ST
Library for use with VL53L0X, cut 1.1, based on mass-market API v1.1.
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Dependents: ConcorsoFinal HelloWorld_IHM01A1 m3pi_BT m3pi_LIDAR ... more
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X_NUCLEO_53L0A1
by 
ST Expansion SW Team
X-NUCLEO-53L0A1 Proximity Sensor Expansion Board Firmware Package
Introduction
This firmware package includes Component Device Drivers and the Board Support Package for STMicroelectronics' X-NUCLEO-53L0A1 Proximity sensor expansion board based on VL53L0X.
Firmware Library
Class X_NUCLEO_53L0A1 is intended to represent the Proximity sensor expansion board with the same name.
The expansion board provides support for the following components:
- on-board VL53L0X proximity sensor,
- up to two additional VL53L0X Satellites,
- on-board 4-digit display
It is intentionally implemented as a singleton because only one X-NUCLEO-VL53L0A1 may be deployed at a time in a HW component stack. In order to get the singleton instance you have to call class method `Instance()`, e.g.:
// Sensors expansion board singleton instance static X_NUCLEO_53L0A1 *board = X_NUCLEO_53L0A1::Instance(device_i2c, A2, D8, D2);
Example Applications
- Hello World 53L0
- Display 53L0A1
- Display 53L0A1 Interrupts
- Display 53L0A1 with satellites
- 53L0A1 Satellites with Interrupts
- 53L0A1_HandGestureRecognition
The library and sample application code were tested against mbed revision 143, dated 26th May 2017.
Revision 0:c523920bcc09, committed 2016-11-28
- Comitter:
- johnAlexander
- Date:
- Mon Nov 28 11:25:33 2016 +0000
- Child:
- 1:01b8004bc0a7
- Commit message:
- Singleshot, polled ranging example using central VL53L0X sensor.; Compatible with mass-market v1.1 C API.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Display/Display_class.h Mon Nov 28 11:25:33 2016 +0000
@@ -0,0 +1,408 @@
+/**
+ ******************************************************************************
+ * @file Display.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Header file for display
+ ******************************************************************************
+ * @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 __DISPLAY_H
+#define __DISPLAY_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "stmpe1600_class.h"
+#include "DevI2C.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * GPIO monitor pin state register
+ * 16 bit register LSB at lowest offset (little endian)
+ */
+#define GPMR 0x10
+/**
+ * STMPE1600 GPIO set pin state register
+ * 16 bit register LSB at lowest offset (little endian)
+ */
+#define GPSR 0x12
+/**
+ * STMPE1600 GPIO set pin direction register
+ * 16 bit register LSB at lowest offset
+ */
+#define GPDR 0x14
+
+
+/**
+ * cache the full set of expanded GPIO values to avoid i2c reading
+ */
+static union CurIOVal_u {
+ uint8_t bytes[4]; /*!< 4 bytes array i/o view */
+ uint32_t u32; /*!< single dword i/o view */
+}
+/** cache the extended IO values */
+CurIOVal;
+
+/**
+ * lookup table for digit to bit position
+ */
+static int DisplayBitPos[4]={0, 7, 16, 16+7};
+
+/**
+ * @defgroup XNUCLEO53L0A1_7Segment 7 segment display
+ *
+ * macro use for human readable segment building
+ * @code
+ * --s0--
+ * s s
+ * 5 1
+ * --s6--
+ * s s
+ * 4 2
+ * --s3-- . s7 (dp)
+ * @endcode
+ *
+ * @{
+ */
+/** decimal point bit mapping* */
+#define DP (1<<7)
+
+/** sgement s0 bit mapping*/
+#define S0 (1<<3)
+/** sgement s1 bit mapping*/
+#define S1 (1<<5)
+/** sgement s2 bit mapping*/
+#define S2 (1<<6)
+/** sgement s3 bit mapping*/
+#define S3 (1<<4)
+/** sgement s4 bit mapping*/
+#define S4 (1<<0)
+/** sgement s5 bit mapping*/
+#define S5 (1<<1)
+/** sgement s6 bit mapping*/
+#define S6 (1<<2)
+
+/**
+ * build a character by defining the non lighted segment (not one and no DP)
+ *
+ * @param ... literal sum and or combine of any macro to define any segment #S0 .. #S6
+ *
+ * example '9' is all segment on but S4
+ * @code
+ * ['9']= NOT_7_NO_DP(S4),
+ * @endcode
+ */
+#define NOT_7_NO_DP( ... ) (uint8_t) ~( __VA_ARGS__ + DP )
+
+/**
+ * Ascii to 7 segment lookup table
+ *
+ * Most common character are supported and follow http://www.twyman.org.uk/Fonts/
+ * few extra special \@ ^~ ... etc are present for specific demo purpose
+ */
+#ifndef __cpluplus
+/* refer to http://www.twyman.org.uk/Fonts/ */
+static const uint8_t ascii_to_display_lut[256]={
+ 0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,
+ [32]= 0,
+ 0,0,0,0,0,0,0,0,
+ 0,
+ [42]= NOT_7_NO_DP(),
+ 0,0,
+ [45]= S6,
+ 0,0,
+ [48]= NOT_7_NO_DP(S6),
+ [49]= S1+S2,
+ [50]= S0+S1+S6+S4+S3,
+ [51]= NOT_7_NO_DP(S4+S5),
+ [52]= S5+S1+S6+S2,
+ [53]= NOT_7_NO_DP(S1+S4),
+ [54]= NOT_7_NO_DP(S1),
+ [55]= S0+S1+S2,
+ [56]= NOT_7_NO_DP(0),
+ [57]= NOT_7_NO_DP(S4),
+ 0,0,0,
+ [61]= S3+S6,
+ 0,
+ [63]= NOT_7_NO_DP(S5+S3+S2),
+ [64]= S0+S3,
+ [65]= NOT_7_NO_DP(S3),
+ [66]= NOT_7_NO_DP(S0+S1), /* as b */
+ [67]= S0+S3+S4+S5, // same as [
+ [68]= S0+S3+S4+S5, // same as [ DUMMY
+ [69]= NOT_7_NO_DP(S1+S2),
+ [70]= S6+S5+S4+S0,
+ [71]= NOT_7_NO_DP(S4), /* same as 9 */
+ [72]= NOT_7_NO_DP(S0+S3),
+ [73]= S1+S2,
+ [74]= S1+S2+S3+S4,
+ [75]= NOT_7_NO_DP(S0+S3), /* same as H */
+ [76]= S3+S4+S5,
+ [77]= S0+S4+S2, /* same as m*/
+ [78]= S2+S4+S6, /* same as n*/
+ [79]= NOT_7_NO_DP(S6),
+ [80]= S0+S1+S2+S5+S6, // sames as 'q'
+ [81]= NOT_7_NO_DP(S3+S2),
+ [82]= S4+S6,
+ [83]= NOT_7_NO_DP(S1+S4), /* sasme as 5 */
+ [84]= NOT_7_NO_DP(S0+S1+S2), /* sasme as t */
+ [85]= NOT_7_NO_DP(S6+S0),
+ [86]= S4+S3+S2, // is u but u use U
+ [87]= S1+S3+S5,
+ [88]= NOT_7_NO_DP(S0+S3), // similar to H
+ [89]= NOT_7_NO_DP(S0+S4),
+ [90]= S0+S1+S6+S4+S3, // same as 2
+ [91]= S0+S3+S4+S5,
+ 0,
+ [93]= S0+S3+S2+S1,
+ [94]= S0, /* use as top bar */
+ [95]= S3,
+ 0,
+ [97]= S2+ S3+ S4+ S6 ,
+ [98]= NOT_7_NO_DP(S0+S1),
+ [99]= S6+S4+S3,
+ [100]= NOT_7_NO_DP(S0+S5),
+ [101]= NOT_7_NO_DP(S2),
+ [102]= S6+S5+S4+S0, /* same as F */
+ [103]= NOT_7_NO_DP(S4), /* same as 9 */
+ [104]= S6+S5+S4+S2,
+ [105]= S4,
+ [106]= S1+S2+S3+S4,
+ [107]= S6+S5+S4+S2, /* a h */
+ [108]= S3+S4,
+ [109]= S0+S4+S2, /* same as */
+ [110]= S2+S4+S6,
+ [111]= S6+S4+S3+S2,
+ [112]= NOT_7_NO_DP(S3+S2), // same as P
+ [113]= S0+S1+S2+S5+S6,
+ [114]= S4+S6,
+ [115]= NOT_7_NO_DP(S1+S4),
+ [116]= NOT_7_NO_DP(S0+S1+S2),
+ [117]= S4+S3+S2+S5+S1, // U
+ [118]= S4+S3+S2, // is u but u use U
+ [119]= S1+S3+S5,
+ [120]= NOT_7_NO_DP(S0+S3), // similar to H
+ [121]= NOT_7_NO_DP(S0+S4),
+ [122]= S0+S1+S6+S4+S3, // same as 2
+ 0,0,0,
+ [126]= S0+S3+S6 /* 3 h bar */
+};
+#else
+/* refer to http://www.twyman.org.uk/Fonts/ */
+static const uint8_t ascii_to_display_lut[256]={
+ [' ']= 0,
+ ['-']= S6,
+ ['_']= S3,
+ ['=']= S3+S6,
+ ['~']= S0+S3+S6, /* 3 h bar */
+ ['^']= S0, /* use as top bar */
+
+ ['?']= NOT_7_NO_DP(S5+S3+S2),
+ ['*']= NOT_7_NO_DP(),
+ ['[']= S0+S3+S4+S5,
+ [']']= S0+S3+S2+S1,
+ ['@']= S0+S3,
+
+ ['0']= NOT_7_NO_DP(S6),
+ ['1']= S1+S2,
+ ['2']= S0+S1+S6+S4+S3,
+ ['3']= NOT_7_NO_DP(S4+S5),
+ ['4']= S5+S1+S6+S2,
+ ['5']= NOT_7_NO_DP(S1+S4),
+ ['6']= NOT_7_NO_DP(S1),
+ ['7']= S0+S1+S2,
+ ['8']= NOT_7_NO_DP(0),
+ ['9']= NOT_7_NO_DP(S4),
+
+ ['a']= S2+ S3+ S4+ S6 ,
+ ['b']= NOT_7_NO_DP(S0+S1),
+ ['c']= S6+S4+S3,
+ ['d']= NOT_7_NO_DP(S0+S5),
+ ['e']= NOT_7_NO_DP(S2),
+ ['f']= S6+S5+S4+S0, /* same as F */
+ ['g']= NOT_7_NO_DP(S4), /* same as 9 */
+ ['h']= S6+S5+S4+S2,
+ ['i']= S4,
+ ['j']= S1+S2+S3+S4,
+ ['k']= S6+S5+S4+S2, /* a h */
+ ['l']= S3+S4,
+ ['m']= S0+S4+S2, /* same as */
+ ['n']= S2+S4+S6,
+ ['o']= S6+S4+S3+S2,
+ ['p']= NOT_7_NO_DP(S3+S2), // same as P
+ ['q']= S0+S1+S2+S5+S6,
+ ['r']= S4+S6,
+ ['s']= NOT_7_NO_DP(S1+S4),
+ ['t']= NOT_7_NO_DP(S0+S1+S2),
+ ['u']= S4+S3+S2+S5+S1, // U
+ ['v']= S4+S3+S2, // is u but u use U
+ ['w']= S1+S3+S5,
+ ['x']= NOT_7_NO_DP(S0+S3), // similar to H
+ ['y']= NOT_7_NO_DP(S0+S4),
+ ['z']= S0+S1+S6+S4+S3, // same as 2
+
+ ['A']= NOT_7_NO_DP(S3),
+ ['B']= NOT_7_NO_DP(S0+S1), /* as b */
+ ['C']= S0+S3+S4+S5, // same as [
+ ['E']= NOT_7_NO_DP(S1+S2),
+ ['F']= S6+S5+S4+S0,
+ ['G']= NOT_7_NO_DP(S4), /* same as 9 */
+ ['H']= NOT_7_NO_DP(S0+S3),
+ ['I']= S1+S2,
+ ['J']= S1+S2+S3+S4,
+ ['K']= NOT_7_NO_DP(S0+S3), /* same as H */
+ ['L']= S3+S4+S5,
+ ['M']= S0+S4+S2, /* same as m*/
+ ['N']= S2+S4+S6, /* same as n*/
+ ['O']= NOT_7_NO_DP(S6),
+ ['P']= S0+S1+S2+S5+S6, // sames as 'q'
+ ['Q']= NOT_7_NO_DP(S3+S2),
+ ['R']= S4+S6,
+ ['S']= NOT_7_NO_DP(S1+S4), /* sasme as 5 */
+ ['T']= NOT_7_NO_DP(S0+S1+S2), /* sasme as t */
+ ['U']= NOT_7_NO_DP(S6+S0),
+ ['V']= S4+S3+S2, // is u but u use U
+ ['W']= S1+S3+S5,
+ ['X']= NOT_7_NO_DP(S0+S3), // similar to H
+ ['Y']= NOT_7_NO_DP(S0+S4),
+ ['Z']= S0+S1+S6+S4+S3 // same as 2
+};
+#endif
+
+
+#undef S0
+#undef S1
+#undef S2
+#undef S3
+#undef S4
+#undef S5
+#undef S6
+#undef DP
+
+/** @} */
+
+//#define DISPLAY_DELAY 1 // in mSec
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing Display
+ */
+
+class Display
+{
+private:
+ STMPE1600 &stmpe1600_exp0;
+ STMPE1600 &stmpe1600_exp1;
+public:
+ /** Constructor
+ * @param[in] &stmpe_1600 device handler to be used for display control
+ */
+ Display (STMPE1600 &stmpe_1600_exp0, STMPE1600 &stmpe_1600_exp1) : stmpe1600_exp0(stmpe_1600_exp0), stmpe1600_exp1(stmpe_1600_exp1) {
+ uint16_t ExpanderData;
+
+ // detect the extenders
+ stmpe1600_exp0.read16bitReg(0x00, &ExpanderData);
+// if (ExpanderData != 0x1600) {/* log - failed to find expander exp0 */ }
+ stmpe1600_exp1.read16bitReg(0x00, &ExpanderData);
+// if (ExpanderData != 0x1600) {/* log - failed to find expander exp1 */ }
+
+ // configure all necessary GPIO pins as outputs
+ ExpanderData = 0xFFFF;
+ stmpe1600_exp0.write16bitReg(GPDR, &ExpanderData);
+ ExpanderData = 0xBFFF; // leave bit 14 as an input, for the pushbutton, PB1.
+ stmpe1600_exp1.write16bitReg(GPDR, &ExpanderData);
+
+ // shut down all segment and all device
+ ExpanderData = 0x7F + (0x7F << 7);
+ stmpe1600_exp0.write16bitReg(GPSR, &ExpanderData);
+ stmpe1600_exp1.write16bitReg(GPSR, &ExpanderData);
+ }
+
+ /*** Interface Methods ***/
+ /**
+ * @brief Print the string on display
+ * @param[in] String to be printed
+ * @param[in] String lenght [min 1, max 4]
+ * @return void
+ */
+ void DisplayString (const char *str)
+ {
+ uint16_t ExpanderData;
+ uint32_t Segments;
+ int BitPos;
+ int i;
+
+ for( i=0; i<4 && str[i]!=0; i++){
+ Segments = (uint32_t)ascii_to_display_lut[(uint8_t)str[i]];
+ Segments =(~Segments)&0x7F;
+ BitPos=DisplayBitPos[i];
+ CurIOVal.u32 &=~(0x7F<<BitPos);
+ CurIOVal.u32 |= Segments<<BitPos;
+ }
+ /* clear unused digit */
+ for( ; i<4;i++){
+ BitPos=DisplayBitPos[i];
+ CurIOVal.u32 |=0x7F<<BitPos;
+ }
+
+// stmpe1600_exp0.write16bitReg(GPSR, (uint16_t *)&CurIOVal.bytes[0]);
+// stmpe1600_exp1.write16bitReg(GPSR, (uint16_t *)&CurIOVal.bytes[2]);
+
+// ordered low-byte/high-byte!
+ ExpanderData = (CurIOVal.bytes[1] << 8) + CurIOVal.bytes[0];
+ stmpe1600_exp0.write16bitReg(GPSR, &ExpanderData);
+ CurIOVal.bytes[3] |= 0x80; // ensure highest bit is high, as this is xshutdown pin on central sensor!
+ ExpanderData = (CurIOVal.bytes[3] << 8) + CurIOVal.bytes[2];
+ stmpe1600_exp1.write16bitReg(GPSR, &ExpanderData);
+
+ }
+
+ void ClearDisplay(void)
+ {
+ uint16_t ExpanderData;
+
+ ExpanderData = 0x7F + (0x7F << 7);
+ stmpe1600_exp0.write16bitReg(GPSR, &ExpanderData);
+ stmpe1600_exp1.write16bitReg(GPSR, &ExpanderData);
+ }
+
+};
+
+#ifdef __cplusplus
+}
+#endif
+#endif // __DISPLAY_H
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Interfaces/GenericSensor.h Mon Nov 28 11:25:33 2016 +0000
@@ -0,0 +1,68 @@
+/**
+ ******************************************************************************
+ * @file GenericSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a generic sensor
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __GENERIC_SENSOR_CLASS_H
+#define __GENERIC_SENSOR_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+
+/* Classes ------------------------------------------------------------------*/
+/** An abstract class for Generic sensors
+ */
+class GenericSensor
+{
+ public:
+ /**
+ * @brief Initialization of sensor
+ * @param[out] ptr Pointer to device specific initalization structure
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int Init() = 0;
+
+ /**
+ * @brief Get ID of sensor
+ * @param[out] id Pointer to where to store the ID to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int ReadID() = 0;
+};
+
+#endif /* __GENERIC_SENSOR_CLASS_H */
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Interfaces/RangeSensor.h Mon Nov 28 11:25:33 2016 +0000
@@ -0,0 +1,61 @@
+/**
+ ******************************************************************************
+ * @file RangeSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a range sensor
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __RANGE_SENSOR_CLASS_H
+#define __RANGE_SENSOR_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "GenericSensor.h"
+
+/* Classes ------------------------------------------------------------------*/
+/** An abstract class for range sensors
+ */
+class RangeSensor : public GenericSensor
+{
+ public:
+ /**
+ * @brief Get current range [mm]
+ * @param[out] piData Pointer to where to store range to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int GetRange(int32_t *piData) = 0;
+};
+
+#endif /* __RANGE_SENSOR_CLASS_H */
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/STMPE1600/stmpe1600_class.h Mon Nov 28 11:25:33 2016 +0000
@@ -0,0 +1,311 @@
+/**
+ ******************************************************************************
+ * @file stmpe1600_class.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 ChipID_0_7 (uint8_t)0x00
+#define ChipID_8_15 (uint8_t)0x01
+#define VersionId (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 addres (deft STMPE1600_DEF_DEVICE_ADDRESS)
+ * @param[in] lvl the default ot pin level
+ */
+ STMPE1600DigiOut (DevI2C &i2c, ExpGpioPinName outpinname, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS, bool lvl=STMPE1600_DEF_DIGIOUT_LVL): dev_i2c(i2c), expdevaddr(DevAddr), exppinname(outpinname)
+ {
+ uint8_t data[2];
+ if (exppinname == NOT_CON) return;
+ /* set the exppinname as output */
+ dev_i2c.i2c_read(data, expdevaddr, GPDR_0_7, 1);
+ dev_i2c.i2c_read(&data[1], expdevaddr, GPDR_8_15, 1);
+ *(uint16_t*)data = *(uint16_t*)data | (1<<(uint16_t)exppinname); // set gpio as out
+ dev_i2c.i2c_write(data, expdevaddr, GPDR_0_7, 1);
+ dev_i2c.i2c_write(&data[1], expdevaddr, 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 (exppinname == NOT_CON) return;
+ /* set the exppinname state to lvl */
+ dev_i2c.i2c_read(data, expdevaddr, GPSR_0_7, 2);
+ *(uint16_t*)data = *(uint16_t*)data & (uint16_t)(~(1<<(uint16_t)exppinname)); // set pin mask
+ if (lvl) *(uint16_t*)data = *(uint16_t*)data | (uint16_t)(1<<(uint16_t)exppinname);
+ dev_i2c.i2c_write(data, expdevaddr, GPSR_0_7, 2);
+ }
+
+ /**
+ * @brief Overload assignement operator
+ */
+ STMPE1600DigiOut& operator=(int lvl)
+ {
+ write (lvl);
+ return *this;
+ }
+
+ private:
+ DevI2C &dev_i2c;
+ uint8_t expdevaddr;
+ ExpGpioPinName exppinname;
+};
+
+/* 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 inpinname, uint8_t DevAddr=STMPE1600_DEF_DEVICE_ADDRESS): dev_i2c(i2c), expdevaddr(DevAddr), exppinname(inpinname)
+ {
+ uint8_t data[2];
+ if (exppinname == NOT_CON) return;
+ /* set the exppinname as input pin direction */
+ dev_i2c.i2c_read(data, expdevaddr, GPDR_0_7, 2);
+ *(uint16_t*)data = *(uint16_t*)data & (uint16_t)(~(1<<(uint16_t)exppinname)); // set gpio as in
+ dev_i2c.i2c_write(data, expdevaddr, GPDR_0_7, 2);
+ }
+
+ /**
+ * @brief Read the input pin
+ * @return The pin logical state 0 or 1
+ */
+ bool read ()
+ {
+ uint8_t data[2];
+ if (exppinname == NOT_CON) return 0;
+ /* read the exppinname */
+ dev_i2c.i2c_read(data, expdevaddr, GPMR_0_7, 2);
+ *(uint16_t*)data = *(uint16_t*)data & (uint16_t)(1<<(uint16_t)exppinname); // mask the in gpio
+ if (data[0] || data[1]) return 1;
+ return 0;
+ }
+
+ operator int()
+ {
+ return read();
+ }
+
+ private:
+ DevI2C &dev_i2c;
+ uint8_t expdevaddr;
+ ExpGpioPinName exppinname;
+};
+
+/* 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 DevAddr=STMPE1600_DEF_DEVICE_ADDRESS ) : dev_i2c(i2c)
+ {
+ dev_i2c = i2c;
+ expdevaddr = DevAddr;
+ writeSYS_CTRL (SOFT_RESET);
+
+ GPDR0_15 = (uint16_t)0; // gpio dir all IN
+ write16bitReg (GPDR_0_7, &GPDR0_15);
+ GPSR0_15 = (uint16_t)0x0ffff; // gpio status all 1
+ write16bitReg (GPSR_0_7, &GPSR0_15);
+ }
+
+ /**
+ * @brief Write the SYS_CTRL register
+ * @param[in] Data to be written (bit fields)
+ */
+ void writeSYS_CTRL (uint8_t data) // data = SOFT_RESET reset the device
+ {
+ dev_i2c.i2c_write((uint8_t*)data, expdevaddr, SYS_CTRL, 1);
+ }
+
+ /**
+ * @brief Set the out pin
+ * @param[in] The pin name
+ * @return 0 on Success
+ */
+ bool setGPIO (ExpGpioPinName PinName)
+ {
+ if (PinName == NOT_CON) return true;
+ GPSR0_15 = GPSR0_15 | ((uint16_t)0x0001<<PinName);
+ write16bitReg (GPSR_0_7 , &GPSR0_15);
+ return false;
+ }
+
+ /**
+ * @brief Clear the out pin
+ * @param[in] The pin name
+ * @return 0 on Success
+ */
+ bool clrGPIO (ExpGpioPinName PinName)
+ {
+ if (PinName == NOT_CON) return true;
+ GPSR0_15 = GPSR0_15 & (~((uint16_t)0x0001<<PinName));
+ write16bitReg (GPSR_0_7 , &GPSR0_15);
+ return false;
+ }
+
+ /**
+ * @brief Read the input pin
+ * @param[in] The pin name
+ * @return The logical pin level
+ */
+ bool rdGPIO (ExpGpioPinName PinName)
+ {
+ uint16_t gpmr0_15;
+ if (PinName == NOT_CON) return true;
+ read16bitReg (GPMR_0_7, &gpmr0_15);
+ gpmr0_15 = gpmr0_15 & ((uint16_t)0x0001<<PinName);
+ 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 setGPIOdir (ExpGpioPinName PinName, ExpGpioPinDirection PinDir)
+ {
+ if (PinName == NOT_CON || PinDir == NOT_CONNECTED) return true;
+ GPDR0_15 = GPDR0_15 & (~((uint16_t)0x0001<<PinName)); // clear the Pin
+ GPDR0_15 = GPDR0_15 | ((uint16_t)PinDir<<PinName);
+ write16bitReg (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 read16bitReg (uint8_t Reg16Addr, uint16_t *Reg16Data)
+ {
+ dev_i2c.i2c_read((uint8_t*)Reg16Data, expdevaddr, Reg16Addr, 2);
+ }
+
+ /**
+ * @brief Write a 16 bits register
+ * @param[in] The register address
+ * @param[in] The pointer to the data to be written
+ */
+ void write16bitReg (uint8_t Reg16Addr, uint16_t *Reg16Data)
+ {
+ dev_i2c.i2c_write((uint8_t*)Reg16Data, expdevaddr, Reg16Addr, 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 expdevaddr; // expander device i2c addr
+};
+
+#endif // __STMPE1600_CLASS
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/VL53L0X/vl53l0x_class.cpp Mon Nov 28 11:25:33 2016 +0000
@@ -0,0 +1,5349 @@
+/**
+ ******************************************************************************
+ * @file vl53l0x_class.cpp
+ * @author IMG
+ * @version V0.0.1
+ * @date 28-June-2016
+ * @brief Implementation file for the VL53L0X driver class
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+/* Includes */
+#include <stdlib.h>
+
+#include "vl53l0x_class.h"
+
+//#include "vl53l0x_api_core.h"
+//#include "vl53l0x_api_calibration.h"
+//#include "vl53l0x_api_strings.h"
+#include "vl53l0x_interrupt_threshold_settings.h"
+#include "vl53l0x_tuning.h"
+#include "vl53l0x_types.h"
+
+
+/****************** define for i2c configuration *******************************/
+
+#define TEMP_BUF_SIZE 64
+
+/** Maximum buffer size to be used in i2c */
+#define VL53L0X_MAX_I2C_XFER_SIZE 64 /* Maximum buffer size to be used in i2c */
+#define VL53L0X_I2C_USER_VAR /* none but could be for a flag var to get/pass to mutex interruptible return flags and try again */
+
+
+#define LOG_FUNCTION_START(fmt, ...) \
+ _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__)
+#define LOG_FUNCTION_END(status, ...) \
+ _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__)
+#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
+ _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__)
+
+#ifdef VL53L0X_LOG_ENABLE
+#define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \
+ level, TRACE_FUNCTION_NONE, ##__VA_ARGS__)
+#endif
+
+#define REF_ARRAY_SPAD_0 0
+#define REF_ARRAY_SPAD_5 5
+#define REF_ARRAY_SPAD_10 10
+
+uint32_t refArrayQuadrants[4] = {REF_ARRAY_SPAD_10, REF_ARRAY_SPAD_5,
+ REF_ARRAY_SPAD_0, REF_ARRAY_SPAD_5 };
+
+
+
+
+VL53L0X_Error VL53L0X::VL53L0X_device_read_strobe(VL53L0X_DEV Dev)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t strobe;
+ uint32_t LoopNb;
+ LOG_FUNCTION_START("");
+
+ Status |= VL53L0X_WrByte(Dev, 0x83, 0x00);
+
+ /* polling
+ * use timeout to avoid deadlock*/
+ if (Status == VL53L0X_ERROR_NONE) {
+ LoopNb = 0;
+ do {
+ Status = VL53L0X_RdByte(Dev, 0x83, &strobe);
+ if ((strobe != 0x00) || Status != VL53L0X_ERROR_NONE)
+ break;
+
+ LoopNb = LoopNb + 1;
+ } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);
+
+ if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP)
+ Status = VL53L0X_ERROR_TIME_OUT;
+
+ }
+
+ Status |= VL53L0X_WrByte(Dev, 0x83, 0x01);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option)
+{
+
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t byte;
+ uint32_t TmpDWord;
+ uint8_t ModuleId;
+ uint8_t Revision;
+ uint8_t ReferenceSpadCount = 0;
+ uint8_t ReferenceSpadType = 0;
+ uint32_t PartUIDUpper = 0;
+ uint32_t PartUIDLower = 0;
+ uint32_t OffsetFixed1104_mm = 0;
+ int16_t OffsetMicroMeters = 0;
+ uint32_t DistMeasTgtFixed1104_mm = 400 << 4;
+ uint32_t DistMeasFixed1104_400_mm = 0;
+ uint32_t SignalRateMeasFixed1104_400_mm = 0;
+ char ProductId[19];
+ char *ProductId_tmp;
+ uint8_t ReadDataFromDeviceDone;
+ FixPoint1616_t SignalRateMeasFixed400mmFix = 0;
+ uint8_t NvmRefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE];
+ int i;
+
+
+ LOG_FUNCTION_START("");
+
+ ReadDataFromDeviceDone = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+ ReadDataFromDeviceDone);
+
+ /* This access is done only once after that a GetDeviceInfo or
+ * datainit is done*/
+ if (ReadDataFromDeviceDone != 7) {
+
+ Status |= VL53L0X_WrByte(Dev, 0x80, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
+
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06);
+ Status |= VL53L0X_RdByte(Dev, 0x83, &byte);
+ Status |= VL53L0X_WrByte(Dev, 0x83, byte|4);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x07);
+ Status |= VL53L0X_WrByte(Dev, 0x81, 0x01);
+
+ Status |= VL53L0X_PollingDelay(Dev);
+
+ Status |= VL53L0X_WrByte(Dev, 0x80, 0x01);
+
+ if (((option & 1) == 1) &&
+ ((ReadDataFromDeviceDone & 1) == 0)) {
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x6b);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ ReferenceSpadCount = (uint8_t)((TmpDWord >> 8) & 0x07f);
+ ReferenceSpadType = (uint8_t)((TmpDWord >> 15) & 0x01);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x24);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+
+ NvmRefGoodSpadMap[0] = (uint8_t)((TmpDWord >> 24)
+ & 0xff);
+ NvmRefGoodSpadMap[1] = (uint8_t)((TmpDWord >> 16)
+ & 0xff);
+ NvmRefGoodSpadMap[2] = (uint8_t)((TmpDWord >> 8)
+ & 0xff);
+ NvmRefGoodSpadMap[3] = (uint8_t)(TmpDWord & 0xff);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x25);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ NvmRefGoodSpadMap[4] = (uint8_t)((TmpDWord >> 24)
+ & 0xff);
+ NvmRefGoodSpadMap[5] = (uint8_t)((TmpDWord >> 16)
+ & 0xff);
+ }
+
+ if (((option & 2) == 2) &&
+ ((ReadDataFromDeviceDone & 2) == 0)) {
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x02);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdByte(Dev, 0x90, &ModuleId);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdByte(Dev, 0x90, &Revision);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x77);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ ProductId[0] = (char)((TmpDWord >> 25) & 0x07f);
+ ProductId[1] = (char)((TmpDWord >> 18) & 0x07f);
+ ProductId[2] = (char)((TmpDWord >> 11) & 0x07f);
+ ProductId[3] = (char)((TmpDWord >> 4) & 0x07f);
+
+ byte = (uint8_t)((TmpDWord & 0x00f) << 3);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x78);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ ProductId[4] = (char)(byte +
+ ((TmpDWord >> 29) & 0x07f));
+ ProductId[5] = (char)((TmpDWord >> 22) & 0x07f);
+ ProductId[6] = (char)((TmpDWord >> 15) & 0x07f);
+ ProductId[7] = (char)((TmpDWord >> 8) & 0x07f);
+ ProductId[8] = (char)((TmpDWord >> 1) & 0x07f);
+
+ byte = (uint8_t)((TmpDWord & 0x001) << 6);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x79);
+
+ Status |= VL53L0X_device_read_strobe(Dev);
+
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ ProductId[9] = (char)(byte +
+ ((TmpDWord >> 26) & 0x07f));
+ ProductId[10] = (char)((TmpDWord >> 19) & 0x07f);
+ ProductId[11] = (char)((TmpDWord >> 12) & 0x07f);
+ ProductId[12] = (char)((TmpDWord >> 5) & 0x07f);
+
+ byte = (uint8_t)((TmpDWord & 0x01f) << 2);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x7A);
+
+ Status |= VL53L0X_device_read_strobe(Dev);
+
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ ProductId[13] = (char)(byte +
+ ((TmpDWord >> 30) & 0x07f));
+ ProductId[14] = (char)((TmpDWord >> 23) & 0x07f);
+ ProductId[15] = (char)((TmpDWord >> 16) & 0x07f);
+ ProductId[16] = (char)((TmpDWord >> 9) & 0x07f);
+ ProductId[17] = (char)((TmpDWord >> 2) & 0x07f);
+ ProductId[18] = '\0';
+
+ }
+
+ if (((option & 4) == 4) &&
+ ((ReadDataFromDeviceDone & 4) == 0)) {
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDUpper);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x7C);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDLower);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x73);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ SignalRateMeasFixed1104_400_mm = (TmpDWord &
+ 0x0000000ff) << 8;
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x74);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ SignalRateMeasFixed1104_400_mm |= ((TmpDWord &
+ 0xff000000) >> 24);
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x75);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ DistMeasFixed1104_400_mm = (TmpDWord & 0x0000000ff)
+ << 8;
+
+ Status |= VL53L0X_WrByte(Dev, 0x94, 0x76);
+ Status |= VL53L0X_device_read_strobe(Dev);
+ Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
+
+ DistMeasFixed1104_400_mm |= ((TmpDWord & 0xff000000)
+ >> 24);
+ }
+
+ Status |= VL53L0X_WrByte(Dev, 0x81, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06);
+ Status |= VL53L0X_RdByte(Dev, 0x83, &byte);
+ Status |= VL53L0X_WrByte(Dev, 0x83, byte&0xfb);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0x00, 0x01);
+
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0x80, 0x00);
+ }
+
+ if ((Status == VL53L0X_ERROR_NONE) &&
+ (ReadDataFromDeviceDone != 7)) {
+ /* Assign to variable if status is ok */
+ if (((option & 1) == 1) &&
+ ((ReadDataFromDeviceDone & 1) == 0)) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadCount, ReferenceSpadCount);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadType, ReferenceSpadType);
+
+ for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) {
+ Dev->Data.SpadData.RefGoodSpadMap[i] =
+ NvmRefGoodSpadMap[i];
+ }
+ }
+
+ if (((option & 2) == 2) &&
+ ((ReadDataFromDeviceDone & 2) == 0)) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ ModuleId, ModuleId);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ Revision, Revision);
+
+ ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+ ProductId);
+ VL53L0X_COPYSTRING(ProductId_tmp, ProductId);
+
+ }
+
+ if (((option & 4) == 4) &&
+ ((ReadDataFromDeviceDone & 4) == 0)) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ PartUIDUpper, PartUIDUpper);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ PartUIDLower, PartUIDLower);
+
+ SignalRateMeasFixed400mmFix =
+ VL53L0X_FIXPOINT97TOFIXPOINT1616(
+ SignalRateMeasFixed1104_400_mm);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ SignalRateMeasFixed400mm,
+ SignalRateMeasFixed400mmFix);
+
+ OffsetMicroMeters = 0;
+ if (DistMeasFixed1104_400_mm != 0) {
+ OffsetFixed1104_mm =
+ DistMeasFixed1104_400_mm -
+ DistMeasTgtFixed1104_mm;
+ OffsetMicroMeters = (OffsetFixed1104_mm
+ * 1000) >> 4;
+ OffsetMicroMeters *= -1;
+ }
+
+ PALDevDataSet(Dev,
+ Part2PartOffsetAdjustmentNVMMicroMeter,
+ OffsetMicroMeters);
+ }
+ byte = (uint8_t)(ReadDataFromDeviceDone|option);
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone,
+ byte);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
+ int32_t *pOffsetCalibrationDataMicroMeter)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint16_t RangeOffsetRegister;
+ int16_t cMaxOffset = 2047;
+ int16_t cOffsetRange = 4096;
+
+ /* Note that offset has 10.2 format */
+
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
+ &RangeOffsetRegister);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ RangeOffsetRegister = (RangeOffsetRegister & 0x0fff);
+
+ /* Apply 12 bit 2's compliment conversion */
+ if (RangeOffsetRegister > cMaxOffset)
+ *pOffsetCalibrationDataMicroMeter =
+ (int16_t)(RangeOffsetRegister - cOffsetRange)
+ * 250;
+ else
+ *pOffsetCalibrationDataMicroMeter =
+ (int16_t)RangeOffsetRegister * 250;
+
+ }
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev,
+ int32_t *pOffsetCalibrationDataMicroMeter)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_get_offset_calibration_data_micro_meter(Dev,
+ pOffsetCalibrationDataMicroMeter);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
+ int32_t OffsetCalibrationDataMicroMeter)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ int32_t cMaxOffsetMicroMeter = 511000;
+ int32_t cMinOffsetMicroMeter = -512000;
+ int16_t cOffsetRange = 4096;
+ uint32_t encodedOffsetVal;
+
+ LOG_FUNCTION_START("");
+
+ if (OffsetCalibrationDataMicroMeter > cMaxOffsetMicroMeter)
+ OffsetCalibrationDataMicroMeter = cMaxOffsetMicroMeter;
+ else if (OffsetCalibrationDataMicroMeter < cMinOffsetMicroMeter)
+ OffsetCalibrationDataMicroMeter = cMinOffsetMicroMeter;
+
+ /* The offset register is 10.2 format and units are mm
+ * therefore conversion is applied by a division of
+ * 250.
+ */
+ if (OffsetCalibrationDataMicroMeter >= 0) {
+ encodedOffsetVal =
+ OffsetCalibrationDataMicroMeter/250;
+ } else {
+ encodedOffsetVal =
+ cOffsetRange +
+ OffsetCalibrationDataMicroMeter/250;
+ }
+
+ Status = VL53L0X_WrWord(Dev,
+ VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
+ encodedOffsetVal);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_SetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev,
+ int32_t OffsetCalibrationDataMicroMeter)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_set_offset_calibration_data_micro_meter(Dev,
+ OffsetCalibrationDataMicroMeter);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ int32_t CorrectedOffsetMicroMeters;
+ int32_t CurrentOffsetMicroMeters;
+
+ /* if we run on this function we can read all the NVM info
+ * used by the API */
+ Status = VL53L0X_get_info_from_device(Dev, 7);
+
+ /* Read back current device offset */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_GetOffsetCalibrationDataMicroMeter(Dev,
+ &CurrentOffsetMicroMeters);
+ }
+
+ /* Apply Offset Adjustment derived from 400mm measurements */
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ /* Store initial device offset */
+ PALDevDataSet(Dev, Part2PartOffsetNVMMicroMeter,
+ CurrentOffsetMicroMeters);
+
+ CorrectedOffsetMicroMeters = CurrentOffsetMicroMeters +
+ (int32_t)PALDevDataGet(Dev,
+ Part2PartOffsetAdjustmentNVMMicroMeter);
+
+ Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev,
+ CorrectedOffsetMicroMeters);
+
+ /* store current, adjusted offset */
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETPARAMETERFIELD(Dev, RangeOffsetMicroMeters,
+ CorrectedOffsetMicroMeters);
+ }
+ }
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetDeviceMode(VL53L0X_DEV Dev,
+ VL53L0X_DeviceModes *pDeviceMode)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ VL53L0X_GETPARAMETERFIELD(Dev, DeviceMode, *pDeviceMode);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev,
+ uint32_t *pInterMeasurementPeriodMilliSeconds)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint16_t osc_calibrate_val;
+ uint32_t IMPeriodMilliSeconds;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL,
+ &osc_calibrate_val);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdDWord(Dev,
+ VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
+ &IMPeriodMilliSeconds);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (osc_calibrate_val != 0) {
+ *pInterMeasurementPeriodMilliSeconds =
+ IMPeriodMilliSeconds / osc_calibrate_val;
+ }
+ VL53L0X_SETPARAMETERFIELD(Dev,
+ InterMeasurementPeriodMilliSeconds,
+ *pInterMeasurementPeriodMilliSeconds);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev,
+ FixPoint1616_t *pXTalkCompensationRateMegaCps)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint16_t Value;
+ FixPoint1616_t TempFix1616;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&Value);
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (Value == 0) {
+ /* the Xtalk is disabled return value from memory */
+ VL53L0X_GETPARAMETERFIELD(Dev,
+ XTalkCompensationRateMegaCps, TempFix1616);
+ *pXTalkCompensationRateMegaCps = TempFix1616;
+ VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable,
+ 0);
+ } else {
+ TempFix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(Value);
+ *pXTalkCompensationRateMegaCps = TempFix1616;
+ VL53L0X_SETPARAMETERFIELD(Dev,
+ XTalkCompensationRateMegaCps, TempFix1616);
+ VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable,
+ 1);
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+ FixPoint1616_t *pLimitCheckValue)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t EnableZeroValue = 0;
+ uint16_t Temp16;
+ FixPoint1616_t TempFix1616;
+
+ LOG_FUNCTION_START("");
+
+ switch (LimitCheckId) {
+
+ case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
+ /* internal computation: */
+ VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, TempFix1616);
+ EnableZeroValue = 0;
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
+ &Temp16);
+ if (Status == VL53L0X_ERROR_NONE)
+ TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16);
+
+
+ EnableZeroValue = 1;
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
+ /* internal computation: */
+ VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, TempFix1616);
+ EnableZeroValue = 0;
+ break;
+
+ case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
+ /* internal computation: */
+ VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, TempFix1616);
+ EnableZeroValue = 0;
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
+ &Temp16);
+ if (Status == VL53L0X_ERROR_NONE)
+ TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16);
+
+
+ EnableZeroValue = 0;
+ break;
+
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ if (EnableZeroValue == 1) {
+
+ if (TempFix1616 == 0) {
+ /* disabled: return value from memory */
+ VL53L0X_GETARRAYPARAMETERFIELD(Dev,
+ LimitChecksValue, LimitCheckId,
+ TempFix1616);
+ *pLimitCheckValue = TempFix1616;
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksEnable, LimitCheckId, 0);
+ } else {
+ *pLimitCheckValue = TempFix1616;
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksValue, LimitCheckId,
+ TempFix1616);
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev,
+ LimitChecksEnable, LimitCheckId, 1);
+ }
+ } else {
+ *pLimitCheckValue = TempFix1616;
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+ uint8_t *pLimitCheckEnable)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t Temp8;
+
+ LOG_FUNCTION_START("");
+
+ if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ *pLimitCheckEnable = 0;
+ } else {
+ VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+ LimitCheckId, Temp8);
+ *pLimitCheckEnable = Temp8;
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev,
+ uint8_t *pWrapAroundCheckEnable)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t data;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data);
+ if (Status == VL53L0X_ERROR_NONE) {
+ PALDevDataSet(Dev, SequenceConfig, data);
+ if (data & (0x01 << 7))
+ *pWrapAroundCheckEnable = 0x01;
+ else
+ *pWrapAroundCheckEnable = 0x00;
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable,
+ *pWrapAroundCheckEnable);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::sequence_step_enabled(VL53L0X_DEV Dev,
+ VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig,
+ uint8_t *pSequenceStepEnabled)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ *pSequenceStepEnabled = 0;
+ LOG_FUNCTION_START("");
+
+ switch (SequenceStepId) {
+ case VL53L0X_SEQUENCESTEP_TCC:
+ *pSequenceStepEnabled = (SequenceConfig & 0x10) >> 4;
+ break;
+ case VL53L0X_SEQUENCESTEP_DSS:
+ *pSequenceStepEnabled = (SequenceConfig & 0x08) >> 3;
+ break;
+ case VL53L0X_SEQUENCESTEP_MSRC:
+ *pSequenceStepEnabled = (SequenceConfig & 0x04) >> 2;
+ break;
+ case VL53L0X_SEQUENCESTEP_PRE_RANGE:
+ *pSequenceStepEnabled = (SequenceConfig & 0x40) >> 6;
+ break;
+ case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
+ *pSequenceStepEnabled = (SequenceConfig & 0x80) >> 7;
+ break;
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev,
+ VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t SequenceConfig = 0;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ &SequenceConfig);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = sequence_step_enabled(Dev,
+ VL53L0X_SEQUENCESTEP_TCC, SequenceConfig,
+ &pSchedulerSequenceSteps->TccOn);
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = sequence_step_enabled(Dev,
+ VL53L0X_SEQUENCESTEP_DSS, SequenceConfig,
+ &pSchedulerSequenceSteps->DssOn);
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = sequence_step_enabled(Dev,
+ VL53L0X_SEQUENCESTEP_MSRC, SequenceConfig,
+ &pSchedulerSequenceSteps->MsrcOn);
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = sequence_step_enabled(Dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE, SequenceConfig,
+ &pSchedulerSequenceSteps->PreRangeOn);
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = sequence_step_enabled(Dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE, SequenceConfig,
+ &pSchedulerSequenceSteps->FinalRangeOn);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+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::VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks)
+{
+ /*!
+ * Converts the encoded VCSEL period register value into the real period
+ * in PLL clocks
+ */
+
+ uint8_t vcsel_period_reg = 0;
+
+ vcsel_period_reg = (vcsel_period_pclks >> 1) - 1;
+
+ return vcsel_period_reg;
+}
+
+
+VL53L0X_Error VL53L0X::VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev,
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t vcsel_period_reg;
+ uint8_t MinPreVcselPeriodPCLK = 12;
+ uint8_t MaxPreVcselPeriodPCLK = 18;
+ uint8_t MinFinalVcselPeriodPCLK = 8;
+ uint8_t MaxFinalVcselPeriodPCLK = 14;
+ uint32_t MeasurementTimingBudgetMicroSeconds;
+ uint32_t FinalRangeTimeoutMicroSeconds;
+ uint32_t PreRangeTimeoutMicroSeconds;
+ uint32_t MsrcTimeoutMicroSeconds;
+ uint8_t PhaseCalInt = 0;
+
+ /* Check if valid clock period requested */
+
+ if ((VCSELPulsePeriodPCLK % 2) != 0) {
+ /* Value must be an even number */
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE &&
+ (VCSELPulsePeriodPCLK < MinPreVcselPeriodPCLK ||
+ VCSELPulsePeriodPCLK > MaxPreVcselPeriodPCLK)) {
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE &&
+ (VCSELPulsePeriodPCLK < MinFinalVcselPeriodPCLK ||
+ VCSELPulsePeriodPCLK > MaxFinalVcselPeriodPCLK)) {
+
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ /* Apply specific settings for the requested clock period */
+
+ if (Status != VL53L0X_ERROR_NONE)
+ return Status;
+
+
+ if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE) {
+
+ /* Set phase check limits */
+ if (VCSELPulsePeriodPCLK == 12) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x18);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+ } else if (VCSELPulsePeriodPCLK == 14) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x30);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+ } else if (VCSELPulsePeriodPCLK == 16) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x40);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+ } else if (VCSELPulsePeriodPCLK == 18) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x50);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+ }
+ } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) {
+
+ if (VCSELPulsePeriodPCLK == 8) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x10);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
+
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_LIM,
+ 0x30);
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
+ } else if (VCSELPulsePeriodPCLK == 10) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x28);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
+
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_LIM,
+ 0x20);
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
+ } else if (VCSELPulsePeriodPCLK == 12) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x38);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08);
+
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_LIM,
+ 0x20);
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
+ } else if (VCSELPulsePeriodPCLK == 14) {
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
+ 0x048);
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
+ 0x08);
+
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
+
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_ALGO_PHASECAL_LIM,
+ 0x20);
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
+ }
+ }
+
+
+ /* Re-calculate and apply timeouts, in macro periods */
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ vcsel_period_reg = VL53L0X_encode_vcsel_period((uint8_t)
+ VCSELPulsePeriodPCLK);
+
+ /* When the VCSEL period for the pre or final range is changed,
+ * the corresponding timeout must be read from the device using
+ * the current VCSEL period, then the new VCSEL period can be
+ * applied. The timeout then must be written back to the device
+ * using the new VCSEL period.
+ *
+ * For the MSRC timeout, the same applies - this timeout being
+ * dependant on the pre-range vcsel period.
+ */
+ switch (VcselPeriodType) {
+ case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ &PreRangeTimeoutMicroSeconds);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_MSRC,
+ &MsrcTimeoutMicroSeconds);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
+ vcsel_period_reg);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = set_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ PreRangeTimeoutMicroSeconds);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = set_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_MSRC,
+ MsrcTimeoutMicroSeconds);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ PreRangeVcselPulsePeriod,
+ VCSELPulsePeriodPCLK);
+ break;
+ case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ &FinalRangeTimeoutMicroSeconds);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
+ vcsel_period_reg);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = set_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ FinalRangeTimeoutMicroSeconds);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ FinalRangeVcselPulsePeriod,
+ VCSELPulsePeriodPCLK);
+ break;
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ /* Finally, the timing budget must be re-applied */
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_GETPARAMETERFIELD(Dev,
+ MeasurementTimingBudgetMicroSeconds,
+ MeasurementTimingBudgetMicroSeconds);
+
+ Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev,
+ MeasurementTimingBudgetMicroSeconds);
+ }
+
+ /* Perform the phase calibration. This is needed after changing on
+ * vcsel period.
+ * get_data_enable = 0, restore_config = 1 */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_perform_phase_calibration(
+ Dev, &PhaseCalInt, 0, 1);
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev,
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_set_vcsel_pulse_period(Dev, VcselPeriodType,
+ VCSELPulsePeriodPCLK);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev,
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t vcsel_period_reg;
+
+ switch (VcselPeriodType) {
+ case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
+ Status = VL53L0X_RdByte(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
+ &vcsel_period_reg);
+ break;
+ case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
+ Status = VL53L0X_RdByte(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
+ &vcsel_period_reg);
+ break;
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ if (Status == VL53L0X_ERROR_NONE)
+ *pVCSELPulsePeriodPCLK =
+ VL53L0X_decode_vcsel_period(vcsel_period_reg);
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev,
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_get_vcsel_pulse_period(Dev, VcselPeriodType,
+ pVCSELPulsePeriodPCLK);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+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 SequenceStepId,
+ uint32_t *pTimeOutMicroSecs)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t CurrentVCSELPulsePeriodPClk;
+ uint8_t EncodedTimeOutByte = 0;
+ uint32_t TimeoutMicroSeconds = 0;
+ uint16_t PreRangeEncodedTimeOut = 0;
+ uint16_t MsrcTimeOutMClks;
+ uint16_t PreRangeTimeOutMClks;
+ uint16_t FinalRangeTimeOutMClks = 0;
+ uint16_t FinalRangeEncodedTimeOut;
+ VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps;
+
+ if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) ||
+ (SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) ||
+ (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) {
+
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdByte(Dev,
+ VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
+ &EncodedTimeOutByte);
+ }
+ MsrcTimeOutMClks = VL53L0X_decode_timeout(EncodedTimeOutByte);
+
+ TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev,
+ MsrcTimeOutMClks,
+ CurrentVCSELPulsePeriodPClk);
+ } else if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
+ /* Retrieve PRE-RANGE VCSEL Period */
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+
+ /* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ /* Retrieve PRE-RANGE VCSEL Period */
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
+ &PreRangeEncodedTimeOut);
+ }
+
+ PreRangeTimeOutMClks = VL53L0X_decode_timeout(
+ PreRangeEncodedTimeOut);
+
+ TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev,
+ PreRangeTimeOutMClks,
+ CurrentVCSELPulsePeriodPClk);
+ }
+ } else if (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
+
+ VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps);
+ PreRangeTimeOutMClks = 0;
+
+ if (SchedulerSequenceSteps.PreRangeOn) {
+ /* Retrieve PRE-RANGE VCSEL Period */
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+
+ /* Retrieve PRE-RANGE Timeout in Macro periods
+ * (MCLKS) */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
+ &PreRangeEncodedTimeOut);
+ PreRangeTimeOutMClks = VL53L0X_decode_timeout(
+ PreRangeEncodedTimeOut);
+ }
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ /* Retrieve FINAL-RANGE VCSEL Period */
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+ }
+
+ /* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
+ &FinalRangeEncodedTimeOut);
+ FinalRangeTimeOutMClks = VL53L0X_decode_timeout(
+ FinalRangeEncodedTimeOut);
+ }
+
+ FinalRangeTimeOutMClks -= PreRangeTimeOutMClks;
+ TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev,
+ FinalRangeTimeOutMClks,
+ CurrentVCSELPulsePeriodPClk);
+ }
+
+ *pTimeOutMicroSecs = TimeoutMicroSeconds;
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev,
+ uint32_t *pMeasurementTimingBudgetMicroSeconds)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps;
+ uint32_t FinalRangeTimeoutMicroSeconds;
+ uint32_t MsrcDccTccTimeoutMicroSeconds = 2000;
+ uint32_t StartOverheadMicroSeconds = 1910;
+ uint32_t EndOverheadMicroSeconds = 960;
+ uint32_t MsrcOverheadMicroSeconds = 660;
+ uint32_t TccOverheadMicroSeconds = 590;
+ uint32_t DssOverheadMicroSeconds = 690;
+ uint32_t PreRangeOverheadMicroSeconds = 660;
+ uint32_t FinalRangeOverheadMicroSeconds = 550;
+ uint32_t PreRangeTimeoutMicroSeconds = 0;
+
+ LOG_FUNCTION_START("");
+
+ /* Start and end overhead times always present */
+ *pMeasurementTimingBudgetMicroSeconds
+ = StartOverheadMicroSeconds + EndOverheadMicroSeconds;
+
+ Status = VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps);
+
+ if (Status != VL53L0X_ERROR_NONE) {
+ LOG_FUNCTION_END(Status);
+ return Status;
+ }
+
+
+ if (SchedulerSequenceSteps.TccOn ||
+ SchedulerSequenceSteps.MsrcOn ||
+ SchedulerSequenceSteps.DssOn) {
+
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_MSRC,
+ &MsrcDccTccTimeoutMicroSeconds);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (SchedulerSequenceSteps.TccOn) {
+ *pMeasurementTimingBudgetMicroSeconds +=
+ MsrcDccTccTimeoutMicroSeconds +
+ TccOverheadMicroSeconds;
+ }
+
+ if (SchedulerSequenceSteps.DssOn) {
+ *pMeasurementTimingBudgetMicroSeconds +=
+ 2 * (MsrcDccTccTimeoutMicroSeconds +
+ DssOverheadMicroSeconds);
+ } else if (SchedulerSequenceSteps.MsrcOn) {
+ *pMeasurementTimingBudgetMicroSeconds +=
+ MsrcDccTccTimeoutMicroSeconds +
+ MsrcOverheadMicroSeconds;
+ }
+ }
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (SchedulerSequenceSteps.PreRangeOn) {
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ &PreRangeTimeoutMicroSeconds);
+ *pMeasurementTimingBudgetMicroSeconds +=
+ PreRangeTimeoutMicroSeconds +
+ PreRangeOverheadMicroSeconds;
+ }
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (SchedulerSequenceSteps.FinalRangeOn) {
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ &FinalRangeTimeoutMicroSeconds);
+ *pMeasurementTimingBudgetMicroSeconds +=
+ (FinalRangeTimeoutMicroSeconds +
+ FinalRangeOverheadMicroSeconds);
+ }
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETPARAMETERFIELD(Dev,
+ MeasurementTimingBudgetMicroSeconds,
+ *pMeasurementTimingBudgetMicroSeconds);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
+ uint32_t *pMeasurementTimingBudgetMicroSeconds)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_get_measurement_timing_budget_micro_seconds(Dev,
+ pMeasurementTimingBudgetMicroSeconds);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev,
+ VL53L0X_DeviceParameters_t *pDeviceParameters)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ int i;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_GetDeviceMode(Dev, &(pDeviceParameters->DeviceMode));
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_GetInterMeasurementPeriodMilliSeconds(Dev,
+ &(pDeviceParameters->InterMeasurementPeriodMilliSeconds));
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ pDeviceParameters->XTalkCompensationEnable = 0;
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_GetXTalkCompensationRateMegaCps(Dev,
+ &(pDeviceParameters->XTalkCompensationRateMegaCps));
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_GetOffsetCalibrationDataMicroMeter(Dev,
+ &(pDeviceParameters->RangeOffsetMicroMeters));
+
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
+ /* get first the values, then the enables.
+ * VL53L0X_GetLimitCheckValue will modify the enable
+ * flags
+ */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status |= VL53L0X_GetLimitCheckValue(Dev, i,
+ &(pDeviceParameters->LimitChecksValue[i]));
+ } else {
+ break;
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status |= VL53L0X_GetLimitCheckEnable(Dev, i,
+ &(pDeviceParameters->LimitChecksEnable[i]));
+ } else {
+ break;
+ }
+ }
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_GetWrapAroundCheckEnable(Dev,
+ &(pDeviceParameters->WrapAroundCheckEnable));
+ }
+
+ /* Need to be done at the end as it uses VCSELPulsePeriod */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_GetMeasurementTimingBudgetMicroSeconds(Dev,
+ &(pDeviceParameters->MeasurementTimingBudgetMicroSeconds));
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+ FixPoint1616_t LimitCheckValue)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t Temp8;
+
+ LOG_FUNCTION_START("");
+
+ VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, LimitCheckId,
+ Temp8);
+
+ if (Temp8 == 0) { /* disabled write only internal value */
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ LimitCheckId, LimitCheckValue);
+ } else {
+
+ switch (LimitCheckId) {
+
+ case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ LimitCheckValue);
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+
+ Status = VL53L0X_WrWord(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
+ VL53L0X_FIXPOINT1616TOFIXPOINT97(
+ LimitCheckValue));
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
+
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ LimitCheckValue);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
+
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ LimitCheckValue);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
+
+ Status = VL53L0X_WrWord(Dev,
+ VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
+ VL53L0X_FIXPOINT1616TOFIXPOINT97(
+ LimitCheckValue));
+
+ break;
+
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ LimitCheckId, LimitCheckValue);
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_DataInit(VL53L0X_DEV Dev)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ VL53L0X_DeviceParameters_t CurrentParameters;
+ int i;
+ uint8_t StopVariable;
+
+ LOG_FUNCTION_START("");
+
+ /* by default the I2C is running at 1V8 if you want to change it you
+ * need to include this define at compilation level. */
+#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_WrByte(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_GetDeviceParameters(Dev, &CurrentParameters);
+ if (Status == VL53L0X_ERROR_NONE) {
+ /* initialize PAL values */
+ CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING;
+ CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED;
+ PALDevDataSet(Dev, CurrentParameters, CurrentParameters);
+ }
+
+ /* Sigma estimator variable */
+ PALDevDataSet(Dev, SigmaEstRefArray, 100);
+ PALDevDataSet(Dev, SigmaEstEffPulseWidth, 900);
+ PALDevDataSet(Dev, SigmaEstEffAmbWidth, 500);
+ PALDevDataSet(Dev, targetRefRate, 0x0A00); /* 20 MCPS in 9:7 format */
+
+ /* Use internal default settings */
+ PALDevDataSet(Dev, UseInternalTuningSettings, 1);
+
+ Status |= VL53L0X_WrByte(Dev, 0x80, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
+ Status |= VL53L0X_RdByte(Dev, 0x91, &StopVariable);
+ PALDevDataSet(Dev, StopVariable, StopVariable);
+ Status |= VL53L0X_WrByte(Dev, 0x00, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0x80, 0x00);
+
+ /* Enable all check */
+ for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
+ if (Status == VL53L0X_ERROR_NONE)
+ Status |= VL53L0X_SetLimitCheckEnable(Dev, i, 1);
+ else
+ break;
+
+ }
+
+ /* Disable the following checks */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_SetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_SetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_SetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_SetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0);
+
+ /* Limit default values */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetLimitCheckValue(Dev,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ (FixPoint1616_t)(18 * 65536));
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetLimitCheckValue(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ (FixPoint1616_t)(25 * 65536 / 100));
+ /* 0.25 * 65536 */
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetLimitCheckValue(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ (FixPoint1616_t)(35 * 65536));
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetLimitCheckValue(Dev,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ (FixPoint1616_t)(0 * 65536));
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ PALDevDataSet(Dev, SequenceConfig, 0xFF);
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ 0xFF);
+
+ /* Set PAL state to tell that we are waiting for call to
+ * VL53L0X_StaticInit */
+ PALDevDataSet(Dev, PalState, VL53L0X_STATE_WAIT_STATICINIT);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE)
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 0);
+
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_check_part_used(VL53L0X_DEV Dev,
+ uint8_t *Revision,
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t ModuleIdInt;
+ char *ProductId_tmp;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_get_info_from_device(Dev, 2);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ ModuleIdInt = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, ModuleId);
+
+ if (ModuleIdInt == 0) {
+ *Revision = 0;
+ VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, "");
+ } else {
+ *Revision = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, Revision);
+ ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+ ProductId);
+ VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, ProductId_tmp);
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_device_info(VL53L0X_DEV Dev,
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t revision_id;
+ uint8_t Revision;
+
+ Status = VL53L0X_check_part_used(Dev, &Revision, pVL53L0X_DeviceInfo);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (Revision == 0) {
+ VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
+ VL53L0X_STRING_DEVICE_INFO_NAME_TS0);
+ } else if ((Revision <= 34) && (Revision != 32)) {
+ VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
+ VL53L0X_STRING_DEVICE_INFO_NAME_TS1);
+ } else if (Revision < 39) {
+ VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
+ VL53L0X_STRING_DEVICE_INFO_NAME_TS2);
+ } else {
+ VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
+ VL53L0X_STRING_DEVICE_INFO_NAME_ES1);
+ }
+
+ VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Type,
+ VL53L0X_STRING_DEVICE_INFO_TYPE);
+
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdByte(Dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID,
+ &pVL53L0X_DeviceInfo->ProductType);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdByte(Dev,
+ VL53L0X_REG_IDENTIFICATION_REVISION_ID,
+ &revision_id);
+ pVL53L0X_DeviceInfo->ProductRevisionMajor = 1;
+ pVL53L0X_DeviceInfo->ProductRevisionMinor =
+ (revision_id & 0xF0) >> 4;
+ }
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev,
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_get_device_info(Dev, pVL53L0X_DeviceInfo);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev,
+ uint32_t *pInterruptMaskStatus)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t Byte;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte);
+ *pInterruptMaskStatus = Byte & 0x07;
+
+ if (Byte & 0x18)
+ Status = VL53L0X_ERROR_RANGE_ERROR;
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev,
+ uint8_t *pMeasurementDataReady)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t SysRangeStatusRegister;
+ uint8_t InterruptConfig;
+ uint32_t InterruptMask;
+ LOG_FUNCTION_START("");
+
+ InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+ Pin0GpioFunctionality);
+
+ if (InterruptConfig ==
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
+ Status = VL53L0X_GetInterruptMaskStatus(Dev, &InterruptMask);
+ if (InterruptMask ==
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY)
+ *pMeasurementDataReady = 1;
+ else
+ *pMeasurementDataReady = 0;
+ } else {
+ Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS,
+ &SysRangeStatusRegister);
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (SysRangeStatusRegister & 0x01)
+ *pMeasurementDataReady = 1;
+ else
+ *pMeasurementDataReady = 0;
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_PollingDelay(VL53L0X_DEV Dev) {
+ VL53L0X_Error 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 NewDataReady = 0;
+ uint32_t LoopNb;
+
+ LOG_FUNCTION_START("");
+
+ LoopNb = 0;
+
+ do {
+ Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDataReady);
+ if (Status != 0)
+ break; /* the error is set */
+
+ if (NewDataReady == 1)
+ break; /* done note that status == 0 */
+
+ LoopNb++;
+ if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
+ Status = VL53L0X_ERROR_TIME_OUT;
+ break;
+ }
+
+ VL53L0X_PollingDelay(Dev);
+ } while (1);
+
+ LOG_FUNCTION_END(Status);
+
+ return Status;
+}
+
+/* Group PAL Interrupt Functions */
+VL53L0X_Error VL53L0X::VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t LoopCount;
+ uint8_t Byte;
+ LOG_FUNCTION_START("");
+
+ /* clear bit 0 range interrupt, bit 1 error interrupt */
+ LoopCount = 0;
+ do {
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01);
+ Status |= VL53L0X_WrByte(Dev,
+ VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00);
+ Status |= VL53L0X_RdByte(Dev,
+ VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte);
+ LoopCount++;
+ } while (((Byte & 0x07) != 0x00)
+ && (LoopCount < 3)
+ && (Status == VL53L0X_ERROR_NONE));
+
+
+ if (LoopCount >= 3)
+ Status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED;
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error 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_WrByte(Dev, VL53L0X_REG_SYSRANGE_START,
+ VL53L0X_REG_SYSRANGE_MODE_START_STOP |
+ vhv_init_byte);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_measurement_poll_for_completion(Dev);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_ClearInterruptMask(Dev, 0);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x00);
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_ref_calibration_io(VL53L0X_DEV Dev, uint8_t read_not_write,
+ uint8_t VhvSettings, uint8_t PhaseCal,
+ uint8_t *pVhvSettings, uint8_t *pPhaseCal,
+ const uint8_t vhv_enable, const uint8_t phase_enable)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t PhaseCalint = 0;
+
+ /* Read VHV from device */
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+ if (read_not_write) {
+ if (vhv_enable)
+ Status |= VL53L0X_RdByte(Dev, 0xCB, pVhvSettings);
+ if (phase_enable)
+ Status |= VL53L0X_RdByte(Dev, 0xEE, &PhaseCalint);
+ } else {
+ if (vhv_enable)
+ Status |= VL53L0X_WrByte(Dev, 0xCB, VhvSettings);
+ if (phase_enable)
+ Status |= VL53L0X_UpdateByte(Dev, 0xEE, 0x80, PhaseCal);
+ }
+
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0x00, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+ *pPhaseCal = (uint8_t)(PhaseCalint&0xEF);
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_perform_vhv_calibration(VL53L0X_DEV Dev,
+ uint8_t *pVhvSettings, const uint8_t get_data_enable,
+ const uint8_t restore_config)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t SequenceConfig = 0;
+ uint8_t VhvSettings = 0;
+ uint8_t PhaseCal = 0;
+ uint8_t PhaseCalInt = 0;
+
+ /* store the value of the sequence config,
+ * this will be reset before the end of the function
+ */
+
+ if (restore_config)
+ SequenceConfig = PALDevDataGet(Dev, SequenceConfig);
+
+ /* Run VHV */
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x01);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_perform_single_ref_calibration(Dev, 0x40);
+
+ /* Read VHV from device */
+ if ((Status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
+ Status = VL53L0X_ref_calibration_io(Dev, 1,
+ VhvSettings, PhaseCal, /* Not used here */
+ pVhvSettings, &PhaseCalInt,
+ 1, 0);
+ } else
+ *pVhvSettings = 0;
+
+
+ if ((Status == VL53L0X_ERROR_NONE) && restore_config) {
+ /* restore the previous Sequence Config */
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ SequenceConfig);
+ if (Status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, SequenceConfig, SequenceConfig);
+
+ }
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev,
+ uint8_t *pPhaseCal, const uint8_t get_data_enable,
+ const uint8_t restore_config)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t SequenceConfig = 0;
+ uint8_t VhvSettings = 0;
+ uint8_t PhaseCal = 0;
+ uint8_t VhvSettingsint;
+
+ /* store the value of the sequence config,
+ * this will be reset before the end of the function
+ */
+
+ if (restore_config)
+ SequenceConfig = PALDevDataGet(Dev, SequenceConfig);
+
+ /* Run PhaseCal */
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x02);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_perform_single_ref_calibration(Dev, 0x0);
+
+ /* Read PhaseCal from device */
+ if ((Status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
+ Status = VL53L0X_ref_calibration_io(Dev, 1,
+ VhvSettings, PhaseCal, /* Not used here */
+ &VhvSettingsint, pPhaseCal,
+ 0, 1);
+ } else
+ *pPhaseCal = 0;
+
+
+ if ((Status == VL53L0X_ERROR_NONE) && restore_config) {
+ /* restore the previous Sequence Config */
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ SequenceConfig);
+ if (Status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, SequenceConfig, SequenceConfig);
+
+ }
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev,
+ uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t SequenceConfig = 0;
+
+ /* store the value of the sequence config,
+ * this will be reset before the end of the function
+ */
+
+ SequenceConfig = PALDevDataGet(Dev, SequenceConfig);
+
+ /* In the following function we don't save the config to optimize
+ * writes on device. Config is saved and restored only once. */
+ Status = VL53L0X_perform_vhv_calibration(
+ Dev, pVhvSettings, get_data_enable, 0);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_perform_phase_calibration(
+ Dev, pPhaseCal, get_data_enable, 0);
+
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ /* restore the previous Sequence Config */
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ SequenceConfig);
+ if (Status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, SequenceConfig, SequenceConfig);
+
+ }
+
+ return Status;
+}
+
+void VL53L0X::get_next_good_spad(uint8_t goodSpadArray[], uint32_t size,
+ uint32_t curr, int32_t *next)
+{
+ uint32_t startIndex;
+ uint32_t fineOffset;
+ uint32_t cSpadsPerByte = 8;
+ uint32_t coarseIndex;
+ uint32_t fineIndex;
+ uint8_t dataByte;
+ uint8_t success = 0;
+
+ /*
+ * Starting with the current good spad, loop through the array to find
+ * the next. i.e. the next bit set in the sequence.
+ *
+ * The coarse index is the byte index of the array and the fine index is
+ * the index of the bit within each byte.
+ */
+
+ *next = -1;
+
+ startIndex = curr / cSpadsPerByte;
+ fineOffset = curr % cSpadsPerByte;
+
+ for (coarseIndex = startIndex; ((coarseIndex < size) && !success);
+ coarseIndex++) {
+ fineIndex = 0;
+ dataByte = goodSpadArray[coarseIndex];
+
+ if (coarseIndex == startIndex) {
+ /* locate the bit position of the provided current
+ * spad bit before iterating */
+ dataByte >>= fineOffset;
+ fineIndex = fineOffset;
+ }
+
+ while (fineIndex < cSpadsPerByte) {
+ if ((dataByte & 0x1) == 1) {
+ success = 1;
+ *next = coarseIndex * cSpadsPerByte + fineIndex;
+ break;
+ }
+ dataByte >>= 1;
+ fineIndex++;
+ }
+ }
+}
+
+uint8_t VL53L0X::is_aperture(uint32_t spadIndex)
+{
+ /*
+ * This function reports if a given spad index is an aperture SPAD by
+ * deriving the quadrant.
+ */
+ uint32_t quadrant;
+ uint8_t isAperture = 1;
+ quadrant = spadIndex >> 6;
+ if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0)
+ isAperture = 0;
+
+ return isAperture;
+}
+
+VL53L0X_Error VL53L0X::enable_spad_bit(uint8_t spadArray[], uint32_t size,
+ uint32_t spadIndex)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint32_t cSpadsPerByte = 8;
+ uint32_t coarseIndex;
+ uint32_t fineIndex;
+
+ coarseIndex = spadIndex / cSpadsPerByte;
+ fineIndex = spadIndex % cSpadsPerByte;
+ if (coarseIndex >= size)
+ status = VL53L0X_ERROR_REF_SPAD_INIT;
+ else
+ spadArray[coarseIndex] |= (1 << fineIndex);
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::set_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray)
+{
+ VL53L0X_Error status = VL53L0X_WriteMulti(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
+ refSpadArray, 6);
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::get_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray)
+{
+ VL53L0X_Error status = VL53L0X_ReadMulti(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
+ refSpadArray,
+ 6);
+// VL53L0X_Error status = VL53L0X_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 apertureSpads,
+ uint8_t goodSpadArray[],
+ uint8_t spadArray[],
+ uint32_t size,
+ uint32_t start,
+ uint32_t offset,
+ uint32_t spadCount,
+ uint32_t *lastSpad)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint32_t index;
+ uint32_t i;
+ int32_t nextGoodSpad = offset;
+ uint32_t currentSpad;
+ uint8_t checkSpadArray[6];
+
+ /*
+ * This function takes in a spad array which may or may not have SPADS
+ * already enabled and appends from a given offset a requested number
+ * of new SPAD enables. The 'good spad map' is applied to
+ * determine the next SPADs to enable.
+ *
+ * This function applies to only aperture or only non-aperture spads.
+ * Checks are performed to ensure this.
+ */
+
+ currentSpad = offset;
+ for (index = 0; index < spadCount; index++) {
+ get_next_good_spad(goodSpadArray, size, currentSpad,
+ &nextGoodSpad);
+
+ if (nextGoodSpad == -1) {
+ status = VL53L0X_ERROR_REF_SPAD_INIT;
+ break;
+ }
+
+ /* Confirm that the next good SPAD is non-aperture */
+ if (is_aperture(start + nextGoodSpad) != apertureSpads) {
+ /* if we can't get the required number of good aperture
+ * spads from the current quadrant then this is an error
+ */
+ status = VL53L0X_ERROR_REF_SPAD_INIT;
+ break;
+ }
+ currentSpad = (uint32_t)nextGoodSpad;
+ enable_spad_bit(spadArray, size, currentSpad);
+ currentSpad++;
+ }
+ *lastSpad = currentSpad;
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = set_ref_spad_map(Dev, spadArray);
+
+
+ if (status == VL53L0X_ERROR_NONE) {
+ status = get_ref_spad_map(Dev, checkSpadArray);
+
+ i = 0;
+
+ /* Compare spad maps. If not equal report error. */
+ while (i < size) {
+ if (spadArray[i] != checkSpadArray[i]) {
+ status = VL53L0X_ERROR_REF_SPAD_INIT;
+ break;
+ }
+ i++;
+ }
+ }
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, VL53L0X_DeviceModes DeviceMode)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+ LOG_FUNCTION_START("%d", (int)DeviceMode);
+
+ switch (DeviceMode) {
+ case VL53L0X_DEVICEMODE_SINGLE_RANGING:
+ case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
+ case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
+ case VL53L0X_DEVICEMODE_GPIO_DRIVE:
+ case VL53L0X_DEVICEMODE_GPIO_OSC:
+ /* Supported modes */
+ VL53L0X_SETPARAMETERFIELD(Dev, DeviceMode, DeviceMode);
+ break;
+ default:
+ /* Unsupported mode */
+ Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev,
+ VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow,
+ FixPoint1616_t *pThresholdHigh)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint16_t Threshold16;
+ LOG_FUNCTION_START("");
+
+ /* no dependency on DeviceMode for Ewok */
+
+ Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &Threshold16);
+ /* Need to multiply by 2 because the FW will apply a x2 */
+ *pThresholdLow = (FixPoint1616_t)((0x00fff & Threshold16) << 17);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
+ &Threshold16);
+ /* Need to multiply by 2 because the FW will apply a x2 */
+ *pThresholdHigh =
+ (FixPoint1616_t)((0x00fff & Threshold16) << 17);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_load_tuning_settings(VL53L0X_DEV Dev,
+ uint8_t *pTuningSettingBuffer)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ int i;
+ int Index;
+ uint8_t msb;
+ uint8_t lsb;
+ uint8_t SelectParam;
+ uint8_t NumberOfWrites;
+ uint8_t Address;
+ uint8_t localBuffer[4]; /* max */
+ uint16_t Temp16;
+
+ LOG_FUNCTION_START("");
+
+ Index = 0;
+
+ while ((*(pTuningSettingBuffer + Index) != 0) &&
+ (Status == VL53L0X_ERROR_NONE)) {
+ NumberOfWrites = *(pTuningSettingBuffer + Index);
+ Index++;
+ if (NumberOfWrites == 0xFF) {
+ /* internal parameters */
+ SelectParam = *(pTuningSettingBuffer + Index);
+ Index++;
+ switch (SelectParam) {
+ case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */
+ msb = *(pTuningSettingBuffer + Index);
+ Index++;
+ lsb = *(pTuningSettingBuffer + Index);
+ Index++;
+ Temp16 = VL53L0X_MAKEUINT16(lsb, msb);
+ PALDevDataSet(Dev, SigmaEstRefArray, Temp16);
+ break;
+ case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */
+ msb = *(pTuningSettingBuffer + Index);
+ Index++;
+ lsb = *(pTuningSettingBuffer + Index);
+ Index++;
+ Temp16 = VL53L0X_MAKEUINT16(lsb, msb);
+ PALDevDataSet(Dev, SigmaEstEffPulseWidth,
+ Temp16);
+ break;
+ case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */
+ msb = *(pTuningSettingBuffer + Index);
+ Index++;
+ lsb = *(pTuningSettingBuffer + Index);
+ Index++;
+ Temp16 = VL53L0X_MAKEUINT16(lsb, msb);
+ PALDevDataSet(Dev, SigmaEstEffAmbWidth, Temp16);
+ break;
+ case 3: /* uint16_t targetRefRate -> 2 bytes */
+ msb = *(pTuningSettingBuffer + Index);
+ Index++;
+ lsb = *(pTuningSettingBuffer + Index);
+ Index++;
+ Temp16 = VL53L0X_MAKEUINT16(lsb, msb);
+ PALDevDataSet(Dev, targetRefRate, Temp16);
+ break;
+ default: /* invalid parameter */
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ } else if (NumberOfWrites <= 4) {
+ Address = *(pTuningSettingBuffer + Index);
+ Index++;
+
+ for (i = 0; i < NumberOfWrites; i++) {
+ localBuffer[i] = *(pTuningSettingBuffer +
+ Index);
+ Index++;
+ }
+
+ Status = VL53L0X_WriteMulti(Dev, Address, localBuffer,
+ NumberOfWrites);
+
+ } else {
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_CheckAndLoadInterruptSettings(VL53L0X_DEV Dev,
+ uint8_t StartNotStopFlag)
+{
+ uint8_t InterruptConfig;
+ FixPoint1616_t ThresholdLow;
+ FixPoint1616_t ThresholdHigh;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+ InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+ Pin0GpioFunctionality);
+
+ if ((InterruptConfig ==
+ VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) ||
+ (InterruptConfig ==
+ VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) ||
+ (InterruptConfig ==
+ VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) {
+
+ Status = VL53L0X_GetInterruptThresholds(Dev,
+ VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+ &ThresholdLow, &ThresholdHigh);
+
+ if (((ThresholdLow > 255*65536) ||
+ (ThresholdHigh > 255*65536)) &&
+ (Status == VL53L0X_ERROR_NONE)) {
+
+ if (StartNotStopFlag != 0) {
+ Status = VL53L0X_load_tuning_settings(Dev,
+ InterruptThresholdSettings);
+ } else {
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x04);
+ Status |= VL53L0X_WrByte(Dev, 0x70, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0x80, 0x00);
+ }
+
+ }
+
+
+ }
+
+ return Status;
+
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_StartMeasurement(VL53L0X_DEV Dev)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ VL53L0X_DeviceModes DeviceMode;
+ uint8_t Byte;
+ uint8_t StartStopByte = VL53L0X_REG_SYSRANGE_MODE_START_STOP;
+ uint32_t LoopNb;
+ LOG_FUNCTION_START("");
+
+ /* Get Current DeviceMode */
+ VL53L0X_GetDeviceMode(Dev, &DeviceMode);
+
+ Status = VL53L0X_WrByte(Dev, 0x80, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0x00, 0x00);
+ Status = VL53L0X_WrByte(Dev, 0x91, PALDevDataGet(Dev, StopVariable));
+ Status = VL53L0X_WrByte(Dev, 0x00, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+ Status = VL53L0X_WrByte(Dev, 0x80, 0x00);
+
+ switch (DeviceMode) {
+ case VL53L0X_DEVICEMODE_SINGLE_RANGING:
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x01);
+
+ Byte = StartStopByte;
+ if (Status == VL53L0X_ERROR_NONE) {
+ /* Wait until start bit has been cleared */
+ LoopNb = 0;
+ do {
+ if (LoopNb > 0)
+ Status = VL53L0X_RdByte(Dev,
+ VL53L0X_REG_SYSRANGE_START, &Byte);
+ LoopNb = LoopNb + 1;
+ } while (((Byte & StartStopByte) == StartStopByte)
+ && (Status == VL53L0X_ERROR_NONE)
+ && (LoopNb < VL53L0X_DEFAULT_MAX_LOOP));
+
+ if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP)
+ Status = VL53L0X_ERROR_TIME_OUT;
+
+ }
+
+ break;
+ case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
+ /* Back-to-back mode */
+
+ /* Check if need to apply interrupt settings */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1);
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_SYSRANGE_START,
+ VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK);
+ if (Status == VL53L0X_ERROR_NONE) {
+ /* Set PAL State to Running */
+ PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING);
+ }
+ break;
+ case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
+ /* Continuous mode */
+ /* Check if need to apply interrupt settings */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1);
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_SYSRANGE_START,
+ VL53L0X_REG_SYSRANGE_MODE_TIMED);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ /* Set PAL State to Running */
+ PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING);
+ }
+ break;
+ default:
+ /* Selected mode not supported */
+ Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
+ }
+
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+/* Group PAL Measurement Functions */
+VL53L0X_Error VL53L0X::VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ VL53L0X_DeviceModes DeviceMode;
+
+ LOG_FUNCTION_START("");
+
+ /* Get Current DeviceMode */
+ Status = VL53L0X_GetDeviceMode(Dev, &DeviceMode);
+
+ /* Start immediately to run a single ranging measurement in case of
+ * single ranging or single histogram */
+ if (Status == VL53L0X_ERROR_NONE
+ && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING)
+ Status = VL53L0X_StartMeasurement(Dev);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_measurement_poll_for_completion(Dev);
+
+
+ /* Change PAL State in case of single ranging or single histogram */
+ if (Status == VL53L0X_ERROR_NONE
+ && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING)
+ PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE);
+
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev,
+ uint8_t *pXTalkCompensationEnable)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t Temp8;
+ LOG_FUNCTION_START("");
+
+ VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8);
+ *pXTalkCompensationEnable = Temp8;
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *ptotal_xtalk_rate_mcps)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+ uint8_t xtalkCompEnable;
+ FixPoint1616_t totalXtalkMegaCps;
+ FixPoint1616_t xtalkPerSpadMegaCps;
+
+ *ptotal_xtalk_rate_mcps = 0;
+
+ Status = VL53L0X_GetXTalkCompensationEnable(Dev, &xtalkCompEnable);
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ if (xtalkCompEnable) {
+
+ VL53L0X_GETPARAMETERFIELD(
+ Dev,
+ XTalkCompensationRateMegaCps,
+ xtalkPerSpadMegaCps);
+
+ /* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */
+ totalXtalkMegaCps =
+ pRangingMeasurementData->EffectiveSpadRtnCount *
+ xtalkPerSpadMegaCps;
+
+ /* FixPoint0824 >> 8 = FixPoint1616 */
+ *ptotal_xtalk_rate_mcps =
+ (totalXtalkMegaCps + 0x80) >> 8;
+ }
+ }
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *ptotal_signal_rate_mcps)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ FixPoint1616_t totalXtalkMegaCps;
+
+ LOG_FUNCTION_START("");
+
+ *ptotal_signal_rate_mcps =
+ pRangingMeasurementData->SignalRateRtnMegaCps;
+
+ Status = VL53L0X_get_total_xtalk_rate(
+ Dev, pRangingMeasurementData, &totalXtalkMegaCps);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ *ptotal_signal_rate_mcps += totalXtalkMegaCps;
+
+ return Status;
+}
+
+/* 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 totalSignalRate_mcps,
+ FixPoint1616_t totalCorrSignalRate_mcps,
+ FixPoint1616_t pwMult,
+ uint32_t sigmaEstimateP1,
+ FixPoint1616_t sigmaEstimateP2,
+ uint32_t peakVcselDuration_us,
+ uint32_t *pdmax_mm)
+{
+ const uint32_t cSigmaLimit = 18;
+ const FixPoint1616_t cSignalLimit = 0x4000; /* 0.25 */
+ const FixPoint1616_t cSigmaEstRef = 0x00000042; /* 0.001 */
+ const uint32_t cAmbEffWidthSigmaEst_ns = 6;
+ const uint32_t cAmbEffWidthDMax_ns = 7;
+ uint32_t dmaxCalRange_mm;
+ FixPoint1616_t dmaxCalSignalRateRtn_mcps;
+ FixPoint1616_t minSignalNeeded;
+ FixPoint1616_t minSignalNeeded_p1;
+ FixPoint1616_t minSignalNeeded_p2;
+ FixPoint1616_t minSignalNeeded_p3;
+ FixPoint1616_t minSignalNeeded_p4;
+ FixPoint1616_t sigmaLimitTmp;
+ FixPoint1616_t sigmaEstSqTmp;
+ FixPoint1616_t signalLimitTmp;
+ FixPoint1616_t SignalAt0mm;
+ FixPoint1616_t dmaxDark;
+ FixPoint1616_t dmaxAmbient;
+ FixPoint1616_t dmaxDarkTmp;
+ FixPoint1616_t sigmaEstP2Tmp;
+ uint32_t signalRateTemp_mcps;
+
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ dmaxCalRange_mm =
+ PALDevDataGet(Dev, DmaxCalRangeMilliMeter);
+
+ dmaxCalSignalRateRtn_mcps =
+ PALDevDataGet(Dev, DmaxCalSignalRateRtnMegaCps);
+
+ /* uint32 * FixPoint1616 = FixPoint1616 */
+ SignalAt0mm = dmaxCalRange_mm * dmaxCalSignalRateRtn_mcps;
+
+ /* FixPoint1616 >> 8 = FixPoint2408 */
+ SignalAt0mm = (SignalAt0mm + 0x80) >> 8;
+ SignalAt0mm *= dmaxCalRange_mm;
+
+ minSignalNeeded_p1 = 0;
+ if (totalCorrSignalRate_mcps > 0) {
+
+ /* Shift by 10 bits to increase resolution prior to the
+ * division */
+ signalRateTemp_mcps = totalSignalRate_mcps << 10;
+
+ /* Add rounding value prior to division */
+ minSignalNeeded_p1 = signalRateTemp_mcps +
+ (totalCorrSignalRate_mcps/2);
+
+ /* FixPoint0626/FixPoint1616 = FixPoint2210 */
+ minSignalNeeded_p1 /= totalCorrSignalRate_mcps;
+
+ /* Apply a factored version of the speed of light.
+ Correction to be applied at the end */
+ minSignalNeeded_p1 *= 3;
+
+ /* FixPoint2210 * FixPoint2210 = FixPoint1220 */
+ minSignalNeeded_p1 *= minSignalNeeded_p1;
+
+ /* FixPoint1220 >> 16 = FixPoint2804 */
+ minSignalNeeded_p1 = (minSignalNeeded_p1 + 0x8000) >> 16;
+ }
+
+ minSignalNeeded_p2 = pwMult * sigmaEstimateP1;
+
+ /* FixPoint1616 >> 16 = uint32 */
+ minSignalNeeded_p2 = (minSignalNeeded_p2 + 0x8000) >> 16;
+
+ /* uint32 * uint32 = uint32 */
+ minSignalNeeded_p2 *= minSignalNeeded_p2;
+
+ /* Check sigmaEstimateP2
+ * If this value is too high there is not enough signal rate
+ * to calculate dmax value so set a suitable value to ensure
+ * a very small dmax.
+ */
+ sigmaEstP2Tmp = (sigmaEstimateP2 + 0x8000) >> 16;
+ sigmaEstP2Tmp = (sigmaEstP2Tmp + cAmbEffWidthSigmaEst_ns/2)/
+ cAmbEffWidthSigmaEst_ns;
+ sigmaEstP2Tmp *= cAmbEffWidthDMax_ns;
+
+ if (sigmaEstP2Tmp > 0xffff) {
+ minSignalNeeded_p3 = 0xfff00000;
+ } else {
+
+ /* DMAX uses a different ambient width from sigma, so apply
+ * correction.
+ * Perform division before multiplication to prevent overflow.
+ */
+ sigmaEstimateP2 = (sigmaEstimateP2 + cAmbEffWidthSigmaEst_ns/2)/
+ cAmbEffWidthSigmaEst_ns;
+ sigmaEstimateP2 *= cAmbEffWidthDMax_ns;
+
+ /* FixPoint1616 >> 16 = uint32 */
+ minSignalNeeded_p3 = (sigmaEstimateP2 + 0x8000) >> 16;
+
+ minSignalNeeded_p3 *= minSignalNeeded_p3;
+
+ }
+
+ /* FixPoint1814 / uint32 = FixPoint1814 */
+ sigmaLimitTmp = ((cSigmaLimit << 14) + 500) / 1000;
+
+ /* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */
+ sigmaLimitTmp *= sigmaLimitTmp;
+
+ /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
+ sigmaEstSqTmp = cSigmaEstRef * cSigmaEstRef;
+
+ /* FixPoint3232 >> 4 = FixPoint0428 */
+ sigmaEstSqTmp = (sigmaEstSqTmp + 0x08) >> 4;
+
+ /* FixPoint0428 - FixPoint0428 = FixPoint0428 */
+ sigmaLimitTmp -= sigmaEstSqTmp;
+
+ /* uint32_t * FixPoint0428 = FixPoint0428 */
+ minSignalNeeded_p4 = 4 * 12 * sigmaLimitTmp;
+
+ /* FixPoint0428 >> 14 = FixPoint1814 */
+ minSignalNeeded_p4 = (minSignalNeeded_p4 + 0x2000) >> 14;
+
+ /* uint32 + uint32 = uint32 */
+ minSignalNeeded = (minSignalNeeded_p2 + minSignalNeeded_p3);
+
+ /* uint32 / uint32 = uint32 */
+ minSignalNeeded += (peakVcselDuration_us/2);
+ minSignalNeeded /= peakVcselDuration_us;
+
+ /* uint32 << 14 = FixPoint1814 */
+ minSignalNeeded <<= 14;
+
+ /* FixPoint1814 / FixPoint1814 = uint32 */
+ minSignalNeeded += (minSignalNeeded_p4/2);
+ minSignalNeeded /= minSignalNeeded_p4;
+
+ /* FixPoint3200 * FixPoint2804 := FixPoint2804*/
+ minSignalNeeded *= minSignalNeeded_p1;
+
+ /* Apply correction by dividing by 1000000.
+ * This assumes 10E16 on the numerator of the equation
+ * and 10E-22 on the denominator.
+ * We do this because 32bit fix point calculation can't
+ * handle the larger and smaller elements of this equation,
+ * i.e. speed of light and pulse widths.
+ */
+ minSignalNeeded = (minSignalNeeded + 500) / 1000;
+ minSignalNeeded <<= 4;
+
+ minSignalNeeded = (minSignalNeeded + 500) / 1000;
+
+ /* FixPoint1616 >> 8 = FixPoint2408 */
+ signalLimitTmp = (cSignalLimit + 0x80) >> 8;
+
+ /* FixPoint2408/FixPoint2408 = uint32 */
+ if (signalLimitTmp != 0)
+ dmaxDarkTmp = (SignalAt0mm + (signalLimitTmp / 2))
+ / signalLimitTmp;
+ else
+ dmaxDarkTmp = 0;
+
+ dmaxDark = VL53L0X_isqrt(dmaxDarkTmp);
+
+ /* FixPoint2408/FixPoint2408 = uint32 */
+ if (minSignalNeeded != 0)
+ dmaxAmbient = (SignalAt0mm + minSignalNeeded/2)
+ / minSignalNeeded;
+ else
+ dmaxAmbient = 0;
+
+ dmaxAmbient = VL53L0X_isqrt(dmaxAmbient);
+
+ *pdmax_mm = dmaxDark;
+ if (dmaxDark > dmaxAmbient)
+ *pdmax_mm = dmaxAmbient;
+
+ LOG_FUNCTION_END(Status);
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *pSigmaEstimate,
+ uint32_t *pDmax_mm)
+{
+ /* Expressed in 100ths of a ns, i.e. centi-ns */
+ const uint32_t cPulseEffectiveWidth_centi_ns = 800;
+ /* Expressed in 100ths of a ns, i.e. centi-ns */
+ const uint32_t cAmbientEffectiveWidth_centi_ns = 600;
+ const FixPoint1616_t cDfltFinalRangeIntegrationTimeMilliSecs = 0x00190000; /* 25ms */
+ const uint32_t cVcselPulseWidth_ps = 4700; /* pico secs */
+ const FixPoint1616_t cSigmaEstMax = 0x028F87AE;
+ const FixPoint1616_t cSigmaEstRtnMax = 0xF000;
+ const FixPoint1616_t cAmbToSignalRatioMax = 0xF0000000/
+ cAmbientEffectiveWidth_centi_ns;
+ /* Time Of Flight per mm (6.6 pico secs) */
+ const FixPoint1616_t cTOF_per_mm_ps = 0x0006999A;
+ const uint32_t c16BitRoundingParam = 0x00008000;
+ const FixPoint1616_t cMaxXTalk_kcps = 0x00320000;
+ const uint32_t cPllPeriod_ps = 1655;
+
+ uint32_t vcselTotalEventsRtn;
+ uint32_t finalRangeTimeoutMicroSecs;
+ uint32_t preRangeTimeoutMicroSecs;
+ uint32_t finalRangeIntegrationTimeMilliSecs;
+ FixPoint1616_t sigmaEstimateP1;
+ FixPoint1616_t sigmaEstimateP2;
+ FixPoint1616_t sigmaEstimateP3;
+ FixPoint1616_t deltaT_ps;
+ FixPoint1616_t pwMult;
+ FixPoint1616_t sigmaEstRtn;
+ FixPoint1616_t sigmaEstimate;
+ FixPoint1616_t xTalkCorrection;
+ FixPoint1616_t ambientRate_kcps;
+ FixPoint1616_t peakSignalRate_kcps;
+ FixPoint1616_t xTalkCompRate_mcps;
+ uint32_t xTalkCompRate_kcps;
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ FixPoint1616_t diff1_mcps;
+ FixPoint1616_t diff2_mcps;
+ FixPoint1616_t sqr1;
+ FixPoint1616_t sqr2;
+ FixPoint1616_t sqrSum;
+ FixPoint1616_t sqrtResult_centi_ns;
+ FixPoint1616_t sqrtResult;
+ FixPoint1616_t totalSignalRate_mcps;
+ FixPoint1616_t correctedSignalRate_mcps;
+ FixPoint1616_t sigmaEstRef;
+ uint32_t vcselWidth;
+ uint32_t finalRangeMacroPCLKS;
+ uint32_t preRangeMacroPCLKS;
+ uint32_t peakVcselDuration_us;
+ uint8_t finalRangeVcselPCLKS;
+ uint8_t preRangeVcselPCLKS;
+ /*! \addtogroup calc_sigma_estimate
+ * @{
+ *
+ * Estimates the range sigma
+ */
+
+ LOG_FUNCTION_START("");
+
+ VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps,
+ xTalkCompRate_mcps);
+
+ /*
+ * We work in kcps rather than mcps as this helps keep within the
+ * confines of the 32 Fix1616 type.
+ */
+
+ ambientRate_kcps =
+ (pRangingMeasurementData->AmbientRateRtnMegaCps * 1000) >> 16;
+
+ correctedSignalRate_mcps =
+ pRangingMeasurementData->SignalRateRtnMegaCps;
+
+
+ Status = VL53L0X_get_total_signal_rate(
+ Dev, pRangingMeasurementData, &totalSignalRate_mcps);
+ Status = VL53L0X_get_total_xtalk_rate(
+ Dev, pRangingMeasurementData, &xTalkCompRate_mcps);
+
+
+ /* Signal rate measurement provided by device is the
+ * peak signal rate, not average.
+ */
+ peakSignalRate_kcps = (totalSignalRate_mcps * 1000);
+ peakSignalRate_kcps = (peakSignalRate_kcps + 0x8000) >> 16;
+
+ xTalkCompRate_kcps = xTalkCompRate_mcps * 1000;
+
+ if (xTalkCompRate_kcps > cMaxXTalk_kcps)
+ xTalkCompRate_kcps = cMaxXTalk_kcps;
+
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ /* Calculate final range macro periods */
+ finalRangeTimeoutMicroSecs = VL53L0X_GETDEVICESPECIFICPARAMETER(
+ Dev, FinalRangeTimeoutMicroSecs);
+
+ finalRangeVcselPCLKS = VL53L0X_GETDEVICESPECIFICPARAMETER(
+ Dev, FinalRangeVcselPulsePeriod);
+
+ finalRangeMacroPCLKS = VL53L0X_calc_timeout_mclks(
+ Dev, finalRangeTimeoutMicroSecs, finalRangeVcselPCLKS);
+
+ /* Calculate pre-range macro periods */
+ preRangeTimeoutMicroSecs = VL53L0X_GETDEVICESPECIFICPARAMETER(
+ Dev, PreRangeTimeoutMicroSecs);
+
+ preRangeVcselPCLKS = VL53L0X_GETDEVICESPECIFICPARAMETER(
+ Dev, PreRangeVcselPulsePeriod);
+
+ preRangeMacroPCLKS = VL53L0X_calc_timeout_mclks(
+ Dev, preRangeTimeoutMicroSecs, preRangeVcselPCLKS);
+
+ vcselWidth = 3;
+ if (finalRangeVcselPCLKS == 8)
+ vcselWidth = 2;
+
+
+ peakVcselDuration_us = vcselWidth * 2048 *
+ (preRangeMacroPCLKS + finalRangeMacroPCLKS);
+ peakVcselDuration_us = (peakVcselDuration_us + 500)/1000;
+ peakVcselDuration_us *= cPllPeriod_ps;
+ peakVcselDuration_us = (peakVcselDuration_us + 500)/1000;
+
+ /* Fix1616 >> 8 = Fix2408 */
+ totalSignalRate_mcps = (totalSignalRate_mcps + 0x80) >> 8;
+
+ /* Fix2408 * uint32 = Fix2408 */
+ vcselTotalEventsRtn = totalSignalRate_mcps *
+ peakVcselDuration_us;
+
+ /* Fix2408 >> 8 = uint32 */
+ vcselTotalEventsRtn = (vcselTotalEventsRtn + 0x80) >> 8;
+
+ /* Fix2408 << 8 = Fix1616 = */
+ totalSignalRate_mcps <<= 8;
+ }
+
+ if (Status != VL53L0X_ERROR_NONE) {
+ LOG_FUNCTION_END(Status);
+ return Status;
+ }
+
+ if (peakSignalRate_kcps == 0) {
+ *pSigmaEstimate = cSigmaEstMax;
+ PALDevDataSet(Dev, SigmaEstimate, cSigmaEstMax);
+ *pDmax_mm = 0;
+ } else {
+ if (vcselTotalEventsRtn < 1)
+ vcselTotalEventsRtn = 1;
+
+ sigmaEstimateP1 = cPulseEffectiveWidth_centi_ns;
+
+ /* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */
+ sigmaEstimateP2 = (ambientRate_kcps << 16)/peakSignalRate_kcps;
+ if (sigmaEstimateP2 > cAmbToSignalRatioMax) {
+ /* Clip to prevent overflow. Will ensure safe
+ * max result. */
+ sigmaEstimateP2 = cAmbToSignalRatioMax;
+ }
+ sigmaEstimateP2 *= cAmbientEffectiveWidth_centi_ns;
+
+ sigmaEstimateP3 = 2 * VL53L0X_isqrt(vcselTotalEventsRtn * 12);
+
+ /* uint32 * FixPoint1616 = FixPoint1616 */
+ deltaT_ps = pRangingMeasurementData->RangeMilliMeter *
+ cTOF_per_mm_ps;
+
+ /*
+ * vcselRate - xtalkCompRate
+ * (uint32 << 16) - FixPoint1616 = FixPoint1616.
+ * Divide result by 1000 to convert to mcps.
+ * 500 is added to ensure rounding when integer division
+ * truncates.
+ */
+ diff1_mcps = (((peakSignalRate_kcps << 16) -
+ 2 * xTalkCompRate_kcps) + 500)/1000;
+
+ /* vcselRate + xtalkCompRate */
+ diff2_mcps = ((peakSignalRate_kcps << 16) + 500)/1000;
+
+ /* Shift by 8 bits to increase resolution prior to the
+ * division */
+ diff1_mcps <<= 8;
+
+ /* FixPoint0824/FixPoint1616 = FixPoint2408 */
+// xTalkCorrection = abs(diff1_mcps/diff2_mcps);
+// abs is causing compiler overloading isue in C++, but unsigned types. So, redundant call anyway!
+ xTalkCorrection = diff1_mcps/diff2_mcps;
+
+ /* FixPoint2408 << 8 = FixPoint1616 */
+ xTalkCorrection <<= 8;
+
+ if(pRangingMeasurementData->RangeStatus != 0){
+ pwMult = 1 << 16;
+ } else {
+ /* FixPoint1616/uint32 = FixPoint1616 */
+ pwMult = deltaT_ps/cVcselPulseWidth_ps; /* smaller than 1.0f */
+
+ /*
+ * FixPoint1616 * FixPoint1616 = FixPoint3232, however both
+ * values are small enough such that32 bits will not be
+ * exceeded.
+ */
+ pwMult *= ((1 << 16) - xTalkCorrection);
+
+ /* (FixPoint3232 >> 16) = FixPoint1616 */
+ pwMult = (pwMult + c16BitRoundingParam) >> 16;
+
+ /* FixPoint1616 + FixPoint1616 = FixPoint1616 */
+ pwMult += (1 << 16);
+
+ /*
+ * At this point the value will be 1.xx, therefore if we square
+ * the value this will exceed 32 bits. To address this perform
+ * a single shift to the right before the multiplication.
+ */
+ pwMult >>= 1;
+ /* FixPoint1715 * FixPoint1715 = FixPoint3430 */
+ pwMult = pwMult * pwMult;
+
+ /* (FixPoint3430 >> 14) = Fix1616 */
+ pwMult >>= 14;
+ }
+
+ /* FixPoint1616 * uint32 = FixPoint1616 */
+ sqr1 = pwMult * sigmaEstimateP1;
+
+ /* (FixPoint1616 >> 16) = FixPoint3200 */
+ sqr1 = (sqr1 + 0x8000) >> 16;
+
+ /* FixPoint3200 * FixPoint3200 = FixPoint6400 */
+ sqr1 *= sqr1;
+
+ sqr2 = sigmaEstimateP2;
+
+ /* (FixPoint1616 >> 16) = FixPoint3200 */
+ sqr2 = (sqr2 + 0x8000) >> 16;
+
+ /* FixPoint3200 * FixPoint3200 = FixPoint6400 */
+ sqr2 *= sqr2;
+
+ /* FixPoint64000 + FixPoint6400 = FixPoint6400 */
+ sqrSum = sqr1 + sqr2;
+
+ /* SQRT(FixPoin6400) = FixPoint3200 */
+ sqrtResult_centi_ns = VL53L0X_isqrt(sqrSum);
+
+ /* (FixPoint3200 << 16) = FixPoint1616 */
+ sqrtResult_centi_ns <<= 16;
+
+ /*
+ * Note that the Speed Of Light is expressed in um per 1E-10
+ * seconds (2997) Therefore to get mm/ns we have to divide by
+ * 10000
+ */
+ sigmaEstRtn = (((sqrtResult_centi_ns+50)/100) /
+ sigmaEstimateP3);
+ sigmaEstRtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR;
+
+ /* Add 5000 before dividing by 10000 to ensure rounding. */
+ sigmaEstRtn += 5000;
+ sigmaEstRtn /= 10000;
+
+ if (sigmaEstRtn > cSigmaEstRtnMax) {
+ /* Clip to prevent overflow. Will ensure safe
+ * max result. */
+ sigmaEstRtn = cSigmaEstRtnMax;
+ }
+ finalRangeIntegrationTimeMilliSecs =
+ (finalRangeTimeoutMicroSecs + preRangeTimeoutMicroSecs + 500)/1000;
+
+ /* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range)
+ * sqrt(FixPoint1616/int) = FixPoint2408)
+ */
+ sigmaEstRef =
+ VL53L0X_isqrt((cDfltFinalRangeIntegrationTimeMilliSecs +
+ finalRangeIntegrationTimeMilliSecs/2)/
+ finalRangeIntegrationTimeMilliSecs);
+
+ /* FixPoint2408 << 8 = FixPoint1616 */
+ sigmaEstRef <<= 8;
+ sigmaEstRef = (sigmaEstRef + 500)/1000;
+
+ /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
+ sqr1 = sigmaEstRtn * sigmaEstRtn;
+ /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
+ sqr2 = sigmaEstRef * sigmaEstRef;
+
+ /* sqrt(FixPoint3232) = FixPoint1616 */
+ sqrtResult = VL53L0X_isqrt((sqr1 + sqr2));
+ /*
+ * Note that the Shift by 4 bits increases resolution prior to
+ * the sqrt, therefore the result must be shifted by 2 bits to
+ * the right to revert back to the FixPoint1616 format.
+ */
+
+ sigmaEstimate = 1000 * sqrtResult;
+
+ if ((peakSignalRate_kcps < 1) || (vcselTotalEventsRtn < 1) ||
+ (sigmaEstimate > cSigmaEstMax)) {
+ sigmaEstimate = cSigmaEstMax;
+ }
+
+ *pSigmaEstimate = (uint32_t)(sigmaEstimate);
+ PALDevDataSet(Dev, SigmaEstimate, *pSigmaEstimate);
+ Status = VL53L0X_calc_dmax(
+ Dev,
+ totalSignalRate_mcps,
+ correctedSignalRate_mcps,
+ pwMult,
+ sigmaEstimateP1,
+ sigmaEstimateP2,
+ peakVcselDuration_us,
+ pDmax_mm);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_get_pal_range_status(VL53L0X_DEV Dev,
+ uint8_t DeviceRangeStatus,
+ FixPoint1616_t SignalRate,
+ uint16_t EffectiveSpadRtnCount,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ uint8_t *pPalRangeStatus)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t NoneFlag;
+ uint8_t SigmaLimitflag = 0;
+ uint8_t SignalRefClipflag = 0;
+ uint8_t RangeIgnoreThresholdflag = 0;
+ uint8_t SigmaLimitCheckEnable = 0;
+ uint8_t SignalRateFinalRangeLimitCheckEnable = 0;
+ uint8_t SignalRefClipLimitCheckEnable = 0;
+ uint8_t RangeIgnoreThresholdLimitCheckEnable = 0;
+ FixPoint1616_t SigmaEstimate;
+ FixPoint1616_t SigmaLimitValue;
+ FixPoint1616_t SignalRefClipValue;
+ FixPoint1616_t RangeIgnoreThresholdValue;
+ FixPoint1616_t SignalRatePerSpad;
+ uint8_t DeviceRangeStatusInternal = 0;
+ uint16_t tmpWord = 0;
+ uint8_t Temp8;
+ uint32_t Dmax_mm = 0;
+ FixPoint1616_t LastSignalRefMcps;
+
+ LOG_FUNCTION_START("");
+
+
+ /*
+ * VL53L0X has a good ranging when the value of the
+ * DeviceRangeStatus = 11. This function will replace the value 0 with
+ * the value 11 in the DeviceRangeStatus.
+ * In addition, the SigmaEstimator is not included in the VL53L0X
+ * DeviceRangeStatus, this will be added in the PalRangeStatus.
+ */
+
+ DeviceRangeStatusInternal = ((DeviceRangeStatus & 0x78) >> 3);
+
+ if (DeviceRangeStatusInternal == 0 ||
+ DeviceRangeStatusInternal == 5 ||
+ DeviceRangeStatusInternal == 7 ||
+ DeviceRangeStatusInternal == 12 ||
+ DeviceRangeStatusInternal == 13 ||
+ DeviceRangeStatusInternal == 14 ||
+ DeviceRangeStatusInternal == 15
+ ) {
+ NoneFlag = 1;
+ } else {
+ NoneFlag = 0;
+ }
+
+ /*
+ * Check if Sigma limit is enabled, if yes then do comparison with limit
+ * value and put the result back into pPalRangeStatus.
+ */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_GetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ &SigmaLimitCheckEnable);
+
+ if ((SigmaLimitCheckEnable != 0) && (Status == VL53L0X_ERROR_NONE)) {
+ /*
+ * compute the Sigma and check with limit
+ */
+ Status = VL53L0X_calc_sigma_estimate(
+ Dev,
+ pRangingMeasurementData,
+ &SigmaEstimate,
+ &Dmax_mm);
+ if (Status == VL53L0X_ERROR_NONE)
+ pRangingMeasurementData->RangeDMaxMilliMeter = Dmax_mm;
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_GetLimitCheckValue(Dev,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ &SigmaLimitValue);
+
+ if ((SigmaLimitValue > 0) &&
+ (SigmaEstimate > SigmaLimitValue))
+ /* Limit Fail */
+ SigmaLimitflag = 1;
+ }
+ }
+
+ /*
+ * Check if Signal ref clip limit is enabled, if yes then do comparison
+ * with limit value and put the result back into pPalRangeStatus.
+ */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_GetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ &SignalRefClipLimitCheckEnable);
+
+ if ((SignalRefClipLimitCheckEnable != 0) &&
+ (Status == VL53L0X_ERROR_NONE)) {
+
+ Status = VL53L0X_GetLimitCheckValue(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ &SignalRefClipValue);
+
+ /* Read LastSignalRefMcps from device */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
+ &tmpWord);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+ LastSignalRefMcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmpWord);
+ PALDevDataSet(Dev, LastSignalRefMcps, LastSignalRefMcps);
+
+ if ((SignalRefClipValue > 0) &&
+ (LastSignalRefMcps > SignalRefClipValue)) {
+ /* Limit Fail */
+ SignalRefClipflag = 1;
+ }
+ }
+
+ /*
+ * Check if Signal ref clip limit is enabled, if yes then do comparison
+ * with limit value and put the result back into pPalRangeStatus.
+ * EffectiveSpadRtnCount has a format 8.8
+ * If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL
+ */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_GetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ &RangeIgnoreThresholdLimitCheckEnable);
+
+ if ((RangeIgnoreThresholdLimitCheckEnable != 0) &&
+ (Status == VL53L0X_ERROR_NONE)) {
+
+ /* Compute the signal rate per spad */
+ if (EffectiveSpadRtnCount == 0) {
+ SignalRatePerSpad = 0;
+ } else {
+ SignalRatePerSpad = (FixPoint1616_t)((256 * SignalRate)
+ / EffectiveSpadRtnCount);
+ }
+
+ Status = VL53L0X_GetLimitCheckValue(Dev,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ &RangeIgnoreThresholdValue);
+
+ if ((RangeIgnoreThresholdValue > 0) &&
+ (SignalRatePerSpad < RangeIgnoreThresholdValue)) {
+ /* Limit Fail add 2^6 to range status */
+ RangeIgnoreThresholdflag = 1;
+ }
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (NoneFlag == 1) {
+ *pPalRangeStatus = 255; /* NONE */
+ } else if (DeviceRangeStatusInternal == 1 ||
+ DeviceRangeStatusInternal == 2 ||
+ DeviceRangeStatusInternal == 3) {
+ *pPalRangeStatus = 5; /* HW fail */
+ } else if (DeviceRangeStatusInternal == 6 ||
+ DeviceRangeStatusInternal == 9) {
+ *pPalRangeStatus = 4; /* Phase fail */
+ } else if (DeviceRangeStatusInternal == 8 ||
+ DeviceRangeStatusInternal == 10 ||
+ SignalRefClipflag == 1) {
+ *pPalRangeStatus = 3; /* Min range */
+ } else if (DeviceRangeStatusInternal == 4 ||
+ RangeIgnoreThresholdflag == 1) {
+ *pPalRangeStatus = 2; /* Signal Fail */
+ } else if (SigmaLimitflag == 1) {
+ *pPalRangeStatus = 1; /* Sigma Fail */
+ } else {
+ *pPalRangeStatus = 0; /* Range Valid */
+ }
+ }
+
+ /* DMAX only relevant during range error */
+ if (*pPalRangeStatus == 0)
+ pRangingMeasurementData->RangeDMaxMilliMeter = 0;
+
+ /* fill the Limit Check Status */
+
+ Status = VL53L0X_GetLimitCheckEnable(Dev,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ &SignalRateFinalRangeLimitCheckEnable);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if ((SigmaLimitCheckEnable == 0) || (SigmaLimitflag == 1))
+ Temp8 = 1;
+ else
+ Temp8 = 0;
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8);
+
+ if ((DeviceRangeStatusInternal == 4) ||
+ (SignalRateFinalRangeLimitCheckEnable == 0))
+ Temp8 = 1;
+ else
+ Temp8 = 0;
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+ Temp8);
+
+ if ((SignalRefClipLimitCheckEnable == 0) ||
+ (SignalRefClipflag == 1))
+ Temp8 = 1;
+ else
+ Temp8 = 0;
+
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, Temp8);
+
+ if ((RangeIgnoreThresholdLimitCheckEnable == 0) ||
+ (RangeIgnoreThresholdflag == 1))
+ Temp8 = 1;
+ else
+ Temp8 = 0;
+
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ Temp8);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t DeviceRangeStatus;
+ uint8_t RangeFractionalEnable;
+ uint8_t PalRangeStatus;
+ uint8_t XTalkCompensationEnable;
+ uint16_t AmbientRate;
+ FixPoint1616_t SignalRate;
+ uint16_t XTalkCompensationRateMegaCps;
+ uint16_t EffectiveSpadRtnCount;
+ uint16_t tmpuint16;
+ uint16_t XtalkRangeMilliMeter;
+ uint16_t LinearityCorrectiveGain;
+ uint8_t localBuffer[12];
+ VL53L0X_RangingMeasurementData_t LastRangeDataBuffer;
+
+ LOG_FUNCTION_START("");
+
+ /*
+ * use multi read even if some registers are not useful, result will
+ * be more efficient
+ * start reading at 0x14 dec20
+ * end reading at 0x21 dec33 total 14 bytes to read
+ */
+ Status = VL53L0X_ReadMulti(Dev, 0x14, localBuffer, 12);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ pRangingMeasurementData->ZoneId = 0; /* Only one zone */
+ pRangingMeasurementData->TimeStamp = 0; /* Not Implemented */
+
+ tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], localBuffer[10]);
+ /* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional
+ *(format 11.2) else no fractional
+ */
+
+ pRangingMeasurementData->MeasurementTimeUsec = 0;
+
+ SignalRate = VL53L0X_FIXPOINT97TOFIXPOINT1616(
+ VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6]));
+ /* peak_signal_count_rate_rtn_mcps */
+ pRangingMeasurementData->SignalRateRtnMegaCps = SignalRate;
+
+ AmbientRate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]);
+ pRangingMeasurementData->AmbientRateRtnMegaCps =
+ VL53L0X_FIXPOINT97TOFIXPOINT1616(AmbientRate);
+
+ EffectiveSpadRtnCount = VL53L0X_MAKEUINT16(localBuffer[3],
+ localBuffer[2]);
+ /* EffectiveSpadRtnCount is 8.8 format */
+ pRangingMeasurementData->EffectiveSpadRtnCount =
+ EffectiveSpadRtnCount;
+
+ DeviceRangeStatus = localBuffer[0];
+
+ /* Get Linearity Corrective Gain */
+ LinearityCorrectiveGain = PALDevDataGet(Dev,
+ LinearityCorrectiveGain);
+
+ /* Get ranging configuration */
+ RangeFractionalEnable = PALDevDataGet(Dev,
+ RangeFractionalEnable);
+
+ if (LinearityCorrectiveGain != 1000) {
+
+ tmpuint16 = (uint16_t)((LinearityCorrectiveGain
+ * tmpuint16 + 500) / 1000);
+
+ /* Implement Xtalk */
+ VL53L0X_GETPARAMETERFIELD(Dev,
+ XTalkCompensationRateMegaCps,
+ XTalkCompensationRateMegaCps);
+ VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable,
+ XTalkCompensationEnable);
+
+ if (XTalkCompensationEnable) {
+
+ if ((SignalRate
+ - ((XTalkCompensationRateMegaCps
+ * EffectiveSpadRtnCount) >> 8))
+ <= 0) {
+ if (RangeFractionalEnable)
+ XtalkRangeMilliMeter = 8888;
+ else
+ XtalkRangeMilliMeter = 8888
+ << 2;
+ } else {
+ XtalkRangeMilliMeter =
+ (tmpuint16 * SignalRate)
+ / (SignalRate
+ - ((XTalkCompensationRateMegaCps
+ * EffectiveSpadRtnCount)
+ >> 8));
+ }
+
+ tmpuint16 = XtalkRangeMilliMeter;
+ }
+
+ }
+
+ if (RangeFractionalEnable) {
+ pRangingMeasurementData->RangeMilliMeter =
+ (uint16_t)((tmpuint16) >> 2);
+ pRangingMeasurementData->RangeFractionalPart =
+ (uint8_t)((tmpuint16 & 0x03) << 6);
+ } else {
+ pRangingMeasurementData->RangeMilliMeter = tmpuint16;
+ pRangingMeasurementData->RangeFractionalPart = 0;
+ }
+
+ /*
+ * For a standard definition of RangeStatus, this should
+ * return 0 in case of good result after a ranging
+ * The range status depends on the device so call a device
+ * specific function to obtain the right Status.
+ */
+ Status |= VL53L0X_get_pal_range_status(Dev, DeviceRangeStatus,
+ SignalRate, EffectiveSpadRtnCount,
+ pRangingMeasurementData, &PalRangeStatus);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ pRangingMeasurementData->RangeStatus = PalRangeStatus;
+
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ /* Copy last read data into Dev buffer */
+ LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure);
+
+ LastRangeDataBuffer.RangeMilliMeter =
+ pRangingMeasurementData->RangeMilliMeter;
+ LastRangeDataBuffer.RangeFractionalPart =
+ pRangingMeasurementData->RangeFractionalPart;
+ LastRangeDataBuffer.RangeDMaxMilliMeter =
+ pRangingMeasurementData->RangeDMaxMilliMeter;
+ LastRangeDataBuffer.MeasurementTimeUsec =
+ pRangingMeasurementData->MeasurementTimeUsec;
+ LastRangeDataBuffer.SignalRateRtnMegaCps =
+ pRangingMeasurementData->SignalRateRtnMegaCps;
+ LastRangeDataBuffer.AmbientRateRtnMegaCps =
+ pRangingMeasurementData->AmbientRateRtnMegaCps;
+ LastRangeDataBuffer.EffectiveSpadRtnCount =
+ pRangingMeasurementData->EffectiveSpadRtnCount;
+ LastRangeDataBuffer.RangeStatus =
+ pRangingMeasurementData->RangeStatus;
+
+ PALDevDataSet(Dev, LastRangeMeasure, LastRangeDataBuffer);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+ LOG_FUNCTION_START("");
+
+ /* This function will do a complete single ranging
+ * Here we fix the mode! */
+ Status = VL53L0X_SetDeviceMode(Dev, VL53L0X_DEVICEMODE_SINGLE_RANGING);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_PerformSingleMeasurement(Dev);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_GetRangingMeasurementData(Dev,
+ pRangingMeasurementData);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_ClearInterruptMask(Dev, 0);
+
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::perform_ref_signal_measurement(VL53L0X_DEV Dev,
+ uint16_t *refSignalRate)
+{
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ VL53L0X_RangingMeasurementData_t rangingMeasurementData;
+
+ uint8_t SequenceConfig = 0;
+
+ /* store the value of the sequence config,
+ * this will be reset before the end of the function
+ */
+
+ SequenceConfig = PALDevDataGet(Dev, SequenceConfig);
+
+ /*
+ * This function performs a reference signal rate measurement.
+ */
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0);
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_PerformSingleRangingMeasurement(Dev,
+ &rangingMeasurementData);
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_RdWord(Dev,
+ VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
+ refSignalRate);
+
+ if (status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ /* restore the previous Sequence Config */
+ status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ SequenceConfig);
+ if (status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, SequenceConfig, SequenceConfig);
+ }
+
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev,
+ uint32_t *refSpadCount,
+ uint8_t *isApertureSpads)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t lastSpadArray[6];
+ uint8_t startSelect = 0xB4;
+ uint32_t minimumSpadCount = 3;
+ uint32_t maxSpadCount = 44;
+ uint32_t currentSpadIndex = 0;
+ uint32_t lastSpadIndex = 0;
+ int32_t nextGoodSpad = 0;
+ uint16_t targetRefRate = 0x0A00; /* 20 MCPS in 9:7 format */
+ uint16_t peakSignalRateRef;
+ uint32_t needAptSpads = 0;
+ uint32_t index = 0;
+ uint32_t spadArraySize = 6;
+ uint32_t signalRateDiff = 0;
+ uint32_t lastSignalRateDiff = 0;
+ uint8_t complete = 0;
+ uint8_t VhvSettings = 0;
+ uint8_t PhaseCal = 0;
+ uint32_t refSpadCount_int = 0;
+ uint8_t isApertureSpads_int = 0;
+
+ /*
+ * The reference SPAD initialization procedure determines the minimum
+ * amount of reference spads to be enables to achieve a target reference
+ * signal rate and should be performed once during initialization.
+ *
+ * Either aperture or non-aperture spads are applied but never both.
+ * Firstly non-aperture spads are set, begining with 5 spads, and
+ * increased one spad at a time until the closest measurement to the
+ * target rate is achieved.
+ *
+ * If the target rate is exceeded when 5 non-aperture spads are enabled,
+ * initialization is performed instead with aperture spads.
+ *
+ * When setting spads, a 'Good Spad Map' is applied.
+ *
+ * This procedure operates within a SPAD window of interest of a maximum
+ * 44 spads.
+ * The start point is currently fixed to 180, which lies towards the end
+ * of the non-aperture quadrant and runs in to the adjacent aperture
+ * quadrant.
+ */
+
+
+ targetRefRate = PALDevDataGet(Dev, targetRefRate);
+
+ /*
+ * Initialize Spad arrays.
+ * Currently the good spad map is initialised to 'All good'.
+ * This is a short term implementation. The good spad map will be
+ * provided as an input.
+ * Note that there are 6 bytes. Only the first 44 bits will be used to
+ * represent spads.
+ */
+ for (index = 0; index < spadArraySize; index++)
+ Dev->Data.SpadData.RefSpadEnables[index] = 0;
+
+
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
+ startSelect);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0);
+
+ /* Perform ref calibration */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_perform_ref_calibration(Dev, &VhvSettings,
+ &PhaseCal, 0);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ /* Enable Minimum NON-APERTURE Spads */
+ currentSpadIndex = 0;
+ lastSpadIndex = currentSpadIndex;
+ needAptSpads = 0;
+ Status = enable_ref_spads(Dev,
+ needAptSpads,
+ Dev->Data.SpadData.RefGoodSpadMap,
+ Dev->Data.SpadData.RefSpadEnables,
+ spadArraySize,
+ startSelect,
+ currentSpadIndex,
+ minimumSpadCount,
+ &lastSpadIndex);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ currentSpadIndex = lastSpadIndex;
+
+ Status = perform_ref_signal_measurement(Dev,
+ &peakSignalRateRef);
+ if ((Status == VL53L0X_ERROR_NONE) &&
+ (peakSignalRateRef > targetRefRate)) {
+ /* Signal rate measurement too high,
+ * switch to APERTURE SPADs */
+
+ for (index = 0; index < spadArraySize; index++)
+ Dev->Data.SpadData.RefSpadEnables[index] = 0;
+
+
+ /* Increment to the first APERTURE spad */
+ while ((is_aperture(startSelect + currentSpadIndex)
+ == 0) && (currentSpadIndex < maxSpadCount)) {
+ currentSpadIndex++;
+ }
+
+ needAptSpads = 1;
+
+ Status = enable_ref_spads(Dev,
+ needAptSpads,
+ Dev->Data.SpadData.RefGoodSpadMap,
+ Dev->Data.SpadData.RefSpadEnables,
+ spadArraySize,
+ startSelect,
+ currentSpadIndex,
+ minimumSpadCount,
+ &lastSpadIndex);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ currentSpadIndex = lastSpadIndex;
+ Status = perform_ref_signal_measurement(Dev,
+ &peakSignalRateRef);
+
+ if ((Status == VL53L0X_ERROR_NONE) &&
+ (peakSignalRateRef > targetRefRate)) {
+ /* Signal rate still too high after
+ * setting the minimum number of
+ * APERTURE spads. Can do no more
+ * therefore set the min number of
+ * aperture spads as the result.
+ */
+ isApertureSpads_int = 1;
+ refSpadCount_int = minimumSpadCount;
+ }
+ }
+ } else {
+ needAptSpads = 0;
+ }
+ }
+
+ if ((Status == VL53L0X_ERROR_NONE) &&
+ (peakSignalRateRef < targetRefRate)) {
+ /* At this point, the minimum number of either aperture
+ * or non-aperture spads have been set. Proceed to add
+ * spads and perform measurements until the target
+ * reference is reached.
+ */
+ isApertureSpads_int = needAptSpads;
+ refSpadCount_int = minimumSpadCount;
+
+ memcpy(lastSpadArray, Dev->Data.SpadData.RefSpadEnables,
+ spadArraySize);
+ lastSignalRateDiff = abs(peakSignalRateRef -
+ targetRefRate);
+ complete = 0;
+
+ while (!complete) {
+ get_next_good_spad(
+ Dev->Data.SpadData.RefGoodSpadMap,
+ spadArraySize, currentSpadIndex,
+ &nextGoodSpad);
+
+ if (nextGoodSpad == -1) {
+ Status = VL53L0X_ERROR_REF_SPAD_INIT;
+ break;
+ }
+
+ /* Cannot combine Aperture and Non-Aperture spads, so
+ * ensure the current spad is of the correct type.
+ */
+ if (is_aperture((uint32_t)startSelect + nextGoodSpad) !=
+ needAptSpads) {
+ /* At this point we have enabled the maximum
+ * number of Aperture spads.
+ */
+ complete = 1;
+ break;
+ }
+
+ (refSpadCount_int)++;
+
+ currentSpadIndex = nextGoodSpad;
+ Status = enable_spad_bit(
+ Dev->Data.SpadData.RefSpadEnables,
+ spadArraySize, currentSpadIndex);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ currentSpadIndex++;
+ /* Proceed to apply the additional spad and
+ * perform measurement. */
+ Status = set_ref_spad_map(Dev,
+ Dev->Data.SpadData.RefSpadEnables);
+ }
+
+ if (Status != VL53L0X_ERROR_NONE)
+ break;
+
+ Status = perform_ref_signal_measurement(Dev,
+ &peakSignalRateRef);
+
+ if (Status != VL53L0X_ERROR_NONE)
+ break;
+
+ signalRateDiff = abs(peakSignalRateRef - targetRefRate);
+
+ if (peakSignalRateRef > targetRefRate) {
+ /* Select the spad map that provides the
+ * measurement closest to the target rate,
+ * either above or below it.
+ */
+ if (signalRateDiff > lastSignalRateDiff) {
+ /* Previous spad map produced a closer
+ * measurement, so choose this. */
+ Status = set_ref_spad_map(Dev,
+ lastSpadArray);
+ memcpy(
+ Dev->Data.SpadData.RefSpadEnables,
+ lastSpadArray, spadArraySize);
+
+ (refSpadCount_int)--;
+ }
+ complete = 1;
+ } else {
+ /* Continue to add spads */
+ lastSignalRateDiff = signalRateDiff;
+ memcpy(lastSpadArray,
+ Dev->Data.SpadData.RefSpadEnables,
+ spadArraySize);
+ }
+
+ } /* while */
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ *refSpadCount = refSpadCount_int;
+ *isApertureSpads = isApertureSpads_int;
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 1);
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadCount, (uint8_t)(*refSpadCount));
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadType, *isApertureSpads);
+ }
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_set_reference_spads(VL53L0X_DEV Dev,
+ uint32_t count, uint8_t isApertureSpads)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint32_t currentSpadIndex = 0;
+ uint8_t startSelect = 0xB4;
+ uint32_t spadArraySize = 6;
+ uint32_t maxSpadCount = 44;
+ uint32_t lastSpadIndex;
+ uint32_t index;
+
+ /*
+ * This function applies a requested number of reference spads, either
+ * aperture or
+ * non-aperture, as requested.
+ * The good spad map will be applied.
+ */
+
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
+ startSelect);
+
+ for (index = 0; index < spadArraySize; index++)
+ Dev->Data.SpadData.RefSpadEnables[index] = 0;
+
+ if (isApertureSpads) {
+ /* Increment to the first APERTURE spad */
+ while ((is_aperture(startSelect + currentSpadIndex) == 0) &&
+ (currentSpadIndex < maxSpadCount)) {
+ currentSpadIndex++;
+ }
+ }
+ Status = enable_ref_spads(Dev,
+ isApertureSpads,
+ Dev->Data.SpadData.RefGoodSpadMap,
+ Dev->Data.SpadData.RefSpadEnables,
+ spadArraySize,
+ startSelect,
+ currentSpadIndex,
+ count,
+ &lastSpadIndex);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 1);
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadCount, (uint8_t)(count));
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadType, isApertureSpads);
+ }
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED;
+ LOG_FUNCTION_START("");
+
+ /* not implemented on VL53L0X */
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings,
+ uint8_t *pPhaseCal)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_perform_ref_calibration(Dev, pVhvSettings,
+ pPhaseCal, 1);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev,
+ uint32_t *refSpadCount, uint8_t *isApertureSpads)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_perform_ref_spad_management(Dev, refSpadCount,
+ isApertureSpads);
+
+ LOG_FUNCTION_END(Status);
+
+ return Status;
+}
+
+/* Group PAL Init Functions */
+VL53L0X_Error VL53L0X::VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, uint8_t DeviceAddress)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS,
+ DeviceAddress / 2);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin,
+ VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality,
+ VL53L0X_InterruptPolarity Polarity)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t data;
+
+ LOG_FUNCTION_START("");
+
+ if (Pin != 0) {
+ Status = VL53L0X_ERROR_GPIO_NOT_EXISTING;
+ } else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_DRIVE) {
+ if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW)
+ data = 0x10;
+ else
+ data = 1;
+
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data);
+
+ } else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_OSC) {
+
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
+
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0x80, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0x85, 0x02);
+
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x04);
+ Status |= VL53L0X_WrByte(Dev, 0xcd, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0xcc, 0x11);
+
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x07);
+ Status |= VL53L0X_WrByte(Dev, 0xbe, 0x00);
+
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x06);
+ Status |= VL53L0X_WrByte(Dev, 0xcc, 0x09);
+
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
+ Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
+ Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
+
+ } else {
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ switch (Functionality) {
+ case VL53L0X_GPIOFUNCTIONALITY_OFF:
+ data = 0x00;
+ break;
+ case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW:
+ data = 0x01;
+ break;
+ case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH:
+ data = 0x02;
+ break;
+ case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT:
+ data = 0x03;
+ break;
+ case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY:
+ data = 0x04;
+ break;
+ default:
+ Status =
+ VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
+ }
+ }
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW)
+ data = 0;
+ else
+ data = (uint8_t)(1 << 4);
+
+ Status = VL53L0X_UpdateByte(Dev,
+ VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE)
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ Pin0GpioFunctionality, Functionality);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_ClearInterruptMask(Dev, 0);
+
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, uint8_t *pEnabled)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, pEnabled);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ *pEnabled = (*pEnabled & 1);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+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 SequenceStepId,
+ uint32_t TimeOutMicroSecs)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t CurrentVCSELPulsePeriodPClk;
+ uint8_t MsrcEncodedTimeOut;
+ uint16_t PreRangeEncodedTimeOut;
+ uint16_t PreRangeTimeOutMClks;
+ uint16_t MsrcRangeTimeOutMClks;
+ uint32_t FinalRangeTimeOutMClks;
+ uint16_t FinalRangeEncodedTimeOut;
+ VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps;
+
+ if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) ||
+ (SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) ||
+ (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) {
+
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ MsrcRangeTimeOutMClks = VL53L0X_calc_timeout_mclks(Dev,
+ TimeOutMicroSecs,
+ (uint8_t)CurrentVCSELPulsePeriodPClk);
+
+ if (MsrcRangeTimeOutMClks > 256)
+ MsrcEncodedTimeOut = 255;
+ else
+ MsrcEncodedTimeOut =
+ (uint8_t)MsrcRangeTimeOutMClks - 1;
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ LastEncodedTimeout,
+ MsrcEncodedTimeOut);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
+ MsrcEncodedTimeOut);
+ }
+ } else {
+
+ if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+ PreRangeTimeOutMClks =
+ VL53L0X_calc_timeout_mclks(Dev,
+ TimeOutMicroSecs,
+ (uint8_t)CurrentVCSELPulsePeriodPClk);
+ PreRangeEncodedTimeOut = VL53L0X_encode_timeout(
+ PreRangeTimeOutMClks);
+
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+ LastEncodedTimeout,
+ PreRangeEncodedTimeOut);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_WrWord(Dev,
+ VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
+ PreRangeEncodedTimeOut);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ PreRangeTimeoutMicroSecs,
+ TimeOutMicroSecs);
+ }
+ } else if (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
+
+ /* For the final range timeout, the pre-range timeout
+ * must be added. To do this both final and pre-range
+ * timeouts must be expressed in macro periods MClks
+ * because they have different vcsel periods.
+ */
+
+ VL53L0X_GetSequenceStepEnables(Dev,
+ &SchedulerSequenceSteps);
+ PreRangeTimeOutMClks = 0;
+ if (SchedulerSequenceSteps.PreRangeOn) {
+
+ /* Retrieve PRE-RANGE VCSEL Period */
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+
+ /* Retrieve PRE-RANGE Timeout in Macro periods
+ * (MCLKS) */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdWord(Dev, 0x51,
+ &PreRangeEncodedTimeOut);
+ PreRangeTimeOutMClks =
+ VL53L0X_decode_timeout(
+ PreRangeEncodedTimeOut);
+ }
+ }
+
+ /* Calculate FINAL RANGE Timeout in Macro Periods
+ * (MCLKS) and add PRE-RANGE value
+ */
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ Status = VL53L0X_GetVcselPulsePeriod(Dev,
+ VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
+ &CurrentVCSELPulsePeriodPClk);
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+
+ FinalRangeTimeOutMClks =
+ VL53L0X_calc_timeout_mclks(Dev,
+ TimeOutMicroSecs,
+ (uint8_t) CurrentVCSELPulsePeriodPClk);
+
+ FinalRangeTimeOutMClks += PreRangeTimeOutMClks;
+
+ FinalRangeEncodedTimeOut =
+ VL53L0X_encode_timeout(FinalRangeTimeOutMClks);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_WrWord(Dev, 0x71,
+ FinalRangeEncodedTimeOut);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ FinalRangeTimeoutMicroSecs,
+ TimeOutMicroSecs);
+ }
+ }
+ } else
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+
+ }
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev,
+ uint32_t MeasurementTimingBudgetMicroSeconds)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint32_t FinalRangeTimingBudgetMicroSeconds;
+ VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps;
+ uint32_t MsrcDccTccTimeoutMicroSeconds = 2000;
+ uint32_t StartOverheadMicroSeconds = 1910;
+ uint32_t EndOverheadMicroSeconds = 960;
+ uint32_t MsrcOverheadMicroSeconds = 660;
+ uint32_t TccOverheadMicroSeconds = 590;
+ uint32_t DssOverheadMicroSeconds = 690;
+ uint32_t PreRangeOverheadMicroSeconds = 660;
+ uint32_t FinalRangeOverheadMicroSeconds = 550;
+ uint32_t PreRangeTimeoutMicroSeconds = 0;
+ uint32_t cMinTimingBudgetMicroSeconds = 20000;
+ uint32_t SubTimeout = 0;
+
+ LOG_FUNCTION_START("");
+
+ if (MeasurementTimingBudgetMicroSeconds
+ < cMinTimingBudgetMicroSeconds) {
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ return Status;
+ }
+
+ FinalRangeTimingBudgetMicroSeconds =
+ MeasurementTimingBudgetMicroSeconds -
+ (StartOverheadMicroSeconds + EndOverheadMicroSeconds);
+
+ Status = VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps);
+
+ if (Status == VL53L0X_ERROR_NONE &&
+ (SchedulerSequenceSteps.TccOn ||
+ SchedulerSequenceSteps.MsrcOn ||
+ SchedulerSequenceSteps.DssOn)) {
+
+ /* TCC, MSRC and DSS all share the same timeout */
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_MSRC,
+ &MsrcDccTccTimeoutMicroSeconds);
+
+ /* Subtract the TCC, MSRC and DSS timeouts if they are
+ * enabled. */
+
+ if (Status != VL53L0X_ERROR_NONE)
+ return Status;
+
+ /* TCC */
+ if (SchedulerSequenceSteps.TccOn) {
+
+ SubTimeout = MsrcDccTccTimeoutMicroSeconds
+ + TccOverheadMicroSeconds;
+
+ if (SubTimeout <
+ FinalRangeTimingBudgetMicroSeconds) {
+ FinalRangeTimingBudgetMicroSeconds -=
+ SubTimeout;
+ } else {
+ /* Requested timeout too big. */
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ if (Status != VL53L0X_ERROR_NONE) {
+ LOG_FUNCTION_END(Status);
+ return Status;
+ }
+
+ /* DSS */
+ if (SchedulerSequenceSteps.DssOn) {
+
+ SubTimeout = 2 * (MsrcDccTccTimeoutMicroSeconds +
+ DssOverheadMicroSeconds);
+
+ if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) {
+ FinalRangeTimingBudgetMicroSeconds
+ -= SubTimeout;
+ } else {
+ /* Requested timeout too big. */
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ } else if (SchedulerSequenceSteps.MsrcOn) {
+ /* MSRC */
+ SubTimeout = MsrcDccTccTimeoutMicroSeconds +
+ MsrcOverheadMicroSeconds;
+
+ if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) {
+ FinalRangeTimingBudgetMicroSeconds
+ -= SubTimeout;
+ } else {
+ /* Requested timeout too big. */
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ }
+
+ if (Status != VL53L0X_ERROR_NONE) {
+ LOG_FUNCTION_END(Status);
+ return Status;
+ }
+
+ if (SchedulerSequenceSteps.PreRangeOn) {
+
+ /* Subtract the Pre-range timeout if enabled. */
+
+ Status = get_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ &PreRangeTimeoutMicroSeconds);
+
+ SubTimeout = PreRangeTimeoutMicroSeconds +
+ PreRangeOverheadMicroSeconds;
+
+ if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) {
+ FinalRangeTimingBudgetMicroSeconds -= SubTimeout;
+ } else {
+ /* Requested timeout too big. */
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+
+
+ if (Status == VL53L0X_ERROR_NONE &&
+ SchedulerSequenceSteps.FinalRangeOn) {
+
+ FinalRangeTimingBudgetMicroSeconds -=
+ FinalRangeOverheadMicroSeconds;
+
+ /* Final Range Timeout
+ * Note that the final range timeout is determined by the timing
+ * budget and the sum of all other timeouts within the sequence.
+ * If there is no room for the final range timeout, then an error
+ * will be set. Otherwise the remaining time will be applied to
+ * the final range.
+ */
+ Status = set_sequence_step_timeout(Dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ FinalRangeTimingBudgetMicroSeconds);
+
+ VL53L0X_SETPARAMETERFIELD(Dev,
+ MeasurementTimingBudgetMicroSeconds,
+ MeasurementTimingBudgetMicroSeconds);
+ }
+
+ LOG_FUNCTION_END(Status);
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_SetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
+ uint32_t MeasurementTimingBudgetMicroSeconds)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_set_measurement_timing_budget_micro_seconds(Dev,
+ MeasurementTimingBudgetMicroSeconds);
+
+ LOG_FUNCTION_END(Status);
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev,
+ VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t SequenceConfig = 0;
+ uint8_t SequenceConfigNew = 0;
+ uint32_t MeasurementTimingBudgetMicroSeconds;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+ &SequenceConfig);
+
+ SequenceConfigNew = SequenceConfig;
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (SequenceStepEnabled == 1) {
+
+ /* Enable requested sequence step
+ */
+ switch (SequenceStepId) {
+ case VL53L0X_SEQUENCESTEP_TCC:
+ SequenceConfigNew |= 0x10;
+ break;
+ case VL53L0X_SEQUENCESTEP_DSS:
+ SequenceConfigNew |= 0x28;
+ break;
+ case VL53L0X_SEQUENCESTEP_MSRC:
+ SequenceConfigNew |= 0x04;
+ break;
+ case VL53L0X_SEQUENCESTEP_PRE_RANGE:
+ SequenceConfigNew |= 0x40;
+ break;
+ case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
+ SequenceConfigNew |= 0x80;
+ break;
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ } else {
+ /* Disable requested sequence step
+ */
+ switch (SequenceStepId) {
+ case VL53L0X_SEQUENCESTEP_TCC:
+ SequenceConfigNew &= 0xef;
+ break;
+ case VL53L0X_SEQUENCESTEP_DSS:
+ SequenceConfigNew &= 0xd7;
+ break;
+ case VL53L0X_SEQUENCESTEP_MSRC:
+ SequenceConfigNew &= 0xfb;
+ break;
+ case VL53L0X_SEQUENCESTEP_PRE_RANGE:
+ SequenceConfigNew &= 0xbf;
+ break;
+ case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
+ SequenceConfigNew &= 0x7f;
+ break;
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+ }
+ }
+
+ if (SequenceConfigNew != SequenceConfig) {
+ /* Apply New Setting */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_WrByte(Dev,
+ VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, SequenceConfigNew);
+ }
+ if (Status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, SequenceConfig, SequenceConfigNew);
+
+
+ /* Recalculate timing budget */
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_GETPARAMETERFIELD(Dev,
+ MeasurementTimingBudgetMicroSeconds,
+ MeasurementTimingBudgetMicroSeconds);
+
+ VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev,
+ MeasurementTimingBudgetMicroSeconds);
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+ uint8_t LimitCheckEnable)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ FixPoint1616_t TempFix1616 = 0;
+ uint8_t LimitCheckEnableInt = 0;
+ uint8_t LimitCheckDisable = 0;
+ uint8_t Temp8;
+
+ LOG_FUNCTION_START("");
+
+ if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+ } else {
+ if (LimitCheckEnable == 0) {
+ TempFix1616 = 0;
+ LimitCheckEnableInt = 0;
+ LimitCheckDisable = 1;
+
+ } else {
+ VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+ LimitCheckId, TempFix1616);
+ LimitCheckDisable = 0;
+ /* this to be sure to have either 0 or 1 */
+ LimitCheckEnableInt = 1;
+ }
+
+ switch (LimitCheckId) {
+
+ case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+ LimitCheckEnableInt);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+
+ Status = VL53L0X_WrWord(Dev,
+ VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
+ VL53L0X_FIXPOINT1616TOFIXPOINT97(TempFix1616));
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
+
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+ VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+ LimitCheckEnableInt);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
+
+ /* internal computation: */
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+ VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+ LimitCheckEnableInt);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
+
+ Temp8 = (uint8_t)(LimitCheckDisable << 1);
+ Status = VL53L0X_UpdateByte(Dev,
+ VL53L0X_REG_MSRC_CONFIG_CONTROL,
+ 0xFE, Temp8);
+
+ break;
+
+ case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
+
+ Temp8 = (uint8_t)(LimitCheckDisable << 4);
+ Status = VL53L0X_UpdateByte(Dev,
+ VL53L0X_REG_MSRC_CONFIG_CONTROL,
+ 0xEF, Temp8);
+
+ break;
+
+
+ default:
+ Status = VL53L0X_ERROR_INVALID_PARAMS;
+
+ }
+
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ if (LimitCheckEnable == 0) {
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+ LimitCheckId, 0);
+ } else {
+ VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+ LimitCheckId, 1);
+ }
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_StaticInit(VL53L0X_DEV Dev)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ VL53L0X_DeviceParameters_t CurrentParameters = {0};
+ uint8_t *pTuningSettingBuffer;
+ uint16_t tempword = 0;
+ uint8_t tempbyte = 0;
+ uint8_t UseInternalTuningSettings = 0;
+ uint32_t count = 0;
+ uint8_t isApertureSpads = 0;
+ uint32_t refSpadCount = 0;
+ uint8_t ApertureSpads = 0;
+ uint8_t vcselPulsePeriodPCLK;
+ uint32_t seqTimeoutMicroSecs;
+
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_get_info_from_device(Dev, 1);
+
+ /* set the ref spad from NVM */
+ count = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadCount);
+ ApertureSpads = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+ ReferenceSpadType);
+
+ /* NVM value invalid */
+ if ((ApertureSpads > 1) ||
+ ((ApertureSpads == 1) && (count > 32)) ||
+ ((ApertureSpads == 0) && (count > 12)))
+ Status = VL53L0X_perform_ref_spad_management(Dev, &refSpadCount,
+ &isApertureSpads);
+ else
+ Status = VL53L0X_set_reference_spads(Dev, count, ApertureSpads);
+
+
+ /* Initialize tuning settings buffer to prevent compiler warning. */
+ pTuningSettingBuffer = DefaultTuningSettings;
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ UseInternalTuningSettings = PALDevDataGet(Dev,
+ UseInternalTuningSettings);
+
+ if (UseInternalTuningSettings == 0)
+ pTuningSettingBuffer = PALDevDataGet(Dev,
+ pTuningSettingsPointer);
+ else
+ pTuningSettingBuffer = DefaultTuningSettings;
+
+ }
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_load_tuning_settings(Dev, pTuningSettingBuffer);
+
+
+ /* Set interrupt config to new sample ready */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetGpioConfig(Dev, 0, 0,
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
+ VL53L0X_INTERRUPTPOLARITY_LOW);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status |= VL53L0X_RdWord(Dev, 0x84, &tempword);
+ Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz,
+ VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword));
+ }
+
+ /* After static init, some device parameters may be changed,
+ * so update them */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters);
+
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_GetFractionEnable(Dev, &tempbyte);
+ if (Status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, RangeFractionalEnable, tempbyte);
+
+ }
+
+ if (Status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, CurrentParameters, CurrentParameters);
+
+
+ /* read the sequence config and save it */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_RdByte(Dev,
+ VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte);
+ if (Status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, SequenceConfig, tempbyte);
+
+ }
+
+ /* Disable MSRC and TCC by default */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_SetSequenceStepEnable(Dev,
+ VL53L0X_SEQUENCESTEP_TCC, 0);
+
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_SetSequenceStepEnable(Dev,
+ VL53L0X_SEQUENCESTEP_MSRC, 0);
+
+
+ /* Set PAL State to standby */
+ if (Status == VL53L0X_ERROR_NONE)
+ PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE);
+
+
+
+ /* Store pre-range vcsel period */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_GetVcselPulsePeriod(
+ Dev,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+ &vcselPulsePeriodPCLK);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ PreRangeVcselPulsePeriod,
+ vcselPulsePeriodPCLK);
+ }
+
+ /* Store final-range vcsel period */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_GetVcselPulsePeriod(
+ Dev,
+ VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
+ &vcselPulsePeriodPCLK);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ FinalRangeVcselPulsePeriod,
+ vcselPulsePeriodPCLK);
+ }
+
+ /* Store pre-range timeout */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = get_sequence_step_timeout(
+ Dev,
+ VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ &seqTimeoutMicroSecs);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ PreRangeTimeoutMicroSecs,
+ seqTimeoutMicroSecs);
+ }
+
+ /* Store final-range timeout */
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = get_sequence_step_timeout(
+ Dev,
+ VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ &seqTimeoutMicroSecs);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ VL53L0X_SETDEVICESPECIFICPARAMETER(
+ Dev,
+ FinalRangeTimeoutMicroSecs,
+ seqTimeoutMicroSecs);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+
+VL53L0X_Error VL53L0X::VL53L0X_StopMeasurement(VL53L0X_DEV Dev)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START,
+ VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT);
+
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0x00, 0x00);
+ Status = VL53L0X_WrByte(Dev, 0x91, 0x00);
+ Status = VL53L0X_WrByte(Dev, 0x00, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ /* Set PAL State to Idle */
+ PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE);
+ }
+
+ /* Check if need to apply interrupt settings */
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 0);
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev,
+ uint32_t *pStopStatus)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t Byte = 0;
+ LOG_FUNCTION_START("");
+
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_RdByte(Dev, 0x04, &Byte);
+
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x0);
+
+ *pStopStatus = Byte;
+
+ if (Byte == 0) {
+ Status = VL53L0X_WrByte(Dev, 0x80, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0x00, 0x00);
+ Status = VL53L0X_WrByte(Dev, 0x91,
+ PALDevDataGet(Dev, StopVariable));
+ Status = VL53L0X_WrByte(Dev, 0x00, 0x01);
+ Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+ Status = VL53L0X_WrByte(Dev, 0x80, 0x00);
+ }
+
+ LOG_FUNCTION_END(Status);
+ return Status;
+}
+
+/****************** Write and read functions from I2C *************************/
+
+VL53L0X_Error VL53L0X::VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
+{
+ int status;
+
+ status = VL53L0X_I2CWrite(Dev->I2cDevAddr, index, pdata, (uint16_t)count);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
+{
+ int status;
+
+ if (count>=VL53L0X_MAX_I2C_XFER_SIZE){
+ status = VL53L0X_ERROR_INVALID_PARAMS;
+ }
+
+ status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, pdata, (uint16_t)count);
+
+ return status;
+}
+
+
+VL53L0X_Error VL53L0X::VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data)
+{
+ int status;
+
+ status=VL53L0X_I2CWrite(Dev->I2cDevAddr, index, &data, 1);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data)
+{
+ int status;
+ uint8_t buffer[2];
+
+ buffer[0] = data >> 8;
+ buffer[1] = data & 0x00FF;
+ status=VL53L0X_I2CWrite(Dev->I2cDevAddr, index, (uint8_t *)buffer, 2);
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data)
+{
+ int status;
+ uint8_t buffer[4];
+
+ buffer[0] = (data >> 24) & 0xFF;
+ buffer[1] = (data >> 16) & 0xFF;
+ buffer[2] = (data >> 8) & 0xFF;
+ buffer[3] = (data >> 0) & 0xFF;
+ status=VL53L0X_I2CWrite(Dev->I2cDevAddr, index, (uint8_t *)buffer, 4);
+ return status;
+}
+
+
+VL53L0X_Error VL53L0X::VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data)
+{
+ int status;
+
+ status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, data, 1);
+
+ if(status)
+ return -1;
+
+ return 0;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data)
+{
+ int status;
+ uint8_t buffer[2] = {0,0};
+
+ status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, buffer, 2);
+ if (!status)
+ {
+ *data = (buffer[0] << 8) + buffer[1];
+ }
+ return status;
+
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data)
+{
+ int status;
+ uint8_t buffer[4] = {0,0,0,0};
+
+ status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, buffer, 4);
+ if(!status)
+ {
+ *data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3];
+ }
+ return status;
+
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData)
+{
+ int status;
+ uint8_t buffer = 0;
+
+ /* read data direct onto buffer */
+ status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, &buffer,1);
+ if (!status)
+ {
+ buffer = (buffer & AndData) | OrData;
+ status = VL53L0X_I2CWrite(Dev->I2cDevAddr, index, &buffer, (uint8_t)1);
+ }
+ return status;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_I2CWrite(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
+{
+ int ret;
+
+ ret = dev_i2c.i2c_write(pBuffer, DeviceAddr, RegisterAddr, NumByteToWrite);
+
+ if(ret)
+ return -1;
+ return 0;
+}
+
+VL53L0X_Error VL53L0X::VL53L0X_I2CRead(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
+{
+ int ret;
+
+ ret = dev_i2c.i2c_read(pBuffer, DeviceAddr, RegisterAddr, NumByteToRead);
+
+ if(ret)
+ return -1;
+ return 0;
+}
+
+
+int VL53L0X::ReadID()
+{
+ int status = 0;
+ uint16_t rl_id=0;
+
+ status = VL53L0X_RdWord(Device, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &rl_id);
+ if (rl_id == 0xEEAA)
+ return status;
+
+ return -1;
+}
+
+
+VL53L0X_Error VL53L0X::WaitMeasurementDataReady(VL53L0X_DEV Dev)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint8_t NewDatReady=0;
+ uint32_t LoopNb;
+
+ // Wait until it finished
+ // use timeout to avoid deadlock
+ if (Status == VL53L0X_ERROR_NONE) {
+ LoopNb = 0;
+ do {
+ Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDatReady);
+ if ((NewDatReady == 0x01) || Status != VL53L0X_ERROR_NONE) {
+ break;
+ }
+ LoopNb = LoopNb + 1;
+ VL53L0X_PollingDelay(Dev);
+ } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);
+
+ if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
+ Status = VL53L0X_ERROR_TIME_OUT;
+ }
+ }
+
+ return Status;
+}
+
+VL53L0X_Error VL53L0X::WaitStopCompleted(VL53L0X_DEV Dev)
+{
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint32_t StopCompleted=0;
+ uint32_t LoopNb;
+
+ // Wait until it finished
+ // use timeout to avoid deadlock
+ if (Status == VL53L0X_ERROR_NONE) {
+ LoopNb = 0;
+ do {
+ Status = VL53L0X_GetStopCompletedStatus(Dev, &StopCompleted);
+ if ((StopCompleted == 0x00) || Status != VL53L0X_ERROR_NONE) {
+ break;
+ }
+ LoopNb = LoopNb + 1;
+ VL53L0X_PollingDelay(Dev);
+ } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);
+
+ if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
+ Status = VL53L0X_ERROR_TIME_OUT;
+ }
+
+ }
+
+ return Status;
+}
+
+
+int VL53L0X::InitSensor(uint8_t NewAddr)
+{
+ int status;
+
+ VL53L0X_Off();
+ VL53L0X_On();
+
+// status=VL53L0X_WaitDeviceBooted(Device);
+// if(status)
+// printf("WaitDeviceBooted fail\n\r");
+ status=IsPresent();
+ if(!status)
+ {
+ status=Init();
+ if(status != VL53L0X_ERROR_NONE)
+ {
+ printf("Failed to init VL53L0X sensor!\n\r");
+ return status;
+ }
+
+ // deduce silicon version
+ status = VL53L0X_GetDeviceInfo(&MyDevice, &DeviceInfo);
+
+
+ status=Prepare();
+ if(status != VL53L0X_ERROR_NONE)
+ {
+ printf("Failed to prepare VL53L0X!\n\r");
+ return status;
+ }
+
+/*
+ if(NewAddr!=DEFAULT_DEVICE_ADDRESS)
+ {
+ status=SetDeviceAddress(NewAddr);
+ if(status)
+ {
+ printf("Failed to change I2C address!\n\r");
+ return status;
+ }
+ }
+ else
+ {
+ printf("Invalid new address!\n\r");
+ return VL53L0X_ERROR_INVALID_PARAMS;
+ }
+*/
+// Device->Ready=1;
+ }
+ return status;
+}
+
+
+
+
+
+int VL53L0X::StartMeasurement(OperatingMode operating_mode, void (*fptr)(void))
+{
+ int Status = VL53L0X_ERROR_NONE;
+
+ 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_single_shot_polling)
+ {
+ // singelshot, polled ranging
+ if(Status == VL53L0X_ERROR_NONE)
+ {
+ // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
+ Status = VL53L0X_SetDeviceMode(Device, VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
+ }
+
+ // Enable/Disable Sigma and Signal check
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetLimitCheckEnable(Device,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
+ }
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetLimitCheckEnable(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_SetLimitCheckValue(Device,
+ VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, signalLimit);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetLimitCheckValue(Device,
+ VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, sigmaLimit);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Device, timingBudget);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetVcselPulsePeriod(Device,
+ VL53L0X_VCSEL_PERIOD_PRE_RANGE, preRangeVcselPeriod);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_SetVcselPulsePeriod(Device,
+ VL53L0X_VCSEL_PERIOD_FINAL_RANGE, finalRangeVcselPeriod);
+ }
+
+ if (Status == VL53L0X_ERROR_NONE) {
+ Status = VL53L0X_PerformRefCalibration(Device, &VhvSettings, &PhaseCal);
+ }
+
+ }
+
+ if (operating_mode == range_continuous_polling)
+ {
+ if(Status == VL53L0X_ERROR_NONE)
+ {
+ printf ("Call of VL53L0X_SetDeviceMode\n");
+ Status = VL53L0X_SetDeviceMode(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
+ }
+
+ if(Status == VL53L0X_ERROR_NONE)
+ {
+ printf ("Call of VL53L0X_StartMeasurement\n");
+ Status = VL53L0X_StartMeasurement(Device);
+ }
+ }
+
+ return Status;
+}
+
+
+int VL53L0X::GetMeasurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data)
+{
+ int Status = VL53L0X_ERROR_NONE;
+
+ if (operating_mode == range_single_shot_polling)
+ {
+ Status = VL53L0X_PerformSingleRangingMeasurement(Device, Data);
+ }
+
+ if (operating_mode == range_continuous_polling)
+ {
+ if (Status == VL53L0X_ERROR_NONE)
+ Status = VL53L0X_measurement_poll_for_completion(Device);
+
+ if(Status == VL53L0X_ERROR_NONE)
+ {
+ Status = VL53L0X_GetRangingMeasurementData(Device, Data);
+
+ // Clear the interrupt
+ VL53L0X_ClearInterruptMask(Device, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
+ VL53L0X_PollingDelay(Device);
+ }
+ }
+
+
+ return Status;
+}
+
+
+int VL53L0X::StopMeasurement(OperatingMode operating_mode)
+{
+ int status = VL53L0X_ERROR_NONE;
+
+
+ // don't need to stop for a singleshot range!
+ if (operating_mode==range_single_shot_polling)
+ {
+ }
+
+ if (operating_mode==range_continuous_interrupt || operating_mode==range_continuous_polling)
+ {
+ // continuous mode
+ if(status == VL53L0X_ERROR_NONE)
+ {
+ printf ("Call of VL53L0X_StopMeasurement\n");
+ status = VL53L0X_StopMeasurement(Device);
+ }
+
+ if(status == VL53L0X_ERROR_NONE)
+ {
+ printf ("Wait Stop to be competed\n");
+ status = WaitStopCompleted(Device);
+ }
+
+ if(status == VL53L0X_ERROR_NONE)
+ status = VL53L0X_ClearInterruptMask(Device,
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
+ }
+
+ return status;
+}
+
+
+int VL53L0X::HandleIRQ(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data)
+{
+ int status;
+
+ EnableInterruptMeasureDetectionIRQ();
+ status=GetMeasurement(operating_mode, Data);
+ return status;
+}
+
+
+
+/******************************************************************************/
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/VL53L0X/vl53l0x_class.h Mon Nov 28 11:25:33 2016 +0000
@@ -0,0 +1,1391 @@
+/*******************************************************************************
+ 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 "RangeSensor.h"
+#include "DevI2C.h"
+
+#include "vl53l0x_def.h"
+#include "vl53l0x_platform.h"
+#include "stmpe1600_class.h"
+
+
+/**
+ * The device model ID
+ */
+#define IDENTIFICATION_MODEL_ID 0x000
+
+
+#define STATUS_OK 0x00
+#define STATUS_FAIL 0x01
+
+
+#define VL53L0X_OsDelay(...) HAL_Delay(2)
+
+#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] DevAddr device address, 0x29 by default
+ */
+ VL53L0X(DevI2C &i2c, DigitalOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), dev_i2c(i2c), gpio0(&pin)
+ {
+ MyDevice.I2cDevAddr=DevAddr;
+ MyDevice.comms_type=1; // VL53L0X_COMMS_I2C
+ MyDevice.comms_speed_khz=400;
+ Device=&MyDevice;
+ expgpio0=NULL;
+ if (pin_gpio1 != NC) { gpio1Int = new InterruptIn(pin_gpio1); }
+ else { gpio1Int = NULL; }
+ }
+
+ /** 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 DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), dev_i2c(i2c), expgpio0(&pin)
+ {
+ MyDevice.I2cDevAddr=DevAddr;
+ MyDevice.comms_type=1; // VL53L0X_COMMS_I2C
+ MyDevice.comms_speed_khz=400;
+ Device=&MyDevice;
+ gpio0=NULL;
+ if (pin_gpio1 != NC) { gpio1Int = new InterruptIn(pin_gpio1); }
+ else { gpio1Int = NULL; }
+ }
+
+ /** Destructor
+ */
+ virtual ~VL53L0X(){
+ if (gpio1Int != NULL) delete gpio1Int;
+ }
+ /* warning: VL53L0X class inherits from GenericSensor, RangeSensor and LightSensor, that haven`t a destructor.
+ The warning should request to introduce a virtual destructor to make sure to delete the object */
+
+ /*** Interface Methods ***/
+ /*** High level API ***/
+ /**
+ * @brief PowerOn the sensor
+ * @return void
+ */
+ /* turns on the sensor */
+ void VL53L0X_On(void)
+ {
+ if (gpio0)
+ *gpio0 = 1;
+ else if (expgpio0)
+ *expgpio0 = 1;
+ }
+
+ /**
+ * @brief PowerOff the sensor
+ * @return void
+ */
+ /* turns off the sensor */
+ void VL53L0X_Off(void)
+ {
+ if (gpio0)
+ *gpio0 = 0;
+ else if (expgpio0)
+ *expgpio0 = 0;
+ }
+
+ /**
+ * @brief Initialize the sensor with default values
+ * @return 0 on Success
+ */
+ int InitSensor(uint8_t NewAddr);
+
+ int RawInitSensor(void);
+ int initDevice(VL53L0X_DEV Dev);
+ int setLongRangePresets(VL53L0X_DEV Dev);
+ int DoRanging(VL53L0X_Dev_t *pMyDevice);
+
+
+
+
+ /**
+ * @brief Start the measure indicated by operating mode
+ * @param[in] operating_mode specifies requested measure
+ * @param[in] fptr specifies call back function must be !NULL in case of interrupt measure
+ * @return 0 on Success
+ */
+ int StartMeasurement(OperatingMode operating_mode, void (*fptr)(void));
+
+ /**
+ * @brief Get results for the measure indicated by operating mode
+ * @param[in] operating_mode specifies requested measure results
+ * @param[out] Data pointer to the MeasureData_t structure to read data in to
+ * @return 0 on Success
+ */
+ int GetMeasurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
+
+ /**
+ * @brief Stop the currently running measure indicate by operating_mode
+ * @param[in] operating_mode specifies requested measure to stop
+ * @return 0 on Success
+ */
+ int StopMeasurement(OperatingMode operating_mode);
+
+ /**
+ * @brief Interrupt handling func to be called by user after an INT is occourred
+ * @param[in] opeating_mode indicating the in progress measure
+ * @param[out] Data pointer to the MeasureData_t structure to read data in to
+ * @return 0 on Success
+ */
+ int HandleIRQ(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
+
+ /**
+ * @brief Enable interrupt measure IRQ
+ * @return 0 on Success
+ */
+ void EnableInterruptMeasureDetectionIRQ(void)
+ {
+ if (gpio1Int != NULL) gpio1Int->enable_irq();
+ }
+
+ /**
+ * @brief Disable interrupt measure IRQ
+ * @return 0 on Success
+ */
+ void DisableInterruptMeasureDetectionIRQ(void)
+ {
+ if (gpio1Int != NULL) gpio1Int->disable_irq();
+ }
+ /*** End High level API ***/
+
+ /**
+ * @brief Attach a function to call when an interrupt is detected, i.e. measurement is ready
+ * @param[in] fptr pointer to call back function to be called whenever an interrupt occours
+ * @return 0 on Success
+ */
+ void AttachInterruptMeasureDetectionIRQ(void (*fptr)(void))
+ {
+ if (gpio1Int != NULL) gpio1Int->rise(fptr);
+ }
+
+ /**
+ * @brief Check the sensor presence
+ * @return 1 when device is present
+ */
+ unsigned Present()
+ {
+// return Device->Present;
+ return 1;
+ }
+
+ /** Wrapper functions */
+/** @defgroup api_init Init functions
+ * @brief API init functions
+ * @ingroup api_hl
+ * @{
+ */
+/**
+ * @brief Wait for device booted after chip enable (hardware standby)
+ * @par Function Description
+ * After Chip enable Application you can also simply wait at least 1ms to ensure device is ready
+ * @warning After device chip enable (gpio0) de-asserted user must wait gpio1 to get asserted (hardware standby).
+ * or wait at least 400usec prior to do any low level access or api call .
+ *
+ * This function implements polling for standby but you must ensure 400usec from chip enable passed\n
+ * @warning if device get prepared @a VL53L0X_Prepare() re-using these function can hold indefinitely\n
+ *
+ * @param void
+ * @return 0 on success
+ */
+ int WaitDeviceBooted()
+ {
+ return VL53L0X_WaitDeviceBooted(Device);
+// return 1;
+ }
+
+/**
+ *
+ * @brief One time device initialization
+ *
+ * To be called once and only once after device is brought out of reset (Chip enable) and booted see @a VL6180x_WaitDeviceBooted()
+ *
+ * @par Function Description
+ * When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING
+ * meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n
+ * If application cannot execute device reset or need to run VL6180x_InitData multiple time
+ * then it must ensure proper offset calibration saving and restore on its own
+ * by using @a VL6180x_GetOffsetCalibrationData() on first power up and then @a VL6180x_SetOffsetCalibrationData() all all subsequent init
+ *
+ * @param void
+ * @return 0 on success, @a #CALIBRATION_WARNING if failed
+ */
+ virtual int Init()
+ {
+ return VL53L0X_DataInit(&MyDevice);
+// return VL53L0X_DataInit(Device);
+// return 1;
+ }
+
+/**
+ * @brief Configure GPIO1 function and set polarity.
+ * @par Function Description
+ * To be used prior to arm single shot measure or start continuous mode.
+ *
+ * The function uses @a VL6180x_SetupGPIOx() for setting gpio 1.
+ * @warning changing polarity can generate a spurious interrupt on pins.
+ * It sets an interrupt flags condition that must be cleared to avoid polling hangs. \n
+ * It is safe to run VL6180x_ClearAllInterrupt() just after.
+ *
+ * @param IntFunction The interrupt functionality to use one of :\n
+ * @a #GPIOx_SELECT_OFF \n
+ * @a #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT
+ * @param ActiveHigh The interrupt line polarity see ::IntrPol_e
+ * use @a #INTR_POL_LOW (falling edge) or @a #INTR_POL_HIGH (rising edge)
+ * @return 0 on success
+ */
+ int SetupGPIO1(uint8_t InitFunction, int ActiveHigh)
+ {
+// return VL6180x_SetupGPIO1(Device, InitFunction, ActiveHigh);
+ return 1;
+ }
+
+/**
+ * @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()
+ {
+// return VL6180x_Prepare(Device);
+ // taken from rangingTest() in vl53l0x_SingleRanging_Example.c
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint32_t refSpadCount;
+ uint8_t isApertureSpads;
+ uint8_t VhvSettings;
+ uint8_t PhaseCal;
+
+ if(Status == VL53L0X_ERROR_NONE)
+ {
+ printf ("Call of VL53L0X_StaticInit\n");
+ Status = VL53L0X_StaticInit(Device); // Device Initialization
+ }
+
+ if(Status == VL53L0X_ERROR_NONE)
+ {
+ printf ("Call of VL53L0X_PerformRefCalibration\n");
+ Status = VL53L0X_PerformRefCalibration(Device,
+ &VhvSettings, &PhaseCal); // Device Initialization
+ }
+
+ if(Status == VL53L0X_ERROR_NONE)
+ {
+ printf ("Call of VL53L0X_PerformRefSpadManagement\n");
+ Status = VL53L0X_PerformRefSpadManagement(Device,
+ &refSpadCount, &isApertureSpads); // Device Initialization
+// printf ("refSpadCount = %d, isApertureSpads = %d\n", refSpadCount, isApertureSpads);
+ }
+
+ return Status;
+ }
+
+ /**
+ * @brief Start continuous ranging mode
+ *
+ * @details End user should ensure device is in idle state and not already running
+ * @return 0 on success
+ */
+ int RangeStartContinuousMode()
+ {
+// return VL6180x_RangeStartContinuousMode(Device);
+ return 1;
+ }
+
+/**
+ * @brief Start single shot ranging measure
+ *
+ * @details End user should ensure device is in idle state and not already running
+ * @return 0 on success
+ */
+ int RangeStartSingleShot()
+ {
+// return VL6180x_RangeStartSingleShot(Device);
+ return 1;
+ }
+
+/**
+ * @brief Set maximum convergence time
+ *
+ * @par Function Description
+ * Setting a low convergence time can impact maximal detectable distance.
+ * Refer to VL6180x Datasheet Table 7 : Typical range convergence time.
+ * A typical value for up to x3 scaling is 50 ms
+ *
+ * @param MaxConTime_msec
+ * @return 0 on success. <0 on error. >0 for calibration warning status
+ */
+ int RangeSetMaxConvergenceTime(uint8_t MaxConTime_msec)
+ {
+// return VL6180x_RangeSetMaxConvergenceTime(Device, MaxConTime_msec);
+ return 1;
+ }
+
+/**
+ * @brief Single shot Range measurement in polling mode.
+ *
+ * @par Function Description
+ * Kick off a new single shot range then wait for ready to retrieve it by polling interrupt status \n
+ * Ranging must be prepared by a first call to @a VL6180x_Prepare() and it is safer to clear very first poll call \n
+ * This function reference VL6180x_PollDelay(dev) porting macro/call on each polling loop,
+ * but PollDelay(dev) may never be called if measure in ready on first poll loop \n
+ * Should not be use in continuous mode operation as it will stop it and cause stop/start misbehaviour \n
+ * \n This function clears Range Interrupt status , but not error one. For that uses @a VL6180x_ClearErrorInterrupt() \n
+ * This range error is not related VL6180x_RangeData_t::errorStatus that refer measure status \n
+ *
+ * @param pRangeData Will be populated with the result ranging data @a VL6180x_RangeData_t
+ * @return 0 on success , @a #RANGE_ERROR if device reports an error case in it status (not cleared) use
+ *
+ * \sa ::VL6180x_RangeData_t
+ */
+ int RangePollMeasurement(VL53L0X_RangingMeasurementData_t *pRangeData)
+ {
+// return VL6180x_RangePollMeasurement(Device, pRangeData);
+ return 1;
+ }
+
+/**
+ * @brief Check for measure readiness and get it if ready
+ *
+ * @par Function Description
+ * Using this function is an alternative to @a VL6180x_RangePollMeasurement() to avoid polling operation. This is suitable for applications
+ * where host CPU is triggered on a interrupt (not from VL6180X) to perform ranging operation. In this scenario, we assume that the very first ranging
+ * operation is triggered by a call to @a VL6180x_RangeStartSingleShot(). Then, host CPU regularly calls @a VL6180x_RangeGetMeasurementIfReady() to
+ * get a distance measure if ready. In case the distance is not ready, host may get it at the next call.\n
+ *
+ * @warning
+ * This function does not re-start a new measurement : this is up to the host CPU to do it.\n
+ * This function clears Range Interrupt for measure ready , but not error interrupts. For that, uses @a VL6180x_ClearErrorInterrupt() \n
+ *
+ * @param pRangeData Will be populated with the result ranging data if available
+ * @return 0 when measure is ready pRange data is updated (untouched when not ready), >0 for warning and @a #NOT_READY if measurement not yet ready, <0 for error @a #RANGE_ERROR if device report an error,
+ */
+ int RangeGetMeasurementIfReady(VL53L0X_RangingMeasurementData_t *pRangeData)
+ {
+// return VL6180x_RangeGetMeasurementIfReady(Device, pRangeData);
+ return 1;
+ }
+
+/**
+ * @brief Retrieve range measurements set from device
+ *
+ * @par Function Description
+ * The measurement is made of range_mm status and error code @a VL6180x_RangeData_t \n
+ * Based on configuration selected extra measures are included.
+ *
+ * @warning should not be used in continuous if wrap around filter is active \n
+ * Does not perform any wait nor check for result availability or validity.
+ *\sa VL6180x_RangeGetResult for "range only" measurement
+ *
+ * @param pRangeData Pointer to the data structure to fill up
+ * @return 0 on success
+ */
+ int RangeGetMeasurement(VL53L0X_RangingMeasurementData_t *pRangeData)
+ {
+// return VL6180x_RangeGetMeasurement(Device, pRangeData);
+ return 1;
+ }
+
+/**
+ * @brief Get ranging result and only that
+ *
+ * @par Function Description
+ * Unlike @a VL6180x_RangeGetMeasurement() this function only retrieves the range in millimeter \n
+ * It does any required up-scale translation\n
+ * It can be called after success status polling or in interrupt mode \n
+ * @warning these function is not doing wrap around filtering \n
+ * This function doesn't perform any data ready check!
+ *
+ * @param pRange_mm Pointer to range distance
+ * @return 0 on success
+ */
+ virtual int GetRange(int32_t *piData)
+ {
+// return VL6180x_RangeGetResult(Device, piData);
+ return 1;
+ }
+
+/**
+ * @brief Configure ranging interrupt reported to application
+ *
+ * @param ConfigGpioInt Select ranging report\n select one (and only one) of:\n
+ * @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
+ * @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
+ * @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
+ * @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
+ * @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
+ * @return 0 on success
+ */
+ int RangeConfigInterrupt(uint8_t ConfigGpioInt)
+ {
+// return VL6180x_RangeConfigInterrupt(Device, ConfigGpioInt);
+ return 1;
+ }
+
+/**
+ * @brief Return ranging error interrupt status
+ *
+ * @par Function Description
+ * Appropriate Interrupt report must have been selected first by @a VL6180x_RangeConfigInterrupt() or @a VL6180x_Prepare() \n
+ *
+ * Can be used in polling loop to wait for a given ranging event or in interrupt to read the trigger \n
+ * Events triggers are : \n
+ * @a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n
+ * @a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n
+ * @a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n (RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD|RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
+ * @a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY \n
+ *
+ * @sa IntrStatus_t
+ * @param pIntStatus Pointer to status variable to update
+ * @return 0 on success
+ */
+ int RangeGetInterruptStatus(uint8_t *pIntStatus)
+ {
+// return VL6180x_RangeGetInterruptStatus(Device, pIntStatus);
+ return 1;
+ }
+
+/**
+ * @brief Low level ranging and ALS register static settings (you should call @a VL6180x_Prepare() function instead)
+ *
+ * @return 0 on success
+ */
+ int StaticInit()
+ {
+// return VL6180x_StaticInit(Device);
+ return 1;
+ }
+
+/**
+ * @brief Wait for device to be ready (before a new ranging command can be issued by application)
+ * @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop
+ * @return 0 on success. <0 when fail \n
+ * @ref VL6180x_ErrCode_t::TIME_OUT for time out \n
+ * @ref VL6180x_ErrCode_t::INVALID_PARAMS if MaxLop<1
+ */
+ int RangeWaitDeviceReady(int MaxLoop )
+ {
+// return VL6180x_RangeWaitDeviceReady(Device, MaxLoop);
+ return 1;
+ }
+
+/**
+ * @brief Program Inter measurement period (used only in continuous mode)
+ *
+ * @par Function Description
+ * When trying to set too long time, it returns #INVALID_PARAMS
+ *
+ * @param InterMeasTime_msec Requires inter-measurement time in msec
+ * @return 0 on success
+ */
+ int RangeSetInterMeasPeriod(uint32_t InterMeasTime_msec)
+ {
+// return VL6180x_RangeSetInterMeasPeriod(Device, InterMeasTime_msec);
+ return 1;
+ }
+
+/**
+ * @brief Set device ranging scaling factor
+ *
+ * @par Function Description
+ * The ranging scaling factor is applied on the raw distance measured by the device to increase operating ranging at the price of the precision.
+ * Changing the scaling factor when device is not in f/w standby state (free running) is not safe.
+ * It can be source of spurious interrupt, wrongly scaled range etc ...
+ * @warning __This function doesns't update high/low threshold and other programmed settings linked to scaling factor__.
+ * To ensure proper operation, threshold and scaling changes should be done following this procedure: \n
+ * @li Set Group hold : @a VL6180x_SetGroupParamHold() \n
+ * @li Get Threshold @a VL6180x_RangeGetThresholds() \n
+ * @li Change scaling : @a VL6180x_UpscaleSetScaling() \n
+ * @li Set Threshold : @a VL6180x_RangeSetThresholds() \n
+ * @li Unset Group Hold : @a VL6180x_SetGroupParamHold()
+ *
+ * @param scaling Scaling factor to apply (1,2 or 3)
+ * @return 0 on success when up-scale support is not configured it fail for any
+ * scaling than the one statically configured.
+ */
+ int UpscaleSetScaling(uint8_t scaling)
+ {
+// return VL6180x_UpscaleSetScaling(Device, scaling);
+ return 1;
+ }
+
+/**
+ * @brief Get current ranging scaling factor
+ *
+ * @return The current scaling factor
+ */
+ int UpscaleGetScaling()
+ {
+// return VL6180x_UpscaleGetScaling(Device);
+ return 1;
+ }
+
+/**
+ * @brief Get the maximal distance for actual scaling
+ * @par Function Description
+ * Do not use prior to @a VL6180x_Prepare() or at least @a VL6180x_InitData()
+ *
+ * Any range value more than the value returned by this function is to be considered as "no target detected"
+ * or "no target in detectable range" \n
+ * @warning The maximal distance depends on the scaling
+ *
+ * @return The maximal range limit for actual mode and scaling
+ */
+ uint16_t GetUpperLimit()
+ {
+// return VL6180x_GetUpperLimit(Device);
+ return 1;
+ }
+
+/**
+ * @brief Apply low and high ranging thresholds that are considered only in continuous mode
+ *
+ * @par Function Description
+ * This function programs low and high ranging thresholds that are considered in continuous mode :
+ * interrupt will be raised only when an object is detected at a distance inside this [low:high] range.
+ * The function takes care of applying current scaling factor if any.\n
+ * To be safe, in continuous operation, thresholds must be changed under "group parameter hold" cover.
+ * Group hold can be activated/deactivated directly in the function or externally (then set 0)
+ * using /a VL6180x_SetGroupParamHold() function.
+ *
+ * @param low Low threshold in mm
+ * @param high High threshold in mm
+ * @param SafeHold Use of group parameters hold to surround threshold programming.
+ * @return 0 On success
+ */
+ int RangeSetThresholds(uint16_t low, uint16_t high, int SafeHold)
+ {
+// return VL6180x_RangeSetThresholds(Device, low, high, SafeHold);
+ return 1;
+ }
+
+/**
+ * @brief Get scaled high and low threshold from device
+ *
+ * @par Function Description
+ * Due to scaling factor, the returned value may be different from what has been programmed first (precision lost).
+ * For instance VL6180x_RangeSetThresholds(dev,11,22) with scale 3
+ * will read back 9 ((11/3)x3) and 21 ((22/3)x3).
+ *
+ * @param low scaled low Threshold ptr can be NULL if not needed
+ * @param high scaled High Threshold ptr can be NULL if not needed
+ * @return 0 on success, return value is undefined if both low and high are NULL
+ * @warning return value is undefined if both low and high are NULL
+ */
+ int RangeGetThresholds(uint16_t *low, uint16_t *high)
+ {
+// return VL6180x_RangeGetThresholds(Device, low, high);
+ return 1;
+ }
+
+/**
+ * @brief Set ranging raw thresholds (scaling not considered so not recommended to use it)
+ *
+ * @param low raw low threshold set to raw register
+ * @param high raw high threshold set to raw register
+ * @return 0 on success
+ */
+ int RangeSetRawThresholds(uint8_t low, uint8_t high)
+ {
+// return VL6180x_RangeSetRawThresholds(Device, low, high);
+ return 1;
+ }
+
+/**
+ * @brief Set Early Convergence Estimate ratio
+ * @par Function Description
+ * For more information on ECE check datasheet
+ * @warning May return a calibration warning in some use cases
+ *
+ * @param FactorM ECE factor M in M/D
+ * @param FactorD ECE factor D in M/D
+ * @return 0 on success. <0 on error. >0 on warning
+ */
+ int RangeSetEceFactor(uint16_t FactorM, uint16_t FactorD)
+ {
+// return VL6180x_RangeSetEceFactor(Device, FactorM, FactorD);
+ return 1;
+ }
+
+/**
+ * @brief Set Early Convergence Estimate state (See #SYSRANGE_RANGE_CHECK_ENABLES register)
+ * @param enable State to be set 0=disabled, otherwise enabled
+ * @return 0 on success
+ */
+ int RangeSetEceState(int enable)
+ {
+// return VL6180x_RangeSetEceState(Device, enable);
+ return 1;
+ }
+
+/**
+ * @brief Set activation state of the wrap around filter
+ * @param state New activation state (0=off, otherwise on)
+ * @return 0 on success
+ */
+ int FilterSetState(int state)
+ {
+// return VL6180x_FilterSetState(Device, state);
+ return 1;
+ }
+
+/**
+ * Get activation state of the wrap around filter
+ * @return Filter enabled or not, when filter is not supported it always returns 0S
+ */
+ int FilterGetState()
+ {
+// return VL6180x_FilterGetState(Device);
+ return 1;
+ }
+
+/**
+ * @brief Set activation state of DMax computation
+ * @param state New activation state (0=off, otherwise on)
+ * @return 0 on success
+ */
+ int DMaxSetState(int state)
+ {
+// return VL6180x_DMaxSetState(Device, state);
+ return 1;
+ }
+
+/**
+ * Get activation state of DMax computation
+ * @return Filter enabled or not, when filter is not supported it always returns 0S
+ */
+ int DMaxGetState()
+ {
+// return VL6180x_DMaxGetState(Device);
+ return 1;
+ }
+
+/**
+ * @brief Set ranging mode and start/stop measure (use high level functions instead : @a VL6180x_RangeStartSingleShot() or @a VL6180x_RangeStartContinuousMode())
+ *
+ * @par Function Description
+ * When used outside scope of known polling single shot stopped state, \n
+ * user must ensure the device state is "idle" before to issue a new command.
+ *
+ * @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start/stop condition (#MODE_START_STOP) \n
+ * @return 0 on success
+ */
+ int RangeSetSystemMode(uint8_t mode)
+ {
+// return VL6180x_RangeSetSystemMode(Device, mode);
+ return 1;
+ }
+
+/** @} */
+
+/** @defgroup api_ll_range_calibration Ranging calibration functions
+ * @brief Ranging calibration functions
+ * @ingroup api_ll
+ * @{
+ */
+/**
+ * @brief Get part to part calibration offset
+ *
+ * @par Function Description
+ * Should only be used after a successful call to @a VL6180x_InitData to backup device nvm value
+ *
+ * @return part to part calibration offset from device
+ */
+ int8_t GetOffsetCalibrationData()
+ {
+// return VL6180x_GetOffsetCalibrationData(Device);
+ return 1;
+ }
+
+/**
+ * Set or over-write part to part calibration offset
+ * \sa VL6180x_InitData(), VL6180x_GetOffsetCalibrationData()
+ * @param offset Offset
+ */
+ void SetOffsetCalibrationData(int8_t offset)
+ {
+// return VL6180x_SetOffsetCalibrationData(Device, offset);
+ return;
+ }
+
+/**
+ * @brief Set Cross talk compensation rate
+ *
+ * @par Function Description
+ * It programs register @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE
+ *
+ * @param Rate Compensation rate (9.7 fix point) see datasheet for details
+ * @return 0 on success
+ */
+ int SetXTalkCompensationRate(uint16_t Rate)
+ {
+// return VL6180x_SetXTalkCompensationRate(Device, Rate);
+ return 1;
+ }
+/** @} */
+
+/**
+ * @brief Set new device i2c address
+ *
+ * After completion the device will answer to the new address programmed.
+ *
+ * @sa AN4478: Using multiple VL6180X's in a single design
+ * @param NewAddr The new i2c address (7bit)
+ * @return 0 on success
+ */
+ int SetDeviceAddress(int NewAddr)
+ {
+ int status;
+
+ status=VL53L0X_SetDeviceAddress(Device, NewAddr);
+ if(!status)
+ Device->I2cDevAddr=NewAddr;
+ return status;
+
+// return 1;
+ }
+
+/**
+ * @brief Fully configure gpio 0/1 pin : polarity and functionality
+ *
+ * @param pin gpio pin 0 or 1
+ * @param IntFunction Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
+ * @param ActiveHigh Set active high polarity, or active low see @a ::IntrPol_e
+ * @return 0 on success
+ */
+ int SetupGPIOx(int pin, uint8_t IntFunction, int ActiveHigh)
+ {
+// return VL6180x_SetupGPIOx(Device, pin, IntFunction, ActiveHigh);
+ return 1;
+ }
+
+/**
+ * @brief Set interrupt pin polarity for the given GPIO
+ *
+ * @param pin Pin 0 or 1
+ * @param active_high select active high or low polarity using @ref IntrPol_e
+ * @return 0 on success
+ */
+ int SetGPIOxPolarity(int pin, int active_high)
+ {
+// return VL6180x_SetGPIOxPolarity(Device, pin, active_high);
+ return 1;
+ }
+
+/**
+ * Select interrupt functionality for the given GPIO
+ *
+ * @par Function Description
+ * Functionality refer to @a SYSTEM_MODE_GPIO0
+ *
+ * @param pin Pin to configure 0 or 1 (gpio0 or gpio1)\nNote that gpio0 is chip enable at power up !
+ * @param functionality Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
+ * @return 0 on success
+ */
+ int SetGPIOxFunctionality(int pin, uint8_t functionality)
+ {
+// return VL6180x_SetGPIOxFunctionality(Device, pin, functionality);
+ return 1;
+ }
+
+/**
+ * #brief Disable and turn to Hi-Z gpio output pin
+ *
+ * @param pin The pin number to disable 0 or 1
+ * @return 0 on success
+ */
+ int DisableGPIOxOut(int pin)
+ {
+// return VL6180x_DisableGPIOxOut(Device, pin);
+ return 1;
+ }
+
+/** @} */
+
+/** @defgroup api_ll_intr Interrupts management functions
+ * @brief Interrupts management functions
+ * @ingroup api_ll
+ * @{
+ */
+
+/**
+ * @brief Get all interrupts cause
+ *
+ * @param status Ptr to interrupt status. You can use @a IntrStatus_t::val
+ * @return 0 on success
+ */
+ int GetInterruptStatus(uint8_t *status)
+ {
+// return VL6180x_GetInterruptStatus(Device, status);
+ return 1;
+ }
+
+/**
+ * @brief Clear given system interrupt condition
+ *
+ * @par Function Description
+ * Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register.
+ * @param dev The device
+ * @param IntClear Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR.
+ * @return 0 On success
+ */
+ int ClearInterrupt(uint8_t IntClear)
+ {
+// return VL6180x_ClearInterrupt(Device, IntClear );
+ return 1;
+ }
+
+/**
+ * @brief Clear error interrupt
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+ #define VL6180x_ClearErrorInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR)
+
+/**
+ * @brief Clear All interrupt causes (als+range+error)
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+#define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
+
+
+ private:
+ /* api.h functions */
+ VL53L0X_Error VL53L0X_DataInit(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_GetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, int32_t *pOffsetCalibrationDataMicroMeter);
+ VL53L0X_Error VL53L0X_SetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev,
+ int32_t OffsetCalibrationDataMicroMeter);
+ VL53L0X_Error VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev,
+ VL53L0X_DeviceParameters_t *pDeviceParameters);
+ VL53L0X_Error VL53L0X_GetDeviceMode(VL53L0X_DEV Dev,
+ VL53L0X_DeviceModes *pDeviceMode);
+ VL53L0X_Error VL53L0X_GetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev,
+ uint32_t *pInterMeasurementPeriodMilliSeconds);
+ VL53L0X_Error VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev,
+ FixPoint1616_t *pXTalkCompensationRateMegaCps);
+ VL53L0X_Error VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+ FixPoint1616_t *pLimitCheckValue);
+ VL53L0X_Error VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+ uint8_t *pLimitCheckEnable);
+ VL53L0X_Error VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev,
+ uint8_t *pWrapAroundCheckEnable);
+ VL53L0X_Error VL53L0X_GetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
+ uint32_t *pMeasurementTimingBudgetMicroSeconds);
+ VL53L0X_Error VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev,
+ VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps);
+ VL53L0X_Error sequence_step_enabled(VL53L0X_DEV Dev,
+ VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig,
+ uint8_t *pSequenceStepEnabled);
+ VL53L0X_Error VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev,
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK);
+ VL53L0X_Error VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev,
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
+ VL53L0X_Error VL53L0X_StaticInit(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev,
+ uint8_t *pMeasurementDataReady);
+ VL53L0X_Error VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev,
+ uint32_t *pInterruptMaskStatus);
+ VL53L0X_Error VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask);
+ VL53L0X_Error VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData);
+ VL53L0X_Error VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, VL53L0X_DeviceModes DeviceMode);
+ VL53L0X_Error VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_StartMeasurement(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_CheckAndLoadInterruptSettings(VL53L0X_DEV Dev,
+ uint8_t StartNotStopFlag);
+ VL53L0X_Error VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev,
+ VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow,
+ FixPoint1616_t *pThresholdHigh);
+ VL53L0X_Error VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData);
+ VL53L0X_Error VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev,
+ uint8_t *pXTalkCompensationEnable);
+ VL53L0X_Error VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings,
+ uint8_t *pPhaseCal);
+ VL53L0X_Error VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev,
+ uint32_t *refSpadCount, uint8_t *isApertureSpads);
+ VL53L0X_Error VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, uint8_t DeviceAddress);
+ VL53L0X_Error VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin,
+ VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality,
+ VL53L0X_InterruptPolarity Polarity);
+ VL53L0X_Error VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, uint8_t *pEnabled);
+ VL53L0X_Error VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev,
+ VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled);
+ VL53L0X_Error VL53L0X_SetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
+ uint32_t MeasurementTimingBudgetMicroSeconds);
+ VL53L0X_Error VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+ uint8_t LimitCheckEnable);
+ VL53L0X_Error VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+ FixPoint1616_t LimitCheckValue);
+ VL53L0X_Error VL53L0X_StopMeasurement(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev,
+ uint32_t *pStopStatus);
+ VL53L0X_Error VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev,
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriod);
+
+ /* api_core.h functions */
+ VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option);
+ VL53L0X_Error VL53L0X_device_read_strobe(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev,
+ uint32_t *pMeasurementTimingBudgetMicroSeconds);
+ VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev,
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK);
+ uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg);
+ uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout);
+ uint32_t VL53L0X_calc_timeout_us(VL53L0X_DEV Dev,
+ uint16_t timeout_period_mclks,
+ uint8_t vcsel_period_pclks);
+ uint32_t VL53L0X_calc_macro_period_ps(VL53L0X_DEV Dev, uint8_t vcsel_period_pclks);
+ VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV Dev,
+ uint8_t *pTuningSettingBuffer);
+ VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV Dev,
+ uint8_t DeviceRangeStatus,
+ FixPoint1616_t SignalRate,
+ uint16_t EffectiveSpadRtnCount,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ uint8_t *pPalRangeStatus);
+ VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *pSigmaEstimate,
+ uint32_t *pDmax_mm);
+ VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *ptotal_signal_rate_mcps);
+ VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *ptotal_xtalk_rate_mcps);
+ uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev,
+ uint32_t timeout_period_us,
+ uint8_t vcsel_period_pclks);
+ uint32_t VL53L0X_isqrt(uint32_t num);
+ VL53L0X_Error VL53L0X_calc_dmax(
+ VL53L0X_DEV Dev,
+ FixPoint1616_t totalSignalRate_mcps,
+ FixPoint1616_t totalCorrSignalRate_mcps,
+ FixPoint1616_t pwMult,
+ uint32_t sigmaEstimateP1,
+ FixPoint1616_t sigmaEstimateP2,
+ uint32_t peakVcselDuration_us,
+ uint32_t *pdmax_mm);
+ VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev,
+ uint32_t MeasurementTimingBudgetMicroSeconds);
+ VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV Dev,
+ VL53L0X_SequenceStepId SequenceStepId,
+ uint32_t *pTimeOutMicroSecs);
+ VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV Dev,
+ VL53L0X_SequenceStepId SequenceStepId,
+ uint32_t TimeOutMicroSecs);
+ uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks);
+ VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev,
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK);
+ uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks);
+
+ /* api_calibration.h functions */
+ VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
+ int32_t *pOffsetCalibrationDataMicroMeter);
+ VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
+ int32_t OffsetCalibrationDataMicroMeter);
+ VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev,
+ uint32_t *refSpadCount,
+ uint8_t *isApertureSpads);
+ VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev,
+ uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable);
+ VL53L0X_Error VL53L0X_perform_vhv_calibration(VL53L0X_DEV Dev,
+ uint8_t *pVhvSettings, const uint8_t get_data_enable,
+ const uint8_t restore_config);
+ VL53L0X_Error VL53L0X_perform_single_ref_calibration(VL53L0X_DEV Dev,
+ uint8_t vhv_init_byte);
+ VL53L0X_Error VL53L0X_ref_calibration_io(VL53L0X_DEV Dev, uint8_t read_not_write,
+ uint8_t VhvSettings, uint8_t PhaseCal,
+ uint8_t *pVhvSettings, uint8_t *pPhaseCal,
+ const uint8_t vhv_enable, const uint8_t phase_enable);
+ VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev,
+ uint8_t *pPhaseCal, const uint8_t get_data_enable,
+ const uint8_t restore_config);
+ VL53L0X_Error enable_ref_spads(VL53L0X_DEV Dev,
+ uint8_t apertureSpads,
+ uint8_t goodSpadArray[],
+ uint8_t spadArray[],
+ uint32_t size,
+ uint32_t start,
+ uint32_t offset,
+ uint32_t spadCount,
+ uint32_t *lastSpad);
+ void get_next_good_spad(uint8_t goodSpadArray[], uint32_t size,
+ uint32_t curr, int32_t *next);
+ uint8_t is_aperture(uint32_t spadIndex);
+ VL53L0X_Error enable_spad_bit(uint8_t spadArray[], uint32_t size,
+ uint32_t spadIndex);
+ VL53L0X_Error set_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray);
+ VL53L0X_Error get_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray);
+ VL53L0X_Error perform_ref_signal_measurement(VL53L0X_DEV Dev,
+ uint16_t *refSignalRate);
+ VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV Dev,
+ uint32_t count, uint8_t isApertureSpads);
+
+ /* api_strings.h functions */
+ VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV Dev,
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
+ VL53L0X_Error VL53L0X_check_part_used(VL53L0X_DEV Dev,
+ uint8_t *Revision,
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
+
+ /* Read function of the ID device */
+ virtual int ReadID();
+
+ VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev);
+ VL53L0X_Error WaitStopCompleted(VL53L0X_DEV Dev);
+
+ /* Write and read functions from I2C */
+
+ VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV dev, uint8_t index, uint8_t data);
+ VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV dev, uint8_t index, uint16_t data);
+ VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV dev, uint8_t index, uint32_t data);
+ VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV dev, uint8_t index, uint8_t *data);
+ VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV dev, uint8_t index, uint16_t *data);
+ VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV dev, uint8_t index, uint32_t *data);
+ VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV dev, uint8_t index, uint8_t AndData, uint8_t OrData);
+
+ VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
+ VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
+
+ VL53L0X_Error VL53L0X_I2CWrite(uint8_t dev, uint8_t index, uint8_t *data, uint16_t number_of_bytes);
+ VL53L0X_Error VL53L0X_I2CRead(uint8_t dev, uint8_t index, uint8_t *data, uint16_t number_of_bytes);
+
+ VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev); /* usually best implemented as a real function */
+
+ int IsPresent()
+ {
+ int status;
+
+ status=ReadID();
+ if(status)
+ VL53L0X_ErrLog("Failed to read ID device. Device not present!\n\r");
+ return status;
+ }
+ int StopRangeMeasurement(OperatingMode operating_mode);
+ int GetRangeMeas(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
+ int RangeSetLowThreshold(uint16_t threshold);
+ int RangeSetHighThreshold(uint16_t threshold);
+ int GetRangeError(VL53L0X_RangingMeasurementData_t *Data, VL53L0X_RangingMeasurementData_t RangeData);
+ int RangeMeasPollSingleShot();
+ int RangeMeasPollContinuousMode();
+ int RangeMeasIntContinuousMode(void (*fptr)(void));
+
+
+ VL53L0X_DeviceInfo_t DeviceInfo;
+
+ /* IO Device */
+ DevI2C &dev_i2c;
+ /* GPIO expander */
+// STMPE1600 &io_expander;
+// ExpGpioPinName xshutdown;
+ /* Digital out pin */
+ DigitalOut *gpio0;
+ /* GPIO expander */
+ STMPE1600DigiOut *expgpio0;
+ /* Measure detection IRQ */
+ InterruptIn *gpio1Int;
+ /* Device data */
+ VL53L0X_Dev_t MyDevice;
+ VL53L0X_DEV Device;
+};
+
+
+#endif /* _VL53L0X_CLASS_H_ */
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/VL53L0X/vl53l0x_def.h Mon Nov 28 11:25:33 2016 +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/Components/VL53L0X/vl53l0x_device.h Mon Nov 28 11:25:33 2016 +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/Components/VL53L0X/vl53l0x_i2c_platform.h Mon Nov 28 11:25:33 2016 +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/Components/VL53L0X/vl53l0x_interrupt_threshold_settings.h Mon Nov 28 11:25:33 2016 +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/Components/VL53L0X/vl53l0x_platform.h Mon Nov 28 11:25:33 2016 +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/Components/VL53L0X/vl53l0x_platform_log.h Mon Nov 28 11:25:33 2016 +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/Components/VL53L0X/vl53l0x_tuning.h Mon Nov 28 11:25:33 2016 +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/Components/VL53L0X/vl53l0x_types.h Mon Nov 28 11:25:33 2016 +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 Mon Nov 28 11:25:33 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#12be3dfc15fd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/x_nucleo_53l0a1.cpp Mon Nov 28 11:25:33 2016 +0000
@@ -0,0 +1,127 @@
+/**
+ ******************************************************************************
+ * @file x_nucleo_53L0A1.cpp
+ * @author IMG
+ * @version V0.0.1
+ * @date 27-June-2016
+ * @brief Implementation file for the X_NUCLEO_VL53L0A1 singleton 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 "x_nucleo_53l0a1.h"
+
+/* Static variables ----------------------------------------------------------*/
+X_NUCLEO_53L0A1* X_NUCLEO_53L0A1::_instance = NULL;
+
+X_NUCLEO_53L0A1* X_NUCLEO_53L0A1::Instance(DevI2C *ext_i2c)
+{
+ if(_instance==NULL)
+ _instance=new X_NUCLEO_53L0A1(ext_i2c);
+ else
+ VL53L0X_ErrLog("Failed to create X_NUCLEO_53L0A1 instance\n\r");
+ return _instance;
+}
+
+X_NUCLEO_53L0A1* X_NUCLEO_53L0A1::Instance(DevI2C *ext_i2c,
+ PinName gpio1_centre,
+ PinName gpio1_left, PinName gpio1_right)
+{
+ if(_instance==NULL)
+ //_instance=new X_NUCLEO_53L0A1(ext_i2c);
+ _instance=new X_NUCLEO_53L0A1(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
+ else
+ VL53L0X_ErrLog("Failed to create X_NUCLEO_53L0A1 instance\n\r");
+ return _instance;
+}
+
+
+int X_NUCLEO_53L0A1::InitBoard()
+{
+ int status, n_dev=0;
+
+ sensor_centre->VL53L0X_Off();
+// sensor_left->VL53L0X_Off();
+// sensor_right->VL53L0X_Off();
+ status=sensor_centre->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
+// status=sensor_centre->RawInitSensor();
+ if(status)
+ {
+ delete sensor_centre;
+ delete xshutdown_centre;
+ sensor_centre=NULL;
+ xshutdown_centre=NULL;
+ printf("Sensor centre not present\n\r");
+ }
+ else
+ {
+ printf("Sensor centre present\n\r");
+ n_dev++;
+ }
+/* status=sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
+ if(status)
+ {
+ delete sensor_left;
+ delete xshutdown_left;
+ sensor_left=NULL;
+ xshutdown_left=NULL;
+ printf("Sensor left not present\n\r");
+ }
+ else
+ {
+ printf("Sensor left present\n\r");
+ n_dev++;
+ }
+*/
+/* status=sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
+ if(status)
+ {
+ delete sensor_right;
+ delete xshutdown_right;
+ sensor_right=NULL;
+ xshutdown_right=NULL;
+ printf("Sensor right not present\n\r");
+ }
+ else
+ {
+ printf("Sensor right present\n\r");
+ n_dev++;
+ }
+*/
+ if(n_dev==0)
+ return 1;
+ else
+ return 0;
+}
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/x_nucleo_53l0a1.h Mon Nov 28 11:25:33 2016 +0000
@@ -0,0 +1,199 @@
+/**
+ ******************************************************************************
+ * @file x_nucleo_53L0A1.h
+ * @author IMG
+ * @version V0.0.1
+ * @date 27-June-2016
+ * @brief Header file for class X_NUCLEO_53L0A1 representing a X-NUCLEO-53L0A1
+ * expansion board
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __X_NUCLEO_53L0A1_H
+#define __X_NUCLEO_53L0A1_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "vl53l0x_class.h"
+#include "Display_class.h"
+#include "stmpe1600_class.h"
+#include "DevI2C.h"
+
+/** New device addresses */
+//#define NEW_SENSOR_CENTRE_ADDRESS 0x54
+#define NEW_SENSOR_CENTRE_ADDRESS 0x52
+#define NEW_SENSOR_LEFT_ADDRESS 0x56
+#define NEW_SENSOR_RIGHT_ADDRESS 0x58
+
+/* Classes--------------------------------------------------------------------*/
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing the X-NUCLEO-VL53L0A1 expansion board
+ */
+class X_NUCLEO_53L0A1
+{
+ public:
+ /** Constructor 1
+ * @param[in] &i2c device I2C to be used for communication
+ */
+ X_NUCLEO_53L0A1(DevI2C *ext_i2c) : dev_i2c(ext_i2c)
+ {
+ stmpe1600_exp0 = new STMPE1600(*ext_i2c, (0x43 * 2)); // U21
+ stmpe1600_exp0->writeSYS_CTRL (SOFT_RESET);
+
+ stmpe1600_exp1 = new STMPE1600(*ext_i2c, (0x42 * 2)); // U19
+ stmpe1600_exp1->writeSYS_CTRL (SOFT_RESET);
+
+ display = new Display(*stmpe1600_exp0, *stmpe1600_exp1);
+
+ xshutdown_centre=new STMPE1600DigiOut(*dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
+ sensor_centre=new VL53L0X(*dev_i2c, *xshutdown_centre, A2);
+
+// xshutdown_left=new STMPE1600DigiOut(*dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
+// sensor_left=new VL53L0X(*dev_i2c, *xshutdown_left, D8);
+
+// xshutdown_right=new STMPE1600DigiOut(*dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
+// sensor_right=new VL53L0X(*dev_i2c, *xshutdown_right, D2);
+ }
+
+ /** Constructor 2
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] PinName gpio1_top Mbed DigitalOut pin name to be used as a top sensor GPIO_1 INT
+ * @param[in] PinName gpio1_bottom Mbed DigitalOut pin name to be used as a bottom sensor GPIO_1 INT
+ * @param[in] PinName gpio1_left Mbed DigitalOut pin name to be used as a left sensor GPIO_1 INT
+ * @param[in] PinName gpio1_right Mbed DigitalOut pin name to be used as a right sensor GPIO_1 INT
+ */
+ X_NUCLEO_53L0A1(DevI2C *ext_i2c, PinName gpio1_centre,
+ PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c) {
+ stmpe1600_exp0 = new STMPE1600(*ext_i2c, (0x43 * 2)); // U21
+ stmpe1600_exp0->writeSYS_CTRL(SOFT_RESET);
+
+ stmpe1600_exp1 = new STMPE1600(*ext_i2c, (0x42 * 2)); // U19
+ stmpe1600_exp1->writeSYS_CTRL(SOFT_RESET);
+
+ display = new Display(*stmpe1600_exp0, *stmpe1600_exp1);
+
+ xshutdown_centre=new STMPE1600DigiOut(*dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
+ sensor_centre=new VL53L0X(*dev_i2c, *xshutdown_centre, gpio1_centre);
+
+// xshutdown_left=new STMPE1600DigiOut(*dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
+// sensor_left=new VL53L0X(*dev_i2c, *xshutdown_left, gpio1_left);
+
+// xshutdown_right=new STMPE1600DigiOut(*dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
+// sensor_right=new VL53L0X(*dev_i2c, *xshutdown_right, gpio1_right);
+ }
+
+ /** Destructor
+ */
+ ~X_NUCLEO_53L0A1()
+ {
+ if(xshutdown_centre!=NULL)
+ {
+ delete xshutdown_centre;
+ xshutdown_centre=NULL;
+ }
+ if(sensor_centre!=NULL)
+ {
+ delete sensor_centre;
+ sensor_centre=NULL;
+ }
+/* if(xshutdown_left!=NULL)
+ {
+ delete xshutdown_left;
+ xshutdown_left=NULL;
+ }
+ if(sensor_left!=NULL)
+ {
+ delete sensor_left;
+ sensor_left=NULL;
+ }
+ if(xshutdown_right!=NULL)
+ {
+ delete xshutdown_right;
+ xshutdown_right=NULL;
+ }
+ if(sensor_right!=NULL)
+ {
+ delete sensor_right;
+ sensor_right=NULL;
+ }
+*/
+ delete stmpe1600_exp0;
+ stmpe1600_exp0 = NULL;
+ delete stmpe1600_exp1;
+ stmpe1600_exp1 = NULL;
+ delete display;
+ display = NULL;
+ _instance=NULL;
+ }
+
+ /**
+ * @brief Creates a singleton object instance
+ * @param[in] &i2c device I2C to be used for communication
+ * @return Pointer to the object instance
+ */
+ static X_NUCLEO_53L0A1 *Instance(DevI2C *ext_i2c);
+
+ /**
+ * @brief Creates a singleton object instance
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] PinName gpio1_centre the pin connected to top sensor INT
+ * @param[in] PinName gpio1_left the pin connected to left sensor INT
+ * @param[in] PinName gpio1_right the pin connected to right sensor INT
+ * @return Pointer to the object instance
+ */
+ static X_NUCLEO_53L0A1 *Instance(DevI2C *ext_i2c, PinName gpio1_centre,
+ PinName gpio1_left, PinName gpio1_right);
+
+ /**
+ * @brief Initialize the board and sensors with deft values
+ * @return 0 on success
+ */
+ int InitBoard();
+
+ DevI2C *dev_i2c;
+ VL53L0X *sensor_centre;
+// VL53L0X *sensor_left;
+// VL53L0X *sensor_right;
+ STMPE1600 *stmpe1600_exp0;
+ STMPE1600 *stmpe1600_exp1;
+ STMPE1600DigiOut *xshutdown_centre;
+// STMPE1600DigiOut *xshutdown_left;
+// STMPE1600DigiOut *xshutdown_right;
+ Display *display;
+
+ private:
+ static X_NUCLEO_53L0A1 *_instance;
+};
+
+#endif /* __X_NUCLEO_53L0A1_H */
+
+
X-NUCLEO-53L0A1 Ranging Sensor Expansion Board