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_sigma_estimate.c
- Committer:
- Charles MacNeill
- Date:
- 2021-06-08
- Revision:
- 7:1add29d51e72
- Parent:
- 0:3ac96e360672
File content as of revision 7:1add29d51e72:
// 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_sigma_estimate.h"
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(VL53L1_TRACE_MODULE_PROTECTED, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(VL53L1_TRACE_MODULE_PROTECTED, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_PROTECTED, \
status, fmt, ##__VA_ARGS__)
#define trace_print(level, ...) \
_LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_PROTECTED, \
level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__)
uint16_t VL53L1_f_042(
uint8_t sigma_estimator__effective_pulse_width_ns,
uint8_t sigma_estimator__effective_ambient_width_ns,
uint8_t sigma_estimator__sigma_ref_mm,
VL53L1_range_data_t *pdata)
{
uint16_t sigma_est = VL53L1_D_002;
uint32_t tmp0 = 0;
uint32_t tmp1 = 0;
uint32_t tmp2 = 0;
uint32_t sigma_est__rtn_array = 0;
uint32_t sigma_est__ref_array = 0;
LOG_FUNCTION_START("");
if (pdata->peak_signal_count_rate_mcps > 0 &&
pdata->VL53L1_p_013 > 0) {
tmp0 = 100 *
(uint32_t)sigma_estimator__effective_pulse_width_ns;
tmp1 = ((uint32_t)sigma_estimator__effective_pulse_width_ns *
100 *
(uint32_t)sigma_estimator__effective_ambient_width_ns);
tmp1 = (tmp1 +
(uint32_t)pdata->peak_signal_count_rate_mcps/2) /
(uint32_t)pdata->peak_signal_count_rate_mcps;
sigma_est__rtn_array =
VL53L1_f_043(tmp0, tmp1);
sigma_est__rtn_array =
((VL53L1_SPEED_OF_LIGHT_IN_AIR + 1000) / 2000) *
sigma_est__rtn_array;
tmp2 =
VL53L1_isqrt(12 * (uint32_t)pdata->VL53L1_p_013);
if (tmp2 > 0) {
sigma_est__rtn_array =
(sigma_est__rtn_array + tmp2/2) / tmp2;
sigma_est__ref_array =
100 * (uint32_t)sigma_estimator__sigma_ref_mm;
sigma_est =
(uint16_t)VL53L1_f_043(
(uint32_t)sigma_est__ref_array,
sigma_est__rtn_array);
} else {
sigma_est = VL53L1_D_002;
}
}
pdata->VL53L1_p_005 = sigma_est;
LOG_FUNCTION_END(0);
return sigma_est;
}
uint16_t VL53L1_f_044(
uint8_t sigma_estimator__effective_pulse_width_ns,
uint8_t sigma_estimator__effective_ambient_width_ns,
uint8_t sigma_estimator__sigma_ref_mm,
VL53L1_range_data_t *pdata)
{
uint16_t sigma_est = VL53L1_D_002;
uint32_t eqn7 = 0;
uint32_t sigma_est__ref_sq = 0;
uint32_t sigma_est__rtn_sq = 0;
uint64_t tmp0 = 0;
uint64_t tmp1 = 0;
LOG_FUNCTION_START("");
if (pdata->peak_signal_count_rate_mcps > 0 &&
pdata->VL53L1_p_013 > 0) {
eqn7 = 4573 * 4573;
eqn7 = eqn7 / (3 * (uint32_t)pdata->VL53L1_p_013);
tmp0 = ((uint64_t)sigma_estimator__effective_pulse_width_ns)
<< 8;
tmp1 = ((uint64_t)pdata->ambient_count_rate_mcps *
(uint64_t)sigma_estimator__effective_ambient_width_ns)
<< 8;
tmp1 = do_division_u(tmp1,
(uint64_t)pdata->peak_signal_count_rate_mcps);
tmp1 = 16 * (uint64_t)eqn7 * (tmp0 * tmp0 + tmp1 * tmp1);
tmp1 = do_division_u(tmp1, (15625 * 15625));
sigma_est__rtn_sq = (uint32_t)tmp1;
sigma_est__ref_sq = ((uint32_t)sigma_estimator__sigma_ref_mm)
<< 2;
sigma_est__ref_sq = sigma_est__ref_sq * sigma_est__ref_sq;
sigma_est = (uint16_t)VL53L1_isqrt(sigma_est__ref_sq +
sigma_est__rtn_sq);
}
pdata->VL53L1_p_005 = sigma_est;
LOG_FUNCTION_END(0);
return sigma_est;
}
VL53L1_Error VL53L1_f_045(
uint8_t 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_zp,
uint32_t cx_zp,
uint32_t VL53L1_p_004,
uint16_t fast_osc_frequency,
uint16_t *psigma_est)
{
VL53L1_Error status = VL53L1_ERROR_DIVISION_BY_ZERO;
uint32_t sigma_int = VL53L1_D_002;
uint32_t pll_period_mm = 0;
uint64_t tmp0 = 0;
uint64_t tmp1 = 0;
uint64_t b_minus_amb = 0;
uint64_t VL53L1_p_041 = 0;
*psigma_est = VL53L1_D_002;
if (fast_osc_frequency != 0) {
pll_period_mm = VL53L1_calc_pll_period_mm(fast_osc_frequency);
pll_period_mm = (pll_period_mm + 0x02) >> 2;
if (VL53L1_p_004 > VL53L1_p_018)
b_minus_amb = (uint64_t)VL53L1_p_004 -
(uint64_t)VL53L1_p_018;
else
b_minus_amb = (uint64_t)VL53L1_p_018 -
(uint64_t)VL53L1_p_004;
if (VL53L1_p_003 > VL53L1_p_001)
VL53L1_p_041 = (uint64_t)VL53L1_p_003 -
(uint64_t)VL53L1_p_001;
else
VL53L1_p_041 = (uint64_t)VL53L1_p_001 -
(uint64_t)VL53L1_p_003;
if (b_minus_amb != 0) {
tmp0 = (uint64_t)pll_period_mm *
(uint64_t)pll_period_mm;
tmp0 = tmp0 * ((uint64_t)c_zp +
(uint64_t)cx_zp + (uint64_t)a_zp +
(uint64_t)ax_zp);
tmp0 = do_division_u((tmp0 + (b_minus_amb >> 1)),
b_minus_amb);
tmp1 = (uint64_t)pll_period_mm *
(uint64_t)pll_period_mm * VL53L1_p_041;
tmp1 = do_division_u((tmp1 + (b_minus_amb >> 1)),
b_minus_amb);
tmp1 = tmp1 * VL53L1_p_041;
tmp1 = do_division_u((tmp1 + (b_minus_amb >> 1)),
b_minus_amb);
tmp1 = tmp1 * ((uint64_t)VL53L1_p_018 + (uint64_t)bx +
(uint64_t)VL53L1_p_004);
tmp1 = do_division_u((tmp1 + (b_minus_amb >> 1)),
b_minus_amb);
tmp0 = tmp0 + tmp1;
tmp0 = do_division_u((tmp0 + (b_minus_amb >> 1)),
b_minus_amb);
tmp0 = (tmp0 + 0x01) >> 2;
tmp1 = (uint64_t)sigma_estimator__sigma_ref_mm << 2;
tmp1 = tmp1 * tmp1;
tmp0 = tmp0 + tmp1;
if (tmp0 > 0xFFFFFFFF)
tmp0 = 0xFFFFFFFF;
sigma_int = VL53L1_isqrt((uint32_t)tmp0);
if (sigma_int > VL53L1_D_002)
*psigma_est =
(uint16_t)VL53L1_D_002;
else
*psigma_est = (uint16_t)sigma_int;
status = VL53L1_ERROR_NONE;
}
}
return status;
}
VL53L1_Error VL53L1_f_014(
uint8_t 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_zp,
uint32_t cx_zp,
uint32_t VL53L1_p_004,
uint16_t fast_osc_frequency,
uint16_t *psigma_est)
{
VL53L1_Error status = VL53L1_ERROR_DIVISION_BY_ZERO;
uint32_t sigma_int = VL53L1_D_002;
uint32_t pll_period_mm = 0;
uint64_t tmp0 = 0;
uint64_t tmp1 = 0;
uint64_t b_minus_amb = 0;
uint64_t VL53L1_p_041 = 0;
*psigma_est = VL53L1_D_002;
if (fast_osc_frequency != 0) {
pll_period_mm = VL53L1_calc_pll_period_mm(fast_osc_frequency);
if (VL53L1_p_004 > VL53L1_p_018)
b_minus_amb = (uint64_t)VL53L1_p_004 -
(uint64_t)VL53L1_p_018;
else
b_minus_amb = (uint64_t)VL53L1_p_018 -
(uint64_t)VL53L1_p_004;
if (VL53L1_p_003 > VL53L1_p_001)
VL53L1_p_041 = (uint64_t)VL53L1_p_003 -
(uint64_t)VL53L1_p_001;
else
VL53L1_p_041 = (uint64_t)VL53L1_p_001 -
(uint64_t)VL53L1_p_003;
if (b_minus_amb != 0) {
tmp0 = (uint64_t)VL53L1_p_018 + (uint64_t)bx +
(uint64_t)VL53L1_p_004;
if (tmp0 > VL53L1_D_003)
tmp0 = VL53L1_D_003;
tmp1 = (uint64_t)VL53L1_p_041 * (uint64_t)VL53L1_p_041;
tmp1 = tmp1 << 8;
if (tmp1 > VL53L1_D_004)
tmp1 = VL53L1_D_004;
tmp1 = do_division_u(tmp1, b_minus_amb);
tmp1 = do_division_u(tmp1, b_minus_amb);
if (tmp1 > (uint64_t)VL53L1_D_005)
tmp1 = (uint64_t)VL53L1_D_005;
tmp0 = tmp1 * tmp0;
tmp1 = (uint64_t)c_zp + (uint64_t)cx_zp +
(uint64_t)a_zp + (uint64_t)ax_zp;
if (tmp1 > (uint64_t)VL53L1_D_003)
tmp1 = (uint64_t)VL53L1_D_003;
tmp1 = tmp1 << 8;
tmp0 = tmp1 + tmp0;
if (tmp0 > (uint64_t)VL53L1_D_006)
tmp0 = (uint64_t)VL53L1_D_006;
if (tmp0 > (uint64_t)VL53L1_D_007) {
tmp0 = do_division_u(tmp0, b_minus_amb);
tmp0 = tmp0 * pll_period_mm;
} else {
tmp0 = tmp0 * pll_period_mm;
tmp0 = do_division_u(tmp0, b_minus_amb);
}
if (tmp0 > (uint64_t)VL53L1_D_006)
tmp0 = (uint64_t)VL53L1_D_006;
if (tmp0 > (uint64_t)VL53L1_D_007) {
tmp0 = do_division_u(tmp0, b_minus_amb);
tmp0 = do_division_u(tmp0, 4);
tmp0 = tmp0 * pll_period_mm;
} else {
tmp0 = tmp0 * pll_period_mm;
tmp0 = do_division_u(tmp0, b_minus_amb);
tmp0 = do_division_u(tmp0, 4);
}
if (tmp0 > (uint64_t)VL53L1_D_006)
tmp0 = (uint64_t)VL53L1_D_006;
tmp0 = tmp0 >> 2;
if (tmp0 > (uint64_t)VL53L1_D_007)
tmp0 = (uint64_t)VL53L1_D_007;
tmp1 = (uint64_t)sigma_estimator__sigma_ref_mm << 7;
tmp1 = tmp1 * tmp1;
tmp0 = tmp0 + tmp1;
if (tmp0 > (uint64_t)VL53L1_D_007)
tmp0 = (uint64_t)VL53L1_D_007;
sigma_int = VL53L1_isqrt((uint32_t)tmp0);
*psigma_est = (uint16_t)sigma_int;
status = VL53L1_ERROR_NONE;
}
}
return status;
}
uint32_t VL53L1_f_046(
uint64_t VL53L1_p_003,
uint32_t size
)
{
uint64_t next;
uint64_t upper;
uint64_t lower;
uint32_t stepsize;
uint32_t count;
next = VL53L1_p_003;
upper = 0;
lower = 0;
stepsize = size/2;
count = 0;
while (1) {
upper = next >> stepsize;
lower = next & ((1 << stepsize) - 1);
if (upper != 0) {
count += stepsize;
next = upper;
} else {
next = lower;
}
stepsize = stepsize / 2;
if (stepsize == 0)
break;
}
return count;
}
uint32_t VL53L1_f_043(
uint32_t VL53L1_p_003,
uint32_t VL53L1_p_018)
{
uint32_t res = 0;
if (VL53L1_p_003 > 65535 || VL53L1_p_018 > 65535)
res = 65535;
else
res = VL53L1_isqrt(VL53L1_p_003*VL53L1_p_003 +
VL53L1_p_018*VL53L1_p_018);
return res;
}