Diff: modules/vl53lx_hist_algos_gen4.c

Revision:

5:89031b2f5316

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/modules/vl53lx_hist_algos_gen4.c	Wed Jul 14 12:45:49 2021 +0100
@@ -0,0 +1,540 @@
+
+// SPDX-License-Identifier: BSD-3-Clause
+/******************************************************************************
+ * Copyright (c) 2020, STMicroelectronics - All Rights Reserved
+
+ This file is part of VL53LX 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 <vl53lx_platform_log.h>
+#include <vl53lx_types.h>
+#include "vl53lx_core_support.h"
+#include "vl53lx_error_codes.h"
+
+#include "vl53lx_hist_core.h"
+#include "vl53lx_hist_algos_gen3.h"
+#include "vl53lx_hist_algos_gen4.h"
+#include "vl53lx_sigma_estimate.h"
+#include "vl53lx_dmax.h"
+
+
+
+#define LOG_FUNCTION_START(fmt, ...) \
+	_LOG_FUNCTION_START(VL53LX_TRACE_MODULE_HISTOGRAM, fmt, ##__VA_ARGS__)
+#define LOG_FUNCTION_END(status, ...) \
+	_LOG_FUNCTION_END(VL53LX_TRACE_MODULE_HISTOGRAM, status, ##__VA_ARGS__)
+#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
+	_LOG_FUNCTION_END_FMT(VL53LX_TRACE_MODULE_HISTOGRAM, \
+	status, fmt, ##__VA_ARGS__)
+
+#define trace_print(level, ...) \
+	_LOG_TRACE_PRINT(VL53LX_TRACE_MODULE_HISTOGRAM, \
+	level, VL53LX_TRACE_FUNCTION_NONE, ##__VA_ARGS__)
+
+
+VL53LX_Error VL53LX_f_025(
+	VL53LX_dmax_calibration_data_t         *pdmax_cal,
+	VL53LX_hist_gen3_dmax_config_t         *pdmax_cfg,
+	VL53LX_hist_post_process_config_t      *ppost_cfg,
+	VL53LX_histogram_bin_data_t            *pbins_input,
+	VL53LX_histogram_bin_data_t            *pxtalk,
+	VL53LX_hist_gen3_algo_private_data_t   *palgo3,
+	VL53LX_hist_gen4_algo_filtered_data_t  *pfiltered,
+	VL53LX_hist_gen3_dmax_private_data_t   *pdmax_algo,
+	VL53LX_range_results_t                 *presults,
+	uint8_t                                histo_merge_nb)
+{
+
+
+	VL53LX_Error  status  = VL53LX_ERROR_NONE;
+
+	VL53LX_hist_pulse_data_t     *ppulse_data;
+	VL53LX_range_data_t          *prange_data;
+
+	uint8_t                       p = 0;
+	VL53LX_histogram_bin_data_t *pB = &(palgo3->VL53LX_p_006);
+
+	LOG_FUNCTION_START("");
+
+
+
+
+
+	VL53LX_f_003(palgo3);
+
+
+
+	memcpy(
+		&(palgo3->VL53LX_p_006),
+		pbins_input,
+		sizeof(VL53LX_histogram_bin_data_t));
+
+
+
+	presults->cfg_device_state = pbins_input->cfg_device_state;
+	presults->rd_device_state  = pbins_input->rd_device_state;
+	presults->zone_id          = pbins_input->zone_id;
+	presults->stream_count     = pbins_input->result__stream_count;
+	presults->wrap_dmax_mm     = 0;
+	presults->max_results      = VL53LX_MAX_RANGE_RESULTS;
+	presults->active_results   = 0;
+
+	for (p = 0; p < VL53LX_MAX_AMBIENT_DMAX_VALUES; p++)
+		presults->VL53LX_p_022[p] = 0;
+
+
+
+	VL53LX_hist_calc_zero_distance_phase(&(palgo3->VL53LX_p_006));
+
+
+
+	if (ppost_cfg->hist_amb_est_method ==
+		VL53LX_HIST_AMB_EST_METHOD__THRESHOLDED_BINS)
+		VL53LX_hist_estimate_ambient_from_thresholded_bins(
+			(int32_t)ppost_cfg->ambient_thresh_sigma0,
+			&(palgo3->VL53LX_p_006));
+	else
+		VL53LX_hist_estimate_ambient_from_ambient_bins(
+				&(palgo3->VL53LX_p_006));
+
+
+	VL53LX_hist_remove_ambient_bins(&(palgo3->VL53LX_p_006));
+
+
+	if (ppost_cfg->algo__crosstalk_compensation_enable > 0)
+		VL53LX_f_005(
+				pxtalk,
+				&(palgo3->VL53LX_p_006),
+				&(palgo3->VL53LX_p_047));
+
+
+
+	pdmax_cfg->ambient_thresh_sigma =
+		ppost_cfg->ambient_thresh_sigma1;
+
+	for (p = 0; p < VL53LX_MAX_AMBIENT_DMAX_VALUES; p++) {
+		if (status == VL53LX_ERROR_NONE) {
+			status =
+			VL53LX_f_001(
+				pdmax_cfg->target_reflectance_for_dmax_calc[p],
+				pdmax_cal,
+				pdmax_cfg,
+				&(palgo3->VL53LX_p_006),
+				pdmax_algo,
+				&(presults->VL53LX_p_022[p]));
+		}
+	}
+
+
+
+
+
+	if (status == VL53LX_ERROR_NONE)
+		status =
+			VL53LX_f_006(
+			ppost_cfg->ambient_thresh_events_scaler,
+			(int32_t)ppost_cfg->ambient_thresh_sigma1,
+			(int32_t)ppost_cfg->min_ambient_thresh_events,
+			ppost_cfg->algo__crosstalk_compensation_enable,
+			&(palgo3->VL53LX_p_006),
+			&(palgo3->VL53LX_p_047),
+			palgo3);
+
+
+
+
+
+	if (status == VL53LX_ERROR_NONE)
+		status =
+			VL53LX_f_007(palgo3);
+
+
+
+	if (status == VL53LX_ERROR_NONE)
+		status =
+			VL53LX_f_008(palgo3);
+
+
+
+	if (status == VL53LX_ERROR_NONE)
+		status =
+			VL53LX_f_009(palgo3);
+
+
+
+	for (p = 0; p < palgo3->VL53LX_p_046; p++) {
+
+		ppulse_data = &(palgo3->VL53LX_p_003[p]);
+
+
+
+		if (status == VL53LX_ERROR_NONE)
+			status =
+				VL53LX_f_010(
+					p,
+					&(palgo3->VL53LX_p_006),
+					palgo3);
+
+
+
+		if (status == VL53LX_ERROR_NONE)
+			status =
+				VL53LX_f_011(
+					p,
+					&(palgo3->VL53LX_p_006),
+					palgo3,
+					pB->VL53LX_p_028,
+					&(palgo3->VL53LX_p_048));
+
+
+
+		if (status == VL53LX_ERROR_NONE) {
+			status =
+				VL53LX_f_011(
+					p,
+					&(palgo3->VL53LX_p_006),
+					palgo3,
+					0,
+					&(palgo3->VL53LX_p_049));
+		}
+
+
+
+		if (status == VL53LX_ERROR_NONE) {
+			status =
+				VL53LX_f_011(
+					p,
+					&(palgo3->VL53LX_p_047),
+					palgo3,
+					0,
+					&(palgo3->VL53LX_p_050));
+		}
+
+
+
+		if (status == VL53LX_ERROR_NONE)
+			status =
+				VL53LX_f_026(
+					p,
+					&(palgo3->VL53LX_p_048),
+					palgo3,
+					pfiltered);
+
+
+
+		if (status == VL53LX_ERROR_NONE)
+			status =
+				VL53LX_f_027(
+					p,
+					ppost_cfg->noise_threshold,
+					pfiltered,
+					palgo3);
+
+		if (status == VL53LX_ERROR_NONE)
+			status =
+			VL53LX_f_014(
+			ppulse_data->VL53LX_p_023,
+			ppost_cfg->sigma_estimator__sigma_ref_mm,
+			palgo3->VL53LX_p_030,
+			ppulse_data->VL53LX_p_051,
+			ppost_cfg->algo__crosstalk_compensation_enable,
+			&(palgo3->VL53LX_p_048),
+			&(palgo3->VL53LX_p_049),
+			&(palgo3->VL53LX_p_050),
+			&(ppulse_data->VL53LX_p_002));
+
+
+
+		if (status == VL53LX_ERROR_NONE)
+			status =
+				VL53LX_f_015(
+					p,
+					1,
+					&(palgo3->VL53LX_p_006),
+					palgo3);
+
+	}
+
+
+
+	if (status == VL53LX_ERROR_NONE)
+		status =
+			VL53LX_f_016(
+				ppost_cfg->hist_target_order,
+				palgo3);
+
+
+
+	for (p = 0; p < palgo3->VL53LX_p_046; p++) {
+
+		ppulse_data = &(palgo3->VL53LX_p_003[p]);
+
+
+		if (!(presults->active_results < presults->max_results))
+			continue;
+
+
+
+
+		if (ppulse_data->VL53LX_p_010 >
+			ppost_cfg->signal_total_events_limit &&
+			ppulse_data->VL53LX_p_023 < 0xFF) {
+
+			prange_data =
+			&(presults->VL53LX_p_003[presults->active_results]);
+
+			if (status == VL53LX_ERROR_NONE)
+				VL53LX_f_017(
+						presults->active_results,
+						ppost_cfg->valid_phase_low,
+						ppost_cfg->valid_phase_high,
+						ppost_cfg->sigma_thresh,
+						&(palgo3->VL53LX_p_006),
+						ppulse_data,
+						prange_data);
+
+			if (status == VL53LX_ERROR_NONE)
+				status =
+				VL53LX_f_018(
+				pB->vcsel_width,
+				pB->VL53LX_p_015,
+				pB->total_periods_elapsed,
+				pB->result__dss_actual_effective_spads,
+				prange_data,
+				histo_merge_nb);
+
+			if (status == VL53LX_ERROR_NONE)
+				VL53LX_f_019(
+					ppost_cfg->gain_factor,
+					ppost_cfg->range_offset_mm,
+					prange_data);
+
+			presults->active_results++;
+		}
+
+	}
+
+
+
+	LOG_FUNCTION_END(status);
+
+	return status;
+}
+
+
+
+VL53LX_Error VL53LX_f_026(
+	uint8_t                                pulse_no,
+	VL53LX_histogram_bin_data_t           *ppulse,
+	VL53LX_hist_gen3_algo_private_data_t  *palgo3,
+	VL53LX_hist_gen4_algo_filtered_data_t *pfiltered)
+{
+
+
+
+
+	VL53LX_Error  status       = VL53LX_ERROR_NONE;
+
+	VL53LX_hist_pulse_data_t *pdata = &(palgo3->VL53LX_p_003[pulse_no]);
+
+	uint8_t  lb     = 0;
+	uint8_t  i     = 0;
+	int32_t  suma  = 0;
+	int32_t  sumb  = 0;
+	int32_t  sumc  = 0;
+
+	LOG_FUNCTION_START("");
+
+	pfiltered->VL53LX_p_020    = palgo3->VL53LX_p_020;
+	pfiltered->VL53LX_p_019      = palgo3->VL53LX_p_019;
+	pfiltered->VL53LX_p_021 = palgo3->VL53LX_p_021;
+
+
+
+	for (lb = pdata->VL53LX_p_012; lb <= pdata->VL53LX_p_013; lb++) {
+
+		i =  lb  % palgo3->VL53LX_p_030;
+
+
+		VL53LX_f_022(
+				i,
+				pdata->VL53LX_p_051,
+				ppulse,
+				&suma,
+				&sumb,
+				&sumc);
+
+
+		pfiltered->VL53LX_p_007[i] = suma;
+		pfiltered->VL53LX_p_032[i] = sumb;
+		pfiltered->VL53LX_p_001[i] = sumc;
+
+
+
+		pfiltered->VL53LX_p_053[i] =
+			(suma + sumb) -
+			(sumc + palgo3->VL53LX_p_028);
+
+
+
+		pfiltered->VL53LX_p_054[i] =
+			(sumb + sumc) -
+			(suma + palgo3->VL53LX_p_028);
+	}
+
+	return status;
+}
+
+
+VL53LX_Error VL53LX_f_027(
+	uint8_t                                pulse_no,
+	uint16_t                               noise_threshold,
+	VL53LX_hist_gen4_algo_filtered_data_t *pfiltered,
+	VL53LX_hist_gen3_algo_private_data_t  *palgo3)
+{
+
+
+
+	VL53LX_Error  status       = VL53LX_ERROR_NONE;
+	VL53LX_Error  func_status  = VL53LX_ERROR_NONE;
+
+	VL53LX_hist_pulse_data_t *pdata = &(palgo3->VL53LX_p_003[pulse_no]);
+
+	uint8_t  lb            = 0;
+	uint8_t  i            = 0;
+	uint8_t  j            = 0;
+
+	SUPPRESS_UNUSED_WARNING(noise_threshold);
+
+	for (lb = pdata->VL53LX_p_012; lb < pdata->VL53LX_p_013; lb++) {
+
+		i =  lb    % palgo3->VL53LX_p_030;
+		j = (lb+1) % palgo3->VL53LX_p_030;
+
+		if (i < palgo3->VL53LX_p_021 &&
+			j < palgo3->VL53LX_p_021) {
+
+			if (pfiltered->VL53LX_p_053[i] == 0 &&
+				pfiltered->VL53LX_p_054[i] == 0)
+
+				pfiltered->VL53LX_p_040[i] = 0;
+
+			else if (pfiltered->VL53LX_p_053[i] >= 0 &&
+					 pfiltered->VL53LX_p_054[i] >= 0)
+				pfiltered->VL53LX_p_040[i] = 1;
+
+			else if (pfiltered->VL53LX_p_053[i] <  0 &&
+					 pfiltered->VL53LX_p_054[i] >= 0 &&
+					 pfiltered->VL53LX_p_053[j] >= 0 &&
+					 pfiltered->VL53LX_p_054[j] <  0)
+				pfiltered->VL53LX_p_040[i] = 1;
+
+			else
+				pfiltered->VL53LX_p_040[i] = 0;
+
+
+			if (pfiltered->VL53LX_p_040[i] > 0) {
+
+				pdata->VL53LX_p_023 = lb;
+
+				func_status =
+					VL53LX_f_028(
+					lb,
+					pfiltered->VL53LX_p_007[i],
+					pfiltered->VL53LX_p_032[i],
+					pfiltered->VL53LX_p_001[i],
+					0,
+					0,
+					0,
+					palgo3->VL53LX_p_028,
+					palgo3->VL53LX_p_030,
+					&(pdata->VL53LX_p_011));
+
+				if (func_status ==
+					VL53LX_ERROR_DIVISION_BY_ZERO)
+					pfiltered->VL53LX_p_040[i] = 0;
+
+			}
+		}
+	}
+
+	return status;
+}
+
+
+VL53LX_Error VL53LX_f_028(
+	uint8_t   bin,
+	int32_t   VL53LX_p_007,
+	int32_t   VL53LX_p_032,
+	int32_t   VL53LX_p_001,
+	int32_t   ax,
+	int32_t   bx,
+	int32_t   cx,
+	int32_t   VL53LX_p_028,
+	uint8_t   VL53LX_p_030,
+	uint32_t *pmean_phase)
+{
+
+
+	VL53LX_Error  status = VL53LX_ERROR_DIVISION_BY_ZERO;
+
+	int64_t  mean_phase  = VL53LX_MAX_ALLOWED_PHASE;
+	int32_t  mean_phase32;
+	int64_t  VL53LX_p_055   = 0;
+	int64_t  half_b_minus_amb = 0;
+
+
+	VL53LX_p_055    =     4096 * ((int64_t)VL53LX_p_001 -
+		(int64_t)cx - (int64_t)VL53LX_p_007 -  (int64_t)ax);
+	half_b_minus_amb  = 4096 * ((int64_t)VL53LX_p_032 -
+		(int64_t)bx - (int64_t)VL53LX_p_028);
+
+	if (half_b_minus_amb != 0) {
+
+		mean_phase = (4096 * VL53LX_p_055) + half_b_minus_amb;
+		mean_phase = do_division_s(mean_phase, (half_b_minus_amb * 2));
+
+		mean_phase  +=  2048;
+		mean_phase  += (4096 * (int64_t)bin);
+
+
+		mean_phase  = do_division_s((mean_phase + 1), 2);
+
+
+		if (mean_phase  < 0)
+			mean_phase = 0;
+		if (mean_phase > VL53LX_MAX_ALLOWED_PHASE)
+			mean_phase = VL53LX_MAX_ALLOWED_PHASE;
+
+
+		mean_phase32 = (int32_t)mean_phase;
+		mean_phase32 = mean_phase32 %
+			((int32_t)VL53LX_p_030 * 2048);
+		mean_phase = mean_phase32;
+
+		status = VL53LX_ERROR_NONE;
+
+	}
+
+	*pmean_phase = (uint32_t)mean_phase;
+
+	return status;
+}
+
+