ST
Library for use with VL53L1X, intended to represent the Proximity sensor expansion board with the same name.
Dependencies: VL53L1X_mbed
Dependents: HelloWorld_53L1A1 VL53L1A1_Simple_Ranging_With_One_Device VL53L1A1_Simple_Ranging_With_All_Devices VL53L1X_Ranging_With_Multiple_Devices_MbedOS ... more
Diff: Components/VL53L0X/vl53l0x_class.cpp
- Revision:
- 16:27d3d95c8593
- Parent:
- 14:8320b5ff96fa
- Child:
- 17:f8187a3fa36e
diff -r 8320b5ff96fa -r 27d3d95c8593 Components/VL53L0X/vl53l0x_class.cpp
--- a/Components/VL53L0X/vl53l0x_class.cpp Mon Aug 07 14:30:21 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,5411 +0,0 @@
-/**
- ******************************************************************************
- * @file vl53l0x_class.cpp
- * @author IMG
- * @version V0.0.1
- * @date 28-June-2016
- * @brief Implementation file for the VL53L0X driver class
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
-*/
-
-/* Includes */
-#include <stdlib.h>
-
-#include "vl53l0x_class.h"
-
-//#include "vl53l0x_api_core.h"
-//#include "vl53l0x_api_calibration.h"
-//#include "vl53l0x_api_strings.h"
-#include "vl53l0x_interrupt_threshold_settings.h"
-#include "vl53l0x_tuning.h"
-#include "vl53l0x_types.h"
-
-
-/****************** define for i2c configuration *******************************/
-
-#define TEMP_BUF_SIZE 64
-
-/** Maximum buffer size to be used in i2c */
-#define VL53L0X_MAX_I2C_XFER_SIZE 64 /* Maximum buffer size to be used in i2c */
-#define VL53L0X_I2C_USER_VAR /* none but could be for a flag var to get/pass to mutex interruptible return flags and try again */
-
-
-#define LOG_FUNCTION_START(fmt, ...) \
- _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__)
-#define LOG_FUNCTION_END(status, ...) \
- _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__)
-#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
- _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__)
-
-#ifdef VL53L0X_LOG_ENABLE
-#define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \
- level, TRACE_FUNCTION_NONE, ##__VA_ARGS__)
-#endif
-
-#define REF_ARRAY_SPAD_0 0
-#define REF_ARRAY_SPAD_5 5
-#define REF_ARRAY_SPAD_10 10
-
-uint32_t refArrayQuadrants[4] = {REF_ARRAY_SPAD_10, REF_ARRAY_SPAD_5,
- REF_ARRAY_SPAD_0, REF_ARRAY_SPAD_5
- };
-
-
-
-
-VL53L0X_Error VL53L0X::vl53l0x_device_read_strobe(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t strobe;
- uint32_t loop_nb;
- LOG_FUNCTION_START("");
-
- status |= vl53l0x_write_byte(dev, 0x83, 0x00);
-
- /* polling
- * use timeout to avoid deadlock*/
- if (status == VL53L0X_ERROR_NONE) {
- loop_nb = 0;
- do {
- status = vl53l0x_read_byte(dev, 0x83, &strobe);
- if ((strobe != 0x00) || status != VL53L0X_ERROR_NONE)
- break;
-
- loop_nb = loop_nb + 1;
- } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
-
- if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP)
- status = VL53L0X_ERROR_TIME_OUT;
-
- }
-
- status |= vl53l0x_write_byte(dev, 0x83, 0x01);
-
- LOG_FUNCTION_END(status);
- return status;
-
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_info_from_device(VL53L0X_DEV dev, uint8_t option)
-{
-
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t byte;
- uint32_t tmp_dword;
- uint8_t module_id;
- uint8_t revision;
- uint8_t reference_spad_count = 0;
- uint8_t reference_spad_type = 0;
- uint32_t part_uid_upper = 0;
- uint32_t part_uid_lower = 0;
- uint32_t offset_fixed1104_mm = 0;
- int16_t offset_micro_meters = 0;
- uint32_t dist_meas_tgt_fixed1104_mm = 400 << 4;
- uint32_t dist_meas_fixed1104_400_mm = 0;
- uint32_t signal_rate_meas_fixed1104_400_mm = 0;
- char product_id[19];
- char *product_id_tmp;
- uint8_t read_data_from_device_done;
- FixPoint1616_t signal_rate_meas_fixed400_mm_fix = 0;
- uint8_t nvm_ref_good_spad_map[VL53L0X_REF_SPAD_BUFFER_SIZE];
- int i;
-
-
- LOG_FUNCTION_START("");
-
- read_data_from_device_done = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
- ReadDataFromDeviceDone);
-
- /* This access is done only once after that a GetDeviceInfo or
- * datainit is done*/
- if (read_data_from_device_done != 7) {
-
- status |= vl53l0x_write_byte(dev, 0x80, 0x01);
- status |= vl53l0x_write_byte(dev, 0xFF, 0x01);
- status |= vl53l0x_write_byte(dev, 0x00, 0x00);
-
- status |= vl53l0x_write_byte(dev, 0xFF, 0x06);
- status |= vl53l0x_read_byte(dev, 0x83, &byte);
- status |= vl53l0x_write_byte(dev, 0x83, byte | 4);
- status |= vl53l0x_write_byte(dev, 0xFF, 0x07);
- status |= vl53l0x_write_byte(dev, 0x81, 0x01);
-
- status |= vl53l0x_polling_delay(dev);
-
- status |= vl53l0x_write_byte(dev, 0x80, 0x01);
-
- if (((option & 1) == 1) &&
- ((read_data_from_device_done & 1) == 0)) {
- status |= vl53l0x_write_byte(dev, 0x94, 0x6b);
- status |= vl53l0x_device_read_strobe(dev);
- status |= vl53l0x_read_dword(dev, 0x90, &tmp_dword);
-
- reference_spad_count = (uint8_t)((tmp_dword >> 8) & 0x07f);
- reference_spad_type = (uint8_t)((tmp_dword >> 15) & 0x01);
-
- status |= vl53l0x_write_byte(dev, 0x94, 0x24);
- status |= vl53l0x_device_read_strobe(dev);
- status |= vl53l0x_read_dword(dev, 0x90, &tmp_dword);
-
-
- nvm_ref_good_spad_map[0] = (uint8_t)((tmp_dword >> 24)
- & 0xff);
- nvm_ref_good_spad_map[1] = (uint8_t)((tmp_dword >> 16)
- & 0xff);
- nvm_ref_good_spad_map[2] = (uint8_t)((tmp_dword >> 8)
- & 0xff);
- nvm_ref_good_spad_map[3] = (uint8_t)(tmp_dword & 0xff);
-
- status |= vl53l0x_write_byte(dev, 0x94, 0x25);
- status |= vl53l0x_device_read_strobe(dev);
- status |= vl53l0x_read_dword(dev, 0x90, &tmp_dword);
-
- nvm_ref_good_spad_map[4] = (uint8_t)((tmp_dword >> 24)
- & 0xff);
- nvm_ref_good_spad_map[5] = (uint8_t)((tmp_dword >> 16)
- & 0xff);
- }
-
- if (((option & 2) == 2) &&
- ((read_data_from_device_done & 2) == 0)) {
-
- status |= vl53l0x_write_byte(dev, 0x94, 0x02);
- status |= vl53l0x_device_read_strobe(dev);
- status |= vl53l0x_read_byte(dev, 0x90, &module_id);
-
- status |= vl53l0x_write_byte(dev, 0x94, 0x7B);
- status |= vl53l0x_device_read_strobe(dev);
- status |= vl53l0x_read_byte(dev, 0x90, &revision);
-
- status |= vl53l0x_write_byte(dev, 0x94, 0x77);
- status |= vl53l0x_device_read_strobe(dev);
- status |= vl53l0x_read_dword(dev, 0x90, &tmp_dword);
-
- product_id[0] = (char)((tmp_dword >> 25) & 0x07f);
- product_id[1] = (char)((tmp_dword >> 18) & 0x07f);
- product_id[2] = (char)((tmp_dword >> 11) & 0x07f);
- product_id[3] = (char)((tmp_dword >> 4) & 0x07f);
-
- byte = (uint8_t)((tmp_dword & 0x00f) << 3);
-
- status |= vl53l0x_write_byte(dev, 0x94, 0x78);
- status |= vl53l0x_device_read_strobe(dev);
- status |= vl53l0x_read_dword(dev, 0x90, &tmp_dword);
-
- product_id[4] = (char)(byte +
- ((tmp_dword >> 29) & 0x07f));
- product_id[5] = (char)((tmp_dword >> 22) & 0x07f);
- product_id[6] = (char)((tmp_dword >> 15) & 0x07f);
- product_id[7] = (char)((tmp_dword >> 8) & 0x07f);
- product_id[8] = (char)((tmp_dword >> 1) & 0x07f);
-
- byte = (uint8_t)((tmp_dword & 0x001) << 6);
-
- status |= vl53l0x_write_byte(dev, 0x94, 0x79);
-
- status |= vl53l0x_device_read_strobe(dev);
-
- status |= vl53l0x_read_dword(dev, 0x90, &tmp_dword);
-
- product_id[9] = (char)(byte +
- ((tmp_dword >> 26) & 0x07f));
- product_id[10] = (char)((tmp_dword >> 19) & 0x07f);
- product_id[11] = (char)((tmp_dword >> 12) & 0x07f);
- product_id[12] = (char)((tmp_dword >> 5) & 0x07f);
-
- byte = (uint8_t)((tmp_dword & 0x01f) << 2);
-
- status |= vl53l0x_write_byte(dev, 0x94, 0x7A);
-
- status |= vl53l0x_device_read_strobe(dev);
-
- status |= vl53l0x_read_dword(dev, 0x90, &tmp_dword);
-
- product_id[13] = (char)(byte +
- ((tmp_dword >> 30) & 0x07f));
- product_id[14] = (char)((tmp_dword >> 23) & 0x07f);
- product_id[15] = (char)((tmp_dword >> 16) & 0x07f);
- product_id[16] = (char)((tmp_dword >> 9) & 0x07f);
- product_id[17] = (char)((tmp_dword >> 2) & 0x07f);
- product_id[18] = '\0';
-
- }
-
- if (((option & 4) == 4) &&
- ((read_data_from_device_done & 4) == 0)) {
-
- status |= vl53l0x_write_byte(dev, 0x94, 0x7B);
- status |= vl53l0x_device_read_strobe(dev);
- status |= vl53l0x_read_dword(dev, 0x90, &part_uid_upper);
-
- status |= vl53l0x_write_byte(dev, 0x94, 0x7C);
- status |= vl53l0x_device_read_strobe(dev);
- status |= vl53l0x_read_dword(dev, 0x90, &part_uid_lower);
-
- status |= vl53l0x_write_byte(dev, 0x94, 0x73);
- status |= vl53l0x_device_read_strobe(dev);
- status |= vl53l0x_read_dword(dev, 0x90, &tmp_dword);
-
- signal_rate_meas_fixed1104_400_mm = (tmp_dword &
- 0x0000000ff) << 8;
-
- status |= vl53l0x_write_byte(dev, 0x94, 0x74);
- status |= vl53l0x_device_read_strobe(dev);
- status |= vl53l0x_read_dword(dev, 0x90, &tmp_dword);
-
- signal_rate_meas_fixed1104_400_mm |= ((tmp_dword &
- 0xff000000) >> 24);
-
- status |= vl53l0x_write_byte(dev, 0x94, 0x75);
- status |= vl53l0x_device_read_strobe(dev);
- status |= vl53l0x_read_dword(dev, 0x90, &tmp_dword);
-
- dist_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff)
- << 8;
-
- status |= vl53l0x_write_byte(dev, 0x94, 0x76);
- status |= vl53l0x_device_read_strobe(dev);
- status |= vl53l0x_read_dword(dev, 0x90, &tmp_dword);
-
- dist_meas_fixed1104_400_mm |= ((tmp_dword & 0xff000000)
- >> 24);
- }
-
- status |= vl53l0x_write_byte(dev, 0x81, 0x00);
- status |= vl53l0x_write_byte(dev, 0xFF, 0x06);
- status |= vl53l0x_read_byte(dev, 0x83, &byte);
- status |= vl53l0x_write_byte(dev, 0x83, byte & 0xfb);
- status |= vl53l0x_write_byte(dev, 0xFF, 0x01);
- status |= vl53l0x_write_byte(dev, 0x00, 0x01);
-
- status |= vl53l0x_write_byte(dev, 0xFF, 0x00);
- status |= vl53l0x_write_byte(dev, 0x80, 0x00);
- }
-
- if ((status == VL53L0X_ERROR_NONE) &&
- (read_data_from_device_done != 7)) {
- /* Assign to variable if status is ok */
- if (((option & 1) == 1) &&
- ((read_data_from_device_done & 1) == 0)) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadCount, reference_spad_count);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadType, reference_spad_type);
-
- for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) {
- dev->Data.SpadData.RefGoodSpadMap[i] =
- nvm_ref_good_spad_map[i];
- }
- }
-
- if (((option & 2) == 2) &&
- ((read_data_from_device_done & 2) == 0)) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- ModuleId, module_id);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- Revision, revision);
-
- product_id_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
- ProductId);
- VL53L0X_COPYSTRING(product_id_tmp, product_id);
-
- }
-
- if (((option & 4) == 4) &&
- ((read_data_from_device_done & 4) == 0)) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- PartUIDUpper, part_uid_upper);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- PartUIDLower, part_uid_lower);
-
- signal_rate_meas_fixed400_mm_fix =
- VL53L0X_FIXPOINT97TOFIXPOINT1616(
- signal_rate_meas_fixed1104_400_mm);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- SignalRateMeasFixed400mm,
- signal_rate_meas_fixed400_mm_fix);
-
- offset_micro_meters = 0;
- if (dist_meas_fixed1104_400_mm != 0) {
- offset_fixed1104_mm =
- dist_meas_fixed1104_400_mm -
- dist_meas_tgt_fixed1104_mm;
- offset_micro_meters = (offset_fixed1104_mm
- * 1000) >> 4;
- offset_micro_meters *= -1;
- }
-
- PALDevDataSet(dev,
- Part2PartOffsetAdjustmentNVMMicroMeter,
- offset_micro_meters);
- }
- byte = (uint8_t)(read_data_from_device_done | option);
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev, ReadDataFromDeviceDone,
- byte);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t *p_offset_calibration_data_micro_meter)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t range_offset_register;
- int16_t c_max_offset = 2047;
- int16_t c_offset_range = 4096;
-
- /* Note that offset has 10.2 format */
-
- status = vl53l0x_read_word(dev,
- VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
- &range_offset_register);
-
- if (status == VL53L0X_ERROR_NONE) {
- range_offset_register = (range_offset_register & 0x0fff);
-
- /* Apply 12 bit 2's compliment conversion */
- if (range_offset_register > c_max_offset)
- *p_offset_calibration_data_micro_meter =
- (int16_t)(range_offset_register - c_offset_range)
- * 250;
- else
- *p_offset_calibration_data_micro_meter =
- (int16_t)range_offset_register * 250;
-
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t *p_offset_calibration_data_micro_meter)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_vl53l0x_get_offset_calibration_data_micro_meter(dev,
- p_offset_calibration_data_micro_meter);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_vl53l0x_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t offset_calibration_data_micro_meter)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- int32_t c_max_offset_micro_meter = 511000;
- int32_t c_min_offset_micro_meter = -512000;
- int16_t c_offset_range = 4096;
- uint32_t encoded_offset_val;
-
- LOG_FUNCTION_START("");
-
- if (offset_calibration_data_micro_meter > c_max_offset_micro_meter)
- offset_calibration_data_micro_meter = c_max_offset_micro_meter;
- else if (offset_calibration_data_micro_meter < c_min_offset_micro_meter)
- offset_calibration_data_micro_meter = c_min_offset_micro_meter;
-
- /* The offset register is 10.2 format and units are mm
- * therefore conversion is applied by a division of
- * 250.
- */
- if (offset_calibration_data_micro_meter >= 0) {
- encoded_offset_val =
- offset_calibration_data_micro_meter / 250;
- } else {
- encoded_offset_val =
- c_offset_range +
- offset_calibration_data_micro_meter / 250;
- }
-
- status = vl53l0x_write_word(dev,
- VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
- encoded_offset_val);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t offset_calibration_data_micro_meter)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_vl53l0x_set_offset_calibration_data_micro_meter(dev,
- offset_calibration_data_micro_meter);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_apply_offset_adjustment(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- int32_t corrected_offset_micro_meters;
- int32_t current_offset_micro_meters;
-
- /* if we run on this function we can read all the NVM info
- * used by the API */
- status = vl53l0x_get_info_from_device(dev, 7);
-
- /* Read back current device offset */
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_get_offset_calibration_data_micro_meter(dev,
- ¤t_offset_micro_meters);
- }
-
- /* Apply Offset Adjustment derived from 400mm measurements */
- if (status == VL53L0X_ERROR_NONE) {
-
- /* Store initial device offset */
- PALDevDataSet(dev, Part2PartOffsetNVMMicroMeter,
- current_offset_micro_meters);
-
- corrected_offset_micro_meters = current_offset_micro_meters +
- (int32_t)PALDevDataGet(dev,
- Part2PartOffsetAdjustmentNVMMicroMeter);
-
- status = vl53l0x_set_offset_calibration_data_micro_meter(dev,
- corrected_offset_micro_meters);
-
- /* store current, adjusted offset */
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETPARAMETERFIELD(dev, RangeOffsetMicroMeters,
- corrected_offset_micro_meters);
- }
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_device_mode(VL53L0X_DEV dev,
- VL53L0X_DeviceModes *p_device_mode)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- VL53L0X_GETPARAMETERFIELD(dev, DeviceMode, *p_device_mode);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_inter_measurement_period_milli_seconds(VL53L0X_DEV dev,
- uint32_t *p_inter_measurement_period_milli_seconds)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t osc_calibrate_val;
- uint32_t im_period_milli_seconds;
-
- LOG_FUNCTION_START("");
-
- status = vl53l0x_read_word(dev, VL53L0X_REG_OSC_CALIBRATE_VAL,
- &osc_calibrate_val);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_read_dword(dev,
- VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
- &im_period_milli_seconds);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (osc_calibrate_val != 0) {
- *p_inter_measurement_period_milli_seconds =
- im_period_milli_seconds / osc_calibrate_val;
- }
- VL53L0X_SETPARAMETERFIELD(dev,
- InterMeasurementPeriodMilliSeconds,
- *p_inter_measurement_period_milli_seconds);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_x_talk_compensation_rate_mega_cps(VL53L0X_DEV dev,
- FixPoint1616_t *p_xtalk_compensation_rate_mega_cps)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t value;
- FixPoint1616_t temp_fix1616;
-
- LOG_FUNCTION_START("");
-
- status = vl53l0x_read_word(dev,
- VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&value);
- if (status == VL53L0X_ERROR_NONE) {
- if (value == 0) {
- /* the Xtalk is disabled return value from memory */
- VL53L0X_GETPARAMETERFIELD(dev,
- XTalkCompensationRateMegaCps, temp_fix1616);
- *p_xtalk_compensation_rate_mega_cps = temp_fix1616;
- VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationEnable,
- 0);
- } else {
- temp_fix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(value);
- *p_xtalk_compensation_rate_mega_cps = temp_fix1616;
- VL53L0X_SETPARAMETERFIELD(dev,
- XTalkCompensationRateMegaCps, temp_fix1616);
- VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationEnable,
- 1);
- }
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
- FixPoint1616_t *p_limit_check_value)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t enable_zero_value = 0;
- uint16_t temp16;
- FixPoint1616_t temp_fix1616;
-
- LOG_FUNCTION_START("");
-
- switch (limit_check_id) {
-
- case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
- /* internal computation: */
- VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, temp_fix1616);
- enable_zero_value = 0;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
- status = vl53l0x_read_word(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- &temp16);
- if (status == VL53L0X_ERROR_NONE)
- temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16);
-
-
- enable_zero_value = 1;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
- /* internal computation: */
- VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, temp_fix1616);
- enable_zero_value = 0;
- break;
-
- case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
- /* internal computation: */
- VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, temp_fix1616);
- enable_zero_value = 0;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
- status = vl53l0x_read_word(dev,
- VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
- &temp16);
- if (status == VL53L0X_ERROR_NONE)
- temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16);
-
-
- enable_zero_value = 0;
- break;
-
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
-
- }
-
- if (status == VL53L0X_ERROR_NONE) {
-
- if (enable_zero_value == 1) {
-
- if (temp_fix1616 == 0) {
- /* disabled: return value from memory */
- VL53L0X_GETARRAYPARAMETERFIELD(dev,
- LimitChecksValue, limit_check_id,
- temp_fix1616);
- *p_limit_check_value = temp_fix1616;
- VL53L0X_SETARRAYPARAMETERFIELD(dev,
- LimitChecksEnable, limit_check_id, 0);
- } else {
- *p_limit_check_value = temp_fix1616;
- VL53L0X_SETARRAYPARAMETERFIELD(dev,
- LimitChecksValue, limit_check_id,
- temp_fix1616);
- VL53L0X_SETARRAYPARAMETERFIELD(dev,
- LimitChecksEnable, limit_check_id, 1);
- }
- } else {
- *p_limit_check_value = temp_fix1616;
- }
- }
-
- LOG_FUNCTION_END(status);
- return status;
-
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
- uint8_t *p_limit_check_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t temp8;
-
- LOG_FUNCTION_START("");
-
- if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- *p_limit_check_enable = 0;
- } else {
- VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
- limit_check_id, temp8);
- *p_limit_check_enable = temp8;
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_wrap_around_check_enable(VL53L0X_DEV dev,
- uint8_t *p_wrap_around_check_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t data;
-
- LOG_FUNCTION_START("");
-
- status = vl53l0x_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data);
- if (status == VL53L0X_ERROR_NONE) {
- PALDevDataSet(dev, SequenceConfig, data);
- if (data & (0x01 << 7))
- *p_wrap_around_check_enable = 0x01;
- else
- *p_wrap_around_check_enable = 0x00;
- }
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETPARAMETERFIELD(dev, WrapAroundCheckEnable,
- *p_wrap_around_check_enable);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::sequence_step_enabled(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_config,
- uint8_t *p_sequence_step_enabled)
-{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- *p_sequence_step_enabled = 0;
- LOG_FUNCTION_START("");
-
- switch (sequence_step_id) {
- case VL53L0X_SEQUENCESTEP_TCC:
- *p_sequence_step_enabled = (sequence_config & 0x10) >> 4;
- break;
- case VL53L0X_SEQUENCESTEP_DSS:
- *p_sequence_step_enabled = (sequence_config & 0x08) >> 3;
- break;
- case VL53L0X_SEQUENCESTEP_MSRC:
- *p_sequence_step_enabled = (sequence_config & 0x04) >> 2;
- break;
- case VL53L0X_SEQUENCESTEP_PRE_RANGE:
- *p_sequence_step_enabled = (sequence_config & 0x40) >> 6;
- break;
- case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
- *p_sequence_step_enabled = (sequence_config & 0x80) >> 7;
- break;
- default:
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- LOG_FUNCTION_END(status);
- return Status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_sequence_step_enables(VL53L0X_DEV dev,
- VL53L0X_SchedulerSequenceSteps_t *p_scheduler_sequence_steps)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
- LOG_FUNCTION_START("");
-
- status = vl53l0x_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- &sequence_config);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(dev,
- VL53L0X_SEQUENCESTEP_TCC, sequence_config,
- &p_scheduler_sequence_steps->TccOn);
- }
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(dev,
- VL53L0X_SEQUENCESTEP_DSS, sequence_config,
- &p_scheduler_sequence_steps->DssOn);
- }
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(dev,
- VL53L0X_SEQUENCESTEP_MSRC, sequence_config,
- &p_scheduler_sequence_steps->MsrcOn);
- }
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE, sequence_config,
- &p_scheduler_sequence_steps->PreRangeOn);
- }
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE, sequence_config,
- &p_scheduler_sequence_steps->FinalRangeOn);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-uint8_t VL53L0X::vl53l0x_decode_vcsel_period(uint8_t vcsel_period_reg)
-{
- /*!
- * Converts the encoded VCSEL period register value into the real
- * period in PLL clocks
- */
-
- uint8_t vcsel_period_pclks = 0;
-
- vcsel_period_pclks = (vcsel_period_reg + 1) << 1;
-
- return vcsel_period_pclks;
-}
-
-uint8_t VL53L0X::lv53l0x_encode_vcsel_period(uint8_t vcsel_period_pclks)
-{
- /*!
- * Converts the encoded VCSEL period register value into the real period
- * in PLL clocks
- */
-
- uint8_t vcsel_period_reg = 0;
-
- vcsel_period_reg = (vcsel_period_pclks >> 1) - 1;
-
- return vcsel_period_reg;
-}
-
-
-VL53L0X_Error VL53L0X::wrapped_vl53l0x_set_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period_pclk)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t vcsel_period_reg;
- uint8_t min_pre_vcsel_period_pclk = 12;
- uint8_t max_pre_vcsel_period_pclk = 18;
- uint8_t min_final_vcsel_period_pclk = 8;
- uint8_t max_final_vcsel_period_pclk = 14;
- uint32_t measurement_timing_budget_micro_seconds;
- uint32_t final_range_timeout_micro_seconds;
- uint32_t pre_range_timeout_micro_seconds;
- uint32_t msrc_timeout_micro_seconds;
- uint8_t phase_cal_int = 0;
-
- /* Check if valid clock period requested */
-
- if ((vcsel_pulse_period_pclk % 2) != 0) {
- /* Value must be an even number */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE &&
- (vcsel_pulse_period_pclk < min_pre_vcsel_period_pclk ||
- vcsel_pulse_period_pclk > max_pre_vcsel_period_pclk)) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE &&
- (vcsel_pulse_period_pclk < min_final_vcsel_period_pclk ||
- vcsel_pulse_period_pclk > max_final_vcsel_period_pclk)) {
-
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- /* Apply specific settings for the requested clock period */
-
- if (status != VL53L0X_ERROR_NONE)
- return status;
-
-
- if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE) {
-
- /* Set phase check limits */
- if (vcsel_pulse_period_pclk == 12) {
-
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x18);
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- } else if (vcsel_pulse_period_pclk == 14) {
-
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x30);
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- } else if (vcsel_pulse_period_pclk == 16) {
-
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x40);
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- } else if (vcsel_pulse_period_pclk == 18) {
-
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x50);
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- }
- } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) {
-
- if (vcsel_pulse_period_pclk == 8) {
-
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x10);
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- status |= vl53l0x_write_byte(dev,
- VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
- status |= vl53l0x_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
-
- status |= vl53l0x_write_byte(dev, 0xff, 0x01);
- status |= vl53l0x_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x30);
- status |= vl53l0x_write_byte(dev, 0xff, 0x00);
- } else if (vcsel_pulse_period_pclk == 10) {
-
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x28);
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- status |= vl53l0x_write_byte(dev,
- VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
- status |= vl53l0x_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
-
- status |= vl53l0x_write_byte(dev, 0xff, 0x01);
- status |= vl53l0x_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x20);
- status |= vl53l0x_write_byte(dev, 0xff, 0x00);
- } else if (vcsel_pulse_period_pclk == 12) {
-
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x38);
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- status |= vl53l0x_write_byte(dev,
- VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
- status |= vl53l0x_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08);
-
- status |= vl53l0x_write_byte(dev, 0xff, 0x01);
- status |= vl53l0x_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x20);
- status |= vl53l0x_write_byte(dev, 0xff, 0x00);
- } else if (vcsel_pulse_period_pclk == 14) {
-
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x048);
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- status |= vl53l0x_write_byte(dev,
- VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
- status |= vl53l0x_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
-
- status |= vl53l0x_write_byte(dev, 0xff, 0x01);
- status |= vl53l0x_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x20);
- status |= vl53l0x_write_byte(dev, 0xff, 0x00);
- }
- }
-
-
- /* Re-calculate and apply timeouts, in macro periods */
-
- if (status == VL53L0X_ERROR_NONE) {
- vcsel_period_reg = lv53l0x_encode_vcsel_period((uint8_t)
- vcsel_pulse_period_pclk);
-
- /* When the VCSEL period for the pre or final range is changed,
- * the corresponding timeout must be read from the device using
- * the current VCSEL period, then the new VCSEL period can be
- * applied. The timeout then must be written back to the device
- * using the new VCSEL period.
- *
- * For the MSRC timeout, the same applies - this timeout being
- * dependant on the pre-range vcsel period.
- */
- switch (vcsel_period_type) {
- case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &pre_range_timeout_micro_seconds);
-
- if (status == VL53L0X_ERROR_NONE)
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_MSRC,
- &msrc_timeout_micro_seconds);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
- vcsel_period_reg);
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = set_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- pre_range_timeout_micro_seconds);
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = set_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_MSRC,
- msrc_timeout_micro_seconds);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- PreRangeVcselPulsePeriod,
- vcsel_pulse_period_pclk);
- break;
- case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- &final_range_timeout_micro_seconds);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
- vcsel_period_reg);
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = set_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- final_range_timeout_micro_seconds);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- FinalRangeVcselPulsePeriod,
- vcsel_pulse_period_pclk);
- break;
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
- /* Finally, the timing budget must be re-applied */
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_GETPARAMETERFIELD(dev,
- MeasurementTimingBudgetMicroSeconds,
- measurement_timing_budget_micro_seconds);
-
- status = vl53l0x_set_measurement_timing_budget_micro_seconds(dev,
- measurement_timing_budget_micro_seconds);
- }
-
- /* Perform the phase calibration. This is needed after changing on
- * vcsel period.
- * get_data_enable = 0, restore_config = 1 */
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_perform_phase_calibration(
- dev, &phase_cal_int, 0, 1);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_set_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_vl53l0x_set_vcsel_pulse_period(dev, vcsel_period_type,
- vcsel_pulse_period);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t vcsel_period_reg;
-
- switch (vcsel_period_type) {
- case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
- status = vl53l0x_read_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
- &vcsel_period_reg);
- break;
- case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
- status = vl53l0x_read_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
- &vcsel_period_reg);
- break;
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- if (status == VL53L0X_ERROR_NONE)
- *p_vcsel_pulse_period_pclk =
- vl53l0x_decode_vcsel_period(vcsel_period_reg);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_vl53l0x_get_vcsel_pulse_period(dev, vcsel_period_type,
- p_vcsel_pulse_period_pclk);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-uint32_t VL53L0X::vl53l0x_decode_timeout(uint16_t encoded_timeout)
-{
- /*!
- * Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1
- */
-
- uint32_t timeout_macro_clks = 0;
-
- timeout_macro_clks = ((uint32_t)(encoded_timeout & 0x00FF)
- << (uint32_t)((encoded_timeout & 0xFF00) >> 8)) + 1;
-
- return timeout_macro_clks;
-}
-
-uint32_t VL53L0X::vl53l0x_calc_macro_period_ps(VL53L0X_DEV dev, uint8_t vcsel_period_pclks)
-{
- uint64_t pll_period_ps;
- uint32_t macro_period_vclks;
- uint32_t macro_period_ps;
-
- LOG_FUNCTION_START("");
-
- /* The above calculation will produce rounding errors,
- therefore set fixed value
- */
- pll_period_ps = 1655;
-
- macro_period_vclks = 2304;
- macro_period_ps = (uint32_t)(macro_period_vclks
- * vcsel_period_pclks * pll_period_ps);
-
- LOG_FUNCTION_END("");
- return macro_period_ps;
-}
-
-/* To convert register value into us */
-uint32_t VL53L0X::vl53l0x_calc_timeout_us(VL53L0X_DEV dev,
- uint16_t timeout_period_mclks,
- uint8_t vcsel_period_pclks)
-{
- uint32_t macro_period_ps;
- uint32_t macro_period_ns;
- uint32_t actual_timeout_period_us = 0;
-
- macro_period_ps = vl53l0x_calc_macro_period_ps(dev, vcsel_period_pclks);
- macro_period_ns = (macro_period_ps + 500) / 1000;
-
- actual_timeout_period_us =
- ((timeout_period_mclks * macro_period_ns) + 500) / 1000;
-
- return actual_timeout_period_us;
-}
-
-VL53L0X_Error VL53L0X::get_sequence_step_timeout(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id,
- uint32_t *p_time_out_micro_secs)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t current_vcsel_pulse_period_p_clk;
- uint8_t encoded_time_out_byte = 0;
- uint32_t timeout_micro_seconds = 0;
- uint16_t pre_range_encoded_time_out = 0;
- uint16_t msrc_time_out_m_clks;
- uint16_t pre_range_time_out_m_clks;
- uint16_t final_range_time_out_m_clks = 0;
- uint16_t final_range_encoded_time_out;
- VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
-
- if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) ||
- (sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) ||
- (sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) {
-
- status = vl53l0x_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_read_byte(dev,
- VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
- &encoded_time_out_byte);
- }
- msrc_time_out_m_clks = vl53l0x_decode_timeout(encoded_time_out_byte);
-
- timeout_micro_seconds = vl53l0x_calc_timeout_us(dev,
- msrc_time_out_m_clks,
- current_vcsel_pulse_period_p_clk);
- } else if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
- /* Retrieve PRE-RANGE VCSEL Period */
- status = vl53l0x_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
-
- /* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
- if (status == VL53L0X_ERROR_NONE) {
-
- /* Retrieve PRE-RANGE VCSEL Period */
- status = vl53l0x_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_read_word(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- &pre_range_encoded_time_out);
- }
-
- pre_range_time_out_m_clks = vl53l0x_decode_timeout(
- pre_range_encoded_time_out);
-
- timeout_micro_seconds = vl53l0x_calc_timeout_us(dev,
- pre_range_time_out_m_clks,
- current_vcsel_pulse_period_p_clk);
- }
- } else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
-
- vl53l0x_get_sequence_step_enables(dev, &scheduler_sequence_steps);
- pre_range_time_out_m_clks = 0;
-
- if (scheduler_sequence_steps.PreRangeOn) {
- /* Retrieve PRE-RANGE VCSEL Period */
- status = vl53l0x_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
-
- /* Retrieve PRE-RANGE Timeout in Macro periods
- * (MCLKS) */
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_read_word(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- &pre_range_encoded_time_out);
- pre_range_time_out_m_clks = vl53l0x_decode_timeout(
- pre_range_encoded_time_out);
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Retrieve FINAL-RANGE VCSEL Period */
- status = vl53l0x_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
- }
-
- /* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_read_word(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- &final_range_encoded_time_out);
- final_range_time_out_m_clks = vl53l0x_decode_timeout(
- final_range_encoded_time_out);
- }
-
- final_range_time_out_m_clks -= pre_range_time_out_m_clks;
- timeout_micro_seconds = vl53l0x_calc_timeout_us(dev,
- final_range_time_out_m_clks,
- current_vcsel_pulse_period_p_clk);
- }
-
- *p_time_out_micro_secs = timeout_micro_seconds;
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t *p_measurement_timing_budget_micro_seconds)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
- uint32_t final_range_timeout_micro_seconds;
- uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000;
- uint32_t start_overhead_micro_seconds = 1910;
- uint32_t end_overhead_micro_seconds = 960;
- uint32_t msrc_overhead_micro_seconds = 660;
- uint32_t tcc_overhead_micro_seconds = 590;
- uint32_t dss_overhead_micro_seconds = 690;
- uint32_t pre_range_overhead_micro_seconds = 660;
- uint32_t final_range_overhead_micro_seconds = 550;
- uint32_t pre_range_timeout_micro_seconds = 0;
-
- LOG_FUNCTION_START("");
-
- /* Start and end overhead times always present */
- *p_measurement_timing_budget_micro_seconds
- = start_overhead_micro_seconds + end_overhead_micro_seconds;
-
- status = vl53l0x_get_sequence_step_enables(dev, &scheduler_sequence_steps);
-
- if (status != VL53L0X_ERROR_NONE) {
- LOG_FUNCTION_END(status);
- return status;
- }
-
-
- if (scheduler_sequence_steps.TccOn ||
- scheduler_sequence_steps.MsrcOn ||
- scheduler_sequence_steps.DssOn) {
-
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_MSRC,
- &msrc_dcc_tcc_timeout_micro_seconds);
-
- if (status == VL53L0X_ERROR_NONE) {
- if (scheduler_sequence_steps.TccOn) {
- *p_measurement_timing_budget_micro_seconds +=
- msrc_dcc_tcc_timeout_micro_seconds +
- tcc_overhead_micro_seconds;
- }
-
- if (scheduler_sequence_steps.DssOn) {
- *p_measurement_timing_budget_micro_seconds +=
- 2 * (msrc_dcc_tcc_timeout_micro_seconds +
- dss_overhead_micro_seconds);
- } else if (scheduler_sequence_steps.MsrcOn) {
- *p_measurement_timing_budget_micro_seconds +=
- msrc_dcc_tcc_timeout_micro_seconds +
- msrc_overhead_micro_seconds;
- }
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (scheduler_sequence_steps.PreRangeOn) {
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &pre_range_timeout_micro_seconds);
- *p_measurement_timing_budget_micro_seconds +=
- pre_range_timeout_micro_seconds +
- pre_range_overhead_micro_seconds;
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (scheduler_sequence_steps.FinalRangeOn) {
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- &final_range_timeout_micro_seconds);
- *p_measurement_timing_budget_micro_seconds +=
- (final_range_timeout_micro_seconds +
- final_range_overhead_micro_seconds);
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETPARAMETERFIELD(dev,
- MeasurementTimingBudgetMicroSeconds,
- *p_measurement_timing_budget_micro_seconds);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t *p_measurement_timing_budget_micro_seconds)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_vl53l0x_get_measurement_timing_budget_micro_seconds(dev,
- p_measurement_timing_budget_micro_seconds);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_device_parameters(VL53L0X_DEV dev,
- VL53L0X_DeviceParameters_t *p_device_parameters)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- int i;
-
- LOG_FUNCTION_START("");
-
- status = vl53l0x_get_device_mode(dev, &(p_device_parameters->DeviceMode));
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_get_inter_measurement_period_milli_seconds(dev,
- &(p_device_parameters->InterMeasurementPeriodMilliSeconds));
-
-
- if (status == VL53L0X_ERROR_NONE)
- p_device_parameters->XTalkCompensationEnable = 0;
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_get_x_talk_compensation_rate_mega_cps(dev,
- &(p_device_parameters->XTalkCompensationRateMegaCps));
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_get_offset_calibration_data_micro_meter(dev,
- &(p_device_parameters->RangeOffsetMicroMeters));
-
-
- if (status == VL53L0X_ERROR_NONE) {
- for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
- /* get first the values, then the enables.
- * VL53L0X_GetLimitCheckValue will modify the enable
- * flags
- */
- if (status == VL53L0X_ERROR_NONE) {
- status |= vl53l0x_get_limit_check_value(dev, i,
- &(p_device_parameters->LimitChecksValue[i]));
- } else {
- break;
- }
- if (status == VL53L0X_ERROR_NONE) {
- status |= vl53l0x_get_limit_check_enable(dev, i,
- &(p_device_parameters->LimitChecksEnable[i]));
- } else {
- break;
- }
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_get_wrap_around_check_enable(dev,
- &(p_device_parameters->WrapAroundCheckEnable));
- }
-
- /* Need to be done at the end as it uses VCSELPulsePeriod */
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_get_measurement_timing_budget_micro_seconds(dev,
- &(p_device_parameters->MeasurementTimingBudgetMicroSeconds));
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_set_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
- FixPoint1616_t limit_check_value)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t temp8;
-
- LOG_FUNCTION_START("");
-
- VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksEnable, limit_check_id,
- temp8);
-
- if (temp8 == 0) { /* disabled write only internal value */
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- limit_check_id, limit_check_value);
- } else {
-
- switch (limit_check_id) {
-
- case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- limit_check_value);
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
-
- status = vl53l0x_write_word(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(
- limit_check_value));
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
-
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- limit_check_value);
-
- break;
-
- case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
-
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- limit_check_value);
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
-
- status = vl53l0x_write_word(dev,
- VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(
- limit_check_value));
-
- break;
-
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
-
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- limit_check_id, limit_check_value);
- }
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_data_init(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceParameters_t CurrentParameters;
- int i;
- uint8_t StopVariable;
-
- LOG_FUNCTION_START("");
-
- /* by default the I2C is running at 1V8 if you want to change it you
- * need to include this define at compilation level. */
-#ifdef USE_I2C_2V8
- Status = VL53L0X_UpdateByte(Dev,
- VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
- 0xFE,
- 0x01);
-#endif
-
- /* Set I2C standard mode */
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev, 0x88, 0x00);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev, ReadDataFromDeviceDone, 0);
-
-#ifdef USE_IQC_STATION
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_apply_offset_adjustment(Dev);
-#endif
-
- /* Default value is 1000 for Linearity Corrective Gain */
- PALDevDataSet(dev, LinearityCorrectiveGain, 1000);
-
- /* Dmax default Parameter */
- PALDevDataSet(dev, DmaxCalRangeMilliMeter, 400);
- PALDevDataSet(dev, DmaxCalSignalRateRtnMegaCps,
- (FixPoint1616_t)((0x00016B85))); /* 1.42 No Cover Glass*/
-
- /* Set Default static parameters
- *set first temporary values 9.44MHz * 65536 = 618660 */
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev, OscFrequencyMHz, 618660);
-
- /* Set Default XTalkCompensationRateMegaCps to 0 */
- VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationRateMegaCps, 0);
-
- /* Get default parameters */
- status = vl53l0x_get_device_parameters(dev, &CurrentParameters);
- if (status == VL53L0X_ERROR_NONE) {
- /* initialize PAL values */
- CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING;
- CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED;
- PALDevDataSet(dev, CurrentParameters, CurrentParameters);
- }
-
- /* Sigma estimator variable */
- PALDevDataSet(dev, SigmaEstRefArray, 100);
- PALDevDataSet(dev, SigmaEstEffPulseWidth, 900);
- PALDevDataSet(dev, SigmaEstEffAmbWidth, 500);
- PALDevDataSet(dev, targetRefRate, 0x0A00); /* 20 MCPS in 9:7 format */
-
- /* Use internal default settings */
- PALDevDataSet(dev, UseInternalTuningSettings, 1);
-
- status |= vl53l0x_write_byte(dev, 0x80, 0x01);
- status |= vl53l0x_write_byte(dev, 0xFF, 0x01);
- status |= vl53l0x_write_byte(dev, 0x00, 0x00);
- status |= vl53l0x_read_byte(dev, 0x91, &StopVariable);
- PALDevDataSet(dev, StopVariable, StopVariable);
- status |= vl53l0x_write_byte(dev, 0x00, 0x01);
- status |= vl53l0x_write_byte(dev, 0xFF, 0x00);
- status |= vl53l0x_write_byte(dev, 0x80, 0x00);
-
- /* Enable all check */
- for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
- if (status == VL53L0X_ERROR_NONE)
- status |= vl53l0x_set_limit_check_enable(dev, i, 1);
- else
- break;
-
- }
-
- /* Disable the following checks */
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_set_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_set_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_set_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_set_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0);
-
- /* Limit default values */
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_set_limit_check_value(dev,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- (FixPoint1616_t)(18 * 65536));
- }
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_set_limit_check_value(dev,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
- (FixPoint1616_t)(25 * 65536 / 100));
- /* 0.25 * 65536 */
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_set_limit_check_value(dev,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- (FixPoint1616_t)(35 * 65536));
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_set_limit_check_value(dev,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- (FixPoint1616_t)(0 * 65536));
- }
-
- if (status == VL53L0X_ERROR_NONE) {
-
- PALDevDataSet(dev, SequenceConfig, 0xFF);
- status = vl53l0x_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- 0xFF);
-
- /* Set PAL state to tell that we are waiting for call to
- * VL53L0X_StaticInit */
- PALDevDataSet(dev, PalState, VL53L0X_STATE_WAIT_STATICINIT);
- }
-
- if (status == VL53L0X_ERROR_NONE)
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 0);
-
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_check_part_used(VL53L0X_DEV dev,
- uint8_t *revision,
- VL53L0X_DeviceInfo_t *p_vl53l0x_device_info)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t module_id_int;
- char *product_id_tmp;
-
- LOG_FUNCTION_START("");
-
- status = vl53l0x_get_info_from_device(dev, 2);
-
- if (status == VL53L0X_ERROR_NONE) {
- module_id_int = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, ModuleId);
-
- if (module_id_int == 0) {
- *revision = 0;
- VL53L0X_COPYSTRING(p_vl53l0x_device_info->ProductId, "");
- } else {
- *revision = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, Revision);
- product_id_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
- ProductId);
- VL53L0X_COPYSTRING(p_vl53l0x_device_info->ProductId, product_id_tmp);
- }
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_vl53l0x_get_device_info(VL53L0X_DEV dev,
- VL53L0X_DeviceInfo_t *p_vl53l0x_device_info)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t revision_id;
- uint8_t revision;
-
- status = vl53l0x_check_part_used(dev, &revision, p_vl53l0x_device_info);
-
- if (status == VL53L0X_ERROR_NONE) {
- if (revision == 0) {
- VL53L0X_COPYSTRING(p_vl53l0x_device_info->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_TS0);
- } else if ((revision <= 34) && (revision != 32)) {
- VL53L0X_COPYSTRING(p_vl53l0x_device_info->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_TS1);
- } else if (revision < 39) {
- VL53L0X_COPYSTRING(p_vl53l0x_device_info->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_TS2);
- } else {
- VL53L0X_COPYSTRING(p_vl53l0x_device_info->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_ES1);
- }
-
- VL53L0X_COPYSTRING(p_vl53l0x_device_info->Type,
- VL53L0X_STRING_DEVICE_INFO_TYPE);
-
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_read_byte(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID,
- &p_vl53l0x_device_info->ProductType);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_read_byte(dev,
- VL53L0X_REG_IDENTIFICATION_REVISION_ID,
- &revision_id);
- p_vl53l0x_device_info->ProductRevisionMajor = 1;
- p_vl53l0x_device_info->ProductRevisionMinor =
- (revision_id & 0xF0) >> 4;
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_device_info(VL53L0X_DEV dev,
- VL53L0X_DeviceInfo_t *p_vl53l0x_device_info)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_vl53l0x_get_device_info(dev, p_vl53l0x_device_info);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_interrupt_mask_status(VL53L0X_DEV dev,
- uint32_t *p_interrupt_mask_status)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t byte;
- LOG_FUNCTION_START("");
-
- status = vl53l0x_read_byte(dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte);
- *p_interrupt_mask_status = byte & 0x07;
-
- if (byte & 0x18)
- status = VL53L0X_ERROR_RANGE_ERROR;
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_measurement_data_ready(VL53L0X_DEV dev,
- uint8_t *p_measurement_data_ready)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sys_range_status_register;
- uint8_t interrupt_config;
- uint32_t interrupt_mask;
- LOG_FUNCTION_START("");
-
- interrupt_config = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
- Pin0GpioFunctionality);
-
- if (interrupt_config ==
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
- status = vl53l0x_get_interrupt_mask_status(dev, &interrupt_mask);
- if (interrupt_mask ==
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY)
- *p_measurement_data_ready = 1;
- else
- *p_measurement_data_ready = 0;
- } else {
- status = vl53l0x_read_byte(dev, VL53L0X_REG_RESULT_RANGE_STATUS,
- &sys_range_status_register);
- if (status == VL53L0X_ERROR_NONE) {
- if (sys_range_status_register & 0x01)
- *p_measurement_data_ready = 1;
- else
- *p_measurement_data_ready = 0;
- }
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_polling_delay(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- // do nothing
- VL53L0X_OsDelay();
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_measurement_poll_for_completion(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t new_data_ready = 0;
- uint32_t loop_nb;
-
- LOG_FUNCTION_START("");
-
- loop_nb = 0;
-
- do {
- status = vl53l0x_get_measurement_data_ready(dev, &new_data_ready);
- if (status != 0)
- break; /* the error is set */
-
- if (new_data_ready == 1)
- break; /* done note that status == 0 */
-
- loop_nb++;
- if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
- status = VL53L0X_ERROR_TIME_OUT;
- break;
- }
-
- vl53l0x_polling_delay(dev);
- } while (1);
-
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-/* Group PAL Interrupt Functions */
-VL53L0X_Error VL53L0X::vl53l0x_clear_interrupt_mask(VL53L0X_DEV dev, uint32_t interrupt_mask)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t loop_count;
- uint8_t byte;
- LOG_FUNCTION_START("");
-
- /* clear bit 0 range interrupt, bit 1 error interrupt */
- loop_count = 0;
- do {
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01);
- status |= vl53l0x_write_byte(dev,
- VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00);
- status |= vl53l0x_read_byte(dev,
- VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte);
- loop_count++;
- } while (((byte & 0x07) != 0x00)
- && (loop_count < 3)
- && (status == VL53L0X_ERROR_NONE));
-
-
- if (loop_count >= 3)
- status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED;
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_perform_single_ref_calibration(VL53L0X_DEV dev,
- uint8_t vhv_init_byte)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev, VL53L0X_REG_SYSRANGE_START,
- VL53L0X_REG_SYSRANGE_MODE_START_STOP |
- vhv_init_byte);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_measurement_poll_for_completion(dev);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_clear_interrupt_mask(dev, 0);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev, VL53L0X_REG_SYSRANGE_START, 0x00);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_ref_calibration_io(VL53L0X_DEV dev, uint8_t read_not_write,
- uint8_t vhv_settings, uint8_t phase_cal,
- uint8_t *p_vhv_settings, uint8_t *p_phase_cal,
- const uint8_t vhv_enable, const uint8_t phase_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t phase_calint = 0;
-
- /* Read VHV from device */
- status |= vl53l0x_write_byte(dev, 0xFF, 0x01);
- status |= vl53l0x_write_byte(dev, 0x00, 0x00);
- status |= vl53l0x_write_byte(dev, 0xFF, 0x00);
-
- if (read_not_write) {
- if (vhv_enable)
- status |= vl53l0x_read_byte(dev, 0xCB, p_vhv_settings);
- if (phase_enable)
- status |= vl53l0x_read_byte(dev, 0xEE, &phase_calint);
- } else {
- if (vhv_enable)
- status |= vl53l0x_write_byte(dev, 0xCB, vhv_settings);
- if (phase_enable)
- status |= vl53l0x_update_byte(dev, 0xEE, 0x80, phase_cal);
- }
-
- status |= vl53l0x_write_byte(dev, 0xFF, 0x01);
- status |= vl53l0x_write_byte(dev, 0x00, 0x01);
- status |= vl53l0x_write_byte(dev, 0xFF, 0x00);
-
- *p_phase_cal = (uint8_t)(phase_calint & 0xEF);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_perform_vhv_calibration(VL53L0X_DEV dev,
- uint8_t *p_vhv_settings, const uint8_t get_data_enable,
- const uint8_t restore_config)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
- uint8_t vhv_settings = 0;
- uint8_t phase_cal = 0;
- uint8_t phase_cal_int = 0;
-
- /* store the value of the sequence config,
- * this will be reset before the end of the function
- */
-
- if (restore_config)
- sequence_config = PALDevDataGet(dev, SequenceConfig);
-
- /* Run VHV */
- status = vl53l0x_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x01);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_perform_single_ref_calibration(dev, 0x40);
-
- /* Read VHV from device */
- if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
- status = vl53l0x_ref_calibration_io(dev, 1,
- vhv_settings, phase_cal, /* Not used here */
- p_vhv_settings, &phase_cal_int,
- 1, 0);
- } else
- *p_vhv_settings = 0;
-
-
- if ((status == VL53L0X_ERROR_NONE) && restore_config) {
- /* restore the previous Sequence Config */
- status = vl53l0x_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- sequence_config);
- if (status == VL53L0X_ERROR_NONE)
- PALDevDataSet(dev, SequenceConfig, sequence_config);
-
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_perform_phase_calibration(VL53L0X_DEV dev,
- uint8_t *p_phase_cal, const uint8_t get_data_enable,
- const uint8_t restore_config)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
- uint8_t vhv_settings = 0;
- uint8_t phase_cal = 0;
- uint8_t vhv_settingsint;
-
- /* store the value of the sequence config,
- * this will be reset before the end of the function
- */
-
- if (restore_config)
- sequence_config = PALDevDataGet(dev, SequenceConfig);
-
- /* Run PhaseCal */
- status = vl53l0x_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x02);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_perform_single_ref_calibration(dev, 0x0);
-
- /* Read PhaseCal from device */
- if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
- status = vl53l0x_ref_calibration_io(dev, 1,
- vhv_settings, phase_cal, /* Not used here */
- &vhv_settingsint, p_phase_cal,
- 0, 1);
- } else
- *p_phase_cal = 0;
-
-
- if ((status == VL53L0X_ERROR_NONE) && restore_config) {
- /* restore the previous Sequence Config */
- status = vl53l0x_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- sequence_config);
- if (status == VL53L0X_ERROR_NONE)
- PALDevDataSet(dev, SequenceConfig, sequence_config);
-
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_perform_ref_calibration(VL53L0X_DEV dev,
- uint8_t *p_vhv_settings, uint8_t *p_phase_cal, uint8_t get_data_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
-
- /* store the value of the sequence config,
- * this will be reset before the end of the function
- */
-
- sequence_config = PALDevDataGet(dev, SequenceConfig);
-
- /* In the following function we don't save the config to optimize
- * writes on device. Config is saved and restored only once. */
- status = vl53l0x_perform_vhv_calibration(
- dev, p_vhv_settings, get_data_enable, 0);
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_perform_phase_calibration(
- dev, p_phase_cal, get_data_enable, 0);
-
-
- if (status == VL53L0X_ERROR_NONE) {
- /* restore the previous Sequence Config */
- status = vl53l0x_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- sequence_config);
- if (status == VL53L0X_ERROR_NONE)
- PALDevDataSet(dev, SequenceConfig, sequence_config);
-
- }
-
- return status;
-}
-
-void VL53L0X::get_next_good_spad(uint8_t good_spad_array[], uint32_t size,
- uint32_t curr, int32_t *p_next)
-{
- uint32_t start_index;
- uint32_t fine_offset;
- uint32_t c_spads_per_byte = 8;
- uint32_t coarse_index;
- uint32_t fine_index;
- uint8_t data_byte;
- uint8_t success = 0;
-
- /*
- * Starting with the current good spad, loop through the array to find
- * the next. i.e. the next bit set in the sequence.
- *
- * The coarse index is the byte index of the array and the fine index is
- * the index of the bit within each byte.
- */
-
- *p_next = -1;
-
- start_index = curr / c_spads_per_byte;
- fine_offset = curr % c_spads_per_byte;
-
- for (coarse_index = start_index; ((coarse_index < size) && !success);
- coarse_index++) {
- fine_index = 0;
- data_byte = good_spad_array[coarse_index];
-
- if (coarse_index == start_index) {
- /* locate the bit position of the provided current
- * spad bit before iterating */
- data_byte >>= fine_offset;
- fine_index = fine_offset;
- }
-
- while (fine_index < c_spads_per_byte) {
- if ((data_byte & 0x1) == 1) {
- success = 1;
- *p_next = coarse_index * c_spads_per_byte + fine_index;
- break;
- }
- data_byte >>= 1;
- fine_index++;
- }
- }
-}
-
-uint8_t VL53L0X::is_aperture(uint32_t spad_index)
-{
- /*
- * This function reports if a given spad index is an aperture SPAD by
- * deriving the quadrant.
- */
- uint32_t quadrant;
- uint8_t is_aperture = 1;
- quadrant = spad_index >> 6;
- if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0)
- is_aperture = 0;
-
- return is_aperture;
-}
-
-VL53L0X_Error VL53L0X::enable_spad_bit(uint8_t spad_array[], uint32_t size,
- uint32_t spad_index)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t c_spads_per_byte = 8;
- uint32_t coarse_index;
- uint32_t fine_index;
-
- coarse_index = spad_index / c_spads_per_byte;
- fine_index = spad_index % c_spads_per_byte;
- if (coarse_index >= size)
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- else
- spad_array[coarse_index] |= (1 << fine_index);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::set_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array)
-{
- VL53L0X_Error status = vl53l0x_write_multi(dev,
- VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
- p_ref_spad_array, 6);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::get_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array)
-{
- VL53L0X_Error status = vl53l0x_read_multi(dev,
- VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
- p_ref_spad_array,
- 6);
-// VL53L0X_Error status = VL53L0X_ERROR_NONE;
-// uint8_t count=0;
-
-// for (count = 0; count < 6; count++)
-// status = VL53L0X_RdByte(Dev, (VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 + count), &refSpadArray[count]);
- return status;
-}
-
-VL53L0X_Error VL53L0X::enable_ref_spads(VL53L0X_DEV dev,
- uint8_t aperture_spads,
- uint8_t good_spad_array[],
- uint8_t spad_array[],
- uint32_t size,
- uint32_t start,
- uint32_t offset,
- uint32_t spad_count,
- uint32_t *p_last_spad)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t index;
- uint32_t i;
- int32_t next_good_spad = offset;
- uint32_t current_spad;
- uint8_t check_spad_array[6];
-
- /*
- * This function takes in a spad array which may or may not have SPADS
- * already enabled and appends from a given offset a requested number
- * of new SPAD enables. The 'good spad map' is applied to
- * determine the next SPADs to enable.
- *
- * This function applies to only aperture or only non-aperture spads.
- * Checks are performed to ensure this.
- */
-
- current_spad = offset;
- for (index = 0; index < spad_count; index++) {
- get_next_good_spad(good_spad_array, size, current_spad,
- &next_good_spad);
-
- if (next_good_spad == -1) {
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- break;
- }
-
- /* Confirm that the next good SPAD is non-aperture */
- if (is_aperture(start + next_good_spad) != aperture_spads) {
- /* if we can't get the required number of good aperture
- * spads from the current quadrant then this is an error
- */
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- break;
- }
- current_spad = (uint32_t)next_good_spad;
- enable_spad_bit(spad_array, size, current_spad);
- current_spad++;
- }
- *p_last_spad = current_spad;
-
- if (status == VL53L0X_ERROR_NONE)
- status = set_ref_spad_map(dev, spad_array);
-
-
- if (status == VL53L0X_ERROR_NONE) {
- status = get_ref_spad_map(dev, check_spad_array);
-
- i = 0;
-
- /* Compare spad maps. If not equal report error. */
- while (i < size) {
- if (spad_array[i] != check_spad_array[i]) {
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- break;
- }
- i++;
- }
- }
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_set_device_mode(VL53L0X_DEV dev, VL53L0X_DeviceModes device_mode)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- LOG_FUNCTION_START("%d", (int)DeviceMode);
-
- switch (device_mode) {
- case VL53L0X_DEVICEMODE_SINGLE_RANGING:
- case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
- case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
- case VL53L0X_DEVICEMODE_GPIO_DRIVE:
- case VL53L0X_DEVICEMODE_GPIO_OSC:
- /* Supported modes */
- VL53L0X_SETPARAMETERFIELD(dev, DeviceMode, device_mode);
- break;
- default:
- /* Unsupported mode */
- status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_set_interrupt_thresholds(VL53L0X_DEV dev,
- VL53L0X_DeviceModes device_mode, FixPoint1616_t threshold_low,
- FixPoint1616_t threshold_high)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t threshold16;
- LOG_FUNCTION_START("");
-
- /* no dependency on DeviceMode for Ewok */
- /* Need to divide by 2 because the FW will apply a x2 */
- threshold16 = (uint16_t)((threshold_low >> 17) & 0x00fff);
- status = vl53l0x_write_word(dev, VL53L0X_REG_SYSTEM_THRESH_LOW, threshold16);
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Need to divide by 2 because the FW will apply a x2 */
- threshold16 = (uint16_t)((threshold_high >> 17) & 0x00fff);
- status = vl53l0x_write_word(dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
- threshold16);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_interrupt_thresholds(VL53L0X_DEV dev,
- VL53L0X_DeviceModes device_mode, FixPoint1616_t *p_threshold_low,
- FixPoint1616_t *p_threshold_high)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t threshold16;
- LOG_FUNCTION_START("");
-
- /* no dependency on DeviceMode for Ewok */
-
- status = vl53l0x_read_word(dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &threshold16);
- /* Need to multiply by 2 because the FW will apply a x2 */
- *p_threshold_low = (FixPoint1616_t)((0x00fff & threshold16) << 17);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_read_word(dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
- &threshold16);
- /* Need to multiply by 2 because the FW will apply a x2 */
- *p_threshold_high =
- (FixPoint1616_t)((0x00fff & threshold16) << 17);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_load_tuning_settings(VL53L0X_DEV dev,
- uint8_t *p_tuning_setting_buffer)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- int i;
- int index;
- uint8_t msb;
- uint8_t lsb;
- uint8_t select_param;
- uint8_t number_of_writes;
- uint8_t address;
- uint8_t local_buffer[4]; /* max */
- uint16_t temp16;
-
- LOG_FUNCTION_START("");
-
- index = 0;
-
- while ((*(p_tuning_setting_buffer + index) != 0) &&
- (status == VL53L0X_ERROR_NONE)) {
- number_of_writes = *(p_tuning_setting_buffer + index);
- index++;
- if (number_of_writes == 0xFF) {
- /* internal parameters */
- select_param = *(p_tuning_setting_buffer + index);
- index++;
- switch (select_param) {
- case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */
- msb = *(p_tuning_setting_buffer + index);
- index++;
- lsb = *(p_tuning_setting_buffer + index);
- index++;
- temp16 = VL53L0X_MAKEUINT16(lsb, msb);
- PALDevDataSet(dev, SigmaEstRefArray, temp16);
- break;
- case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */
- msb = *(p_tuning_setting_buffer + index);
- index++;
- lsb = *(p_tuning_setting_buffer + index);
- index++;
- temp16 = VL53L0X_MAKEUINT16(lsb, msb);
- PALDevDataSet(dev, SigmaEstEffPulseWidth,
- temp16);
- break;
- case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */
- msb = *(p_tuning_setting_buffer + index);
- index++;
- lsb = *(p_tuning_setting_buffer + index);
- index++;
- temp16 = VL53L0X_MAKEUINT16(lsb, msb);
- PALDevDataSet(dev, SigmaEstEffAmbWidth, temp16);
- break;
- case 3: /* uint16_t targetRefRate -> 2 bytes */
- msb = *(p_tuning_setting_buffer + index);
- index++;
- lsb = *(p_tuning_setting_buffer + index);
- index++;
- temp16 = VL53L0X_MAKEUINT16(lsb, msb);
- PALDevDataSet(dev, targetRefRate, temp16);
- break;
- default: /* invalid parameter */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- } else if (number_of_writes <= 4) {
- address = *(p_tuning_setting_buffer + index);
- index++;
-
- for (i = 0; i < number_of_writes; i++) {
- local_buffer[i] = *(p_tuning_setting_buffer +
- index);
- index++;
- }
-
- status = vl53l0x_write_multi(dev, address, local_buffer,
- number_of_writes);
-
- } else {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_check_and_load_interrupt_settings(VL53L0X_DEV dev,
- uint8_t start_not_stopflag)
-{
- uint8_t interrupt_config;
- FixPoint1616_t threshold_low;
- FixPoint1616_t threshold_high;
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- interrupt_config = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
- Pin0GpioFunctionality);
-
- if ((interrupt_config ==
- VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) ||
- (interrupt_config ==
- VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) ||
- (interrupt_config ==
- VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) {
-
- status = vl53l0x_get_interrupt_thresholds(dev,
- VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
- &threshold_low, &threshold_high);
-
- if (((threshold_low > 255 * 65536) ||
- (threshold_high > 255 * 65536)) &&
- (status == VL53L0X_ERROR_NONE)) {
-
- if (start_not_stopflag != 0) {
- status = vl53l0x_load_tuning_settings(dev,
- InterruptThresholdSettings);
- } else {
- status |= vl53l0x_write_byte(dev, 0xFF, 0x04);
- status |= vl53l0x_write_byte(dev, 0x70, 0x00);
- status |= vl53l0x_write_byte(dev, 0xFF, 0x00);
- status |= vl53l0x_write_byte(dev, 0x80, 0x00);
- }
-
- }
-
-
- }
-
- return status;
-
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_start_measurement(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceModes device_mode;
- uint8_t byte;
- uint8_t start_stop_byte = VL53L0X_REG_SYSRANGE_MODE_START_STOP;
- uint32_t loop_nb;
- LOG_FUNCTION_START("");
-
- /* Get Current DeviceMode */
- vl53l0x_get_device_mode(dev, &device_mode);
-
- status = vl53l0x_write_byte(dev, 0x80, 0x01);
- status = vl53l0x_write_byte(dev, 0xFF, 0x01);
- status = vl53l0x_write_byte(dev, 0x00, 0x00);
- status = vl53l0x_write_byte(dev, 0x91, PALDevDataGet(dev, StopVariable));
- status = vl53l0x_write_byte(dev, 0x00, 0x01);
- status = vl53l0x_write_byte(dev, 0xFF, 0x00);
- status = vl53l0x_write_byte(dev, 0x80, 0x00);
-
- switch (device_mode) {
- case VL53L0X_DEVICEMODE_SINGLE_RANGING:
- status = vl53l0x_write_byte(dev, VL53L0X_REG_SYSRANGE_START, 0x01);
-
- byte = start_stop_byte;
- if (status == VL53L0X_ERROR_NONE) {
- /* Wait until start bit has been cleared */
- loop_nb = 0;
- do {
- if (loop_nb > 0)
- status = vl53l0x_read_byte(dev,
- VL53L0X_REG_SYSRANGE_START, &byte);
- loop_nb = loop_nb + 1;
- } while (((byte & start_stop_byte) == start_stop_byte)
- && (status == VL53L0X_ERROR_NONE)
- && (loop_nb < VL53L0X_DEFAULT_MAX_LOOP));
-
- if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP)
- status = VL53L0X_ERROR_TIME_OUT;
-
- }
-
- break;
- case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
- /* Back-to-back mode */
-
- /* Check if need to apply interrupt settings */
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_check_and_load_interrupt_settings(dev, 1);
-
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_SYSRANGE_START,
- VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK);
- if (status == VL53L0X_ERROR_NONE) {
- /* Set PAL State to Running */
- PALDevDataSet(dev, PalState, VL53L0X_STATE_RUNNING);
- }
- break;
- case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
- /* Continuous mode */
- /* Check if need to apply interrupt settings */
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_check_and_load_interrupt_settings(dev, 1);
-
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_SYSRANGE_START,
- VL53L0X_REG_SYSRANGE_MODE_TIMED);
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Set PAL State to Running */
- PALDevDataSet(dev, PalState, VL53L0X_STATE_RUNNING);
- }
- break;
- default:
- /* Selected mode not supported */
- status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
- }
-
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-/* Group PAL Measurement Functions */
-VL53L0X_Error VL53L0X::vl53l0x_perform_single_measurement(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceModes device_mode;
-
- LOG_FUNCTION_START("");
-
- /* Get Current DeviceMode */
- status = vl53l0x_get_device_mode(dev, &device_mode);
-
- /* Start immediately to run a single ranging measurement in case of
- * single ranging or single histogram */
- if (status == VL53L0X_ERROR_NONE
- && device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING)
- status = vl53l0x_start_measurement(dev);
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_measurement_poll_for_completion(dev);
-
-
- /* Change PAL State in case of single ranging or single histogram */
- if (status == VL53L0X_ERROR_NONE
- && device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING)
- PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE);
-
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_x_talk_compensation_enable(VL53L0X_DEV dev,
- uint8_t *p_x_talk_compensation_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t temp8;
- LOG_FUNCTION_START("");
-
- VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationEnable, temp8);
- *p_x_talk_compensation_enable = temp8;
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_total_xtalk_rate(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_total_xtalk_rate_mcps)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- uint8_t xtalk_comp_enable;
- FixPoint1616_t total_xtalk_mega_cps;
- FixPoint1616_t xtalk_per_spad_mega_cps;
-
- *p_total_xtalk_rate_mcps = 0;
-
- status = vl53l0x_get_x_talk_compensation_enable(dev, &xtalk_comp_enable);
- if (status == VL53L0X_ERROR_NONE) {
-
- if (xtalk_comp_enable) {
-
- VL53L0X_GETPARAMETERFIELD(
- dev,
- XTalkCompensationRateMegaCps,
- xtalk_per_spad_mega_cps);
-
- /* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */
- total_xtalk_mega_cps =
- p_ranging_measurement_data->EffectiveSpadRtnCount *
- xtalk_per_spad_mega_cps;
-
- /* FixPoint0824 >> 8 = FixPoint1616 */
- *p_total_xtalk_rate_mcps =
- (total_xtalk_mega_cps + 0x80) >> 8;
- }
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_total_signal_rate(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_total_signal_rate_mcps)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- FixPoint1616_t total_xtalk_mega_cps;
-
- LOG_FUNCTION_START("");
-
- *p_total_signal_rate_mcps =
- p_ranging_measurement_data->SignalRateRtnMegaCps;
-
- status = vl53l0x_get_total_xtalk_rate(
- dev, p_ranging_measurement_data, &total_xtalk_mega_cps);
-
- if (status == VL53L0X_ERROR_NONE)
- *p_total_signal_rate_mcps += total_xtalk_mega_cps;
-
- return status;
-}
-
-/* To convert ms into register value */
-uint32_t VL53L0X::vl53l0x_calc_timeout_mclks(VL53L0X_DEV dev,
- uint32_t timeout_period_us,
- uint8_t vcsel_period_pclks)
-{
- uint32_t macro_period_ps;
- uint32_t macro_period_ns;
- uint32_t timeout_period_mclks = 0;
-
- macro_period_ps = vl53l0x_calc_macro_period_ps(dev, vcsel_period_pclks);
- macro_period_ns = (macro_period_ps + 500) / 1000;
-
- timeout_period_mclks =
- (uint32_t)(((timeout_period_us * 1000)
- + (macro_period_ns / 2)) / macro_period_ns);
-
- return timeout_period_mclks;
-}
-
-uint32_t VL53L0X::vl53l0x_isqrt(uint32_t num)
-{
- /*
- * Implements an integer square root
- *
- * From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
- */
-
- uint32_t res = 0;
- uint32_t bit = 1 << 30;
- /* The second-to-top bit is set:
- * 1 << 14 for 16-bits, 1 << 30 for 32 bits */
-
- /* "bit" starts at the highest power of four <= the argument. */
- while (bit > num)
- bit >>= 2;
-
-
- while (bit != 0) {
- if (num >= res + bit) {
- num -= res + bit;
- res = (res >> 1) + bit;
- } else
- res >>= 1;
-
- bit >>= 2;
- }
-
- return res;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_calc_dmax(
- VL53L0X_DEV dev,
- FixPoint1616_t total_signal_rate_mcps,
- FixPoint1616_t total_corr_signal_rate_mcps,
- FixPoint1616_t pw_mult,
- uint32_t sigma_estimate_p1,
- FixPoint1616_t sigma_estimate_p2,
- uint32_t peak_vcsel_duration_us,
- uint32_t *pd_max_mm)
-{
- const uint32_t c_sigma_limit = 18;
- const FixPoint1616_t c_signal_limit = 0x4000; /* 0.25 */
- const FixPoint1616_t c_sigma_est_ref = 0x00000042; /* 0.001 */
- const uint32_t c_amb_eff_width_sigma_est_ns = 6;
- const uint32_t c_amb_eff_width_d_max_ns = 7;
- uint32_t dmax_cal_range_mm;
- FixPoint1616_t dmax_cal_signal_rate_rtn_mcps;
- FixPoint1616_t min_signal_needed;
- FixPoint1616_t min_signal_needed_p1;
- FixPoint1616_t min_signal_needed_p2;
- FixPoint1616_t min_signal_needed_p3;
- FixPoint1616_t min_signal_needed_p4;
- FixPoint1616_t sigma_limit_tmp;
- FixPoint1616_t sigma_est_sq_tmp;
- FixPoint1616_t signal_limit_tmp;
- FixPoint1616_t signal_at0_mm;
- FixPoint1616_t dmax_dark;
- FixPoint1616_t dmax_ambient;
- FixPoint1616_t dmax_dark_tmp;
- FixPoint1616_t sigma_est_p2_tmp;
- uint32_t signal_rate_temp_mcps;
-
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- LOG_FUNCTION_START("");
-
- dmax_cal_range_mm =
- PALDevDataGet(dev, DmaxCalRangeMilliMeter);
-
- dmax_cal_signal_rate_rtn_mcps =
- PALDevDataGet(dev, DmaxCalSignalRateRtnMegaCps);
-
- /* uint32 * FixPoint1616 = FixPoint1616 */
- signal_at0_mm = dmax_cal_range_mm * dmax_cal_signal_rate_rtn_mcps;
-
- /* FixPoint1616 >> 8 = FixPoint2408 */
- signal_at0_mm = (signal_at0_mm + 0x80) >> 8;
- signal_at0_mm *= dmax_cal_range_mm;
-
- min_signal_needed_p1 = 0;
- if (total_corr_signal_rate_mcps > 0) {
-
- /* Shift by 10 bits to increase resolution prior to the
- * division */
- signal_rate_temp_mcps = total_signal_rate_mcps << 10;
-
- /* Add rounding value prior to division */
- min_signal_needed_p1 = signal_rate_temp_mcps +
- (total_corr_signal_rate_mcps / 2);
-
- /* FixPoint0626/FixPoint1616 = FixPoint2210 */
- min_signal_needed_p1 /= total_corr_signal_rate_mcps;
-
- /* Apply a factored version of the speed of light.
- Correction to be applied at the end */
- min_signal_needed_p1 *= 3;
-
- /* FixPoint2210 * FixPoint2210 = FixPoint1220 */
- min_signal_needed_p1 *= min_signal_needed_p1;
-
- /* FixPoint1220 >> 16 = FixPoint2804 */
- min_signal_needed_p1 = (min_signal_needed_p1 + 0x8000) >> 16;
- }
-
- min_signal_needed_p2 = pw_mult * sigma_estimate_p1;
-
- /* FixPoint1616 >> 16 = uint32 */
- min_signal_needed_p2 = (min_signal_needed_p2 + 0x8000) >> 16;
-
- /* uint32 * uint32 = uint32 */
- min_signal_needed_p2 *= min_signal_needed_p2;
-
- /* Check sigmaEstimateP2
- * If this value is too high there is not enough signal rate
- * to calculate dmax value so set a suitable value to ensure
- * a very small dmax.
- */
- sigma_est_p2_tmp = (sigma_estimate_p2 + 0x8000) >> 16;
- sigma_est_p2_tmp = (sigma_est_p2_tmp + c_amb_eff_width_sigma_est_ns / 2) /
- c_amb_eff_width_sigma_est_ns;
- sigma_est_p2_tmp *= c_amb_eff_width_d_max_ns;
-
- if (sigma_est_p2_tmp > 0xffff) {
- min_signal_needed_p3 = 0xfff00000;
- } else {
-
- /* DMAX uses a different ambient width from sigma, so apply
- * correction.
- * Perform division before multiplication to prevent overflow.
- */
- sigma_estimate_p2 = (sigma_estimate_p2 + c_amb_eff_width_sigma_est_ns / 2) /
- c_amb_eff_width_sigma_est_ns;
- sigma_estimate_p2 *= c_amb_eff_width_d_max_ns;
-
- /* FixPoint1616 >> 16 = uint32 */
- min_signal_needed_p3 = (sigma_estimate_p2 + 0x8000) >> 16;
-
- min_signal_needed_p3 *= min_signal_needed_p3;
-
- }
-
- /* FixPoint1814 / uint32 = FixPoint1814 */
- sigma_limit_tmp = ((c_sigma_limit << 14) + 500) / 1000;
-
- /* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */
- sigma_limit_tmp *= sigma_limit_tmp;
-
- /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
- sigma_est_sq_tmp = c_sigma_est_ref * c_sigma_est_ref;
-
- /* FixPoint3232 >> 4 = FixPoint0428 */
- sigma_est_sq_tmp = (sigma_est_sq_tmp + 0x08) >> 4;
-
- /* FixPoint0428 - FixPoint0428 = FixPoint0428 */
- sigma_limit_tmp -= sigma_est_sq_tmp;
-
- /* uint32_t * FixPoint0428 = FixPoint0428 */
- min_signal_needed_p4 = 4 * 12 * sigma_limit_tmp;
-
- /* FixPoint0428 >> 14 = FixPoint1814 */
- min_signal_needed_p4 = (min_signal_needed_p4 + 0x2000) >> 14;
-
- /* uint32 + uint32 = uint32 */
- min_signal_needed = (min_signal_needed_p2 + min_signal_needed_p3);
-
- /* uint32 / uint32 = uint32 */
- min_signal_needed += (peak_vcsel_duration_us / 2);
- min_signal_needed /= peak_vcsel_duration_us;
-
- /* uint32 << 14 = FixPoint1814 */
- min_signal_needed <<= 14;
-
- /* FixPoint1814 / FixPoint1814 = uint32 */
- min_signal_needed += (min_signal_needed_p4 / 2);
- min_signal_needed /= min_signal_needed_p4;
-
- /* FixPoint3200 * FixPoint2804 := FixPoint2804*/
- min_signal_needed *= min_signal_needed_p1;
-
- /* Apply correction by dividing by 1000000.
- * This assumes 10E16 on the numerator of the equation
- * and 10E-22 on the denominator.
- * We do this because 32bit fix point calculation can't
- * handle the larger and smaller elements of this equation,
- * i.e. speed of light and pulse widths.
- */
- min_signal_needed = (min_signal_needed + 500) / 1000;
- min_signal_needed <<= 4;
-
- min_signal_needed = (min_signal_needed + 500) / 1000;
-
- /* FixPoint1616 >> 8 = FixPoint2408 */
- signal_limit_tmp = (c_signal_limit + 0x80) >> 8;
-
- /* FixPoint2408/FixPoint2408 = uint32 */
- if (signal_limit_tmp != 0)
- dmax_dark_tmp = (signal_at0_mm + (signal_limit_tmp / 2))
- / signal_limit_tmp;
- else
- dmax_dark_tmp = 0;
-
- dmax_dark = vl53l0x_isqrt(dmax_dark_tmp);
-
- /* FixPoint2408/FixPoint2408 = uint32 */
- if (min_signal_needed != 0)
- dmax_ambient = (signal_at0_mm + min_signal_needed / 2)
- / min_signal_needed;
- else
- dmax_ambient = 0;
-
- dmax_ambient = vl53l0x_isqrt(dmax_ambient);
-
- *pd_max_mm = dmax_dark;
- if (dmax_dark > dmax_ambient)
- *pd_max_mm = dmax_ambient;
-
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_calc_sigma_estimate(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_sigma_estimate,
- uint32_t *p_dmax_mm)
-{
- /* Expressed in 100ths of a ns, i.e. centi-ns */
- const uint32_t c_pulse_effective_width_centi_ns = 800;
- /* Expressed in 100ths of a ns, i.e. centi-ns */
- const uint32_t c_ambient_effective_width_centi_ns = 600;
- const FixPoint1616_t c_dflt_final_range_integration_time_milli_secs = 0x00190000; /* 25ms */
- const uint32_t c_vcsel_pulse_width_ps = 4700; /* pico secs */
- const FixPoint1616_t c_sigma_est_max = 0x028F87AE;
- const FixPoint1616_t c_sigma_est_rtn_max = 0xF000;
- const FixPoint1616_t c_amb_to_signal_ratio_max = 0xF0000000 /
- c_ambient_effective_width_centi_ns;
- /* Time Of Flight per mm (6.6 pico secs) */
- const FixPoint1616_t c_tof_per_mm_ps = 0x0006999A;
- const uint32_t c_16bit_rounding_param = 0x00008000;
- const FixPoint1616_t c_max_x_talk_kcps = 0x00320000;
- const uint32_t c_pll_period_ps = 1655;
-
- uint32_t vcsel_total_events_rtn;
- uint32_t final_range_timeout_micro_secs;
- uint32_t pre_range_timeout_micro_secs;
- uint32_t final_range_integration_time_milli_secs;
- FixPoint1616_t sigma_estimate_p1;
- FixPoint1616_t sigma_estimate_p2;
- FixPoint1616_t sigma_estimate_p3;
- FixPoint1616_t delta_t_ps;
- FixPoint1616_t pw_mult;
- FixPoint1616_t sigma_est_rtn;
- FixPoint1616_t sigma_estimate;
- FixPoint1616_t x_talk_correction;
- FixPoint1616_t ambient_rate_kcps;
- FixPoint1616_t peak_signal_rate_kcps;
- FixPoint1616_t x_talk_comp_rate_mcps;
- uint32_t x_talk_comp_rate_kcps;
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- FixPoint1616_t diff1_mcps;
- FixPoint1616_t diff2_mcps;
- FixPoint1616_t sqr1;
- FixPoint1616_t sqr2;
- FixPoint1616_t sqr_sum;
- FixPoint1616_t sqrt_result_centi_ns;
- FixPoint1616_t sqrt_result;
- FixPoint1616_t total_signal_rate_mcps;
- FixPoint1616_t corrected_signal_rate_mcps;
- FixPoint1616_t sigma_est_ref;
- uint32_t vcsel_width;
- uint32_t final_range_macro_pclks;
- uint32_t pre_range_macro_pclks;
- uint32_t peak_vcsel_duration_us;
- uint8_t final_range_vcsel_pclks;
- uint8_t pre_range_vcsel_pclks;
- /*! \addtogroup calc_sigma_estimate
- * @{
- *
- * Estimates the range sigma
- */
-
- LOG_FUNCTION_START("");
-
- VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationRateMegaCps,
- x_talk_comp_rate_mcps);
-
- /*
- * We work in kcps rather than mcps as this helps keep within the
- * confines of the 32 Fix1616 type.
- */
-
- ambient_rate_kcps =
- (p_ranging_measurement_data->AmbientRateRtnMegaCps * 1000) >> 16;
-
- corrected_signal_rate_mcps =
- p_ranging_measurement_data->SignalRateRtnMegaCps;
-
-
- status = vl53l0x_get_total_signal_rate(
- dev, p_ranging_measurement_data, &total_signal_rate_mcps);
- status = vl53l0x_get_total_xtalk_rate(
- dev, p_ranging_measurement_data, &x_talk_comp_rate_mcps);
-
-
- /* Signal rate measurement provided by device is the
- * peak signal rate, not average.
- */
- peak_signal_rate_kcps = (total_signal_rate_mcps * 1000);
- peak_signal_rate_kcps = (peak_signal_rate_kcps + 0x8000) >> 16;
-
- x_talk_comp_rate_kcps = x_talk_comp_rate_mcps * 1000;
-
- if (x_talk_comp_rate_kcps > c_max_x_talk_kcps)
- x_talk_comp_rate_kcps = c_max_x_talk_kcps;
-
- if (status == VL53L0X_ERROR_NONE) {
-
- /* Calculate final range macro periods */
- final_range_timeout_micro_secs = VL53L0X_GETDEVICESPECIFICPARAMETER(
- dev, FinalRangeTimeoutMicroSecs);
-
- final_range_vcsel_pclks = VL53L0X_GETDEVICESPECIFICPARAMETER(
- dev, FinalRangeVcselPulsePeriod);
-
- final_range_macro_pclks = vl53l0x_calc_timeout_mclks(
- dev, final_range_timeout_micro_secs, final_range_vcsel_pclks);
-
- /* Calculate pre-range macro periods */
- pre_range_timeout_micro_secs = VL53L0X_GETDEVICESPECIFICPARAMETER(
- dev, PreRangeTimeoutMicroSecs);
-
- pre_range_vcsel_pclks = VL53L0X_GETDEVICESPECIFICPARAMETER(
- dev, PreRangeVcselPulsePeriod);
-
- pre_range_macro_pclks = vl53l0x_calc_timeout_mclks(
- dev, pre_range_timeout_micro_secs, pre_range_vcsel_pclks);
-
- vcsel_width = 3;
- if (final_range_vcsel_pclks == 8)
- vcsel_width = 2;
-
-
- peak_vcsel_duration_us = vcsel_width * 2048 *
- (pre_range_macro_pclks + final_range_macro_pclks);
- peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000;
- peak_vcsel_duration_us *= c_pll_period_ps;
- peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000;
-
- /* Fix1616 >> 8 = Fix2408 */
- total_signal_rate_mcps = (total_signal_rate_mcps + 0x80) >> 8;
-
- /* Fix2408 * uint32 = Fix2408 */
- vcsel_total_events_rtn = total_signal_rate_mcps *
- peak_vcsel_duration_us;
-
- /* Fix2408 >> 8 = uint32 */
- vcsel_total_events_rtn = (vcsel_total_events_rtn + 0x80) >> 8;
-
- /* Fix2408 << 8 = Fix1616 = */
- total_signal_rate_mcps <<= 8;
- }
-
- if (status != VL53L0X_ERROR_NONE) {
- LOG_FUNCTION_END(status);
- return status;
- }
-
- if (peak_signal_rate_kcps == 0) {
- *p_sigma_estimate = c_sigma_est_max;
- PALDevDataSet(dev, SigmaEstimate, c_sigma_est_max);
- *p_dmax_mm = 0;
- } else {
- if (vcsel_total_events_rtn < 1)
- vcsel_total_events_rtn = 1;
-
- sigma_estimate_p1 = c_pulse_effective_width_centi_ns;
-
- /* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */
- sigma_estimate_p2 = (ambient_rate_kcps << 16) / peak_signal_rate_kcps;
- if (sigma_estimate_p2 > c_amb_to_signal_ratio_max) {
- /* Clip to prevent overflow. Will ensure safe
- * max result. */
- sigma_estimate_p2 = c_amb_to_signal_ratio_max;
- }
- sigma_estimate_p2 *= c_ambient_effective_width_centi_ns;
-
- sigma_estimate_p3 = 2 * vl53l0x_isqrt(vcsel_total_events_rtn * 12);
-
- /* uint32 * FixPoint1616 = FixPoint1616 */
- delta_t_ps = p_ranging_measurement_data->RangeMilliMeter *
- c_tof_per_mm_ps;
-
- /*
- * vcselRate - xtalkCompRate
- * (uint32 << 16) - FixPoint1616 = FixPoint1616.
- * Divide result by 1000 to convert to mcps.
- * 500 is added to ensure rounding when integer division
- * truncates.
- */
- diff1_mcps = (((peak_signal_rate_kcps << 16) -
- 2 * x_talk_comp_rate_kcps) + 500) / 1000;
-
- /* vcselRate + xtalkCompRate */
- diff2_mcps = ((peak_signal_rate_kcps << 16) + 500) / 1000;
-
- /* Shift by 8 bits to increase resolution prior to the
- * division */
- diff1_mcps <<= 8;
-
- /* FixPoint0824/FixPoint1616 = FixPoint2408 */
-// xTalkCorrection = abs(diff1_mcps/diff2_mcps);
-// abs is causing compiler overloading isue in C++, but unsigned types. So, redundant call anyway!
- x_talk_correction = diff1_mcps / diff2_mcps;
-
- /* FixPoint2408 << 8 = FixPoint1616 */
- x_talk_correction <<= 8;
-
- if (p_ranging_measurement_data->RangeStatus != 0) {
- pw_mult = 1 << 16;
- } else {
- /* FixPoint1616/uint32 = FixPoint1616 */
- pw_mult = delta_t_ps / c_vcsel_pulse_width_ps; /* smaller than 1.0f */
-
- /*
- * FixPoint1616 * FixPoint1616 = FixPoint3232, however both
- * values are small enough such that32 bits will not be
- * exceeded.
- */
- pw_mult *= ((1 << 16) - x_talk_correction);
-
- /* (FixPoint3232 >> 16) = FixPoint1616 */
- pw_mult = (pw_mult + c_16bit_rounding_param) >> 16;
-
- /* FixPoint1616 + FixPoint1616 = FixPoint1616 */
- pw_mult += (1 << 16);
-
- /*
- * At this point the value will be 1.xx, therefore if we square
- * the value this will exceed 32 bits. To address this perform
- * a single shift to the right before the multiplication.
- */
- pw_mult >>= 1;
- /* FixPoint1715 * FixPoint1715 = FixPoint3430 */
- pw_mult = pw_mult * pw_mult;
-
- /* (FixPoint3430 >> 14) = Fix1616 */
- pw_mult >>= 14;
- }
-
- /* FixPoint1616 * uint32 = FixPoint1616 */
- sqr1 = pw_mult * sigma_estimate_p1;
-
- /* (FixPoint1616 >> 16) = FixPoint3200 */
- sqr1 = (sqr1 + 0x8000) >> 16;
-
- /* FixPoint3200 * FixPoint3200 = FixPoint6400 */
- sqr1 *= sqr1;
-
- sqr2 = sigma_estimate_p2;
-
- /* (FixPoint1616 >> 16) = FixPoint3200 */
- sqr2 = (sqr2 + 0x8000) >> 16;
-
- /* FixPoint3200 * FixPoint3200 = FixPoint6400 */
- sqr2 *= sqr2;
-
- /* FixPoint64000 + FixPoint6400 = FixPoint6400 */
- sqr_sum = sqr1 + sqr2;
-
- /* SQRT(FixPoin6400) = FixPoint3200 */
- sqrt_result_centi_ns = vl53l0x_isqrt(sqr_sum);
-
- /* (FixPoint3200 << 16) = FixPoint1616 */
- sqrt_result_centi_ns <<= 16;
-
- /*
- * Note that the Speed Of Light is expressed in um per 1E-10
- * seconds (2997) Therefore to get mm/ns we have to divide by
- * 10000
- */
- sigma_est_rtn = (((sqrt_result_centi_ns + 50) / 100) /
- sigma_estimate_p3);
- sigma_est_rtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR;
-
- /* Add 5000 before dividing by 10000 to ensure rounding. */
- sigma_est_rtn += 5000;
- sigma_est_rtn /= 10000;
-
- if (sigma_est_rtn > c_sigma_est_rtn_max) {
- /* Clip to prevent overflow. Will ensure safe
- * max result. */
- sigma_est_rtn = c_sigma_est_rtn_max;
- }
- final_range_integration_time_milli_secs =
- (final_range_timeout_micro_secs + pre_range_timeout_micro_secs + 500) / 1000;
-
- /* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range)
- * sqrt(FixPoint1616/int) = FixPoint2408)
- */
- sigma_est_ref =
- vl53l0x_isqrt((c_dflt_final_range_integration_time_milli_secs +
- final_range_integration_time_milli_secs / 2) /
- final_range_integration_time_milli_secs);
-
- /* FixPoint2408 << 8 = FixPoint1616 */
- sigma_est_ref <<= 8;
- sigma_est_ref = (sigma_est_ref + 500) / 1000;
-
- /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
- sqr1 = sigma_est_rtn * sigma_est_rtn;
- /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
- sqr2 = sigma_est_ref * sigma_est_ref;
-
- /* sqrt(FixPoint3232) = FixPoint1616 */
- sqrt_result = vl53l0x_isqrt((sqr1 + sqr2));
- /*
- * Note that the Shift by 4 bits increases resolution prior to
- * the sqrt, therefore the result must be shifted by 2 bits to
- * the right to revert back to the FixPoint1616 format.
- */
-
- sigma_estimate = 1000 * sqrt_result;
-
- if ((peak_signal_rate_kcps < 1) || (vcsel_total_events_rtn < 1) ||
- (sigma_estimate > c_sigma_est_max)) {
- sigma_estimate = c_sigma_est_max;
- }
-
- *p_sigma_estimate = (uint32_t)(sigma_estimate);
- PALDevDataSet(dev, SigmaEstimate, *p_sigma_estimate);
- status = vl53l0x_calc_dmax(
- dev,
- total_signal_rate_mcps,
- corrected_signal_rate_mcps,
- pw_mult,
- sigma_estimate_p1,
- sigma_estimate_p2,
- peak_vcsel_duration_us,
- p_dmax_mm);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_pal_range_status(VL53L0X_DEV dev,
- uint8_t device_range_status,
- FixPoint1616_t signal_rate,
- uint16_t effective_spad_rtn_count,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- uint8_t *p_pal_range_status)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t none_flag;
- uint8_t sigma_limitflag = 0;
- uint8_t signal_ref_clipflag = 0;
- uint8_t range_ignore_thresholdflag = 0;
- uint8_t sigma_limit_check_enable = 0;
- uint8_t signal_rate_final_range_limit_check_enable = 0;
- uint8_t signal_ref_clip_limit_check_enable = 0;
- uint8_t range_ignore_threshold_limit_check_enable = 0;
- FixPoint1616_t sigma_estimate;
- FixPoint1616_t sigma_limit_value;
- FixPoint1616_t signal_ref_clip_value;
- FixPoint1616_t range_ignore_threshold_value;
- FixPoint1616_t signal_rate_per_spad;
- uint8_t device_range_status_internal = 0;
- uint16_t tmp_word = 0;
- uint8_t temp8;
- uint32_t dmax_mm = 0;
- FixPoint1616_t last_signal_ref_mcps;
-
- LOG_FUNCTION_START("");
-
-
- /*
- * VL53L0X has a good ranging when the value of the
- * DeviceRangeStatus = 11. This function will replace the value 0 with
- * the value 11 in the DeviceRangeStatus.
- * In addition, the SigmaEstimator is not included in the VL53L0X
- * DeviceRangeStatus, this will be added in the PalRangeStatus.
- */
-
- device_range_status_internal = ((device_range_status & 0x78) >> 3);
-
- if (device_range_status_internal == 0 ||
- device_range_status_internal == 5 ||
- device_range_status_internal == 7 ||
- device_range_status_internal == 12 ||
- device_range_status_internal == 13 ||
- device_range_status_internal == 14 ||
- device_range_status_internal == 15
- ) {
- none_flag = 1;
- } else {
- none_flag = 0;
- }
-
- /*
- * Check if Sigma limit is enabled, if yes then do comparison with limit
- * value and put the result back into pPalRangeStatus.
- */
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_get_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- &sigma_limit_check_enable);
-
- if ((sigma_limit_check_enable != 0) && (status == VL53L0X_ERROR_NONE)) {
- /*
- * compute the Sigma and check with limit
- */
- status = vl53l0x_calc_sigma_estimate(
- dev,
- p_ranging_measurement_data,
- &sigma_estimate,
- &dmax_mm);
- if (status == VL53L0X_ERROR_NONE)
- p_ranging_measurement_data->RangeDMaxMilliMeter = dmax_mm;
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_get_limit_check_value(dev,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- &sigma_limit_value);
-
- if ((sigma_limit_value > 0) &&
- (sigma_estimate > sigma_limit_value))
- /* Limit Fail */
- sigma_limitflag = 1;
- }
- }
-
- /*
- * Check if Signal ref clip limit is enabled, if yes then do comparison
- * with limit value and put the result back into pPalRangeStatus.
- */
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_get_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- &signal_ref_clip_limit_check_enable);
-
- if ((signal_ref_clip_limit_check_enable != 0) &&
- (status == VL53L0X_ERROR_NONE)) {
-
- status = vl53l0x_get_limit_check_value(dev,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- &signal_ref_clip_value);
-
- /* Read LastSignalRefMcps from device */
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev, 0xFF, 0x01);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_read_word(dev,
- VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
- &tmp_word);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev, 0xFF, 0x00);
-
- last_signal_ref_mcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmp_word);
- PALDevDataSet(dev, LastSignalRefMcps, last_signal_ref_mcps);
-
- if ((signal_ref_clip_value > 0) &&
- (last_signal_ref_mcps > signal_ref_clip_value)) {
- /* Limit Fail */
- signal_ref_clipflag = 1;
- }
- }
-
- /*
- * Check if Signal ref clip limit is enabled, if yes then do comparison
- * with limit value and put the result back into pPalRangeStatus.
- * EffectiveSpadRtnCount has a format 8.8
- * If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL
- */
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_get_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- &range_ignore_threshold_limit_check_enable);
-
- if ((range_ignore_threshold_limit_check_enable != 0) &&
- (status == VL53L0X_ERROR_NONE)) {
-
- /* Compute the signal rate per spad */
- if (effective_spad_rtn_count == 0) {
- signal_rate_per_spad = 0;
- } else {
- signal_rate_per_spad = (FixPoint1616_t)((256 * signal_rate)
- / effective_spad_rtn_count);
- }
-
- status = vl53l0x_get_limit_check_value(dev,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- &range_ignore_threshold_value);
-
- if ((range_ignore_threshold_value > 0) &&
- (signal_rate_per_spad < range_ignore_threshold_value)) {
- /* Limit Fail add 2^6 to range status */
- range_ignore_thresholdflag = 1;
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (none_flag == 1) {
- *p_pal_range_status = 255; /* NONE */
- } else if (device_range_status_internal == 1 ||
- device_range_status_internal == 2 ||
- device_range_status_internal == 3) {
- *p_pal_range_status = 5; /* HW fail */
- } else if (device_range_status_internal == 6 ||
- device_range_status_internal == 9) {
- *p_pal_range_status = 4; /* Phase fail */
- } else if (device_range_status_internal == 8 ||
- device_range_status_internal == 10 ||
- signal_ref_clipflag == 1) {
- *p_pal_range_status = 3; /* Min range */
- } else if (device_range_status_internal == 4 ||
- range_ignore_thresholdflag == 1) {
- *p_pal_range_status = 2; /* Signal Fail */
- } else if (sigma_limitflag == 1) {
- *p_pal_range_status = 1; /* Sigma Fail */
- } else {
- *p_pal_range_status = 0; /* Range Valid */
- }
- }
-
- /* DMAX only relevant during range error */
- if (*p_pal_range_status == 0)
- p_ranging_measurement_data->RangeDMaxMilliMeter = 0;
-
- /* fill the Limit Check Status */
-
- status = vl53l0x_get_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
- &signal_rate_final_range_limit_check_enable);
-
- if (status == VL53L0X_ERROR_NONE) {
- if ((sigma_limit_check_enable == 0) || (sigma_limitflag == 1))
- temp8 = 1;
- else
- temp8 = 0;
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, temp8);
-
- if ((device_range_status_internal == 4) ||
- (signal_rate_final_range_limit_check_enable == 0))
- temp8 = 1;
- else
- temp8 = 0;
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
- temp8);
-
- if ((signal_ref_clip_limit_check_enable == 0) ||
- (signal_ref_clipflag == 1))
- temp8 = 1;
- else
- temp8 = 0;
-
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, temp8);
-
- if ((range_ignore_threshold_limit_check_enable == 0) ||
- (range_ignore_thresholdflag == 1))
- temp8 = 1;
- else
- temp8 = 0;
-
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- temp8);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_ranging_measurement_data(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t device_range_status;
- uint8_t range_fractional_enable;
- uint8_t pal_range_status;
- uint8_t x_talk_compensation_enable;
- uint16_t ambient_rate;
- FixPoint1616_t signal_rate;
- uint16_t x_talk_compensation_rate_mega_cps;
- uint16_t effective_spad_rtn_count;
- uint16_t tmpuint16;
- uint16_t xtalk_range_milli_meter;
- uint16_t linearity_corrective_gain;
- uint8_t localBuffer[12];
- VL53L0X_RangingMeasurementData_t last_range_data_buffer;
-
- LOG_FUNCTION_START("");
-
- /*
- * use multi read even if some registers are not useful, result will
- * be more efficient
- * start reading at 0x14 dec20
- * end reading at 0x21 dec33 total 14 bytes to read
- */
- status = vl53l0x_read_multi(dev, 0x14, localBuffer, 12);
-
- if (status == VL53L0X_ERROR_NONE) {
-
- p_ranging_measurement_data->ZoneId = 0; /* Only one zone */
- p_ranging_measurement_data->TimeStamp = 0; /* Not Implemented */
-
- tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], localBuffer[10]);
- /* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional
- *(format 11.2) else no fractional
- */
-
- p_ranging_measurement_data->MeasurementTimeUsec = 0;
-
- signal_rate = VL53L0X_FIXPOINT97TOFIXPOINT1616(
- VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6]));
- /* peak_signal_count_rate_rtn_mcps */
- p_ranging_measurement_data->SignalRateRtnMegaCps = signal_rate;
-
- ambient_rate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]);
- p_ranging_measurement_data->AmbientRateRtnMegaCps =
- VL53L0X_FIXPOINT97TOFIXPOINT1616(ambient_rate);
-
- effective_spad_rtn_count = VL53L0X_MAKEUINT16(localBuffer[3],
- localBuffer[2]);
- /* EffectiveSpadRtnCount is 8.8 format */
- p_ranging_measurement_data->EffectiveSpadRtnCount =
- effective_spad_rtn_count;
-
- device_range_status = localBuffer[0];
-
- /* Get Linearity Corrective Gain */
- linearity_corrective_gain = PALDevDataGet(dev,
- LinearityCorrectiveGain);
-
- /* Get ranging configuration */
- range_fractional_enable = PALDevDataGet(dev,
- RangeFractionalEnable);
-
- if (linearity_corrective_gain != 1000) {
-
- tmpuint16 = (uint16_t)((linearity_corrective_gain
- * tmpuint16 + 500) / 1000);
-
- /* Implement Xtalk */
- VL53L0X_GETPARAMETERFIELD(dev,
- XTalkCompensationRateMegaCps,
- x_talk_compensation_rate_mega_cps);
- VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationEnable,
- x_talk_compensation_enable);
-
- if (x_talk_compensation_enable) {
-
- if ((signal_rate
- - ((x_talk_compensation_rate_mega_cps
- * effective_spad_rtn_count) >> 8))
- <= 0) {
- if (range_fractional_enable)
- xtalk_range_milli_meter = 8888;
- else
- xtalk_range_milli_meter = 8888
- << 2;
- } else {
- xtalk_range_milli_meter =
- (tmpuint16 * signal_rate)
- / (signal_rate
- - ((x_talk_compensation_rate_mega_cps
- * effective_spad_rtn_count)
- >> 8));
- }
-
- tmpuint16 = xtalk_range_milli_meter;
- }
-
- }
-
- if (range_fractional_enable) {
- p_ranging_measurement_data->RangeMilliMeter =
- (uint16_t)((tmpuint16) >> 2);
- p_ranging_measurement_data->RangeFractionalPart =
- (uint8_t)((tmpuint16 & 0x03) << 6);
- } else {
- p_ranging_measurement_data->RangeMilliMeter = tmpuint16;
- p_ranging_measurement_data->RangeFractionalPart = 0;
- }
-
- /*
- * For a standard definition of RangeStatus, this should
- * return 0 in case of good result after a ranging
- * The range status depends on the device so call a device
- * specific function to obtain the right Status.
- */
- status |= vl53l0x_get_pal_range_status(dev, device_range_status,
- signal_rate, effective_spad_rtn_count,
- p_ranging_measurement_data, &pal_range_status);
-
- if (status == VL53L0X_ERROR_NONE)
- p_ranging_measurement_data->RangeStatus = pal_range_status;
-
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Copy last read data into Dev buffer */
- last_range_data_buffer = PALDevDataGet(dev, LastRangeMeasure);
-
- last_range_data_buffer.RangeMilliMeter =
- p_ranging_measurement_data->RangeMilliMeter;
- last_range_data_buffer.RangeFractionalPart =
- p_ranging_measurement_data->RangeFractionalPart;
- last_range_data_buffer.RangeDMaxMilliMeter =
- p_ranging_measurement_data->RangeDMaxMilliMeter;
- last_range_data_buffer.MeasurementTimeUsec =
- p_ranging_measurement_data->MeasurementTimeUsec;
- last_range_data_buffer.SignalRateRtnMegaCps =
- p_ranging_measurement_data->SignalRateRtnMegaCps;
- last_range_data_buffer.AmbientRateRtnMegaCps =
- p_ranging_measurement_data->AmbientRateRtnMegaCps;
- last_range_data_buffer.EffectiveSpadRtnCount =
- p_ranging_measurement_data->EffectiveSpadRtnCount;
- last_range_data_buffer.RangeStatus =
- p_ranging_measurement_data->RangeStatus;
-
- PALDevDataSet(dev, LastRangeMeasure, last_range_data_buffer);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_perform_single_ranging_measurement(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- LOG_FUNCTION_START("");
-
- /* This function will do a complete single ranging
- * Here we fix the mode! */
- status = vl53l0x_set_device_mode(dev, VL53L0X_DEVICEMODE_SINGLE_RANGING);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_perform_single_measurement(dev);
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_get_ranging_measurement_data(dev,
- p_ranging_measurement_data);
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_clear_interrupt_mask(dev, 0);
-
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::perform_ref_signal_measurement(VL53L0X_DEV dev,
- uint16_t *p_ref_signal_rate)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_RangingMeasurementData_t ranging_measurement_data;
-
- uint8_t sequence_config = 0;
-
- /* store the value of the sequence config,
- * this will be reset before the end of the function
- */
-
- sequence_config = PALDevDataGet(dev, SequenceConfig);
-
- /*
- * This function performs a reference signal rate measurement.
- */
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_perform_single_ranging_measurement(dev,
- &ranging_measurement_data);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev, 0xFF, 0x01);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_read_word(dev,
- VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
- p_ref_signal_rate);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev, 0xFF, 0x00);
-
- if (status == VL53L0X_ERROR_NONE) {
- /* restore the previous Sequence Config */
- status = vl53l0x_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- sequence_config);
- if (status == VL53L0X_ERROR_NONE)
- PALDevDataSet(dev, SequenceConfig, sequence_config);
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_vl53l0x_perform_ref_spad_management(VL53L0X_DEV dev,
- uint32_t *ref_spad_count,
- uint8_t *is_aperture_spads)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t last_spad_array[6];
- uint8_t start_select = 0xB4;
- uint32_t minimum_spad_count = 3;
- uint32_t max_spad_count = 44;
- uint32_t current_spad_index = 0;
- uint32_t last_spad_index = 0;
- int32_t next_good_spad = 0;
- uint16_t target_ref_rate = 0x0A00; /* 20 MCPS in 9:7 format */
- uint16_t peak_signal_rate_ref;
- uint32_t need_apt_spads = 0;
- uint32_t index = 0;
- uint32_t spad_array_size = 6;
- uint32_t signal_rate_diff = 0;
- uint32_t last_signal_rate_diff = 0;
- uint8_t complete = 0;
- uint8_t vhv_settings = 0;
- uint8_t phase_cal = 0;
- uint32_t ref_spad_count_int = 0;
- uint8_t is_aperture_spads_int = 0;
-
- /*
- * The reference SPAD initialization procedure determines the minimum
- * amount of reference spads to be enables to achieve a target reference
- * signal rate and should be performed once during initialization.
- *
- * Either aperture or non-aperture spads are applied but never both.
- * Firstly non-aperture spads are set, begining with 5 spads, and
- * increased one spad at a time until the closest measurement to the
- * target rate is achieved.
- *
- * If the target rate is exceeded when 5 non-aperture spads are enabled,
- * initialization is performed instead with aperture spads.
- *
- * When setting spads, a 'Good Spad Map' is applied.
- *
- * This procedure operates within a SPAD window of interest of a maximum
- * 44 spads.
- * The start point is currently fixed to 180, which lies towards the end
- * of the non-aperture quadrant and runs in to the adjacent aperture
- * quadrant.
- */
-
-
- target_ref_rate = PALDevDataGet(dev, targetRefRate);
-
- /*
- * Initialize Spad arrays.
- * Currently the good spad map is initialised to 'All good'.
- * This is a short term implementation. The good spad map will be
- * provided as an input.
- * Note that there are 6 bytes. Only the first 44 bits will be used to
- * represent spads.
- */
- for (index = 0; index < spad_array_size; index++)
- dev->Data.SpadData.RefSpadEnables[index] = 0;
-
-
- status = vl53l0x_write_byte(dev, 0xFF, 0x01);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev, 0xFF, 0x00);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
- start_select);
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0);
-
- /* Perform ref calibration */
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_perform_ref_calibration(dev, &vhv_settings,
- &phase_cal, 0);
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Enable Minimum NON-APERTURE Spads */
- current_spad_index = 0;
- last_spad_index = current_spad_index;
- need_apt_spads = 0;
- status = enable_ref_spads(dev,
- need_apt_spads,
- dev->Data.SpadData.RefGoodSpadMap,
- dev->Data.SpadData.RefSpadEnables,
- spad_array_size,
- start_select,
- current_spad_index,
- minimum_spad_count,
- &last_spad_index);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- current_spad_index = last_spad_index;
-
- status = perform_ref_signal_measurement(dev,
- &peak_signal_rate_ref);
- if ((status == VL53L0X_ERROR_NONE) &&
- (peak_signal_rate_ref > target_ref_rate)) {
- /* Signal rate measurement too high,
- * switch to APERTURE SPADs */
-
- for (index = 0; index < spad_array_size; index++)
- dev->Data.SpadData.RefSpadEnables[index] = 0;
-
-
- /* Increment to the first APERTURE spad */
- while ((is_aperture(start_select + current_spad_index)
- == 0) && (current_spad_index < max_spad_count)) {
- current_spad_index++;
- }
-
- need_apt_spads = 1;
-
- status = enable_ref_spads(dev,
- need_apt_spads,
- dev->Data.SpadData.RefGoodSpadMap,
- dev->Data.SpadData.RefSpadEnables,
- spad_array_size,
- start_select,
- current_spad_index,
- minimum_spad_count,
- &last_spad_index);
-
- if (status == VL53L0X_ERROR_NONE) {
- current_spad_index = last_spad_index;
- status = perform_ref_signal_measurement(dev,
- &peak_signal_rate_ref);
-
- if ((status == VL53L0X_ERROR_NONE) &&
- (peak_signal_rate_ref > target_ref_rate)) {
- /* Signal rate still too high after
- * setting the minimum number of
- * APERTURE spads. Can do no more
- * therefore set the min number of
- * aperture spads as the result.
- */
- is_aperture_spads_int = 1;
- ref_spad_count_int = minimum_spad_count;
- }
- }
- } else {
- need_apt_spads = 0;
- }
- }
-
- if ((status == VL53L0X_ERROR_NONE) &&
- (peak_signal_rate_ref < target_ref_rate)) {
- /* At this point, the minimum number of either aperture
- * or non-aperture spads have been set. Proceed to add
- * spads and perform measurements until the target
- * reference is reached.
- */
- is_aperture_spads_int = need_apt_spads;
- ref_spad_count_int = minimum_spad_count;
-
- memcpy(last_spad_array, dev->Data.SpadData.RefSpadEnables,
- spad_array_size);
- last_signal_rate_diff = abs(peak_signal_rate_ref -
- target_ref_rate);
- complete = 0;
-
- while (!complete) {
- get_next_good_spad(
- dev->Data.SpadData.RefGoodSpadMap,
- spad_array_size, current_spad_index,
- &next_good_spad);
-
- if (next_good_spad == -1) {
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- break;
- }
-
- /* Cannot combine Aperture and Non-Aperture spads, so
- * ensure the current spad is of the correct type.
- */
- if (is_aperture((uint32_t)start_select + next_good_spad) !=
- need_apt_spads) {
- /* At this point we have enabled the maximum
- * number of Aperture spads.
- */
- complete = 1;
- break;
- }
-
- (ref_spad_count_int)++;
-
- current_spad_index = next_good_spad;
- status = enable_spad_bit(
- dev->Data.SpadData.RefSpadEnables,
- spad_array_size, current_spad_index);
-
- if (status == VL53L0X_ERROR_NONE) {
- current_spad_index++;
- /* Proceed to apply the additional spad and
- * perform measurement. */
- status = set_ref_spad_map(dev,
- dev->Data.SpadData.RefSpadEnables);
- }
-
- if (status != VL53L0X_ERROR_NONE)
- break;
-
- status = perform_ref_signal_measurement(dev,
- &peak_signal_rate_ref);
-
- if (status != VL53L0X_ERROR_NONE)
- break;
-
- signal_rate_diff = abs(peak_signal_rate_ref - target_ref_rate);
-
- if (peak_signal_rate_ref > target_ref_rate) {
- /* Select the spad map that provides the
- * measurement closest to the target rate,
- * either above or below it.
- */
- if (signal_rate_diff > last_signal_rate_diff) {
- /* Previous spad map produced a closer
- * measurement, so choose this. */
- status = set_ref_spad_map(dev,
- last_spad_array);
- memcpy(
- dev->Data.SpadData.RefSpadEnables,
- last_spad_array, spad_array_size);
-
- (ref_spad_count_int)--;
- }
- complete = 1;
- } else {
- /* Continue to add spads */
- last_signal_rate_diff = signal_rate_diff;
- memcpy(last_spad_array,
- dev->Data.SpadData.RefSpadEnables,
- spad_array_size);
- }
-
- } /* while */
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- *ref_spad_count = ref_spad_count_int;
- *is_aperture_spads = is_aperture_spads_int;
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 1);
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadCount, (uint8_t)(*ref_spad_count));
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadType, *is_aperture_spads);
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_set_reference_spads(VL53L0X_DEV dev,
- uint32_t count, uint8_t is_aperture_spads)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t current_spad_index = 0;
- uint8_t start_select = 0xB4;
- uint32_t spad_array_size = 6;
- uint32_t max_spad_count = 44;
- uint32_t last_spad_index;
- uint32_t index;
-
- /*
- * This function applies a requested number of reference spads, either
- * aperture or
- * non-aperture, as requested.
- * The good spad map will be applied.
- */
-
- status = vl53l0x_write_byte(dev, 0xFF, 0x01);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev, 0xFF, 0x00);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
- start_select);
-
- for (index = 0; index < spad_array_size; index++)
- dev->Data.SpadData.RefSpadEnables[index] = 0;
-
- if (is_aperture_spads) {
- /* Increment to the first APERTURE spad */
- while ((is_aperture(start_select + current_spad_index) == 0) &&
- (current_spad_index < max_spad_count)) {
- current_spad_index++;
- }
- }
- status = enable_ref_spads(dev,
- is_aperture_spads,
- dev->Data.SpadData.RefGoodSpadMap,
- dev->Data.SpadData.RefSpadEnables,
- spad_array_size,
- start_select,
- current_spad_index,
- count,
- &last_spad_index);
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 1);
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadCount, (uint8_t)(count));
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadType, is_aperture_spads);
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_wait_device_booted(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NOT_IMPLEMENTED;
- LOG_FUNCTION_START("");
-
- /* not implemented on VL53L0X */
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_perform_ref_calibration(VL53L0X_DEV dev, uint8_t *p_vhv_settings,
- uint8_t *p_phase_cal)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = vl53l0x_perform_ref_calibration(dev, p_vhv_settings,
- p_phase_cal, 1);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_perform_ref_spad_management(VL53L0X_DEV dev,
- uint32_t *ref_spad_count, uint8_t *is_aperture_spads)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_vl53l0x_perform_ref_spad_management(dev, ref_spad_count,
- is_aperture_spads);
-
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-/* Group PAL Init Functions */
-VL53L0X_Error VL53L0X::vl53l0x_set_device_address(VL53L0X_DEV dev, uint8_t device_address)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = vl53l0x_write_byte(dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS,
- device_address / 2);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_set_gpio_config(VL53L0X_DEV dev, uint8_t pin,
- VL53L0X_DeviceModes device_mode, VL53L0X_GpioFunctionality functionality,
- VL53L0X_InterruptPolarity polarity)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t data;
-
- LOG_FUNCTION_START("");
-
- if (pin != 0) {
- status = VL53L0X_ERROR_GPIO_NOT_EXISTING;
- } else if (device_mode == VL53L0X_DEVICEMODE_GPIO_DRIVE) {
- if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW)
- data = 0x10;
- else
- data = 1;
-
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data);
-
- } else if (device_mode == VL53L0X_DEVICEMODE_GPIO_OSC) {
-
- status |= vl53l0x_write_byte(dev, 0xff, 0x01);
- status |= vl53l0x_write_byte(dev, 0x00, 0x00);
-
- status |= vl53l0x_write_byte(dev, 0xff, 0x00);
- status |= vl53l0x_write_byte(dev, 0x80, 0x01);
- status |= vl53l0x_write_byte(dev, 0x85, 0x02);
-
- status |= vl53l0x_write_byte(dev, 0xff, 0x04);
- status |= vl53l0x_write_byte(dev, 0xcd, 0x00);
- status |= vl53l0x_write_byte(dev, 0xcc, 0x11);
-
- status |= vl53l0x_write_byte(dev, 0xff, 0x07);
- status |= vl53l0x_write_byte(dev, 0xbe, 0x00);
-
- status |= vl53l0x_write_byte(dev, 0xff, 0x06);
- status |= vl53l0x_write_byte(dev, 0xcc, 0x09);
-
- status |= vl53l0x_write_byte(dev, 0xff, 0x00);
- status |= vl53l0x_write_byte(dev, 0xff, 0x01);
- status |= vl53l0x_write_byte(dev, 0x00, 0x00);
-
- } else {
-
- if (status == VL53L0X_ERROR_NONE) {
- switch (functionality) {
- case VL53L0X_GPIOFUNCTIONALITY_OFF:
- data = 0x00;
- break;
- case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW:
- data = 0x01;
- break;
- case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH:
- data = 0x02;
- break;
- case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT:
- data = 0x03;
- break;
- case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY:
- data = 0x04;
- break;
- default:
- status =
- VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
- }
- }
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data);
-
- if (status == VL53L0X_ERROR_NONE) {
- if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW)
- data = 0;
- else
- data = (uint8_t)(1 << 4);
-
- status = vl53l0x_update_byte(dev,
- VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data);
- }
-
- if (status == VL53L0X_ERROR_NONE)
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- Pin0GpioFunctionality, functionality);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_clear_interrupt_mask(dev, 0);
-
- }
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_fraction_enable(VL53L0X_DEV dev, uint8_t *p_enabled)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = vl53l0x_read_byte(dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, p_enabled);
-
- if (status == VL53L0X_ERROR_NONE)
- *p_enabled = (*p_enabled & 1);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-uint16_t VL53L0X::vl53l0x_encode_timeout(uint32_t timeout_macro_clks)
-{
- /*!
- * Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format
- */
-
- uint16_t encoded_timeout = 0;
- uint32_t ls_byte = 0;
- uint16_t ms_byte = 0;
-
- if (timeout_macro_clks > 0) {
- ls_byte = timeout_macro_clks - 1;
-
- while ((ls_byte & 0xFFFFFF00) > 0) {
- ls_byte = ls_byte >> 1;
- ms_byte++;
- }
-
- encoded_timeout = (ms_byte << 8)
- + (uint16_t)(ls_byte & 0x000000FF);
- }
-
- return encoded_timeout;
-
-}
-
-VL53L0X_Error VL53L0X::set_sequence_step_timeout(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id,
- uint32_t timeout_micro_secs)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t current_vcsel_pulse_period_p_clk;
- uint8_t msrc_encoded_time_out;
- uint16_t pre_range_encoded_time_out;
- uint16_t pre_range_time_out_m_clks;
- uint16_t msrc_range_time_out_m_clks;
- uint32_t final_range_time_out_m_clks;
- uint16_t final_range_encoded_time_out;
- VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
-
- if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) ||
- (sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) ||
- (sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) {
-
- status = vl53l0x_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
-
- if (status == VL53L0X_ERROR_NONE) {
- msrc_range_time_out_m_clks = vl53l0x_calc_timeout_mclks(dev,
- timeout_micro_secs,
- (uint8_t)current_vcsel_pulse_period_p_clk);
-
- if (msrc_range_time_out_m_clks > 256)
- msrc_encoded_time_out = 255;
- else
- msrc_encoded_time_out =
- (uint8_t)msrc_range_time_out_m_clks - 1;
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- LastEncodedTimeout,
- msrc_encoded_time_out);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
- msrc_encoded_time_out);
- }
- } else {
-
- if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
- pre_range_time_out_m_clks =
- vl53l0x_calc_timeout_mclks(dev,
- timeout_micro_secs,
- (uint8_t)current_vcsel_pulse_period_p_clk);
- pre_range_encoded_time_out = vl53l0x_encode_timeout(
- pre_range_time_out_m_clks);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- LastEncodedTimeout,
- pre_range_encoded_time_out);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_write_word(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- pre_range_encoded_time_out);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- PreRangeTimeoutMicroSecs,
- timeout_micro_secs);
- }
- } else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
-
- /* For the final range timeout, the pre-range timeout
- * must be added. To do this both final and pre-range
- * timeouts must be expressed in macro periods MClks
- * because they have different vcsel periods.
- */
-
- vl53l0x_get_sequence_step_enables(dev,
- &scheduler_sequence_steps);
- pre_range_time_out_m_clks = 0;
- if (scheduler_sequence_steps.PreRangeOn) {
-
- /* Retrieve PRE-RANGE VCSEL Period */
- status = vl53l0x_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
-
- /* Retrieve PRE-RANGE Timeout in Macro periods
- * (MCLKS) */
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_read_word(dev, 0x51,
- &pre_range_encoded_time_out);
- pre_range_time_out_m_clks =
- vl53l0x_decode_timeout(
- pre_range_encoded_time_out);
- }
- }
-
- /* Calculate FINAL RANGE Timeout in Macro Periods
- * (MCLKS) and add PRE-RANGE value
- */
- if (status == VL53L0X_ERROR_NONE) {
-
- status = vl53l0x_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
- }
- if (status == VL53L0X_ERROR_NONE) {
-
- final_range_time_out_m_clks =
- vl53l0x_calc_timeout_mclks(dev,
- timeout_micro_secs,
- (uint8_t) current_vcsel_pulse_period_p_clk);
-
- final_range_time_out_m_clks += pre_range_time_out_m_clks;
-
- final_range_encoded_time_out =
- vl53l0x_encode_timeout(final_range_time_out_m_clks);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_write_word(dev, 0x71,
- final_range_encoded_time_out);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- FinalRangeTimeoutMicroSecs,
- timeout_micro_secs);
- }
- }
- } else
- status = VL53L0X_ERROR_INVALID_PARAMS;
-
- }
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_vl53l0x_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t measurement_timing_budget_micro_seconds)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t final_range_timing_budget_micro_seconds;
- VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
- uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000;
- uint32_t start_overhead_micro_seconds = 1910;
- uint32_t end_overhead_micro_seconds = 960;
- uint32_t msrc_overhead_micro_seconds = 660;
- uint32_t tcc_overhead_micro_seconds = 590;
- uint32_t dss_overhead_micro_seconds = 690;
- uint32_t pre_range_overhead_micro_seconds = 660;
- uint32_t final_range_overhead_micro_seconds = 550;
- uint32_t pre_range_timeout_micro_seconds = 0;
- uint32_t c_min_timing_budget_micro_seconds = 20000;
- uint32_t sub_timeout = 0;
-
- LOG_FUNCTION_START("");
-
- if (measurement_timing_budget_micro_seconds
- < c_min_timing_budget_micro_seconds) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- return status;
- }
-
- final_range_timing_budget_micro_seconds =
- measurement_timing_budget_micro_seconds -
- (start_overhead_micro_seconds + end_overhead_micro_seconds);
-
- status = vl53l0x_get_sequence_step_enables(dev, &scheduler_sequence_steps);
-
- if (status == VL53L0X_ERROR_NONE &&
- (scheduler_sequence_steps.TccOn ||
- scheduler_sequence_steps.MsrcOn ||
- scheduler_sequence_steps.DssOn)) {
-
- /* TCC, MSRC and DSS all share the same timeout */
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_MSRC,
- &msrc_dcc_tcc_timeout_micro_seconds);
-
- /* Subtract the TCC, MSRC and DSS timeouts if they are
- * enabled. */
-
- if (status != VL53L0X_ERROR_NONE)
- return status;
-
- /* TCC */
- if (scheduler_sequence_steps.TccOn) {
-
- sub_timeout = msrc_dcc_tcc_timeout_micro_seconds
- + tcc_overhead_micro_seconds;
-
- if (sub_timeout <
- final_range_timing_budget_micro_seconds) {
- final_range_timing_budget_micro_seconds -=
- sub_timeout;
- } else {
- /* Requested timeout too big. */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
- if (status != VL53L0X_ERROR_NONE) {
- LOG_FUNCTION_END(status);
- return status;
- }
-
- /* DSS */
- if (scheduler_sequence_steps.DssOn) {
-
- sub_timeout = 2 * (msrc_dcc_tcc_timeout_micro_seconds +
- dss_overhead_micro_seconds);
-
- if (sub_timeout < final_range_timing_budget_micro_seconds) {
- final_range_timing_budget_micro_seconds
- -= sub_timeout;
- } else {
- /* Requested timeout too big. */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- } else if (scheduler_sequence_steps.MsrcOn) {
- /* MSRC */
- sub_timeout = msrc_dcc_tcc_timeout_micro_seconds +
- msrc_overhead_micro_seconds;
-
- if (sub_timeout < final_range_timing_budget_micro_seconds) {
- final_range_timing_budget_micro_seconds
- -= sub_timeout;
- } else {
- /* Requested timeout too big. */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
- }
-
- if (status != VL53L0X_ERROR_NONE) {
- LOG_FUNCTION_END(status);
- return status;
- }
-
- if (scheduler_sequence_steps.PreRangeOn) {
-
- /* Subtract the Pre-range timeout if enabled. */
-
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &pre_range_timeout_micro_seconds);
-
- sub_timeout = pre_range_timeout_micro_seconds +
- pre_range_overhead_micro_seconds;
-
- if (sub_timeout < final_range_timing_budget_micro_seconds) {
- final_range_timing_budget_micro_seconds -= sub_timeout;
- } else {
- /* Requested timeout too big. */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
-
- if (status == VL53L0X_ERROR_NONE &&
- scheduler_sequence_steps.FinalRangeOn) {
-
- final_range_timing_budget_micro_seconds -=
- final_range_overhead_micro_seconds;
-
- /* Final Range Timeout
- * Note that the final range timeout is determined by the timing
- * budget and the sum of all other timeouts within the sequence.
- * If there is no room for the final range timeout, then an error
- * will be set. Otherwise the remaining time will be applied to
- * the final range.
- */
- status = set_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- final_range_timing_budget_micro_seconds);
-
- VL53L0X_SETPARAMETERFIELD(dev,
- MeasurementTimingBudgetMicroSeconds,
- measurement_timing_budget_micro_seconds);
- }
-
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t measurement_timing_budget_micro_seconds)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_vl53l0x_set_measurement_timing_budget_micro_seconds(dev,
- measurement_timing_budget_micro_seconds);
-
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_set_sequence_step_enable(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_step_enabled)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
- uint8_t sequence_config_new = 0;
- uint32_t measurement_timing_budget_micro_seconds;
- LOG_FUNCTION_START("");
-
- status = vl53l0x_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- &sequence_config);
-
- sequence_config_new = sequence_config;
-
- if (status == VL53L0X_ERROR_NONE) {
- if (sequence_step_enabled == 1) {
-
- /* Enable requested sequence step
- */
- switch (sequence_step_id) {
- case VL53L0X_SEQUENCESTEP_TCC:
- sequence_config_new |= 0x10;
- break;
- case VL53L0X_SEQUENCESTEP_DSS:
- sequence_config_new |= 0x28;
- break;
- case VL53L0X_SEQUENCESTEP_MSRC:
- sequence_config_new |= 0x04;
- break;
- case VL53L0X_SEQUENCESTEP_PRE_RANGE:
- sequence_config_new |= 0x40;
- break;
- case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
- sequence_config_new |= 0x80;
- break;
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- } else {
- /* Disable requested sequence step
- */
- switch (sequence_step_id) {
- case VL53L0X_SEQUENCESTEP_TCC:
- sequence_config_new &= 0xef;
- break;
- case VL53L0X_SEQUENCESTEP_DSS:
- sequence_config_new &= 0xd7;
- break;
- case VL53L0X_SEQUENCESTEP_MSRC:
- sequence_config_new &= 0xfb;
- break;
- case VL53L0X_SEQUENCESTEP_PRE_RANGE:
- sequence_config_new &= 0xbf;
- break;
- case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
- sequence_config_new &= 0x7f;
- break;
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
- }
-
- if (sequence_config_new != sequence_config) {
- /* Apply New Setting */
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_write_byte(dev,
- VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, sequence_config_new);
- }
- if (status == VL53L0X_ERROR_NONE)
- PALDevDataSet(dev, SequenceConfig, sequence_config_new);
-
-
- /* Recalculate timing budget */
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_GETPARAMETERFIELD(dev,
- MeasurementTimingBudgetMicroSeconds,
- measurement_timing_budget_micro_seconds);
-
- vl53l0x_set_measurement_timing_budget_micro_seconds(dev,
- measurement_timing_budget_micro_seconds);
- }
- }
-
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_set_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
- uint8_t limit_check_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- FixPoint1616_t temp_fix1616 = 0;
- uint8_t limit_check_enable_int = 0;
- uint8_t limit_check_disable = 0;
- uint8_t temp8;
-
- LOG_FUNCTION_START("");
-
- if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- } else {
- if (limit_check_enable == 0) {
- temp_fix1616 = 0;
- limit_check_enable_int = 0;
- limit_check_disable = 1;
-
- } else {
- VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- limit_check_id, temp_fix1616);
- limit_check_disable = 0;
- /* this to be sure to have either 0 or 1 */
- limit_check_enable_int = 1;
- }
-
- switch (limit_check_id) {
-
- case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- limit_check_enable_int);
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
-
- status = vl53l0x_write_word(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(temp_fix1616));
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
-
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- limit_check_enable_int);
-
- break;
-
- case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
-
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- limit_check_enable_int);
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
-
- temp8 = (uint8_t)(limit_check_disable << 1);
- status = vl53l0x_update_byte(dev,
- VL53L0X_REG_MSRC_CONFIG_CONTROL,
- 0xFE, temp8);
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
-
- temp8 = (uint8_t)(limit_check_disable << 4);
- status = vl53l0x_update_byte(dev,
- VL53L0X_REG_MSRC_CONFIG_CONTROL,
- 0xEF, temp8);
-
- break;
-
-
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
-
- }
-
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (limit_check_enable == 0) {
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
- limit_check_id, 0);
- } else {
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
- limit_check_id, 1);
- }
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_static_init(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceParameters_t current_parameters = {0};
- uint8_t *p_tuning_setting_buffer;
- uint16_t tempword = 0;
- uint8_t tempbyte = 0;
- uint8_t use_internal_tuning_settings = 0;
- uint32_t count = 0;
- uint8_t is_aperture_spads = 0;
- uint32_t ref_spad_count = 0;
- uint8_t aperture_spads = 0;
- uint8_t vcsel_pulse_period_pclk;
- uint32_t seq_timeout_micro_secs;
-
- LOG_FUNCTION_START("");
-
- status = vl53l0x_get_info_from_device(dev, 1);
-
- /* set the ref spad from NVM */
- count = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadCount);
- aperture_spads = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadType);
-
- /* NVM value invalid */
- if ((aperture_spads > 1) ||
- ((aperture_spads == 1) && (count > 32)) ||
- ((aperture_spads == 0) && (count > 12)))
- status = wrapped_vl53l0x_perform_ref_spad_management(dev, &ref_spad_count,
- &is_aperture_spads);
- else
- status = vl53l0x_set_reference_spads(dev, count, aperture_spads);
-
-
- /* Initialize tuning settings buffer to prevent compiler warning. */
- p_tuning_setting_buffer = DefaultTuningSettings;
-
- if (status == VL53L0X_ERROR_NONE) {
- use_internal_tuning_settings = PALDevDataGet(dev,
- UseInternalTuningSettings);
-
- if (use_internal_tuning_settings == 0)
- p_tuning_setting_buffer = PALDevDataGet(dev,
- pTuningSettingsPointer);
- else
- p_tuning_setting_buffer = DefaultTuningSettings;
-
- }
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_load_tuning_settings(dev, p_tuning_setting_buffer);
-
-
- /* Set interrupt config to new sample ready */
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_set_gpio_config(dev, 0, 0,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
- VL53L0X_INTERRUPTPOLARITY_LOW);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_write_byte(dev, 0xFF, 0x01);
- status |= vl53l0x_read_word(dev, 0x84, &tempword);
- status |= vl53l0x_write_byte(dev, 0xFF, 0x00);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev, OscFrequencyMHz,
- VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword));
- }
-
- /* After static init, some device parameters may be changed,
- * so update them */
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_get_device_parameters(dev, ¤t_parameters);
-
-
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_get_fraction_enable(dev, &tempbyte);
- if (status == VL53L0X_ERROR_NONE)
- PALDevDataSet(dev, RangeFractionalEnable, tempbyte);
-
- }
-
- if (status == VL53L0X_ERROR_NONE)
- PALDevDataSet(dev, CurrentParameters, current_parameters);
-
-
- /* read the sequence config and save it */
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_read_byte(dev,
- VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte);
- if (status == VL53L0X_ERROR_NONE)
- PALDevDataSet(dev, SequenceConfig, tempbyte);
-
- }
-
- /* Disable MSRC and TCC by default */
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_set_sequence_step_enable(dev,
- VL53L0X_SEQUENCESTEP_TCC, 0);
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_set_sequence_step_enable(dev,
- VL53L0X_SEQUENCESTEP_MSRC, 0);
-
-
- /* Set PAL State to standby */
- if (status == VL53L0X_ERROR_NONE)
- PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE);
-
-
-
- /* Store pre-range vcsel period */
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_get_vcsel_pulse_period(
- dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- &vcsel_pulse_period_pclk);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- PreRangeVcselPulsePeriod,
- vcsel_pulse_period_pclk);
- }
-
- /* Store final-range vcsel period */
- if (status == VL53L0X_ERROR_NONE) {
- status = vl53l0x_get_vcsel_pulse_period(
- dev,
- VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
- &vcsel_pulse_period_pclk);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- FinalRangeVcselPulsePeriod,
- vcsel_pulse_period_pclk);
- }
-
- /* Store pre-range timeout */
- if (status == VL53L0X_ERROR_NONE) {
- status = get_sequence_step_timeout(
- dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &seq_timeout_micro_secs);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- PreRangeTimeoutMicroSecs,
- seq_timeout_micro_secs);
- }
-
- /* Store final-range timeout */
- if (status == VL53L0X_ERROR_NONE) {
- status = get_sequence_step_timeout(
- dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- &seq_timeout_micro_secs);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- FinalRangeTimeoutMicroSecs,
- seq_timeout_micro_secs);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-VL53L0X_Error VL53L0X::vl53l0x_stop_measurement(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = vl53l0x_write_byte(dev, VL53L0X_REG_SYSRANGE_START,
- VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT);
-
- status = vl53l0x_write_byte(dev, 0xFF, 0x01);
- status = vl53l0x_write_byte(dev, 0x00, 0x00);
- status = vl53l0x_write_byte(dev, 0x91, 0x00);
- status = vl53l0x_write_byte(dev, 0x00, 0x01);
- status = vl53l0x_write_byte(dev, 0xFF, 0x00);
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Set PAL State to Idle */
- PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE);
- }
-
- /* Check if need to apply interrupt settings */
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_check_and_load_interrupt_settings(dev, 0);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_get_stop_completed_status(VL53L0X_DEV dev,
- uint32_t *p_stop_status)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t byte = 0;
- LOG_FUNCTION_START("");
-
- status = vl53l0x_write_byte(dev, 0xFF, 0x01);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_read_byte(dev, 0x04, &byte);
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_write_byte(dev, 0xFF, 0x0);
-
- *p_stop_status = byte;
-
- if (byte == 0) {
- status = vl53l0x_write_byte(dev, 0x80, 0x01);
- status = vl53l0x_write_byte(dev, 0xFF, 0x01);
- status = vl53l0x_write_byte(dev, 0x00, 0x00);
- status = vl53l0x_write_byte(dev, 0x91,
- PALDevDataGet(dev, StopVariable));
- status = vl53l0x_write_byte(dev, 0x00, 0x01);
- status = vl53l0x_write_byte(dev, 0xFF, 0x00);
- status = vl53l0x_write_byte(dev, 0x80, 0x00);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-/****************** Write and read functions from I2C *************************/
-
-VL53L0X_Error VL53L0X::vl53l0x_write_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count)
-{
- int status;
-
- status = vl53l0x_i2c_write(dev->I2cDevAddr, index, p_data, (uint16_t)count);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_read_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count)
-{
- int status;
-
- if (count >= VL53L0X_MAX_I2C_XFER_SIZE) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- status = vl53l0x_i2c_read(dev->I2cDevAddr, index, p_data, (uint16_t)count);
-
- return status;
-}
-
-
-VL53L0X_Error VL53L0X::vl53l0x_write_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t data)
-{
- int status;
-
- status = vl53l0x_i2c_write(Dev->I2cDevAddr, index, &data, 1);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_write_word(VL53L0X_DEV dev, uint8_t index, uint16_t data)
-{
- int status;
- uint8_t buffer[2];
-
- buffer[0] = data >> 8;
- buffer[1] = data & 0x00FF;
- status = vl53l0x_i2c_write(dev->I2cDevAddr, index, (uint8_t *)buffer, 2);
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_write_dword(VL53L0X_DEV Dev, uint8_t index, uint32_t data)
-{
- int status;
- uint8_t buffer[4];
-
- buffer[0] = (data >> 24) & 0xFF;
- buffer[1] = (data >> 16) & 0xFF;
- buffer[2] = (data >> 8) & 0xFF;
- buffer[3] = (data >> 0) & 0xFF;
- status = vl53l0x_i2c_write(Dev->I2cDevAddr, index, (uint8_t *)buffer, 4);
- return status;
-}
-
-
-VL53L0X_Error VL53L0X::vl53l0x_read_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t *p_data)
-{
- int status;
-
- status = vl53l0x_i2c_read(Dev->I2cDevAddr, index, p_data, 1);
-
- if (status)
- return -1;
-
- return 0;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_read_word(VL53L0X_DEV Dev, uint8_t index, uint16_t *p_data)
-{
- int status;
- uint8_t buffer[2] = {0, 0};
-
- status = vl53l0x_i2c_read(Dev->I2cDevAddr, index, buffer, 2);
- if (!status) {
- *p_data = (buffer[0] << 8) + buffer[1];
- }
- return status;
-
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_read_dword(VL53L0X_DEV Dev, uint8_t index, uint32_t *p_data)
-{
- int status;
- uint8_t buffer[4] = {0, 0, 0, 0};
-
- status = vl53l0x_i2c_read(Dev->I2cDevAddr, index, buffer, 4);
- if (!status) {
- *p_data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3];
- }
- return status;
-
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_update_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t and_data, uint8_t or_data)
-{
- int status;
- uint8_t buffer = 0;
-
- /* read data direct onto buffer */
- status = vl53l0x_i2c_read(Dev->I2cDevAddr, index, &buffer, 1);
- if (!status) {
- buffer = (buffer & and_data) | or_data;
- status = vl53l0x_i2c_write(Dev->I2cDevAddr, index, &buffer, (uint8_t)1);
- }
- return status;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_i2c_write(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t *p_data,
- uint16_t NumByteToWrite)
-{
- int ret;
-
- ret = dev_i2c.i2c_write(p_data, DeviceAddr, RegisterAddr, NumByteToWrite);
-
- if (ret)
- return -1;
- return 0;
-}
-
-VL53L0X_Error VL53L0X::vl53l0x_i2c_read(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t *p_data,
- uint16_t NumByteToRead)
-{
- int ret;
-
- ret = dev_i2c.i2c_read(p_data, DeviceAddr, RegisterAddr, NumByteToRead);
-
- if (ret)
- return -1;
- return 0;
-}
-
-int VL53L0X::read_id(uint8_t *id)
-{
- int status = 0;
- uint16_t rl_id = 0;
-
- status = vl53l0x_read_word(_device, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &rl_id);
- if (rl_id == 0xEEAA)
- return status;
-
- return -1;
-}
-
-
-VL53L0X_Error VL53L0X::wait_measurement_data_ready(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t new_dat_ready = 0;
- uint32_t loop_nb;
-
- // Wait until it finished
- // use timeout to avoid deadlock
- if (status == VL53L0X_ERROR_NONE) {
- loop_nb = 0;
- do {
- status = vl53l0x_get_measurement_data_ready(dev, &new_dat_ready);
- if ((new_dat_ready == 0x01) || status != VL53L0X_ERROR_NONE) {
- break;
- }
- loop_nb = loop_nb + 1;
- vl53l0x_polling_delay(dev);
- } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
-
- if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
- status = VL53L0X_ERROR_TIME_OUT;
- }
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::wait_stop_completed(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t stop_completed = 0;
- uint32_t loop_nb;
-
- // Wait until it finished
- // use timeout to avoid deadlock
- if (status == VL53L0X_ERROR_NONE) {
- loop_nb = 0;
- do {
- status = vl53l0x_get_stop_completed_status(dev, &stop_completed);
- if ((stop_completed == 0x00) || status != VL53L0X_ERROR_NONE) {
- break;
- }
- loop_nb = loop_nb + 1;
- vl53l0x_polling_delay(dev);
- } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
-
- if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
- status = VL53L0X_ERROR_TIME_OUT;
- }
-
- }
-
- return status;
-}
-
-
-int VL53L0X::init_sensor(uint8_t new_addr)
-{
- int status;
-
- vl53l0x_off();
- vl53l0x_on();
-
-// status=VL53L0X_WaitDeviceBooted(Device);
-// if(status)
-// printf("WaitDeviceBooted fail\n\r");
- status = is_present();
- if (!status) {
- status = init(&_my_device);
- if (status != VL53L0X_ERROR_NONE) {
- printf("Failed to init VL53L0X sensor!\n\r");
- return status;
- }
-
- // deduce silicon version
- status = vl53l0x_get_device_info(&_my_device, &_device_info);
-
-
- status = prepare();
- if (status != VL53L0X_ERROR_NONE) {
- printf("Failed to prepare VL53L0X!\n\r");
- return status;
- }
-
- if (new_addr != DEFAULT_DEVICE_ADDRESS) {
- status = set_device_address(new_addr);
- if (status) {
- printf("Failed to change I2C address!\n\r");
- return status;
- }
- } else {
- printf("Invalid new address!\n\r");
- return VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
- return status;
-}
-
-int VL53L0X::range_meas_int_continuous_mode(void (*fptr)(void))
-{
- int status, clr_status;
-
- status = vl53l0x_stop_measurement(_device); // it is safer to do this while sensor is stopped
-
-// status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
-
- status = vl53l0x_set_gpio_config(_device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
- VL53L0X_INTERRUPTPOLARITY_HIGH);
-
- if (!status) {
- attach_interrupt_measure_detection_irq(fptr);
- enable_interrupt_measure_detection_irq();
- }
-
- clr_status = clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS | VL53L0X_REG_RESULT_RANGE_STATUS);
- if (clr_status)
- VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
-
- if (!status) {
- status = range_start_continuous_mode();
- }
- return status;
-}
-
-
-int VL53L0X::start_measurement(OperatingMode operating_mode, void (*fptr)(void))
-{
- int Status = VL53L0X_ERROR_NONE;
- int ClrStatus;
-
- uint8_t VhvSettings;
- uint8_t PhaseCal;
- // *** from mass market cube expansion v1.1, ranging with satellites.
- // default settings, for normal range.
- FixPoint1616_t signalLimit = (FixPoint1616_t)(0.25 * 65536);
- FixPoint1616_t sigmaLimit = (FixPoint1616_t)(18 * 65536);
- uint32_t timingBudget = 33000;
- uint8_t preRangeVcselPeriod = 14;
- uint8_t finalRangeVcselPeriod = 10;
-
- if (operating_mode == range_continuous_interrupt) {
- if (gpio1Int == NULL) {
- printf("GPIO1 Error\r\n");
- return 1;
- }
-
- Status = vl53l0x_stop_measurement(_device); // it is safer to do this while sensor is stopped
-
-// Status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
-
- Status = vl53l0x_set_gpio_config(_device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
- VL53L0X_INTERRUPTPOLARITY_HIGH);
-
- if (Status == VL53L0X_ERROR_NONE) {
- attach_interrupt_measure_detection_irq(fptr);
- enable_interrupt_measure_detection_irq();
- }
-
- ClrStatus = clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS | VL53L0X_REG_RESULT_RANGE_STATUS);
- if (ClrStatus)
- VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = vl53l0x_set_device_mode(_device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = vl53l0x_start_measurement(_device);
- }
- }
-
- if (operating_mode == range_single_shot_polling) {
- // singelshot, polled ranging
- if (Status == VL53L0X_ERROR_NONE) {
- // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
- Status = vl53l0x_set_device_mode(_device, VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
- }
-
- // Enable/Disable Sigma and Signal check
- if (Status == VL53L0X_ERROR_NONE) {
- Status = vl53l0x_set_limit_check_enable(_device,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
- }
- if (Status == VL53L0X_ERROR_NONE) {
- Status = vl53l0x_set_limit_check_enable(_device,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
- }
-
-// *** from mass market cube expansion v1.1, ranging with satellites.
- /* Ranging configuration */
-//*
-// switch(rangingConfig) {
-// case LONG_RANGE:
- signalLimit = (FixPoint1616_t)(0.1 * 65536);
- sigmaLimit = (FixPoint1616_t)(60 * 65536);
- timingBudget = 33000;
- preRangeVcselPeriod = 18;
- finalRangeVcselPeriod = 14;
- /* break;
- case HIGH_ACCURACY:
- signalLimit = (FixPoint1616_t)(0.25*65536);
- sigmaLimit = (FixPoint1616_t)(18*65536);
- timingBudget = 200000;
- preRangeVcselPeriod = 14;
- finalRangeVcselPeriod = 10;
- break;
- case HIGH_SPEED:
- signalLimit = (FixPoint1616_t)(0.25*65536);
- sigmaLimit = (FixPoint1616_t)(32*65536);
- timingBudget = 20000;
- preRangeVcselPeriod = 14;
- finalRangeVcselPeriod = 10;
- break;
- default:
- debug_printf("Not Supported");
- }
- */
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = vl53l0x_set_limit_check_value(_device,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, signalLimit);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = vl53l0x_set_limit_check_value(_device,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, sigmaLimit);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = vl53l0x_set_measurement_timing_budget_micro_seconds(_device, timingBudget);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = vl53l0x_set_vcsel_pulse_period(_device,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE, preRangeVcselPeriod);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = vl53l0x_set_vcsel_pulse_period(_device,
- VL53L0X_VCSEL_PERIOD_FINAL_RANGE, finalRangeVcselPeriod);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = vl53l0x_perform_ref_calibration(_device, &VhvSettings, &PhaseCal);
- }
-
- }
-
- if (operating_mode == range_continuous_polling) {
- if (Status == VL53L0X_ERROR_NONE) {
- printf("Call of VL53L0X_SetDeviceMode\n");
- Status = vl53l0x_set_device_mode(_device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- printf("Call of VL53L0X_StartMeasurement\n");
- Status = vl53l0x_start_measurement(_device);
- }
- }
-
- return Status;
-}
-
-
-int VL53L0X::get_measurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *p_data)
-{
- int Status = VL53L0X_ERROR_NONE;
-
- if (operating_mode == range_single_shot_polling) {
- Status = vl53l0x_perform_single_ranging_measurement(_device, p_data);
- }
-
- if (operating_mode == range_continuous_polling) {
- if (Status == VL53L0X_ERROR_NONE)
- Status = vl53l0x_measurement_poll_for_completion(_device);
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = vl53l0x_get_ranging_measurement_data(_device, p_data);
-
- // Clear the interrupt
- vl53l0x_clear_interrupt_mask(_device, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
- vl53l0x_polling_delay(_device);
- }
- }
-
- if (operating_mode == range_continuous_interrupt) {
- Status = vl53l0x_get_ranging_measurement_data(_device, p_data);
- vl53l0x_clear_interrupt_mask(_device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR | VL53L0X_REG_RESULT_INTERRUPT_STATUS);
- }
-
- return Status;
-}
-
-
-int VL53L0X::stop_measurement(OperatingMode operating_mode)
-{
- int status = VL53L0X_ERROR_NONE;
-
-
- // don't need to stop for a singleshot range!
- if (operating_mode == range_single_shot_polling) {
- }
-
- if (operating_mode == range_continuous_interrupt || operating_mode == range_continuous_polling) {
- // continuous mode
- if (status == VL53L0X_ERROR_NONE) {
- printf("Call of VL53L0X_StopMeasurement\n");
- status = vl53l0x_stop_measurement(_device);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- printf("Wait Stop to be competed\n");
- status = wait_stop_completed(_device);
- }
-
- if (status == VL53L0X_ERROR_NONE)
- status = vl53l0x_clear_interrupt_mask(_device,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
- }
-
- return status;
-}
-
-
-int VL53L0X::handle_irq(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *data)
-{
- int status;
- status = get_measurement(operating_mode, data);
- enable_interrupt_measure_detection_irq();
- return status;
-}
-
-
-
-/******************************************************************************/
-
-
-
-
-
X-NUCLEO-53L1A1 Ranging Sensor Expansion Board