ST
Initial release.
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: X_NUCLEO_53L1A1_mbed X_NUCLEO_53L1A1_mbed VL53L1X_Ranging_With_Standalone_Satellite_MbedOS X_NUCLEO_53L1A1
Revision 0:a1a69d32f310, committed 2017-09-29
- Comitter:
- nikapov
- Date:
- Fri Sep 29 15:38:50 2017 +0000
- Child:
- 1:834986cdde0a
- Commit message:
- First version.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/STMPE1600/Stmpe1600.h Fri Sep 29 15:38:50 2017 +0000
@@ -0,0 +1,339 @@
+/**
+ ******************************************************************************
+ * @file Stmpe1600.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Header file for component stmpe1600
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+#ifndef __STMPE1600_CLASS
+#define __STMPE1600_CLASS
+/* Includes ------------------------------------------------------------------*/
+#include "DevI2C.h"
+
+#define STMPE1600_DEF_DEVICE_ADDRESS (uint8_t)0x42*2
+#define STMPE1600_DEF_DIGIOUT_LVL 1
+
+/** STMPE1600 registr map **/
+#define CHIP_ID_0_7 (uint8_t)0x00
+#define CHIP_ID_8_15 (uint8_t)0x01
+#define VERSION_ID (uint8_t)0x02
+#define SYS_CTRL (uint8_t)0x03
+#define IEGPIOR_0_7 (uint8_t)0x08
+#define IEGPIOR_8_15 (uint8_t)0x09
+#define ISGPIOR_0_7 (uint8_t)0x0A
+#define ISGPIOR_8_15 (uint8_t)0x0B
+#define GPMR_0_7 (uint8_t)0x10
+#define GPMR_8_15 (uint8_t)0x11
+#define GPSR_0_7 (uint8_t)0x12
+#define GPSR_8_15 (uint8_t)0x13
+#define GPDR_0_7 (uint8_t)0x14
+#define GPDR_8_15 (uint8_t)0x15
+#define GPIR_0_7 (uint8_t)0x16
+#define GPIR_8_15 (uint8_t)0x17
+
+#define SOFT_RESET (uint8_t)0x80
+
+typedef enum {
+ // GPIO Expander pin names
+ GPIO_0 = 0,
+ GPIO_1,
+ GPIO_2,
+ GPIO_3,
+ GPIO_4,
+ GPIO_5,
+ GPIO_6,
+ GPIO_7,
+ GPIO_8,
+ GPIO_9,
+ GPIO_10,
+ GPIO_11,
+ GPIO_12,
+ GPIO_13,
+ GPIO_14,
+ GPIO_15,
+ NOT_CON
+} ExpGpioPinName;
+
+typedef enum {
+ INPUT = 0,
+ OUTPUT,
+ NOT_CONNECTED
+} ExpGpioPinDirection;
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a single stmpe1600 GPIO expander output pin
+ */
+class Stmpe1600DigiOut
+{
+
+public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] outpinname the desired out pin name to be created
+ * @param[in] DevAddr the stmpe1600 I2C device address (deft STMPE1600_DEF_DEVICE_ADDRESS)
+ * @param[in] lvl the default ot pin level
+ */
+ Stmpe1600DigiOut(DevI2C *i2c, ExpGpioPinName out_pin_name, uint8_t dev_addr = STMPE1600_DEF_DEVICE_ADDRESS,
+ bool lvl = STMPE1600_DEF_DIGIOUT_LVL) : _dev_i2c(i2c), exp_dev_addr(dev_addr), exp_pin_name(out_pin_name)
+ {
+ uint8_t data[2];
+
+ if (exp_pin_name == NOT_CON) {
+ return;
+ }
+ /* set the exp_pin_name as output */
+ _dev_i2c->i2c_read(data, exp_dev_addr, GPDR_0_7, 1);
+ _dev_i2c->i2c_read(&data[1], exp_dev_addr, GPDR_8_15, 1);
+ * (uint16_t *) data = * (uint16_t *) data | (1 << (uint16_t) exp_pin_name); // set gpio as out
+ _dev_i2c->i2c_write(data, exp_dev_addr, GPDR_0_7, 1);
+ _dev_i2c->i2c_write(&data[1], exp_dev_addr, GPDR_8_15, 1);
+ write(lvl);
+ }
+
+ /**
+ * @brief Write on the out pin
+ * @param[in] lvl level to write
+ * @return 0 on Success
+ */
+ void write(int lvl)
+ {
+ uint8_t data[2];
+
+ if (exp_pin_name == NOT_CON) {
+ return;
+ }
+ /* set the exp_pin_name state to lvl */
+ _dev_i2c->i2c_read(data, exp_dev_addr, GPSR_0_7, 2);
+ * (uint16_t *) data = * (uint16_t *) data & (uint16_t)(~(1 << (uint16_t) exp_pin_name)); // set pin mask
+ if (lvl) {
+ * (uint16_t *) data = * (uint16_t *) data | (uint16_t)(1 << (uint16_t) exp_pin_name);
+ }
+ _dev_i2c->i2c_write(data, exp_dev_addr, GPSR_0_7, 2);
+ }
+
+ /**
+ * @brief Overload assignement operator
+ */
+ Stmpe1600DigiOut &operator= (int lvl)
+ {
+ write(lvl);
+ return *this;
+ }
+
+private:
+ DevI2C *_dev_i2c;
+ uint8_t exp_dev_addr;
+ ExpGpioPinName exp_pin_name;
+};
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a single stmpe1600 GPIO expander input pin
+ */
+class Stmpe1600DigiIn
+{
+public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] inpinname the desired input pin name to be created
+ * @param[in] DevAddr the stmpe1600 I2C device addres (deft STMPE1600_DEF_DEVICE_ADDRESS)
+ */
+ Stmpe1600DigiIn(DevI2C *i2c, ExpGpioPinName in_pin_name,
+ uint8_t dev_addr = STMPE1600_DEF_DEVICE_ADDRESS) : _dev_i2c(i2c), exp_dev_addr(dev_addr),
+ exp_pin_name(in_pin_name)
+ {
+ uint8_t data[2];
+
+ if (exp_pin_name == NOT_CON) {
+ return;
+ }
+ /* set the exp_pin_name as input pin direction */
+ _dev_i2c->i2c_read(data, exp_dev_addr, GPDR_0_7, 2);
+ * (uint16_t *) data = * (uint16_t *) data & (uint16_t)(~(1 << (uint16_t) exp_pin_name)); // set gpio as in
+ _dev_i2c->i2c_write(data, exp_dev_addr, GPDR_0_7, 2);
+ }
+
+ /**
+ * @brief Read the input pin
+ * @return The pin logical state 0 or 1
+ */
+ bool read()
+ {
+ uint8_t data[2];
+
+ if (exp_pin_name == NOT_CON) {
+ return false;
+ }
+ /* read the exp_pin_name */
+ _dev_i2c->i2c_read(data, exp_dev_addr, GPMR_0_7, 2);
+ * (uint16_t *) data = * (uint16_t *) data & (uint16_t)(1 << (uint16_t) exp_pin_name); // mask the in gpio
+ if (data[0] || data[1]) {
+ return true;
+ }
+ return false;
+ }
+
+ operator int()
+ {
+ return read();
+ }
+
+private:
+ DevI2C *_dev_i2c;
+ uint8_t exp_dev_addr;
+ ExpGpioPinName exp_pin_name;
+};
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a whole stmpe1600 component (16 gpio)
+ */
+class Stmpe1600
+{
+
+public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] DevAddr the stmpe1600 I2C device addres (deft STMPE1600_DEF_DEVICE_ADDRESS)
+ */
+ Stmpe1600(DevI2C *i2c, uint8_t dev_addr = STMPE1600_DEF_DEVICE_ADDRESS) : _dev_i2c(i2c)
+ {
+ exp_dev_addr = dev_addr;
+ write_sys_ctrl(SOFT_RESET);
+
+ gpdr0_15 = (uint16_t) 0; // gpio dir all IN
+ write_16bit_reg(GPDR_0_7, &gpdr0_15);
+ gpsr0_15 = (uint16_t) 0x0ffff; // gpio status all 1
+ write_16bit_reg(GPSR_0_7, &gpsr0_15);
+ }
+
+ /**
+ * @brief Write the SYS_CTRL register
+ * @param[in] Data to be written (bit fields)
+ */
+ void write_sys_ctrl(uint8_t data) // data = SOFT_RESET reset the device
+ {
+ _dev_i2c->i2c_write(&data, exp_dev_addr, SYS_CTRL, 1);
+ }
+
+ /**
+ * @brief Set the out pin
+ * @param[in] The pin name
+ * @return 0 on Success
+ */
+ bool set_gpio(ExpGpioPinName pin_name)
+ {
+ if (pin_name == NOT_CON) {
+ return true;
+ }
+ gpsr0_15 = gpsr0_15 | ((uint16_t) 0x0001 << pin_name);
+ write_16bit_reg(GPSR_0_7, &gpsr0_15);
+ return false;
+ }
+
+ /**
+ * @brief Clear the out pin
+ * @param[in] The pin name
+ * @return 0 on Success
+ */
+ bool clear_gpio(ExpGpioPinName pin_name)
+ {
+ if (pin_name == NOT_CON) {
+ return true;
+ }
+ gpsr0_15 = gpsr0_15 & (~((uint16_t) 0x0001 << pin_name));
+ write_16bit_reg(GPSR_0_7, &gpsr0_15);
+ return false;
+ }
+
+ /**
+ * @brief Read the input pin
+ * @param[in] The pin name
+ * @return The logical pin level
+ */
+ bool read_gpio(ExpGpioPinName pin_name)
+ {
+ uint16_t gpmr0_15;
+ if (pin_name == NOT_CON) {
+ return true;
+ }
+ read_16bit_reg(GPMR_0_7, &gpmr0_15);
+ gpmr0_15 = gpmr0_15 & ((uint16_t) 0x0001 << pin_name);
+ if (gpmr0_15) {
+ return true;
+ }
+ return false;
+ }
+
+ /**
+ * @brief Set the pin direction
+ * @param[in] The pin name
+ * @param[in] The pin direction
+ * @return 0 on success
+ */
+ bool set_gpio_dir(ExpGpioPinName pin_name, ExpGpioPinDirection pin_dir)
+ {
+ if (pin_name == NOT_CON || pin_dir == NOT_CONNECTED) {
+ return true;
+ }
+ gpdr0_15 = gpdr0_15 & (~((uint16_t) 0x0001 << pin_name)); // clear the Pin
+ gpdr0_15 = gpdr0_15 | ((uint16_t) pin_dir << pin_name);
+ write_16bit_reg(GPDR_0_7, &gpdr0_15);
+ return false;
+ }
+
+ /**
+ * @brief Read a 16 bits register
+ * @param[in] The register address
+ * @param[in] The pointer to the read data
+ */
+ void read_16bit_reg(uint8_t reg16_addr, uint16_t *reg16_data)
+ {
+ _dev_i2c->i2c_read((uint8_t *) reg16_data, exp_dev_addr, reg16_addr, 2);
+ }
+
+ /**
+ * @brief Write a 16 bits register
+ * @param[in] The register address
+ * @param[in] The pointer to the data to be written
+ */
+ void write_16bit_reg(uint8_t reg16_addr, uint16_t *reg16_data)
+ {
+ _dev_i2c->i2c_write((uint8_t *) reg16_data, exp_dev_addr, reg16_addr, 2);
+ }
+
+private:
+ DevI2C *_dev_i2c;
+ uint16_t gpdr0_15; // local copy of bit direction reg
+ uint16_t gpsr0_15; // local copy of bit status reg
+ uint8_t exp_dev_addr; // expander device i2c addr
+};
+
+#endif // __STMPE1600_CLASS
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ST_INTERFACES.lib Fri Sep 29 15:38:50 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/ST_INTERFACES/#d3c9b33b992c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X.cpp Fri Sep 29 15:38:50 2017 +0000
@@ -0,0 +1,5492 @@
+/**
+ ******************************************************************************
+ * @file VL53L0X_class.cpp
+ * @author IMG
+ * @version V0.0.1
+ * @date 28-June-2016
+ * @brief Implementation file for the VL53L0X driver class
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+/* Includes */
+#include <stdlib.h>
+
+#include "VL53L0X.h"
+
+//#include "VL53L0X_api_core.h"
+//#include "VL53L0X_api_calibration.h"
+//#include "VL53L0X_api_strings.h"
+#include "VL53L0X_interrupt_threshold_settings.h"
+#include "VL53L0X_tuning.h"
+#include "VL53L0X_types.h"
+
+
+/****************** define for i2c configuration *******************************/
+
+#define TEMP_BUF_SIZE 64
+
+/** Maximum buffer size to be used in i2c */
+#define VL53L0X_MAX_I2C_XFER_SIZE 64 /* Maximum buffer size to be used in i2c */
+#define VL53L0X_I2C_USER_VAR /* none but could be for a flag var to get/pass to mutex interruptible return flags and try again */
+
+
+#define LOG_FUNCTION_START(fmt, ...) \
+ _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__)
+#define LOG_FUNCTION_END(status, ...) \
+ _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__)
+#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
+ _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__)
+
+#ifdef VL53L0X_LOG_ENABLE
+#define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \
+ level, TRACE_FUNCTION_NONE, ##__VA_ARGS__)
+#endif
+
+#define REF_ARRAY_SPAD_0 0
+#define REF_ARRAY_SPAD_5 5
+#define REF_ARRAY_SPAD_10 10
+
+uint32_t refArrayQuadrants[4] = {REF_ARRAY_SPAD_10, REF_ARRAY_SPAD_5,
+ REF_ARRAY_SPAD_0, REF_ARRAY_SPAD_5
+ };
+
+
+
+
+VL53L0X_Error VL53L0X::VL53L0X_device_read_strobe(VL53L0X_DEV dev)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t strobe;
+ uint32_t loop_nb;
+ LOG_FUNCTION_START("");
+
+ status |= VL53L0X_write_byte(dev, 0x83, 0x00);
+
+ /* polling
+ * use timeout to avoid deadlock*/
+ if (status == VL53L0X_ERROR_NONE) {
+ loop_nb = 0;
+ do {
+ status = VL53L0X_read_byte(dev, 0x83, &strobe);
+ if ((strobe != 0x00) || status != VL53L0X_ERROR_NONE) {
+ break;
+ }
+
+ loop_nb = loop_nb + 1;
+ } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
+
+ if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
+ status = VL53L0X_ERROR_TIME_OUT;
+ }
+ }
+
+ status |= VL53L0X_write_byte(dev, 0x83, 0x01);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_info_from_device(VL53L0X_DEV dev, uint8_t option)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t byte;
+ uint32_t tmp_dword;
+ uint8_t module_id;
+ uint8_t revision;
+ uint8_t reference_spad_count = 0;
+ uint8_t reference_spad_type = 0;
+ uint32_t part_uid_upper = 0;
+ uint32_t part_uid_lower = 0;
+ uint32_t offset_fixed1104_mm = 0;
+ int16_t offset_micro_meters = 0;
+ uint32_t dist_meas_tgt_fixed1104_mm = 400 << 4;
+ uint32_t dist_meas_fixed1104_400_mm = 0;
+ uint32_t signal_rate_meas_fixed1104_400_mm = 0;
+ char product_id[19];
+ char *product_id_tmp;
+ uint8_t read_data_from_device_done;
+ FixPoint1616_t signal_rate_meas_fixed400_mm_fix = 0;
+ uint8_t nvm_ref_good_spad_map[VL53L0X_REF_SPAD_BUFFER_SIZE];
+ int i;
+
+
+ LOG_FUNCTION_START("");
+
+ read_data_from_device_done = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
+ ReadDataFromDeviceDone);
+
+ /* This access is done only once after that a GetDeviceInfo or
+ * datainit is done*/
+ if (read_data_from_device_done != 7) {
+
+ status |= VL53L0X_write_byte(dev, 0x80, 0x01);
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x01);
+ status |= VL53L0X_write_byte(dev, 0x00, 0x00);
+
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x06);
+ status |= VL53L0X_read_byte(dev, 0x83, &byte);
+ status |= VL53L0X_write_byte(dev, 0x83, byte | 4);
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x07);
+ status |= VL53L0X_write_byte(dev, 0x81, 0x01);
+
+ status |= VL53L0X_polling_delay(dev);
+
+ status |= VL53L0X_write_byte(dev, 0x80, 0x01);
+
+ if (((option & 1) == 1) &&
+ ((read_data_from_device_done & 1) == 0)) {
+ status |= VL53L0X_write_byte(dev, 0x94, 0x6b);
+ status |= VL53L0X_device_read_strobe(dev);
+ status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
+
+ reference_spad_count = (uint8_t)((tmp_dword >> 8) & 0x07f);
+ reference_spad_type = (uint8_t)((tmp_dword >> 15) & 0x01);
+
+ status |= VL53L0X_write_byte(dev, 0x94, 0x24);
+ status |= VL53L0X_device_read_strobe(dev);
+ status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
+
+
+ nvm_ref_good_spad_map[0] = (uint8_t)((tmp_dword >> 24)
+ & 0xff);
+ nvm_ref_good_spad_map[1] = (uint8_t)((tmp_dword >> 16)
+ & 0xff);
+ nvm_ref_good_spad_map[2] = (uint8_t)((tmp_dword >> 8)
+ & 0xff);
+ nvm_ref_good_spad_map[3] = (uint8_t)(tmp_dword & 0xff);
+
+ status |= VL53L0X_write_byte(dev, 0x94, 0x25);
+ status |= VL53L0X_device_read_strobe(dev);
+ status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
+
+ nvm_ref_good_spad_map[4] = (uint8_t)((tmp_dword >> 24)
+ & 0xff);
+ nvm_ref_good_spad_map[5] = (uint8_t)((tmp_dword >> 16)
+ & 0xff);
+ }
+
+ if (((option & 2) == 2) &&
+ ((read_data_from_device_done & 2) == 0)) {
+
+ status |= VL53L0X_write_byte(dev, 0x94, 0x02);
+ status |= VL53L0X_device_read_strobe(dev);
+ status |= VL53L0X_read_byte(dev, 0x90, &module_id);
+
+ status |= VL53L0X_write_byte(dev, 0x94, 0x7B);
+ status |= VL53L0X_device_read_strobe(dev);
+ status |= VL53L0X_read_byte(dev, 0x90, &revision);
+
+ status |= VL53L0X_write_byte(dev, 0x94, 0x77);
+ status |= VL53L0X_device_read_strobe(dev);
+ status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
+
+ product_id[0] = (char)((tmp_dword >> 25) & 0x07f);
+ product_id[1] = (char)((tmp_dword >> 18) & 0x07f);
+ product_id[2] = (char)((tmp_dword >> 11) & 0x07f);
+ product_id[3] = (char)((tmp_dword >> 4) & 0x07f);
+
+ byte = (uint8_t)((tmp_dword & 0x00f) << 3);
+
+ status |= VL53L0X_write_byte(dev, 0x94, 0x78);
+ status |= VL53L0X_device_read_strobe(dev);
+ status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
+
+ product_id[4] = (char)(byte +
+ ((tmp_dword >> 29) & 0x07f));
+ product_id[5] = (char)((tmp_dword >> 22) & 0x07f);
+ product_id[6] = (char)((tmp_dword >> 15) & 0x07f);
+ product_id[7] = (char)((tmp_dword >> 8) & 0x07f);
+ product_id[8] = (char)((tmp_dword >> 1) & 0x07f);
+
+ byte = (uint8_t)((tmp_dword & 0x001) << 6);
+
+ status |= VL53L0X_write_byte(dev, 0x94, 0x79);
+
+ status |= VL53L0X_device_read_strobe(dev);
+
+ status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
+
+ product_id[9] = (char)(byte +
+ ((tmp_dword >> 26) & 0x07f));
+ product_id[10] = (char)((tmp_dword >> 19) & 0x07f);
+ product_id[11] = (char)((tmp_dword >> 12) & 0x07f);
+ product_id[12] = (char)((tmp_dword >> 5) & 0x07f);
+
+ byte = (uint8_t)((tmp_dword & 0x01f) << 2);
+
+ status |= VL53L0X_write_byte(dev, 0x94, 0x7A);
+
+ status |= VL53L0X_device_read_strobe(dev);
+
+ status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
+
+ product_id[13] = (char)(byte +
+ ((tmp_dword >> 30) & 0x07f));
+ product_id[14] = (char)((tmp_dword >> 23) & 0x07f);
+ product_id[15] = (char)((tmp_dword >> 16) & 0x07f);
+ product_id[16] = (char)((tmp_dword >> 9) & 0x07f);
+ product_id[17] = (char)((tmp_dword >> 2) & 0x07f);
+ product_id[18] = '\0';
+
+ }
+
+ if (((option & 4) == 4) &&
+ ((read_data_from_device_done & 4) == 0)) {
+
+ status |= VL53L0X_write_byte(dev, 0x94, 0x7B);
+ status |= VL53L0X_device_read_strobe(dev);
+ status |= VL53L0X_read_dword(dev, 0x90, &part_uid_upper);
+
+ status |= VL53L0X_write_byte(dev, 0x94, 0x7C);
+ status |= VL53L0X_device_read_strobe(dev);
+ status |= VL53L0X_read_dword(dev, 0x90, &part_uid_lower);
+
+ status |= VL53L0X_write_byte(dev, 0x94, 0x73);
+ status |= VL53L0X_device_read_strobe(dev);
+ status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
+
+ signal_rate_meas_fixed1104_400_mm = (tmp_dword &
+ 0x0000000ff) << 8;
+
+ status |= VL53L0X_write_byte(dev, 0x94, 0x74);
+ status |= VL53L0X_device_read_strobe(dev);
+ status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
+
+ signal_rate_meas_fixed1104_400_mm |= ((tmp_dword &
+ 0xff000000) >> 24);
+
+ status |= VL53L0X_write_byte(dev, 0x94, 0x75);
+ status |= VL53L0X_device_read_strobe(dev);
+ status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
+
+ dist_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff)
+ << 8;
+
+ status |= VL53L0X_write_byte(dev, 0x94, 0x76);
+ status |= VL53L0X_device_read_strobe(dev);
+ status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
+
+ dist_meas_fixed1104_400_mm |= ((tmp_dword & 0xff000000)
+ >> 24);
+ }
+
+ status |= VL53L0X_write_byte(dev, 0x81, 0x00);
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x06);
+ status |= VL53L0X_read_byte(dev, 0x83, &byte);
+ status |= VL53L0X_write_byte(dev, 0x83, byte & 0xfb);
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x01);
+ status |= VL53L0X_write_byte(dev, 0x00, 0x01);
+
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x00);
+ status |= VL53L0X_write_byte(dev, 0x80, 0x00);
+ }
+
+ if ((status == VL53L0X_ERROR_NONE) &&
+ (read_data_from_device_done != 7)) {
+ /* Assign to variable if status is ok */
+ if (((option & 1) == 1) &&
+ ((read_data_from_device_done & 1) == 0)) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
+ ReferenceSpadCount, reference_spad_count);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
+ ReferenceSpadType, reference_spad_type);
+
+ for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) {
+ dev->Data.SpadData.RefGoodSpadMap[i] =
+ nvm_ref_good_spad_map[i];
+ }
+ }
+
+ if (((option & 2) == 2) &&
+ ((read_data_from_device_done & 2) == 0)) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
+ ModuleId, module_id);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
+ Revision, revision);
+
+ product_id_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
+ ProductId);
+ VL53L0X_COPYSTRING(product_id_tmp, product_id);
+
+ }
+
+ if (((option & 4) == 4) &&
+ ((read_data_from_device_done & 4) == 0)) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
+ PartUIDUpper, part_uid_upper);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
+ PartUIDLower, part_uid_lower);
+
+ signal_rate_meas_fixed400_mm_fix =
+ VL53L0X_FIXPOINT97TOFIXPOINT1616(
+ signal_rate_meas_fixed1104_400_mm);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
+ SignalRateMeasFixed400mm,
+ signal_rate_meas_fixed400_mm_fix);
+
+ offset_micro_meters = 0;
+ if (dist_meas_fixed1104_400_mm != 0) {
+ offset_fixed1104_mm =
+ dist_meas_fixed1104_400_mm -
+ dist_meas_tgt_fixed1104_mm;
+ offset_micro_meters = (offset_fixed1104_mm
+ * 1000) >> 4;
+ offset_micro_meters *= -1;
+ }
+
+ PALDevDataSet(dev,
+ Part2PartOffsetAdjustmentNVMMicroMeter,
+ offset_micro_meters);
+ }
+ byte = (uint8_t)(read_data_from_device_done | option);
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev, ReadDataFromDeviceDone,
+ byte);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
+ int32_t *p_offset_calibration_data_micro_meter)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint16_t range_offset_register;
+ int16_t c_max_offset = 2047;
+ int16_t c_offset_range = 4096;
+
+ /* Note that offset has 10.2 format */
+
+ status = VL53L0X_read_word(dev,
+ VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
+ &range_offset_register);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ range_offset_register = (range_offset_register & 0x0fff);
+
+ /* Apply 12 bit 2's compliment conversion */
+ if (range_offset_register > c_max_offset) {
+ *p_offset_calibration_data_micro_meter =
+ (int16_t)(range_offset_register - c_offset_range)
+ * 250;
+ } else {
+ *p_offset_calibration_data_micro_meter =
+ (int16_t)range_offset_register * 250;
+ }
+
+ }
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
+ int32_t *p_offset_calibration_data_micro_meter)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ status = wrapped_VL53L0X_get_offset_calibration_data_micro_meter(dev,
+ p_offset_calibration_data_micro_meter);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
+ int32_t offset_calibration_data_micro_meter)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ int32_t c_max_offset_micro_meter = 511000;
+ int32_t c_min_offset_micro_meter = -512000;
+ int16_t c_offset_range = 4096;
+ uint32_t encoded_offset_val;
+
+ LOG_FUNCTION_START("");
+
+ if (offset_calibration_data_micro_meter > c_max_offset_micro_meter) {
+ offset_calibration_data_micro_meter = c_max_offset_micro_meter;
+ } else {
+ if (offset_calibration_data_micro_meter < c_min_offset_micro_meter) {
+ offset_calibration_data_micro_meter = c_min_offset_micro_meter;
+ }
+ }
+
+ /* The offset register is 10.2 format and units are mm
+ * therefore conversion is applied by a division of
+ * 250.
+ */
+ if (offset_calibration_data_micro_meter >= 0) {
+ encoded_offset_val =
+ offset_calibration_data_micro_meter / 250;
+ } else {
+ encoded_offset_val =
+ c_offset_range +
+ offset_calibration_data_micro_meter / 250;
+ }
+
+ status = VL53L0X_write_word(dev,
+ VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
+ encoded_offset_val);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
+ int32_t offset_calibration_data_micro_meter)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ status = wrapped_VL53L0X_set_offset_calibration_data_micro_meter(dev,
+ offset_calibration_data_micro_meter);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_apply_offset_adjustment(VL53L0X_DEV dev)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ int32_t corrected_offset_micro_meters;
+ int32_t current_offset_micro_meters;
+
+ /* if we run on this function we can read all the NVM info
+ * used by the API */
+ status = VL53L0X_get_info_from_device(dev, 7);
+
+ /* Read back current device offset */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_get_offset_calibration_data_micro_meter(dev,
+ ¤t_offset_micro_meters);
+ }
+
+ /* Apply Offset Adjustment derived from 400mm measurements */
+ if (status == VL53L0X_ERROR_NONE) {
+
+ /* Store initial device offset */
+ PALDevDataSet(dev, Part2PartOffsetNVMMicroMeter,
+ current_offset_micro_meters);
+
+ corrected_offset_micro_meters = current_offset_micro_meters +
+ (int32_t)PALDevDataGet(dev,
+ Part2PartOffsetAdjustmentNVMMicroMeter);
+
+ status = VL53L0X_set_offset_calibration_data_micro_meter(dev,
+ corrected_offset_micro_meters);
+
+ /* store current, adjusted offset */
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETPARAMETERFIELD(dev, RangeOffsetMicroMeters,
+ corrected_offset_micro_meters);
+ }
+ }
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_device_mode(VL53L0X_DEV dev,
+ VL53L0X_DeviceModes *p_device_mode)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ VL53L0X_GETPARAMETERFIELD(dev, DeviceMode, *p_device_mode);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_inter_measurement_period_milli_seconds(VL53L0X_DEV dev,
+ uint32_t *p_inter_measurement_period_milli_seconds)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint16_t osc_calibrate_val;
+ uint32_t im_period_milli_seconds;
+
+ LOG_FUNCTION_START("");
+
+ status = VL53L0X_read_word(dev, VL53L0X_REG_OSC_CALIBRATE_VAL,
+ &osc_calibrate_val);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_read_dword(dev,
+ VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
+ &im_period_milli_seconds);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ if (osc_calibrate_val != 0) {
+ *p_inter_measurement_period_milli_seconds =
+ im_period_milli_seconds / osc_calibrate_val;
+ }
+ VL53L0X_SETPARAMETERFIELD(dev,
+ InterMeasurementPeriodMilliSeconds,
+ *p_inter_measurement_period_milli_seconds);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_rate_mega_cps(VL53L0X_DEV dev,
+ FixPoint1616_t *p_xtalk_compensation_rate_mega_cps)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint16_t value;
+ FixPoint1616_t temp_fix1616;
+
+ LOG_FUNCTION_START("");
+
+ status = VL53L0X_read_word(dev,
+ VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&value);
+ if (status == VL53L0X_ERROR_NONE) {
+ if (value == 0) {
+ /* the Xtalk is disabled return value from memory */
+ VL53L0X_GETPARAMETERFIELD(dev,
+ XTalkCompensationRateMegaCps, temp_fix1616);
+ *p_xtalk_compensation_rate_mega_cps = temp_fix1616;
+ VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationEnable,
+ 0);
+ } else {
+ temp_fix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(value);
+ *p_xtalk_compensation_rate_mega_cps = temp_fix1616;
+ VL53L0X_SETPARAMETERFIELD(dev,
+ XTalkCompensationRateMegaCps, temp_fix1616);
+ VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationEnable,
+ 1);
+ }
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
+ FixPoint1616_t *p_limit_check_value)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t enable_zero_value = 0;
+ uint16_t temp16;
+ FixPoint1616_t temp_fix1616;
+
+ LOG_FUNCTION_START("");
+
+ switch (limit_check_id) {
+
+ case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
+ /* internal computation: */
+ VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, temp_fix1616);
+ enable_zero_value = 0;
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+ status = VL53L0X_read_word(dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
+ &temp16);
+ if (status == VL53L0X_ERROR_NONE)
+ temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16);
+
+
+ enable_zero_value = 1;
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
+ /* internal computation: */
+ VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, temp_fix1616);
+ enable_zero_value = 0;
+ break;
+
+ case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
+ /* internal computation: */
+ VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, temp_fix1616);
+ enable_zero_value = 0;
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
+ status = VL53L0X_read_word(dev,
+ VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
+ &temp16);
+ if (status == VL53L0X_ERROR_NONE)
+ temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16);
+
+
+ enable_zero_value = 0;
+ break;
+
+ default:
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+
+ if (enable_zero_value == 1) {
+
+ if (temp_fix1616 == 0) {
+ /* disabled: return value from memory */
+ VL53L0X_GETARRAYPARAMETERFIELD(dev,
+ LimitChecksValue, limit_check_id,
+ temp_fix1616);
+ *p_limit_check_value = temp_fix1616;
+ VL53L0X_SETARRAYPARAMETERFIELD(dev,
+ LimitChecksEnable, limit_check_id, 0);
+ } else {
+ *p_limit_check_value = temp_fix1616;
+ VL53L0X_SETARRAYPARAMETERFIELD(dev,
+ LimitChecksValue, limit_check_id,
+ temp_fix1616);
+ VL53L0X_SETARRAYPARAMETERFIELD(dev,
+ LimitChecksEnable, limit_check_id, 1);
+ }
+ } else {
+ *p_limit_check_value = temp_fix1616;
+ }
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
+ uint8_t *p_limit_check_enable)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t temp8;
+
+ LOG_FUNCTION_START("");
+
+ if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ *p_limit_check_enable = 0;
+ } else {
+ VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
+ limit_check_id, temp8);
+ *p_limit_check_enable = temp8;
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_wrap_around_check_enable(VL53L0X_DEV dev,
+ uint8_t *p_wrap_around_check_enable)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t data;
+
+ LOG_FUNCTION_START("");
+
+ status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data);
+ if (status == VL53L0X_ERROR_NONE) {
+ PALDevDataSet(dev, SequenceConfig, data);
+ if (data & (0x01 << 7))
+ *p_wrap_around_check_enable = 0x01;
+ else
+ *p_wrap_around_check_enable = 0x00;
+ }
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETPARAMETERFIELD(dev, WrapAroundCheckEnable,
+ *p_wrap_around_check_enable);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::sequence_step_enabled(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_config,
+ uint8_t *p_sequence_step_enabled)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ *p_sequence_step_enabled = 0;
+ LOG_FUNCTION_START("");
+
+ switch (sequence_step_id) {
+ case VL53L0X_SEQUENCESTEP_TCC:
+ *p_sequence_step_enabled = (sequence_config & 0x10) >> 4;
+ break;
+ case VL53L0X_SEQUENCESTEP_DSS:
+ *p_sequence_step_enabled = (sequence_config & 0x08) >> 3;
+ break;
+ case VL53L0X_SEQUENCESTEP_MSRC:
+ *p_sequence_step_enabled = (sequence_config & 0x04) >> 2;
+ break;
+ case VL53L0X_SEQUENCESTEP_PRE_RANGE:
+ *p_sequence_step_enabled = (sequence_config & 0x40) >> 6;
+ break;
+ case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
+ *p_sequence_step_enabled = (sequence_config & 0x80) >> 7;
+ break;
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ LOG_FUNCTION_END(status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_sequence_step_enables(VL53L0X_DEV dev,
+ VL53L0X_SchedulerSequenceSteps_t *p_scheduler_sequence_steps)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t sequence_config = 0;
+ LOG_FUNCTION_START("");
+
+ status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ &sequence_config);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = sequence_step_enabled(dev,
+ VL53L0X_SEQUENCESTEP_TCC, sequence_config,
+ &p_scheduler_sequence_steps->TccOn);
+ }
+ if (status == VL53L0X_ERROR_NONE) {
+ status = sequence_step_enabled(dev,
+ VL53L0X_SEQUENCESTEP_DSS, sequence_config,
+ &p_scheduler_sequence_steps->DssOn);
+ }
+ if (status == VL53L0X_ERROR_NONE) {
+ status = sequence_step_enabled(dev,
+ VL53L0X_SEQUENCESTEP_MSRC, sequence_config,
+ &p_scheduler_sequence_steps->MsrcOn);
+ }
+ if (status == VL53L0X_ERROR_NONE) {
+ status = sequence_step_enabled(dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE, sequence_config,
+ &p_scheduler_sequence_steps->PreRangeOn);
+ }
+ if (status == VL53L0X_ERROR_NONE) {
+ status = sequence_step_enabled(dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE, sequence_config,
+ &p_scheduler_sequence_steps->FinalRangeOn);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+uint8_t VL53L0X::VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg)
+{
+ /*!
+ * Converts the encoded VCSEL period register value into the real
+ * period in PLL clocks
+ */
+
+ uint8_t vcsel_period_pclks = 0;
+
+ vcsel_period_pclks = (vcsel_period_reg + 1) << 1;
+
+ return vcsel_period_pclks;
+}
+
+uint8_t VL53L0X::lv53l0x_encode_vcsel_period(uint8_t vcsel_period_pclks)
+{
+ /*!
+ * Converts the encoded VCSEL period register value into the real period
+ * in PLL clocks
+ */
+
+ uint8_t vcsel_period_reg = 0;
+
+ vcsel_period_reg = (vcsel_period_pclks >> 1) - 1;
+
+ return vcsel_period_reg;
+}
+
+
+VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev,
+ VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period_pclk)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t vcsel_period_reg;
+ uint8_t min_pre_vcsel_period_pclk = 12;
+ uint8_t max_pre_vcsel_period_pclk = 18;
+ uint8_t min_final_vcsel_period_pclk = 8;
+ uint8_t max_final_vcsel_period_pclk = 14;
+ uint32_t measurement_timing_budget_micro_seconds;
+ uint32_t final_range_timeout_micro_seconds;
+ uint32_t pre_range_timeout_micro_seconds;
+ uint32_t msrc_timeout_micro_seconds;
+ uint8_t phase_cal_int = 0;
+
+ /* Check if valid clock period requested */
+
+ if ((vcsel_pulse_period_pclk % 2) != 0) {
+ /* Value must be an even number */
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE &&
+ (vcsel_pulse_period_pclk < min_pre_vcsel_period_pclk ||
+ vcsel_pulse_period_pclk > max_pre_vcsel_period_pclk)) {
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE &&
+ (vcsel_pulse_period_pclk < min_final_vcsel_period_pclk ||
+ vcsel_pulse_period_pclk > max_final_vcsel_period_pclk)) {
+
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ /* Apply specific settings for the requested clock period */
+
+ if (status != VL53L0X_ERROR_NONE)
+ return status;
+
+
+ if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE) {
+
+ /* Set phase check limits */
+ if (vcsel_pulse_period_pclk == 12) {
+
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x18);
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+ } else if (vcsel_pulse_period_pclk == 14) {
+
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x30);
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+ } else if (vcsel_pulse_period_pclk == 16) {
+
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x40);
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+ } else if (vcsel_pulse_period_pclk == 18) {
+
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x50);
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+ }
+ } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) {
+
+ if (vcsel_pulse_period_pclk == 8) {
+
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x10);
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+
+ status |= VL53L0X_write_byte(dev,
+ VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
+ status |= VL53L0X_write_byte(dev,
+ VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
+
+ status |= VL53L0X_write_byte(dev, 0xff, 0x01);
+ status |= VL53L0X_write_byte(dev,
+ VL53L0X_REG_ALGO_PHASECAL_LIM,
+ 0x30);
+ status |= VL53L0X_write_byte(dev, 0xff, 0x00);
+ } else if (vcsel_pulse_period_pclk == 10) {
+
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x28);
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+
+ status |= VL53L0X_write_byte(dev,
+ VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
+ status |= VL53L0X_write_byte(dev,
+ VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
+
+ status |= VL53L0X_write_byte(dev, 0xff, 0x01);
+ status |= VL53L0X_write_byte(dev,
+ VL53L0X_REG_ALGO_PHASECAL_LIM,
+ 0x20);
+ status |= VL53L0X_write_byte(dev, 0xff, 0x00);
+ } else if (vcsel_pulse_period_pclk == 12) {
+
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x38);
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+
+ status |= VL53L0X_write_byte(dev,
+ VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
+ status |= VL53L0X_write_byte(dev,
+ VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08);
+
+ status |= VL53L0X_write_byte(dev, 0xff, 0x01);
+ status |= VL53L0X_write_byte(dev,
+ VL53L0X_REG_ALGO_PHASECAL_LIM,
+ 0x20);
+ status |= VL53L0X_write_byte(dev, 0xff, 0x00);
+ } else if (vcsel_pulse_period_pclk == 14) {
+
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x048);
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+
+ status |= VL53L0X_write_byte(dev,
+ VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
+ status |= VL53L0X_write_byte(dev,
+ VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
+
+ status |= VL53L0X_write_byte(dev, 0xff, 0x01);
+ status |= VL53L0X_write_byte(dev,
+ VL53L0X_REG_ALGO_PHASECAL_LIM,
+ 0x20);
+ status |= VL53L0X_write_byte(dev, 0xff, 0x00);
+ }
+ }
+
+
+ /* Re-calculate and apply timeouts, in macro periods */
+
+ if (status == VL53L0X_ERROR_NONE) {
+ vcsel_period_reg = lv53l0x_encode_vcsel_period((uint8_t)
+ vcsel_pulse_period_pclk);
+
+ /* When the VCSEL period for the pre or final range is changed,
+ * the corresponding timeout must be read from the device using
+ * the current VCSEL period, then the new VCSEL period can be
+ * applied. The timeout then must be written back to the device
+ * using the new VCSEL period.
+ *
+ * For the MSRC timeout, the same applies - this timeout being
+ * dependant on the pre-range vcsel period.
+ */
+ switch (vcsel_period_type) {
+ case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
+ status = get_sequence_step_timeout(dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ &pre_range_timeout_micro_seconds);
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = get_sequence_step_timeout(dev,
+ VL53L0X_SEQUENCESTEP_MSRC,
+ &msrc_timeout_micro_seconds);
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
+ vcsel_period_reg);
+
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = set_sequence_step_timeout(dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ pre_range_timeout_micro_seconds);
+
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = set_sequence_step_timeout(dev,
+ VL53L0X_SEQUENCESTEP_MSRC,
+ msrc_timeout_micro_seconds);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ dev,
+ PreRangeVcselPulsePeriod,
+ vcsel_pulse_period_pclk);
+ break;
+ case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
+ status = get_sequence_step_timeout(dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ &final_range_timeout_micro_seconds);
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
+ vcsel_period_reg);
+
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = set_sequence_step_timeout(dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ final_range_timeout_micro_seconds);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ dev,
+ FinalRangeVcselPulsePeriod,
+ vcsel_pulse_period_pclk);
+ break;
+ default:
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ /* Finally, the timing budget must be re-applied */
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_GETPARAMETERFIELD(dev,
+ MeasurementTimingBudgetMicroSeconds,
+ measurement_timing_budget_micro_seconds);
+
+ status = VL53L0X_set_measurement_timing_budget_micro_seconds(dev,
+ measurement_timing_budget_micro_seconds);
+ }
+
+ /* Perform the phase calibration. This is needed after changing on
+ * vcsel period.
+ * get_data_enable = 0, restore_config = 1 */
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_perform_phase_calibration(
+ dev, &phase_cal_int, 0, 1);
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev,
+ VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ status = wrapped_VL53L0X_set_vcsel_pulse_period(dev, vcsel_period_type,
+ vcsel_pulse_period);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev,
+ VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t vcsel_period_reg;
+
+ switch (vcsel_period_type) {
+ case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
+ status = VL53L0X_read_byte(dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
+ &vcsel_period_reg);
+ break;
+ case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
+ status = VL53L0X_read_byte(dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
+ &vcsel_period_reg);
+ break;
+ default:
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ if (status == VL53L0X_ERROR_NONE)
+ *p_vcsel_pulse_period_pclk =
+ VL53L0X_decode_vcsel_period(vcsel_period_reg);
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev,
+ VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ status = wrapped_VL53L0X_get_vcsel_pulse_period(dev, vcsel_period_type,
+ p_vcsel_pulse_period_pclk);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+uint32_t VL53L0X::VL53L0X_decode_timeout(uint16_t encoded_timeout)
+{
+ /*!
+ * Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1
+ */
+
+ uint32_t timeout_macro_clks = 0;
+
+ timeout_macro_clks = ((uint32_t)(encoded_timeout & 0x00FF)
+ << (uint32_t)((encoded_timeout & 0xFF00) >> 8)) + 1;
+
+ return timeout_macro_clks;
+}
+
+uint32_t VL53L0X::VL53L0X_calc_macro_period_ps(VL53L0X_DEV dev, uint8_t vcsel_period_pclks)
+{
+ uint64_t pll_period_ps;
+ uint32_t macro_period_vclks;
+ uint32_t macro_period_ps;
+
+ LOG_FUNCTION_START("");
+
+ /* The above calculation will produce rounding errors,
+ therefore set fixed value
+ */
+ pll_period_ps = 1655;
+
+ macro_period_vclks = 2304;
+ macro_period_ps = (uint32_t)(macro_period_vclks
+ * vcsel_period_pclks * pll_period_ps);
+
+ LOG_FUNCTION_END("");
+ return macro_period_ps;
+}
+
+/* To convert register value into us */
+uint32_t VL53L0X::VL53L0X_calc_timeout_us(VL53L0X_DEV dev,
+ uint16_t timeout_period_mclks,
+ uint8_t vcsel_period_pclks)
+{
+ uint32_t macro_period_ps;
+ uint32_t macro_period_ns;
+ uint32_t actual_timeout_period_us = 0;
+
+ macro_period_ps = VL53L0X_calc_macro_period_ps(dev, vcsel_period_pclks);
+ macro_period_ns = (macro_period_ps + 500) / 1000;
+
+ actual_timeout_period_us =
+ ((timeout_period_mclks * macro_period_ns) + 500) / 1000;
+
+ return actual_timeout_period_us;
+}
+
+VL53L0X_Error VL53L0X::get_sequence_step_timeout(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id,
+ uint32_t *p_time_out_micro_secs)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t current_vcsel_pulse_period_p_clk;
+ uint8_t encoded_time_out_byte = 0;
+ uint32_t timeout_micro_seconds = 0;
+ uint16_t pre_range_encoded_time_out = 0;
+ uint16_t msrc_time_out_m_clks;
+ uint16_t pre_range_time_out_m_clks;
+ uint16_t final_range_time_out_m_clks = 0;
+ uint16_t final_range_encoded_time_out;
+ VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
+
+ if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) ||
+ (sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) ||
+ (sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) {
+
+ status = VL53L0X_get_vcsel_pulse_period(dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ ¤t_vcsel_pulse_period_p_clk);
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_read_byte(dev,
+ VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
+ &encoded_time_out_byte);
+ }
+ msrc_time_out_m_clks = VL53L0X_decode_timeout(encoded_time_out_byte);
+
+ timeout_micro_seconds = VL53L0X_calc_timeout_us(dev,
+ msrc_time_out_m_clks,
+ current_vcsel_pulse_period_p_clk);
+ } else if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
+ /* Retrieve PRE-RANGE VCSEL Period */
+ status = VL53L0X_get_vcsel_pulse_period(dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ ¤t_vcsel_pulse_period_p_clk);
+
+ /* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
+ if (status == VL53L0X_ERROR_NONE) {
+
+ /* Retrieve PRE-RANGE VCSEL Period */
+ status = VL53L0X_get_vcsel_pulse_period(dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ ¤t_vcsel_pulse_period_p_clk);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_read_word(dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
+ &pre_range_encoded_time_out);
+ }
+
+ pre_range_time_out_m_clks = VL53L0X_decode_timeout(
+ pre_range_encoded_time_out);
+
+ timeout_micro_seconds = VL53L0X_calc_timeout_us(dev,
+ pre_range_time_out_m_clks,
+ current_vcsel_pulse_period_p_clk);
+ }
+ } else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
+
+ VL53L0X_get_sequence_step_enables(dev, &scheduler_sequence_steps);
+ pre_range_time_out_m_clks = 0;
+
+ if (scheduler_sequence_steps.PreRangeOn) {
+ /* Retrieve PRE-RANGE VCSEL Period */
+ status = VL53L0X_get_vcsel_pulse_period(dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ ¤t_vcsel_pulse_period_p_clk);
+
+ /* Retrieve PRE-RANGE Timeout in Macro periods
+ * (MCLKS) */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_read_word(dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
+ &pre_range_encoded_time_out);
+ pre_range_time_out_m_clks = VL53L0X_decode_timeout(
+ pre_range_encoded_time_out);
+ }
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ /* Retrieve FINAL-RANGE VCSEL Period */
+ status = VL53L0X_get_vcsel_pulse_period(dev,
+ VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
+ ¤t_vcsel_pulse_period_p_clk);
+ }
+
+ /* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_read_word(dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
+ &final_range_encoded_time_out);
+ final_range_time_out_m_clks = VL53L0X_decode_timeout(
+ final_range_encoded_time_out);
+ }
+
+ final_range_time_out_m_clks -= pre_range_time_out_m_clks;
+ timeout_micro_seconds = VL53L0X_calc_timeout_us(dev,
+ final_range_time_out_m_clks,
+ current_vcsel_pulse_period_p_clk);
+ }
+
+ *p_time_out_micro_secs = timeout_micro_seconds;
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
+ uint32_t *p_measurement_timing_budget_micro_seconds)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
+ uint32_t final_range_timeout_micro_seconds;
+ uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000;
+ uint32_t start_overhead_micro_seconds = 1910;
+ uint32_t end_overhead_micro_seconds = 960;
+ uint32_t msrc_overhead_micro_seconds = 660;
+ uint32_t tcc_overhead_micro_seconds = 590;
+ uint32_t dss_overhead_micro_seconds = 690;
+ uint32_t pre_range_overhead_micro_seconds = 660;
+ uint32_t final_range_overhead_micro_seconds = 550;
+ uint32_t pre_range_timeout_micro_seconds = 0;
+
+ LOG_FUNCTION_START("");
+
+ /* Start and end overhead times always present */
+ *p_measurement_timing_budget_micro_seconds
+ = start_overhead_micro_seconds + end_overhead_micro_seconds;
+
+ status = VL53L0X_get_sequence_step_enables(dev, &scheduler_sequence_steps);
+
+ if (status != VL53L0X_ERROR_NONE) {
+ LOG_FUNCTION_END(status);
+ return status;
+ }
+
+
+ if (scheduler_sequence_steps.TccOn ||
+ scheduler_sequence_steps.MsrcOn ||
+ scheduler_sequence_steps.DssOn) {
+
+ status = get_sequence_step_timeout(dev,
+ VL53L0X_SEQUENCESTEP_MSRC,
+ &msrc_dcc_tcc_timeout_micro_seconds);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ if (scheduler_sequence_steps.TccOn) {
+ *p_measurement_timing_budget_micro_seconds +=
+ msrc_dcc_tcc_timeout_micro_seconds +
+ tcc_overhead_micro_seconds;
+ }
+
+ if (scheduler_sequence_steps.DssOn) {
+ *p_measurement_timing_budget_micro_seconds +=
+ 2 * (msrc_dcc_tcc_timeout_micro_seconds +
+ dss_overhead_micro_seconds);
+ } else if (scheduler_sequence_steps.MsrcOn) {
+ *p_measurement_timing_budget_micro_seconds +=
+ msrc_dcc_tcc_timeout_micro_seconds +
+ msrc_overhead_micro_seconds;
+ }
+ }
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ if (scheduler_sequence_steps.PreRangeOn) {
+ status = get_sequence_step_timeout(dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ &pre_range_timeout_micro_seconds);
+ *p_measurement_timing_budget_micro_seconds +=
+ pre_range_timeout_micro_seconds +
+ pre_range_overhead_micro_seconds;
+ }
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ if (scheduler_sequence_steps.FinalRangeOn) {
+ status = get_sequence_step_timeout(dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ &final_range_timeout_micro_seconds);
+ *p_measurement_timing_budget_micro_seconds +=
+ (final_range_timeout_micro_seconds +
+ final_range_overhead_micro_seconds);
+ }
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETPARAMETERFIELD(dev,
+ MeasurementTimingBudgetMicroSeconds,
+ *p_measurement_timing_budget_micro_seconds);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
+ uint32_t *p_measurement_timing_budget_micro_seconds)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ status = wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(dev,
+ p_measurement_timing_budget_micro_seconds);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_device_parameters(VL53L0X_DEV dev,
+ VL53L0X_DeviceParameters_t *p_device_parameters)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ int i;
+
+ LOG_FUNCTION_START("");
+
+ status = VL53L0X_get_device_mode(dev, &(p_device_parameters->DeviceMode));
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_get_inter_measurement_period_milli_seconds(dev,
+ &(p_device_parameters->InterMeasurementPeriodMilliSeconds));
+
+
+ if (status == VL53L0X_ERROR_NONE)
+ p_device_parameters->XTalkCompensationEnable = 0;
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_get_x_talk_compensation_rate_mega_cps(dev,
+ &(p_device_parameters->XTalkCompensationRateMegaCps));
+
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_get_offset_calibration_data_micro_meter(dev,
+ &(p_device_parameters->RangeOffsetMicroMeters));
+
+
+ if (status == VL53L0X_ERROR_NONE) {
+ for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
+ /* get first the values, then the enables.
+ * VL53L0X_GetLimitCheckValue will modify the enable
+ * flags
+ */
+ if (status == VL53L0X_ERROR_NONE) {
+ status |= VL53L0X_get_limit_check_value(dev, i,
+ &(p_device_parameters->LimitChecksValue[i]));
+ } else {
+ break;
+ }
+ if (status == VL53L0X_ERROR_NONE) {
+ status |= VL53L0X_get_limit_check_enable(dev, i,
+ &(p_device_parameters->LimitChecksEnable[i]));
+ } else {
+ break;
+ }
+ }
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_get_wrap_around_check_enable(dev,
+ &(p_device_parameters->WrapAroundCheckEnable));
+ }
+
+ /* Need to be done at the end as it uses VCSELPulsePeriod */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_get_measurement_timing_budget_micro_seconds(dev,
+ &(p_device_parameters->MeasurementTimingBudgetMicroSeconds));
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_set_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
+ FixPoint1616_t limit_check_value)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t temp8;
+
+ LOG_FUNCTION_START("");
+
+ VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksEnable, limit_check_id,
+ temp8);
+
+ if (temp8 == 0) { /* disabled write only internal value */
+ VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
+ limit_check_id, limit_check_value);
+ } else {
+
+ switch (limit_check_id) {
+
+ case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ limit_check_value);
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+
+ status = VL53L0X_write_word(dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
+ VL53L0X_FIXPOINT1616TOFIXPOINT97(
+ limit_check_value));
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
+
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ limit_check_value);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
+
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ limit_check_value);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
+
+ status = VL53L0X_write_word(dev,
+ VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
+ VL53L0X_FIXPOINT1616TOFIXPOINT97(
+ limit_check_value));
+
+ break;
+
+ default:
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
+ limit_check_id, limit_check_value);
+ }
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_data_init(VL53L0X_DEV dev)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ VL53L0X_DeviceParameters_t CurrentParameters;
+ int i;
+ uint8_t StopVariable;
+
+ LOG_FUNCTION_START("");
+
+ /* by default the I2C is running at 1V8 if you want to change it you
+ * need to include this define at compilation level. */
+#ifdef USE_I2C_2V8
+ Status = VL53L0X_UpdateByte(Dev,
+ VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
+ 0xFE,
+ 0x01);
+#endif
+
+ /* Set I2C standard mode */
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_write_byte(dev, 0x88, 0x00);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev, ReadDataFromDeviceDone, 0);
+
+#ifdef USE_IQC_STATION
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_apply_offset_adjustment(Dev);
+#endif
+
+ /* Default value is 1000 for Linearity Corrective Gain */
+ PALDevDataSet(dev, LinearityCorrectiveGain, 1000);
+
+ /* Dmax default Parameter */
+ PALDevDataSet(dev, DmaxCalRangeMilliMeter, 400);
+ PALDevDataSet(dev, DmaxCalSignalRateRtnMegaCps,
+ (FixPoint1616_t)((0x00016B85))); /* 1.42 No Cover Glass*/
+
+ /* Set Default static parameters
+ *set first temporary values 9.44MHz * 65536 = 618660 */
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev, OscFrequencyMHz, 618660);
+
+ /* Set Default XTalkCompensationRateMegaCps to 0 */
+ VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationRateMegaCps, 0);
+
+ /* Get default parameters */
+ status = VL53L0X_get_device_parameters(dev, &CurrentParameters);
+ if (status == VL53L0X_ERROR_NONE) {
+ /* initialize PAL values */
+ CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING;
+ CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED;
+ PALDevDataSet(dev, CurrentParameters, CurrentParameters);
+ }
+
+ /* Sigma estimator variable */
+ PALDevDataSet(dev, SigmaEstRefArray, 100);
+ PALDevDataSet(dev, SigmaEstEffPulseWidth, 900);
+ PALDevDataSet(dev, SigmaEstEffAmbWidth, 500);
+ PALDevDataSet(dev, targetRefRate, 0x0A00); /* 20 MCPS in 9:7 format */
+
+ /* Use internal default settings */
+ PALDevDataSet(dev, UseInternalTuningSettings, 1);
+
+ status |= VL53L0X_write_byte(dev, 0x80, 0x01);
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x01);
+ status |= VL53L0X_write_byte(dev, 0x00, 0x00);
+ status |= VL53L0X_read_byte(dev, 0x91, &StopVariable);
+ PALDevDataSet(dev, StopVariable, StopVariable);
+ status |= VL53L0X_write_byte(dev, 0x00, 0x01);
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x00);
+ status |= VL53L0X_write_byte(dev, 0x80, 0x00);
+
+ /* Enable all check */
+ for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
+ if (status == VL53L0X_ERROR_NONE)
+ status |= VL53L0X_set_limit_check_enable(dev, i, 1);
+ else
+ break;
+
+ }
+
+ /* Disable the following checks */
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_set_limit_check_enable(dev,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0);
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_set_limit_check_enable(dev,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0);
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_set_limit_check_enable(dev,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0);
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_set_limit_check_enable(dev,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0);
+
+ /* Limit default values */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_set_limit_check_value(dev,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ (FixPoint1616_t)(18 * 65536));
+ }
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_set_limit_check_value(dev,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ (FixPoint1616_t)(25 * 65536 / 100));
+ /* 0.25 * 65536 */
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_set_limit_check_value(dev,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ (FixPoint1616_t)(35 * 65536));
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_set_limit_check_value(dev,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ (FixPoint1616_t)(0 * 65536));
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+
+ PALDevDataSet(dev, SequenceConfig, 0xFF);
+ status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ 0xFF);
+
+ /* Set PAL state to tell that we are waiting for call to
+ * VL53L0X_StaticInit */
+ PALDevDataSet(dev, PalState, VL53L0X_STATE_WAIT_STATICINIT);
+ }
+
+ if (status == VL53L0X_ERROR_NONE)
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 0);
+
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_check_part_used(VL53L0X_DEV dev,
+ uint8_t *revision,
+ VL53L0X_DeviceInfo_t *p_VL53L0X_device_info)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t module_id_int;
+ char *product_id_tmp;
+
+ LOG_FUNCTION_START("");
+
+ status = VL53L0X_get_info_from_device(dev, 2);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ module_id_int = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, ModuleId);
+
+ if (module_id_int == 0) {
+ *revision = 0;
+ VL53L0X_COPYSTRING(p_VL53L0X_device_info->ProductId, "");
+ } else {
+ *revision = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, Revision);
+ product_id_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
+ ProductId);
+ VL53L0X_COPYSTRING(p_VL53L0X_device_info->ProductId, product_id_tmp);
+ }
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_device_info(VL53L0X_DEV dev,
+ VL53L0X_DeviceInfo_t *p_VL53L0X_device_info)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t revision_id;
+ uint8_t revision;
+
+ status = VL53L0X_check_part_used(dev, &revision, p_VL53L0X_device_info);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ if (revision == 0) {
+ VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
+ VL53L0X_STRING_DEVICE_INFO_NAME_TS0);
+ } else if ((revision <= 34) && (revision != 32)) {
+ VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
+ VL53L0X_STRING_DEVICE_INFO_NAME_TS1);
+ } else if (revision < 39) {
+ VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
+ VL53L0X_STRING_DEVICE_INFO_NAME_TS2);
+ } else {
+ VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
+ VL53L0X_STRING_DEVICE_INFO_NAME_ES1);
+ }
+
+ VL53L0X_COPYSTRING(p_VL53L0X_device_info->Type,
+ VL53L0X_STRING_DEVICE_INFO_TYPE);
+
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_read_byte(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID,
+ &p_VL53L0X_device_info->ProductType);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_read_byte(dev,
+ VL53L0X_REG_IDENTIFICATION_REVISION_ID,
+ &revision_id);
+ p_VL53L0X_device_info->ProductRevisionMajor = 1;
+ p_VL53L0X_device_info->ProductRevisionMinor =
+ (revision_id & 0xF0) >> 4;
+ }
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_device_info(VL53L0X_DEV dev,
+ VL53L0X_DeviceInfo_t *p_VL53L0X_device_info)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ status = wrapped_VL53L0X_get_device_info(dev, p_VL53L0X_device_info);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_interrupt_mask_status(VL53L0X_DEV dev,
+ uint32_t *p_interrupt_mask_status)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t byte;
+ LOG_FUNCTION_START("");
+
+ status = VL53L0X_read_byte(dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte);
+ *p_interrupt_mask_status = byte & 0x07;
+
+ if (byte & 0x18) {
+ status = VL53L0X_ERROR_RANGE_ERROR;
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_measurement_data_ready(VL53L0X_DEV dev,
+ uint8_t *p_measurement_data_ready)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t sys_range_status_register;
+ uint8_t interrupt_config;
+ uint32_t interrupt_mask;
+ LOG_FUNCTION_START("");
+
+ interrupt_config = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
+ Pin0GpioFunctionality);
+
+ if (interrupt_config ==
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
+ status = VL53L0X_get_interrupt_mask_status(dev, &interrupt_mask);
+ if (interrupt_mask ==
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
+ *p_measurement_data_ready = 1;
+ } else {
+ *p_measurement_data_ready = 0;
+ }
+ } else {
+ status = VL53L0X_read_byte(dev, VL53L0X_REG_RESULT_RANGE_STATUS,
+ &sys_range_status_register);
+ if (status == VL53L0X_ERROR_NONE) {
+ if (sys_range_status_register & 0x01) {
+ *p_measurement_data_ready = 1;
+ } else {
+ *p_measurement_data_ready = 0;
+ }
+ }
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_polling_delay(VL53L0X_DEV dev)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+
+ // do nothing
+ VL53L0X_OsDelay();
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_measurement_poll_for_completion(VL53L0X_DEV dev)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t new_data_ready = 0;
+ uint32_t loop_nb;
+
+ LOG_FUNCTION_START("");
+
+ loop_nb = 0;
+
+ do {
+ status = VL53L0X_get_measurement_data_ready(dev, &new_data_ready);
+ if (status != 0) {
+ break; /* the error is set */
+ }
+
+ if (new_data_ready == 1) {
+ break; /* done note that status == 0 */
+ }
+
+ loop_nb++;
+ if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
+ status = VL53L0X_ERROR_TIME_OUT;
+ break;
+ }
+
+ VL53L0X_polling_delay(dev);
+ } while (1);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+/* Group PAL Interrupt Functions */
+VL53L0X_Error VL53L0X::VL53L0X_clear_interrupt_mask(VL53L0X_DEV dev, uint32_t interrupt_mask)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t loop_count;
+ uint8_t byte;
+ LOG_FUNCTION_START("");
+
+ /* clear bit 0 range interrupt, bit 1 error interrupt */
+ loop_count = 0;
+ do {
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01);
+ status |= VL53L0X_write_byte(dev,
+ VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00);
+ status |= VL53L0X_read_byte(dev,
+ VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte);
+ loop_count++;
+ } while (((byte & 0x07) != 0x00)
+ && (loop_count < 3)
+ && (status == VL53L0X_ERROR_NONE));
+
+
+ if (loop_count >= 3) {
+ status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED;
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_perform_single_ref_calibration(VL53L0X_DEV dev,
+ uint8_t vhv_init_byte)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START,
+ VL53L0X_REG_SYSRANGE_MODE_START_STOP |
+ vhv_init_byte);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_measurement_poll_for_completion(dev);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_clear_interrupt_mask(dev, 0);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START, 0x00);
+ }
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_ref_calibration_io(VL53L0X_DEV dev, uint8_t read_not_write,
+ uint8_t vhv_settings, uint8_t phase_cal,
+ uint8_t *p_vhv_settings, uint8_t *p_phase_cal,
+ const uint8_t vhv_enable, const uint8_t phase_enable)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t phase_calint = 0;
+
+ /* Read VHV from device */
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x01);
+ status |= VL53L0X_write_byte(dev, 0x00, 0x00);
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x00);
+
+ if (read_not_write) {
+ if (vhv_enable) {
+ status |= VL53L0X_read_byte(dev, 0xCB, p_vhv_settings);
+ }
+ if (phase_enable) {
+ status |= VL53L0X_read_byte(dev, 0xEE, &phase_calint);
+ }
+ } else {
+ if (vhv_enable) {
+ status |= VL53L0X_write_byte(dev, 0xCB, vhv_settings);
+ }
+ if (phase_enable) {
+ status |= VL53L0X_update_byte(dev, 0xEE, 0x80, phase_cal);
+ }
+ }
+
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x01);
+ status |= VL53L0X_write_byte(dev, 0x00, 0x01);
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x00);
+
+ *p_phase_cal = (uint8_t)(phase_calint & 0xEF);
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_perform_vhv_calibration(VL53L0X_DEV dev,
+ uint8_t *p_vhv_settings, const uint8_t get_data_enable,
+ const uint8_t restore_config)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t sequence_config = 0;
+ uint8_t vhv_settings = 0;
+ uint8_t phase_cal = 0;
+ uint8_t phase_cal_int = 0;
+
+ /* store the value of the sequence config,
+ * this will be reset before the end of the function
+ */
+
+ if (restore_config) {
+ sequence_config = PALDevDataGet(dev, SequenceConfig);
+ }
+
+ /* Run VHV */
+ status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x01);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_perform_single_ref_calibration(dev, 0x40);
+ }
+
+ /* Read VHV from device */
+ if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
+ status = VL53L0X_ref_calibration_io(dev, 1,
+ vhv_settings, phase_cal, /* Not used here */
+ p_vhv_settings, &phase_cal_int,
+ 1, 0);
+ } else {
+ *p_vhv_settings = 0;
+ }
+
+
+ if ((status == VL53L0X_ERROR_NONE) && restore_config) {
+ /* restore the previous Sequence Config */
+ status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ sequence_config);
+ if (status == VL53L0X_ERROR_NONE) {
+ PALDevDataSet(dev, SequenceConfig, sequence_config);
+ }
+
+ }
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_perform_phase_calibration(VL53L0X_DEV dev,
+ uint8_t *p_phase_cal, const uint8_t get_data_enable,
+ const uint8_t restore_config)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t sequence_config = 0;
+ uint8_t vhv_settings = 0;
+ uint8_t phase_cal = 0;
+ uint8_t vhv_settingsint;
+
+ /* store the value of the sequence config,
+ * this will be reset before the end of the function
+ */
+
+ if (restore_config)
+ sequence_config = PALDevDataGet(dev, SequenceConfig);
+
+ /* Run PhaseCal */
+ status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x02);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_perform_single_ref_calibration(dev, 0x0);
+ }
+
+ /* Read PhaseCal from device */
+ if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
+ status = VL53L0X_ref_calibration_io(dev, 1,
+ vhv_settings, phase_cal, /* Not used here */
+ &vhv_settingsint, p_phase_cal,
+ 0, 1);
+ } else {
+ *p_phase_cal = 0;
+ }
+
+
+ if ((status == VL53L0X_ERROR_NONE) && restore_config) {
+ /* restore the previous Sequence Config */
+ status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ sequence_config);
+ if (status == VL53L0X_ERROR_NONE) {
+ PALDevDataSet(dev, SequenceConfig, sequence_config);
+ }
+
+ }
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration(VL53L0X_DEV dev,
+ uint8_t *p_vhv_settings, uint8_t *p_phase_cal, uint8_t get_data_enable)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t sequence_config = 0;
+
+ /* store the value of the sequence config,
+ * this will be reset before the end of the function
+ */
+
+ sequence_config = PALDevDataGet(dev, SequenceConfig);
+
+ /* In the following function we don't save the config to optimize
+ * writes on device. Config is saved and restored only once. */
+ status = VL53L0X_perform_vhv_calibration(
+ dev, p_vhv_settings, get_data_enable, 0);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_perform_phase_calibration(
+ dev, p_phase_cal, get_data_enable, 0);
+ }
+
+
+ if (status == VL53L0X_ERROR_NONE) {
+ /* restore the previous Sequence Config */
+ status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ sequence_config);
+ if (status == VL53L0X_ERROR_NONE) {
+ PALDevDataSet(dev, SequenceConfig, sequence_config);
+ }
+
+ }
+
+ return status;
+}
+
+void VL53L0X::get_next_good_spad(uint8_t good_spad_array[], uint32_t size,
+ uint32_t curr, int32_t *p_next)
+{
+ uint32_t start_index;
+ uint32_t fine_offset;
+ uint32_t c_spads_per_byte = 8;
+ uint32_t coarse_index;
+ uint32_t fine_index;
+ uint8_t data_byte;
+ uint8_t success = 0;
+
+ /*
+ * Starting with the current good spad, loop through the array to find
+ * the next. i.e. the next bit set in the sequence.
+ *
+ * The coarse index is the byte index of the array and the fine index is
+ * the index of the bit within each byte.
+ */
+
+ *p_next = -1;
+
+ start_index = curr / c_spads_per_byte;
+ fine_offset = curr % c_spads_per_byte;
+
+ for (coarse_index = start_index; ((coarse_index < size) && !success);
+ coarse_index++) {
+ fine_index = 0;
+ data_byte = good_spad_array[coarse_index];
+
+ if (coarse_index == start_index) {
+ /* locate the bit position of the provided current
+ * spad bit before iterating */
+ data_byte >>= fine_offset;
+ fine_index = fine_offset;
+ }
+
+ while (fine_index < c_spads_per_byte) {
+ if ((data_byte & 0x1) == 1) {
+ success = 1;
+ *p_next = coarse_index * c_spads_per_byte + fine_index;
+ break;
+ }
+ data_byte >>= 1;
+ fine_index++;
+ }
+ }
+}
+
+uint8_t VL53L0X::is_aperture(uint32_t spad_index)
+{
+ /*
+ * This function reports if a given spad index is an aperture SPAD by
+ * deriving the quadrant.
+ */
+ uint32_t quadrant;
+ uint8_t is_aperture = 1;
+ quadrant = spad_index >> 6;
+ if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0) {
+ is_aperture = 0;
+ }
+
+ return is_aperture;
+}
+
+VL53L0X_Error VL53L0X::enable_spad_bit(uint8_t spad_array[], uint32_t size,
+ uint32_t spad_index)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint32_t c_spads_per_byte = 8;
+ uint32_t coarse_index;
+ uint32_t fine_index;
+
+ coarse_index = spad_index / c_spads_per_byte;
+ fine_index = spad_index % c_spads_per_byte;
+ if (coarse_index >= size) {
+ status = VL53L0X_ERROR_REF_SPAD_INIT;
+ } else {
+ spad_array[coarse_index] |= (1 << fine_index);
+ }
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::set_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array)
+{
+ VL53L0X_Error status = VL53L0X_write_multi(dev,
+ VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
+ p_ref_spad_array, 6);
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::get_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array)
+{
+ VL53L0X_Error status = VL53L0X_read_multi(dev,
+ VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
+ p_ref_spad_array,
+ 6);
+// VL53L0X_Error status = VL53L0X_ERROR_NONE;
+// uint8_t count=0;
+
+// for (count = 0; count < 6; count++)
+// status = VL53L0X_RdByte(Dev, (VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 + count), &refSpadArray[count]);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::enable_ref_spads(VL53L0X_DEV dev,
+ uint8_t aperture_spads,
+ uint8_t good_spad_array[],
+ uint8_t spad_array[],
+ uint32_t size,
+ uint32_t start,
+ uint32_t offset,
+ uint32_t spad_count,
+ uint32_t *p_last_spad)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint32_t index;
+ uint32_t i;
+ int32_t next_good_spad = offset;
+ uint32_t current_spad;
+ uint8_t check_spad_array[6];
+
+ /*
+ * This function takes in a spad array which may or may not have SPADS
+ * already enabled and appends from a given offset a requested number
+ * of new SPAD enables. The 'good spad map' is applied to
+ * determine the next SPADs to enable.
+ *
+ * This function applies to only aperture or only non-aperture spads.
+ * Checks are performed to ensure this.
+ */
+
+ current_spad = offset;
+ for (index = 0; index < spad_count; index++) {
+ get_next_good_spad(good_spad_array, size, current_spad,
+ &next_good_spad);
+
+ if (next_good_spad == -1) {
+ status = VL53L0X_ERROR_REF_SPAD_INIT;
+ break;
+ }
+
+ /* Confirm that the next good SPAD is non-aperture */
+ if (is_aperture(start + next_good_spad) != aperture_spads) {
+ /* if we can't get the required number of good aperture
+ * spads from the current quadrant then this is an error
+ */
+ status = VL53L0X_ERROR_REF_SPAD_INIT;
+ break;
+ }
+ current_spad = (uint32_t)next_good_spad;
+ enable_spad_bit(spad_array, size, current_spad);
+ current_spad++;
+ }
+ *p_last_spad = current_spad;
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = set_ref_spad_map(dev, spad_array);
+ }
+
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = get_ref_spad_map(dev, check_spad_array);
+
+ i = 0;
+
+ /* Compare spad maps. If not equal report error. */
+ while (i < size) {
+ if (spad_array[i] != check_spad_array[i]) {
+ status = VL53L0X_ERROR_REF_SPAD_INIT;
+ break;
+ }
+ i++;
+ }
+ }
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_set_device_mode(VL53L0X_DEV dev, VL53L0X_DeviceModes device_mode)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+
+ LOG_FUNCTION_START("%d", (int)DeviceMode);
+
+ switch (device_mode) {
+ case VL53L0X_DEVICEMODE_SINGLE_RANGING:
+ case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
+ case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
+ case VL53L0X_DEVICEMODE_GPIO_DRIVE:
+ case VL53L0X_DEVICEMODE_GPIO_OSC:
+ /* Supported modes */
+ VL53L0X_SETPARAMETERFIELD(dev, DeviceMode, device_mode);
+ break;
+ default:
+ /* Unsupported mode */
+ status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_set_interrupt_thresholds(VL53L0X_DEV dev,
+ VL53L0X_DeviceModes device_mode, FixPoint1616_t threshold_low,
+ FixPoint1616_t threshold_high)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint16_t threshold16;
+ LOG_FUNCTION_START("");
+
+ /* no dependency on DeviceMode for Ewok */
+ /* Need to divide by 2 because the FW will apply a x2 */
+ threshold16 = (uint16_t)((threshold_low >> 17) & 0x00fff);
+ status = VL53L0X_write_word(dev, VL53L0X_REG_SYSTEM_THRESH_LOW, threshold16);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ /* Need to divide by 2 because the FW will apply a x2 */
+ threshold16 = (uint16_t)((threshold_high >> 17) & 0x00fff);
+ status = VL53L0X_write_word(dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
+ threshold16);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_interrupt_thresholds(VL53L0X_DEV dev,
+ VL53L0X_DeviceModes device_mode, FixPoint1616_t *p_threshold_low,
+ FixPoint1616_t *p_threshold_high)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint16_t threshold16;
+ LOG_FUNCTION_START("");
+
+ /* no dependency on DeviceMode for Ewok */
+
+ status = VL53L0X_read_word(dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &threshold16);
+ /* Need to multiply by 2 because the FW will apply a x2 */
+ *p_threshold_low = (FixPoint1616_t)((0x00fff & threshold16) << 17);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_read_word(dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
+ &threshold16);
+ /* Need to multiply by 2 because the FW will apply a x2 */
+ *p_threshold_high =
+ (FixPoint1616_t)((0x00fff & threshold16) << 17);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_load_tuning_settings(VL53L0X_DEV dev,
+ uint8_t *p_tuning_setting_buffer)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ int i;
+ int index;
+ uint8_t msb;
+ uint8_t lsb;
+ uint8_t select_param;
+ uint8_t number_of_writes;
+ uint8_t address;
+ uint8_t local_buffer[4]; /* max */
+ uint16_t temp16;
+
+ LOG_FUNCTION_START("");
+
+ index = 0;
+
+ while ((*(p_tuning_setting_buffer + index) != 0) &&
+ (status == VL53L0X_ERROR_NONE)) {
+ number_of_writes = *(p_tuning_setting_buffer + index);
+ index++;
+ if (number_of_writes == 0xFF) {
+ /* internal parameters */
+ select_param = *(p_tuning_setting_buffer + index);
+ index++;
+ switch (select_param) {
+ case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */
+ msb = *(p_tuning_setting_buffer + index);
+ index++;
+ lsb = *(p_tuning_setting_buffer + index);
+ index++;
+ temp16 = VL53L0X_MAKEUINT16(lsb, msb);
+ PALDevDataSet(dev, SigmaEstRefArray, temp16);
+ break;
+ case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */
+ msb = *(p_tuning_setting_buffer + index);
+ index++;
+ lsb = *(p_tuning_setting_buffer + index);
+ index++;
+ temp16 = VL53L0X_MAKEUINT16(lsb, msb);
+ PALDevDataSet(dev, SigmaEstEffPulseWidth,
+ temp16);
+ break;
+ case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */
+ msb = *(p_tuning_setting_buffer + index);
+ index++;
+ lsb = *(p_tuning_setting_buffer + index);
+ index++;
+ temp16 = VL53L0X_MAKEUINT16(lsb, msb);
+ PALDevDataSet(dev, SigmaEstEffAmbWidth, temp16);
+ break;
+ case 3: /* uint16_t targetRefRate -> 2 bytes */
+ msb = *(p_tuning_setting_buffer + index);
+ index++;
+ lsb = *(p_tuning_setting_buffer + index);
+ index++;
+ temp16 = VL53L0X_MAKEUINT16(lsb, msb);
+ PALDevDataSet(dev, targetRefRate, temp16);
+ break;
+ default: /* invalid parameter */
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ } else if (number_of_writes <= 4) {
+ address = *(p_tuning_setting_buffer + index);
+ index++;
+
+ for (i = 0; i < number_of_writes; i++) {
+ local_buffer[i] = *(p_tuning_setting_buffer +
+ index);
+ index++;
+ }
+
+ status = VL53L0X_write_multi(dev, address, local_buffer,
+ number_of_writes);
+
+ } else {
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_check_and_load_interrupt_settings(VL53L0X_DEV dev,
+ uint8_t start_not_stopflag)
+{
+ uint8_t interrupt_config;
+ FixPoint1616_t threshold_low;
+ FixPoint1616_t threshold_high;
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+
+ interrupt_config = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
+ Pin0GpioFunctionality);
+
+ if ((interrupt_config ==
+ VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) ||
+ (interrupt_config ==
+ VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) ||
+ (interrupt_config ==
+ VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) {
+
+ status = VL53L0X_get_interrupt_thresholds(dev,
+ VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+ &threshold_low, &threshold_high);
+
+ if (((threshold_low > 255 * 65536) ||
+ (threshold_high > 255 * 65536)) &&
+ (status == VL53L0X_ERROR_NONE)) {
+
+ if (start_not_stopflag != 0) {
+ status = VL53L0X_load_tuning_settings(dev,
+ InterruptThresholdSettings);
+ } else {
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x04);
+ status |= VL53L0X_write_byte(dev, 0x70, 0x00);
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x00);
+ status |= VL53L0X_write_byte(dev, 0x80, 0x00);
+ }
+
+ }
+
+
+ }
+
+ return status;
+
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_start_measurement(VL53L0X_DEV dev)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ VL53L0X_DeviceModes device_mode;
+ uint8_t byte;
+ uint8_t start_stop_byte = VL53L0X_REG_SYSRANGE_MODE_START_STOP;
+ uint32_t loop_nb;
+ LOG_FUNCTION_START("");
+
+ /* Get Current DeviceMode */
+ VL53L0X_get_device_mode(dev, &device_mode);
+
+ status = VL53L0X_write_byte(dev, 0x80, 0x01);
+ status = VL53L0X_write_byte(dev, 0xFF, 0x01);
+ status = VL53L0X_write_byte(dev, 0x00, 0x00);
+ status = VL53L0X_write_byte(dev, 0x91, PALDevDataGet(dev, StopVariable));
+ status = VL53L0X_write_byte(dev, 0x00, 0x01);
+ status = VL53L0X_write_byte(dev, 0xFF, 0x00);
+ status = VL53L0X_write_byte(dev, 0x80, 0x00);
+
+ switch (device_mode) {
+ case VL53L0X_DEVICEMODE_SINGLE_RANGING:
+ status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START, 0x01);
+
+ byte = start_stop_byte;
+ if (status == VL53L0X_ERROR_NONE) {
+ /* Wait until start bit has been cleared */
+ loop_nb = 0;
+ do {
+ if (loop_nb > 0)
+ status = VL53L0X_read_byte(dev,
+ VL53L0X_REG_SYSRANGE_START, &byte);
+ loop_nb = loop_nb + 1;
+ } while (((byte & start_stop_byte) == start_stop_byte)
+ && (status == VL53L0X_ERROR_NONE)
+ && (loop_nb < VL53L0X_DEFAULT_MAX_LOOP));
+
+ if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP)
+ status = VL53L0X_ERROR_TIME_OUT;
+
+ }
+
+ break;
+ case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
+ /* Back-to-back mode */
+
+ /* Check if need to apply interrupt settings */
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_check_and_load_interrupt_settings(dev, 1);
+
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_SYSRANGE_START,
+ VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK);
+ if (status == VL53L0X_ERROR_NONE) {
+ /* Set PAL State to Running */
+ PALDevDataSet(dev, PalState, VL53L0X_STATE_RUNNING);
+ }
+ break;
+ case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
+ /* Continuous mode */
+ /* Check if need to apply interrupt settings */
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_check_and_load_interrupt_settings(dev, 1);
+
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_SYSRANGE_START,
+ VL53L0X_REG_SYSRANGE_MODE_TIMED);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ /* Set PAL State to Running */
+ PALDevDataSet(dev, PalState, VL53L0X_STATE_RUNNING);
+ }
+ break;
+ default:
+ /* Selected mode not supported */
+ status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
+ }
+
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+/* Group PAL Measurement Functions */
+VL53L0X_Error VL53L0X::VL53L0X_perform_single_measurement(VL53L0X_DEV dev)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ VL53L0X_DeviceModes device_mode;
+
+ LOG_FUNCTION_START("");
+
+ /* Get Current DeviceMode */
+ status = VL53L0X_get_device_mode(dev, &device_mode);
+
+ /* Start immediately to run a single ranging measurement in case of
+ * single ranging or single histogram */
+ if (status == VL53L0X_ERROR_NONE
+ && device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING) {
+ status = VL53L0X_start_measurement(dev);
+ }
+
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_measurement_poll_for_completion(dev);
+ }
+
+
+ /* Change PAL State in case of single ranging or single histogram */
+ if (status == VL53L0X_ERROR_NONE
+ && device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING)
+ PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE);
+
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_enable(VL53L0X_DEV dev,
+ uint8_t *p_x_talk_compensation_enable)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t temp8;
+ LOG_FUNCTION_START("");
+
+ VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationEnable, temp8);
+ *p_x_talk_compensation_enable = temp8;
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_total_xtalk_rate(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
+ FixPoint1616_t *p_total_xtalk_rate_mcps)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+
+ uint8_t xtalk_comp_enable;
+ FixPoint1616_t total_xtalk_mega_cps;
+ FixPoint1616_t xtalk_per_spad_mega_cps;
+
+ *p_total_xtalk_rate_mcps = 0;
+
+ status = VL53L0X_get_x_talk_compensation_enable(dev, &xtalk_comp_enable);
+ if (status == VL53L0X_ERROR_NONE) {
+
+ if (xtalk_comp_enable) {
+
+ VL53L0X_GETPARAMETERFIELD(
+ dev,
+ XTalkCompensationRateMegaCps,
+ xtalk_per_spad_mega_cps);
+
+ /* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */
+ total_xtalk_mega_cps =
+ p_ranging_measurement_data->EffectiveSpadRtnCount *
+ xtalk_per_spad_mega_cps;
+
+ /* FixPoint0824 >> 8 = FixPoint1616 */
+ *p_total_xtalk_rate_mcps =
+ (total_xtalk_mega_cps + 0x80) >> 8;
+ }
+ }
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_total_signal_rate(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
+ FixPoint1616_t *p_total_signal_rate_mcps)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ FixPoint1616_t total_xtalk_mega_cps;
+
+ LOG_FUNCTION_START("");
+
+ *p_total_signal_rate_mcps =
+ p_ranging_measurement_data->SignalRateRtnMegaCps;
+
+ status = VL53L0X_get_total_xtalk_rate(
+ dev, p_ranging_measurement_data, &total_xtalk_mega_cps);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ *p_total_signal_rate_mcps += total_xtalk_mega_cps;
+ }
+
+ return status;
+}
+
+/* To convert ms into register value */
+uint32_t VL53L0X::VL53L0X_calc_timeout_mclks(VL53L0X_DEV dev,
+ uint32_t timeout_period_us,
+ uint8_t vcsel_period_pclks)
+{
+ uint32_t macro_period_ps;
+ uint32_t macro_period_ns;
+ uint32_t timeout_period_mclks = 0;
+
+ macro_period_ps = VL53L0X_calc_macro_period_ps(dev, vcsel_period_pclks);
+ macro_period_ns = (macro_period_ps + 500) / 1000;
+
+ timeout_period_mclks =
+ (uint32_t)(((timeout_period_us * 1000)
+ + (macro_period_ns / 2)) / macro_period_ns);
+
+ return timeout_period_mclks;
+}
+
+uint32_t VL53L0X::VL53L0X_isqrt(uint32_t num)
+{
+ /*
+ * Implements an integer square root
+ *
+ * From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
+ */
+
+ uint32_t res = 0;
+ uint32_t bit = 1 << 30;
+ /* The second-to-top bit is set:
+ * 1 << 14 for 16-bits, 1 << 30 for 32 bits */
+
+ /* "bit" starts at the highest power of four <= the argument. */
+ while (bit > num) {
+ bit >>= 2;
+ }
+
+
+ while (bit != 0) {
+ if (num >= res + bit) {
+ num -= res + bit;
+ res = (res >> 1) + bit;
+ } else
+ res >>= 1;
+
+ bit >>= 2;
+ }
+
+ return res;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_calc_dmax(
+ VL53L0X_DEV dev,
+ FixPoint1616_t total_signal_rate_mcps,
+ FixPoint1616_t total_corr_signal_rate_mcps,
+ FixPoint1616_t pw_mult,
+ uint32_t sigma_estimate_p1,
+ FixPoint1616_t sigma_estimate_p2,
+ uint32_t peak_vcsel_duration_us,
+ uint32_t *pd_max_mm)
+{
+ const uint32_t c_sigma_limit = 18;
+ const FixPoint1616_t c_signal_limit = 0x4000; /* 0.25 */
+ const FixPoint1616_t c_sigma_est_ref = 0x00000042; /* 0.001 */
+ const uint32_t c_amb_eff_width_sigma_est_ns = 6;
+ const uint32_t c_amb_eff_width_d_max_ns = 7;
+ uint32_t dmax_cal_range_mm;
+ FixPoint1616_t dmax_cal_signal_rate_rtn_mcps;
+ FixPoint1616_t min_signal_needed;
+ FixPoint1616_t min_signal_needed_p1;
+ FixPoint1616_t min_signal_needed_p2;
+ FixPoint1616_t min_signal_needed_p3;
+ FixPoint1616_t min_signal_needed_p4;
+ FixPoint1616_t sigma_limit_tmp;
+ FixPoint1616_t sigma_est_sq_tmp;
+ FixPoint1616_t signal_limit_tmp;
+ FixPoint1616_t signal_at0_mm;
+ FixPoint1616_t dmax_dark;
+ FixPoint1616_t dmax_ambient;
+ FixPoint1616_t dmax_dark_tmp;
+ FixPoint1616_t sigma_est_p2_tmp;
+ uint32_t signal_rate_temp_mcps;
+
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ dmax_cal_range_mm =
+ PALDevDataGet(dev, DmaxCalRangeMilliMeter);
+
+ dmax_cal_signal_rate_rtn_mcps =
+ PALDevDataGet(dev, DmaxCalSignalRateRtnMegaCps);
+
+ /* uint32 * FixPoint1616 = FixPoint1616 */
+ signal_at0_mm = dmax_cal_range_mm * dmax_cal_signal_rate_rtn_mcps;
+
+ /* FixPoint1616 >> 8 = FixPoint2408 */
+ signal_at0_mm = (signal_at0_mm + 0x80) >> 8;
+ signal_at0_mm *= dmax_cal_range_mm;
+
+ min_signal_needed_p1 = 0;
+ if (total_corr_signal_rate_mcps > 0) {
+
+ /* Shift by 10 bits to increase resolution prior to the
+ * division */
+ signal_rate_temp_mcps = total_signal_rate_mcps << 10;
+
+ /* Add rounding value prior to division */
+ min_signal_needed_p1 = signal_rate_temp_mcps +
+ (total_corr_signal_rate_mcps / 2);
+
+ /* FixPoint0626/FixPoint1616 = FixPoint2210 */
+ min_signal_needed_p1 /= total_corr_signal_rate_mcps;
+
+ /* Apply a factored version of the speed of light.
+ Correction to be applied at the end */
+ min_signal_needed_p1 *= 3;
+
+ /* FixPoint2210 * FixPoint2210 = FixPoint1220 */
+ min_signal_needed_p1 *= min_signal_needed_p1;
+
+ /* FixPoint1220 >> 16 = FixPoint2804 */
+ min_signal_needed_p1 = (min_signal_needed_p1 + 0x8000) >> 16;
+ }
+
+ min_signal_needed_p2 = pw_mult * sigma_estimate_p1;
+
+ /* FixPoint1616 >> 16 = uint32 */
+ min_signal_needed_p2 = (min_signal_needed_p2 + 0x8000) >> 16;
+
+ /* uint32 * uint32 = uint32 */
+ min_signal_needed_p2 *= min_signal_needed_p2;
+
+ /* Check sigmaEstimateP2
+ * If this value is too high there is not enough signal rate
+ * to calculate dmax value so set a suitable value to ensure
+ * a very small dmax.
+ */
+ sigma_est_p2_tmp = (sigma_estimate_p2 + 0x8000) >> 16;
+ sigma_est_p2_tmp = (sigma_est_p2_tmp + c_amb_eff_width_sigma_est_ns / 2) /
+ c_amb_eff_width_sigma_est_ns;
+ sigma_est_p2_tmp *= c_amb_eff_width_d_max_ns;
+
+ if (sigma_est_p2_tmp > 0xffff) {
+ min_signal_needed_p3 = 0xfff00000;
+ } else {
+
+ /* DMAX uses a different ambient width from sigma, so apply
+ * correction.
+ * Perform division before multiplication to prevent overflow.
+ */
+ sigma_estimate_p2 = (sigma_estimate_p2 + c_amb_eff_width_sigma_est_ns / 2) /
+ c_amb_eff_width_sigma_est_ns;
+ sigma_estimate_p2 *= c_amb_eff_width_d_max_ns;
+
+ /* FixPoint1616 >> 16 = uint32 */
+ min_signal_needed_p3 = (sigma_estimate_p2 + 0x8000) >> 16;
+
+ min_signal_needed_p3 *= min_signal_needed_p3;
+
+ }
+
+ /* FixPoint1814 / uint32 = FixPoint1814 */
+ sigma_limit_tmp = ((c_sigma_limit << 14) + 500) / 1000;
+
+ /* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */
+ sigma_limit_tmp *= sigma_limit_tmp;
+
+ /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
+ sigma_est_sq_tmp = c_sigma_est_ref * c_sigma_est_ref;
+
+ /* FixPoint3232 >> 4 = FixPoint0428 */
+ sigma_est_sq_tmp = (sigma_est_sq_tmp + 0x08) >> 4;
+
+ /* FixPoint0428 - FixPoint0428 = FixPoint0428 */
+ sigma_limit_tmp -= sigma_est_sq_tmp;
+
+ /* uint32_t * FixPoint0428 = FixPoint0428 */
+ min_signal_needed_p4 = 4 * 12 * sigma_limit_tmp;
+
+ /* FixPoint0428 >> 14 = FixPoint1814 */
+ min_signal_needed_p4 = (min_signal_needed_p4 + 0x2000) >> 14;
+
+ /* uint32 + uint32 = uint32 */
+ min_signal_needed = (min_signal_needed_p2 + min_signal_needed_p3);
+
+ /* uint32 / uint32 = uint32 */
+ min_signal_needed += (peak_vcsel_duration_us / 2);
+ min_signal_needed /= peak_vcsel_duration_us;
+
+ /* uint32 << 14 = FixPoint1814 */
+ min_signal_needed <<= 14;
+
+ /* FixPoint1814 / FixPoint1814 = uint32 */
+ min_signal_needed += (min_signal_needed_p4 / 2);
+ min_signal_needed /= min_signal_needed_p4;
+
+ /* FixPoint3200 * FixPoint2804 := FixPoint2804*/
+ min_signal_needed *= min_signal_needed_p1;
+
+ /* Apply correction by dividing by 1000000.
+ * This assumes 10E16 on the numerator of the equation
+ * and 10E-22 on the denominator.
+ * We do this because 32bit fix point calculation can't
+ * handle the larger and smaller elements of this equation,
+ * i.e. speed of light and pulse widths.
+ */
+ min_signal_needed = (min_signal_needed + 500) / 1000;
+ min_signal_needed <<= 4;
+
+ min_signal_needed = (min_signal_needed + 500) / 1000;
+
+ /* FixPoint1616 >> 8 = FixPoint2408 */
+ signal_limit_tmp = (c_signal_limit + 0x80) >> 8;
+
+ /* FixPoint2408/FixPoint2408 = uint32 */
+ if (signal_limit_tmp != 0) {
+ dmax_dark_tmp = (signal_at0_mm + (signal_limit_tmp / 2))
+ / signal_limit_tmp;
+ } else {
+ dmax_dark_tmp = 0;
+ }
+
+ dmax_dark = VL53L0X_isqrt(dmax_dark_tmp);
+
+ /* FixPoint2408/FixPoint2408 = uint32 */
+ if (min_signal_needed != 0) {
+ dmax_ambient = (signal_at0_mm + min_signal_needed / 2)
+ / min_signal_needed;
+ } else {
+ dmax_ambient = 0;
+ }
+
+ dmax_ambient = VL53L0X_isqrt(dmax_ambient);
+
+ *pd_max_mm = dmax_dark;
+ if (dmax_dark > dmax_ambient) {
+ *pd_max_mm = dmax_ambient;
+ }
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_calc_sigma_estimate(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
+ FixPoint1616_t *p_sigma_estimate,
+ uint32_t *p_dmax_mm)
+{
+ /* Expressed in 100ths of a ns, i.e. centi-ns */
+ const uint32_t c_pulse_effective_width_centi_ns = 800;
+ /* Expressed in 100ths of a ns, i.e. centi-ns */
+ const uint32_t c_ambient_effective_width_centi_ns = 600;
+ const FixPoint1616_t c_dflt_final_range_integration_time_milli_secs = 0x00190000; /* 25ms */
+ const uint32_t c_vcsel_pulse_width_ps = 4700; /* pico secs */
+ const FixPoint1616_t c_sigma_est_max = 0x028F87AE;
+ const FixPoint1616_t c_sigma_est_rtn_max = 0xF000;
+ const FixPoint1616_t c_amb_to_signal_ratio_max = 0xF0000000 /
+ c_ambient_effective_width_centi_ns;
+ /* Time Of Flight per mm (6.6 pico secs) */
+ const FixPoint1616_t c_tof_per_mm_ps = 0x0006999A;
+ const uint32_t c_16bit_rounding_param = 0x00008000;
+ const FixPoint1616_t c_max_x_talk_kcps = 0x00320000;
+ const uint32_t c_pll_period_ps = 1655;
+
+ uint32_t vcsel_total_events_rtn;
+ uint32_t final_range_timeout_micro_secs;
+ uint32_t pre_range_timeout_micro_secs;
+ uint32_t final_range_integration_time_milli_secs;
+ FixPoint1616_t sigma_estimate_p1;
+ FixPoint1616_t sigma_estimate_p2;
+ FixPoint1616_t sigma_estimate_p3;
+ FixPoint1616_t delta_t_ps;
+ FixPoint1616_t pw_mult;
+ FixPoint1616_t sigma_est_rtn;
+ FixPoint1616_t sigma_estimate;
+ FixPoint1616_t x_talk_correction;
+ FixPoint1616_t ambient_rate_kcps;
+ FixPoint1616_t peak_signal_rate_kcps;
+ FixPoint1616_t x_talk_comp_rate_mcps;
+ uint32_t x_talk_comp_rate_kcps;
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ FixPoint1616_t diff1_mcps;
+ FixPoint1616_t diff2_mcps;
+ FixPoint1616_t sqr1;
+ FixPoint1616_t sqr2;
+ FixPoint1616_t sqr_sum;
+ FixPoint1616_t sqrt_result_centi_ns;
+ FixPoint1616_t sqrt_result;
+ FixPoint1616_t total_signal_rate_mcps;
+ FixPoint1616_t corrected_signal_rate_mcps;
+ FixPoint1616_t sigma_est_ref;
+ uint32_t vcsel_width;
+ uint32_t final_range_macro_pclks;
+ uint32_t pre_range_macro_pclks;
+ uint32_t peak_vcsel_duration_us;
+ uint8_t final_range_vcsel_pclks;
+ uint8_t pre_range_vcsel_pclks;
+ /*! \addtogroup calc_sigma_estimate
+ * @{
+ *
+ * Estimates the range sigma
+ */
+
+ LOG_FUNCTION_START("");
+
+ VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationRateMegaCps,
+ x_talk_comp_rate_mcps);
+
+ /*
+ * We work in kcps rather than mcps as this helps keep within the
+ * confines of the 32 Fix1616 type.
+ */
+
+ ambient_rate_kcps =
+ (p_ranging_measurement_data->AmbientRateRtnMegaCps * 1000) >> 16;
+
+ corrected_signal_rate_mcps =
+ p_ranging_measurement_data->SignalRateRtnMegaCps;
+
+
+ status = VL53L0X_get_total_signal_rate(
+ dev, p_ranging_measurement_data, &total_signal_rate_mcps);
+ status = VL53L0X_get_total_xtalk_rate(
+ dev, p_ranging_measurement_data, &x_talk_comp_rate_mcps);
+
+
+ /* Signal rate measurement provided by device is the
+ * peak signal rate, not average.
+ */
+ peak_signal_rate_kcps = (total_signal_rate_mcps * 1000);
+ peak_signal_rate_kcps = (peak_signal_rate_kcps + 0x8000) >> 16;
+
+ x_talk_comp_rate_kcps = x_talk_comp_rate_mcps * 1000;
+
+ if (x_talk_comp_rate_kcps > c_max_x_talk_kcps) {
+ x_talk_comp_rate_kcps = c_max_x_talk_kcps;
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+
+ /* Calculate final range macro periods */
+ final_range_timeout_micro_secs = VL53L0X_GETDEVICESPECIFICPARAMETER(
+ dev, FinalRangeTimeoutMicroSecs);
+
+ final_range_vcsel_pclks = VL53L0X_GETDEVICESPECIFICPARAMETER(
+ dev, FinalRangeVcselPulsePeriod);
+
+ final_range_macro_pclks = VL53L0X_calc_timeout_mclks(
+ dev, final_range_timeout_micro_secs, final_range_vcsel_pclks);
+
+ /* Calculate pre-range macro periods */
+ pre_range_timeout_micro_secs = VL53L0X_GETDEVICESPECIFICPARAMETER(
+ dev, PreRangeTimeoutMicroSecs);
+
+ pre_range_vcsel_pclks = VL53L0X_GETDEVICESPECIFICPARAMETER(
+ dev, PreRangeVcselPulsePeriod);
+
+ pre_range_macro_pclks = VL53L0X_calc_timeout_mclks(
+ dev, pre_range_timeout_micro_secs, pre_range_vcsel_pclks);
+
+ vcsel_width = 3;
+ if (final_range_vcsel_pclks == 8) {
+ vcsel_width = 2;
+ }
+
+
+ peak_vcsel_duration_us = vcsel_width * 2048 *
+ (pre_range_macro_pclks + final_range_macro_pclks);
+ peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000;
+ peak_vcsel_duration_us *= c_pll_period_ps;
+ peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000;
+
+ /* Fix1616 >> 8 = Fix2408 */
+ total_signal_rate_mcps = (total_signal_rate_mcps + 0x80) >> 8;
+
+ /* Fix2408 * uint32 = Fix2408 */
+ vcsel_total_events_rtn = total_signal_rate_mcps *
+ peak_vcsel_duration_us;
+
+ /* Fix2408 >> 8 = uint32 */
+ vcsel_total_events_rtn = (vcsel_total_events_rtn + 0x80) >> 8;
+
+ /* Fix2408 << 8 = Fix1616 = */
+ total_signal_rate_mcps <<= 8;
+ }
+
+ if (status != VL53L0X_ERROR_NONE) {
+ LOG_FUNCTION_END(status);
+ return status;
+ }
+
+ if (peak_signal_rate_kcps == 0) {
+ *p_sigma_estimate = c_sigma_est_max;
+ PALDevDataSet(dev, SigmaEstimate, c_sigma_est_max);
+ *p_dmax_mm = 0;
+ } else {
+ if (vcsel_total_events_rtn < 1) {
+ vcsel_total_events_rtn = 1;
+ }
+
+ sigma_estimate_p1 = c_pulse_effective_width_centi_ns;
+
+ /* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */
+ sigma_estimate_p2 = (ambient_rate_kcps << 16) / peak_signal_rate_kcps;
+ if (sigma_estimate_p2 > c_amb_to_signal_ratio_max) {
+ /* Clip to prevent overflow. Will ensure safe
+ * max result. */
+ sigma_estimate_p2 = c_amb_to_signal_ratio_max;
+ }
+ sigma_estimate_p2 *= c_ambient_effective_width_centi_ns;
+
+ sigma_estimate_p3 = 2 * VL53L0X_isqrt(vcsel_total_events_rtn * 12);
+
+ /* uint32 * FixPoint1616 = FixPoint1616 */
+ delta_t_ps = p_ranging_measurement_data->RangeMilliMeter *
+ c_tof_per_mm_ps;
+
+ /*
+ * vcselRate - xtalkCompRate
+ * (uint32 << 16) - FixPoint1616 = FixPoint1616.
+ * Divide result by 1000 to convert to mcps.
+ * 500 is added to ensure rounding when integer division
+ * truncates.
+ */
+ diff1_mcps = (((peak_signal_rate_kcps << 16) -
+ 2 * x_talk_comp_rate_kcps) + 500) / 1000;
+
+ /* vcselRate + xtalkCompRate */
+ diff2_mcps = ((peak_signal_rate_kcps << 16) + 500) / 1000;
+
+ /* Shift by 8 bits to increase resolution prior to the
+ * division */
+ diff1_mcps <<= 8;
+
+ /* FixPoint0824/FixPoint1616 = FixPoint2408 */
+// xTalkCorrection = abs(diff1_mcps/diff2_mcps);
+// abs is causing compiler overloading isue in C++, but unsigned types. So, redundant call anyway!
+ x_talk_correction = diff1_mcps / diff2_mcps;
+
+ /* FixPoint2408 << 8 = FixPoint1616 */
+ x_talk_correction <<= 8;
+
+ if (p_ranging_measurement_data->RangeStatus != 0) {
+ pw_mult = 1 << 16;
+ } else {
+ /* FixPoint1616/uint32 = FixPoint1616 */
+ pw_mult = delta_t_ps / c_vcsel_pulse_width_ps; /* smaller than 1.0f */
+
+ /*
+ * FixPoint1616 * FixPoint1616 = FixPoint3232, however both
+ * values are small enough such that32 bits will not be
+ * exceeded.
+ */
+ pw_mult *= ((1 << 16) - x_talk_correction);
+
+ /* (FixPoint3232 >> 16) = FixPoint1616 */
+ pw_mult = (pw_mult + c_16bit_rounding_param) >> 16;
+
+ /* FixPoint1616 + FixPoint1616 = FixPoint1616 */
+ pw_mult += (1 << 16);
+
+ /*
+ * At this point the value will be 1.xx, therefore if we square
+ * the value this will exceed 32 bits. To address this perform
+ * a single shift to the right before the multiplication.
+ */
+ pw_mult >>= 1;
+ /* FixPoint1715 * FixPoint1715 = FixPoint3430 */
+ pw_mult = pw_mult * pw_mult;
+
+ /* (FixPoint3430 >> 14) = Fix1616 */
+ pw_mult >>= 14;
+ }
+
+ /* FixPoint1616 * uint32 = FixPoint1616 */
+ sqr1 = pw_mult * sigma_estimate_p1;
+
+ /* (FixPoint1616 >> 16) = FixPoint3200 */
+ sqr1 = (sqr1 + 0x8000) >> 16;
+
+ /* FixPoint3200 * FixPoint3200 = FixPoint6400 */
+ sqr1 *= sqr1;
+
+ sqr2 = sigma_estimate_p2;
+
+ /* (FixPoint1616 >> 16) = FixPoint3200 */
+ sqr2 = (sqr2 + 0x8000) >> 16;
+
+ /* FixPoint3200 * FixPoint3200 = FixPoint6400 */
+ sqr2 *= sqr2;
+
+ /* FixPoint64000 + FixPoint6400 = FixPoint6400 */
+ sqr_sum = sqr1 + sqr2;
+
+ /* SQRT(FixPoin6400) = FixPoint3200 */
+ sqrt_result_centi_ns = VL53L0X_isqrt(sqr_sum);
+
+ /* (FixPoint3200 << 16) = FixPoint1616 */
+ sqrt_result_centi_ns <<= 16;
+
+ /*
+ * Note that the Speed Of Light is expressed in um per 1E-10
+ * seconds (2997) Therefore to get mm/ns we have to divide by
+ * 10000
+ */
+ sigma_est_rtn = (((sqrt_result_centi_ns + 50) / 100) /
+ sigma_estimate_p3);
+ sigma_est_rtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR;
+
+ /* Add 5000 before dividing by 10000 to ensure rounding. */
+ sigma_est_rtn += 5000;
+ sigma_est_rtn /= 10000;
+
+ if (sigma_est_rtn > c_sigma_est_rtn_max) {
+ /* Clip to prevent overflow. Will ensure safe
+ * max result. */
+ sigma_est_rtn = c_sigma_est_rtn_max;
+ }
+ final_range_integration_time_milli_secs =
+ (final_range_timeout_micro_secs + pre_range_timeout_micro_secs + 500) / 1000;
+
+ /* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range)
+ * sqrt(FixPoint1616/int) = FixPoint2408)
+ */
+ sigma_est_ref =
+ VL53L0X_isqrt((c_dflt_final_range_integration_time_milli_secs +
+ final_range_integration_time_milli_secs / 2) /
+ final_range_integration_time_milli_secs);
+
+ /* FixPoint2408 << 8 = FixPoint1616 */
+ sigma_est_ref <<= 8;
+ sigma_est_ref = (sigma_est_ref + 500) / 1000;
+
+ /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
+ sqr1 = sigma_est_rtn * sigma_est_rtn;
+ /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
+ sqr2 = sigma_est_ref * sigma_est_ref;
+
+ /* sqrt(FixPoint3232) = FixPoint1616 */
+ sqrt_result = VL53L0X_isqrt((sqr1 + sqr2));
+ /*
+ * Note that the Shift by 4 bits increases resolution prior to
+ * the sqrt, therefore the result must be shifted by 2 bits to
+ * the right to revert back to the FixPoint1616 format.
+ */
+
+ sigma_estimate = 1000 * sqrt_result;
+
+ if ((peak_signal_rate_kcps < 1) || (vcsel_total_events_rtn < 1) ||
+ (sigma_estimate > c_sigma_est_max)) {
+ sigma_estimate = c_sigma_est_max;
+ }
+
+ *p_sigma_estimate = (uint32_t)(sigma_estimate);
+ PALDevDataSet(dev, SigmaEstimate, *p_sigma_estimate);
+ status = VL53L0X_calc_dmax(
+ dev,
+ total_signal_rate_mcps,
+ corrected_signal_rate_mcps,
+ pw_mult,
+ sigma_estimate_p1,
+ sigma_estimate_p2,
+ peak_vcsel_duration_us,
+ p_dmax_mm);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_pal_range_status(VL53L0X_DEV dev,
+ uint8_t device_range_status,
+ FixPoint1616_t signal_rate,
+ uint16_t effective_spad_rtn_count,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
+ uint8_t *p_pal_range_status)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t none_flag;
+ uint8_t sigma_limitflag = 0;
+ uint8_t signal_ref_clipflag = 0;
+ uint8_t range_ignore_thresholdflag = 0;
+ uint8_t sigma_limit_check_enable = 0;
+ uint8_t signal_rate_final_range_limit_check_enable = 0;
+ uint8_t signal_ref_clip_limit_check_enable = 0;
+ uint8_t range_ignore_threshold_limit_check_enable = 0;
+ FixPoint1616_t sigma_estimate;
+ FixPoint1616_t sigma_limit_value;
+ FixPoint1616_t signal_ref_clip_value;
+ FixPoint1616_t range_ignore_threshold_value;
+ FixPoint1616_t signal_rate_per_spad;
+ uint8_t device_range_status_internal = 0;
+ uint16_t tmp_word = 0;
+ uint8_t temp8;
+ uint32_t dmax_mm = 0;
+ FixPoint1616_t last_signal_ref_mcps;
+
+ LOG_FUNCTION_START("");
+
+
+ /*
+ * VL53L0X has a good ranging when the value of the
+ * DeviceRangeStatus = 11. This function will replace the value 0 with
+ * the value 11 in the DeviceRangeStatus.
+ * In addition, the SigmaEstimator is not included in the VL53L0X
+ * DeviceRangeStatus, this will be added in the PalRangeStatus.
+ */
+
+ device_range_status_internal = ((device_range_status & 0x78) >> 3);
+
+ if (device_range_status_internal == 0 ||
+ device_range_status_internal == 5 ||
+ device_range_status_internal == 7 ||
+ device_range_status_internal == 12 ||
+ device_range_status_internal == 13 ||
+ device_range_status_internal == 14 ||
+ device_range_status_internal == 15
+ ) {
+ none_flag = 1;
+ } else {
+ none_flag = 0;
+ }
+
+ /*
+ * Check if Sigma limit is enabled, if yes then do comparison with limit
+ * value and put the result back into pPalRangeStatus.
+ */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_get_limit_check_enable(dev,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ &sigma_limit_check_enable);
+ }
+
+ if ((sigma_limit_check_enable != 0) && (status == VL53L0X_ERROR_NONE)) {
+ /*
+ * compute the Sigma and check with limit
+ */
+ status = VL53L0X_calc_sigma_estimate(
+ dev,
+ p_ranging_measurement_data,
+ &sigma_estimate,
+ &dmax_mm);
+ if (status == VL53L0X_ERROR_NONE) {
+ p_ranging_measurement_data->RangeDMaxMilliMeter = dmax_mm;
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_get_limit_check_value(dev,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ &sigma_limit_value);
+
+ if ((sigma_limit_value > 0) &&
+ (sigma_estimate > sigma_limit_value)) {
+ /* Limit Fail */
+ sigma_limitflag = 1;
+ }
+ }
+ }
+
+ /*
+ * Check if Signal ref clip limit is enabled, if yes then do comparison
+ * with limit value and put the result back into pPalRangeStatus.
+ */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_get_limit_check_enable(dev,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ &signal_ref_clip_limit_check_enable);
+ }
+
+ if ((signal_ref_clip_limit_check_enable != 0) &&
+ (status == VL53L0X_ERROR_NONE)) {
+
+ status = VL53L0X_get_limit_check_value(dev,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ &signal_ref_clip_value);
+
+ /* Read LastSignalRefMcps from device */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev, 0xFF, 0x01);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_read_word(dev,
+ VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
+ &tmp_word);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev, 0xFF, 0x00);
+ }
+
+ last_signal_ref_mcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmp_word);
+ PALDevDataSet(dev, LastSignalRefMcps, last_signal_ref_mcps);
+
+ if ((signal_ref_clip_value > 0) &&
+ (last_signal_ref_mcps > signal_ref_clip_value)) {
+ /* Limit Fail */
+ signal_ref_clipflag = 1;
+ }
+ }
+
+ /*
+ * Check if Signal ref clip limit is enabled, if yes then do comparison
+ * with limit value and put the result back into pPalRangeStatus.
+ * EffectiveSpadRtnCount has a format 8.8
+ * If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL
+ */
+ if (status == VL53L0X_ERROR_NONE){
+ status = VL53L0X_get_limit_check_enable(dev,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ &range_ignore_threshold_limit_check_enable);
+ }
+
+ if ((range_ignore_threshold_limit_check_enable != 0) &&
+ (status == VL53L0X_ERROR_NONE)) {
+
+ /* Compute the signal rate per spad */
+ if (effective_spad_rtn_count == 0) {
+ signal_rate_per_spad = 0;
+ } else {
+ signal_rate_per_spad = (FixPoint1616_t)((256 * signal_rate)
+ / effective_spad_rtn_count);
+ }
+
+ status = VL53L0X_get_limit_check_value(dev,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ &range_ignore_threshold_value);
+
+ if ((range_ignore_threshold_value > 0) &&
+ (signal_rate_per_spad < range_ignore_threshold_value)) {
+ /* Limit Fail add 2^6 to range status */
+ range_ignore_thresholdflag = 1;
+ }
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ if (none_flag == 1) {
+ *p_pal_range_status = 255; /* NONE */
+ } else if (device_range_status_internal == 1 ||
+ device_range_status_internal == 2 ||
+ device_range_status_internal == 3) {
+ *p_pal_range_status = 5; /* HW fail */
+ } else if (device_range_status_internal == 6 ||
+ device_range_status_internal == 9) {
+ *p_pal_range_status = 4; /* Phase fail */
+ } else if (device_range_status_internal == 8 ||
+ device_range_status_internal == 10 ||
+ signal_ref_clipflag == 1) {
+ *p_pal_range_status = 3; /* Min range */
+ } else if (device_range_status_internal == 4 ||
+ range_ignore_thresholdflag == 1) {
+ *p_pal_range_status = 2; /* Signal Fail */
+ } else if (sigma_limitflag == 1) {
+ *p_pal_range_status = 1; /* Sigma Fail */
+ } else {
+ *p_pal_range_status = 0; /* Range Valid */
+ }
+ }
+
+ /* DMAX only relevant during range error */
+ if (*p_pal_range_status == 0)
+ p_ranging_measurement_data->RangeDMaxMilliMeter = 0;
+
+ /* fill the Limit Check Status */
+
+ status = VL53L0X_get_limit_check_enable(dev,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ &signal_rate_final_range_limit_check_enable);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ if ((sigma_limit_check_enable == 0) || (sigma_limitflag == 1)) {
+ temp8 = 1;
+ } else {
+ temp8 = 0;
+ }
+ VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, temp8);
+
+ if ((device_range_status_internal == 4) ||
+ (signal_rate_final_range_limit_check_enable == 0)) {
+ temp8 = 1;
+ } else {
+ temp8 = 0;
+ }
+ VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ temp8);
+
+ if ((signal_ref_clip_limit_check_enable == 0) ||
+ (signal_ref_clipflag == 1)) {
+ temp8 = 1;
+ } else {
+ temp8 = 0;
+ }
+
+ VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, temp8);
+
+ if ((range_ignore_threshold_limit_check_enable == 0) ||
+ (range_ignore_thresholdflag == 1)) {
+ temp8 = 1;
+ } else {
+ temp8 = 0;
+ }
+
+ VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ temp8);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_ranging_measurement_data(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t device_range_status;
+ uint8_t range_fractional_enable;
+ uint8_t pal_range_status;
+ uint8_t x_talk_compensation_enable;
+ uint16_t ambient_rate;
+ FixPoint1616_t signal_rate;
+ uint16_t x_talk_compensation_rate_mega_cps;
+ uint16_t effective_spad_rtn_count;
+ uint16_t tmpuint16;
+ uint16_t xtalk_range_milli_meter;
+ uint16_t linearity_corrective_gain;
+ uint8_t localBuffer[12];
+ VL53L0X_RangingMeasurementData_t last_range_data_buffer;
+
+ LOG_FUNCTION_START("");
+
+ /*
+ * use multi read even if some registers are not useful, result will
+ * be more efficient
+ * start reading at 0x14 dec20
+ * end reading at 0x21 dec33 total 14 bytes to read
+ */
+ status = VL53L0X_read_multi(dev, 0x14, localBuffer, 12);
+
+ if (status == VL53L0X_ERROR_NONE) {
+
+ p_ranging_measurement_data->ZoneId = 0; /* Only one zone */
+ p_ranging_measurement_data->TimeStamp = 0; /* Not Implemented */
+
+ tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], localBuffer[10]);
+ /* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional
+ *(format 11.2) else no fractional
+ */
+
+ p_ranging_measurement_data->MeasurementTimeUsec = 0;
+
+ signal_rate = VL53L0X_FIXPOINT97TOFIXPOINT1616(
+ VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6]));
+ /* peak_signal_count_rate_rtn_mcps */
+ p_ranging_measurement_data->SignalRateRtnMegaCps = signal_rate;
+
+ ambient_rate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]);
+ p_ranging_measurement_data->AmbientRateRtnMegaCps =
+ VL53L0X_FIXPOINT97TOFIXPOINT1616(ambient_rate);
+
+ effective_spad_rtn_count = VL53L0X_MAKEUINT16(localBuffer[3],
+ localBuffer[2]);
+ /* EffectiveSpadRtnCount is 8.8 format */
+ p_ranging_measurement_data->EffectiveSpadRtnCount =
+ effective_spad_rtn_count;
+
+ device_range_status = localBuffer[0];
+
+ /* Get Linearity Corrective Gain */
+ linearity_corrective_gain = PALDevDataGet(dev,
+ LinearityCorrectiveGain);
+
+ /* Get ranging configuration */
+ range_fractional_enable = PALDevDataGet(dev,
+ RangeFractionalEnable);
+
+ if (linearity_corrective_gain != 1000) {
+
+ tmpuint16 = (uint16_t)((linearity_corrective_gain
+ * tmpuint16 + 500) / 1000);
+
+ /* Implement Xtalk */
+ VL53L0X_GETPARAMETERFIELD(dev,
+ XTalkCompensationRateMegaCps,
+ x_talk_compensation_rate_mega_cps);
+ VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationEnable,
+ x_talk_compensation_enable);
+
+ if (x_talk_compensation_enable) {
+
+ if ((signal_rate
+ - ((x_talk_compensation_rate_mega_cps
+ * effective_spad_rtn_count) >> 8))
+ <= 0) {
+ if (range_fractional_enable) {
+ xtalk_range_milli_meter = 8888;
+ } else {
+ xtalk_range_milli_meter = 8888 << 2;
+ }
+ } else {
+ xtalk_range_milli_meter =
+ (tmpuint16 * signal_rate)
+ / (signal_rate
+ - ((x_talk_compensation_rate_mega_cps
+ * effective_spad_rtn_count)
+ >> 8));
+ }
+
+ tmpuint16 = xtalk_range_milli_meter;
+ }
+
+ }
+
+ if (range_fractional_enable) {
+ p_ranging_measurement_data->RangeMilliMeter =
+ (uint16_t)((tmpuint16) >> 2);
+ p_ranging_measurement_data->RangeFractionalPart =
+ (uint8_t)((tmpuint16 & 0x03) << 6);
+ } else {
+ p_ranging_measurement_data->RangeMilliMeter = tmpuint16;
+ p_ranging_measurement_data->RangeFractionalPart = 0;
+ }
+
+ /*
+ * For a standard definition of RangeStatus, this should
+ * return 0 in case of good result after a ranging
+ * The range status depends on the device so call a device
+ * specific function to obtain the right Status.
+ */
+ status |= VL53L0X_get_pal_range_status(dev, device_range_status,
+ signal_rate, effective_spad_rtn_count,
+ p_ranging_measurement_data, &pal_range_status);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ p_ranging_measurement_data->RangeStatus = pal_range_status;
+ }
+
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ /* Copy last read data into Dev buffer */
+ last_range_data_buffer = PALDevDataGet(dev, LastRangeMeasure);
+
+ last_range_data_buffer.RangeMilliMeter =
+ p_ranging_measurement_data->RangeMilliMeter;
+ last_range_data_buffer.RangeFractionalPart =
+ p_ranging_measurement_data->RangeFractionalPart;
+ last_range_data_buffer.RangeDMaxMilliMeter =
+ p_ranging_measurement_data->RangeDMaxMilliMeter;
+ last_range_data_buffer.MeasurementTimeUsec =
+ p_ranging_measurement_data->MeasurementTimeUsec;
+ last_range_data_buffer.SignalRateRtnMegaCps =
+ p_ranging_measurement_data->SignalRateRtnMegaCps;
+ last_range_data_buffer.AmbientRateRtnMegaCps =
+ p_ranging_measurement_data->AmbientRateRtnMegaCps;
+ last_range_data_buffer.EffectiveSpadRtnCount =
+ p_ranging_measurement_data->EffectiveSpadRtnCount;
+ last_range_data_buffer.RangeStatus =
+ p_ranging_measurement_data->RangeStatus;
+
+ PALDevDataSet(dev, LastRangeMeasure, last_range_data_buffer);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_perform_single_ranging_measurement(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ /* This function will do a complete single ranging
+ * Here we fix the mode! */
+ status = VL53L0X_set_device_mode(dev, VL53L0X_DEVICEMODE_SINGLE_RANGING);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_perform_single_measurement(dev);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_get_ranging_measurement_data(dev,
+ p_ranging_measurement_data);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_clear_interrupt_mask(dev, 0);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::perform_ref_signal_measurement(VL53L0X_DEV dev,
+ uint16_t *p_ref_signal_rate)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ VL53L0X_RangingMeasurementData_t ranging_measurement_data;
+
+ uint8_t sequence_config = 0;
+
+ /* store the value of the sequence config,
+ * this will be reset before the end of the function
+ */
+
+ sequence_config = PALDevDataGet(dev, SequenceConfig);
+
+ /*
+ * This function performs a reference signal rate measurement.
+ */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_perform_single_ranging_measurement(dev,
+ &ranging_measurement_data);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev, 0xFF, 0x01);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_read_word(dev,
+ VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
+ p_ref_signal_rate);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev, 0xFF, 0x00);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ /* restore the previous Sequence Config */
+ status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ sequence_config);
+ if (status == VL53L0X_ERROR_NONE) {
+ PALDevDataSet(dev, SequenceConfig, sequence_config);
+ }
+ }
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::wrapped_VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev,
+ uint32_t *ref_spad_count,
+ uint8_t *is_aperture_spads)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t last_spad_array[6];
+ uint8_t start_select = 0xB4;
+ uint32_t minimum_spad_count = 3;
+ uint32_t max_spad_count = 44;
+ uint32_t current_spad_index = 0;
+ uint32_t last_spad_index = 0;
+ int32_t next_good_spad = 0;
+ uint16_t target_ref_rate = 0x0A00; /* 20 MCPS in 9:7 format */
+ uint16_t peak_signal_rate_ref;
+ uint32_t need_apt_spads = 0;
+ uint32_t index = 0;
+ uint32_t spad_array_size = 6;
+ uint32_t signal_rate_diff = 0;
+ uint32_t last_signal_rate_diff = 0;
+ uint8_t complete = 0;
+ uint8_t vhv_settings = 0;
+ uint8_t phase_cal = 0;
+ uint32_t ref_spad_count_int = 0;
+ uint8_t is_aperture_spads_int = 0;
+
+ /*
+ * The reference SPAD initialization procedure determines the minimum
+ * amount of reference spads to be enables to achieve a target reference
+ * signal rate and should be performed once during initialization.
+ *
+ * Either aperture or non-aperture spads are applied but never both.
+ * Firstly non-aperture spads are set, begining with 5 spads, and
+ * increased one spad at a time until the closest measurement to the
+ * target rate is achieved.
+ *
+ * If the target rate is exceeded when 5 non-aperture spads are enabled,
+ * initialization is performed instead with aperture spads.
+ *
+ * When setting spads, a 'Good Spad Map' is applied.
+ *
+ * This procedure operates within a SPAD window of interest of a maximum
+ * 44 spads.
+ * The start point is currently fixed to 180, which lies towards the end
+ * of the non-aperture quadrant and runs in to the adjacent aperture
+ * quadrant.
+ */
+ target_ref_rate = PALDevDataGet(dev, targetRefRate);
+
+ /*
+ * Initialize Spad arrays.
+ * Currently the good spad map is initialised to 'All good'.
+ * This is a short term implementation. The good spad map will be
+ * provided as an input.
+ * Note that there are 6 bytes. Only the first 44 bits will be used to
+ * represent spads.
+ */
+ for (index = 0; index < spad_array_size; index++)
+ dev->Data.SpadData.RefSpadEnables[index] = 0;
+
+
+ status = VL53L0X_write_byte(dev, 0xFF, 0x01);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev, 0xFF, 0x00);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
+ start_select);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0);
+ }
+
+ /* Perform ref calibration */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_perform_ref_calibration(dev, &vhv_settings,
+ &phase_cal, 0);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ /* Enable Minimum NON-APERTURE Spads */
+ current_spad_index = 0;
+ last_spad_index = current_spad_index;
+ need_apt_spads = 0;
+ status = enable_ref_spads(dev,
+ need_apt_spads,
+ dev->Data.SpadData.RefGoodSpadMap,
+ dev->Data.SpadData.RefSpadEnables,
+ spad_array_size,
+ start_select,
+ current_spad_index,
+ minimum_spad_count,
+ &last_spad_index);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ current_spad_index = last_spad_index;
+
+ status = perform_ref_signal_measurement(dev,
+ &peak_signal_rate_ref);
+ if ((status == VL53L0X_ERROR_NONE) &&
+ (peak_signal_rate_ref > target_ref_rate)) {
+ /* Signal rate measurement too high,
+ * switch to APERTURE SPADs */
+
+ for (index = 0; index < spad_array_size; index++) {
+ dev->Data.SpadData.RefSpadEnables[index] = 0;
+ }
+
+
+ /* Increment to the first APERTURE spad */
+ while ((is_aperture(start_select + current_spad_index)
+ == 0) && (current_spad_index < max_spad_count)) {
+ current_spad_index++;
+ }
+
+ need_apt_spads = 1;
+
+ status = enable_ref_spads(dev,
+ need_apt_spads,
+ dev->Data.SpadData.RefGoodSpadMap,
+ dev->Data.SpadData.RefSpadEnables,
+ spad_array_size,
+ start_select,
+ current_spad_index,
+ minimum_spad_count,
+ &last_spad_index);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ current_spad_index = last_spad_index;
+ status = perform_ref_signal_measurement(dev,
+ &peak_signal_rate_ref);
+
+ if ((status == VL53L0X_ERROR_NONE) &&
+ (peak_signal_rate_ref > target_ref_rate)) {
+ /* Signal rate still too high after
+ * setting the minimum number of
+ * APERTURE spads. Can do no more
+ * therefore set the min number of
+ * aperture spads as the result.
+ */
+ is_aperture_spads_int = 1;
+ ref_spad_count_int = minimum_spad_count;
+ }
+ }
+ } else {
+ need_apt_spads = 0;
+ }
+ }
+
+ if ((status == VL53L0X_ERROR_NONE) &&
+ (peak_signal_rate_ref < target_ref_rate)) {
+ /* At this point, the minimum number of either aperture
+ * or non-aperture spads have been set. Proceed to add
+ * spads and perform measurements until the target
+ * reference is reached.
+ */
+ is_aperture_spads_int = need_apt_spads;
+ ref_spad_count_int = minimum_spad_count;
+
+ memcpy(last_spad_array, dev->Data.SpadData.RefSpadEnables,
+ spad_array_size);
+ last_signal_rate_diff = abs(peak_signal_rate_ref -
+ target_ref_rate);
+ complete = 0;
+
+ while (!complete) {
+ get_next_good_spad(
+ dev->Data.SpadData.RefGoodSpadMap,
+ spad_array_size, current_spad_index,
+ &next_good_spad);
+
+ if (next_good_spad == -1) {
+ status = VL53L0X_ERROR_REF_SPAD_INIT;
+ break;
+ }
+
+ /* Cannot combine Aperture and Non-Aperture spads, so
+ * ensure the current spad is of the correct type.
+ */
+ if (is_aperture((uint32_t)start_select + next_good_spad) !=
+ need_apt_spads) {
+ /* At this point we have enabled the maximum
+ * number of Aperture spads.
+ */
+ complete = 1;
+ break;
+ }
+
+ (ref_spad_count_int)++;
+
+ current_spad_index = next_good_spad;
+ status = enable_spad_bit(
+ dev->Data.SpadData.RefSpadEnables,
+ spad_array_size, current_spad_index);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ current_spad_index++;
+ /* Proceed to apply the additional spad and
+ * perform measurement. */
+ status = set_ref_spad_map(dev,
+ dev->Data.SpadData.RefSpadEnables);
+ }
+
+ if (status != VL53L0X_ERROR_NONE) {
+ break;
+ }
+
+ status = perform_ref_signal_measurement(dev,
+ &peak_signal_rate_ref);
+
+ if (status != VL53L0X_ERROR_NONE) {
+ break;
+ }
+
+ signal_rate_diff = abs(peak_signal_rate_ref - target_ref_rate);
+
+ if (peak_signal_rate_ref > target_ref_rate) {
+ /* Select the spad map that provides the
+ * measurement closest to the target rate,
+ * either above or below it.
+ */
+ if (signal_rate_diff > last_signal_rate_diff) {
+ /* Previous spad map produced a closer
+ * measurement, so choose this. */
+ status = set_ref_spad_map(dev,
+ last_spad_array);
+ memcpy(
+ dev->Data.SpadData.RefSpadEnables,
+ last_spad_array, spad_array_size);
+
+ (ref_spad_count_int)--;
+ }
+ complete = 1;
+ } else {
+ /* Continue to add spads */
+ last_signal_rate_diff = signal_rate_diff;
+ memcpy(last_spad_array,
+ dev->Data.SpadData.RefSpadEnables,
+ spad_array_size);
+ }
+
+ } /* while */
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ *ref_spad_count = ref_spad_count_int;
+ *is_aperture_spads = is_aperture_spads_int;
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 1);
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
+ ReferenceSpadCount, (uint8_t)(*ref_spad_count));
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
+ ReferenceSpadType, *is_aperture_spads);
+ }
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_set_reference_spads(VL53L0X_DEV dev,
+ uint32_t count, uint8_t is_aperture_spads)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint32_t current_spad_index = 0;
+ uint8_t start_select = 0xB4;
+ uint32_t spad_array_size = 6;
+ uint32_t max_spad_count = 44;
+ uint32_t last_spad_index;
+ uint32_t index;
+
+ /*
+ * This function applies a requested number of reference spads, either
+ * aperture or
+ * non-aperture, as requested.
+ * The good spad map will be applied.
+ */
+
+ status = VL53L0X_write_byte(dev, 0xFF, 0x01);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev, 0xFF, 0x00);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
+ start_select);
+ }
+
+ for (index = 0; index < spad_array_size; index++) {
+ dev->Data.SpadData.RefSpadEnables[index] = 0;
+ }
+
+ if (is_aperture_spads) {
+ /* Increment to the first APERTURE spad */
+ while ((is_aperture(start_select + current_spad_index) == 0) &&
+ (current_spad_index < max_spad_count)) {
+ current_spad_index++;
+ }
+ }
+ status = enable_ref_spads(dev,
+ is_aperture_spads,
+ dev->Data.SpadData.RefGoodSpadMap,
+ dev->Data.SpadData.RefSpadEnables,
+ spad_array_size,
+ start_select,
+ current_spad_index,
+ count,
+ &last_spad_index);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 1);
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
+ ReferenceSpadCount, (uint8_t)(count));
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
+ ReferenceSpadType, is_aperture_spads);
+ }
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_wait_device_booted(VL53L0X_DEV dev)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NOT_IMPLEMENTED;
+ LOG_FUNCTION_START("");
+
+ /* not implemented on VL53L0X */
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration(VL53L0X_DEV dev, uint8_t *p_vhv_settings,
+ uint8_t *p_phase_cal)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ status = VL53L0X_perform_ref_calibration(dev, p_vhv_settings,
+ p_phase_cal, 1);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev,
+ uint32_t *ref_spad_count, uint8_t *is_aperture_spads)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ status = wrapped_VL53L0X_perform_ref_spad_management(dev, ref_spad_count,
+ is_aperture_spads);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+/* Group PAL Init Functions */
+VL53L0X_Error VL53L0X::VL53L0X_set_device_address(VL53L0X_DEV dev, uint8_t device_address)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ status = VL53L0X_write_byte(dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS,
+ device_address / 2);
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_set_gpio_config(VL53L0X_DEV dev, uint8_t pin,
+ VL53L0X_DeviceModes device_mode, VL53L0X_GpioFunctionality functionality,
+ VL53L0X_InterruptPolarity polarity)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t data;
+
+ LOG_FUNCTION_START("");
+
+ if (pin != 0) {
+ status = VL53L0X_ERROR_GPIO_NOT_EXISTING;
+ } else if (device_mode == VL53L0X_DEVICEMODE_GPIO_DRIVE) {
+ if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW) {
+ data = 0x10;
+ } else {
+ data = 1;
+ }
+
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data);
+
+ } else {
+ if (device_mode == VL53L0X_DEVICEMODE_GPIO_OSC) {
+
+ status |= VL53L0X_write_byte(dev, 0xff, 0x01);
+ status |= VL53L0X_write_byte(dev, 0x00, 0x00);
+
+ status |= VL53L0X_write_byte(dev, 0xff, 0x00);
+ status |= VL53L0X_write_byte(dev, 0x80, 0x01);
+ status |= VL53L0X_write_byte(dev, 0x85, 0x02);
+
+ status |= VL53L0X_write_byte(dev, 0xff, 0x04);
+ status |= VL53L0X_write_byte(dev, 0xcd, 0x00);
+ status |= VL53L0X_write_byte(dev, 0xcc, 0x11);
+
+ status |= VL53L0X_write_byte(dev, 0xff, 0x07);
+ status |= VL53L0X_write_byte(dev, 0xbe, 0x00);
+
+ status |= VL53L0X_write_byte(dev, 0xff, 0x06);
+ status |= VL53L0X_write_byte(dev, 0xcc, 0x09);
+
+ status |= VL53L0X_write_byte(dev, 0xff, 0x00);
+ status |= VL53L0X_write_byte(dev, 0xff, 0x01);
+ status |= VL53L0X_write_byte(dev, 0x00, 0x00);
+
+ } else {
+
+ if (status == VL53L0X_ERROR_NONE) {
+ switch (functionality) {
+ case VL53L0X_GPIOFUNCTIONALITY_OFF:
+ data = 0x00;
+ break;
+ case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW:
+ data = 0x01;
+ break;
+ case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH:
+ data = 0x02;
+ break;
+ case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT:
+ data = 0x03;
+ break;
+ case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY:
+ data = 0x04;
+ break;
+ default:
+ status =
+ VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
+ }
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW) {
+ data = 0;
+ } else {
+ data = (uint8_t)(1 << 4);
+ }
+ status = VL53L0X_update_byte(dev,
+ VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
+ Pin0GpioFunctionality, functionality);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_clear_interrupt_mask(dev, 0);
+ }
+ }
+ }
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_fraction_enable(VL53L0X_DEV dev, uint8_t *p_enabled)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, p_enabled);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ *p_enabled = (*p_enabled & 1);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+uint16_t VL53L0X::VL53L0X_encode_timeout(uint32_t timeout_macro_clks)
+{
+ /*!
+ * Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format
+ */
+
+ uint16_t encoded_timeout = 0;
+ uint32_t ls_byte = 0;
+ uint16_t ms_byte = 0;
+
+ if (timeout_macro_clks > 0) {
+ ls_byte = timeout_macro_clks - 1;
+
+ while ((ls_byte & 0xFFFFFF00) > 0) {
+ ls_byte = ls_byte >> 1;
+ ms_byte++;
+ }
+
+ encoded_timeout = (ms_byte << 8)
+ + (uint16_t)(ls_byte & 0x000000FF);
+ }
+
+ return encoded_timeout;
+
+}
+
+VL53L0X_Error VL53L0X::set_sequence_step_timeout(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id,
+ uint32_t timeout_micro_secs)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t current_vcsel_pulse_period_p_clk;
+ uint8_t msrc_encoded_time_out;
+ uint16_t pre_range_encoded_time_out;
+ uint16_t pre_range_time_out_m_clks;
+ uint16_t msrc_range_time_out_m_clks;
+ uint32_t final_range_time_out_m_clks;
+ uint16_t final_range_encoded_time_out;
+ VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
+
+ if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) ||
+ (sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) ||
+ (sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) {
+
+ status = VL53L0X_get_vcsel_pulse_period(dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ ¤t_vcsel_pulse_period_p_clk);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ msrc_range_time_out_m_clks = VL53L0X_calc_timeout_mclks(dev,
+ timeout_micro_secs,
+ (uint8_t)current_vcsel_pulse_period_p_clk);
+
+ if (msrc_range_time_out_m_clks > 256) {
+ msrc_encoded_time_out = 255;
+ } else {
+ msrc_encoded_time_out =
+ (uint8_t)msrc_range_time_out_m_clks - 1;
+ }
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
+ LastEncodedTimeout,
+ msrc_encoded_time_out);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
+ msrc_encoded_time_out);
+ }
+ } else {
+
+ if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_get_vcsel_pulse_period(dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ ¤t_vcsel_pulse_period_p_clk);
+ pre_range_time_out_m_clks =
+ VL53L0X_calc_timeout_mclks(dev,
+ timeout_micro_secs,
+ (uint8_t)current_vcsel_pulse_period_p_clk);
+ pre_range_encoded_time_out = VL53L0X_encode_timeout(
+ pre_range_time_out_m_clks);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
+ LastEncodedTimeout,
+ pre_range_encoded_time_out);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_word(dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
+ pre_range_encoded_time_out);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ dev,
+ PreRangeTimeoutMicroSecs,
+ timeout_micro_secs);
+ }
+ } else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
+
+ /* For the final range timeout, the pre-range timeout
+ * must be added. To do this both final and pre-range
+ * timeouts must be expressed in macro periods MClks
+ * because they have different vcsel periods.
+ */
+
+ VL53L0X_get_sequence_step_enables(dev,
+ &scheduler_sequence_steps);
+ pre_range_time_out_m_clks = 0;
+ if (scheduler_sequence_steps.PreRangeOn) {
+
+ /* Retrieve PRE-RANGE VCSEL Period */
+ status = VL53L0X_get_vcsel_pulse_period(dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ ¤t_vcsel_pulse_period_p_clk);
+
+ /* Retrieve PRE-RANGE Timeout in Macro periods
+ * (MCLKS) */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_read_word(dev, 0x51,
+ &pre_range_encoded_time_out);
+ pre_range_time_out_m_clks =
+ VL53L0X_decode_timeout(
+ pre_range_encoded_time_out);
+ }
+ }
+
+ /* Calculate FINAL RANGE Timeout in Macro Periods
+ * (MCLKS) and add PRE-RANGE value
+ */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_get_vcsel_pulse_period(dev,
+ VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
+ ¤t_vcsel_pulse_period_p_clk);
+ }
+ if (status == VL53L0X_ERROR_NONE) {
+ final_range_time_out_m_clks =
+ VL53L0X_calc_timeout_mclks(dev,
+ timeout_micro_secs,
+ (uint8_t) current_vcsel_pulse_period_p_clk);
+
+ final_range_time_out_m_clks += pre_range_time_out_m_clks;
+
+ final_range_encoded_time_out =
+ VL53L0X_encode_timeout(final_range_time_out_m_clks);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_word(dev, 0x71,
+ final_range_encoded_time_out);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ dev,
+ FinalRangeTimeoutMicroSecs,
+ timeout_micro_secs);
+ }
+ }
+ } else {
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ }
+ return status;
+}
+
+VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
+ uint32_t measurement_timing_budget_micro_seconds)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint32_t final_range_timing_budget_micro_seconds;
+ VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
+ uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000;
+ uint32_t start_overhead_micro_seconds = 1910;
+ uint32_t end_overhead_micro_seconds = 960;
+ uint32_t msrc_overhead_micro_seconds = 660;
+ uint32_t tcc_overhead_micro_seconds = 590;
+ uint32_t dss_overhead_micro_seconds = 690;
+ uint32_t pre_range_overhead_micro_seconds = 660;
+ uint32_t final_range_overhead_micro_seconds = 550;
+ uint32_t pre_range_timeout_micro_seconds = 0;
+ uint32_t c_min_timing_budget_micro_seconds = 20000;
+ uint32_t sub_timeout = 0;
+
+ LOG_FUNCTION_START("");
+
+ if (measurement_timing_budget_micro_seconds
+ < c_min_timing_budget_micro_seconds) {
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ return status;
+ }
+
+ final_range_timing_budget_micro_seconds =
+ measurement_timing_budget_micro_seconds -
+ (start_overhead_micro_seconds + end_overhead_micro_seconds);
+
+ status = VL53L0X_get_sequence_step_enables(dev, &scheduler_sequence_steps);
+
+ if (status == VL53L0X_ERROR_NONE &&
+ (scheduler_sequence_steps.TccOn ||
+ scheduler_sequence_steps.MsrcOn ||
+ scheduler_sequence_steps.DssOn)) {
+
+ /* TCC, MSRC and DSS all share the same timeout */
+ status = get_sequence_step_timeout(dev,
+ VL53L0X_SEQUENCESTEP_MSRC,
+ &msrc_dcc_tcc_timeout_micro_seconds);
+
+ /* Subtract the TCC, MSRC and DSS timeouts if they are
+ * enabled. */
+
+ if (status != VL53L0X_ERROR_NONE) {
+ return status;
+ }
+
+ /* TCC */
+ if (scheduler_sequence_steps.TccOn) {
+
+ sub_timeout = msrc_dcc_tcc_timeout_micro_seconds
+ + tcc_overhead_micro_seconds;
+
+ if (sub_timeout <
+ final_range_timing_budget_micro_seconds) {
+ final_range_timing_budget_micro_seconds -=
+ sub_timeout;
+ } else {
+ /* Requested timeout too big. */
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ if (status != VL53L0X_ERROR_NONE) {
+ LOG_FUNCTION_END(status);
+ return status;
+ }
+
+ /* DSS */
+ if (scheduler_sequence_steps.DssOn) {
+
+ sub_timeout = 2 * (msrc_dcc_tcc_timeout_micro_seconds +
+ dss_overhead_micro_seconds);
+
+ if (sub_timeout < final_range_timing_budget_micro_seconds) {
+ final_range_timing_budget_micro_seconds
+ -= sub_timeout;
+ } else {
+ /* Requested timeout too big. */
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ } else if (scheduler_sequence_steps.MsrcOn) {
+ /* MSRC */
+ sub_timeout = msrc_dcc_tcc_timeout_micro_seconds +
+ msrc_overhead_micro_seconds;
+
+ if (sub_timeout < final_range_timing_budget_micro_seconds) {
+ final_range_timing_budget_micro_seconds
+ -= sub_timeout;
+ } else {
+ /* Requested timeout too big. */
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ }
+
+ if (status != VL53L0X_ERROR_NONE) {
+ LOG_FUNCTION_END(status);
+ return status;
+ }
+
+ if (scheduler_sequence_steps.PreRangeOn) {
+
+ /* Subtract the Pre-range timeout if enabled. */
+
+ status = get_sequence_step_timeout(dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ &pre_range_timeout_micro_seconds);
+
+ sub_timeout = pre_range_timeout_micro_seconds +
+ pre_range_overhead_micro_seconds;
+
+ if (sub_timeout < final_range_timing_budget_micro_seconds) {
+ final_range_timing_budget_micro_seconds -= sub_timeout;
+ } else {
+ /* Requested timeout too big. */
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+
+ if (status == VL53L0X_ERROR_NONE &&
+ scheduler_sequence_steps.FinalRangeOn) {
+
+ final_range_timing_budget_micro_seconds -=
+ final_range_overhead_micro_seconds;
+
+ /* Final Range Timeout
+ * Note that the final range timeout is determined by the timing
+ * budget and the sum of all other timeouts within the sequence.
+ * If there is no room for the final range timeout, then an error
+ * will be set. Otherwise the remaining time will be applied to
+ * the final range.
+ */
+ status = set_sequence_step_timeout(dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ final_range_timing_budget_micro_seconds);
+
+ VL53L0X_SETPARAMETERFIELD(dev,
+ MeasurementTimingBudgetMicroSeconds,
+ measurement_timing_budget_micro_seconds);
+ }
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
+ uint32_t measurement_timing_budget_micro_seconds)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ status = wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(dev,
+ measurement_timing_budget_micro_seconds);
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_set_sequence_step_enable(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_step_enabled)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t sequence_config = 0;
+ uint8_t sequence_config_new = 0;
+ uint32_t measurement_timing_budget_micro_seconds;
+ LOG_FUNCTION_START("");
+
+ status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ &sequence_config);
+
+ sequence_config_new = sequence_config;
+
+ if (status == VL53L0X_ERROR_NONE) {
+ if (sequence_step_enabled == 1) {
+
+ /* Enable requested sequence step
+ */
+ switch (sequence_step_id) {
+ case VL53L0X_SEQUENCESTEP_TCC:
+ sequence_config_new |= 0x10;
+ break;
+ case VL53L0X_SEQUENCESTEP_DSS:
+ sequence_config_new |= 0x28;
+ break;
+ case VL53L0X_SEQUENCESTEP_MSRC:
+ sequence_config_new |= 0x04;
+ break;
+ case VL53L0X_SEQUENCESTEP_PRE_RANGE:
+ sequence_config_new |= 0x40;
+ break;
+ case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
+ sequence_config_new |= 0x80;
+ break;
+ default:
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ } else {
+ /* Disable requested sequence step
+ */
+ switch (sequence_step_id) {
+ case VL53L0X_SEQUENCESTEP_TCC:
+ sequence_config_new &= 0xef;
+ break;
+ case VL53L0X_SEQUENCESTEP_DSS:
+ sequence_config_new &= 0xd7;
+ break;
+ case VL53L0X_SEQUENCESTEP_MSRC:
+ sequence_config_new &= 0xfb;
+ break;
+ case VL53L0X_SEQUENCESTEP_PRE_RANGE:
+ sequence_config_new &= 0xbf;
+ break;
+ case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
+ sequence_config_new &= 0x7f;
+ break;
+ default:
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+ }
+
+ if (sequence_config_new != sequence_config) {
+ /* Apply New Setting */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev,
+ VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, sequence_config_new);
+ }
+ if (status == VL53L0X_ERROR_NONE) {
+ PALDevDataSet(dev, SequenceConfig, sequence_config_new);
+ }
+
+
+ /* Recalculate timing budget */
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_GETPARAMETERFIELD(dev,
+ MeasurementTimingBudgetMicroSeconds,
+ measurement_timing_budget_micro_seconds);
+
+ VL53L0X_set_measurement_timing_budget_micro_seconds(dev,
+ measurement_timing_budget_micro_seconds);
+ }
+ }
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_set_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
+ uint8_t limit_check_enable)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ FixPoint1616_t temp_fix1616 = 0;
+ uint8_t limit_check_enable_int = 0;
+ uint8_t limit_check_disable = 0;
+ uint8_t temp8;
+
+ LOG_FUNCTION_START("");
+
+ if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ } else {
+ if (limit_check_enable == 0) {
+ temp_fix1616 = 0;
+ limit_check_enable_int = 0;
+ limit_check_disable = 1;
+
+ } else {
+ VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
+ limit_check_id, temp_fix1616);
+ limit_check_disable = 0;
+ /* this to be sure to have either 0 or 1 */
+ limit_check_enable_int = 1;
+ }
+
+ switch (limit_check_id) {
+
+ case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ limit_check_enable_int);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+
+ status = VL53L0X_write_word(dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
+ VL53L0X_FIXPOINT1616TOFIXPOINT97(temp_fix1616));
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
+
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ limit_check_enable_int);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
+
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ limit_check_enable_int);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
+
+ temp8 = (uint8_t)(limit_check_disable << 1);
+ status = VL53L0X_update_byte(dev,
+ VL53L0X_REG_MSRC_CONFIG_CONTROL,
+ 0xFE, temp8);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
+
+ temp8 = (uint8_t)(limit_check_disable << 4);
+ status = VL53L0X_update_byte(dev,
+ VL53L0X_REG_MSRC_CONFIG_CONTROL,
+ 0xEF, temp8);
+
+ break;
+
+
+ default:
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+
+ }
+
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ if (limit_check_enable == 0) {
+ VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
+ limit_check_id, 0);
+ } else {
+ VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
+ limit_check_id, 1);
+ }
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_static_init(VL53L0X_DEV dev)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ VL53L0X_DeviceParameters_t current_parameters = {0};
+ uint8_t *p_tuning_setting_buffer;
+ uint16_t tempword = 0;
+ uint8_t tempbyte = 0;
+ uint8_t use_internal_tuning_settings = 0;
+ uint32_t count = 0;
+ uint8_t is_aperture_spads = 0;
+ uint32_t ref_spad_count = 0;
+ uint8_t aperture_spads = 0;
+ uint8_t vcsel_pulse_period_pclk;
+ uint32_t seq_timeout_micro_secs;
+
+ LOG_FUNCTION_START("");
+
+ status = VL53L0X_get_info_from_device(dev, 1);
+
+ /* set the ref spad from NVM */
+ count = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
+ ReferenceSpadCount);
+ aperture_spads = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
+ ReferenceSpadType);
+
+ /* NVM value invalid */
+ if ((aperture_spads > 1) ||
+ ((aperture_spads == 1) && (count > 32)) ||
+ ((aperture_spads == 0) && (count > 12))) {
+ status = wrapped_VL53L0X_perform_ref_spad_management(dev, &ref_spad_count,
+ &is_aperture_spads);
+ } else {
+ status = VL53L0X_set_reference_spads(dev, count, aperture_spads);
+ }
+
+
+ /* Initialize tuning settings buffer to prevent compiler warning. */
+ p_tuning_setting_buffer = DefaultTuningSettings;
+
+ if (status == VL53L0X_ERROR_NONE) {
+ use_internal_tuning_settings = PALDevDataGet(dev,
+ UseInternalTuningSettings);
+
+ if (use_internal_tuning_settings == 0) {
+ p_tuning_setting_buffer = PALDevDataGet(dev,
+ pTuningSettingsPointer);
+ } else {
+ p_tuning_setting_buffer = DefaultTuningSettings;
+ }
+
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_load_tuning_settings(dev, p_tuning_setting_buffer);
+ }
+
+
+ /* Set interrupt config to new sample ready */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_set_gpio_config(dev, 0, 0,
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
+ VL53L0X_INTERRUPTPOLARITY_LOW);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev, 0xFF, 0x01);
+ status |= VL53L0X_read_word(dev, 0x84, &tempword);
+ status |= VL53L0X_write_byte(dev, 0xFF, 0x00);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(dev, OscFrequencyMHz,
+ VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword));
+ }
+
+ /* After static init, some device parameters may be changed,
+ * so update them */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_get_device_parameters(dev, ¤t_parameters);
+ }
+
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_get_fraction_enable(dev, &tempbyte);
+ if (status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(dev, RangeFractionalEnable, tempbyte);
+
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ PALDevDataSet(dev, CurrentParameters, current_parameters);
+ }
+
+
+ /* read the sequence config and save it */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_read_byte(dev,
+ VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte);
+ if (status == VL53L0X_ERROR_NONE) {
+ PALDevDataSet(dev, SequenceConfig, tempbyte);
+ }
+ }
+
+ /* Disable MSRC and TCC by default */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_set_sequence_step_enable(dev,
+ VL53L0X_SEQUENCESTEP_TCC, 0);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_set_sequence_step_enable(dev,
+ VL53L0X_SEQUENCESTEP_MSRC, 0);
+ }
+
+ /* Set PAL State to standby */
+ if (status == VL53L0X_ERROR_NONE) {
+ PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE);
+ }
+
+ /* Store pre-range vcsel period */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_get_vcsel_pulse_period(
+ dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &vcsel_pulse_period_pclk);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ dev,
+ PreRangeVcselPulsePeriod,
+ vcsel_pulse_period_pclk);
+ }
+
+ /* Store final-range vcsel period */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_get_vcsel_pulse_period(
+ dev,
+ VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
+ &vcsel_pulse_period_pclk);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ dev,
+ FinalRangeVcselPulsePeriod,
+ vcsel_pulse_period_pclk);
+ }
+
+ /* Store pre-range timeout */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = get_sequence_step_timeout(
+ dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ &seq_timeout_micro_secs);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ dev,
+ PreRangeTimeoutMicroSecs,
+ seq_timeout_micro_secs);
+ }
+
+ /* Store final-range timeout */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = get_sequence_step_timeout(
+ dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ &seq_timeout_micro_secs);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ dev,
+ FinalRangeTimeoutMicroSecs,
+ seq_timeout_micro_secs);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+
+VL53L0X_Error VL53L0X::VL53L0X_stop_measurement(VL53L0X_DEV dev)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START,
+ VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT);
+
+ status = VL53L0X_write_byte(dev, 0xFF, 0x01);
+ status = VL53L0X_write_byte(dev, 0x00, 0x00);
+ status = VL53L0X_write_byte(dev, 0x91, 0x00);
+ status = VL53L0X_write_byte(dev, 0x00, 0x01);
+ status = VL53L0X_write_byte(dev, 0xFF, 0x00);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ /* Set PAL State to Idle */
+ PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE);
+ }
+
+ /* Check if need to apply interrupt settings */
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_check_and_load_interrupt_settings(dev, 0);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_stop_completed_status(VL53L0X_DEV dev,
+ uint32_t *p_stop_status)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t byte = 0;
+ LOG_FUNCTION_START("");
+
+ status = VL53L0X_write_byte(dev, 0xFF, 0x01);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_read_byte(dev, 0x04, &byte);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = VL53L0X_write_byte(dev, 0xFF, 0x0);
+ }
+
+ *p_stop_status = byte;
+
+ if (byte == 0) {
+ status = VL53L0X_write_byte(dev, 0x80, 0x01);
+ status = VL53L0X_write_byte(dev, 0xFF, 0x01);
+ status = VL53L0X_write_byte(dev, 0x00, 0x00);
+ status = VL53L0X_write_byte(dev, 0x91,
+ PALDevDataGet(dev, StopVariable));
+ status = VL53L0X_write_byte(dev, 0x00, 0x01);
+ status = VL53L0X_write_byte(dev, 0xFF, 0x00);
+ status = VL53L0X_write_byte(dev, 0x80, 0x00);
+ }
+
+ LOG_FUNCTION_END(status);
+ return status;
+}
+
+/****************** Write and read functions from I2C *************************/
+
+VL53L0X_Error VL53L0X::VL53L0X_write_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count)
+{
+ int status;
+
+ status = VL53L0X_i2c_write(dev->I2cDevAddr, index, p_data, (uint16_t)count);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_read_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count)
+{
+ int status;
+
+ if (count >= VL53L0X_MAX_I2C_XFER_SIZE) {
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ status = VL53L0X_i2c_read(dev->I2cDevAddr, index, p_data, (uint16_t)count);
+
+ return status;
+}
+
+
+VL53L0X_Error VL53L0X::VL53L0X_write_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t data)
+{
+ int status;
+
+ status = VL53L0X_i2c_write(Dev->I2cDevAddr, index, &data, 1);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_write_word(VL53L0X_DEV dev, uint8_t index, uint16_t data)
+{
+ int status;
+ uint8_t buffer[2];
+
+ buffer[0] = data >> 8;
+ buffer[1] = data & 0x00FF;
+ status = VL53L0X_i2c_write(dev->I2cDevAddr, index, (uint8_t *)buffer, 2);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_write_dword(VL53L0X_DEV Dev, uint8_t index, uint32_t data)
+{
+ int status;
+ uint8_t buffer[4];
+
+ buffer[0] = (data >> 24) & 0xFF;
+ buffer[1] = (data >> 16) & 0xFF;
+ buffer[2] = (data >> 8) & 0xFF;
+ buffer[3] = (data >> 0) & 0xFF;
+ status = VL53L0X_i2c_write(Dev->I2cDevAddr, index, (uint8_t *)buffer, 4);
+ return status;
+}
+
+
+VL53L0X_Error VL53L0X::VL53L0X_read_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t *p_data)
+{
+ int status;
+
+ status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, p_data, 1);
+
+ if (status)
+ return -1;
+
+ return 0;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_read_word(VL53L0X_DEV Dev, uint8_t index, uint16_t *p_data)
+{
+ int status;
+ uint8_t buffer[2] = {0, 0};
+
+ status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, buffer, 2);
+ if (!status) {
+ *p_data = (buffer[0] << 8) + buffer[1];
+ }
+ return status;
+
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_read_dword(VL53L0X_DEV Dev, uint8_t index, uint32_t *p_data)
+{
+ int status;
+ uint8_t buffer[4] = {0, 0, 0, 0};
+
+ status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, buffer, 4);
+ if (!status) {
+ *p_data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3];
+ }
+ return status;
+
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_update_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t and_data, uint8_t or_data)
+{
+ int status;
+ uint8_t buffer = 0;
+
+ /* read data direct onto buffer */
+ status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, &buffer, 1);
+ if (!status) {
+ buffer = (buffer & and_data) | or_data;
+ status = VL53L0X_i2c_write(Dev->I2cDevAddr, index, &buffer, (uint8_t)1);
+ }
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_i2c_write(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t *p_data,
+ uint16_t NumByteToWrite)
+{
+ int ret;
+
+ ret = _dev_i2c->i2c_write(p_data, DeviceAddr, RegisterAddr, NumByteToWrite);
+
+ if (ret) {
+ return -1;
+ }
+ return 0;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_i2c_read(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t *p_data,
+ uint16_t NumByteToRead)
+{
+ int ret;
+
+ ret = _dev_i2c->i2c_read(p_data, DeviceAddr, RegisterAddr, NumByteToRead);
+
+ if (ret) {
+ return -1;
+ }
+ return 0;
+}
+
+int VL53L0X::read_id(uint8_t *id)
+{
+ int status = 0;
+ uint16_t rl_id = 0;
+
+ status = VL53L0X_read_word(_device, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &rl_id);
+ if (rl_id == 0xEEAA) {
+ return status;
+ }
+
+ return -1;
+}
+
+
+VL53L0X_Error VL53L0X::wait_measurement_data_ready(VL53L0X_DEV dev)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint8_t new_dat_ready = 0;
+ uint32_t loop_nb;
+
+ // Wait until it finished
+ // use timeout to avoid deadlock
+ if (status == VL53L0X_ERROR_NONE) {
+ loop_nb = 0;
+ do {
+ status = VL53L0X_get_measurement_data_ready(dev, &new_dat_ready);
+ if ((new_dat_ready == 0x01) || status != VL53L0X_ERROR_NONE) {
+ break;
+ }
+ loop_nb = loop_nb + 1;
+ VL53L0X_polling_delay(dev);
+ } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
+
+ if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
+ status = VL53L0X_ERROR_TIME_OUT;
+ }
+ }
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::wait_stop_completed(VL53L0X_DEV dev)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint32_t stop_completed = 0;
+ uint32_t loop_nb;
+
+ // Wait until it finished
+ // use timeout to avoid deadlock
+ if (status == VL53L0X_ERROR_NONE) {
+ loop_nb = 0;
+ do {
+ status = VL53L0X_get_stop_completed_status(dev, &stop_completed);
+ if ((stop_completed == 0x00) || status != VL53L0X_ERROR_NONE) {
+ break;
+ }
+ loop_nb = loop_nb + 1;
+ VL53L0X_polling_delay(dev);
+ } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
+
+ if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
+ status = VL53L0X_ERROR_TIME_OUT;
+ }
+
+ }
+
+ return status;
+}
+
+
+int VL53L0X::init_sensor(uint8_t new_addr)
+{
+ int status;
+
+ VL53L0X_off();
+ VL53L0X_on();
+
+// status=VL53L0X_WaitDeviceBooted(Device);
+// if(status)
+// printf("WaitDeviceBooted fail\n\r");
+ status = is_present();
+ if (!status) {
+ status = init(&_my_device);
+ if (status != VL53L0X_ERROR_NONE) {
+ printf("Failed to init VL53L0X sensor!\n\r");
+ return status;
+ }
+
+ // deduce silicon version
+ status = VL53L0X_get_device_info(&_my_device, &_device_info);
+
+ status = prepare();
+ if (status != VL53L0X_ERROR_NONE) {
+ printf("Failed to prepare VL53L0X!\n\r");
+ return status;
+ }
+
+ if (new_addr != DEFAULT_DEVICE_ADDRESS) {
+ status = set_device_address(new_addr);
+ if (status) {
+ printf("Failed to change I2C address!\n\r");
+ return status;
+ }
+ } else {
+ printf("Invalid new address!\n\r");
+ return VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+ return status;
+}
+
+int VL53L0X::range_meas_int_continuous_mode(void (*fptr)(void))
+{
+ int status, clr_status;
+
+ status = VL53L0X_stop_measurement(_device); // it is safer to do this while sensor is stopped
+
+// status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
+
+ status = VL53L0X_set_gpio_config(_device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
+ VL53L0X_INTERRUPTPOLARITY_HIGH);
+
+ if (!status) {
+ attach_interrupt_measure_detection_irq(fptr);
+ enable_interrupt_measure_detection_irq();
+ }
+
+ clr_status = clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS | VL53L0X_REG_RESULT_RANGE_STATUS);
+ if (clr_status) {
+ VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
+ }
+
+ if (!status) {
+ status = range_start_continuous_mode();
+ }
+ return status;
+}
+
+
+int VL53L0X::start_measurement(OperatingMode operating_mode, void (*fptr)(void))
+{
+ int Status = VL53L0X_ERROR_NONE;
+ int ClrStatus;
+
+ uint8_t VhvSettings;
+ uint8_t PhaseCal;
+ // *** from mass market cube expansion v1.1, ranging with satellites.
+ // default settings, for normal range.
+ FixPoint1616_t signalLimit = (FixPoint1616_t)(0.25 * 65536);
+ FixPoint1616_t sigmaLimit = (FixPoint1616_t)(18 * 65536);
+ uint32_t timingBudget = 33000;
+ uint8_t preRangeVcselPeriod = 14;
+ uint8_t finalRangeVcselPeriod = 10;
+
+ if (operating_mode == range_continuous_interrupt) {
+ if (_gpio1Int == NULL) {
+ printf("GPIO1 Error\r\n");
+ return 1;
+ }
+
+ Status = VL53L0X_stop_measurement(_device); // it is safer to do this while sensor is stopped
+
+// Status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
+
+ Status = VL53L0X_set_gpio_config(_device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
+ VL53L0X_INTERRUPTPOLARITY_HIGH);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ attach_interrupt_measure_detection_irq(fptr);
+ enable_interrupt_measure_detection_irq();
+ }
+
+ ClrStatus = clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS | VL53L0X_REG_RESULT_RANGE_STATUS);
+ if (ClrStatus) {
+ VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_start_measurement(_device);
+ }
+ }
+
+ if (operating_mode == range_single_shot_polling) {
+ // singelshot, polled ranging
+ if (Status == VL53L0X_ERROR_NONE) {
+ // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
+ Status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
+ }
+
+ // Enable/Disable Sigma and Signal check
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_set_limit_check_enable(_device,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_set_limit_check_enable(_device,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
+ }
+
+// *** from mass market cube expansion v1.1, ranging with satellites.
+ /* Ranging configuration */
+//*
+// switch(rangingConfig) {
+// case LONG_RANGE:
+ signalLimit = (FixPoint1616_t)(0.1 * 65536);
+ sigmaLimit = (FixPoint1616_t)(60 * 65536);
+ timingBudget = 33000;
+ preRangeVcselPeriod = 18;
+ finalRangeVcselPeriod = 14;
+ /* break;
+ case HIGH_ACCURACY:
+ signalLimit = (FixPoint1616_t)(0.25*65536);
+ sigmaLimit = (FixPoint1616_t)(18*65536);
+ timingBudget = 200000;
+ preRangeVcselPeriod = 14;
+ finalRangeVcselPeriod = 10;
+ break;
+ case HIGH_SPEED:
+ signalLimit = (FixPoint1616_t)(0.25*65536);
+ sigmaLimit = (FixPoint1616_t)(32*65536);
+ timingBudget = 20000;
+ preRangeVcselPeriod = 14;
+ finalRangeVcselPeriod = 10;
+ break;
+ default:
+ debug_printf("Not Supported");
+ }
+ */
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_set_limit_check_value(_device,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, signalLimit);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_set_limit_check_value(_device,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, sigmaLimit);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_set_measurement_timing_budget_micro_seconds(_device, timingBudget);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_set_vcsel_pulse_period(_device,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE, preRangeVcselPeriod);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_set_vcsel_pulse_period(_device,
+ VL53L0X_VCSEL_PERIOD_FINAL_RANGE, finalRangeVcselPeriod);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_perform_ref_calibration(_device, &VhvSettings, &PhaseCal);
+ }
+
+ }
+
+ if (operating_mode == range_continuous_polling) {
+ if (Status == VL53L0X_ERROR_NONE) {
+ printf("Call of VL53L0X_SetDeviceMode\n");
+ Status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ printf("Call of VL53L0X_StartMeasurement\n");
+ Status = VL53L0X_start_measurement(_device);
+ }
+ }
+
+ return Status;
+}
+
+
+int VL53L0X::get_measurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *p_data)
+{
+ int Status = VL53L0X_ERROR_NONE;
+
+ if (operating_mode == range_single_shot_polling) {
+ Status = VL53L0X_perform_single_ranging_measurement(_device, p_data);
+ }
+
+ if (operating_mode == range_continuous_polling) {
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_measurement_poll_for_completion(_device);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_get_ranging_measurement_data(_device, p_data);
+
+ // Clear the interrupt
+ VL53L0X_clear_interrupt_mask(_device, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
+ VL53L0X_polling_delay(_device);
+ }
+ }
+
+ if (operating_mode == range_continuous_interrupt) {
+ Status = VL53L0X_get_ranging_measurement_data(_device, p_data);
+ VL53L0X_clear_interrupt_mask(_device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR | VL53L0X_REG_RESULT_INTERRUPT_STATUS);
+ }
+
+ return Status;
+}
+
+
+int VL53L0X::stop_measurement(OperatingMode operating_mode)
+{
+ int status = VL53L0X_ERROR_NONE;
+
+
+ // don't need to stop for a singleshot range!
+ if (operating_mode == range_single_shot_polling) {
+ }
+
+ if (operating_mode == range_continuous_interrupt || operating_mode == range_continuous_polling) {
+ // continuous mode
+ if (status == VL53L0X_ERROR_NONE) {
+ printf("Call of VL53L0X_StopMeasurement\n");
+ status = VL53L0X_stop_measurement(_device);
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ printf("Wait Stop to be competed\n");
+ status = wait_stop_completed(_device);
+ }
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_clear_interrupt_mask(_device,
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
+ }
+
+ return status;
+}
+
+
+int VL53L0X::handle_irq(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *data)
+{
+ int status;
+ status = get_measurement(operating_mode, data);
+ enable_interrupt_measure_detection_irq();
+ return status;
+}
+
+
+/******************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X.h Fri Sep 29 15:38:50 2017 +0000
@@ -0,0 +1,2772 @@
+/*******************************************************************************
+ Copyright © 2016, STMicroelectronics International N.V.
+ All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+ NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+ IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+ DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+
+#ifndef __VL53L0X_CLASS_H
+#define __VL53L0X_CLASS_H
+
+
+#ifdef _MSC_VER
+# ifdef VL53L0X_API_EXPORTS
+# define VL53L0X_API __declspec(dllexport)
+# else
+# define VL53L0X_API
+# endif
+#else
+# define VL53L0X_API
+#endif
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "RangeSensor.h"
+#include "DevI2C.h"
+#include "PinNames.h"
+#include "VL53L0X_def.h"
+#include "VL53L0X_platform.h"
+#include "Stmpe1600.h"
+
+
+/**
+ * The device model ID
+ */
+#define IDENTIFICATION_MODEL_ID 0x000
+
+
+#define STATUS_OK 0x00
+#define STATUS_FAIL 0x01
+
+#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 ""
+
+/* 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 ""
+
+
+
+/* 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 ""
+
+
+/* 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 ""
+
+/* 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"
+
+/* PAL ERROR strings */
+#define VL53L0X_STRING_ERROR_NONE \
+ "No Error"
+#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING \
+ "Calibration Warning Error"
+#define VL53L0X_STRING_ERROR_MIN_CLIPPED \
+ "Min clipped error"
+#define VL53L0X_STRING_ERROR_UNDEFINED \
+ "Undefined error"
+#define VL53L0X_STRING_ERROR_INVALID_PARAMS \
+ "Invalid parameters error"
+#define VL53L0X_STRING_ERROR_NOT_SUPPORTED \
+ "Not supported error"
+#define VL53L0X_STRING_ERROR_RANGE_ERROR \
+ "Range error"
+#define VL53L0X_STRING_ERROR_TIME_OUT \
+ "Time out error"
+#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED \
+ "Mode not supported error"
+#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL \
+ "Buffer too small"
+#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING \
+ "GPIO not existing"
+#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \
+ "GPIO funct not supported"
+#define VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED \
+ "Interrupt not Cleared"
+#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE \
+ "Control Interface Error"
+#define VL53L0X_STRING_ERROR_INVALID_COMMAND \
+ "Invalid Command Error"
+#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO \
+ "Division by zero Error"
+#define VL53L0X_STRING_ERROR_REF_SPAD_INIT \
+ "Reference Spad Init Error"
+#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED \
+ "Not implemented error"
+
+#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_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"
+
+
+/* Device Specific */
+#define VL53L0X_STRING_DEVICEERROR_NONE "No Update"
+#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \
+ "VCSEL Continuity Test Failure"
+#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \
+ "VCSEL Watchdog Test Failure"
+#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND \
+ "No VHV Value found"
+#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET \
+ "MSRC No Target Error"
+#define VL53L0X_STRING_DEVICEERROR_SNRCHECK \
+ "SNR Check Exit"
+#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK \
+ "Range Phase Check Error"
+#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK \
+ "Sigma Threshold Check Error"
+#define VL53L0X_STRING_DEVICEERROR_TCC \
+ "TCC Error"
+#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY \
+ "Phase Consistency Error"
+#define VL53L0X_STRING_DEVICEERROR_MINCLIP \
+ "Min Clip Error"
+#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE \
+ "Range Complete"
+#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW \
+ "Range Algo Underflow Error"
+#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW \
+ "Range Algo Overlow Error"
+#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \
+ "Range Ignore Threshold Error"
+#define VL53L0X_STRING_DEVICEERROR_UNKNOWN \
+ "Unknown error code"
+
+/* Check Enable */
+#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \
+ "SIGMA FINAL RANGE"
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \
+ "SIGNAL RATE FINAL RANGE"
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP \
+ "SIGNAL REF CLIP"
+#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \
+ "RANGE IGNORE THRESHOLD"
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC \
+ "SIGNAL RATE MSRC"
+#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"
+#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;
+
+/** default device address */
+#define DEFAULT_DEVICE_ADDRESS 0x52 /* (8-bit) */
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a VL53L0 sensor component
+ */
+class VL53L0X : public RangeSensor
+{
+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] dev_addr device address, 0x29 by default
+ */
+ VL53L0X(DevI2C *i2c, DigitalOut *pin, PinName pin_gpio1, uint8_t dev_addr = DEFAULT_DEVICE_ADDRESS) : _dev_i2c(i2c),
+ _gpio0(pin)
+ {
+ _my_device.I2cDevAddr = dev_addr;
+ _my_device.comms_type = 1; // VL53L0X_COMMS_I2C
+ _my_device.comms_speed_khz = 400;
+ _device = &_my_device;
+ _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
+ */
+ VL53L0X(DevI2C *i2c, Stmpe1600DigiOut *pin, PinName pin_gpio1,
+ uint8_t dev_addr = DEFAULT_DEVICE_ADDRESS) : _dev_i2c(i2c), _expgpio0(pin)
+ {
+ _my_device.I2cDevAddr = dev_addr;
+ _my_device.comms_type = 1; // VL53L0X_COMMS_I2C
+ _my_device.comms_speed_khz = 400;
+ _device = &_my_device;
+ _gpio0 = NULL;
+ if (pin_gpio1 != NC) {
+ _gpio1Int = new InterruptIn(pin_gpio1);
+ } else {
+ _gpio1Int = NULL;
+ }
+ }
+
+ /** Destructor
+ */
+ virtual ~VL53L0X()
+ {
+ if (_gpio1Int != NULL) {
+ delete _gpio1Int;
+ }
+ }
+
+ /*** 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) {
+ *_expgpio0 = 1;
+ }
+ }
+ wait_ms(10);
+ }
+
+ /**
+ * @brief PowerOff the sensor
+ * @return void
+ */
+ /* turns off the sensor */
+ void VL53L0X_off(void)
+ {
+ if (_gpio0) {
+ *_gpio0 = 0;
+ } else {
+ if (_expgpio0) {
+ *_expgpio0 = 0;
+ }
+ }
+ wait_ms(10);
+ }
+
+ /**
+ * @brief Initialize the sensor with default values
+ * @return "0" on success
+ */
+ int init_sensor(uint8_t new_addr);
+
+ /**
+ * @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 start_measurement(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] p_data pointer to the MeasureData_t structure to read data in to
+ * @return "0" on success
+ */
+ int get_measurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *p_data);
+
+ /**
+ * @brief Stop the currently running measure indicate by operating_mode
+ * @param[in] operating_mode specifies requested measure to stop
+ * @return "0" on success
+ */
+ int stop_measurement(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 handle_irq(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *data);
+
+ /**
+ * @brief Enable interrupt measure IRQ
+ * @return "0" on success
+ */
+ void enable_interrupt_measure_detection_irq(void)
+ {
+ if (_gpio1Int != NULL) {
+ _gpio1Int->enable_irq();
+ }
+ }
+
+ /**
+ * @brief Disable interrupt measure IRQ
+ * @return "0" on success
+ */
+ void disable_interrupt_measure_detection_irq(void)
+ {
+ if (_gpio1Int != NULL) {
+ _gpio1Int->disable_irq();
+ }
+ }
+
+ /**
+ * @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 attach_interrupt_measure_detection_irq(void (*fptr)(void))
+ {
+ if (_gpio1Int != NULL) {
+ _gpio1Int->rise(fptr);
+ }
+ }
+
+ /** Wrapper functions */
+ /** @defgroup api_init Init functions
+ * @brief API init functions
+ * @ingroup api_hl
+ * @{
+ */
+
+ /**
+ *
+ * @brief One time device initialization
+ *
+ * To be called once and only once after device is brought out of reset (Chip enable) and booted.
+ *
+ * @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 VL53L0X_data_init multiple time
+ * then it must ensure proper offset calibration saving and restore on its own
+ * by using @a VL53L0X_get_offset_calibration_data_micro_meter() on first power up and then @a VL53L0X_set_offset_calibration_data_micro_meter() all all subsequent init
+ *
+ * @param void
+ * @return "0" on success, @a #CALIBRATION_WARNING if failed
+ */
+ virtual int init(void *init)
+ {
+ return VL53L0X_data_init(_device);
+ }
+
+ /**
+ * @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;
+ uint32_t ref_spad_count;
+ uint8_t is_aperture_spads;
+ uint8_t vhv_settings;
+ uint8_t phase_cal;
+
+ if (status == VL53L0X_ERROR_NONE) {
+ printf("Call of VL53L0X_StaticInit\r\n");
+ status = VL53L0X_static_init(_device); // Device Initialization
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ printf("Call of VL53L0X_PerformRefCalibration\r\n");
+ status = VL53L0X_perform_ref_calibration(_device,
+ &vhv_settings, &phase_cal); // Device Initialization
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ printf("Call of VL53L0X_PerformRefSpadManagement\r\n");
+ status = VL53L0X_perform_ref_spad_management(_device,
+ &ref_spad_count, &is_aperture_spads); // Device Initialization
+// printf ("refSpadCount = %d, isApertureSpads = %d\r\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
+ */
+ int range_start_continuous_mode()
+ {
+ int status;
+ status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ printf ("Call of VL53L0X_StartMeasurement\r\n");
+ status = VL53L0X_start_measurement(_device);
+ }
+
+ return status;
+ }
+
+ /**
+ * @brief Get ranging result and only that
+ *
+ * @par Function Description
+ * Unlike @a VL53L0X_get_ranging_measurement_data() 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 p_data Pointer to range distance
+ * @return "0" on success
+ */
+ virtual int get_distance(uint32_t *p_data)
+ {
+ int status = 0;
+ VL53L0X_RangingMeasurementData_t p_ranging_measurement_data;
+
+ status = start_measurement(range_single_shot_polling, NULL);
+ if (!status) {
+ status = get_measurement(range_single_shot_polling, &p_ranging_measurement_data);
+ }
+ if (p_ranging_measurement_data.RangeStatus == 0) {
+ // we have a valid range.
+ *p_data = p_ranging_measurement_data.RangeMilliMeter;
+ } else {
+ *p_data = 0;
+ status = VL53L0X_ERROR_RANGE_ERROR;
+ }
+ stop_measurement(range_single_shot_polling);
+ return status;
+ }
+
+ /** @} */
+
+ /**
+ * @brief Set new device i2c address
+ *
+ * After completion the device will answer to the new address programmed.
+ *
+ * @param new_addr The new i2c address (7bit)
+ * @return "0" on success
+ */
+ int set_device_address(int new_addr)
+ {
+ int status;
+
+ status = VL53L0X_set_device_address(_device, new_addr);
+ if (!status) {
+ _device->I2cDevAddr = new_addr;
+ }
+ return status;
+
+ }
+
+ /**
+ * @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 int_clear Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR.
+ * @return "0" on success
+ */
+ int clear_interrupt(uint8_t int_clear)
+ {
+ return VL53L0X_clear_interrupt_mask(_device, int_clear);
+ }
+
+ /**
+ *
+ * @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 VL53L0X_WaitDeviceBooted()
+ *
+ * @par Function Description
+ * When not used after a fresh device "power up" or reset, it may return
+ * @a #VL53L0X_ERROR_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 VL53L0X_DataInit
+ * multiple time then it must ensure proper offset calibration saving and
+ * restore on its own by using @a VL53L0X_GetOffsetCalibrationData() on first
+ * power up and then @a VL53L0X_SetOffsetCalibrationData() in all subsequent init
+ * This function will change the VL53L0X_State from VL53L0X_STATE_POWERDOWN to
+ * VL53L0X_STATE_WAIT_STATICINIT.
+ *
+ * @note This function accesses to the device
+ *
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_data_init(VL53L0X_DEV dev);
+
+ /**
+ * @brief Do basic device init (and eventually patch loading)
+ * This function will change the VL53L0X_State from
+ * VL53L0X_STATE_WAIT_STATICINIT to VL53L0X_STATE_IDLE.
+ * In this stage all default setting will be applied.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_static_init(VL53L0X_DEV dev);
+
+ /**
+ * @brief Perform Reference Calibration
+ *
+ * @details Perform a reference calibration of the Device.
+ * This function should be run from time to time before doing
+ * a ranging measurement.
+ * This function will launch a special ranging measurement, so
+ * if interrupt are enable an interrupt will be done.
+ * This function will clear the interrupt generated automatically.
+ *
+ * @warning This function is a blocking function
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_vhv_settings Pointer to vhv settings parameter.
+ * @param p_phase_cal Pointer to PhaseCal parameter.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV dev, uint8_t *p_vhv_settings,
+ uint8_t *p_phase_cal);
+
+ /**
+ * @brief Get Reference Calibration Parameters
+ *
+ * @par Function Description
+ * Get Reference Calibration Parameters.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_vhv_settings Pointer to VHV parameter
+ * @param p_phase_cal Pointer to PhaseCal Parameter
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_ref_calibration(VL53L0X_DEV dev,
+ uint8_t *p_vhv_settings, uint8_t *p_phase_cal);
+
+ VL53L0X_Error VL53L0X_set_ref_calibration(VL53L0X_DEV dev,
+ uint8_t vhv_settings, uint8_t phase_cal);
+
+ /**
+ * @brief Performs Reference Spad Management
+ *
+ * @par Function Description
+ * 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.
+ *
+ * @note This function Access to the device
+ *
+ * @note This function change the device mode to
+ * VL53L0X_DEVICEMODE_SINGLE_RANGING
+ *
+ * @param dev Device Handle
+ * @param ref_spad_count Reports ref Spad Count
+ * @param is_aperture_spads Reports if spads are of type
+ * aperture or non-aperture.
+ * 1:=aperture, 0:=Non-Aperture
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the Ref Spad procedure.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev,
+ uint32_t *ref_spad_count, uint8_t *is_aperture_spads);
+
+ /**
+ * @brief Applies Reference SPAD configuration
+ *
+ * @par Function Description
+ * This function applies a given number of reference spads, identified as
+ * either Aperture or Non-Aperture.
+ * The requested spad count and type are stored within the device specific
+ * parameters data for access by the host.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param refSpadCount Number of ref spads.
+ * @param is_aperture_spads Defines if spads are of type
+ * aperture or non-aperture.
+ * 1:=aperture, 0:=Non-Aperture
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference
+ * spad configuration.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV dev,
+ uint32_t refSpadCount, uint8_t is_aperture_spads);
+
+ /**
+ * @brief Retrieves SPAD configuration
+ *
+ * @par Function Description
+ * This function retrieves the current number of applied reference spads
+ * and also their type : Aperture or Non-Aperture.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_spad_count Number ref Spad Count
+ * @param p_is_aperture_spads Reports if spads are of type
+ * aperture or non-aperture.
+ * 1:=aperture, 0:=Non-Aperture
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference
+ * spad configuration.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_reference_spads(VL53L0X_DEV dev,
+ uint32_t *p_spad_count, uint8_t *p_is_aperture_spads);
+
+ /**
+ * @brief Get part to part calibration offset
+ *
+ * @par Function Description
+ * Should only be used after a successful call to @a VL53L0X_DataInit to backup
+ * device NVM value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_offset_calibration_data_micro_meter Return part to part
+ * calibration offset from device (microns)
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
+ int32_t *p_offset_calibration_data_micro_meter);
+ /**
+ * Set or over-hide part to part calibration offset
+ * \sa VL53L0X_DataInit() VL53L0X_GetOffsetCalibrationDataMicroMeter()
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_offset_calibration_data_micro_meter Offset (microns)
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
+ int32_t offset_calibration_data_micro_meter);
+
+ VL53L0X_Error VL53L0X_perform_offset_calibration(VL53L0X_DEV dev,
+ FixPoint1616_t cal_distance_milli_meter,
+ int32_t *p_offset_micro_meter);
+
+ VL53L0X_Error VL53L0X_perform_xtalk_calibration(VL53L0X_DEV dev,
+ FixPoint1616_t xtalk_cal_distance,
+ FixPoint1616_t *p_xtalk_compensation_rate_mega_cps);
+
+ /**
+ * @brief Perform XTalk Measurement
+ *
+ * @details Measures the current cross talk from glass in front
+ * of the sensor.
+ * This functions performs a histogram measurement and uses the results
+ * to measure the crosstalk. For the function to be successful, there
+ * must be no target in front of the sensor.
+ *
+ * @warning This function is a blocking function
+ *
+ * @warning This function is not supported when the final range
+ * vcsel clock period is set below 10 PCLKS.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param timeout_ms Histogram measurement duration.
+ * @param p_xtalk_per_spad Output parameter containing the crosstalk
+ * measurement result, in MCPS/Spad.
+ * Format fixpoint 16:16.
+ * @param p_ambient_too_high Output parameter which indicate that
+ * pXtalkPerSpad is not good if the Ambient
+ * is too high.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS vcsel clock period not supported
+ * for this operation.
+ * Must not be less than 10PCLKS.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_perform_xtalk_measurement(VL53L0X_DEV dev,
+ uint32_t timeout_ms, FixPoint1616_t *p_xtalk_per_spad,
+ uint8_t *p_ambient_too_high);
+
+ /**
+ * @brief Enable/Disable Cross talk compensation feature
+ *
+ * @note This function is not Implemented.
+ * Enable/Disable Cross Talk by set to zero the Cross Talk value
+ * by using @a VL53L0X_SetXTalkCompensationRateMegaCps().
+ *
+ * @param dev Device Handle
+ * @param x_talk_compensation_enable Cross talk compensation
+ * to be set 0=disabled else = enabled
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ */
+ VL53L0X_Error VL53L0X_set_x_talk_compensation_enable(VL53L0X_DEV dev,
+ uint8_t x_talk_compensation_enable);
+
+ /**
+ * @brief Get Cross talk compensation rate
+ *
+ * @note This function is not Implemented.
+ * Enable/Disable Cross Talk by set to zero the Cross Talk value by
+ * using @a VL53L0X_SetXTalkCompensationRateMegaCps().
+ *
+ * @param dev Device Handle
+ * @param p_x_talk_compensation_enable Pointer to the Cross talk compensation
+ * state 0=disabled or 1 = enabled
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ */
+ VL53L0X_Error VL53L0X_get_x_talk_compensation_enable(VL53L0X_DEV dev,
+ uint8_t *p_x_talk_compensation_enable);
+ /**
+ * @brief Set Cross talk compensation rate
+ *
+ * @par Function Description
+ * Set Cross talk compensation rate.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param x_talk_compensation_rate_mega_cps Compensation rate in
+ * Mega counts per second
+ * (16.16 fix point) see
+ * datasheet for details
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_x_talk_compensation_rate_mega_cps(VL53L0X_DEV dev,
+ FixPoint1616_t x_talk_compensation_rate_mega_cps);
+
+ /**
+ * @brief Get Cross talk compensation rate
+ *
+ * @par Function Description
+ * Get Cross talk compensation rate.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_xtalk_compensation_rate_mega_cps Pointer to Compensation rate
+ * in Mega counts per second
+ * (16.16 fix point) see
+ * datasheet for details
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_x_talk_compensation_rate_mega_cps(VL53L0X_DEV dev,
+ FixPoint1616_t *p_xtalk_compensation_rate_mega_cps);
+
+ /**
+ * @brief Set a new device mode
+ * @par Function Description
+ * Set device to a new mode (ranging, histogram ...)
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param device_mode New device mode to apply
+ * Valid values are:
+ * VL53L0X_DEVICEMODE_SINGLE_RANGING
+ * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING
+ * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING
+ * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
+ * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
+ * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
+ * VL53L0X_HISTOGRAMMODE_BOTH
+ *
+ *
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
+ * DeviceMode is not in the
+ * supported list
+ */
+ VL53L0X_Error VL53L0X_set_device_mode(VL53L0X_DEV dev, VL53L0X_DeviceModes device_mode);
+
+ /**
+ * @brief Get current new device mode
+ * @par Function Description
+ * Get actual mode of the device(ranging, histogram ...)
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_device_mode Pointer to current apply mode value
+ * Valid values are:
+ * VL53L0X_DEVICEMODE_SINGLE_RANGING
+ * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING
+ * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING
+ * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
+ * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
+ * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
+ * VL53L0X_HISTOGRAMMODE_BOTH
+ *
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
+ * DeviceMode is not in the
+ * supported list
+ */
+ VL53L0X_Error VL53L0X_get_device_mode(VL53L0X_DEV dev,
+ VL53L0X_DeviceModes *p_device_mode);
+
+ /**
+ * @brief Get current configuration for GPIO pin for a given device
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param pin ID of the GPIO Pin
+ * @param p_device_mode Pointer to Device Mode associated to the Gpio.
+ * @param p_functionality Pointer to Pin functionality.
+ * Refer to ::VL53L0X_GpioFunctionality
+ * @param p_polarity Pointer to interrupt polarity.
+ * Active high or active low see
+ * ::VL53L0X_InterruptPolarity
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted.
+ * @return VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED
+ * This error occurs
+ * when Funcionality programmed is not in the supported list:
+ * Supported value are:
+ * VL53L0X_GPIOFUNCTIONALITY_OFF,
+ * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW,
+ * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH,
+ * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT,
+ * VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_gpio_config(VL53L0X_DEV dev, uint8_t pin,
+ VL53L0X_DeviceModes *p_device_mode,
+ VL53L0X_GpioFunctionality *p_functionality,
+ VL53L0X_InterruptPolarity *p_polarity);
+
+ /**
+ * @brief Set the configuration of GPIO pin for a given device
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param pin ID of the GPIO Pin
+ * @param functionality Select Pin functionality.
+ * Refer to ::VL53L0X_GpioFunctionality
+ * @param device_mode Device Mode associated to the Gpio.
+ * @param polarity Set interrupt polarity. Active high
+ * or active low see ::VL53L0X_InterruptPolarity
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted.
+ * @return VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED This error occurs
+ * when Functionality programmed is not in the supported list:
+ * Supported value are:
+ * VL53L0X_GPIOFUNCTIONALITY_OFF,
+ * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW,
+ * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH,
+ VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT,
+ * VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_gpio_config(VL53L0X_DEV dev, uint8_t pin,
+ VL53L0X_DeviceModes device_mode, VL53L0X_GpioFunctionality functionality,
+ VL53L0X_InterruptPolarity polarity);
+
+ /**
+ * @brief Start device measurement
+ *
+ * @details Started measurement will depend on device parameters set through
+ * @a VL53L0X_SetParameters()
+ * This is a non-blocking function.
+ * This function will change the VL53L0X_State from VL53L0X_STATE_IDLE to
+ * VL53L0X_STATE_RUNNING.
+ *
+ * @note This function Access to the device
+ *
+
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
+ * DeviceMode programmed with @a VL53L0X_SetDeviceMode is not in the supported
+ * list:
+ * Supported mode are:
+ * VL53L0X_DEVICEMODE_SINGLE_RANGING,
+ * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+ * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING
+ * @return VL53L0X_ERROR_TIME_OUT Time out on start measurement
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_start_measurement(VL53L0X_DEV dev);
+
+ /**
+ * @brief Stop device measurement
+ *
+ * @details Will set the device in standby mode at end of current measurement\n
+ * Not necessary in single mode as device shall return automatically
+ * in standby mode at end of measurement.
+ * This function will change the VL53L0X_State from VL53L0X_STATE_RUNNING
+ * to VL53L0X_STATE_IDLE.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_stop_measurement(VL53L0X_DEV dev);
+
+ /**
+ * @brief Return device stop completion status
+ *
+ * @par Function Description
+ * Returns stop completiob status.
+ * User shall call this function after a stop command
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_stop_status Pointer to status variable to update
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_stop_completed_status(VL53L0X_DEV dev,
+ uint32_t *p_stop_status);
+
+ /**
+ * @brief Return Measurement Data Ready
+ *
+ * @par Function Description
+ * This function indicate that a measurement data is ready.
+ * This function check if interrupt mode is used then check is done accordingly.
+ * If perform function clear the interrupt, this function will not work,
+ * like in case of @a VL53L0X_PerformSingleRangingMeasurement().
+ * The previous function is blocking function, VL53L0X_GetMeasurementDataReady
+ * is used for non-blocking capture.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_measurement_data_ready Pointer to Measurement Data Ready.
+ * 0=data not ready, 1 = data ready
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_measurement_data_ready(VL53L0X_DEV dev,
+ uint8_t *p_measurement_data_ready);
+
+ /**
+ * @brief Retrieve the measurements from device for a given setup
+ *
+ * @par Function Description
+ * Get data from last successful Ranging measurement
+ * @warning USER should take care about @a VL53L0X_GetNumberOfROIZones()
+ * before get data.
+ * PAL will fill a NumberOfROIZones times the corresponding data
+ * structure used in the measurement function.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_ranging_measurement_data Pointer to the data structure to fill up.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_ranging_measurement_data(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data);
+
+ /**
+ * @brief Clear given system interrupt condition
+ *
+ * @par Function Description
+ * Clear given interrupt(s).
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param interrupt_mask Mask of interrupts to clear
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INTERRUPT_NOT_CLEARED Cannot clear interrupts
+ *
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_clear_interrupt_mask(VL53L0X_DEV dev, uint32_t interrupt_mask);
+
+ /**
+ * @brief Return device interrupt status
+ *
+ * @par Function Description
+ * Returns currently raised interrupts by the device.
+ * User shall be able to activate/deactivate interrupts through
+ * @a VL53L0X_SetGpioConfig()
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_interrupt_mask_status Pointer to status variable to update
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_interrupt_mask_status(VL53L0X_DEV dev,
+ uint32_t *p_interrupt_mask_status);
+
+ /**
+ * @brief Performs a single ranging measurement and retrieve the ranging
+ * measurement data
+ *
+ * @par Function Description
+ * This function will change the device mode to VL53L0X_DEVICEMODE_SINGLE_RANGING
+ * with @a VL53L0X_SetDeviceMode(),
+ * It performs measurement with @a VL53L0X_PerformSingleMeasurement()
+ * It get data from last successful Ranging measurement with
+ * @a VL53L0X_GetRangingMeasurementData.
+ * Finally it clear the interrupt with @a VL53L0X_ClearInterruptMask().
+ *
+ * @note This function Access to the device
+ *
+ * @note This function change the device mode to
+ * VL53L0X_DEVICEMODE_SINGLE_RANGING
+ *
+ * @param dev Device Handle
+ * @param p_ranging_measurement_data Pointer to the data structure to fill up.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_perform_single_ranging_measurement(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data);
+
+ /**
+ * @brief Single shot measurement.
+ *
+ * @par Function Description
+ * Perform simple measurement sequence (Start measure, Wait measure to end,
+ * and returns when measurement is done).
+ * Once function returns, user can get valid data by calling
+ * VL53L0X_GetRangingMeasurement or VL53L0X_GetHistogramMeasurement
+ * depending on defined measurement mode
+ * User should Clear the interrupt in case this are enabled by using the
+ * function VL53L0X_ClearInterruptMask().
+ *
+ * @warning This function is a blocking function
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_perform_single_measurement(VL53L0X_DEV dev);
+
+ /**
+ * @brief Read current status of the error register for the selected device
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_device_error_status Pointer to current error code of the device
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_device_error_status(VL53L0X_DEV dev,
+ VL53L0X_DeviceError *p_device_error_status);
+
+ /**
+ * @brief Human readable error string for a given Error Code
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param error_code The error code as stored on ::VL53L0X_DeviceError
+ * @param p_device_error_string The error string corresponding to the ErrorCode
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_device_error_string(
+ VL53L0X_DeviceError error_code, char *p_device_error_string);
+
+ /**
+ * @brief Human readable Range Status string for a given RangeStatus
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param range_status The RangeStatus code as stored on
+ * @a VL53L0X_RangingMeasurementData_t
+ * @param p_range_status_string The returned RangeStatus string.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_range_status_string(uint8_t range_status,
+ char *p_range_status_string);
+
+ VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
+ FixPoint1616_t *p_total_signal_rate_mcps);
+
+ VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
+ FixPoint1616_t *p_total_xtalk_rate_mcps);
+
+ /**
+ * @brief Get Ranging Timing Budget in microseconds
+ *
+ * @par Function Description
+ * Returns the programmed the maximum time allowed by the user to the
+ * device to run a full ranging sequence for the current mode
+ * (ranging, histogram, ASL ...)
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_measurement_timing_budget_micro_seconds Max measurement time in
+ * microseconds.
+ * Valid values are:
+ * >= 17000 microsecs when wraparound enabled
+ * >= 12000 microsecs when wraparound disabled
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
+ uint32_t *p_measurement_timing_budget_micro_seconds);
+
+ /**
+ * @brief Set Ranging Timing Budget in microseconds
+ *
+ * @par Function Description
+ * Defines the maximum time allowed by the user to the device to run a
+ * full ranging sequence for the current mode (ranging, histogram, ASL ...)
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param measurement_timing_budget_micro_seconds Max measurement time in
+ * microseconds.
+ * Valid values are:
+ * >= 17000 microsecs when wraparound enabled
+ * >= 12000 microsecs when wraparound disabled
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned if
+ MeasurementTimingBudgetMicroSeconds out of range
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
+ uint32_t measurement_timing_budget_micro_seconds);
+
+ /**
+ * @brief Get specific limit check enable state
+ *
+ * @par Function Description
+ * This function get the enable state of a specific limit check.
+ * The limit check is identified with the LimitCheckId.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param limit_check_id Limit Check ID
+ * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
+ * @param p_limit_check_enable Pointer to the check limit enable
+ * value.
+ * if 1 the check limit
+ * corresponding to LimitCheckId is Enabled
+ * if 0 the check limit
+ * corresponding to LimitCheckId is disabled
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned
+ * when LimitCheckId value is out of range.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
+ uint8_t *p_limit_check_enable);
+
+ /**
+ * @brief Enable/Disable a specific limit check
+ *
+ * @par Function Description
+ * This function Enable/Disable a specific limit check.
+ * The limit check is identified with the LimitCheckId.
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param limit_check_id Limit Check ID
+ * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
+ * @param limit_check_enable if 1 the check limit
+ * corresponding to LimitCheckId is Enabled
+ * if 0 the check limit
+ * corresponding to LimitCheckId is disabled
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned
+ * when LimitCheckId value is out of range.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
+ uint8_t limit_check_enable);
+
+ /**
+ * @brief Get a specific limit check value
+ *
+ * @par Function Description
+ * This function get a specific limit check value from device then it updates
+ * internal values and check enables.
+ * The limit check is identified with the LimitCheckId.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param limit_check_id Limit Check ID
+ * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
+ * @param p_limit_check_value Pointer to Limit
+ * check Value for a given LimitCheckId.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned
+ * when LimitCheckId value is out of range.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
+ FixPoint1616_t *p_limit_check_value);
+
+ /**
+ * @brief Set a specific limit check value
+ *
+ * @par Function Description
+ * This function set a specific limit check value.
+ * The limit check is identified with the LimitCheckId.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param limit_check_id Limit Check ID
+ * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
+ * @param limit_check_value Limit check Value for a given
+ * LimitCheckId
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned when either
+ * LimitCheckId or LimitCheckValue value is out of range.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
+ FixPoint1616_t limit_check_value);
+
+ /**
+ * @brief Get the current value of the signal used for the limit check
+ *
+ * @par Function Description
+ * This function get a the current value of the signal used for the limit check.
+ * To obtain the latest value you should run a ranging before.
+ * The value reported is linked to the limit check identified with the
+ * LimitCheckId.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param limit_check_id Limit Check ID
+ * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
+ * @param p_limit_check_current Pointer to current Value for a
+ * given LimitCheckId.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned when
+ * LimitCheckId value is out of range.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_limit_check_current(VL53L0X_DEV dev, uint16_t limit_check_id,
+ FixPoint1616_t *p_limit_check_current);
+
+ /**
+ * @brief Return a the Status of the specified check limit
+ *
+ * @par Function Description
+ * This function returns the Status of the specified check limit.
+ * The value indicate if the check is fail or not.
+ * The limit check is identified with the LimitCheckId.
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param limit_check_id Limit Check ID
+ (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
+ * @param p_limit_check_status Pointer to the
+ Limit Check Status of the given check limit.
+ * LimitCheckStatus :
+ * 0 the check is not fail
+ * 1 the check if fail or not enabled
+ *
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is
+ returned when LimitCheckId value is out of range.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_limit_check_status(VL53L0X_DEV dev,
+ uint16_t limit_check_id, uint8_t *p_limit_check_status);
+
+ /**
+ * Get continuous mode Inter-Measurement period in milliseconds
+ *
+ * @par Function Description
+ * When trying to set too short time return INVALID_PARAMS minimal value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_inter_measurement_period_milli_seconds Pointer to programmed
+ * Inter-Measurement Period in milliseconds.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_inter_measurement_period_milli_seconds(VL53L0X_DEV dev,
+ uint32_t *p_inter_measurement_period_milli_seconds);
+
+ /**
+ * Program continuous mode Inter-Measurement period in milliseconds
+ *
+ * @par Function Description
+ * When trying to set too short time return INVALID_PARAMS minimal value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param inter_measurement_period_milli_seconds Inter-Measurement Period in ms.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_inter_measurement_period_milli_seconds(
+ VL53L0X_DEV dev, uint32_t inter_measurement_period_milli_seconds);
+
+ /**
+ * @brief Set new device address
+ *
+ * After completion the device will answer to the new address programmed.
+ * This function should be called when several devices are used in parallel
+ * before start programming the sensor.
+ * When a single device us used, there is no need to call this function.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param device_address The new Device address
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_device_address(VL53L0X_DEV dev, uint8_t device_address);
+
+ /**
+ * @brief Do an hard reset or soft reset (depending on implementation) of the
+ * device \nAfter call of this function, device must be in same state as right
+ * after a power-up sequence.This function will change the VL53L0X_State to
+ * VL53L0X_STATE_POWERDOWN.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_reset_device(VL53L0X_DEV dev);
+
+ /**
+ * @brief Get setup of Wrap around Check
+ *
+ * @par Function Description
+ * This function get the wrapAround check enable parameters
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_wrap_around_check_enable Pointer to the Wrap around Check state
+ * 0=disabled or 1 = enabled
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_wrap_around_check_enable(VL53L0X_DEV dev,
+ uint8_t *p_wrap_around_check_enable);
+
+ /**
+ * @brief Enable (or disable) Wrap around Check
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param wrap_around_check_enable Wrap around Check to be set
+ * 0=disabled, other = enabled
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_wrap_around_check_enable(VL53L0X_DEV dev,
+ uint8_t wrap_around_check_enable);
+
+ /**
+ * @brief Gets the VCSEL pulse period.
+ *
+ * @par Function Description
+ * This function retrieves the VCSEL pulse period for the given period type.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param vcsel_period_type VCSEL period identifier (pre-range|final).
+ * @param p_vcsel_pulse_period_pclk Pointer to VCSEL period value.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not
+ * supported.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev,
+ VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk);
+
+ /**
+ * @brief Sets the VCSEL pulse period.
+ *
+ * @par Function Description
+ * This function retrieves the VCSEL pulse period for the given period type.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param vcsel_period_type VCSEL period identifier (pre-range|final).
+ * @param vcsel_pulse_period VCSEL period value
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not
+ * supported.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev,
+ VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period);
+
+ /**
+ * @brief Set low and high Interrupt thresholds for a given mode
+ * (ranging, ALS, ...) for a given device
+ *
+ * @par Function Description
+ * Set low and high Interrupt thresholds for a given mode (ranging, ALS, ...)
+ * for a given device
+ *
+ * @note This function Access to the device
+ *
+ * @note DeviceMode is ignored for the current device
+ *
+ * @param dev Device Handle
+ * @param device_mode Device Mode for which change thresholds
+ * @param threshold_low Low threshold (mm, lux ..., depending on the mode)
+ * @param threshold_high High threshold (mm, lux ..., depending on the mode)
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_interrupt_thresholds(VL53L0X_DEV dev,
+ VL53L0X_DeviceModes device_mode, FixPoint1616_t threshold_low,
+ FixPoint1616_t threshold_high);
+
+ /**
+ * @brief Get high and low Interrupt thresholds for a given mode
+ * (ranging, ALS, ...) for a given device
+ *
+ * @par Function Description
+ * Get high and low Interrupt thresholds for a given mode (ranging, ALS, ...)
+ * for a given device
+ *
+ * @note This function Access to the device
+ *
+ * @note DeviceMode is ignored for the current device
+ *
+ * @param dev Device Handle
+ * @param device_mode Device Mode from which read thresholds
+ * @param p_threshold_low Low threshold (mm, lux ..., depending on the mode)
+ * @param p_threshold_high High threshold (mm, lux ..., depending on the mode)
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_interrupt_thresholds(VL53L0X_DEV dev,
+ VL53L0X_DeviceModes device_mode, FixPoint1616_t *p_threshold_low,
+ FixPoint1616_t *p_threshold_high);
+
+ /**
+ * @brief Reads the Device information for given Device
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_VL53L0X_device_info Pointer to current device info for a given
+ * Device
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV dev,
+ VL53L0X_DeviceInfo_t *p_VL53L0X_device_info);
+
+ /**
+ * @brief Gets the (on/off) state of all sequence steps.
+ *
+ * @par Function Description
+ * This function retrieves the state of all sequence step in the scheduler.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param p_scheduler_sequence_steps Pointer to struct containing result.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_sequence_step_enables(VL53L0X_DEV dev,
+ VL53L0X_SchedulerSequenceSteps_t *p_scheduler_sequence_steps);
+
+ /**
+ * @brief Sets the (on/off) state of a requested sequence step.
+ *
+ * @par Function Description
+ * This function enables/disables a requested sequence step.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param sequence_step_id Sequence step identifier.
+ * @param sequence_step_enabled Demanded state {0=Off,1=On}
+ * is enabled.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
+ * supported.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_sequence_step_enable(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_step_enabled);
+
+ /**
+ * @brief Gets the fraction enable parameter indicating the resolution of
+ * range measurements.
+ *
+ * @par Function Description
+ * Gets the fraction enable state, which translates to the resolution of
+ * range measurements as follows :Enabled:=0.25mm resolution,
+ * Not Enabled:=1mm resolution.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param p_enabled Output Parameter reporting the fraction enable state.
+ *
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_fraction_enable(VL53L0X_DEV dev, uint8_t *p_enabled);
+
+ /**
+ * @brief Sets the resolution of range measurements.
+ * @par Function Description
+ * Set resolution of range measurements to either 0.25mm if
+ * fraction enabled or 1mm if not enabled.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param enable Enable high resolution
+ *
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_range_fraction_enable(VL53L0X_DEV dev,
+ uint8_t enable);
+
+ /**
+ * @brief Return the VL53L0X PAL Implementation Version
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param p_version Pointer to current PAL Implementation Version
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_version(VL53L0X_Version_t *p_version);
+
+ /**
+ * @brief Reads the Product Revision for a for given Device
+ * This function can be used to distinguish cut1.0 from cut1.1.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_product_revision_major Pointer to Product Revision Major
+ * for a given Device
+ * @param p_product_revision_minor Pointer to Product Revision Minor
+ * for a given Device
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_product_revision(VL53L0X_DEV dev,
+ uint8_t *p_product_revision_major, uint8_t *p_product_revision_minor);
+
+ /**
+ * @brief Retrieve current device parameters
+ * @par Function Description
+ * Get actual parameters of the device
+ * @li Then start ranging operation.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_device_parameters Pointer to store current device parameters.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_device_parameters(VL53L0X_DEV dev,
+ VL53L0X_DeviceParameters_t *p_device_parameters);
+
+ /**
+ * @brief Human readable error string for current PAL error status
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param pal_error_code The error code as stored on @a VL53L0X_Error
+ * @param p_pal_error_string The error string corresponding to the
+ * PalErrorCode
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_pal_error_string(VL53L0X_Error pal_error_code,
+ char *p_pal_error_string);
+
+ /**
+ * @brief Return the PAL Specification Version used for the current
+ * implementation.
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param p_pal_spec_version Pointer to current PAL Specification Version
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_pal_spec_version(
+ VL53L0X_Version_t *p_pal_spec_version);
+
+ /**
+ * @brief Reads the internal state of the PAL for a given Device
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param dev Device Handle
+ * @param p_pal_state Pointer to current state of the PAL for a
+ * given Device
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_pal_state(VL53L0X_DEV dev,
+ VL53L0X_State *p_pal_state);
+
+ /**
+ * @brief Human readable PAL State string
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param pal_state_code The State code as stored on @a VL53L0X_State
+ * @param p_pal_state_string The State string corresponding to the
+ * PalStateCode
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_pal_state_string(VL53L0X_State pal_state_code,
+ char *p_pal_state_string);
+
+ /*** End High level API ***/
+private:
+ /* api.h functions */
+
+ /**
+ * @brief Wait for device booted after chip enable (hardware standby)
+ * This function can be run only when VL53L0X_State is VL53L0X_STATE_POWERDOWN.
+ *
+ * @note This function is not Implemented
+ *
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ *
+ */
+ VL53L0X_Error VL53L0X_wait_device_booted(VL53L0X_DEV dev);
+
+
+ VL53L0X_Error sequence_step_enabled(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_config,
+ uint8_t *p_sequence_step_enabled);
+
+ VL53L0X_Error VL53L0X_check_and_load_interrupt_settings(VL53L0X_DEV dev,
+ uint8_t start_not_stopflag);
+
+
+ /* 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 wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
+ uint32_t *p_measurement_timing_budget_micro_seconds);
+
+ VL53L0X_Error wrapped_VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev,
+ VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk);
+
+ 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);
+
+ 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 *p_tuning_setting_buffer);
+
+ VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV dev,
+ uint8_t device_range_status,
+ FixPoint1616_t signal_rate,
+ uint16_t effective_spad_rtn_count,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
+ uint8_t *p_pal_range_status);
+ VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
+ FixPoint1616_t *p_sigma_estimate,
+ uint32_t *p_dmax_mm);
+ uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV dev,
+ uint32_t timeout_period_us,
+ uint8_t vcsel_period_pclks);
+ uint32_t VL53L0X_isqrt(uint32_t num);
+
+ uint32_t VL53L0X_quadrature_sum(uint32_t a, uint32_t b);
+
+ VL53L0X_Error VL53L0X_calc_dmax(
+ VL53L0X_DEV dev,
+ FixPoint1616_t total_signal_rate_mcps,
+ FixPoint1616_t total_corr_signal_rate_mcps,
+ FixPoint1616_t pw_mult,
+ uint32_t sigma_estimate_p1,
+ FixPoint1616_t sigma_estimate_p2,
+ uint32_t peak_vcsel_duration_us,
+ uint32_t *pd_max_mm);
+ VL53L0X_Error wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
+ uint32_t measurement_timing_budget_micro_seconds);
+ VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id,
+ uint32_t *p_time_out_micro_secs);
+ VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id,
+ uint32_t timeout_micro_secs);
+ uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks);
+ VL53L0X_Error wrapped_VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev,
+ VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period_pclk);
+ uint8_t lv53l0x_encode_vcsel_period(uint8_t vcsel_period_pclks);
+
+ /* api_calibration.h functions */
+ VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV dev);
+ VL53L0X_Error wrapped_VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
+ int32_t *p_offset_calibration_data_micro_meter);
+ VL53L0X_Error wrapped_VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
+ int32_t offset_calibration_data_micro_meter);
+ VL53L0X_Error wrapped_VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev,
+ uint32_t *ref_spad_count,
+ uint8_t *is_aperture_spads);
+ VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV dev,
+ uint8_t *p_vhv_settings, uint8_t *p_phase_cal, uint8_t get_data_enable);
+ VL53L0X_Error VL53L0X_perform_vhv_calibration(VL53L0X_DEV dev,
+ uint8_t *p_vhv_settings, const uint8_t get_data_enable,
+ const uint8_t restore_config);
+ VL53L0X_Error VL53L0X_perform_single_ref_calibration(VL53L0X_DEV dev,
+ uint8_t vhv_init_byte);
+ VL53L0X_Error VL53L0X_ref_calibration_io(VL53L0X_DEV dev, uint8_t read_not_write,
+ uint8_t vhv_settings, uint8_t phase_cal,
+ uint8_t *p_vhv_settings, uint8_t *p_phase_cal,
+ const uint8_t vhv_enable, const uint8_t phase_enable);
+ VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV dev,
+ uint8_t *p_phase_cal, const uint8_t get_data_enable,
+ const uint8_t restore_config);
+ VL53L0X_Error enable_ref_spads(VL53L0X_DEV dev,
+ uint8_t aperture_spads,
+ uint8_t good_spad_array[],
+ uint8_t spad_array[],
+ uint32_t size,
+ uint32_t start,
+ uint32_t offset,
+ uint32_t spad_count,
+ uint32_t *p_last_spad);
+ void get_next_good_spad(uint8_t good_spad_array[], uint32_t size,
+ uint32_t curr, int32_t *p_next);
+ uint8_t is_aperture(uint32_t spad_index);
+ VL53L0X_Error enable_spad_bit(uint8_t spad_array[], uint32_t size,
+ uint32_t spad_index);
+ VL53L0X_Error set_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array);
+ VL53L0X_Error get_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array);
+ VL53L0X_Error perform_ref_signal_measurement(VL53L0X_DEV dev,
+ uint16_t *p_ref_signal_rate);
+ VL53L0X_Error wrapped_VL53L0X_set_reference_spads(VL53L0X_DEV dev,
+ uint32_t count, uint8_t is_aperture_spads);
+
+ /* api_strings.h functions */
+ VL53L0X_Error wrapped_VL53L0X_get_device_info(VL53L0X_DEV dev,
+ VL53L0X_DeviceInfo_t *p_VL53L0X_device_info);
+ VL53L0X_Error VL53L0X_check_part_used(VL53L0X_DEV dev,
+ uint8_t *revision,
+ VL53L0X_DeviceInfo_t *p_VL53L0X_device_info);
+
+ /* Read function of the ID device */
+ // virtual int read_id();
+ virtual int read_id(uint8_t *id);
+
+ VL53L0X_Error wait_measurement_data_ready(VL53L0X_DEV dev);
+
+ VL53L0X_Error wait_stop_completed(VL53L0X_DEV dev);
+
+ /* Write and read functions from I2C */
+ /**
+ * Write single byte register
+ * @param dev Device Handle
+ * @param index The register index
+ * @param data 8 bit register data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_write_byte(VL53L0X_DEV dev, uint8_t index, uint8_t data);
+ /**
+ * Write word register
+ * @param dev Device Handle
+ * @param index The register index
+ * @param data 16 bit register data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_write_word(VL53L0X_DEV dev, uint8_t index, uint16_t data);
+ /**
+ * Write double word (4 byte) register
+ * @param dev Device Handle
+ * @param index The register index
+ * @param data 32 bit register data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_write_dword(VL53L0X_DEV dev, uint8_t index, uint32_t data);
+ /**
+ * Read single byte register
+ * @param dev Device Handle
+ * @param index The register index
+ * @param data pointer to 8 bit data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_read_byte(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data);
+ /**
+ * Read word (2byte) register
+ * @param dev Device Handle
+ * @param index The register index
+ * @param data pointer to 16 bit data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_read_word(VL53L0X_DEV dev, uint8_t index, uint16_t *p_data);
+ /**
+ * Read dword (4byte) register
+ * @param dev Device Handle
+ * @param index The register index
+ * @param data pointer to 32 bit data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_read_dword(VL53L0X_DEV dev, uint8_t index, uint32_t *p_data);
+ /**
+ * Threat safe Update (read/modify/write) single byte register
+ *
+ * Final_reg = (Initial_reg & and_data) |or_data
+ *
+ * @param dev Device Handle
+ * @param index The register index
+ * @param and_data 8 bit and data
+ * @param or_data 8 bit or data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_update_byte(VL53L0X_DEV dev, uint8_t index, uint8_t and_data, uint8_t or_data);
+ /**
+ * Writes the supplied byte buffer to the device
+ * @param dev Device Handle
+ * @param index The register index
+ * @param p_data Pointer to uint8_t buffer containing the data to be written
+ * @param count Number of bytes in the supplied byte buffer
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_write_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count);
+ /**
+ * Reads the requested number of bytes from the device
+ * @param dev Device Handle
+ * @param index The register index
+ * @param p_data Pointer to the uint8_t buffer to store read data
+ * @param count Number of uint8_t's to read
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_read_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count);
+
+ /**
+ * @brief Writes a buffer towards the I2C peripheral device.
+ * @param dev Device Handle
+ * @param p_data pointer to the byte-array data to send
+ * @param number_of_bytes number of bytes to be written.
+ * @retval 0 if ok,
+ * @retval -1 if an I2C error has occured
+ * @note On some devices if NumByteToWrite is greater
+ * than one, the RegisterAddr must be masked correctly!
+ */
+ VL53L0X_Error VL53L0X_i2c_write(uint8_t dev, uint8_t index, uint8_t *p_data, uint16_t number_of_bytes);
+
+ /**
+ * @brief Reads a buffer from the I2C peripheral device.
+ * @param dev Device Handle
+ * @param p_data pointer to the byte-array to read data in to
+ * @param number_of_bytes number of bytes to be read.
+ * @retval 0 if ok,
+ * @retval -1 if an I2C error has occured
+ * @note On some devices if NumByteToWrite is greater
+ * than one, the RegisterAddr must be masked correctly!
+ */
+ VL53L0X_Error VL53L0X_i2c_read(uint8_t dev, uint8_t index, uint8_t *p_data, uint16_t number_of_bytes);
+
+ /**
+ * @brief execute delay in all polling API call
+ *
+ * A typical multi-thread or RTOs implementation is to sleep the task for some 5ms (with 100Hz max rate faster polling is not needed)
+ * if nothing specific is need you can define it as an empty/void macro
+ * @code
+ * #define VL53L0X_PollingDelay(...) (void)0
+ * @endcode
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_polling_delay(VL53L0X_DEV dev); /* usually best implemented as a real function */
+
+ int is_present()
+ {
+ int status;
+ uint8_t id = 0;
+
+ status = read_id(&id);
+ if (status) {
+ VL53L0X_ErrLog("Failed to read ID device. Device not present!\n\r");
+ }
+ return status;
+ }
+
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////
+ //Added functions //
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////
+
+ /**
+ * @brief Cycle Power to Device
+ *
+ * @return status - status 0 = ok, 1 = error
+ *
+ */
+ int32_t VL53L0X_cycle_power(void);
+
+ uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks);
+
+ VL53L0X_Error wrapped_VL53L0X_get_device_error_string(VL53L0X_DeviceError error_code,
+ char *p_device_error_string);
+
+ VL53L0X_Error wrapped_VL53L0X_get_limit_check_info(VL53L0X_DEV dev, uint16_t limit_check_id,
+ char *p_limit_check_string);
+
+ VL53L0X_Error wrapped_VL53L0X_get_pal_error_string(VL53L0X_Error pal_error_code,
+ char *p_pal_error_string);
+
+ VL53L0X_Error wrapped_VL53L0X_get_pal_state_string(VL53L0X_State pal_state_code,
+ char *p_pal_state_string);
+
+ VL53L0X_Error wrapped_VL53L0X_get_range_status_string(uint8_t range_status,
+ char *p_range_status_string);
+
+ VL53L0X_Error wrapped_VL53L0X_get_ref_calibration(VL53L0X_DEV dev,
+ uint8_t *p_vhv_settings, uint8_t *p_phase_cal);
+
+
+ VL53L0X_Error count_enabled_spads(uint8_t spad_array[],
+ uint32_t byte_count, uint32_t max_spads,
+ uint32_t *p_total_spads_enabled, uint8_t *p_is_aperture);
+
+ VL53L0X_Error wrapped_VL53L0X_get_sequence_steps_info(VL53L0X_SequenceStepId sequence_step_id,
+ char *p_sequence_steps_string);
+
+
+ /**
+ * @brief Gets the name of a given sequence step.
+ *
+ * @par Function Description
+ * This function retrieves the name of sequence steps corresponding to
+ * SequenceStepId.
+ *
+ * @note This function doesn't Accesses the device
+ *
+ * @param sequence_step_id Sequence step identifier.
+ * @param p_sequence_steps_string Pointer to Info string
+ *
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_sequence_steps_info(VL53L0X_SequenceStepId sequence_step_id,
+ char *p_sequence_steps_string);
+
+ /**
+ * @brief Get the frequency of the timer used for ranging results time stamps
+ *
+ * @param[out] p_timer_freq_hz : pointer for timer frequency
+ *
+ * @return status : 0 = ok, 1 = error
+ *
+ */
+ int32_t VL53L0X_get_timer_frequency(int32_t *p_timer_freq_hz);
+
+ /**
+ * @brief Get the timer value in units of timer_freq_hz (see VL53L0X_get_timestamp_frequency())
+ *
+ * @param[out] p_timer_count : pointer for timer count value
+ *
+ * @return status : 0 = ok, 1 = error
+ *
+ */
+ int32_t VL53L0X_get_timer_value(int32_t *p_timer_count);
+
+ /**
+ * @brief Configure ranging interrupt reported to system
+ *
+ * @note This function is not Implemented
+ *
+ * @param dev Device Handle
+ * @param interrupt_mask Mask of interrupt to Enable/disable
+ * (0:interrupt disabled or 1: interrupt enabled)
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ */
+ VL53L0X_Error VL53L0X_enable_interrupt_mask(VL53L0X_DEV dev,
+ uint32_t interrupt_mask);
+
+ /**
+ * @brief Get Dmax Calibration Parameters for a given device
+ *
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_range_milli_meter Pointer to Calibration Distance
+ * @param p_signal_rate_rtn_mega_cps Pointer to Signal rate return
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_dmax_cal_parameters(VL53L0X_DEV dev,
+ uint16_t *p_range_milli_meter, FixPoint1616_t *p_signal_rate_rtn_mega_cps);
+
+ /**
+ * @brief Set Dmax Calibration Parameters for a given device
+ * When one of the parameter is zero, this function will get parameter
+ * from NVM.
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param range_milli_meter Calibration Distance
+ * @param signal_rate_rtn_mega_cps Signal rate return read at CalDistance
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_dmax_cal_parameters(VL53L0X_DEV dev,
+ uint16_t range_milli_meter, FixPoint1616_t signal_rate_rtn_mega_cps);
+
+ /**
+ * @brief Retrieve the measurements from device for a given setup
+ *
+ * @par Function Description
+ * Get data from last successful Histogram measurement
+ * @warning USER should take care about @a VL53L0X_GetNumberOfROIZones()
+ * before get data.
+ * PAL will fill a NumberOfROIZones times the corresponding data structure
+ * used in the measurement function.
+ *
+ * @note This function is not Implemented
+ *
+ * @param dev Device Handle
+ * @param p_histogram_measurement_data Pointer to the histogram data structure.
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ */
+ VL53L0X_Error VL53L0X_get_histogram_measurement_data(VL53L0X_DEV dev,
+ VL53L0X_HistogramMeasurementData_t *p_histogram_measurement_data);
+
+ /**
+ * @brief Get current new device mode
+ * @par Function Description
+ * Get current Histogram mode of a Device
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_histogram_mode Pointer to current Histogram Mode value
+ * Valid values are:
+ * VL53L0X_HISTOGRAMMODE_DISABLED
+ * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
+ * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
+ * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
+ * VL53L0X_HISTOGRAMMODE_BOTH
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_histogram_mode(VL53L0X_DEV dev,
+ VL53L0X_HistogramModes *p_histogram_mode);
+
+ /**
+ * @brief Set a new Histogram mode
+ * @par Function Description
+ * Set device to a new Histogram mode
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param histogram_mode New device mode to apply
+ * Valid values are:
+ * VL53L0X_HISTOGRAMMODE_DISABLED
+ * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
+ * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
+ * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
+ * VL53L0X_HISTOGRAMMODE_BOTH
+ *
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
+ * HistogramMode is not in the supported list
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_histogram_mode(VL53L0X_DEV dev,
+ VL53L0X_HistogramModes histogram_mode);
+
+ /**
+ * @brief Return a description string for a given limit check number
+ *
+ * @par Function Description
+ * This function returns a description string for a given limit check number.
+ * The limit check is identified with the LimitCheckId.
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param limit_check_id Limit Check ID
+ (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
+ * @param p_limit_check_string Pointer to the
+ description string of the given check limit.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is
+ returned when LimitCheckId value is out of range.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_limit_check_info(VL53L0X_DEV dev,
+ uint16_t limit_check_id, char *p_limit_check_string);
+
+ /**
+ * @brief Get the linearity corrective gain
+ *
+ * @par Function Description
+ * Should only be used after a successful call to @a VL53L0X_DataInit to backup
+ * device NVM value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_linearity_corrective_gain Pointer to the linearity
+ * corrective gain in x1000
+ * if value is 1000 then no modification is applied.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_linearity_corrective_gain(VL53L0X_DEV dev,
+ uint16_t *p_linearity_corrective_gain);
+
+ /**
+ * Set the linearity corrective gain
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param linearity_corrective_gain Linearity corrective
+ * gain in x1000
+ * if value is 1000 then no modification is applied.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_linearity_corrective_gain(VL53L0X_DEV dev,
+ int16_t linearity_corrective_gain);
+
+ /**
+ * @brief Get the Maximum number of ROI Zones managed by the Device
+ *
+ * @par Function Description
+ * Get Maximum number of ROI Zones managed by the Device.
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_max_number_of_roi_zones Pointer to the Maximum Number
+ * of ROI Zones value.
+ * @return VL53L0X_ERROR_NONE Success
+ */
+ VL53L0X_Error VL53L0X_get_max_number_of_roi_zones(VL53L0X_DEV dev,
+ uint8_t *p_max_number_of_roi_zones);
+
+ /**
+ * @brief Retrieve the Reference Signal after a measurements
+ *
+ * @par Function Description
+ * Get Reference Signal from last successful Ranging measurement
+ * This function return a valid value after that you call the
+ * @a VL53L0X_GetRangingMeasurementData().
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_measurement_ref_signal Pointer to the Ref Signal to fill up.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_measurement_ref_signal(VL53L0X_DEV dev,
+ FixPoint1616_t *p_measurement_ref_signal);
+
+ /**
+ * @brief Get the number of the check limit managed by a given Device
+ *
+ * @par Function Description
+ * This function give the number of the check limit managed by the Device
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param p_number_of_limit_check Pointer to the number of check limit.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_number_of_limit_check(
+ uint16_t *p_number_of_limit_check);
+
+ /**
+ * @brief Get the number of ROI Zones managed by the Device
+ *
+ * @par Function Description
+ * Get number of ROI Zones managed by the Device
+ * USER should take care about @a VL53L0X_GetNumberOfROIZones()
+ * before get data after a perform measurement.
+ * PAL will fill a NumberOfROIZones times the corresponding data
+ * structure used in the measurement function.
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_number_of_roi_zones Pointer to the Number of ROI Zones value.
+ * @return VL53L0X_ERROR_NONE Success
+ */
+ VL53L0X_Error VL53L0X_get_number_of_roi_zones(VL53L0X_DEV dev,
+ uint8_t *p_number_of_roi_zones);
+
+ /**
+ * @brief Set the number of ROI Zones to be used for a specific Device
+ *
+ * @par Function Description
+ * Set the number of ROI Zones to be used for a specific Device.
+ * The programmed value should be less than the max number of ROI Zones given
+ * with @a VL53L0X_GetMaxNumberOfROIZones().
+ * This version of API manage only one zone.
+ *
+ * @param dev Device Handle
+ * @param number_of_roi_zones Number of ROI Zones to be used for a
+ * specific Device.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned if
+ * NumberOfROIZones != 1
+ */
+ VL53L0X_Error VL53L0X_set_number_of_roi_zones(VL53L0X_DEV dev,
+ uint8_t number_of_roi_zones);
+
+ /**
+ * @brief Gets number of sequence steps managed by the API.
+ *
+ * @par Function Description
+ * This function retrieves the number of sequence steps currently managed
+ * by the API
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param p_number_of_sequence_steps Out parameter reporting the number of
+ * sequence steps.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_number_of_sequence_steps(VL53L0X_DEV dev,
+ uint8_t *p_number_of_sequence_steps);
+ /**
+ * @brief Get the power mode for a given Device
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_power_mode Pointer to the current value of the power
+ * mode. see ::VL53L0X_PowerModes
+ * Valid values are:
+ * VL53L0X_POWERMODE_STANDBY_LEVEL1,
+ * VL53L0X_POWERMODE_IDLE_LEVEL1
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_power_mode(VL53L0X_DEV dev,
+ VL53L0X_PowerModes *p_power_mode);
+
+ /**
+ * @brief Set the power mode for a given Device
+ * The power mode can be Standby or Idle. Different level of both Standby and
+ * Idle can exists.
+ * This function should not be used when device is in Ranging state.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param power_mode The value of the power mode to set.
+ * see ::VL53L0X_PowerModes
+ * Valid values are:
+ * VL53L0X_POWERMODE_STANDBY_LEVEL1,
+ * VL53L0X_POWERMODE_IDLE_LEVEL1
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when PowerMode
+ * is not in the supported list
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_power_mode(VL53L0X_DEV dev,
+ VL53L0X_PowerModes power_mode);
+
+ /**
+ * @brief Retrieves SPAD configuration
+ *
+ * @par Function Description
+ * This function retrieves the current number of applied reference spads
+ * and also their type : Aperture or Non-Aperture.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_spad_count Number ref Spad Count
+ * @param p_is_aperture_spads Reports if spads are of type
+ * aperture or non-aperture.
+ * 1:=aperture, 0:=Non-Aperture
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference
+ * spad configuration.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error wrapped_VL53L0X_get_reference_spads(VL53L0X_DEV dev,
+ uint32_t *p_spad_count, uint8_t *p_is_aperture_spads);
+
+ /**
+ * @brief Gets the (on/off) state of a requested sequence step.
+ *
+ * @par Function Description
+ * This function retrieves the state of a requested sequence step, i.e. on/off.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param sequence_step_id Sequence step identifier.
+ * @param p_sequence_step_enabled Out parameter reporting if the sequence step
+ * is enabled {0=Off,1=On}.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
+ * supported.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_sequence_step_enable(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id, uint8_t *p_sequence_step_enabled);
+
+
+ /**
+ * @brief Gets the timeout of a requested sequence step.
+ *
+ * @par Function Description
+ * This function retrieves the timeout of a requested sequence step.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param sequence_step_id Sequence step identifier.
+ * @param p_time_out_milli_secs Timeout value.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
+ * supported.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_sequence_step_timeout(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id,
+ FixPoint1616_t *p_time_out_milli_secs);
+
+ /**
+ * @brief Sets the timeout of a requested sequence step.
+ *
+ * @par Function Description
+ * This function sets the timeout of a requested sequence step.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param sequence_step_id Sequence step identifier.
+ * @param time_out_milli_secs Demanded timeout
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
+ * supported.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_sequence_step_timeout(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id, FixPoint1616_t time_out_milli_secs);
+
+ /**
+ * @brief Get the current SPAD Ambient Damper Factor value
+ *
+ * @par Function Description
+ * This function get the SPAD Ambient Damper Factor value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_spad_ambient_damper_factor Pointer to programmed SPAD Ambient
+ * Damper Factor value
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_spad_ambient_damper_factor(VL53L0X_DEV dev,
+ uint16_t *p_spad_ambient_damper_factor);
+ /**
+ * @brief Set the SPAD Ambient Damper Factor value
+ *
+ * @par Function Description
+ * This function set the SPAD Ambient Damper Factor value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param spad_ambient_damper_factor SPAD Ambient Damper Factor value
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_spad_ambient_damper_factor(VL53L0X_DEV dev,
+ uint16_t spad_ambient_damper_factor);
+
+ /**
+ * @brief Get the current SPAD Ambient Damper Threshold value
+ *
+ * @par Function Description
+ * This function get the SPAD Ambient Damper Threshold value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_spad_ambient_damper_threshold Pointer to programmed
+ * SPAD Ambient Damper Threshold value
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_spad_ambient_damper_threshold(VL53L0X_DEV dev,
+ uint16_t *p_spad_ambient_damper_threshold);
+
+ /**
+ * @brief Set the SPAD Ambient Damper Threshold value
+ *
+ * @par Function Description
+ * This function set the SPAD Ambient Damper Threshold value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param spad_ambient_damper_threshold SPAD Ambient Damper Threshold value
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_spad_ambient_damper_threshold(VL53L0X_DEV dev,
+ uint16_t spad_ambient_damper_threshold);
+
+ /**
+ * @brief Get the maximal distance for actual setup
+ * @par Function Description
+ * Device must be initialized through @a VL53L0X_SetParameters() prior calling
+ * this function.
+ *
+ * Any range value more than the value returned is to be considered as
+ * "no target detected" or
+ * "no target in detectable range"\n
+ * @warning The maximal distance depends on the setup
+ *
+ * @note This function is not Implemented
+ *
+ * @param dev Device Handle
+ * @param p_upper_limit_milli_meter The maximal range limit for actual setup
+ * (in millimeter)
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ */
+ VL53L0X_Error VL53L0X_get_upper_limit_milli_meter(VL53L0X_DEV dev,
+ uint16_t *p_upper_limit_milli_meter);
+
+ /**
+ * @brief Get the tuning settings pointer and the internal external switch
+ * value.
+ *
+ * This function is used to get the Tuning settings buffer pointer and the
+ * value.
+ * of the switch to select either external or internal tuning settings.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param pp_tuning_setting_buffer Pointer to tuning settings buffer.
+ * @param p_use_internal_tuning_settings Pointer to store Use internal tuning
+ * settings value.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_tuning_setting_buffer(VL53L0X_DEV dev,
+ uint8_t **pp_tuning_setting_buffer, uint8_t *p_use_internal_tuning_settings);
+
+ /**
+ * @brief Set the tuning settings pointer
+ *
+ * This function is used to specify the Tuning settings buffer to be used
+ * for a given device. The buffer contains all the necessary data to permit
+ * the API to write tuning settings.
+ * This function permit to force the usage of either external or internal
+ * tuning settings.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_tuning_setting_buffer Pointer to tuning settings buffer.
+ * @param use_internal_tuning_settings Use internal tuning settings value.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_tuning_setting_buffer(VL53L0X_DEV dev,
+ uint8_t *p_tuning_setting_buffer, uint8_t use_internal_tuning_settings);
+
+ /**
+ * @defgroup VL53L0X_registerAccess_group PAL Register Access Functions
+ * @brief PAL Register Access Functions
+ * @{
+ */
+
+ /**
+ * Lock comms interface to serialize all commands to a shared I2C interface for a specific device
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_lock_sequence_access(VL53L0X_DEV dev);
+
+ /**
+ * Unlock comms interface to serialize all commands to a shared I2C interface for a specific device
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_unlock_sequence_access(VL53L0X_DEV dev);
+
+ /**
+ * @brief Prepare device for operation
+ * @par Function Description
+ * Update device with provided parameters
+ * @li Then start ranging operation.
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @param pDeviceParameters Pointer to store current device parameters.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error vl53L0x_set_device_parameters(VL53L0X_DEV Dev,
+ const VL53L0X_DeviceParameters_t *pDeviceParameters);
+
+ /**
+ * Set Group parameter Hold state
+ *
+ * @par Function Description
+ * Set or remove device internal group parameter hold
+ *
+ * @note This function is not Implemented
+ *
+ * @param dev Device Handle
+ * @param group_param_hold Group parameter Hold state to be set (on/off)
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ */
+ VL53L0X_Error VL53L0X_set_group_param_hold(VL53L0X_DEV dev,
+ uint8_t group_param_hold);
+
+
+ /**
+ * @brief Wait for device ready for a new measurement command.
+ * Blocking function.
+ *
+ * @note This function is not Implemented
+ *
+ * @param dev Device Handle
+ * @param max_loop Max Number of polling loop (timeout).
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ */
+ VL53L0X_Error VL53L0X_wait_device_ready_for_new_measurement(VL53L0X_DEV dev,
+ uint32_t max_loop);
+
+ VL53L0X_Error VL53L0X_reverse_bytes(uint8_t *data, uint32_t size);
+
+ int range_meas_int_continuous_mode(void (*fptr)(void));
+
+
+ VL53L0X_DeviceInfo_t _device_info;
+
+ /* IO Device */
+ DevI2C *_dev_i2c;
+ /* Digital out pin */
+ DigitalOut *_gpio0;
+ /* GPIO expander */
+ Stmpe1600DigiOut *_expgpio0;
+ /* Measure detection IRQ */
+ InterruptIn *_gpio1Int;
+ /* Device data */
+ VL53L0X_Dev_t _my_device;
+ VL53L0X_DEV _device;
+};
+
+
+#endif /* _VL53L0X_CLASS_H_ */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X_def.h Fri Sep 29 15:38:50 2017 +0000
@@ -0,0 +1,640 @@
+/*******************************************************************************
+Copyright © 2016, STMicroelectronics International N.V.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/**
+ * @file VL53L0X_def.h
+ *
+ * @brief Type definitions for VL53L0X API.
+ *
+ */
+
+
+#ifndef _VL53L0X_DEF_H_
+#define _VL53L0X_DEF_H_
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @defgroup VL53L0X_globaldefine_group VL53L0X Defines
+ * @brief VL53L0X Defines
+ * @{
+ */
+
+
+/** PAL SPECIFICATION major version */
+#define VL53L0X10_SPECIFICATION_VER_MAJOR 1
+/** PAL SPECIFICATION minor version */
+#define VL53L0X10_SPECIFICATION_VER_MINOR 2
+/** PAL SPECIFICATION sub version */
+#define VL53L0X10_SPECIFICATION_VER_SUB 7
+/** PAL SPECIFICATION sub version */
+#define VL53L0X10_SPECIFICATION_VER_REVISION 1440
+
+/** VL53L0X PAL IMPLEMENTATION major version */
+#define VL53L0X10_IMPLEMENTATION_VER_MAJOR 1
+/** VL53L0X PAL IMPLEMENTATION minor version */
+#define VL53L0X10_IMPLEMENTATION_VER_MINOR 0
+/** VL53L0X PAL IMPLEMENTATION sub version */
+#define VL53L0X10_IMPLEMENTATION_VER_SUB 9
+/** VL53L0X PAL IMPLEMENTATION sub version */
+#define VL53L0X10_IMPLEMENTATION_VER_REVISION 3673
+
+/** PAL SPECIFICATION major version */
+#define VL53L0X_SPECIFICATION_VER_MAJOR 1
+/** PAL SPECIFICATION minor version */
+#define VL53L0X_SPECIFICATION_VER_MINOR 2
+/** PAL SPECIFICATION sub version */
+#define VL53L0X_SPECIFICATION_VER_SUB 7
+/** PAL SPECIFICATION sub version */
+#define VL53L0X_SPECIFICATION_VER_REVISION 1440
+
+/** VL53L0X PAL IMPLEMENTATION major version */
+#define VL53L0X_IMPLEMENTATION_VER_MAJOR 1
+/** VL53L0X PAL IMPLEMENTATION minor version */
+#define VL53L0X_IMPLEMENTATION_VER_MINOR 1
+/** VL53L0X PAL IMPLEMENTATION sub version */
+#define VL53L0X_IMPLEMENTATION_VER_SUB 21
+/** VL53L0X PAL IMPLEMENTATION sub version */
+#define VL53L0X_IMPLEMENTATION_VER_REVISION 4823
+#define VL53L0X_DEFAULT_MAX_LOOP 2000
+#define VL53L0X_MAX_STRING_LENGTH 32
+
+
+#include "VL53L0X_device.h"
+#include "VL53L0X_types.h"
+
+
+/****************************************
+ * PRIVATE define do not edit
+ ****************************************/
+
+/** @brief Defines the parameters of the Get Version Functions
+ */
+typedef struct {
+ uint32_t revision; /*!< revision number */
+ uint8_t major; /*!< major number */
+ uint8_t minor; /*!< minor number */
+ uint8_t build; /*!< build number */
+} VL53L0X_Version_t;
+
+
+/** @brief Defines the parameters of the Get Device Info Functions
+ */
+typedef struct {
+ char Name[VL53L0X_MAX_STRING_LENGTH];
+ /*!< Name of the Device e.g. Left_Distance */
+ char Type[VL53L0X_MAX_STRING_LENGTH];
+ /*!< Type of the Device e.g VL53L0X */
+ char ProductId[VL53L0X_MAX_STRING_LENGTH];
+ /*!< Product Identifier String */
+ uint8_t ProductType;
+ /*!< Product Type, VL53L0X = 1, VL53L1 = 2 */
+ uint8_t ProductRevisionMajor;
+ /*!< Product revision major */
+ uint8_t ProductRevisionMinor;
+ /*!< Product revision minor */
+} VL53L0X_DeviceInfo_t;
+
+
+/** @defgroup VL53L0X_define_Error_group Error and Warning code returned by API
+ * The following DEFINE are used to identify the PAL ERROR
+ * @{
+ */
+
+typedef int8_t VL53L0X_Error;
+
+#define VL53L0X_ERROR_NONE ((VL53L0X_Error) 0)
+#define VL53L0X_ERROR_CALIBRATION_WARNING ((VL53L0X_Error) -1)
+ /*!< Warning invalid calibration data may be in used
+ \a VL53L0X_InitData()
+ \a VL53L0X_GetOffsetCalibrationData
+ \a VL53L0X_SetOffsetCalibrationData */
+#define VL53L0X_ERROR_MIN_CLIPPED ((VL53L0X_Error) -2)
+ /*!< Warning parameter passed was clipped to min before to be applied */
+
+#define VL53L0X_ERROR_UNDEFINED ((VL53L0X_Error) -3)
+ /*!< Unqualified error */
+#define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error) -4)
+ /*!< Parameter passed is invalid or out of range */
+#define VL53L0X_ERROR_NOT_SUPPORTED ((VL53L0X_Error) -5)
+ /*!< Function is not supported in current mode or configuration */
+#define VL53L0X_ERROR_RANGE_ERROR ((VL53L0X_Error) -6)
+ /*!< Device report a ranging error interrupt status */
+#define VL53L0X_ERROR_TIME_OUT ((VL53L0X_Error) -7)
+ /*!< Aborted due to time out */
+#define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error) -8)
+ /*!< Asked mode is not supported by the device */
+#define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error) -9)
+ /*!< ... */
+#define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error) -10)
+ /*!< User tried to setup a non-existing GPIO pin */
+#define VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L0X_Error) -11)
+ /*!< unsupported GPIO functionality */
+#define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error) -12)
+ /*!< Error during interrupt clear */
+#define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error) -20)
+ /*!< error reported from IO functions */
+#define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error) -30)
+ /*!< The command is not allowed in the current device state
+ * (power down) */
+#define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error) -40)
+ /*!< In the function a division by zero occurs */
+#define VL53L0X_ERROR_REF_SPAD_INIT ((VL53L0X_Error) -50)
+ /*!< Error during reference SPAD initialization */
+#define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error) -99)
+ /*!< Tells requested functionality has not been implemented yet or
+ * not compatible with the device */
+/** @} VL53L0X_define_Error_group */
+
+
+/** @defgroup VL53L0X_define_DeviceModes_group Defines Device modes
+ * Defines all possible modes for the device
+ * @{
+ */
+typedef uint8_t VL53L0X_DeviceModes;
+
+#define VL53L0X_DEVICEMODE_SINGLE_RANGING ((VL53L0X_DeviceModes) 0)
+#define VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ((VL53L0X_DeviceModes) 1)
+#define VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0X_DeviceModes) 2)
+#define VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0X_DeviceModes) 3)
+#define VL53L0X_DEVICEMODE_SINGLE_ALS ((VL53L0X_DeviceModes) 10)
+#define VL53L0X_DEVICEMODE_GPIO_DRIVE ((VL53L0X_DeviceModes) 20)
+#define VL53L0X_DEVICEMODE_GPIO_OSC ((VL53L0X_DeviceModes) 21)
+ /* ... Modes to be added depending on device */
+/** @} VL53L0X_define_DeviceModes_group */
+
+
+
+/** @defgroup VL53L0X_define_HistogramModes_group Defines Histogram modes
+ * Defines all possible Histogram modes for the device
+ * @{
+ */
+typedef uint8_t VL53L0X_HistogramModes;
+
+#define VL53L0X_HISTOGRAMMODE_DISABLED ((VL53L0X_HistogramModes) 0)
+ /*!< Histogram Disabled */
+#define VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY ((VL53L0X_HistogramModes) 1)
+ /*!< Histogram Reference array only */
+#define VL53L0X_HISTOGRAMMODE_RETURN_ONLY ((VL53L0X_HistogramModes) 2)
+ /*!< Histogram Return array only */
+#define VL53L0X_HISTOGRAMMODE_BOTH ((VL53L0X_HistogramModes) 3)
+ /*!< Histogram both Reference and Return Arrays */
+ /* ... Modes to be added depending on device */
+/** @} VL53L0X_define_HistogramModes_group */
+
+
+/** @defgroup VL53L0X_define_PowerModes_group List of available Power Modes
+ * List of available Power Modes
+ * @{
+ */
+
+typedef uint8_t VL53L0X_PowerModes;
+
+#define VL53L0X_POWERMODE_STANDBY_LEVEL1 ((VL53L0X_PowerModes) 0)
+ /*!< Standby level 1 */
+#define VL53L0X_POWERMODE_STANDBY_LEVEL2 ((VL53L0X_PowerModes) 1)
+ /*!< Standby level 2 */
+#define VL53L0X_POWERMODE_IDLE_LEVEL1 ((VL53L0X_PowerModes) 2)
+ /*!< Idle level 1 */
+#define VL53L0X_POWERMODE_IDLE_LEVEL2 ((VL53L0X_PowerModes) 3)
+ /*!< Idle level 2 */
+
+/** @} VL53L0X_define_PowerModes_group */
+
+
+/** @brief Defines all parameters for the device
+ */
+typedef struct {
+ VL53L0X_DeviceModes DeviceMode;
+ /*!< Defines type of measurement to be done for the next measure */
+ VL53L0X_HistogramModes HistogramMode;
+ /*!< Defines type of histogram measurement to be done for the next
+ * measure */
+ uint32_t MeasurementTimingBudgetMicroSeconds;
+ /*!< Defines the allowed total time for a single measurement */
+ uint32_t InterMeasurementPeriodMilliSeconds;
+ /*!< Defines time between two consecutive measurements (between two
+ * measurement starts). If set to 0 means back-to-back mode */
+ uint8_t XTalkCompensationEnable;
+ /*!< Tells if Crosstalk compensation shall be enable or not */
+ uint16_t XTalkCompensationRangeMilliMeter;
+ /*!< CrossTalk compensation range in millimeter */
+ FixPoint1616_t XTalkCompensationRateMegaCps;
+ /*!< CrossTalk compensation rate in Mega counts per seconds.
+ * Expressed in 16.16 fixed point format. */
+ int32_t RangeOffsetMicroMeters;
+ /*!< Range offset adjustment (mm). */
+
+ uint8_t LimitChecksEnable[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
+ /*!< This Array store all the Limit Check enable for this device. */
+ uint8_t LimitChecksStatus[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
+ /*!< This Array store all the Status of the check linked to last
+ * measurement. */
+ FixPoint1616_t LimitChecksValue[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
+ /*!< This Array store all the Limit Check value for this device */
+
+ uint8_t WrapAroundCheckEnable;
+ /*!< Tells if Wrap Around Check shall be enable or not */
+} VL53L0X_DeviceParameters_t;
+
+
+/** @defgroup VL53L0X_define_State_group Defines the current status of the device
+ * Defines the current status of the device
+ * @{
+ */
+
+typedef uint8_t VL53L0X_State;
+
+#define VL53L0X_STATE_POWERDOWN ((VL53L0X_State) 0)
+ /*!< Device is in HW reset */
+#define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State) 1)
+ /*!< Device is initialized and wait for static initialization */
+#define VL53L0X_STATE_STANDBY ((VL53L0X_State) 2)
+ /*!< Device is in Low power Standby mode */
+#define VL53L0X_STATE_IDLE ((VL53L0X_State) 3)
+ /*!< Device has been initialized and ready to do measurements */
+#define VL53L0X_STATE_RUNNING ((VL53L0X_State) 4)
+ /*!< Device is performing measurement */
+#define VL53L0X_STATE_UNKNOWN ((VL53L0X_State) 98)
+ /*!< Device is in unknown state and need to be rebooted */
+#define VL53L0X_STATE_ERROR ((VL53L0X_State) 99)
+ /*!< Device is in error state and need to be rebooted */
+
+/** @} VL53L0X_define_State_group */
+
+
+/** @brief Structure containing the Dmax computation parameters and data
+ */
+typedef struct {
+ int32_t AmbTuningWindowFactor_K;
+ /*!< internal algo tuning (*1000) */
+ int32_t RetSignalAt0mm;
+ /*!< intermediate dmax computation value caching */
+} VL53L0X_DMaxData_t;
+
+/**
+ * @struct VL53L0X_RangeData_t
+ * @brief Range measurement data.
+ */
+typedef struct {
+ uint32_t TimeStamp; /*!< 32-bit time stamp. */
+ uint32_t MeasurementTimeUsec;
+ /*!< Give the Measurement time needed by the device to do the
+ * measurement.*/
+
+
+ uint16_t RangeMilliMeter; /*!< range distance in millimeter. */
+
+ uint16_t RangeDMaxMilliMeter;
+ /*!< Tells what is the maximum detection distance of the device
+ * in current setup and environment conditions (Filled when
+ * applicable) */
+
+ FixPoint1616_t SignalRateRtnMegaCps;
+ /*!< Return signal rate (MCPS)\n these is a 16.16 fix point
+ * value, which is effectively a measure of target
+ * reflectance.*/
+ FixPoint1616_t AmbientRateRtnMegaCps;
+ /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
+ * value, which is effectively a measure of the ambien
+ * t light.*/
+
+ uint16_t EffectiveSpadRtnCount;
+ /*!< Return the effective SPAD count for the return signal.
+ * To obtain Real value it should be divided by 256 */
+
+ uint8_t ZoneId;
+ /*!< Denotes which zone and range scheduler stage the range
+ * data relates to. */
+ uint8_t RangeFractionalPart;
+ /*!< Fractional part of range distance. Final value is a
+ * FixPoint168 value. */
+ uint8_t RangeStatus;
+ /*!< Range Status for the current measurement. This is device
+ * dependent. Value = 0 means value is valid.
+ * See \ref RangeStatusPage */
+} VL53L0X_RangingMeasurementData_t;
+
+
+#define VL53L0X_HISTOGRAM_BUFFER_SIZE 24
+
+/**
+ * @struct VL53L0X_HistogramData_t
+ * @brief Histogram measurement data.
+ */
+typedef struct {
+ /* Histogram Measurement data */
+ uint32_t HistogramData[VL53L0X_HISTOGRAM_BUFFER_SIZE];
+ /*!< Histogram data */
+ uint8_t HistogramType; /*!< Indicate the types of histogram data :
+ Return only, Reference only, both Return and Reference */
+ uint8_t FirstBin; /*!< First Bin value */
+ uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/
+ uint8_t NumberOfBins;
+ /*!< Number of bins filled by the histogram measurement */
+
+ VL53L0X_DeviceError ErrorStatus;
+ /*!< Error status of the current measurement. \n
+ see @a ::VL53L0X_DeviceError @a VL53L0X_GetStatusErrorString() */
+} VL53L0X_HistogramMeasurementData_t;
+
+#define VL53L0X_REF_SPAD_BUFFER_SIZE 6
+
+/**
+ * @struct VL53L0X_SpadData_t
+ * @brief Spad Configuration Data.
+ */
+typedef struct {
+ uint8_t RefSpadEnables[VL53L0X_REF_SPAD_BUFFER_SIZE];
+ /*!< Reference Spad Enables */
+ uint8_t RefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE];
+ /*!< Reference Spad Good Spad Map */
+} VL53L0X_SpadData_t;
+
+typedef struct {
+ FixPoint1616_t OscFrequencyMHz; /* Frequency used */
+
+ uint16_t LastEncodedTimeout;
+ /* last encoded Time out used for timing budget*/
+
+ VL53L0X_GpioFunctionality Pin0GpioFunctionality;
+ /* store the functionality of the GPIO: pin0 */
+
+ uint32_t FinalRangeTimeoutMicroSecs;
+ /*!< Execution time of the final range*/
+ uint8_t FinalRangeVcselPulsePeriod;
+ /*!< Vcsel pulse period (pll clocks) for the final range measurement*/
+ uint32_t PreRangeTimeoutMicroSecs;
+ /*!< Execution time of the final range*/
+ uint8_t PreRangeVcselPulsePeriod;
+ /*!< Vcsel pulse period (pll clocks) for the pre-range measurement*/
+
+ uint16_t SigmaEstRefArray;
+ /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */
+ uint16_t SigmaEstEffPulseWidth;
+ /*!< Effective Pulse width for sigma estimate in 1/100th
+ * of ns e.g. 900 = 9.0ns */
+ uint16_t SigmaEstEffAmbWidth;
+ /*!< Effective Ambient width for sigma estimate in 1/100th of ns
+ * e.g. 500 = 5.0ns */
+
+
+ uint8_t ReadDataFromDeviceDone; /* Indicate if read from device has
+ been done (==1) or not (==0) */
+ uint8_t ModuleId; /* Module ID */
+ uint8_t Revision; /* test Revision */
+ char ProductId[VL53L0X_MAX_STRING_LENGTH];
+ /* Product Identifier String */
+ uint8_t ReferenceSpadCount; /* used for ref spad management */
+ uint8_t ReferenceSpadType; /* used for ref spad management */
+ uint8_t RefSpadsInitialised; /* reports if ref spads are initialised. */
+ uint32_t PartUIDUpper; /*!< Unique Part ID Upper */
+ uint32_t PartUIDLower; /*!< Unique Part ID Lower */
+ FixPoint1616_t SignalRateMeasFixed400mm; /*!< Peek Signal rate
+ at 400 mm*/
+
+} VL53L0X_DeviceSpecificParameters_t;
+
+/**
+ * @struct VL53L0X_DevData_t
+ *
+ * @brief VL53L0X PAL device ST private data structure \n
+ * End user should never access any of these field directly
+ *
+ * These must never access directly but only via macro
+ */
+typedef struct {
+ VL53L0X_DMaxData_t DMaxData;
+ /*!< Dmax Data */
+ int32_t Part2PartOffsetNVMMicroMeter;
+ /*!< backed up NVM value */
+ int32_t Part2PartOffsetAdjustmentNVMMicroMeter;
+ /*!< backed up NVM value representing additional offset adjustment */
+ VL53L0X_DeviceParameters_t CurrentParameters;
+ /*!< Current Device Parameter */
+ VL53L0X_RangingMeasurementData_t LastRangeMeasure;
+ /*!< Ranging Data */
+ VL53L0X_HistogramMeasurementData_t LastHistogramMeasure;
+ /*!< Histogram Data */
+ VL53L0X_DeviceSpecificParameters_t DeviceSpecificParameters;
+ /*!< Parameters specific to the device */
+ VL53L0X_SpadData_t SpadData;
+ /*!< Spad Data */
+ uint8_t SequenceConfig;
+ /*!< Internal value for the sequence config */
+ uint8_t RangeFractionalEnable;
+ /*!< Enable/Disable fractional part of ranging data */
+ VL53L0X_State PalState;
+ /*!< Current state of the PAL for this device */
+ VL53L0X_PowerModes PowerMode;
+ /*!< Current Power Mode */
+ uint16_t SigmaEstRefArray;
+ /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */
+ uint16_t SigmaEstEffPulseWidth;
+ /*!< Effective Pulse width for sigma estimate in 1/100th
+ * of ns e.g. 900 = 9.0ns */
+ uint16_t SigmaEstEffAmbWidth;
+ /*!< Effective Ambient width for sigma estimate in 1/100th of ns
+ * e.g. 500 = 5.0ns */
+ uint8_t StopVariable;
+ /*!< StopVariable used during the stop sequence */
+ uint16_t targetRefRate;
+ /*!< Target Ambient Rate for Ref spad management */
+ FixPoint1616_t SigmaEstimate;
+ /*!< Sigma Estimate - based on ambient & VCSEL rates and
+ * signal_total_events */
+ FixPoint1616_t SignalEstimate;
+ /*!< Signal Estimate - based on ambient & VCSEL rates and cross talk */
+ FixPoint1616_t LastSignalRefMcps;
+ /*!< Latest Signal ref in Mcps */
+ uint8_t *pTuningSettingsPointer;
+ /*!< Pointer for Tuning Settings table */
+ uint8_t UseInternalTuningSettings;
+ /*!< Indicate if we use Tuning Settings table */
+ uint16_t LinearityCorrectiveGain;
+ /*!< Linearity Corrective Gain value in x1000 */
+ uint16_t DmaxCalRangeMilliMeter;
+ /*!< Dmax Calibration Range millimeter */
+ FixPoint1616_t DmaxCalSignalRateRtnMegaCps;
+ /*!< Dmax Calibration Signal Rate Return MegaCps */
+
+} VL53L0X_DevData_t;
+
+
+/** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity
+ * of the Interrupt
+ * Defines the Polarity of the Interrupt
+ * @{
+ */
+typedef uint8_t VL53L0X_InterruptPolarity;
+
+#define VL53L0X_INTERRUPTPOLARITY_LOW ((VL53L0X_InterruptPolarity) 0)
+/*!< Set active low polarity best setup for falling edge. */
+#define VL53L0X_INTERRUPTPOLARITY_HIGH ((VL53L0X_InterruptPolarity) 1)
+/*!< Set active high polarity best setup for rising edge. */
+
+/** @} VL53L0X_define_InterruptPolarity_group */
+
+
+/** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines
+ * Defines the range measurement for which to access the vcsel period.
+ * @{
+ */
+typedef uint8_t VL53L0X_VcselPeriod;
+
+#define VL53L0X_VCSEL_PERIOD_PRE_RANGE ((VL53L0X_VcselPeriod) 0)
+/*!<Identifies the pre-range vcsel period. */
+#define VL53L0X_VCSEL_PERIOD_FINAL_RANGE ((VL53L0X_VcselPeriod) 1)
+/*!<Identifies the final range vcsel period. */
+
+/** @} VL53L0X_define_VcselPeriod_group */
+
+/** @defgroup VL53L0X_define_SchedulerSequence_group Defines the steps
+ * carried out by the scheduler during a range measurement.
+ * @{
+ * Defines the states of all the steps in the scheduler
+ * i.e. enabled/disabled.
+ */
+typedef struct {
+ uint8_t TccOn; /*!<Reports if Target Centre Check On */
+ uint8_t MsrcOn; /*!<Reports if MSRC On */
+ uint8_t DssOn; /*!<Reports if DSS On */
+ uint8_t PreRangeOn; /*!<Reports if Pre-Range On */
+ uint8_t FinalRangeOn; /*!<Reports if Final-Range On */
+} VL53L0X_SchedulerSequenceSteps_t;
+
+/** @} VL53L0X_define_SchedulerSequence_group */
+
+/** @defgroup VL53L0X_define_SequenceStepId_group Defines the Polarity
+ * of the Interrupt
+ * Defines the the sequence steps performed during ranging..
+ * @{
+ */
+typedef uint8_t VL53L0X_SequenceStepId;
+
+#define VL53L0X_SEQUENCESTEP_TCC ((VL53L0X_VcselPeriod) 0)
+/*!<Target CentreCheck identifier. */
+#define VL53L0X_SEQUENCESTEP_DSS ((VL53L0X_VcselPeriod) 1)
+/*!<Dynamic Spad Selection function Identifier. */
+#define VL53L0X_SEQUENCESTEP_MSRC ((VL53L0X_VcselPeriod) 2)
+/*!<Minimum Signal Rate Check function Identifier. */
+#define VL53L0X_SEQUENCESTEP_PRE_RANGE ((VL53L0X_VcselPeriod) 3)
+/*!<Pre-Range check Identifier. */
+#define VL53L0X_SEQUENCESTEP_FINAL_RANGE ((VL53L0X_VcselPeriod) 4)
+/*!<Final Range Check Identifier. */
+
+#define VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS 5
+/*!<Number of Sequence Step Managed by the API. */
+
+/** @} VL53L0X_define_SequenceStepId_group */
+
+
+/* MACRO Definitions */
+/** @defgroup VL53L0X_define_GeneralMacro_group General Macro Defines
+ * General Macro Defines
+ * @{
+ */
+
+/* Defines */
+#define VL53L0X_SETPARAMETERFIELD(Dev, field, value) \
+ PALDevDataSet(Dev, CurrentParameters.field, value)
+
+#define VL53L0X_GETPARAMETERFIELD(Dev, field, variable) \
+ variable = PALDevDataGet(Dev, CurrentParameters).field
+
+
+#define VL53L0X_SETARRAYPARAMETERFIELD(Dev, field, index, value) \
+ PALDevDataSet(Dev, CurrentParameters.field[index], value)
+
+#define VL53L0X_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \
+ variable = PALDevDataGet(Dev, CurrentParameters).field[index]
+
+
+#define VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, field, value) \
+ PALDevDataSet(Dev, DeviceSpecificParameters.field, value)
+
+#define VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, field) \
+ PALDevDataGet(Dev, DeviceSpecificParameters).field
+
+
+#define VL53L0X_FIXPOINT1616TOFIXPOINT97(Value) \
+ (uint16_t)((Value>>9)&0xFFFF)
+#define VL53L0X_FIXPOINT97TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)(Value<<9)
+
+#define VL53L0X_FIXPOINT1616TOFIXPOINT88(Value) \
+ (uint16_t)((Value>>8)&0xFFFF)
+#define VL53L0X_FIXPOINT88TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)(Value<<8)
+
+#define VL53L0X_FIXPOINT1616TOFIXPOINT412(Value) \
+ (uint16_t)((Value>>4)&0xFFFF)
+#define VL53L0X_FIXPOINT412TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)(Value<<4)
+
+#define VL53L0X_FIXPOINT1616TOFIXPOINT313(Value) \
+ (uint16_t)((Value>>3)&0xFFFF)
+#define VL53L0X_FIXPOINT313TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)(Value<<3)
+
+#define VL53L0X_FIXPOINT1616TOFIXPOINT08(Value) \
+ (uint8_t)((Value>>8)&0x00FF)
+#define VL53L0X_FIXPOINT08TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)(Value<<8)
+
+#define VL53L0X_FIXPOINT1616TOFIXPOINT53(Value) \
+ (uint8_t)((Value>>13)&0x00FF)
+#define VL53L0X_FIXPOINT53TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)(Value<<13)
+
+#define VL53L0X_FIXPOINT1616TOFIXPOINT102(Value) \
+ (uint16_t)((Value>>14)&0x0FFF)
+#define VL53L0X_FIXPOINT102TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)(Value<<12)
+
+#define VL53L0X_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \
+ (uint16_t)lsb)
+
+/** @} VL53L0X_define_GeneralMacro_group */
+
+/** @} VL53L0X_globaldefine_group */
+
+
+
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /* _VL53L0X_DEF_H_ */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X_device.h Fri Sep 29 15:38:50 2017 +0000
@@ -0,0 +1,257 @@
+/*******************************************************************************
+Copyright © 2016, STMicroelectronics International N.V.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/**
+ * Device specific defines. To be adapted by implementer for the targeted
+ * device.
+ */
+
+#ifndef _VL53L0X_DEVICE_H_
+#define _VL53L0X_DEVICE_H_
+
+#include "VL53L0X_types.h"
+
+
+/** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device Specific Defines
+ * @brief VL53L0X cut1.1 Device Specific Defines
+ * @{
+ */
+
+
+/** @defgroup VL53L0X_DeviceError_group Device Error
+ * @brief Device Error code
+ *
+ * This enum is Device specific it should be updated in the implementation
+ * Use @a VL53L0X_GetStatusErrorString() to get the string.
+ * It is related to Status Register of the Device.
+ * @{
+ */
+typedef uint8_t VL53L0X_DeviceError;
+
+#define VL53L0X_DEVICEERROR_NONE ((VL53L0X_DeviceError) 0)
+ /*!< 0 NoError */
+#define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L0X_DeviceError) 1)
+#define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L0X_DeviceError) 2)
+#define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND ((VL53L0X_DeviceError) 3)
+#define VL53L0X_DEVICEERROR_MSRCNOTARGET ((VL53L0X_DeviceError) 4)
+#define VL53L0X_DEVICEERROR_SNRCHECK ((VL53L0X_DeviceError) 5)
+#define VL53L0X_DEVICEERROR_RANGEPHASECHECK ((VL53L0X_DeviceError) 6)
+#define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK ((VL53L0X_DeviceError) 7)
+#define VL53L0X_DEVICEERROR_TCC ((VL53L0X_DeviceError) 8)
+#define VL53L0X_DEVICEERROR_PHASECONSISTENCY ((VL53L0X_DeviceError) 9)
+#define VL53L0X_DEVICEERROR_MINCLIP ((VL53L0X_DeviceError) 10)
+#define VL53L0X_DEVICEERROR_RANGECOMPLETE ((VL53L0X_DeviceError) 11)
+#define VL53L0X_DEVICEERROR_ALGOUNDERFLOW ((VL53L0X_DeviceError) 12)
+#define VL53L0X_DEVICEERROR_ALGOOVERFLOW ((VL53L0X_DeviceError) 13)
+#define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD ((VL53L0X_DeviceError) 14)
+
+/** @} end of VL53L0X_DeviceError_group */
+
+
+/** @defgroup VL53L0X_CheckEnable_group Check Enable list
+ * @brief Check Enable code
+ *
+ * Define used to specify the LimitCheckId.
+ * Use @a VL53L0X_GetLimitCheckInfo() to get the string.
+ * @{
+ */
+
+#define VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE 0
+#define VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1
+#define VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP 2
+#define VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD 3
+#define VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC 4
+#define VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE 5
+
+#define VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS 6
+
+/** @} end of VL53L0X_CheckEnable_group */
+
+
+/** @defgroup VL53L0X_GpioFunctionality_group Gpio Functionality
+ * @brief Defines the different functionalities for the device GPIO(s)
+ * @{
+ */
+typedef uint8_t VL53L0X_GpioFunctionality;
+
+#define VL53L0X_GPIOFUNCTIONALITY_OFF \
+ ((VL53L0X_GpioFunctionality) 0) /*!< NO Interrupt */
+#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW \
+ ((VL53L0X_GpioFunctionality) 1) /*!< Level Low (value < thresh_low) */
+#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH \
+ ((VL53L0X_GpioFunctionality) 2) /*!< Level High (value > thresh_high) */
+#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT \
+ ((VL53L0X_GpioFunctionality) 3)
+ /*!< Out Of Window (value < thresh_low OR value > thresh_high) */
+#define VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY \
+ ((VL53L0X_GpioFunctionality) 4) /*!< New Sample Ready */
+
+/** @} end of VL53L0X_GpioFunctionality_group */
+
+
+/* Device register map */
+
+/** @defgroup VL53L0X_DefineRegisters_group Define Registers
+ * @brief List of all the defined registers
+ * @{
+ */
+#define VL53L0X_REG_SYSRANGE_START 0x000
+ /** mask existing bit in #VL53L0X_REG_SYSRANGE_START*/
+ #define VL53L0X_REG_SYSRANGE_MODE_MASK 0x0F
+ /** bit 0 in #VL53L0X_REG_SYSRANGE_START write 1 toggle state in
+ * continuous mode and arm next shot in single shot mode */
+ #define VL53L0X_REG_SYSRANGE_MODE_START_STOP 0x01
+ /** bit 1 write 0 in #VL53L0X_REG_SYSRANGE_START set single shot mode */
+ #define VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT 0x00
+ /** bit 1 write 1 in #VL53L0X_REG_SYSRANGE_START set back-to-back
+ * operation mode */
+ #define VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK 0x02
+ /** bit 2 write 1 in #VL53L0X_REG_SYSRANGE_START set timed operation
+ * mode */
+ #define VL53L0X_REG_SYSRANGE_MODE_TIMED 0x04
+ /** bit 3 write 1 in #VL53L0X_REG_SYSRANGE_START set histogram operation
+ * mode */
+ #define VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM 0x08
+
+
+#define VL53L0X_REG_SYSTEM_THRESH_HIGH 0x000C
+#define VL53L0X_REG_SYSTEM_THRESH_LOW 0x000E
+
+
+#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG 0x0001
+#define VL53L0X_REG_SYSTEM_RANGE_CONFIG 0x0009
+#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x0004
+
+
+#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x000A
+#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED 0x00
+#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW 0x01
+#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH 0x02
+#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW 0x03
+#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY 0x04
+
+#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084
+
+
+#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR 0x000B
+
+/* Result registers */
+#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x0013
+#define VL53L0X_REG_RESULT_RANGE_STATUS 0x0014
+
+#define VL53L0X_REG_RESULT_CORE_PAGE 1
+#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0x00BC
+#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0x00C0
+#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0x00D0
+#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0x00D4
+#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF 0x00B6
+
+/* Algo register */
+
+#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x0028
+
+#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a
+
+/* Check Limit registers */
+#define VL53L0X_REG_MSRC_CONFIG_CONTROL 0x0060
+
+#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR 0X0027
+#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x0056
+#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x0057
+#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x0064
+
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR 0X0067
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x0047
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x0048
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x0044
+
+
+#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0X0061
+#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0X0062
+
+/* PRE RANGE registers */
+#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x0050
+#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0051
+#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0052
+
+#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN 0x0081
+#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x0033
+#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x0055
+
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x0070
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0071
+#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0072
+#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x0020
+
+#define VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP 0x0046
+
+
+#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf
+#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0x00c0
+#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0x00c2
+
+#define VL53L0X_REG_OSC_CALIBRATE_VAL 0x00f8
+
+
+#define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE 65535
+/* equivalent to a range sigma of 655.35mm */
+
+#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x032
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0x0B0
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0x0B1
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0x0B2
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0x0B3
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0x0B4
+#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0x0B5
+
+#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6
+#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */
+#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F /* 0x14F */
+#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80
+
+/*
+ * Speed of light in um per 1E-10 Seconds
+ */
+
+#define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997
+
+#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x0089
+
+#define VL53L0X_REG_ALGO_PHASECAL_LIM 0x0030 /* 0x130 */
+#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x0030
+
+/** @} VL53L0X_DefineRegisters_group */
+
+/** @} VL53L0X_DevSpecDefines_group */
+
+
+#endif
+
+/* _VL53L0X_DEVICE_H_ */
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X_i2c_platform.h Fri Sep 29 15:38:50 2017 +0000
@@ -0,0 +1,417 @@
+/*
+ * COPYRIGHT (C) STMicroelectronics 2014. All rights reserved.
+ *
+ * This software is the confidential and proprietary information of
+ * STMicroelectronics ("Confidential Information"). You shall not
+ * disclose such Confidential Information and shall use it only in
+ * accordance with the terms of the license agreement you entered into
+ * with STMicroelectronics
+ *
+ * Programming Golden Rule: Keep it Simple!
+ *
+ */
+
+/**
+ * @file VL53L0X_platform.h
+ * @brief Function prototype definitions for Ewok Platform layer.
+ *
+ */
+
+
+#ifndef _VL53L0X_I2C_PLATFORM_H_
+#define _VL53L0X_I2C_PLATFORM_H_
+
+#include "VL53L0X_def.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// Include uint8_t, unit16_t etc definitions
+
+#include <stdint.h>
+#include <stdarg.h>
+
+
+/**
+ * @brief Typedef defining .\n
+ * The developer shoud modify this to suit the platform being deployed.
+ *
+ */
+
+// enum {TRUE = true, FALSE = false};
+
+/**
+ * @brief Typedef defining 8 bit unsigned char type.\n
+ * The developer shoud modify this to suit the platform being deployed.
+ *
+ */
+
+#ifndef bool_t
+typedef unsigned char bool_t;
+#endif
+
+
+#define I2C 0x01
+#define SPI 0x00
+
+#define COMMS_BUFFER_SIZE 64 // MUST be the same size as the SV task buffer
+
+#define BYTES_PER_WORD 2
+#define BYTES_PER_DWORD 4
+
+#define VL53L0X_MAX_STRING_LENGTH_PLT 256
+
+/**
+ * @brief Initialise platform comms.
+ *
+ * @param comms_type - selects between I2C and SPI
+ * @param comms_speed_khz - unsigned short containing the I2C speed in kHz
+ *
+ * @return status - status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_comms_initialise(uint8_t comms_type,
+ uint16_t comms_speed_khz);
+
+ /**
+ * @brief Initialise platform serial comms.
+ *
+ * @param comPortStr - String to indicate the comm port
+ * @param baudRate - Bau rate
+ *
+ * @return status - status 0 = ok, 1 = error
+ *
+ */
+int VL53L0_i2c_init(char *comPortStr, unsigned int baudRate);
+
+
+/**
+ * @brief Close platform comms.
+ *
+ * @return status - status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_comms_close(void);
+
+/**
+ * @brief Cycle Power to Device
+ *
+ * @return status - status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_cycle_power(void);
+
+
+/**
+ * @brief Writes the supplied byte buffer to the device
+ *
+ * Wrapper for SystemVerilog Write Multi task
+ *
+ * @code
+ *
+ * Example:
+ *
+ * uint8_t *spad_enables;
+ *
+ * int status = VL53L0X_write_multi(RET_SPAD_EN_0, spad_enables, 36);
+ *
+ * @endcode
+ *
+ * @param address - uint8_t device address value
+ * @param index - uint8_t register index value
+ * @param pdata - pointer to uint8_t buffer containing the data to be written
+ * @param count - number of bytes in the supplied byte buffer
+ *
+ * @return status - SystemVerilog status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_write_multi(uint8_t address, uint8_t index, uint8_t *pdata, int32_t count);
+
+
+/**
+ * @brief Reads the requested number of bytes from the device
+ *
+ * Wrapper for SystemVerilog Read Multi task
+ *
+ * @code
+ *
+ * Example:
+ *
+ * uint8_t buffer[COMMS_BUFFER_SIZE];
+ *
+ * int status = status = VL53L0X_read_multi(DEVICE_ID, buffer, 2)
+ *
+ * @endcode
+ *
+ * @param address - uint8_t device address value
+ * @param index - uint8_t register index value
+ * @param pdata - pointer to the uint8_t buffer to store read data
+ * @param count - number of uint8_t's to read
+ *
+ * @return status - SystemVerilog status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_read_multi(uint8_t address, uint8_t index, uint8_t *pdata, int32_t count);
+
+
+/**
+ * @brief Writes a single byte to the device
+ *
+ * Wrapper for SystemVerilog Write Byte task
+ *
+ * @code
+ *
+ * Example:
+ *
+ * uint8_t page_number = MAIN_SELECT_PAGE;
+ *
+ * int status = VL53L0X_write_byte(PAGE_SELECT, page_number);
+ *
+ * @endcode
+ *
+ * @param address - uint8_t device address value
+ * @param index - uint8_t register index value
+ * @param data - uint8_t data value to write
+ *
+ * @return status - SystemVerilog status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_write_byte(uint8_t address, uint8_t index, uint8_t data);
+
+
+/**
+ * @brief Writes a single word (16-bit unsigned) to the device
+ *
+ * Manages the big-endian nature of the device (first byte written is the MS byte).
+ * Uses SystemVerilog Write Multi task.
+ *
+ * @code
+ *
+ * Example:
+ *
+ * uint16_t nvm_ctrl_pulse_width = 0x0004;
+ *
+ * int status = VL53L0X_write_word(NVM_CTRL__PULSE_WIDTH_MSB, nvm_ctrl_pulse_width);
+ *
+ * @endcode
+ *
+ * @param address - uint8_t device address value
+ * @param index - uint8_t register index value
+ * @param data - uin16_t data value write
+ *
+ * @return status - SystemVerilog status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_write_word(uint8_t address, uint8_t index, uint16_t data);
+
+
+/**
+ * @brief Writes a single dword (32-bit unsigned) to the device
+ *
+ * Manages the big-endian nature of the device (first byte written is the MS byte).
+ * Uses SystemVerilog Write Multi task.
+ *
+ * @code
+ *
+ * Example:
+ *
+ * uint32_t nvm_data = 0x0004;
+ *
+ * int status = VL53L0X_write_dword(NVM_CTRL__DATAIN_MMM, nvm_data);
+ *
+ * @endcode
+ *
+ * @param address - uint8_t device address value
+ * @param index - uint8_t register index value
+ * @param data - uint32_t data value to write
+ *
+ * @return status - SystemVerilog status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_write_dword(uint8_t address, uint8_t index, uint32_t data);
+
+
+
+/**
+ * @brief Reads a single byte from the device
+ *
+ * Uses SystemVerilog Read Byte task.
+ *
+ * @code
+ *
+ * Example:
+ *
+ * uint8_t device_status = 0;
+ *
+ * int status = VL53L0X_read_byte(STATUS, &device_status);
+ *
+ * @endcode
+ *
+ * @param address - uint8_t device address value
+ * @param index - uint8_t register index value
+ * @param pdata - pointer to uint8_t data value
+ *
+ * @return status - SystemVerilog status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_read_byte(uint8_t address, uint8_t index, uint8_t *pdata);
+
+
+/**
+ * @brief Reads a single word (16-bit unsigned) from the device
+ *
+ * Manages the big-endian nature of the device (first byte read is the MS byte).
+ * Uses SystemVerilog Read Multi task.
+ *
+ * @code
+ *
+ * Example:
+ *
+ * uint16_t timeout = 0;
+ *
+ * int status = VL53L0X_read_word(TIMEOUT_OVERALL_PERIODS_MSB, &timeout);
+ *
+ * @endcode
+ *
+ * @param address - uint8_t device address value
+ * @param index - uint8_t register index value
+ * @param pdata - pointer to uint16_t data value
+ *
+ * @return status - SystemVerilog status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_read_word(uint8_t address, uint8_t index, uint16_t *pdata);
+
+
+/**
+ * @brief Reads a single dword (32-bit unsigned) from the device
+ *
+ * Manages the big-endian nature of the device (first byte read is the MS byte).
+ * Uses SystemVerilog Read Multi task.
+ *
+ * @code
+ *
+ * Example:
+ *
+ * uint32_t range_1 = 0;
+ *
+ * int status = VL53L0X_read_dword(RANGE_1_MMM, &range_1);
+ *
+ * @endcode
+ *
+ * @param address - uint8_t device address value
+ * @param index - uint8_t register index value
+ * @param pdata - pointer to uint32_t data value
+ *
+ * @return status - SystemVerilog status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_read_dword(uint8_t address, uint8_t index, uint32_t *pdata);
+
+
+/**
+ * @brief Implements a programmable wait in us
+ *
+ * Wrapper for SystemVerilog Wait in micro seconds task
+ *
+ * @param wait_us - integer wait in micro seconds
+ *
+ * @return status - SystemVerilog status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_platform_wait_us(int32_t wait_us);
+
+
+/**
+ * @brief Implements a programmable wait in ms
+ *
+ * Wrapper for SystemVerilog Wait in milli seconds task
+ *
+ * @param wait_ms - integer wait in milli seconds
+ *
+ * @return status - SystemVerilog status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_wait_ms(int32_t wait_ms);
+
+
+/**
+ * @brief Set GPIO value
+ *
+ * @param level - input level - either 0 or 1
+ *
+ * @return status - SystemVerilog status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_set_gpio(uint8_t level);
+
+
+/**
+ * @brief Get GPIO value
+ *
+ * @param plevel - uint8_t pointer to store GPIO level (0 or 1)
+ *
+ * @return status - SystemVerilog status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_get_gpio(uint8_t *plevel);
+
+/**
+ * @brief Release force on GPIO
+ *
+ * @return status - SystemVerilog status 0 = ok, 1 = error
+ *
+ */
+
+int32_t VL53L0X_release_gpio(void);
+
+
+/**
+* @brief Get the frequency of the timer used for ranging results time stamps
+*
+* @param[out] ptimer_freq_hz : pointer for timer frequency
+*
+* @return status : 0 = ok, 1 = error
+*
+*/
+
+int32_t VL53L0X_get_timer_frequency(int32_t *ptimer_freq_hz);
+
+/**
+* @brief Get the timer value in units of timer_freq_hz (see VL53L0X_get_timestamp_frequency())
+*
+* @param[out] ptimer_count : pointer for timer count value
+*
+* @return status : 0 = ok, 1 = error
+*
+*/
+
+int32_t VL53L0X_get_timer_value(int32_t *ptimer_count);
+
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //_VL53L0X_I2C_PLATFORM_H_
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X_interrupt_threshold_settings.h Fri Sep 29 15:38:50 2017 +0000
@@ -0,0 +1,195 @@
+/*******************************************************************************
+Copyright © 2016, STMicroelectronics International N.V.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+
+#ifndef _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_
+#define _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+uint8_t InterruptThresholdSettings[] = {
+
+ /* Start of Interrupt Threshold Settings */
+ 0x1, 0xff, 0x00,
+ 0x1, 0x80, 0x01,
+ 0x1, 0xff, 0x01,
+ 0x1, 0x00, 0x00,
+ 0x1, 0xff, 0x01,
+ 0x1, 0x4f, 0x02,
+ 0x1, 0xFF, 0x0E,
+ 0x1, 0x00, 0x03,
+ 0x1, 0x01, 0x84,
+ 0x1, 0x02, 0x0A,
+ 0x1, 0x03, 0x03,
+ 0x1, 0x04, 0x08,
+ 0x1, 0x05, 0xC8,
+ 0x1, 0x06, 0x03,
+ 0x1, 0x07, 0x8D,
+ 0x1, 0x08, 0x08,
+ 0x1, 0x09, 0xC6,
+ 0x1, 0x0A, 0x01,
+ 0x1, 0x0B, 0x02,
+ 0x1, 0x0C, 0x00,
+ 0x1, 0x0D, 0xD5,
+ 0x1, 0x0E, 0x18,
+ 0x1, 0x0F, 0x12,
+ 0x1, 0x10, 0x01,
+ 0x1, 0x11, 0x82,
+ 0x1, 0x12, 0x00,
+ 0x1, 0x13, 0xD5,
+ 0x1, 0x14, 0x18,
+ 0x1, 0x15, 0x13,
+ 0x1, 0x16, 0x03,
+ 0x1, 0x17, 0x86,
+ 0x1, 0x18, 0x0A,
+ 0x1, 0x19, 0x09,
+ 0x1, 0x1A, 0x08,
+ 0x1, 0x1B, 0xC2,
+ 0x1, 0x1C, 0x03,
+ 0x1, 0x1D, 0x8F,
+ 0x1, 0x1E, 0x0A,
+ 0x1, 0x1F, 0x06,
+ 0x1, 0x20, 0x01,
+ 0x1, 0x21, 0x02,
+ 0x1, 0x22, 0x00,
+ 0x1, 0x23, 0xD5,
+ 0x1, 0x24, 0x18,
+ 0x1, 0x25, 0x22,
+ 0x1, 0x26, 0x01,
+ 0x1, 0x27, 0x82,
+ 0x1, 0x28, 0x00,
+ 0x1, 0x29, 0xD5,
+ 0x1, 0x2A, 0x18,
+ 0x1, 0x2B, 0x0B,
+ 0x1, 0x2C, 0x28,
+ 0x1, 0x2D, 0x78,
+ 0x1, 0x2E, 0x28,
+ 0x1, 0x2F, 0x91,
+ 0x1, 0x30, 0x00,
+ 0x1, 0x31, 0x0B,
+ 0x1, 0x32, 0x00,
+ 0x1, 0x33, 0x0B,
+ 0x1, 0x34, 0x00,
+ 0x1, 0x35, 0xA1,
+ 0x1, 0x36, 0x00,
+ 0x1, 0x37, 0xA0,
+ 0x1, 0x38, 0x00,
+ 0x1, 0x39, 0x04,
+ 0x1, 0x3A, 0x28,
+ 0x1, 0x3B, 0x30,
+ 0x1, 0x3C, 0x0C,
+ 0x1, 0x3D, 0x04,
+ 0x1, 0x3E, 0x0F,
+ 0x1, 0x3F, 0x79,
+ 0x1, 0x40, 0x28,
+ 0x1, 0x41, 0x1E,
+ 0x1, 0x42, 0x2F,
+ 0x1, 0x43, 0x87,
+ 0x1, 0x44, 0x00,
+ 0x1, 0x45, 0x0B,
+ 0x1, 0x46, 0x00,
+ 0x1, 0x47, 0x0B,
+ 0x1, 0x48, 0x00,
+ 0x1, 0x49, 0xA7,
+ 0x1, 0x4A, 0x00,
+ 0x1, 0x4B, 0xA6,
+ 0x1, 0x4C, 0x00,
+ 0x1, 0x4D, 0x04,
+ 0x1, 0x4E, 0x01,
+ 0x1, 0x4F, 0x00,
+ 0x1, 0x50, 0x00,
+ 0x1, 0x51, 0x80,
+ 0x1, 0x52, 0x09,
+ 0x1, 0x53, 0x08,
+ 0x1, 0x54, 0x01,
+ 0x1, 0x55, 0x00,
+ 0x1, 0x56, 0x0F,
+ 0x1, 0x57, 0x79,
+ 0x1, 0x58, 0x09,
+ 0x1, 0x59, 0x05,
+ 0x1, 0x5A, 0x00,
+ 0x1, 0x5B, 0x60,
+ 0x1, 0x5C, 0x05,
+ 0x1, 0x5D, 0xD1,
+ 0x1, 0x5E, 0x0C,
+ 0x1, 0x5F, 0x3C,
+ 0x1, 0x60, 0x00,
+ 0x1, 0x61, 0xD0,
+ 0x1, 0x62, 0x0B,
+ 0x1, 0x63, 0x03,
+ 0x1, 0x64, 0x28,
+ 0x1, 0x65, 0x10,
+ 0x1, 0x66, 0x2A,
+ 0x1, 0x67, 0x39,
+ 0x1, 0x68, 0x0B,
+ 0x1, 0x69, 0x02,
+ 0x1, 0x6A, 0x28,
+ 0x1, 0x6B, 0x10,
+ 0x1, 0x6C, 0x2A,
+ 0x1, 0x6D, 0x61,
+ 0x1, 0x6E, 0x0C,
+ 0x1, 0x6F, 0x00,
+ 0x1, 0x70, 0x0F,
+ 0x1, 0x71, 0x79,
+ 0x1, 0x72, 0x00,
+ 0x1, 0x73, 0x0B,
+ 0x1, 0x74, 0x00,
+ 0x1, 0x75, 0x0B,
+ 0x1, 0x76, 0x00,
+ 0x1, 0x77, 0xA1,
+ 0x1, 0x78, 0x00,
+ 0x1, 0x79, 0xA0,
+ 0x1, 0x7A, 0x00,
+ 0x1, 0x7B, 0x04,
+ 0x1, 0xFF, 0x04,
+ 0x1, 0x79, 0x1D,
+ 0x1, 0x7B, 0x27,
+ 0x1, 0x96, 0x0E,
+ 0x1, 0x97, 0xFE,
+ 0x1, 0x98, 0x03,
+ 0x1, 0x99, 0xEF,
+ 0x1, 0x9A, 0x02,
+ 0x1, 0x9B, 0x44,
+ 0x1, 0x73, 0x07,
+ 0x1, 0x70, 0x01,
+ 0x1, 0xff, 0x01,
+ 0x1, 0x00, 0x01,
+ 0x1, 0xff, 0x00,
+ 0x00, 0x00, 0x00
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_ */
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X_platform.h Fri Sep 29 15:38:50 2017 +0000
@@ -0,0 +1,242 @@
+/*******************************************************************************
+Copyright © 2015, STMicroelectronics International N.V.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+********************************************************************************/
+
+
+#ifndef _VL53L0X_PLATFORM_H_
+#define _VL53L0X_PLATFORM_H_
+
+#include "VL53L0X_def.h"
+#include "VL53L0X_platform_log.h"
+#include "VL53L0X_i2c_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @file vl53l0_platform.h
+ *
+ * @brief All end user OS/platform/application porting
+ */
+
+/**
+ * @defgroup VL53L0X_platform_group VL53L0 Platform Functions
+ * @brief VL53L0 Platform Functions
+ * @{
+ */
+
+/**
+ * @struct VL53L0X_Dev_t
+ * @brief Generic PAL device type that does link between API and platform abstraction layer
+ *
+ */
+typedef struct {
+ VL53L0X_DevData_t Data; /*!< embed ST Ewok Dev data as "Data"*/
+
+ /*!< user specific field */
+ uint8_t I2cDevAddr; /*!< i2c device address user specific field */
+ uint8_t comms_type; /*!< Type of comms : VL53L0X_COMMS_I2C or VL53L0X_COMMS_SPI */
+ uint16_t comms_speed_khz; /*!< Comms speed [kHz] : typically 400kHz for I2C */
+
+} VL53L0X_Dev_t;
+
+
+/**
+ * @brief Declare the device Handle as a pointer of the structure @a VL53L0X_Dev_t.
+ *
+ */
+typedef VL53L0X_Dev_t* VL53L0X_DEV;
+
+/**
+ * @def PALDevDataGet
+ * @brief Get ST private structure @a VL53L0X_DevData_t data access
+ *
+ * @param Dev Device Handle
+ * @param field ST structure field name
+ * It maybe used and as real data "ref" not just as "get" for sub-structure item
+ * like PALDevDataGet(FilterData.field)[i] or PALDevDataGet(FilterData.MeasurementIndex)++
+ */
+#define PALDevDataGet(Dev, field) (Dev->Data.field)
+
+/**
+ * @def PALDevDataSet(Dev, field, data)
+ * @brief Set ST private structure @a VL53L0X_DevData_t data field
+ * @param Dev Device Handle
+ * @param field ST structure field name
+ * @param data Data to be set
+ */
+#define PALDevDataSet(Dev, field, data) (Dev->Data.field)=(data)
+
+
+/**
+ * @defgroup VL53L0X_registerAccess_group PAL Register Access Functions
+ * @brief PAL Register Access Functions
+ * @{
+ */
+
+/**
+ * Lock comms interface to serialize all commands to a shared I2C interface for a specific device
+ * @param Dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev);
+
+/**
+ * Unlock comms interface to serialize all commands to a shared I2C interface for a specific device
+ * @param Dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev);
+
+
+/**
+ * Writes the supplied byte buffer to the device
+ * @param Dev Device Handle
+ * @param index The register index
+ * @param pdata Pointer to uint8_t buffer containing the data to be written
+ * @param count Number of bytes in the supplied byte buffer
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
+
+/**
+ * Reads the requested number of bytes from the device
+ * @param Dev Device Handle
+ * @param index The register index
+ * @param pdata Pointer to the uint8_t buffer to store read data
+ * @param count Number of uint8_t's to read
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
+
+/**
+ * Write single byte register
+ * @param Dev Device Handle
+ * @param index The register index
+ * @param data 8 bit register data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data);
+
+/**
+ * Write word register
+ * @param Dev Device Handle
+ * @param index The register index
+ * @param data 16 bit register data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data);
+
+/**
+ * Write double word (4 byte) register
+ * @param Dev Device Handle
+ * @param index The register index
+ * @param data 32 bit register data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data);
+
+/**
+ * Read single byte register
+ * @param Dev Device Handle
+ * @param index The register index
+ * @param data pointer to 8 bit data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data);
+
+/**
+ * Read word (2byte) register
+ * @param Dev Device Handle
+ * @param index The register index
+ * @param data pointer to 16 bit data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data);
+
+/**
+ * Read dword (4byte) register
+ * @param Dev Device Handle
+ * @param index The register index
+ * @param data pointer to 32 bit data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data);
+
+/**
+ * Threat safe Update (read/modify/write) single byte register
+ *
+ * Final_reg = (Initial_reg & and_data) |or_data
+ *
+ * @param Dev Device Handle
+ * @param index The register index
+ * @param AndData 8 bit and data
+ * @param OrData 8 bit or data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData);
+
+/** @} end of VL53L0X_registerAccess_group */
+
+
+/**
+ * @brief execute delay in all polling API call
+ *
+ * A typical multi-thread or RTOs implementation is to sleep the task for some 5ms (with 100Hz max rate faster polling is not needed)
+ * if nothing specific is need you can define it as an empty/void macro
+ * @code
+ * #define VL53L0X_PollingDelay(...) (void)0
+ * @endcode
+ * @param Dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev); /* usually best implemented as a real function */
+
+/** @} end of VL53L0X_platform_group */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _VL53L0X_PLATFORM_H_ */
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X_platform_log.h Fri Sep 29 15:38:50 2017 +0000
@@ -0,0 +1,119 @@
+/*******************************************************************************
+Copyright © 2015, STMicroelectronics International N.V.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+********************************************************************************/
+
+
+#ifndef _VL53L0X_PLATFORM_LOG_H_
+#define _VL53L0X_PLATFORM_LOG_H_
+
+#include <stdio.h>
+#include <string.h>
+/* LOG Functions */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @file vl53l0_platform_log.h
+ *
+ * @brief platform log function definition
+ */
+
+//#define VL53L0X_LOG_ENABLE 0
+
+enum {
+ TRACE_LEVEL_NONE,
+ TRACE_LEVEL_ERRORS,
+ TRACE_LEVEL_WARNING,
+ TRACE_LEVEL_INFO,
+ TRACE_LEVEL_DEBUG,
+ TRACE_LEVEL_ALL,
+ TRACE_LEVEL_IGNORE
+};
+
+enum {
+ TRACE_FUNCTION_NONE = 0,
+ TRACE_FUNCTION_I2C = 1,
+ TRACE_FUNCTION_ALL = 0x7fffffff //all bits except sign
+};
+
+enum {
+ TRACE_MODULE_NONE = 0x0,
+ TRACE_MODULE_API = 0x1,
+ TRACE_MODULE_PLATFORM = 0x2,
+ TRACE_MODULE_ALL = 0x7fffffff //all bits except sign
+};
+
+
+#ifdef VL53L0X_LOG_ENABLE
+
+#include <sys/time.h>
+
+extern uint32_t _trace_level;
+
+
+
+int32_t VL53L0X_trace_config(char *filename, uint32_t modules, uint32_t level, uint32_t functions);
+
+void trace_print_module_function(uint32_t module, uint32_t level, uint32_t function, const char *format, ...);
+
+
+//extern FILE * log_file;
+
+#define LOG_GET_TIME() (int)clock()
+
+#define _LOG_FUNCTION_START(module, fmt, ... ) \
+ trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld <START> %s "fmt"\n", LOG_GET_TIME(), __FUNCTION__, ##__VA_ARGS__);
+
+#define _LOG_FUNCTION_END(module, status, ... )\
+ trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld <END> %s %d\n", LOG_GET_TIME(), __FUNCTION__, (int)status, ##__VA_ARGS__)
+
+#define _LOG_FUNCTION_END_FMT(module, status, fmt, ... )\
+ trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld <END> %s %d "fmt"\n", LOG_GET_TIME(), __FUNCTION__, (int)status,##__VA_ARGS__)
+
+// __func__ is gcc only
+#define VL53L0X_ErrLog( fmt, ...) fprintf(stderr, "VL53L0X_ErrLog %s" fmt "\n", __func__, ##__VA_ARGS__)
+
+#else /* VL53L0X_LOG_ENABLE no logging */
+ #define VL53L0X_ErrLog(...) (void)0
+ #define _LOG_FUNCTION_START(module, fmt, ... ) (void)0
+ #define _LOG_FUNCTION_END(module, status, ... ) (void)0
+ #define _LOG_FUNCTION_END_FMT(module, status, fmt, ... ) (void)0
+#endif /* else */
+
+#define VL53L0X_COPYSTRING(str, ...) strcpy(str, ##__VA_ARGS__)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _VL53L0X_PLATFORM_LOG_H_ */
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X_tuning.h Fri Sep 29 15:38:50 2017 +0000
@@ -0,0 +1,147 @@
+/*******************************************************************************
+Copyright © 2016, STMicroelectronics International N.V.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+
+#ifndef _VL53L0X_TUNING_H_
+#define _VL53L0X_TUNING_H_
+
+#include "VL53L0X_def.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+uint8_t DefaultTuningSettings[] = {
+
+ /* update 02/11/2015_v36 */
+ 0x01, 0xFF, 0x01,
+ 0x01, 0x00, 0x00,
+
+ 0x01, 0xFF, 0x00,
+ 0x01, 0x09, 0x00,
+ 0x01, 0x10, 0x00,
+ 0x01, 0x11, 0x00,
+
+ 0x01, 0x24, 0x01,
+ 0x01, 0x25, 0xff,
+ 0x01, 0x75, 0x00,
+
+ 0x01, 0xFF, 0x01,
+ 0x01, 0x4e, 0x2c,
+ 0x01, 0x48, 0x00,
+ 0x01, 0x30, 0x20,
+
+ 0x01, 0xFF, 0x00,
+ 0x01, 0x30, 0x09, /* mja changed from 0x64. */
+ 0x01, 0x54, 0x00,
+ 0x01, 0x31, 0x04,
+ 0x01, 0x32, 0x03,
+ 0x01, 0x40, 0x83,
+ 0x01, 0x46, 0x25,
+ 0x01, 0x60, 0x00,
+ 0x01, 0x27, 0x00,
+ 0x01, 0x50, 0x06,
+ 0x01, 0x51, 0x00,
+ 0x01, 0x52, 0x96,
+ 0x01, 0x56, 0x08,
+ 0x01, 0x57, 0x30,
+ 0x01, 0x61, 0x00,
+ 0x01, 0x62, 0x00,
+ 0x01, 0x64, 0x00,
+ 0x01, 0x65, 0x00,
+ 0x01, 0x66, 0xa0,
+
+ 0x01, 0xFF, 0x01,
+ 0x01, 0x22, 0x32,
+ 0x01, 0x47, 0x14,
+ 0x01, 0x49, 0xff,
+ 0x01, 0x4a, 0x00,
+
+ 0x01, 0xFF, 0x00,
+ 0x01, 0x7a, 0x0a,
+ 0x01, 0x7b, 0x00,
+ 0x01, 0x78, 0x21,
+
+ 0x01, 0xFF, 0x01,
+ 0x01, 0x23, 0x34,
+ 0x01, 0x42, 0x00,
+ 0x01, 0x44, 0xff,
+ 0x01, 0x45, 0x26,
+ 0x01, 0x46, 0x05,
+ 0x01, 0x40, 0x40,
+ 0x01, 0x0E, 0x06,
+ 0x01, 0x20, 0x1a,
+ 0x01, 0x43, 0x40,
+
+ 0x01, 0xFF, 0x00,
+ 0x01, 0x34, 0x03,
+ 0x01, 0x35, 0x44,
+
+ 0x01, 0xFF, 0x01,
+ 0x01, 0x31, 0x04,
+ 0x01, 0x4b, 0x09,
+ 0x01, 0x4c, 0x05,
+ 0x01, 0x4d, 0x04,
+
+
+ 0x01, 0xFF, 0x00,
+ 0x01, 0x44, 0x00,
+ 0x01, 0x45, 0x20,
+ 0x01, 0x47, 0x08,
+ 0x01, 0x48, 0x28,
+ 0x01, 0x67, 0x00,
+ 0x01, 0x70, 0x04,
+ 0x01, 0x71, 0x01,
+ 0x01, 0x72, 0xfe,
+ 0x01, 0x76, 0x00,
+ 0x01, 0x77, 0x00,
+
+ 0x01, 0xFF, 0x01,
+ 0x01, 0x0d, 0x01,
+
+ 0x01, 0xFF, 0x00,
+ 0x01, 0x80, 0x01,
+ 0x01, 0x01, 0xF8,
+
+ 0x01, 0xFF, 0x01,
+ 0x01, 0x8e, 0x01,
+ 0x01, 0x00, 0x01,
+ 0x01, 0xFF, 0x00,
+ 0x01, 0x80, 0x00,
+
+ 0x00, 0x00, 0x00
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _VL53L0X_TUNING_H_ */
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X_types.h Fri Sep 29 15:38:50 2017 +0000
@@ -0,0 +1,112 @@
+/*******************************************************************************
+Copyright © 2015, STMicroelectronics International N.V.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+********************************************************************************/
+/**
+ * @file vl53l0_types.h
+ * @brief VL53L0 types definition
+ */
+
+#ifndef VL53L0X_TYPES_H_
+#define VL53L0X_TYPES_H_
+
+/** @defgroup porting_type Basic type definition
+ * @ingroup VL53L0X_platform_group
+ *
+ * @brief file vl53l0_types.h files hold basic type definition that may requires porting
+ *
+ * contains type that must be defined for the platform\n
+ * when target platform and compiler provide stdint.h and stddef.h it is enough to include it.\n
+ * If stdint.h is not available review and adapt all signed and unsigned 8/16/32 bits basic types. \n
+ * If stddef.h is not available review and adapt NULL definition .
+ */
+#include <stdint.h>
+#include <stddef.h>
+
+#ifndef NULL
+#error "Error NULL definition should be done. Please add required include "
+#endif
+
+
+#if ! defined(STDINT_H) && !defined(_GCC_STDINT_H) &&!defined(__STDINT_DECLS) && !defined(_GCC_WRAP_STDINT_H)
+
+ #pragma message("Please review type definition of STDINT define for your platform and add to list above ")
+
+ /*
+ * target platform do not provide stdint or use a different #define than above
+ * to avoid seeing the message below addapt the #define list above or implement
+ * all type and delete these pragma
+ */
+
+/** \ingroup VL53L0X_portingType_group
+ * @{
+ */
+
+
+typedef unsigned long long uint64_t;
+
+
+/** @brief Typedef defining 32 bit unsigned int type.\n
+ * The developer should modify this to suit the platform being deployed.
+ */
+typedef unsigned int uint32_t;
+
+/** @brief Typedef defining 32 bit int type.\n
+ * The developer should modify this to suit the platform being deployed.
+ */
+typedef int int32_t;
+
+/** @brief Typedef defining 16 bit unsigned short type.\n
+ * The developer should modify this to suit the platform being deployed.
+ */
+typedef unsigned short uint16_t;
+
+/** @brief Typedef defining 16 bit short type.\n
+ * The developer should modify this to suit the platform being deployed.
+ */
+typedef short int16_t;
+
+/** @brief Typedef defining 8 bit unsigned char type.\n
+ * The developer should modify this to suit the platform being deployed.
+ */
+typedef unsigned char uint8_t;
+
+/** @brief Typedef defining 8 bit char type.\n
+ * The developer should modify this to suit the platform being deployed.
+ */
+typedef signed char int8_t;
+
+/** @} */
+#endif /* _STDINT_H */
+
+
+/** use where fractional values are expected
+ *
+ * Given a floating point value f it's .16 bit point is (int)(f*(1<<16))*/
+typedef uint32_t FixPoint1616_t;
+
+#endif /* VL53L0X_TYPES_H_ */
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_COMMON.lib Fri Sep 29 15:38:50 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#21096473f63e