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.
src/vl53l1_hist_algos_gen3.c
- Committer:
- lugandc
- Date:
- 2021-07-21
- Revision:
- 18:0696efe39d08
- Parent:
- 7:1add29d51e72
File content as of revision 18:0696efe39d08:
// SPDX-License-Identifier: BSD-3-Clause
/******************************************************************************
* Copyright (c) 2020, STMicroelectronics - All Rights Reserved
This file is part of VL53L1 Protected 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
******************************************************************************
*/
#include "vl53l1_types.h"
#include "vl53l1_platform_log.h"
#include "vl53l1_core_support.h"
#include "vl53l1_error_codes.h"
#include "vl53l1_hist_core.h"
#include "vl53l1_hist_algos_gen3.h"
#include "vl53l1_sigma_estimate.h"
#include "vl53l1_dmax.h"
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(VL53L1_TRACE_MODULE_HISTOGRAM, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(VL53L1_TRACE_MODULE_HISTOGRAM, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_HISTOGRAM,\
status, fmt, ##__VA_ARGS__)
#define trace_print(level, ...) \
_LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_HISTOGRAM, \
level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__)
void VL53L1_f_016(
VL53L1_hist_gen3_algo_private_data_t *palgo)
{
uint8_t lb = 0;
palgo->VL53L1_p_023 = VL53L1_HISTOGRAM_BUFFER_SIZE;
palgo->VL53L1_p_022 = 0;
palgo->VL53L1_p_024 = 0;
palgo->VL53L1_p_045 = 0;
palgo->VL53L1_p_004 = 0;
palgo->VL53L1_p_032 = 0;
for (lb = palgo->VL53L1_p_022; lb < palgo->VL53L1_p_023; lb++) {
palgo->VL53L1_p_043[lb] = 0;
palgo->VL53L1_p_046[lb] = 0;
palgo->VL53L1_p_047[lb] = 0;
palgo->VL53L1_p_048[lb] = 0;
palgo->VL53L1_p_008[lb] = 0;
}
palgo->VL53L1_p_049 = 0;
palgo->VL53L1_p_050 = VL53L1_D_001;
palgo->VL53L1_p_051 = 0;
VL53L1_init_histogram_bin_data_struct(
0,
VL53L1_HISTOGRAM_BUFFER_SIZE,
&(palgo->VL53L1_p_010));
VL53L1_init_histogram_bin_data_struct(
0,
VL53L1_HISTOGRAM_BUFFER_SIZE,
&(palgo->VL53L1_p_038));
VL53L1_init_histogram_bin_data_struct(
0,
VL53L1_HISTOGRAM_BUFFER_SIZE,
&(palgo->VL53L1_p_052));
VL53L1_init_histogram_bin_data_struct(
0,
VL53L1_HISTOGRAM_BUFFER_SIZE,
&(palgo->VL53L1_p_053));
VL53L1_init_histogram_bin_data_struct(
0,
VL53L1_HISTOGRAM_BUFFER_SIZE,
&(palgo->VL53L1_p_054));
}
VL53L1_Error VL53L1_f_018(
uint16_t ambient_threshold_events_scaler,
int32_t ambient_threshold_sigma,
int32_t min_ambient_threshold_events,
uint8_t algo__crosstalk_compensation_enable,
VL53L1_histogram_bin_data_t *pbins,
VL53L1_histogram_bin_data_t *pxtalk,
VL53L1_hist_gen3_algo_private_data_t *palgo)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
uint8_t lb = 0;
uint8_t VL53L1_p_001 = 0;
int64_t tmp = 0;
int32_t amb_events = 0;
int32_t VL53L1_p_008 = 0;
int32_t samples = 0;
LOG_FUNCTION_START("");
palgo->VL53L1_p_023 = pbins->VL53L1_p_023;
palgo->VL53L1_p_022 = pbins->VL53L1_p_022;
palgo->VL53L1_p_024 = pbins->VL53L1_p_024;
palgo->VL53L1_p_004 = pbins->VL53L1_p_004;
palgo->VL53L1_p_031 =
VL53L1_decode_vcsel_period(pbins->VL53L1_p_009);
tmp = (int64_t)pbins->VL53L1_p_004;
tmp *= (int64_t)ambient_threshold_events_scaler;
tmp += 2048;
tmp = do_division_s(tmp, 4096);
amb_events = (int32_t)tmp;
for (lb = 0; lb < pbins->VL53L1_p_024; lb++) {
VL53L1_p_001 = lb >> 2;
samples = (int32_t)pbins->bin_rep[VL53L1_p_001];
if (samples > 0) {
if (lb < pxtalk->VL53L1_p_024 &&
algo__crosstalk_compensation_enable > 0)
VL53L1_p_008 = samples * (amb_events +
pxtalk->bin_data[lb]);
else
VL53L1_p_008 = samples * amb_events;
VL53L1_p_008 = VL53L1_isqrt(VL53L1_p_008);
VL53L1_p_008 += (samples/2);
VL53L1_p_008 /= samples;
VL53L1_p_008 *= ambient_threshold_sigma;
VL53L1_p_008 += 8;
VL53L1_p_008 /= 16;
VL53L1_p_008 += amb_events;
if (VL53L1_p_008 < min_ambient_threshold_events)
VL53L1_p_008 = min_ambient_threshold_events;
palgo->VL53L1_p_056[lb] = VL53L1_p_008;
palgo->VL53L1_p_032 = VL53L1_p_008;
}
}
palgo->VL53L1_p_045 = 0;
for (lb = pbins->VL53L1_p_022; lb < pbins->VL53L1_p_024; lb++) {
if (pbins->bin_data[lb] > palgo->VL53L1_p_056[lb]) {
palgo->VL53L1_p_043[lb] = 1;
palgo->VL53L1_p_046[lb] = 1;
palgo->VL53L1_p_045++;
} else {
palgo->VL53L1_p_043[lb] = 0;
palgo->VL53L1_p_046[lb] = 0;
}
}
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_f_019(
VL53L1_hist_gen3_algo_private_data_t *palgo)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
uint8_t i = 0;
uint8_t j = 0;
uint8_t found = 0;
LOG_FUNCTION_START("");
palgo->VL53L1_p_049 = 0;
for (i = 0; i < palgo->VL53L1_p_031; i++) {
j = (i + 1) % palgo->VL53L1_p_031;
if (i < palgo->VL53L1_p_024 && j < palgo->VL53L1_p_024) {
if (palgo->VL53L1_p_046[i] == 0 &&
palgo->VL53L1_p_046[j] == 1 &&
found == 0) {
palgo->VL53L1_p_049 = i;
found = 1;
}
}
}
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_f_020(
VL53L1_hist_gen3_algo_private_data_t *palgo)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
uint8_t i = 0;
uint8_t j = 0;
uint8_t lb = 0;
LOG_FUNCTION_START("");
for (lb = palgo->VL53L1_p_049;
lb < (palgo->VL53L1_p_049 +
palgo->VL53L1_p_031);
lb++) {
i = lb % palgo->VL53L1_p_031;
j = (lb + 1) % palgo->VL53L1_p_031;
if (i < palgo->VL53L1_p_024 && j < palgo->VL53L1_p_024) {
if (palgo->VL53L1_p_046[i] == 0 &&
palgo->VL53L1_p_046[j] == 1)
palgo->VL53L1_p_051++;
if (palgo->VL53L1_p_046[i] > 0)
palgo->VL53L1_p_047[i] = palgo->VL53L1_p_051;
else
palgo->VL53L1_p_047[i] = 0;
}
}
if (palgo->VL53L1_p_051 > palgo->VL53L1_p_050)
palgo->VL53L1_p_051 = palgo->VL53L1_p_050;
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_f_021(
VL53L1_hist_gen3_algo_private_data_t *palgo)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
uint8_t i = 0;
uint8_t j = 0;
uint8_t blb = 0;
uint8_t pulse_no = 0;
uint8_t max_filter_half_width = 0;
VL53L1_hist_pulse_data_t *pdata;
LOG_FUNCTION_START("");
max_filter_half_width = palgo->VL53L1_p_031 - 1;
max_filter_half_width = max_filter_half_width >> 1;
for (blb = palgo->VL53L1_p_049;
blb < (palgo->VL53L1_p_049 +
palgo->VL53L1_p_031);
blb++) {
i = blb % palgo->VL53L1_p_031;
j = (blb + 1) % palgo->VL53L1_p_031;
if (i < palgo->VL53L1_p_024 &&
j < palgo->VL53L1_p_024) {
if (palgo->VL53L1_p_047[i] == 0 &&
palgo->VL53L1_p_047[j] > 0) {
pulse_no = palgo->VL53L1_p_047[j] - 1;
pdata = &(palgo->VL53L1_p_002[pulse_no]);
if (pulse_no < palgo->VL53L1_p_050) {
pdata->VL53L1_p_015 = blb;
pdata->VL53L1_p_022 = blb + 1;
pdata->VL53L1_p_025 = 0xFF;
pdata->VL53L1_p_026 = 0;
pdata->VL53L1_p_016 = 0;
}
}
if (palgo->VL53L1_p_047[i] > 0
&& palgo->VL53L1_p_047[j] == 0) {
pulse_no = palgo->VL53L1_p_047[i] - 1;
pdata = &(palgo->VL53L1_p_002[pulse_no]);
if (pulse_no < palgo->VL53L1_p_050) {
pdata->VL53L1_p_026 = blb;
pdata->VL53L1_p_016 = blb + 1;
pdata->VL53L1_p_027 =
(pdata->VL53L1_p_026 + 1) -
pdata->VL53L1_p_022;
pdata->VL53L1_p_055 =
(pdata->VL53L1_p_016 + 1) -
pdata->VL53L1_p_015;
if (pdata->VL53L1_p_055 >
max_filter_half_width)
pdata->VL53L1_p_055 =
max_filter_half_width;
}
}
}
}
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_f_028(
VL53L1_HistTargetOrder target_order,
VL53L1_hist_gen3_algo_private_data_t *palgo)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_hist_pulse_data_t tmp;
VL53L1_hist_pulse_data_t *ptmp = &tmp;
VL53L1_hist_pulse_data_t *p0;
VL53L1_hist_pulse_data_t *p1;
uint8_t i = 0;
uint8_t swapped = 1;
LOG_FUNCTION_START("");
if (!(palgo->VL53L1_p_051 > 1))
goto ENDFUNC;
while (swapped > 0) {
swapped = 0;
for (i = 1; i < palgo->VL53L1_p_051; i++) {
p0 = &(palgo->VL53L1_p_002[i-1]);
p1 = &(palgo->VL53L1_p_002[i]);
if (target_order
== VL53L1_HIST_TARGET_ORDER__STRONGEST_FIRST) {
if (p0->VL53L1_p_013 <
p1->VL53L1_p_013) {
memcpy(ptmp,
p1, sizeof(VL53L1_hist_pulse_data_t));
memcpy(p1,
p0, sizeof(VL53L1_hist_pulse_data_t));
memcpy(p0,
ptmp, sizeof(VL53L1_hist_pulse_data_t));
swapped = 1;
}
} else {
if (p0->VL53L1_p_014 > p1->VL53L1_p_014) {
memcpy(ptmp,
p1, sizeof(VL53L1_hist_pulse_data_t));
memcpy(p1,
p0, sizeof(VL53L1_hist_pulse_data_t));
memcpy(p0,
ptmp, sizeof(VL53L1_hist_pulse_data_t));
swapped = 1;
}
}
}
}
ENDFUNC:
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_f_022(
uint8_t pulse_no,
VL53L1_histogram_bin_data_t *pbins,
VL53L1_hist_gen3_algo_private_data_t *palgo)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
uint8_t i = 0;
uint8_t lb = 0;
VL53L1_hist_pulse_data_t *pdata = &(palgo->VL53L1_p_002[pulse_no]);
LOG_FUNCTION_START("");
pdata->VL53L1_p_021 = 0;
pdata->VL53L1_p_020 = 0;
for (lb = pdata->VL53L1_p_015; lb <= pdata->VL53L1_p_016; lb++) {
i = lb % palgo->VL53L1_p_031;
pdata->VL53L1_p_021 += pbins->bin_data[i];
pdata->VL53L1_p_020 += palgo->VL53L1_p_004;
}
pdata->VL53L1_p_013 =
pdata->VL53L1_p_021 - pdata->VL53L1_p_020;
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_f_027(
uint8_t pulse_no,
uint8_t clip_events,
VL53L1_histogram_bin_data_t *pbins,
VL53L1_hist_gen3_algo_private_data_t *palgo)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
uint8_t i = 0;
int16_t VL53L1_p_015 = 0;
int16_t VL53L1_p_016 = 0;
int16_t window_width = 0;
uint32_t tmp_phase = 0;
VL53L1_hist_pulse_data_t *pdata = &(palgo->VL53L1_p_002[pulse_no]);
LOG_FUNCTION_START("");
i = pdata->VL53L1_p_025 % palgo->VL53L1_p_031;
VL53L1_p_015 = (int16_t)i;
VL53L1_p_015 += (int16_t)pdata->VL53L1_p_015;
VL53L1_p_015 -= (int16_t)pdata->VL53L1_p_025;
VL53L1_p_016 = (int16_t)i;
VL53L1_p_016 += (int16_t)pdata->VL53L1_p_016;
VL53L1_p_016 -= (int16_t)pdata->VL53L1_p_025;
window_width = VL53L1_p_016 - VL53L1_p_015;
if (window_width > 3)
window_width = 3;
status =
VL53L1_f_030(
VL53L1_p_015,
VL53L1_p_015 + window_width,
palgo->VL53L1_p_031,
clip_events,
pbins,
&(pdata->VL53L1_p_028));
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_f_030(
VL53L1_p_016 - window_width,
VL53L1_p_016,
palgo->VL53L1_p_031,
clip_events,
pbins,
&(pdata->VL53L1_p_029));
if (pdata->VL53L1_p_028 > pdata->VL53L1_p_029) {
tmp_phase = pdata->VL53L1_p_028;
pdata->VL53L1_p_028 = pdata->VL53L1_p_029;
pdata->VL53L1_p_029 = tmp_phase;
}
if (pdata->VL53L1_p_014 < pdata->VL53L1_p_028)
pdata->VL53L1_p_028 = pdata->VL53L1_p_014;
if (pdata->VL53L1_p_014 > pdata->VL53L1_p_029)
pdata->VL53L1_p_029 = pdata->VL53L1_p_014;
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_f_030(
int16_t VL53L1_p_022,
int16_t VL53L1_p_026,
uint8_t VL53L1_p_031,
uint8_t clip_events,
VL53L1_histogram_bin_data_t *pbins,
uint32_t *pphase)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
int16_t i = 0;
int16_t lb = 0;
int64_t VL53L1_p_008 = 0;
int64_t event_sum = 0;
int64_t weighted_sum = 0;
LOG_FUNCTION_START("");
*pphase = VL53L1_MAX_ALLOWED_PHASE;
if (VL53L1_p_031 == 0)
return VL53L1_ERROR_DIVISION_BY_ZERO;
else
for (lb = VL53L1_p_022; lb <= VL53L1_p_026; lb++) {
if (lb < 0)
i = lb + (int16_t)VL53L1_p_031;
else
i = lb % (int16_t)VL53L1_p_031;
if ((i >= 0) && (i < VL53L1_HISTOGRAM_BUFFER_SIZE)) {
VL53L1_p_008 =
(int64_t)pbins->bin_data[i] -
(int64_t)pbins->VL53L1_p_004;
if (clip_events > 0 && VL53L1_p_008 < 0)
VL53L1_p_008 = 0;
event_sum += VL53L1_p_008;
weighted_sum +=
(VL53L1_p_008 * (1024 + (2048*(int64_t)lb)));
}
trace_print(
VL53L1_TRACE_LEVEL_INFO,
"\tb = %5d : i = %5d : VL53L1_p_008 = %8d,",
lb, i, VL53L1_p_008);
trace_print(
VL53L1_TRACE_LEVEL_INFO,
" event_sum = %8d, weighted_sum = %8d\n",
event_sum, weighted_sum);
}
if (event_sum > 0) {
weighted_sum += do_division_s(event_sum, 2);
weighted_sum = do_division_s(weighted_sum, event_sum);
if (weighted_sum < 0)
weighted_sum = 0;
*pphase = (uint32_t)weighted_sum;
}
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_f_023(
uint8_t pulse_no,
VL53L1_histogram_bin_data_t *pbins,
VL53L1_hist_gen3_algo_private_data_t *palgo,
int32_t pad_value,
VL53L1_histogram_bin_data_t *ppulse)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
uint8_t i = 0;
uint8_t lb = 0;
VL53L1_hist_pulse_data_t *pdata = &(palgo->VL53L1_p_002[pulse_no]);
LOG_FUNCTION_START("");
memcpy(ppulse, pbins, sizeof(VL53L1_histogram_bin_data_t));
for (lb = palgo->VL53L1_p_049;
lb < (palgo->VL53L1_p_049 +
palgo->VL53L1_p_031);
lb++) {
if (lb < pdata->VL53L1_p_015 || lb > pdata->VL53L1_p_016) {
i = lb % palgo->VL53L1_p_031;
if (i < ppulse->VL53L1_p_024)
ppulse->bin_data[i] = pad_value;
}
}
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_f_026(
uint8_t bin,
uint8_t sigma_estimator__sigma_ref_mm,
uint8_t VL53L1_p_031,
uint8_t VL53L1_p_055,
uint8_t crosstalk_compensation_enable,
VL53L1_histogram_bin_data_t *phist_data_ap,
VL53L1_histogram_bin_data_t *phist_data_zp,
VL53L1_histogram_bin_data_t *pxtalk_hist,
uint16_t *psigma_est)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_Error func_status = VL53L1_ERROR_NONE;
uint8_t i = 0;
int32_t VL53L1_p_003 = 0;
int32_t VL53L1_p_018 = 0;
int32_t VL53L1_p_001 = 0;
int32_t a_zp = 0;
int32_t c_zp = 0;
int32_t ax = 0;
int32_t bx = 0;
int32_t cx = 0;
if (VL53L1_p_031 == 0) {
*psigma_est = 0xFFFF;
return VL53L1_ERROR_DIVISION_BY_ZERO;
}
i = bin % VL53L1_p_031;
VL53L1_f_013(
i,
VL53L1_p_055,
phist_data_zp,
&a_zp,
&VL53L1_p_018,
&c_zp);
VL53L1_f_013(
i,
VL53L1_p_055,
phist_data_ap,
&VL53L1_p_003,
&VL53L1_p_018,
&VL53L1_p_001);
if (crosstalk_compensation_enable > 0)
VL53L1_f_013(
i,
VL53L1_p_055,
pxtalk_hist,
&ax,
&bx,
&cx);
func_status =
VL53L1_f_014(
sigma_estimator__sigma_ref_mm,
(uint32_t)VL53L1_p_003,
(uint32_t)VL53L1_p_018,
(uint32_t)VL53L1_p_001,
(uint32_t)a_zp,
(uint32_t)c_zp,
(uint32_t)bx,
(uint32_t)ax,
(uint32_t)cx,
(uint32_t)phist_data_ap->VL53L1_p_004,
phist_data_ap->VL53L1_p_019,
psigma_est);
if (func_status == VL53L1_ERROR_DIVISION_BY_ZERO)
*psigma_est = 0xFFFF;
return status;
}
void VL53L1_f_029(
uint8_t range_id,
uint8_t valid_phase_low,
uint8_t valid_phase_high,
uint16_t sigma_thres,
VL53L1_histogram_bin_data_t *pbins,
VL53L1_hist_pulse_data_t *ppulse,
VL53L1_range_data_t *pdata)
{
uint16_t lower_phase_limit = 0;
uint16_t upper_phase_limit = 0;
pdata->range_id = range_id;
pdata->time_stamp = 0;
pdata->VL53L1_p_015 = ppulse->VL53L1_p_015;
pdata->VL53L1_p_022 = ppulse->VL53L1_p_022;
pdata->VL53L1_p_025 = ppulse->VL53L1_p_025;
pdata->VL53L1_p_026 = ppulse->VL53L1_p_026;
pdata->VL53L1_p_016 = ppulse->VL53L1_p_016;
pdata->VL53L1_p_027 = ppulse->VL53L1_p_027;
pdata->VL53L1_p_030 =
(ppulse->VL53L1_p_016 + 1) - ppulse->VL53L1_p_015;
pdata->zero_distance_phase = pbins->zero_distance_phase;
pdata->VL53L1_p_005 = ppulse->VL53L1_p_005;
pdata->VL53L1_p_028 = (uint16_t)ppulse->VL53L1_p_028;
pdata->VL53L1_p_014 = (uint16_t)ppulse->VL53L1_p_014;
pdata->VL53L1_p_029 = (uint16_t)ppulse->VL53L1_p_029;
pdata->VL53L1_p_021 = (uint32_t)ppulse->VL53L1_p_021;
pdata->VL53L1_p_013 = ppulse->VL53L1_p_013;
pdata->VL53L1_p_020 = (uint32_t)ppulse->VL53L1_p_020;
pdata->total_periods_elapsed = pbins->total_periods_elapsed;
pdata->range_status = VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK;
if (sigma_thres > 0 &&
(uint32_t)ppulse->VL53L1_p_005 > ((uint32_t)sigma_thres << 5))
pdata->range_status = VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK;
lower_phase_limit = (uint8_t)valid_phase_low << 8;
if (lower_phase_limit < pdata->zero_distance_phase)
lower_phase_limit =
pdata->zero_distance_phase -
lower_phase_limit;
else
lower_phase_limit = 0;
upper_phase_limit = (uint8_t)valid_phase_high << 8;
upper_phase_limit += pbins->zero_distance_phase;
if (pdata->VL53L1_p_014 < lower_phase_limit ||
pdata->VL53L1_p_014 > upper_phase_limit)
pdata->range_status = VL53L1_DEVICEERROR_RANGEPHASECHECK;
}