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
Revision 15:932d8b4e52c9, committed 2017-06-20
- Comitter:
- johnAlexander
- Date:
- Tue Jun 20 16:00:31 2017 +0000
- Parent:
- 14:d84672f45f7b
- Child:
- 16:98ce55ddbb1a
- Commit message:
- x_nucleo_53l0a1 & vl53l0x_class class reformatted with astyle tool.
Changed in this revision
--- a/Components/VL53L0X/vl53l0x_class.cpp Tue Jun 20 15:43:26 2017 +0000
+++ b/Components/VL53L0X/vl53l0x_class.cpp Tue Jun 20 16:00:31 2017 +0000
@@ -34,7 +34,7 @@
*
******************************************************************************
*/
-
+
/* Includes */
#include <stdlib.h>
@@ -49,13 +49,13 @@
/****************** 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__)
@@ -74,1748 +74,1750 @@
#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 };
+ 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 LoopNb;
- LOG_FUNCTION_START("");
-
- Status |= VL53L0X_WrByte(Dev, 0x83, 0x00);
-
- /* polling
- * use timeout to avoid deadlock*/
- if (Status == VL53L0X_ERROR_NONE) {
- LoopNb = 0;
- do {
- Status = VL53L0X_RdByte(Dev, 0x83, &strobe);
- if ((strobe != 0x00) || Status != VL53L0X_ERROR_NONE)
- break;
-
- LoopNb = LoopNb + 1;
- } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);
-
- if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP)
- Status = VL53L0X_ERROR_TIME_OUT;
-
- }
-
- Status |= VL53L0X_WrByte(Dev, 0x83, 0x01);
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t strobe;
+ uint32_t LoopNb;
+ LOG_FUNCTION_START("");
+
+ Status |= VL53L0X_WrByte(Dev, 0x83, 0x00);
+
+ /* polling
+ * use timeout to avoid deadlock*/
+ if (Status == VL53L0X_ERROR_NONE) {
+ LoopNb = 0;
+ do {
+ Status = VL53L0X_RdByte(Dev, 0x83, &strobe);
+ if ((strobe != 0x00) || Status != VL53L0X_ERROR_NONE)
+ break;
+
+ LoopNb = LoopNb + 1;
+ } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);
+
+ if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP)
+ Status = VL53L0X_ERROR_TIME_OUT;
+
+ }
+
+ Status |= VL53L0X_WrByte(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 TmpDWord;
- uint8_t ModuleId;
- uint8_t Revision;
- uint8_t ReferenceSpadCount = 0;
- uint8_t ReferenceSpadType = 0;
- uint32_t PartUIDUpper = 0;
- uint32_t PartUIDLower = 0;
- uint32_t OffsetFixed1104_mm = 0;
- int16_t OffsetMicroMeters = 0;
- uint32_t DistMeasTgtFixed1104_mm = 400 << 4;
- uint32_t DistMeasFixed1104_400_mm = 0;
- uint32_t SignalRateMeasFixed1104_400_mm = 0;
- char ProductId[19];
- char *ProductId_tmp;
- uint8_t ReadDataFromDeviceDone;
- FixPoint1616_t SignalRateMeasFixed400mmFix = 0;
- uint8_t NvmRefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE];
- int i;
-
-
- LOG_FUNCTION_START("");
-
- ReadDataFromDeviceDone = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
- ReadDataFromDeviceDone);
-
- /* This access is done only once after that a GetDeviceInfo or
- * datainit is done*/
- if (ReadDataFromDeviceDone != 7) {
-
- Status |= VL53L0X_WrByte(Dev, 0x80, 0x01);
- Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
- Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
-
- Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06);
- Status |= VL53L0X_RdByte(Dev, 0x83, &byte);
- Status |= VL53L0X_WrByte(Dev, 0x83, byte|4);
- Status |= VL53L0X_WrByte(Dev, 0xFF, 0x07);
- Status |= VL53L0X_WrByte(Dev, 0x81, 0x01);
-
- Status |= VL53L0X_PollingDelay(Dev);
-
- Status |= VL53L0X_WrByte(Dev, 0x80, 0x01);
-
- if (((option & 1) == 1) &&
- ((ReadDataFromDeviceDone & 1) == 0)) {
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x6b);
- Status |= VL53L0X_device_read_strobe(Dev);
- Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
-
- ReferenceSpadCount = (uint8_t)((TmpDWord >> 8) & 0x07f);
- ReferenceSpadType = (uint8_t)((TmpDWord >> 15) & 0x01);
-
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x24);
- Status |= VL53L0X_device_read_strobe(Dev);
- Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
-
-
- NvmRefGoodSpadMap[0] = (uint8_t)((TmpDWord >> 24)
- & 0xff);
- NvmRefGoodSpadMap[1] = (uint8_t)((TmpDWord >> 16)
- & 0xff);
- NvmRefGoodSpadMap[2] = (uint8_t)((TmpDWord >> 8)
- & 0xff);
- NvmRefGoodSpadMap[3] = (uint8_t)(TmpDWord & 0xff);
-
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x25);
- Status |= VL53L0X_device_read_strobe(Dev);
- Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
-
- NvmRefGoodSpadMap[4] = (uint8_t)((TmpDWord >> 24)
- & 0xff);
- NvmRefGoodSpadMap[5] = (uint8_t)((TmpDWord >> 16)
- & 0xff);
- }
-
- if (((option & 2) == 2) &&
- ((ReadDataFromDeviceDone & 2) == 0)) {
-
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x02);
- Status |= VL53L0X_device_read_strobe(Dev);
- Status |= VL53L0X_RdByte(Dev, 0x90, &ModuleId);
-
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B);
- Status |= VL53L0X_device_read_strobe(Dev);
- Status |= VL53L0X_RdByte(Dev, 0x90, &Revision);
-
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x77);
- Status |= VL53L0X_device_read_strobe(Dev);
- Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
-
- ProductId[0] = (char)((TmpDWord >> 25) & 0x07f);
- ProductId[1] = (char)((TmpDWord >> 18) & 0x07f);
- ProductId[2] = (char)((TmpDWord >> 11) & 0x07f);
- ProductId[3] = (char)((TmpDWord >> 4) & 0x07f);
-
- byte = (uint8_t)((TmpDWord & 0x00f) << 3);
-
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x78);
- Status |= VL53L0X_device_read_strobe(Dev);
- Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
-
- ProductId[4] = (char)(byte +
- ((TmpDWord >> 29) & 0x07f));
- ProductId[5] = (char)((TmpDWord >> 22) & 0x07f);
- ProductId[6] = (char)((TmpDWord >> 15) & 0x07f);
- ProductId[7] = (char)((TmpDWord >> 8) & 0x07f);
- ProductId[8] = (char)((TmpDWord >> 1) & 0x07f);
-
- byte = (uint8_t)((TmpDWord & 0x001) << 6);
-
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x79);
-
- Status |= VL53L0X_device_read_strobe(Dev);
-
- Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
-
- ProductId[9] = (char)(byte +
- ((TmpDWord >> 26) & 0x07f));
- ProductId[10] = (char)((TmpDWord >> 19) & 0x07f);
- ProductId[11] = (char)((TmpDWord >> 12) & 0x07f);
- ProductId[12] = (char)((TmpDWord >> 5) & 0x07f);
-
- byte = (uint8_t)((TmpDWord & 0x01f) << 2);
-
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x7A);
-
- Status |= VL53L0X_device_read_strobe(Dev);
-
- Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
-
- ProductId[13] = (char)(byte +
- ((TmpDWord >> 30) & 0x07f));
- ProductId[14] = (char)((TmpDWord >> 23) & 0x07f);
- ProductId[15] = (char)((TmpDWord >> 16) & 0x07f);
- ProductId[16] = (char)((TmpDWord >> 9) & 0x07f);
- ProductId[17] = (char)((TmpDWord >> 2) & 0x07f);
- ProductId[18] = '\0';
-
- }
-
- if (((option & 4) == 4) &&
- ((ReadDataFromDeviceDone & 4) == 0)) {
-
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B);
- Status |= VL53L0X_device_read_strobe(Dev);
- Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDUpper);
-
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x7C);
- Status |= VL53L0X_device_read_strobe(Dev);
- Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDLower);
-
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x73);
- Status |= VL53L0X_device_read_strobe(Dev);
- Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
-
- SignalRateMeasFixed1104_400_mm = (TmpDWord &
- 0x0000000ff) << 8;
-
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x74);
- Status |= VL53L0X_device_read_strobe(Dev);
- Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
-
- SignalRateMeasFixed1104_400_mm |= ((TmpDWord &
- 0xff000000) >> 24);
-
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x75);
- Status |= VL53L0X_device_read_strobe(Dev);
- Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
-
- DistMeasFixed1104_400_mm = (TmpDWord & 0x0000000ff)
- << 8;
-
- Status |= VL53L0X_WrByte(Dev, 0x94, 0x76);
- Status |= VL53L0X_device_read_strobe(Dev);
- Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
-
- DistMeasFixed1104_400_mm |= ((TmpDWord & 0xff000000)
- >> 24);
- }
-
- Status |= VL53L0X_WrByte(Dev, 0x81, 0x00);
- Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06);
- Status |= VL53L0X_RdByte(Dev, 0x83, &byte);
- Status |= VL53L0X_WrByte(Dev, 0x83, byte&0xfb);
- Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
- Status |= VL53L0X_WrByte(Dev, 0x00, 0x01);
-
- Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
- Status |= VL53L0X_WrByte(Dev, 0x80, 0x00);
- }
-
- if ((Status == VL53L0X_ERROR_NONE) &&
- (ReadDataFromDeviceDone != 7)) {
- /* Assign to variable if status is ok */
- if (((option & 1) == 1) &&
- ((ReadDataFromDeviceDone & 1) == 0)) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
- ReferenceSpadCount, ReferenceSpadCount);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
- ReferenceSpadType, ReferenceSpadType);
-
- for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) {
- Dev->Data.SpadData.RefGoodSpadMap[i] =
- NvmRefGoodSpadMap[i];
- }
- }
-
- if (((option & 2) == 2) &&
- ((ReadDataFromDeviceDone & 2) == 0)) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
- ModuleId, ModuleId);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
- Revision, Revision);
-
- ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
- ProductId);
- VL53L0X_COPYSTRING(ProductId_tmp, ProductId);
-
- }
-
- if (((option & 4) == 4) &&
- ((ReadDataFromDeviceDone & 4) == 0)) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
- PartUIDUpper, PartUIDUpper);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
- PartUIDLower, PartUIDLower);
-
- SignalRateMeasFixed400mmFix =
- VL53L0X_FIXPOINT97TOFIXPOINT1616(
- SignalRateMeasFixed1104_400_mm);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
- SignalRateMeasFixed400mm,
- SignalRateMeasFixed400mmFix);
-
- OffsetMicroMeters = 0;
- if (DistMeasFixed1104_400_mm != 0) {
- OffsetFixed1104_mm =
- DistMeasFixed1104_400_mm -
- DistMeasTgtFixed1104_mm;
- OffsetMicroMeters = (OffsetFixed1104_mm
- * 1000) >> 4;
- OffsetMicroMeters *= -1;
- }
-
- PALDevDataSet(Dev,
- Part2PartOffsetAdjustmentNVMMicroMeter,
- OffsetMicroMeters);
- }
- byte = (uint8_t)(ReadDataFromDeviceDone|option);
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone,
- byte);
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t byte;
+ uint32_t TmpDWord;
+ uint8_t ModuleId;
+ uint8_t Revision;
+ uint8_t ReferenceSpadCount = 0;
+ uint8_t ReferenceSpadType = 0;
+ uint32_t PartUIDUpper = 0;
+ uint32_t PartUIDLower = 0;
+ uint32_t OffsetFixed1104_mm = 0;
+ int16_t OffsetMicroMeters = 0;
+ uint32_t DistMeasTgtFixed1104_mm = 400 << 4;
+ uint32_t DistMeasFixed1104_400_mm = 0;
+ uint32_t SignalRateMeasFixed1104_400_mm = 0;
+ char ProductId[19];
+ char *ProductId_tmp;
+ uint8_t ReadDataFromDeviceDone;
+ FixPoint1616_t SignalRateMeasFixed400mmFix = 0;
+ uint8_t NvmRefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE];
+ int i;
+
+
+ LOG_FUNCTION_START("");
+
+ ReadDataFromDeviceDone = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+ ReadDataFromDeviceDone);
+
+ /* This access is done only once after that a GetDeviceInfo or
+ * datainit is done*/
+ if (ReadDataFromDeviceDone != 7) {
+
+ Status |= VL53L0X_WrByte(Dev, 0x80, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
+
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06);
+ Status |= VL53L0X_RdByte(Dev, 0x83, &byte);
+ Status |= VL53L0X_WrByte(Dev, 0x83, byte|4);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x07);
+ Status |= VL53L0X_WrByte(Dev, 0x81, 0x01);
+
+ Status |= VL53L0X_PollingDelay(Dev);
+
+ Status |= VL53L0X_WrByte(Dev, 0x80, 0x01);
+
+ if (((option & 1) == 1) &&
+ ((ReadDataFromDeviceDone & 1) == 0)) {
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x6b);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ ReferenceSpadCount = (uint8_t)((TmpDWord >> 8) & 0x07f);
+ ReferenceSpadType = (uint8_t)((TmpDWord >> 15) & 0x01);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x24);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+
+ NvmRefGoodSpadMap[0] = (uint8_t)((TmpDWord >> 24)
+ & 0xff);
+ NvmRefGoodSpadMap[1] = (uint8_t)((TmpDWord >> 16)
+ & 0xff);
+ NvmRefGoodSpadMap[2] = (uint8_t)((TmpDWord >> 8)
+ & 0xff);
+ NvmRefGoodSpadMap[3] = (uint8_t)(TmpDWord & 0xff);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x25);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ NvmRefGoodSpadMap[4] = (uint8_t)((TmpDWord >> 24)
+ & 0xff);
+ NvmRefGoodSpadMap[5] = (uint8_t)((TmpDWord >> 16)
+ & 0xff);
+ }
+
+ if (((option & 2) == 2) &&
+ ((ReadDataFromDeviceDone & 2) == 0)) {
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x02);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdByte(Dev, 0x90, &ModuleId);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdByte(Dev, 0x90, &Revision);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x77);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ ProductId[0] = (char)((TmpDWord >> 25) & 0x07f);
+ ProductId[1] = (char)((TmpDWord >> 18) & 0x07f);
+ ProductId[2] = (char)((TmpDWord >> 11) & 0x07f);
+ ProductId[3] = (char)((TmpDWord >> 4) & 0x07f);
+
+ byte = (uint8_t)((TmpDWord & 0x00f) << 3);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x78);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ ProductId[4] = (char)(byte +
+ ((TmpDWord >> 29) & 0x07f));
+ ProductId[5] = (char)((TmpDWord >> 22) & 0x07f);
+ ProductId[6] = (char)((TmpDWord >> 15) & 0x07f);
+ ProductId[7] = (char)((TmpDWord >> 8) & 0x07f);
+ ProductId[8] = (char)((TmpDWord >> 1) & 0x07f);
+
+ byte = (uint8_t)((TmpDWord & 0x001) << 6);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x79);
+
+ Status |= VL53L0X_device_read_strobe(Dev);
+
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ ProductId[9] = (char)(byte +
+ ((TmpDWord >> 26) & 0x07f));
+ ProductId[10] = (char)((TmpDWord >> 19) & 0x07f);
+ ProductId[11] = (char)((TmpDWord >> 12) & 0x07f);
+ ProductId[12] = (char)((TmpDWord >> 5) & 0x07f);
+
+ byte = (uint8_t)((TmpDWord & 0x01f) << 2);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x7A);
+
+ Status |= VL53L0X_device_read_strobe(Dev);
+
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ ProductId[13] = (char)(byte +
+ ((TmpDWord >> 30) & 0x07f));
+ ProductId[14] = (char)((TmpDWord >> 23) & 0x07f);
+ ProductId[15] = (char)((TmpDWord >> 16) & 0x07f);
+ ProductId[16] = (char)((TmpDWord >> 9) & 0x07f);
+ ProductId[17] = (char)((TmpDWord >> 2) & 0x07f);
+ ProductId[18] = '\0';
+
+ }
+
+ if (((option & 4) == 4) &&
+ ((ReadDataFromDeviceDone & 4) == 0)) {
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDUpper);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x7C);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDLower);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x73);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ SignalRateMeasFixed1104_400_mm = (TmpDWord &
+ 0x0000000ff) << 8;
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x74);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ SignalRateMeasFixed1104_400_mm |= ((TmpDWord &
+ 0xff000000) >> 24);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x75);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ DistMeasFixed1104_400_mm = (TmpDWord & 0x0000000ff)
+ << 8;
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x76);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ DistMeasFixed1104_400_mm |= ((TmpDWord & 0xff000000)
+ >> 24);
+ }
+
+ Status |= VL53L0X_WrByte(Dev, 0x81, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06);
+ Status |= VL53L0X_RdByte(Dev, 0x83, &byte);
+ Status |= VL53L0X_WrByte(Dev, 0x83, byte&0xfb);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0x00, 0x01);
+
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0x80, 0x00);
+ }
+
+ if ((Status == VL53L0X_ERROR_NONE) &&
+ (ReadDataFromDeviceDone != 7)) {
+ /* Assign to variable if status is ok */
+ if (((option & 1) == 1) &&
+ ((ReadDataFromDeviceDone & 1) == 0)) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadCount, ReferenceSpadCount);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadType, ReferenceSpadType);
+
+ for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) {
+ Dev->Data.SpadData.RefGoodSpadMap[i] =
+ NvmRefGoodSpadMap[i];
+ }
+ }
+
+ if (((option & 2) == 2) &&
+ ((ReadDataFromDeviceDone & 2) == 0)) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ ModuleId, ModuleId);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ Revision, Revision);
+
+ ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+ ProductId);
+ VL53L0X_COPYSTRING(ProductId_tmp, ProductId);
+
+ }
+
+ if (((option & 4) == 4) &&
+ ((ReadDataFromDeviceDone & 4) == 0)) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ PartUIDUpper, PartUIDUpper);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ PartUIDLower, PartUIDLower);
+
+ SignalRateMeasFixed400mmFix =
+ VL53L0X_FIXPOINT97TOFIXPOINT1616(
+ SignalRateMeasFixed1104_400_mm);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ SignalRateMeasFixed400mm,
+ SignalRateMeasFixed400mmFix);
+
+ OffsetMicroMeters = 0;
+ if (DistMeasFixed1104_400_mm != 0) {
+ OffsetFixed1104_mm =
+ DistMeasFixed1104_400_mm -
+ DistMeasTgtFixed1104_mm;
+ OffsetMicroMeters = (OffsetFixed1104_mm
+ * 1000) >> 4;
+ OffsetMicroMeters *= -1;
+ }
+
+ PALDevDataSet(Dev,
+ Part2PartOffsetAdjustmentNVMMicroMeter,
+ OffsetMicroMeters);
+ }
+ byte = (uint8_t)(ReadDataFromDeviceDone|option);
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone,
+ byte);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
- int32_t *pOffsetCalibrationDataMicroMeter)
+ int32_t *pOffsetCalibrationDataMicroMeter)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint16_t RangeOffsetRegister;
- int16_t cMaxOffset = 2047;
- int16_t cOffsetRange = 4096;
-
- /* Note that offset has 10.2 format */
-
- Status = VL53L0X_RdWord(Dev,
- VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
- &RangeOffsetRegister);
-
- if (Status == VL53L0X_ERROR_NONE) {
- RangeOffsetRegister = (RangeOffsetRegister & 0x0fff);
-
- /* Apply 12 bit 2's compliment conversion */
- if (RangeOffsetRegister > cMaxOffset)
- *pOffsetCalibrationDataMicroMeter =
- (int16_t)(RangeOffsetRegister - cOffsetRange)
- * 250;
- else
- *pOffsetCalibrationDataMicroMeter =
- (int16_t)RangeOffsetRegister * 250;
-
- }
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint16_t RangeOffsetRegister;
+ int16_t cMaxOffset = 2047;
+ int16_t cOffsetRange = 4096;
+
+ /* Note that offset has 10.2 format */
+
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
+ &RangeOffsetRegister);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ RangeOffsetRegister = (RangeOffsetRegister & 0x0fff);
+
+ /* Apply 12 bit 2's compliment conversion */
+ if (RangeOffsetRegister > cMaxOffset)
+ *pOffsetCalibrationDataMicroMeter =
+ (int16_t)(RangeOffsetRegister - cOffsetRange)
+ * 250;
+ else
+ *pOffsetCalibrationDataMicroMeter =
+ (int16_t)RangeOffsetRegister * 250;
+
+ }
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev,
- int32_t *pOffsetCalibrationDataMicroMeter)
+ int32_t *pOffsetCalibrationDataMicroMeter)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_get_offset_calibration_data_micro_meter(Dev,
- pOffsetCalibrationDataMicroMeter);
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_get_offset_calibration_data_micro_meter(Dev,
+ pOffsetCalibrationDataMicroMeter);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
- int32_t OffsetCalibrationDataMicroMeter)
+ int32_t OffsetCalibrationDataMicroMeter)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- int32_t cMaxOffsetMicroMeter = 511000;
- int32_t cMinOffsetMicroMeter = -512000;
- int16_t cOffsetRange = 4096;
- uint32_t encodedOffsetVal;
-
- LOG_FUNCTION_START("");
-
- if (OffsetCalibrationDataMicroMeter > cMaxOffsetMicroMeter)
- OffsetCalibrationDataMicroMeter = cMaxOffsetMicroMeter;
- else if (OffsetCalibrationDataMicroMeter < cMinOffsetMicroMeter)
- OffsetCalibrationDataMicroMeter = cMinOffsetMicroMeter;
-
- /* The offset register is 10.2 format and units are mm
- * therefore conversion is applied by a division of
- * 250.
- */
- if (OffsetCalibrationDataMicroMeter >= 0) {
- encodedOffsetVal =
- OffsetCalibrationDataMicroMeter/250;
- } else {
- encodedOffsetVal =
- cOffsetRange +
- OffsetCalibrationDataMicroMeter/250;
- }
-
- Status = VL53L0X_WrWord(Dev,
- VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
- encodedOffsetVal);
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ int32_t cMaxOffsetMicroMeter = 511000;
+ int32_t cMinOffsetMicroMeter = -512000;
+ int16_t cOffsetRange = 4096;
+ uint32_t encodedOffsetVal;
+
+ LOG_FUNCTION_START("");
+
+ if (OffsetCalibrationDataMicroMeter > cMaxOffsetMicroMeter)
+ OffsetCalibrationDataMicroMeter = cMaxOffsetMicroMeter;
+ else if (OffsetCalibrationDataMicroMeter < cMinOffsetMicroMeter)
+ OffsetCalibrationDataMicroMeter = cMinOffsetMicroMeter;
+
+ /* The offset register is 10.2 format and units are mm
+ * therefore conversion is applied by a division of
+ * 250.
+ */
+ if (OffsetCalibrationDataMicroMeter >= 0) {
+ encodedOffsetVal =
+ OffsetCalibrationDataMicroMeter/250;
+ } else {
+ encodedOffsetVal =
+ cOffsetRange +
+ OffsetCalibrationDataMicroMeter/250;
+ }
+
+ Status = VL53L0X_WrWord(Dev,
+ VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
+ encodedOffsetVal);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_SetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev,
- int32_t OffsetCalibrationDataMicroMeter)
+ int32_t OffsetCalibrationDataMicroMeter)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_set_offset_calibration_data_micro_meter(Dev,
- OffsetCalibrationDataMicroMeter);
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_set_offset_calibration_data_micro_meter(Dev,
+ OffsetCalibrationDataMicroMeter);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- int32_t CorrectedOffsetMicroMeters;
- int32_t CurrentOffsetMicroMeters;
-
- /* 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_GetOffsetCalibrationDataMicroMeter(Dev,
- &CurrentOffsetMicroMeters);
- }
-
- /* Apply Offset Adjustment derived from 400mm measurements */
- if (Status == VL53L0X_ERROR_NONE) {
-
- /* Store initial device offset */
- PALDevDataSet(Dev, Part2PartOffsetNVMMicroMeter,
- CurrentOffsetMicroMeters);
-
- CorrectedOffsetMicroMeters = CurrentOffsetMicroMeters +
- (int32_t)PALDevDataGet(Dev,
- Part2PartOffsetAdjustmentNVMMicroMeter);
-
- Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev,
- CorrectedOffsetMicroMeters);
-
- /* store current, adjusted offset */
- if (Status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETPARAMETERFIELD(Dev, RangeOffsetMicroMeters,
- CorrectedOffsetMicroMeters);
- }
- }
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ int32_t CorrectedOffsetMicroMeters;
+ int32_t CurrentOffsetMicroMeters;
+
+ /* 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_GetOffsetCalibrationDataMicroMeter(Dev,
+ &CurrentOffsetMicroMeters);
+ }
+
+ /* Apply Offset Adjustment derived from 400mm measurements */
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ /* Store initial device offset */
+ PALDevDataSet(Dev, Part2PartOffsetNVMMicroMeter,
+ CurrentOffsetMicroMeters);
+
+ CorrectedOffsetMicroMeters = CurrentOffsetMicroMeters +
+ (int32_t)PALDevDataGet(Dev,
+ Part2PartOffsetAdjustmentNVMMicroMeter);
+
+ Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev,
+ CorrectedOffsetMicroMeters);
+
+ /* store current, adjusted offset */
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETPARAMETERFIELD(Dev, RangeOffsetMicroMeters,
+ CorrectedOffsetMicroMeters);
+ }
+ }
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetDeviceMode(VL53L0X_DEV Dev,
- VL53L0X_DeviceModes *pDeviceMode)
+ VL53L0X_DeviceModes *pDeviceMode)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- VL53L0X_GETPARAMETERFIELD(Dev, DeviceMode, *pDeviceMode);
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ VL53L0X_GETPARAMETERFIELD(Dev, DeviceMode, *pDeviceMode);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev,
- uint32_t *pInterMeasurementPeriodMilliSeconds)
+ uint32_t *pInterMeasurementPeriodMilliSeconds)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint16_t osc_calibrate_val;
- uint32_t IMPeriodMilliSeconds;
-
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL,
- &osc_calibrate_val);
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_RdDWord(Dev,
- VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
- &IMPeriodMilliSeconds);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- if (osc_calibrate_val != 0) {
- *pInterMeasurementPeriodMilliSeconds =
- IMPeriodMilliSeconds / osc_calibrate_val;
- }
- VL53L0X_SETPARAMETERFIELD(Dev,
- InterMeasurementPeriodMilliSeconds,
- *pInterMeasurementPeriodMilliSeconds);
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint16_t osc_calibrate_val;
+ uint32_t IMPeriodMilliSeconds;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL,
+ &osc_calibrate_val);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdDWord(Dev,
+ VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
+ &IMPeriodMilliSeconds);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (osc_calibrate_val != 0) {
+ *pInterMeasurementPeriodMilliSeconds =
+ IMPeriodMilliSeconds / osc_calibrate_val;
+ }
+ VL53L0X_SETPARAMETERFIELD(Dev,
+ InterMeasurementPeriodMilliSeconds,
+ *pInterMeasurementPeriodMilliSeconds);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev,
- FixPoint1616_t *pXTalkCompensationRateMegaCps)
+ FixPoint1616_t *pXTalkCompensationRateMegaCps)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint16_t Value;
- FixPoint1616_t TempFix1616;
-
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_RdWord(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, TempFix1616);
- *pXTalkCompensationRateMegaCps = TempFix1616;
- VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable,
- 0);
- } else {
- TempFix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(Value);
- *pXTalkCompensationRateMegaCps = TempFix1616;
- VL53L0X_SETPARAMETERFIELD(Dev,
- XTalkCompensationRateMegaCps, TempFix1616);
- VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable,
- 1);
- }
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint16_t Value;
+ FixPoint1616_t TempFix1616;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_RdWord(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, TempFix1616);
+ *pXTalkCompensationRateMegaCps = TempFix1616;
+ VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable,
+ 0);
+ } else {
+ TempFix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(Value);
+ *pXTalkCompensationRateMegaCps = TempFix1616;
+ VL53L0X_SETPARAMETERFIELD(Dev,
+ XTalkCompensationRateMegaCps, TempFix1616);
+ VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable,
+ 1);
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
- FixPoint1616_t *pLimitCheckValue)
+ FixPoint1616_t *pLimitCheckValue)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t EnableZeroValue = 0;
- uint16_t Temp16;
- FixPoint1616_t TempFix1616;
-
- LOG_FUNCTION_START("");
-
- switch (LimitCheckId) {
-
- case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
- /* internal computation: */
- VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, TempFix1616);
- EnableZeroValue = 0;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
- Status = VL53L0X_RdWord(Dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- &Temp16);
- if (Status == VL53L0X_ERROR_NONE)
- TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16);
-
-
- EnableZeroValue = 1;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
- /* internal computation: */
- VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, TempFix1616);
- EnableZeroValue = 0;
- break;
-
- case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
- /* internal computation: */
- VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, TempFix1616);
- EnableZeroValue = 0;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
- Status = VL53L0X_RdWord(Dev,
- VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
- &Temp16);
- if (Status == VL53L0X_ERROR_NONE)
- TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16);
-
-
- EnableZeroValue = 0;
- break;
-
- default:
- Status = VL53L0X_ERROR_INVALID_PARAMS;
-
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
-
- if (EnableZeroValue == 1) {
-
- if (TempFix1616 == 0) {
- /* disabled: return value from memory */
- VL53L0X_GETARRAYPARAMETERFIELD(Dev,
- LimitChecksValue, LimitCheckId,
- TempFix1616);
- *pLimitCheckValue = TempFix1616;
- VL53L0X_SETARRAYPARAMETERFIELD(Dev,
- LimitChecksEnable, LimitCheckId, 0);
- } else {
- *pLimitCheckValue = TempFix1616;
- VL53L0X_SETARRAYPARAMETERFIELD(Dev,
- LimitChecksValue, LimitCheckId,
- TempFix1616);
- VL53L0X_SETARRAYPARAMETERFIELD(Dev,
- LimitChecksEnable, LimitCheckId, 1);
- }
- } else {
- *pLimitCheckValue = TempFix1616;
- }
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t EnableZeroValue = 0;
+ uint16_t Temp16;
+ FixPoint1616_t TempFix1616;
+
+ LOG_FUNCTION_START("");
+
+ switch (LimitCheckId) {
+
+ case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
+ /* internal computation: */
+ VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, TempFix1616);
+ EnableZeroValue = 0;
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
+ &Temp16);
+ if (Status == VL53L0X_ERROR_NONE)
+ TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16);
+
+
+ EnableZeroValue = 1;
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
+ /* internal computation: */
+ VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, TempFix1616);
+ EnableZeroValue = 0;
+ break;
+
+ case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
+ /* internal computation: */
+ VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, TempFix1616);
+ EnableZeroValue = 0;
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
+ &Temp16);
+ if (Status == VL53L0X_ERROR_NONE)
+ TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16);
+
+
+ EnableZeroValue = 0;
+ break;
+
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ if (EnableZeroValue == 1) {
+
+ if (TempFix1616 == 0) {
+ /* disabled: return value from memory */
+ VL53L0X_GETARRAYPARAMETERFIELD(Dev,
+ LimitChecksValue, LimitCheckId,
+ TempFix1616);
+ *pLimitCheckValue = TempFix1616;
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksEnable, LimitCheckId, 0);
+ } else {
+ *pLimitCheckValue = TempFix1616;
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksValue, LimitCheckId,
+ TempFix1616);
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksEnable, LimitCheckId, 1);
+ }
+ } else {
+ *pLimitCheckValue = TempFix1616;
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
- uint8_t *pLimitCheckEnable)
+ uint8_t *pLimitCheckEnable)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t Temp8;
-
- LOG_FUNCTION_START("");
-
- if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- *pLimitCheckEnable = 0;
- } else {
- VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
- LimitCheckId, Temp8);
- *pLimitCheckEnable = Temp8;
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t Temp8;
+
+ LOG_FUNCTION_START("");
+
+ if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ *pLimitCheckEnable = 0;
+ } else {
+ VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+ LimitCheckId, Temp8);
+ *pLimitCheckEnable = Temp8;
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev,
- uint8_t *pWrapAroundCheckEnable)
+ uint8_t *pWrapAroundCheckEnable)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t data;
-
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data);
- if (Status == VL53L0X_ERROR_NONE) {
- PALDevDataSet(Dev, SequenceConfig, data);
- if (data & (0x01 << 7))
- *pWrapAroundCheckEnable = 0x01;
- else
- *pWrapAroundCheckEnable = 0x00;
- }
- if (Status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable,
- *pWrapAroundCheckEnable);
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t data;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data);
+ if (Status == VL53L0X_ERROR_NONE) {
+ PALDevDataSet(Dev, SequenceConfig, data);
+ if (data & (0x01 << 7))
+ *pWrapAroundCheckEnable = 0x01;
+ else
+ *pWrapAroundCheckEnable = 0x00;
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable,
+ *pWrapAroundCheckEnable);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::sequence_step_enabled(VL53L0X_DEV Dev,
- VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig,
- uint8_t *pSequenceStepEnabled)
+ VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig,
+ uint8_t *pSequenceStepEnabled)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- *pSequenceStepEnabled = 0;
- LOG_FUNCTION_START("");
-
- switch (SequenceStepId) {
- case VL53L0X_SEQUENCESTEP_TCC:
- *pSequenceStepEnabled = (SequenceConfig & 0x10) >> 4;
- break;
- case VL53L0X_SEQUENCESTEP_DSS:
- *pSequenceStepEnabled = (SequenceConfig & 0x08) >> 3;
- break;
- case VL53L0X_SEQUENCESTEP_MSRC:
- *pSequenceStepEnabled = (SequenceConfig & 0x04) >> 2;
- break;
- case VL53L0X_SEQUENCESTEP_PRE_RANGE:
- *pSequenceStepEnabled = (SequenceConfig & 0x40) >> 6;
- break;
- case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
- *pSequenceStepEnabled = (SequenceConfig & 0x80) >> 7;
- break;
- default:
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ *pSequenceStepEnabled = 0;
+ LOG_FUNCTION_START("");
+
+ switch (SequenceStepId) {
+ case VL53L0X_SEQUENCESTEP_TCC:
+ *pSequenceStepEnabled = (SequenceConfig & 0x10) >> 4;
+ break;
+ case VL53L0X_SEQUENCESTEP_DSS:
+ *pSequenceStepEnabled = (SequenceConfig & 0x08) >> 3;
+ break;
+ case VL53L0X_SEQUENCESTEP_MSRC:
+ *pSequenceStepEnabled = (SequenceConfig & 0x04) >> 2;
+ break;
+ case VL53L0X_SEQUENCESTEP_PRE_RANGE:
+ *pSequenceStepEnabled = (SequenceConfig & 0x40) >> 6;
+ break;
+ case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
+ *pSequenceStepEnabled = (SequenceConfig & 0x80) >> 7;
+ break;
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev,
- VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps)
+ VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps)
{
- 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,
- VL53L0X_SEQUENCESTEP_TCC, SequenceConfig,
- &pSchedulerSequenceSteps->TccOn);
- }
- if (Status == VL53L0X_ERROR_NONE) {
- Status = sequence_step_enabled(Dev,
- VL53L0X_SEQUENCESTEP_DSS, SequenceConfig,
- &pSchedulerSequenceSteps->DssOn);
- }
- if (Status == VL53L0X_ERROR_NONE) {
- Status = sequence_step_enabled(Dev,
- VL53L0X_SEQUENCESTEP_MSRC, SequenceConfig,
- &pSchedulerSequenceSteps->MsrcOn);
- }
- if (Status == VL53L0X_ERROR_NONE) {
- Status = sequence_step_enabled(Dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE, SequenceConfig,
- &pSchedulerSequenceSteps->PreRangeOn);
- }
- if (Status == VL53L0X_ERROR_NONE) {
- Status = sequence_step_enabled(Dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE, SequenceConfig,
- &pSchedulerSequenceSteps->FinalRangeOn);
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ 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,
+ VL53L0X_SEQUENCESTEP_TCC, SequenceConfig,
+ &pSchedulerSequenceSteps->TccOn);
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = sequence_step_enabled(Dev,
+ VL53L0X_SEQUENCESTEP_DSS, SequenceConfig,
+ &pSchedulerSequenceSteps->DssOn);
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = sequence_step_enabled(Dev,
+ VL53L0X_SEQUENCESTEP_MSRC, SequenceConfig,
+ &pSchedulerSequenceSteps->MsrcOn);
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = sequence_step_enabled(Dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE, SequenceConfig,
+ &pSchedulerSequenceSteps->PreRangeOn);
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = sequence_step_enabled(Dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE, SequenceConfig,
+ &pSchedulerSequenceSteps->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;
+ /*!
+ * 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::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;
+ /*!
+ * 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::VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev,
- VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK)
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t vcsel_period_reg;
- uint8_t MinPreVcselPeriodPCLK = 12;
- uint8_t MaxPreVcselPeriodPCLK = 18;
- uint8_t MinFinalVcselPeriodPCLK = 8;
- uint8_t MaxFinalVcselPeriodPCLK = 14;
- uint32_t MeasurementTimingBudgetMicroSeconds;
- uint32_t FinalRangeTimeoutMicroSeconds;
- uint32_t PreRangeTimeoutMicroSeconds;
- uint32_t MsrcTimeoutMicroSeconds;
- uint8_t PhaseCalInt = 0;
-
- /* Check if valid clock period requested */
-
- if ((VCSELPulsePeriodPCLK % 2) != 0) {
- /* Value must be an even number */
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE &&
- (VCSELPulsePeriodPCLK < MinPreVcselPeriodPCLK ||
- VCSELPulsePeriodPCLK > MaxPreVcselPeriodPCLK)) {
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE &&
- (VCSELPulsePeriodPCLK < MinFinalVcselPeriodPCLK ||
- VCSELPulsePeriodPCLK > MaxFinalVcselPeriodPCLK)) {
-
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- /* Apply specific settings for the requested clock period */
-
- if (Status != VL53L0X_ERROR_NONE)
- return Status;
-
-
- if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE) {
-
- /* Set phase check limits */
- if (VCSELPulsePeriodPCLK == 12) {
-
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x18);
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- } else if (VCSELPulsePeriodPCLK == 14) {
-
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x30);
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- } else if (VCSELPulsePeriodPCLK == 16) {
-
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x40);
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- } else if (VCSELPulsePeriodPCLK == 18) {
-
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x50);
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- }
- } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) {
-
- if (VCSELPulsePeriodPCLK == 8) {
-
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x10);
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- Status |= VL53L0X_WrByte(Dev,
- VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
- Status |= VL53L0X_WrByte(Dev,
- VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
-
- Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
- Status |= VL53L0X_WrByte(Dev,
- VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x30);
- Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
- } else if (VCSELPulsePeriodPCLK == 10) {
-
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x28);
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- Status |= VL53L0X_WrByte(Dev,
- VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
- Status |= VL53L0X_WrByte(Dev,
- VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
-
- Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
- Status |= VL53L0X_WrByte(Dev,
- VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x20);
- Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
- } else if (VCSELPulsePeriodPCLK == 12) {
-
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x38);
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- Status |= VL53L0X_WrByte(Dev,
- VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
- Status |= VL53L0X_WrByte(Dev,
- VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08);
-
- Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
- Status |= VL53L0X_WrByte(Dev,
- VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x20);
- Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
- } else if (VCSELPulsePeriodPCLK == 14) {
-
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x048);
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- Status |= VL53L0X_WrByte(Dev,
- VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
- Status |= VL53L0X_WrByte(Dev,
- VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
-
- Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
- Status |= VL53L0X_WrByte(Dev,
- VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x20);
- Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
- }
- }
-
-
- /* Re-calculate and apply timeouts, in macro periods */
-
- if (Status == VL53L0X_ERROR_NONE) {
- vcsel_period_reg = VL53L0X_encode_vcsel_period((uint8_t)
- VCSELPulsePeriodPCLK);
-
- /* 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 (VcselPeriodType) {
- case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
- Status = get_sequence_step_timeout(Dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &PreRangeTimeoutMicroSeconds);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = get_sequence_step_timeout(Dev,
- VL53L0X_SEQUENCESTEP_MSRC,
- &MsrcTimeoutMicroSeconds);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(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,
- PreRangeTimeoutMicroSeconds);
-
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = set_sequence_step_timeout(Dev,
- VL53L0X_SEQUENCESTEP_MSRC,
- MsrcTimeoutMicroSeconds);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- Dev,
- PreRangeVcselPulsePeriod,
- VCSELPulsePeriodPCLK);
- break;
- case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
- Status = get_sequence_step_timeout(Dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- &FinalRangeTimeoutMicroSeconds);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(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,
- FinalRangeTimeoutMicroSeconds);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- Dev,
- FinalRangeVcselPulsePeriod,
- VCSELPulsePeriodPCLK);
- break;
- default:
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
- /* Finally, the timing budget must be re-applied */
- if (Status == VL53L0X_ERROR_NONE) {
- VL53L0X_GETPARAMETERFIELD(Dev,
- MeasurementTimingBudgetMicroSeconds,
- MeasurementTimingBudgetMicroSeconds);
-
- Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev,
- MeasurementTimingBudgetMicroSeconds);
- }
-
- /* 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, &PhaseCalInt, 0, 1);
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t vcsel_period_reg;
+ uint8_t MinPreVcselPeriodPCLK = 12;
+ uint8_t MaxPreVcselPeriodPCLK = 18;
+ uint8_t MinFinalVcselPeriodPCLK = 8;
+ uint8_t MaxFinalVcselPeriodPCLK = 14;
+ uint32_t MeasurementTimingBudgetMicroSeconds;
+ uint32_t FinalRangeTimeoutMicroSeconds;
+ uint32_t PreRangeTimeoutMicroSeconds;
+ uint32_t MsrcTimeoutMicroSeconds;
+ uint8_t PhaseCalInt = 0;
+
+ /* Check if valid clock period requested */
+
+ if ((VCSELPulsePeriodPCLK % 2) != 0) {
+ /* Value must be an even number */
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE &&
+ (VCSELPulsePeriodPCLK < MinPreVcselPeriodPCLK ||
+ VCSELPulsePeriodPCLK > MaxPreVcselPeriodPCLK)) {
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE &&
+ (VCSELPulsePeriodPCLK < MinFinalVcselPeriodPCLK ||
+ VCSELPulsePeriodPCLK > MaxFinalVcselPeriodPCLK)) {
+
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ /* Apply specific settings for the requested clock period */
+
+ if (Status != VL53L0X_ERROR_NONE)
+ return Status;
+
+
+ if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE) {
+
+ /* Set phase check limits */
+ if (VCSELPulsePeriodPCLK == 12) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x18);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+ } else if (VCSELPulsePeriodPCLK == 14) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x30);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+ } else if (VCSELPulsePeriodPCLK == 16) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x40);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+ } else if (VCSELPulsePeriodPCLK == 18) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x50);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+ }
+ } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) {
+
+ if (VCSELPulsePeriodPCLK == 8) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x10);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
+
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_LIM,
+ 0x30);
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
+ } else if (VCSELPulsePeriodPCLK == 10) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x28);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
+
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_LIM,
+ 0x20);
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
+ } else if (VCSELPulsePeriodPCLK == 12) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x38);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08);
+
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_LIM,
+ 0x20);
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
+ } else if (VCSELPulsePeriodPCLK == 14) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x048);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
+
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_LIM,
+ 0x20);
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
+ }
+ }
+
+
+ /* Re-calculate and apply timeouts, in macro periods */
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ vcsel_period_reg = VL53L0X_encode_vcsel_period((uint8_t)
+ VCSELPulsePeriodPCLK);
+
+ /* 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 (VcselPeriodType) {
+ case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ &PreRangeTimeoutMicroSeconds);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_MSRC,
+ &MsrcTimeoutMicroSeconds);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(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,
+ PreRangeTimeoutMicroSeconds);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = set_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_MSRC,
+ MsrcTimeoutMicroSeconds);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ PreRangeVcselPulsePeriod,
+ VCSELPulsePeriodPCLK);
+ break;
+ case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ &FinalRangeTimeoutMicroSeconds);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(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,
+ FinalRangeTimeoutMicroSeconds);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ FinalRangeVcselPulsePeriod,
+ VCSELPulsePeriodPCLK);
+ break;
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ /* Finally, the timing budget must be re-applied */
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_GETPARAMETERFIELD(Dev,
+ MeasurementTimingBudgetMicroSeconds,
+ MeasurementTimingBudgetMicroSeconds);
+
+ Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev,
+ MeasurementTimingBudgetMicroSeconds);
+ }
+
+ /* 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, &PhaseCalInt, 0, 1);
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev,
- VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK)
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_set_vcsel_pulse_period(Dev, VcselPeriodType,
- VCSELPulsePeriodPCLK);
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_set_vcsel_pulse_period(Dev, VcselPeriodType,
+ VCSELPulsePeriodPCLK);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev,
- VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK)
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t vcsel_period_reg;
-
- switch (VcselPeriodType) {
- case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
- Status = VL53L0X_RdByte(Dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
- &vcsel_period_reg);
- break;
- case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
- Status = VL53L0X_RdByte(Dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
- &vcsel_period_reg);
- break;
- default:
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- if (Status == VL53L0X_ERROR_NONE)
- *pVCSELPulsePeriodPCLK =
- VL53L0X_decode_vcsel_period(vcsel_period_reg);
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t vcsel_period_reg;
+
+ switch (VcselPeriodType) {
+ case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
+ Status = VL53L0X_RdByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
+ &vcsel_period_reg);
+ break;
+ case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
+ Status = VL53L0X_RdByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
+ &vcsel_period_reg);
+ break;
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ if (Status == VL53L0X_ERROR_NONE)
+ *pVCSELPulsePeriodPCLK =
+ VL53L0X_decode_vcsel_period(vcsel_period_reg);
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev,
- VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK)
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_get_vcsel_pulse_period(Dev, VcselPeriodType,
- pVCSELPulsePeriodPCLK);
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_get_vcsel_pulse_period(Dev, VcselPeriodType,
+ pVCSELPulsePeriodPCLK);
+
+ 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;
+ /*!
+ * 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;
+ 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)
+ 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;
+ 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 SequenceStepId,
- uint32_t *pTimeOutMicroSecs)
+ VL53L0X_SequenceStepId SequenceStepId,
+ uint32_t *pTimeOutMicroSecs)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t CurrentVCSELPulsePeriodPClk;
- uint8_t EncodedTimeOutByte = 0;
- uint32_t TimeoutMicroSeconds = 0;
- uint16_t PreRangeEncodedTimeOut = 0;
- uint16_t MsrcTimeOutMClks;
- uint16_t PreRangeTimeOutMClks;
- uint16_t FinalRangeTimeOutMClks = 0;
- uint16_t FinalRangeEncodedTimeOut;
- VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps;
-
- if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) ||
- (SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) ||
- (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) {
-
- Status = VL53L0X_GetVcselPulsePeriod(Dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- &CurrentVCSELPulsePeriodPClk);
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_RdByte(Dev,
- VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
- &EncodedTimeOutByte);
- }
- MsrcTimeOutMClks = VL53L0X_decode_timeout(EncodedTimeOutByte);
-
- TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev,
- MsrcTimeOutMClks,
- CurrentVCSELPulsePeriodPClk);
- } else if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
- /* Retrieve PRE-RANGE VCSEL Period */
- Status = VL53L0X_GetVcselPulsePeriod(Dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- &CurrentVCSELPulsePeriodPClk);
-
- /* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
- if (Status == VL53L0X_ERROR_NONE) {
-
- /* Retrieve PRE-RANGE VCSEL Period */
- Status = VL53L0X_GetVcselPulsePeriod(Dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- &CurrentVCSELPulsePeriodPClk);
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_RdWord(Dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- &PreRangeEncodedTimeOut);
- }
-
- PreRangeTimeOutMClks = VL53L0X_decode_timeout(
- PreRangeEncodedTimeOut);
-
- TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev,
- PreRangeTimeOutMClks,
- CurrentVCSELPulsePeriodPClk);
- }
- } else if (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
-
- VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps);
- PreRangeTimeOutMClks = 0;
-
- if (SchedulerSequenceSteps.PreRangeOn) {
- /* Retrieve PRE-RANGE VCSEL Period */
- Status = VL53L0X_GetVcselPulsePeriod(Dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- &CurrentVCSELPulsePeriodPClk);
-
- /* Retrieve PRE-RANGE Timeout in Macro periods
- * (MCLKS) */
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_RdWord(Dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- &PreRangeEncodedTimeOut);
- PreRangeTimeOutMClks = VL53L0X_decode_timeout(
- PreRangeEncodedTimeOut);
- }
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- /* Retrieve FINAL-RANGE VCSEL Period */
- Status = VL53L0X_GetVcselPulsePeriod(Dev,
- VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
- &CurrentVCSELPulsePeriodPClk);
- }
-
- /* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_RdWord(Dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- &FinalRangeEncodedTimeOut);
- FinalRangeTimeOutMClks = VL53L0X_decode_timeout(
- FinalRangeEncodedTimeOut);
- }
-
- FinalRangeTimeOutMClks -= PreRangeTimeOutMClks;
- TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev,
- FinalRangeTimeOutMClks,
- CurrentVCSELPulsePeriodPClk);
- }
-
- *pTimeOutMicroSecs = TimeoutMicroSeconds;
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t CurrentVCSELPulsePeriodPClk;
+ uint8_t EncodedTimeOutByte = 0;
+ uint32_t TimeoutMicroSeconds = 0;
+ uint16_t PreRangeEncodedTimeOut = 0;
+ uint16_t MsrcTimeOutMClks;
+ uint16_t PreRangeTimeOutMClks;
+ uint16_t FinalRangeTimeOutMClks = 0;
+ uint16_t FinalRangeEncodedTimeOut;
+ VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps;
+
+ if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) ||
+ (SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) ||
+ (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) {
+
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdByte(Dev,
+ VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
+ &EncodedTimeOutByte);
+ }
+ MsrcTimeOutMClks = VL53L0X_decode_timeout(EncodedTimeOutByte);
+
+ TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev,
+ MsrcTimeOutMClks,
+ CurrentVCSELPulsePeriodPClk);
+ } else if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
+ /* Retrieve PRE-RANGE VCSEL Period */
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+
+ /* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ /* Retrieve PRE-RANGE VCSEL Period */
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
+ &PreRangeEncodedTimeOut);
+ }
+
+ PreRangeTimeOutMClks = VL53L0X_decode_timeout(
+ PreRangeEncodedTimeOut);
+
+ TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev,
+ PreRangeTimeOutMClks,
+ CurrentVCSELPulsePeriodPClk);
+ }
+ } else if (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
+
+ VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps);
+ PreRangeTimeOutMClks = 0;
+
+ if (SchedulerSequenceSteps.PreRangeOn) {
+ /* Retrieve PRE-RANGE VCSEL Period */
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+
+ /* Retrieve PRE-RANGE Timeout in Macro periods
+ * (MCLKS) */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
+ &PreRangeEncodedTimeOut);
+ PreRangeTimeOutMClks = VL53L0X_decode_timeout(
+ PreRangeEncodedTimeOut);
+ }
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ /* Retrieve FINAL-RANGE VCSEL Period */
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+ }
+
+ /* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
+ &FinalRangeEncodedTimeOut);
+ FinalRangeTimeOutMClks = VL53L0X_decode_timeout(
+ FinalRangeEncodedTimeOut);
+ }
+
+ FinalRangeTimeOutMClks -= PreRangeTimeOutMClks;
+ TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev,
+ FinalRangeTimeOutMClks,
+ CurrentVCSELPulsePeriodPClk);
+ }
+
+ *pTimeOutMicroSecs = TimeoutMicroSeconds;
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev,
- uint32_t *pMeasurementTimingBudgetMicroSeconds)
+ uint32_t *pMeasurementTimingBudgetMicroSeconds)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps;
- uint32_t FinalRangeTimeoutMicroSeconds;
- uint32_t MsrcDccTccTimeoutMicroSeconds = 2000;
- uint32_t StartOverheadMicroSeconds = 1910;
- uint32_t EndOverheadMicroSeconds = 960;
- uint32_t MsrcOverheadMicroSeconds = 660;
- uint32_t TccOverheadMicroSeconds = 590;
- uint32_t DssOverheadMicroSeconds = 690;
- uint32_t PreRangeOverheadMicroSeconds = 660;
- uint32_t FinalRangeOverheadMicroSeconds = 550;
- uint32_t PreRangeTimeoutMicroSeconds = 0;
-
- LOG_FUNCTION_START("");
-
- /* Start and end overhead times always present */
- *pMeasurementTimingBudgetMicroSeconds
- = StartOverheadMicroSeconds + EndOverheadMicroSeconds;
-
- Status = VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps);
-
- if (Status != VL53L0X_ERROR_NONE) {
- LOG_FUNCTION_END(Status);
- return Status;
- }
-
-
- if (SchedulerSequenceSteps.TccOn ||
- SchedulerSequenceSteps.MsrcOn ||
- SchedulerSequenceSteps.DssOn) {
-
- Status = get_sequence_step_timeout(Dev,
- VL53L0X_SEQUENCESTEP_MSRC,
- &MsrcDccTccTimeoutMicroSeconds);
-
- if (Status == VL53L0X_ERROR_NONE) {
- if (SchedulerSequenceSteps.TccOn) {
- *pMeasurementTimingBudgetMicroSeconds +=
- MsrcDccTccTimeoutMicroSeconds +
- TccOverheadMicroSeconds;
- }
-
- if (SchedulerSequenceSteps.DssOn) {
- *pMeasurementTimingBudgetMicroSeconds +=
- 2 * (MsrcDccTccTimeoutMicroSeconds +
- DssOverheadMicroSeconds);
- } else if (SchedulerSequenceSteps.MsrcOn) {
- *pMeasurementTimingBudgetMicroSeconds +=
- MsrcDccTccTimeoutMicroSeconds +
- MsrcOverheadMicroSeconds;
- }
- }
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- if (SchedulerSequenceSteps.PreRangeOn) {
- Status = get_sequence_step_timeout(Dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &PreRangeTimeoutMicroSeconds);
- *pMeasurementTimingBudgetMicroSeconds +=
- PreRangeTimeoutMicroSeconds +
- PreRangeOverheadMicroSeconds;
- }
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- if (SchedulerSequenceSteps.FinalRangeOn) {
- Status = get_sequence_step_timeout(Dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- &FinalRangeTimeoutMicroSeconds);
- *pMeasurementTimingBudgetMicroSeconds +=
- (FinalRangeTimeoutMicroSeconds +
- FinalRangeOverheadMicroSeconds);
- }
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETPARAMETERFIELD(Dev,
- MeasurementTimingBudgetMicroSeconds,
- *pMeasurementTimingBudgetMicroSeconds);
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps;
+ uint32_t FinalRangeTimeoutMicroSeconds;
+ uint32_t MsrcDccTccTimeoutMicroSeconds = 2000;
+ uint32_t StartOverheadMicroSeconds = 1910;
+ uint32_t EndOverheadMicroSeconds = 960;
+ uint32_t MsrcOverheadMicroSeconds = 660;
+ uint32_t TccOverheadMicroSeconds = 590;
+ uint32_t DssOverheadMicroSeconds = 690;
+ uint32_t PreRangeOverheadMicroSeconds = 660;
+ uint32_t FinalRangeOverheadMicroSeconds = 550;
+ uint32_t PreRangeTimeoutMicroSeconds = 0;
+
+ LOG_FUNCTION_START("");
+
+ /* Start and end overhead times always present */
+ *pMeasurementTimingBudgetMicroSeconds
+ = StartOverheadMicroSeconds + EndOverheadMicroSeconds;
+
+ Status = VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps);
+
+ if (Status != VL53L0X_ERROR_NONE) {
+ LOG_FUNCTION_END(Status);
+ return Status;
+ }
+
+
+ if (SchedulerSequenceSteps.TccOn ||
+ SchedulerSequenceSteps.MsrcOn ||
+ SchedulerSequenceSteps.DssOn) {
+
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_MSRC,
+ &MsrcDccTccTimeoutMicroSeconds);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (SchedulerSequenceSteps.TccOn) {
+ *pMeasurementTimingBudgetMicroSeconds +=
+ MsrcDccTccTimeoutMicroSeconds +
+ TccOverheadMicroSeconds;
+ }
+
+ if (SchedulerSequenceSteps.DssOn) {
+ *pMeasurementTimingBudgetMicroSeconds +=
+ 2 * (MsrcDccTccTimeoutMicroSeconds +
+ DssOverheadMicroSeconds);
+ } else if (SchedulerSequenceSteps.MsrcOn) {
+ *pMeasurementTimingBudgetMicroSeconds +=
+ MsrcDccTccTimeoutMicroSeconds +
+ MsrcOverheadMicroSeconds;
+ }
+ }
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (SchedulerSequenceSteps.PreRangeOn) {
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ &PreRangeTimeoutMicroSeconds);
+ *pMeasurementTimingBudgetMicroSeconds +=
+ PreRangeTimeoutMicroSeconds +
+ PreRangeOverheadMicroSeconds;
+ }
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (SchedulerSequenceSteps.FinalRangeOn) {
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ &FinalRangeTimeoutMicroSeconds);
+ *pMeasurementTimingBudgetMicroSeconds +=
+ (FinalRangeTimeoutMicroSeconds +
+ FinalRangeOverheadMicroSeconds);
+ }
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETPARAMETERFIELD(Dev,
+ MeasurementTimingBudgetMicroSeconds,
+ *pMeasurementTimingBudgetMicroSeconds);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
- uint32_t *pMeasurementTimingBudgetMicroSeconds)
+ uint32_t *pMeasurementTimingBudgetMicroSeconds)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_get_measurement_timing_budget_micro_seconds(Dev,
- pMeasurementTimingBudgetMicroSeconds);
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_get_measurement_timing_budget_micro_seconds(Dev,
+ pMeasurementTimingBudgetMicroSeconds);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev,
- VL53L0X_DeviceParameters_t *pDeviceParameters)
+ VL53L0X_DeviceParameters_t *pDeviceParameters)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- int i;
-
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_GetDeviceMode(Dev, &(pDeviceParameters->DeviceMode));
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_GetInterMeasurementPeriodMilliSeconds(Dev,
- &(pDeviceParameters->InterMeasurementPeriodMilliSeconds));
-
-
- if (Status == VL53L0X_ERROR_NONE)
- pDeviceParameters->XTalkCompensationEnable = 0;
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_GetXTalkCompensationRateMegaCps(Dev,
- &(pDeviceParameters->XTalkCompensationRateMegaCps));
-
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_GetOffsetCalibrationDataMicroMeter(Dev,
- &(pDeviceParameters->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_GetLimitCheckValue(Dev, i,
- &(pDeviceParameters->LimitChecksValue[i]));
- } else {
- break;
- }
- if (Status == VL53L0X_ERROR_NONE) {
- Status |= VL53L0X_GetLimitCheckEnable(Dev, i,
- &(pDeviceParameters->LimitChecksEnable[i]));
- } else {
- break;
- }
- }
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_GetWrapAroundCheckEnable(Dev,
- &(pDeviceParameters->WrapAroundCheckEnable));
- }
-
- /* Need to be done at the end as it uses VCSELPulsePeriod */
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_GetMeasurementTimingBudgetMicroSeconds(Dev,
- &(pDeviceParameters->MeasurementTimingBudgetMicroSeconds));
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ int i;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_GetDeviceMode(Dev, &(pDeviceParameters->DeviceMode));
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_GetInterMeasurementPeriodMilliSeconds(Dev,
+ &(pDeviceParameters->InterMeasurementPeriodMilliSeconds));
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ pDeviceParameters->XTalkCompensationEnable = 0;
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_GetXTalkCompensationRateMegaCps(Dev,
+ &(pDeviceParameters->XTalkCompensationRateMegaCps));
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_GetOffsetCalibrationDataMicroMeter(Dev,
+ &(pDeviceParameters->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_GetLimitCheckValue(Dev, i,
+ &(pDeviceParameters->LimitChecksValue[i]));
+ } else {
+ break;
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status |= VL53L0X_GetLimitCheckEnable(Dev, i,
+ &(pDeviceParameters->LimitChecksEnable[i]));
+ } else {
+ break;
+ }
+ }
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_GetWrapAroundCheckEnable(Dev,
+ &(pDeviceParameters->WrapAroundCheckEnable));
+ }
+
+ /* Need to be done at the end as it uses VCSELPulsePeriod */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_GetMeasurementTimingBudgetMicroSeconds(Dev,
+ &(pDeviceParameters->MeasurementTimingBudgetMicroSeconds));
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
- FixPoint1616_t LimitCheckValue)
+ FixPoint1616_t LimitCheckValue)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t Temp8;
-
- LOG_FUNCTION_START("");
-
- VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, LimitCheckId,
- Temp8);
-
- if (Temp8 == 0) { /* disabled write only internal value */
- VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
- LimitCheckId, LimitCheckValue);
- } else {
-
- switch (LimitCheckId) {
-
- case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- LimitCheckValue);
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
-
- Status = VL53L0X_WrWord(Dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(
- LimitCheckValue));
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
-
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- LimitCheckValue);
-
- break;
-
- case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
-
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- LimitCheckValue);
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
-
- Status = VL53L0X_WrWord(Dev,
- VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(
- LimitCheckValue));
-
- break;
-
- default:
- Status = VL53L0X_ERROR_INVALID_PARAMS;
-
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
- LimitCheckId, LimitCheckValue);
- }
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t Temp8;
+
+ LOG_FUNCTION_START("");
+
+ VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, LimitCheckId,
+ Temp8);
+
+ if (Temp8 == 0) { /* disabled write only internal value */
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ LimitCheckId, LimitCheckValue);
+ } else {
+
+ switch (LimitCheckId) {
+
+ case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ LimitCheckValue);
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+
+ Status = VL53L0X_WrWord(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
+ VL53L0X_FIXPOINT1616TOFIXPOINT97(
+ LimitCheckValue));
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
+
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ LimitCheckValue);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
+
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ LimitCheckValue);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
+
+ Status = VL53L0X_WrWord(Dev,
+ VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
+ VL53L0X_FIXPOINT1616TOFIXPOINT97(
+ LimitCheckValue));
+
+ break;
+
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ LimitCheckId, LimitCheckValue);
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_DataInit(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. */
+ 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);
+ 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_WrByte(Dev, 0x88, 0x00);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, 0);
+ /* Set I2C standard mode */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev, 0x88, 0x00);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, 0);
#ifdef USE_IQC_STATION
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_apply_offset_adjustment(Dev);
+ 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_GetDeviceParameters(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_WrByte(Dev, 0x80, 0x01);
- Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
- Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
- Status |= VL53L0X_RdByte(Dev, 0x91, &StopVariable);
- PALDevDataSet(Dev, StopVariable, StopVariable);
- Status |= VL53L0X_WrByte(Dev, 0x00, 0x01);
- Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
- Status |= VL53L0X_WrByte(Dev, 0x80, 0x00);
-
- /* Enable all check */
- for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
- if (Status == VL53L0X_ERROR_NONE)
- Status |= VL53L0X_SetLimitCheckEnable(Dev, i, 1);
- else
- break;
-
- }
-
- /* Disable the following checks */
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_SetLimitCheckEnable(Dev,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_SetLimitCheckEnable(Dev,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_SetLimitCheckEnable(Dev,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_SetLimitCheckEnable(Dev,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0);
-
- /* Limit default values */
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_SetLimitCheckValue(Dev,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- (FixPoint1616_t)(18 * 65536));
- }
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_SetLimitCheckValue(Dev,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
- (FixPoint1616_t)(25 * 65536 / 100));
- /* 0.25 * 65536 */
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_SetLimitCheckValue(Dev,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- (FixPoint1616_t)(35 * 65536));
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_SetLimitCheckValue(Dev,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- (FixPoint1616_t)(0 * 65536));
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
-
- PALDevDataSet(Dev, SequenceConfig, 0xFF);
- Status = VL53L0X_WrByte(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;
+ /* 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_GetDeviceParameters(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_WrByte(Dev, 0x80, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
+ Status |= VL53L0X_RdByte(Dev, 0x91, &StopVariable);
+ PALDevDataSet(Dev, StopVariable, StopVariable);
+ Status |= VL53L0X_WrByte(Dev, 0x00, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0x80, 0x00);
+
+ /* Enable all check */
+ for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
+ if (Status == VL53L0X_ERROR_NONE)
+ Status |= VL53L0X_SetLimitCheckEnable(Dev, i, 1);
+ else
+ break;
+
+ }
+
+ /* Disable the following checks */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_SetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_SetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_SetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_SetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0);
+
+ /* Limit default values */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetLimitCheckValue(Dev,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ (FixPoint1616_t)(18 * 65536));
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetLimitCheckValue(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ (FixPoint1616_t)(25 * 65536 / 100));
+ /* 0.25 * 65536 */
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetLimitCheckValue(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ (FixPoint1616_t)(35 * 65536));
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetLimitCheckValue(Dev,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ (FixPoint1616_t)(0 * 65536));
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ PALDevDataSet(Dev, SequenceConfig, 0xFF);
+ Status = VL53L0X_WrByte(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 *pVL53L0X_DeviceInfo)
+ uint8_t *Revision,
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t ModuleIdInt;
- char *ProductId_tmp;
-
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_get_info_from_device(Dev, 2);
-
- if (Status == VL53L0X_ERROR_NONE) {
- ModuleIdInt = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, ModuleId);
-
- if (ModuleIdInt == 0) {
- *Revision = 0;
- VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, "");
- } else {
- *Revision = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, Revision);
- ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
- ProductId);
- VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, ProductId_tmp);
- }
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t ModuleIdInt;
+ char *ProductId_tmp;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_get_info_from_device(Dev, 2);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ ModuleIdInt = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, ModuleId);
+
+ if (ModuleIdInt == 0) {
+ *Revision = 0;
+ VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, "");
+ } else {
+ *Revision = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, Revision);
+ ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+ ProductId);
+ VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, ProductId_tmp);
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_get_device_info(VL53L0X_DEV Dev,
- VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo)
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t revision_id;
- uint8_t Revision;
-
- Status = VL53L0X_check_part_used(Dev, &Revision, pVL53L0X_DeviceInfo);
-
- if (Status == VL53L0X_ERROR_NONE) {
- if (Revision == 0) {
- VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_TS0);
- } else if ((Revision <= 34) && (Revision != 32)) {
- VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_TS1);
- } else if (Revision < 39) {
- VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_TS2);
- } else {
- VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_ES1);
- }
-
- VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Type,
- VL53L0X_STRING_DEVICE_INFO_TYPE);
-
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_RdByte(Dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID,
- &pVL53L0X_DeviceInfo->ProductType);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_RdByte(Dev,
- VL53L0X_REG_IDENTIFICATION_REVISION_ID,
- &revision_id);
- pVL53L0X_DeviceInfo->ProductRevisionMajor = 1;
- pVL53L0X_DeviceInfo->ProductRevisionMinor =
- (revision_id & 0xF0) >> 4;
- }
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t revision_id;
+ uint8_t Revision;
+
+ Status = VL53L0X_check_part_used(Dev, &Revision, pVL53L0X_DeviceInfo);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (Revision == 0) {
+ VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
+ VL53L0X_STRING_DEVICE_INFO_NAME_TS0);
+ } else if ((Revision <= 34) && (Revision != 32)) {
+ VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
+ VL53L0X_STRING_DEVICE_INFO_NAME_TS1);
+ } else if (Revision < 39) {
+ VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
+ VL53L0X_STRING_DEVICE_INFO_NAME_TS2);
+ } else {
+ VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
+ VL53L0X_STRING_DEVICE_INFO_NAME_ES1);
+ }
+
+ VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Type,
+ VL53L0X_STRING_DEVICE_INFO_TYPE);
+
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdByte(Dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID,
+ &pVL53L0X_DeviceInfo->ProductType);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdByte(Dev,
+ VL53L0X_REG_IDENTIFICATION_REVISION_ID,
+ &revision_id);
+ pVL53L0X_DeviceInfo->ProductRevisionMajor = 1;
+ pVL53L0X_DeviceInfo->ProductRevisionMinor =
+ (revision_id & 0xF0) >> 4;
+ }
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev,
- VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo)
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_get_device_info(Dev, pVL53L0X_DeviceInfo);
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_get_device_info(Dev, pVL53L0X_DeviceInfo);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev,
- uint32_t *pInterruptMaskStatus)
+ uint32_t *pInterruptMaskStatus)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t Byte;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte);
- *pInterruptMaskStatus = Byte & 0x07;
-
- if (Byte & 0x18)
- Status = VL53L0X_ERROR_RANGE_ERROR;
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t Byte;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte);
+ *pInterruptMaskStatus = Byte & 0x07;
+
+ if (Byte & 0x18)
+ Status = VL53L0X_ERROR_RANGE_ERROR;
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev,
- uint8_t *pMeasurementDataReady)
+ uint8_t *pMeasurementDataReady)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t SysRangeStatusRegister;
- uint8_t InterruptConfig;
- uint32_t InterruptMask;
- LOG_FUNCTION_START("");
-
- InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
- Pin0GpioFunctionality);
-
- if (InterruptConfig ==
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
- Status = VL53L0X_GetInterruptMaskStatus(Dev, &InterruptMask);
- if (InterruptMask ==
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY)
- *pMeasurementDataReady = 1;
- else
- *pMeasurementDataReady = 0;
- } else {
- Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS,
- &SysRangeStatusRegister);
- if (Status == VL53L0X_ERROR_NONE) {
- if (SysRangeStatusRegister & 0x01)
- *pMeasurementDataReady = 1;
- else
- *pMeasurementDataReady = 0;
- }
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t SysRangeStatusRegister;
+ uint8_t InterruptConfig;
+ uint32_t InterruptMask;
+ LOG_FUNCTION_START("");
+
+ InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+ Pin0GpioFunctionality);
+
+ if (InterruptConfig ==
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
+ Status = VL53L0X_GetInterruptMaskStatus(Dev, &InterruptMask);
+ if (InterruptMask ==
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY)
+ *pMeasurementDataReady = 1;
+ else
+ *pMeasurementDataReady = 0;
+ } else {
+ Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS,
+ &SysRangeStatusRegister);
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (SysRangeStatusRegister & 0x01)
+ *pMeasurementDataReady = 1;
+ else
+ *pMeasurementDataReady = 0;
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
-VL53L0X_Error VL53L0X::VL53L0X_PollingDelay(VL53L0X_DEV Dev) {
+VL53L0X_Error VL53L0X::VL53L0X_PollingDelay(VL53L0X_DEV Dev)
+{
VL53L0X_Error status = VL53L0X_ERROR_NONE;
// do nothing
@@ -1825,3115 +1827,3115 @@
VL53L0X_Error VL53L0X::VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t NewDataReady = 0;
- uint32_t LoopNb;
-
- LOG_FUNCTION_START("");
-
- LoopNb = 0;
-
- do {
- Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDataReady);
- if (Status != 0)
- break; /* the error is set */
-
- if (NewDataReady == 1)
- break; /* done note that status == 0 */
-
- LoopNb++;
- if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
- Status = VL53L0X_ERROR_TIME_OUT;
- break;
- }
-
- VL53L0X_PollingDelay(Dev);
- } while (1);
-
- LOG_FUNCTION_END(Status);
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t NewDataReady = 0;
+ uint32_t LoopNb;
+
+ LOG_FUNCTION_START("");
+
+ LoopNb = 0;
+
+ do {
+ Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDataReady);
+ if (Status != 0)
+ break; /* the error is set */
+
+ if (NewDataReady == 1)
+ break; /* done note that status == 0 */
+
+ LoopNb++;
+ if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
+ Status = VL53L0X_ERROR_TIME_OUT;
+ break;
+ }
+
+ VL53L0X_PollingDelay(Dev);
+ } while (1);
+
+ LOG_FUNCTION_END(Status);
+
+ return Status;
}
/* Group PAL Interrupt Functions */
VL53L0X_Error VL53L0X::VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t LoopCount;
- uint8_t Byte;
- LOG_FUNCTION_START("");
-
- /* clear bit 0 range interrupt, bit 1 error interrupt */
- LoopCount = 0;
- do {
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01);
- Status |= VL53L0X_WrByte(Dev,
- VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00);
- Status |= VL53L0X_RdByte(Dev,
- VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte);
- LoopCount++;
- } while (((Byte & 0x07) != 0x00)
- && (LoopCount < 3)
- && (Status == VL53L0X_ERROR_NONE));
-
-
- if (LoopCount >= 3)
- Status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED;
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t LoopCount;
+ uint8_t Byte;
+ LOG_FUNCTION_START("");
+
+ /* clear bit 0 range interrupt, bit 1 error interrupt */
+ LoopCount = 0;
+ do {
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00);
+ Status |= VL53L0X_RdByte(Dev,
+ VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte);
+ LoopCount++;
+ } while (((Byte & 0x07) != 0x00)
+ && (LoopCount < 3)
+ && (Status == VL53L0X_ERROR_NONE));
+
+
+ if (LoopCount >= 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)
+ uint8_t vhv_init_byte)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(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_ClearInterruptMask(Dev, 0);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x00);
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(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_ClearInterruptMask(Dev, 0);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(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 VhvSettings, uint8_t PhaseCal,
- uint8_t *pVhvSettings, uint8_t *pPhaseCal,
- const uint8_t vhv_enable, const uint8_t phase_enable)
+ uint8_t VhvSettings, uint8_t PhaseCal,
+ uint8_t *pVhvSettings, uint8_t *pPhaseCal,
+ const uint8_t vhv_enable, const uint8_t phase_enable)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t PhaseCalint = 0;
-
- /* Read VHV from device */
- Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
- Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
- Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
-
- if (read_not_write) {
- if (vhv_enable)
- Status |= VL53L0X_RdByte(Dev, 0xCB, pVhvSettings);
- if (phase_enable)
- Status |= VL53L0X_RdByte(Dev, 0xEE, &PhaseCalint);
- } else {
- if (vhv_enable)
- Status |= VL53L0X_WrByte(Dev, 0xCB, VhvSettings);
- if (phase_enable)
- Status |= VL53L0X_UpdateByte(Dev, 0xEE, 0x80, PhaseCal);
- }
-
- Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
- Status |= VL53L0X_WrByte(Dev, 0x00, 0x01);
- Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
-
- *pPhaseCal = (uint8_t)(PhaseCalint&0xEF);
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t PhaseCalint = 0;
+
+ /* Read VHV from device */
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+ if (read_not_write) {
+ if (vhv_enable)
+ Status |= VL53L0X_RdByte(Dev, 0xCB, pVhvSettings);
+ if (phase_enable)
+ Status |= VL53L0X_RdByte(Dev, 0xEE, &PhaseCalint);
+ } else {
+ if (vhv_enable)
+ Status |= VL53L0X_WrByte(Dev, 0xCB, VhvSettings);
+ if (phase_enable)
+ Status |= VL53L0X_UpdateByte(Dev, 0xEE, 0x80, PhaseCal);
+ }
+
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0x00, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+ *pPhaseCal = (uint8_t)(PhaseCalint&0xEF);
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_perform_vhv_calibration(VL53L0X_DEV Dev,
- uint8_t *pVhvSettings, const uint8_t get_data_enable,
- const uint8_t restore_config)
+ uint8_t *pVhvSettings, const uint8_t get_data_enable,
+ const uint8_t restore_config)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t SequenceConfig = 0;
- uint8_t VhvSettings = 0;
- uint8_t PhaseCal = 0;
- uint8_t PhaseCalInt = 0;
-
- /* store the value of the sequence config,
- * this will be reset before the end of the function
- */
-
- if (restore_config)
- SequenceConfig = PALDevDataGet(Dev, SequenceConfig);
-
- /* Run VHV */
- Status = VL53L0X_WrByte(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,
- VhvSettings, PhaseCal, /* Not used here */
- pVhvSettings, &PhaseCalInt,
- 1, 0);
- } else
- *pVhvSettings = 0;
-
-
- if ((Status == VL53L0X_ERROR_NONE) && restore_config) {
- /* restore the previous Sequence Config */
- Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- SequenceConfig);
- if (Status == VL53L0X_ERROR_NONE)
- PALDevDataSet(Dev, SequenceConfig, SequenceConfig);
-
- }
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t SequenceConfig = 0;
+ uint8_t VhvSettings = 0;
+ uint8_t PhaseCal = 0;
+ uint8_t PhaseCalInt = 0;
+
+ /* store the value of the sequence config,
+ * this will be reset before the end of the function
+ */
+
+ if (restore_config)
+ SequenceConfig = PALDevDataGet(Dev, SequenceConfig);
+
+ /* Run VHV */
+ Status = VL53L0X_WrByte(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,
+ VhvSettings, PhaseCal, /* Not used here */
+ pVhvSettings, &PhaseCalInt,
+ 1, 0);
+ } else
+ *pVhvSettings = 0;
+
+
+ if ((Status == VL53L0X_ERROR_NONE) && restore_config) {
+ /* restore the previous Sequence Config */
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ SequenceConfig);
+ if (Status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, SequenceConfig, SequenceConfig);
+
+ }
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev,
- uint8_t *pPhaseCal, const uint8_t get_data_enable,
- const uint8_t restore_config)
+ uint8_t *pPhaseCal, const uint8_t get_data_enable,
+ const uint8_t restore_config)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t SequenceConfig = 0;
- uint8_t VhvSettings = 0;
- uint8_t PhaseCal = 0;
- uint8_t VhvSettingsint;
-
- /* store the value of the sequence config,
- * this will be reset before the end of the function
- */
-
- if (restore_config)
- SequenceConfig = PALDevDataGet(Dev, SequenceConfig);
-
- /* Run PhaseCal */
- Status = VL53L0X_WrByte(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,
- VhvSettings, PhaseCal, /* Not used here */
- &VhvSettingsint, pPhaseCal,
- 0, 1);
- } else
- *pPhaseCal = 0;
-
-
- if ((Status == VL53L0X_ERROR_NONE) && restore_config) {
- /* restore the previous Sequence Config */
- Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- SequenceConfig);
- if (Status == VL53L0X_ERROR_NONE)
- PALDevDataSet(Dev, SequenceConfig, SequenceConfig);
-
- }
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t SequenceConfig = 0;
+ uint8_t VhvSettings = 0;
+ uint8_t PhaseCal = 0;
+ uint8_t VhvSettingsint;
+
+ /* store the value of the sequence config,
+ * this will be reset before the end of the function
+ */
+
+ if (restore_config)
+ SequenceConfig = PALDevDataGet(Dev, SequenceConfig);
+
+ /* Run PhaseCal */
+ Status = VL53L0X_WrByte(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,
+ VhvSettings, PhaseCal, /* Not used here */
+ &VhvSettingsint, pPhaseCal,
+ 0, 1);
+ } else
+ *pPhaseCal = 0;
+
+
+ if ((Status == VL53L0X_ERROR_NONE) && restore_config) {
+ /* restore the previous Sequence Config */
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ SequenceConfig);
+ if (Status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, SequenceConfig, SequenceConfig);
+
+ }
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev,
- uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable)
+ uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t SequenceConfig = 0;
-
- /* store the value of the sequence config,
- * this will be reset before the end of the function
- */
-
- SequenceConfig = 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, pVhvSettings, get_data_enable, 0);
-
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_perform_phase_calibration(
- Dev, pPhaseCal, get_data_enable, 0);
-
-
- if (Status == VL53L0X_ERROR_NONE) {
- /* restore the previous Sequence Config */
- Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- SequenceConfig);
- if (Status == VL53L0X_ERROR_NONE)
- PALDevDataSet(Dev, SequenceConfig, SequenceConfig);
-
- }
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t SequenceConfig = 0;
+
+ /* store the value of the sequence config,
+ * this will be reset before the end of the function
+ */
+
+ SequenceConfig = 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, pVhvSettings, get_data_enable, 0);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_perform_phase_calibration(
+ Dev, pPhaseCal, get_data_enable, 0);
+
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ /* restore the previous Sequence Config */
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ SequenceConfig);
+ if (Status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, SequenceConfig, SequenceConfig);
+
+ }
+
+ return Status;
}
void VL53L0X::get_next_good_spad(uint8_t goodSpadArray[], uint32_t size,
- uint32_t curr, int32_t *next)
+ uint32_t curr, int32_t *next)
{
- uint32_t startIndex;
- uint32_t fineOffset;
- uint32_t cSpadsPerByte = 8;
- uint32_t coarseIndex;
- uint32_t fineIndex;
- uint8_t dataByte;
- 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.
- */
-
- *next = -1;
-
- startIndex = curr / cSpadsPerByte;
- fineOffset = curr % cSpadsPerByte;
-
- for (coarseIndex = startIndex; ((coarseIndex < size) && !success);
- coarseIndex++) {
- fineIndex = 0;
- dataByte = goodSpadArray[coarseIndex];
-
- if (coarseIndex == startIndex) {
- /* locate the bit position of the provided current
- * spad bit before iterating */
- dataByte >>= fineOffset;
- fineIndex = fineOffset;
- }
-
- while (fineIndex < cSpadsPerByte) {
- if ((dataByte & 0x1) == 1) {
- success = 1;
- *next = coarseIndex * cSpadsPerByte + fineIndex;
- break;
- }
- dataByte >>= 1;
- fineIndex++;
- }
- }
+ uint32_t startIndex;
+ uint32_t fineOffset;
+ uint32_t cSpadsPerByte = 8;
+ uint32_t coarseIndex;
+ uint32_t fineIndex;
+ uint8_t dataByte;
+ 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.
+ */
+
+ *next = -1;
+
+ startIndex = curr / cSpadsPerByte;
+ fineOffset = curr % cSpadsPerByte;
+
+ for (coarseIndex = startIndex; ((coarseIndex < size) && !success);
+ coarseIndex++) {
+ fineIndex = 0;
+ dataByte = goodSpadArray[coarseIndex];
+
+ if (coarseIndex == startIndex) {
+ /* locate the bit position of the provided current
+ * spad bit before iterating */
+ dataByte >>= fineOffset;
+ fineIndex = fineOffset;
+ }
+
+ while (fineIndex < cSpadsPerByte) {
+ if ((dataByte & 0x1) == 1) {
+ success = 1;
+ *next = coarseIndex * cSpadsPerByte + fineIndex;
+ break;
+ }
+ dataByte >>= 1;
+ fineIndex++;
+ }
+ }
}
uint8_t VL53L0X::is_aperture(uint32_t spadIndex)
{
- /*
- * This function reports if a given spad index is an aperture SPAD by
- * deriving the quadrant.
- */
- uint32_t quadrant;
- uint8_t isAperture = 1;
- quadrant = spadIndex >> 6;
- if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0)
- isAperture = 0;
-
- return isAperture;
+ /*
+ * This function reports if a given spad index is an aperture SPAD by
+ * deriving the quadrant.
+ */
+ uint32_t quadrant;
+ uint8_t isAperture = 1;
+ quadrant = spadIndex >> 6;
+ if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0)
+ isAperture = 0;
+
+ return isAperture;
}
VL53L0X_Error VL53L0X::enable_spad_bit(uint8_t spadArray[], uint32_t size,
- uint32_t spadIndex)
+ uint32_t spadIndex)
{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t cSpadsPerByte = 8;
- uint32_t coarseIndex;
- uint32_t fineIndex;
-
- coarseIndex = spadIndex / cSpadsPerByte;
- fineIndex = spadIndex % cSpadsPerByte;
- if (coarseIndex >= size)
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- else
- spadArray[coarseIndex] |= (1 << fineIndex);
-
- return status;
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint32_t cSpadsPerByte = 8;
+ uint32_t coarseIndex;
+ uint32_t fineIndex;
+
+ coarseIndex = spadIndex / cSpadsPerByte;
+ fineIndex = spadIndex % cSpadsPerByte;
+ if (coarseIndex >= size)
+ status = VL53L0X_ERROR_REF_SPAD_INIT;
+ else
+ spadArray[coarseIndex] |= (1 << fineIndex);
+
+ return status;
}
VL53L0X_Error VL53L0X::set_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray)
{
- VL53L0X_Error status = VL53L0X_WriteMulti(Dev,
- VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
- refSpadArray, 6);
-
- return status;
+ VL53L0X_Error status = VL53L0X_WriteMulti(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
+ refSpadArray, 6);
+
+ return status;
}
VL53L0X_Error VL53L0X::get_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray)
{
- VL53L0X_Error status = VL53L0X_ReadMulti(Dev,
- VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
- refSpadArray,
- 6);
+ VL53L0X_Error status = VL53L0X_ReadMulti(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
+ refSpadArray,
+ 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;
+ return status;
}
VL53L0X_Error VL53L0X::enable_ref_spads(VL53L0X_DEV Dev,
- uint8_t apertureSpads,
- uint8_t goodSpadArray[],
- uint8_t spadArray[],
- uint32_t size,
- uint32_t start,
- uint32_t offset,
- uint32_t spadCount,
- uint32_t *lastSpad)
+ uint8_t apertureSpads,
+ uint8_t goodSpadArray[],
+ uint8_t spadArray[],
+ uint32_t size,
+ uint32_t start,
+ uint32_t offset,
+ uint32_t spadCount,
+ uint32_t *lastSpad)
{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t index;
- uint32_t i;
- int32_t nextGoodSpad = offset;
- uint32_t currentSpad;
- uint8_t checkSpadArray[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.
- */
-
- currentSpad = offset;
- for (index = 0; index < spadCount; index++) {
- get_next_good_spad(goodSpadArray, size, currentSpad,
- &nextGoodSpad);
-
- if (nextGoodSpad == -1) {
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- break;
- }
-
- /* Confirm that the next good SPAD is non-aperture */
- if (is_aperture(start + nextGoodSpad) != apertureSpads) {
- /* 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;
- }
- currentSpad = (uint32_t)nextGoodSpad;
- enable_spad_bit(spadArray, size, currentSpad);
- currentSpad++;
- }
- *lastSpad = currentSpad;
-
- if (status == VL53L0X_ERROR_NONE)
- status = set_ref_spad_map(Dev, spadArray);
-
-
- if (status == VL53L0X_ERROR_NONE) {
- status = get_ref_spad_map(Dev, checkSpadArray);
-
- i = 0;
-
- /* Compare spad maps. If not equal report error. */
- while (i < size) {
- if (spadArray[i] != checkSpadArray[i]) {
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- break;
- }
- i++;
- }
- }
- return status;
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint32_t index;
+ uint32_t i;
+ int32_t nextGoodSpad = offset;
+ uint32_t currentSpad;
+ uint8_t checkSpadArray[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.
+ */
+
+ currentSpad = offset;
+ for (index = 0; index < spadCount; index++) {
+ get_next_good_spad(goodSpadArray, size, currentSpad,
+ &nextGoodSpad);
+
+ if (nextGoodSpad == -1) {
+ status = VL53L0X_ERROR_REF_SPAD_INIT;
+ break;
+ }
+
+ /* Confirm that the next good SPAD is non-aperture */
+ if (is_aperture(start + nextGoodSpad) != apertureSpads) {
+ /* 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;
+ }
+ currentSpad = (uint32_t)nextGoodSpad;
+ enable_spad_bit(spadArray, size, currentSpad);
+ currentSpad++;
+ }
+ *lastSpad = currentSpad;
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = set_ref_spad_map(Dev, spadArray);
+
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = get_ref_spad_map(Dev, checkSpadArray);
+
+ i = 0;
+
+ /* Compare spad maps. If not equal report error. */
+ while (i < size) {
+ if (spadArray[i] != checkSpadArray[i]) {
+ status = VL53L0X_ERROR_REF_SPAD_INIT;
+ break;
+ }
+ i++;
+ }
+ }
+ return status;
}
VL53L0X_Error VL53L0X::VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, VL53L0X_DeviceModes DeviceMode)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
-
- LOG_FUNCTION_START("%d", (int)DeviceMode);
-
- switch (DeviceMode) {
- 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, DeviceMode);
- break;
- default:
- /* Unsupported mode */
- Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+ LOG_FUNCTION_START("%d", (int)DeviceMode);
+
+ switch (DeviceMode) {
+ 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, DeviceMode);
+ break;
+ default:
+ /* Unsupported mode */
+ Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_SetInterruptThresholds(VL53L0X_DEV Dev,
- VL53L0X_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow,
- FixPoint1616_t ThresholdHigh)
+ VL53L0X_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow,
+ FixPoint1616_t ThresholdHigh)
{
- 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)((ThresholdLow >> 17) & 0x00fff);
- Status = VL53L0X_WrWord(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)((ThresholdHigh >> 17) & 0x00fff);
- Status = VL53L0X_WrWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
- Threshold16);
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ 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)((ThresholdLow >> 17) & 0x00fff);
+ Status = VL53L0X_WrWord(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)((ThresholdHigh >> 17) & 0x00fff);
+ Status = VL53L0X_WrWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
+ Threshold16);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev,
- VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow,
- FixPoint1616_t *pThresholdHigh)
+ VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow,
+ FixPoint1616_t *pThresholdHigh)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint16_t Threshold16;
- LOG_FUNCTION_START("");
-
- /* no dependency on DeviceMode for Ewok */
-
- Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &Threshold16);
- /* Need to multiply by 2 because the FW will apply a x2 */
- *pThresholdLow = (FixPoint1616_t)((0x00fff & Threshold16) << 17);
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
- &Threshold16);
- /* Need to multiply by 2 because the FW will apply a x2 */
- *pThresholdHigh =
- (FixPoint1616_t)((0x00fff & Threshold16) << 17);
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint16_t Threshold16;
+ LOG_FUNCTION_START("");
+
+ /* no dependency on DeviceMode for Ewok */
+
+ Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &Threshold16);
+ /* Need to multiply by 2 because the FW will apply a x2 */
+ *pThresholdLow = (FixPoint1616_t)((0x00fff & Threshold16) << 17);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
+ &Threshold16);
+ /* Need to multiply by 2 because the FW will apply a x2 */
+ *pThresholdHigh =
+ (FixPoint1616_t)((0x00fff & Threshold16) << 17);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_load_tuning_settings(VL53L0X_DEV Dev,
- uint8_t *pTuningSettingBuffer)
+ uint8_t *pTuningSettingBuffer)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- int i;
- int Index;
- uint8_t msb;
- uint8_t lsb;
- uint8_t SelectParam;
- uint8_t NumberOfWrites;
- uint8_t Address;
- uint8_t localBuffer[4]; /* max */
- uint16_t Temp16;
-
- LOG_FUNCTION_START("");
-
- Index = 0;
-
- while ((*(pTuningSettingBuffer + Index) != 0) &&
- (Status == VL53L0X_ERROR_NONE)) {
- NumberOfWrites = *(pTuningSettingBuffer + Index);
- Index++;
- if (NumberOfWrites == 0xFF) {
- /* internal parameters */
- SelectParam = *(pTuningSettingBuffer + Index);
- Index++;
- switch (SelectParam) {
- case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */
- msb = *(pTuningSettingBuffer + Index);
- Index++;
- lsb = *(pTuningSettingBuffer + Index);
- Index++;
- Temp16 = VL53L0X_MAKEUINT16(lsb, msb);
- PALDevDataSet(Dev, SigmaEstRefArray, Temp16);
- break;
- case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */
- msb = *(pTuningSettingBuffer + Index);
- Index++;
- lsb = *(pTuningSettingBuffer + Index);
- Index++;
- Temp16 = VL53L0X_MAKEUINT16(lsb, msb);
- PALDevDataSet(Dev, SigmaEstEffPulseWidth,
- Temp16);
- break;
- case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */
- msb = *(pTuningSettingBuffer + Index);
- Index++;
- lsb = *(pTuningSettingBuffer + Index);
- Index++;
- Temp16 = VL53L0X_MAKEUINT16(lsb, msb);
- PALDevDataSet(Dev, SigmaEstEffAmbWidth, Temp16);
- break;
- case 3: /* uint16_t targetRefRate -> 2 bytes */
- msb = *(pTuningSettingBuffer + Index);
- Index++;
- lsb = *(pTuningSettingBuffer + Index);
- Index++;
- Temp16 = VL53L0X_MAKEUINT16(lsb, msb);
- PALDevDataSet(Dev, targetRefRate, Temp16);
- break;
- default: /* invalid parameter */
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- } else if (NumberOfWrites <= 4) {
- Address = *(pTuningSettingBuffer + Index);
- Index++;
-
- for (i = 0; i < NumberOfWrites; i++) {
- localBuffer[i] = *(pTuningSettingBuffer +
- Index);
- Index++;
- }
-
- Status = VL53L0X_WriteMulti(Dev, Address, localBuffer,
- NumberOfWrites);
-
- } else {
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ int i;
+ int Index;
+ uint8_t msb;
+ uint8_t lsb;
+ uint8_t SelectParam;
+ uint8_t NumberOfWrites;
+ uint8_t Address;
+ uint8_t localBuffer[4]; /* max */
+ uint16_t Temp16;
+
+ LOG_FUNCTION_START("");
+
+ Index = 0;
+
+ while ((*(pTuningSettingBuffer + Index) != 0) &&
+ (Status == VL53L0X_ERROR_NONE)) {
+ NumberOfWrites = *(pTuningSettingBuffer + Index);
+ Index++;
+ if (NumberOfWrites == 0xFF) {
+ /* internal parameters */
+ SelectParam = *(pTuningSettingBuffer + Index);
+ Index++;
+ switch (SelectParam) {
+ case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */
+ msb = *(pTuningSettingBuffer + Index);
+ Index++;
+ lsb = *(pTuningSettingBuffer + Index);
+ Index++;
+ Temp16 = VL53L0X_MAKEUINT16(lsb, msb);
+ PALDevDataSet(Dev, SigmaEstRefArray, Temp16);
+ break;
+ case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */
+ msb = *(pTuningSettingBuffer + Index);
+ Index++;
+ lsb = *(pTuningSettingBuffer + Index);
+ Index++;
+ Temp16 = VL53L0X_MAKEUINT16(lsb, msb);
+ PALDevDataSet(Dev, SigmaEstEffPulseWidth,
+ Temp16);
+ break;
+ case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */
+ msb = *(pTuningSettingBuffer + Index);
+ Index++;
+ lsb = *(pTuningSettingBuffer + Index);
+ Index++;
+ Temp16 = VL53L0X_MAKEUINT16(lsb, msb);
+ PALDevDataSet(Dev, SigmaEstEffAmbWidth, Temp16);
+ break;
+ case 3: /* uint16_t targetRefRate -> 2 bytes */
+ msb = *(pTuningSettingBuffer + Index);
+ Index++;
+ lsb = *(pTuningSettingBuffer + Index);
+ Index++;
+ Temp16 = VL53L0X_MAKEUINT16(lsb, msb);
+ PALDevDataSet(Dev, targetRefRate, Temp16);
+ break;
+ default: /* invalid parameter */
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ } else if (NumberOfWrites <= 4) {
+ Address = *(pTuningSettingBuffer + Index);
+ Index++;
+
+ for (i = 0; i < NumberOfWrites; i++) {
+ localBuffer[i] = *(pTuningSettingBuffer +
+ Index);
+ Index++;
+ }
+
+ Status = VL53L0X_WriteMulti(Dev, Address, localBuffer,
+ NumberOfWrites);
+
+ } else {
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_CheckAndLoadInterruptSettings(VL53L0X_DEV Dev,
- uint8_t StartNotStopFlag)
+ uint8_t StartNotStopFlag)
{
- uint8_t InterruptConfig;
- FixPoint1616_t ThresholdLow;
- FixPoint1616_t ThresholdHigh;
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
-
- InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
- Pin0GpioFunctionality);
-
- if ((InterruptConfig ==
- VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) ||
- (InterruptConfig ==
- VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) ||
- (InterruptConfig ==
- VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) {
-
- Status = VL53L0X_GetInterruptThresholds(Dev,
- VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
- &ThresholdLow, &ThresholdHigh);
-
- if (((ThresholdLow > 255*65536) ||
- (ThresholdHigh > 255*65536)) &&
- (Status == VL53L0X_ERROR_NONE)) {
-
- if (StartNotStopFlag != 0) {
- Status = VL53L0X_load_tuning_settings(Dev,
- InterruptThresholdSettings);
- } else {
- Status |= VL53L0X_WrByte(Dev, 0xFF, 0x04);
- Status |= VL53L0X_WrByte(Dev, 0x70, 0x00);
- Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
- Status |= VL53L0X_WrByte(Dev, 0x80, 0x00);
- }
-
- }
-
-
- }
-
- return Status;
+ uint8_t InterruptConfig;
+ FixPoint1616_t ThresholdLow;
+ FixPoint1616_t ThresholdHigh;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+ InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+ Pin0GpioFunctionality);
+
+ if ((InterruptConfig ==
+ VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) ||
+ (InterruptConfig ==
+ VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) ||
+ (InterruptConfig ==
+ VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) {
+
+ Status = VL53L0X_GetInterruptThresholds(Dev,
+ VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+ &ThresholdLow, &ThresholdHigh);
+
+ if (((ThresholdLow > 255*65536) ||
+ (ThresholdHigh > 255*65536)) &&
+ (Status == VL53L0X_ERROR_NONE)) {
+
+ if (StartNotStopFlag != 0) {
+ Status = VL53L0X_load_tuning_settings(Dev,
+ InterruptThresholdSettings);
+ } else {
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x04);
+ Status |= VL53L0X_WrByte(Dev, 0x70, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0x80, 0x00);
+ }
+
+ }
+
+
+ }
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_StartMeasurement(VL53L0X_DEV Dev)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceModes DeviceMode;
- uint8_t Byte;
- uint8_t StartStopByte = VL53L0X_REG_SYSRANGE_MODE_START_STOP;
- uint32_t LoopNb;
- LOG_FUNCTION_START("");
-
- /* Get Current DeviceMode */
- VL53L0X_GetDeviceMode(Dev, &DeviceMode);
-
- Status = VL53L0X_WrByte(Dev, 0x80, 0x01);
- Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
- Status = VL53L0X_WrByte(Dev, 0x00, 0x00);
- Status = VL53L0X_WrByte(Dev, 0x91, PALDevDataGet(Dev, StopVariable));
- Status = VL53L0X_WrByte(Dev, 0x00, 0x01);
- Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
- Status = VL53L0X_WrByte(Dev, 0x80, 0x00);
-
- switch (DeviceMode) {
- case VL53L0X_DEVICEMODE_SINGLE_RANGING:
- Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x01);
-
- Byte = StartStopByte;
- if (Status == VL53L0X_ERROR_NONE) {
- /* Wait until start bit has been cleared */
- LoopNb = 0;
- do {
- if (LoopNb > 0)
- Status = VL53L0X_RdByte(Dev,
- VL53L0X_REG_SYSRANGE_START, &Byte);
- LoopNb = LoopNb + 1;
- } while (((Byte & StartStopByte) == StartStopByte)
- && (Status == VL53L0X_ERROR_NONE)
- && (LoopNb < VL53L0X_DEFAULT_MAX_LOOP));
-
- if (LoopNb >= 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_CheckAndLoadInterruptSettings(Dev, 1);
-
- Status = VL53L0X_WrByte(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_CheckAndLoadInterruptSettings(Dev, 1);
-
- Status = VL53L0X_WrByte(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;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ VL53L0X_DeviceModes DeviceMode;
+ uint8_t Byte;
+ uint8_t StartStopByte = VL53L0X_REG_SYSRANGE_MODE_START_STOP;
+ uint32_t LoopNb;
+ LOG_FUNCTION_START("");
+
+ /* Get Current DeviceMode */
+ VL53L0X_GetDeviceMode(Dev, &DeviceMode);
+
+ Status = VL53L0X_WrByte(Dev, 0x80, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0x00, 0x00);
+ Status = VL53L0X_WrByte(Dev, 0x91, PALDevDataGet(Dev, StopVariable));
+ Status = VL53L0X_WrByte(Dev, 0x00, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+ Status = VL53L0X_WrByte(Dev, 0x80, 0x00);
+
+ switch (DeviceMode) {
+ case VL53L0X_DEVICEMODE_SINGLE_RANGING:
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x01);
+
+ Byte = StartStopByte;
+ if (Status == VL53L0X_ERROR_NONE) {
+ /* Wait until start bit has been cleared */
+ LoopNb = 0;
+ do {
+ if (LoopNb > 0)
+ Status = VL53L0X_RdByte(Dev,
+ VL53L0X_REG_SYSRANGE_START, &Byte);
+ LoopNb = LoopNb + 1;
+ } while (((Byte & StartStopByte) == StartStopByte)
+ && (Status == VL53L0X_ERROR_NONE)
+ && (LoopNb < VL53L0X_DEFAULT_MAX_LOOP));
+
+ if (LoopNb >= 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_CheckAndLoadInterruptSettings(Dev, 1);
+
+ Status = VL53L0X_WrByte(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_CheckAndLoadInterruptSettings(Dev, 1);
+
+ Status = VL53L0X_WrByte(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_PerformSingleMeasurement(VL53L0X_DEV Dev)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceModes DeviceMode;
-
- LOG_FUNCTION_START("");
-
- /* Get Current DeviceMode */
- Status = VL53L0X_GetDeviceMode(Dev, &DeviceMode);
-
- /* Start immediately to run a single ranging measurement in case of
- * single ranging or single histogram */
- if (Status == VL53L0X_ERROR_NONE
- && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING)
- Status = VL53L0X_StartMeasurement(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
- && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING)
- PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE);
-
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ VL53L0X_DeviceModes DeviceMode;
+
+ LOG_FUNCTION_START("");
+
+ /* Get Current DeviceMode */
+ Status = VL53L0X_GetDeviceMode(Dev, &DeviceMode);
+
+ /* Start immediately to run a single ranging measurement in case of
+ * single ranging or single histogram */
+ if (Status == VL53L0X_ERROR_NONE
+ && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING)
+ Status = VL53L0X_StartMeasurement(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
+ && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING)
+ PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE);
+
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev,
- uint8_t *pXTalkCompensationEnable)
+ uint8_t *pXTalkCompensationEnable)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t Temp8;
- LOG_FUNCTION_START("");
-
- VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8);
- *pXTalkCompensationEnable = Temp8;
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t Temp8;
+ LOG_FUNCTION_START("");
+
+ VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8);
+ *pXTalkCompensationEnable = Temp8;
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev,
- VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
- FixPoint1616_t *ptotal_xtalk_rate_mcps)
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *ptotal_xtalk_rate_mcps)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
-
- uint8_t xtalkCompEnable;
- FixPoint1616_t totalXtalkMegaCps;
- FixPoint1616_t xtalkPerSpadMegaCps;
-
- *ptotal_xtalk_rate_mcps = 0;
-
- Status = VL53L0X_GetXTalkCompensationEnable(Dev, &xtalkCompEnable);
- if (Status == VL53L0X_ERROR_NONE) {
-
- if (xtalkCompEnable) {
-
- VL53L0X_GETPARAMETERFIELD(
- Dev,
- XTalkCompensationRateMegaCps,
- xtalkPerSpadMegaCps);
-
- /* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */
- totalXtalkMegaCps =
- pRangingMeasurementData->EffectiveSpadRtnCount *
- xtalkPerSpadMegaCps;
-
- /* FixPoint0824 >> 8 = FixPoint1616 */
- *ptotal_xtalk_rate_mcps =
- (totalXtalkMegaCps + 0x80) >> 8;
- }
- }
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+ uint8_t xtalkCompEnable;
+ FixPoint1616_t totalXtalkMegaCps;
+ FixPoint1616_t xtalkPerSpadMegaCps;
+
+ *ptotal_xtalk_rate_mcps = 0;
+
+ Status = VL53L0X_GetXTalkCompensationEnable(Dev, &xtalkCompEnable);
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ if (xtalkCompEnable) {
+
+ VL53L0X_GETPARAMETERFIELD(
+ Dev,
+ XTalkCompensationRateMegaCps,
+ xtalkPerSpadMegaCps);
+
+ /* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */
+ totalXtalkMegaCps =
+ pRangingMeasurementData->EffectiveSpadRtnCount *
+ xtalkPerSpadMegaCps;
+
+ /* FixPoint0824 >> 8 = FixPoint1616 */
+ *ptotal_xtalk_rate_mcps =
+ (totalXtalkMegaCps + 0x80) >> 8;
+ }
+ }
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev,
- VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
- FixPoint1616_t *ptotal_signal_rate_mcps)
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *ptotal_signal_rate_mcps)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- FixPoint1616_t totalXtalkMegaCps;
-
- LOG_FUNCTION_START("");
-
- *ptotal_signal_rate_mcps =
- pRangingMeasurementData->SignalRateRtnMegaCps;
-
- Status = VL53L0X_get_total_xtalk_rate(
- Dev, pRangingMeasurementData, &totalXtalkMegaCps);
-
- if (Status == VL53L0X_ERROR_NONE)
- *ptotal_signal_rate_mcps += totalXtalkMegaCps;
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ FixPoint1616_t totalXtalkMegaCps;
+
+ LOG_FUNCTION_START("");
+
+ *ptotal_signal_rate_mcps =
+ pRangingMeasurementData->SignalRateRtnMegaCps;
+
+ Status = VL53L0X_get_total_xtalk_rate(
+ Dev, pRangingMeasurementData, &totalXtalkMegaCps);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ *ptotal_signal_rate_mcps += totalXtalkMegaCps;
+
+ 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 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);
+ 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;
+ /*
+ * 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;
}
VL53L0X_Error VL53L0X::VL53L0X_calc_dmax(
- VL53L0X_DEV Dev,
- FixPoint1616_t totalSignalRate_mcps,
- FixPoint1616_t totalCorrSignalRate_mcps,
- FixPoint1616_t pwMult,
- uint32_t sigmaEstimateP1,
- FixPoint1616_t sigmaEstimateP2,
- uint32_t peakVcselDuration_us,
- uint32_t *pdmax_mm)
+ VL53L0X_DEV Dev,
+ FixPoint1616_t totalSignalRate_mcps,
+ FixPoint1616_t totalCorrSignalRate_mcps,
+ FixPoint1616_t pwMult,
+ uint32_t sigmaEstimateP1,
+ FixPoint1616_t sigmaEstimateP2,
+ uint32_t peakVcselDuration_us,
+ uint32_t *pdmax_mm)
{
- const uint32_t cSigmaLimit = 18;
- const FixPoint1616_t cSignalLimit = 0x4000; /* 0.25 */
- const FixPoint1616_t cSigmaEstRef = 0x00000042; /* 0.001 */
- const uint32_t cAmbEffWidthSigmaEst_ns = 6;
- const uint32_t cAmbEffWidthDMax_ns = 7;
- uint32_t dmaxCalRange_mm;
- FixPoint1616_t dmaxCalSignalRateRtn_mcps;
- FixPoint1616_t minSignalNeeded;
- FixPoint1616_t minSignalNeeded_p1;
- FixPoint1616_t minSignalNeeded_p2;
- FixPoint1616_t minSignalNeeded_p3;
- FixPoint1616_t minSignalNeeded_p4;
- FixPoint1616_t sigmaLimitTmp;
- FixPoint1616_t sigmaEstSqTmp;
- FixPoint1616_t signalLimitTmp;
- FixPoint1616_t SignalAt0mm;
- FixPoint1616_t dmaxDark;
- FixPoint1616_t dmaxAmbient;
- FixPoint1616_t dmaxDarkTmp;
- FixPoint1616_t sigmaEstP2Tmp;
- uint32_t signalRateTemp_mcps;
-
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
-
- LOG_FUNCTION_START("");
-
- dmaxCalRange_mm =
- PALDevDataGet(Dev, DmaxCalRangeMilliMeter);
-
- dmaxCalSignalRateRtn_mcps =
- PALDevDataGet(Dev, DmaxCalSignalRateRtnMegaCps);
-
- /* uint32 * FixPoint1616 = FixPoint1616 */
- SignalAt0mm = dmaxCalRange_mm * dmaxCalSignalRateRtn_mcps;
-
- /* FixPoint1616 >> 8 = FixPoint2408 */
- SignalAt0mm = (SignalAt0mm + 0x80) >> 8;
- SignalAt0mm *= dmaxCalRange_mm;
-
- minSignalNeeded_p1 = 0;
- if (totalCorrSignalRate_mcps > 0) {
-
- /* Shift by 10 bits to increase resolution prior to the
- * division */
- signalRateTemp_mcps = totalSignalRate_mcps << 10;
-
- /* Add rounding value prior to division */
- minSignalNeeded_p1 = signalRateTemp_mcps +
- (totalCorrSignalRate_mcps/2);
-
- /* FixPoint0626/FixPoint1616 = FixPoint2210 */
- minSignalNeeded_p1 /= totalCorrSignalRate_mcps;
-
- /* Apply a factored version of the speed of light.
- Correction to be applied at the end */
- minSignalNeeded_p1 *= 3;
-
- /* FixPoint2210 * FixPoint2210 = FixPoint1220 */
- minSignalNeeded_p1 *= minSignalNeeded_p1;
-
- /* FixPoint1220 >> 16 = FixPoint2804 */
- minSignalNeeded_p1 = (minSignalNeeded_p1 + 0x8000) >> 16;
- }
-
- minSignalNeeded_p2 = pwMult * sigmaEstimateP1;
-
- /* FixPoint1616 >> 16 = uint32 */
- minSignalNeeded_p2 = (minSignalNeeded_p2 + 0x8000) >> 16;
-
- /* uint32 * uint32 = uint32 */
- minSignalNeeded_p2 *= minSignalNeeded_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.
- */
- sigmaEstP2Tmp = (sigmaEstimateP2 + 0x8000) >> 16;
- sigmaEstP2Tmp = (sigmaEstP2Tmp + cAmbEffWidthSigmaEst_ns/2)/
- cAmbEffWidthSigmaEst_ns;
- sigmaEstP2Tmp *= cAmbEffWidthDMax_ns;
-
- if (sigmaEstP2Tmp > 0xffff) {
- minSignalNeeded_p3 = 0xfff00000;
- } else {
-
- /* DMAX uses a different ambient width from sigma, so apply
- * correction.
- * Perform division before multiplication to prevent overflow.
- */
- sigmaEstimateP2 = (sigmaEstimateP2 + cAmbEffWidthSigmaEst_ns/2)/
- cAmbEffWidthSigmaEst_ns;
- sigmaEstimateP2 *= cAmbEffWidthDMax_ns;
-
- /* FixPoint1616 >> 16 = uint32 */
- minSignalNeeded_p3 = (sigmaEstimateP2 + 0x8000) >> 16;
-
- minSignalNeeded_p3 *= minSignalNeeded_p3;
-
- }
-
- /* FixPoint1814 / uint32 = FixPoint1814 */
- sigmaLimitTmp = ((cSigmaLimit << 14) + 500) / 1000;
-
- /* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */
- sigmaLimitTmp *= sigmaLimitTmp;
-
- /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
- sigmaEstSqTmp = cSigmaEstRef * cSigmaEstRef;
-
- /* FixPoint3232 >> 4 = FixPoint0428 */
- sigmaEstSqTmp = (sigmaEstSqTmp + 0x08) >> 4;
-
- /* FixPoint0428 - FixPoint0428 = FixPoint0428 */
- sigmaLimitTmp -= sigmaEstSqTmp;
-
- /* uint32_t * FixPoint0428 = FixPoint0428 */
- minSignalNeeded_p4 = 4 * 12 * sigmaLimitTmp;
-
- /* FixPoint0428 >> 14 = FixPoint1814 */
- minSignalNeeded_p4 = (minSignalNeeded_p4 + 0x2000) >> 14;
-
- /* uint32 + uint32 = uint32 */
- minSignalNeeded = (minSignalNeeded_p2 + minSignalNeeded_p3);
-
- /* uint32 / uint32 = uint32 */
- minSignalNeeded += (peakVcselDuration_us/2);
- minSignalNeeded /= peakVcselDuration_us;
-
- /* uint32 << 14 = FixPoint1814 */
- minSignalNeeded <<= 14;
-
- /* FixPoint1814 / FixPoint1814 = uint32 */
- minSignalNeeded += (minSignalNeeded_p4/2);
- minSignalNeeded /= minSignalNeeded_p4;
-
- /* FixPoint3200 * FixPoint2804 := FixPoint2804*/
- minSignalNeeded *= minSignalNeeded_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.
- */
- minSignalNeeded = (minSignalNeeded + 500) / 1000;
- minSignalNeeded <<= 4;
-
- minSignalNeeded = (minSignalNeeded + 500) / 1000;
-
- /* FixPoint1616 >> 8 = FixPoint2408 */
- signalLimitTmp = (cSignalLimit + 0x80) >> 8;
-
- /* FixPoint2408/FixPoint2408 = uint32 */
- if (signalLimitTmp != 0)
- dmaxDarkTmp = (SignalAt0mm + (signalLimitTmp / 2))
- / signalLimitTmp;
- else
- dmaxDarkTmp = 0;
-
- dmaxDark = VL53L0X_isqrt(dmaxDarkTmp);
-
- /* FixPoint2408/FixPoint2408 = uint32 */
- if (minSignalNeeded != 0)
- dmaxAmbient = (SignalAt0mm + minSignalNeeded/2)
- / minSignalNeeded;
- else
- dmaxAmbient = 0;
-
- dmaxAmbient = VL53L0X_isqrt(dmaxAmbient);
-
- *pdmax_mm = dmaxDark;
- if (dmaxDark > dmaxAmbient)
- *pdmax_mm = dmaxAmbient;
-
- LOG_FUNCTION_END(Status);
-
- return Status;
+ const uint32_t cSigmaLimit = 18;
+ const FixPoint1616_t cSignalLimit = 0x4000; /* 0.25 */
+ const FixPoint1616_t cSigmaEstRef = 0x00000042; /* 0.001 */
+ const uint32_t cAmbEffWidthSigmaEst_ns = 6;
+ const uint32_t cAmbEffWidthDMax_ns = 7;
+ uint32_t dmaxCalRange_mm;
+ FixPoint1616_t dmaxCalSignalRateRtn_mcps;
+ FixPoint1616_t minSignalNeeded;
+ FixPoint1616_t minSignalNeeded_p1;
+ FixPoint1616_t minSignalNeeded_p2;
+ FixPoint1616_t minSignalNeeded_p3;
+ FixPoint1616_t minSignalNeeded_p4;
+ FixPoint1616_t sigmaLimitTmp;
+ FixPoint1616_t sigmaEstSqTmp;
+ FixPoint1616_t signalLimitTmp;
+ FixPoint1616_t SignalAt0mm;
+ FixPoint1616_t dmaxDark;
+ FixPoint1616_t dmaxAmbient;
+ FixPoint1616_t dmaxDarkTmp;
+ FixPoint1616_t sigmaEstP2Tmp;
+ uint32_t signalRateTemp_mcps;
+
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ dmaxCalRange_mm =
+ PALDevDataGet(Dev, DmaxCalRangeMilliMeter);
+
+ dmaxCalSignalRateRtn_mcps =
+ PALDevDataGet(Dev, DmaxCalSignalRateRtnMegaCps);
+
+ /* uint32 * FixPoint1616 = FixPoint1616 */
+ SignalAt0mm = dmaxCalRange_mm * dmaxCalSignalRateRtn_mcps;
+
+ /* FixPoint1616 >> 8 = FixPoint2408 */
+ SignalAt0mm = (SignalAt0mm + 0x80) >> 8;
+ SignalAt0mm *= dmaxCalRange_mm;
+
+ minSignalNeeded_p1 = 0;
+ if (totalCorrSignalRate_mcps > 0) {
+
+ /* Shift by 10 bits to increase resolution prior to the
+ * division */
+ signalRateTemp_mcps = totalSignalRate_mcps << 10;
+
+ /* Add rounding value prior to division */
+ minSignalNeeded_p1 = signalRateTemp_mcps +
+ (totalCorrSignalRate_mcps/2);
+
+ /* FixPoint0626/FixPoint1616 = FixPoint2210 */
+ minSignalNeeded_p1 /= totalCorrSignalRate_mcps;
+
+ /* Apply a factored version of the speed of light.
+ Correction to be applied at the end */
+ minSignalNeeded_p1 *= 3;
+
+ /* FixPoint2210 * FixPoint2210 = FixPoint1220 */
+ minSignalNeeded_p1 *= minSignalNeeded_p1;
+
+ /* FixPoint1220 >> 16 = FixPoint2804 */
+ minSignalNeeded_p1 = (minSignalNeeded_p1 + 0x8000) >> 16;
+ }
+
+ minSignalNeeded_p2 = pwMult * sigmaEstimateP1;
+
+ /* FixPoint1616 >> 16 = uint32 */
+ minSignalNeeded_p2 = (minSignalNeeded_p2 + 0x8000) >> 16;
+
+ /* uint32 * uint32 = uint32 */
+ minSignalNeeded_p2 *= minSignalNeeded_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.
+ */
+ sigmaEstP2Tmp = (sigmaEstimateP2 + 0x8000) >> 16;
+ sigmaEstP2Tmp = (sigmaEstP2Tmp + cAmbEffWidthSigmaEst_ns/2)/
+ cAmbEffWidthSigmaEst_ns;
+ sigmaEstP2Tmp *= cAmbEffWidthDMax_ns;
+
+ if (sigmaEstP2Tmp > 0xffff) {
+ minSignalNeeded_p3 = 0xfff00000;
+ } else {
+
+ /* DMAX uses a different ambient width from sigma, so apply
+ * correction.
+ * Perform division before multiplication to prevent overflow.
+ */
+ sigmaEstimateP2 = (sigmaEstimateP2 + cAmbEffWidthSigmaEst_ns/2)/
+ cAmbEffWidthSigmaEst_ns;
+ sigmaEstimateP2 *= cAmbEffWidthDMax_ns;
+
+ /* FixPoint1616 >> 16 = uint32 */
+ minSignalNeeded_p3 = (sigmaEstimateP2 + 0x8000) >> 16;
+
+ minSignalNeeded_p3 *= minSignalNeeded_p3;
+
+ }
+
+ /* FixPoint1814 / uint32 = FixPoint1814 */
+ sigmaLimitTmp = ((cSigmaLimit << 14) + 500) / 1000;
+
+ /* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */
+ sigmaLimitTmp *= sigmaLimitTmp;
+
+ /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
+ sigmaEstSqTmp = cSigmaEstRef * cSigmaEstRef;
+
+ /* FixPoint3232 >> 4 = FixPoint0428 */
+ sigmaEstSqTmp = (sigmaEstSqTmp + 0x08) >> 4;
+
+ /* FixPoint0428 - FixPoint0428 = FixPoint0428 */
+ sigmaLimitTmp -= sigmaEstSqTmp;
+
+ /* uint32_t * FixPoint0428 = FixPoint0428 */
+ minSignalNeeded_p4 = 4 * 12 * sigmaLimitTmp;
+
+ /* FixPoint0428 >> 14 = FixPoint1814 */
+ minSignalNeeded_p4 = (minSignalNeeded_p4 + 0x2000) >> 14;
+
+ /* uint32 + uint32 = uint32 */
+ minSignalNeeded = (minSignalNeeded_p2 + minSignalNeeded_p3);
+
+ /* uint32 / uint32 = uint32 */
+ minSignalNeeded += (peakVcselDuration_us/2);
+ minSignalNeeded /= peakVcselDuration_us;
+
+ /* uint32 << 14 = FixPoint1814 */
+ minSignalNeeded <<= 14;
+
+ /* FixPoint1814 / FixPoint1814 = uint32 */
+ minSignalNeeded += (minSignalNeeded_p4/2);
+ minSignalNeeded /= minSignalNeeded_p4;
+
+ /* FixPoint3200 * FixPoint2804 := FixPoint2804*/
+ minSignalNeeded *= minSignalNeeded_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.
+ */
+ minSignalNeeded = (minSignalNeeded + 500) / 1000;
+ minSignalNeeded <<= 4;
+
+ minSignalNeeded = (minSignalNeeded + 500) / 1000;
+
+ /* FixPoint1616 >> 8 = FixPoint2408 */
+ signalLimitTmp = (cSignalLimit + 0x80) >> 8;
+
+ /* FixPoint2408/FixPoint2408 = uint32 */
+ if (signalLimitTmp != 0)
+ dmaxDarkTmp = (SignalAt0mm + (signalLimitTmp / 2))
+ / signalLimitTmp;
+ else
+ dmaxDarkTmp = 0;
+
+ dmaxDark = VL53L0X_isqrt(dmaxDarkTmp);
+
+ /* FixPoint2408/FixPoint2408 = uint32 */
+ if (minSignalNeeded != 0)
+ dmaxAmbient = (SignalAt0mm + minSignalNeeded/2)
+ / minSignalNeeded;
+ else
+ dmaxAmbient = 0;
+
+ dmaxAmbient = VL53L0X_isqrt(dmaxAmbient);
+
+ *pdmax_mm = dmaxDark;
+ if (dmaxDark > dmaxAmbient)
+ *pdmax_mm = dmaxAmbient;
+
+ LOG_FUNCTION_END(Status);
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev,
- VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
- FixPoint1616_t *pSigmaEstimate,
- uint32_t *pDmax_mm)
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *pSigmaEstimate,
+ uint32_t *pDmax_mm)
{
- /* Expressed in 100ths of a ns, i.e. centi-ns */
- const uint32_t cPulseEffectiveWidth_centi_ns = 800;
- /* Expressed in 100ths of a ns, i.e. centi-ns */
- const uint32_t cAmbientEffectiveWidth_centi_ns = 600;
- const FixPoint1616_t cDfltFinalRangeIntegrationTimeMilliSecs = 0x00190000; /* 25ms */
- const uint32_t cVcselPulseWidth_ps = 4700; /* pico secs */
- const FixPoint1616_t cSigmaEstMax = 0x028F87AE;
- const FixPoint1616_t cSigmaEstRtnMax = 0xF000;
- const FixPoint1616_t cAmbToSignalRatioMax = 0xF0000000/
- cAmbientEffectiveWidth_centi_ns;
- /* Time Of Flight per mm (6.6 pico secs) */
- const FixPoint1616_t cTOF_per_mm_ps = 0x0006999A;
- const uint32_t c16BitRoundingParam = 0x00008000;
- const FixPoint1616_t cMaxXTalk_kcps = 0x00320000;
- const uint32_t cPllPeriod_ps = 1655;
-
- uint32_t vcselTotalEventsRtn;
- uint32_t finalRangeTimeoutMicroSecs;
- uint32_t preRangeTimeoutMicroSecs;
- uint32_t finalRangeIntegrationTimeMilliSecs;
- FixPoint1616_t sigmaEstimateP1;
- FixPoint1616_t sigmaEstimateP2;
- FixPoint1616_t sigmaEstimateP3;
- FixPoint1616_t deltaT_ps;
- FixPoint1616_t pwMult;
- FixPoint1616_t sigmaEstRtn;
- FixPoint1616_t sigmaEstimate;
- FixPoint1616_t xTalkCorrection;
- FixPoint1616_t ambientRate_kcps;
- FixPoint1616_t peakSignalRate_kcps;
- FixPoint1616_t xTalkCompRate_mcps;
- uint32_t xTalkCompRate_kcps;
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- FixPoint1616_t diff1_mcps;
- FixPoint1616_t diff2_mcps;
- FixPoint1616_t sqr1;
- FixPoint1616_t sqr2;
- FixPoint1616_t sqrSum;
- FixPoint1616_t sqrtResult_centi_ns;
- FixPoint1616_t sqrtResult;
- FixPoint1616_t totalSignalRate_mcps;
- FixPoint1616_t correctedSignalRate_mcps;
- FixPoint1616_t sigmaEstRef;
- uint32_t vcselWidth;
- uint32_t finalRangeMacroPCLKS;
- uint32_t preRangeMacroPCLKS;
- uint32_t peakVcselDuration_us;
- uint8_t finalRangeVcselPCLKS;
- uint8_t preRangeVcselPCLKS;
- /*! \addtogroup calc_sigma_estimate
- * @{
- *
- * Estimates the range sigma
- */
-
- LOG_FUNCTION_START("");
-
- VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps,
- xTalkCompRate_mcps);
-
- /*
- * We work in kcps rather than mcps as this helps keep within the
- * confines of the 32 Fix1616 type.
- */
-
- ambientRate_kcps =
- (pRangingMeasurementData->AmbientRateRtnMegaCps * 1000) >> 16;
-
- correctedSignalRate_mcps =
- pRangingMeasurementData->SignalRateRtnMegaCps;
-
-
- Status = VL53L0X_get_total_signal_rate(
- Dev, pRangingMeasurementData, &totalSignalRate_mcps);
- Status = VL53L0X_get_total_xtalk_rate(
- Dev, pRangingMeasurementData, &xTalkCompRate_mcps);
-
-
- /* Signal rate measurement provided by device is the
- * peak signal rate, not average.
- */
- peakSignalRate_kcps = (totalSignalRate_mcps * 1000);
- peakSignalRate_kcps = (peakSignalRate_kcps + 0x8000) >> 16;
-
- xTalkCompRate_kcps = xTalkCompRate_mcps * 1000;
-
- if (xTalkCompRate_kcps > cMaxXTalk_kcps)
- xTalkCompRate_kcps = cMaxXTalk_kcps;
-
- if (Status == VL53L0X_ERROR_NONE) {
-
- /* Calculate final range macro periods */
- finalRangeTimeoutMicroSecs = VL53L0X_GETDEVICESPECIFICPARAMETER(
- Dev, FinalRangeTimeoutMicroSecs);
-
- finalRangeVcselPCLKS = VL53L0X_GETDEVICESPECIFICPARAMETER(
- Dev, FinalRangeVcselPulsePeriod);
-
- finalRangeMacroPCLKS = VL53L0X_calc_timeout_mclks(
- Dev, finalRangeTimeoutMicroSecs, finalRangeVcselPCLKS);
-
- /* Calculate pre-range macro periods */
- preRangeTimeoutMicroSecs = VL53L0X_GETDEVICESPECIFICPARAMETER(
- Dev, PreRangeTimeoutMicroSecs);
-
- preRangeVcselPCLKS = VL53L0X_GETDEVICESPECIFICPARAMETER(
- Dev, PreRangeVcselPulsePeriod);
-
- preRangeMacroPCLKS = VL53L0X_calc_timeout_mclks(
- Dev, preRangeTimeoutMicroSecs, preRangeVcselPCLKS);
-
- vcselWidth = 3;
- if (finalRangeVcselPCLKS == 8)
- vcselWidth = 2;
-
-
- peakVcselDuration_us = vcselWidth * 2048 *
- (preRangeMacroPCLKS + finalRangeMacroPCLKS);
- peakVcselDuration_us = (peakVcselDuration_us + 500)/1000;
- peakVcselDuration_us *= cPllPeriod_ps;
- peakVcselDuration_us = (peakVcselDuration_us + 500)/1000;
-
- /* Fix1616 >> 8 = Fix2408 */
- totalSignalRate_mcps = (totalSignalRate_mcps + 0x80) >> 8;
-
- /* Fix2408 * uint32 = Fix2408 */
- vcselTotalEventsRtn = totalSignalRate_mcps *
- peakVcselDuration_us;
-
- /* Fix2408 >> 8 = uint32 */
- vcselTotalEventsRtn = (vcselTotalEventsRtn + 0x80) >> 8;
-
- /* Fix2408 << 8 = Fix1616 = */
- totalSignalRate_mcps <<= 8;
- }
-
- if (Status != VL53L0X_ERROR_NONE) {
- LOG_FUNCTION_END(Status);
- return Status;
- }
-
- if (peakSignalRate_kcps == 0) {
- *pSigmaEstimate = cSigmaEstMax;
- PALDevDataSet(Dev, SigmaEstimate, cSigmaEstMax);
- *pDmax_mm = 0;
- } else {
- if (vcselTotalEventsRtn < 1)
- vcselTotalEventsRtn = 1;
-
- sigmaEstimateP1 = cPulseEffectiveWidth_centi_ns;
-
- /* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */
- sigmaEstimateP2 = (ambientRate_kcps << 16)/peakSignalRate_kcps;
- if (sigmaEstimateP2 > cAmbToSignalRatioMax) {
- /* Clip to prevent overflow. Will ensure safe
- * max result. */
- sigmaEstimateP2 = cAmbToSignalRatioMax;
- }
- sigmaEstimateP2 *= cAmbientEffectiveWidth_centi_ns;
-
- sigmaEstimateP3 = 2 * VL53L0X_isqrt(vcselTotalEventsRtn * 12);
-
- /* uint32 * FixPoint1616 = FixPoint1616 */
- deltaT_ps = pRangingMeasurementData->RangeMilliMeter *
- cTOF_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 = (((peakSignalRate_kcps << 16) -
- 2 * xTalkCompRate_kcps) + 500)/1000;
-
- /* vcselRate + xtalkCompRate */
- diff2_mcps = ((peakSignalRate_kcps << 16) + 500)/1000;
-
- /* Shift by 8 bits to increase resolution prior to the
- * division */
- diff1_mcps <<= 8;
-
- /* FixPoint0824/FixPoint1616 = FixPoint2408 */
+ /* Expressed in 100ths of a ns, i.e. centi-ns */
+ const uint32_t cPulseEffectiveWidth_centi_ns = 800;
+ /* Expressed in 100ths of a ns, i.e. centi-ns */
+ const uint32_t cAmbientEffectiveWidth_centi_ns = 600;
+ const FixPoint1616_t cDfltFinalRangeIntegrationTimeMilliSecs = 0x00190000; /* 25ms */
+ const uint32_t cVcselPulseWidth_ps = 4700; /* pico secs */
+ const FixPoint1616_t cSigmaEstMax = 0x028F87AE;
+ const FixPoint1616_t cSigmaEstRtnMax = 0xF000;
+ const FixPoint1616_t cAmbToSignalRatioMax = 0xF0000000/
+ cAmbientEffectiveWidth_centi_ns;
+ /* Time Of Flight per mm (6.6 pico secs) */
+ const FixPoint1616_t cTOF_per_mm_ps = 0x0006999A;
+ const uint32_t c16BitRoundingParam = 0x00008000;
+ const FixPoint1616_t cMaxXTalk_kcps = 0x00320000;
+ const uint32_t cPllPeriod_ps = 1655;
+
+ uint32_t vcselTotalEventsRtn;
+ uint32_t finalRangeTimeoutMicroSecs;
+ uint32_t preRangeTimeoutMicroSecs;
+ uint32_t finalRangeIntegrationTimeMilliSecs;
+ FixPoint1616_t sigmaEstimateP1;
+ FixPoint1616_t sigmaEstimateP2;
+ FixPoint1616_t sigmaEstimateP3;
+ FixPoint1616_t deltaT_ps;
+ FixPoint1616_t pwMult;
+ FixPoint1616_t sigmaEstRtn;
+ FixPoint1616_t sigmaEstimate;
+ FixPoint1616_t xTalkCorrection;
+ FixPoint1616_t ambientRate_kcps;
+ FixPoint1616_t peakSignalRate_kcps;
+ FixPoint1616_t xTalkCompRate_mcps;
+ uint32_t xTalkCompRate_kcps;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ FixPoint1616_t diff1_mcps;
+ FixPoint1616_t diff2_mcps;
+ FixPoint1616_t sqr1;
+ FixPoint1616_t sqr2;
+ FixPoint1616_t sqrSum;
+ FixPoint1616_t sqrtResult_centi_ns;
+ FixPoint1616_t sqrtResult;
+ FixPoint1616_t totalSignalRate_mcps;
+ FixPoint1616_t correctedSignalRate_mcps;
+ FixPoint1616_t sigmaEstRef;
+ uint32_t vcselWidth;
+ uint32_t finalRangeMacroPCLKS;
+ uint32_t preRangeMacroPCLKS;
+ uint32_t peakVcselDuration_us;
+ uint8_t finalRangeVcselPCLKS;
+ uint8_t preRangeVcselPCLKS;
+ /*! \addtogroup calc_sigma_estimate
+ * @{
+ *
+ * Estimates the range sigma
+ */
+
+ LOG_FUNCTION_START("");
+
+ VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps,
+ xTalkCompRate_mcps);
+
+ /*
+ * We work in kcps rather than mcps as this helps keep within the
+ * confines of the 32 Fix1616 type.
+ */
+
+ ambientRate_kcps =
+ (pRangingMeasurementData->AmbientRateRtnMegaCps * 1000) >> 16;
+
+ correctedSignalRate_mcps =
+ pRangingMeasurementData->SignalRateRtnMegaCps;
+
+
+ Status = VL53L0X_get_total_signal_rate(
+ Dev, pRangingMeasurementData, &totalSignalRate_mcps);
+ Status = VL53L0X_get_total_xtalk_rate(
+ Dev, pRangingMeasurementData, &xTalkCompRate_mcps);
+
+
+ /* Signal rate measurement provided by device is the
+ * peak signal rate, not average.
+ */
+ peakSignalRate_kcps = (totalSignalRate_mcps * 1000);
+ peakSignalRate_kcps = (peakSignalRate_kcps + 0x8000) >> 16;
+
+ xTalkCompRate_kcps = xTalkCompRate_mcps * 1000;
+
+ if (xTalkCompRate_kcps > cMaxXTalk_kcps)
+ xTalkCompRate_kcps = cMaxXTalk_kcps;
+
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ /* Calculate final range macro periods */
+ finalRangeTimeoutMicroSecs = VL53L0X_GETDEVICESPECIFICPARAMETER(
+ Dev, FinalRangeTimeoutMicroSecs);
+
+ finalRangeVcselPCLKS = VL53L0X_GETDEVICESPECIFICPARAMETER(
+ Dev, FinalRangeVcselPulsePeriod);
+
+ finalRangeMacroPCLKS = VL53L0X_calc_timeout_mclks(
+ Dev, finalRangeTimeoutMicroSecs, finalRangeVcselPCLKS);
+
+ /* Calculate pre-range macro periods */
+ preRangeTimeoutMicroSecs = VL53L0X_GETDEVICESPECIFICPARAMETER(
+ Dev, PreRangeTimeoutMicroSecs);
+
+ preRangeVcselPCLKS = VL53L0X_GETDEVICESPECIFICPARAMETER(
+ Dev, PreRangeVcselPulsePeriod);
+
+ preRangeMacroPCLKS = VL53L0X_calc_timeout_mclks(
+ Dev, preRangeTimeoutMicroSecs, preRangeVcselPCLKS);
+
+ vcselWidth = 3;
+ if (finalRangeVcselPCLKS == 8)
+ vcselWidth = 2;
+
+
+ peakVcselDuration_us = vcselWidth * 2048 *
+ (preRangeMacroPCLKS + finalRangeMacroPCLKS);
+ peakVcselDuration_us = (peakVcselDuration_us + 500)/1000;
+ peakVcselDuration_us *= cPllPeriod_ps;
+ peakVcselDuration_us = (peakVcselDuration_us + 500)/1000;
+
+ /* Fix1616 >> 8 = Fix2408 */
+ totalSignalRate_mcps = (totalSignalRate_mcps + 0x80) >> 8;
+
+ /* Fix2408 * uint32 = Fix2408 */
+ vcselTotalEventsRtn = totalSignalRate_mcps *
+ peakVcselDuration_us;
+
+ /* Fix2408 >> 8 = uint32 */
+ vcselTotalEventsRtn = (vcselTotalEventsRtn + 0x80) >> 8;
+
+ /* Fix2408 << 8 = Fix1616 = */
+ totalSignalRate_mcps <<= 8;
+ }
+
+ if (Status != VL53L0X_ERROR_NONE) {
+ LOG_FUNCTION_END(Status);
+ return Status;
+ }
+
+ if (peakSignalRate_kcps == 0) {
+ *pSigmaEstimate = cSigmaEstMax;
+ PALDevDataSet(Dev, SigmaEstimate, cSigmaEstMax);
+ *pDmax_mm = 0;
+ } else {
+ if (vcselTotalEventsRtn < 1)
+ vcselTotalEventsRtn = 1;
+
+ sigmaEstimateP1 = cPulseEffectiveWidth_centi_ns;
+
+ /* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */
+ sigmaEstimateP2 = (ambientRate_kcps << 16)/peakSignalRate_kcps;
+ if (sigmaEstimateP2 > cAmbToSignalRatioMax) {
+ /* Clip to prevent overflow. Will ensure safe
+ * max result. */
+ sigmaEstimateP2 = cAmbToSignalRatioMax;
+ }
+ sigmaEstimateP2 *= cAmbientEffectiveWidth_centi_ns;
+
+ sigmaEstimateP3 = 2 * VL53L0X_isqrt(vcselTotalEventsRtn * 12);
+
+ /* uint32 * FixPoint1616 = FixPoint1616 */
+ deltaT_ps = pRangingMeasurementData->RangeMilliMeter *
+ cTOF_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 = (((peakSignalRate_kcps << 16) -
+ 2 * xTalkCompRate_kcps) + 500)/1000;
+
+ /* vcselRate + xtalkCompRate */
+ diff2_mcps = ((peakSignalRate_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!
- xTalkCorrection = diff1_mcps/diff2_mcps;
-
- /* FixPoint2408 << 8 = FixPoint1616 */
- xTalkCorrection <<= 8;
-
- if(pRangingMeasurementData->RangeStatus != 0){
- pwMult = 1 << 16;
- } else {
- /* FixPoint1616/uint32 = FixPoint1616 */
- pwMult = deltaT_ps/cVcselPulseWidth_ps; /* smaller than 1.0f */
-
- /*
- * FixPoint1616 * FixPoint1616 = FixPoint3232, however both
- * values are small enough such that32 bits will not be
- * exceeded.
- */
- pwMult *= ((1 << 16) - xTalkCorrection);
-
- /* (FixPoint3232 >> 16) = FixPoint1616 */
- pwMult = (pwMult + c16BitRoundingParam) >> 16;
-
- /* FixPoint1616 + FixPoint1616 = FixPoint1616 */
- pwMult += (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.
- */
- pwMult >>= 1;
- /* FixPoint1715 * FixPoint1715 = FixPoint3430 */
- pwMult = pwMult * pwMult;
-
- /* (FixPoint3430 >> 14) = Fix1616 */
- pwMult >>= 14;
- }
-
- /* FixPoint1616 * uint32 = FixPoint1616 */
- sqr1 = pwMult * sigmaEstimateP1;
-
- /* (FixPoint1616 >> 16) = FixPoint3200 */
- sqr1 = (sqr1 + 0x8000) >> 16;
-
- /* FixPoint3200 * FixPoint3200 = FixPoint6400 */
- sqr1 *= sqr1;
-
- sqr2 = sigmaEstimateP2;
-
- /* (FixPoint1616 >> 16) = FixPoint3200 */
- sqr2 = (sqr2 + 0x8000) >> 16;
-
- /* FixPoint3200 * FixPoint3200 = FixPoint6400 */
- sqr2 *= sqr2;
-
- /* FixPoint64000 + FixPoint6400 = FixPoint6400 */
- sqrSum = sqr1 + sqr2;
-
- /* SQRT(FixPoin6400) = FixPoint3200 */
- sqrtResult_centi_ns = VL53L0X_isqrt(sqrSum);
-
- /* (FixPoint3200 << 16) = FixPoint1616 */
- sqrtResult_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
- */
- sigmaEstRtn = (((sqrtResult_centi_ns+50)/100) /
- sigmaEstimateP3);
- sigmaEstRtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR;
-
- /* Add 5000 before dividing by 10000 to ensure rounding. */
- sigmaEstRtn += 5000;
- sigmaEstRtn /= 10000;
-
- if (sigmaEstRtn > cSigmaEstRtnMax) {
- /* Clip to prevent overflow. Will ensure safe
- * max result. */
- sigmaEstRtn = cSigmaEstRtnMax;
- }
- finalRangeIntegrationTimeMilliSecs =
- (finalRangeTimeoutMicroSecs + preRangeTimeoutMicroSecs + 500)/1000;
-
- /* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range)
- * sqrt(FixPoint1616/int) = FixPoint2408)
- */
- sigmaEstRef =
- VL53L0X_isqrt((cDfltFinalRangeIntegrationTimeMilliSecs +
- finalRangeIntegrationTimeMilliSecs/2)/
- finalRangeIntegrationTimeMilliSecs);
-
- /* FixPoint2408 << 8 = FixPoint1616 */
- sigmaEstRef <<= 8;
- sigmaEstRef = (sigmaEstRef + 500)/1000;
-
- /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
- sqr1 = sigmaEstRtn * sigmaEstRtn;
- /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
- sqr2 = sigmaEstRef * sigmaEstRef;
-
- /* sqrt(FixPoint3232) = FixPoint1616 */
- sqrtResult = 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.
- */
-
- sigmaEstimate = 1000 * sqrtResult;
-
- if ((peakSignalRate_kcps < 1) || (vcselTotalEventsRtn < 1) ||
- (sigmaEstimate > cSigmaEstMax)) {
- sigmaEstimate = cSigmaEstMax;
- }
-
- *pSigmaEstimate = (uint32_t)(sigmaEstimate);
- PALDevDataSet(Dev, SigmaEstimate, *pSigmaEstimate);
- Status = VL53L0X_calc_dmax(
- Dev,
- totalSignalRate_mcps,
- correctedSignalRate_mcps,
- pwMult,
- sigmaEstimateP1,
- sigmaEstimateP2,
- peakVcselDuration_us,
- pDmax_mm);
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ xTalkCorrection = diff1_mcps/diff2_mcps;
+
+ /* FixPoint2408 << 8 = FixPoint1616 */
+ xTalkCorrection <<= 8;
+
+ if(pRangingMeasurementData->RangeStatus != 0) {
+ pwMult = 1 << 16;
+ } else {
+ /* FixPoint1616/uint32 = FixPoint1616 */
+ pwMult = deltaT_ps/cVcselPulseWidth_ps; /* smaller than 1.0f */
+
+ /*
+ * FixPoint1616 * FixPoint1616 = FixPoint3232, however both
+ * values are small enough such that32 bits will not be
+ * exceeded.
+ */
+ pwMult *= ((1 << 16) - xTalkCorrection);
+
+ /* (FixPoint3232 >> 16) = FixPoint1616 */
+ pwMult = (pwMult + c16BitRoundingParam) >> 16;
+
+ /* FixPoint1616 + FixPoint1616 = FixPoint1616 */
+ pwMult += (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.
+ */
+ pwMult >>= 1;
+ /* FixPoint1715 * FixPoint1715 = FixPoint3430 */
+ pwMult = pwMult * pwMult;
+
+ /* (FixPoint3430 >> 14) = Fix1616 */
+ pwMult >>= 14;
+ }
+
+ /* FixPoint1616 * uint32 = FixPoint1616 */
+ sqr1 = pwMult * sigmaEstimateP1;
+
+ /* (FixPoint1616 >> 16) = FixPoint3200 */
+ sqr1 = (sqr1 + 0x8000) >> 16;
+
+ /* FixPoint3200 * FixPoint3200 = FixPoint6400 */
+ sqr1 *= sqr1;
+
+ sqr2 = sigmaEstimateP2;
+
+ /* (FixPoint1616 >> 16) = FixPoint3200 */
+ sqr2 = (sqr2 + 0x8000) >> 16;
+
+ /* FixPoint3200 * FixPoint3200 = FixPoint6400 */
+ sqr2 *= sqr2;
+
+ /* FixPoint64000 + FixPoint6400 = FixPoint6400 */
+ sqrSum = sqr1 + sqr2;
+
+ /* SQRT(FixPoin6400) = FixPoint3200 */
+ sqrtResult_centi_ns = VL53L0X_isqrt(sqrSum);
+
+ /* (FixPoint3200 << 16) = FixPoint1616 */
+ sqrtResult_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
+ */
+ sigmaEstRtn = (((sqrtResult_centi_ns+50)/100) /
+ sigmaEstimateP3);
+ sigmaEstRtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR;
+
+ /* Add 5000 before dividing by 10000 to ensure rounding. */
+ sigmaEstRtn += 5000;
+ sigmaEstRtn /= 10000;
+
+ if (sigmaEstRtn > cSigmaEstRtnMax) {
+ /* Clip to prevent overflow. Will ensure safe
+ * max result. */
+ sigmaEstRtn = cSigmaEstRtnMax;
+ }
+ finalRangeIntegrationTimeMilliSecs =
+ (finalRangeTimeoutMicroSecs + preRangeTimeoutMicroSecs + 500)/1000;
+
+ /* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range)
+ * sqrt(FixPoint1616/int) = FixPoint2408)
+ */
+ sigmaEstRef =
+ VL53L0X_isqrt((cDfltFinalRangeIntegrationTimeMilliSecs +
+ finalRangeIntegrationTimeMilliSecs/2)/
+ finalRangeIntegrationTimeMilliSecs);
+
+ /* FixPoint2408 << 8 = FixPoint1616 */
+ sigmaEstRef <<= 8;
+ sigmaEstRef = (sigmaEstRef + 500)/1000;
+
+ /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
+ sqr1 = sigmaEstRtn * sigmaEstRtn;
+ /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
+ sqr2 = sigmaEstRef * sigmaEstRef;
+
+ /* sqrt(FixPoint3232) = FixPoint1616 */
+ sqrtResult = 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.
+ */
+
+ sigmaEstimate = 1000 * sqrtResult;
+
+ if ((peakSignalRate_kcps < 1) || (vcselTotalEventsRtn < 1) ||
+ (sigmaEstimate > cSigmaEstMax)) {
+ sigmaEstimate = cSigmaEstMax;
+ }
+
+ *pSigmaEstimate = (uint32_t)(sigmaEstimate);
+ PALDevDataSet(Dev, SigmaEstimate, *pSigmaEstimate);
+ Status = VL53L0X_calc_dmax(
+ Dev,
+ totalSignalRate_mcps,
+ correctedSignalRate_mcps,
+ pwMult,
+ sigmaEstimateP1,
+ sigmaEstimateP2,
+ peakVcselDuration_us,
+ pDmax_mm);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_get_pal_range_status(VL53L0X_DEV Dev,
- uint8_t DeviceRangeStatus,
- FixPoint1616_t SignalRate,
- uint16_t EffectiveSpadRtnCount,
- VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
- uint8_t *pPalRangeStatus)
+ uint8_t DeviceRangeStatus,
+ FixPoint1616_t SignalRate,
+ uint16_t EffectiveSpadRtnCount,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ uint8_t *pPalRangeStatus)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t NoneFlag;
- uint8_t SigmaLimitflag = 0;
- uint8_t SignalRefClipflag = 0;
- uint8_t RangeIgnoreThresholdflag = 0;
- uint8_t SigmaLimitCheckEnable = 0;
- uint8_t SignalRateFinalRangeLimitCheckEnable = 0;
- uint8_t SignalRefClipLimitCheckEnable = 0;
- uint8_t RangeIgnoreThresholdLimitCheckEnable = 0;
- FixPoint1616_t SigmaEstimate;
- FixPoint1616_t SigmaLimitValue;
- FixPoint1616_t SignalRefClipValue;
- FixPoint1616_t RangeIgnoreThresholdValue;
- FixPoint1616_t SignalRatePerSpad;
- uint8_t DeviceRangeStatusInternal = 0;
- uint16_t tmpWord = 0;
- uint8_t Temp8;
- uint32_t Dmax_mm = 0;
- FixPoint1616_t LastSignalRefMcps;
-
- 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.
- */
-
- DeviceRangeStatusInternal = ((DeviceRangeStatus & 0x78) >> 3);
-
- if (DeviceRangeStatusInternal == 0 ||
- DeviceRangeStatusInternal == 5 ||
- DeviceRangeStatusInternal == 7 ||
- DeviceRangeStatusInternal == 12 ||
- DeviceRangeStatusInternal == 13 ||
- DeviceRangeStatusInternal == 14 ||
- DeviceRangeStatusInternal == 15
- ) {
- NoneFlag = 1;
- } else {
- NoneFlag = 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_GetLimitCheckEnable(Dev,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- &SigmaLimitCheckEnable);
-
- if ((SigmaLimitCheckEnable != 0) && (Status == VL53L0X_ERROR_NONE)) {
- /*
- * compute the Sigma and check with limit
- */
- Status = VL53L0X_calc_sigma_estimate(
- Dev,
- pRangingMeasurementData,
- &SigmaEstimate,
- &Dmax_mm);
- if (Status == VL53L0X_ERROR_NONE)
- pRangingMeasurementData->RangeDMaxMilliMeter = Dmax_mm;
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_GetLimitCheckValue(Dev,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- &SigmaLimitValue);
-
- if ((SigmaLimitValue > 0) &&
- (SigmaEstimate > SigmaLimitValue))
- /* Limit Fail */
- SigmaLimitflag = 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_GetLimitCheckEnable(Dev,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- &SignalRefClipLimitCheckEnable);
-
- if ((SignalRefClipLimitCheckEnable != 0) &&
- (Status == VL53L0X_ERROR_NONE)) {
-
- Status = VL53L0X_GetLimitCheckValue(Dev,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- &SignalRefClipValue);
-
- /* Read LastSignalRefMcps from device */
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_RdWord(Dev,
- VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
- &tmpWord);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
-
- LastSignalRefMcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmpWord);
- PALDevDataSet(Dev, LastSignalRefMcps, LastSignalRefMcps);
-
- if ((SignalRefClipValue > 0) &&
- (LastSignalRefMcps > SignalRefClipValue)) {
- /* Limit Fail */
- SignalRefClipflag = 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_GetLimitCheckEnable(Dev,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- &RangeIgnoreThresholdLimitCheckEnable);
-
- if ((RangeIgnoreThresholdLimitCheckEnable != 0) &&
- (Status == VL53L0X_ERROR_NONE)) {
-
- /* Compute the signal rate per spad */
- if (EffectiveSpadRtnCount == 0) {
- SignalRatePerSpad = 0;
- } else {
- SignalRatePerSpad = (FixPoint1616_t)((256 * SignalRate)
- / EffectiveSpadRtnCount);
- }
-
- Status = VL53L0X_GetLimitCheckValue(Dev,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- &RangeIgnoreThresholdValue);
-
- if ((RangeIgnoreThresholdValue > 0) &&
- (SignalRatePerSpad < RangeIgnoreThresholdValue)) {
- /* Limit Fail add 2^6 to range status */
- RangeIgnoreThresholdflag = 1;
- }
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- if (NoneFlag == 1) {
- *pPalRangeStatus = 255; /* NONE */
- } else if (DeviceRangeStatusInternal == 1 ||
- DeviceRangeStatusInternal == 2 ||
- DeviceRangeStatusInternal == 3) {
- *pPalRangeStatus = 5; /* HW fail */
- } else if (DeviceRangeStatusInternal == 6 ||
- DeviceRangeStatusInternal == 9) {
- *pPalRangeStatus = 4; /* Phase fail */
- } else if (DeviceRangeStatusInternal == 8 ||
- DeviceRangeStatusInternal == 10 ||
- SignalRefClipflag == 1) {
- *pPalRangeStatus = 3; /* Min range */
- } else if (DeviceRangeStatusInternal == 4 ||
- RangeIgnoreThresholdflag == 1) {
- *pPalRangeStatus = 2; /* Signal Fail */
- } else if (SigmaLimitflag == 1) {
- *pPalRangeStatus = 1; /* Sigma Fail */
- } else {
- *pPalRangeStatus = 0; /* Range Valid */
- }
- }
-
- /* DMAX only relevant during range error */
- if (*pPalRangeStatus == 0)
- pRangingMeasurementData->RangeDMaxMilliMeter = 0;
-
- /* fill the Limit Check Status */
-
- Status = VL53L0X_GetLimitCheckEnable(Dev,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
- &SignalRateFinalRangeLimitCheckEnable);
-
- if (Status == VL53L0X_ERROR_NONE) {
- if ((SigmaLimitCheckEnable == 0) || (SigmaLimitflag == 1))
- Temp8 = 1;
- else
- Temp8 = 0;
- VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8);
-
- if ((DeviceRangeStatusInternal == 4) ||
- (SignalRateFinalRangeLimitCheckEnable == 0))
- Temp8 = 1;
- else
- Temp8 = 0;
- VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
- Temp8);
-
- if ((SignalRefClipLimitCheckEnable == 0) ||
- (SignalRefClipflag == 1))
- Temp8 = 1;
- else
- Temp8 = 0;
-
- VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, Temp8);
-
- if ((RangeIgnoreThresholdLimitCheckEnable == 0) ||
- (RangeIgnoreThresholdflag == 1))
- Temp8 = 1;
- else
- Temp8 = 0;
-
- VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- Temp8);
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t NoneFlag;
+ uint8_t SigmaLimitflag = 0;
+ uint8_t SignalRefClipflag = 0;
+ uint8_t RangeIgnoreThresholdflag = 0;
+ uint8_t SigmaLimitCheckEnable = 0;
+ uint8_t SignalRateFinalRangeLimitCheckEnable = 0;
+ uint8_t SignalRefClipLimitCheckEnable = 0;
+ uint8_t RangeIgnoreThresholdLimitCheckEnable = 0;
+ FixPoint1616_t SigmaEstimate;
+ FixPoint1616_t SigmaLimitValue;
+ FixPoint1616_t SignalRefClipValue;
+ FixPoint1616_t RangeIgnoreThresholdValue;
+ FixPoint1616_t SignalRatePerSpad;
+ uint8_t DeviceRangeStatusInternal = 0;
+ uint16_t tmpWord = 0;
+ uint8_t Temp8;
+ uint32_t Dmax_mm = 0;
+ FixPoint1616_t LastSignalRefMcps;
+
+ 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.
+ */
+
+ DeviceRangeStatusInternal = ((DeviceRangeStatus & 0x78) >> 3);
+
+ if (DeviceRangeStatusInternal == 0 ||
+ DeviceRangeStatusInternal == 5 ||
+ DeviceRangeStatusInternal == 7 ||
+ DeviceRangeStatusInternal == 12 ||
+ DeviceRangeStatusInternal == 13 ||
+ DeviceRangeStatusInternal == 14 ||
+ DeviceRangeStatusInternal == 15
+ ) {
+ NoneFlag = 1;
+ } else {
+ NoneFlag = 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_GetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ &SigmaLimitCheckEnable);
+
+ if ((SigmaLimitCheckEnable != 0) && (Status == VL53L0X_ERROR_NONE)) {
+ /*
+ * compute the Sigma and check with limit
+ */
+ Status = VL53L0X_calc_sigma_estimate(
+ Dev,
+ pRangingMeasurementData,
+ &SigmaEstimate,
+ &Dmax_mm);
+ if (Status == VL53L0X_ERROR_NONE)
+ pRangingMeasurementData->RangeDMaxMilliMeter = Dmax_mm;
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_GetLimitCheckValue(Dev,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ &SigmaLimitValue);
+
+ if ((SigmaLimitValue > 0) &&
+ (SigmaEstimate > SigmaLimitValue))
+ /* Limit Fail */
+ SigmaLimitflag = 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_GetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ &SignalRefClipLimitCheckEnable);
+
+ if ((SignalRefClipLimitCheckEnable != 0) &&
+ (Status == VL53L0X_ERROR_NONE)) {
+
+ Status = VL53L0X_GetLimitCheckValue(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ &SignalRefClipValue);
+
+ /* Read LastSignalRefMcps from device */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
+ &tmpWord);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+ LastSignalRefMcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmpWord);
+ PALDevDataSet(Dev, LastSignalRefMcps, LastSignalRefMcps);
+
+ if ((SignalRefClipValue > 0) &&
+ (LastSignalRefMcps > SignalRefClipValue)) {
+ /* Limit Fail */
+ SignalRefClipflag = 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_GetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ &RangeIgnoreThresholdLimitCheckEnable);
+
+ if ((RangeIgnoreThresholdLimitCheckEnable != 0) &&
+ (Status == VL53L0X_ERROR_NONE)) {
+
+ /* Compute the signal rate per spad */
+ if (EffectiveSpadRtnCount == 0) {
+ SignalRatePerSpad = 0;
+ } else {
+ SignalRatePerSpad = (FixPoint1616_t)((256 * SignalRate)
+ / EffectiveSpadRtnCount);
+ }
+
+ Status = VL53L0X_GetLimitCheckValue(Dev,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ &RangeIgnoreThresholdValue);
+
+ if ((RangeIgnoreThresholdValue > 0) &&
+ (SignalRatePerSpad < RangeIgnoreThresholdValue)) {
+ /* Limit Fail add 2^6 to range status */
+ RangeIgnoreThresholdflag = 1;
+ }
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (NoneFlag == 1) {
+ *pPalRangeStatus = 255; /* NONE */
+ } else if (DeviceRangeStatusInternal == 1 ||
+ DeviceRangeStatusInternal == 2 ||
+ DeviceRangeStatusInternal == 3) {
+ *pPalRangeStatus = 5; /* HW fail */
+ } else if (DeviceRangeStatusInternal == 6 ||
+ DeviceRangeStatusInternal == 9) {
+ *pPalRangeStatus = 4; /* Phase fail */
+ } else if (DeviceRangeStatusInternal == 8 ||
+ DeviceRangeStatusInternal == 10 ||
+ SignalRefClipflag == 1) {
+ *pPalRangeStatus = 3; /* Min range */
+ } else if (DeviceRangeStatusInternal == 4 ||
+ RangeIgnoreThresholdflag == 1) {
+ *pPalRangeStatus = 2; /* Signal Fail */
+ } else if (SigmaLimitflag == 1) {
+ *pPalRangeStatus = 1; /* Sigma Fail */
+ } else {
+ *pPalRangeStatus = 0; /* Range Valid */
+ }
+ }
+
+ /* DMAX only relevant during range error */
+ if (*pPalRangeStatus == 0)
+ pRangingMeasurementData->RangeDMaxMilliMeter = 0;
+
+ /* fill the Limit Check Status */
+
+ Status = VL53L0X_GetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ &SignalRateFinalRangeLimitCheckEnable);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if ((SigmaLimitCheckEnable == 0) || (SigmaLimitflag == 1))
+ Temp8 = 1;
+ else
+ Temp8 = 0;
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8);
+
+ if ((DeviceRangeStatusInternal == 4) ||
+ (SignalRateFinalRangeLimitCheckEnable == 0))
+ Temp8 = 1;
+ else
+ Temp8 = 0;
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ Temp8);
+
+ if ((SignalRefClipLimitCheckEnable == 0) ||
+ (SignalRefClipflag == 1))
+ Temp8 = 1;
+ else
+ Temp8 = 0;
+
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, Temp8);
+
+ if ((RangeIgnoreThresholdLimitCheckEnable == 0) ||
+ (RangeIgnoreThresholdflag == 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_GetRangingMeasurementData(VL53L0X_DEV Dev,
- VL53L0X_RangingMeasurementData_t *pRangingMeasurementData)
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t DeviceRangeStatus;
- uint8_t RangeFractionalEnable;
- uint8_t PalRangeStatus;
- uint8_t XTalkCompensationEnable;
- uint16_t AmbientRate;
- FixPoint1616_t SignalRate;
- uint16_t XTalkCompensationRateMegaCps;
- uint16_t EffectiveSpadRtnCount;
- uint16_t tmpuint16;
- uint16_t XtalkRangeMilliMeter;
- uint16_t LinearityCorrectiveGain;
- uint8_t localBuffer[12];
- VL53L0X_RangingMeasurementData_t LastRangeDataBuffer;
-
- 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_ReadMulti(Dev, 0x14, localBuffer, 12);
-
- if (Status == VL53L0X_ERROR_NONE) {
-
- pRangingMeasurementData->ZoneId = 0; /* Only one zone */
- pRangingMeasurementData->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
- */
-
- pRangingMeasurementData->MeasurementTimeUsec = 0;
-
- SignalRate = VL53L0X_FIXPOINT97TOFIXPOINT1616(
- VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6]));
- /* peak_signal_count_rate_rtn_mcps */
- pRangingMeasurementData->SignalRateRtnMegaCps = SignalRate;
-
- AmbientRate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]);
- pRangingMeasurementData->AmbientRateRtnMegaCps =
- VL53L0X_FIXPOINT97TOFIXPOINT1616(AmbientRate);
-
- EffectiveSpadRtnCount = VL53L0X_MAKEUINT16(localBuffer[3],
- localBuffer[2]);
- /* EffectiveSpadRtnCount is 8.8 format */
- pRangingMeasurementData->EffectiveSpadRtnCount =
- EffectiveSpadRtnCount;
-
- DeviceRangeStatus = localBuffer[0];
-
- /* Get Linearity Corrective Gain */
- LinearityCorrectiveGain = PALDevDataGet(Dev,
- LinearityCorrectiveGain);
-
- /* Get ranging configuration */
- RangeFractionalEnable = PALDevDataGet(Dev,
- RangeFractionalEnable);
-
- if (LinearityCorrectiveGain != 1000) {
-
- tmpuint16 = (uint16_t)((LinearityCorrectiveGain
- * tmpuint16 + 500) / 1000);
-
- /* Implement Xtalk */
- VL53L0X_GETPARAMETERFIELD(Dev,
- XTalkCompensationRateMegaCps,
- XTalkCompensationRateMegaCps);
- VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable,
- XTalkCompensationEnable);
-
- if (XTalkCompensationEnable) {
-
- if ((SignalRate
- - ((XTalkCompensationRateMegaCps
- * EffectiveSpadRtnCount) >> 8))
- <= 0) {
- if (RangeFractionalEnable)
- XtalkRangeMilliMeter = 8888;
- else
- XtalkRangeMilliMeter = 8888
- << 2;
- } else {
- XtalkRangeMilliMeter =
- (tmpuint16 * SignalRate)
- / (SignalRate
- - ((XTalkCompensationRateMegaCps
- * EffectiveSpadRtnCount)
- >> 8));
- }
-
- tmpuint16 = XtalkRangeMilliMeter;
- }
-
- }
-
- if (RangeFractionalEnable) {
- pRangingMeasurementData->RangeMilliMeter =
- (uint16_t)((tmpuint16) >> 2);
- pRangingMeasurementData->RangeFractionalPart =
- (uint8_t)((tmpuint16 & 0x03) << 6);
- } else {
- pRangingMeasurementData->RangeMilliMeter = tmpuint16;
- pRangingMeasurementData->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, DeviceRangeStatus,
- SignalRate, EffectiveSpadRtnCount,
- pRangingMeasurementData, &PalRangeStatus);
-
- if (Status == VL53L0X_ERROR_NONE)
- pRangingMeasurementData->RangeStatus = PalRangeStatus;
-
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- /* Copy last read data into Dev buffer */
- LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure);
-
- LastRangeDataBuffer.RangeMilliMeter =
- pRangingMeasurementData->RangeMilliMeter;
- LastRangeDataBuffer.RangeFractionalPart =
- pRangingMeasurementData->RangeFractionalPart;
- LastRangeDataBuffer.RangeDMaxMilliMeter =
- pRangingMeasurementData->RangeDMaxMilliMeter;
- LastRangeDataBuffer.MeasurementTimeUsec =
- pRangingMeasurementData->MeasurementTimeUsec;
- LastRangeDataBuffer.SignalRateRtnMegaCps =
- pRangingMeasurementData->SignalRateRtnMegaCps;
- LastRangeDataBuffer.AmbientRateRtnMegaCps =
- pRangingMeasurementData->AmbientRateRtnMegaCps;
- LastRangeDataBuffer.EffectiveSpadRtnCount =
- pRangingMeasurementData->EffectiveSpadRtnCount;
- LastRangeDataBuffer.RangeStatus =
- pRangingMeasurementData->RangeStatus;
-
- PALDevDataSet(Dev, LastRangeMeasure, LastRangeDataBuffer);
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t DeviceRangeStatus;
+ uint8_t RangeFractionalEnable;
+ uint8_t PalRangeStatus;
+ uint8_t XTalkCompensationEnable;
+ uint16_t AmbientRate;
+ FixPoint1616_t SignalRate;
+ uint16_t XTalkCompensationRateMegaCps;
+ uint16_t EffectiveSpadRtnCount;
+ uint16_t tmpuint16;
+ uint16_t XtalkRangeMilliMeter;
+ uint16_t LinearityCorrectiveGain;
+ uint8_t localBuffer[12];
+ VL53L0X_RangingMeasurementData_t LastRangeDataBuffer;
+
+ 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_ReadMulti(Dev, 0x14, localBuffer, 12);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ pRangingMeasurementData->ZoneId = 0; /* Only one zone */
+ pRangingMeasurementData->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
+ */
+
+ pRangingMeasurementData->MeasurementTimeUsec = 0;
+
+ SignalRate = VL53L0X_FIXPOINT97TOFIXPOINT1616(
+ VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6]));
+ /* peak_signal_count_rate_rtn_mcps */
+ pRangingMeasurementData->SignalRateRtnMegaCps = SignalRate;
+
+ AmbientRate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]);
+ pRangingMeasurementData->AmbientRateRtnMegaCps =
+ VL53L0X_FIXPOINT97TOFIXPOINT1616(AmbientRate);
+
+ EffectiveSpadRtnCount = VL53L0X_MAKEUINT16(localBuffer[3],
+ localBuffer[2]);
+ /* EffectiveSpadRtnCount is 8.8 format */
+ pRangingMeasurementData->EffectiveSpadRtnCount =
+ EffectiveSpadRtnCount;
+
+ DeviceRangeStatus = localBuffer[0];
+
+ /* Get Linearity Corrective Gain */
+ LinearityCorrectiveGain = PALDevDataGet(Dev,
+ LinearityCorrectiveGain);
+
+ /* Get ranging configuration */
+ RangeFractionalEnable = PALDevDataGet(Dev,
+ RangeFractionalEnable);
+
+ if (LinearityCorrectiveGain != 1000) {
+
+ tmpuint16 = (uint16_t)((LinearityCorrectiveGain
+ * tmpuint16 + 500) / 1000);
+
+ /* Implement Xtalk */
+ VL53L0X_GETPARAMETERFIELD(Dev,
+ XTalkCompensationRateMegaCps,
+ XTalkCompensationRateMegaCps);
+ VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable,
+ XTalkCompensationEnable);
+
+ if (XTalkCompensationEnable) {
+
+ if ((SignalRate
+ - ((XTalkCompensationRateMegaCps
+ * EffectiveSpadRtnCount) >> 8))
+ <= 0) {
+ if (RangeFractionalEnable)
+ XtalkRangeMilliMeter = 8888;
+ else
+ XtalkRangeMilliMeter = 8888
+ << 2;
+ } else {
+ XtalkRangeMilliMeter =
+ (tmpuint16 * SignalRate)
+ / (SignalRate
+ - ((XTalkCompensationRateMegaCps
+ * EffectiveSpadRtnCount)
+ >> 8));
+ }
+
+ tmpuint16 = XtalkRangeMilliMeter;
+ }
+
+ }
+
+ if (RangeFractionalEnable) {
+ pRangingMeasurementData->RangeMilliMeter =
+ (uint16_t)((tmpuint16) >> 2);
+ pRangingMeasurementData->RangeFractionalPart =
+ (uint8_t)((tmpuint16 & 0x03) << 6);
+ } else {
+ pRangingMeasurementData->RangeMilliMeter = tmpuint16;
+ pRangingMeasurementData->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, DeviceRangeStatus,
+ SignalRate, EffectiveSpadRtnCount,
+ pRangingMeasurementData, &PalRangeStatus);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ pRangingMeasurementData->RangeStatus = PalRangeStatus;
+
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ /* Copy last read data into Dev buffer */
+ LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure);
+
+ LastRangeDataBuffer.RangeMilliMeter =
+ pRangingMeasurementData->RangeMilliMeter;
+ LastRangeDataBuffer.RangeFractionalPart =
+ pRangingMeasurementData->RangeFractionalPart;
+ LastRangeDataBuffer.RangeDMaxMilliMeter =
+ pRangingMeasurementData->RangeDMaxMilliMeter;
+ LastRangeDataBuffer.MeasurementTimeUsec =
+ pRangingMeasurementData->MeasurementTimeUsec;
+ LastRangeDataBuffer.SignalRateRtnMegaCps =
+ pRangingMeasurementData->SignalRateRtnMegaCps;
+ LastRangeDataBuffer.AmbientRateRtnMegaCps =
+ pRangingMeasurementData->AmbientRateRtnMegaCps;
+ LastRangeDataBuffer.EffectiveSpadRtnCount =
+ pRangingMeasurementData->EffectiveSpadRtnCount;
+ LastRangeDataBuffer.RangeStatus =
+ pRangingMeasurementData->RangeStatus;
+
+ PALDevDataSet(Dev, LastRangeMeasure, LastRangeDataBuffer);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev,
- VL53L0X_RangingMeasurementData_t *pRangingMeasurementData)
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
-
- LOG_FUNCTION_START("");
-
- /* This function will do a complete single ranging
- * Here we fix the mode! */
- Status = VL53L0X_SetDeviceMode(Dev, VL53L0X_DEVICEMODE_SINGLE_RANGING);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_PerformSingleMeasurement(Dev);
-
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_GetRangingMeasurementData(Dev,
- pRangingMeasurementData);
-
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_ClearInterruptMask(Dev, 0);
-
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ /* This function will do a complete single ranging
+ * Here we fix the mode! */
+ Status = VL53L0X_SetDeviceMode(Dev, VL53L0X_DEVICEMODE_SINGLE_RANGING);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_PerformSingleMeasurement(Dev);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_GetRangingMeasurementData(Dev,
+ pRangingMeasurementData);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_ClearInterruptMask(Dev, 0);
+
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::perform_ref_signal_measurement(VL53L0X_DEV Dev,
- uint16_t *refSignalRate)
+ uint16_t *refSignalRate)
{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_RangingMeasurementData_t rangingMeasurementData;
-
- uint8_t SequenceConfig = 0;
-
- /* store the value of the sequence config,
- * this will be reset before the end of the function
- */
-
- SequenceConfig = PALDevDataGet(Dev, SequenceConfig);
-
- /*
- * This function performs a reference signal rate measurement.
- */
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0);
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_PerformSingleRangingMeasurement(Dev,
- &rangingMeasurementData);
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_RdWord(Dev,
- VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
- refSignalRate);
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
-
- if (status == VL53L0X_ERROR_NONE) {
- /* restore the previous Sequence Config */
- status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- SequenceConfig);
- if (status == VL53L0X_ERROR_NONE)
- PALDevDataSet(Dev, SequenceConfig, SequenceConfig);
- }
-
- return status;
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ VL53L0X_RangingMeasurementData_t rangingMeasurementData;
+
+ uint8_t SequenceConfig = 0;
+
+ /* store the value of the sequence config,
+ * this will be reset before the end of the function
+ */
+
+ SequenceConfig = PALDevDataGet(Dev, SequenceConfig);
+
+ /*
+ * This function performs a reference signal rate measurement.
+ */
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0);
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_PerformSingleRangingMeasurement(Dev,
+ &rangingMeasurementData);
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
+ refSignalRate);
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ /* restore the previous Sequence Config */
+ status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ SequenceConfig);
+ if (status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, SequenceConfig, SequenceConfig);
+ }
+
+ return status;
}
VL53L0X_Error VL53L0X::VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev,
- uint32_t *refSpadCount,
- uint8_t *isApertureSpads)
+ uint32_t *refSpadCount,
+ uint8_t *isApertureSpads)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t lastSpadArray[6];
- uint8_t startSelect = 0xB4;
- uint32_t minimumSpadCount = 3;
- uint32_t maxSpadCount = 44;
- uint32_t currentSpadIndex = 0;
- uint32_t lastSpadIndex = 0;
- int32_t nextGoodSpad = 0;
- uint16_t targetRefRate = 0x0A00; /* 20 MCPS in 9:7 format */
- uint16_t peakSignalRateRef;
- uint32_t needAptSpads = 0;
- uint32_t index = 0;
- uint32_t spadArraySize = 6;
- uint32_t signalRateDiff = 0;
- uint32_t lastSignalRateDiff = 0;
- uint8_t complete = 0;
- uint8_t VhvSettings = 0;
- uint8_t PhaseCal = 0;
- uint32_t refSpadCount_int = 0;
- uint8_t isApertureSpads_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.
- */
-
-
- targetRefRate = 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 < spadArraySize; index++)
- Dev->Data.SpadData.RefSpadEnables[index] = 0;
-
-
- Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
- startSelect);
-
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0);
-
- /* Perform ref calibration */
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_perform_ref_calibration(Dev, &VhvSettings,
- &PhaseCal, 0);
-
- if (Status == VL53L0X_ERROR_NONE) {
- /* Enable Minimum NON-APERTURE Spads */
- currentSpadIndex = 0;
- lastSpadIndex = currentSpadIndex;
- needAptSpads = 0;
- Status = enable_ref_spads(Dev,
- needAptSpads,
- Dev->Data.SpadData.RefGoodSpadMap,
- Dev->Data.SpadData.RefSpadEnables,
- spadArraySize,
- startSelect,
- currentSpadIndex,
- minimumSpadCount,
- &lastSpadIndex);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- currentSpadIndex = lastSpadIndex;
-
- Status = perform_ref_signal_measurement(Dev,
- &peakSignalRateRef);
- if ((Status == VL53L0X_ERROR_NONE) &&
- (peakSignalRateRef > targetRefRate)) {
- /* Signal rate measurement too high,
- * switch to APERTURE SPADs */
-
- for (index = 0; index < spadArraySize; index++)
- Dev->Data.SpadData.RefSpadEnables[index] = 0;
-
-
- /* Increment to the first APERTURE spad */
- while ((is_aperture(startSelect + currentSpadIndex)
- == 0) && (currentSpadIndex < maxSpadCount)) {
- currentSpadIndex++;
- }
-
- needAptSpads = 1;
-
- Status = enable_ref_spads(Dev,
- needAptSpads,
- Dev->Data.SpadData.RefGoodSpadMap,
- Dev->Data.SpadData.RefSpadEnables,
- spadArraySize,
- startSelect,
- currentSpadIndex,
- minimumSpadCount,
- &lastSpadIndex);
-
- if (Status == VL53L0X_ERROR_NONE) {
- currentSpadIndex = lastSpadIndex;
- Status = perform_ref_signal_measurement(Dev,
- &peakSignalRateRef);
-
- if ((Status == VL53L0X_ERROR_NONE) &&
- (peakSignalRateRef > targetRefRate)) {
- /* 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.
- */
- isApertureSpads_int = 1;
- refSpadCount_int = minimumSpadCount;
- }
- }
- } else {
- needAptSpads = 0;
- }
- }
-
- if ((Status == VL53L0X_ERROR_NONE) &&
- (peakSignalRateRef < targetRefRate)) {
- /* 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.
- */
- isApertureSpads_int = needAptSpads;
- refSpadCount_int = minimumSpadCount;
-
- memcpy(lastSpadArray, Dev->Data.SpadData.RefSpadEnables,
- spadArraySize);
- lastSignalRateDiff = abs(peakSignalRateRef -
- targetRefRate);
- complete = 0;
-
- while (!complete) {
- get_next_good_spad(
- Dev->Data.SpadData.RefGoodSpadMap,
- spadArraySize, currentSpadIndex,
- &nextGoodSpad);
-
- if (nextGoodSpad == -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)startSelect + nextGoodSpad) !=
- needAptSpads) {
- /* At this point we have enabled the maximum
- * number of Aperture spads.
- */
- complete = 1;
- break;
- }
-
- (refSpadCount_int)++;
-
- currentSpadIndex = nextGoodSpad;
- Status = enable_spad_bit(
- Dev->Data.SpadData.RefSpadEnables,
- spadArraySize, currentSpadIndex);
-
- if (Status == VL53L0X_ERROR_NONE) {
- currentSpadIndex++;
- /* 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,
- &peakSignalRateRef);
-
- if (Status != VL53L0X_ERROR_NONE)
- break;
-
- signalRateDiff = abs(peakSignalRateRef - targetRefRate);
-
- if (peakSignalRateRef > targetRefRate) {
- /* Select the spad map that provides the
- * measurement closest to the target rate,
- * either above or below it.
- */
- if (signalRateDiff > lastSignalRateDiff) {
- /* Previous spad map produced a closer
- * measurement, so choose this. */
- Status = set_ref_spad_map(Dev,
- lastSpadArray);
- memcpy(
- Dev->Data.SpadData.RefSpadEnables,
- lastSpadArray, spadArraySize);
-
- (refSpadCount_int)--;
- }
- complete = 1;
- } else {
- /* Continue to add spads */
- lastSignalRateDiff = signalRateDiff;
- memcpy(lastSpadArray,
- Dev->Data.SpadData.RefSpadEnables,
- spadArraySize);
- }
-
- } /* while */
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- *refSpadCount = refSpadCount_int;
- *isApertureSpads = isApertureSpads_int;
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 1);
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
- ReferenceSpadCount, (uint8_t)(*refSpadCount));
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
- ReferenceSpadType, *isApertureSpads);
- }
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t lastSpadArray[6];
+ uint8_t startSelect = 0xB4;
+ uint32_t minimumSpadCount = 3;
+ uint32_t maxSpadCount = 44;
+ uint32_t currentSpadIndex = 0;
+ uint32_t lastSpadIndex = 0;
+ int32_t nextGoodSpad = 0;
+ uint16_t targetRefRate = 0x0A00; /* 20 MCPS in 9:7 format */
+ uint16_t peakSignalRateRef;
+ uint32_t needAptSpads = 0;
+ uint32_t index = 0;
+ uint32_t spadArraySize = 6;
+ uint32_t signalRateDiff = 0;
+ uint32_t lastSignalRateDiff = 0;
+ uint8_t complete = 0;
+ uint8_t VhvSettings = 0;
+ uint8_t PhaseCal = 0;
+ uint32_t refSpadCount_int = 0;
+ uint8_t isApertureSpads_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.
+ */
+
+
+ targetRefRate = 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 < spadArraySize; index++)
+ Dev->Data.SpadData.RefSpadEnables[index] = 0;
+
+
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
+ startSelect);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0);
+
+ /* Perform ref calibration */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_perform_ref_calibration(Dev, &VhvSettings,
+ &PhaseCal, 0);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ /* Enable Minimum NON-APERTURE Spads */
+ currentSpadIndex = 0;
+ lastSpadIndex = currentSpadIndex;
+ needAptSpads = 0;
+ Status = enable_ref_spads(Dev,
+ needAptSpads,
+ Dev->Data.SpadData.RefGoodSpadMap,
+ Dev->Data.SpadData.RefSpadEnables,
+ spadArraySize,
+ startSelect,
+ currentSpadIndex,
+ minimumSpadCount,
+ &lastSpadIndex);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ currentSpadIndex = lastSpadIndex;
+
+ Status = perform_ref_signal_measurement(Dev,
+ &peakSignalRateRef);
+ if ((Status == VL53L0X_ERROR_NONE) &&
+ (peakSignalRateRef > targetRefRate)) {
+ /* Signal rate measurement too high,
+ * switch to APERTURE SPADs */
+
+ for (index = 0; index < spadArraySize; index++)
+ Dev->Data.SpadData.RefSpadEnables[index] = 0;
+
+
+ /* Increment to the first APERTURE spad */
+ while ((is_aperture(startSelect + currentSpadIndex)
+ == 0) && (currentSpadIndex < maxSpadCount)) {
+ currentSpadIndex++;
+ }
+
+ needAptSpads = 1;
+
+ Status = enable_ref_spads(Dev,
+ needAptSpads,
+ Dev->Data.SpadData.RefGoodSpadMap,
+ Dev->Data.SpadData.RefSpadEnables,
+ spadArraySize,
+ startSelect,
+ currentSpadIndex,
+ minimumSpadCount,
+ &lastSpadIndex);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ currentSpadIndex = lastSpadIndex;
+ Status = perform_ref_signal_measurement(Dev,
+ &peakSignalRateRef);
+
+ if ((Status == VL53L0X_ERROR_NONE) &&
+ (peakSignalRateRef > targetRefRate)) {
+ /* 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.
+ */
+ isApertureSpads_int = 1;
+ refSpadCount_int = minimumSpadCount;
+ }
+ }
+ } else {
+ needAptSpads = 0;
+ }
+ }
+
+ if ((Status == VL53L0X_ERROR_NONE) &&
+ (peakSignalRateRef < targetRefRate)) {
+ /* 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.
+ */
+ isApertureSpads_int = needAptSpads;
+ refSpadCount_int = minimumSpadCount;
+
+ memcpy(lastSpadArray, Dev->Data.SpadData.RefSpadEnables,
+ spadArraySize);
+ lastSignalRateDiff = abs(peakSignalRateRef -
+ targetRefRate);
+ complete = 0;
+
+ while (!complete) {
+ get_next_good_spad(
+ Dev->Data.SpadData.RefGoodSpadMap,
+ spadArraySize, currentSpadIndex,
+ &nextGoodSpad);
+
+ if (nextGoodSpad == -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)startSelect + nextGoodSpad) !=
+ needAptSpads) {
+ /* At this point we have enabled the maximum
+ * number of Aperture spads.
+ */
+ complete = 1;
+ break;
+ }
+
+ (refSpadCount_int)++;
+
+ currentSpadIndex = nextGoodSpad;
+ Status = enable_spad_bit(
+ Dev->Data.SpadData.RefSpadEnables,
+ spadArraySize, currentSpadIndex);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ currentSpadIndex++;
+ /* 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,
+ &peakSignalRateRef);
+
+ if (Status != VL53L0X_ERROR_NONE)
+ break;
+
+ signalRateDiff = abs(peakSignalRateRef - targetRefRate);
+
+ if (peakSignalRateRef > targetRefRate) {
+ /* Select the spad map that provides the
+ * measurement closest to the target rate,
+ * either above or below it.
+ */
+ if (signalRateDiff > lastSignalRateDiff) {
+ /* Previous spad map produced a closer
+ * measurement, so choose this. */
+ Status = set_ref_spad_map(Dev,
+ lastSpadArray);
+ memcpy(
+ Dev->Data.SpadData.RefSpadEnables,
+ lastSpadArray, spadArraySize);
+
+ (refSpadCount_int)--;
+ }
+ complete = 1;
+ } else {
+ /* Continue to add spads */
+ lastSignalRateDiff = signalRateDiff;
+ memcpy(lastSpadArray,
+ Dev->Data.SpadData.RefSpadEnables,
+ spadArraySize);
+ }
+
+ } /* while */
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ *refSpadCount = refSpadCount_int;
+ *isApertureSpads = isApertureSpads_int;
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 1);
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadCount, (uint8_t)(*refSpadCount));
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadType, *isApertureSpads);
+ }
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_set_reference_spads(VL53L0X_DEV Dev,
- uint32_t count, uint8_t isApertureSpads)
+ uint32_t count, uint8_t isApertureSpads)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint32_t currentSpadIndex = 0;
- uint8_t startSelect = 0xB4;
- uint32_t spadArraySize = 6;
- uint32_t maxSpadCount = 44;
- uint32_t lastSpadIndex;
- 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_WrByte(Dev, 0xFF, 0x01);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
- startSelect);
-
- for (index = 0; index < spadArraySize; index++)
- Dev->Data.SpadData.RefSpadEnables[index] = 0;
-
- if (isApertureSpads) {
- /* Increment to the first APERTURE spad */
- while ((is_aperture(startSelect + currentSpadIndex) == 0) &&
- (currentSpadIndex < maxSpadCount)) {
- currentSpadIndex++;
- }
- }
- Status = enable_ref_spads(Dev,
- isApertureSpads,
- Dev->Data.SpadData.RefGoodSpadMap,
- Dev->Data.SpadData.RefSpadEnables,
- spadArraySize,
- startSelect,
- currentSpadIndex,
- count,
- &lastSpadIndex);
-
- if (Status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 1);
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
- ReferenceSpadCount, (uint8_t)(count));
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
- ReferenceSpadType, isApertureSpads);
- }
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint32_t currentSpadIndex = 0;
+ uint8_t startSelect = 0xB4;
+ uint32_t spadArraySize = 6;
+ uint32_t maxSpadCount = 44;
+ uint32_t lastSpadIndex;
+ 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_WrByte(Dev, 0xFF, 0x01);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
+ startSelect);
+
+ for (index = 0; index < spadArraySize; index++)
+ Dev->Data.SpadData.RefSpadEnables[index] = 0;
+
+ if (isApertureSpads) {
+ /* Increment to the first APERTURE spad */
+ while ((is_aperture(startSelect + currentSpadIndex) == 0) &&
+ (currentSpadIndex < maxSpadCount)) {
+ currentSpadIndex++;
+ }
+ }
+ Status = enable_ref_spads(Dev,
+ isApertureSpads,
+ Dev->Data.SpadData.RefGoodSpadMap,
+ Dev->Data.SpadData.RefSpadEnables,
+ spadArraySize,
+ startSelect,
+ currentSpadIndex,
+ count,
+ &lastSpadIndex);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 1);
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadCount, (uint8_t)(count));
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadType, isApertureSpads);
+ }
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_WaitDeviceBooted(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 Status = VL53L0X_ERROR_NOT_IMPLEMENTED;
+ LOG_FUNCTION_START("");
+
+ /* not implemented on VL53L0X */
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings,
- uint8_t *pPhaseCal)
+ uint8_t *pPhaseCal)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_perform_ref_calibration(Dev, pVhvSettings,
- pPhaseCal, 1);
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_perform_ref_calibration(Dev, pVhvSettings,
+ pPhaseCal, 1);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev,
- uint32_t *refSpadCount, uint8_t *isApertureSpads)
+ uint32_t *refSpadCount, uint8_t *isApertureSpads)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_perform_ref_spad_management(Dev, refSpadCount,
- isApertureSpads);
-
- LOG_FUNCTION_END(Status);
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_perform_ref_spad_management(Dev, refSpadCount,
+ isApertureSpads);
+
+ LOG_FUNCTION_END(Status);
+
+ return Status;
}
/* Group PAL Init Functions */
VL53L0X_Error VL53L0X::VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, uint8_t DeviceAddress)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_WrByte(Dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS,
- DeviceAddress / 2);
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS,
+ DeviceAddress / 2);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin,
- VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality,
- VL53L0X_InterruptPolarity Polarity)
+ VL53L0X_DeviceModes DeviceMode, 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 (DeviceMode == 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 (DeviceMode == 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_ClearInterruptMask(Dev, 0);
-
- }
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t data;
+
+ LOG_FUNCTION_START("");
+
+ if (Pin != 0) {
+ Status = VL53L0X_ERROR_GPIO_NOT_EXISTING;
+ } else if (DeviceMode == 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 (DeviceMode == 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_ClearInterruptMask(Dev, 0);
+
+ }
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, uint8_t *pEnabled)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, pEnabled);
-
- if (Status == VL53L0X_ERROR_NONE)
- *pEnabled = (*pEnabled & 1);
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, pEnabled);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ *pEnabled = (*pEnabled & 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;
+ /*!
+ * 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 SequenceStepId,
- uint32_t TimeOutMicroSecs)
+ VL53L0X_SequenceStepId SequenceStepId,
+ uint32_t TimeOutMicroSecs)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t CurrentVCSELPulsePeriodPClk;
- uint8_t MsrcEncodedTimeOut;
- uint16_t PreRangeEncodedTimeOut;
- uint16_t PreRangeTimeOutMClks;
- uint16_t MsrcRangeTimeOutMClks;
- uint32_t FinalRangeTimeOutMClks;
- uint16_t FinalRangeEncodedTimeOut;
- VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps;
-
- if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) ||
- (SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) ||
- (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) {
-
- Status = VL53L0X_GetVcselPulsePeriod(Dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- &CurrentVCSELPulsePeriodPClk);
-
- if (Status == VL53L0X_ERROR_NONE) {
- MsrcRangeTimeOutMClks = VL53L0X_calc_timeout_mclks(Dev,
- TimeOutMicroSecs,
- (uint8_t)CurrentVCSELPulsePeriodPClk);
-
- if (MsrcRangeTimeOutMClks > 256)
- MsrcEncodedTimeOut = 255;
- else
- MsrcEncodedTimeOut =
- (uint8_t)MsrcRangeTimeOutMClks - 1;
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
- LastEncodedTimeout,
- MsrcEncodedTimeOut);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
- MsrcEncodedTimeOut);
- }
- } else {
-
- if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_GetVcselPulsePeriod(Dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- &CurrentVCSELPulsePeriodPClk);
- PreRangeTimeOutMClks =
- VL53L0X_calc_timeout_mclks(Dev,
- TimeOutMicroSecs,
- (uint8_t)CurrentVCSELPulsePeriodPClk);
- PreRangeEncodedTimeOut = VL53L0X_encode_timeout(
- PreRangeTimeOutMClks);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
- LastEncodedTimeout,
- PreRangeEncodedTimeOut);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_WrWord(Dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- PreRangeEncodedTimeOut);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- Dev,
- PreRangeTimeoutMicroSecs,
- TimeOutMicroSecs);
- }
- } else if (SequenceStepId == 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_GetSequenceStepEnables(Dev,
- &SchedulerSequenceSteps);
- PreRangeTimeOutMClks = 0;
- if (SchedulerSequenceSteps.PreRangeOn) {
-
- /* Retrieve PRE-RANGE VCSEL Period */
- Status = VL53L0X_GetVcselPulsePeriod(Dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- &CurrentVCSELPulsePeriodPClk);
-
- /* Retrieve PRE-RANGE Timeout in Macro periods
- * (MCLKS) */
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_RdWord(Dev, 0x51,
- &PreRangeEncodedTimeOut);
- PreRangeTimeOutMClks =
- VL53L0X_decode_timeout(
- PreRangeEncodedTimeOut);
- }
- }
-
- /* Calculate FINAL RANGE Timeout in Macro Periods
- * (MCLKS) and add PRE-RANGE value
- */
- if (Status == VL53L0X_ERROR_NONE) {
-
- Status = VL53L0X_GetVcselPulsePeriod(Dev,
- VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
- &CurrentVCSELPulsePeriodPClk);
- }
- if (Status == VL53L0X_ERROR_NONE) {
-
- FinalRangeTimeOutMClks =
- VL53L0X_calc_timeout_mclks(Dev,
- TimeOutMicroSecs,
- (uint8_t) CurrentVCSELPulsePeriodPClk);
-
- FinalRangeTimeOutMClks += PreRangeTimeOutMClks;
-
- FinalRangeEncodedTimeOut =
- VL53L0X_encode_timeout(FinalRangeTimeOutMClks);
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_WrWord(Dev, 0x71,
- FinalRangeEncodedTimeOut);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- Dev,
- FinalRangeTimeoutMicroSecs,
- TimeOutMicroSecs);
- }
- }
- } else
- Status = VL53L0X_ERROR_INVALID_PARAMS;
-
- }
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t CurrentVCSELPulsePeriodPClk;
+ uint8_t MsrcEncodedTimeOut;
+ uint16_t PreRangeEncodedTimeOut;
+ uint16_t PreRangeTimeOutMClks;
+ uint16_t MsrcRangeTimeOutMClks;
+ uint32_t FinalRangeTimeOutMClks;
+ uint16_t FinalRangeEncodedTimeOut;
+ VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps;
+
+ if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) ||
+ (SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) ||
+ (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) {
+
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ MsrcRangeTimeOutMClks = VL53L0X_calc_timeout_mclks(Dev,
+ TimeOutMicroSecs,
+ (uint8_t)CurrentVCSELPulsePeriodPClk);
+
+ if (MsrcRangeTimeOutMClks > 256)
+ MsrcEncodedTimeOut = 255;
+ else
+ MsrcEncodedTimeOut =
+ (uint8_t)MsrcRangeTimeOutMClks - 1;
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ LastEncodedTimeout,
+ MsrcEncodedTimeOut);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
+ MsrcEncodedTimeOut);
+ }
+ } else {
+
+ if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+ PreRangeTimeOutMClks =
+ VL53L0X_calc_timeout_mclks(Dev,
+ TimeOutMicroSecs,
+ (uint8_t)CurrentVCSELPulsePeriodPClk);
+ PreRangeEncodedTimeOut = VL53L0X_encode_timeout(
+ PreRangeTimeOutMClks);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ LastEncodedTimeout,
+ PreRangeEncodedTimeOut);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_WrWord(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
+ PreRangeEncodedTimeOut);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ PreRangeTimeoutMicroSecs,
+ TimeOutMicroSecs);
+ }
+ } else if (SequenceStepId == 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_GetSequenceStepEnables(Dev,
+ &SchedulerSequenceSteps);
+ PreRangeTimeOutMClks = 0;
+ if (SchedulerSequenceSteps.PreRangeOn) {
+
+ /* Retrieve PRE-RANGE VCSEL Period */
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+
+ /* Retrieve PRE-RANGE Timeout in Macro periods
+ * (MCLKS) */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdWord(Dev, 0x51,
+ &PreRangeEncodedTimeOut);
+ PreRangeTimeOutMClks =
+ VL53L0X_decode_timeout(
+ PreRangeEncodedTimeOut);
+ }
+ }
+
+ /* Calculate FINAL RANGE Timeout in Macro Periods
+ * (MCLKS) and add PRE-RANGE value
+ */
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ FinalRangeTimeOutMClks =
+ VL53L0X_calc_timeout_mclks(Dev,
+ TimeOutMicroSecs,
+ (uint8_t) CurrentVCSELPulsePeriodPClk);
+
+ FinalRangeTimeOutMClks += PreRangeTimeOutMClks;
+
+ FinalRangeEncodedTimeOut =
+ VL53L0X_encode_timeout(FinalRangeTimeOutMClks);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_WrWord(Dev, 0x71,
+ FinalRangeEncodedTimeOut);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ FinalRangeTimeoutMicroSecs,
+ TimeOutMicroSecs);
+ }
+ }
+ } else
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+
+ }
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev,
- uint32_t MeasurementTimingBudgetMicroSeconds)
+ uint32_t MeasurementTimingBudgetMicroSeconds)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint32_t FinalRangeTimingBudgetMicroSeconds;
- VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps;
- uint32_t MsrcDccTccTimeoutMicroSeconds = 2000;
- uint32_t StartOverheadMicroSeconds = 1910;
- uint32_t EndOverheadMicroSeconds = 960;
- uint32_t MsrcOverheadMicroSeconds = 660;
- uint32_t TccOverheadMicroSeconds = 590;
- uint32_t DssOverheadMicroSeconds = 690;
- uint32_t PreRangeOverheadMicroSeconds = 660;
- uint32_t FinalRangeOverheadMicroSeconds = 550;
- uint32_t PreRangeTimeoutMicroSeconds = 0;
- uint32_t cMinTimingBudgetMicroSeconds = 20000;
- uint32_t SubTimeout = 0;
-
- LOG_FUNCTION_START("");
-
- if (MeasurementTimingBudgetMicroSeconds
- < cMinTimingBudgetMicroSeconds) {
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- return Status;
- }
-
- FinalRangeTimingBudgetMicroSeconds =
- MeasurementTimingBudgetMicroSeconds -
- (StartOverheadMicroSeconds + EndOverheadMicroSeconds);
-
- Status = VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps);
-
- if (Status == VL53L0X_ERROR_NONE &&
- (SchedulerSequenceSteps.TccOn ||
- SchedulerSequenceSteps.MsrcOn ||
- SchedulerSequenceSteps.DssOn)) {
-
- /* TCC, MSRC and DSS all share the same timeout */
- Status = get_sequence_step_timeout(Dev,
- VL53L0X_SEQUENCESTEP_MSRC,
- &MsrcDccTccTimeoutMicroSeconds);
-
- /* Subtract the TCC, MSRC and DSS timeouts if they are
- * enabled. */
-
- if (Status != VL53L0X_ERROR_NONE)
- return Status;
-
- /* TCC */
- if (SchedulerSequenceSteps.TccOn) {
-
- SubTimeout = MsrcDccTccTimeoutMicroSeconds
- + TccOverheadMicroSeconds;
-
- if (SubTimeout <
- FinalRangeTimingBudgetMicroSeconds) {
- FinalRangeTimingBudgetMicroSeconds -=
- SubTimeout;
- } else {
- /* Requested timeout too big. */
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
- if (Status != VL53L0X_ERROR_NONE) {
- LOG_FUNCTION_END(Status);
- return Status;
- }
-
- /* DSS */
- if (SchedulerSequenceSteps.DssOn) {
-
- SubTimeout = 2 * (MsrcDccTccTimeoutMicroSeconds +
- DssOverheadMicroSeconds);
-
- if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) {
- FinalRangeTimingBudgetMicroSeconds
- -= SubTimeout;
- } else {
- /* Requested timeout too big. */
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- } else if (SchedulerSequenceSteps.MsrcOn) {
- /* MSRC */
- SubTimeout = MsrcDccTccTimeoutMicroSeconds +
- MsrcOverheadMicroSeconds;
-
- if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) {
- FinalRangeTimingBudgetMicroSeconds
- -= SubTimeout;
- } else {
- /* Requested timeout too big. */
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
- }
-
- if (Status != VL53L0X_ERROR_NONE) {
- LOG_FUNCTION_END(Status);
- return Status;
- }
-
- if (SchedulerSequenceSteps.PreRangeOn) {
-
- /* Subtract the Pre-range timeout if enabled. */
-
- Status = get_sequence_step_timeout(Dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &PreRangeTimeoutMicroSeconds);
-
- SubTimeout = PreRangeTimeoutMicroSeconds +
- PreRangeOverheadMicroSeconds;
-
- if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) {
- FinalRangeTimingBudgetMicroSeconds -= SubTimeout;
- } else {
- /* Requested timeout too big. */
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
-
- if (Status == VL53L0X_ERROR_NONE &&
- SchedulerSequenceSteps.FinalRangeOn) {
-
- FinalRangeTimingBudgetMicroSeconds -=
- FinalRangeOverheadMicroSeconds;
-
- /* 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,
- FinalRangeTimingBudgetMicroSeconds);
-
- VL53L0X_SETPARAMETERFIELD(Dev,
- MeasurementTimingBudgetMicroSeconds,
- MeasurementTimingBudgetMicroSeconds);
- }
-
- LOG_FUNCTION_END(Status);
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint32_t FinalRangeTimingBudgetMicroSeconds;
+ VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps;
+ uint32_t MsrcDccTccTimeoutMicroSeconds = 2000;
+ uint32_t StartOverheadMicroSeconds = 1910;
+ uint32_t EndOverheadMicroSeconds = 960;
+ uint32_t MsrcOverheadMicroSeconds = 660;
+ uint32_t TccOverheadMicroSeconds = 590;
+ uint32_t DssOverheadMicroSeconds = 690;
+ uint32_t PreRangeOverheadMicroSeconds = 660;
+ uint32_t FinalRangeOverheadMicroSeconds = 550;
+ uint32_t PreRangeTimeoutMicroSeconds = 0;
+ uint32_t cMinTimingBudgetMicroSeconds = 20000;
+ uint32_t SubTimeout = 0;
+
+ LOG_FUNCTION_START("");
+
+ if (MeasurementTimingBudgetMicroSeconds
+ < cMinTimingBudgetMicroSeconds) {
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ return Status;
+ }
+
+ FinalRangeTimingBudgetMicroSeconds =
+ MeasurementTimingBudgetMicroSeconds -
+ (StartOverheadMicroSeconds + EndOverheadMicroSeconds);
+
+ Status = VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps);
+
+ if (Status == VL53L0X_ERROR_NONE &&
+ (SchedulerSequenceSteps.TccOn ||
+ SchedulerSequenceSteps.MsrcOn ||
+ SchedulerSequenceSteps.DssOn)) {
+
+ /* TCC, MSRC and DSS all share the same timeout */
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_MSRC,
+ &MsrcDccTccTimeoutMicroSeconds);
+
+ /* Subtract the TCC, MSRC and DSS timeouts if they are
+ * enabled. */
+
+ if (Status != VL53L0X_ERROR_NONE)
+ return Status;
+
+ /* TCC */
+ if (SchedulerSequenceSteps.TccOn) {
+
+ SubTimeout = MsrcDccTccTimeoutMicroSeconds
+ + TccOverheadMicroSeconds;
+
+ if (SubTimeout <
+ FinalRangeTimingBudgetMicroSeconds) {
+ FinalRangeTimingBudgetMicroSeconds -=
+ SubTimeout;
+ } else {
+ /* Requested timeout too big. */
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ if (Status != VL53L0X_ERROR_NONE) {
+ LOG_FUNCTION_END(Status);
+ return Status;
+ }
+
+ /* DSS */
+ if (SchedulerSequenceSteps.DssOn) {
+
+ SubTimeout = 2 * (MsrcDccTccTimeoutMicroSeconds +
+ DssOverheadMicroSeconds);
+
+ if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) {
+ FinalRangeTimingBudgetMicroSeconds
+ -= SubTimeout;
+ } else {
+ /* Requested timeout too big. */
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ } else if (SchedulerSequenceSteps.MsrcOn) {
+ /* MSRC */
+ SubTimeout = MsrcDccTccTimeoutMicroSeconds +
+ MsrcOverheadMicroSeconds;
+
+ if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) {
+ FinalRangeTimingBudgetMicroSeconds
+ -= SubTimeout;
+ } else {
+ /* Requested timeout too big. */
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ }
+
+ if (Status != VL53L0X_ERROR_NONE) {
+ LOG_FUNCTION_END(Status);
+ return Status;
+ }
+
+ if (SchedulerSequenceSteps.PreRangeOn) {
+
+ /* Subtract the Pre-range timeout if enabled. */
+
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ &PreRangeTimeoutMicroSeconds);
+
+ SubTimeout = PreRangeTimeoutMicroSeconds +
+ PreRangeOverheadMicroSeconds;
+
+ if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) {
+ FinalRangeTimingBudgetMicroSeconds -= SubTimeout;
+ } else {
+ /* Requested timeout too big. */
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+
+ if (Status == VL53L0X_ERROR_NONE &&
+ SchedulerSequenceSteps.FinalRangeOn) {
+
+ FinalRangeTimingBudgetMicroSeconds -=
+ FinalRangeOverheadMicroSeconds;
+
+ /* 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,
+ FinalRangeTimingBudgetMicroSeconds);
+
+ VL53L0X_SETPARAMETERFIELD(Dev,
+ MeasurementTimingBudgetMicroSeconds,
+ MeasurementTimingBudgetMicroSeconds);
+ }
+
+ LOG_FUNCTION_END(Status);
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_SetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
- uint32_t MeasurementTimingBudgetMicroSeconds)
+ uint32_t MeasurementTimingBudgetMicroSeconds)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_set_measurement_timing_budget_micro_seconds(Dev,
- MeasurementTimingBudgetMicroSeconds);
-
- LOG_FUNCTION_END(Status);
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_set_measurement_timing_budget_micro_seconds(Dev,
+ MeasurementTimingBudgetMicroSeconds);
+
+ LOG_FUNCTION_END(Status);
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev,
- VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled)
+ VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t SequenceConfig = 0;
- uint8_t SequenceConfigNew = 0;
- uint32_t MeasurementTimingBudgetMicroSeconds;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- &SequenceConfig);
-
- SequenceConfigNew = SequenceConfig;
-
- if (Status == VL53L0X_ERROR_NONE) {
- if (SequenceStepEnabled == 1) {
-
- /* Enable requested sequence step
- */
- switch (SequenceStepId) {
- case VL53L0X_SEQUENCESTEP_TCC:
- SequenceConfigNew |= 0x10;
- break;
- case VL53L0X_SEQUENCESTEP_DSS:
- SequenceConfigNew |= 0x28;
- break;
- case VL53L0X_SEQUENCESTEP_MSRC:
- SequenceConfigNew |= 0x04;
- break;
- case VL53L0X_SEQUENCESTEP_PRE_RANGE:
- SequenceConfigNew |= 0x40;
- break;
- case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
- SequenceConfigNew |= 0x80;
- break;
- default:
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- } else {
- /* Disable requested sequence step
- */
- switch (SequenceStepId) {
- case VL53L0X_SEQUENCESTEP_TCC:
- SequenceConfigNew &= 0xef;
- break;
- case VL53L0X_SEQUENCESTEP_DSS:
- SequenceConfigNew &= 0xd7;
- break;
- case VL53L0X_SEQUENCESTEP_MSRC:
- SequenceConfigNew &= 0xfb;
- break;
- case VL53L0X_SEQUENCESTEP_PRE_RANGE:
- SequenceConfigNew &= 0xbf;
- break;
- case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
- SequenceConfigNew &= 0x7f;
- break;
- default:
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
- }
-
- if (SequenceConfigNew != SequenceConfig) {
- /* Apply New Setting */
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_WrByte(Dev,
- VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, SequenceConfigNew);
- }
- if (Status == VL53L0X_ERROR_NONE)
- PALDevDataSet(Dev, SequenceConfig, SequenceConfigNew);
-
-
- /* Recalculate timing budget */
- if (Status == VL53L0X_ERROR_NONE) {
- VL53L0X_GETPARAMETERFIELD(Dev,
- MeasurementTimingBudgetMicroSeconds,
- MeasurementTimingBudgetMicroSeconds);
-
- VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev,
- MeasurementTimingBudgetMicroSeconds);
- }
- }
-
- LOG_FUNCTION_END(Status);
-
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t SequenceConfig = 0;
+ uint8_t SequenceConfigNew = 0;
+ uint32_t MeasurementTimingBudgetMicroSeconds;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ &SequenceConfig);
+
+ SequenceConfigNew = SequenceConfig;
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (SequenceStepEnabled == 1) {
+
+ /* Enable requested sequence step
+ */
+ switch (SequenceStepId) {
+ case VL53L0X_SEQUENCESTEP_TCC:
+ SequenceConfigNew |= 0x10;
+ break;
+ case VL53L0X_SEQUENCESTEP_DSS:
+ SequenceConfigNew |= 0x28;
+ break;
+ case VL53L0X_SEQUENCESTEP_MSRC:
+ SequenceConfigNew |= 0x04;
+ break;
+ case VL53L0X_SEQUENCESTEP_PRE_RANGE:
+ SequenceConfigNew |= 0x40;
+ break;
+ case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
+ SequenceConfigNew |= 0x80;
+ break;
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ } else {
+ /* Disable requested sequence step
+ */
+ switch (SequenceStepId) {
+ case VL53L0X_SEQUENCESTEP_TCC:
+ SequenceConfigNew &= 0xef;
+ break;
+ case VL53L0X_SEQUENCESTEP_DSS:
+ SequenceConfigNew &= 0xd7;
+ break;
+ case VL53L0X_SEQUENCESTEP_MSRC:
+ SequenceConfigNew &= 0xfb;
+ break;
+ case VL53L0X_SEQUENCESTEP_PRE_RANGE:
+ SequenceConfigNew &= 0xbf;
+ break;
+ case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
+ SequenceConfigNew &= 0x7f;
+ break;
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+ }
+
+ if (SequenceConfigNew != SequenceConfig) {
+ /* Apply New Setting */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, SequenceConfigNew);
+ }
+ if (Status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, SequenceConfig, SequenceConfigNew);
+
+
+ /* Recalculate timing budget */
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_GETPARAMETERFIELD(Dev,
+ MeasurementTimingBudgetMicroSeconds,
+ MeasurementTimingBudgetMicroSeconds);
+
+ VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev,
+ MeasurementTimingBudgetMicroSeconds);
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
- uint8_t LimitCheckEnable)
+ uint8_t LimitCheckEnable)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- FixPoint1616_t TempFix1616 = 0;
- uint8_t LimitCheckEnableInt = 0;
- uint8_t LimitCheckDisable = 0;
- uint8_t Temp8;
-
- LOG_FUNCTION_START("");
-
- if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- } else {
- if (LimitCheckEnable == 0) {
- TempFix1616 = 0;
- LimitCheckEnableInt = 0;
- LimitCheckDisable = 1;
-
- } else {
- VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
- LimitCheckId, TempFix1616);
- LimitCheckDisable = 0;
- /* this to be sure to have either 0 or 1 */
- LimitCheckEnableInt = 1;
- }
-
- switch (LimitCheckId) {
-
- case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- LimitCheckEnableInt);
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
-
- Status = VL53L0X_WrWord(Dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(TempFix1616));
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
-
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- LimitCheckEnableInt);
-
- break;
-
- case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
-
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- LimitCheckEnableInt);
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
-
- Temp8 = (uint8_t)(LimitCheckDisable << 1);
- Status = VL53L0X_UpdateByte(Dev,
- VL53L0X_REG_MSRC_CONFIG_CONTROL,
- 0xFE, Temp8);
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
-
- Temp8 = (uint8_t)(LimitCheckDisable << 4);
- Status = VL53L0X_UpdateByte(Dev,
- VL53L0X_REG_MSRC_CONFIG_CONTROL,
- 0xEF, Temp8);
-
- break;
-
-
- default:
- Status = VL53L0X_ERROR_INVALID_PARAMS;
-
- }
-
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- if (LimitCheckEnable == 0) {
- VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
- LimitCheckId, 0);
- } else {
- VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
- LimitCheckId, 1);
- }
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ FixPoint1616_t TempFix1616 = 0;
+ uint8_t LimitCheckEnableInt = 0;
+ uint8_t LimitCheckDisable = 0;
+ uint8_t Temp8;
+
+ LOG_FUNCTION_START("");
+
+ if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ } else {
+ if (LimitCheckEnable == 0) {
+ TempFix1616 = 0;
+ LimitCheckEnableInt = 0;
+ LimitCheckDisable = 1;
+
+ } else {
+ VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ LimitCheckId, TempFix1616);
+ LimitCheckDisable = 0;
+ /* this to be sure to have either 0 or 1 */
+ LimitCheckEnableInt = 1;
+ }
+
+ switch (LimitCheckId) {
+
+ case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ LimitCheckEnableInt);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+
+ Status = VL53L0X_WrWord(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
+ VL53L0X_FIXPOINT1616TOFIXPOINT97(TempFix1616));
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
+
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ LimitCheckEnableInt);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
+
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ LimitCheckEnableInt);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
+
+ Temp8 = (uint8_t)(LimitCheckDisable << 1);
+ Status = VL53L0X_UpdateByte(Dev,
+ VL53L0X_REG_MSRC_CONFIG_CONTROL,
+ 0xFE, Temp8);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
+
+ Temp8 = (uint8_t)(LimitCheckDisable << 4);
+ Status = VL53L0X_UpdateByte(Dev,
+ VL53L0X_REG_MSRC_CONFIG_CONTROL,
+ 0xEF, Temp8);
+
+ break;
+
+
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+
+ }
+
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (LimitCheckEnable == 0) {
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+ LimitCheckId, 0);
+ } else {
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+ LimitCheckId, 1);
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_StaticInit(VL53L0X_DEV Dev)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceParameters_t CurrentParameters = {0};
- uint8_t *pTuningSettingBuffer;
- uint16_t tempword = 0;
- uint8_t tempbyte = 0;
- uint8_t UseInternalTuningSettings = 0;
- uint32_t count = 0;
- uint8_t isApertureSpads = 0;
- uint32_t refSpadCount = 0;
- uint8_t ApertureSpads = 0;
- uint8_t vcselPulsePeriodPCLK;
- uint32_t seqTimeoutMicroSecs;
-
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_get_info_from_device(Dev, 1);
-
- /* set the ref spad from NVM */
- count = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
- ReferenceSpadCount);
- ApertureSpads = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
- ReferenceSpadType);
-
- /* NVM value invalid */
- if ((ApertureSpads > 1) ||
- ((ApertureSpads == 1) && (count > 32)) ||
- ((ApertureSpads == 0) && (count > 12)))
- Status = VL53L0X_perform_ref_spad_management(Dev, &refSpadCount,
- &isApertureSpads);
- else
- Status = VL53L0X_set_reference_spads(Dev, count, ApertureSpads);
-
-
- /* Initialize tuning settings buffer to prevent compiler warning. */
- pTuningSettingBuffer = DefaultTuningSettings;
-
- if (Status == VL53L0X_ERROR_NONE) {
- UseInternalTuningSettings = PALDevDataGet(Dev,
- UseInternalTuningSettings);
-
- if (UseInternalTuningSettings == 0)
- pTuningSettingBuffer = PALDevDataGet(Dev,
- pTuningSettingsPointer);
- else
- pTuningSettingBuffer = DefaultTuningSettings;
-
- }
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_load_tuning_settings(Dev, pTuningSettingBuffer);
-
-
- /* Set interrupt config to new sample ready */
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_SetGpioConfig(Dev, 0, 0,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
- VL53L0X_INTERRUPTPOLARITY_LOW);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
- Status |= VL53L0X_RdWord(Dev, 0x84, &tempword);
- Status |= VL53L0X_WrByte(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_GetDeviceParameters(Dev, &CurrentParameters);
-
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_GetFractionEnable(Dev, &tempbyte);
- if (Status == VL53L0X_ERROR_NONE)
- PALDevDataSet(Dev, RangeFractionalEnable, tempbyte);
-
- }
-
- if (Status == VL53L0X_ERROR_NONE)
- PALDevDataSet(Dev, CurrentParameters, CurrentParameters);
-
-
- /* read the sequence config and save it */
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_RdByte(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_SetSequenceStepEnable(Dev,
- VL53L0X_SEQUENCESTEP_TCC, 0);
-
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_SetSequenceStepEnable(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_GetVcselPulsePeriod(
- Dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- &vcselPulsePeriodPCLK);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- Dev,
- PreRangeVcselPulsePeriod,
- vcselPulsePeriodPCLK);
- }
-
- /* Store final-range vcsel period */
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_GetVcselPulsePeriod(
- Dev,
- VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
- &vcselPulsePeriodPCLK);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- Dev,
- FinalRangeVcselPulsePeriod,
- vcselPulsePeriodPCLK);
- }
-
- /* Store pre-range timeout */
- if (Status == VL53L0X_ERROR_NONE) {
- Status = get_sequence_step_timeout(
- Dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &seqTimeoutMicroSecs);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- Dev,
- PreRangeTimeoutMicroSecs,
- seqTimeoutMicroSecs);
- }
-
- /* Store final-range timeout */
- if (Status == VL53L0X_ERROR_NONE) {
- Status = get_sequence_step_timeout(
- Dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- &seqTimeoutMicroSecs);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- Dev,
- FinalRangeTimeoutMicroSecs,
- seqTimeoutMicroSecs);
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ VL53L0X_DeviceParameters_t CurrentParameters = {0};
+ uint8_t *pTuningSettingBuffer;
+ uint16_t tempword = 0;
+ uint8_t tempbyte = 0;
+ uint8_t UseInternalTuningSettings = 0;
+ uint32_t count = 0;
+ uint8_t isApertureSpads = 0;
+ uint32_t refSpadCount = 0;
+ uint8_t ApertureSpads = 0;
+ uint8_t vcselPulsePeriodPCLK;
+ uint32_t seqTimeoutMicroSecs;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_get_info_from_device(Dev, 1);
+
+ /* set the ref spad from NVM */
+ count = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadCount);
+ ApertureSpads = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadType);
+
+ /* NVM value invalid */
+ if ((ApertureSpads > 1) ||
+ ((ApertureSpads == 1) && (count > 32)) ||
+ ((ApertureSpads == 0) && (count > 12)))
+ Status = VL53L0X_perform_ref_spad_management(Dev, &refSpadCount,
+ &isApertureSpads);
+ else
+ Status = VL53L0X_set_reference_spads(Dev, count, ApertureSpads);
+
+
+ /* Initialize tuning settings buffer to prevent compiler warning. */
+ pTuningSettingBuffer = DefaultTuningSettings;
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ UseInternalTuningSettings = PALDevDataGet(Dev,
+ UseInternalTuningSettings);
+
+ if (UseInternalTuningSettings == 0)
+ pTuningSettingBuffer = PALDevDataGet(Dev,
+ pTuningSettingsPointer);
+ else
+ pTuningSettingBuffer = DefaultTuningSettings;
+
+ }
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_load_tuning_settings(Dev, pTuningSettingBuffer);
+
+
+ /* Set interrupt config to new sample ready */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetGpioConfig(Dev, 0, 0,
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
+ VL53L0X_INTERRUPTPOLARITY_LOW);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status |= VL53L0X_RdWord(Dev, 0x84, &tempword);
+ Status |= VL53L0X_WrByte(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_GetDeviceParameters(Dev, &CurrentParameters);
+
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_GetFractionEnable(Dev, &tempbyte);
+ if (Status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, RangeFractionalEnable, tempbyte);
+
+ }
+
+ if (Status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, CurrentParameters, CurrentParameters);
+
+
+ /* read the sequence config and save it */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdByte(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_SetSequenceStepEnable(Dev,
+ VL53L0X_SEQUENCESTEP_TCC, 0);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_SetSequenceStepEnable(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_GetVcselPulsePeriod(
+ Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &vcselPulsePeriodPCLK);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ PreRangeVcselPulsePeriod,
+ vcselPulsePeriodPCLK);
+ }
+
+ /* Store final-range vcsel period */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_GetVcselPulsePeriod(
+ Dev,
+ VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
+ &vcselPulsePeriodPCLK);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ FinalRangeVcselPulsePeriod,
+ vcselPulsePeriodPCLK);
+ }
+
+ /* Store pre-range timeout */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = get_sequence_step_timeout(
+ Dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ &seqTimeoutMicroSecs);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ PreRangeTimeoutMicroSecs,
+ seqTimeoutMicroSecs);
+ }
+
+ /* Store final-range timeout */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = get_sequence_step_timeout(
+ Dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ &seqTimeoutMicroSecs);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ FinalRangeTimeoutMicroSecs,
+ seqTimeoutMicroSecs);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_StopMeasurement(VL53L0X_DEV Dev)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START,
- VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT);
-
- Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
- Status = VL53L0X_WrByte(Dev, 0x00, 0x00);
- Status = VL53L0X_WrByte(Dev, 0x91, 0x00);
- Status = VL53L0X_WrByte(Dev, 0x00, 0x01);
- Status = VL53L0X_WrByte(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_CheckAndLoadInterruptSettings(Dev, 0);
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START,
+ VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT);
+
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0x00, 0x00);
+ Status = VL53L0X_WrByte(Dev, 0x91, 0x00);
+ Status = VL53L0X_WrByte(Dev, 0x00, 0x01);
+ Status = VL53L0X_WrByte(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_CheckAndLoadInterruptSettings(Dev, 0);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
VL53L0X_Error VL53L0X::VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev,
- uint32_t *pStopStatus)
+ uint32_t *pStopStatus)
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- uint8_t Byte = 0;
- LOG_FUNCTION_START("");
-
- Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_RdByte(Dev, 0x04, &Byte);
-
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_WrByte(Dev, 0xFF, 0x0);
-
- *pStopStatus = Byte;
-
- if (Byte == 0) {
- Status = VL53L0X_WrByte(Dev, 0x80, 0x01);
- Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
- Status = VL53L0X_WrByte(Dev, 0x00, 0x00);
- Status = VL53L0X_WrByte(Dev, 0x91,
- PALDevDataGet(Dev, StopVariable));
- Status = VL53L0X_WrByte(Dev, 0x00, 0x01);
- Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
- Status = VL53L0X_WrByte(Dev, 0x80, 0x00);
- }
-
- LOG_FUNCTION_END(Status);
- return Status;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t Byte = 0;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_RdByte(Dev, 0x04, &Byte);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x0);
+
+ *pStopStatus = Byte;
+
+ if (Byte == 0) {
+ Status = VL53L0X_WrByte(Dev, 0x80, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0x00, 0x00);
+ Status = VL53L0X_WrByte(Dev, 0x91,
+ PALDevDataGet(Dev, StopVariable));
+ Status = VL53L0X_WrByte(Dev, 0x00, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+ Status = VL53L0X_WrByte(Dev, 0x80, 0x00);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
}
/****************** Write and read functions from I2C *************************/
VL53L0X_Error VL53L0X::VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
{
- int status;
-
- status = VL53L0X_I2CWrite(Dev->I2cDevAddr, index, pdata, (uint16_t)count);
- return status;
+ int status;
+
+ status = VL53L0X_I2CWrite(Dev->I2cDevAddr, index, pdata, (uint16_t)count);
+ return status;
}
VL53L0X_Error VL53L0X::VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
{
int status;
- if (count>=VL53L0X_MAX_I2C_XFER_SIZE){
+ if (count>=VL53L0X_MAX_I2C_XFER_SIZE) {
status = VL53L0X_ERROR_INVALID_PARAMS;
}
@@ -4945,132 +4947,129 @@
VL53L0X_Error VL53L0X::VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data)
{
- int status;
-
- status=VL53L0X_I2CWrite(Dev->I2cDevAddr, index, &data, 1);
- return status;
+ int status;
+
+ status=VL53L0X_I2CWrite(Dev->I2cDevAddr, index, &data, 1);
+ return status;
}
-
+
VL53L0X_Error VL53L0X::VL53L0X_WrWord(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_I2CWrite(Dev->I2cDevAddr, index, (uint8_t *)buffer, 2);
- return status;
+ int status;
+ uint8_t buffer[2];
+
+ buffer[0] = data >> 8;
+ buffer[1] = data & 0x00FF;
+ status=VL53L0X_I2CWrite(Dev->I2cDevAddr, index, (uint8_t *)buffer, 2);
+ return status;
}
-
+
VL53L0X_Error VL53L0X::VL53L0X_WrDWord(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_I2CWrite(Dev->I2cDevAddr, index, (uint8_t *)buffer, 4);
- return status;
+ 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_I2CWrite(Dev->I2cDevAddr, index, (uint8_t *)buffer, 4);
+ return status;
}
VL53L0X_Error VL53L0X::VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data)
{
- int status;
-
- status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, data, 1);
-
- if(status)
- return -1;
-
- return 0;
+ int status;
+
+ status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, data, 1);
+
+ if(status)
+ return -1;
+
+ return 0;
}
-
+
VL53L0X_Error VL53L0X::VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data)
{
- int status;
- uint8_t buffer[2] = {0,0};
-
- status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, buffer, 2);
- if (!status)
- {
- *data = (buffer[0] << 8) + buffer[1];
- }
- return status;
+ int status;
+ uint8_t buffer[2] = {0,0};
+
+ status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, buffer, 2);
+ if (!status) {
+ *data = (buffer[0] << 8) + buffer[1];
+ }
+ return status;
}
-
+
VL53L0X_Error VL53L0X::VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data)
{
- int status;
- uint8_t buffer[4] = {0,0,0,0};
-
- status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, buffer, 4);
- if(!status)
- {
- *data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3];
- }
- return status;
+ int status;
+ uint8_t buffer[4] = {0,0,0,0};
+
+ status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, buffer, 4);
+ if(!status) {
+ *data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3];
+ }
+ return status;
}
VL53L0X_Error VL53L0X::VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData)
{
- int status;
- uint8_t buffer = 0;
-
- /* read data direct onto buffer */
- status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, &buffer,1);
- if (!status)
- {
- buffer = (buffer & AndData) | OrData;
- status = VL53L0X_I2CWrite(Dev->I2cDevAddr, index, &buffer, (uint8_t)1);
- }
- return status;
+ int status;
+ uint8_t buffer = 0;
+
+ /* read data direct onto buffer */
+ status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, &buffer,1);
+ if (!status) {
+ buffer = (buffer & AndData) | OrData;
+ status = VL53L0X_I2CWrite(Dev->I2cDevAddr, index, &buffer, (uint8_t)1);
+ }
+ return status;
}
-
+
VL53L0X_Error VL53L0X::VL53L0X_I2CWrite(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
{
- int ret;
-
- ret = dev_i2c.i2c_write(pBuffer, DeviceAddr, RegisterAddr, NumByteToWrite);
-
- if(ret)
- return -1;
- return 0;
+ int ret;
+
+ ret = dev_i2c.i2c_write(pBuffer, DeviceAddr, RegisterAddr, NumByteToWrite);
+
+ if(ret)
+ return -1;
+ return 0;
}
-
+
VL53L0X_Error VL53L0X::VL53L0X_I2CRead(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
{
- int ret;
-
- ret = dev_i2c.i2c_read(pBuffer, DeviceAddr, RegisterAddr, NumByteToRead);
-
- if(ret)
- return -1;
- return 0;
-}
+ int ret;
+
+ ret = dev_i2c.i2c_read(pBuffer, 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_RdWord(Device, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &rl_id);
if (rl_id == 0xEEAA)
return status;
-
+
return -1;
}
int VL53L0X::ReadID(uint8_t *id)
{
- return read_id(id);
+ return read_id(id);
}
-
-
+
+
VL53L0X_Error VL53L0X::WaitMeasurementDataReady(VL53L0X_DEV Dev)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
@@ -5129,80 +5128,71 @@
int VL53L0X::InitSensor(uint8_t NewAddr)
{
- int status;
-
- VL53L0X_Off();
- VL53L0X_On();
+ int status;
+
+ VL53L0X_Off();
+ VL53L0X_On();
// status=VL53L0X_WaitDeviceBooted(Device);
// if(status)
// printf("WaitDeviceBooted fail\n\r");
- status=IsPresent();
- if(!status)
- {
- status=Init(&MyDevice);
- if(status != VL53L0X_ERROR_NONE)
- {
- printf("Failed to init VL53L0X sensor!\n\r");
- return status;
- }
-
- // deduce silicon version
- status = VL53L0X_GetDeviceInfo(&MyDevice, &DeviceInfo);
-
-
- status=Prepare();
- if(status != VL53L0X_ERROR_NONE)
- {
- printf("Failed to prepare VL53L0X!\n\r");
- return status;
- }
-
- if(NewAddr!=DEFAULT_DEVICE_ADDRESS)
- {
- status=SetDeviceAddress(NewAddr);
- if(status)
- {
- printf("Failed to change I2C address!\n\r");
+ status=IsPresent();
+ if(!status) {
+ status=Init(&MyDevice);
+ if(status != VL53L0X_ERROR_NONE) {
+ printf("Failed to init VL53L0X sensor!\n\r");
return status;
- }
- }
- else
- {
- printf("Invalid new address!\n\r");
- return VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
- return status;
+ }
+
+ // deduce silicon version
+ status = VL53L0X_GetDeviceInfo(&MyDevice, &DeviceInfo);
+
+
+ status=Prepare();
+ if(status != VL53L0X_ERROR_NONE) {
+ printf("Failed to prepare VL53L0X!\n\r");
+ return status;
+ }
+
+ if(NewAddr!=DEFAULT_DEVICE_ADDRESS) {
+ status=SetDeviceAddress(NewAddr);
+ 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::RangeMeasIntContinuousMode(void (*fptr)(void))
{
- int status, ClrStatus;
-
- status = VL53L0X_StopMeasurement(Device); // it is safer to do this while sensor is stopped
+ int status, ClrStatus;
+
+ status = VL53L0X_StopMeasurement(Device); // it is safer to do this while sensor is stopped
// status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
- status = VL53L0X_SetGpioConfig(Device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
- VL53L0X_INTERRUPTPOLARITY_HIGH);
-
- if (!status)
- {
- AttachInterruptMeasureDetectionIRQ(fptr);
- EnableInterruptMeasureDetectionIRQ();
- }
-
- ClrStatus=ClearInterrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS|VL53L0X_REG_RESULT_RANGE_STATUS);
- if(ClrStatus)
- VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
-
- if(!status)
- {
- status=RangeStartContinuousMode();
- }
- return status;
+ status = VL53L0X_SetGpioConfig(Device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
+ VL53L0X_INTERRUPTPOLARITY_HIGH);
+
+ if (!status) {
+ AttachInterruptMeasureDetectionIRQ(fptr);
+ EnableInterruptMeasureDetectionIRQ();
+ }
+
+ ClrStatus=ClearInterrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS|VL53L0X_REG_RESULT_RANGE_STATUS);
+ if(ClrStatus)
+ VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
+
+ if(!status) {
+ status=RangeStartContinuousMode();
+ }
+ return status;
}
@@ -5215,16 +5205,14 @@
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)
- {
+ 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;
}
@@ -5234,35 +5222,30 @@
// Status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
Status = VL53L0X_SetGpioConfig(Device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
- VL53L0X_INTERRUPTPOLARITY_HIGH);
-
- if (Status == VL53L0X_ERROR_NONE)
- {
- AttachInterruptMeasureDetectionIRQ(fptr);
- EnableInterruptMeasureDetectionIRQ();
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
+ VL53L0X_INTERRUPTPOLARITY_HIGH);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ AttachInterruptMeasureDetectionIRQ(fptr);
+ EnableInterruptMeasureDetectionIRQ();
}
ClrStatus=ClearInterrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS|VL53L0X_REG_RESULT_RANGE_STATUS);
if(ClrStatus)
- VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
-
- if(Status == VL53L0X_ERROR_NONE)
- {
+ VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
+
+ if(Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetDeviceMode(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
}
- if(Status == VL53L0X_ERROR_NONE)
- {
- Status = VL53L0X_StartMeasurement(Device);
+ if(Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_StartMeasurement(Device);
}
}
- if (operating_mode == range_single_shot_polling)
- {
+ if (operating_mode == range_single_shot_polling) {
// singelshot, polled ranging
- if(Status == VL53L0X_ERROR_NONE)
- {
+ if(Status == VL53L0X_ERROR_NONE) {
// no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
Status = VL53L0X_SetDeviceMode(Device, VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
}
@@ -5270,52 +5253,52 @@
// Enable/Disable Sigma and Signal check
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetLimitCheckEnable(Device,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
}
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetLimitCheckEnable(Device,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
}
// *** from mass market cube expansion v1.1, ranging with satellites.
- /* Ranging configuration */
+ /* 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");
- }
-*/
+ 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_SetLimitCheckValue(Device,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, signalLimit);
- }
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, signalLimit);
+ }
if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_SetLimitCheckValue(Device,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, sigmaLimit);
- }
+ Status = VL53L0X_SetLimitCheckValue(Device,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, sigmaLimit);
+ }
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Device, timingBudget);
@@ -5323,101 +5306,90 @@
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetVcselPulsePeriod(Device,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE, preRangeVcselPeriod);
- }
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE, preRangeVcselPeriod);
+ }
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_SetVcselPulsePeriod(Device,
- VL53L0X_VCSEL_PERIOD_FINAL_RANGE, finalRangeVcselPeriod);
- }
+ VL53L0X_VCSEL_PERIOD_FINAL_RANGE, finalRangeVcselPeriod);
+ }
if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_PerformRefCalibration(Device, &VhvSettings, &PhaseCal);
- }
+ Status = VL53L0X_PerformRefCalibration(Device, &VhvSettings, &PhaseCal);
+ }
}
- if (operating_mode == range_continuous_polling)
- {
- if(Status == VL53L0X_ERROR_NONE)
- {
+ if (operating_mode == range_continuous_polling) {
+ if(Status == VL53L0X_ERROR_NONE) {
printf ("Call of VL53L0X_SetDeviceMode\n");
Status = VL53L0X_SetDeviceMode(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
}
- if(Status == VL53L0X_ERROR_NONE)
- {
- printf ("Call of VL53L0X_StartMeasurement\n");
- Status = VL53L0X_StartMeasurement(Device);
+ if(Status == VL53L0X_ERROR_NONE) {
+ printf ("Call of VL53L0X_StartMeasurement\n");
+ Status = VL53L0X_StartMeasurement(Device);
}
}
return Status;
}
-
-
+
+
int VL53L0X::GetMeasurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data)
{
int Status = VL53L0X_ERROR_NONE;
- if (operating_mode == range_single_shot_polling)
- {
+ if (operating_mode == range_single_shot_polling) {
Status = VL53L0X_PerformSingleRangingMeasurement(Device, Data);
}
- if (operating_mode == range_continuous_polling)
- {
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_measurement_poll_for_completion(Device);
-
- if(Status == VL53L0X_ERROR_NONE)
- {
+ 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_GetRangingMeasurementData(Device, Data);
- // Clear the interrupt
+ // Clear the interrupt
VL53L0X_ClearInterruptMask(Device, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
VL53L0X_PollingDelay(Device);
}
}
- if (operating_mode == range_continuous_interrupt)
- {
+ if (operating_mode == range_continuous_interrupt) {
Status = VL53L0X_GetRangingMeasurementData(Device, Data);
- VL53L0X_ClearInterruptMask(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR | VL53L0X_REG_RESULT_INTERRUPT_STATUS);
- }
+ VL53L0X_ClearInterruptMask(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR | VL53L0X_REG_RESULT_INTERRUPT_STATUS);
+ }
return Status;
}
-
+
int VL53L0X::StopMeasurement(OperatingMode operating_mode)
{
int status = VL53L0X_ERROR_NONE;
- // don't need to stop for a singleshot range!
- if (operating_mode==range_single_shot_polling)
- {
+ // 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)
- {
+ 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_StopMeasurement(Device);
}
- if(status == VL53L0X_ERROR_NONE)
- {
+ if(status == VL53L0X_ERROR_NONE) {
printf ("Wait Stop to be competed\n");
status = WaitStopCompleted(Device);
}
if(status == VL53L0X_ERROR_NONE)
status = VL53L0X_ClearInterruptMask(Device,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
}
return status;
@@ -5426,17 +5398,18 @@
int VL53L0X::HandleIRQ(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data)
{
- int status;
- status=GetMeasurement(operating_mode, Data);
- EnableInterruptMeasureDetectionIRQ();
- return status;
+ int status;
+ status=GetMeasurement(operating_mode, Data);
+ EnableInterruptMeasureDetectionIRQ();
+ return status;
}
-
-
-
+
+
+
/******************************************************************************/
+
\ No newline at end of file
--- a/Components/VL53L0X/vl53l0x_class.h Tue Jun 20 15:43:26 2017 +0000
+++ b/Components/VL53L0X/vl53l0x_class.h Tue Jun 20 16:00:31 2017 +0000
@@ -44,7 +44,7 @@
/* Includes ------------------------------------------------------------------*/
#include "mbed.h"
#include "RangeSensor.h"
-#include "DevI2C.h"
+#include "DevI2C.h"
#include "vl53l0x_def.h"
#include "vl53l0x_platform.h"
@@ -55,7 +55,7 @@
* The device model ID
*/
#define IDENTIFICATION_MODEL_ID 0x000
-
+
#define STATUS_OK 0x00
#define STATUS_FAIL 0x01
@@ -64,230 +64,229 @@
#define VL53L0X_OsDelay(...) wait_ms(2) // 2 msec delay. can also use wait(float secs)/wait_us(int)
#ifdef USE_EMPTY_STRING
- #define VL53L0X_STRING_DEVICE_INFO_NAME ""
- #define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 ""
- #define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 ""
- #define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 ""
- #define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 ""
- #define VL53L0X_STRING_DEVICE_INFO_TYPE ""
+#define VL53L0X_STRING_DEVICE_INFO_NAME ""
+#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 ""
+#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 ""
+#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 ""
+#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 ""
+#define VL53L0X_STRING_DEVICE_INFO_TYPE ""
- /* PAL ERROR strings */
- #define VL53L0X_STRING_ERROR_NONE ""
- #define VL53L0X_STRING_ERROR_CALIBRATION_WARNING ""
- #define VL53L0X_STRING_ERROR_MIN_CLIPPED ""
- #define VL53L0X_STRING_ERROR_UNDEFINED ""
- #define VL53L0X_STRING_ERROR_INVALID_PARAMS ""
- #define VL53L0X_STRING_ERROR_NOT_SUPPORTED ""
- #define VL53L0X_STRING_ERROR_RANGE_ERROR ""
- #define VL53L0X_STRING_ERROR_TIME_OUT ""
- #define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED ""
- #define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL ""
- #define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING ""
- #define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ""
- #define VL53L0X_STRING_ERROR_CONTROL_INTERFACE ""
- #define VL53L0X_STRING_ERROR_INVALID_COMMAND ""
- #define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO ""
- #define VL53L0X_STRING_ERROR_REF_SPAD_INIT ""
- #define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED ""
+/* PAL ERROR strings */
+#define VL53L0X_STRING_ERROR_NONE ""
+#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING ""
+#define VL53L0X_STRING_ERROR_MIN_CLIPPED ""
+#define VL53L0X_STRING_ERROR_UNDEFINED ""
+#define VL53L0X_STRING_ERROR_INVALID_PARAMS ""
+#define VL53L0X_STRING_ERROR_NOT_SUPPORTED ""
+#define VL53L0X_STRING_ERROR_RANGE_ERROR ""
+#define VL53L0X_STRING_ERROR_TIME_OUT ""
+#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED ""
+#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL ""
+#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING ""
+#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ""
+#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE ""
+#define VL53L0X_STRING_ERROR_INVALID_COMMAND ""
+#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO ""
+#define VL53L0X_STRING_ERROR_REF_SPAD_INIT ""
+#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED ""
- #define VL53L0X_STRING_UNKNOW_ERROR_CODE ""
+#define VL53L0X_STRING_UNKNOW_ERROR_CODE ""
- /* Range Status */
- #define VL53L0X_STRING_RANGESTATUS_NONE ""
- #define VL53L0X_STRING_RANGESTATUS_RANGEVALID ""
- #define VL53L0X_STRING_RANGESTATUS_SIGMA ""
- #define VL53L0X_STRING_RANGESTATUS_SIGNAL ""
- #define VL53L0X_STRING_RANGESTATUS_MINRANGE ""
- #define VL53L0X_STRING_RANGESTATUS_PHASE ""
- #define VL53L0X_STRING_RANGESTATUS_HW ""
+/* Range Status */
+#define VL53L0X_STRING_RANGESTATUS_NONE ""
+#define VL53L0X_STRING_RANGESTATUS_RANGEVALID ""
+#define VL53L0X_STRING_RANGESTATUS_SIGMA ""
+#define VL53L0X_STRING_RANGESTATUS_SIGNAL ""
+#define VL53L0X_STRING_RANGESTATUS_MINRANGE ""
+#define VL53L0X_STRING_RANGESTATUS_PHASE ""
+#define VL53L0X_STRING_RANGESTATUS_HW ""
- /* Range Status */
- #define VL53L0X_STRING_STATE_POWERDOWN ""
- #define VL53L0X_STRING_STATE_WAIT_STATICINIT ""
- #define VL53L0X_STRING_STATE_STANDBY ""
- #define VL53L0X_STRING_STATE_IDLE ""
- #define VL53L0X_STRING_STATE_RUNNING ""
- #define VL53L0X_STRING_STATE_UNKNOWN ""
- #define VL53L0X_STRING_STATE_ERROR ""
+/* Range Status */
+#define VL53L0X_STRING_STATE_POWERDOWN ""
+#define VL53L0X_STRING_STATE_WAIT_STATICINIT ""
+#define VL53L0X_STRING_STATE_STANDBY ""
+#define VL53L0X_STRING_STATE_IDLE ""
+#define VL53L0X_STRING_STATE_RUNNING ""
+#define VL53L0X_STRING_STATE_UNKNOWN ""
+#define VL53L0X_STRING_STATE_ERROR ""
- /* Device Specific */
- #define VL53L0X_STRING_DEVICEERROR_NONE ""
- #define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ""
- #define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ""
- #define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND ""
- #define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET ""
- #define VL53L0X_STRING_DEVICEERROR_SNRCHECK ""
- #define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK ""
- #define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK ""
- #define VL53L0X_STRING_DEVICEERROR_TCC ""
- #define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY ""
- #define VL53L0X_STRING_DEVICEERROR_MINCLIP ""
- #define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE ""
- #define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW ""
- #define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW ""
- #define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD ""
- #define VL53L0X_STRING_DEVICEERROR_UNKNOWN ""
+/* Device Specific */
+#define VL53L0X_STRING_DEVICEERROR_NONE ""
+#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ""
+#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ""
+#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND ""
+#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET ""
+#define VL53L0X_STRING_DEVICEERROR_SNRCHECK ""
+#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK ""
+#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK ""
+#define VL53L0X_STRING_DEVICEERROR_TCC ""
+#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY ""
+#define VL53L0X_STRING_DEVICEERROR_MINCLIP ""
+#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE ""
+#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW ""
+#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW ""
+#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD ""
+#define VL53L0X_STRING_DEVICEERROR_UNKNOWN ""
- /* Check Enable */
- #define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE ""
- #define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE ""
- #define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP ""
- #define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD ""
+/* Check Enable */
+#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE ""
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE ""
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP ""
+#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD ""
- /* Sequence Step */
- #define VL53L0X_STRING_SEQUENCESTEP_TCC ""
- #define VL53L0X_STRING_SEQUENCESTEP_DSS ""
- #define VL53L0X_STRING_SEQUENCESTEP_MSRC ""
- #define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE ""
- #define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE ""
+/* Sequence Step */
+#define VL53L0X_STRING_SEQUENCESTEP_TCC ""
+#define VL53L0X_STRING_SEQUENCESTEP_DSS ""
+#define VL53L0X_STRING_SEQUENCESTEP_MSRC ""
+#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE ""
+#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE ""
#else
- #define VL53L0X_STRING_DEVICE_INFO_NAME "VL53L0X cut1.0"
- #define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 "VL53L0X TS0"
- #define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 "VL53L0X TS1"
- #define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 "VL53L0X TS2"
- #define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 "VL53L0X ES1 or later"
- #define VL53L0X_STRING_DEVICE_INFO_TYPE "VL53L0X"
+#define VL53L0X_STRING_DEVICE_INFO_NAME "VL53L0X cut1.0"
+#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 "VL53L0X TS0"
+#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 "VL53L0X TS1"
+#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 "VL53L0X TS2"
+#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 "VL53L0X ES1 or later"
+#define VL53L0X_STRING_DEVICE_INFO_TYPE "VL53L0X"
- /* PAL ERROR strings */
- #define VL53L0X_STRING_ERROR_NONE \
+/* PAL ERROR strings */
+#define VL53L0X_STRING_ERROR_NONE \
"No Error"
- #define VL53L0X_STRING_ERROR_CALIBRATION_WARNING \
+#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING \
"Calibration Warning Error"
- #define VL53L0X_STRING_ERROR_MIN_CLIPPED \
+#define VL53L0X_STRING_ERROR_MIN_CLIPPED \
"Min clipped error"
- #define VL53L0X_STRING_ERROR_UNDEFINED \
+#define VL53L0X_STRING_ERROR_UNDEFINED \
"Undefined error"
- #define VL53L0X_STRING_ERROR_INVALID_PARAMS \
+#define VL53L0X_STRING_ERROR_INVALID_PARAMS \
"Invalid parameters error"
- #define VL53L0X_STRING_ERROR_NOT_SUPPORTED \
+#define VL53L0X_STRING_ERROR_NOT_SUPPORTED \
"Not supported error"
- #define VL53L0X_STRING_ERROR_RANGE_ERROR \
+#define VL53L0X_STRING_ERROR_RANGE_ERROR \
"Range error"
- #define VL53L0X_STRING_ERROR_TIME_OUT \
+#define VL53L0X_STRING_ERROR_TIME_OUT \
"Time out error"
- #define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED \
+#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED \
"Mode not supported error"
- #define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL \
+#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL \
"Buffer too small"
- #define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING \
+#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING \
"GPIO not existing"
- #define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \
+#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \
"GPIO funct not supported"
- #define VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED \
+#define VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED \
"Interrupt not Cleared"
- #define VL53L0X_STRING_ERROR_CONTROL_INTERFACE \
+#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE \
"Control Interface Error"
- #define VL53L0X_STRING_ERROR_INVALID_COMMAND \
+#define VL53L0X_STRING_ERROR_INVALID_COMMAND \
"Invalid Command Error"
- #define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO \
+#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO \
"Division by zero Error"
- #define VL53L0X_STRING_ERROR_REF_SPAD_INIT \
+#define VL53L0X_STRING_ERROR_REF_SPAD_INIT \
"Reference Spad Init Error"
- #define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED \
+#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED \
"Not implemented error"
- #define VL53L0X_STRING_UNKNOW_ERROR_CODE \
+#define VL53L0X_STRING_UNKNOW_ERROR_CODE \
"Unknown Error Code"
- /* Range Status */
- #define VL53L0X_STRING_RANGESTATUS_NONE "No Update"
- #define VL53L0X_STRING_RANGESTATUS_RANGEVALID "Range Valid"
- #define VL53L0X_STRING_RANGESTATUS_SIGMA "Sigma Fail"
- #define VL53L0X_STRING_RANGESTATUS_SIGNAL "Signal Fail"
- #define VL53L0X_STRING_RANGESTATUS_MINRANGE "Min Range Fail"
- #define VL53L0X_STRING_RANGESTATUS_PHASE "Phase Fail"
- #define VL53L0X_STRING_RANGESTATUS_HW "Hardware Fail"
+/* Range Status */
+#define VL53L0X_STRING_RANGESTATUS_NONE "No Update"
+#define VL53L0X_STRING_RANGESTATUS_RANGEVALID "Range Valid"
+#define VL53L0X_STRING_RANGESTATUS_SIGMA "Sigma Fail"
+#define VL53L0X_STRING_RANGESTATUS_SIGNAL "Signal Fail"
+#define VL53L0X_STRING_RANGESTATUS_MINRANGE "Min Range Fail"
+#define VL53L0X_STRING_RANGESTATUS_PHASE "Phase Fail"
+#define VL53L0X_STRING_RANGESTATUS_HW "Hardware Fail"
- /* Range Status */
- #define VL53L0X_STRING_STATE_POWERDOWN "POWERDOWN State"
- #define VL53L0X_STRING_STATE_WAIT_STATICINIT \
+/* Range Status */
+#define VL53L0X_STRING_STATE_POWERDOWN "POWERDOWN State"
+#define VL53L0X_STRING_STATE_WAIT_STATICINIT \
"Wait for staticinit State"
- #define VL53L0X_STRING_STATE_STANDBY "STANDBY State"
- #define VL53L0X_STRING_STATE_IDLE "IDLE State"
- #define VL53L0X_STRING_STATE_RUNNING "RUNNING State"
- #define VL53L0X_STRING_STATE_UNKNOWN "UNKNOWN State"
- #define VL53L0X_STRING_STATE_ERROR "ERROR State"
+#define VL53L0X_STRING_STATE_STANDBY "STANDBY State"
+#define VL53L0X_STRING_STATE_IDLE "IDLE State"
+#define VL53L0X_STRING_STATE_RUNNING "RUNNING State"
+#define VL53L0X_STRING_STATE_UNKNOWN "UNKNOWN State"
+#define VL53L0X_STRING_STATE_ERROR "ERROR State"
- /* Device Specific */
- #define VL53L0X_STRING_DEVICEERROR_NONE "No Update"
- #define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \
+/* Device Specific */
+#define VL53L0X_STRING_DEVICEERROR_NONE "No Update"
+#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \
"VCSEL Continuity Test Failure"
- #define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \
+#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \
"VCSEL Watchdog Test Failure"
- #define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND \
+#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND \
"No VHV Value found"
- #define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET \
+#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET \
"MSRC No Target Error"
- #define VL53L0X_STRING_DEVICEERROR_SNRCHECK \
+#define VL53L0X_STRING_DEVICEERROR_SNRCHECK \
"SNR Check Exit"
- #define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK \
+#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK \
"Range Phase Check Error"
- #define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK \
+#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK \
"Sigma Threshold Check Error"
- #define VL53L0X_STRING_DEVICEERROR_TCC \
+#define VL53L0X_STRING_DEVICEERROR_TCC \
"TCC Error"
- #define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY \
+#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY \
"Phase Consistency Error"
- #define VL53L0X_STRING_DEVICEERROR_MINCLIP \
+#define VL53L0X_STRING_DEVICEERROR_MINCLIP \
"Min Clip Error"
- #define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE \
+#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE \
"Range Complete"
- #define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW \
+#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW \
"Range Algo Underflow Error"
- #define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW \
+#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW \
"Range Algo Overlow Error"
- #define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \
+#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \
"Range Ignore Threshold Error"
- #define VL53L0X_STRING_DEVICEERROR_UNKNOWN \
+#define VL53L0X_STRING_DEVICEERROR_UNKNOWN \
"Unknown error code"
- /* Check Enable */
- #define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \
+/* Check Enable */
+#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \
"SIGMA FINAL RANGE"
- #define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \
"SIGNAL RATE FINAL RANGE"
- #define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP \
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP \
"SIGNAL REF CLIP"
- #define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \
+#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \
"RANGE IGNORE THRESHOLD"
- #define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC \
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC \
"SIGNAL RATE MSRC"
- #define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE \
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE \
"SIGNAL RATE PRE RANGE"
- /* Sequence Step */
- #define VL53L0X_STRING_SEQUENCESTEP_TCC "TCC"
- #define VL53L0X_STRING_SEQUENCESTEP_DSS "DSS"
- #define VL53L0X_STRING_SEQUENCESTEP_MSRC "MSRC"
- #define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE "PRE RANGE"
- #define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE "FINAL RANGE"
+/* Sequence Step */
+#define VL53L0X_STRING_SEQUENCESTEP_TCC "TCC"
+#define VL53L0X_STRING_SEQUENCESTEP_DSS "DSS"
+#define VL53L0X_STRING_SEQUENCESTEP_MSRC "MSRC"
+#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE "PRE RANGE"
+#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE "FINAL RANGE"
#endif /* USE_EMPTY_STRING */
-/* sensor operating modes */
-typedef enum
-{
- range_single_shot_polling=1,
- range_continuous_polling,
- range_continuous_interrupt,
- range_continuous_polling_low_threshold,
- range_continuous_polling_high_threshold,
- range_continuous_polling_out_of_window,
- range_continuous_interrupt_low_threshold,
- range_continuous_interrupt_high_threshold,
- range_continuous_interrupt_out_of_window,
-}OperatingMode;
+/* sensor operating modes */
+typedef enum {
+ range_single_shot_polling=1,
+ range_continuous_polling,
+ range_continuous_interrupt,
+ range_continuous_polling_low_threshold,
+ range_continuous_polling_high_threshold,
+ range_continuous_polling_out_of_window,
+ range_continuous_interrupt_low_threshold,
+ range_continuous_interrupt_high_threshold,
+ range_continuous_interrupt_out_of_window,
+} OperatingMode;
/** default device address */
#define DEFAULT_DEVICE_ADDRESS 0x52 /* (8-bit) */
@@ -297,83 +296,90 @@
*/
class VL53L0X : public RangeSensor
{
- public:
+public:
/** Constructor
* @param[in] &i2c device I2C to be used for communication
* @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
- * @param[in] DevAddr device address, 0x29 by default
+ * @param[in] DevAddr device address, 0x29 by default
*/
VL53L0X(DevI2C &i2c, DigitalOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : dev_i2c(i2c), gpio0(&pin)
{
- MyDevice.I2cDevAddr=DevAddr;
- MyDevice.comms_type=1; // VL53L0X_COMMS_I2C
- MyDevice.comms_speed_khz=400;
- Device=&MyDevice;
- expgpio0=NULL;
- if (pin_gpio1 != NC) { gpio1Int = new InterruptIn(pin_gpio1); }
- else { gpio1Int = NULL; }
- }
-
+ MyDevice.I2cDevAddr=DevAddr;
+ MyDevice.comms_type=1; // VL53L0X_COMMS_I2C
+ MyDevice.comms_speed_khz=400;
+ Device=&MyDevice;
+ expgpio0=NULL;
+ if (pin_gpio1 != NC) {
+ gpio1Int = new InterruptIn(pin_gpio1);
+ } else {
+ gpio1Int = NULL;
+ }
+ }
+
/** Constructor 2 (STMPE1600DigiOut)
* @param[in] i2c device I2C to be used for communication
* @param[in] &pin Gpio Expander STMPE1600DigiOut pin to be used as component GPIO_0 CE
* @param[in] pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
- * @param[in] device address, 0x29 by default
- */
+ * @param[in] device address, 0x29 by default
+ */
// VL53L0X(DevI2C &i2c, STMPE1600DigiOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : dev_i2c(i2c), expgpio0(&pin)
VL53L0X(DevI2C &i2c, Stmpe1600DigiOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : dev_i2c(i2c), expgpio0(&pin)
{
- MyDevice.I2cDevAddr=DevAddr;
- MyDevice.comms_type=1; // VL53L0X_COMMS_I2C
- MyDevice.comms_speed_khz=400;
- Device=&MyDevice;
- gpio0=NULL;
- if (pin_gpio1 != NC) { gpio1Int = new InterruptIn(pin_gpio1); }
- else { gpio1Int = NULL; }
- }
-
- /** Destructor
- */
- virtual ~VL53L0X(){
- if (gpio1Int != NULL) delete gpio1Int;
- }
+ MyDevice.I2cDevAddr=DevAddr;
+ MyDevice.comms_type=1; // VL53L0X_COMMS_I2C
+ MyDevice.comms_speed_khz=400;
+ Device=&MyDevice;
+ gpio0=NULL;
+ if (pin_gpio1 != NC) {
+ gpio1Int = new InterruptIn(pin_gpio1);
+ } else {
+ gpio1Int = NULL;
+ }
+ }
+
+ /** Destructor
+ */
+ virtual ~VL53L0X()
+ {
+ if (gpio1Int != NULL) delete gpio1Int;
+ }
/* warning: VL53L0X class inherits from GenericSensor, RangeSensor and LightSensor, that haven`t a destructor.
The warning should request to introduce a virtual destructor to make sure to delete the object */
- /*** Interface Methods ***/
- /*** High level API ***/
- /**
- * @brief PowerOn the sensor
- * @return void
- */
- /* turns on the sensor */
+ /*** Interface Methods ***/
+ /*** High level API ***/
+ /**
+ * @brief PowerOn the sensor
+ * @return void
+ */
+ /* turns on the sensor */
void VL53L0X_On(void)
{
- if (gpio0)
- *gpio0 = 1;
- else if (expgpio0)
+ if (gpio0)
+ *gpio0 = 1;
+ else if (expgpio0)
*expgpio0 = 1;
wait_ms(10);
- }
+ }
- /**
- * @brief PowerOff the sensor
- * @return void
- */
+ /**
+ * @brief PowerOff the sensor
+ * @return void
+ */
/* turns off the sensor */
- void VL53L0X_Off(void)
+ void VL53L0X_Off(void)
{
- if (gpio0)
- *gpio0 = 0;
- else if (expgpio0)
+ if (gpio0)
+ *gpio0 = 0;
+ else if (expgpio0)
*expgpio0 = 0;
wait_ms(10);
}
-
- /**
- * @brief Initialize the sensor with default values
- * @return 0 on Success
- */
+
+ /**
+ * @brief Initialize the sensor with default values
+ * @return 0 on Success
+ */
int InitSensor(uint8_t NewAddr);
@@ -385,325 +391,321 @@
- /**
- * @brief Start the measure indicated by operating mode
- * @param[in] operating_mode specifies requested measure
- * @param[in] fptr specifies call back function must be !NULL in case of interrupt measure
- * @return 0 on Success
- */
+ /**
+ * @brief Start the measure indicated by operating mode
+ * @param[in] operating_mode specifies requested measure
+ * @param[in] fptr specifies call back function must be !NULL in case of interrupt measure
+ * @return 0 on Success
+ */
int StartMeasurement(OperatingMode operating_mode, void (*fptr)(void));
- /**
- * @brief Get results for the measure indicated by operating mode
- * @param[in] operating_mode specifies requested measure results
- * @param[out] Data pointer to the MeasureData_t structure to read data in to
- * @return 0 on Success
- */
- int GetMeasurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
+ /**
+ * @brief Get results for the measure indicated by operating mode
+ * @param[in] operating_mode specifies requested measure results
+ * @param[out] Data pointer to the MeasureData_t structure to read data in to
+ * @return 0 on Success
+ */
+ int GetMeasurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
- /**
- * @brief Stop the currently running measure indicate by operating_mode
- * @param[in] operating_mode specifies requested measure to stop
- * @return 0 on Success
- */
+ /**
+ * @brief Stop the currently running measure indicate by operating_mode
+ * @param[in] operating_mode specifies requested measure to stop
+ * @return 0 on Success
+ */
int StopMeasurement(OperatingMode operating_mode);
-
- /**
- * @brief Interrupt handling func to be called by user after an INT is occourred
- * @param[in] opeating_mode indicating the in progress measure
- * @param[out] Data pointer to the MeasureData_t structure to read data in to
- * @return 0 on Success
- */
- int HandleIRQ(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
- /**
- * @brief Enable interrupt measure IRQ
- * @return 0 on Success
- */
- void EnableInterruptMeasureDetectionIRQ(void)
+ /**
+ * @brief Interrupt handling func to be called by user after an INT is occourred
+ * @param[in] opeating_mode indicating the in progress measure
+ * @param[out] Data pointer to the MeasureData_t structure to read data in to
+ * @return 0 on Success
+ */
+ int HandleIRQ(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
+
+ /**
+ * @brief Enable interrupt measure IRQ
+ * @return 0 on Success
+ */
+ void EnableInterruptMeasureDetectionIRQ(void)
{
- if (gpio1Int != NULL) gpio1Int->enable_irq();
+ if (gpio1Int != NULL) gpio1Int->enable_irq();
}
- /**
- * @brief Disable interrupt measure IRQ
- * @return 0 on Success
- */
- void DisableInterruptMeasureDetectionIRQ(void)
+ /**
+ * @brief Disable interrupt measure IRQ
+ * @return 0 on Success
+ */
+ void DisableInterruptMeasureDetectionIRQ(void)
{
- if (gpio1Int != NULL) gpio1Int->disable_irq();
+ if (gpio1Int != NULL) gpio1Int->disable_irq();
}
- /*** End High level API ***/
-
- /**
- * @brief Attach a function to call when an interrupt is detected, i.e. measurement is ready
- * @param[in] fptr pointer to call back function to be called whenever an interrupt occours
- * @return 0 on Success
- */
+ /*** End High level API ***/
+
+ /**
+ * @brief Attach a function to call when an interrupt is detected, i.e. measurement is ready
+ * @param[in] fptr pointer to call back function to be called whenever an interrupt occours
+ * @return 0 on Success
+ */
void AttachInterruptMeasureDetectionIRQ(void (*fptr)(void))
{
- if (gpio1Int != NULL) gpio1Int->rise(fptr);
+ if (gpio1Int != NULL) gpio1Int->rise(fptr);
}
-
- /**
- * @brief Check the sensor presence
- * @return 1 when device is present
- */
+
+ /**
+ * @brief Check the sensor presence
+ * @return 1 when device is present
+ */
unsigned Present()
{
// return Device->Present;
- return 1;
+ return 1;
}
-
- /** Wrapper functions */
-/** @defgroup api_init Init functions
- * @brief API init functions
- * @ingroup api_hl
- * @{
- */
-/**
- * @brief Wait for device booted after chip enable (hardware standby)
- * @par Function Description
- * After Chip enable Application you can also simply wait at least 1ms to ensure device is ready
- * @warning After device chip enable (gpio0) de-asserted user must wait gpio1 to get asserted (hardware standby).
- * or wait at least 400usec prior to do any low level access or api call .
- *
- * This function implements polling for standby but you must ensure 400usec from chip enable passed\n
- * @warning if device get prepared @a VL53L0X_Prepare() re-using these function can hold indefinitely\n
- *
- * @param void
- * @return 0 on success
- */
+
+ /** Wrapper functions */
+ /** @defgroup api_init Init functions
+ * @brief API init functions
+ * @ingroup api_hl
+ * @{
+ */
+ /**
+ * @brief Wait for device booted after chip enable (hardware standby)
+ * @par Function Description
+ * After Chip enable Application you can also simply wait at least 1ms to ensure device is ready
+ * @warning After device chip enable (gpio0) de-asserted user must wait gpio1 to get asserted (hardware standby).
+ * or wait at least 400usec prior to do any low level access or api call .
+ *
+ * This function implements polling for standby but you must ensure 400usec from chip enable passed\n
+ * @warning if device get prepared @a VL53L0X_Prepare() re-using these function can hold indefinitely\n
+ *
+ * @param void
+ * @return 0 on success
+ */
int WaitDeviceBooted()
{
// return VL53L0X_WaitDeviceBooted(Device);
- return 1;
+ return 1;
}
-/**
- *
- * @brief One time device initialization
- *
- * To be called once and only once after device is brought out of reset (Chip enable) and booted see @a VL6180x_WaitDeviceBooted()
- *
- * @par Function Description
- * When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING
- * meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n
- * If application cannot execute device reset or need to run VL6180x_InitData multiple time
- * then it must ensure proper offset calibration saving and restore on its own
- * by using @a VL6180x_GetOffsetCalibrationData() on first power up and then @a VL6180x_SetOffsetCalibrationData() all all subsequent init
- *
- * @param void
- * @return 0 on success, @a #CALIBRATION_WARNING if failed
- */
- virtual int init(void *init)
- {
- return VL53L0X_DataInit(Device);
- }
-
-/** deprecated Init function from ComponentObject. for backward compatibility
-*/
+ /**
+ *
+ * @brief One time device initialization
+ *
+ * To be called once and only once after device is brought out of reset (Chip enable) and booted see @a VL6180x_WaitDeviceBooted()
+ *
+ * @par Function Description
+ * When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING
+ * meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n
+ * If application cannot execute device reset or need to run VL6180x_InitData multiple time
+ * then it must ensure proper offset calibration saving and restore on its own
+ * by using @a VL6180x_GetOffsetCalibrationData() on first power up and then @a VL6180x_SetOffsetCalibrationData() all all subsequent init
+ *
+ * @param void
+ * @return 0 on success, @a #CALIBRATION_WARNING if failed
+ */
+ virtual int init(void *init)
+ {
+ return VL53L0X_DataInit(Device);
+ }
+
+ /** deprecated Init function from ComponentObject. for backward compatibility
+ */
virtual int Init(void * NewAddr)
{
- return init(NewAddr);
+ return init(NewAddr);
}
-/**
- * @brief Configure GPIO1 function and set polarity.
- * @par Function Description
- * To be used prior to arm single shot measure or start continuous mode.
- *
- * The function uses @a VL6180x_SetupGPIOx() for setting gpio 1.
- * @warning changing polarity can generate a spurious interrupt on pins.
- * It sets an interrupt flags condition that must be cleared to avoid polling hangs. \n
- * It is safe to run VL6180x_ClearAllInterrupt() just after.
- *
- * @param IntFunction The interrupt functionality to use one of :\n
- * @a #GPIOx_SELECT_OFF \n
- * @a #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT
- * @param ActiveHigh The interrupt line polarity see ::IntrPol_e
- * use @a #INTR_POL_LOW (falling edge) or @a #INTR_POL_HIGH (rising edge)
- * @return 0 on success
- */
+ /**
+ * @brief Configure GPIO1 function and set polarity.
+ * @par Function Description
+ * To be used prior to arm single shot measure or start continuous mode.
+ *
+ * The function uses @a VL6180x_SetupGPIOx() for setting gpio 1.
+ * @warning changing polarity can generate a spurious interrupt on pins.
+ * It sets an interrupt flags condition that must be cleared to avoid polling hangs. \n
+ * It is safe to run VL6180x_ClearAllInterrupt() just after.
+ *
+ * @param IntFunction The interrupt functionality to use one of :\n
+ * @a #GPIOx_SELECT_OFF \n
+ * @a #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT
+ * @param ActiveHigh The interrupt line polarity see ::IntrPol_e
+ * use @a #INTR_POL_LOW (falling edge) or @a #INTR_POL_HIGH (rising edge)
+ * @return 0 on success
+ */
int SetupGPIO1(uint8_t InitFunction, int ActiveHigh)
{
// return VL6180x_SetupGPIO1(Device, InitFunction, ActiveHigh);
- return 1;
+ return 1;
}
-/**
- * @brief Prepare device for operation
- * @par Function Description
- * Does static initialization and reprogram common default settings \n
- * Device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n
- * After prepare user can : \n
- * @li Call other API function to set other settings\n
- * @li Configure the interrupt pins, etc... \n
- * @li Then start ranging or ALS operations in single shot or continuous mode
- *
- * @param void
- * @return 0 on success
- */
+ /**
+ * @brief Prepare device for operation
+ * @par Function Description
+ * Does static initialization and reprogram common default settings \n
+ * Device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n
+ * After prepare user can : \n
+ * @li Call other API function to set other settings\n
+ * @li Configure the interrupt pins, etc... \n
+ * @li Then start ranging or ALS operations in single shot or continuous mode
+ *
+ * @param void
+ * @return 0 on success
+ */
int Prepare()
{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint32_t refSpadCount;
uint8_t isApertureSpads;
uint8_t VhvSettings;
uint8_t PhaseCal;
- if(Status == VL53L0X_ERROR_NONE)
- {
+ if(Status == VL53L0X_ERROR_NONE) {
printf ("Call of VL53L0X_StaticInit\n");
Status = VL53L0X_StaticInit(Device); // Device Initialization
}
-
- if(Status == VL53L0X_ERROR_NONE)
- {
+
+ if(Status == VL53L0X_ERROR_NONE) {
printf ("Call of VL53L0X_PerformRefCalibration\n");
- Status = VL53L0X_PerformRefCalibration(Device,
- &VhvSettings, &PhaseCal); // Device Initialization
+ Status = VL53L0X_PerformRefCalibration(Device,
+ &VhvSettings, &PhaseCal); // Device Initialization
}
- if(Status == VL53L0X_ERROR_NONE)
- {
+ if(Status == VL53L0X_ERROR_NONE) {
printf ("Call of VL53L0X_PerformRefSpadManagement\n");
Status = VL53L0X_PerformRefSpadManagement(Device,
- &refSpadCount, &isApertureSpads); // Device Initialization
+ &refSpadCount, &isApertureSpads); // Device Initialization
// printf ("refSpadCount = %d, isApertureSpads = %d\n", refSpadCount, isApertureSpads);
}
-
+
return Status;
}
- /**
- * @brief Start continuous ranging mode
- *
- * @details End user should ensure device is in idle state and not already running
- * @return 0 on success
- */
+ /**
+ * @brief Start continuous ranging mode
+ *
+ * @details End user should ensure device is in idle state and not already running
+ * @return 0 on success
+ */
int RangeStartContinuousMode()
{
- int status;
+ int status;
status = VL53L0X_SetDeviceMode(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
- if(status == VL53L0X_ERROR_NONE)
- {
- printf ("Call of VL53L0X_StartMeasurement\n");
- status = VL53L0X_StartMeasurement(Device);
+ if(status == VL53L0X_ERROR_NONE) {
+ printf ("Call of VL53L0X_StartMeasurement\n");
+ status = VL53L0X_StartMeasurement(Device);
}
- return status;
+ return status;
}
-/**
- * @brief Start single shot ranging measure
- *
- * @details End user should ensure device is in idle state and not already running
- * @return 0 on success
- */
+ /**
+ * @brief Start single shot ranging measure
+ *
+ * @details End user should ensure device is in idle state and not already running
+ * @return 0 on success
+ */
int RangeStartSingleShot()
{
// return VL6180x_RangeStartSingleShot(Device);
- return 1;
+ return 1;
}
-/**
- * @brief Set maximum convergence time
- *
- * @par Function Description
- * Setting a low convergence time can impact maximal detectable distance.
- * Refer to VL6180x Datasheet Table 7 : Typical range convergence time.
- * A typical value for up to x3 scaling is 50 ms
- *
- * @param MaxConTime_msec
- * @return 0 on success. <0 on error. >0 for calibration warning status
- */
+ /**
+ * @brief Set maximum convergence time
+ *
+ * @par Function Description
+ * Setting a low convergence time can impact maximal detectable distance.
+ * Refer to VL6180x Datasheet Table 7 : Typical range convergence time.
+ * A typical value for up to x3 scaling is 50 ms
+ *
+ * @param MaxConTime_msec
+ * @return 0 on success. <0 on error. >0 for calibration warning status
+ */
int RangeSetMaxConvergenceTime(uint8_t MaxConTime_msec)
{
// return VL6180x_RangeSetMaxConvergenceTime(Device, MaxConTime_msec);
- return 1;
+ return 1;
}
-/**
- * @brief Single shot Range measurement in polling mode.
- *
- * @par Function Description
- * Kick off a new single shot range then wait for ready to retrieve it by polling interrupt status \n
- * Ranging must be prepared by a first call to @a VL6180x_Prepare() and it is safer to clear very first poll call \n
- * This function reference VL6180x_PollDelay(dev) porting macro/call on each polling loop,
- * but PollDelay(dev) may never be called if measure in ready on first poll loop \n
- * Should not be use in continuous mode operation as it will stop it and cause stop/start misbehaviour \n
- * \n This function clears Range Interrupt status , but not error one. For that uses @a VL6180x_ClearErrorInterrupt() \n
- * This range error is not related VL6180x_RangeData_t::errorStatus that refer measure status \n
- *
- * @param pRangeData Will be populated with the result ranging data @a VL6180x_RangeData_t
- * @return 0 on success , @a #RANGE_ERROR if device reports an error case in it status (not cleared) use
- *
- * \sa ::VL6180x_RangeData_t
- */
+ /**
+ * @brief Single shot Range measurement in polling mode.
+ *
+ * @par Function Description
+ * Kick off a new single shot range then wait for ready to retrieve it by polling interrupt status \n
+ * Ranging must be prepared by a first call to @a VL6180x_Prepare() and it is safer to clear very first poll call \n
+ * This function reference VL6180x_PollDelay(dev) porting macro/call on each polling loop,
+ * but PollDelay(dev) may never be called if measure in ready on first poll loop \n
+ * Should not be use in continuous mode operation as it will stop it and cause stop/start misbehaviour \n
+ * \n This function clears Range Interrupt status , but not error one. For that uses @a VL6180x_ClearErrorInterrupt() \n
+ * This range error is not related VL6180x_RangeData_t::errorStatus that refer measure status \n
+ *
+ * @param pRangeData Will be populated with the result ranging data @a VL6180x_RangeData_t
+ * @return 0 on success , @a #RANGE_ERROR if device reports an error case in it status (not cleared) use
+ *
+ * \sa ::VL6180x_RangeData_t
+ */
int RangePollMeasurement(VL53L0X_RangingMeasurementData_t *pRangeData)
{
// return VL6180x_RangePollMeasurement(Device, pRangeData);
- return 1;
+ return 1;
}
-/**
- * @brief Check for measure readiness and get it if ready
- *
- * @par Function Description
- * Using this function is an alternative to @a VL6180x_RangePollMeasurement() to avoid polling operation. This is suitable for applications
- * where host CPU is triggered on a interrupt (not from VL6180X) to perform ranging operation. In this scenario, we assume that the very first ranging
- * operation is triggered by a call to @a VL6180x_RangeStartSingleShot(). Then, host CPU regularly calls @a VL6180x_RangeGetMeasurementIfReady() to
- * get a distance measure if ready. In case the distance is not ready, host may get it at the next call.\n
- *
- * @warning
- * This function does not re-start a new measurement : this is up to the host CPU to do it.\n
- * This function clears Range Interrupt for measure ready , but not error interrupts. For that, uses @a VL6180x_ClearErrorInterrupt() \n
- *
- * @param pRangeData Will be populated with the result ranging data if available
- * @return 0 when measure is ready pRange data is updated (untouched when not ready), >0 for warning and @a #NOT_READY if measurement not yet ready, <0 for error @a #RANGE_ERROR if device report an error,
- */
+ /**
+ * @brief Check for measure readiness and get it if ready
+ *
+ * @par Function Description
+ * Using this function is an alternative to @a VL6180x_RangePollMeasurement() to avoid polling operation. This is suitable for applications
+ * where host CPU is triggered on a interrupt (not from VL6180X) to perform ranging operation. In this scenario, we assume that the very first ranging
+ * operation is triggered by a call to @a VL6180x_RangeStartSingleShot(). Then, host CPU regularly calls @a VL6180x_RangeGetMeasurementIfReady() to
+ * get a distance measure if ready. In case the distance is not ready, host may get it at the next call.\n
+ *
+ * @warning
+ * This function does not re-start a new measurement : this is up to the host CPU to do it.\n
+ * This function clears Range Interrupt for measure ready , but not error interrupts. For that, uses @a VL6180x_ClearErrorInterrupt() \n
+ *
+ * @param pRangeData Will be populated with the result ranging data if available
+ * @return 0 when measure is ready pRange data is updated (untouched when not ready), >0 for warning and @a #NOT_READY if measurement not yet ready, <0 for error @a #RANGE_ERROR if device report an error,
+ */
int RangeGetMeasurementIfReady(VL53L0X_RangingMeasurementData_t *pRangeData)
{
// return VL6180x_RangeGetMeasurementIfReady(Device, pRangeData);
- return 1;
+ return 1;
}
-/**
- * @brief Retrieve range measurements set from device
- *
- * @par Function Description
- * The measurement is made of range_mm status and error code @a VL6180x_RangeData_t \n
- * Based on configuration selected extra measures are included.
- *
- * @warning should not be used in continuous if wrap around filter is active \n
- * Does not perform any wait nor check for result availability or validity.
- *\sa VL6180x_RangeGetResult for "range only" measurement
- *
- * @param pRangeData Pointer to the data structure to fill up
- * @return 0 on success
- */
+ /**
+ * @brief Retrieve range measurements set from device
+ *
+ * @par Function Description
+ * The measurement is made of range_mm status and error code @a VL6180x_RangeData_t \n
+ * Based on configuration selected extra measures are included.
+ *
+ * @warning should not be used in continuous if wrap around filter is active \n
+ * Does not perform any wait nor check for result availability or validity.
+ *\sa VL6180x_RangeGetResult for "range only" measurement
+ *
+ * @param pRangeData Pointer to the data structure to fill up
+ * @return 0 on success
+ */
int RangeGetMeasurement(VL53L0X_RangingMeasurementData_t *pRangeData)
{
// return VL6180x_RangeGetMeasurement(Device, pRangeData);
- return 1;
+ return 1;
}
-/**
- * @brief Get ranging result and only that
- *
- * @par Function Description
- * Unlike @a VL6180x_RangeGetMeasurement() this function only retrieves the range in millimeter \n
- * It does any required up-scale translation\n
- * It can be called after success status polling or in interrupt mode \n
- * @warning these function is not doing wrap around filtering \n
- * This function doesn't perform any data ready check!
- *
- * @param pRange_mm Pointer to range distance
- * @return 0 on success
- */
+ /**
+ * @brief Get ranging result and only that
+ *
+ * @par Function Description
+ * Unlike @a VL6180x_RangeGetMeasurement() this function only retrieves the range in millimeter \n
+ * It does any required up-scale translation\n
+ * It can be called after success status polling or in interrupt mode \n
+ * @warning these function is not doing wrap around filtering \n
+ * This function doesn't perform any data ready check!
+ *
+ * @param pRange_mm Pointer to range distance
+ * @return 0 on success
+ */
virtual int get_distance(uint32_t *piData)
{
int status=0;
@@ -714,693 +716,691 @@
status=GetMeasurement(range_single_shot_polling, &pRangingMeasurementData);
}
if (pRangingMeasurementData.RangeStatus == 0) {
- // we have a valid range.
+ // we have a valid range.
*piData = pRangingMeasurementData.RangeMilliMeter;
- }
- else {
+ } else {
*piData = 0;
status = VL53L0X_ERROR_RANGE_ERROR;
}
StopMeasurement(range_single_shot_polling);
return status;
}
-/* Deprecated function from RangeSensor class. For backward compatibility*/
- virtual int GetDistance(uint32_t *piData)
- {
- return get_distance(piData);
- }
-/**
- * @brief Configure ranging interrupt reported to application
- *
- * @param ConfigGpioInt Select ranging report\n select one (and only one) of:\n
- * @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
- * @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
- * @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
- * @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
- * @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
- * @return 0 on success
- */
+ /* Deprecated function from RangeSensor class. For backward compatibility*/
+ virtual int GetDistance(uint32_t *piData)
+ {
+ return get_distance(piData);
+ }
+ /**
+ * @brief Configure ranging interrupt reported to application
+ *
+ * @param ConfigGpioInt Select ranging report\n select one (and only one) of:\n
+ * @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
+ * @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
+ * @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
+ * @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
+ * @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
+ * @return 0 on success
+ */
int RangeConfigInterrupt(uint8_t ConfigGpioInt)
{
- int status = VL53L0X_ERROR_NONE;
-/* if( ConfigGpioInt<= VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY)
- {
- status = VL53L0X_UpdateByte(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~(0x7<<0)), ConfigGpioInt);
- }
- else
- {
- status = 1;
- }
-*/
+ int status = VL53L0X_ERROR_NONE;
+ /* if( ConfigGpioInt<= VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY)
+ {
+ status = VL53L0X_UpdateByte(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, (uint8_t)(~(0x7<<0)), ConfigGpioInt);
+ }
+ else
+ {
+ status = 1;
+ }
+ */
// return VL6180x_RangeConfigInterrupt(Device, ConfigGpioInt);
- return status;
+ return status;
}
-/**
- * @brief Return ranging error interrupt status
- *
- * @par Function Description
- * Appropriate Interrupt report must have been selected first by @a VL6180x_RangeConfigInterrupt() or @a VL6180x_Prepare() \n
- *
- * Can be used in polling loop to wait for a given ranging event or in interrupt to read the trigger \n
- * Events triggers are : \n
- * @a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n
- * @a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n
- * @a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n (RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD|RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
- * @a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY \n
- *
- * @sa IntrStatus_t
- * @param pIntStatus Pointer to status variable to update
- * @return 0 on success
- */
+ /**
+ * @brief Return ranging error interrupt status
+ *
+ * @par Function Description
+ * Appropriate Interrupt report must have been selected first by @a VL6180x_RangeConfigInterrupt() or @a VL6180x_Prepare() \n
+ *
+ * Can be used in polling loop to wait for a given ranging event or in interrupt to read the trigger \n
+ * Events triggers are : \n
+ * @a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n
+ * @a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n
+ * @a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n (RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD|RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
+ * @a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY \n
+ *
+ * @sa IntrStatus_t
+ * @param pIntStatus Pointer to status variable to update
+ * @return 0 on success
+ */
int RangeGetInterruptStatus(uint8_t *pIntStatus)
{
// return VL6180x_RangeGetInterruptStatus(Device, pIntStatus);
- return 1;
+ return 1;
}
-/**
- * @brief Low level ranging and ALS register static settings (you should call @a VL6180x_Prepare() function instead)
- *
- * @return 0 on success
- */
+ /**
+ * @brief Low level ranging and ALS register static settings (you should call @a VL6180x_Prepare() function instead)
+ *
+ * @return 0 on success
+ */
int StaticInit()
{
// return VL6180x_StaticInit(Device);
- return 1;
+ return 1;
}
-/**
- * @brief Wait for device to be ready (before a new ranging command can be issued by application)
- * @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop
- * @return 0 on success. <0 when fail \n
- * @ref VL6180x_ErrCode_t::TIME_OUT for time out \n
- * @ref VL6180x_ErrCode_t::INVALID_PARAMS if MaxLop<1
- */
+ /**
+ * @brief Wait for device to be ready (before a new ranging command can be issued by application)
+ * @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop
+ * @return 0 on success. <0 when fail \n
+ * @ref VL6180x_ErrCode_t::TIME_OUT for time out \n
+ * @ref VL6180x_ErrCode_t::INVALID_PARAMS if MaxLop<1
+ */
int RangeWaitDeviceReady(int MaxLoop )
{
// return VL6180x_RangeWaitDeviceReady(Device, MaxLoop);
- return 1;
+ return 1;
}
-/**
- * @brief Program Inter measurement period (used only in continuous mode)
- *
- * @par Function Description
- * When trying to set too long time, it returns #INVALID_PARAMS
- *
- * @param InterMeasTime_msec Requires inter-measurement time in msec
- * @return 0 on success
- */
+ /**
+ * @brief Program Inter measurement period (used only in continuous mode)
+ *
+ * @par Function Description
+ * When trying to set too long time, it returns #INVALID_PARAMS
+ *
+ * @param InterMeasTime_msec Requires inter-measurement time in msec
+ * @return 0 on success
+ */
int RangeSetInterMeasPeriod(uint32_t InterMeasTime_msec)
{
// return VL6180x_RangeSetInterMeasPeriod(Device, InterMeasTime_msec);
- return 1;
+ return 1;
}
-/**
- * @brief Set device ranging scaling factor
- *
- * @par Function Description
- * The ranging scaling factor is applied on the raw distance measured by the device to increase operating ranging at the price of the precision.
- * Changing the scaling factor when device is not in f/w standby state (free running) is not safe.
- * It can be source of spurious interrupt, wrongly scaled range etc ...
- * @warning __This function doesns't update high/low threshold and other programmed settings linked to scaling factor__.
- * To ensure proper operation, threshold and scaling changes should be done following this procedure: \n
- * @li Set Group hold : @a VL6180x_SetGroupParamHold() \n
- * @li Get Threshold @a VL6180x_RangeGetThresholds() \n
- * @li Change scaling : @a VL6180x_UpscaleSetScaling() \n
- * @li Set Threshold : @a VL6180x_RangeSetThresholds() \n
- * @li Unset Group Hold : @a VL6180x_SetGroupParamHold()
- *
- * @param scaling Scaling factor to apply (1,2 or 3)
- * @return 0 on success when up-scale support is not configured it fail for any
- * scaling than the one statically configured.
- */
+ /**
+ * @brief Set device ranging scaling factor
+ *
+ * @par Function Description
+ * The ranging scaling factor is applied on the raw distance measured by the device to increase operating ranging at the price of the precision.
+ * Changing the scaling factor when device is not in f/w standby state (free running) is not safe.
+ * It can be source of spurious interrupt, wrongly scaled range etc ...
+ * @warning __This function doesns't update high/low threshold and other programmed settings linked to scaling factor__.
+ * To ensure proper operation, threshold and scaling changes should be done following this procedure: \n
+ * @li Set Group hold : @a VL6180x_SetGroupParamHold() \n
+ * @li Get Threshold @a VL6180x_RangeGetThresholds() \n
+ * @li Change scaling : @a VL6180x_UpscaleSetScaling() \n
+ * @li Set Threshold : @a VL6180x_RangeSetThresholds() \n
+ * @li Unset Group Hold : @a VL6180x_SetGroupParamHold()
+ *
+ * @param scaling Scaling factor to apply (1,2 or 3)
+ * @return 0 on success when up-scale support is not configured it fail for any
+ * scaling than the one statically configured.
+ */
int UpscaleSetScaling(uint8_t scaling)
{
// return VL6180x_UpscaleSetScaling(Device, scaling);
- return 1;
+ return 1;
}
-/**
- * @brief Get current ranging scaling factor
- *
- * @return The current scaling factor
- */
+ /**
+ * @brief Get current ranging scaling factor
+ *
+ * @return The current scaling factor
+ */
int UpscaleGetScaling()
{
// return VL6180x_UpscaleGetScaling(Device);
- return 1;
+ return 1;
}
-/**
- * @brief Get the maximal distance for actual scaling
- * @par Function Description
- * Do not use prior to @a VL6180x_Prepare() or at least @a VL6180x_InitData()
- *
- * Any range value more than the value returned by this function is to be considered as "no target detected"
- * or "no target in detectable range" \n
- * @warning The maximal distance depends on the scaling
- *
- * @return The maximal range limit for actual mode and scaling
- */
+ /**
+ * @brief Get the maximal distance for actual scaling
+ * @par Function Description
+ * Do not use prior to @a VL6180x_Prepare() or at least @a VL6180x_InitData()
+ *
+ * Any range value more than the value returned by this function is to be considered as "no target detected"
+ * or "no target in detectable range" \n
+ * @warning The maximal distance depends on the scaling
+ *
+ * @return The maximal range limit for actual mode and scaling
+ */
uint16_t GetUpperLimit()
{
// return VL6180x_GetUpperLimit(Device);
- return 1;
+ return 1;
}
-/**
- * @brief Apply low and high ranging thresholds that are considered only in continuous mode
- *
- * @par Function Description
- * This function programs low and high ranging thresholds that are considered in continuous mode :
- * interrupt will be raised only when an object is detected at a distance inside this [low:high] range.
- * The function takes care of applying current scaling factor if any.\n
- * To be safe, in continuous operation, thresholds must be changed under "group parameter hold" cover.
- * Group hold can be activated/deactivated directly in the function or externally (then set 0)
- * using /a VL6180x_SetGroupParamHold() function.
- *
- * @param low Low threshold in mm
- * @param high High threshold in mm
- * @param SafeHold Use of group parameters hold to surround threshold programming.
- * @return 0 On success
- */
+ /**
+ * @brief Apply low and high ranging thresholds that are considered only in continuous mode
+ *
+ * @par Function Description
+ * This function programs low and high ranging thresholds that are considered in continuous mode :
+ * interrupt will be raised only when an object is detected at a distance inside this [low:high] range.
+ * The function takes care of applying current scaling factor if any.\n
+ * To be safe, in continuous operation, thresholds must be changed under "group parameter hold" cover.
+ * Group hold can be activated/deactivated directly in the function or externally (then set 0)
+ * using /a VL6180x_SetGroupParamHold() function.
+ *
+ * @param low Low threshold in mm
+ * @param high High threshold in mm
+ * @param SafeHold Use of group parameters hold to surround threshold programming.
+ * @return 0 On success
+ */
int RangeSetThresholds(uint16_t low, uint16_t high, int SafeHold)
{
// return VL6180x_RangeSetThresholds(Device, low, high, SafeHold);
- return 1;
+ return 1;
}
-/**
- * @brief Get scaled high and low threshold from device
- *
- * @par Function Description
- * Due to scaling factor, the returned value may be different from what has been programmed first (precision lost).
- * For instance VL6180x_RangeSetThresholds(dev,11,22) with scale 3
- * will read back 9 ((11/3)x3) and 21 ((22/3)x3).
- *
- * @param low scaled low Threshold ptr can be NULL if not needed
- * @param high scaled High Threshold ptr can be NULL if not needed
- * @return 0 on success, return value is undefined if both low and high are NULL
- * @warning return value is undefined if both low and high are NULL
- */
+ /**
+ * @brief Get scaled high and low threshold from device
+ *
+ * @par Function Description
+ * Due to scaling factor, the returned value may be different from what has been programmed first (precision lost).
+ * For instance VL6180x_RangeSetThresholds(dev,11,22) with scale 3
+ * will read back 9 ((11/3)x3) and 21 ((22/3)x3).
+ *
+ * @param low scaled low Threshold ptr can be NULL if not needed
+ * @param high scaled High Threshold ptr can be NULL if not needed
+ * @return 0 on success, return value is undefined if both low and high are NULL
+ * @warning return value is undefined if both low and high are NULL
+ */
int RangeGetThresholds(uint16_t *low, uint16_t *high)
{
// return VL6180x_RangeGetThresholds(Device, low, high);
- return 1;
+ return 1;
}
-/**
- * @brief Set ranging raw thresholds (scaling not considered so not recommended to use it)
- *
- * @param low raw low threshold set to raw register
- * @param high raw high threshold set to raw register
- * @return 0 on success
- */
+ /**
+ * @brief Set ranging raw thresholds (scaling not considered so not recommended to use it)
+ *
+ * @param low raw low threshold set to raw register
+ * @param high raw high threshold set to raw register
+ * @return 0 on success
+ */
int RangeSetRawThresholds(uint8_t low, uint8_t high)
{
// return VL6180x_RangeSetRawThresholds(Device, low, high);
- return 1;
+ return 1;
}
-/**
- * @brief Set Early Convergence Estimate ratio
- * @par Function Description
- * For more information on ECE check datasheet
- * @warning May return a calibration warning in some use cases
- *
- * @param FactorM ECE factor M in M/D
- * @param FactorD ECE factor D in M/D
- * @return 0 on success. <0 on error. >0 on warning
- */
+ /**
+ * @brief Set Early Convergence Estimate ratio
+ * @par Function Description
+ * For more information on ECE check datasheet
+ * @warning May return a calibration warning in some use cases
+ *
+ * @param FactorM ECE factor M in M/D
+ * @param FactorD ECE factor D in M/D
+ * @return 0 on success. <0 on error. >0 on warning
+ */
int RangeSetEceFactor(uint16_t FactorM, uint16_t FactorD)
{
// return VL6180x_RangeSetEceFactor(Device, FactorM, FactorD);
- return 1;
+ return 1;
}
-/**
- * @brief Set Early Convergence Estimate state (See #SYSRANGE_RANGE_CHECK_ENABLES register)
- * @param enable State to be set 0=disabled, otherwise enabled
- * @return 0 on success
- */
+ /**
+ * @brief Set Early Convergence Estimate state (See #SYSRANGE_RANGE_CHECK_ENABLES register)
+ * @param enable State to be set 0=disabled, otherwise enabled
+ * @return 0 on success
+ */
int RangeSetEceState(int enable)
{
// return VL6180x_RangeSetEceState(Device, enable);
- return 1;
+ return 1;
}
-/**
- * @brief Set activation state of the wrap around filter
- * @param state New activation state (0=off, otherwise on)
- * @return 0 on success
- */
+ /**
+ * @brief Set activation state of the wrap around filter
+ * @param state New activation state (0=off, otherwise on)
+ * @return 0 on success
+ */
int FilterSetState(int state)
{
// return VL6180x_FilterSetState(Device, state);
- return 1;
+ return 1;
}
-/**
- * Get activation state of the wrap around filter
- * @return Filter enabled or not, when filter is not supported it always returns 0S
- */
+ /**
+ * Get activation state of the wrap around filter
+ * @return Filter enabled or not, when filter is not supported it always returns 0S
+ */
int FilterGetState()
{
// return VL6180x_FilterGetState(Device);
- return 1;
+ return 1;
}
-/**
- * @brief Set activation state of DMax computation
- * @param state New activation state (0=off, otherwise on)
- * @return 0 on success
- */
+ /**
+ * @brief Set activation state of DMax computation
+ * @param state New activation state (0=off, otherwise on)
+ * @return 0 on success
+ */
int DMaxSetState(int state)
{
// return VL6180x_DMaxSetState(Device, state);
- return 1;
+ return 1;
}
-/**
- * Get activation state of DMax computation
- * @return Filter enabled or not, when filter is not supported it always returns 0S
- */
+ /**
+ * Get activation state of DMax computation
+ * @return Filter enabled or not, when filter is not supported it always returns 0S
+ */
int DMaxGetState()
{
// return VL6180x_DMaxGetState(Device);
- return 1;
+ return 1;
}
-/**
- * @brief Set ranging mode and start/stop measure (use high level functions instead : @a VL6180x_RangeStartSingleShot() or @a VL6180x_RangeStartContinuousMode())
- *
- * @par Function Description
- * When used outside scope of known polling single shot stopped state, \n
- * user must ensure the device state is "idle" before to issue a new command.
- *
- * @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start/stop condition (#MODE_START_STOP) \n
- * @return 0 on success
- */
+ /**
+ * @brief Set ranging mode and start/stop measure (use high level functions instead : @a VL6180x_RangeStartSingleShot() or @a VL6180x_RangeStartContinuousMode())
+ *
+ * @par Function Description
+ * When used outside scope of known polling single shot stopped state, \n
+ * user must ensure the device state is "idle" before to issue a new command.
+ *
+ * @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start/stop condition (#MODE_START_STOP) \n
+ * @return 0 on success
+ */
int RangeSetSystemMode(uint8_t mode)
- {
- int status;
- /* FIXME we are not checking device is ready via @a VL6180X_RangeWaitDeviceReady
- * so if called back to back real fast we are not checking
- * if previous mode "set" got absorbed => bit 0 must be 0 so that it work
- */
- if( mode <= 3){
- status=VL53L0X_WrByte(Device, VL53L0X_REG_SYSRANGE_START, mode);
- if( status ){
- VL53L0X_ErrLog("SYSRANGE_START wr fail");
- }
- }
- else{
- status = 1;
- }
- return status;
+ {
+ int status;
+ /* FIXME we are not checking device is ready via @a VL6180X_RangeWaitDeviceReady
+ * so if called back to back real fast we are not checking
+ * if previous mode "set" got absorbed => bit 0 must be 0 so that it work
+ */
+ if( mode <= 3) {
+ status=VL53L0X_WrByte(Device, VL53L0X_REG_SYSRANGE_START, mode);
+ if( status ) {
+ VL53L0X_ErrLog("SYSRANGE_START wr fail");
+ }
+ } else {
+ status = 1;
+ }
+ return status;
// return VL6180x_RangeSetSystemMode(Device, mode);
// return 1;
}
-/** @} */
+ /** @} */
-/** @defgroup api_ll_range_calibration Ranging calibration functions
- * @brief Ranging calibration functions
- * @ingroup api_ll
- * @{
- */
-/**
- * @brief Get part to part calibration offset
- *
- * @par Function Description
- * Should only be used after a successful call to @a VL6180x_InitData to backup device nvm value
- *
- * @return part to part calibration offset from device
- */
+ /** @defgroup api_ll_range_calibration Ranging calibration functions
+ * @brief Ranging calibration functions
+ * @ingroup api_ll
+ * @{
+ */
+ /**
+ * @brief Get part to part calibration offset
+ *
+ * @par Function Description
+ * Should only be used after a successful call to @a VL6180x_InitData to backup device nvm value
+ *
+ * @return part to part calibration offset from device
+ */
int8_t GetOffsetCalibrationData()
{
// return VL6180x_GetOffsetCalibrationData(Device);
- return 1;
+ return 1;
}
-/**
- * Set or over-write part to part calibration offset
- * \sa VL6180x_InitData(), VL6180x_GetOffsetCalibrationData()
- * @param offset Offset
- */
+ /**
+ * Set or over-write part to part calibration offset
+ * \sa VL6180x_InitData(), VL6180x_GetOffsetCalibrationData()
+ * @param offset Offset
+ */
void SetOffsetCalibrationData(int8_t offset)
{
// return VL6180x_SetOffsetCalibrationData(Device, offset);
- return;
+ return;
}
-/**
- * @brief Set Cross talk compensation rate
- *
- * @par Function Description
- * It programs register @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE
- *
- * @param Rate Compensation rate (9.7 fix point) see datasheet for details
- * @return 0 on success
- */
+ /**
+ * @brief Set Cross talk compensation rate
+ *
+ * @par Function Description
+ * It programs register @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE
+ *
+ * @param Rate Compensation rate (9.7 fix point) see datasheet for details
+ * @return 0 on success
+ */
int SetXTalkCompensationRate(uint16_t Rate)
{
// return VL6180x_SetXTalkCompensationRate(Device, Rate);
- return 1;
+ return 1;
}
-/** @} */
+ /** @} */
-/**
- * @brief Set new device i2c address
- *
- * After completion the device will answer to the new address programmed.
- *
- * @sa AN4478: Using multiple VL6180X's in a single design
- * @param NewAddr The new i2c address (7bit)
- * @return 0 on success
- */
+ /**
+ * @brief Set new device i2c address
+ *
+ * After completion the device will answer to the new address programmed.
+ *
+ * @sa AN4478: Using multiple VL6180X's in a single design
+ * @param NewAddr The new i2c address (7bit)
+ * @return 0 on success
+ */
int SetDeviceAddress(int NewAddr)
{
- int status;
-
- status=VL53L0X_SetDeviceAddress(Device, NewAddr);
- if(!status)
- Device->I2cDevAddr=NewAddr;
- return status;
+ int status;
+
+ status=VL53L0X_SetDeviceAddress(Device, NewAddr);
+ if(!status)
+ Device->I2cDevAddr=NewAddr;
+ return status;
}
-/**
- * @brief Fully configure gpio 0/1 pin : polarity and functionality
- *
- * @param pin gpio pin 0 or 1
- * @param IntFunction Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
- * @param ActiveHigh Set active high polarity, or active low see @a ::IntrPol_e
- * @return 0 on success
- */
+ /**
+ * @brief Fully configure gpio 0/1 pin : polarity and functionality
+ *
+ * @param pin gpio pin 0 or 1
+ * @param IntFunction Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
+ * @param ActiveHigh Set active high polarity, or active low see @a ::IntrPol_e
+ * @return 0 on success
+ */
int SetupGPIOx(int pin, uint8_t IntFunction, int ActiveHigh)
{
// return VL6180x_SetupGPIOx(Device, pin, IntFunction, ActiveHigh);
- return 1;
+ return 1;
}
-/**
- * @brief Set interrupt pin polarity for the given GPIO
- *
- * @param pin Pin 0 or 1
- * @param active_high select active high or low polarity using @ref IntrPol_e
- * @return 0 on success
- */
+ /**
+ * @brief Set interrupt pin polarity for the given GPIO
+ *
+ * @param pin Pin 0 or 1
+ * @param active_high select active high or low polarity using @ref IntrPol_e
+ * @return 0 on success
+ */
int SetGPIOxPolarity(int pin, int active_high)
{
// return VL6180x_SetGPIOxPolarity(Device, pin, active_high);
- return 1;
+ return 1;
}
-/**
- * Select interrupt functionality for the given GPIO
- *
- * @par Function Description
- * Functionality refer to @a SYSTEM_MODE_GPIO0
- *
- * @param pin Pin to configure 0 or 1 (gpio0 or gpio1)\nNote that gpio0 is chip enable at power up !
- * @param functionality Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
- * @return 0 on success
- */
+ /**
+ * Select interrupt functionality for the given GPIO
+ *
+ * @par Function Description
+ * Functionality refer to @a SYSTEM_MODE_GPIO0
+ *
+ * @param pin Pin to configure 0 or 1 (gpio0 or gpio1)\nNote that gpio0 is chip enable at power up !
+ * @param functionality Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
+ * @return 0 on success
+ */
int SetGPIOxFunctionality(int pin, uint8_t functionality)
{
// return VL6180x_SetGPIOxFunctionality(Device, pin, functionality);
- return 1;
+ return 1;
}
-/**
- * #brief Disable and turn to Hi-Z gpio output pin
- *
- * @param pin The pin number to disable 0 or 1
- * @return 0 on success
- */
+ /**
+ * #brief Disable and turn to Hi-Z gpio output pin
+ *
+ * @param pin The pin number to disable 0 or 1
+ * @return 0 on success
+ */
int DisableGPIOxOut(int pin)
{
// return VL6180x_DisableGPIOxOut(Device, pin);
- return 1;
+ return 1;
}
-/** @} */
+ /** @} */
-/** @defgroup api_ll_intr Interrupts management functions
- * @brief Interrupts management functions
- * @ingroup api_ll
- * @{
- */
+ /** @defgroup api_ll_intr Interrupts management functions
+ * @brief Interrupts management functions
+ * @ingroup api_ll
+ * @{
+ */
-/**
- * @brief Get all interrupts cause
- *
- * @param status Ptr to interrupt status. You can use @a IntrStatus_t::val
- * @return 0 on success
- */
+ /**
+ * @brief Get all interrupts cause
+ *
+ * @param status Ptr to interrupt status. You can use @a IntrStatus_t::val
+ * @return 0 on success
+ */
int GetInterruptStatus(uint8_t *status)
{
// return VL6180x_GetInterruptStatus(Device, status);
- return 1;
+ return 1;
}
-/**
- * @brief Clear given system interrupt condition
- *
- * @par Function Description
- * Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register.
- * @param dev The device
- * @param IntClear Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR.
- * @return 0 On success
- */
+ /**
+ * @brief Clear given system interrupt condition
+ *
+ * @par Function Description
+ * Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register.
+ * @param dev The device
+ * @param IntClear Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR.
+ * @return 0 On success
+ */
int ClearInterrupt(uint8_t IntClear)
{
- int status = VL53L0X_WrByte(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, IntClear);
+ int status = VL53L0X_WrByte(Device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, IntClear);
// return VL6180x_ClearInterrupt(Device, IntClear );
- return status;
+ return status;
}
-/**
- * @brief Clear error interrupt
- *
- * @param dev The device
- * @return 0 On success
- */
- #define VL6180x_ClearErrorInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR)
+ /**
+ * @brief Clear error interrupt
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+#define VL6180x_ClearErrorInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR)
-/**
- * @brief Clear All interrupt causes (als+range+error)
- *
- * @param dev The device
- * @return 0 On success
- */
+ /**
+ * @brief Clear All interrupt causes (als+range+error)
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
#define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
-
+
- private:
+private:
/* api.h functions */
VL53L0X_Error VL53L0X_DataInit(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_GetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, int32_t *pOffsetCalibrationDataMicroMeter);
VL53L0X_Error VL53L0X_SetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev,
- int32_t OffsetCalibrationDataMicroMeter);
+ int32_t OffsetCalibrationDataMicroMeter);
VL53L0X_Error VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev,
- VL53L0X_DeviceParameters_t *pDeviceParameters);
+ VL53L0X_DeviceParameters_t *pDeviceParameters);
VL53L0X_Error VL53L0X_GetDeviceMode(VL53L0X_DEV Dev,
- VL53L0X_DeviceModes *pDeviceMode);
+ VL53L0X_DeviceModes *pDeviceMode);
VL53L0X_Error VL53L0X_GetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev,
- uint32_t *pInterMeasurementPeriodMilliSeconds);
+ uint32_t *pInterMeasurementPeriodMilliSeconds);
VL53L0X_Error VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev,
- FixPoint1616_t *pXTalkCompensationRateMegaCps);
+ FixPoint1616_t *pXTalkCompensationRateMegaCps);
VL53L0X_Error VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
- FixPoint1616_t *pLimitCheckValue);
+ FixPoint1616_t *pLimitCheckValue);
VL53L0X_Error VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
- uint8_t *pLimitCheckEnable);
+ uint8_t *pLimitCheckEnable);
VL53L0X_Error VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev,
- uint8_t *pWrapAroundCheckEnable);
+ uint8_t *pWrapAroundCheckEnable);
VL53L0X_Error VL53L0X_GetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
- uint32_t *pMeasurementTimingBudgetMicroSeconds);
+ uint32_t *pMeasurementTimingBudgetMicroSeconds);
VL53L0X_Error VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev,
- VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps);
+ VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps);
VL53L0X_Error sequence_step_enabled(VL53L0X_DEV Dev,
- VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig,
- uint8_t *pSequenceStepEnabled);
+ VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig,
+ uint8_t *pSequenceStepEnabled);
VL53L0X_Error VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev,
- VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK);
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK);
VL53L0X_Error VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev,
- VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
VL53L0X_Error VL53L0X_StaticInit(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev,
- uint8_t *pMeasurementDataReady);
+ uint8_t *pMeasurementDataReady);
VL53L0X_Error VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev,
- uint32_t *pInterruptMaskStatus);
+ uint32_t *pInterruptMaskStatus);
VL53L0X_Error VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask);
VL53L0X_Error VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev,
- VL53L0X_RangingMeasurementData_t *pRangingMeasurementData);
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData);
VL53L0X_Error VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, VL53L0X_DeviceModes DeviceMode);
VL53L0X_Error VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_StartMeasurement(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_CheckAndLoadInterruptSettings(VL53L0X_DEV Dev,
- uint8_t StartNotStopFlag);
+ uint8_t StartNotStopFlag);
VL53L0X_Error VL53L0X_SetInterruptThresholds(VL53L0X_DEV Dev,
- VL53L0X_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow,
- FixPoint1616_t ThresholdHigh);
+ VL53L0X_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow,
+ FixPoint1616_t ThresholdHigh);
VL53L0X_Error VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev,
- VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow,
- FixPoint1616_t *pThresholdHigh);
+ VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow,
+ FixPoint1616_t *pThresholdHigh);
VL53L0X_Error VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev,
- VL53L0X_RangingMeasurementData_t *pRangingMeasurementData);
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData);
VL53L0X_Error VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev,
- uint8_t *pXTalkCompensationEnable);
+ uint8_t *pXTalkCompensationEnable);
VL53L0X_Error VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings,
- uint8_t *pPhaseCal);
+ uint8_t *pPhaseCal);
VL53L0X_Error VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev,
- uint32_t *refSpadCount, uint8_t *isApertureSpads);
+ uint32_t *refSpadCount, uint8_t *isApertureSpads);
VL53L0X_Error VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, uint8_t DeviceAddress);
VL53L0X_Error VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin,
- VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality,
- VL53L0X_InterruptPolarity Polarity);
+ VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality,
+ VL53L0X_InterruptPolarity Polarity);
VL53L0X_Error VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, uint8_t *pEnabled);
VL53L0X_Error VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev,
- VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled);
+ VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled);
VL53L0X_Error VL53L0X_SetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
- uint32_t MeasurementTimingBudgetMicroSeconds);
+ uint32_t MeasurementTimingBudgetMicroSeconds);
VL53L0X_Error VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
- uint8_t LimitCheckEnable);
+ uint8_t LimitCheckEnable);
VL53L0X_Error VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
- FixPoint1616_t LimitCheckValue);
+ FixPoint1616_t LimitCheckValue);
VL53L0X_Error VL53L0X_StopMeasurement(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev,
- uint32_t *pStopStatus);
+ uint32_t *pStopStatus);
VL53L0X_Error VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev,
- VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriod);
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriod);
/* api_core.h functions */
VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option);
VL53L0X_Error VL53L0X_device_read_strobe(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev,
- uint32_t *pMeasurementTimingBudgetMicroSeconds);
+ uint32_t *pMeasurementTimingBudgetMicroSeconds);
VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev,
- VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK);
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK);
uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg);
uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout);
uint32_t VL53L0X_calc_timeout_us(VL53L0X_DEV Dev,
- uint16_t timeout_period_mclks,
- uint8_t vcsel_period_pclks);
+ uint16_t timeout_period_mclks,
+ uint8_t vcsel_period_pclks);
uint32_t VL53L0X_calc_macro_period_ps(VL53L0X_DEV Dev, uint8_t vcsel_period_pclks);
VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV Dev,
- uint8_t *pTuningSettingBuffer);
+ uint8_t *pTuningSettingBuffer);
VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV Dev,
- uint8_t DeviceRangeStatus,
- FixPoint1616_t SignalRate,
- uint16_t EffectiveSpadRtnCount,
- VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
- uint8_t *pPalRangeStatus);
+ uint8_t DeviceRangeStatus,
+ FixPoint1616_t SignalRate,
+ uint16_t EffectiveSpadRtnCount,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ uint8_t *pPalRangeStatus);
VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev,
- VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
- FixPoint1616_t *pSigmaEstimate,
- uint32_t *pDmax_mm);
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *pSigmaEstimate,
+ uint32_t *pDmax_mm);
VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev,
- VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
- FixPoint1616_t *ptotal_signal_rate_mcps);
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *ptotal_signal_rate_mcps);
VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev,
- VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
- FixPoint1616_t *ptotal_xtalk_rate_mcps);
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *ptotal_xtalk_rate_mcps);
uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev,
- uint32_t timeout_period_us,
- uint8_t vcsel_period_pclks);
+ uint32_t timeout_period_us,
+ uint8_t vcsel_period_pclks);
uint32_t VL53L0X_isqrt(uint32_t num);
VL53L0X_Error VL53L0X_calc_dmax(
- VL53L0X_DEV Dev,
- FixPoint1616_t totalSignalRate_mcps,
- FixPoint1616_t totalCorrSignalRate_mcps,
- FixPoint1616_t pwMult,
- uint32_t sigmaEstimateP1,
- FixPoint1616_t sigmaEstimateP2,
- uint32_t peakVcselDuration_us,
- uint32_t *pdmax_mm);
+ VL53L0X_DEV Dev,
+ FixPoint1616_t totalSignalRate_mcps,
+ FixPoint1616_t totalCorrSignalRate_mcps,
+ FixPoint1616_t pwMult,
+ uint32_t sigmaEstimateP1,
+ FixPoint1616_t sigmaEstimateP2,
+ uint32_t peakVcselDuration_us,
+ uint32_t *pdmax_mm);
VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev,
- uint32_t MeasurementTimingBudgetMicroSeconds);
+ uint32_t MeasurementTimingBudgetMicroSeconds);
VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV Dev,
- VL53L0X_SequenceStepId SequenceStepId,
- uint32_t *pTimeOutMicroSecs);
+ VL53L0X_SequenceStepId SequenceStepId,
+ uint32_t *pTimeOutMicroSecs);
VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV Dev,
- VL53L0X_SequenceStepId SequenceStepId,
- uint32_t TimeOutMicroSecs);
+ VL53L0X_SequenceStepId SequenceStepId,
+ uint32_t TimeOutMicroSecs);
uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks);
VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev,
- VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK);
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK);
uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks);
/* api_calibration.h functions */
VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
- int32_t *pOffsetCalibrationDataMicroMeter);
+ int32_t *pOffsetCalibrationDataMicroMeter);
VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
- int32_t OffsetCalibrationDataMicroMeter);
+ int32_t OffsetCalibrationDataMicroMeter);
VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev,
- uint32_t *refSpadCount,
- uint8_t *isApertureSpads);
+ uint32_t *refSpadCount,
+ uint8_t *isApertureSpads);
VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev,
- uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable);
+ uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable);
VL53L0X_Error VL53L0X_perform_vhv_calibration(VL53L0X_DEV Dev,
- uint8_t *pVhvSettings, const uint8_t get_data_enable,
- const uint8_t restore_config);
+ uint8_t *pVhvSettings, const uint8_t get_data_enable,
+ const uint8_t restore_config);
VL53L0X_Error VL53L0X_perform_single_ref_calibration(VL53L0X_DEV Dev,
- uint8_t vhv_init_byte);
+ uint8_t vhv_init_byte);
VL53L0X_Error VL53L0X_ref_calibration_io(VL53L0X_DEV Dev, uint8_t read_not_write,
- uint8_t VhvSettings, uint8_t PhaseCal,
- uint8_t *pVhvSettings, uint8_t *pPhaseCal,
- const uint8_t vhv_enable, const uint8_t phase_enable);
+ uint8_t VhvSettings, uint8_t PhaseCal,
+ uint8_t *pVhvSettings, uint8_t *pPhaseCal,
+ const uint8_t vhv_enable, const uint8_t phase_enable);
VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev,
- uint8_t *pPhaseCal, const uint8_t get_data_enable,
- const uint8_t restore_config);
+ uint8_t *pPhaseCal, const uint8_t get_data_enable,
+ const uint8_t restore_config);
VL53L0X_Error enable_ref_spads(VL53L0X_DEV Dev,
- uint8_t apertureSpads,
- uint8_t goodSpadArray[],
- uint8_t spadArray[],
- uint32_t size,
- uint32_t start,
- uint32_t offset,
- uint32_t spadCount,
- uint32_t *lastSpad);
+ uint8_t apertureSpads,
+ uint8_t goodSpadArray[],
+ uint8_t spadArray[],
+ uint32_t size,
+ uint32_t start,
+ uint32_t offset,
+ uint32_t spadCount,
+ uint32_t *lastSpad);
void get_next_good_spad(uint8_t goodSpadArray[], uint32_t size,
- uint32_t curr, int32_t *next);
+ uint32_t curr, int32_t *next);
uint8_t is_aperture(uint32_t spadIndex);
VL53L0X_Error enable_spad_bit(uint8_t spadArray[], uint32_t size,
- uint32_t spadIndex);
+ uint32_t spadIndex);
VL53L0X_Error set_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray);
VL53L0X_Error get_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray);
VL53L0X_Error perform_ref_signal_measurement(VL53L0X_DEV Dev,
- uint16_t *refSignalRate);
+ uint16_t *refSignalRate);
VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV Dev,
- uint32_t count, uint8_t isApertureSpads);
+ uint32_t count, uint8_t isApertureSpads);
/* api_strings.h functions */
VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV Dev,
- VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
VL53L0X_Error VL53L0X_check_part_used(VL53L0X_DEV Dev,
- uint8_t *Revision,
- VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
+ uint8_t *Revision,
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
- /* deprecated Read function from Component class for backward compatibility*/
- // virtual int ReadID();
+ /* deprecated Read function from Component class for backward compatibility*/
+ // virtual int ReadID();
virtual int ReadID(uint8_t *id);
- /* Read function of the ID device */
- // virtual int read_id();
+ /* Read function of the ID device */
+ // virtual int read_id();
virtual int read_id(uint8_t *id);
-
+
VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev);
VL53L0X_Error WaitStopCompleted(VL53L0X_DEV Dev);
/* Write and read functions from I2C */
-
+
VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV dev, uint8_t index, uint8_t data);
VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV dev, uint8_t index, uint16_t data);
VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV dev, uint8_t index, uint32_t data);
@@ -1408,37 +1408,37 @@
VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV dev, uint8_t index, uint16_t *data);
VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV dev, uint8_t index, uint32_t *data);
VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV dev, uint8_t index, uint8_t AndData, uint8_t OrData);
-
+
VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
-
- VL53L0X_Error VL53L0X_I2CWrite(uint8_t dev, uint8_t index, uint8_t *data, uint16_t number_of_bytes);
- VL53L0X_Error VL53L0X_I2CRead(uint8_t dev, uint8_t index, uint8_t *data, uint16_t number_of_bytes);
-
+
+ VL53L0X_Error VL53L0X_I2CWrite(uint8_t dev, uint8_t index, uint8_t *data, uint16_t number_of_bytes);
+ VL53L0X_Error VL53L0X_I2CRead(uint8_t dev, uint8_t index, uint8_t *data, uint16_t number_of_bytes);
+
VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev); /* usually best implemented as a real function */
-
+
int IsPresent()
{
- int status;
- uint8_t id=0;
-
- status=ReadID(&id);
- if(status)
- VL53L0X_ErrLog("Failed to read ID device. Device not present!\n\r");
- return status;
- }
+ int status;
+ uint8_t id=0;
+
+ status=ReadID(&id);
+ if(status)
+ VL53L0X_ErrLog("Failed to read ID device. Device not present!\n\r");
+ return status;
+ }
int StopRangeMeasurement(OperatingMode operating_mode);
- int GetRangeMeas(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
+ int GetRangeMeas(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
int RangeSetLowThreshold(uint16_t threshold);
int RangeSetHighThreshold(uint16_t threshold);
int GetRangeError(VL53L0X_RangingMeasurementData_t *Data, VL53L0X_RangingMeasurementData_t RangeData);
int RangeMeasPollSingleShot();
- int RangeMeasPollContinuousMode();
+ int RangeMeasPollContinuousMode();
int RangeMeasIntContinuousMode(void (*fptr)(void));
VL53L0X_DeviceInfo_t DeviceInfo;
-
+
/* IO Device */
DevI2C &dev_i2c;
/* Digital out pin */
@@ -1449,8 +1449,8 @@
/* Measure detection IRQ */
InterruptIn *gpio1Int;
/* Device data */
- VL53L0X_Dev_t MyDevice;
- VL53L0X_DEV Device;
+ VL53L0X_Dev_t MyDevice;
+ VL53L0X_DEV Device;
};
--- a/x_nucleo_53l0a1.cpp Tue Jun 20 15:43:26 2017 +0000
+++ b/x_nucleo_53l0a1.cpp Tue Jun 20 16:00:31 2017 +0000
@@ -44,78 +44,69 @@
X_NUCLEO_53L0A1* X_NUCLEO_53L0A1::Instance(DevI2C *ext_i2c)
{
- if(_instance==NULL)
- _instance=new X_NUCLEO_53L0A1(ext_i2c);
- else
- VL53L0X_ErrLog("Failed to create X_NUCLEO_53L0A1 instance\n\r");
- return _instance;
+ if(_instance==NULL)
+ _instance=new X_NUCLEO_53L0A1(ext_i2c);
+ else
+ VL53L0X_ErrLog("Failed to create X_NUCLEO_53L0A1 instance\n\r");
+ return _instance;
}
-X_NUCLEO_53L0A1* X_NUCLEO_53L0A1::Instance(DevI2C *ext_i2c,
- PinName gpio1_centre,
- PinName gpio1_left, PinName gpio1_right)
+X_NUCLEO_53L0A1* X_NUCLEO_53L0A1::Instance(DevI2C *ext_i2c,
+ PinName gpio1_centre,
+ PinName gpio1_left, PinName gpio1_right)
{
- if(_instance==NULL)
- _instance=new X_NUCLEO_53L0A1(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
- else
- VL53L0X_ErrLog("Failed to create X_NUCLEO_53L0A1 instance\n\r");
- return _instance;
+ if(_instance==NULL)
+ _instance=new X_NUCLEO_53L0A1(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
+ else
+ VL53L0X_ErrLog("Failed to create X_NUCLEO_53L0A1 instance\n\r");
+ return _instance;
}
int X_NUCLEO_53L0A1::InitBoard()
-{
- int status, n_dev=0;
-
- sensor_centre->VL53L0X_Off();
- sensor_left->VL53L0X_Off();
- sensor_right->VL53L0X_Off();
- status=sensor_centre->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
- if(status)
- {
- delete sensor_centre;
- delete xshutdown_centre;
- sensor_centre=NULL;
- xshutdown_centre=NULL;
- printf("Sensor centre not present\n\r");
- }
- else
- {
- printf("Sensor centre present\n\r");
- n_dev++;
- }
- status=sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
- if(status)
- {
- delete sensor_left;
- delete xshutdown_left;
- sensor_left=NULL;
- xshutdown_left=NULL;
- printf("Sensor left not present\n\r");
- }
- else
- {
- printf("Sensor left present\n\r");
- n_dev++;
- }
+{
+ int status, n_dev=0;
- status=sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
- if(status)
- {
- delete sensor_right;
- delete xshutdown_right;
- sensor_right=NULL;
- xshutdown_right=NULL;
- printf("Sensor right not present\n\r");
- }
- else
- {
- printf("Sensor right present\n\r");
- n_dev++;
- }
+ sensor_centre->VL53L0X_Off();
+ sensor_left->VL53L0X_Off();
+ sensor_right->VL53L0X_Off();
+ status=sensor_centre->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
+ if(status) {
+ delete sensor_centre;
+ delete xshutdown_centre;
+ sensor_centre=NULL;
+ xshutdown_centre=NULL;
+ printf("Sensor centre not present\n\r");
+ } else {
+ printf("Sensor centre present\n\r");
+ n_dev++;
+ }
+ status=sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
+ if(status) {
+ delete sensor_left;
+ delete xshutdown_left;
+ sensor_left=NULL;
+ xshutdown_left=NULL;
+ printf("Sensor left not present\n\r");
+ } else {
+ printf("Sensor left present\n\r");
+ n_dev++;
+ }
- if(n_dev==0)
- return 1;
- else
- return 0;
+ status=sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
+ if(status) {
+ delete sensor_right;
+ delete xshutdown_right;
+ sensor_right=NULL;
+ xshutdown_right=NULL;
+ printf("Sensor right not present\n\r");
+ } else {
+ printf("Sensor right present\n\r");
+ n_dev++;
+ }
+
+ if(n_dev==0)
+ return 1;
+ else
+ return 0;
}
--- a/x_nucleo_53l0a1.h Tue Jun 20 15:43:26 2017 +0000
+++ b/x_nucleo_53l0a1.h Tue Jun 20 16:00:31 2017 +0000
@@ -1,7 +1,7 @@
/**
******************************************************************************
* @file x_nucleo_53L0A1.h
- * @author IMG
+ * @author IMG
* @version V1.0.0
* @date 28-November-2016
* @brief Header file for class X_NUCLEO_53L0A1 representing a X-NUCLEO-53L0A1
@@ -59,9 +59,9 @@
class X_NUCLEO_53L0A1
{
public:
- /** Constructor 1
- * @param[in] &i2c device I2C to be used for communication
- */
+ /** Constructor 1
+ * @param[in] &i2c device I2C to be used for communication
+ */
X_NUCLEO_53L0A1(DevI2C *ext_i2c) : dev_i2c(ext_i2c)
{
stmpe1600_exp0 = new Stmpe1600(*ext_i2c, (0x43 * 2)); // U21
@@ -69,122 +69,117 @@
stmpe1600_exp1 = new Stmpe1600(*ext_i2c, (0x42 * 2)); // U19
display = new Display(*stmpe1600_exp0, *stmpe1600_exp1);
-
+
xshutdown_centre=new Stmpe1600DigiOut(*dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
sensor_centre=new VL53L0X(*dev_i2c, *xshutdown_centre, A2);
-
+
xshutdown_left=new Stmpe1600DigiOut(*dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
sensor_left=new VL53L0X(*dev_i2c, *xshutdown_left, D8);
-
+
xshutdown_right=new Stmpe1600DigiOut(*dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
sensor_right=new VL53L0X(*dev_i2c, *xshutdown_right, D2);
}
-
+
/** Constructor 2
* @param[in] &i2c device I2C to be used for communication
* @param[in] PinName gpio1_top Mbed DigitalOut pin name to be used as a top sensor GPIO_1 INT
* @param[in] PinName gpio1_bottom Mbed DigitalOut pin name to be used as a bottom sensor GPIO_1 INT
* @param[in] PinName gpio1_left Mbed DigitalOut pin name to be used as a left sensor GPIO_1 INT
- * @param[in] PinName gpio1_right Mbed DigitalOut pin name to be used as a right sensor GPIO_1 INT
- */
+ * @param[in] PinName gpio1_right Mbed DigitalOut pin name to be used as a right sensor GPIO_1 INT
+ */
X_NUCLEO_53L0A1(DevI2C *ext_i2c, PinName gpio1_centre,
- PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c) {
+ PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c)
+ {
stmpe1600_exp0 = new Stmpe1600(*ext_i2c, (0x43 * 2)); // U21
stmpe1600_exp1 = new Stmpe1600(*ext_i2c, (0x42 * 2)); // U19
display = new Display(*stmpe1600_exp0, *stmpe1600_exp1);
- xshutdown_centre=new Stmpe1600DigiOut(*dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
- sensor_centre=new VL53L0X(*dev_i2c, *xshutdown_centre, gpio1_centre);
-
- xshutdown_left=new Stmpe1600DigiOut(*dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
- sensor_left=new VL53L0X(*dev_i2c, *xshutdown_left, gpio1_left);
-
- xshutdown_right=new Stmpe1600DigiOut(*dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
- sensor_right=new VL53L0X(*dev_i2c, *xshutdown_right, gpio1_right);
- }
+ xshutdown_centre=new Stmpe1600DigiOut(*dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
+ sensor_centre=new VL53L0X(*dev_i2c, *xshutdown_centre, gpio1_centre);
+
+ xshutdown_left=new Stmpe1600DigiOut(*dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
+ sensor_left=new VL53L0X(*dev_i2c, *xshutdown_left, gpio1_left);
- /** Destructor
- */
+ xshutdown_right=new Stmpe1600DigiOut(*dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
+ sensor_right=new VL53L0X(*dev_i2c, *xshutdown_right, gpio1_right);
+ }
+
+ /** Destructor
+ */
~X_NUCLEO_53L0A1()
{
- if(xshutdown_centre!=NULL)
- {
- delete xshutdown_centre;
- xshutdown_centre=NULL;
+ if(xshutdown_centre!=NULL) {
+ delete xshutdown_centre;
+ xshutdown_centre=NULL;
+ }
+ if(sensor_centre!=NULL) {
+ delete sensor_centre;
+ sensor_centre=NULL;
+ }
+ if(xshutdown_left!=NULL) {
+ delete xshutdown_left;
+ xshutdown_left=NULL;
+ }
+ if(sensor_left!=NULL) {
+ delete sensor_left;
+ sensor_left=NULL;
}
- if(sensor_centre!=NULL)
- {
- delete sensor_centre;
- sensor_centre=NULL;
- }
- if(xshutdown_left!=NULL)
- {
- delete xshutdown_left;
- xshutdown_left=NULL;
- }
- if(sensor_left!=NULL)
- {
- delete sensor_left;
- sensor_left=NULL;
- }
- if(xshutdown_right!=NULL)
- {
- delete xshutdown_right;
- xshutdown_right=NULL;
- }
- if(sensor_right!=NULL)
- {
- delete sensor_right;
- sensor_right=NULL;
- }
+ if(xshutdown_right!=NULL) {
+ delete xshutdown_right;
+ xshutdown_right=NULL;
+ }
+ if(sensor_right!=NULL) {
+ delete sensor_right;
+ sensor_right=NULL;
+ }
- delete stmpe1600_exp0;
- stmpe1600_exp0 = NULL;
- delete stmpe1600_exp1;
- stmpe1600_exp1 = NULL;
- delete display;
- display = NULL;
- _instance=NULL;
+ delete stmpe1600_exp0;
+ stmpe1600_exp0 = NULL;
+ delete stmpe1600_exp1;
+ stmpe1600_exp1 = NULL;
+ delete display;
+ display = NULL;
+ _instance=NULL;
}
- /**
- * @brief Creates a singleton object instance
+ /**
+ * @brief Creates a singleton object instance
* @param[in] &i2c device I2C to be used for communication
- * @return Pointer to the object instance
- */
+ * @return Pointer to the object instance
+ */
static X_NUCLEO_53L0A1 *Instance(DevI2C *ext_i2c);
-
- /**
- * @brief Creates a singleton object instance
+
+ /**
+ * @brief Creates a singleton object instance
* @param[in] &i2c device I2C to be used for communication
- * @param[in] PinName gpio1_centre the pin connected to top sensor INT
- * @param[in] PinName gpio1_left the pin connected to left sensor INT
- * @param[in] PinName gpio1_right the pin connected to right sensor INT
- * @return Pointer to the object instance
- */
- static X_NUCLEO_53L0A1 *Instance(DevI2C *ext_i2c, PinName gpio1_centre,
- PinName gpio1_left, PinName gpio1_right);
+ * @param[in] PinName gpio1_centre the pin connected to top sensor INT
+ * @param[in] PinName gpio1_left the pin connected to left sensor INT
+ * @param[in] PinName gpio1_right the pin connected to right sensor INT
+ * @return Pointer to the object instance
+ */
+ static X_NUCLEO_53L0A1 *Instance(DevI2C *ext_i2c, PinName gpio1_centre,
+ PinName gpio1_left, PinName gpio1_right);
- /**
- * @brief Initialize the board and sensors with deft values
- * @return 0 on success
- */
+ /**
+ * @brief Initialize the board and sensors with deft values
+ * @return 0 on success
+ */
int InitBoard();
DevI2C *dev_i2c;
VL53L0X *sensor_centre;
VL53L0X *sensor_left;
VL53L0X *sensor_right;
- Stmpe1600 *stmpe1600_exp0;
- Stmpe1600 *stmpe1600_exp1;
+ Stmpe1600 *stmpe1600_exp0;
+ Stmpe1600 *stmpe1600_exp1;
Stmpe1600DigiOut *xshutdown_centre;
Stmpe1600DigiOut *xshutdown_left;
Stmpe1600DigiOut *xshutdown_right;
Display *display;
-
- private:
+
+private:
static X_NUCLEO_53L0A1 *_instance;
};