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Chirp SonicLib
4.5.2
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Internal driver functions for operation with the Chirp ultrasonic sensor. More...
#include <stdint.h>#include <stdbool.h>#include <invn/soniclib/soniclib.h>#include <invn/soniclib/sensor_fw/ch101/ch101.h>#include <invn/soniclib/sensor_fw/ch201/ch201.h>Go to the source code of this file.
Functions | |
| uint8_t | ch_common_check_program (ch_dev_t *dev_ptr) |
| uint16_t | ch_common_cycles_to_samples (uint32_t num_cycles, ch_odr_t odr, bool include_s0) |
| uint32_t | ch_common_cycles_to_usec (ch_dev_t *dev_ptr, uint32_t num_cycles) |
| uint8_t | ch_common_fw_load (ch_dev_t *dev_ptr) |
| uint8_t | ch_common_get_algo_config (ch_dev_t *dev_ptr, void *algo_cfg_ptr) |
| uint8_t | ch_common_get_algo_info (ch_dev_t *dev_ptr, ICU_ALGO_SHASTA_INFO *algo_info_ptr) |
| uint8_t | ch_common_get_algo_output (ch_dev_t *dev_ptr, void *algo_out_ptr) |
| uint8_t | ch_common_get_algo_state (ch_dev_t *dev_ptr, void *algo_state_ptr) |
| uint8_t | ch_common_get_amp_thresh_data (ch_dev_t *dev_ptr, ch_amp_thresh_t *buf_ptr, uint16_t start_sample, uint16_t num_samples, ch_io_mode_t mode) |
| uint16_t | ch_common_get_amplitude_avg (ch_dev_t *dev_ptr) |
| uint8_t | ch_common_get_amplitude_data (ch_dev_t *dev_ptr, uint16_t *buf_ptr, uint16_t start_sample, uint16_t num_samples, ch_io_mode_t mode) |
| uint8_t | ch_common_get_cal_result (ch_dev_t *dev_ptr, ch_cal_result_t *cal_ptr) |
| ch_interrupt_drive_t | ch_common_get_interrupt_drive (ch_dev_t *dev_ptr) |
| ch_interrupt_mode_t | ch_common_get_interrupt_mode (ch_dev_t *dev_ptr) |
| uint8_t | ch_common_get_iq_data (ch_dev_t *dev_ptr, ch_iq_sample_t *buf_ptr, uint16_t start_sample, uint16_t num_samples, ch_io_mode_t nonblock) |
| uint8_t | ch_common_get_locked_state (ch_dev_t *dev_ptr) |
| uint8_t | ch_common_get_mfg_info (ch_dev_t *dev_ptr, ch_mfg_info_t *info_ptr) |
| uint16_t | ch_common_get_num_output_samples (ch_dev_t *dev_ptr) |
| uint16_t | ch_common_get_num_samples (ch_dev_t *dev_ptr) |
| uint32_t | ch_common_get_op_freq (ch_dev_t *dev_ptr) |
| uint16_t | ch_common_get_rx_low_gain (ch_dev_t *dev_ptr) |
| ch_tgt_int_filter_t | ch_common_get_target_interrupt (ch_dev_t *dev_ptr) |
| uint16_t | ch_common_get_tx_length (ch_dev_t *dev_ptr) |
| uint8_t | ch_common_group_set_frequency (ch_group_t *grp_ptr, uint32_t frequency) |
| uint8_t | ch_common_group_start (ch_group_t *grp_ptr) |
| uint8_t | ch_common_init (ch_dev_t *dev_ptr, ch_group_t *grp_ptr, uint8_t dev_num, ch_fw_init_func_t fw_init_func) |
| uint8_t | ch_common_init_algo (ch_dev_t *dev_ptr) |
| void | ch_common_meas_activate (ch_dev_t *dev_ptr, uint8_t meas_num) |
| uint8_t | ch_common_meas_add_segment (ch_dev_t *dev_ptr, uint8_t meas_num, ch_meas_segment_t *seg_ptr) |
| uint8_t | ch_common_meas_add_segment_count (ch_dev_t *dev_ptr, uint8_t meas_num, uint16_t num_cycles, uint8_t int_enable) |
| uint8_t | ch_common_meas_add_segment_rx (ch_dev_t *dev_ptr, uint8_t meas_num, uint16_t num_samples, uint8_t gain, uint8_t atten, uint8_t int_enable) |
| uint8_t | ch_common_meas_add_segment_tx (ch_dev_t *dev_ptr, uint8_t meas_num, uint16_t num_cycles, uint8_t pulse_width, uint8_t phase, uint8_t int_enable) |
| void | ch_common_meas_get_info (ch_dev_t *dev_ptr, uint8_t meas_num, ch_meas_info_t *info_ptr) |
| uint16_t | ch_common_meas_get_interval (ch_dev_t *dev_ptr, uint8_t meas_num) |
| uint32_t | ch_common_meas_get_interval_ticks (ch_dev_t *dev_ptr, uint8_t meas_num) |
| uint32_t | ch_common_meas_get_interval_us (ch_dev_t *dev_ptr, uint8_t meas_num) |
| uint8_t | ch_common_meas_get_last_num (ch_dev_t *dev_ptr) |
| uint16_t | ch_common_meas_get_num_samples (ch_dev_t *dev_ptr, uint8_t meas_num) |
| ch_odr_t | ch_common_meas_get_odr (ch_dev_t *dev_ptr, uint8_t meas_num) |
| void | ch_common_meas_get_queue_info (ch_dev_t *dev_ptr, ch_meas_queue_info_t *info_ptr) |
| void | ch_common_meas_get_seg_info (ch_dev_t *dev_ptr, uint8_t meas_num, uint8_t seg_num, ch_meas_seg_info_t *info_ptr) |
| uint8_t | ch_common_meas_import (ch_dev_t *dev_ptr, measurement_queue_t *meas_queue_ptr, void *algo_cfg_ptr) |
| uint8_t | ch_common_meas_init (ch_dev_t *dev_ptr, uint8_t meas_num, const ch_meas_config_t *meas_config_ptr) |
| uint8_t | ch_common_meas_init_queue (ch_dev_t *dev_ptr) |
| void | ch_common_meas_init_segment_count (ch_meas_segment_t *seg_ptr, uint16_t num_cycles, uint8_t int_enable) |
| void | ch_common_meas_init_segment_rx (ch_meas_segment_t *seg_ptr, uint16_t num_samples, ch_odr_t odr, uint8_t gain, uint8_t atten, uint8_t int_enable) |
| void | ch_common_meas_init_segment_tx (ch_meas_segment_t *seg_ptr, uint16_t num_cycles, uint8_t pulse_width, uint8_t phase, uint8_t int_enable) |
| uint8_t | ch_common_meas_insert_instruction (ch_dev_t *dev_ptr, uint8_t meas_num, const ch_meas_segment_t *const inst_ptr, uint8_t inst_num_to_insert) |
| uint16_t | ch_common_meas_mm_to_samples (ch_dev_t *dev_ptr, uint8_t meas_num, uint16_t num_mm) |
| uint8_t | ch_common_meas_optimize (ch_dev_t *dev_ptr, measurement_queue_t *meas_queue_ptr, void *algo_cfg_ptr) |
| uint8_t | ch_common_meas_remove_instruction (ch_dev_t *dev_ptr, uint8_t meas_num, uint8_t inst_num_to_remove) |
| uint8_t | ch_common_meas_reset (ch_dev_t *dev_ptr, uint8_t meas_num) |
| uint16_t | ch_common_meas_samples_to_mm (ch_dev_t *dev_ptr, uint8_t meas_num, uint16_t num_samples) |
| uint8_t | ch_common_meas_set_interval (ch_dev_t *dev_ptr, uint8_t meas_num, uint16_t interval_ms) |
| uint8_t | ch_common_meas_set_interval_ticks (ch_dev_t *dev_ptr, uint8_t meas_num, uint32_t rtc_periods) |
| uint8_t | ch_common_meas_set_interval_us (ch_dev_t *dev_ptr, uint8_t meas_num, uint32_t interval_us) |
| uint8_t | ch_common_meas_set_max_range (ch_dev_t *dev_ptr, uint8_t meas_num, uint16_t max_range_mm) |
| uint8_t | ch_common_meas_set_num_samples (ch_dev_t *dev_ptr, uint8_t meas_num, uint16_t num_samples) |
| uint8_t | ch_common_meas_set_odr (ch_dev_t *dev_ptr, uint8_t meas_num, ch_odr_t odr) |
| void | ch_common_meas_standby (ch_dev_t *dev_ptr, uint8_t meas_num) |
| uint8_t | ch_common_meas_switch (ch_dev_t *dev_ptr) |
| uint8_t | ch_common_meas_update_counts (ch_dev_t *dev_ptr, uint8_t meas_num, measurement_t *meas_ptr) |
| uint8_t | ch_common_meas_write_config (ch_dev_t *dev_ptr) |
| uint32_t | ch_common_measure_pmut_frequency (ch_dev_t *dev_ptr) |
| Measure PMUT frequency on an ICU device. More... | |
| uint16_t | ch_common_mm_to_samples (ch_dev_t *dev_ptr, uint16_t num_mm) |
| void | ch_common_prepare_pulse_timer (ch_dev_t *dev_ptr) |
| uint32_t | ch_common_range_lsb_to_mm (const ch_dev_t *dev_ptr, uint32_t time_of_flight, ch_range_t range_type) |
| Convert the raw range from the sensor to millimeters. More... | |
| uint8_t | ch_common_read_meas_config (ch_dev_t *dev_ptr) |
| Read configuration settings associated with the last measurement. More... | |
| uint32_t | ch_common_samples_to_cycles (uint16_t num_samples, ch_odr_t odr) |
| uint16_t | ch_common_samples_to_mm (ch_dev_t *dev_ptr, uint16_t num_samples) |
| uint8_t | ch_common_set_algo_config (ch_dev_t *dev_ptr, const void *algo_cfg_ptr) |
| uint8_t | ch_common_set_cal_result (ch_dev_t *dev_ptr, ch_cal_result_t *cal_ptr) |
| uint8_t | ch_common_set_freerun_interval (ch_dev_t *dev_ptr, uint16_t interval_ms) |
| uint8_t | ch_common_set_freerun_interval_ticks (ch_dev_t *dev_ptr, uint32_t interval_periods) |
| uint8_t | ch_common_set_freerun_interval_us (ch_dev_t *dev_ptr, uint32_t interval_us) |
| uint8_t | ch_common_set_freerun_time_hop (ch_dev_t *dev_ptr, uint8_t meas_num, bool enable) |
| uint8_t | ch_common_set_frequency (ch_dev_t *dev_ptr, uint32_t target_freq_hz) |
| Set the closest available operating frequency to a desired operating frequency. More... | |
| uint8_t | ch_common_set_init_firmware (ch_dev_t *dev_ptr, ch_fw_init_func_t fw_init_func) |
| uint8_t | ch_common_set_interrupt_drive (ch_dev_t *dev_ptr, ch_interrupt_drive_t drive) |
| uint8_t | ch_common_set_interrupt_mode (ch_dev_t *dev_ptr, ch_interrupt_mode_t mode) |
| uint8_t | ch_common_set_max_range (ch_dev_t *dev_ptr, uint16_t max_range_mm) |
| uint8_t | ch_common_set_mode (ch_dev_t *dev_ptr, ch_mode_t mode) |
| uint8_t | ch_common_set_num_samples (ch_dev_t *dev_ptr, uint16_t num_samples) |
| uint8_t | ch_common_set_pmut_clock (ch_dev_t *dev_ptr, ch_pmut_clk_cfg_t clock_cfg) |
| uint8_t | ch_common_set_rtc (ch_dev_t *dev_ptr, ch_rtc_src_t rtc_source, uint16_t rtc_freq) |
| uint8_t | ch_common_set_rx_low_gain (ch_dev_t *dev_ptr, uint16_t num_samples) |
| uint8_t | ch_common_set_sample_interval (ch_dev_t *dev_ptr, uint16_t interval_ms) |
| uint8_t | ch_common_set_sample_window (ch_dev_t *dev_ptr, uint16_t start_sample, uint16_t end_sample) |
| uint8_t | ch_common_set_target_interrupt (ch_dev_t *dev_ptr, ch_tgt_int_filter_t tgt_filter_mode) |
| uint8_t | ch_common_set_tx_length (ch_dev_t *dev_ptr, uint16_t num_cycles) |
| void | ch_common_store_bandwidth (ch_dev_t *dev_ptr) |
| void | ch_common_store_op_freq (ch_dev_t *dev_ptr) |
| void | ch_common_store_pt_result (ch_dev_t *dev_ptr) |
| void | ch_common_store_scale_factor (ch_dev_t *dev_ptr) |
| uint32_t | ch_common_ticks_to_usec (const ch_dev_t *dev_ptr, uint16_t num_rtc_periods) |
| uint32_t | ch_common_usec_to_cycles (ch_dev_t *dev_ptr, uint32_t num_usec) |
| uint16_t | ch_common_usec_to_ticks (const ch_dev_t *dev_ptr, uint32_t num_usec) |
| uint8_t | ch_common_watchdog_disable (ch_dev_t *dev_ptr) |
| uint8_t | ch_common_watchdog_enable (ch_dev_t *dev_ptr) |
| uint8_t | ch_common_write_data_validation_cfg (ch_dev_t *dev_ptr, uint8_t en, int16_t seed) |
Internal driver functions for operation with the Chirp ultrasonic sensor.
This file contains common implementations of sensor support routines. These are suitable for use with most standard sensor firmware images. The firmware-specific init function will set up various function pointers to either the common implementations in this file, or corresponding firmware-specific implementations.
You should not need to edit this file or call the driver functions directly. Doing so will reduce your ability to benefit from future enhancements and releases from Chirp.
| uint32_t ch_common_measure_pmut_frequency | ( | ch_dev_t * | dev_ptr | ) |
Measure PMUT frequency on an ICU device.
| dev_ptr | pointer to the ch_dev_t config structure for a sensor |
This function must only be called after initialization (ie after calling ch_group_start()).
| uint32_t ch_common_range_lsb_to_mm | ( | const ch_dev_t * | dev_ptr, |
| uint32_t | time_of_flight, | ||
| ch_range_t | range_type | ||
| ) |
Convert the raw range from the sensor to millimeters.
The sensor provides a raw reading of the range in LSBs. Use this function to convert this to a result in millimeters. The output is in fixed point with 5 decimal digits.
| dev_ptr | The device pointer |
| time_of_flight | The raw range (AKA raw time of flight) |
| range_type | One of CH_RANGE_ECHO_ONE_WAY, for the distance between a pulse echo sensor and a target; CH_RANGE_ROUND_TRIP for the round-trip distance between sensor and target; or CH_RANGE_DIRECT for pitch-catch operating mode. |
| uint8_t ch_common_read_meas_config | ( | ch_dev_t * | dev_ptr | ) |
Read configuration settings associated with the last measurement.
This function may be called to read measurement config from the sensor. It reads the ODR, IQ format, number of IQ bytes, and the last measurement config index from the sensor and sets it into the corresponding fields of dev_ptr.
This function is already called from ch_rangefinder_get_target_range, which requires the ODR to convert the range from raw counts to millimeters. You may need to manually call this function when implementing your own methods that fetch and post-process data from the sensor.
| dev_ptr | The device pointer. Will be modifed with measurement config read from sensor. |
| uint8_t ch_common_set_frequency | ( | ch_dev_t * | dev_ptr, |
| uint32_t | request_op_freq_hz | ||
| ) |
Set the closest available operating frequency to a desired operating frequency.
| dev_ptr | pointer to the ch_dev_t config structure for a sensor |
| op_frequency_hz | the desired operating frequency in Hertz |
1.9.1