ST Expansion SW Team
Updates to follow mbed SDK coding style guidelines.
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Dependents: 53L0A1_Satellites_with_Interrupts_OS5 Display_53L0A1_OS5
Fork of
X_NUCLEO_53L0A1
by 
ST
Components/VL53L0X/vl53l0x_class.cpp
- Committer:
- JerrySzczurak
- Date:
- 2017-06-28
- Revision:
- 20:cf211a3b3d9e
- Parent:
- 17:1b842521063a
- Child:
- 21:627b65069e6d
File content as of revision 20:cf211a3b3d9e:
/**
******************************************************************************
* @file vl53l0x_class.cpp
* @author IMG
* @version V0.0.1
* @date 28-June-2016
* @brief Implementation file for the VL53L0X driver class
******************************************************************************
* @attention
*
* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes */
#include <stdlib.h>
#include "vl53l0x_class.h"
//#include "vl53l0x_api_core.h"
//#include "vl53l0x_api_calibration.h"
//#include "vl53l0x_api_strings.h"
#include "vl53l0x_interrupt_threshold_settings.h"
#include "vl53l0x_tuning.h"
#include "vl53l0x_types.h"
/****************** define for i2c configuration *******************************/
#define TEMP_BUF_SIZE 64
/** Maximum buffer size to be used in i2c */
#define VL53L0X_MAX_I2C_XFER_SIZE 64 /* Maximum buffer size to be used in i2c */
#define VL53L0X_I2C_USER_VAR /* none but could be for a flag var to get/pass to mutex interruptible return flags and try again */
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__)
#ifdef VL53L0X_LOG_ENABLE
#define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \
level, TRACE_FUNCTION_NONE, ##__VA_ARGS__)
#endif
#define REF_ARRAY_SPAD_0 0
#define REF_ARRAY_SPAD_5 5
#define REF_ARRAY_SPAD_10 10
uint32_t refArrayQuadrants[4] = {REF_ARRAY_SPAD_10, REF_ARRAY_SPAD_5,
REF_ARRAY_SPAD_0, REF_ARRAY_SPAD_5
};
VL53L0X_Error VL53L0X::vl53l0x_device_read_strobe( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t strobe;
uint32_t loop_nb;
LOG_FUNCTION_START( "" );
status |= vl53l0x_write_byte( dev, 0x83, 0x00 );
/* polling
* use timeout to avoid deadlock*/
if ( status == VL53L0X_ERROR_NONE ) {
loop_nb = 0;
do {
status = vl53l0x_read_byte( dev, 0x83, &strobe );
if ( ( strobe != 0x00 ) || status != VL53L0X_ERROR_NONE )
break;
loop_nb = loop_nb + 1;
} while ( loop_nb < VL53L0X_DEFAULT_MAX_LOOP );
if ( loop_nb >= VL53L0X_DEFAULT_MAX_LOOP )
status = VL53L0X_ERROR_TIME_OUT;
}
status |= vl53l0x_write_byte( dev, 0x83, 0x01 );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_info_from_device( VL53L0X_DEV dev, uint8_t option )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t byte;
uint32_t tmp_dword;
uint8_t module_id;
uint8_t revision;
uint8_t reference_spad_count = 0;
uint8_t reference_spad_type = 0;
uint32_t part_uid_upper = 0;
uint32_t part_uid_lower = 0;
uint32_t offset_fixed1104_mm = 0;
int16_t offset_micro_meters = 0;
uint32_t dist_meas_tgt_fixed1104_mm = 400 << 4;
uint32_t dist_meas_fixed1104_400_mm = 0;
uint32_t signal_rate_meas_fixed1104_400_mm = 0;
char product_id[19];
char *product_id_tmp;
uint8_t read_data_from_device_done;
FixPoint1616_t signal_rate_meas_fixed400_mm_fix = 0;
uint8_t nvm_ref_good_spad_map[VL53L0X_REF_SPAD_BUFFER_SIZE];
int i;
LOG_FUNCTION_START( "" );
read_data_from_device_done = VL53L0X_GETDEVICESPECIFICPARAMETER( dev,
ReadDataFromDeviceDone );
/* This access is done only once after that a GetDeviceInfo or
* datainit is done*/
if ( read_data_from_device_done != 7 ) {
status |= vl53l0x_write_byte( dev, 0x80, 0x01 );
status |= vl53l0x_write_byte( dev, 0xFF, 0x01 );
status |= vl53l0x_write_byte( dev, 0x00, 0x00 );
status |= vl53l0x_write_byte( dev, 0xFF, 0x06 );
status |= vl53l0x_read_byte( dev, 0x83, &byte );
status |= vl53l0x_write_byte( dev, 0x83, byte | 4 );
status |= vl53l0x_write_byte( dev, 0xFF, 0x07 );
status |= vl53l0x_write_byte( dev, 0x81, 0x01 );
status |= vl53l0x_polling_delay( dev );
status |= vl53l0x_write_byte( dev, 0x80, 0x01 );
if ( ( ( option & 1 ) == 1 ) &&
( ( read_data_from_device_done & 1 ) == 0 ) ) {
status |= vl53l0x_write_byte( dev, 0x94, 0x6b );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_dword( dev, 0x90, &tmp_dword );
reference_spad_count = ( uint8_t )( ( tmp_dword >> 8 ) & 0x07f );
reference_spad_type = ( uint8_t )( ( tmp_dword >> 15 ) & 0x01 );
status |= vl53l0x_write_byte( dev, 0x94, 0x24 );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_dword( dev, 0x90, &tmp_dword );
nvm_ref_good_spad_map[0] = ( uint8_t )( ( tmp_dword >> 24 )
& 0xff );
nvm_ref_good_spad_map[1] = ( uint8_t )( ( tmp_dword >> 16 )
& 0xff );
nvm_ref_good_spad_map[2] = ( uint8_t )( ( tmp_dword >> 8 )
& 0xff );
nvm_ref_good_spad_map[3] = ( uint8_t )( tmp_dword & 0xff );
status |= vl53l0x_write_byte( dev, 0x94, 0x25 );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_dword( dev, 0x90, &tmp_dword );
nvm_ref_good_spad_map[4] = ( uint8_t )( ( tmp_dword >> 24 )
& 0xff );
nvm_ref_good_spad_map[5] = ( uint8_t )( ( tmp_dword >> 16 )
& 0xff );
}
if ( ( ( option & 2 ) == 2 ) &&
( ( read_data_from_device_done & 2 ) == 0 ) ) {
status |= vl53l0x_write_byte( dev, 0x94, 0x02 );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_byte( dev, 0x90, &module_id );
status |= vl53l0x_write_byte( dev, 0x94, 0x7B );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_byte( dev, 0x90, &revision );
status |= vl53l0x_write_byte( dev, 0x94, 0x77 );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_dword( dev, 0x90, &tmp_dword );
product_id[0] = ( char )( ( tmp_dword >> 25 ) & 0x07f );
product_id[1] = ( char )( ( tmp_dword >> 18 ) & 0x07f );
product_id[2] = ( char )( ( tmp_dword >> 11 ) & 0x07f );
product_id[3] = ( char )( ( tmp_dword >> 4 ) & 0x07f );
byte = ( uint8_t )( ( tmp_dword & 0x00f ) << 3 );
status |= vl53l0x_write_byte( dev, 0x94, 0x78 );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_dword( dev, 0x90, &tmp_dword );
product_id[4] = ( char )( byte +
( ( tmp_dword >> 29 ) & 0x07f ) );
product_id[5] = ( char )( ( tmp_dword >> 22 ) & 0x07f );
product_id[6] = ( char )( ( tmp_dword >> 15 ) & 0x07f );
product_id[7] = ( char )( ( tmp_dword >> 8 ) & 0x07f );
product_id[8] = ( char )( ( tmp_dword >> 1 ) & 0x07f );
byte = ( uint8_t )( ( tmp_dword & 0x001 ) << 6 );
status |= vl53l0x_write_byte( dev, 0x94, 0x79 );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_dword( dev, 0x90, &tmp_dword );
product_id[9] = ( char )( byte +
( ( tmp_dword >> 26 ) & 0x07f ) );
product_id[10] = ( char )( ( tmp_dword >> 19 ) & 0x07f );
product_id[11] = ( char )( ( tmp_dword >> 12 ) & 0x07f );
product_id[12] = ( char )( ( tmp_dword >> 5 ) & 0x07f );
byte = ( uint8_t )( ( tmp_dword & 0x01f ) << 2 );
status |= vl53l0x_write_byte( dev, 0x94, 0x7A );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_dword( dev, 0x90, &tmp_dword );
product_id[13] = ( char )( byte +
( ( tmp_dword >> 30 ) & 0x07f ) );
product_id[14] = ( char )( ( tmp_dword >> 23 ) & 0x07f );
product_id[15] = ( char )( ( tmp_dword >> 16 ) & 0x07f );
product_id[16] = ( char )( ( tmp_dword >> 9 ) & 0x07f );
product_id[17] = ( char )( ( tmp_dword >> 2 ) & 0x07f );
product_id[18] = '\0';
}
if ( ( ( option & 4 ) == 4 ) &&
( ( read_data_from_device_done & 4 ) == 0 ) ) {
status |= vl53l0x_write_byte( dev, 0x94, 0x7B );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_dword( dev, 0x90, &part_uid_upper );
status |= vl53l0x_write_byte( dev, 0x94, 0x7C );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_dword( dev, 0x90, &part_uid_lower );
status |= vl53l0x_write_byte( dev, 0x94, 0x73 );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_dword( dev, 0x90, &tmp_dword );
signal_rate_meas_fixed1104_400_mm = ( tmp_dword &
0x0000000ff ) << 8;
status |= vl53l0x_write_byte( dev, 0x94, 0x74 );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_dword( dev, 0x90, &tmp_dword );
signal_rate_meas_fixed1104_400_mm |= ( ( tmp_dword &
0xff000000 ) >> 24 );
status |= vl53l0x_write_byte( dev, 0x94, 0x75 );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_dword( dev, 0x90, &tmp_dword );
dist_meas_fixed1104_400_mm = ( tmp_dword & 0x0000000ff )
<< 8;
status |= vl53l0x_write_byte( dev, 0x94, 0x76 );
status |= vl53l0x_device_read_strobe( dev );
status |= vl53l0x_read_dword( dev, 0x90, &tmp_dword );
dist_meas_fixed1104_400_mm |= ( ( tmp_dword & 0xff000000 )
>> 24 );
}
status |= vl53l0x_write_byte( dev, 0x81, 0x00 );
status |= vl53l0x_write_byte( dev, 0xFF, 0x06 );
status |= vl53l0x_read_byte( dev, 0x83, &byte );
status |= vl53l0x_write_byte( dev, 0x83, byte & 0xfb );
status |= vl53l0x_write_byte( dev, 0xFF, 0x01 );
status |= vl53l0x_write_byte( dev, 0x00, 0x01 );
status |= vl53l0x_write_byte( dev, 0xFF, 0x00 );
status |= vl53l0x_write_byte( dev, 0x80, 0x00 );
}
if ( ( status == VL53L0X_ERROR_NONE ) &&
( read_data_from_device_done != 7 ) ) {
/* Assign to variable if status is ok */
if ( ( ( option & 1 ) == 1 ) &&
( ( read_data_from_device_done & 1 ) == 0 ) ) {
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
ReferenceSpadCount, reference_spad_count );
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
ReferenceSpadType, reference_spad_type );
for ( i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++ ) {
dev->Data.SpadData.RefGoodSpadMap[i] =
nvm_ref_good_spad_map[i];
}
}
if ( ( ( option & 2 ) == 2 ) &&
( ( read_data_from_device_done & 2 ) == 0 ) ) {
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
ModuleId, module_id );
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
Revision, revision );
product_id_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER( dev,
ProductId );
VL53L0X_COPYSTRING( product_id_tmp, product_id );
}
if ( ( ( option & 4 ) == 4 ) &&
( ( read_data_from_device_done & 4 ) == 0 ) ) {
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
PartUIDUpper, part_uid_upper );
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
PartUIDLower, part_uid_lower );
signal_rate_meas_fixed400_mm_fix =
VL53L0X_FIXPOINT97TOFIXPOINT1616(
signal_rate_meas_fixed1104_400_mm );
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
SignalRateMeasFixed400mm,
signal_rate_meas_fixed400_mm_fix );
offset_micro_meters = 0;
if ( dist_meas_fixed1104_400_mm != 0 ) {
offset_fixed1104_mm =
dist_meas_fixed1104_400_mm -
dist_meas_tgt_fixed1104_mm;
offset_micro_meters = ( offset_fixed1104_mm
* 1000 ) >> 4;
offset_micro_meters *= -1;
}
PALDevDataSet( dev,
Part2PartOffsetAdjustmentNVMMicroMeter,
offset_micro_meters );
}
byte = ( uint8_t )( read_data_from_device_done | option );
VL53L0X_SETDEVICESPECIFICPARAMETER( dev, ReadDataFromDeviceDone,
byte );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_offset_calibration_data_micro_meter( VL53L0X_DEV dev,
int32_t *p_offset_calibration_data_micro_meter )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint16_t range_offset_register;
int16_t c_max_offset = 2047;
int16_t c_offset_range = 4096;
/* Note that offset has 10.2 format */
status = vl53l0x_read_word( dev,
VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
&range_offset_register );
if ( status == VL53L0X_ERROR_NONE ) {
range_offset_register = ( range_offset_register & 0x0fff );
/* Apply 12 bit 2's compliment conversion */
if ( range_offset_register > c_max_offset )
*p_offset_calibration_data_micro_meter =
( int16_t )( range_offset_register - c_offset_range )
* 250;
else
*p_offset_calibration_data_micro_meter =
( int16_t )range_offset_register * 250;
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_offset_calibration_data_micro_meter( VL53L0X_DEV dev,
int32_t *p_offset_calibration_data_micro_meter )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_get_offset_calibration_data_micro_meter( dev,
p_offset_calibration_data_micro_meter );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_set_offset_calibration_data_micro_meter( VL53L0X_DEV dev,
int32_t offset_calibration_data_micro_meter )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
int32_t c_max_offset_micro_meter = 511000;
int32_t c_min_offset_micro_meter = -512000;
int16_t c_offset_range = 4096;
uint32_t encoded_offset_val;
LOG_FUNCTION_START( "" );
if ( offset_calibration_data_micro_meter > c_max_offset_micro_meter )
offset_calibration_data_micro_meter = c_max_offset_micro_meter;
else if ( offset_calibration_data_micro_meter < c_min_offset_micro_meter )
offset_calibration_data_micro_meter = c_min_offset_micro_meter;
/* The offset register is 10.2 format and units are mm
* therefore conversion is applied by a division of
* 250.
*/
if ( offset_calibration_data_micro_meter >= 0 ) {
encoded_offset_val =
offset_calibration_data_micro_meter / 250;
} else {
encoded_offset_val =
c_offset_range +
offset_calibration_data_micro_meter / 250;
}
status = vl53l0x_write_word( dev,
VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
encoded_offset_val );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_offset_calibration_data_micro_meter( VL53L0X_DEV dev,
int32_t offset_calibration_data_micro_meter )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_set_offset_calibration_data_micro_meter( dev,
offset_calibration_data_micro_meter );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_apply_offset_adjustment( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
int32_t corrected_offset_micro_meters;
int32_t current_offset_micro_meters;
/* if we run on this function we can read all the NVM info
* used by the API */
status = vl53l0x_get_info_from_device( dev, 7 );
/* Read back current device offset */
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_get_offset_calibration_data_micro_meter( dev,
¤t_offset_micro_meters );
}
/* Apply Offset Adjustment derived from 400mm measurements */
if ( status == VL53L0X_ERROR_NONE ) {
/* Store initial device offset */
PALDevDataSet( dev, Part2PartOffsetNVMMicroMeter,
current_offset_micro_meters );
corrected_offset_micro_meters = current_offset_micro_meters +
( int32_t )PALDevDataGet( dev,
Part2PartOffsetAdjustmentNVMMicroMeter );
status = vl53l0x_set_offset_calibration_data_micro_meter( dev,
corrected_offset_micro_meters );
/* store current, adjusted offset */
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETPARAMETERFIELD( dev, RangeOffsetMicroMeters,
corrected_offset_micro_meters );
}
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_device_mode( VL53L0X_DEV dev,
VL53L0X_DeviceModes *p_device_mode )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
VL53L0X_GETPARAMETERFIELD( dev, DeviceMode, *p_device_mode );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_inter_measurement_period_milli_seconds( VL53L0X_DEV dev,
uint32_t *p_inter_measurement_period_milli_seconds )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint16_t osc_calibrate_val;
uint32_t im_period_milli_seconds;
LOG_FUNCTION_START( "" );
status = vl53l0x_read_word( dev, VL53L0X_REG_OSC_CALIBRATE_VAL,
&osc_calibrate_val );
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_read_dword( dev,
VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
&im_period_milli_seconds );
}
if ( status == VL53L0X_ERROR_NONE ) {
if ( osc_calibrate_val != 0 ) {
*p_inter_measurement_period_milli_seconds =
im_period_milli_seconds / osc_calibrate_val;
}
VL53L0X_SETPARAMETERFIELD( dev,
InterMeasurementPeriodMilliSeconds,
*p_inter_measurement_period_milli_seconds );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_x_talk_compensation_rate_mega_cps( VL53L0X_DEV dev,
FixPoint1616_t *p_xtalk_compensation_rate_mega_cps )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint16_t value;
FixPoint1616_t temp_fix1616;
LOG_FUNCTION_START( "" );
status = vl53l0x_read_word( dev,
VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, ( uint16_t * )&value );
if ( status == VL53L0X_ERROR_NONE ) {
if ( value == 0 ) {
/* the Xtalk is disabled return value from memory */
VL53L0X_GETPARAMETERFIELD( dev,
XTalkCompensationRateMegaCps, temp_fix1616 );
*p_xtalk_compensation_rate_mega_cps = temp_fix1616;
VL53L0X_SETPARAMETERFIELD( dev, XTalkCompensationEnable,
0 );
} else {
temp_fix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616( value );
*p_xtalk_compensation_rate_mega_cps = temp_fix1616;
VL53L0X_SETPARAMETERFIELD( dev,
XTalkCompensationRateMegaCps, temp_fix1616 );
VL53L0X_SETPARAMETERFIELD( dev, XTalkCompensationEnable,
1 );
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_limit_check_value( VL53L0X_DEV dev, uint16_t limit_check_id,
FixPoint1616_t *p_limit_check_value )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t enable_zero_value = 0;
uint16_t temp16;
FixPoint1616_t temp_fix1616;
LOG_FUNCTION_START( "" );
switch ( limit_check_id ) {
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
/* internal computation: */
VL53L0X_GETARRAYPARAMETERFIELD( dev, LimitChecksValue,
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, temp_fix1616 );
enable_zero_value = 0;
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
status = vl53l0x_read_word( dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
&temp16 );
if ( status == VL53L0X_ERROR_NONE )
temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616( temp16 );
enable_zero_value = 1;
break;
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
/* internal computation: */
VL53L0X_GETARRAYPARAMETERFIELD( dev, LimitChecksValue,
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, temp_fix1616 );
enable_zero_value = 0;
break;
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
/* internal computation: */
VL53L0X_GETARRAYPARAMETERFIELD( dev, LimitChecksValue,
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, temp_fix1616 );
enable_zero_value = 0;
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
status = vl53l0x_read_word( dev,
VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
&temp16 );
if ( status == VL53L0X_ERROR_NONE )
temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616( temp16 );
enable_zero_value = 0;
break;
default:
status = VL53L0X_ERROR_INVALID_PARAMS;
}
if ( status == VL53L0X_ERROR_NONE ) {
if ( enable_zero_value == 1 ) {
if ( temp_fix1616 == 0 ) {
/* disabled: return value from memory */
VL53L0X_GETARRAYPARAMETERFIELD( dev,
LimitChecksValue, limit_check_id,
temp_fix1616 );
*p_limit_check_value = temp_fix1616;
VL53L0X_SETARRAYPARAMETERFIELD( dev,
LimitChecksEnable, limit_check_id, 0 );
} else {
*p_limit_check_value = temp_fix1616;
VL53L0X_SETARRAYPARAMETERFIELD( dev,
LimitChecksValue, limit_check_id,
temp_fix1616 );
VL53L0X_SETARRAYPARAMETERFIELD( dev,
LimitChecksEnable, limit_check_id, 1 );
}
} else {
*p_limit_check_value = temp_fix1616;
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_limit_check_enable( VL53L0X_DEV dev, uint16_t limit_check_id,
uint8_t *p_limit_check_enable )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t temp8;
LOG_FUNCTION_START( "" );
if ( limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS ) {
status = VL53L0X_ERROR_INVALID_PARAMS;
*p_limit_check_enable = 0;
} else {
VL53L0X_GETARRAYPARAMETERFIELD( dev, LimitChecksEnable,
limit_check_id, temp8 );
*p_limit_check_enable = temp8;
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_wrap_around_check_enable( VL53L0X_DEV dev,
uint8_t *p_wrap_around_check_enable )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t data;
LOG_FUNCTION_START( "" );
status = vl53l0x_read_byte( dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data );
if ( status == VL53L0X_ERROR_NONE ) {
PALDevDataSet( dev, SequenceConfig, data );
if ( data & ( 0x01 << 7 ) )
*p_wrap_around_check_enable = 0x01;
else
*p_wrap_around_check_enable = 0x00;
}
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETPARAMETERFIELD( dev, WrapAroundCheckEnable,
*p_wrap_around_check_enable );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::sequence_step_enabled( VL53L0X_DEV dev,
VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_config,
uint8_t *p_sequence_step_enabled )
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
*p_sequence_step_enabled = 0;
LOG_FUNCTION_START( "" );
switch ( sequence_step_id ) {
case VL53L0X_SEQUENCESTEP_TCC:
*p_sequence_step_enabled = ( sequence_config & 0x10 ) >> 4;
break;
case VL53L0X_SEQUENCESTEP_DSS:
*p_sequence_step_enabled = ( sequence_config & 0x08 ) >> 3;
break;
case VL53L0X_SEQUENCESTEP_MSRC:
*p_sequence_step_enabled = ( sequence_config & 0x04 ) >> 2;
break;
case VL53L0X_SEQUENCESTEP_PRE_RANGE:
*p_sequence_step_enabled = ( sequence_config & 0x40 ) >> 6;
break;
case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
*p_sequence_step_enabled = ( sequence_config & 0x80 ) >> 7;
break;
default:
Status = VL53L0X_ERROR_INVALID_PARAMS;
}
LOG_FUNCTION_END( status );
return Status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_sequence_step_enables( VL53L0X_DEV dev,
VL53L0X_SchedulerSequenceSteps_t *p_scheduler_sequence_steps )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t sequence_config = 0;
LOG_FUNCTION_START( "" );
status = vl53l0x_read_byte( dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
&sequence_config );
if ( status == VL53L0X_ERROR_NONE ) {
status = sequence_step_enabled( dev,
VL53L0X_SEQUENCESTEP_TCC, sequence_config,
&p_scheduler_sequence_steps->TccOn );
}
if ( status == VL53L0X_ERROR_NONE ) {
status = sequence_step_enabled( dev,
VL53L0X_SEQUENCESTEP_DSS, sequence_config,
&p_scheduler_sequence_steps->DssOn );
}
if ( status == VL53L0X_ERROR_NONE ) {
status = sequence_step_enabled( dev,
VL53L0X_SEQUENCESTEP_MSRC, sequence_config,
&p_scheduler_sequence_steps->MsrcOn );
}
if ( status == VL53L0X_ERROR_NONE ) {
status = sequence_step_enabled( dev,
VL53L0X_SEQUENCESTEP_PRE_RANGE, sequence_config,
&p_scheduler_sequence_steps->PreRangeOn );
}
if ( status == VL53L0X_ERROR_NONE ) {
status = sequence_step_enabled( dev,
VL53L0X_SEQUENCESTEP_FINAL_RANGE, sequence_config,
&p_scheduler_sequence_steps->FinalRangeOn );
}
LOG_FUNCTION_END( status );
return status;
}
uint8_t VL53L0X::vl53l0x_decode_vcsel_period( uint8_t vcsel_period_reg )
{
/*!
* Converts the encoded VCSEL period register value into the real
* period in PLL clocks
*/
uint8_t vcsel_period_pclks = 0;
vcsel_period_pclks = ( vcsel_period_reg + 1 ) << 1;
return vcsel_period_pclks;
}
uint8_t VL53L0X::lv53l0x_encode_vcsel_period( uint8_t vcsel_period_pclks )
{
/*!
* Converts the encoded VCSEL period register value into the real period
* in PLL clocks
*/
uint8_t vcsel_period_reg = 0;
vcsel_period_reg = ( vcsel_period_pclks >> 1 ) - 1;
return vcsel_period_reg;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_set_vcsel_pulse_period( VL53L0X_DEV dev,
VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period_pclk )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t vcsel_period_reg;
uint8_t min_pre_vcsel_period_pclk = 12;
uint8_t max_pre_vcsel_period_pclk = 18;
uint8_t min_final_vcsel_period_pclk = 8;
uint8_t max_final_vcsel_period_pclk = 14;
uint32_t measurement_timing_budget_micro_seconds;
uint32_t final_range_timeout_micro_seconds;
uint32_t pre_range_timeout_micro_seconds;
uint32_t msrc_timeout_micro_seconds;
uint8_t phase_cal_int = 0;
/* Check if valid clock period requested */
if ( ( vcsel_pulse_period_pclk % 2 ) != 0 ) {
/* Value must be an even number */
status = VL53L0X_ERROR_INVALID_PARAMS;
} else if ( vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE &&
( vcsel_pulse_period_pclk < min_pre_vcsel_period_pclk ||
vcsel_pulse_period_pclk > max_pre_vcsel_period_pclk ) ) {
status = VL53L0X_ERROR_INVALID_PARAMS;
} else if ( vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE &&
( vcsel_pulse_period_pclk < min_final_vcsel_period_pclk ||
vcsel_pulse_period_pclk > max_final_vcsel_period_pclk ) ) {
status = VL53L0X_ERROR_INVALID_PARAMS;
}
/* Apply specific settings for the requested clock period */
if ( status != VL53L0X_ERROR_NONE )
return status;
if ( vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE ) {
/* Set phase check limits */
if ( vcsel_pulse_period_pclk == 12 ) {
status = vl53l0x_write_byte( dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
0x18 );
status = vl53l0x_write_byte( dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
0x08 );
} else if ( vcsel_pulse_period_pclk == 14 ) {
status = vl53l0x_write_byte( dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
0x30 );
status = vl53l0x_write_byte( dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
0x08 );
} else if ( vcsel_pulse_period_pclk == 16 ) {
status = vl53l0x_write_byte( dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
0x40 );
status = vl53l0x_write_byte( dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
0x08 );
} else if ( vcsel_pulse_period_pclk == 18 ) {
status = vl53l0x_write_byte( dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
0x50 );
status = vl53l0x_write_byte( dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
0x08 );
}
} else if ( vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE ) {
if ( vcsel_pulse_period_pclk == 8 ) {
status = vl53l0x_write_byte( dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
0x10 );
status = vl53l0x_write_byte( dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
0x08 );
status |= vl53l0x_write_byte( dev,
VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02 );
status |= vl53l0x_write_byte( dev,
VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C );
status |= vl53l0x_write_byte( dev, 0xff, 0x01 );
status |= vl53l0x_write_byte( dev,
VL53L0X_REG_ALGO_PHASECAL_LIM,
0x30 );
status |= vl53l0x_write_byte( dev, 0xff, 0x00 );
} else if ( vcsel_pulse_period_pclk == 10 ) {
status = vl53l0x_write_byte( dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
0x28 );
status = vl53l0x_write_byte( dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
0x08 );
status |= vl53l0x_write_byte( dev,
VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03 );
status |= vl53l0x_write_byte( dev,
VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09 );
status |= vl53l0x_write_byte( dev, 0xff, 0x01 );
status |= vl53l0x_write_byte( dev,
VL53L0X_REG_ALGO_PHASECAL_LIM,
0x20 );
status |= vl53l0x_write_byte( dev, 0xff, 0x00 );
} else if ( vcsel_pulse_period_pclk == 12 ) {
status = vl53l0x_write_byte( dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
0x38 );
status = vl53l0x_write_byte( dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
0x08 );
status |= vl53l0x_write_byte( dev,
VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03 );
status |= vl53l0x_write_byte( dev,
VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08 );
status |= vl53l0x_write_byte( dev, 0xff, 0x01 );
status |= vl53l0x_write_byte( dev,
VL53L0X_REG_ALGO_PHASECAL_LIM,
0x20 );
status |= vl53l0x_write_byte( dev, 0xff, 0x00 );
} else if ( vcsel_pulse_period_pclk == 14 ) {
status = vl53l0x_write_byte( dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
0x048 );
status = vl53l0x_write_byte( dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
0x08 );
status |= vl53l0x_write_byte( dev,
VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03 );
status |= vl53l0x_write_byte( dev,
VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07 );
status |= vl53l0x_write_byte( dev, 0xff, 0x01 );
status |= vl53l0x_write_byte( dev,
VL53L0X_REG_ALGO_PHASECAL_LIM,
0x20 );
status |= vl53l0x_write_byte( dev, 0xff, 0x00 );
}
}
/* Re-calculate and apply timeouts, in macro periods */
if ( status == VL53L0X_ERROR_NONE ) {
vcsel_period_reg = lv53l0x_encode_vcsel_period( ( uint8_t )
vcsel_pulse_period_pclk );
/* When the VCSEL period for the pre or final range is changed,
* the corresponding timeout must be read from the device using
* the current VCSEL period, then the new VCSEL period can be
* applied. The timeout then must be written back to the device
* using the new VCSEL period.
*
* For the MSRC timeout, the same applies - this timeout being
* dependant on the pre-range vcsel period.
*/
switch ( vcsel_period_type ) {
case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
status = get_sequence_step_timeout( dev,
VL53L0X_SEQUENCESTEP_PRE_RANGE,
&pre_range_timeout_micro_seconds );
if ( status == VL53L0X_ERROR_NONE )
status = get_sequence_step_timeout( dev,
VL53L0X_SEQUENCESTEP_MSRC,
&msrc_timeout_micro_seconds );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
vcsel_period_reg );
if ( status == VL53L0X_ERROR_NONE )
status = set_sequence_step_timeout( dev,
VL53L0X_SEQUENCESTEP_PRE_RANGE,
pre_range_timeout_micro_seconds );
if ( status == VL53L0X_ERROR_NONE )
status = set_sequence_step_timeout( dev,
VL53L0X_SEQUENCESTEP_MSRC,
msrc_timeout_micro_seconds );
VL53L0X_SETDEVICESPECIFICPARAMETER(
dev,
PreRangeVcselPulsePeriod,
vcsel_pulse_period_pclk );
break;
case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
status = get_sequence_step_timeout( dev,
VL53L0X_SEQUENCESTEP_FINAL_RANGE,
&final_range_timeout_micro_seconds );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
vcsel_period_reg );
if ( status == VL53L0X_ERROR_NONE )
status = set_sequence_step_timeout( dev,
VL53L0X_SEQUENCESTEP_FINAL_RANGE,
final_range_timeout_micro_seconds );
VL53L0X_SETDEVICESPECIFICPARAMETER(
dev,
FinalRangeVcselPulsePeriod,
vcsel_pulse_period_pclk );
break;
default:
status = VL53L0X_ERROR_INVALID_PARAMS;
}
}
/* Finally, the timing budget must be re-applied */
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_GETPARAMETERFIELD( dev,
MeasurementTimingBudgetMicroSeconds,
measurement_timing_budget_micro_seconds );
status = vl53l0x_set_measurement_timing_budget_micro_seconds( dev,
measurement_timing_budget_micro_seconds );
}
/* Perform the phase calibration. This is needed after changing on
* vcsel period.
* get_data_enable = 0, restore_config = 1 */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_perform_phase_calibration(
dev, &phase_cal_int, 0, 1 );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_vcsel_pulse_period( VL53L0X_DEV dev,
VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_set_vcsel_pulse_period( dev, vcsel_period_type,
vcsel_pulse_period );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_vcsel_pulse_period( VL53L0X_DEV dev,
VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t vcsel_period_reg;
switch ( vcsel_period_type ) {
case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
status = vl53l0x_read_byte( dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
&vcsel_period_reg );
break;
case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
status = vl53l0x_read_byte( dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
&vcsel_period_reg );
break;
default:
status = VL53L0X_ERROR_INVALID_PARAMS;
}
if ( status == VL53L0X_ERROR_NONE )
*p_vcsel_pulse_period_pclk =
vl53l0x_decode_vcsel_period( vcsel_period_reg );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_vcsel_pulse_period( VL53L0X_DEV dev,
VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_get_vcsel_pulse_period( dev, vcsel_period_type,
p_vcsel_pulse_period_pclk );
LOG_FUNCTION_END( status );
return status;
}
uint32_t VL53L0X::vl53l0x_decode_timeout( uint16_t encoded_timeout )
{
/*!
* Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1
*/
uint32_t timeout_macro_clks = 0;
timeout_macro_clks = ( ( uint32_t ) ( encoded_timeout & 0x00FF )
<< ( uint32_t ) ( ( encoded_timeout & 0xFF00 ) >> 8 ) ) + 1;
return timeout_macro_clks;
}
uint32_t VL53L0X::vl53l0x_calc_macro_period_ps( VL53L0X_DEV dev, uint8_t vcsel_period_pclks )
{
uint64_t pll_period_ps;
uint32_t macro_period_vclks;
uint32_t macro_period_ps;
LOG_FUNCTION_START( "" );
/* The above calculation will produce rounding errors,
therefore set fixed value
*/
pll_period_ps = 1655;
macro_period_vclks = 2304;
macro_period_ps = ( uint32_t )( macro_period_vclks
* vcsel_period_pclks * pll_period_ps );
LOG_FUNCTION_END( "" );
return macro_period_ps;
}
/* To convert register value into us */
uint32_t VL53L0X::vl53l0x_calc_timeout_us( VL53L0X_DEV dev,
uint16_t timeout_period_mclks,
uint8_t vcsel_period_pclks )
{
uint32_t macro_period_ps;
uint32_t macro_period_ns;
uint32_t actual_timeout_period_us = 0;
macro_period_ps = vl53l0x_calc_macro_period_ps( dev, vcsel_period_pclks );
macro_period_ns = ( macro_period_ps + 500 ) / 1000;
actual_timeout_period_us =
( ( timeout_period_mclks * macro_period_ns ) + 500 ) / 1000;
return actual_timeout_period_us;
}
VL53L0X_Error VL53L0X::get_sequence_step_timeout( VL53L0X_DEV dev,
VL53L0X_SequenceStepId sequence_step_id,
uint32_t *p_time_out_micro_secs )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t current_vcsel_pulse_period_p_clk;
uint8_t encoded_time_out_byte = 0;
uint32_t timeout_micro_seconds = 0;
uint16_t pre_range_encoded_time_out = 0;
uint16_t msrc_time_out_m_clks;
uint16_t pre_range_time_out_m_clks;
uint16_t final_range_time_out_m_clks = 0;
uint16_t final_range_encoded_time_out;
VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
if ( ( sequence_step_id == VL53L0X_SEQUENCESTEP_TCC ) ||
( sequence_step_id == VL53L0X_SEQUENCESTEP_DSS ) ||
( sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC ) ) {
status = vl53l0x_get_vcsel_pulse_period( dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
¤t_vcsel_pulse_period_p_clk );
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_read_byte( dev,
VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
&encoded_time_out_byte );
}
msrc_time_out_m_clks = vl53l0x_decode_timeout( encoded_time_out_byte );
timeout_micro_seconds = vl53l0x_calc_timeout_us( dev,
msrc_time_out_m_clks,
current_vcsel_pulse_period_p_clk );
} else if ( sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE ) {
/* Retrieve PRE-RANGE VCSEL Period */
status = vl53l0x_get_vcsel_pulse_period( dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
¤t_vcsel_pulse_period_p_clk );
/* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
if ( status == VL53L0X_ERROR_NONE ) {
/* Retrieve PRE-RANGE VCSEL Period */
status = vl53l0x_get_vcsel_pulse_period( dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
¤t_vcsel_pulse_period_p_clk );
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_read_word( dev,
VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
&pre_range_encoded_time_out );
}
pre_range_time_out_m_clks = vl53l0x_decode_timeout(
pre_range_encoded_time_out );
timeout_micro_seconds = vl53l0x_calc_timeout_us( dev,
pre_range_time_out_m_clks,
current_vcsel_pulse_period_p_clk );
}
} else if ( sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE ) {
vl53l0x_get_sequence_step_enables( dev, &scheduler_sequence_steps );
pre_range_time_out_m_clks = 0;
if ( scheduler_sequence_steps.PreRangeOn ) {
/* Retrieve PRE-RANGE VCSEL Period */
status = vl53l0x_get_vcsel_pulse_period( dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
¤t_vcsel_pulse_period_p_clk );
/* Retrieve PRE-RANGE Timeout in Macro periods
* (MCLKS) */
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_read_word( dev,
VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
&pre_range_encoded_time_out );
pre_range_time_out_m_clks = vl53l0x_decode_timeout(
pre_range_encoded_time_out );
}
}
if ( status == VL53L0X_ERROR_NONE ) {
/* Retrieve FINAL-RANGE VCSEL Period */
status = vl53l0x_get_vcsel_pulse_period( dev,
VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
¤t_vcsel_pulse_period_p_clk );
}
/* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_read_word( dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
&final_range_encoded_time_out );
final_range_time_out_m_clks = vl53l0x_decode_timeout(
final_range_encoded_time_out );
}
final_range_time_out_m_clks -= pre_range_time_out_m_clks;
timeout_micro_seconds = vl53l0x_calc_timeout_us( dev,
final_range_time_out_m_clks,
current_vcsel_pulse_period_p_clk );
}
*p_time_out_micro_secs = timeout_micro_seconds;
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_measurement_timing_budget_micro_seconds( VL53L0X_DEV dev,
uint32_t *p_measurement_timing_budget_micro_seconds )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
uint32_t final_range_timeout_micro_seconds;
uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000;
uint32_t start_overhead_micro_seconds = 1910;
uint32_t end_overhead_micro_seconds = 960;
uint32_t msrc_overhead_micro_seconds = 660;
uint32_t tcc_overhead_micro_seconds = 590;
uint32_t dss_overhead_micro_seconds = 690;
uint32_t pre_range_overhead_micro_seconds = 660;
uint32_t final_range_overhead_micro_seconds = 550;
uint32_t pre_range_timeout_micro_seconds = 0;
LOG_FUNCTION_START( "" );
/* Start and end overhead times always present */
*p_measurement_timing_budget_micro_seconds
= start_overhead_micro_seconds + end_overhead_micro_seconds;
status = vl53l0x_get_sequence_step_enables( dev, &scheduler_sequence_steps );
if ( status != VL53L0X_ERROR_NONE ) {
LOG_FUNCTION_END( status );
return status;
}
if ( scheduler_sequence_steps.TccOn ||
scheduler_sequence_steps.MsrcOn ||
scheduler_sequence_steps.DssOn ) {
status = get_sequence_step_timeout( dev,
VL53L0X_SEQUENCESTEP_MSRC,
&msrc_dcc_tcc_timeout_micro_seconds );
if ( status == VL53L0X_ERROR_NONE ) {
if ( scheduler_sequence_steps.TccOn ) {
*p_measurement_timing_budget_micro_seconds +=
msrc_dcc_tcc_timeout_micro_seconds +
tcc_overhead_micro_seconds;
}
if ( scheduler_sequence_steps.DssOn ) {
*p_measurement_timing_budget_micro_seconds +=
2 * ( msrc_dcc_tcc_timeout_micro_seconds +
dss_overhead_micro_seconds );
} else if ( scheduler_sequence_steps.MsrcOn ) {
*p_measurement_timing_budget_micro_seconds +=
msrc_dcc_tcc_timeout_micro_seconds +
msrc_overhead_micro_seconds;
}
}
}
if ( status == VL53L0X_ERROR_NONE ) {
if ( scheduler_sequence_steps.PreRangeOn ) {
status = get_sequence_step_timeout( dev,
VL53L0X_SEQUENCESTEP_PRE_RANGE,
&pre_range_timeout_micro_seconds );
*p_measurement_timing_budget_micro_seconds +=
pre_range_timeout_micro_seconds +
pre_range_overhead_micro_seconds;
}
}
if ( status == VL53L0X_ERROR_NONE ) {
if ( scheduler_sequence_steps.FinalRangeOn ) {
status = get_sequence_step_timeout( dev,
VL53L0X_SEQUENCESTEP_FINAL_RANGE,
&final_range_timeout_micro_seconds );
*p_measurement_timing_budget_micro_seconds +=
( final_range_timeout_micro_seconds +
final_range_overhead_micro_seconds );
}
}
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETPARAMETERFIELD( dev,
MeasurementTimingBudgetMicroSeconds,
*p_measurement_timing_budget_micro_seconds );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_measurement_timing_budget_micro_seconds( VL53L0X_DEV dev,
uint32_t *p_measurement_timing_budget_micro_seconds )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_get_measurement_timing_budget_micro_seconds( dev,
p_measurement_timing_budget_micro_seconds );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_device_parameters( VL53L0X_DEV dev,
VL53L0X_DeviceParameters_t *p_device_parameters )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
int i;
LOG_FUNCTION_START( "" );
status = vl53l0x_get_device_mode( dev, &( p_device_parameters->DeviceMode ) );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_get_inter_measurement_period_milli_seconds( dev,
&( p_device_parameters->InterMeasurementPeriodMilliSeconds ) );
if ( status == VL53L0X_ERROR_NONE )
p_device_parameters->XTalkCompensationEnable = 0;
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_get_x_talk_compensation_rate_mega_cps( dev,
&( p_device_parameters->XTalkCompensationRateMegaCps ) );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_get_offset_calibration_data_micro_meter( dev,
&( p_device_parameters->RangeOffsetMicroMeters ) );
if ( status == VL53L0X_ERROR_NONE ) {
for ( i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++ ) {
/* get first the values, then the enables.
* VL53L0X_GetLimitCheckValue will modify the enable
* flags
*/
if ( status == VL53L0X_ERROR_NONE ) {
status |= vl53l0x_get_limit_check_value( dev, i,
&( p_device_parameters->LimitChecksValue[i] ) );
} else {
break;
}
if ( status == VL53L0X_ERROR_NONE ) {
status |= vl53l0x_get_limit_check_enable( dev, i,
&( p_device_parameters->LimitChecksEnable[i] ) );
} else {
break;
}
}
}
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_get_wrap_around_check_enable( dev,
&( p_device_parameters->WrapAroundCheckEnable ) );
}
/* Need to be done at the end as it uses VCSELPulsePeriod */
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_get_measurement_timing_budget_micro_seconds( dev,
&( p_device_parameters->MeasurementTimingBudgetMicroSeconds ) );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_limit_check_value( VL53L0X_DEV dev, uint16_t limit_check_id,
FixPoint1616_t limit_check_value )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t temp8;
LOG_FUNCTION_START( "" );
VL53L0X_GETARRAYPARAMETERFIELD( dev, LimitChecksEnable, limit_check_id,
temp8 );
if ( temp8 == 0 ) { /* disabled write only internal value */
VL53L0X_SETARRAYPARAMETERFIELD( dev, LimitChecksValue,
limit_check_id, limit_check_value );
} else {
switch ( limit_check_id ) {
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
/* internal computation: */
VL53L0X_SETARRAYPARAMETERFIELD( dev, LimitChecksValue,
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
limit_check_value );
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
status = vl53l0x_write_word( dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
VL53L0X_FIXPOINT1616TOFIXPOINT97(
limit_check_value ) );
break;
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
/* internal computation: */
VL53L0X_SETARRAYPARAMETERFIELD( dev, LimitChecksValue,
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
limit_check_value );
break;
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
/* internal computation: */
VL53L0X_SETARRAYPARAMETERFIELD( dev, LimitChecksValue,
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
limit_check_value );
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
status = vl53l0x_write_word( dev,
VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
VL53L0X_FIXPOINT1616TOFIXPOINT97(
limit_check_value ) );
break;
default:
status = VL53L0X_ERROR_INVALID_PARAMS;
}
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETARRAYPARAMETERFIELD( dev, LimitChecksValue,
limit_check_id, limit_check_value );
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_data_init( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
VL53L0X_DeviceParameters_t CurrentParameters;
int i;
uint8_t StopVariable;
LOG_FUNCTION_START( "" );
/* by default the I2C is running at 1V8 if you want to change it you
* need to include this define at compilation level. */
#ifdef USE_I2C_2V8
Status = VL53L0X_UpdateByte( Dev,
VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
0xFE,
0x01 );
#endif
/* Set I2C standard mode */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev, 0x88, 0x00 );
VL53L0X_SETDEVICESPECIFICPARAMETER( dev, ReadDataFromDeviceDone, 0 );
#ifdef USE_IQC_STATION
if ( Status == VL53L0X_ERROR_NONE )
Status = VL53L0X_apply_offset_adjustment( Dev );
#endif
/* Default value is 1000 for Linearity Corrective Gain */
PALDevDataSet( dev, LinearityCorrectiveGain, 1000 );
/* Dmax default Parameter */
PALDevDataSet( dev, DmaxCalRangeMilliMeter, 400 );
PALDevDataSet( dev, DmaxCalSignalRateRtnMegaCps,
( FixPoint1616_t )( ( 0x00016B85 ) ) ); /* 1.42 No Cover Glass*/
/* Set Default static parameters
*set first temporary values 9.44MHz * 65536 = 618660 */
VL53L0X_SETDEVICESPECIFICPARAMETER( dev, OscFrequencyMHz, 618660 );
/* Set Default XTalkCompensationRateMegaCps to 0 */
VL53L0X_SETPARAMETERFIELD( dev, XTalkCompensationRateMegaCps, 0 );
/* Get default parameters */
status = vl53l0x_get_device_parameters( dev, &CurrentParameters );
if ( status == VL53L0X_ERROR_NONE ) {
/* initialize PAL values */
CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING;
CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED;
PALDevDataSet( dev, CurrentParameters, CurrentParameters );
}
/* Sigma estimator variable */
PALDevDataSet( dev, SigmaEstRefArray, 100 );
PALDevDataSet( dev, SigmaEstEffPulseWidth, 900 );
PALDevDataSet( dev, SigmaEstEffAmbWidth, 500 );
PALDevDataSet( dev, targetRefRate, 0x0A00 ); /* 20 MCPS in 9:7 format */
/* Use internal default settings */
PALDevDataSet( dev, UseInternalTuningSettings, 1 );
status |= vl53l0x_write_byte( dev, 0x80, 0x01 );
status |= vl53l0x_write_byte( dev, 0xFF, 0x01 );
status |= vl53l0x_write_byte( dev, 0x00, 0x00 );
status |= vl53l0x_read_byte( dev, 0x91, &StopVariable );
PALDevDataSet( dev, StopVariable, StopVariable );
status |= vl53l0x_write_byte( dev, 0x00, 0x01 );
status |= vl53l0x_write_byte( dev, 0xFF, 0x00 );
status |= vl53l0x_write_byte( dev, 0x80, 0x00 );
/* Enable all check */
for ( i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++ ) {
if ( status == VL53L0X_ERROR_NONE )
status |= vl53l0x_set_limit_check_enable( dev, i, 1 );
else
break;
}
/* Disable the following checks */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_set_limit_check_enable( dev,
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_set_limit_check_enable( dev,
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_set_limit_check_enable( dev,
VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_set_limit_check_enable( dev,
VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0 );
/* Limit default values */
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_set_limit_check_value( dev,
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
( FixPoint1616_t )( 18 * 65536 ) );
}
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_set_limit_check_value( dev,
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
( FixPoint1616_t )( 25 * 65536 / 100 ) );
/* 0.25 * 65536 */
}
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_set_limit_check_value( dev,
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
( FixPoint1616_t )( 35 * 65536 ) );
}
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_set_limit_check_value( dev,
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
( FixPoint1616_t )( 0 * 65536 ) );
}
if ( status == VL53L0X_ERROR_NONE ) {
PALDevDataSet( dev, SequenceConfig, 0xFF );
status = vl53l0x_write_byte( dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
0xFF );
/* Set PAL state to tell that we are waiting for call to
* VL53L0X_StaticInit */
PALDevDataSet( dev, PalState, VL53L0X_STATE_WAIT_STATICINIT );
}
if ( status == VL53L0X_ERROR_NONE )
VL53L0X_SETDEVICESPECIFICPARAMETER( dev, RefSpadsInitialised, 0 );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_check_part_used( VL53L0X_DEV dev,
uint8_t *revision,
VL53L0X_DeviceInfo_t *p_vl53l0x_device_info )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t module_id_int;
char *product_id_tmp;
LOG_FUNCTION_START( "" );
status = vl53l0x_get_info_from_device( dev, 2 );
if ( status == VL53L0X_ERROR_NONE ) {
module_id_int = VL53L0X_GETDEVICESPECIFICPARAMETER( dev, ModuleId );
if ( module_id_int == 0 ) {
*revision = 0;
VL53L0X_COPYSTRING( p_vl53l0x_device_info->ProductId, "" );
} else {
*revision = VL53L0X_GETDEVICESPECIFICPARAMETER( dev, Revision );
product_id_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER( dev,
ProductId );
VL53L0X_COPYSTRING( p_vl53l0x_device_info->ProductId, product_id_tmp );
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_device_info( VL53L0X_DEV dev,
VL53L0X_DeviceInfo_t *p_vl53l0x_device_info )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t revision_id;
uint8_t revision;
status = vl53l0x_check_part_used( dev, &revision, p_vl53l0x_device_info );
if ( status == VL53L0X_ERROR_NONE ) {
if ( revision == 0 ) {
VL53L0X_COPYSTRING( p_vl53l0x_device_info->Name,
VL53L0X_STRING_DEVICE_INFO_NAME_TS0 );
} else if ( ( revision <= 34 ) && ( revision != 32 ) ) {
VL53L0X_COPYSTRING( p_vl53l0x_device_info->Name,
VL53L0X_STRING_DEVICE_INFO_NAME_TS1 );
} else if ( revision < 39 ) {
VL53L0X_COPYSTRING( p_vl53l0x_device_info->Name,
VL53L0X_STRING_DEVICE_INFO_NAME_TS2 );
} else {
VL53L0X_COPYSTRING( p_vl53l0x_device_info->Name,
VL53L0X_STRING_DEVICE_INFO_NAME_ES1 );
}
VL53L0X_COPYSTRING( p_vl53l0x_device_info->Type,
VL53L0X_STRING_DEVICE_INFO_TYPE );
}
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_read_byte( dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID,
&p_vl53l0x_device_info->ProductType );
}
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_read_byte( dev,
VL53L0X_REG_IDENTIFICATION_REVISION_ID,
&revision_id );
p_vl53l0x_device_info->ProductRevisionMajor = 1;
p_vl53l0x_device_info->ProductRevisionMinor =
( revision_id & 0xF0 ) >> 4;
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_device_info( VL53L0X_DEV dev,
VL53L0X_DeviceInfo_t *p_vl53l0x_device_info )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_get_device_info( dev, p_vl53l0x_device_info );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_interrupt_mask_status( VL53L0X_DEV dev,
uint32_t *p_interrupt_mask_status )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t byte;
LOG_FUNCTION_START( "" );
status = vl53l0x_read_byte( dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte );
*p_interrupt_mask_status = byte & 0x07;
if ( byte & 0x18 )
status = VL53L0X_ERROR_RANGE_ERROR;
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_measurement_data_ready( VL53L0X_DEV dev,
uint8_t *p_measurement_data_ready )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t sys_range_status_register;
uint8_t interrupt_config;
uint32_t interrupt_mask;
LOG_FUNCTION_START( "" );
interrupt_config = VL53L0X_GETDEVICESPECIFICPARAMETER( dev,
Pin0GpioFunctionality );
if ( interrupt_config ==
VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY ) {
status = vl53l0x_get_interrupt_mask_status( dev, &interrupt_mask );
if ( interrupt_mask ==
VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY )
*p_measurement_data_ready = 1;
else
*p_measurement_data_ready = 0;
} else {
status = vl53l0x_read_byte( dev, VL53L0X_REG_RESULT_RANGE_STATUS,
&sys_range_status_register );
if ( status == VL53L0X_ERROR_NONE ) {
if ( sys_range_status_register & 0x01 )
*p_measurement_data_ready = 1;
else
*p_measurement_data_ready = 0;
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_polling_delay( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
// do nothing
VL53L0X_OsDelay();
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_measurement_poll_for_completion( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t new_data_ready = 0;
uint32_t loop_nb;
LOG_FUNCTION_START( "" );
loop_nb = 0;
do {
status = vl53l0x_get_measurement_data_ready( dev, &new_data_ready );
if ( status != 0 )
break; /* the error is set */
if ( new_data_ready == 1 )
break; /* done note that status == 0 */
loop_nb++;
if ( loop_nb >= VL53L0X_DEFAULT_MAX_LOOP ) {
status = VL53L0X_ERROR_TIME_OUT;
break;
}
vl53l0x_polling_delay( dev );
} while ( 1 );
LOG_FUNCTION_END( status );
return status;
}
/* Group PAL Interrupt Functions */
VL53L0X_Error VL53L0X::vl53l0x_clear_interrupt_mask( VL53L0X_DEV dev, uint32_t interrupt_mask )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t loop_count;
uint8_t byte;
LOG_FUNCTION_START( "" );
/* clear bit 0 range interrupt, bit 1 error interrupt */
loop_count = 0;
do {
status = vl53l0x_write_byte( dev,
VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01 );
status |= vl53l0x_write_byte( dev,
VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00 );
status |= vl53l0x_read_byte( dev,
VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte );
loop_count++;
} while ( ( ( byte & 0x07 ) != 0x00 )
&& ( loop_count < 3 )
&& ( status == VL53L0X_ERROR_NONE ) );
if ( loop_count >= 3 )
status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED;
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_perform_single_ref_calibration( VL53L0X_DEV dev,
uint8_t vhv_init_byte )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev, VL53L0X_REG_SYSRANGE_START,
VL53L0X_REG_SYSRANGE_MODE_START_STOP |
vhv_init_byte );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_measurement_poll_for_completion( dev );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_clear_interrupt_mask( dev, 0 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev, VL53L0X_REG_SYSRANGE_START, 0x00 );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_ref_calibration_io( VL53L0X_DEV dev, uint8_t read_not_write,
uint8_t vhv_settings, uint8_t phase_cal,
uint8_t *p_vhv_settings, uint8_t *p_phase_cal,
const uint8_t vhv_enable, const uint8_t phase_enable )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t phase_calint = 0;
/* Read VHV from device */
status |= vl53l0x_write_byte( dev, 0xFF, 0x01 );
status |= vl53l0x_write_byte( dev, 0x00, 0x00 );
status |= vl53l0x_write_byte( dev, 0xFF, 0x00 );
if ( read_not_write ) {
if ( vhv_enable )
status |= vl53l0x_read_byte( dev, 0xCB, p_vhv_settings );
if ( phase_enable )
status |= vl53l0x_read_byte( dev, 0xEE, &phase_calint );
} else {
if ( vhv_enable )
status |= vl53l0x_write_byte( dev, 0xCB, vhv_settings );
if ( phase_enable )
status |= vl53l0x_update_byte( dev, 0xEE, 0x80, phase_cal );
}
status |= vl53l0x_write_byte( dev, 0xFF, 0x01 );
status |= vl53l0x_write_byte( dev, 0x00, 0x01 );
status |= vl53l0x_write_byte( dev, 0xFF, 0x00 );
*p_phase_cal = ( uint8_t )( phase_calint & 0xEF );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_perform_vhv_calibration( VL53L0X_DEV dev,
uint8_t *p_vhv_settings, const uint8_t get_data_enable,
const uint8_t restore_config )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t sequence_config = 0;
uint8_t vhv_settings = 0;
uint8_t phase_cal = 0;
uint8_t phase_cal_int = 0;
/* store the value of the sequence config,
* this will be reset before the end of the function
*/
if ( restore_config )
sequence_config = PALDevDataGet( dev, SequenceConfig );
/* Run VHV */
status = vl53l0x_write_byte( dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x01 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_perform_single_ref_calibration( dev, 0x40 );
/* Read VHV from device */
if ( ( status == VL53L0X_ERROR_NONE ) && ( get_data_enable == 1 ) ) {
status = vl53l0x_ref_calibration_io( dev, 1,
vhv_settings, phase_cal, /* Not used here */
p_vhv_settings, &phase_cal_int,
1, 0 );
} else
*p_vhv_settings = 0;
if ( ( status == VL53L0X_ERROR_NONE ) && restore_config ) {
/* restore the previous Sequence Config */
status = vl53l0x_write_byte( dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
sequence_config );
if ( status == VL53L0X_ERROR_NONE )
PALDevDataSet( dev, SequenceConfig, sequence_config );
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_perform_phase_calibration( VL53L0X_DEV dev,
uint8_t *p_phase_cal, const uint8_t get_data_enable,
const uint8_t restore_config )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t sequence_config = 0;
uint8_t vhv_settings = 0;
uint8_t phase_cal = 0;
uint8_t vhv_settingsint;
/* store the value of the sequence config,
* this will be reset before the end of the function
*/
if ( restore_config )
sequence_config = PALDevDataGet( dev, SequenceConfig );
/* Run PhaseCal */
status = vl53l0x_write_byte( dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x02 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_perform_single_ref_calibration( dev, 0x0 );
/* Read PhaseCal from device */
if ( ( status == VL53L0X_ERROR_NONE ) && ( get_data_enable == 1 ) ) {
status = vl53l0x_ref_calibration_io( dev, 1,
vhv_settings, phase_cal, /* Not used here */
&vhv_settingsint, p_phase_cal,
0, 1 );
} else
*p_phase_cal = 0;
if ( ( status == VL53L0X_ERROR_NONE ) && restore_config ) {
/* restore the previous Sequence Config */
status = vl53l0x_write_byte( dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
sequence_config );
if ( status == VL53L0X_ERROR_NONE )
PALDevDataSet( dev, SequenceConfig, sequence_config );
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_perform_ref_calibration( VL53L0X_DEV dev,
uint8_t *p_vhv_settings, uint8_t *p_phase_cal, uint8_t get_data_enable )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t sequence_config = 0;
/* store the value of the sequence config,
* this will be reset before the end of the function
*/
sequence_config = PALDevDataGet( dev, SequenceConfig );
/* In the following function we don't save the config to optimize
* writes on device. Config is saved and restored only once. */
status = vl53l0x_perform_vhv_calibration(
dev, p_vhv_settings, get_data_enable, 0 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_perform_phase_calibration(
dev, p_phase_cal, get_data_enable, 0 );
if ( status == VL53L0X_ERROR_NONE ) {
/* restore the previous Sequence Config */
status = vl53l0x_write_byte( dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
sequence_config );
if ( status == VL53L0X_ERROR_NONE )
PALDevDataSet( dev, SequenceConfig, sequence_config );
}
return status;
}
void VL53L0X::get_next_good_spad( uint8_t good_spad_array[], uint32_t size,
uint32_t curr, int32_t *p_next )
{
uint32_t start_index;
uint32_t fine_offset;
uint32_t c_spads_per_byte = 8;
uint32_t coarse_index;
uint32_t fine_index;
uint8_t data_byte;
uint8_t success = 0;
/*
* Starting with the current good spad, loop through the array to find
* the next. i.e. the next bit set in the sequence.
*
* The coarse index is the byte index of the array and the fine index is
* the index of the bit within each byte.
*/
*p_next = -1;
start_index = curr / c_spads_per_byte;
fine_offset = curr % c_spads_per_byte;
for ( coarse_index = start_index; ( ( coarse_index < size ) && !success );
coarse_index++ ) {
fine_index = 0;
data_byte = good_spad_array[coarse_index];
if ( coarse_index == start_index ) {
/* locate the bit position of the provided current
* spad bit before iterating */
data_byte >>= fine_offset;
fine_index = fine_offset;
}
while ( fine_index < c_spads_per_byte ) {
if ( ( data_byte & 0x1 ) == 1 ) {
success = 1;
*p_next = coarse_index * c_spads_per_byte + fine_index;
break;
}
data_byte >>= 1;
fine_index++;
}
}
}
uint8_t VL53L0X::is_aperture( uint32_t spad_index )
{
/*
* This function reports if a given spad index is an aperture SPAD by
* deriving the quadrant.
*/
uint32_t quadrant;
uint8_t is_aperture = 1;
quadrant = spad_index >> 6;
if ( refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0 )
is_aperture = 0;
return is_aperture;
}
VL53L0X_Error VL53L0X::enable_spad_bit( uint8_t spad_array[], uint32_t size,
uint32_t spad_index )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint32_t c_spads_per_byte = 8;
uint32_t coarse_index;
uint32_t fine_index;
coarse_index = spad_index / c_spads_per_byte;
fine_index = spad_index % c_spads_per_byte;
if ( coarse_index >= size )
status = VL53L0X_ERROR_REF_SPAD_INIT;
else
spad_array[coarse_index] |= ( 1 << fine_index );
return status;
}
VL53L0X_Error VL53L0X::set_ref_spad_map( VL53L0X_DEV dev, uint8_t *p_ref_spad_array )
{
VL53L0X_Error status = vl53l0x_write_multi( dev,
VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
p_ref_spad_array, 6 );
return status;
}
VL53L0X_Error VL53L0X::get_ref_spad_map( VL53L0X_DEV dev, uint8_t *p_ref_spad_array )
{
VL53L0X_Error status = vl53l0x_read_multi( dev,
VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
p_ref_spad_array,
6 );
// VL53L0X_Error status = VL53L0X_ERROR_NONE;
// uint8_t count=0;
// for (count = 0; count < 6; count++)
// status = VL53L0X_RdByte(Dev, (VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 + count), &refSpadArray[count]);
return status;
}
VL53L0X_Error VL53L0X::enable_ref_spads( VL53L0X_DEV dev,
uint8_t aperture_spads,
uint8_t good_spad_array[],
uint8_t spad_array[],
uint32_t size,
uint32_t start,
uint32_t offset,
uint32_t spad_count,
uint32_t *p_last_spad )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint32_t index;
uint32_t i;
int32_t next_good_spad = offset;
uint32_t current_spad;
uint8_t check_spad_array[6];
/*
* This function takes in a spad array which may or may not have SPADS
* already enabled and appends from a given offset a requested number
* of new SPAD enables. The 'good spad map' is applied to
* determine the next SPADs to enable.
*
* This function applies to only aperture or only non-aperture spads.
* Checks are performed to ensure this.
*/
current_spad = offset;
for ( index = 0; index < spad_count; index++ ) {
get_next_good_spad( good_spad_array, size, current_spad,
&next_good_spad );
if ( next_good_spad == -1 ) {
status = VL53L0X_ERROR_REF_SPAD_INIT;
break;
}
/* Confirm that the next good SPAD is non-aperture */
if ( is_aperture( start + next_good_spad ) != aperture_spads ) {
/* if we can't get the required number of good aperture
* spads from the current quadrant then this is an error
*/
status = VL53L0X_ERROR_REF_SPAD_INIT;
break;
}
current_spad = ( uint32_t )next_good_spad;
enable_spad_bit( spad_array, size, current_spad );
current_spad++;
}
*p_last_spad = current_spad;
if ( status == VL53L0X_ERROR_NONE )
status = set_ref_spad_map( dev, spad_array );
if ( status == VL53L0X_ERROR_NONE ) {
status = get_ref_spad_map( dev, check_spad_array );
i = 0;
/* Compare spad maps. If not equal report error. */
while ( i < size ) {
if ( spad_array[i] != check_spad_array[i] ) {
status = VL53L0X_ERROR_REF_SPAD_INIT;
break;
}
i++;
}
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_device_mode( VL53L0X_DEV dev, VL53L0X_DeviceModes device_mode )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "%d", ( int )DeviceMode );
switch ( device_mode ) {
case VL53L0X_DEVICEMODE_SINGLE_RANGING:
case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
case VL53L0X_DEVICEMODE_GPIO_DRIVE:
case VL53L0X_DEVICEMODE_GPIO_OSC:
/* Supported modes */
VL53L0X_SETPARAMETERFIELD( dev, DeviceMode, device_mode );
break;
default:
/* Unsupported mode */
status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_interrupt_thresholds( VL53L0X_DEV dev,
VL53L0X_DeviceModes device_mode, FixPoint1616_t threshold_low,
FixPoint1616_t threshold_high )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint16_t threshold16;
LOG_FUNCTION_START( "" );
/* no dependency on DeviceMode for Ewok */
/* Need to divide by 2 because the FW will apply a x2 */
threshold16 = ( uint16_t )( ( threshold_low >> 17 ) & 0x00fff );
status = vl53l0x_write_word( dev, VL53L0X_REG_SYSTEM_THRESH_LOW, threshold16 );
if ( status == VL53L0X_ERROR_NONE ) {
/* Need to divide by 2 because the FW will apply a x2 */
threshold16 = ( uint16_t )( ( threshold_high >> 17 ) & 0x00fff );
status = vl53l0x_write_word( dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
threshold16 );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_interrupt_thresholds( VL53L0X_DEV dev,
VL53L0X_DeviceModes device_mode, FixPoint1616_t *p_threshold_low,
FixPoint1616_t *p_threshold_high )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint16_t threshold16;
LOG_FUNCTION_START( "" );
/* no dependency on DeviceMode for Ewok */
status = vl53l0x_read_word( dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &threshold16 );
/* Need to multiply by 2 because the FW will apply a x2 */
*p_threshold_low = ( FixPoint1616_t )( ( 0x00fff & threshold16 ) << 17 );
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_read_word( dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
&threshold16 );
/* Need to multiply by 2 because the FW will apply a x2 */
*p_threshold_high =
( FixPoint1616_t )( ( 0x00fff & threshold16 ) << 17 );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_load_tuning_settings( VL53L0X_DEV dev,
uint8_t *p_tuning_setting_buffer )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
int i;
int index;
uint8_t msb;
uint8_t lsb;
uint8_t select_param;
uint8_t number_of_writes;
uint8_t address;
uint8_t local_buffer[4]; /* max */
uint16_t temp16;
LOG_FUNCTION_START( "" );
index = 0;
while ( ( *( p_tuning_setting_buffer + index ) != 0 ) &&
( status == VL53L0X_ERROR_NONE ) ) {
number_of_writes = *( p_tuning_setting_buffer + index );
index++;
if ( number_of_writes == 0xFF ) {
/* internal parameters */
select_param = *( p_tuning_setting_buffer + index );
index++;
switch ( select_param ) {
case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */
msb = *( p_tuning_setting_buffer + index );
index++;
lsb = *( p_tuning_setting_buffer + index );
index++;
temp16 = VL53L0X_MAKEUINT16( lsb, msb );
PALDevDataSet( dev, SigmaEstRefArray, temp16 );
break;
case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */
msb = *( p_tuning_setting_buffer + index );
index++;
lsb = *( p_tuning_setting_buffer + index );
index++;
temp16 = VL53L0X_MAKEUINT16( lsb, msb );
PALDevDataSet( dev, SigmaEstEffPulseWidth,
temp16 );
break;
case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */
msb = *( p_tuning_setting_buffer + index );
index++;
lsb = *( p_tuning_setting_buffer + index );
index++;
temp16 = VL53L0X_MAKEUINT16( lsb, msb );
PALDevDataSet( dev, SigmaEstEffAmbWidth, temp16 );
break;
case 3: /* uint16_t targetRefRate -> 2 bytes */
msb = *( p_tuning_setting_buffer + index );
index++;
lsb = *( p_tuning_setting_buffer + index );
index++;
temp16 = VL53L0X_MAKEUINT16( lsb, msb );
PALDevDataSet( dev, targetRefRate, temp16 );
break;
default: /* invalid parameter */
status = VL53L0X_ERROR_INVALID_PARAMS;
}
} else if ( number_of_writes <= 4 ) {
address = *( p_tuning_setting_buffer + index );
index++;
for ( i = 0; i < number_of_writes; i++ ) {
local_buffer[i] = *( p_tuning_setting_buffer +
index );
index++;
}
status = vl53l0x_write_multi( dev, address, local_buffer,
number_of_writes );
} else {
status = VL53L0X_ERROR_INVALID_PARAMS;
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_check_and_load_interrupt_settings( VL53L0X_DEV dev,
uint8_t start_not_stopflag )
{
uint8_t interrupt_config;
FixPoint1616_t threshold_low;
FixPoint1616_t threshold_high;
VL53L0X_Error status = VL53L0X_ERROR_NONE;
interrupt_config = VL53L0X_GETDEVICESPECIFICPARAMETER( dev,
Pin0GpioFunctionality );
if ( ( interrupt_config ==
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW ) ||
( interrupt_config ==
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH ) ||
( interrupt_config ==
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT ) ) {
status = vl53l0x_get_interrupt_thresholds( dev,
VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
&threshold_low, &threshold_high );
if ( ( ( threshold_low > 255 * 65536 ) ||
( threshold_high > 255 * 65536 ) ) &&
( status == VL53L0X_ERROR_NONE ) ) {
if ( start_not_stopflag != 0 ) {
status = vl53l0x_load_tuning_settings( dev,
InterruptThresholdSettings );
} else {
status |= vl53l0x_write_byte( dev, 0xFF, 0x04 );
status |= vl53l0x_write_byte( dev, 0x70, 0x00 );
status |= vl53l0x_write_byte( dev, 0xFF, 0x00 );
status |= vl53l0x_write_byte( dev, 0x80, 0x00 );
}
}
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_start_measurement( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
VL53L0X_DeviceModes device_mode;
uint8_t byte;
uint8_t start_stop_byte = VL53L0X_REG_SYSRANGE_MODE_START_STOP;
uint32_t loop_nb;
LOG_FUNCTION_START( "" );
/* Get Current DeviceMode */
vl53l0x_get_device_mode( dev, &device_mode );
status = vl53l0x_write_byte( dev, 0x80, 0x01 );
status = vl53l0x_write_byte( dev, 0xFF, 0x01 );
status = vl53l0x_write_byte( dev, 0x00, 0x00 );
status = vl53l0x_write_byte( dev, 0x91, PALDevDataGet( dev, StopVariable ) );
status = vl53l0x_write_byte( dev, 0x00, 0x01 );
status = vl53l0x_write_byte( dev, 0xFF, 0x00 );
status = vl53l0x_write_byte( dev, 0x80, 0x00 );
switch ( device_mode ) {
case VL53L0X_DEVICEMODE_SINGLE_RANGING:
status = vl53l0x_write_byte( dev, VL53L0X_REG_SYSRANGE_START, 0x01 );
byte = start_stop_byte;
if ( status == VL53L0X_ERROR_NONE ) {
/* Wait until start bit has been cleared */
loop_nb = 0;
do {
if ( loop_nb > 0 )
status = vl53l0x_read_byte( dev,
VL53L0X_REG_SYSRANGE_START, &byte );
loop_nb = loop_nb + 1;
} while ( ( ( byte & start_stop_byte ) == start_stop_byte )
&& ( status == VL53L0X_ERROR_NONE )
&& ( loop_nb < VL53L0X_DEFAULT_MAX_LOOP ) );
if ( loop_nb >= VL53L0X_DEFAULT_MAX_LOOP )
status = VL53L0X_ERROR_TIME_OUT;
}
break;
case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
/* Back-to-back mode */
/* Check if need to apply interrupt settings */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_check_and_load_interrupt_settings( dev, 1 );
status = vl53l0x_write_byte( dev,
VL53L0X_REG_SYSRANGE_START,
VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK );
if ( status == VL53L0X_ERROR_NONE ) {
/* Set PAL State to Running */
PALDevDataSet( dev, PalState, VL53L0X_STATE_RUNNING );
}
break;
case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
/* Continuous mode */
/* Check if need to apply interrupt settings */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_check_and_load_interrupt_settings( dev, 1 );
status = vl53l0x_write_byte( dev,
VL53L0X_REG_SYSRANGE_START,
VL53L0X_REG_SYSRANGE_MODE_TIMED );
if ( status == VL53L0X_ERROR_NONE ) {
/* Set PAL State to Running */
PALDevDataSet( dev, PalState, VL53L0X_STATE_RUNNING );
}
break;
default:
/* Selected mode not supported */
status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
}
LOG_FUNCTION_END( status );
return status;
}
/* Group PAL Measurement Functions */
VL53L0X_Error VL53L0X::vl53l0x_perform_single_measurement( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
VL53L0X_DeviceModes device_mode;
LOG_FUNCTION_START( "" );
/* Get Current DeviceMode */
status = vl53l0x_get_device_mode( dev, &device_mode );
/* Start immediately to run a single ranging measurement in case of
* single ranging or single histogram */
if ( status == VL53L0X_ERROR_NONE
&& device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING )
status = vl53l0x_start_measurement( dev );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_measurement_poll_for_completion( dev );
/* Change PAL State in case of single ranging or single histogram */
if ( status == VL53L0X_ERROR_NONE
&& device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING )
PALDevDataSet( dev, PalState, VL53L0X_STATE_IDLE );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_x_talk_compensation_enable( VL53L0X_DEV dev,
uint8_t *p_x_talk_compensation_enable )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t temp8;
LOG_FUNCTION_START( "" );
VL53L0X_GETPARAMETERFIELD( dev, XTalkCompensationEnable, temp8 );
*p_x_talk_compensation_enable = temp8;
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_total_xtalk_rate( VL53L0X_DEV dev,
VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
FixPoint1616_t *p_total_xtalk_rate_mcps )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t xtalk_comp_enable;
FixPoint1616_t total_xtalk_mega_cps;
FixPoint1616_t xtalk_per_spad_mega_cps;
*p_total_xtalk_rate_mcps = 0;
status = vl53l0x_get_x_talk_compensation_enable( dev, &xtalk_comp_enable );
if ( status == VL53L0X_ERROR_NONE ) {
if ( xtalk_comp_enable ) {
VL53L0X_GETPARAMETERFIELD(
dev,
XTalkCompensationRateMegaCps,
xtalk_per_spad_mega_cps );
/* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */
total_xtalk_mega_cps =
p_ranging_measurement_data->EffectiveSpadRtnCount *
xtalk_per_spad_mega_cps;
/* FixPoint0824 >> 8 = FixPoint1616 */
*p_total_xtalk_rate_mcps =
( total_xtalk_mega_cps + 0x80 ) >> 8;
}
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_total_signal_rate( VL53L0X_DEV dev,
VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
FixPoint1616_t *p_total_signal_rate_mcps )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
FixPoint1616_t total_xtalk_mega_cps;
LOG_FUNCTION_START( "" );
*p_total_signal_rate_mcps =
p_ranging_measurement_data->SignalRateRtnMegaCps;
status = vl53l0x_get_total_xtalk_rate(
dev, p_ranging_measurement_data, &total_xtalk_mega_cps );
if ( status == VL53L0X_ERROR_NONE )
*p_total_signal_rate_mcps += total_xtalk_mega_cps;
return status;
}
/* To convert ms into register value */
uint32_t VL53L0X::vl53l0x_calc_timeout_mclks( VL53L0X_DEV dev,
uint32_t timeout_period_us,
uint8_t vcsel_period_pclks )
{
uint32_t macro_period_ps;
uint32_t macro_period_ns;
uint32_t timeout_period_mclks = 0;
macro_period_ps = vl53l0x_calc_macro_period_ps( dev, vcsel_period_pclks );
macro_period_ns = ( macro_period_ps + 500 ) / 1000;
timeout_period_mclks =
( uint32_t ) ( ( ( timeout_period_us * 1000 )
+ ( macro_period_ns / 2 ) ) / macro_period_ns );
return timeout_period_mclks;
}
uint32_t VL53L0X::vl53l0x_isqrt( uint32_t num )
{
/*
* Implements an integer square root
*
* From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
*/
uint32_t res = 0;
uint32_t bit = 1 << 30;
/* The second-to-top bit is set:
* 1 << 14 for 16-bits, 1 << 30 for 32 bits */
/* "bit" starts at the highest power of four <= the argument. */
while ( bit > num )
bit >>= 2;
while ( bit != 0 ) {
if ( num >= res + bit ) {
num -= res + bit;
res = ( res >> 1 ) + bit;
} else
res >>= 1;
bit >>= 2;
}
return res;
}
uint32_t VL53L0X::vl53l0x_quadrature_sum( uint32_t a, uint32_t b )
{
/*
* Implements a quadrature sum
*
* rea = sqrt(a^2 + b^2)
*
* Trap overflow case max input value is 65535 (16-bit value)
* as internal calc are 32-bit wide
*
* If overflow then seta output to maximum
*/
uint32_t res = 0;
if ( a > 65535 || b > 65535 )
res = 65535;
else
res = vl53l0x_isqrt( a * a + b * b );
return res;
}
VL53L0X_Error VL53L0X::vl53l0x_calc_dmax(
VL53L0X_DEV dev,
FixPoint1616_t total_signal_rate_mcps,
FixPoint1616_t total_corr_signal_rate_mcps,
FixPoint1616_t pw_mult,
uint32_t sigma_estimate_p1,
FixPoint1616_t sigma_estimate_p2,
uint32_t peak_vcsel_duration_us,
uint32_t *pd_max_mm )
{
const uint32_t c_sigma_limit = 18;
const FixPoint1616_t c_signal_limit = 0x4000; /* 0.25 */
const FixPoint1616_t c_sigma_est_ref = 0x00000042; /* 0.001 */
const uint32_t c_amb_eff_width_sigma_est_ns = 6;
const uint32_t c_amb_eff_width_d_max_ns = 7;
uint32_t dmax_cal_range_mm;
FixPoint1616_t dmax_cal_signal_rate_rtn_mcps;
FixPoint1616_t min_signal_needed;
FixPoint1616_t min_signal_needed_p1;
FixPoint1616_t min_signal_needed_p2;
FixPoint1616_t min_signal_needed_p3;
FixPoint1616_t min_signal_needed_p4;
FixPoint1616_t sigma_limit_tmp;
FixPoint1616_t sigma_est_sq_tmp;
FixPoint1616_t signal_limit_tmp;
FixPoint1616_t signal_at0_mm;
FixPoint1616_t dmax_dark;
FixPoint1616_t dmax_ambient;
FixPoint1616_t dmax_dark_tmp;
FixPoint1616_t sigma_est_p2_tmp;
uint32_t signal_rate_temp_mcps;
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
dmax_cal_range_mm =
PALDevDataGet( dev, DmaxCalRangeMilliMeter );
dmax_cal_signal_rate_rtn_mcps =
PALDevDataGet( dev, DmaxCalSignalRateRtnMegaCps );
/* uint32 * FixPoint1616 = FixPoint1616 */
signal_at0_mm = dmax_cal_range_mm * dmax_cal_signal_rate_rtn_mcps;
/* FixPoint1616 >> 8 = FixPoint2408 */
signal_at0_mm = ( signal_at0_mm + 0x80 ) >> 8;
signal_at0_mm *= dmax_cal_range_mm;
min_signal_needed_p1 = 0;
if ( total_corr_signal_rate_mcps > 0 ) {
/* Shift by 10 bits to increase resolution prior to the
* division */
signal_rate_temp_mcps = total_signal_rate_mcps << 10;
/* Add rounding value prior to division */
min_signal_needed_p1 = signal_rate_temp_mcps +
( total_corr_signal_rate_mcps / 2 );
/* FixPoint0626/FixPoint1616 = FixPoint2210 */
min_signal_needed_p1 /= total_corr_signal_rate_mcps;
/* Apply a factored version of the speed of light.
Correction to be applied at the end */
min_signal_needed_p1 *= 3;
/* FixPoint2210 * FixPoint2210 = FixPoint1220 */
min_signal_needed_p1 *= min_signal_needed_p1;
/* FixPoint1220 >> 16 = FixPoint2804 */
min_signal_needed_p1 = ( min_signal_needed_p1 + 0x8000 ) >> 16;
}
min_signal_needed_p2 = pw_mult * sigma_estimate_p1;
/* FixPoint1616 >> 16 = uint32 */
min_signal_needed_p2 = ( min_signal_needed_p2 + 0x8000 ) >> 16;
/* uint32 * uint32 = uint32 */
min_signal_needed_p2 *= min_signal_needed_p2;
/* Check sigmaEstimateP2
* If this value is too high there is not enough signal rate
* to calculate dmax value so set a suitable value to ensure
* a very small dmax.
*/
sigma_est_p2_tmp = ( sigma_estimate_p2 + 0x8000 ) >> 16;
sigma_est_p2_tmp = ( sigma_est_p2_tmp + c_amb_eff_width_sigma_est_ns / 2 ) /
c_amb_eff_width_sigma_est_ns;
sigma_est_p2_tmp *= c_amb_eff_width_d_max_ns;
if ( sigma_est_p2_tmp > 0xffff ) {
min_signal_needed_p3 = 0xfff00000;
} else {
/* DMAX uses a different ambient width from sigma, so apply
* correction.
* Perform division before multiplication to prevent overflow.
*/
sigma_estimate_p2 = ( sigma_estimate_p2 + c_amb_eff_width_sigma_est_ns / 2 ) /
c_amb_eff_width_sigma_est_ns;
sigma_estimate_p2 *= c_amb_eff_width_d_max_ns;
/* FixPoint1616 >> 16 = uint32 */
min_signal_needed_p3 = ( sigma_estimate_p2 + 0x8000 ) >> 16;
min_signal_needed_p3 *= min_signal_needed_p3;
}
/* FixPoint1814 / uint32 = FixPoint1814 */
sigma_limit_tmp = ( ( c_sigma_limit << 14 ) + 500 ) / 1000;
/* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */
sigma_limit_tmp *= sigma_limit_tmp;
/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
sigma_est_sq_tmp = c_sigma_est_ref * c_sigma_est_ref;
/* FixPoint3232 >> 4 = FixPoint0428 */
sigma_est_sq_tmp = ( sigma_est_sq_tmp + 0x08 ) >> 4;
/* FixPoint0428 - FixPoint0428 = FixPoint0428 */
sigma_limit_tmp -= sigma_est_sq_tmp;
/* uint32_t * FixPoint0428 = FixPoint0428 */
min_signal_needed_p4 = 4 * 12 * sigma_limit_tmp;
/* FixPoint0428 >> 14 = FixPoint1814 */
min_signal_needed_p4 = ( min_signal_needed_p4 + 0x2000 ) >> 14;
/* uint32 + uint32 = uint32 */
min_signal_needed = ( min_signal_needed_p2 + min_signal_needed_p3 );
/* uint32 / uint32 = uint32 */
min_signal_needed += ( peak_vcsel_duration_us / 2 );
min_signal_needed /= peak_vcsel_duration_us;
/* uint32 << 14 = FixPoint1814 */
min_signal_needed <<= 14;
/* FixPoint1814 / FixPoint1814 = uint32 */
min_signal_needed += ( min_signal_needed_p4 / 2 );
min_signal_needed /= min_signal_needed_p4;
/* FixPoint3200 * FixPoint2804 := FixPoint2804*/
min_signal_needed *= min_signal_needed_p1;
/* Apply correction by dividing by 1000000.
* This assumes 10E16 on the numerator of the equation
* and 10E-22 on the denominator.
* We do this because 32bit fix point calculation can't
* handle the larger and smaller elements of this equation,
* i.e. speed of light and pulse widths.
*/
min_signal_needed = ( min_signal_needed + 500 ) / 1000;
min_signal_needed <<= 4;
min_signal_needed = ( min_signal_needed + 500 ) / 1000;
/* FixPoint1616 >> 8 = FixPoint2408 */
signal_limit_tmp = ( c_signal_limit + 0x80 ) >> 8;
/* FixPoint2408/FixPoint2408 = uint32 */
if ( signal_limit_tmp != 0 )
dmax_dark_tmp = ( signal_at0_mm + ( signal_limit_tmp / 2 ) )
/ signal_limit_tmp;
else
dmax_dark_tmp = 0;
dmax_dark = vl53l0x_isqrt( dmax_dark_tmp );
/* FixPoint2408/FixPoint2408 = uint32 */
if ( min_signal_needed != 0 )
dmax_ambient = ( signal_at0_mm + min_signal_needed / 2 )
/ min_signal_needed;
else
dmax_ambient = 0;
dmax_ambient = vl53l0x_isqrt( dmax_ambient );
*pd_max_mm = dmax_dark;
if ( dmax_dark > dmax_ambient )
*pd_max_mm = dmax_ambient;
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_calc_sigma_estimate( VL53L0X_DEV dev,
VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
FixPoint1616_t *p_sigma_estimate,
uint32_t *p_dmax_mm )
{
/* Expressed in 100ths of a ns, i.e. centi-ns */
const uint32_t c_pulse_effective_width_centi_ns = 800;
/* Expressed in 100ths of a ns, i.e. centi-ns */
const uint32_t c_ambient_effective_width_centi_ns = 600;
const FixPoint1616_t c_dflt_final_range_integration_time_milli_secs = 0x00190000; /* 25ms */
const uint32_t c_vcsel_pulse_width_ps = 4700; /* pico secs */
const FixPoint1616_t c_sigma_est_max = 0x028F87AE;
const FixPoint1616_t c_sigma_est_rtn_max = 0xF000;
const FixPoint1616_t c_amb_to_signal_ratio_max = 0xF0000000 /
c_ambient_effective_width_centi_ns;
/* Time Of Flight per mm (6.6 pico secs) */
const FixPoint1616_t c_tof_per_mm_ps = 0x0006999A;
const uint32_t c_16bit_rounding_param = 0x00008000;
const FixPoint1616_t c_max_x_talk_kcps = 0x00320000;
const uint32_t c_pll_period_ps = 1655;
uint32_t vcsel_total_events_rtn;
uint32_t final_range_timeout_micro_secs;
uint32_t pre_range_timeout_micro_secs;
uint32_t final_range_integration_time_milli_secs;
FixPoint1616_t sigma_estimate_p1;
FixPoint1616_t sigma_estimate_p2;
FixPoint1616_t sigma_estimate_p3;
FixPoint1616_t delta_t_ps;
FixPoint1616_t pw_mult;
FixPoint1616_t sigma_est_rtn;
FixPoint1616_t sigma_estimate;
FixPoint1616_t x_talk_correction;
FixPoint1616_t ambient_rate_kcps;
FixPoint1616_t peak_signal_rate_kcps;
FixPoint1616_t x_talk_comp_rate_mcps;
uint32_t x_talk_comp_rate_kcps;
VL53L0X_Error status = VL53L0X_ERROR_NONE;
FixPoint1616_t diff1_mcps;
FixPoint1616_t diff2_mcps;
FixPoint1616_t sqr1;
FixPoint1616_t sqr2;
FixPoint1616_t sqr_sum;
FixPoint1616_t sqrt_result_centi_ns;
FixPoint1616_t sqrt_result;
FixPoint1616_t total_signal_rate_mcps;
FixPoint1616_t corrected_signal_rate_mcps;
FixPoint1616_t sigma_est_ref;
uint32_t vcsel_width;
uint32_t final_range_macro_pclks;
uint32_t pre_range_macro_pclks;
uint32_t peak_vcsel_duration_us;
uint8_t final_range_vcsel_pclks;
uint8_t pre_range_vcsel_pclks;
/*! \addtogroup calc_sigma_estimate
* @{
*
* Estimates the range sigma
*/
LOG_FUNCTION_START( "" );
VL53L0X_GETPARAMETERFIELD( dev, XTalkCompensationRateMegaCps,
x_talk_comp_rate_mcps );
/*
* We work in kcps rather than mcps as this helps keep within the
* confines of the 32 Fix1616 type.
*/
ambient_rate_kcps =
( p_ranging_measurement_data->AmbientRateRtnMegaCps * 1000 ) >> 16;
corrected_signal_rate_mcps =
p_ranging_measurement_data->SignalRateRtnMegaCps;
status = vl53l0x_get_total_signal_rate(
dev, p_ranging_measurement_data, &total_signal_rate_mcps );
status = vl53l0x_get_total_xtalk_rate(
dev, p_ranging_measurement_data, &x_talk_comp_rate_mcps );
/* Signal rate measurement provided by device is the
* peak signal rate, not average.
*/
peak_signal_rate_kcps = ( total_signal_rate_mcps * 1000 );
peak_signal_rate_kcps = ( peak_signal_rate_kcps + 0x8000 ) >> 16;
x_talk_comp_rate_kcps = x_talk_comp_rate_mcps * 1000;
if ( x_talk_comp_rate_kcps > c_max_x_talk_kcps )
x_talk_comp_rate_kcps = c_max_x_talk_kcps;
if ( status == VL53L0X_ERROR_NONE ) {
/* Calculate final range macro periods */
final_range_timeout_micro_secs = VL53L0X_GETDEVICESPECIFICPARAMETER(
dev, FinalRangeTimeoutMicroSecs );
final_range_vcsel_pclks = VL53L0X_GETDEVICESPECIFICPARAMETER(
dev, FinalRangeVcselPulsePeriod );
final_range_macro_pclks = vl53l0x_calc_timeout_mclks(
dev, final_range_timeout_micro_secs, final_range_vcsel_pclks );
/* Calculate pre-range macro periods */
pre_range_timeout_micro_secs = VL53L0X_GETDEVICESPECIFICPARAMETER(
dev, PreRangeTimeoutMicroSecs );
pre_range_vcsel_pclks = VL53L0X_GETDEVICESPECIFICPARAMETER(
dev, PreRangeVcselPulsePeriod );
pre_range_macro_pclks = vl53l0x_calc_timeout_mclks(
dev, pre_range_timeout_micro_secs, pre_range_vcsel_pclks );
vcsel_width = 3;
if ( final_range_vcsel_pclks == 8 )
vcsel_width = 2;
peak_vcsel_duration_us = vcsel_width * 2048 *
( pre_range_macro_pclks + final_range_macro_pclks );
peak_vcsel_duration_us = ( peak_vcsel_duration_us + 500 ) / 1000;
peak_vcsel_duration_us *= c_pll_period_ps;
peak_vcsel_duration_us = ( peak_vcsel_duration_us + 500 ) / 1000;
/* Fix1616 >> 8 = Fix2408 */
total_signal_rate_mcps = ( total_signal_rate_mcps + 0x80 ) >> 8;
/* Fix2408 * uint32 = Fix2408 */
vcsel_total_events_rtn = total_signal_rate_mcps *
peak_vcsel_duration_us;
/* Fix2408 >> 8 = uint32 */
vcsel_total_events_rtn = ( vcsel_total_events_rtn + 0x80 ) >> 8;
/* Fix2408 << 8 = Fix1616 = */
total_signal_rate_mcps <<= 8;
}
if ( status != VL53L0X_ERROR_NONE ) {
LOG_FUNCTION_END( status );
return status;
}
if ( peak_signal_rate_kcps == 0 ) {
*p_sigma_estimate = c_sigma_est_max;
PALDevDataSet( dev, SigmaEstimate, c_sigma_est_max );
*p_dmax_mm = 0;
} else {
if ( vcsel_total_events_rtn < 1 )
vcsel_total_events_rtn = 1;
sigma_estimate_p1 = c_pulse_effective_width_centi_ns;
/* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */
sigma_estimate_p2 = ( ambient_rate_kcps << 16 ) / peak_signal_rate_kcps;
if ( sigma_estimate_p2 > c_amb_to_signal_ratio_max ) {
/* Clip to prevent overflow. Will ensure safe
* max result. */
sigma_estimate_p2 = c_amb_to_signal_ratio_max;
}
sigma_estimate_p2 *= c_ambient_effective_width_centi_ns;
sigma_estimate_p3 = 2 * vl53l0x_isqrt( vcsel_total_events_rtn * 12 );
/* uint32 * FixPoint1616 = FixPoint1616 */
delta_t_ps = p_ranging_measurement_data->RangeMilliMeter *
c_tof_per_mm_ps;
/*
* vcselRate - xtalkCompRate
* (uint32 << 16) - FixPoint1616 = FixPoint1616.
* Divide result by 1000 to convert to mcps.
* 500 is added to ensure rounding when integer division
* truncates.
*/
diff1_mcps = ( ( ( peak_signal_rate_kcps << 16 ) -
2 * x_talk_comp_rate_kcps ) + 500 ) / 1000;
/* vcselRate + xtalkCompRate */
diff2_mcps = ( ( peak_signal_rate_kcps << 16 ) + 500 ) / 1000;
/* Shift by 8 bits to increase resolution prior to the
* division */
diff1_mcps <<= 8;
/* FixPoint0824/FixPoint1616 = FixPoint2408 */
// xTalkCorrection = abs(diff1_mcps/diff2_mcps);
// abs is causing compiler overloading isue in C++, but unsigned types. So, redundant call anyway!
x_talk_correction = diff1_mcps / diff2_mcps;
/* FixPoint2408 << 8 = FixPoint1616 */
x_talk_correction <<= 8;
if( p_ranging_measurement_data->RangeStatus != 0 ) {
pw_mult = 1 << 16;
} else {
/* FixPoint1616/uint32 = FixPoint1616 */
pw_mult = delta_t_ps / c_vcsel_pulse_width_ps; /* smaller than 1.0f */
/*
* FixPoint1616 * FixPoint1616 = FixPoint3232, however both
* values are small enough such that32 bits will not be
* exceeded.
*/
pw_mult *= ( ( 1 << 16 ) - x_talk_correction );
/* (FixPoint3232 >> 16) = FixPoint1616 */
pw_mult = ( pw_mult + c_16bit_rounding_param ) >> 16;
/* FixPoint1616 + FixPoint1616 = FixPoint1616 */
pw_mult += ( 1 << 16 );
/*
* At this point the value will be 1.xx, therefore if we square
* the value this will exceed 32 bits. To address this perform
* a single shift to the right before the multiplication.
*/
pw_mult >>= 1;
/* FixPoint1715 * FixPoint1715 = FixPoint3430 */
pw_mult = pw_mult * pw_mult;
/* (FixPoint3430 >> 14) = Fix1616 */
pw_mult >>= 14;
}
/* FixPoint1616 * uint32 = FixPoint1616 */
sqr1 = pw_mult * sigma_estimate_p1;
/* (FixPoint1616 >> 16) = FixPoint3200 */
sqr1 = ( sqr1 + 0x8000 ) >> 16;
/* FixPoint3200 * FixPoint3200 = FixPoint6400 */
sqr1 *= sqr1;
sqr2 = sigma_estimate_p2;
/* (FixPoint1616 >> 16) = FixPoint3200 */
sqr2 = ( sqr2 + 0x8000 ) >> 16;
/* FixPoint3200 * FixPoint3200 = FixPoint6400 */
sqr2 *= sqr2;
/* FixPoint64000 + FixPoint6400 = FixPoint6400 */
sqr_sum = sqr1 + sqr2;
/* SQRT(FixPoin6400) = FixPoint3200 */
sqrt_result_centi_ns = vl53l0x_isqrt( sqr_sum );
/* (FixPoint3200 << 16) = FixPoint1616 */
sqrt_result_centi_ns <<= 16;
/*
* Note that the Speed Of Light is expressed in um per 1E-10
* seconds (2997) Therefore to get mm/ns we have to divide by
* 10000
*/
sigma_est_rtn = ( ( ( sqrt_result_centi_ns + 50 ) / 100 ) /
sigma_estimate_p3 );
sigma_est_rtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR;
/* Add 5000 before dividing by 10000 to ensure rounding. */
sigma_est_rtn += 5000;
sigma_est_rtn /= 10000;
if ( sigma_est_rtn > c_sigma_est_rtn_max ) {
/* Clip to prevent overflow. Will ensure safe
* max result. */
sigma_est_rtn = c_sigma_est_rtn_max;
}
final_range_integration_time_milli_secs =
( final_range_timeout_micro_secs + pre_range_timeout_micro_secs + 500 ) / 1000;
/* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range)
* sqrt(FixPoint1616/int) = FixPoint2408)
*/
sigma_est_ref =
vl53l0x_isqrt( ( c_dflt_final_range_integration_time_milli_secs +
final_range_integration_time_milli_secs / 2 ) /
final_range_integration_time_milli_secs );
/* FixPoint2408 << 8 = FixPoint1616 */
sigma_est_ref <<= 8;
sigma_est_ref = ( sigma_est_ref + 500 ) / 1000;
/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
sqr1 = sigma_est_rtn * sigma_est_rtn;
/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
sqr2 = sigma_est_ref * sigma_est_ref;
/* sqrt(FixPoint3232) = FixPoint1616 */
sqrt_result = vl53l0x_isqrt( ( sqr1 + sqr2 ) );
/*
* Note that the Shift by 4 bits increases resolution prior to
* the sqrt, therefore the result must be shifted by 2 bits to
* the right to revert back to the FixPoint1616 format.
*/
sigma_estimate = 1000 * sqrt_result;
if ( ( peak_signal_rate_kcps < 1 ) || ( vcsel_total_events_rtn < 1 ) ||
( sigma_estimate > c_sigma_est_max ) ) {
sigma_estimate = c_sigma_est_max;
}
*p_sigma_estimate = ( uint32_t )( sigma_estimate );
PALDevDataSet( dev, SigmaEstimate, *p_sigma_estimate );
status = vl53l0x_calc_dmax(
dev,
total_signal_rate_mcps,
corrected_signal_rate_mcps,
pw_mult,
sigma_estimate_p1,
sigma_estimate_p2,
peak_vcsel_duration_us,
p_dmax_mm );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_pal_range_status( VL53L0X_DEV dev,
uint8_t device_range_status,
FixPoint1616_t signal_rate,
uint16_t effective_spad_rtn_count,
VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
uint8_t *p_pal_range_status )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t none_flag;
uint8_t sigma_limitflag = 0;
uint8_t signal_ref_clipflag = 0;
uint8_t range_ignore_thresholdflag = 0;
uint8_t sigma_limit_check_enable = 0;
uint8_t signal_rate_final_range_limit_check_enable = 0;
uint8_t signal_ref_clip_limit_check_enable = 0;
uint8_t range_ignore_threshold_limit_check_enable = 0;
FixPoint1616_t sigma_estimate;
FixPoint1616_t sigma_limit_value;
FixPoint1616_t signal_ref_clip_value;
FixPoint1616_t range_ignore_threshold_value;
FixPoint1616_t signal_rate_per_spad;
uint8_t device_range_status_internal = 0;
uint16_t tmp_word = 0;
uint8_t temp8;
uint32_t dmax_mm = 0;
FixPoint1616_t last_signal_ref_mcps;
LOG_FUNCTION_START( "" );
/*
* VL53L0X has a good ranging when the value of the
* DeviceRangeStatus = 11. This function will replace the value 0 with
* the value 11 in the DeviceRangeStatus.
* In addition, the SigmaEstimator is not included in the VL53L0X
* DeviceRangeStatus, this will be added in the PalRangeStatus.
*/
device_range_status_internal = ( ( device_range_status & 0x78 ) >> 3 );
if ( device_range_status_internal == 0 ||
device_range_status_internal == 5 ||
device_range_status_internal == 7 ||
device_range_status_internal == 12 ||
device_range_status_internal == 13 ||
device_range_status_internal == 14 ||
device_range_status_internal == 15
) {
none_flag = 1;
} else {
none_flag = 0;
}
/*
* Check if Sigma limit is enabled, if yes then do comparison with limit
* value and put the result back into pPalRangeStatus.
*/
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_get_limit_check_enable( dev,
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
&sigma_limit_check_enable );
if ( ( sigma_limit_check_enable != 0 ) && ( status == VL53L0X_ERROR_NONE ) ) {
/*
* compute the Sigma and check with limit
*/
status = vl53l0x_calc_sigma_estimate(
dev,
p_ranging_measurement_data,
&sigma_estimate,
&dmax_mm );
if ( status == VL53L0X_ERROR_NONE )
p_ranging_measurement_data->RangeDMaxMilliMeter = dmax_mm;
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_get_limit_check_value( dev,
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
&sigma_limit_value );
if ( ( sigma_limit_value > 0 ) &&
( sigma_estimate > sigma_limit_value ) )
/* Limit Fail */
sigma_limitflag = 1;
}
}
/*
* Check if Signal ref clip limit is enabled, if yes then do comparison
* with limit value and put the result back into pPalRangeStatus.
*/
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_get_limit_check_enable( dev,
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
&signal_ref_clip_limit_check_enable );
if ( ( signal_ref_clip_limit_check_enable != 0 ) &&
( status == VL53L0X_ERROR_NONE ) ) {
status = vl53l0x_get_limit_check_value( dev,
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
&signal_ref_clip_value );
/* Read LastSignalRefMcps from device */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev, 0xFF, 0x01 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_read_word( dev,
VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
&tmp_word );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev, 0xFF, 0x00 );
last_signal_ref_mcps = VL53L0X_FIXPOINT97TOFIXPOINT1616( tmp_word );
PALDevDataSet( dev, LastSignalRefMcps, last_signal_ref_mcps );
if ( ( signal_ref_clip_value > 0 ) &&
( last_signal_ref_mcps > signal_ref_clip_value ) ) {
/* Limit Fail */
signal_ref_clipflag = 1;
}
}
/*
* Check if Signal ref clip limit is enabled, if yes then do comparison
* with limit value and put the result back into pPalRangeStatus.
* EffectiveSpadRtnCount has a format 8.8
* If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL
*/
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_get_limit_check_enable( dev,
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
&range_ignore_threshold_limit_check_enable );
if ( ( range_ignore_threshold_limit_check_enable != 0 ) &&
( status == VL53L0X_ERROR_NONE ) ) {
/* Compute the signal rate per spad */
if ( effective_spad_rtn_count == 0 ) {
signal_rate_per_spad = 0;
} else {
signal_rate_per_spad = ( FixPoint1616_t )( ( 256 * signal_rate )
/ effective_spad_rtn_count );
}
status = vl53l0x_get_limit_check_value( dev,
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
&range_ignore_threshold_value );
if ( ( range_ignore_threshold_value > 0 ) &&
( signal_rate_per_spad < range_ignore_threshold_value ) ) {
/* Limit Fail add 2^6 to range status */
range_ignore_thresholdflag = 1;
}
}
if ( status == VL53L0X_ERROR_NONE ) {
if ( none_flag == 1 ) {
*p_pal_range_status = 255; /* NONE */
} else if ( device_range_status_internal == 1 ||
device_range_status_internal == 2 ||
device_range_status_internal == 3 ) {
*p_pal_range_status = 5; /* HW fail */
} else if ( device_range_status_internal == 6 ||
device_range_status_internal == 9 ) {
*p_pal_range_status = 4; /* Phase fail */
} else if ( device_range_status_internal == 8 ||
device_range_status_internal == 10 ||
signal_ref_clipflag == 1 ) {
*p_pal_range_status = 3; /* Min range */
} else if ( device_range_status_internal == 4 ||
range_ignore_thresholdflag == 1 ) {
*p_pal_range_status = 2; /* Signal Fail */
} else if ( sigma_limitflag == 1 ) {
*p_pal_range_status = 1; /* Sigma Fail */
} else {
*p_pal_range_status = 0; /* Range Valid */
}
}
/* DMAX only relevant during range error */
if ( *p_pal_range_status == 0 )
p_ranging_measurement_data->RangeDMaxMilliMeter = 0;
/* fill the Limit Check Status */
status = vl53l0x_get_limit_check_enable( dev,
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
&signal_rate_final_range_limit_check_enable );
if ( status == VL53L0X_ERROR_NONE ) {
if ( ( sigma_limit_check_enable == 0 ) || ( sigma_limitflag == 1 ) )
temp8 = 1;
else
temp8 = 0;
VL53L0X_SETARRAYPARAMETERFIELD( dev, LimitChecksStatus,
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, temp8 );
if ( ( device_range_status_internal == 4 ) ||
( signal_rate_final_range_limit_check_enable == 0 ) )
temp8 = 1;
else
temp8 = 0;
VL53L0X_SETARRAYPARAMETERFIELD( dev, LimitChecksStatus,
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
temp8 );
if ( ( signal_ref_clip_limit_check_enable == 0 ) ||
( signal_ref_clipflag == 1 ) )
temp8 = 1;
else
temp8 = 0;
VL53L0X_SETARRAYPARAMETERFIELD( dev, LimitChecksStatus,
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, temp8 );
if ( ( range_ignore_threshold_limit_check_enable == 0 ) ||
( range_ignore_thresholdflag == 1 ) )
temp8 = 1;
else
temp8 = 0;
VL53L0X_SETARRAYPARAMETERFIELD( dev, LimitChecksStatus,
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
temp8 );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_ranging_measurement_data( VL53L0X_DEV dev,
VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t device_range_status;
uint8_t range_fractional_enable;
uint8_t pal_range_status;
uint8_t x_talk_compensation_enable;
uint16_t ambient_rate;
FixPoint1616_t signal_rate;
uint16_t x_talk_compensation_rate_mega_cps;
uint16_t effective_spad_rtn_count;
uint16_t tmpuint16;
uint16_t xtalk_range_milli_meter;
uint16_t linearity_corrective_gain;
uint8_t localBuffer[12];
VL53L0X_RangingMeasurementData_t last_range_data_buffer;
LOG_FUNCTION_START( "" );
/*
* use multi read even if some registers are not useful, result will
* be more efficient
* start reading at 0x14 dec20
* end reading at 0x21 dec33 total 14 bytes to read
*/
status = vl53l0x_read_multi( dev, 0x14, localBuffer, 12 );
if ( status == VL53L0X_ERROR_NONE ) {
p_ranging_measurement_data->ZoneId = 0; /* Only one zone */
p_ranging_measurement_data->TimeStamp = 0; /* Not Implemented */
tmpuint16 = VL53L0X_MAKEUINT16( localBuffer[11], localBuffer[10] );
/* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional
*(format 11.2) else no fractional
*/
p_ranging_measurement_data->MeasurementTimeUsec = 0;
signal_rate = VL53L0X_FIXPOINT97TOFIXPOINT1616(
VL53L0X_MAKEUINT16( localBuffer[7], localBuffer[6] ) );
/* peak_signal_count_rate_rtn_mcps */
p_ranging_measurement_data->SignalRateRtnMegaCps = signal_rate;
ambient_rate = VL53L0X_MAKEUINT16( localBuffer[9], localBuffer[8] );
p_ranging_measurement_data->AmbientRateRtnMegaCps =
VL53L0X_FIXPOINT97TOFIXPOINT1616( ambient_rate );
effective_spad_rtn_count = VL53L0X_MAKEUINT16( localBuffer[3],
localBuffer[2] );
/* EffectiveSpadRtnCount is 8.8 format */
p_ranging_measurement_data->EffectiveSpadRtnCount =
effective_spad_rtn_count;
device_range_status = localBuffer[0];
/* Get Linearity Corrective Gain */
linearity_corrective_gain = PALDevDataGet( dev,
LinearityCorrectiveGain );
/* Get ranging configuration */
range_fractional_enable = PALDevDataGet( dev,
RangeFractionalEnable );
if ( linearity_corrective_gain != 1000 ) {
tmpuint16 = ( uint16_t )( ( linearity_corrective_gain
* tmpuint16 + 500 ) / 1000 );
/* Implement Xtalk */
VL53L0X_GETPARAMETERFIELD( dev,
XTalkCompensationRateMegaCps,
x_talk_compensation_rate_mega_cps );
VL53L0X_GETPARAMETERFIELD( dev, XTalkCompensationEnable,
x_talk_compensation_enable );
if ( x_talk_compensation_enable ) {
if ( ( signal_rate
- ( ( x_talk_compensation_rate_mega_cps
* effective_spad_rtn_count ) >> 8 ) )
<= 0 ) {
if ( range_fractional_enable )
xtalk_range_milli_meter = 8888;
else
xtalk_range_milli_meter = 8888
<< 2;
} else {
xtalk_range_milli_meter =
( tmpuint16 * signal_rate )
/ ( signal_rate
- ( ( x_talk_compensation_rate_mega_cps
* effective_spad_rtn_count )
>> 8 ) );
}
tmpuint16 = xtalk_range_milli_meter;
}
}
if ( range_fractional_enable ) {
p_ranging_measurement_data->RangeMilliMeter =
( uint16_t )( ( tmpuint16 ) >> 2 );
p_ranging_measurement_data->RangeFractionalPart =
( uint8_t )( ( tmpuint16 & 0x03 ) << 6 );
} else {
p_ranging_measurement_data->RangeMilliMeter = tmpuint16;
p_ranging_measurement_data->RangeFractionalPart = 0;
}
/*
* For a standard definition of RangeStatus, this should
* return 0 in case of good result after a ranging
* The range status depends on the device so call a device
* specific function to obtain the right Status.
*/
status |= vl53l0x_get_pal_range_status( dev, device_range_status,
signal_rate, effective_spad_rtn_count,
p_ranging_measurement_data, &pal_range_status );
if ( status == VL53L0X_ERROR_NONE )
p_ranging_measurement_data->RangeStatus = pal_range_status;
}
if ( status == VL53L0X_ERROR_NONE ) {
/* Copy last read data into Dev buffer */
last_range_data_buffer = PALDevDataGet( dev, LastRangeMeasure );
last_range_data_buffer.RangeMilliMeter =
p_ranging_measurement_data->RangeMilliMeter;
last_range_data_buffer.RangeFractionalPart =
p_ranging_measurement_data->RangeFractionalPart;
last_range_data_buffer.RangeDMaxMilliMeter =
p_ranging_measurement_data->RangeDMaxMilliMeter;
last_range_data_buffer.MeasurementTimeUsec =
p_ranging_measurement_data->MeasurementTimeUsec;
last_range_data_buffer.SignalRateRtnMegaCps =
p_ranging_measurement_data->SignalRateRtnMegaCps;
last_range_data_buffer.AmbientRateRtnMegaCps =
p_ranging_measurement_data->AmbientRateRtnMegaCps;
last_range_data_buffer.EffectiveSpadRtnCount =
p_ranging_measurement_data->EffectiveSpadRtnCount;
last_range_data_buffer.RangeStatus =
p_ranging_measurement_data->RangeStatus;
PALDevDataSet( dev, LastRangeMeasure, last_range_data_buffer );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_perform_single_ranging_measurement( VL53L0X_DEV dev,
VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
/* This function will do a complete single ranging
* Here we fix the mode! */
status = vl53l0x_set_device_mode( dev, VL53L0X_DEVICEMODE_SINGLE_RANGING );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_perform_single_measurement( dev );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_get_ranging_measurement_data( dev,
p_ranging_measurement_data );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_clear_interrupt_mask( dev, 0 );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::perform_ref_signal_measurement( VL53L0X_DEV dev,
uint16_t *p_ref_signal_rate )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
VL53L0X_RangingMeasurementData_t ranging_measurement_data;
uint8_t sequence_config = 0;
/* store the value of the sequence config,
* this will be reset before the end of the function
*/
sequence_config = PALDevDataGet( dev, SequenceConfig );
/*
* This function performs a reference signal rate measurement.
*/
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev,
VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_perform_single_ranging_measurement( dev,
&ranging_measurement_data );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev, 0xFF, 0x01 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_read_word( dev,
VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
p_ref_signal_rate );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev, 0xFF, 0x00 );
if ( status == VL53L0X_ERROR_NONE ) {
/* restore the previous Sequence Config */
status = vl53l0x_write_byte( dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
sequence_config );
if ( status == VL53L0X_ERROR_NONE )
PALDevDataSet( dev, SequenceConfig, sequence_config );
}
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_perform_ref_spad_management( VL53L0X_DEV dev,
uint32_t *ref_spad_count,
uint8_t *is_aperture_spads )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t last_spad_array[6];
uint8_t start_select = 0xB4;
uint32_t minimum_spad_count = 3;
uint32_t max_spad_count = 44;
uint32_t current_spad_index = 0;
uint32_t last_spad_index = 0;
int32_t next_good_spad = 0;
uint16_t target_ref_rate = 0x0A00; /* 20 MCPS in 9:7 format */
uint16_t peak_signal_rate_ref;
uint32_t need_apt_spads = 0;
uint32_t index = 0;
uint32_t spad_array_size = 6;
uint32_t signal_rate_diff = 0;
uint32_t last_signal_rate_diff = 0;
uint8_t complete = 0;
uint8_t vhv_settings = 0;
uint8_t phase_cal = 0;
uint32_t ref_spad_count_int = 0;
uint8_t is_aperture_spads_int = 0;
/*
* The reference SPAD initialization procedure determines the minimum
* amount of reference spads to be enables to achieve a target reference
* signal rate and should be performed once during initialization.
*
* Either aperture or non-aperture spads are applied but never both.
* Firstly non-aperture spads are set, begining with 5 spads, and
* increased one spad at a time until the closest measurement to the
* target rate is achieved.
*
* If the target rate is exceeded when 5 non-aperture spads are enabled,
* initialization is performed instead with aperture spads.
*
* When setting spads, a 'Good Spad Map' is applied.
*
* This procedure operates within a SPAD window of interest of a maximum
* 44 spads.
* The start point is currently fixed to 180, which lies towards the end
* of the non-aperture quadrant and runs in to the adjacent aperture
* quadrant.
*/
target_ref_rate = PALDevDataGet( dev, targetRefRate );
/*
* Initialize Spad arrays.
* Currently the good spad map is initialised to 'All good'.
* This is a short term implementation. The good spad map will be
* provided as an input.
* Note that there are 6 bytes. Only the first 44 bits will be used to
* represent spads.
*/
for ( index = 0; index < spad_array_size; index++ )
dev->Data.SpadData.RefSpadEnables[index] = 0;
status = vl53l0x_write_byte( dev, 0xFF, 0x01 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev,
VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev,
VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev, 0xFF, 0x00 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev,
VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
start_select );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev,
VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0 );
/* Perform ref calibration */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_perform_ref_calibration( dev, &vhv_settings,
&phase_cal, 0 );
if ( status == VL53L0X_ERROR_NONE ) {
/* Enable Minimum NON-APERTURE Spads */
current_spad_index = 0;
last_spad_index = current_spad_index;
need_apt_spads = 0;
status = enable_ref_spads( dev,
need_apt_spads,
dev->Data.SpadData.RefGoodSpadMap,
dev->Data.SpadData.RefSpadEnables,
spad_array_size,
start_select,
current_spad_index,
minimum_spad_count,
&last_spad_index );
}
if ( status == VL53L0X_ERROR_NONE ) {
current_spad_index = last_spad_index;
status = perform_ref_signal_measurement( dev,
&peak_signal_rate_ref );
if ( ( status == VL53L0X_ERROR_NONE ) &&
( peak_signal_rate_ref > target_ref_rate ) ) {
/* Signal rate measurement too high,
* switch to APERTURE SPADs */
for ( index = 0; index < spad_array_size; index++ )
dev->Data.SpadData.RefSpadEnables[index] = 0;
/* Increment to the first APERTURE spad */
while ( ( is_aperture( start_select + current_spad_index )
== 0 ) && ( current_spad_index < max_spad_count ) ) {
current_spad_index++;
}
need_apt_spads = 1;
status = enable_ref_spads( dev,
need_apt_spads,
dev->Data.SpadData.RefGoodSpadMap,
dev->Data.SpadData.RefSpadEnables,
spad_array_size,
start_select,
current_spad_index,
minimum_spad_count,
&last_spad_index );
if ( status == VL53L0X_ERROR_NONE ) {
current_spad_index = last_spad_index;
status = perform_ref_signal_measurement( dev,
&peak_signal_rate_ref );
if ( ( status == VL53L0X_ERROR_NONE ) &&
( peak_signal_rate_ref > target_ref_rate ) ) {
/* Signal rate still too high after
* setting the minimum number of
* APERTURE spads. Can do no more
* therefore set the min number of
* aperture spads as the result.
*/
is_aperture_spads_int = 1;
ref_spad_count_int = minimum_spad_count;
}
}
} else {
need_apt_spads = 0;
}
}
if ( ( status == VL53L0X_ERROR_NONE ) &&
( peak_signal_rate_ref < target_ref_rate ) ) {
/* At this point, the minimum number of either aperture
* or non-aperture spads have been set. Proceed to add
* spads and perform measurements until the target
* reference is reached.
*/
is_aperture_spads_int = need_apt_spads;
ref_spad_count_int = minimum_spad_count;
memcpy( last_spad_array, dev->Data.SpadData.RefSpadEnables,
spad_array_size );
last_signal_rate_diff = abs( peak_signal_rate_ref -
target_ref_rate );
complete = 0;
while ( !complete ) {
get_next_good_spad(
dev->Data.SpadData.RefGoodSpadMap,
spad_array_size, current_spad_index,
&next_good_spad );
if ( next_good_spad == -1 ) {
status = VL53L0X_ERROR_REF_SPAD_INIT;
break;
}
/* Cannot combine Aperture and Non-Aperture spads, so
* ensure the current spad is of the correct type.
*/
if ( is_aperture( ( uint32_t )start_select + next_good_spad ) !=
need_apt_spads ) {
/* At this point we have enabled the maximum
* number of Aperture spads.
*/
complete = 1;
break;
}
( ref_spad_count_int )++;
current_spad_index = next_good_spad;
status = enable_spad_bit(
dev->Data.SpadData.RefSpadEnables,
spad_array_size, current_spad_index );
if ( status == VL53L0X_ERROR_NONE ) {
current_spad_index++;
/* Proceed to apply the additional spad and
* perform measurement. */
status = set_ref_spad_map( dev,
dev->Data.SpadData.RefSpadEnables );
}
if ( status != VL53L0X_ERROR_NONE )
break;
status = perform_ref_signal_measurement( dev,
&peak_signal_rate_ref );
if ( status != VL53L0X_ERROR_NONE )
break;
signal_rate_diff = abs( peak_signal_rate_ref - target_ref_rate );
if ( peak_signal_rate_ref > target_ref_rate ) {
/* Select the spad map that provides the
* measurement closest to the target rate,
* either above or below it.
*/
if ( signal_rate_diff > last_signal_rate_diff ) {
/* Previous spad map produced a closer
* measurement, so choose this. */
status = set_ref_spad_map( dev,
last_spad_array );
memcpy(
dev->Data.SpadData.RefSpadEnables,
last_spad_array, spad_array_size );
( ref_spad_count_int )--;
}
complete = 1;
} else {
/* Continue to add spads */
last_signal_rate_diff = signal_rate_diff;
memcpy( last_spad_array,
dev->Data.SpadData.RefSpadEnables,
spad_array_size );
}
} /* while */
}
if ( status == VL53L0X_ERROR_NONE ) {
*ref_spad_count = ref_spad_count_int;
*is_aperture_spads = is_aperture_spads_int;
VL53L0X_SETDEVICESPECIFICPARAMETER( dev, RefSpadsInitialised, 1 );
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
ReferenceSpadCount, ( uint8_t )( *ref_spad_count ) );
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
ReferenceSpadType, *is_aperture_spads );
}
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_set_reference_spads( VL53L0X_DEV dev,
uint32_t count, uint8_t is_aperture_spads )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint32_t current_spad_index = 0;
uint8_t start_select = 0xB4;
uint32_t spad_array_size = 6;
uint32_t max_spad_count = 44;
uint32_t last_spad_index;
uint32_t index;
/*
* This function applies a requested number of reference spads, either
* aperture or
* non-aperture, as requested.
* The good spad map will be applied.
*/
status = vl53l0x_write_byte( dev, 0xFF, 0x01 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev,
VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev,
VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev, 0xFF, 0x00 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev,
VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
start_select );
for ( index = 0; index < spad_array_size; index++ )
dev->Data.SpadData.RefSpadEnables[index] = 0;
if ( is_aperture_spads ) {
/* Increment to the first APERTURE spad */
while ( ( is_aperture( start_select + current_spad_index ) == 0 ) &&
( current_spad_index < max_spad_count ) ) {
current_spad_index++;
}
}
status = enable_ref_spads( dev,
is_aperture_spads,
dev->Data.SpadData.RefGoodSpadMap,
dev->Data.SpadData.RefSpadEnables,
spad_array_size,
start_select,
current_spad_index,
count,
&last_spad_index );
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETDEVICESPECIFICPARAMETER( dev, RefSpadsInitialised, 1 );
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
ReferenceSpadCount, ( uint8_t )( count ) );
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
ReferenceSpadType, is_aperture_spads );
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_wait_device_booted( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NOT_IMPLEMENTED;
LOG_FUNCTION_START( "" );
/* not implemented on VL53L0X */
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_perform_ref_calibration( VL53L0X_DEV dev, uint8_t *p_vhv_settings,
uint8_t *p_phase_cal )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = vl53l0x_perform_ref_calibration( dev, p_vhv_settings,
p_phase_cal, 1 );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_perform_ref_spad_management( VL53L0X_DEV dev,
uint32_t *ref_spad_count, uint8_t *is_aperture_spads )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_perform_ref_spad_management( dev, ref_spad_count,
is_aperture_spads );
LOG_FUNCTION_END( status );
return status;
}
/* Group PAL Init Functions */
VL53L0X_Error VL53L0X::vl53l0x_set_device_address( VL53L0X_DEV dev, uint8_t device_address )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = vl53l0x_write_byte( dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS,
device_address / 2 );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_gpio_config( VL53L0X_DEV dev, uint8_t pin,
VL53L0X_DeviceModes device_mode, VL53L0X_GpioFunctionality functionality,
VL53L0X_InterruptPolarity polarity )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t data;
LOG_FUNCTION_START( "" );
if ( pin != 0 ) {
status = VL53L0X_ERROR_GPIO_NOT_EXISTING;
} else if ( device_mode == VL53L0X_DEVICEMODE_GPIO_DRIVE ) {
if ( polarity == VL53L0X_INTERRUPTPOLARITY_LOW )
data = 0x10;
else
data = 1;
status = vl53l0x_write_byte( dev,
VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data );
} else if ( device_mode == VL53L0X_DEVICEMODE_GPIO_OSC ) {
status |= vl53l0x_write_byte( dev, 0xff, 0x01 );
status |= vl53l0x_write_byte( dev, 0x00, 0x00 );
status |= vl53l0x_write_byte( dev, 0xff, 0x00 );
status |= vl53l0x_write_byte( dev, 0x80, 0x01 );
status |= vl53l0x_write_byte( dev, 0x85, 0x02 );
status |= vl53l0x_write_byte( dev, 0xff, 0x04 );
status |= vl53l0x_write_byte( dev, 0xcd, 0x00 );
status |= vl53l0x_write_byte( dev, 0xcc, 0x11 );
status |= vl53l0x_write_byte( dev, 0xff, 0x07 );
status |= vl53l0x_write_byte( dev, 0xbe, 0x00 );
status |= vl53l0x_write_byte( dev, 0xff, 0x06 );
status |= vl53l0x_write_byte( dev, 0xcc, 0x09 );
status |= vl53l0x_write_byte( dev, 0xff, 0x00 );
status |= vl53l0x_write_byte( dev, 0xff, 0x01 );
status |= vl53l0x_write_byte( dev, 0x00, 0x00 );
} else {
if ( status == VL53L0X_ERROR_NONE ) {
switch ( functionality ) {
case VL53L0X_GPIOFUNCTIONALITY_OFF:
data = 0x00;
break;
case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW:
data = 0x01;
break;
case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH:
data = 0x02;
break;
case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT:
data = 0x03;
break;
case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY:
data = 0x04;
break;
default:
status =
VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
}
}
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev,
VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data );
if ( status == VL53L0X_ERROR_NONE ) {
if ( polarity == VL53L0X_INTERRUPTPOLARITY_LOW )
data = 0;
else
data = ( uint8_t )( 1 << 4 );
status = vl53l0x_update_byte( dev,
VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data );
}
if ( status == VL53L0X_ERROR_NONE )
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
Pin0GpioFunctionality, functionality );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_clear_interrupt_mask( dev, 0 );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_fraction_enable( VL53L0X_DEV dev, uint8_t *p_enabled )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = vl53l0x_read_byte( dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, p_enabled );
if ( status == VL53L0X_ERROR_NONE )
*p_enabled = ( *p_enabled & 1 );
LOG_FUNCTION_END( status );
return status;
}
uint16_t VL53L0X::vl53l0x_encode_timeout( uint32_t timeout_macro_clks )
{
/*!
* Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format
*/
uint16_t encoded_timeout = 0;
uint32_t ls_byte = 0;
uint16_t ms_byte = 0;
if ( timeout_macro_clks > 0 ) {
ls_byte = timeout_macro_clks - 1;
while ( ( ls_byte & 0xFFFFFF00 ) > 0 ) {
ls_byte = ls_byte >> 1;
ms_byte++;
}
encoded_timeout = ( ms_byte << 8 )
+ ( uint16_t ) ( ls_byte & 0x000000FF );
}
return encoded_timeout;
}
VL53L0X_Error VL53L0X::set_sequence_step_timeout( VL53L0X_DEV dev,
VL53L0X_SequenceStepId sequence_step_id,
uint32_t timeout_micro_secs )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t current_vcsel_pulse_period_p_clk;
uint8_t msrc_encoded_time_out;
uint16_t pre_range_encoded_time_out;
uint16_t pre_range_time_out_m_clks;
uint16_t msrc_range_time_out_m_clks;
uint32_t final_range_time_out_m_clks;
uint16_t final_range_encoded_time_out;
VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
if ( ( sequence_step_id == VL53L0X_SEQUENCESTEP_TCC ) ||
( sequence_step_id == VL53L0X_SEQUENCESTEP_DSS ) ||
( sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC ) ) {
status = vl53l0x_get_vcsel_pulse_period( dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
¤t_vcsel_pulse_period_p_clk );
if ( status == VL53L0X_ERROR_NONE ) {
msrc_range_time_out_m_clks = vl53l0x_calc_timeout_mclks( dev,
timeout_micro_secs,
( uint8_t )current_vcsel_pulse_period_p_clk );
if ( msrc_range_time_out_m_clks > 256 )
msrc_encoded_time_out = 255;
else
msrc_encoded_time_out =
( uint8_t )msrc_range_time_out_m_clks - 1;
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
LastEncodedTimeout,
msrc_encoded_time_out );
}
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_write_byte( dev,
VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
msrc_encoded_time_out );
}
} else {
if ( sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE ) {
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_get_vcsel_pulse_period( dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
¤t_vcsel_pulse_period_p_clk );
pre_range_time_out_m_clks =
vl53l0x_calc_timeout_mclks( dev,
timeout_micro_secs,
( uint8_t )current_vcsel_pulse_period_p_clk );
pre_range_encoded_time_out = vl53l0x_encode_timeout(
pre_range_time_out_m_clks );
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
LastEncodedTimeout,
pre_range_encoded_time_out );
}
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_write_word( dev,
VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
pre_range_encoded_time_out );
}
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETDEVICESPECIFICPARAMETER(
dev,
PreRangeTimeoutMicroSecs,
timeout_micro_secs );
}
} else if ( sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE ) {
/* For the final range timeout, the pre-range timeout
* must be added. To do this both final and pre-range
* timeouts must be expressed in macro periods MClks
* because they have different vcsel periods.
*/
vl53l0x_get_sequence_step_enables( dev,
&scheduler_sequence_steps );
pre_range_time_out_m_clks = 0;
if ( scheduler_sequence_steps.PreRangeOn ) {
/* Retrieve PRE-RANGE VCSEL Period */
status = vl53l0x_get_vcsel_pulse_period( dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
¤t_vcsel_pulse_period_p_clk );
/* Retrieve PRE-RANGE Timeout in Macro periods
* (MCLKS) */
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_read_word( dev, 0x51,
&pre_range_encoded_time_out );
pre_range_time_out_m_clks =
vl53l0x_decode_timeout(
pre_range_encoded_time_out );
}
}
/* Calculate FINAL RANGE Timeout in Macro Periods
* (MCLKS) and add PRE-RANGE value
*/
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_get_vcsel_pulse_period( dev,
VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
¤t_vcsel_pulse_period_p_clk );
}
if ( status == VL53L0X_ERROR_NONE ) {
final_range_time_out_m_clks =
vl53l0x_calc_timeout_mclks( dev,
timeout_micro_secs,
( uint8_t ) current_vcsel_pulse_period_p_clk );
final_range_time_out_m_clks += pre_range_time_out_m_clks;
final_range_encoded_time_out =
vl53l0x_encode_timeout( final_range_time_out_m_clks );
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_write_word( dev, 0x71,
final_range_encoded_time_out );
}
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETDEVICESPECIFICPARAMETER(
dev,
FinalRangeTimeoutMicroSecs,
timeout_micro_secs );
}
}
} else
status = VL53L0X_ERROR_INVALID_PARAMS;
}
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_set_measurement_timing_budget_micro_seconds( VL53L0X_DEV dev,
uint32_t measurement_timing_budget_micro_seconds )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint32_t final_range_timing_budget_micro_seconds;
VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000;
uint32_t start_overhead_micro_seconds = 1910;
uint32_t end_overhead_micro_seconds = 960;
uint32_t msrc_overhead_micro_seconds = 660;
uint32_t tcc_overhead_micro_seconds = 590;
uint32_t dss_overhead_micro_seconds = 690;
uint32_t pre_range_overhead_micro_seconds = 660;
uint32_t final_range_overhead_micro_seconds = 550;
uint32_t pre_range_timeout_micro_seconds = 0;
uint32_t c_min_timing_budget_micro_seconds = 20000;
uint32_t sub_timeout = 0;
LOG_FUNCTION_START( "" );
if ( measurement_timing_budget_micro_seconds
< c_min_timing_budget_micro_seconds ) {
status = VL53L0X_ERROR_INVALID_PARAMS;
return status;
}
final_range_timing_budget_micro_seconds =
measurement_timing_budget_micro_seconds -
( start_overhead_micro_seconds + end_overhead_micro_seconds );
status = vl53l0x_get_sequence_step_enables( dev, &scheduler_sequence_steps );
if ( status == VL53L0X_ERROR_NONE &&
( scheduler_sequence_steps.TccOn ||
scheduler_sequence_steps.MsrcOn ||
scheduler_sequence_steps.DssOn ) ) {
/* TCC, MSRC and DSS all share the same timeout */
status = get_sequence_step_timeout( dev,
VL53L0X_SEQUENCESTEP_MSRC,
&msrc_dcc_tcc_timeout_micro_seconds );
/* Subtract the TCC, MSRC and DSS timeouts if they are
* enabled. */
if ( status != VL53L0X_ERROR_NONE )
return status;
/* TCC */
if ( scheduler_sequence_steps.TccOn ) {
sub_timeout = msrc_dcc_tcc_timeout_micro_seconds
+ tcc_overhead_micro_seconds;
if ( sub_timeout <
final_range_timing_budget_micro_seconds ) {
final_range_timing_budget_micro_seconds -=
sub_timeout;
} else {
/* Requested timeout too big. */
status = VL53L0X_ERROR_INVALID_PARAMS;
}
}
if ( status != VL53L0X_ERROR_NONE ) {
LOG_FUNCTION_END( status );
return status;
}
/* DSS */
if ( scheduler_sequence_steps.DssOn ) {
sub_timeout = 2 * ( msrc_dcc_tcc_timeout_micro_seconds +
dss_overhead_micro_seconds );
if ( sub_timeout < final_range_timing_budget_micro_seconds ) {
final_range_timing_budget_micro_seconds
-= sub_timeout;
} else {
/* Requested timeout too big. */
status = VL53L0X_ERROR_INVALID_PARAMS;
}
} else if ( scheduler_sequence_steps.MsrcOn ) {
/* MSRC */
sub_timeout = msrc_dcc_tcc_timeout_micro_seconds +
msrc_overhead_micro_seconds;
if ( sub_timeout < final_range_timing_budget_micro_seconds ) {
final_range_timing_budget_micro_seconds
-= sub_timeout;
} else {
/* Requested timeout too big. */
status = VL53L0X_ERROR_INVALID_PARAMS;
}
}
}
if ( status != VL53L0X_ERROR_NONE ) {
LOG_FUNCTION_END( status );
return status;
}
if ( scheduler_sequence_steps.PreRangeOn ) {
/* Subtract the Pre-range timeout if enabled. */
status = get_sequence_step_timeout( dev,
VL53L0X_SEQUENCESTEP_PRE_RANGE,
&pre_range_timeout_micro_seconds );
sub_timeout = pre_range_timeout_micro_seconds +
pre_range_overhead_micro_seconds;
if ( sub_timeout < final_range_timing_budget_micro_seconds ) {
final_range_timing_budget_micro_seconds -= sub_timeout;
} else {
/* Requested timeout too big. */
status = VL53L0X_ERROR_INVALID_PARAMS;
}
}
if ( status == VL53L0X_ERROR_NONE &&
scheduler_sequence_steps.FinalRangeOn ) {
final_range_timing_budget_micro_seconds -=
final_range_overhead_micro_seconds;
/* Final Range Timeout
* Note that the final range timeout is determined by the timing
* budget and the sum of all other timeouts within the sequence.
* If there is no room for the final range timeout, then an error
* will be set. Otherwise the remaining time will be applied to
* the final range.
*/
status = set_sequence_step_timeout( dev,
VL53L0X_SEQUENCESTEP_FINAL_RANGE,
final_range_timing_budget_micro_seconds );
VL53L0X_SETPARAMETERFIELD( dev,
MeasurementTimingBudgetMicroSeconds,
measurement_timing_budget_micro_seconds );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_measurement_timing_budget_micro_seconds( VL53L0X_DEV dev,
uint32_t measurement_timing_budget_micro_seconds )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_set_measurement_timing_budget_micro_seconds( dev,
measurement_timing_budget_micro_seconds );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_sequence_step_enable( VL53L0X_DEV dev,
VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_step_enabled )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t sequence_config = 0;
uint8_t sequence_config_new = 0;
uint32_t measurement_timing_budget_micro_seconds;
LOG_FUNCTION_START( "" );
status = vl53l0x_read_byte( dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
&sequence_config );
sequence_config_new = sequence_config;
if ( status == VL53L0X_ERROR_NONE ) {
if ( sequence_step_enabled == 1 ) {
/* Enable requested sequence step
*/
switch ( sequence_step_id ) {
case VL53L0X_SEQUENCESTEP_TCC:
sequence_config_new |= 0x10;
break;
case VL53L0X_SEQUENCESTEP_DSS:
sequence_config_new |= 0x28;
break;
case VL53L0X_SEQUENCESTEP_MSRC:
sequence_config_new |= 0x04;
break;
case VL53L0X_SEQUENCESTEP_PRE_RANGE:
sequence_config_new |= 0x40;
break;
case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
sequence_config_new |= 0x80;
break;
default:
status = VL53L0X_ERROR_INVALID_PARAMS;
}
} else {
/* Disable requested sequence step
*/
switch ( sequence_step_id ) {
case VL53L0X_SEQUENCESTEP_TCC:
sequence_config_new &= 0xef;
break;
case VL53L0X_SEQUENCESTEP_DSS:
sequence_config_new &= 0xd7;
break;
case VL53L0X_SEQUENCESTEP_MSRC:
sequence_config_new &= 0xfb;
break;
case VL53L0X_SEQUENCESTEP_PRE_RANGE:
sequence_config_new &= 0xbf;
break;
case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
sequence_config_new &= 0x7f;
break;
default:
status = VL53L0X_ERROR_INVALID_PARAMS;
}
}
}
if ( sequence_config_new != sequence_config ) {
/* Apply New Setting */
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_write_byte( dev,
VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, sequence_config_new );
}
if ( status == VL53L0X_ERROR_NONE )
PALDevDataSet( dev, SequenceConfig, sequence_config_new );
/* Recalculate timing budget */
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_GETPARAMETERFIELD( dev,
MeasurementTimingBudgetMicroSeconds,
measurement_timing_budget_micro_seconds );
vl53l0x_set_measurement_timing_budget_micro_seconds( dev,
measurement_timing_budget_micro_seconds );
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_limit_check_enable( VL53L0X_DEV dev, uint16_t limit_check_id,
uint8_t limit_check_enable )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
FixPoint1616_t temp_fix1616 = 0;
uint8_t limit_check_enable_int = 0;
uint8_t limit_check_disable = 0;
uint8_t temp8;
LOG_FUNCTION_START( "" );
if ( limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS ) {
status = VL53L0X_ERROR_INVALID_PARAMS;
} else {
if ( limit_check_enable == 0 ) {
temp_fix1616 = 0;
limit_check_enable_int = 0;
limit_check_disable = 1;
} else {
VL53L0X_GETARRAYPARAMETERFIELD( dev, LimitChecksValue,
limit_check_id, temp_fix1616 );
limit_check_disable = 0;
/* this to be sure to have either 0 or 1 */
limit_check_enable_int = 1;
}
switch ( limit_check_id ) {
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
/* internal computation: */
VL53L0X_SETARRAYPARAMETERFIELD( dev, LimitChecksEnable,
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
limit_check_enable_int );
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
status = vl53l0x_write_word( dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
VL53L0X_FIXPOINT1616TOFIXPOINT97( temp_fix1616 ) );
break;
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
/* internal computation: */
VL53L0X_SETARRAYPARAMETERFIELD( dev, LimitChecksEnable,
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
limit_check_enable_int );
break;
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
/* internal computation: */
VL53L0X_SETARRAYPARAMETERFIELD( dev, LimitChecksEnable,
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
limit_check_enable_int );
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
temp8 = ( uint8_t )( limit_check_disable << 1 );
status = vl53l0x_update_byte( dev,
VL53L0X_REG_MSRC_CONFIG_CONTROL,
0xFE, temp8 );
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
temp8 = ( uint8_t )( limit_check_disable << 4 );
status = vl53l0x_update_byte( dev,
VL53L0X_REG_MSRC_CONFIG_CONTROL,
0xEF, temp8 );
break;
default:
status = VL53L0X_ERROR_INVALID_PARAMS;
}
}
if ( status == VL53L0X_ERROR_NONE ) {
if ( limit_check_enable == 0 ) {
VL53L0X_SETARRAYPARAMETERFIELD( dev, LimitChecksEnable,
limit_check_id, 0 );
} else {
VL53L0X_SETARRAYPARAMETERFIELD( dev, LimitChecksEnable,
limit_check_id, 1 );
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_static_init( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
VL53L0X_DeviceParameters_t current_parameters = {0};
uint8_t *p_tuning_setting_buffer;
uint16_t tempword = 0;
uint8_t tempbyte = 0;
uint8_t use_internal_tuning_settings = 0;
uint32_t count = 0;
uint8_t is_aperture_spads = 0;
uint32_t ref_spad_count = 0;
uint8_t aperture_spads = 0;
uint8_t vcsel_pulse_period_pclk;
uint32_t seq_timeout_micro_secs;
LOG_FUNCTION_START( "" );
status = vl53l0x_get_info_from_device( dev, 1 );
/* set the ref spad from NVM */
count = ( uint32_t )VL53L0X_GETDEVICESPECIFICPARAMETER( dev,
ReferenceSpadCount );
aperture_spads = VL53L0X_GETDEVICESPECIFICPARAMETER( dev,
ReferenceSpadType );
/* NVM value invalid */
if ( ( aperture_spads > 1 ) ||
( ( aperture_spads == 1 ) && ( count > 32 ) ) ||
( ( aperture_spads == 0 ) && ( count > 12 ) ) )
status = wrapped_vl53l0x_perform_ref_spad_management( dev, &ref_spad_count,
&is_aperture_spads );
else
status = wrapped_vl53l0x_set_reference_spads( dev, count, aperture_spads );
/* Initialize tuning settings buffer to prevent compiler warning. */
p_tuning_setting_buffer = DefaultTuningSettings;
if ( status == VL53L0X_ERROR_NONE ) {
use_internal_tuning_settings = PALDevDataGet( dev,
UseInternalTuningSettings );
if ( use_internal_tuning_settings == 0 )
p_tuning_setting_buffer = PALDevDataGet( dev,
pTuningSettingsPointer );
else
p_tuning_setting_buffer = DefaultTuningSettings;
}
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_load_tuning_settings( dev, p_tuning_setting_buffer );
/* Set interrupt config to new sample ready */
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_set_gpio_config( dev, 0, 0,
VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
VL53L0X_INTERRUPTPOLARITY_LOW );
}
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_write_byte( dev, 0xFF, 0x01 );
status |= vl53l0x_read_word( dev, 0x84, &tempword );
status |= vl53l0x_write_byte( dev, 0xFF, 0x00 );
}
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETDEVICESPECIFICPARAMETER( dev, OscFrequencyMHz,
VL53L0X_FIXPOINT412TOFIXPOINT1616( tempword ) );
}
/* After static init, some device parameters may be changed,
* so update them */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_get_device_parameters( dev, ¤t_parameters );
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_get_fraction_enable( dev, &tempbyte );
if ( status == VL53L0X_ERROR_NONE )
PALDevDataSet( dev, RangeFractionalEnable, tempbyte );
}
if ( status == VL53L0X_ERROR_NONE )
PALDevDataSet( dev, CurrentParameters, current_parameters );
/* read the sequence config and save it */
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_read_byte( dev,
VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte );
if ( status == VL53L0X_ERROR_NONE )
PALDevDataSet( dev, SequenceConfig, tempbyte );
}
/* Disable MSRC and TCC by default */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_set_sequence_step_enable( dev,
VL53L0X_SEQUENCESTEP_TCC, 0 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_set_sequence_step_enable( dev,
VL53L0X_SEQUENCESTEP_MSRC, 0 );
/* Set PAL State to standby */
if ( status == VL53L0X_ERROR_NONE )
PALDevDataSet( dev, PalState, VL53L0X_STATE_IDLE );
/* Store pre-range vcsel period */
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_get_vcsel_pulse_period(
dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
&vcsel_pulse_period_pclk );
}
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETDEVICESPECIFICPARAMETER(
dev,
PreRangeVcselPulsePeriod,
vcsel_pulse_period_pclk );
}
/* Store final-range vcsel period */
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_get_vcsel_pulse_period(
dev,
VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
&vcsel_pulse_period_pclk );
}
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETDEVICESPECIFICPARAMETER(
dev,
FinalRangeVcselPulsePeriod,
vcsel_pulse_period_pclk );
}
/* Store pre-range timeout */
if ( status == VL53L0X_ERROR_NONE ) {
status = get_sequence_step_timeout(
dev,
VL53L0X_SEQUENCESTEP_PRE_RANGE,
&seq_timeout_micro_secs );
}
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETDEVICESPECIFICPARAMETER(
dev,
PreRangeTimeoutMicroSecs,
seq_timeout_micro_secs );
}
/* Store final-range timeout */
if ( status == VL53L0X_ERROR_NONE ) {
status = get_sequence_step_timeout(
dev,
VL53L0X_SEQUENCESTEP_FINAL_RANGE,
&seq_timeout_micro_secs );
}
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETDEVICESPECIFICPARAMETER(
dev,
FinalRangeTimeoutMicroSecs,
seq_timeout_micro_secs );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_stop_measurement( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = vl53l0x_write_byte( dev, VL53L0X_REG_SYSRANGE_START,
VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT );
status = vl53l0x_write_byte( dev, 0xFF, 0x01 );
status = vl53l0x_write_byte( dev, 0x00, 0x00 );
status = vl53l0x_write_byte( dev, 0x91, 0x00 );
status = vl53l0x_write_byte( dev, 0x00, 0x01 );
status = vl53l0x_write_byte( dev, 0xFF, 0x00 );
if ( status == VL53L0X_ERROR_NONE ) {
/* Set PAL State to Idle */
PALDevDataSet( dev, PalState, VL53L0X_STATE_IDLE );
}
/* Check if need to apply interrupt settings */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_check_and_load_interrupt_settings( dev, 0 );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_stop_completed_status( VL53L0X_DEV dev,
uint32_t *p_stop_status )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t byte = 0;
LOG_FUNCTION_START( "" );
status = vl53l0x_write_byte( dev, 0xFF, 0x01 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_read_byte( dev, 0x04, &byte );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_write_byte( dev, 0xFF, 0x0 );
*p_stop_status = byte;
if ( byte == 0 ) {
status = vl53l0x_write_byte( dev, 0x80, 0x01 );
status = vl53l0x_write_byte( dev, 0xFF, 0x01 );
status = vl53l0x_write_byte( dev, 0x00, 0x00 );
status = vl53l0x_write_byte( dev, 0x91,
PALDevDataGet( dev, StopVariable ) );
status = vl53l0x_write_byte( dev, 0x00, 0x01 );
status = vl53l0x_write_byte( dev, 0xFF, 0x00 );
status = vl53l0x_write_byte( dev, 0x80, 0x00 );
}
LOG_FUNCTION_END( status );
return status;
}
/****************** Write and read functions from I2C *************************/
VL53L0X_Error VL53L0X::vl53l0x_write_multi( VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count )
{
int status;
status = vl53l0x_i2c_write( dev->I2cDevAddr, index, p_data, ( uint16_t )count );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_read_multi( VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count )
{
int status;
if ( count >= VL53L0X_MAX_I2C_XFER_SIZE ) {
status = VL53L0X_ERROR_INVALID_PARAMS;
}
status = vl53l0x_i2c_read( dev->I2cDevAddr, index, p_data, ( uint16_t )count );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_write_byte( VL53L0X_DEV Dev, uint8_t index, uint8_t data )
{
int status;
status = vl53l0x_i2c_write( Dev->I2cDevAddr, index, &data, 1 );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_write_word( VL53L0X_DEV dev, uint8_t index, uint16_t data )
{
int status;
uint8_t buffer[2];
buffer[0] = data >> 8;
buffer[1] = data & 0x00FF;
status = vl53l0x_i2c_write( dev->I2cDevAddr, index, ( uint8_t * )buffer, 2 );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_write_dword( VL53L0X_DEV Dev, uint8_t index, uint32_t data )
{
int status;
uint8_t buffer[4];
buffer[0] = ( data >> 24 ) & 0xFF;
buffer[1] = ( data >> 16 ) & 0xFF;
buffer[2] = ( data >> 8 ) & 0xFF;
buffer[3] = ( data >> 0 ) & 0xFF;
status = vl53l0x_i2c_write( Dev->I2cDevAddr, index, ( uint8_t * )buffer, 4 );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_read_byte( VL53L0X_DEV Dev, uint8_t index, uint8_t *p_data )
{
int status;
status = vl53l0x_i2c_read( Dev->I2cDevAddr, index, p_data, 1 );
if( status )
return -1;
return 0;
}
VL53L0X_Error VL53L0X::vl53l0x_read_word( VL53L0X_DEV Dev, uint8_t index, uint16_t *p_data )
{
int status;
uint8_t buffer[2] = {0, 0};
status = vl53l0x_i2c_read( Dev->I2cDevAddr, index, buffer, 2 );
if ( !status ) {
*p_data = ( buffer[0] << 8 ) + buffer[1];
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_read_dword( VL53L0X_DEV Dev, uint8_t index, uint32_t *p_data )
{
int status;
uint8_t buffer[4] = {0, 0, 0, 0};
status = vl53l0x_i2c_read( Dev->I2cDevAddr, index, buffer, 4 );
if( !status ) {
*p_data = ( buffer[0] << 24 ) + ( buffer[1] << 16 ) + ( buffer[2] << 8 ) + buffer[3];
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_update_byte( VL53L0X_DEV Dev, uint8_t index, uint8_t and_data, uint8_t or_data )
{
int status;
uint8_t buffer = 0;
/* read data direct onto buffer */
status = vl53l0x_i2c_read( Dev->I2cDevAddr, index, &buffer, 1 );
if ( !status ) {
buffer = ( buffer & and_data ) | or_data;
status = vl53l0x_i2c_write( Dev->I2cDevAddr, index, &buffer, ( uint8_t )1 );
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_i2c_write( uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t *p_data,
uint16_t NumByteToWrite )
{
int ret;
ret = dev_i2c.i2c_write( p_data, DeviceAddr, RegisterAddr, NumByteToWrite );
if( ret )
return -1;
return 0;
}
VL53L0X_Error VL53L0X::vl53l0x_i2c_read( uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t *p_data,
uint16_t NumByteToRead )
{
int ret;
ret = dev_i2c.i2c_read( p_data, DeviceAddr, RegisterAddr, NumByteToRead );
if( ret )
return -1;
return 0;
}
int VL53L0X::read_id( uint8_t *id )
{
int status = 0;
uint16_t rl_id = 0;
status = vl53l0x_read_word( _device, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &rl_id );
if ( rl_id == 0xEEAA )
return status;
return -1;
}
VL53L0X_Error VL53L0X::wait_measurement_data_ready( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t new_dat_ready = 0;
uint32_t loop_nb;
// Wait until it finished
// use timeout to avoid deadlock
if ( status == VL53L0X_ERROR_NONE ) {
loop_nb = 0;
do {
status = vl53l0x_get_measurement_data_ready( dev, &new_dat_ready );
if ( ( new_dat_ready == 0x01 ) || status != VL53L0X_ERROR_NONE ) {
break;
}
loop_nb = loop_nb + 1;
vl53l0x_polling_delay( dev );
} while ( loop_nb < VL53L0X_DEFAULT_MAX_LOOP );
if ( loop_nb >= VL53L0X_DEFAULT_MAX_LOOP ) {
status = VL53L0X_ERROR_TIME_OUT;
}
}
return status;
}
VL53L0X_Error VL53L0X::wait_stop_completed( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint32_t stop_completed = 0;
uint32_t loop_nb;
// Wait until it finished
// use timeout to avoid deadlock
if ( status == VL53L0X_ERROR_NONE ) {
loop_nb = 0;
do {
status = vl53l0x_get_stop_completed_status( dev, &stop_completed );
if ( ( stop_completed == 0x00 ) || status != VL53L0X_ERROR_NONE ) {
break;
}
loop_nb = loop_nb + 1;
vl53l0x_polling_delay( dev );
} while ( loop_nb < VL53L0X_DEFAULT_MAX_LOOP );
if ( loop_nb >= VL53L0X_DEFAULT_MAX_LOOP ) {
status = VL53L0X_ERROR_TIME_OUT;
}
}
return status;
}
int VL53L0X::init_sensor( uint8_t new_addr )
{
int status;
vl53l0x_off();
vl53l0x_on();
// status=VL53L0X_WaitDeviceBooted(Device);
// if(status)
// printf("WaitDeviceBooted fail\n\r");
status = is_present();
if( !status ) {
status = init( &_my_device );
if( status != VL53L0X_ERROR_NONE ) {
printf( "Failed to init VL53L0X sensor!\n\r" );
return status;
}
// deduce silicon version
status = vl53l0x_get_device_info( &_my_device, &_device_info );
status = prepare();
if( status != VL53L0X_ERROR_NONE ) {
printf( "Failed to prepare VL53L0X!\n\r" );
return status;
}
if( new_addr != DEFAULT_DEVICE_ADDRESS ) {
status = set_device_address( new_addr );
if( status ) {
printf( "Failed to change I2C address!\n\r" );
return status;
}
} else {
printf( "Invalid new address!\n\r" );
return VL53L0X_ERROR_INVALID_PARAMS;
}
}
return status;
}
int VL53L0X::range_meas_int_continuous_mode( void ( *fptr )( void ) )
{
int status, clr_status;
status = vl53l0x_stop_measurement( _device ); // it is safer to do this while sensor is stopped
// status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
status = vl53l0x_set_gpio_config( _device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
VL53L0X_INTERRUPTPOLARITY_HIGH );
if ( !status ) {
attach_interrupt_measure_detection_irq( fptr );
enable_interrupt_measure_detection_irq();
}
clr_status = clear_interrupt( VL53L0X_REG_RESULT_INTERRUPT_STATUS | VL53L0X_REG_RESULT_RANGE_STATUS );
if( clr_status )
VL53L0X_ErrLog( "VL53L0X_ClearErrorInterrupt fail\r\n" );
if( !status ) {
status = range_start_continuous_mode();
}
return status;
}
int VL53L0X::start_measurement( OperatingMode operating_mode, void ( *fptr )( void ) )
{
int Status = VL53L0X_ERROR_NONE;
int ClrStatus;
uint8_t VhvSettings;
uint8_t PhaseCal;
// *** from mass market cube expansion v1.1, ranging with satellites.
// default settings, for normal range.
FixPoint1616_t signalLimit = ( FixPoint1616_t )( 0.25 * 65536 );
FixPoint1616_t sigmaLimit = ( FixPoint1616_t )( 18 * 65536 );
uint32_t timingBudget = 33000;
uint8_t preRangeVcselPeriod = 14;
uint8_t finalRangeVcselPeriod = 10;
if ( operating_mode == range_continuous_interrupt ) {
if ( gpio1Int == NULL ) {
printf ( "GPIO1 Error\r\n" );
return 1;
}
Status = vl53l0x_stop_measurement( _device ); // it is safer to do this while sensor is stopped
// Status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
Status = vl53l0x_set_gpio_config( _device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
VL53L0X_INTERRUPTPOLARITY_HIGH );
if ( Status == VL53L0X_ERROR_NONE ) {
attach_interrupt_measure_detection_irq( fptr );
enable_interrupt_measure_detection_irq();
}
ClrStatus = clear_interrupt( VL53L0X_REG_RESULT_INTERRUPT_STATUS | VL53L0X_REG_RESULT_RANGE_STATUS );
if( ClrStatus )
VL53L0X_ErrLog( "VL53L0X_ClearErrorInterrupt fail\r\n" );
if( Status == VL53L0X_ERROR_NONE ) {
Status = vl53l0x_set_device_mode( _device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ); // Setup in continuous ranging mode
}
if( Status == VL53L0X_ERROR_NONE ) {
Status = vl53l0x_start_measurement( _device );
}
}
if ( operating_mode == range_single_shot_polling ) {
// singelshot, polled ranging
if( Status == VL53L0X_ERROR_NONE ) {
// no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
Status = vl53l0x_set_device_mode( _device, VL53L0X_DEVICEMODE_SINGLE_RANGING ); // Setup in single ranging mode
}
// Enable/Disable Sigma and Signal check
if ( Status == VL53L0X_ERROR_NONE ) {
Status = vl53l0x_set_limit_check_enable( _device,
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1 );
}
if ( Status == VL53L0X_ERROR_NONE ) {
Status = vl53l0x_set_limit_check_enable( _device,
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1 );
}
// *** from mass market cube expansion v1.1, ranging with satellites.
/* Ranging configuration */
//*
// switch(rangingConfig) {
// case LONG_RANGE:
signalLimit = ( FixPoint1616_t )( 0.1 * 65536 );
sigmaLimit = ( FixPoint1616_t )( 60 * 65536 );
timingBudget = 33000;
preRangeVcselPeriod = 18;
finalRangeVcselPeriod = 14;
/* break;
case HIGH_ACCURACY:
signalLimit = (FixPoint1616_t)(0.25*65536);
sigmaLimit = (FixPoint1616_t)(18*65536);
timingBudget = 200000;
preRangeVcselPeriod = 14;
finalRangeVcselPeriod = 10;
break;
case HIGH_SPEED:
signalLimit = (FixPoint1616_t)(0.25*65536);
sigmaLimit = (FixPoint1616_t)(32*65536);
timingBudget = 20000;
preRangeVcselPeriod = 14;
finalRangeVcselPeriod = 10;
break;
default:
debug_printf("Not Supported");
}
*/
if ( Status == VL53L0X_ERROR_NONE ) {
Status = vl53l0x_set_limit_check_value( _device,
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, signalLimit );
}
if ( Status == VL53L0X_ERROR_NONE ) {
Status = vl53l0x_set_limit_check_value( _device,
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, sigmaLimit );
}
if ( Status == VL53L0X_ERROR_NONE ) {
Status = vl53l0x_set_measurement_timing_budget_micro_seconds( _device, timingBudget );
}
if ( Status == VL53L0X_ERROR_NONE ) {
Status = vl53l0x_set_vcsel_pulse_period( _device,
VL53L0X_VCSEL_PERIOD_PRE_RANGE, preRangeVcselPeriod );
}
if ( Status == VL53L0X_ERROR_NONE ) {
Status = vl53l0x_set_vcsel_pulse_period( _device,
VL53L0X_VCSEL_PERIOD_FINAL_RANGE, finalRangeVcselPeriod );
}
if ( Status == VL53L0X_ERROR_NONE ) {
Status = vl53l0x_perform_ref_calibration( _device, &VhvSettings, &PhaseCal );
}
}
if ( operating_mode == range_continuous_polling ) {
if( Status == VL53L0X_ERROR_NONE ) {
printf ( "Call of VL53L0X_SetDeviceMode\n" );
Status = vl53l0x_set_device_mode( _device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ); // Setup in continuous ranging mode
}
if( Status == VL53L0X_ERROR_NONE ) {
printf ( "Call of VL53L0X_StartMeasurement\n" );
Status = vl53l0x_start_measurement( _device );
}
}
return Status;
}
int VL53L0X::get_measurement( OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *p_data )
{
int Status = VL53L0X_ERROR_NONE;
if ( operating_mode == range_single_shot_polling ) {
Status = vl53l0x_perform_single_ranging_measurement( _device, p_data );
}
if ( operating_mode == range_continuous_polling ) {
if ( Status == VL53L0X_ERROR_NONE )
Status = vl53l0x_measurement_poll_for_completion( _device );
if( Status == VL53L0X_ERROR_NONE ) {
Status = vl53l0x_get_ranging_measurement_data( _device, p_data );
// Clear the interrupt
vl53l0x_clear_interrupt_mask( _device, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY );
vl53l0x_polling_delay( _device );
}
}
if ( operating_mode == range_continuous_interrupt ) {
Status = vl53l0x_get_ranging_measurement_data( _device, p_data );
vl53l0x_clear_interrupt_mask( _device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR | VL53L0X_REG_RESULT_INTERRUPT_STATUS );
}
return Status;
}
int VL53L0X::stop_measurement( OperatingMode operating_mode )
{
int status = VL53L0X_ERROR_NONE;
// don't need to stop for a singleshot range!
if ( operating_mode == range_single_shot_polling ) {
}
if ( operating_mode == range_continuous_interrupt || operating_mode == range_continuous_polling ) {
// continuous mode
if( status == VL53L0X_ERROR_NONE ) {
printf ( "Call of VL53L0X_StopMeasurement\n" );
status = vl53l0x_stop_measurement( _device );
}
if( status == VL53L0X_ERROR_NONE ) {
printf ( "Wait Stop to be competed\n" );
status = wait_stop_completed( _device );
}
if( status == VL53L0X_ERROR_NONE )
status = vl53l0x_clear_interrupt_mask( _device,
VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY );
}
return status;
}
int VL53L0X::handle_irq( OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *data )
{
int status;
status = get_measurement( operating_mode, data );
enable_interrupt_measure_detection_irq();
return status;
}
int32_t VL53L0X::vl53l0x_cycle_power( void )
{
int32_t status = STATUS_OK;
#ifdef VL53L0X_LOG_ENABLE
trace_i2c( "// cycle sensor power\n" );
#endif
return status;
}
uint8_t VL53L0X::vl53l0x_encode_vcsel_period( uint8_t vcsel_period_pclks )
{
/*!
* Converts the encoded VCSEL period register value into the real period
* in PLL clocks
*/
uint8_t vcsel_period_reg = 0;
vcsel_period_reg = ( vcsel_period_pclks >> 1 ) - 1;
return vcsel_period_reg;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_device_error_string( VL53L0X_DeviceError error_code,
char *p_device_error_string )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
switch ( error_code ) {
case VL53L0X_DEVICEERROR_NONE:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_NONE );
break;
case VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE );
break;
case VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE );
break;
case VL53L0X_DEVICEERROR_NOVHVVALUEFOUND:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND );
break;
case VL53L0X_DEVICEERROR_MSRCNOTARGET:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET );
break;
case VL53L0X_DEVICEERROR_SNRCHECK:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_SNRCHECK );
break;
case VL53L0X_DEVICEERROR_RANGEPHASECHECK:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK );
break;
case VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK );
break;
case VL53L0X_DEVICEERROR_TCC:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_TCC );
break;
case VL53L0X_DEVICEERROR_PHASECONSISTENCY:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY );
break;
case VL53L0X_DEVICEERROR_MINCLIP:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_MINCLIP );
break;
case VL53L0X_DEVICEERROR_RANGECOMPLETE:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE );
break;
case VL53L0X_DEVICEERROR_ALGOUNDERFLOW:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW );
break;
case VL53L0X_DEVICEERROR_ALGOOVERFLOW:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW );
break;
case VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD );
break;
default:
VL53L0X_COPYSTRING( p_device_error_string,
VL53L0X_STRING_UNKNOW_ERROR_CODE );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_limit_check_info( VL53L0X_DEV dev, uint16_t limit_check_id,
char *p_limit_check_string )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
switch ( limit_check_id ) {
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
VL53L0X_COPYSTRING( p_limit_check_string,
VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE );
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
VL53L0X_COPYSTRING( p_limit_check_string,
VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE );
break;
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
VL53L0X_COPYSTRING( p_limit_check_string,
VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP );
break;
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
VL53L0X_COPYSTRING( p_limit_check_string,
VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD );
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
VL53L0X_COPYSTRING( p_limit_check_string,
VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC );
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
VL53L0X_COPYSTRING( p_limit_check_string,
VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE );
break;
default:
VL53L0X_COPYSTRING( p_limit_check_string,
VL53L0X_STRING_UNKNOW_ERROR_CODE );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_pal_error_string( VL53L0X_Error pal_error_code,
char *p_pal_error_string )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
switch ( pal_error_code ) {
case VL53L0X_ERROR_NONE:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_NONE );
break;
case VL53L0X_ERROR_CALIBRATION_WARNING:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_CALIBRATION_WARNING );
break;
case VL53L0X_ERROR_MIN_CLIPPED:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_MIN_CLIPPED );
break;
case VL53L0X_ERROR_UNDEFINED:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_UNDEFINED );
break;
case VL53L0X_ERROR_INVALID_PARAMS:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_INVALID_PARAMS );
break;
case VL53L0X_ERROR_NOT_SUPPORTED:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_NOT_SUPPORTED );
break;
case VL53L0X_ERROR_INTERRUPT_NOT_CLEARED:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED );
break;
case VL53L0X_ERROR_RANGE_ERROR:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_RANGE_ERROR );
break;
case VL53L0X_ERROR_TIME_OUT:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_TIME_OUT );
break;
case VL53L0X_ERROR_MODE_NOT_SUPPORTED:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED );
break;
case VL53L0X_ERROR_BUFFER_TOO_SMALL:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL );
break;
case VL53L0X_ERROR_GPIO_NOT_EXISTING:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING );
break;
case VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED );
break;
case VL53L0X_ERROR_CONTROL_INTERFACE:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_CONTROL_INTERFACE );
break;
case VL53L0X_ERROR_INVALID_COMMAND:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_INVALID_COMMAND );
break;
case VL53L0X_ERROR_DIVISION_BY_ZERO:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_DIVISION_BY_ZERO );
break;
case VL53L0X_ERROR_REF_SPAD_INIT:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_REF_SPAD_INIT );
break;
case VL53L0X_ERROR_NOT_IMPLEMENTED:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_ERROR_NOT_IMPLEMENTED );
break;
default:
VL53L0X_COPYSTRING( p_pal_error_string,
VL53L0X_STRING_UNKNOW_ERROR_CODE );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_pal_state_string( VL53L0X_State pal_state_code,
char *p_pal_state_string )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
switch ( pal_state_code ) {
case VL53L0X_STATE_POWERDOWN:
VL53L0X_COPYSTRING( p_pal_state_string,
VL53L0X_STRING_STATE_POWERDOWN );
break;
case VL53L0X_STATE_WAIT_STATICINIT:
VL53L0X_COPYSTRING( p_pal_state_string,
VL53L0X_STRING_STATE_WAIT_STATICINIT );
break;
case VL53L0X_STATE_STANDBY:
VL53L0X_COPYSTRING( p_pal_state_string,
VL53L0X_STRING_STATE_STANDBY );
break;
case VL53L0X_STATE_IDLE:
VL53L0X_COPYSTRING( p_pal_state_string,
VL53L0X_STRING_STATE_IDLE );
break;
case VL53L0X_STATE_RUNNING:
VL53L0X_COPYSTRING( p_pal_state_string,
VL53L0X_STRING_STATE_RUNNING );
break;
case VL53L0X_STATE_UNKNOWN:
VL53L0X_COPYSTRING( p_pal_state_string,
VL53L0X_STRING_STATE_UNKNOWN );
break;
case VL53L0X_STATE_ERROR:
VL53L0X_COPYSTRING( p_pal_state_string,
VL53L0X_STRING_STATE_ERROR );
break;
default:
VL53L0X_COPYSTRING( p_pal_state_string,
VL53L0X_STRING_STATE_UNKNOWN );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_range_status_string( uint8_t range_status,
char *p_range_status_string )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
switch ( range_status ) {
case 0:
VL53L0X_COPYSTRING( p_range_status_string,
VL53L0X_STRING_RANGESTATUS_RANGEVALID );
break;
case 1:
VL53L0X_COPYSTRING( p_range_status_string,
VL53L0X_STRING_RANGESTATUS_SIGMA );
break;
case 2:
VL53L0X_COPYSTRING( p_range_status_string,
VL53L0X_STRING_RANGESTATUS_SIGNAL );
break;
case 3:
VL53L0X_COPYSTRING( p_range_status_string,
VL53L0X_STRING_RANGESTATUS_MINRANGE );
break;
case 4:
VL53L0X_COPYSTRING( p_range_status_string,
VL53L0X_STRING_RANGESTATUS_PHASE );
break;
case 5:
VL53L0X_COPYSTRING( p_range_status_string,
VL53L0X_STRING_RANGESTATUS_HW );
break;
default: /**/
VL53L0X_COPYSTRING( p_range_status_string,
VL53L0X_STRING_RANGESTATUS_NONE );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_ref_calibration( VL53L0X_DEV dev,
uint8_t *p_vhv_settings, uint8_t *p_phase_cal )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t vhv_settings = 0;
uint8_t phase_cal = 0;
status = vl53l0x_ref_calibration_io( dev, 1,
vhv_settings, phase_cal,
p_vhv_settings, p_phase_cal,
1, 1 );
return status;
}
VL53L0X_Error VL53L0X::count_enabled_spads( uint8_t spad_array[],
uint32_t byte_count, uint32_t max_spads,
uint32_t *p_total_spads_enabled, uint8_t *p_is_aperture )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint32_t c_spads_per_byte = 8;
uint32_t last_byte;
uint32_t last_bit;
uint32_t byte_index = 0;
uint32_t bit_index = 0;
uint8_t temp_byte;
uint8_t spad_type_identified = 0;
/* The entire array will not be used for spads, therefore the last
* byte and last bit is determined from the max spads value.
*/
last_byte = max_spads / c_spads_per_byte;
last_bit = max_spads % c_spads_per_byte;
/* Check that the max spads value does not exceed the array bounds. */
if ( last_byte >= byte_count )
status = VL53L0X_ERROR_REF_SPAD_INIT;
*p_total_spads_enabled = 0;
/* Count the bits enabled in the whole bytes */
for ( byte_index = 0; byte_index <= ( last_byte - 1 ); byte_index++ ) {
temp_byte = spad_array[byte_index];
for ( bit_index = 0; bit_index <= c_spads_per_byte; bit_index++ ) {
if ( ( temp_byte & 0x01 ) == 1 ) {
( *p_total_spads_enabled )++;
if ( !spad_type_identified ) {
*p_is_aperture = 1;
if ( ( byte_index < 2 ) && ( bit_index < 4 ) )
*p_is_aperture = 0;
spad_type_identified = 1;
}
}
temp_byte >>= 1;
}
}
/* Count the number of bits enabled in the last byte accounting
* for the fact that not all bits in the byte may be used.
*/
temp_byte = spad_array[last_byte];
for ( bit_index = 0; bit_index <= last_bit; bit_index++ ) {
if ( ( temp_byte & 0x01 ) == 1 )
( *p_total_spads_enabled )++;
}
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_reference_spads( VL53L0X_DEV dev,
uint32_t *p_spad_count, uint8_t *p_is_aperture_spads )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t ref_spads_initialised;
uint8_t ref_spad_array[6];
uint32_t c_max_spad_count = 44;
uint32_t c_spad_array_size = 6;
uint32_t spads_enabled;
uint8_t is_aperture_spads = 0;
ref_spads_initialised = VL53L0X_GETDEVICESPECIFICPARAMETER( dev,
RefSpadsInitialised );
if ( ref_spads_initialised == 1 ) {
*p_spad_count = ( uint32_t )VL53L0X_GETDEVICESPECIFICPARAMETER( dev,
ReferenceSpadCount );
*p_is_aperture_spads = VL53L0X_GETDEVICESPECIFICPARAMETER( dev,
ReferenceSpadType );
} else {
/* obtain spad info from device.*/
status = get_ref_spad_map( dev, ref_spad_array );
if ( status == VL53L0X_ERROR_NONE ) {
/* count enabled spads within spad map array and
* determine if Aperture or Non-Aperture.
*/
status = count_enabled_spads( ref_spad_array,
c_spad_array_size,
c_max_spad_count,
&spads_enabled,
&is_aperture_spads );
if ( status == VL53L0X_ERROR_NONE ) {
*p_spad_count = spads_enabled;
*p_is_aperture_spads = is_aperture_spads;
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
RefSpadsInitialised, 1 );
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
ReferenceSpadCount,
( uint8_t )spads_enabled );
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
ReferenceSpadType, is_aperture_spads );
}
}
}
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_sequence_steps_info(
VL53L0X_SequenceStepId sequence_step_id,
char *p_sequence_steps_string )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
switch ( sequence_step_id ) {
case VL53L0X_SEQUENCESTEP_TCC:
VL53L0X_COPYSTRING( p_sequence_steps_string,
VL53L0X_STRING_SEQUENCESTEP_TCC );
break;
case VL53L0X_SEQUENCESTEP_DSS:
VL53L0X_COPYSTRING( p_sequence_steps_string,
VL53L0X_STRING_SEQUENCESTEP_DSS );
break;
case VL53L0X_SEQUENCESTEP_MSRC:
VL53L0X_COPYSTRING( p_sequence_steps_string,
VL53L0X_STRING_SEQUENCESTEP_MSRC );
break;
case VL53L0X_SEQUENCESTEP_PRE_RANGE:
VL53L0X_COPYSTRING( p_sequence_steps_string,
VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE );
break;
case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
VL53L0X_COPYSTRING( p_sequence_steps_string,
VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE );
break;
default:
status = VL53L0X_ERROR_INVALID_PARAMS;
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_sequence_steps_info( VL53L0X_SequenceStepId sequence_step_id,
char *p_sequence_steps_string )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_get_sequence_steps_info(
sequence_step_id,
p_sequence_steps_string );
LOG_FUNCTION_END( status );
return status;
}
int32_t VL53L0X::vl53l0x_get_timer_frequency( int32_t *p_timer_freq_hz )
{
*p_timer_freq_hz = 0;
return STATUS_FAIL;
}
int32_t VL53L0X::vl53l0x_get_timer_value( int32_t *p_timer_count )
{
*p_timer_count = 0;
return STATUS_FAIL;
}
VL53L0X_Error VL53L0X::vl53l0x_enable_interrupt_mask( VL53L0X_DEV dev, uint32_t interrupt_mask )
{
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED;
LOG_FUNCTION_START( "" );
/* not implemented for VL53L0X */
LOG_FUNCTION_END( Status );
return Status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_device_error_status( VL53L0X_DEV dev,
VL53L0X_DeviceError *p_device_error_status )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t range_status;
LOG_FUNCTION_START( "" );
status = VL53L0X_RdByte( dev, VL53L0X_REG_RESULT_RANGE_STATUS,
&range_status );
*p_device_error_status = ( VL53L0X_DeviceError )( ( range_status & 0x78 ) >> 3 );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_device_error_string( VL53L0X_DeviceError error_code,
char *p_device_error_string )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_get_device_error_string( error_code, p_device_error_string );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_dmax_cal_parameters( VL53L0X_DEV dev,
uint16_t *p_range_milli_meter, FixPoint1616_t *p_signal_rate_rtn_mega_cps )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
*p_range_milli_meter = PALDevDataGet( dev, DmaxCalRangeMilliMeter );
*p_signal_rate_rtn_mega_cps = PALDevDataGet( dev,
DmaxCalSignalRateRtnMegaCps );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_dmax_cal_parameters( VL53L0X_DEV dev,
uint16_t range_milli_meter, FixPoint1616_t signal_rate_rtn_mega_cps )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
FixPoint1616_t signal_rate_rtn_mega_cps_temp = 0;
LOG_FUNCTION_START( "" );
/* Check if one of input parameter is zero, in that case the
* value are get from NVM */
if ( ( range_milli_meter == 0 ) || ( signal_rate_rtn_mega_cps == 0 ) ) {
/* NVM parameters */
/* Run VL53L0X_get_info_from_device wit option 4 to get
* signal rate at 400 mm if the value have been already
* get this function will return with no access to device */
vl53l0x_get_info_from_device( dev, 4 );
signal_rate_rtn_mega_cps_temp = VL53L0X_GETDEVICESPECIFICPARAMETER(
dev, SignalRateMeasFixed400mm );
PALDevDataSet( dev, DmaxCalRangeMilliMeter, 400 );
PALDevDataSet( dev, DmaxCalSignalRateRtnMegaCps,
signal_rate_rtn_mega_cps_temp );
} else {
/* User parameters */
PALDevDataSet( dev, DmaxCalRangeMilliMeter, range_milli_meter );
PALDevDataSet( dev, DmaxCalSignalRateRtnMegaCps,
signal_rate_rtn_mega_cps );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53L0x_set_gpio_config( VL53L0X_DEV dev, uint8_t pin,
VL53L0X_DeviceModes device_mode, VL53L0X_GpioFunctionality functionality,
VL53L0X_InterruptPolarity polarity )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t data;
LOG_FUNCTION_START( "" );
if ( pin != 0 ) {
status = VL53L0X_ERROR_GPIO_NOT_EXISTING;
} else if ( device_mode == VL53L0X_DEVICEMODE_GPIO_DRIVE ) {
if ( polarity == VL53L0X_INTERRUPTPOLARITY_LOW )
data = 0x10;
else
data = 1;
status = VL53L0X_WrByte( dev,
VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data );
} else if ( device_mode == VL53L0X_DEVICEMODE_GPIO_OSC ) {
status |= VL53L0X_WrByte( dev, 0xff, 0x01 );
status |= VL53L0X_WrByte( dev, 0x00, 0x00 );
status |= VL53L0X_WrByte( dev, 0xff, 0x00 );
status |= VL53L0X_WrByte( dev, 0x80, 0x01 );
status |= VL53L0X_WrByte( dev, 0x85, 0x02 );
status |= VL53L0X_WrByte( dev, 0xff, 0x04 );
status |= VL53L0X_WrByte( dev, 0xcd, 0x00 );
status |= VL53L0X_WrByte( dev, 0xcc, 0x11 );
status |= VL53L0X_WrByte( dev, 0xff, 0x07 );
status |= VL53L0X_WrByte( dev, 0xbe, 0x00 );
status |= VL53L0X_WrByte( dev, 0xff, 0x06 );
status |= VL53L0X_WrByte( dev, 0xcc, 0x09 );
status |= VL53L0X_WrByte( dev, 0xff, 0x00 );
status |= VL53L0X_WrByte( dev, 0xff, 0x01 );
status |= VL53L0X_WrByte( dev, 0x00, 0x00 );
} else {
if ( status == VL53L0X_ERROR_NONE ) {
switch ( functionality ) {
case VL53L0X_GPIOFUNCTIONALITY_OFF:
data = 0x00;
break;
case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW:
data = 0x01;
break;
case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH:
data = 0x02;
break;
case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT:
data = 0x03;
break;
case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY:
data = 0x04;
break;
default:
status =
VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
}
}
if ( status == VL53L0X_ERROR_NONE )
status = VL53L0X_WrByte( dev,
VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data );
if ( status == VL53L0X_ERROR_NONE ) {
if ( polarity == VL53L0X_INTERRUPTPOLARITY_LOW )
data = 0;
else
data = ( uint8_t )( 1 << 4 );
status = VL53L0X_UpdateByte( dev,
VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data );
}
if ( status == VL53L0X_ERROR_NONE )
VL53L0X_SETDEVICESPECIFICPARAMETER( dev,
Pin0GpioFunctionality, functionality );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_clear_interrupt_mask( dev, 0 );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_gpio_config( VL53L0X_DEV dev, uint8_t pin,
VL53L0X_DeviceModes *p_device_mode,
VL53L0X_GpioFunctionality *p_functionality,
VL53L0X_InterruptPolarity *p_polarity )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
VL53L0X_GpioFunctionality gpio_functionality;
uint8_t data;
LOG_FUNCTION_START( "" );
/* pDeviceMode not managed by Ewok it return the current mode */
status = vl53l0x_get_device_mode( dev, p_device_mode );
if ( status == VL53L0X_ERROR_NONE ) {
if ( pin != 0 ) {
status = VL53L0X_ERROR_GPIO_NOT_EXISTING;
} else {
status = VL53L0X_RdByte( dev,
VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, &data );
}
}
if ( status == VL53L0X_ERROR_NONE ) {
switch ( data & 0x07 ) {
case 0x00:
gpio_functionality = VL53L0X_GPIOFUNCTIONALITY_OFF;
break;
case 0x01:
gpio_functionality =
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW;
break;
case 0x02:
gpio_functionality =
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH;
break;
case 0x03:
gpio_functionality =
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT;
break;
case 0x04:
gpio_functionality =
VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY;
break;
default:
status = VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
}
}
if ( status == VL53L0X_ERROR_NONE )
status = VL53L0X_RdByte( dev, VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH,
&data );
if ( status == VL53L0X_ERROR_NONE ) {
if ( ( data & ( uint8_t )( 1 << 4 ) ) == 0 )
*p_polarity = VL53L0X_INTERRUPTPOLARITY_LOW;
else
*p_polarity = VL53L0X_INTERRUPTPOLARITY_HIGH;
}
if ( status == VL53L0X_ERROR_NONE ) {
*p_functionality = gpio_functionality;
VL53L0X_SETDEVICESPECIFICPARAMETER( dev, Pin0GpioFunctionality,
gpio_functionality );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_histogram_measurement_data( VL53L0X_DEV dev,
VL53L0X_HistogramMeasurementData_t *p_histogram_measurement_data )
{
VL53L0X_Error status = VL53L0X_ERROR_NOT_IMPLEMENTED;
LOG_FUNCTION_START( "" );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_histogram_mode( VL53L0X_DEV dev,
VL53L0X_HistogramModes *p_histogram_mode )
{
VL53L0X_Error status = VL53L0X_ERROR_NOT_IMPLEMENTED;
LOG_FUNCTION_START( "" );
/* not implemented on VL53L0X */
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_histogram_mode( VL53L0X_DEV dev,
VL53L0X_HistogramModes histogram_mode )
{
VL53L0X_Error status = VL53L0X_ERROR_NOT_IMPLEMENTED;
LOG_FUNCTION_START( "" );
/* not implemented on VL53L0X */
LOG_FUNCTION_END( Status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_limit_check_current( VL53L0X_DEV dev, uint16_t limit_check_id,
FixPoint1616_t *p_limit_check_current )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
VL53L0X_RangingMeasurementData_t last_range_data_buffer;
LOG_FUNCTION_START( "" );
if ( limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS ) {
status = VL53L0X_ERROR_INVALID_PARAMS;
} else {
switch ( limit_check_id ) {
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
/* Need to run a ranging to have the latest values */
*p_limit_check_current = PALDevDataGet( dev, SigmaEstimate );
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
/* Need to run a ranging to have the latest values */
last_range_data_buffer = PALDevDataGet( dev,
LastRangeMeasure );
*p_limit_check_current =
last_range_data_buffer.SignalRateRtnMegaCps;
break;
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
/* Need to run a ranging to have the latest values */
*p_limit_check_current = PALDevDataGet( dev,
LastSignalRefMcps );
break;
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
/* Need to run a ranging to have the latest values */
last_range_data_buffer = PALDevDataGet( dev,
LastRangeMeasure );
*p_limit_check_current =
last_range_data_buffer.SignalRateRtnMegaCps;
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
/* Need to run a ranging to have the latest values */
last_range_data_buffer = PALDevDataGet( dev,
LastRangeMeasure );
*p_limit_check_current =
last_range_data_buffer.SignalRateRtnMegaCps;
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
/* Need to run a ranging to have the latest values */
last_range_data_buffer = PALDevDataGet( dev,
LastRangeMeasure );
*p_limit_check_current =
last_range_data_buffer.SignalRateRtnMegaCps;
break;
default:
status = VL53L0X_ERROR_INVALID_PARAMS;
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_limit_check_info( VL53L0X_DEV dev, uint16_t limit_check_id,
char *p_limit_check_string )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_get_limit_check_info( dev, limit_check_id,
p_limit_check_string );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_limit_check_status( VL53L0X_DEV dev, uint16_t limit_check_id,
uint8_t *p_limit_check_status )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t temp8;
LOG_FUNCTION_START( "" );
if ( limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS ) {
status = VL53L0X_ERROR_INVALID_PARAMS;
} else {
VL53L0X_GETARRAYPARAMETERFIELD( dev, LimitChecksStatus,
limit_check_id, temp8 );
*p_limit_check_status = temp8;
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_linearity_corrective_gain( VL53L0X_DEV dev,
int16_t linearity_corrective_gain )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
if ( ( linearity_corrective_gain < 0 ) || ( linearity_corrective_gain > 1000 ) )
status = VL53L0X_ERROR_INVALID_PARAMS;
else {
PALDevDataSet( dev, LinearityCorrectiveGain,
linearity_corrective_gain );
if ( linearity_corrective_gain != 1000 ) {
/* Disable FW Xtalk */
status = VL53L0X_WrWord( dev,
VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, 0 );
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_linearity_corrective_gain( VL53L0X_DEV dev,
uint16_t *p_linearity_corrective_gain )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
*p_linearity_corrective_gain = PALDevDataGet( dev, LinearityCorrectiveGain );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_max_number_of_roi_zones( VL53L0X_DEV dev,
uint8_t *p_max_number_of_roi_zones )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
*p_max_number_of_roi_zones = 1;
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_measurement_ref_signal( VL53L0X_DEV dev,
FixPoint1616_t *p_measurement_ref_signal )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t signal_ref_clip_limit_check_enable = 0;
LOG_FUNCTION_START( "" );
status = vl53l0x_get_limit_check_enable( dev,
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
&signal_ref_clip_limit_check_enable );
if ( signal_ref_clip_limit_check_enable != 0 ) {
*p_measurement_ref_signal = PALDevDataGet( dev, LastSignalRefMcps );
} else {
status = VL53L0X_ERROR_INVALID_COMMAND;
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_number_of_limit_check( uint16_t *p_number_of_limit_check )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
*p_number_of_limit_check = VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS;
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_number_of_roi_zones( VL53L0X_DEV dev,
uint8_t *p_number_of_roi_zones )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
*p_number_of_roi_zones = 1;
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_number_of_roi_zones( VL53L0X_DEV dev,
uint8_t number_of_roi_zones )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
if ( number_of_roi_zones != 1 )
status = VL53L0X_ERROR_INVALID_PARAMS;
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_number_of_sequence_steps( VL53L0X_DEV dev,
uint8_t *p_number_of_sequence_steps )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
*p_number_of_sequence_steps = VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS;
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_pal_error_string( VL53L0X_Error pal_error_code,
char *p_pal_error_string )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_get_pal_error_string( pal_error_code, p_pal_error_string );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_pal_spec_version( VL53L0X_Version_t *p_pal_spec_version )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
p_pal_spec_version->major = VL53L0X_SPECIFICATION_VER_MAJOR;
p_pal_spec_version->minor = VL53L0X_SPECIFICATION_VER_MINOR;
p_pal_spec_version->build = VL53L0X_SPECIFICATION_VER_SUB;
p_pal_spec_version->revision = VL53L0X_SPECIFICATION_VER_REVISION;
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_pal_state( VL53L0X_DEV dev, VL53L0X_State *p_pal_state )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
*p_pal_state = PALDevDataGet( dev, PalState );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_pal_state_string( VL53L0X_State pal_state_code,
char *p_pal_state_string )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_get_pal_state_string( pal_state_code, p_pal_state_string );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_power_mode( VL53L0X_DEV dev, VL53L0X_PowerModes *p_power_mode )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t byte;
LOG_FUNCTION_START( "" );
/* Only level1 of Power mode exists */
status = VL53L0X_RdByte( dev, 0x80, &byte );
if ( status == VL53L0X_ERROR_NONE ) {
if ( byte == 1 ) {
PALDevDataSet( dev, PowerMode,
VL53L0X_POWERMODE_IDLE_LEVEL1 );
} else {
PALDevDataSet( dev, PowerMode,
VL53L0X_POWERMODE_STANDBY_LEVEL1 );
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_power_mode( VL53L0X_DEV dev, VL53L0X_PowerModes power_mode )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
/* Only level1 of Power mode exists */
if ( ( power_mode != VL53L0X_POWERMODE_STANDBY_LEVEL1 )
&& ( power_mode != VL53L0X_POWERMODE_IDLE_LEVEL1 ) ) {
status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
} else if ( power_mode == VL53L0X_POWERMODE_STANDBY_LEVEL1 ) {
/* set the standby level1 of power mode */
status = VL53L0X_WrByte( dev, 0x80, 0x00 );
if ( status == VL53L0X_ERROR_NONE ) {
/* Set PAL State to standby */
PALDevDataSet( dev, PalState, VL53L0X_STATE_STANDBY );
PALDevDataSet( dev, PowerMode,
VL53L0X_POWERMODE_STANDBY_LEVEL1 );
}
} else {
/* VL53L0X_POWERMODE_IDLE_LEVEL1 */
status = VL53L0X_WrByte( dev, 0x80, 0x00 );
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_static_init( dev );
if ( status == VL53L0X_ERROR_NONE )
PALDevDataSet( dev, PowerMode,
VL53L0X_POWERMODE_IDLE_LEVEL1 );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_product_revision( VL53L0X_DEV dev,
uint8_t *p_product_revision_major, uint8_t *p_product_revision_minor )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t revision_id;
LOG_FUNCTION_START( "" );
status = VL53L0X_RdByte( dev, VL53L0X_REG_IDENTIFICATION_REVISION_ID,
&revision_id );
*p_product_revision_major = 1;
*p_product_revision_minor = ( revision_id & 0xF0 ) >> 4;
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_range_status_string( uint8_t range_status,
char *p_range_status_string )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_get_range_status_string( range_status,
p_range_status_string );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_ref_calibration( VL53L0X_DEV dev, uint8_t *p_vhv_settings,
uint8_t *p_phase_cal )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_get_ref_calibration( dev, p_vhv_settings, p_phase_cal );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_sequence_step_enable( VL53L0X_DEV dev,
VL53L0X_SequenceStepId sequence_step_id, uint8_t *p_sequence_step_enabled )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t SequenceConfig = 0;
LOG_FUNCTION_START( "" );
status = VL53L0X_RdByte( dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
&SequenceConfig );
if ( status == VL53L0X_ERROR_NONE ) {
status = sequence_step_enabled( dev, sequence_step_id,
SequenceConfig, p_sequence_step_enabled );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_sequence_step_timeout( VL53L0X_DEV dev,
VL53L0X_SequenceStepId sequence_step_id, FixPoint1616_t time_out_milli_secs )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
VL53L0X_Error status1 = VL53L0X_ERROR_NONE;
uint32_t TimeoutMicroSeconds = ( ( time_out_milli_secs * 1000 ) + 0x8000 )
>> 16;
uint32_t MeasurementTimingBudgetMicroSeconds;
FixPoint1616_t OldTimeOutMicroSeconds;
LOG_FUNCTION_START( "" );
/* Read back the current value in case we need to revert back to this.
*/
status = get_sequence_step_timeout( dev, sequence_step_id,
&OldTimeOutMicroSeconds );
if ( status == VL53L0X_ERROR_NONE ) {
status = set_sequence_step_timeout( dev, sequence_step_id,
TimeoutMicroSeconds );
}
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_GETPARAMETERFIELD( dev,
MeasurementTimingBudgetMicroSeconds,
MeasurementTimingBudgetMicroSeconds );
/* At this point we don't know if the requested value is valid,
therefore proceed to update the entire timing budget and
if this fails, revert back to the previous value.
*/
status = vl53l0x_set_measurement_timing_budget_micro_seconds( dev,
MeasurementTimingBudgetMicroSeconds );
if ( status != VL53L0X_ERROR_NONE ) {
status1 = set_sequence_step_timeout( dev, sequence_step_id,
OldTimeOutMicroSeconds );
if ( status1 == VL53L0X_ERROR_NONE ) {
status1 =
vl53l0x_set_measurement_timing_budget_micro_seconds(
dev,
MeasurementTimingBudgetMicroSeconds );
}
status = status1;
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_sequence_step_timeout( VL53L0X_DEV dev,
VL53L0X_SequenceStepId sequence_step_id, FixPoint1616_t *p_time_out_milli_secs )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint32_t timeout_micro_seconds;
LOG_FUNCTION_START( "" );
status = get_sequence_step_timeout( dev, sequence_step_id,
&timeout_micro_seconds );
if ( status == VL53L0X_ERROR_NONE ) {
timeout_micro_seconds <<= 8;
*p_time_out_milli_secs = ( timeout_micro_seconds + 500 ) / 1000;
*p_time_out_milli_secs <<= 8;
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_spad_ambient_damper_factor( VL53L0X_DEV dev,
uint16_t spad_ambient_damper_factor )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t byte;
LOG_FUNCTION_START( "" );
byte = ( uint8_t )( spad_ambient_damper_factor & 0x00FF );
status = VL53L0X_WrByte( dev, 0xFF, 0x01 );
status |= VL53L0X_WrByte( dev, 0x42, byte );
status |= VL53L0X_WrByte( dev, 0xFF, 0x00 );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_spad_ambient_damper_factor( VL53L0X_DEV dev,
uint16_t *p_spad_ambient_damper_factor )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t Byte;
LOG_FUNCTION_START( "" );
status = VL53L0X_WrByte( dev, 0xFF, 0x01 );
status |= VL53L0X_RdByte( dev, 0x42, &Byte );
status |= VL53L0X_WrByte( dev, 0xFF, 0x00 );
*p_spad_ambient_damper_factor = ( uint16_t )Byte;
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_spad_ambient_damper_threshold( VL53L0X_DEV dev,
uint16_t spad_ambient_damper_threshold )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = VL53L0X_WrByte( dev, 0xFF, 0x01 );
status |= VL53L0X_WrWord( dev, 0x40, spad_ambient_damper_threshold );
status |= VL53L0X_WrByte( dev, 0xFF, 0x00 );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_spad_ambient_damper_threshold( VL53L0X_DEV dev,
uint16_t *p_spad_ambient_damper_threshold )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = VL53L0X_WrByte( dev, 0xFF, 0x01 );
status |= VL53L0X_RdWord( dev, 0x40, p_spad_ambient_damper_threshold );
status |= VL53L0X_WrByte( dev, 0xFF, 0x00 );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_upper_limit_milli_meter( VL53L0X_DEV dev,
uint16_t *p_upper_limit_milli_meter )
{
VL53L0X_Error status = VL53L0X_ERROR_NOT_IMPLEMENTED;
LOG_FUNCTION_START( "" );
/* not implemented on VL53L0X */
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_tuning_setting_buffer( VL53L0X_DEV dev,
uint8_t *p_tuning_setting_buffer, uint8_t use_internal_tuning_settings )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
if ( use_internal_tuning_settings == 1 ) {
/* Force use internal settings */
PALDevDataSet( dev, UseInternalTuningSettings, 1 );
} else {
/* check that the first byte is not 0 */
if ( *p_tuning_setting_buffer != 0 ) {
PALDevDataSet( dev, pTuningSettingsPointer,
p_tuning_setting_buffer );
PALDevDataSet( dev, UseInternalTuningSettings, 0 );
} else {
status = VL53L0X_ERROR_INVALID_PARAMS;
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_tuning_setting_buffer( VL53L0X_DEV dev,
uint8_t **pp_tuning_setting_buffer, uint8_t *p_use_internal_tuning_settings )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
*pp_tuning_setting_buffer = PALDevDataGet( dev, pTuningSettingsPointer );
*p_use_internal_tuning_settings = PALDevDataGet( dev,
UseInternalTuningSettings );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_version( VL53L0X_Version_t *p_version )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
p_version->major = VL53L0X_IMPLEMENTATION_VER_MAJOR;
p_version->minor = VL53L0X_IMPLEMENTATION_VER_MINOR;
p_version->build = VL53L0X_IMPLEMENTATION_VER_SUB;
p_version->revision = VL53L0X_IMPLEMENTATION_VER_REVISION;
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_lock_sequence_access( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_unlock_sequence_access( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_perform_offset_calibration( VL53L0X_DEV dev,
FixPoint1616_t cal_distance_milli_meter,
int32_t *p_offset_micro_meter )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint16_t sum_ranging = 0;
FixPoint1616_t total_count = 0;
VL53L0X_RangingMeasurementData_t ranging_measurement_data;
FixPoint1616_t stored_mean_range;
uint32_t stored_mean_range_as_int;
uint32_t cal_distance_as_int_mm;
uint8_t sequence_step_enabled;
int meas = 0;
if ( cal_distance_milli_meter <= 0 )
status = VL53L0X_ERROR_INVALID_PARAMS;
if ( status == VL53L0X_ERROR_NONE )
status = wrapped_vl53l0x_set_offset_calibration_data_micro_meter( dev, 0 );
/* Get the value of the TCC */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_get_sequence_step_enable( dev,
VL53L0X_SEQUENCESTEP_TCC, &sequence_step_enabled );
/* Disable the TCC */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_set_sequence_step_enable( dev,
VL53L0X_SEQUENCESTEP_TCC, 0 );
/* Disable the RIT */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_set_limit_check_enable( dev,
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0 );
/* Perform 50 measurements and compute the averages */
if ( status == VL53L0X_ERROR_NONE ) {
sum_ranging = 0;
total_count = 0;
for ( meas = 0; meas < 50; meas++ ) {
status = vl53l0x_perform_single_ranging_measurement( dev,
&ranging_measurement_data );
if ( status != VL53L0X_ERROR_NONE )
break;
/* The range is valid when RangeStatus = 0 */
if ( ranging_measurement_data.RangeStatus == 0 ) {
sum_ranging = sum_ranging +
ranging_measurement_data.RangeMilliMeter;
total_count = total_count + 1;
}
}
/* no valid values found */
if ( total_count == 0 )
status = VL53L0X_ERROR_RANGE_ERROR;
}
if ( status == VL53L0X_ERROR_NONE ) {
/* FixPoint1616_t / uint16_t = FixPoint1616_t */
stored_mean_range = ( FixPoint1616_t )( ( uint32_t )( sum_ranging << 16 )
/ total_count );
stored_mean_range_as_int = ( stored_mean_range + 0x8000 ) >> 16;
/* Round Cal Distance to Whole Number.
* Note that the cal distance is in mm, therefore no resolution
* is lost.*/
cal_distance_as_int_mm = ( cal_distance_milli_meter + 0x8000 ) >> 16;
*p_offset_micro_meter = ( cal_distance_as_int_mm -
stored_mean_range_as_int ) * 1000;
/* Apply the calculated offset */
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETPARAMETERFIELD( dev, RangeOffsetMicroMeters,
*p_offset_micro_meter );
status = vl53l0x_set_offset_calibration_data_micro_meter( dev,
*p_offset_micro_meter );
}
}
/* Restore the TCC */
if ( status == VL53L0X_ERROR_NONE ) {
if ( sequence_step_enabled != 0 )
status = vl53l0x_set_sequence_step_enable( dev,
VL53L0X_SEQUENCESTEP_TCC, 1 );
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_x_talk_compensation_enable( VL53L0X_DEV dev,
uint8_t x_talk_compensation_enable )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
FixPoint1616_t temp_fix1616;
uint16_t linearity_corrective_gain;
LOG_FUNCTION_START( "" );
linearity_corrective_gain = PALDevDataGet( dev, LinearityCorrectiveGain );
if ( ( x_talk_compensation_enable == 0 )
|| ( linearity_corrective_gain != 1000 ) ) {
temp_fix1616 = 0;
} else {
VL53L0X_GETPARAMETERFIELD( dev, XTalkCompensationRateMegaCps,
temp_fix1616 );
}
/* the following register has a format 3.13 */
status = VL53L0X_WrWord( dev,
VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS,
VL53L0X_FIXPOINT1616TOFIXPOINT313( temp_fix1616 ) );
if ( status == VL53L0X_ERROR_NONE ) {
if ( x_talk_compensation_enable == 0 ) {
VL53L0X_SETPARAMETERFIELD( dev, XTalkCompensationEnable,
0 );
} else {
VL53L0X_SETPARAMETERFIELD( dev, XTalkCompensationEnable,
1 );
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_perform_xtalk_calibration( VL53L0X_DEV dev,
FixPoint1616_t xtalk_cal_distance,
FixPoint1616_t *p_xtalk_compensation_rate_mega_cps )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint16_t sum_ranging = 0;
uint16_t sum_spads = 0;
FixPoint1616_t sum_signal_rate = 0;
FixPoint1616_t total_count = 0;
uint8_t xtalk_meas = 0;
VL53L0X_RangingMeasurementData_t ranging_measurement_data;
FixPoint1616_t x_talk_stored_mean_signal_rate;
FixPoint1616_t x_talk_stored_mean_range;
FixPoint1616_t x_talk_stored_mean_rtn_spads;
uint32_t signal_x_talk_total_per_spad;
uint32_t x_talk_stored_mean_rtn_spads_as_int;
uint32_t x_talk_cal_distance_as_int;
FixPoint1616_t x_talk_compensation_rate_mega_cps;
if ( xtalk_cal_distance <= 0 )
status = VL53L0X_ERROR_INVALID_PARAMS;
/* Disable the XTalk compensation */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_set_x_talk_compensation_enable( dev, 0 );
/* Disable the RIT */
if ( status == VL53L0X_ERROR_NONE ) {
status = vl53l0x_set_limit_check_enable( dev,
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0 );
}
/* Perform 50 measurements and compute the averages */
if ( status == VL53L0X_ERROR_NONE ) {
sum_ranging = 0;
sum_spads = 0;
sum_signal_rate = 0;
total_count = 0;
for ( xtalk_meas = 0; xtalk_meas < 50; xtalk_meas++ ) {
status = vl53l0x_perform_single_ranging_measurement( dev,
&ranging_measurement_data );
if ( status != VL53L0X_ERROR_NONE )
break;
/* The range is valid when RangeStatus = 0 */
if ( ranging_measurement_data.RangeStatus == 0 ) {
sum_ranging = sum_ranging +
ranging_measurement_data.RangeMilliMeter;
sum_signal_rate = sum_signal_rate +
ranging_measurement_data.SignalRateRtnMegaCps;
sum_spads = sum_spads +
ranging_measurement_data.EffectiveSpadRtnCount
/ 256;
total_count = total_count + 1;
}
}
/* no valid values found */
if ( total_count == 0 )
status = VL53L0X_ERROR_RANGE_ERROR;
}
if ( status == VL53L0X_ERROR_NONE ) {
/* FixPoint1616_t / uint16_t = FixPoint1616_t */
x_talk_stored_mean_signal_rate = sum_signal_rate / total_count;
x_talk_stored_mean_range = ( FixPoint1616_t )( ( uint32_t )(
sum_ranging << 16 ) / total_count );
x_talk_stored_mean_rtn_spads = ( FixPoint1616_t )( ( uint32_t )(
sum_spads << 16 ) / total_count );
/* Round Mean Spads to Whole Number.
* Typically the calculated mean SPAD count is a whole number
* or very close to a whole
* number, therefore any truncation will not result in a
* significant loss in accuracy.
* Also, for a grey target at a typical distance of around
* 400mm, around 220 SPADs will
* be enabled, therefore, any truncation will result in a loss
* of accuracy of less than
* 0.5%.
*/
x_talk_stored_mean_rtn_spads_as_int = ( x_talk_stored_mean_rtn_spads +
0x8000 ) >> 16;
/* Round Cal Distance to Whole Number.
* Note that the cal distance is in mm, therefore no resolution
* is lost.*/
x_talk_cal_distance_as_int = ( xtalk_cal_distance + 0x8000 ) >> 16;
if ( x_talk_stored_mean_rtn_spads_as_int == 0 ||
x_talk_cal_distance_as_int == 0 ||
x_talk_stored_mean_range >= xtalk_cal_distance ) {
x_talk_compensation_rate_mega_cps = 0;
} else {
/* Round Cal Distance to Whole Number.
Note that the cal distance is in mm, therefore no
resolution is lost.*/
x_talk_cal_distance_as_int = ( xtalk_cal_distance +
0x8000 ) >> 16;
/* Apply division by mean spad count early in the
* calculation to keep the numbers small.
* This ensures we can maintain a 32bit calculation.
* Fixed1616 / int := Fixed1616 */
signal_x_talk_total_per_spad = ( x_talk_stored_mean_signal_rate ) /
x_talk_stored_mean_rtn_spads_as_int;
/* Complete the calculation for total Signal XTalk per
* SPAD
* Fixed1616 * (Fixed1616 - Fixed1616/int) :=
* (2^16 * Fixed1616)
*/
signal_x_talk_total_per_spad *= ( ( 1 << 16 ) -
( x_talk_stored_mean_range / x_talk_cal_distance_as_int ) );
/* Round from 2^16 * Fixed1616, to Fixed1616. */
x_talk_compensation_rate_mega_cps = ( signal_x_talk_total_per_spad
+ 0x8000 ) >> 16;
}
*p_xtalk_compensation_rate_mega_cps = x_talk_compensation_rate_mega_cps;
/* Enable the XTalk compensation */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_set_x_talk_compensation_enable( dev, 1 );
/* Enable the XTalk compensation */
if ( status == VL53L0X_ERROR_NONE )
status = vl53l0x_set_x_talk_compensation_rate_mega_cps( dev,
x_talk_compensation_rate_mega_cps );
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_x_talk_compensation_rate_mega_cps( VL53L0X_DEV dev,
FixPoint1616_t x_talk_compensation_rate_mega_cps )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t temp8;
uint16_t linearity_corrective_gain;
uint16_t data;
LOG_FUNCTION_START( "" );
VL53L0X_GETPARAMETERFIELD( dev, XTalkCompensationEnable, temp8 );
linearity_corrective_gain = PALDevDataGet( dev, LinearityCorrectiveGain );
if ( temp8 == 0 ) { /* disabled write only internal value */
VL53L0X_SETPARAMETERFIELD( dev, XTalkCompensationRateMegaCps,
x_talk_compensation_rate_mega_cps );
} else {
/* the following register has a format 3.13 */
if ( linearity_corrective_gain == 1000 ) {
data = VL53L0X_FIXPOINT1616TOFIXPOINT313(
x_talk_compensation_rate_mega_cps );
} else {
data = 0;
}
status = VL53L0X_WrWord( dev,
VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, data );
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETPARAMETERFIELD( dev,
XTalkCompensationRateMegaCps,
x_talk_compensation_rate_mega_cps );
}
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_perform_xtalk_measurement( VL53L0X_DEV dev,
uint32_t timeout_ms, FixPoint1616_t *p_xtalk_per_spad,
uint8_t *p_ambient_too_high )
{
VL53L0X_Error status = VL53L0X_ERROR_NOT_IMPLEMENTED;
LOG_FUNCTION_START( "" );
/* not implemented on VL53L0X */
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_reset_device( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t byte;
LOG_FUNCTION_START( "" );
/* Set reset bit */
status = VL53L0X_WrByte( dev, VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N,
0x00 );
/* Wait for some time */
if ( status == VL53L0X_ERROR_NONE ) {
do {
status = VL53L0X_RdByte( dev,
VL53L0X_REG_IDENTIFICATION_MODEL_ID, &byte );
} while ( byte != 0x00 );
}
VL53L0X_PollingDelay( dev );
/* Release reset */
status = VL53L0X_WrByte( dev, VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N,
0x01 );
/* Wait until correct boot-up of the device */
if ( status == VL53L0X_ERROR_NONE ) {
do {
status = VL53L0X_RdByte( dev,
VL53L0X_REG_IDENTIFICATION_MODEL_ID, &byte );
} while ( byte == 0x00 );
}
VL53L0X_PollingDelay( dev );
/* Set PAL State to VL53L0X_STATE_POWERDOWN */
if ( status == VL53L0X_ERROR_NONE )
PALDevDataSet( dev, PalState, VL53L0X_STATE_POWERDOWN );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::VL53L0X_reverse_bytes( uint8_t *data, uint32_t size )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t temp_data;
uint32_t mirror_index;
uint32_t middle = size / 2;
uint32_t index;
for ( index = 0; index < middle; index++ ) {
mirror_index = size - index - 1;
temp_data = data[index];
data[index] = data[mirror_index];
data[mirror_index] = temp_data;
}
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_ref_calibration( VL53L0X_DEV dev,
uint8_t vhv_settings, uint8_t phase_cal )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t p_vhv_settings;
uint8_t p_phase_cal;
status = vl53l0x_ref_calibration_io( dev, 0,
vhv_settings, phase_cal,
&p_vhv_settings, &p_phase_cal,
1, 1 );
return status;
}
VL53L0X_Error VL53L0X::VL53L0X_SetDeviceParameters( VL53L0X_DEV Dev,
const VL53L0X_DeviceParameters_t *pDeviceParameters )
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
int i;
LOG_FUNCTION_START( "" );
Status = vl53l0x_set_device_mode( Dev, pDeviceParameters->DeviceMode );
if ( Status == VL53L0X_ERROR_NONE )
Status = vl53l0x_set_inter_measurement_period_milli_seconds( Dev,
pDeviceParameters->InterMeasurementPeriodMilliSeconds );
if ( Status == VL53L0X_ERROR_NONE )
Status = vl53l0x_set_x_talk_compensation_rate_mega_cps( Dev,
pDeviceParameters->XTalkCompensationRateMegaCps );
if ( Status == VL53L0X_ERROR_NONE )
Status = vl53l0x_set_offset_calibration_data_micro_meter( Dev,
pDeviceParameters->RangeOffsetMicroMeters );
for ( i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++ ) {
if ( Status == VL53L0X_ERROR_NONE )
Status |= vl53l0x_set_limit_check_enable( Dev, i,
pDeviceParameters->LimitChecksEnable[i] );
else
break;
if ( Status == VL53L0X_ERROR_NONE )
Status |= vl53l0x_set_limit_check_value( Dev, i,
pDeviceParameters->LimitChecksValue[i] );
else
break;
}
if ( Status == VL53L0X_ERROR_NONE )
Status = vl53l0x_set_wrap_around_check_enable( Dev,
pDeviceParameters->WrapAroundCheckEnable );
if ( Status == VL53L0X_ERROR_NONE )
Status = vl53l0x_set_measurement_timing_budget_micro_seconds( Dev,
pDeviceParameters->MeasurementTimingBudgetMicroSeconds );
LOG_FUNCTION_END( Status );
return Status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_inter_measurement_period_milli_seconds( VL53L0X_DEV dev,
uint32_t inter_measurement_period_milli_seconds )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint16_t osc_calibrate_val;
uint32_t im_period_milli_seconds;
LOG_FUNCTION_START( "" );
status = VL53L0X_RdWord( dev, VL53L0X_REG_OSC_CALIBRATE_VAL,
&osc_calibrate_val );
if ( status == VL53L0X_ERROR_NONE ) {
if ( osc_calibrate_val != 0 ) {
im_period_milli_seconds =
inter_measurement_period_milli_seconds
* osc_calibrate_val;
} else {
im_period_milli_seconds =
inter_measurement_period_milli_seconds;
}
status = VL53L0X_WrDWord( dev,
VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
im_period_milli_seconds );
}
if ( status == VL53L0X_ERROR_NONE ) {
VL53L0X_SETPARAMETERFIELD( dev,
InterMeasurementPeriodMilliSeconds,
inter_measurement_period_milli_seconds );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_wrap_around_check_enable( VL53L0X_DEV dev,
uint8_t wrap_around_check_enable )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t data;
uint8_t wrap_around_check_enable_int;
LOG_FUNCTION_START( "" );
status = VL53L0X_RdByte( dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data );
if ( wrap_around_check_enable == 0 ) {
/* Disable wraparound */
data = data & 0x7F;
wrap_around_check_enable_int = 0;
} else {
/*Enable wraparound */
data = data | 0x80;
wrap_around_check_enable_int = 1;
}
status = VL53L0X_WrByte( dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, data );
if ( status == VL53L0X_ERROR_NONE ) {
PALDevDataSet( dev, SequenceConfig, data );
VL53L0X_SETPARAMETERFIELD( dev, WrapAroundCheckEnable,
wrap_around_check_enable_int );
}
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_group_param_hold( VL53L0X_DEV dev, uint8_t group_param_hold )
{
VL53L0X_Error status = VL53L0X_ERROR_NOT_IMPLEMENTED;
LOG_FUNCTION_START( "" );
/* not implemented on VL53L0X */
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_range_fraction_enable( VL53L0X_DEV dev, uint8_t enable )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "%d", ( int )Enable );
status = VL53L0X_WrByte( dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, enable );
if ( status == VL53L0X_ERROR_NONE )
PALDevDataSet( dev, RangeFractionalEnable, enable );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_set_reference_spads( VL53L0X_DEV dev, uint32_t count,
uint8_t is_aperture_spads )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_set_reference_spads( dev, count, is_aperture_spads );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_get_reference_spads( VL53L0X_DEV dev, uint32_t *p_spad_count,
uint8_t *p_is_aperture_spads )
{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START( "" );
status = wrapped_vl53l0x_get_reference_spads( dev, p_spad_count, p_is_aperture_spads );
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::wrapped_vl53l0x_wait_device_booted( VL53L0X_DEV dev )
{
VL53L0X_Error status = VL53L0X_ERROR_NOT_IMPLEMENTED;
LOG_FUNCTION_START( "" );
/* not implemented on VL53L0X */
LOG_FUNCTION_END( status );
return status;
}
VL53L0X_Error VL53L0X::vl53l0x_wait_device_ready_for_new_measurement( VL53L0X_DEV dev,
uint32_t max_loop )
{
VL53L0X_Error status = VL53L0X_ERROR_NOT_IMPLEMENTED;
LOG_FUNCTION_START( "" );
/* not implemented for VL53L0X */
LOG_FUNCTION_END( satus );
return status;
}
/******************************************************************************/