+ * @brief	Macro to determine the channel number of an specified Pixel.
+ * @param	x The x index of the pixel.
+ * @param	y The y index of the pixel.
+ * @return	The channel number n of the pixel.
+ ******************************************************************************/
+#define PIXEL_XY2N(x, y) ((((x) ^ 7) << 1) | ((y) & 2) << 3 | ((y) & 1))
+
+/*!*****************************************************************************
+ * @brief	Macro to determine the x index of an specified Pixel channel.
+ * @param	n The channel number of the pixel.
+ * @return	The x index number of the pixel.
+ ******************************************************************************/
+#define PIXEL_N2X(n) ((((n) >> 1U) & 7) ^ 7)
+
+/*!*****************************************************************************
+ * @brief	Macro to determine the y index of an specified Pixel channel.
+ * @param	n The channel number of the pixel.
+ * @return	The y index number of the pixel.
+ ******************************************************************************/
+#define PIXEL_N2Y(n) (((n) & 1U) | (((n) >> 3) & 2U))
+
+/*!*****************************************************************************
+ * @brief	Macro to determine if a ADC Pixel channel was enabled from a pixel mask.
+ * @param	msk The 32-bit pixel mask
+ * @param	ch The channel number of the pixel.
+ * @return 	True if the pixel channel n was enabled, false elsewise.
+ ******************************************************************************/
+#define PIXELN_ISENABLED(msk, ch) (((msk) >> (ch)) & 0x01U)
+
+/*!*****************************************************************************
+ * @brief	Macro enables an ADC Pixel channel in a pixel mask.
+ * @param	msk The 32-bit pixel mask
+ * @param	ch The channel number of the pixel.
+ ******************************************************************************/
+#define PIXELN_ENABLE(msk, ch) ((msk) |= (0x01U << (ch)))
+
+/*!*****************************************************************************
+ * @brief	Macro disables an ADC Pixel channel in a pixel mask.
+ * @param	msk The 32-bit pixel mask
+ * @param	ch The channel number of the pixel.
+ ******************************************************************************/
+#define PIXELN_DISABLE(msk, ch) ((msk) &= (~(0x01U << (ch))))
+
+/*!*****************************************************************************
+ * @brief	Macro to determine if an ADC Pixel channel was enabled from 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) was enabled, false elsewise.
+ ******************************************************************************/
+#define PIXELXY_ISENABLED(msk, x, y) (PIXELN_ISENABLED(msk, PIXEL_XY2N(x, y)))
+
+/*!*****************************************************************************
+ * @brief	Macro enables an ADC Pixel channel in a pixel mask.
+ * @param	msk 32-bit pixel mask
+ * @param	x x index of the pixel.
+ * @param	y y index of the pixel.
+ ******************************************************************************/
+#define PIXELXY_ENABLE(msk, x, y) (PIXELN_ENABLE(msk, PIXEL_XY2N(x, y)))
+
+/*!*****************************************************************************
+ * @brief	Macro disables an ADC Pixel channel in a pixel mask.
+ * @param	msk 32-bit pixel mask
+ * @param	x x index of the pixel.
+ * @param	y y index of the pixel.
+ ******************************************************************************/
+#define PIXELXY_DISABLE(msk, x, y) (PIXELN_DISABLE(msk, PIXEL_XY2N(x, y)))
+
+/*!*****************************************************************************
+ * @brief	Macro to determine if a ADC channel was enabled from a channel mask.
+ * @param	msk 32-bit channel mask
+ * @param	ch channel number of the ADC channel.
+ * @return 	True if the ADC channel n was enabled, false elsewise.
+ ******************************************************************************/
+#define CHANNELN_ISENABLED(msk, ch) (((msk) >> ((ch) - 32U)) & 0x01U)
+
+/*!*****************************************************************************
+ * @brief	Macro to determine if a ADC channel was enabled from a channel mask.
+ * @param	msk 32-bit channel mask
+ * @param	ch channel number of the ADC channel.
+ * @return 	True if the ADC channel n was enabled, false elsewise.
+ ******************************************************************************/
+#define CHANNELN_ENABLE(msk, ch) ((msk) |= (0x01U << ((ch) - 32U)))
+
+/*!*****************************************************************************
+ * @brief	Macro to determine if a ADC channel was enabled from a channel mask.
+ * @param	msk 32-bit channel mask
+ * @param	ch channel number of the ADC channel.
+ * @return 	True if the ADC channel n was enabled, false elsewise.
+ ******************************************************************************/
+#define CHANNELN_DISABLE(msk, ch) ((msk) &= (~(0x01U << ((ch) - 32U))))
+
+
+/*!*****************************************************************************
+ * @brief	Macro to determine the number of enabled pixel channels 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))
+
+/*! @} */
+#endif /* ARGUS_MSK_H */
@@ -0,0 +1,221 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		Defines the pixel binning algorithm (PBA) setup parameters and
+ * 				data structure.
+ *
+ * @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_PBA_H
+#define ARGUS_PBA_H
+
+/*!***************************************************************************
+ * @defgroup 	arguspba Pixel Binning Algorithm
+ * @ingroup		argusapi
+ *
+ * @brief		Pixel Binning Algorithm (PBA) parameter definitions and API functions.
+ *
+ * @details		Defines the generic pixel binning algorithm (PBA) setup parameters
+ * 				and data structure.
+ *
+ * 				The PBA module contains filter algorithms that determine the
+ * 				pixels with the best signal quality and extract an 1d distance
+ * 				information from the filtered pixels.
+ *
+ * 				The pixel filter algorithm is a three-stage filter with a
+ * 				fallback value:
+ *
+ * 				-# A fixed pre-filter mask is applied to statically disable
+ * 				    specified pixels.
+ * 				-# A relative and absolute amplitude filter is applied in the
+ * 				 	second stage. The relative filter is determined by a ratio
+ * 				 	of the maximum amplitude off all available (i.e. not filtered
+ * 				 	in stage 1) pixels. Pixels that have an amplitude below the
+ * 				 	relative threshold are dismissed. The same holds true for
+ * 				 	the absolute amplitude threshold. All pixel with smaller
+ * 				 	amplitude are dismissed.\n
+ * 				 	The relative threshold is useful to setup a distance
+ * 				 	measurement scenario. All well illuminated pixels are
+ * 				 	selected and considered for the final 1d distance. The
+ * 				 	absolute threshold is used to dismiss pixels that are below
+ * 				 	the noise level. The latter would be considered for the 1d
+ * 				 	result if the maximum amplitude is already very low.
+ * 				-# A distance filter is used to distinguish pixels that target
+ * 				    the actual object from pixels that see the brighter background,
+ * 				    e.g. white walls. Thus, the pixel with the minimum distance
+ * 				    is referenced and all pixel that have a distance between
+ * 				    the minimum and the given minimum distance scope are selected
+ * 				    for the 1d distance result. The minimum distance scope is
+ * 				    determined by an relative (to the current minimum distance)
+ * 				    and an absolute value. The larger scope value is the
+ * 				    relevant one, i.e. the relative distance scope can be used
+ * 				    to heed the increasing noise at larger distances.
+ * 				-# If all of the above filters fail to determine a single valid
+ * 				    pixel, the golden pixel is used as a fallback value. The
+ * 				    golden pixel is the pixel that sits right at the focus point
+ * 				    of the optics at large distances.
+ * 				.
+ *
+ *				After filtering is done, there may be more than a single pixel
+ *				left to determine the 1d signal. Therefore several averaging
+ *				methods are implemented to obtain the best 1d result from many
+ *				pixels. See #argus_pba_averaging_mode_t for details.
+ *
+ *
+ * @addtogroup 	arguspba
+ * @{
+ *****************************************************************************/
+
+#include "argus_def.h"
+
+/*!***************************************************************************
+ * @brief	Enable flags for the pixel binning algorithm.
+ *
+ * @details Determines the pixel binning algorithm feature enable status.
+ * 			- [0]: #PBA_ENABLE: Enables the pixel binning feature.
+ * 			- [1]: reserved
+ * 			- [2]: reserved
+ * 			- [3]: reserved
+ * 			- [4]: reserved
+ * 			- [5]: #PBA_ENABLE_GOLDPX: Enables the golden pixel feature.
+ * 			- [6]: #PBA_ENABLE_MIN_DIST_SCOPE: Enables the minimum distance scope
+ * 					 feature.
+ * 			- [7]: reserved
+ * 			.
+ *****************************************************************************/
+typedef enum {
+	/*! Enables the pixel binning feature. */
+	PBA_ENABLE = 1U << 0U,
+
+	/*! Enables the golden pixel. */
+	PBA_ENABLE_GOLDPX = 1U << 5U,
+
+	/*! Enables the minimum distance scope filter. */
+	PBA_ENABLE_MIN_DIST_SCOPE = 1U << 6U,
+
+} argus_pba_flags_t;
+
+/*!***************************************************************************
+ * @brief	The averaging modes for the pixel binning algorithm.
+ *****************************************************************************/
+typedef enum {
+	/*! Evaluate the 1D range from all available pixels using
+	 *  a simple average. */
+	PBA_SIMPLE_AVG = 1U,
+
+	/*! Evaluate the 1D range from all available pixels using
+	 *  a linear amplitude weighted averaging method.
+	 *  Formula: x_mean = sum(x_i * A_i) / sum(A_i) */
+	PBA_LINEAR_AMPLITUDE_WEIGHTED_AVG = 2U,
+
+} argus_pba_averaging_mode_t;
+
+/*!***************************************************************************
+ * @brief	The pixel binning algorithm settings data structure.
+ * @details	Describes the pixel binning algorithm settings.
+ *****************************************************************************/
+typedef struct {
+	/*! Enables the pixel binning features.
+	 *  Each bit may enable a different feature. See #argus_pba_flags_t
+	 *  for details about the enabled flags. */
+	argus_pba_flags_t Enabled;
+
+	/*! Determines the PBA averaging mode which is used to obtain the
+	 *  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;
+
+	/*! The Relative amplitude threshold value (in %) of the max. amplitude.
+	 *  Pixels with amplitude below this threshold value are dismissed.
+	 *
+	 *  All available values from the 8-bit representation are valid.
+	 *  The actual percentage value is determined by 100%/256*x.
+	 *
+	 *  Use 0 to disable the relative amplitude threshold. */
+	uq0_8_t RelAmplThreshold;
+
+	/*! The relative minimum distance scope value in %.
+	 * 	Pixels that have a range value within [x0, x0 + dx] are considered
+	 * 	for the pixel binning, where x0 is the minimum distance of all
+	 * 	amplitude picked pixels and dx is the minimum distance scope value.
+	 * 	The minimum distance scope value will be the maximum of relative
+	 * 	and absolute value.
+	 *
+	 *  All available values from the 8-bit representation are valid.
+	 *  The actual percentage value is determined by 100%/256*x.
+	 *
+	 *	Special values:
+	 *  - 0: Use 0 for absolute value only or to choose the pixel with the
+	 *  	 minimum distance only (of also the absolute value is 0)! */
+	uq0_8_t RelMinDistanceScope;
+
+	/*! The Absolute amplitude threshold value in LSB.
+	 * 	Pixels with amplitude below this threshold value are dismissed.
+	 *
+	 *  All available values from the 16-bit representation are valid.
+	 *  The actual LSB value is determined by x/16.
+	 *
+	 *  Use 0 to disable the absolute amplitude threshold. */
+	uq12_4_t AbsAmplThreshold;
+
+	/*! The absolute minimum distance scope value in m.
+	 * 	Pixels that have a range value within [x0, x0 + dx] are considered
+	 * 	for the pixel binning, where x0 is the minimum distance of all
+	 * 	amplitude picked pixels and dx is the minimum distance scope value.
+	 * 	The minimum distance scope value will be the maximum of relative
+	 * 	and absolute value.
+	 *
+	 *  All available values from the 16-bit representation are valid.
+	 *  The actual LSB value is determined by x/2^15.
+	 *
+	 *	Special values:
+	 *  - 0: Use 0 for relative value only or to choose the pixel with the
+	 *  	 minimum distance only (of also the relative value is 0)! */
+	uq1_15_t AbsMinDistanceScope;
+
+	/*! The pre-filter pixel mask determines the pixel channels that are
+	 * 	statically excluded from the pixel binning (i.e. 1D distance) result.
+	 *
+	 * 	The pixel enabled mask is an 32-bit mask that determines the
+	 * 	device internal channel number. It is recommended to use the
+	 * 	 - #PIXELXY_ISENABLED(msk, x, y)
+	 * 	 - #PIXELXY_ENABLE(msk, x, y)
+	 * 	 - #PIXELXY_DISABLE(msk, x, y)
+	 * 	 .
+	 * 	macros to work with the pixel enable masks. */
+	uint32_t PrefilterMask;
+
+} argus_cfg_pba_t;
+
+/*! @} */
+#endif /* ARGUS_PBA_H */
@@ -0,0 +1,143 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		Defines the device pixel measurement results data structure.
+ *
+ * @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_PX_H
+#define ARGUS_PX_H
+
+/*!***************************************************************************
+ * @addtogroup 	argusres
+ * @{
+ *****************************************************************************/
+
+/*! Maximum amplitude value in UQ12.4 format. */
+#define ARGUS_AMPLITUDE_MAX		(0xFFF0U)
+
+/*! Maximum range value in Q9.22 format.
+ * Also used as a special value to determine no object detected or infinity range. */
+#define ARGUS_RANGE_MAX (Q9_22_MAX)
+
+/*!***************************************************************************
+ * @brief	Status flags for the evaluated pixel structure.
+ *
+ * @details Determines the pixel status. 0 means OK (#PIXEL_OK).
+ * 			- [0]: #PIXEL_OFF: Pixel was disabled and not read from the device.
+ * 			- [1]: #PIXEL_SAT: The pixel was saturated.
+ * 			- [2]: #PIXEL_BIN_EXCL: The pixel was excluded from the 1D result.
+ * 			- [3]: #PIXEL_AMPL_MIN: The pixel amplitude has evaluated to 0.
+ * 			- [4]: #PIXEL_PREFILTERED: The was pre-filtered by static mask.
+ * 			- [5]: #PIXEL_NO_SIGNAL: The pixel has no valid signal.
+ * 			- [6]: #PIXEL_OUT_OF_SYNC: The pixel has lost signal trace.
+ * 			- [7]: #PIXEL_STALLED: The pixel value is stalled due to errors.
+ * 			.
+ *****************************************************************************/
+typedef enum {
+	/*! 0x00: Pixel status OK. */
+	PIXEL_OK = 0,
+
+	/*! 0x01: Pixel is disabled (in hardware) and no data has been read from the device. */
+	PIXEL_OFF = 1U << 0U,
+
+	/*! 0x02: Pixel is saturated (i.e. at least one saturation bit for any
+	 *        sample is set or the sample is in the invalidity area). */
+	PIXEL_SAT = 1U << 1U,
+
+	/*! 0x04: Pixel is excluded from the pixel binning (1d) result. */
+	PIXEL_BIN_EXCL = 1U << 2U,
+
+	/*! 0x08: Pixel amplitude minimum underrun
+	 *        (i.e. the amplitude calculation yields 0). */
+	PIXEL_AMPL_MIN = 1U << 3U,
+
+	/*! 0x10: Pixel is pre-filtered by the static pixel binning pre-filter mask,
+	 * 	      i.e. the pixel is disabled by software. */
+	PIXEL_PREFILTERED = 1U << 4U,
+
+	/*! 0x20: Pixel amplitude is below its threshold value. The received signal
+	 *  	  strength is too low to evaluate a valid signal. The range value is
+	 *  	  set to the maximum possible value (approx. 512 m). */
+	PIXEL_NO_SIGNAL = 1U << 5U,
+
+	/*! 0x40: Pixel is not in sync with respect to the dual frequency algorithm.
+	 * 		  I.e. the pixel may have a correct value but is estimated into the
+	 * 		  wrong unambiguous window. */
+	PIXEL_OUT_OF_SYNC = 1U << 6U,
+
+	/*! 0x80: Pixel is stalled due to one of the following reasons:
+	 * 		  - #PIXEL_SAT
+	 * 		  - #PIXEL_AMPL_MIN
+	 * 		  - #PIXEL_OUT_OF_SYNC
+	 * 		  - Global Measurement Error
+	 * 		  .
+	 * 		  A stalled pixel does not update its measurement data and keeps the
+	 * 		  previous values. If the issue is resolved, the stall disappears and
+	 * 		  the pixel is updating again. */
+	PIXEL_STALLED = 1U << 7U
+
+} argus_px_status_t;
+
+/*!***************************************************************************
+ * @brief	The evaluated measurement results per pixel.
+ * @details	This structure contains the evaluated data for a single pixel.\n
+ * 			If the amplitude is 0, the pixel is turned off or has invalid data.
+ *****************************************************************************/
+typedef struct {
+	/*! Range Values from the device in meter. It is the actual distance before
+	 *  software adjustments/calibrations. */
+	q9_22_t Range;
+
+	/*! Phase Values from the device in units of PI, i.e. 0 ... 2. */
+	uq1_15_t Phase;
+
+	/*! Amplitudes of measured signals in LSB.
+	 *  Special values: 0 == Pixel Off, 0xFFFF == Overflow/Error */
+	uq12_4_t Amplitude;
+
+	/*! Pixel status; determines if the pixel is disabled, saturated, ..
+	 *  See the \link #argus_px_status_t pixel status flags\endlink for more
+	 *  information. */
+	argus_px_status_t Status;
+
+	/*! The unambiguous window determined by the dual frequency feature. */
+	int8_t RangeWindow;
+
+	/*! The raw amplitudes of measured signals in LSB. */
+	uq12_4_t AmplitudeRaw;
+
+} argus_pixel_t;
+
+
+/*! @} */
+#endif /* ARGUS_PX_H */
@@ -0,0 +1,173 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		Defines the generic measurement results data structure.
+ *
+ * @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_RES_H
+#define ARGUS_RES_H
+
+/*!***************************************************************************
+ * @defgroup	argusres Measurement Data
+ * @ingroup		argusapi
+ *
+ * @brief		Measurement results data structures.
+ *
+ * @details		The interface defines all data structures that correspond to
+ * 				the AFBR-S50 measurement results, e.g.
+ * 					- 1D distance and amplitude values,
+ * 					- 3D distance and amplitude values (i.e. per pixel),
+ * 					- Auxiliary channel measurement results (VDD, IAPD, temperature, ...)
+ * 					- Device and result status
+ * 					- ...
+ * 					.
+ *
+ * @addtogroup 	argusres
+ * @{
+ *****************************************************************************/
+
+#include "argus_def.h"
+#include "argus_px.h"
+#include "argus_meas.h"
+
+/*!***************************************************************************
+ * @brief	The 1d measurement results data structure.
+ * @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. */
+	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.
+	 *  Special value: 0 == No/Invalid Result. */
+	uq12_4_t Amplitude;
+
+} argus_results_bin_t;
+
+/*!***************************************************************************
+ * @brief	The auxiliary measurement results data structure.
+ * @details The auxiliary measurement results obtained by the auxiliary task.
+ * 			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:
+	 *  Invalid/NotAvailable = 0xFFFFU (UQ12_4_MAX) */
+	uq12_4_t VDD;
+
+	/*! Temperature sensor ADC channel readout value.
+	 *  Special Value if no value has been measured:
+	 *  Invalid/NotAvailable = 0x7FFFU (Q11_4_MAX) */
+	q11_4_t TEMP;
+
+	/*! Substrate Voltage ADC Channel readout value.
+	 *  Special Value if no value has been measured:
+	 *  Invalid/NotAvailable = 0xFFFFU (UQ12_4_MAX) */
+	uq12_4_t VSUB;
+
+	/*! VDD VCSEL ADC channel readout value.
+	 *  Special Value if no value has been measured:
+	 *  Invalid/NotAvailable = 0xFFFFU (UQ12_4_MAX) */
+	uq12_4_t VDDL;
+
+	/*! APD current ADC Channel readout value.
+	 *  Special Value if no value has been measured:
+	 *  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:
+	 *  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:
+	 *  Invalid/NotAvailable = 0xFFFFU (UQ12_4_MAX) */
+	uq12_4_t SNA;
+
+} argus_results_aux_t;
+
+/*!***************************************************************************
+ * @brief	The measurement results data structure.
+ * @details Measurement data from the device.
+ * @code
+ * 			// Pixel Field: Pixel[x][y]
+ * 			//
+ * 			// 0  -----------> x
+ * 			// |  O O O O O O O O
+ * 			// |   O O O O O O O O
+ * 			// |  O O O O O O O O          O (ref. Px)
+ * 			// y   O O O O O O O O
+ * @endcode
+ *****************************************************************************/
+typedef struct {
+	/*! The \link #status_t status\endlink of the current measurement frame.
+	 *   - 0 (i.e. #STATUS_OK) for a good measurement signal.
+	 *   - > 0 for warnings and weak measurement signal.
+	 *   - < 0 for errors and invalid measurement signal. */
+	status_t Status;
+
+	/*! Time in milliseconds (measured since the last MCU startup/reset)
+	 *  when the measurement was triggered. */
+	ltc_t TimeStamp;
+
+	/*! The configuration for the current measurement frame. */
+	argus_meas_frame_t Frame;
+
+	/*! Raw unmapped ADC results from the device. */
+	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;
+
+	/*! 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];
+
+	/*! Pixel binned results. */
+	argus_results_bin_t Bin;
+
+	/*! The auxiliary ADC channel data. */
+	argus_results_aux_t Auxiliary;
+
+} argus_results_t;
+
+
+/*! @} */
+#endif /* ARGUS_RES_H */
@@ -0,0 +1,82 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		Defines the Shot Noise Monitor (SNM) setup parameters.
+ *
+ * @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_SNM_H
+#define ARGUS_SNM_H
+
+/*!***************************************************************************
+ * @defgroup 	argussnm Shot Noise Monitor
+ * @ingroup		argusdev
+ *
+ * @brief		Shot Noise Monitor (SNM) parameter definitions and API functions.
+ *
+ * @details		The SNM is an algorithm to monitor and react on shot noise
+ * 				induced by harsh environment conditions like high ambient
+ * 				light.
+ *
+ *				The AFBR-S50 API provides three modes:
+ *				- Dynamic: Automatic mode, automatically adopts to current
+ *						   ambient conditions.
+ *				- Static (Outdoor): Static mode, optimized for outdoor applications.
+ *				- Static (Indoor): Static mode, optimized for indoor applications.
+ *				.
+ *
+ * @addtogroup 	argussnm
+ * @{
+ *****************************************************************************/
+
+/*! The Shot Noise Monitor modes enumeration. */
+typedef enum {
+	/*! Static Shot Noise Monitoring Mode, optimized for indoor applications.
+	 *  Assumes the best case scenario, i.e. no bad influence from ambient conditions.
+	 *  Thus it uses a fixed setting that will result in the best performance.
+	 *  Equivalent to Shot Noise Monitoring disabled. */
+	SNM_MODE_STATIC_INDOOR = 0U,
+
+	/*! Static Shot Noise Monitoring Mode, optimized for outdoor applications.
+	 *  Assumes the worst case scenario, i.e. it uses a fixed setting that will
+	 *  work under all ambient conditions. */
+	SNM_MODE_STATIC_OUTDOOR = 1U,
+
+	/*! Dynamic Shot Noise Monitoring Mode.
+	 *  Adopts the system performance dynamically to the current ambient conditions. */
+	SNM_MODE_DYNAMIC = 2U,
+
+} argus_snm_mode_t;
+
+
+/*! @} */
+#endif /* ARGUS_SNM_H */
@@ -0,0 +1,271 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		Provides status codes for the AFBR-S50 API.
+ *
+ * @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_STATUS_H
+#define ARGUS_STATUS_H
+
+#include <stdint.h>
+
+/*!***************************************************************************
+ * @defgroup    status Status Codes
+ * @brief       Status and Error Code Definitions
+ * @details     Defines status and error codes for function return values.
+ *              Basic status number structure:
+ *              - 0 is OK or no error.
+ *              - negative values determine errors.
+ *              - positive values determine warnings or status information.
+ *              .
+ * @addtogroup  status
+ * @{
+ *****************************************************************************/
+
+/*!***************************************************************************
+ * @brief  	Type used for all status and error return values.
+ * @details	Basic status number structure:
+ *           - 0 is OK or no error.
+ *           - negative values determine errors.
+ *           - positive values determine warnings or status information.
+ *           .
+ *****************************************************************************/
+typedef int32_t status_t;
+
+/*! AFBR-S50 API status and error return codes. */
+enum Status {
+	/**********************************************************************************************
+	 ********** Generic Status ********************************************************************
+	 *********************************************************************************************/
+
+	/*! 0: Status for success/no error. */
+	STATUS_OK = 0,
+
+	/*! 0: Status for device/module/hardware idle. Implies #STATUS_OK. */
+	STATUS_IDLE = 0,
+
+	/*! 1: Status to be ignored. */
+	STATUS_IGNORE = 1,
+
+	/*! 2: Status for device/module/hardware busy. */
+	STATUS_BUSY = 2,
+
+	/*! 3: Status for device/module/hardware is currently initializing. */
+	STATUS_INITIALIZING = 3,
+
+	/*! -1: Error for generic fail/error. */
+	ERROR_FAIL = -1,
+
+	/*! -2: Error for process aborted by user/external. */
+	ERROR_ABORTED = -2,
+
+	/*! -3: Error for invalid read only operations. */
+	ERROR_READ_ONLY = -3,
+
+	/*! -4: Error for out of range parameters. */
+	ERROR_OUT_OF_RANGE = -4,
+
+	/*! -5: Error for invalid argument passed to an function. */
+	ERROR_INVALID_ARGUMENT = -5,
+
+	/*! -6: Error for timeout occurred. */
+	ERROR_TIMEOUT = -6,
+
+	/*! -7: Error for not initialized modules. */
+	ERROR_NOT_INITIALIZED = -7,
+
+	/*! -8: Error for not supported. */
+	ERROR_NOT_SUPPORTED = -8,
+
+	/*! -9: Error for yet not implemented functions. */
+	ERROR_NOT_IMPLEMENTED = -9,
+
+
+	/**********************************************************************************************
+	 ********** S2PI Layer Status *****************************************************************
+	 *********************************************************************************************/
+
+	/*! 51: SPI is disabled and pins are used in GPIO mode. */
+	STATUS_S2PI_GPIO_MODE = 51,
+
+	/*! -51: Error occurred on the Rx line. */
+	ERROR_S2PI_RX_ERROR = -51,
+
+	/*! -52: Error occurred on the Tx line. */
+	ERROR_S2PI_TX_ERROR = -52,
+
+	/*! -53: Called a function at a wrong driver state. */
+	ERROR_S2PI_INVALID_STATE = -53,
+
+	/*! -54: The specified baud rate is not valid. */
+	ERROR_S2PI_INVALID_BAUD_RATE = -54,
+
+	/*! -55: The specified slave identifier is not valid. */
+	ERROR_S2PI_INVALID_SLAVE = -55,
+
+
+	/**********************************************************************************************
+	 ********** NVM / Flash  Layer Status *********************************************************
+	 *********************************************************************************************/
+
+	/*! -98: Flash Error: The version of the settings in the flash memory is not compatible. */
+	ERROR_NVM_INVALID_FILE_VERSION = -98,
+
+	/*! -99: Flash Error: The memory is out of range. */
+	ERROR_NVM_OUT_OF_RANGE = -99,
+
+
+	/**********************************************************************************************
+	 ********** AFBR-S50 Specific Status **********************************************************
+	 *********************************************************************************************/
+
+	/*! 104: AFBR-S50 Status: All (internal) raw data buffers are currently in use.
+	 *  The measurement was not executed due to lack of available raw data buffers.
+	 *  Please call #Argus_EvaluateData to free the buffers. */
+	STATUS_ARGUS_BUFFER_BUSY = 104,
+
+	/*! 105: AFBR-S50 Status: The measurement was not executed/started due to output power
+	 *  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,
+
+	/*! 108: AFBR-S50 Status: No object was detected within the field-of-view
+	 *  and measurement range of the device. */
+	STATUS_ARGUS_NO_OBJECT = 108,
+
+	/*! 109: AFBR-S50 Status: The readout algorithm for the EEPROM has detected a bit
+	 *  error which has been corrected. However, if more than a single bit error
+	 *  has occurred, the corrected value is invalid! This cannot be distinguished
+	 *  from the valid case. Thus, if the error starts to occur, the sensor
+	 *  should be replaced soon! */
+	STATUS_ARGUS_EEPROM_BIT_ERROR = 109,
+
+	/*! 110: AFBR-S50 Status: Inconsistent EEPROM readout data. No calibration
+	 *  trimming values are applied. The calibration remains invalid. */
+	STATUS_ARGUS_INVALID_EEPROM = 110,
+
+	/*! -101: AFBR-S50 Error: No device connected. Initial SPI tests failed. */
+	ERROR_ARGUS_NOT_CONNECTED = -101,
+
+	/*! -102: AFBR-S50 Error: Inconsistent configuration parameters. */
+	ERROR_ARGUS_INVALID_CFG = -102,
+
+
+	/*! -105: AFBR-S50 Error: Invalid measurement mode configuration parameter. */
+	ERROR_ARGUS_INVALID_MODE = -105,
+
+	/*! -107: AFBR-S50 Error: The APD bias voltage is reinitializing due to a dropout.
+	 *  The current measurement data set is invalid! */
+	ERROR_ARGUS_BIAS_VOLTAGE_REINIT = -107,
+
+
+	/*! -109: AFBR-S50 Error: The EEPROM readout has failed. The failure is detected
+	 *  by three distinct read attempts, each resulting in invalid data.
+	 *  Note: this state differs from that #STATUS_ARGUS_EEPROM_BIT_ERROR
+	 *  such that it is usually temporarily and due to harsh ambient conditions. */
+	ERROR_ARGUS_EEPROM_FAILURE = -109,
+
+	/*! -110: AFBR-S50 Error: The measurement signals of all active pixels are invalid
+	 *  and thus the 1D range is also invalid and stalled.
+	 *  This means the range value is not updated and kept at the previous valid value. */
+	ERROR_ARGUS_STALLED = -110,
+
+	/*! -111: AFBR-S50 Error: The background light is too bright. */
+	ERROR_ARGUS_BGL_EXCEEDANCE = -111,
+
+	/*! -112: AFBR-S50 Error: The crosstalk vector amplitude is too high. */
+	ERROR_ARGUS_XTALK_AMPLITUDE_EXCEEDANCE = -112,
+
+	/*! -113: AFBR-S50 Error: Laser malfunction! Laser Safety may not be given! */
+	ERROR_ARGUS_LASER_FAILURE = -113,
+
+	/*! -114: AFBR-S50 Error: Register data integrity is lost (e.g. due to unexpected
+	 *  power-on-reset cycle or invalid write cycle of SPI. System tries to
+	 *  reset the values. */
+	ERROR_ARGUS_DATA_INTEGRITY_LOST = -114,
+
+	/*! -115: AFBR-S50 Error: The range offsets calibration failed! */
+	ERROR_ARGUS_RANGE_OFFSET_CALIBRATION_FAILED = -115,
+
+	/*! -191: AFBR-S50 Error: The device is currently busy and cannot execute the
+	 *  requested command. */
+	ERROR_ARGUS_BUSY = -191,
+
+
+	/*! -199: AFBR-S50 Error: Unknown module number. */
+	ERROR_ARGUS_UNKNOWN_MODULE = -199,
+
+	/*! -198: AFBR-S50 Error: Unknown chip version number. */
+	ERROR_ARGUS_UNKNOWN_CHIP = -198,
+
+	/*! -197: AFBR-S50 Error: Unknown laser type number. */
+	ERROR_ARGUS_UNKNOWN_LASER = -197,
+
+
+
+	/*! 193: AFBR-S50 Status (internal): The device is currently busy with updating the
+	 *  configuration (i.e. with writing register values). */
+	STATUS_ARGUS_BUSY_CFG_UPDATE = 193,
+
+	/*! 194: AFBR-S50 Status (internal): The device is currently busy with updating the
+	 *  calibration data (i.e. writing to register values). */
+	STATUS_ARGUS_BUSY_CAL_UPDATE = 194,
+
+	/*! 195: AFBR-S50 Status (internal): The device is currently executing a calibration
+	 * 	sequence. */
+	STATUS_ARGUS_BUSY_CAL_SEQ = 195,
+
+	/*! 196: AFBR-S50 Status (internal): The device is currently executing a measurement
+	 *  cycle. */
+	STATUS_ARGUS_BUSY_MEAS = 196,
+
+
+	/*! 100: AFBR-S50 Status (internal): The ASIC is initializing a new measurement, i.e.
+	 *  a register value is written that starts an integration cycle on the ASIC. */
+	STATUS_ARGUS_STARTING = 100,
+
+	/*! 103: AFBR-S50 Status (internal): The ASIC is performing an integration cycle. */
+	STATUS_ARGUS_ACTIVE = 103,
+
+
+
+};
+
+/*! @} */
+#endif /* ARGUS_STATUS_H */
@@ -0,0 +1,76 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		This file contains the current API version number.
+ *
+ * @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_VERSION_H
+#define ARGUS_VERSION_H
+
+/*!***************************************************************************
+ * @defgroup	version API Version
+ * @ingroup		argusapi
+ *
+ * @brief		API and library core version number
+ *
+ * @details		Contains the AFBR-S50 API and Library Core Version Number.
+ *
+ * @addtogroup 	version
+ * @{
+ *****************************************************************************/
+
+/*! Major version number of the AFBR-S50 API. */
+#define ARGUS_API_VERSION_MAJOR    1
+
+/*! Minor version number of the AFBR-S50 API. */
+#define ARGUS_API_VERSION_MINOR    2
+
+/*! Bugfix version number of the AFBR-S50 API. */
+#define ARGUS_API_VERSION_BUGFIX   3
+
+/*! Build version nunber of the AFBR-S50 API. */
+#define ARGUS_API_VERSION_BUILD    "20201120091253"
+
+/*****************************************************************************/
+
+/*! Construct the version number for drivers. */
+#define MAKE_VERSION(major, minor, bugfix) \
+	(((major) << 24) | ((minor) << 16) | (bugfix))
+
+/*! Version number of the AFBR-S50 API. */
+#define ARGUS_API_VERSION MAKE_VERSION((ARGUS_API_VERSION_MAJOR), \
+				       (ARGUS_API_VERSION_MINOR), \
+				       (ARGUS_API_VERSION_BUGFIX))
+
+/*! @} */
+#endif /* ARGUS_VERSION_H */
@@ -0,0 +1,114 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 hardware API.
+ * @details		Defines the generic device calibration API.
+ *
+ * @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_XTALK_H
+#define ARGUS_XTALK_H
+
+/*!***************************************************************************
+ * @addtogroup 	arguscal
+ * @{
+ *****************************************************************************/
+
+#include "api/argus_def.h"
+
+/*!***************************************************************************
+ * @brief	Pixel Crosstalk Compensation Vector.
+ * @details	Contains calibration data (per pixel) that belongs to the
+ * 			RX-TX-Crosstalk compensation feature.
+ *****************************************************************************/
+
+/*! Pixel Crosstalk Vector */
+typedef struct {
+	/*! Crosstalk Vector - Sine component.
+	 *  Special Value: Q11_4_MIN == not available */
+	q11_4_t dS;
+
+	/*! Crosstalk Vector - Cosine component.
+	 *  Special Value: Q11_4_MIN == not available */
+	q11_4_t dC;
+
+} xtalk_t;
+
+/*!***************************************************************************
+ * @brief	Pixel-To-Pixel Crosstalk Compensation Parameters.
+ * @details	Contains calibration data that belongs to the pixel-to-pixel
+ * 			crosstalk compensation feature.
+ *****************************************************************************/
+typedef struct {
+	/*! Pixel-To-Pixel Compensation on/off. */
+	bool Enabled;
+
+	/*! The relative threshold determines when the compensation is active for
+	 *  each individual pixel. The value determines the ratio of the individual
+	 *  pixel signal is with respect to the overall average signal. If the
+	 *  ratio is smaller than the value, the compensation is active. Absolute
+	 *  and relative conditions are connected with AND logic. */
+	uq0_8_t RelativeThreshold;
+
+	/*! The absolute threshold determines the minimum total crosstalk
+	 *  amplitude (i.e. the average amplitude of all pixels weighted by
+	 *  the Kc factor) that is required for the compensation to become
+	 *  active. Set to 0 to always enable. Absolute and relative
+	 *  conditions are connected with AND logic. */
+	uq12_4_t AbsoluteTreshold;
+
+	/*! The sine component of the Kc factor that determines the amount of the total
+	 *  signal of all pixels that influences the individual signal of each pixel.
+	 *  Higher values determine more influence on the individual pixel signal. */
+	q3_12_t KcFactorS;
+
+	/*! The cosine component of the Kc factor that determines the amount of the total
+	 *  signal of all pixels that influences the individual signal of each pixel.
+	 *  Higher values determine more influence on the individual pixel signal. */
+	q3_12_t KcFactorC;
+
+	/*! The sine component of the reference pixel Kc factor that determines the
+	 *  amount of the total signal on all pixels that influences the individual
+	 *  signal of the reference pixel.
+	 *  Higher values determine more influence on the reference pixel signal. */
+	q3_12_t KcFactorSRefPx;
+
+	/*! The cosine component of the reference pixel Kc factor that determines the
+	 *  amount of the total signal on all pixels that influences the individual
+	 *  signal of the reference pixel.
+	 *  Higher values determine more influence on the reference pixel signal. */
+	q3_12_t KcFactorCRefPx;
+
+} argus_cal_p2pxtalk_t;
+
+
+/*! @} */
+#endif /* ARGUS_XTALK_H */
@@ -0,0 +1,50 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		This file the main header of the AFBR-S50 API.
+ *
+ * @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_H
+#define ARGUS_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "api/argus_api.h"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ARGUS_H */
@@ -0,0 +1,121 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		This file provides an interface for enabling/disabling interrupts.
+ *
+ * @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_IRQ_H
+#define ARGUS_IRQ_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*!***************************************************************************
+ * @defgroup	argus_irq IRQ: Global Interrupt Control Layer
+ * @ingroup		argus_platform
+ *
+ * @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.
+ *
+ *				Here is a simple example implementation using the CMSIS functions
+ *				"__enable_irq()" and "__disable_irq()". An integer counter is
+ *				used to achieve nested interrupt disabling:
+ *
+ *				@code
+ *
+ *				// Global lock level counter value.
+ *				static volatile int g_irq_lock_ct;
+ *
+ *				// Global unlock all interrupts using CMSIS function "__enable_irq()".
+ *				void IRQ_UNLOCK(void)
+ *				{
+ *					assert(g_irq_lock_ct > 0);
+ *					if (--g_irq_lock_ct <= 0)
+ *					{
+ *						g_irq_lock_ct = 0;
+ *						__enable_irq();
+ *					}
+ *				}
+ *
+ *				// Global lock all interrupts using CMSIS function "__disable_irq()".
+ *				void IRQ_LOCK(void)
+ *				{
+ *					__disable_irq();
+ *					g_irq_lock_ct++;
+ *				}
+ *
+ *				@endcode
+ *
+ * @note		The IRQ locking mechanism is used to create atomic sections
+ * 				(within the scope of the AFBR-S50 API) that	are very few processor
+ * 				instruction only. It does NOT lock interrupts for considerable
+ * 				amounts of time.
+ *
+ * @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
+ * 				mechanism can be implemented such that only the interrupts
+ * 				required for the AFBR-S50 API are locked. The above	example is
+ * 				dedicated to a ARM Corex-M0 architecture, where interrupts
+ *				can only disabled at a global scope. Other architectures like
+ *				ARM Cortex-M4 allow selective disabling of interrupts.
+ *
+ * @addtogroup 	argus_irq
+ * @{
+ *****************************************************************************/
+
+/*!***************************************************************************
+ * @brief	Enable IRQ Interrupts
+ *
+ * @details	Enables IRQ interrupts by clearing the I-bit in the CPSR.
+ * 			Can only be executed in Privileged modes.
+ *****************************************************************************/
+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.
+ *****************************************************************************/
+void IRQ_LOCK(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+/*! @} */
+#endif // ARGUS_IRQ_H
@@ -0,0 +1,135 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		This file provides an interface for the optional non-volatile memory.
+ *
+ * @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_NVM_H
+#define ARGUS_NVM_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*!***************************************************************************
+ * @defgroup	argus_nvm NVM: Non-Volatile Memory Layer
+ * @ingroup		argus_platform
+ *
+ * @brief		Non-Volatile Memory Layer
+ *
+ * @details		This module provides functionality to access the non-volatile
+ * 				memory (e.g. flash) on the underlying platform.
+ *
+ * 				This module is optional and only required if calibration data
+ * 				needs to be stored within the API.
+ *
+ * @note		The implementation of this module is optional for the correct
+ * 				execution of the API. If not implemented, a weak implementation
+ * 				within the API will be used that disables the NVM feature.
+ *
+ * @addtogroup 	argus_nvm
+ * @{
+ *****************************************************************************/
+
+#include "argus.h"
+
+/*!***************************************************************************
+ * @brief	Initializes the non-volatile memory unit and reserves a chunk of memory.
+ *
+ * @details The function is called upon API initialization sequence. If available,
+ * 			the non-volatile memory module reserves a chunk of memory with the
+ * 			provides number of bytes (size) and returns with #STATUS_OK.
+ *
+ * 			If not implemented, the function should return #ERROR_NOT_IMPLEMENTED
+ * 			in oder to inform the API to not use the NVM module.
+ *
+ * 			After initialization, the API calls the #NVM_Write and #NVM_Read
+ * 			methods to write within the reserved chunk of memory.
+ *
+ * @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 disables the NVM feature.
+ *
+ * @param	size The required size of NVM to store all parameters.
+ * @return 	Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ *****************************************************************************/
+status_t NVM_Init(uint32_t size);
+
+/*!***************************************************************************
+ * @brief	Write a block of data to the non-volatile memory.
+ *
+ * @details	The function is called whenever the API wants to write data into
+ * 			the previously reserved (#NVM_Init) memory block. The data shall
+ * 			be written at a given offset and with a given size.
+ *
+ *			If no NVM module is available, the function can return with error
+ *			#ERROR_NOT_IMPLEMENTED.
+ *
+ * @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 disables the NVM feature.
+ *
+ * @param	offset The index offset where the first byte needs to be written.
+ * @param	size The number of bytes to be written.
+ * @param	buf The pointer to the data buffer with the data to be written.
+ * @return 	Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ *****************************************************************************/
+status_t NVM_Write(uint32_t offset, uint32_t size, uint8_t const *buf);
+
+/*!***************************************************************************
+ * @brief	Reads a block of data from the non-volatile memory.
+ *
+ * @details	The function is called whenever the API wants to read data from
+ * 			the previously reserved (#NVM_Init) memory block. The data shall
+ * 			be read at a given offset and with a given size.
+ *
+ *			If no NVM module is available, the function can return with error
+ *			#ERROR_NOT_IMPLEMENTED.
+ *
+ * @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 disables the NVM feature.
+ *
+ * @param	offset The index offset where the first byte needs to be read.
+ * @param	size The number of bytes to be read.
+ * @param	buf The pointer to the data buffer to copy the data to.
+ * @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
+
+/*! @} */
+#endif // ARGUS_NVM_H
@@ -0,0 +1,83 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		This file provides an interface for the optional debug module.
+ *
+ * @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_PRINT_H
+#define ARGUS_PRINT_H
+
+/*!***************************************************************************
+ * @defgroup	argus_log Debug: Logging Interface
+ * @ingroup		argus_platform
+ *
+ * @brief		Logging interface for the AFBR-S50 API.
+ *
+ * @details		This interface provides logging utility functions.
+ * 				Defines a printf-like function that is used to print error and
+ * 				log messages.
+ *
+ * @addtogroup 	argus_log
+ * @{
+ *****************************************************************************/
+
+#include "api/argus_def.h"
+
+/*!***************************************************************************
+ * @brief	A printf-like function to print formated data to an debugging interface.
+ *
+ * @details Writes the C string pointed by fmt_t to an output. If format
+ * 			includes format specifiers (subsequences beginning with %), the
+ * 			additional arguments following fmt_t are formatted and inserted in
+ * 			the resulting string replacing their respective specifiers.
+ *
+ * 			To enable the print functionality, an implementation of the function
+ * 			must be provided that maps the output to an interface like UART or
+ * 			a debugging console, e.g. by forwarding to standard printf() method.
+ *
+ * @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 does nothing. This will improve
+ * 			the performance but no error messages are logged.
+ *
+ * @note	The naming is different from the standard printf() on purpose to
+ * 			prevent builtin compiler optimizations.
+ *
+ * @param	fmt_s The usual print() format string.
+ * @param	... The usual print() parameters. *
+ * @return 	Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ *****************************************************************************/
+status_t print(const char *fmt_s, ...);
+
+/*! @} */
+#endif /* ARGUS_PRINT_H */
@@ -0,0 +1,352 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		This file provides an interface for the required S2PI module.
+ *
+ * @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_S2PI_H
+#define ARGUS_S2PI_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*!***************************************************************************
+ * @defgroup	argus_s2pi S2PI: Serial Peripheral Interface
+ * @ingroup		argus_platform
+ *
+ * @brief		S2PI: SPI incl. GPIO Hardware Layer Module
+ *
+ * @details		The S2PI module consists of a standard SPI interface plus a
+ *				single GPIO interrupt line. Furthermore, the SPI pins are
+ *				accessible via GPIO control to allow a software emulation of
+ *				additional protocols using the same pins.
+ *
+ *				**SPI interface:**
+ *
+ *				The SPI interface is based on a single function:
+ *
+ *				#S2PI_TransferFrame. This function transfers a specified number
+ *				of bytes via the interfaces MOSI line and simultaneously reads
+ *				the incoming data on the MOSI line. The read can also be skipped.
+ *				The transfer happen asynchronously, e.g. via a DMA request. After
+ *				finishing the transfer, the provided callback is invoked with
+ *				the status of the transfer and the provided abstract parameter.
+ *				Furthermore, the functions receives a slave parameter that can
+ *				be used to connect multiple slaves, each with its individual
+ *				chip select line.
+ *
+ *				The interface also provides functionality to change the SPI
+ *				baud rate. An additional abort method is used to cancel the
+ *				ongoing transfer.
+ *
+ *				**GPIO interface:**
+ *
+ *				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.
+ *
+ *				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.
+ *
+ *				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
+ *				during measurements.
+ *
+ *
+ * @addtogroup 	argus_s2pi
+ * @{
+ *****************************************************************************/
+
+#include "api/argus_def.h"
+
+/*!***************************************************************************
+ * @brief 	S2PI layer callback function type for the SPI transfer completed event.
+ *
+ * @param	status The \link #status_t status\endlink of the completed
+ *                   transfer (#STATUS_OK on success).
+ *
+ * @param	param The provided (optional, can be null) callback parameter.
+ *
+ * @return 	Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ *****************************************************************************/
+typedef status_t (*s2pi_callback_t)(status_t status, void *param);
+
+/*!***************************************************************************
+ * @brief 	S2PI layer callback function type for the GPIO interrupt event.
+ *
+ * @param	param The provided (optional, can be null) callback parameter.
+ *****************************************************************************/
+typedef void (*s2pi_irq_callback_t)(void *param);
+
+/*! The S2PI slave identifier. Basically an user defined enumerable type that
+ *  can be used to identify the slave within the SPI module. */
+typedef int32_t s2pi_slave_t;
+
+/*!	The enumeration of S2PI pins. */
+typedef enum {
+	/*! The SPI clock pin. */
+	S2PI_CLK,
+
+	/*! The SPI chip select pin. */
+	S2PI_CS,
+
+	/*! The SPI MOSI pin. */
+	S2PI_MOSI,
+
+	/*! The SPI MISO pin. */
+	S2PI_MISO,
+
+	/*! The IRQ pin. */
+	S2PI_IRQ
+
+} s2pi_pin_t;
+
+
+/*!***************************************************************************
+ * @brief 	Returns the status of the SPI module.
+ *
+ * @return 	Returns the \link #status_t status\endlink:
+ * 			 - #STATUS_IDLE: No SPI transfer or GPIO access is ongoing.
+ *         	 - #STATUS_BUSY: An SPI transfer is in progress.
+ *         	 - #STATUS_S2PI_GPIO_MODE: The module is in GPIO mode.
+ *****************************************************************************/
+status_t S2PI_GetStatus(void);
+
+/*!***************************************************************************
+ * @brief 	Transfers a single SPI frame asynchronously.
+ *
+ * @details Transfers a single SPI frame in asynchronous manner. The Tx data
+ * 			buffer is written to the device via the MOSI line.
+ * 			Optionally, the data on the MISO line is written to the provided
+ * 			Rx data buffer. If null, the read data is dismissed. Note that
+ * 			Rx and Tx buffer can be identical. I.e. the same buffer is used
+ * 			for writing and reading data. First, a byte is transmitted and
+ * 			the received byte overwrites the previously send value.
+ *
+ * 			The transfer of a single frame requires to not toggle the chip
+ * 			select line to high in between the data frame. The maximum
+ * 			number of bytes transfered in a single SPI transfer is given by
+ * 			the data value register of the device, which is 396 data bytes
+ * 			plus a single address byte: 397 bytes.
+ *
+ * 			An optional callback is invoked when the asynchronous transfer
+ * 			is finished. If the \p callback parameter is a null pointer,
+ * 			no callback is provided. Note that the provided buffer must not
+ * 			change while the transfer is ongoing.
+ *
+ * 			Use the slave parameter to determine the corresponding slave via the
+ * 			given chip select line.
+ *
+ * 			Usually, two distinct interrupts are required to handle the RX and
+ * 			TX ready events. The callback must be invoked from whichever
+ * 			interrupt comes after the SPI transfer has been finished. Note
+ * 			that new SPI transfers are invoked from within the callback function
+ * 			(i.e. from within the interrupt service routine of same priority).
+ *
+ * @param	slave The specified S2PI slave.
+ * @param	txData The 8-bit values to write to the SPI bus MOSI line.
+ * @param	rxData The 8-bit values received from the SPI bus MISO line
+ *                   (pass a null pointer if the data don't need to be read).
+ * @param	frameSize The number of 8-bit values to be sent/received.
+ * @param	callback A callback function to be invoked when the transfer is
+ * 					   finished. Pass a null pointer if no callback is required.
+ * @param	callbackData A pointer to a state that will be passed to the
+ *                         callback. Pass a null pointer if not used.
+ *
+ * @return 	Returns the \link #status_t status\endlink:
+ * 			 - #STATUS_OK: Successfully invoked the transfer.
+ *         	 - #ERROR_INVALID_ARGUMENT: An invalid parameter has been passed.
+ *         	 - #ERROR_S2PI_INVALID_SLAVE: A wrong slave identifier is provided.
+ *         	 - #STATUS_BUSY: An SPI transfer is already in progress. The
+ *         	                 transfer was not started.
+ *         	 - #STATUS_S2PI_GPIO_MODE: The module is in GPIO mode. The transfer
+ *         	                           was not started.
+ *****************************************************************************/
+status_t S2PI_TransferFrame(s2pi_slave_t slave,
+			    uint8_t const *txData,
+			    uint8_t *rxData,
+			    size_t frameSize,
+			    s2pi_callback_t callback,
+			    void *callbackData);
+
+/*!***************************************************************************
+ * @brief	Terminates a currently ongoing asynchronous SPI transfer.
+ *
+ * @details	When a callback is set for the current ongoing activity, it is
+ * 			invoked with the #ERROR_ABORTED error byte.
+ *
+ * @return 	Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ *****************************************************************************/
+status_t S2PI_Abort(void);
+
+/*!***************************************************************************
+ * @brief 	Set a callback for the GPIO IRQ for a specified S2PI slave.
+ *
+ * @param	slave The specified S2PI slave.
+ * @param	callback A callback function to be invoked when the specified
+ * 					   S2PI slave IRQ occurs. Pass a null pointer to disable
+ * 					   the callback.
+ * @param	callbackData A pointer to a state that will be passed to the
+ *                         callback. Pass a null pointer if not used.
+ *
+ * @return 	Returns the \link #status_t status\endlink:
+ * 			 - #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);
+
+/*!***************************************************************************
+ * @brief	Reads the current status of the IRQ pin.
+ *
+ * @details In order to keep a low priority for GPIO IRQs, the state of the
+ * 			IRQ pin must be read in order to reliable check for chip timeouts.
+ *
+ * 			The execution of the interrupt service routine for the data-ready
+ * 			interrupt from the corresponding GPIO pin might be delayed due to
+ * 			priority issues. The delayed execution might disable the timeout
+ * 			for the eye-safety checker too late causing false error messages.
+ * 			In order to overcome the issue, the state of the IRQ GPIO input
+ * 			pin is read before raising a timeout error in order to check if
+ * 			the device has already finished but the IRQ is still pending to be
+ * 			executed!
+
+ * @param	slave The specified S2PI slave.
+ * @return 	Returns 1U if the IRQ pin is high (IRQ not pending) and 0U if the
+ * 			devices pulls the pin to low state (IRQ pending).
+ *****************************************************************************/
+uint32_t S2PI_ReadIrqPin(s2pi_slave_t slave);
+
+/*!***************************************************************************
+ * @brief	Cycles the chip select line.
+ *
+ * @details In order to cancel the integration on the ASIC, a fast toggling
+ * 			of the chip select pin of the corresponding SPI slave is required.
+ * 			Therefore, this function toggles the CS from high to low and back.
+ * 			The SPI instance for the specified S2PI slave must be idle,
+ * 			otherwise the status #STATUS_BUSY is returned.
+ *
+ * @param	slave The specified S2PI slave.
+ * @return 	Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ *****************************************************************************/
+status_t S2PI_CycleCsPin(s2pi_slave_t slave);
+
+
+
+/*!*****************************************************************************
+ * @brief	Captures the S2PI pins for GPIO usage.
+ *
+ * @details	The SPI is disabled (module status: #STATUS_S2PI_GPIO_MODE) and the
+ * 			pins are configured for GPIO operation. The GPIO control must be
+ * 			release with the #S2PI_ReleaseGpioControl function in order to
+ * 			switch back to ordinary SPI functionality.
+ *
+ * @note	This function is only called during device initialization!
+ *
+ * @return 	Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ *****************************************************************************/
+status_t S2PI_CaptureGpioControl(void);
+
+/*!*****************************************************************************
+ * @brief	Releases the S2PI pins from GPIO usage and switches back to SPI mode.
+ *
+ * @details	The GPIO pins are configured for SPI operation and the GPIO mode is
+ * 			left. Must be called if the pins are captured for GPIO operation via
+ * 			the #S2PI_CaptureGpioControl function.
+ *
+ * @note	This function is only called during device initialization!
+ *
+ * @return 	Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ *****************************************************************************/
+status_t S2PI_ReleaseGpioControl(void);
+
+/*!*****************************************************************************
+ * @brief	Writes the output for a specified SPI pin in GPIO mode.
+ *
+ * @details This function writes the value of an SPI pin if the SPI pins are
+ * 			captured for GPIO operation via the #S2PI_CaptureGpioControl previously.
+ *
+ * @note	Since some GPIO peripherals switch the GPIO pins very fast a delay
+ * 			must be added after each GBIO access (i.e. right before returning
+ * 			from the #S2PI_WriteGpioPin method) in order to decrease the baud
+ * 			rate of the software EEPROM protocol. Increase the delay if timing
+ * 			issues occur while reading the EERPOM. For example:
+ * 			Delay = 10 µsec => Baud Rate < 100 kHz
+ *
+ * @note	This function is only called during device initialization!
+ *
+ * @param	slave The specified S2PI slave.
+ * @param	pin The specified S2PI pin.
+ * @param	value The GPIO pin state to write (0 = low, 1 = high).
+ * @return 	Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ *****************************************************************************/
+status_t S2PI_WriteGpioPin(s2pi_slave_t slave, s2pi_pin_t pin, uint32_t value);
+
+/*!*****************************************************************************
+ * @brief	Reads the input from a specified SPI pin in GPIO mode.
+ *
+ * @details This function reads the value of an SPI pin if the SPI pins are
+ * 			captured for GPIO operation via the #S2PI_CaptureGpioControl previously.
+ *
+ * @note	This function is only called during device initialization!
+ *
+ * @param	slave The specified S2PI slave.
+ * @param	pin The specified S2PI pin.
+ * @param	value The GPIO pin state to read (0 = low, 1 = high).
+ * @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
+
+/*! @} */
+#endif // ARGUS_S2PI_H
@@ -0,0 +1,267 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		This file provides an interface for the required timer modules.
+ *
+ * @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_TIMER_H
+#define ARGUS_TIMER_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*!***************************************************************************
+ * @defgroup	argus_timer Timer: Hardware Timer Interface
+ * @ingroup		argus_platform
+ *
+ * @brief 		Timer implementations for lifetime counting as well as periodic
+ * 				callback.
+ *
+ * @details		The module provides an interface to the timing utilities that
+ * 				are required by the AFBR-S50 time-of-flight sensor API.
+ *
+ *				Two essential features have to be provided by the user code:
+ *				1. Time Measurement Capability: In order to keep track of outgoing
+ *				  signals, the API needs to measure elapsed time. In order to
+ *				  provide optimum device performance, the granularity should be
+ *				  around 10 to 100 microseconds.
+ *				2. Periodic Callback: The API provides an automatic starting of
+ *				  measurement cycles at a fixed frame rate via a periodic
+ *				  interrupt timer. If this feature is not used, implementation
+ *				  of the periodic interrupts can be skipped. An weak default
+ *				  implementation is provide in the API.
+ *				.
+ *
+ *				The time measurement feature is simply implemented by the function
+ *				#Timer_GetCounterValue. Whenever the function is called, the
+ *				provided counter values must be written with the values obtained
+ *				by the current time.
+ *
+ *				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
+ *				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
+ *				time it is invoked.
+ *
+ *				In order to provide the usage of multiple devices, an mechanism is
+ *				introduced to allow the installation of multiple callback interval
+ *				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:
+ *				\code
+ *					Timer_Start(100000, ptr1); // 10 ms callback w/ parameter ptr1
+ *					Timer_Start(200000, ptr2); // 20 ms callback w/ parameter ptr1
+ *				\endcode
+ *
+ *				Note that the implemented timer module must therefore support
+ *				as many different intervals as instances of the AFBR-S50 device are
+ *				used.
+ *
+ * @addtogroup 	argus_timer
+ * @{
+ *****************************************************************************/
+
+#include "api/argus_def.h"
+
+/*******************************************************************************
+ * Lifetime Counter Timer Interface
+ ******************************************************************************/
+
+/*!***************************************************************************
+ * @brief	Obtains the lifetime counter value from the timers.
+ *
+ * @details The function is required to get the current time relative to any
+ * 			point in time, e.g. the startup time. The returned values \p hct and
+ * 			\p lct are given in seconds and microseconds respectively. The current
+ * 			elapsed time since the reference time is then calculated from:
+ *
+ * 			t_now [µsec] = hct * 1000000 µsec + lct * 1 µsec
+ *
+ * 			Note that the accuracy/granularity of the lifetime counter does
+ * 			not need to be 1 µsec. Usually, a granularity of approximately
+ * 			100 µsec is sufficient. However, in case of very high frame rates
+ * 			(above 1000 frames per second), it is recommended to implement
+ * 			an even lower granularity (somewhere in the 10 µsec regime).
+ *
+ * 			It must be guaranteed, that each call of the #Timer_GetCounterValue
+ * 			function must provide a value that is greater or equal, but never lower,
+ * 			than the value returned from the previous call.
+ *
+ * 			A hardware based implementation of the lifetime counter functionality
+ * 			would be to chain two distinct timers such that counter 2 increases
+ * 			its value when counter 1 wraps to 0. The easiest way is to setup
+ * 			counter 1 to wrap exactly every second. Counter 1 would than count
+ * 			the sub-seconds (i.e. µsec) value (\p lct) and counter 2 the seconds
+ * 			(\p hct) value.	A 16-bit counter is sufficient in case of counter 1
+ * 			while counter 2	must be a 32-bit version.
+ *
+ * 			In case of a lack of available hardware timers, a software solution
+ * 			can be used that requires only a 16-bit timer. In a simple scenario,
+ * 			the timer is configured to wrap around every second and increase
+ * 			a software counter value in its interrupt service routine (triggered
+ * 			with the wrap around event) every time the wrap around occurs.
+ *
+ *
+ * @note	The implementation of this function is mandatory for the correct
+ * 			execution of the API.
+ *
+ * @param	hct A pointer to the high counter value bits representing current
+ * 				time in seconds.
+ *
+ * @param	lct A pointer to the low counter value bits representing current
+ * 				time in microseconds. Range: 0, .., 999999 µsec
+ *****************************************************************************/
+void Timer_GetCounterValue(uint32_t *hct, uint32_t *lct);
+
+/*******************************************************************************
+ * Periodic Interrupt Timer Interface
+ ******************************************************************************/
+
+/*!***************************************************************************
+ * @brief	The callback function type for periodic interrupt timer.
+ *
+ * @details	The function that is invoked every time a specified interval elapses.
+ * 			An abstract parameter is passed to the function whenever it is called.
+ *
+ * @param	param An abstract parameter to be passed to the callback. This is
+ * 					also the identifier of the given interval.
+ *****************************************************************************/
+typedef void (*timer_cb_t)(void *param);
+
+/*!***************************************************************************
+ * @brief	Installs an periodic timer callback function.
+ *
+ * @details	Installs an periodic timer callback function that is invoked whenever
+ * 			an interval elapses. The callback is the same for any interval,
+ * 			however, the single intervals can be identified by the passed
+ * 			parameter.
+ * 			Passing a zero-pointer removes and disables the callback.
+ *
+ * @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	f The timer callback function.
+ *
+ * @return 	Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ *****************************************************************************/
+status_t Timer_SetCallback(timer_cb_t f);
+
+/*!***************************************************************************
+ * @brief	Sets the timer interval 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.
+ * 			If the same time interval as already set is passed, nothing happens.
+ * 			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_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
+
+/*! @} */
+#endif /* ARGUS_TIMER_H */
@@ -0,0 +1,407 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		Provides definitions and basic macros for fixed point data types.
+ *
+ * @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 FP_DEF_H
+#define FP_DEF_H
+
+/*!***************************************************************************
+ * @defgroup	fixedpoint Fixed Point Math
+ * @ingroup		argusutil
+ * @brief		A basic math library for fixed point number in the Qx.y fomat.
+ * @details		This module contains common fixed point type definitions as
+ * 				well as some basic math algorithms. All types are based on
+ * 				integer types. The number are defined with the Q number format.
+ *
+ * 				 - For a description of the Q number format refer to:
+ * 					https://en.wikipedia.org/wiki/Q_(number_format)
+ * 				 - Another resource for fixed point math in C might be found at
+ * 					http://www.eetimes.com/author.asp?section_id=36&doc_id=1287491
+ * 				 .
+ * @warning		This definitions are not portable and work only with
+ * 				little-endian systems!
+ * @addtogroup 	fixedpoint
+ * @{
+ *****************************************************************************/
+
+#include <stdint.h>
+
+/*******************************************************************************
+ * UQ6.2
+ ******************************************************************************/
+/*!***************************************************************************
+ * @brief	Unsigned fixed point number: UQ6.2
+ * @details	An unsigned fixed point number format based on the 8-bit unsigned
+ * 			integer type with 6 integer and 2 fractional bits.
+ * 			- Range: 0 .. 63.75
+ * 			- Granularity: 0.25
+ *****************************************************************************/
+typedef uint8_t uq6_2_t;
+
+
+/*******************************************************************************
+ * UQ4.4
+ ******************************************************************************/
+/*!***************************************************************************
+ * @brief	Unsigned fixed point number: UQ4.4
+ * @details	An unsigned fixed point number format based on the 8-bit unsigned
+ * 			integer type with 4 integer and 4 fractional bits.
+ * 			- Range: 0 .. 15.9375
+ * 			- Granularity: 0.0625
+ *****************************************************************************/
+typedef uint8_t uq4_4_t;
+
+/*! Maximum value of UQ4.4 number format. */
+#define UQ4_4_MAX ((uq4_4_t)UINT8_MAX)
+
+/*! The 1/one/unity in UQ4.4 number format. */
+#define UQ4_4_ONE ((uq4_4_t)(1U<<4U))
+
+
+/*******************************************************************************
+ * UQ2.6
+ ******************************************************************************/
+/*!***************************************************************************
+ * @brief	Unsigned fixed point number: UQ2.6
+ * @details	An unsigned fixed point number format based on the 8-bit unsigned
+ * 			integer type with 2 integer and 6 fractional bits.
+ * 			- Range: 0 .. 3.984375
+ * 			- Granularity: 0.015625
+ *****************************************************************************/
+typedef uint8_t uq2_6_t;
+
+/*! The 1/one/unity in UQ2.6 number format. */
+#define UQ2_6_ONE ((uq2_6_t)(1U<<6U))
+
+/*******************************************************************************
+ * UQ1.7
+ ******************************************************************************/
+/*!***************************************************************************
+ * @brief	Unsigned fixed point number: UQ1.7
+ * @details	An unsigned fixed point number format based on the 8-bit unsigned
+ * 			integer type with 1 integer and 7 fractional bits.
+ * 			- Range: 0 .. 1.9921875
+ * 			- Granularity: 0.0078125
+ *****************************************************************************/
+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;
+
+/*******************************************************************************
+ * UQ0.8
+ ******************************************************************************/
+/*!***************************************************************************
+ * @brief	Unsigned fixed point number: UQ0.8
+ * @details	An unsigned fixed point number format based on the 8-bit unsigned
+ * 			integer type with 1 integer and 7 fractional bits.
+ * 			- Range: 0 .. 0.99609375
+ * 			- Granularity: 0.00390625
+ *****************************************************************************/
+typedef uint8_t uq0_8_t;
+
+/*! Maximum value of UQ0.8 number format. */
+#define UQ0_8_MAX ((uq0_8_t)UINT8_MAX)
+
+/*******************************************************************************
+ * UQ12.4
+ ******************************************************************************/
+/*!***************************************************************************
+ * @brief	Unsigned fixed point number: UQ12.4
+ * @details	An unsigned fixed point number format based on the 16-bit unsigned
+ * 			integer type with 12 integer and 4 fractional bits.
+ * 			- Range: 0 ... 4095.9375
+ * 			- Granularity: 0.0625
+ *****************************************************************************/
+typedef uint16_t uq12_4_t;
+
+/*! Maximum value of UQ12.4 number format. */
+#define UQ12_4_MAX ((uq12_4_t)UINT16_MAX)
+
+/*! 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
+ ******************************************************************************/
+/*!***************************************************************************
+ * @brief	Unsigned fixed point number: UQ10.6
+ * @details	An unsigned fixed point number format based on the 16-bit unsigned
+ * 			integer type with 10 integer and 6 fractional bits.
+ * 			- Range: 0 ... 1023.984375
+ * 			- Granularity: 0.015625
+ *****************************************************************************/
+typedef uint16_t uq10_6_t;
+
+/*! Maximum value of UQ10.6 number format. */
+#define UQ10_6_MAX ((uq10_6_t)UINT16_MAX)
+
+/*! The 1/one/unity in UQ10.6 number format. */
+#define UQ10_6_ONE ((uq10_6_t)(1U << 6U))
+
+/*******************************************************************************
+ * UQ1.15
+ ******************************************************************************/
+/*!***************************************************************************
+ * @brief	Unsigned fixed point number: UQ1.15
+ * @details	An unsigned fixed point number format based on the 16-bit unsigned
+ * 			integer type with 1 integer and 15 fractional bits.
+ * 			- Range: 0 .. 1.999969
+ * 			- Granularity: 0.000031
+ *****************************************************************************/
+typedef uint16_t uq1_15_t;
+
+/*! Maximum value of UQ1.15 number format. */
+#define UQ1_15_MAX ((uq1_15_t)UINT16_MAX)
+
+/*! 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
+ ******************************************************************************/
+/*!***************************************************************************
+ * @brief	Unsigned fixed point number: UQ0.16
+ * @details	An unsigned fixed point number format based on the 16-bit unsigned
+ * 			integer type with 0 integer and 16 fractional bits.
+ * 			- Range: 0 .. 0.9999847412109375
+ * 			- Granularity: 1.52587890625e-5
+ *****************************************************************************/
+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
+ ******************************************************************************/
+/*!***************************************************************************
+ * @brief	Unsigned fixed point number: UQ28.4
+ * @details	An unsigned fixed point number format based on the 32-bit unsigned
+ * 			integer type with 28 integer and 4 fractional bits.
+ * 			- Range: 0 ... 268435455.9375
+ * 			- Granularity: 0.0625
+ *****************************************************************************/
+typedef uint32_t uq28_4_t;
+
+/*! Maximum value of UQ28.4 number format. */
+#define UQ28_4_MAX ((uq28_4_t)UINT32_MAX)
+
+/*! 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
+ ******************************************************************************/
+/*!***************************************************************************
+ * @brief	Unsigned fixed point number: UQ16.16
+ * @details	An unsigned fixed point number format based on the 32-bit unsigned
+ * 			integer type with 16 integer and 16 fractional bits.
+ * 			- Range: 0 ... 65535.999984741
+ * 			- Granularity: 0.000015259
+ *****************************************************************************/
+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)
+
+/*! 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
+ ******************************************************************************/
+/*!***************************************************************************
+ * @brief	Unsigned fixed point number: UQ10.22
+ * @details	An unsigned fixed point number format based on the 32-bit unsigned
+ * 			integer type with 10 integer and 22 fractional bits.
+ * 			- Range: 0 ... 1023.99999976158
+ * 			- Granularity: 2.38418579101562E-07
+ *****************************************************************************/
+typedef uint32_t uq10_22_t;
+
+/*******************************************************************************
+ * Q9.22
+ ******************************************************************************/
+/*!***************************************************************************
+ * @brief	Signed fixed point number: Q9.22
+ * @details	An 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))
+
+/*! 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)
+
+/*! @} */
+#endif /* FP_DEF_H */
@@ -0,0 +1,290 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		This file provides utility functions for timing necessities.
+ *
+ * @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 TIME_H
+#define TIME_H
+
+/*!***************************************************************************
+ * @defgroup	time Time Utility
+ * @ingroup		argusutil
+ * @brief 		Timer utilities for time measurement duties.
+ * @details		This module provides time measurement utility functions like
+ * 				delay or time measurement methods, or time math functions.
+ * @addtogroup 	time
+ * @{
+ *****************************************************************************/
+
+#include <stdint.h>
+#include <stdbool.h>
+
+/*!***************************************************************************
+ * @brief	A data structure to represent current time.
+ *
+ * @details	Value is obtained from the PIT time which must be configured as
+ * 			lifetime counter.
+ *****************************************************************************/
+typedef struct {
+	/*! Seconds. */
+	uint32_t sec;
+
+	/*! Microseconds. */
+	uint32_t usec;
+
+} ltc_t;
+
+/*!***************************************************************************
+ * @brief	Obtains the elapsed time since MCU startup.
+ * @param	t_now returned current time
+ *****************************************************************************/
+void Time_GetNow(ltc_t *t_now);
+
+/*!***************************************************************************
+ * @brief	Obtains the elapsed microseconds since MCU startup.
+ * @details	Wrap around effect due to uint32_t result format!!
+ * @param 	-
+ * @return	Elapsed microseconds since MCU startup as uint32_t.
+ *****************************************************************************/
+uint32_t Time_GetNowUSec(void);
+
+/*!***************************************************************************
+ * @brief	Obtains the elapsed milliseconds since MCU startup.
+ * @details	Wrap around effect due to uint32_t result format!!
+ * @param 	-
+ * @return	Elapsed milliseconds since MCU startup as uint32_t.
+ *****************************************************************************/
+uint32_t Time_GetNowMSec(void);
+
+/*!***************************************************************************
+ * @brief	Obtains the elapsed seconds since MCU startup.
+ * @param 	-
+ * @return	Elapsed seconds since MCU startup as uint32_t.
+ *****************************************************************************/
+uint32_t Time_GetNowSec(void);
+
+/*!***************************************************************************
+ * @brief	Obtains the elapsed time since a given time point.
+ * @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);
+
+/*!***************************************************************************
+ * @brief	Obtains the elapsed microseconds since a given time point.
+ * @details	Wrap around effect due to uint32_t result format!!
+ * @param	t_start Start time point.
+ * @return	Elapsed microseconds since t_start as uint32_t.
+ *****************************************************************************/
+uint32_t Time_GetElapsedUSec(ltc_t *const t_start);
+
+/*!***************************************************************************
+ * @brief	Obtains the elapsed milliseconds since a given time point.
+ * @details	Wrap around effect due to uint32_t result format!!
+ * @param	t_start Start time point.
+ * @return	Elapsed milliseconds since t_start as uint32_t.
+ *****************************************************************************/
+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);
+
+/*!***************************************************************************
+ * @brief	Obtains the time difference between two given time points.
+ * @details	Result is defined as t_diff = t_end - t_start.
+ * 			Note: since no negative time differences are supported, t_end has
+ * 			to be later/larger than t_start. Otherwise, the result won't be
+ * 			a negative time span but given by max value.
+ * @param	t_diff Returned time difference.
+ * @param	t_start Start time point.
+ * @param	t_end End time point.
+ *****************************************************************************/
+void Time_Diff(ltc_t *t_diff, ltc_t const *t_start, ltc_t const *t_end);
+
+/*!***************************************************************************
+ * @brief	Obtains the time difference between two given time points in
+ * 			microseconds.
+ * @details	Result is defined as t_diff = t_end - t_start.
+ * 			Refers to Time_Diff() and handles overflow such that to large
+ * 			values are limited by 0xFFFFFFFF µs.
+ * @param	t_start Start time point.
+ * @param	t_end End time point.
+ * @return	Time difference in microseconds.
+ *****************************************************************************/
+uint32_t Time_DiffUSec(ltc_t const *t_start, ltc_t const *t_end);
+
+/*!***************************************************************************
+ * @brief	Obtains the time difference between two given time points in
+ * 			milliseconds.
+ * @details	Result is defined as t_diff = t_end - t_start.
+ * 			Refers to Time_Diff() and handles overflow.
+ *			Wrap around effect due to uint32_t result format!!
+ * @param	t_start Start time point.
+ * @param	t_end End time point.
+ * @return	Time difference in milliseconds.
+ *****************************************************************************/
+uint32_t Time_DiffMSec(ltc_t const *t_start, ltc_t const *t_end);
+
+/*!***************************************************************************
+ * @brief	Obtains the time difference between two given time points in
+ * 			seconds.
+ * @details	Result is defined as t_diff = t_end - t_start.
+ * 			Refers to Time_Diff() and handles overflow.
+ * @param	t_start Start time point.
+ * @param	t_end End time point.
+ * @return	Time difference in seconds.
+ *****************************************************************************/
+uint32_t Time_DiffSec(ltc_t const *t_start, ltc_t const *t_end);
+
+/*!***************************************************************************
+ * @brief	Time delay for a given time period.
+ * @param	dt Delay time.
+ *****************************************************************************/
+void Time_Delay(ltc_t const *dt);
+
+/*!***************************************************************************
+ * @brief	Time delay for a given time period in microseconds.
+ * @param	dt_usec Delay time in microseconds.
+ *****************************************************************************/
+void Time_DelayUSec(uint32_t dt_usec);
+
+/*!***************************************************************************
+ * @brief	Time delay for a given time period in milliseconds.
+ * @param	dt_msec Delay time in milliseconds.
+ *****************************************************************************/
+void Time_DelayMSec(uint32_t dt_msec);
+
+/*!***************************************************************************
+ * @brief	Time delay for a given time period in seconds.
+ * @param	dt_sec Delay time in seconds.
+ *****************************************************************************/
+void Time_DelaySec(uint32_t dt_sec);
+
+/*!***************************************************************************
+ * @brief	Checks if timeout is reached from a given starting time.
+ * @details	Handles overflow.
+ * @param	t_start Start time.
+ * @param	t_timeout Timeout period.
+ * @return	Timeout elapsed? True/False (boolean value)
+ *****************************************************************************/
+bool Time_CheckTimeout(ltc_t const *t_start, ltc_t const *t_timeout);
+
+/*!***************************************************************************
+ * @brief	Checks if timeout is reached from a given starting time.
+ * @details	Handles overflow.
+ * @param	t_start Start time.
+ * @param	t_timeout_usec Timeout period in microseconds.
+ * @return	Timeout elapsed? True/False (boolean value)
+ *****************************************************************************/
+bool Time_CheckTimeoutUSec(ltc_t const *t_start, uint32_t const t_timeout_usec);
+
+/*!***************************************************************************
+ * @brief	Checks if timeout is reached from a given starting time.
+ * @details	Handles overflow.
+ * @param	t_start Start time.
+ * @param	t_timeout_msec Timeout period in milliseconds.
+ * @return	Timeout elapsed? True/False (boolean value)
+ *****************************************************************************/
+bool Time_CheckTimeoutMSec(ltc_t const *t_start, uint32_t const t_timeout_msec);
+
+/*!***************************************************************************
+ * @brief	Checks if timeout is reached from a given starting time.
+ * @details	Handles overflow.
+ * @param	t_start Start time.
+ * @param	t_timeout_sec Timeout period in seconds.
+ * @return	Timeout elapsed? True/False (boolean value)
+ *****************************************************************************/
+bool Time_CheckTimeoutSec(ltc_t const *t_start, uint32_t const t_timeout_sec);
+
+/*!***************************************************************************
+ * @brief	Adds two ltc_t values.
+ * @details	Result is defined as t = t1 + t2. Results are wrapped around at
+ * 			maximum values just like integers.
+ * @param	t Return value: t = t1 + t2.
+ * @param	t1 1st operand.
+ * @param	t2 2nd operand.
+ *****************************************************************************/
+void Time_Add(ltc_t *t, ltc_t const *t1, ltc_t const *t2);
+
+/*!***************************************************************************
+ * @brief	Adds a given time in microseconds to an ltc_t value.
+ * @param	t Return value: t = t1 + t2.
+ * @param	t1 1st operand.
+ * @param	t2_usec 2nd operand in microseconds.
+ *****************************************************************************/
+void Time_AddUSec(ltc_t *t, ltc_t const *t1, uint32_t t2_usec);
+
+/*!***************************************************************************
+ * @brief	Adds a given time in milliseconds to an ltc_t value.
+ * @param	t Return value: t = t1 + t2.
+ * @param	t1 1st operand.
+ * @param	t2_msec 2nd operand in milliseconds.
+ *****************************************************************************/
+void Time_AddMSec(ltc_t *t, ltc_t const *t1, uint32_t t2_msec);
+
+/*!***************************************************************************
+ * @brief	Adds a given time in seconds to an ltc_t value.
+ * @param	t Return value: t = t1 + t2.
+ * @param	t1 1st operand.
+ * @param	t2_sec 2nd operand in seconds.
+ *****************************************************************************/
+void Time_AddSec(ltc_t *t, ltc_t const *t1, uint32_t t2_sec);
+
+/*!***************************************************************************
+ * @brief	Converts ltc_t to microseconds (uint32_t).
+ * @param	t Input ltc_t struct.
+ * @return	Time value in microseconds.
+ *****************************************************************************/
+uint32_t Time_ToUSec(ltc_t const *t);
+
+/*!***************************************************************************
+ * @brief	Converts ltc_t to milliseconds (uint32_t).
+ * @param	t Input ltc_t struct.
+ * @return	Time value in milliseconds.
+ *****************************************************************************/
+uint32_t Time_ToMSec(ltc_t const *t);
+
+/*!***************************************************************************
+ * @brief	Converts ltc_t to seconds (uint32_t).
+ * @param	t Input ltc_t struct.
+ * @return	Time value in seconds.
+ *****************************************************************************/
+uint32_t Time_ToSec(ltc_t const *t);
+
+/*! @} */
+#endif /* TIME_H */
@@ -0,0 +1,166 @@
+/*************************************************************************//**
+ * @file	argus_hal_test.c
+ * @brief	Tests for the AFBR-S50 API hardware abstraction layer.
+ *
+ * @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_HAL_TEST_H
+#define ARGUS_HAL_TEST_H
+
+__BEGIN_DECLS
+
+/*!***************************************************************************
+ * @addtogroup 	argustest
+ * @{
+ *****************************************************************************/
+
+#include "argus.h"
+
+/*!***************************************************************************
+ * @brief	Version number of the HAL Self Test.
+ *
+ * @details Changes:
+ *
+ *  		- v1.0:
+ *  			- Initial release.
+ *  			.
+ *  		- v1.1:
+ *  			- Added additional print output.
+ *  			- Increased tolerance for timer test to 3%.
+ *  			- Fixed callback issue by disabling it after IRQ test.
+ *				.
+ *****************************************************************************/
+#define HAL_TEST_VERSION "v1.1"
+
+/*!***************************************************************************
+ * @brief	Executes a series of tests in order to verify the HAL implementation.
+ *
+ * @details A series of automated tests are executed in order to verify the
+ * 			implementation of the HAL required by the API.
+ *
+ * 			The following tests are executed:
+ *
+ * 			1) Timer Plausibility Test:
+ *
+ * 			Rudimentary tests of the lifetime counter (LTC) implementation.
+ * 			This verifies that the LTC is running by checking if the returned
+ * 			values of two consecutive calls to the #Timer_GetCounterValue
+ * 			function are ascending. An artificial delay using the NOP operation
+ * 			is induced such that the timer is not read to fast.
+ *
+ * 			2) Timer Wraparound Test:
+ *
+ *			The LTC values must wrap from 999999 μs to 0 μs and increase the
+ *          seconds counter accordingly. This test verifies the correct wrapping
+ *          by consecutively calling the #Timer_GetCounterValue function until
+ *          at least 2 wraparound events have been occurred.
+ *
+ * 			3) SPI Connection Test:
+ *
+ * 			This test verifies the basic functionality of the SPI interface.
+ * 			The test utilizes the devices laser pattern register, which can
+ * 			be freely programmed by any 128-bit pattern. Thus, it writes a byte
+ * 			sequence and reads back the written values on the consecutive SPI
+ * 			access.
+ *
+ * 			4) SPI Interrupt Test:
+ *
+ * 			This test verifies the correct implementation of the device
+ * 			integration finished interrupt callback. Therefore it configures
+ * 			the device with a minimal setup to run a pseudo measurement that
+ * 			does not emit any laser light.
+ *
+ * 			Note that this test does verify the GPIO interrupt that occurs
+ * 			whenever the device has finished the integration/measurement and
+ * 			new data is waiting to be read from the device. This does not test
+ * 			the interrupt that is triggered when the SPI transfer has finished.
+ *
+ * 			The data ready interrupt implies two S2PI layer functions that
+ * 			are tested in this test: The #S2PI_SetIrqCallback function installs
+ * 			a callback function that is invoked whenever the IRQ occurs.
+ * 			The IRQ can be delayed due to higher priority task, e.g. from the
+ * 			user code. It is essential for the laser safety timeout algorithm
+ * 			to determine the device ready signal as fast as possible, another
+ * 			method is implemented to read if the IRQ is pending but the
+ * 			callback has not been reset yet. This is what the #S2PI_ReadIrqPin
+ * 			function is for.
+ *
+ * 			5) GPIO Mode Test:
+ *
+ *          This test verifies the GPIO mode of the S2PI HAL module. This is
+ * 			done by leveraging the EEPROM readout sequence that accesses the
+ * 			devices EEPROM via a software protocol that depends on the GPIO
+ * 			mode.
+ *
+ * 			This the requires several steps, most of them are already verified
+ * 			in previous tests:
+ * 			- Basic device configuration and enable EEPROM.
+ *  		- Read EERPOM via GPIO mode and apply Hamming weight
+ *  		- Repeat several times (to eliminate random readout issues).
+ *  		- Decode the EEPROM (using EEPROM_Decode in argus_cal_eeprom.c)
+ *  		- Check if Module Number and Chip ID is not 0
+ *
+ * 			6) Timer Test:
+ *
+ *         	The test verifies the timer HAL implementation by comparing the
+ * 			timings	to the AFBR-S50 device as a reference.
+ * 			Therefore several measurement are executed on the device, each with
+ * 			a different averaging sample count. The elapsed time increases
+ * 			linearly with the number of averaging samples. In order to remove
+ * 			the time for software/setup, a linear regression fit is applied to
+ * 			the measurement results and only the slope is considered for the
+ * 			result. A delta of 102.4 microseconds per sample is expected.
+ * 			If the measured delta per sample is within an specified error range,
+ * 			the timer implementation is considered correct.
+ *
+ *          -------------------------------------------------------------------
+ *
+ * 			Each test will write an error description via the print (i.e. UART)
+ * 			function that shows what went wrong. Also an corresponding status is
+ * 			returned in case no print functionality is available.
+ *
+ *
+ * @param	spi_slave The SPI hardware slave, i.e. the specified CS and IRQ
+ * 						lines. This is actually just a number that is passed
+ * 						to the SPI interface to distinct for multiple SPI slave
+ * 						devices. Note that the slave must be not equal to 0,
+ * 						since is reserved for error handling.
+ *
+ * @return 	Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ *****************************************************************************/
+status_t Argus_VerifyHALImplementation(s2pi_slave_t spi_slave);
+
+__END_DECLS
+
+/*! @} */
+#endif /* ARGUS_CAL_API_H */
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2021 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -163,23 +163,23 @@
 #define DRV_MAG_DEVTYPE_UAVCAN	0x88
 #define DRV_DIST_DEVTYPE_UAVCAN	0x89

-#define DRV_ADC_DEVTYPE_ADS1115	0x90
-#define DRV_DIST_DEVTYPE_VL53L1X 0x91
-#define DRV_DIST_DEVTYPE_CM8JL65 0x92
-#define DRV_DIST_DEVTYPE_LEDDARONE 0x93
-#define DRV_DIST_DEVTYPE_MAVLINK 0x94
-#define DRV_DIST_DEVTYPE_PGA460 0x95
-#define DRV_DIST_DEVTYPE_PX4FLOW 0x96
-#define DRV_DIST_DEVTYPE_TFMINI 0x97
-#define DRV_DIST_DEVTYPE_ULANDING 0x98
+#define DRV_ADC_DEVTYPE_ADS1115        0x90

-#define DRV_GPIO_DEVTYPE_MCP23009	0x99
-
-#define DRV_DIST_DEVTYPE_SIM 0x9a
-#define DRV_DIST_DEVTYPE_SRF05 0x9b
-#define DRV_DIST_DEVTYPE_GY_US42 0x9c
-#define DRV_BAT_DEVTYPE_BATMON_SMBUS 0x9d
+#define DRV_DIST_DEVTYPE_VL53L1X       0x91
+#define DRV_DIST_DEVTYPE_CM8JL65       0x92
+#define DRV_DIST_DEVTYPE_LEDDARONE     0x93
+#define DRV_DIST_DEVTYPE_MAVLINK       0x94
+#define DRV_DIST_DEVTYPE_PGA460        0x95
+#define DRV_DIST_DEVTYPE_PX4FLOW       0x96
+#define DRV_DIST_DEVTYPE_TFMINI        0x97
+#define DRV_DIST_DEVTYPE_ULANDING      0x98
+#define DRV_DIST_DEVTYPE_AFBRS50       0x99
+#define DRV_DIST_DEVTYPE_SIM           0x9A
+#define DRV_DIST_DEVTYPE_SRF05         0x9B
+#define DRV_DIST_DEVTYPE_GY_US42       0x9C

+#define DRV_BAT_DEVTYPE_BATMON_SMBUS   0x9d
+#define DRV_GPIO_DEVTYPE_MCP23009      0x9F

 #define DRV_GPS_DEVTYPE_ASHTECH 0xA0
 #define DRV_GPS_DEVTYPE_EMLID_REACH 0xA1
@@ -48,7 +48,7 @@ public:
 	// Set the MAV_DISTANCE_SENSOR type (LASER, ULTRASOUND, INFRARED, RADAR)
 	void set_rangefinder_type(uint8_t rangefinder_type) { _distance_sensor_pub.get().type = rangefinder_type; };

-	void set_device_id(const uint8_t device_id) { _distance_sensor_pub.get().device_id = device_id; };
+	void set_device_id(const uint32_t device_id) { _distance_sensor_pub.get().device_id = device_id; };
 	void set_device_type(const uint8_t device_type);

 	void set_fov(const float fov) { set_hfov(fov); set_vfov(fov); }