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.
Revision 18:0696efe39d08, committed 2021-07-21
- Comitter:
- lugandc
- Date:
- Wed Jul 21 17:06:38 2021 +0200
- Parent:
- 17:ca0ce4daf573
- Commit message:
- Cleanup i2c functions, removed all bad references to L1X
Cleanup VL53L1CB class:
- i2c device object is passed in a consistent way in MyDevice structure
- removed useless functions
Updated VL53L1CB component driver with bare driver release 6.6.7 content
Changed in this revision
diff -r ca0ce4daf573 -r 0696efe39d08 inc/ToF_I2C.h
--- a/inc/ToF_I2C.h Wed Jun 23 12:57:26 2021 +0000
+++ b/inc/ToF_I2C.h Wed Jul 21 17:06:38 2021 +0200
@@ -8,8 +8,6 @@
#include "pinmap.h"
-static int mutex =0;
-
//Class replacing DevI2C class as it was not implementing a 16bit address registers
class ToF_DevI2C : public I2C
{
@@ -34,75 +32,7 @@
* @note On some devices if NumByteToWrite is greater
* than one, the RegisterAddr must be masked correctly!
*/
- /*
- int v53l1x_i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
- uint16_t NumByteToWrite) {
- int ret;
- uint8_t tmp[TEMP_BUF_SIZE];
-
- if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
-
- // First, send device address. Then, send data and STOP condition
- tmp[0] = RegisterAddr >> 8;
- tmp[1] = RegisterAddr & 0x0FF;
- memcpy(tmp+2, pBuffer, NumByteToWrite);
- while ( mutex )
- {
- wait_ms(1);
- }
- mutex = 1;
-
- ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+2, false);
- mutex = 0;
- if(ret)
- {
- wait_ms(1);
- ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+2, false);
- if(ret)
- {
- printf("***************** v53l1x_i2c_write twice times %d %d %d %d\n",DeviceAddr,RegisterAddr,NumByteToWrite,ret);
- }
- // printf("v53l1x_i2c_write %d %d %d %d\n",DeviceAddr,RegisterAddr,NumByteToWrite,ret);
- return -1;
- }
- return 0;
- }
- */
-
- /**
- * @brief Reads a buffer from the I2C peripheral device.
- * @param pBuffer pointer to the byte-array to read data in to
- * @param DeviceAddr specifies the peripheral device slave address.
- * @param RegisterAddr specifies the internal address register
- * where to start reading from (must be correctly masked).
- * @param NumByteToRead number of bytes to be read.
- * @retval 0 if ok,
- * @retval -1 if an I2C error has occured
- * @note On some devices if NumByteToWrite is greater
- * than one, the RegisterAddr must be masked correctly!
- */
- /*
- int v53l1x_i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
- uint16_t NumByteToRead) {
- int ret;
-
-
- // Read data, with STOP condition
- ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
-
- // printf("class v53l1x_i2c_read read %d %d %d\n",pBuffer[0],pBuffer[1],pBuffer[2]);
-
-
- if(ret)
- {
- printf("********************* class v53l1x_i2c_read %d %d %d %d\n",DeviceAddr,RegisterAddr,NumByteToRead,ret);
- return -1;
- }
- return 0;
- }
- */
-
- int ToF_i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
+ int ToF_i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
uint16_t NumByteToWrite) {
int ret;
uint8_t tmp[TEMP_BUF_SIZE];
@@ -153,4 +83,4 @@
static const unsigned int TEMP_BUF_SIZE = 256;
};
-#endif /* __DEV_53L1X_I2C_H */
\ No newline at end of file
+#endif /* __DEV_ToF_I2C_H */
diff -r ca0ce4daf573 -r 0696efe39d08 inc/VL53L1CB.h
--- a/inc/VL53L1CB.h Wed Jun 23 12:57:26 2021 +0000
+++ b/inc/VL53L1CB.h Wed Jul 21 17:06:38 2021 +0200
@@ -1,11 +1,11 @@
/*******************************************************************************
- * @file vl53l1x_class.h
+ * @file vl53l1cb_class.h
* @author JS
* @version V0.0.1
* @date 15-January-2019
* @brief Header file for VL53L1 sensor component
******************************************************************************
- Copyright ̩̉ 2019, STMicroelectronics International N.V.
+ Copyright © 2021, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
@@ -35,13 +35,13 @@
#ifdef _MSC_VER
-# ifdef VL53L1X_API_EXPORTS
-# define VL53L1X_API __declspec(dllexport)
+# ifdef VL53L1CB_API_EXPORTS
+# define VL53L1CB_API __declspec(dllexport)
# else
-# define VL53L1X_API
+# define VL53L1CB_API
# endif
#else
-# define VL53L1X_API
+# define VL53L1CB_API
#endif
@@ -56,93 +56,29 @@
#include "vl53l1_error_codes.h"
#include "vl53l1_platform_user_data.h"
-//#include "DevI2C.h"
#include "ToF_I2C.h"
/**********************************************************/
#include "vl53l1_def.h"
/***********************************************************/
-#define VL53L1_IMPLEMENTATION_VER_MAJOR 1
-#define VL53L1_IMPLEMENTATION_VER_MINOR 0
-#define VL53L1_IMPLEMENTATION_VER_SUB 1
-#define VL53L1_IMPLEMENTATION_VER_REVISION 0000
+#define VL53L1CB_IMPLEMENTATION_VER_MAJOR 1
+#define VL53L1CB_IMPLEMENTATION_VER_MINOR 0
+#define VL53L1CB_IMPLEMENTATION_VER_SUB 2
+#define VL53L1CB_IMPLEMENTATION_VER_REVISION 0000
typedef int8_t VL53L1CB_ERROR;
-//#define SOFT_RESET 0x0000
-#define VL53L1_I2C_SLAVE__DEVICE_ADDRESS 0x0001
-#define VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x0008
-#define ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x0016
-#define ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS 0x0018
-#define ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS 0x001A
-#define ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x001E
-#define MM_CONFIG__INNER_OFFSET_MM 0x0020
-#define MM_CONFIG__OUTER_OFFSET_MM 0x0022
-#define GPIO_HV_MUX__CTRL 0x0030
-#define GPIO__TIO_HV_STATUS 0x0031
-#define SYSTEM__INTERRUPT_CONFIG_GPIO 0x0046
-#define PHASECAL_CONFIG__TIMEOUT_MACROP 0x004B
-#define RANGE_CONFIG__TIMEOUT_MACROP_A_HI 0x005E
-#define RANGE_CONFIG__VCSEL_PERIOD_A 0x0060
-#define RANGE_CONFIG__VCSEL_PERIOD_B 0x0063
-#define RANGE_CONFIG__TIMEOUT_MACROP_B_HI 0x0061
-#define RANGE_CONFIG__TIMEOUT_MACROP_B_LO 0x0062
-#define RANGE_CONFIG__SIGMA_THRESH 0x0064
-#define RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS 0x0066
-#define RANGE_CONFIG__VALID_PHASE_HIGH 0x0069
-#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD 0x006C
-#define SYSTEM__THRESH_HIGH 0x0072
-#define SYSTEM__THRESH_LOW 0x0074
-#define SD_CONFIG__WOI_SD0 0x0078
-#define SD_CONFIG__INITIAL_PHASE_SD0 0x007A
-#define ROI_CONFIG__USER_ROI_CENTRE_SPAD 0x007F
-#define ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE 0x0080
-#define SYSTEM__SEQUENCE_CONFIG 0x0081
-#define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD 0x0082
-#define SYSTEM__INTERRUPT_CLEAR 0x0086
-#define SYSTEM__MODE_START 0x0087
-#define VL53L1_RESULT__RANGE_STATUS 0x0089
-#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x008C
-#define RESULT__AMBIENT_COUNT_RATE_MCPS_SD 0x0090
-#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0096
-#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0098
-#define VL53L1_RESULT__OSC_CALIBRATE_VAL 0x00DE
-#define VL53L1_FIRMWARE__SYSTEM_STATUS 0x00E5
-#define VL53L1_IDENTIFICATION__MODEL_ID 0x010F
-#define VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD 0x013E
-
-
-#define VL53L1_DEFAULT_DEVICE_ADDRESS 0x52
-
-#define VL53L1_REG_IDENTIFICATION_MODEL_ID 0x010F
-
-/****************************************
- * PRIVATE define do not edit
- ****************************************/
-
-/**
- * @brief defines SW Version
- */
-//typedef struct {
- // uint8_t major; /*!< major number */
-// uint8_t minor; /*!< minor number */
-// uint8_t build; /*!< build number */
-// uint32_t revision; /*!< revision number */
-//} VL53L1X_Version_t;
-
+#define VL53L1_DEFAULT_DEVICE_ADDRESS 0x52
+#define VL53L1_REG_IDENTIFICATION_MODEL_ID 0x010F
/* Classes -------------------------------------------------------------------*/
/** Class representing a VL53L1 sensor component
*/
class VL53L1CB : public RangeSensor
{
-
-
-
public:
-
#define VL53L1DevStructGetLLDriverHandle(Dev) (&Dev->Data.LLData)
/** Constructor
* @param[in] &i2c device I2C to be used for communication
@@ -153,7 +89,8 @@
VL53L1CB(ToF_DevI2C *i2c, DigitalOut *pin, PinName pin_gpio1, uint8_t dev_addr = VL53L1_DEFAULT_DEVICE_ADDRESS)
: RangeSensor(), dev_i2c(i2c), _gpio0(pin)
{
- MyDevice.i2c_slave_address=dev_addr;
+ MyDevice.i2c_slave_address = dev_addr;
+ MyDevice.dev_i2c = (void*) i2c;
Device = &MyDevice;
_expgpio0 = NULL;
@@ -174,7 +111,8 @@
uint8_t dev_addr = VL53L1_DEFAULT_DEVICE_ADDRESS)
: dev_i2c(i2c), _expgpio0(pin)
{
- MyDevice.i2c_slave_address=dev_addr;
+ MyDevice.i2c_slave_address = dev_addr;
+ MyDevice.dev_i2c = (void*) i2c;
Device = &MyDevice;
_gpio0 = NULL;
@@ -219,7 +157,7 @@
*_expgpio0 = 1;
}
}
-#if (MBED_VERSION > 60300)
+#if (MBED_VERSION > 60300)
thread_sleep_for(100);
#else
wait_ms(100); // NEEDS A DELAY BETWEEN SENSORS
@@ -241,7 +179,7 @@
*_expgpio0 = 0;
}
}
-#if (MBED_VERSION > 60300)
+#if (MBED_VERSION > 60300)
thread_sleep_for(100);
#else
wait_ms(100); // NEEDS A DELAY BETWEEN SENSORS
@@ -267,23 +205,15 @@
VL53L1CB_ERROR InitSensor(uint8_t address){
VL53L1CB_ERROR status = 0;
- uint8_t sensorState = 0;
VL53L1CB_Off();
VL53L1CB_On();
- status = VL53L1CB_SetI2CAddress(address);
+ status = VL53L1CB_WaitDeviceBooted();
+ if(!status){
+ status = VL53L1CB_SetI2CAddress(address);
+ }
if(!status){
status = VL53L1CB_SensorInit();
}
-
- while(!status && !sensorState) {
- status = VL53L1CB_BootState(&sensorState);
-
-#if (MBED_VERSION > 60300)
- thread_sleep_for(2);
-#else
- wait_ms(2); // NEEDS A DELAY BETWEEN SENSORS
-#endif
- }
return status;
}
@@ -401,15 +331,13 @@
{
int status;
uint16_t distance;
- status = VL53L1CB_GetDistance(&distance);
+ status = get_measurement(&distance);
*piData = (uint32_t) distance;
return status;
}
-/* VL53L1X_api.h functions */
-
-
+/* vl53l1_api.h functions */
/**
* @brief This function returns the SW driver version
@@ -429,58 +357,17 @@
VL53L1CB_ERROR VL53L1CB_SensorInit();
/**
- * @brief This function clears the interrupt, to be called after a ranging data reading
- * to arm the interrupt for the next data ready event.
- */
- VL53L1CB_ERROR VL53L1CB_ClearInterrupt();
-
-
- /**
- * @brief This function returns the current interrupt polarity\n
- * 1=active high (default), 0=active low
- */
- VL53L1CB_ERROR VL53L1CB_GetInterruptPolarity(uint8_t *pIntPol);
-
- /**
- * @brief This function starts the ranging distance operation\n
- * The ranging operation is continuous. The clear interrupt has to be done after each get data to allow the interrupt to raise when the next data is ready\n
- * 1=active high (default), 0=active low, use SetInterruptPolarity() to change the interrupt polarity if required.
- */
- VL53L1CB_ERROR VL53L1CB_StartRanging();
-
- /**
- * @brief This function stops the ranging.
- */
- VL53L1CB_ERROR VL53L1CB_StopRanging();
-
-
-
- /**
* @brief This function returns the boot state of the device (1:booted, 0:not booted)
*/
VL53L1CB_ERROR VL53L1CB_BootState(uint8_t *state);
- /**
- * @brief This function returns the sensor id, sensor Id must be 0xEEAC
- */
- // VL53L1CB_ERROR VL53L1X_GetSensorId(uint16_t *id);
-
- /**
- * @brief This function returns the distance measured by the sensor in mm
- */
- VL53L1CB_ERROR VL53L1CB_GetDistance(uint16_t *distance);
-
-
-
/**************************************************************************/
- VL53L1CB_ERROR VL53L1CB_WaitDeviceBooted(VL53L1_DEV Dev);
-
+
+ VL53L1CB_ERROR VL53L1CB_WaitDeviceBooted();
VL53L1CB_ERROR VL53L1CB_GetCalibrationData(VL53L1_CalibrationData_t *pCalibrationData);
-
-
VL53L1_GPIO_Interrupt_Mode ConvertModeToLLD(VL53L1CB_ERROR *pStatus,
VL53L1_ThresholdMode CrossMode);
@@ -507,7 +394,7 @@
char *pPalStateString);
- VL53L1CB_ERROR VL53L1CB_GetPalState(VL53L1_DEV Dev, VL53L1_State *pPalState);
+ VL53L1CB_ERROR VL53L1CB_GetPalState(VL53L1_State *pPalState);
VL53L1CB_ERROR VL53L1CB_DataInit();
@@ -685,12 +572,6 @@
VL53L1CB_ERROR VL53L1CB_WaitValueMaskEx(VL53L1_Dev_t *pdev, uint32_t timeout_ms, uint16_t index, uint8_t value, uint8_t mask, uint32_t poll_delay_ms);
VL53L1CB_ERROR VL53L1CB_SetDeviceAddress(VL53L1_DEV Dev, uint8_t DeviceAddress);
-
- // from vl53l1_api_debug.c
-
- VL53L1CB_ERROR VL53L1CB_get_additional_data(
- VL53L1_DEV Dev,
- VL53L1_additional_data_t *pdata);
protected:
@@ -712,4 +593,4 @@
};
-#endif /* _VL53L1X_CLASS_H_ */
\ No newline at end of file
+#endif /* _VL53L1CB_CLASS_H_ */
diff -r ca0ce4daf573 -r 0696efe39d08 inc/spi_interface.h
--- a/inc/spi_interface.h Wed Jun 23 12:57:26 2021 +0000
+++ b/inc/spi_interface.h Wed Jul 21 17:06:38 2021 +0200
@@ -8,8 +8,8 @@
extern "C" {
#endif
- int v53l1x_i2c_write_if(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr, uint16_t NumByteToWrite);
- int v53l1x_i2c_read_if(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr, uint16_t NumByteToWrite);
+ int v53l1cb_i2c_write_if(void *dev_I2C, uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr, uint16_t NumByteToWrite);
+ int v53l1cb_i2c_read_if(void *dev_I2C, uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr, uint16_t NumByteToWrite);
int GetTickCount( uint32_t *ptick_count_ms);
#ifdef __cplusplus
@@ -17,4 +17,4 @@
#endif
-#endif /* __DEV_53L1X_I2C_H */
\ No newline at end of file
+#endif /*__SPI_INTERFACE_H */
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_configuration.h
--- a/inc/vl53l1_configuration.h Wed Jun 23 12:57:26 2021 +0000
+++ b/inc/vl53l1_configuration.h Wed Jul 21 17:06:38 2021 +0200
@@ -1,99 +0,0 @@
-#ifndef __VL53L1X_CONFIGURATION_H
-#define __VL53L1X_CONFIGURATION_H
-
-
-const uint8_t VL51L1X_DEFAULT_CONFIGURATION[] = {
-0x00, /* 0x2d : set bit 2 and 5 to 1 for fast plus mode (1MHz I2C), else don't touch */
-0x00, /* 0x2e : bit 0 if I2C pulled up at 1.8V, else set bit 0 to 1 (pull up at AVDD) */
-0x00, /* 0x2f : bit 0 if GPIO pulled up at 1.8V, else set bit 0 to 1 (pull up at AVDD) */
-0x01, /* 0x30 : set bit 4 to 0 for active high interrupt and 1 for active low (bits 3:0 must be 0x1), use SetInterruptPolarity() */
-0x02, /* 0x31 : bit 1 = interrupt depending on the polarity, use CheckForDataReady() */
-0x00, /* 0x32 : not user-modifiable */
-0x02, /* 0x33 : not user-modifiable */
-0x08, /* 0x34 : not user-modifiable */
-0x00, /* 0x35 : not user-modifiable */
-0x08, /* 0x36 : not user-modifiable */
-0x10, /* 0x37 : not user-modifiable */
-0x01, /* 0x38 : not user-modifiable */
-0x01, /* 0x39 : not user-modifiable */
-0x00, /* 0x3a : not user-modifiable */
-0x00, /* 0x3b : not user-modifiable */
-0x00, /* 0x3c : not user-modifiable */
-0x00, /* 0x3d : not user-modifiable */
-0xff, /* 0x3e : not user-modifiable */
-0x00, /* 0x3f : not user-modifiable */
-0x0F, /* 0x40 : not user-modifiable */
-0x00, /* 0x41 : not user-modifiable */
-0x00, /* 0x42 : not user-modifiable */
-0x00, /* 0x43 : not user-modifiable */
-0x00, /* 0x44 : not user-modifiable */
-0x00, /* 0x45 : not user-modifiable */
-0x20, /* 0x46 : interrupt configuration 0->level low detection, 1-> level high, 2-> Out of window, 3->In window, 0x20-> New sample ready , TBC */
-0x0b, /* 0x47 : not user-modifiable */
-0x00, /* 0x48 : not user-modifiable */
-0x00, /* 0x49 : not user-modifiable */
-0x02, /* 0x4a : not user-modifiable */
-0x0a, /* 0x4b : not user-modifiable */
-0x21, /* 0x4c : not user-modifiable */
-0x00, /* 0x4d : not user-modifiable */
-0x00, /* 0x4e : not user-modifiable */
-0x05, /* 0x4f : not user-modifiable */
-0x00, /* 0x50 : not user-modifiable */
-0x00, /* 0x51 : not user-modifiable */
-0x00, /* 0x52 : not user-modifiable */
-0x00, /* 0x53 : not user-modifiable */
-0xc8, /* 0x54 : not user-modifiable */
-0x00, /* 0x55 : not user-modifiable */
-0x00, /* 0x56 : not user-modifiable */
-0x38, /* 0x57 : not user-modifiable */
-0xff, /* 0x58 : not user-modifiable */
-0x01, /* 0x59 : not user-modifiable */
-0x00, /* 0x5a : not user-modifiable */
-0x08, /* 0x5b : not user-modifiable */
-0x00, /* 0x5c : not user-modifiable */
-0x00, /* 0x5d : not user-modifiable */
-0x01, /* 0x5e : not user-modifiable */
-0xcc, /* 0x5f : not user-modifiable */
-0x0f, /* 0x60 : not user-modifiable */
-0x01, /* 0x61 : not user-modifiable */
-0xf1, /* 0x62 : not user-modifiable */
-0x0d, /* 0x63 : not user-modifiable */
-0x01, /* 0x64 : Sigma threshold MSB (mm in 14.2 format for MSB+LSB), use SetSigmaThreshold(), default value 90 mm */
-0x68, /* 0x65 : Sigma threshold LSB */
-0x00, /* 0x66 : Min count Rate MSB (MCPS in 9.7 format for MSB+LSB), use SetSignalThreshold() */
-0x80, /* 0x67 : Min count Rate LSB */
-0x08, /* 0x68 : not user-modifiable */
-0xb8, /* 0x69 : not user-modifiable */
-0x00, /* 0x6a : not user-modifiable */
-0x00, /* 0x6b : not user-modifiable */
-0x00, /* 0x6c : Intermeasurement period MSB, 32 bits register, use SetIntermeasurementInMs() */
-0x00, /* 0x6d : Intermeasurement period */
-0x0f, /* 0x6e : Intermeasurement period */
-0x89, /* 0x6f : Intermeasurement period LSB */
-0x00, /* 0x70 : not user-modifiable */
-0x00, /* 0x71 : not user-modifiable */
-0x00, /* 0x72 : distance threshold high MSB (in mm, MSB+LSB), use SetD:tanceThreshold() */
-0x00, /* 0x73 : distance threshold high LSB */
-0x00, /* 0x74 : distance threshold low MSB ( in mm, MSB+LSB), use SetD:tanceThreshold() */
-0x00, /* 0x75 : distance threshold low LSB */
-0x00, /* 0x76 : not user-modifiable */
-0x01, /* 0x77 : not user-modifiable */
-0x0f, /* 0x78 : not user-modifiable */
-0x0d, /* 0x79 : not user-modifiable */
-0x0e, /* 0x7a : not user-modifiable */
-0x0e, /* 0x7b : not user-modifiable */
-0x00, /* 0x7c : not user-modifiable */
-0x00, /* 0x7d : not user-modifiable */
-0x02, /* 0x7e : not user-modifiable */
-0xc7, /* 0x7f : ROI center, use SetROI() */
-0xff, /* 0x80 : XY ROI (X=Width, Y=Height), use SetROI() */
-0x9B, /* 0x81 : not user-modifiable */
-0x00, /* 0x82 : not user-modifiable */
-0x00, /* 0x83 : not user-modifiable */
-0x00, /* 0x84 : not user-modifiable */
-0x01, /* 0x85 : not user-modifiable */
-0x00, /* 0x86 : clear interrupt, use ClearInterrupt() */
-0x00 /* 0x87 : start ranging, use StartRanging() or StopRanging(), If you want an automatic start after VL53L1X_init() call, put 0x40 in location 0x87 */
-};
-
-#endif //__VL53L1X_CONFIGURATION_H
\ No newline at end of file
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_def.h --- a/inc/vl53l1_def.h Wed Jun 23 12:57:26 2021 +0000 +++ b/inc/vl53l1_def.h Wed Jul 21 17:06:38 2021 +0200 @@ -37,9 +37,9 @@ /** VL53L1 IMPLEMENTATION minor version */ #define VL53L1_IMPLEMENTATION_VER_MINOR 6 /** VL53L1 IMPLEMENTATION sub version */ -#define VL53L1_IMPLEMENTATION_VER_SUB 5 +#define VL53L1_IMPLEMENTATION_VER_SUB 7 /** VL53L1 IMPLEMENTATION sub version */ -#define VL53L1_IMPLEMENTATION_VER_REVISION 2496 +#define VL53L1_IMPLEMENTATION_VER_REVISION 2536 /**************************************** * PRIVATE define do not edit @@ -342,13 +342,13 @@ typedef uint8_t VL53L1_SmudgeCorrectionModes; #define VL53L1_SMUDGE_CORRECTION_NONE ((VL53L1_SmudgeCorrectionModes) 0) - /*!< Smudge correction is applied continously accross the rangings */ + /*!< Smudge correction is disabled */ #define VL53L1_SMUDGE_CORRECTION_CONTINUOUS ((VL53L1_SmudgeCorrectionModes) 1) - /*!< Smudge correction is applied continously accross the rangings */ + /*!< Smudge correction is applied continuously across the rangings */ #define VL53L1_SMUDGE_CORRECTION_SINGLE ((VL53L1_SmudgeCorrectionModes) 2) - /*!< Smudge correction is applied only once accross the rangings */ + /*!< Smudge correction is applied only once across the rangings */ #define VL53L1_SMUDGE_CORRECTION_DEBUG ((VL53L1_SmudgeCorrectionModes) 3) - /*!< Smudge detection is applied continously but Xtalk values are not + /*!< Smudge detection is applied continuously but Xtalk values are not * updated automatically within the driver */ @@ -376,13 +376,13 @@ FixPoint1616_t SignalRateRtnMegaCps; /*!< Return signal rate (MCPS)\n these is a 16.16 fix point * value, which is effectively a measure of target - * reflectance. + * reflectance. */ FixPoint1616_t AmbientRateRtnMegaCps; /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point - * value, which is effectively a measure of the ambien - * t light. + * value, which is effectively a measure of the ambient + * light. */ uint16_t EffectiveSpadRtnCount;
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_error_codes.h --- a/inc/vl53l1_error_codes.h Wed Jun 23 12:57:26 2021 +0000 +++ b/inc/vl53l1_error_codes.h Wed Jul 21 17:06:38 2021 +0200 @@ -92,7 +92,7 @@ /*!< Zone dynamic config GPH ID check failed - API out of sync */ #define VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL ((VL53L1_Error) - 22) - /*!< Thrown when run_xtalk_extraction fn has 0 succesful samples + /*!< Thrown when run_xtalk_extraction fn has 0 successful samples * when using the full array to sample the xtalk. In this case there is * not enough information to generate new Xtalk parm info. The function * will exit and leave the current xtalk parameters unaltered @@ -187,7 +187,7 @@ * notification only, xtalk pulse and shape have still been generated */ #define VL53L1_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT ((VL53L1_Error) - 39) - /*!< Thrown to notify that some of teh xtalk samples used for gradient + /*!< Thrown to notify that some of the xtalk samples used for gradient * generation did not yield valid ranging pulse data while attempting to * measure the xtalk signal in vl53l1_run_xtalk_extract(). This can * signify that any one of the zones 0-3 yielded no successful samples.
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_ll_def.h --- a/inc/vl53l1_ll_def.h Wed Jun 23 12:57:26 2021 +0000 +++ b/inc/vl53l1_ll_def.h Wed Jul 21 17:06:38 2021 +0200 @@ -433,6 +433,7 @@ int16_t tp_uwr_lng_corr_z_4_rangeb; int16_t tp_uwr_lng_corr_z_5_rangea; int16_t tp_uwr_lng_corr_z_5_rangeb; + uint32_t tp_min_signal_secondary_targets; } VL53L1_tuning_parm_storage_t; @@ -809,6 +810,8 @@ VL53L1_smudge_corrector_data_t smudge_corrector_data; + uint16_t fmt_total_enabled_spads; + } VL53L1_range_results_t; @@ -1438,6 +1441,7 @@ uint8_t PreviousRangeStatus[VL53L1_MAX_RANGE_RESULTS]; uint8_t PreviousExtendedRange[VL53L1_MAX_RANGE_RESULTS]; uint8_t PreviousStreamCount; + uint16_t fmt_total_enabled_spads; } VL53L1_LLDriverData_t;
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_ll_device.h --- a/inc/vl53l1_ll_device.h Wed Jun 23 12:57:26 2021 +0000 +++ b/inc/vl53l1_ll_device.h Wed Jul 21 17:06:38 2021 +0200 @@ -663,7 +663,7 @@ #define VL53L1_TUNINGPARMS_LLD_PUBLIC_MIN_ADDRESS \ ((VL53L1_TuningParms) VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS) #define VL53L1_TUNINGPARMS_LLD_PUBLIC_MAX_ADDRESS \ - ((VL53L1_TuningParms) VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEB) + ((VL53L1_TuningParms) VL53L1_TUNINGPARM_MIN_SIGNAL_SECONDARY_TARGETS) #define VL53L1_TUNINGPARMS_LLD_PRIVATE_MIN_ADDRESS \ ((VL53L1_TuningParms) VL53L1_TUNINGPARM_PRIVATE_PAGE_BASE_ADDRESS) @@ -1050,6 +1050,8 @@ ((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 188)) #define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEB \ ((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 189)) +#define VL53L1_TUNINGPARM_MIN_SIGNAL_SECONDARY_TARGETS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 190))
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_platform.h --- a/inc/vl53l1_platform.h Wed Jun 23 12:57:26 2021 +0000 +++ b/inc/vl53l1_platform.h Wed Jul 21 17:06:38 2021 +0200 @@ -1,30 +1,13 @@ -/******************************************************************************* - Copyright (C) 2016, STMicroelectronics International N.V. - All rights reserved. + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * 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. - * Neither the name of STMicroelectronics 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, FITNESS FOR A PARTICULAR PURPOSE, AND - NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. - IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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. - ******************************************************************************/ + 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. + ****************************************************************************** + */ #ifndef _VL53L1_PLATFORM_H_ @@ -389,6 +372,7 @@ /* * @brief Gets current system tick count in [ms] * + * @param[in] pdev : pointer to device structure (device handle) * @return time_ms : current time in [ms] * * @return VL53L1_ERROR_NONE Success @@ -396,6 +380,7 @@ */ VL53L1_Error VL53L1_GetTickCount( + VL53L1_Dev_t *pdev, uint32_t *ptime_ms); @@ -429,4 +414,3 @@ #endif -
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_platform_init.h --- a/inc/vl53l1_platform_init.h Wed Jun 23 12:57:26 2021 +0000 +++ b/inc/vl53l1_platform_init.h Wed Jul 21 17:06:38 2021 +0200 @@ -1,37 +1,15 @@ -/******************************************************************************* - This file is part of VL53L1 Platform - - Copyright (c) 2020, STMicroelectronics - All Rights Reserved - - 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. +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved - 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 file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ - 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. -*/ @@ -70,4 +48,3 @@ #endif -
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_platform_ipp.h --- a/inc/vl53l1_platform_ipp.h Wed Jun 23 12:57:26 2021 +0000 +++ b/inc/vl53l1_platform_ipp.h Wed Jul 21 17:06:38 2021 +0200 @@ -1,37 +1,15 @@ -/******************************************************************************* - This file is part of VL53L1 Platform - - Copyright (c) 2020, STMicroelectronics - All Rights Reserved - - 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. +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved - 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 file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ - 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. -*/ @@ -111,4 +89,3 @@ #endif -
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_platform_ipp_imports.h --- a/inc/vl53l1_platform_ipp_imports.h Wed Jun 23 12:57:26 2021 +0000 +++ b/inc/vl53l1_platform_ipp_imports.h Wed Jul 21 17:06:38 2021 +0200 @@ -1,37 +1,13 @@ -/******************************************************************************* - This file is part of VL53L1 Platform - - Copyright (c) 2020, STMicroelectronics - All Rights Reserved - - 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. +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved - 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. - -*/ + 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. + ****************************************************************************** + */ #ifdef VL53L1_NEEDS_IPP # undef VL53L1_IPP_API @@ -39,4 +15,3 @@ # pragma comment (lib, "EwokPlus25API_IPP") #endif -
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_platform_log.h --- a/inc/vl53l1_platform_log.h Wed Jun 23 12:57:26 2021 +0000 +++ b/inc/vl53l1_platform_log.h Wed Jul 21 17:06:38 2021 +0200 @@ -1,37 +1,15 @@ -/******************************************************************************* - This file is part of VL53L1 Platform - - Copyright (c) 2020, STMicroelectronics - All Rights Reserved - - 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. +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved - 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 file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ - 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. -*/ @@ -170,4 +148,3 @@ #endif -
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_platform_user_config.h --- a/inc/vl53l1_platform_user_config.h Wed Jun 23 12:57:26 2021 +0000 +++ b/inc/vl53l1_platform_user_config.h Wed Jul 21 17:06:38 2021 +0200 @@ -1,37 +1,15 @@ -/******************************************************************************* - This file is part of VL53L1 Platform - - Copyright (c) 2020, STMicroelectronics - All Rights Reserved - - 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. +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved - 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 file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ - 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. -*/ @@ -81,7 +59,7 @@ -#define VL53L1_MAX_USER_ZONES 16 +#define VL53L1_MAX_USER_ZONES 6 #define VL53L1_MAX_RANGE_RESULTS 4 @@ -93,4 +71,3 @@ #endif -
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_platform_user_data.h
--- a/inc/vl53l1_platform_user_data.h Wed Jun 23 12:57:26 2021 +0000
+++ b/inc/vl53l1_platform_user_data.h Wed Jul 21 17:06:38 2021 +0200
@@ -1,37 +1,13 @@
-/*******************************************************************************
- This file is part of VL53L1 Platform
-
- Copyright (c) 2020, STMicroelectronics - All Rights Reserved
-
- 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.
+/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */
+/******************************************************************************
+ * Copyright (c) 2020, STMicroelectronics - All Rights Reserved
- 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.
-
-*/
+ 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.
+ ******************************************************************************
+ */
@@ -55,17 +31,11 @@
typedef struct {
- VL53L1_DevData_t Data;
-
-
- uint8_t i2c_slave_address;
+ VL53L1_DevData_t Data;
- uint8_t comms_type;
+ uint8_t i2c_slave_address;
- uint16_t comms_speed_khz;
-
-
- uint32_t new_data_ready_poll_duration_ms;
+ void *dev_i2c;
} VL53L1_Dev_t;
@@ -96,4 +66,3 @@
#endif
-
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_platform_user_defines.h --- a/inc/vl53l1_platform_user_defines.h Wed Jun 23 12:57:26 2021 +0000 +++ b/inc/vl53l1_platform_user_defines.h Wed Jul 21 17:06:38 2021 +0200 @@ -1,37 +1,13 @@ -/******************************************************************************* - This file is part of VL53L1 Platform - - Copyright (c) 2020, STMicroelectronics - All Rights Reserved - - 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. +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved - 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. - -*/ + 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. + ****************************************************************************** + */ @@ -80,4 +56,3 @@ #endif -
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_tuning_parm_defaults.h
--- a/inc/vl53l1_tuning_parm_defaults.h Wed Jun 23 12:57:26 2021 +0000
+++ b/inc/vl53l1_tuning_parm_defaults.h Wed Jul 21 17:06:38 2021 +0200
@@ -10,8 +10,19 @@
*/
+
+
+
+#ifndef _VL53L1_TUNING_PARM_DEFAULTS_H_
+#define _VL53L1_TUNING_PARM_DEFAULTS_H_
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
#define VL53L1_TUNINGPARM_VERSION_DEFAULT \
-((uint16_t) 31)
+((uint16_t) 32)
#define VL53L1_TUNINGPARM_KEY_TABLE_VERSION_DEFAULT \
((uint16_t) 14)
#define VL53L1_TUNINGPARM_LLD_VERSION_DEFAULT \
@@ -390,4 +401,15 @@
((int16_t) 0)
#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEB_DEFAULT \
((int16_t) 0)
+#define VL53L1_TUNINGPARM_MIN_SIGNAL_SECONDARY_TARGETS_DEFAULT \
+((uint32_t) 6536)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+
+
diff -r ca0ce4daf573 -r 0696efe39d08 inc/vl53l1_types.h --- a/inc/vl53l1_types.h Wed Jun 23 12:57:26 2021 +0000 +++ b/inc/vl53l1_types.h Wed Jul 21 17:06:38 2021 +0200 @@ -1,37 +1,13 @@ -/******************************************************************************* - This file is part of VL53L1 Platform - - Copyright (c) 2020, STMicroelectronics - All Rights Reserved - - 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. +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved - 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. - -*/ + 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. + ****************************************************************************** + */ @@ -89,4 +65,3 @@ #endif -
diff -r ca0ce4daf573 -r 0696efe39d08 src/VL53L1CB.cpp
--- a/src/VL53L1CB.cpp Wed Jun 23 12:57:26 2021 +0000
+++ b/src/VL53L1CB.cpp Wed Jul 21 17:06:38 2021 +0200
@@ -69,41 +69,21 @@
{
VL53L1CB_ERROR Status = 0;
- pVersion->major = VL53L1_IMPLEMENTATION_VER_MAJOR;
- pVersion->minor = VL53L1_IMPLEMENTATION_VER_MINOR;
- pVersion->build = VL53L1_IMPLEMENTATION_VER_SUB;
- pVersion->revision = VL53L1_IMPLEMENTATION_VER_REVISION;
+ pVersion->major = VL53L1CB_IMPLEMENTATION_VER_MAJOR;
+ pVersion->minor = VL53L1CB_IMPLEMENTATION_VER_MINOR;
+ pVersion->build = VL53L1CB_IMPLEMENTATION_VER_SUB;
+ pVersion->revision = VL53L1CB_IMPLEMENTATION_VER_REVISION;
return Status;
}
VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetI2CAddress(uint8_t new_address)
{
VL53L1CB_ERROR status = 0;
- // status = (VL53L1CB_ERROR)VL53L1_SetDeviceAddress(Device,new_address);
-
-
- // Device->i2c_slave_address = new_address; //~~ was
if ( Device->i2c_slave_address != new_address)
{
- status = VL53L1_WrByte(Device, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, new_address >> 1);
+ status = (VL53L1CB_ERROR)VL53L1_SetDeviceAddress(Device,new_address);
printf("VL53L1_SetI2CAddress %d to %d status = %d\n", Device->i2c_slave_address,new_address,status);
- Device->i2c_slave_address = new_address;
-
- }
- return status;
-}
-
-int VL53L1CB::init_sensor(uint8_t new_addr)
-{
- Device->i2c_slave_address = new_addr;
- int status = 0;
- VL53L1CB_Off();
- VL53L1CB_On();
-
- status = is_present();
- if (!status) {
- printf("Failed to init VL53L0X sensor!\n\r");
- return status;
+ Device->i2c_slave_address = new_address;
}
return status;
}
@@ -112,99 +92,17 @@
VL53L1CB_ERROR VL53L1CB::VL53L1CB_SensorInit()
{
VL53L1CB_ERROR status = 0;
- uint8_t Addr = 0x00;
-
- for (Addr = 0x2D; Addr <= 0x87; Addr++){
- status = VL53L1_WrByte(Device, Addr, VL51L1X_DEFAULT_CONFIGURATION[Addr - 0x2D]);
- if (status != 0)
- {
- printf("Writing config failed - %d\r\n", status);
- }
- }
-
- // uint16_t sensorID= 0;
-// status = VL53L1X_GetSensorId(&sensorID);
- // printf("Sensor id is - %d (%X)\r\n", sensorID, sensorID);
-
- status = VL53L1CB_StartRanging();
- if (status != 0)
- {
- printf("start ranging failed - %d\r\n", status);
- }
-
- status = VL53L1CB_ClearInterrupt();
- status = VL53L1CB_StopRanging();
- status = VL53L1_WrByte(Device, VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); // two bounds VHV
- status = VL53L1_WrByte(Device, 0x0B, 0); // start VHV from the previous temperature
- return status;
-}
-
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_ClearInterrupt()
-{
- VL53L1CB_ERROR status = 0;
-
- status = VL53L1_WrByte(Device, SYSTEM__INTERRUPT_CLEAR, 0x01);
-// printf("VL53L1CB::VL53L1X_ClearInterrupt()\n");
- return status;
-}
-
-
-
-
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetInterruptPolarity(uint8_t *pInterruptPolarity)
-{
- uint8_t Temp;
- VL53L1CB_ERROR status = 0;
- status = VL53L1_RdByte(Device, GPIO_HV_MUX__CTRL, &Temp);
- Temp = Temp & 0x10;
- *pInterruptPolarity = !(Temp>>4);
- return status;
-}
-
-
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_StartRanging()
-{
- VL53L1CB_ERROR status = 0;
-
- status = VL53L1_WrByte(Device, SYSTEM__MODE_START, 0x40);
- return status;
-}
-
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_StopRanging()
-{
- VL53L1CB_ERROR status = 0;
+ /* Device Initialization and setting */
+ status = VL53L1CB_DataInit();
+ if (status != 0) {
+ return status;
+ }
+ status = VL53L1CB_StaticInit();
+ if (status != 0) {
+ return status;
+ }
- status = VL53L1_WrByte(Device, SYSTEM__MODE_START, 0x00);
- return status;
-}
-
-
-
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_BootState(uint8_t *state)
-{
- VL53L1CB_ERROR status = 0;
- uint8_t tmp = 0;
-
- status = VL53L1_RdByte(Device,VL53L1_FIRMWARE__SYSTEM_STATUS, &tmp);
- *state = tmp;
- return status;
-}
-
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetDistance(uint16_t *distance)
-{
- VL53L1CB_ERROR status = 0;
- uint16_t tmp;
-
- status = (VL53L1_RdWord(Device,
- VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0, &tmp));
- *distance = tmp;
return status;
}
@@ -212,225 +110,13 @@
/* Write and read functions from I2C */
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_WriteMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count)
-{
- int status;
-//printf(" class VL53L1_WriteMulti \n");
- status = VL53L1CB_I2CWrite(Dev->i2c_slave_address, index, pdata, (uint16_t)count);
- return status;
-}
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_ReadMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count)
-{
- int status;
-
- status = VL53L1CB_I2CRead(Dev->i2c_slave_address, index, pdata, (uint16_t)count);
-
- return status;
-}
-
-
-VL53L1CB_ERROR VL53L1CB::VL53L1_WrByte(VL53L1_DEV Dev, uint16_t index, uint8_t data)
-{
- int status;
-
- status=VL53L1CB_I2CWrite(Dev->i2c_slave_address, index, &data, 1);
- return status;
-}
-
-
-VL53L1CB_ERROR VL53L1CB::VL53L1_WrWord(VL53L1_DEV Dev, uint16_t index, uint16_t data)
-{
- int status;
- uint8_t buffer[2];
-
- buffer[0] = data >> 8;
- buffer[1] = data & 0x00FF;
- status=VL53L1CB_I2CWrite(Dev->i2c_slave_address, index, (uint8_t *)buffer, 2);
- return status;
-}
-
-VL53L1CB_ERROR VL53L1CB::VL53L1_WrDWord(VL53L1_DEV Dev, uint16_t index, uint32_t data)
-{
- int status;
- uint8_t buffer[4];
-
- buffer[0] = (data >> 24) & 0xFF;
- buffer[1] = (data >> 16) & 0xFF;
- buffer[2] = (data >> 8) & 0xFF;
- buffer[3] = (data >> 0) & 0xFF;
- status=VL53L1CB_I2CWrite(Dev->i2c_slave_address, index, (uint8_t *)buffer, 4);
- return status;
-}
-
-
-VL53L1CB_ERROR VL53L1CB::VL53L1_RdByte(VL53L1_DEV Dev, uint16_t index, uint8_t *data)
-{
- int status;
-
- status = VL53L1CB_I2CRead(Dev->i2c_slave_address, index, data, 1);
-
- if(status)
- return -1;
-
- return 0;
-}
-
-VL53L1CB_ERROR VL53L1CB::VL53L1_RdWord(VL53L1_DEV Dev, uint16_t index, uint16_t *data)
-{
- int status;
- uint8_t buffer[2] = {0,0};
-
- status = VL53L1CB_I2CRead(Dev->i2c_slave_address, index, buffer, 2);
- if (!status)
- {
- *data = (buffer[0] << 8) + buffer[1];
- }
- // printf("VL53L1_RdWord %d %d %d \n",Dev->i2c_slave_address,index,status);
- return status;
-
-}
-
-VL53L1CB_ERROR VL53L1CB::VL53L1_RdDWord(VL53L1_DEV Dev, uint16_t index, uint32_t *data)
-{
- int status;
- uint8_t buffer[4] = {0,0,0,0};
-
- status = VL53L1CB_I2CRead(Dev->i2c_slave_address, index, buffer, 4);
- if(!status)
- {
- *data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3];
- }
- return status;
-
-}
-
-VL53L1CB_ERROR VL53L1CB::VL53L1_UpdateByte(VL53L1_DEV Dev, uint16_t index, uint8_t AndData, uint8_t OrData)
-{
- int status;
- uint8_t buffer = 0;
-
- /* read data direct onto buffer */
- status = VL53L1CB_I2CRead(Dev->i2c_slave_address, index, &buffer,1);
- if (!status)
- {
- buffer = (buffer & AndData) | OrData;
- status = VL53L1CB_I2CWrite(Dev->i2c_slave_address, index, &buffer, (uint16_t)1);
- }
- return status;
-}
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
-{
- int ret;
- ret = dev_i2c->ToF_i2c_write(pBuffer, DeviceAddr, RegisterAddr, NumByteToWrite);
- if (ret) {
- return -1;
- }
- return 0;
-
-}
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
-{
- int ret;
-
- ret = dev_i2c->ToF_i2c_read(pBuffer, DeviceAddr, RegisterAddr, NumByteToRead);
- //ret = dev_i2c->i2c_read(pBuffer, DeviceAddr, RegisterAddr, NumByteToRead);
- if (ret) {
- return -1;
- }
- return 0;
-}
-
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetTickCount(
- uint32_t *ptick_count_ms)
+VL53L1CB_ERROR VL53L1CB::VL53L1CB_WaitDeviceBooted()
{
- /* Returns current tick count in [ms] */
-
- VL53L1CB_ERROR status = VL53L1_ERROR_NONE;
-
- //*ptick_count_ms = timeGetTime();
- *ptick_count_ms = us_ticker_read() / 1000;
-
- return status;
-}
-
-
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_time)
-{
- //(void)pdev;
- wait_us(wait_time);
- return VL53L1_ERROR_NONE;
-}
-
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_time)
-{
- //(void)pdev;
-
-#if (MBED_VERSION > 60300)
- thread_sleep_for(wait_time);
-#else
- wait_ms(wait_time); // NEEDS A DELAY BETWEEN SENSORS
-#endif
- return VL53L1_ERROR_NONE;
+ return VL53L1_WaitDeviceBooted(Device);
}
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_WaitValueMaskEx(
- VL53L1_Dev_t *pdev,
- uint32_t timeout_ms,
- uint16_t index,
- uint8_t value,
- uint8_t mask,
- uint32_t poll_delay_ms)
-{
-
- /*
- * Platform implementation of WaitValueMaskEx V2WReg script command
- *
- * WaitValueMaskEx(
- * duration_ms,
- * index,
- * value,
- * mask,
- * poll_delay_ms);
- */
-
-
- return VL53L1_WaitValueMaskEx( pdev, timeout_ms,index, value, mask, poll_delay_ms);
-}
-
-
-/***************************************************************************/
-//VL53L1CB_ERROR VL53L1CB::VL53L1_WaitValueMaskEx(
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_WaitDeviceBooted(VL53L1_DEV Dev)
-{
-
- return VL53L1_WaitDeviceBooted(Dev);
-}
-
-
-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,
-};
-
-
VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetVersion(VL53L1_Version_t *pVersion)
{
@@ -446,7 +132,6 @@
//******************************************************************
-
VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetDeviceInfo(
VL53L1_DeviceInfo_t *pVL53L1_DeviceInfo)
{
@@ -477,28 +162,14 @@
return VL53L1_GetPalStateString(PalStateCode, pPalStateString);
}
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetPalState(VL53L1_DEV Dev, VL53L1_State *pPalState)
+VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetPalState(VL53L1_State *pPalState)
{
- return VL53L1_GetPalState(Dev,pPalState);
+ return VL53L1_GetPalState(Device, pPalState);
}
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetDeviceAddress(VL53L1_DEV Dev, uint8_t DeviceAddress)
-{
- VL53L1CB_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;
-}
-
VL53L1CB_ERROR VL53L1CB::VL53L1CB_DataInit()
{
- printf("vl53L1_DataInit %d \n",Device->i2c_slave_address);
return VL53L1_DataInit( Device);
}
@@ -598,17 +269,9 @@
}
-
VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck)
{
- VL53L1CB_ERROR Status = VL53L1_ERROR_NONE;
-
- // LOG_FUNCTION_START("");
-
- *pNumberOfLimitCheck = VL53L1_CHECKENABLE_NUMBER_OF_CHECKS;
-
- // LOG_FUNCTION_END(Status);
- return Status;
+ return VL53L1_GetNumberOfLimitCheck(pNumberOfLimitCheck);
}
VL53L1CB_ERROR VL53L1CB::VL53L1CB_GetLimitCheckInfo(uint16_t LimitCheckId,
@@ -859,6 +522,11 @@
return VL53L1_PerformOffsetZeroDistanceCalibration(Device);
}
+VL53L1CB_ERROR VL53L1CB::VL53L1CB_PerformOffsetPerVcselCalibration(int32_t CalDistanceMilliMeter)
+{
+ return VL53L1_PerformOffsetPerVcselCalibration(Device,CalDistanceMilliMeter);
+}
+
VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetCalibrationData(
VL53L1_CalibrationData_t *pCalibrationData)
{
@@ -892,11 +560,6 @@
return VL53L1_GetOpticalCenter(Device,pOpticalCenterX,pOpticalCenterY);
}
-
-
-
-
-
VL53L1CB_ERROR VL53L1CB::VL53L1CB_SetThresholdConfig(VL53L1_DetectionConfig_t *pConfig)
{
return VL53L1_SetThresholdConfig(Device,pConfig);
@@ -910,26 +573,6 @@
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_PerformOffsetPerVcselCalibration(int32_t CalDistanceMilliMeter)
-{
- return VL53L1_PerformOffsetPerVcselCalibration(Device,CalDistanceMilliMeter);
-}
-
-
-
-// from vl53l1_api_debug.c
-
-
-VL53L1CB_ERROR VL53L1CB::VL53L1CB_get_additional_data(
- VL53L1_DEV Dev,
- VL53L1_additional_data_t *pdata)
-{
- return VL53L1_get_additional_data(Dev,pdata);
-}
-
-
-
int VL53L1CB::handle_irq(uint16_t *distance)
{
int status;
@@ -941,9 +584,11 @@
int VL53L1CB::get_measurement(uint16_t *distance)
{
int status = 0;
+ VL53L1_RangingMeasurementData_t RangingMeasurementData;
- status = VL53L1CB_GetDistance(distance);
- status = VL53L1CB_ClearInterrupt();
+ status = VL53L1CB_GetRangingMeasurementData(&RangingMeasurementData);
+ *distance = RangingMeasurementData.RangeMilliMeter;
+ status = VL53L1CB_ClearInterruptAndStartMeasurement();
return status;
}
@@ -957,16 +602,12 @@
return 1;
}
- status = VL53L1CB_StopRanging(); // it is safer to do this while sensor is stopped
+ VL53L1CB_StopMeasurement(); // it is safer to do this while sensor is stopped
- if (status == 0) {
- attach_interrupt_measure_detection_irq(fptr);
- enable_interrupt_measure_detection_irq();
- }
+ attach_interrupt_measure_detection_irq(fptr);
+ enable_interrupt_measure_detection_irq();
- if (status == 0) {
- status = VL53L1CB_StartRanging();
- }
+ status = VL53L1CB_StartMeasurement();
return status;
}
@@ -976,14 +617,8 @@
int status = 0;
if (status == 0) {
- printf("Call of VL53L1_StopMeasurement\n");
- status = VL53L1CB_StopRanging();
+ status = VL53L1CB_StopMeasurement();
}
- if (status == 0)
- status = VL53L1CB_ClearInterrupt();
-
return status;
}
-
-
diff -r ca0ce4daf573 -r 0696efe39d08 src/spi_interface.cpp
--- a/src/spi_interface.cpp Wed Jun 23 12:57:26 2021 +0000
+++ b/src/spi_interface.cpp Wed Jul 21 17:06:38 2021 +0200
@@ -1,60 +1,38 @@
#include "ToF_I2C.h"
#include "spi_interface.h"
-/* This file is an interface between the c files and the mbed cpp files. */
- int v53l1x_i2c_write_if(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
+/* This file is an interface between the c platform file and the mbed cpp files. */
+
+ int v53l1cb_i2c_write_if(void *dev_I2C, uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
uint16_t NumByteToWrite)
{
-
- static ToF_DevI2C *dev_I2C = new ToF_DevI2C(D14, D15);
-
- dev_I2C->frequency(400000);
-
- // printf("v53l1x_i2c_write_if %d\n",NumByteToWrite);
- int status = dev_I2C->ToF_i2c_write(pBuffer, DeviceAddr, RegisterAddr, NumByteToWrite);
-
- if(status)
- {
- delete dev_I2C;
- return -1;
- }
-
- return status;
+ int status = 0;
+ ToF_DevI2C *I2C= (ToF_DevI2C*)dev_I2C;
+ //I2C->frequency(400000);
+ status = I2C->ToF_i2c_write(pBuffer, DeviceAddr, RegisterAddr, NumByteToWrite);
+ return status;
}
- int v53l1x_i2c_read_if(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
+ int v53l1cb_i2c_read_if(void *dev_I2C, uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
uint16_t NumByteToRead)
{
-
-
- static ToF_DevI2C *dev_I2C = new ToF_DevI2C(D14, D15);
- if (dev_I2C == NULL)
- {
- printf("v53l1x_i2c_read_if no pointer%d\n",NumByteToRead);
- }
- dev_I2C->frequency(400000);
- // printf("v53l1x_i2c_read_if %d\n",NumByteToRead);
- int status = dev_I2C->ToF_i2c_read(pBuffer, DeviceAddr, RegisterAddr, NumByteToRead);
- // printf("v53l1x_i2c_read_if %d %d %d %d %d\n",status, DeviceAddr, RegisterAddr,NumByteToRead ,pBuffer[0]);
- // delete dev_I2C;
-
- return status;
+ int status = 0;
+ ToF_DevI2C *I2C= (ToF_DevI2C*)dev_I2C;
+ // I2C->frequency(400000);
+ status = I2C->ToF_i2c_read(pBuffer, DeviceAddr, RegisterAddr, NumByteToRead);
+ return status;
}
int GetTickCount(
uint32_t *ptick_count_ms)
{
-
/* Returns current tick count in [ms] */
-
int status = 0;
-
//*ptick_count_ms = timeGetTime();
*ptick_count_ms = us_ticker_read() / 1000;
-
return status;
}
diff -r ca0ce4daf573 -r 0696efe39d08 src/vl53l1_api.c
--- a/src/vl53l1_api.c Wed Jun 23 12:57:26 2021 +0000
+++ b/src/vl53l1_api.c Wed Jul 21 17:06:38 2021 +0200
@@ -638,10 +638,10 @@
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;
+ uint16_t dss_config__target_total_rate_mcps = 0;
+ uint32_t phasecal_config_timeout_us = 0;
+ uint32_t mm_config_timeout_us = 0;
+ uint32_t lld_range_config_timeout_us = 0;
LOG_FUNCTION_START("%d", (int)PresetMode);
@@ -746,9 +746,9 @@
VL53L1_Error Status = VL53L1_ERROR_NONE;
VL53L1_PresetModes PresetMode;
uint32_t inter_measurement_period_ms;
- uint32_t TimingBudget;
- uint32_t MmTimeoutUs;
- uint32_t PhaseCalTimeoutUs;
+ uint32_t TimingBudget = 0;
+ uint32_t MmTimeoutUs = 0;
+ uint32_t PhaseCalTimeoutUs = 0;
VL53L1_zone_config_t zone_config;
LOG_FUNCTION_START("%d", (int)DistanceMode);
@@ -851,14 +851,14 @@
uint32_t MeasurementTimingBudgetMicroSeconds)
{
VL53L1_Error Status = VL53L1_ERROR_NONE;
- uint8_t Mm1Enabled;
- uint8_t Mm2Enabled;
+ uint8_t Mm1Enabled = 0;
+ uint8_t Mm2Enabled = 0;
uint32_t TimingGuard;
uint32_t divisor;
- uint32_t TimingBudget;
- uint32_t MmTimeoutUs;
+ uint32_t TimingBudget = 0;
+ uint32_t MmTimeoutUs = 0;
VL53L1_PresetModes PresetMode;
- uint32_t PhaseCalTimeoutUs;
+ uint32_t PhaseCalTimeoutUs = 0;
uint32_t vhv;
int32_t vhv_loops;
uint32_t FDAMaxTimingBudgetUs = FDA_MAX_TIMING_BUDGET_US;
@@ -1171,6 +1171,7 @@
dmax_mode = VL53L1_DEVICEDMAXMODE__PER_ZONE_CAL_DATA;
break;
default:
+ dmax_mode = VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA;
Status = VL53L1_ERROR_INVALID_PARAMS;
break;
}
@@ -1388,7 +1389,7 @@
{
VL53L1_Error Status = VL53L1_ERROR_NONE;
uint16_t MinCountRate;
- FixPoint1616_t TempFix1616;
+ FixPoint1616_t TempFix1616 = 0;
uint16_t SigmaThresh;
LOG_FUNCTION_START("");
@@ -2171,6 +2172,8 @@
int32_t ExtendedRangeEnabled = 0;
uint8_t uwr_status;
int16_t AddOffset;
+ int32_t TuningMinValidSignal;
+ FixPoint1616_t MinValidSignal;
FilteredRangeStatus = presults_data->range_status & 0x1F;
@@ -2297,6 +2300,18 @@
}
+ VL53L1_get_tuning_parm(Dev,
+ VL53L1_TUNINGPARM_MIN_SIGNAL_SECONDARY_TARGETS,
+ &TuningMinValidSignal);
+ MinValidSignal = (FixPoint1616_t)TuningMinValidSignal;
+ if ((iteration > 0) &&
+ (pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) &&
+ (pRangeData->SignalRateRtnMegaCps < MinValidSignal))
+ pRangeData->RangeStatus =
+ VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL;
+
+
+
VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_UWR_ENABLE,
&ExtendedRangeEnabled);
@@ -2413,17 +2428,6 @@
tp->tp_uwr_med_corr_z_6_rangea;
}
else
-
-
-
-
-
-
-
-
-
-
-
uwr_status = 0;
break;
@@ -2812,10 +2816,7 @@
pc->ref_spad_man__ref_location = numloc[1];
}
- if (Status == VL53L1_ERROR_NONE)
- commbuf = &dcrbuffer[16];
-
-
+ commbuf = &dcrbuffer[16];
if (Status == VL53L1_ERROR_NONE)
Status = VL53L1_WriteMulti(Dev,
@@ -3019,6 +3020,9 @@
LOG_FUNCTION_START("");
+ offset_cal_mode =
+ VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD;
+
if (OffsetCalibrationMode == VL53L1_OFFSETCALIBRATIONMODE_STANDARD) {
offset_cal_mode =
VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD;
@@ -3050,6 +3054,8 @@
LOG_FUNCTION_START("");
+ offset_cor_mode =
+ VL53L1_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS;
if (OffsetCorrectionMode == VL53L1_OFFSETCORRECTIONMODE_STANDARD) {
offset_cor_mode =
VL53L1_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS;
@@ -3091,9 +3097,8 @@
CalReflectancePercent_int =
VL53L1_FIXPOINT1616TOFIXPOINT72(CalReflectancePercent);
- if (Status == VL53L1_ERROR_NONE)
- Status = VL53L1_get_offset_calibration_mode(Dev,
- &offset_cal_mode);
+ Status = VL53L1_get_offset_calibration_mode(Dev,
+ &offset_cal_mode);
if (Status != VL53L1_ERROR_NONE) {
LOG_FUNCTION_END(Status);
diff -r ca0ce4daf573 -r 0696efe39d08 src/vl53l1_api_calibration.c
--- a/src/vl53l1_api_calibration.c Wed Jun 23 12:57:26 2021 +0000
+++ b/src/vl53l1_api_calibration.c Wed Jul 21 17:06:38 2021 +0200
@@ -1300,7 +1300,14 @@
VL53L1_p_017 -= (2048 *
(uint32_t)pdev->hist_data.cal_config__vcsel_start);
- VL53L1_p_017 = VL53L1_p_017 % period;
+ if (period != 0) {
+ VL53L1_p_017 = VL53L1_p_017 % period;
+ }
+ else {
+ status =
+ VL53L1_ERROR_DIVISION_BY_ZERO;
+ VL53L1_p_017 = 0;
+ }
phasecal_result__reference_phase += (uint32_t)(
pdev->hist_data.phasecal_result__reference_phase);
@@ -2082,23 +2089,22 @@
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;
+ }
+
+
+ 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) {
pXC->algo__xtalk_cpo_HistoMerge_kcps[k * MaxId] =
pXC->algo__crosstalk_compensation_plane_offset_kcps;
}
}
-LOOPOUT:
VL53L1_stop_range(Dev);
diff -r ca0ce4daf573 -r 0696efe39d08 src/vl53l1_api_core.c
--- a/src/vl53l1_api_core.c Wed Jun 23 12:57:26 2021 +0000
+++ b/src/vl53l1_api_core.c Wed Jul 21 17:06:38 2021 +0200
@@ -71,6 +71,8 @@
tB = pdev->per_vcsel_cal_data.long_b_offset_mm;
break;
default:
+ tA = pdev->per_vcsel_cal_data.long_a_offset_mm;
+ tB = pdev->per_vcsel_cal_data.long_b_offset_mm;
status = VL53L1_ERROR_INVALID_PARAMS;
*poffset = 0;
break;
@@ -610,9 +612,12 @@
VL53L1_additional_offset_cal_data_t *pCD = &(pdev->add_off_cal_data);
VL53L1_decoded_nvm_fmt_range_data_t fmt_rrd;
+ uint8_t i, VL53L1_p_001, count;
LOG_FUNCTION_START("");
+ pdev->fmt_total_enabled_spads = 256;
+
if (status == VL53L1_ERROR_NONE)
status = VL53L1_get_static_nvm_managed(
Dev,
@@ -630,10 +635,21 @@
&(pdev->nvm_copy_data));
- if (status == VL53L1_ERROR_NONE)
+ if (status == VL53L1_ERROR_NONE) {
VL53L1_copy_rtn_good_spads_to_buffer(
&(pdev->nvm_copy_data),
&(pdev->rtn_good_spads[0]));
+ pdev->fmt_total_enabled_spads = 0;
+ for (i = 0; i < 32; i++) {
+ VL53L1_p_001 = pdev->rtn_good_spads[i];
+ count = 0;
+ while(VL53L1_p_001) {
+ count += VL53L1_p_001&1;
+ VL53L1_p_001 = VL53L1_p_001>>1;
+ }
+ pdev->fmt_total_enabled_spads += count;
+ }
+ }
}
@@ -3676,7 +3692,7 @@
(VL53L1DevDataGet(Dev, CurrentParameters.PresetMode) ==
VL53L1_PRESETMODE_RANGING);
-
+ presults->fmt_total_enabled_spads = pdev->fmt_total_enabled_spads;
if ((pdev->sys_ctrl.system__mode_start &
VL53L1_DEVICESCHEDULERMODE_HISTOGRAM)
== VL53L1_DEVICESCHEDULERMODE_HISTOGRAM) {
@@ -6258,6 +6274,10 @@
*ptuning_parm_value =
pdev->tuning_parms.tp_uwr_lng_corr_z_5_rangeb;
break;
+ case VL53L1_TUNINGPARM_MIN_SIGNAL_SECONDARY_TARGETS:
+ *ptuning_parm_value =
+ pdev->tuning_parms.tp_min_signal_secondary_targets;
+ break;
default:
*ptuning_parm_value = 0x7FFFFFFF;
@@ -7058,7 +7078,10 @@
pdev->tuning_parms.tp_uwr_lng_corr_z_5_rangeb =
(int16_t)tuning_parm_value;
break;
-
+ case VL53L1_TUNINGPARM_MIN_SIGNAL_SECONDARY_TARGETS:
+ pdev->tuning_parms.tp_min_signal_secondary_targets =
+ (uint32_t)tuning_parm_value;
+ break;
default:
status = VL53L1_ERROR_INVALID_PARAMS;
diff -r ca0ce4daf573 -r 0696efe39d08 src/vl53l1_api_preset_modes.c --- a/src/vl53l1_api_preset_modes.c Wed Jun 23 12:57:26 2021 +0000 +++ b/src/vl53l1_api_preset_modes.c Wed Jul 21 17:06:38 2021 +0200 @@ -679,7 +679,8 @@ VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEA_DEFAULT; pdata->tp_uwr_lng_corr_z_5_rangeb = VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEB_DEFAULT; - + pdata->tp_min_signal_secondary_targets = + VL53L1_TUNINGPARM_MIN_SIGNAL_SECONDARY_TARGETS_DEFAULT; LOG_FUNCTION_END(status); return status;
diff -r ca0ce4daf573 -r 0696efe39d08 src/vl53l1_core.c
--- a/src/vl53l1_core.c Wed Jun 23 12:57:26 2021 +0000
+++ b/src/vl53l1_core.c Wed Jul 21 17:06:38 2021 +0200
@@ -1222,7 +1222,10 @@
LOG_FUNCTION_START("");
- timeout_mclks =
+ if (macro_period_us == 0)
+ timeout_mclks = 0;
+ else
+ timeout_mclks =
((timeout_us << 12) + (macro_period_us>>1)) /
macro_period_us;
@@ -2395,27 +2398,36 @@
- if (pxtalk_data->signal_events_sum > 0) {
+
+
+ tmp64_1 =
+ (uint64_t)pxtalk_data->effective_spad_count_sum *
+ (uint64_t)pxtalk_data->peak_duration_us_sum;
+
+ if (pxtalk_data->signal_events_sum < 0) {
+ pxtalk_data->signal_events_sum = 0;
+
tmp64_0 =
- ((uint64_t)pxtalk_data->signal_events_sum *
- (uint64_t)pxtalk_data->sample_count *
- (uint64_t)pxtalk_data->event_scaler_avg * 256U) << 9U;
- tmp64_1 =
- (uint64_t)pxtalk_data->effective_spad_count_sum *
- (uint64_t)pxtalk_data->peak_duration_us_sum;
-
-
-
- if (tmp64_1 > 0U) {
-
- tmp64_0 = tmp64_0 + (tmp64_1 >> 1U);
- xtalk_per_spad = do_division_u(tmp64_0, tmp64_1);
- } else {
- xtalk_per_spad = (uint64_t)tmp64_0;
+ ((uint64_t)pxtalk_data->sample_count *
+ (uint64_t)pxtalk_data->event_scaler_avg * 256U) << 9U;
+ if (tmp64_0 > 0) {
+ pxtalk_data->signal_events_sum = (int32_t)
+ do_division_u((50U * tmp64_1), tmp64_0);
}
-
+ }
+ tmp64_0 =
+ ((uint64_t)pxtalk_data->signal_events_sum *
+ (uint64_t)pxtalk_data->sample_count *
+ (uint64_t)pxtalk_data->event_scaler_avg * 256U) << 9U;
+
+
+
+ if (tmp64_1 > 0U) {
+
+ tmp64_0 = tmp64_0 + (tmp64_1 >> 1U);
+ xtalk_per_spad = do_division_u(tmp64_0, tmp64_1);
} else {
- status = VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL;
+ xtalk_per_spad = (uint64_t)tmp64_0;
}
pxtalk_data->xtalk_rate_kcps_per_spad = (uint32_t)xtalk_per_spad;
@@ -3622,6 +3634,8 @@
VL53L1_calc_macro_period_us(
fast_osc_frequency,
vcsel_period_a);
+ if (macro_period_us == 0)
+ macro_period_us = 1;
diff -r ca0ce4daf573 -r 0696efe39d08 src/vl53l1_core_support.c --- a/src/vl53l1_core_support.c Wed Jun 23 12:57:26 2021 +0000 +++ b/src/vl53l1_core_support.c Wed Jul 21 17:06:38 2021 +0200 @@ -180,7 +180,10 @@ VL53L1_p_017 += (2048 * (uint32_t)pdata->phasecal_result__vcsel_start); VL53L1_p_017 -= (2048 * (uint32_t)pdata->cal_config__vcsel_start); - VL53L1_p_017 = VL53L1_p_017 % period; + if (period != 0) + VL53L1_p_017 = VL53L1_p_017 % period; + else + VL53L1_p_017 = 0; pdata->zero_distance_phase = (uint16_t)VL53L1_p_017;
diff -r ca0ce4daf573 -r 0696efe39d08 src/vl53l1_hist_algos_gen3.c
--- a/src/vl53l1_hist_algos_gen3.c Wed Jun 23 12:57:26 2021 +0000
+++ b/src/vl53l1_hist_algos_gen3.c Wed Jul 21 17:06:38 2021 +0200
@@ -601,6 +601,9 @@
*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)
@@ -715,7 +718,10 @@
int32_t cx = 0;
-
+ if (VL53L1_p_031 == 0) {
+ *psigma_est = 0xFFFF;
+ return VL53L1_ERROR_DIVISION_BY_ZERO;
+ }
i = bin % VL53L1_p_031;
diff -r ca0ce4daf573 -r 0696efe39d08 src/vl53l1_hist_algos_gen4.c
--- a/src/vl53l1_hist_algos_gen4.c Wed Jun 23 12:57:26 2021 +0000
+++ b/src/vl53l1_hist_algos_gen4.c Wed Jul 21 17:06:38 2021 +0200
@@ -96,6 +96,8 @@
uint8_t p = 0;
VL53L1_histogram_bin_data_t *pB = &(palgo3->VL53L1_p_010);
+ uint16_t enabled_spads_ninety_percent;
+ int32_t amb_threshold_sigma;
LOG_FUNCTION_START("");
@@ -151,9 +153,16 @@
&(palgo3->VL53L1_p_038));
+ amb_threshold_sigma = ppost_cfg->ambient_thresh_sigma1;
+ enabled_spads_ninety_percent =
+ presults->fmt_total_enabled_spads * 230;
+ if ((pbins_input->result__dss_actual_effective_spads <
+ enabled_spads_ninety_percent) &&
+ (presults->VL53L1_p_002[0].ambient_count_rate_mcps < (5 * 128))){
+ amb_threshold_sigma *= histo_merge_nb;
+ }
- pdmax_cfg->ambient_thresh_sigma =
- ppost_cfg->ambient_thresh_sigma1;
+ pdmax_cfg->ambient_thresh_sigma = amb_threshold_sigma;
for (p = 0; p < VL53L1_MAX_AMBIENT_DMAX_VALUES; p++) {
if (status == VL53L1_ERROR_NONE) {
@@ -176,7 +185,7 @@
status =
VL53L1_f_018(
ppost_cfg->ambient_thresh_events_scaler,
- (int32_t)ppost_cfg->ambient_thresh_sigma1,
+ (int32_t)amb_threshold_sigma,
(int32_t)ppost_cfg->min_ambient_thresh_events,
ppost_cfg->algo__crosstalk_compensation_enable,
&(palgo3->VL53L1_p_010),
diff -r ca0ce4daf573 -r 0696efe39d08 src/vl53l1_hist_core.c --- a/src/vl53l1_hist_core.c Wed Jun 23 12:57:26 2021 +0000 +++ b/src/vl53l1_hist_core.c Wed Jul 21 17:06:38 2021 +0200 @@ -381,7 +381,9 @@ period = 2048 * (uint32_t)VL53L1_decode_vcsel_period(pdata1->VL53L1_p_009); - remapped_phase = (uint32_t)pdata2->zero_distance_phase % period; + if (period != 0) + remapped_phase = + (uint32_t)pdata2->zero_distance_phase % period; phase_delta = (int32_t)pdata1->zero_distance_phase
diff -r ca0ce4daf573 -r 0696efe39d08 src/vl53l1_platform.c
--- a/src/vl53l1_platform.c Wed Jun 23 12:57:26 2021 +0000
+++ b/src/vl53l1_platform.c Wed Jul 21 17:06:38 2021 +0200
@@ -1,37 +1,13 @@
-/*
-* This file is part of VL53L1 Platform
-*
-* Copyright (c) 2016, STMicroelectronics - All Rights Reserved
-*
-* 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.
-*
-*/
+// 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.
+ ******************************************************************************
+ */
unsigned int i2creadCount = 0;
unsigned int i2cwriteCount = 0;
@@ -40,8 +16,6 @@
#include <mbed_wait_api.h>
#include "vl53l1_platform.h"
-#ifndef SMALL_FOOTPRINT
-#endif
#include "vl53l1_platform_log.h"
#include "vl53l1_api.h"
#include "spi_interface.h"
@@ -79,7 +53,7 @@
{
int status;
// printf("VL53L1_WriteMulti %d %d %d \n",Dev->I2cDevAddr,index,count);
- status = v53l1x_i2c_write_if(pdata,Dev->i2c_slave_address, index,count);
+ status = v53l1cb_i2c_write_if(Dev->dev_i2c, pdata,Dev->i2c_slave_address, index,count);
return status;
}
@@ -88,7 +62,7 @@
{
int status;
- status = v53l1x_i2c_read_if(pdata,Dev->i2c_slave_address, index,count);
+ status = v53l1cb_i2c_read_if(Dev->dev_i2c, pdata,Dev->i2c_slave_address, index,count);
return status;
}
@@ -98,7 +72,7 @@
{
int status;
- status = v53l1x_i2c_write_if(&data,Dev->i2c_slave_address, index,1);
+ status = v53l1cb_i2c_write_if(Dev->dev_i2c, &data,Dev->i2c_slave_address, index,1);
return status;
}
@@ -110,7 +84,7 @@
buffer[0] = data >> 8;
buffer[1] = data & 0x00FF;
- status = v53l1x_i2c_write_if((uint8_t *)buffer,Dev->i2c_slave_address, index,2);
+ status = v53l1cb_i2c_write_if(Dev->dev_i2c, (uint8_t *)buffer,Dev->i2c_slave_address, index,2);
return status;
}
@@ -124,7 +98,7 @@
buffer[1] = (data >> 16) & 0xFF;
buffer[2] = (data >> 8) & 0xFF;
buffer[3] = (data >> 0) & 0xFF;
- status = v53l1x_i2c_write_if((uint8_t *)buffer,Dev->i2c_slave_address, index,4);
+ status = v53l1cb_i2c_write_if(Dev->dev_i2c, (uint8_t *)buffer,Dev->i2c_slave_address, index,4);
return status;
}
@@ -134,11 +108,11 @@
uint8_t buffer = 0;
/* read data direct onto buffer */
- status = v53l1x_i2c_read_if(&buffer,Dev->i2c_slave_address, index,1);
+ status = v53l1cb_i2c_read_if(Dev->dev_i2c, &buffer,Dev->i2c_slave_address, index,1);
if (!status)
{
buffer = (buffer & AndData) | OrData;
- status = v53l1x_i2c_write_if(&buffer,Dev->i2c_slave_address, index,1);
+ status = v53l1cb_i2c_write_if(Dev->dev_i2c, &buffer,Dev->i2c_slave_address, index,1);
}
return status;
}
@@ -147,7 +121,7 @@
{
int status;
- status = v53l1x_i2c_read_if(data,Dev->i2c_slave_address, index,1); //is this correct
+ status = v53l1cb_i2c_read_if(Dev->dev_i2c, data,Dev->i2c_slave_address, index,1); //is this correct
// printf("VL53L1_RdByte %d %d %d\n",Dev->i2c_slave_address, status,*data);
if(status)
return -1;
@@ -161,7 +135,7 @@
int status;
uint8_t buffer[2] = {0,0};
- status = v53l1x_i2c_read_if(buffer,Dev->i2c_slave_address, index,2); //is this correct
+ status = v53l1cb_i2c_read_if(Dev->dev_i2c, buffer,Dev->i2c_slave_address, index,2); //is this correct
if (!status)
{
*data = (buffer[0] << 8) + buffer[1];
@@ -177,7 +151,7 @@
int status;
uint8_t buffer[4] = {0,0,0,0};
- status = v53l1x_i2c_read_if(buffer,Dev->i2c_slave_address, index,4);
+ status = v53l1cb_i2c_read_if(Dev->dev_i2c, buffer,Dev->i2c_slave_address, index,4);
if(!status)
{
*data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3];
@@ -188,12 +162,14 @@
VL53L1_Error VL53L1_GetTickCount(
+ VL53L1_DEV Dev,
uint32_t *ptick_count_ms)
{
/* Returns current tick count in [ms] */
VL53L1_Error status = VL53L1_ERROR_NONE;
+ (void) Dev;
GetTickCount( ptick_count_ms);
@@ -228,7 +204,7 @@
VL53L1_Error VL53L1_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_time){
(void)pdev;
- wait_ms(wait_time);
+ wait_us(wait_time * 1000);
return VL53L1_ERROR_NONE;
}
@@ -289,10 +265,10 @@
/* calculate time limit in absolute time */
- VL53L1_GetTickCount(&start_time_ms);
+ VL53L1_GetTickCount(pdev, &start_time_ms);
- wait_ms(10);
+ VL53L1_WaitMs(pdev, 10);
/* remember current trace functions and temporarily disable
* function logging
@@ -316,10 +292,6 @@
if ((byte_value & mask) == value)
found = 1;
- if (status)
- {
- printf("VL53L1_WaitValueMaskEx 1 %d %d\n",pdev->i2c_slave_address,status);
- }
if (status == VL53L1_ERROR_NONE &&
found == 0 &&
@@ -329,11 +301,7 @@
poll_delay_ms);
/* Update polling time (Compare difference rather than absolute to
negate 32bit wrap around issue) */
- if (status)
- {
- printf("VL53L1_WaitValueMaskEx 2 %d\n",status);
- }
- VL53L1_GetTickCount(¤t_time_ms);
+ VL53L1_GetTickCount(pdev, ¤t_time_ms);
polling_time_ms = current_time_ms - start_time_ms;
}
diff -r ca0ce4daf573 -r 0696efe39d08 src/vl53l1_platform_ipp.c --- a/src/vl53l1_platform_ipp.c Wed Jun 23 12:57:26 2021 +0000 +++ b/src/vl53l1_platform_ipp.c Wed Jul 21 17:06:38 2021 +0200 @@ -1,37 +1,13 @@ -/******************************************************************************* - This file is part of VL53L1 Platform - - Copyright (c) 2020, STMicroelectronics - All Rights Reserved - - 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. +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved - 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. - -*/ + 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. + ****************************************************************************** + */ @@ -187,4 +163,3 @@ } -
diff -r ca0ce4daf573 -r 0696efe39d08 src/vl53l1_platform_log.c --- a/src/vl53l1_platform_log.c Wed Jun 23 12:57:26 2021 +0000 +++ b/src/vl53l1_platform_log.c Wed Jul 21 17:06:38 2021 +0200 @@ -1,37 +1,13 @@ -/******************************************************************************* - This file is part of VL53L1 Platform - - Copyright (c) 2020, STMicroelectronics - All Rights Reserved - - 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. +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved - 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. - -*/ + 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. + ****************************************************************************** + */ @@ -39,7 +15,6 @@ #include <stdio.h> #include <string.h> #include <stdarg.h> -//#include <malloc.h> #include "vl53l1_platform_log.h" #include "vl53l1_platform_user_config.h" @@ -149,4 +124,3 @@ } #endif -
diff -r ca0ce4daf573 -r 0696efe39d08 src/vl53l1_wait.c --- a/src/vl53l1_wait.c Wed Jun 23 12:57:26 2021 +0000 +++ b/src/vl53l1_wait.c Wed Jul 21 17:06:38 2021 +0200 @@ -390,7 +390,7 @@ - VL53L1_GetTickCount(&start_time_ms); + VL53L1_GetTickCount(Dev, &start_time_ms); pdev->fw_ready_poll_duration_ms = 0; @@ -412,7 +412,7 @@ } - VL53L1_GetTickCount(¤t_time_ms); + VL53L1_GetTickCount(Dev, ¤t_time_ms); pdev->fw_ready_poll_duration_ms = current_time_ms - start_time_ms; }