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_api_calibration.c
- Committer:
- Charles MacNeill
- Date:
- 2021-06-08
- Revision:
- 7:1add29d51e72
- Parent:
- 0:3ac96e360672
- Child:
- 18:0696efe39d08
File content as of revision 7:1add29d51e72:
// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
/******************************************************************************
* Copyright (c) 2020, STMicroelectronics - All Rights Reserved
This file is part of VL53L1 and is dual licensed,
either GPL-2.0+
or 'BSD 3-clause "New" or "Revised" License' , at your option.
******************************************************************************
*/
#include "vl53l1_ll_def.h"
#include "vl53l1_ll_device.h"
#include "vl53l1_platform.h"
#include "vl53l1_platform_ipp.h"
#include "vl53l1_register_map.h"
#include "vl53l1_register_funcs.h"
#include "vl53l1_register_settings.h"
#include "vl53l1_hist_map.h"
#include "vl53l1_hist_structs.h"
#include "vl53l1_core.h"
#include "vl53l1_wait.h"
#include "vl53l1_api_preset_modes.h"
#include "vl53l1_silicon_core.h"
#include "vl53l1_api_core.h"
#include "vl53l1_api_calibration.h"
#ifdef VL53L1_LOG_ENABLE
#include "vl53l1_api_debug.h"
#endif
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, \
fmt, ##__VA_ARGS__)
#define trace_print(level, ...) \
_LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_CORE, \
level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__)
VL53L1_Error VL53L1_run_ref_spad_char(
VL53L1_DEV Dev,
VL53L1_Error *pcal_status)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
uint8_t comms_buffer[6];
VL53L1_refspadchar_config_t *prefspadchar = &(pdev->refspadchar);
LOG_FUNCTION_START("");
if (status == VL53L1_ERROR_NONE)
status = VL53L1_enable_powerforce(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_set_ref_spad_char_config(
Dev,
prefspadchar->VL53L1_p_009,
prefspadchar->timeout_us,
prefspadchar->target_count_rate_mcps,
prefspadchar->max_count_rate_limit_mcps,
prefspadchar->min_count_rate_limit_mcps,
pdev->stat_nvm.osc_measured__fast_osc__frequency);
if (status == VL53L1_ERROR_NONE)
status = VL53L1_run_device_test(
Dev,
prefspadchar->device_test_mode);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_ReadMulti(
Dev,
VL53L1_REF_SPAD_CHAR_RESULT__NUM_ACTUAL_REF_SPADS,
comms_buffer,
2);
if (status == VL53L1_ERROR_NONE) {
pdev->dbg_results.ref_spad_char_result__num_actual_ref_spads =
comms_buffer[0];
pdev->dbg_results.ref_spad_char_result__ref_location =
comms_buffer[1];
}
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_WriteMulti(
Dev,
VL53L1_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS,
comms_buffer,
2);
if (status == VL53L1_ERROR_NONE) {
pdev->customer.ref_spad_man__num_requested_ref_spads =
comms_buffer[0];
pdev->customer.ref_spad_man__ref_location =
comms_buffer[1];
}
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_ReadMulti(
Dev,
VL53L1_RESULT__SPARE_0_SD1,
comms_buffer,
6);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_WriteMulti(
Dev,
VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0,
comms_buffer,
6);
if (status == VL53L1_ERROR_NONE) {
pdev->customer.global_config__spad_enables_ref_0 =
comms_buffer[0];
pdev->customer.global_config__spad_enables_ref_1 =
comms_buffer[1];
pdev->customer.global_config__spad_enables_ref_2 =
comms_buffer[2];
pdev->customer.global_config__spad_enables_ref_3 =
comms_buffer[3];
pdev->customer.global_config__spad_enables_ref_4 =
comms_buffer[4];
pdev->customer.global_config__spad_enables_ref_5 =
comms_buffer[5];
}
#ifdef VL53L1_LOG_ENABLE
if (status == VL53L1_ERROR_NONE)
VL53L1_print_customer_nvm_managed(
&(pdev->customer),
"run_ref_spad_char():pdev->lldata.customer.",
VL53L1_TRACE_MODULE_REF_SPAD_CHAR);
#endif
if (status == VL53L1_ERROR_NONE) {
switch (pdev->sys_results.result__range_status) {
case VL53L1_DEVICEERROR_REFSPADCHARNOTENOUGHDPADS:
status = VL53L1_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS;
break;
case VL53L1_DEVICEERROR_REFSPADCHARMORETHANTARGET:
status = VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH;
break;
case VL53L1_DEVICEERROR_REFSPADCHARLESSTHANTARGET:
status = VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW;
break;
}
}
*pcal_status = status;
IGNORE_STATUS(
IGNORE_REF_SPAD_CHAR_NOT_ENOUGH_SPADS,
VL53L1_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS,
status);
IGNORE_STATUS(
IGNORE_REF_SPAD_CHAR_RATE_TOO_HIGH,
VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH,
status);
IGNORE_STATUS(
IGNORE_REF_SPAD_CHAR_RATE_TOO_LOW,
VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW,
status);
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_run_xtalk_extraction(
VL53L1_DEV Dev,
VL53L1_Error *pcal_status)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev =
VL53L1DevStructGetLLDriverHandle(Dev);
VL53L1_xtalkextract_config_t *pX = &(pdev->xtalk_extract_cfg);
VL53L1_xtalk_config_t *pC = &(pdev->xtalk_cfg);
VL53L1_xtalk_calibration_results_t *pXC = &(pdev->xtalk_cal);
uint8_t results_invalid = 0;
uint8_t i = 0;
uint16_t tmp16 = 0;
uint8_t measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK;
LOG_FUNCTION_START("");
VL53L1_init_histogram_bin_data_struct(
0,
(uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE,
&(pdev->xtalk_results.central_histogram_avg));
VL53L1_init_histogram_bin_data_struct(
0,
(uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE,
&(pdev->xtalk_results.central_histogram_sum));
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_set_preset_mode(
Dev,
VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_PLANAR,
pX->dss_config__target_total_rate_mcps,
pX->phasecal_config_timeout_us,
pX->mm_config_timeout_us,
pX->range_config_timeout_us,
100);
if (status == VL53L1_ERROR_NONE)
status = VL53L1_disable_xtalk_compensation(Dev);
pdev->xtalk_results.max_results = VL53L1_MAX_XTALK_RANGE_RESULTS;
pdev->xtalk_results.active_results = pdev->zone_cfg.active_zones+1;
pdev->xtalk_results.central_histogram__window_start = 0xFF;
pdev->xtalk_results.central_histogram__window_end = 0x00;
pdev->xtalk_results.num_of_samples_status = 0x00;
pdev->xtalk_results.zero_samples_status = 0x00;
pdev->xtalk_results.max_sigma_status = 0x00;
for (i = 0; i < pdev->xtalk_results.max_results; i++) {
pdev->xtalk_results.VL53L1_p_002[i].no_of_samples = 0;
pdev->xtalk_results.VL53L1_p_002[i].signal_total_events_avg = 0;
pdev->xtalk_results.VL53L1_p_002[i].signal_total_events_sum = 0;
pdev->xtalk_results.VL53L1_p_002[i].rate_per_spad_kcps_sum = 0;
pdev->xtalk_results.VL53L1_p_002[i].rate_per_spad_kcps_avg = 0;
pdev->xtalk_results.VL53L1_p_002[i].sigma_mm_sum = 0;
pdev->xtalk_results.VL53L1_p_002[i].sigma_mm_avg = 0;
pdev->xtalk_results.VL53L1_p_002[i].median_phase_sum = 0;
pdev->xtalk_results.VL53L1_p_002[i].median_phase_avg = 0;
}
if (status == VL53L1_ERROR_NONE) {
status =
VL53L1_get_and_avg_xtalk_samples(
Dev,
pX->num_of_samples,
measurement_mode,
pX->algo__crosstalk_extract_max_valid_range_mm,
pX->algo__crosstalk_extract_min_valid_range_mm,
pX->algo__crosstalk_extract_max_valid_rate_kcps,
0x0,
0x4,
&(pdev->xtalk_results),
&(pdev->xtalk_results.central_histogram_sum),
&(pdev->xtalk_results.central_histogram_avg));
}
if (status == VL53L1_ERROR_NONE)
if ((pdev->xtalk_results.VL53L1_p_002[4].no_of_samples == 0) ||
(pdev->xtalk_results.VL53L1_p_002[4].sigma_mm_avg >
((uint32_t)pX->algo__crosstalk_extract_max_sigma_mm
<< 5)))
results_invalid = 0x01;
#ifdef VL53L1_LOG_ENABLE
if (status == VL53L1_ERROR_NONE)
VL53L1_print_xtalk_range_results(
&(pdev->xtalk_results),
"pdev->xtalk_results",
VL53L1_TRACE_MODULE_CORE);
#endif
if ((status == VL53L1_ERROR_NONE) && (results_invalid == 0)) {
status =
VL53L1_ipp_xtalk_calibration_process_data(
Dev,
&(pdev->xtalk_results),
&(pdev->xtalk_shapes),
&(pdev->xtalk_cal));
}
if ((status == VL53L1_ERROR_NONE) && (results_invalid == 0)) {
for (i = 0; i < VL53L1_BIN_REC_SIZE; i++)
pXC->algo__xtalk_cpo_HistoMerge_kcps[i] =
pXC->algo__crosstalk_compensation_plane_offset_kcps;
pC->algo__crosstalk_compensation_x_plane_gradient_kcps =
pXC->algo__crosstalk_compensation_x_plane_gradient_kcps;
pC->algo__crosstalk_compensation_y_plane_gradient_kcps =
pXC->algo__crosstalk_compensation_y_plane_gradient_kcps;
pC->algo__crosstalk_compensation_plane_offset_kcps =
pXC->algo__crosstalk_compensation_plane_offset_kcps;
}
if (status == VL53L1_ERROR_NONE)
status = VL53L1_enable_xtalk_compensation(Dev);
if (status == VL53L1_ERROR_NONE) {
for (i = 0; i < pdev->xtalk_results.max_results; i++) {
if (pdev->xtalk_results.VL53L1_p_002[i].no_of_samples !=
pX->num_of_samples) {
pdev->xtalk_results.num_of_samples_status =
pdev->xtalk_results.num_of_samples_status |
(1 << i);
}
if (pdev->xtalk_results.VL53L1_p_002[i].no_of_samples ==
0x00) {
pdev->xtalk_results.zero_samples_status =
pdev->xtalk_results.zero_samples_status |
(1 << i);
}
tmp16 = pX->algo__crosstalk_extract_max_sigma_mm;
if (pdev->xtalk_results.VL53L1_p_002[i].sigma_mm_avg >
((uint32_t)tmp16 << 5)) {
pdev->xtalk_results.max_sigma_status =
pdev->xtalk_results.max_sigma_status |
(1 << i);
}
}
}
if (results_invalid > 0) {
if (pdev->xtalk_results.VL53L1_p_002[4].no_of_samples == 0) {
status = VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL;
} else {
if (pdev->xtalk_results.VL53L1_p_002[4].sigma_mm_avg >
(((uint32_t)pX->algo__crosstalk_extract_max_sigma_mm)
<< 5)) {
status =
VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL;
}
}
} else {
if (pdev->xtalk_results.zero_samples_status != 0x00) {
status = VL53L1_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT;
} else {
if (pdev->xtalk_results.max_sigma_status != 0x00) {
status =
VL53L1_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT;
} else {
if (pdev->xtalk_results.num_of_samples_status !=
0x00)
status =
VL53L1_WARNING_XTALK_MISSING_SAMPLES;
}
}
}
pdev->xtalk_results.cal_status = status;
*pcal_status = pdev->xtalk_results.cal_status;
IGNORE_STATUS(
IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FAIL,
VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL,
status);
IGNORE_STATUS(
IGNORE_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL,
VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL,
status);
IGNORE_STATUS(
IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FOR_GRADIENT_WARN,
VL53L1_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT,
status);
IGNORE_STATUS(
IGNORE_XTALK_EXTRACTION_SIGMA_LIMIT_FOR_GRADIENT_WARN,
VL53L1_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT,
status);
IGNORE_STATUS(
IGNORE_XTALK_EXTRACTION_MISSING_SAMPLES_WARN,
VL53L1_WARNING_XTALK_MISSING_SAMPLES,
status);
#ifdef VL53L1_LOG_ENABLE
VL53L1_print_customer_nvm_managed(
&(pdev->customer),
"run_xtalk_extraction():pdev->lldata.customer.",
VL53L1_TRACE_MODULE_XTALK_DATA);
VL53L1_print_xtalk_config(
&(pdev->xtalk_cfg),
"run_xtalk_extraction():pdev->lldata.xtalk_cfg.",
VL53L1_TRACE_MODULE_XTALK_DATA);
VL53L1_print_xtalk_extract_config(
&(pdev->xtalk_extract_cfg),
"run_xtalk_extraction():pdev->lldata.xtalk_extract_cfg.",
VL53L1_TRACE_MODULE_XTALK_DATA);
VL53L1_print_histogram_bin_data(
&(pdev->hist_data),
"run_xtalk_extraction():pdev->lldata.hist_data.",
VL53L1_TRACE_MODULE_XTALK_DATA);
VL53L1_print_xtalk_histogram_data(
&(pdev->xtalk_shapes),
"pdev->lldata.xtalk_shapes.",
VL53L1_TRACE_MODULE_XTALK_DATA);
VL53L1_print_xtalk_range_results(
&(pdev->xtalk_results),
"run_xtalk_extraction():pdev->lldata.xtalk_results.",
VL53L1_TRACE_MODULE_XTALK_DATA);
#endif
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_get_and_avg_xtalk_samples(
VL53L1_DEV Dev,
uint8_t num_of_samples,
uint8_t measurement_mode,
int16_t xtalk_filter_thresh_max_mm,
int16_t xtalk_filter_thresh_min_mm,
uint16_t xtalk_max_valid_rate_kcps,
uint8_t xtalk_result_id,
uint8_t xtalk_histo_id,
VL53L1_xtalk_range_results_t *pXR,
VL53L1_histogram_bin_data_t *psum_histo,
VL53L1_histogram_bin_data_t *pavg_histo)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev =
VL53L1DevStructGetLLDriverHandle(Dev);
#ifdef VL53L1_LOG_ENABLE
VL53L1_LLDriverResults_t *pres =
VL53L1DevStructGetLLResultsHandle(Dev);
#endif
VL53L1_range_results_t *prs =
(VL53L1_range_results_t *) pdev->wArea1;
VL53L1_range_data_t *prange_data;
VL53L1_xtalk_range_data_t *pxtalk_range_data;
uint8_t i = 0;
uint8_t j = 0;
uint8_t zone_id = 0;
uint8_t final_zone = pdev->zone_cfg.active_zones+1;
uint8_t valid_result;
uint8_t smudge_corr_en = 0;
smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
status = VL53L1_dynamic_xtalk_correction_disable(Dev);
VL53L1_load_patch(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_init_and_start_range(
Dev,
measurement_mode,
VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS);
for (i = 0; i <= (final_zone*num_of_samples); i++) {
if (status == VL53L1_ERROR_NONE)
status = VL53L1_wait_for_range_completion(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_get_device_results(
Dev,
VL53L1_DEVICERESULTSLEVEL_FULL,
prs);
if (status == VL53L1_ERROR_NONE &&
pdev->ll_state.rd_device_state !=
VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC) {
zone_id = pdev->ll_state.rd_zone_id + xtalk_result_id;
prange_data = &(prs->VL53L1_p_002[0]);
if (prs->active_results > 1) {
for (j = 1;
j < prs->active_results; j++) {
if (prs->VL53L1_p_002[j].median_range_mm
<
prange_data->median_range_mm)
prange_data =
&(prs->VL53L1_p_002[j]);
}
}
pxtalk_range_data = &(pXR->VL53L1_p_002[zone_id]);
if ((prs->active_results > 0) &&
(prange_data->median_range_mm <
xtalk_filter_thresh_max_mm) &&
(prange_data->median_range_mm >
xtalk_filter_thresh_min_mm) &&
(prange_data->VL53L1_p_012 <
(uint32_t)(xtalk_max_valid_rate_kcps * 16)))
valid_result = 1;
else
valid_result = 0;
if (valid_result == 1) {
pxtalk_range_data->no_of_samples++;
pxtalk_range_data->rate_per_spad_kcps_sum +=
prange_data->VL53L1_p_012;
pxtalk_range_data->signal_total_events_sum +=
prange_data->VL53L1_p_013;
pxtalk_range_data->sigma_mm_sum +=
(uint32_t)prange_data->VL53L1_p_005;
pxtalk_range_data->median_phase_sum +=
(uint32_t)prange_data->VL53L1_p_014;
}
if ((valid_result == 1) && (zone_id >= 4)) {
status = VL53L1_sum_histogram_data(
&(pdev->hist_data),
psum_histo);
if (prange_data->VL53L1_p_015 <
pXR->central_histogram__window_start)
pXR->central_histogram__window_start =
prange_data->VL53L1_p_015;
if (prange_data->VL53L1_p_016 >
pXR->central_histogram__window_end)
pXR->central_histogram__window_end =
prange_data->VL53L1_p_016;
}
}
#ifdef VL53L1_LOG_ENABLE
if (status == VL53L1_ERROR_NONE) {
VL53L1_print_range_results(
&(pres->range_results),
"pres->range_results.",
VL53L1_TRACE_MODULE_CORE);
}
#endif
if (status == VL53L1_ERROR_NONE)
status = VL53L1_wait_for_firmware_ready(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_clear_interrupt_and_enable_next_range(
Dev,
measurement_mode);
}
if (status == VL53L1_ERROR_NONE)
status = VL53L1_stop_range(Dev);
VL53L1_unload_patch(Dev);
for (i = 0; i < (pdev->zone_cfg.active_zones+1); i++) {
pxtalk_range_data = &(pXR->VL53L1_p_002[i+xtalk_result_id]);
if (pxtalk_range_data->no_of_samples > 0) {
pxtalk_range_data->rate_per_spad_kcps_avg =
pxtalk_range_data->rate_per_spad_kcps_sum /
(uint32_t)pxtalk_range_data->no_of_samples;
pxtalk_range_data->signal_total_events_avg =
pxtalk_range_data->signal_total_events_sum /
(int32_t)pxtalk_range_data->no_of_samples;
pxtalk_range_data->sigma_mm_avg =
pxtalk_range_data->sigma_mm_sum /
(uint32_t)pxtalk_range_data->no_of_samples;
pxtalk_range_data->median_phase_avg =
pxtalk_range_data->median_phase_sum /
(uint32_t)pxtalk_range_data->no_of_samples;
} else {
pxtalk_range_data->rate_per_spad_kcps_avg =
pxtalk_range_data->rate_per_spad_kcps_sum;
pxtalk_range_data->signal_total_events_avg =
pxtalk_range_data->signal_total_events_sum;
pxtalk_range_data->sigma_mm_avg =
pxtalk_range_data->sigma_mm_sum;
pxtalk_range_data->median_phase_avg =
pxtalk_range_data->median_phase_sum;
}
}
memcpy(pavg_histo, &(pdev->hist_data),
sizeof(VL53L1_histogram_bin_data_t));
if (status == VL53L1_ERROR_NONE) {
pxtalk_range_data = &(pXR->VL53L1_p_002[xtalk_histo_id]);
status = VL53L1_avg_histogram_data(
pxtalk_range_data->no_of_samples,
psum_histo,
pavg_histo);
}
if (status == VL53L1_ERROR_NONE) {
if (smudge_corr_en == 1)
status = VL53L1_dynamic_xtalk_correction_enable(Dev);
}
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_run_offset_calibration(
VL53L1_DEV Dev,
int16_t cal_distance_mm,
uint16_t cal_reflectance_pc,
VL53L1_Error *pcal_status)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev =
VL53L1DevStructGetLLDriverHandle(Dev);
VL53L1_DevicePresetModes device_preset_modes[
VL53L1_MAX_OFFSET_RANGE_RESULTS];
VL53L1_range_results_t *prange_results =
(VL53L1_range_results_t *) pdev->wArea1;
VL53L1_range_data_t *pRData = NULL;
VL53L1_offset_range_data_t *pfs = NULL;
VL53L1_general_config_t *pG = &(pdev->gen_cfg);
VL53L1_additional_offset_cal_data_t *pAO = &(pdev->add_off_cal_data);
uint8_t i = 0;
uint8_t m = 0;
uint8_t measurement_mode =
VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK;
uint16_t manual_effective_spads =
pG->dss_config__manual_effective_spads_select;
uint8_t num_of_samples[VL53L1_MAX_OFFSET_RANGE_RESULTS];
uint8_t smudge_corr_en = 0;
LOG_FUNCTION_START("");
switch (pdev->offset_calibration_mode) {
case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM:
case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY:
device_preset_modes[0] =
VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING;
device_preset_modes[1] =
VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM1_CAL;
device_preset_modes[2] =
VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM2_CAL;
break;
default:
device_preset_modes[0] =
VL53L1_DEVICEPRESETMODE_STANDARD_RANGING;
device_preset_modes[1] =
VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM1_CAL;
device_preset_modes[2] =
VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM2_CAL;
break;
}
num_of_samples[0] = pdev->offsetcal_cfg.pre_num_of_samples;
num_of_samples[1] = pdev->offsetcal_cfg.mm1_num_of_samples;
num_of_samples[2] = pdev->offsetcal_cfg.mm2_num_of_samples;
switch (pdev->offset_calibration_mode) {
case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY:
case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY:
pdev->offset_results.active_results = 1;
break;
default:
pdev->customer.mm_config__inner_offset_mm = 0;
pdev->customer.mm_config__outer_offset_mm = 0;
pdev->offset_results.active_results =
VL53L1_MAX_OFFSET_RANGE_RESULTS;
break;
}
pdev->customer.algo__part_to_part_range_offset_mm = 0;
pdev->offset_results.max_results = VL53L1_MAX_OFFSET_RANGE_RESULTS;
pdev->offset_results.cal_distance_mm = cal_distance_mm;
pdev->offset_results.cal_reflectance_pc = cal_reflectance_pc;
for (m = 0; m < VL53L1_MAX_OFFSET_RANGE_RESULTS; m++) {
pfs = &(pdev->offset_results.VL53L1_p_002[m]);
pfs->preset_mode = 0;
pfs->no_of_samples = 0;
pfs->effective_spads = 0;
pfs->peak_rate_mcps = 0;
pfs->VL53L1_p_005 = 0;
pfs->median_range_mm = 0;
}
smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
status = VL53L1_dynamic_xtalk_correction_disable(Dev);
for (m = 0; m < pdev->offset_results.active_results; m++) {
pfs = &(pdev->offset_results.VL53L1_p_002[m]);
pfs->preset_mode = device_preset_modes[m];
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_set_preset_mode(
Dev,
device_preset_modes[m],
pdev->offsetcal_cfg.dss_config__target_total_rate_mcps,
pdev->offsetcal_cfg.phasecal_config_timeout_us,
pdev->offsetcal_cfg.mm_config_timeout_us,
pdev->offsetcal_cfg.range_config_timeout_us,
100);
pG->dss_config__manual_effective_spads_select =
manual_effective_spads;
VL53L1_load_patch(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_init_and_start_range(
Dev,
measurement_mode,
VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS);
for (i = 0; i <= (num_of_samples[m]+2); i++) {
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_wait_for_range_completion(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_get_device_results(
Dev,
VL53L1_DEVICERESULTSLEVEL_FULL,
prange_results);
pRData = &(prange_results->VL53L1_p_002[0]);
if ((prange_results->active_results > 0 &&
prange_results->stream_count > 1) &&
(pRData->range_status ==
VL53L1_DEVICEERROR_RANGECOMPLETE)) {
pfs->no_of_samples++;
pfs->effective_spads +=
(uint32_t)pRData->VL53L1_p_006;
pfs->peak_rate_mcps +=
(uint32_t)pRData->peak_signal_count_rate_mcps;
pfs->VL53L1_p_005 +=
(uint32_t)pRData->VL53L1_p_005;
pfs->median_range_mm +=
(int32_t)pRData->median_range_mm;
pfs->dss_config__roi_mode_control =
pG->dss_config__roi_mode_control;
pfs->dss_config__manual_effective_spads_select =
pG->dss_config__manual_effective_spads_select;
}
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_wait_for_firmware_ready(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_clear_interrupt_and_enable_next_range(
Dev,
measurement_mode);
}
if (status == VL53L1_ERROR_NONE)
status = VL53L1_stop_range(Dev);
if (status == VL53L1_ERROR_NONE)
status = VL53L1_WaitUs(Dev, 1000);
VL53L1_unload_patch(Dev);
if (pfs->no_of_samples > 0) {
pfs->effective_spads += (pfs->no_of_samples/2);
pfs->effective_spads /= pfs->no_of_samples;
pfs->peak_rate_mcps += (pfs->no_of_samples/2);
pfs->peak_rate_mcps /= pfs->no_of_samples;
pfs->VL53L1_p_005 += (pfs->no_of_samples/2);
pfs->VL53L1_p_005 /= pfs->no_of_samples;
pfs->median_range_mm += (pfs->no_of_samples/2);
pfs->median_range_mm /= pfs->no_of_samples;
pfs->range_mm_offset = (int32_t)cal_distance_mm;
pfs->range_mm_offset -= pfs->median_range_mm;
if (pfs->preset_mode ==
VL53L1_DEVICEPRESETMODE_STANDARD_RANGING)
manual_effective_spads =
(uint16_t)pfs->effective_spads;
}
}
switch (pdev->offset_calibration_mode) {
case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY:
case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY:
pdev->customer.mm_config__inner_offset_mm +=
(int16_t)pdev->offset_results.VL53L1_p_002[0].range_mm_offset;
pdev->customer.mm_config__outer_offset_mm +=
(int16_t)pdev->offset_results.VL53L1_p_002[0].range_mm_offset;
break;
default:
pdev->customer.mm_config__inner_offset_mm =
(int16_t)pdev->offset_results.VL53L1_p_002[1].range_mm_offset;
pdev->customer.mm_config__outer_offset_mm =
(int16_t)pdev->offset_results.VL53L1_p_002[2].range_mm_offset;
pdev->customer.algo__part_to_part_range_offset_mm = 0;
pAO->result__mm_inner_actual_effective_spads =
(uint16_t)pdev->offset_results.VL53L1_p_002[1].effective_spads;
pAO->result__mm_outer_actual_effective_spads =
(uint16_t)pdev->offset_results.VL53L1_p_002[2].effective_spads;
pAO->result__mm_inner_peak_signal_count_rtn_mcps =
(uint16_t)pdev->offset_results.VL53L1_p_002[1].peak_rate_mcps;
pAO->result__mm_outer_peak_signal_count_rtn_mcps =
(uint16_t)pdev->offset_results.VL53L1_p_002[2].peak_rate_mcps;
break;
}
pdev->cust_dmax_cal.ref__actual_effective_spads =
(uint16_t)pdev->offset_results.VL53L1_p_002[0].effective_spads;
pdev->cust_dmax_cal.ref__peak_signal_count_rate_mcps =
(uint16_t)pdev->offset_results.VL53L1_p_002[0].peak_rate_mcps;
pdev->cust_dmax_cal.ref__distance_mm = cal_distance_mm * 16;
pdev->cust_dmax_cal.ref_reflectance_pc = cal_reflectance_pc;
pdev->cust_dmax_cal.coverglass_transmission = 0x0100;
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_set_customer_nvm_managed(
Dev,
&(pdev->customer));
if (status == VL53L1_ERROR_NONE) {
if (smudge_corr_en == 1)
status = VL53L1_dynamic_xtalk_correction_enable(Dev);
}
for (m = 0; m < pdev->offset_results.active_results; m++) {
pfs = &(pdev->offset_results.VL53L1_p_002[m]);
if (status == VL53L1_ERROR_NONE) {
pdev->offset_results.cal_report = m;
if (pfs->no_of_samples < num_of_samples[m])
status =
VL53L1_WARNING_OFFSET_CAL_MISSING_SAMPLES;
if (m == 0 && pfs->VL53L1_p_005 >
((uint32_t)VL53L1_OFFSET_CAL_MAX_SIGMA_MM << 5))
status =
VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
if (pfs->peak_rate_mcps >
VL53L1_OFFSET_CAL_MAX_PRE_PEAK_RATE_MCPS)
status =
VL53L1_WARNING_OFFSET_CAL_RATE_TOO_HIGH;
if (pfs->dss_config__manual_effective_spads_select <
VL53L1_OFFSET_CAL_MIN_EFFECTIVE_SPADS)
status =
VL53L1_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW;
if (pfs->dss_config__manual_effective_spads_select == 0)
status =
VL53L1_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL;
if (pfs->no_of_samples == 0)
status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
}
}
pdev->offset_results.cal_status = status;
*pcal_status = pdev->offset_results.cal_status;
IGNORE_STATUS(
IGNORE_OFFSET_CAL_MISSING_SAMPLES,
VL53L1_WARNING_OFFSET_CAL_MISSING_SAMPLES,
status);
IGNORE_STATUS(
IGNORE_OFFSET_CAL_SIGMA_TOO_HIGH,
VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH,
status);
IGNORE_STATUS(
IGNORE_OFFSET_CAL_RATE_TOO_HIGH,
VL53L1_WARNING_OFFSET_CAL_RATE_TOO_HIGH,
status);
IGNORE_STATUS(
IGNORE_OFFSET_CAL_SPAD_COUNT_TOO_LOW,
VL53L1_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW,
status);
#ifdef VL53L1_LOG_ENABLE
VL53L1_print_customer_nvm_managed(
&(pdev->customer),
"run_offset_calibration():pdev->lldata.customer.",
VL53L1_TRACE_MODULE_OFFSET_DATA);
VL53L1_print_dmax_calibration_data(
&(pdev->fmt_dmax_cal),
"run_offset_calibration():pdev->lldata.fmt_dmax_cal.",
VL53L1_TRACE_MODULE_OFFSET_DATA);
VL53L1_print_dmax_calibration_data(
&(pdev->cust_dmax_cal),
"run_offset_calibration():pdev->lldata.cust_dmax_cal.",
VL53L1_TRACE_MODULE_OFFSET_DATA);
VL53L1_print_additional_offset_cal_data(
&(pdev->add_off_cal_data),
"run_offset_calibration():pdev->lldata.add_off_cal_data.",
VL53L1_TRACE_MODULE_OFFSET_DATA);
VL53L1_print_offset_range_results(
&(pdev->offset_results),
"run_offset_calibration():pdev->lldata.offset_results.",
VL53L1_TRACE_MODULE_OFFSET_DATA);
#endif
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_run_phasecal_average(
VL53L1_DEV Dev,
uint8_t measurement_mode,
uint8_t phasecal_result__vcsel_start,
uint16_t phasecal_num_of_samples,
VL53L1_range_results_t *prange_results,
uint16_t *pphasecal_result__reference_phase,
uint16_t *pzero_distance_phase)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev =
VL53L1DevStructGetLLDriverHandle(Dev);
uint16_t i = 0;
uint16_t m = 0;
uint32_t samples = 0;
uint32_t period = 0;
uint32_t VL53L1_p_017 = 0;
uint32_t phasecal_result__reference_phase = 0;
uint32_t zero_distance_phase = 0;
VL53L1_load_patch(Dev);
for (m = 0; m < phasecal_num_of_samples; m++) {
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_init_and_start_range(
Dev,
measurement_mode,
VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS);
for (i = 0; i <= 1; i++) {
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_wait_for_range_completion(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_get_device_results(
Dev,
VL53L1_DEVICERESULTSLEVEL_FULL,
prange_results);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_wait_for_firmware_ready(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_clear_interrupt_and_enable_next_range(
Dev,
measurement_mode);
}
if (status == VL53L1_ERROR_NONE)
status = VL53L1_stop_range(Dev);
if (status == VL53L1_ERROR_NONE)
status = VL53L1_WaitUs(Dev, 1000);
if (status == VL53L1_ERROR_NONE) {
samples++;
period = 2048 *
(uint32_t)VL53L1_decode_vcsel_period(
pdev->hist_data.VL53L1_p_009);
VL53L1_p_017 = period;
VL53L1_p_017 += (uint32_t)(
pdev->hist_data.phasecal_result__reference_phase);
VL53L1_p_017 +=
(2048 *
(uint32_t)phasecal_result__vcsel_start);
VL53L1_p_017 -= (2048 *
(uint32_t)pdev->hist_data.cal_config__vcsel_start);
VL53L1_p_017 = VL53L1_p_017 % period;
phasecal_result__reference_phase += (uint32_t)(
pdev->hist_data.phasecal_result__reference_phase);
zero_distance_phase += (uint32_t)VL53L1_p_017;
}
}
VL53L1_unload_patch(Dev);
if (status == VL53L1_ERROR_NONE && samples > 0) {
phasecal_result__reference_phase += (samples >> 1);
phasecal_result__reference_phase /= samples;
zero_distance_phase += (samples >> 1);
zero_distance_phase /= samples;
*pphasecal_result__reference_phase =
(uint16_t)phasecal_result__reference_phase;
*pzero_distance_phase =
(uint16_t)zero_distance_phase;
}
return status;
}
VL53L1_Error VL53L1_run_zone_calibration(
VL53L1_DEV Dev,
VL53L1_DevicePresetModes device_preset_mode,
VL53L1_DeviceZonePreset zone_preset,
VL53L1_zone_config_t *pzone_cfg,
int16_t cal_distance_mm,
uint16_t cal_reflectance_pc,
VL53L1_Error *pcal_status)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev =
VL53L1DevStructGetLLDriverHandle(Dev);
VL53L1_LLDriverResults_t *pres =
VL53L1DevStructGetLLResultsHandle(Dev);
VL53L1_range_results_t *pRR =
(VL53L1_range_results_t *) pdev->wArea1;
VL53L1_range_data_t *prange_data = NULL;
VL53L1_zone_calibration_data_t *pzone_data = NULL;
uint16_t i = 0;
uint16_t m = 0;
uint8_t z = 0;
uint8_t measurement_mode =
VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK;
VL53L1_OffsetCorrectionMode offset_cor_mode =
VL53L1_OFFSETCORRECTIONMODE__NONE;
LOG_FUNCTION_START("");
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_set_preset_mode(
Dev,
device_preset_mode,
pdev->zonecal_cfg.dss_config__target_total_rate_mcps,
pdev->zonecal_cfg.phasecal_config_timeout_us,
pdev->zonecal_cfg.mm_config_timeout_us,
pdev->zonecal_cfg.range_config_timeout_us,
100);
if (zone_preset == VL53L1_DEVICEZONEPRESET_CUSTOM) {
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_set_zone_config(
Dev,
pzone_cfg);
} else if (zone_preset != VL53L1_DEVICEZONEPRESET_NONE) {
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_set_zone_preset(
Dev,
zone_preset);
}
pres->zone_cal.preset_mode = device_preset_mode;
pres->zone_cal.zone_preset = zone_preset;
pres->zone_cal.cal_distance_mm = cal_distance_mm * 16;
pres->zone_cal.cal_reflectance_pc = cal_reflectance_pc;
pres->zone_cal.max_zones = VL53L1_MAX_USER_ZONES;
pres->zone_cal.active_zones = pdev->zone_cfg.active_zones + 1;
for (i = 0; i < VL53L1_MAX_USER_ZONES; i++) {
pres->zone_cal.VL53L1_p_002[i].no_of_samples = 0;
pres->zone_cal.VL53L1_p_002[i].effective_spads = 0;
pres->zone_cal.VL53L1_p_002[i].peak_rate_mcps = 0;
pres->zone_cal.VL53L1_p_002[i].VL53L1_p_014 = 0;
pres->zone_cal.VL53L1_p_002[i].VL53L1_p_005 = 0;
pres->zone_cal.VL53L1_p_002[i].median_range_mm = 0;
pres->zone_cal.VL53L1_p_002[i].range_mm_offset = 0;
}
pres->zone_cal.phasecal_result__reference_phase = 0;
pres->zone_cal.zero_distance_phase = 0;
status =
VL53L1_get_offset_correction_mode(
Dev,
&offset_cor_mode);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_set_offset_correction_mode(
Dev,
VL53L1_OFFSETCORRECTIONMODE__NONE);
VL53L1_load_patch(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_init_and_start_range(
Dev,
measurement_mode,
VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS);
m = (pdev->zonecal_cfg.zone_num_of_samples + 2) *
(uint16_t)pres->zone_cal.active_zones;
for (i = 0; i <= m; i++) {
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_wait_for_range_completion(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_get_device_results(
Dev,
VL53L1_DEVICERESULTSLEVEL_FULL,
pRR);
prange_data = &(pRR->VL53L1_p_002[0]);
if (pRR->active_results > 0 &&
i > (uint16_t)pres->zone_cal.active_zones) {
if (prange_data->range_status ==
VL53L1_DEVICEERROR_RANGECOMPLETE) {
pres->zone_cal.phasecal_result__reference_phase
=
pdev->hist_data.phasecal_result__reference_phase
;
pres->zone_cal.zero_distance_phase =
pdev->hist_data.zero_distance_phase;
pzone_data =
&(pres->zone_cal.VL53L1_p_002[pRR->zone_id]);
pzone_data->no_of_samples++;
pzone_data->effective_spads +=
(uint32_t)prange_data->VL53L1_p_006;
pzone_data->peak_rate_mcps += (uint32_t)(
prange_data->peak_signal_count_rate_mcps);
pzone_data->VL53L1_p_014 +=
(uint32_t)prange_data->VL53L1_p_014;
pzone_data->VL53L1_p_005 +=
(uint32_t)prange_data->VL53L1_p_005;
pzone_data->median_range_mm +=
(int32_t)prange_data->median_range_mm;
}
}
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_wait_for_firmware_ready(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_clear_interrupt_and_enable_next_range(
Dev,
measurement_mode);
}
if (status == VL53L1_ERROR_NONE)
status = VL53L1_stop_range(Dev);
if (status == VL53L1_ERROR_NONE)
status = VL53L1_WaitUs(Dev, 1000);
VL53L1_unload_patch(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_run_phasecal_average(
Dev,
measurement_mode,
pdev->hist_data.phasecal_result__vcsel_start,
pdev->zonecal_cfg.phasecal_num_of_samples,
pRR,
&(pres->zone_cal.phasecal_result__reference_phase),
&(pres->zone_cal.zero_distance_phase));
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_set_offset_correction_mode(
Dev,
offset_cor_mode);
if (status == VL53L1_ERROR_NONE) {
for (z = 0; z < pres->zone_cal.active_zones; z++) {
pzone_data = &(pres->zone_cal.VL53L1_p_002[z]);
if (pzone_data->no_of_samples > 0) {
pzone_data->effective_spads +=
(pzone_data->no_of_samples/2);
pzone_data->effective_spads /=
pzone_data->no_of_samples;
pzone_data->peak_rate_mcps +=
(pzone_data->no_of_samples/2);
pzone_data->peak_rate_mcps /=
pzone_data->no_of_samples;
pzone_data->VL53L1_p_014 +=
(pzone_data->no_of_samples/2);
pzone_data->VL53L1_p_014 /=
pzone_data->no_of_samples;
pzone_data->VL53L1_p_005 +=
(pzone_data->no_of_samples/2);
pzone_data->VL53L1_p_005 /=
pzone_data->no_of_samples;
pzone_data->median_range_mm =
VL53L1_range_maths(
pdev->stat_nvm.osc_measured__fast_osc__frequency
, (uint16_t)pzone_data->VL53L1_p_014,
pres->zone_cal.zero_distance_phase,
2,
0x0800,
0);
pzone_data->range_mm_offset =
((int32_t)cal_distance_mm) * 4;
pzone_data->range_mm_offset -=
pzone_data->median_range_mm;
if (pzone_data->no_of_samples <
pdev->zonecal_cfg.zone_num_of_samples)
status =
VL53L1_WARNING_ZONE_CAL_MISSING_SAMPLES;
if (pzone_data->VL53L1_p_005 >
((uint32_t)VL53L1_ZONE_CAL_MAX_SIGMA_MM
<< 5))
status =
VL53L1_WARNING_ZONE_CAL_SIGMA_TOO_HIGH;
if (pzone_data->peak_rate_mcps >
VL53L1_ZONE_CAL_MAX_PRE_PEAK_RATE_MCPS)
status =
VL53L1_WARNING_ZONE_CAL_RATE_TOO_HIGH;
} else {
status = VL53L1_ERROR_ZONE_CAL_NO_SAMPLE_FAIL;
}
}
}
pres->zone_cal.cal_status = status;
*pcal_status = pres->zone_cal.cal_status;
IGNORE_STATUS(
IGNORE_ZONE_CAL_MISSING_SAMPLES,
VL53L1_WARNING_ZONE_CAL_MISSING_SAMPLES,
status);
IGNORE_STATUS(
IGNORE_ZONE_CAL_SIGMA_TOO_HIGH,
VL53L1_WARNING_ZONE_CAL_SIGMA_TOO_HIGH,
status);
IGNORE_STATUS(
IGNORE_ZONE_CAL_RATE_TOO_HIGH,
VL53L1_WARNING_ZONE_CAL_RATE_TOO_HIGH,
status);
#ifdef VL53L1_LOG_ENABLE
VL53L1_print_zone_calibration_results(
&(pres->zone_cal),
"run_zone_calibration():pdev->llresults.zone_cal.",
VL53L1_TRACE_MODULE_OFFSET_DATA);
#endif
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_run_spad_rate_map(
VL53L1_DEV Dev,
VL53L1_DeviceTestMode device_test_mode,
VL53L1_DeviceSscArray array_select,
uint32_t ssc_config_timeout_us,
VL53L1_spad_rate_data_t *pspad_rate_data)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev =
VL53L1DevStructGetLLDriverHandle(Dev);
LOG_FUNCTION_START("");
if (status == VL53L1_ERROR_NONE)
status = VL53L1_enable_powerforce(Dev);
if (status == VL53L1_ERROR_NONE) {
pdev->ssc_cfg.array_select = array_select;
pdev->ssc_cfg.timeout_us = ssc_config_timeout_us;
status =
VL53L1_set_ssc_config(
Dev,
&(pdev->ssc_cfg),
pdev->stat_nvm.osc_measured__fast_osc__frequency);
}
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_run_device_test(
Dev,
device_test_mode);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_get_spad_rate_data(
Dev,
pspad_rate_data);
if (device_test_mode == VL53L1_DEVICETESTMODE_LCR_VCSEL_ON)
pspad_rate_data->fractional_bits = 7;
else
pspad_rate_data->fractional_bits = 15;
if (status == VL53L1_ERROR_NONE)
status = VL53L1_disable_powerforce(Dev);
#ifdef VL53L1_LOG_ENABLE
if (status == VL53L1_ERROR_NONE) {
VL53L1_print_spad_rate_data(
pspad_rate_data,
"run_spad_rate_map():",
VL53L1_TRACE_MODULE_SPAD_RATE_MAP);
VL53L1_print_spad_rate_map(
pspad_rate_data,
"run_spad_rate_map():",
VL53L1_TRACE_MODULE_SPAD_RATE_MAP);
}
#endif
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_run_device_test(
VL53L1_DEV Dev,
VL53L1_DeviceTestMode device_test_mode)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
uint8_t comms_buffer[2];
uint8_t gpio_hv_mux__ctrl = 0;
LOG_FUNCTION_START("");
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_RdByte(
Dev,
VL53L1_GPIO_HV_MUX__CTRL,
&gpio_hv_mux__ctrl);
if (status == VL53L1_ERROR_NONE)
pdev->stat_cfg.gpio_hv_mux__ctrl = gpio_hv_mux__ctrl;
if (status == VL53L1_ERROR_NONE)
status = VL53L1_start_test(
Dev,
device_test_mode);
if (status == VL53L1_ERROR_NONE)
status = VL53L1_wait_for_test_completion(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_ReadMulti(
Dev,
VL53L1_RESULT__RANGE_STATUS,
comms_buffer,
2);
if (status == VL53L1_ERROR_NONE) {
pdev->sys_results.result__range_status = comms_buffer[0];
pdev->sys_results.result__report_status = comms_buffer[1];
}
pdev->sys_results.result__range_status &=
VL53L1_RANGE_STATUS__RANGE_STATUS_MASK;
if (status == VL53L1_ERROR_NONE) {
trace_print(
VL53L1_TRACE_LEVEL_INFO,
" Device Test Complete:\n\t%-32s = %3u\n\t%-32s = %3u\n",
"result__range_status",
pdev->sys_results.result__range_status,
"result__report_status",
pdev->sys_results.result__report_status);
if (status == VL53L1_ERROR_NONE)
status = VL53L1_clear_interrupt(Dev);
}
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_start_test(
Dev,
0x00);
LOG_FUNCTION_END(status);
return status;
}
void VL53L1_hist_xtalk_extract_data_init(
VL53L1_hist_xtalk_extract_data_t *pxtalk_data)
{
int32_t lb = 0;
pxtalk_data->sample_count = 0U;
pxtalk_data->pll_period_mm = 0U;
pxtalk_data->peak_duration_us_sum = 0U;
pxtalk_data->effective_spad_count_sum = 0U;
pxtalk_data->zero_distance_phase_sum = 0U;
pxtalk_data->zero_distance_phase_avg = 0U;
pxtalk_data->event_scaler_sum = 0U;
pxtalk_data->event_scaler_avg = 4096U;
pxtalk_data->signal_events_sum = 0;
pxtalk_data->xtalk_rate_kcps_per_spad = 0U;
pxtalk_data->VL53L1_p_015 = 0U;
pxtalk_data->VL53L1_p_016 = 0U;
pxtalk_data->target_start = 0U;
for (lb = 0; lb < VL53L1_XTALK_HISTO_BINS; lb++)
pxtalk_data->bin_data_sums[lb] = 0;
}
VL53L1_Error VL53L1_hist_xtalk_extract_update(
int16_t target_distance_mm,
uint16_t target_width_oversize,
VL53L1_histogram_bin_data_t *phist_bins,
VL53L1_hist_xtalk_extract_data_t *pxtalk_data)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
LOG_FUNCTION_START("");
status =
VL53L1_hist_xtalk_extract_calc_window(
target_distance_mm,
target_width_oversize,
phist_bins,
pxtalk_data);
if (status == VL53L1_ERROR_NONE) {
status =
VL53L1_hist_xtalk_extract_calc_event_sums(
phist_bins,
pxtalk_data);
}
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_hist_xtalk_extract_fini(
VL53L1_histogram_bin_data_t *phist_bins,
VL53L1_hist_xtalk_extract_data_t *pxtalk_data,
VL53L1_xtalk_calibration_results_t *pxtalk_cal,
VL53L1_xtalk_histogram_shape_t *pxtalk_shape)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_xtalk_calibration_results_t *pX = pxtalk_cal;
LOG_FUNCTION_START("");
if (pxtalk_data->sample_count > 0) {
pxtalk_data->event_scaler_avg = pxtalk_data->event_scaler_sum;
pxtalk_data->event_scaler_avg +=
(pxtalk_data->sample_count >> 1);
pxtalk_data->event_scaler_avg /= pxtalk_data->sample_count;
status =
VL53L1_hist_xtalk_extract_calc_rate_per_spad(
pxtalk_data);
if (status == VL53L1_ERROR_NONE) {
pxtalk_data->zero_distance_phase_avg =
pxtalk_data->zero_distance_phase_sum;
pxtalk_data->zero_distance_phase_avg +=
(pxtalk_data->sample_count >> 1);
pxtalk_data->zero_distance_phase_avg /=
pxtalk_data->sample_count;
status =
VL53L1_hist_xtalk_extract_calc_shape(
pxtalk_data,
pxtalk_shape);
pxtalk_shape->phasecal_result__vcsel_start =
phist_bins->phasecal_result__vcsel_start;
pxtalk_shape->cal_config__vcsel_start =
phist_bins->cal_config__vcsel_start;
pxtalk_shape->vcsel_width =
phist_bins->vcsel_width;
pxtalk_shape->VL53L1_p_019 =
phist_bins->VL53L1_p_019;
}
if (status == VL53L1_ERROR_NONE) {
pX->algo__crosstalk_compensation_plane_offset_kcps =
pxtalk_data->xtalk_rate_kcps_per_spad;
pX->algo__crosstalk_compensation_x_plane_gradient_kcps
= 0U;
pX->algo__crosstalk_compensation_y_plane_gradient_kcps
= 0U;
}
}
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_run_hist_xtalk_extraction(
VL53L1_DEV Dev,
int16_t cal_distance_mm,
VL53L1_Error *pcal_status)
{
#define OVERSIZE 4
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
VL53L1_xtalkextract_config_t *pX = &(pdev->xtalk_extract_cfg);
VL53L1_xtalk_config_t *pC = &(pdev->xtalk_cfg);
VL53L1_xtalk_calibration_results_t *pXC = &(pdev->xtalk_cal);
uint8_t smudge_corr_en = 0;
uint8_t i = 0;
int8_t k = 0;
uint8_t nbloops;
int32_t initMergeSize = 0;
int32_t MergeEnabled = 0;
uint32_t deltaXtalk;
uint32_t stepXtalk;
uint32_t XtalkMin;
uint32_t XtalkMax;
uint8_t measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK;
int8_t MaxId;
uint8_t histo_merge_nb;
uint8_t wait_for_accumulation;
VL53L1_range_results_t *prange_results =
(VL53L1_range_results_t *) pdev->wArea1;
uint8_t Very1stRange = 0;
LOG_FUNCTION_START("");
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_set_preset_mode(
Dev,
VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE,
pX->dss_config__target_total_rate_mcps,
pX->phasecal_config_timeout_us,
pX->mm_config_timeout_us,
pX->range_config_timeout_us,
100);
if (status == VL53L1_ERROR_NONE)
status = VL53L1_disable_xtalk_compensation(Dev);
smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
if (status == VL53L1_ERROR_NONE)
status = VL53L1_dynamic_xtalk_correction_disable(Dev);
VL53L1_load_patch(Dev);
VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE_MAX_SIZE,
&initMergeSize);
VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE,
&MergeEnabled);
memset(&pdev->xtalk_cal, 0, sizeof(pdev->xtalk_cal));
if (status == VL53L1_ERROR_NONE)
status = VL53L1_init_and_start_range(
Dev, measurement_mode,
VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS);
MaxId = pdev->tuning_parms.tp_hist_merge_max_size - 1;
nbloops = (MergeEnabled == 0 ? 1 : 2);
for (k = 0; k < nbloops; k++) {
VL53L1_hist_xtalk_extract_data_init(
&(pdev->xtalk_extract));
VL53L1_set_tuning_parm(Dev,
VL53L1_TUNINGPARM_HIST_MERGE_MAX_SIZE,
k * MaxId + 1);
for (i = 0; i <= pX->num_of_samples; i++) {
if (status == VL53L1_ERROR_NONE)
status = VL53L1_wait_for_range_completion(Dev);
if (status == VL53L1_ERROR_NONE)
status = VL53L1_get_device_results(Dev,
VL53L1_DEVICERESULTSLEVEL_FULL,
prange_results);
Very1stRange =
(pdev->ll_state.rd_device_state ==
VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC);
VL53L1_compute_histo_merge_nb(Dev, &histo_merge_nb);
wait_for_accumulation = ((k != 0) &&
(MergeEnabled) &&
(status == VL53L1_ERROR_NONE) &&
(histo_merge_nb <
pdev->tuning_parms.tp_hist_merge_max_size));
if (wait_for_accumulation)
i = 0;
else {
if ((status == VL53L1_ERROR_NONE) &&
(!Very1stRange)) {
status =
VL53L1_hist_xtalk_extract_update(
cal_distance_mm,
OVERSIZE,
&(pdev->hist_data),
&(pdev->xtalk_extract));
}
}
if (status == VL53L1_ERROR_NONE)
status = VL53L1_wait_for_firmware_ready(Dev);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_clear_interrupt_and_enable_next_range(
Dev, measurement_mode);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_hist_xtalk_extract_fini(
&(pdev->hist_data),
&(pdev->xtalk_extract),
&(pdev->xtalk_cal),
&(pdev->xtalk_shapes.xtalk_shape));
if (status != VL53L1_ERROR_NONE)
goto LOOPOUT;
pXC->algo__xtalk_cpo_HistoMerge_kcps[k * MaxId] =
pXC->algo__crosstalk_compensation_plane_offset_kcps;
}
}
LOOPOUT:
VL53L1_stop_range(Dev);
VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE_MAX_SIZE,
initMergeSize);
VL53L1_unload_patch(Dev);
if (status != VL53L1_ERROR_NONE)
status = VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL;
else if ((MergeEnabled == 1) && (MaxId > 0)) {
XtalkMin = pXC->algo__xtalk_cpo_HistoMerge_kcps[0];
XtalkMax = pXC->algo__xtalk_cpo_HistoMerge_kcps[MaxId];
pXC->algo__crosstalk_compensation_plane_offset_kcps =
XtalkMin;
if (XtalkMax >= XtalkMin) {
deltaXtalk = XtalkMax - XtalkMin;
stepXtalk = deltaXtalk / MaxId;
for (k = 1; k < MaxId; k++)
pXC->algo__xtalk_cpo_HistoMerge_kcps[k] =
XtalkMin + stepXtalk * k;
} else
status =
VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL;
}
if (status == VL53L1_ERROR_NONE) {
pC->algo__crosstalk_compensation_x_plane_gradient_kcps =
pXC->algo__crosstalk_compensation_x_plane_gradient_kcps;
pC->algo__crosstalk_compensation_y_plane_gradient_kcps =
pXC->algo__crosstalk_compensation_y_plane_gradient_kcps;
pC->algo__crosstalk_compensation_plane_offset_kcps =
pXC->algo__crosstalk_compensation_plane_offset_kcps;
}
pdev->xtalk_results.cal_status = status;
*pcal_status = pdev->xtalk_results.cal_status;
status = VL53L1_enable_xtalk_compensation(Dev);
if (smudge_corr_en == 1)
status = VL53L1_dynamic_xtalk_correction_enable(Dev);
#ifdef VL53L1_LOG_ENABLE
VL53L1_print_customer_nvm_managed(
&(pdev->customer),
"run_xtalk_extraction():pdev->lldata.customer.",
VL53L1_TRACE_MODULE_XTALK_DATA);
VL53L1_print_xtalk_config(
&(pdev->xtalk_cfg),
"run_xtalk_extraction():pdev->lldata.xtalk_cfg.",
VL53L1_TRACE_MODULE_XTALK_DATA);
VL53L1_print_xtalk_histogram_data(
&(pdev->xtalk_shapes),
"pdev->lldata.xtalk_shapes.",
VL53L1_TRACE_MODULE_XTALK_DATA);
#endif
LOG_FUNCTION_END(status);
return status;
}