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tmf882x_mode_app.c
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tmf882x_mode_app.c
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/*
*****************************************************************************
* Copyright by ams AG *
* All rights are reserved. *
* *
* IMPORTANT - PLEASE READ CAREFULLY BEFORE COPYING, INSTALLING OR USING *
* THE SOFTWARE. *
* *
* THIS SOFTWARE IS PROVIDED FOR USE ONLY IN CONJUNCTION WITH AMS PRODUCTS. *
* USE OF THE SOFTWARE IN CONJUNCTION WITH NON-AMS-PRODUCTS IS EXPLICITLY *
* EXCLUDED. *
* *
* 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. *
*****************************************************************************
*/
/***** tmf882x_app.c *****/
#include <linux/i2c/ams/tmf882x.h>
#include "tmf882x_host_interface.h"
#include "tmf882x_clock_correction.h"
#include "tmf882x_mode_app_protocol.h"
#include "tmf882x_mode_app_ioctl.h"
#include "tmf882x_mode_app.h"
#include "tmf882x_interface.h"
#define TMF882X_APP_MODE_TAG 0x03U
#define NUM_8x8_CFG (4)
#define CLK_CORR_ENABLE 1
#define CONFIG_BATCH_THRESH 10
// ratio of host clk (1 MHz) to tof clk (5 MHz) is 5
#define TMF882X_SYSTICK_RATIO 5
#define TID_CHANGE_RETRIES 3
#define CMD_DEF_TIMEOUT_MS 30
#define CMD_FAC_CALIB_TIMEOUT_MS 6000
#define CMD_USLEEP_INCR 10
#define CMD_TIMEOUT_RETRIES ((CMD_DEF_TIMEOUT_MS*1000)/(CMD_USLEEP_INCR))
#define MS_TIME_TO_RETRIES(ms) ((ms)*1000/(CMD_USLEEP_INCR))
#define BITS_IN_BYTE 8
#define TMF882X_INT_MASK 0x7
#define RESULT_IDX_TO_CHANNEL(idx) (((idx)%((TMF882X_HIST_NUM_TDC*2)-1)) + 1)
#define RESULT_IDX_TO_SUB_CAPTURE(idx) (((idx)/((TMF882X_HIST_NUM_TDC*2)-1)) % \
TMF8X2X_MAX_CONFIGURATIONS)
#define APP_IS_CMD_BUSY(x) ((x) >= TMF8X2X_COM_CMD_STAT__cmd_stat__CMD_MEASURE)
#define reg_to_idx(reg) ((reg) - TMF8X2X_COM_CONFIG_RESULT - \
TMF8X2X_COM_HEADER_SIZE)
#define MIN_OSC_TRIM_CNT (10)
#define IRATIOQ15_TO_FREQ(ratio) (((32768 * 1000) / (ratio)) * 1000)
#define OSC_BW_FREQ (12500)
#define HZ_PER_STEP (8000)
#define ams_min(a, b) ((a) <= (b) ? (a) : (b))
#define ams_max(a, b) ((a) >= (b) ? (a) : (b))
// MSB of RID register is used to indicate a multi-packet response
#define APP_RESP_IS_MULTI_PACKET(RID) (RID & TMF8X2X_COM_OPTIONAL_SUBPACKET_HEADER_MASK)
#define ARR_SIZE(arr) (sizeof(arr)/sizeof(arr[0]))
#define tof_app_dbg(app, fmt, ...) \
({ \
struct tmf882x_mode_app *__app = (app); \
if(__app->mode.debug) \
tof_info(priv(app), fmt, ##__VA_ARGS__); \
})
#define verify_mode(mode) \
({ \
struct tmf882x_mode *__mode = mode; \
(TMF882X_APP_MODE_TAG == __mode->ops->tag); \
})
enum tmf882x_irq_flags {
F_RESULT_IRQ = 0x2,
F_ALT_RESULT_IRQ = 0x4,
F_RAW_HIST_IRQ = 0x8,
F_BRKPT_IRQ = 0x10,
F_CMD_DONE_IRQ = 0x20,
F_ERROR_IRQ = 0x40,
F_IRQ_ALL = F_RESULT_IRQ | F_ALT_RESULT_IRQ |
F_RAW_HIST_IRQ | F_BRKPT_IRQ |
F_CMD_DONE_IRQ | F_ERROR_IRQ ,
};
static int32_t tmf882x_mode_app_open(struct tmf882x_mode *self);
static void *app_memmove(void *dest, const void *source, size_t cnt)
{
uint8_t *dst = (uint8_t *)dest;
uint8_t *src = (uint8_t *)source;
if (dst && src && cnt && (dst != src)) {
if ((src > dst + cnt) || (dst > src + cnt)) {
memcpy(dst, src, cnt);
} else if (dst < src) {
do { *dst++ = *src++; } while (--cnt);
} else {
dst += cnt;
src += cnt;
do {*--dst = *--src;} while (--cnt);
}
}
return dest;
}
static uint8_t * encode_8b(uint8_t *buf, uint8_t val)
{
if (!buf) return buf;
*buf++ = val;
return buf;
}
static const uint8_t * decode_8b(const uint8_t *buf, uint8_t *val)
{
uint8_t t;
if (!buf) return buf;
t = *buf++;
if (val) *val = t;
return buf;
}
static uint8_t * encode_16b(uint8_t *buf, uint16_t val)
{
if (!buf) return buf;
*buf++ = val & 0xFF;
*buf++ = (val >> 8) & 0xFF;
return buf;
}
static const uint8_t * decode_16b(const uint8_t *buf, uint16_t *val)
{
uint16_t t;
if (!buf) return buf;
t = *buf++;
t += (*buf++ << 8);
if (val) *val = t;
return buf;
}
static uint8_t * encode_24b(uint8_t *buf, uint32_t val)
{
if (!buf) return buf;
*buf++ = val & 0xFF;
*buf++ = (val >> 8) & 0xFF;
*buf++ = (val >> 16) & 0xFF;
return buf;
}
static const uint8_t * decode_24b(const uint8_t *buf, uint32_t *val)
{
uint32_t t;
if (!buf) return buf;
t = *buf++;
t += (*buf++ << 8);
t += (*buf++ << 16);
if (val) *val = t;
return buf;
}
static uint8_t * encode_32b(uint8_t *buf, uint32_t val)
{
if (!buf) return buf;
*buf++ = val & 0xFF;
*buf++ = (val >> 8) & 0xFF;
*buf++ = (val >> 16) & 0xFF;
*buf++ = (val >> 24) & 0xFF;
return buf;
}
static const uint8_t * decode_32b(const uint8_t *buf, uint32_t *val)
{
uint32_t t;
if (!buf) return buf;
t = *buf++;
t += (*buf << 8);
buf++;
t += (*buf << 16);
buf++;
t += (*buf << 24);
buf++;
if (val) *val = t;
return buf;
}
static inline struct tmf882x_mode *to_parent(struct tmf882x_mode_app *app)
{
return &app->mode;
}
static inline struct tmf882x_msg * to_msg(struct tmf882x_mode_app *app)
{
return &app->volat_data.msg;
}
static inline struct tmf882x_mode_app_i2c_msg * to_i2cmsg(struct tmf882x_mode_app *app)
{
return &app->volat_data.i2c_msg;
}
static inline void * priv(struct tmf882x_mode_app *app)
{
return tmf882x_mode_priv(to_parent(app));
}
static inline bool driver_compatible_with_app(struct tmf882x_mode *self)
{
return ((TMF882X_MAJ_MODULE_VER) == (tmf882x_mode_maj_ver(self)));
}
static inline bool is_measuring(struct tmf882x_mode_app *app)
{
return app->volat_data.is_measuring;
}
static uint8_t * encode_i2c_msg_header(const struct tmf882x_mode_app_i2c_msg *msg,
uint8_t *buf, size_t len)
{
if (msg && buf && (len >= TMF8X2X_COM_HEADER_SIZE)) {
/*
* Do not encode RID for sending messages, assume the proper page
* is already loaded in the device i2c register map
* */
buf = encode_8b(buf, msg->tid);
buf = encode_16b(buf, msg->size);
}
return buf;
}
static const uint8_t * decode_i2c_msg_header(struct tmf882x_mode_app_i2c_msg *msg,
const uint8_t *buf, size_t len)
{
uint16_t msg_size = 0;
if (msg && buf && (len >= TMF8X2X_COM_HEADER_SIZE)) {
// assume first packet in message
msg->pckt_num = 0;
msg->cfg_id = 0;
/*** decode base header ***/
buf = decode_8b(buf, &msg->rid);
buf = decode_8b(buf, &msg->tid);
buf = decode_16b(buf, &msg_size);
if(APP_RESP_IS_MULTI_PACKET(msg->rid) &&
(len >= TMF8X2X_COM_HEADER_SIZE +
TMF8X2X_COM_OPTIONAL_SUBPACKET_HEADER_SIZE)) {
/*** decode subpacket header ***/
buf = decode_8b(buf, &msg->pckt_num);
buf = decode_8b(buf, &msg->pckt_size);
buf = decode_8b(buf, &msg->cfg_id);
}
if (msg->pckt_num == 0) {
// only take total message size if this is the first packet
msg->size = msg_size;
}
}
return buf;
}
static uint32_t num_diff_from_curr_config(struct tmf882x_mode_app *app,
const struct tmf882x_mode_app_config *cfg)
{
uint32_t num_diff = 0;
if (cfg->report_period_ms != app->volat_data.cfg.report_period_ms) num_diff++;
if (cfg->kilo_iterations != app->volat_data.cfg.kilo_iterations) num_diff++;
if (cfg->low_threshold != app->volat_data.cfg.low_threshold) num_diff++;
if (cfg->high_threshold != app->volat_data.cfg.high_threshold) num_diff++;
if (cfg->zone_mask != app->volat_data.cfg.zone_mask) num_diff++;
if (cfg->persistence != app->volat_data.cfg.persistence) num_diff++;
if (cfg->confidence_threshold != app->volat_data.cfg.confidence_threshold) num_diff++;
if (cfg->gpio_0 != app->volat_data.cfg.gpio_0) num_diff++;
if (cfg->gpio_1 != app->volat_data.cfg.gpio_1) num_diff++;
if (cfg->power_cfg != app->volat_data.cfg.power_cfg) num_diff++;
if (cfg->spad_map_id != app->volat_data.cfg.spad_map_id) num_diff++;
if (cfg->alg_setting != app->volat_data.cfg.alg_setting) num_diff++;
if (cfg->histogram_dump != app->volat_data.cfg.histogram_dump) num_diff++;
if (cfg->spread_spectrum != app->volat_data.cfg.spread_spectrum) num_diff++;
if (cfg->i2c_slave_addr != app->volat_data.cfg.i2c_slave_addr) num_diff++;
if (cfg->oscillator_trim != app->volat_data.cfg.oscillator_trim) num_diff++;
return num_diff;
}
#if (!CONFIG_TMF882X_LOG_CFG())
#define dump_config(...)
#else
static void dump_config(struct tmf882x_mode_app *app,
const struct tmf882x_mode_app_config *cfg)
{
if (!app || !cfg) return;
tof_info(priv(app), "Application Common Config --");
tof_info(priv(app), " report_period_ms: %u", cfg->report_period_ms);
tof_info(priv(app), " iterations: %u", (cfg->kilo_iterations) << 10);
tof_info(priv(app), " low_threshold: %u", cfg->low_threshold);
tof_info(priv(app), " high_threshold: %u", cfg->high_threshold);
tof_info(priv(app), " zone_mask: %#x", cfg->zone_mask);
tof_info(priv(app), " persistence: %u", cfg->persistence);
tof_info(priv(app), " confidence_threshold: %u", cfg->confidence_threshold);
tof_info(priv(app), " gpio_0: %#x", cfg->gpio_0);
tof_info(priv(app), " gpio_1: %#x", cfg->gpio_1);
tof_info(priv(app), " power_cfg: %#x", cfg->power_cfg);
tof_info(priv(app), " spad_map_id: %u", cfg->spad_map_id);
tof_info(priv(app), " alg_setting: %#x", cfg->alg_setting);
tof_info(priv(app), " histogram_dump: %#x", cfg->histogram_dump);
tof_info(priv(app), " spread_spectrum: %#x", cfg->spread_spectrum);
tof_info(priv(app), " i2c_slave_addr: %#x", cfg->i2c_slave_addr);
tof_info(priv(app), " oscillator_trim: %#x", cfg->oscillator_trim);
}
#endif
#if (!CONFIG_TMF882X_LOG_SPAD_CFG() || !CONFIG_TMF882X_SPAD_CFG())
#define dump_spad_config(...)
#else
static void dump_spad_config(struct tmf882x_mode_app *app,
const struct tmf882x_mode_app_single_spad_config *spad_cfg)
{
uint32_t y, x;
uint8_t spad_map_str[64];
uint32_t t;
uint32_t ysize, xsize;
if (!app || !spad_cfg) return;
tof_info(priv(app), "Application Spad Config --");
tof_info(priv(app), " xoff_q1: %d", spad_cfg->xoff_q1);
tof_info(priv(app), " yoff_q1: %d", spad_cfg->yoff_q1);
tof_info(priv(app), " xsize : %u", spad_cfg->xsize);
tof_info(priv(app), " ysize : %u", spad_cfg->ysize);
ysize =
spad_cfg->ysize > TMF8X2X_COM_MAX_SPAD_YSIZE ?
TMF8X2X_COM_MAX_SPAD_YSIZE : spad_cfg->ysize;
xsize =
spad_cfg->xsize > TMF8X2X_COM_MAX_SPAD_XSIZE ?
TMF8X2X_COM_MAX_SPAD_XSIZE : spad_cfg->xsize;
tof_info(priv(app), " spad_mask:");
for (y = 0; y < ysize; ++y) {
for (x = 0, t = 0; x < xsize; ++x)
t += snprintf((char *)spad_map_str + t, sizeof(spad_map_str) - t,
"%u ", !!(spad_cfg->spad_mask[y*xsize + x]));
tof_info(priv(app), " [%u]: %s", ysize - y - 1, spad_map_str);
}
tof_info(priv(app), " spad_map:");
for (y = 0; y < ysize; ++y) {
for (x = 0, t = 0; x < xsize; ++x)
t += snprintf((char *)spad_map_str + t, sizeof(spad_map_str) - t,
"%u ", spad_cfg->spad_map[y*xsize + x]);
tof_info(priv(app), " [%u]: %s", ysize - y -1, spad_map_str);
}
}
#endif
#if (!CONFIG_TMF882X_8X8_SUPPORT())
#define tmf882x_mode_app_is_8x8_mode(...) (false)
#else
static bool tmf882x_mode_app_is_8x8_mode(struct tmf882x_mode_app *app)
{
int32_t error = 0;
uint8_t reg = 0;
if (!app) return false;
error = tof_get_register(priv(app), TMF8X2X_COM_TMF8828_MODE, ®);
if (error) {
tof_err(priv(app), "Error reading 8x8 mode status register (%d)", error);
return false;
}
return (reg & TMF8X2X_COM_TMF8828_MODE__mode__MASK);
}
#endif
static bool tmf882x_mode_app_is_shortrange_mode(struct tmf882x_mode_app *app)
{
int32_t error = 0;
uint8_t reg = 0;
if (!app) return false;
// register 0x19 is short-range mode state
// 0x6e: short range
// 0x6f: long range
// 0: no short-range support
error = tof_get_register(priv(app), TMF8X2X_COM_ACTIVE_RANGE, ®);
if (error) {
tof_err(priv(app), "Error reading shortrange mode register (%d)", error);
return false;
}
return (reg == TMF8X2X_COM_CMD_STAT__cmd_stat__CMD_SHORT_RANGE);
}
static int32_t tof_clear_irq(struct tmf882x_mode_app *app)
{
int32_t rc = 0;
uint8_t int_stat;
rc = tof_get_register(priv(app),
TMF882X_INT_STAT,
&int_stat);
if (rc) {
tof_err(priv(app), "Error reading INTSTAT");
return -1;
}
if (!int_stat) return 0;
//Clear interrupt
rc = tof_set_register(priv(app),
TMF882X_INT_STAT,
int_stat);
if (rc) {
tof_err(priv(app), "Error writing INTSTAT");
return -1;
}
return int_stat;
}
static int32_t wait_for_tid_change(struct tmf882x_mode_app *app)
{
struct tmf882x_mode_app_i2c_msg *i2c_msg;
uint32_t num_retries;
uint8_t tid = 0;
i2c_msg = to_i2cmsg(app);
num_retries = TID_CHANGE_RETRIES;
do {
num_retries -= 1;
if (tof_get_register(priv(app), TMF8X2X_COM_TID, &tid)) {
return -1;
}
if (i2c_msg->tid == tid) {
/* TID has not changed*/
if (num_retries == 0) {
tof_app_dbg(app, "app prev TID: %#x curr TID: %#x",
i2c_msg->tid, tid);
return -1;
}
tof_usleep(priv(app), 1000);
continue;
}
/* if we have reached here, the command has completed*/
break;
} while (num_retries > 0);
// cache the newest tid
i2c_msg->tid = tid;
return 0;
}
static int32_t check_app_cmd_status(struct tmf882x_mode_app *app, uint8_t status)
{
if( (status != TMF8X2X_COM_CMD_STAT__cmd_stat__STAT_OK) &&
(status != TMF8X2X_COM_CMD_STAT__cmd_stat__STAT_ACCEPTED) ) {
tof_err(priv(app), "Error app cmd status: \'%#x\'", status);
return -1;
}
return 0;
}
static uint8_t get_app_cmd_stat(struct tmf882x_mode_app *app)
{
uint8_t status = 0;
if (tof_get_register(priv(app), TMF8X2X_COM_CMD_STAT, &status)) {
tof_err(priv(app), "Error reading app cmd status");
return -1;
}
return status;
}
static int32_t check_cmd_status(struct tmf882x_mode_app *app,
uint32_t retries)
{
int32_t num_retries;
uint8_t status;
num_retries = retries;
do {
num_retries -= 1;
status = get_app_cmd_stat(app);
if (APP_IS_CMD_BUSY(status)) {
/* CMD is still executing, wait and retry */
tof_usleep(priv(app), CMD_USLEEP_INCR);
continue;
}
/* if we have reached here, the command has completed*/
break;
} while (num_retries > 0);
return check_app_cmd_status(app, status);
}
static int32_t check_cmd_status_timeout(struct tmf882x_mode_app *app,
uint32_t timeout_ms)
{
uint32_t wait_ms = 0;
// Wait part of the timeout before checking cmd status
if (timeout_ms) {
wait_ms = timeout_ms >> 3; // initial wait fraction 1/8
tof_usleep(priv(app), wait_ms * 1000);
}
return check_cmd_status(app, MS_TIME_TO_RETRIES(timeout_ms - wait_ms));
}
static inline uint32_t timespec_to_usec(struct timespec ts)
{
return ((ts.tv_sec * 1000000) + ((ts.tv_nsec + 500)/ 1000));
}
static int32_t tmf882x_mode_app_i2c_msg_push(struct tmf882x_mode_app *app,
const struct tmf882x_mode_app_i2c_msg *i2c_msg)
{
int32_t rc;
uint8_t hdr_buf[TMF8X2X_COM_HEADER_SIZE] = {0};
if (i2c_msg->size > 0) {
(void) encode_i2c_msg_header(i2c_msg, hdr_buf, sizeof(hdr_buf));
/* write header info */
rc = tof_i2c_write(priv(app), TMF8X2X_COM_TID,
hdr_buf, TMF8X2X_COM_HEADER_SIZE);
if (rc) {
TOF_SET_ERR_MSG(to_msg(app), ERR_COMM);
tof_queue_msg(priv(app), to_msg(app));
tof_err(priv(app), "Error: %d writing App i2c_msg header", rc);
return -1;
}
/* write payload data */
rc = tof_i2c_write(priv(app),
TMF8X2X_COM_CONFIG_RESULT + TMF8X2X_COM_HEADER_SIZE,
i2c_msg->buf, i2c_msg->size);
if (rc) {
tof_err(priv(app), "Error: %d writing App i2c_msg payload", rc);
TOF_SET_ERR_MSG(to_msg(app), ERR_COMM);
tof_queue_msg(priv(app), to_msg(app));
return -1;
}
}
tof_app_dbg(app, "app: i2c_msg_send - CMD: %#x SIZE: %u B",
i2c_msg->cmd, i2c_msg->size);
/* commit command */
rc = tof_set_register(priv(app), TMF8X2X_COM_CMD_STAT,
i2c_msg->cmd);
if (rc) {
tof_err(priv(app), "Error: %d writing App i2c_msg command", rc);
TOF_SET_ERR_MSG(to_msg(app), ERR_COMM);
tof_queue_msg(priv(app), to_msg(app));
return -1;
}
return rc;
}
static void tmf882x_force_stop(struct tmf882x_mode_app *app)
{
struct tmf882x_mode_app_i2c_msg *i2c_msg;
i2c_msg = to_i2cmsg(app);
tmf882x_dump_i2c_regs(to_parent(app));
i2c_msg->cmd = TMF8X2X_COM_CMD_STAT__cmd_stat__CMD_STOP;
i2c_msg->size = 0;
tof_info(priv(app), "App mode cmd %s", __func__);
(void) tmf882x_mode_standby_operation(to_parent(app), TOF_WAKEUP);
(void) tmf882x_mode_app_i2c_msg_push(app, i2c_msg);
// try to wait for STOP command completed
(void) check_cmd_status(app, CMD_TIMEOUT_RETRIES);
app->volat_data.is_measuring = false;
}
static int32_t tmf882x_mode_app_i2c_msg_send(struct tmf882x_mode_app *app,
const struct tmf882x_mode_app_i2c_msg *i2c_msg)
{
int32_t rc;
if (!i2c_msg) return -1;
// send command
rc = tmf882x_mode_app_i2c_msg_push(app, i2c_msg);
if (rc) {
tof_err(priv(app), "Error (%d) sending message", rc);
tmf882x_force_stop(app); // force stop to get to stable state
return rc;
}
// check that command status is successful
rc = check_cmd_status(app, CMD_TIMEOUT_RETRIES);
if (rc) {
tof_err(priv(app), "Error (%d) timeout waiting for msg send complete",
rc);
tmf882x_force_stop(app); // force stop to get to stable state
return rc;
}
return rc;
}
static int32_t tmf882x_mode_app_stop_measurements(struct tmf882x_mode *self)
{
struct tmf882x_mode_app_i2c_msg *i2c_msg;
struct tmf882x_mode_app *app;
int32_t rc;
if (!verify_mode(self)) return -1;
app = member_of(self, struct tmf882x_mode_app, mode);
i2c_msg = to_i2cmsg(app);
i2c_msg->cmd = TMF8X2X_COM_CMD_STAT__cmd_stat__CMD_STOP;
i2c_msg->size = 0;
// make sure device is not in standby-timed before issuing STOP command
(void) tmf882x_mode_standby_operation(to_parent(app), TOF_WAKEUP);
tof_app_dbg(app, "Stopping app measurements");
rc = tmf882x_mode_app_i2c_msg_send(app, i2c_msg);
if (rc) {
tof_err(priv(app), "Error (%d) stopping measurements", rc);
}
app->volat_data.is_measuring = false;
return rc;
}
static int32_t tmf882x_mode_app_start_measurements(struct tmf882x_mode *self)
{
struct tmf882x_mode_app_i2c_msg *i2c_msg;
struct tmf882x_mode_app *app;
int32_t rc;
if (!verify_mode(self)) return -1;
app = member_of(self, struct tmf882x_mode_app, mode);
if (is_measuring(app)) return 0;
i2c_msg = to_i2cmsg(app);
tof_app_dbg(app, "Starting app measurements");
i2c_msg->cmd = TMF8X2X_COM_CMD_STAT__cmd_stat__CMD_MEASURE;
i2c_msg->size = 0;
rc = tmf882x_mode_app_i2c_msg_send(app, i2c_msg);
if (rc) {
tof_err(priv(app), "Error:%d starting measurements", rc);
}
//restart our capture iteration counter
app->volat_data.capture_num = 1;
tmf882x_clk_corr_recalc(&app->volat_data.clk_cr);
app->volat_data.is_measuring = true;
return rc;
}
#if (CONFIG_TMF882X_OSC_TRIM_SUPPORT())
static int32_t app_trim_osc(struct tmf882x_mode_app *app, int32_t steps)
{
bool capture_state = false;
struct tmf882x_mode_app_i2c_msg *i2c_msg;
uint8_t buf[2] = {0};
int32_t rc = 0;
uint32_t trim = app->volat_data.cfg.oscillator_trim;
if (steps == 0)
return 0;
trim = (trim + steps) & 0x1FF;
tof_info(priv(app), "OSC Trim %#x -> %#x (%d)",
app->volat_data.cfg.oscillator_trim,
trim, steps);
app->volat_data.cfg.oscillator_trim = trim;
if ((capture_state = is_measuring(app))) {
rc = tmf882x_mode_app_stop_measurements(&app->mode);
if (rc)
return -1;
}
// set message command type
i2c_msg = to_i2cmsg(app);
i2c_msg->cmd = TMF8X2X_COM_CMD_STAT__cmd_stat__CMD_LOAD_CONFIG_PAGE_COMMON;
i2c_msg->size = 0;
// load common config page for OSC trimming
if (tmf882x_mode_app_i2c_msg_send(app, i2c_msg))
return -1;
// Write new oscillator trim value
encode_16b(buf, app->volat_data.cfg.oscillator_trim);
// write OSC trim registers
rc = tof_i2c_write(priv(app), TMF8X2X_COM_OSC_TRIM_VALUE_LSB, buf,
sizeof(buf));
if (rc)
return -1;
// commit common config page
i2c_msg->cmd = TMF8X2X_COM_CMD_STAT__cmd_stat__CMD_WRITE_CONFIG_PAGE;
if (tmf882x_mode_app_i2c_msg_send(app, i2c_msg))
return -1;
if (capture_state) {
rc = tmf882x_mode_app_start_measurements(&app->mode);
if (rc) {
tof_err(priv(app), "Error (%d) re-starting measurements", rc);
return -1;
}
}
return rc;
}
#endif
static int32_t clock_skew_correction(struct tmf882x_mode_app *app,
struct tmf882x_msg_meas_results *results)
{
// Assume timespec is defined by platform include files
struct timespec current_ts = {0};
uint32_t usec_epoch = 0;
uint32_t cr_dist = 0;
uint32_t i = 0;
tof_get_timespec(¤t_ts);
if ( (current_ts.tv_sec - app->volat_data.timestamp.tv_sec) >= 60 ) {
// Reset our clock correction averaging every minute so we can still
// be responsive to clock drift in the device
app->volat_data.timestamp = current_ts;
tmf882x_clk_corr_recalc(&app->volat_data.clk_cr);
}
usec_epoch = timespec_to_usec(current_ts);
// sys tick timestamp must have LSB set to be valid
if (results->sys_ticks & 0x1) {
tmf882x_clk_corr_addpair(&app->volat_data.clk_cr, usec_epoch, results->sys_ticks);
}
tof_app_dbg(app, "clock skew host_ts: %u (usec) dev_ts: %u (sys_ticks) "
"iratioQ15: %u", usec_epoch, results->sys_ticks,
app->volat_data.clk_cr.iratioQ15);
// If Clock compensation correction is enabled, adjust distance results
if (CLK_CORR_ENABLE && app->volat_data.clk_corr_enabled) {
for (i = 0; i < results->num_results; ++i) {
cr_dist = tmf882x_clk_corr_map(&app->volat_data.clk_cr,
results->results[i].distance_mm);
tof_app_dbg(app, "clock compensation ch: %u subcapture: %u "
"old_dist: %u new_dist: %u",
results->results[i].channel,
results->results[i].sub_capture,
results->results[i].distance_mm, cr_dist);
results->results[i].distance_mm = cr_dist;
}
}
#if (CONFIG_TMF882X_OSC_TRIM_SUPPORT())
uint32_t freq = 0;
int32_t trim_steps = 0;
// If Clock OSC Trim correction is enabled, trim the device oscillator
if (app->volat_data.clk_cr.count == 0)
app->volat_data.osc_trim_cnt = 0;
else
app->volat_data.osc_trim_cnt++;
if ((app->volat_data.cfg.power_cfg &
TMF8X2X_COM_POWER_CFG__allow_osc_retrim)) {
if (app->volat_data.osc_trim_cnt >= MIN_OSC_TRIM_CNT) {
app->volat_data.osc_trim_cnt = 0;
freq = IRATIOQ15_TO_FREQ(app->volat_data.clk_cr.iratioQ15);
trim_steps = app->volat_data.target_osc_freq - freq;
if (trim_steps >= OSC_BW_FREQ) {
trim_steps /= HZ_PER_STEP;
trim_steps = ams_max(1, trim_steps);
} else if (trim_steps < -OSC_BW_FREQ) {
trim_steps /= HZ_PER_STEP;
trim_steps = ams_min(-1, trim_steps);
} else {
// Device OSC is within desired freq bandwidth
trim_steps = 0;
}
if (app_trim_osc(app, trim_steps) < 0) {
tof_err(priv(app), "Error trimming oscillator");
return -1;
}
}
}
#endif
return 0;
}
static int32_t publish_measure_results(struct tmf882x_mode_app *app,
struct tmf882x_msg_meas_results *results)
{
// perform clock correction on results before publishing
(void) clock_skew_correction(app, results);
// fire away
return tof_queue_msg(priv(app), to_msg(app));
}
static int32_t decode_result_msg(struct tmf882x_mode_app *app,
const struct tmf882x_mode_app_i2c_msg *i2c_msg)
{
uint32_t i = 0, j = 0;
struct tmf882x_msg_meas_results *result_msg = &(to_msg(app)->meas_result_msg);
const uint8_t *head = i2c_msg->buf;
const uint8_t *tail = NULL;
uint8_t confidence = 0;
uint16_t distance_mm = 0;
uint32_t obj_cnt = 0;
uint32_t ch_target_idx = 0;
int32_t extra_data = 0;
//initialize output msg
TOF_ZERO_MSG(result_msg);
TOF_SET_MSG_HDR(result_msg, ID_MEAS_RESULTS, struct tmf882x_msg_meas_results);
// Decode result Header
decode_8b(&head[reg_to_idx(TMF8X2X_COM_RESULT_NUMBER)],
(uint8_t *)&result_msg->result_num);
decode_8b(&head[reg_to_idx(TMF8X2X_COM_TEMPERATURE)],
(uint8_t *)&result_msg->temperature);
decode_8b(&head[reg_to_idx(TMF8X2X_COM_NUMBER_VALID_RESULTS)],
(uint8_t *)&result_msg->valid_results);
decode_32b(&head[reg_to_idx(TMF8X2X_COM_AMBIENT_LIGHT_0)],
&result_msg->ambient_light);
decode_32b(&head[reg_to_idx(TMF8X2X_COM_PHOTON_COUNT_0)],
&result_msg->photon_count);
decode_32b(&head[reg_to_idx(TMF8X2X_COM_REFERENCE_COUNT_0)],
&result_msg->ref_photon_count);
decode_32b(&head[reg_to_idx(TMF8X2X_COM_SYS_TICK_0)], &result_msg->sys_ticks);
// start of object result list
for (i = 0, tail = &head[reg_to_idx(TMF8X2X_COM_RES_CONFIDENCE_0)], obj_cnt = 0;
i < TMF8X2X_COM_MAX_MEASUREMENT_RESULTS; ++i) {
tail = decode_8b(tail, &confidence);
tail = decode_16b(tail, &distance_mm);
if (confidence != 0 || distance_mm != 0) {
// object detected, add it to the result message
// Find how many targets are in this channel already
for (j = 0, ch_target_idx = 0; j < obj_cnt; ++j)
if (result_msg->results[j].channel == RESULT_IDX_TO_CHANNEL(i) &&
result_msg->results[j].sub_capture == RESULT_IDX_TO_SUB_CAPTURE(i))
ch_target_idx++;
result_msg->results[obj_cnt].confidence = confidence;
result_msg->results[obj_cnt].distance_mm = distance_mm;
result_msg->results[obj_cnt].channel = RESULT_IDX_TO_CHANNEL(i);
result_msg->results[obj_cnt].sub_capture = RESULT_IDX_TO_SUB_CAPTURE(i);
result_msg->results[obj_cnt].ch_target_idx = ch_target_idx;
obj_cnt++;
}
}
result_msg->num_results = obj_cnt;
if (obj_cnt != result_msg->valid_results) {
tof_info(priv(app), "Warning num objects (%u) != valid results (%u)",
obj_cnt, result_msg->valid_results);
}
// extra data in result message? log it
if(app->mode.debug && (tail - head) < i2c_msg->size) {
extra_data = ((int32_t) i2c_msg->size) - (tail - head);
tof_app_dbg(app, "Extra result data size: %u", extra_data);
tmf882x_dump_data(to_parent(app), tail, extra_data);
}
// Try to keep up with which measurement iteration we are on, 256 rollover
app->volat_data.capture_num = result_msg->result_num + 1;
if (app->volat_data.capture_num == 256)
app->volat_data.capture_num = 0;
return publish_measure_results(app, result_msg);
}
static int32_t decode_meas_stats_msg(struct tmf882x_mode_app *app,
const struct tmf882x_mode_app_i2c_msg *i2c_msg)
{
uint32_t i;
struct tmf882x_msg_meas_stats *stat_msg = &(to_msg(app)->meas_stat_msg);
const uint8_t *head = i2c_msg->buf;
const uint8_t *tail;
//initialize output msg
TOF_ZERO_MSG(stat_msg);
TOF_SET_MSG_HDR(stat_msg, ID_MEAS_STATS, struct tmf882x_msg_meas_stats);
// This tag *should* match the 'result_num' from the next measurement
// result data
stat_msg->capture_num = app->volat_data.capture_num;
//fill out sub-capture index field
decode_8b(&head[reg_to_idx(TMF8X2X_COM_STATISTICS_CFG_IDX)],
(uint8_t *)&stat_msg->sub_capture);
decode_32b(&head[reg_to_idx(TMF8X2X_COM_TDCIF_STATUS)],
&stat_msg->tdcif_status);
decode_32b(&head[reg_to_idx(TMF8X2X_COM_ITERATIONS_CONFIGURED)],
&stat_msg->iterations_configured);
decode_32b(&head[reg_to_idx(TMF8X2X_COM_REMAINING_ITERATIONS)],
&stat_msg->remaining_iterations);
decode_32b(&head[reg_to_idx(TMF8X2X_COM_ACCUMULATED_HITS)],
&stat_msg->accumulated_hits);
// Iterate over per-TDC stats
for (i = 0, tail = &head[reg_to_idx(TMF8X2X_COM_RAW_HITS_TDC0)];
i < TMF882X_HIST_NUM_TDC; ++i) {
tail = decode_32b(tail, &stat_msg->raw_hits[i]);
}
for (i = 0, tail = &head[reg_to_idx(TMF8X2X_COM_SATURATION_CNT_TDC0)];
i < TMF882X_HIST_NUM_TDC; ++i) {
tail = decode_32b(tail, &stat_msg->saturation_cnt[i]);
}
// publish statistic data
return tof_queue_msg(priv(app), to_msg(app));
}
static int32_t update_each_config_setting(struct tmf882x_mode_app *app,
struct tmf882x_mode_app_i2c_msg *i2c_msg,
const struct tmf882x_mode_app_config *cfg)
{
uint8_t *head = i2c_msg->buf;
if (cfg->report_period_ms != app->volat_data.cfg.report_period_ms)
if (tof_i2c_write(priv(app), TMF8X2X_COM_PERIOD_MS_LSB,
&head[reg_to_idx(TMF8X2X_COM_PERIOD_MS_LSB)], 2))
return -1;
if (cfg->kilo_iterations != app->volat_data.cfg.kilo_iterations)
if (tof_i2c_write(priv(app), TMF8X2X_COM_KILO_ITERATIONS_LSB,
&head[reg_to_idx(TMF8X2X_COM_KILO_ITERATIONS_LSB)], 2))
return -1;
if (cfg->low_threshold != app->volat_data.cfg.low_threshold)
if (tof_i2c_write(priv(app), TMF8X2X_COM_INT_THRESHOLD_LOW_LSB,
&head[reg_to_idx(TMF8X2X_COM_INT_THRESHOLD_LOW_LSB)], 2))
return -1;
if (cfg->high_threshold != app->volat_data.cfg.high_threshold)
if (tof_i2c_write(priv(app), TMF8X2X_COM_INT_THRESHOLD_HIGH_LSB,
&head[reg_to_idx(TMF8X2X_COM_INT_THRESHOLD_HIGH_LSB)], 2))
return -1;
if (cfg->zone_mask != app->volat_data.cfg.zone_mask)
if (tof_i2c_write(priv(app), TMF8X2X_COM_INT_ZONE_MASK_0,
&head[reg_to_idx(TMF8X2X_COM_INT_ZONE_MASK_0)], 3))
return -1;
if (cfg->persistence != app->volat_data.cfg.persistence)
if (tof_i2c_write(priv(app), TMF8X2X_COM_INT_PERSISTENCE,
&head[reg_to_idx(TMF8X2X_COM_INT_PERSISTENCE)], 1))
return -1;
if (cfg->confidence_threshold != app->volat_data.cfg.confidence_threshold)
if (tof_i2c_write(priv(app), TMF8X2X_COM_CONFIDENCE_THRESHOLD,
&head[reg_to_idx(TMF8X2X_COM_CONFIDENCE_THRESHOLD)], 1))
return -1;
if (cfg->gpio_0 != app->volat_data.cfg.gpio_0)
if (tof_i2c_write(priv(app), TMF8X2X_COM_GPIO_0,
&head[reg_to_idx(TMF8X2X_COM_GPIO_0)], 1))
return -1;
if (cfg->gpio_1 != app->volat_data.cfg.gpio_1)
if (tof_i2c_write(priv(app), TMF8X2X_COM_GPIO_1,
&head[reg_to_idx(TMF8X2X_COM_GPIO_1)], 1))
return -1;
if (cfg->power_cfg != app->volat_data.cfg.power_cfg)
if (tof_i2c_write(priv(app), TMF8X2X_COM_POWER_CFG,
&head[reg_to_idx(TMF8X2X_COM_POWER_CFG)], 1))
return -1;
if (cfg->spad_map_id != app->volat_data.cfg.spad_map_id)
if (tof_i2c_write(priv(app), TMF8X2X_COM_SPAD_MAP_ID,
&head[reg_to_idx(TMF8X2X_COM_SPAD_MAP_ID)], 1))
return -1;
if (cfg->alg_setting != app->volat_data.cfg.alg_setting)
if (tof_i2c_write(priv(app), TMF8X2X_COM_ALG_SETTING_0,
&head[reg_to_idx(TMF8X2X_COM_ALG_SETTING_0)], 4))
return -1;
if (cfg->histogram_dump != app->volat_data.cfg.histogram_dump)
if (tof_i2c_write(priv(app), TMF8X2X_COM_HIST_DUMP,
&head[reg_to_idx(TMF8X2X_COM_HIST_DUMP)], 1))
return -1;
if (cfg->spread_spectrum != app->volat_data.cfg.spread_spectrum)
if (tof_i2c_write(priv(app), TMF8X2X_COM_SPREAD_SPECTRUM,
&head[reg_to_idx(TMF8X2X_COM_SPREAD_SPECTRUM)], 1))
return -1;
if (cfg->i2c_slave_addr != app->volat_data.cfg.i2c_slave_addr)
if (tof_i2c_write(priv(app), TMF8X2X_COM_I2C_SLAVE_ADDRESS,
&head[reg_to_idx(TMF8X2X_COM_I2C_SLAVE_ADDRESS)], 1))
return -1;
// if OSC trim is enabled, write osc trim value
if (cfg->power_cfg & TMF8X2X_COM_POWER_CFG__allow_osc_retrim)
if (tof_i2c_write(priv(app), TMF8X2X_COM_OSC_TRIM_VALUE_LSB,
&head[reg_to_idx(TMF8X2X_COM_OSC_TRIM_VALUE_LSB)], 2))
return -1;
return 0;
}