VL53L1CB - The VL53L1CB proximity sensor, based on ST’s Flig…

ST Expansion SW Team » Code » VL53L1CB

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_api.c@1:76429facbf6f, 2020-11-08 (annotated)

Committer:: charlesmn
Date:: Sun Nov 08 13:50:58 2020 +0000
Revision:: 1:76429facbf6f
Parent:: 0:3ac96e360672
Child:: 7:1add29d51e72

Cope with MBed 6.4

Who changed what in which revision?

User	Revision	Line number	New contents of line
charlesmn	0:3ac96e360672	1
charlesmn	0:3ac96e360672	2	/*******************************************************************************
charlesmn	0:3ac96e360672	3	* Copyright (c) 2020, STMicroelectronics - All Rights Reserved
charlesmn	0:3ac96e360672	4
charlesmn	0:3ac96e360672	5	This file is part of VL53L1 Core and is dual licensed,
charlesmn	0:3ac96e360672	6	either 'STMicroelectronics
charlesmn	0:3ac96e360672	7	Proprietary license'
charlesmn	0:3ac96e360672	8	or 'BSD 3-clause "New" or "Revised" License' , at your option.
charlesmn	0:3ac96e360672	9
charlesmn	0:3ac96e360672	10	********************************************************************************
charlesmn	0:3ac96e360672	11
charlesmn	0:3ac96e360672	12	'STMicroelectronics Proprietary license'
charlesmn	0:3ac96e360672	13
charlesmn	0:3ac96e360672	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
charlesmn	0:3ac96e360672	19	STMicroelectronics confidential
charlesmn	0:3ac96e360672	20	Reproduction and Communication of this document is strictly prohibited unless
charlesmn	0:3ac96e360672	21	specifically authorized in writing by STMicroelectronics.
charlesmn	0:3ac96e360672	22
charlesmn	0:3ac96e360672	23
charlesmn	0:3ac96e360672	24	********************************************************************************
charlesmn	0:3ac96e360672	25
charlesmn	0:3ac96e360672	26	Alternatively, VL53L1 Core may be distributed under the terms of
charlesmn	0:3ac96e360672	27	'BSD 3-clause "New" or "Revised" License', in which case the following
charlesmn	0:3ac96e360672	28	provisions apply instead of the ones
charlesmn	0:3ac96e360672	29	mentioned above :
charlesmn	0:3ac96e360672	30
charlesmn	0:3ac96e360672	31	********************************************************************************
charlesmn	0:3ac96e360672	32
charlesmn	0:3ac96e360672	33	License terms: BSD 3-clause "New" or "Revised" License.
charlesmn	0:3ac96e360672	34
charlesmn	0:3ac96e360672	35	Redistribution and use in source and binary forms, with or without
charlesmn	0:3ac96e360672	36	modification, are permitted provided that the following conditions are met:
charlesmn	0:3ac96e360672	37
charlesmn	0:3ac96e360672	38	1. Redistributions of source code must retain the above copyright notice, this
charlesmn	0:3ac96e360672	39	list of conditions and the following disclaimer.
charlesmn	0:3ac96e360672	40
charlesmn	0:3ac96e360672	41	2. Redistributions in binary form must reproduce the above copyright notice,
charlesmn	0:3ac96e360672	42	this list of conditions and the following disclaimer in the documentation
charlesmn	0:3ac96e360672	43	and/or other materials provided with the distribution.
charlesmn	0:3ac96e360672	44
charlesmn	0:3ac96e360672	45	3. Neither the name of the copyright holder nor the names of its contributors
charlesmn	0:3ac96e360672	46	may be used to endorse or promote products derived from this software
charlesmn	0:3ac96e360672	47	without specific prior written permission.
charlesmn	0:3ac96e360672	48
charlesmn	0:3ac96e360672	49	THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
charlesmn	0:3ac96e360672	50	AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
charlesmn	0:3ac96e360672	51	IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
charlesmn	0:3ac96e360672	52	DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
charlesmn	0:3ac96e360672	53	FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
charlesmn	0:3ac96e360672	54	DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
charlesmn	0:3ac96e360672	55	SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
charlesmn	0:3ac96e360672	56	CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
charlesmn	0:3ac96e360672	57	OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
charlesmn	0:3ac96e360672	58	OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
charlesmn	0:3ac96e360672	59
charlesmn	0:3ac96e360672	60
charlesmn	0:3ac96e360672	61	********************************************************************************
charlesmn	0:3ac96e360672	62
charlesmn	0:3ac96e360672	63	*/
charlesmn	0:3ac96e360672	64
charlesmn	0:3ac96e360672	65
charlesmn	0:3ac96e360672	66	#include "vl53l1_api.h"
charlesmn	0:3ac96e360672	67	#include "vl53l1_api_strings.h"
charlesmn	0:3ac96e360672	68	#include "vl53l1_register_settings.h"
charlesmn	0:3ac96e360672	69	#include "vl53l1_register_funcs.h"
charlesmn	0:3ac96e360672	70	#include "vl53l1_core.h"
charlesmn	0:3ac96e360672	71	#include "vl53l1_api_calibration.h"
charlesmn	0:3ac96e360672	72	#include "vl53l1_wait.h"
charlesmn	0:3ac96e360672	73	#include "vl53l1_preset_setup.h"
charlesmn	0:3ac96e360672	74	#include "vl53l1_api_debug.h"
charlesmn	0:3ac96e360672	75	#include "vl53l1_api_core.h"
charlesmn	0:3ac96e360672	76	#include "vl53l1_nvm.h"
charlesmn	0:3ac96e360672	77
charlesmn	1:76429facbf6f	78	#include "mbed_wait_api.h"
charlesmn	1:76429facbf6f	79
charlesmn	0:3ac96e360672	80
charlesmn	0:3ac96e360672	81	#define ZONE_CHECK VL53L1_MAX_USER_ZONES
charlesmn	0:3ac96e360672	82
charlesmn	0:3ac96e360672	83	#if ZONE_CHECK < 5
charlesmn	0:3ac96e360672	84	#error Must define at least 5 zones in MAX_USER_ZONES constant
charlesmn	0:3ac96e360672	85	#endif
charlesmn	0:3ac96e360672	86
charlesmn	0:3ac96e360672	87	#define LOG_FUNCTION_START(fmt, ...) \
charlesmn	0:3ac96e360672	88	_LOG_FUNCTION_START(VL53L1_TRACE_MODULE_API, fmt, ##__VA_ARGS__)
charlesmn	0:3ac96e360672	89	#define LOG_FUNCTION_END(status, ...) \
charlesmn	0:3ac96e360672	90	_LOG_FUNCTION_END(VL53L1_TRACE_MODULE_API, status, ##__VA_ARGS__)
charlesmn	0:3ac96e360672	91	#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
charlesmn	0:3ac96e360672	92	_LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_API, status, \
charlesmn	0:3ac96e360672	93	fmt, ##__VA_ARGS__)
charlesmn	0:3ac96e360672	94
charlesmn	0:3ac96e360672	95	#ifdef VL53L1_LOG_ENABLE
charlesmn	0:3ac96e360672	96	#define trace_print(level, ...) trace_print_module_function(\
charlesmn	0:3ac96e360672	97	VL53L1_TRACE_MODULE_API, level, VL53L1_TRACE_FUNCTION_NONE, \
charlesmn	0:3ac96e360672	98	##__VA_ARGS__)
charlesmn	0:3ac96e360672	99	#endif
charlesmn	0:3ac96e360672	100
charlesmn	0:3ac96e360672	101	#ifndef MIN
charlesmn	0:3ac96e360672	102	#define MIN(v1, v2) ((v1) < (v2) ? (v1) : (v2))
charlesmn	0:3ac96e360672	103	#endif
charlesmn	0:3ac96e360672	104	#ifndef MAX
charlesmn	0:3ac96e360672	105	#define MAX(v1, v2) ((v1) < (v2) ? (v2) : (v1))
charlesmn	0:3ac96e360672	106	#endif
charlesmn	0:3ac96e360672	107
charlesmn	0:3ac96e360672	108	#define DMAX_REFLECTANCE_IDX 2
charlesmn	0:3ac96e360672	109
charlesmn	0:3ac96e360672	110
charlesmn	0:3ac96e360672	111
charlesmn	0:3ac96e360672	112	#define LOWPOWER_AUTO_VHV_LOOP_DURATION_US 245
charlesmn	0:3ac96e360672	113	#define LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING 1448
charlesmn	0:3ac96e360672	114	#define LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING 2100
charlesmn	0:3ac96e360672	115
charlesmn	0:3ac96e360672	116	#define FDA_MAX_TIMING_BUDGET_US 550000
charlesmn	0:3ac96e360672	117
charlesmn	0:3ac96e360672	118
charlesmn	0:3ac96e360672	119
charlesmn	0:3ac96e360672	120
charlesmn	0:3ac96e360672	121	static int32_t BDTable[VL53L1_TUNING_MAX_TUNABLE_KEY] = {
charlesmn	0:3ac96e360672	122	TUNING_VERSION,
charlesmn	0:3ac96e360672	123	TUNING_PROXY_MIN,
charlesmn	0:3ac96e360672	124	TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM,
charlesmn	0:3ac96e360672	125	TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER,
charlesmn	0:3ac96e360672	126	TUNING_MIN_AMBIENT_DMAX_VALID,
charlesmn	0:3ac96e360672	127	TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER,
charlesmn	0:3ac96e360672	128	TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM,
charlesmn	0:3ac96e360672	129	TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT,
charlesmn	0:3ac96e360672	130	TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN,
charlesmn	0:3ac96e360672	131	TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET,
charlesmn	0:3ac96e360672	132	TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR_DEFAULT,
charlesmn	0:3ac96e360672	133	};
charlesmn	0:3ac96e360672	134
charlesmn	0:3ac96e360672	135
charlesmn	0:3ac96e360672	136	VL53L1_Error SingleTargetXTalkCalibration(VL53L1_DEV Dev)
charlesmn	0:3ac96e360672	137	{
charlesmn	0:3ac96e360672	138	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	139
charlesmn	0:3ac96e360672	140	uint32_t sum_ranging = 0;
charlesmn	0:3ac96e360672	141	uint32_t sum_spads = 0;
charlesmn	0:3ac96e360672	142	FixPoint1616_t sum_signalRate = 0;
charlesmn	0:3ac96e360672	143	FixPoint1616_t total_count = 0;
charlesmn	0:3ac96e360672	144	uint8_t xtalk_meas = 0;
charlesmn	0:3ac96e360672	145	uint8_t xtalk_measmax =
charlesmn	0:3ac96e360672	146	BDTable[VL53L1_TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER];
charlesmn	0:3ac96e360672	147	VL53L1_RangingMeasurementData_t RMData;
charlesmn	0:3ac96e360672	148	FixPoint1616_t xTalkStoredMeanSignalRate;
charlesmn	0:3ac96e360672	149	FixPoint1616_t xTalkStoredMeanRange;
charlesmn	0:3ac96e360672	150	FixPoint1616_t xTalkStoredMeanRtnSpads;
charlesmn	0:3ac96e360672	151	uint32_t xTalkStoredMeanRtnSpadsAsInt;
charlesmn	0:3ac96e360672	152	uint32_t xTalkCalDistanceAsInt;
charlesmn	0:3ac96e360672	153	FixPoint1616_t XTalkCompensationRateMegaCps;
charlesmn	0:3ac96e360672	154	uint32_t signalXTalkTotalPerSpad;
charlesmn	0:3ac96e360672	155	VL53L1_PresetModes PresetMode;
charlesmn	0:3ac96e360672	156	VL53L1_CalibrationData_t CalibrationData;
charlesmn	0:3ac96e360672	157	VL53L1_CustomerNvmManaged_t *pC;
charlesmn	0:3ac96e360672	158
charlesmn	0:3ac96e360672	159
charlesmn	0:3ac96e360672	160	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	161
charlesmn	0:3ac96e360672	162
charlesmn	0:3ac96e360672	163	PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode);
charlesmn	0:3ac96e360672	164
charlesmn	0:3ac96e360672	165	if ((PresetMode != VL53L1_PRESETMODE_AUTONOMOUS) &&
charlesmn	0:3ac96e360672	166	(PresetMode != VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS) &&
charlesmn	0:3ac96e360672	167	(PresetMode != VL53L1_PRESETMODE_LITE_RANGING)) {
charlesmn	0:3ac96e360672	168	Status = VL53L1_ERROR_MODE_NOT_SUPPORTED;
charlesmn	0:3ac96e360672	169	goto ENDFUNC;
charlesmn	0:3ac96e360672	170	}
charlesmn	0:3ac96e360672	171
charlesmn	0:3ac96e360672	172
charlesmn	0:3ac96e360672	173	Status = VL53L1_disable_xtalk_compensation(Dev);
charlesmn	0:3ac96e360672	174
charlesmn	0:3ac96e360672	175	if (Status != VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	176	goto ENDFUNC;
charlesmn	0:3ac96e360672	177
charlesmn	0:3ac96e360672	178	Status = VL53L1_StartMeasurement(Dev);
charlesmn	0:3ac96e360672	179
charlesmn	0:3ac96e360672	180	if (Status != VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	181	goto ENDFUNC;
charlesmn	0:3ac96e360672	182
charlesmn	0:3ac96e360672	183
charlesmn	0:3ac96e360672	184	VL53L1_WaitMeasurementDataReady(Dev);
charlesmn	0:3ac96e360672	185	VL53L1_GetRangingMeasurementData(Dev, &RMData);
charlesmn	0:3ac96e360672	186	VL53L1_ClearInterruptAndStartMeasurement(Dev);
charlesmn	0:3ac96e360672	187
charlesmn	0:3ac96e360672	188	sum_ranging = 0;
charlesmn	0:3ac96e360672	189	sum_spads = 0;
charlesmn	0:3ac96e360672	190	sum_signalRate = 0;
charlesmn	0:3ac96e360672	191	total_count = 0;
charlesmn	0:3ac96e360672	192	for (xtalk_meas = 0; xtalk_meas < xtalk_measmax; xtalk_meas++) {
charlesmn	0:3ac96e360672	193	VL53L1_WaitMeasurementDataReady(Dev);
charlesmn	0:3ac96e360672	194	VL53L1_GetRangingMeasurementData(Dev, &RMData);
charlesmn	0:3ac96e360672	195	VL53L1_ClearInterruptAndStartMeasurement(Dev);
charlesmn	0:3ac96e360672	196	if (RMData.RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) {
charlesmn	0:3ac96e360672	197	sum_ranging += RMData.RangeMilliMeter;
charlesmn	0:3ac96e360672	198	sum_signalRate += RMData.SignalRateRtnMegaCps;
charlesmn	0:3ac96e360672	199	sum_spads += RMData.EffectiveSpadRtnCount / 256;
charlesmn	0:3ac96e360672	200	total_count++;
charlesmn	0:3ac96e360672	201	}
charlesmn	0:3ac96e360672	202	}
charlesmn	0:3ac96e360672	203	Status = VL53L1_StopMeasurement(Dev);
charlesmn	0:3ac96e360672	204
charlesmn	0:3ac96e360672	205	if (total_count > 0) {
charlesmn	0:3ac96e360672	206
charlesmn	0:3ac96e360672	207	xTalkStoredMeanSignalRate = sum_signalRate / total_count;
charlesmn	0:3ac96e360672	208	xTalkStoredMeanRange = (FixPoint1616_t)(sum_ranging << 16);
charlesmn	0:3ac96e360672	209	xTalkStoredMeanRange /= total_count;
charlesmn	0:3ac96e360672	210	xTalkStoredMeanRtnSpads = (FixPoint1616_t)(sum_spads << 16);
charlesmn	0:3ac96e360672	211	xTalkStoredMeanRtnSpads /= total_count;
charlesmn	0:3ac96e360672	212
charlesmn	0:3ac96e360672	213
charlesmn	0:3ac96e360672	214	xTalkStoredMeanRtnSpadsAsInt = (xTalkStoredMeanRtnSpads +
charlesmn	0:3ac96e360672	215	0x8000) >> 16;
charlesmn	0:3ac96e360672	216
charlesmn	0:3ac96e360672	217
charlesmn	0:3ac96e360672	218	xTalkCalDistanceAsInt = ((uint32_t)BDTable[
charlesmn	0:3ac96e360672	219	VL53L1_TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM]);
charlesmn	0:3ac96e360672	220	if (xTalkStoredMeanRtnSpadsAsInt == 0 \|\|
charlesmn	0:3ac96e360672	221	xTalkCalDistanceAsInt == 0 \|\|
charlesmn	0:3ac96e360672	222	xTalkStoredMeanRange >= (xTalkCalDistanceAsInt << 16)) {
charlesmn	0:3ac96e360672	223	XTalkCompensationRateMegaCps = 0;
charlesmn	0:3ac96e360672	224	} else {
charlesmn	0:3ac96e360672	225
charlesmn	0:3ac96e360672	226	signalXTalkTotalPerSpad = (xTalkStoredMeanSignalRate) /
charlesmn	0:3ac96e360672	227	xTalkStoredMeanRtnSpadsAsInt;
charlesmn	0:3ac96e360672	228
charlesmn	0:3ac96e360672	229
charlesmn	0:3ac96e360672	230	signalXTalkTotalPerSpad *= (((uint32_t)1 << 16) -
charlesmn	0:3ac96e360672	231	(xTalkStoredMeanRange / xTalkCalDistanceAsInt));
charlesmn	0:3ac96e360672	232
charlesmn	0:3ac96e360672	233
charlesmn	0:3ac96e360672	234	XTalkCompensationRateMegaCps = (signalXTalkTotalPerSpad
charlesmn	0:3ac96e360672	235	+ 0x8000) >> 16;
charlesmn	0:3ac96e360672	236	}
charlesmn	0:3ac96e360672	237
charlesmn	0:3ac96e360672	238
charlesmn	0:3ac96e360672	239	Status = VL53L1_GetCalibrationData(Dev, &CalibrationData);
charlesmn	0:3ac96e360672	240
charlesmn	0:3ac96e360672	241	if (Status != VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	242	goto ENDFUNC;
charlesmn	0:3ac96e360672	243
charlesmn	0:3ac96e360672	244	pC = &CalibrationData.customer;
charlesmn	0:3ac96e360672	245
charlesmn	0:3ac96e360672	246	pC->algo__crosstalk_compensation_plane_offset_kcps =
charlesmn	0:3ac96e360672	247	(uint32_t)(1000 * ((XTalkCompensationRateMegaCps +
charlesmn	0:3ac96e360672	248	((uint32_t)1<<6)) >> (16-9)));
charlesmn	0:3ac96e360672	249
charlesmn	0:3ac96e360672	250	Status = VL53L1_SetCalibrationData(Dev, &CalibrationData);
charlesmn	0:3ac96e360672	251
charlesmn	0:3ac96e360672	252	if (Status != VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	253	goto ENDFUNC;
charlesmn	0:3ac96e360672	254
charlesmn	0:3ac96e360672	255	Status = VL53L1_enable_xtalk_compensation(Dev);
charlesmn	0:3ac96e360672	256
charlesmn	0:3ac96e360672	257	} else
charlesmn	0:3ac96e360672	258
charlesmn	0:3ac96e360672	259	Status = VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL;
charlesmn	0:3ac96e360672	260
charlesmn	0:3ac96e360672	261	ENDFUNC:
charlesmn	0:3ac96e360672	262	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	263	return Status;
charlesmn	0:3ac96e360672	264
charlesmn	0:3ac96e360672	265	}
charlesmn	0:3ac96e360672	266
charlesmn	0:3ac96e360672	267
charlesmn	0:3ac96e360672	268	static VL53L1_Error CheckValidRectRoi(VL53L1_UserRoi_t ROI)
charlesmn	0:3ac96e360672	269	{
charlesmn	0:3ac96e360672	270	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	271
charlesmn	0:3ac96e360672	272	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	273
charlesmn	0:3ac96e360672	274
charlesmn	0:3ac96e360672	275	if ((ROI.TopLeftX > 15) \|\| (ROI.TopLeftY > 15) \|\|
charlesmn	0:3ac96e360672	276	(ROI.BotRightX > 15) \|\| (ROI.BotRightY > 15))
charlesmn	0:3ac96e360672	277	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	278
charlesmn	0:3ac96e360672	279	if ((ROI.TopLeftX > ROI.BotRightX) \|\| (ROI.TopLeftY < ROI.BotRightY))
charlesmn	0:3ac96e360672	280	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	281
charlesmn	0:3ac96e360672	282	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	283	return Status;
charlesmn	0:3ac96e360672	284	}
charlesmn	0:3ac96e360672	285
charlesmn	0:3ac96e360672	286	static VL53L1_GPIO_Interrupt_Mode ConvertModeToLLD(VL53L1_Error *pStatus,
charlesmn	0:3ac96e360672	287	VL53L1_ThresholdMode CrossMode)
charlesmn	0:3ac96e360672	288	{
charlesmn	0:3ac96e360672	289	VL53L1_GPIO_Interrupt_Mode Mode;
charlesmn	0:3ac96e360672	290
charlesmn	0:3ac96e360672	291	switch (CrossMode) {
charlesmn	0:3ac96e360672	292	case VL53L1_THRESHOLD_CROSSED_LOW:
charlesmn	0:3ac96e360672	293	Mode = VL53L1_GPIOINTMODE_LEVEL_LOW;
charlesmn	0:3ac96e360672	294	break;
charlesmn	0:3ac96e360672	295	case VL53L1_THRESHOLD_CROSSED_HIGH:
charlesmn	0:3ac96e360672	296	Mode = VL53L1_GPIOINTMODE_LEVEL_HIGH;
charlesmn	0:3ac96e360672	297	break;
charlesmn	0:3ac96e360672	298	case VL53L1_THRESHOLD_OUT_OF_WINDOW:
charlesmn	0:3ac96e360672	299	Mode = VL53L1_GPIOINTMODE_OUT_OF_WINDOW;
charlesmn	0:3ac96e360672	300	break;
charlesmn	0:3ac96e360672	301	case VL53L1_THRESHOLD_IN_WINDOW:
charlesmn	0:3ac96e360672	302	Mode = VL53L1_GPIOINTMODE_IN_WINDOW;
charlesmn	0:3ac96e360672	303	break;
charlesmn	0:3ac96e360672	304	default:
charlesmn	0:3ac96e360672	305
charlesmn	0:3ac96e360672	306	Mode = VL53L1_GPIOINTMODE_LEVEL_HIGH;
charlesmn	0:3ac96e360672	307	*pStatus = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	308	}
charlesmn	0:3ac96e360672	309	return Mode;
charlesmn	0:3ac96e360672	310	}
charlesmn	0:3ac96e360672	311
charlesmn	0:3ac96e360672	312	static VL53L1_ThresholdMode ConvertModeFromLLD(VL53L1_Error *pStatus,
charlesmn	0:3ac96e360672	313	VL53L1_GPIO_Interrupt_Mode CrossMode)
charlesmn	0:3ac96e360672	314	{
charlesmn	0:3ac96e360672	315	VL53L1_ThresholdMode Mode;
charlesmn	0:3ac96e360672	316
charlesmn	0:3ac96e360672	317	switch (CrossMode) {
charlesmn	0:3ac96e360672	318	case VL53L1_GPIOINTMODE_LEVEL_LOW:
charlesmn	0:3ac96e360672	319	Mode = VL53L1_THRESHOLD_CROSSED_LOW;
charlesmn	0:3ac96e360672	320	break;
charlesmn	0:3ac96e360672	321	case VL53L1_GPIOINTMODE_LEVEL_HIGH:
charlesmn	0:3ac96e360672	322	Mode = VL53L1_THRESHOLD_CROSSED_HIGH;
charlesmn	0:3ac96e360672	323	break;
charlesmn	0:3ac96e360672	324	case VL53L1_GPIOINTMODE_OUT_OF_WINDOW:
charlesmn	0:3ac96e360672	325	Mode = VL53L1_THRESHOLD_OUT_OF_WINDOW;
charlesmn	0:3ac96e360672	326	break;
charlesmn	0:3ac96e360672	327	case VL53L1_GPIOINTMODE_IN_WINDOW:
charlesmn	0:3ac96e360672	328	Mode = VL53L1_THRESHOLD_IN_WINDOW;
charlesmn	0:3ac96e360672	329	break;
charlesmn	0:3ac96e360672	330	default:
charlesmn	0:3ac96e360672	331
charlesmn	0:3ac96e360672	332	Mode = VL53L1_THRESHOLD_CROSSED_HIGH;
charlesmn	0:3ac96e360672	333	*pStatus = VL53L1_ERROR_UNDEFINED;
charlesmn	0:3ac96e360672	334	}
charlesmn	0:3ac96e360672	335	return Mode;
charlesmn	0:3ac96e360672	336	}
charlesmn	0:3ac96e360672	337
charlesmn	0:3ac96e360672	338
charlesmn	0:3ac96e360672	339
charlesmn	0:3ac96e360672	340	VL53L1_Error VL53L1_GetVersion(VL53L1_Version_t *pVersion)
charlesmn	0:3ac96e360672	341	{
charlesmn	0:3ac96e360672	342	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	343
charlesmn	0:3ac96e360672	344	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	345
charlesmn	0:3ac96e360672	346	pVersion->major = VL53L1_IMPLEMENTATION_VER_MAJOR;
charlesmn	0:3ac96e360672	347	pVersion->minor = VL53L1_IMPLEMENTATION_VER_MINOR;
charlesmn	0:3ac96e360672	348	pVersion->build = VL53L1_IMPLEMENTATION_VER_SUB;
charlesmn	0:3ac96e360672	349
charlesmn	0:3ac96e360672	350	pVersion->revision = VL53L1_IMPLEMENTATION_VER_REVISION;
charlesmn	0:3ac96e360672	351
charlesmn	0:3ac96e360672	352	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	353	return Status;
charlesmn	0:3ac96e360672	354	}
charlesmn	0:3ac96e360672	355
charlesmn	0:3ac96e360672	356	VL53L1_Error VL53L1_GetProductRevision(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	357	uint8_t pProductRevisionMajor, uint8_t pProductRevisionMinor)
charlesmn	0:3ac96e360672	358	{
charlesmn	0:3ac96e360672	359	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	360	uint8_t revision_id;
charlesmn	0:3ac96e360672	361	VL53L1_LLDriverData_t *pLLData;
charlesmn	0:3ac96e360672	362
charlesmn	0:3ac96e360672	363	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	364
charlesmn	0:3ac96e360672	365	pLLData = VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	366	revision_id = pLLData->nvm_copy_data.identification__revision_id;
charlesmn	0:3ac96e360672	367	*pProductRevisionMajor = 1;
charlesmn	0:3ac96e360672	368	*pProductRevisionMinor = (revision_id & 0xF0) >> 4;
charlesmn	0:3ac96e360672	369
charlesmn	0:3ac96e360672	370	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	371	return Status;
charlesmn	0:3ac96e360672	372
charlesmn	0:3ac96e360672	373	}
charlesmn	0:3ac96e360672	374
charlesmn	0:3ac96e360672	375	VL53L1_Error VL53L1_GetDeviceInfo(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	376	VL53L1_DeviceInfo_t *pVL53L1_DeviceInfo)
charlesmn	0:3ac96e360672	377	{
charlesmn	0:3ac96e360672	378	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	379	uint8_t revision_id;
charlesmn	0:3ac96e360672	380	VL53L1_LLDriverData_t *pLLData;
charlesmn	0:3ac96e360672	381
charlesmn	0:3ac96e360672	382	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	383
charlesmn	0:3ac96e360672	384	pLLData = VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	385
charlesmn	0:3ac96e360672	386	strncpy(pVL53L1_DeviceInfo->ProductId, "",
charlesmn	0:3ac96e360672	387	VL53L1_DEVINFO_STRLEN-1);
charlesmn	0:3ac96e360672	388	pVL53L1_DeviceInfo->ProductType =
charlesmn	0:3ac96e360672	389	pLLData->nvm_copy_data.identification__module_type;
charlesmn	0:3ac96e360672	390
charlesmn	0:3ac96e360672	391	revision_id = pLLData->nvm_copy_data.identification__revision_id;
charlesmn	0:3ac96e360672	392	pVL53L1_DeviceInfo->ProductRevisionMajor = 1;
charlesmn	0:3ac96e360672	393	pVL53L1_DeviceInfo->ProductRevisionMinor = (revision_id & 0xF0) >> 4;
charlesmn	0:3ac96e360672	394
charlesmn	0:3ac96e360672	395	#ifndef VL53L1_USE_EMPTY_STRING
charlesmn	0:3ac96e360672	396	if (pVL53L1_DeviceInfo->ProductRevisionMinor == 0)
charlesmn	0:3ac96e360672	397	strncpy(pVL53L1_DeviceInfo->Name,
charlesmn	0:3ac96e360672	398	VL53L1_STRING_DEVICE_INFO_NAME0,
charlesmn	0:3ac96e360672	399	VL53L1_DEVINFO_STRLEN-1);
charlesmn	0:3ac96e360672	400	else
charlesmn	0:3ac96e360672	401	strncpy(pVL53L1_DeviceInfo->Name,
charlesmn	0:3ac96e360672	402	VL53L1_STRING_DEVICE_INFO_NAME1,
charlesmn	0:3ac96e360672	403	VL53L1_DEVINFO_STRLEN-1);
charlesmn	0:3ac96e360672	404	strncpy(pVL53L1_DeviceInfo->Type,
charlesmn	0:3ac96e360672	405	VL53L1_STRING_DEVICE_INFO_TYPE,
charlesmn	0:3ac96e360672	406	VL53L1_DEVINFO_STRLEN-1);
charlesmn	0:3ac96e360672	407
charlesmn	0:3ac96e360672	408	if (pVL53L1_DeviceInfo->ProductType == 0xAA) {
charlesmn	0:3ac96e360672	409	pVL53L1_DeviceInfo->Name[5] = '3';
charlesmn	0:3ac96e360672	410	pVL53L1_DeviceInfo->Type[5] = '3';
charlesmn	0:3ac96e360672	411	}
charlesmn	0:3ac96e360672	412	#else
charlesmn	0:3ac96e360672	413	pVL53L1_DeviceInfo->Name[0] = 0;
charlesmn	0:3ac96e360672	414	pVL53L1_DeviceInfo->Type[0] = 0;
charlesmn	0:3ac96e360672	415	#endif
charlesmn	0:3ac96e360672	416
charlesmn	0:3ac96e360672	417	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	418	return Status;
charlesmn	0:3ac96e360672	419	}
charlesmn	0:3ac96e360672	420
charlesmn	0:3ac96e360672	421	VL53L1_Error VL53L1_GetUID(VL53L1_DEV Dev, uint64_t *pUid)
charlesmn	0:3ac96e360672	422	{
charlesmn	0:3ac96e360672	423	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	424	uint8_t fmtdata[8];
charlesmn	0:3ac96e360672	425
charlesmn	0:3ac96e360672	426	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	427
charlesmn	0:3ac96e360672	428	Status = VL53L1_read_nvm_raw_data(Dev,
charlesmn	0:3ac96e360672	429	(uint8_t)(0x1F8 >> 2),
charlesmn	0:3ac96e360672	430	(uint8_t)(8 >> 2),
charlesmn	0:3ac96e360672	431	fmtdata);
charlesmn	0:3ac96e360672	432	memcpy(pUid, fmtdata, sizeof(uint64_t));
charlesmn	0:3ac96e360672	433
charlesmn	0:3ac96e360672	434	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	435	return Status;
charlesmn	0:3ac96e360672	436	}
charlesmn	0:3ac96e360672	437
charlesmn	0:3ac96e360672	438	VL53L1_Error VL53L1_GetRangeStatusString(uint8_t RangeStatus,
charlesmn	0:3ac96e360672	439	char *pRangeStatusString)
charlesmn	0:3ac96e360672	440	{
charlesmn	0:3ac96e360672	441	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	442
charlesmn	0:3ac96e360672	443	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	444
charlesmn	0:3ac96e360672	445	Status = VL53L1_get_range_status_string(RangeStatus,
charlesmn	0:3ac96e360672	446	pRangeStatusString);
charlesmn	0:3ac96e360672	447
charlesmn	0:3ac96e360672	448	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	449	return Status;
charlesmn	0:3ac96e360672	450	}
charlesmn	0:3ac96e360672	451
charlesmn	0:3ac96e360672	452	VL53L1_Error VL53L1_GetPalErrorString(VL53L1_Error PalErrorCode,
charlesmn	0:3ac96e360672	453	char *pPalErrorString)
charlesmn	0:3ac96e360672	454	{
charlesmn	0:3ac96e360672	455	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	456
charlesmn	0:3ac96e360672	457	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	458
charlesmn	0:3ac96e360672	459	Status = VL53L1_get_pal_error_string(PalErrorCode, pPalErrorString);
charlesmn	0:3ac96e360672	460
charlesmn	0:3ac96e360672	461	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	462	return Status;
charlesmn	0:3ac96e360672	463	}
charlesmn	0:3ac96e360672	464
charlesmn	0:3ac96e360672	465	VL53L1_Error VL53L1_GetPalStateString(VL53L1_State PalStateCode,
charlesmn	0:3ac96e360672	466	char *pPalStateString)
charlesmn	0:3ac96e360672	467	{
charlesmn	0:3ac96e360672	468	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	469
charlesmn	0:3ac96e360672	470	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	471
charlesmn	0:3ac96e360672	472	Status = VL53L1_get_pal_state_string(PalStateCode, pPalStateString);
charlesmn	0:3ac96e360672	473
charlesmn	0:3ac96e360672	474	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	475	return Status;
charlesmn	0:3ac96e360672	476	}
charlesmn	0:3ac96e360672	477
charlesmn	0:3ac96e360672	478	VL53L1_Error VL53L1_GetPalState(VL53L1_DEV Dev, VL53L1_State *pPalState)
charlesmn	0:3ac96e360672	479	{
charlesmn	0:3ac96e360672	480	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	481
charlesmn	0:3ac96e360672	482	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	483
charlesmn	0:3ac96e360672	484	*pPalState = VL53L1DevDataGet(Dev, PalState);
charlesmn	0:3ac96e360672	485
charlesmn	0:3ac96e360672	486	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	487	return Status;
charlesmn	0:3ac96e360672	488	}
charlesmn	0:3ac96e360672	489
charlesmn	0:3ac96e360672	490
charlesmn	0:3ac96e360672	491
charlesmn	0:3ac96e360672	492
charlesmn	0:3ac96e360672	493	VL53L1_Error VL53L1_SetDeviceAddress(VL53L1_DEV Dev, uint8_t DeviceAddress)
charlesmn	0:3ac96e360672	494	{
charlesmn	0:3ac96e360672	495	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	496
charlesmn	0:3ac96e360672	497	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	498
charlesmn	0:3ac96e360672	499	Status = VL53L1_WrByte(Dev, VL53L1_I2C_SLAVE__DEVICE_ADDRESS,
charlesmn	0:3ac96e360672	500	DeviceAddress / 2);
charlesmn	0:3ac96e360672	501
charlesmn	0:3ac96e360672	502	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	503	return Status;
charlesmn	0:3ac96e360672	504	}
charlesmn	0:3ac96e360672	505
charlesmn	0:3ac96e360672	506	VL53L1_Error VL53L1_DataInit(VL53L1_DEV Dev)
charlesmn	0:3ac96e360672	507	{
charlesmn	0:3ac96e360672	508	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	509	uint8_t i;
charlesmn	0:3ac96e360672	510	VL53L1_LLDriverData_t *pdev;
charlesmn	0:3ac96e360672	511
charlesmn	0:3ac96e360672	512	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	513
charlesmn	0:3ac96e360672	514
charlesmn	0:3ac96e360672	515	#ifdef USE_I2C_2V8
charlesmn	0:3ac96e360672	516	Status = VL53L1_RdByte(Dev, VL53L1_PAD_I2C_HV__EXTSUP_CONFIG, &i);
charlesmn	0:3ac96e360672	517	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	518	i = (i & 0xfe) \| 0x01;
charlesmn	0:3ac96e360672	519	Status = VL53L1_WrByte(Dev, VL53L1_PAD_I2C_HV__EXTSUP_CONFIG,
charlesmn	0:3ac96e360672	520	i);
charlesmn	0:3ac96e360672	521	}
charlesmn	0:3ac96e360672	522	#endif
charlesmn	0:3ac96e360672	523
charlesmn	0:3ac96e360672	524	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	525	Status = VL53L1_data_init(Dev, 1);
charlesmn	0:3ac96e360672	526
charlesmn	0:3ac96e360672	527	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	528	pdev = VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	529	memset(&pdev->per_vcsel_cal_data, 0,
charlesmn	0:3ac96e360672	530	sizeof(pdev->per_vcsel_cal_data));
charlesmn	0:3ac96e360672	531	}
charlesmn	0:3ac96e360672	532
charlesmn	0:3ac96e360672	533	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	534	VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_WAIT_STATICINIT);
charlesmn	0:3ac96e360672	535	VL53L1DevDataSet(Dev, CurrentParameters.PresetMode,
charlesmn	0:3ac96e360672	536	VL53L1_PRESETMODE_RANGING);
charlesmn	0:3ac96e360672	537	}
charlesmn	0:3ac96e360672	538
charlesmn	0:3ac96e360672	539
charlesmn	0:3ac96e360672	540	for (i = 0; i < VL53L1_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
charlesmn	0:3ac96e360672	541	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	542	Status \|= VL53L1_SetLimitCheckEnable(Dev, i, 1);
charlesmn	0:3ac96e360672	543	else
charlesmn	0:3ac96e360672	544	break;
charlesmn	0:3ac96e360672	545
charlesmn	0:3ac96e360672	546	}
charlesmn	0:3ac96e360672	547
charlesmn	0:3ac96e360672	548
charlesmn	0:3ac96e360672	549	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	550	Status = VL53L1_set_dmax_mode(Dev,
charlesmn	0:3ac96e360672	551	VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA);
charlesmn	0:3ac96e360672	552	}
charlesmn	0:3ac96e360672	553
charlesmn	0:3ac96e360672	554
charlesmn	0:3ac96e360672	555	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	556	return Status;
charlesmn	0:3ac96e360672	557	}
charlesmn	0:3ac96e360672	558
charlesmn	0:3ac96e360672	559
charlesmn	0:3ac96e360672	560	VL53L1_Error VL53L1_StaticInit(VL53L1_DEV Dev)
charlesmn	0:3ac96e360672	561	{
charlesmn	0:3ac96e360672	562	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	563	uint8_t measurement_mode;
charlesmn	0:3ac96e360672	564
charlesmn	0:3ac96e360672	565	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	566
charlesmn	0:3ac96e360672	567	VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_IDLE);
charlesmn	0:3ac96e360672	568
charlesmn	0:3ac96e360672	569	measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK;
charlesmn	0:3ac96e360672	570	VL53L1DevDataSet(Dev, LLData.measurement_mode, measurement_mode);
charlesmn	0:3ac96e360672	571
charlesmn	0:3ac96e360672	572	VL53L1DevDataSet(Dev, CurrentParameters.DistanceMode,
charlesmn	0:3ac96e360672	573	VL53L1_DISTANCEMODE_LONG);
charlesmn	0:3ac96e360672	574	VL53L1DevDataSet(Dev, CurrentParameters.OutputMode,
charlesmn	0:3ac96e360672	575	VL53L1_OUTPUTMODE_NEAREST);
charlesmn	0:3ac96e360672	576	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	577	return Status;
charlesmn	0:3ac96e360672	578	}
charlesmn	0:3ac96e360672	579
charlesmn	0:3ac96e360672	580	VL53L1_Error VL53L1_WaitDeviceBooted(VL53L1_DEV Dev)
charlesmn	0:3ac96e360672	581	{
charlesmn	0:3ac96e360672	582	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	583
charlesmn	0:3ac96e360672	584	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	585
charlesmn	0:3ac96e360672	586	Status = VL53L1_poll_for_boot_completion(Dev,
charlesmn	0:3ac96e360672	587	VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS);
charlesmn	0:3ac96e360672	588
charlesmn	0:3ac96e360672	589	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	590	return Status;
charlesmn	0:3ac96e360672	591	}
charlesmn	0:3ac96e360672	592
charlesmn	0:3ac96e360672	593
charlesmn	0:3ac96e360672	594
charlesmn	0:3ac96e360672	595
charlesmn	0:3ac96e360672	596	static VL53L1_Error ComputeDevicePresetMode(
charlesmn	0:3ac96e360672	597	VL53L1_PresetModes PresetMode,
charlesmn	0:3ac96e360672	598	VL53L1_DistanceModes DistanceMode,
charlesmn	0:3ac96e360672	599	VL53L1_DevicePresetModes *pDevicePresetMode)
charlesmn	0:3ac96e360672	600	{
charlesmn	0:3ac96e360672	601	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	602
charlesmn	0:3ac96e360672	603	uint8_t DistIdx;
charlesmn	0:3ac96e360672	604	VL53L1_DevicePresetModes LightModes[3] = {
charlesmn	0:3ac96e360672	605	VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_SHORT_RANGE,
charlesmn	0:3ac96e360672	606	VL53L1_DEVICEPRESETMODE_STANDARD_RANGING,
charlesmn	0:3ac96e360672	607	VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_LONG_RANGE};
charlesmn	0:3ac96e360672	608
charlesmn	0:3ac96e360672	609	VL53L1_DevicePresetModes RangingModes[3] = {
charlesmn	0:3ac96e360672	610	VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE,
charlesmn	0:3ac96e360672	611	VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE,
charlesmn	0:3ac96e360672	612	VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE};
charlesmn	0:3ac96e360672	613
charlesmn	0:3ac96e360672	614	VL53L1_DevicePresetModes ScanningModes[3] = {
charlesmn	0:3ac96e360672	615	VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_SHORT_RANGE,
charlesmn	0:3ac96e360672	616	VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE,
charlesmn	0:3ac96e360672	617	VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE};
charlesmn	0:3ac96e360672	618
charlesmn	0:3ac96e360672	619	VL53L1_DevicePresetModes TimedModes[3] = {
charlesmn	0:3ac96e360672	620	VL53L1_DEVICEPRESETMODE_TIMED_RANGING_SHORT_RANGE,
charlesmn	0:3ac96e360672	621	VL53L1_DEVICEPRESETMODE_TIMED_RANGING,
charlesmn	0:3ac96e360672	622	VL53L1_DEVICEPRESETMODE_TIMED_RANGING_LONG_RANGE};
charlesmn	0:3ac96e360672	623
charlesmn	0:3ac96e360672	624	VL53L1_DevicePresetModes LowPowerTimedModes[3] = {
charlesmn	0:3ac96e360672	625	VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_SHORT_RANGE,
charlesmn	0:3ac96e360672	626	VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_MEDIUM_RANGE,
charlesmn	0:3ac96e360672	627	VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_LONG_RANGE};
charlesmn	0:3ac96e360672	628
charlesmn	0:3ac96e360672	629	*pDevicePresetMode = VL53L1_DEVICEPRESETMODE_STANDARD_RANGING;
charlesmn	0:3ac96e360672	630
charlesmn	0:3ac96e360672	631	switch (DistanceMode) {
charlesmn	0:3ac96e360672	632	case VL53L1_DISTANCEMODE_SHORT:
charlesmn	0:3ac96e360672	633	DistIdx = 0;
charlesmn	0:3ac96e360672	634	break;
charlesmn	0:3ac96e360672	635	case VL53L1_DISTANCEMODE_MEDIUM:
charlesmn	0:3ac96e360672	636	DistIdx = 1;
charlesmn	0:3ac96e360672	637	break;
charlesmn	0:3ac96e360672	638	default:
charlesmn	0:3ac96e360672	639	DistIdx = 2;
charlesmn	0:3ac96e360672	640	}
charlesmn	0:3ac96e360672	641
charlesmn	0:3ac96e360672	642	switch (PresetMode) {
charlesmn	0:3ac96e360672	643	case VL53L1_PRESETMODE_LITE_RANGING:
charlesmn	0:3ac96e360672	644	*pDevicePresetMode = LightModes[DistIdx];
charlesmn	0:3ac96e360672	645	break;
charlesmn	0:3ac96e360672	646
charlesmn	0:3ac96e360672	647	case VL53L1_PRESETMODE_RANGING:
charlesmn	0:3ac96e360672	648	*pDevicePresetMode = RangingModes[DistIdx];
charlesmn	0:3ac96e360672	649	break;
charlesmn	0:3ac96e360672	650
charlesmn	0:3ac96e360672	651	case VL53L1_PRESETMODE_MULTIZONES_SCANNING:
charlesmn	0:3ac96e360672	652	*pDevicePresetMode = ScanningModes[DistIdx];
charlesmn	0:3ac96e360672	653	break;
charlesmn	0:3ac96e360672	654
charlesmn	0:3ac96e360672	655	case VL53L1_PRESETMODE_AUTONOMOUS:
charlesmn	0:3ac96e360672	656	*pDevicePresetMode = TimedModes[DistIdx];
charlesmn	0:3ac96e360672	657	break;
charlesmn	0:3ac96e360672	658
charlesmn	0:3ac96e360672	659	case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS:
charlesmn	0:3ac96e360672	660	*pDevicePresetMode = LowPowerTimedModes[DistIdx];
charlesmn	0:3ac96e360672	661	break;
charlesmn	0:3ac96e360672	662	case VL53L1_PRESETMODE_OLT:
charlesmn	0:3ac96e360672	663	*pDevicePresetMode = VL53L1_DEVICEPRESETMODE_OLT;
charlesmn	0:3ac96e360672	664	break;
charlesmn	0:3ac96e360672	665	case VL53L1_PRESETMODE_PROXY_RANGING_MODE:
charlesmn	0:3ac96e360672	666	*pDevicePresetMode =
charlesmn	0:3ac96e360672	667	VL53L1_DEVICEPRESETMODE_SPECIAL_HISTOGRAM_SHORT_RANGE;
charlesmn	0:3ac96e360672	668	break;
charlesmn	0:3ac96e360672	669
charlesmn	0:3ac96e360672	670	default:
charlesmn	0:3ac96e360672	671
charlesmn	0:3ac96e360672	672	Status = VL53L1_ERROR_MODE_NOT_SUPPORTED;
charlesmn	0:3ac96e360672	673	}
charlesmn	0:3ac96e360672	674
charlesmn	0:3ac96e360672	675	return Status;
charlesmn	0:3ac96e360672	676	}
charlesmn	0:3ac96e360672	677
charlesmn	0:3ac96e360672	678	static VL53L1_Error SetPresetMode(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	679	VL53L1_PresetModes PresetMode,
charlesmn	0:3ac96e360672	680	VL53L1_DistanceModes DistanceMode,
charlesmn	0:3ac96e360672	681	uint32_t inter_measurement_period_ms)
charlesmn	0:3ac96e360672	682	{
charlesmn	0:3ac96e360672	683	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	684	VL53L1_DevicePresetModes device_preset_mode;
charlesmn	0:3ac96e360672	685	uint8_t measurement_mode;
charlesmn	0:3ac96e360672	686	uint16_t dss_config__target_total_rate_mcps;
charlesmn	0:3ac96e360672	687	uint32_t phasecal_config_timeout_us;
charlesmn	0:3ac96e360672	688	uint32_t mm_config_timeout_us;
charlesmn	0:3ac96e360672	689	uint32_t lld_range_config_timeout_us;
charlesmn	0:3ac96e360672	690
charlesmn	0:3ac96e360672	691	LOG_FUNCTION_START("%d", (int)PresetMode);
charlesmn	0:3ac96e360672	692
charlesmn	0:3ac96e360672	693	if ((PresetMode == VL53L1_PRESETMODE_AUTONOMOUS) \|\|
charlesmn	0:3ac96e360672	694	(PresetMode == VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS))
charlesmn	0:3ac96e360672	695	measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_TIMED;
charlesmn	0:3ac96e360672	696	else
charlesmn	0:3ac96e360672	697	measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK;
charlesmn	0:3ac96e360672	698
charlesmn	0:3ac96e360672	699
charlesmn	0:3ac96e360672	700	Status = ComputeDevicePresetMode(PresetMode, DistanceMode,
charlesmn	0:3ac96e360672	701	&device_preset_mode);
charlesmn	0:3ac96e360672	702
charlesmn	0:3ac96e360672	703	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	704	Status = VL53L1_get_preset_mode_timing_cfg(Dev,
charlesmn	0:3ac96e360672	705	device_preset_mode,
charlesmn	0:3ac96e360672	706	&dss_config__target_total_rate_mcps,
charlesmn	0:3ac96e360672	707	&phasecal_config_timeout_us,
charlesmn	0:3ac96e360672	708	&mm_config_timeout_us,
charlesmn	0:3ac96e360672	709	&lld_range_config_timeout_us);
charlesmn	0:3ac96e360672	710
charlesmn	0:3ac96e360672	711	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	712	Status = VL53L1_set_preset_mode(
charlesmn	0:3ac96e360672	713	Dev,
charlesmn	0:3ac96e360672	714	device_preset_mode,
charlesmn	0:3ac96e360672	715	dss_config__target_total_rate_mcps,
charlesmn	0:3ac96e360672	716	phasecal_config_timeout_us,
charlesmn	0:3ac96e360672	717	mm_config_timeout_us,
charlesmn	0:3ac96e360672	718	lld_range_config_timeout_us,
charlesmn	0:3ac96e360672	719	inter_measurement_period_ms);
charlesmn	0:3ac96e360672	720
charlesmn	0:3ac96e360672	721	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	722	VL53L1DevDataSet(Dev, LLData.measurement_mode,
charlesmn	0:3ac96e360672	723	measurement_mode);
charlesmn	0:3ac96e360672	724
charlesmn	0:3ac96e360672	725	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	726	VL53L1DevDataSet(Dev, CurrentParameters.PresetMode, PresetMode);
charlesmn	0:3ac96e360672	727
charlesmn	0:3ac96e360672	728	VL53L1DevDataSet(Dev, CurrentParameters.OutputMode,
charlesmn	0:3ac96e360672	729	VL53L1_OUTPUTMODE_NEAREST);
charlesmn	0:3ac96e360672	730	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	731	return Status;
charlesmn	0:3ac96e360672	732	}
charlesmn	0:3ac96e360672	733
charlesmn	0:3ac96e360672	734
charlesmn	0:3ac96e360672	735	VL53L1_Error VL53L1_SetPresetMode(VL53L1_DEV Dev, VL53L1_PresetModes PresetMode)
charlesmn	0:3ac96e360672	736	{
charlesmn	0:3ac96e360672	737	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	738	VL53L1_DistanceModes DistanceMode = VL53L1_DISTANCEMODE_LONG;
charlesmn	0:3ac96e360672	739
charlesmn	0:3ac96e360672	740	LOG_FUNCTION_START("%d", (int)PresetMode);
charlesmn	0:3ac96e360672	741
charlesmn	0:3ac96e360672	742
charlesmn	0:3ac96e360672	743	Status = VL53L1_low_power_auto_data_init(Dev);
charlesmn	0:3ac96e360672	744
charlesmn	0:3ac96e360672	745	if (PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE)
charlesmn	0:3ac96e360672	746	DistanceMode = VL53L1_DISTANCEMODE_SHORT;
charlesmn	0:3ac96e360672	747	Status = SetPresetMode(Dev,
charlesmn	0:3ac96e360672	748	PresetMode,
charlesmn	0:3ac96e360672	749	DistanceMode,
charlesmn	0:3ac96e360672	750	1000);
charlesmn	0:3ac96e360672	751
charlesmn	0:3ac96e360672	752	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	753	if ((PresetMode == VL53L1_PRESETMODE_LITE_RANGING) \|\|
charlesmn	0:3ac96e360672	754	(PresetMode == VL53L1_PRESETMODE_AUTONOMOUS) \|\|
charlesmn	0:3ac96e360672	755	(PresetMode == VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS))
charlesmn	0:3ac96e360672	756	Status = VL53L1_SetMeasurementTimingBudgetMicroSeconds(
charlesmn	0:3ac96e360672	757	Dev, 41000);
charlesmn	0:3ac96e360672	758	else
charlesmn	0:3ac96e360672	759
charlesmn	0:3ac96e360672	760	Status = VL53L1_SetMeasurementTimingBudgetMicroSeconds(
charlesmn	0:3ac96e360672	761	Dev, 33333);
charlesmn	0:3ac96e360672	762	}
charlesmn	0:3ac96e360672	763
charlesmn	0:3ac96e360672	764	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	765
charlesmn	0:3ac96e360672	766	Status = VL53L1_SetInterMeasurementPeriodMilliSeconds(Dev,
charlesmn	0:3ac96e360672	767	1000);
charlesmn	0:3ac96e360672	768	}
charlesmn	0:3ac96e360672	769
charlesmn	0:3ac96e360672	770	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	771	return Status;
charlesmn	0:3ac96e360672	772	}
charlesmn	0:3ac96e360672	773
charlesmn	0:3ac96e360672	774
charlesmn	0:3ac96e360672	775	VL53L1_Error VL53L1_GetPresetMode(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	776	VL53L1_PresetModes *pPresetMode)
charlesmn	0:3ac96e360672	777	{
charlesmn	0:3ac96e360672	778	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	779
charlesmn	0:3ac96e360672	780	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	781
charlesmn	0:3ac96e360672	782	*pPresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode);
charlesmn	0:3ac96e360672	783
charlesmn	0:3ac96e360672	784	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	785	return Status;
charlesmn	0:3ac96e360672	786	}
charlesmn	0:3ac96e360672	787
charlesmn	0:3ac96e360672	788	VL53L1_Error VL53L1_SetDistanceMode(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	789	VL53L1_DistanceModes DistanceMode)
charlesmn	0:3ac96e360672	790	{
charlesmn	0:3ac96e360672	791	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	792	VL53L1_PresetModes PresetMode;
charlesmn	0:3ac96e360672	793	uint32_t inter_measurement_period_ms;
charlesmn	0:3ac96e360672	794	uint32_t TimingBudget;
charlesmn	0:3ac96e360672	795	uint32_t MmTimeoutUs;
charlesmn	0:3ac96e360672	796	uint32_t PhaseCalTimeoutUs;
charlesmn	0:3ac96e360672	797	VL53L1_zone_config_t zone_config;
charlesmn	0:3ac96e360672	798
charlesmn	0:3ac96e360672	799	LOG_FUNCTION_START("%d", (int)DistanceMode);
charlesmn	0:3ac96e360672	800
charlesmn	0:3ac96e360672	801	PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode);
charlesmn	0:3ac96e360672	802
charlesmn	0:3ac96e360672	803
charlesmn	0:3ac96e360672	804
charlesmn	0:3ac96e360672	805	if ((PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE) &&
charlesmn	0:3ac96e360672	806	(DistanceMode != VL53L1_DISTANCEMODE_SHORT))
charlesmn	0:3ac96e360672	807	return VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	808	if ((DistanceMode != VL53L1_DISTANCEMODE_SHORT) &&
charlesmn	0:3ac96e360672	809	(DistanceMode != VL53L1_DISTANCEMODE_MEDIUM) &&
charlesmn	0:3ac96e360672	810	(DistanceMode != VL53L1_DISTANCEMODE_LONG))
charlesmn	0:3ac96e360672	811	return VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	812
charlesmn	0:3ac96e360672	813	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	814	Status = VL53L1_get_zone_config(Dev, &zone_config);
charlesmn	0:3ac96e360672	815
charlesmn	0:3ac96e360672	816	inter_measurement_period_ms = VL53L1DevDataGet(Dev,
charlesmn	0:3ac96e360672	817	LLData.inter_measurement_period_ms);
charlesmn	0:3ac96e360672	818
charlesmn	0:3ac96e360672	819	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	820	Status = VL53L1_get_timeouts_us(Dev, &PhaseCalTimeoutUs,
charlesmn	0:3ac96e360672	821	&MmTimeoutUs, &TimingBudget);
charlesmn	0:3ac96e360672	822
charlesmn	0:3ac96e360672	823	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	824	Status = SetPresetMode(Dev,
charlesmn	0:3ac96e360672	825	PresetMode,
charlesmn	0:3ac96e360672	826	DistanceMode,
charlesmn	0:3ac96e360672	827	inter_measurement_period_ms);
charlesmn	0:3ac96e360672	828
charlesmn	0:3ac96e360672	829	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	830	VL53L1DevDataSet(Dev, CurrentParameters.DistanceMode,
charlesmn	0:3ac96e360672	831	DistanceMode);
charlesmn	0:3ac96e360672	832	}
charlesmn	0:3ac96e360672	833
charlesmn	0:3ac96e360672	834	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	835	Status = VL53L1_set_timeouts_us(Dev, PhaseCalTimeoutUs,
charlesmn	0:3ac96e360672	836	MmTimeoutUs, TimingBudget);
charlesmn	0:3ac96e360672	837
charlesmn	0:3ac96e360672	838	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	839	VL53L1DevDataSet(Dev, LLData.range_config_timeout_us,
charlesmn	0:3ac96e360672	840	TimingBudget);
charlesmn	0:3ac96e360672	841	}
charlesmn	0:3ac96e360672	842
charlesmn	0:3ac96e360672	843	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	844	Status = VL53L1_set_zone_config(Dev, &zone_config);
charlesmn	0:3ac96e360672	845
charlesmn	0:3ac96e360672	846	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	847	return Status;
charlesmn	0:3ac96e360672	848	}
charlesmn	0:3ac96e360672	849
charlesmn	0:3ac96e360672	850	VL53L1_Error VL53L1_GetDistanceMode(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	851	VL53L1_DistanceModes *pDistanceMode)
charlesmn	0:3ac96e360672	852	{
charlesmn	0:3ac96e360672	853	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	854
charlesmn	0:3ac96e360672	855	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	856
charlesmn	0:3ac96e360672	857	*pDistanceMode = VL53L1DevDataGet(Dev, CurrentParameters.DistanceMode);
charlesmn	0:3ac96e360672	858
charlesmn	0:3ac96e360672	859	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	860	return Status;
charlesmn	0:3ac96e360672	861	}
charlesmn	0:3ac96e360672	862
charlesmn	0:3ac96e360672	863	VL53L1_Error VL53L1_SetOutputMode(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	864	VL53L1_OutputModes OutputMode)
charlesmn	0:3ac96e360672	865	{
charlesmn	0:3ac96e360672	866	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	867
charlesmn	0:3ac96e360672	868	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	869
charlesmn	0:3ac96e360672	870	if ((OutputMode != VL53L1_OUTPUTMODE_NEAREST) &&
charlesmn	0:3ac96e360672	871	(OutputMode != VL53L1_OUTPUTMODE_STRONGEST))
charlesmn	0:3ac96e360672	872	Status = VL53L1_ERROR_MODE_NOT_SUPPORTED;
charlesmn	0:3ac96e360672	873	else
charlesmn	0:3ac96e360672	874	VL53L1DevDataSet(Dev, CurrentParameters.OutputMode, OutputMode);
charlesmn	0:3ac96e360672	875
charlesmn	0:3ac96e360672	876	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	877	return Status;
charlesmn	0:3ac96e360672	878	}
charlesmn	0:3ac96e360672	879
charlesmn	0:3ac96e360672	880	VL53L1_Error VL53L1_GetOutputMode(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	881	VL53L1_OutputModes *pOutputMode)
charlesmn	0:3ac96e360672	882	{
charlesmn	0:3ac96e360672	883	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	884
charlesmn	0:3ac96e360672	885	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	886
charlesmn	0:3ac96e360672	887	*pOutputMode = VL53L1DevDataGet(Dev, CurrentParameters.OutputMode);
charlesmn	0:3ac96e360672	888
charlesmn	0:3ac96e360672	889	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	890	return Status;
charlesmn	0:3ac96e360672	891	}
charlesmn	0:3ac96e360672	892
charlesmn	0:3ac96e360672	893
charlesmn	0:3ac96e360672	894
charlesmn	0:3ac96e360672	895	VL53L1_Error VL53L1_SetMeasurementTimingBudgetMicroSeconds(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	896	uint32_t MeasurementTimingBudgetMicroSeconds)
charlesmn	0:3ac96e360672	897	{
charlesmn	0:3ac96e360672	898	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	899	uint8_t Mm1Enabled;
charlesmn	0:3ac96e360672	900	uint8_t Mm2Enabled;
charlesmn	0:3ac96e360672	901	uint32_t TimingGuard;
charlesmn	0:3ac96e360672	902	uint32_t divisor;
charlesmn	0:3ac96e360672	903	uint32_t TimingBudget;
charlesmn	0:3ac96e360672	904	uint32_t MmTimeoutUs;
charlesmn	0:3ac96e360672	905	VL53L1_PresetModes PresetMode;
charlesmn	0:3ac96e360672	906	uint32_t PhaseCalTimeoutUs;
charlesmn	0:3ac96e360672	907	uint32_t vhv;
charlesmn	0:3ac96e360672	908	int32_t vhv_loops;
charlesmn	0:3ac96e360672	909	uint32_t FDAMaxTimingBudgetUs = FDA_MAX_TIMING_BUDGET_US;
charlesmn	0:3ac96e360672	910
charlesmn	0:3ac96e360672	911	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	912
charlesmn	0:3ac96e360672	913
charlesmn	0:3ac96e360672	914	if (MeasurementTimingBudgetMicroSeconds > 10000000)
charlesmn	0:3ac96e360672	915	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	916
charlesmn	0:3ac96e360672	917	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	918	Status = VL53L1_GetSequenceStepEnable(Dev,
charlesmn	0:3ac96e360672	919	VL53L1_SEQUENCESTEP_MM1, &Mm1Enabled);
charlesmn	0:3ac96e360672	920	}
charlesmn	0:3ac96e360672	921
charlesmn	0:3ac96e360672	922	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	923	Status = VL53L1_GetSequenceStepEnable(Dev,
charlesmn	0:3ac96e360672	924	VL53L1_SEQUENCESTEP_MM2, &Mm2Enabled);
charlesmn	0:3ac96e360672	925	}
charlesmn	0:3ac96e360672	926
charlesmn	0:3ac96e360672	927	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	928	Status = VL53L1_get_timeouts_us(Dev,
charlesmn	0:3ac96e360672	929	&PhaseCalTimeoutUs,
charlesmn	0:3ac96e360672	930	&MmTimeoutUs,
charlesmn	0:3ac96e360672	931	&TimingBudget);
charlesmn	0:3ac96e360672	932
charlesmn	0:3ac96e360672	933	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	934	PresetMode = VL53L1DevDataGet(Dev,
charlesmn	0:3ac96e360672	935	CurrentParameters.PresetMode);
charlesmn	0:3ac96e360672	936
charlesmn	0:3ac96e360672	937	TimingGuard = 0;
charlesmn	0:3ac96e360672	938	divisor = 1;
charlesmn	0:3ac96e360672	939	switch (PresetMode) {
charlesmn	0:3ac96e360672	940	case VL53L1_PRESETMODE_LITE_RANGING:
charlesmn	0:3ac96e360672	941	if ((Mm1Enabled == 1) \|\| (Mm2Enabled == 1))
charlesmn	0:3ac96e360672	942	TimingGuard = 5000;
charlesmn	0:3ac96e360672	943	else
charlesmn	0:3ac96e360672	944	TimingGuard = 1000;
charlesmn	0:3ac96e360672	945	break;
charlesmn	0:3ac96e360672	946
charlesmn	0:3ac96e360672	947	case VL53L1_PRESETMODE_AUTONOMOUS:
charlesmn	0:3ac96e360672	948	FDAMaxTimingBudgetUs *= 2;
charlesmn	0:3ac96e360672	949	if ((Mm1Enabled == 1) \|\| (Mm2Enabled == 1))
charlesmn	0:3ac96e360672	950	TimingGuard = 26600;
charlesmn	0:3ac96e360672	951	else
charlesmn	0:3ac96e360672	952	TimingGuard = 21600;
charlesmn	0:3ac96e360672	953	divisor = 2;
charlesmn	0:3ac96e360672	954	break;
charlesmn	0:3ac96e360672	955
charlesmn	0:3ac96e360672	956	case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS:
charlesmn	0:3ac96e360672	957	FDAMaxTimingBudgetUs *= 2;
charlesmn	0:3ac96e360672	958	vhv = LOWPOWER_AUTO_VHV_LOOP_DURATION_US;
charlesmn	0:3ac96e360672	959	VL53L1_get_tuning_parm(Dev,
charlesmn	0:3ac96e360672	960	VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND,
charlesmn	0:3ac96e360672	961	&vhv_loops);
charlesmn	0:3ac96e360672	962	if (vhv_loops > 0) {
charlesmn	0:3ac96e360672	963	vhv += vhv_loops *
charlesmn	0:3ac96e360672	964	LOWPOWER_AUTO_VHV_LOOP_DURATION_US;
charlesmn	0:3ac96e360672	965	}
charlesmn	0:3ac96e360672	966	TimingGuard = LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING +
charlesmn	0:3ac96e360672	967	LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING +
charlesmn	0:3ac96e360672	968	vhv;
charlesmn	0:3ac96e360672	969	divisor = 2;
charlesmn	0:3ac96e360672	970	break;
charlesmn	0:3ac96e360672	971
charlesmn	0:3ac96e360672	972	case VL53L1_PRESETMODE_RANGING:
charlesmn	0:3ac96e360672	973	case VL53L1_PRESETMODE_MULTIZONES_SCANNING:
charlesmn	0:3ac96e360672	974	case VL53L1_PRESETMODE_PROXY_RANGING_MODE:
charlesmn	0:3ac96e360672	975	TimingGuard = 1700;
charlesmn	0:3ac96e360672	976	divisor = 6;
charlesmn	0:3ac96e360672	977	break;
charlesmn	0:3ac96e360672	978
charlesmn	0:3ac96e360672	979	case VL53L1_PRESETMODE_OLT:
charlesmn	0:3ac96e360672	980	TimingGuard = MmTimeoutUs + 5000;
charlesmn	0:3ac96e360672	981	break;
charlesmn	0:3ac96e360672	982	default:
charlesmn	0:3ac96e360672	983
charlesmn	0:3ac96e360672	984	Status = VL53L1_ERROR_MODE_NOT_SUPPORTED;
charlesmn	0:3ac96e360672	985	}
charlesmn	0:3ac96e360672	986
charlesmn	0:3ac96e360672	987	if (MeasurementTimingBudgetMicroSeconds <= TimingGuard)
charlesmn	0:3ac96e360672	988	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	989	else {
charlesmn	0:3ac96e360672	990	TimingBudget = (MeasurementTimingBudgetMicroSeconds
charlesmn	0:3ac96e360672	991	- TimingGuard);
charlesmn	0:3ac96e360672	992	}
charlesmn	0:3ac96e360672	993
charlesmn	0:3ac96e360672	994	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	995	if (TimingBudget > FDAMaxTimingBudgetUs)
charlesmn	0:3ac96e360672	996	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	997	else {
charlesmn	0:3ac96e360672	998	TimingBudget /= divisor;
charlesmn	0:3ac96e360672	999	Status = VL53L1_set_timeouts_us(
charlesmn	0:3ac96e360672	1000	Dev,
charlesmn	0:3ac96e360672	1001	PhaseCalTimeoutUs,
charlesmn	0:3ac96e360672	1002	MmTimeoutUs,
charlesmn	0:3ac96e360672	1003	TimingBudget);
charlesmn	0:3ac96e360672	1004	}
charlesmn	0:3ac96e360672	1005
charlesmn	0:3ac96e360672	1006	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	1007	VL53L1DevDataSet(Dev,
charlesmn	0:3ac96e360672	1008	LLData.range_config_timeout_us,
charlesmn	0:3ac96e360672	1009	TimingBudget);
charlesmn	0:3ac96e360672	1010	}
charlesmn	0:3ac96e360672	1011	}
charlesmn	0:3ac96e360672	1012	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	1013	VL53L1DevDataSet(Dev,
charlesmn	0:3ac96e360672	1014	CurrentParameters.MeasurementTimingBudgetMicroSeconds,
charlesmn	0:3ac96e360672	1015	MeasurementTimingBudgetMicroSeconds);
charlesmn	0:3ac96e360672	1016	}
charlesmn	0:3ac96e360672	1017
charlesmn	0:3ac96e360672	1018	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1019	return Status;
charlesmn	0:3ac96e360672	1020	}
charlesmn	0:3ac96e360672	1021
charlesmn	0:3ac96e360672	1022
charlesmn	0:3ac96e360672	1023	VL53L1_Error VL53L1_GetMeasurementTimingBudgetMicroSeconds(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1024	uint32_t *pMeasurementTimingBudgetMicroSeconds)
charlesmn	0:3ac96e360672	1025	{
charlesmn	0:3ac96e360672	1026	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1027	uint8_t Mm1Enabled = 0;
charlesmn	0:3ac96e360672	1028	uint8_t Mm2Enabled = 0;
charlesmn	0:3ac96e360672	1029	uint32_t MmTimeoutUs = 0;
charlesmn	0:3ac96e360672	1030	uint32_t RangeTimeoutUs = 0;
charlesmn	0:3ac96e360672	1031	uint32_t MeasTimingBdg = 0;
charlesmn	0:3ac96e360672	1032	uint32_t PhaseCalTimeoutUs = 0;
charlesmn	0:3ac96e360672	1033	VL53L1_PresetModes PresetMode;
charlesmn	0:3ac96e360672	1034	uint32_t TimingGuard;
charlesmn	0:3ac96e360672	1035	uint32_t vhv;
charlesmn	0:3ac96e360672	1036	int32_t vhv_loops;
charlesmn	0:3ac96e360672	1037
charlesmn	0:3ac96e360672	1038	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1039
charlesmn	0:3ac96e360672	1040	*pMeasurementTimingBudgetMicroSeconds = 0;
charlesmn	0:3ac96e360672	1041
charlesmn	0:3ac96e360672	1042	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	1043	Status = VL53L1_GetSequenceStepEnable(Dev,
charlesmn	0:3ac96e360672	1044	VL53L1_SEQUENCESTEP_MM1, &Mm1Enabled);
charlesmn	0:3ac96e360672	1045
charlesmn	0:3ac96e360672	1046	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	1047	Status = VL53L1_GetSequenceStepEnable(Dev,
charlesmn	0:3ac96e360672	1048	VL53L1_SEQUENCESTEP_MM2, &Mm2Enabled);
charlesmn	0:3ac96e360672	1049
charlesmn	0:3ac96e360672	1050	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	1051	Status = VL53L1_get_timeouts_us(Dev,
charlesmn	0:3ac96e360672	1052	&PhaseCalTimeoutUs,
charlesmn	0:3ac96e360672	1053	&MmTimeoutUs,
charlesmn	0:3ac96e360672	1054	&RangeTimeoutUs);
charlesmn	0:3ac96e360672	1055
charlesmn	0:3ac96e360672	1056	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	1057	PresetMode = VL53L1DevDataGet(Dev,
charlesmn	0:3ac96e360672	1058	CurrentParameters.PresetMode);
charlesmn	0:3ac96e360672	1059
charlesmn	0:3ac96e360672	1060	switch (PresetMode) {
charlesmn	0:3ac96e360672	1061	case VL53L1_PRESETMODE_LITE_RANGING:
charlesmn	0:3ac96e360672	1062	if ((Mm1Enabled == 1) \|\| (Mm2Enabled == 1))
charlesmn	0:3ac96e360672	1063	MeasTimingBdg = RangeTimeoutUs + 5000;
charlesmn	0:3ac96e360672	1064	else
charlesmn	0:3ac96e360672	1065	MeasTimingBdg = RangeTimeoutUs + 1000;
charlesmn	0:3ac96e360672	1066
charlesmn	0:3ac96e360672	1067	break;
charlesmn	0:3ac96e360672	1068
charlesmn	0:3ac96e360672	1069	case VL53L1_PRESETMODE_AUTONOMOUS:
charlesmn	0:3ac96e360672	1070	if ((Mm1Enabled == 1) \|\| (Mm2Enabled == 1))
charlesmn	0:3ac96e360672	1071	MeasTimingBdg = 2 * RangeTimeoutUs + 26600;
charlesmn	0:3ac96e360672	1072	else
charlesmn	0:3ac96e360672	1073	MeasTimingBdg = 2 * RangeTimeoutUs + 21600;
charlesmn	0:3ac96e360672	1074
charlesmn	0:3ac96e360672	1075	break;
charlesmn	0:3ac96e360672	1076
charlesmn	0:3ac96e360672	1077	case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS:
charlesmn	0:3ac96e360672	1078	vhv = LOWPOWER_AUTO_VHV_LOOP_DURATION_US;
charlesmn	0:3ac96e360672	1079	VL53L1_get_tuning_parm(Dev,
charlesmn	0:3ac96e360672	1080	VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND,
charlesmn	0:3ac96e360672	1081	&vhv_loops);
charlesmn	0:3ac96e360672	1082	if (vhv_loops > 0) {
charlesmn	0:3ac96e360672	1083	vhv += vhv_loops *
charlesmn	0:3ac96e360672	1084	LOWPOWER_AUTO_VHV_LOOP_DURATION_US;
charlesmn	0:3ac96e360672	1085	}
charlesmn	0:3ac96e360672	1086	TimingGuard = LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING +
charlesmn	0:3ac96e360672	1087	LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING +
charlesmn	0:3ac96e360672	1088	vhv;
charlesmn	0:3ac96e360672	1089	MeasTimingBdg = 2 * RangeTimeoutUs + TimingGuard;
charlesmn	0:3ac96e360672	1090	break;
charlesmn	0:3ac96e360672	1091
charlesmn	0:3ac96e360672	1092	case VL53L1_PRESETMODE_RANGING:
charlesmn	0:3ac96e360672	1093	case VL53L1_PRESETMODE_MULTIZONES_SCANNING:
charlesmn	0:3ac96e360672	1094	case VL53L1_PRESETMODE_PROXY_RANGING_MODE:
charlesmn	0:3ac96e360672	1095	MeasTimingBdg = (6 * RangeTimeoutUs) + 1700;
charlesmn	0:3ac96e360672	1096	break;
charlesmn	0:3ac96e360672	1097
charlesmn	0:3ac96e360672	1098	case VL53L1_PRESETMODE_OLT:
charlesmn	0:3ac96e360672	1099	MeasTimingBdg = RangeTimeoutUs + MmTimeoutUs + 5000;
charlesmn	0:3ac96e360672	1100	break;
charlesmn	0:3ac96e360672	1101	default:
charlesmn	0:3ac96e360672	1102
charlesmn	0:3ac96e360672	1103	Status = VL53L1_ERROR_MODE_NOT_SUPPORTED;
charlesmn	0:3ac96e360672	1104	}
charlesmn	0:3ac96e360672	1105	}
charlesmn	0:3ac96e360672	1106	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	1107	*pMeasurementTimingBudgetMicroSeconds = MeasTimingBdg;
charlesmn	0:3ac96e360672	1108
charlesmn	0:3ac96e360672	1109	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1110	return Status;
charlesmn	0:3ac96e360672	1111	}
charlesmn	0:3ac96e360672	1112
charlesmn	0:3ac96e360672	1113
charlesmn	0:3ac96e360672	1114
charlesmn	0:3ac96e360672	1115	VL53L1_Error VL53L1_SetInterMeasurementPeriodMilliSeconds(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1116	uint32_t InterMeasurementPeriodMilliSeconds)
charlesmn	0:3ac96e360672	1117	{
charlesmn	0:3ac96e360672	1118	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1119	uint32_t adjustedIMP;
charlesmn	0:3ac96e360672	1120
charlesmn	0:3ac96e360672	1121	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1122
charlesmn	0:3ac96e360672	1123
charlesmn	0:3ac96e360672	1124	adjustedIMP = InterMeasurementPeriodMilliSeconds;
charlesmn	0:3ac96e360672	1125	adjustedIMP += (adjustedIMP * 64) / 1000;
charlesmn	0:3ac96e360672	1126
charlesmn	0:3ac96e360672	1127	Status = VL53L1_set_inter_measurement_period_ms(Dev,
charlesmn	0:3ac96e360672	1128	adjustedIMP);
charlesmn	0:3ac96e360672	1129
charlesmn	0:3ac96e360672	1130	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1131	return Status;
charlesmn	0:3ac96e360672	1132	}
charlesmn	0:3ac96e360672	1133
charlesmn	0:3ac96e360672	1134	VL53L1_Error VL53L1_GetInterMeasurementPeriodMilliSeconds(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1135	uint32_t *pInterMeasurementPeriodMilliSeconds)
charlesmn	0:3ac96e360672	1136	{
charlesmn	0:3ac96e360672	1137	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1138	uint32_t adjustedIMP;
charlesmn	0:3ac96e360672	1139
charlesmn	0:3ac96e360672	1140	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1141
charlesmn	0:3ac96e360672	1142	Status = VL53L1_get_inter_measurement_period_ms(Dev, &adjustedIMP);
charlesmn	0:3ac96e360672	1143
charlesmn	0:3ac96e360672	1144	adjustedIMP -= (adjustedIMP * 64) / 1000;
charlesmn	0:3ac96e360672	1145	*pInterMeasurementPeriodMilliSeconds = adjustedIMP;
charlesmn	0:3ac96e360672	1146
charlesmn	0:3ac96e360672	1147
charlesmn	0:3ac96e360672	1148	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1149	return Status;
charlesmn	0:3ac96e360672	1150	}
charlesmn	0:3ac96e360672	1151
charlesmn	0:3ac96e360672	1152	VL53L1_Error VL53L1_SetDmaxReflectance(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1153	FixPoint1616_t DmaxReflectance)
charlesmn	0:3ac96e360672	1154	{
charlesmn	0:3ac96e360672	1155	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1156	VL53L1_dmax_reflectance_array_t dmax_reflectances;
charlesmn	0:3ac96e360672	1157
charlesmn	0:3ac96e360672	1158	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1159
charlesmn	0:3ac96e360672	1160	if (DmaxReflectance > 100*65536)
charlesmn	0:3ac96e360672	1161	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	1162
charlesmn	0:3ac96e360672	1163	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	1164	Status = VL53L1_get_dmax_reflectance_values(Dev,
charlesmn	0:3ac96e360672	1165	&dmax_reflectances);
charlesmn	0:3ac96e360672	1166
charlesmn	0:3ac96e360672	1167	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	1168	dmax_reflectances.target_reflectance_for_dmax[
charlesmn	0:3ac96e360672	1169	DMAX_REFLECTANCE_IDX] =
charlesmn	0:3ac96e360672	1170	VL53L1_FIXPOINT1616TOFIXPOINT72(DmaxReflectance);
charlesmn	0:3ac96e360672	1171	Status = VL53L1_set_dmax_reflectance_values(Dev,
charlesmn	0:3ac96e360672	1172	&dmax_reflectances);
charlesmn	0:3ac96e360672	1173	}
charlesmn	0:3ac96e360672	1174
charlesmn	0:3ac96e360672	1175	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1176	return Status;
charlesmn	0:3ac96e360672	1177	}
charlesmn	0:3ac96e360672	1178
charlesmn	0:3ac96e360672	1179	VL53L1_Error VL53L1_GetDmaxReflectance(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1180	FixPoint1616_t *pDmaxReflectance)
charlesmn	0:3ac96e360672	1181	{
charlesmn	0:3ac96e360672	1182	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1183	VL53L1_dmax_reflectance_array_t dmax_reflectances;
charlesmn	0:3ac96e360672	1184	uint16_t r;
charlesmn	0:3ac96e360672	1185
charlesmn	0:3ac96e360672	1186	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1187	Status = VL53L1_get_dmax_reflectance_values(Dev, &dmax_reflectances);
charlesmn	0:3ac96e360672	1188	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	1189	r = dmax_reflectances.target_reflectance_for_dmax[
charlesmn	0:3ac96e360672	1190	DMAX_REFLECTANCE_IDX];
charlesmn	0:3ac96e360672	1191	*pDmaxReflectance = VL53L1_FIXPOINT72TOFIXPOINT1616(r);
charlesmn	0:3ac96e360672	1192	}
charlesmn	0:3ac96e360672	1193
charlesmn	0:3ac96e360672	1194	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1195	return Status;
charlesmn	0:3ac96e360672	1196	}
charlesmn	0:3ac96e360672	1197
charlesmn	0:3ac96e360672	1198
charlesmn	0:3ac96e360672	1199	VL53L1_Error VL53L1_SetDmaxMode(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1200	VL53L1_DeviceDmaxModes DmaxMode)
charlesmn	0:3ac96e360672	1201	{
charlesmn	0:3ac96e360672	1202
charlesmn	0:3ac96e360672	1203	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1204	VL53L1_DeviceDmaxMode dmax_mode;
charlesmn	0:3ac96e360672	1205
charlesmn	0:3ac96e360672	1206	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1207
charlesmn	0:3ac96e360672	1208	switch (DmaxMode) {
charlesmn	0:3ac96e360672	1209	case VL53L1_DMAXMODE_FMT_CAL_DATA:
charlesmn	0:3ac96e360672	1210	dmax_mode = VL53L1_DEVICEDMAXMODE__FMT_CAL_DATA;
charlesmn	0:3ac96e360672	1211	break;
charlesmn	0:3ac96e360672	1212	case VL53L1_DMAXMODE_CUSTCAL_DATA:
charlesmn	0:3ac96e360672	1213	dmax_mode = VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA;
charlesmn	0:3ac96e360672	1214	break;
charlesmn	0:3ac96e360672	1215	case VL53L1_DMAXMODE_PER_ZONE_CAL_DATA:
charlesmn	0:3ac96e360672	1216	dmax_mode = VL53L1_DEVICEDMAXMODE__PER_ZONE_CAL_DATA;
charlesmn	0:3ac96e360672	1217	break;
charlesmn	0:3ac96e360672	1218	default:
charlesmn	0:3ac96e360672	1219	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	1220	break;
charlesmn	0:3ac96e360672	1221	}
charlesmn	0:3ac96e360672	1222	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	1223	Status = VL53L1_set_dmax_mode(Dev, dmax_mode);
charlesmn	0:3ac96e360672	1224
charlesmn	0:3ac96e360672	1225	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1226	return Status;
charlesmn	0:3ac96e360672	1227	}
charlesmn	0:3ac96e360672	1228
charlesmn	0:3ac96e360672	1229
charlesmn	0:3ac96e360672	1230	VL53L1_Error VL53L1_GetDmaxMode(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1231	VL53L1_DeviceDmaxModes *pDmaxMode)
charlesmn	0:3ac96e360672	1232	{
charlesmn	0:3ac96e360672	1233	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1234	VL53L1_DeviceDmaxMode dmax_mode;
charlesmn	0:3ac96e360672	1235
charlesmn	0:3ac96e360672	1236	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1237
charlesmn	0:3ac96e360672	1238	Status = VL53L1_get_dmax_mode(Dev, &dmax_mode);
charlesmn	0:3ac96e360672	1239	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	1240	switch (dmax_mode) {
charlesmn	0:3ac96e360672	1241	case VL53L1_DEVICEDMAXMODE__FMT_CAL_DATA:
charlesmn	0:3ac96e360672	1242	*pDmaxMode = VL53L1_DMAXMODE_FMT_CAL_DATA;
charlesmn	0:3ac96e360672	1243	break;
charlesmn	0:3ac96e360672	1244	case VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA:
charlesmn	0:3ac96e360672	1245	*pDmaxMode = VL53L1_DMAXMODE_CUSTCAL_DATA;
charlesmn	0:3ac96e360672	1246	break;
charlesmn	0:3ac96e360672	1247	case VL53L1_DEVICEDMAXMODE__PER_ZONE_CAL_DATA:
charlesmn	0:3ac96e360672	1248	*pDmaxMode = VL53L1_DMAXMODE_PER_ZONE_CAL_DATA;
charlesmn	0:3ac96e360672	1249	break;
charlesmn	0:3ac96e360672	1250	default:
charlesmn	0:3ac96e360672	1251	*pDmaxMode = VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA;
charlesmn	0:3ac96e360672	1252	Status = VL53L1_ERROR_NOT_IMPLEMENTED;
charlesmn	0:3ac96e360672	1253	break;
charlesmn	0:3ac96e360672	1254	}
charlesmn	0:3ac96e360672	1255	}
charlesmn	0:3ac96e360672	1256
charlesmn	0:3ac96e360672	1257	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1258	return Status;
charlesmn	0:3ac96e360672	1259	}
charlesmn	0:3ac96e360672	1260
charlesmn	0:3ac96e360672	1261
charlesmn	0:3ac96e360672	1262
charlesmn	0:3ac96e360672	1263
charlesmn	0:3ac96e360672	1264
charlesmn	0:3ac96e360672	1265
charlesmn	0:3ac96e360672	1266	VL53L1_Error VL53L1_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck)
charlesmn	0:3ac96e360672	1267	{
charlesmn	0:3ac96e360672	1268	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1269
charlesmn	0:3ac96e360672	1270	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1271
charlesmn	0:3ac96e360672	1272	*pNumberOfLimitCheck = VL53L1_CHECKENABLE_NUMBER_OF_CHECKS;
charlesmn	0:3ac96e360672	1273
charlesmn	0:3ac96e360672	1274	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1275	return Status;
charlesmn	0:3ac96e360672	1276	}
charlesmn	0:3ac96e360672	1277
charlesmn	0:3ac96e360672	1278	VL53L1_Error VL53L1_GetLimitCheckInfo(uint16_t LimitCheckId,
charlesmn	0:3ac96e360672	1279	char *pLimitCheckString)
charlesmn	0:3ac96e360672	1280	{
charlesmn	0:3ac96e360672	1281	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1282
charlesmn	0:3ac96e360672	1283	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1284
charlesmn	0:3ac96e360672	1285	Status = VL53L1_get_limit_check_info(LimitCheckId,
charlesmn	0:3ac96e360672	1286	pLimitCheckString);
charlesmn	0:3ac96e360672	1287
charlesmn	0:3ac96e360672	1288	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1289	return Status;
charlesmn	0:3ac96e360672	1290	}
charlesmn	0:3ac96e360672	1291
charlesmn	0:3ac96e360672	1292	VL53L1_Error VL53L1_GetLimitCheckStatus(VL53L1_DEV Dev, uint16_t LimitCheckId,
charlesmn	0:3ac96e360672	1293	uint8_t *pLimitCheckStatus)
charlesmn	0:3ac96e360672	1294	{
charlesmn	0:3ac96e360672	1295	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1296	uint8_t Temp8;
charlesmn	0:3ac96e360672	1297
charlesmn	0:3ac96e360672	1298	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1299
charlesmn	0:3ac96e360672	1300	if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
charlesmn	0:3ac96e360672	1301	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	1302	} else {
charlesmn	0:3ac96e360672	1303	VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
charlesmn	0:3ac96e360672	1304	LimitCheckId, Temp8);
charlesmn	0:3ac96e360672	1305	*pLimitCheckStatus = Temp8;
charlesmn	0:3ac96e360672	1306	}
charlesmn	0:3ac96e360672	1307
charlesmn	0:3ac96e360672	1308	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1309	return Status;
charlesmn	0:3ac96e360672	1310	}
charlesmn	0:3ac96e360672	1311
charlesmn	0:3ac96e360672	1312	static VL53L1_Error SetLimitValue(VL53L1_DEV Dev, uint16_t LimitCheckId,
charlesmn	0:3ac96e360672	1313	FixPoint1616_t value)
charlesmn	0:3ac96e360672	1314	{
charlesmn	0:3ac96e360672	1315	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1316	uint16_t tmpuint16;
charlesmn	0:3ac96e360672	1317
charlesmn	0:3ac96e360672	1318	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1319
charlesmn	0:3ac96e360672	1320	switch (LimitCheckId) {
charlesmn	0:3ac96e360672	1321	case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE:
charlesmn	0:3ac96e360672	1322	tmpuint16 = VL53L1_FIXPOINT1616TOFIXPOINT142(value);
charlesmn	0:3ac96e360672	1323	VL53L1_set_lite_sigma_threshold(Dev, tmpuint16);
charlesmn	0:3ac96e360672	1324	break;
charlesmn	0:3ac96e360672	1325	case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
charlesmn	0:3ac96e360672	1326	tmpuint16 = VL53L1_FIXPOINT1616TOFIXPOINT97(value);
charlesmn	0:3ac96e360672	1327	VL53L1_set_lite_min_count_rate(Dev, tmpuint16);
charlesmn	0:3ac96e360672	1328	break;
charlesmn	0:3ac96e360672	1329	default:
charlesmn	0:3ac96e360672	1330	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	1331	}
charlesmn	0:3ac96e360672	1332
charlesmn	0:3ac96e360672	1333	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1334	return Status;
charlesmn	0:3ac96e360672	1335	}
charlesmn	0:3ac96e360672	1336
charlesmn	0:3ac96e360672	1337
charlesmn	0:3ac96e360672	1338	VL53L1_Error VL53L1_SetLimitCheckEnable(VL53L1_DEV Dev, uint16_t LimitCheckId,
charlesmn	0:3ac96e360672	1339	uint8_t LimitCheckEnable)
charlesmn	0:3ac96e360672	1340	{
charlesmn	0:3ac96e360672	1341	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1342	FixPoint1616_t TempFix1616 = 0;
charlesmn	0:3ac96e360672	1343
charlesmn	0:3ac96e360672	1344	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1345
charlesmn	0:3ac96e360672	1346
charlesmn	0:3ac96e360672	1347	if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
charlesmn	0:3ac96e360672	1348	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	1349	} else {
charlesmn	0:3ac96e360672	1350
charlesmn	0:3ac96e360672	1351	if (LimitCheckEnable == 0)
charlesmn	0:3ac96e360672	1352	TempFix1616 = 0;
charlesmn	0:3ac96e360672	1353	else
charlesmn	0:3ac96e360672	1354	VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
charlesmn	0:3ac96e360672	1355	LimitCheckId, TempFix1616);
charlesmn	0:3ac96e360672	1356
charlesmn	0:3ac96e360672	1357	Status = SetLimitValue(Dev, LimitCheckId, TempFix1616);
charlesmn	0:3ac96e360672	1358	}
charlesmn	0:3ac96e360672	1359
charlesmn	0:3ac96e360672	1360	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	1361	VL53L1_SETARRAYPARAMETERFIELD(Dev,
charlesmn	0:3ac96e360672	1362	LimitChecksEnable,
charlesmn	0:3ac96e360672	1363	LimitCheckId,
charlesmn	0:3ac96e360672	1364	((LimitCheckEnable == 0) ? 0 : 1));
charlesmn	0:3ac96e360672	1365
charlesmn	0:3ac96e360672	1366
charlesmn	0:3ac96e360672	1367
charlesmn	0:3ac96e360672	1368	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1369	return Status;
charlesmn	0:3ac96e360672	1370	}
charlesmn	0:3ac96e360672	1371
charlesmn	0:3ac96e360672	1372	VL53L1_Error VL53L1_GetLimitCheckEnable(VL53L1_DEV Dev, uint16_t LimitCheckId,
charlesmn	0:3ac96e360672	1373	uint8_t *pLimitCheckEnable)
charlesmn	0:3ac96e360672	1374	{
charlesmn	0:3ac96e360672	1375	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1376	uint8_t Temp8;
charlesmn	0:3ac96e360672	1377
charlesmn	0:3ac96e360672	1378	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1379
charlesmn	0:3ac96e360672	1380	if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
charlesmn	0:3ac96e360672	1381	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	1382	*pLimitCheckEnable = 0;
charlesmn	0:3ac96e360672	1383	} else {
charlesmn	0:3ac96e360672	1384	VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
charlesmn	0:3ac96e360672	1385	LimitCheckId, Temp8);
charlesmn	0:3ac96e360672	1386	*pLimitCheckEnable = Temp8;
charlesmn	0:3ac96e360672	1387	}
charlesmn	0:3ac96e360672	1388
charlesmn	0:3ac96e360672	1389
charlesmn	0:3ac96e360672	1390	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1391	return Status;
charlesmn	0:3ac96e360672	1392	}
charlesmn	0:3ac96e360672	1393
charlesmn	0:3ac96e360672	1394	VL53L1_Error VL53L1_SetLimitCheckValue(VL53L1_DEV Dev, uint16_t LimitCheckId,
charlesmn	0:3ac96e360672	1395	FixPoint1616_t LimitCheckValue)
charlesmn	0:3ac96e360672	1396	{
charlesmn	0:3ac96e360672	1397	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1398	uint8_t LimitChecksEnable;
charlesmn	0:3ac96e360672	1399
charlesmn	0:3ac96e360672	1400	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1401
charlesmn	0:3ac96e360672	1402	if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
charlesmn	0:3ac96e360672	1403	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	1404	} else {
charlesmn	0:3ac96e360672	1405
charlesmn	0:3ac96e360672	1406	VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
charlesmn	0:3ac96e360672	1407	LimitCheckId,
charlesmn	0:3ac96e360672	1408	LimitChecksEnable);
charlesmn	0:3ac96e360672	1409
charlesmn	0:3ac96e360672	1410	if (LimitChecksEnable == 0) {
charlesmn	0:3ac96e360672	1411
charlesmn	0:3ac96e360672	1412	VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
charlesmn	0:3ac96e360672	1413	LimitCheckId, LimitCheckValue);
charlesmn	0:3ac96e360672	1414	} else {
charlesmn	0:3ac96e360672	1415
charlesmn	0:3ac96e360672	1416	Status = SetLimitValue(Dev, LimitCheckId,
charlesmn	0:3ac96e360672	1417	LimitCheckValue);
charlesmn	0:3ac96e360672	1418
charlesmn	0:3ac96e360672	1419	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	1420	VL53L1_SETARRAYPARAMETERFIELD(Dev,
charlesmn	0:3ac96e360672	1421	LimitChecksValue,
charlesmn	0:3ac96e360672	1422	LimitCheckId, LimitCheckValue);
charlesmn	0:3ac96e360672	1423	}
charlesmn	0:3ac96e360672	1424	}
charlesmn	0:3ac96e360672	1425	}
charlesmn	0:3ac96e360672	1426
charlesmn	0:3ac96e360672	1427	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1428	return Status;
charlesmn	0:3ac96e360672	1429	}
charlesmn	0:3ac96e360672	1430
charlesmn	0:3ac96e360672	1431	VL53L1_Error VL53L1_GetLimitCheckValue(VL53L1_DEV Dev, uint16_t LimitCheckId,
charlesmn	0:3ac96e360672	1432	FixPoint1616_t *pLimitCheckValue)
charlesmn	0:3ac96e360672	1433	{
charlesmn	0:3ac96e360672	1434	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1435	uint16_t MinCountRate;
charlesmn	0:3ac96e360672	1436	FixPoint1616_t TempFix1616;
charlesmn	0:3ac96e360672	1437	uint16_t SigmaThresh;
charlesmn	0:3ac96e360672	1438
charlesmn	0:3ac96e360672	1439	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1440
charlesmn	0:3ac96e360672	1441	switch (LimitCheckId) {
charlesmn	0:3ac96e360672	1442	case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE:
charlesmn	0:3ac96e360672	1443	Status = VL53L1_get_lite_sigma_threshold(Dev, &SigmaThresh);
charlesmn	0:3ac96e360672	1444	TempFix1616 = VL53L1_FIXPOINT142TOFIXPOINT1616(SigmaThresh);
charlesmn	0:3ac96e360672	1445	break;
charlesmn	0:3ac96e360672	1446	case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
charlesmn	0:3ac96e360672	1447	Status = VL53L1_get_lite_min_count_rate(Dev, &MinCountRate);
charlesmn	0:3ac96e360672	1448	TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(MinCountRate);
charlesmn	0:3ac96e360672	1449	break;
charlesmn	0:3ac96e360672	1450	default:
charlesmn	0:3ac96e360672	1451	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	1452	}
charlesmn	0:3ac96e360672	1453
charlesmn	0:3ac96e360672	1454	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	1455
charlesmn	0:3ac96e360672	1456	if (TempFix1616 == 0) {
charlesmn	0:3ac96e360672	1457
charlesmn	0:3ac96e360672	1458	VL53L1_GETARRAYPARAMETERFIELD(Dev,
charlesmn	0:3ac96e360672	1459	LimitChecksValue, LimitCheckId,
charlesmn	0:3ac96e360672	1460	TempFix1616);
charlesmn	0:3ac96e360672	1461	*pLimitCheckValue = TempFix1616;
charlesmn	0:3ac96e360672	1462	VL53L1_SETARRAYPARAMETERFIELD(Dev,
charlesmn	0:3ac96e360672	1463	LimitChecksEnable, LimitCheckId, 0);
charlesmn	0:3ac96e360672	1464	} else {
charlesmn	0:3ac96e360672	1465	*pLimitCheckValue = TempFix1616;
charlesmn	0:3ac96e360672	1466	VL53L1_SETARRAYPARAMETERFIELD(Dev,
charlesmn	0:3ac96e360672	1467	LimitChecksValue, LimitCheckId,
charlesmn	0:3ac96e360672	1468	TempFix1616);
charlesmn	0:3ac96e360672	1469	VL53L1_SETARRAYPARAMETERFIELD(Dev,
charlesmn	0:3ac96e360672	1470	LimitChecksEnable, LimitCheckId, 1);
charlesmn	0:3ac96e360672	1471	}
charlesmn	0:3ac96e360672	1472	}
charlesmn	0:3ac96e360672	1473	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1474	return Status;
charlesmn	0:3ac96e360672	1475
charlesmn	0:3ac96e360672	1476	}
charlesmn	0:3ac96e360672	1477
charlesmn	0:3ac96e360672	1478	VL53L1_Error VL53L1_GetLimitCheckCurrent(VL53L1_DEV Dev, uint16_t LimitCheckId,
charlesmn	0:3ac96e360672	1479	FixPoint1616_t *pLimitCheckCurrent)
charlesmn	0:3ac96e360672	1480	{
charlesmn	0:3ac96e360672	1481	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1482	FixPoint1616_t TempFix1616 = 0;
charlesmn	0:3ac96e360672	1483
charlesmn	0:3ac96e360672	1484	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1485
charlesmn	0:3ac96e360672	1486	if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
charlesmn	0:3ac96e360672	1487	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	1488	} else {
charlesmn	0:3ac96e360672	1489	VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksCurrent,
charlesmn	0:3ac96e360672	1490	LimitCheckId, TempFix1616);
charlesmn	0:3ac96e360672	1491	*pLimitCheckCurrent = TempFix1616;
charlesmn	0:3ac96e360672	1492	}
charlesmn	0:3ac96e360672	1493
charlesmn	0:3ac96e360672	1494	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1495	return Status;
charlesmn	0:3ac96e360672	1496
charlesmn	0:3ac96e360672	1497	}
charlesmn	0:3ac96e360672	1498
charlesmn	0:3ac96e360672	1499
charlesmn	0:3ac96e360672	1500
charlesmn	0:3ac96e360672	1501
charlesmn	0:3ac96e360672	1502
charlesmn	0:3ac96e360672	1503
charlesmn	0:3ac96e360672	1504
charlesmn	0:3ac96e360672	1505
charlesmn	0:3ac96e360672	1506	VL53L1_Error VL53L1_GetMaxNumberOfROI(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1507	uint8_t *pMaxNumberOfROI)
charlesmn	0:3ac96e360672	1508	{
charlesmn	0:3ac96e360672	1509	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1510	VL53L1_PresetModes PresetMode;
charlesmn	0:3ac96e360672	1511
charlesmn	0:3ac96e360672	1512	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1513
charlesmn	0:3ac96e360672	1514	PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode);
charlesmn	0:3ac96e360672	1515
charlesmn	0:3ac96e360672	1516
charlesmn	0:3ac96e360672	1517	if (PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING)
charlesmn	0:3ac96e360672	1518	*pMaxNumberOfROI = VL53L1_MAX_USER_ZONES;
charlesmn	0:3ac96e360672	1519	else
charlesmn	0:3ac96e360672	1520	*pMaxNumberOfROI = 1;
charlesmn	0:3ac96e360672	1521
charlesmn	0:3ac96e360672	1522	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1523	return Status;
charlesmn	0:3ac96e360672	1524	}
charlesmn	0:3ac96e360672	1525
charlesmn	0:3ac96e360672	1526	VL53L1_Error VL53L1_SetROI(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1527	VL53L1_RoiConfig_t *pRoiConfig)
charlesmn	0:3ac96e360672	1528	{
charlesmn	0:3ac96e360672	1529	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1530	VL53L1_PresetModes PresetMode;
charlesmn	0:3ac96e360672	1531	uint8_t MaxNumberOfROI = 1;
charlesmn	0:3ac96e360672	1532	VL53L1_zone_config_t zone_cfg;
charlesmn	0:3ac96e360672	1533	VL53L1_UserRoi_t CurrROI;
charlesmn	0:3ac96e360672	1534	uint8_t i;
charlesmn	0:3ac96e360672	1535	uint8_t x_centre;
charlesmn	0:3ac96e360672	1536	uint8_t y_centre;
charlesmn	0:3ac96e360672	1537	uint8_t width, height;
charlesmn	0:3ac96e360672	1538
charlesmn	0:3ac96e360672	1539	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1540
charlesmn	0:3ac96e360672	1541
charlesmn	0:3ac96e360672	1542	PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode);
charlesmn	0:3ac96e360672	1543
charlesmn	0:3ac96e360672	1544
charlesmn	0:3ac96e360672	1545	if (PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING)
charlesmn	0:3ac96e360672	1546	MaxNumberOfROI = VL53L1_MAX_USER_ZONES;
charlesmn	0:3ac96e360672	1547
charlesmn	0:3ac96e360672	1548	if ((pRoiConfig->NumberOfRoi > MaxNumberOfROI) \|\|
charlesmn	0:3ac96e360672	1549	(pRoiConfig->NumberOfRoi < 1))
charlesmn	0:3ac96e360672	1550	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	1551
charlesmn	0:3ac96e360672	1552	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	1553
charlesmn	0:3ac96e360672	1554
charlesmn	0:3ac96e360672	1555	zone_cfg.max_zones = MaxNumberOfROI;
charlesmn	0:3ac96e360672	1556	zone_cfg.active_zones = pRoiConfig->NumberOfRoi - 1;
charlesmn	0:3ac96e360672	1557
charlesmn	0:3ac96e360672	1558	for (i = 0; i < pRoiConfig->NumberOfRoi; i++) {
charlesmn	0:3ac96e360672	1559	CurrROI = pRoiConfig->UserRois[i];
charlesmn	0:3ac96e360672	1560
charlesmn	0:3ac96e360672	1561	Status = CheckValidRectRoi(CurrROI);
charlesmn	0:3ac96e360672	1562	if (Status != VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	1563	break;
charlesmn	0:3ac96e360672	1564
charlesmn	0:3ac96e360672	1565	x_centre = (CurrROI.BotRightX + CurrROI.TopLeftX + 1)
charlesmn	0:3ac96e360672	1566	/ 2;
charlesmn	0:3ac96e360672	1567	y_centre = (CurrROI.TopLeftY + CurrROI.BotRightY + 1)
charlesmn	0:3ac96e360672	1568	/ 2;
charlesmn	0:3ac96e360672	1569	width = (CurrROI.BotRightX - CurrROI.TopLeftX);
charlesmn	0:3ac96e360672	1570	height = (CurrROI.TopLeftY - CurrROI.BotRightY);
charlesmn	0:3ac96e360672	1571	if ((width < 3) \|\| (height < 3)) {
charlesmn	0:3ac96e360672	1572	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	1573	break;
charlesmn	0:3ac96e360672	1574	}
charlesmn	0:3ac96e360672	1575	zone_cfg.user_zones[i].x_centre = x_centre;
charlesmn	0:3ac96e360672	1576	zone_cfg.user_zones[i].y_centre = y_centre;
charlesmn	0:3ac96e360672	1577	zone_cfg.user_zones[i].width = width;
charlesmn	0:3ac96e360672	1578	zone_cfg.user_zones[i].height = height;
charlesmn	0:3ac96e360672	1579	}
charlesmn	0:3ac96e360672	1580	}
charlesmn	0:3ac96e360672	1581
charlesmn	0:3ac96e360672	1582	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	1583	Status = VL53L1_set_zone_config(Dev, &zone_cfg);
charlesmn	0:3ac96e360672	1584
charlesmn	0:3ac96e360672	1585	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1586	return Status;
charlesmn	0:3ac96e360672	1587	}
charlesmn	0:3ac96e360672	1588
charlesmn	0:3ac96e360672	1589	VL53L1_Error VL53L1_GetROI(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1590	VL53L1_RoiConfig_t *pRoiConfig)
charlesmn	0:3ac96e360672	1591	{
charlesmn	0:3ac96e360672	1592	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1593	VL53L1_zone_config_t zone_cfg;
charlesmn	0:3ac96e360672	1594	uint8_t i;
charlesmn	0:3ac96e360672	1595	uint8_t TopLeftX;
charlesmn	0:3ac96e360672	1596	uint8_t TopLeftY;
charlesmn	0:3ac96e360672	1597	uint8_t BotRightX;
charlesmn	0:3ac96e360672	1598	uint8_t BotRightY;
charlesmn	0:3ac96e360672	1599
charlesmn	0:3ac96e360672	1600	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1601
charlesmn	0:3ac96e360672	1602	VL53L1_get_zone_config(Dev, &zone_cfg);
charlesmn	0:3ac96e360672	1603
charlesmn	0:3ac96e360672	1604	pRoiConfig->NumberOfRoi = zone_cfg.active_zones + 1;
charlesmn	0:3ac96e360672	1605
charlesmn	0:3ac96e360672	1606	for (i = 0; i < pRoiConfig->NumberOfRoi; i++) {
charlesmn	0:3ac96e360672	1607	TopLeftX = (2 * zone_cfg.user_zones[i].x_centre -
charlesmn	0:3ac96e360672	1608	zone_cfg.user_zones[i].width) >> 1;
charlesmn	0:3ac96e360672	1609	TopLeftY = (2 * zone_cfg.user_zones[i].y_centre +
charlesmn	0:3ac96e360672	1610	zone_cfg.user_zones[i].height) >> 1;
charlesmn	0:3ac96e360672	1611	BotRightX = (2 * zone_cfg.user_zones[i].x_centre +
charlesmn	0:3ac96e360672	1612	zone_cfg.user_zones[i].width) >> 1;
charlesmn	0:3ac96e360672	1613	BotRightY = (2 * zone_cfg.user_zones[i].y_centre -
charlesmn	0:3ac96e360672	1614	zone_cfg.user_zones[i].height) >> 1;
charlesmn	0:3ac96e360672	1615	pRoiConfig->UserRois[i].TopLeftX = TopLeftX;
charlesmn	0:3ac96e360672	1616	pRoiConfig->UserRois[i].TopLeftY = TopLeftY;
charlesmn	0:3ac96e360672	1617	pRoiConfig->UserRois[i].BotRightX = BotRightX;
charlesmn	0:3ac96e360672	1618	pRoiConfig->UserRois[i].BotRightY = BotRightY;
charlesmn	0:3ac96e360672	1619	}
charlesmn	0:3ac96e360672	1620
charlesmn	0:3ac96e360672	1621	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1622	return Status;
charlesmn	0:3ac96e360672	1623	}
charlesmn	0:3ac96e360672	1624
charlesmn	0:3ac96e360672	1625
charlesmn	0:3ac96e360672	1626
charlesmn	0:3ac96e360672	1627
charlesmn	0:3ac96e360672	1628
charlesmn	0:3ac96e360672	1629
charlesmn	0:3ac96e360672	1630
charlesmn	0:3ac96e360672	1631	VL53L1_Error VL53L1_GetNumberOfSequenceSteps(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1632	uint8_t *pNumberOfSequenceSteps)
charlesmn	0:3ac96e360672	1633	{
charlesmn	0:3ac96e360672	1634	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1635
charlesmn	0:3ac96e360672	1636	SUPPRESS_UNUSED_WARNING(Dev);
charlesmn	0:3ac96e360672	1637
charlesmn	0:3ac96e360672	1638	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1639
charlesmn	0:3ac96e360672	1640	*pNumberOfSequenceSteps = VL53L1_SEQUENCESTEP_NUMBER_OF_ITEMS;
charlesmn	0:3ac96e360672	1641
charlesmn	0:3ac96e360672	1642	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1643	return Status;
charlesmn	0:3ac96e360672	1644	}
charlesmn	0:3ac96e360672	1645
charlesmn	0:3ac96e360672	1646	VL53L1_Error VL53L1_GetSequenceStepsInfo(VL53L1_SequenceStepId SequenceStepId,
charlesmn	0:3ac96e360672	1647	char *pSequenceStepsString)
charlesmn	0:3ac96e360672	1648	{
charlesmn	0:3ac96e360672	1649	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1650
charlesmn	0:3ac96e360672	1651	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1652
charlesmn	0:3ac96e360672	1653	Status = VL53L1_get_sequence_steps_info(
charlesmn	0:3ac96e360672	1654	SequenceStepId,
charlesmn	0:3ac96e360672	1655	pSequenceStepsString);
charlesmn	0:3ac96e360672	1656
charlesmn	0:3ac96e360672	1657	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1658
charlesmn	0:3ac96e360672	1659	return Status;
charlesmn	0:3ac96e360672	1660	}
charlesmn	0:3ac96e360672	1661
charlesmn	0:3ac96e360672	1662	VL53L1_Error VL53L1_SetSequenceStepEnable(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1663	VL53L1_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled)
charlesmn	0:3ac96e360672	1664	{
charlesmn	0:3ac96e360672	1665	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1666	uint32_t MeasurementTimingBudgetMicroSeconds;
charlesmn	0:3ac96e360672	1667
charlesmn	0:3ac96e360672	1668	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1669
charlesmn	0:3ac96e360672	1670
charlesmn	0:3ac96e360672	1671
charlesmn	0:3ac96e360672	1672	Status = VL53L1_set_sequence_config_bit(Dev,
charlesmn	0:3ac96e360672	1673	(VL53L1_DeviceSequenceConfig)SequenceStepId,
charlesmn	0:3ac96e360672	1674	SequenceStepEnabled);
charlesmn	0:3ac96e360672	1675
charlesmn	0:3ac96e360672	1676
charlesmn	0:3ac96e360672	1677	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	1678
charlesmn	0:3ac96e360672	1679
charlesmn	0:3ac96e360672	1680	MeasurementTimingBudgetMicroSeconds = VL53L1DevDataGet(Dev,
charlesmn	0:3ac96e360672	1681	CurrentParameters.MeasurementTimingBudgetMicroSeconds);
charlesmn	0:3ac96e360672	1682
charlesmn	0:3ac96e360672	1683	VL53L1_SetMeasurementTimingBudgetMicroSeconds(Dev,
charlesmn	0:3ac96e360672	1684	MeasurementTimingBudgetMicroSeconds);
charlesmn	0:3ac96e360672	1685	}
charlesmn	0:3ac96e360672	1686
charlesmn	0:3ac96e360672	1687	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1688
charlesmn	0:3ac96e360672	1689	return Status;
charlesmn	0:3ac96e360672	1690	}
charlesmn	0:3ac96e360672	1691
charlesmn	0:3ac96e360672	1692
charlesmn	0:3ac96e360672	1693	VL53L1_Error VL53L1_GetSequenceStepEnable(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1694	VL53L1_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled)
charlesmn	0:3ac96e360672	1695	{
charlesmn	0:3ac96e360672	1696	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1697
charlesmn	0:3ac96e360672	1698	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1699
charlesmn	0:3ac96e360672	1700	Status = VL53L1_get_sequence_config_bit(Dev,
charlesmn	0:3ac96e360672	1701	(VL53L1_DeviceSequenceConfig)SequenceStepId,
charlesmn	0:3ac96e360672	1702	pSequenceStepEnabled);
charlesmn	0:3ac96e360672	1703
charlesmn	0:3ac96e360672	1704	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1705	return Status;
charlesmn	0:3ac96e360672	1706	}
charlesmn	0:3ac96e360672	1707
charlesmn	0:3ac96e360672	1708
charlesmn	0:3ac96e360672	1709
charlesmn	0:3ac96e360672	1710
charlesmn	0:3ac96e360672	1711
charlesmn	0:3ac96e360672	1712
charlesmn	0:3ac96e360672	1713
charlesmn	0:3ac96e360672	1714
charlesmn	0:3ac96e360672	1715
charlesmn	0:3ac96e360672	1716
charlesmn	0:3ac96e360672	1717	VL53L1_Error VL53L1_StartMeasurement(VL53L1_DEV Dev)
charlesmn	0:3ac96e360672	1718	{
charlesmn	0:3ac96e360672	1719	#define TIMED_MODE_TIMING_GUARD_MILLISECONDS 4
charlesmn	0:3ac96e360672	1720	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1721	uint8_t DeviceMeasurementMode;
charlesmn	0:3ac96e360672	1722	VL53L1_State CurrPalState;
charlesmn	0:3ac96e360672	1723	VL53L1_Error lStatus;
charlesmn	0:3ac96e360672	1724	uint32_t MTBus, IMPms;
charlesmn	0:3ac96e360672	1725	uint8_t i;
charlesmn	0:3ac96e360672	1726	VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	1727
charlesmn	0:3ac96e360672	1728
charlesmn	0:3ac96e360672	1729	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1730	VL53L1_load_patch(Dev);
charlesmn	0:3ac96e360672	1731	for (i = 0; i < VL53L1_MAX_RANGE_RESULTS; i++) {
charlesmn	0:3ac96e360672	1732	pdev->PreviousRangeMilliMeter[i] = 0;
charlesmn	0:3ac96e360672	1733	pdev->PreviousRangeStatus[i] = 255;
charlesmn	0:3ac96e360672	1734	pdev->PreviousExtendedRange[i] = 0;
charlesmn	0:3ac96e360672	1735	}
charlesmn	0:3ac96e360672	1736	pdev->PreviousStreamCount = 0;
charlesmn	0:3ac96e360672	1737	CurrPalState = VL53L1DevDataGet(Dev, PalState);
charlesmn	0:3ac96e360672	1738	switch (CurrPalState) {
charlesmn	0:3ac96e360672	1739	case VL53L1_STATE_IDLE:
charlesmn	0:3ac96e360672	1740	Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1741	break;
charlesmn	0:3ac96e360672	1742	case VL53L1_STATE_POWERDOWN:
charlesmn	0:3ac96e360672	1743	case VL53L1_STATE_WAIT_STATICINIT:
charlesmn	0:3ac96e360672	1744	case VL53L1_STATE_STANDBY:
charlesmn	0:3ac96e360672	1745	case VL53L1_STATE_RUNNING:
charlesmn	0:3ac96e360672	1746	case VL53L1_STATE_RESET:
charlesmn	0:3ac96e360672	1747	case VL53L1_STATE_UNKNOWN:
charlesmn	0:3ac96e360672	1748	case VL53L1_STATE_ERROR:
charlesmn	0:3ac96e360672	1749	Status = VL53L1_ERROR_INVALID_COMMAND;
charlesmn	0:3ac96e360672	1750	break;
charlesmn	0:3ac96e360672	1751	default:
charlesmn	0:3ac96e360672	1752	Status = VL53L1_ERROR_UNDEFINED;
charlesmn	0:3ac96e360672	1753	}
charlesmn	0:3ac96e360672	1754
charlesmn	0:3ac96e360672	1755	DeviceMeasurementMode = VL53L1DevDataGet(Dev, LLData.measurement_mode);
charlesmn	0:3ac96e360672	1756
charlesmn	0:3ac96e360672	1757
charlesmn	0:3ac96e360672	1758	if ((Status == VL53L1_ERROR_NONE) &&
charlesmn	0:3ac96e360672	1759	(DeviceMeasurementMode == VL53L1_DEVICEMEASUREMENTMODE_TIMED)) {
charlesmn	0:3ac96e360672	1760	lStatus = VL53L1_GetMeasurementTimingBudgetMicroSeconds(Dev,
charlesmn	0:3ac96e360672	1761	&MTBus);
charlesmn	0:3ac96e360672	1762
charlesmn	0:3ac96e360672	1763	MTBus /= 1000;
charlesmn	0:3ac96e360672	1764	lStatus = VL53L1_GetInterMeasurementPeriodMilliSeconds(Dev,
charlesmn	0:3ac96e360672	1765	&IMPms);
charlesmn	0:3ac96e360672	1766
charlesmn	0:3ac96e360672	1767	SUPPRESS_UNUSED_WARNING(lStatus);
charlesmn	0:3ac96e360672	1768	if (IMPms < MTBus + TIMED_MODE_TIMING_GUARD_MILLISECONDS)
charlesmn	0:3ac96e360672	1769	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	1770	}
charlesmn	0:3ac96e360672	1771
charlesmn	0:3ac96e360672	1772	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	1773	Status = VL53L1_init_and_start_range(
charlesmn	0:3ac96e360672	1774	Dev,
charlesmn	0:3ac96e360672	1775	DeviceMeasurementMode,
charlesmn	0:3ac96e360672	1776	VL53L1_DEVICECONFIGLEVEL_FULL);
charlesmn	0:3ac96e360672	1777
charlesmn	0:3ac96e360672	1778
charlesmn	0:3ac96e360672	1779	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	1780	VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_RUNNING);
charlesmn	0:3ac96e360672	1781
charlesmn	0:3ac96e360672	1782
charlesmn	0:3ac96e360672	1783	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1784	return Status;
charlesmn	0:3ac96e360672	1785	}
charlesmn	0:3ac96e360672	1786
charlesmn	0:3ac96e360672	1787	VL53L1_Error VL53L1_StopMeasurement(VL53L1_DEV Dev)
charlesmn	0:3ac96e360672	1788	{
charlesmn	0:3ac96e360672	1789	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1790
charlesmn	0:3ac96e360672	1791	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1792
charlesmn	0:3ac96e360672	1793	Status = VL53L1_stop_range(Dev);
charlesmn	0:3ac96e360672	1794	VL53L1_unload_patch(Dev);
charlesmn	0:3ac96e360672	1795
charlesmn	0:3ac96e360672	1796	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	1797	VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_IDLE);
charlesmn	0:3ac96e360672	1798
charlesmn	0:3ac96e360672	1799	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1800	return Status;
charlesmn	0:3ac96e360672	1801	}
charlesmn	0:3ac96e360672	1802
charlesmn	0:3ac96e360672	1803
charlesmn	0:3ac96e360672	1804	VL53L1_Error VL53L1_ClearInterruptAndStartMeasurement(VL53L1_DEV Dev)
charlesmn	0:3ac96e360672	1805	{
charlesmn	0:3ac96e360672	1806	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1807	uint8_t DeviceMeasurementMode;
charlesmn	0:3ac96e360672	1808
charlesmn	0:3ac96e360672	1809	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1810
charlesmn	0:3ac96e360672	1811	DeviceMeasurementMode = VL53L1DevDataGet(Dev, LLData.measurement_mode);
charlesmn	0:3ac96e360672	1812
charlesmn	0:3ac96e360672	1813	Status = VL53L1_clear_interrupt_and_enable_next_range(Dev,
charlesmn	0:3ac96e360672	1814	DeviceMeasurementMode);
charlesmn	0:3ac96e360672	1815
charlesmn	0:3ac96e360672	1816	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1817	return Status;
charlesmn	0:3ac96e360672	1818	}
charlesmn	0:3ac96e360672	1819
charlesmn	0:3ac96e360672	1820
charlesmn	0:3ac96e360672	1821	VL53L1_Error VL53L1_GetMeasurementDataReady(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1822	uint8_t *pMeasurementDataReady)
charlesmn	0:3ac96e360672	1823	{
charlesmn	0:3ac96e360672	1824	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1825
charlesmn	0:3ac96e360672	1826	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1827
charlesmn	0:3ac96e360672	1828	Status = VL53L1_is_new_data_ready(Dev, pMeasurementDataReady);
charlesmn	0:3ac96e360672	1829
charlesmn	0:3ac96e360672	1830	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1831	return Status;
charlesmn	0:3ac96e360672	1832	}
charlesmn	0:3ac96e360672	1833
charlesmn	0:3ac96e360672	1834	VL53L1_Error VL53L1_WaitMeasurementDataReady(VL53L1_DEV Dev)
charlesmn	0:3ac96e360672	1835	{
charlesmn	0:3ac96e360672	1836	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	1837
charlesmn	0:3ac96e360672	1838	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	1839
charlesmn	0:3ac96e360672	1840
charlesmn	0:3ac96e360672	1841
charlesmn	0:3ac96e360672	1842	Status = VL53L1_poll_for_range_completion(Dev,
charlesmn	0:3ac96e360672	1843	VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS);
charlesmn	0:3ac96e360672	1844
charlesmn	0:3ac96e360672	1845	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	1846	return Status;
charlesmn	0:3ac96e360672	1847	}
charlesmn	0:3ac96e360672	1848
charlesmn	0:3ac96e360672	1849	static void GenNewPresetMode(int16_t RefRange,
charlesmn	0:3ac96e360672	1850	VL53L1_DistanceModes InternalDistanceMode,
charlesmn	0:3ac96e360672	1851	VL53L1_DistanceModes *pNewDistanceMode)
charlesmn	0:3ac96e360672	1852	{
charlesmn	0:3ac96e360672	1853	uint16_t HRLI = 600;
charlesmn	0:3ac96e360672	1854	uint16_t HRLH = 700;
charlesmn	0:3ac96e360672	1855	uint16_t MRLI = 1400;
charlesmn	0:3ac96e360672	1856	uint16_t MRLH = 1500;
charlesmn	0:3ac96e360672	1857
charlesmn	0:3ac96e360672	1858	switch (InternalDistanceMode) {
charlesmn	0:3ac96e360672	1859	case VL53L1_DISTANCEMODE_SHORT:
charlesmn	0:3ac96e360672	1860
charlesmn	0:3ac96e360672	1861	if (RefRange > MRLH)
charlesmn	0:3ac96e360672	1862	*pNewDistanceMode = VL53L1_DISTANCEMODE_LONG;
charlesmn	0:3ac96e360672	1863	else if (RefRange > HRLH)
charlesmn	0:3ac96e360672	1864	*pNewDistanceMode = VL53L1_DISTANCEMODE_MEDIUM;
charlesmn	0:3ac96e360672	1865	break;
charlesmn	0:3ac96e360672	1866	case VL53L1_DISTANCEMODE_MEDIUM:
charlesmn	0:3ac96e360672	1867
charlesmn	0:3ac96e360672	1868	if (RefRange > MRLH)
charlesmn	0:3ac96e360672	1869	*pNewDistanceMode = VL53L1_DISTANCEMODE_LONG;
charlesmn	0:3ac96e360672	1870	else if (RefRange < HRLI)
charlesmn	0:3ac96e360672	1871	*pNewDistanceMode = VL53L1_DISTANCEMODE_SHORT;
charlesmn	0:3ac96e360672	1872	break;
charlesmn	0:3ac96e360672	1873	default:
charlesmn	0:3ac96e360672	1874
charlesmn	0:3ac96e360672	1875	if (RefRange < HRLI)
charlesmn	0:3ac96e360672	1876	*pNewDistanceMode = VL53L1_DISTANCEMODE_SHORT;
charlesmn	0:3ac96e360672	1877	else if (RefRange < MRLI)
charlesmn	0:3ac96e360672	1878	*pNewDistanceMode = VL53L1_DISTANCEMODE_MEDIUM;
charlesmn	0:3ac96e360672	1879	break;
charlesmn	0:3ac96e360672	1880	}
charlesmn	0:3ac96e360672	1881	}
charlesmn	0:3ac96e360672	1882
charlesmn	0:3ac96e360672	1883	static void CheckAndChangeDistanceMode(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	1884	VL53L1_TargetRangeData_t *pRangeData,
charlesmn	0:3ac96e360672	1885	int16_t Ambient100DmaxMm,
charlesmn	0:3ac96e360672	1886	VL53L1_DistanceModes *pNewDistanceMode
charlesmn	0:3ac96e360672	1887	)
charlesmn	0:3ac96e360672	1888	{
charlesmn	0:3ac96e360672	1889	VL53L1_DistanceModes DistanceMode;
charlesmn	0:3ac96e360672	1890	uint8_t RangeStatus = pRangeData->RangeStatus;
charlesmn	0:3ac96e360672	1891	uint8_t DmaxValid;
charlesmn	0:3ac96e360672	1892	int32_t MinAmbient = BDTable[VL53L1_TUNING_MIN_AMBIENT_DMAX_VALID];
charlesmn	0:3ac96e360672	1893	VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	1894	int32_t tmpint32;
charlesmn	0:3ac96e360672	1895
charlesmn	0:3ac96e360672	1896
charlesmn	0:3ac96e360672	1897	switch (RangeStatus) {
charlesmn	0:3ac96e360672	1898	case VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL:
charlesmn	0:3ac96e360672	1899	case VL53L1_RANGESTATUS_WRAP_TARGET_FAIL:
charlesmn	0:3ac96e360672	1900	case VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE:
charlesmn	0:3ac96e360672	1901	case VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL:
charlesmn	0:3ac96e360672	1902	case VL53L1_RANGESTATUS_SYNCRONISATION_INT:
charlesmn	0:3ac96e360672	1903	case VL53L1_RANGESTATUS_NONE:
charlesmn	0:3ac96e360672	1904	return;
charlesmn	0:3ac96e360672	1905	default:
charlesmn	0:3ac96e360672	1906
charlesmn	0:3ac96e360672	1907	break;
charlesmn	0:3ac96e360672	1908	}
charlesmn	0:3ac96e360672	1909
charlesmn	0:3ac96e360672	1910	DmaxValid = 1;
charlesmn	0:3ac96e360672	1911	tmpint32 = pdev->hist_data.VL53L1_p_004;
charlesmn	0:3ac96e360672	1912	if ((tmpint32 < MinAmbient) \|\| (Ambient100DmaxMm == 0))
charlesmn	0:3ac96e360672	1913	DmaxValid = 0;
charlesmn	0:3ac96e360672	1914
charlesmn	0:3ac96e360672	1915	DistanceMode = VL53L1DevDataGet(Dev,
charlesmn	0:3ac96e360672	1916	CurrentParameters.DistanceMode);
charlesmn	0:3ac96e360672	1917
charlesmn	0:3ac96e360672	1918	*pNewDistanceMode = DistanceMode;
charlesmn	0:3ac96e360672	1919
charlesmn	0:3ac96e360672	1920	if (RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID)
charlesmn	0:3ac96e360672	1921	GenNewPresetMode(pRangeData->RangeMilliMeter,
charlesmn	0:3ac96e360672	1922	DistanceMode, pNewDistanceMode);
charlesmn	0:3ac96e360672	1923	else {
charlesmn	0:3ac96e360672	1924	if (DmaxValid)
charlesmn	0:3ac96e360672	1925	GenNewPresetMode(Ambient100DmaxMm,
charlesmn	0:3ac96e360672	1926	DistanceMode, pNewDistanceMode);
charlesmn	0:3ac96e360672	1927	else
charlesmn	0:3ac96e360672	1928	*pNewDistanceMode = VL53L1_DISTANCEMODE_LONG;
charlesmn	0:3ac96e360672	1929	}
charlesmn	0:3ac96e360672	1930	}
charlesmn	0:3ac96e360672	1931
charlesmn	0:3ac96e360672	1932	static uint8_t ComputeRQL(uint8_t active_results,
charlesmn	0:3ac96e360672	1933	uint8_t FilteredRangeStatus,
charlesmn	0:3ac96e360672	1934	VL53L1_range_data_t *presults_data)
charlesmn	0:3ac96e360672	1935	{
charlesmn	0:3ac96e360672	1936	int16_t T_Wide = 150;
charlesmn	0:3ac96e360672	1937	int16_t SRL = 300;
charlesmn	0:3ac96e360672	1938	uint16_t SRAS = 30;
charlesmn	0:3ac96e360672	1939	FixPoint1616_t RAS;
charlesmn	0:3ac96e360672	1940	FixPoint1616_t SRQL;
charlesmn	0:3ac96e360672	1941	FixPoint1616_t GI = 7713587;
charlesmn	0:3ac96e360672	1942	FixPoint1616_t GGm = 3198157;
charlesmn	0:3ac96e360672	1943	FixPoint1616_t LRAP = 6554;
charlesmn	0:3ac96e360672	1944	FixPoint1616_t partial;
charlesmn	0:3ac96e360672	1945	uint8_t finalvalue;
charlesmn	0:3ac96e360672	1946	uint8_t returnvalue;
charlesmn	0:3ac96e360672	1947
charlesmn	0:3ac96e360672	1948	if (active_results == 0)
charlesmn	0:3ac96e360672	1949	returnvalue = 0;
charlesmn	0:3ac96e360672	1950	else if (((presults_data->max_range_mm -
charlesmn	0:3ac96e360672	1951	presults_data->min_range_mm) >= T_Wide) \|\|
charlesmn	0:3ac96e360672	1952	(FilteredRangeStatus == VL53L1_DEVICEERROR_PHASECONSISTENCY))
charlesmn	0:3ac96e360672	1953	returnvalue = 50;
charlesmn	0:3ac96e360672	1954	else {
charlesmn	0:3ac96e360672	1955	if (presults_data->median_range_mm < SRL)
charlesmn	0:3ac96e360672	1956	RAS = SRAS * 65536;
charlesmn	0:3ac96e360672	1957	else
charlesmn	0:3ac96e360672	1958	RAS = LRAP * presults_data->median_range_mm;
charlesmn	0:3ac96e360672	1959
charlesmn	0:3ac96e360672	1960
charlesmn	0:3ac96e360672	1961	if (RAS != 0) {
charlesmn	0:3ac96e360672	1962	partial = (GGm * presults_data->VL53L1_p_005);
charlesmn	0:3ac96e360672	1963	partial = partial + (RAS >> 1);
charlesmn	0:3ac96e360672	1964	partial = partial / RAS;
charlesmn	0:3ac96e360672	1965	partial = partial * 65536;
charlesmn	0:3ac96e360672	1966	if (partial <= GI)
charlesmn	0:3ac96e360672	1967	SRQL = GI - partial;
charlesmn	0:3ac96e360672	1968	else
charlesmn	0:3ac96e360672	1969	SRQL = 50 * 65536;
charlesmn	0:3ac96e360672	1970	} else
charlesmn	0:3ac96e360672	1971	SRQL = 100 * 65536;
charlesmn	0:3ac96e360672	1972
charlesmn	0:3ac96e360672	1973	finalvalue = (uint8_t)(SRQL >> 16);
charlesmn	0:3ac96e360672	1974	returnvalue = MAX(50, MIN(100, finalvalue));
charlesmn	0:3ac96e360672	1975	}
charlesmn	0:3ac96e360672	1976
charlesmn	0:3ac96e360672	1977	return returnvalue;
charlesmn	0:3ac96e360672	1978	}
charlesmn	0:3ac96e360672	1979
charlesmn	0:3ac96e360672	1980
charlesmn	0:3ac96e360672	1981	static uint8_t ConvertStatusLite(uint8_t FilteredRangeStatus)
charlesmn	0:3ac96e360672	1982	{
charlesmn	0:3ac96e360672	1983	uint8_t RangeStatus;
charlesmn	0:3ac96e360672	1984
charlesmn	0:3ac96e360672	1985	switch (FilteredRangeStatus) {
charlesmn	0:3ac96e360672	1986	case VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY:
charlesmn	0:3ac96e360672	1987	RangeStatus = VL53L1_RANGESTATUS_SYNCRONISATION_INT;
charlesmn	0:3ac96e360672	1988	break;
charlesmn	0:3ac96e360672	1989	case VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK:
charlesmn	0:3ac96e360672	1990	RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL;
charlesmn	0:3ac96e360672	1991	break;
charlesmn	0:3ac96e360672	1992	case VL53L1_DEVICEERROR_RANGEPHASECHECK:
charlesmn	0:3ac96e360672	1993	RangeStatus = VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL;
charlesmn	0:3ac96e360672	1994	break;
charlesmn	0:3ac96e360672	1995	case VL53L1_DEVICEERROR_MSRCNOTARGET:
charlesmn	0:3ac96e360672	1996	RangeStatus = VL53L1_RANGESTATUS_SIGNAL_FAIL;
charlesmn	0:3ac96e360672	1997	break;
charlesmn	0:3ac96e360672	1998	case VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK:
charlesmn	0:3ac96e360672	1999	RangeStatus = VL53L1_RANGESTATUS_SIGMA_FAIL;
charlesmn	0:3ac96e360672	2000	break;
charlesmn	0:3ac96e360672	2001	case VL53L1_DEVICEERROR_PHASECONSISTENCY:
charlesmn	0:3ac96e360672	2002	RangeStatus = VL53L1_RANGESTATUS_WRAP_TARGET_FAIL;
charlesmn	0:3ac96e360672	2003	break;
charlesmn	0:3ac96e360672	2004	case VL53L1_DEVICEERROR_RANGEIGNORETHRESHOLD:
charlesmn	0:3ac96e360672	2005	RangeStatus = VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL;
charlesmn	0:3ac96e360672	2006	break;
charlesmn	0:3ac96e360672	2007	case VL53L1_DEVICEERROR_MINCLIP:
charlesmn	0:3ac96e360672	2008	RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED;
charlesmn	0:3ac96e360672	2009	break;
charlesmn	0:3ac96e360672	2010	case VL53L1_DEVICEERROR_RANGECOMPLETE:
charlesmn	0:3ac96e360672	2011	RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID;
charlesmn	0:3ac96e360672	2012	break;
charlesmn	0:3ac96e360672	2013	default:
charlesmn	0:3ac96e360672	2014	RangeStatus = VL53L1_RANGESTATUS_NONE;
charlesmn	0:3ac96e360672	2015	}
charlesmn	0:3ac96e360672	2016
charlesmn	0:3ac96e360672	2017	return RangeStatus;
charlesmn	0:3ac96e360672	2018	}
charlesmn	0:3ac96e360672	2019
charlesmn	0:3ac96e360672	2020
charlesmn	0:3ac96e360672	2021	static uint8_t ConvertStatusHisto(uint8_t FilteredRangeStatus)
charlesmn	0:3ac96e360672	2022	{
charlesmn	0:3ac96e360672	2023	uint8_t RangeStatus;
charlesmn	0:3ac96e360672	2024
charlesmn	0:3ac96e360672	2025	switch (FilteredRangeStatus) {
charlesmn	0:3ac96e360672	2026	case VL53L1_DEVICEERROR_RANGEPHASECHECK:
charlesmn	0:3ac96e360672	2027	RangeStatus = VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL;
charlesmn	0:3ac96e360672	2028	break;
charlesmn	0:3ac96e360672	2029	case VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK:
charlesmn	0:3ac96e360672	2030	RangeStatus = VL53L1_RANGESTATUS_SIGMA_FAIL;
charlesmn	0:3ac96e360672	2031	break;
charlesmn	0:3ac96e360672	2032	case VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK:
charlesmn	0:3ac96e360672	2033	RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL;
charlesmn	0:3ac96e360672	2034	break;
charlesmn	0:3ac96e360672	2035	case VL53L1_DEVICEERROR_PHASECONSISTENCY:
charlesmn	0:3ac96e360672	2036	RangeStatus = VL53L1_RANGESTATUS_WRAP_TARGET_FAIL;
charlesmn	0:3ac96e360672	2037	break;
charlesmn	0:3ac96e360672	2038	case VL53L1_DEVICEERROR_PREV_RANGE_NO_TARGETS:
charlesmn	0:3ac96e360672	2039	RangeStatus = VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL;
charlesmn	0:3ac96e360672	2040	break;
charlesmn	0:3ac96e360672	2041	case VL53L1_DEVICEERROR_EVENTCONSISTENCY:
charlesmn	0:3ac96e360672	2042	RangeStatus = VL53L1_RANGESTATUS_WRAP_TARGET_FAIL;
charlesmn	0:3ac96e360672	2043	break;
charlesmn	0:3ac96e360672	2044	case VL53L1_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE:
charlesmn	0:3ac96e360672	2045	RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE;
charlesmn	0:3ac96e360672	2046	break;
charlesmn	0:3ac96e360672	2047	case VL53L1_DEVICEERROR_RANGECOMPLETE:
charlesmn	0:3ac96e360672	2048	RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID;
charlesmn	0:3ac96e360672	2049	break;
charlesmn	0:3ac96e360672	2050	default:
charlesmn	0:3ac96e360672	2051	RangeStatus = VL53L1_RANGESTATUS_NONE;
charlesmn	0:3ac96e360672	2052	}
charlesmn	0:3ac96e360672	2053
charlesmn	0:3ac96e360672	2054	return RangeStatus;
charlesmn	0:3ac96e360672	2055	}
charlesmn	0:3ac96e360672	2056
charlesmn	0:3ac96e360672	2057	static VL53L1_Error SetSimpleData(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	2058	uint8_t active_results, uint8_t device_status,
charlesmn	0:3ac96e360672	2059	VL53L1_range_data_t *presults_data,
charlesmn	0:3ac96e360672	2060	VL53L1_RangingMeasurementData_t *pRangeData)
charlesmn	0:3ac96e360672	2061	{
charlesmn	0:3ac96e360672	2062	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2063	uint8_t FilteredRangeStatus;
charlesmn	0:3ac96e360672	2064	uint8_t SigmaLimitflag;
charlesmn	0:3ac96e360672	2065	uint8_t SignalLimitflag;
charlesmn	0:3ac96e360672	2066	uint8_t Temp8Enable;
charlesmn	0:3ac96e360672	2067	uint8_t Temp8;
charlesmn	0:3ac96e360672	2068	FixPoint1616_t AmbientRate;
charlesmn	0:3ac96e360672	2069	FixPoint1616_t SignalRate;
charlesmn	0:3ac96e360672	2070	FixPoint1616_t TempFix1616;
charlesmn	0:3ac96e360672	2071	FixPoint1616_t LimitCheckValue;
charlesmn	0:3ac96e360672	2072	VL53L1_PresetModes PresetMode;
charlesmn	0:3ac96e360672	2073	int16_t Range;
charlesmn	0:3ac96e360672	2074
charlesmn	0:3ac96e360672	2075	pRangeData->TimeStamp = presults_data->time_stamp;
charlesmn	0:3ac96e360672	2076
charlesmn	0:3ac96e360672	2077	FilteredRangeStatus = presults_data->range_status & 0x1F;
charlesmn	0:3ac96e360672	2078
charlesmn	0:3ac96e360672	2079	pRangeData->RangeQualityLevel = ComputeRQL(active_results,
charlesmn	0:3ac96e360672	2080	FilteredRangeStatus,
charlesmn	0:3ac96e360672	2081	presults_data);
charlesmn	0:3ac96e360672	2082
charlesmn	0:3ac96e360672	2083	SignalRate = VL53L1_FIXPOINT97TOFIXPOINT1616(
charlesmn	0:3ac96e360672	2084	presults_data->peak_signal_count_rate_mcps);
charlesmn	0:3ac96e360672	2085	pRangeData->SignalRateRtnMegaCps
charlesmn	0:3ac96e360672	2086	= SignalRate;
charlesmn	0:3ac96e360672	2087
charlesmn	0:3ac96e360672	2088	AmbientRate = VL53L1_FIXPOINT97TOFIXPOINT1616(
charlesmn	0:3ac96e360672	2089	presults_data->ambient_count_rate_mcps);
charlesmn	0:3ac96e360672	2090	pRangeData->AmbientRateRtnMegaCps = AmbientRate;
charlesmn	0:3ac96e360672	2091
charlesmn	0:3ac96e360672	2092	pRangeData->EffectiveSpadRtnCount =
charlesmn	0:3ac96e360672	2093	presults_data->VL53L1_p_006;
charlesmn	0:3ac96e360672	2094
charlesmn	0:3ac96e360672	2095	TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(
charlesmn	0:3ac96e360672	2096	presults_data->VL53L1_p_005);
charlesmn	0:3ac96e360672	2097
charlesmn	0:3ac96e360672	2098	pRangeData->SigmaMilliMeter = TempFix1616;
charlesmn	0:3ac96e360672	2099
charlesmn	0:3ac96e360672	2100	pRangeData->RangeMilliMeter = presults_data->median_range_mm;
charlesmn	0:3ac96e360672	2101
charlesmn	0:3ac96e360672	2102	pRangeData->RangeFractionalPart = 0;
charlesmn	0:3ac96e360672	2103
charlesmn	0:3ac96e360672	2104
charlesmn	0:3ac96e360672	2105	switch (device_status) {
charlesmn	0:3ac96e360672	2106	case VL53L1_DEVICEERROR_MULTCLIPFAIL:
charlesmn	0:3ac96e360672	2107	case VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
charlesmn	0:3ac96e360672	2108	case VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
charlesmn	0:3ac96e360672	2109	case VL53L1_DEVICEERROR_NOVHVVALUEFOUND:
charlesmn	0:3ac96e360672	2110	pRangeData->RangeStatus = VL53L1_RANGESTATUS_HARDWARE_FAIL;
charlesmn	0:3ac96e360672	2111	break;
charlesmn	0:3ac96e360672	2112	case VL53L1_DEVICEERROR_USERROICLIP:
charlesmn	0:3ac96e360672	2113	pRangeData->RangeStatus = VL53L1_RANGESTATUS_MIN_RANGE_FAIL;
charlesmn	0:3ac96e360672	2114	break;
charlesmn	0:3ac96e360672	2115	default:
charlesmn	0:3ac96e360672	2116	pRangeData->RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID;
charlesmn	0:3ac96e360672	2117	}
charlesmn	0:3ac96e360672	2118
charlesmn	0:3ac96e360672	2119
charlesmn	0:3ac96e360672	2120	if (pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) {
charlesmn	0:3ac96e360672	2121	PresetMode = VL53L1DevDataGet(Dev,
charlesmn	0:3ac96e360672	2122	CurrentParameters.PresetMode);
charlesmn	0:3ac96e360672	2123	if ((PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) \|\|
charlesmn	0:3ac96e360672	2124	(PresetMode == VL53L1_PRESETMODE_RANGING) \|\|
charlesmn	0:3ac96e360672	2125	(PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE))
charlesmn	0:3ac96e360672	2126	pRangeData->RangeStatus =
charlesmn	0:3ac96e360672	2127	ConvertStatusHisto(FilteredRangeStatus);
charlesmn	0:3ac96e360672	2128	else
charlesmn	0:3ac96e360672	2129	pRangeData->RangeStatus =
charlesmn	0:3ac96e360672	2130	ConvertStatusLite(FilteredRangeStatus);
charlesmn	0:3ac96e360672	2131	}
charlesmn	0:3ac96e360672	2132
charlesmn	0:3ac96e360672	2133
charlesmn	0:3ac96e360672	2134	TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(
charlesmn	0:3ac96e360672	2135	presults_data->VL53L1_p_005);
charlesmn	0:3ac96e360672	2136	VL53L1_SETARRAYPARAMETERFIELD(Dev,
charlesmn	0:3ac96e360672	2137	LimitChecksCurrent, VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,
charlesmn	0:3ac96e360672	2138	TempFix1616);
charlesmn	0:3ac96e360672	2139
charlesmn	0:3ac96e360672	2140	TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(
charlesmn	0:3ac96e360672	2141	presults_data->peak_signal_count_rate_mcps);
charlesmn	0:3ac96e360672	2142	VL53L1_SETARRAYPARAMETERFIELD(Dev,
charlesmn	0:3ac96e360672	2143	LimitChecksCurrent, VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
charlesmn	0:3ac96e360672	2144	TempFix1616);
charlesmn	0:3ac96e360672	2145
charlesmn	0:3ac96e360672	2146
charlesmn	0:3ac96e360672	2147
charlesmn	0:3ac96e360672	2148	VL53L1_GetLimitCheckValue(Dev,
charlesmn	0:3ac96e360672	2149	VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,
charlesmn	0:3ac96e360672	2150	&LimitCheckValue);
charlesmn	0:3ac96e360672	2151
charlesmn	0:3ac96e360672	2152	SigmaLimitflag = (FilteredRangeStatus ==
charlesmn	0:3ac96e360672	2153	VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK)
charlesmn	0:3ac96e360672	2154	? 1 : 0;
charlesmn	0:3ac96e360672	2155
charlesmn	0:3ac96e360672	2156	VL53L1_GetLimitCheckEnable(Dev,
charlesmn	0:3ac96e360672	2157	VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,
charlesmn	0:3ac96e360672	2158	&Temp8Enable);
charlesmn	0:3ac96e360672	2159
charlesmn	0:3ac96e360672	2160	Temp8 = ((Temp8Enable == 1) && (SigmaLimitflag == 1)) ? 1 : 0;
charlesmn	0:3ac96e360672	2161	VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
charlesmn	0:3ac96e360672	2162	VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8);
charlesmn	0:3ac96e360672	2163
charlesmn	0:3ac96e360672	2164
charlesmn	0:3ac96e360672	2165	VL53L1_GetLimitCheckValue(Dev,
charlesmn	0:3ac96e360672	2166	VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
charlesmn	0:3ac96e360672	2167	&LimitCheckValue);
charlesmn	0:3ac96e360672	2168
charlesmn	0:3ac96e360672	2169	SignalLimitflag = (FilteredRangeStatus ==
charlesmn	0:3ac96e360672	2170	VL53L1_DEVICEERROR_MSRCNOTARGET)
charlesmn	0:3ac96e360672	2171	? 1 : 0;
charlesmn	0:3ac96e360672	2172
charlesmn	0:3ac96e360672	2173	VL53L1_GetLimitCheckEnable(Dev,
charlesmn	0:3ac96e360672	2174	VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
charlesmn	0:3ac96e360672	2175	&Temp8Enable);
charlesmn	0:3ac96e360672	2176
charlesmn	0:3ac96e360672	2177	Temp8 = ((Temp8Enable == 1) && (SignalLimitflag == 1)) ? 1 : 0;
charlesmn	0:3ac96e360672	2178	VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
charlesmn	0:3ac96e360672	2179	VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, Temp8);
charlesmn	0:3ac96e360672	2180
charlesmn	0:3ac96e360672	2181	Range = pRangeData->RangeMilliMeter;
charlesmn	0:3ac96e360672	2182	if ((pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) &&
charlesmn	0:3ac96e360672	2183	(Range < 0)) {
charlesmn	0:3ac96e360672	2184	if (Range < BDTable[VL53L1_TUNING_PROXY_MIN])
charlesmn	0:3ac96e360672	2185	pRangeData->RangeStatus =
charlesmn	0:3ac96e360672	2186	VL53L1_RANGESTATUS_RANGE_INVALID;
charlesmn	0:3ac96e360672	2187	else
charlesmn	0:3ac96e360672	2188	pRangeData->RangeMilliMeter = 0;
charlesmn	0:3ac96e360672	2189	}
charlesmn	0:3ac96e360672	2190
charlesmn	0:3ac96e360672	2191	return Status;
charlesmn	0:3ac96e360672	2192	}
charlesmn	0:3ac96e360672	2193
charlesmn	0:3ac96e360672	2194	static VL53L1_Error SetTargetData(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	2195	uint8_t active_results, uint8_t streamcount, uint8_t iteration,
charlesmn	0:3ac96e360672	2196	uint8_t device_status, VL53L1_range_data_t *presults_data,
charlesmn	0:3ac96e360672	2197	VL53L1_TargetRangeData_t *pRangeData)
charlesmn	0:3ac96e360672	2198	{
charlesmn	0:3ac96e360672	2199	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2200	VL53L1_LLDriverData_t *pdev =
charlesmn	0:3ac96e360672	2201	VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	2202	VL53L1_tuning_parm_storage_t *tp =
charlesmn	0:3ac96e360672	2203	&(pdev->tuning_parms);
charlesmn	0:3ac96e360672	2204	uint8_t sequency;
charlesmn	0:3ac96e360672	2205	uint8_t FilteredRangeStatus;
charlesmn	0:3ac96e360672	2206	uint8_t SigmaLimitflag;
charlesmn	0:3ac96e360672	2207	uint8_t SignalLimitflag;
charlesmn	0:3ac96e360672	2208	uint8_t Temp8Enable;
charlesmn	0:3ac96e360672	2209	uint8_t Temp8;
charlesmn	0:3ac96e360672	2210	FixPoint1616_t AmbientRate;
charlesmn	0:3ac96e360672	2211	FixPoint1616_t SignalRate;
charlesmn	0:3ac96e360672	2212	FixPoint1616_t TempFix1616;
charlesmn	0:3ac96e360672	2213	FixPoint1616_t LimitCheckValue;
charlesmn	0:3ac96e360672	2214	VL53L1_PresetModes PresetMode;
charlesmn	0:3ac96e360672	2215	int16_t Range, RangeDiff, RangeMillimeterInit;
charlesmn	0:3ac96e360672	2216	uint8_t ExtendedRangeEnabled = 0;
charlesmn	0:3ac96e360672	2217	uint8_t uwr_status;
charlesmn	0:3ac96e360672	2218	int16_t AddOffset;
charlesmn	0:3ac96e360672	2219
charlesmn	0:3ac96e360672	2220	FilteredRangeStatus = presults_data->range_status & 0x1F;
charlesmn	0:3ac96e360672	2221
charlesmn	0:3ac96e360672	2222	pRangeData->RangeQualityLevel = ComputeRQL(active_results,
charlesmn	0:3ac96e360672	2223	FilteredRangeStatus,
charlesmn	0:3ac96e360672	2224	presults_data);
charlesmn	0:3ac96e360672	2225
charlesmn	0:3ac96e360672	2226	SignalRate = VL53L1_FIXPOINT97TOFIXPOINT1616(
charlesmn	0:3ac96e360672	2227	presults_data->peak_signal_count_rate_mcps);
charlesmn	0:3ac96e360672	2228	pRangeData->SignalRateRtnMegaCps
charlesmn	0:3ac96e360672	2229	= SignalRate;
charlesmn	0:3ac96e360672	2230
charlesmn	0:3ac96e360672	2231	AmbientRate = VL53L1_FIXPOINT97TOFIXPOINT1616(
charlesmn	0:3ac96e360672	2232	presults_data->ambient_count_rate_mcps);
charlesmn	0:3ac96e360672	2233	pRangeData->AmbientRateRtnMegaCps = AmbientRate;
charlesmn	0:3ac96e360672	2234
charlesmn	0:3ac96e360672	2235	TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(
charlesmn	0:3ac96e360672	2236	presults_data->VL53L1_p_005);
charlesmn	0:3ac96e360672	2237
charlesmn	0:3ac96e360672	2238	pRangeData->SigmaMilliMeter = TempFix1616;
charlesmn	0:3ac96e360672	2239
charlesmn	0:3ac96e360672	2240	pRangeData->RangeMilliMeter = presults_data->median_range_mm;
charlesmn	0:3ac96e360672	2241	pRangeData->RangeMaxMilliMeter = presults_data->max_range_mm;
charlesmn	0:3ac96e360672	2242	pRangeData->RangeMinMilliMeter = presults_data->min_range_mm;
charlesmn	0:3ac96e360672	2243
charlesmn	0:3ac96e360672	2244	pRangeData->RangeFractionalPart = 0;
charlesmn	0:3ac96e360672	2245
charlesmn	0:3ac96e360672	2246
charlesmn	0:3ac96e360672	2247	switch (device_status) {
charlesmn	0:3ac96e360672	2248	case VL53L1_DEVICEERROR_MULTCLIPFAIL:
charlesmn	0:3ac96e360672	2249	case VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
charlesmn	0:3ac96e360672	2250	case VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
charlesmn	0:3ac96e360672	2251	case VL53L1_DEVICEERROR_NOVHVVALUEFOUND:
charlesmn	0:3ac96e360672	2252	pRangeData->RangeStatus = VL53L1_RANGESTATUS_HARDWARE_FAIL;
charlesmn	0:3ac96e360672	2253	break;
charlesmn	0:3ac96e360672	2254	case VL53L1_DEVICEERROR_USERROICLIP:
charlesmn	0:3ac96e360672	2255	pRangeData->RangeStatus = VL53L1_RANGESTATUS_MIN_RANGE_FAIL;
charlesmn	0:3ac96e360672	2256	break;
charlesmn	0:3ac96e360672	2257	default:
charlesmn	0:3ac96e360672	2258	pRangeData->RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID;
charlesmn	0:3ac96e360672	2259	}
charlesmn	0:3ac96e360672	2260
charlesmn	0:3ac96e360672	2261
charlesmn	0:3ac96e360672	2262	if ((pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) &&
charlesmn	0:3ac96e360672	2263	(active_results == 0)) {
charlesmn	0:3ac96e360672	2264	pRangeData->RangeStatus = VL53L1_RANGESTATUS_NONE;
charlesmn	0:3ac96e360672	2265	pRangeData->SignalRateRtnMegaCps = 0;
charlesmn	0:3ac96e360672	2266	pRangeData->SigmaMilliMeter = 0;
charlesmn	0:3ac96e360672	2267	pRangeData->RangeMilliMeter = 8191;
charlesmn	0:3ac96e360672	2268	pRangeData->RangeMaxMilliMeter = 8191;
charlesmn	0:3ac96e360672	2269	pRangeData->RangeMinMilliMeter = 8191;
charlesmn	0:3ac96e360672	2270	}
charlesmn	0:3ac96e360672	2271
charlesmn	0:3ac96e360672	2272
charlesmn	0:3ac96e360672	2273	if (pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) {
charlesmn	0:3ac96e360672	2274	PresetMode = VL53L1DevDataGet(Dev,
charlesmn	0:3ac96e360672	2275	CurrentParameters.PresetMode);
charlesmn	0:3ac96e360672	2276	if ((PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) \|\|
charlesmn	0:3ac96e360672	2277	(PresetMode == VL53L1_PRESETMODE_RANGING) \|\|
charlesmn	0:3ac96e360672	2278	(PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE))
charlesmn	0:3ac96e360672	2279	pRangeData->RangeStatus =
charlesmn	0:3ac96e360672	2280	ConvertStatusHisto(FilteredRangeStatus);
charlesmn	0:3ac96e360672	2281	else
charlesmn	0:3ac96e360672	2282	pRangeData->RangeStatus =
charlesmn	0:3ac96e360672	2283	ConvertStatusLite(FilteredRangeStatus);
charlesmn	0:3ac96e360672	2284	}
charlesmn	0:3ac96e360672	2285
charlesmn	0:3ac96e360672	2286
charlesmn	0:3ac96e360672	2287	TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(
charlesmn	0:3ac96e360672	2288	presults_data->VL53L1_p_005);
charlesmn	0:3ac96e360672	2289	VL53L1_SETARRAYPARAMETERFIELD(Dev,
charlesmn	0:3ac96e360672	2290	LimitChecksCurrent, VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,
charlesmn	0:3ac96e360672	2291	TempFix1616);
charlesmn	0:3ac96e360672	2292
charlesmn	0:3ac96e360672	2293	TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(
charlesmn	0:3ac96e360672	2294	presults_data->peak_signal_count_rate_mcps);
charlesmn	0:3ac96e360672	2295	VL53L1_SETARRAYPARAMETERFIELD(Dev,
charlesmn	0:3ac96e360672	2296	LimitChecksCurrent, VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
charlesmn	0:3ac96e360672	2297	TempFix1616);
charlesmn	0:3ac96e360672	2298
charlesmn	0:3ac96e360672	2299
charlesmn	0:3ac96e360672	2300
charlesmn	0:3ac96e360672	2301	VL53L1_GetLimitCheckValue(Dev,
charlesmn	0:3ac96e360672	2302	VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,
charlesmn	0:3ac96e360672	2303	&LimitCheckValue);
charlesmn	0:3ac96e360672	2304
charlesmn	0:3ac96e360672	2305	SigmaLimitflag = (FilteredRangeStatus ==
charlesmn	0:3ac96e360672	2306	VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK)
charlesmn	0:3ac96e360672	2307	? 1 : 0;
charlesmn	0:3ac96e360672	2308
charlesmn	0:3ac96e360672	2309	VL53L1_GetLimitCheckEnable(Dev,
charlesmn	0:3ac96e360672	2310	VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,
charlesmn	0:3ac96e360672	2311	&Temp8Enable);
charlesmn	0:3ac96e360672	2312
charlesmn	0:3ac96e360672	2313	Temp8 = ((Temp8Enable == 1) && (SigmaLimitflag == 1)) ? 1 : 0;
charlesmn	0:3ac96e360672	2314	VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
charlesmn	0:3ac96e360672	2315	VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8);
charlesmn	0:3ac96e360672	2316
charlesmn	0:3ac96e360672	2317
charlesmn	0:3ac96e360672	2318	VL53L1_GetLimitCheckValue(Dev,
charlesmn	0:3ac96e360672	2319	VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
charlesmn	0:3ac96e360672	2320	&LimitCheckValue);
charlesmn	0:3ac96e360672	2321
charlesmn	0:3ac96e360672	2322	SignalLimitflag = (FilteredRangeStatus ==
charlesmn	0:3ac96e360672	2323	VL53L1_DEVICEERROR_MSRCNOTARGET)
charlesmn	0:3ac96e360672	2324	? 1 : 0;
charlesmn	0:3ac96e360672	2325
charlesmn	0:3ac96e360672	2326	VL53L1_GetLimitCheckEnable(Dev,
charlesmn	0:3ac96e360672	2327	VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
charlesmn	0:3ac96e360672	2328	&Temp8Enable);
charlesmn	0:3ac96e360672	2329
charlesmn	0:3ac96e360672	2330	Temp8 = ((Temp8Enable == 1) && (SignalLimitflag == 1)) ? 1 : 0;
charlesmn	0:3ac96e360672	2331	VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
charlesmn	0:3ac96e360672	2332	VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, Temp8);
charlesmn	0:3ac96e360672	2333
charlesmn	0:3ac96e360672	2334	Range = pRangeData->RangeMilliMeter;
charlesmn	0:3ac96e360672	2335	if ((pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) &&
charlesmn	0:3ac96e360672	2336	(Range < 0)) {
charlesmn	0:3ac96e360672	2337	if (Range < BDTable[VL53L1_TUNING_PROXY_MIN])
charlesmn	0:3ac96e360672	2338	pRangeData->RangeStatus =
charlesmn	0:3ac96e360672	2339	VL53L1_RANGESTATUS_RANGE_INVALID;
charlesmn	0:3ac96e360672	2340	else
charlesmn	0:3ac96e360672	2341	pRangeData->RangeMilliMeter = 0;
charlesmn	0:3ac96e360672	2342	}
charlesmn	0:3ac96e360672	2343
charlesmn	0:3ac96e360672	2344
charlesmn	0:3ac96e360672	2345
charlesmn	0:3ac96e360672	2346	VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_UWR_ENABLE,
charlesmn	0:3ac96e360672	2347	(int32_t *)&ExtendedRangeEnabled);
charlesmn	0:3ac96e360672	2348
charlesmn	0:3ac96e360672	2349	sequency = streamcount % 2;
charlesmn	0:3ac96e360672	2350	uwr_status = 1;
charlesmn	0:3ac96e360672	2351	RangeMillimeterInit = pRangeData->RangeMilliMeter;
charlesmn	0:3ac96e360672	2352	AddOffset = 0;
charlesmn	0:3ac96e360672	2353
charlesmn	0:3ac96e360672	2354	pRangeData->ExtendedRange = 0;
charlesmn	0:3ac96e360672	2355
charlesmn	0:3ac96e360672	2356	if (ExtendedRangeEnabled &&
charlesmn	0:3ac96e360672	2357	(pRangeData->RangeStatus ==
charlesmn	0:3ac96e360672	2358	VL53L1_RANGESTATUS_WRAP_TARGET_FAIL \|\|
charlesmn	0:3ac96e360672	2359	pRangeData->RangeStatus ==
charlesmn	0:3ac96e360672	2360	VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL)
charlesmn	0:3ac96e360672	2361	&& (pdev->PreviousRangeStatus[iteration] ==
charlesmn	0:3ac96e360672	2362	VL53L1_RANGESTATUS_WRAP_TARGET_FAIL \|\|
charlesmn	0:3ac96e360672	2363	pdev->PreviousRangeStatus[iteration] ==
charlesmn	0:3ac96e360672	2364	VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL \|\|
charlesmn	0:3ac96e360672	2365	(pdev->PreviousRangeStatus[iteration] ==
charlesmn	0:3ac96e360672	2366	VL53L1_RANGESTATUS_RANGE_VALID &&
charlesmn	0:3ac96e360672	2367	pdev->PreviousExtendedRange[iteration] == 1)))
charlesmn	0:3ac96e360672	2368	{
charlesmn	0:3ac96e360672	2369	if (((pdev->PreviousStreamCount) ==
charlesmn	0:3ac96e360672	2370	(pdev->hist_data.result__stream_count - 1 ))
charlesmn	0:3ac96e360672	2371	\|\| ((pdev->PreviousStreamCount) ==
charlesmn	0:3ac96e360672	2372	(pdev->hist_data.result__stream_count + 127)))
charlesmn	0:3ac96e360672	2373	{
charlesmn	0:3ac96e360672	2374	RangeDiff = pRangeData->RangeMilliMeter -
charlesmn	0:3ac96e360672	2375	pdev->PreviousRangeMilliMeter[iteration];
charlesmn	0:3ac96e360672	2376
charlesmn	0:3ac96e360672	2377	switch (pdev->preset_mode) {
charlesmn	0:3ac96e360672	2378	case VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE:
charlesmn	0:3ac96e360672	2379
charlesmn	0:3ac96e360672	2380	uwr_status = 0;
charlesmn	0:3ac96e360672	2381	break;
charlesmn	0:3ac96e360672	2382
charlesmn	0:3ac96e360672	2383	case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE:
charlesmn	0:3ac96e360672	2384	if (RangeDiff > tp->tp_uwr_med_z_1_min &&
charlesmn	0:3ac96e360672	2385	RangeDiff < tp->tp_uwr_med_z_1_max &&
charlesmn	0:3ac96e360672	2386	sequency == 1) {
charlesmn	0:3ac96e360672	2387	AddOffset =
charlesmn	0:3ac96e360672	2388	tp->tp_uwr_med_corr_z_1_rangeb;
charlesmn	0:3ac96e360672	2389	}
charlesmn	0:3ac96e360672	2390	else
charlesmn	0:3ac96e360672	2391	if (RangeDiff < -tp->tp_uwr_med_z_1_min &&
charlesmn	0:3ac96e360672	2392	RangeDiff > -tp->tp_uwr_med_z_1_max &&
charlesmn	0:3ac96e360672	2393	sequency == 0) {
charlesmn	0:3ac96e360672	2394	AddOffset =
charlesmn	0:3ac96e360672	2395	tp->tp_uwr_med_corr_z_1_rangea;
charlesmn	0:3ac96e360672	2396	}
charlesmn	0:3ac96e360672	2397	else
charlesmn	0:3ac96e360672	2398	if (RangeDiff > tp->tp_uwr_med_z_2_min &&
charlesmn	0:3ac96e360672	2399	RangeDiff < tp->tp_uwr_med_z_2_max &&
charlesmn	0:3ac96e360672	2400	sequency == 0) {
charlesmn	0:3ac96e360672	2401	AddOffset =
charlesmn	0:3ac96e360672	2402	tp->tp_uwr_med_corr_z_2_rangea;
charlesmn	0:3ac96e360672	2403	}
charlesmn	0:3ac96e360672	2404	else
charlesmn	0:3ac96e360672	2405	if (RangeDiff < -tp->tp_uwr_med_z_2_min &&
charlesmn	0:3ac96e360672	2406	RangeDiff > -tp->tp_uwr_med_z_2_max &&
charlesmn	0:3ac96e360672	2407	sequency == 1) {
charlesmn	0:3ac96e360672	2408	AddOffset =
charlesmn	0:3ac96e360672	2409	tp->tp_uwr_med_corr_z_2_rangeb;
charlesmn	0:3ac96e360672	2410	}
charlesmn	0:3ac96e360672	2411	else
charlesmn	0:3ac96e360672	2412	if (RangeDiff > tp->tp_uwr_med_z_3_min &&
charlesmn	0:3ac96e360672	2413	RangeDiff < tp->tp_uwr_med_z_3_max &&
charlesmn	0:3ac96e360672	2414	sequency == 1) {
charlesmn	0:3ac96e360672	2415	AddOffset =
charlesmn	0:3ac96e360672	2416	tp->tp_uwr_med_corr_z_3_rangeb;
charlesmn	0:3ac96e360672	2417	}
charlesmn	0:3ac96e360672	2418	else
charlesmn	0:3ac96e360672	2419	if (RangeDiff < -tp->tp_uwr_med_z_3_min &&
charlesmn	0:3ac96e360672	2420	RangeDiff > -tp->tp_uwr_med_z_3_max &&
charlesmn	0:3ac96e360672	2421	sequency == 0) {
charlesmn	0:3ac96e360672	2422	AddOffset =
charlesmn	0:3ac96e360672	2423	tp->tp_uwr_med_corr_z_3_rangea;
charlesmn	0:3ac96e360672	2424	}
charlesmn	0:3ac96e360672	2425	else
charlesmn	0:3ac96e360672	2426	if (RangeDiff > tp->tp_uwr_med_z_4_min &&
charlesmn	0:3ac96e360672	2427	RangeDiff < tp->tp_uwr_med_z_4_max &&
charlesmn	0:3ac96e360672	2428	sequency == 0) {
charlesmn	0:3ac96e360672	2429	AddOffset =
charlesmn	0:3ac96e360672	2430	tp->tp_uwr_med_corr_z_4_rangea;
charlesmn	0:3ac96e360672	2431	}
charlesmn	0:3ac96e360672	2432	else
charlesmn	0:3ac96e360672	2433	if (RangeDiff < -tp->tp_uwr_med_z_4_min &&
charlesmn	0:3ac96e360672	2434	RangeDiff > -tp->tp_uwr_med_z_4_max &&
charlesmn	0:3ac96e360672	2435	sequency == 1) {
charlesmn	0:3ac96e360672	2436	AddOffset =
charlesmn	0:3ac96e360672	2437	tp->tp_uwr_med_corr_z_4_rangeb;
charlesmn	0:3ac96e360672	2438	}
charlesmn	0:3ac96e360672	2439	else
charlesmn	0:3ac96e360672	2440	if (RangeDiff < tp->tp_uwr_med_z_5_max &&
charlesmn	0:3ac96e360672	2441	RangeDiff > tp->tp_uwr_med_z_5_min) {
charlesmn	0:3ac96e360672	2442	AddOffset =
charlesmn	0:3ac96e360672	2443	tp->tp_uwr_med_corr_z_5_rangea;
charlesmn	0:3ac96e360672	2444	}
charlesmn	0:3ac96e360672	2445	else
charlesmn	0:3ac96e360672	2446	if (RangeDiff > tp->tp_uwr_med_z_6_min &&
charlesmn	0:3ac96e360672	2447	RangeDiff < tp->tp_uwr_med_z_6_max &&
charlesmn	0:3ac96e360672	2448	sequency == 1) {
charlesmn	0:3ac96e360672	2449	AddOffset =
charlesmn	0:3ac96e360672	2450	tp->tp_uwr_med_corr_z_6_rangeb;
charlesmn	0:3ac96e360672	2451	}
charlesmn	0:3ac96e360672	2452	else
charlesmn	0:3ac96e360672	2453	if (RangeDiff < -tp->tp_uwr_med_z_6_min &&
charlesmn	0:3ac96e360672	2454	RangeDiff > -tp->tp_uwr_med_z_6_max &&
charlesmn	0:3ac96e360672	2455	sequency == 0) {
charlesmn	0:3ac96e360672	2456	AddOffset =
charlesmn	0:3ac96e360672	2457	tp->tp_uwr_med_corr_z_6_rangea;
charlesmn	0:3ac96e360672	2458	}
charlesmn	0:3ac96e360672	2459	else
charlesmn	0:3ac96e360672	2460
charlesmn	0:3ac96e360672	2461
charlesmn	0:3ac96e360672	2462
charlesmn	0:3ac96e360672	2463
charlesmn	0:3ac96e360672	2464
charlesmn	0:3ac96e360672	2465
charlesmn	0:3ac96e360672	2466
charlesmn	0:3ac96e360672	2467
charlesmn	0:3ac96e360672	2468
charlesmn	0:3ac96e360672	2469
charlesmn	0:3ac96e360672	2470
charlesmn	0:3ac96e360672	2471	uwr_status = 0;
charlesmn	0:3ac96e360672	2472	break;
charlesmn	0:3ac96e360672	2473
charlesmn	0:3ac96e360672	2474	case VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE:
charlesmn	0:3ac96e360672	2475	if (RangeDiff > tp->tp_uwr_lng_z_1_min &&
charlesmn	0:3ac96e360672	2476	RangeDiff < tp->tp_uwr_lng_z_1_max &&
charlesmn	0:3ac96e360672	2477	sequency == 0) {
charlesmn	0:3ac96e360672	2478	AddOffset =
charlesmn	0:3ac96e360672	2479	tp->tp_uwr_lng_corr_z_1_rangea;
charlesmn	0:3ac96e360672	2480	}
charlesmn	0:3ac96e360672	2481	else
charlesmn	0:3ac96e360672	2482	if (RangeDiff < -tp->tp_uwr_lng_z_1_min &&
charlesmn	0:3ac96e360672	2483	RangeDiff > -tp->tp_uwr_lng_z_1_max &&
charlesmn	0:3ac96e360672	2484	sequency == 1) {
charlesmn	0:3ac96e360672	2485	AddOffset =
charlesmn	0:3ac96e360672	2486	tp->tp_uwr_lng_corr_z_1_rangeb;
charlesmn	0:3ac96e360672	2487	}
charlesmn	0:3ac96e360672	2488	else
charlesmn	0:3ac96e360672	2489	if (RangeDiff > tp->tp_uwr_lng_z_2_min &&
charlesmn	0:3ac96e360672	2490	RangeDiff < tp->tp_uwr_lng_z_2_max &&
charlesmn	0:3ac96e360672	2491	sequency == 1) {
charlesmn	0:3ac96e360672	2492	AddOffset =
charlesmn	0:3ac96e360672	2493	tp->tp_uwr_lng_corr_z_2_rangeb;
charlesmn	0:3ac96e360672	2494	}
charlesmn	0:3ac96e360672	2495	else
charlesmn	0:3ac96e360672	2496	if (RangeDiff < -tp->tp_uwr_lng_z_2_min &&
charlesmn	0:3ac96e360672	2497	RangeDiff > -tp->tp_uwr_lng_z_2_max &&
charlesmn	0:3ac96e360672	2498	sequency == 0) {
charlesmn	0:3ac96e360672	2499	AddOffset =
charlesmn	0:3ac96e360672	2500	tp->tp_uwr_lng_corr_z_2_rangea;
charlesmn	0:3ac96e360672	2501	}
charlesmn	0:3ac96e360672	2502	else
charlesmn	0:3ac96e360672	2503	if (RangeDiff < tp->tp_uwr_lng_z_3_max &&
charlesmn	0:3ac96e360672	2504	RangeDiff > tp->tp_uwr_lng_z_3_min) {
charlesmn	0:3ac96e360672	2505	AddOffset =
charlesmn	0:3ac96e360672	2506	tp->tp_uwr_lng_corr_z_3_rangea;
charlesmn	0:3ac96e360672	2507	}
charlesmn	0:3ac96e360672	2508	else
charlesmn	0:3ac96e360672	2509	if (RangeDiff > tp->tp_uwr_lng_z_4_min &&
charlesmn	0:3ac96e360672	2510	RangeDiff < tp->tp_uwr_lng_z_4_max &&
charlesmn	0:3ac96e360672	2511	sequency == 1) {
charlesmn	0:3ac96e360672	2512	AddOffset =
charlesmn	0:3ac96e360672	2513	tp->tp_uwr_lng_corr_z_4_rangeb;
charlesmn	0:3ac96e360672	2514	}
charlesmn	0:3ac96e360672	2515	else
charlesmn	0:3ac96e360672	2516	if (RangeDiff < -tp->tp_uwr_lng_z_4_min &&
charlesmn	0:3ac96e360672	2517	RangeDiff > -tp->tp_uwr_lng_z_4_max &&
charlesmn	0:3ac96e360672	2518	sequency == 0) {
charlesmn	0:3ac96e360672	2519	AddOffset =
charlesmn	0:3ac96e360672	2520	tp->tp_uwr_lng_corr_z_4_rangea;
charlesmn	0:3ac96e360672	2521	}
charlesmn	0:3ac96e360672	2522	else
charlesmn	0:3ac96e360672	2523	uwr_status = 0;
charlesmn	0:3ac96e360672	2524	break;
charlesmn	0:3ac96e360672	2525
charlesmn	0:3ac96e360672	2526	default:
charlesmn	0:3ac96e360672	2527	uwr_status = 0;
charlesmn	0:3ac96e360672	2528	break;
charlesmn	0:3ac96e360672	2529	}
charlesmn	0:3ac96e360672	2530	}
charlesmn	0:3ac96e360672	2531
charlesmn	0:3ac96e360672	2532	if (uwr_status) {
charlesmn	0:3ac96e360672	2533	pRangeData->RangeMilliMeter += AddOffset;
charlesmn	0:3ac96e360672	2534	pRangeData->RangeMinMilliMeter += AddOffset;
charlesmn	0:3ac96e360672	2535	pRangeData->RangeMaxMilliMeter += AddOffset;
charlesmn	0:3ac96e360672	2536	pRangeData->ExtendedRange = 1;
charlesmn	0:3ac96e360672	2537	pRangeData->RangeStatus = 0;
charlesmn	0:3ac96e360672	2538	}
charlesmn	0:3ac96e360672	2539
charlesmn	0:3ac96e360672	2540	}
charlesmn	0:3ac96e360672	2541
charlesmn	0:3ac96e360672	2542	pdev->PreviousRangeMilliMeter[iteration] = RangeMillimeterInit;
charlesmn	0:3ac96e360672	2543	pdev->PreviousRangeStatus[iteration] = pRangeData->RangeStatus;
charlesmn	0:3ac96e360672	2544	pdev->PreviousExtendedRange[iteration] = pRangeData->ExtendedRange;
charlesmn	0:3ac96e360672	2545	pdev->PreviousStreamCount = pdev->hist_data.result__stream_count;
charlesmn	0:3ac96e360672	2546
charlesmn	0:3ac96e360672	2547	return Status;
charlesmn	0:3ac96e360672	2548	}
charlesmn	0:3ac96e360672	2549
charlesmn	0:3ac96e360672	2550	static uint8_t GetOutputDataIndex(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	2551	VL53L1_range_results_t *presults)
charlesmn	0:3ac96e360672	2552	{
charlesmn	0:3ac96e360672	2553	uint8_t i;
charlesmn	0:3ac96e360672	2554	uint8_t index = 0;
charlesmn	0:3ac96e360672	2555	VL53L1_OutputModes OutputMode;
charlesmn	0:3ac96e360672	2556
charlesmn	0:3ac96e360672	2557	OutputMode = VL53L1DevDataGet(Dev, CurrentParameters.OutputMode);
charlesmn	0:3ac96e360672	2558
charlesmn	0:3ac96e360672	2559
charlesmn	0:3ac96e360672	2560	if (OutputMode == VL53L1_OUTPUTMODE_NEAREST)
charlesmn	0:3ac96e360672	2561	return 0;
charlesmn	0:3ac96e360672	2562
charlesmn	0:3ac96e360672	2563
charlesmn	0:3ac96e360672	2564	for (i = 1; i < presults->active_results; i++) {
charlesmn	0:3ac96e360672	2565	if (presults->VL53L1_p_002[i].peak_signal_count_rate_mcps >
charlesmn	0:3ac96e360672	2566	presults->VL53L1_p_002[index].peak_signal_count_rate_mcps)
charlesmn	0:3ac96e360672	2567	index = i;
charlesmn	0:3ac96e360672	2568	}
charlesmn	0:3ac96e360672	2569
charlesmn	0:3ac96e360672	2570	return index;
charlesmn	0:3ac96e360672	2571	}
charlesmn	0:3ac96e360672	2572
charlesmn	0:3ac96e360672	2573	VL53L1_Error VL53L1_GetRangingMeasurementData(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	2574	VL53L1_RangingMeasurementData_t *pRangingMeasurementData)
charlesmn	0:3ac96e360672	2575	{
charlesmn	0:3ac96e360672	2576	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2577	VL53L1_LLDriverData_t *pdev =
charlesmn	0:3ac96e360672	2578	VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	2579	VL53L1_range_results_t *presults =
charlesmn	0:3ac96e360672	2580	(VL53L1_range_results_t *) pdev->wArea1;
charlesmn	0:3ac96e360672	2581	VL53L1_range_data_t *presults_data;
charlesmn	0:3ac96e360672	2582	VL53L1_PresetModes PresetMode;
charlesmn	0:3ac96e360672	2583	uint8_t index = 0;
charlesmn	0:3ac96e360672	2584
charlesmn	0:3ac96e360672	2585	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	2586
charlesmn	0:3ac96e360672	2587
charlesmn	0:3ac96e360672	2588	PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode);
charlesmn	0:3ac96e360672	2589
charlesmn	0:3ac96e360672	2590	if (PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) {
charlesmn	0:3ac96e360672	2591	Status = VL53L1_ERROR_MODE_NOT_SUPPORTED;
charlesmn	0:3ac96e360672	2592	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	2593	return Status;
charlesmn	0:3ac96e360672	2594	}
charlesmn	0:3ac96e360672	2595
charlesmn	0:3ac96e360672	2596
charlesmn	0:3ac96e360672	2597	memset(pRangingMeasurementData, 0xFF,
charlesmn	0:3ac96e360672	2598	sizeof(VL53L1_RangingMeasurementData_t));
charlesmn	0:3ac96e360672	2599
charlesmn	0:3ac96e360672	2600
charlesmn	0:3ac96e360672	2601	Status = VL53L1_get_device_results(
charlesmn	0:3ac96e360672	2602	Dev,
charlesmn	0:3ac96e360672	2603	VL53L1_DEVICERESULTSLEVEL_FULL,
charlesmn	0:3ac96e360672	2604	presults);
charlesmn	0:3ac96e360672	2605
charlesmn	0:3ac96e360672	2606	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	2607	pRangingMeasurementData->StreamCount = presults->stream_count;
charlesmn	0:3ac96e360672	2608
charlesmn	0:3ac96e360672	2609
charlesmn	0:3ac96e360672	2610	index = GetOutputDataIndex(Dev, presults);
charlesmn	0:3ac96e360672	2611	presults_data = &(presults->VL53L1_p_002[index]);
charlesmn	0:3ac96e360672	2612	Status = SetSimpleData(Dev, presults->active_results,
charlesmn	0:3ac96e360672	2613	presults->device_status,
charlesmn	0:3ac96e360672	2614	presults_data,
charlesmn	0:3ac96e360672	2615	pRangingMeasurementData);
charlesmn	0:3ac96e360672	2616	}
charlesmn	0:3ac96e360672	2617
charlesmn	0:3ac96e360672	2618	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	2619	return Status;
charlesmn	0:3ac96e360672	2620	}
charlesmn	0:3ac96e360672	2621
charlesmn	0:3ac96e360672	2622	static VL53L1_Error SetMeasurementData(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	2623	VL53L1_range_results_t *presults,
charlesmn	0:3ac96e360672	2624	VL53L1_MultiRangingData_t *pMultiRangingData)
charlesmn	0:3ac96e360672	2625	{
charlesmn	0:3ac96e360672	2626	VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	2627	uint8_t i;
charlesmn	0:3ac96e360672	2628	uint8_t iteration;
charlesmn	0:3ac96e360672	2629	VL53L1_TargetRangeData_t *pRangeData;
charlesmn	0:3ac96e360672	2630	VL53L1_range_data_t *presults_data;
charlesmn	0:3ac96e360672	2631	int16_t dmax_min;
charlesmn	0:3ac96e360672	2632	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2633	uint8_t Furthest_idx = 0;
charlesmn	0:3ac96e360672	2634	int16_t Furthest_range = 0;
charlesmn	0:3ac96e360672	2635	uint8_t ActiveResults, amb_idx;
charlesmn	0:3ac96e360672	2636
charlesmn	0:3ac96e360672	2637	pMultiRangingData->NumberOfObjectsFound = presults->active_results;
charlesmn	0:3ac96e360672	2638	pMultiRangingData->RoiNumber = presults->zone_id;
charlesmn	0:3ac96e360672	2639	pMultiRangingData->HasXtalkValueChanged =
charlesmn	0:3ac96e360672	2640	presults->smudge_corrector_data.new_xtalk_applied_flag;
charlesmn	0:3ac96e360672	2641	dmax_min = MIN(presults->wrap_dmax_mm,
charlesmn	0:3ac96e360672	2642	presults->VL53L1_p_007[DMAX_REFLECTANCE_IDX]);
charlesmn	0:3ac96e360672	2643	pMultiRangingData->DmaxMilliMeter = dmax_min;
charlesmn	0:3ac96e360672	2644
charlesmn	0:3ac96e360672	2645
charlesmn	0:3ac96e360672	2646	pMultiRangingData->TimeStamp = 0;
charlesmn	0:3ac96e360672	2647
charlesmn	0:3ac96e360672	2648	pMultiRangingData->StreamCount = presults->stream_count;
charlesmn	0:3ac96e360672	2649
charlesmn	0:3ac96e360672	2650	pMultiRangingData->RecommendedDistanceMode =
charlesmn	0:3ac96e360672	2651	VL53L1DevDataGet(Dev, CurrentParameters.DistanceMode);
charlesmn	0:3ac96e360672	2652	ActiveResults = presults->active_results;
charlesmn	0:3ac96e360672	2653	if (ActiveResults < 1)
charlesmn	0:3ac96e360672	2654
charlesmn	0:3ac96e360672	2655	iteration = 1;
charlesmn	0:3ac96e360672	2656	else
charlesmn	0:3ac96e360672	2657	iteration = ActiveResults;
charlesmn	0:3ac96e360672	2658	for (i = 0; i < iteration; i++) {
charlesmn	0:3ac96e360672	2659	pRangeData = &(pMultiRangingData->RangeData[i]);
charlesmn	0:3ac96e360672	2660
charlesmn	0:3ac96e360672	2661	presults_data = &(presults->VL53L1_p_002[i]);
charlesmn	0:3ac96e360672	2662	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	2663	Status = SetTargetData(Dev, ActiveResults,
charlesmn	0:3ac96e360672	2664	pMultiRangingData->StreamCount,
charlesmn	0:3ac96e360672	2665	i,
charlesmn	0:3ac96e360672	2666	presults->device_status,
charlesmn	0:3ac96e360672	2667	presults_data,
charlesmn	0:3ac96e360672	2668	pRangeData);
charlesmn	0:3ac96e360672	2669
charlesmn	0:3ac96e360672	2670	pMultiRangingData->EffectiveSpadRtnCount =
charlesmn	0:3ac96e360672	2671	presults_data->VL53L1_p_006;
charlesmn	0:3ac96e360672	2672
charlesmn	0:3ac96e360672	2673	if ((pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID)
charlesmn	0:3ac96e360672	2674	&& (pRangeData->RangeMilliMeter > Furthest_range)) {
charlesmn	0:3ac96e360672	2675	Furthest_range = pRangeData->RangeMilliMeter;
charlesmn	0:3ac96e360672	2676	Furthest_idx = i;
charlesmn	0:3ac96e360672	2677	}
charlesmn	0:3ac96e360672	2678	}
charlesmn	0:3ac96e360672	2679	for (i = iteration; i < VL53L1_MAX_RANGE_RESULTS; i++) {
charlesmn	0:3ac96e360672	2680	pdev->PreviousRangeMilliMeter[i] = 0;
charlesmn	0:3ac96e360672	2681	pdev->PreviousRangeStatus[i] = 255;
charlesmn	0:3ac96e360672	2682	pdev->PreviousExtendedRange[i] = 0;
charlesmn	0:3ac96e360672	2683	}
charlesmn	0:3ac96e360672	2684
charlesmn	0:3ac96e360672	2685	if ((Status == VL53L1_ERROR_NONE) && (ActiveResults > 0)) {
charlesmn	0:3ac96e360672	2686	pRangeData = &(pMultiRangingData->RangeData[Furthest_idx]);
charlesmn	0:3ac96e360672	2687	amb_idx = VL53L1_MAX_AMBIENT_DMAX_VALUES-1;
charlesmn	0:3ac96e360672	2688	CheckAndChangeDistanceMode(Dev, pRangeData,
charlesmn	0:3ac96e360672	2689	presults->VL53L1_p_007[amb_idx],
charlesmn	0:3ac96e360672	2690	&pMultiRangingData->RecommendedDistanceMode);
charlesmn	0:3ac96e360672	2691	}
charlesmn	0:3ac96e360672	2692
charlesmn	0:3ac96e360672	2693	return Status;
charlesmn	0:3ac96e360672	2694	}
charlesmn	0:3ac96e360672	2695
charlesmn	0:3ac96e360672	2696	VL53L1_Error VL53L1_GetMultiRangingData(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	2697	VL53L1_MultiRangingData_t *pMultiRangingData)
charlesmn	0:3ac96e360672	2698	{
charlesmn	0:3ac96e360672	2699	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2700	VL53L1_LLDriverData_t *pdev =
charlesmn	0:3ac96e360672	2701	VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	2702	VL53L1_range_results_t *presults =
charlesmn	0:3ac96e360672	2703	(VL53L1_range_results_t *) pdev->wArea1;
charlesmn	0:3ac96e360672	2704
charlesmn	0:3ac96e360672	2705	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	2706
charlesmn	0:3ac96e360672	2707
charlesmn	0:3ac96e360672	2708	memset(pMultiRangingData, 0xFF,
charlesmn	0:3ac96e360672	2709	sizeof(VL53L1_MultiRangingData_t));
charlesmn	0:3ac96e360672	2710
charlesmn	0:3ac96e360672	2711
charlesmn	0:3ac96e360672	2712	Status = VL53L1_get_device_results(
charlesmn	0:3ac96e360672	2713	Dev,
charlesmn	0:3ac96e360672	2714	VL53L1_DEVICERESULTSLEVEL_FULL,
charlesmn	0:3ac96e360672	2715	presults);
charlesmn	0:3ac96e360672	2716
charlesmn	0:3ac96e360672	2717
charlesmn	0:3ac96e360672	2718	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	2719	switch (presults->rd_device_state) {
charlesmn	0:3ac96e360672	2720	case VL53L1_DEVICESTATE_RANGING_GATHER_DATA:
charlesmn	0:3ac96e360672	2721	pMultiRangingData->RoiStatus =
charlesmn	0:3ac96e360672	2722	VL53L1_ROISTATUS_VALID_NOT_LAST;
charlesmn	0:3ac96e360672	2723	break;
charlesmn	0:3ac96e360672	2724	case VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA:
charlesmn	0:3ac96e360672	2725	pMultiRangingData->RoiStatus =
charlesmn	0:3ac96e360672	2726	VL53L1_ROISTATUS_VALID_LAST;
charlesmn	0:3ac96e360672	2727	break;
charlesmn	0:3ac96e360672	2728	default:
charlesmn	0:3ac96e360672	2729	pMultiRangingData->RoiStatus =
charlesmn	0:3ac96e360672	2730	VL53L1_ROISTATUS_NOT_VALID;
charlesmn	0:3ac96e360672	2731	}
charlesmn	0:3ac96e360672	2732
charlesmn	0:3ac96e360672	2733	Status = SetMeasurementData(Dev,
charlesmn	0:3ac96e360672	2734	presults,
charlesmn	0:3ac96e360672	2735	pMultiRangingData);
charlesmn	0:3ac96e360672	2736
charlesmn	0:3ac96e360672	2737	}
charlesmn	0:3ac96e360672	2738
charlesmn	0:3ac96e360672	2739	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	2740	return Status;
charlesmn	0:3ac96e360672	2741	}
charlesmn	0:3ac96e360672	2742
charlesmn	0:3ac96e360672	2743	VL53L1_Error VL53L1_GetAdditionalData(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	2744	VL53L1_AdditionalData_t *pAdditionalData)
charlesmn	0:3ac96e360672	2745	{
charlesmn	0:3ac96e360672	2746	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2747
charlesmn	0:3ac96e360672	2748	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	2749
charlesmn	0:3ac96e360672	2750	Status = VL53L1_get_additional_data(Dev, pAdditionalData);
charlesmn	0:3ac96e360672	2751
charlesmn	0:3ac96e360672	2752	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	2753	return Status;
charlesmn	0:3ac96e360672	2754	}
charlesmn	0:3ac96e360672	2755
charlesmn	0:3ac96e360672	2756
charlesmn	0:3ac96e360672	2757
charlesmn	0:3ac96e360672	2758
charlesmn	0:3ac96e360672	2759
charlesmn	0:3ac96e360672	2760
charlesmn	0:3ac96e360672	2761	VL53L1_Error VL53L1_SetTuningParameter(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	2762	uint16_t TuningParameterId, int32_t TuningParameterValue)
charlesmn	0:3ac96e360672	2763	{
charlesmn	0:3ac96e360672	2764	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2765
charlesmn	0:3ac96e360672	2766	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	2767
charlesmn	0:3ac96e360672	2768	if (TuningParameterId ==
charlesmn	0:3ac96e360672	2769	VL53L1_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS)
charlesmn	0:3ac96e360672	2770	return VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	2771
charlesmn	0:3ac96e360672	2772	if (TuningParameterId >= 32768)
charlesmn	0:3ac96e360672	2773	Status = VL53L1_set_tuning_parm(Dev,
charlesmn	0:3ac96e360672	2774	TuningParameterId,
charlesmn	0:3ac96e360672	2775	TuningParameterValue);
charlesmn	0:3ac96e360672	2776	else {
charlesmn	0:3ac96e360672	2777	if (TuningParameterId < VL53L1_TUNING_MAX_TUNABLE_KEY)
charlesmn	0:3ac96e360672	2778	BDTable[TuningParameterId] = TuningParameterValue;
charlesmn	0:3ac96e360672	2779	else
charlesmn	0:3ac96e360672	2780	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	2781	}
charlesmn	0:3ac96e360672	2782
charlesmn	0:3ac96e360672	2783	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	2784	return Status;
charlesmn	0:3ac96e360672	2785	}
charlesmn	0:3ac96e360672	2786
charlesmn	0:3ac96e360672	2787	VL53L1_Error VL53L1_GetTuningParameter(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	2788	uint16_t TuningParameterId, int32_t *pTuningParameterValue)
charlesmn	0:3ac96e360672	2789	{
charlesmn	0:3ac96e360672	2790	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2791
charlesmn	0:3ac96e360672	2792	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	2793
charlesmn	0:3ac96e360672	2794	if (TuningParameterId >= 32768)
charlesmn	0:3ac96e360672	2795	Status = VL53L1_get_tuning_parm(Dev,
charlesmn	0:3ac96e360672	2796	TuningParameterId,
charlesmn	0:3ac96e360672	2797	pTuningParameterValue);
charlesmn	0:3ac96e360672	2798	else {
charlesmn	0:3ac96e360672	2799	if (TuningParameterId < VL53L1_TUNING_MAX_TUNABLE_KEY)
charlesmn	0:3ac96e360672	2800	*pTuningParameterValue = BDTable[TuningParameterId];
charlesmn	0:3ac96e360672	2801	else
charlesmn	0:3ac96e360672	2802	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	2803	}
charlesmn	0:3ac96e360672	2804
charlesmn	0:3ac96e360672	2805	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	2806	return Status;
charlesmn	0:3ac96e360672	2807	}
charlesmn	0:3ac96e360672	2808
charlesmn	0:3ac96e360672	2809
charlesmn	0:3ac96e360672	2810	VL53L1_Error VL53L1_PerformRefSpadManagement(VL53L1_DEV Dev)
charlesmn	0:3ac96e360672	2811	{
charlesmn	0:3ac96e360672	2812	#ifdef VL53L1_NOCALIB
charlesmn	0:3ac96e360672	2813	VL53L1_Error Status = VL53L1_ERROR_NOT_SUPPORTED;
charlesmn	0:3ac96e360672	2814
charlesmn	0:3ac96e360672	2815	SUPPRESS_UNUSED_WARNING(Dev);
charlesmn	0:3ac96e360672	2816
charlesmn	0:3ac96e360672	2817	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	2818	#else
charlesmn	0:3ac96e360672	2819	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2820	VL53L1_Error RawStatus;
charlesmn	0:3ac96e360672	2821	uint8_t dcrbuffer[24];
charlesmn	0:3ac96e360672	2822	uint8_t *commbuf;
charlesmn	0:3ac96e360672	2823	uint8_t numloc[2] = {5, 3};
charlesmn	0:3ac96e360672	2824	VL53L1_LLDriverData_t *pdev;
charlesmn	0:3ac96e360672	2825	VL53L1_customer_nvm_managed_t *pc;
charlesmn	0:3ac96e360672	2826	VL53L1_PresetModes PresetMode;
charlesmn	0:3ac96e360672	2827
charlesmn	0:3ac96e360672	2828	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	2829
charlesmn	0:3ac96e360672	2830	pdev = VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	2831	pc = &pdev->customer;
charlesmn	0:3ac96e360672	2832
charlesmn	0:3ac96e360672	2833	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	2834	PresetMode = VL53L1DevDataGet(Dev,
charlesmn	0:3ac96e360672	2835	CurrentParameters.PresetMode);
charlesmn	0:3ac96e360672	2836	Status = VL53L1_run_ref_spad_char(Dev, &RawStatus);
charlesmn	0:3ac96e360672	2837
charlesmn	0:3ac96e360672	2838	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	2839	Status = VL53L1_SetPresetMode(Dev, PresetMode);
charlesmn	0:3ac96e360672	2840	}
charlesmn	0:3ac96e360672	2841
charlesmn	0:3ac96e360672	2842	if (Status == VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH) {
charlesmn	0:3ac96e360672	2843
charlesmn	0:3ac96e360672	2844	Status = VL53L1_read_nvm_raw_data(Dev,
charlesmn	0:3ac96e360672	2845	(uint8_t)(0xA0 >> 2),
charlesmn	0:3ac96e360672	2846	(uint8_t)(24 >> 2),
charlesmn	0:3ac96e360672	2847	dcrbuffer);
charlesmn	0:3ac96e360672	2848
charlesmn	0:3ac96e360672	2849	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	2850	Status = VL53L1_WriteMulti(Dev,
charlesmn	0:3ac96e360672	2851	VL53L1_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS,
charlesmn	0:3ac96e360672	2852	numloc, 2);
charlesmn	0:3ac96e360672	2853
charlesmn	0:3ac96e360672	2854	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	2855	pc->ref_spad_man__num_requested_ref_spads = numloc[0];
charlesmn	0:3ac96e360672	2856	pc->ref_spad_man__ref_location = numloc[1];
charlesmn	0:3ac96e360672	2857	}
charlesmn	0:3ac96e360672	2858
charlesmn	0:3ac96e360672	2859	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	2860	commbuf = &dcrbuffer[16];
charlesmn	0:3ac96e360672	2861
charlesmn	0:3ac96e360672	2862
charlesmn	0:3ac96e360672	2863
charlesmn	0:3ac96e360672	2864	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	2865	Status = VL53L1_WriteMulti(Dev,
charlesmn	0:3ac96e360672	2866	VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0,
charlesmn	0:3ac96e360672	2867	commbuf, 6);
charlesmn	0:3ac96e360672	2868
charlesmn	0:3ac96e360672	2869	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	2870	pc->global_config__spad_enables_ref_0 = commbuf[0];
charlesmn	0:3ac96e360672	2871	pc->global_config__spad_enables_ref_1 = commbuf[1];
charlesmn	0:3ac96e360672	2872	pc->global_config__spad_enables_ref_2 = commbuf[2];
charlesmn	0:3ac96e360672	2873	pc->global_config__spad_enables_ref_3 = commbuf[3];
charlesmn	0:3ac96e360672	2874	pc->global_config__spad_enables_ref_4 = commbuf[4];
charlesmn	0:3ac96e360672	2875	pc->global_config__spad_enables_ref_5 = commbuf[5];
charlesmn	0:3ac96e360672	2876	}
charlesmn	0:3ac96e360672	2877
charlesmn	0:3ac96e360672	2878	}
charlesmn	0:3ac96e360672	2879
charlesmn	0:3ac96e360672	2880	#endif
charlesmn	0:3ac96e360672	2881
charlesmn	0:3ac96e360672	2882	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	2883	return Status;
charlesmn	0:3ac96e360672	2884	}
charlesmn	0:3ac96e360672	2885
charlesmn	0:3ac96e360672	2886	VL53L1_Error VL53L1_SmudgeCorrectionEnable(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	2887	VL53L1_SmudgeCorrectionModes Mode)
charlesmn	0:3ac96e360672	2888	{
charlesmn	0:3ac96e360672	2889	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2890	VL53L1_Error s1 = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2891	VL53L1_Error s2 = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2892	VL53L1_Error s3 = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2893
charlesmn	0:3ac96e360672	2894	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	2895
charlesmn	0:3ac96e360672	2896	switch (Mode) {
charlesmn	0:3ac96e360672	2897	case VL53L1_SMUDGE_CORRECTION_NONE:
charlesmn	0:3ac96e360672	2898	s1 = VL53L1_dynamic_xtalk_correction_disable(Dev);
charlesmn	0:3ac96e360672	2899	s2 = VL53L1_dynamic_xtalk_correction_apply_disable(Dev);
charlesmn	0:3ac96e360672	2900	s3 = VL53L1_dynamic_xtalk_correction_single_apply_disable(Dev);
charlesmn	0:3ac96e360672	2901	break;
charlesmn	0:3ac96e360672	2902	case VL53L1_SMUDGE_CORRECTION_CONTINUOUS:
charlesmn	0:3ac96e360672	2903	s1 = VL53L1_dynamic_xtalk_correction_enable(Dev);
charlesmn	0:3ac96e360672	2904	s2 = VL53L1_dynamic_xtalk_correction_apply_enable(Dev);
charlesmn	0:3ac96e360672	2905	s3 = VL53L1_dynamic_xtalk_correction_single_apply_disable(Dev);
charlesmn	0:3ac96e360672	2906	break;
charlesmn	0:3ac96e360672	2907	case VL53L1_SMUDGE_CORRECTION_SINGLE:
charlesmn	0:3ac96e360672	2908	s1 = VL53L1_dynamic_xtalk_correction_enable(Dev);
charlesmn	0:3ac96e360672	2909	s2 = VL53L1_dynamic_xtalk_correction_apply_enable(Dev);
charlesmn	0:3ac96e360672	2910	s3 = VL53L1_dynamic_xtalk_correction_single_apply_enable(Dev);
charlesmn	0:3ac96e360672	2911	break;
charlesmn	0:3ac96e360672	2912	case VL53L1_SMUDGE_CORRECTION_DEBUG:
charlesmn	0:3ac96e360672	2913	s1 = VL53L1_dynamic_xtalk_correction_enable(Dev);
charlesmn	0:3ac96e360672	2914	s2 = VL53L1_dynamic_xtalk_correction_apply_disable(Dev);
charlesmn	0:3ac96e360672	2915	s3 = VL53L1_dynamic_xtalk_correction_single_apply_disable(Dev);
charlesmn	0:3ac96e360672	2916	break;
charlesmn	0:3ac96e360672	2917	default:
charlesmn	0:3ac96e360672	2918	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	2919	break;
charlesmn	0:3ac96e360672	2920	}
charlesmn	0:3ac96e360672	2921
charlesmn	0:3ac96e360672	2922	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	2923	Status = s1;
charlesmn	0:3ac96e360672	2924	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	2925	Status = s2;
charlesmn	0:3ac96e360672	2926	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	2927	Status = s3;
charlesmn	0:3ac96e360672	2928	}
charlesmn	0:3ac96e360672	2929
charlesmn	0:3ac96e360672	2930	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	2931	return Status;
charlesmn	0:3ac96e360672	2932	}
charlesmn	0:3ac96e360672	2933
charlesmn	0:3ac96e360672	2934	VL53L1_Error VL53L1_SetXTalkCompensationEnable(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	2935	uint8_t XTalkCompensationEnable)
charlesmn	0:3ac96e360672	2936	{
charlesmn	0:3ac96e360672	2937	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2938
charlesmn	0:3ac96e360672	2939	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	2940
charlesmn	0:3ac96e360672	2941	if (XTalkCompensationEnable == 0)
charlesmn	0:3ac96e360672	2942	Status = VL53L1_disable_xtalk_compensation(Dev);
charlesmn	0:3ac96e360672	2943	else
charlesmn	0:3ac96e360672	2944	Status = VL53L1_enable_xtalk_compensation(Dev);
charlesmn	0:3ac96e360672	2945
charlesmn	0:3ac96e360672	2946	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	2947	return Status;
charlesmn	0:3ac96e360672	2948	}
charlesmn	0:3ac96e360672	2949
charlesmn	0:3ac96e360672	2950
charlesmn	0:3ac96e360672	2951	VL53L1_Error VL53L1_GetXTalkCompensationEnable(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	2952	uint8_t *pXTalkCompensationEnable)
charlesmn	0:3ac96e360672	2953	{
charlesmn	0:3ac96e360672	2954	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2955
charlesmn	0:3ac96e360672	2956	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	2957
charlesmn	0:3ac96e360672	2958	VL53L1_get_xtalk_compensation_enable(
charlesmn	0:3ac96e360672	2959	Dev,
charlesmn	0:3ac96e360672	2960	pXTalkCompensationEnable);
charlesmn	0:3ac96e360672	2961
charlesmn	0:3ac96e360672	2962	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	2963	return Status;
charlesmn	0:3ac96e360672	2964	}
charlesmn	0:3ac96e360672	2965
charlesmn	0:3ac96e360672	2966
charlesmn	0:3ac96e360672	2967	VL53L1_Error VL53L1_PerformXTalkCalibration(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	2968	uint8_t CalibrationOption)
charlesmn	0:3ac96e360672	2969	{
charlesmn	0:3ac96e360672	2970	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	2971	VL53L1_Error UStatus;
charlesmn	0:3ac96e360672	2972	int16_t CalDistanceMm;
charlesmn	0:3ac96e360672	2973	VL53L1_xtalk_calibration_results_t xtalk;
charlesmn	0:3ac96e360672	2974
charlesmn	0:3ac96e360672	2975	VL53L1_CalibrationData_t caldata;
charlesmn	0:3ac96e360672	2976	VL53L1_LLDriverData_t *pLLData;
charlesmn	0:3ac96e360672	2977	int i;
charlesmn	0:3ac96e360672	2978	uint32_t *pPlaneOffsetKcps;
charlesmn	0:3ac96e360672	2979	uint32_t Margin =
charlesmn	0:3ac96e360672	2980	BDTable[VL53L1_TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN];
charlesmn	0:3ac96e360672	2981	uint32_t DefaultOffset =
charlesmn	0:3ac96e360672	2982	BDTable[VL53L1_TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET];
charlesmn	0:3ac96e360672	2983	uint32_t *pLLDataPlaneOffsetKcps;
charlesmn	0:3ac96e360672	2984	uint32_t sum = 0;
charlesmn	0:3ac96e360672	2985	uint8_t binok = 0;
charlesmn	0:3ac96e360672	2986	int32_t merge;
charlesmn	0:3ac96e360672	2987
charlesmn	0:3ac96e360672	2988	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	2989
charlesmn	0:3ac96e360672	2990	pPlaneOffsetKcps =
charlesmn	0:3ac96e360672	2991	&caldata.customer.algo__crosstalk_compensation_plane_offset_kcps;
charlesmn	0:3ac96e360672	2992	pLLData = VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	2993	pLLDataPlaneOffsetKcps =
charlesmn	0:3ac96e360672	2994	&pLLData->xtalk_cal.algo__crosstalk_compensation_plane_offset_kcps;
charlesmn	0:3ac96e360672	2995	VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, &merge);
charlesmn	0:3ac96e360672	2996
charlesmn	0:3ac96e360672	2997	VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, 0);
charlesmn	0:3ac96e360672	2998	switch (CalibrationOption) {
charlesmn	0:3ac96e360672	2999	case VL53L1_XTALKCALIBRATIONMODE_NO_TARGET:
charlesmn	0:3ac96e360672	3000	Status = VL53L1_run_xtalk_extraction(Dev, &UStatus);
charlesmn	0:3ac96e360672	3001
charlesmn	0:3ac96e360672	3002	if (Status == VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL)
charlesmn	0:3ac96e360672	3003	VL53L1_xtalk_cal_data_init(Dev);
charlesmn	0:3ac96e360672	3004	break;
charlesmn	0:3ac96e360672	3005	case VL53L1_XTALKCALIBRATIONMODE_SINGLE_TARGET:
charlesmn	0:3ac96e360672	3006	Status = SingleTargetXTalkCalibration(Dev);
charlesmn	0:3ac96e360672	3007	break;
charlesmn	0:3ac96e360672	3008	case VL53L1_XTALKCALIBRATIONMODE_FULL_ROI:
charlesmn	0:3ac96e360672	3009	CalDistanceMm = (int16_t)
charlesmn	0:3ac96e360672	3010	BDTable[VL53L1_TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM];
charlesmn	0:3ac96e360672	3011
charlesmn	0:3ac96e360672	3012	VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE,
charlesmn	0:3ac96e360672	3013	merge);
charlesmn	0:3ac96e360672	3014	Status = VL53L1_run_hist_xtalk_extraction(Dev, CalDistanceMm,
charlesmn	0:3ac96e360672	3015	&UStatus);
charlesmn	0:3ac96e360672	3016
charlesmn	0:3ac96e360672	3017	VL53L1_GetCalibrationData(Dev, &caldata);
charlesmn	0:3ac96e360672	3018	for (i = 0; i < VL53L1_XTALK_HISTO_BINS; i++) {
charlesmn	0:3ac96e360672	3019	sum += caldata.xtalkhisto.xtalk_shape.bin_data[i];
charlesmn	0:3ac96e360672	3020	if (caldata.xtalkhisto.xtalk_shape.bin_data[i] > 0)
charlesmn	0:3ac96e360672	3021	binok++;
charlesmn	0:3ac96e360672	3022	}
charlesmn	0:3ac96e360672	3023	if ((UStatus ==
charlesmn	0:3ac96e360672	3024	VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL) \|\|
charlesmn	0:3ac96e360672	3025	(sum > (1024 + Margin)) \|\| (sum < (1024 - Margin)) \|\|
charlesmn	0:3ac96e360672	3026	(binok < 3)) {
charlesmn	0:3ac96e360672	3027	*pPlaneOffsetKcps = DefaultOffset;
charlesmn	0:3ac96e360672	3028	*pLLDataPlaneOffsetKcps = DefaultOffset;
charlesmn	0:3ac96e360672	3029	caldata.xtalkhisto.xtalk_shape.bin_data[0] = 307;
charlesmn	0:3ac96e360672	3030	caldata.xtalkhisto.xtalk_shape.bin_data[1] = 410;
charlesmn	0:3ac96e360672	3031	caldata.xtalkhisto.xtalk_shape.bin_data[2] = 410;
charlesmn	0:3ac96e360672	3032	caldata.xtalkhisto.xtalk_shape.bin_data[3] = 307;
charlesmn	0:3ac96e360672	3033	for (i = 4; i < VL53L1_XTALK_HISTO_BINS; i++)
charlesmn	0:3ac96e360672	3034	caldata.xtalkhisto.xtalk_shape.bin_data[i] = 0;
charlesmn	0:3ac96e360672	3035	for (i = 0; i < VL53L1_BIN_REC_SIZE; i++)
charlesmn	0:3ac96e360672	3036	caldata.algo__xtalk_cpo_HistoMerge_kcps[i] =
charlesmn	0:3ac96e360672	3037	DefaultOffset + DefaultOffset * i;
charlesmn	0:3ac96e360672	3038	VL53L1_SetCalibrationData(Dev, &caldata);
charlesmn	0:3ac96e360672	3039	}
charlesmn	0:3ac96e360672	3040
charlesmn	0:3ac96e360672	3041	break;
charlesmn	0:3ac96e360672	3042	default:
charlesmn	0:3ac96e360672	3043	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	3044	}
charlesmn	0:3ac96e360672	3045	VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, merge);
charlesmn	0:3ac96e360672	3046
charlesmn	0:3ac96e360672	3047	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	3048	Status = VL53L1_get_current_xtalk_settings(Dev, &xtalk);
charlesmn	0:3ac96e360672	3049	Status = VL53L1_set_tuning_parm(Dev,
charlesmn	0:3ac96e360672	3050	VL53L1_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS,
charlesmn	0:3ac96e360672	3051	xtalk.algo__crosstalk_compensation_plane_offset_kcps);
charlesmn	0:3ac96e360672	3052	}
charlesmn	0:3ac96e360672	3053
charlesmn	0:3ac96e360672	3054	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3055	return Status;
charlesmn	0:3ac96e360672	3056	}
charlesmn	0:3ac96e360672	3057
charlesmn	0:3ac96e360672	3058	VL53L1_Error VL53L1_SetOffsetCalibrationMode(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	3059	VL53L1_OffsetCalibrationModes OffsetCalibrationMode)
charlesmn	0:3ac96e360672	3060	{
charlesmn	0:3ac96e360672	3061	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3062	VL53L1_OffsetCalibrationMode offset_cal_mode;
charlesmn	0:3ac96e360672	3063
charlesmn	0:3ac96e360672	3064	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	3065
charlesmn	0:3ac96e360672	3066	if (OffsetCalibrationMode == VL53L1_OFFSETCALIBRATIONMODE_STANDARD) {
charlesmn	0:3ac96e360672	3067	offset_cal_mode =
charlesmn	0:3ac96e360672	3068	VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD;
charlesmn	0:3ac96e360672	3069	} else if (OffsetCalibrationMode ==
charlesmn	0:3ac96e360672	3070	VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY) {
charlesmn	0:3ac96e360672	3071	offset_cal_mode =
charlesmn	0:3ac96e360672	3072	VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY;
charlesmn	0:3ac96e360672	3073	} else if (OffsetCalibrationMode ==
charlesmn	0:3ac96e360672	3074	VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE) {
charlesmn	0:3ac96e360672	3075	offset_cal_mode =
charlesmn	0:3ac96e360672	3076	VL53L1_OFFSETCALIBRATIONMODE__PER_ZONE;
charlesmn	0:3ac96e360672	3077	} else {
charlesmn	0:3ac96e360672	3078	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	3079	}
charlesmn	0:3ac96e360672	3080
charlesmn	0:3ac96e360672	3081	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3082	Status = VL53L1_set_offset_calibration_mode(Dev,
charlesmn	0:3ac96e360672	3083	offset_cal_mode);
charlesmn	0:3ac96e360672	3084
charlesmn	0:3ac96e360672	3085	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3086	return Status;
charlesmn	0:3ac96e360672	3087	}
charlesmn	0:3ac96e360672	3088
charlesmn	0:3ac96e360672	3089	VL53L1_Error VL53L1_SetOffsetCorrectionMode(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	3090	VL53L1_OffsetCorrectionModes OffsetCorrectionMode)
charlesmn	0:3ac96e360672	3091	{
charlesmn	0:3ac96e360672	3092	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3093	VL53L1_OffsetCorrectionMode offset_cor_mode;
charlesmn	0:3ac96e360672	3094
charlesmn	0:3ac96e360672	3095	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	3096
charlesmn	0:3ac96e360672	3097	if (OffsetCorrectionMode == VL53L1_OFFSETCORRECTIONMODE_STANDARD) {
charlesmn	0:3ac96e360672	3098	offset_cor_mode =
charlesmn	0:3ac96e360672	3099	VL53L1_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS;
charlesmn	0:3ac96e360672	3100	} else if (OffsetCorrectionMode ==
charlesmn	0:3ac96e360672	3101	VL53L1_OFFSETCORRECTIONMODE_PERZONE) {
charlesmn	0:3ac96e360672	3102	offset_cor_mode =
charlesmn	0:3ac96e360672	3103	VL53L1_OFFSETCORRECTIONMODE__PER_ZONE_OFFSETS;
charlesmn	0:3ac96e360672	3104	} else if (OffsetCorrectionMode ==
charlesmn	0:3ac96e360672	3105	VL53L1_OFFSETCORRECTIONMODE_PERVCSEL) {
charlesmn	0:3ac96e360672	3106	offset_cor_mode =
charlesmn	0:3ac96e360672	3107	VL53L1_OFFSETCORRECTIONMODE__PER_VCSEL_OFFSETS;
charlesmn	0:3ac96e360672	3108	} else {
charlesmn	0:3ac96e360672	3109	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	3110	}
charlesmn	0:3ac96e360672	3111
charlesmn	0:3ac96e360672	3112	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3113	Status = VL53L1_set_offset_correction_mode(Dev,
charlesmn	0:3ac96e360672	3114	offset_cor_mode);
charlesmn	0:3ac96e360672	3115
charlesmn	0:3ac96e360672	3116	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3117	return Status;
charlesmn	0:3ac96e360672	3118	}
charlesmn	0:3ac96e360672	3119
charlesmn	0:3ac96e360672	3120	VL53L1_Error VL53L1_PerformOffsetCalibration(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	3121	int32_t CalDistanceMilliMeter, FixPoint1616_t CalReflectancePercent)
charlesmn	0:3ac96e360672	3122	{
charlesmn	0:3ac96e360672	3123	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3124	VL53L1_Error UnfilteredStatus;
charlesmn	0:3ac96e360672	3125	VL53L1_OffsetCalibrationMode offset_cal_mode;
charlesmn	0:3ac96e360672	3126	uint16_t CalReflectancePercent_int;
charlesmn	0:3ac96e360672	3127
charlesmn	0:3ac96e360672	3128	VL53L1_DevicePresetModes device_preset_mode;
charlesmn	0:3ac96e360672	3129	VL53L1_DeviceZonePreset zone_preset;
charlesmn	0:3ac96e360672	3130	VL53L1_zone_config_t zone_cfg;
charlesmn	0:3ac96e360672	3131	int32_t MergeEnabled;
charlesmn	0:3ac96e360672	3132
charlesmn	0:3ac96e360672	3133	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	3134
charlesmn	0:3ac96e360672	3135	CalReflectancePercent_int =
charlesmn	0:3ac96e360672	3136	VL53L1_FIXPOINT1616TOFIXPOINT72(CalReflectancePercent);
charlesmn	0:3ac96e360672	3137
charlesmn	0:3ac96e360672	3138	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3139	Status = VL53L1_get_offset_calibration_mode(Dev,
charlesmn	0:3ac96e360672	3140	&offset_cal_mode);
charlesmn	0:3ac96e360672	3141
charlesmn	0:3ac96e360672	3142	if (Status != VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	3143	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3144	return Status;
charlesmn	0:3ac96e360672	3145	}
charlesmn	0:3ac96e360672	3146
charlesmn	0:3ac96e360672	3147
charlesmn	0:3ac96e360672	3148	if ((offset_cal_mode ==
charlesmn	0:3ac96e360672	3149	VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD) \|\|
charlesmn	0:3ac96e360672	3150	(offset_cal_mode ==
charlesmn	0:3ac96e360672	3151	VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY
charlesmn	0:3ac96e360672	3152	)) {
charlesmn	0:3ac96e360672	3153	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3154	Status = VL53L1_run_offset_calibration(
charlesmn	0:3ac96e360672	3155	Dev,
charlesmn	0:3ac96e360672	3156	(int16_t)CalDistanceMilliMeter,
charlesmn	0:3ac96e360672	3157	CalReflectancePercent_int,
charlesmn	0:3ac96e360672	3158	&UnfilteredStatus);
charlesmn	0:3ac96e360672	3159
charlesmn	0:3ac96e360672	3160	} else if (offset_cal_mode ==
charlesmn	0:3ac96e360672	3161	VL53L1_OFFSETCALIBRATIONMODE__PER_ZONE) {
charlesmn	0:3ac96e360672	3162	VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE,
charlesmn	0:3ac96e360672	3163	&MergeEnabled);
charlesmn	0:3ac96e360672	3164	VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, 0);
charlesmn	0:3ac96e360672	3165	device_preset_mode =
charlesmn	0:3ac96e360672	3166	VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE;
charlesmn	0:3ac96e360672	3167	zone_preset = VL53L1_DEVICEZONEPRESET_CUSTOM;
charlesmn	0:3ac96e360672	3168
charlesmn	0:3ac96e360672	3169	Status = VL53L1_get_zone_config(Dev, &zone_cfg);
charlesmn	0:3ac96e360672	3170	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3171	Status = VL53L1_run_zone_calibration(
charlesmn	0:3ac96e360672	3172	Dev,
charlesmn	0:3ac96e360672	3173	device_preset_mode,
charlesmn	0:3ac96e360672	3174	zone_preset,
charlesmn	0:3ac96e360672	3175	&zone_cfg,
charlesmn	0:3ac96e360672	3176	(int16_t)CalDistanceMilliMeter,
charlesmn	0:3ac96e360672	3177	CalReflectancePercent_int,
charlesmn	0:3ac96e360672	3178	&UnfilteredStatus);
charlesmn	0:3ac96e360672	3179	VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE,
charlesmn	0:3ac96e360672	3180	MergeEnabled);
charlesmn	0:3ac96e360672	3181
charlesmn	0:3ac96e360672	3182	} else {
charlesmn	0:3ac96e360672	3183	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	3184	}
charlesmn	0:3ac96e360672	3185	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3186	return Status;
charlesmn	0:3ac96e360672	3187	}
charlesmn	0:3ac96e360672	3188
charlesmn	0:3ac96e360672	3189	VL53L1_Error VL53L1_PerformOffsetSimpleCalibration(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	3190	int32_t CalDistanceMilliMeter)
charlesmn	0:3ac96e360672	3191	{
charlesmn	0:3ac96e360672	3192	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3193	int32_t sum_ranging;
charlesmn	0:3ac96e360672	3194	uint8_t offset_meas;
charlesmn	0:3ac96e360672	3195	int16_t Max, UnderMax, OverMax, Repeat;
charlesmn	0:3ac96e360672	3196	int32_t total_count, inloopcount;
charlesmn	0:3ac96e360672	3197	int32_t IncRounding;
charlesmn	0:3ac96e360672	3198	int16_t meanDistance_mm;
charlesmn	0:3ac96e360672	3199	int16_t offset;
charlesmn	0:3ac96e360672	3200	VL53L1_RangingMeasurementData_t RangingMeasurementData;
charlesmn	0:3ac96e360672	3201	VL53L1_LLDriverData_t *pdev;
charlesmn	0:3ac96e360672	3202	uint8_t goodmeas;
charlesmn	0:3ac96e360672	3203	VL53L1_Error SmudgeStatus = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3204	uint8_t smudge_corr_en;
charlesmn	0:3ac96e360672	3205
charlesmn	0:3ac96e360672	3206	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	3207
charlesmn	0:3ac96e360672	3208	pdev = VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	3209
charlesmn	0:3ac96e360672	3210	smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
charlesmn	0:3ac96e360672	3211	SmudgeStatus = VL53L1_dynamic_xtalk_correction_disable(Dev);
charlesmn	0:3ac96e360672	3212
charlesmn	0:3ac96e360672	3213	pdev->customer.algo__part_to_part_range_offset_mm = 0;
charlesmn	0:3ac96e360672	3214	pdev->customer.mm_config__inner_offset_mm = 0;
charlesmn	0:3ac96e360672	3215	pdev->customer.mm_config__outer_offset_mm = 0;
charlesmn	0:3ac96e360672	3216	memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
charlesmn	0:3ac96e360672	3217	Repeat = BDTable[VL53L1_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT];
charlesmn	0:3ac96e360672	3218	Max = BDTable[
charlesmn	0:3ac96e360672	3219	VL53L1_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
charlesmn	0:3ac96e360672	3220	UnderMax = 1 + (Max / 2);
charlesmn	0:3ac96e360672	3221	OverMax = Max + (Max / 2);
charlesmn	0:3ac96e360672	3222	sum_ranging = 0;
charlesmn	0:3ac96e360672	3223	total_count = 0;
charlesmn	0:3ac96e360672	3224
charlesmn	0:3ac96e360672	3225	while ((Repeat > 0) && (Status == VL53L1_ERROR_NONE)) {
charlesmn	0:3ac96e360672	3226	Status = VL53L1_StartMeasurement(Dev);
charlesmn	0:3ac96e360672	3227
charlesmn	0:3ac96e360672	3228	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	3229	VL53L1_WaitMeasurementDataReady(Dev);
charlesmn	0:3ac96e360672	3230	VL53L1_GetRangingMeasurementData(Dev,
charlesmn	0:3ac96e360672	3231	&RangingMeasurementData);
charlesmn	0:3ac96e360672	3232	VL53L1_ClearInterruptAndStartMeasurement(Dev);
charlesmn	0:3ac96e360672	3233	}
charlesmn	0:3ac96e360672	3234
charlesmn	0:3ac96e360672	3235	inloopcount = 0;
charlesmn	0:3ac96e360672	3236	offset_meas = 0;
charlesmn	0:3ac96e360672	3237	while ((Status == VL53L1_ERROR_NONE) && (inloopcount < Max) &&
charlesmn	0:3ac96e360672	3238	(offset_meas < OverMax)) {
charlesmn	0:3ac96e360672	3239	Status = VL53L1_WaitMeasurementDataReady(Dev);
charlesmn	0:3ac96e360672	3240	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3241	Status = VL53L1_GetRangingMeasurementData(Dev,
charlesmn	0:3ac96e360672	3242	&RangingMeasurementData);
charlesmn	0:3ac96e360672	3243	goodmeas = (RangingMeasurementData.RangeStatus ==
charlesmn	0:3ac96e360672	3244	VL53L1_RANGESTATUS_RANGE_VALID);
charlesmn	0:3ac96e360672	3245	if ((Status == VL53L1_ERROR_NONE) && goodmeas) {
charlesmn	0:3ac96e360672	3246	sum_ranging = sum_ranging +
charlesmn	0:3ac96e360672	3247	RangingMeasurementData.RangeMilliMeter;
charlesmn	0:3ac96e360672	3248	inloopcount++;
charlesmn	0:3ac96e360672	3249	}
charlesmn	0:3ac96e360672	3250	Status = VL53L1_ClearInterruptAndStartMeasurement(Dev);
charlesmn	0:3ac96e360672	3251	offset_meas++;
charlesmn	0:3ac96e360672	3252	}
charlesmn	0:3ac96e360672	3253	total_count += inloopcount;
charlesmn	0:3ac96e360672	3254
charlesmn	0:3ac96e360672	3255
charlesmn	0:3ac96e360672	3256	if (inloopcount < UnderMax)
charlesmn	0:3ac96e360672	3257	Status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
charlesmn	0:3ac96e360672	3258
charlesmn	0:3ac96e360672	3259	VL53L1_StopMeasurement(Dev);
charlesmn	0:3ac96e360672	3260
charlesmn	0:3ac96e360672	3261	Repeat--;
charlesmn	0:3ac96e360672	3262
charlesmn	0:3ac96e360672	3263	}
charlesmn	0:3ac96e360672	3264
charlesmn	0:3ac96e360672	3265	if ((SmudgeStatus == VL53L1_ERROR_NONE) && (smudge_corr_en == 1))
charlesmn	0:3ac96e360672	3266	SmudgeStatus = VL53L1_dynamic_xtalk_correction_enable(Dev);
charlesmn	0:3ac96e360672	3267
charlesmn	0:3ac96e360672	3268	if ((sum_ranging < 0) \|\|
charlesmn	0:3ac96e360672	3269	(sum_ranging > ((int32_t) total_count * 0xffff)))
charlesmn	0:3ac96e360672	3270	Status = VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
charlesmn	0:3ac96e360672	3271
charlesmn	0:3ac96e360672	3272	if ((Status == VL53L1_ERROR_NONE) && (total_count > 0)) {
charlesmn	0:3ac96e360672	3273	IncRounding = total_count / 2;
charlesmn	0:3ac96e360672	3274	meanDistance_mm = (int16_t)((sum_ranging + IncRounding)
charlesmn	0:3ac96e360672	3275	/ total_count);
charlesmn	0:3ac96e360672	3276	offset = (int16_t)CalDistanceMilliMeter - meanDistance_mm;
charlesmn	0:3ac96e360672	3277	pdev->customer.algo__part_to_part_range_offset_mm = 0;
charlesmn	0:3ac96e360672	3278	pdev->customer.mm_config__inner_offset_mm = offset;
charlesmn	0:3ac96e360672	3279	pdev->customer.mm_config__outer_offset_mm = offset;
charlesmn	0:3ac96e360672	3280
charlesmn	0:3ac96e360672	3281	Status = VL53L1_set_customer_nvm_managed(Dev,
charlesmn	0:3ac96e360672	3282	&(pdev->customer));
charlesmn	0:3ac96e360672	3283	}
charlesmn	0:3ac96e360672	3284
charlesmn	0:3ac96e360672	3285	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3286	return Status;
charlesmn	0:3ac96e360672	3287	}
charlesmn	0:3ac96e360672	3288
charlesmn	0:3ac96e360672	3289	VL53L1_Error VL53L1_PerformOffsetZeroDistanceCalibration(VL53L1_DEV Dev)
charlesmn	0:3ac96e360672	3290	{
charlesmn	0:3ac96e360672	3291	#define START_OFFSET 50
charlesmn	0:3ac96e360672	3292	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3293	int32_t sum_ranging;
charlesmn	0:3ac96e360672	3294	uint8_t offset_meas;
charlesmn	0:3ac96e360672	3295	int16_t Max, UnderMax, OverMax, Repeat;
charlesmn	0:3ac96e360672	3296	int32_t total_count, inloopcount;
charlesmn	0:3ac96e360672	3297	int32_t IncRounding;
charlesmn	0:3ac96e360672	3298	int16_t meanDistance_mm;
charlesmn	0:3ac96e360672	3299	int16_t offset, ZeroDistanceOffset;
charlesmn	0:3ac96e360672	3300	VL53L1_RangingMeasurementData_t RangingMeasurementData;
charlesmn	0:3ac96e360672	3301	VL53L1_LLDriverData_t *pdev;
charlesmn	0:3ac96e360672	3302	uint8_t goodmeas;
charlesmn	0:3ac96e360672	3303	VL53L1_Error SmudgeStatus = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3304	uint8_t smudge_corr_en;
charlesmn	0:3ac96e360672	3305
charlesmn	0:3ac96e360672	3306	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	3307
charlesmn	0:3ac96e360672	3308	pdev = VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	3309	smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
charlesmn	0:3ac96e360672	3310	SmudgeStatus = VL53L1_dynamic_xtalk_correction_disable(Dev);
charlesmn	0:3ac96e360672	3311	pdev->customer.algo__part_to_part_range_offset_mm = 0;
charlesmn	0:3ac96e360672	3312	pdev->customer.mm_config__inner_offset_mm = START_OFFSET;
charlesmn	0:3ac96e360672	3313	pdev->customer.mm_config__outer_offset_mm = START_OFFSET;
charlesmn	0:3ac96e360672	3314	memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
charlesmn	0:3ac96e360672	3315	ZeroDistanceOffset = BDTable[
charlesmn	0:3ac96e360672	3316	VL53L1_TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR];
charlesmn	0:3ac96e360672	3317	Repeat = BDTable[VL53L1_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT];
charlesmn	0:3ac96e360672	3318	Max = BDTable[
charlesmn	0:3ac96e360672	3319	VL53L1_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
charlesmn	0:3ac96e360672	3320	UnderMax = 1 + (Max / 2);
charlesmn	0:3ac96e360672	3321	OverMax = Max + (Max / 2);
charlesmn	0:3ac96e360672	3322	sum_ranging = 0;
charlesmn	0:3ac96e360672	3323	total_count = 0;
charlesmn	0:3ac96e360672	3324
charlesmn	0:3ac96e360672	3325	while ((Repeat > 0) && (Status == VL53L1_ERROR_NONE)) {
charlesmn	0:3ac96e360672	3326	Status = VL53L1_StartMeasurement(Dev);
charlesmn	0:3ac96e360672	3327	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	3328	VL53L1_WaitMeasurementDataReady(Dev);
charlesmn	0:3ac96e360672	3329	VL53L1_GetRangingMeasurementData(Dev,
charlesmn	0:3ac96e360672	3330	&RangingMeasurementData);
charlesmn	0:3ac96e360672	3331	VL53L1_ClearInterruptAndStartMeasurement(Dev);
charlesmn	0:3ac96e360672	3332	}
charlesmn	0:3ac96e360672	3333	inloopcount = 0;
charlesmn	0:3ac96e360672	3334	offset_meas = 0;
charlesmn	0:3ac96e360672	3335	while ((Status == VL53L1_ERROR_NONE) && (inloopcount < Max) &&
charlesmn	0:3ac96e360672	3336	(offset_meas < OverMax)) {
charlesmn	0:3ac96e360672	3337	Status = VL53L1_WaitMeasurementDataReady(Dev);
charlesmn	0:3ac96e360672	3338	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3339	Status = VL53L1_GetRangingMeasurementData(Dev,
charlesmn	0:3ac96e360672	3340	&RangingMeasurementData);
charlesmn	0:3ac96e360672	3341	goodmeas = (RangingMeasurementData.RangeStatus ==
charlesmn	0:3ac96e360672	3342	VL53L1_RANGESTATUS_RANGE_VALID);
charlesmn	0:3ac96e360672	3343	if ((Status == VL53L1_ERROR_NONE) && goodmeas) {
charlesmn	0:3ac96e360672	3344	sum_ranging = sum_ranging +
charlesmn	0:3ac96e360672	3345	RangingMeasurementData.RangeMilliMeter;
charlesmn	0:3ac96e360672	3346	inloopcount++;
charlesmn	0:3ac96e360672	3347	}
charlesmn	0:3ac96e360672	3348	Status = VL53L1_ClearInterruptAndStartMeasurement(Dev);
charlesmn	0:3ac96e360672	3349	offset_meas++;
charlesmn	0:3ac96e360672	3350	}
charlesmn	0:3ac96e360672	3351	total_count += inloopcount;
charlesmn	0:3ac96e360672	3352	if (inloopcount < UnderMax)
charlesmn	0:3ac96e360672	3353	Status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
charlesmn	0:3ac96e360672	3354	VL53L1_StopMeasurement(Dev);
charlesmn	0:3ac96e360672	3355	Repeat--;
charlesmn	0:3ac96e360672	3356	}
charlesmn	0:3ac96e360672	3357	if ((SmudgeStatus == VL53L1_ERROR_NONE) && (smudge_corr_en == 1))
charlesmn	0:3ac96e360672	3358	SmudgeStatus = VL53L1_dynamic_xtalk_correction_enable(Dev);
charlesmn	0:3ac96e360672	3359	if ((sum_ranging < 0) \|\|
charlesmn	0:3ac96e360672	3360	(sum_ranging > ((int32_t) total_count * 0xffff)))
charlesmn	0:3ac96e360672	3361	Status = VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
charlesmn	0:3ac96e360672	3362
charlesmn	0:3ac96e360672	3363	if ((Status == VL53L1_ERROR_NONE) && (total_count > 0)) {
charlesmn	0:3ac96e360672	3364	IncRounding = total_count / 2;
charlesmn	0:3ac96e360672	3365	meanDistance_mm = (int16_t)
charlesmn	0:3ac96e360672	3366	((sum_ranging + IncRounding) / total_count);
charlesmn	0:3ac96e360672	3367	offset = START_OFFSET - meanDistance_mm + ZeroDistanceOffset;
charlesmn	0:3ac96e360672	3368	pdev->customer.algo__part_to_part_range_offset_mm = 0;
charlesmn	0:3ac96e360672	3369	pdev->customer.mm_config__inner_offset_mm = offset;
charlesmn	0:3ac96e360672	3370	pdev->customer.mm_config__outer_offset_mm = offset;
charlesmn	0:3ac96e360672	3371	Status = VL53L1_set_customer_nvm_managed(Dev,
charlesmn	0:3ac96e360672	3372	&(pdev->customer));
charlesmn	0:3ac96e360672	3373	}
charlesmn	0:3ac96e360672	3374
charlesmn	0:3ac96e360672	3375	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3376	return Status;
charlesmn	0:3ac96e360672	3377	}
charlesmn	0:3ac96e360672	3378
charlesmn	0:3ac96e360672	3379	VL53L1_Error VL53L1_SetCalibrationData(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	3380	VL53L1_CalibrationData_t *pCalibrationData)
charlesmn	0:3ac96e360672	3381	{
charlesmn	0:3ac96e360672	3382	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3383	VL53L1_CustomerNvmManaged_t *pC;
charlesmn	0:3ac96e360672	3384	VL53L1_calibration_data_t cal_data;
charlesmn	0:3ac96e360672	3385	uint32_t x, IncomeVersion, CurrentVersion;
charlesmn	0:3ac96e360672	3386	uint8_t CalStopsOn_cal_peak_rate_map = 0;
charlesmn	0:3ac96e360672	3387	VL53L1_xtalk_calibration_results_t xtalk;
charlesmn	0:3ac96e360672	3388	VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	3389
charlesmn	0:3ac96e360672	3390	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	3391
charlesmn	0:3ac96e360672	3392	cal_data.struct_version = pCalibrationData->struct_version -
charlesmn	0:3ac96e360672	3393	VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION;
charlesmn	0:3ac96e360672	3394
charlesmn	0:3ac96e360672	3395	IncomeVersion = pCalibrationData->struct_version;
charlesmn	0:3ac96e360672	3396	CurrentVersion = VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION +
charlesmn	0:3ac96e360672	3397	VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION;
charlesmn	0:3ac96e360672	3398
charlesmn	0:3ac96e360672	3399	if ((IncomeVersion < CurrentVersion) &&
charlesmn	0:3ac96e360672	3400	((IncomeVersion & 0xFFFFFF0F) ==
charlesmn	0:3ac96e360672	3401	(CurrentVersion & 0xFFFFFF0F))) {
charlesmn	0:3ac96e360672	3402	cal_data.struct_version =
charlesmn	0:3ac96e360672	3403	VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION;
charlesmn	0:3ac96e360672	3404	CalStopsOn_cal_peak_rate_map = 1;
charlesmn	0:3ac96e360672	3405
charlesmn	0:3ac96e360672	3406	pdev->tuning_parms.tp_hist_merge = 0;
charlesmn	0:3ac96e360672	3407	}
charlesmn	0:3ac96e360672	3408
charlesmn	0:3ac96e360672	3409
charlesmn	0:3ac96e360672	3410
charlesmn	0:3ac96e360672	3411	memcpy(
charlesmn	0:3ac96e360672	3412	&(cal_data.fmt_dmax_cal),
charlesmn	0:3ac96e360672	3413	&(pCalibrationData->fmt_dmax_cal),
charlesmn	0:3ac96e360672	3414	sizeof(VL53L1_dmax_calibration_data_t));
charlesmn	0:3ac96e360672	3415
charlesmn	0:3ac96e360672	3416
charlesmn	0:3ac96e360672	3417	memcpy(
charlesmn	0:3ac96e360672	3418	&(cal_data.cust_dmax_cal),
charlesmn	0:3ac96e360672	3419	&(pCalibrationData->cust_dmax_cal),
charlesmn	0:3ac96e360672	3420	sizeof(VL53L1_dmax_calibration_data_t));
charlesmn	0:3ac96e360672	3421
charlesmn	0:3ac96e360672	3422
charlesmn	0:3ac96e360672	3423	memcpy(
charlesmn	0:3ac96e360672	3424	&(cal_data.add_off_cal_data),
charlesmn	0:3ac96e360672	3425	&(pCalibrationData->add_off_cal_data),
charlesmn	0:3ac96e360672	3426	sizeof(VL53L1_additional_offset_cal_data_t));
charlesmn	0:3ac96e360672	3427
charlesmn	0:3ac96e360672	3428
charlesmn	0:3ac96e360672	3429	memcpy(
charlesmn	0:3ac96e360672	3430	&(cal_data.optical_centre),
charlesmn	0:3ac96e360672	3431	&(pCalibrationData->optical_centre),
charlesmn	0:3ac96e360672	3432	sizeof(VL53L1_optical_centre_t));
charlesmn	0:3ac96e360672	3433
charlesmn	0:3ac96e360672	3434
charlesmn	0:3ac96e360672	3435	memcpy(
charlesmn	0:3ac96e360672	3436	&(cal_data.xtalkhisto),
charlesmn	0:3ac96e360672	3437	&(pCalibrationData->xtalkhisto),
charlesmn	0:3ac96e360672	3438	sizeof(VL53L1_xtalk_histogram_data_t));
charlesmn	0:3ac96e360672	3439
charlesmn	0:3ac96e360672	3440
charlesmn	0:3ac96e360672	3441	memcpy(
charlesmn	0:3ac96e360672	3442	&(cal_data.gain_cal),
charlesmn	0:3ac96e360672	3443	&(pCalibrationData->gain_cal),
charlesmn	0:3ac96e360672	3444	sizeof(VL53L1_gain_calibration_data_t));
charlesmn	0:3ac96e360672	3445
charlesmn	0:3ac96e360672	3446
charlesmn	0:3ac96e360672	3447	memcpy(
charlesmn	0:3ac96e360672	3448	&(cal_data.cal_peak_rate_map),
charlesmn	0:3ac96e360672	3449	&(pCalibrationData->cal_peak_rate_map),
charlesmn	0:3ac96e360672	3450	sizeof(VL53L1_cal_peak_rate_map_t));
charlesmn	0:3ac96e360672	3451
charlesmn	0:3ac96e360672	3452
charlesmn	0:3ac96e360672	3453	if (!CalStopsOn_cal_peak_rate_map)
charlesmn	0:3ac96e360672	3454	memcpy(
charlesmn	0:3ac96e360672	3455	&(cal_data.per_vcsel_cal_data),
charlesmn	0:3ac96e360672	3456	&(pCalibrationData->per_vcsel_cal_data),
charlesmn	0:3ac96e360672	3457	sizeof(VL53L1_per_vcsel_period_offset_cal_data_t));
charlesmn	0:3ac96e360672	3458	else {
charlesmn	0:3ac96e360672	3459	cal_data.per_vcsel_cal_data.short_a_offset_mm =
charlesmn	0:3ac96e360672	3460	cal_data.per_vcsel_cal_data.short_b_offset_mm =
charlesmn	0:3ac96e360672	3461	cal_data.per_vcsel_cal_data.medium_a_offset_mm =
charlesmn	0:3ac96e360672	3462	cal_data.per_vcsel_cal_data.medium_b_offset_mm =
charlesmn	0:3ac96e360672	3463	cal_data.per_vcsel_cal_data.long_a_offset_mm =
charlesmn	0:3ac96e360672	3464	cal_data.per_vcsel_cal_data.long_b_offset_mm = 0;
charlesmn	0:3ac96e360672	3465	}
charlesmn	0:3ac96e360672	3466
charlesmn	0:3ac96e360672	3467	pC = &pCalibrationData->customer;
charlesmn	0:3ac96e360672	3468	x = pC->algo__crosstalk_compensation_plane_offset_kcps;
charlesmn	0:3ac96e360672	3469	cal_data.customer.algo__crosstalk_compensation_plane_offset_kcps =
charlesmn	0:3ac96e360672	3470	(uint16_t)(x&0x0000FFFF);
charlesmn	0:3ac96e360672	3471
charlesmn	0:3ac96e360672	3472	cal_data.customer.global_config__spad_enables_ref_0 =
charlesmn	0:3ac96e360672	3473	pC->global_config__spad_enables_ref_0;
charlesmn	0:3ac96e360672	3474	cal_data.customer.global_config__spad_enables_ref_1 =
charlesmn	0:3ac96e360672	3475	pC->global_config__spad_enables_ref_1;
charlesmn	0:3ac96e360672	3476	cal_data.customer.global_config__spad_enables_ref_2 =
charlesmn	0:3ac96e360672	3477	pC->global_config__spad_enables_ref_2;
charlesmn	0:3ac96e360672	3478	cal_data.customer.global_config__spad_enables_ref_3 =
charlesmn	0:3ac96e360672	3479	pC->global_config__spad_enables_ref_3;
charlesmn	0:3ac96e360672	3480	cal_data.customer.global_config__spad_enables_ref_4 =
charlesmn	0:3ac96e360672	3481	pC->global_config__spad_enables_ref_4;
charlesmn	0:3ac96e360672	3482	cal_data.customer.global_config__spad_enables_ref_5 =
charlesmn	0:3ac96e360672	3483	pC->global_config__spad_enables_ref_5;
charlesmn	0:3ac96e360672	3484	cal_data.customer.global_config__ref_en_start_select =
charlesmn	0:3ac96e360672	3485	pC->global_config__ref_en_start_select;
charlesmn	0:3ac96e360672	3486	cal_data.customer.ref_spad_man__num_requested_ref_spads =
charlesmn	0:3ac96e360672	3487	pC->ref_spad_man__num_requested_ref_spads;
charlesmn	0:3ac96e360672	3488	cal_data.customer.ref_spad_man__ref_location =
charlesmn	0:3ac96e360672	3489	pC->ref_spad_man__ref_location;
charlesmn	0:3ac96e360672	3490	cal_data.customer.algo__crosstalk_compensation_x_plane_gradient_kcps =
charlesmn	0:3ac96e360672	3491	pC->algo__crosstalk_compensation_x_plane_gradient_kcps;
charlesmn	0:3ac96e360672	3492	cal_data.customer.algo__crosstalk_compensation_y_plane_gradient_kcps =
charlesmn	0:3ac96e360672	3493	pC->algo__crosstalk_compensation_y_plane_gradient_kcps;
charlesmn	0:3ac96e360672	3494	cal_data.customer.ref_spad_char__total_rate_target_mcps =
charlesmn	0:3ac96e360672	3495	pC->ref_spad_char__total_rate_target_mcps;
charlesmn	0:3ac96e360672	3496	cal_data.customer.algo__part_to_part_range_offset_mm =
charlesmn	0:3ac96e360672	3497	pC->algo__part_to_part_range_offset_mm;
charlesmn	0:3ac96e360672	3498	cal_data.customer.mm_config__inner_offset_mm =
charlesmn	0:3ac96e360672	3499	pC->mm_config__inner_offset_mm;
charlesmn	0:3ac96e360672	3500	cal_data.customer.mm_config__outer_offset_mm =
charlesmn	0:3ac96e360672	3501	pC->mm_config__outer_offset_mm;
charlesmn	0:3ac96e360672	3502
charlesmn	0:3ac96e360672	3503	Status = VL53L1_set_part_to_part_data(Dev, &cal_data);
charlesmn	0:3ac96e360672	3504	if (Status != VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3505	goto ENDFUNC;
charlesmn	0:3ac96e360672	3506
charlesmn	0:3ac96e360672	3507	Status = VL53L1_get_current_xtalk_settings(Dev, &xtalk);
charlesmn	0:3ac96e360672	3508
charlesmn	0:3ac96e360672	3509	if (Status != VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3510	goto ENDFUNC;
charlesmn	0:3ac96e360672	3511
charlesmn	0:3ac96e360672	3512	xtalk.algo__crosstalk_compensation_plane_offset_kcps = x;
charlesmn	0:3ac96e360672	3513
charlesmn	0:3ac96e360672	3514	Status = VL53L1_set_tuning_parm(Dev,
charlesmn	0:3ac96e360672	3515	VL53L1_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS,
charlesmn	0:3ac96e360672	3516	x);
charlesmn	0:3ac96e360672	3517
charlesmn	0:3ac96e360672	3518
charlesmn	0:3ac96e360672	3519	if (!CalStopsOn_cal_peak_rate_map)
charlesmn	0:3ac96e360672	3520	memcpy(
charlesmn	0:3ac96e360672	3521	&(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]),
charlesmn	0:3ac96e360672	3522	&(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps[0]),
charlesmn	0:3ac96e360672	3523	sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps));
charlesmn	0:3ac96e360672	3524	else
charlesmn	0:3ac96e360672	3525	memset(
charlesmn	0:3ac96e360672	3526	&(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]), 0,
charlesmn	0:3ac96e360672	3527	sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps));
charlesmn	0:3ac96e360672	3528
charlesmn	0:3ac96e360672	3529	Status = VL53L1_set_current_xtalk_settings(Dev, &xtalk);
charlesmn	0:3ac96e360672	3530
charlesmn	0:3ac96e360672	3531	ENDFUNC:
charlesmn	0:3ac96e360672	3532	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3533	return Status;
charlesmn	0:3ac96e360672	3534
charlesmn	0:3ac96e360672	3535	}
charlesmn	0:3ac96e360672	3536
charlesmn	0:3ac96e360672	3537	VL53L1_Error VL53L1_GetCalibrationData(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	3538	VL53L1_CalibrationData_t *pCalibrationData)
charlesmn	0:3ac96e360672	3539	{
charlesmn	0:3ac96e360672	3540	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3541	VL53L1_calibration_data_t cal_data;
charlesmn	0:3ac96e360672	3542	VL53L1_CustomerNvmManaged_t *pC;
charlesmn	0:3ac96e360672	3543	VL53L1_customer_nvm_managed_t *pC2;
charlesmn	0:3ac96e360672	3544	VL53L1_xtalk_calibration_results_t xtalk;
charlesmn	0:3ac96e360672	3545	uint32_t tmp;
charlesmn	0:3ac96e360672	3546	VL53L1_PresetModes PresetMode;
charlesmn	0:3ac96e360672	3547
charlesmn	0:3ac96e360672	3548	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	3549
charlesmn	0:3ac96e360672	3550
charlesmn	0:3ac96e360672	3551	Status = VL53L1_get_part_to_part_data(Dev, &cal_data);
charlesmn	0:3ac96e360672	3552
charlesmn	0:3ac96e360672	3553	pCalibrationData->struct_version = cal_data.struct_version +
charlesmn	0:3ac96e360672	3554	VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION;
charlesmn	0:3ac96e360672	3555
charlesmn	0:3ac96e360672	3556
charlesmn	0:3ac96e360672	3557	memcpy(
charlesmn	0:3ac96e360672	3558	&(pCalibrationData->fmt_dmax_cal),
charlesmn	0:3ac96e360672	3559	&(cal_data.fmt_dmax_cal),
charlesmn	0:3ac96e360672	3560	sizeof(VL53L1_dmax_calibration_data_t));
charlesmn	0:3ac96e360672	3561
charlesmn	0:3ac96e360672	3562
charlesmn	0:3ac96e360672	3563	memcpy(
charlesmn	0:3ac96e360672	3564	&(pCalibrationData->cust_dmax_cal),
charlesmn	0:3ac96e360672	3565	&(cal_data.cust_dmax_cal),
charlesmn	0:3ac96e360672	3566	sizeof(VL53L1_dmax_calibration_data_t));
charlesmn	0:3ac96e360672	3567
charlesmn	0:3ac96e360672	3568
charlesmn	0:3ac96e360672	3569	memcpy(
charlesmn	0:3ac96e360672	3570	&(pCalibrationData->add_off_cal_data),
charlesmn	0:3ac96e360672	3571	&(cal_data.add_off_cal_data),
charlesmn	0:3ac96e360672	3572	sizeof(VL53L1_additional_offset_cal_data_t));
charlesmn	0:3ac96e360672	3573
charlesmn	0:3ac96e360672	3574
charlesmn	0:3ac96e360672	3575	memcpy(
charlesmn	0:3ac96e360672	3576	&(pCalibrationData->optical_centre),
charlesmn	0:3ac96e360672	3577	&(cal_data.optical_centre),
charlesmn	0:3ac96e360672	3578	sizeof(VL53L1_optical_centre_t));
charlesmn	0:3ac96e360672	3579
charlesmn	0:3ac96e360672	3580
charlesmn	0:3ac96e360672	3581	memcpy(
charlesmn	0:3ac96e360672	3582	&(pCalibrationData->xtalkhisto),
charlesmn	0:3ac96e360672	3583	&(cal_data.xtalkhisto),
charlesmn	0:3ac96e360672	3584	sizeof(VL53L1_xtalk_histogram_data_t));
charlesmn	0:3ac96e360672	3585
charlesmn	0:3ac96e360672	3586	memcpy(
charlesmn	0:3ac96e360672	3587	&(pCalibrationData->gain_cal),
charlesmn	0:3ac96e360672	3588	&(cal_data.gain_cal),
charlesmn	0:3ac96e360672	3589	sizeof(VL53L1_gain_calibration_data_t));
charlesmn	0:3ac96e360672	3590
charlesmn	0:3ac96e360672	3591
charlesmn	0:3ac96e360672	3592	memcpy(
charlesmn	0:3ac96e360672	3593	&(pCalibrationData->cal_peak_rate_map),
charlesmn	0:3ac96e360672	3594	&(cal_data.cal_peak_rate_map),
charlesmn	0:3ac96e360672	3595	sizeof(VL53L1_cal_peak_rate_map_t));
charlesmn	0:3ac96e360672	3596
charlesmn	0:3ac96e360672	3597
charlesmn	0:3ac96e360672	3598	memcpy(
charlesmn	0:3ac96e360672	3599	&(pCalibrationData->per_vcsel_cal_data),
charlesmn	0:3ac96e360672	3600	&(cal_data.per_vcsel_cal_data),
charlesmn	0:3ac96e360672	3601	sizeof(VL53L1_per_vcsel_period_offset_cal_data_t));
charlesmn	0:3ac96e360672	3602
charlesmn	0:3ac96e360672	3603	pC = &pCalibrationData->customer;
charlesmn	0:3ac96e360672	3604	pC2 = &cal_data.customer;
charlesmn	0:3ac96e360672	3605	pC->global_config__spad_enables_ref_0 =
charlesmn	0:3ac96e360672	3606	pC2->global_config__spad_enables_ref_0;
charlesmn	0:3ac96e360672	3607	pC->global_config__spad_enables_ref_1 =
charlesmn	0:3ac96e360672	3608	pC2->global_config__spad_enables_ref_1;
charlesmn	0:3ac96e360672	3609	pC->global_config__spad_enables_ref_2 =
charlesmn	0:3ac96e360672	3610	pC2->global_config__spad_enables_ref_2;
charlesmn	0:3ac96e360672	3611	pC->global_config__spad_enables_ref_3 =
charlesmn	0:3ac96e360672	3612	pC2->global_config__spad_enables_ref_3;
charlesmn	0:3ac96e360672	3613	pC->global_config__spad_enables_ref_4 =
charlesmn	0:3ac96e360672	3614	pC2->global_config__spad_enables_ref_4;
charlesmn	0:3ac96e360672	3615	pC->global_config__spad_enables_ref_5 =
charlesmn	0:3ac96e360672	3616	pC2->global_config__spad_enables_ref_5;
charlesmn	0:3ac96e360672	3617	pC->global_config__ref_en_start_select =
charlesmn	0:3ac96e360672	3618	pC2->global_config__ref_en_start_select;
charlesmn	0:3ac96e360672	3619	pC->ref_spad_man__num_requested_ref_spads =
charlesmn	0:3ac96e360672	3620	pC2->ref_spad_man__num_requested_ref_spads;
charlesmn	0:3ac96e360672	3621	pC->ref_spad_man__ref_location =
charlesmn	0:3ac96e360672	3622	pC2->ref_spad_man__ref_location;
charlesmn	0:3ac96e360672	3623	pC->algo__crosstalk_compensation_x_plane_gradient_kcps =
charlesmn	0:3ac96e360672	3624	pC2->algo__crosstalk_compensation_x_plane_gradient_kcps;
charlesmn	0:3ac96e360672	3625	pC->algo__crosstalk_compensation_y_plane_gradient_kcps =
charlesmn	0:3ac96e360672	3626	pC2->algo__crosstalk_compensation_y_plane_gradient_kcps;
charlesmn	0:3ac96e360672	3627	pC->ref_spad_char__total_rate_target_mcps =
charlesmn	0:3ac96e360672	3628	pC2->ref_spad_char__total_rate_target_mcps;
charlesmn	0:3ac96e360672	3629	pC->algo__part_to_part_range_offset_mm =
charlesmn	0:3ac96e360672	3630	pC2->algo__part_to_part_range_offset_mm;
charlesmn	0:3ac96e360672	3631	pC->mm_config__inner_offset_mm =
charlesmn	0:3ac96e360672	3632	pC2->mm_config__inner_offset_mm;
charlesmn	0:3ac96e360672	3633	pC->mm_config__outer_offset_mm =
charlesmn	0:3ac96e360672	3634	pC2->mm_config__outer_offset_mm;
charlesmn	0:3ac96e360672	3635
charlesmn	0:3ac96e360672	3636	pC->algo__crosstalk_compensation_plane_offset_kcps =
charlesmn	0:3ac96e360672	3637	(uint32_t)(
charlesmn	0:3ac96e360672	3638	pC2->algo__crosstalk_compensation_plane_offset_kcps);
charlesmn	0:3ac96e360672	3639
charlesmn	0:3ac96e360672	3640	PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode);
charlesmn	0:3ac96e360672	3641
charlesmn	0:3ac96e360672	3642	if ((PresetMode == VL53L1_PRESETMODE_RANGING) \|\|
charlesmn	0:3ac96e360672	3643	(PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) \|\|
charlesmn	0:3ac96e360672	3644	(PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE)
charlesmn	0:3ac96e360672	3645	) {
charlesmn	0:3ac96e360672	3646
charlesmn	0:3ac96e360672	3647	Status = VL53L1_get_current_xtalk_settings(Dev, &xtalk);
charlesmn	0:3ac96e360672	3648
charlesmn	0:3ac96e360672	3649	if (Status != VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3650	goto ENDFUNC;
charlesmn	0:3ac96e360672	3651
charlesmn	0:3ac96e360672	3652	tmp = xtalk.algo__crosstalk_compensation_plane_offset_kcps;
charlesmn	0:3ac96e360672	3653	pC->algo__crosstalk_compensation_plane_offset_kcps = tmp;
charlesmn	0:3ac96e360672	3654	tmp = xtalk.algo__crosstalk_compensation_x_plane_gradient_kcps;
charlesmn	0:3ac96e360672	3655	pC->algo__crosstalk_compensation_x_plane_gradient_kcps = tmp;
charlesmn	0:3ac96e360672	3656	tmp = xtalk.algo__crosstalk_compensation_y_plane_gradient_kcps;
charlesmn	0:3ac96e360672	3657	pC->algo__crosstalk_compensation_y_plane_gradient_kcps = tmp;
charlesmn	0:3ac96e360672	3658
charlesmn	0:3ac96e360672	3659	memcpy(&(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps[0]),
charlesmn	0:3ac96e360672	3660	&(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]),
charlesmn	0:3ac96e360672	3661	sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps));
charlesmn	0:3ac96e360672	3662	}
charlesmn	0:3ac96e360672	3663	ENDFUNC:
charlesmn	0:3ac96e360672	3664	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3665	return Status;
charlesmn	0:3ac96e360672	3666	}
charlesmn	0:3ac96e360672	3667
charlesmn	0:3ac96e360672	3668
charlesmn	0:3ac96e360672	3669	VL53L1_Error VL53L1_SetZoneCalibrationData(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	3670	VL53L1_ZoneCalibrationData_t *pZoneCalibrationData)
charlesmn	0:3ac96e360672	3671	{
charlesmn	0:3ac96e360672	3672	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3673
charlesmn	0:3ac96e360672	3674	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	3675
charlesmn	0:3ac96e360672	3676	Status = VL53L1_set_zone_calibration_data(Dev, pZoneCalibrationData);
charlesmn	0:3ac96e360672	3677
charlesmn	0:3ac96e360672	3678	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3679	return Status;
charlesmn	0:3ac96e360672	3680
charlesmn	0:3ac96e360672	3681	}
charlesmn	0:3ac96e360672	3682
charlesmn	0:3ac96e360672	3683	VL53L1_Error VL53L1_GetZoneCalibrationData(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	3684	VL53L1_ZoneCalibrationData_t *pZoneCalibrationData)
charlesmn	0:3ac96e360672	3685	{
charlesmn	0:3ac96e360672	3686	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3687
charlesmn	0:3ac96e360672	3688	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	3689
charlesmn	0:3ac96e360672	3690	Status = VL53L1_get_zone_calibration_data(Dev, pZoneCalibrationData);
charlesmn	0:3ac96e360672	3691
charlesmn	0:3ac96e360672	3692	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3693	return Status;
charlesmn	0:3ac96e360672	3694	}
charlesmn	0:3ac96e360672	3695
charlesmn	0:3ac96e360672	3696	VL53L1_Error VL53L1_GetOpticalCenter(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	3697	FixPoint1616_t *pOpticalCenterX,
charlesmn	0:3ac96e360672	3698	FixPoint1616_t *pOpticalCenterY)
charlesmn	0:3ac96e360672	3699	{
charlesmn	0:3ac96e360672	3700	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3701	VL53L1_calibration_data_t CalibrationData;
charlesmn	0:3ac96e360672	3702
charlesmn	0:3ac96e360672	3703	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	3704
charlesmn	0:3ac96e360672	3705	*pOpticalCenterX = 0;
charlesmn	0:3ac96e360672	3706	*pOpticalCenterY = 0;
charlesmn	0:3ac96e360672	3707	Status = VL53L1_get_part_to_part_data(Dev, &CalibrationData);
charlesmn	0:3ac96e360672	3708	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	3709	*pOpticalCenterX = VL53L1_FIXPOINT44TOFIXPOINT1616(
charlesmn	0:3ac96e360672	3710	CalibrationData.optical_centre.x_centre);
charlesmn	0:3ac96e360672	3711	*pOpticalCenterY = VL53L1_FIXPOINT44TOFIXPOINT1616(
charlesmn	0:3ac96e360672	3712	CalibrationData.optical_centre.y_centre);
charlesmn	0:3ac96e360672	3713	}
charlesmn	0:3ac96e360672	3714
charlesmn	0:3ac96e360672	3715	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3716	return Status;
charlesmn	0:3ac96e360672	3717	}
charlesmn	0:3ac96e360672	3718
charlesmn	0:3ac96e360672	3719
charlesmn	0:3ac96e360672	3720
charlesmn	0:3ac96e360672	3721
charlesmn	0:3ac96e360672	3722
charlesmn	0:3ac96e360672	3723
charlesmn	0:3ac96e360672	3724	VL53L1_Error VL53L1_SetThresholdConfig(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	3725	VL53L1_DetectionConfig_t *pConfig)
charlesmn	0:3ac96e360672	3726	{
charlesmn	0:3ac96e360672	3727	#define BADTHRESBOUNDS(T) \
charlesmn	0:3ac96e360672	3728	(((T.CrossMode == VL53L1_THRESHOLD_OUT_OF_WINDOW) \|\| \
charlesmn	0:3ac96e360672	3729	(T.CrossMode == VL53L1_THRESHOLD_IN_WINDOW)) && (T.Low > T.High))
charlesmn	0:3ac96e360672	3730
charlesmn	0:3ac96e360672	3731	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3732	VL53L1_GPIO_interrupt_config_t Cfg;
charlesmn	0:3ac96e360672	3733	uint16_t g;
charlesmn	0:3ac96e360672	3734	FixPoint1616_t gain, high1616, low1616;
charlesmn	0:3ac96e360672	3735	VL53L1_LLDriverData_t *pdev;
charlesmn	0:3ac96e360672	3736
charlesmn	0:3ac96e360672	3737	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	3738
charlesmn	0:3ac96e360672	3739	pdev = VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	3740
charlesmn	0:3ac96e360672	3741	Status = VL53L1_get_GPIO_interrupt_config(Dev, &Cfg);
charlesmn	0:3ac96e360672	3742	if (Status != VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3743	return Status;
charlesmn	0:3ac96e360672	3744
charlesmn	0:3ac96e360672	3745	if (pConfig->DetectionMode == VL53L1_DETECTION_NORMAL_RUN) {
charlesmn	0:3ac96e360672	3746	Cfg.intr_new_measure_ready = 1;
charlesmn	0:3ac96e360672	3747	Status = VL53L1_set_GPIO_interrupt_config_struct(Dev,
charlesmn	0:3ac96e360672	3748	Cfg);
charlesmn	0:3ac96e360672	3749	} else {
charlesmn	0:3ac96e360672	3750	if (BADTHRESBOUNDS(pConfig->Distance))
charlesmn	0:3ac96e360672	3751	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	3752	if ((Status == VL53L1_ERROR_NONE) &&
charlesmn	0:3ac96e360672	3753	(BADTHRESBOUNDS(pConfig->Rate)))
charlesmn	0:3ac96e360672	3754	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	3755	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	3756	Cfg.intr_new_measure_ready = 0;
charlesmn	0:3ac96e360672	3757	Cfg.intr_no_target = pConfig->IntrNoTarget;
charlesmn	0:3ac96e360672	3758
charlesmn	0:3ac96e360672	3759	g = pdev->gain_cal.standard_ranging_gain_factor;
charlesmn	0:3ac96e360672	3760	if (g != 0) {
charlesmn	0:3ac96e360672	3761
charlesmn	0:3ac96e360672	3762	gain = (FixPoint1616_t) ((uint32_t)g << 5);
charlesmn	0:3ac96e360672	3763	high1616 = (FixPoint1616_t) ((uint32_t)
charlesmn	0:3ac96e360672	3764	pConfig->Distance.High << 16);
charlesmn	0:3ac96e360672	3765	low1616 = (FixPoint1616_t) ((uint32_t)
charlesmn	0:3ac96e360672	3766	pConfig->Distance.Low << 16);
charlesmn	0:3ac96e360672	3767
charlesmn	0:3ac96e360672	3768	high1616 = (high1616 + 32768) / gain;
charlesmn	0:3ac96e360672	3769	low1616 = (low1616 + 32768) / gain;
charlesmn	0:3ac96e360672	3770	Cfg.threshold_distance_high = (uint16_t)
charlesmn	0:3ac96e360672	3771	(high1616 & 0xFFFF);
charlesmn	0:3ac96e360672	3772	Cfg.threshold_distance_low = (uint16_t)
charlesmn	0:3ac96e360672	3773	(low1616 & 0xFFFF);
charlesmn	0:3ac96e360672	3774	}
charlesmn	0:3ac96e360672	3775	Cfg.threshold_rate_high =
charlesmn	0:3ac96e360672	3776	VL53L1_FIXPOINT1616TOFIXPOINT97(
charlesmn	0:3ac96e360672	3777	pConfig->Rate.High);
charlesmn	0:3ac96e360672	3778	Cfg.threshold_rate_low =
charlesmn	0:3ac96e360672	3779	VL53L1_FIXPOINT1616TOFIXPOINT97(
charlesmn	0:3ac96e360672	3780	pConfig->Rate.Low);
charlesmn	0:3ac96e360672	3781
charlesmn	0:3ac96e360672	3782	Cfg.intr_mode_distance = ConvertModeToLLD(
charlesmn	0:3ac96e360672	3783	&Status,
charlesmn	0:3ac96e360672	3784	pConfig->Distance.CrossMode);
charlesmn	0:3ac96e360672	3785	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3786	Cfg.intr_mode_rate = ConvertModeToLLD(
charlesmn	0:3ac96e360672	3787	&Status,
charlesmn	0:3ac96e360672	3788	pConfig->Rate.CrossMode);
charlesmn	0:3ac96e360672	3789	}
charlesmn	0:3ac96e360672	3790
charlesmn	0:3ac96e360672	3791
charlesmn	0:3ac96e360672	3792	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	3793	Cfg.intr_combined_mode = 1;
charlesmn	0:3ac96e360672	3794	switch (pConfig->DetectionMode) {
charlesmn	0:3ac96e360672	3795	case VL53L1_DETECTION_DISTANCE_ONLY:
charlesmn	0:3ac96e360672	3796	Cfg.threshold_rate_high = 0;
charlesmn	0:3ac96e360672	3797	Cfg.threshold_rate_low = 0;
charlesmn	0:3ac96e360672	3798	break;
charlesmn	0:3ac96e360672	3799	case VL53L1_DETECTION_RATE_ONLY:
charlesmn	0:3ac96e360672	3800	Cfg.threshold_distance_high = 0;
charlesmn	0:3ac96e360672	3801	Cfg.threshold_distance_low = 0;
charlesmn	0:3ac96e360672	3802	break;
charlesmn	0:3ac96e360672	3803	case VL53L1_DETECTION_DISTANCE_OR_RATE:
charlesmn	0:3ac96e360672	3804
charlesmn	0:3ac96e360672	3805	break;
charlesmn	0:3ac96e360672	3806	case VL53L1_DETECTION_DISTANCE_AND_RATE:
charlesmn	0:3ac96e360672	3807	Cfg.intr_combined_mode = 0;
charlesmn	0:3ac96e360672	3808	break;
charlesmn	0:3ac96e360672	3809	default:
charlesmn	0:3ac96e360672	3810	Status = VL53L1_ERROR_INVALID_PARAMS;
charlesmn	0:3ac96e360672	3811	}
charlesmn	0:3ac96e360672	3812	}
charlesmn	0:3ac96e360672	3813
charlesmn	0:3ac96e360672	3814	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3815	Status =
charlesmn	0:3ac96e360672	3816	VL53L1_set_GPIO_interrupt_config_struct(Dev, Cfg);
charlesmn	0:3ac96e360672	3817
charlesmn	0:3ac96e360672	3818	}
charlesmn	0:3ac96e360672	3819
charlesmn	0:3ac96e360672	3820	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3821	return Status;
charlesmn	0:3ac96e360672	3822	}
charlesmn	0:3ac96e360672	3823
charlesmn	0:3ac96e360672	3824
charlesmn	0:3ac96e360672	3825	VL53L1_Error VL53L1_GetThresholdConfig(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	3826	VL53L1_DetectionConfig_t *pConfig)
charlesmn	0:3ac96e360672	3827	{
charlesmn	0:3ac96e360672	3828	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3829	VL53L1_GPIO_interrupt_config_t Cfg;
charlesmn	0:3ac96e360672	3830
charlesmn	0:3ac96e360672	3831	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	3832
charlesmn	0:3ac96e360672	3833	Status = VL53L1_get_GPIO_interrupt_config(Dev, &Cfg);
charlesmn	0:3ac96e360672	3834
charlesmn	0:3ac96e360672	3835	if (Status != VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	3836	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3837	return Status;
charlesmn	0:3ac96e360672	3838	}
charlesmn	0:3ac96e360672	3839
charlesmn	0:3ac96e360672	3840	pConfig->IntrNoTarget = Cfg.intr_no_target;
charlesmn	0:3ac96e360672	3841	pConfig->Distance.High = Cfg.threshold_distance_high;
charlesmn	0:3ac96e360672	3842	pConfig->Distance.Low = Cfg.threshold_distance_low;
charlesmn	0:3ac96e360672	3843	pConfig->Rate.High =
charlesmn	0:3ac96e360672	3844	VL53L1_FIXPOINT97TOFIXPOINT1616(
charlesmn	0:3ac96e360672	3845	Cfg.threshold_rate_high);
charlesmn	0:3ac96e360672	3846	pConfig->Rate.Low =
charlesmn	0:3ac96e360672	3847	VL53L1_FIXPOINT97TOFIXPOINT1616(Cfg.threshold_rate_low);
charlesmn	0:3ac96e360672	3848	pConfig->Distance.CrossMode =
charlesmn	0:3ac96e360672	3849	ConvertModeFromLLD(&Status, Cfg.intr_mode_distance);
charlesmn	0:3ac96e360672	3850	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3851	pConfig->Rate.CrossMode =
charlesmn	0:3ac96e360672	3852	ConvertModeFromLLD(&Status, Cfg.intr_mode_rate);
charlesmn	0:3ac96e360672	3853
charlesmn	0:3ac96e360672	3854	if (Cfg.intr_new_measure_ready == 1) {
charlesmn	0:3ac96e360672	3855	pConfig->DetectionMode = VL53L1_DETECTION_NORMAL_RUN;
charlesmn	0:3ac96e360672	3856	} else {
charlesmn	0:3ac96e360672	3857
charlesmn	0:3ac96e360672	3858	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	3859	if (Cfg.intr_combined_mode == 0)
charlesmn	0:3ac96e360672	3860	pConfig->DetectionMode =
charlesmn	0:3ac96e360672	3861	VL53L1_DETECTION_DISTANCE_AND_RATE;
charlesmn	0:3ac96e360672	3862	else {
charlesmn	0:3ac96e360672	3863	if ((Cfg.threshold_distance_high == 0) &&
charlesmn	0:3ac96e360672	3864	(Cfg.threshold_distance_low == 0))
charlesmn	0:3ac96e360672	3865	pConfig->DetectionMode =
charlesmn	0:3ac96e360672	3866	VL53L1_DETECTION_RATE_ONLY;
charlesmn	0:3ac96e360672	3867	else if ((Cfg.threshold_rate_high == 0) &&
charlesmn	0:3ac96e360672	3868	(Cfg.threshold_rate_low == 0))
charlesmn	0:3ac96e360672	3869	pConfig->DetectionMode =
charlesmn	0:3ac96e360672	3870	VL53L1_DETECTION_DISTANCE_ONLY;
charlesmn	0:3ac96e360672	3871	else
charlesmn	0:3ac96e360672	3872	pConfig->DetectionMode =
charlesmn	0:3ac96e360672	3873	VL53L1_DETECTION_DISTANCE_OR_RATE;
charlesmn	0:3ac96e360672	3874	}
charlesmn	0:3ac96e360672	3875	}
charlesmn	0:3ac96e360672	3876	}
charlesmn	0:3ac96e360672	3877
charlesmn	0:3ac96e360672	3878	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	3879	return Status;
charlesmn	0:3ac96e360672	3880	}
charlesmn	0:3ac96e360672	3881
charlesmn	0:3ac96e360672	3882
charlesmn	0:3ac96e360672	3883
charlesmn	0:3ac96e360672	3884
charlesmn	0:3ac96e360672	3885	VL53L1_Error VL53L1_PerformOffsetPerVcselCalibration(VL53L1_DEV Dev,
charlesmn	0:3ac96e360672	3886	int32_t CalDistanceMilliMeter)
charlesmn	0:3ac96e360672	3887	{
charlesmn	0:3ac96e360672	3888	VL53L1_Error Status = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3889	int32_t sum_ranging_range_A, sum_ranging_range_B;
charlesmn	0:3ac96e360672	3890	uint8_t offset_meas_range_A, offset_meas_range_B;
charlesmn	0:3ac96e360672	3891	int16_t Max, UnderMax, OverMax, Repeat;
charlesmn	0:3ac96e360672	3892	int32_t inloopcount;
charlesmn	0:3ac96e360672	3893	int32_t IncRounding;
charlesmn	0:3ac96e360672	3894	int16_t meanDistance_mm;
charlesmn	0:3ac96e360672	3895	VL53L1_RangingMeasurementData_t RangingMeasurementData;
charlesmn	0:3ac96e360672	3896	VL53L1_LLDriverData_t *pdev;
charlesmn	0:3ac96e360672	3897	uint8_t goodmeas;
charlesmn	0:3ac96e360672	3898	VL53L1_PresetModes currentMode;
charlesmn	0:3ac96e360672	3899	VL53L1_DistanceModes currentDist;
charlesmn	0:3ac96e360672	3900	VL53L1_DistanceModes DistMode[3] = {VL53L1_DISTANCEMODE_SHORT,
charlesmn	0:3ac96e360672	3901	VL53L1_DISTANCEMODE_MEDIUM, VL53L1_DISTANCEMODE_LONG};
charlesmn	0:3ac96e360672	3902	int16_t offsetA[3];
charlesmn	0:3ac96e360672	3903	int16_t offsetB[3];
charlesmn	0:3ac96e360672	3904
charlesmn	0:3ac96e360672	3905	VL53L1_Error SmudgeStatus = VL53L1_ERROR_NONE;
charlesmn	0:3ac96e360672	3906	uint8_t smudge_corr_en, isc;
charlesmn	0:3ac96e360672	3907
charlesmn	0:3ac96e360672	3908	LOG_FUNCTION_START("");
charlesmn	0:3ac96e360672	3909
charlesmn	0:3ac96e360672	3910	pdev = VL53L1DevStructGetLLDriverHandle(Dev);
charlesmn	0:3ac96e360672	3911
charlesmn	0:3ac96e360672	3912	smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
charlesmn	0:3ac96e360672	3913	SmudgeStatus = VL53L1_dynamic_xtalk_correction_disable(Dev);
charlesmn	0:3ac96e360672	3914
charlesmn	0:3ac96e360672	3915	pdev->customer.algo__part_to_part_range_offset_mm = 0;
charlesmn	0:3ac96e360672	3916	pdev->customer.mm_config__inner_offset_mm = 0;
charlesmn	0:3ac96e360672	3917	pdev->customer.mm_config__outer_offset_mm = 0;
charlesmn	0:3ac96e360672	3918	pdev->customer.mm_config__outer_offset_mm = 0;
charlesmn	0:3ac96e360672	3919	memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
charlesmn	0:3ac96e360672	3920
charlesmn	0:3ac96e360672	3921	Repeat = 0;
charlesmn	0:3ac96e360672	3922	Max = 2 * BDTable[
charlesmn	0:3ac96e360672	3923	VL53L1_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
charlesmn	0:3ac96e360672	3924	UnderMax = 1 + (Max / 2);
charlesmn	0:3ac96e360672	3925	OverMax = Max + (Max / 2);
charlesmn	0:3ac96e360672	3926
charlesmn	0:3ac96e360672	3927	Status = VL53L1_GetPresetMode(Dev, &currentMode);
charlesmn	0:3ac96e360672	3928	Status = VL53L1_GetDistanceMode(Dev, &currentDist);
charlesmn	0:3ac96e360672	3929
charlesmn	0:3ac96e360672	3930	while ((Repeat < 3) && (Status == VL53L1_ERROR_NONE)) {
charlesmn	0:3ac96e360672	3931	Status = VL53L1_SetDistanceMode(Dev, DistMode[Repeat]);
charlesmn	0:3ac96e360672	3932	Status = VL53L1_StartMeasurement(Dev);
charlesmn	0:3ac96e360672	3933
charlesmn	0:3ac96e360672	3934	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	3935	VL53L1_WaitMeasurementDataReady(Dev);
charlesmn	0:3ac96e360672	3936	VL53L1_GetRangingMeasurementData(Dev,
charlesmn	0:3ac96e360672	3937	&RangingMeasurementData);
charlesmn	0:3ac96e360672	3938	VL53L1_ClearInterruptAndStartMeasurement(Dev);
charlesmn	0:3ac96e360672	3939	}
charlesmn	0:3ac96e360672	3940
charlesmn	0:3ac96e360672	3941	inloopcount = 0;
charlesmn	0:3ac96e360672	3942	offset_meas_range_A = 0;
charlesmn	0:3ac96e360672	3943	sum_ranging_range_A = 0;
charlesmn	0:3ac96e360672	3944	offset_meas_range_B = 0;
charlesmn	0:3ac96e360672	3945	sum_ranging_range_B = 0;
charlesmn	0:3ac96e360672	3946	while ((Status == VL53L1_ERROR_NONE) && (inloopcount < Max) &&
charlesmn	0:3ac96e360672	3947	(inloopcount < OverMax)) {
charlesmn	0:3ac96e360672	3948	Status = VL53L1_WaitMeasurementDataReady(Dev);
charlesmn	0:3ac96e360672	3949	if (Status == VL53L1_ERROR_NONE)
charlesmn	0:3ac96e360672	3950	Status = VL53L1_GetRangingMeasurementData(Dev,
charlesmn	0:3ac96e360672	3951	&RangingMeasurementData);
charlesmn	0:3ac96e360672	3952	goodmeas = (RangingMeasurementData.RangeStatus ==
charlesmn	0:3ac96e360672	3953	VL53L1_RANGESTATUS_RANGE_VALID);
charlesmn	0:3ac96e360672	3954	isc = pdev->ll_state.cfg_internal_stream_count;
charlesmn	0:3ac96e360672	3955	if ((Status == VL53L1_ERROR_NONE) && goodmeas) {
charlesmn	0:3ac96e360672	3956	if (isc & 0x01) {
charlesmn	0:3ac96e360672	3957	sum_ranging_range_A +=
charlesmn	0:3ac96e360672	3958	RangingMeasurementData.RangeMilliMeter;
charlesmn	0:3ac96e360672	3959	offset_meas_range_A++;
charlesmn	0:3ac96e360672	3960	} else {
charlesmn	0:3ac96e360672	3961	sum_ranging_range_B +=
charlesmn	0:3ac96e360672	3962	RangingMeasurementData.RangeMilliMeter;
charlesmn	0:3ac96e360672	3963	offset_meas_range_B++;
charlesmn	0:3ac96e360672	3964	}
charlesmn	0:3ac96e360672	3965	inloopcount = offset_meas_range_A +
charlesmn	0:3ac96e360672	3966	offset_meas_range_B;
charlesmn	0:3ac96e360672	3967	}
charlesmn	0:3ac96e360672	3968	Status = VL53L1_ClearInterruptAndStartMeasurement(Dev);
charlesmn	0:3ac96e360672	3969	}
charlesmn	0:3ac96e360672	3970
charlesmn	0:3ac96e360672	3971
charlesmn	0:3ac96e360672	3972	if (inloopcount < UnderMax)
charlesmn	0:3ac96e360672	3973	Status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
charlesmn	0:3ac96e360672	3974
charlesmn	0:3ac96e360672	3975	VL53L1_StopMeasurement(Dev);
charlesmn	0:3ac96e360672	3976
charlesmn	0:3ac96e360672	3977
charlesmn	0:3ac96e360672	3978	if ((sum_ranging_range_A < 0) \|\|
charlesmn	0:3ac96e360672	3979	(sum_ranging_range_B < 0) \|\|
charlesmn	0:3ac96e360672	3980	(sum_ranging_range_A >
charlesmn	0:3ac96e360672	3981	((int32_t) offset_meas_range_A * 0xffff)) \|\|
charlesmn	0:3ac96e360672	3982	(sum_ranging_range_B >
charlesmn	0:3ac96e360672	3983	((int32_t) offset_meas_range_B * 0xffff))) {
charlesmn	0:3ac96e360672	3984	Status = VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
charlesmn	0:3ac96e360672	3985	}
charlesmn	0:3ac96e360672	3986
charlesmn	0:3ac96e360672	3987	if ((Status == VL53L1_ERROR_NONE) &&
charlesmn	0:3ac96e360672	3988	(offset_meas_range_A > 0)) {
charlesmn	0:3ac96e360672	3989	IncRounding = offset_meas_range_A / 2;
charlesmn	0:3ac96e360672	3990	meanDistance_mm = (int16_t)
charlesmn	0:3ac96e360672	3991	((sum_ranging_range_A + IncRounding)
charlesmn	0:3ac96e360672	3992	/ offset_meas_range_A);
charlesmn	0:3ac96e360672	3993	offsetA[Repeat] = (int16_t)
charlesmn	0:3ac96e360672	3994	CalDistanceMilliMeter - meanDistance_mm;
charlesmn	0:3ac96e360672	3995	}
charlesmn	0:3ac96e360672	3996
charlesmn	0:3ac96e360672	3997	if ((Status == VL53L1_ERROR_NONE) &&
charlesmn	0:3ac96e360672	3998	(offset_meas_range_B > 0)) {
charlesmn	0:3ac96e360672	3999	IncRounding = offset_meas_range_B / 2;
charlesmn	0:3ac96e360672	4000	meanDistance_mm = (int16_t)
charlesmn	0:3ac96e360672	4001	((sum_ranging_range_B + IncRounding)
charlesmn	0:3ac96e360672	4002	/ offset_meas_range_B);
charlesmn	0:3ac96e360672	4003	offsetB[Repeat] = (int16_t)
charlesmn	0:3ac96e360672	4004	CalDistanceMilliMeter - meanDistance_mm;
charlesmn	0:3ac96e360672	4005	}
charlesmn	0:3ac96e360672	4006	Repeat++;
charlesmn	0:3ac96e360672	4007	}
charlesmn	0:3ac96e360672	4008
charlesmn	0:3ac96e360672	4009	if ((SmudgeStatus == VL53L1_ERROR_NONE) && (smudge_corr_en == 1))
charlesmn	0:3ac96e360672	4010	SmudgeStatus = VL53L1_dynamic_xtalk_correction_enable(Dev);
charlesmn	0:3ac96e360672	4011
charlesmn	0:3ac96e360672	4012	if (Status == VL53L1_ERROR_NONE) {
charlesmn	0:3ac96e360672	4013	pdev->per_vcsel_cal_data.short_a_offset_mm = offsetA[0];
charlesmn	0:3ac96e360672	4014	pdev->per_vcsel_cal_data.short_b_offset_mm = offsetB[0];
charlesmn	0:3ac96e360672	4015	pdev->per_vcsel_cal_data.medium_a_offset_mm = offsetA[1];
charlesmn	0:3ac96e360672	4016	pdev->per_vcsel_cal_data.medium_b_offset_mm = offsetB[1];
charlesmn	0:3ac96e360672	4017	pdev->per_vcsel_cal_data.long_a_offset_mm = offsetA[2];
charlesmn	0:3ac96e360672	4018	pdev->per_vcsel_cal_data.long_b_offset_mm = offsetB[2];
charlesmn	0:3ac96e360672	4019	}
charlesmn	0:3ac96e360672	4020
charlesmn	0:3ac96e360672	4021	VL53L1_SetPresetMode(Dev, currentMode);
charlesmn	0:3ac96e360672	4022	VL53L1_SetDistanceMode(Dev, currentDist);
charlesmn	0:3ac96e360672	4023
charlesmn	0:3ac96e360672	4024	LOG_FUNCTION_END(Status);
charlesmn	0:3ac96e360672	4025	return Status;
charlesmn	0:3ac96e360672	4026	}
charlesmn	0:3ac96e360672	4027
charlesmn	0:3ac96e360672	4028

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Type:	Library
Created:	06 Oct 2020
Imports:	8
Forks:	0
Commits:	19
Dependents:	3
Dependencies:	2
Followers:	63

src/vl53l1_api.c@1:76429facbf6f, 2020-11-08 (annotated)

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