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‎LICENSE

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/*
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*****************************************************************************
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* Copyright by ams OSRAM AG *
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* All rights are reserved. *
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* *
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* IMPORTANT - PLEASE READ CAREFULLY BEFORE COPYING, INSTALLING OR USING *
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* THE SOFTWARE. *
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* *
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS *
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT *
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS *
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT *
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, *
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT *
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, *
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY *
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE *
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
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*****************************************************************************
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*/

‎README.md

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# TMF8806 (Time-of-flight) Arduino Uno driver
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This is a simple universal driver to show the capabilies of the time-of-flight device TMF8806.
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## Requirements
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- an Arduino Uno R3 board
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- an ams TMF8806 Arduino Shield Board [TMF8806_EVM_EB_SHIELD](https://ams-osram.com/search?q=tmf8806)
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- a USB B cable
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- the [Arduino IDE](https://www.arduino.cc/en/software) to compile and download the Arduino Uno example application
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## Files
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The arduino project in the folder: **tmf8806_app** is a very simple single character command line interpreter listening/printing on UART
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It contains the following files:
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- **tmf8806_app.ino** - the arduino specific wrapper for the application
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- **tmf8806_app.h** and **tmf8806_app.cpp** - the TMF8806 command line application
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- **tmf8806.h** and **tmf8806.cpp** - the TMF8806 driver
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- **tmf8806_shim.h** and **tmf8806_shim.cpp** - a shim to abstract the arduino specific I2C, UART and GPIO functions
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- **tmf8806_image.h** and **tmf8806_image.c** - the TMF8806 firmware that is downloaded by the driver as a c-struct
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You can use application interrupt driven. For this you need to set the following define to 1: **USE_INTERRUPT_TO_TRIGGER_READ**
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### Porting to another MCU
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To port the driver and application to another platform you need to adapt the following files:
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- **tmf8806_a.ino** - the arduino specific wrapper for the application, replace this with the requirements for your selected platform
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- **tmf8806_shim.h** and **tmf8806_shim.cpp** - a shim to abstract the arduino specific I2C, UART and GPIO functions
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## UART and command line interpreter
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The project listens and talks on the UART. Baud rate is 115200, 8-bit, no parity, 1 stop bit.
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The command line interpreter uses single characters followed by ENTER as input commands.
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For interfacing with a zeromq server the command line interpreter also supports complex command strings with binary payload.
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UART commands (single character)
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- a ... dump registers
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- c ... toggle configuration
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- d ... disable device
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- e ... enable device
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- f ... factory calibration
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- h ... help
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- i ... I2C address change
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- m ... start measure
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- p ... power down
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- s ... stop measure
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- t ... switch persistence and thresholds
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- w ... wakeup
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- x ... clock correction on/off
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- z ... histogram dump
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- + ... log level+
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- - ... log level-
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UART commands (binary payload)
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- b\x30<tmf8806FactoryCalibData data> .. set arbitrary factory calibration data
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- b\x31<tmf8806MeasureCmd data> .. set arbitrary configuration
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- b\x32<pers,loThres,hiThres> .. set arbitrary persistence / threshold
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## Command line interpreter application
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The command line interpreter application mimics a simple host application. It allows the user to switch between 2 pre-defined configurations:
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- Configuration 0: Period 33 ms, KiloIterations = 400
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- Configuration 1: single shot mode, KiloIterations = 100
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You can modify the configurations (e.g. choose different period or KiloIterations) in the application source file, recompile and download your own configuration application to the Arduino.
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## Examples
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### Power up device
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Before the device can be used the host must power the device. The arduino uno setup function will pull the enable line to the TMF8806 low. I.e. the TMF8806 will be powered down.
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Enter the character
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- e
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followed by ENTER to enable the device. If necessary the driver will automatically download the the firmware patch file to the TMF8806 RAM. The arduino uno will publish the FW version in the terminal:
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e.g. version 192.4.11.0
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### Power up device and do measurements
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Type the following commands on UART:
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- e
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- m
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The header for the results looks like this:
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\#Obj,i2c_slave_address,result_number,reliability,measured_distance,corrected_distance,sys_clock,temperature,reference_hits,object_hits,crosstalk
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You will see measurement result records on the UART for the default configuration.
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\#Obj,65,165,63,295,295,735639833,27,69216,27384,829
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\#Obj,65,166,63,295,295,735796255,27,69243,27459,830
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\#Obj,65,167,63,294,294,735951813,27,69362,27297,799
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# Factory calibration
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Factory calibration must be done for each device.
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The simplest way is to do a live factory calibration. I.e. do the following steps:
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1. Connect your Arduino Uno and tmf8806 to the PC via USB
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2. Start a terminal program
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3. Configure and connect the terminal program to the arduino uno
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4. Make sure you have a cover glass on top of the TMF8806. This is needed for the crosstalk.
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5. Make sure there is no object in front of the TMF8806 within 40 cm.
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6. Enter the following commands in your terminal console:
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- e
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- f
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7. The application reports the calibration data: e.g. #Cal,2,0,0,A,B0,BE,BD,7C,F5,F0,F3,F7,7,4
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8. If the application does not send the calibration data the calibration has failed. Check your cover glass and check if there is no object (within 40cm) in the field-of-view of the sensor.
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## Crosstalk readout
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The application reports the crosstalk with each measurement result. E.g.:
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\#Obj,65,167,63,294,294,735951813,27,69362,27297,799
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The crosstalk is the last field in the line.
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## I2C slave address changing
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Send the command "i" to the application to change the sensor I2C address. The application will report the new I2C address. E.g.: Addr=0x42
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# Histogram dumping
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The device can also dump histograms. The order the Arduino Uno driver reports these histograms is exactly the same as the TMF8806 reports them on I2C.
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There are five different types of histograms available
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- electrical calibration histograms (ID=1)
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- proximity histograms (ID=2)
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- distance histograms (ID=4)
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- pileup-corrected distance histograms (ID=8)
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- summed histogram (ID=16)
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Type "z" and ENTER until you have the desired value for histogram dumping. E.g if the application sends:
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Histogram is 4
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distance histograms are configured for dumping. The application dumps ALL histograms if:
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Histogram is 31
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For all histograms, the first number after the marker (e.g. #TG7) will give the channel this histogram contains.
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There are always 10 histograms reported.
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- Number 0 == TDC0, Channel0
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- Number 1 == TDC0, Channel1
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- ...
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- Number 9 == TDC4, Channel0
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- Number 10 == TDC0, Channel1
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The header for the raw histograms looks like this:
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\#<histogram_type>,bin_0,bin_1,...,bin_127
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Line Tag | Histogram Type
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----------|-----------------------
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\#CI | electrical calibration
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\#PT | proximity
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\#TG | distance
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\#TGPUC | pileup-corrected distance
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\#SUM | summed

‎how_to_generate_image_from_hex/generate_tof_image.bat

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srec_cat.exe -o tmf8806_image.c -C-Array tmf8806_image -INClude mainapp_PATCH_Leica_k3.hex -Intel

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