The following document describes the changes to the AFBR-S50 API interface across the released versions. This is meant to assist developers in updating their code to a newer API version.

The API is usually not changing much between the versions, however, some features require to introduce breaking changes such that the user code needs to be adopted too. This document mainly focusses on the breaking changes only.

If migration over multiple releases is required, please refer to each of the corresponding sections below and apply the changes iteratively.

Please report any additional issues to the AFBR-S50 GitHub repository.

API Migration Guide (1.5.6 → 1.6.5)

The following document describes the changes to the AFBR-S50 API interface from v1.5.6 to v1.6.5.

Overview of Data & Function Changes / Extensions / new Items

(bug fixes or typo corrections are excluded from this list)

—Data types

argus_cfg_dca_t Struct Reference (Changed)
argus_pixel_t Struct Reference (Extended)
argus_mode_t (Extended)
argus_mode_flags_t (Extended)
argus_snm_mode_t (Extended)

—Functions

Argus_StartTeachInMode(argus_hand_t *hnd) (new)
Argus_StopTeachInMode(argus_hand_t *hnd) (new)

—Miscellaneous

New description for status -107
New description for status -110
New description for status -113
New status -108

Changes in more Detail

To further improve the absolute failure at small distances below 50cm the DCA was extended by power stage differentions:

// v1.5.6 measurement mode enumeration
typedef struct argus_cfg_dca_t
{
    argus_dca_enable_t Enabled
    uint8_t     SatPxThLin
    uint8_t     SatPxThExp
    uint8_t     SatPxThRst
    uq12_4_t    Atarget
    uq12_4_t    AthLow
    uq12_4_t    AthHigh
    argus_dca_amplitude_mode_t  AmplitudeMode
    argus_dca_power_t   Power
    uq10_6_t    DepthNom
    uq10_6_t    DepthMin
    uq10_6_t    DepthMax
    argus_dca_gain_t    GainNom
    argus_dca_gain_t    GainMin
    argus_dca_gain_t    GainMax
    uq0_8_t PowerSavingRatio
} argus_cfg_dca_t;
 
// v1.6.5 measurement mode enumeration
typedef struct argus_cfg_dca_t
{
    argus_dca_enable_t Enabled
    uint8_t     SatPxThLin
    uint8_t     SatPxThExp
    uint8_t     SatPxThRst
    uq12_4_t    Atarget
    uq12_4_t    AthLow
    uq12_4_t    AthHigh
    argus_dca_amplitude_mode_t  AmplitudeMode
    argus_dca_power_t   Power
    uq10_6_t    DepthNom
    uq10_6_t    DepthMin_LowPower
    uq10_6_t    DepthMin_HighPower
    uq10_6_t    DepthMax
    argus_dca_gain_t    GainNom
    argus_dca_gain_t    GainMin
    argus_dca_gain_t    GainMax
    uq0_8_t PowerSavingRatio
    uint8_t DisablePowerSaveInLowPowerStage
} argus_cfg_dca_t;

Extensions and new Items in more Detail

The pixel struct got upgraded with uncorrelatedNoise figure and signa-to-noise ratio (SNR):

// v1.5.6 measurement mode enumeration
typedef struct argus_pixel_t
{
    q9_22_t Range;
    uq1_15_t Phase;
    uq12_4_t Amplitude;
    argus_px_status_t Status;
    int8_t RangeWindow;
    uq12_4_t AmplitudeRaw;
} argus_pixel_t;
 
// v1.6.5 measurement mode enumeration
typedef struct argus_pixel_t
{
    q9_22_t Range;
    uq1_15_t Phase;
    uq12_4_t Amplitude;
    argus_px_status_t Status;
    int8_t RangeWindow;
    uq12_4_t AmplitudeRaw;
    uq12_4_t UncorrelatedNoise;
    uq12_4_t SNR;
} argus_pixel_t;

New measurement modes were introduced:

// v1.5.6 measurement mode enumeration
typedef enum argus_mode_t
{
    ARGUS_MODE_SHORT_RANGE =                                // = 0x01 = 0b0001
            ARGUS_MODE_FLAG_SHORT_RANGE,
 
    ARGUS_MODE_LONG_RANGE =                                 // = 0x02 = 0b0010
            ARGUS_MODE_FLAG_LONG_RANGE,
 
    ARGUS_MODE_HIGH_SPEED_SHORT_RANGE =                     // = 0x05 = 0b0101
            ARGUS_MODE_FLAG_SHORT_RANGE | ARGUS_MODE_FLAG_HIGH_SPEED,
 
    ARGUS_MODE_HIGH_SPEED_LONG_RANGE =                      // = 0x06 = 0b0110
            ARGUS_MODE_FLAG_LONG_RANGE | ARGUS_MODE_FLAG_HIGH_SPEED,
 
} argus_mode_t;

The new measurement mode enumeration is as follows. Note that new modes were added which are

High Precision Mode
Laser Class 2 mode (only valid for AFBR-S50MV68B)

// v1.6.5 measurement mode enumeration
typedef enum argus_mode_t
{
    ARGUS_MODE_SHORT_RANGE =
            ARGUS_MODE_FLAG_SHORT_RANGE,
 
    ARGUS_MODE_LONG_RANGE =
            ARGUS_MODE_FLAG_LONG_RANGE,
 
    ARGUS_MODE_HIGH_SPEED_SHORT_RANGE =
            ARGUS_MODE_FLAG_SHORT_RANGE | ARGUS_MODE_FLAG_HIGH_SPEED,
 
    ARGUS_MODE_HIGH_SPEED_LONG_RANGE =
            ARGUS_MODE_FLAG_LONG_RANGE | ARGUS_MODE_FLAG_HIGH_SPEED,
 
    ARGUS_MODE_HIGH_PRECISION_SHORT_RANGE =
            ARGUS_MODE_FLAG_SHORT_RANGE | ARGUS_MODE_FLAG_HIGH_PRECISION,
 
    ARGUS_MODE_SHORT_RANGE_LASER_CLASS_2 =
            ARGUS_MODE_FLAG_SHORT_RANGE | ARGUS_MODE_FLAG_LASER_CLASS_2,
 
    ARGUS_MODE_LONG_RANGE_LASER_CLASS_2 =
            ARGUS_MODE_FLAG_LONG_RANGE | ARGUS_MODE_FLAG_LASER_CLASS_2,
 
    ARGUS_MODE_HIGH_SPEED_SHORT_RANGE_LASER_CLASS_2 =
            ARGUS_MODE_FLAG_SHORT_RANGE | ARGUS_MODE_FLAG_HIGH_SPEED | ARGUS_MODE_FLAG_LASER_CLASS_2,
 
    ARGUS_MODE_HIGH_SPEED_LONG_RANGE_LASER_CLASS_2 =
            ARGUS_MODE_FLAG_LONG_RANGE | ARGUS_MODE_FLAG_HIGH_SPEED | ARGUS_MODE_FLAG_LASER_CLASS_2,
 
    ARGUS_MODE_HIGH_PRECISION_SHORT_RANGE_LASER_CLASS_2 =
           ARGUS_MODE_FLAG_SHORT_RANGE | ARGUS_MODE_FLAG_HIGH_PRECISION | ARGUS_MODE_FLAG_LASER_CLASS_2,
 
} argus_mode_t;

Accordingly, new mode flags were added:

// v1.5.6 mode flags enumeration
typedef enum argus_mode_flags_t
{
    ARGUS_MODE_FLAG_SHORT_RANGE = 0x01 << 0,
 
    ARGUS_MODE_FLAG_LONG_RANGE = 0x01 << 1,
 
    ARGUS_MODE_FLAG_HIGH_SPEED = 0x01 << 2,
 
} argus_mode_flags_t;
 
// v1.6.5 mode flags enumeration
typedef enum argus_mode_flags_t
{
    ARGUS_MODE_FLAG_SHORT_RANGE = 0x01 << 0,
 
    ARGUS_MODE_FLAG_LONG_RANGE = 0x01 << 1,
 
    ARGUS_MODE_FLAG_HIGH_SPEED = 0x01 << 2,
 
    ARGUS_MODE_FLAG_HIGH_PRECISION = 0x01 << 3,
 
    ARGUS_MODE_FLAG_LASER_CLASS_2 = 0x01 << 7,
 
} argus_mode_flags_t;

The shot noise monitor was also extended by the new dynamic plus mode:

// v1.5.6 Shot Noise Monitor modes enumeration
typedef enum argus_snm_mode_t
{
    SNM_MODE_STATIC_INDOOR = 0U,
 
    SNM_MODE_STATIC_OUTDOOR = 1U,
 
    SNM_MODE_DYNAMIC = 2U,
 
} argus_snm_mode_t;
 
// v1.6.5 Shot Noise Monitor modes enumeration
typedef enum argus_snm_mode_t
{
    SNM_MODE_STATIC_INDOOR = 0U,
 
    SNM_MODE_STATIC_OUTDOOR = 1U,
 
    SNM_MODE_DYNAMIC = 2U,
 
    SNM_MODE_DYNAMIC_PLUS = 3U,
 
} argus_snm_mode_t;

API Migration Guide (1.4.4 → 1.5.6)

The following document describes the changes to the AFBR-S50 API interface from v1.4.4 to v1.5.6.

Overview of Changes

The most changes to the last version of the AFBR-S50 API, v1.5.6, happened under the hood. Thus, there are only very minor changes regarding the offset calibration parameters to the API .

Introduction of distinct global range offsets for low and high power stages

To better compensate for the different range offsets of the low and high power stages, a second global range offset value has been introduced. The new value is only applied in the low power stage and thus does not affect the high power stage. However, the API function not require two offset values and the offset table data structure has changed from a two-dimensional array to a three-dimensional array.

Here are the changes in the API functions:

// v1.4.4 range offset functions with a single offset value
status_t Argus_SetCalibrationGlobalRangeOffset(argus_hnd_t *hnd, q0_15_t value);
status_t Argus_GetCalibrationGlobalRangeOffset(argus_hnd_t *hnd, q0_15_t *value);
 
// v1.5.6 range offset functions with a two distinct offset values
status_t Argus_SetCalibrationGlobalRangeOffsets(argus_hnd_t *hnd, q0_15_t offset_low, q0_15_t offset_high);
status_t Argus_GetCalibrationGlobalRangeOffsets(argus_hnd_t *hnd, q0_15_t *offset_low, q0_15_t *offset_high);

Here are the corresponding changes in the data structure:

// v1.4.4 range offset table data structure wrapping a two dimensional array
typedef struct argus_cal_offset_table_t
{
    q0_15_t Table[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
 
} argus_cal_offset_table_t;
 
// v1.5.6 range offset table data structure wrapping a three dimensional array
typedef union argus_cal_offset_table_t
{
    struct
    {
        q0_15_t LowPower[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
        q0_15_t HighPower[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
    };
 
    q0_15_t Table[ARGUS_DCA_POWER_STAGE_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
 
} argus_cal_offset_table_t;

API Migration Guide (1.3.5 → 1.4.4)

The following document describes the changes to the AFBR-S50 API interface from v1.3.5 to v1.4.4.

Due to many improvements and new features in v1.4.4, such as multi-device support, high-speed measurement modes and memory footprint reduction, the API interface has changed significantly this time.

Overview of Changes

The latest version of the AFBR-S50 API, v1.4.4, includes several significant changes that improve the performance and functionality of the sensor. These changes include:

Memory Footprint Reduction: The new version of the API reduces the memory footprint of the library by removing the second measurement mode from the API. This means that the ability to dynamically switch between Long and Short Range Modes has been removed. Although this feature has been removed, it has resulted in a more efficient and compact library. Still, the API is capable of switching between measurement modes, but the user must re-initialize the API or use a dedicated function to change the measurement mode. This change has also removed the measurement mode parameter from most of the API functions. Beneath reducing the memory footprint, this change also allowed the introduction of additional measurements modes such as the high-speed modes.
High-Speed Modes: The new version of the API includes additional measurement modes that are dedicated to high speed measurements. These new modes allow for measurement frame rate up to 3000 frames per second, making the sensor more versatile and applicable to a wider range of use cases. Please note that the maximum limit of the frame rate highly depends on the used microcontroller.
Multi-Device Support: The latest version of the API now allows simultaneous usage of multiple devices per microcontroller. This means that developers can now use multiple sensors with a single microcontroller, which can significantly reduce the cost and complexity of their applications. The multiple device act independently and share a single SPI and Timer interface. The API automatically handles the resource management within the API such that there is no need for the user to manage the resources. The only limitation is the requirement of a common frame rate if multiple devices are used with a single periodic interrupt timer.

Removal of Dual-Measurement Modes And Adding of Advanced Measurement Modes

The main implication of the API change is the removal of the measurement mode parameter in most of the API functions. In order to migrate to the new version, simply remove the measurement mode parameter from each function call. Instead, set the measurement mode at initialization time (via Argus_InitMode) or use the dedicated Argus_SetMeasurementMode function to load the desired measurement mode from ROM. All changes to the default parameters must be done afterward.

v1.3.5: The measurement mode can be changed at any time via the Argus_SetMeasurementMode function. Other API calls must pass the measurement mode parameter (mode).

status = Argus_Init(hnd, SPI_SLAVE); // uses default (ARGUS_MODE_A)
 
argus_mode_t mode = ARGUS_MODE_B;
status = Argus_SetMeasurementMode(hnd, mode);
handle_error(status, "set measurement mode failed!");
 
status = Argus_SetConfigurationDFMMode(hnd, mode, DFM_MODE_OFF);
handle_error(status, "set DFM failed!");
 
status = Argus_SetConfigurationSmartPowerSaveEnabled(hnd, mode, false);
handle_error(status, "set smart power save mode failed!");
 
status = Argus_SetConfigurationFrameTime(hnd, 1000);
handle_error(status, "set frame time failed!");

v1.4.4: The new API must set the measurement mode (via Argus_SetMeasurementMode) as the first change as it reloads the default parameters from ROM and overwrites all previous made changes. Note that the measurement mode is loaded upon device initialization. Using the Argus_Init function will load the corresponding default measurement mode. The Argus_InitMode function is used to specify the measurement mode at initialization time.

// Initialize with default measurement mode
status = Argus_Init(hnd, SPI_SLAVE);
 
// Alternatively initialize with specified measurement mode
status = Argus_InitMode(hnd, SPI_SLAVE, ARGUS_MODE_HIGH_SPEED_SHORT_RANGE);
 
// Change the measurement mode after initialization
argus_mode_t mode = ARGUS_MODE_ARGUS_MODE_HIGH_SPEED_SHORT_RANGE;
status = Argus_SetMeasurementMode(hnd, mode);
handle_error(status, "set measurement mode failed!");
 
// Apply additional changes to the default parameters afterwards
status = Argus_SetConfigurationDFMMode(hnd, DFM_MODE_OFF);
handle_error(status, "set DFM failed!");
 
status = Argus_SetConfigurationSmartPowerSaveEnabled(hnd, false);
handle_error(status, "set smart power save failed!");
 
status = Argus_SetConfigurationFrameTime(hnd, 1000);
handle_error(status, "set frame time failed!");

Note that also the measurement mode enumeration has changed to describe the new measurement modes better.

The old measurement mode enumeration is as follows:

// v1.3.5 measurement mode enumeration
typedef enum
{
    ARGUS_MODE_A
 
    ARGUS_MODE_B
 
} argus_mode_t;

The new measurement mode enumeration is as follows. Note that new measurement modes may be added in future releases.

// v1.4.4 measurement mode enumeration
typedef enum
{
    ARGUS_MODE_SHORT_RANGE
 
    ARGUS_MODE_LONG_RANGE
 
    ARGUS_MODE_HIGH_SPEED_SHORT_RANGE
 
    ARGUS_MODE_HIGH_SPEED_LONG_RANGE
 
} argus_mode_t;

Note that there are additional API methods to change the measurement mode:

argus_mode_t Argus_GetDefaultMeasurementMode(argus_module_version_t module);
 
status_t Argus_SetMeasurementMode(argus_hnd_t * hnd, argus_mode_t mode);
 
status_t Argus_ResetMeasurementMode(argus_hnd_t * hnd);
 
status_t Argus_GetMeasurementMode(argus_hnd_t * hnd, argus_mode_t * mode);

Improved Measurement Ready Callback

The measurement ready callback has been updated to include the concrete handle pointer (argus_hnd_t*) instead of an abstract pointer (void*). This removes the need to cast from void* to the argus_hnd_t* when passing to the Argus_EvaluateData method.

// old callback signature with void * data as second parameter
typedef status_t (*argus_callback_t)(status_t status, void * data);
 
// new callback signature with argus_hnd_t * hnd as second parameter
typedef status_t (*argus_measurement_ready_callback_t)(status_t status,
                                                       argus_hnd_t * hnd);

In consequence, the Argus_TriggerMeasurement and Argus_StartMeasurementTimer methods have changed accordingly:

// old signature
status_t Argus_StartMeasurementTimer(argus_hnd_t * hnd, argus_callback_t cb);
 
// new signature
status_t Argus_StartMeasurementTimer(argus_hnd_t * hnd, argus_measurement_ready_callback_t cb);

// old signature
status_t Argus_TriggerMeasurement(argus_hnd_t * hnd, argus_callback_t cb);
 
// new signature
status_t Argus_TriggerMeasurement(argus_hnd_t * hnd, argus_measurement_ready_callback_t cb);

Improved Measurement Evaluate Function

The Argus_EvaluateData function has been updated and the abstract void * raw pointer has been remove. The API is handling the raw data buffer now internally and the user does not need to handle the pointer any more.

// old signature with void * raw as third parameter
status_t Argus_EvaluateData(argus_hnd_t * hnd, argus_results_t * res, void * raw);
 
// new clean signature without the void * raw as third parameter
status_t Argus_EvaluateData(argus_hnd_t * hnd, argus_results_t * res);

The requirement to call Argus_EvaluateData exactly once per invocation of the measurement ready callback is still present. The API will return an error if Argus_EvaluateData is called more than once. On the other hand, the API will get stuck if Argus_EvaluateData is not called at all. Please use the new method Argus_IsDataEvaluationPending to determine if raw data is available and requires evaluation.

bool Argus_IsDataEvaluationPending(argus_hnd_t * hnd);

Note: The Argus_IsDataEvaluationPending does not replace the Argus_GetStatus function. Still, one needs to call the Argus_GetStatus function to determine if the measurement is ready in case of Argus_TriggerMeasurement or to check for timeout in case of running measurements via Argus_StartMeasurementTimer`. See also the API reference manual documentation of Argus_GetStatus and Argus_IsDataEvaluationPending` functions for more information.

Changed Data Types for Crosstalk and Offset Tables

The new data types argus_cal_offset_table_t and argus_cal_xtalk_table_t have been introduced for passing offset and crosstalk tables in and out of the API.

Function affected are:

Here is an example for the crosstalk related functions:

// v1.3.5 crosstalk functions used 3-dimensional arrays
status_t Argus_SetCalibrationCrosstalkVectorTable(argus_hnd_t * hnd, argus_mode_t mode, xtalk_t value[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y]);
 
// v1.4.4 use dedicated struct containing that data
status_t Argus_SetCalibrationCrosstalkVectorTable(argus_hnd_t * hnd, argus_cal_xtalk_table_t const * value);

Here is an example for the offset related functions:

// v1.3.5 range offset functions used 2-dimensional arrays
status_t Argus_SetCalibrationPixelRangeOffsets(argus_hnd_t * hnd, argus_mode_t mode, q0_15_t value[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]);
 
// v1.4.4 use dedicated struct containing that data
status_t Argus_SetCalibrationPixelRangeOffsets(argus_hnd_t * hnd, argus_cal_offset_table_t const * value);

Advanced Debug Data Structure for Argus_EvaluateData

In order to obtain additional debug information without any impact on the measurement performance, a new debug data structure (argus_results_debug_t) has been introduced. A new function, Argus_EvaluateDataDebug, is added to the API to receive an optional pointer to that structure. The debug data structure is optional and can be set to NULL if not required. Please note that in that case it is recommended to use the Argus_EvaluateData function instead.

// Evaluate data without generation of debug data
status_t Argus_EvaluateData(argus_hnd_t * hnd, argus_results_t * res);
 
// Evaluate data that generates additional debug data
status_t Argus_EvaluateDataDebug(argus_hnd_t * hnd, argus_results_t * res, argus_results_debug_t * dbg);

Please note that this debug information is usually not required and should only be used if explicitly requested for debugging purposes.

S2PI Hardware Abstraction Layer (HAL) Changes

In order to support multiple devices, the S2PI layer has been updated to receive the SPI slave on every function. Further, two new functions are added that are required for the API to prevent access conflicts between multiple devices.

Changed HAL Functions in the S2PI layer

The following functions have an added slave parameter. If there is no need for multiple device support, the parameter can be ignored (e.g. via (void)slave;).

// Changed functions
status_t S2PI_GetStatus(s2pi_slave_t slave)
{
    (void)slave;
    // previous implementation without slave ...
}
status_t S2PI_CaptureGpioControl(s2pi_slave_t slave)
{
    (void)slave;
    // previous implementation without slave ...
}
status_t S2PI_ReleaseGpioControl(s2pi_slave_t slave)
{
    (void)slave;
    // previous implementation without slave ...
}
status_t S2PI_Abort(s2pi_slave_t slave)
{
    (void)slave;
    // previous implementation without slave ...
}

Added HAL Functions in the S2PI layer

The newly added functions in the s2pi.h/c module are S2PI_TryGetMutex and S2PI_ReleaseMutex. If there is no need for multiple device support, the function can be ignored and simply return STATUS_OK.

// Added functions
status_t S2PI_TryGetMutex(s2pi_slave_t slave)
{
    (void) slave;
    return STATUS_OK;
}
void S2PI_ReleaseMutex(s2pi_slave_t slave)
{
    (void) slave;
}

In case of multi device support, refer to the API reference documentation of the S2PI_TryGetMutex and S2PI_ReleaseMutex functions for a reference implementation of that mechanism.