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/*
* Copyright (c) 2018 Samsung Electronics Co., Ltd All Rights Reserved
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <peripheral_io.h>
#include "log.h"
#include "resource/resource_lidar_v3.h"
/* http://static.garmin.com/pumac/LIDAR_Lite_v3_Operation_Manual_and_Technical_Specifications.pdf */
#define I2C_BUS_DEF (1)
#define LLV3_I2C_ADDR_DEF (0x62)
// Control Registers
#define LLV3_ACQ_CMD (0x00)
#define LLV3_STATUS (0x01)
#define LLV3_SIG_CNT_VAL (0x02)
#define LLV3_ACQ_CONFIG (0x04)
#define LLV3_DISTANCE (0x8f)
#define LLv3_DISTANCE_HIGH (0x0f)
#define LLv3_DISTANCE_LOW (0x10)
#define LLV3_REF_CNT_VAL (0x12)
#define LLV3_THRESH_BYPASS (0x1c)
// ACQ commands
#define CMD_RESET (0x00)
#define CMD_WITHOUT_BIAS_CORRECTION (0x03)
#define CMD_WITH_BIAS_CORRECTION (0x04)
#define BUSY_TIMEMOUT_CNT (9999)
static peripheral_i2c_h g_sensor_h;
static llv3_mode_e g_mode;
static int __lidar_v3_mode_set(llv3_mode_e mode)
{
unsigned char sig_cnt_max = 0x80;
unsigned char acq_conf_reg = 0x08;
unsigned char ref_cnt_max = 0x05;
unsigned char threadhold = 0x00;
int ret = 0;
switch (mode) {
case LLV3_MODE_SRHS:
sig_cnt_max = 0x1d;
ref_cnt_max = 0x03;
break;
case LLV3_MODE_DR_HSSR:
acq_conf_reg = 0x00;
ref_cnt_max = 0x03;
break;
case LLV3_MODE_MAXRANGE:
sig_cnt_max = 0xff;
break;
case LLV3_MODE_HIGH_SENSE:
threadhold = 0x80;
break;
case LLV3_MODE_LOW_SENSE:
threadhold = 0xb0;
break;
case LLV3_MODE_DEFAULT:
default:
break;
}
ret = peripheral_i2c_write_register_byte(g_sensor_h, LLV3_SIG_CNT_VAL, sig_cnt_max);
retv_if(ret, -1);
ret = peripheral_i2c_write_register_byte(g_sensor_h, LLV3_ACQ_CONFIG, acq_conf_reg);
retv_if(ret, -1);
ret = peripheral_i2c_write_register_byte(g_sensor_h, LLV3_REF_CNT_VAL, ref_cnt_max);
retv_if(ret, -1);
ret = peripheral_i2c_write_register_byte(g_sensor_h, LLV3_THRESH_BYPASS, threadhold);
retv_if(ret, -1);
return 0;
}
static int __lidar_v3_i2c_open(int i2c_bus)
{
int ret = 0;
if (g_sensor_h)
return 0;
ret = peripheral_i2c_open(i2c_bus, LLV3_I2C_ADDR_DEF, &g_sensor_h);
retv_if(ret, -1);
ret = __lidar_v3_mode_set(g_mode);
if (ret) {
_E("failed to set mode : %d", g_mode);
peripheral_i2c_close(g_sensor_h);
g_sensor_h = NULL;
return -1;
}
return 0;
}
static int __wait_busy_flag(void)
{
int cnt = 0;
int busy = 0;
do {
unsigned char state = 0;
peripheral_i2c_read_register_byte(g_sensor_h, LLV3_STATUS, &state);
busy = state & 0x01;
cnt++;
} while (busy && (cnt <= BUSY_TIMEMOUT_CNT));
if (cnt > BUSY_TIMEMOUT_CNT) {
_E("TIMEOUT : The lidar sensor is busy now");
return -1;
}
return 0;
}
void resource_close_lidar_v3(void)
{
g_mode = LLV3_MODE_DEFAULT;
if (!g_sensor_h)
return;
peripheral_i2c_close(g_sensor_h);
g_sensor_h = NULL;
}
int resource_lidar_v3_mode_set(llv3_mode_e mode)
{
g_mode = mode;
if (!g_sensor_h)
return 0;
return __lidar_v3_mode_set(mode);
}
int resource_read_lidar_v3(unsigned int *out_value)
{
int ret = 0;
unsigned char val_h = 0;
unsigned char val_l = 0;
retv_if(!out_value, -1);
ret = __lidar_v3_i2c_open(I2C_BUS_DEF);
retv_if(ret, -1);
ret = peripheral_i2c_write_register_byte(g_sensor_h, LLV3_ACQ_CMD, CMD_WITH_BIAS_CORRECTION);
retv_if(ret, -1);
ret = __wait_busy_flag();
retv_if(ret, -1);
ret = peripheral_i2c_read_register_byte(g_sensor_h, LLv3_DISTANCE_HIGH, &val_h);
retv_if(ret, -1);
ret = peripheral_i2c_read_register_byte(g_sensor_h, LLv3_DISTANCE_LOW, &val_l);
retv_if(ret, -1);
*out_value = ((val_h << 8) | val_l);
return 0;
}
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