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drivers: broadcom AFBR update to API 1.5.6

This commit is contained in:
alexklimaj 2024-03-06 13:15:44 -07:00 committed by Daniel Agar
parent 57df7e35b2
commit b81ad8841e
16 changed files with 660 additions and 293 deletions
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109
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h
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@ -160,6 +160,11 @@ status_t Argus_InitMode(argus_hnd_t *hnd, s2pi_slave_t spi_slave, argus_mode_t m
* Also refer to #Argus_ReinitMode, which uses a specified measurement * Also refer to #Argus_ReinitMode, which uses a specified measurement
* mode instead of the currently active measurement mode. * mode instead of the currently active measurement mode.
* *
* @note If a full re-initialization is not desired, refer to the
* #Argus_RestoreDeviceState function that will only re-write the
* register map to the device to restore its state after an power
* cycle.
*
* @param hnd The API handle; contains all internal states and data. * @param hnd The API handle; contains all internal states and data.
* *
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success). * @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
@ -182,6 +187,11 @@ status_t Argus_Reinit(argus_hnd_t *hnd);
* Also refer to #Argus_Reinit, which re-uses the currently active * Also refer to #Argus_Reinit, which re-uses the currently active
* measurement mode instead of an user specified measurement mode. * measurement mode instead of an user specified measurement mode.
* *
* @note If a full re-initialization is not desired, refer to the
* #Argus_RestoreDeviceState function that will only re-write the
* register map to the device to restore its state after an power
* cycle.
*
* @param hnd The API handle; contains all internal states and data. * @param hnd The API handle; contains all internal states and data.
* *
* @param mode The specified measurement mode to be initialized. * @param mode The specified measurement mode to be initialized.
@ -274,6 +284,69 @@ argus_hnd_t *Argus_CreateHandle(void);
*****************************************************************************/ *****************************************************************************/
status_t Argus_DestroyHandle(argus_hnd_t *hnd); status_t Argus_DestroyHandle(argus_hnd_t *hnd);
/*!***************************************************************************
* @brief Restores the device state with a re-write of all register values.
*
* @details The function invalidates and restores the device state by executing
* a re-write of the full register map.
*
* The purpose of this function is to recover from known external
* events like power cycles, for example due to sleep / wake-up
* functionality. This can be implemented by cutting off the external
* power supply of the device (e.g. via a MOSFET switch controlled by
* a GPIB pin). By calling this function, the expected state of the
* API is written to the device without the need to fully re-initialize
* the device. Thus, the API can resume where it has stopped as if
* there has never been a power cycle.
*
* The internal state machines like the dynamic configuration adaption
* (DCA) algorithm will not be reseted. The API/sensor will immediately
* resume at the last state that was optimized for the given
* environmental conditions.
*
* The use case of sleep / wake-up can be implemented as follows:
*
* 1. In case of ongoing measurements, stop the measurements via
* the #Argus_StopMeasurementTimer function (if started by the
* #Argus_StartMeasurementTimer function).
*
* 2. Shut down the device by removing the 5V power supply, e.g.
* via a GPIO pin that switches a MOSFET circuit.
*
* 3. After the desired sleep period, power the device by switching
* the 5V power supply on again. Wait until the power-on-reset
* (POR) is finished (approx. 1 ms) or just repeat step 4 until
* it succeeds.
*
* 4. Call the #Argus_RestoreDeviceState function to trigger the
* restoration of the device state in the API. Note that the
* function will return an error code if it fails. One can repeat
* the execution of that function a few times until it succeeds.
*
* 6. Continue with measurements via #Argus_StartMeasurementTimer
* of #Argus_TriggerMeasurement functions as desired.
*
* @note If a complete re-initialization (= soft-reset) is desired, see
* the #Argus_Reinit functionality.
*
* @note Changing a configuration or calibration parameter will always
* invalidate the device state as well as the state machine of the
* dynamic configuration adaption (DCA) algorithm. In that case, the
* device/API needs a few measurements to adopt to the present
* environmental conditions before the first valid measurement result
* can be obtained. This is almost similar to re-initializing the
* device (see #Argus_Reinit) which would also re-read the EEPROM.
* On the other hand, the #Argus_RestoreDeviceState does not reset
* or re-initialize anything. It just makes sure that the device
* register map (which has changed to its reset values after the
* power cycle) is what the API expects upon the next measurement.
*
* @param hnd The device handle object to be invalidated.
*
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/
status_t Argus_RestoreDeviceState(argus_hnd_t *hnd);
/*!************************************************************************** /*!**************************************************************************
* Generic API * Generic API
****************************************************************************/ ****************************************************************************/
@ -726,7 +799,7 @@ status_t Argus_ExecuteXtalkCalibrationSequence(argus_hnd_t *hnd);
* After calibration has finished successfully, the obtained data is * After calibration has finished successfully, the obtained data is
* applied immediately and can be read from the API using the * applied immediately and can be read from the API using the
* #Argus_GetCalibrationPixelRangeOffsets or * #Argus_GetCalibrationPixelRangeOffsets or
* #Argus_GetCalibrationGlobalRangeOffset function. * #Argus_GetCalibrationGlobalRangeOffsets function.
* *
* @param hnd The API handle; contains all internal states and data. * @param hnd The API handle; contains all internal states and data.
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success). * @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
@ -775,7 +848,7 @@ status_t Argus_ExecuteRelativeRangeOffsetCalibrationSequence(argus_hnd_t *hnd);
* After calibration has finished successfully, the obtained data is * After calibration has finished successfully, the obtained data is
* applied immediately and can be read from the API using the * applied immediately and can be read from the API using the
* #Argus_GetCalibrationPixelRangeOffsets or * #Argus_GetCalibrationPixelRangeOffsets or
* #Argus_GetCalibrationGlobalRangeOffset function. * #Argus_GetCalibrationGlobalRangeOffsets function.
* *
* @param hnd The API handle; contains all internal states and data. * @param hnd The API handle; contains all internal states and data.
* @param targetRange The absolute range between the reference plane and the * @param targetRange The absolute range between the reference plane and the
@ -1043,28 +1116,40 @@ status_t Argus_GetConfigurationUnambiguousRange(argus_hnd_t *hnd,
****************************************************************************/ ****************************************************************************/
/*!*************************************************************************** /*!***************************************************************************
* @brief Sets the global range offset value to a specified device. * @brief Sets the global range offset values to a specified device.
* *
* @details The global range offset is subtracted from the raw range values. * @details The global range offsets are subtracted from the raw range values.
* There are two distinct values that are applied in low or high
* power stage setting respectively.
* *
* @param hnd The API handle; contains all internal states and data. * @param hnd The API handle; contains all internal states and data.
* @param value The new global range offset in meter and Q0.15 format. * @param offset_low The new global range offset for the low power stage in
* meter and Q0.15 format.
* @param offset_high The new global range offset for the high power stage in
* meter and Q0.15 format.
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success). * @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/ *****************************************************************************/
status_t Argus_SetCalibrationGlobalRangeOffset(argus_hnd_t *hnd, status_t Argus_SetCalibrationGlobalRangeOffsets(argus_hnd_t *hnd,
q0_15_t value); q0_15_t offset_low,
q0_15_t offset_high);
/*!*************************************************************************** /*!***************************************************************************
* @brief Gets the global range offset value from a specified device. * @brief Gets the global range offset values from a specified device.
* *
* @details The global range offset is subtracted from the raw range values. * @details The global range offsets are subtracted from the raw range values.
* There are two distinct values that are applied in low or high
* power stage setting respectively.
* *
* @param hnd The API handle; contains all internal states and data. * @param hnd The API handle; contains all internal states and data.
* @param value The current global range offset in meter and Q0.15 format. * @param offset_low The current range offset for the low power stage in
* meter and Q0.15 format.
* @param offset_high The current global range offset for the high power stage
* in meter and Q0.15 format.
* @return Returns the \link #status_t status\endlink (#STATUS_OK on success). * @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
*****************************************************************************/ *****************************************************************************/
status_t Argus_GetCalibrationGlobalRangeOffset(argus_hnd_t *hnd, status_t Argus_GetCalibrationGlobalRangeOffsets(argus_hnd_t *hnd,
q0_15_t *value); q0_15_t *offset_low,
q0_15_t *offset_high);
/*!*************************************************************************** /*!***************************************************************************
* @brief Sets the relative pixel offset table to a specified device. * @brief Sets the relative pixel offset table to a specified device.

65
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h
View File

@ -210,9 +210,13 @@ typedef enum argus_dca_gain_t {
* - [9]: #ARGUS_STATE_LASER_ERROR * - [9]: #ARGUS_STATE_LASER_ERROR
* - [10]: #ARGUS_STATE_HAS_DATA * - [10]: #ARGUS_STATE_HAS_DATA
* - [11]: #ARGUS_STATE_HAS_AUX_DATA * - [11]: #ARGUS_STATE_HAS_AUX_DATA
* - [12]: #ARGUS_STATE_DCA_MAX * - [12]: #ARGUS_STATE_SATURATED_PIXELS
* - [13]: DCA Power Stage * - [13]: DCA Power Stage
* - [14-15]: DCA Gain Stages * - [14-15]: DCA Gain Stages
* - [16]: #ARGUS_STATE_DCA_MIN
* - [17]: #ARGUS_STATE_DCA_MAX
* - [18]: #ARGUS_STATE_DCA_RESET
* - [18-31]: not used
* . * .
*****************************************************************************/ *****************************************************************************/
typedef enum argus_state_t { typedef enum argus_state_t {
@ -229,36 +233,35 @@ typedef enum argus_state_t {
* - 1: Enabled: measurement with detuned frequency. */ * - 1: Enabled: measurement with detuned frequency. */
ARGUS_STATE_DUAL_FREQ_MODE = 1U << 1U, ARGUS_STATE_DUAL_FREQ_MODE = 1U << 1U,
/*! 0x0004: Measurement Frequency for Dual Frequency Mode /*! 0x0004: Measurement Frequency for Dual Frequency Mode \n
* (only if #ARGUS_STATE_DUAL_FREQ_MODE flag is set). * (only if #ARGUS_STATE_DUAL_FREQ_MODE flag is set).
* - 0: A-Frame w/ detuned frequency, * - 0: A-Frame w/ detuned frequency,
* - 1: B-Frame w/ detuned frequency */ * - 1: B-Frame w/ detuned frequency */
ARGUS_STATE_MEASUREMENT_FREQ = 1U << 2U, ARGUS_STATE_MEASUREMENT_FREQ = 1U << 2U,
/*! 0x0008: Debug Mode. If set, the range value of erroneous pixels /*! 0x0008: Debug Mode. \n
* If set, the range value of erroneous pixels
* are not cleared or reset. * are not cleared or reset.
* - 0: Disabled (default). * - 0: Disabled (default).
* - 1: Enabled. */ * - 1: Enabled. */
ARGUS_STATE_DEBUG_MODE = 1U << 3U, ARGUS_STATE_DEBUG_MODE = 1U << 3U,
/*! 0x0010: Weak Signal Flag. /*! 0x0010: Weak Signal Flag. \n
* Set whenever the Pixel Binning Algorithm is detecting a * Set whenever the Pixel Binning Algorithm is detecting a
* weak signal, i.e. if the amplitude dies not reach its * weak signal, i.e. if the amplitude dies not reach its
* (absolute) threshold. If the Golden Pixel is enabled, * (absolute) threshold.
* this also indicates that the Pixel Binning Algorithm
* falls back to the Golden Pixel.
* - 0: Normal Signal. * - 0: Normal Signal.
* - 1: Weak Signal or Golden Pixel Mode. */ * - 1: Weak Signal. */
ARGUS_STATE_WEAK_SIGNAL = 1U << 4U, ARGUS_STATE_WEAK_SIGNAL = 1U << 4U,
/*! 0x0020: Background Light Warning Flag. /*! 0x0020: Background Light Warning Flag. \n
* Set whenever the background light is very high and the * Set whenever the background light is very high and the
* measurement data might be unreliable. * measurement data might be unreliable.
* - 0: No Warning: Background Light is within valid range. * - 0: No Warning: Background Light is within valid range.
* - 1: Warning: Background Light is very high. */ * - 1: Warning: Background Light is very high. */
ARGUS_STATE_BGL_WARNING = 1U << 5U, ARGUS_STATE_BGL_WARNING = 1U << 5U,
/*! 0x0040: Background Light Error Flag. /*! 0x0040: Background Light Error Flag. \n
* Set whenever the background light is too high and the * Set whenever the background light is too high and the
* measurement data is unreliable or invalid. * measurement data is unreliable or invalid.
* - 0: No Error: Background Light is within valid range. * - 0: No Error: Background Light is within valid range.
@ -270,7 +273,7 @@ typedef enum argus_state_t {
* - 1: PLL locked at start of integration. */ * - 1: PLL locked at start of integration. */
ARGUS_STATE_PLL_LOCKED = 1U << 7U, ARGUS_STATE_PLL_LOCKED = 1U << 7U,
/*! 0x0100: Laser Failure Warning Flag. /*! 0x0100: Laser Failure Warning Flag. \n
* Set whenever the an invalid system condition is detected. * Set whenever the an invalid system condition is detected.
* (i.e. DCA at max state but no amplitude on any (incl. reference) * (i.e. DCA at max state but no amplitude on any (incl. reference)
* pixel, not amplitude but any saturated pixel). * pixel, not amplitude but any saturated pixel).
@ -279,7 +282,7 @@ typedef enum argus_state_t {
* condition stays, a laser malfunction error is raised. */ * condition stays, a laser malfunction error is raised. */
ARGUS_STATE_LASER_WARNING = 1U << 8U, ARGUS_STATE_LASER_WARNING = 1U << 8U,
/*! 0x0200: Laser Failure Error Flag. /*! 0x0200: Laser Failure Error Flag. \n
* Set whenever a laser malfunction error is raised and the * Set whenever a laser malfunction error is raised and the
* system is put into a safe state. * system is put into a safe state.
* - 0: No Error: Laser is operating properly. * - 0: No Error: Laser is operating properly.
@ -297,13 +300,12 @@ typedef enum argus_state_t {
* - 1: Auxiliary data is available and correctly evaluated. */ * - 1: Auxiliary data is available and correctly evaluated. */
ARGUS_STATE_HAS_AUX_DATA = 1U << 11U, ARGUS_STATE_HAS_AUX_DATA = 1U << 11U,
/*! 0x1000: DCA Maximum State Flag. /*! 0x0100: Pixel Saturation Flag. \n
* Set whenever the DCA has extended all its parameters to their * Set whenever any pixel is saturated, i.e. its pixel state is
* maximum values and can not increase the integration energy any * #PIXEL_SAT
* further. * - 0: No saturated pixels.
* - 0: DCA has not yet reached its maximum state. * - 1: Any saturated pixels. */
* - 1: DCA has reached its maximum state and can not increase any further. */ ARGUS_STATE_SATURATED_PIXELS = 1U << 12U,
ARGUS_STATE_DCA_MAX = 1U << 12U,
/*! 0x2000: DCA is in high Optical Output Power stage. */ /*! 0x2000: DCA is in high Optical Output Power stage. */
ARGUS_STATE_DCA_POWER_HIGH = DCA_POWER_HIGH << ARGUS_STATE_DCA_POWER_SHIFT, ARGUS_STATE_DCA_POWER_HIGH = DCA_POWER_HIGH << ARGUS_STATE_DCA_POWER_SHIFT,
@ -320,6 +322,31 @@ typedef enum argus_state_t {
/*! 0xC000: DCA is in high Pixel Input Gain stage. */ /*! 0xC000: DCA is in high Pixel Input Gain stage. */
ARGUS_STATE_DCA_GAIN_HIGH = DCA_GAIN_HIGH << ARGUS_STATE_DCA_GAIN_SHIFT, ARGUS_STATE_DCA_GAIN_HIGH = DCA_GAIN_HIGH << ARGUS_STATE_DCA_GAIN_SHIFT,
/*! 0x10000: DCA Minimum State Flag. \n
* Set whenever the DCA has reduced all its parameters to their
* minimum values and it can not decrease the integration energy
* any further.
* - 0: DCA has not yet reached its minimum state.
* - 1: DCA has reached its minimum state and can not decrease
* its parameters any further. */
ARGUS_STATE_DCA_MIN = 1U << 16U,
/*! 0x20000: DCA Maximum State Flag. \n
* Set whenever the DCA has extended all its parameters to their
* maximum values and it can not increase the integration energy
* any further.
* - 0: DCA has not yet reached its maximum state.
* - 1: DCA has reached its maximum state and can not increase
* its parameters any further. */
ARGUS_STATE_DCA_MAX = 1U << 17U,
/*! 0x20000: DCA Reset State Flag. \n
* Set whenever the DCA is resetting all its parameters to their
* minimum values because it has detected too many saturated pixels.
* - 0: DCA is operating in normal mode.
* - 1: DCA is performing a reset. */
ARGUS_STATE_DCA_RESET = 1U << 18U,
} argus_state_t; } argus_state_t;
/*!*************************************************************************** /*!***************************************************************************

101
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h
View File

@ -58,6 +58,7 @@ extern "C" {
*****************************************************************************/ *****************************************************************************/
#include "utility/int_math.h" #include "utility/int_math.h"
#include <stdbool.h>
#include <assert.h> #include <assert.h>
@ -138,6 +139,13 @@ extern "C" {
#define PIXEL_CH2N(c) (((((c) << 1U) ^ 0x1CU) & 0x1CU) | (((c) >> 3U) & 0x02U) | ((c) & 0x01U)) #define PIXEL_CH2N(c) (((((c) << 1U) ^ 0x1CU) & 0x1CU) | (((c) >> 3U) & 0x02U) | ((c) & 0x01U))
/*!*****************************************************************************
* @brief Macro to create a pixel mask given by the pixels n-index.
* @param n n-index of the pixel.
* @return The pixel mask with only n-index pixel set.
******************************************************************************/
#define PIXELN_MASK(n) (0x01U << (n))
/*!***************************************************************************** /*!*****************************************************************************
* @brief Macro to determine if a pixel given by the n-index is enabled in a pixel mask. * @brief Macro to determine if a pixel given by the n-index is enabled in a pixel mask.
* @param msk 32-bit pixel mask * @param msk 32-bit pixel mask
@ -151,16 +159,23 @@ extern "C" {
* @param msk 32-bit pixel mask * @param msk 32-bit pixel mask
* @param n n-index of the pixel to enable. * @param n n-index of the pixel to enable.
******************************************************************************/ ******************************************************************************/
#define PIXELN_ENABLE(msk, n) ((msk) |= (0x01U << (n))) #define PIXELN_ENABLE(msk, n) ((msk) |= (PIXELN_MASK(n)))
/*!***************************************************************************** /*!*****************************************************************************
* @brief Macro disable a pixel given by the n-index in a pixel mask. * @brief Macro disable a pixel given by the n-index in a pixel mask.
* @param msk 32-bit pixel mask * @param msk 32-bit pixel mask
* @param n n-index of the pixel to disable. * @param n n-index of the pixel to disable.
******************************************************************************/ ******************************************************************************/
#define PIXELN_DISABLE(msk, n) ((msk) &= (~(0x01U << (n)))) #define PIXELN_DISABLE(msk, n) ((msk) &= (~PIXELN_MASK(n)))
/*!*****************************************************************************
* @brief Macro to create a pixel mask given by the pixels ADC channel number.
* @param c The ADC channel number of the pixel.
* @return The 32-bit pixel mask with only pixel ADC channel set.
******************************************************************************/
#define PIXELCH_MASK(c) (0x01U << (PIXEL_CH2N(c)))
/*!***************************************************************************** /*!*****************************************************************************
* @brief Macro to determine if an ADC pixel channel is enabled from a pixel mask. * @brief Macro to determine if an ADC pixel channel is enabled from a pixel mask.
* @param msk The 32-bit pixel mask * @param msk The 32-bit pixel mask
@ -184,6 +199,14 @@ extern "C" {
#define PIXELCH_DISABLE(msk, c) (PIXELN_DISABLE(msk, PIXEL_CH2N(c))) #define PIXELCH_DISABLE(msk, c) (PIXELN_DISABLE(msk, PIXEL_CH2N(c)))
/*!*****************************************************************************
* @brief Macro to create a pixel mask given by the pixel x-y-indices.
* @param x x-index of the pixel.
* @param y y-index of the pixel.
* @return The 32-bit pixel mask with only pixel ADC channel set.
******************************************************************************/
#define PIXELXY_MASK(x, y) (0x01U << (PIXEL_XY2N(x, y)))
/*!***************************************************************************** /*!*****************************************************************************
* @brief Macro to determine if a pixel given by the x-y-indices is enabled in a pixel mask. * @brief Macro to determine if a pixel given by the x-y-indices is enabled in a pixel mask.
* @param msk 32-bit pixel mask * @param msk 32-bit pixel mask
@ -337,10 +360,10 @@ static inline uint32_t ShiftSelectedPixels(const uint32_t pixel_mask,
uint32_t shifted_mask = 0; uint32_t shifted_mask = 0;
for (uint8_t x = 0; x < ARGUS_PIXELS_X; ++x) { for (int8_t x = 0; x < ARGUS_PIXELS_X; ++x) {
for (uint8_t y = 0; y < ARGUS_PIXELS_Y; ++y) { for (int8_t y = 0; y < ARGUS_PIXELS_Y; ++y) {
int8_t x_src = x - dx; int8_t x_src = (int8_t)(x - dx);
int8_t y_src = y - dy; int8_t y_src = (int8_t)(y - dy);
if (dy & 0x1) { if (dy & 0x1) {
/* Compensate for hexagonal pixel shape. */ /* Compensate for hexagonal pixel shape. */
@ -409,8 +432,8 @@ static inline uint32_t FillPixelMask(uint32_t pixel_mask,
int8_t min_y = -1; int8_t min_y = -1;
/* Find nearest not selected pixel. */ /* Find nearest not selected pixel. */
for (uint8_t x = 0; x < ARGUS_PIXELS_X; ++x) { for (int8_t x = 0; x < ARGUS_PIXELS_X; ++x) {
for (uint8_t y = 0; y < ARGUS_PIXELS_Y; ++y) { for (int8_t y = 0; y < ARGUS_PIXELS_Y; ++y) {
if (!PIXELXY_ISENABLED(pixel_mask, x, y)) { if (!PIXELXY_ISENABLED(pixel_mask, x, y)) {
int32_t distx = (x - center_x) << 1; int32_t distx = (x - center_x) << 1;
@ -423,8 +446,8 @@ static inline uint32_t FillPixelMask(uint32_t pixel_mask,
if (dist < min_dist) { if (dist < min_dist) {
min_dist = dist; min_dist = dist;
min_x = x; min_x = (int8_t)x;
min_y = y; min_y = (int8_t)y;
} }
} }
} }
@ -438,6 +461,64 @@ static inline uint32_t FillPixelMask(uint32_t pixel_mask,
return pixel_mask; return pixel_mask;
} }
/*!*****************************************************************************
* @brief Fills a pixel mask with the direct neighboring pixels around a pixel.
*
* @details The pixel mask is iteratively filled with the direct neighbors of the
* specified center pixel.
*
* Note that the function is able to handle corner and edge pixels and
* also to handle odd/even lines (which have different layouts)
*
* @param x The selected pixel x-index.
* @param y The selected pixel y-index.
* @return The filled pixel mask with all direct neighbors of the selected pixel.
******************************************************************************/
static inline uint32_t GetAdjacentPixelsMask(const uint_fast8_t x,
const uint_fast8_t y)
{
assert(x < ARGUS_PIXELS_X);
assert(y < ARGUS_PIXELS_Y);
uint32_t mask = 0u;
bool isXEdgeLow = (x == 0);
bool isXEdgeHigh = (x == (ARGUS_PIXELS_X - 1));
bool isYEdgeLow = (y == 0);
bool isYEdgeHigh = (y == (ARGUS_PIXELS_Y - 1));
if (y % 2 == 0) {
if (!isYEdgeLow) { PIXELXY_ENABLE(mask, x, y - 1); }
if ((!isXEdgeHigh) && (!isYEdgeLow)) { PIXELXY_ENABLE(mask, x + 1, y - 1); }
if (!isXEdgeHigh) { PIXELXY_ENABLE(mask, x + 1, y); }
if ((!isXEdgeHigh) && (!isYEdgeHigh)) { PIXELXY_ENABLE(mask, x + 1, y + 1); }
if (!isYEdgeHigh) { PIXELXY_ENABLE(mask, x, y + 1); }
if (!isXEdgeLow) { PIXELXY_ENABLE(mask, x - 1, y); }
} else {
if ((!isXEdgeLow) && (!isYEdgeLow)) { PIXELXY_ENABLE(mask, x - 1, y - 1); }
if (!isYEdgeLow) { PIXELXY_ENABLE(mask, x, y - 1); }
if (!isXEdgeHigh) { PIXELXY_ENABLE(mask, x + 1, y); }
if (!isYEdgeHigh) { PIXELXY_ENABLE(mask, x, y + 1); }
if ((!isXEdgeLow) && (!isYEdgeHigh)) { PIXELXY_ENABLE(mask, x - 1, y + 1); }
if (!isXEdgeLow) { PIXELXY_ENABLE(mask, x - 1, y); }
}
return mask;
}
/*! @} */ /*! @} */
#ifdef __cplusplus #ifdef __cplusplus
} // extern "C" } // extern "C"

170
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_msk.h
View File

@ -1,170 +0,0 @@
/*************************************************************************//**
* @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 */

23
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_offset.h
View File

@ -36,6 +36,9 @@
#ifndef ARGUS_OFFSET_H #ifndef ARGUS_OFFSET_H
#define ARGUS_OFFSET_H #define ARGUS_OFFSET_H
#ifdef __cplusplus
extern "C" {
#endif
/*!*************************************************************************** /*!***************************************************************************
* @addtogroup argus_cal * @addtogroup argus_cal
@ -48,12 +51,26 @@
* @brief Pixel Range Offset Table. * @brief Pixel Range Offset Table.
* @details Contains pixel range offset values for all 32 active pixels. * @details Contains pixel range offset values for all 32 active pixels.
*****************************************************************************/ *****************************************************************************/
typedef struct argus_cal_offset_table_t { typedef union argus_cal_offset_table_t {
/*! The offset values per pixel in meter and Q0.15 format. */ struct {
q0_15_t Table[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; /*! The offset values table for Low Power Stage of all 32 pixels.
* Unit: meter; Format: Q0.15 */
q0_15_t LowPower[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
/*! The offset values table for High Power Stage of all 32 pixels.
* Unit: meter; Format: Q0.15 */
q0_15_t HighPower[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
};
/*! The offset values table for Low/High Power Stages of all 32 pixels.
* Unit: meter; Format: Q0.15 */
q0_15_t Table[ARGUS_DCA_POWER_STAGE_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
} argus_cal_offset_table_t; } argus_cal_offset_table_t;
/*! @} */ /*! @} */
#ifdef __cplusplus
} // extern "C"
#endif
#endif /* ARGUS_OFFSET_T */ #endif /* ARGUS_OFFSET_T */

370
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h
View File

@ -55,11 +55,11 @@ extern "C" {
* information from the filtered pixels by averaging them in a * information from the filtered pixels by averaging them in a
* specified way. * specified way.
* *
* The Pixel Binning Algorithm is a three-stage filter with a * Basically, the Pixel Binning Algorithm is a multi-stage filter:
* fallback value:
* *
* -# A fixed pre-filter mask is applied to statically disable * -# A fixed pre-filter mask is applied to statically disable
* specified pixels. * specified pixels.
*
* -# A relative and absolute amplitude filter is applied in the * -# A relative and absolute amplitude filter is applied in the
* second stage. The relative filter is determined by a ratio * second stage. The relative filter is determined by a ratio
* of the maximum amplitude off all available (i.e. not filtered * of the maximum amplitude off all available (i.e. not filtered
@ -75,12 +75,28 @@ extern "C" {
* selected and considered for the final 1D distance. The * selected and considered for the final 1D distance. The
* absolute threshold is used to dismiss pixels that are below * absolute threshold is used to dismiss pixels that are below
* the noise level. The latter would be considered for the 1D * the noise level. The latter would be considered for the 1D
* result if the maximum amplitude is already very low. * result if the maximum amplitude is already very low.\n
* Those threshold are implemented using a hysteresis behavior.
* For its configuration, see the following parameters:
* - #argus_cfg_pba_t::RelativeAmplitudeInclusion
* - #argus_cfg_pba_t::RelativeAmplitudeExclusion
* - #argus_cfg_pba_t::AbsoluteAmplitudeInclusion
* - #argus_cfg_pba_t::AbsoluteAmplitudeExclusion
* .
*
* -# An absolute minimum distance filter is applied in addition * -# An absolute minimum distance filter is applied in addition
* to the amplitude filter. This removes all pixel that have * to the amplitude filter. This removes all pixel that have
* a lower distance than the specified threshold. This is used * a lower distance than the specified threshold. This is used
* to remove invalid pixels that can be detected by a physically * to remove invalid pixels that can be detected by a physically
* not correct negative distance. * not correct negative distance.\n
* For its configuration, see the following parameters:
* - #PBA_ENABLE_MIN_DIST_SCOPE
* - #argus_cfg_pba_t::AbsoluteDistanceScopeInclusion
* - #argus_cfg_pba_t::AbsoluteDistanceScopeExclusion
* - #argus_cfg_pba_t::RelativeDistanceScopeInclusion
* - #argus_cfg_pba_t::RelativeDistanceScopeExclusion
* .
*
* -# A distance filter is used to distinguish pixels that target * -# A distance filter is used to distinguish pixels that target
* the actual object from pixels that see the brighter background, * the actual object from pixels that see the brighter background,
* e.g. white walls. Thus, the pixel with the minimum distance * e.g. white walls. Thus, the pixel with the minimum distance
@ -90,11 +106,31 @@ extern "C" {
* determined by an relative (to the current minimum distance) * determined by an relative (to the current minimum distance)
* and an absolute value. The larger scope value is the * and an absolute value. The larger scope value is the
* relevant one, i.e. the relative distance scope can be used * relevant one, i.e. the relative distance scope can be used
* to heed the increasing noise at larger distances. * to heed the increasing noise at larger distances.\n
* For its configuration, see the following parameters:
* - #argus_cfg_pba_t::AbsoluteMinimumDistanceThreshold
* .
*
* -# If all of the above filters fail to determine a single valid * -# If all of the above filters fail to determine a single valid
* pixel, the Golden Pixel is used as a fallback value. The * pixel, the Golden Pixel is used as a fallback value. The
* Golden Pixel is the pixel that sits right at the focus point * Golden Pixel is the pixel that sits right at the focus point
* of the optics at large distances. * of the optics at large distances. Thus, it is expected to
* have the best signal at large distances.\n
* For its configuration, see the following parameters:
* - #PBA_ENABLE_GOLDPX_FALLBACK_MODE
* .
*
* -# In order to avoid unwanted effects from "out-of-focus" pixels
* in application that require a smaller focus, the Golden Pixel
* Priority Mode prioritizes a valid signal on the central
* Golden Pixel over other pixels. That is, while the Golden
* Pixel has a reasonable signal strength, it is the only pixel
* considered for the 1D result.\n
* For its configuration, see the following parameters:
* - #PBA_ENABLE_GOLDPX_FALLBACK_MODE
* - #argus_cfg_pba_t::GoldenPixelPriorityAmplitudeInclusion
* - #argus_cfg_pba_t::GoldenPixelPriorityAmplitudeExclusion
* .
* . * .
* *
* After filtering is done, there may be more than a single pixel * After filtering is done, there may be more than a single pixel
@ -113,14 +149,17 @@ extern "C" {
* @brief Enable flags for the pixel binning algorithm. * @brief Enable flags for the pixel binning algorithm.
* *
* @details Determines the pixel binning algorithm feature enable status. * @details Determines the pixel binning algorithm feature enable status.
*
* - [0]: #PBA_ENABLE: Enables the pixel binning feature. * - [0]: #PBA_ENABLE: Enables the pixel binning feature.
* - [1]: reserved * - [1]: reserved
* - [2]: reserved * - [2]: reserved
* - [3]: reserved * - [3]: reserved
* - [4]: reserved * - [4]: #PBA_ENABLE_GOLDPX_PRIORITY_MODE: Enables the Golden Pixel
* - [5]: #PBA_ENABLE_GOLDPX: Enables the Golden Pixel feature. * priority mode feature.
* - [6]: #PBA_ENABLE_MIN_DIST_SCOPE: Enables the minimum distance scope * - [5]: #PBA_ENABLE_GOLDPX_FALLBACK_MODE: Enables the Golden Pixel
* feature. * fallback mode feature.
* - [6]: #PBA_ENABLE_MIN_DIST_SCOPE: Enables the minimum distance
* scope feature.
* - [7]: reserved * - [7]: reserved
* . * .
*****************************************************************************/ *****************************************************************************/
@ -128,8 +167,17 @@ typedef enum argus_pba_flags_t {
/*! Enables the pixel binning feature. */ /*! Enables the pixel binning feature. */
PBA_ENABLE = 1U << 0U, PBA_ENABLE = 1U << 0U,
/*! Enables the Golden Pixel. */ /*! Enables the Golden Pixel Priority Mode.
PBA_ENABLE_GOLDPX = 1U << 5U, * If enabled, the Golden Pixel is prioritized over other Pixels as long
* as it has a good signal (determined by # */
PBA_ENABLE_GOLDPX_PRIORITY_MODE = 1U << 4U,
/*! Enables the Golden Pixel Fallback Mode.
* If enabled, the Golden Pixel is used as a last fallback pixel to obtain
* a valid signal from. This is recommended for all non-multi pixel
* devices whose TX field-of-view is aligned to target the Golden Pixel in
* factory calibration. */
PBA_ENABLE_GOLDPX_FALLBACK_MODE = 1U << 5U,
/*! Enables the minimum distance scope filter. */ /*! Enables the minimum distance scope filter. */
PBA_ENABLE_MIN_DIST_SCOPE = 1U << 6U, PBA_ENABLE_MIN_DIST_SCOPE = 1U << 6U,
@ -168,65 +216,297 @@ typedef struct {
* about the individual evaluation modes. */ * about the individual evaluation modes. */
argus_pba_averaging_mode_t AveragingMode; argus_pba_averaging_mode_t AveragingMode;
/*! The Relative amplitude threshold value (in %) of the max. amplitude. /*! The relative amplitude inclusion threshold (in %) of the max. amplitude.
* *
* Pixels with amplitude below this threshold value are dismissed. * Pixels, whose amplitudes raise above this inclusion threshold, are
* added to the pixel binning. The amplitude must fall below the
* exclusion (#RelativeAmplitudeExclusion) threshold to be removed from
* the pixel binning again.
* *
* All available values from the 8-bit representation are valid. * All available values from the 8-bit representation are valid.
* The actual percentage value is determined by 100%/256*x. * The actual percentage value is determined by 100%/256*x.
* *
* Use 0 to disable the relative amplitude threshold. */ * Note: in addition to the relative criteria, there is also the absolute
uq0_8_t RelAmplThreshold; * criteria (#AbsoluteAmplitudeInclusion, #AbsoluteAmplitudeExclusion).
* The pixels are added to the pixel binning if their respective amplitude
/*! The relative minimum distance scope value in %. * is larger than the absolute AND relative inclusion values. On the other
* hand, they are removed if their amplitude falls below the absolute OR
* relative exclusion threshold.
* *
* Pixels that have a range value within [x0, x0 + dx] are considered * Must be greater than or equal to the #RelativeAmplitudeExclusion.
* for the pixel binning, where x0 is the minimum distance of all *
* amplitude picked pixels and dx is the minimum distance scope value. * Use #RelativeAmplitudeExclusion == #RelativeAmplitudeInclusion to
* The minimum distance scope value will be the maximum of relative * disable the hysteresis behavior and use it as a threshold only.
* and absolute value. *
* Use 0 (for both, #RelativeAmplitudeExclusion and
* #RelativeAmplitudeInclusion) to disable the relative amplitude
* hysteresis. */
uq0_8_t RelativeAmplitudeInclusion;
/*! The relative amplitude exclusion threshold (in %) of the max. amplitude.
*
* Pixels, whose amplitudes fall below this exclusion threshold, are
* removed from the pixel binning. The amplitude must raise above the
* inclusion (#RelativeAmplitudeInclusion) threshold to be added back
* to be pixel binning again.
* *
* All available values from the 8-bit representation are valid. * All available values from the 8-bit representation are valid.
* The actual percentage value is determined by 100%/256*x. * The actual percentage value is determined by 100%/256*x.
* *
* Special values: * Note: in addition to the relative criteria, there is also the absolute
* - 0: Use 0 for absolute value only or to choose the pixel with the * criteria (#AbsoluteAmplitudeInclusion, #AbsoluteAmplitudeExclusion).
* minimum distance only (of also the absolute value is 0)! */ * The pixels are added to the pixel binning if their respective amplitude
uq0_8_t RelMinDistanceScope; * is larger than the absolute AND relative inclusion values. On the other
* hand, they are removed if their amplitude falls below the absolute OR
* relative exclusion threshold.
*
* Must be less than or equal to #RelativeAmplitudeInclusion.
*
* Use #RelativeAmplitudeExclusion == #RelativeAmplitudeInclusion to
* disable the hysteresis behavior and use it as a threshold only.
*
* Use 0 (for both, #RelativeAmplitudeExclusion and
* #RelativeAmplitudeInclusion) to disable the relative amplitude
* hysteresis. */
uq0_8_t RelativeAmplitudeExclusion;
/*! The absolute amplitude threshold value in LSB. /*! The absolute amplitude inclusion threshold in LSB.
* *
* Pixels with amplitude below this threshold value are dismissed. * Pixels, whose amplitudes raise above this inclusion threshold, are
* added to the pixel binning. The amplitude must fall below the
* exclusion (#RelativeAmplitudeExclusion) threshold to be removed from
* the pixel binning again.
* *
* The absolute amplitude threshold is only valid if the Golden Pixel * The absolute amplitude hysteresis is only valid if the Golden Pixel
* mode is enabled. Otherwise, the threshold is set to 0 LSB internally. * mode is enabled. Otherwise, the thresholds are set to 0 LSB internally
* which disables the absolute criteria.
* *
* All available values from the 16-bit representation are valid. * All available values from the 16-bit representation are valid.
* The actual LSB value is determined by x/16. * The actual LSB value is determined by x/16.
* *
* Use 0 to disable the absolute amplitude threshold. */ * Note: in addition to the absolute criteria, there is also the relative
uq12_4_t AbsAmplThreshold; * criteria (#RelativeAmplitudeInclusion, #RelativeAmplitudeExclusion).
* The pixels are added to the pixel binning if their respective amplitude
/*! The absolute minimum distance scope value in m. * is larger than the absolute AND relative inclusion values. On the other
* hand, they are removed if their amplitude falls below the absolute OR
* relative exclusion threshold.
* *
* Pixels that have a range value within [x0, x0 + dx] are considered * Must be greater than or equal to #AbsoluteAmplitudeExclusion.
* for the pixel binning, where x0 is the minimum distance of all *
* amplitude picked pixels and dx is the minimum distance scope value. * Use #AbsoluteAmplitudeExclusion == #AbsoluteAmplitudeInclusion to
* The minimum distance scope value will be the maximum of relative * disable the hysteresis behavior and use it as a threshold only.
* and absolute value. *
* Use 0 (for both, #AbsoluteAmplitudeExclusion and
* #AbsoluteAmplitudeInclusion) to disable the absolute amplitude
* hysteresis. */
uq12_4_t AbsoluteAmplitudeInclusion;
/*! The absolute amplitude exclusion threshold in LSB.
*
* Pixels, whose amplitudes fall below this exclusion threshold, are
* removed from the pixel binning. The amplitude must raise above the
* inclusion (#RelativeAmplitudeInclusion) threshold to be added back
* to be pixel binning again.
*
* The absolute amplitude hysteresis is only valid if the Golden Pixel
* mode is enabled. Otherwise, the thresholds are set to 0 LSB internally
* which disables the absolute criteria.
*
* All available values from the 16-bit representation are valid.
* The actual LSB value is determined by x/16.
*
* Note: in addition to the absolute criteria, there is also the relative
* criteria (#RelativeAmplitudeInclusion, #RelativeAmplitudeExclusion).
* The pixels are added to the pixel binning if their respective amplitude
* is larger than the absolute AND relative inclusion values. On the other
* hand, they are removed if their amplitude falls below the absolute OR
* relative exclusion threshold.
*
* Must be less than or equal to #AbsoluteAmplitudeInclusion.
*
* Use #AbsoluteAmplitudeExclusion == #AbsoluteAmplitudeInclusion to
* disable the hysteresis behavior and use it as a threshold only.
*
* Use 0 (for both, #AbsoluteAmplitudeExclusion and
* #AbsoluteAmplitudeInclusion) to disable the absolute amplitude
* hysteresis. */
uq12_4_t AbsoluteAmplitudeExclusion;
/*! The Golden Pixel Priority Mode inclusion threshold in LSB.
*
* The Golden Pixel Priority Mode prioritizes a valid signal on the
* Golden Pixel over other pixel to avoid unwanted effects from
* "out-of-focus" pixels in application that require a smaller focus.
*
* If the Golden Pixel priority mode is enabled (see
* #PBA_ENABLE_GOLDPX_PRIORITY_MODE) and the Golden Pixel has a valid signal
* with amplitude higher than this inclusion threshold, its priority state
* is enabled and the binning exits early by dismissing all other pixels
* regardless of their respective amplitude or state. The Golden Pixel
* priority state is disabled if the Golden Pixel amplitude falls below
* the exclusion threshold (#GoldenPixelPriorityAmplitudeExclusion) or its
* state becomes invalid (e.g. #PIXEL_SAT).
*
* All available values from the 16-bit representation are valid.
* The actual LSB value is determined by x/16.
*
* Use 0 to disable the Golden Pixel priority mode hysteresis. */
uq12_4_t GoldenPixelPriorityAmplitudeInclusion;
/*! The Golden Pixel Priority Mode exclusion threshold in LSB.
*
* The Golden Pixel Priority Mode prioritizes a valid signal on the
* Golden Pixel over other pixel to avoid unwanted effects from
* "out-of-focus" pixels in application that require a smaller focus.
*
* If the Golden Pixel priority mode is enabled (see
* #PBA_ENABLE_GOLDPX_PRIORITY_MODE) and the Golden Pixel has a valid
* signal with amplitude higher than the exclusion threshold
* (#GoldenPixelPriorityAmplitudeInclusion), its priority state is enabled
* and the binning exits early by dismissing all other pixels regardless
* of their respective amplitude or state. The Golden Pixel priority state
* is disabled if the Golden Pixel amplitude falls below this exclusion
* threshold or its state becomes invalid (e.g. #PIXEL_SAT).
*
* All available values from the 16-bit representation are valid.
* The actual LSB value is determined by x/16.
*
* Use 0 to disable the Golden Pixel priority mode hysteresis. */
uq12_4_t GoldenPixelPriorityAmplitudeExclusion;
/*! The relative minimum distance scope inclusion threshold (in %).
*
* Pixels, whose range is smaller than the minimum distance inclusion
* threshold (x_min + dx_incl) are added to the pixel binning. The
* range must raise above the exclusion
* (#RelativeDistanceScopeExclusion) threshold to be removed
* from the pixel binning again. The relative value is determined
* by multiplying the percentage with the minimum distance.
*
* The distance scope determines an interval within that pixels
* are considered valid, originating at the minimum distance (x_min).
* The width of the interval is specified by the relative and absolute
* minimum distance scope thresholds. The actual values it the
* maximum of both, the relative and absolute inclusion values
* (#AbsoluteDistanceScopeInclusion).
*
* All available values from the 8-bit representation are valid.
* The actual percentage value is determined by 100%/256*x.
*
* Must be smaller than or equal to the #RelativeDistanceScopeExclusion.
*
* Use #RelativeDistanceScopeExclusion == #RelativeDistanceScopeInclusion to
* disable the hysteresis behavior and use it as a threshold only. */
uq0_8_t RelativeDistanceScopeInclusion;
/*! The relative distance scope exclusion threshold (in %).
*
* Pixels, whose range is larger than the minimum distance exclusion
* threshold (x_min + dx_excl) are removed from the pixel binning. The
* range must fall below the inclusion
* (#RelativeDistanceScopeInclusion) threshold to be added
* to the pixel binning again. The relative value is determined
* by multiplying the percentage with the minimum distance.
*
* The distance scope determines an interval within that pixels
* are considered valid, originating at the minimum distance (x_min).
* The width of the interval is specified by the relative and absolute
* minimum distance scope thresholds. The actual values it the
* maximum of both, the relative and absolute exclusion values
* (#AbsoluteDistanceScopeExclusion).
*
* All available values from the 8-bit representation are valid.
* The actual percentage value is determined by 100%/256*x.
*
* Must be larger than or equal to the #RelativeDistanceScopeInclusion.
*
* Use #RelativeDistanceScopeExclusion == #RelativeDistanceScopeInclusion to
* disable the hysteresis behavior and use it as a threshold only. */
uq0_8_t RelativeDistanceScopeExclusion;
/*! The absolute minimum distance scope inclusion threshold (in m).
*
* Pixels, whose range is smaller than the minimum distance inclusion
* threshold (x_min + dx_incl) are added to the pixel binning. The
* range must raise above the exclusion
* (#AbsoluteDistanceScopeExclusion) threshold to be added
* to the pixel binning again.
*
* The distance scope determines an interval within that pixels
* are considered valid, originating at the minimum distance (x_min).
* The width of the interval is specified by the relative and absolute
* minimum distance scope thresholds. The actual values it the
* maximum of both, the relative and absolute exclusion values
* (#RelativeDistanceScopeInclusion).
* *
* All available values from the 16-bit representation are valid. * All available values from the 16-bit representation are valid.
* The actual LSB value is determined by x/2^15. * The actual LSB value is determined by x/2^15.
* *
* Special values: * Must be smaller than or equal to the #AbsoluteDistanceScopeExclusion.
* - 0: Use 0 for relative value only or to choose the pixel with the *
* minimum distance only (of also the relative value is 0)! */ * Use #AbsoluteDistanceScopeExclusion == #AbsoluteDistanceScopeInclusion to
uq1_15_t AbsMinDistanceScope; * disable the hysteresis behavior and use it as a threshold only. */
uq1_15_t AbsoluteDistanceScopeInclusion;
/*! The absolute minimum distance scope exclusion threshold (in m).
*
* Pixels, whose range is larger than the minimum distance exclusion
* threshold (x_min + dx_excl) are removed from the pixel binning. The
* range must fall below the inclusion
* (#AbsoluteDistanceScopeInclusion) threshold to be added
* to the pixel binning again.
*
* The distance scope determines an interval within that pixels
* are considered valid, originating at the minimum distance (x_min).
* The width of the interval is specified by the relative and absolute
* minimum distance scope thresholds. The actual values it the
* maximum of both, the relative and absolute exclusion values
* (#RelativeDistanceScopeExclusion).
*
* All available values from the 16-bit representation are valid.
* The actual LSB value is determined by x/2^15.
*
* Must be larger than or equal to the #AbsoluteDistanceScopeInclusion.
*
* Use #AbsoluteDistanceScopeExclusion == #AbsoluteDistanceScopeInclusion to
* disable the hysteresis behavior and use it as a threshold only. */
uq1_15_t AbsoluteDistanceScopeExclusion;
/*! The Golden Pixel Saturation Filter Pixel Threshold.
*
* The Golden Pixel Saturation Filter will evaluate the status of the
* Golden Pixel to #PIXEL_INVALID if a certain number of active pixels,
* i.e. pixels that are not removed by the static pre-filter mask
* (#PrefilterMask), are saturated (#PIXEL_SAT).
*
* The purpose of this filter is to avoid erroneous situations with highly
* reflective targets (e.g. retro-reflectors) that can invalidate the
* Golden Pixel such that it would not show the correct saturation state.
* In order to avoid using the Golden Pixel in that scenario, this filter
* mechanism can be used to remove the Golden Pixel if a specified number
* of other pixels show saturation state.
*
* Use 0 to disable the Golden Pixel Saturation Filter. */
uint8_t GoldenPixelSaturationFilterPixelThreshold;
/*! The Golden Pixel out-of-sync age limit for the GPPM.
*
* The Golden Pixel out-of-sync age is the number of consecutive frames
* where the Golden Pixel is out-of-sync. This parameters is the threshold
* to distinguish between temporary and permanent out-of-sync states.
*
* Temporary out-of-sync states happen when the target rapidly changes. In
* this case, the Golden Pixel Priority Mode (GPPM) is not exited. Only if
* the out-of-sync age exceeds the specified threshold, the Golden Pixel is
* considered erroneous and the GPPM is exited.
*
* Use 0 to disable the Golden Pixel out-of-sync aging (= infinity). */
uint8_t GoldenPixelOutOfSyncAgeThreshold;
/*! The absolute minimum distance threshold value in m. /*! The absolute minimum distance threshold value in m.
* *
* Pixels with distance below this threshold value are dismissed. */ * Pixels with distance below this threshold value are dismissed. */
q9_22_t AbsMinDistanceThreshold; q9_22_t AbsoluteMinimumDistanceThreshold;
/*! The pre-filter pixel mask determines the pixel channels that are /*! The pre-filter pixel mask determines the pixel channels that are
* statically excluded from the pixel binning (i.e. 1D distance) result. * statically excluded from the pixel binning (i.e. 1D distance) result.

3
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h
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@ -55,6 +55,9 @@ extern "C" {
* Also used as a special value to determine no object detected or infinity range. */ * Also used as a special value to determine no object detected or infinity range. */
#define ARGUS_RANGE_MAX (Q9_22_MAX) #define ARGUS_RANGE_MAX (Q9_22_MAX)
/*! Minimum range value in Q9.22 format. */
#define ARGUS_RANGE_MIN (Q9_22_MIN)
/*!*************************************************************************** /*!***************************************************************************
* @brief Status flags for the evaluated pixel structure. * @brief Status flags for the evaluated pixel structure.
* *

9
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h
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@ -227,12 +227,19 @@ enum Status {
/*! -114: AFBR-S50 Error: Register data integrity is lost (e.g. due to unexpected /*! -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 * power-on-reset cycle or invalid write cycle of SPI. System tries to
* reset the values. */ * reset the values.
*
* @note If this error occurs after intentionally cycling the power supply
* of the device, use the #Argus_RestoreDeviceState API function to properly
* recover the current API state into the device to avoid that issue. */
ERROR_ARGUS_DATA_INTEGRITY_LOST = -114, ERROR_ARGUS_DATA_INTEGRITY_LOST = -114,
/*! -115: AFBR-S50 Error: The range offsets calibration failed! */ /*! -115: AFBR-S50 Error: The range offsets calibration failed! */
ERROR_ARGUS_RANGE_OFFSET_CALIBRATION_FAILED = -115, ERROR_ARGUS_RANGE_OFFSET_CALIBRATION_FAILED = -115,
/*! -116: AFBR-S50 Error: The VSUB calibration failed! */
ERROR_ARGUS_VSUB_CALIBRATION_FAILED = -116,
/*! -191: AFBR-S50 Error: The device is currently busy and cannot execute the /*! -191: AFBR-S50 Error: The device is currently busy and cannot execute the
* requested command. */ * requested command. */
ERROR_ARGUS_BUSY = -191, ERROR_ARGUS_BUSY = -191,

6
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h
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@ -56,13 +56,13 @@ extern "C" {
#define ARGUS_API_VERSION_MAJOR 1 #define ARGUS_API_VERSION_MAJOR 1
/*! Minor version number of the AFBR-S50 API. */ /*! Minor version number of the AFBR-S50 API. */
#define ARGUS_API_VERSION_MINOR 4 #define ARGUS_API_VERSION_MINOR 5
/*! Bugfix version number of the AFBR-S50 API. */ /*! Bugfix version number of the AFBR-S50 API. */
#define ARGUS_API_VERSION_BUGFIX 4 #define ARGUS_API_VERSION_BUGFIX 6
/*! Build version number of the AFBR-S50 API. */ /*! Build version number of the AFBR-S50 API. */
#define ARGUS_API_VERSION_BUILD "20230327150535" #define ARGUS_API_VERSION_BUILD "20240208081753"
/*****************************************************************************/ /*****************************************************************************/

63
src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_xtalk.h
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@ -72,30 +72,28 @@ typedef struct xtalk_t {
* @details Contains crosstalk vector values for all 32 active pixels, * @details Contains crosstalk vector values for all 32 active pixels,
* separated for A/B-Frames. * separated for A/B-Frames.
*****************************************************************************/ *****************************************************************************/
typedef struct argus_cal_xtalk_table_t { typedef union argus_cal_xtalk_table_t {
union { struct {
struct { /*! The crosstalk vector table for A-Frames. */
/*! The crosstalk vector table for A-Frames. */ xtalk_t FrameA[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
xtalk_t FrameA[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
/*! The crosstalk vector table for B-Frames. */ /*! The crosstalk vector table for B-Frames. */
xtalk_t FrameB[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; xtalk_t FrameB[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
};
/*! The crosstalk vector table for A/B-Frames of all 32 pixels.*/
xtalk_t Table[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
}; };
/*! The crosstalk vector table for A/B-Frames of all 32 pixels.*/
xtalk_t Table[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
} argus_cal_xtalk_table_t; } argus_cal_xtalk_table_t;
/*!*************************************************************************** /*!***************************************************************************
* @brief Pixel-To-Pixel Crosstalk Compensation Parameters. * @brief Electrical Pixel-To-Pixel Crosstalk Compensation Parameters.
* @details Contains calibration data that belongs to the pixel-to-pixel * @details Contains calibration data that belongs to the electrical
* crosstalk compensation feature. * pixel-to-pixel crosstalk compensation feature.
*****************************************************************************/ *****************************************************************************/
typedef struct argus_cal_p2pxtalk_t { typedef struct argus_cal_electrical_p2pxtalk_t {
/*! Pixel-To-Pixel Compensation on/off. */ /*! Electrical Pixel-To-Pixel Compensation on/off. */
bool Enabled; bool Enabled;
/*! The relative threshold determines when the compensation is active for /*! The relative threshold determines when the compensation is active for
@ -134,8 +132,39 @@ typedef struct argus_cal_p2pxtalk_t {
* Higher values determine more influence on the reference pixel signal. */ * Higher values determine more influence on the reference pixel signal. */
q3_12_t KcFactorCRefPx; q3_12_t KcFactorCRefPx;
} argus_cal_p2pxtalk_t; } argus_cal_electrical_p2pxtalk_t;
/*!***************************************************************************
* @brief Optical Pixel-To-Pixel Crosstalk Compensation Parameters.
* @details Contains calibration data that belongs to the optical
* pixel-to-pixel crosstalk compensation feature.
*****************************************************************************/
typedef struct argus_cal_optical_p2pxtalk_t {
/*! Optical Pixel-To-Pixel Compensation on/off. */
bool Enabled;
/*! The sine component of the coupling coefficient that determines the amount
* of a neighbour pixel signal that influences the raw signal of certain pixel.
* Higher values determine more influence on the individual pixel signal. */
q3_12_t CouplingCoeffS;
/*! The cosine component of the coupling coefficient that determines the amount
* of a neighbour pixel signal that influences the raw signal of a certain pixel.
* Higher values determine more influence on the individual pixel signal. */
q3_12_t CouplingCoeffC;
} argus_cal_optical_p2pxtalk_t;
/*!***************************************************************************
* @brief Pixel-To-Pixel Crosstalk Compensation Parameters.
* @details Contains combined calibration data for electrical and
* optical pixel-to-pixel crosstalk compensation feature.
*****************************************************************************/
typedef struct argus_cal_p2pxtalk_t {
argus_cal_electrical_p2pxtalk_t Electrical;
argus_cal_optical_p2pxtalk_t Optical;
} argus_cal_p2pxtalk_t;
/*! @} */ /*! @} */
#ifdef __cplusplus #ifdef __cplusplus

16
src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_div.h
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@ -61,7 +61,7 @@ extern "C" {
* @details Algorithm to evaluate a/b, where b is in Q15.16 format, on a 32-bit * @details Algorithm to evaluate a/b, where b is in Q15.16 format, on a 32-bit
* architecture with maximum precision. * architecture with maximum precision.
* The result is correctly rounded and given as the input format. * The result is correctly rounded and given as the input format.
* Division by 0 yields max. values determined by signa of numerator. * Division by 0 yields max. values determined by signs of numerator.
* Too high/low results are truncated to max/min values. * Too high/low results are truncated to max/min values.
* *
* Depending on the architecture, the division is implemented with a 64-bit * Depending on the architecture, the division is implemented with a 64-bit
@ -89,14 +89,14 @@ inline int32_t fp_div16(int32_t a, q15_16_t b)
if (c > 0x80000000U) { return INT32_MIN; } if (c > 0x80000000U) { return INT32_MIN; }
return -c; return (int32_t) - c;
} else { } else {
c = ((c / b) + (1 << 13U)) >> 14U; c = ((c / b) + (1 << 13U)) >> 14U;
if (c > (int64_t)INT32_MAX) { return INT32_MAX; } if (c > (int64_t)INT32_MAX) { return INT32_MAX; }
return c; return (int32_t)c;
} }
#else #else
@ -159,10 +159,16 @@ inline int32_t fp_div16(int32_t a, q15_16_t b)
/* Figure out the sign of result */ /* Figure out the sign of result */
if ((uint32_t)(a ^ b) & 0x80000000U) { if ((uint32_t)(a ^ b) & 0x80000000U) {
result = -result; return (int32_t) - result;
} else {
// fix 05.10.2023; the corner case, when result == INT32_MAX + 1:
// Catch the wraparound (to INT32_MIN) and truncate instead.
if (quotient > INT32_MAX) { return INT32_MAX; }
return (int32_t)result;
} }
return (int32_t)result;
#endif #endif
} }

12
src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_mul.h
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@ -118,7 +118,7 @@ inline uint32_t fp_mulu(uint32_t u, uint32_t v, uint_fast8_t shift)
assert(shift <= 32); assert(shift <= 32);
#if USE_64BIT_MUL #if USE_64BIT_MUL
const uint64_t w = (uint64_t)u * (uint64_t)v; const uint64_t w = (uint64_t)u * (uint64_t)v;
return (w >> shift) + ((w >> (shift - 1)) & 1U); return (uint32_t)((w >> shift) + ((w >> (shift - 1)) & 1U));
#else #else
uint32_t tmp[2] = { 0 }; uint32_t tmp[2] = { 0 };
muldwu(tmp, u, v); muldwu(tmp, u, v);
@ -158,15 +158,15 @@ inline int32_t fp_muls(int32_t u, int32_t v, uint_fast8_t shift)
uint32_t u2, v2; uint32_t u2, v2;
if (u < 0) { u2 = -u; sign = -sign; } else { u2 = u; } if (u < 0) { u2 = (uint32_t) - u; sign = -sign; } else { u2 = (uint32_t)u; }
if (v < 0) { v2 = -v; sign = -sign; } else { v2 = v; } if (v < 0) { v2 = (uint32_t) - v; sign = -sign; } else { v2 = (uint32_t)v; }
const uint32_t res = fp_mulu(u2, v2, shift); const uint32_t res = fp_mulu(u2, v2, shift);
assert(sign > 0 ? res <= 0x7FFFFFFFU : res <= 0x80000000U); assert(sign > 0 ? res <= 0x7FFFFFFFU : res <= 0x80000000U);
return sign > 0 ? res : -res; return sign > 0 ? (int32_t)res : -(int32_t)res;
} }
@ -225,7 +225,9 @@ inline uint32_t fp_mul_u32_u16(uint32_t u, uint16_t v, uint_fast8_t shift)
*****************************************************************************/ *****************************************************************************/
inline int32_t fp_mul_s32_u16(int32_t u, uint16_t v, uint_fast8_t shift) inline int32_t fp_mul_s32_u16(int32_t u, uint16_t v, uint_fast8_t shift)
{ {
return u >= 0 ? fp_mul_u32_u16(u, v, shift) : - fp_mul_u32_u16(-u, v, shift); return u >= 0 ?
(int32_t)fp_mul_u32_u16((uint32_t)u, v, shift) :
-(int32_t)fp_mul_u32_u16((uint32_t) - u, v, shift);
} }
/*! @} */ /*! @} */

4
src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_rnd.h
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@ -80,7 +80,7 @@ inline uint32_t fp_rndu(uint32_t Q, uint_fast8_t n)
*****************************************************************************/ *****************************************************************************/
inline int32_t fp_rnds(int32_t Q, uint_fast8_t n) inline int32_t fp_rnds(int32_t Q, uint_fast8_t n)
{ {
return (Q < 0) ? -fp_rndu(-Q, n) : fp_rndu(Q, n); return (Q < 0) ? -(int32_t)fp_rndu((uint32_t)(-Q), n) : (int32_t)fp_rndu((uint32_t)Q, n);
} }
/*!*************************************************************************** /*!***************************************************************************
@ -108,7 +108,7 @@ inline uint32_t fp_truncu(uint32_t Q, uint_fast8_t n)
*****************************************************************************/ *****************************************************************************/
inline int32_t fp_truncs(int32_t Q, uint_fast8_t n) inline int32_t fp_truncs(int32_t Q, uint_fast8_t n)
{ {
return (Q < 0) ? -fp_truncu(-Q, n) : fp_truncu(Q, n); return (Q < 0) ? -(int32_t)fp_truncu((uint32_t)(-Q), n) : (int32_t)fp_truncu((uint32_t)Q, n);
} }
/*! @} */ /*! @} */

2
src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/int_math.h
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@ -66,7 +66,7 @@ inline uint32_t log2i(uint32_t x)
{ {
assert(x != 0); assert(x != 0);
#if 1 #if 1
return 31 - __builtin_clz(x); return (uint32_t)(31 - __builtin_clz(x));
#else #else
#define S(k) if (x >= (1 << k)) { i += k; x >>= k; } #define S(k) if (x >= (1 << k)) { i += k; x >>= k; }
int i = 0; S(16); S(8); S(4); S(2); S(1); return i; int i = 0; S(16); S(8); S(4); S(2); S(1); return i;

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src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu.a
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src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu_os.a
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