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_xtalk.c
- Revision:
- 5:89031b2f5316
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/modules/vl53lx_xtalk.c Wed Jul 14 12:45:49 2021 +0100 @@ -0,0 +1,1050 @@ + +// SPDX-License-Identifier: BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53LX Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + +#include <vl53lx_platform_log.h> +#include <vl53lx_types.h> +#include "vl53lx_core_support.h" +#include "vl53lx_error_codes.h" + +#include "vl53lx_xtalk.h" +#include "vl53lx_hist_core.h" + + + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53LX_TRACE_MODULE_HISTOGRAM, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53LX_TRACE_MODULE_HISTOGRAM, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53LX_TRACE_MODULE_HISTOGRAM, \ + status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53LX_TRACE_MODULE_HISTOGRAM, \ + level, VL53LX_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +VL53LX_Error VL53LX_xtalk_calibration_process_data( + VL53LX_xtalk_range_results_t *pxtalk_results, + VL53LX_xtalk_histogram_data_t *pxtalk_shape, + VL53LX_xtalk_calibration_results_t *pxtalk_cal) +{ + + + VL53LX_Error status = VL53LX_ERROR_NONE; + + VL53LX_xtalk_algo_data_t xtalk_debug; + VL53LX_xtalk_algo_data_t *pdebug = &xtalk_debug; + VL53LX_xtalk_range_data_t *pxtalk_data = NULL; + + VL53LX_histogram_bin_data_t avg_bins; + VL53LX_histogram_bin_data_t *pavg_bins = &avg_bins; + + LOG_FUNCTION_START(""); + + + + memcpy(pavg_bins, &(pxtalk_results->central_histogram_avg), + sizeof(VL53LX_histogram_bin_data_t)); + + + + if (status == VL53LX_ERROR_NONE) + VL53LX_init_histogram_bin_data_struct( + 0, 0, &(pdebug->VL53LX_p_056)); + + if (status == VL53LX_ERROR_NONE) + VL53LX_init_histogram_bin_data_struct( + 0, 0, &(pdebug->VL53LX_p_057)); + + + + if (status == VL53LX_ERROR_NONE) + status = VL53LX_f_039( + pxtalk_results, + pdebug, + &(pxtalk_cal->algo__crosstalk_compensation_x_plane_gradient_kcps + ), + &(pxtalk_cal->algo__crosstalk_compensation_y_plane_gradient_kcps + )); + + + + + + if (status != VL53LX_ERROR_NONE) + goto ENDFUNC; + + pxtalk_data = &(pxtalk_results->VL53LX_p_003[4]); + + if (pxtalk_data->no_of_samples > 0) { + + + + if (status == VL53LX_ERROR_NONE) { + memcpy(&(pdebug->VL53LX_p_056), + pavg_bins, + sizeof(VL53LX_histogram_bin_data_t)); + } + + + + status = VL53LX_f_040( + pxtalk_data, + pdebug, + &(pxtalk_cal->algo__crosstalk_compensation_plane_offset_kcps)); + + + + if (status == VL53LX_ERROR_NONE) + status = VL53LX_f_041( + pavg_bins, + pdebug, + pxtalk_data, + pxtalk_results->central_histogram__window_start, + pxtalk_results->central_histogram__window_end, + &(pxtalk_shape->xtalk_shape)); + + } else { + + + + pxtalk_cal->algo__crosstalk_compensation_plane_offset_kcps = 0; + + + + pdebug->VL53LX_p_058 = 0; + + + } + + +ENDFUNC: + + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53LX_Error VL53LX_f_041( + VL53LX_histogram_bin_data_t *pavg_bins, + VL53LX_xtalk_algo_data_t *pdebug, + VL53LX_xtalk_range_data_t *pxtalk_data, + uint8_t histogram__window_start, + uint8_t histogram__window_end, + VL53LX_xtalk_histogram_shape_t *pxtalk_shape) +{ + + VL53LX_Error status = VL53LX_ERROR_NONE; + + + + uint32_t ambient_thresh = 0; + + + + if (status == VL53LX_ERROR_NONE) + VL53LX_f_029( + pavg_bins, + pavg_bins->VL53LX_p_028); + + + + if (status == VL53LX_ERROR_NONE) + VL53LX_f_043( + 6, + pavg_bins->VL53LX_p_028, + &ambient_thresh); + + + + if (status == VL53LX_ERROR_NONE) + status = VL53LX_f_044( + pavg_bins, + ambient_thresh, + histogram__window_start, + histogram__window_end); + + + + if (status == VL53LX_ERROR_NONE) + status = VL53LX_f_045( + pavg_bins, + pxtalk_data, + pdebug, + pxtalk_shape); + + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53LX_Error VL53LX_f_039( + VL53LX_xtalk_range_results_t *pxtalk_results, + VL53LX_xtalk_algo_data_t *pdebug, + int16_t *xgradient, + int16_t *ygradient + ) +{ + + + + VL53LX_Error status = VL53LX_ERROR_NONE; + + VL53LX_xtalk_range_data_t *presults_int = NULL; + + int i = 0; + + uint32_t xtalk_per_spad[4]; + int32_t VL53LX_p_059 = 0; + int32_t VL53LX_p_060 = 0; + + uint8_t result_invalid = 0; + + + LOG_FUNCTION_START(""); + + + + *xgradient = 0; + *ygradient = 0; + + + + + for (i = 0; i < 4; i++) + xtalk_per_spad[i] = 0; + + + + for (i = 0; i < 4; i++) { + + if (status == VL53LX_ERROR_NONE) { + + presults_int = &(pxtalk_results->VL53LX_p_003[i]); + + + + + if (presults_int->no_of_samples == 0) { + + + result_invalid = 1; + pdebug->VL53LX_p_061[i] = 0; + + + } else { + + xtalk_per_spad[i] = + presults_int->rate_per_spad_kcps_avg; + + + + pdebug->VL53LX_p_061[i] = + (uint32_t)xtalk_per_spad[i]; + + } + } + + } + + + + if ((status == VL53LX_ERROR_NONE) && (result_invalid == 0)) { + + + + if (status == VL53LX_ERROR_NONE) { + VL53LX_p_059 = ((int32_t)xtalk_per_spad[1] + - (int32_t)xtalk_per_spad[0]) / (8); + VL53LX_p_060 = ((int32_t)xtalk_per_spad[3] + - (int32_t)xtalk_per_spad[2]) / (8); + } + + + + + if (status == VL53LX_ERROR_NONE) { + if (VL53LX_p_059 < -32767) { + VL53LX_p_059 = -32767; + } else { + if (VL53LX_p_059 > 32767) + VL53LX_p_059 = 32767; + } + + if (VL53LX_p_060 < -32767) { + VL53LX_p_060 = -32767; + } else { + if (VL53LX_p_060 > 32767) + VL53LX_p_060 = 32767; + } + + + + pdebug->VL53LX_p_059 = (int16_t)VL53LX_p_059; + pdebug->VL53LX_p_060 = (int16_t)VL53LX_p_060; + } + + } else { + + + + VL53LX_p_059 = 0; + VL53LX_p_060 = 0; + + pdebug->VL53LX_p_059 = 0; + pdebug->VL53LX_p_060 = 0; + } + + + + if (status == VL53LX_ERROR_NONE) { + *xgradient = (int16_t)VL53LX_p_059; + *ygradient = (int16_t)VL53LX_p_060; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53LX_Error VL53LX_f_040( + VL53LX_xtalk_range_data_t *pxtalk_data, + VL53LX_xtalk_algo_data_t *pdebug, + uint32_t *xtalk_mean_offset_kcps + ) +{ + + + VL53LX_Error status = VL53LX_ERROR_NONE; + + uint32_t xtalk_per_spad = 0; + uint8_t result_invalid = 0; + + LOG_FUNCTION_START(""); + + *xtalk_mean_offset_kcps = 0; + + + if (pxtalk_data->no_of_samples == 0) { + + + + result_invalid = 1; + + + + pdebug->VL53LX_p_058 = 0; + + } + + + + + if ((status == VL53LX_ERROR_NONE) && (result_invalid == 0)) { + + + + xtalk_per_spad = pxtalk_data->rate_per_spad_kcps_avg >> 2; + + + + pdebug->VL53LX_p_058 = xtalk_per_spad; + + + if (xtalk_per_spad < 0x3FFFF) + *xtalk_mean_offset_kcps = (uint32_t)xtalk_per_spad; + else + *xtalk_mean_offset_kcps = 0x3FFFF; + + } else { + + + + *xtalk_mean_offset_kcps = 0; + } + + LOG_FUNCTION_END(status); + + return status; + +} + + + + +VL53LX_Error VL53LX_f_045( + VL53LX_histogram_bin_data_t *phist_data, + VL53LX_xtalk_range_data_t *pxtalk_data, + VL53LX_xtalk_algo_data_t *pdebug, + VL53LX_xtalk_histogram_shape_t *pxtalk_histo + ) +{ + + + VL53LX_Error status = VL53LX_ERROR_NONE; + + uint8_t idx; + int32_t tmpi32; + uint8_t i = 0; + uint64_t bin_data[VL53LX_XTALK_HISTO_BINS]; + + LOG_FUNCTION_START(""); + + + + + + + pxtalk_histo->VL53LX_p_020 = + phist_data->VL53LX_p_020; + pxtalk_histo->cal_config__vcsel_start = + phist_data->cal_config__vcsel_start; + pxtalk_histo->VL53LX_p_015 = + phist_data->VL53LX_p_015; + pxtalk_histo->VL53LX_p_019 = + phist_data->VL53LX_p_019; + pxtalk_histo->time_stamp = + phist_data->time_stamp; + pxtalk_histo->vcsel_width = + phist_data->vcsel_width; + pxtalk_histo->zero_distance_phase = + phist_data->zero_distance_phase; + pxtalk_histo->zone_id = + phist_data->zone_id; + pxtalk_histo->VL53LX_p_021 = + VL53LX_XTALK_HISTO_BINS; + pxtalk_histo->phasecal_result__reference_phase = + phist_data->phasecal_result__reference_phase; + pxtalk_histo->phasecal_result__vcsel_start = + phist_data->phasecal_result__vcsel_start; + + + memcpy(&(pdebug->VL53LX_p_057), + phist_data, sizeof(VL53LX_histogram_bin_data_t)); + + + + + + if (pxtalk_data->signal_total_events_avg == 0) { + for (i = 0; i < pxtalk_histo->VL53LX_p_021; i++) + bin_data[i] = 0; + goto FAIL; + } + + for (i = 0; i < pxtalk_histo->VL53LX_p_021; i++) { + idx = i + phist_data->number_of_ambient_bins; + if (phist_data->bin_data[idx] > 0) { + bin_data[i] = + ((uint64_t)phist_data->bin_data[idx] << 10); + tmpi32 = pxtalk_data->signal_total_events_avg / 2; + bin_data[i] = bin_data[i] + (uint64_t)tmpi32; + bin_data[i] = do_division_u(bin_data[i], + (uint64_t)pxtalk_data->signal_total_events_avg); + } else { + bin_data[i] = 0; + } + } + +FAIL: + + + for (i = 0; i < VL53LX_XTALK_HISTO_BINS; i++) + pxtalk_histo->bin_data[i] = (uint32_t)bin_data[i]; + + + + for (i = 0; i < pxtalk_histo->VL53LX_p_021; i++) + pdebug->VL53LX_p_062[i] = pxtalk_histo->bin_data[i]; + + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53LX_Error VL53LX_f_046( + VL53LX_customer_nvm_managed_t *pcustomer, + VL53LX_dynamic_config_t *pdyn_cfg, + VL53LX_xtalk_histogram_data_t *pxtalk_shape, + VL53LX_histogram_bin_data_t *pip_hist_data, + VL53LX_histogram_bin_data_t *pop_hist_data, + VL53LX_histogram_bin_data_t *pxtalk_count_data) +{ + + + + VL53LX_Error status = VL53LX_ERROR_NONE; + + + + uint32_t xtalk_rate_kcps = 0; + + LOG_FUNCTION_START(""); + + + + memcpy(pop_hist_data, pip_hist_data, + sizeof(VL53LX_histogram_bin_data_t)); + + + + status = + VL53LX_f_032( + pcustomer->algo__crosstalk_compensation_plane_offset_kcps, + pcustomer->algo__crosstalk_compensation_x_plane_gradient_kcps, + pcustomer->algo__crosstalk_compensation_y_plane_gradient_kcps, + 0, + 0, + pip_hist_data->result__dss_actual_effective_spads, + + pdyn_cfg->roi_config__user_roi_centre_spad, + pdyn_cfg->roi_config__user_roi_requested_global_xy_size, + &(xtalk_rate_kcps)); + + + + if (status == VL53LX_ERROR_NONE) + status = + VL53LX_f_033( + pip_hist_data, + &(pxtalk_shape->xtalk_shape), + xtalk_rate_kcps, + pxtalk_count_data); + + + + if (status == VL53LX_ERROR_NONE) + status = + VL53LX_f_047( + pop_hist_data, + pxtalk_count_data, + pip_hist_data->number_of_ambient_bins); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53LX_Error VL53LX_f_032( + uint32_t mean_offset, + int16_t xgradient, + int16_t ygradient, + int8_t centre_offset_x, + int8_t centre_offset_y, + uint16_t roi_effective_spads, + uint8_t roi_centre_spad, + uint8_t roi_xy_size, + uint32_t *xtalk_rate_kcps + ) +{ + + + + VL53LX_Error status = VL53LX_ERROR_NONE; + + uint8_t row = 0; + uint8_t col = 0; + + + + int16_t bound_l_x = 0; + int16_t bound_r_x = 0; + int16_t bound_u_y = 0; + int16_t bound_d_y = 0; + + int64_t xtalk_rate_ll = 0; + int64_t xtalk_rate_ur = 0; + + int64_t xtalk_avg = 0; + + LOG_FUNCTION_START(""); + + SUPPRESS_UNUSED_WARNING(roi_effective_spads); + + + + + + + if (status == VL53LX_ERROR_NONE) { + VL53LX_decode_row_col( + roi_centre_spad, + &row, + &col); + } + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Row", row); + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Col", col); + + + + if (status == VL53LX_ERROR_NONE) { + if ((((int16_t)roi_xy_size / 16) & 0x01) == 1) + bound_l_x = (int16_t) col - + (((int16_t)roi_xy_size / 32) + 1); + else + bound_l_x = (int16_t) col - + ((int16_t)roi_xy_size / 32); + + bound_r_x = (int16_t) col + ((int16_t)roi_xy_size / 32); + + if ((((int16_t)roi_xy_size) & 0x01) == 1) + bound_d_y = (int16_t) row - + ((((int16_t)roi_xy_size & 0x0f) / 2) + 1); + else + bound_d_y = (int16_t) row - + (((int16_t)roi_xy_size & 0x0f) / 2); + + bound_u_y = (int16_t) row + + (((int16_t)roi_xy_size & 0xf) / 2); + } + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_l_x", bound_l_x); + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_r_x", bound_r_x); + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_u_y", bound_u_y); + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_d_y", bound_d_y); + + + + + if (status == VL53LX_ERROR_NONE) { + bound_l_x = (2 * bound_l_x) - 15 + + (2 * (int16_t)centre_offset_x); + bound_r_x = (2 * bound_r_x) - 15 + + (2 * (int16_t)centre_offset_x); + bound_u_y = (2 * bound_u_y) - 15 + + (2 * (int16_t)centre_offset_y); + bound_d_y = (2 * bound_d_y) - 15 + + (2 * (int16_t)centre_offset_y); + } + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_l_x", bound_l_x); + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_r_x", bound_r_x); + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_u_y", bound_u_y); + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_d_y", bound_d_y); + + + + + if (status == VL53LX_ERROR_NONE) { + xtalk_rate_ll = ((int64_t)bound_l_x * + ((int64_t)xgradient)) + ((int64_t)bound_d_y * + ((int64_t)ygradient)); + xtalk_rate_ll = do_division_s((xtalk_rate_ll + 1), 2); + xtalk_rate_ll += ((int64_t)mean_offset * 4); + + xtalk_rate_ur = ((int64_t)bound_r_x * + ((int64_t)xgradient)) + ((int64_t)bound_u_y * + ((int64_t)ygradient)); + xtalk_rate_ur = do_division_s((xtalk_rate_ur + 1), 2); + xtalk_rate_ur += ((int64_t)mean_offset * 4); + } + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "xtalk_rate_ll", xtalk_rate_ll); + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "xtalk_rate_ur", xtalk_rate_ur); + + + + if (status == VL53LX_ERROR_NONE) + xtalk_avg = do_division_s( + ((xtalk_rate_ll + xtalk_rate_ur) + 1), 2); + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "xtalk_avg", xtalk_avg); + + + + if (status == VL53LX_ERROR_NONE) + if (xtalk_avg < 0) + xtalk_avg = 0; + + + + + + *xtalk_rate_kcps = (uint32_t) xtalk_avg; + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "xtalk_rate_kcps", xtalk_avg); + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53LX_Error VL53LX_f_033( + VL53LX_histogram_bin_data_t *phist_data, + VL53LX_xtalk_histogram_shape_t *pxtalk_data, + uint32_t xtalk_rate_kcps, + VL53LX_histogram_bin_data_t *pxtalkcount_data + ) +{ + + + VL53LX_Error status = VL53LX_ERROR_NONE; + + uint64_t xtalk_events_per_spad = 0; + uint64_t xtalk_total_events = 0; + uint64_t xtalk_temp_bin = 0; + + uint8_t i = 0; + + LOG_FUNCTION_START(""); + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "pk_duration_internal", phist_data->peak_duration_us); + + + + xtalk_events_per_spad = do_division_u((((uint64_t)xtalk_rate_kcps * + (uint64_t)phist_data->peak_duration_us) + 500), 1000); + + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "xtalk_events_per_spad", xtalk_events_per_spad); + + + + + xtalk_total_events = xtalk_events_per_spad * + (uint64_t)phist_data->result__dss_actual_effective_spads; + + xtalk_total_events = do_division_u((xtalk_total_events), 256); + + xtalk_total_events = do_division_u((xtalk_total_events + 1024), 2048); + + if (xtalk_total_events > 0xFFFFFFFF) + xtalk_total_events = 0xFFFFFFFF; + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "xtalk_total_events", xtalk_total_events); + + + + + + + for (i = 0; i < pxtalk_data->VL53LX_p_021; i++) { + xtalk_temp_bin = (uint64_t)pxtalk_data->bin_data[i] * + (uint64_t)xtalk_total_events; + xtalk_temp_bin = do_division_u((xtalk_temp_bin + 512), 1024); + + pxtalkcount_data->bin_data[i] = (uint32_t)xtalk_temp_bin; + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "bin_data", pxtalkcount_data->bin_data[i]); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53LX_Error VL53LX_f_047( + VL53LX_histogram_bin_data_t *phist_data, + VL53LX_histogram_bin_data_t *pxtalk_data, + uint8_t xtalk_bin_offset) +{ + + + VL53LX_Error status = VL53LX_ERROR_NONE; + + uint8_t i = 0; + + int32_t temp_bin; + + LOG_FUNCTION_START(""); + + + + + if (status == VL53LX_ERROR_NONE) + for (i = xtalk_bin_offset; + i < pxtalk_data->VL53LX_p_021; i++) { + + temp_bin = (int32_t)phist_data->bin_data[i] - + (int32_t)pxtalk_data->bin_data[i - xtalk_bin_offset]; + + if (temp_bin < 0) + temp_bin = 0; + + phist_data->bin_data[i] = (uint32_t)temp_bin; + } + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53LX_Error VL53LX_f_044( + VL53LX_histogram_bin_data_t *pxtalk_data, + uint32_t amb_threshold, + uint8_t VL53LX_p_019, + uint8_t VL53LX_p_024) +{ + + + VL53LX_Error status = VL53LX_ERROR_NONE; + + uint8_t i = 0; + uint8_t first_bin_int = 0; + uint8_t first_bin_inc = 0; + uint8_t last_bin_int = 0; + uint8_t realign_bin = 0; + uint8_t realign_index = 0; + int32_t realign_bin_data[VL53LX_HISTOGRAM_BUFFER_SIZE]; + + LOG_FUNCTION_START(""); + + + + for (i = 0 ; i < VL53LX_HISTOGRAM_BUFFER_SIZE ; i++) + realign_bin_data[i] = 0; + + first_bin_int = VL53LX_p_019; + last_bin_int = VL53LX_p_024; + + + + + + VL53LX_hist_remove_ambient_bins(pxtalk_data); + + + + first_bin_int = (first_bin_int) % + pxtalk_data->VL53LX_p_021; + + last_bin_int = (last_bin_int) % + pxtalk_data->VL53LX_p_021; + + first_bin_inc = (first_bin_int + 1) % pxtalk_data->VL53LX_p_021; + + + + if (first_bin_inc > last_bin_int) { + + + realign_bin = pxtalk_data->VL53LX_p_021 - first_bin_inc; + + + first_bin_int = (first_bin_int + realign_bin) % + pxtalk_data->VL53LX_p_021; + last_bin_int = (last_bin_int + realign_bin) % + pxtalk_data->VL53LX_p_021; + + + pxtalk_data->zero_distance_phase = + pxtalk_data->zero_distance_phase + + ((uint16_t)realign_bin * 2048); + } + + if (realign_bin > 0) { + + for (i = 0; i < pxtalk_data->VL53LX_p_021; i++) + realign_bin_data[i] = pxtalk_data->bin_data[i]; + + + for (i = 0; i < pxtalk_data->VL53LX_p_021; i++) { + realign_index = (pxtalk_data->VL53LX_p_021 - + realign_bin + i) + % pxtalk_data->VL53LX_p_021; + + pxtalk_data->bin_data[i] = + realign_bin_data[realign_index]; + } + } + + + + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "first bin int", first_bin_int); + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "last bin int", last_bin_int); + + trace_print( + VL53LX_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "amb thresh", amb_threshold); + + + + + + for (i = 0; i < pxtalk_data->VL53LX_p_021; i++) { + + if (first_bin_int <= last_bin_int) { + if ((i >= first_bin_int) && (i <= last_bin_int)) { + if (pxtalk_data->bin_data[i] < + (int32_t)amb_threshold) + pxtalk_data->bin_data[i] = 0; + } else { + pxtalk_data->bin_data[i] = 0; + } + } else { + if ((i >= first_bin_int) || (i <= last_bin_int)) { + if (pxtalk_data->bin_data[i] < + (int32_t)amb_threshold) { + pxtalk_data->bin_data[i] = 0; + } + } else { + pxtalk_data->bin_data[i] = 0; + } + } + } + + + + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53LX_Error VL53LX_f_043( + uint8_t sigma_mult, + int32_t VL53LX_p_028, + uint32_t *ambient_noise) +{ + + + + VL53LX_Error status = VL53LX_ERROR_NONE; + + uint32_t ambient_events_per_bin_int = 0; + + LOG_FUNCTION_START(""); + + if (VL53LX_p_028 <= 0) + ambient_events_per_bin_int = 1; + else + ambient_events_per_bin_int = (uint32_t)VL53LX_p_028; + + *ambient_noise = VL53LX_isqrt(ambient_events_per_bin_int); + + *ambient_noise = *ambient_noise * (uint32_t)sigma_mult; + + LOG_FUNCTION_END(status); + + return status; +} + + + + + + + + + + + + + + + + + + + +