ST Expansion SW Team
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.
Diff: src/vl53l1_api.c
- Revision:
- 0:3ac96e360672
- Child:
- 1:76429facbf6f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/src/vl53l1_api.c Fri Nov 06 10:06:37 2020 +0000
@@ -0,0 +1,4029 @@
+
+/*******************************************************************************
+ * Copyright (c) 2020, STMicroelectronics - All Rights Reserved
+
+ This file is part of VL53L1 Core and is dual licensed,
+ either 'STMicroelectronics
+ Proprietary license'
+ or 'BSD 3-clause "New" or "Revised" License' , at your option.
+
+********************************************************************************
+
+ 'STMicroelectronics Proprietary license'
+
+********************************************************************************
+
+ License terms: STMicroelectronics Proprietary in accordance with licensing
+ terms at www.st.com/sla0081
+
+ STMicroelectronics confidential
+ Reproduction and Communication of this document is strictly prohibited unless
+ specifically authorized in writing by STMicroelectronics.
+
+
+********************************************************************************
+
+ Alternatively, VL53L1 Core may be distributed under the terms of
+ 'BSD 3-clause "New" or "Revised" License', in which case the following
+ provisions apply instead of the ones
+ mentioned above :
+
+********************************************************************************
+
+ License terms: BSD 3-clause "New" or "Revised" License.
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions are met:
+
+ 1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+ 3. Neither the name of the copyright holder nor the names of its contributors
+ may be used to endorse or promote products derived from this software
+ without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+********************************************************************************
+
+*/
+
+
+#include "vl53l1_api.h"
+#include "vl53l1_api_strings.h"
+#include "vl53l1_register_settings.h"
+#include "vl53l1_register_funcs.h"
+#include "vl53l1_core.h"
+#include "vl53l1_api_calibration.h"
+#include "vl53l1_wait.h"
+#include "vl53l1_preset_setup.h"
+#include "vl53l1_api_debug.h"
+#include "vl53l1_api_core.h"
+#include "vl53l1_nvm.h"
+
+
+#define ZONE_CHECK VL53L1_MAX_USER_ZONES
+
+#if ZONE_CHECK < 5
+#error Must define at least 5 zones in MAX_USER_ZONES constant
+#endif
+
+#define LOG_FUNCTION_START(fmt, ...) \
+ _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_API, fmt, ##__VA_ARGS__)
+#define LOG_FUNCTION_END(status, ...) \
+ _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_API, status, ##__VA_ARGS__)
+#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
+ _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_API, status, \
+ fmt, ##__VA_ARGS__)
+
+#ifdef VL53L1_LOG_ENABLE
+#define trace_print(level, ...) trace_print_module_function(\
+ VL53L1_TRACE_MODULE_API, level, VL53L1_TRACE_FUNCTION_NONE, \
+ ##__VA_ARGS__)
+#endif
+
+#ifndef MIN
+#define MIN(v1, v2) ((v1) < (v2) ? (v1) : (v2))
+#endif
+#ifndef MAX
+#define MAX(v1, v2) ((v1) < (v2) ? (v2) : (v1))
+#endif
+
+#define DMAX_REFLECTANCE_IDX 2
+
+
+
+#define LOWPOWER_AUTO_VHV_LOOP_DURATION_US 245
+#define LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING 1448
+#define LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING 2100
+
+#define FDA_MAX_TIMING_BUDGET_US 550000
+
+
+
+
+
+
+static int32_t BDTable[VL53L1_TUNING_MAX_TUNABLE_KEY] = {
+ TUNING_VERSION,
+ TUNING_PROXY_MIN,
+ TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM,
+ TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER,
+ TUNING_MIN_AMBIENT_DMAX_VALID,
+ TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER,
+ TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM,
+ TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT,
+ TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN,
+ TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET,
+ TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR_DEFAULT,
+};
+
+
+VL53L1_Error SingleTargetXTalkCalibration(VL53L1_DEV Dev)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ uint32_t sum_ranging = 0;
+ uint32_t sum_spads = 0;
+ FixPoint1616_t sum_signalRate = 0;
+ FixPoint1616_t total_count = 0;
+ uint8_t xtalk_meas = 0;
+ uint8_t xtalk_measmax =
+ BDTable[VL53L1_TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER];
+ VL53L1_RangingMeasurementData_t RMData;
+ FixPoint1616_t xTalkStoredMeanSignalRate;
+ FixPoint1616_t xTalkStoredMeanRange;
+ FixPoint1616_t xTalkStoredMeanRtnSpads;
+ uint32_t xTalkStoredMeanRtnSpadsAsInt;
+ uint32_t xTalkCalDistanceAsInt;
+ FixPoint1616_t XTalkCompensationRateMegaCps;
+ uint32_t signalXTalkTotalPerSpad;
+ VL53L1_PresetModes PresetMode;
+ VL53L1_CalibrationData_t CalibrationData;
+ VL53L1_CustomerNvmManaged_t *pC;
+
+
+ LOG_FUNCTION_START("");
+
+
+ PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode);
+
+ if ((PresetMode != VL53L1_PRESETMODE_AUTONOMOUS) &&
+ (PresetMode != VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS) &&
+ (PresetMode != VL53L1_PRESETMODE_LITE_RANGING)) {
+ Status = VL53L1_ERROR_MODE_NOT_SUPPORTED;
+ goto ENDFUNC;
+ }
+
+
+ Status = VL53L1_disable_xtalk_compensation(Dev);
+
+ if (Status != VL53L1_ERROR_NONE)
+ goto ENDFUNC;
+
+ Status = VL53L1_StartMeasurement(Dev);
+
+ if (Status != VL53L1_ERROR_NONE)
+ goto ENDFUNC;
+
+
+ VL53L1_WaitMeasurementDataReady(Dev);
+ VL53L1_GetRangingMeasurementData(Dev, &RMData);
+ VL53L1_ClearInterruptAndStartMeasurement(Dev);
+
+ sum_ranging = 0;
+ sum_spads = 0;
+ sum_signalRate = 0;
+ total_count = 0;
+ for (xtalk_meas = 0; xtalk_meas < xtalk_measmax; xtalk_meas++) {
+ VL53L1_WaitMeasurementDataReady(Dev);
+ VL53L1_GetRangingMeasurementData(Dev, &RMData);
+ VL53L1_ClearInterruptAndStartMeasurement(Dev);
+ if (RMData.RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) {
+ sum_ranging += RMData.RangeMilliMeter;
+ sum_signalRate += RMData.SignalRateRtnMegaCps;
+ sum_spads += RMData.EffectiveSpadRtnCount / 256;
+ total_count++;
+ }
+ }
+ Status = VL53L1_StopMeasurement(Dev);
+
+ if (total_count > 0) {
+
+ xTalkStoredMeanSignalRate = sum_signalRate / total_count;
+ xTalkStoredMeanRange = (FixPoint1616_t)(sum_ranging << 16);
+ xTalkStoredMeanRange /= total_count;
+ xTalkStoredMeanRtnSpads = (FixPoint1616_t)(sum_spads << 16);
+ xTalkStoredMeanRtnSpads /= total_count;
+
+
+ xTalkStoredMeanRtnSpadsAsInt = (xTalkStoredMeanRtnSpads +
+ 0x8000) >> 16;
+
+
+ xTalkCalDistanceAsInt = ((uint32_t)BDTable[
+ VL53L1_TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM]);
+ if (xTalkStoredMeanRtnSpadsAsInt == 0 ||
+ xTalkCalDistanceAsInt == 0 ||
+ xTalkStoredMeanRange >= (xTalkCalDistanceAsInt << 16)) {
+ XTalkCompensationRateMegaCps = 0;
+ } else {
+
+ signalXTalkTotalPerSpad = (xTalkStoredMeanSignalRate) /
+ xTalkStoredMeanRtnSpadsAsInt;
+
+
+ signalXTalkTotalPerSpad *= (((uint32_t)1 << 16) -
+ (xTalkStoredMeanRange / xTalkCalDistanceAsInt));
+
+
+ XTalkCompensationRateMegaCps = (signalXTalkTotalPerSpad
+ + 0x8000) >> 16;
+ }
+
+
+ Status = VL53L1_GetCalibrationData(Dev, &CalibrationData);
+
+ if (Status != VL53L1_ERROR_NONE)
+ goto ENDFUNC;
+
+ pC = &CalibrationData.customer;
+
+ pC->algo__crosstalk_compensation_plane_offset_kcps =
+ (uint32_t)(1000 * ((XTalkCompensationRateMegaCps +
+ ((uint32_t)1<<6)) >> (16-9)));
+
+ Status = VL53L1_SetCalibrationData(Dev, &CalibrationData);
+
+ if (Status != VL53L1_ERROR_NONE)
+ goto ENDFUNC;
+
+ Status = VL53L1_enable_xtalk_compensation(Dev);
+
+ } else
+
+ Status = VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL;
+
+ENDFUNC:
+ LOG_FUNCTION_END(Status);
+ return Status;
+
+}
+
+
+static VL53L1_Error CheckValidRectRoi(VL53L1_UserRoi_t ROI)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+
+ if ((ROI.TopLeftX > 15) || (ROI.TopLeftY > 15) ||
+ (ROI.BotRightX > 15) || (ROI.BotRightY > 15))
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+
+ if ((ROI.TopLeftX > ROI.BotRightX) || (ROI.TopLeftY < ROI.BotRightY))
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+static VL53L1_GPIO_Interrupt_Mode ConvertModeToLLD(VL53L1_Error *pStatus,
+ VL53L1_ThresholdMode CrossMode)
+{
+ VL53L1_GPIO_Interrupt_Mode Mode;
+
+ switch (CrossMode) {
+ case VL53L1_THRESHOLD_CROSSED_LOW:
+ Mode = VL53L1_GPIOINTMODE_LEVEL_LOW;
+ break;
+ case VL53L1_THRESHOLD_CROSSED_HIGH:
+ Mode = VL53L1_GPIOINTMODE_LEVEL_HIGH;
+ break;
+ case VL53L1_THRESHOLD_OUT_OF_WINDOW:
+ Mode = VL53L1_GPIOINTMODE_OUT_OF_WINDOW;
+ break;
+ case VL53L1_THRESHOLD_IN_WINDOW:
+ Mode = VL53L1_GPIOINTMODE_IN_WINDOW;
+ break;
+ default:
+
+ Mode = VL53L1_GPIOINTMODE_LEVEL_HIGH;
+ *pStatus = VL53L1_ERROR_INVALID_PARAMS;
+ }
+ return Mode;
+}
+
+static VL53L1_ThresholdMode ConvertModeFromLLD(VL53L1_Error *pStatus,
+ VL53L1_GPIO_Interrupt_Mode CrossMode)
+{
+ VL53L1_ThresholdMode Mode;
+
+ switch (CrossMode) {
+ case VL53L1_GPIOINTMODE_LEVEL_LOW:
+ Mode = VL53L1_THRESHOLD_CROSSED_LOW;
+ break;
+ case VL53L1_GPIOINTMODE_LEVEL_HIGH:
+ Mode = VL53L1_THRESHOLD_CROSSED_HIGH;
+ break;
+ case VL53L1_GPIOINTMODE_OUT_OF_WINDOW:
+ Mode = VL53L1_THRESHOLD_OUT_OF_WINDOW;
+ break;
+ case VL53L1_GPIOINTMODE_IN_WINDOW:
+ Mode = VL53L1_THRESHOLD_IN_WINDOW;
+ break;
+ default:
+
+ Mode = VL53L1_THRESHOLD_CROSSED_HIGH;
+ *pStatus = VL53L1_ERROR_UNDEFINED;
+ }
+ return Mode;
+}
+
+
+
+VL53L1_Error VL53L1_GetVersion(VL53L1_Version_t *pVersion)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ pVersion->major = VL53L1_IMPLEMENTATION_VER_MAJOR;
+ pVersion->minor = VL53L1_IMPLEMENTATION_VER_MINOR;
+ pVersion->build = VL53L1_IMPLEMENTATION_VER_SUB;
+
+ pVersion->revision = VL53L1_IMPLEMENTATION_VER_REVISION;
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetProductRevision(VL53L1_DEV Dev,
+ uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint8_t revision_id;
+ VL53L1_LLDriverData_t *pLLData;
+
+ LOG_FUNCTION_START("");
+
+ pLLData = VL53L1DevStructGetLLDriverHandle(Dev);
+ revision_id = pLLData->nvm_copy_data.identification__revision_id;
+ *pProductRevisionMajor = 1;
+ *pProductRevisionMinor = (revision_id & 0xF0) >> 4;
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+
+}
+
+VL53L1_Error VL53L1_GetDeviceInfo(VL53L1_DEV Dev,
+ VL53L1_DeviceInfo_t *pVL53L1_DeviceInfo)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint8_t revision_id;
+ VL53L1_LLDriverData_t *pLLData;
+
+ LOG_FUNCTION_START("");
+
+ pLLData = VL53L1DevStructGetLLDriverHandle(Dev);
+
+ strncpy(pVL53L1_DeviceInfo->ProductId, "",
+ VL53L1_DEVINFO_STRLEN-1);
+ pVL53L1_DeviceInfo->ProductType =
+ pLLData->nvm_copy_data.identification__module_type;
+
+ revision_id = pLLData->nvm_copy_data.identification__revision_id;
+ pVL53L1_DeviceInfo->ProductRevisionMajor = 1;
+ pVL53L1_DeviceInfo->ProductRevisionMinor = (revision_id & 0xF0) >> 4;
+
+#ifndef VL53L1_USE_EMPTY_STRING
+ if (pVL53L1_DeviceInfo->ProductRevisionMinor == 0)
+ strncpy(pVL53L1_DeviceInfo->Name,
+ VL53L1_STRING_DEVICE_INFO_NAME0,
+ VL53L1_DEVINFO_STRLEN-1);
+ else
+ strncpy(pVL53L1_DeviceInfo->Name,
+ VL53L1_STRING_DEVICE_INFO_NAME1,
+ VL53L1_DEVINFO_STRLEN-1);
+ strncpy(pVL53L1_DeviceInfo->Type,
+ VL53L1_STRING_DEVICE_INFO_TYPE,
+ VL53L1_DEVINFO_STRLEN-1);
+
+ if (pVL53L1_DeviceInfo->ProductType == 0xAA) {
+ pVL53L1_DeviceInfo->Name[5] = '3';
+ pVL53L1_DeviceInfo->Type[5] = '3';
+ }
+#else
+ pVL53L1_DeviceInfo->Name[0] = 0;
+ pVL53L1_DeviceInfo->Type[0] = 0;
+#endif
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetUID(VL53L1_DEV Dev, uint64_t *pUid)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint8_t fmtdata[8];
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_read_nvm_raw_data(Dev,
+ (uint8_t)(0x1F8 >> 2),
+ (uint8_t)(8 >> 2),
+ fmtdata);
+ memcpy(pUid, fmtdata, sizeof(uint64_t));
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetRangeStatusString(uint8_t RangeStatus,
+ char *pRangeStatusString)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_get_range_status_string(RangeStatus,
+ pRangeStatusString);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetPalErrorString(VL53L1_Error PalErrorCode,
+ char *pPalErrorString)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_get_pal_error_string(PalErrorCode, pPalErrorString);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetPalStateString(VL53L1_State PalStateCode,
+ char *pPalStateString)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_get_pal_state_string(PalStateCode, pPalStateString);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetPalState(VL53L1_DEV Dev, VL53L1_State *pPalState)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ *pPalState = VL53L1DevDataGet(Dev, PalState);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+
+
+VL53L1_Error VL53L1_SetDeviceAddress(VL53L1_DEV Dev, uint8_t DeviceAddress)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_WrByte(Dev, VL53L1_I2C_SLAVE__DEVICE_ADDRESS,
+ DeviceAddress / 2);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_DataInit(VL53L1_DEV Dev)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint8_t i;
+ VL53L1_LLDriverData_t *pdev;
+
+ LOG_FUNCTION_START("");
+
+
+#ifdef USE_I2C_2V8
+ Status = VL53L1_RdByte(Dev, VL53L1_PAD_I2C_HV__EXTSUP_CONFIG, &i);
+ if (Status == VL53L1_ERROR_NONE) {
+ i = (i & 0xfe) | 0x01;
+ Status = VL53L1_WrByte(Dev, VL53L1_PAD_I2C_HV__EXTSUP_CONFIG,
+ i);
+ }
+#endif
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_data_init(Dev, 1);
+
+ if (Status == VL53L1_ERROR_NONE) {
+ pdev = VL53L1DevStructGetLLDriverHandle(Dev);
+ memset(&pdev->per_vcsel_cal_data, 0,
+ sizeof(pdev->per_vcsel_cal_data));
+ }
+
+ if (Status == VL53L1_ERROR_NONE) {
+ VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_WAIT_STATICINIT);
+ VL53L1DevDataSet(Dev, CurrentParameters.PresetMode,
+ VL53L1_PRESETMODE_RANGING);
+ }
+
+
+ for (i = 0; i < VL53L1_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
+ if (Status == VL53L1_ERROR_NONE)
+ Status |= VL53L1_SetLimitCheckEnable(Dev, i, 1);
+ else
+ break;
+
+ }
+
+
+ if (Status == VL53L1_ERROR_NONE) {
+ Status = VL53L1_set_dmax_mode(Dev,
+ VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA);
+ }
+
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_StaticInit(VL53L1_DEV Dev)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint8_t measurement_mode;
+
+ LOG_FUNCTION_START("");
+
+ VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_IDLE);
+
+ measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK;
+ VL53L1DevDataSet(Dev, LLData.measurement_mode, measurement_mode);
+
+ VL53L1DevDataSet(Dev, CurrentParameters.DistanceMode,
+ VL53L1_DISTANCEMODE_LONG);
+ VL53L1DevDataSet(Dev, CurrentParameters.OutputMode,
+ VL53L1_OUTPUTMODE_NEAREST);
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_WaitDeviceBooted(VL53L1_DEV Dev)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_poll_for_boot_completion(Dev,
+ VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+
+
+static VL53L1_Error ComputeDevicePresetMode(
+ VL53L1_PresetModes PresetMode,
+ VL53L1_DistanceModes DistanceMode,
+ VL53L1_DevicePresetModes *pDevicePresetMode)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ uint8_t DistIdx;
+ VL53L1_DevicePresetModes LightModes[3] = {
+ VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_SHORT_RANGE,
+ VL53L1_DEVICEPRESETMODE_STANDARD_RANGING,
+ VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_LONG_RANGE};
+
+ VL53L1_DevicePresetModes RangingModes[3] = {
+ VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE,
+ VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE,
+ VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE};
+
+ VL53L1_DevicePresetModes ScanningModes[3] = {
+ VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_SHORT_RANGE,
+ VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE,
+ VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE};
+
+ VL53L1_DevicePresetModes TimedModes[3] = {
+ VL53L1_DEVICEPRESETMODE_TIMED_RANGING_SHORT_RANGE,
+ VL53L1_DEVICEPRESETMODE_TIMED_RANGING,
+ VL53L1_DEVICEPRESETMODE_TIMED_RANGING_LONG_RANGE};
+
+ VL53L1_DevicePresetModes LowPowerTimedModes[3] = {
+ VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_SHORT_RANGE,
+ VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_MEDIUM_RANGE,
+ VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_LONG_RANGE};
+
+ *pDevicePresetMode = VL53L1_DEVICEPRESETMODE_STANDARD_RANGING;
+
+ switch (DistanceMode) {
+ case VL53L1_DISTANCEMODE_SHORT:
+ DistIdx = 0;
+ break;
+ case VL53L1_DISTANCEMODE_MEDIUM:
+ DistIdx = 1;
+ break;
+ default:
+ DistIdx = 2;
+ }
+
+ switch (PresetMode) {
+ case VL53L1_PRESETMODE_LITE_RANGING:
+ *pDevicePresetMode = LightModes[DistIdx];
+ break;
+
+ case VL53L1_PRESETMODE_RANGING:
+ *pDevicePresetMode = RangingModes[DistIdx];
+ break;
+
+ case VL53L1_PRESETMODE_MULTIZONES_SCANNING:
+ *pDevicePresetMode = ScanningModes[DistIdx];
+ break;
+
+ case VL53L1_PRESETMODE_AUTONOMOUS:
+ *pDevicePresetMode = TimedModes[DistIdx];
+ break;
+
+ case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS:
+ *pDevicePresetMode = LowPowerTimedModes[DistIdx];
+ break;
+ case VL53L1_PRESETMODE_OLT:
+ *pDevicePresetMode = VL53L1_DEVICEPRESETMODE_OLT;
+ break;
+ case VL53L1_PRESETMODE_PROXY_RANGING_MODE:
+ *pDevicePresetMode =
+ VL53L1_DEVICEPRESETMODE_SPECIAL_HISTOGRAM_SHORT_RANGE;
+ break;
+
+ default:
+
+ Status = VL53L1_ERROR_MODE_NOT_SUPPORTED;
+ }
+
+ return Status;
+}
+
+static VL53L1_Error SetPresetMode(VL53L1_DEV Dev,
+ VL53L1_PresetModes PresetMode,
+ VL53L1_DistanceModes DistanceMode,
+ uint32_t inter_measurement_period_ms)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_DevicePresetModes device_preset_mode;
+ uint8_t measurement_mode;
+ uint16_t dss_config__target_total_rate_mcps;
+ uint32_t phasecal_config_timeout_us;
+ uint32_t mm_config_timeout_us;
+ uint32_t lld_range_config_timeout_us;
+
+ LOG_FUNCTION_START("%d", (int)PresetMode);
+
+ if ((PresetMode == VL53L1_PRESETMODE_AUTONOMOUS) ||
+ (PresetMode == VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS))
+ measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_TIMED;
+ else
+ measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK;
+
+
+ Status = ComputeDevicePresetMode(PresetMode, DistanceMode,
+ &device_preset_mode);
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_get_preset_mode_timing_cfg(Dev,
+ device_preset_mode,
+ &dss_config__target_total_rate_mcps,
+ &phasecal_config_timeout_us,
+ &mm_config_timeout_us,
+ &lld_range_config_timeout_us);
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_set_preset_mode(
+ Dev,
+ device_preset_mode,
+ dss_config__target_total_rate_mcps,
+ phasecal_config_timeout_us,
+ mm_config_timeout_us,
+ lld_range_config_timeout_us,
+ inter_measurement_period_ms);
+
+ if (Status == VL53L1_ERROR_NONE)
+ VL53L1DevDataSet(Dev, LLData.measurement_mode,
+ measurement_mode);
+
+ if (Status == VL53L1_ERROR_NONE)
+ VL53L1DevDataSet(Dev, CurrentParameters.PresetMode, PresetMode);
+
+ VL53L1DevDataSet(Dev, CurrentParameters.OutputMode,
+ VL53L1_OUTPUTMODE_NEAREST);
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_SetPresetMode(VL53L1_DEV Dev, VL53L1_PresetModes PresetMode)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_DistanceModes DistanceMode = VL53L1_DISTANCEMODE_LONG;
+
+ LOG_FUNCTION_START("%d", (int)PresetMode);
+
+
+ Status = VL53L1_low_power_auto_data_init(Dev);
+
+ if (PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE)
+ DistanceMode = VL53L1_DISTANCEMODE_SHORT;
+ Status = SetPresetMode(Dev,
+ PresetMode,
+ DistanceMode,
+ 1000);
+
+ if (Status == VL53L1_ERROR_NONE) {
+ if ((PresetMode == VL53L1_PRESETMODE_LITE_RANGING) ||
+ (PresetMode == VL53L1_PRESETMODE_AUTONOMOUS) ||
+ (PresetMode == VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS))
+ Status = VL53L1_SetMeasurementTimingBudgetMicroSeconds(
+ Dev, 41000);
+ else
+
+ Status = VL53L1_SetMeasurementTimingBudgetMicroSeconds(
+ Dev, 33333);
+ }
+
+ if (Status == VL53L1_ERROR_NONE) {
+
+ Status = VL53L1_SetInterMeasurementPeriodMilliSeconds(Dev,
+ 1000);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_GetPresetMode(VL53L1_DEV Dev,
+ VL53L1_PresetModes *pPresetMode)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ *pPresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_SetDistanceMode(VL53L1_DEV Dev,
+ VL53L1_DistanceModes DistanceMode)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_PresetModes PresetMode;
+ uint32_t inter_measurement_period_ms;
+ uint32_t TimingBudget;
+ uint32_t MmTimeoutUs;
+ uint32_t PhaseCalTimeoutUs;
+ VL53L1_zone_config_t zone_config;
+
+ LOG_FUNCTION_START("%d", (int)DistanceMode);
+
+ PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode);
+
+
+
+ if ((PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE) &&
+ (DistanceMode != VL53L1_DISTANCEMODE_SHORT))
+ return VL53L1_ERROR_INVALID_PARAMS;
+ if ((DistanceMode != VL53L1_DISTANCEMODE_SHORT) &&
+ (DistanceMode != VL53L1_DISTANCEMODE_MEDIUM) &&
+ (DistanceMode != VL53L1_DISTANCEMODE_LONG))
+ return VL53L1_ERROR_INVALID_PARAMS;
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_get_zone_config(Dev, &zone_config);
+
+ inter_measurement_period_ms = VL53L1DevDataGet(Dev,
+ LLData.inter_measurement_period_ms);
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_get_timeouts_us(Dev, &PhaseCalTimeoutUs,
+ &MmTimeoutUs, &TimingBudget);
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = SetPresetMode(Dev,
+ PresetMode,
+ DistanceMode,
+ inter_measurement_period_ms);
+
+ if (Status == VL53L1_ERROR_NONE) {
+ VL53L1DevDataSet(Dev, CurrentParameters.DistanceMode,
+ DistanceMode);
+ }
+
+ if (Status == VL53L1_ERROR_NONE) {
+ Status = VL53L1_set_timeouts_us(Dev, PhaseCalTimeoutUs,
+ MmTimeoutUs, TimingBudget);
+
+ if (Status == VL53L1_ERROR_NONE)
+ VL53L1DevDataSet(Dev, LLData.range_config_timeout_us,
+ TimingBudget);
+ }
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_set_zone_config(Dev, &zone_config);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetDistanceMode(VL53L1_DEV Dev,
+ VL53L1_DistanceModes *pDistanceMode)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ *pDistanceMode = VL53L1DevDataGet(Dev, CurrentParameters.DistanceMode);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_SetOutputMode(VL53L1_DEV Dev,
+ VL53L1_OutputModes OutputMode)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if ((OutputMode != VL53L1_OUTPUTMODE_NEAREST) &&
+ (OutputMode != VL53L1_OUTPUTMODE_STRONGEST))
+ Status = VL53L1_ERROR_MODE_NOT_SUPPORTED;
+ else
+ VL53L1DevDataSet(Dev, CurrentParameters.OutputMode, OutputMode);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetOutputMode(VL53L1_DEV Dev,
+ VL53L1_OutputModes *pOutputMode)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ *pOutputMode = VL53L1DevDataGet(Dev, CurrentParameters.OutputMode);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+
+VL53L1_Error VL53L1_SetMeasurementTimingBudgetMicroSeconds(VL53L1_DEV Dev,
+ uint32_t MeasurementTimingBudgetMicroSeconds)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint8_t Mm1Enabled;
+ uint8_t Mm2Enabled;
+ uint32_t TimingGuard;
+ uint32_t divisor;
+ uint32_t TimingBudget;
+ uint32_t MmTimeoutUs;
+ VL53L1_PresetModes PresetMode;
+ uint32_t PhaseCalTimeoutUs;
+ uint32_t vhv;
+ int32_t vhv_loops;
+ uint32_t FDAMaxTimingBudgetUs = FDA_MAX_TIMING_BUDGET_US;
+
+ LOG_FUNCTION_START("");
+
+
+ if (MeasurementTimingBudgetMicroSeconds > 10000000)
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+
+ if (Status == VL53L1_ERROR_NONE) {
+ Status = VL53L1_GetSequenceStepEnable(Dev,
+ VL53L1_SEQUENCESTEP_MM1, &Mm1Enabled);
+ }
+
+ if (Status == VL53L1_ERROR_NONE) {
+ Status = VL53L1_GetSequenceStepEnable(Dev,
+ VL53L1_SEQUENCESTEP_MM2, &Mm2Enabled);
+ }
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_get_timeouts_us(Dev,
+ &PhaseCalTimeoutUs,
+ &MmTimeoutUs,
+ &TimingBudget);
+
+ if (Status == VL53L1_ERROR_NONE) {
+ PresetMode = VL53L1DevDataGet(Dev,
+ CurrentParameters.PresetMode);
+
+ TimingGuard = 0;
+ divisor = 1;
+ switch (PresetMode) {
+ case VL53L1_PRESETMODE_LITE_RANGING:
+ if ((Mm1Enabled == 1) || (Mm2Enabled == 1))
+ TimingGuard = 5000;
+ else
+ TimingGuard = 1000;
+ break;
+
+ case VL53L1_PRESETMODE_AUTONOMOUS:
+ FDAMaxTimingBudgetUs *= 2;
+ if ((Mm1Enabled == 1) || (Mm2Enabled == 1))
+ TimingGuard = 26600;
+ else
+ TimingGuard = 21600;
+ divisor = 2;
+ break;
+
+ case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS:
+ FDAMaxTimingBudgetUs *= 2;
+ vhv = LOWPOWER_AUTO_VHV_LOOP_DURATION_US;
+ VL53L1_get_tuning_parm(Dev,
+ VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND,
+ &vhv_loops);
+ if (vhv_loops > 0) {
+ vhv += vhv_loops *
+ LOWPOWER_AUTO_VHV_LOOP_DURATION_US;
+ }
+ TimingGuard = LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING +
+ LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING +
+ vhv;
+ divisor = 2;
+ break;
+
+ case VL53L1_PRESETMODE_RANGING:
+ case VL53L1_PRESETMODE_MULTIZONES_SCANNING:
+ case VL53L1_PRESETMODE_PROXY_RANGING_MODE:
+ TimingGuard = 1700;
+ divisor = 6;
+ break;
+
+ case VL53L1_PRESETMODE_OLT:
+ TimingGuard = MmTimeoutUs + 5000;
+ break;
+ default:
+
+ Status = VL53L1_ERROR_MODE_NOT_SUPPORTED;
+ }
+
+ if (MeasurementTimingBudgetMicroSeconds <= TimingGuard)
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ else {
+ TimingBudget = (MeasurementTimingBudgetMicroSeconds
+ - TimingGuard);
+ }
+
+ if (Status == VL53L1_ERROR_NONE) {
+ if (TimingBudget > FDAMaxTimingBudgetUs)
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ else {
+ TimingBudget /= divisor;
+ Status = VL53L1_set_timeouts_us(
+ Dev,
+ PhaseCalTimeoutUs,
+ MmTimeoutUs,
+ TimingBudget);
+ }
+
+ if (Status == VL53L1_ERROR_NONE)
+ VL53L1DevDataSet(Dev,
+ LLData.range_config_timeout_us,
+ TimingBudget);
+ }
+ }
+ if (Status == VL53L1_ERROR_NONE) {
+ VL53L1DevDataSet(Dev,
+ CurrentParameters.MeasurementTimingBudgetMicroSeconds,
+ MeasurementTimingBudgetMicroSeconds);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_GetMeasurementTimingBudgetMicroSeconds(VL53L1_DEV Dev,
+ uint32_t *pMeasurementTimingBudgetMicroSeconds)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint8_t Mm1Enabled = 0;
+ uint8_t Mm2Enabled = 0;
+ uint32_t MmTimeoutUs = 0;
+ uint32_t RangeTimeoutUs = 0;
+ uint32_t MeasTimingBdg = 0;
+ uint32_t PhaseCalTimeoutUs = 0;
+ VL53L1_PresetModes PresetMode;
+ uint32_t TimingGuard;
+ uint32_t vhv;
+ int32_t vhv_loops;
+
+ LOG_FUNCTION_START("");
+
+ *pMeasurementTimingBudgetMicroSeconds = 0;
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_GetSequenceStepEnable(Dev,
+ VL53L1_SEQUENCESTEP_MM1, &Mm1Enabled);
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_GetSequenceStepEnable(Dev,
+ VL53L1_SEQUENCESTEP_MM2, &Mm2Enabled);
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_get_timeouts_us(Dev,
+ &PhaseCalTimeoutUs,
+ &MmTimeoutUs,
+ &RangeTimeoutUs);
+
+ if (Status == VL53L1_ERROR_NONE) {
+ PresetMode = VL53L1DevDataGet(Dev,
+ CurrentParameters.PresetMode);
+
+ switch (PresetMode) {
+ case VL53L1_PRESETMODE_LITE_RANGING:
+ if ((Mm1Enabled == 1) || (Mm2Enabled == 1))
+ MeasTimingBdg = RangeTimeoutUs + 5000;
+ else
+ MeasTimingBdg = RangeTimeoutUs + 1000;
+
+ break;
+
+ case VL53L1_PRESETMODE_AUTONOMOUS:
+ if ((Mm1Enabled == 1) || (Mm2Enabled == 1))
+ MeasTimingBdg = 2 * RangeTimeoutUs + 26600;
+ else
+ MeasTimingBdg = 2 * RangeTimeoutUs + 21600;
+
+ break;
+
+ case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS:
+ vhv = LOWPOWER_AUTO_VHV_LOOP_DURATION_US;
+ VL53L1_get_tuning_parm(Dev,
+ VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND,
+ &vhv_loops);
+ if (vhv_loops > 0) {
+ vhv += vhv_loops *
+ LOWPOWER_AUTO_VHV_LOOP_DURATION_US;
+ }
+ TimingGuard = LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING +
+ LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING +
+ vhv;
+ MeasTimingBdg = 2 * RangeTimeoutUs + TimingGuard;
+ break;
+
+ case VL53L1_PRESETMODE_RANGING:
+ case VL53L1_PRESETMODE_MULTIZONES_SCANNING:
+ case VL53L1_PRESETMODE_PROXY_RANGING_MODE:
+ MeasTimingBdg = (6 * RangeTimeoutUs) + 1700;
+ break;
+
+ case VL53L1_PRESETMODE_OLT:
+ MeasTimingBdg = RangeTimeoutUs + MmTimeoutUs + 5000;
+ break;
+ default:
+
+ Status = VL53L1_ERROR_MODE_NOT_SUPPORTED;
+ }
+ }
+ if (Status == VL53L1_ERROR_NONE)
+ *pMeasurementTimingBudgetMicroSeconds = MeasTimingBdg;
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+
+VL53L1_Error VL53L1_SetInterMeasurementPeriodMilliSeconds(VL53L1_DEV Dev,
+ uint32_t InterMeasurementPeriodMilliSeconds)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint32_t adjustedIMP;
+
+ LOG_FUNCTION_START("");
+
+
+ adjustedIMP = InterMeasurementPeriodMilliSeconds;
+ adjustedIMP += (adjustedIMP * 64) / 1000;
+
+ Status = VL53L1_set_inter_measurement_period_ms(Dev,
+ adjustedIMP);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetInterMeasurementPeriodMilliSeconds(VL53L1_DEV Dev,
+ uint32_t *pInterMeasurementPeriodMilliSeconds)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint32_t adjustedIMP;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_get_inter_measurement_period_ms(Dev, &adjustedIMP);
+
+ adjustedIMP -= (adjustedIMP * 64) / 1000;
+ *pInterMeasurementPeriodMilliSeconds = adjustedIMP;
+
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_SetDmaxReflectance(VL53L1_DEV Dev,
+ FixPoint1616_t DmaxReflectance)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_dmax_reflectance_array_t dmax_reflectances;
+
+ LOG_FUNCTION_START("");
+
+ if (DmaxReflectance > 100*65536)
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_get_dmax_reflectance_values(Dev,
+ &dmax_reflectances);
+
+ if (Status == VL53L1_ERROR_NONE) {
+ dmax_reflectances.target_reflectance_for_dmax[
+ DMAX_REFLECTANCE_IDX] =
+ VL53L1_FIXPOINT1616TOFIXPOINT72(DmaxReflectance);
+ Status = VL53L1_set_dmax_reflectance_values(Dev,
+ &dmax_reflectances);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetDmaxReflectance(VL53L1_DEV Dev,
+ FixPoint1616_t *pDmaxReflectance)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_dmax_reflectance_array_t dmax_reflectances;
+ uint16_t r;
+
+ LOG_FUNCTION_START("");
+ Status = VL53L1_get_dmax_reflectance_values(Dev, &dmax_reflectances);
+ if (Status == VL53L1_ERROR_NONE) {
+ r = dmax_reflectances.target_reflectance_for_dmax[
+ DMAX_REFLECTANCE_IDX];
+ *pDmaxReflectance = VL53L1_FIXPOINT72TOFIXPOINT1616(r);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_SetDmaxMode(VL53L1_DEV Dev,
+ VL53L1_DeviceDmaxModes DmaxMode)
+{
+
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_DeviceDmaxMode dmax_mode;
+
+ LOG_FUNCTION_START("");
+
+ switch (DmaxMode) {
+ case VL53L1_DMAXMODE_FMT_CAL_DATA:
+ dmax_mode = VL53L1_DEVICEDMAXMODE__FMT_CAL_DATA;
+ break;
+ case VL53L1_DMAXMODE_CUSTCAL_DATA:
+ dmax_mode = VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA;
+ break;
+ case VL53L1_DMAXMODE_PER_ZONE_CAL_DATA:
+ dmax_mode = VL53L1_DEVICEDMAXMODE__PER_ZONE_CAL_DATA;
+ break;
+ default:
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ break;
+ }
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_set_dmax_mode(Dev, dmax_mode);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_GetDmaxMode(VL53L1_DEV Dev,
+ VL53L1_DeviceDmaxModes *pDmaxMode)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_DeviceDmaxMode dmax_mode;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_get_dmax_mode(Dev, &dmax_mode);
+ if (Status == VL53L1_ERROR_NONE) {
+ switch (dmax_mode) {
+ case VL53L1_DEVICEDMAXMODE__FMT_CAL_DATA:
+ *pDmaxMode = VL53L1_DMAXMODE_FMT_CAL_DATA;
+ break;
+ case VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA:
+ *pDmaxMode = VL53L1_DMAXMODE_CUSTCAL_DATA;
+ break;
+ case VL53L1_DEVICEDMAXMODE__PER_ZONE_CAL_DATA:
+ *pDmaxMode = VL53L1_DMAXMODE_PER_ZONE_CAL_DATA;
+ break;
+ default:
+ *pDmaxMode = VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA;
+ Status = VL53L1_ERROR_NOT_IMPLEMENTED;
+ break;
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+
+
+
+
+VL53L1_Error VL53L1_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ *pNumberOfLimitCheck = VL53L1_CHECKENABLE_NUMBER_OF_CHECKS;
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetLimitCheckInfo(uint16_t LimitCheckId,
+ char *pLimitCheckString)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_get_limit_check_info(LimitCheckId,
+ pLimitCheckString);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetLimitCheckStatus(VL53L1_DEV Dev, uint16_t LimitCheckId,
+ uint8_t *pLimitCheckStatus)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint8_t Temp8;
+
+ LOG_FUNCTION_START("");
+
+ if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ } else {
+ VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
+ LimitCheckId, Temp8);
+ *pLimitCheckStatus = Temp8;
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+static VL53L1_Error SetLimitValue(VL53L1_DEV Dev, uint16_t LimitCheckId,
+ FixPoint1616_t value)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint16_t tmpuint16;
+
+ LOG_FUNCTION_START("");
+
+ switch (LimitCheckId) {
+ case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE:
+ tmpuint16 = VL53L1_FIXPOINT1616TOFIXPOINT142(value);
+ VL53L1_set_lite_sigma_threshold(Dev, tmpuint16);
+ break;
+ case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+ tmpuint16 = VL53L1_FIXPOINT1616TOFIXPOINT97(value);
+ VL53L1_set_lite_min_count_rate(Dev, tmpuint16);
+ break;
+ default:
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_SetLimitCheckEnable(VL53L1_DEV Dev, uint16_t LimitCheckId,
+ uint8_t LimitCheckEnable)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ FixPoint1616_t TempFix1616 = 0;
+
+ LOG_FUNCTION_START("");
+
+
+ if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ } else {
+
+ if (LimitCheckEnable == 0)
+ TempFix1616 = 0;
+ else
+ VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ LimitCheckId, TempFix1616);
+
+ Status = SetLimitValue(Dev, LimitCheckId, TempFix1616);
+ }
+
+ if (Status == VL53L1_ERROR_NONE)
+ VL53L1_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksEnable,
+ LimitCheckId,
+ ((LimitCheckEnable == 0) ? 0 : 1));
+
+
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetLimitCheckEnable(VL53L1_DEV Dev, uint16_t LimitCheckId,
+ uint8_t *pLimitCheckEnable)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint8_t Temp8;
+
+ LOG_FUNCTION_START("");
+
+ if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ *pLimitCheckEnable = 0;
+ } else {
+ VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+ LimitCheckId, Temp8);
+ *pLimitCheckEnable = Temp8;
+ }
+
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_SetLimitCheckValue(VL53L1_DEV Dev, uint16_t LimitCheckId,
+ FixPoint1616_t LimitCheckValue)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint8_t LimitChecksEnable;
+
+ LOG_FUNCTION_START("");
+
+ if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ } else {
+
+ VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+ LimitCheckId,
+ LimitChecksEnable);
+
+ if (LimitChecksEnable == 0) {
+
+ VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ LimitCheckId, LimitCheckValue);
+ } else {
+
+ Status = SetLimitValue(Dev, LimitCheckId,
+ LimitCheckValue);
+
+ if (Status == VL53L1_ERROR_NONE) {
+ VL53L1_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksValue,
+ LimitCheckId, LimitCheckValue);
+ }
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetLimitCheckValue(VL53L1_DEV Dev, uint16_t LimitCheckId,
+ FixPoint1616_t *pLimitCheckValue)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint16_t MinCountRate;
+ FixPoint1616_t TempFix1616;
+ uint16_t SigmaThresh;
+
+ LOG_FUNCTION_START("");
+
+ switch (LimitCheckId) {
+ case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE:
+ Status = VL53L1_get_lite_sigma_threshold(Dev, &SigmaThresh);
+ TempFix1616 = VL53L1_FIXPOINT142TOFIXPOINT1616(SigmaThresh);
+ break;
+ case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+ Status = VL53L1_get_lite_min_count_rate(Dev, &MinCountRate);
+ TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(MinCountRate);
+ break;
+ default:
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ }
+
+ if (Status == VL53L1_ERROR_NONE) {
+
+ if (TempFix1616 == 0) {
+
+ VL53L1_GETARRAYPARAMETERFIELD(Dev,
+ LimitChecksValue, LimitCheckId,
+ TempFix1616);
+ *pLimitCheckValue = TempFix1616;
+ VL53L1_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksEnable, LimitCheckId, 0);
+ } else {
+ *pLimitCheckValue = TempFix1616;
+ VL53L1_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksValue, LimitCheckId,
+ TempFix1616);
+ VL53L1_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksEnable, LimitCheckId, 1);
+ }
+ }
+ LOG_FUNCTION_END(Status);
+ return Status;
+
+}
+
+VL53L1_Error VL53L1_GetLimitCheckCurrent(VL53L1_DEV Dev, uint16_t LimitCheckId,
+ FixPoint1616_t *pLimitCheckCurrent)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ FixPoint1616_t TempFix1616 = 0;
+
+ LOG_FUNCTION_START("");
+
+ if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ } else {
+ VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksCurrent,
+ LimitCheckId, TempFix1616);
+ *pLimitCheckCurrent = TempFix1616;
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+
+}
+
+
+
+
+
+
+
+
+VL53L1_Error VL53L1_GetMaxNumberOfROI(VL53L1_DEV Dev,
+ uint8_t *pMaxNumberOfROI)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_PresetModes PresetMode;
+
+ LOG_FUNCTION_START("");
+
+ PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode);
+
+
+ if (PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING)
+ *pMaxNumberOfROI = VL53L1_MAX_USER_ZONES;
+ else
+ *pMaxNumberOfROI = 1;
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_SetROI(VL53L1_DEV Dev,
+ VL53L1_RoiConfig_t *pRoiConfig)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_PresetModes PresetMode;
+ uint8_t MaxNumberOfROI = 1;
+ VL53L1_zone_config_t zone_cfg;
+ VL53L1_UserRoi_t CurrROI;
+ uint8_t i;
+ uint8_t x_centre;
+ uint8_t y_centre;
+ uint8_t width, height;
+
+ LOG_FUNCTION_START("");
+
+
+ PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode);
+
+
+ if (PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING)
+ MaxNumberOfROI = VL53L1_MAX_USER_ZONES;
+
+ if ((pRoiConfig->NumberOfRoi > MaxNumberOfROI) ||
+ (pRoiConfig->NumberOfRoi < 1))
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+
+ if (Status == VL53L1_ERROR_NONE) {
+
+
+ zone_cfg.max_zones = MaxNumberOfROI;
+ zone_cfg.active_zones = pRoiConfig->NumberOfRoi - 1;
+
+ for (i = 0; i < pRoiConfig->NumberOfRoi; i++) {
+ CurrROI = pRoiConfig->UserRois[i];
+
+ Status = CheckValidRectRoi(CurrROI);
+ if (Status != VL53L1_ERROR_NONE)
+ break;
+
+ x_centre = (CurrROI.BotRightX + CurrROI.TopLeftX + 1)
+ / 2;
+ y_centre = (CurrROI.TopLeftY + CurrROI.BotRightY + 1)
+ / 2;
+ width = (CurrROI.BotRightX - CurrROI.TopLeftX);
+ height = (CurrROI.TopLeftY - CurrROI.BotRightY);
+ if ((width < 3) || (height < 3)) {
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ break;
+ }
+ zone_cfg.user_zones[i].x_centre = x_centre;
+ zone_cfg.user_zones[i].y_centre = y_centre;
+ zone_cfg.user_zones[i].width = width;
+ zone_cfg.user_zones[i].height = height;
+ }
+ }
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_set_zone_config(Dev, &zone_cfg);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetROI(VL53L1_DEV Dev,
+ VL53L1_RoiConfig_t *pRoiConfig)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_zone_config_t zone_cfg;
+ uint8_t i;
+ uint8_t TopLeftX;
+ uint8_t TopLeftY;
+ uint8_t BotRightX;
+ uint8_t BotRightY;
+
+ LOG_FUNCTION_START("");
+
+ VL53L1_get_zone_config(Dev, &zone_cfg);
+
+ pRoiConfig->NumberOfRoi = zone_cfg.active_zones + 1;
+
+ for (i = 0; i < pRoiConfig->NumberOfRoi; i++) {
+ TopLeftX = (2 * zone_cfg.user_zones[i].x_centre -
+ zone_cfg.user_zones[i].width) >> 1;
+ TopLeftY = (2 * zone_cfg.user_zones[i].y_centre +
+ zone_cfg.user_zones[i].height) >> 1;
+ BotRightX = (2 * zone_cfg.user_zones[i].x_centre +
+ zone_cfg.user_zones[i].width) >> 1;
+ BotRightY = (2 * zone_cfg.user_zones[i].y_centre -
+ zone_cfg.user_zones[i].height) >> 1;
+ pRoiConfig->UserRois[i].TopLeftX = TopLeftX;
+ pRoiConfig->UserRois[i].TopLeftY = TopLeftY;
+ pRoiConfig->UserRois[i].BotRightX = BotRightX;
+ pRoiConfig->UserRois[i].BotRightY = BotRightY;
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+
+
+
+
+
+VL53L1_Error VL53L1_GetNumberOfSequenceSteps(VL53L1_DEV Dev,
+ uint8_t *pNumberOfSequenceSteps)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ SUPPRESS_UNUSED_WARNING(Dev);
+
+ LOG_FUNCTION_START("");
+
+ *pNumberOfSequenceSteps = VL53L1_SEQUENCESTEP_NUMBER_OF_ITEMS;
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetSequenceStepsInfo(VL53L1_SequenceStepId SequenceStepId,
+ char *pSequenceStepsString)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_get_sequence_steps_info(
+ SequenceStepId,
+ pSequenceStepsString);
+
+ LOG_FUNCTION_END(Status);
+
+ return Status;
+}
+
+VL53L1_Error VL53L1_SetSequenceStepEnable(VL53L1_DEV Dev,
+ VL53L1_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint32_t MeasurementTimingBudgetMicroSeconds;
+
+ LOG_FUNCTION_START("");
+
+
+
+ Status = VL53L1_set_sequence_config_bit(Dev,
+ (VL53L1_DeviceSequenceConfig)SequenceStepId,
+ SequenceStepEnabled);
+
+
+ if (Status == VL53L1_ERROR_NONE) {
+
+
+ MeasurementTimingBudgetMicroSeconds = VL53L1DevDataGet(Dev,
+ CurrentParameters.MeasurementTimingBudgetMicroSeconds);
+
+ VL53L1_SetMeasurementTimingBudgetMicroSeconds(Dev,
+ MeasurementTimingBudgetMicroSeconds);
+ }
+
+ LOG_FUNCTION_END(Status);
+
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_GetSequenceStepEnable(VL53L1_DEV Dev,
+ VL53L1_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_get_sequence_config_bit(Dev,
+ (VL53L1_DeviceSequenceConfig)SequenceStepId,
+ pSequenceStepEnabled);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+
+
+
+
+
+
+
+
+VL53L1_Error VL53L1_StartMeasurement(VL53L1_DEV Dev)
+{
+#define TIMED_MODE_TIMING_GUARD_MILLISECONDS 4
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint8_t DeviceMeasurementMode;
+ VL53L1_State CurrPalState;
+ VL53L1_Error lStatus;
+ uint32_t MTBus, IMPms;
+ uint8_t i;
+ VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
+
+
+ LOG_FUNCTION_START("");
+ VL53L1_load_patch(Dev);
+ for (i = 0; i < VL53L1_MAX_RANGE_RESULTS; i++) {
+ pdev->PreviousRangeMilliMeter[i] = 0;
+ pdev->PreviousRangeStatus[i] = 255;
+ pdev->PreviousExtendedRange[i] = 0;
+ }
+ pdev->PreviousStreamCount = 0;
+ CurrPalState = VL53L1DevDataGet(Dev, PalState);
+ switch (CurrPalState) {
+ case VL53L1_STATE_IDLE:
+ Status = VL53L1_ERROR_NONE;
+ break;
+ case VL53L1_STATE_POWERDOWN:
+ case VL53L1_STATE_WAIT_STATICINIT:
+ case VL53L1_STATE_STANDBY:
+ case VL53L1_STATE_RUNNING:
+ case VL53L1_STATE_RESET:
+ case VL53L1_STATE_UNKNOWN:
+ case VL53L1_STATE_ERROR:
+ Status = VL53L1_ERROR_INVALID_COMMAND;
+ break;
+ default:
+ Status = VL53L1_ERROR_UNDEFINED;
+ }
+
+ DeviceMeasurementMode = VL53L1DevDataGet(Dev, LLData.measurement_mode);
+
+
+ if ((Status == VL53L1_ERROR_NONE) &&
+ (DeviceMeasurementMode == VL53L1_DEVICEMEASUREMENTMODE_TIMED)) {
+ lStatus = VL53L1_GetMeasurementTimingBudgetMicroSeconds(Dev,
+ &MTBus);
+
+ MTBus /= 1000;
+ lStatus = VL53L1_GetInterMeasurementPeriodMilliSeconds(Dev,
+ &IMPms);
+
+ SUPPRESS_UNUSED_WARNING(lStatus);
+ if (IMPms < MTBus + TIMED_MODE_TIMING_GUARD_MILLISECONDS)
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ }
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_init_and_start_range(
+ Dev,
+ DeviceMeasurementMode,
+ VL53L1_DEVICECONFIGLEVEL_FULL);
+
+
+ if (Status == VL53L1_ERROR_NONE)
+ VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_RUNNING);
+
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_StopMeasurement(VL53L1_DEV Dev)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_stop_range(Dev);
+ VL53L1_unload_patch(Dev);
+
+ if (Status == VL53L1_ERROR_NONE)
+ VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_IDLE);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_ClearInterruptAndStartMeasurement(VL53L1_DEV Dev)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint8_t DeviceMeasurementMode;
+
+ LOG_FUNCTION_START("");
+
+ DeviceMeasurementMode = VL53L1DevDataGet(Dev, LLData.measurement_mode);
+
+ Status = VL53L1_clear_interrupt_and_enable_next_range(Dev,
+ DeviceMeasurementMode);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_GetMeasurementDataReady(VL53L1_DEV Dev,
+ uint8_t *pMeasurementDataReady)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_is_new_data_ready(Dev, pMeasurementDataReady);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_WaitMeasurementDataReady(VL53L1_DEV Dev)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+
+
+ Status = VL53L1_poll_for_range_completion(Dev,
+ VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+static void GenNewPresetMode(int16_t RefRange,
+ VL53L1_DistanceModes InternalDistanceMode,
+ VL53L1_DistanceModes *pNewDistanceMode)
+{
+ uint16_t HRLI = 600;
+ uint16_t HRLH = 700;
+ uint16_t MRLI = 1400;
+ uint16_t MRLH = 1500;
+
+ switch (InternalDistanceMode) {
+ case VL53L1_DISTANCEMODE_SHORT:
+
+ if (RefRange > MRLH)
+ *pNewDistanceMode = VL53L1_DISTANCEMODE_LONG;
+ else if (RefRange > HRLH)
+ *pNewDistanceMode = VL53L1_DISTANCEMODE_MEDIUM;
+ break;
+ case VL53L1_DISTANCEMODE_MEDIUM:
+
+ if (RefRange > MRLH)
+ *pNewDistanceMode = VL53L1_DISTANCEMODE_LONG;
+ else if (RefRange < HRLI)
+ *pNewDistanceMode = VL53L1_DISTANCEMODE_SHORT;
+ break;
+ default:
+
+ if (RefRange < HRLI)
+ *pNewDistanceMode = VL53L1_DISTANCEMODE_SHORT;
+ else if (RefRange < MRLI)
+ *pNewDistanceMode = VL53L1_DISTANCEMODE_MEDIUM;
+ break;
+ }
+}
+
+static void CheckAndChangeDistanceMode(VL53L1_DEV Dev,
+ VL53L1_TargetRangeData_t *pRangeData,
+ int16_t Ambient100DmaxMm,
+ VL53L1_DistanceModes *pNewDistanceMode
+)
+{
+ VL53L1_DistanceModes DistanceMode;
+ uint8_t RangeStatus = pRangeData->RangeStatus;
+ uint8_t DmaxValid;
+ int32_t MinAmbient = BDTable[VL53L1_TUNING_MIN_AMBIENT_DMAX_VALID];
+ VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
+ int32_t tmpint32;
+
+
+ switch (RangeStatus) {
+ case VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL:
+ case VL53L1_RANGESTATUS_WRAP_TARGET_FAIL:
+ case VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE:
+ case VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL:
+ case VL53L1_RANGESTATUS_SYNCRONISATION_INT:
+ case VL53L1_RANGESTATUS_NONE:
+ return;
+ default:
+
+ break;
+ }
+
+ DmaxValid = 1;
+ tmpint32 = pdev->hist_data.VL53L1_p_004;
+ if ((tmpint32 < MinAmbient) || (Ambient100DmaxMm == 0))
+ DmaxValid = 0;
+
+ DistanceMode = VL53L1DevDataGet(Dev,
+ CurrentParameters.DistanceMode);
+
+ *pNewDistanceMode = DistanceMode;
+
+ if (RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID)
+ GenNewPresetMode(pRangeData->RangeMilliMeter,
+ DistanceMode, pNewDistanceMode);
+ else {
+ if (DmaxValid)
+ GenNewPresetMode(Ambient100DmaxMm,
+ DistanceMode, pNewDistanceMode);
+ else
+ *pNewDistanceMode = VL53L1_DISTANCEMODE_LONG;
+ }
+}
+
+static uint8_t ComputeRQL(uint8_t active_results,
+ uint8_t FilteredRangeStatus,
+ VL53L1_range_data_t *presults_data)
+{
+ int16_t T_Wide = 150;
+ int16_t SRL = 300;
+ uint16_t SRAS = 30;
+ FixPoint1616_t RAS;
+ FixPoint1616_t SRQL;
+ FixPoint1616_t GI = 7713587;
+ FixPoint1616_t GGm = 3198157;
+ FixPoint1616_t LRAP = 6554;
+ FixPoint1616_t partial;
+ uint8_t finalvalue;
+ uint8_t returnvalue;
+
+ if (active_results == 0)
+ returnvalue = 0;
+ else if (((presults_data->max_range_mm -
+ presults_data->min_range_mm) >= T_Wide) ||
+ (FilteredRangeStatus == VL53L1_DEVICEERROR_PHASECONSISTENCY))
+ returnvalue = 50;
+ else {
+ if (presults_data->median_range_mm < SRL)
+ RAS = SRAS * 65536;
+ else
+ RAS = LRAP * presults_data->median_range_mm;
+
+
+ if (RAS != 0) {
+ partial = (GGm * presults_data->VL53L1_p_005);
+ partial = partial + (RAS >> 1);
+ partial = partial / RAS;
+ partial = partial * 65536;
+ if (partial <= GI)
+ SRQL = GI - partial;
+ else
+ SRQL = 50 * 65536;
+ } else
+ SRQL = 100 * 65536;
+
+ finalvalue = (uint8_t)(SRQL >> 16);
+ returnvalue = MAX(50, MIN(100, finalvalue));
+ }
+
+ return returnvalue;
+}
+
+
+static uint8_t ConvertStatusLite(uint8_t FilteredRangeStatus)
+{
+ uint8_t RangeStatus;
+
+ switch (FilteredRangeStatus) {
+ case VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY:
+ RangeStatus = VL53L1_RANGESTATUS_SYNCRONISATION_INT;
+ break;
+ case VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK:
+ RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL;
+ break;
+ case VL53L1_DEVICEERROR_RANGEPHASECHECK:
+ RangeStatus = VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL;
+ break;
+ case VL53L1_DEVICEERROR_MSRCNOTARGET:
+ RangeStatus = VL53L1_RANGESTATUS_SIGNAL_FAIL;
+ break;
+ case VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK:
+ RangeStatus = VL53L1_RANGESTATUS_SIGMA_FAIL;
+ break;
+ case VL53L1_DEVICEERROR_PHASECONSISTENCY:
+ RangeStatus = VL53L1_RANGESTATUS_WRAP_TARGET_FAIL;
+ break;
+ case VL53L1_DEVICEERROR_RANGEIGNORETHRESHOLD:
+ RangeStatus = VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL;
+ break;
+ case VL53L1_DEVICEERROR_MINCLIP:
+ RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED;
+ break;
+ case VL53L1_DEVICEERROR_RANGECOMPLETE:
+ RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID;
+ break;
+ default:
+ RangeStatus = VL53L1_RANGESTATUS_NONE;
+ }
+
+ return RangeStatus;
+}
+
+
+static uint8_t ConvertStatusHisto(uint8_t FilteredRangeStatus)
+{
+ uint8_t RangeStatus;
+
+ switch (FilteredRangeStatus) {
+ case VL53L1_DEVICEERROR_RANGEPHASECHECK:
+ RangeStatus = VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL;
+ break;
+ case VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK:
+ RangeStatus = VL53L1_RANGESTATUS_SIGMA_FAIL;
+ break;
+ case VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK:
+ RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL;
+ break;
+ case VL53L1_DEVICEERROR_PHASECONSISTENCY:
+ RangeStatus = VL53L1_RANGESTATUS_WRAP_TARGET_FAIL;
+ break;
+ case VL53L1_DEVICEERROR_PREV_RANGE_NO_TARGETS:
+ RangeStatus = VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL;
+ break;
+ case VL53L1_DEVICEERROR_EVENTCONSISTENCY:
+ RangeStatus = VL53L1_RANGESTATUS_WRAP_TARGET_FAIL;
+ break;
+ case VL53L1_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE:
+ RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE;
+ break;
+ case VL53L1_DEVICEERROR_RANGECOMPLETE:
+ RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID;
+ break;
+ default:
+ RangeStatus = VL53L1_RANGESTATUS_NONE;
+ }
+
+ return RangeStatus;
+}
+
+static VL53L1_Error SetSimpleData(VL53L1_DEV Dev,
+ uint8_t active_results, uint8_t device_status,
+ VL53L1_range_data_t *presults_data,
+ VL53L1_RangingMeasurementData_t *pRangeData)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint8_t FilteredRangeStatus;
+ uint8_t SigmaLimitflag;
+ uint8_t SignalLimitflag;
+ uint8_t Temp8Enable;
+ uint8_t Temp8;
+ FixPoint1616_t AmbientRate;
+ FixPoint1616_t SignalRate;
+ FixPoint1616_t TempFix1616;
+ FixPoint1616_t LimitCheckValue;
+ VL53L1_PresetModes PresetMode;
+ int16_t Range;
+
+ pRangeData->TimeStamp = presults_data->time_stamp;
+
+ FilteredRangeStatus = presults_data->range_status & 0x1F;
+
+ pRangeData->RangeQualityLevel = ComputeRQL(active_results,
+ FilteredRangeStatus,
+ presults_data);
+
+ SignalRate = VL53L1_FIXPOINT97TOFIXPOINT1616(
+ presults_data->peak_signal_count_rate_mcps);
+ pRangeData->SignalRateRtnMegaCps
+ = SignalRate;
+
+ AmbientRate = VL53L1_FIXPOINT97TOFIXPOINT1616(
+ presults_data->ambient_count_rate_mcps);
+ pRangeData->AmbientRateRtnMegaCps = AmbientRate;
+
+ pRangeData->EffectiveSpadRtnCount =
+ presults_data->VL53L1_p_006;
+
+ TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(
+ presults_data->VL53L1_p_005);
+
+ pRangeData->SigmaMilliMeter = TempFix1616;
+
+ pRangeData->RangeMilliMeter = presults_data->median_range_mm;
+
+ pRangeData->RangeFractionalPart = 0;
+
+
+ switch (device_status) {
+ case VL53L1_DEVICEERROR_MULTCLIPFAIL:
+ case VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
+ case VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
+ case VL53L1_DEVICEERROR_NOVHVVALUEFOUND:
+ pRangeData->RangeStatus = VL53L1_RANGESTATUS_HARDWARE_FAIL;
+ break;
+ case VL53L1_DEVICEERROR_USERROICLIP:
+ pRangeData->RangeStatus = VL53L1_RANGESTATUS_MIN_RANGE_FAIL;
+ break;
+ default:
+ pRangeData->RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID;
+ }
+
+
+ if (pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) {
+ PresetMode = VL53L1DevDataGet(Dev,
+ CurrentParameters.PresetMode);
+ if ((PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) ||
+ (PresetMode == VL53L1_PRESETMODE_RANGING) ||
+ (PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE))
+ pRangeData->RangeStatus =
+ ConvertStatusHisto(FilteredRangeStatus);
+ else
+ pRangeData->RangeStatus =
+ ConvertStatusLite(FilteredRangeStatus);
+ }
+
+
+ TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(
+ presults_data->VL53L1_p_005);
+ VL53L1_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksCurrent, VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,
+ TempFix1616);
+
+ TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(
+ presults_data->peak_signal_count_rate_mcps);
+ VL53L1_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksCurrent, VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ TempFix1616);
+
+
+
+ VL53L1_GetLimitCheckValue(Dev,
+ VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,
+ &LimitCheckValue);
+
+ SigmaLimitflag = (FilteredRangeStatus ==
+ VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK)
+ ? 1 : 0;
+
+ VL53L1_GetLimitCheckEnable(Dev,
+ VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,
+ &Temp8Enable);
+
+ Temp8 = ((Temp8Enable == 1) && (SigmaLimitflag == 1)) ? 1 : 0;
+ VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
+ VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8);
+
+
+ VL53L1_GetLimitCheckValue(Dev,
+ VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ &LimitCheckValue);
+
+ SignalLimitflag = (FilteredRangeStatus ==
+ VL53L1_DEVICEERROR_MSRCNOTARGET)
+ ? 1 : 0;
+
+ VL53L1_GetLimitCheckEnable(Dev,
+ VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ &Temp8Enable);
+
+ Temp8 = ((Temp8Enable == 1) && (SignalLimitflag == 1)) ? 1 : 0;
+ VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
+ VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, Temp8);
+
+ Range = pRangeData->RangeMilliMeter;
+ if ((pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) &&
+ (Range < 0)) {
+ if (Range < BDTable[VL53L1_TUNING_PROXY_MIN])
+ pRangeData->RangeStatus =
+ VL53L1_RANGESTATUS_RANGE_INVALID;
+ else
+ pRangeData->RangeMilliMeter = 0;
+ }
+
+ return Status;
+}
+
+static VL53L1_Error SetTargetData(VL53L1_DEV Dev,
+ uint8_t active_results, uint8_t streamcount, uint8_t iteration,
+ uint8_t device_status, VL53L1_range_data_t *presults_data,
+ VL53L1_TargetRangeData_t *pRangeData)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_LLDriverData_t *pdev =
+ VL53L1DevStructGetLLDriverHandle(Dev);
+ VL53L1_tuning_parm_storage_t *tp =
+ &(pdev->tuning_parms);
+ uint8_t sequency;
+ uint8_t FilteredRangeStatus;
+ uint8_t SigmaLimitflag;
+ uint8_t SignalLimitflag;
+ uint8_t Temp8Enable;
+ uint8_t Temp8;
+ FixPoint1616_t AmbientRate;
+ FixPoint1616_t SignalRate;
+ FixPoint1616_t TempFix1616;
+ FixPoint1616_t LimitCheckValue;
+ VL53L1_PresetModes PresetMode;
+ int16_t Range, RangeDiff, RangeMillimeterInit;
+ uint8_t ExtendedRangeEnabled = 0;
+ uint8_t uwr_status;
+ int16_t AddOffset;
+
+ FilteredRangeStatus = presults_data->range_status & 0x1F;
+
+ pRangeData->RangeQualityLevel = ComputeRQL(active_results,
+ FilteredRangeStatus,
+ presults_data);
+
+ SignalRate = VL53L1_FIXPOINT97TOFIXPOINT1616(
+ presults_data->peak_signal_count_rate_mcps);
+ pRangeData->SignalRateRtnMegaCps
+ = SignalRate;
+
+ AmbientRate = VL53L1_FIXPOINT97TOFIXPOINT1616(
+ presults_data->ambient_count_rate_mcps);
+ pRangeData->AmbientRateRtnMegaCps = AmbientRate;
+
+ TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(
+ presults_data->VL53L1_p_005);
+
+ pRangeData->SigmaMilliMeter = TempFix1616;
+
+ pRangeData->RangeMilliMeter = presults_data->median_range_mm;
+ pRangeData->RangeMaxMilliMeter = presults_data->max_range_mm;
+ pRangeData->RangeMinMilliMeter = presults_data->min_range_mm;
+
+ pRangeData->RangeFractionalPart = 0;
+
+
+ switch (device_status) {
+ case VL53L1_DEVICEERROR_MULTCLIPFAIL:
+ case VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
+ case VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
+ case VL53L1_DEVICEERROR_NOVHVVALUEFOUND:
+ pRangeData->RangeStatus = VL53L1_RANGESTATUS_HARDWARE_FAIL;
+ break;
+ case VL53L1_DEVICEERROR_USERROICLIP:
+ pRangeData->RangeStatus = VL53L1_RANGESTATUS_MIN_RANGE_FAIL;
+ break;
+ default:
+ pRangeData->RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID;
+ }
+
+
+ if ((pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) &&
+ (active_results == 0)) {
+ pRangeData->RangeStatus = VL53L1_RANGESTATUS_NONE;
+ pRangeData->SignalRateRtnMegaCps = 0;
+ pRangeData->SigmaMilliMeter = 0;
+ pRangeData->RangeMilliMeter = 8191;
+ pRangeData->RangeMaxMilliMeter = 8191;
+ pRangeData->RangeMinMilliMeter = 8191;
+ }
+
+
+ if (pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) {
+ PresetMode = VL53L1DevDataGet(Dev,
+ CurrentParameters.PresetMode);
+ if ((PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) ||
+ (PresetMode == VL53L1_PRESETMODE_RANGING) ||
+ (PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE))
+ pRangeData->RangeStatus =
+ ConvertStatusHisto(FilteredRangeStatus);
+ else
+ pRangeData->RangeStatus =
+ ConvertStatusLite(FilteredRangeStatus);
+ }
+
+
+ TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(
+ presults_data->VL53L1_p_005);
+ VL53L1_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksCurrent, VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,
+ TempFix1616);
+
+ TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(
+ presults_data->peak_signal_count_rate_mcps);
+ VL53L1_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksCurrent, VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ TempFix1616);
+
+
+
+ VL53L1_GetLimitCheckValue(Dev,
+ VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,
+ &LimitCheckValue);
+
+ SigmaLimitflag = (FilteredRangeStatus ==
+ VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK)
+ ? 1 : 0;
+
+ VL53L1_GetLimitCheckEnable(Dev,
+ VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE,
+ &Temp8Enable);
+
+ Temp8 = ((Temp8Enable == 1) && (SigmaLimitflag == 1)) ? 1 : 0;
+ VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
+ VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8);
+
+
+ VL53L1_GetLimitCheckValue(Dev,
+ VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ &LimitCheckValue);
+
+ SignalLimitflag = (FilteredRangeStatus ==
+ VL53L1_DEVICEERROR_MSRCNOTARGET)
+ ? 1 : 0;
+
+ VL53L1_GetLimitCheckEnable(Dev,
+ VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ &Temp8Enable);
+
+ Temp8 = ((Temp8Enable == 1) && (SignalLimitflag == 1)) ? 1 : 0;
+ VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
+ VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, Temp8);
+
+ Range = pRangeData->RangeMilliMeter;
+ if ((pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) &&
+ (Range < 0)) {
+ if (Range < BDTable[VL53L1_TUNING_PROXY_MIN])
+ pRangeData->RangeStatus =
+ VL53L1_RANGESTATUS_RANGE_INVALID;
+ else
+ pRangeData->RangeMilliMeter = 0;
+ }
+
+
+
+ VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_UWR_ENABLE,
+ (int32_t *)&ExtendedRangeEnabled);
+
+ sequency = streamcount % 2;
+ uwr_status = 1;
+ RangeMillimeterInit = pRangeData->RangeMilliMeter;
+ AddOffset = 0;
+
+ pRangeData->ExtendedRange = 0;
+
+ if (ExtendedRangeEnabled &&
+ (pRangeData->RangeStatus ==
+ VL53L1_RANGESTATUS_WRAP_TARGET_FAIL ||
+ pRangeData->RangeStatus ==
+ VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL)
+ && (pdev->PreviousRangeStatus[iteration] ==
+ VL53L1_RANGESTATUS_WRAP_TARGET_FAIL ||
+ pdev->PreviousRangeStatus[iteration] ==
+ VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL ||
+ (pdev->PreviousRangeStatus[iteration] ==
+ VL53L1_RANGESTATUS_RANGE_VALID &&
+ pdev->PreviousExtendedRange[iteration] == 1)))
+ {
+ if (((pdev->PreviousStreamCount) ==
+ (pdev->hist_data.result__stream_count - 1 ))
+ || ((pdev->PreviousStreamCount) ==
+ (pdev->hist_data.result__stream_count + 127)))
+ {
+ RangeDiff = pRangeData->RangeMilliMeter -
+ pdev->PreviousRangeMilliMeter[iteration];
+
+ switch (pdev->preset_mode) {
+ case VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE:
+
+ uwr_status = 0;
+ break;
+
+ case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE:
+ if (RangeDiff > tp->tp_uwr_med_z_1_min &&
+ RangeDiff < tp->tp_uwr_med_z_1_max &&
+ sequency == 1) {
+ AddOffset =
+ tp->tp_uwr_med_corr_z_1_rangeb;
+ }
+ else
+ if (RangeDiff < -tp->tp_uwr_med_z_1_min &&
+ RangeDiff > -tp->tp_uwr_med_z_1_max &&
+ sequency == 0) {
+ AddOffset =
+ tp->tp_uwr_med_corr_z_1_rangea;
+ }
+ else
+ if (RangeDiff > tp->tp_uwr_med_z_2_min &&
+ RangeDiff < tp->tp_uwr_med_z_2_max &&
+ sequency == 0) {
+ AddOffset =
+ tp->tp_uwr_med_corr_z_2_rangea;
+ }
+ else
+ if (RangeDiff < -tp->tp_uwr_med_z_2_min &&
+ RangeDiff > -tp->tp_uwr_med_z_2_max &&
+ sequency == 1) {
+ AddOffset =
+ tp->tp_uwr_med_corr_z_2_rangeb;
+ }
+ else
+ if (RangeDiff > tp->tp_uwr_med_z_3_min &&
+ RangeDiff < tp->tp_uwr_med_z_3_max &&
+ sequency == 1) {
+ AddOffset =
+ tp->tp_uwr_med_corr_z_3_rangeb;
+ }
+ else
+ if (RangeDiff < -tp->tp_uwr_med_z_3_min &&
+ RangeDiff > -tp->tp_uwr_med_z_3_max &&
+ sequency == 0) {
+ AddOffset =
+ tp->tp_uwr_med_corr_z_3_rangea;
+ }
+ else
+ if (RangeDiff > tp->tp_uwr_med_z_4_min &&
+ RangeDiff < tp->tp_uwr_med_z_4_max &&
+ sequency == 0) {
+ AddOffset =
+ tp->tp_uwr_med_corr_z_4_rangea;
+ }
+ else
+ if (RangeDiff < -tp->tp_uwr_med_z_4_min &&
+ RangeDiff > -tp->tp_uwr_med_z_4_max &&
+ sequency == 1) {
+ AddOffset =
+ tp->tp_uwr_med_corr_z_4_rangeb;
+ }
+ else
+ if (RangeDiff < tp->tp_uwr_med_z_5_max &&
+ RangeDiff > tp->tp_uwr_med_z_5_min) {
+ AddOffset =
+ tp->tp_uwr_med_corr_z_5_rangea;
+ }
+ else
+ if (RangeDiff > tp->tp_uwr_med_z_6_min &&
+ RangeDiff < tp->tp_uwr_med_z_6_max &&
+ sequency == 1) {
+ AddOffset =
+ tp->tp_uwr_med_corr_z_6_rangeb;
+ }
+ else
+ if (RangeDiff < -tp->tp_uwr_med_z_6_min &&
+ RangeDiff > -tp->tp_uwr_med_z_6_max &&
+ sequency == 0) {
+ AddOffset =
+ tp->tp_uwr_med_corr_z_6_rangea;
+ }
+ else
+
+
+
+
+
+
+
+
+
+
+
+ uwr_status = 0;
+ break;
+
+ case VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE:
+ if (RangeDiff > tp->tp_uwr_lng_z_1_min &&
+ RangeDiff < tp->tp_uwr_lng_z_1_max &&
+ sequency == 0) {
+ AddOffset =
+ tp->tp_uwr_lng_corr_z_1_rangea;
+ }
+ else
+ if (RangeDiff < -tp->tp_uwr_lng_z_1_min &&
+ RangeDiff > -tp->tp_uwr_lng_z_1_max &&
+ sequency == 1) {
+ AddOffset =
+ tp->tp_uwr_lng_corr_z_1_rangeb;
+ }
+ else
+ if (RangeDiff > tp->tp_uwr_lng_z_2_min &&
+ RangeDiff < tp->tp_uwr_lng_z_2_max &&
+ sequency == 1) {
+ AddOffset =
+ tp->tp_uwr_lng_corr_z_2_rangeb;
+ }
+ else
+ if (RangeDiff < -tp->tp_uwr_lng_z_2_min &&
+ RangeDiff > -tp->tp_uwr_lng_z_2_max &&
+ sequency == 0) {
+ AddOffset =
+ tp->tp_uwr_lng_corr_z_2_rangea;
+ }
+ else
+ if (RangeDiff < tp->tp_uwr_lng_z_3_max &&
+ RangeDiff > tp->tp_uwr_lng_z_3_min) {
+ AddOffset =
+ tp->tp_uwr_lng_corr_z_3_rangea;
+ }
+ else
+ if (RangeDiff > tp->tp_uwr_lng_z_4_min &&
+ RangeDiff < tp->tp_uwr_lng_z_4_max &&
+ sequency == 1) {
+ AddOffset =
+ tp->tp_uwr_lng_corr_z_4_rangeb;
+ }
+ else
+ if (RangeDiff < -tp->tp_uwr_lng_z_4_min &&
+ RangeDiff > -tp->tp_uwr_lng_z_4_max &&
+ sequency == 0) {
+ AddOffset =
+ tp->tp_uwr_lng_corr_z_4_rangea;
+ }
+ else
+ uwr_status = 0;
+ break;
+
+ default:
+ uwr_status = 0;
+ break;
+ }
+ }
+
+ if (uwr_status) {
+ pRangeData->RangeMilliMeter += AddOffset;
+ pRangeData->RangeMinMilliMeter += AddOffset;
+ pRangeData->RangeMaxMilliMeter += AddOffset;
+ pRangeData->ExtendedRange = 1;
+ pRangeData->RangeStatus = 0;
+ }
+
+ }
+
+ pdev->PreviousRangeMilliMeter[iteration] = RangeMillimeterInit;
+ pdev->PreviousRangeStatus[iteration] = pRangeData->RangeStatus;
+ pdev->PreviousExtendedRange[iteration] = pRangeData->ExtendedRange;
+ pdev->PreviousStreamCount = pdev->hist_data.result__stream_count;
+
+ return Status;
+}
+
+static uint8_t GetOutputDataIndex(VL53L1_DEV Dev,
+ VL53L1_range_results_t *presults)
+{
+ uint8_t i;
+ uint8_t index = 0;
+ VL53L1_OutputModes OutputMode;
+
+ OutputMode = VL53L1DevDataGet(Dev, CurrentParameters.OutputMode);
+
+
+ if (OutputMode == VL53L1_OUTPUTMODE_NEAREST)
+ return 0;
+
+
+ for (i = 1; i < presults->active_results; i++) {
+ if (presults->VL53L1_p_002[i].peak_signal_count_rate_mcps >
+ presults->VL53L1_p_002[index].peak_signal_count_rate_mcps)
+ index = i;
+ }
+
+ return index;
+}
+
+VL53L1_Error VL53L1_GetRangingMeasurementData(VL53L1_DEV Dev,
+ VL53L1_RangingMeasurementData_t *pRangingMeasurementData)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_LLDriverData_t *pdev =
+ VL53L1DevStructGetLLDriverHandle(Dev);
+ VL53L1_range_results_t *presults =
+ (VL53L1_range_results_t *) pdev->wArea1;
+ VL53L1_range_data_t *presults_data;
+ VL53L1_PresetModes PresetMode;
+ uint8_t index = 0;
+
+ LOG_FUNCTION_START("");
+
+
+ PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode);
+
+ if (PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) {
+ Status = VL53L1_ERROR_MODE_NOT_SUPPORTED;
+ LOG_FUNCTION_END(Status);
+ return Status;
+ }
+
+
+ memset(pRangingMeasurementData, 0xFF,
+ sizeof(VL53L1_RangingMeasurementData_t));
+
+
+ Status = VL53L1_get_device_results(
+ Dev,
+ VL53L1_DEVICERESULTSLEVEL_FULL,
+ presults);
+
+ if (Status == VL53L1_ERROR_NONE) {
+ pRangingMeasurementData->StreamCount = presults->stream_count;
+
+
+ index = GetOutputDataIndex(Dev, presults);
+ presults_data = &(presults->VL53L1_p_002[index]);
+ Status = SetSimpleData(Dev, presults->active_results,
+ presults->device_status,
+ presults_data,
+ pRangingMeasurementData);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+static VL53L1_Error SetMeasurementData(VL53L1_DEV Dev,
+ VL53L1_range_results_t *presults,
+ VL53L1_MultiRangingData_t *pMultiRangingData)
+{
+ VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
+ uint8_t i;
+ uint8_t iteration;
+ VL53L1_TargetRangeData_t *pRangeData;
+ VL53L1_range_data_t *presults_data;
+ int16_t dmax_min;
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ uint8_t Furthest_idx = 0;
+ int16_t Furthest_range = 0;
+ uint8_t ActiveResults, amb_idx;
+
+ pMultiRangingData->NumberOfObjectsFound = presults->active_results;
+ pMultiRangingData->RoiNumber = presults->zone_id;
+ pMultiRangingData->HasXtalkValueChanged =
+ presults->smudge_corrector_data.new_xtalk_applied_flag;
+ dmax_min = MIN(presults->wrap_dmax_mm,
+ presults->VL53L1_p_007[DMAX_REFLECTANCE_IDX]);
+ pMultiRangingData->DmaxMilliMeter = dmax_min;
+
+
+ pMultiRangingData->TimeStamp = 0;
+
+ pMultiRangingData->StreamCount = presults->stream_count;
+
+ pMultiRangingData->RecommendedDistanceMode =
+ VL53L1DevDataGet(Dev, CurrentParameters.DistanceMode);
+ ActiveResults = presults->active_results;
+ if (ActiveResults < 1)
+
+ iteration = 1;
+ else
+ iteration = ActiveResults;
+ for (i = 0; i < iteration; i++) {
+ pRangeData = &(pMultiRangingData->RangeData[i]);
+
+ presults_data = &(presults->VL53L1_p_002[i]);
+ if (Status == VL53L1_ERROR_NONE)
+ Status = SetTargetData(Dev, ActiveResults,
+ pMultiRangingData->StreamCount,
+ i,
+ presults->device_status,
+ presults_data,
+ pRangeData);
+
+ pMultiRangingData->EffectiveSpadRtnCount =
+ presults_data->VL53L1_p_006;
+
+ if ((pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID)
+ && (pRangeData->RangeMilliMeter > Furthest_range)) {
+ Furthest_range = pRangeData->RangeMilliMeter;
+ Furthest_idx = i;
+ }
+ }
+ for (i = iteration; i < VL53L1_MAX_RANGE_RESULTS; i++) {
+ pdev->PreviousRangeMilliMeter[i] = 0;
+ pdev->PreviousRangeStatus[i] = 255;
+ pdev->PreviousExtendedRange[i] = 0;
+ }
+
+ if ((Status == VL53L1_ERROR_NONE) && (ActiveResults > 0)) {
+ pRangeData = &(pMultiRangingData->RangeData[Furthest_idx]);
+ amb_idx = VL53L1_MAX_AMBIENT_DMAX_VALUES-1;
+ CheckAndChangeDistanceMode(Dev, pRangeData,
+ presults->VL53L1_p_007[amb_idx],
+ &pMultiRangingData->RecommendedDistanceMode);
+ }
+
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetMultiRangingData(VL53L1_DEV Dev,
+ VL53L1_MultiRangingData_t *pMultiRangingData)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_LLDriverData_t *pdev =
+ VL53L1DevStructGetLLDriverHandle(Dev);
+ VL53L1_range_results_t *presults =
+ (VL53L1_range_results_t *) pdev->wArea1;
+
+ LOG_FUNCTION_START("");
+
+
+ memset(pMultiRangingData, 0xFF,
+ sizeof(VL53L1_MultiRangingData_t));
+
+
+ Status = VL53L1_get_device_results(
+ Dev,
+ VL53L1_DEVICERESULTSLEVEL_FULL,
+ presults);
+
+
+ if (Status == VL53L1_ERROR_NONE) {
+ switch (presults->rd_device_state) {
+ case VL53L1_DEVICESTATE_RANGING_GATHER_DATA:
+ pMultiRangingData->RoiStatus =
+ VL53L1_ROISTATUS_VALID_NOT_LAST;
+ break;
+ case VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA:
+ pMultiRangingData->RoiStatus =
+ VL53L1_ROISTATUS_VALID_LAST;
+ break;
+ default:
+ pMultiRangingData->RoiStatus =
+ VL53L1_ROISTATUS_NOT_VALID;
+ }
+
+ Status = SetMeasurementData(Dev,
+ presults,
+ pMultiRangingData);
+
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetAdditionalData(VL53L1_DEV Dev,
+ VL53L1_AdditionalData_t *pAdditionalData)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_get_additional_data(Dev, pAdditionalData);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+
+
+
+
+VL53L1_Error VL53L1_SetTuningParameter(VL53L1_DEV Dev,
+ uint16_t TuningParameterId, int32_t TuningParameterValue)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (TuningParameterId ==
+ VL53L1_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS)
+ return VL53L1_ERROR_INVALID_PARAMS;
+
+ if (TuningParameterId >= 32768)
+ Status = VL53L1_set_tuning_parm(Dev,
+ TuningParameterId,
+ TuningParameterValue);
+ else {
+ if (TuningParameterId < VL53L1_TUNING_MAX_TUNABLE_KEY)
+ BDTable[TuningParameterId] = TuningParameterValue;
+ else
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetTuningParameter(VL53L1_DEV Dev,
+ uint16_t TuningParameterId, int32_t *pTuningParameterValue)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (TuningParameterId >= 32768)
+ Status = VL53L1_get_tuning_parm(Dev,
+ TuningParameterId,
+ pTuningParameterValue);
+ else {
+ if (TuningParameterId < VL53L1_TUNING_MAX_TUNABLE_KEY)
+ *pTuningParameterValue = BDTable[TuningParameterId];
+ else
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_PerformRefSpadManagement(VL53L1_DEV Dev)
+{
+#ifdef VL53L1_NOCALIB
+ VL53L1_Error Status = VL53L1_ERROR_NOT_SUPPORTED;
+
+ SUPPRESS_UNUSED_WARNING(Dev);
+
+ LOG_FUNCTION_START("");
+#else
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_Error RawStatus;
+ uint8_t dcrbuffer[24];
+ uint8_t *commbuf;
+ uint8_t numloc[2] = {5, 3};
+ VL53L1_LLDriverData_t *pdev;
+ VL53L1_customer_nvm_managed_t *pc;
+ VL53L1_PresetModes PresetMode;
+
+ LOG_FUNCTION_START("");
+
+ pdev = VL53L1DevStructGetLLDriverHandle(Dev);
+ pc = &pdev->customer;
+
+ if (Status == VL53L1_ERROR_NONE) {
+ PresetMode = VL53L1DevDataGet(Dev,
+ CurrentParameters.PresetMode);
+ Status = VL53L1_run_ref_spad_char(Dev, &RawStatus);
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_SetPresetMode(Dev, PresetMode);
+ }
+
+ if (Status == VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH) {
+
+ Status = VL53L1_read_nvm_raw_data(Dev,
+ (uint8_t)(0xA0 >> 2),
+ (uint8_t)(24 >> 2),
+ dcrbuffer);
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_WriteMulti(Dev,
+ VL53L1_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS,
+ numloc, 2);
+
+ if (Status == VL53L1_ERROR_NONE) {
+ pc->ref_spad_man__num_requested_ref_spads = numloc[0];
+ pc->ref_spad_man__ref_location = numloc[1];
+ }
+
+ if (Status == VL53L1_ERROR_NONE)
+ commbuf = &dcrbuffer[16];
+
+
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_WriteMulti(Dev,
+ VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0,
+ commbuf, 6);
+
+ if (Status == VL53L1_ERROR_NONE) {
+ pc->global_config__spad_enables_ref_0 = commbuf[0];
+ pc->global_config__spad_enables_ref_1 = commbuf[1];
+ pc->global_config__spad_enables_ref_2 = commbuf[2];
+ pc->global_config__spad_enables_ref_3 = commbuf[3];
+ pc->global_config__spad_enables_ref_4 = commbuf[4];
+ pc->global_config__spad_enables_ref_5 = commbuf[5];
+ }
+
+ }
+
+#endif
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_SmudgeCorrectionEnable(VL53L1_DEV Dev,
+ VL53L1_SmudgeCorrectionModes Mode)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_Error s1 = VL53L1_ERROR_NONE;
+ VL53L1_Error s2 = VL53L1_ERROR_NONE;
+ VL53L1_Error s3 = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ switch (Mode) {
+ case VL53L1_SMUDGE_CORRECTION_NONE:
+ s1 = VL53L1_dynamic_xtalk_correction_disable(Dev);
+ s2 = VL53L1_dynamic_xtalk_correction_apply_disable(Dev);
+ s3 = VL53L1_dynamic_xtalk_correction_single_apply_disable(Dev);
+ break;
+ case VL53L1_SMUDGE_CORRECTION_CONTINUOUS:
+ s1 = VL53L1_dynamic_xtalk_correction_enable(Dev);
+ s2 = VL53L1_dynamic_xtalk_correction_apply_enable(Dev);
+ s3 = VL53L1_dynamic_xtalk_correction_single_apply_disable(Dev);
+ break;
+ case VL53L1_SMUDGE_CORRECTION_SINGLE:
+ s1 = VL53L1_dynamic_xtalk_correction_enable(Dev);
+ s2 = VL53L1_dynamic_xtalk_correction_apply_enable(Dev);
+ s3 = VL53L1_dynamic_xtalk_correction_single_apply_enable(Dev);
+ break;
+ case VL53L1_SMUDGE_CORRECTION_DEBUG:
+ s1 = VL53L1_dynamic_xtalk_correction_enable(Dev);
+ s2 = VL53L1_dynamic_xtalk_correction_apply_disable(Dev);
+ s3 = VL53L1_dynamic_xtalk_correction_single_apply_disable(Dev);
+ break;
+ default:
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ break;
+ }
+
+ if (Status == VL53L1_ERROR_NONE) {
+ Status = s1;
+ if (Status == VL53L1_ERROR_NONE)
+ Status = s2;
+ if (Status == VL53L1_ERROR_NONE)
+ Status = s3;
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_SetXTalkCompensationEnable(VL53L1_DEV Dev,
+ uint8_t XTalkCompensationEnable)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (XTalkCompensationEnable == 0)
+ Status = VL53L1_disable_xtalk_compensation(Dev);
+ else
+ Status = VL53L1_enable_xtalk_compensation(Dev);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_GetXTalkCompensationEnable(VL53L1_DEV Dev,
+ uint8_t *pXTalkCompensationEnable)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ VL53L1_get_xtalk_compensation_enable(
+ Dev,
+ pXTalkCompensationEnable);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_PerformXTalkCalibration(VL53L1_DEV Dev,
+ uint8_t CalibrationOption)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_Error UStatus;
+ int16_t CalDistanceMm;
+ VL53L1_xtalk_calibration_results_t xtalk;
+
+ VL53L1_CalibrationData_t caldata;
+ VL53L1_LLDriverData_t *pLLData;
+ int i;
+ uint32_t *pPlaneOffsetKcps;
+ uint32_t Margin =
+ BDTable[VL53L1_TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN];
+ uint32_t DefaultOffset =
+ BDTable[VL53L1_TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET];
+ uint32_t *pLLDataPlaneOffsetKcps;
+ uint32_t sum = 0;
+ uint8_t binok = 0;
+ int32_t merge;
+
+ LOG_FUNCTION_START("");
+
+ pPlaneOffsetKcps =
+ &caldata.customer.algo__crosstalk_compensation_plane_offset_kcps;
+ pLLData = VL53L1DevStructGetLLDriverHandle(Dev);
+ pLLDataPlaneOffsetKcps =
+ &pLLData->xtalk_cal.algo__crosstalk_compensation_plane_offset_kcps;
+ VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, &merge);
+
+ VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, 0);
+ switch (CalibrationOption) {
+ case VL53L1_XTALKCALIBRATIONMODE_NO_TARGET:
+ Status = VL53L1_run_xtalk_extraction(Dev, &UStatus);
+
+ if (Status == VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL)
+ VL53L1_xtalk_cal_data_init(Dev);
+ break;
+ case VL53L1_XTALKCALIBRATIONMODE_SINGLE_TARGET:
+ Status = SingleTargetXTalkCalibration(Dev);
+ break;
+ case VL53L1_XTALKCALIBRATIONMODE_FULL_ROI:
+ CalDistanceMm = (int16_t)
+ BDTable[VL53L1_TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM];
+
+ VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE,
+ merge);
+ Status = VL53L1_run_hist_xtalk_extraction(Dev, CalDistanceMm,
+ &UStatus);
+
+ VL53L1_GetCalibrationData(Dev, &caldata);
+ for (i = 0; i < VL53L1_XTALK_HISTO_BINS; i++) {
+ sum += caldata.xtalkhisto.xtalk_shape.bin_data[i];
+ if (caldata.xtalkhisto.xtalk_shape.bin_data[i] > 0)
+ binok++;
+ }
+ if ((UStatus ==
+ VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL) ||
+ (sum > (1024 + Margin)) || (sum < (1024 - Margin)) ||
+ (binok < 3)) {
+ *pPlaneOffsetKcps = DefaultOffset;
+ *pLLDataPlaneOffsetKcps = DefaultOffset;
+ caldata.xtalkhisto.xtalk_shape.bin_data[0] = 307;
+ caldata.xtalkhisto.xtalk_shape.bin_data[1] = 410;
+ caldata.xtalkhisto.xtalk_shape.bin_data[2] = 410;
+ caldata.xtalkhisto.xtalk_shape.bin_data[3] = 307;
+ for (i = 4; i < VL53L1_XTALK_HISTO_BINS; i++)
+ caldata.xtalkhisto.xtalk_shape.bin_data[i] = 0;
+ for (i = 0; i < VL53L1_BIN_REC_SIZE; i++)
+ caldata.algo__xtalk_cpo_HistoMerge_kcps[i] =
+ DefaultOffset + DefaultOffset * i;
+ VL53L1_SetCalibrationData(Dev, &caldata);
+ }
+
+ break;
+ default:
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ }
+ VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, merge);
+
+ if (Status == VL53L1_ERROR_NONE) {
+ Status = VL53L1_get_current_xtalk_settings(Dev, &xtalk);
+ Status = VL53L1_set_tuning_parm(Dev,
+ VL53L1_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS,
+ xtalk.algo__crosstalk_compensation_plane_offset_kcps);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_SetOffsetCalibrationMode(VL53L1_DEV Dev,
+ VL53L1_OffsetCalibrationModes OffsetCalibrationMode)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_OffsetCalibrationMode offset_cal_mode;
+
+ LOG_FUNCTION_START("");
+
+ if (OffsetCalibrationMode == VL53L1_OFFSETCALIBRATIONMODE_STANDARD) {
+ offset_cal_mode =
+ VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD;
+ } else if (OffsetCalibrationMode ==
+ VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY) {
+ offset_cal_mode =
+ VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY;
+ } else if (OffsetCalibrationMode ==
+ VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE) {
+ offset_cal_mode =
+ VL53L1_OFFSETCALIBRATIONMODE__PER_ZONE;
+ } else {
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ }
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_set_offset_calibration_mode(Dev,
+ offset_cal_mode);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_SetOffsetCorrectionMode(VL53L1_DEV Dev,
+ VL53L1_OffsetCorrectionModes OffsetCorrectionMode)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_OffsetCorrectionMode offset_cor_mode;
+
+ LOG_FUNCTION_START("");
+
+ if (OffsetCorrectionMode == VL53L1_OFFSETCORRECTIONMODE_STANDARD) {
+ offset_cor_mode =
+ VL53L1_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS;
+ } else if (OffsetCorrectionMode ==
+ VL53L1_OFFSETCORRECTIONMODE_PERZONE) {
+ offset_cor_mode =
+ VL53L1_OFFSETCORRECTIONMODE__PER_ZONE_OFFSETS;
+ } else if (OffsetCorrectionMode ==
+ VL53L1_OFFSETCORRECTIONMODE_PERVCSEL) {
+ offset_cor_mode =
+ VL53L1_OFFSETCORRECTIONMODE__PER_VCSEL_OFFSETS;
+ } else {
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ }
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_set_offset_correction_mode(Dev,
+ offset_cor_mode);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_PerformOffsetCalibration(VL53L1_DEV Dev,
+ int32_t CalDistanceMilliMeter, FixPoint1616_t CalReflectancePercent)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_Error UnfilteredStatus;
+ VL53L1_OffsetCalibrationMode offset_cal_mode;
+ uint16_t CalReflectancePercent_int;
+
+ VL53L1_DevicePresetModes device_preset_mode;
+ VL53L1_DeviceZonePreset zone_preset;
+ VL53L1_zone_config_t zone_cfg;
+ int32_t MergeEnabled;
+
+ LOG_FUNCTION_START("");
+
+ CalReflectancePercent_int =
+ VL53L1_FIXPOINT1616TOFIXPOINT72(CalReflectancePercent);
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_get_offset_calibration_mode(Dev,
+ &offset_cal_mode);
+
+ if (Status != VL53L1_ERROR_NONE) {
+ LOG_FUNCTION_END(Status);
+ return Status;
+ }
+
+
+ if ((offset_cal_mode ==
+ VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD) ||
+ (offset_cal_mode ==
+ VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY
+ )) {
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_run_offset_calibration(
+ Dev,
+ (int16_t)CalDistanceMilliMeter,
+ CalReflectancePercent_int,
+ &UnfilteredStatus);
+
+ } else if (offset_cal_mode ==
+ VL53L1_OFFSETCALIBRATIONMODE__PER_ZONE) {
+ VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE,
+ &MergeEnabled);
+ VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, 0);
+ device_preset_mode =
+ VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE;
+ zone_preset = VL53L1_DEVICEZONEPRESET_CUSTOM;
+
+ Status = VL53L1_get_zone_config(Dev, &zone_cfg);
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_run_zone_calibration(
+ Dev,
+ device_preset_mode,
+ zone_preset,
+ &zone_cfg,
+ (int16_t)CalDistanceMilliMeter,
+ CalReflectancePercent_int,
+ &UnfilteredStatus);
+ VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE,
+ MergeEnabled);
+
+ } else {
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ }
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_PerformOffsetSimpleCalibration(VL53L1_DEV Dev,
+ int32_t CalDistanceMilliMeter)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ int32_t sum_ranging;
+ uint8_t offset_meas;
+ int16_t Max, UnderMax, OverMax, Repeat;
+ int32_t total_count, inloopcount;
+ int32_t IncRounding;
+ int16_t meanDistance_mm;
+ int16_t offset;
+ VL53L1_RangingMeasurementData_t RangingMeasurementData;
+ VL53L1_LLDriverData_t *pdev;
+ uint8_t goodmeas;
+ VL53L1_Error SmudgeStatus = VL53L1_ERROR_NONE;
+ uint8_t smudge_corr_en;
+
+ LOG_FUNCTION_START("");
+
+ pdev = VL53L1DevStructGetLLDriverHandle(Dev);
+
+ smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
+ SmudgeStatus = VL53L1_dynamic_xtalk_correction_disable(Dev);
+
+ pdev->customer.algo__part_to_part_range_offset_mm = 0;
+ pdev->customer.mm_config__inner_offset_mm = 0;
+ pdev->customer.mm_config__outer_offset_mm = 0;
+ memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
+ Repeat = BDTable[VL53L1_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT];
+ Max = BDTable[
+ VL53L1_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
+ UnderMax = 1 + (Max / 2);
+ OverMax = Max + (Max / 2);
+ sum_ranging = 0;
+ total_count = 0;
+
+ while ((Repeat > 0) && (Status == VL53L1_ERROR_NONE)) {
+ Status = VL53L1_StartMeasurement(Dev);
+
+ if (Status == VL53L1_ERROR_NONE) {
+ VL53L1_WaitMeasurementDataReady(Dev);
+ VL53L1_GetRangingMeasurementData(Dev,
+ &RangingMeasurementData);
+ VL53L1_ClearInterruptAndStartMeasurement(Dev);
+ }
+
+ inloopcount = 0;
+ offset_meas = 0;
+ while ((Status == VL53L1_ERROR_NONE) && (inloopcount < Max) &&
+ (offset_meas < OverMax)) {
+ Status = VL53L1_WaitMeasurementDataReady(Dev);
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_GetRangingMeasurementData(Dev,
+ &RangingMeasurementData);
+ goodmeas = (RangingMeasurementData.RangeStatus ==
+ VL53L1_RANGESTATUS_RANGE_VALID);
+ if ((Status == VL53L1_ERROR_NONE) && goodmeas) {
+ sum_ranging = sum_ranging +
+ RangingMeasurementData.RangeMilliMeter;
+ inloopcount++;
+ }
+ Status = VL53L1_ClearInterruptAndStartMeasurement(Dev);
+ offset_meas++;
+ }
+ total_count += inloopcount;
+
+
+ if (inloopcount < UnderMax)
+ Status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
+
+ VL53L1_StopMeasurement(Dev);
+
+ Repeat--;
+
+ }
+
+ if ((SmudgeStatus == VL53L1_ERROR_NONE) && (smudge_corr_en == 1))
+ SmudgeStatus = VL53L1_dynamic_xtalk_correction_enable(Dev);
+
+ if ((sum_ranging < 0) ||
+ (sum_ranging > ((int32_t) total_count * 0xffff)))
+ Status = VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
+
+ if ((Status == VL53L1_ERROR_NONE) && (total_count > 0)) {
+ IncRounding = total_count / 2;
+ meanDistance_mm = (int16_t)((sum_ranging + IncRounding)
+ / total_count);
+ offset = (int16_t)CalDistanceMilliMeter - meanDistance_mm;
+ pdev->customer.algo__part_to_part_range_offset_mm = 0;
+ pdev->customer.mm_config__inner_offset_mm = offset;
+ pdev->customer.mm_config__outer_offset_mm = offset;
+
+ Status = VL53L1_set_customer_nvm_managed(Dev,
+ &(pdev->customer));
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_PerformOffsetZeroDistanceCalibration(VL53L1_DEV Dev)
+{
+ #define START_OFFSET 50
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ int32_t sum_ranging;
+ uint8_t offset_meas;
+ int16_t Max, UnderMax, OverMax, Repeat;
+ int32_t total_count, inloopcount;
+ int32_t IncRounding;
+ int16_t meanDistance_mm;
+ int16_t offset, ZeroDistanceOffset;
+ VL53L1_RangingMeasurementData_t RangingMeasurementData;
+ VL53L1_LLDriverData_t *pdev;
+ uint8_t goodmeas;
+ VL53L1_Error SmudgeStatus = VL53L1_ERROR_NONE;
+ uint8_t smudge_corr_en;
+
+ LOG_FUNCTION_START("");
+
+ pdev = VL53L1DevStructGetLLDriverHandle(Dev);
+ smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
+ SmudgeStatus = VL53L1_dynamic_xtalk_correction_disable(Dev);
+ pdev->customer.algo__part_to_part_range_offset_mm = 0;
+ pdev->customer.mm_config__inner_offset_mm = START_OFFSET;
+ pdev->customer.mm_config__outer_offset_mm = START_OFFSET;
+ memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
+ ZeroDistanceOffset = BDTable[
+ VL53L1_TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR];
+ Repeat = BDTable[VL53L1_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT];
+ Max = BDTable[
+ VL53L1_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
+ UnderMax = 1 + (Max / 2);
+ OverMax = Max + (Max / 2);
+ sum_ranging = 0;
+ total_count = 0;
+
+ while ((Repeat > 0) && (Status == VL53L1_ERROR_NONE)) {
+ Status = VL53L1_StartMeasurement(Dev);
+ if (Status == VL53L1_ERROR_NONE) {
+ VL53L1_WaitMeasurementDataReady(Dev);
+ VL53L1_GetRangingMeasurementData(Dev,
+ &RangingMeasurementData);
+ VL53L1_ClearInterruptAndStartMeasurement(Dev);
+ }
+ inloopcount = 0;
+ offset_meas = 0;
+ while ((Status == VL53L1_ERROR_NONE) && (inloopcount < Max) &&
+ (offset_meas < OverMax)) {
+ Status = VL53L1_WaitMeasurementDataReady(Dev);
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_GetRangingMeasurementData(Dev,
+ &RangingMeasurementData);
+ goodmeas = (RangingMeasurementData.RangeStatus ==
+ VL53L1_RANGESTATUS_RANGE_VALID);
+ if ((Status == VL53L1_ERROR_NONE) && goodmeas) {
+ sum_ranging = sum_ranging +
+ RangingMeasurementData.RangeMilliMeter;
+ inloopcount++;
+ }
+ Status = VL53L1_ClearInterruptAndStartMeasurement(Dev);
+ offset_meas++;
+ }
+ total_count += inloopcount;
+ if (inloopcount < UnderMax)
+ Status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
+ VL53L1_StopMeasurement(Dev);
+ Repeat--;
+ }
+ if ((SmudgeStatus == VL53L1_ERROR_NONE) && (smudge_corr_en == 1))
+ SmudgeStatus = VL53L1_dynamic_xtalk_correction_enable(Dev);
+ if ((sum_ranging < 0) ||
+ (sum_ranging > ((int32_t) total_count * 0xffff)))
+ Status = VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
+
+ if ((Status == VL53L1_ERROR_NONE) && (total_count > 0)) {
+ IncRounding = total_count / 2;
+ meanDistance_mm = (int16_t)
+ ((sum_ranging + IncRounding) / total_count);
+ offset = START_OFFSET - meanDistance_mm + ZeroDistanceOffset;
+ pdev->customer.algo__part_to_part_range_offset_mm = 0;
+ pdev->customer.mm_config__inner_offset_mm = offset;
+ pdev->customer.mm_config__outer_offset_mm = offset;
+ Status = VL53L1_set_customer_nvm_managed(Dev,
+ &(pdev->customer));
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_SetCalibrationData(VL53L1_DEV Dev,
+ VL53L1_CalibrationData_t *pCalibrationData)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_CustomerNvmManaged_t *pC;
+ VL53L1_calibration_data_t cal_data;
+ uint32_t x, IncomeVersion, CurrentVersion;
+ uint8_t CalStopsOn_cal_peak_rate_map = 0;
+ VL53L1_xtalk_calibration_results_t xtalk;
+ VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
+
+ LOG_FUNCTION_START("");
+
+ cal_data.struct_version = pCalibrationData->struct_version -
+ VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION;
+
+ IncomeVersion = pCalibrationData->struct_version;
+ CurrentVersion = VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION +
+ VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION;
+
+ if ((IncomeVersion < CurrentVersion) &&
+ ((IncomeVersion & 0xFFFFFF0F) ==
+ (CurrentVersion & 0xFFFFFF0F))) {
+ cal_data.struct_version =
+ VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION;
+ CalStopsOn_cal_peak_rate_map = 1;
+
+ pdev->tuning_parms.tp_hist_merge = 0;
+ }
+
+
+
+ memcpy(
+ &(cal_data.fmt_dmax_cal),
+ &(pCalibrationData->fmt_dmax_cal),
+ sizeof(VL53L1_dmax_calibration_data_t));
+
+
+ memcpy(
+ &(cal_data.cust_dmax_cal),
+ &(pCalibrationData->cust_dmax_cal),
+ sizeof(VL53L1_dmax_calibration_data_t));
+
+
+ memcpy(
+ &(cal_data.add_off_cal_data),
+ &(pCalibrationData->add_off_cal_data),
+ sizeof(VL53L1_additional_offset_cal_data_t));
+
+
+ memcpy(
+ &(cal_data.optical_centre),
+ &(pCalibrationData->optical_centre),
+ sizeof(VL53L1_optical_centre_t));
+
+
+ memcpy(
+ &(cal_data.xtalkhisto),
+ &(pCalibrationData->xtalkhisto),
+ sizeof(VL53L1_xtalk_histogram_data_t));
+
+
+ memcpy(
+ &(cal_data.gain_cal),
+ &(pCalibrationData->gain_cal),
+ sizeof(VL53L1_gain_calibration_data_t));
+
+
+ memcpy(
+ &(cal_data.cal_peak_rate_map),
+ &(pCalibrationData->cal_peak_rate_map),
+ sizeof(VL53L1_cal_peak_rate_map_t));
+
+
+ if (!CalStopsOn_cal_peak_rate_map)
+ memcpy(
+ &(cal_data.per_vcsel_cal_data),
+ &(pCalibrationData->per_vcsel_cal_data),
+ sizeof(VL53L1_per_vcsel_period_offset_cal_data_t));
+ else {
+ cal_data.per_vcsel_cal_data.short_a_offset_mm =
+ cal_data.per_vcsel_cal_data.short_b_offset_mm =
+ cal_data.per_vcsel_cal_data.medium_a_offset_mm =
+ cal_data.per_vcsel_cal_data.medium_b_offset_mm =
+ cal_data.per_vcsel_cal_data.long_a_offset_mm =
+ cal_data.per_vcsel_cal_data.long_b_offset_mm = 0;
+ }
+
+ pC = &pCalibrationData->customer;
+ x = pC->algo__crosstalk_compensation_plane_offset_kcps;
+ cal_data.customer.algo__crosstalk_compensation_plane_offset_kcps =
+ (uint16_t)(x&0x0000FFFF);
+
+ cal_data.customer.global_config__spad_enables_ref_0 =
+ pC->global_config__spad_enables_ref_0;
+ cal_data.customer.global_config__spad_enables_ref_1 =
+ pC->global_config__spad_enables_ref_1;
+ cal_data.customer.global_config__spad_enables_ref_2 =
+ pC->global_config__spad_enables_ref_2;
+ cal_data.customer.global_config__spad_enables_ref_3 =
+ pC->global_config__spad_enables_ref_3;
+ cal_data.customer.global_config__spad_enables_ref_4 =
+ pC->global_config__spad_enables_ref_4;
+ cal_data.customer.global_config__spad_enables_ref_5 =
+ pC->global_config__spad_enables_ref_5;
+ cal_data.customer.global_config__ref_en_start_select =
+ pC->global_config__ref_en_start_select;
+ cal_data.customer.ref_spad_man__num_requested_ref_spads =
+ pC->ref_spad_man__num_requested_ref_spads;
+ cal_data.customer.ref_spad_man__ref_location =
+ pC->ref_spad_man__ref_location;
+ cal_data.customer.algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ cal_data.customer.algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps;
+ cal_data.customer.ref_spad_char__total_rate_target_mcps =
+ pC->ref_spad_char__total_rate_target_mcps;
+ cal_data.customer.algo__part_to_part_range_offset_mm =
+ pC->algo__part_to_part_range_offset_mm;
+ cal_data.customer.mm_config__inner_offset_mm =
+ pC->mm_config__inner_offset_mm;
+ cal_data.customer.mm_config__outer_offset_mm =
+ pC->mm_config__outer_offset_mm;
+
+ Status = VL53L1_set_part_to_part_data(Dev, &cal_data);
+ if (Status != VL53L1_ERROR_NONE)
+ goto ENDFUNC;
+
+ Status = VL53L1_get_current_xtalk_settings(Dev, &xtalk);
+
+ if (Status != VL53L1_ERROR_NONE)
+ goto ENDFUNC;
+
+ xtalk.algo__crosstalk_compensation_plane_offset_kcps = x;
+
+ Status = VL53L1_set_tuning_parm(Dev,
+ VL53L1_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS,
+ x);
+
+
+ if (!CalStopsOn_cal_peak_rate_map)
+ memcpy(
+ &(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]),
+ &(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps[0]),
+ sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps));
+ else
+ memset(
+ &(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]), 0,
+ sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps));
+
+ Status = VL53L1_set_current_xtalk_settings(Dev, &xtalk);
+
+ENDFUNC:
+ LOG_FUNCTION_END(Status);
+ return Status;
+
+}
+
+VL53L1_Error VL53L1_GetCalibrationData(VL53L1_DEV Dev,
+ VL53L1_CalibrationData_t *pCalibrationData)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_calibration_data_t cal_data;
+ VL53L1_CustomerNvmManaged_t *pC;
+ VL53L1_customer_nvm_managed_t *pC2;
+ VL53L1_xtalk_calibration_results_t xtalk;
+ uint32_t tmp;
+ VL53L1_PresetModes PresetMode;
+
+ LOG_FUNCTION_START("");
+
+
+ Status = VL53L1_get_part_to_part_data(Dev, &cal_data);
+
+ pCalibrationData->struct_version = cal_data.struct_version +
+ VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION;
+
+
+ memcpy(
+ &(pCalibrationData->fmt_dmax_cal),
+ &(cal_data.fmt_dmax_cal),
+ sizeof(VL53L1_dmax_calibration_data_t));
+
+
+ memcpy(
+ &(pCalibrationData->cust_dmax_cal),
+ &(cal_data.cust_dmax_cal),
+ sizeof(VL53L1_dmax_calibration_data_t));
+
+
+ memcpy(
+ &(pCalibrationData->add_off_cal_data),
+ &(cal_data.add_off_cal_data),
+ sizeof(VL53L1_additional_offset_cal_data_t));
+
+
+ memcpy(
+ &(pCalibrationData->optical_centre),
+ &(cal_data.optical_centre),
+ sizeof(VL53L1_optical_centre_t));
+
+
+ memcpy(
+ &(pCalibrationData->xtalkhisto),
+ &(cal_data.xtalkhisto),
+ sizeof(VL53L1_xtalk_histogram_data_t));
+
+ memcpy(
+ &(pCalibrationData->gain_cal),
+ &(cal_data.gain_cal),
+ sizeof(VL53L1_gain_calibration_data_t));
+
+
+ memcpy(
+ &(pCalibrationData->cal_peak_rate_map),
+ &(cal_data.cal_peak_rate_map),
+ sizeof(VL53L1_cal_peak_rate_map_t));
+
+
+ memcpy(
+ &(pCalibrationData->per_vcsel_cal_data),
+ &(cal_data.per_vcsel_cal_data),
+ sizeof(VL53L1_per_vcsel_period_offset_cal_data_t));
+
+ pC = &pCalibrationData->customer;
+ pC2 = &cal_data.customer;
+ pC->global_config__spad_enables_ref_0 =
+ pC2->global_config__spad_enables_ref_0;
+ pC->global_config__spad_enables_ref_1 =
+ pC2->global_config__spad_enables_ref_1;
+ pC->global_config__spad_enables_ref_2 =
+ pC2->global_config__spad_enables_ref_2;
+ pC->global_config__spad_enables_ref_3 =
+ pC2->global_config__spad_enables_ref_3;
+ pC->global_config__spad_enables_ref_4 =
+ pC2->global_config__spad_enables_ref_4;
+ pC->global_config__spad_enables_ref_5 =
+ pC2->global_config__spad_enables_ref_5;
+ pC->global_config__ref_en_start_select =
+ pC2->global_config__ref_en_start_select;
+ pC->ref_spad_man__num_requested_ref_spads =
+ pC2->ref_spad_man__num_requested_ref_spads;
+ pC->ref_spad_man__ref_location =
+ pC2->ref_spad_man__ref_location;
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pC2->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pC2->algo__crosstalk_compensation_y_plane_gradient_kcps;
+ pC->ref_spad_char__total_rate_target_mcps =
+ pC2->ref_spad_char__total_rate_target_mcps;
+ pC->algo__part_to_part_range_offset_mm =
+ pC2->algo__part_to_part_range_offset_mm;
+ pC->mm_config__inner_offset_mm =
+ pC2->mm_config__inner_offset_mm;
+ pC->mm_config__outer_offset_mm =
+ pC2->mm_config__outer_offset_mm;
+
+ pC->algo__crosstalk_compensation_plane_offset_kcps =
+ (uint32_t)(
+ pC2->algo__crosstalk_compensation_plane_offset_kcps);
+
+ PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode);
+
+ if ((PresetMode == VL53L1_PRESETMODE_RANGING) ||
+ (PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) ||
+ (PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE)
+ ) {
+
+ Status = VL53L1_get_current_xtalk_settings(Dev, &xtalk);
+
+ if (Status != VL53L1_ERROR_NONE)
+ goto ENDFUNC;
+
+ tmp = xtalk.algo__crosstalk_compensation_plane_offset_kcps;
+ pC->algo__crosstalk_compensation_plane_offset_kcps = tmp;
+ tmp = xtalk.algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps = tmp;
+ tmp = xtalk.algo__crosstalk_compensation_y_plane_gradient_kcps;
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps = tmp;
+
+ memcpy(&(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps[0]),
+ &(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]),
+ sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps));
+ }
+ENDFUNC:
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_SetZoneCalibrationData(VL53L1_DEV Dev,
+ VL53L1_ZoneCalibrationData_t *pZoneCalibrationData)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_set_zone_calibration_data(Dev, pZoneCalibrationData);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+
+}
+
+VL53L1_Error VL53L1_GetZoneCalibrationData(VL53L1_DEV Dev,
+ VL53L1_ZoneCalibrationData_t *pZoneCalibrationData)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_get_zone_calibration_data(Dev, pZoneCalibrationData);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L1_Error VL53L1_GetOpticalCenter(VL53L1_DEV Dev,
+ FixPoint1616_t *pOpticalCenterX,
+ FixPoint1616_t *pOpticalCenterY)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_calibration_data_t CalibrationData;
+
+ LOG_FUNCTION_START("");
+
+ *pOpticalCenterX = 0;
+ *pOpticalCenterY = 0;
+ Status = VL53L1_get_part_to_part_data(Dev, &CalibrationData);
+ if (Status == VL53L1_ERROR_NONE) {
+ *pOpticalCenterX = VL53L1_FIXPOINT44TOFIXPOINT1616(
+ CalibrationData.optical_centre.x_centre);
+ *pOpticalCenterY = VL53L1_FIXPOINT44TOFIXPOINT1616(
+ CalibrationData.optical_centre.y_centre);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+
+
+
+
+VL53L1_Error VL53L1_SetThresholdConfig(VL53L1_DEV Dev,
+ VL53L1_DetectionConfig_t *pConfig)
+{
+#define BADTHRESBOUNDS(T) \
+ (((T.CrossMode == VL53L1_THRESHOLD_OUT_OF_WINDOW) || \
+ (T.CrossMode == VL53L1_THRESHOLD_IN_WINDOW)) && (T.Low > T.High))
+
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_GPIO_interrupt_config_t Cfg;
+ uint16_t g;
+ FixPoint1616_t gain, high1616, low1616;
+ VL53L1_LLDriverData_t *pdev;
+
+ LOG_FUNCTION_START("");
+
+ pdev = VL53L1DevStructGetLLDriverHandle(Dev);
+
+ Status = VL53L1_get_GPIO_interrupt_config(Dev, &Cfg);
+ if (Status != VL53L1_ERROR_NONE)
+ return Status;
+
+ if (pConfig->DetectionMode == VL53L1_DETECTION_NORMAL_RUN) {
+ Cfg.intr_new_measure_ready = 1;
+ Status = VL53L1_set_GPIO_interrupt_config_struct(Dev,
+ Cfg);
+ } else {
+ if (BADTHRESBOUNDS(pConfig->Distance))
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ if ((Status == VL53L1_ERROR_NONE) &&
+ (BADTHRESBOUNDS(pConfig->Rate)))
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ if (Status == VL53L1_ERROR_NONE) {
+ Cfg.intr_new_measure_ready = 0;
+ Cfg.intr_no_target = pConfig->IntrNoTarget;
+
+ g = pdev->gain_cal.standard_ranging_gain_factor;
+ if (g != 0) {
+
+ gain = (FixPoint1616_t) ((uint32_t)g << 5);
+ high1616 = (FixPoint1616_t) ((uint32_t)
+ pConfig->Distance.High << 16);
+ low1616 = (FixPoint1616_t) ((uint32_t)
+ pConfig->Distance.Low << 16);
+
+ high1616 = (high1616 + 32768) / gain;
+ low1616 = (low1616 + 32768) / gain;
+ Cfg.threshold_distance_high = (uint16_t)
+ (high1616 & 0xFFFF);
+ Cfg.threshold_distance_low = (uint16_t)
+ (low1616 & 0xFFFF);
+ }
+ Cfg.threshold_rate_high =
+ VL53L1_FIXPOINT1616TOFIXPOINT97(
+ pConfig->Rate.High);
+ Cfg.threshold_rate_low =
+ VL53L1_FIXPOINT1616TOFIXPOINT97(
+ pConfig->Rate.Low);
+
+ Cfg.intr_mode_distance = ConvertModeToLLD(
+ &Status,
+ pConfig->Distance.CrossMode);
+ if (Status == VL53L1_ERROR_NONE)
+ Cfg.intr_mode_rate = ConvertModeToLLD(
+ &Status,
+ pConfig->Rate.CrossMode);
+ }
+
+
+ if (Status == VL53L1_ERROR_NONE) {
+ Cfg.intr_combined_mode = 1;
+ switch (pConfig->DetectionMode) {
+ case VL53L1_DETECTION_DISTANCE_ONLY:
+ Cfg.threshold_rate_high = 0;
+ Cfg.threshold_rate_low = 0;
+ break;
+ case VL53L1_DETECTION_RATE_ONLY:
+ Cfg.threshold_distance_high = 0;
+ Cfg.threshold_distance_low = 0;
+ break;
+ case VL53L1_DETECTION_DISTANCE_OR_RATE:
+
+ break;
+ case VL53L1_DETECTION_DISTANCE_AND_RATE:
+ Cfg.intr_combined_mode = 0;
+ break;
+ default:
+ Status = VL53L1_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ if (Status == VL53L1_ERROR_NONE)
+ Status =
+ VL53L1_set_GPIO_interrupt_config_struct(Dev, Cfg);
+
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L1_Error VL53L1_GetThresholdConfig(VL53L1_DEV Dev,
+ VL53L1_DetectionConfig_t *pConfig)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ VL53L1_GPIO_interrupt_config_t Cfg;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L1_get_GPIO_interrupt_config(Dev, &Cfg);
+
+ if (Status != VL53L1_ERROR_NONE) {
+ LOG_FUNCTION_END(Status);
+ return Status;
+ }
+
+ pConfig->IntrNoTarget = Cfg.intr_no_target;
+ pConfig->Distance.High = Cfg.threshold_distance_high;
+ pConfig->Distance.Low = Cfg.threshold_distance_low;
+ pConfig->Rate.High =
+ VL53L1_FIXPOINT97TOFIXPOINT1616(
+ Cfg.threshold_rate_high);
+ pConfig->Rate.Low =
+ VL53L1_FIXPOINT97TOFIXPOINT1616(Cfg.threshold_rate_low);
+ pConfig->Distance.CrossMode =
+ ConvertModeFromLLD(&Status, Cfg.intr_mode_distance);
+ if (Status == VL53L1_ERROR_NONE)
+ pConfig->Rate.CrossMode =
+ ConvertModeFromLLD(&Status, Cfg.intr_mode_rate);
+
+ if (Cfg.intr_new_measure_ready == 1) {
+ pConfig->DetectionMode = VL53L1_DETECTION_NORMAL_RUN;
+ } else {
+
+ if (Status == VL53L1_ERROR_NONE) {
+ if (Cfg.intr_combined_mode == 0)
+ pConfig->DetectionMode =
+ VL53L1_DETECTION_DISTANCE_AND_RATE;
+ else {
+ if ((Cfg.threshold_distance_high == 0) &&
+ (Cfg.threshold_distance_low == 0))
+ pConfig->DetectionMode =
+ VL53L1_DETECTION_RATE_ONLY;
+ else if ((Cfg.threshold_rate_high == 0) &&
+ (Cfg.threshold_rate_low == 0))
+ pConfig->DetectionMode =
+ VL53L1_DETECTION_DISTANCE_ONLY;
+ else
+ pConfig->DetectionMode =
+ VL53L1_DETECTION_DISTANCE_OR_RATE;
+ }
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+
+
+VL53L1_Error VL53L1_PerformOffsetPerVcselCalibration(VL53L1_DEV Dev,
+ int32_t CalDistanceMilliMeter)
+{
+ VL53L1_Error Status = VL53L1_ERROR_NONE;
+ int32_t sum_ranging_range_A, sum_ranging_range_B;
+ uint8_t offset_meas_range_A, offset_meas_range_B;
+ int16_t Max, UnderMax, OverMax, Repeat;
+ int32_t inloopcount;
+ int32_t IncRounding;
+ int16_t meanDistance_mm;
+ VL53L1_RangingMeasurementData_t RangingMeasurementData;
+ VL53L1_LLDriverData_t *pdev;
+ uint8_t goodmeas;
+ VL53L1_PresetModes currentMode;
+ VL53L1_DistanceModes currentDist;
+ VL53L1_DistanceModes DistMode[3] = {VL53L1_DISTANCEMODE_SHORT,
+ VL53L1_DISTANCEMODE_MEDIUM, VL53L1_DISTANCEMODE_LONG};
+ int16_t offsetA[3];
+ int16_t offsetB[3];
+
+ VL53L1_Error SmudgeStatus = VL53L1_ERROR_NONE;
+ uint8_t smudge_corr_en, isc;
+
+ LOG_FUNCTION_START("");
+
+ pdev = VL53L1DevStructGetLLDriverHandle(Dev);
+
+ smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
+ SmudgeStatus = VL53L1_dynamic_xtalk_correction_disable(Dev);
+
+ pdev->customer.algo__part_to_part_range_offset_mm = 0;
+ pdev->customer.mm_config__inner_offset_mm = 0;
+ pdev->customer.mm_config__outer_offset_mm = 0;
+ pdev->customer.mm_config__outer_offset_mm = 0;
+ memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
+
+ Repeat = 0;
+ Max = 2 * BDTable[
+ VL53L1_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
+ UnderMax = 1 + (Max / 2);
+ OverMax = Max + (Max / 2);
+
+ Status = VL53L1_GetPresetMode(Dev, ¤tMode);
+ Status = VL53L1_GetDistanceMode(Dev, ¤tDist);
+
+ while ((Repeat < 3) && (Status == VL53L1_ERROR_NONE)) {
+ Status = VL53L1_SetDistanceMode(Dev, DistMode[Repeat]);
+ Status = VL53L1_StartMeasurement(Dev);
+
+ if (Status == VL53L1_ERROR_NONE) {
+ VL53L1_WaitMeasurementDataReady(Dev);
+ VL53L1_GetRangingMeasurementData(Dev,
+ &RangingMeasurementData);
+ VL53L1_ClearInterruptAndStartMeasurement(Dev);
+ }
+
+ inloopcount = 0;
+ offset_meas_range_A = 0;
+ sum_ranging_range_A = 0;
+ offset_meas_range_B = 0;
+ sum_ranging_range_B = 0;
+ while ((Status == VL53L1_ERROR_NONE) && (inloopcount < Max) &&
+ (inloopcount < OverMax)) {
+ Status = VL53L1_WaitMeasurementDataReady(Dev);
+ if (Status == VL53L1_ERROR_NONE)
+ Status = VL53L1_GetRangingMeasurementData(Dev,
+ &RangingMeasurementData);
+ goodmeas = (RangingMeasurementData.RangeStatus ==
+ VL53L1_RANGESTATUS_RANGE_VALID);
+ isc = pdev->ll_state.cfg_internal_stream_count;
+ if ((Status == VL53L1_ERROR_NONE) && goodmeas) {
+ if (isc & 0x01) {
+ sum_ranging_range_A +=
+ RangingMeasurementData.RangeMilliMeter;
+ offset_meas_range_A++;
+ } else {
+ sum_ranging_range_B +=
+ RangingMeasurementData.RangeMilliMeter;
+ offset_meas_range_B++;
+ }
+ inloopcount = offset_meas_range_A +
+ offset_meas_range_B;
+ }
+ Status = VL53L1_ClearInterruptAndStartMeasurement(Dev);
+ }
+
+
+ if (inloopcount < UnderMax)
+ Status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
+
+ VL53L1_StopMeasurement(Dev);
+
+
+ if ((sum_ranging_range_A < 0) ||
+ (sum_ranging_range_B < 0) ||
+ (sum_ranging_range_A >
+ ((int32_t) offset_meas_range_A * 0xffff)) ||
+ (sum_ranging_range_B >
+ ((int32_t) offset_meas_range_B * 0xffff))) {
+ Status = VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
+ }
+
+ if ((Status == VL53L1_ERROR_NONE) &&
+ (offset_meas_range_A > 0)) {
+ IncRounding = offset_meas_range_A / 2;
+ meanDistance_mm = (int16_t)
+ ((sum_ranging_range_A + IncRounding)
+ / offset_meas_range_A);
+ offsetA[Repeat] = (int16_t)
+ CalDistanceMilliMeter - meanDistance_mm;
+ }
+
+ if ((Status == VL53L1_ERROR_NONE) &&
+ (offset_meas_range_B > 0)) {
+ IncRounding = offset_meas_range_B / 2;
+ meanDistance_mm = (int16_t)
+ ((sum_ranging_range_B + IncRounding)
+ / offset_meas_range_B);
+ offsetB[Repeat] = (int16_t)
+ CalDistanceMilliMeter - meanDistance_mm;
+ }
+ Repeat++;
+ }
+
+ if ((SmudgeStatus == VL53L1_ERROR_NONE) && (smudge_corr_en == 1))
+ SmudgeStatus = VL53L1_dynamic_xtalk_correction_enable(Dev);
+
+ if (Status == VL53L1_ERROR_NONE) {
+ pdev->per_vcsel_cal_data.short_a_offset_mm = offsetA[0];
+ pdev->per_vcsel_cal_data.short_b_offset_mm = offsetB[0];
+ pdev->per_vcsel_cal_data.medium_a_offset_mm = offsetA[1];
+ pdev->per_vcsel_cal_data.medium_b_offset_mm = offsetB[1];
+ pdev->per_vcsel_cal_data.long_a_offset_mm = offsetA[2];
+ pdev->per_vcsel_cal_data.long_b_offset_mm = offsetB[2];
+ }
+
+ VL53L1_SetPresetMode(Dev, currentMode);
+ VL53L1_SetDistanceMode(Dev, currentDist);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+