ST Expansion SW Team / VL53L1CB

The VL53L1CB proximity sensor, based on ST’s FlightSense™, Time-of-Flight technology.

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   VL53L1CB_noshield_1sensor_polls_auton VL53L1CB_noshield_1sensor_interrupt_auton X_NUCLEO_53L1A2

Based on VL53L1 library, this is a library for the VL53L1CB ToF chip.

src/vl53l1_dmax.c@18:0696efe39d08, 2021-07-21 (annotated)

Committer:
lugandc
Date:
Wed Jul 21 17:06:38 2021 +0200
Revision:
18:0696efe39d08
Parent:
7:1add29d51e72 
Cleanup i2c functions, removed all bad references to L1X

Cleanup VL53L1CB class:

 - i2c device object is passed in a consistent way in MyDevice structure

 - removed useless functions

Updated VL53L1CB component driver with bare driver release 6.6.7 content

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:3ac96e360672 1
Charles MacNeill 7:1add29d51e72 2 // SPDX-License-Identifier: BSD-3-Clause
Charles MacNeill 7:1add29d51e72 3 /******************************************************************************
Charles MacNeill 7:1add29d51e72 4 * Copyright (c) 2020, STMicroelectronics - All Rights Reserved
charlesmn 0:3ac96e360672 5
Charles MacNeill 7:1add29d51e72 6 This file is part of VL53L1 Protected and is dual licensed,
Charles MacNeill 7:1add29d51e72 7 either 'STMicroelectronics Proprietary license'
Charles MacNeill 7:1add29d51e72 8 or 'BSD 3-clause "New" or "Revised" License' , at your option.
Charles MacNeill 7:1add29d51e72 9
Charles MacNeill 7:1add29d51e72 10 ******************************************************************************
Charles MacNeill 7:1add29d51e72 11
Charles MacNeill 7:1add29d51e72 12 'STMicroelectronics Proprietary license'
Charles MacNeill 7:1add29d51e72 13
Charles MacNeill 7:1add29d51e72 14 ******************************************************************************
charlesmn 0:3ac96e360672 15
charlesmn 0:3ac96e360672 16 License terms: STMicroelectronics Proprietary in accordance with licensing
charlesmn 0:3ac96e360672 17 terms at www.st.com/sla0081
charlesmn 0:3ac96e360672 18
Charles MacNeill 7:1add29d51e72 19 ******************************************************************************
Charles MacNeill 7:1add29d51e72 20 */
charlesmn 0:3ac96e360672 21
charlesmn 0:3ac96e360672 22
charlesmn 0:3ac96e360672 23
charlesmn 0:3ac96e360672 24
charlesmn 0:3ac96e360672 25 #include "vl53l1_types.h"
charlesmn 0:3ac96e360672 26 #include "vl53l1_platform_log.h"
charlesmn 0:3ac96e360672 27 #include "vl53l1_platform_user_defines.h"
charlesmn 0:3ac96e360672 28 #include "vl53l1_core_support.h"
charlesmn 0:3ac96e360672 29 #include "vl53l1_error_codes.h"
charlesmn 0:3ac96e360672 30
charlesmn 0:3ac96e360672 31 #include "vl53l1_dmax.h"
charlesmn 0:3ac96e360672 32
charlesmn 0:3ac96e360672 33
charlesmn 0:3ac96e360672 34 #define LOG_FUNCTION_START(fmt, ...) \
charlesmn 0:3ac96e360672 35 _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_PROTECTED, fmt, ##__VA_ARGS__)
charlesmn 0:3ac96e360672 36 #define LOG_FUNCTION_END(status, ...) \
charlesmn 0:3ac96e360672 37 _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_PROTECTED, status, ##__VA_ARGS__)
charlesmn 0:3ac96e360672 38 #define LOG_FUNCTION_END_FMT(status, fmt, ...) \
charlesmn 0:3ac96e360672 39 _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_PROTECTED, \
charlesmn 0:3ac96e360672 40 status, fmt, ##__VA_ARGS__)
charlesmn 0:3ac96e360672 41
charlesmn 0:3ac96e360672 42 #define trace_print(level, ...) \
charlesmn 0:3ac96e360672 43 _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_PROTECTED, \
charlesmn 0:3ac96e360672 44 level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__)
charlesmn 0:3ac96e360672 45
charlesmn 0:3ac96e360672 46
charlesmn 0:3ac96e360672 47 VL53L1_Error VL53L1_f_001(
charlesmn 0:3ac96e360672 48 uint16_t target_reflectance,
charlesmn 0:3ac96e360672 49 VL53L1_dmax_calibration_data_t *pcal,
charlesmn 0:3ac96e360672 50 VL53L1_hist_gen3_dmax_config_t *pcfg,
charlesmn 0:3ac96e360672 51 VL53L1_histogram_bin_data_t *pbins,
charlesmn 0:3ac96e360672 52 VL53L1_hist_gen3_dmax_private_data_t *pdata,
charlesmn 0:3ac96e360672 53 int16_t *pambient_dmax_mm)
charlesmn 0:3ac96e360672 54 {
charlesmn 0:3ac96e360672 55
charlesmn 0:3ac96e360672 56
charlesmn 0:3ac96e360672 57
charlesmn 0:3ac96e360672 58 VL53L1_Error status = VL53L1_ERROR_NONE;
charlesmn 0:3ac96e360672 59
charlesmn 0:3ac96e360672 60 uint32_t pll_period_us = 0;
charlesmn 0:3ac96e360672 61 uint32_t periods_elapsed = 0;
charlesmn 0:3ac96e360672 62
charlesmn 0:3ac96e360672 63 uint32_t tmp32 = 0;
charlesmn 0:3ac96e360672 64 uint64_t tmp64 = 0;
charlesmn 0:3ac96e360672 65
charlesmn 0:3ac96e360672 66 uint32_t amb_thres_delta = 0;
charlesmn 0:3ac96e360672 67
charlesmn 0:3ac96e360672 68 LOG_FUNCTION_START("");
charlesmn 0:3ac96e360672 69
charlesmn 0:3ac96e360672 70
charlesmn 0:3ac96e360672 71
charlesmn 0:3ac96e360672 72 pdata->VL53L1_p_006 = 0x0000;
charlesmn 0:3ac96e360672 73 pdata->VL53L1_p_033 = 0x0000;
charlesmn 0:3ac96e360672 74 pdata->VL53L1_p_001 = 0x0000;
charlesmn 0:3ac96e360672 75 pdata->VL53L1_p_012 = 0x0000;
charlesmn 0:3ac96e360672 76 pdata->VL53L1_p_004 = 0x0000;
charlesmn 0:3ac96e360672 77 pdata->VL53L1_p_034 = 0x0000;
charlesmn 0:3ac96e360672 78 pdata->VL53L1_p_035 = 0;
charlesmn 0:3ac96e360672 79 pdata->VL53L1_p_007 = 0;
charlesmn 0:3ac96e360672 80
charlesmn 0:3ac96e360672 81 *pambient_dmax_mm = 0;
charlesmn 0:3ac96e360672 82
charlesmn 0:3ac96e360672 83
charlesmn 0:3ac96e360672 84 if ((pbins->VL53L1_p_019 != 0) &&
charlesmn 0:3ac96e360672 85 (pbins->total_periods_elapsed != 0)) {
charlesmn 0:3ac96e360672 86
charlesmn 0:3ac96e360672 87
charlesmn 0:3ac96e360672 88
charlesmn 0:3ac96e360672 89 pll_period_us =
charlesmn 0:3ac96e360672 90 VL53L1_calc_pll_period_us(pbins->VL53L1_p_019);
charlesmn 0:3ac96e360672 91
charlesmn 0:3ac96e360672 92
charlesmn 0:3ac96e360672 93
charlesmn 0:3ac96e360672 94 periods_elapsed = pbins->total_periods_elapsed + 1;
charlesmn 0:3ac96e360672 95
charlesmn 0:3ac96e360672 96
charlesmn 0:3ac96e360672 97
charlesmn 0:3ac96e360672 98 pdata->VL53L1_p_036 =
charlesmn 0:3ac96e360672 99 VL53L1_duration_maths(
charlesmn 0:3ac96e360672 100 pll_period_us,
charlesmn 0:3ac96e360672 101 1<<4,
charlesmn 0:3ac96e360672 102 VL53L1_RANGING_WINDOW_VCSEL_PERIODS,
charlesmn 0:3ac96e360672 103 periods_elapsed);
charlesmn 0:3ac96e360672 104
charlesmn 0:3ac96e360672 105
charlesmn 0:3ac96e360672 106 pdata->VL53L1_p_001 =
charlesmn 0:3ac96e360672 107 VL53L1_rate_maths(
charlesmn 0:3ac96e360672 108 pbins->VL53L1_p_004,
charlesmn 0:3ac96e360672 109 pdata->VL53L1_p_036);
charlesmn 0:3ac96e360672 110
charlesmn 0:3ac96e360672 111
charlesmn 0:3ac96e360672 112
charlesmn 0:3ac96e360672 113 pdata->VL53L1_p_033 =
charlesmn 0:3ac96e360672 114 VL53L1_events_per_spad_maths(
charlesmn 0:3ac96e360672 115 pbins->VL53L1_p_004,
charlesmn 0:3ac96e360672 116 pbins->result__dss_actual_effective_spads,
charlesmn 0:3ac96e360672 117 pdata->VL53L1_p_036);
charlesmn 0:3ac96e360672 118
charlesmn 0:3ac96e360672 119
charlesmn 0:3ac96e360672 120
charlesmn 0:3ac96e360672 121 pdata->VL53L1_p_037 = pcfg->max_effective_spads;
charlesmn 0:3ac96e360672 122 pdata->VL53L1_p_006 = pcfg->max_effective_spads;
charlesmn 0:3ac96e360672 123
charlesmn 0:3ac96e360672 124 if (pdata->VL53L1_p_033 > 0) {
charlesmn 0:3ac96e360672 125 tmp64 =
charlesmn 0:3ac96e360672 126 (uint64_t)pcfg->dss_config__target_total_rate_mcps;
charlesmn 0:3ac96e360672 127 tmp64 *= 1000;
charlesmn 0:3ac96e360672 128 tmp64 <<= (11+1);
charlesmn 0:3ac96e360672 129 tmp32 = pdata->VL53L1_p_033/2;
charlesmn 0:3ac96e360672 130 tmp64 += (uint64_t)tmp32;
charlesmn 0:3ac96e360672 131 tmp64 = do_division_u(tmp64,
charlesmn 0:3ac96e360672 132 (uint64_t)pdata->VL53L1_p_033);
charlesmn 0:3ac96e360672 133
charlesmn 0:3ac96e360672 134 if (tmp64 < (uint64_t)pcfg->max_effective_spads)
charlesmn 0:3ac96e360672 135 pdata->VL53L1_p_006 = (uint16_t)tmp64;
charlesmn 0:3ac96e360672 136 }
charlesmn 0:3ac96e360672 137 }
charlesmn 0:3ac96e360672 138
charlesmn 0:3ac96e360672 139
charlesmn 0:3ac96e360672 140
charlesmn 0:3ac96e360672 141 if ((pcal->ref__actual_effective_spads != 0) &&
charlesmn 0:3ac96e360672 142 (pbins->VL53L1_p_019 != 0) &&
charlesmn 0:3ac96e360672 143 (pcal->ref_reflectance_pc != 0) &&
charlesmn 0:3ac96e360672 144 (pbins->total_periods_elapsed != 0)) {
charlesmn 0:3ac96e360672 145
charlesmn 0:3ac96e360672 146
charlesmn 0:3ac96e360672 147
charlesmn 0:3ac96e360672 148 tmp64 = (uint64_t)pcal->ref__peak_signal_count_rate_mcps;
charlesmn 0:3ac96e360672 149 tmp64 *= (1000 * 256);
charlesmn 0:3ac96e360672 150 tmp32 = pcal->ref__actual_effective_spads/2;
charlesmn 0:3ac96e360672 151 tmp64 += (uint64_t)tmp32;
charlesmn 0:3ac96e360672 152 tmp64 = do_division_u(tmp64,
charlesmn 0:3ac96e360672 153 (uint64_t)pcal->ref__actual_effective_spads);
charlesmn 0:3ac96e360672 154
charlesmn 0:3ac96e360672 155 pdata->VL53L1_p_012 = (uint32_t)tmp64;
charlesmn 0:3ac96e360672 156 pdata->VL53L1_p_012 <<= 4;
charlesmn 0:3ac96e360672 157
charlesmn 0:3ac96e360672 158
charlesmn 0:3ac96e360672 159
charlesmn 0:3ac96e360672 160 tmp64 = (uint64_t)pdata->VL53L1_p_036;
charlesmn 0:3ac96e360672 161 tmp64 *= (uint64_t)pdata->VL53L1_p_033;
charlesmn 0:3ac96e360672 162 tmp64 *= (uint64_t)pdata->VL53L1_p_006;
charlesmn 0:3ac96e360672 163 tmp64 += (1<<(11+7));
charlesmn 0:3ac96e360672 164 tmp64 >>= (11+8);
charlesmn 0:3ac96e360672 165 tmp64 += 500;
charlesmn 0:3ac96e360672 166 tmp64 = do_division_u(tmp64, 1000);
charlesmn 0:3ac96e360672 167
charlesmn 0:3ac96e360672 168
charlesmn 0:3ac96e360672 169 if (tmp64 > 0x00FFFFFF)
charlesmn 0:3ac96e360672 170 tmp64 = 0x00FFFFFF;
charlesmn 0:3ac96e360672 171
charlesmn 0:3ac96e360672 172 pdata->VL53L1_p_004 = (uint32_t)tmp64;
charlesmn 0:3ac96e360672 173
charlesmn 0:3ac96e360672 174
charlesmn 0:3ac96e360672 175
charlesmn 0:3ac96e360672 176 tmp64 = (uint64_t)pdata->VL53L1_p_036;
charlesmn 0:3ac96e360672 177 tmp64 *= (uint64_t)pdata->VL53L1_p_012;
charlesmn 0:3ac96e360672 178 tmp64 *= (uint64_t)pdata->VL53L1_p_006;
charlesmn 0:3ac96e360672 179 tmp64 += (1<<(11+7));
charlesmn 0:3ac96e360672 180 tmp64 >>= (11+8);
charlesmn 0:3ac96e360672 181
charlesmn 0:3ac96e360672 182
charlesmn 0:3ac96e360672 183
charlesmn 0:3ac96e360672 184 tmp64 *= ((uint64_t)target_reflectance *
charlesmn 0:3ac96e360672 185 (uint64_t)pcal->coverglass_transmission);
charlesmn 0:3ac96e360672 186
charlesmn 0:3ac96e360672 187 tmp64 += ((uint64_t)pcal->ref_reflectance_pc * 128);
charlesmn 0:3ac96e360672 188 tmp64 = do_division_u(tmp64,
charlesmn 0:3ac96e360672 189 ((uint64_t)pcal->ref_reflectance_pc * 256));
charlesmn 0:3ac96e360672 190
charlesmn 0:3ac96e360672 191 tmp64 += 500;
charlesmn 0:3ac96e360672 192 tmp64 = do_division_u(tmp64, 1000);
charlesmn 0:3ac96e360672 193
charlesmn 0:3ac96e360672 194
charlesmn 0:3ac96e360672 195 if (tmp64 > 0x00FFFFFF)
charlesmn 0:3ac96e360672 196 tmp64 = 0x00FFFFFF;
charlesmn 0:3ac96e360672 197
charlesmn 0:3ac96e360672 198 pdata->VL53L1_p_034 = (uint32_t)tmp64;
charlesmn 0:3ac96e360672 199
charlesmn 0:3ac96e360672 200
charlesmn 0:3ac96e360672 201
charlesmn 0:3ac96e360672 202 tmp32 = VL53L1_isqrt(pdata->VL53L1_p_004 << 8);
charlesmn 0:3ac96e360672 203 tmp32 *= (uint32_t)pcfg->ambient_thresh_sigma;
charlesmn 0:3ac96e360672 204
charlesmn 0:3ac96e360672 205
charlesmn 0:3ac96e360672 206
charlesmn 0:3ac96e360672 207 if (pdata->VL53L1_p_004 <
charlesmn 0:3ac96e360672 208 (uint32_t)pcfg->min_ambient_thresh_events) {
charlesmn 0:3ac96e360672 209
charlesmn 0:3ac96e360672 210 amb_thres_delta =
charlesmn 0:3ac96e360672 211 pcfg->min_ambient_thresh_events -
charlesmn 0:3ac96e360672 212 (uint32_t)pdata->VL53L1_p_004;
charlesmn 0:3ac96e360672 213
charlesmn 0:3ac96e360672 214
charlesmn 0:3ac96e360672 215 amb_thres_delta <<= 8;
charlesmn 0:3ac96e360672 216
charlesmn 0:3ac96e360672 217 if (tmp32 < amb_thres_delta)
charlesmn 0:3ac96e360672 218 tmp32 = amb_thres_delta;
charlesmn 0:3ac96e360672 219 }
charlesmn 0:3ac96e360672 220
charlesmn 0:3ac96e360672 221
charlesmn 0:3ac96e360672 222
charlesmn 0:3ac96e360672 223 pdata->VL53L1_p_007 =
charlesmn 0:3ac96e360672 224 (int16_t)VL53L1_f_002(
charlesmn 0:3ac96e360672 225 tmp32,
charlesmn 0:3ac96e360672 226 pdata->VL53L1_p_034,
charlesmn 0:3ac96e360672 227 (uint32_t)pcal->ref__distance_mm,
charlesmn 0:3ac96e360672 228 (uint32_t)pcfg->signal_thresh_sigma);
charlesmn 0:3ac96e360672 229
charlesmn 0:3ac96e360672 230
charlesmn 0:3ac96e360672 231
charlesmn 0:3ac96e360672 232 tmp32 = (uint32_t)pdata->VL53L1_p_034;
charlesmn 0:3ac96e360672 233 tmp32 *= (uint32_t)pbins->vcsel_width;
charlesmn 0:3ac96e360672 234 tmp32 += (1 << 3);
charlesmn 0:3ac96e360672 235 tmp32 /= (1 << 4);
charlesmn 0:3ac96e360672 236
charlesmn 0:3ac96e360672 237 pdata->VL53L1_p_035 =
charlesmn 0:3ac96e360672 238 (int16_t)VL53L1_f_002(
charlesmn 0:3ac96e360672 239 256 * (uint32_t)pcfg->signal_total_events_limit,
charlesmn 0:3ac96e360672 240 tmp32,
charlesmn 0:3ac96e360672 241 (uint32_t)pcal->ref__distance_mm,
charlesmn 0:3ac96e360672 242 (uint32_t)pcfg->signal_thresh_sigma);
charlesmn 0:3ac96e360672 243
charlesmn 0:3ac96e360672 244
charlesmn 0:3ac96e360672 245
charlesmn 0:3ac96e360672 246
charlesmn 0:3ac96e360672 247 if (pdata->VL53L1_p_035 < pdata->VL53L1_p_007)
charlesmn 0:3ac96e360672 248 *pambient_dmax_mm = pdata->VL53L1_p_035;
charlesmn 0:3ac96e360672 249 else
charlesmn 0:3ac96e360672 250 *pambient_dmax_mm = pdata->VL53L1_p_007;
charlesmn 0:3ac96e360672 251
charlesmn 0:3ac96e360672 252 }
charlesmn 0:3ac96e360672 253
charlesmn 0:3ac96e360672 254 LOG_FUNCTION_END(status);
charlesmn 0:3ac96e360672 255
charlesmn 0:3ac96e360672 256 return status;
charlesmn 0:3ac96e360672 257
charlesmn 0:3ac96e360672 258 }
charlesmn 0:3ac96e360672 259
charlesmn 0:3ac96e360672 260
charlesmn 0:3ac96e360672 261 uint32_t VL53L1_f_002(
charlesmn 0:3ac96e360672 262 uint32_t events_threshold,
charlesmn 0:3ac96e360672 263 uint32_t ref_signal_events,
charlesmn 0:3ac96e360672 264 uint32_t ref_distance_mm,
charlesmn 0:3ac96e360672 265 uint32_t signal_thresh_sigma)
charlesmn 0:3ac96e360672 266 {
charlesmn 0:3ac96e360672 267
charlesmn 0:3ac96e360672 268
charlesmn 0:3ac96e360672 269
charlesmn 0:3ac96e360672 270 uint32_t tmp32 = 0;
charlesmn 0:3ac96e360672 271 uint32_t range_mm = 0;
charlesmn 0:3ac96e360672 272
charlesmn 0:3ac96e360672 273 tmp32 = 4 * events_threshold;
charlesmn 0:3ac96e360672 274
charlesmn 0:3ac96e360672 275
charlesmn 0:3ac96e360672 276
charlesmn 0:3ac96e360672 277 tmp32 += ((uint32_t)signal_thresh_sigma *
charlesmn 0:3ac96e360672 278 (uint32_t)signal_thresh_sigma);
charlesmn 0:3ac96e360672 279
charlesmn 0:3ac96e360672 280
charlesmn 0:3ac96e360672 281
charlesmn 0:3ac96e360672 282 tmp32 = VL53L1_isqrt(tmp32);
charlesmn 0:3ac96e360672 283 tmp32 += (uint32_t)signal_thresh_sigma;
charlesmn 0:3ac96e360672 284
charlesmn 0:3ac96e360672 285
charlesmn 0:3ac96e360672 286
charlesmn 0:3ac96e360672 287 range_mm =
charlesmn 0:3ac96e360672 288 (uint32_t)VL53L1_isqrt(ref_signal_events << 4);
charlesmn 0:3ac96e360672 289 range_mm *= ref_distance_mm;
charlesmn 0:3ac96e360672 290
charlesmn 0:3ac96e360672 291 if (tmp32 > 0) {
charlesmn 0:3ac96e360672 292 range_mm += (tmp32);
charlesmn 0:3ac96e360672 293 range_mm /= (2*tmp32);
charlesmn 0:3ac96e360672 294 }
charlesmn 0:3ac96e360672 295
charlesmn 0:3ac96e360672 296 return range_mm;
charlesmn 0:3ac96e360672 297
charlesmn 0:3ac96e360672 298 }
charlesmn 0:3ac96e360672 299