Rename library
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: VL53L3CX_NoShield_1Sensor_poll_Mb06x VL53L3_NoShield_1Sensor_polling_Mb63 X_NUCLEO_53L3A2 53L3A2_Ranging
modules/vl53lx_core.c@5:89031b2f5316, 2021-07-14 (annotated)
- Committer:
- Charles MacNeill
- Date:
- Wed Jul 14 12:45:49 2021 +0100
- Revision:
- 5:89031b2f5316
The class files now just are wrappers for the files in the "MODULES" directory.The porting directory includes the mbed interface
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Charles MacNeill |
5:89031b2f5316 | 1 | |
Charles MacNeill |
5:89031b2f5316 | 2 | // SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause |
Charles MacNeill |
5:89031b2f5316 | 3 | /****************************************************************************** |
Charles MacNeill |
5:89031b2f5316 | 4 | * Copyright (c) 2020, STMicroelectronics - All Rights Reserved |
Charles MacNeill |
5:89031b2f5316 | 5 | |
Charles MacNeill |
5:89031b2f5316 | 6 | This file is part of VL53LX and is dual licensed, |
Charles MacNeill |
5:89031b2f5316 | 7 | either GPL-2.0+ |
Charles MacNeill |
5:89031b2f5316 | 8 | or 'BSD 3-clause "New" or "Revised" License' , at your option. |
Charles MacNeill |
5:89031b2f5316 | 9 | ****************************************************************************** |
Charles MacNeill |
5:89031b2f5316 | 10 | */ |
Charles MacNeill |
5:89031b2f5316 | 11 | |
Charles MacNeill |
5:89031b2f5316 | 12 | |
Charles MacNeill |
5:89031b2f5316 | 13 | |
Charles MacNeill |
5:89031b2f5316 | 14 | |
Charles MacNeill |
5:89031b2f5316 | 15 | #include "vl53lx_platform.h" |
Charles MacNeill |
5:89031b2f5316 | 16 | #include "vl53lx_ll_def.h" |
Charles MacNeill |
5:89031b2f5316 | 17 | #include "vl53lx_ll_device.h" |
Charles MacNeill |
5:89031b2f5316 | 18 | #include "vl53lx_register_map.h" |
Charles MacNeill |
5:89031b2f5316 | 19 | #include "vl53lx_register_funcs.h" |
Charles MacNeill |
5:89031b2f5316 | 20 | #include "vl53lx_register_settings.h" |
Charles MacNeill |
5:89031b2f5316 | 21 | #include "vl53lx_hist_structs.h" |
Charles MacNeill |
5:89031b2f5316 | 22 | #include "vl53lx_api_preset_modes.h" |
Charles MacNeill |
5:89031b2f5316 | 23 | #include "vl53lx_core.h" |
Charles MacNeill |
5:89031b2f5316 | 24 | #include "vl53lx_tuning_parm_defaults.h" |
Charles MacNeill |
5:89031b2f5316 | 25 | |
Charles MacNeill |
5:89031b2f5316 | 26 | |
Charles MacNeill |
5:89031b2f5316 | 27 | |
Charles MacNeill |
5:89031b2f5316 | 28 | #define LOG_FUNCTION_START(fmt, ...) \ |
Charles MacNeill |
5:89031b2f5316 | 29 | _LOG_FUNCTION_START(VL53LX_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) |
Charles MacNeill |
5:89031b2f5316 | 30 | #define LOG_FUNCTION_END(status, ...) \ |
Charles MacNeill |
5:89031b2f5316 | 31 | _LOG_FUNCTION_END(VL53LX_TRACE_MODULE_CORE, status, ##__VA_ARGS__) |
Charles MacNeill |
5:89031b2f5316 | 32 | #define LOG_FUNCTION_END_FMT(status, fmt, ...) \ |
Charles MacNeill |
5:89031b2f5316 | 33 | _LOG_FUNCTION_END_FMT(VL53LX_TRACE_MODULE_CORE, \ |
Charles MacNeill |
5:89031b2f5316 | 34 | status, fmt, ##__VA_ARGS__) |
Charles MacNeill |
5:89031b2f5316 | 35 | |
Charles MacNeill |
5:89031b2f5316 | 36 | #define trace_print(level, ...) \ |
Charles MacNeill |
5:89031b2f5316 | 37 | _LOG_TRACE_PRINT(VL53LX_TRACE_MODULE_CORE, \ |
Charles MacNeill |
5:89031b2f5316 | 38 | level, VL53LX_TRACE_FUNCTION_NONE, ##__VA_ARGS__) |
Charles MacNeill |
5:89031b2f5316 | 39 | |
Charles MacNeill |
5:89031b2f5316 | 40 | |
Charles MacNeill |
5:89031b2f5316 | 41 | void VL53LX_init_version( |
Charles MacNeill |
5:89031b2f5316 | 42 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 43 | { |
Charles MacNeill |
5:89031b2f5316 | 44 | |
Charles MacNeill |
5:89031b2f5316 | 45 | |
Charles MacNeill |
5:89031b2f5316 | 46 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 47 | |
Charles MacNeill |
5:89031b2f5316 | 48 | pdev->version.ll_major = VL53LX_LL_API_IMPLEMENTATION_VER_MAJOR; |
Charles MacNeill |
5:89031b2f5316 | 49 | pdev->version.ll_minor = VL53LX_LL_API_IMPLEMENTATION_VER_MINOR; |
Charles MacNeill |
5:89031b2f5316 | 50 | pdev->version.ll_build = VL53LX_LL_API_IMPLEMENTATION_VER_SUB; |
Charles MacNeill |
5:89031b2f5316 | 51 | pdev->version.ll_revision = VL53LX_LL_API_IMPLEMENTATION_VER_REVISION; |
Charles MacNeill |
5:89031b2f5316 | 52 | } |
Charles MacNeill |
5:89031b2f5316 | 53 | |
Charles MacNeill |
5:89031b2f5316 | 54 | |
Charles MacNeill |
5:89031b2f5316 | 55 | void VL53LX_init_ll_driver_state( |
Charles MacNeill |
5:89031b2f5316 | 56 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 57 | VL53LX_DeviceState device_state) |
Charles MacNeill |
5:89031b2f5316 | 58 | { |
Charles MacNeill |
5:89031b2f5316 | 59 | |
Charles MacNeill |
5:89031b2f5316 | 60 | |
Charles MacNeill |
5:89031b2f5316 | 61 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 62 | VL53LX_ll_driver_state_t *pstate = &(pdev->ll_state); |
Charles MacNeill |
5:89031b2f5316 | 63 | |
Charles MacNeill |
5:89031b2f5316 | 64 | pstate->cfg_device_state = device_state; |
Charles MacNeill |
5:89031b2f5316 | 65 | pstate->cfg_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 66 | pstate->cfg_gph_id = VL53LX_GROUPEDPARAMETERHOLD_ID_MASK; |
Charles MacNeill |
5:89031b2f5316 | 67 | pstate->cfg_timing_status = 0; |
Charles MacNeill |
5:89031b2f5316 | 68 | pstate->cfg_zone_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 69 | |
Charles MacNeill |
5:89031b2f5316 | 70 | pstate->rd_device_state = device_state; |
Charles MacNeill |
5:89031b2f5316 | 71 | pstate->rd_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 72 | pstate->rd_gph_id = VL53LX_GROUPEDPARAMETERHOLD_ID_MASK; |
Charles MacNeill |
5:89031b2f5316 | 73 | pstate->rd_timing_status = 0; |
Charles MacNeill |
5:89031b2f5316 | 74 | pstate->rd_zone_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 75 | |
Charles MacNeill |
5:89031b2f5316 | 76 | } |
Charles MacNeill |
5:89031b2f5316 | 77 | |
Charles MacNeill |
5:89031b2f5316 | 78 | |
Charles MacNeill |
5:89031b2f5316 | 79 | VL53LX_Error VL53LX_update_ll_driver_rd_state( |
Charles MacNeill |
5:89031b2f5316 | 80 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 81 | { |
Charles MacNeill |
5:89031b2f5316 | 82 | |
Charles MacNeill |
5:89031b2f5316 | 83 | |
Charles MacNeill |
5:89031b2f5316 | 84 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 85 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 86 | VL53LX_ll_driver_state_t *pstate = &(pdev->ll_state); |
Charles MacNeill |
5:89031b2f5316 | 87 | |
Charles MacNeill |
5:89031b2f5316 | 88 | |
Charles MacNeill |
5:89031b2f5316 | 89 | |
Charles MacNeill |
5:89031b2f5316 | 90 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 91 | |
Charles MacNeill |
5:89031b2f5316 | 92 | |
Charles MacNeill |
5:89031b2f5316 | 93 | |
Charles MacNeill |
5:89031b2f5316 | 94 | if ((pdev->sys_ctrl.system__mode_start & |
Charles MacNeill |
5:89031b2f5316 | 95 | VL53LX_DEVICEMEASUREMENTMODE_MODE_MASK) == 0x00) { |
Charles MacNeill |
5:89031b2f5316 | 96 | |
Charles MacNeill |
5:89031b2f5316 | 97 | pstate->rd_device_state = VL53LX_DEVICESTATE_SW_STANDBY; |
Charles MacNeill |
5:89031b2f5316 | 98 | pstate->rd_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 99 | pstate->rd_internal_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 100 | pstate->rd_internal_stream_count_val = 0; |
Charles MacNeill |
5:89031b2f5316 | 101 | pstate->rd_gph_id = VL53LX_GROUPEDPARAMETERHOLD_ID_MASK; |
Charles MacNeill |
5:89031b2f5316 | 102 | pstate->rd_timing_status = 0; |
Charles MacNeill |
5:89031b2f5316 | 103 | pstate->rd_zone_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 104 | |
Charles MacNeill |
5:89031b2f5316 | 105 | } else { |
Charles MacNeill |
5:89031b2f5316 | 106 | |
Charles MacNeill |
5:89031b2f5316 | 107 | |
Charles MacNeill |
5:89031b2f5316 | 108 | |
Charles MacNeill |
5:89031b2f5316 | 109 | if (pstate->rd_stream_count == 0xFF) |
Charles MacNeill |
5:89031b2f5316 | 110 | pstate->rd_stream_count = 0x80; |
Charles MacNeill |
5:89031b2f5316 | 111 | else |
Charles MacNeill |
5:89031b2f5316 | 112 | pstate->rd_stream_count++; |
Charles MacNeill |
5:89031b2f5316 | 113 | |
Charles MacNeill |
5:89031b2f5316 | 114 | |
Charles MacNeill |
5:89031b2f5316 | 115 | status = VL53LX_update_internal_stream_counters(Dev, |
Charles MacNeill |
5:89031b2f5316 | 116 | pstate->rd_stream_count, |
Charles MacNeill |
5:89031b2f5316 | 117 | &(pstate->rd_internal_stream_count), |
Charles MacNeill |
5:89031b2f5316 | 118 | &(pstate->rd_internal_stream_count_val)); |
Charles MacNeill |
5:89031b2f5316 | 119 | |
Charles MacNeill |
5:89031b2f5316 | 120 | |
Charles MacNeill |
5:89031b2f5316 | 121 | |
Charles MacNeill |
5:89031b2f5316 | 122 | pstate->rd_gph_id ^= VL53LX_GROUPEDPARAMETERHOLD_ID_MASK; |
Charles MacNeill |
5:89031b2f5316 | 123 | |
Charles MacNeill |
5:89031b2f5316 | 124 | |
Charles MacNeill |
5:89031b2f5316 | 125 | |
Charles MacNeill |
5:89031b2f5316 | 126 | switch (pstate->rd_device_state) { |
Charles MacNeill |
5:89031b2f5316 | 127 | |
Charles MacNeill |
5:89031b2f5316 | 128 | case VL53LX_DEVICESTATE_SW_STANDBY: |
Charles MacNeill |
5:89031b2f5316 | 129 | |
Charles MacNeill |
5:89031b2f5316 | 130 | if ((pdev->dyn_cfg.system__grouped_parameter_hold & |
Charles MacNeill |
5:89031b2f5316 | 131 | VL53LX_GROUPEDPARAMETERHOLD_ID_MASK) > 0) { |
Charles MacNeill |
5:89031b2f5316 | 132 | pstate->rd_device_state = |
Charles MacNeill |
5:89031b2f5316 | 133 | VL53LX_DEVICESTATE_RANGING_WAIT_GPH_SYNC; |
Charles MacNeill |
5:89031b2f5316 | 134 | } else { |
Charles MacNeill |
5:89031b2f5316 | 135 | if (pstate->rd_zone_id >= |
Charles MacNeill |
5:89031b2f5316 | 136 | pdev->zone_cfg.active_zones) |
Charles MacNeill |
5:89031b2f5316 | 137 | pstate->rd_device_state = |
Charles MacNeill |
5:89031b2f5316 | 138 | VL53LX_DEVICESTATE_RANGING_OUTPUT_DATA; |
Charles MacNeill |
5:89031b2f5316 | 139 | else |
Charles MacNeill |
5:89031b2f5316 | 140 | pstate->rd_device_state = |
Charles MacNeill |
5:89031b2f5316 | 141 | VL53LX_DEVICESTATE_RANGING_GATHER_DATA; |
Charles MacNeill |
5:89031b2f5316 | 142 | } |
Charles MacNeill |
5:89031b2f5316 | 143 | |
Charles MacNeill |
5:89031b2f5316 | 144 | pstate->rd_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 145 | pstate->rd_internal_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 146 | pstate->rd_internal_stream_count_val = 0; |
Charles MacNeill |
5:89031b2f5316 | 147 | pstate->rd_timing_status = 0; |
Charles MacNeill |
5:89031b2f5316 | 148 | pstate->rd_zone_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 149 | |
Charles MacNeill |
5:89031b2f5316 | 150 | break; |
Charles MacNeill |
5:89031b2f5316 | 151 | |
Charles MacNeill |
5:89031b2f5316 | 152 | case VL53LX_DEVICESTATE_RANGING_WAIT_GPH_SYNC: |
Charles MacNeill |
5:89031b2f5316 | 153 | pstate->rd_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 154 | pstate->rd_internal_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 155 | pstate->rd_internal_stream_count_val = 0; |
Charles MacNeill |
5:89031b2f5316 | 156 | pstate->rd_zone_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 157 | if (pstate->rd_zone_id >= |
Charles MacNeill |
5:89031b2f5316 | 158 | pdev->zone_cfg.active_zones) |
Charles MacNeill |
5:89031b2f5316 | 159 | pstate->rd_device_state = |
Charles MacNeill |
5:89031b2f5316 | 160 | VL53LX_DEVICESTATE_RANGING_OUTPUT_DATA; |
Charles MacNeill |
5:89031b2f5316 | 161 | else |
Charles MacNeill |
5:89031b2f5316 | 162 | pstate->rd_device_state = |
Charles MacNeill |
5:89031b2f5316 | 163 | VL53LX_DEVICESTATE_RANGING_GATHER_DATA; |
Charles MacNeill |
5:89031b2f5316 | 164 | |
Charles MacNeill |
5:89031b2f5316 | 165 | break; |
Charles MacNeill |
5:89031b2f5316 | 166 | |
Charles MacNeill |
5:89031b2f5316 | 167 | case VL53LX_DEVICESTATE_RANGING_GATHER_DATA: |
Charles MacNeill |
5:89031b2f5316 | 168 | pstate->rd_zone_id++; |
Charles MacNeill |
5:89031b2f5316 | 169 | if (pstate->rd_zone_id >= |
Charles MacNeill |
5:89031b2f5316 | 170 | pdev->zone_cfg.active_zones) |
Charles MacNeill |
5:89031b2f5316 | 171 | pstate->rd_device_state = |
Charles MacNeill |
5:89031b2f5316 | 172 | VL53LX_DEVICESTATE_RANGING_OUTPUT_DATA; |
Charles MacNeill |
5:89031b2f5316 | 173 | else |
Charles MacNeill |
5:89031b2f5316 | 174 | pstate->rd_device_state = |
Charles MacNeill |
5:89031b2f5316 | 175 | VL53LX_DEVICESTATE_RANGING_GATHER_DATA; |
Charles MacNeill |
5:89031b2f5316 | 176 | |
Charles MacNeill |
5:89031b2f5316 | 177 | break; |
Charles MacNeill |
5:89031b2f5316 | 178 | |
Charles MacNeill |
5:89031b2f5316 | 179 | case VL53LX_DEVICESTATE_RANGING_OUTPUT_DATA: |
Charles MacNeill |
5:89031b2f5316 | 180 | pstate->rd_zone_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 181 | pstate->rd_timing_status ^= 0x01; |
Charles MacNeill |
5:89031b2f5316 | 182 | |
Charles MacNeill |
5:89031b2f5316 | 183 | if (pstate->rd_zone_id >= |
Charles MacNeill |
5:89031b2f5316 | 184 | pdev->zone_cfg.active_zones) |
Charles MacNeill |
5:89031b2f5316 | 185 | pstate->rd_device_state = |
Charles MacNeill |
5:89031b2f5316 | 186 | VL53LX_DEVICESTATE_RANGING_OUTPUT_DATA; |
Charles MacNeill |
5:89031b2f5316 | 187 | else |
Charles MacNeill |
5:89031b2f5316 | 188 | pstate->rd_device_state = |
Charles MacNeill |
5:89031b2f5316 | 189 | VL53LX_DEVICESTATE_RANGING_GATHER_DATA; |
Charles MacNeill |
5:89031b2f5316 | 190 | break; |
Charles MacNeill |
5:89031b2f5316 | 191 | |
Charles MacNeill |
5:89031b2f5316 | 192 | default: |
Charles MacNeill |
5:89031b2f5316 | 193 | pstate->rd_device_state = |
Charles MacNeill |
5:89031b2f5316 | 194 | VL53LX_DEVICESTATE_SW_STANDBY; |
Charles MacNeill |
5:89031b2f5316 | 195 | pstate->rd_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 196 | pstate->rd_internal_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 197 | pstate->rd_internal_stream_count_val = 0; |
Charles MacNeill |
5:89031b2f5316 | 198 | pstate->rd_gph_id = VL53LX_GROUPEDPARAMETERHOLD_ID_MASK; |
Charles MacNeill |
5:89031b2f5316 | 199 | pstate->rd_timing_status = 0; |
Charles MacNeill |
5:89031b2f5316 | 200 | pstate->rd_zone_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 201 | break; |
Charles MacNeill |
5:89031b2f5316 | 202 | } |
Charles MacNeill |
5:89031b2f5316 | 203 | } |
Charles MacNeill |
5:89031b2f5316 | 204 | |
Charles MacNeill |
5:89031b2f5316 | 205 | |
Charles MacNeill |
5:89031b2f5316 | 206 | |
Charles MacNeill |
5:89031b2f5316 | 207 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 208 | |
Charles MacNeill |
5:89031b2f5316 | 209 | return status; |
Charles MacNeill |
5:89031b2f5316 | 210 | } |
Charles MacNeill |
5:89031b2f5316 | 211 | |
Charles MacNeill |
5:89031b2f5316 | 212 | |
Charles MacNeill |
5:89031b2f5316 | 213 | VL53LX_Error VL53LX_check_ll_driver_rd_state( |
Charles MacNeill |
5:89031b2f5316 | 214 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 215 | { |
Charles MacNeill |
5:89031b2f5316 | 216 | |
Charles MacNeill |
5:89031b2f5316 | 217 | |
Charles MacNeill |
5:89031b2f5316 | 218 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 219 | VL53LX_LLDriverData_t *pdev = |
Charles MacNeill |
5:89031b2f5316 | 220 | VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 221 | VL53LX_LLDriverResults_t *pres = |
Charles MacNeill |
5:89031b2f5316 | 222 | VL53LXDevStructGetLLResultsHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 223 | |
Charles MacNeill |
5:89031b2f5316 | 224 | VL53LX_ll_driver_state_t *pstate = &(pdev->ll_state); |
Charles MacNeill |
5:89031b2f5316 | 225 | VL53LX_system_results_t *psys_results = &(pdev->sys_results); |
Charles MacNeill |
5:89031b2f5316 | 226 | VL53LX_histogram_bin_data_t *phist_data = &(pdev->hist_data); |
Charles MacNeill |
5:89031b2f5316 | 227 | VL53LX_zone_private_dyn_cfgs_t *pZ = &(pres->zone_dyn_cfgs); |
Charles MacNeill |
5:89031b2f5316 | 228 | |
Charles MacNeill |
5:89031b2f5316 | 229 | uint8_t device_range_status = 0; |
Charles MacNeill |
5:89031b2f5316 | 230 | uint8_t device_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 231 | uint8_t device_gph_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 232 | uint8_t histogram_mode = 0; |
Charles MacNeill |
5:89031b2f5316 | 233 | uint8_t expected_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 234 | uint8_t expected_gph_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 235 | |
Charles MacNeill |
5:89031b2f5316 | 236 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 237 | |
Charles MacNeill |
5:89031b2f5316 | 238 | |
Charles MacNeill |
5:89031b2f5316 | 239 | |
Charles MacNeill |
5:89031b2f5316 | 240 | device_range_status = |
Charles MacNeill |
5:89031b2f5316 | 241 | psys_results->result__range_status & |
Charles MacNeill |
5:89031b2f5316 | 242 | VL53LX_RANGE_STATUS__RANGE_STATUS_MASK; |
Charles MacNeill |
5:89031b2f5316 | 243 | |
Charles MacNeill |
5:89031b2f5316 | 244 | device_stream_count = psys_results->result__stream_count; |
Charles MacNeill |
5:89031b2f5316 | 245 | |
Charles MacNeill |
5:89031b2f5316 | 246 | |
Charles MacNeill |
5:89031b2f5316 | 247 | |
Charles MacNeill |
5:89031b2f5316 | 248 | histogram_mode = |
Charles MacNeill |
5:89031b2f5316 | 249 | (pdev->sys_ctrl.system__mode_start & |
Charles MacNeill |
5:89031b2f5316 | 250 | VL53LX_DEVICESCHEDULERMODE_HISTOGRAM) == |
Charles MacNeill |
5:89031b2f5316 | 251 | VL53LX_DEVICESCHEDULERMODE_HISTOGRAM; |
Charles MacNeill |
5:89031b2f5316 | 252 | |
Charles MacNeill |
5:89031b2f5316 | 253 | |
Charles MacNeill |
5:89031b2f5316 | 254 | device_gph_id = (psys_results->result__interrupt_status & |
Charles MacNeill |
5:89031b2f5316 | 255 | VL53LX_INTERRUPT_STATUS__GPH_ID_INT_STATUS_MASK) >> 4; |
Charles MacNeill |
5:89031b2f5316 | 256 | |
Charles MacNeill |
5:89031b2f5316 | 257 | if (histogram_mode) |
Charles MacNeill |
5:89031b2f5316 | 258 | device_gph_id = (phist_data->result__interrupt_status & |
Charles MacNeill |
5:89031b2f5316 | 259 | VL53LX_INTERRUPT_STATUS__GPH_ID_INT_STATUS_MASK) >> 4; |
Charles MacNeill |
5:89031b2f5316 | 260 | |
Charles MacNeill |
5:89031b2f5316 | 261 | |
Charles MacNeill |
5:89031b2f5316 | 262 | |
Charles MacNeill |
5:89031b2f5316 | 263 | if (!((pdev->sys_ctrl.system__mode_start & |
Charles MacNeill |
5:89031b2f5316 | 264 | VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK) == |
Charles MacNeill |
5:89031b2f5316 | 265 | VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK)) |
Charles MacNeill |
5:89031b2f5316 | 266 | goto ENDFUNC; |
Charles MacNeill |
5:89031b2f5316 | 267 | |
Charles MacNeill |
5:89031b2f5316 | 268 | |
Charles MacNeill |
5:89031b2f5316 | 269 | |
Charles MacNeill |
5:89031b2f5316 | 270 | if (pstate->rd_device_state == |
Charles MacNeill |
5:89031b2f5316 | 271 | VL53LX_DEVICESTATE_RANGING_WAIT_GPH_SYNC) { |
Charles MacNeill |
5:89031b2f5316 | 272 | |
Charles MacNeill |
5:89031b2f5316 | 273 | if (histogram_mode == 0) { |
Charles MacNeill |
5:89031b2f5316 | 274 | if (device_range_status != |
Charles MacNeill |
5:89031b2f5316 | 275 | VL53LX_DEVICEERROR_GPHSTREAMCOUNT0READY) |
Charles MacNeill |
5:89031b2f5316 | 276 | status = |
Charles MacNeill |
5:89031b2f5316 | 277 | VL53LX_ERROR_GPH_SYNC_CHECK_FAIL; |
Charles MacNeill |
5:89031b2f5316 | 278 | |
Charles MacNeill |
5:89031b2f5316 | 279 | } |
Charles MacNeill |
5:89031b2f5316 | 280 | } else { |
Charles MacNeill |
5:89031b2f5316 | 281 | if (pstate->rd_stream_count != device_stream_count) |
Charles MacNeill |
5:89031b2f5316 | 282 | status = VL53LX_ERROR_STREAM_COUNT_CHECK_FAIL; |
Charles MacNeill |
5:89031b2f5316 | 283 | |
Charles MacNeill |
5:89031b2f5316 | 284 | |
Charles MacNeill |
5:89031b2f5316 | 285 | if (pstate->rd_gph_id != device_gph_id) |
Charles MacNeill |
5:89031b2f5316 | 286 | status = VL53LX_ERROR_GPH_ID_CHECK_FAIL; |
Charles MacNeill |
5:89031b2f5316 | 287 | |
Charles MacNeill |
5:89031b2f5316 | 288 | |
Charles MacNeill |
5:89031b2f5316 | 289 | |
Charles MacNeill |
5:89031b2f5316 | 290 | |
Charles MacNeill |
5:89031b2f5316 | 291 | expected_stream_count = |
Charles MacNeill |
5:89031b2f5316 | 292 | pZ->VL53LX_p_003[pstate->rd_zone_id].expected_stream_count; |
Charles MacNeill |
5:89031b2f5316 | 293 | expected_gph_id = |
Charles MacNeill |
5:89031b2f5316 | 294 | pZ->VL53LX_p_003[pstate->rd_zone_id].expected_gph_id; |
Charles MacNeill |
5:89031b2f5316 | 295 | |
Charles MacNeill |
5:89031b2f5316 | 296 | |
Charles MacNeill |
5:89031b2f5316 | 297 | |
Charles MacNeill |
5:89031b2f5316 | 298 | if (expected_stream_count != device_stream_count) { |
Charles MacNeill |
5:89031b2f5316 | 299 | |
Charles MacNeill |
5:89031b2f5316 | 300 | |
Charles MacNeill |
5:89031b2f5316 | 301 | if (!((pdev->zone_cfg.active_zones == 0) && |
Charles MacNeill |
5:89031b2f5316 | 302 | (device_stream_count == 255))) |
Charles MacNeill |
5:89031b2f5316 | 303 | status = |
Charles MacNeill |
5:89031b2f5316 | 304 | VL53LX_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL; |
Charles MacNeill |
5:89031b2f5316 | 305 | |
Charles MacNeill |
5:89031b2f5316 | 306 | |
Charles MacNeill |
5:89031b2f5316 | 307 | } |
Charles MacNeill |
5:89031b2f5316 | 308 | |
Charles MacNeill |
5:89031b2f5316 | 309 | |
Charles MacNeill |
5:89031b2f5316 | 310 | |
Charles MacNeill |
5:89031b2f5316 | 311 | if (expected_gph_id != device_gph_id) |
Charles MacNeill |
5:89031b2f5316 | 312 | status = VL53LX_ERROR_ZONE_GPH_ID_CHECK_FAIL; |
Charles MacNeill |
5:89031b2f5316 | 313 | |
Charles MacNeill |
5:89031b2f5316 | 314 | } |
Charles MacNeill |
5:89031b2f5316 | 315 | |
Charles MacNeill |
5:89031b2f5316 | 316 | |
Charles MacNeill |
5:89031b2f5316 | 317 | |
Charles MacNeill |
5:89031b2f5316 | 318 | ENDFUNC: |
Charles MacNeill |
5:89031b2f5316 | 319 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 320 | return status; |
Charles MacNeill |
5:89031b2f5316 | 321 | } |
Charles MacNeill |
5:89031b2f5316 | 322 | |
Charles MacNeill |
5:89031b2f5316 | 323 | |
Charles MacNeill |
5:89031b2f5316 | 324 | VL53LX_Error VL53LX_update_ll_driver_cfg_state( |
Charles MacNeill |
5:89031b2f5316 | 325 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 326 | { |
Charles MacNeill |
5:89031b2f5316 | 327 | |
Charles MacNeill |
5:89031b2f5316 | 328 | |
Charles MacNeill |
5:89031b2f5316 | 329 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 330 | VL53LX_LLDriverData_t *pdev = |
Charles MacNeill |
5:89031b2f5316 | 331 | VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 332 | VL53LX_LLDriverResults_t *pres = |
Charles MacNeill |
5:89031b2f5316 | 333 | VL53LXDevStructGetLLResultsHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 334 | |
Charles MacNeill |
5:89031b2f5316 | 335 | VL53LX_ll_driver_state_t *pstate = &(pdev->ll_state); |
Charles MacNeill |
5:89031b2f5316 | 336 | VL53LX_zone_private_dyn_cfgs_t *pZ = &(pres->zone_dyn_cfgs); |
Charles MacNeill |
5:89031b2f5316 | 337 | |
Charles MacNeill |
5:89031b2f5316 | 338 | uint8_t prev_cfg_zone_id; |
Charles MacNeill |
5:89031b2f5316 | 339 | uint8_t prev_cfg_gph_id; |
Charles MacNeill |
5:89031b2f5316 | 340 | uint8_t prev_cfg_stream_count; |
Charles MacNeill |
5:89031b2f5316 | 341 | |
Charles MacNeill |
5:89031b2f5316 | 342 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 343 | |
Charles MacNeill |
5:89031b2f5316 | 344 | |
Charles MacNeill |
5:89031b2f5316 | 345 | |
Charles MacNeill |
5:89031b2f5316 | 346 | |
Charles MacNeill |
5:89031b2f5316 | 347 | |
Charles MacNeill |
5:89031b2f5316 | 348 | if ((pdev->sys_ctrl.system__mode_start & |
Charles MacNeill |
5:89031b2f5316 | 349 | VL53LX_DEVICEMEASUREMENTMODE_MODE_MASK) == 0x00) { |
Charles MacNeill |
5:89031b2f5316 | 350 | |
Charles MacNeill |
5:89031b2f5316 | 351 | pstate->cfg_device_state = VL53LX_DEVICESTATE_SW_STANDBY; |
Charles MacNeill |
5:89031b2f5316 | 352 | pstate->cfg_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 353 | pstate->cfg_internal_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 354 | pstate->cfg_internal_stream_count_val = 0; |
Charles MacNeill |
5:89031b2f5316 | 355 | pstate->cfg_gph_id = VL53LX_GROUPEDPARAMETERHOLD_ID_MASK; |
Charles MacNeill |
5:89031b2f5316 | 356 | pstate->cfg_timing_status = 0; |
Charles MacNeill |
5:89031b2f5316 | 357 | pstate->cfg_zone_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 358 | prev_cfg_zone_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 359 | prev_cfg_gph_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 360 | prev_cfg_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 361 | |
Charles MacNeill |
5:89031b2f5316 | 362 | } else { |
Charles MacNeill |
5:89031b2f5316 | 363 | |
Charles MacNeill |
5:89031b2f5316 | 364 | prev_cfg_gph_id = pstate->cfg_gph_id; |
Charles MacNeill |
5:89031b2f5316 | 365 | prev_cfg_zone_id = pstate->cfg_zone_id; |
Charles MacNeill |
5:89031b2f5316 | 366 | prev_cfg_stream_count = pstate->cfg_stream_count; |
Charles MacNeill |
5:89031b2f5316 | 367 | |
Charles MacNeill |
5:89031b2f5316 | 368 | |
Charles MacNeill |
5:89031b2f5316 | 369 | |
Charles MacNeill |
5:89031b2f5316 | 370 | if (pstate->cfg_stream_count == 0xFF) |
Charles MacNeill |
5:89031b2f5316 | 371 | pstate->cfg_stream_count = 0x80; |
Charles MacNeill |
5:89031b2f5316 | 372 | else |
Charles MacNeill |
5:89031b2f5316 | 373 | pstate->cfg_stream_count++; |
Charles MacNeill |
5:89031b2f5316 | 374 | |
Charles MacNeill |
5:89031b2f5316 | 375 | |
Charles MacNeill |
5:89031b2f5316 | 376 | status = VL53LX_update_internal_stream_counters( |
Charles MacNeill |
5:89031b2f5316 | 377 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 378 | pstate->cfg_stream_count, |
Charles MacNeill |
5:89031b2f5316 | 379 | &(pstate->cfg_internal_stream_count), |
Charles MacNeill |
5:89031b2f5316 | 380 | &(pstate->cfg_internal_stream_count_val)); |
Charles MacNeill |
5:89031b2f5316 | 381 | |
Charles MacNeill |
5:89031b2f5316 | 382 | |
Charles MacNeill |
5:89031b2f5316 | 383 | |
Charles MacNeill |
5:89031b2f5316 | 384 | pstate->cfg_gph_id ^= VL53LX_GROUPEDPARAMETERHOLD_ID_MASK; |
Charles MacNeill |
5:89031b2f5316 | 385 | |
Charles MacNeill |
5:89031b2f5316 | 386 | |
Charles MacNeill |
5:89031b2f5316 | 387 | |
Charles MacNeill |
5:89031b2f5316 | 388 | switch (pstate->cfg_device_state) { |
Charles MacNeill |
5:89031b2f5316 | 389 | |
Charles MacNeill |
5:89031b2f5316 | 390 | case VL53LX_DEVICESTATE_SW_STANDBY: |
Charles MacNeill |
5:89031b2f5316 | 391 | pstate->cfg_zone_id = 1; |
Charles MacNeill |
5:89031b2f5316 | 392 | if (pstate->cfg_zone_id > |
Charles MacNeill |
5:89031b2f5316 | 393 | pdev->zone_cfg.active_zones) { |
Charles MacNeill |
5:89031b2f5316 | 394 | pstate->cfg_zone_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 395 | pstate->cfg_timing_status ^= 0x01; |
Charles MacNeill |
5:89031b2f5316 | 396 | } |
Charles MacNeill |
5:89031b2f5316 | 397 | pstate->cfg_stream_count = 1; |
Charles MacNeill |
5:89031b2f5316 | 398 | |
Charles MacNeill |
5:89031b2f5316 | 399 | if (pdev->gen_cfg.global_config__stream_divider == 0) { |
Charles MacNeill |
5:89031b2f5316 | 400 | pstate->cfg_internal_stream_count = 1; |
Charles MacNeill |
5:89031b2f5316 | 401 | pstate->cfg_internal_stream_count_val = 0; |
Charles MacNeill |
5:89031b2f5316 | 402 | } else { |
Charles MacNeill |
5:89031b2f5316 | 403 | pstate->cfg_internal_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 404 | pstate->cfg_internal_stream_count_val = 1; |
Charles MacNeill |
5:89031b2f5316 | 405 | } |
Charles MacNeill |
5:89031b2f5316 | 406 | pstate->cfg_device_state = |
Charles MacNeill |
5:89031b2f5316 | 407 | VL53LX_DEVICESTATE_RANGING_DSS_AUTO; |
Charles MacNeill |
5:89031b2f5316 | 408 | break; |
Charles MacNeill |
5:89031b2f5316 | 409 | |
Charles MacNeill |
5:89031b2f5316 | 410 | case VL53LX_DEVICESTATE_RANGING_DSS_AUTO: |
Charles MacNeill |
5:89031b2f5316 | 411 | pstate->cfg_zone_id++; |
Charles MacNeill |
5:89031b2f5316 | 412 | if (pstate->cfg_zone_id > |
Charles MacNeill |
5:89031b2f5316 | 413 | pdev->zone_cfg.active_zones) { |
Charles MacNeill |
5:89031b2f5316 | 414 | |
Charles MacNeill |
5:89031b2f5316 | 415 | pstate->cfg_zone_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 416 | pstate->cfg_timing_status ^= 0x01; |
Charles MacNeill |
5:89031b2f5316 | 417 | |
Charles MacNeill |
5:89031b2f5316 | 418 | |
Charles MacNeill |
5:89031b2f5316 | 419 | |
Charles MacNeill |
5:89031b2f5316 | 420 | |
Charles MacNeill |
5:89031b2f5316 | 421 | if (pdev->zone_cfg.active_zones > 0) { |
Charles MacNeill |
5:89031b2f5316 | 422 | pstate->cfg_device_state = |
Charles MacNeill |
5:89031b2f5316 | 423 | VL53LX_DEVICESTATE_RANGING_DSS_MANUAL; |
Charles MacNeill |
5:89031b2f5316 | 424 | } |
Charles MacNeill |
5:89031b2f5316 | 425 | } |
Charles MacNeill |
5:89031b2f5316 | 426 | break; |
Charles MacNeill |
5:89031b2f5316 | 427 | |
Charles MacNeill |
5:89031b2f5316 | 428 | case VL53LX_DEVICESTATE_RANGING_DSS_MANUAL: |
Charles MacNeill |
5:89031b2f5316 | 429 | pstate->cfg_zone_id++; |
Charles MacNeill |
5:89031b2f5316 | 430 | if (pstate->cfg_zone_id > |
Charles MacNeill |
5:89031b2f5316 | 431 | pdev->zone_cfg.active_zones) { |
Charles MacNeill |
5:89031b2f5316 | 432 | pstate->cfg_zone_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 433 | pstate->cfg_timing_status ^= 0x01; |
Charles MacNeill |
5:89031b2f5316 | 434 | } |
Charles MacNeill |
5:89031b2f5316 | 435 | break; |
Charles MacNeill |
5:89031b2f5316 | 436 | |
Charles MacNeill |
5:89031b2f5316 | 437 | default: |
Charles MacNeill |
5:89031b2f5316 | 438 | pstate->cfg_device_state = |
Charles MacNeill |
5:89031b2f5316 | 439 | VL53LX_DEVICESTATE_SW_STANDBY; |
Charles MacNeill |
5:89031b2f5316 | 440 | pstate->cfg_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 441 | pstate->cfg_internal_stream_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 442 | pstate->cfg_internal_stream_count_val = 0; |
Charles MacNeill |
5:89031b2f5316 | 443 | pstate->cfg_gph_id = |
Charles MacNeill |
5:89031b2f5316 | 444 | VL53LX_GROUPEDPARAMETERHOLD_ID_MASK; |
Charles MacNeill |
5:89031b2f5316 | 445 | pstate->cfg_timing_status = 0; |
Charles MacNeill |
5:89031b2f5316 | 446 | pstate->cfg_zone_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 447 | break; |
Charles MacNeill |
5:89031b2f5316 | 448 | } |
Charles MacNeill |
5:89031b2f5316 | 449 | } |
Charles MacNeill |
5:89031b2f5316 | 450 | |
Charles MacNeill |
5:89031b2f5316 | 451 | |
Charles MacNeill |
5:89031b2f5316 | 452 | if (pdev->zone_cfg.active_zones == 0) { |
Charles MacNeill |
5:89031b2f5316 | 453 | |
Charles MacNeill |
5:89031b2f5316 | 454 | pZ->VL53LX_p_003[prev_cfg_zone_id].expected_stream_count |
Charles MacNeill |
5:89031b2f5316 | 455 | = prev_cfg_stream_count - 1; |
Charles MacNeill |
5:89031b2f5316 | 456 | |
Charles MacNeill |
5:89031b2f5316 | 457 | pZ->VL53LX_p_003[pstate->rd_zone_id].expected_gph_id = |
Charles MacNeill |
5:89031b2f5316 | 458 | prev_cfg_gph_id ^ VL53LX_GROUPEDPARAMETERHOLD_ID_MASK; |
Charles MacNeill |
5:89031b2f5316 | 459 | } else { |
Charles MacNeill |
5:89031b2f5316 | 460 | pZ->VL53LX_p_003[prev_cfg_zone_id].expected_stream_count |
Charles MacNeill |
5:89031b2f5316 | 461 | = prev_cfg_stream_count; |
Charles MacNeill |
5:89031b2f5316 | 462 | pZ->VL53LX_p_003[prev_cfg_zone_id].expected_gph_id = |
Charles MacNeill |
5:89031b2f5316 | 463 | prev_cfg_gph_id; |
Charles MacNeill |
5:89031b2f5316 | 464 | } |
Charles MacNeill |
5:89031b2f5316 | 465 | |
Charles MacNeill |
5:89031b2f5316 | 466 | |
Charles MacNeill |
5:89031b2f5316 | 467 | |
Charles MacNeill |
5:89031b2f5316 | 468 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 469 | |
Charles MacNeill |
5:89031b2f5316 | 470 | return status; |
Charles MacNeill |
5:89031b2f5316 | 471 | } |
Charles MacNeill |
5:89031b2f5316 | 472 | |
Charles MacNeill |
5:89031b2f5316 | 473 | |
Charles MacNeill |
5:89031b2f5316 | 474 | void VL53LX_copy_rtn_good_spads_to_buffer( |
Charles MacNeill |
5:89031b2f5316 | 475 | VL53LX_nvm_copy_data_t *pdata, |
Charles MacNeill |
5:89031b2f5316 | 476 | uint8_t *pbuffer) |
Charles MacNeill |
5:89031b2f5316 | 477 | { |
Charles MacNeill |
5:89031b2f5316 | 478 | |
Charles MacNeill |
5:89031b2f5316 | 479 | |
Charles MacNeill |
5:89031b2f5316 | 480 | *(pbuffer + 0) = pdata->global_config__spad_enables_rtn_0; |
Charles MacNeill |
5:89031b2f5316 | 481 | *(pbuffer + 1) = pdata->global_config__spad_enables_rtn_1; |
Charles MacNeill |
5:89031b2f5316 | 482 | *(pbuffer + 2) = pdata->global_config__spad_enables_rtn_2; |
Charles MacNeill |
5:89031b2f5316 | 483 | *(pbuffer + 3) = pdata->global_config__spad_enables_rtn_3; |
Charles MacNeill |
5:89031b2f5316 | 484 | *(pbuffer + 4) = pdata->global_config__spad_enables_rtn_4; |
Charles MacNeill |
5:89031b2f5316 | 485 | *(pbuffer + 5) = pdata->global_config__spad_enables_rtn_5; |
Charles MacNeill |
5:89031b2f5316 | 486 | *(pbuffer + 6) = pdata->global_config__spad_enables_rtn_6; |
Charles MacNeill |
5:89031b2f5316 | 487 | *(pbuffer + 7) = pdata->global_config__spad_enables_rtn_7; |
Charles MacNeill |
5:89031b2f5316 | 488 | *(pbuffer + 8) = pdata->global_config__spad_enables_rtn_8; |
Charles MacNeill |
5:89031b2f5316 | 489 | *(pbuffer + 9) = pdata->global_config__spad_enables_rtn_9; |
Charles MacNeill |
5:89031b2f5316 | 490 | *(pbuffer + 10) = pdata->global_config__spad_enables_rtn_10; |
Charles MacNeill |
5:89031b2f5316 | 491 | *(pbuffer + 11) = pdata->global_config__spad_enables_rtn_11; |
Charles MacNeill |
5:89031b2f5316 | 492 | *(pbuffer + 12) = pdata->global_config__spad_enables_rtn_12; |
Charles MacNeill |
5:89031b2f5316 | 493 | *(pbuffer + 13) = pdata->global_config__spad_enables_rtn_13; |
Charles MacNeill |
5:89031b2f5316 | 494 | *(pbuffer + 14) = pdata->global_config__spad_enables_rtn_14; |
Charles MacNeill |
5:89031b2f5316 | 495 | *(pbuffer + 15) = pdata->global_config__spad_enables_rtn_15; |
Charles MacNeill |
5:89031b2f5316 | 496 | *(pbuffer + 16) = pdata->global_config__spad_enables_rtn_16; |
Charles MacNeill |
5:89031b2f5316 | 497 | *(pbuffer + 17) = pdata->global_config__spad_enables_rtn_17; |
Charles MacNeill |
5:89031b2f5316 | 498 | *(pbuffer + 18) = pdata->global_config__spad_enables_rtn_18; |
Charles MacNeill |
5:89031b2f5316 | 499 | *(pbuffer + 19) = pdata->global_config__spad_enables_rtn_19; |
Charles MacNeill |
5:89031b2f5316 | 500 | *(pbuffer + 20) = pdata->global_config__spad_enables_rtn_20; |
Charles MacNeill |
5:89031b2f5316 | 501 | *(pbuffer + 21) = pdata->global_config__spad_enables_rtn_21; |
Charles MacNeill |
5:89031b2f5316 | 502 | *(pbuffer + 22) = pdata->global_config__spad_enables_rtn_22; |
Charles MacNeill |
5:89031b2f5316 | 503 | *(pbuffer + 23) = pdata->global_config__spad_enables_rtn_23; |
Charles MacNeill |
5:89031b2f5316 | 504 | *(pbuffer + 24) = pdata->global_config__spad_enables_rtn_24; |
Charles MacNeill |
5:89031b2f5316 | 505 | *(pbuffer + 25) = pdata->global_config__spad_enables_rtn_25; |
Charles MacNeill |
5:89031b2f5316 | 506 | *(pbuffer + 26) = pdata->global_config__spad_enables_rtn_26; |
Charles MacNeill |
5:89031b2f5316 | 507 | *(pbuffer + 27) = pdata->global_config__spad_enables_rtn_27; |
Charles MacNeill |
5:89031b2f5316 | 508 | *(pbuffer + 28) = pdata->global_config__spad_enables_rtn_28; |
Charles MacNeill |
5:89031b2f5316 | 509 | *(pbuffer + 29) = pdata->global_config__spad_enables_rtn_29; |
Charles MacNeill |
5:89031b2f5316 | 510 | *(pbuffer + 30) = pdata->global_config__spad_enables_rtn_30; |
Charles MacNeill |
5:89031b2f5316 | 511 | *(pbuffer + 31) = pdata->global_config__spad_enables_rtn_31; |
Charles MacNeill |
5:89031b2f5316 | 512 | } |
Charles MacNeill |
5:89031b2f5316 | 513 | |
Charles MacNeill |
5:89031b2f5316 | 514 | |
Charles MacNeill |
5:89031b2f5316 | 515 | void VL53LX_init_system_results( |
Charles MacNeill |
5:89031b2f5316 | 516 | VL53LX_system_results_t *pdata) |
Charles MacNeill |
5:89031b2f5316 | 517 | { |
Charles MacNeill |
5:89031b2f5316 | 518 | |
Charles MacNeill |
5:89031b2f5316 | 519 | |
Charles MacNeill |
5:89031b2f5316 | 520 | pdata->result__interrupt_status = 0xFF; |
Charles MacNeill |
5:89031b2f5316 | 521 | pdata->result__range_status = 0xFF; |
Charles MacNeill |
5:89031b2f5316 | 522 | pdata->result__report_status = 0xFF; |
Charles MacNeill |
5:89031b2f5316 | 523 | pdata->result__stream_count = 0xFF; |
Charles MacNeill |
5:89031b2f5316 | 524 | |
Charles MacNeill |
5:89031b2f5316 | 525 | pdata->result__dss_actual_effective_spads_sd0 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 526 | pdata->result__peak_signal_count_rate_mcps_sd0 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 527 | pdata->result__ambient_count_rate_mcps_sd0 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 528 | pdata->result__sigma_sd0 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 529 | pdata->result__phase_sd0 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 530 | pdata->result__final_crosstalk_corrected_range_mm_sd0 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 531 | pdata->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = |
Charles MacNeill |
5:89031b2f5316 | 532 | 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 533 | pdata->result__mm_inner_actual_effective_spads_sd0 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 534 | pdata->result__mm_outer_actual_effective_spads_sd0 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 535 | pdata->result__avg_signal_count_rate_mcps_sd0 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 536 | |
Charles MacNeill |
5:89031b2f5316 | 537 | pdata->result__dss_actual_effective_spads_sd1 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 538 | pdata->result__peak_signal_count_rate_mcps_sd1 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 539 | pdata->result__ambient_count_rate_mcps_sd1 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 540 | pdata->result__sigma_sd1 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 541 | pdata->result__phase_sd1 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 542 | pdata->result__final_crosstalk_corrected_range_mm_sd1 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 543 | pdata->result__spare_0_sd1 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 544 | pdata->result__spare_1_sd1 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 545 | pdata->result__spare_2_sd1 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 546 | pdata->result__spare_3_sd1 = 0xFF; |
Charles MacNeill |
5:89031b2f5316 | 547 | |
Charles MacNeill |
5:89031b2f5316 | 548 | } |
Charles MacNeill |
5:89031b2f5316 | 549 | |
Charles MacNeill |
5:89031b2f5316 | 550 | |
Charles MacNeill |
5:89031b2f5316 | 551 | void V53L1_init_zone_results_structure( |
Charles MacNeill |
5:89031b2f5316 | 552 | uint8_t active_zones, |
Charles MacNeill |
5:89031b2f5316 | 553 | VL53LX_zone_results_t *pdata) |
Charles MacNeill |
5:89031b2f5316 | 554 | { |
Charles MacNeill |
5:89031b2f5316 | 555 | |
Charles MacNeill |
5:89031b2f5316 | 556 | |
Charles MacNeill |
5:89031b2f5316 | 557 | |
Charles MacNeill |
5:89031b2f5316 | 558 | uint8_t z = 0; |
Charles MacNeill |
5:89031b2f5316 | 559 | VL53LX_zone_objects_t *pobjects; |
Charles MacNeill |
5:89031b2f5316 | 560 | |
Charles MacNeill |
5:89031b2f5316 | 561 | pdata->max_zones = VL53LX_MAX_USER_ZONES; |
Charles MacNeill |
5:89031b2f5316 | 562 | pdata->active_zones = active_zones; |
Charles MacNeill |
5:89031b2f5316 | 563 | |
Charles MacNeill |
5:89031b2f5316 | 564 | for (z = 0; z < pdata->max_zones; z++) { |
Charles MacNeill |
5:89031b2f5316 | 565 | pobjects = &(pdata->VL53LX_p_003[z]); |
Charles MacNeill |
5:89031b2f5316 | 566 | pobjects->cfg_device_state = VL53LX_DEVICESTATE_SW_STANDBY; |
Charles MacNeill |
5:89031b2f5316 | 567 | pobjects->rd_device_state = VL53LX_DEVICESTATE_SW_STANDBY; |
Charles MacNeill |
5:89031b2f5316 | 568 | pobjects->max_objects = VL53LX_MAX_RANGE_RESULTS; |
Charles MacNeill |
5:89031b2f5316 | 569 | pobjects->active_objects = 0; |
Charles MacNeill |
5:89031b2f5316 | 570 | } |
Charles MacNeill |
5:89031b2f5316 | 571 | } |
Charles MacNeill |
5:89031b2f5316 | 572 | |
Charles MacNeill |
5:89031b2f5316 | 573 | void V53L1_init_zone_dss_configs( |
Charles MacNeill |
5:89031b2f5316 | 574 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 575 | { |
Charles MacNeill |
5:89031b2f5316 | 576 | |
Charles MacNeill |
5:89031b2f5316 | 577 | |
Charles MacNeill |
5:89031b2f5316 | 578 | |
Charles MacNeill |
5:89031b2f5316 | 579 | VL53LX_LLDriverResults_t *pres = |
Charles MacNeill |
5:89031b2f5316 | 580 | VL53LXDevStructGetLLResultsHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 581 | uint8_t z = 0; |
Charles MacNeill |
5:89031b2f5316 | 582 | uint8_t max_zones = VL53LX_MAX_USER_ZONES; |
Charles MacNeill |
5:89031b2f5316 | 583 | VL53LX_zone_private_dyn_cfgs_t *pdata = &(pres->zone_dyn_cfgs); |
Charles MacNeill |
5:89031b2f5316 | 584 | |
Charles MacNeill |
5:89031b2f5316 | 585 | for (z = 0; z < max_zones; z++) { |
Charles MacNeill |
5:89031b2f5316 | 586 | pdata->VL53LX_p_003[z].dss_mode = |
Charles MacNeill |
5:89031b2f5316 | 587 | VL53LX_DSS_CONTROL__MODE_TARGET_RATE; |
Charles MacNeill |
5:89031b2f5316 | 588 | pdata->VL53LX_p_003[z].dss_requested_effective_spad_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 589 | } |
Charles MacNeill |
5:89031b2f5316 | 590 | } |
Charles MacNeill |
5:89031b2f5316 | 591 | |
Charles MacNeill |
5:89031b2f5316 | 592 | |
Charles MacNeill |
5:89031b2f5316 | 593 | void VL53LX_init_histogram_config_structure( |
Charles MacNeill |
5:89031b2f5316 | 594 | uint8_t even_bin0, |
Charles MacNeill |
5:89031b2f5316 | 595 | uint8_t even_bin1, |
Charles MacNeill |
5:89031b2f5316 | 596 | uint8_t even_bin2, |
Charles MacNeill |
5:89031b2f5316 | 597 | uint8_t even_bin3, |
Charles MacNeill |
5:89031b2f5316 | 598 | uint8_t even_bin4, |
Charles MacNeill |
5:89031b2f5316 | 599 | uint8_t even_bin5, |
Charles MacNeill |
5:89031b2f5316 | 600 | uint8_t odd_bin0, |
Charles MacNeill |
5:89031b2f5316 | 601 | uint8_t odd_bin1, |
Charles MacNeill |
5:89031b2f5316 | 602 | uint8_t odd_bin2, |
Charles MacNeill |
5:89031b2f5316 | 603 | uint8_t odd_bin3, |
Charles MacNeill |
5:89031b2f5316 | 604 | uint8_t odd_bin4, |
Charles MacNeill |
5:89031b2f5316 | 605 | uint8_t odd_bin5, |
Charles MacNeill |
5:89031b2f5316 | 606 | VL53LX_histogram_config_t *pdata) |
Charles MacNeill |
5:89031b2f5316 | 607 | { |
Charles MacNeill |
5:89031b2f5316 | 608 | |
Charles MacNeill |
5:89031b2f5316 | 609 | |
Charles MacNeill |
5:89031b2f5316 | 610 | pdata->histogram_config__low_amb_even_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 611 | (even_bin1 << 4) + even_bin0; |
Charles MacNeill |
5:89031b2f5316 | 612 | pdata->histogram_config__low_amb_even_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 613 | (even_bin3 << 4) + even_bin2; |
Charles MacNeill |
5:89031b2f5316 | 614 | pdata->histogram_config__low_amb_even_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 615 | (even_bin5 << 4) + even_bin4; |
Charles MacNeill |
5:89031b2f5316 | 616 | |
Charles MacNeill |
5:89031b2f5316 | 617 | pdata->histogram_config__low_amb_odd_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 618 | (odd_bin1 << 4) + odd_bin0; |
Charles MacNeill |
5:89031b2f5316 | 619 | pdata->histogram_config__low_amb_odd_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 620 | (odd_bin3 << 4) + odd_bin2; |
Charles MacNeill |
5:89031b2f5316 | 621 | pdata->histogram_config__low_amb_odd_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 622 | (odd_bin5 << 4) + odd_bin4; |
Charles MacNeill |
5:89031b2f5316 | 623 | |
Charles MacNeill |
5:89031b2f5316 | 624 | pdata->histogram_config__mid_amb_even_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 625 | pdata->histogram_config__low_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 626 | pdata->histogram_config__mid_amb_even_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 627 | pdata->histogram_config__low_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 628 | pdata->histogram_config__mid_amb_even_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 629 | pdata->histogram_config__low_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 630 | |
Charles MacNeill |
5:89031b2f5316 | 631 | pdata->histogram_config__mid_amb_odd_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 632 | pdata->histogram_config__low_amb_odd_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 633 | pdata->histogram_config__mid_amb_odd_bin_2 = odd_bin2; |
Charles MacNeill |
5:89031b2f5316 | 634 | pdata->histogram_config__mid_amb_odd_bin_3_4 = |
Charles MacNeill |
5:89031b2f5316 | 635 | (odd_bin4 << 4) + odd_bin3; |
Charles MacNeill |
5:89031b2f5316 | 636 | pdata->histogram_config__mid_amb_odd_bin_5 = odd_bin5; |
Charles MacNeill |
5:89031b2f5316 | 637 | |
Charles MacNeill |
5:89031b2f5316 | 638 | pdata->histogram_config__user_bin_offset = 0x00; |
Charles MacNeill |
5:89031b2f5316 | 639 | |
Charles MacNeill |
5:89031b2f5316 | 640 | pdata->histogram_config__high_amb_even_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 641 | pdata->histogram_config__low_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 642 | pdata->histogram_config__high_amb_even_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 643 | pdata->histogram_config__low_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 644 | pdata->histogram_config__high_amb_even_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 645 | pdata->histogram_config__low_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 646 | |
Charles MacNeill |
5:89031b2f5316 | 647 | pdata->histogram_config__high_amb_odd_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 648 | pdata->histogram_config__low_amb_odd_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 649 | pdata->histogram_config__high_amb_odd_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 650 | pdata->histogram_config__low_amb_odd_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 651 | pdata->histogram_config__high_amb_odd_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 652 | pdata->histogram_config__low_amb_odd_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 653 | |
Charles MacNeill |
5:89031b2f5316 | 654 | |
Charles MacNeill |
5:89031b2f5316 | 655 | |
Charles MacNeill |
5:89031b2f5316 | 656 | pdata->histogram_config__amb_thresh_low = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 657 | pdata->histogram_config__amb_thresh_high = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 658 | |
Charles MacNeill |
5:89031b2f5316 | 659 | |
Charles MacNeill |
5:89031b2f5316 | 660 | |
Charles MacNeill |
5:89031b2f5316 | 661 | pdata->histogram_config__spad_array_selection = 0x00; |
Charles MacNeill |
5:89031b2f5316 | 662 | |
Charles MacNeill |
5:89031b2f5316 | 663 | } |
Charles MacNeill |
5:89031b2f5316 | 664 | |
Charles MacNeill |
5:89031b2f5316 | 665 | void VL53LX_init_histogram_multizone_config_structure( |
Charles MacNeill |
5:89031b2f5316 | 666 | uint8_t even_bin0, |
Charles MacNeill |
5:89031b2f5316 | 667 | uint8_t even_bin1, |
Charles MacNeill |
5:89031b2f5316 | 668 | uint8_t even_bin2, |
Charles MacNeill |
5:89031b2f5316 | 669 | uint8_t even_bin3, |
Charles MacNeill |
5:89031b2f5316 | 670 | uint8_t even_bin4, |
Charles MacNeill |
5:89031b2f5316 | 671 | uint8_t even_bin5, |
Charles MacNeill |
5:89031b2f5316 | 672 | uint8_t odd_bin0, |
Charles MacNeill |
5:89031b2f5316 | 673 | uint8_t odd_bin1, |
Charles MacNeill |
5:89031b2f5316 | 674 | uint8_t odd_bin2, |
Charles MacNeill |
5:89031b2f5316 | 675 | uint8_t odd_bin3, |
Charles MacNeill |
5:89031b2f5316 | 676 | uint8_t odd_bin4, |
Charles MacNeill |
5:89031b2f5316 | 677 | uint8_t odd_bin5, |
Charles MacNeill |
5:89031b2f5316 | 678 | VL53LX_histogram_config_t *pdata) |
Charles MacNeill |
5:89031b2f5316 | 679 | { |
Charles MacNeill |
5:89031b2f5316 | 680 | |
Charles MacNeill |
5:89031b2f5316 | 681 | |
Charles MacNeill |
5:89031b2f5316 | 682 | pdata->histogram_config__low_amb_even_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 683 | (even_bin1 << 4) + even_bin0; |
Charles MacNeill |
5:89031b2f5316 | 684 | pdata->histogram_config__low_amb_even_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 685 | (even_bin3 << 4) + even_bin2; |
Charles MacNeill |
5:89031b2f5316 | 686 | pdata->histogram_config__low_amb_even_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 687 | (even_bin5 << 4) + even_bin4; |
Charles MacNeill |
5:89031b2f5316 | 688 | |
Charles MacNeill |
5:89031b2f5316 | 689 | pdata->histogram_config__low_amb_odd_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 690 | pdata->histogram_config__low_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 691 | pdata->histogram_config__low_amb_odd_bin_2_3 |
Charles MacNeill |
5:89031b2f5316 | 692 | = pdata->histogram_config__low_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 693 | pdata->histogram_config__low_amb_odd_bin_4_5 |
Charles MacNeill |
5:89031b2f5316 | 694 | = pdata->histogram_config__low_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 695 | |
Charles MacNeill |
5:89031b2f5316 | 696 | pdata->histogram_config__mid_amb_even_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 697 | pdata->histogram_config__low_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 698 | pdata->histogram_config__mid_amb_even_bin_2_3 |
Charles MacNeill |
5:89031b2f5316 | 699 | = pdata->histogram_config__low_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 700 | pdata->histogram_config__mid_amb_even_bin_4_5 |
Charles MacNeill |
5:89031b2f5316 | 701 | = pdata->histogram_config__low_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 702 | |
Charles MacNeill |
5:89031b2f5316 | 703 | pdata->histogram_config__mid_amb_odd_bin_0_1 |
Charles MacNeill |
5:89031b2f5316 | 704 | = pdata->histogram_config__low_amb_odd_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 705 | pdata->histogram_config__mid_amb_odd_bin_2 = odd_bin2; |
Charles MacNeill |
5:89031b2f5316 | 706 | pdata->histogram_config__mid_amb_odd_bin_3_4 = |
Charles MacNeill |
5:89031b2f5316 | 707 | (odd_bin4 << 4) + odd_bin3; |
Charles MacNeill |
5:89031b2f5316 | 708 | pdata->histogram_config__mid_amb_odd_bin_5 = odd_bin5; |
Charles MacNeill |
5:89031b2f5316 | 709 | |
Charles MacNeill |
5:89031b2f5316 | 710 | pdata->histogram_config__user_bin_offset = 0x00; |
Charles MacNeill |
5:89031b2f5316 | 711 | |
Charles MacNeill |
5:89031b2f5316 | 712 | pdata->histogram_config__high_amb_even_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 713 | (odd_bin1 << 4) + odd_bin0; |
Charles MacNeill |
5:89031b2f5316 | 714 | pdata->histogram_config__high_amb_even_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 715 | (odd_bin3 << 4) + odd_bin2; |
Charles MacNeill |
5:89031b2f5316 | 716 | pdata->histogram_config__high_amb_even_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 717 | (odd_bin5 << 4) + odd_bin4; |
Charles MacNeill |
5:89031b2f5316 | 718 | |
Charles MacNeill |
5:89031b2f5316 | 719 | pdata->histogram_config__high_amb_odd_bin_0_1 |
Charles MacNeill |
5:89031b2f5316 | 720 | = pdata->histogram_config__high_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 721 | pdata->histogram_config__high_amb_odd_bin_2_3 |
Charles MacNeill |
5:89031b2f5316 | 722 | = pdata->histogram_config__high_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 723 | pdata->histogram_config__high_amb_odd_bin_4_5 |
Charles MacNeill |
5:89031b2f5316 | 724 | = pdata->histogram_config__high_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 725 | |
Charles MacNeill |
5:89031b2f5316 | 726 | |
Charles MacNeill |
5:89031b2f5316 | 727 | |
Charles MacNeill |
5:89031b2f5316 | 728 | pdata->histogram_config__amb_thresh_low = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 729 | pdata->histogram_config__amb_thresh_high = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 730 | |
Charles MacNeill |
5:89031b2f5316 | 731 | |
Charles MacNeill |
5:89031b2f5316 | 732 | |
Charles MacNeill |
5:89031b2f5316 | 733 | pdata->histogram_config__spad_array_selection = 0x00; |
Charles MacNeill |
5:89031b2f5316 | 734 | } |
Charles MacNeill |
5:89031b2f5316 | 735 | |
Charles MacNeill |
5:89031b2f5316 | 736 | |
Charles MacNeill |
5:89031b2f5316 | 737 | void VL53LX_init_xtalk_bin_data_struct( |
Charles MacNeill |
5:89031b2f5316 | 738 | uint32_t bin_value, |
Charles MacNeill |
5:89031b2f5316 | 739 | uint16_t VL53LX_p_021, |
Charles MacNeill |
5:89031b2f5316 | 740 | VL53LX_xtalk_histogram_shape_t *pdata) |
Charles MacNeill |
5:89031b2f5316 | 741 | { |
Charles MacNeill |
5:89031b2f5316 | 742 | |
Charles MacNeill |
5:89031b2f5316 | 743 | |
Charles MacNeill |
5:89031b2f5316 | 744 | |
Charles MacNeill |
5:89031b2f5316 | 745 | uint16_t i = 0; |
Charles MacNeill |
5:89031b2f5316 | 746 | |
Charles MacNeill |
5:89031b2f5316 | 747 | pdata->zone_id = 0; |
Charles MacNeill |
5:89031b2f5316 | 748 | pdata->time_stamp = 0; |
Charles MacNeill |
5:89031b2f5316 | 749 | |
Charles MacNeill |
5:89031b2f5316 | 750 | pdata->VL53LX_p_019 = 0; |
Charles MacNeill |
5:89031b2f5316 | 751 | pdata->VL53LX_p_020 = VL53LX_XTALK_HISTO_BINS; |
Charles MacNeill |
5:89031b2f5316 | 752 | pdata->VL53LX_p_021 = (uint8_t)VL53LX_p_021; |
Charles MacNeill |
5:89031b2f5316 | 753 | |
Charles MacNeill |
5:89031b2f5316 | 754 | pdata->phasecal_result__reference_phase = 0; |
Charles MacNeill |
5:89031b2f5316 | 755 | pdata->phasecal_result__vcsel_start = 0; |
Charles MacNeill |
5:89031b2f5316 | 756 | pdata->cal_config__vcsel_start = 0; |
Charles MacNeill |
5:89031b2f5316 | 757 | |
Charles MacNeill |
5:89031b2f5316 | 758 | pdata->vcsel_width = 0; |
Charles MacNeill |
5:89031b2f5316 | 759 | pdata->VL53LX_p_015 = 0; |
Charles MacNeill |
5:89031b2f5316 | 760 | |
Charles MacNeill |
5:89031b2f5316 | 761 | pdata->zero_distance_phase = 0; |
Charles MacNeill |
5:89031b2f5316 | 762 | |
Charles MacNeill |
5:89031b2f5316 | 763 | for (i = 0; i < VL53LX_XTALK_HISTO_BINS; i++) { |
Charles MacNeill |
5:89031b2f5316 | 764 | if (i < VL53LX_p_021) |
Charles MacNeill |
5:89031b2f5316 | 765 | pdata->bin_data[i] = bin_value; |
Charles MacNeill |
5:89031b2f5316 | 766 | else |
Charles MacNeill |
5:89031b2f5316 | 767 | pdata->bin_data[i] = 0; |
Charles MacNeill |
5:89031b2f5316 | 768 | } |
Charles MacNeill |
5:89031b2f5316 | 769 | } |
Charles MacNeill |
5:89031b2f5316 | 770 | |
Charles MacNeill |
5:89031b2f5316 | 771 | |
Charles MacNeill |
5:89031b2f5316 | 772 | void VL53LX_i2c_encode_uint16_t( |
Charles MacNeill |
5:89031b2f5316 | 773 | uint16_t ip_value, |
Charles MacNeill |
5:89031b2f5316 | 774 | uint16_t count, |
Charles MacNeill |
5:89031b2f5316 | 775 | uint8_t *pbuffer) |
Charles MacNeill |
5:89031b2f5316 | 776 | { |
Charles MacNeill |
5:89031b2f5316 | 777 | |
Charles MacNeill |
5:89031b2f5316 | 778 | |
Charles MacNeill |
5:89031b2f5316 | 779 | uint16_t i = 0; |
Charles MacNeill |
5:89031b2f5316 | 780 | uint16_t VL53LX_p_003 = 0; |
Charles MacNeill |
5:89031b2f5316 | 781 | |
Charles MacNeill |
5:89031b2f5316 | 782 | VL53LX_p_003 = ip_value; |
Charles MacNeill |
5:89031b2f5316 | 783 | |
Charles MacNeill |
5:89031b2f5316 | 784 | for (i = 0; i < count; i++) { |
Charles MacNeill |
5:89031b2f5316 | 785 | pbuffer[count-i-1] = (uint8_t)(VL53LX_p_003 & 0x00FF); |
Charles MacNeill |
5:89031b2f5316 | 786 | VL53LX_p_003 = VL53LX_p_003 >> 8; |
Charles MacNeill |
5:89031b2f5316 | 787 | } |
Charles MacNeill |
5:89031b2f5316 | 788 | } |
Charles MacNeill |
5:89031b2f5316 | 789 | |
Charles MacNeill |
5:89031b2f5316 | 790 | uint16_t VL53LX_i2c_decode_uint16_t( |
Charles MacNeill |
5:89031b2f5316 | 791 | uint16_t count, |
Charles MacNeill |
5:89031b2f5316 | 792 | uint8_t *pbuffer) |
Charles MacNeill |
5:89031b2f5316 | 793 | { |
Charles MacNeill |
5:89031b2f5316 | 794 | |
Charles MacNeill |
5:89031b2f5316 | 795 | |
Charles MacNeill |
5:89031b2f5316 | 796 | uint16_t value = 0x00; |
Charles MacNeill |
5:89031b2f5316 | 797 | |
Charles MacNeill |
5:89031b2f5316 | 798 | while (count-- > 0) |
Charles MacNeill |
5:89031b2f5316 | 799 | value = (value << 8) | (uint16_t)*pbuffer++; |
Charles MacNeill |
5:89031b2f5316 | 800 | |
Charles MacNeill |
5:89031b2f5316 | 801 | return value; |
Charles MacNeill |
5:89031b2f5316 | 802 | } |
Charles MacNeill |
5:89031b2f5316 | 803 | |
Charles MacNeill |
5:89031b2f5316 | 804 | |
Charles MacNeill |
5:89031b2f5316 | 805 | void VL53LX_i2c_encode_int16_t( |
Charles MacNeill |
5:89031b2f5316 | 806 | int16_t ip_value, |
Charles MacNeill |
5:89031b2f5316 | 807 | uint16_t count, |
Charles MacNeill |
5:89031b2f5316 | 808 | uint8_t *pbuffer) |
Charles MacNeill |
5:89031b2f5316 | 809 | { |
Charles MacNeill |
5:89031b2f5316 | 810 | |
Charles MacNeill |
5:89031b2f5316 | 811 | |
Charles MacNeill |
5:89031b2f5316 | 812 | uint16_t i = 0; |
Charles MacNeill |
5:89031b2f5316 | 813 | int16_t VL53LX_p_003 = 0; |
Charles MacNeill |
5:89031b2f5316 | 814 | |
Charles MacNeill |
5:89031b2f5316 | 815 | VL53LX_p_003 = ip_value; |
Charles MacNeill |
5:89031b2f5316 | 816 | |
Charles MacNeill |
5:89031b2f5316 | 817 | for (i = 0; i < count; i++) { |
Charles MacNeill |
5:89031b2f5316 | 818 | pbuffer[count-i-1] = (uint8_t)(VL53LX_p_003 & 0x00FF); |
Charles MacNeill |
5:89031b2f5316 | 819 | VL53LX_p_003 = VL53LX_p_003 >> 8; |
Charles MacNeill |
5:89031b2f5316 | 820 | } |
Charles MacNeill |
5:89031b2f5316 | 821 | } |
Charles MacNeill |
5:89031b2f5316 | 822 | |
Charles MacNeill |
5:89031b2f5316 | 823 | int16_t VL53LX_i2c_decode_int16_t( |
Charles MacNeill |
5:89031b2f5316 | 824 | uint16_t count, |
Charles MacNeill |
5:89031b2f5316 | 825 | uint8_t *pbuffer) |
Charles MacNeill |
5:89031b2f5316 | 826 | { |
Charles MacNeill |
5:89031b2f5316 | 827 | |
Charles MacNeill |
5:89031b2f5316 | 828 | |
Charles MacNeill |
5:89031b2f5316 | 829 | int16_t value = 0x00; |
Charles MacNeill |
5:89031b2f5316 | 830 | |
Charles MacNeill |
5:89031b2f5316 | 831 | |
Charles MacNeill |
5:89031b2f5316 | 832 | if (*pbuffer >= 0x80) |
Charles MacNeill |
5:89031b2f5316 | 833 | value = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 834 | |
Charles MacNeill |
5:89031b2f5316 | 835 | while (count-- > 0) |
Charles MacNeill |
5:89031b2f5316 | 836 | value = (value << 8) | (int16_t)*pbuffer++; |
Charles MacNeill |
5:89031b2f5316 | 837 | |
Charles MacNeill |
5:89031b2f5316 | 838 | return value; |
Charles MacNeill |
5:89031b2f5316 | 839 | } |
Charles MacNeill |
5:89031b2f5316 | 840 | |
Charles MacNeill |
5:89031b2f5316 | 841 | void VL53LX_i2c_encode_uint32_t( |
Charles MacNeill |
5:89031b2f5316 | 842 | uint32_t ip_value, |
Charles MacNeill |
5:89031b2f5316 | 843 | uint16_t count, |
Charles MacNeill |
5:89031b2f5316 | 844 | uint8_t *pbuffer) |
Charles MacNeill |
5:89031b2f5316 | 845 | { |
Charles MacNeill |
5:89031b2f5316 | 846 | |
Charles MacNeill |
5:89031b2f5316 | 847 | |
Charles MacNeill |
5:89031b2f5316 | 848 | uint16_t i = 0; |
Charles MacNeill |
5:89031b2f5316 | 849 | uint32_t VL53LX_p_003 = 0; |
Charles MacNeill |
5:89031b2f5316 | 850 | |
Charles MacNeill |
5:89031b2f5316 | 851 | VL53LX_p_003 = ip_value; |
Charles MacNeill |
5:89031b2f5316 | 852 | |
Charles MacNeill |
5:89031b2f5316 | 853 | for (i = 0; i < count; i++) { |
Charles MacNeill |
5:89031b2f5316 | 854 | pbuffer[count-i-1] = (uint8_t)(VL53LX_p_003 & 0x00FF); |
Charles MacNeill |
5:89031b2f5316 | 855 | VL53LX_p_003 = VL53LX_p_003 >> 8; |
Charles MacNeill |
5:89031b2f5316 | 856 | } |
Charles MacNeill |
5:89031b2f5316 | 857 | } |
Charles MacNeill |
5:89031b2f5316 | 858 | |
Charles MacNeill |
5:89031b2f5316 | 859 | uint32_t VL53LX_i2c_decode_uint32_t( |
Charles MacNeill |
5:89031b2f5316 | 860 | uint16_t count, |
Charles MacNeill |
5:89031b2f5316 | 861 | uint8_t *pbuffer) |
Charles MacNeill |
5:89031b2f5316 | 862 | { |
Charles MacNeill |
5:89031b2f5316 | 863 | |
Charles MacNeill |
5:89031b2f5316 | 864 | |
Charles MacNeill |
5:89031b2f5316 | 865 | uint32_t value = 0x00; |
Charles MacNeill |
5:89031b2f5316 | 866 | |
Charles MacNeill |
5:89031b2f5316 | 867 | while (count-- > 0) |
Charles MacNeill |
5:89031b2f5316 | 868 | value = (value << 8) | (uint32_t)*pbuffer++; |
Charles MacNeill |
5:89031b2f5316 | 869 | |
Charles MacNeill |
5:89031b2f5316 | 870 | return value; |
Charles MacNeill |
5:89031b2f5316 | 871 | } |
Charles MacNeill |
5:89031b2f5316 | 872 | |
Charles MacNeill |
5:89031b2f5316 | 873 | |
Charles MacNeill |
5:89031b2f5316 | 874 | uint32_t VL53LX_i2c_decode_with_mask( |
Charles MacNeill |
5:89031b2f5316 | 875 | uint16_t count, |
Charles MacNeill |
5:89031b2f5316 | 876 | uint8_t *pbuffer, |
Charles MacNeill |
5:89031b2f5316 | 877 | uint32_t bit_mask, |
Charles MacNeill |
5:89031b2f5316 | 878 | uint32_t down_shift, |
Charles MacNeill |
5:89031b2f5316 | 879 | uint32_t offset) |
Charles MacNeill |
5:89031b2f5316 | 880 | { |
Charles MacNeill |
5:89031b2f5316 | 881 | |
Charles MacNeill |
5:89031b2f5316 | 882 | |
Charles MacNeill |
5:89031b2f5316 | 883 | uint32_t value = 0x00; |
Charles MacNeill |
5:89031b2f5316 | 884 | |
Charles MacNeill |
5:89031b2f5316 | 885 | |
Charles MacNeill |
5:89031b2f5316 | 886 | while (count-- > 0) |
Charles MacNeill |
5:89031b2f5316 | 887 | value = (value << 8) | (uint32_t)*pbuffer++; |
Charles MacNeill |
5:89031b2f5316 | 888 | |
Charles MacNeill |
5:89031b2f5316 | 889 | |
Charles MacNeill |
5:89031b2f5316 | 890 | value = value & bit_mask; |
Charles MacNeill |
5:89031b2f5316 | 891 | if (down_shift > 0) |
Charles MacNeill |
5:89031b2f5316 | 892 | value = value >> down_shift; |
Charles MacNeill |
5:89031b2f5316 | 893 | |
Charles MacNeill |
5:89031b2f5316 | 894 | |
Charles MacNeill |
5:89031b2f5316 | 895 | value = value + offset; |
Charles MacNeill |
5:89031b2f5316 | 896 | |
Charles MacNeill |
5:89031b2f5316 | 897 | return value; |
Charles MacNeill |
5:89031b2f5316 | 898 | } |
Charles MacNeill |
5:89031b2f5316 | 899 | |
Charles MacNeill |
5:89031b2f5316 | 900 | |
Charles MacNeill |
5:89031b2f5316 | 901 | void VL53LX_i2c_encode_int32_t( |
Charles MacNeill |
5:89031b2f5316 | 902 | int32_t ip_value, |
Charles MacNeill |
5:89031b2f5316 | 903 | uint16_t count, |
Charles MacNeill |
5:89031b2f5316 | 904 | uint8_t *pbuffer) |
Charles MacNeill |
5:89031b2f5316 | 905 | { |
Charles MacNeill |
5:89031b2f5316 | 906 | |
Charles MacNeill |
5:89031b2f5316 | 907 | |
Charles MacNeill |
5:89031b2f5316 | 908 | uint16_t i = 0; |
Charles MacNeill |
5:89031b2f5316 | 909 | int32_t VL53LX_p_003 = 0; |
Charles MacNeill |
5:89031b2f5316 | 910 | |
Charles MacNeill |
5:89031b2f5316 | 911 | VL53LX_p_003 = ip_value; |
Charles MacNeill |
5:89031b2f5316 | 912 | |
Charles MacNeill |
5:89031b2f5316 | 913 | for (i = 0; i < count; i++) { |
Charles MacNeill |
5:89031b2f5316 | 914 | pbuffer[count-i-1] = (uint8_t)(VL53LX_p_003 & 0x00FF); |
Charles MacNeill |
5:89031b2f5316 | 915 | VL53LX_p_003 = VL53LX_p_003 >> 8; |
Charles MacNeill |
5:89031b2f5316 | 916 | } |
Charles MacNeill |
5:89031b2f5316 | 917 | } |
Charles MacNeill |
5:89031b2f5316 | 918 | |
Charles MacNeill |
5:89031b2f5316 | 919 | int32_t VL53LX_i2c_decode_int32_t( |
Charles MacNeill |
5:89031b2f5316 | 920 | uint16_t count, |
Charles MacNeill |
5:89031b2f5316 | 921 | uint8_t *pbuffer) |
Charles MacNeill |
5:89031b2f5316 | 922 | { |
Charles MacNeill |
5:89031b2f5316 | 923 | |
Charles MacNeill |
5:89031b2f5316 | 924 | |
Charles MacNeill |
5:89031b2f5316 | 925 | int32_t value = 0x00; |
Charles MacNeill |
5:89031b2f5316 | 926 | |
Charles MacNeill |
5:89031b2f5316 | 927 | |
Charles MacNeill |
5:89031b2f5316 | 928 | if (*pbuffer >= 0x80) |
Charles MacNeill |
5:89031b2f5316 | 929 | value = 0xFFFFFFFF; |
Charles MacNeill |
5:89031b2f5316 | 930 | |
Charles MacNeill |
5:89031b2f5316 | 931 | while (count-- > 0) |
Charles MacNeill |
5:89031b2f5316 | 932 | value = (value << 8) | (int32_t)*pbuffer++; |
Charles MacNeill |
5:89031b2f5316 | 933 | |
Charles MacNeill |
5:89031b2f5316 | 934 | return value; |
Charles MacNeill |
5:89031b2f5316 | 935 | } |
Charles MacNeill |
5:89031b2f5316 | 936 | |
Charles MacNeill |
5:89031b2f5316 | 937 | |
Charles MacNeill |
5:89031b2f5316 | 938 | VL53LX_Error VL53LX_start_test( |
Charles MacNeill |
5:89031b2f5316 | 939 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 940 | uint8_t test_mode__ctrl) |
Charles MacNeill |
5:89031b2f5316 | 941 | { |
Charles MacNeill |
5:89031b2f5316 | 942 | |
Charles MacNeill |
5:89031b2f5316 | 943 | |
Charles MacNeill |
5:89031b2f5316 | 944 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 945 | |
Charles MacNeill |
5:89031b2f5316 | 946 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 947 | |
Charles MacNeill |
5:89031b2f5316 | 948 | if (status == VL53LX_ERROR_NONE) { |
Charles MacNeill |
5:89031b2f5316 | 949 | status = VL53LX_WrByte( |
Charles MacNeill |
5:89031b2f5316 | 950 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 951 | VL53LX_TEST_MODE__CTRL, |
Charles MacNeill |
5:89031b2f5316 | 952 | test_mode__ctrl); |
Charles MacNeill |
5:89031b2f5316 | 953 | } |
Charles MacNeill |
5:89031b2f5316 | 954 | |
Charles MacNeill |
5:89031b2f5316 | 955 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 956 | |
Charles MacNeill |
5:89031b2f5316 | 957 | return status; |
Charles MacNeill |
5:89031b2f5316 | 958 | } |
Charles MacNeill |
5:89031b2f5316 | 959 | |
Charles MacNeill |
5:89031b2f5316 | 960 | |
Charles MacNeill |
5:89031b2f5316 | 961 | VL53LX_Error VL53LX_set_firmware_enable_register( |
Charles MacNeill |
5:89031b2f5316 | 962 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 963 | uint8_t value) |
Charles MacNeill |
5:89031b2f5316 | 964 | { |
Charles MacNeill |
5:89031b2f5316 | 965 | |
Charles MacNeill |
5:89031b2f5316 | 966 | |
Charles MacNeill |
5:89031b2f5316 | 967 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 968 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 969 | |
Charles MacNeill |
5:89031b2f5316 | 970 | pdev->sys_ctrl.firmware__enable = value; |
Charles MacNeill |
5:89031b2f5316 | 971 | |
Charles MacNeill |
5:89031b2f5316 | 972 | status = VL53LX_WrByte( |
Charles MacNeill |
5:89031b2f5316 | 973 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 974 | VL53LX_FIRMWARE__ENABLE, |
Charles MacNeill |
5:89031b2f5316 | 975 | pdev->sys_ctrl.firmware__enable); |
Charles MacNeill |
5:89031b2f5316 | 976 | |
Charles MacNeill |
5:89031b2f5316 | 977 | return status; |
Charles MacNeill |
5:89031b2f5316 | 978 | } |
Charles MacNeill |
5:89031b2f5316 | 979 | |
Charles MacNeill |
5:89031b2f5316 | 980 | VL53LX_Error VL53LX_enable_firmware( |
Charles MacNeill |
5:89031b2f5316 | 981 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 982 | { |
Charles MacNeill |
5:89031b2f5316 | 983 | |
Charles MacNeill |
5:89031b2f5316 | 984 | |
Charles MacNeill |
5:89031b2f5316 | 985 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 986 | |
Charles MacNeill |
5:89031b2f5316 | 987 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 988 | |
Charles MacNeill |
5:89031b2f5316 | 989 | status = VL53LX_set_firmware_enable_register(Dev, 0x01); |
Charles MacNeill |
5:89031b2f5316 | 990 | |
Charles MacNeill |
5:89031b2f5316 | 991 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 992 | |
Charles MacNeill |
5:89031b2f5316 | 993 | return status; |
Charles MacNeill |
5:89031b2f5316 | 994 | } |
Charles MacNeill |
5:89031b2f5316 | 995 | |
Charles MacNeill |
5:89031b2f5316 | 996 | |
Charles MacNeill |
5:89031b2f5316 | 997 | VL53LX_Error VL53LX_disable_firmware( |
Charles MacNeill |
5:89031b2f5316 | 998 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 999 | { |
Charles MacNeill |
5:89031b2f5316 | 1000 | |
Charles MacNeill |
5:89031b2f5316 | 1001 | |
Charles MacNeill |
5:89031b2f5316 | 1002 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 1003 | |
Charles MacNeill |
5:89031b2f5316 | 1004 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1005 | |
Charles MacNeill |
5:89031b2f5316 | 1006 | status = VL53LX_set_firmware_enable_register(Dev, 0x00); |
Charles MacNeill |
5:89031b2f5316 | 1007 | |
Charles MacNeill |
5:89031b2f5316 | 1008 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 1009 | |
Charles MacNeill |
5:89031b2f5316 | 1010 | return status; |
Charles MacNeill |
5:89031b2f5316 | 1011 | } |
Charles MacNeill |
5:89031b2f5316 | 1012 | |
Charles MacNeill |
5:89031b2f5316 | 1013 | |
Charles MacNeill |
5:89031b2f5316 | 1014 | VL53LX_Error VL53LX_set_powerforce_register( |
Charles MacNeill |
5:89031b2f5316 | 1015 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 1016 | uint8_t value) |
Charles MacNeill |
5:89031b2f5316 | 1017 | { |
Charles MacNeill |
5:89031b2f5316 | 1018 | |
Charles MacNeill |
5:89031b2f5316 | 1019 | |
Charles MacNeill |
5:89031b2f5316 | 1020 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 1021 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 1022 | |
Charles MacNeill |
5:89031b2f5316 | 1023 | pdev->sys_ctrl.power_management__go1_power_force = value; |
Charles MacNeill |
5:89031b2f5316 | 1024 | |
Charles MacNeill |
5:89031b2f5316 | 1025 | status = VL53LX_WrByte( |
Charles MacNeill |
5:89031b2f5316 | 1026 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 1027 | VL53LX_POWER_MANAGEMENT__GO1_POWER_FORCE, |
Charles MacNeill |
5:89031b2f5316 | 1028 | pdev->sys_ctrl.power_management__go1_power_force); |
Charles MacNeill |
5:89031b2f5316 | 1029 | |
Charles MacNeill |
5:89031b2f5316 | 1030 | return status; |
Charles MacNeill |
5:89031b2f5316 | 1031 | } |
Charles MacNeill |
5:89031b2f5316 | 1032 | |
Charles MacNeill |
5:89031b2f5316 | 1033 | |
Charles MacNeill |
5:89031b2f5316 | 1034 | VL53LX_Error VL53LX_enable_powerforce( |
Charles MacNeill |
5:89031b2f5316 | 1035 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 1036 | { |
Charles MacNeill |
5:89031b2f5316 | 1037 | |
Charles MacNeill |
5:89031b2f5316 | 1038 | |
Charles MacNeill |
5:89031b2f5316 | 1039 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 1040 | |
Charles MacNeill |
5:89031b2f5316 | 1041 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1042 | |
Charles MacNeill |
5:89031b2f5316 | 1043 | status = VL53LX_set_powerforce_register(Dev, 0x01); |
Charles MacNeill |
5:89031b2f5316 | 1044 | |
Charles MacNeill |
5:89031b2f5316 | 1045 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 1046 | |
Charles MacNeill |
5:89031b2f5316 | 1047 | return status; |
Charles MacNeill |
5:89031b2f5316 | 1048 | } |
Charles MacNeill |
5:89031b2f5316 | 1049 | |
Charles MacNeill |
5:89031b2f5316 | 1050 | |
Charles MacNeill |
5:89031b2f5316 | 1051 | VL53LX_Error VL53LX_disable_powerforce( |
Charles MacNeill |
5:89031b2f5316 | 1052 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 1053 | { |
Charles MacNeill |
5:89031b2f5316 | 1054 | |
Charles MacNeill |
5:89031b2f5316 | 1055 | |
Charles MacNeill |
5:89031b2f5316 | 1056 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 1057 | |
Charles MacNeill |
5:89031b2f5316 | 1058 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1059 | |
Charles MacNeill |
5:89031b2f5316 | 1060 | status = VL53LX_set_powerforce_register(Dev, 0x00); |
Charles MacNeill |
5:89031b2f5316 | 1061 | |
Charles MacNeill |
5:89031b2f5316 | 1062 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 1063 | |
Charles MacNeill |
5:89031b2f5316 | 1064 | return status; |
Charles MacNeill |
5:89031b2f5316 | 1065 | } |
Charles MacNeill |
5:89031b2f5316 | 1066 | |
Charles MacNeill |
5:89031b2f5316 | 1067 | |
Charles MacNeill |
5:89031b2f5316 | 1068 | VL53LX_Error VL53LX_clear_interrupt( |
Charles MacNeill |
5:89031b2f5316 | 1069 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 1070 | { |
Charles MacNeill |
5:89031b2f5316 | 1071 | |
Charles MacNeill |
5:89031b2f5316 | 1072 | |
Charles MacNeill |
5:89031b2f5316 | 1073 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 1074 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 1075 | |
Charles MacNeill |
5:89031b2f5316 | 1076 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1077 | |
Charles MacNeill |
5:89031b2f5316 | 1078 | pdev->sys_ctrl.system__interrupt_clear = VL53LX_CLEAR_RANGE_INT; |
Charles MacNeill |
5:89031b2f5316 | 1079 | |
Charles MacNeill |
5:89031b2f5316 | 1080 | status = VL53LX_WrByte( |
Charles MacNeill |
5:89031b2f5316 | 1081 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 1082 | VL53LX_SYSTEM__INTERRUPT_CLEAR, |
Charles MacNeill |
5:89031b2f5316 | 1083 | pdev->sys_ctrl.system__interrupt_clear); |
Charles MacNeill |
5:89031b2f5316 | 1084 | |
Charles MacNeill |
5:89031b2f5316 | 1085 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 1086 | |
Charles MacNeill |
5:89031b2f5316 | 1087 | return status; |
Charles MacNeill |
5:89031b2f5316 | 1088 | } |
Charles MacNeill |
5:89031b2f5316 | 1089 | |
Charles MacNeill |
5:89031b2f5316 | 1090 | |
Charles MacNeill |
5:89031b2f5316 | 1091 | VL53LX_Error VL53LX_force_shadow_stream_count_to_zero( |
Charles MacNeill |
5:89031b2f5316 | 1092 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 1093 | { |
Charles MacNeill |
5:89031b2f5316 | 1094 | |
Charles MacNeill |
5:89031b2f5316 | 1095 | |
Charles MacNeill |
5:89031b2f5316 | 1096 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 1097 | |
Charles MacNeill |
5:89031b2f5316 | 1098 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 1099 | status = VL53LX_disable_firmware(Dev); |
Charles MacNeill |
5:89031b2f5316 | 1100 | |
Charles MacNeill |
5:89031b2f5316 | 1101 | if (status == VL53LX_ERROR_NONE) { |
Charles MacNeill |
5:89031b2f5316 | 1102 | status = VL53LX_WrByte( |
Charles MacNeill |
5:89031b2f5316 | 1103 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 1104 | VL53LX_SHADOW_RESULT__STREAM_COUNT, |
Charles MacNeill |
5:89031b2f5316 | 1105 | 0x00); |
Charles MacNeill |
5:89031b2f5316 | 1106 | } |
Charles MacNeill |
5:89031b2f5316 | 1107 | |
Charles MacNeill |
5:89031b2f5316 | 1108 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 1109 | status = VL53LX_enable_firmware(Dev); |
Charles MacNeill |
5:89031b2f5316 | 1110 | |
Charles MacNeill |
5:89031b2f5316 | 1111 | return status; |
Charles MacNeill |
5:89031b2f5316 | 1112 | } |
Charles MacNeill |
5:89031b2f5316 | 1113 | |
Charles MacNeill |
5:89031b2f5316 | 1114 | |
Charles MacNeill |
5:89031b2f5316 | 1115 | uint32_t VL53LX_calc_macro_period_us( |
Charles MacNeill |
5:89031b2f5316 | 1116 | uint16_t fast_osc_frequency, |
Charles MacNeill |
5:89031b2f5316 | 1117 | uint8_t VL53LX_p_005) |
Charles MacNeill |
5:89031b2f5316 | 1118 | { |
Charles MacNeill |
5:89031b2f5316 | 1119 | |
Charles MacNeill |
5:89031b2f5316 | 1120 | |
Charles MacNeill |
5:89031b2f5316 | 1121 | uint32_t pll_period_us = 0; |
Charles MacNeill |
5:89031b2f5316 | 1122 | uint8_t VL53LX_p_030 = 0; |
Charles MacNeill |
5:89031b2f5316 | 1123 | uint32_t macro_period_us = 0; |
Charles MacNeill |
5:89031b2f5316 | 1124 | |
Charles MacNeill |
5:89031b2f5316 | 1125 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1126 | |
Charles MacNeill |
5:89031b2f5316 | 1127 | |
Charles MacNeill |
5:89031b2f5316 | 1128 | |
Charles MacNeill |
5:89031b2f5316 | 1129 | pll_period_us = VL53LX_calc_pll_period_us(fast_osc_frequency); |
Charles MacNeill |
5:89031b2f5316 | 1130 | |
Charles MacNeill |
5:89031b2f5316 | 1131 | |
Charles MacNeill |
5:89031b2f5316 | 1132 | |
Charles MacNeill |
5:89031b2f5316 | 1133 | VL53LX_p_030 = VL53LX_decode_vcsel_period(VL53LX_p_005); |
Charles MacNeill |
5:89031b2f5316 | 1134 | |
Charles MacNeill |
5:89031b2f5316 | 1135 | |
Charles MacNeill |
5:89031b2f5316 | 1136 | |
Charles MacNeill |
5:89031b2f5316 | 1137 | macro_period_us = |
Charles MacNeill |
5:89031b2f5316 | 1138 | (uint32_t)VL53LX_MACRO_PERIOD_VCSEL_PERIODS * |
Charles MacNeill |
5:89031b2f5316 | 1139 | pll_period_us; |
Charles MacNeill |
5:89031b2f5316 | 1140 | macro_period_us = macro_period_us >> 6; |
Charles MacNeill |
5:89031b2f5316 | 1141 | |
Charles MacNeill |
5:89031b2f5316 | 1142 | macro_period_us = macro_period_us * (uint32_t)VL53LX_p_030; |
Charles MacNeill |
5:89031b2f5316 | 1143 | macro_period_us = macro_period_us >> 6; |
Charles MacNeill |
5:89031b2f5316 | 1144 | |
Charles MacNeill |
5:89031b2f5316 | 1145 | |
Charles MacNeill |
5:89031b2f5316 | 1146 | |
Charles MacNeill |
5:89031b2f5316 | 1147 | LOG_FUNCTION_END(0); |
Charles MacNeill |
5:89031b2f5316 | 1148 | |
Charles MacNeill |
5:89031b2f5316 | 1149 | return macro_period_us; |
Charles MacNeill |
5:89031b2f5316 | 1150 | } |
Charles MacNeill |
5:89031b2f5316 | 1151 | |
Charles MacNeill |
5:89031b2f5316 | 1152 | |
Charles MacNeill |
5:89031b2f5316 | 1153 | uint16_t VL53LX_calc_range_ignore_threshold( |
Charles MacNeill |
5:89031b2f5316 | 1154 | uint32_t central_rate, |
Charles MacNeill |
5:89031b2f5316 | 1155 | int16_t x_gradient, |
Charles MacNeill |
5:89031b2f5316 | 1156 | int16_t y_gradient, |
Charles MacNeill |
5:89031b2f5316 | 1157 | uint8_t rate_mult) |
Charles MacNeill |
5:89031b2f5316 | 1158 | { |
Charles MacNeill |
5:89031b2f5316 | 1159 | |
Charles MacNeill |
5:89031b2f5316 | 1160 | |
Charles MacNeill |
5:89031b2f5316 | 1161 | int32_t range_ignore_thresh_int = 0; |
Charles MacNeill |
5:89031b2f5316 | 1162 | uint16_t range_ignore_thresh_kcps = 0; |
Charles MacNeill |
5:89031b2f5316 | 1163 | int32_t central_rate_int = 0; |
Charles MacNeill |
5:89031b2f5316 | 1164 | int16_t x_gradient_int = 0; |
Charles MacNeill |
5:89031b2f5316 | 1165 | int16_t y_gradient_int = 0; |
Charles MacNeill |
5:89031b2f5316 | 1166 | |
Charles MacNeill |
5:89031b2f5316 | 1167 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1168 | |
Charles MacNeill |
5:89031b2f5316 | 1169 | |
Charles MacNeill |
5:89031b2f5316 | 1170 | |
Charles MacNeill |
5:89031b2f5316 | 1171 | central_rate_int = ((int32_t)central_rate * (1 << 4)) / (1000); |
Charles MacNeill |
5:89031b2f5316 | 1172 | |
Charles MacNeill |
5:89031b2f5316 | 1173 | if (x_gradient < 0) |
Charles MacNeill |
5:89031b2f5316 | 1174 | x_gradient_int = x_gradient * -1; |
Charles MacNeill |
5:89031b2f5316 | 1175 | |
Charles MacNeill |
5:89031b2f5316 | 1176 | if (y_gradient < 0) |
Charles MacNeill |
5:89031b2f5316 | 1177 | y_gradient_int = y_gradient * -1; |
Charles MacNeill |
5:89031b2f5316 | 1178 | |
Charles MacNeill |
5:89031b2f5316 | 1179 | |
Charles MacNeill |
5:89031b2f5316 | 1180 | |
Charles MacNeill |
5:89031b2f5316 | 1181 | |
Charles MacNeill |
5:89031b2f5316 | 1182 | |
Charles MacNeill |
5:89031b2f5316 | 1183 | range_ignore_thresh_int = (8 * x_gradient_int * 4) + |
Charles MacNeill |
5:89031b2f5316 | 1184 | (8 * y_gradient_int * 4); |
Charles MacNeill |
5:89031b2f5316 | 1185 | |
Charles MacNeill |
5:89031b2f5316 | 1186 | |
Charles MacNeill |
5:89031b2f5316 | 1187 | |
Charles MacNeill |
5:89031b2f5316 | 1188 | range_ignore_thresh_int = range_ignore_thresh_int / 1000; |
Charles MacNeill |
5:89031b2f5316 | 1189 | |
Charles MacNeill |
5:89031b2f5316 | 1190 | |
Charles MacNeill |
5:89031b2f5316 | 1191 | |
Charles MacNeill |
5:89031b2f5316 | 1192 | range_ignore_thresh_int = range_ignore_thresh_int + central_rate_int; |
Charles MacNeill |
5:89031b2f5316 | 1193 | |
Charles MacNeill |
5:89031b2f5316 | 1194 | |
Charles MacNeill |
5:89031b2f5316 | 1195 | |
Charles MacNeill |
5:89031b2f5316 | 1196 | range_ignore_thresh_int = (int32_t)rate_mult * range_ignore_thresh_int; |
Charles MacNeill |
5:89031b2f5316 | 1197 | |
Charles MacNeill |
5:89031b2f5316 | 1198 | range_ignore_thresh_int = (range_ignore_thresh_int + (1<<4)) / (1<<5); |
Charles MacNeill |
5:89031b2f5316 | 1199 | |
Charles MacNeill |
5:89031b2f5316 | 1200 | |
Charles MacNeill |
5:89031b2f5316 | 1201 | |
Charles MacNeill |
5:89031b2f5316 | 1202 | if (range_ignore_thresh_int > 0xFFFF) |
Charles MacNeill |
5:89031b2f5316 | 1203 | range_ignore_thresh_kcps = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 1204 | else |
Charles MacNeill |
5:89031b2f5316 | 1205 | range_ignore_thresh_kcps = (uint16_t)range_ignore_thresh_int; |
Charles MacNeill |
5:89031b2f5316 | 1206 | |
Charles MacNeill |
5:89031b2f5316 | 1207 | |
Charles MacNeill |
5:89031b2f5316 | 1208 | |
Charles MacNeill |
5:89031b2f5316 | 1209 | LOG_FUNCTION_END(0); |
Charles MacNeill |
5:89031b2f5316 | 1210 | |
Charles MacNeill |
5:89031b2f5316 | 1211 | return range_ignore_thresh_kcps; |
Charles MacNeill |
5:89031b2f5316 | 1212 | } |
Charles MacNeill |
5:89031b2f5316 | 1213 | |
Charles MacNeill |
5:89031b2f5316 | 1214 | |
Charles MacNeill |
5:89031b2f5316 | 1215 | uint32_t VL53LX_calc_timeout_mclks( |
Charles MacNeill |
5:89031b2f5316 | 1216 | uint32_t timeout_us, |
Charles MacNeill |
5:89031b2f5316 | 1217 | uint32_t macro_period_us) |
Charles MacNeill |
5:89031b2f5316 | 1218 | { |
Charles MacNeill |
5:89031b2f5316 | 1219 | |
Charles MacNeill |
5:89031b2f5316 | 1220 | |
Charles MacNeill |
5:89031b2f5316 | 1221 | uint32_t timeout_mclks = 0; |
Charles MacNeill |
5:89031b2f5316 | 1222 | |
Charles MacNeill |
5:89031b2f5316 | 1223 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1224 | |
Charles MacNeill |
5:89031b2f5316 | 1225 | timeout_mclks = |
Charles MacNeill |
5:89031b2f5316 | 1226 | ((timeout_us << 12) + (macro_period_us>>1)) / |
Charles MacNeill |
5:89031b2f5316 | 1227 | macro_period_us; |
Charles MacNeill |
5:89031b2f5316 | 1228 | |
Charles MacNeill |
5:89031b2f5316 | 1229 | LOG_FUNCTION_END(0); |
Charles MacNeill |
5:89031b2f5316 | 1230 | |
Charles MacNeill |
5:89031b2f5316 | 1231 | return timeout_mclks; |
Charles MacNeill |
5:89031b2f5316 | 1232 | } |
Charles MacNeill |
5:89031b2f5316 | 1233 | |
Charles MacNeill |
5:89031b2f5316 | 1234 | |
Charles MacNeill |
5:89031b2f5316 | 1235 | uint16_t VL53LX_calc_encoded_timeout( |
Charles MacNeill |
5:89031b2f5316 | 1236 | uint32_t timeout_us, |
Charles MacNeill |
5:89031b2f5316 | 1237 | uint32_t macro_period_us) |
Charles MacNeill |
5:89031b2f5316 | 1238 | { |
Charles MacNeill |
5:89031b2f5316 | 1239 | |
Charles MacNeill |
5:89031b2f5316 | 1240 | |
Charles MacNeill |
5:89031b2f5316 | 1241 | uint32_t timeout_mclks = 0; |
Charles MacNeill |
5:89031b2f5316 | 1242 | uint16_t timeout_encoded = 0; |
Charles MacNeill |
5:89031b2f5316 | 1243 | |
Charles MacNeill |
5:89031b2f5316 | 1244 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1245 | |
Charles MacNeill |
5:89031b2f5316 | 1246 | timeout_mclks = |
Charles MacNeill |
5:89031b2f5316 | 1247 | VL53LX_calc_timeout_mclks(timeout_us, macro_period_us); |
Charles MacNeill |
5:89031b2f5316 | 1248 | |
Charles MacNeill |
5:89031b2f5316 | 1249 | timeout_encoded = |
Charles MacNeill |
5:89031b2f5316 | 1250 | VL53LX_encode_timeout(timeout_mclks); |
Charles MacNeill |
5:89031b2f5316 | 1251 | |
Charles MacNeill |
5:89031b2f5316 | 1252 | |
Charles MacNeill |
5:89031b2f5316 | 1253 | |
Charles MacNeill |
5:89031b2f5316 | 1254 | LOG_FUNCTION_END(0); |
Charles MacNeill |
5:89031b2f5316 | 1255 | |
Charles MacNeill |
5:89031b2f5316 | 1256 | return timeout_encoded; |
Charles MacNeill |
5:89031b2f5316 | 1257 | } |
Charles MacNeill |
5:89031b2f5316 | 1258 | |
Charles MacNeill |
5:89031b2f5316 | 1259 | |
Charles MacNeill |
5:89031b2f5316 | 1260 | uint32_t VL53LX_calc_timeout_us( |
Charles MacNeill |
5:89031b2f5316 | 1261 | uint32_t timeout_mclks, |
Charles MacNeill |
5:89031b2f5316 | 1262 | uint32_t macro_period_us) |
Charles MacNeill |
5:89031b2f5316 | 1263 | { |
Charles MacNeill |
5:89031b2f5316 | 1264 | |
Charles MacNeill |
5:89031b2f5316 | 1265 | |
Charles MacNeill |
5:89031b2f5316 | 1266 | uint32_t timeout_us = 0; |
Charles MacNeill |
5:89031b2f5316 | 1267 | uint64_t tmp = 0; |
Charles MacNeill |
5:89031b2f5316 | 1268 | |
Charles MacNeill |
5:89031b2f5316 | 1269 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1270 | |
Charles MacNeill |
5:89031b2f5316 | 1271 | tmp = (uint64_t)timeout_mclks * (uint64_t)macro_period_us; |
Charles MacNeill |
5:89031b2f5316 | 1272 | tmp += 0x00800; |
Charles MacNeill |
5:89031b2f5316 | 1273 | tmp = tmp >> 12; |
Charles MacNeill |
5:89031b2f5316 | 1274 | |
Charles MacNeill |
5:89031b2f5316 | 1275 | timeout_us = (uint32_t)tmp; |
Charles MacNeill |
5:89031b2f5316 | 1276 | |
Charles MacNeill |
5:89031b2f5316 | 1277 | |
Charles MacNeill |
5:89031b2f5316 | 1278 | |
Charles MacNeill |
5:89031b2f5316 | 1279 | LOG_FUNCTION_END(0); |
Charles MacNeill |
5:89031b2f5316 | 1280 | |
Charles MacNeill |
5:89031b2f5316 | 1281 | return timeout_us; |
Charles MacNeill |
5:89031b2f5316 | 1282 | } |
Charles MacNeill |
5:89031b2f5316 | 1283 | |
Charles MacNeill |
5:89031b2f5316 | 1284 | uint32_t VL53LX_calc_crosstalk_plane_offset_with_margin( |
Charles MacNeill |
5:89031b2f5316 | 1285 | uint32_t plane_offset_kcps, |
Charles MacNeill |
5:89031b2f5316 | 1286 | int16_t margin_offset_kcps) |
Charles MacNeill |
5:89031b2f5316 | 1287 | { |
Charles MacNeill |
5:89031b2f5316 | 1288 | uint32_t plane_offset_with_margin = 0; |
Charles MacNeill |
5:89031b2f5316 | 1289 | int32_t plane_offset_kcps_temp = 0; |
Charles MacNeill |
5:89031b2f5316 | 1290 | |
Charles MacNeill |
5:89031b2f5316 | 1291 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1292 | |
Charles MacNeill |
5:89031b2f5316 | 1293 | plane_offset_kcps_temp = |
Charles MacNeill |
5:89031b2f5316 | 1294 | (int32_t)plane_offset_kcps + |
Charles MacNeill |
5:89031b2f5316 | 1295 | (int32_t)margin_offset_kcps; |
Charles MacNeill |
5:89031b2f5316 | 1296 | |
Charles MacNeill |
5:89031b2f5316 | 1297 | if (plane_offset_kcps_temp < 0) |
Charles MacNeill |
5:89031b2f5316 | 1298 | plane_offset_kcps_temp = 0; |
Charles MacNeill |
5:89031b2f5316 | 1299 | else |
Charles MacNeill |
5:89031b2f5316 | 1300 | if (plane_offset_kcps_temp > 0x3FFFF) |
Charles MacNeill |
5:89031b2f5316 | 1301 | plane_offset_kcps_temp = 0x3FFFF; |
Charles MacNeill |
5:89031b2f5316 | 1302 | |
Charles MacNeill |
5:89031b2f5316 | 1303 | plane_offset_with_margin = (uint32_t) plane_offset_kcps_temp; |
Charles MacNeill |
5:89031b2f5316 | 1304 | |
Charles MacNeill |
5:89031b2f5316 | 1305 | LOG_FUNCTION_END(0); |
Charles MacNeill |
5:89031b2f5316 | 1306 | |
Charles MacNeill |
5:89031b2f5316 | 1307 | return plane_offset_with_margin; |
Charles MacNeill |
5:89031b2f5316 | 1308 | |
Charles MacNeill |
5:89031b2f5316 | 1309 | } |
Charles MacNeill |
5:89031b2f5316 | 1310 | |
Charles MacNeill |
5:89031b2f5316 | 1311 | uint32_t VL53LX_calc_decoded_timeout_us( |
Charles MacNeill |
5:89031b2f5316 | 1312 | uint16_t timeout_encoded, |
Charles MacNeill |
5:89031b2f5316 | 1313 | uint32_t macro_period_us) |
Charles MacNeill |
5:89031b2f5316 | 1314 | { |
Charles MacNeill |
5:89031b2f5316 | 1315 | |
Charles MacNeill |
5:89031b2f5316 | 1316 | |
Charles MacNeill |
5:89031b2f5316 | 1317 | uint32_t timeout_mclks = 0; |
Charles MacNeill |
5:89031b2f5316 | 1318 | uint32_t timeout_us = 0; |
Charles MacNeill |
5:89031b2f5316 | 1319 | |
Charles MacNeill |
5:89031b2f5316 | 1320 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1321 | |
Charles MacNeill |
5:89031b2f5316 | 1322 | timeout_mclks = |
Charles MacNeill |
5:89031b2f5316 | 1323 | VL53LX_decode_timeout(timeout_encoded); |
Charles MacNeill |
5:89031b2f5316 | 1324 | |
Charles MacNeill |
5:89031b2f5316 | 1325 | timeout_us = |
Charles MacNeill |
5:89031b2f5316 | 1326 | VL53LX_calc_timeout_us(timeout_mclks, macro_period_us); |
Charles MacNeill |
5:89031b2f5316 | 1327 | |
Charles MacNeill |
5:89031b2f5316 | 1328 | LOG_FUNCTION_END(0); |
Charles MacNeill |
5:89031b2f5316 | 1329 | |
Charles MacNeill |
5:89031b2f5316 | 1330 | return timeout_us; |
Charles MacNeill |
5:89031b2f5316 | 1331 | } |
Charles MacNeill |
5:89031b2f5316 | 1332 | |
Charles MacNeill |
5:89031b2f5316 | 1333 | |
Charles MacNeill |
5:89031b2f5316 | 1334 | uint16_t VL53LX_encode_timeout(uint32_t timeout_mclks) |
Charles MacNeill |
5:89031b2f5316 | 1335 | { |
Charles MacNeill |
5:89031b2f5316 | 1336 | |
Charles MacNeill |
5:89031b2f5316 | 1337 | |
Charles MacNeill |
5:89031b2f5316 | 1338 | uint16_t encoded_timeout = 0; |
Charles MacNeill |
5:89031b2f5316 | 1339 | uint32_t ls_byte = 0; |
Charles MacNeill |
5:89031b2f5316 | 1340 | uint16_t ms_byte = 0; |
Charles MacNeill |
5:89031b2f5316 | 1341 | |
Charles MacNeill |
5:89031b2f5316 | 1342 | if (timeout_mclks > 0) { |
Charles MacNeill |
5:89031b2f5316 | 1343 | ls_byte = timeout_mclks - 1; |
Charles MacNeill |
5:89031b2f5316 | 1344 | |
Charles MacNeill |
5:89031b2f5316 | 1345 | while ((ls_byte & 0xFFFFFF00) > 0) { |
Charles MacNeill |
5:89031b2f5316 | 1346 | ls_byte = ls_byte >> 1; |
Charles MacNeill |
5:89031b2f5316 | 1347 | ms_byte++; |
Charles MacNeill |
5:89031b2f5316 | 1348 | } |
Charles MacNeill |
5:89031b2f5316 | 1349 | |
Charles MacNeill |
5:89031b2f5316 | 1350 | encoded_timeout = (ms_byte << 8) |
Charles MacNeill |
5:89031b2f5316 | 1351 | + (uint16_t) (ls_byte & 0x000000FF); |
Charles MacNeill |
5:89031b2f5316 | 1352 | } |
Charles MacNeill |
5:89031b2f5316 | 1353 | |
Charles MacNeill |
5:89031b2f5316 | 1354 | return encoded_timeout; |
Charles MacNeill |
5:89031b2f5316 | 1355 | } |
Charles MacNeill |
5:89031b2f5316 | 1356 | |
Charles MacNeill |
5:89031b2f5316 | 1357 | |
Charles MacNeill |
5:89031b2f5316 | 1358 | uint32_t VL53LX_decode_timeout(uint16_t encoded_timeout) |
Charles MacNeill |
5:89031b2f5316 | 1359 | { |
Charles MacNeill |
5:89031b2f5316 | 1360 | |
Charles MacNeill |
5:89031b2f5316 | 1361 | |
Charles MacNeill |
5:89031b2f5316 | 1362 | uint32_t timeout_macro_clks = 0; |
Charles MacNeill |
5:89031b2f5316 | 1363 | |
Charles MacNeill |
5:89031b2f5316 | 1364 | timeout_macro_clks = ((uint32_t) (encoded_timeout & 0x00FF) |
Charles MacNeill |
5:89031b2f5316 | 1365 | << (uint32_t) ((encoded_timeout & 0xFF00) >> 8)) + 1; |
Charles MacNeill |
5:89031b2f5316 | 1366 | |
Charles MacNeill |
5:89031b2f5316 | 1367 | return timeout_macro_clks; |
Charles MacNeill |
5:89031b2f5316 | 1368 | } |
Charles MacNeill |
5:89031b2f5316 | 1369 | |
Charles MacNeill |
5:89031b2f5316 | 1370 | |
Charles MacNeill |
5:89031b2f5316 | 1371 | VL53LX_Error VL53LX_calc_timeout_register_values( |
Charles MacNeill |
5:89031b2f5316 | 1372 | uint32_t phasecal_config_timeout_us, |
Charles MacNeill |
5:89031b2f5316 | 1373 | uint32_t mm_config_timeout_us, |
Charles MacNeill |
5:89031b2f5316 | 1374 | uint32_t range_config_timeout_us, |
Charles MacNeill |
5:89031b2f5316 | 1375 | uint16_t fast_osc_frequency, |
Charles MacNeill |
5:89031b2f5316 | 1376 | VL53LX_general_config_t *pgeneral, |
Charles MacNeill |
5:89031b2f5316 | 1377 | VL53LX_timing_config_t *ptiming) |
Charles MacNeill |
5:89031b2f5316 | 1378 | { |
Charles MacNeill |
5:89031b2f5316 | 1379 | |
Charles MacNeill |
5:89031b2f5316 | 1380 | |
Charles MacNeill |
5:89031b2f5316 | 1381 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 1382 | |
Charles MacNeill |
5:89031b2f5316 | 1383 | uint32_t macro_period_us = 0; |
Charles MacNeill |
5:89031b2f5316 | 1384 | uint32_t timeout_mclks = 0; |
Charles MacNeill |
5:89031b2f5316 | 1385 | uint16_t timeout_encoded = 0; |
Charles MacNeill |
5:89031b2f5316 | 1386 | |
Charles MacNeill |
5:89031b2f5316 | 1387 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1388 | |
Charles MacNeill |
5:89031b2f5316 | 1389 | if (fast_osc_frequency == 0) { |
Charles MacNeill |
5:89031b2f5316 | 1390 | status = VL53LX_ERROR_DIVISION_BY_ZERO; |
Charles MacNeill |
5:89031b2f5316 | 1391 | } else { |
Charles MacNeill |
5:89031b2f5316 | 1392 | |
Charles MacNeill |
5:89031b2f5316 | 1393 | macro_period_us = |
Charles MacNeill |
5:89031b2f5316 | 1394 | VL53LX_calc_macro_period_us( |
Charles MacNeill |
5:89031b2f5316 | 1395 | fast_osc_frequency, |
Charles MacNeill |
5:89031b2f5316 | 1396 | ptiming->range_config__vcsel_period_a); |
Charles MacNeill |
5:89031b2f5316 | 1397 | |
Charles MacNeill |
5:89031b2f5316 | 1398 | |
Charles MacNeill |
5:89031b2f5316 | 1399 | timeout_mclks = |
Charles MacNeill |
5:89031b2f5316 | 1400 | VL53LX_calc_timeout_mclks( |
Charles MacNeill |
5:89031b2f5316 | 1401 | phasecal_config_timeout_us, |
Charles MacNeill |
5:89031b2f5316 | 1402 | macro_period_us); |
Charles MacNeill |
5:89031b2f5316 | 1403 | |
Charles MacNeill |
5:89031b2f5316 | 1404 | |
Charles MacNeill |
5:89031b2f5316 | 1405 | if (timeout_mclks > 0xFF) |
Charles MacNeill |
5:89031b2f5316 | 1406 | timeout_mclks = 0xFF; |
Charles MacNeill |
5:89031b2f5316 | 1407 | |
Charles MacNeill |
5:89031b2f5316 | 1408 | pgeneral->phasecal_config__timeout_macrop = |
Charles MacNeill |
5:89031b2f5316 | 1409 | (uint8_t)timeout_mclks; |
Charles MacNeill |
5:89031b2f5316 | 1410 | |
Charles MacNeill |
5:89031b2f5316 | 1411 | |
Charles MacNeill |
5:89031b2f5316 | 1412 | timeout_encoded = |
Charles MacNeill |
5:89031b2f5316 | 1413 | VL53LX_calc_encoded_timeout( |
Charles MacNeill |
5:89031b2f5316 | 1414 | mm_config_timeout_us, |
Charles MacNeill |
5:89031b2f5316 | 1415 | macro_period_us); |
Charles MacNeill |
5:89031b2f5316 | 1416 | |
Charles MacNeill |
5:89031b2f5316 | 1417 | ptiming->mm_config__timeout_macrop_a_hi = |
Charles MacNeill |
5:89031b2f5316 | 1418 | (uint8_t)((timeout_encoded & 0xFF00) >> 8); |
Charles MacNeill |
5:89031b2f5316 | 1419 | ptiming->mm_config__timeout_macrop_a_lo = |
Charles MacNeill |
5:89031b2f5316 | 1420 | (uint8_t) (timeout_encoded & 0x00FF); |
Charles MacNeill |
5:89031b2f5316 | 1421 | |
Charles MacNeill |
5:89031b2f5316 | 1422 | |
Charles MacNeill |
5:89031b2f5316 | 1423 | timeout_encoded = |
Charles MacNeill |
5:89031b2f5316 | 1424 | VL53LX_calc_encoded_timeout( |
Charles MacNeill |
5:89031b2f5316 | 1425 | range_config_timeout_us, |
Charles MacNeill |
5:89031b2f5316 | 1426 | macro_period_us); |
Charles MacNeill |
5:89031b2f5316 | 1427 | |
Charles MacNeill |
5:89031b2f5316 | 1428 | ptiming->range_config__timeout_macrop_a_hi = |
Charles MacNeill |
5:89031b2f5316 | 1429 | (uint8_t)((timeout_encoded & 0xFF00) >> 8); |
Charles MacNeill |
5:89031b2f5316 | 1430 | ptiming->range_config__timeout_macrop_a_lo = |
Charles MacNeill |
5:89031b2f5316 | 1431 | (uint8_t) (timeout_encoded & 0x00FF); |
Charles MacNeill |
5:89031b2f5316 | 1432 | |
Charles MacNeill |
5:89031b2f5316 | 1433 | |
Charles MacNeill |
5:89031b2f5316 | 1434 | macro_period_us = |
Charles MacNeill |
5:89031b2f5316 | 1435 | VL53LX_calc_macro_period_us( |
Charles MacNeill |
5:89031b2f5316 | 1436 | fast_osc_frequency, |
Charles MacNeill |
5:89031b2f5316 | 1437 | ptiming->range_config__vcsel_period_b); |
Charles MacNeill |
5:89031b2f5316 | 1438 | |
Charles MacNeill |
5:89031b2f5316 | 1439 | |
Charles MacNeill |
5:89031b2f5316 | 1440 | timeout_encoded = |
Charles MacNeill |
5:89031b2f5316 | 1441 | VL53LX_calc_encoded_timeout( |
Charles MacNeill |
5:89031b2f5316 | 1442 | mm_config_timeout_us, |
Charles MacNeill |
5:89031b2f5316 | 1443 | macro_period_us); |
Charles MacNeill |
5:89031b2f5316 | 1444 | |
Charles MacNeill |
5:89031b2f5316 | 1445 | ptiming->mm_config__timeout_macrop_b_hi = |
Charles MacNeill |
5:89031b2f5316 | 1446 | (uint8_t)((timeout_encoded & 0xFF00) >> 8); |
Charles MacNeill |
5:89031b2f5316 | 1447 | ptiming->mm_config__timeout_macrop_b_lo = |
Charles MacNeill |
5:89031b2f5316 | 1448 | (uint8_t) (timeout_encoded & 0x00FF); |
Charles MacNeill |
5:89031b2f5316 | 1449 | |
Charles MacNeill |
5:89031b2f5316 | 1450 | |
Charles MacNeill |
5:89031b2f5316 | 1451 | timeout_encoded = VL53LX_calc_encoded_timeout( |
Charles MacNeill |
5:89031b2f5316 | 1452 | range_config_timeout_us, |
Charles MacNeill |
5:89031b2f5316 | 1453 | macro_period_us); |
Charles MacNeill |
5:89031b2f5316 | 1454 | |
Charles MacNeill |
5:89031b2f5316 | 1455 | ptiming->range_config__timeout_macrop_b_hi = |
Charles MacNeill |
5:89031b2f5316 | 1456 | (uint8_t)((timeout_encoded & 0xFF00) >> 8); |
Charles MacNeill |
5:89031b2f5316 | 1457 | ptiming->range_config__timeout_macrop_b_lo = |
Charles MacNeill |
5:89031b2f5316 | 1458 | (uint8_t) (timeout_encoded & 0x00FF); |
Charles MacNeill |
5:89031b2f5316 | 1459 | } |
Charles MacNeill |
5:89031b2f5316 | 1460 | |
Charles MacNeill |
5:89031b2f5316 | 1461 | LOG_FUNCTION_END(0); |
Charles MacNeill |
5:89031b2f5316 | 1462 | |
Charles MacNeill |
5:89031b2f5316 | 1463 | return status; |
Charles MacNeill |
5:89031b2f5316 | 1464 | |
Charles MacNeill |
5:89031b2f5316 | 1465 | } |
Charles MacNeill |
5:89031b2f5316 | 1466 | |
Charles MacNeill |
5:89031b2f5316 | 1467 | |
Charles MacNeill |
5:89031b2f5316 | 1468 | uint8_t VL53LX_encode_vcsel_period(uint8_t VL53LX_p_030) |
Charles MacNeill |
5:89031b2f5316 | 1469 | { |
Charles MacNeill |
5:89031b2f5316 | 1470 | |
Charles MacNeill |
5:89031b2f5316 | 1471 | |
Charles MacNeill |
5:89031b2f5316 | 1472 | uint8_t vcsel_period_reg = 0; |
Charles MacNeill |
5:89031b2f5316 | 1473 | |
Charles MacNeill |
5:89031b2f5316 | 1474 | vcsel_period_reg = (VL53LX_p_030 >> 1) - 1; |
Charles MacNeill |
5:89031b2f5316 | 1475 | |
Charles MacNeill |
5:89031b2f5316 | 1476 | return vcsel_period_reg; |
Charles MacNeill |
5:89031b2f5316 | 1477 | } |
Charles MacNeill |
5:89031b2f5316 | 1478 | |
Charles MacNeill |
5:89031b2f5316 | 1479 | |
Charles MacNeill |
5:89031b2f5316 | 1480 | uint32_t VL53LX_decode_unsigned_integer( |
Charles MacNeill |
5:89031b2f5316 | 1481 | uint8_t *pbuffer, |
Charles MacNeill |
5:89031b2f5316 | 1482 | uint8_t no_of_bytes) |
Charles MacNeill |
5:89031b2f5316 | 1483 | { |
Charles MacNeill |
5:89031b2f5316 | 1484 | |
Charles MacNeill |
5:89031b2f5316 | 1485 | |
Charles MacNeill |
5:89031b2f5316 | 1486 | uint8_t i = 0; |
Charles MacNeill |
5:89031b2f5316 | 1487 | uint32_t decoded_value = 0; |
Charles MacNeill |
5:89031b2f5316 | 1488 | |
Charles MacNeill |
5:89031b2f5316 | 1489 | for (i = 0; i < no_of_bytes; i++) |
Charles MacNeill |
5:89031b2f5316 | 1490 | decoded_value = (decoded_value << 8) + (uint32_t)pbuffer[i]; |
Charles MacNeill |
5:89031b2f5316 | 1491 | |
Charles MacNeill |
5:89031b2f5316 | 1492 | return decoded_value; |
Charles MacNeill |
5:89031b2f5316 | 1493 | } |
Charles MacNeill |
5:89031b2f5316 | 1494 | |
Charles MacNeill |
5:89031b2f5316 | 1495 | |
Charles MacNeill |
5:89031b2f5316 | 1496 | void VL53LX_encode_unsigned_integer( |
Charles MacNeill |
5:89031b2f5316 | 1497 | uint32_t ip_value, |
Charles MacNeill |
5:89031b2f5316 | 1498 | uint8_t no_of_bytes, |
Charles MacNeill |
5:89031b2f5316 | 1499 | uint8_t *pbuffer) |
Charles MacNeill |
5:89031b2f5316 | 1500 | { |
Charles MacNeill |
5:89031b2f5316 | 1501 | |
Charles MacNeill |
5:89031b2f5316 | 1502 | |
Charles MacNeill |
5:89031b2f5316 | 1503 | uint8_t i = 0; |
Charles MacNeill |
5:89031b2f5316 | 1504 | uint32_t VL53LX_p_003 = 0; |
Charles MacNeill |
5:89031b2f5316 | 1505 | |
Charles MacNeill |
5:89031b2f5316 | 1506 | VL53LX_p_003 = ip_value; |
Charles MacNeill |
5:89031b2f5316 | 1507 | for (i = 0; i < no_of_bytes; i++) { |
Charles MacNeill |
5:89031b2f5316 | 1508 | pbuffer[no_of_bytes-i-1] = VL53LX_p_003 & 0x00FF; |
Charles MacNeill |
5:89031b2f5316 | 1509 | VL53LX_p_003 = VL53LX_p_003 >> 8; |
Charles MacNeill |
5:89031b2f5316 | 1510 | } |
Charles MacNeill |
5:89031b2f5316 | 1511 | } |
Charles MacNeill |
5:89031b2f5316 | 1512 | |
Charles MacNeill |
5:89031b2f5316 | 1513 | |
Charles MacNeill |
5:89031b2f5316 | 1514 | VL53LX_Error VL53LX_hist_copy_and_scale_ambient_info( |
Charles MacNeill |
5:89031b2f5316 | 1515 | VL53LX_zone_hist_info_t *pidata, |
Charles MacNeill |
5:89031b2f5316 | 1516 | VL53LX_histogram_bin_data_t *podata) |
Charles MacNeill |
5:89031b2f5316 | 1517 | { |
Charles MacNeill |
5:89031b2f5316 | 1518 | |
Charles MacNeill |
5:89031b2f5316 | 1519 | |
Charles MacNeill |
5:89031b2f5316 | 1520 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 1521 | |
Charles MacNeill |
5:89031b2f5316 | 1522 | int64_t evts = 0; |
Charles MacNeill |
5:89031b2f5316 | 1523 | int64_t tmpi = 0; |
Charles MacNeill |
5:89031b2f5316 | 1524 | int64_t tmpo = 0; |
Charles MacNeill |
5:89031b2f5316 | 1525 | |
Charles MacNeill |
5:89031b2f5316 | 1526 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1527 | |
Charles MacNeill |
5:89031b2f5316 | 1528 | |
Charles MacNeill |
5:89031b2f5316 | 1529 | if (pidata->result__dss_actual_effective_spads == 0) { |
Charles MacNeill |
5:89031b2f5316 | 1530 | status = VL53LX_ERROR_DIVISION_BY_ZERO; |
Charles MacNeill |
5:89031b2f5316 | 1531 | } else { |
Charles MacNeill |
5:89031b2f5316 | 1532 | if (pidata->number_of_ambient_bins > 0 && |
Charles MacNeill |
5:89031b2f5316 | 1533 | podata->number_of_ambient_bins == 0) { |
Charles MacNeill |
5:89031b2f5316 | 1534 | |
Charles MacNeill |
5:89031b2f5316 | 1535 | |
Charles MacNeill |
5:89031b2f5316 | 1536 | |
Charles MacNeill |
5:89031b2f5316 | 1537 | tmpo = 1 + (int64_t)podata->total_periods_elapsed; |
Charles MacNeill |
5:89031b2f5316 | 1538 | tmpo *= |
Charles MacNeill |
5:89031b2f5316 | 1539 | (int64_t)podata->result__dss_actual_effective_spads; |
Charles MacNeill |
5:89031b2f5316 | 1540 | |
Charles MacNeill |
5:89031b2f5316 | 1541 | tmpi = 1 + (int64_t)pidata->total_periods_elapsed; |
Charles MacNeill |
5:89031b2f5316 | 1542 | tmpi *= |
Charles MacNeill |
5:89031b2f5316 | 1543 | (int64_t)pidata->result__dss_actual_effective_spads; |
Charles MacNeill |
5:89031b2f5316 | 1544 | |
Charles MacNeill |
5:89031b2f5316 | 1545 | evts = tmpo * |
Charles MacNeill |
5:89031b2f5316 | 1546 | (int64_t)pidata->ambient_events_sum; |
Charles MacNeill |
5:89031b2f5316 | 1547 | evts += (tmpi/2); |
Charles MacNeill |
5:89031b2f5316 | 1548 | |
Charles MacNeill |
5:89031b2f5316 | 1549 | |
Charles MacNeill |
5:89031b2f5316 | 1550 | if (tmpi != 0) |
Charles MacNeill |
5:89031b2f5316 | 1551 | evts = do_division_s(evts, tmpi); |
Charles MacNeill |
5:89031b2f5316 | 1552 | |
Charles MacNeill |
5:89031b2f5316 | 1553 | podata->ambient_events_sum = (int32_t)evts; |
Charles MacNeill |
5:89031b2f5316 | 1554 | |
Charles MacNeill |
5:89031b2f5316 | 1555 | |
Charles MacNeill |
5:89031b2f5316 | 1556 | |
Charles MacNeill |
5:89031b2f5316 | 1557 | podata->VL53LX_p_028 = |
Charles MacNeill |
5:89031b2f5316 | 1558 | podata->ambient_events_sum; |
Charles MacNeill |
5:89031b2f5316 | 1559 | podata->VL53LX_p_028 += |
Charles MacNeill |
5:89031b2f5316 | 1560 | ((int32_t)pidata->number_of_ambient_bins / 2); |
Charles MacNeill |
5:89031b2f5316 | 1561 | podata->VL53LX_p_028 /= |
Charles MacNeill |
5:89031b2f5316 | 1562 | (int32_t)pidata->number_of_ambient_bins; |
Charles MacNeill |
5:89031b2f5316 | 1563 | } |
Charles MacNeill |
5:89031b2f5316 | 1564 | } |
Charles MacNeill |
5:89031b2f5316 | 1565 | |
Charles MacNeill |
5:89031b2f5316 | 1566 | LOG_FUNCTION_END(0); |
Charles MacNeill |
5:89031b2f5316 | 1567 | |
Charles MacNeill |
5:89031b2f5316 | 1568 | return status; |
Charles MacNeill |
5:89031b2f5316 | 1569 | } |
Charles MacNeill |
5:89031b2f5316 | 1570 | |
Charles MacNeill |
5:89031b2f5316 | 1571 | |
Charles MacNeill |
5:89031b2f5316 | 1572 | void VL53LX_hist_get_bin_sequence_config( |
Charles MacNeill |
5:89031b2f5316 | 1573 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 1574 | VL53LX_histogram_bin_data_t *pdata) |
Charles MacNeill |
5:89031b2f5316 | 1575 | { |
Charles MacNeill |
5:89031b2f5316 | 1576 | |
Charles MacNeill |
5:89031b2f5316 | 1577 | |
Charles MacNeill |
5:89031b2f5316 | 1578 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 1579 | |
Charles MacNeill |
5:89031b2f5316 | 1580 | int32_t amb_thresh_low = 0; |
Charles MacNeill |
5:89031b2f5316 | 1581 | int32_t amb_thresh_high = 0; |
Charles MacNeill |
5:89031b2f5316 | 1582 | |
Charles MacNeill |
5:89031b2f5316 | 1583 | uint8_t i = 0; |
Charles MacNeill |
5:89031b2f5316 | 1584 | |
Charles MacNeill |
5:89031b2f5316 | 1585 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1586 | |
Charles MacNeill |
5:89031b2f5316 | 1587 | |
Charles MacNeill |
5:89031b2f5316 | 1588 | |
Charles MacNeill |
5:89031b2f5316 | 1589 | amb_thresh_low = 1024 * |
Charles MacNeill |
5:89031b2f5316 | 1590 | (int32_t)pdev->hist_cfg.histogram_config__amb_thresh_low; |
Charles MacNeill |
5:89031b2f5316 | 1591 | amb_thresh_high = 1024 * |
Charles MacNeill |
5:89031b2f5316 | 1592 | (int32_t)pdev->hist_cfg.histogram_config__amb_thresh_high; |
Charles MacNeill |
5:89031b2f5316 | 1593 | |
Charles MacNeill |
5:89031b2f5316 | 1594 | |
Charles MacNeill |
5:89031b2f5316 | 1595 | |
Charles MacNeill |
5:89031b2f5316 | 1596 | if ((pdev->ll_state.rd_stream_count & 0x01) == 0) { |
Charles MacNeill |
5:89031b2f5316 | 1597 | |
Charles MacNeill |
5:89031b2f5316 | 1598 | pdata->bin_seq[5] = |
Charles MacNeill |
5:89031b2f5316 | 1599 | pdev->hist_cfg.histogram_config__mid_amb_even_bin_4_5 >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1600 | pdata->bin_seq[4] = |
Charles MacNeill |
5:89031b2f5316 | 1601 | pdev->hist_cfg.histogram_config__mid_amb_even_bin_4_5 & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1602 | pdata->bin_seq[3] = |
Charles MacNeill |
5:89031b2f5316 | 1603 | pdev->hist_cfg.histogram_config__mid_amb_even_bin_2_3 >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1604 | pdata->bin_seq[2] = |
Charles MacNeill |
5:89031b2f5316 | 1605 | pdev->hist_cfg.histogram_config__mid_amb_even_bin_2_3 & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1606 | pdata->bin_seq[1] = |
Charles MacNeill |
5:89031b2f5316 | 1607 | pdev->hist_cfg.histogram_config__mid_amb_even_bin_0_1 >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1608 | pdata->bin_seq[0] = |
Charles MacNeill |
5:89031b2f5316 | 1609 | pdev->hist_cfg.histogram_config__mid_amb_even_bin_0_1 & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1610 | |
Charles MacNeill |
5:89031b2f5316 | 1611 | if (pdata->ambient_events_sum > amb_thresh_high) { |
Charles MacNeill |
5:89031b2f5316 | 1612 | pdata->bin_seq[5] = |
Charles MacNeill |
5:89031b2f5316 | 1613 | pdev->hist_cfg.histogram_config__high_amb_even_bin_4_5 |
Charles MacNeill |
5:89031b2f5316 | 1614 | >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1615 | pdata->bin_seq[4] = |
Charles MacNeill |
5:89031b2f5316 | 1616 | pdev->hist_cfg.histogram_config__high_amb_even_bin_4_5 |
Charles MacNeill |
5:89031b2f5316 | 1617 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1618 | pdata->bin_seq[3] = |
Charles MacNeill |
5:89031b2f5316 | 1619 | pdev->hist_cfg.histogram_config__high_amb_even_bin_2_3 |
Charles MacNeill |
5:89031b2f5316 | 1620 | >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1621 | pdata->bin_seq[2] = |
Charles MacNeill |
5:89031b2f5316 | 1622 | pdev->hist_cfg.histogram_config__high_amb_even_bin_2_3 |
Charles MacNeill |
5:89031b2f5316 | 1623 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1624 | pdata->bin_seq[1] = |
Charles MacNeill |
5:89031b2f5316 | 1625 | pdev->hist_cfg.histogram_config__high_amb_even_bin_0_1 |
Charles MacNeill |
5:89031b2f5316 | 1626 | >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1627 | pdata->bin_seq[0] = |
Charles MacNeill |
5:89031b2f5316 | 1628 | pdev->hist_cfg.histogram_config__high_amb_even_bin_0_1 |
Charles MacNeill |
5:89031b2f5316 | 1629 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1630 | } |
Charles MacNeill |
5:89031b2f5316 | 1631 | |
Charles MacNeill |
5:89031b2f5316 | 1632 | if (pdata->ambient_events_sum < amb_thresh_low) { |
Charles MacNeill |
5:89031b2f5316 | 1633 | pdata->bin_seq[5] = |
Charles MacNeill |
5:89031b2f5316 | 1634 | pdev->hist_cfg.histogram_config__low_amb_even_bin_4_5 |
Charles MacNeill |
5:89031b2f5316 | 1635 | >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1636 | pdata->bin_seq[4] = |
Charles MacNeill |
5:89031b2f5316 | 1637 | pdev->hist_cfg.histogram_config__low_amb_even_bin_4_5 |
Charles MacNeill |
5:89031b2f5316 | 1638 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1639 | pdata->bin_seq[3] = |
Charles MacNeill |
5:89031b2f5316 | 1640 | pdev->hist_cfg.histogram_config__low_amb_even_bin_2_3 |
Charles MacNeill |
5:89031b2f5316 | 1641 | >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1642 | pdata->bin_seq[2] = |
Charles MacNeill |
5:89031b2f5316 | 1643 | pdev->hist_cfg.histogram_config__low_amb_even_bin_2_3 |
Charles MacNeill |
5:89031b2f5316 | 1644 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1645 | pdata->bin_seq[1] = |
Charles MacNeill |
5:89031b2f5316 | 1646 | pdev->hist_cfg.histogram_config__low_amb_even_bin_0_1 |
Charles MacNeill |
5:89031b2f5316 | 1647 | >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1648 | pdata->bin_seq[0] = |
Charles MacNeill |
5:89031b2f5316 | 1649 | pdev->hist_cfg.histogram_config__low_amb_even_bin_0_1 |
Charles MacNeill |
5:89031b2f5316 | 1650 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1651 | } |
Charles MacNeill |
5:89031b2f5316 | 1652 | |
Charles MacNeill |
5:89031b2f5316 | 1653 | } else { |
Charles MacNeill |
5:89031b2f5316 | 1654 | pdata->bin_seq[5] = |
Charles MacNeill |
5:89031b2f5316 | 1655 | pdev->hist_cfg.histogram_config__mid_amb_odd_bin_5 |
Charles MacNeill |
5:89031b2f5316 | 1656 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1657 | pdata->bin_seq[4] = |
Charles MacNeill |
5:89031b2f5316 | 1658 | pdev->hist_cfg.histogram_config__mid_amb_odd_bin_3_4 |
Charles MacNeill |
5:89031b2f5316 | 1659 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1660 | pdata->bin_seq[3] = |
Charles MacNeill |
5:89031b2f5316 | 1661 | pdev->hist_cfg.histogram_config__mid_amb_odd_bin_3_4 |
Charles MacNeill |
5:89031b2f5316 | 1662 | >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1663 | pdata->bin_seq[2] = |
Charles MacNeill |
5:89031b2f5316 | 1664 | pdev->hist_cfg.histogram_config__mid_amb_odd_bin_2 & |
Charles MacNeill |
5:89031b2f5316 | 1665 | 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1666 | pdata->bin_seq[1] = |
Charles MacNeill |
5:89031b2f5316 | 1667 | pdev->hist_cfg.histogram_config__mid_amb_odd_bin_0_1 |
Charles MacNeill |
5:89031b2f5316 | 1668 | >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1669 | pdata->bin_seq[0] = |
Charles MacNeill |
5:89031b2f5316 | 1670 | pdev->hist_cfg.histogram_config__mid_amb_odd_bin_0_1 |
Charles MacNeill |
5:89031b2f5316 | 1671 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1672 | |
Charles MacNeill |
5:89031b2f5316 | 1673 | if (pdata->ambient_events_sum > amb_thresh_high) { |
Charles MacNeill |
5:89031b2f5316 | 1674 | pdata->bin_seq[5] = |
Charles MacNeill |
5:89031b2f5316 | 1675 | pdev->hist_cfg.histogram_config__high_amb_odd_bin_4_5 |
Charles MacNeill |
5:89031b2f5316 | 1676 | >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1677 | pdata->bin_seq[4] = |
Charles MacNeill |
5:89031b2f5316 | 1678 | pdev->hist_cfg.histogram_config__high_amb_odd_bin_4_5 |
Charles MacNeill |
5:89031b2f5316 | 1679 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1680 | pdata->bin_seq[3] = |
Charles MacNeill |
5:89031b2f5316 | 1681 | pdev->hist_cfg.histogram_config__high_amb_odd_bin_2_3 |
Charles MacNeill |
5:89031b2f5316 | 1682 | >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1683 | pdata->bin_seq[2] = |
Charles MacNeill |
5:89031b2f5316 | 1684 | pdev->hist_cfg.histogram_config__high_amb_odd_bin_2_3 |
Charles MacNeill |
5:89031b2f5316 | 1685 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1686 | pdata->bin_seq[1] = |
Charles MacNeill |
5:89031b2f5316 | 1687 | pdev->hist_cfg.histogram_config__high_amb_odd_bin_0_1 |
Charles MacNeill |
5:89031b2f5316 | 1688 | >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1689 | pdata->bin_seq[0] = |
Charles MacNeill |
5:89031b2f5316 | 1690 | pdev->hist_cfg.histogram_config__high_amb_odd_bin_0_1 |
Charles MacNeill |
5:89031b2f5316 | 1691 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1692 | } |
Charles MacNeill |
5:89031b2f5316 | 1693 | |
Charles MacNeill |
5:89031b2f5316 | 1694 | if (pdata->ambient_events_sum < amb_thresh_low) { |
Charles MacNeill |
5:89031b2f5316 | 1695 | pdata->bin_seq[5] = |
Charles MacNeill |
5:89031b2f5316 | 1696 | pdev->hist_cfg.histogram_config__low_amb_odd_bin_4_5 |
Charles MacNeill |
5:89031b2f5316 | 1697 | >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1698 | pdata->bin_seq[4] = |
Charles MacNeill |
5:89031b2f5316 | 1699 | pdev->hist_cfg.histogram_config__low_amb_odd_bin_4_5 |
Charles MacNeill |
5:89031b2f5316 | 1700 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1701 | pdata->bin_seq[3] = |
Charles MacNeill |
5:89031b2f5316 | 1702 | pdev->hist_cfg.histogram_config__low_amb_odd_bin_2_3 |
Charles MacNeill |
5:89031b2f5316 | 1703 | >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1704 | pdata->bin_seq[2] = |
Charles MacNeill |
5:89031b2f5316 | 1705 | pdev->hist_cfg.histogram_config__low_amb_odd_bin_2_3 |
Charles MacNeill |
5:89031b2f5316 | 1706 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1707 | pdata->bin_seq[1] = |
Charles MacNeill |
5:89031b2f5316 | 1708 | pdev->hist_cfg.histogram_config__low_amb_odd_bin_0_1 |
Charles MacNeill |
5:89031b2f5316 | 1709 | >> 4; |
Charles MacNeill |
5:89031b2f5316 | 1710 | pdata->bin_seq[0] = |
Charles MacNeill |
5:89031b2f5316 | 1711 | pdev->hist_cfg.histogram_config__low_amb_odd_bin_0_1 |
Charles MacNeill |
5:89031b2f5316 | 1712 | & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 1713 | } |
Charles MacNeill |
5:89031b2f5316 | 1714 | } |
Charles MacNeill |
5:89031b2f5316 | 1715 | |
Charles MacNeill |
5:89031b2f5316 | 1716 | |
Charles MacNeill |
5:89031b2f5316 | 1717 | |
Charles MacNeill |
5:89031b2f5316 | 1718 | for (i = 0; i < VL53LX_MAX_BIN_SEQUENCE_LENGTH; i++) |
Charles MacNeill |
5:89031b2f5316 | 1719 | pdata->bin_rep[i] = 1; |
Charles MacNeill |
5:89031b2f5316 | 1720 | |
Charles MacNeill |
5:89031b2f5316 | 1721 | LOG_FUNCTION_END(0); |
Charles MacNeill |
5:89031b2f5316 | 1722 | |
Charles MacNeill |
5:89031b2f5316 | 1723 | } |
Charles MacNeill |
5:89031b2f5316 | 1724 | |
Charles MacNeill |
5:89031b2f5316 | 1725 | |
Charles MacNeill |
5:89031b2f5316 | 1726 | VL53LX_Error VL53LX_hist_phase_consistency_check( |
Charles MacNeill |
5:89031b2f5316 | 1727 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 1728 | VL53LX_zone_hist_info_t *phist_prev, |
Charles MacNeill |
5:89031b2f5316 | 1729 | VL53LX_zone_objects_t *prange_prev, |
Charles MacNeill |
5:89031b2f5316 | 1730 | VL53LX_range_results_t *prange_curr) |
Charles MacNeill |
5:89031b2f5316 | 1731 | { |
Charles MacNeill |
5:89031b2f5316 | 1732 | |
Charles MacNeill |
5:89031b2f5316 | 1733 | |
Charles MacNeill |
5:89031b2f5316 | 1734 | |
Charles MacNeill |
5:89031b2f5316 | 1735 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 1736 | VL53LX_LLDriverData_t *pdev = |
Charles MacNeill |
5:89031b2f5316 | 1737 | VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 1738 | |
Charles MacNeill |
5:89031b2f5316 | 1739 | uint8_t lc = 0; |
Charles MacNeill |
5:89031b2f5316 | 1740 | uint8_t p = 0; |
Charles MacNeill |
5:89031b2f5316 | 1741 | |
Charles MacNeill |
5:89031b2f5316 | 1742 | uint16_t phase_delta = 0; |
Charles MacNeill |
5:89031b2f5316 | 1743 | uint16_t phase_tolerance = 0; |
Charles MacNeill |
5:89031b2f5316 | 1744 | |
Charles MacNeill |
5:89031b2f5316 | 1745 | int32_t events_delta = 0; |
Charles MacNeill |
5:89031b2f5316 | 1746 | int32_t events_tolerance = 0; |
Charles MacNeill |
5:89031b2f5316 | 1747 | |
Charles MacNeill |
5:89031b2f5316 | 1748 | |
Charles MacNeill |
5:89031b2f5316 | 1749 | uint8_t event_sigma; |
Charles MacNeill |
5:89031b2f5316 | 1750 | uint16_t event_min_spad_count; |
Charles MacNeill |
5:89031b2f5316 | 1751 | uint16_t min_max_tolerance; |
Charles MacNeill |
5:89031b2f5316 | 1752 | uint8_t pht; |
Charles MacNeill |
5:89031b2f5316 | 1753 | |
Charles MacNeill |
5:89031b2f5316 | 1754 | VL53LX_DeviceError range_status = 0; |
Charles MacNeill |
5:89031b2f5316 | 1755 | |
Charles MacNeill |
5:89031b2f5316 | 1756 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 1757 | |
Charles MacNeill |
5:89031b2f5316 | 1758 | event_sigma = |
Charles MacNeill |
5:89031b2f5316 | 1759 | pdev->histpostprocess.algo__consistency_check__event_sigma; |
Charles MacNeill |
5:89031b2f5316 | 1760 | event_min_spad_count = |
Charles MacNeill |
5:89031b2f5316 | 1761 | pdev->histpostprocess.algo__consistency_check__event_min_spad_count; |
Charles MacNeill |
5:89031b2f5316 | 1762 | min_max_tolerance = |
Charles MacNeill |
5:89031b2f5316 | 1763 | pdev->histpostprocess.algo__consistency_check__min_max_tolerance; |
Charles MacNeill |
5:89031b2f5316 | 1764 | |
Charles MacNeill |
5:89031b2f5316 | 1765 | |
Charles MacNeill |
5:89031b2f5316 | 1766 | pht = pdev->histpostprocess.algo__consistency_check__phase_tolerance; |
Charles MacNeill |
5:89031b2f5316 | 1767 | phase_tolerance = (uint16_t)pht; |
Charles MacNeill |
5:89031b2f5316 | 1768 | phase_tolerance = phase_tolerance << 8; |
Charles MacNeill |
5:89031b2f5316 | 1769 | |
Charles MacNeill |
5:89031b2f5316 | 1770 | |
Charles MacNeill |
5:89031b2f5316 | 1771 | |
Charles MacNeill |
5:89031b2f5316 | 1772 | if (prange_prev->rd_device_state != |
Charles MacNeill |
5:89031b2f5316 | 1773 | VL53LX_DEVICESTATE_RANGING_GATHER_DATA && |
Charles MacNeill |
5:89031b2f5316 | 1774 | prange_prev->rd_device_state != |
Charles MacNeill |
5:89031b2f5316 | 1775 | VL53LX_DEVICESTATE_RANGING_OUTPUT_DATA) |
Charles MacNeill |
5:89031b2f5316 | 1776 | return status; |
Charles MacNeill |
5:89031b2f5316 | 1777 | |
Charles MacNeill |
5:89031b2f5316 | 1778 | |
Charles MacNeill |
5:89031b2f5316 | 1779 | |
Charles MacNeill |
5:89031b2f5316 | 1780 | if (phase_tolerance == 0) |
Charles MacNeill |
5:89031b2f5316 | 1781 | return status; |
Charles MacNeill |
5:89031b2f5316 | 1782 | |
Charles MacNeill |
5:89031b2f5316 | 1783 | for (lc = 0; lc < prange_curr->active_results; lc++) { |
Charles MacNeill |
5:89031b2f5316 | 1784 | |
Charles MacNeill |
5:89031b2f5316 | 1785 | if (!((prange_curr->VL53LX_p_003[lc].range_status == |
Charles MacNeill |
5:89031b2f5316 | 1786 | VL53LX_DEVICEERROR_RANGECOMPLETE) || |
Charles MacNeill |
5:89031b2f5316 | 1787 | (prange_curr->VL53LX_p_003[lc].range_status == |
Charles MacNeill |
5:89031b2f5316 | 1788 | VL53LX_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK))) |
Charles MacNeill |
5:89031b2f5316 | 1789 | continue; |
Charles MacNeill |
5:89031b2f5316 | 1790 | |
Charles MacNeill |
5:89031b2f5316 | 1791 | |
Charles MacNeill |
5:89031b2f5316 | 1792 | |
Charles MacNeill |
5:89031b2f5316 | 1793 | |
Charles MacNeill |
5:89031b2f5316 | 1794 | |
Charles MacNeill |
5:89031b2f5316 | 1795 | |
Charles MacNeill |
5:89031b2f5316 | 1796 | if (prange_prev->active_objects == 0) |
Charles MacNeill |
5:89031b2f5316 | 1797 | prange_curr->VL53LX_p_003[lc].range_status = |
Charles MacNeill |
5:89031b2f5316 | 1798 | VL53LX_DEVICEERROR_PREV_RANGE_NO_TARGETS; |
Charles MacNeill |
5:89031b2f5316 | 1799 | else |
Charles MacNeill |
5:89031b2f5316 | 1800 | prange_curr->VL53LX_p_003[lc].range_status = |
Charles MacNeill |
5:89031b2f5316 | 1801 | VL53LX_DEVICEERROR_PHASECONSISTENCY; |
Charles MacNeill |
5:89031b2f5316 | 1802 | |
Charles MacNeill |
5:89031b2f5316 | 1803 | |
Charles MacNeill |
5:89031b2f5316 | 1804 | |
Charles MacNeill |
5:89031b2f5316 | 1805 | |
Charles MacNeill |
5:89031b2f5316 | 1806 | |
Charles MacNeill |
5:89031b2f5316 | 1807 | for (p = 0; p < prange_prev->active_objects; p++) { |
Charles MacNeill |
5:89031b2f5316 | 1808 | |
Charles MacNeill |
5:89031b2f5316 | 1809 | if (prange_curr->VL53LX_p_003[lc].VL53LX_p_011 > |
Charles MacNeill |
5:89031b2f5316 | 1810 | prange_prev->VL53LX_p_003[p].VL53LX_p_011) { |
Charles MacNeill |
5:89031b2f5316 | 1811 | phase_delta = |
Charles MacNeill |
5:89031b2f5316 | 1812 | prange_curr->VL53LX_p_003[lc].VL53LX_p_011 - |
Charles MacNeill |
5:89031b2f5316 | 1813 | prange_prev->VL53LX_p_003[p].VL53LX_p_011; |
Charles MacNeill |
5:89031b2f5316 | 1814 | } else { |
Charles MacNeill |
5:89031b2f5316 | 1815 | phase_delta = |
Charles MacNeill |
5:89031b2f5316 | 1816 | prange_prev->VL53LX_p_003[p].VL53LX_p_011 - |
Charles MacNeill |
5:89031b2f5316 | 1817 | prange_curr->VL53LX_p_003[lc].VL53LX_p_011; |
Charles MacNeill |
5:89031b2f5316 | 1818 | } |
Charles MacNeill |
5:89031b2f5316 | 1819 | |
Charles MacNeill |
5:89031b2f5316 | 1820 | if (phase_delta < phase_tolerance) { |
Charles MacNeill |
5:89031b2f5316 | 1821 | |
Charles MacNeill |
5:89031b2f5316 | 1822 | |
Charles MacNeill |
5:89031b2f5316 | 1823 | |
Charles MacNeill |
5:89031b2f5316 | 1824 | |
Charles MacNeill |
5:89031b2f5316 | 1825 | |
Charles MacNeill |
5:89031b2f5316 | 1826 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 1827 | status = |
Charles MacNeill |
5:89031b2f5316 | 1828 | VL53LX_hist_events_consistency_check( |
Charles MacNeill |
5:89031b2f5316 | 1829 | event_sigma, |
Charles MacNeill |
5:89031b2f5316 | 1830 | event_min_spad_count, |
Charles MacNeill |
5:89031b2f5316 | 1831 | phist_prev, |
Charles MacNeill |
5:89031b2f5316 | 1832 | &(prange_prev->VL53LX_p_003[p]), |
Charles MacNeill |
5:89031b2f5316 | 1833 | &(prange_curr->VL53LX_p_003[lc]), |
Charles MacNeill |
5:89031b2f5316 | 1834 | &events_tolerance, |
Charles MacNeill |
5:89031b2f5316 | 1835 | &events_delta, |
Charles MacNeill |
5:89031b2f5316 | 1836 | &range_status); |
Charles MacNeill |
5:89031b2f5316 | 1837 | |
Charles MacNeill |
5:89031b2f5316 | 1838 | |
Charles MacNeill |
5:89031b2f5316 | 1839 | |
Charles MacNeill |
5:89031b2f5316 | 1840 | |
Charles MacNeill |
5:89031b2f5316 | 1841 | if (status == VL53LX_ERROR_NONE && |
Charles MacNeill |
5:89031b2f5316 | 1842 | range_status == |
Charles MacNeill |
5:89031b2f5316 | 1843 | VL53LX_DEVICEERROR_RANGECOMPLETE) |
Charles MacNeill |
5:89031b2f5316 | 1844 | status = |
Charles MacNeill |
5:89031b2f5316 | 1845 | VL53LX_hist_merged_pulse_check( |
Charles MacNeill |
5:89031b2f5316 | 1846 | min_max_tolerance, |
Charles MacNeill |
5:89031b2f5316 | 1847 | &(prange_curr->VL53LX_p_003[lc]), |
Charles MacNeill |
5:89031b2f5316 | 1848 | &range_status); |
Charles MacNeill |
5:89031b2f5316 | 1849 | |
Charles MacNeill |
5:89031b2f5316 | 1850 | prange_curr->VL53LX_p_003[lc].range_status = |
Charles MacNeill |
5:89031b2f5316 | 1851 | range_status; |
Charles MacNeill |
5:89031b2f5316 | 1852 | } |
Charles MacNeill |
5:89031b2f5316 | 1853 | } |
Charles MacNeill |
5:89031b2f5316 | 1854 | |
Charles MacNeill |
5:89031b2f5316 | 1855 | } |
Charles MacNeill |
5:89031b2f5316 | 1856 | |
Charles MacNeill |
5:89031b2f5316 | 1857 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 1858 | |
Charles MacNeill |
5:89031b2f5316 | 1859 | return status; |
Charles MacNeill |
5:89031b2f5316 | 1860 | } |
Charles MacNeill |
5:89031b2f5316 | 1861 | |
Charles MacNeill |
5:89031b2f5316 | 1862 | |
Charles MacNeill |
5:89031b2f5316 | 1863 | |
Charles MacNeill |
5:89031b2f5316 | 1864 | VL53LX_Error VL53LX_hist_events_consistency_check( |
Charles MacNeill |
5:89031b2f5316 | 1865 | uint8_t event_sigma, |
Charles MacNeill |
5:89031b2f5316 | 1866 | uint16_t min_effective_spad_count, |
Charles MacNeill |
5:89031b2f5316 | 1867 | VL53LX_zone_hist_info_t *phist_prev, |
Charles MacNeill |
5:89031b2f5316 | 1868 | VL53LX_object_data_t *prange_prev, |
Charles MacNeill |
5:89031b2f5316 | 1869 | VL53LX_range_data_t *prange_curr, |
Charles MacNeill |
5:89031b2f5316 | 1870 | int32_t *pevents_tolerance, |
Charles MacNeill |
5:89031b2f5316 | 1871 | int32_t *pevents_delta, |
Charles MacNeill |
5:89031b2f5316 | 1872 | VL53LX_DeviceError *prange_status) |
Charles MacNeill |
5:89031b2f5316 | 1873 | { |
Charles MacNeill |
5:89031b2f5316 | 1874 | |
Charles MacNeill |
5:89031b2f5316 | 1875 | |
Charles MacNeill |
5:89031b2f5316 | 1876 | |
Charles MacNeill |
5:89031b2f5316 | 1877 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 1878 | |
Charles MacNeill |
5:89031b2f5316 | 1879 | int64_t tmpp = 0; |
Charles MacNeill |
5:89031b2f5316 | 1880 | int64_t tmpc = 0; |
Charles MacNeill |
5:89031b2f5316 | 1881 | int64_t events_scaler = 0; |
Charles MacNeill |
5:89031b2f5316 | 1882 | int64_t events_scaler_sq = 0; |
Charles MacNeill |
5:89031b2f5316 | 1883 | int64_t c_signal_events = 0; |
Charles MacNeill |
5:89031b2f5316 | 1884 | int64_t c_sig_noise_sq = 0; |
Charles MacNeill |
5:89031b2f5316 | 1885 | int64_t c_amb_noise_sq = 0; |
Charles MacNeill |
5:89031b2f5316 | 1886 | int64_t p_amb_noise_sq = 0; |
Charles MacNeill |
5:89031b2f5316 | 1887 | |
Charles MacNeill |
5:89031b2f5316 | 1888 | int32_t p_signal_events = 0; |
Charles MacNeill |
5:89031b2f5316 | 1889 | uint32_t noise_sq_sum = 0; |
Charles MacNeill |
5:89031b2f5316 | 1890 | |
Charles MacNeill |
5:89031b2f5316 | 1891 | |
Charles MacNeill |
5:89031b2f5316 | 1892 | |
Charles MacNeill |
5:89031b2f5316 | 1893 | if (event_sigma == 0) { |
Charles MacNeill |
5:89031b2f5316 | 1894 | *prange_status = VL53LX_DEVICEERROR_RANGECOMPLETE; |
Charles MacNeill |
5:89031b2f5316 | 1895 | return status; |
Charles MacNeill |
5:89031b2f5316 | 1896 | } |
Charles MacNeill |
5:89031b2f5316 | 1897 | |
Charles MacNeill |
5:89031b2f5316 | 1898 | |
Charles MacNeill |
5:89031b2f5316 | 1899 | |
Charles MacNeill |
5:89031b2f5316 | 1900 | tmpp = 1 + (int64_t)phist_prev->total_periods_elapsed; |
Charles MacNeill |
5:89031b2f5316 | 1901 | tmpp *= (int64_t)phist_prev->result__dss_actual_effective_spads; |
Charles MacNeill |
5:89031b2f5316 | 1902 | |
Charles MacNeill |
5:89031b2f5316 | 1903 | |
Charles MacNeill |
5:89031b2f5316 | 1904 | |
Charles MacNeill |
5:89031b2f5316 | 1905 | tmpc = 1 + (int64_t)prange_curr->total_periods_elapsed; |
Charles MacNeill |
5:89031b2f5316 | 1906 | tmpc *= (int64_t)prange_curr->VL53LX_p_004; |
Charles MacNeill |
5:89031b2f5316 | 1907 | |
Charles MacNeill |
5:89031b2f5316 | 1908 | |
Charles MacNeill |
5:89031b2f5316 | 1909 | |
Charles MacNeill |
5:89031b2f5316 | 1910 | events_scaler = tmpp * 4096; |
Charles MacNeill |
5:89031b2f5316 | 1911 | if (tmpc != 0) { |
Charles MacNeill |
5:89031b2f5316 | 1912 | events_scaler += (tmpc/2); |
Charles MacNeill |
5:89031b2f5316 | 1913 | events_scaler = do_division_s(events_scaler, tmpc); |
Charles MacNeill |
5:89031b2f5316 | 1914 | } |
Charles MacNeill |
5:89031b2f5316 | 1915 | |
Charles MacNeill |
5:89031b2f5316 | 1916 | events_scaler_sq = events_scaler * events_scaler; |
Charles MacNeill |
5:89031b2f5316 | 1917 | events_scaler_sq += 2048; |
Charles MacNeill |
5:89031b2f5316 | 1918 | events_scaler_sq /= 4096; |
Charles MacNeill |
5:89031b2f5316 | 1919 | |
Charles MacNeill |
5:89031b2f5316 | 1920 | |
Charles MacNeill |
5:89031b2f5316 | 1921 | |
Charles MacNeill |
5:89031b2f5316 | 1922 | c_signal_events = (int64_t)prange_curr->VL53LX_p_017; |
Charles MacNeill |
5:89031b2f5316 | 1923 | c_signal_events -= (int64_t)prange_curr->VL53LX_p_016; |
Charles MacNeill |
5:89031b2f5316 | 1924 | c_signal_events *= (int64_t)events_scaler; |
Charles MacNeill |
5:89031b2f5316 | 1925 | c_signal_events += 2048; |
Charles MacNeill |
5:89031b2f5316 | 1926 | c_signal_events /= 4096; |
Charles MacNeill |
5:89031b2f5316 | 1927 | |
Charles MacNeill |
5:89031b2f5316 | 1928 | c_sig_noise_sq = (int64_t)events_scaler_sq; |
Charles MacNeill |
5:89031b2f5316 | 1929 | c_sig_noise_sq *= (int64_t)prange_curr->VL53LX_p_017; |
Charles MacNeill |
5:89031b2f5316 | 1930 | c_sig_noise_sq += 2048; |
Charles MacNeill |
5:89031b2f5316 | 1931 | c_sig_noise_sq /= 4096; |
Charles MacNeill |
5:89031b2f5316 | 1932 | |
Charles MacNeill |
5:89031b2f5316 | 1933 | c_amb_noise_sq = (int64_t)events_scaler_sq; |
Charles MacNeill |
5:89031b2f5316 | 1934 | c_amb_noise_sq *= (int64_t)prange_curr->VL53LX_p_016; |
Charles MacNeill |
5:89031b2f5316 | 1935 | c_amb_noise_sq += 2048; |
Charles MacNeill |
5:89031b2f5316 | 1936 | c_amb_noise_sq /= 4096; |
Charles MacNeill |
5:89031b2f5316 | 1937 | |
Charles MacNeill |
5:89031b2f5316 | 1938 | |
Charles MacNeill |
5:89031b2f5316 | 1939 | c_amb_noise_sq += 2; |
Charles MacNeill |
5:89031b2f5316 | 1940 | c_amb_noise_sq /= 4; |
Charles MacNeill |
5:89031b2f5316 | 1941 | |
Charles MacNeill |
5:89031b2f5316 | 1942 | |
Charles MacNeill |
5:89031b2f5316 | 1943 | |
Charles MacNeill |
5:89031b2f5316 | 1944 | p_amb_noise_sq = |
Charles MacNeill |
5:89031b2f5316 | 1945 | (int64_t)prange_prev->VL53LX_p_016; |
Charles MacNeill |
5:89031b2f5316 | 1946 | |
Charles MacNeill |
5:89031b2f5316 | 1947 | |
Charles MacNeill |
5:89031b2f5316 | 1948 | p_amb_noise_sq += 2; |
Charles MacNeill |
5:89031b2f5316 | 1949 | p_amb_noise_sq /= 4; |
Charles MacNeill |
5:89031b2f5316 | 1950 | |
Charles MacNeill |
5:89031b2f5316 | 1951 | noise_sq_sum = |
Charles MacNeill |
5:89031b2f5316 | 1952 | (uint32_t)prange_prev->VL53LX_p_017 + |
Charles MacNeill |
5:89031b2f5316 | 1953 | (uint32_t)c_sig_noise_sq + |
Charles MacNeill |
5:89031b2f5316 | 1954 | (uint32_t)p_amb_noise_sq + |
Charles MacNeill |
5:89031b2f5316 | 1955 | (uint32_t)c_amb_noise_sq; |
Charles MacNeill |
5:89031b2f5316 | 1956 | |
Charles MacNeill |
5:89031b2f5316 | 1957 | *pevents_tolerance = |
Charles MacNeill |
5:89031b2f5316 | 1958 | (int32_t)VL53LX_isqrt(noise_sq_sum * 16); |
Charles MacNeill |
5:89031b2f5316 | 1959 | |
Charles MacNeill |
5:89031b2f5316 | 1960 | *pevents_tolerance *= (int32_t)event_sigma; |
Charles MacNeill |
5:89031b2f5316 | 1961 | *pevents_tolerance += 32; |
Charles MacNeill |
5:89031b2f5316 | 1962 | *pevents_tolerance /= 64; |
Charles MacNeill |
5:89031b2f5316 | 1963 | |
Charles MacNeill |
5:89031b2f5316 | 1964 | p_signal_events = (int32_t)prange_prev->VL53LX_p_017; |
Charles MacNeill |
5:89031b2f5316 | 1965 | p_signal_events -= (int32_t)prange_prev->VL53LX_p_016; |
Charles MacNeill |
5:89031b2f5316 | 1966 | |
Charles MacNeill |
5:89031b2f5316 | 1967 | if ((int32_t)c_signal_events > p_signal_events) |
Charles MacNeill |
5:89031b2f5316 | 1968 | *pevents_delta = |
Charles MacNeill |
5:89031b2f5316 | 1969 | (int32_t)c_signal_events - p_signal_events; |
Charles MacNeill |
5:89031b2f5316 | 1970 | else |
Charles MacNeill |
5:89031b2f5316 | 1971 | *pevents_delta = |
Charles MacNeill |
5:89031b2f5316 | 1972 | p_signal_events - (int32_t)c_signal_events; |
Charles MacNeill |
5:89031b2f5316 | 1973 | |
Charles MacNeill |
5:89031b2f5316 | 1974 | if (*pevents_delta > *pevents_tolerance && |
Charles MacNeill |
5:89031b2f5316 | 1975 | prange_curr->VL53LX_p_004 > min_effective_spad_count) |
Charles MacNeill |
5:89031b2f5316 | 1976 | *prange_status = VL53LX_DEVICEERROR_EVENTCONSISTENCY; |
Charles MacNeill |
5:89031b2f5316 | 1977 | else |
Charles MacNeill |
5:89031b2f5316 | 1978 | *prange_status = VL53LX_DEVICEERROR_RANGECOMPLETE; |
Charles MacNeill |
5:89031b2f5316 | 1979 | |
Charles MacNeill |
5:89031b2f5316 | 1980 | |
Charles MacNeill |
5:89031b2f5316 | 1981 | |
Charles MacNeill |
5:89031b2f5316 | 1982 | |
Charles MacNeill |
5:89031b2f5316 | 1983 | |
Charles MacNeill |
5:89031b2f5316 | 1984 | return status; |
Charles MacNeill |
5:89031b2f5316 | 1985 | } |
Charles MacNeill |
5:89031b2f5316 | 1986 | |
Charles MacNeill |
5:89031b2f5316 | 1987 | |
Charles MacNeill |
5:89031b2f5316 | 1988 | |
Charles MacNeill |
5:89031b2f5316 | 1989 | |
Charles MacNeill |
5:89031b2f5316 | 1990 | VL53LX_Error VL53LX_hist_merged_pulse_check( |
Charles MacNeill |
5:89031b2f5316 | 1991 | int16_t min_max_tolerance_mm, |
Charles MacNeill |
5:89031b2f5316 | 1992 | VL53LX_range_data_t *pdata, |
Charles MacNeill |
5:89031b2f5316 | 1993 | VL53LX_DeviceError *prange_status) |
Charles MacNeill |
5:89031b2f5316 | 1994 | { |
Charles MacNeill |
5:89031b2f5316 | 1995 | |
Charles MacNeill |
5:89031b2f5316 | 1996 | |
Charles MacNeill |
5:89031b2f5316 | 1997 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 1998 | int16_t delta_mm = 0; |
Charles MacNeill |
5:89031b2f5316 | 1999 | |
Charles MacNeill |
5:89031b2f5316 | 2000 | if (pdata->max_range_mm > pdata->min_range_mm) |
Charles MacNeill |
5:89031b2f5316 | 2001 | delta_mm = |
Charles MacNeill |
5:89031b2f5316 | 2002 | pdata->max_range_mm - pdata->min_range_mm; |
Charles MacNeill |
5:89031b2f5316 | 2003 | else |
Charles MacNeill |
5:89031b2f5316 | 2004 | delta_mm = |
Charles MacNeill |
5:89031b2f5316 | 2005 | pdata->min_range_mm - pdata->max_range_mm; |
Charles MacNeill |
5:89031b2f5316 | 2006 | |
Charles MacNeill |
5:89031b2f5316 | 2007 | if (min_max_tolerance_mm > 0 && |
Charles MacNeill |
5:89031b2f5316 | 2008 | delta_mm > min_max_tolerance_mm) |
Charles MacNeill |
5:89031b2f5316 | 2009 | *prange_status = VL53LX_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE; |
Charles MacNeill |
5:89031b2f5316 | 2010 | else |
Charles MacNeill |
5:89031b2f5316 | 2011 | *prange_status = VL53LX_DEVICEERROR_RANGECOMPLETE; |
Charles MacNeill |
5:89031b2f5316 | 2012 | |
Charles MacNeill |
5:89031b2f5316 | 2013 | return status; |
Charles MacNeill |
5:89031b2f5316 | 2014 | } |
Charles MacNeill |
5:89031b2f5316 | 2015 | |
Charles MacNeill |
5:89031b2f5316 | 2016 | |
Charles MacNeill |
5:89031b2f5316 | 2017 | |
Charles MacNeill |
5:89031b2f5316 | 2018 | |
Charles MacNeill |
5:89031b2f5316 | 2019 | VL53LX_Error VL53LX_hist_xmonitor_consistency_check( |
Charles MacNeill |
5:89031b2f5316 | 2020 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 2021 | VL53LX_zone_hist_info_t *phist_prev, |
Charles MacNeill |
5:89031b2f5316 | 2022 | VL53LX_zone_objects_t *prange_prev, |
Charles MacNeill |
5:89031b2f5316 | 2023 | VL53LX_range_data_t *prange_curr) |
Charles MacNeill |
5:89031b2f5316 | 2024 | { |
Charles MacNeill |
5:89031b2f5316 | 2025 | |
Charles MacNeill |
5:89031b2f5316 | 2026 | |
Charles MacNeill |
5:89031b2f5316 | 2027 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 2028 | VL53LX_LLDriverData_t *pdev = |
Charles MacNeill |
5:89031b2f5316 | 2029 | VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 2030 | |
Charles MacNeill |
5:89031b2f5316 | 2031 | int32_t events_delta = 0; |
Charles MacNeill |
5:89031b2f5316 | 2032 | int32_t events_tolerance = 0; |
Charles MacNeill |
5:89031b2f5316 | 2033 | uint8_t event_sigma; |
Charles MacNeill |
5:89031b2f5316 | 2034 | uint16_t min_spad_count; |
Charles MacNeill |
5:89031b2f5316 | 2035 | |
Charles MacNeill |
5:89031b2f5316 | 2036 | event_sigma = pdev->histpostprocess.algo__crosstalk_detect_event_sigma; |
Charles MacNeill |
5:89031b2f5316 | 2037 | min_spad_count = |
Charles MacNeill |
5:89031b2f5316 | 2038 | pdev->histpostprocess.algo__consistency_check__event_min_spad_count; |
Charles MacNeill |
5:89031b2f5316 | 2039 | |
Charles MacNeill |
5:89031b2f5316 | 2040 | if (prange_curr->range_status == VL53LX_DEVICEERROR_RANGECOMPLETE || |
Charles MacNeill |
5:89031b2f5316 | 2041 | prange_curr->range_status == |
Charles MacNeill |
5:89031b2f5316 | 2042 | VL53LX_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK || |
Charles MacNeill |
5:89031b2f5316 | 2043 | prange_curr->range_status == |
Charles MacNeill |
5:89031b2f5316 | 2044 | VL53LX_DEVICEERROR_EVENTCONSISTENCY) { |
Charles MacNeill |
5:89031b2f5316 | 2045 | |
Charles MacNeill |
5:89031b2f5316 | 2046 | if (prange_prev->xmonitor.range_status == |
Charles MacNeill |
5:89031b2f5316 | 2047 | VL53LX_DEVICEERROR_RANGECOMPLETE || |
Charles MacNeill |
5:89031b2f5316 | 2048 | prange_prev->xmonitor.range_status == |
Charles MacNeill |
5:89031b2f5316 | 2049 | VL53LX_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK || |
Charles MacNeill |
5:89031b2f5316 | 2050 | prange_prev->xmonitor.range_status == |
Charles MacNeill |
5:89031b2f5316 | 2051 | VL53LX_DEVICEERROR_EVENTCONSISTENCY) { |
Charles MacNeill |
5:89031b2f5316 | 2052 | |
Charles MacNeill |
5:89031b2f5316 | 2053 | prange_curr->range_status = |
Charles MacNeill |
5:89031b2f5316 | 2054 | VL53LX_DEVICEERROR_RANGECOMPLETE; |
Charles MacNeill |
5:89031b2f5316 | 2055 | |
Charles MacNeill |
5:89031b2f5316 | 2056 | status = |
Charles MacNeill |
5:89031b2f5316 | 2057 | VL53LX_hist_events_consistency_check( |
Charles MacNeill |
5:89031b2f5316 | 2058 | event_sigma, |
Charles MacNeill |
5:89031b2f5316 | 2059 | min_spad_count, |
Charles MacNeill |
5:89031b2f5316 | 2060 | phist_prev, |
Charles MacNeill |
5:89031b2f5316 | 2061 | &(prange_prev->xmonitor), |
Charles MacNeill |
5:89031b2f5316 | 2062 | prange_curr, |
Charles MacNeill |
5:89031b2f5316 | 2063 | &events_tolerance, |
Charles MacNeill |
5:89031b2f5316 | 2064 | &events_delta, |
Charles MacNeill |
5:89031b2f5316 | 2065 | &(prange_curr->range_status)); |
Charles MacNeill |
5:89031b2f5316 | 2066 | |
Charles MacNeill |
5:89031b2f5316 | 2067 | } |
Charles MacNeill |
5:89031b2f5316 | 2068 | } |
Charles MacNeill |
5:89031b2f5316 | 2069 | |
Charles MacNeill |
5:89031b2f5316 | 2070 | return status; |
Charles MacNeill |
5:89031b2f5316 | 2071 | } |
Charles MacNeill |
5:89031b2f5316 | 2072 | |
Charles MacNeill |
5:89031b2f5316 | 2073 | |
Charles MacNeill |
5:89031b2f5316 | 2074 | |
Charles MacNeill |
5:89031b2f5316 | 2075 | |
Charles MacNeill |
5:89031b2f5316 | 2076 | VL53LX_Error VL53LX_hist_wrap_dmax( |
Charles MacNeill |
5:89031b2f5316 | 2077 | VL53LX_hist_post_process_config_t *phistpostprocess, |
Charles MacNeill |
5:89031b2f5316 | 2078 | VL53LX_histogram_bin_data_t *pcurrent, |
Charles MacNeill |
5:89031b2f5316 | 2079 | int16_t *pwrap_dmax_mm) |
Charles MacNeill |
5:89031b2f5316 | 2080 | { |
Charles MacNeill |
5:89031b2f5316 | 2081 | |
Charles MacNeill |
5:89031b2f5316 | 2082 | |
Charles MacNeill |
5:89031b2f5316 | 2083 | |
Charles MacNeill |
5:89031b2f5316 | 2084 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 2085 | |
Charles MacNeill |
5:89031b2f5316 | 2086 | uint32_t pll_period_mm = 0; |
Charles MacNeill |
5:89031b2f5316 | 2087 | uint32_t wrap_dmax_phase = 0; |
Charles MacNeill |
5:89031b2f5316 | 2088 | uint32_t range_mm = 0; |
Charles MacNeill |
5:89031b2f5316 | 2089 | |
Charles MacNeill |
5:89031b2f5316 | 2090 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 2091 | |
Charles MacNeill |
5:89031b2f5316 | 2092 | *pwrap_dmax_mm = 0; |
Charles MacNeill |
5:89031b2f5316 | 2093 | |
Charles MacNeill |
5:89031b2f5316 | 2094 | |
Charles MacNeill |
5:89031b2f5316 | 2095 | if (pcurrent->VL53LX_p_015 != 0) { |
Charles MacNeill |
5:89031b2f5316 | 2096 | |
Charles MacNeill |
5:89031b2f5316 | 2097 | |
Charles MacNeill |
5:89031b2f5316 | 2098 | |
Charles MacNeill |
5:89031b2f5316 | 2099 | pll_period_mm = |
Charles MacNeill |
5:89031b2f5316 | 2100 | VL53LX_calc_pll_period_mm( |
Charles MacNeill |
5:89031b2f5316 | 2101 | pcurrent->VL53LX_p_015); |
Charles MacNeill |
5:89031b2f5316 | 2102 | |
Charles MacNeill |
5:89031b2f5316 | 2103 | |
Charles MacNeill |
5:89031b2f5316 | 2104 | |
Charles MacNeill |
5:89031b2f5316 | 2105 | wrap_dmax_phase = |
Charles MacNeill |
5:89031b2f5316 | 2106 | (uint32_t)phistpostprocess->valid_phase_high << 8; |
Charles MacNeill |
5:89031b2f5316 | 2107 | |
Charles MacNeill |
5:89031b2f5316 | 2108 | |
Charles MacNeill |
5:89031b2f5316 | 2109 | |
Charles MacNeill |
5:89031b2f5316 | 2110 | range_mm = wrap_dmax_phase * pll_period_mm; |
Charles MacNeill |
5:89031b2f5316 | 2111 | range_mm = (range_mm + (1<<14)) >> 15; |
Charles MacNeill |
5:89031b2f5316 | 2112 | |
Charles MacNeill |
5:89031b2f5316 | 2113 | *pwrap_dmax_mm = (int16_t)range_mm; |
Charles MacNeill |
5:89031b2f5316 | 2114 | } |
Charles MacNeill |
5:89031b2f5316 | 2115 | |
Charles MacNeill |
5:89031b2f5316 | 2116 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 2117 | |
Charles MacNeill |
5:89031b2f5316 | 2118 | return status; |
Charles MacNeill |
5:89031b2f5316 | 2119 | } |
Charles MacNeill |
5:89031b2f5316 | 2120 | |
Charles MacNeill |
5:89031b2f5316 | 2121 | |
Charles MacNeill |
5:89031b2f5316 | 2122 | void VL53LX_hist_combine_mm1_mm2_offsets( |
Charles MacNeill |
5:89031b2f5316 | 2123 | int16_t mm1_offset_mm, |
Charles MacNeill |
5:89031b2f5316 | 2124 | int16_t mm2_offset_mm, |
Charles MacNeill |
5:89031b2f5316 | 2125 | uint8_t encoded_mm_roi_centre, |
Charles MacNeill |
5:89031b2f5316 | 2126 | uint8_t encoded_mm_roi_size, |
Charles MacNeill |
5:89031b2f5316 | 2127 | uint8_t encoded_zone_centre, |
Charles MacNeill |
5:89031b2f5316 | 2128 | uint8_t encoded_zone_size, |
Charles MacNeill |
5:89031b2f5316 | 2129 | VL53LX_additional_offset_cal_data_t *pcal_data, |
Charles MacNeill |
5:89031b2f5316 | 2130 | uint8_t *pgood_spads, |
Charles MacNeill |
5:89031b2f5316 | 2131 | uint16_t aperture_attenuation, |
Charles MacNeill |
5:89031b2f5316 | 2132 | int16_t *prange_offset_mm) |
Charles MacNeill |
5:89031b2f5316 | 2133 | { |
Charles MacNeill |
5:89031b2f5316 | 2134 | |
Charles MacNeill |
5:89031b2f5316 | 2135 | |
Charles MacNeill |
5:89031b2f5316 | 2136 | |
Charles MacNeill |
5:89031b2f5316 | 2137 | uint16_t max_mm_inner_effective_spads = 0; |
Charles MacNeill |
5:89031b2f5316 | 2138 | uint16_t max_mm_outer_effective_spads = 0; |
Charles MacNeill |
5:89031b2f5316 | 2139 | uint16_t mm_inner_effective_spads = 0; |
Charles MacNeill |
5:89031b2f5316 | 2140 | uint16_t mm_outer_effective_spads = 0; |
Charles MacNeill |
5:89031b2f5316 | 2141 | |
Charles MacNeill |
5:89031b2f5316 | 2142 | uint32_t scaled_mm1_peak_rate_mcps = 0; |
Charles MacNeill |
5:89031b2f5316 | 2143 | uint32_t scaled_mm2_peak_rate_mcps = 0; |
Charles MacNeill |
5:89031b2f5316 | 2144 | |
Charles MacNeill |
5:89031b2f5316 | 2145 | int32_t tmp0 = 0; |
Charles MacNeill |
5:89031b2f5316 | 2146 | int32_t tmp1 = 0; |
Charles MacNeill |
5:89031b2f5316 | 2147 | |
Charles MacNeill |
5:89031b2f5316 | 2148 | |
Charles MacNeill |
5:89031b2f5316 | 2149 | |
Charles MacNeill |
5:89031b2f5316 | 2150 | VL53LX_calc_mm_effective_spads( |
Charles MacNeill |
5:89031b2f5316 | 2151 | encoded_mm_roi_centre, |
Charles MacNeill |
5:89031b2f5316 | 2152 | encoded_mm_roi_size, |
Charles MacNeill |
5:89031b2f5316 | 2153 | 0xC7, |
Charles MacNeill |
5:89031b2f5316 | 2154 | 0xFF, |
Charles MacNeill |
5:89031b2f5316 | 2155 | pgood_spads, |
Charles MacNeill |
5:89031b2f5316 | 2156 | aperture_attenuation, |
Charles MacNeill |
5:89031b2f5316 | 2157 | &max_mm_inner_effective_spads, |
Charles MacNeill |
5:89031b2f5316 | 2158 | &max_mm_outer_effective_spads); |
Charles MacNeill |
5:89031b2f5316 | 2159 | |
Charles MacNeill |
5:89031b2f5316 | 2160 | if ((max_mm_inner_effective_spads == 0) || |
Charles MacNeill |
5:89031b2f5316 | 2161 | (max_mm_outer_effective_spads == 0)) |
Charles MacNeill |
5:89031b2f5316 | 2162 | goto FAIL; |
Charles MacNeill |
5:89031b2f5316 | 2163 | |
Charles MacNeill |
5:89031b2f5316 | 2164 | |
Charles MacNeill |
5:89031b2f5316 | 2165 | VL53LX_calc_mm_effective_spads( |
Charles MacNeill |
5:89031b2f5316 | 2166 | encoded_mm_roi_centre, |
Charles MacNeill |
5:89031b2f5316 | 2167 | encoded_mm_roi_size, |
Charles MacNeill |
5:89031b2f5316 | 2168 | encoded_zone_centre, |
Charles MacNeill |
5:89031b2f5316 | 2169 | encoded_zone_size, |
Charles MacNeill |
5:89031b2f5316 | 2170 | pgood_spads, |
Charles MacNeill |
5:89031b2f5316 | 2171 | aperture_attenuation, |
Charles MacNeill |
5:89031b2f5316 | 2172 | &mm_inner_effective_spads, |
Charles MacNeill |
5:89031b2f5316 | 2173 | &mm_outer_effective_spads); |
Charles MacNeill |
5:89031b2f5316 | 2174 | |
Charles MacNeill |
5:89031b2f5316 | 2175 | |
Charles MacNeill |
5:89031b2f5316 | 2176 | |
Charles MacNeill |
5:89031b2f5316 | 2177 | scaled_mm1_peak_rate_mcps = |
Charles MacNeill |
5:89031b2f5316 | 2178 | (uint32_t)pcal_data->result__mm_inner_peak_signal_count_rtn_mcps; |
Charles MacNeill |
5:89031b2f5316 | 2179 | scaled_mm1_peak_rate_mcps *= (uint32_t)mm_inner_effective_spads; |
Charles MacNeill |
5:89031b2f5316 | 2180 | scaled_mm1_peak_rate_mcps /= (uint32_t)max_mm_inner_effective_spads; |
Charles MacNeill |
5:89031b2f5316 | 2181 | |
Charles MacNeill |
5:89031b2f5316 | 2182 | scaled_mm2_peak_rate_mcps = |
Charles MacNeill |
5:89031b2f5316 | 2183 | (uint32_t)pcal_data->result__mm_outer_peak_signal_count_rtn_mcps; |
Charles MacNeill |
5:89031b2f5316 | 2184 | scaled_mm2_peak_rate_mcps *= (uint32_t)mm_outer_effective_spads; |
Charles MacNeill |
5:89031b2f5316 | 2185 | scaled_mm2_peak_rate_mcps /= (uint32_t)max_mm_outer_effective_spads; |
Charles MacNeill |
5:89031b2f5316 | 2186 | |
Charles MacNeill |
5:89031b2f5316 | 2187 | |
Charles MacNeill |
5:89031b2f5316 | 2188 | |
Charles MacNeill |
5:89031b2f5316 | 2189 | tmp0 = ((int32_t)mm1_offset_mm * (int32_t)scaled_mm1_peak_rate_mcps); |
Charles MacNeill |
5:89031b2f5316 | 2190 | tmp0 += ((int32_t)mm2_offset_mm * (int32_t)scaled_mm2_peak_rate_mcps); |
Charles MacNeill |
5:89031b2f5316 | 2191 | |
Charles MacNeill |
5:89031b2f5316 | 2192 | tmp1 = (int32_t)scaled_mm1_peak_rate_mcps + |
Charles MacNeill |
5:89031b2f5316 | 2193 | (int32_t)scaled_mm2_peak_rate_mcps; |
Charles MacNeill |
5:89031b2f5316 | 2194 | |
Charles MacNeill |
5:89031b2f5316 | 2195 | |
Charles MacNeill |
5:89031b2f5316 | 2196 | |
Charles MacNeill |
5:89031b2f5316 | 2197 | if (tmp1 != 0) |
Charles MacNeill |
5:89031b2f5316 | 2198 | tmp0 = (tmp0 * 4) / tmp1; |
Charles MacNeill |
5:89031b2f5316 | 2199 | FAIL: |
Charles MacNeill |
5:89031b2f5316 | 2200 | *prange_offset_mm = (int16_t)tmp0; |
Charles MacNeill |
5:89031b2f5316 | 2201 | |
Charles MacNeill |
5:89031b2f5316 | 2202 | } |
Charles MacNeill |
5:89031b2f5316 | 2203 | |
Charles MacNeill |
5:89031b2f5316 | 2204 | |
Charles MacNeill |
5:89031b2f5316 | 2205 | VL53LX_Error VL53LX_hist_xtalk_extract_calc_window( |
Charles MacNeill |
5:89031b2f5316 | 2206 | int16_t target_distance_mm, |
Charles MacNeill |
5:89031b2f5316 | 2207 | uint16_t target_width_oversize, |
Charles MacNeill |
5:89031b2f5316 | 2208 | VL53LX_histogram_bin_data_t *phist_bins, |
Charles MacNeill |
5:89031b2f5316 | 2209 | VL53LX_hist_xtalk_extract_data_t *pxtalk_data) |
Charles MacNeill |
5:89031b2f5316 | 2210 | { |
Charles MacNeill |
5:89031b2f5316 | 2211 | |
Charles MacNeill |
5:89031b2f5316 | 2212 | |
Charles MacNeill |
5:89031b2f5316 | 2213 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 2214 | |
Charles MacNeill |
5:89031b2f5316 | 2215 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 2216 | |
Charles MacNeill |
5:89031b2f5316 | 2217 | |
Charles MacNeill |
5:89031b2f5316 | 2218 | pxtalk_data->pll_period_mm = |
Charles MacNeill |
5:89031b2f5316 | 2219 | VL53LX_calc_pll_period_mm(phist_bins->VL53LX_p_015); |
Charles MacNeill |
5:89031b2f5316 | 2220 | if (pxtalk_data->pll_period_mm == 0) |
Charles MacNeill |
5:89031b2f5316 | 2221 | pxtalk_data->pll_period_mm = 1; |
Charles MacNeill |
5:89031b2f5316 | 2222 | |
Charles MacNeill |
5:89031b2f5316 | 2223 | |
Charles MacNeill |
5:89031b2f5316 | 2224 | pxtalk_data->xtalk_width_phase = |
Charles MacNeill |
5:89031b2f5316 | 2225 | (int32_t)phist_bins->vcsel_width * 128; |
Charles MacNeill |
5:89031b2f5316 | 2226 | pxtalk_data->target_width_phase = |
Charles MacNeill |
5:89031b2f5316 | 2227 | pxtalk_data->xtalk_width_phase + |
Charles MacNeill |
5:89031b2f5316 | 2228 | (int32_t)target_width_oversize * 128; |
Charles MacNeill |
5:89031b2f5316 | 2229 | |
Charles MacNeill |
5:89031b2f5316 | 2230 | |
Charles MacNeill |
5:89031b2f5316 | 2231 | |
Charles MacNeill |
5:89031b2f5316 | 2232 | pxtalk_data->xtalk_start_phase = |
Charles MacNeill |
5:89031b2f5316 | 2233 | (int32_t)phist_bins->zero_distance_phase - |
Charles MacNeill |
5:89031b2f5316 | 2234 | (pxtalk_data->xtalk_width_phase / 2); |
Charles MacNeill |
5:89031b2f5316 | 2235 | pxtalk_data->xtalk_end_phase = |
Charles MacNeill |
5:89031b2f5316 | 2236 | (int32_t)pxtalk_data->xtalk_start_phase + |
Charles MacNeill |
5:89031b2f5316 | 2237 | pxtalk_data->xtalk_width_phase; |
Charles MacNeill |
5:89031b2f5316 | 2238 | |
Charles MacNeill |
5:89031b2f5316 | 2239 | if (pxtalk_data->xtalk_start_phase < 0) |
Charles MacNeill |
5:89031b2f5316 | 2240 | pxtalk_data->xtalk_start_phase = 0; |
Charles MacNeill |
5:89031b2f5316 | 2241 | |
Charles MacNeill |
5:89031b2f5316 | 2242 | |
Charles MacNeill |
5:89031b2f5316 | 2243 | |
Charles MacNeill |
5:89031b2f5316 | 2244 | |
Charles MacNeill |
5:89031b2f5316 | 2245 | pxtalk_data->VL53LX_p_012 = |
Charles MacNeill |
5:89031b2f5316 | 2246 | (uint8_t)(pxtalk_data->xtalk_start_phase / 2048); |
Charles MacNeill |
5:89031b2f5316 | 2247 | |
Charles MacNeill |
5:89031b2f5316 | 2248 | |
Charles MacNeill |
5:89031b2f5316 | 2249 | pxtalk_data->VL53LX_p_013 = |
Charles MacNeill |
5:89031b2f5316 | 2250 | (uint8_t)((pxtalk_data->xtalk_end_phase + 2047) / 2048); |
Charles MacNeill |
5:89031b2f5316 | 2251 | |
Charles MacNeill |
5:89031b2f5316 | 2252 | |
Charles MacNeill |
5:89031b2f5316 | 2253 | |
Charles MacNeill |
5:89031b2f5316 | 2254 | pxtalk_data->target_start_phase = |
Charles MacNeill |
5:89031b2f5316 | 2255 | (int32_t)target_distance_mm * 2048 * 16; |
Charles MacNeill |
5:89031b2f5316 | 2256 | pxtalk_data->target_start_phase += |
Charles MacNeill |
5:89031b2f5316 | 2257 | ((int32_t)pxtalk_data->pll_period_mm / 2); |
Charles MacNeill |
5:89031b2f5316 | 2258 | pxtalk_data->target_start_phase /= (int32_t)pxtalk_data->pll_period_mm; |
Charles MacNeill |
5:89031b2f5316 | 2259 | pxtalk_data->target_start_phase += |
Charles MacNeill |
5:89031b2f5316 | 2260 | (int32_t)phist_bins->zero_distance_phase; |
Charles MacNeill |
5:89031b2f5316 | 2261 | |
Charles MacNeill |
5:89031b2f5316 | 2262 | |
Charles MacNeill |
5:89031b2f5316 | 2263 | |
Charles MacNeill |
5:89031b2f5316 | 2264 | pxtalk_data->target_start_phase -= |
Charles MacNeill |
5:89031b2f5316 | 2265 | (pxtalk_data->target_width_phase / 2); |
Charles MacNeill |
5:89031b2f5316 | 2266 | pxtalk_data->target_end_phase = |
Charles MacNeill |
5:89031b2f5316 | 2267 | (int32_t)pxtalk_data->target_start_phase + |
Charles MacNeill |
5:89031b2f5316 | 2268 | pxtalk_data->target_width_phase; |
Charles MacNeill |
5:89031b2f5316 | 2269 | |
Charles MacNeill |
5:89031b2f5316 | 2270 | if (pxtalk_data->target_start_phase < 0) |
Charles MacNeill |
5:89031b2f5316 | 2271 | pxtalk_data->target_start_phase = 0; |
Charles MacNeill |
5:89031b2f5316 | 2272 | |
Charles MacNeill |
5:89031b2f5316 | 2273 | |
Charles MacNeill |
5:89031b2f5316 | 2274 | pxtalk_data->target_start = |
Charles MacNeill |
5:89031b2f5316 | 2275 | (uint8_t)(pxtalk_data->target_start_phase / 2048); |
Charles MacNeill |
5:89031b2f5316 | 2276 | |
Charles MacNeill |
5:89031b2f5316 | 2277 | |
Charles MacNeill |
5:89031b2f5316 | 2278 | if (pxtalk_data->VL53LX_p_013 > (pxtalk_data->target_start-1)) |
Charles MacNeill |
5:89031b2f5316 | 2279 | pxtalk_data->VL53LX_p_013 = pxtalk_data->target_start-1; |
Charles MacNeill |
5:89031b2f5316 | 2280 | |
Charles MacNeill |
5:89031b2f5316 | 2281 | |
Charles MacNeill |
5:89031b2f5316 | 2282 | pxtalk_data->effective_width = |
Charles MacNeill |
5:89031b2f5316 | 2283 | (2048 * ((int32_t)pxtalk_data->VL53LX_p_013+1)); |
Charles MacNeill |
5:89031b2f5316 | 2284 | pxtalk_data->effective_width -= pxtalk_data->xtalk_start_phase; |
Charles MacNeill |
5:89031b2f5316 | 2285 | |
Charles MacNeill |
5:89031b2f5316 | 2286 | |
Charles MacNeill |
5:89031b2f5316 | 2287 | if (pxtalk_data->effective_width > pxtalk_data->xtalk_width_phase) |
Charles MacNeill |
5:89031b2f5316 | 2288 | pxtalk_data->effective_width = pxtalk_data->xtalk_width_phase; |
Charles MacNeill |
5:89031b2f5316 | 2289 | |
Charles MacNeill |
5:89031b2f5316 | 2290 | if (pxtalk_data->effective_width < 1) |
Charles MacNeill |
5:89031b2f5316 | 2291 | pxtalk_data->effective_width = 1; |
Charles MacNeill |
5:89031b2f5316 | 2292 | |
Charles MacNeill |
5:89031b2f5316 | 2293 | |
Charles MacNeill |
5:89031b2f5316 | 2294 | pxtalk_data->event_scaler = pxtalk_data->xtalk_width_phase * 1000; |
Charles MacNeill |
5:89031b2f5316 | 2295 | pxtalk_data->event_scaler += (pxtalk_data->effective_width / 2); |
Charles MacNeill |
5:89031b2f5316 | 2296 | pxtalk_data->event_scaler /= pxtalk_data->effective_width; |
Charles MacNeill |
5:89031b2f5316 | 2297 | |
Charles MacNeill |
5:89031b2f5316 | 2298 | |
Charles MacNeill |
5:89031b2f5316 | 2299 | if (pxtalk_data->event_scaler < 1000) |
Charles MacNeill |
5:89031b2f5316 | 2300 | pxtalk_data->event_scaler = 1000; |
Charles MacNeill |
5:89031b2f5316 | 2301 | |
Charles MacNeill |
5:89031b2f5316 | 2302 | if (pxtalk_data->event_scaler > 4000) |
Charles MacNeill |
5:89031b2f5316 | 2303 | pxtalk_data->event_scaler = 4000; |
Charles MacNeill |
5:89031b2f5316 | 2304 | |
Charles MacNeill |
5:89031b2f5316 | 2305 | |
Charles MacNeill |
5:89031b2f5316 | 2306 | pxtalk_data->event_scaler_sum += pxtalk_data->event_scaler; |
Charles MacNeill |
5:89031b2f5316 | 2307 | |
Charles MacNeill |
5:89031b2f5316 | 2308 | |
Charles MacNeill |
5:89031b2f5316 | 2309 | pxtalk_data->peak_duration_us_sum += |
Charles MacNeill |
5:89031b2f5316 | 2310 | (uint32_t)phist_bins->peak_duration_us; |
Charles MacNeill |
5:89031b2f5316 | 2311 | |
Charles MacNeill |
5:89031b2f5316 | 2312 | |
Charles MacNeill |
5:89031b2f5316 | 2313 | pxtalk_data->effective_spad_count_sum += |
Charles MacNeill |
5:89031b2f5316 | 2314 | (uint32_t)phist_bins->result__dss_actual_effective_spads; |
Charles MacNeill |
5:89031b2f5316 | 2315 | |
Charles MacNeill |
5:89031b2f5316 | 2316 | |
Charles MacNeill |
5:89031b2f5316 | 2317 | pxtalk_data->zero_distance_phase_sum += |
Charles MacNeill |
5:89031b2f5316 | 2318 | (uint32_t)phist_bins->zero_distance_phase; |
Charles MacNeill |
5:89031b2f5316 | 2319 | |
Charles MacNeill |
5:89031b2f5316 | 2320 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 2321 | |
Charles MacNeill |
5:89031b2f5316 | 2322 | return status; |
Charles MacNeill |
5:89031b2f5316 | 2323 | } |
Charles MacNeill |
5:89031b2f5316 | 2324 | |
Charles MacNeill |
5:89031b2f5316 | 2325 | |
Charles MacNeill |
5:89031b2f5316 | 2326 | VL53LX_Error VL53LX_hist_xtalk_extract_calc_event_sums( |
Charles MacNeill |
5:89031b2f5316 | 2327 | VL53LX_histogram_bin_data_t *phist_bins, |
Charles MacNeill |
5:89031b2f5316 | 2328 | VL53LX_hist_xtalk_extract_data_t *pxtalk_data) |
Charles MacNeill |
5:89031b2f5316 | 2329 | { |
Charles MacNeill |
5:89031b2f5316 | 2330 | |
Charles MacNeill |
5:89031b2f5316 | 2331 | |
Charles MacNeill |
5:89031b2f5316 | 2332 | |
Charles MacNeill |
5:89031b2f5316 | 2333 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 2334 | |
Charles MacNeill |
5:89031b2f5316 | 2335 | uint8_t lb = 0; |
Charles MacNeill |
5:89031b2f5316 | 2336 | uint8_t i = 0; |
Charles MacNeill |
5:89031b2f5316 | 2337 | |
Charles MacNeill |
5:89031b2f5316 | 2338 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 2339 | |
Charles MacNeill |
5:89031b2f5316 | 2340 | |
Charles MacNeill |
5:89031b2f5316 | 2341 | |
Charles MacNeill |
5:89031b2f5316 | 2342 | for (lb = pxtalk_data->VL53LX_p_012; |
Charles MacNeill |
5:89031b2f5316 | 2343 | lb <= pxtalk_data->VL53LX_p_013; |
Charles MacNeill |
5:89031b2f5316 | 2344 | lb++) { |
Charles MacNeill |
5:89031b2f5316 | 2345 | |
Charles MacNeill |
5:89031b2f5316 | 2346 | |
Charles MacNeill |
5:89031b2f5316 | 2347 | i = (lb + phist_bins->number_of_ambient_bins + |
Charles MacNeill |
5:89031b2f5316 | 2348 | phist_bins->VL53LX_p_021) % |
Charles MacNeill |
5:89031b2f5316 | 2349 | phist_bins->VL53LX_p_021; |
Charles MacNeill |
5:89031b2f5316 | 2350 | |
Charles MacNeill |
5:89031b2f5316 | 2351 | |
Charles MacNeill |
5:89031b2f5316 | 2352 | pxtalk_data->signal_events_sum += phist_bins->bin_data[i]; |
Charles MacNeill |
5:89031b2f5316 | 2353 | pxtalk_data->signal_events_sum -= |
Charles MacNeill |
5:89031b2f5316 | 2354 | phist_bins->VL53LX_p_028; |
Charles MacNeill |
5:89031b2f5316 | 2355 | } |
Charles MacNeill |
5:89031b2f5316 | 2356 | |
Charles MacNeill |
5:89031b2f5316 | 2357 | |
Charles MacNeill |
5:89031b2f5316 | 2358 | |
Charles MacNeill |
5:89031b2f5316 | 2359 | for (lb = 0; lb < VL53LX_XTALK_HISTO_BINS && |
Charles MacNeill |
5:89031b2f5316 | 2360 | lb < phist_bins->VL53LX_p_021; lb++) { |
Charles MacNeill |
5:89031b2f5316 | 2361 | |
Charles MacNeill |
5:89031b2f5316 | 2362 | |
Charles MacNeill |
5:89031b2f5316 | 2363 | i = (lb + phist_bins->number_of_ambient_bins + |
Charles MacNeill |
5:89031b2f5316 | 2364 | phist_bins->VL53LX_p_021) % |
Charles MacNeill |
5:89031b2f5316 | 2365 | phist_bins->VL53LX_p_021; |
Charles MacNeill |
5:89031b2f5316 | 2366 | |
Charles MacNeill |
5:89031b2f5316 | 2367 | |
Charles MacNeill |
5:89031b2f5316 | 2368 | pxtalk_data->bin_data_sums[lb] += phist_bins->bin_data[i]; |
Charles MacNeill |
5:89031b2f5316 | 2369 | pxtalk_data->bin_data_sums[lb] -= |
Charles MacNeill |
5:89031b2f5316 | 2370 | phist_bins->VL53LX_p_028; |
Charles MacNeill |
5:89031b2f5316 | 2371 | } |
Charles MacNeill |
5:89031b2f5316 | 2372 | |
Charles MacNeill |
5:89031b2f5316 | 2373 | pxtalk_data->sample_count += 1; |
Charles MacNeill |
5:89031b2f5316 | 2374 | |
Charles MacNeill |
5:89031b2f5316 | 2375 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 2376 | |
Charles MacNeill |
5:89031b2f5316 | 2377 | return status; |
Charles MacNeill |
5:89031b2f5316 | 2378 | } |
Charles MacNeill |
5:89031b2f5316 | 2379 | |
Charles MacNeill |
5:89031b2f5316 | 2380 | |
Charles MacNeill |
5:89031b2f5316 | 2381 | VL53LX_Error VL53LX_hist_xtalk_extract_calc_rate_per_spad( |
Charles MacNeill |
5:89031b2f5316 | 2382 | VL53LX_hist_xtalk_extract_data_t *pxtalk_data) |
Charles MacNeill |
5:89031b2f5316 | 2383 | { |
Charles MacNeill |
5:89031b2f5316 | 2384 | |
Charles MacNeill |
5:89031b2f5316 | 2385 | |
Charles MacNeill |
5:89031b2f5316 | 2386 | |
Charles MacNeill |
5:89031b2f5316 | 2387 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 2388 | |
Charles MacNeill |
5:89031b2f5316 | 2389 | uint64_t tmp64_0 = 0; |
Charles MacNeill |
5:89031b2f5316 | 2390 | uint64_t tmp64_1 = 0; |
Charles MacNeill |
5:89031b2f5316 | 2391 | uint64_t xtalk_per_spad = 0; |
Charles MacNeill |
5:89031b2f5316 | 2392 | |
Charles MacNeill |
5:89031b2f5316 | 2393 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 2394 | |
Charles MacNeill |
5:89031b2f5316 | 2395 | |
Charles MacNeill |
5:89031b2f5316 | 2396 | |
Charles MacNeill |
5:89031b2f5316 | 2397 | |
Charles MacNeill |
5:89031b2f5316 | 2398 | |
Charles MacNeill |
5:89031b2f5316 | 2399 | |
Charles MacNeill |
5:89031b2f5316 | 2400 | if (pxtalk_data->signal_events_sum > 0) { |
Charles MacNeill |
5:89031b2f5316 | 2401 | tmp64_0 = |
Charles MacNeill |
5:89031b2f5316 | 2402 | ((uint64_t)pxtalk_data->signal_events_sum * |
Charles MacNeill |
5:89031b2f5316 | 2403 | (uint64_t)pxtalk_data->sample_count * |
Charles MacNeill |
5:89031b2f5316 | 2404 | (uint64_t)pxtalk_data->event_scaler_avg * 256U) << 9U; |
Charles MacNeill |
5:89031b2f5316 | 2405 | tmp64_1 = |
Charles MacNeill |
5:89031b2f5316 | 2406 | (uint64_t)pxtalk_data->effective_spad_count_sum * |
Charles MacNeill |
5:89031b2f5316 | 2407 | (uint64_t)pxtalk_data->peak_duration_us_sum; |
Charles MacNeill |
5:89031b2f5316 | 2408 | |
Charles MacNeill |
5:89031b2f5316 | 2409 | |
Charles MacNeill |
5:89031b2f5316 | 2410 | |
Charles MacNeill |
5:89031b2f5316 | 2411 | if (tmp64_1 > 0U) { |
Charles MacNeill |
5:89031b2f5316 | 2412 | |
Charles MacNeill |
5:89031b2f5316 | 2413 | tmp64_0 = tmp64_0 + (tmp64_1 >> 1U); |
Charles MacNeill |
5:89031b2f5316 | 2414 | xtalk_per_spad = do_division_u(tmp64_0, tmp64_1); |
Charles MacNeill |
5:89031b2f5316 | 2415 | } else { |
Charles MacNeill |
5:89031b2f5316 | 2416 | xtalk_per_spad = (uint64_t)tmp64_0; |
Charles MacNeill |
5:89031b2f5316 | 2417 | } |
Charles MacNeill |
5:89031b2f5316 | 2418 | |
Charles MacNeill |
5:89031b2f5316 | 2419 | } else { |
Charles MacNeill |
5:89031b2f5316 | 2420 | status = VL53LX_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL; |
Charles MacNeill |
5:89031b2f5316 | 2421 | } |
Charles MacNeill |
5:89031b2f5316 | 2422 | |
Charles MacNeill |
5:89031b2f5316 | 2423 | pxtalk_data->xtalk_rate_kcps_per_spad = (uint32_t)xtalk_per_spad; |
Charles MacNeill |
5:89031b2f5316 | 2424 | |
Charles MacNeill |
5:89031b2f5316 | 2425 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 2426 | |
Charles MacNeill |
5:89031b2f5316 | 2427 | return status; |
Charles MacNeill |
5:89031b2f5316 | 2428 | } |
Charles MacNeill |
5:89031b2f5316 | 2429 | |
Charles MacNeill |
5:89031b2f5316 | 2430 | |
Charles MacNeill |
5:89031b2f5316 | 2431 | VL53LX_Error VL53LX_hist_xtalk_extract_calc_shape( |
Charles MacNeill |
5:89031b2f5316 | 2432 | VL53LX_hist_xtalk_extract_data_t *pxtalk_data, |
Charles MacNeill |
5:89031b2f5316 | 2433 | VL53LX_xtalk_histogram_shape_t *pxtalk_shape) |
Charles MacNeill |
5:89031b2f5316 | 2434 | { |
Charles MacNeill |
5:89031b2f5316 | 2435 | |
Charles MacNeill |
5:89031b2f5316 | 2436 | |
Charles MacNeill |
5:89031b2f5316 | 2437 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 2438 | |
Charles MacNeill |
5:89031b2f5316 | 2439 | int32_t lb = 0; |
Charles MacNeill |
5:89031b2f5316 | 2440 | uint64_t total_events = 0U; |
Charles MacNeill |
5:89031b2f5316 | 2441 | uint64_t tmp64_0 = 0U; |
Charles MacNeill |
5:89031b2f5316 | 2442 | int32_t remaining_area = 1024; |
Charles MacNeill |
5:89031b2f5316 | 2443 | |
Charles MacNeill |
5:89031b2f5316 | 2444 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 2445 | |
Charles MacNeill |
5:89031b2f5316 | 2446 | |
Charles MacNeill |
5:89031b2f5316 | 2447 | |
Charles MacNeill |
5:89031b2f5316 | 2448 | pxtalk_shape->VL53LX_p_019 = 0; |
Charles MacNeill |
5:89031b2f5316 | 2449 | pxtalk_shape->VL53LX_p_020 = VL53LX_XTALK_HISTO_BINS; |
Charles MacNeill |
5:89031b2f5316 | 2450 | pxtalk_shape->VL53LX_p_021 = VL53LX_XTALK_HISTO_BINS; |
Charles MacNeill |
5:89031b2f5316 | 2451 | |
Charles MacNeill |
5:89031b2f5316 | 2452 | pxtalk_shape->zero_distance_phase = |
Charles MacNeill |
5:89031b2f5316 | 2453 | (uint16_t)pxtalk_data->zero_distance_phase_avg; |
Charles MacNeill |
5:89031b2f5316 | 2454 | pxtalk_shape->phasecal_result__reference_phase = |
Charles MacNeill |
5:89031b2f5316 | 2455 | (uint16_t)pxtalk_data->zero_distance_phase_avg + (3*2048); |
Charles MacNeill |
5:89031b2f5316 | 2456 | |
Charles MacNeill |
5:89031b2f5316 | 2457 | |
Charles MacNeill |
5:89031b2f5316 | 2458 | |
Charles MacNeill |
5:89031b2f5316 | 2459 | if (pxtalk_data->signal_events_sum > 0) |
Charles MacNeill |
5:89031b2f5316 | 2460 | total_events = |
Charles MacNeill |
5:89031b2f5316 | 2461 | (uint64_t)pxtalk_data->signal_events_sum * |
Charles MacNeill |
5:89031b2f5316 | 2462 | (uint64_t)pxtalk_data->event_scaler_avg; |
Charles MacNeill |
5:89031b2f5316 | 2463 | else |
Charles MacNeill |
5:89031b2f5316 | 2464 | total_events = 1; |
Charles MacNeill |
5:89031b2f5316 | 2465 | if (total_events == 0) |
Charles MacNeill |
5:89031b2f5316 | 2466 | total_events = 1; |
Charles MacNeill |
5:89031b2f5316 | 2467 | |
Charles MacNeill |
5:89031b2f5316 | 2468 | |
Charles MacNeill |
5:89031b2f5316 | 2469 | remaining_area = 1024; |
Charles MacNeill |
5:89031b2f5316 | 2470 | pxtalk_data->max_shape_value = 0; |
Charles MacNeill |
5:89031b2f5316 | 2471 | |
Charles MacNeill |
5:89031b2f5316 | 2472 | for (lb = 0; lb < VL53LX_XTALK_HISTO_BINS; lb++) { |
Charles MacNeill |
5:89031b2f5316 | 2473 | |
Charles MacNeill |
5:89031b2f5316 | 2474 | if ((lb < (int32_t)pxtalk_data->VL53LX_p_012 || |
Charles MacNeill |
5:89031b2f5316 | 2475 | lb > (int32_t)pxtalk_data->VL53LX_p_013) || |
Charles MacNeill |
5:89031b2f5316 | 2476 | pxtalk_data->bin_data_sums[lb] < 0) { |
Charles MacNeill |
5:89031b2f5316 | 2477 | |
Charles MacNeill |
5:89031b2f5316 | 2478 | |
Charles MacNeill |
5:89031b2f5316 | 2479 | if (remaining_area > 0 && remaining_area < 1024) { |
Charles MacNeill |
5:89031b2f5316 | 2480 | if (remaining_area > |
Charles MacNeill |
5:89031b2f5316 | 2481 | pxtalk_data->max_shape_value) { |
Charles MacNeill |
5:89031b2f5316 | 2482 | pxtalk_shape->bin_data[lb] = |
Charles MacNeill |
5:89031b2f5316 | 2483 | (uint32_t)pxtalk_data->max_shape_value; |
Charles MacNeill |
5:89031b2f5316 | 2484 | remaining_area -= |
Charles MacNeill |
5:89031b2f5316 | 2485 | pxtalk_data->max_shape_value; |
Charles MacNeill |
5:89031b2f5316 | 2486 | } else { |
Charles MacNeill |
5:89031b2f5316 | 2487 | pxtalk_shape->bin_data[lb] = |
Charles MacNeill |
5:89031b2f5316 | 2488 | (uint32_t)remaining_area; |
Charles MacNeill |
5:89031b2f5316 | 2489 | remaining_area = 0; |
Charles MacNeill |
5:89031b2f5316 | 2490 | } |
Charles MacNeill |
5:89031b2f5316 | 2491 | } else { |
Charles MacNeill |
5:89031b2f5316 | 2492 | pxtalk_shape->bin_data[lb] = 0; |
Charles MacNeill |
5:89031b2f5316 | 2493 | } |
Charles MacNeill |
5:89031b2f5316 | 2494 | |
Charles MacNeill |
5:89031b2f5316 | 2495 | } else { |
Charles MacNeill |
5:89031b2f5316 | 2496 | |
Charles MacNeill |
5:89031b2f5316 | 2497 | tmp64_0 = |
Charles MacNeill |
5:89031b2f5316 | 2498 | (uint64_t)pxtalk_data->bin_data_sums[lb] |
Charles MacNeill |
5:89031b2f5316 | 2499 | * 1024U * 1000U; |
Charles MacNeill |
5:89031b2f5316 | 2500 | tmp64_0 += (total_events >> 1); |
Charles MacNeill |
5:89031b2f5316 | 2501 | tmp64_0 = do_division_u(tmp64_0, total_events); |
Charles MacNeill |
5:89031b2f5316 | 2502 | if (tmp64_0 > 0xFFFFU) |
Charles MacNeill |
5:89031b2f5316 | 2503 | tmp64_0 = 0xFFFFU; |
Charles MacNeill |
5:89031b2f5316 | 2504 | |
Charles MacNeill |
5:89031b2f5316 | 2505 | pxtalk_shape->bin_data[lb] = (uint32_t)tmp64_0; |
Charles MacNeill |
5:89031b2f5316 | 2506 | |
Charles MacNeill |
5:89031b2f5316 | 2507 | |
Charles MacNeill |
5:89031b2f5316 | 2508 | if ((int32_t)pxtalk_shape->bin_data[lb] > |
Charles MacNeill |
5:89031b2f5316 | 2509 | pxtalk_data->max_shape_value) |
Charles MacNeill |
5:89031b2f5316 | 2510 | pxtalk_data->max_shape_value = |
Charles MacNeill |
5:89031b2f5316 | 2511 | (int32_t)pxtalk_shape->bin_data[lb]; |
Charles MacNeill |
5:89031b2f5316 | 2512 | |
Charles MacNeill |
5:89031b2f5316 | 2513 | remaining_area -= (int32_t)pxtalk_shape->bin_data[lb]; |
Charles MacNeill |
5:89031b2f5316 | 2514 | } |
Charles MacNeill |
5:89031b2f5316 | 2515 | } |
Charles MacNeill |
5:89031b2f5316 | 2516 | |
Charles MacNeill |
5:89031b2f5316 | 2517 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 2518 | |
Charles MacNeill |
5:89031b2f5316 | 2519 | return status; |
Charles MacNeill |
5:89031b2f5316 | 2520 | } |
Charles MacNeill |
5:89031b2f5316 | 2521 | |
Charles MacNeill |
5:89031b2f5316 | 2522 | |
Charles MacNeill |
5:89031b2f5316 | 2523 | VL53LX_Error VL53LX_hist_xtalk_shape_model( |
Charles MacNeill |
5:89031b2f5316 | 2524 | uint16_t events_per_bin, |
Charles MacNeill |
5:89031b2f5316 | 2525 | uint16_t pulse_centre, |
Charles MacNeill |
5:89031b2f5316 | 2526 | uint16_t pulse_width, |
Charles MacNeill |
5:89031b2f5316 | 2527 | VL53LX_xtalk_histogram_shape_t *pxtalk_shape) |
Charles MacNeill |
5:89031b2f5316 | 2528 | { |
Charles MacNeill |
5:89031b2f5316 | 2529 | |
Charles MacNeill |
5:89031b2f5316 | 2530 | |
Charles MacNeill |
5:89031b2f5316 | 2531 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 2532 | |
Charles MacNeill |
5:89031b2f5316 | 2533 | uint32_t phase_start = 0; |
Charles MacNeill |
5:89031b2f5316 | 2534 | uint32_t phase_stop = 0; |
Charles MacNeill |
5:89031b2f5316 | 2535 | uint32_t phase_bin = 0; |
Charles MacNeill |
5:89031b2f5316 | 2536 | |
Charles MacNeill |
5:89031b2f5316 | 2537 | uint32_t bin_start = 0; |
Charles MacNeill |
5:89031b2f5316 | 2538 | uint32_t bin_stop = 0; |
Charles MacNeill |
5:89031b2f5316 | 2539 | |
Charles MacNeill |
5:89031b2f5316 | 2540 | uint32_t lb = 0; |
Charles MacNeill |
5:89031b2f5316 | 2541 | uint16_t VL53LX_p_018 = 0; |
Charles MacNeill |
5:89031b2f5316 | 2542 | |
Charles MacNeill |
5:89031b2f5316 | 2543 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 2544 | |
Charles MacNeill |
5:89031b2f5316 | 2545 | |
Charles MacNeill |
5:89031b2f5316 | 2546 | |
Charles MacNeill |
5:89031b2f5316 | 2547 | pxtalk_shape->VL53LX_p_019 = 0; |
Charles MacNeill |
5:89031b2f5316 | 2548 | pxtalk_shape->VL53LX_p_020 = VL53LX_XTALK_HISTO_BINS; |
Charles MacNeill |
5:89031b2f5316 | 2549 | pxtalk_shape->VL53LX_p_021 = VL53LX_XTALK_HISTO_BINS; |
Charles MacNeill |
5:89031b2f5316 | 2550 | |
Charles MacNeill |
5:89031b2f5316 | 2551 | pxtalk_shape->zero_distance_phase = pulse_centre; |
Charles MacNeill |
5:89031b2f5316 | 2552 | pxtalk_shape->phasecal_result__reference_phase = |
Charles MacNeill |
5:89031b2f5316 | 2553 | pulse_centre + (3*2048); |
Charles MacNeill |
5:89031b2f5316 | 2554 | |
Charles MacNeill |
5:89031b2f5316 | 2555 | |
Charles MacNeill |
5:89031b2f5316 | 2556 | if (pulse_centre > (pulse_width >> 1)) |
Charles MacNeill |
5:89031b2f5316 | 2557 | phase_start = (uint32_t)pulse_centre - |
Charles MacNeill |
5:89031b2f5316 | 2558 | ((uint32_t)pulse_width >> 1); |
Charles MacNeill |
5:89031b2f5316 | 2559 | else |
Charles MacNeill |
5:89031b2f5316 | 2560 | phase_start = 0; |
Charles MacNeill |
5:89031b2f5316 | 2561 | |
Charles MacNeill |
5:89031b2f5316 | 2562 | phase_stop = (uint32_t)pulse_centre + |
Charles MacNeill |
5:89031b2f5316 | 2563 | ((uint32_t)pulse_width >> 1); |
Charles MacNeill |
5:89031b2f5316 | 2564 | |
Charles MacNeill |
5:89031b2f5316 | 2565 | |
Charles MacNeill |
5:89031b2f5316 | 2566 | bin_start = (phase_start / 2048); |
Charles MacNeill |
5:89031b2f5316 | 2567 | bin_stop = (phase_stop / 2048); |
Charles MacNeill |
5:89031b2f5316 | 2568 | |
Charles MacNeill |
5:89031b2f5316 | 2569 | for (lb = 0; lb < VL53LX_XTALK_HISTO_BINS; lb++) { |
Charles MacNeill |
5:89031b2f5316 | 2570 | VL53LX_p_018 = 0; |
Charles MacNeill |
5:89031b2f5316 | 2571 | |
Charles MacNeill |
5:89031b2f5316 | 2572 | |
Charles MacNeill |
5:89031b2f5316 | 2573 | if (lb == bin_start && lb == bin_stop) { |
Charles MacNeill |
5:89031b2f5316 | 2574 | VL53LX_p_018 = |
Charles MacNeill |
5:89031b2f5316 | 2575 | VL53LX_hist_xtalk_shape_model_interp( |
Charles MacNeill |
5:89031b2f5316 | 2576 | events_per_bin, |
Charles MacNeill |
5:89031b2f5316 | 2577 | phase_stop - phase_start); |
Charles MacNeill |
5:89031b2f5316 | 2578 | |
Charles MacNeill |
5:89031b2f5316 | 2579 | } else if (lb > bin_start && lb < bin_stop) { |
Charles MacNeill |
5:89031b2f5316 | 2580 | |
Charles MacNeill |
5:89031b2f5316 | 2581 | |
Charles MacNeill |
5:89031b2f5316 | 2582 | VL53LX_p_018 = events_per_bin; |
Charles MacNeill |
5:89031b2f5316 | 2583 | |
Charles MacNeill |
5:89031b2f5316 | 2584 | } else if (lb == bin_start) { |
Charles MacNeill |
5:89031b2f5316 | 2585 | |
Charles MacNeill |
5:89031b2f5316 | 2586 | |
Charles MacNeill |
5:89031b2f5316 | 2587 | phase_bin = (lb + 1) * 2048; |
Charles MacNeill |
5:89031b2f5316 | 2588 | VL53LX_p_018 = |
Charles MacNeill |
5:89031b2f5316 | 2589 | VL53LX_hist_xtalk_shape_model_interp( |
Charles MacNeill |
5:89031b2f5316 | 2590 | events_per_bin, |
Charles MacNeill |
5:89031b2f5316 | 2591 | (phase_bin - phase_start)); |
Charles MacNeill |
5:89031b2f5316 | 2592 | |
Charles MacNeill |
5:89031b2f5316 | 2593 | } else if (lb == bin_stop) { |
Charles MacNeill |
5:89031b2f5316 | 2594 | |
Charles MacNeill |
5:89031b2f5316 | 2595 | |
Charles MacNeill |
5:89031b2f5316 | 2596 | phase_bin = lb * 2048; |
Charles MacNeill |
5:89031b2f5316 | 2597 | VL53LX_p_018 = |
Charles MacNeill |
5:89031b2f5316 | 2598 | VL53LX_hist_xtalk_shape_model_interp( |
Charles MacNeill |
5:89031b2f5316 | 2599 | events_per_bin, |
Charles MacNeill |
5:89031b2f5316 | 2600 | (phase_stop - phase_bin)); |
Charles MacNeill |
5:89031b2f5316 | 2601 | } |
Charles MacNeill |
5:89031b2f5316 | 2602 | |
Charles MacNeill |
5:89031b2f5316 | 2603 | pxtalk_shape->bin_data[lb] = VL53LX_p_018; |
Charles MacNeill |
5:89031b2f5316 | 2604 | } |
Charles MacNeill |
5:89031b2f5316 | 2605 | |
Charles MacNeill |
5:89031b2f5316 | 2606 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 2607 | |
Charles MacNeill |
5:89031b2f5316 | 2608 | return status; |
Charles MacNeill |
5:89031b2f5316 | 2609 | } |
Charles MacNeill |
5:89031b2f5316 | 2610 | |
Charles MacNeill |
5:89031b2f5316 | 2611 | |
Charles MacNeill |
5:89031b2f5316 | 2612 | uint16_t VL53LX_hist_xtalk_shape_model_interp( |
Charles MacNeill |
5:89031b2f5316 | 2613 | uint16_t events_per_bin, |
Charles MacNeill |
5:89031b2f5316 | 2614 | uint32_t phase_delta) |
Charles MacNeill |
5:89031b2f5316 | 2615 | { |
Charles MacNeill |
5:89031b2f5316 | 2616 | |
Charles MacNeill |
5:89031b2f5316 | 2617 | |
Charles MacNeill |
5:89031b2f5316 | 2618 | uint32_t VL53LX_p_018 = 0; |
Charles MacNeill |
5:89031b2f5316 | 2619 | |
Charles MacNeill |
5:89031b2f5316 | 2620 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 2621 | |
Charles MacNeill |
5:89031b2f5316 | 2622 | |
Charles MacNeill |
5:89031b2f5316 | 2623 | VL53LX_p_018 = (uint32_t)events_per_bin * phase_delta; |
Charles MacNeill |
5:89031b2f5316 | 2624 | VL53LX_p_018 += 1024; |
Charles MacNeill |
5:89031b2f5316 | 2625 | VL53LX_p_018 /= 2048; |
Charles MacNeill |
5:89031b2f5316 | 2626 | |
Charles MacNeill |
5:89031b2f5316 | 2627 | |
Charles MacNeill |
5:89031b2f5316 | 2628 | if (VL53LX_p_018 > 0xFFFFU) |
Charles MacNeill |
5:89031b2f5316 | 2629 | VL53LX_p_018 = 0xFFFFU; |
Charles MacNeill |
5:89031b2f5316 | 2630 | |
Charles MacNeill |
5:89031b2f5316 | 2631 | LOG_FUNCTION_END(0); |
Charles MacNeill |
5:89031b2f5316 | 2632 | |
Charles MacNeill |
5:89031b2f5316 | 2633 | return (uint16_t)VL53LX_p_018; |
Charles MacNeill |
5:89031b2f5316 | 2634 | } |
Charles MacNeill |
5:89031b2f5316 | 2635 | |
Charles MacNeill |
5:89031b2f5316 | 2636 | |
Charles MacNeill |
5:89031b2f5316 | 2637 | void VL53LX_spad_number_to_byte_bit_index( |
Charles MacNeill |
5:89031b2f5316 | 2638 | uint8_t spad_number, |
Charles MacNeill |
5:89031b2f5316 | 2639 | uint8_t *pbyte_index, |
Charles MacNeill |
5:89031b2f5316 | 2640 | uint8_t *pbit_index, |
Charles MacNeill |
5:89031b2f5316 | 2641 | uint8_t *pbit_mask) |
Charles MacNeill |
5:89031b2f5316 | 2642 | { |
Charles MacNeill |
5:89031b2f5316 | 2643 | |
Charles MacNeill |
5:89031b2f5316 | 2644 | |
Charles MacNeill |
5:89031b2f5316 | 2645 | |
Charles MacNeill |
5:89031b2f5316 | 2646 | *pbyte_index = spad_number >> 3; |
Charles MacNeill |
5:89031b2f5316 | 2647 | *pbit_index = spad_number & 0x07; |
Charles MacNeill |
5:89031b2f5316 | 2648 | *pbit_mask = 0x01 << *pbit_index; |
Charles MacNeill |
5:89031b2f5316 | 2649 | |
Charles MacNeill |
5:89031b2f5316 | 2650 | } |
Charles MacNeill |
5:89031b2f5316 | 2651 | |
Charles MacNeill |
5:89031b2f5316 | 2652 | |
Charles MacNeill |
5:89031b2f5316 | 2653 | void VL53LX_encode_row_col( |
Charles MacNeill |
5:89031b2f5316 | 2654 | uint8_t row, |
Charles MacNeill |
5:89031b2f5316 | 2655 | uint8_t col, |
Charles MacNeill |
5:89031b2f5316 | 2656 | uint8_t *pspad_number) |
Charles MacNeill |
5:89031b2f5316 | 2657 | { |
Charles MacNeill |
5:89031b2f5316 | 2658 | |
Charles MacNeill |
5:89031b2f5316 | 2659 | |
Charles MacNeill |
5:89031b2f5316 | 2660 | if (row > 7) |
Charles MacNeill |
5:89031b2f5316 | 2661 | *pspad_number = 128 + (col << 3) + (15-row); |
Charles MacNeill |
5:89031b2f5316 | 2662 | else |
Charles MacNeill |
5:89031b2f5316 | 2663 | *pspad_number = ((15-col) << 3) + row; |
Charles MacNeill |
5:89031b2f5316 | 2664 | |
Charles MacNeill |
5:89031b2f5316 | 2665 | } |
Charles MacNeill |
5:89031b2f5316 | 2666 | |
Charles MacNeill |
5:89031b2f5316 | 2667 | |
Charles MacNeill |
5:89031b2f5316 | 2668 | void VL53LX_decode_zone_size( |
Charles MacNeill |
5:89031b2f5316 | 2669 | uint8_t encoded_xy_size, |
Charles MacNeill |
5:89031b2f5316 | 2670 | uint8_t *pwidth, |
Charles MacNeill |
5:89031b2f5316 | 2671 | uint8_t *pheight) |
Charles MacNeill |
5:89031b2f5316 | 2672 | { |
Charles MacNeill |
5:89031b2f5316 | 2673 | |
Charles MacNeill |
5:89031b2f5316 | 2674 | |
Charles MacNeill |
5:89031b2f5316 | 2675 | |
Charles MacNeill |
5:89031b2f5316 | 2676 | *pheight = encoded_xy_size >> 4; |
Charles MacNeill |
5:89031b2f5316 | 2677 | *pwidth = encoded_xy_size & 0x0F; |
Charles MacNeill |
5:89031b2f5316 | 2678 | |
Charles MacNeill |
5:89031b2f5316 | 2679 | } |
Charles MacNeill |
5:89031b2f5316 | 2680 | |
Charles MacNeill |
5:89031b2f5316 | 2681 | |
Charles MacNeill |
5:89031b2f5316 | 2682 | void VL53LX_encode_zone_size( |
Charles MacNeill |
5:89031b2f5316 | 2683 | uint8_t width, |
Charles MacNeill |
5:89031b2f5316 | 2684 | uint8_t height, |
Charles MacNeill |
5:89031b2f5316 | 2685 | uint8_t *pencoded_xy_size) |
Charles MacNeill |
5:89031b2f5316 | 2686 | { |
Charles MacNeill |
5:89031b2f5316 | 2687 | |
Charles MacNeill |
5:89031b2f5316 | 2688 | |
Charles MacNeill |
5:89031b2f5316 | 2689 | *pencoded_xy_size = (height << 4) + width; |
Charles MacNeill |
5:89031b2f5316 | 2690 | |
Charles MacNeill |
5:89031b2f5316 | 2691 | } |
Charles MacNeill |
5:89031b2f5316 | 2692 | |
Charles MacNeill |
5:89031b2f5316 | 2693 | |
Charles MacNeill |
5:89031b2f5316 | 2694 | void VL53LX_decode_zone_limits( |
Charles MacNeill |
5:89031b2f5316 | 2695 | uint8_t encoded_xy_centre, |
Charles MacNeill |
5:89031b2f5316 | 2696 | uint8_t encoded_xy_size, |
Charles MacNeill |
5:89031b2f5316 | 2697 | int16_t *px_ll, |
Charles MacNeill |
5:89031b2f5316 | 2698 | int16_t *py_ll, |
Charles MacNeill |
5:89031b2f5316 | 2699 | int16_t *px_ur, |
Charles MacNeill |
5:89031b2f5316 | 2700 | int16_t *py_ur) |
Charles MacNeill |
5:89031b2f5316 | 2701 | { |
Charles MacNeill |
5:89031b2f5316 | 2702 | |
Charles MacNeill |
5:89031b2f5316 | 2703 | |
Charles MacNeill |
5:89031b2f5316 | 2704 | |
Charles MacNeill |
5:89031b2f5316 | 2705 | uint8_t x_centre = 0; |
Charles MacNeill |
5:89031b2f5316 | 2706 | uint8_t y_centre = 0; |
Charles MacNeill |
5:89031b2f5316 | 2707 | uint8_t width = 0; |
Charles MacNeill |
5:89031b2f5316 | 2708 | uint8_t height = 0; |
Charles MacNeill |
5:89031b2f5316 | 2709 | |
Charles MacNeill |
5:89031b2f5316 | 2710 | |
Charles MacNeill |
5:89031b2f5316 | 2711 | |
Charles MacNeill |
5:89031b2f5316 | 2712 | VL53LX_decode_row_col( |
Charles MacNeill |
5:89031b2f5316 | 2713 | encoded_xy_centre, |
Charles MacNeill |
5:89031b2f5316 | 2714 | &y_centre, |
Charles MacNeill |
5:89031b2f5316 | 2715 | &x_centre); |
Charles MacNeill |
5:89031b2f5316 | 2716 | |
Charles MacNeill |
5:89031b2f5316 | 2717 | VL53LX_decode_zone_size( |
Charles MacNeill |
5:89031b2f5316 | 2718 | encoded_xy_size, |
Charles MacNeill |
5:89031b2f5316 | 2719 | &width, |
Charles MacNeill |
5:89031b2f5316 | 2720 | &height); |
Charles MacNeill |
5:89031b2f5316 | 2721 | |
Charles MacNeill |
5:89031b2f5316 | 2722 | |
Charles MacNeill |
5:89031b2f5316 | 2723 | |
Charles MacNeill |
5:89031b2f5316 | 2724 | *px_ll = (int16_t)x_centre - ((int16_t)width + 1) / 2; |
Charles MacNeill |
5:89031b2f5316 | 2725 | if (*px_ll < 0) |
Charles MacNeill |
5:89031b2f5316 | 2726 | *px_ll = 0; |
Charles MacNeill |
5:89031b2f5316 | 2727 | |
Charles MacNeill |
5:89031b2f5316 | 2728 | *px_ur = *px_ll + (int16_t)width; |
Charles MacNeill |
5:89031b2f5316 | 2729 | if (*px_ur > (VL53LX_SPAD_ARRAY_WIDTH-1)) |
Charles MacNeill |
5:89031b2f5316 | 2730 | *px_ur = VL53LX_SPAD_ARRAY_WIDTH-1; |
Charles MacNeill |
5:89031b2f5316 | 2731 | |
Charles MacNeill |
5:89031b2f5316 | 2732 | *py_ll = (int16_t)y_centre - ((int16_t)height + 1) / 2; |
Charles MacNeill |
5:89031b2f5316 | 2733 | if (*py_ll < 0) |
Charles MacNeill |
5:89031b2f5316 | 2734 | *py_ll = 0; |
Charles MacNeill |
5:89031b2f5316 | 2735 | |
Charles MacNeill |
5:89031b2f5316 | 2736 | *py_ur = *py_ll + (int16_t)height; |
Charles MacNeill |
5:89031b2f5316 | 2737 | if (*py_ur > (VL53LX_SPAD_ARRAY_HEIGHT-1)) |
Charles MacNeill |
5:89031b2f5316 | 2738 | *py_ur = VL53LX_SPAD_ARRAY_HEIGHT-1; |
Charles MacNeill |
5:89031b2f5316 | 2739 | } |
Charles MacNeill |
5:89031b2f5316 | 2740 | |
Charles MacNeill |
5:89031b2f5316 | 2741 | |
Charles MacNeill |
5:89031b2f5316 | 2742 | uint8_t VL53LX_is_aperture_location( |
Charles MacNeill |
5:89031b2f5316 | 2743 | uint8_t row, |
Charles MacNeill |
5:89031b2f5316 | 2744 | uint8_t col) |
Charles MacNeill |
5:89031b2f5316 | 2745 | { |
Charles MacNeill |
5:89031b2f5316 | 2746 | |
Charles MacNeill |
5:89031b2f5316 | 2747 | |
Charles MacNeill |
5:89031b2f5316 | 2748 | uint8_t is_aperture = 0; |
Charles MacNeill |
5:89031b2f5316 | 2749 | uint8_t mod_row = row % 4; |
Charles MacNeill |
5:89031b2f5316 | 2750 | uint8_t mod_col = col % 4; |
Charles MacNeill |
5:89031b2f5316 | 2751 | |
Charles MacNeill |
5:89031b2f5316 | 2752 | if (mod_row == 0 && mod_col == 2) |
Charles MacNeill |
5:89031b2f5316 | 2753 | is_aperture = 1; |
Charles MacNeill |
5:89031b2f5316 | 2754 | |
Charles MacNeill |
5:89031b2f5316 | 2755 | if (mod_row == 2 && mod_col == 0) |
Charles MacNeill |
5:89031b2f5316 | 2756 | is_aperture = 1; |
Charles MacNeill |
5:89031b2f5316 | 2757 | |
Charles MacNeill |
5:89031b2f5316 | 2758 | return is_aperture; |
Charles MacNeill |
5:89031b2f5316 | 2759 | } |
Charles MacNeill |
5:89031b2f5316 | 2760 | |
Charles MacNeill |
5:89031b2f5316 | 2761 | |
Charles MacNeill |
5:89031b2f5316 | 2762 | void VL53LX_calc_max_effective_spads( |
Charles MacNeill |
5:89031b2f5316 | 2763 | uint8_t encoded_zone_centre, |
Charles MacNeill |
5:89031b2f5316 | 2764 | uint8_t encoded_zone_size, |
Charles MacNeill |
5:89031b2f5316 | 2765 | uint8_t *pgood_spads, |
Charles MacNeill |
5:89031b2f5316 | 2766 | uint16_t aperture_attenuation, |
Charles MacNeill |
5:89031b2f5316 | 2767 | uint16_t *pmax_effective_spads) |
Charles MacNeill |
5:89031b2f5316 | 2768 | { |
Charles MacNeill |
5:89031b2f5316 | 2769 | |
Charles MacNeill |
5:89031b2f5316 | 2770 | |
Charles MacNeill |
5:89031b2f5316 | 2771 | |
Charles MacNeill |
5:89031b2f5316 | 2772 | int16_t x = 0; |
Charles MacNeill |
5:89031b2f5316 | 2773 | int16_t y = 0; |
Charles MacNeill |
5:89031b2f5316 | 2774 | |
Charles MacNeill |
5:89031b2f5316 | 2775 | int16_t zone_x_ll = 0; |
Charles MacNeill |
5:89031b2f5316 | 2776 | int16_t zone_y_ll = 0; |
Charles MacNeill |
5:89031b2f5316 | 2777 | int16_t zone_x_ur = 0; |
Charles MacNeill |
5:89031b2f5316 | 2778 | int16_t zone_y_ur = 0; |
Charles MacNeill |
5:89031b2f5316 | 2779 | |
Charles MacNeill |
5:89031b2f5316 | 2780 | uint8_t spad_number = 0; |
Charles MacNeill |
5:89031b2f5316 | 2781 | uint8_t byte_index = 0; |
Charles MacNeill |
5:89031b2f5316 | 2782 | uint8_t bit_index = 0; |
Charles MacNeill |
5:89031b2f5316 | 2783 | uint8_t bit_mask = 0; |
Charles MacNeill |
5:89031b2f5316 | 2784 | |
Charles MacNeill |
5:89031b2f5316 | 2785 | uint8_t is_aperture = 0; |
Charles MacNeill |
5:89031b2f5316 | 2786 | |
Charles MacNeill |
5:89031b2f5316 | 2787 | |
Charles MacNeill |
5:89031b2f5316 | 2788 | |
Charles MacNeill |
5:89031b2f5316 | 2789 | VL53LX_decode_zone_limits( |
Charles MacNeill |
5:89031b2f5316 | 2790 | encoded_zone_centre, |
Charles MacNeill |
5:89031b2f5316 | 2791 | encoded_zone_size, |
Charles MacNeill |
5:89031b2f5316 | 2792 | &zone_x_ll, |
Charles MacNeill |
5:89031b2f5316 | 2793 | &zone_y_ll, |
Charles MacNeill |
5:89031b2f5316 | 2794 | &zone_x_ur, |
Charles MacNeill |
5:89031b2f5316 | 2795 | &zone_y_ur); |
Charles MacNeill |
5:89031b2f5316 | 2796 | |
Charles MacNeill |
5:89031b2f5316 | 2797 | |
Charles MacNeill |
5:89031b2f5316 | 2798 | |
Charles MacNeill |
5:89031b2f5316 | 2799 | *pmax_effective_spads = 0; |
Charles MacNeill |
5:89031b2f5316 | 2800 | |
Charles MacNeill |
5:89031b2f5316 | 2801 | for (y = zone_y_ll; y <= zone_y_ur; y++) { |
Charles MacNeill |
5:89031b2f5316 | 2802 | for (x = zone_x_ll; x <= zone_x_ur; x++) { |
Charles MacNeill |
5:89031b2f5316 | 2803 | |
Charles MacNeill |
5:89031b2f5316 | 2804 | |
Charles MacNeill |
5:89031b2f5316 | 2805 | |
Charles MacNeill |
5:89031b2f5316 | 2806 | VL53LX_encode_row_col( |
Charles MacNeill |
5:89031b2f5316 | 2807 | (uint8_t)y, |
Charles MacNeill |
5:89031b2f5316 | 2808 | (uint8_t)x, |
Charles MacNeill |
5:89031b2f5316 | 2809 | &spad_number); |
Charles MacNeill |
5:89031b2f5316 | 2810 | |
Charles MacNeill |
5:89031b2f5316 | 2811 | |
Charles MacNeill |
5:89031b2f5316 | 2812 | |
Charles MacNeill |
5:89031b2f5316 | 2813 | VL53LX_spad_number_to_byte_bit_index( |
Charles MacNeill |
5:89031b2f5316 | 2814 | spad_number, |
Charles MacNeill |
5:89031b2f5316 | 2815 | &byte_index, |
Charles MacNeill |
5:89031b2f5316 | 2816 | &bit_index, |
Charles MacNeill |
5:89031b2f5316 | 2817 | &bit_mask); |
Charles MacNeill |
5:89031b2f5316 | 2818 | |
Charles MacNeill |
5:89031b2f5316 | 2819 | |
Charles MacNeill |
5:89031b2f5316 | 2820 | |
Charles MacNeill |
5:89031b2f5316 | 2821 | if ((pgood_spads[byte_index] & bit_mask) > 0) { |
Charles MacNeill |
5:89031b2f5316 | 2822 | |
Charles MacNeill |
5:89031b2f5316 | 2823 | |
Charles MacNeill |
5:89031b2f5316 | 2824 | is_aperture = VL53LX_is_aperture_location( |
Charles MacNeill |
5:89031b2f5316 | 2825 | (uint8_t)y, |
Charles MacNeill |
5:89031b2f5316 | 2826 | (uint8_t)x); |
Charles MacNeill |
5:89031b2f5316 | 2827 | |
Charles MacNeill |
5:89031b2f5316 | 2828 | if (is_aperture > 0) |
Charles MacNeill |
5:89031b2f5316 | 2829 | *pmax_effective_spads += |
Charles MacNeill |
5:89031b2f5316 | 2830 | aperture_attenuation; |
Charles MacNeill |
5:89031b2f5316 | 2831 | else |
Charles MacNeill |
5:89031b2f5316 | 2832 | *pmax_effective_spads += 0x0100; |
Charles MacNeill |
5:89031b2f5316 | 2833 | |
Charles MacNeill |
5:89031b2f5316 | 2834 | } |
Charles MacNeill |
5:89031b2f5316 | 2835 | } |
Charles MacNeill |
5:89031b2f5316 | 2836 | } |
Charles MacNeill |
5:89031b2f5316 | 2837 | } |
Charles MacNeill |
5:89031b2f5316 | 2838 | |
Charles MacNeill |
5:89031b2f5316 | 2839 | |
Charles MacNeill |
5:89031b2f5316 | 2840 | void VL53LX_calc_mm_effective_spads( |
Charles MacNeill |
5:89031b2f5316 | 2841 | uint8_t encoded_mm_roi_centre, |
Charles MacNeill |
5:89031b2f5316 | 2842 | uint8_t encoded_mm_roi_size, |
Charles MacNeill |
5:89031b2f5316 | 2843 | uint8_t encoded_zone_centre, |
Charles MacNeill |
5:89031b2f5316 | 2844 | uint8_t encoded_zone_size, |
Charles MacNeill |
5:89031b2f5316 | 2845 | uint8_t *pgood_spads, |
Charles MacNeill |
5:89031b2f5316 | 2846 | uint16_t aperture_attenuation, |
Charles MacNeill |
5:89031b2f5316 | 2847 | uint16_t *pmm_inner_effective_spads, |
Charles MacNeill |
5:89031b2f5316 | 2848 | uint16_t *pmm_outer_effective_spads) |
Charles MacNeill |
5:89031b2f5316 | 2849 | { |
Charles MacNeill |
5:89031b2f5316 | 2850 | |
Charles MacNeill |
5:89031b2f5316 | 2851 | |
Charles MacNeill |
5:89031b2f5316 | 2852 | |
Charles MacNeill |
5:89031b2f5316 | 2853 | int16_t x = 0; |
Charles MacNeill |
5:89031b2f5316 | 2854 | int16_t y = 0; |
Charles MacNeill |
5:89031b2f5316 | 2855 | |
Charles MacNeill |
5:89031b2f5316 | 2856 | int16_t mm_x_ll = 0; |
Charles MacNeill |
5:89031b2f5316 | 2857 | int16_t mm_y_ll = 0; |
Charles MacNeill |
5:89031b2f5316 | 2858 | int16_t mm_x_ur = 0; |
Charles MacNeill |
5:89031b2f5316 | 2859 | int16_t mm_y_ur = 0; |
Charles MacNeill |
5:89031b2f5316 | 2860 | |
Charles MacNeill |
5:89031b2f5316 | 2861 | int16_t zone_x_ll = 0; |
Charles MacNeill |
5:89031b2f5316 | 2862 | int16_t zone_y_ll = 0; |
Charles MacNeill |
5:89031b2f5316 | 2863 | int16_t zone_x_ur = 0; |
Charles MacNeill |
5:89031b2f5316 | 2864 | int16_t zone_y_ur = 0; |
Charles MacNeill |
5:89031b2f5316 | 2865 | |
Charles MacNeill |
5:89031b2f5316 | 2866 | uint8_t spad_number = 0; |
Charles MacNeill |
5:89031b2f5316 | 2867 | uint8_t byte_index = 0; |
Charles MacNeill |
5:89031b2f5316 | 2868 | uint8_t bit_index = 0; |
Charles MacNeill |
5:89031b2f5316 | 2869 | uint8_t bit_mask = 0; |
Charles MacNeill |
5:89031b2f5316 | 2870 | |
Charles MacNeill |
5:89031b2f5316 | 2871 | uint8_t is_aperture = 0; |
Charles MacNeill |
5:89031b2f5316 | 2872 | uint16_t spad_attenuation = 0; |
Charles MacNeill |
5:89031b2f5316 | 2873 | |
Charles MacNeill |
5:89031b2f5316 | 2874 | |
Charles MacNeill |
5:89031b2f5316 | 2875 | |
Charles MacNeill |
5:89031b2f5316 | 2876 | VL53LX_decode_zone_limits( |
Charles MacNeill |
5:89031b2f5316 | 2877 | encoded_mm_roi_centre, |
Charles MacNeill |
5:89031b2f5316 | 2878 | encoded_mm_roi_size, |
Charles MacNeill |
5:89031b2f5316 | 2879 | &mm_x_ll, |
Charles MacNeill |
5:89031b2f5316 | 2880 | &mm_y_ll, |
Charles MacNeill |
5:89031b2f5316 | 2881 | &mm_x_ur, |
Charles MacNeill |
5:89031b2f5316 | 2882 | &mm_y_ur); |
Charles MacNeill |
5:89031b2f5316 | 2883 | |
Charles MacNeill |
5:89031b2f5316 | 2884 | VL53LX_decode_zone_limits( |
Charles MacNeill |
5:89031b2f5316 | 2885 | encoded_zone_centre, |
Charles MacNeill |
5:89031b2f5316 | 2886 | encoded_zone_size, |
Charles MacNeill |
5:89031b2f5316 | 2887 | &zone_x_ll, |
Charles MacNeill |
5:89031b2f5316 | 2888 | &zone_y_ll, |
Charles MacNeill |
5:89031b2f5316 | 2889 | &zone_x_ur, |
Charles MacNeill |
5:89031b2f5316 | 2890 | &zone_y_ur); |
Charles MacNeill |
5:89031b2f5316 | 2891 | |
Charles MacNeill |
5:89031b2f5316 | 2892 | |
Charles MacNeill |
5:89031b2f5316 | 2893 | |
Charles MacNeill |
5:89031b2f5316 | 2894 | *pmm_inner_effective_spads = 0; |
Charles MacNeill |
5:89031b2f5316 | 2895 | *pmm_outer_effective_spads = 0; |
Charles MacNeill |
5:89031b2f5316 | 2896 | |
Charles MacNeill |
5:89031b2f5316 | 2897 | for (y = zone_y_ll; y <= zone_y_ur; y++) { |
Charles MacNeill |
5:89031b2f5316 | 2898 | for (x = zone_x_ll; x <= zone_x_ur; x++) { |
Charles MacNeill |
5:89031b2f5316 | 2899 | |
Charles MacNeill |
5:89031b2f5316 | 2900 | |
Charles MacNeill |
5:89031b2f5316 | 2901 | |
Charles MacNeill |
5:89031b2f5316 | 2902 | VL53LX_encode_row_col( |
Charles MacNeill |
5:89031b2f5316 | 2903 | (uint8_t)y, |
Charles MacNeill |
5:89031b2f5316 | 2904 | (uint8_t)x, |
Charles MacNeill |
5:89031b2f5316 | 2905 | &spad_number); |
Charles MacNeill |
5:89031b2f5316 | 2906 | |
Charles MacNeill |
5:89031b2f5316 | 2907 | |
Charles MacNeill |
5:89031b2f5316 | 2908 | |
Charles MacNeill |
5:89031b2f5316 | 2909 | VL53LX_spad_number_to_byte_bit_index( |
Charles MacNeill |
5:89031b2f5316 | 2910 | spad_number, |
Charles MacNeill |
5:89031b2f5316 | 2911 | &byte_index, |
Charles MacNeill |
5:89031b2f5316 | 2912 | &bit_index, |
Charles MacNeill |
5:89031b2f5316 | 2913 | &bit_mask); |
Charles MacNeill |
5:89031b2f5316 | 2914 | |
Charles MacNeill |
5:89031b2f5316 | 2915 | |
Charles MacNeill |
5:89031b2f5316 | 2916 | |
Charles MacNeill |
5:89031b2f5316 | 2917 | if ((pgood_spads[byte_index] & bit_mask) > 0) { |
Charles MacNeill |
5:89031b2f5316 | 2918 | |
Charles MacNeill |
5:89031b2f5316 | 2919 | |
Charles MacNeill |
5:89031b2f5316 | 2920 | is_aperture = VL53LX_is_aperture_location( |
Charles MacNeill |
5:89031b2f5316 | 2921 | (uint8_t)y, |
Charles MacNeill |
5:89031b2f5316 | 2922 | (uint8_t)x); |
Charles MacNeill |
5:89031b2f5316 | 2923 | |
Charles MacNeill |
5:89031b2f5316 | 2924 | if (is_aperture > 0) |
Charles MacNeill |
5:89031b2f5316 | 2925 | spad_attenuation = aperture_attenuation; |
Charles MacNeill |
5:89031b2f5316 | 2926 | else |
Charles MacNeill |
5:89031b2f5316 | 2927 | spad_attenuation = 0x0100; |
Charles MacNeill |
5:89031b2f5316 | 2928 | |
Charles MacNeill |
5:89031b2f5316 | 2929 | |
Charles MacNeill |
5:89031b2f5316 | 2930 | |
Charles MacNeill |
5:89031b2f5316 | 2931 | if (x >= mm_x_ll && x <= mm_x_ur && |
Charles MacNeill |
5:89031b2f5316 | 2932 | y >= mm_y_ll && y <= mm_y_ur) |
Charles MacNeill |
5:89031b2f5316 | 2933 | *pmm_inner_effective_spads += |
Charles MacNeill |
5:89031b2f5316 | 2934 | spad_attenuation; |
Charles MacNeill |
5:89031b2f5316 | 2935 | else |
Charles MacNeill |
5:89031b2f5316 | 2936 | *pmm_outer_effective_spads += |
Charles MacNeill |
5:89031b2f5316 | 2937 | spad_attenuation; |
Charles MacNeill |
5:89031b2f5316 | 2938 | } |
Charles MacNeill |
5:89031b2f5316 | 2939 | } |
Charles MacNeill |
5:89031b2f5316 | 2940 | } |
Charles MacNeill |
5:89031b2f5316 | 2941 | } |
Charles MacNeill |
5:89031b2f5316 | 2942 | |
Charles MacNeill |
5:89031b2f5316 | 2943 | |
Charles MacNeill |
5:89031b2f5316 | 2944 | void VL53LX_hist_copy_results_to_sys_and_core( |
Charles MacNeill |
5:89031b2f5316 | 2945 | VL53LX_histogram_bin_data_t *pbins, |
Charles MacNeill |
5:89031b2f5316 | 2946 | VL53LX_range_results_t *phist, |
Charles MacNeill |
5:89031b2f5316 | 2947 | VL53LX_system_results_t *psys, |
Charles MacNeill |
5:89031b2f5316 | 2948 | VL53LX_core_results_t *pcore) |
Charles MacNeill |
5:89031b2f5316 | 2949 | { |
Charles MacNeill |
5:89031b2f5316 | 2950 | |
Charles MacNeill |
5:89031b2f5316 | 2951 | |
Charles MacNeill |
5:89031b2f5316 | 2952 | uint8_t i = 0; |
Charles MacNeill |
5:89031b2f5316 | 2953 | |
Charles MacNeill |
5:89031b2f5316 | 2954 | VL53LX_range_data_t *pdata; |
Charles MacNeill |
5:89031b2f5316 | 2955 | |
Charles MacNeill |
5:89031b2f5316 | 2956 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 2957 | |
Charles MacNeill |
5:89031b2f5316 | 2958 | |
Charles MacNeill |
5:89031b2f5316 | 2959 | |
Charles MacNeill |
5:89031b2f5316 | 2960 | VL53LX_init_system_results(psys); |
Charles MacNeill |
5:89031b2f5316 | 2961 | |
Charles MacNeill |
5:89031b2f5316 | 2962 | |
Charles MacNeill |
5:89031b2f5316 | 2963 | |
Charles MacNeill |
5:89031b2f5316 | 2964 | psys->result__interrupt_status = pbins->result__interrupt_status; |
Charles MacNeill |
5:89031b2f5316 | 2965 | psys->result__range_status = phist->active_results; |
Charles MacNeill |
5:89031b2f5316 | 2966 | psys->result__report_status = pbins->result__report_status; |
Charles MacNeill |
5:89031b2f5316 | 2967 | psys->result__stream_count = pbins->result__stream_count; |
Charles MacNeill |
5:89031b2f5316 | 2968 | |
Charles MacNeill |
5:89031b2f5316 | 2969 | pdata = &(phist->VL53LX_p_003[0]); |
Charles MacNeill |
5:89031b2f5316 | 2970 | |
Charles MacNeill |
5:89031b2f5316 | 2971 | for (i = 0; i < phist->active_results; i++) { |
Charles MacNeill |
5:89031b2f5316 | 2972 | |
Charles MacNeill |
5:89031b2f5316 | 2973 | switch (i) { |
Charles MacNeill |
5:89031b2f5316 | 2974 | case 0: |
Charles MacNeill |
5:89031b2f5316 | 2975 | psys->result__dss_actual_effective_spads_sd0 = |
Charles MacNeill |
5:89031b2f5316 | 2976 | pdata->VL53LX_p_004; |
Charles MacNeill |
5:89031b2f5316 | 2977 | psys->result__peak_signal_count_rate_mcps_sd0 = |
Charles MacNeill |
5:89031b2f5316 | 2978 | pdata->peak_signal_count_rate_mcps; |
Charles MacNeill |
5:89031b2f5316 | 2979 | psys->result__avg_signal_count_rate_mcps_sd0 = |
Charles MacNeill |
5:89031b2f5316 | 2980 | pdata->avg_signal_count_rate_mcps; |
Charles MacNeill |
5:89031b2f5316 | 2981 | psys->result__ambient_count_rate_mcps_sd0 = |
Charles MacNeill |
5:89031b2f5316 | 2982 | pdata->ambient_count_rate_mcps; |
Charles MacNeill |
5:89031b2f5316 | 2983 | |
Charles MacNeill |
5:89031b2f5316 | 2984 | psys->result__sigma_sd0 = pdata->VL53LX_p_002; |
Charles MacNeill |
5:89031b2f5316 | 2985 | psys->result__phase_sd0 = pdata->VL53LX_p_011; |
Charles MacNeill |
5:89031b2f5316 | 2986 | |
Charles MacNeill |
5:89031b2f5316 | 2987 | psys->result__final_crosstalk_corrected_range_mm_sd0 = |
Charles MacNeill |
5:89031b2f5316 | 2988 | (uint16_t)pdata->median_range_mm; |
Charles MacNeill |
5:89031b2f5316 | 2989 | |
Charles MacNeill |
5:89031b2f5316 | 2990 | psys->result__phase_sd1 = pdata->zero_distance_phase; |
Charles MacNeill |
5:89031b2f5316 | 2991 | |
Charles MacNeill |
5:89031b2f5316 | 2992 | pcore->result_core__ranging_total_events_sd0 = |
Charles MacNeill |
5:89031b2f5316 | 2993 | pdata->VL53LX_p_017; |
Charles MacNeill |
5:89031b2f5316 | 2994 | pcore->result_core__signal_total_events_sd0 = |
Charles MacNeill |
5:89031b2f5316 | 2995 | pdata->VL53LX_p_010; |
Charles MacNeill |
5:89031b2f5316 | 2996 | pcore->result_core__total_periods_elapsed_sd0 = |
Charles MacNeill |
5:89031b2f5316 | 2997 | pdata->total_periods_elapsed; |
Charles MacNeill |
5:89031b2f5316 | 2998 | pcore->result_core__ambient_window_events_sd0 = |
Charles MacNeill |
5:89031b2f5316 | 2999 | pdata->VL53LX_p_016; |
Charles MacNeill |
5:89031b2f5316 | 3000 | |
Charles MacNeill |
5:89031b2f5316 | 3001 | break; |
Charles MacNeill |
5:89031b2f5316 | 3002 | case 1: |
Charles MacNeill |
5:89031b2f5316 | 3003 | psys->result__dss_actual_effective_spads_sd1 = |
Charles MacNeill |
5:89031b2f5316 | 3004 | pdata->VL53LX_p_004; |
Charles MacNeill |
5:89031b2f5316 | 3005 | psys->result__peak_signal_count_rate_mcps_sd1 = |
Charles MacNeill |
5:89031b2f5316 | 3006 | pdata->peak_signal_count_rate_mcps; |
Charles MacNeill |
5:89031b2f5316 | 3007 | psys->result__ambient_count_rate_mcps_sd1 = |
Charles MacNeill |
5:89031b2f5316 | 3008 | pdata->ambient_count_rate_mcps; |
Charles MacNeill |
5:89031b2f5316 | 3009 | |
Charles MacNeill |
5:89031b2f5316 | 3010 | psys->result__sigma_sd1 = pdata->VL53LX_p_002; |
Charles MacNeill |
5:89031b2f5316 | 3011 | psys->result__phase_sd1 = pdata->VL53LX_p_011; |
Charles MacNeill |
5:89031b2f5316 | 3012 | |
Charles MacNeill |
5:89031b2f5316 | 3013 | psys->result__final_crosstalk_corrected_range_mm_sd1 = |
Charles MacNeill |
5:89031b2f5316 | 3014 | (uint16_t)pdata->median_range_mm; |
Charles MacNeill |
5:89031b2f5316 | 3015 | |
Charles MacNeill |
5:89031b2f5316 | 3016 | pcore->result_core__ranging_total_events_sd1 = |
Charles MacNeill |
5:89031b2f5316 | 3017 | pdata->VL53LX_p_017; |
Charles MacNeill |
5:89031b2f5316 | 3018 | pcore->result_core__signal_total_events_sd1 = |
Charles MacNeill |
5:89031b2f5316 | 3019 | pdata->VL53LX_p_010; |
Charles MacNeill |
5:89031b2f5316 | 3020 | pcore->result_core__total_periods_elapsed_sd1 = |
Charles MacNeill |
5:89031b2f5316 | 3021 | pdata->total_periods_elapsed; |
Charles MacNeill |
5:89031b2f5316 | 3022 | pcore->result_core__ambient_window_events_sd1 = |
Charles MacNeill |
5:89031b2f5316 | 3023 | pdata->VL53LX_p_016; |
Charles MacNeill |
5:89031b2f5316 | 3024 | break; |
Charles MacNeill |
5:89031b2f5316 | 3025 | } |
Charles MacNeill |
5:89031b2f5316 | 3026 | |
Charles MacNeill |
5:89031b2f5316 | 3027 | pdata++; |
Charles MacNeill |
5:89031b2f5316 | 3028 | } |
Charles MacNeill |
5:89031b2f5316 | 3029 | |
Charles MacNeill |
5:89031b2f5316 | 3030 | LOG_FUNCTION_END(0); |
Charles MacNeill |
5:89031b2f5316 | 3031 | |
Charles MacNeill |
5:89031b2f5316 | 3032 | } |
Charles MacNeill |
5:89031b2f5316 | 3033 | |
Charles MacNeill |
5:89031b2f5316 | 3034 | |
Charles MacNeill |
5:89031b2f5316 | 3035 | VL53LX_Error VL53LX_sum_histogram_data( |
Charles MacNeill |
5:89031b2f5316 | 3036 | VL53LX_histogram_bin_data_t *phist_input, |
Charles MacNeill |
5:89031b2f5316 | 3037 | VL53LX_histogram_bin_data_t *phist_output) |
Charles MacNeill |
5:89031b2f5316 | 3038 | { |
Charles MacNeill |
5:89031b2f5316 | 3039 | |
Charles MacNeill |
5:89031b2f5316 | 3040 | |
Charles MacNeill |
5:89031b2f5316 | 3041 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3042 | |
Charles MacNeill |
5:89031b2f5316 | 3043 | uint8_t i = 0; |
Charles MacNeill |
5:89031b2f5316 | 3044 | uint8_t smallest_bin_num = 0; |
Charles MacNeill |
5:89031b2f5316 | 3045 | |
Charles MacNeill |
5:89031b2f5316 | 3046 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3047 | |
Charles MacNeill |
5:89031b2f5316 | 3048 | |
Charles MacNeill |
5:89031b2f5316 | 3049 | |
Charles MacNeill |
5:89031b2f5316 | 3050 | if (status == VL53LX_ERROR_NONE) { |
Charles MacNeill |
5:89031b2f5316 | 3051 | if (phist_output->VL53LX_p_021 >= |
Charles MacNeill |
5:89031b2f5316 | 3052 | phist_input->VL53LX_p_021) |
Charles MacNeill |
5:89031b2f5316 | 3053 | smallest_bin_num = phist_input->VL53LX_p_021; |
Charles MacNeill |
5:89031b2f5316 | 3054 | else |
Charles MacNeill |
5:89031b2f5316 | 3055 | smallest_bin_num = phist_output->VL53LX_p_021; |
Charles MacNeill |
5:89031b2f5316 | 3056 | } |
Charles MacNeill |
5:89031b2f5316 | 3057 | |
Charles MacNeill |
5:89031b2f5316 | 3058 | |
Charles MacNeill |
5:89031b2f5316 | 3059 | |
Charles MacNeill |
5:89031b2f5316 | 3060 | |
Charles MacNeill |
5:89031b2f5316 | 3061 | |
Charles MacNeill |
5:89031b2f5316 | 3062 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3063 | for (i = 0; i < smallest_bin_num; i++) |
Charles MacNeill |
5:89031b2f5316 | 3064 | |
Charles MacNeill |
5:89031b2f5316 | 3065 | phist_output->bin_data[i] += phist_input->bin_data[i]; |
Charles MacNeill |
5:89031b2f5316 | 3066 | |
Charles MacNeill |
5:89031b2f5316 | 3067 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3068 | phist_output->VL53LX_p_028 += |
Charles MacNeill |
5:89031b2f5316 | 3069 | phist_input->VL53LX_p_028; |
Charles MacNeill |
5:89031b2f5316 | 3070 | |
Charles MacNeill |
5:89031b2f5316 | 3071 | |
Charles MacNeill |
5:89031b2f5316 | 3072 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 3073 | |
Charles MacNeill |
5:89031b2f5316 | 3074 | return status; |
Charles MacNeill |
5:89031b2f5316 | 3075 | } |
Charles MacNeill |
5:89031b2f5316 | 3076 | |
Charles MacNeill |
5:89031b2f5316 | 3077 | |
Charles MacNeill |
5:89031b2f5316 | 3078 | VL53LX_Error VL53LX_avg_histogram_data( |
Charles MacNeill |
5:89031b2f5316 | 3079 | uint8_t no_of_samples, |
Charles MacNeill |
5:89031b2f5316 | 3080 | VL53LX_histogram_bin_data_t *phist_sum, |
Charles MacNeill |
5:89031b2f5316 | 3081 | VL53LX_histogram_bin_data_t *phist_avg) |
Charles MacNeill |
5:89031b2f5316 | 3082 | { |
Charles MacNeill |
5:89031b2f5316 | 3083 | |
Charles MacNeill |
5:89031b2f5316 | 3084 | |
Charles MacNeill |
5:89031b2f5316 | 3085 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3086 | |
Charles MacNeill |
5:89031b2f5316 | 3087 | uint8_t i = 0; |
Charles MacNeill |
5:89031b2f5316 | 3088 | |
Charles MacNeill |
5:89031b2f5316 | 3089 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3090 | |
Charles MacNeill |
5:89031b2f5316 | 3091 | |
Charles MacNeill |
5:89031b2f5316 | 3092 | |
Charles MacNeill |
5:89031b2f5316 | 3093 | |
Charles MacNeill |
5:89031b2f5316 | 3094 | |
Charles MacNeill |
5:89031b2f5316 | 3095 | if (status == VL53LX_ERROR_NONE) { |
Charles MacNeill |
5:89031b2f5316 | 3096 | for (i = 0; i < phist_sum->VL53LX_p_021; i++) { |
Charles MacNeill |
5:89031b2f5316 | 3097 | |
Charles MacNeill |
5:89031b2f5316 | 3098 | |
Charles MacNeill |
5:89031b2f5316 | 3099 | |
Charles MacNeill |
5:89031b2f5316 | 3100 | if (no_of_samples > 0) |
Charles MacNeill |
5:89031b2f5316 | 3101 | phist_avg->bin_data[i] = |
Charles MacNeill |
5:89031b2f5316 | 3102 | phist_sum->bin_data[i] / |
Charles MacNeill |
5:89031b2f5316 | 3103 | (int32_t)no_of_samples; |
Charles MacNeill |
5:89031b2f5316 | 3104 | else |
Charles MacNeill |
5:89031b2f5316 | 3105 | phist_avg->bin_data[i] = phist_sum->bin_data[i]; |
Charles MacNeill |
5:89031b2f5316 | 3106 | } |
Charles MacNeill |
5:89031b2f5316 | 3107 | } |
Charles MacNeill |
5:89031b2f5316 | 3108 | |
Charles MacNeill |
5:89031b2f5316 | 3109 | if (status == VL53LX_ERROR_NONE) { |
Charles MacNeill |
5:89031b2f5316 | 3110 | if (no_of_samples > 0) |
Charles MacNeill |
5:89031b2f5316 | 3111 | phist_avg->VL53LX_p_028 = |
Charles MacNeill |
5:89031b2f5316 | 3112 | phist_sum->VL53LX_p_028 / |
Charles MacNeill |
5:89031b2f5316 | 3113 | (int32_t)no_of_samples; |
Charles MacNeill |
5:89031b2f5316 | 3114 | else |
Charles MacNeill |
5:89031b2f5316 | 3115 | phist_avg->VL53LX_p_028 = |
Charles MacNeill |
5:89031b2f5316 | 3116 | phist_sum->VL53LX_p_028; |
Charles MacNeill |
5:89031b2f5316 | 3117 | } |
Charles MacNeill |
5:89031b2f5316 | 3118 | |
Charles MacNeill |
5:89031b2f5316 | 3119 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 3120 | |
Charles MacNeill |
5:89031b2f5316 | 3121 | return status; |
Charles MacNeill |
5:89031b2f5316 | 3122 | } |
Charles MacNeill |
5:89031b2f5316 | 3123 | |
Charles MacNeill |
5:89031b2f5316 | 3124 | |
Charles MacNeill |
5:89031b2f5316 | 3125 | VL53LX_Error VL53LX_save_cfg_data( |
Charles MacNeill |
5:89031b2f5316 | 3126 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 3127 | { |
Charles MacNeill |
5:89031b2f5316 | 3128 | |
Charles MacNeill |
5:89031b2f5316 | 3129 | |
Charles MacNeill |
5:89031b2f5316 | 3130 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3131 | |
Charles MacNeill |
5:89031b2f5316 | 3132 | VL53LX_LLDriverData_t *pdev = |
Charles MacNeill |
5:89031b2f5316 | 3133 | VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 3134 | VL53LX_LLDriverResults_t *pres = |
Charles MacNeill |
5:89031b2f5316 | 3135 | VL53LXDevStructGetLLResultsHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 3136 | |
Charles MacNeill |
5:89031b2f5316 | 3137 | VL53LX_zone_private_dyn_cfg_t *pzone_dyn_cfg; |
Charles MacNeill |
5:89031b2f5316 | 3138 | VL53LX_dynamic_config_t *pdynamic = &(pdev->dyn_cfg); |
Charles MacNeill |
5:89031b2f5316 | 3139 | |
Charles MacNeill |
5:89031b2f5316 | 3140 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3141 | |
Charles MacNeill |
5:89031b2f5316 | 3142 | pzone_dyn_cfg = |
Charles MacNeill |
5:89031b2f5316 | 3143 | &(pres->zone_dyn_cfgs.VL53LX_p_003[pdev->ll_state.cfg_zone_id]); |
Charles MacNeill |
5:89031b2f5316 | 3144 | |
Charles MacNeill |
5:89031b2f5316 | 3145 | pzone_dyn_cfg->expected_stream_count = |
Charles MacNeill |
5:89031b2f5316 | 3146 | pdev->ll_state.cfg_stream_count; |
Charles MacNeill |
5:89031b2f5316 | 3147 | |
Charles MacNeill |
5:89031b2f5316 | 3148 | pzone_dyn_cfg->expected_gph_id = |
Charles MacNeill |
5:89031b2f5316 | 3149 | pdev->ll_state.cfg_gph_id; |
Charles MacNeill |
5:89031b2f5316 | 3150 | |
Charles MacNeill |
5:89031b2f5316 | 3151 | pzone_dyn_cfg->roi_config__user_roi_centre_spad = |
Charles MacNeill |
5:89031b2f5316 | 3152 | pdynamic->roi_config__user_roi_centre_spad; |
Charles MacNeill |
5:89031b2f5316 | 3153 | |
Charles MacNeill |
5:89031b2f5316 | 3154 | pzone_dyn_cfg->roi_config__user_roi_requested_global_xy_size = |
Charles MacNeill |
5:89031b2f5316 | 3155 | pdynamic->roi_config__user_roi_requested_global_xy_size; |
Charles MacNeill |
5:89031b2f5316 | 3156 | |
Charles MacNeill |
5:89031b2f5316 | 3157 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 3158 | |
Charles MacNeill |
5:89031b2f5316 | 3159 | return status; |
Charles MacNeill |
5:89031b2f5316 | 3160 | } |
Charles MacNeill |
5:89031b2f5316 | 3161 | |
Charles MacNeill |
5:89031b2f5316 | 3162 | |
Charles MacNeill |
5:89031b2f5316 | 3163 | VL53LX_Error VL53LX_dynamic_zone_update( |
Charles MacNeill |
5:89031b2f5316 | 3164 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 3165 | VL53LX_range_results_t *presults) |
Charles MacNeill |
5:89031b2f5316 | 3166 | { |
Charles MacNeill |
5:89031b2f5316 | 3167 | |
Charles MacNeill |
5:89031b2f5316 | 3168 | |
Charles MacNeill |
5:89031b2f5316 | 3169 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3170 | |
Charles MacNeill |
5:89031b2f5316 | 3171 | VL53LX_LLDriverData_t *pdev = |
Charles MacNeill |
5:89031b2f5316 | 3172 | VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 3173 | VL53LX_LLDriverResults_t *pres = |
Charles MacNeill |
5:89031b2f5316 | 3174 | VL53LXDevStructGetLLResultsHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 3175 | VL53LX_zone_private_dyn_cfgs_t *pZ = &(pres->zone_dyn_cfgs); |
Charles MacNeill |
5:89031b2f5316 | 3176 | |
Charles MacNeill |
5:89031b2f5316 | 3177 | uint8_t zone_id = pdev->ll_state.rd_zone_id; |
Charles MacNeill |
5:89031b2f5316 | 3178 | uint8_t i; |
Charles MacNeill |
5:89031b2f5316 | 3179 | uint16_t max_total_rate_per_spads; |
Charles MacNeill |
5:89031b2f5316 | 3180 | uint16_t target_rate = |
Charles MacNeill |
5:89031b2f5316 | 3181 | pdev->stat_cfg.dss_config__target_total_rate_mcps; |
Charles MacNeill |
5:89031b2f5316 | 3182 | uint32_t temp = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 3183 | #ifdef VL53LX_LOG_ENABLE |
Charles MacNeill |
5:89031b2f5316 | 3184 | uint16_t eff_spad_cnt = |
Charles MacNeill |
5:89031b2f5316 | 3185 | pZ->VL53LX_p_003[zone_id].dss_requested_effective_spad_count; |
Charles MacNeill |
5:89031b2f5316 | 3186 | #endif |
Charles MacNeill |
5:89031b2f5316 | 3187 | |
Charles MacNeill |
5:89031b2f5316 | 3188 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3189 | |
Charles MacNeill |
5:89031b2f5316 | 3190 | pZ->VL53LX_p_003[zone_id].dss_requested_effective_spad_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 3191 | |
Charles MacNeill |
5:89031b2f5316 | 3192 | trace_print(VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3193 | " DYNZONEUPDATE: peak signal count rate mcps:"); |
Charles MacNeill |
5:89031b2f5316 | 3194 | |
Charles MacNeill |
5:89031b2f5316 | 3195 | trace_print(VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3196 | "%u actual effective spads: %u\n", |
Charles MacNeill |
5:89031b2f5316 | 3197 | presults->VL53LX_p_003[0].peak_signal_count_rate_mcps, |
Charles MacNeill |
5:89031b2f5316 | 3198 | presults->VL53LX_p_003[0].VL53LX_p_004); |
Charles MacNeill |
5:89031b2f5316 | 3199 | |
Charles MacNeill |
5:89031b2f5316 | 3200 | trace_print(VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3201 | " DYNZONEUPDATE: active results: %u\n", |
Charles MacNeill |
5:89031b2f5316 | 3202 | presults->active_results); |
Charles MacNeill |
5:89031b2f5316 | 3203 | |
Charles MacNeill |
5:89031b2f5316 | 3204 | max_total_rate_per_spads = |
Charles MacNeill |
5:89031b2f5316 | 3205 | presults->VL53LX_p_003[0].total_rate_per_spad_mcps; |
Charles MacNeill |
5:89031b2f5316 | 3206 | |
Charles MacNeill |
5:89031b2f5316 | 3207 | trace_print(VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3208 | " DYNZONEUPDATE: max total rate per spad at start: %u\n", |
Charles MacNeill |
5:89031b2f5316 | 3209 | max_total_rate_per_spads); |
Charles MacNeill |
5:89031b2f5316 | 3210 | |
Charles MacNeill |
5:89031b2f5316 | 3211 | for (i = 1; i < presults->active_results; i++) { |
Charles MacNeill |
5:89031b2f5316 | 3212 | trace_print(VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3213 | " DYNZONEUPDATE: zone total rate per spad: zone_id: %u,", |
Charles MacNeill |
5:89031b2f5316 | 3214 | i); |
Charles MacNeill |
5:89031b2f5316 | 3215 | |
Charles MacNeill |
5:89031b2f5316 | 3216 | trace_print(VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3217 | "total rate per spad: %u\n", |
Charles MacNeill |
5:89031b2f5316 | 3218 | presults->VL53LX_p_003[i].total_rate_per_spad_mcps); |
Charles MacNeill |
5:89031b2f5316 | 3219 | |
Charles MacNeill |
5:89031b2f5316 | 3220 | if (presults->VL53LX_p_003[i].total_rate_per_spad_mcps > |
Charles MacNeill |
5:89031b2f5316 | 3221 | max_total_rate_per_spads) |
Charles MacNeill |
5:89031b2f5316 | 3222 | max_total_rate_per_spads = |
Charles MacNeill |
5:89031b2f5316 | 3223 | presults->VL53LX_p_003[i].total_rate_per_spad_mcps; |
Charles MacNeill |
5:89031b2f5316 | 3224 | |
Charles MacNeill |
5:89031b2f5316 | 3225 | } |
Charles MacNeill |
5:89031b2f5316 | 3226 | |
Charles MacNeill |
5:89031b2f5316 | 3227 | if (max_total_rate_per_spads == 0) { |
Charles MacNeill |
5:89031b2f5316 | 3228 | |
Charles MacNeill |
5:89031b2f5316 | 3229 | temp = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 3230 | } else { |
Charles MacNeill |
5:89031b2f5316 | 3231 | |
Charles MacNeill |
5:89031b2f5316 | 3232 | temp = target_rate << 14; |
Charles MacNeill |
5:89031b2f5316 | 3233 | trace_print(VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3234 | " DYNZONEUPDATE: 1: temp: %u\n", |
Charles MacNeill |
5:89031b2f5316 | 3235 | temp); |
Charles MacNeill |
5:89031b2f5316 | 3236 | |
Charles MacNeill |
5:89031b2f5316 | 3237 | |
Charles MacNeill |
5:89031b2f5316 | 3238 | temp = temp / max_total_rate_per_spads; |
Charles MacNeill |
5:89031b2f5316 | 3239 | |
Charles MacNeill |
5:89031b2f5316 | 3240 | trace_print(VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3241 | " DYNZONEUPDATE: 2: temp: %u\n", |
Charles MacNeill |
5:89031b2f5316 | 3242 | temp); |
Charles MacNeill |
5:89031b2f5316 | 3243 | |
Charles MacNeill |
5:89031b2f5316 | 3244 | |
Charles MacNeill |
5:89031b2f5316 | 3245 | if (temp > 0xFFFF) |
Charles MacNeill |
5:89031b2f5316 | 3246 | temp = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 3247 | |
Charles MacNeill |
5:89031b2f5316 | 3248 | trace_print(VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3249 | " DYNZONEUPDATE: 3: temp: %u\n", |
Charles MacNeill |
5:89031b2f5316 | 3250 | temp); |
Charles MacNeill |
5:89031b2f5316 | 3251 | } |
Charles MacNeill |
5:89031b2f5316 | 3252 | |
Charles MacNeill |
5:89031b2f5316 | 3253 | pZ->VL53LX_p_003[zone_id].dss_requested_effective_spad_count = |
Charles MacNeill |
5:89031b2f5316 | 3254 | (uint16_t)temp; |
Charles MacNeill |
5:89031b2f5316 | 3255 | |
Charles MacNeill |
5:89031b2f5316 | 3256 | trace_print(VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3257 | " DYNZONEUPDATE: zone_id: %u, target_rate: %u,", |
Charles MacNeill |
5:89031b2f5316 | 3258 | zone_id, |
Charles MacNeill |
5:89031b2f5316 | 3259 | target_rate); |
Charles MacNeill |
5:89031b2f5316 | 3260 | |
Charles MacNeill |
5:89031b2f5316 | 3261 | trace_print(VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3262 | "max_total_rate_per_spads: %u, requested_spads: %u\n", |
Charles MacNeill |
5:89031b2f5316 | 3263 | max_total_rate_per_spads, |
Charles MacNeill |
5:89031b2f5316 | 3264 | eff_spad_cnt); |
Charles MacNeill |
5:89031b2f5316 | 3265 | |
Charles MacNeill |
5:89031b2f5316 | 3266 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 3267 | |
Charles MacNeill |
5:89031b2f5316 | 3268 | return status; |
Charles MacNeill |
5:89031b2f5316 | 3269 | } |
Charles MacNeill |
5:89031b2f5316 | 3270 | |
Charles MacNeill |
5:89031b2f5316 | 3271 | VL53LX_Error VL53LX_multizone_hist_bins_update( |
Charles MacNeill |
5:89031b2f5316 | 3272 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 3273 | { |
Charles MacNeill |
5:89031b2f5316 | 3274 | |
Charles MacNeill |
5:89031b2f5316 | 3275 | |
Charles MacNeill |
5:89031b2f5316 | 3276 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3277 | |
Charles MacNeill |
5:89031b2f5316 | 3278 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 3279 | VL53LX_ll_driver_state_t *pstate = &(pdev->ll_state); |
Charles MacNeill |
5:89031b2f5316 | 3280 | VL53LX_zone_config_t *pzone_cfg = &(pdev->zone_cfg); |
Charles MacNeill |
5:89031b2f5316 | 3281 | VL53LX_histogram_config_t *phist_cfg = &(pdev->hist_cfg); |
Charles MacNeill |
5:89031b2f5316 | 3282 | VL53LX_histogram_config_t *pmulti_hist = |
Charles MacNeill |
5:89031b2f5316 | 3283 | &(pzone_cfg->multizone_hist_cfg); |
Charles MacNeill |
5:89031b2f5316 | 3284 | |
Charles MacNeill |
5:89031b2f5316 | 3285 | uint8_t next_range_is_odd_timing = (pstate->cfg_stream_count) % 2; |
Charles MacNeill |
5:89031b2f5316 | 3286 | |
Charles MacNeill |
5:89031b2f5316 | 3287 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3288 | |
Charles MacNeill |
5:89031b2f5316 | 3289 | |
Charles MacNeill |
5:89031b2f5316 | 3290 | if (pzone_cfg->bin_config[pdev->ll_state.cfg_zone_id] == |
Charles MacNeill |
5:89031b2f5316 | 3291 | VL53LX_ZONECONFIG_BINCONFIG__LOWAMB) { |
Charles MacNeill |
5:89031b2f5316 | 3292 | if (!next_range_is_odd_timing) { |
Charles MacNeill |
5:89031b2f5316 | 3293 | trace_print (VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3294 | " HISTBINCONFIGUPDATE: Setting LOWAMB EVEN timing\n"); |
Charles MacNeill |
5:89031b2f5316 | 3295 | phist_cfg->histogram_config__low_amb_even_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 3296 | pmulti_hist->histogram_config__low_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 3297 | phist_cfg->histogram_config__low_amb_even_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 3298 | pmulti_hist->histogram_config__low_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 3299 | phist_cfg->histogram_config__low_amb_even_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 3300 | pmulti_hist->histogram_config__low_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 3301 | } |
Charles MacNeill |
5:89031b2f5316 | 3302 | |
Charles MacNeill |
5:89031b2f5316 | 3303 | if (next_range_is_odd_timing) { |
Charles MacNeill |
5:89031b2f5316 | 3304 | trace_print (VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3305 | " HISTBINCONFIGUPDATE: Setting LOWAMB ODD timing\n"); |
Charles MacNeill |
5:89031b2f5316 | 3306 | phist_cfg->histogram_config__low_amb_odd_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 3307 | pmulti_hist->histogram_config__low_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 3308 | phist_cfg->histogram_config__low_amb_odd_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 3309 | pmulti_hist->histogram_config__low_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 3310 | phist_cfg->histogram_config__low_amb_odd_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 3311 | pmulti_hist->histogram_config__low_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 3312 | } |
Charles MacNeill |
5:89031b2f5316 | 3313 | } else if (pzone_cfg->bin_config[pdev->ll_state.cfg_zone_id] == |
Charles MacNeill |
5:89031b2f5316 | 3314 | VL53LX_ZONECONFIG_BINCONFIG__MIDAMB) { |
Charles MacNeill |
5:89031b2f5316 | 3315 | trace_print (VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3316 | " HISTBINCONFIGUPDATE: Setting MIDAMB timing\n"); |
Charles MacNeill |
5:89031b2f5316 | 3317 | if (!next_range_is_odd_timing) { |
Charles MacNeill |
5:89031b2f5316 | 3318 | trace_print(VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3319 | " HISTBINCONFIGUPDATE: Setting MIDAMB EVEN timing\n"); |
Charles MacNeill |
5:89031b2f5316 | 3320 | phist_cfg->histogram_config__low_amb_even_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 3321 | pmulti_hist->histogram_config__mid_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 3322 | phist_cfg->histogram_config__low_amb_even_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 3323 | pmulti_hist->histogram_config__mid_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 3324 | phist_cfg->histogram_config__low_amb_even_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 3325 | pmulti_hist->histogram_config__mid_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 3326 | } |
Charles MacNeill |
5:89031b2f5316 | 3327 | |
Charles MacNeill |
5:89031b2f5316 | 3328 | if (next_range_is_odd_timing) { |
Charles MacNeill |
5:89031b2f5316 | 3329 | trace_print (VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3330 | " HISTBINCONFIGUPDATE: Setting MIDAMB ODD timing\n"); |
Charles MacNeill |
5:89031b2f5316 | 3331 | phist_cfg->histogram_config__low_amb_odd_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 3332 | pmulti_hist->histogram_config__mid_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 3333 | phist_cfg->histogram_config__low_amb_odd_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 3334 | pmulti_hist->histogram_config__mid_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 3335 | phist_cfg->histogram_config__low_amb_odd_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 3336 | pmulti_hist->histogram_config__mid_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 3337 | } |
Charles MacNeill |
5:89031b2f5316 | 3338 | } else if (pzone_cfg->bin_config[pdev->ll_state.cfg_zone_id] == |
Charles MacNeill |
5:89031b2f5316 | 3339 | VL53LX_ZONECONFIG_BINCONFIG__HIGHAMB) { |
Charles MacNeill |
5:89031b2f5316 | 3340 | if (!next_range_is_odd_timing) { |
Charles MacNeill |
5:89031b2f5316 | 3341 | trace_print (VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3342 | " HISTBINCONFIGUPDATE: Setting HIGHAMB EVEN timing\n" |
Charles MacNeill |
5:89031b2f5316 | 3343 | ); |
Charles MacNeill |
5:89031b2f5316 | 3344 | phist_cfg->histogram_config__low_amb_even_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 3345 | pmulti_hist->histogram_config__high_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 3346 | phist_cfg->histogram_config__low_amb_even_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 3347 | pmulti_hist->histogram_config__high_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 3348 | phist_cfg->histogram_config__low_amb_even_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 3349 | pmulti_hist->histogram_config__high_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 3350 | } |
Charles MacNeill |
5:89031b2f5316 | 3351 | |
Charles MacNeill |
5:89031b2f5316 | 3352 | if (next_range_is_odd_timing) { |
Charles MacNeill |
5:89031b2f5316 | 3353 | trace_print (VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3354 | " HISTBINCONFIGUPDATE: Setting HIGHAMB ODD timing\n"); |
Charles MacNeill |
5:89031b2f5316 | 3355 | phist_cfg->histogram_config__low_amb_odd_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 3356 | pmulti_hist->histogram_config__high_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 3357 | phist_cfg->histogram_config__low_amb_odd_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 3358 | pmulti_hist->histogram_config__high_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 3359 | phist_cfg->histogram_config__low_amb_odd_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 3360 | pmulti_hist->histogram_config__high_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 3361 | } |
Charles MacNeill |
5:89031b2f5316 | 3362 | } |
Charles MacNeill |
5:89031b2f5316 | 3363 | |
Charles MacNeill |
5:89031b2f5316 | 3364 | |
Charles MacNeill |
5:89031b2f5316 | 3365 | |
Charles MacNeill |
5:89031b2f5316 | 3366 | if (status == VL53LX_ERROR_NONE) { |
Charles MacNeill |
5:89031b2f5316 | 3367 | VL53LX_copy_hist_bins_to_static_cfg( |
Charles MacNeill |
5:89031b2f5316 | 3368 | phist_cfg, |
Charles MacNeill |
5:89031b2f5316 | 3369 | &(pdev->stat_cfg), |
Charles MacNeill |
5:89031b2f5316 | 3370 | &(pdev->tim_cfg)); |
Charles MacNeill |
5:89031b2f5316 | 3371 | } |
Charles MacNeill |
5:89031b2f5316 | 3372 | |
Charles MacNeill |
5:89031b2f5316 | 3373 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 3374 | |
Charles MacNeill |
5:89031b2f5316 | 3375 | return status; |
Charles MacNeill |
5:89031b2f5316 | 3376 | } |
Charles MacNeill |
5:89031b2f5316 | 3377 | |
Charles MacNeill |
5:89031b2f5316 | 3378 | |
Charles MacNeill |
5:89031b2f5316 | 3379 | |
Charles MacNeill |
5:89031b2f5316 | 3380 | VL53LX_Error VL53LX_update_internal_stream_counters( |
Charles MacNeill |
5:89031b2f5316 | 3381 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 3382 | uint8_t external_stream_count, |
Charles MacNeill |
5:89031b2f5316 | 3383 | uint8_t *pinternal_stream_count, |
Charles MacNeill |
5:89031b2f5316 | 3384 | uint8_t *pinternal_stream_count_val) |
Charles MacNeill |
5:89031b2f5316 | 3385 | { |
Charles MacNeill |
5:89031b2f5316 | 3386 | |
Charles MacNeill |
5:89031b2f5316 | 3387 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3388 | uint8_t stream_divider; |
Charles MacNeill |
5:89031b2f5316 | 3389 | |
Charles MacNeill |
5:89031b2f5316 | 3390 | VL53LX_LLDriverData_t *pdev = |
Charles MacNeill |
5:89031b2f5316 | 3391 | VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 3392 | |
Charles MacNeill |
5:89031b2f5316 | 3393 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3394 | |
Charles MacNeill |
5:89031b2f5316 | 3395 | stream_divider = pdev->gen_cfg.global_config__stream_divider; |
Charles MacNeill |
5:89031b2f5316 | 3396 | |
Charles MacNeill |
5:89031b2f5316 | 3397 | if (stream_divider == 0) { |
Charles MacNeill |
5:89031b2f5316 | 3398 | |
Charles MacNeill |
5:89031b2f5316 | 3399 | |
Charles MacNeill |
5:89031b2f5316 | 3400 | *pinternal_stream_count = external_stream_count; |
Charles MacNeill |
5:89031b2f5316 | 3401 | |
Charles MacNeill |
5:89031b2f5316 | 3402 | } else if (*pinternal_stream_count_val == (stream_divider-1)) { |
Charles MacNeill |
5:89031b2f5316 | 3403 | |
Charles MacNeill |
5:89031b2f5316 | 3404 | |
Charles MacNeill |
5:89031b2f5316 | 3405 | if (*pinternal_stream_count == 0xFF) |
Charles MacNeill |
5:89031b2f5316 | 3406 | *pinternal_stream_count = 0x80; |
Charles MacNeill |
5:89031b2f5316 | 3407 | else |
Charles MacNeill |
5:89031b2f5316 | 3408 | *pinternal_stream_count = *pinternal_stream_count + 1; |
Charles MacNeill |
5:89031b2f5316 | 3409 | |
Charles MacNeill |
5:89031b2f5316 | 3410 | |
Charles MacNeill |
5:89031b2f5316 | 3411 | *pinternal_stream_count_val = 0; |
Charles MacNeill |
5:89031b2f5316 | 3412 | |
Charles MacNeill |
5:89031b2f5316 | 3413 | } else { |
Charles MacNeill |
5:89031b2f5316 | 3414 | |
Charles MacNeill |
5:89031b2f5316 | 3415 | |
Charles MacNeill |
5:89031b2f5316 | 3416 | *pinternal_stream_count_val = *pinternal_stream_count_val + 1; |
Charles MacNeill |
5:89031b2f5316 | 3417 | } |
Charles MacNeill |
5:89031b2f5316 | 3418 | |
Charles MacNeill |
5:89031b2f5316 | 3419 | trace_print(VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3420 | "UPDINTSTREAMCOUNT internal_steam_count: %d,", |
Charles MacNeill |
5:89031b2f5316 | 3421 | *pinternal_stream_count); |
Charles MacNeill |
5:89031b2f5316 | 3422 | |
Charles MacNeill |
5:89031b2f5316 | 3423 | trace_print(VL53LX_TRACE_LEVEL_DEBUG, |
Charles MacNeill |
5:89031b2f5316 | 3424 | "internal_stream_count_val: %d, divider: %d\n", |
Charles MacNeill |
5:89031b2f5316 | 3425 | *pinternal_stream_count_val, |
Charles MacNeill |
5:89031b2f5316 | 3426 | stream_divider); |
Charles MacNeill |
5:89031b2f5316 | 3427 | |
Charles MacNeill |
5:89031b2f5316 | 3428 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 3429 | |
Charles MacNeill |
5:89031b2f5316 | 3430 | return status; |
Charles MacNeill |
5:89031b2f5316 | 3431 | } |
Charles MacNeill |
5:89031b2f5316 | 3432 | |
Charles MacNeill |
5:89031b2f5316 | 3433 | |
Charles MacNeill |
5:89031b2f5316 | 3434 | |
Charles MacNeill |
5:89031b2f5316 | 3435 | VL53LX_Error VL53LX_set_histogram_multizone_initial_bin_config( |
Charles MacNeill |
5:89031b2f5316 | 3436 | VL53LX_zone_config_t *pzone_cfg, |
Charles MacNeill |
5:89031b2f5316 | 3437 | VL53LX_histogram_config_t *phist_cfg, |
Charles MacNeill |
5:89031b2f5316 | 3438 | VL53LX_histogram_config_t *pmulti_hist) |
Charles MacNeill |
5:89031b2f5316 | 3439 | { |
Charles MacNeill |
5:89031b2f5316 | 3440 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3441 | |
Charles MacNeill |
5:89031b2f5316 | 3442 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3443 | |
Charles MacNeill |
5:89031b2f5316 | 3444 | |
Charles MacNeill |
5:89031b2f5316 | 3445 | if (pzone_cfg->bin_config[0] == |
Charles MacNeill |
5:89031b2f5316 | 3446 | VL53LX_ZONECONFIG_BINCONFIG__LOWAMB) { |
Charles MacNeill |
5:89031b2f5316 | 3447 | phist_cfg->histogram_config__low_amb_even_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 3448 | pmulti_hist->histogram_config__low_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 3449 | phist_cfg->histogram_config__low_amb_even_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 3450 | pmulti_hist->histogram_config__low_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 3451 | phist_cfg->histogram_config__low_amb_even_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 3452 | pmulti_hist->histogram_config__low_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 3453 | |
Charles MacNeill |
5:89031b2f5316 | 3454 | phist_cfg->histogram_config__low_amb_odd_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 3455 | pmulti_hist->histogram_config__low_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 3456 | phist_cfg->histogram_config__low_amb_odd_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 3457 | pmulti_hist->histogram_config__low_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 3458 | phist_cfg->histogram_config__low_amb_odd_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 3459 | pmulti_hist->histogram_config__low_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 3460 | } else if (pzone_cfg->bin_config[0] == |
Charles MacNeill |
5:89031b2f5316 | 3461 | VL53LX_ZONECONFIG_BINCONFIG__MIDAMB) { |
Charles MacNeill |
5:89031b2f5316 | 3462 | phist_cfg->histogram_config__low_amb_even_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 3463 | pmulti_hist->histogram_config__mid_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 3464 | phist_cfg->histogram_config__low_amb_even_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 3465 | pmulti_hist->histogram_config__mid_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 3466 | phist_cfg->histogram_config__low_amb_even_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 3467 | pmulti_hist->histogram_config__mid_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 3468 | |
Charles MacNeill |
5:89031b2f5316 | 3469 | phist_cfg->histogram_config__low_amb_odd_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 3470 | pmulti_hist->histogram_config__mid_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 3471 | phist_cfg->histogram_config__low_amb_odd_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 3472 | pmulti_hist->histogram_config__mid_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 3473 | phist_cfg->histogram_config__low_amb_odd_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 3474 | pmulti_hist->histogram_config__mid_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 3475 | } else if (pzone_cfg->bin_config[0] == |
Charles MacNeill |
5:89031b2f5316 | 3476 | VL53LX_ZONECONFIG_BINCONFIG__HIGHAMB) { |
Charles MacNeill |
5:89031b2f5316 | 3477 | phist_cfg->histogram_config__low_amb_even_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 3478 | pmulti_hist->histogram_config__high_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 3479 | phist_cfg->histogram_config__low_amb_even_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 3480 | pmulti_hist->histogram_config__high_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 3481 | phist_cfg->histogram_config__low_amb_even_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 3482 | pmulti_hist->histogram_config__high_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 3483 | phist_cfg->histogram_config__low_amb_odd_bin_0_1 = |
Charles MacNeill |
5:89031b2f5316 | 3484 | pmulti_hist->histogram_config__high_amb_even_bin_0_1; |
Charles MacNeill |
5:89031b2f5316 | 3485 | phist_cfg->histogram_config__low_amb_odd_bin_2_3 = |
Charles MacNeill |
5:89031b2f5316 | 3486 | pmulti_hist->histogram_config__high_amb_even_bin_2_3; |
Charles MacNeill |
5:89031b2f5316 | 3487 | phist_cfg->histogram_config__low_amb_odd_bin_4_5 = |
Charles MacNeill |
5:89031b2f5316 | 3488 | pmulti_hist->histogram_config__high_amb_even_bin_4_5; |
Charles MacNeill |
5:89031b2f5316 | 3489 | } |
Charles MacNeill |
5:89031b2f5316 | 3490 | |
Charles MacNeill |
5:89031b2f5316 | 3491 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 3492 | return status; |
Charles MacNeill |
5:89031b2f5316 | 3493 | } |
Charles MacNeill |
5:89031b2f5316 | 3494 | |
Charles MacNeill |
5:89031b2f5316 | 3495 | |
Charles MacNeill |
5:89031b2f5316 | 3496 | |
Charles MacNeill |
5:89031b2f5316 | 3497 | uint8_t VL53LX_encode_GPIO_interrupt_config( |
Charles MacNeill |
5:89031b2f5316 | 3498 | VL53LX_GPIO_interrupt_config_t *pintconf) |
Charles MacNeill |
5:89031b2f5316 | 3499 | { |
Charles MacNeill |
5:89031b2f5316 | 3500 | uint8_t system__interrupt_config; |
Charles MacNeill |
5:89031b2f5316 | 3501 | |
Charles MacNeill |
5:89031b2f5316 | 3502 | system__interrupt_config = pintconf->intr_mode_distance; |
Charles MacNeill |
5:89031b2f5316 | 3503 | system__interrupt_config |= ((pintconf->intr_mode_rate) << 2); |
Charles MacNeill |
5:89031b2f5316 | 3504 | system__interrupt_config |= ((pintconf->intr_new_measure_ready) << 5); |
Charles MacNeill |
5:89031b2f5316 | 3505 | system__interrupt_config |= ((pintconf->intr_no_target) << 6); |
Charles MacNeill |
5:89031b2f5316 | 3506 | system__interrupt_config |= ((pintconf->intr_combined_mode) << 7); |
Charles MacNeill |
5:89031b2f5316 | 3507 | |
Charles MacNeill |
5:89031b2f5316 | 3508 | return system__interrupt_config; |
Charles MacNeill |
5:89031b2f5316 | 3509 | } |
Charles MacNeill |
5:89031b2f5316 | 3510 | |
Charles MacNeill |
5:89031b2f5316 | 3511 | |
Charles MacNeill |
5:89031b2f5316 | 3512 | |
Charles MacNeill |
5:89031b2f5316 | 3513 | VL53LX_GPIO_interrupt_config_t VL53LX_decode_GPIO_interrupt_config( |
Charles MacNeill |
5:89031b2f5316 | 3514 | uint8_t system__interrupt_config) |
Charles MacNeill |
5:89031b2f5316 | 3515 | { |
Charles MacNeill |
5:89031b2f5316 | 3516 | VL53LX_GPIO_interrupt_config_t intconf; |
Charles MacNeill |
5:89031b2f5316 | 3517 | |
Charles MacNeill |
5:89031b2f5316 | 3518 | intconf.intr_mode_distance = system__interrupt_config & 0x03; |
Charles MacNeill |
5:89031b2f5316 | 3519 | intconf.intr_mode_rate = (system__interrupt_config >> 2) & 0x03; |
Charles MacNeill |
5:89031b2f5316 | 3520 | intconf.intr_new_measure_ready = (system__interrupt_config >> 5) & 0x01; |
Charles MacNeill |
5:89031b2f5316 | 3521 | intconf.intr_no_target = (system__interrupt_config >> 6) & 0x01; |
Charles MacNeill |
5:89031b2f5316 | 3522 | intconf.intr_combined_mode = (system__interrupt_config >> 7) & 0x01; |
Charles MacNeill |
5:89031b2f5316 | 3523 | |
Charles MacNeill |
5:89031b2f5316 | 3524 | |
Charles MacNeill |
5:89031b2f5316 | 3525 | intconf.threshold_rate_low = 0; |
Charles MacNeill |
5:89031b2f5316 | 3526 | intconf.threshold_rate_high = 0; |
Charles MacNeill |
5:89031b2f5316 | 3527 | intconf.threshold_distance_low = 0; |
Charles MacNeill |
5:89031b2f5316 | 3528 | intconf.threshold_distance_high = 0; |
Charles MacNeill |
5:89031b2f5316 | 3529 | |
Charles MacNeill |
5:89031b2f5316 | 3530 | return intconf; |
Charles MacNeill |
5:89031b2f5316 | 3531 | } |
Charles MacNeill |
5:89031b2f5316 | 3532 | |
Charles MacNeill |
5:89031b2f5316 | 3533 | |
Charles MacNeill |
5:89031b2f5316 | 3534 | |
Charles MacNeill |
5:89031b2f5316 | 3535 | VL53LX_Error VL53LX_set_GPIO_distance_threshold( |
Charles MacNeill |
5:89031b2f5316 | 3536 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 3537 | uint16_t threshold_high, |
Charles MacNeill |
5:89031b2f5316 | 3538 | uint16_t threshold_low) |
Charles MacNeill |
5:89031b2f5316 | 3539 | { |
Charles MacNeill |
5:89031b2f5316 | 3540 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3541 | |
Charles MacNeill |
5:89031b2f5316 | 3542 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 3543 | |
Charles MacNeill |
5:89031b2f5316 | 3544 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3545 | |
Charles MacNeill |
5:89031b2f5316 | 3546 | pdev->dyn_cfg.system__thresh_high = threshold_high; |
Charles MacNeill |
5:89031b2f5316 | 3547 | pdev->dyn_cfg.system__thresh_low = threshold_low; |
Charles MacNeill |
5:89031b2f5316 | 3548 | |
Charles MacNeill |
5:89031b2f5316 | 3549 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 3550 | return status; |
Charles MacNeill |
5:89031b2f5316 | 3551 | } |
Charles MacNeill |
5:89031b2f5316 | 3552 | |
Charles MacNeill |
5:89031b2f5316 | 3553 | |
Charles MacNeill |
5:89031b2f5316 | 3554 | |
Charles MacNeill |
5:89031b2f5316 | 3555 | VL53LX_Error VL53LX_set_GPIO_rate_threshold( |
Charles MacNeill |
5:89031b2f5316 | 3556 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 3557 | uint16_t threshold_high, |
Charles MacNeill |
5:89031b2f5316 | 3558 | uint16_t threshold_low) |
Charles MacNeill |
5:89031b2f5316 | 3559 | { |
Charles MacNeill |
5:89031b2f5316 | 3560 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3561 | |
Charles MacNeill |
5:89031b2f5316 | 3562 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 3563 | |
Charles MacNeill |
5:89031b2f5316 | 3564 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3565 | |
Charles MacNeill |
5:89031b2f5316 | 3566 | pdev->gen_cfg.system__thresh_rate_high = threshold_high; |
Charles MacNeill |
5:89031b2f5316 | 3567 | pdev->gen_cfg.system__thresh_rate_low = threshold_low; |
Charles MacNeill |
5:89031b2f5316 | 3568 | |
Charles MacNeill |
5:89031b2f5316 | 3569 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 3570 | return status; |
Charles MacNeill |
5:89031b2f5316 | 3571 | } |
Charles MacNeill |
5:89031b2f5316 | 3572 | |
Charles MacNeill |
5:89031b2f5316 | 3573 | |
Charles MacNeill |
5:89031b2f5316 | 3574 | |
Charles MacNeill |
5:89031b2f5316 | 3575 | VL53LX_Error VL53LX_set_GPIO_thresholds_from_struct( |
Charles MacNeill |
5:89031b2f5316 | 3576 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 3577 | VL53LX_GPIO_interrupt_config_t *pintconf) |
Charles MacNeill |
5:89031b2f5316 | 3578 | { |
Charles MacNeill |
5:89031b2f5316 | 3579 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3580 | |
Charles MacNeill |
5:89031b2f5316 | 3581 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3582 | |
Charles MacNeill |
5:89031b2f5316 | 3583 | status = VL53LX_set_GPIO_distance_threshold( |
Charles MacNeill |
5:89031b2f5316 | 3584 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 3585 | pintconf->threshold_distance_high, |
Charles MacNeill |
5:89031b2f5316 | 3586 | pintconf->threshold_distance_low); |
Charles MacNeill |
5:89031b2f5316 | 3587 | |
Charles MacNeill |
5:89031b2f5316 | 3588 | if (status == VL53LX_ERROR_NONE) { |
Charles MacNeill |
5:89031b2f5316 | 3589 | status = |
Charles MacNeill |
5:89031b2f5316 | 3590 | VL53LX_set_GPIO_rate_threshold( |
Charles MacNeill |
5:89031b2f5316 | 3591 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 3592 | pintconf->threshold_rate_high, |
Charles MacNeill |
5:89031b2f5316 | 3593 | pintconf->threshold_rate_low); |
Charles MacNeill |
5:89031b2f5316 | 3594 | } |
Charles MacNeill |
5:89031b2f5316 | 3595 | |
Charles MacNeill |
5:89031b2f5316 | 3596 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 3597 | return status; |
Charles MacNeill |
5:89031b2f5316 | 3598 | } |
Charles MacNeill |
5:89031b2f5316 | 3599 | |
Charles MacNeill |
5:89031b2f5316 | 3600 | |
Charles MacNeill |
5:89031b2f5316 | 3601 | VL53LX_Error VL53LX_set_ref_spad_char_config( |
Charles MacNeill |
5:89031b2f5316 | 3602 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 3603 | uint8_t vcsel_period_a, |
Charles MacNeill |
5:89031b2f5316 | 3604 | uint32_t phasecal_timeout_us, |
Charles MacNeill |
5:89031b2f5316 | 3605 | uint16_t total_rate_target_mcps, |
Charles MacNeill |
5:89031b2f5316 | 3606 | uint16_t max_count_rate_rtn_limit_mcps, |
Charles MacNeill |
5:89031b2f5316 | 3607 | uint16_t min_count_rate_rtn_limit_mcps, |
Charles MacNeill |
5:89031b2f5316 | 3608 | uint16_t fast_osc_frequency) |
Charles MacNeill |
5:89031b2f5316 | 3609 | { |
Charles MacNeill |
5:89031b2f5316 | 3610 | |
Charles MacNeill |
5:89031b2f5316 | 3611 | |
Charles MacNeill |
5:89031b2f5316 | 3612 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3613 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 3614 | |
Charles MacNeill |
5:89031b2f5316 | 3615 | uint8_t buffer[2]; |
Charles MacNeill |
5:89031b2f5316 | 3616 | |
Charles MacNeill |
5:89031b2f5316 | 3617 | uint32_t macro_period_us = 0; |
Charles MacNeill |
5:89031b2f5316 | 3618 | uint32_t timeout_mclks = 0; |
Charles MacNeill |
5:89031b2f5316 | 3619 | |
Charles MacNeill |
5:89031b2f5316 | 3620 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3621 | |
Charles MacNeill |
5:89031b2f5316 | 3622 | |
Charles MacNeill |
5:89031b2f5316 | 3623 | macro_period_us = |
Charles MacNeill |
5:89031b2f5316 | 3624 | VL53LX_calc_macro_period_us( |
Charles MacNeill |
5:89031b2f5316 | 3625 | fast_osc_frequency, |
Charles MacNeill |
5:89031b2f5316 | 3626 | vcsel_period_a); |
Charles MacNeill |
5:89031b2f5316 | 3627 | if (macro_period_us == 0) |
Charles MacNeill |
5:89031b2f5316 | 3628 | macro_period_us = 1; |
Charles MacNeill |
5:89031b2f5316 | 3629 | |
Charles MacNeill |
5:89031b2f5316 | 3630 | |
Charles MacNeill |
5:89031b2f5316 | 3631 | timeout_mclks = phasecal_timeout_us << 12; |
Charles MacNeill |
5:89031b2f5316 | 3632 | timeout_mclks = timeout_mclks + (macro_period_us>>1); |
Charles MacNeill |
5:89031b2f5316 | 3633 | timeout_mclks = timeout_mclks / macro_period_us; |
Charles MacNeill |
5:89031b2f5316 | 3634 | |
Charles MacNeill |
5:89031b2f5316 | 3635 | if (timeout_mclks > 0xFF) |
Charles MacNeill |
5:89031b2f5316 | 3636 | pdev->gen_cfg.phasecal_config__timeout_macrop = 0xFF; |
Charles MacNeill |
5:89031b2f5316 | 3637 | else |
Charles MacNeill |
5:89031b2f5316 | 3638 | pdev->gen_cfg.phasecal_config__timeout_macrop = |
Charles MacNeill |
5:89031b2f5316 | 3639 | (uint8_t)timeout_mclks; |
Charles MacNeill |
5:89031b2f5316 | 3640 | |
Charles MacNeill |
5:89031b2f5316 | 3641 | pdev->tim_cfg.range_config__vcsel_period_a = vcsel_period_a; |
Charles MacNeill |
5:89031b2f5316 | 3642 | |
Charles MacNeill |
5:89031b2f5316 | 3643 | |
Charles MacNeill |
5:89031b2f5316 | 3644 | |
Charles MacNeill |
5:89031b2f5316 | 3645 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3646 | status = |
Charles MacNeill |
5:89031b2f5316 | 3647 | VL53LX_WrByte( |
Charles MacNeill |
5:89031b2f5316 | 3648 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 3649 | VL53LX_PHASECAL_CONFIG__TIMEOUT_MACROP, |
Charles MacNeill |
5:89031b2f5316 | 3650 | pdev->gen_cfg.phasecal_config__timeout_macrop); |
Charles MacNeill |
5:89031b2f5316 | 3651 | |
Charles MacNeill |
5:89031b2f5316 | 3652 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3653 | status = |
Charles MacNeill |
5:89031b2f5316 | 3654 | VL53LX_WrByte( |
Charles MacNeill |
5:89031b2f5316 | 3655 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 3656 | VL53LX_RANGE_CONFIG__VCSEL_PERIOD_A, |
Charles MacNeill |
5:89031b2f5316 | 3657 | pdev->tim_cfg.range_config__vcsel_period_a); |
Charles MacNeill |
5:89031b2f5316 | 3658 | |
Charles MacNeill |
5:89031b2f5316 | 3659 | |
Charles MacNeill |
5:89031b2f5316 | 3660 | |
Charles MacNeill |
5:89031b2f5316 | 3661 | buffer[0] = pdev->tim_cfg.range_config__vcsel_period_a; |
Charles MacNeill |
5:89031b2f5316 | 3662 | buffer[1] = pdev->tim_cfg.range_config__vcsel_period_a; |
Charles MacNeill |
5:89031b2f5316 | 3663 | |
Charles MacNeill |
5:89031b2f5316 | 3664 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3665 | status = |
Charles MacNeill |
5:89031b2f5316 | 3666 | VL53LX_WriteMulti( |
Charles MacNeill |
5:89031b2f5316 | 3667 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 3668 | VL53LX_SD_CONFIG__WOI_SD0, |
Charles MacNeill |
5:89031b2f5316 | 3669 | buffer, |
Charles MacNeill |
5:89031b2f5316 | 3670 | 2); |
Charles MacNeill |
5:89031b2f5316 | 3671 | |
Charles MacNeill |
5:89031b2f5316 | 3672 | |
Charles MacNeill |
5:89031b2f5316 | 3673 | |
Charles MacNeill |
5:89031b2f5316 | 3674 | pdev->customer.ref_spad_char__total_rate_target_mcps = |
Charles MacNeill |
5:89031b2f5316 | 3675 | total_rate_target_mcps; |
Charles MacNeill |
5:89031b2f5316 | 3676 | |
Charles MacNeill |
5:89031b2f5316 | 3677 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3678 | status = |
Charles MacNeill |
5:89031b2f5316 | 3679 | VL53LX_WrWord( |
Charles MacNeill |
5:89031b2f5316 | 3680 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 3681 | VL53LX_REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS, |
Charles MacNeill |
5:89031b2f5316 | 3682 | total_rate_target_mcps); |
Charles MacNeill |
5:89031b2f5316 | 3683 | |
Charles MacNeill |
5:89031b2f5316 | 3684 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3685 | status = |
Charles MacNeill |
5:89031b2f5316 | 3686 | VL53LX_WrWord( |
Charles MacNeill |
5:89031b2f5316 | 3687 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 3688 | VL53LX_RANGE_CONFIG__SIGMA_THRESH, |
Charles MacNeill |
5:89031b2f5316 | 3689 | max_count_rate_rtn_limit_mcps); |
Charles MacNeill |
5:89031b2f5316 | 3690 | |
Charles MacNeill |
5:89031b2f5316 | 3691 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3692 | status = |
Charles MacNeill |
5:89031b2f5316 | 3693 | VL53LX_WrWord( |
Charles MacNeill |
5:89031b2f5316 | 3694 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 3695 | VL53LX_RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, |
Charles MacNeill |
5:89031b2f5316 | 3696 | min_count_rate_rtn_limit_mcps); |
Charles MacNeill |
5:89031b2f5316 | 3697 | |
Charles MacNeill |
5:89031b2f5316 | 3698 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 3699 | |
Charles MacNeill |
5:89031b2f5316 | 3700 | return status; |
Charles MacNeill |
5:89031b2f5316 | 3701 | } |
Charles MacNeill |
5:89031b2f5316 | 3702 | |
Charles MacNeill |
5:89031b2f5316 | 3703 | |
Charles MacNeill |
5:89031b2f5316 | 3704 | VL53LX_Error VL53LX_set_ssc_config( |
Charles MacNeill |
5:89031b2f5316 | 3705 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 3706 | VL53LX_ssc_config_t *pssc_cfg, |
Charles MacNeill |
5:89031b2f5316 | 3707 | uint16_t fast_osc_frequency) |
Charles MacNeill |
5:89031b2f5316 | 3708 | { |
Charles MacNeill |
5:89031b2f5316 | 3709 | |
Charles MacNeill |
5:89031b2f5316 | 3710 | |
Charles MacNeill |
5:89031b2f5316 | 3711 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3712 | uint8_t buffer[5]; |
Charles MacNeill |
5:89031b2f5316 | 3713 | |
Charles MacNeill |
5:89031b2f5316 | 3714 | uint32_t macro_period_us = 0; |
Charles MacNeill |
5:89031b2f5316 | 3715 | uint16_t timeout_encoded = 0; |
Charles MacNeill |
5:89031b2f5316 | 3716 | |
Charles MacNeill |
5:89031b2f5316 | 3717 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3718 | |
Charles MacNeill |
5:89031b2f5316 | 3719 | |
Charles MacNeill |
5:89031b2f5316 | 3720 | macro_period_us = |
Charles MacNeill |
5:89031b2f5316 | 3721 | VL53LX_calc_macro_period_us( |
Charles MacNeill |
5:89031b2f5316 | 3722 | fast_osc_frequency, |
Charles MacNeill |
5:89031b2f5316 | 3723 | pssc_cfg->VL53LX_p_005); |
Charles MacNeill |
5:89031b2f5316 | 3724 | |
Charles MacNeill |
5:89031b2f5316 | 3725 | |
Charles MacNeill |
5:89031b2f5316 | 3726 | timeout_encoded = |
Charles MacNeill |
5:89031b2f5316 | 3727 | VL53LX_calc_encoded_timeout( |
Charles MacNeill |
5:89031b2f5316 | 3728 | pssc_cfg->timeout_us, |
Charles MacNeill |
5:89031b2f5316 | 3729 | macro_period_us); |
Charles MacNeill |
5:89031b2f5316 | 3730 | |
Charles MacNeill |
5:89031b2f5316 | 3731 | |
Charles MacNeill |
5:89031b2f5316 | 3732 | |
Charles MacNeill |
5:89031b2f5316 | 3733 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3734 | status = |
Charles MacNeill |
5:89031b2f5316 | 3735 | VL53LX_WrByte( |
Charles MacNeill |
5:89031b2f5316 | 3736 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 3737 | VL53LX_CAL_CONFIG__VCSEL_START, |
Charles MacNeill |
5:89031b2f5316 | 3738 | pssc_cfg->vcsel_start); |
Charles MacNeill |
5:89031b2f5316 | 3739 | |
Charles MacNeill |
5:89031b2f5316 | 3740 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3741 | status = |
Charles MacNeill |
5:89031b2f5316 | 3742 | VL53LX_WrByte( |
Charles MacNeill |
5:89031b2f5316 | 3743 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 3744 | VL53LX_GLOBAL_CONFIG__VCSEL_WIDTH, |
Charles MacNeill |
5:89031b2f5316 | 3745 | pssc_cfg->vcsel_width); |
Charles MacNeill |
5:89031b2f5316 | 3746 | |
Charles MacNeill |
5:89031b2f5316 | 3747 | |
Charles MacNeill |
5:89031b2f5316 | 3748 | |
Charles MacNeill |
5:89031b2f5316 | 3749 | buffer[0] = (uint8_t)((timeout_encoded & 0x0000FF00) >> 8); |
Charles MacNeill |
5:89031b2f5316 | 3750 | buffer[1] = (uint8_t) (timeout_encoded & 0x000000FF); |
Charles MacNeill |
5:89031b2f5316 | 3751 | buffer[2] = pssc_cfg->VL53LX_p_005; |
Charles MacNeill |
5:89031b2f5316 | 3752 | buffer[3] = (uint8_t)((pssc_cfg->rate_limit_mcps & 0x0000FF00) >> 8); |
Charles MacNeill |
5:89031b2f5316 | 3753 | buffer[4] = (uint8_t) (pssc_cfg->rate_limit_mcps & 0x000000FF); |
Charles MacNeill |
5:89031b2f5316 | 3754 | |
Charles MacNeill |
5:89031b2f5316 | 3755 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3756 | status = |
Charles MacNeill |
5:89031b2f5316 | 3757 | VL53LX_WriteMulti( |
Charles MacNeill |
5:89031b2f5316 | 3758 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 3759 | VL53LX_RANGE_CONFIG__TIMEOUT_MACROP_B_HI, |
Charles MacNeill |
5:89031b2f5316 | 3760 | buffer, |
Charles MacNeill |
5:89031b2f5316 | 3761 | 5); |
Charles MacNeill |
5:89031b2f5316 | 3762 | |
Charles MacNeill |
5:89031b2f5316 | 3763 | |
Charles MacNeill |
5:89031b2f5316 | 3764 | |
Charles MacNeill |
5:89031b2f5316 | 3765 | buffer[0] = pssc_cfg->VL53LX_p_005; |
Charles MacNeill |
5:89031b2f5316 | 3766 | buffer[1] = pssc_cfg->VL53LX_p_005; |
Charles MacNeill |
5:89031b2f5316 | 3767 | |
Charles MacNeill |
5:89031b2f5316 | 3768 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3769 | status = |
Charles MacNeill |
5:89031b2f5316 | 3770 | VL53LX_WriteMulti( |
Charles MacNeill |
5:89031b2f5316 | 3771 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 3772 | VL53LX_SD_CONFIG__WOI_SD0, |
Charles MacNeill |
5:89031b2f5316 | 3773 | buffer, |
Charles MacNeill |
5:89031b2f5316 | 3774 | 2); |
Charles MacNeill |
5:89031b2f5316 | 3775 | |
Charles MacNeill |
5:89031b2f5316 | 3776 | |
Charles MacNeill |
5:89031b2f5316 | 3777 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3778 | status = |
Charles MacNeill |
5:89031b2f5316 | 3779 | VL53LX_WrByte( |
Charles MacNeill |
5:89031b2f5316 | 3780 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 3781 | VL53LX_NVM_BIST__CTRL, |
Charles MacNeill |
5:89031b2f5316 | 3782 | pssc_cfg->array_select); |
Charles MacNeill |
5:89031b2f5316 | 3783 | |
Charles MacNeill |
5:89031b2f5316 | 3784 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 3785 | |
Charles MacNeill |
5:89031b2f5316 | 3786 | return status; |
Charles MacNeill |
5:89031b2f5316 | 3787 | } |
Charles MacNeill |
5:89031b2f5316 | 3788 | |
Charles MacNeill |
5:89031b2f5316 | 3789 | |
Charles MacNeill |
5:89031b2f5316 | 3790 | VL53LX_Error VL53LX_get_spad_rate_data( |
Charles MacNeill |
5:89031b2f5316 | 3791 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 3792 | VL53LX_spad_rate_data_t *pspad_rates) |
Charles MacNeill |
5:89031b2f5316 | 3793 | { |
Charles MacNeill |
5:89031b2f5316 | 3794 | |
Charles MacNeill |
5:89031b2f5316 | 3795 | |
Charles MacNeill |
5:89031b2f5316 | 3796 | |
Charles MacNeill |
5:89031b2f5316 | 3797 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3798 | int i = 0; |
Charles MacNeill |
5:89031b2f5316 | 3799 | |
Charles MacNeill |
5:89031b2f5316 | 3800 | uint8_t VL53LX_p_003[512]; |
Charles MacNeill |
5:89031b2f5316 | 3801 | uint8_t *pdata = &VL53LX_p_003[0]; |
Charles MacNeill |
5:89031b2f5316 | 3802 | |
Charles MacNeill |
5:89031b2f5316 | 3803 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3804 | |
Charles MacNeill |
5:89031b2f5316 | 3805 | |
Charles MacNeill |
5:89031b2f5316 | 3806 | |
Charles MacNeill |
5:89031b2f5316 | 3807 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3808 | status = VL53LX_disable_firmware(Dev); |
Charles MacNeill |
5:89031b2f5316 | 3809 | |
Charles MacNeill |
5:89031b2f5316 | 3810 | |
Charles MacNeill |
5:89031b2f5316 | 3811 | |
Charles MacNeill |
5:89031b2f5316 | 3812 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3813 | status = |
Charles MacNeill |
5:89031b2f5316 | 3814 | VL53LX_ReadMulti( |
Charles MacNeill |
5:89031b2f5316 | 3815 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 3816 | VL53LX_PRIVATE__PATCH_BASE_ADDR_RSLV, |
Charles MacNeill |
5:89031b2f5316 | 3817 | pdata, |
Charles MacNeill |
5:89031b2f5316 | 3818 | 512); |
Charles MacNeill |
5:89031b2f5316 | 3819 | |
Charles MacNeill |
5:89031b2f5316 | 3820 | |
Charles MacNeill |
5:89031b2f5316 | 3821 | pdata = &VL53LX_p_003[0]; |
Charles MacNeill |
5:89031b2f5316 | 3822 | for (i = 0; i < VL53LX_NO_OF_SPAD_ENABLES; i++) { |
Charles MacNeill |
5:89031b2f5316 | 3823 | pspad_rates->rate_data[i] = |
Charles MacNeill |
5:89031b2f5316 | 3824 | (uint16_t)VL53LX_decode_unsigned_integer(pdata, 2); |
Charles MacNeill |
5:89031b2f5316 | 3825 | pdata += 2; |
Charles MacNeill |
5:89031b2f5316 | 3826 | } |
Charles MacNeill |
5:89031b2f5316 | 3827 | |
Charles MacNeill |
5:89031b2f5316 | 3828 | |
Charles MacNeill |
5:89031b2f5316 | 3829 | |
Charles MacNeill |
5:89031b2f5316 | 3830 | pspad_rates->VL53LX_p_020 = VL53LX_NO_OF_SPAD_ENABLES; |
Charles MacNeill |
5:89031b2f5316 | 3831 | pspad_rates->no_of_values = VL53LX_NO_OF_SPAD_ENABLES; |
Charles MacNeill |
5:89031b2f5316 | 3832 | pspad_rates->fractional_bits = 15; |
Charles MacNeill |
5:89031b2f5316 | 3833 | |
Charles MacNeill |
5:89031b2f5316 | 3834 | |
Charles MacNeill |
5:89031b2f5316 | 3835 | |
Charles MacNeill |
5:89031b2f5316 | 3836 | if (status == VL53LX_ERROR_NONE) |
Charles MacNeill |
5:89031b2f5316 | 3837 | status = VL53LX_enable_firmware(Dev); |
Charles MacNeill |
5:89031b2f5316 | 3838 | |
Charles MacNeill |
5:89031b2f5316 | 3839 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 3840 | |
Charles MacNeill |
5:89031b2f5316 | 3841 | return status; |
Charles MacNeill |
5:89031b2f5316 | 3842 | } |
Charles MacNeill |
5:89031b2f5316 | 3843 | |
Charles MacNeill |
5:89031b2f5316 | 3844 | |
Charles MacNeill |
5:89031b2f5316 | 3845 | |
Charles MacNeill |
5:89031b2f5316 | 3846 | VL53LX_Error VL53LX_dynamic_xtalk_correction_calc_required_samples( |
Charles MacNeill |
5:89031b2f5316 | 3847 | VL53LX_DEV Dev |
Charles MacNeill |
5:89031b2f5316 | 3848 | ) |
Charles MacNeill |
5:89031b2f5316 | 3849 | { |
Charles MacNeill |
5:89031b2f5316 | 3850 | |
Charles MacNeill |
5:89031b2f5316 | 3851 | |
Charles MacNeill |
5:89031b2f5316 | 3852 | |
Charles MacNeill |
5:89031b2f5316 | 3853 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3854 | |
Charles MacNeill |
5:89031b2f5316 | 3855 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 3856 | VL53LX_LLDriverResults_t *pres = VL53LXDevStructGetLLResultsHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 3857 | VL53LX_smudge_corrector_config_t *pconfig = |
Charles MacNeill |
5:89031b2f5316 | 3858 | &(pdev->smudge_correct_config); |
Charles MacNeill |
5:89031b2f5316 | 3859 | VL53LX_smudge_corrector_internals_t *pint = |
Charles MacNeill |
5:89031b2f5316 | 3860 | &(pdev->smudge_corrector_internals); |
Charles MacNeill |
5:89031b2f5316 | 3861 | |
Charles MacNeill |
5:89031b2f5316 | 3862 | VL53LX_range_results_t *presults = &(pres->range_results); |
Charles MacNeill |
5:89031b2f5316 | 3863 | VL53LX_range_data_t *pxmonitor = &(presults->xmonitor); |
Charles MacNeill |
5:89031b2f5316 | 3864 | |
Charles MacNeill |
5:89031b2f5316 | 3865 | uint32_t peak_duration_us = pxmonitor->peak_duration_us; |
Charles MacNeill |
5:89031b2f5316 | 3866 | |
Charles MacNeill |
5:89031b2f5316 | 3867 | uint64_t temp64a; |
Charles MacNeill |
5:89031b2f5316 | 3868 | uint64_t temp64z; |
Charles MacNeill |
5:89031b2f5316 | 3869 | |
Charles MacNeill |
5:89031b2f5316 | 3870 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3871 | |
Charles MacNeill |
5:89031b2f5316 | 3872 | temp64a = pxmonitor->VL53LX_p_017 + |
Charles MacNeill |
5:89031b2f5316 | 3873 | pxmonitor->VL53LX_p_016; |
Charles MacNeill |
5:89031b2f5316 | 3874 | if (peak_duration_us == 0) |
Charles MacNeill |
5:89031b2f5316 | 3875 | peak_duration_us = 1000; |
Charles MacNeill |
5:89031b2f5316 | 3876 | temp64a = do_division_u((temp64a * 1000), peak_duration_us); |
Charles MacNeill |
5:89031b2f5316 | 3877 | temp64a = do_division_u((temp64a * 1000), peak_duration_us); |
Charles MacNeill |
5:89031b2f5316 | 3878 | |
Charles MacNeill |
5:89031b2f5316 | 3879 | temp64z = pconfig->noise_margin * pxmonitor->VL53LX_p_004; |
Charles MacNeill |
5:89031b2f5316 | 3880 | if (temp64z == 0) |
Charles MacNeill |
5:89031b2f5316 | 3881 | temp64z = 1; |
Charles MacNeill |
5:89031b2f5316 | 3882 | temp64a = temp64a * 1000 * 256; |
Charles MacNeill |
5:89031b2f5316 | 3883 | temp64a = do_division_u(temp64a, temp64z); |
Charles MacNeill |
5:89031b2f5316 | 3884 | temp64a = temp64a * 1000 * 256; |
Charles MacNeill |
5:89031b2f5316 | 3885 | temp64a = do_division_u(temp64a, temp64z); |
Charles MacNeill |
5:89031b2f5316 | 3886 | |
Charles MacNeill |
5:89031b2f5316 | 3887 | pint->required_samples = (uint32_t)temp64a; |
Charles MacNeill |
5:89031b2f5316 | 3888 | |
Charles MacNeill |
5:89031b2f5316 | 3889 | |
Charles MacNeill |
5:89031b2f5316 | 3890 | if (pint->required_samples < 2) |
Charles MacNeill |
5:89031b2f5316 | 3891 | pint->required_samples = 2; |
Charles MacNeill |
5:89031b2f5316 | 3892 | |
Charles MacNeill |
5:89031b2f5316 | 3893 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 3894 | |
Charles MacNeill |
5:89031b2f5316 | 3895 | return status; |
Charles MacNeill |
5:89031b2f5316 | 3896 | } |
Charles MacNeill |
5:89031b2f5316 | 3897 | |
Charles MacNeill |
5:89031b2f5316 | 3898 | VL53LX_Error VL53LX_dynamic_xtalk_correction_calc_new_xtalk( |
Charles MacNeill |
5:89031b2f5316 | 3899 | VL53LX_DEV Dev, |
Charles MacNeill |
5:89031b2f5316 | 3900 | uint32_t xtalk_offset_out, |
Charles MacNeill |
5:89031b2f5316 | 3901 | VL53LX_smudge_corrector_config_t *pconfig, |
Charles MacNeill |
5:89031b2f5316 | 3902 | VL53LX_smudge_corrector_data_t *pout, |
Charles MacNeill |
5:89031b2f5316 | 3903 | uint8_t add_smudge, |
Charles MacNeill |
5:89031b2f5316 | 3904 | uint8_t soft_update |
Charles MacNeill |
5:89031b2f5316 | 3905 | ) |
Charles MacNeill |
5:89031b2f5316 | 3906 | { |
Charles MacNeill |
5:89031b2f5316 | 3907 | |
Charles MacNeill |
5:89031b2f5316 | 3908 | |
Charles MacNeill |
5:89031b2f5316 | 3909 | |
Charles MacNeill |
5:89031b2f5316 | 3910 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 3911 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 3912 | |
Charles MacNeill |
5:89031b2f5316 | 3913 | int16_t x_gradient_scaler; |
Charles MacNeill |
5:89031b2f5316 | 3914 | int16_t y_gradient_scaler; |
Charles MacNeill |
5:89031b2f5316 | 3915 | uint32_t orig_xtalk_offset; |
Charles MacNeill |
5:89031b2f5316 | 3916 | int16_t orig_x_gradient; |
Charles MacNeill |
5:89031b2f5316 | 3917 | int16_t orig_y_gradient; |
Charles MacNeill |
5:89031b2f5316 | 3918 | uint8_t histo_merge_nb; |
Charles MacNeill |
5:89031b2f5316 | 3919 | uint8_t i; |
Charles MacNeill |
5:89031b2f5316 | 3920 | int32_t itemp32; |
Charles MacNeill |
5:89031b2f5316 | 3921 | uint32_t SmudgeFactor; |
Charles MacNeill |
5:89031b2f5316 | 3922 | VL53LX_xtalk_config_t *pX = &(pdev->xtalk_cfg); |
Charles MacNeill |
5:89031b2f5316 | 3923 | VL53LX_xtalk_calibration_results_t *pC = &(pdev->xtalk_cal); |
Charles MacNeill |
5:89031b2f5316 | 3924 | uint32_t *pcpo; |
Charles MacNeill |
5:89031b2f5316 | 3925 | uint32_t max, nXtalk, cXtalk; |
Charles MacNeill |
5:89031b2f5316 | 3926 | |
Charles MacNeill |
5:89031b2f5316 | 3927 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 3928 | |
Charles MacNeill |
5:89031b2f5316 | 3929 | |
Charles MacNeill |
5:89031b2f5316 | 3930 | if (add_smudge == 1) { |
Charles MacNeill |
5:89031b2f5316 | 3931 | pout->algo__crosstalk_compensation_plane_offset_kcps = |
Charles MacNeill |
5:89031b2f5316 | 3932 | (uint32_t)xtalk_offset_out + |
Charles MacNeill |
5:89031b2f5316 | 3933 | (uint32_t)pconfig->smudge_margin; |
Charles MacNeill |
5:89031b2f5316 | 3934 | } else { |
Charles MacNeill |
5:89031b2f5316 | 3935 | pout->algo__crosstalk_compensation_plane_offset_kcps = |
Charles MacNeill |
5:89031b2f5316 | 3936 | (uint32_t)xtalk_offset_out; |
Charles MacNeill |
5:89031b2f5316 | 3937 | } |
Charles MacNeill |
5:89031b2f5316 | 3938 | |
Charles MacNeill |
5:89031b2f5316 | 3939 | |
Charles MacNeill |
5:89031b2f5316 | 3940 | orig_xtalk_offset = |
Charles MacNeill |
5:89031b2f5316 | 3941 | pX->nvm_default__crosstalk_compensation_plane_offset_kcps; |
Charles MacNeill |
5:89031b2f5316 | 3942 | |
Charles MacNeill |
5:89031b2f5316 | 3943 | orig_x_gradient = |
Charles MacNeill |
5:89031b2f5316 | 3944 | pX->nvm_default__crosstalk_compensation_x_plane_gradient_kcps; |
Charles MacNeill |
5:89031b2f5316 | 3945 | |
Charles MacNeill |
5:89031b2f5316 | 3946 | orig_y_gradient = |
Charles MacNeill |
5:89031b2f5316 | 3947 | pX->nvm_default__crosstalk_compensation_y_plane_gradient_kcps; |
Charles MacNeill |
5:89031b2f5316 | 3948 | |
Charles MacNeill |
5:89031b2f5316 | 3949 | if (((pconfig->user_scaler_set == 0) || |
Charles MacNeill |
5:89031b2f5316 | 3950 | (pconfig->scaler_calc_method == 1)) && |
Charles MacNeill |
5:89031b2f5316 | 3951 | (pC->algo__crosstalk_compensation_plane_offset_kcps != 0)) { |
Charles MacNeill |
5:89031b2f5316 | 3952 | |
Charles MacNeill |
5:89031b2f5316 | 3953 | VL53LX_compute_histo_merge_nb(Dev, &histo_merge_nb); |
Charles MacNeill |
5:89031b2f5316 | 3954 | |
Charles MacNeill |
5:89031b2f5316 | 3955 | if (histo_merge_nb == 0) |
Charles MacNeill |
5:89031b2f5316 | 3956 | histo_merge_nb = 1; |
Charles MacNeill |
5:89031b2f5316 | 3957 | if (pdev->tuning_parms.tp_hist_merge != 1) |
Charles MacNeill |
5:89031b2f5316 | 3958 | orig_xtalk_offset = |
Charles MacNeill |
5:89031b2f5316 | 3959 | pC->algo__crosstalk_compensation_plane_offset_kcps; |
Charles MacNeill |
5:89031b2f5316 | 3960 | else |
Charles MacNeill |
5:89031b2f5316 | 3961 | orig_xtalk_offset = |
Charles MacNeill |
5:89031b2f5316 | 3962 | pC->algo__xtalk_cpo_HistoMerge_kcps[histo_merge_nb-1]; |
Charles MacNeill |
5:89031b2f5316 | 3963 | |
Charles MacNeill |
5:89031b2f5316 | 3964 | orig_x_gradient = |
Charles MacNeill |
5:89031b2f5316 | 3965 | pC->algo__crosstalk_compensation_x_plane_gradient_kcps; |
Charles MacNeill |
5:89031b2f5316 | 3966 | |
Charles MacNeill |
5:89031b2f5316 | 3967 | orig_y_gradient = |
Charles MacNeill |
5:89031b2f5316 | 3968 | pC->algo__crosstalk_compensation_y_plane_gradient_kcps; |
Charles MacNeill |
5:89031b2f5316 | 3969 | } |
Charles MacNeill |
5:89031b2f5316 | 3970 | |
Charles MacNeill |
5:89031b2f5316 | 3971 | |
Charles MacNeill |
5:89031b2f5316 | 3972 | if ((pconfig->user_scaler_set == 0) && (orig_x_gradient == 0)) |
Charles MacNeill |
5:89031b2f5316 | 3973 | pout->gradient_zero_flag |= 0x01; |
Charles MacNeill |
5:89031b2f5316 | 3974 | |
Charles MacNeill |
5:89031b2f5316 | 3975 | if ((pconfig->user_scaler_set == 0) && (orig_y_gradient == 0)) |
Charles MacNeill |
5:89031b2f5316 | 3976 | pout->gradient_zero_flag |= 0x02; |
Charles MacNeill |
5:89031b2f5316 | 3977 | |
Charles MacNeill |
5:89031b2f5316 | 3978 | |
Charles MacNeill |
5:89031b2f5316 | 3979 | |
Charles MacNeill |
5:89031b2f5316 | 3980 | if (orig_xtalk_offset == 0) |
Charles MacNeill |
5:89031b2f5316 | 3981 | orig_xtalk_offset = 1; |
Charles MacNeill |
5:89031b2f5316 | 3982 | |
Charles MacNeill |
5:89031b2f5316 | 3983 | |
Charles MacNeill |
5:89031b2f5316 | 3984 | |
Charles MacNeill |
5:89031b2f5316 | 3985 | if (pconfig->user_scaler_set == 1) { |
Charles MacNeill |
5:89031b2f5316 | 3986 | x_gradient_scaler = pconfig->x_gradient_scaler; |
Charles MacNeill |
5:89031b2f5316 | 3987 | y_gradient_scaler = pconfig->y_gradient_scaler; |
Charles MacNeill |
5:89031b2f5316 | 3988 | } else { |
Charles MacNeill |
5:89031b2f5316 | 3989 | |
Charles MacNeill |
5:89031b2f5316 | 3990 | x_gradient_scaler = (int16_t)do_division_s( |
Charles MacNeill |
5:89031b2f5316 | 3991 | (((int32_t)orig_x_gradient) << 6), |
Charles MacNeill |
5:89031b2f5316 | 3992 | orig_xtalk_offset); |
Charles MacNeill |
5:89031b2f5316 | 3993 | pconfig->x_gradient_scaler = x_gradient_scaler; |
Charles MacNeill |
5:89031b2f5316 | 3994 | y_gradient_scaler = (int16_t)do_division_s( |
Charles MacNeill |
5:89031b2f5316 | 3995 | (((int32_t)orig_y_gradient) << 6), |
Charles MacNeill |
5:89031b2f5316 | 3996 | orig_xtalk_offset); |
Charles MacNeill |
5:89031b2f5316 | 3997 | pconfig->y_gradient_scaler = y_gradient_scaler; |
Charles MacNeill |
5:89031b2f5316 | 3998 | } |
Charles MacNeill |
5:89031b2f5316 | 3999 | |
Charles MacNeill |
5:89031b2f5316 | 4000 | |
Charles MacNeill |
5:89031b2f5316 | 4001 | |
Charles MacNeill |
5:89031b2f5316 | 4002 | if (pconfig->scaler_calc_method == 0) { |
Charles MacNeill |
5:89031b2f5316 | 4003 | |
Charles MacNeill |
5:89031b2f5316 | 4004 | |
Charles MacNeill |
5:89031b2f5316 | 4005 | itemp32 = (int32_t)( |
Charles MacNeill |
5:89031b2f5316 | 4006 | pout->algo__crosstalk_compensation_plane_offset_kcps * |
Charles MacNeill |
5:89031b2f5316 | 4007 | x_gradient_scaler); |
Charles MacNeill |
5:89031b2f5316 | 4008 | itemp32 = itemp32 >> 6; |
Charles MacNeill |
5:89031b2f5316 | 4009 | if (itemp32 > 0xFFFF) |
Charles MacNeill |
5:89031b2f5316 | 4010 | itemp32 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 4011 | |
Charles MacNeill |
5:89031b2f5316 | 4012 | pout->algo__crosstalk_compensation_x_plane_gradient_kcps = |
Charles MacNeill |
5:89031b2f5316 | 4013 | (int16_t)itemp32; |
Charles MacNeill |
5:89031b2f5316 | 4014 | |
Charles MacNeill |
5:89031b2f5316 | 4015 | itemp32 = (int32_t)( |
Charles MacNeill |
5:89031b2f5316 | 4016 | pout->algo__crosstalk_compensation_plane_offset_kcps * |
Charles MacNeill |
5:89031b2f5316 | 4017 | y_gradient_scaler); |
Charles MacNeill |
5:89031b2f5316 | 4018 | itemp32 = itemp32 >> 6; |
Charles MacNeill |
5:89031b2f5316 | 4019 | if (itemp32 > 0xFFFF) |
Charles MacNeill |
5:89031b2f5316 | 4020 | itemp32 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 4021 | |
Charles MacNeill |
5:89031b2f5316 | 4022 | pout->algo__crosstalk_compensation_y_plane_gradient_kcps = |
Charles MacNeill |
5:89031b2f5316 | 4023 | (int16_t)itemp32; |
Charles MacNeill |
5:89031b2f5316 | 4024 | } else if (pconfig->scaler_calc_method == 1) { |
Charles MacNeill |
5:89031b2f5316 | 4025 | |
Charles MacNeill |
5:89031b2f5316 | 4026 | |
Charles MacNeill |
5:89031b2f5316 | 4027 | itemp32 = (int32_t)(orig_xtalk_offset - |
Charles MacNeill |
5:89031b2f5316 | 4028 | pout->algo__crosstalk_compensation_plane_offset_kcps); |
Charles MacNeill |
5:89031b2f5316 | 4029 | itemp32 = (int32_t)(do_division_s(itemp32, 16)); |
Charles MacNeill |
5:89031b2f5316 | 4030 | itemp32 = itemp32 << 2; |
Charles MacNeill |
5:89031b2f5316 | 4031 | itemp32 = itemp32 + (int32_t)(orig_x_gradient); |
Charles MacNeill |
5:89031b2f5316 | 4032 | if (itemp32 > 0xFFFF) |
Charles MacNeill |
5:89031b2f5316 | 4033 | itemp32 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 4034 | |
Charles MacNeill |
5:89031b2f5316 | 4035 | pout->algo__crosstalk_compensation_x_plane_gradient_kcps = |
Charles MacNeill |
5:89031b2f5316 | 4036 | (int16_t)itemp32; |
Charles MacNeill |
5:89031b2f5316 | 4037 | |
Charles MacNeill |
5:89031b2f5316 | 4038 | itemp32 = (int32_t)(orig_xtalk_offset - |
Charles MacNeill |
5:89031b2f5316 | 4039 | pout->algo__crosstalk_compensation_plane_offset_kcps); |
Charles MacNeill |
5:89031b2f5316 | 4040 | itemp32 = (int32_t)(do_division_s(itemp32, 80)); |
Charles MacNeill |
5:89031b2f5316 | 4041 | itemp32 = itemp32 << 2; |
Charles MacNeill |
5:89031b2f5316 | 4042 | itemp32 = itemp32 + (int32_t)(orig_y_gradient); |
Charles MacNeill |
5:89031b2f5316 | 4043 | if (itemp32 > 0xFFFF) |
Charles MacNeill |
5:89031b2f5316 | 4044 | itemp32 = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 4045 | |
Charles MacNeill |
5:89031b2f5316 | 4046 | pout->algo__crosstalk_compensation_y_plane_gradient_kcps = |
Charles MacNeill |
5:89031b2f5316 | 4047 | (int16_t)itemp32; |
Charles MacNeill |
5:89031b2f5316 | 4048 | } |
Charles MacNeill |
5:89031b2f5316 | 4049 | |
Charles MacNeill |
5:89031b2f5316 | 4050 | |
Charles MacNeill |
5:89031b2f5316 | 4051 | if ((pconfig->smudge_corr_apply_enabled == 1) && |
Charles MacNeill |
5:89031b2f5316 | 4052 | (soft_update != 1)) { |
Charles MacNeill |
5:89031b2f5316 | 4053 | |
Charles MacNeill |
5:89031b2f5316 | 4054 | pout->new_xtalk_applied_flag = 1; |
Charles MacNeill |
5:89031b2f5316 | 4055 | nXtalk = pout->algo__crosstalk_compensation_plane_offset_kcps; |
Charles MacNeill |
5:89031b2f5316 | 4056 | |
Charles MacNeill |
5:89031b2f5316 | 4057 | VL53LX_compute_histo_merge_nb(Dev, &histo_merge_nb); |
Charles MacNeill |
5:89031b2f5316 | 4058 | max = pdev->tuning_parms.tp_hist_merge_max_size; |
Charles MacNeill |
5:89031b2f5316 | 4059 | pcpo = &(pC->algo__xtalk_cpo_HistoMerge_kcps[0]); |
Charles MacNeill |
5:89031b2f5316 | 4060 | if ((histo_merge_nb > 0) && |
Charles MacNeill |
5:89031b2f5316 | 4061 | (pdev->tuning_parms.tp_hist_merge == 1) && |
Charles MacNeill |
5:89031b2f5316 | 4062 | (nXtalk != 0)) { |
Charles MacNeill |
5:89031b2f5316 | 4063 | cXtalk = |
Charles MacNeill |
5:89031b2f5316 | 4064 | pC->algo__xtalk_cpo_HistoMerge_kcps[histo_merge_nb-1]; |
Charles MacNeill |
5:89031b2f5316 | 4065 | SmudgeFactor = cXtalk * 1000 / nXtalk; |
Charles MacNeill |
5:89031b2f5316 | 4066 | if (SmudgeFactor >= pconfig->max_smudge_factor) |
Charles MacNeill |
5:89031b2f5316 | 4067 | pout->new_xtalk_applied_flag = 0; |
Charles MacNeill |
5:89031b2f5316 | 4068 | else if (SmudgeFactor > 0) |
Charles MacNeill |
5:89031b2f5316 | 4069 | for (i = 0; i < max; i++) { |
Charles MacNeill |
5:89031b2f5316 | 4070 | *pcpo *= 1000; |
Charles MacNeill |
5:89031b2f5316 | 4071 | *pcpo /= SmudgeFactor; |
Charles MacNeill |
5:89031b2f5316 | 4072 | pcpo++; |
Charles MacNeill |
5:89031b2f5316 | 4073 | } |
Charles MacNeill |
5:89031b2f5316 | 4074 | } |
Charles MacNeill |
5:89031b2f5316 | 4075 | if (pout->new_xtalk_applied_flag) { |
Charles MacNeill |
5:89031b2f5316 | 4076 | |
Charles MacNeill |
5:89031b2f5316 | 4077 | pX->algo__crosstalk_compensation_plane_offset_kcps = |
Charles MacNeill |
5:89031b2f5316 | 4078 | pout->algo__crosstalk_compensation_plane_offset_kcps; |
Charles MacNeill |
5:89031b2f5316 | 4079 | pX->algo__crosstalk_compensation_x_plane_gradient_kcps = |
Charles MacNeill |
5:89031b2f5316 | 4080 | pout->algo__crosstalk_compensation_x_plane_gradient_kcps; |
Charles MacNeill |
5:89031b2f5316 | 4081 | pX->algo__crosstalk_compensation_y_plane_gradient_kcps = |
Charles MacNeill |
5:89031b2f5316 | 4082 | pout->algo__crosstalk_compensation_y_plane_gradient_kcps; |
Charles MacNeill |
5:89031b2f5316 | 4083 | |
Charles MacNeill |
5:89031b2f5316 | 4084 | if (pconfig->smudge_corr_single_apply == 1) { |
Charles MacNeill |
5:89031b2f5316 | 4085 | |
Charles MacNeill |
5:89031b2f5316 | 4086 | pconfig->smudge_corr_apply_enabled = 0; |
Charles MacNeill |
5:89031b2f5316 | 4087 | pconfig->smudge_corr_single_apply = 0; |
Charles MacNeill |
5:89031b2f5316 | 4088 | } |
Charles MacNeill |
5:89031b2f5316 | 4089 | } |
Charles MacNeill |
5:89031b2f5316 | 4090 | } |
Charles MacNeill |
5:89031b2f5316 | 4091 | |
Charles MacNeill |
5:89031b2f5316 | 4092 | |
Charles MacNeill |
5:89031b2f5316 | 4093 | if (soft_update != 1) |
Charles MacNeill |
5:89031b2f5316 | 4094 | pout->smudge_corr_valid = 1; |
Charles MacNeill |
5:89031b2f5316 | 4095 | |
Charles MacNeill |
5:89031b2f5316 | 4096 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 4097 | |
Charles MacNeill |
5:89031b2f5316 | 4098 | return status; |
Charles MacNeill |
5:89031b2f5316 | 4099 | } |
Charles MacNeill |
5:89031b2f5316 | 4100 | |
Charles MacNeill |
5:89031b2f5316 | 4101 | #define CONT_CONTINUE 0 |
Charles MacNeill |
5:89031b2f5316 | 4102 | #define CONT_NEXT_LOOP 1 |
Charles MacNeill |
5:89031b2f5316 | 4103 | #define CONT_RESET 2 |
Charles MacNeill |
5:89031b2f5316 | 4104 | VL53LX_Error VL53LX_dynamic_xtalk_correction_corrector( |
Charles MacNeill |
5:89031b2f5316 | 4105 | VL53LX_DEV Dev |
Charles MacNeill |
5:89031b2f5316 | 4106 | ) |
Charles MacNeill |
5:89031b2f5316 | 4107 | { |
Charles MacNeill |
5:89031b2f5316 | 4108 | |
Charles MacNeill |
5:89031b2f5316 | 4109 | |
Charles MacNeill |
5:89031b2f5316 | 4110 | |
Charles MacNeill |
5:89031b2f5316 | 4111 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 4112 | |
Charles MacNeill |
5:89031b2f5316 | 4113 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 4114 | VL53LX_LLDriverResults_t *pres = VL53LXDevStructGetLLResultsHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 4115 | VL53LX_smudge_corrector_config_t *pconfig = |
Charles MacNeill |
5:89031b2f5316 | 4116 | &(pdev->smudge_correct_config); |
Charles MacNeill |
5:89031b2f5316 | 4117 | VL53LX_smudge_corrector_internals_t *pint = |
Charles MacNeill |
5:89031b2f5316 | 4118 | &(pdev->smudge_corrector_internals); |
Charles MacNeill |
5:89031b2f5316 | 4119 | VL53LX_smudge_corrector_data_t *pout = |
Charles MacNeill |
5:89031b2f5316 | 4120 | &(pres->range_results.smudge_corrector_data); |
Charles MacNeill |
5:89031b2f5316 | 4121 | VL53LX_range_results_t *pR = &(pres->range_results); |
Charles MacNeill |
5:89031b2f5316 | 4122 | VL53LX_xtalk_config_t *pX = &(pdev->xtalk_cfg); |
Charles MacNeill |
5:89031b2f5316 | 4123 | |
Charles MacNeill |
5:89031b2f5316 | 4124 | uint8_t run_smudge_detection = 0; |
Charles MacNeill |
5:89031b2f5316 | 4125 | uint8_t merging_complete = 0; |
Charles MacNeill |
5:89031b2f5316 | 4126 | uint8_t run_nodetect = 0; |
Charles MacNeill |
5:89031b2f5316 | 4127 | uint8_t ambient_check = 0; |
Charles MacNeill |
5:89031b2f5316 | 4128 | int32_t itemp32 = 0; |
Charles MacNeill |
5:89031b2f5316 | 4129 | uint64_t utemp64 = 0; |
Charles MacNeill |
5:89031b2f5316 | 4130 | uint8_t continue_processing = CONT_CONTINUE; |
Charles MacNeill |
5:89031b2f5316 | 4131 | uint32_t xtalk_offset_out = 0; |
Charles MacNeill |
5:89031b2f5316 | 4132 | uint32_t xtalk_offset_in = 0; |
Charles MacNeill |
5:89031b2f5316 | 4133 | uint32_t current_xtalk = 0; |
Charles MacNeill |
5:89031b2f5316 | 4134 | uint32_t smudge_margin_adjusted = 0; |
Charles MacNeill |
5:89031b2f5316 | 4135 | uint8_t i = 0; |
Charles MacNeill |
5:89031b2f5316 | 4136 | uint8_t nodetect_index = 0; |
Charles MacNeill |
5:89031b2f5316 | 4137 | uint16_t amr; |
Charles MacNeill |
5:89031b2f5316 | 4138 | uint32_t cco; |
Charles MacNeill |
5:89031b2f5316 | 4139 | uint8_t histo_merge_nb; |
Charles MacNeill |
5:89031b2f5316 | 4140 | |
Charles MacNeill |
5:89031b2f5316 | 4141 | |
Charles MacNeill |
5:89031b2f5316 | 4142 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 4143 | |
Charles MacNeill |
5:89031b2f5316 | 4144 | VL53LX_compute_histo_merge_nb(Dev, &histo_merge_nb); |
Charles MacNeill |
5:89031b2f5316 | 4145 | if ((histo_merge_nb == 0) || |
Charles MacNeill |
5:89031b2f5316 | 4146 | (pdev->tuning_parms.tp_hist_merge != 1)) |
Charles MacNeill |
5:89031b2f5316 | 4147 | histo_merge_nb = 1; |
Charles MacNeill |
5:89031b2f5316 | 4148 | |
Charles MacNeill |
5:89031b2f5316 | 4149 | |
Charles MacNeill |
5:89031b2f5316 | 4150 | VL53LX_dynamic_xtalk_correction_output_init(pres); |
Charles MacNeill |
5:89031b2f5316 | 4151 | |
Charles MacNeill |
5:89031b2f5316 | 4152 | |
Charles MacNeill |
5:89031b2f5316 | 4153 | ambient_check = (pconfig->smudge_corr_ambient_threshold == 0) || |
Charles MacNeill |
5:89031b2f5316 | 4154 | ((pconfig->smudge_corr_ambient_threshold * histo_merge_nb) > |
Charles MacNeill |
5:89031b2f5316 | 4155 | ((uint32_t)pR->xmonitor.ambient_count_rate_mcps)); |
Charles MacNeill |
5:89031b2f5316 | 4156 | |
Charles MacNeill |
5:89031b2f5316 | 4157 | |
Charles MacNeill |
5:89031b2f5316 | 4158 | merging_complete = |
Charles MacNeill |
5:89031b2f5316 | 4159 | ((pdev->tuning_parms.tp_hist_merge != 1) || |
Charles MacNeill |
5:89031b2f5316 | 4160 | (histo_merge_nb == pdev->tuning_parms.tp_hist_merge_max_size)); |
Charles MacNeill |
5:89031b2f5316 | 4161 | run_smudge_detection = |
Charles MacNeill |
5:89031b2f5316 | 4162 | (pconfig->smudge_corr_enabled == 1) && |
Charles MacNeill |
5:89031b2f5316 | 4163 | ambient_check && |
Charles MacNeill |
5:89031b2f5316 | 4164 | (pR->xmonitor.range_status |
Charles MacNeill |
5:89031b2f5316 | 4165 | == VL53LX_DEVICEERROR_RANGECOMPLETE) && |
Charles MacNeill |
5:89031b2f5316 | 4166 | merging_complete; |
Charles MacNeill |
5:89031b2f5316 | 4167 | |
Charles MacNeill |
5:89031b2f5316 | 4168 | |
Charles MacNeill |
5:89031b2f5316 | 4169 | if ((pR->xmonitor.range_status |
Charles MacNeill |
5:89031b2f5316 | 4170 | != VL53LX_DEVICEERROR_RANGECOMPLETE) && |
Charles MacNeill |
5:89031b2f5316 | 4171 | (pconfig->smudge_corr_enabled == 1)) { |
Charles MacNeill |
5:89031b2f5316 | 4172 | |
Charles MacNeill |
5:89031b2f5316 | 4173 | run_nodetect = 2; |
Charles MacNeill |
5:89031b2f5316 | 4174 | for (i = 0; i < pR->active_results; i++) { |
Charles MacNeill |
5:89031b2f5316 | 4175 | if (pR->VL53LX_p_003[i].range_status == |
Charles MacNeill |
5:89031b2f5316 | 4176 | VL53LX_DEVICEERROR_RANGECOMPLETE) { |
Charles MacNeill |
5:89031b2f5316 | 4177 | if (pR->VL53LX_p_003[i].median_range_mm |
Charles MacNeill |
5:89031b2f5316 | 4178 | <= |
Charles MacNeill |
5:89031b2f5316 | 4179 | pconfig->nodetect_min_range_mm) { |
Charles MacNeill |
5:89031b2f5316 | 4180 | run_nodetect = 0; |
Charles MacNeill |
5:89031b2f5316 | 4181 | } else { |
Charles MacNeill |
5:89031b2f5316 | 4182 | if (run_nodetect == 2) { |
Charles MacNeill |
5:89031b2f5316 | 4183 | run_nodetect = 1; |
Charles MacNeill |
5:89031b2f5316 | 4184 | nodetect_index = i; |
Charles MacNeill |
5:89031b2f5316 | 4185 | } |
Charles MacNeill |
5:89031b2f5316 | 4186 | } |
Charles MacNeill |
5:89031b2f5316 | 4187 | } |
Charles MacNeill |
5:89031b2f5316 | 4188 | } |
Charles MacNeill |
5:89031b2f5316 | 4189 | |
Charles MacNeill |
5:89031b2f5316 | 4190 | if (run_nodetect == 2) |
Charles MacNeill |
5:89031b2f5316 | 4191 | |
Charles MacNeill |
5:89031b2f5316 | 4192 | run_nodetect = 0; |
Charles MacNeill |
5:89031b2f5316 | 4193 | |
Charles MacNeill |
5:89031b2f5316 | 4194 | amr = |
Charles MacNeill |
5:89031b2f5316 | 4195 | pR->VL53LX_p_003[nodetect_index].ambient_count_rate_mcps; |
Charles MacNeill |
5:89031b2f5316 | 4196 | |
Charles MacNeill |
5:89031b2f5316 | 4197 | if (run_nodetect == 1) { |
Charles MacNeill |
5:89031b2f5316 | 4198 | |
Charles MacNeill |
5:89031b2f5316 | 4199 | |
Charles MacNeill |
5:89031b2f5316 | 4200 | |
Charles MacNeill |
5:89031b2f5316 | 4201 | |
Charles MacNeill |
5:89031b2f5316 | 4202 | utemp64 = 1000 * ((uint64_t)amr); |
Charles MacNeill |
5:89031b2f5316 | 4203 | |
Charles MacNeill |
5:89031b2f5316 | 4204 | |
Charles MacNeill |
5:89031b2f5316 | 4205 | utemp64 = utemp64 << 9; |
Charles MacNeill |
5:89031b2f5316 | 4206 | |
Charles MacNeill |
5:89031b2f5316 | 4207 | |
Charles MacNeill |
5:89031b2f5316 | 4208 | if (utemp64 < pconfig->nodetect_ambient_threshold) |
Charles MacNeill |
5:89031b2f5316 | 4209 | run_nodetect = 1; |
Charles MacNeill |
5:89031b2f5316 | 4210 | else |
Charles MacNeill |
5:89031b2f5316 | 4211 | run_nodetect = 0; |
Charles MacNeill |
5:89031b2f5316 | 4212 | |
Charles MacNeill |
5:89031b2f5316 | 4213 | } |
Charles MacNeill |
5:89031b2f5316 | 4214 | } |
Charles MacNeill |
5:89031b2f5316 | 4215 | |
Charles MacNeill |
5:89031b2f5316 | 4216 | |
Charles MacNeill |
5:89031b2f5316 | 4217 | if (run_smudge_detection) { |
Charles MacNeill |
5:89031b2f5316 | 4218 | |
Charles MacNeill |
5:89031b2f5316 | 4219 | pint->nodetect_counter = 0; |
Charles MacNeill |
5:89031b2f5316 | 4220 | |
Charles MacNeill |
5:89031b2f5316 | 4221 | |
Charles MacNeill |
5:89031b2f5316 | 4222 | VL53LX_dynamic_xtalk_correction_calc_required_samples(Dev); |
Charles MacNeill |
5:89031b2f5316 | 4223 | |
Charles MacNeill |
5:89031b2f5316 | 4224 | |
Charles MacNeill |
5:89031b2f5316 | 4225 | xtalk_offset_in = |
Charles MacNeill |
5:89031b2f5316 | 4226 | pR->xmonitor.VL53LX_p_009; |
Charles MacNeill |
5:89031b2f5316 | 4227 | |
Charles MacNeill |
5:89031b2f5316 | 4228 | |
Charles MacNeill |
5:89031b2f5316 | 4229 | cco = pX->algo__crosstalk_compensation_plane_offset_kcps; |
Charles MacNeill |
5:89031b2f5316 | 4230 | current_xtalk = ((uint32_t)cco) << 2; |
Charles MacNeill |
5:89031b2f5316 | 4231 | |
Charles MacNeill |
5:89031b2f5316 | 4232 | |
Charles MacNeill |
5:89031b2f5316 | 4233 | smudge_margin_adjusted = |
Charles MacNeill |
5:89031b2f5316 | 4234 | ((uint32_t)(pconfig->smudge_margin)) << 2; |
Charles MacNeill |
5:89031b2f5316 | 4235 | |
Charles MacNeill |
5:89031b2f5316 | 4236 | |
Charles MacNeill |
5:89031b2f5316 | 4237 | itemp32 = xtalk_offset_in - current_xtalk + |
Charles MacNeill |
5:89031b2f5316 | 4238 | smudge_margin_adjusted; |
Charles MacNeill |
5:89031b2f5316 | 4239 | |
Charles MacNeill |
5:89031b2f5316 | 4240 | if (itemp32 < 0) |
Charles MacNeill |
5:89031b2f5316 | 4241 | itemp32 = itemp32 * (-1); |
Charles MacNeill |
5:89031b2f5316 | 4242 | |
Charles MacNeill |
5:89031b2f5316 | 4243 | |
Charles MacNeill |
5:89031b2f5316 | 4244 | if (itemp32 > ((int32_t)pconfig->single_xtalk_delta)) { |
Charles MacNeill |
5:89031b2f5316 | 4245 | if ((int32_t)xtalk_offset_in > |
Charles MacNeill |
5:89031b2f5316 | 4246 | ((int32_t)current_xtalk - |
Charles MacNeill |
5:89031b2f5316 | 4247 | (int32_t)smudge_margin_adjusted)) { |
Charles MacNeill |
5:89031b2f5316 | 4248 | pout->single_xtalk_delta_flag = 1; |
Charles MacNeill |
5:89031b2f5316 | 4249 | } else { |
Charles MacNeill |
5:89031b2f5316 | 4250 | pout->single_xtalk_delta_flag = 2; |
Charles MacNeill |
5:89031b2f5316 | 4251 | } |
Charles MacNeill |
5:89031b2f5316 | 4252 | } |
Charles MacNeill |
5:89031b2f5316 | 4253 | |
Charles MacNeill |
5:89031b2f5316 | 4254 | |
Charles MacNeill |
5:89031b2f5316 | 4255 | pint->current_samples = pint->current_samples + 1; |
Charles MacNeill |
5:89031b2f5316 | 4256 | |
Charles MacNeill |
5:89031b2f5316 | 4257 | |
Charles MacNeill |
5:89031b2f5316 | 4258 | if (pint->current_samples > pconfig->sample_limit) { |
Charles MacNeill |
5:89031b2f5316 | 4259 | pout->sample_limit_exceeded_flag = 1; |
Charles MacNeill |
5:89031b2f5316 | 4260 | continue_processing = CONT_RESET; |
Charles MacNeill |
5:89031b2f5316 | 4261 | } else { |
Charles MacNeill |
5:89031b2f5316 | 4262 | pint->accumulator = pint->accumulator + |
Charles MacNeill |
5:89031b2f5316 | 4263 | xtalk_offset_in; |
Charles MacNeill |
5:89031b2f5316 | 4264 | } |
Charles MacNeill |
5:89031b2f5316 | 4265 | |
Charles MacNeill |
5:89031b2f5316 | 4266 | if (pint->current_samples < pint->required_samples) |
Charles MacNeill |
5:89031b2f5316 | 4267 | continue_processing = CONT_NEXT_LOOP; |
Charles MacNeill |
5:89031b2f5316 | 4268 | |
Charles MacNeill |
5:89031b2f5316 | 4269 | |
Charles MacNeill |
5:89031b2f5316 | 4270 | xtalk_offset_out = |
Charles MacNeill |
5:89031b2f5316 | 4271 | (uint32_t)(do_division_u(pint->accumulator, |
Charles MacNeill |
5:89031b2f5316 | 4272 | pint->current_samples)); |
Charles MacNeill |
5:89031b2f5316 | 4273 | |
Charles MacNeill |
5:89031b2f5316 | 4274 | |
Charles MacNeill |
5:89031b2f5316 | 4275 | itemp32 = xtalk_offset_out - current_xtalk + |
Charles MacNeill |
5:89031b2f5316 | 4276 | smudge_margin_adjusted; |
Charles MacNeill |
5:89031b2f5316 | 4277 | |
Charles MacNeill |
5:89031b2f5316 | 4278 | if (itemp32 < 0) |
Charles MacNeill |
5:89031b2f5316 | 4279 | itemp32 = itemp32 * (-1); |
Charles MacNeill |
5:89031b2f5316 | 4280 | |
Charles MacNeill |
5:89031b2f5316 | 4281 | if (continue_processing == CONT_CONTINUE && |
Charles MacNeill |
5:89031b2f5316 | 4282 | (itemp32 >= ((int32_t)(pconfig->averaged_xtalk_delta))) |
Charles MacNeill |
5:89031b2f5316 | 4283 | ) { |
Charles MacNeill |
5:89031b2f5316 | 4284 | if ((int32_t)xtalk_offset_out > |
Charles MacNeill |
5:89031b2f5316 | 4285 | ((int32_t)current_xtalk - |
Charles MacNeill |
5:89031b2f5316 | 4286 | (int32_t)smudge_margin_adjusted)) |
Charles MacNeill |
5:89031b2f5316 | 4287 | pout->averaged_xtalk_delta_flag = 1; |
Charles MacNeill |
5:89031b2f5316 | 4288 | else |
Charles MacNeill |
5:89031b2f5316 | 4289 | pout->averaged_xtalk_delta_flag = 2; |
Charles MacNeill |
5:89031b2f5316 | 4290 | } |
Charles MacNeill |
5:89031b2f5316 | 4291 | |
Charles MacNeill |
5:89031b2f5316 | 4292 | if (continue_processing == CONT_CONTINUE && |
Charles MacNeill |
5:89031b2f5316 | 4293 | (itemp32 < ((int32_t)(pconfig->averaged_xtalk_delta))) |
Charles MacNeill |
5:89031b2f5316 | 4294 | ) |
Charles MacNeill |
5:89031b2f5316 | 4295 | |
Charles MacNeill |
5:89031b2f5316 | 4296 | continue_processing = CONT_RESET; |
Charles MacNeill |
5:89031b2f5316 | 4297 | |
Charles MacNeill |
5:89031b2f5316 | 4298 | |
Charles MacNeill |
5:89031b2f5316 | 4299 | |
Charles MacNeill |
5:89031b2f5316 | 4300 | pout->smudge_corr_clipped = 0; |
Charles MacNeill |
5:89031b2f5316 | 4301 | if ((continue_processing == CONT_CONTINUE) && |
Charles MacNeill |
5:89031b2f5316 | 4302 | (pconfig->smudge_corr_clip_limit != 0)) { |
Charles MacNeill |
5:89031b2f5316 | 4303 | if (xtalk_offset_out > |
Charles MacNeill |
5:89031b2f5316 | 4304 | (pconfig->smudge_corr_clip_limit * histo_merge_nb)) { |
Charles MacNeill |
5:89031b2f5316 | 4305 | pout->smudge_corr_clipped = 1; |
Charles MacNeill |
5:89031b2f5316 | 4306 | continue_processing = CONT_RESET; |
Charles MacNeill |
5:89031b2f5316 | 4307 | } |
Charles MacNeill |
5:89031b2f5316 | 4308 | } |
Charles MacNeill |
5:89031b2f5316 | 4309 | |
Charles MacNeill |
5:89031b2f5316 | 4310 | |
Charles MacNeill |
5:89031b2f5316 | 4311 | |
Charles MacNeill |
5:89031b2f5316 | 4312 | if (pconfig->user_xtalk_offset_limit_hi && |
Charles MacNeill |
5:89031b2f5316 | 4313 | (xtalk_offset_out > |
Charles MacNeill |
5:89031b2f5316 | 4314 | pconfig->user_xtalk_offset_limit)) |
Charles MacNeill |
5:89031b2f5316 | 4315 | xtalk_offset_out = |
Charles MacNeill |
5:89031b2f5316 | 4316 | pconfig->user_xtalk_offset_limit; |
Charles MacNeill |
5:89031b2f5316 | 4317 | |
Charles MacNeill |
5:89031b2f5316 | 4318 | |
Charles MacNeill |
5:89031b2f5316 | 4319 | |
Charles MacNeill |
5:89031b2f5316 | 4320 | if ((pconfig->user_xtalk_offset_limit_hi == 0) && |
Charles MacNeill |
5:89031b2f5316 | 4321 | (xtalk_offset_out < |
Charles MacNeill |
5:89031b2f5316 | 4322 | pconfig->user_xtalk_offset_limit)) |
Charles MacNeill |
5:89031b2f5316 | 4323 | xtalk_offset_out = |
Charles MacNeill |
5:89031b2f5316 | 4324 | pconfig->user_xtalk_offset_limit; |
Charles MacNeill |
5:89031b2f5316 | 4325 | |
Charles MacNeill |
5:89031b2f5316 | 4326 | |
Charles MacNeill |
5:89031b2f5316 | 4327 | |
Charles MacNeill |
5:89031b2f5316 | 4328 | xtalk_offset_out = xtalk_offset_out >> 2; |
Charles MacNeill |
5:89031b2f5316 | 4329 | if (xtalk_offset_out > 0x3FFFF) |
Charles MacNeill |
5:89031b2f5316 | 4330 | xtalk_offset_out = 0x3FFFF; |
Charles MacNeill |
5:89031b2f5316 | 4331 | |
Charles MacNeill |
5:89031b2f5316 | 4332 | |
Charles MacNeill |
5:89031b2f5316 | 4333 | if (continue_processing == CONT_CONTINUE) { |
Charles MacNeill |
5:89031b2f5316 | 4334 | |
Charles MacNeill |
5:89031b2f5316 | 4335 | VL53LX_dynamic_xtalk_correction_calc_new_xtalk( |
Charles MacNeill |
5:89031b2f5316 | 4336 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 4337 | xtalk_offset_out, |
Charles MacNeill |
5:89031b2f5316 | 4338 | pconfig, |
Charles MacNeill |
5:89031b2f5316 | 4339 | pout, |
Charles MacNeill |
5:89031b2f5316 | 4340 | 1, |
Charles MacNeill |
5:89031b2f5316 | 4341 | 0 |
Charles MacNeill |
5:89031b2f5316 | 4342 | ); |
Charles MacNeill |
5:89031b2f5316 | 4343 | |
Charles MacNeill |
5:89031b2f5316 | 4344 | |
Charles MacNeill |
5:89031b2f5316 | 4345 | continue_processing = CONT_RESET; |
Charles MacNeill |
5:89031b2f5316 | 4346 | } else { |
Charles MacNeill |
5:89031b2f5316 | 4347 | |
Charles MacNeill |
5:89031b2f5316 | 4348 | VL53LX_dynamic_xtalk_correction_calc_new_xtalk( |
Charles MacNeill |
5:89031b2f5316 | 4349 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 4350 | xtalk_offset_out, |
Charles MacNeill |
5:89031b2f5316 | 4351 | pconfig, |
Charles MacNeill |
5:89031b2f5316 | 4352 | pout, |
Charles MacNeill |
5:89031b2f5316 | 4353 | 1, |
Charles MacNeill |
5:89031b2f5316 | 4354 | 1 |
Charles MacNeill |
5:89031b2f5316 | 4355 | ); |
Charles MacNeill |
5:89031b2f5316 | 4356 | } |
Charles MacNeill |
5:89031b2f5316 | 4357 | |
Charles MacNeill |
5:89031b2f5316 | 4358 | |
Charles MacNeill |
5:89031b2f5316 | 4359 | if (continue_processing == CONT_RESET) { |
Charles MacNeill |
5:89031b2f5316 | 4360 | pint->accumulator = 0; |
Charles MacNeill |
5:89031b2f5316 | 4361 | pint->current_samples = 0; |
Charles MacNeill |
5:89031b2f5316 | 4362 | pint->nodetect_counter = 0; |
Charles MacNeill |
5:89031b2f5316 | 4363 | } |
Charles MacNeill |
5:89031b2f5316 | 4364 | |
Charles MacNeill |
5:89031b2f5316 | 4365 | } |
Charles MacNeill |
5:89031b2f5316 | 4366 | |
Charles MacNeill |
5:89031b2f5316 | 4367 | continue_processing = CONT_CONTINUE; |
Charles MacNeill |
5:89031b2f5316 | 4368 | if (run_nodetect == 1) { |
Charles MacNeill |
5:89031b2f5316 | 4369 | |
Charles MacNeill |
5:89031b2f5316 | 4370 | pint->nodetect_counter += 1; |
Charles MacNeill |
5:89031b2f5316 | 4371 | |
Charles MacNeill |
5:89031b2f5316 | 4372 | |
Charles MacNeill |
5:89031b2f5316 | 4373 | if (pint->nodetect_counter < pconfig->nodetect_sample_limit) |
Charles MacNeill |
5:89031b2f5316 | 4374 | continue_processing = CONT_NEXT_LOOP; |
Charles MacNeill |
5:89031b2f5316 | 4375 | |
Charles MacNeill |
5:89031b2f5316 | 4376 | |
Charles MacNeill |
5:89031b2f5316 | 4377 | xtalk_offset_out = (uint32_t)(pconfig->nodetect_xtalk_offset); |
Charles MacNeill |
5:89031b2f5316 | 4378 | |
Charles MacNeill |
5:89031b2f5316 | 4379 | if (continue_processing == CONT_CONTINUE) { |
Charles MacNeill |
5:89031b2f5316 | 4380 | |
Charles MacNeill |
5:89031b2f5316 | 4381 | VL53LX_dynamic_xtalk_correction_calc_new_xtalk( |
Charles MacNeill |
5:89031b2f5316 | 4382 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 4383 | xtalk_offset_out, |
Charles MacNeill |
5:89031b2f5316 | 4384 | pconfig, |
Charles MacNeill |
5:89031b2f5316 | 4385 | pout, |
Charles MacNeill |
5:89031b2f5316 | 4386 | 0, |
Charles MacNeill |
5:89031b2f5316 | 4387 | 0 |
Charles MacNeill |
5:89031b2f5316 | 4388 | ); |
Charles MacNeill |
5:89031b2f5316 | 4389 | |
Charles MacNeill |
5:89031b2f5316 | 4390 | |
Charles MacNeill |
5:89031b2f5316 | 4391 | pout->smudge_corr_valid = 2; |
Charles MacNeill |
5:89031b2f5316 | 4392 | |
Charles MacNeill |
5:89031b2f5316 | 4393 | |
Charles MacNeill |
5:89031b2f5316 | 4394 | continue_processing = CONT_RESET; |
Charles MacNeill |
5:89031b2f5316 | 4395 | } else { |
Charles MacNeill |
5:89031b2f5316 | 4396 | |
Charles MacNeill |
5:89031b2f5316 | 4397 | VL53LX_dynamic_xtalk_correction_calc_new_xtalk( |
Charles MacNeill |
5:89031b2f5316 | 4398 | Dev, |
Charles MacNeill |
5:89031b2f5316 | 4399 | xtalk_offset_out, |
Charles MacNeill |
5:89031b2f5316 | 4400 | pconfig, |
Charles MacNeill |
5:89031b2f5316 | 4401 | pout, |
Charles MacNeill |
5:89031b2f5316 | 4402 | 0, |
Charles MacNeill |
5:89031b2f5316 | 4403 | 1 |
Charles MacNeill |
5:89031b2f5316 | 4404 | ); |
Charles MacNeill |
5:89031b2f5316 | 4405 | } |
Charles MacNeill |
5:89031b2f5316 | 4406 | |
Charles MacNeill |
5:89031b2f5316 | 4407 | |
Charles MacNeill |
5:89031b2f5316 | 4408 | if (continue_processing == CONT_RESET) { |
Charles MacNeill |
5:89031b2f5316 | 4409 | pint->accumulator = 0; |
Charles MacNeill |
5:89031b2f5316 | 4410 | pint->current_samples = 0; |
Charles MacNeill |
5:89031b2f5316 | 4411 | pint->nodetect_counter = 0; |
Charles MacNeill |
5:89031b2f5316 | 4412 | } |
Charles MacNeill |
5:89031b2f5316 | 4413 | } |
Charles MacNeill |
5:89031b2f5316 | 4414 | |
Charles MacNeill |
5:89031b2f5316 | 4415 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 4416 | |
Charles MacNeill |
5:89031b2f5316 | 4417 | return status; |
Charles MacNeill |
5:89031b2f5316 | 4418 | } |
Charles MacNeill |
5:89031b2f5316 | 4419 | |
Charles MacNeill |
5:89031b2f5316 | 4420 | VL53LX_Error VL53LX_dynamic_xtalk_correction_data_init( |
Charles MacNeill |
5:89031b2f5316 | 4421 | VL53LX_DEV Dev |
Charles MacNeill |
5:89031b2f5316 | 4422 | ) |
Charles MacNeill |
5:89031b2f5316 | 4423 | { |
Charles MacNeill |
5:89031b2f5316 | 4424 | |
Charles MacNeill |
5:89031b2f5316 | 4425 | |
Charles MacNeill |
5:89031b2f5316 | 4426 | |
Charles MacNeill |
5:89031b2f5316 | 4427 | |
Charles MacNeill |
5:89031b2f5316 | 4428 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 4429 | |
Charles MacNeill |
5:89031b2f5316 | 4430 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 4431 | VL53LX_LLDriverResults_t *pres = VL53LXDevStructGetLLResultsHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 4432 | |
Charles MacNeill |
5:89031b2f5316 | 4433 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 4434 | |
Charles MacNeill |
5:89031b2f5316 | 4435 | |
Charles MacNeill |
5:89031b2f5316 | 4436 | |
Charles MacNeill |
5:89031b2f5316 | 4437 | pdev->smudge_correct_config.smudge_corr_enabled = 1; |
Charles MacNeill |
5:89031b2f5316 | 4438 | pdev->smudge_correct_config.smudge_corr_apply_enabled = 1; |
Charles MacNeill |
5:89031b2f5316 | 4439 | pdev->smudge_correct_config.smudge_corr_single_apply = |
Charles MacNeill |
5:89031b2f5316 | 4440 | VL53LX_TUNINGPARM_DYNXTALK_SMUDGE_COR_SINGLE_APPLY_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4441 | |
Charles MacNeill |
5:89031b2f5316 | 4442 | pdev->smudge_correct_config.smudge_margin = |
Charles MacNeill |
5:89031b2f5316 | 4443 | VL53LX_TUNINGPARM_DYNXTALK_SMUDGE_MARGIN_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4444 | pdev->smudge_correct_config.noise_margin = |
Charles MacNeill |
5:89031b2f5316 | 4445 | VL53LX_TUNINGPARM_DYNXTALK_NOISE_MARGIN_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4446 | pdev->smudge_correct_config.user_xtalk_offset_limit = |
Charles MacNeill |
5:89031b2f5316 | 4447 | VL53LX_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4448 | pdev->smudge_correct_config.user_xtalk_offset_limit_hi = |
Charles MacNeill |
5:89031b2f5316 | 4449 | VL53LX_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_HI_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4450 | pdev->smudge_correct_config.sample_limit = |
Charles MacNeill |
5:89031b2f5316 | 4451 | VL53LX_TUNINGPARM_DYNXTALK_SAMPLE_LIMIT_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4452 | pdev->smudge_correct_config.single_xtalk_delta = |
Charles MacNeill |
5:89031b2f5316 | 4453 | VL53LX_TUNINGPARM_DYNXTALK_SINGLE_XTALK_DELTA_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4454 | pdev->smudge_correct_config.averaged_xtalk_delta = |
Charles MacNeill |
5:89031b2f5316 | 4455 | VL53LX_TUNINGPARM_DYNXTALK_AVERAGED_XTALK_DELTA_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4456 | pdev->smudge_correct_config.smudge_corr_clip_limit = |
Charles MacNeill |
5:89031b2f5316 | 4457 | VL53LX_TUNINGPARM_DYNXTALK_CLIP_LIMIT_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4458 | pdev->smudge_correct_config.smudge_corr_ambient_threshold = |
Charles MacNeill |
5:89031b2f5316 | 4459 | VL53LX_TUNINGPARM_DYNXTALK_XTALK_AMB_THRESHOLD_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4460 | pdev->smudge_correct_config.scaler_calc_method = |
Charles MacNeill |
5:89031b2f5316 | 4461 | 0; |
Charles MacNeill |
5:89031b2f5316 | 4462 | pdev->smudge_correct_config.x_gradient_scaler = |
Charles MacNeill |
5:89031b2f5316 | 4463 | VL53LX_TUNINGPARM_DYNXTALK_XGRADIENT_SCALER_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4464 | pdev->smudge_correct_config.y_gradient_scaler = |
Charles MacNeill |
5:89031b2f5316 | 4465 | VL53LX_TUNINGPARM_DYNXTALK_YGRADIENT_SCALER_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4466 | pdev->smudge_correct_config.user_scaler_set = |
Charles MacNeill |
5:89031b2f5316 | 4467 | VL53LX_TUNINGPARM_DYNXTALK_USER_SCALER_SET_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4468 | pdev->smudge_correct_config.nodetect_ambient_threshold = |
Charles MacNeill |
5:89031b2f5316 | 4469 | VL53LX_TUNINGPARM_DYNXTALK_NODETECT_AMB_THRESHOLD_KCPS_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4470 | pdev->smudge_correct_config.nodetect_sample_limit = |
Charles MacNeill |
5:89031b2f5316 | 4471 | VL53LX_TUNINGPARM_DYNXTALK_NODETECT_SAMPLE_LIMIT_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4472 | pdev->smudge_correct_config.nodetect_xtalk_offset = |
Charles MacNeill |
5:89031b2f5316 | 4473 | VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4474 | pdev->smudge_correct_config.nodetect_min_range_mm = |
Charles MacNeill |
5:89031b2f5316 | 4475 | VL53LX_TUNINGPARM_DYNXTALK_NODETECT_MIN_RANGE_MM_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4476 | pdev->smudge_correct_config.max_smudge_factor = |
Charles MacNeill |
5:89031b2f5316 | 4477 | VL53LX_TUNINGPARM_DYNXTALK_MAX_SMUDGE_FACTOR_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4478 | |
Charles MacNeill |
5:89031b2f5316 | 4479 | |
Charles MacNeill |
5:89031b2f5316 | 4480 | pdev->smudge_corrector_internals.current_samples = 0; |
Charles MacNeill |
5:89031b2f5316 | 4481 | pdev->smudge_corrector_internals.required_samples = 0; |
Charles MacNeill |
5:89031b2f5316 | 4482 | pdev->smudge_corrector_internals.accumulator = 0; |
Charles MacNeill |
5:89031b2f5316 | 4483 | pdev->smudge_corrector_internals.nodetect_counter = 0; |
Charles MacNeill |
5:89031b2f5316 | 4484 | |
Charles MacNeill |
5:89031b2f5316 | 4485 | |
Charles MacNeill |
5:89031b2f5316 | 4486 | VL53LX_dynamic_xtalk_correction_output_init(pres); |
Charles MacNeill |
5:89031b2f5316 | 4487 | |
Charles MacNeill |
5:89031b2f5316 | 4488 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 4489 | |
Charles MacNeill |
5:89031b2f5316 | 4490 | return status; |
Charles MacNeill |
5:89031b2f5316 | 4491 | } |
Charles MacNeill |
5:89031b2f5316 | 4492 | |
Charles MacNeill |
5:89031b2f5316 | 4493 | VL53LX_Error VL53LX_dynamic_xtalk_correction_output_init( |
Charles MacNeill |
5:89031b2f5316 | 4494 | VL53LX_LLDriverResults_t *pres |
Charles MacNeill |
5:89031b2f5316 | 4495 | ) |
Charles MacNeill |
5:89031b2f5316 | 4496 | { |
Charles MacNeill |
5:89031b2f5316 | 4497 | |
Charles MacNeill |
5:89031b2f5316 | 4498 | |
Charles MacNeill |
5:89031b2f5316 | 4499 | |
Charles MacNeill |
5:89031b2f5316 | 4500 | |
Charles MacNeill |
5:89031b2f5316 | 4501 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 4502 | |
Charles MacNeill |
5:89031b2f5316 | 4503 | VL53LX_smudge_corrector_data_t *pdata; |
Charles MacNeill |
5:89031b2f5316 | 4504 | |
Charles MacNeill |
5:89031b2f5316 | 4505 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 4506 | |
Charles MacNeill |
5:89031b2f5316 | 4507 | |
Charles MacNeill |
5:89031b2f5316 | 4508 | pdata = &(pres->range_results.smudge_corrector_data); |
Charles MacNeill |
5:89031b2f5316 | 4509 | |
Charles MacNeill |
5:89031b2f5316 | 4510 | pdata->smudge_corr_valid = 0; |
Charles MacNeill |
5:89031b2f5316 | 4511 | pdata->smudge_corr_clipped = 0; |
Charles MacNeill |
5:89031b2f5316 | 4512 | pdata->single_xtalk_delta_flag = 0; |
Charles MacNeill |
5:89031b2f5316 | 4513 | pdata->averaged_xtalk_delta_flag = 0; |
Charles MacNeill |
5:89031b2f5316 | 4514 | pdata->sample_limit_exceeded_flag = 0; |
Charles MacNeill |
5:89031b2f5316 | 4515 | pdata->gradient_zero_flag = 0; |
Charles MacNeill |
5:89031b2f5316 | 4516 | pdata->new_xtalk_applied_flag = 0; |
Charles MacNeill |
5:89031b2f5316 | 4517 | |
Charles MacNeill |
5:89031b2f5316 | 4518 | pdata->algo__crosstalk_compensation_plane_offset_kcps = 0; |
Charles MacNeill |
5:89031b2f5316 | 4519 | pdata->algo__crosstalk_compensation_x_plane_gradient_kcps = 0; |
Charles MacNeill |
5:89031b2f5316 | 4520 | pdata->algo__crosstalk_compensation_y_plane_gradient_kcps = 0; |
Charles MacNeill |
5:89031b2f5316 | 4521 | |
Charles MacNeill |
5:89031b2f5316 | 4522 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 4523 | |
Charles MacNeill |
5:89031b2f5316 | 4524 | return status; |
Charles MacNeill |
5:89031b2f5316 | 4525 | } |
Charles MacNeill |
5:89031b2f5316 | 4526 | |
Charles MacNeill |
5:89031b2f5316 | 4527 | |
Charles MacNeill |
5:89031b2f5316 | 4528 | VL53LX_Error VL53LX_xtalk_cal_data_init( |
Charles MacNeill |
5:89031b2f5316 | 4529 | VL53LX_DEV Dev |
Charles MacNeill |
5:89031b2f5316 | 4530 | ) |
Charles MacNeill |
5:89031b2f5316 | 4531 | { |
Charles MacNeill |
5:89031b2f5316 | 4532 | |
Charles MacNeill |
5:89031b2f5316 | 4533 | |
Charles MacNeill |
5:89031b2f5316 | 4534 | |
Charles MacNeill |
5:89031b2f5316 | 4535 | |
Charles MacNeill |
5:89031b2f5316 | 4536 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 4537 | |
Charles MacNeill |
5:89031b2f5316 | 4538 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 4539 | |
Charles MacNeill |
5:89031b2f5316 | 4540 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 4541 | |
Charles MacNeill |
5:89031b2f5316 | 4542 | |
Charles MacNeill |
5:89031b2f5316 | 4543 | |
Charles MacNeill |
5:89031b2f5316 | 4544 | pdev->xtalk_cal.algo__crosstalk_compensation_plane_offset_kcps = 0; |
Charles MacNeill |
5:89031b2f5316 | 4545 | pdev->xtalk_cal.algo__crosstalk_compensation_x_plane_gradient_kcps = 0; |
Charles MacNeill |
5:89031b2f5316 | 4546 | pdev->xtalk_cal.algo__crosstalk_compensation_y_plane_gradient_kcps = 0; |
Charles MacNeill |
5:89031b2f5316 | 4547 | memset(&pdev->xtalk_cal.algo__xtalk_cpo_HistoMerge_kcps[0], 0, |
Charles MacNeill |
5:89031b2f5316 | 4548 | sizeof(pdev->xtalk_cal.algo__xtalk_cpo_HistoMerge_kcps)); |
Charles MacNeill |
5:89031b2f5316 | 4549 | |
Charles MacNeill |
5:89031b2f5316 | 4550 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 4551 | |
Charles MacNeill |
5:89031b2f5316 | 4552 | return status; |
Charles MacNeill |
5:89031b2f5316 | 4553 | } |
Charles MacNeill |
5:89031b2f5316 | 4554 | |
Charles MacNeill |
5:89031b2f5316 | 4555 | |
Charles MacNeill |
5:89031b2f5316 | 4556 | |
Charles MacNeill |
5:89031b2f5316 | 4557 | |
Charles MacNeill |
5:89031b2f5316 | 4558 | |
Charles MacNeill |
5:89031b2f5316 | 4559 | |
Charles MacNeill |
5:89031b2f5316 | 4560 | VL53LX_Error VL53LX_low_power_auto_data_init( |
Charles MacNeill |
5:89031b2f5316 | 4561 | VL53LX_DEV Dev |
Charles MacNeill |
5:89031b2f5316 | 4562 | ) |
Charles MacNeill |
5:89031b2f5316 | 4563 | { |
Charles MacNeill |
5:89031b2f5316 | 4564 | |
Charles MacNeill |
5:89031b2f5316 | 4565 | |
Charles MacNeill |
5:89031b2f5316 | 4566 | |
Charles MacNeill |
5:89031b2f5316 | 4567 | |
Charles MacNeill |
5:89031b2f5316 | 4568 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 4569 | |
Charles MacNeill |
5:89031b2f5316 | 4570 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 4571 | |
Charles MacNeill |
5:89031b2f5316 | 4572 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 4573 | |
Charles MacNeill |
5:89031b2f5316 | 4574 | pdev->low_power_auto_data.vhv_loop_bound = |
Charles MacNeill |
5:89031b2f5316 | 4575 | VL53LX_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT; |
Charles MacNeill |
5:89031b2f5316 | 4576 | pdev->low_power_auto_data.is_low_power_auto_mode = 0; |
Charles MacNeill |
5:89031b2f5316 | 4577 | pdev->low_power_auto_data.low_power_auto_range_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 4578 | pdev->low_power_auto_data.saved_interrupt_config = 0; |
Charles MacNeill |
5:89031b2f5316 | 4579 | pdev->low_power_auto_data.saved_vhv_init = 0; |
Charles MacNeill |
5:89031b2f5316 | 4580 | pdev->low_power_auto_data.saved_vhv_timeout = 0; |
Charles MacNeill |
5:89031b2f5316 | 4581 | pdev->low_power_auto_data.first_run_phasecal_result = 0; |
Charles MacNeill |
5:89031b2f5316 | 4582 | pdev->low_power_auto_data.dss__total_rate_per_spad_mcps = 0; |
Charles MacNeill |
5:89031b2f5316 | 4583 | pdev->low_power_auto_data.dss__required_spads = 0; |
Charles MacNeill |
5:89031b2f5316 | 4584 | |
Charles MacNeill |
5:89031b2f5316 | 4585 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 4586 | |
Charles MacNeill |
5:89031b2f5316 | 4587 | return status; |
Charles MacNeill |
5:89031b2f5316 | 4588 | } |
Charles MacNeill |
5:89031b2f5316 | 4589 | |
Charles MacNeill |
5:89031b2f5316 | 4590 | VL53LX_Error VL53LX_low_power_auto_data_stop_range( |
Charles MacNeill |
5:89031b2f5316 | 4591 | VL53LX_DEV Dev |
Charles MacNeill |
5:89031b2f5316 | 4592 | ) |
Charles MacNeill |
5:89031b2f5316 | 4593 | { |
Charles MacNeill |
5:89031b2f5316 | 4594 | |
Charles MacNeill |
5:89031b2f5316 | 4595 | |
Charles MacNeill |
5:89031b2f5316 | 4596 | |
Charles MacNeill |
5:89031b2f5316 | 4597 | |
Charles MacNeill |
5:89031b2f5316 | 4598 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 4599 | |
Charles MacNeill |
5:89031b2f5316 | 4600 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 4601 | |
Charles MacNeill |
5:89031b2f5316 | 4602 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 4603 | |
Charles MacNeill |
5:89031b2f5316 | 4604 | |
Charles MacNeill |
5:89031b2f5316 | 4605 | |
Charles MacNeill |
5:89031b2f5316 | 4606 | pdev->low_power_auto_data.low_power_auto_range_count = 0xFF; |
Charles MacNeill |
5:89031b2f5316 | 4607 | |
Charles MacNeill |
5:89031b2f5316 | 4608 | pdev->low_power_auto_data.first_run_phasecal_result = 0; |
Charles MacNeill |
5:89031b2f5316 | 4609 | pdev->low_power_auto_data.dss__total_rate_per_spad_mcps = 0; |
Charles MacNeill |
5:89031b2f5316 | 4610 | pdev->low_power_auto_data.dss__required_spads = 0; |
Charles MacNeill |
5:89031b2f5316 | 4611 | |
Charles MacNeill |
5:89031b2f5316 | 4612 | |
Charles MacNeill |
5:89031b2f5316 | 4613 | if (pdev->low_power_auto_data.saved_vhv_init != 0) |
Charles MacNeill |
5:89031b2f5316 | 4614 | pdev->stat_nvm.vhv_config__init = |
Charles MacNeill |
5:89031b2f5316 | 4615 | pdev->low_power_auto_data.saved_vhv_init; |
Charles MacNeill |
5:89031b2f5316 | 4616 | if (pdev->low_power_auto_data.saved_vhv_timeout != 0) |
Charles MacNeill |
5:89031b2f5316 | 4617 | pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound = |
Charles MacNeill |
5:89031b2f5316 | 4618 | pdev->low_power_auto_data.saved_vhv_timeout; |
Charles MacNeill |
5:89031b2f5316 | 4619 | |
Charles MacNeill |
5:89031b2f5316 | 4620 | |
Charles MacNeill |
5:89031b2f5316 | 4621 | pdev->gen_cfg.phasecal_config__override = 0x00; |
Charles MacNeill |
5:89031b2f5316 | 4622 | |
Charles MacNeill |
5:89031b2f5316 | 4623 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 4624 | |
Charles MacNeill |
5:89031b2f5316 | 4625 | return status; |
Charles MacNeill |
5:89031b2f5316 | 4626 | } |
Charles MacNeill |
5:89031b2f5316 | 4627 | |
Charles MacNeill |
5:89031b2f5316 | 4628 | VL53LX_Error VL53LX_config_low_power_auto_mode( |
Charles MacNeill |
5:89031b2f5316 | 4629 | VL53LX_general_config_t *pgeneral, |
Charles MacNeill |
5:89031b2f5316 | 4630 | VL53LX_dynamic_config_t *pdynamic, |
Charles MacNeill |
5:89031b2f5316 | 4631 | VL53LX_low_power_auto_data_t *plpadata |
Charles MacNeill |
5:89031b2f5316 | 4632 | ) |
Charles MacNeill |
5:89031b2f5316 | 4633 | { |
Charles MacNeill |
5:89031b2f5316 | 4634 | |
Charles MacNeill |
5:89031b2f5316 | 4635 | |
Charles MacNeill |
5:89031b2f5316 | 4636 | |
Charles MacNeill |
5:89031b2f5316 | 4637 | |
Charles MacNeill |
5:89031b2f5316 | 4638 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 4639 | |
Charles MacNeill |
5:89031b2f5316 | 4640 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 4641 | |
Charles MacNeill |
5:89031b2f5316 | 4642 | |
Charles MacNeill |
5:89031b2f5316 | 4643 | plpadata->is_low_power_auto_mode = 1; |
Charles MacNeill |
5:89031b2f5316 | 4644 | |
Charles MacNeill |
5:89031b2f5316 | 4645 | |
Charles MacNeill |
5:89031b2f5316 | 4646 | plpadata->low_power_auto_range_count = 0; |
Charles MacNeill |
5:89031b2f5316 | 4647 | |
Charles MacNeill |
5:89031b2f5316 | 4648 | |
Charles MacNeill |
5:89031b2f5316 | 4649 | pdynamic->system__sequence_config = |
Charles MacNeill |
5:89031b2f5316 | 4650 | VL53LX_SEQUENCE_VHV_EN | |
Charles MacNeill |
5:89031b2f5316 | 4651 | VL53LX_SEQUENCE_PHASECAL_EN | |
Charles MacNeill |
5:89031b2f5316 | 4652 | VL53LX_SEQUENCE_DSS1_EN | |
Charles MacNeill |
5:89031b2f5316 | 4653 | |
Charles MacNeill |
5:89031b2f5316 | 4654 | |
Charles MacNeill |
5:89031b2f5316 | 4655 | |
Charles MacNeill |
5:89031b2f5316 | 4656 | VL53LX_SEQUENCE_RANGE_EN; |
Charles MacNeill |
5:89031b2f5316 | 4657 | |
Charles MacNeill |
5:89031b2f5316 | 4658 | |
Charles MacNeill |
5:89031b2f5316 | 4659 | pgeneral->dss_config__manual_effective_spads_select = 200 << 8; |
Charles MacNeill |
5:89031b2f5316 | 4660 | pgeneral->dss_config__roi_mode_control = |
Charles MacNeill |
5:89031b2f5316 | 4661 | VL53LX_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS; |
Charles MacNeill |
5:89031b2f5316 | 4662 | |
Charles MacNeill |
5:89031b2f5316 | 4663 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 4664 | |
Charles MacNeill |
5:89031b2f5316 | 4665 | return status; |
Charles MacNeill |
5:89031b2f5316 | 4666 | } |
Charles MacNeill |
5:89031b2f5316 | 4667 | |
Charles MacNeill |
5:89031b2f5316 | 4668 | VL53LX_Error VL53LX_low_power_auto_setup_manual_calibration( |
Charles MacNeill |
5:89031b2f5316 | 4669 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 4670 | { |
Charles MacNeill |
5:89031b2f5316 | 4671 | |
Charles MacNeill |
5:89031b2f5316 | 4672 | |
Charles MacNeill |
5:89031b2f5316 | 4673 | |
Charles MacNeill |
5:89031b2f5316 | 4674 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 4675 | |
Charles MacNeill |
5:89031b2f5316 | 4676 | |
Charles MacNeill |
5:89031b2f5316 | 4677 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 4678 | |
Charles MacNeill |
5:89031b2f5316 | 4679 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 4680 | |
Charles MacNeill |
5:89031b2f5316 | 4681 | |
Charles MacNeill |
5:89031b2f5316 | 4682 | pdev->low_power_auto_data.saved_vhv_init = |
Charles MacNeill |
5:89031b2f5316 | 4683 | pdev->stat_nvm.vhv_config__init; |
Charles MacNeill |
5:89031b2f5316 | 4684 | pdev->low_power_auto_data.saved_vhv_timeout = |
Charles MacNeill |
5:89031b2f5316 | 4685 | pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound; |
Charles MacNeill |
5:89031b2f5316 | 4686 | |
Charles MacNeill |
5:89031b2f5316 | 4687 | |
Charles MacNeill |
5:89031b2f5316 | 4688 | pdev->stat_nvm.vhv_config__init &= 0x7F; |
Charles MacNeill |
5:89031b2f5316 | 4689 | |
Charles MacNeill |
5:89031b2f5316 | 4690 | pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound = |
Charles MacNeill |
5:89031b2f5316 | 4691 | (pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound & 0x03) + |
Charles MacNeill |
5:89031b2f5316 | 4692 | (pdev->low_power_auto_data.vhv_loop_bound << 2); |
Charles MacNeill |
5:89031b2f5316 | 4693 | |
Charles MacNeill |
5:89031b2f5316 | 4694 | pdev->gen_cfg.phasecal_config__override = 0x01; |
Charles MacNeill |
5:89031b2f5316 | 4695 | pdev->low_power_auto_data.first_run_phasecal_result = |
Charles MacNeill |
5:89031b2f5316 | 4696 | pdev->dbg_results.phasecal_result__vcsel_start; |
Charles MacNeill |
5:89031b2f5316 | 4697 | pdev->gen_cfg.cal_config__vcsel_start = |
Charles MacNeill |
5:89031b2f5316 | 4698 | pdev->low_power_auto_data.first_run_phasecal_result; |
Charles MacNeill |
5:89031b2f5316 | 4699 | |
Charles MacNeill |
5:89031b2f5316 | 4700 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 4701 | |
Charles MacNeill |
5:89031b2f5316 | 4702 | return status; |
Charles MacNeill |
5:89031b2f5316 | 4703 | } |
Charles MacNeill |
5:89031b2f5316 | 4704 | |
Charles MacNeill |
5:89031b2f5316 | 4705 | VL53LX_Error VL53LX_low_power_auto_update_DSS( |
Charles MacNeill |
5:89031b2f5316 | 4706 | VL53LX_DEV Dev) |
Charles MacNeill |
5:89031b2f5316 | 4707 | { |
Charles MacNeill |
5:89031b2f5316 | 4708 | |
Charles MacNeill |
5:89031b2f5316 | 4709 | |
Charles MacNeill |
5:89031b2f5316 | 4710 | |
Charles MacNeill |
5:89031b2f5316 | 4711 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 4712 | |
Charles MacNeill |
5:89031b2f5316 | 4713 | VL53LX_system_results_t *pS = &(pdev->sys_results); |
Charles MacNeill |
5:89031b2f5316 | 4714 | |
Charles MacNeill |
5:89031b2f5316 | 4715 | |
Charles MacNeill |
5:89031b2f5316 | 4716 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 4717 | |
Charles MacNeill |
5:89031b2f5316 | 4718 | uint32_t utemp32a; |
Charles MacNeill |
5:89031b2f5316 | 4719 | |
Charles MacNeill |
5:89031b2f5316 | 4720 | LOG_FUNCTION_START(""); |
Charles MacNeill |
5:89031b2f5316 | 4721 | |
Charles MacNeill |
5:89031b2f5316 | 4722 | |
Charles MacNeill |
5:89031b2f5316 | 4723 | |
Charles MacNeill |
5:89031b2f5316 | 4724 | |
Charles MacNeill |
5:89031b2f5316 | 4725 | utemp32a = |
Charles MacNeill |
5:89031b2f5316 | 4726 | pS->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 |
Charles MacNeill |
5:89031b2f5316 | 4727 | + pS->result__ambient_count_rate_mcps_sd0; |
Charles MacNeill |
5:89031b2f5316 | 4728 | |
Charles MacNeill |
5:89031b2f5316 | 4729 | |
Charles MacNeill |
5:89031b2f5316 | 4730 | if (utemp32a > 0xFFFF) |
Charles MacNeill |
5:89031b2f5316 | 4731 | utemp32a = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 4732 | |
Charles MacNeill |
5:89031b2f5316 | 4733 | |
Charles MacNeill |
5:89031b2f5316 | 4734 | |
Charles MacNeill |
5:89031b2f5316 | 4735 | utemp32a = utemp32a << 16; |
Charles MacNeill |
5:89031b2f5316 | 4736 | |
Charles MacNeill |
5:89031b2f5316 | 4737 | |
Charles MacNeill |
5:89031b2f5316 | 4738 | if (pdev->sys_results.result__dss_actual_effective_spads_sd0 == 0) |
Charles MacNeill |
5:89031b2f5316 | 4739 | status = VL53LX_ERROR_DIVISION_BY_ZERO; |
Charles MacNeill |
5:89031b2f5316 | 4740 | else { |
Charles MacNeill |
5:89031b2f5316 | 4741 | |
Charles MacNeill |
5:89031b2f5316 | 4742 | utemp32a = utemp32a / |
Charles MacNeill |
5:89031b2f5316 | 4743 | pdev->sys_results.result__dss_actual_effective_spads_sd0; |
Charles MacNeill |
5:89031b2f5316 | 4744 | |
Charles MacNeill |
5:89031b2f5316 | 4745 | pdev->low_power_auto_data.dss__total_rate_per_spad_mcps = |
Charles MacNeill |
5:89031b2f5316 | 4746 | utemp32a; |
Charles MacNeill |
5:89031b2f5316 | 4747 | |
Charles MacNeill |
5:89031b2f5316 | 4748 | |
Charles MacNeill |
5:89031b2f5316 | 4749 | utemp32a = pdev->stat_cfg.dss_config__target_total_rate_mcps << |
Charles MacNeill |
5:89031b2f5316 | 4750 | 16; |
Charles MacNeill |
5:89031b2f5316 | 4751 | |
Charles MacNeill |
5:89031b2f5316 | 4752 | |
Charles MacNeill |
5:89031b2f5316 | 4753 | if (pdev->low_power_auto_data.dss__total_rate_per_spad_mcps |
Charles MacNeill |
5:89031b2f5316 | 4754 | == 0) |
Charles MacNeill |
5:89031b2f5316 | 4755 | status = VL53LX_ERROR_DIVISION_BY_ZERO; |
Charles MacNeill |
5:89031b2f5316 | 4756 | else { |
Charles MacNeill |
5:89031b2f5316 | 4757 | |
Charles MacNeill |
5:89031b2f5316 | 4758 | utemp32a = utemp32a / |
Charles MacNeill |
5:89031b2f5316 | 4759 | pdev->low_power_auto_data.dss__total_rate_per_spad_mcps; |
Charles MacNeill |
5:89031b2f5316 | 4760 | |
Charles MacNeill |
5:89031b2f5316 | 4761 | |
Charles MacNeill |
5:89031b2f5316 | 4762 | if (utemp32a > 0xFFFF) |
Charles MacNeill |
5:89031b2f5316 | 4763 | utemp32a = 0xFFFF; |
Charles MacNeill |
5:89031b2f5316 | 4764 | |
Charles MacNeill |
5:89031b2f5316 | 4765 | |
Charles MacNeill |
5:89031b2f5316 | 4766 | pdev->low_power_auto_data.dss__required_spads = |
Charles MacNeill |
5:89031b2f5316 | 4767 | (uint16_t)utemp32a; |
Charles MacNeill |
5:89031b2f5316 | 4768 | |
Charles MacNeill |
5:89031b2f5316 | 4769 | |
Charles MacNeill |
5:89031b2f5316 | 4770 | pdev->gen_cfg.dss_config__manual_effective_spads_select |
Charles MacNeill |
5:89031b2f5316 | 4771 | = pdev->low_power_auto_data.dss__required_spads; |
Charles MacNeill |
5:89031b2f5316 | 4772 | pdev->gen_cfg.dss_config__roi_mode_control = |
Charles MacNeill |
5:89031b2f5316 | 4773 | VL53LX_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS; |
Charles MacNeill |
5:89031b2f5316 | 4774 | } |
Charles MacNeill |
5:89031b2f5316 | 4775 | |
Charles MacNeill |
5:89031b2f5316 | 4776 | } |
Charles MacNeill |
5:89031b2f5316 | 4777 | |
Charles MacNeill |
5:89031b2f5316 | 4778 | if (status == VL53LX_ERROR_DIVISION_BY_ZERO) { |
Charles MacNeill |
5:89031b2f5316 | 4779 | |
Charles MacNeill |
5:89031b2f5316 | 4780 | |
Charles MacNeill |
5:89031b2f5316 | 4781 | |
Charles MacNeill |
5:89031b2f5316 | 4782 | pdev->low_power_auto_data.dss__required_spads = 0x8000; |
Charles MacNeill |
5:89031b2f5316 | 4783 | |
Charles MacNeill |
5:89031b2f5316 | 4784 | |
Charles MacNeill |
5:89031b2f5316 | 4785 | pdev->gen_cfg.dss_config__manual_effective_spads_select = |
Charles MacNeill |
5:89031b2f5316 | 4786 | pdev->low_power_auto_data.dss__required_spads; |
Charles MacNeill |
5:89031b2f5316 | 4787 | pdev->gen_cfg.dss_config__roi_mode_control = |
Charles MacNeill |
5:89031b2f5316 | 4788 | VL53LX_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS; |
Charles MacNeill |
5:89031b2f5316 | 4789 | |
Charles MacNeill |
5:89031b2f5316 | 4790 | |
Charles MacNeill |
5:89031b2f5316 | 4791 | status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 4792 | } |
Charles MacNeill |
5:89031b2f5316 | 4793 | |
Charles MacNeill |
5:89031b2f5316 | 4794 | LOG_FUNCTION_END(status); |
Charles MacNeill |
5:89031b2f5316 | 4795 | |
Charles MacNeill |
5:89031b2f5316 | 4796 | return status; |
Charles MacNeill |
5:89031b2f5316 | 4797 | } |
Charles MacNeill |
5:89031b2f5316 | 4798 | |
Charles MacNeill |
5:89031b2f5316 | 4799 | |
Charles MacNeill |
5:89031b2f5316 | 4800 | |
Charles MacNeill |
5:89031b2f5316 | 4801 | |
Charles MacNeill |
5:89031b2f5316 | 4802 | VL53LX_Error VL53LX_compute_histo_merge_nb( |
Charles MacNeill |
5:89031b2f5316 | 4803 | VL53LX_DEV Dev, uint8_t *histo_merge_nb) |
Charles MacNeill |
5:89031b2f5316 | 4804 | { |
Charles MacNeill |
5:89031b2f5316 | 4805 | VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev); |
Charles MacNeill |
5:89031b2f5316 | 4806 | VL53LX_Error status = VL53LX_ERROR_NONE; |
Charles MacNeill |
5:89031b2f5316 | 4807 | uint8_t i, timing; |
Charles MacNeill |
5:89031b2f5316 | 4808 | uint8_t sum = 0; |
Charles MacNeill |
5:89031b2f5316 | 4809 | |
Charles MacNeill |
5:89031b2f5316 | 4810 | timing = (pdev->hist_data.bin_seq[0] == 7 ? 1 : 0); |
Charles MacNeill |
5:89031b2f5316 | 4811 | for (i = 0; i < VL53LX_BIN_REC_SIZE; i++) |
Charles MacNeill |
5:89031b2f5316 | 4812 | if (pdev->multi_bins_rec[i][timing][7] > 0) |
Charles MacNeill |
5:89031b2f5316 | 4813 | sum++; |
Charles MacNeill |
5:89031b2f5316 | 4814 | *histo_merge_nb = sum; |
Charles MacNeill |
5:89031b2f5316 | 4815 | |
Charles MacNeill |
5:89031b2f5316 | 4816 | return status; |
Charles MacNeill |
5:89031b2f5316 | 4817 | } |
Charles MacNeill |
5:89031b2f5316 | 4818 |