ST Expansion SW Team
Rename library
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: VL53L3CX_NoShield_1Sensor_poll_Mb06x VL53L3_NoShield_1Sensor_polling_Mb63 X_NUCLEO_53L3A2 53L3A2_Ranging
Diff: modules/vl53lx_register_funcs.c
- Revision:
- 5:89031b2f5316
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/modules/vl53lx_register_funcs.c Wed Jul 14 12:45:49 2021 +0100
@@ -0,0 +1,4142 @@
+
+// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
+/******************************************************************************
+ * Copyright (c) 2020, STMicroelectronics - All Rights Reserved
+
+ This file is part of VL53LX and is dual licensed,
+ either GPL-2.0+
+ or 'BSD 3-clause "New" or "Revised" License' , at your option.
+ ******************************************************************************
+ */
+
+
+
+
+#include "vl53lx_platform.h"
+#include <vl53lx_platform_log.h>
+#include "vl53lx_ll_def.h"
+#include "vl53lx_core.h"
+#include "vl53lx_register_map.h"
+#include "vl53lx_register_structs.h"
+#include "vl53lx_register_funcs.h"
+
+#define LOG_FUNCTION_START(fmt, ...) \
+ _LOG_FUNCTION_START(VL53LX_TRACE_MODULE_REGISTERS, fmt, ##__VA_ARGS__)
+#define LOG_FUNCTION_END(status, ...) \
+ _LOG_FUNCTION_END(VL53LX_TRACE_MODULE_REGISTERS, status, ##__VA_ARGS__)
+#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
+ _LOG_FUNCTION_END_FMT(VL53LX_TRACE_MODULE_REGISTERS,\
+ status, fmt, ##__VA_ARGS__)
+
+
+VL53LX_Error VL53LX_i2c_encode_static_nvm_managed(
+ VL53LX_static_nvm_managed_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->i2c_slave__device_address & 0x7F;
+ *(pbuffer + 1) =
+ pdata->ana_config__vhv_ref_sel_vddpix & 0xF;
+ *(pbuffer + 2) =
+ pdata->ana_config__vhv_ref_sel_vquench & 0x7F;
+ *(pbuffer + 3) =
+ pdata->ana_config__reg_avdd1v2_sel & 0x3;
+ *(pbuffer + 4) =
+ pdata->ana_config__fast_osc__trim & 0x7F;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->osc_measured__fast_osc__frequency,
+ 2,
+ pbuffer + 5);
+ *(pbuffer + 7) =
+ pdata->vhv_config__timeout_macrop_loop_bound;
+ *(pbuffer + 8) =
+ pdata->vhv_config__count_thresh;
+ *(pbuffer + 9) =
+ pdata->vhv_config__offset & 0x3F;
+ *(pbuffer + 10) =
+ pdata->vhv_config__init;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_static_nvm_managed(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_static_nvm_managed_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->i2c_slave__device_address =
+ (*(pbuffer + 0)) & 0x7F;
+ pdata->ana_config__vhv_ref_sel_vddpix =
+ (*(pbuffer + 1)) & 0xF;
+ pdata->ana_config__vhv_ref_sel_vquench =
+ (*(pbuffer + 2)) & 0x7F;
+ pdata->ana_config__reg_avdd1v2_sel =
+ (*(pbuffer + 3)) & 0x3;
+ pdata->ana_config__fast_osc__trim =
+ (*(pbuffer + 4)) & 0x7F;
+ pdata->osc_measured__fast_osc__frequency =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 5));
+ pdata->vhv_config__timeout_macrop_loop_bound =
+ (*(pbuffer + 7));
+ pdata->vhv_config__count_thresh =
+ (*(pbuffer + 8));
+ pdata->vhv_config__offset =
+ (*(pbuffer + 9)) & 0x3F;
+ pdata->vhv_config__init =
+ (*(pbuffer + 10));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_static_nvm_managed(
+ VL53LX_DEV Dev,
+ VL53LX_static_nvm_managed_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_static_nvm_managed(
+ pdata,
+ VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_I2C_SLAVE__DEVICE_ADDRESS,
+ comms_buffer,
+ VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_static_nvm_managed(
+ VL53LX_DEV Dev,
+ VL53LX_static_nvm_managed_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_I2C_SLAVE__DEVICE_ADDRESS,
+ comms_buffer,
+ VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_static_nvm_managed(
+ VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_customer_nvm_managed(
+ VL53LX_customer_nvm_managed_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->global_config__spad_enables_ref_0;
+ *(pbuffer + 1) =
+ pdata->global_config__spad_enables_ref_1;
+ *(pbuffer + 2) =
+ pdata->global_config__spad_enables_ref_2;
+ *(pbuffer + 3) =
+ pdata->global_config__spad_enables_ref_3;
+ *(pbuffer + 4) =
+ pdata->global_config__spad_enables_ref_4;
+ *(pbuffer + 5) =
+ pdata->global_config__spad_enables_ref_5 & 0xF;
+ *(pbuffer + 6) =
+ pdata->global_config__ref_en_start_select;
+ *(pbuffer + 7) =
+ pdata->ref_spad_man__num_requested_ref_spads & 0x3F;
+ *(pbuffer + 8) =
+ pdata->ref_spad_man__ref_location & 0x3;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->algo__crosstalk_compensation_plane_offset_kcps,
+ 2,
+ pbuffer + 9);
+ VL53LX_i2c_encode_int16_t(
+ pdata->algo__crosstalk_compensation_x_plane_gradient_kcps,
+ 2,
+ pbuffer + 11);
+ VL53LX_i2c_encode_int16_t(
+ pdata->algo__crosstalk_compensation_y_plane_gradient_kcps,
+ 2,
+ pbuffer + 13);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->ref_spad_char__total_rate_target_mcps,
+ 2,
+ pbuffer + 15);
+ VL53LX_i2c_encode_int16_t(
+ pdata->algo__part_to_part_range_offset_mm & 0x1FFF,
+ 2,
+ pbuffer + 17);
+ VL53LX_i2c_encode_int16_t(
+ pdata->mm_config__inner_offset_mm,
+ 2,
+ pbuffer + 19);
+ VL53LX_i2c_encode_int16_t(
+ pdata->mm_config__outer_offset_mm,
+ 2,
+ pbuffer + 21);
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_customer_nvm_managed(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_customer_nvm_managed_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->global_config__spad_enables_ref_0 =
+ (*(pbuffer + 0));
+ pdata->global_config__spad_enables_ref_1 =
+ (*(pbuffer + 1));
+ pdata->global_config__spad_enables_ref_2 =
+ (*(pbuffer + 2));
+ pdata->global_config__spad_enables_ref_3 =
+ (*(pbuffer + 3));
+ pdata->global_config__spad_enables_ref_4 =
+ (*(pbuffer + 4));
+ pdata->global_config__spad_enables_ref_5 =
+ (*(pbuffer + 5)) & 0xF;
+ pdata->global_config__ref_en_start_select =
+ (*(pbuffer + 6));
+ pdata->ref_spad_man__num_requested_ref_spads =
+ (*(pbuffer + 7)) & 0x3F;
+ pdata->ref_spad_man__ref_location =
+ (*(pbuffer + 8)) & 0x3;
+ pdata->algo__crosstalk_compensation_plane_offset_kcps =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 9));
+ pdata->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ (VL53LX_i2c_decode_int16_t(2, pbuffer + 11));
+ pdata->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ (VL53LX_i2c_decode_int16_t(2, pbuffer + 13));
+ pdata->ref_spad_char__total_rate_target_mcps =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 15));
+ pdata->algo__part_to_part_range_offset_mm =
+ (VL53LX_i2c_decode_int16_t(2, pbuffer + 17)) & 0x1FFF;
+ pdata->mm_config__inner_offset_mm =
+ (VL53LX_i2c_decode_int16_t(2, pbuffer + 19));
+ pdata->mm_config__outer_offset_mm =
+ (VL53LX_i2c_decode_int16_t(2, pbuffer + 21));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_customer_nvm_managed(
+ VL53LX_DEV Dev,
+ VL53LX_customer_nvm_managed_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_customer_nvm_managed(
+ pdata,
+ VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_0,
+ comms_buffer,
+ VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_customer_nvm_managed(
+ VL53LX_DEV Dev,
+ VL53LX_customer_nvm_managed_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES];
+ int16_t offset;
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_0,
+ comms_buffer,
+ VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_customer_nvm_managed(
+ VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ if (status == VL53LX_ERROR_NONE) {
+ offset = pdata->algo__part_to_part_range_offset_mm;
+ offset = offset / 4;
+ if (offset >= 1024)
+ offset -= 2048;
+ pdata->algo__part_to_part_range_offset_mm = 0;
+ pdata->mm_config__inner_offset_mm = offset;
+ pdata->mm_config__outer_offset_mm = offset;
+ }
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_static_config(
+ VL53LX_static_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ VL53LX_i2c_encode_uint16_t(
+ pdata->dss_config__target_total_rate_mcps,
+ 2,
+ pbuffer + 0);
+ *(pbuffer + 2) =
+ pdata->debug__ctrl & 0x1;
+ *(pbuffer + 3) =
+ pdata->test_mode__ctrl & 0xF;
+ *(pbuffer + 4) =
+ pdata->clk_gating__ctrl & 0xF;
+ *(pbuffer + 5) =
+ pdata->nvm_bist__ctrl & 0x1F;
+ *(pbuffer + 6) =
+ pdata->nvm_bist__num_nvm_words & 0x7F;
+ *(pbuffer + 7) =
+ pdata->nvm_bist__start_address & 0x7F;
+ *(pbuffer + 8) =
+ pdata->host_if__status & 0x1;
+ *(pbuffer + 9) =
+ pdata->pad_i2c_hv__config;
+ *(pbuffer + 10) =
+ pdata->pad_i2c_hv__extsup_config & 0x1;
+ *(pbuffer + 11) =
+ pdata->gpio_hv_pad__ctrl & 0x3;
+ *(pbuffer + 12) =
+ pdata->gpio_hv_mux__ctrl & 0x1F;
+ *(pbuffer + 13) =
+ pdata->gpio__tio_hv_status & 0x3;
+ *(pbuffer + 14) =
+ pdata->gpio__fio_hv_status & 0x3;
+ *(pbuffer + 15) =
+ pdata->ana_config__spad_sel_pswidth & 0x7;
+ *(pbuffer + 16) =
+ pdata->ana_config__vcsel_pulse_width_offset & 0x1F;
+ *(pbuffer + 17) =
+ pdata->ana_config__fast_osc__config_ctrl & 0x1;
+ *(pbuffer + 18) =
+ pdata->sigma_estimator__effective_pulse_width_ns;
+ *(pbuffer + 19) =
+ pdata->sigma_estimator__effective_ambient_width_ns;
+ *(pbuffer + 20) =
+ pdata->sigma_estimator__sigma_ref_mm;
+ *(pbuffer + 21) =
+ pdata->algo__crosstalk_compensation_valid_height_mm;
+ *(pbuffer + 22) =
+ pdata->spare_host_config__static_config_spare_0;
+ *(pbuffer + 23) =
+ pdata->spare_host_config__static_config_spare_1;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->algo__range_ignore_threshold_mcps,
+ 2,
+ pbuffer + 24);
+ *(pbuffer + 26) =
+ pdata->algo__range_ignore_valid_height_mm;
+ *(pbuffer + 27) =
+ pdata->algo__range_min_clip;
+ *(pbuffer + 28) =
+ pdata->algo__consistency_check__tolerance & 0xF;
+ *(pbuffer + 29) =
+ pdata->spare_host_config__static_config_spare_2;
+ *(pbuffer + 30) =
+ pdata->sd_config__reset_stages_msb & 0xF;
+ *(pbuffer + 31) =
+ pdata->sd_config__reset_stages_lsb;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_static_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_static_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->dss_config__target_total_rate_mcps =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 0));
+ pdata->debug__ctrl =
+ (*(pbuffer + 2)) & 0x1;
+ pdata->test_mode__ctrl =
+ (*(pbuffer + 3)) & 0xF;
+ pdata->clk_gating__ctrl =
+ (*(pbuffer + 4)) & 0xF;
+ pdata->nvm_bist__ctrl =
+ (*(pbuffer + 5)) & 0x1F;
+ pdata->nvm_bist__num_nvm_words =
+ (*(pbuffer + 6)) & 0x7F;
+ pdata->nvm_bist__start_address =
+ (*(pbuffer + 7)) & 0x7F;
+ pdata->host_if__status =
+ (*(pbuffer + 8)) & 0x1;
+ pdata->pad_i2c_hv__config =
+ (*(pbuffer + 9));
+ pdata->pad_i2c_hv__extsup_config =
+ (*(pbuffer + 10)) & 0x1;
+ pdata->gpio_hv_pad__ctrl =
+ (*(pbuffer + 11)) & 0x3;
+ pdata->gpio_hv_mux__ctrl =
+ (*(pbuffer + 12)) & 0x1F;
+ pdata->gpio__tio_hv_status =
+ (*(pbuffer + 13)) & 0x3;
+ pdata->gpio__fio_hv_status =
+ (*(pbuffer + 14)) & 0x3;
+ pdata->ana_config__spad_sel_pswidth =
+ (*(pbuffer + 15)) & 0x7;
+ pdata->ana_config__vcsel_pulse_width_offset =
+ (*(pbuffer + 16)) & 0x1F;
+ pdata->ana_config__fast_osc__config_ctrl =
+ (*(pbuffer + 17)) & 0x1;
+ pdata->sigma_estimator__effective_pulse_width_ns =
+ (*(pbuffer + 18));
+ pdata->sigma_estimator__effective_ambient_width_ns =
+ (*(pbuffer + 19));
+ pdata->sigma_estimator__sigma_ref_mm =
+ (*(pbuffer + 20));
+ pdata->algo__crosstalk_compensation_valid_height_mm =
+ (*(pbuffer + 21));
+ pdata->spare_host_config__static_config_spare_0 =
+ (*(pbuffer + 22));
+ pdata->spare_host_config__static_config_spare_1 =
+ (*(pbuffer + 23));
+ pdata->algo__range_ignore_threshold_mcps =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 24));
+ pdata->algo__range_ignore_valid_height_mm =
+ (*(pbuffer + 26));
+ pdata->algo__range_min_clip =
+ (*(pbuffer + 27));
+ pdata->algo__consistency_check__tolerance =
+ (*(pbuffer + 28)) & 0xF;
+ pdata->spare_host_config__static_config_spare_2 =
+ (*(pbuffer + 29));
+ pdata->sd_config__reset_stages_msb =
+ (*(pbuffer + 30)) & 0xF;
+ pdata->sd_config__reset_stages_lsb =
+ (*(pbuffer + 31));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_static_config(
+ VL53LX_DEV Dev,
+ VL53LX_static_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_static_config(
+ pdata,
+ VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS,
+ comms_buffer,
+ VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_static_config(
+ VL53LX_DEV Dev,
+ VL53LX_static_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS,
+ comms_buffer,
+ VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_static_config(
+ VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_general_config(
+ VL53LX_general_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->gph_config__stream_count_update_value;
+ *(pbuffer + 1) =
+ pdata->global_config__stream_divider;
+ *(pbuffer + 2) =
+ pdata->system__interrupt_config_gpio;
+ *(pbuffer + 3) =
+ pdata->cal_config__vcsel_start & 0x7F;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->cal_config__repeat_rate & 0xFFF,
+ 2,
+ pbuffer + 4);
+ *(pbuffer + 6) =
+ pdata->global_config__vcsel_width & 0x7F;
+ *(pbuffer + 7) =
+ pdata->phasecal_config__timeout_macrop;
+ *(pbuffer + 8) =
+ pdata->phasecal_config__target;
+ *(pbuffer + 9) =
+ pdata->phasecal_config__override & 0x1;
+ *(pbuffer + 11) =
+ pdata->dss_config__roi_mode_control & 0x7;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->system__thresh_rate_high,
+ 2,
+ pbuffer + 12);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->system__thresh_rate_low,
+ 2,
+ pbuffer + 14);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->dss_config__manual_effective_spads_select,
+ 2,
+ pbuffer + 16);
+ *(pbuffer + 18) =
+ pdata->dss_config__manual_block_select;
+ *(pbuffer + 19) =
+ pdata->dss_config__aperture_attenuation;
+ *(pbuffer + 20) =
+ pdata->dss_config__max_spads_limit;
+ *(pbuffer + 21) =
+ pdata->dss_config__min_spads_limit;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_general_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_general_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->gph_config__stream_count_update_value =
+ (*(pbuffer + 0));
+ pdata->global_config__stream_divider =
+ (*(pbuffer + 1));
+ pdata->system__interrupt_config_gpio =
+ (*(pbuffer + 2));
+ pdata->cal_config__vcsel_start =
+ (*(pbuffer + 3)) & 0x7F;
+ pdata->cal_config__repeat_rate =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 4)) & 0xFFF;
+ pdata->global_config__vcsel_width =
+ (*(pbuffer + 6)) & 0x7F;
+ pdata->phasecal_config__timeout_macrop =
+ (*(pbuffer + 7));
+ pdata->phasecal_config__target =
+ (*(pbuffer + 8));
+ pdata->phasecal_config__override =
+ (*(pbuffer + 9)) & 0x1;
+ pdata->dss_config__roi_mode_control =
+ (*(pbuffer + 11)) & 0x7;
+ pdata->system__thresh_rate_high =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 12));
+ pdata->system__thresh_rate_low =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 14));
+ pdata->dss_config__manual_effective_spads_select =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 16));
+ pdata->dss_config__manual_block_select =
+ (*(pbuffer + 18));
+ pdata->dss_config__aperture_attenuation =
+ (*(pbuffer + 19));
+ pdata->dss_config__max_spads_limit =
+ (*(pbuffer + 20));
+ pdata->dss_config__min_spads_limit =
+ (*(pbuffer + 21));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_general_config(
+ VL53LX_DEV Dev,
+ VL53LX_general_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_general_config(
+ pdata,
+ VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE,
+ comms_buffer,
+ VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_general_config(
+ VL53LX_DEV Dev,
+ VL53LX_general_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE,
+ comms_buffer,
+ VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_general_config(
+ VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_timing_config(
+ VL53LX_timing_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->mm_config__timeout_macrop_a_hi & 0xF;
+ *(pbuffer + 1) =
+ pdata->mm_config__timeout_macrop_a_lo;
+ *(pbuffer + 2) =
+ pdata->mm_config__timeout_macrop_b_hi & 0xF;
+ *(pbuffer + 3) =
+ pdata->mm_config__timeout_macrop_b_lo;
+ *(pbuffer + 4) =
+ pdata->range_config__timeout_macrop_a_hi & 0xF;
+ *(pbuffer + 5) =
+ pdata->range_config__timeout_macrop_a_lo;
+ *(pbuffer + 6) =
+ pdata->range_config__vcsel_period_a & 0x3F;
+ *(pbuffer + 7) =
+ pdata->range_config__timeout_macrop_b_hi & 0xF;
+ *(pbuffer + 8) =
+ pdata->range_config__timeout_macrop_b_lo;
+ *(pbuffer + 9) =
+ pdata->range_config__vcsel_period_b & 0x3F;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->range_config__sigma_thresh,
+ 2,
+ pbuffer + 10);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->range_config__min_count_rate_rtn_limit_mcps,
+ 2,
+ pbuffer + 12);
+ *(pbuffer + 14) =
+ pdata->range_config__valid_phase_low;
+ *(pbuffer + 15) =
+ pdata->range_config__valid_phase_high;
+ VL53LX_i2c_encode_uint32_t(
+ pdata->system__intermeasurement_period,
+ 4,
+ pbuffer + 18);
+ *(pbuffer + 22) =
+ pdata->system__fractional_enable & 0x1;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_timing_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_timing_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->mm_config__timeout_macrop_a_hi =
+ (*(pbuffer + 0)) & 0xF;
+ pdata->mm_config__timeout_macrop_a_lo =
+ (*(pbuffer + 1));
+ pdata->mm_config__timeout_macrop_b_hi =
+ (*(pbuffer + 2)) & 0xF;
+ pdata->mm_config__timeout_macrop_b_lo =
+ (*(pbuffer + 3));
+ pdata->range_config__timeout_macrop_a_hi =
+ (*(pbuffer + 4)) & 0xF;
+ pdata->range_config__timeout_macrop_a_lo =
+ (*(pbuffer + 5));
+ pdata->range_config__vcsel_period_a =
+ (*(pbuffer + 6)) & 0x3F;
+ pdata->range_config__timeout_macrop_b_hi =
+ (*(pbuffer + 7)) & 0xF;
+ pdata->range_config__timeout_macrop_b_lo =
+ (*(pbuffer + 8));
+ pdata->range_config__vcsel_period_b =
+ (*(pbuffer + 9)) & 0x3F;
+ pdata->range_config__sigma_thresh =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 10));
+ pdata->range_config__min_count_rate_rtn_limit_mcps =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 12));
+ pdata->range_config__valid_phase_low =
+ (*(pbuffer + 14));
+ pdata->range_config__valid_phase_high =
+ (*(pbuffer + 15));
+ pdata->system__intermeasurement_period =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 18));
+ pdata->system__fractional_enable =
+ (*(pbuffer + 22)) & 0x1;
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_timing_config(
+ VL53LX_DEV Dev,
+ VL53LX_timing_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_timing_config(
+ pdata,
+ VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_MM_CONFIG__TIMEOUT_MACROP_A_HI,
+ comms_buffer,
+ VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_timing_config(
+ VL53LX_DEV Dev,
+ VL53LX_timing_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_MM_CONFIG__TIMEOUT_MACROP_A_HI,
+ comms_buffer,
+ VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_timing_config(
+ VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_dynamic_config(
+ VL53LX_dynamic_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->system__grouped_parameter_hold_0 & 0x3;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->system__thresh_high,
+ 2,
+ pbuffer + 1);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->system__thresh_low,
+ 2,
+ pbuffer + 3);
+ *(pbuffer + 5) =
+ pdata->system__enable_xtalk_per_quadrant & 0x1;
+ *(pbuffer + 6) =
+ pdata->system__seed_config & 0x7;
+ *(pbuffer + 7) =
+ pdata->sd_config__woi_sd0;
+ *(pbuffer + 8) =
+ pdata->sd_config__woi_sd1;
+ *(pbuffer + 9) =
+ pdata->sd_config__initial_phase_sd0 & 0x7F;
+ *(pbuffer + 10) =
+ pdata->sd_config__initial_phase_sd1 & 0x7F;
+ *(pbuffer + 11) =
+ pdata->system__grouped_parameter_hold_1 & 0x3;
+ *(pbuffer + 12) =
+ pdata->sd_config__first_order_select & 0x3;
+ *(pbuffer + 13) =
+ pdata->sd_config__quantifier & 0xF;
+ *(pbuffer + 14) =
+ pdata->roi_config__user_roi_centre_spad;
+ *(pbuffer + 15) =
+ pdata->roi_config__user_roi_requested_global_xy_size;
+ *(pbuffer + 16) =
+ pdata->system__sequence_config;
+ *(pbuffer + 17) =
+ pdata->system__grouped_parameter_hold & 0x3;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_dynamic_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_dynamic_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->system__grouped_parameter_hold_0 =
+ (*(pbuffer + 0)) & 0x3;
+ pdata->system__thresh_high =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 1));
+ pdata->system__thresh_low =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 3));
+ pdata->system__enable_xtalk_per_quadrant =
+ (*(pbuffer + 5)) & 0x1;
+ pdata->system__seed_config =
+ (*(pbuffer + 6)) & 0x7;
+ pdata->sd_config__woi_sd0 =
+ (*(pbuffer + 7));
+ pdata->sd_config__woi_sd1 =
+ (*(pbuffer + 8));
+ pdata->sd_config__initial_phase_sd0 =
+ (*(pbuffer + 9)) & 0x7F;
+ pdata->sd_config__initial_phase_sd1 =
+ (*(pbuffer + 10)) & 0x7F;
+ pdata->system__grouped_parameter_hold_1 =
+ (*(pbuffer + 11)) & 0x3;
+ pdata->sd_config__first_order_select =
+ (*(pbuffer + 12)) & 0x3;
+ pdata->sd_config__quantifier =
+ (*(pbuffer + 13)) & 0xF;
+ pdata->roi_config__user_roi_centre_spad =
+ (*(pbuffer + 14));
+ pdata->roi_config__user_roi_requested_global_xy_size =
+ (*(pbuffer + 15));
+ pdata->system__sequence_config =
+ (*(pbuffer + 16));
+ pdata->system__grouped_parameter_hold =
+ (*(pbuffer + 17)) & 0x3;
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_dynamic_config(
+ VL53LX_DEV Dev,
+ VL53LX_dynamic_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_dynamic_config(
+ pdata,
+ VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_SYSTEM__GROUPED_PARAMETER_HOLD_0,
+ comms_buffer,
+ VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_dynamic_config(
+ VL53LX_DEV Dev,
+ VL53LX_dynamic_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_SYSTEM__GROUPED_PARAMETER_HOLD_0,
+ comms_buffer,
+ VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_dynamic_config(
+ VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_system_control(
+ VL53LX_system_control_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->power_management__go1_power_force & 0x1;
+ *(pbuffer + 1) =
+ pdata->system__stream_count_ctrl & 0x1;
+ *(pbuffer + 2) =
+ pdata->firmware__enable & 0x1;
+ *(pbuffer + 3) =
+ pdata->system__interrupt_clear & 0x3;
+ *(pbuffer + 4) =
+ pdata->system__mode_start;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_system_control(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_system_control_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->power_management__go1_power_force =
+ (*(pbuffer + 0)) & 0x1;
+ pdata->system__stream_count_ctrl =
+ (*(pbuffer + 1)) & 0x1;
+ pdata->firmware__enable =
+ (*(pbuffer + 2)) & 0x1;
+ pdata->system__interrupt_clear =
+ (*(pbuffer + 3)) & 0x3;
+ pdata->system__mode_start =
+ (*(pbuffer + 4));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_system_control(
+ VL53LX_DEV Dev,
+ VL53LX_system_control_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_system_control(
+ pdata,
+ VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_POWER_MANAGEMENT__GO1_POWER_FORCE,
+ comms_buffer,
+ VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_system_control(
+ VL53LX_DEV Dev,
+ VL53LX_system_control_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_POWER_MANAGEMENT__GO1_POWER_FORCE,
+ comms_buffer,
+ VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_system_control(
+ VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_system_results(
+ VL53LX_system_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->result__interrupt_status & 0x3F;
+ *(pbuffer + 1) =
+ pdata->result__range_status;
+ *(pbuffer + 2) =
+ pdata->result__report_status & 0xF;
+ *(pbuffer + 3) =
+ pdata->result__stream_count;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__dss_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 4);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__peak_signal_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 6);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__ambient_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 8);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__sigma_sd0,
+ 2,
+ pbuffer + 10);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__phase_sd0,
+ 2,
+ pbuffer + 12);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__final_crosstalk_corrected_range_mm_sd0,
+ 2,
+ pbuffer + 14);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0,
+ 2,
+ pbuffer + 16);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__mm_inner_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 18);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__mm_outer_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 20);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__avg_signal_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 22);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__dss_actual_effective_spads_sd1,
+ 2,
+ pbuffer + 24);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__peak_signal_count_rate_mcps_sd1,
+ 2,
+ pbuffer + 26);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__ambient_count_rate_mcps_sd1,
+ 2,
+ pbuffer + 28);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__sigma_sd1,
+ 2,
+ pbuffer + 30);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__phase_sd1,
+ 2,
+ pbuffer + 32);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__final_crosstalk_corrected_range_mm_sd1,
+ 2,
+ pbuffer + 34);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__spare_0_sd1,
+ 2,
+ pbuffer + 36);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__spare_1_sd1,
+ 2,
+ pbuffer + 38);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__spare_2_sd1,
+ 2,
+ pbuffer + 40);
+ *(pbuffer + 42) =
+ pdata->result__spare_3_sd1;
+ *(pbuffer + 43) =
+ pdata->result__thresh_info;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_system_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->result__interrupt_status =
+ (*(pbuffer + 0)) & 0x3F;
+ pdata->result__range_status =
+ (*(pbuffer + 1));
+ pdata->result__report_status =
+ (*(pbuffer + 2)) & 0xF;
+ pdata->result__stream_count =
+ (*(pbuffer + 3));
+ pdata->result__dss_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 4));
+ pdata->result__peak_signal_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 6));
+ pdata->result__ambient_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 8));
+ pdata->result__sigma_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 10));
+ pdata->result__phase_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 12));
+ pdata->result__final_crosstalk_corrected_range_mm_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 14));
+ pdata->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 16));
+ pdata->result__mm_inner_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 18));
+ pdata->result__mm_outer_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 20));
+ pdata->result__avg_signal_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 22));
+ pdata->result__dss_actual_effective_spads_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 24));
+ pdata->result__peak_signal_count_rate_mcps_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 26));
+ pdata->result__ambient_count_rate_mcps_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 28));
+ pdata->result__sigma_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 30));
+ pdata->result__phase_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 32));
+ pdata->result__final_crosstalk_corrected_range_mm_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 34));
+ pdata->result__spare_0_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 36));
+ pdata->result__spare_1_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 38));
+ pdata->result__spare_2_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 40));
+ pdata->result__spare_3_sd1 =
+ (*(pbuffer + 42));
+ pdata->result__thresh_info =
+ (*(pbuffer + 43));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_system_results(
+ VL53LX_DEV Dev,
+ VL53LX_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_system_results(
+ pdata,
+ VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_RESULT__INTERRUPT_STATUS,
+ comms_buffer,
+ VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_system_results(
+ VL53LX_DEV Dev,
+ VL53LX_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_RESULT__INTERRUPT_STATUS,
+ comms_buffer,
+ VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_system_results(
+ VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_core_results(
+ VL53LX_core_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_CORE_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ VL53LX_i2c_encode_uint32_t(
+ pdata->result_core__ambient_window_events_sd0,
+ 4,
+ pbuffer + 0);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->result_core__ranging_total_events_sd0,
+ 4,
+ pbuffer + 4);
+ VL53LX_i2c_encode_int32_t(
+ pdata->result_core__signal_total_events_sd0,
+ 4,
+ pbuffer + 8);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->result_core__total_periods_elapsed_sd0,
+ 4,
+ pbuffer + 12);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->result_core__ambient_window_events_sd1,
+ 4,
+ pbuffer + 16);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->result_core__ranging_total_events_sd1,
+ 4,
+ pbuffer + 20);
+ VL53LX_i2c_encode_int32_t(
+ pdata->result_core__signal_total_events_sd1,
+ 4,
+ pbuffer + 24);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->result_core__total_periods_elapsed_sd1,
+ 4,
+ pbuffer + 28);
+ *(pbuffer + 32) =
+ pdata->result_core__spare_0;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_core_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_CORE_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->result_core__ambient_window_events_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 0));
+ pdata->result_core__ranging_total_events_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 4));
+ pdata->result_core__signal_total_events_sd0 =
+ (VL53LX_i2c_decode_int32_t(4, pbuffer + 8));
+ pdata->result_core__total_periods_elapsed_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 12));
+ pdata->result_core__ambient_window_events_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 16));
+ pdata->result_core__ranging_total_events_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 20));
+ pdata->result_core__signal_total_events_sd1 =
+ (VL53LX_i2c_decode_int32_t(4, pbuffer + 24));
+ pdata->result_core__total_periods_elapsed_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 28));
+ pdata->result_core__spare_0 =
+ (*(pbuffer + 32));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_core_results(
+ VL53LX_DEV Dev,
+ VL53LX_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_CORE_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_core_results(
+ pdata,
+ VL53LX_CORE_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0,
+ comms_buffer,
+ VL53LX_CORE_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_core_results(
+ VL53LX_DEV Dev,
+ VL53LX_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_CORE_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0,
+ comms_buffer,
+ VL53LX_CORE_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_core_results(
+ VL53LX_CORE_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_debug_results(
+ VL53LX_debug_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ VL53LX_i2c_encode_uint16_t(
+ pdata->phasecal_result__reference_phase,
+ 2,
+ pbuffer + 0);
+ *(pbuffer + 2) =
+ pdata->phasecal_result__vcsel_start & 0x7F;
+ *(pbuffer + 3) =
+ pdata->ref_spad_char_result__num_actual_ref_spads & 0x3F;
+ *(pbuffer + 4) =
+ pdata->ref_spad_char_result__ref_location & 0x3;
+ *(pbuffer + 5) =
+ pdata->vhv_result__coldboot_status & 0x1;
+ *(pbuffer + 6) =
+ pdata->vhv_result__search_result & 0x3F;
+ *(pbuffer + 7) =
+ pdata->vhv_result__latest_setting & 0x3F;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__osc_calibrate_val & 0x3FF,
+ 2,
+ pbuffer + 8);
+ *(pbuffer + 10) =
+ pdata->ana_config__powerdown_go1 & 0x3;
+ *(pbuffer + 11) =
+ pdata->ana_config__ref_bg_ctrl & 0x3;
+ *(pbuffer + 12) =
+ pdata->ana_config__regdvdd1v2_ctrl & 0xF;
+ *(pbuffer + 13) =
+ pdata->ana_config__osc_slow_ctrl & 0x7;
+ *(pbuffer + 14) =
+ pdata->test_mode__status & 0x1;
+ *(pbuffer + 15) =
+ pdata->firmware__system_status & 0x3;
+ *(pbuffer + 16) =
+ pdata->firmware__mode_status;
+ *(pbuffer + 17) =
+ pdata->firmware__secondary_mode_status;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->firmware__cal_repeat_rate_counter & 0xFFF,
+ 2,
+ pbuffer + 18);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->gph__system__thresh_high,
+ 2,
+ pbuffer + 22);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->gph__system__thresh_low,
+ 2,
+ pbuffer + 24);
+ *(pbuffer + 26) =
+ pdata->gph__system__enable_xtalk_per_quadrant & 0x1;
+ *(pbuffer + 27) =
+ pdata->gph__spare_0 & 0x7;
+ *(pbuffer + 28) =
+ pdata->gph__sd_config__woi_sd0;
+ *(pbuffer + 29) =
+ pdata->gph__sd_config__woi_sd1;
+ *(pbuffer + 30) =
+ pdata->gph__sd_config__initial_phase_sd0 & 0x7F;
+ *(pbuffer + 31) =
+ pdata->gph__sd_config__initial_phase_sd1 & 0x7F;
+ *(pbuffer + 32) =
+ pdata->gph__sd_config__first_order_select & 0x3;
+ *(pbuffer + 33) =
+ pdata->gph__sd_config__quantifier & 0xF;
+ *(pbuffer + 34) =
+ pdata->gph__roi_config__user_roi_centre_spad;
+ *(pbuffer + 35) =
+ pdata->gph__roi_config__user_roi_requested_global_xy_size;
+ *(pbuffer + 36) =
+ pdata->gph__system__sequence_config;
+ *(pbuffer + 37) =
+ pdata->gph__gph_id & 0x1;
+ *(pbuffer + 38) =
+ pdata->system__interrupt_set & 0x3;
+ *(pbuffer + 39) =
+ pdata->interrupt_manager__enables & 0x1F;
+ *(pbuffer + 40) =
+ pdata->interrupt_manager__clear & 0x1F;
+ *(pbuffer + 41) =
+ pdata->interrupt_manager__status & 0x1F;
+ *(pbuffer + 42) =
+ pdata->mcu_to_host_bank__wr_access_en & 0x1;
+ *(pbuffer + 43) =
+ pdata->power_management__go1_reset_status & 0x1;
+ *(pbuffer + 44) =
+ pdata->pad_startup_mode__value_ro & 0x3;
+ *(pbuffer + 45) =
+ pdata->pad_startup_mode__value_ctrl & 0x3F;
+ VL53LX_i2c_encode_uint32_t(
+ pdata->pll_period_us & 0x3FFFF,
+ 4,
+ pbuffer + 46);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->interrupt_scheduler__data_out,
+ 4,
+ pbuffer + 50);
+ *(pbuffer + 54) =
+ pdata->nvm_bist__complete & 0x1;
+ *(pbuffer + 55) =
+ pdata->nvm_bist__status & 0x1;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_debug_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_debug_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->phasecal_result__reference_phase =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 0));
+ pdata->phasecal_result__vcsel_start =
+ (*(pbuffer + 2)) & 0x7F;
+ pdata->ref_spad_char_result__num_actual_ref_spads =
+ (*(pbuffer + 3)) & 0x3F;
+ pdata->ref_spad_char_result__ref_location =
+ (*(pbuffer + 4)) & 0x3;
+ pdata->vhv_result__coldboot_status =
+ (*(pbuffer + 5)) & 0x1;
+ pdata->vhv_result__search_result =
+ (*(pbuffer + 6)) & 0x3F;
+ pdata->vhv_result__latest_setting =
+ (*(pbuffer + 7)) & 0x3F;
+ pdata->result__osc_calibrate_val =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 8)) & 0x3FF;
+ pdata->ana_config__powerdown_go1 =
+ (*(pbuffer + 10)) & 0x3;
+ pdata->ana_config__ref_bg_ctrl =
+ (*(pbuffer + 11)) & 0x3;
+ pdata->ana_config__regdvdd1v2_ctrl =
+ (*(pbuffer + 12)) & 0xF;
+ pdata->ana_config__osc_slow_ctrl =
+ (*(pbuffer + 13)) & 0x7;
+ pdata->test_mode__status =
+ (*(pbuffer + 14)) & 0x1;
+ pdata->firmware__system_status =
+ (*(pbuffer + 15)) & 0x3;
+ pdata->firmware__mode_status =
+ (*(pbuffer + 16));
+ pdata->firmware__secondary_mode_status =
+ (*(pbuffer + 17));
+ pdata->firmware__cal_repeat_rate_counter =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 18)) & 0xFFF;
+ pdata->gph__system__thresh_high =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 22));
+ pdata->gph__system__thresh_low =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 24));
+ pdata->gph__system__enable_xtalk_per_quadrant =
+ (*(pbuffer + 26)) & 0x1;
+ pdata->gph__spare_0 =
+ (*(pbuffer + 27)) & 0x7;
+ pdata->gph__sd_config__woi_sd0 =
+ (*(pbuffer + 28));
+ pdata->gph__sd_config__woi_sd1 =
+ (*(pbuffer + 29));
+ pdata->gph__sd_config__initial_phase_sd0 =
+ (*(pbuffer + 30)) & 0x7F;
+ pdata->gph__sd_config__initial_phase_sd1 =
+ (*(pbuffer + 31)) & 0x7F;
+ pdata->gph__sd_config__first_order_select =
+ (*(pbuffer + 32)) & 0x3;
+ pdata->gph__sd_config__quantifier =
+ (*(pbuffer + 33)) & 0xF;
+ pdata->gph__roi_config__user_roi_centre_spad =
+ (*(pbuffer + 34));
+ pdata->gph__roi_config__user_roi_requested_global_xy_size =
+ (*(pbuffer + 35));
+ pdata->gph__system__sequence_config =
+ (*(pbuffer + 36));
+ pdata->gph__gph_id =
+ (*(pbuffer + 37)) & 0x1;
+ pdata->system__interrupt_set =
+ (*(pbuffer + 38)) & 0x3;
+ pdata->interrupt_manager__enables =
+ (*(pbuffer + 39)) & 0x1F;
+ pdata->interrupt_manager__clear =
+ (*(pbuffer + 40)) & 0x1F;
+ pdata->interrupt_manager__status =
+ (*(pbuffer + 41)) & 0x1F;
+ pdata->mcu_to_host_bank__wr_access_en =
+ (*(pbuffer + 42)) & 0x1;
+ pdata->power_management__go1_reset_status =
+ (*(pbuffer + 43)) & 0x1;
+ pdata->pad_startup_mode__value_ro =
+ (*(pbuffer + 44)) & 0x3;
+ pdata->pad_startup_mode__value_ctrl =
+ (*(pbuffer + 45)) & 0x3F;
+ pdata->pll_period_us =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 46)) & 0x3FFFF;
+ pdata->interrupt_scheduler__data_out =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 50));
+ pdata->nvm_bist__complete =
+ (*(pbuffer + 54)) & 0x1;
+ pdata->nvm_bist__status =
+ (*(pbuffer + 55)) & 0x1;
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_debug_results(
+ VL53LX_DEV Dev,
+ VL53LX_debug_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_debug_results(
+ pdata,
+ VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_PHASECAL_RESULT__REFERENCE_PHASE,
+ comms_buffer,
+ VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_debug_results(
+ VL53LX_DEV Dev,
+ VL53LX_debug_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_PHASECAL_RESULT__REFERENCE_PHASE,
+ comms_buffer,
+ VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_debug_results(
+ VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_nvm_copy_data(
+ VL53LX_nvm_copy_data_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->identification__model_id;
+ *(pbuffer + 1) =
+ pdata->identification__module_type;
+ *(pbuffer + 2) =
+ pdata->identification__revision_id;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->identification__module_id,
+ 2,
+ pbuffer + 3);
+ *(pbuffer + 5) =
+ pdata->ana_config__fast_osc__trim_max & 0x7F;
+ *(pbuffer + 6) =
+ pdata->ana_config__fast_osc__freq_set & 0x7;
+ *(pbuffer + 7) =
+ pdata->ana_config__vcsel_trim & 0x7;
+ *(pbuffer + 8) =
+ pdata->ana_config__vcsel_selion & 0x3F;
+ *(pbuffer + 9) =
+ pdata->ana_config__vcsel_selion_max & 0x3F;
+ *(pbuffer + 10) =
+ pdata->protected_laser_safety__lock_bit & 0x1;
+ *(pbuffer + 11) =
+ pdata->laser_safety__key & 0x7F;
+ *(pbuffer + 12) =
+ pdata->laser_safety__key_ro & 0x1;
+ *(pbuffer + 13) =
+ pdata->laser_safety__clip & 0x3F;
+ *(pbuffer + 14) =
+ pdata->laser_safety__mult & 0x3F;
+ *(pbuffer + 15) =
+ pdata->global_config__spad_enables_rtn_0;
+ *(pbuffer + 16) =
+ pdata->global_config__spad_enables_rtn_1;
+ *(pbuffer + 17) =
+ pdata->global_config__spad_enables_rtn_2;
+ *(pbuffer + 18) =
+ pdata->global_config__spad_enables_rtn_3;
+ *(pbuffer + 19) =
+ pdata->global_config__spad_enables_rtn_4;
+ *(pbuffer + 20) =
+ pdata->global_config__spad_enables_rtn_5;
+ *(pbuffer + 21) =
+ pdata->global_config__spad_enables_rtn_6;
+ *(pbuffer + 22) =
+ pdata->global_config__spad_enables_rtn_7;
+ *(pbuffer + 23) =
+ pdata->global_config__spad_enables_rtn_8;
+ *(pbuffer + 24) =
+ pdata->global_config__spad_enables_rtn_9;
+ *(pbuffer + 25) =
+ pdata->global_config__spad_enables_rtn_10;
+ *(pbuffer + 26) =
+ pdata->global_config__spad_enables_rtn_11;
+ *(pbuffer + 27) =
+ pdata->global_config__spad_enables_rtn_12;
+ *(pbuffer + 28) =
+ pdata->global_config__spad_enables_rtn_13;
+ *(pbuffer + 29) =
+ pdata->global_config__spad_enables_rtn_14;
+ *(pbuffer + 30) =
+ pdata->global_config__spad_enables_rtn_15;
+ *(pbuffer + 31) =
+ pdata->global_config__spad_enables_rtn_16;
+ *(pbuffer + 32) =
+ pdata->global_config__spad_enables_rtn_17;
+ *(pbuffer + 33) =
+ pdata->global_config__spad_enables_rtn_18;
+ *(pbuffer + 34) =
+ pdata->global_config__spad_enables_rtn_19;
+ *(pbuffer + 35) =
+ pdata->global_config__spad_enables_rtn_20;
+ *(pbuffer + 36) =
+ pdata->global_config__spad_enables_rtn_21;
+ *(pbuffer + 37) =
+ pdata->global_config__spad_enables_rtn_22;
+ *(pbuffer + 38) =
+ pdata->global_config__spad_enables_rtn_23;
+ *(pbuffer + 39) =
+ pdata->global_config__spad_enables_rtn_24;
+ *(pbuffer + 40) =
+ pdata->global_config__spad_enables_rtn_25;
+ *(pbuffer + 41) =
+ pdata->global_config__spad_enables_rtn_26;
+ *(pbuffer + 42) =
+ pdata->global_config__spad_enables_rtn_27;
+ *(pbuffer + 43) =
+ pdata->global_config__spad_enables_rtn_28;
+ *(pbuffer + 44) =
+ pdata->global_config__spad_enables_rtn_29;
+ *(pbuffer + 45) =
+ pdata->global_config__spad_enables_rtn_30;
+ *(pbuffer + 46) =
+ pdata->global_config__spad_enables_rtn_31;
+ *(pbuffer + 47) =
+ pdata->roi_config__mode_roi_centre_spad;
+ *(pbuffer + 48) =
+ pdata->roi_config__mode_roi_xy_size;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_nvm_copy_data(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_nvm_copy_data_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->identification__model_id =
+ (*(pbuffer + 0));
+ pdata->identification__module_type =
+ (*(pbuffer + 1));
+ pdata->identification__revision_id =
+ (*(pbuffer + 2));
+ pdata->identification__module_id =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 3));
+ pdata->ana_config__fast_osc__trim_max =
+ (*(pbuffer + 5)) & 0x7F;
+ pdata->ana_config__fast_osc__freq_set =
+ (*(pbuffer + 6)) & 0x7;
+ pdata->ana_config__vcsel_trim =
+ (*(pbuffer + 7)) & 0x7;
+ pdata->ana_config__vcsel_selion =
+ (*(pbuffer + 8)) & 0x3F;
+ pdata->ana_config__vcsel_selion_max =
+ (*(pbuffer + 9)) & 0x3F;
+ pdata->protected_laser_safety__lock_bit =
+ (*(pbuffer + 10)) & 0x1;
+ pdata->laser_safety__key =
+ (*(pbuffer + 11)) & 0x7F;
+ pdata->laser_safety__key_ro =
+ (*(pbuffer + 12)) & 0x1;
+ pdata->laser_safety__clip =
+ (*(pbuffer + 13)) & 0x3F;
+ pdata->laser_safety__mult =
+ (*(pbuffer + 14)) & 0x3F;
+ pdata->global_config__spad_enables_rtn_0 =
+ (*(pbuffer + 15));
+ pdata->global_config__spad_enables_rtn_1 =
+ (*(pbuffer + 16));
+ pdata->global_config__spad_enables_rtn_2 =
+ (*(pbuffer + 17));
+ pdata->global_config__spad_enables_rtn_3 =
+ (*(pbuffer + 18));
+ pdata->global_config__spad_enables_rtn_4 =
+ (*(pbuffer + 19));
+ pdata->global_config__spad_enables_rtn_5 =
+ (*(pbuffer + 20));
+ pdata->global_config__spad_enables_rtn_6 =
+ (*(pbuffer + 21));
+ pdata->global_config__spad_enables_rtn_7 =
+ (*(pbuffer + 22));
+ pdata->global_config__spad_enables_rtn_8 =
+ (*(pbuffer + 23));
+ pdata->global_config__spad_enables_rtn_9 =
+ (*(pbuffer + 24));
+ pdata->global_config__spad_enables_rtn_10 =
+ (*(pbuffer + 25));
+ pdata->global_config__spad_enables_rtn_11 =
+ (*(pbuffer + 26));
+ pdata->global_config__spad_enables_rtn_12 =
+ (*(pbuffer + 27));
+ pdata->global_config__spad_enables_rtn_13 =
+ (*(pbuffer + 28));
+ pdata->global_config__spad_enables_rtn_14 =
+ (*(pbuffer + 29));
+ pdata->global_config__spad_enables_rtn_15 =
+ (*(pbuffer + 30));
+ pdata->global_config__spad_enables_rtn_16 =
+ (*(pbuffer + 31));
+ pdata->global_config__spad_enables_rtn_17 =
+ (*(pbuffer + 32));
+ pdata->global_config__spad_enables_rtn_18 =
+ (*(pbuffer + 33));
+ pdata->global_config__spad_enables_rtn_19 =
+ (*(pbuffer + 34));
+ pdata->global_config__spad_enables_rtn_20 =
+ (*(pbuffer + 35));
+ pdata->global_config__spad_enables_rtn_21 =
+ (*(pbuffer + 36));
+ pdata->global_config__spad_enables_rtn_22 =
+ (*(pbuffer + 37));
+ pdata->global_config__spad_enables_rtn_23 =
+ (*(pbuffer + 38));
+ pdata->global_config__spad_enables_rtn_24 =
+ (*(pbuffer + 39));
+ pdata->global_config__spad_enables_rtn_25 =
+ (*(pbuffer + 40));
+ pdata->global_config__spad_enables_rtn_26 =
+ (*(pbuffer + 41));
+ pdata->global_config__spad_enables_rtn_27 =
+ (*(pbuffer + 42));
+ pdata->global_config__spad_enables_rtn_28 =
+ (*(pbuffer + 43));
+ pdata->global_config__spad_enables_rtn_29 =
+ (*(pbuffer + 44));
+ pdata->global_config__spad_enables_rtn_30 =
+ (*(pbuffer + 45));
+ pdata->global_config__spad_enables_rtn_31 =
+ (*(pbuffer + 46));
+ pdata->roi_config__mode_roi_centre_spad =
+ (*(pbuffer + 47));
+ pdata->roi_config__mode_roi_xy_size =
+ (*(pbuffer + 48));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_nvm_copy_data(
+ VL53LX_DEV Dev,
+ VL53LX_nvm_copy_data_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_nvm_copy_data(
+ pdata,
+ VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_IDENTIFICATION__MODEL_ID,
+ comms_buffer,
+ VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_nvm_copy_data(
+ VL53LX_DEV Dev,
+ VL53LX_nvm_copy_data_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_IDENTIFICATION__MODEL_ID,
+ comms_buffer,
+ VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_nvm_copy_data(
+ VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_prev_shadow_system_results(
+ VL53LX_prev_shadow_system_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->prev_shadow_result__interrupt_status & 0x3F;
+ *(pbuffer + 1) =
+ pdata->prev_shadow_result__range_status;
+ *(pbuffer + 2) =
+ pdata->prev_shadow_result__report_status & 0xF;
+ *(pbuffer + 3) =
+ pdata->prev_shadow_result__stream_count;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__dss_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 4);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 6);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__ambient_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 8);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__sigma_sd0,
+ 2,
+ pbuffer + 10);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__phase_sd0,
+ 2,
+ pbuffer + 12);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd0,
+ 2,
+ pbuffer + 14);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->psr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0,
+ 2,
+ pbuffer + 16);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__mm_inner_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 18);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__mm_outer_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 20);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__avg_signal_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 22);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__dss_actual_effective_spads_sd1,
+ 2,
+ pbuffer + 24);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd1,
+ 2,
+ pbuffer + 26);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__ambient_count_rate_mcps_sd1,
+ 2,
+ pbuffer + 28);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__sigma_sd1,
+ 2,
+ pbuffer + 30);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__phase_sd1,
+ 2,
+ pbuffer + 32);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd1,
+ 2,
+ pbuffer + 34);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__spare_0_sd1,
+ 2,
+ pbuffer + 36);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__spare_1_sd1,
+ 2,
+ pbuffer + 38);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__spare_2_sd1,
+ 2,
+ pbuffer + 40);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__spare_3_sd1,
+ 2,
+ pbuffer + 42);
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_prev_shadow_system_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_prev_shadow_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->prev_shadow_result__interrupt_status =
+ (*(pbuffer + 0)) & 0x3F;
+ pdata->prev_shadow_result__range_status =
+ (*(pbuffer + 1));
+ pdata->prev_shadow_result__report_status =
+ (*(pbuffer + 2)) & 0xF;
+ pdata->prev_shadow_result__stream_count =
+ (*(pbuffer + 3));
+ pdata->prev_shadow_result__dss_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 4));
+ pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 6));
+ pdata->prev_shadow_result__ambient_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 8));
+ pdata->prev_shadow_result__sigma_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 10));
+ pdata->prev_shadow_result__phase_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 12));
+ pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 14));
+ pdata->psr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 16));
+ pdata->prev_shadow_result__mm_inner_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 18));
+ pdata->prev_shadow_result__mm_outer_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 20));
+ pdata->prev_shadow_result__avg_signal_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 22));
+ pdata->prev_shadow_result__dss_actual_effective_spads_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 24));
+ pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 26));
+ pdata->prev_shadow_result__ambient_count_rate_mcps_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 28));
+ pdata->prev_shadow_result__sigma_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 30));
+ pdata->prev_shadow_result__phase_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 32));
+ pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 34));
+ pdata->prev_shadow_result__spare_0_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 36));
+ pdata->prev_shadow_result__spare_1_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 38));
+ pdata->prev_shadow_result__spare_2_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 40));
+ pdata->prev_shadow_result__spare_3_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 42));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_prev_shadow_system_results(
+ VL53LX_DEV Dev,
+ VL53LX_prev_shadow_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_prev_shadow_system_results(
+ pdata,
+ VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_PREV_SHADOW_RESULT__INTERRUPT_STATUS,
+ comms_buffer,
+ VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_prev_shadow_system_results(
+ VL53LX_DEV Dev,
+ VL53LX_prev_shadow_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_PREV_SHADOW_RESULT__INTERRUPT_STATUS,
+ comms_buffer,
+ VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_prev_shadow_system_results(
+ VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_prev_shadow_core_results(
+ VL53LX_prev_shadow_core_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ VL53LX_i2c_encode_uint32_t(
+ pdata->prev_shadow_result_core__ambient_window_events_sd0,
+ 4,
+ pbuffer + 0);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->prev_shadow_result_core__ranging_total_events_sd0,
+ 4,
+ pbuffer + 4);
+ VL53LX_i2c_encode_int32_t(
+ pdata->prev_shadow_result_core__signal_total_events_sd0,
+ 4,
+ pbuffer + 8);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->prev_shadow_result_core__total_periods_elapsed_sd0,
+ 4,
+ pbuffer + 12);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->prev_shadow_result_core__ambient_window_events_sd1,
+ 4,
+ pbuffer + 16);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->prev_shadow_result_core__ranging_total_events_sd1,
+ 4,
+ pbuffer + 20);
+ VL53LX_i2c_encode_int32_t(
+ pdata->prev_shadow_result_core__signal_total_events_sd1,
+ 4,
+ pbuffer + 24);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->prev_shadow_result_core__total_periods_elapsed_sd1,
+ 4,
+ pbuffer + 28);
+ *(pbuffer + 32) =
+ pdata->prev_shadow_result_core__spare_0;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_prev_shadow_core_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_prev_shadow_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->prev_shadow_result_core__ambient_window_events_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 0));
+ pdata->prev_shadow_result_core__ranging_total_events_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 4));
+ pdata->prev_shadow_result_core__signal_total_events_sd0 =
+ (VL53LX_i2c_decode_int32_t(4, pbuffer + 8));
+ pdata->prev_shadow_result_core__total_periods_elapsed_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 12));
+ pdata->prev_shadow_result_core__ambient_window_events_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 16));
+ pdata->prev_shadow_result_core__ranging_total_events_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 20));
+ pdata->prev_shadow_result_core__signal_total_events_sd1 =
+ (VL53LX_i2c_decode_int32_t(4, pbuffer + 24));
+ pdata->prev_shadow_result_core__total_periods_elapsed_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 28));
+ pdata->prev_shadow_result_core__spare_0 =
+ (*(pbuffer + 32));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_prev_shadow_core_results(
+ VL53LX_DEV Dev,
+ VL53LX_prev_shadow_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_prev_shadow_core_results(
+ pdata,
+ VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0,
+ comms_buffer,
+ VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_prev_shadow_core_results(
+ VL53LX_DEV Dev,
+ VL53LX_prev_shadow_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0,
+ comms_buffer,
+ VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_prev_shadow_core_results(
+ VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_patch_debug(
+ VL53LX_patch_debug_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->result__debug_status;
+ *(pbuffer + 1) =
+ pdata->result__debug_stage;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_patch_debug(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_patch_debug_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->result__debug_status =
+ (*(pbuffer + 0));
+ pdata->result__debug_stage =
+ (*(pbuffer + 1));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_patch_debug(
+ VL53LX_DEV Dev,
+ VL53LX_patch_debug_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_patch_debug(
+ pdata,
+ VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_RESULT__DEBUG_STATUS,
+ comms_buffer,
+ VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_patch_debug(
+ VL53LX_DEV Dev,
+ VL53LX_patch_debug_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_RESULT__DEBUG_STATUS,
+ comms_buffer,
+ VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_patch_debug(
+ VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_gph_general_config(
+ VL53LX_gph_general_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ VL53LX_i2c_encode_uint16_t(
+ pdata->gph__system__thresh_rate_high,
+ 2,
+ pbuffer + 0);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->gph__system__thresh_rate_low,
+ 2,
+ pbuffer + 2);
+ *(pbuffer + 4) =
+ pdata->gph__system__interrupt_config_gpio;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_gph_general_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_gph_general_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->gph__system__thresh_rate_high =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 0));
+ pdata->gph__system__thresh_rate_low =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 2));
+ pdata->gph__system__interrupt_config_gpio =
+ (*(pbuffer + 4));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_gph_general_config(
+ VL53LX_DEV Dev,
+ VL53LX_gph_general_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_gph_general_config(
+ pdata,
+ VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_GPH__SYSTEM__THRESH_RATE_HIGH,
+ comms_buffer,
+ VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_gph_general_config(
+ VL53LX_DEV Dev,
+ VL53LX_gph_general_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_GPH__SYSTEM__THRESH_RATE_HIGH,
+ comms_buffer,
+ VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_gph_general_config(
+ VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_gph_static_config(
+ VL53LX_gph_static_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->gph__dss_config__roi_mode_control & 0x7;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->gph__dss_config__manual_effective_spads_select,
+ 2,
+ pbuffer + 1);
+ *(pbuffer + 3) =
+ pdata->gph__dss_config__manual_block_select;
+ *(pbuffer + 4) =
+ pdata->gph__dss_config__max_spads_limit;
+ *(pbuffer + 5) =
+ pdata->gph__dss_config__min_spads_limit;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_gph_static_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_gph_static_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->gph__dss_config__roi_mode_control =
+ (*(pbuffer + 0)) & 0x7;
+ pdata->gph__dss_config__manual_effective_spads_select =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 1));
+ pdata->gph__dss_config__manual_block_select =
+ (*(pbuffer + 3));
+ pdata->gph__dss_config__max_spads_limit =
+ (*(pbuffer + 4));
+ pdata->gph__dss_config__min_spads_limit =
+ (*(pbuffer + 5));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_gph_static_config(
+ VL53LX_DEV Dev,
+ VL53LX_gph_static_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_gph_static_config(
+ pdata,
+ VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_GPH__DSS_CONFIG__ROI_MODE_CONTROL,
+ comms_buffer,
+ VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_gph_static_config(
+ VL53LX_DEV Dev,
+ VL53LX_gph_static_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_GPH__DSS_CONFIG__ROI_MODE_CONTROL,
+ comms_buffer,
+ VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_gph_static_config(
+ VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_gph_timing_config(
+ VL53LX_gph_timing_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->gph__mm_config__timeout_macrop_a_hi & 0xF;
+ *(pbuffer + 1) =
+ pdata->gph__mm_config__timeout_macrop_a_lo;
+ *(pbuffer + 2) =
+ pdata->gph__mm_config__timeout_macrop_b_hi & 0xF;
+ *(pbuffer + 3) =
+ pdata->gph__mm_config__timeout_macrop_b_lo;
+ *(pbuffer + 4) =
+ pdata->gph__range_config__timeout_macrop_a_hi & 0xF;
+ *(pbuffer + 5) =
+ pdata->gph__range_config__timeout_macrop_a_lo;
+ *(pbuffer + 6) =
+ pdata->gph__range_config__vcsel_period_a & 0x3F;
+ *(pbuffer + 7) =
+ pdata->gph__range_config__vcsel_period_b & 0x3F;
+ *(pbuffer + 8) =
+ pdata->gph__range_config__timeout_macrop_b_hi & 0xF;
+ *(pbuffer + 9) =
+ pdata->gph__range_config__timeout_macrop_b_lo;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->gph__range_config__sigma_thresh,
+ 2,
+ pbuffer + 10);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->gph__range_config__min_count_rate_rtn_limit_mcps,
+ 2,
+ pbuffer + 12);
+ *(pbuffer + 14) =
+ pdata->gph__range_config__valid_phase_low;
+ *(pbuffer + 15) =
+ pdata->gph__range_config__valid_phase_high;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_gph_timing_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_gph_timing_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->gph__mm_config__timeout_macrop_a_hi =
+ (*(pbuffer + 0)) & 0xF;
+ pdata->gph__mm_config__timeout_macrop_a_lo =
+ (*(pbuffer + 1));
+ pdata->gph__mm_config__timeout_macrop_b_hi =
+ (*(pbuffer + 2)) & 0xF;
+ pdata->gph__mm_config__timeout_macrop_b_lo =
+ (*(pbuffer + 3));
+ pdata->gph__range_config__timeout_macrop_a_hi =
+ (*(pbuffer + 4)) & 0xF;
+ pdata->gph__range_config__timeout_macrop_a_lo =
+ (*(pbuffer + 5));
+ pdata->gph__range_config__vcsel_period_a =
+ (*(pbuffer + 6)) & 0x3F;
+ pdata->gph__range_config__vcsel_period_b =
+ (*(pbuffer + 7)) & 0x3F;
+ pdata->gph__range_config__timeout_macrop_b_hi =
+ (*(pbuffer + 8)) & 0xF;
+ pdata->gph__range_config__timeout_macrop_b_lo =
+ (*(pbuffer + 9));
+ pdata->gph__range_config__sigma_thresh =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 10));
+ pdata->gph__range_config__min_count_rate_rtn_limit_mcps =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 12));
+ pdata->gph__range_config__valid_phase_low =
+ (*(pbuffer + 14));
+ pdata->gph__range_config__valid_phase_high =
+ (*(pbuffer + 15));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_gph_timing_config(
+ VL53LX_DEV Dev,
+ VL53LX_gph_timing_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_gph_timing_config(
+ pdata,
+ VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI,
+ comms_buffer,
+ VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_gph_timing_config(
+ VL53LX_DEV Dev,
+ VL53LX_gph_timing_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI,
+ comms_buffer,
+ VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_gph_timing_config(
+ VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_fw_internal(
+ VL53LX_fw_internal_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_FW_INTERNAL_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->firmware__internal_stream_count_div;
+ *(pbuffer + 1) =
+ pdata->firmware__internal_stream_counter_val;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_fw_internal(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_fw_internal_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_FW_INTERNAL_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->firmware__internal_stream_count_div =
+ (*(pbuffer + 0));
+ pdata->firmware__internal_stream_counter_val =
+ (*(pbuffer + 1));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_fw_internal(
+ VL53LX_DEV Dev,
+ VL53LX_fw_internal_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_FW_INTERNAL_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_fw_internal(
+ pdata,
+ VL53LX_FW_INTERNAL_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_FIRMWARE__INTERNAL_STREAM_COUNT_DIV,
+ comms_buffer,
+ VL53LX_FW_INTERNAL_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_fw_internal(
+ VL53LX_DEV Dev,
+ VL53LX_fw_internal_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_FW_INTERNAL_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_FIRMWARE__INTERNAL_STREAM_COUNT_DIV,
+ comms_buffer,
+ VL53LX_FW_INTERNAL_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_fw_internal(
+ VL53LX_FW_INTERNAL_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_patch_results(
+ VL53LX_patch_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->dss_calc__roi_ctrl & 0x3;
+ *(pbuffer + 1) =
+ pdata->dss_calc__spare_1;
+ *(pbuffer + 2) =
+ pdata->dss_calc__spare_2;
+ *(pbuffer + 3) =
+ pdata->dss_calc__spare_3;
+ *(pbuffer + 4) =
+ pdata->dss_calc__spare_4;
+ *(pbuffer + 5) =
+ pdata->dss_calc__spare_5;
+ *(pbuffer + 6) =
+ pdata->dss_calc__spare_6;
+ *(pbuffer + 7) =
+ pdata->dss_calc__spare_7;
+ *(pbuffer + 8) =
+ pdata->dss_calc__user_roi_spad_en_0;
+ *(pbuffer + 9) =
+ pdata->dss_calc__user_roi_spad_en_1;
+ *(pbuffer + 10) =
+ pdata->dss_calc__user_roi_spad_en_2;
+ *(pbuffer + 11) =
+ pdata->dss_calc__user_roi_spad_en_3;
+ *(pbuffer + 12) =
+ pdata->dss_calc__user_roi_spad_en_4;
+ *(pbuffer + 13) =
+ pdata->dss_calc__user_roi_spad_en_5;
+ *(pbuffer + 14) =
+ pdata->dss_calc__user_roi_spad_en_6;
+ *(pbuffer + 15) =
+ pdata->dss_calc__user_roi_spad_en_7;
+ *(pbuffer + 16) =
+ pdata->dss_calc__user_roi_spad_en_8;
+ *(pbuffer + 17) =
+ pdata->dss_calc__user_roi_spad_en_9;
+ *(pbuffer + 18) =
+ pdata->dss_calc__user_roi_spad_en_10;
+ *(pbuffer + 19) =
+ pdata->dss_calc__user_roi_spad_en_11;
+ *(pbuffer + 20) =
+ pdata->dss_calc__user_roi_spad_en_12;
+ *(pbuffer + 21) =
+ pdata->dss_calc__user_roi_spad_en_13;
+ *(pbuffer + 22) =
+ pdata->dss_calc__user_roi_spad_en_14;
+ *(pbuffer + 23) =
+ pdata->dss_calc__user_roi_spad_en_15;
+ *(pbuffer + 24) =
+ pdata->dss_calc__user_roi_spad_en_16;
+ *(pbuffer + 25) =
+ pdata->dss_calc__user_roi_spad_en_17;
+ *(pbuffer + 26) =
+ pdata->dss_calc__user_roi_spad_en_18;
+ *(pbuffer + 27) =
+ pdata->dss_calc__user_roi_spad_en_19;
+ *(pbuffer + 28) =
+ pdata->dss_calc__user_roi_spad_en_20;
+ *(pbuffer + 29) =
+ pdata->dss_calc__user_roi_spad_en_21;
+ *(pbuffer + 30) =
+ pdata->dss_calc__user_roi_spad_en_22;
+ *(pbuffer + 31) =
+ pdata->dss_calc__user_roi_spad_en_23;
+ *(pbuffer + 32) =
+ pdata->dss_calc__user_roi_spad_en_24;
+ *(pbuffer + 33) =
+ pdata->dss_calc__user_roi_spad_en_25;
+ *(pbuffer + 34) =
+ pdata->dss_calc__user_roi_spad_en_26;
+ *(pbuffer + 35) =
+ pdata->dss_calc__user_roi_spad_en_27;
+ *(pbuffer + 36) =
+ pdata->dss_calc__user_roi_spad_en_28;
+ *(pbuffer + 37) =
+ pdata->dss_calc__user_roi_spad_en_29;
+ *(pbuffer + 38) =
+ pdata->dss_calc__user_roi_spad_en_30;
+ *(pbuffer + 39) =
+ pdata->dss_calc__user_roi_spad_en_31;
+ *(pbuffer + 40) =
+ pdata->dss_calc__user_roi_0;
+ *(pbuffer + 41) =
+ pdata->dss_calc__user_roi_1;
+ *(pbuffer + 42) =
+ pdata->dss_calc__mode_roi_0;
+ *(pbuffer + 43) =
+ pdata->dss_calc__mode_roi_1;
+ *(pbuffer + 44) =
+ pdata->sigma_estimator_calc__spare_0;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->vhv_result__peak_signal_rate_mcps,
+ 2,
+ pbuffer + 46);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->vhv_result__signal_total_events_ref,
+ 4,
+ pbuffer + 48);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->phasecal_result__phase_output_ref,
+ 2,
+ pbuffer + 52);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->dss_result__total_rate_per_spad,
+ 2,
+ pbuffer + 54);
+ *(pbuffer + 56) =
+ pdata->dss_result__enabled_blocks;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->dss_result__num_requested_spads,
+ 2,
+ pbuffer + 58);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->mm_result__inner_intersection_rate,
+ 2,
+ pbuffer + 62);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->mm_result__outer_complement_rate,
+ 2,
+ pbuffer + 64);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->mm_result__total_offset,
+ 2,
+ pbuffer + 66);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->xtalk_calc__xtalk_for_enabled_spads & 0xFFFFFF,
+ 4,
+ pbuffer + 68);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->xtalk_result__avg_xtalk_user_roi_kcps & 0xFFFFFF,
+ 4,
+ pbuffer + 72);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->xtalk_result__avg_xtalk_mm_inner_roi_kcps & 0xFFFFFF,
+ 4,
+ pbuffer + 76);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->xtalk_result__avg_xtalk_mm_outer_roi_kcps & 0xFFFFFF,
+ 4,
+ pbuffer + 80);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->range_result__accum_phase,
+ 4,
+ pbuffer + 84);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->range_result__offset_corrected_range,
+ 2,
+ pbuffer + 88);
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_patch_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_patch_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->dss_calc__roi_ctrl =
+ (*(pbuffer + 0)) & 0x3;
+ pdata->dss_calc__spare_1 =
+ (*(pbuffer + 1));
+ pdata->dss_calc__spare_2 =
+ (*(pbuffer + 2));
+ pdata->dss_calc__spare_3 =
+ (*(pbuffer + 3));
+ pdata->dss_calc__spare_4 =
+ (*(pbuffer + 4));
+ pdata->dss_calc__spare_5 =
+ (*(pbuffer + 5));
+ pdata->dss_calc__spare_6 =
+ (*(pbuffer + 6));
+ pdata->dss_calc__spare_7 =
+ (*(pbuffer + 7));
+ pdata->dss_calc__user_roi_spad_en_0 =
+ (*(pbuffer + 8));
+ pdata->dss_calc__user_roi_spad_en_1 =
+ (*(pbuffer + 9));
+ pdata->dss_calc__user_roi_spad_en_2 =
+ (*(pbuffer + 10));
+ pdata->dss_calc__user_roi_spad_en_3 =
+ (*(pbuffer + 11));
+ pdata->dss_calc__user_roi_spad_en_4 =
+ (*(pbuffer + 12));
+ pdata->dss_calc__user_roi_spad_en_5 =
+ (*(pbuffer + 13));
+ pdata->dss_calc__user_roi_spad_en_6 =
+ (*(pbuffer + 14));
+ pdata->dss_calc__user_roi_spad_en_7 =
+ (*(pbuffer + 15));
+ pdata->dss_calc__user_roi_spad_en_8 =
+ (*(pbuffer + 16));
+ pdata->dss_calc__user_roi_spad_en_9 =
+ (*(pbuffer + 17));
+ pdata->dss_calc__user_roi_spad_en_10 =
+ (*(pbuffer + 18));
+ pdata->dss_calc__user_roi_spad_en_11 =
+ (*(pbuffer + 19));
+ pdata->dss_calc__user_roi_spad_en_12 =
+ (*(pbuffer + 20));
+ pdata->dss_calc__user_roi_spad_en_13 =
+ (*(pbuffer + 21));
+ pdata->dss_calc__user_roi_spad_en_14 =
+ (*(pbuffer + 22));
+ pdata->dss_calc__user_roi_spad_en_15 =
+ (*(pbuffer + 23));
+ pdata->dss_calc__user_roi_spad_en_16 =
+ (*(pbuffer + 24));
+ pdata->dss_calc__user_roi_spad_en_17 =
+ (*(pbuffer + 25));
+ pdata->dss_calc__user_roi_spad_en_18 =
+ (*(pbuffer + 26));
+ pdata->dss_calc__user_roi_spad_en_19 =
+ (*(pbuffer + 27));
+ pdata->dss_calc__user_roi_spad_en_20 =
+ (*(pbuffer + 28));
+ pdata->dss_calc__user_roi_spad_en_21 =
+ (*(pbuffer + 29));
+ pdata->dss_calc__user_roi_spad_en_22 =
+ (*(pbuffer + 30));
+ pdata->dss_calc__user_roi_spad_en_23 =
+ (*(pbuffer + 31));
+ pdata->dss_calc__user_roi_spad_en_24 =
+ (*(pbuffer + 32));
+ pdata->dss_calc__user_roi_spad_en_25 =
+ (*(pbuffer + 33));
+ pdata->dss_calc__user_roi_spad_en_26 =
+ (*(pbuffer + 34));
+ pdata->dss_calc__user_roi_spad_en_27 =
+ (*(pbuffer + 35));
+ pdata->dss_calc__user_roi_spad_en_28 =
+ (*(pbuffer + 36));
+ pdata->dss_calc__user_roi_spad_en_29 =
+ (*(pbuffer + 37));
+ pdata->dss_calc__user_roi_spad_en_30 =
+ (*(pbuffer + 38));
+ pdata->dss_calc__user_roi_spad_en_31 =
+ (*(pbuffer + 39));
+ pdata->dss_calc__user_roi_0 =
+ (*(pbuffer + 40));
+ pdata->dss_calc__user_roi_1 =
+ (*(pbuffer + 41));
+ pdata->dss_calc__mode_roi_0 =
+ (*(pbuffer + 42));
+ pdata->dss_calc__mode_roi_1 =
+ (*(pbuffer + 43));
+ pdata->sigma_estimator_calc__spare_0 =
+ (*(pbuffer + 44));
+ pdata->vhv_result__peak_signal_rate_mcps =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 46));
+ pdata->vhv_result__signal_total_events_ref =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 48));
+ pdata->phasecal_result__phase_output_ref =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 52));
+ pdata->dss_result__total_rate_per_spad =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 54));
+ pdata->dss_result__enabled_blocks =
+ (*(pbuffer + 56));
+ pdata->dss_result__num_requested_spads =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 58));
+ pdata->mm_result__inner_intersection_rate =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 62));
+ pdata->mm_result__outer_complement_rate =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 64));
+ pdata->mm_result__total_offset =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 66));
+ pdata->xtalk_calc__xtalk_for_enabled_spads =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 68)) & 0xFFFFFF;
+ pdata->xtalk_result__avg_xtalk_user_roi_kcps =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 72)) & 0xFFFFFF;
+ pdata->xtalk_result__avg_xtalk_mm_inner_roi_kcps =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 76)) & 0xFFFFFF;
+ pdata->xtalk_result__avg_xtalk_mm_outer_roi_kcps =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 80)) & 0xFFFFFF;
+ pdata->range_result__accum_phase =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 84));
+ pdata->range_result__offset_corrected_range =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 88));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_patch_results(
+ VL53LX_DEV Dev,
+ VL53LX_patch_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_patch_results(
+ pdata,
+ VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_DSS_CALC__ROI_CTRL,
+ comms_buffer,
+ VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_patch_results(
+ VL53LX_DEV Dev,
+ VL53LX_patch_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_DSS_CALC__ROI_CTRL,
+ comms_buffer,
+ VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_patch_results(
+ VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_shadow_system_results(
+ VL53LX_shadow_system_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ *(pbuffer + 0) =
+ pdata->shadow_phasecal_result__vcsel_start;
+ *(pbuffer + 2) =
+ pdata->shadow_result__interrupt_status & 0x3F;
+ *(pbuffer + 3) =
+ pdata->shadow_result__range_status;
+ *(pbuffer + 4) =
+ pdata->shadow_result__report_status & 0xF;
+ *(pbuffer + 5) =
+ pdata->shadow_result__stream_count;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__dss_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 6);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__peak_signal_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 8);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__ambient_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 10);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__sigma_sd0,
+ 2,
+ pbuffer + 12);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__phase_sd0,
+ 2,
+ pbuffer + 14);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__final_crosstalk_corrected_range_mm_sd0,
+ 2,
+ pbuffer + 16);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0,
+ 2,
+ pbuffer + 18);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__mm_inner_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 20);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__mm_outer_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 22);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__avg_signal_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 24);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__dss_actual_effective_spads_sd1,
+ 2,
+ pbuffer + 26);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__peak_signal_count_rate_mcps_sd1,
+ 2,
+ pbuffer + 28);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__ambient_count_rate_mcps_sd1,
+ 2,
+ pbuffer + 30);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__sigma_sd1,
+ 2,
+ pbuffer + 32);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__phase_sd1,
+ 2,
+ pbuffer + 34);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__final_crosstalk_corrected_range_mm_sd1,
+ 2,
+ pbuffer + 36);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__spare_0_sd1,
+ 2,
+ pbuffer + 38);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__spare_1_sd1,
+ 2,
+ pbuffer + 40);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__spare_2_sd1,
+ 2,
+ pbuffer + 42);
+ *(pbuffer + 44) =
+ pdata->shadow_result__spare_3_sd1;
+ *(pbuffer + 45) =
+ pdata->shadow_result__thresh_info;
+ *(pbuffer + 80) =
+ pdata->shadow_phasecal_result__reference_phase_hi;
+ *(pbuffer + 81) =
+ pdata->shadow_phasecal_result__reference_phase_lo;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_shadow_system_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_shadow_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->shadow_phasecal_result__vcsel_start =
+ (*(pbuffer + 0));
+ pdata->shadow_result__interrupt_status =
+ (*(pbuffer + 2)) & 0x3F;
+ pdata->shadow_result__range_status =
+ (*(pbuffer + 3));
+ pdata->shadow_result__report_status =
+ (*(pbuffer + 4)) & 0xF;
+ pdata->shadow_result__stream_count =
+ (*(pbuffer + 5));
+ pdata->shadow_result__dss_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 6));
+ pdata->shadow_result__peak_signal_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 8));
+ pdata->shadow_result__ambient_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 10));
+ pdata->shadow_result__sigma_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 12));
+ pdata->shadow_result__phase_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 14));
+ pdata->shadow_result__final_crosstalk_corrected_range_mm_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 16));
+ pdata->shr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 18));
+ pdata->shadow_result__mm_inner_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 20));
+ pdata->shadow_result__mm_outer_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 22));
+ pdata->shadow_result__avg_signal_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 24));
+ pdata->shadow_result__dss_actual_effective_spads_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 26));
+ pdata->shadow_result__peak_signal_count_rate_mcps_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 28));
+ pdata->shadow_result__ambient_count_rate_mcps_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 30));
+ pdata->shadow_result__sigma_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 32));
+ pdata->shadow_result__phase_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 34));
+ pdata->shadow_result__final_crosstalk_corrected_range_mm_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 36));
+ pdata->shadow_result__spare_0_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 38));
+ pdata->shadow_result__spare_1_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 40));
+ pdata->shadow_result__spare_2_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 42));
+ pdata->shadow_result__spare_3_sd1 =
+ (*(pbuffer + 44));
+ pdata->shadow_result__thresh_info =
+ (*(pbuffer + 45));
+ pdata->shadow_phasecal_result__reference_phase_hi =
+ (*(pbuffer + 80));
+ pdata->shadow_phasecal_result__reference_phase_lo =
+ (*(pbuffer + 81));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_shadow_system_results(
+ VL53LX_DEV Dev,
+ VL53LX_shadow_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_shadow_system_results(
+ pdata,
+ VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_SHADOW_PHASECAL_RESULT__VCSEL_START,
+ comms_buffer,
+ VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_shadow_system_results(
+ VL53LX_DEV Dev,
+ VL53LX_shadow_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_SHADOW_PHASECAL_RESULT__VCSEL_START,
+ comms_buffer,
+ VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_shadow_system_results(
+ VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_encode_shadow_core_results(
+ VL53LX_shadow_core_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ VL53LX_i2c_encode_uint32_t(
+ pdata->shadow_result_core__ambient_window_events_sd0,
+ 4,
+ pbuffer + 0);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->shadow_result_core__ranging_total_events_sd0,
+ 4,
+ pbuffer + 4);
+ VL53LX_i2c_encode_int32_t(
+ pdata->shadow_result_core__signal_total_events_sd0,
+ 4,
+ pbuffer + 8);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->shadow_result_core__total_periods_elapsed_sd0,
+ 4,
+ pbuffer + 12);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->shadow_result_core__ambient_window_events_sd1,
+ 4,
+ pbuffer + 16);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->shadow_result_core__ranging_total_events_sd1,
+ 4,
+ pbuffer + 20);
+ VL53LX_i2c_encode_int32_t(
+ pdata->shadow_result_core__signal_total_events_sd1,
+ 4,
+ pbuffer + 24);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->shadow_result_core__total_periods_elapsed_sd1,
+ 4,
+ pbuffer + 28);
+ *(pbuffer + 32) =
+ pdata->shadow_result_core__spare_0;
+ LOG_FUNCTION_END(status);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_i2c_decode_shadow_core_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_shadow_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ if (buf_size < VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES)
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+
+ pdata->shadow_result_core__ambient_window_events_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 0));
+ pdata->shadow_result_core__ranging_total_events_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 4));
+ pdata->shadow_result_core__signal_total_events_sd0 =
+ (VL53LX_i2c_decode_int32_t(4, pbuffer + 8));
+ pdata->shadow_result_core__total_periods_elapsed_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 12));
+ pdata->shadow_result_core__ambient_window_events_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 16));
+ pdata->shadow_result_core__ranging_total_events_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 20));
+ pdata->shadow_result_core__signal_total_events_sd1 =
+ (VL53LX_i2c_decode_int32_t(4, pbuffer + 24));
+ pdata->shadow_result_core__total_periods_elapsed_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 28));
+ pdata->shadow_result_core__spare_0 =
+ (*(pbuffer + 32));
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_set_shadow_core_results(
+ VL53LX_DEV Dev,
+ VL53LX_shadow_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_shadow_core_results(
+ pdata,
+ VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0,
+ comms_buffer,
+ VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX_get_shadow_core_results(
+ VL53LX_DEV Dev,
+ VL53LX_shadow_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES];
+
+ LOG_FUNCTION_START("");
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_disable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0,
+ comms_buffer,
+ VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_enable_firmware(Dev);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_shadow_core_results(
+ VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+