Short/Long range accuracy functionality and updated tof_bin_image

src/inc/tmf882x_mode_app_ioctl.h

@@ -72,6 +72,8 @@ enum _tmf882x_mode_app_iocnr{
     APP_SET_CLKADJ,
     APP_SET_8X8MODE,
     APP_IS_8X8MODE,
+    APP_SET_SHORTRANGE,
+    APP_IS_SHORTRANGE,
     NUM_APP_IOCTL
 };
 
@@ -336,6 +338,30 @@ struct tmf882x_mode_app_dev_UID {
                                         APP_IS_8X8MODE, \
                                         bool )
 
+/**
+ * @brief
+ *      IOCTL command code to Set the short-range mode
+ * @param[in] input type: bool *
+ * @param[out] output type: none
+ * @return zero for success, fail otherwise
+ * @warn Note that changing to/from short-range mode will clear the device
+ *       calibration
+ */
+#define IOCAPP_SET_SHORTRANGE     _IOCTL_W( TMF882X_IOCTL_APP_MODE, \
+                                            APP_SET_SHORTRANGE, \
+                                            bool )
+
+/**
+ * @brief
+ *      IOCTL command code to Read the short-range operating mode state
+ * @param[in] input type: none
+ * @param[out] output type: bool *
+ * @return zero for success, fail otherwise
+ */
+#define IOCAPP_IS_SHORTRANGE     _IOCTL_R( TMF882X_IOCTL_APP_MODE, \
+                                           APP_IS_SHORTRANGE, \
+                                           bool )
+
 #ifdef __cplusplus
 }
 #endif

src/qwiic_tmf882x.cpp

@@ -823,6 +823,60 @@ bool QwDevTMF882X::setSPADConfig(struct tmf882x_mode_app_spad_config &spadConfig
     return true;
 }
 
+//////////////////////////////////////////////////////////////////////////////////
+// isShortRange()
+//
+// Get the range accuracy mode on the connected TMF882X
+//
+// The range can either be long range (default setting, 5m distance), or short
+// range (higher accuracy, 1m distance)
+//
+// See the TMF882X datasheet for data on the accuracy of each mode
+//
+//  Parameter    Description
+//  ---------    -----------------------------
+//  shortRange   bool to hold the range setting
+//  retval       True on success, false on error
+
+bool QwDevTMF882X::isShortRange(bool &shortRange)
+{
+    if (!_isInitialized)
+        return false;
+
+    if (tmf882x_ioctl(&_TOF, IOCAPP_IS_SHORTRANGE, NULL, &shortRange))
+        return false;
+
+    return true;
+}
+
+//////////////////////////////////////////////////////////////////////////////////
+// setShortRange()
+//
+// Set the range accuracy mode on the connected TMF882X
+//
+// Range accuracy can be either short range or long range. Long range is
+// the default setting which is able to detect objects up to 5 meters away.
+// The short range setting gives higher accuracy up to 1 meter. The range
+// setting will also take effect on the histogram output.
+//
+// See the TMF882X datasheet for data on the accuracy of each mode
+//
+//  Parameter    Description
+//  ---------    -----------------------------
+//  range        The range setting
+//  retval       True on success, false on error
+
+bool QwDevTMF882X::setShortRange(bool shortRange)
+{
+    if (!_isInitialized)
+        return false;
+
+    if (tmf882x_ioctl(&_TOF, IOCAPP_SET_SHORTRANGE, &shortRange, NULL))
+        return false;
+
+    return true;
+}
+
 ////////////////////////////////////////////////////////////////////////////////////
 // setCommunicationBus()
 //

src/qwiic_tmf882x.h

@@ -499,6 +499,42 @@ class QwDevTMF882X
 
     bool setSPADConfig(struct tmf882x_mode_app_spad_config &tofSpad);
 
+    //////////////////////////////////////////////////////////////////////////////////
+    // isShortRange()
+    //
+    // Get the range accuracy mode on the connected TMF882X
+    //
+    // The range can either be long range (default setting, 5m distance), or short
+    // range (higher accuracy, 1m distance)
+    //
+    // See the TMF882X datasheet for data on the accuracy of each mode
+    //
+    //  Parameter    Description
+    //  ---------    -----------------------------
+    //  shortRange   bool to hold the range setting
+    //  retval       True on success, false on error
+
+    bool isShortRange(bool &shortRange);
+
+    //////////////////////////////////////////////////////////////////////////////////
+    // setShortRange()
+    //
+    // Set the range accuracy mode on the connected TMF882X
+    //
+    // Range accuracy can be either short range or long range. Long range is
+    // the default setting which is able to detect objects up to 5 meters away.
+    // The short range setting gives higher accuracy up to 1 meter. The range
+    // setting will also have an effect on the histogram output.
+    //
+    // See the TMF882X datasheet for data on the accuracy of each mode
+    //
+    //  Parameter    Description
+    //  ---------    -----------------------------
+    //  shortRange   The range setting
+    //  retval       True on success, false on error
+
+    bool setShortRange(bool shortRange);
+
     //////////////////////////////////////////////////////////////////////////////////
     // getTMF882XContext()
     //

src/tmf882x_mode_app.c

@@ -1893,6 +1893,72 @@ static int32_t tmf882x_mode_app_set_calib_data(struct tmf882x_mode_app *app,
     return rc;
 }
 
+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), 0x19, &reg);
+    if (error) {
+        tof_err(priv(app), "Error reading shortrange mode register (%d)", error);
+        return false;
+    }
+
+    return (reg == 0x6E);
+}
+
+static int32_t tmf882x_mode_app_set_shortrange_mode(struct tmf882x_mode_app *app, bool is_shortrange)
+{
+    int32_t rc = 0;
+    struct tmf882x_mode_app_i2c_msg *i2c_msg;
+    bool capture_state = false;
+
+    // issue cmd 0x6e -> short range mode
+    // issue cmd 0x6f -> long range mode (default)
+
+    if (is_shortrange == tmf882x_mode_app_is_shortrange_mode(app))
+        return 0; // nothing to do, already in correct mode
+
+    if ((capture_state = is_measuring(app))) {
+        rc = tmf882x_mode_app_stop_measurements(&app->mode);
+        if (rc) {
+            tof_err(priv(app), "Error (%d) stopping measurements "
+                               "switching shortrange mode", rc);
+            return -1;
+        }
+    }
+
+    i2c_msg = to_i2cmsg(app);
+    i2c_msg->cmd = is_shortrange ? 0x6E : 0x6F;
+    i2c_msg->size = 0;
+    rc = tmf882x_mode_app_i2c_msg_send_timeout(app, i2c_msg, CMD_DEF_TIMEOUT_MS);
+    if (rc) {
+        tof_err(priv(app), "Error (%d) setting shortrange mode to %u", rc, is_shortrange);
+        return -1;
+    }
+
+    // check if the switch was successful
+    if (is_shortrange != tmf882x_mode_app_is_shortrange_mode(app)) {
+        tof_err(priv(app), "Error (%d) setting shortrange mode to '%u'", rc, is_shortrange);
+        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 0;
+}
+
 static int32_t tmf882x_mode_app_do_factory_calib(struct tmf882x_mode_app *app,
                                                  struct tmf882x_mode_app_calib *calib)
 {
@@ -2128,6 +2194,13 @@ static int32_t tmf882x_mode_app_ioctl(struct tmf882x_mode *self, uint32_t cmd,
             (*(bool *)output) = tmf882x_mode_app_is_8x8_mode(app);
             rc = 0;
             break;
+        case APP_SET_SHORTRANGE:
+            rc = tmf882x_mode_app_set_shortrange_mode(app, (*(bool *)input));
+            break;
+        case APP_IS_SHORTRANGE:
+            (*(bool *)output) = tmf882x_mode_app_is_shortrange_mode(app);
+            rc = 0;
+            break;
         default:
             tof_err(priv(app), "Error unhandled IOCTL cmd [%x]", cmd);
     }