Hi all,
For the last several days I have been battling this API for the VL53L5CX and finally reached the point where the initialisation passes every time. I proceed to set some of the configuration parameters (mostly resetting to the default values suggested in the application note). These functions also return status = 0.
Then I start a ranging session. The problem is that checking the status/error output shows me that the function is failing with a 255 error. Further investigation with a debugger has yielded that the final if() check in the function sets the status too 255. This means that the data_read_size check has failed. see screenshot below for reference.
Thanks
I John
thanks for your reply
i'm new using VL53L5CX and i would start a simple ranging example.
I have setted VL53L5CX_NB_TARGET_PER_ZONE == 1 and i'm using the the example in the folder.
The init function is ok but i'm unable to start ranging. Below our schematic and my code
uint8_t vl53l5cx_init(I2C_HandleTypeDef *p_i2c)
{
uint8_t tmp;
uint8_t pipe_ctrl[] = { VL53L5CX_NB_TARGET_PER_ZONE, 0x00, 0x01, 0x00 };
uint32_t single_range = 0x01;
uint8_t isAlive;
uint8_t status = VL53L5CX_STATUS_OK;
// Wake-up: The device is set in HP idle (high power), waiting for instructions.
// • Sleep: The device is set in LP idle (low power), the low power state. The device cannot be used until set in
// wake-up mode. This mode retains the firmware and the configuration.
// vl53l5cx_set_power_mode(VL53L5CX_Configuration *p_dev,
// uint8_t power_mode)
g_dev.platform.address = VL53L5CX_DEFAULT_I2C_ADDRESS;
g_dev.platform.serif = p_i2c;
VL53L5CX_Reset_Sensor();
status = vl53l5cx_is_alive(&g_dev, &isAlive);
if(!isAlive)
{
printf("VL53L5CXV0 not detected at requested address (0x%x)\n",
g_dev.platform.address);
return 255;
}
printf("Sensor initializing, please wait few seconds\n");
g_dev.default_xtalk = (uint8_t*)VL53L5CX_DEFAULT_XTALK;
g_dev.default_configuration = (uint8_t*)VL53L5CX_DEFAULT_CONFIGURATION;
g_dev.is_auto_stop_enabled = (uint8_t)0x0;
/* SW reboot sequence */
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x0009, 0x04);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x000F, 0x40);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x000A, 0x03);
status |= VL53L5CX_RdByte(&(g_dev.platform), 0x7FFF, &tmp);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x000C, 0x01);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x0101, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x0102, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x010A, 0x01);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x4002, 0x01);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x4002, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x010A, 0x03);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x0103, 0x01);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x000C, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x000F, 0x43);
status |= VL53L5CX_WaitMs(&(g_dev.platform), 1);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x000F, 0x40);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x000A, 0x01);
status |= VL53L5CX_WaitMs(&(g_dev.platform), 100);
/* Wait for sensor booted (several ms required to get sensor ready ) */
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x00);
status |= _vl53l5cx_poll_for_answer(&g_dev, 1, 0, 0x06, 0xff, 1);
if(status != (uint8_t)0)
{
goto exit;
}
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x000E, 0x01);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x02);
/* Enable FW access */
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x03, 0x0D);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x01);
status |= _vl53l5cx_poll_for_answer(&g_dev, 1, 0, 0x21, 0x10, 0x10);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x00);
/* Enable host access to GO1 */
status |= VL53L5CX_RdByte(&(g_dev.platform), 0x7fff, &tmp);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x0C, 0x01);
/* Power ON status */
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x101, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x102, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x010A, 0x01);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x4002, 0x01);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x4002, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x010A, 0x03);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x103, 0x01);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x400F, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x21A, 0x43);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x21A, 0x03);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x21A, 0x01);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x21A, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x219, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x21B, 0x00);
/* Wake up MCU */
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x00);
status |= VL53L5CX_RdByte(&(g_dev.platform), 0x7fff, &tmp);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x0C, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x01);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x20, 0x07);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x20, 0x06);
/* Download FW into VL53L5 */
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x09);
status |= VL53L5CX_WrMulti(&(g_dev.platform), 0,
(uint8_t*)&VL53L5CX_FIRMWARE[0], 0x8000);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x0a);
status |= VL53L5CX_WrMulti(&(g_dev.platform), 0,
(uint8_t*)&VL53L5CX_FIRMWARE[0x8000], 0x8000);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x0b);
status |= VL53L5CX_WrMulti(&(g_dev.platform), 0,
(uint8_t*)&VL53L5CX_FIRMWARE[0x10000], 0x5000);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x01);
/* Check if FW correctly downloaded */
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x02);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x03, 0x0D);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x01);
status |= _vl53l5cx_poll_for_answer(&g_dev, 1, 0, 0x21, 0x10, 0x10);
if(status != (uint8_t)0)
{
goto exit;
}
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x00);
status |= VL53L5CX_RdByte(&(g_dev.platform), 0x7fff, &tmp);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x0C, 0x01);
/* Reset MCU and wait boot */
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7FFF, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x114, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x115, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x116, 0x42);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x117, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x0B, 0x00);
status |= VL53L5CX_RdByte(&(g_dev.platform), 0x7fff, &tmp);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x0C, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x0B, 0x01);
status |= _vl53l5cx_poll_for_mcu_boot(&g_dev);
if(status != (uint8_t)0)
{
goto exit;
}
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x02);
/* Get offset NVM data and store them into the offset buffer */
status |= VL53L5CX_WrMulti(&(g_dev.platform), 0x2fd8,
(uint8_t*)VL53L5CX_GET_NVM_CMD,
sizeof(VL53L5CX_GET_NVM_CMD));
status |= _vl53l5cx_poll_for_answer(&g_dev, 4, 0,
VL53L5CX_UI_CMD_STATUS,
0xff, 2);
status |= VL53L5CX_RdMulti(&(g_dev.platform), VL53L5CX_UI_CMD_START,
(uint8_t*)&g_dev.temp_buffer,
VL53L5CX_NVM_DATA_SIZE);
(void)memcpy(&g_dev.offset_data, &g_dev.temp_buffer,
VL53L5CX_OFFSET_BUFFER_SIZE);
status |= _vl53l5cx_send_offset_data(&g_dev, VL53L5CX_RESOLUTION_4X4);
/* Set default Xtalk shape. Send Xtalk to sensor */
(void)memcpy(&g_dev.xtalk_data, (uint8_t*)VL53L5CX_DEFAULT_XTALK,
VL53L5CX_XTALK_BUFFER_SIZE);
status |= _vl53l5cx_send_xtalk_data(&g_dev, VL53L5CX_RESOLUTION_4X4);
/* Send default configuration to VL53L5CX firmware */
status |= VL53L5CX_WrMulti(&(g_dev.platform), 0x2c34,
(uint8_t*)&g_dev.default_configuration,
sizeof(VL53L5CX_DEFAULT_CONFIGURATION));
status |= _vl53l5cx_poll_for_answer(&g_dev, 4, 1,
VL53L5CX_UI_CMD_STATUS,
0xff, 0x03);
status |= vl53l5cx_dci_write_data(&g_dev, (uint8_t*)&pipe_ctrl,
VL53L5CX_DCI_PIPE_CONTROL,
(uint16_t)sizeof(pipe_ctrl));
#if VL53L5CX_NB_TARGET_PER_ZONE != 1
tmp = VL53L5CX_NB_TARGET_PER_ZONE;
status |= vl53l5cx_dci_replace_data(&g_dev, &(g_dev.temp_buffer[0]),
VL53L5CX_DCI_FW_NB_TARGET, 16,
(uint8_t*)&tmp, 1, 0x0C);
#endif
status |= vl53l5cx_dci_write_data(&g_dev, (uint8_t*)&single_range,
VL53L5CX_DCI_SINGLE_RANGE,
(uint16_t)sizeof(single_range));
tmp = (uint8_t)1;
status |= vl53l5cx_dci_replace_data(&g_dev, g_dev.temp_buffer,
VL53L5CX_GLARE_FILTER,
40, (uint8_t*)&tmp, 1, 0x26);
status |= vl53l5cx_dci_replace_data(&g_dev, g_dev.temp_buffer,
VL53L5CX_GLARE_FILTER,
40, (uint8_t*)&tmp, 1, 0x25);
status |= vl53l5cx_set_ranging_frequency_hz(&g_dev, 15); // Set 30Hz ranging frequency
uint8_t power_mode = 0;
status |= vl53l5cx_get_power_mode(&g_dev, &power_mode);
uint32_t time_ms = 0;
time_ms = 10;
vl53l5cx_set_integration_time_ms(&g_dev, time_ms);
status |= vl53l5cx_get_integration_time_ms(&g_dev, &time_ms);
uint8_t resolution = 0;
status |= vl53l5cx_set_resolution(&g_dev, VL53L5CX_RESOLUTION_4X4);
status |= vl53l5cx_get_resolution(&resolution);
status |= vl53l5cx_set_ranging_mode(&g_dev, VL53L5CX_RANGING_MODE_CONTINUOUS);
VL53L5CX_DetectionThresholds thresholds[VL53L5CX_NB_THRESHOLDS];
/* Set all values to 0 */
memset(&thresholds, 0, sizeof(thresholds));
/* Add thresholds for all zones (16 zones in resolution 4x4, or 64 in 8x8) */
for(uint8_t i = 0; i < 16; i++)
{
/* The first wanted thresholds is GREATER_THAN mode. Please note that the
* first one must always be set with a mathematic_operation
* VL53L5CX_OPERATION_NONE.
* For this example, the signal thresholds is set to 150 kcps/spads
* (the format is automatically updated inside driver)
*/
thresholds[2 * i].zone_num = i;
thresholds[2 * i].measurement = VL53L5CX_SIGNAL_PER_SPAD_KCPS;
thresholds[2 * i].type = VL53L5CX_GREATER_THAN_MAX_CHECKER;
thresholds[2 * i].mathematic_operation = VL53L5CX_OPERATION_NONE;
thresholds[2 * i].param_low_thresh = 150;
thresholds[2 * i].param_high_thresh = 150;
/* The second wanted checker is IN_WINDOW mode. We will set a
* mathematical thresholds VL53L5CX_OPERATION_OR, to add the previous
* checker to this one.
* For this example, distance thresholds are set between 200mm and
* 400mm (the format is automatically updated inside driver).
*/
thresholds[2 * i + 1].zone_num = i;
thresholds[2 * i + 1].measurement = VL53L5CX_DISTANCE_MM;
thresholds[2 * i + 1].type = VL53L5CX_IN_WINDOW;
thresholds[2 * i + 1].mathematic_operation = VL53L5CX_OPERATION_OR;
thresholds[2 * i + 1].param_low_thresh = 200;
thresholds[2 * i + 1].param_high_thresh = 400;
}
/* The last thresholds must be clearly indicated. As we have 32
* checkers (16 zones x 2), the last one is the 31 */
thresholds[31].zone_num = VL53L5CX_LAST_THRESHOLD | thresholds[31].zone_num;
/* Send array of thresholds to the sensor */
status |= vl53l5cx_set_detection_thresholds(&g_dev, thresholds);
/* Enable detection thresholds */
status |= vl53l5cx_set_detection_thresholds_enable(&g_dev, 1);
exit: return status;
uint8_t vl53l5cx_start_ranging()
{
uint8_t resolution;
uint16_t tmp;
uint32_t i;
uint32_t header_config[2] = { 0, 0 };
uint8_t status = VL53L5CX_STATUS_OK;
union Block_header *bh_ptr;
uint8_t cmd[] = { 0x00, 0x03, 0x00, 0x00 };
status |= vl53l5cx_get_resolution(&resolution);
g_dev.data_read_size = 0;
g_dev.streamcount = 255;
status = VL53L5CX_STATUS_OK;
/* Enable mandatory output (meta and common data) */
uint32_t output_bh_enable[] = { 0x00000007U, 0x00000000U, 0x00000000U,
0xC0000000U };
/* Send addresses of possible output */
uint32_t output[] = { VL53L5CX_START_BH,
VL53L5CX_METADATA_BH,
VL53L5CX_COMMONDATA_BH,
VL53L5CX_AMBIENT_RATE_BH,
VL53L5CX_SPAD_COUNT_BH,
VL53L5CX_NB_TARGET_DETECTED_BH,
VL53L5CX_SIGNAL_RATE_BH,
VL53L5CX_RANGE_SIGMA_MM_BH,
VL53L5CX_DISTANCE_BH,
VL53L5CX_REFLECTANCE_BH,
VL53L5CX_TARGET_STATUS_BH,
VL53L5CX_MOTION_DETECT_BH };
/* Enable selected outputs in the 'platform.h' file */
#ifndef VL53L5CX_DISABLE_AMBIENT_PER_SPAD
output_bh_enable[0] += (uint32_t)8;
#endif
#ifndef VL53L5CX_DISABLE_NB_SPADS_ENABLED
output_bh_enable[0] += (uint32_t)16;
#endif
#ifndef VL53L5CX_DISABLE_NB_TARGET_DETECTED
output_bh_enable[0] += (uint32_t)32;
#endif
#ifndef VL53L5CX_DISABLE_SIGNAL_PER_SPAD
output_bh_enable[0] += (uint32_t)64;
#endif
#ifndef VL53L5CX_DISABLE_RANGE_SIGMA_MM
output_bh_enable[0] += (uint32_t)128;
#endif
#ifndef VL53L5CX_DISABLE_DISTANCE_MM
output_bh_enable[0] += (uint32_t)256;
#endif
#ifndef VL53L5CX_DISABLE_REFLECTANCE_PERCENT
output_bh_enable[0] += (uint32_t)512;
#endif
#ifndef VL53L5CX_DISABLE_TARGET_STATUS
output_bh_enable[0] += (uint32_t)1024;
#endif
#ifndef VL53L5CX_DISABLE_MOTION_INDICATOR
output_bh_enable[0] += (uint32_t)2048;
#endif
/* Update data size */
for(i = 0; i < (uint32_t)(sizeof(output) / sizeof(uint32_t)); i++)
{
if((output[i] == (uint8_t)0)
|| ((output_bh_enable[i / (uint32_t)32]
& ((uint32_t)1 << (i % (uint32_t)32))) == (uint32_t)0))
{
continue;
}
bh_ptr = (union Block_header*)&(output[i]);
if(((uint8_t)bh_ptr->type >= (uint8_t)0x1)
&& ((uint8_t)bh_ptr->type < (uint8_t)0x0d))
{
if((bh_ptr->idx >= (uint16_t)0x54d0)
&& (bh_ptr->idx < (uint16_t)(0x54d0 + 960)))
{
bh_ptr->size = resolution;
}
else
{
bh_ptr->size = (uint16_t)((uint16_t)resolution
* (uint16_t)VL53L5CX_NB_TARGET_PER_ZONE);
}
g_dev.data_read_size += bh_ptr->type * bh_ptr->size;
}
else
{
g_dev.data_read_size += bh_ptr->size;
}
g_dev.data_read_size += (uint32_t)4;
}
g_dev.data_read_size += (uint32_t)24;
status |= vl53l5cx_dci_write_data(&g_dev, (uint8_t*)&(output),
VL53L5CX_DCI_OUTPUT_LIST,
(uint16_t)sizeof(output));
header_config[0] = g_dev.data_read_size;
header_config[1] = i + (uint32_t)1;
status |= vl53l5cx_dci_write_data(&g_dev, (uint8_t*)&(header_config),
VL53L5CX_DCI_OUTPUT_CONFIG,
(uint16_t)sizeof(header_config));
status |= vl53l5cx_dci_write_data(&g_dev, (uint8_t*)&(output_bh_enable),
VL53L5CX_DCI_OUTPUT_ENABLES,
(uint16_t)sizeof(output_bh_enable));
/* Start xshut bypass (interrupt mode) */
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x00);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x09, 0x05);
status |= VL53L5CX_WrByte(&(g_dev.platform), 0x7fff, 0x02);
/* Start ranging session */
status |= VL53L5CX_WrMulti(&(g_dev.platform),
VL53L5CX_UI_CMD_END - (uint16_t)(4 - 1),
(uint8_t*)cmd, sizeof(cmd));
status |= _vl53l5cx_poll_for_answer(&g_dev, 4, 1,
VL53L5CX_UI_CMD_STATUS,
0xff, 0x03);
/* Read ui range data content and compare if data size is the correct one */
status |= vl53l5cx_dci_read_data(&g_dev, (uint8_t*)g_dev.temp_buffer, 0x5440,
12);
// vl53l5cx_test_i2c(&g_dev);
(void)memcpy(&tmp, &(g_dev.temp_buffer[0x8]), sizeof(tmp));
if(tmp != g_dev.data_read_size)
{
status |= VL53L5CX_STATUS_ERROR;
}
return status;
}
I can't read output data and inside the function vl53l5cx_check_data_ready the buffer g_dev.temp_buffer == {255,4,2,1}
Thanks
