charles macneill
Initial release. Mbed library for VL53L1CB
Diff: src/vl53l1_hist_algos_gen3.c
- Revision:
- 0:3d72bef69191
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/src/vl53l1_hist_algos_gen3.c Fri Nov 06 12:15:24 2020 +0000
@@ -0,0 +1,852 @@
+
+/*******************************************************************************
+ This file is part of VL53L1 Protected
+
+ Copyright (c) 2020, STMicroelectronics - All Rights Reserved
+
+ License terms: STMicroelectronics Proprietary in accordance with licensing
+ terms at www.st.com/sla0081
+
+ STMicroelectronics confidential
+ Reproduction and Communication of this document is strictly prohibited unless
+ specifically authorized in writing by STMicroelectronics.
+
+*/
+
+
+
+
+#include "vl53l1_types.h"
+#include "vl53l1_platform_log.h"
+
+#include "vl53l1_core_support.h"
+#include "vl53l1_error_codes.h"
+
+#include "vl53l1_hist_core.h"
+#include "vl53l1_hist_algos_gen3.h"
+#include "vl53l1_sigma_estimate.h"
+#include "vl53l1_dmax.h"
+
+
+
+#define LOG_FUNCTION_START(fmt, ...) \
+ _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_HISTOGRAM, fmt, ##__VA_ARGS__)
+#define LOG_FUNCTION_END(status, ...) \
+ _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_HISTOGRAM, status, ##__VA_ARGS__)
+#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
+ _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_HISTOGRAM,\
+ status, fmt, ##__VA_ARGS__)
+
+#define trace_print(level, ...) \
+ _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_HISTOGRAM, \
+ level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__)
+
+
+void VL53L1_f_016(
+ VL53L1_hist_gen3_algo_private_data_t *palgo)
+{
+
+
+ uint8_t lb = 0;
+
+ palgo->VL53L1_p_023 = VL53L1_HISTOGRAM_BUFFER_SIZE;
+ palgo->VL53L1_p_022 = 0;
+ palgo->VL53L1_p_024 = 0;
+ palgo->VL53L1_p_045 = 0;
+ palgo->VL53L1_p_004 = 0;
+ palgo->VL53L1_p_032 = 0;
+
+ for (lb = palgo->VL53L1_p_022; lb < palgo->VL53L1_p_023; lb++) {
+ palgo->VL53L1_p_043[lb] = 0;
+ palgo->VL53L1_p_046[lb] = 0;
+ palgo->VL53L1_p_047[lb] = 0;
+ palgo->VL53L1_p_048[lb] = 0;
+ palgo->VL53L1_p_008[lb] = 0;
+ }
+
+ palgo->VL53L1_p_049 = 0;
+ palgo->VL53L1_p_050 = VL53L1_D_001;
+ palgo->VL53L1_p_051 = 0;
+
+
+
+ VL53L1_init_histogram_bin_data_struct(
+ 0,
+ VL53L1_HISTOGRAM_BUFFER_SIZE,
+ &(palgo->VL53L1_p_010));
+ VL53L1_init_histogram_bin_data_struct(
+ 0,
+ VL53L1_HISTOGRAM_BUFFER_SIZE,
+ &(palgo->VL53L1_p_038));
+ VL53L1_init_histogram_bin_data_struct(
+ 0,
+ VL53L1_HISTOGRAM_BUFFER_SIZE,
+ &(palgo->VL53L1_p_052));
+ VL53L1_init_histogram_bin_data_struct(
+ 0,
+ VL53L1_HISTOGRAM_BUFFER_SIZE,
+ &(palgo->VL53L1_p_053));
+ VL53L1_init_histogram_bin_data_struct(
+ 0,
+ VL53L1_HISTOGRAM_BUFFER_SIZE,
+ &(palgo->VL53L1_p_054));
+}
+
+
+
+VL53L1_Error VL53L1_f_018(
+ uint16_t ambient_threshold_events_scaler,
+ int32_t ambient_threshold_sigma,
+ int32_t min_ambient_threshold_events,
+ uint8_t algo__crosstalk_compensation_enable,
+ VL53L1_histogram_bin_data_t *pbins,
+ VL53L1_histogram_bin_data_t *pxtalk,
+ VL53L1_hist_gen3_algo_private_data_t *palgo)
+{
+
+
+
+ VL53L1_Error status = VL53L1_ERROR_NONE;
+ uint8_t lb = 0;
+ uint8_t VL53L1_p_001 = 0;
+ int64_t tmp = 0;
+ int32_t amb_events = 0;
+ int32_t VL53L1_p_008 = 0;
+ int32_t samples = 0;
+
+ LOG_FUNCTION_START("");
+
+
+ palgo->VL53L1_p_023 = pbins->VL53L1_p_023;
+ palgo->VL53L1_p_022 = pbins->VL53L1_p_022;
+ palgo->VL53L1_p_024 = pbins->VL53L1_p_024;
+ palgo->VL53L1_p_004 = pbins->VL53L1_p_004;
+
+
+
+ palgo->VL53L1_p_031 =
+ VL53L1_decode_vcsel_period(pbins->VL53L1_p_009);
+
+
+
+ tmp = (int64_t)pbins->VL53L1_p_004;
+ tmp *= (int64_t)ambient_threshold_events_scaler;
+ tmp += 2048;
+ tmp = do_division_s(tmp, 4096);
+ amb_events = (int32_t)tmp;
+
+
+
+ for (lb = 0; lb < pbins->VL53L1_p_024; lb++) {
+
+ VL53L1_p_001 = lb >> 2;
+ samples = (int32_t)pbins->bin_rep[VL53L1_p_001];
+
+ if (samples > 0) {
+
+ if (lb < pxtalk->VL53L1_p_024 &&
+ algo__crosstalk_compensation_enable > 0)
+ VL53L1_p_008 = samples * (amb_events +
+ pxtalk->bin_data[lb]);
+ else
+ VL53L1_p_008 = samples * amb_events;
+
+ VL53L1_p_008 = VL53L1_isqrt(VL53L1_p_008);
+
+ VL53L1_p_008 += (samples/2);
+ VL53L1_p_008 /= samples;
+ VL53L1_p_008 *= ambient_threshold_sigma;
+ VL53L1_p_008 += 8;
+ VL53L1_p_008 /= 16;
+ VL53L1_p_008 += amb_events;
+
+ if (VL53L1_p_008 < min_ambient_threshold_events)
+ VL53L1_p_008 = min_ambient_threshold_events;
+
+ palgo->VL53L1_p_056[lb] = VL53L1_p_008;
+ palgo->VL53L1_p_032 = VL53L1_p_008;
+ }
+
+
+
+ }
+
+
+
+ palgo->VL53L1_p_045 = 0;
+
+ for (lb = pbins->VL53L1_p_022; lb < pbins->VL53L1_p_024; lb++) {
+
+ if (pbins->bin_data[lb] > palgo->VL53L1_p_056[lb]) {
+ palgo->VL53L1_p_043[lb] = 1;
+ palgo->VL53L1_p_046[lb] = 1;
+ palgo->VL53L1_p_045++;
+ } else {
+ palgo->VL53L1_p_043[lb] = 0;
+ palgo->VL53L1_p_046[lb] = 0;
+ }
+ }
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+
+}
+
+
+
+
+VL53L1_Error VL53L1_f_019(
+ VL53L1_hist_gen3_algo_private_data_t *palgo)
+{
+
+
+
+ VL53L1_Error status = VL53L1_ERROR_NONE;
+
+ uint8_t i = 0;
+ uint8_t j = 0;
+ uint8_t found = 0;
+
+ LOG_FUNCTION_START("");
+
+ palgo->VL53L1_p_049 = 0;
+
+ for (i = 0; i < palgo->VL53L1_p_031; i++) {
+
+ j = (i + 1) % palgo->VL53L1_p_031;
+
+
+
+ if (i < palgo->VL53L1_p_024 && j < palgo->VL53L1_p_024) {
+ if (palgo->VL53L1_p_046[i] == 0 &&
+ palgo->VL53L1_p_046[j] == 1 &&
+ found == 0) {
+ palgo->VL53L1_p_049 = i;
+ found = 1;
+ }
+ }
+ }
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53L1_Error VL53L1_f_020(
+ VL53L1_hist_gen3_algo_private_data_t *palgo)
+{
+
+
+
+ VL53L1_Error status = VL53L1_ERROR_NONE;
+ uint8_t i = 0;
+ uint8_t j = 0;
+ uint8_t lb = 0;
+
+ LOG_FUNCTION_START("");
+
+ for (lb = palgo->VL53L1_p_049;
+ lb < (palgo->VL53L1_p_049 +
+ palgo->VL53L1_p_031);
+ lb++) {
+
+
+
+ i = lb % palgo->VL53L1_p_031;
+ j = (lb + 1) % palgo->VL53L1_p_031;
+
+
+
+ if (i < palgo->VL53L1_p_024 && j < palgo->VL53L1_p_024) {
+
+ if (palgo->VL53L1_p_046[i] == 0 &&
+ palgo->VL53L1_p_046[j] == 1)
+ palgo->VL53L1_p_051++;
+
+ if (palgo->VL53L1_p_046[i] > 0)
+ palgo->VL53L1_p_047[i] = palgo->VL53L1_p_051;
+ else
+ palgo->VL53L1_p_047[i] = 0;
+ }
+
+ }
+
+
+ if (palgo->VL53L1_p_051 > palgo->VL53L1_p_050)
+ palgo->VL53L1_p_051 = palgo->VL53L1_p_050;
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+
+}
+
+
+VL53L1_Error VL53L1_f_021(
+ VL53L1_hist_gen3_algo_private_data_t *palgo)
+{
+
+
+
+ VL53L1_Error status = VL53L1_ERROR_NONE;
+
+ uint8_t i = 0;
+ uint8_t j = 0;
+ uint8_t blb = 0;
+ uint8_t pulse_no = 0;
+
+ uint8_t max_filter_half_width = 0;
+
+ VL53L1_hist_pulse_data_t *pdata;
+
+ LOG_FUNCTION_START("");
+
+
+
+ max_filter_half_width = palgo->VL53L1_p_031 - 1;
+ max_filter_half_width = max_filter_half_width >> 1;
+
+ for (blb = palgo->VL53L1_p_049;
+ blb < (palgo->VL53L1_p_049 +
+ palgo->VL53L1_p_031);
+ blb++) {
+
+
+
+ i = blb % palgo->VL53L1_p_031;
+ j = (blb + 1) % palgo->VL53L1_p_031;
+
+
+
+ if (i < palgo->VL53L1_p_024 &&
+ j < palgo->VL53L1_p_024) {
+
+
+
+ if (palgo->VL53L1_p_047[i] == 0 &&
+ palgo->VL53L1_p_047[j] > 0) {
+
+ pulse_no = palgo->VL53L1_p_047[j] - 1;
+ pdata = &(palgo->VL53L1_p_002[pulse_no]);
+
+ if (pulse_no < palgo->VL53L1_p_050) {
+ pdata->VL53L1_p_015 = blb;
+ pdata->VL53L1_p_022 = blb + 1;
+ pdata->VL53L1_p_025 = 0xFF;
+ pdata->VL53L1_p_026 = 0;
+ pdata->VL53L1_p_016 = 0;
+ }
+ }
+
+
+
+ if (palgo->VL53L1_p_047[i] > 0
+ && palgo->VL53L1_p_047[j] == 0) {
+
+ pulse_no = palgo->VL53L1_p_047[i] - 1;
+ pdata = &(palgo->VL53L1_p_002[pulse_no]);
+
+ if (pulse_no < palgo->VL53L1_p_050) {
+
+ pdata->VL53L1_p_026 = blb;
+ pdata->VL53L1_p_016 = blb + 1;
+
+ pdata->VL53L1_p_027 =
+ (pdata->VL53L1_p_026 + 1) -
+ pdata->VL53L1_p_022;
+ pdata->VL53L1_p_055 =
+ (pdata->VL53L1_p_016 + 1) -
+ pdata->VL53L1_p_015;
+
+ if (pdata->VL53L1_p_055 >
+ max_filter_half_width)
+ pdata->VL53L1_p_055 =
+ max_filter_half_width;
+ }
+
+ }
+ }
+ }
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+
+}
+
+
+VL53L1_Error VL53L1_f_028(
+ VL53L1_HistTargetOrder target_order,
+ VL53L1_hist_gen3_algo_private_data_t *palgo)
+{
+
+
+
+ VL53L1_Error status = VL53L1_ERROR_NONE;
+
+ VL53L1_hist_pulse_data_t tmp;
+ VL53L1_hist_pulse_data_t *ptmp = &tmp;
+ VL53L1_hist_pulse_data_t *p0;
+ VL53L1_hist_pulse_data_t *p1;
+
+ uint8_t i = 0;
+ uint8_t swapped = 1;
+
+ LOG_FUNCTION_START("");
+
+ if (!(palgo->VL53L1_p_051 > 1))
+ goto ENDFUNC;
+
+ while (swapped > 0) {
+
+ swapped = 0;
+
+ for (i = 1; i < palgo->VL53L1_p_051; i++) {
+
+ p0 = &(palgo->VL53L1_p_002[i-1]);
+ p1 = &(palgo->VL53L1_p_002[i]);
+
+
+
+ if (target_order
+ == VL53L1_HIST_TARGET_ORDER__STRONGEST_FIRST) {
+
+ if (p0->VL53L1_p_013 <
+ p1->VL53L1_p_013) {
+
+
+
+ memcpy(ptmp,
+ p1, sizeof(VL53L1_hist_pulse_data_t));
+ memcpy(p1,
+ p0, sizeof(VL53L1_hist_pulse_data_t));
+ memcpy(p0,
+ ptmp, sizeof(VL53L1_hist_pulse_data_t));
+
+ swapped = 1;
+ }
+
+ } else {
+
+ if (p0->VL53L1_p_014 > p1->VL53L1_p_014) {
+
+
+
+ memcpy(ptmp,
+ p1, sizeof(VL53L1_hist_pulse_data_t));
+ memcpy(p1,
+ p0, sizeof(VL53L1_hist_pulse_data_t));
+ memcpy(p0,
+ ptmp, sizeof(VL53L1_hist_pulse_data_t));
+
+ swapped = 1;
+ }
+
+ }
+ }
+ }
+
+ENDFUNC:
+ LOG_FUNCTION_END(status);
+
+ return status;
+
+}
+
+
+VL53L1_Error VL53L1_f_022(
+ uint8_t pulse_no,
+ VL53L1_histogram_bin_data_t *pbins,
+ VL53L1_hist_gen3_algo_private_data_t *palgo)
+{
+
+
+ VL53L1_Error status = VL53L1_ERROR_NONE;
+
+ uint8_t i = 0;
+ uint8_t lb = 0;
+
+ VL53L1_hist_pulse_data_t *pdata = &(palgo->VL53L1_p_002[pulse_no]);
+
+ LOG_FUNCTION_START("");
+
+
+
+ pdata->VL53L1_p_021 = 0;
+ pdata->VL53L1_p_020 = 0;
+
+ for (lb = pdata->VL53L1_p_015; lb <= pdata->VL53L1_p_016; lb++) {
+ i = lb % palgo->VL53L1_p_031;
+ pdata->VL53L1_p_021 += pbins->bin_data[i];
+ pdata->VL53L1_p_020 += palgo->VL53L1_p_004;
+ }
+
+
+
+ pdata->VL53L1_p_013 =
+ pdata->VL53L1_p_021 - pdata->VL53L1_p_020;
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53L1_Error VL53L1_f_027(
+ uint8_t pulse_no,
+ uint8_t clip_events,
+ VL53L1_histogram_bin_data_t *pbins,
+ VL53L1_hist_gen3_algo_private_data_t *palgo)
+{
+
+
+ VL53L1_Error status = VL53L1_ERROR_NONE;
+
+ uint8_t i = 0;
+ int16_t VL53L1_p_015 = 0;
+ int16_t VL53L1_p_016 = 0;
+ int16_t window_width = 0;
+ uint32_t tmp_phase = 0;
+
+ VL53L1_hist_pulse_data_t *pdata = &(palgo->VL53L1_p_002[pulse_no]);
+
+ LOG_FUNCTION_START("");
+
+
+
+ i = pdata->VL53L1_p_025 % palgo->VL53L1_p_031;
+
+ VL53L1_p_015 = (int16_t)i;
+ VL53L1_p_015 += (int16_t)pdata->VL53L1_p_015;
+ VL53L1_p_015 -= (int16_t)pdata->VL53L1_p_025;
+
+ VL53L1_p_016 = (int16_t)i;
+ VL53L1_p_016 += (int16_t)pdata->VL53L1_p_016;
+ VL53L1_p_016 -= (int16_t)pdata->VL53L1_p_025;
+
+
+ window_width = VL53L1_p_016 - VL53L1_p_015;
+ if (window_width > 3)
+ window_width = 3;
+
+ status =
+ VL53L1_f_030(
+ VL53L1_p_015,
+ VL53L1_p_015 + window_width,
+ palgo->VL53L1_p_031,
+ clip_events,
+ pbins,
+ &(pdata->VL53L1_p_028));
+
+
+ if (status == VL53L1_ERROR_NONE)
+ status =
+ VL53L1_f_030(
+ VL53L1_p_016 - window_width,
+ VL53L1_p_016,
+ palgo->VL53L1_p_031,
+ clip_events,
+ pbins,
+ &(pdata->VL53L1_p_029));
+
+
+ if (pdata->VL53L1_p_028 > pdata->VL53L1_p_029) {
+ tmp_phase = pdata->VL53L1_p_028;
+ pdata->VL53L1_p_028 = pdata->VL53L1_p_029;
+ pdata->VL53L1_p_029 = tmp_phase;
+ }
+
+
+ if (pdata->VL53L1_p_014 < pdata->VL53L1_p_028)
+ pdata->VL53L1_p_028 = pdata->VL53L1_p_014;
+
+
+ if (pdata->VL53L1_p_014 > pdata->VL53L1_p_029)
+ pdata->VL53L1_p_029 = pdata->VL53L1_p_014;
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53L1_Error VL53L1_f_030(
+ int16_t VL53L1_p_022,
+ int16_t VL53L1_p_026,
+ uint8_t VL53L1_p_031,
+ uint8_t clip_events,
+ VL53L1_histogram_bin_data_t *pbins,
+ uint32_t *pphase)
+{
+
+
+ VL53L1_Error status = VL53L1_ERROR_NONE;
+
+ int16_t i = 0;
+ int16_t lb = 0;
+
+ int64_t VL53L1_p_008 = 0;
+ int64_t event_sum = 0;
+ int64_t weighted_sum = 0;
+
+ LOG_FUNCTION_START("");
+
+ *pphase = VL53L1_MAX_ALLOWED_PHASE;
+
+ for (lb = VL53L1_p_022; lb <= VL53L1_p_026; lb++) {
+
+
+ if (lb < 0)
+ i = lb + (int16_t)VL53L1_p_031;
+ else
+ i = lb % (int16_t)VL53L1_p_031;
+
+ VL53L1_p_008 =
+ (int64_t)pbins->bin_data[i] -
+ (int64_t)pbins->VL53L1_p_004;
+
+
+ if (clip_events > 0 && VL53L1_p_008 < 0)
+ VL53L1_p_008 = 0;
+
+ event_sum += VL53L1_p_008;
+
+ weighted_sum +=
+ (VL53L1_p_008 * (1024 + (2048*(int64_t)lb)));
+
+ trace_print(
+ VL53L1_TRACE_LEVEL_INFO,
+ "\tb = %5d : i = %5d : VL53L1_p_008 = %8d,",
+ lb, i, VL53L1_p_008);
+
+ trace_print(
+ VL53L1_TRACE_LEVEL_INFO,
+ " event_sum = %8d, weighted_sum = %8d\n",
+ event_sum, weighted_sum);
+ }
+
+ if (event_sum > 0) {
+
+ weighted_sum += do_division_s(event_sum, 2);
+ weighted_sum = do_division_s(weighted_sum, event_sum);
+
+ if (weighted_sum < 0)
+ weighted_sum = 0;
+
+ *pphase = (uint32_t)weighted_sum;
+ }
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53L1_Error VL53L1_f_023(
+ uint8_t pulse_no,
+ VL53L1_histogram_bin_data_t *pbins,
+ VL53L1_hist_gen3_algo_private_data_t *palgo,
+ int32_t pad_value,
+ VL53L1_histogram_bin_data_t *ppulse)
+{
+
+
+
+ VL53L1_Error status = VL53L1_ERROR_NONE;
+
+ uint8_t i = 0;
+ uint8_t lb = 0;
+
+ VL53L1_hist_pulse_data_t *pdata = &(palgo->VL53L1_p_002[pulse_no]);
+
+ LOG_FUNCTION_START("");
+
+
+
+ memcpy(ppulse, pbins, sizeof(VL53L1_histogram_bin_data_t));
+
+
+
+ for (lb = palgo->VL53L1_p_049;
+ lb < (palgo->VL53L1_p_049 +
+ palgo->VL53L1_p_031);
+ lb++) {
+
+ if (lb < pdata->VL53L1_p_015 || lb > pdata->VL53L1_p_016) {
+ i = lb % palgo->VL53L1_p_031;
+ if (i < ppulse->VL53L1_p_024)
+ ppulse->bin_data[i] = pad_value;
+ }
+ }
+
+ LOG_FUNCTION_END(status);
+
+ return status;
+}
+
+
+VL53L1_Error VL53L1_f_026(
+ uint8_t bin,
+ uint8_t sigma_estimator__sigma_ref_mm,
+ uint8_t VL53L1_p_031,
+ uint8_t VL53L1_p_055,
+ uint8_t crosstalk_compensation_enable,
+ VL53L1_histogram_bin_data_t *phist_data_ap,
+ VL53L1_histogram_bin_data_t *phist_data_zp,
+ VL53L1_histogram_bin_data_t *pxtalk_hist,
+ uint16_t *psigma_est)
+{
+
+
+ VL53L1_Error status = VL53L1_ERROR_NONE;
+ VL53L1_Error func_status = VL53L1_ERROR_NONE;
+
+ uint8_t i = 0;
+ int32_t VL53L1_p_003 = 0;
+ int32_t VL53L1_p_018 = 0;
+ int32_t VL53L1_p_001 = 0;
+ int32_t a_zp = 0;
+ int32_t c_zp = 0;
+ int32_t ax = 0;
+ int32_t bx = 0;
+ int32_t cx = 0;
+
+
+
+ i = bin % VL53L1_p_031;
+
+
+
+ VL53L1_f_013(
+ i,
+ VL53L1_p_055,
+ phist_data_zp,
+ &a_zp,
+ &VL53L1_p_018,
+ &c_zp);
+
+
+
+ VL53L1_f_013(
+ i,
+ VL53L1_p_055,
+ phist_data_ap,
+ &VL53L1_p_003,
+ &VL53L1_p_018,
+ &VL53L1_p_001);
+
+ if (crosstalk_compensation_enable > 0)
+ VL53L1_f_013(
+ i,
+ VL53L1_p_055,
+ pxtalk_hist,
+ &ax,
+ &bx,
+ &cx);
+
+
+
+
+
+
+
+ func_status =
+ VL53L1_f_014(
+ sigma_estimator__sigma_ref_mm,
+ (uint32_t)VL53L1_p_003,
+ (uint32_t)VL53L1_p_018,
+ (uint32_t)VL53L1_p_001,
+ (uint32_t)a_zp,
+ (uint32_t)c_zp,
+ (uint32_t)bx,
+ (uint32_t)ax,
+ (uint32_t)cx,
+ (uint32_t)phist_data_ap->VL53L1_p_004,
+ phist_data_ap->VL53L1_p_019,
+ psigma_est);
+
+
+
+
+ if (func_status == VL53L1_ERROR_DIVISION_BY_ZERO)
+ *psigma_est = 0xFFFF;
+
+
+ return status;
+}
+
+
+void VL53L1_f_029(
+ uint8_t range_id,
+ uint8_t valid_phase_low,
+ uint8_t valid_phase_high,
+ uint16_t sigma_thres,
+ VL53L1_histogram_bin_data_t *pbins,
+ VL53L1_hist_pulse_data_t *ppulse,
+ VL53L1_range_data_t *pdata)
+{
+
+ uint16_t lower_phase_limit = 0;
+ uint16_t upper_phase_limit = 0;
+
+
+
+ pdata->range_id = range_id;
+ pdata->time_stamp = 0;
+
+ pdata->VL53L1_p_015 = ppulse->VL53L1_p_015;
+ pdata->VL53L1_p_022 = ppulse->VL53L1_p_022;
+ pdata->VL53L1_p_025 = ppulse->VL53L1_p_025;
+ pdata->VL53L1_p_026 = ppulse->VL53L1_p_026;
+ pdata->VL53L1_p_016 = ppulse->VL53L1_p_016;
+ pdata->VL53L1_p_027 = ppulse->VL53L1_p_027;
+
+
+
+ pdata->VL53L1_p_030 =
+ (ppulse->VL53L1_p_016 + 1) - ppulse->VL53L1_p_015;
+
+
+
+ pdata->zero_distance_phase = pbins->zero_distance_phase;
+ pdata->VL53L1_p_005 = ppulse->VL53L1_p_005;
+ pdata->VL53L1_p_028 = (uint16_t)ppulse->VL53L1_p_028;
+ pdata->VL53L1_p_014 = (uint16_t)ppulse->VL53L1_p_014;
+ pdata->VL53L1_p_029 = (uint16_t)ppulse->VL53L1_p_029;
+ pdata->VL53L1_p_021 = (uint32_t)ppulse->VL53L1_p_021;
+ pdata->VL53L1_p_013 = ppulse->VL53L1_p_013;
+ pdata->VL53L1_p_020 = (uint32_t)ppulse->VL53L1_p_020;
+ pdata->total_periods_elapsed = pbins->total_periods_elapsed;
+
+
+
+ pdata->range_status = VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK;
+
+
+ if (sigma_thres > 0 &&
+ (uint32_t)ppulse->VL53L1_p_005 > ((uint32_t)sigma_thres << 5))
+ pdata->range_status = VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK;
+
+
+
+ lower_phase_limit = (uint8_t)valid_phase_low << 8;
+ if (lower_phase_limit < pdata->zero_distance_phase)
+ lower_phase_limit =
+ pdata->zero_distance_phase -
+ lower_phase_limit;
+ else
+ lower_phase_limit = 0;
+
+ upper_phase_limit = (uint8_t)valid_phase_high << 8;
+ upper_phase_limit += pbins->zero_distance_phase;
+
+ if (pdata->VL53L1_p_014 < lower_phase_limit ||
+ pdata->VL53L1_p_014 > upper_phase_limit)
+ pdata->range_status = VL53L1_DEVICEERROR_RANGEPHASECHECK;
+
+}
+
+
+