John Alexander
/
VL53L3ExpansionBoard
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Revision 0:293607457a02, committed 2020-10-16
- Comitter:
- charlesmn
- Date:
- Fri Oct 16 15:04:28 2020 +0000
- Child:
- 1:2a34d7bcf28c
- Commit message:
- Change typo in name
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Display/Display.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,415 @@
+/**
+ ******************************************************************************
+ * @file Display.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Header file for display
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+#ifndef __DISPLAY_H
+#define __DISPLAY_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "Stmpe1600.h"
+#include "DevI2C.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * GPIO monitor pin state register
+ * 16 bit register LSB at lowest offset (little endian)
+ */
+#define GPMR 0x10
+/**
+ * STMPE1600 GPIO set pin state register
+ * 16 bit register LSB at lowest offset (little endian)
+ */
+#define GPSR 0x12
+/**
+ * STMPE1600 GPIO set pin direction register
+ * 16 bit register LSB at lowest offset
+ */
+#define GPDR 0x14
+
+
+/**
+ * cache the full set of expanded GPIO values to avoid i2c reading
+ */
+static union CurIOVal_u {
+ uint8_t bytes[4]; /*!< 4 bytes array i/o view */
+ uint32_t u32; /*!< single dword i/o view */
+}
+/** cache the extended IO values */
+cur_io_val;
+
+/**
+ * lookup table for digit to bit position
+ */
+static int display_bit_posn[4] = {0, 7, 16, 16 + 7};
+
+/**
+ * @defgroup XNUCLEO53L0A1_7Segment 7 segment display
+ *
+ * macro use for human readable segment building
+ * @code
+ * --s0--
+ * s s
+ * 5 1
+ * --s6--
+ * s s
+ * 4 2
+ * --s3-- . s7 (dp)
+ * @endcode
+ *
+ * @{
+ */
+/** decimal point bit mapping* */
+#define DP (1 << 7)
+
+/** sgement s0 bit mapping*/
+#define S0 (1 << 3)
+/** sgement s1 bit mapping*/
+#define S1 (1 << 5)
+/** sgement s2 bit mapping*/
+#define S2 (1 << 6)
+/** sgement s3 bit mapping*/
+#define S3 (1 << 4)
+/** sgement s4 bit mapping*/
+#define S4 (1 << 0)
+/** sgement s5 bit mapping*/
+#define S5 (1 << 1)
+/** sgement s6 bit mapping*/
+#define S6 (1 << 2)
+
+/**
+ * build a character by defining the non lighted segment (not one and no DP)
+ *
+ * @param ... literal sum and or combine of any macro to define any segment #S0 .. #S6
+ *
+ * example '9' is all segment on but S4
+ * @code
+ * ['9']= NOT_7_NO_DP(S4),
+ * @endcode
+ */
+#define NOT_7_NO_DP( ... ) (uint8_t) ~( __VA_ARGS__ + DP )
+
+/**
+ * Ascii to 7 segment lookup table
+ *
+ * Most common character are supported and follow http://www.twyman.org.uk/Fonts/
+ * few extra special \@ ^~ ... etc are present for specific demo purpose
+ */
+#ifndef __cpluplus
+/* refer to http://www.twyman.org.uk/Fonts/ */
+static const uint8_t ascii_to_display_lut[256] = {
+ 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0,
+ [32] = 0,
+ 0, 0, 0, 0, 0, 0, 0, 0,
+ 0,
+ [42] = NOT_7_NO_DP(),
+ 0, 0,
+ [45] = S6,
+ 0, 0,
+ [48] = NOT_7_NO_DP(S6),
+ [49] = S1 + S2,
+ [50] = S0 + S1 + S6 + S4 + S3,
+ [51] = NOT_7_NO_DP(S4 + S5),
+ [52] = S5 + S1 + S6 + S2,
+ [53] = NOT_7_NO_DP(S1 + S4),
+ [54] = NOT_7_NO_DP(S1),
+ [55] = S0 + S1 + S2,
+ [56] = NOT_7_NO_DP(0),
+ [57] = NOT_7_NO_DP(S4),
+ 0, 0, 0,
+ [61] = S3 + S6,
+ 0,
+ [63] = NOT_7_NO_DP(S5 + S3 + S2),
+ [64] = S0 + S3,
+ [65] = NOT_7_NO_DP(S3),
+ [66] = NOT_7_NO_DP(S0 + S1), /* as b */
+ [67] = S0 + S3 + S4 + S5, // same as [
+ [68] = S0 + S3 + S4 + S5, // same as [ DUMMY
+ [69] = NOT_7_NO_DP(S1 + S2),
+ [70] = S6 + S5 + S4 + S0,
+ [71] = NOT_7_NO_DP(S4), /* same as 9 */
+ [72] = NOT_7_NO_DP(S0 + S3),
+ [73] = S1 + S2,
+ [74] = S1 + S2 + S3 + S4,
+ [75] = NOT_7_NO_DP(S0 + S3), /* same as H */
+ [76] = S3 + S4 + S5,
+ [77] = S0 + S4 + S2, /* same as m*/
+ [78] = S2 + S4 + S6, /* same as n*/
+ [79] = NOT_7_NO_DP(S6),
+ [80] = S0 + S1 + S2 + S5 + S6, // sames as 'q'
+ [81] = NOT_7_NO_DP(S3 + S2),
+ [82] = S4 + S6,
+ [83] = NOT_7_NO_DP(S1 + S4), /* sasme as 5 */
+ [84] = NOT_7_NO_DP(S0 + S1 + S2), /* sasme as t */
+ [85] = NOT_7_NO_DP(S6 + S0),
+ [86] = S4 + S3 + S2, // is u but u use U
+ [87] = S1 + S3 + S5,
+ [88] = NOT_7_NO_DP(S0 + S3), // similar to H
+ [89] = NOT_7_NO_DP(S0 + S4),
+ [90] = S0 + S1 + S6 + S4 + S3, // same as 2
+ [91] = S0 + S3 + S4 + S5,
+ 0,
+ [93] = S0 + S3 + S2 + S1,
+ [94] = S0, /* use as top bar */
+ [95] = S3,
+ 0,
+ [97] = S2 + S3 + S4 + S6,
+ [98] = NOT_7_NO_DP(S0 + S1),
+ [99] = S6 + S4 + S3,
+ [100] = NOT_7_NO_DP(S0 + S5),
+ [101] = NOT_7_NO_DP(S2),
+ [102] = S6 + S5 + S4 + S0, /* same as F */
+ [103] = NOT_7_NO_DP(S4), /* same as 9 */
+ [104] = S6 + S5 + S4 + S2,
+ [105] = S4,
+ [106] = S1 + S2 + S3 + S4,
+ [107] = S6 + S5 + S4 + S2, /* a h */
+ [108] = S3 + S4,
+ [109] = S0 + S4 + S2, /* same as */
+ [110] = S2 + S4 + S6,
+ [111] = S6 + S4 + S3 + S2,
+ [112] = NOT_7_NO_DP(S3 + S2), // same as P
+ [113] = S0 + S1 + S2 + S5 + S6,
+ [114] = S4 + S6,
+ [115] = NOT_7_NO_DP(S1 + S4),
+ [116] = NOT_7_NO_DP(S0 + S1 + S2),
+ [117] = S4 + S3 + S2 + S5 + S1, // U
+ [118] = S4 + S3 + S2, // is u but u use U
+ [119] = S1 + S3 + S5,
+ [120] = NOT_7_NO_DP(S0 + S3), // similar to H
+ [121] = NOT_7_NO_DP(S0 + S4),
+ [122] = S0 + S1 + S6 + S4 + S3, // same as 2
+ 0, 0, 0,
+ [126] = S0 + S3 + S6 /* 3 h bar */
+};
+#else
+/* refer to http://www.twyman.org.uk/Fonts/ */
+static const uint8_t ascii_to_display_lut[256] = {
+ [' '] = 0,
+ ['-'] = S6,
+ ['_'] = S3,
+ ['='] = S3 + S6,
+ ['~'] = S0 + S3 + S6, /* 3 h bar */
+ ['^'] = S0, /* use as top bar */
+
+ ['?'] = NOT_7_NO_DP(S5 + S3 + S2),
+ ['*'] = NOT_7_NO_DP(),
+ ['['] = S0 + S3 + S4 + S5,
+ [']'] = S0 + S3 + S2 + S1,
+ ['@'] = S0 + S3,
+
+ ['0'] = NOT_7_NO_DP(S6),
+ ['1'] = S1 + S2,
+ ['2'] = S0 + S1 + S6 + S4 + S3,
+ ['3'] = NOT_7_NO_DP(S4 + S5),
+ ['4'] = S5 + S1 + S6 + S2,
+ ['5'] = NOT_7_NO_DP(S1 + S4),
+ ['6'] = NOT_7_NO_DP(S1),
+ ['7'] = S0 + S1 + S2,
+ ['8'] = NOT_7_NO_DP(0),
+ ['9'] = NOT_7_NO_DP(S4),
+
+ ['a'] = S2 + S3 + S4 + S6,
+ ['b'] = NOT_7_NO_DP(S0 + S1),
+ ['c'] = S6 + S4 + S3,
+ ['d'] = NOT_7_NO_DP(S0 + S5),
+ ['e'] = NOT_7_NO_DP(S2),
+ ['f'] = S6 + S5 + S4 + S0, /* same as F */
+ ['g'] = NOT_7_NO_DP(S4), /* same as 9 */
+ ['h'] = S6 + S5 + S4 + S2,
+ ['i'] = S4,
+ ['j'] = S1 + S2 + S3 + S4,
+ ['k'] = S6 + S5 + S4 + S2, /* a h */
+ ['l'] = S3 + S4,
+ ['m'] = S0 + S4 + S2, /* same as */
+ ['n'] = S2 + S4 + S6,
+ ['o'] = S6 + S4 + S3 + S2,
+ ['p'] = NOT_7_NO_DP(S3 + S2), // same as P
+ ['q'] = S0 + S1 + S2 + S5 + S6,
+ ['r'] = S4 + S6,
+ ['s'] = NOT_7_NO_DP(S1 + S4),
+ ['t'] = NOT_7_NO_DP(S0 + S1 + S2),
+ ['u'] = S4 + S3 + S2 + S5 + S1, // U
+ ['v'] = S4 + S3 + S2, // is u but u use U
+ ['w'] = S1 + S3 + S5,
+ ['x'] = NOT_7_NO_DP(S0 + S3), // similar to H
+ ['y'] = NOT_7_NO_DP(S0 + S4),
+ ['z'] = S0 + S1 + S6 + S4 + S3, // same as 2
+
+ ['A'] = NOT_7_NO_DP(S3),
+ ['B'] = NOT_7_NO_DP(S0 + S1), /* as b */
+ ['C'] = S0 + S3 + S4 + S5, // same as [
+ ['E'] = NOT_7_NO_DP(S1 + S2),
+ ['F'] = S6 + S5 + S4 + S0,
+ ['G'] = NOT_7_NO_DP(S4), /* same as 9 */
+ ['H'] = NOT_7_NO_DP(S0 + S3),
+ ['I'] = S1 + S2,
+ ['J'] = S1 + S2 + S3 + S4,
+ ['K'] = NOT_7_NO_DP(S0 + S3), /* same as H */
+ ['L'] = S3 + S4 + S5,
+ ['M'] = S0 + S4 + S2, /* same as m*/
+ ['N'] = S2 + S4 + S6, /* same as n*/
+ ['O'] = NOT_7_NO_DP(S6),
+ ['P'] = S0 + S1 + S2 + S5 + S6, // sames as 'q'
+ ['Q'] = NOT_7_NO_DP(S3 + S2),
+ ['R'] = S4 + S6,
+ ['S'] = NOT_7_NO_DP(S1 + S4), /* sasme as 5 */
+ ['T'] = NOT_7_NO_DP(S0 + S1 + S2), /* sasme as t */
+ ['U'] = NOT_7_NO_DP(S6 + S0),
+ ['V'] = S4 + S3 + S2, // is u but u use U
+ ['W'] = S1 + S3 + S5,
+ ['X'] = NOT_7_NO_DP(S0 + S3), // similar to H
+ ['Y'] = NOT_7_NO_DP(S0 + S4),
+ ['Z'] = S0 + S1 + S6 + S4 + S3 // same as 2
+};
+#endif
+
+
+#undef S0
+#undef S1
+#undef S2
+#undef S3
+#undef S4
+#undef S5
+#undef S6
+#undef DP
+
+/** @} */
+
+//#define DISPLAY_DELAY 1 // in mSec
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing Display
+ */
+
+class Display
+{
+private:
+ Stmpe1600 *stmpe1600_exp0;
+ Stmpe1600 *stmpe1600_exp1;
+public:
+ /** Constructor
+ * @param[in] &stmpe_1600 device handler to be used for display control
+ */
+//<<<<<<< local
+ Display(Stmpe1600 *stmpe_1600_exp0, Stmpe1600 *stmpe_1600_exp1) : stmpe1600_exp0(stmpe_1600_exp0),
+ stmpe1600_exp1(stmpe_1600_exp1)
+//=======
+// Display(Stmpe1600 &stmpe_1600_exp0, Stmpe1600 &stmpe_1600_exp1) : stmpe1600_exp0(&stmpe_1600_exp0),
+// stmpe1600_exp1(&stmpe_1600_exp1)
+//>>>>>>> other
+ {
+ uint16_t expander_data;
+
+ // detect the extenders
+ stmpe1600_exp0->read_16bit_reg(0x00, &expander_data);
+// if (ExpanderData != 0x1600) {/* log - failed to find expander exp0 */ }
+ stmpe1600_exp1->read_16bit_reg(0x00, &expander_data);
+// if (ExpanderData != 0x1600) {/* log - failed to find expander exp1 */ }
+
+ // configure all necessary GPIO pins as outputs
+ expander_data = 0xFFFF;
+ stmpe1600_exp0->write_16bit_reg(GPDR, &expander_data);
+ expander_data = 0xBFFF; // leave bit 14 as an input, for the pushbutton, PB1.
+ stmpe1600_exp1->write_16bit_reg(GPDR, &expander_data);
+
+ // shut down all segment and all device
+ expander_data = 0x7F + (0x7F << 7);
+ stmpe1600_exp0->write_16bit_reg(GPSR, &expander_data);
+ stmpe1600_exp1->write_16bit_reg(GPSR, &expander_data);
+ }
+
+ /*** Interface Methods ***/
+ /**
+ * @brief Print the string on display
+ * @param[in] String to be printed
+ * @param[in] String lenght [min 1, max 4]
+ * @return void
+ */
+ void display_string(const char *str)
+ {
+ uint16_t expander_data;
+ uint32_t segments;
+ int bit_posn;
+ int i;
+
+ for (i = 0; (i < 4 && str[i] != 0); i++) {
+ segments = (uint32_t) ascii_to_display_lut[(uint8_t) str[i]];
+ segments = (~segments) & 0x7F;
+ bit_posn = display_bit_posn[i];
+ cur_io_val.u32 &= ~(0x7F << bit_posn);
+ cur_io_val.u32 |= segments << bit_posn;
+ }
+ /* clear unused digit */
+ for (; i < 4; i++) {
+ bit_posn = display_bit_posn[i];
+ cur_io_val.u32 |= 0x7F << bit_posn;
+ }
+
+// stmpe1600_exp0.write16bitReg(GPSR, (uint16_t *)&CurIOVal.bytes[0]);
+// stmpe1600_exp1.write16bitReg(GPSR, (uint16_t *)&CurIOVal.bytes[2]);
+
+// ordered low-byte/high-byte!
+ cur_io_val.bytes[1] |= 0xC0; // ensure highest bits are high, as these are xshutdown pins for left & right sensors!
+ expander_data = (cur_io_val.bytes[1] << 8) + cur_io_val.bytes[0];
+ stmpe1600_exp0->write_16bit_reg(GPSR, &expander_data);
+ cur_io_val.bytes[3] |= 0x80; // ensure highest bit is high, as this is xshutdown pin on central sensor!
+ expander_data = (cur_io_val.bytes[3] << 8) + cur_io_val.bytes[2];
+ stmpe1600_exp1->write_16bit_reg(GPSR, &expander_data);
+
+ }
+
+ void clear_display(void)
+ {
+ uint16_t expander_data;
+
+ expander_data = 0x7F + (0x7F << 7);
+ stmpe1600_exp0->write_16bit_reg(GPSR, &expander_data);
+ stmpe1600_exp1->write_16bit_reg(GPSR, &expander_data);
+ }
+
+};
+
+#ifdef __cplusplus
+}
+#endif
+#endif // __DISPLAY_H
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/ST_INTERFACES/Actuators/BDCMotor.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,162 @@
+/**
+ ******************************************************************************
+ * @file BDCMotor.h
+ * @author IPC Rennes
+ * @version V1.0.0
+ * @date April 6th, 2016
+ * @brief This file contains the abstract class describing the interface of a
+ * Brush DC motor component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __BDCMOTOR_CLASS_H
+#define __BDCMOTOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for BDCMotor components.
+ */
+class BDCMotor : public Component {
+public:
+
+ /**
+ * @brief Rotation modes.
+ */
+ typedef enum {
+ BWD = 0, /* Backward. */
+ FWD = 1 /* Forward. */
+ } direction_t;
+
+ /**
+ * @brief Disabling the specified bridge.
+ * @param bridgeId from 0 for bridge A to 1 for bridge B.
+ * @retval None.
+ */
+ virtual void disable_bridge(unsigned int) = 0;
+
+ /**
+ * @brief Enabling the specified bridge.
+ * @param bridgeId from 0 for bridge A to 1 for bridge B
+ * @retval None.
+ */
+ virtual void enable_bridge(unsigned int) = 0;
+
+ /**
+ * @brief Getting the PWM frequency of the specified bridge;
+ * @param bridgeId from 0 for bridge A to 1 for bridge B.
+ * @retval The frequency in Hz of the specified bridge input PWM.
+ */
+ virtual unsigned int get_bridge_input_pwm_freq(unsigned int) = 0;
+
+ /**
+ * @brief Getting the bridge status.
+ * @param bridgeId from 0 for bridge A to 1 for bridge B.
+ * @retval The status.
+ */
+ virtual unsigned int get_bridge_status(unsigned int) = 0;
+
+ /**
+ * @brief Getting the device State.
+ * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
+ * @retval The device state
+ */
+ virtual unsigned int get_device_state(unsigned int) = 0;
+
+ /**
+ * @brief Getting the current speed in % of the specified motor.
+ * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
+ * @retval The current speed in %.
+ */
+ virtual unsigned int get_speed(unsigned int) = 0;
+
+ /**
+ * @brief Stopping the motor and disabling the power bridge immediately.
+ * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
+ * @retval None.
+ */
+ virtual void hard_hiz(unsigned int) = 0;
+
+ /**
+ * @brief Stopping the motor immediately.
+ * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
+ * @retval None.
+ */
+ virtual void hard_stop(unsigned int) = 0;
+
+ /**
+ * @brief Running the motor.
+ * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
+ virtual void run(unsigned int, direction_t) = 0;
+
+ /**
+ * @brief Setting the PWM frequency of the specified bridge.
+ * @param bridgeId from 0 for bridge A to 1 for bridge B.
+ * @param frequency of the PWM in Hz
+ * @retval None.
+ */
+ virtual void set_bridge_input_pwm_freq(unsigned int, unsigned int) = 0;
+
+ /**
+ * @brief Setting the dual bridge configuration mode.
+ * @param configuration. The bridge configuration.
+ * @retval None.
+ */
+ virtual void set_dual_full_bridge_config(unsigned int) = 0;
+
+ /**
+ * @brief Setting the speed in %.
+ * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
+ * @param speed The new speed in %.
+ * @retval "true" in case of success, "false" otherwise.
+ */
+ virtual bool set_speed(unsigned int, unsigned int) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~BDCMotor() {};
+};
+
+#endif /* __BDCMOTOR_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/ST_INTERFACES/Actuators/StepperMotor.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,275 @@
+/**
+ ******************************************************************************
+ * @file StepperMotor.h
+ * @author Davide Aliprandi, STMicroelectronics
+ * @version V1.1.0
+ * @date April 6th, 2016
+ * @brief This file contains the abstract class describing the interface of a
+ * stepper-motor component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __STEPPERMOTOR_CLASS_H
+#define __STEPPERMOTOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for StepperMotor components.
+ */
+class StepperMotor : public Component {
+public:
+
+ /**
+ * @brief Rotation modes.
+ */
+ typedef enum {
+ BWD = 0, /* Backward. */
+ FWD = 1 /* Forward. */
+ } direction_t;
+
+ /**
+ * @brief Step modes.
+ */
+ typedef enum {
+ STEP_MODE_FULL = 0, /* Full-step. */
+ STEP_MODE_HALF, /* Half-step. */
+ STEP_MODE_1_4, /* 1/4 microstep. */
+ STEP_MODE_1_8, /* 1/8 microstep. */
+ STEP_MODE_1_16, /* 1/16 microstep. */
+ STEP_MODE_1_32, /* 1/32 microstep. */
+ STEP_MODE_1_64, /* 1/64 microstep. */
+ STEP_MODE_1_128, /* 1/128 microstep. */
+ STEP_MODE_1_256, /* 1/256 microstep. */
+ STEP_MODE_UNKNOWN, /* Unknown. */
+ STEP_MODE_WAVE /* Full-step one-phase-on. */
+ } step_mode_t;
+
+ /**
+ * @brief Getting the status.
+ * @param None.
+ * @retval The status.
+ */
+ virtual unsigned int get_status(void) = 0;
+
+ /**
+ * @brief Getting the position.
+ * @param None.
+ * @retval The position.
+ */
+ virtual signed int get_position(void) = 0;
+
+ /**
+ * @brief Getting the marked position.
+ * @param None.
+ * @retval The marked position.
+ */
+ virtual signed int get_mark(void) = 0;
+
+ /**
+ * @brief Getting the current speed in pps.
+ * @param None.
+ * @retval The current speed in pps.
+ */
+ virtual unsigned int get_speed(void) = 0;
+
+ /**
+ * @brief Getting the maximum speed in pps.
+ * @param None.
+ * @retval The maximum speed in pps.
+ */
+ virtual unsigned int get_max_speed(void) = 0;
+
+ /**
+ * @brief Getting the minimum speed in pps.
+ * @param None.
+ * @retval The minimum speed in pps.
+ */
+ virtual unsigned int get_min_speed(void) = 0;
+
+ /**
+ * @brief Getting the acceleration in pps^2.
+ * @param None.
+ * @retval The acceleration in pps^2.
+ */
+ virtual unsigned int get_acceleration(void) = 0;
+
+ /**
+ * @brief Getting the deceleration in pps^2.
+ * @param None.
+ * @retval The deceleration in pps^2.
+ */
+ virtual unsigned int get_deceleration(void) = 0;
+
+ /**
+ * @brief Getting the direction of rotation.
+ * @param None.
+ * @retval The direction of rotation.
+ */
+ virtual direction_t get_direction(void) = 0;
+
+ /**
+ * @brief Setting the current position to be the home position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void set_home(void) = 0;
+
+ /**
+ * @brief Setting the current position to be the marked position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void set_mark(void) = 0;
+
+ /**
+ * @brief Setting the maximum speed in pps.
+ * @param speed The maximum speed in pps.
+ * @retval "true" in case of success, "false" otherwise.
+ */
+ virtual bool set_max_speed(unsigned int speed) = 0;
+
+ /**
+ * @brief Setting the minimum speed in pps.
+ * @param speed The minimum speed in pps.
+ * @retval "true" in case of success, "false" otherwise.
+ */
+ virtual bool set_min_speed(unsigned int speed) = 0;
+
+ /**
+ * @brief Setting the acceleration in pps^2.
+ * @param acceleration The acceleration in pps^2.
+ * @retval "true" in case of success, "false" otherwise.
+ */
+ virtual bool set_acceleration(unsigned int acceleration) = 0;
+
+ /**
+ * @brief Setting the deceleration in pps^2.
+ * @param deceleration The deceleration in pps^2.
+ * @retval "true" in case of success, "false" otherwise.
+ */
+ virtual bool set_deceleration(unsigned int deceleration) = 0;
+
+ /**
+ * @brief Setting the Step Mode.
+ * @param step_mode The Step Mode.
+ * @retval "true" in case of success, "false" otherwise.
+ */
+ virtual bool set_step_mode(step_mode_t step_mode) = 0;
+
+ /**
+ * @brief Going to a specified position.
+ * @param position The desired position.
+ * @retval None.
+ */
+ virtual void go_to(signed int position) = 0;
+
+ /**
+ * @brief Going to the home position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void go_home(void) = 0;
+
+ /**
+ * @brief Going to the marked position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void go_mark(void) = 0;
+
+ /**
+ * @brief Running the motor towards a specified direction.
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
+ virtual void run(direction_t direction) = 0;
+
+ /**
+ * @brief Moving the motor towards a specified direction for a certain number of steps.
+ * @param direction The direction of rotation.
+ * @param steps The desired number of steps.
+ * @retval None.
+ */
+ virtual void move(direction_t direction, unsigned int steps) = 0;
+
+ /**
+ * @brief Stopping the motor through an immediate deceleration up to zero speed.
+ * @param None.
+ * @retval None.
+ */
+ virtual void soft_stop(void) = 0;
+
+ /**
+ * @brief Stopping the motor through an immediate infinite deceleration.
+ * @param None.
+ * @retval None.
+ */
+ virtual void hard_stop(void) = 0;
+
+ /**
+ * @brief Disabling the power bridge after performing a deceleration to zero.
+ * @param None.
+ * @retval None.
+ */
+ virtual void soft_hiz(void) = 0;
+
+ /**
+ * @brief Disabling the power bridge immediately.
+ * @param None.
+ * @retval None.
+ */
+ virtual void hard_hiz(void) = 0;
+
+ /**
+ * @brief Waiting while the motor is active.
+ * @param None.
+ * @retval None.
+ */
+ virtual void wait_while_active(void) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~StepperMotor() {};
+};
+
+#endif /* __STEPPERMOTOR_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/ST_INTERFACES/Common/Component.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,81 @@
+/**
+ ******************************************************************************
+ * @file Component.h
+ * @author AST
+ * @version V1.0.0
+ * @date April 13th, 2015
+ * @brief This file contains the abstract class describing the interface of a
+ * generic component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __COMPONENT_CLASS_H
+#define __COMPONENT_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <stdint.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for Generic components.
+ */
+class Component {
+public:
+
+ /**
+ * @brief Initializing the component.
+ * @param[in] init pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int init(void *init) = 0;
+
+ /**
+ * @brief Getting the ID of the component.
+ * @param[out] id pointer to an allocated variable to store the ID into.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int read_id(uint8_t *id) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~Component() {};
+};
+
+#endif /* __COMPONENT_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/ST_INTERFACES/Communications/Nfc.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,92 @@
+/**
+ ******************************************************************************
+ * @file Nfc.h
+ * @author ST Central Labs
+ * @version V1.0.0
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing the interface of a
+ * nfc component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with Stm32CubeTOO -----------------------------------------------*/
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __NFC_CLASS_H
+#define __NFC_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+typedef enum {
+ NFC_SUCCESS = 0,
+} NFC_t;
+/* Error codes are in component driver */
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for Nfc components.
+ */
+class Nfc : public Component {
+public:
+
+ /**
+ * Read data from the tag.
+ * @param offset Read offset.
+ * @param nb_bytes_to_read Number of bytes to read.
+ * @param[out] p_buffer_read Buffer to store the read data into.
+ * @return NFC_SUCCESS if no errors
+ */
+ virtual int read_binary(uint16_t offset, uint8_t nb_bytes_to_read, uint8_t *p_buffer_read) = 0;
+
+ /**
+ * Write data to the tag.
+ * @param offset Write offset.
+ * @param nb_bytes_to_write Number of bytes to write.
+ * @param p_buffer_write Buffer to write.
+ * @return NFC_SUCCESS if no errors
+ */
+ virtual int update_binary(uint16_t offset, uint8_t nb_bytes_to_write, uint8_t *p_buffer_write) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~Nfc() {};
+};
+
+#endif /* __NFC_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/ST_INTERFACES/Sensors/GyroSensor.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,126 @@
+/**
+ ******************************************************************************
+ * @file GyroSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a gyroscope
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __GYRO_SENSOR_CLASS_H
+#define __GYRO_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for a Gyroscope
+ */
+class GyroSensor : public Component {
+public:
+
+ /**
+ * @brief Get current gyroscope angular rate X/Y/Z-axes values
+ * in standard data units [mdps]
+ * @param[out] p_data Pointer to where to store angular rates to.
+ * p_data must point to an array of (at least) three elements, where:
+ * p_data[0] corresponds to X-axis,
+ * p_data[1] corresponds to Y-axis, and
+ * p_data[2] corresponds to Z-axis.
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_g_axes(int32_t *p_data) = 0;
+
+ /**
+ * @brief Get current gyroscope raw data X/Y/Z-axes values
+ * in device sepcific LSB units
+ * @param[out] p_data Pointer to where to store gyroscope raw data to.
+ * p_data must point to an array of (at least) three elements, where:
+ * p_data[0] corresponds to X-axis,
+ * p_data[1] corresponds to Y-axis, and
+ * p_data[2] corresponds to Z-axis.
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_g_axes_raw(int16_t *p_data) = 0;
+
+ /**
+ * @brief Get gyroscope's current sensitivity [mdps/LSB]
+ * @param[out] pf_data Pointer to where the gyroscope's sensitivity is stored to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_g_sensitivity(float *pf_data) = 0;
+
+ /**
+ * @brief Get gyroscope's current output data rate [Hz]
+ * @param[out] pf_data Pointer to where the gyroscope output data rate is stored to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_g_odr(float *pf_data) = 0;
+
+ /**
+ * @brief Set gyroscope's output data rate
+ * @param[in] odr New value for gyroscope's output data rate in [Hz]
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int set_g_odr(float odr) = 0;
+
+ /**
+ * @brief Get gyroscope's full scale value
+ * i.e.\ min/max measurable value [dps]
+ * @param[out] pf_data Pointer to where the gyroscope full scale value is stored to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_g_fs(float *pf_data) = 0;
+
+ /**
+ * @brief Set gyroscope's full scale value
+ * i.e.\ min/max measurable value
+ * @param[in] fs New full scale value for gyroscope in [dps]
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int set_g_fs(float fs) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~GyroSensor() {};
+};
+
+#endif /* __GYRO_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/ST_INTERFACES/Sensors/HumiditySensor.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,72 @@
+/**
+ ******************************************************************************
+ * @file HumiditySensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a humidity sensor
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __HUMIDITY_SENSOR_CLASS_H
+#define __HUMIDITY_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for Humidity sensors
+ */
+class HumiditySensor : public Component {
+public:
+
+ /**
+ * @brief Get current humidity [%]
+ * @param[out] pf_data Pointer to where to store humidity to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_humidity(float *pf_data) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~HumiditySensor() {};
+};
+
+#endif /* __HUMIDITY_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/ST_INTERFACES/Sensors/LightSensor.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,72 @@
+/**
+ ******************************************************************************
+ * @file LightSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of an ambient light sensor (ALS)
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __LIGHT_SENSOR_CLASS_H
+#define __LIGHT_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for ambient light sensors
+ */
+class LightSensor : public Component {
+public:
+
+ /**
+ * @brief Get current light [lux]
+ * @param[out] pi_data Pointer to where to store light to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_lux(uint32_t *pi_data) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~LightSensor() {};
+};
+
+#endif /* __LIGHT_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/ST_INTERFACES/Sensors/MagneticSensor.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,89 @@
+/**
+ ******************************************************************************
+ * @file MagneticSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a magnetometer
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __MAGNETIC_SENSOR_CLASS_H
+#define __MAGNETIC_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for a magnetometer
+ */
+class MagneticSensor : public Component {
+public:
+
+ /**
+ * @brief Get current magnetometer magnetic X/Y/Z-axes values
+ * in standard data units [mgauss]
+ * @param[out] p_data Pointer to where to store magnetic values to.
+ * p_data must point to an array of (at least) three elements, where:
+ * p_data[0] corresponds to X-axis,
+ * p_data[1] corresponds to Y-axis, and
+ * p_data[2] corresponds to Z-axis.
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_m_axes(int32_t *p_data) = 0;
+
+ /**
+ * @brief Get current magnetometer raw data X/Y/Z-axes values
+ * in device sepcific LSB units
+ * @param[out] p_data Pointer to where to store magnetometer raw data to.
+ * p_data must point to an array of (at least) three elements, where:
+ * p_data[0] corresponds to X-axis,
+ * p_data[1] corresponds to Y-axis, and
+ * p_data[2] corresponds to Z-axis.
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_m_axes_raw(int16_t *p_data) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~MagneticSensor() {};
+};
+
+#endif /* __MAGNETIC_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/ST_INTERFACES/Sensors/MotionSensor.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,126 @@
+/**
+ ******************************************************************************
+ * @file MotionSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of an accelerometer
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __MOTION_SENSOR_CLASS_H
+#define __MOTION_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for an Accelerometer
+ */
+class MotionSensor : public Component {
+public:
+
+ /**
+ * @brief Get current accelerometer linear acceleration X/Y/Z-axes values
+ * in standard data units [mg]
+ * @param[out] p_data Pointer to where to store linear accelerations to.
+ * p_data must point to an array of (at least) three elements, where:
+ * p_data[0] corresponds to X-axis,
+ * p_data[1] corresponds to Y-axis, and
+ * p_data[2] corresponds to Z-axis.
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_x_axes(int32_t *p_data) = 0;
+
+ /**
+ * @brief Get current accelerometer raw data X/Y/Z-axes values
+ * in device sepcific LSB units
+ * @param[out] p_data Pointer to where to store accelerometer raw data to.
+ * p_data must point to an array of (at least) three elements, where:
+ * p_data[0] corresponds to X-axis,
+ * p_data[1] corresponds to Y-axis, and
+ * p_data[2] corresponds to Z-axis.
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_x_axes_raw(int16_t *p_data) = 0;
+
+ /**
+ * @brief Get accelerometer's current sensitivity [mg/LSB]
+ * @param[out] pf_data Pointer to where the accelerometer's sensitivity is stored to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_x_sensitivity(float *pf_data) = 0;
+
+ /**
+ * @brief Get accelerometer's current output data rate [Hz]
+ * @param[out] pf_data Pointer to where the accelerometer output data rate is stored to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_x_odr(float *pf_data) = 0;
+
+ /**
+ * @brief Set accelerometer's output data rate
+ * @param[in] odr New value for accelerometer's output data rate in [Hz]
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int set_x_odr(float odr) = 0;
+
+ /**
+ * @brief Get accelerometer's full scale value
+ * i.e.\ min/max measurable value [g]
+ * @param[out] pf_data Pointer to where the accelerometer full scale value is stored to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_x_fs(float *pf_data) = 0;
+
+ /**
+ * @brief Set accelerometer's full scale value
+ * i.e.\ min/max measurable value
+ * @param[in] fs New full scale value for accelerometer in [g]
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int set_x_fs(float fs) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~MotionSensor() {};
+};
+
+#endif /* __MOTION_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/ST_INTERFACES/Sensors/PressureSensor.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,72 @@
+/**
+ ******************************************************************************
+ * @file PressureSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a pressure sensor
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __PRESSURE_SENSOR_CLASS_H
+#define __PRESSURE_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for a Pressure Sensor
+ */
+class PressureSensor : public Component {
+public:
+
+ /**
+ * @brief Get current pressure [mbar]
+ * @param[out] pf_data Pointer to where to store pressure to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_pressure(float *pf_data) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~PressureSensor() {};
+};
+
+#endif /* __PRESSURE_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/ST_INTERFACES/Sensors/RangeSensor.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,72 @@
+/**
+ ******************************************************************************
+ * @file RangeSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a range sensor
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __RANGE_SENSOR_CLASS_H
+#define __RANGE_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for range sensors
+ */
+class RangeSensor : public Component {
+public:
+
+ /**
+ * @brief Get current range [mm]
+ * @param[out] pi_data Pointer to where to store range to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_distance(uint32_t *pi_data) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~RangeSensor() {};
+};
+
+#endif /* __RANGE_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/ST_INTERFACES/Sensors/TempSensor.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,91 @@
+/**
+ ******************************************************************************
+ * @file TempSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a temperature sensor
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __TEMP_SENSOR_CLASS_H
+#define __TEMP_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for Temperature sensors
+ */
+class TempSensor : public Component {
+public:
+
+ /**
+ * @brief Get current temperature in degrees Celsius [°C]
+ * @param[out] pf_data Pointer to where to store temperature to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_temperature(float *pf_data) = 0;
+
+ /**
+ * @brief Get current temperature in degrees Fahrenheit [°F]
+ * @param[out] pf_data Pointer to where to store temperature to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_fahrenheit(float *pf_data) {
+ float celsius;
+ int ret;
+
+ ret = get_temperature(&celsius);
+ if (ret) {
+ return ret;
+ }
+
+ *pf_data = ((celsius * 1.8f) + 32.0f);
+
+ return 0;
+ }
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~TempSensor() {};
+};
+
+#endif /* __TEMP_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L3/VL53L3SRC/vl53lx_class.cpp Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,28530 @@
+/**
+ ******************************************************************************
+ * @file vl53l3x_class.cpp
+ * @author IMG
+ * @version V0.0.1
+ * @date 14-December-2018
+ * @brief Implementation file for the VL53LX driver class
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2018 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 "mbed.h"
+
+#include "pinmap.h"
+//#include "Arduino.h"
+#include "vl53lx_class.h"
+#include "vl53L1x_I2c.h"
+
+#define TEMP_BUF_SIZE 80
+
+
+/* Write and read functions from I2C */
+
+VL53LX_Error VL53LX::VL53LX_WriteMulti(VL53LX_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count)
+{
+ int status;
+
+ status = VL53LX_I2CWrite(Dev->I2cDevAddr, index, pdata, (uint16_t)count);
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_ReadMulti(VL53LX_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count)
+{
+ int status;
+
+ status = VL53LX_I2CRead(Dev->I2cDevAddr, index, pdata, (uint16_t)count);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_WrByte(VL53LX_DEV Dev, uint16_t index, uint8_t data)
+{
+ int status;
+ status = VL53LX_I2CWrite(Dev->I2cDevAddr, index, &data, 1);
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_WrWord(VL53LX_DEV Dev, uint16_t index, uint16_t data)
+{
+ int status;
+ uint8_t buffer[2];
+
+ buffer[0] = data >> 8;
+ buffer[1] = data & 0x00FF;
+ status = VL53LX_I2CWrite(Dev->I2cDevAddr, index, (uint8_t *)buffer, 2);
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_WrDWord(VL53LX_DEV Dev, uint16_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 = VL53LX_I2CWrite(Dev->I2cDevAddr, index, (uint8_t *)buffer, 4);
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_RdByte(VL53LX_DEV Dev, uint16_t index, uint8_t *data)
+{
+ int status;
+
+ status = VL53LX_I2CRead(Dev->I2cDevAddr, index, data, 1);
+
+ if (status) {
+ printf("VL53LX_RdByte fail %d %d %d \n",Dev->I2cDevAddr,index,status);
+ return -1;
+ }
+
+ return 0;
+}
+
+VL53LX_Error VL53LX::VL53LX_RdWord(VL53LX_DEV Dev, uint16_t index, uint16_t *data)
+{
+ int status;
+ uint8_t buffer[2] = {0, 0};
+
+ status = VL53LX_I2CRead(Dev->I2cDevAddr, index, buffer, 2);
+ if (!status) {
+ *data = (buffer[0] << 8) + buffer[1];
+ }
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_RdDWord(VL53LX_DEV Dev, uint16_t index, uint32_t *data)
+{
+ int status;
+ uint8_t buffer[4] = {0, 0, 0, 0};
+
+ status = VL53LX_I2CRead(Dev->I2cDevAddr, index, buffer, 4);
+ if (!status) {
+ *data = ((uint32_t)buffer[0] << 24) + ((uint32_t)buffer[1] << 16) + ((uint32_t)buffer[2] << 8) + (uint32_t)buffer[3];
+ }
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_UpdateByte(VL53LX_DEV Dev, uint16_t index, uint8_t AndData, uint8_t OrData)
+{
+ int status;
+ uint8_t buffer = 0;
+
+ /* read data direct onto buffer */
+ status = VL53LX_I2CRead(Dev->I2cDevAddr, index, &buffer, 1);
+ if (!status) {
+ buffer = (buffer & AndData) | OrData;
+ status = VL53LX_I2CWrite(Dev->I2cDevAddr, index, &buffer, (uint16_t)1);
+ }
+ return status;
+}
+/*
+
+VL53LX_Error VL53LX::VL53LX_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToWrite) {
+ int ret;
+ uint8_t tmp[TEMP_BUF_SIZE];
+
+ if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
+
+ // First, send device address. Then, send data and STOP condition
+ tmp[0] = RegisterAddr >> 8;
+ tmp[1] = RegisterAddr & 0x0FF;
+ memcpy(tmp+2, pBuffer, NumByteToWrite);
+
+ ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+2, false);
+
+ if(ret) return -1;
+ return 0;
+}
+*/
+
+
+VL53LX_Error VL53LX::VL53LX_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToWrite)
+{
+
+ return i2c_inst->v53l1x_i2c_write(pBuffer,DeviceAddr,RegisterAddr,NumByteToWrite);
+ /*
+#ifdef DEBUG_MODE
+ Serial.print("Beginning transmission to ");
+ Serial.println(((DeviceAddr) >> 1) & 0x7F);
+#endif
+ dev_i2c->beginTransmission(((uint8_t)(((DeviceAddr) >> 1) & 0x7F)));
+#ifdef DEBUG_MODE
+ Serial.print("Writing port number ");
+ Serial.println(RegisterAddr);
+#endif
+
+ uint8_t buffer[2];
+ buffer[0] = (uint8_t)(RegisterAddr >> 8);
+ buffer[1] = (uint8_t)(RegisterAddr & 0xFF);
+ dev_i2c->write(buffer, 2);
+ for (uint16_t i = 0 ; i < NumByteToWrite ; i++) {
+ dev_i2c->write(pBuffer[i]);
+ }
+
+ dev_i2c->endTransmission(true);
+ */
+ //return 0;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToRead)
+{
+
+ return i2c_inst->v53l1x_i2c_read(pBuffer,DeviceAddr,RegisterAddr,NumByteToRead);
+ /*
+ int status = 0;
+ //Loop until the port is transmitted correctly
+ do {
+#ifdef DEBUG_MODE
+ Serial.print("Beginning transmission to ");
+ Serial.println(((DeviceAddr) >> 1) & 0x7F);
+#endif
+ dev_i2c->beginTransmission(((uint8_t)(((DeviceAddr) >> 1) & 0x7F)));
+#ifdef DEBUG_MODE
+ Serial.print("Writing port number ");
+ Serial.println(RegisterAddr);
+#endif
+ uint8_t buffer[2];
+ buffer[0] = (uint8_t)(RegisterAddr >> 8);
+ buffer[1] = (uint8_t)(RegisterAddr & 0xFF);
+ dev_i2c->write(buffer, 2);
+ status = dev_i2c->endTransmission(false);
+ //Fix for some STM32 boards
+ //Reinitialize th i2c bus with the default parameters
+#ifdef ARDUINO_ARCH_STM32
+ if (status) {
+ dev_i2c->end();
+ dev_i2c->begin();
+ }
+#endif
+ //End of fix
+ } while (status != 0);
+
+ dev_i2c->requestFrom(((uint8_t)(((DeviceAddr) >> 1) & 0x7F)), (byte) NumByteToRead);
+
+ int i = 0;
+ while (dev_i2c->available()) {
+ pBuffer[i] = dev_i2c->read();
+ i++;
+ }
+*/
+// return 0;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_GetTickCount(
+ uint32_t *ptick_count_ms)
+{
+
+ /* Returns current tick count in [ms] */
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ *ptick_count_ms = us_ticker_read() / 1000;
+ // *ptick_count_ms = 0;
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_WaitUs(VL53LX_Dev_t *pdev, int32_t wait_num_us)
+{
+ (void)pdev;
+ //delay(wait_us / 1000);
+ wait_ms(wait_num_us/1000);
+ return VL53LX_ERROR_NONE;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_WaitMs(VL53LX_Dev_t *pdev, int32_t wait_num_ms)
+{
+ (void)pdev;
+ wait_ms(wait_num_ms);
+ return VL53LX_ERROR_NONE;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_WaitValueMaskEx(
+ VL53LX_Dev_t *pdev,
+ uint32_t timeout_ms,
+ uint16_t index,
+ uint8_t value,
+ uint8_t mask,
+ uint32_t poll_delay_ms)
+{
+
+ /*
+ * Platform implementation of WaitValueMaskEx V2WReg script command
+ *
+ * WaitValueMaskEx(
+ * duration_ms,
+ * index,
+ * value,
+ * mask,
+ * poll_delay_ms);
+ */
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint32_t start_time_ms = 0;
+ uint32_t current_time_ms = 0;
+ uint32_t polling_time_ms = 0;
+ uint8_t byte_value = 0;
+ uint8_t found = 0;
+
+
+
+ /* calculate time limit in absolute time */
+
+ VL53LX_GetTickCount(&start_time_ms);
+
+ /* remember current trace functions and temporarily disable
+ * function logging
+ */
+
+
+ /* wait until value is found, timeout reached on error occurred */
+
+ while ((status == VL53LX_ERROR_NONE) &&
+ (polling_time_ms < timeout_ms) &&
+ (found == 0)) {
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_RdByte(
+ pdev,
+ index,
+ &byte_value);
+
+
+ if ((byte_value & mask) == value) {
+ found = 1;
+ }
+
+ if (status == VL53LX_ERROR_NONE &&
+ found == 0 &&
+ poll_delay_ms > 0)
+ status = VL53LX_WaitMs(
+ pdev,
+ poll_delay_ms);
+
+ /* Update polling time (Compare difference rather than absolute to
+ negate 32bit wrap around issue) */
+ VL53LX_GetTickCount(¤t_time_ms);
+ polling_time_ms = current_time_ms - start_time_ms;
+
+ }
+
+
+ if (found == 0 && status == VL53LX_ERROR_NONE) {
+ status = VL53LX_ERROR_TIME_OUT;
+ }
+
+ return status;
+}
+
+
+
+/* vl53lx_api_core.c */
+VL53LX_Error VL53LX::select_offset_per_vcsel(VL53LX_LLDriverData_t *pdev, int16_t *poffset)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ int16_t tA, tB;
+ uint8_t isc;
+
+ switch (pdev->preset_mode) {
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE:
+ tA = pdev->per_vcsel_cal_data.short_a_offset_mm;
+ tB = pdev->per_vcsel_cal_data.short_b_offset_mm;
+ break;
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE:
+ tA = pdev->per_vcsel_cal_data.medium_a_offset_mm;
+ tB = pdev->per_vcsel_cal_data.medium_b_offset_mm;
+ break;
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE:
+ tA = pdev->per_vcsel_cal_data.long_a_offset_mm;
+ tB = pdev->per_vcsel_cal_data.long_b_offset_mm;
+ break;
+ default:
+ tA = pdev->per_vcsel_cal_data.long_a_offset_mm;
+ tB = pdev->per_vcsel_cal_data.long_b_offset_mm;
+ status = VL53LX_ERROR_INVALID_PARAMS;
+ *poffset = 0;
+ break;
+ }
+
+ isc = pdev->ll_state.cfg_internal_stream_count;
+ if (status == VL53LX_ERROR_NONE) {
+ *poffset = (isc & 0x01) ? tA : tB;
+ }
+
+ return status;
+}
+
+
+void VL53LX::vl53lx_diff_histo_stddev(VL53LX_LLDriverData_t *pdev, VL53LX_histogram_bin_data_t *pdata, uint8_t timing, uint8_t HighIndex, uint8_t prev_pos, int32_t *pdiff_histo_stddev)
+{
+ uint16_t bin = 0;
+ int32_t total_rate_pre = 0;
+ int32_t total_rate_cur = 0;
+ int32_t PrevBin, CurrBin;
+
+ total_rate_pre = 0;
+ total_rate_cur = 0;
+
+
+ for (bin = timing * 4; bin < HighIndex; bin++) {
+ total_rate_pre +=
+ pdev->multi_bins_rec[prev_pos][timing][bin];
+ total_rate_cur += pdata->bin_data[bin];
+ }
+
+ if ((total_rate_pre != 0) && (total_rate_cur != 0))
+ for (bin = timing * 4; bin < HighIndex; bin++) {
+ PrevBin = pdev->multi_bins_rec[prev_pos][timing][bin];
+ PrevBin = (PrevBin * 1000) / total_rate_pre;
+ CurrBin = pdata->bin_data[bin] * 1000 / total_rate_cur;
+ *pdiff_histo_stddev += (PrevBin - CurrBin) *
+ (PrevBin - CurrBin);
+ }
+}
+
+
+void VL53LX::vl53lx_histo_merge(VL53LX_histogram_bin_data_t *pdata)
+{
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ uint16_t bin = 0;
+ uint8_t i = 0;
+ int32_t TuningBinRecSize = 0;
+ uint8_t recom_been_reset = 0;
+ uint8_t timing = 0;
+ int32_t rmt = 0;
+ int32_t diff_histo_stddev = 0;
+ uint8_t HighIndex, prev_pos;
+ uint8_t BuffSize = VL53LX_HISTOGRAM_BUFFER_SIZE;
+ uint8_t pos;
+
+ VL53LX_get_tuning_parm(VL53LX_TUNINGPARM_HIST_MERGE_MAX_SIZE,
+ &TuningBinRecSize);
+
+ VL53LX_get_tuning_parm(VL53LX_TUNINGPARM_RESET_MERGE_THRESHOLD,
+ &rmt);
+
+
+ if (pdev->pos_before_next_recom == 0) {
+
+ timing = 1 - pdata->result__stream_count % 2;
+
+ diff_histo_stddev = 0;
+ HighIndex = BuffSize - timing * 4;
+ if (pdev->bin_rec_pos > 0) {
+ prev_pos = pdev->bin_rec_pos - 1;
+ } else {
+ prev_pos = (TuningBinRecSize - 1);
+ }
+
+ if (pdev->multi_bins_rec[prev_pos][timing][4] > 0)
+ vl53lx_diff_histo_stddev(pdev, pdata,
+ timing, HighIndex, prev_pos,
+ &diff_histo_stddev);
+
+ if (diff_histo_stddev >= rmt) {
+ memset(pdev->multi_bins_rec, 0,
+ sizeof(pdev->multi_bins_rec));
+ pdev->bin_rec_pos = 0;
+
+ recom_been_reset = 1;
+
+ if (timing == 0)
+ pdev->pos_before_next_recom =
+ VL53LX_FRAME_WAIT_EVENT;
+ else
+ pdev->pos_before_next_recom =
+ VL53LX_FRAME_WAIT_EVENT + 1;
+ } else {
+
+ pos = pdev->bin_rec_pos;
+ for (i = 0; i < BuffSize; i++)
+ pdev->multi_bins_rec[pos][timing][i] =
+ pdata->bin_data[i];
+ }
+
+ if (pdev->bin_rec_pos == (TuningBinRecSize - 1) && timing == 1) {
+ pdev->bin_rec_pos = 0;
+ } else if (timing == 1) {
+ pdev->bin_rec_pos++;
+ }
+
+ if (!((recom_been_reset == 1) && (timing == 0)) &&
+ (pdev->pos_before_next_recom == 0)) {
+
+ for (bin = 0; bin < BuffSize; bin++) {
+ pdata->bin_data[bin] = 0;
+ }
+
+ for (bin = 0; bin < BuffSize; bin++)
+ for (i = 0; i < TuningBinRecSize; i++)
+ pdata->bin_data[bin] +=
+ (pdev->multi_bins_rec[i][timing][bin]);
+ }
+ } else {
+
+ pdev->pos_before_next_recom--;
+ if (pdev->pos_before_next_recom == 255) {
+ pdev->pos_before_next_recom = 0;
+ }
+ }
+}
+
+VL53LX_Error VL53LX::VL53LX_load_patch()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ int32_t patch_tuning = 0;
+ uint8_t comms_buffer[256];
+ uint32_t patch_power;
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WrByte(Dev,
+ VL53LX_FIRMWARE__ENABLE, 0x00);
+
+ if (status == VL53LX_ERROR_NONE) {
+ VL53LX_enable_powerforce();
+ }
+
+ VL53LX_get_tuning_parm(VL53LX_TUNINGPARM_PHASECAL_PATCH_POWER,
+ &patch_tuning);
+
+ switch (patch_tuning) {
+ case 0:
+ patch_power = 0x00;
+ break;
+ case 1:
+ patch_power = 0x10;
+ break;
+ case 2:
+ patch_power = 0x20;
+ break;
+ case 3:
+ patch_power = 0x40;
+ break;
+ default:
+ patch_power = 0x00;
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ comms_buffer[0] = 0x29;
+ comms_buffer[1] = 0xC9;
+ comms_buffer[2] = 0x0E;
+ comms_buffer[3] = 0x40;
+ comms_buffer[4] = 0x28;
+ comms_buffer[5] = patch_power;
+
+ status = VL53LX_WriteMulti(Dev,
+ VL53LX_PATCH__OFFSET_0, comms_buffer, 6);
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ comms_buffer[0] = 0x03;
+ comms_buffer[1] = 0x6D;
+ comms_buffer[2] = 0x03;
+ comms_buffer[3] = 0x6F;
+ comms_buffer[4] = 0x07;
+ comms_buffer[5] = 0x29;
+ status = VL53LX_WriteMulti(Dev,
+ VL53LX_PATCH__ADDRESS_0, comms_buffer, 6);
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ comms_buffer[0] = 0x00;
+ comms_buffer[1] = 0x07;
+ status = VL53LX_WriteMulti(Dev, VL53LX_PATCH__JMP_ENABLES, comms_buffer, 2);
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ comms_buffer[0] = 0x00;
+ comms_buffer[1] = 0x07;
+ status = VL53LX_WriteMulti(Dev,
+ VL53LX_PATCH__DATA_ENABLES, comms_buffer, 2);
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WrByte(Dev,
+ VL53LX_PATCH__CTRL, 0x01);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WrByte(Dev,
+ VL53LX_FIRMWARE__ENABLE, 0x01);
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX:: VL53LX_unload_patch()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_WrByte(Dev, VL53LX_FIRMWARE__ENABLE, 0x00);
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ VL53LX_disable_powerforce();
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_WrByte(Dev, VL53LX_PATCH__CTRL, 0x00);
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_WrByte(Dev, VL53LX_FIRMWARE__ENABLE, 0x01);
+ }
+
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_version(VL53LX_ll_version_t *pdata)
+{
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ VL53LX_init_version();
+
+ memcpy(pdata, &(pdev->version), sizeof(VL53LX_ll_version_t));
+
+ return VL53LX_ERROR_NONE;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_device_firmware_version(uint16_t *pfw_version)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_RdWord(
+ Dev,
+ VL53LX_MCU_GENERAL_PURPOSE__GP_0,
+ pfw_version);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_data_init(uint8_t read_p2p_data)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_LLDriverResults_t *pres =
+ VL53LXDevStructGetLLResultsHandle(Dev);
+
+
+
+ VL53LX_zone_objects_t *pobjects;
+
+ uint8_t i = 0;
+
+ VL53LX_init_ll_driver_state(VL53LX_DEVICESTATE_UNKNOWN);
+
+ pres->range_results.max_results = VL53LX_MAX_RANGE_RESULTS;
+ pres->range_results.active_results = 0;
+ pres->zone_results.max_zones = VL53LX_MAX_USER_ZONES;
+ pres->zone_results.active_zones = 0;
+
+ for (i = 0; i < VL53LX_MAX_USER_ZONES; i++) {
+ pobjects = &(pres->zone_results.VL53LX_p_003[i]);
+ pobjects->xmonitor.VL53LX_p_016 = 0;
+ pobjects->xmonitor.VL53LX_p_017 = 0;
+ pobjects->xmonitor.VL53LX_p_011 = 0;
+ pobjects->xmonitor.range_status =
+ VL53LX_DEVICEERROR_NOUPDATE;
+ }
+
+
+
+ pres->zone_hists.max_zones = VL53LX_MAX_USER_ZONES;
+ pres->zone_hists.active_zones = 0;
+
+
+
+ pres->zone_cal.max_zones = VL53LX_MAX_USER_ZONES;
+ pres->zone_cal.active_zones = 0;
+ for (i = 0; i < VL53LX_MAX_USER_ZONES; i++) {
+ pres->zone_cal.VL53LX_p_003[i].no_of_samples = 0;
+ pres->zone_cal.VL53LX_p_003[i].effective_spads = 0;
+ pres->zone_cal.VL53LX_p_003[i].peak_rate_mcps = 0;
+ pres->zone_cal.VL53LX_p_003[i].median_range_mm = 0;
+ pres->zone_cal.VL53LX_p_003[i].range_mm_offset = 0;
+ }
+
+ pdev->wait_method = VL53LX_WAIT_METHOD_BLOCKING;
+ pdev->preset_mode = VL53LX_DEVICEPRESETMODE_STANDARD_RANGING;
+ pdev->zone_preset = VL53LX_DEVICEZONEPRESET_NONE;
+ pdev->measurement_mode = VL53LX_DEVICEMEASUREMENTMODE_STOP;
+
+ pdev->offset_calibration_mode =
+ VL53LX_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD;
+ pdev->offset_correction_mode =
+ VL53LX_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS;
+ pdev->dmax_mode =
+ VL53LX_DEVICEDMAXMODE__FMT_CAL_DATA;
+
+ pdev->phasecal_config_timeout_us = 1000;
+ pdev->mm_config_timeout_us = 2000;
+ pdev->range_config_timeout_us = 13000;
+ pdev->inter_measurement_period_ms = 100;
+ pdev->dss_config__target_total_rate_mcps = 0x0A00;
+ pdev->debug_mode = 0x00;
+
+ pdev->offset_results.max_results = VL53LX_MAX_OFFSET_RANGE_RESULTS;
+ pdev->offset_results.active_results = 0;
+
+
+
+ pdev->gain_cal.standard_ranging_gain_factor =
+ VL53LX_TUNINGPARM_LITE_RANGING_GAIN_FACTOR_DEFAULT;
+ pdev->gain_cal.histogram_ranging_gain_factor =
+ VL53LX_TUNINGPARM_HIST_GAIN_FACTOR_DEFAULT;
+
+
+ VL53LX_init_version();
+
+
+ memset(pdev->multi_bins_rec, 0, sizeof(pdev->multi_bins_rec));
+ pdev->bin_rec_pos = 0;
+ pdev->pos_before_next_recom = 0;
+
+
+
+ if (read_p2p_data > 0 && status == VL53LX_ERROR_NONE) {
+ status = VL53LX_read_p2p_data();
+ }
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_init_refspadchar_config_struct(
+ &(pdev->refspadchar));
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_init_ssc_config_struct(
+ &(pdev->ssc_cfg));
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_init_xtalk_config_struct(
+ &(pdev->customer),
+ &(pdev->xtalk_cfg));
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_init_xtalk_extract_config_struct(
+ &(pdev->xtalk_extract_cfg));
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_init_offset_cal_config_struct(
+ &(pdev->offsetcal_cfg));
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_init_zone_cal_config_struct(
+ &(pdev->zonecal_cfg));
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_init_hist_post_process_config_struct(
+ pdev->xtalk_cfg.global_crosstalk_compensation_enable,
+ &(pdev->histpostprocess));
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_init_hist_gen3_dmax_config_struct(
+ &(pdev->dmax_cfg));
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_init_tuning_parm_storage_struct(
+ &(pdev->tuning_parms));
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_set_preset_mode(
+ pdev->preset_mode,
+ pdev->dss_config__target_total_rate_mcps,
+ pdev->phasecal_config_timeout_us,
+ pdev->mm_config_timeout_us,
+ pdev->range_config_timeout_us,
+ pdev->inter_measurement_period_ms);
+
+
+ VL53LX_init_histogram_bin_data_struct(
+ 0,
+ VL53LX_HISTOGRAM_BUFFER_SIZE,
+ &(pdev->hist_data));
+
+ VL53LX_init_histogram_bin_data_struct(
+ 0,
+ VL53LX_HISTOGRAM_BUFFER_SIZE,
+ &(pdev->hist_xtalk));
+
+
+ VL53LX_init_xtalk_bin_data_struct(
+ 0,
+ VL53LX_XTALK_HISTO_BINS,
+ &(pdev->xtalk_shapes.xtalk_shape));
+
+
+
+ VL53LX_xtalk_cal_data_init();
+
+
+
+ VL53LX_dynamic_xtalk_correction_data_init();
+
+
+
+ VL53LX_low_power_auto_data_init();
+ /*
+ #ifdef VL53LX_LOG_ENABLE
+
+
+
+ VL53LX_print_static_nvm_managed(
+ &(pdev->stat_nvm),
+ "data_init():pdev->lldata.stat_nvm.",
+ VL53LX_TRACE_MODULE_DATA_INIT);
+
+ VL53LX_print_customer_nvm_managed(
+ &(pdev->customer),
+ "data_init():pdev->lldata.customer.",
+ VL53LX_TRACE_MODULE_DATA_INIT);
+
+ VL53LX_print_nvm_copy_data(
+ &(pdev->nvm_copy_data),
+ "data_init():pdev->lldata.nvm_copy_data.",
+ VL53LX_TRACE_MODULE_DATA_INIT);
+
+ VL53LX_print_dmax_calibration_data(
+ &(pdev->fmt_dmax_cal),
+ "data_init():pdev->lldata.fmt_dmax_cal.",
+ VL53LX_TRACE_MODULE_DATA_INIT);
+
+ VL53LX_print_dmax_calibration_data(
+ &(pdev->cust_dmax_cal),
+ "data_init():pdev->lldata.cust_dmax_cal.",
+ VL53LX_TRACE_MODULE_DATA_INIT);
+
+ VL53LX_print_additional_offset_cal_data(
+ &(pdev->add_off_cal_data),
+ "data_init():pdev->lldata.add_off_cal_data.",
+ VL53LX_TRACE_MODULE_DATA_INIT);
+
+ VL53LX_print_user_zone(
+ &(pdev->mm_roi),
+ "data_init():pdev->lldata.mm_roi.",
+ VL53LX_TRACE_MODULE_DATA_INIT);
+
+ VL53LX_print_optical_centre(
+ &(pdev->optical_centre),
+ "data_init():pdev->lldata.optical_centre.",
+ VL53LX_TRACE_MODULE_DATA_INIT);
+
+ VL53LX_print_cal_peak_rate_map(
+ &(pdev->cal_peak_rate_map),
+ "data_init():pdev->lldata.cal_peak_rate_map.",
+ VL53LX_TRACE_MODULE_DATA_INIT);
+
+ #endif
+
+ LOG_FUNCTION_END(status);
+ */
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_read_p2p_data()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_hist_post_process_config_t *pHP = &(pdev->histpostprocess);
+ VL53LX_customer_nvm_managed_t *pN = &(pdev->customer);
+ VL53LX_additional_offset_cal_data_t *pCD = &(pdev->add_off_cal_data);
+
+ VL53LX_decoded_nvm_fmt_range_data_t fmt_rrd;
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_get_static_nvm_managed(&(pdev->stat_nvm));
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_get_customer_nvm_managed(&(pdev->customer));
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ status = VL53LX_get_nvm_copy_data(&(pdev->nvm_copy_data));
+
+
+ if (status == VL53LX_ERROR_NONE)
+ VL53LX_copy_rtn_good_spads_to_buffer(
+ &(pdev->nvm_copy_data),
+ &(pdev->rtn_good_spads[0]));
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ pHP->algo__crosstalk_compensation_plane_offset_kcps =
+ pN->algo__crosstalk_compensation_plane_offset_kcps;
+ pHP->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pN->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pHP->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pN->algo__crosstalk_compensation_y_plane_gradient_kcps;
+ }
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_read_nvm_optical_centre(&(pdev->optical_centre));
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_read_nvm_cal_peak_rate_map(&(pdev->cal_peak_rate_map));
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ status =
+ VL53LX_read_nvm_additional_offset_cal_data(&(pdev->add_off_cal_data));
+
+
+
+ if (pCD->result__mm_inner_peak_signal_count_rtn_mcps == 0 &&
+ pCD->result__mm_outer_peak_signal_count_rtn_mcps == 0) {
+
+ pCD->result__mm_inner_peak_signal_count_rtn_mcps
+ = 0x0080;
+ pCD->result__mm_outer_peak_signal_count_rtn_mcps
+ = 0x0180;
+
+
+
+ VL53LX_calc_mm_effective_spads(
+ pdev->nvm_copy_data.roi_config__mode_roi_centre_spad,
+ pdev->nvm_copy_data.roi_config__mode_roi_xy_size,
+ 0xC7,
+ 0xFF,
+ &(pdev->rtn_good_spads[0]),
+ VL53LX_RTN_SPAD_APERTURE_TRANSMISSION,
+ &(pCD->result__mm_inner_actual_effective_spads),
+ &(pCD->result__mm_outer_actual_effective_spads));
+ }
+ }
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ status =
+ VL53LX_read_nvm_fmt_range_results_data(VL53LX_NVM__FMT__RANGE_RESULTS__140MM_DARK,
+ &fmt_rrd);
+
+ if (status == VL53LX_ERROR_NONE) {
+ pdev->fmt_dmax_cal.ref__actual_effective_spads =
+ fmt_rrd.result__actual_effective_rtn_spads;
+ pdev->fmt_dmax_cal.ref__peak_signal_count_rate_mcps =
+ fmt_rrd.result__peak_signal_count_rate_rtn_mcps;
+ pdev->fmt_dmax_cal.ref__distance_mm =
+ fmt_rrd.measured_distance_mm;
+
+
+ if (pdev->cal_peak_rate_map.cal_reflectance_pc != 0) {
+ pdev->fmt_dmax_cal.ref_reflectance_pc =
+ pdev->cal_peak_rate_map.cal_reflectance_pc;
+ } else {
+ pdev->fmt_dmax_cal.ref_reflectance_pc = 0x0014;
+ }
+
+
+ pdev->fmt_dmax_cal.coverglass_transmission = 0x0100;
+ }
+ }
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_RdWord(
+ Dev,
+ VL53LX_RESULT__OSC_CALIBRATE_VAL,
+ &(pdev->dbg_results.result__osc_calibrate_val));
+
+
+
+ if (pdev->stat_nvm.osc_measured__fast_osc__frequency < 0x1000) {
+
+ pdev->stat_nvm.osc_measured__fast_osc__frequency = 0xBCCC;
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_get_mode_mitigation_roi(&(pdev->mm_roi));
+
+
+
+ if (pdev->optical_centre.x_centre == 0 &&
+ pdev->optical_centre.y_centre == 0) {
+ pdev->optical_centre.x_centre =
+ pdev->mm_roi.x_centre << 4;
+ pdev->optical_centre.y_centre =
+ pdev->mm_roi.y_centre << 4;
+ }
+
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_software_reset()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_SOFT_RESET,
+ 0x00);
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WaitUs(
+ Dev,
+ VL53LX_SOFTWARE_RESET_DURATION_US);
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_SOFT_RESET,
+ 0x01);
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_wait_for_boot_completion();
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_part_to_part_data(VL53LX_calibration_data_t *pcal_data)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_xtalk_config_t *pC = &(pdev->xtalk_cfg);
+ VL53LX_hist_post_process_config_t *pHP = &(pdev->histpostprocess);
+ VL53LX_customer_nvm_managed_t *pN = &(pdev->customer);
+
+ uint32_t tempu32;
+
+
+ if (pcal_data->struct_version !=
+ VL53LX_LL_CALIBRATION_DATA_STRUCT_VERSION) {
+ status = VL53LX_ERROR_INVALID_PARAMS;
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+ memcpy(
+ &(pdev->customer),
+ &(pcal_data->customer),
+ sizeof(VL53LX_customer_nvm_managed_t));
+
+
+ memcpy(
+ &(pdev->add_off_cal_data),
+ &(pcal_data->add_off_cal_data),
+ sizeof(VL53LX_additional_offset_cal_data_t));
+
+
+ memcpy(
+ &(pdev->fmt_dmax_cal),
+ &(pcal_data->fmt_dmax_cal),
+ sizeof(VL53LX_dmax_calibration_data_t));
+
+
+ memcpy(
+ &(pdev->cust_dmax_cal),
+ &(pcal_data->cust_dmax_cal),
+ sizeof(VL53LX_dmax_calibration_data_t));
+
+
+ memcpy(
+ &(pdev->xtalk_shapes),
+ &(pcal_data->xtalkhisto),
+ sizeof(VL53LX_xtalk_histogram_data_t));
+
+
+ memcpy(
+ &(pdev->gain_cal),
+ &(pcal_data->gain_cal),
+ sizeof(VL53LX_gain_calibration_data_t));
+
+
+ memcpy(
+ &(pdev->cal_peak_rate_map),
+ &(pcal_data->cal_peak_rate_map),
+ sizeof(VL53LX_cal_peak_rate_map_t));
+
+
+ memcpy(
+ &(pdev->per_vcsel_cal_data),
+ &(pcal_data->per_vcsel_cal_data),
+ sizeof(VL53LX_per_vcsel_period_offset_cal_data_t));
+
+
+
+ pC->algo__crosstalk_compensation_plane_offset_kcps =
+ pN->algo__crosstalk_compensation_plane_offset_kcps;
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pN->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pN->algo__crosstalk_compensation_y_plane_gradient_kcps;
+
+ pHP->algo__crosstalk_compensation_plane_offset_kcps =
+ VL53LX_calc_crosstalk_plane_offset_with_margin(
+ pC->algo__crosstalk_compensation_plane_offset_kcps,
+ pC->histogram_mode_crosstalk_margin_kcps);
+
+ pHP->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pHP->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps;
+
+
+
+ if (pC->global_crosstalk_compensation_enable == 0x00) {
+ pN->algo__crosstalk_compensation_plane_offset_kcps =
+ 0x00;
+ pN->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ 0x00;
+ pN->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ 0x00;
+ } else {
+ tempu32 =
+ VL53LX_calc_crosstalk_plane_offset_with_margin(
+ pC->algo__crosstalk_compensation_plane_offset_kcps,
+ pC->lite_mode_crosstalk_margin_kcps);
+
+
+ if (tempu32 > 0xFFFF) {
+ tempu32 = 0xFFFF;
+ }
+
+ pN->algo__crosstalk_compensation_plane_offset_kcps =
+ (uint16_t)tempu32;
+ }
+ }
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_part_to_part_data(VL53LX_calibration_data_t *pcal_data)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_xtalk_config_t *pC = &(pdev->xtalk_cfg);
+ VL53LX_customer_nvm_managed_t *pCN = &(pcal_data->customer);
+
+ pcal_data->struct_version =
+ VL53LX_LL_CALIBRATION_DATA_STRUCT_VERSION;
+
+
+ memcpy(
+ &(pcal_data->customer),
+ &(pdev->customer),
+ sizeof(VL53LX_customer_nvm_managed_t));
+
+
+
+
+ if (pC->algo__crosstalk_compensation_plane_offset_kcps > 0xFFFF) {
+ pCN->algo__crosstalk_compensation_plane_offset_kcps =
+ 0xFFFF;
+ } else {
+ pCN->algo__crosstalk_compensation_plane_offset_kcps =
+ (uint16_t)pC->algo__crosstalk_compensation_plane_offset_kcps;
+ }
+ pCN->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pCN->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps;
+
+
+ memcpy(
+ &(pcal_data->fmt_dmax_cal),
+ &(pdev->fmt_dmax_cal),
+ sizeof(VL53LX_dmax_calibration_data_t));
+
+
+ memcpy(
+ &(pcal_data->cust_dmax_cal),
+ &(pdev->cust_dmax_cal),
+ sizeof(VL53LX_dmax_calibration_data_t));
+
+
+ memcpy(
+ &(pcal_data->add_off_cal_data),
+ &(pdev->add_off_cal_data),
+ sizeof(VL53LX_additional_offset_cal_data_t));
+
+
+ memcpy(
+ &(pcal_data->optical_centre),
+ &(pdev->optical_centre),
+ sizeof(VL53LX_optical_centre_t));
+
+
+ memcpy(
+ &(pcal_data->xtalkhisto),
+ &(pdev->xtalk_shapes),
+ sizeof(VL53LX_xtalk_histogram_data_t));
+
+
+ memcpy(
+ &(pcal_data->gain_cal),
+ &(pdev->gain_cal),
+ sizeof(VL53LX_gain_calibration_data_t));
+
+
+ memcpy(
+ &(pcal_data->cal_peak_rate_map),
+ &(pdev->cal_peak_rate_map),
+ sizeof(VL53LX_cal_peak_rate_map_t));
+
+
+ memcpy(
+ &(pcal_data->per_vcsel_cal_data),
+ &(pdev->per_vcsel_cal_data),
+ sizeof(VL53LX_per_vcsel_period_offset_cal_data_t));
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_inter_measurement_period_ms(
+ uint32_t inter_measurement_period_ms)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ if (pdev->dbg_results.result__osc_calibrate_val == 0) {
+ status = VL53LX_ERROR_DIVISION_BY_ZERO;
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ pdev->inter_measurement_period_ms = inter_measurement_period_ms;
+ pdev->tim_cfg.system__intermeasurement_period =
+ inter_measurement_period_ms *
+ (uint32_t)pdev->dbg_results.result__osc_calibrate_val;
+ }
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_inter_measurement_period_ms(uint32_t *pinter_measurement_period_ms)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ if (pdev->dbg_results.result__osc_calibrate_val == 0) {
+ status = VL53LX_ERROR_DIVISION_BY_ZERO;
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ *pinter_measurement_period_ms =
+ pdev->tim_cfg.system__intermeasurement_period /
+ (uint32_t)pdev->dbg_results.result__osc_calibrate_val;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_timeouts_us(
+ uint32_t phasecal_config_timeout_us,
+ uint32_t mm_config_timeout_us,
+ uint32_t range_config_timeout_us)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+
+ if (pdev->stat_nvm.osc_measured__fast_osc__frequency == 0) {
+ status = VL53LX_ERROR_DIVISION_BY_ZERO;
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ pdev->phasecal_config_timeout_us = phasecal_config_timeout_us;
+ pdev->mm_config_timeout_us = mm_config_timeout_us;
+ pdev->range_config_timeout_us = range_config_timeout_us;
+
+ status =
+ VL53LX_calc_timeout_register_values(
+ phasecal_config_timeout_us,
+ mm_config_timeout_us,
+ range_config_timeout_us,
+ pdev->stat_nvm.osc_measured__fast_osc__frequency,
+ &(pdev->gen_cfg),
+ &(pdev->tim_cfg));
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_timeouts_us(
+ uint32_t *pphasecal_config_timeout_us,
+ uint32_t *pmm_config_timeout_us,
+ uint32_t *prange_config_timeout_us)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint32_t macro_period_us = 0;
+ uint16_t timeout_encoded = 0;
+
+ if (pdev->stat_nvm.osc_measured__fast_osc__frequency == 0) {
+ status = VL53LX_ERROR_DIVISION_BY_ZERO;
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+ macro_period_us =
+ VL53LX_calc_macro_period_us(
+ pdev->stat_nvm.osc_measured__fast_osc__frequency,
+ pdev->tim_cfg.range_config__vcsel_period_a);
+
+
+
+ *pphasecal_config_timeout_us =
+ VL53LX_calc_timeout_us(
+ (uint32_t)pdev->gen_cfg.phasecal_config__timeout_macrop,
+ macro_period_us);
+
+
+
+ timeout_encoded =
+ (uint16_t)pdev->tim_cfg.mm_config__timeout_macrop_a_hi;
+ timeout_encoded = (timeout_encoded << 8) +
+ (uint16_t)pdev->tim_cfg.mm_config__timeout_macrop_a_lo;
+
+ *pmm_config_timeout_us =
+ VL53LX_calc_decoded_timeout_us(
+ timeout_encoded,
+ macro_period_us);
+
+
+
+ timeout_encoded =
+ (uint16_t)pdev->tim_cfg.range_config__timeout_macrop_a_hi;
+ timeout_encoded = (timeout_encoded << 8) +
+ (uint16_t)pdev->tim_cfg.range_config__timeout_macrop_a_lo;
+
+ *prange_config_timeout_us =
+ VL53LX_calc_decoded_timeout_us(
+ timeout_encoded,
+ macro_period_us);
+
+ pdev->phasecal_config_timeout_us = *pphasecal_config_timeout_us;
+ pdev->mm_config_timeout_us = *pmm_config_timeout_us;
+ pdev->range_config_timeout_us = *prange_config_timeout_us;
+
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_calibration_repeat_period(
+ uint16_t cal_config__repeat_period)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->gen_cfg.cal_config__repeat_rate = cal_config__repeat_period;
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_get_calibration_repeat_period(
+ uint16_t *pcal_config__repeat_period)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ *pcal_config__repeat_period = pdev->gen_cfg.cal_config__repeat_rate;
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_set_sequence_config_bit(
+ VL53LX_DeviceSequenceConfig bit_id,
+ uint8_t value)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t bit_mask = 0x01;
+ uint8_t clr_mask = 0xFF - bit_mask;
+ uint8_t bit_value = value & bit_mask;
+
+ if (bit_id <= VL53LX_DEVICESEQUENCECONFIG_RANGE) {
+
+ if (bit_id > 0) {
+ bit_mask = 0x01 << bit_id;
+ bit_value = bit_value << bit_id;
+ clr_mask = 0xFF - bit_mask;
+ }
+
+ pdev->dyn_cfg.system__sequence_config =
+ (pdev->dyn_cfg.system__sequence_config & clr_mask) |
+ bit_value;
+
+ } else {
+ status = VL53LX_ERROR_INVALID_PARAMS;
+ }
+
+ return status;
+
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_sequence_config_bit(
+ VL53LX_DeviceSequenceConfig bit_id,
+ uint8_t *pvalue)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t bit_mask = 0x01;
+
+ if (bit_id <= VL53LX_DEVICESEQUENCECONFIG_RANGE) {
+
+ if (bit_id > 0) {
+ bit_mask = 0x01 << bit_id;
+ }
+
+ *pvalue =
+ pdev->dyn_cfg.system__sequence_config & bit_mask;
+
+ if (bit_id > 0) {
+ *pvalue = *pvalue >> bit_id;
+ }
+
+ } else {
+ status = VL53LX_ERROR_INVALID_PARAMS;
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_interrupt_polarity(
+ VL53LX_DeviceInterruptPolarity interrupt_polarity)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->stat_cfg.gpio_hv_mux__ctrl =
+ (pdev->stat_cfg.gpio_hv_mux__ctrl &
+ VL53LX_DEVICEINTERRUPTPOLARITY_CLEAR_MASK) |
+ (interrupt_polarity &
+ VL53LX_DEVICEINTERRUPTPOLARITY_BIT_MASK);
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_set_refspadchar_config_struct(
+ VL53LX_refspadchar_config_t *pdata)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->refspadchar.device_test_mode = pdata->device_test_mode;
+ pdev->refspadchar.VL53LX_p_005 = pdata->VL53LX_p_005;
+ pdev->refspadchar.timeout_us = pdata->timeout_us;
+ pdev->refspadchar.target_count_rate_mcps =
+ pdata->target_count_rate_mcps;
+ pdev->refspadchar.min_count_rate_limit_mcps =
+ pdata->min_count_rate_limit_mcps;
+ pdev->refspadchar.max_count_rate_limit_mcps =
+ pdata->max_count_rate_limit_mcps;
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_refspadchar_config_struct(
+ VL53LX_refspadchar_config_t *pdata)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdata->device_test_mode = pdev->refspadchar.device_test_mode;
+ pdata->VL53LX_p_005 = pdev->refspadchar.VL53LX_p_005;
+ pdata->timeout_us = pdev->refspadchar.timeout_us;
+ pdata->target_count_rate_mcps =
+ pdev->refspadchar.target_count_rate_mcps;
+ pdata->min_count_rate_limit_mcps =
+ pdev->refspadchar.min_count_rate_limit_mcps;
+ pdata->max_count_rate_limit_mcps =
+ pdev->refspadchar.max_count_rate_limit_mcps;
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_range_ignore_threshold(
+ uint8_t range_ignore_thresh_mult,
+ uint16_t range_ignore_threshold_mcps)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->xtalk_cfg.crosstalk_range_ignore_threshold_rate_mcps =
+ range_ignore_threshold_mcps;
+
+ pdev->xtalk_cfg.crosstalk_range_ignore_threshold_mult =
+ range_ignore_thresh_mult;
+
+ return status;
+
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_range_ignore_threshold(
+ uint8_t *prange_ignore_thresh_mult,
+ uint16_t *prange_ignore_threshold_mcps_internal,
+ uint16_t *prange_ignore_threshold_mcps_current)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ *prange_ignore_thresh_mult =
+ pdev->xtalk_cfg.crosstalk_range_ignore_threshold_mult;
+
+ *prange_ignore_threshold_mcps_current =
+ pdev->stat_cfg.algo__range_ignore_threshold_mcps;
+
+ *prange_ignore_threshold_mcps_internal =
+ pdev->xtalk_cfg.crosstalk_range_ignore_threshold_rate_mcps;
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_get_interrupt_polarity(
+ VL53LX_DeviceInterruptPolarity *pinterrupt_polarity)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ *pinterrupt_polarity =
+ pdev->stat_cfg.gpio_hv_mux__ctrl &
+ VL53LX_DEVICEINTERRUPTPOLARITY_BIT_MASK;
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_set_user_zone(
+ VL53LX_user_zone_t *puser_zone)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ VL53LX_encode_row_col(
+ puser_zone->y_centre,
+ puser_zone->x_centre,
+ &(pdev->dyn_cfg.roi_config__user_roi_centre_spad));
+
+
+ VL53LX_encode_zone_size(
+ puser_zone->width,
+ puser_zone->height,
+ &(pdev->dyn_cfg.roi_config__user_roi_requested_global_xy_size));
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_user_zone(
+ VL53LX_user_zone_t *puser_zone)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ VL53LX_decode_row_col(
+ pdev->dyn_cfg.roi_config__user_roi_centre_spad,
+ &(puser_zone->y_centre),
+ &(puser_zone->x_centre));
+
+
+ VL53LX_decode_zone_size(
+ pdev->dyn_cfg.roi_config__user_roi_requested_global_xy_size,
+ &(puser_zone->width),
+ &(puser_zone->height));
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_get_mode_mitigation_roi(
+ VL53LX_user_zone_t *pmm_roi)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t x = 0;
+ uint8_t y = 0;
+ uint8_t xy_size = 0;
+
+
+ VL53LX_decode_row_col(
+ pdev->nvm_copy_data.roi_config__mode_roi_centre_spad,
+ &y,
+ &x);
+
+ pmm_roi->x_centre = x;
+ pmm_roi->y_centre = y;
+
+
+ xy_size = pdev->nvm_copy_data.roi_config__mode_roi_xy_size;
+
+ pmm_roi->height = xy_size >> 4;
+ pmm_roi->width = xy_size & 0x0F;
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_set_zone_config(
+ VL53LX_zone_config_t *pzone_cfg)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ memcpy(&(pdev->zone_cfg.user_zones), &(pzone_cfg->user_zones),
+ sizeof(pdev->zone_cfg.user_zones));
+
+
+ pdev->zone_cfg.max_zones = pzone_cfg->max_zones;
+ pdev->zone_cfg.active_zones = pzone_cfg->active_zones;
+
+ status = VL53LX_init_zone_config_histogram_bins(&pdev->zone_cfg);
+
+
+
+ if (pzone_cfg->active_zones == 0) {
+ pdev->gen_cfg.global_config__stream_divider = 0;
+ } else if (pzone_cfg->active_zones < VL53LX_MAX_USER_ZONES)
+ pdev->gen_cfg.global_config__stream_divider =
+ pzone_cfg->active_zones + 1;
+ else
+ pdev->gen_cfg.global_config__stream_divider =
+ VL53LX_MAX_USER_ZONES + 1;
+
+ return status;
+
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_get_zone_config(
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ memcpy(pzone_cfg, &(pdev->zone_cfg), sizeof(VL53LX_zone_config_t));
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_preset_mode_timing_cfg(
+ VL53LX_DevicePresetModes device_preset_mode,
+ uint16_t *pdss_config__target_total_rate_mcps,
+ uint32_t *pphasecal_config_timeout_us,
+ uint32_t *pmm_config_timeout_us,
+ uint32_t *prange_config_timeout_us)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ switch (device_preset_mode) {
+
+ case VL53LX_DEVICEPRESETMODE_STANDARD_RANGING:
+ case VL53LX_DEVICEPRESETMODE_STANDARD_RANGING_SHORT_RANGE:
+ case VL53LX_DEVICEPRESETMODE_STANDARD_RANGING_LONG_RANGE:
+ case VL53LX_DEVICEPRESETMODE_STANDARD_RANGING_MM1_CAL:
+ case VL53LX_DEVICEPRESETMODE_STANDARD_RANGING_MM2_CAL:
+ case VL53LX_DEVICEPRESETMODE_OLT:
+ *pdss_config__target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_lite_mcps;
+ *pphasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_lite_us;
+ *pmm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_lite_us;
+ *prange_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_lite_us;
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_TIMED_RANGING:
+ case VL53LX_DEVICEPRESETMODE_TIMED_RANGING_SHORT_RANGE:
+ case VL53LX_DEVICEPRESETMODE_TIMED_RANGING_LONG_RANGE:
+ case VL53LX_DEVICEPRESETMODE_SINGLESHOT_RANGING:
+ *pdss_config__target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_timed_mcps;
+ *pphasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_timed_us;
+ *pmm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_timed_us;
+ *prange_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_timed_us;
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_LOWPOWERAUTO_SHORT_RANGE:
+ case VL53LX_DEVICEPRESETMODE_LOWPOWERAUTO_MEDIUM_RANGE:
+ case VL53LX_DEVICEPRESETMODE_LOWPOWERAUTO_LONG_RANGE:
+ *pdss_config__target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_timed_mcps;
+ *pphasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_timed_us;
+ *pmm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_lpa_us;
+ *prange_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_lpa_us;
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING:
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM1:
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM2:
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM1_CAL:
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM2_CAL:
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_REF_ARRAY:
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE:
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM1:
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM2:
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_CHARACTERISATION:
+ *pdss_config__target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_histo_mcps;
+ *pphasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_hist_long_us;
+ *pmm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_histo_us;
+ *prange_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_histo_us;
+
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE:
+ *pdss_config__target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_histo_mz_mcps;
+ *pphasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_mz_med_us;
+ *pmm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_mz_us;
+ *prange_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_mz_us;
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_SHORT_RANGE:
+ *pdss_config__target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_histo_mz_mcps;
+ *pphasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_mz_short_us;
+ *pmm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_mz_us;
+ *prange_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_mz_us;
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE:
+ *pdss_config__target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_histo_mz_mcps;
+ *pphasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_mz_long_us;
+ *pmm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_mz_us;
+ *prange_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_mz_us;
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_SHORT_TIMING:
+ *pdss_config__target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_histo_mcps;
+ *pphasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_hist_short_us;
+ *pmm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_histo_us;
+ *prange_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_histo_us;
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE:
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM1:
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM2:
+ *pdss_config__target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_histo_mcps;
+ *pphasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_hist_med_us;
+ *pmm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_histo_us;
+ *prange_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_histo_us;
+ break;
+
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE:
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM1:
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM2:
+ *pdss_config__target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_histo_mcps;
+ *pphasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_hist_short_us;
+ *pmm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_histo_us;
+ *prange_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_histo_us;
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_SPECIAL_HISTOGRAM_SHORT_RANGE:
+ *pdss_config__target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_very_short_mcps;
+ *pphasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_hist_short_us;
+ *pmm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_histo_us;
+ *prange_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_histo_us;
+ break;
+
+ default:
+ status = VL53LX_ERROR_INVALID_PARAMS;
+ break;
+
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_preset_mode(
+ VL53LX_DevicePresetModes device_preset_mode,
+ uint16_t dss_config__target_total_rate_mcps,
+ uint32_t phasecal_config_timeout_us,
+ uint32_t mm_config_timeout_us,
+ uint32_t range_config_timeout_us,
+ uint32_t inter_measurement_period_ms)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_LLDriverResults_t *pres =
+ VL53LXDevStructGetLLResultsHandle(Dev);
+
+ VL53LX_hist_post_process_config_t *phistpostprocess =
+ &(pdev->histpostprocess);
+
+ VL53LX_static_config_t *pstatic = &(pdev->stat_cfg);
+ VL53LX_histogram_config_t *phistogram = &(pdev->hist_cfg);
+ VL53LX_general_config_t *pgeneral = &(pdev->gen_cfg);
+ VL53LX_timing_config_t *ptiming = &(pdev->tim_cfg);
+ VL53LX_dynamic_config_t *pdynamic = &(pdev->dyn_cfg);
+ VL53LX_system_control_t *psystem = &(pdev->sys_ctrl);
+ VL53LX_zone_config_t *pzone_cfg = &(pdev->zone_cfg);
+ VL53LX_tuning_parm_storage_t *ptuning_parms = &(pdev->tuning_parms);
+ VL53LX_low_power_auto_data_t *plpadata =
+ &(pdev->low_power_auto_data);
+
+
+ pdev->preset_mode = device_preset_mode;
+ pdev->mm_config_timeout_us = mm_config_timeout_us;
+ pdev->range_config_timeout_us = range_config_timeout_us;
+ pdev->inter_measurement_period_ms = inter_measurement_period_ms;
+
+
+
+ VL53LX_init_ll_driver_state(VL53LX_DEVICESTATE_SW_STANDBY);
+
+
+
+ switch (device_preset_mode) {
+
+ case VL53LX_DEVICEPRESETMODE_STANDARD_RANGING:
+ status = VL53LX_preset_mode_standard_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_STANDARD_RANGING_SHORT_RANGE:
+ status = VL53LX_preset_mode_standard_ranging_short_range(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_STANDARD_RANGING_LONG_RANGE:
+ status = VL53LX_preset_mode_standard_ranging_long_range(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_STANDARD_RANGING_MM1_CAL:
+ status = VL53LX_preset_mode_standard_ranging_mm1_cal(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_STANDARD_RANGING_MM2_CAL:
+ status = VL53LX_preset_mode_standard_ranging_mm2_cal(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_TIMED_RANGING:
+ status = VL53LX_preset_mode_timed_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_TIMED_RANGING_SHORT_RANGE:
+ status = VL53LX_preset_mode_timed_ranging_short_range(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_TIMED_RANGING_LONG_RANGE:
+ status = VL53LX_preset_mode_timed_ranging_long_range(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING:
+ status = VL53LX_preset_mode_histogram_ranging(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM1:
+ status = VL53LX_preset_mode_histogram_ranging_with_mm1(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM2:
+ status = VL53LX_preset_mode_histogram_ranging_with_mm2(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM1_CAL:
+ status = VL53LX_preset_mode_histogram_ranging_mm1_cal(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM2_CAL:
+ status = VL53LX_preset_mode_histogram_ranging_mm2_cal(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE:
+ status = VL53LX_preset_mode_histogram_multizone(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_SHORT_RANGE:
+ status = VL53LX_preset_mode_histogram_multizone_short_range(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE:
+ status = VL53LX_preset_mode_histogram_multizone_long_range(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_REF_ARRAY:
+ status = VL53LX_preset_mode_histogram_ranging_ref(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_SHORT_TIMING:
+ status = VL53LX_preset_mode_histogram_ranging_short_timing(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE:
+ status = VL53LX_preset_mode_histogram_long_range(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM1:
+ status = VL53LX_preset_mode_histogram_long_range_mm1(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM2:
+ status = VL53LX_preset_mode_histogram_long_range_mm2(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE:
+ status = VL53LX_preset_mode_histogram_medium_range(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM1:
+ status = VL53LX_preset_mode_histogram_medium_range_mm1(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM2:
+ status = VL53LX_preset_mode_histogram_medium_range_mm2(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE:
+ status = VL53LX_preset_mode_histogram_short_range(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM1:
+ status = VL53LX_preset_mode_histogram_short_range_mm1(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM2:
+ status = VL53LX_preset_mode_histogram_short_range_mm2(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_CHARACTERISATION:
+ status = VL53LX_preset_mode_histogram_characterisation(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_XTALK_PLANAR:
+ status = VL53LX_preset_mode_histogram_xtalk_planar(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_XTALK_MM1:
+ status = VL53LX_preset_mode_histogram_xtalk_mm1(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_HISTOGRAM_XTALK_MM2:
+ status = VL53LX_preset_mode_histogram_xtalk_mm2(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_OLT:
+ status = VL53LX_preset_mode_olt(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_SINGLESHOT_RANGING:
+ status = VL53LX_preset_mode_singleshot_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_LOWPOWERAUTO_SHORT_RANGE:
+ status = VL53LX_preset_mode_low_power_auto_short_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg,
+ plpadata);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_LOWPOWERAUTO_MEDIUM_RANGE:
+ status = VL53LX_preset_mode_low_power_auto_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg,
+ plpadata);
+ break;
+
+ case VL53LX_DEVICEPRESETMODE_LOWPOWERAUTO_LONG_RANGE:
+ status = VL53LX_preset_mode_low_power_auto_long_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg,
+ plpadata);
+ break;
+
+
+ case VL53LX_DEVICEPRESETMODE_SPECIAL_HISTOGRAM_SHORT_RANGE:
+ status = VL53LX_preset_mode_special_histogram_short_range(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+ break;
+
+ default:
+ status = VL53LX_ERROR_INVALID_PARAMS;
+ break;
+
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ pstatic->dss_config__target_total_rate_mcps =
+ dss_config__target_total_rate_mcps;
+ pdev->dss_config__target_total_rate_mcps =
+ dss_config__target_total_rate_mcps;
+
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_set_timeouts_us(
+ phasecal_config_timeout_us,
+ mm_config_timeout_us,
+ range_config_timeout_us);
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_set_inter_measurement_period_ms(inter_measurement_period_ms);
+
+
+
+ V53L1_init_zone_results_structure(
+ pdev->zone_cfg.active_zones + 1,
+ &(pres->zone_results));
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_zone_preset(
+ VL53LX_DeviceZonePreset zone_preset)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ VL53LX_general_config_t *pgeneral = &(pdev->gen_cfg);
+ VL53LX_zone_config_t *pzone_cfg = &(pdev->zone_cfg);
+
+ pdev->zone_preset = zone_preset;
+
+
+
+ switch (zone_preset) {
+
+ case VL53LX_DEVICEZONEPRESET_XTALK_PLANAR:
+ status =
+ VL53LX_zone_preset_xtalk_planar(
+ pgeneral,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEZONEPRESET_1X1_SIZE_16X16:
+ status =
+ VL53LX_init_zone_config_structure(
+ 8, 1, 1,
+ 8, 1, 1,
+ 15, 15,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEZONEPRESET_1X2_SIZE_16X8:
+ status =
+ VL53LX_init_zone_config_structure(
+ 8, 1, 1,
+ 4, 8, 2,
+ 15, 7,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEZONEPRESET_2X1_SIZE_8X16:
+ status =
+ VL53LX_init_zone_config_structure(
+ 4, 8, 2,
+ 8, 1, 1,
+ 7, 15,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEZONEPRESET_2X2_SIZE_8X8:
+ status =
+ VL53LX_init_zone_config_structure(
+ 4, 8, 2,
+ 4, 8, 2,
+ 7, 7,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEZONEPRESET_3X3_SIZE_5X5:
+ status =
+ VL53LX_init_zone_config_structure(
+ 2, 5, 3,
+ 2, 5, 3,
+ 4, 4,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEZONEPRESET_4X4_SIZE_4X4:
+ status =
+ VL53LX_init_zone_config_structure(
+ 2, 4, 4,
+ 2, 4, 4,
+ 3, 3,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEZONEPRESET_5X5_SIZE_4X4:
+ status =
+ VL53LX_init_zone_config_structure(
+ 2, 3, 5,
+ 2, 3, 5,
+ 3, 3,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEZONEPRESET_11X11_SIZE_5X5:
+ status =
+ VL53LX_init_zone_config_structure(
+ 3, 1, 11,
+ 3, 1, 11,
+ 4, 4,
+ pzone_cfg);
+ break;
+
+ case VL53LX_DEVICEZONEPRESET_13X13_SIZE_4X4:
+ status =
+ VL53LX_init_zone_config_structure(
+ 2, 1, 13,
+ 2, 1, 13,
+ 3, 3,
+ pzone_cfg);
+
+ break;
+
+ case VL53LX_DEVICEZONEPRESET_1X1_SIZE_4X4_POS_8X8:
+ status =
+ VL53LX_init_zone_config_structure(
+ 8, 1, 1,
+ 8, 1, 1,
+ 3, 3,
+ pzone_cfg);
+ break;
+
+ }
+
+
+
+ if (pzone_cfg->active_zones == 0) {
+ pdev->gen_cfg.global_config__stream_divider = 0;
+ } else if (pzone_cfg->active_zones < VL53LX_MAX_USER_ZONES)
+ pdev->gen_cfg.global_config__stream_divider =
+ pzone_cfg->active_zones + 1;
+ else
+ pdev->gen_cfg.global_config__stream_divider =
+ VL53LX_MAX_USER_ZONES + 1;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_enable_xtalk_compensation()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint32_t tempu32;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_xtalk_config_t *pC = &(pdev->xtalk_cfg);
+ VL53LX_hist_post_process_config_t *pHP = &(pdev->histpostprocess);
+ VL53LX_customer_nvm_managed_t *pN = &(pdev->customer);
+
+ tempu32 = VL53LX_calc_crosstalk_plane_offset_with_margin(
+ pC->algo__crosstalk_compensation_plane_offset_kcps,
+ pC->lite_mode_crosstalk_margin_kcps);
+ if (tempu32 > 0xFFFF) {
+ tempu32 = 0xFFFF;
+ }
+
+ pN->algo__crosstalk_compensation_plane_offset_kcps =
+ (uint16_t)tempu32;
+
+ pN->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps;
+
+ pN->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps;
+
+
+ pHP->algo__crosstalk_compensation_plane_offset_kcps =
+ VL53LX_calc_crosstalk_plane_offset_with_margin(
+ pC->algo__crosstalk_compensation_plane_offset_kcps,
+ pC->histogram_mode_crosstalk_margin_kcps);
+
+ pHP->algo__crosstalk_compensation_x_plane_gradient_kcps
+ = pC->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pHP->algo__crosstalk_compensation_y_plane_gradient_kcps
+ = pC->algo__crosstalk_compensation_y_plane_gradient_kcps;
+
+
+
+ pC->global_crosstalk_compensation_enable = 0x01;
+
+ pHP->algo__crosstalk_compensation_enable =
+ pC->global_crosstalk_compensation_enable;
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ pC->crosstalk_range_ignore_threshold_rate_mcps =
+ VL53LX_calc_range_ignore_threshold(
+ pC->algo__crosstalk_compensation_plane_offset_kcps,
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps,
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps,
+ pC->crosstalk_range_ignore_threshold_mult);
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_set_customer_nvm_managed(&(pdev->customer));
+
+ return status;
+
+}
+
+void VL53LX::VL53LX_get_xtalk_compensation_enable(uint8_t *pcrosstalk_compensation_enable)
+{
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ *pcrosstalk_compensation_enable =
+ pdev->xtalk_cfg.global_crosstalk_compensation_enable;
+
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_lite_xtalk_margin_kcps(
+ int16_t *pxtalk_margin)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+
+ *pxtalk_margin = pdev->xtalk_cfg.lite_mode_crosstalk_margin_kcps;
+
+ return status;
+
+}
+VL53LX_Error VL53LX::VL53LX_set_lite_xtalk_margin_kcps(
+ int16_t xtalk_margin)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->xtalk_cfg.lite_mode_crosstalk_margin_kcps = xtalk_margin;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_histogram_xtalk_margin_kcps(
+ int16_t *pxtalk_margin)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ *pxtalk_margin = pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps;
+
+ return status;
+
+}
+VL53LX_Error VL53LX::VL53LX_set_histogram_xtalk_margin_kcps(
+ int16_t xtalk_margin)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps = xtalk_margin;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_restore_xtalk_nvm_default()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_xtalk_config_t *pC = &(pdev->xtalk_cfg);
+
+ pC->algo__crosstalk_compensation_plane_offset_kcps =
+ pC->nvm_default__crosstalk_compensation_plane_offset_kcps;
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pC->nvm_default__crosstalk_compensation_x_plane_gradient_kcps;
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pC->nvm_default__crosstalk_compensation_y_plane_gradient_kcps;
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_disable_xtalk_compensation()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_hist_post_process_config_t *pHP = &(pdev->histpostprocess);
+ VL53LX_customer_nvm_managed_t *pN = &(pdev->customer);
+
+ pN->algo__crosstalk_compensation_plane_offset_kcps =
+ 0x00;
+
+ pN->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ 0x00;
+
+ pN->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ 0x00;
+
+
+
+ pdev->xtalk_cfg.global_crosstalk_compensation_enable = 0x00;
+
+ pHP->algo__crosstalk_compensation_enable =
+ pdev->xtalk_cfg.global_crosstalk_compensation_enable;
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ pdev->xtalk_cfg.crosstalk_range_ignore_threshold_rate_mcps =
+ 0x0000;
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_set_customer_nvm_managed(&(pdev->customer));
+ }
+
+
+ return status;
+
+}
+VL53LX_Error VL53LX::VL53LX_get_histogram_phase_consistency(
+ uint8_t *pphase_consistency)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_hist_post_process_config_t *pHP = &(pdev->histpostprocess);
+
+ *pphase_consistency =
+ pHP->algo__consistency_check__phase_tolerance;
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_set_histogram_phase_consistency(
+ uint8_t phase_consistency)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->histpostprocess.algo__consistency_check__phase_tolerance =
+ phase_consistency;
+
+ return status;
+
+}
+VL53LX_Error VL53LX::VL53LX_get_histogram_event_consistency(
+ uint8_t *pevent_consistency)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ *pevent_consistency =
+ pdev->histpostprocess.algo__consistency_check__event_sigma;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_histogram_event_consistency(
+ uint8_t event_consistency)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->histpostprocess.algo__consistency_check__event_sigma =
+ event_consistency;
+
+ return status;
+
+}
+VL53LX_Error VL53LX::VL53LX_get_histogram_ambient_threshold_sigma(
+ uint8_t *pamb_thresh_sigma)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ *pamb_thresh_sigma =
+ pdev->histpostprocess.ambient_thresh_sigma1;
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_set_histogram_ambient_threshold_sigma(
+ uint8_t amb_thresh_sigma)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->histpostprocess.ambient_thresh_sigma1 =
+ amb_thresh_sigma;
+
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_get_lite_sigma_threshold(
+ uint16_t *plite_sigma)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ *plite_sigma =
+ pdev->tim_cfg.range_config__sigma_thresh;
+
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_set_lite_sigma_threshold(
+ uint16_t lite_sigma)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->tim_cfg.range_config__sigma_thresh = lite_sigma;
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_get_lite_min_count_rate(
+ uint16_t *plite_mincountrate)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ *plite_mincountrate =
+ pdev->tim_cfg.range_config__min_count_rate_rtn_limit_mcps;
+
+ return status;
+
+}
+
+
+VL53LX_Error VL53LX::VL53LX_set_lite_min_count_rate(
+ uint16_t lite_mincountrate)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->tim_cfg.range_config__min_count_rate_rtn_limit_mcps =
+ lite_mincountrate;
+
+ return status;
+
+}
+VL53LX_Error VL53LX::VL53LX_get_xtalk_detect_config(
+ int16_t *pmax_valid_range_mm,
+ int16_t *pmin_valid_range_mm,
+ uint16_t *pmax_valid_rate_kcps,
+ uint16_t *pmax_sigma_mm)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ *pmax_valid_range_mm =
+ pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_range_mm;
+ *pmin_valid_range_mm =
+ pdev->xtalk_cfg.algo__crosstalk_detect_min_valid_range_mm;
+ *pmax_valid_rate_kcps =
+ pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_rate_kcps;
+ *pmax_sigma_mm =
+ pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm;
+
+ return status;
+
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_set_xtalk_detect_config(
+ int16_t max_valid_range_mm,
+ int16_t min_valid_range_mm,
+ uint16_t max_valid_rate_kcps,
+ uint16_t max_sigma_mm)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_range_mm =
+ max_valid_range_mm;
+ pdev->xtalk_cfg.algo__crosstalk_detect_min_valid_range_mm =
+ min_valid_range_mm;
+ pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_rate_kcps =
+ max_valid_rate_kcps;
+ pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm =
+ max_sigma_mm;
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_get_target_order_mode(
+ VL53LX_HistTargetOrder *phist_target_order)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ *phist_target_order =
+ pdev->histpostprocess.hist_target_order;
+
+ return status;
+
+}
+VL53LX_Error VL53LX::VL53LX_set_target_order_mode(
+ VL53LX_HistTargetOrder hist_target_order)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+
+ pdev->histpostprocess.hist_target_order = hist_target_order;
+
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_get_dmax_reflectance_values(
+ VL53LX_dmax_reflectance_array_t *pdmax_reflectances)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t i = 0;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+
+ for (i = 0; i < VL53LX_MAX_AMBIENT_DMAX_VALUES; i++) {
+ pdmax_reflectances->target_reflectance_for_dmax[i] =
+ pdev->dmax_cfg.target_reflectance_for_dmax_calc[i];
+ }
+
+ return status;
+
+}
+VL53LX_Error VL53LX::VL53LX_set_dmax_reflectance_values(
+ VL53LX_dmax_reflectance_array_t *pdmax_reflectances)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t i = 0;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ for (i = 0; i < VL53LX_MAX_AMBIENT_DMAX_VALUES; i++) {
+ pdev->dmax_cfg.target_reflectance_for_dmax_calc[i] =
+ pdmax_reflectances->target_reflectance_for_dmax[i];
+ }
+
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_get_vhv_loopbound(
+ uint8_t *pvhv_loopbound)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ *pvhv_loopbound =
+ pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound / 4;
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_set_vhv_loopbound(
+ uint8_t vhv_loopbound)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound =
+ (pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound & 0x03) +
+ (vhv_loopbound * 4);
+
+ return status;
+
+}
+VL53LX_Error VL53LX::VL53LX_get_vhv_config(
+ uint8_t *pvhv_init_en,
+ uint8_t *pvhv_init_value)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+
+ *pvhv_init_en = (pdev->stat_nvm.vhv_config__init & 0x80) >> 7;
+ *pvhv_init_value =
+ (pdev->stat_nvm.vhv_config__init & 0x7F);
+
+ return status;
+
+}
+
+
+VL53LX_Error VL53LX::VL53LX_set_vhv_config(
+ uint8_t vhv_init_en,
+ uint8_t vhv_init_value)
+{
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->stat_nvm.vhv_config__init =
+ ((vhv_init_en & 0x01) << 7) +
+ (vhv_init_value & 0x7F);
+
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_init_and_start_range(
+ uint8_t measurement_mode,
+ VL53LX_DeviceConfigLevel device_config_level)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_LLDriverResults_t *pres =
+ VL53LXDevStructGetLLResultsHandle(Dev);
+
+ uint8_t buffer[VL53LX_MAX_I2C_XFER_SIZE];
+
+ VL53LX_static_nvm_managed_t *pstatic_nvm = &(pdev->stat_nvm);
+ VL53LX_customer_nvm_managed_t *pcustomer_nvm = &(pdev->customer);
+ VL53LX_static_config_t *pstatic = &(pdev->stat_cfg);
+ VL53LX_general_config_t *pgeneral = &(pdev->gen_cfg);
+ VL53LX_timing_config_t *ptiming = &(pdev->tim_cfg);
+ VL53LX_dynamic_config_t *pdynamic = &(pdev->dyn_cfg);
+ VL53LX_system_control_t *psystem = &(pdev->sys_ctrl);
+
+ VL53LX_ll_driver_state_t *pstate = &(pdev->ll_state);
+ VL53LX_customer_nvm_managed_t *pN = &(pdev->customer);
+
+ uint8_t *pbuffer = &buffer[0];
+ uint16_t i = 0;
+ uint16_t i2c_index = 0;
+ uint16_t i2c_buffer_offset_bytes = 0;
+ uint16_t i2c_buffer_size_bytes = 0;
+
+
+ pdev->measurement_mode = measurement_mode;
+
+
+
+ psystem->system__mode_start =
+ (psystem->system__mode_start &
+ VL53LX_DEVICEMEASUREMENTMODE_STOP_MASK) |
+ measurement_mode;
+
+
+
+ status =
+ VL53LX_set_user_zone(
+ &(pdev->zone_cfg.user_zones[pdev->ll_state.cfg_zone_id]));
+
+
+ if (pdev->zone_cfg.active_zones > 0) {
+ status =
+ VL53LX_set_zone_dss_config(
+ &(pres->zone_dyn_cfgs.VL53LX_p_003[pdev->ll_state.cfg_zone_id])
+ );
+ }
+
+
+
+
+ if (((pdev->sys_ctrl.system__mode_start &
+ VL53LX_DEVICESCHEDULERMODE_HISTOGRAM) == 0x00) &&
+ (pdev->xtalk_cfg.global_crosstalk_compensation_enable
+ == 0x01)) {
+ pdev->stat_cfg.algo__range_ignore_threshold_mcps =
+ pdev->xtalk_cfg.crosstalk_range_ignore_threshold_rate_mcps;
+ }
+
+
+
+
+
+ if (pdev->low_power_auto_data.low_power_auto_range_count == 0xFF) {
+ pdev->low_power_auto_data.low_power_auto_range_count = 0x0;
+ }
+
+
+ if ((pdev->low_power_auto_data.is_low_power_auto_mode == 1) &&
+ (pdev->low_power_auto_data.low_power_auto_range_count == 0)) {
+
+ pdev->low_power_auto_data.saved_interrupt_config =
+ pdev->gen_cfg.system__interrupt_config_gpio;
+
+ pdev->gen_cfg.system__interrupt_config_gpio = 1 << 5;
+
+ if ((pdev->dyn_cfg.system__sequence_config & (
+ VL53LX_SEQUENCE_MM1_EN | VL53LX_SEQUENCE_MM2_EN)) ==
+ 0x0) {
+ pN->algo__part_to_part_range_offset_mm =
+ (pN->mm_config__outer_offset_mm << 2);
+ } else {
+ pN->algo__part_to_part_range_offset_mm = 0x0;
+ }
+
+
+ if (device_config_level <
+ VL53LX_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS) {
+ device_config_level =
+ VL53LX_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS;
+ }
+ }
+
+ if ((pdev->low_power_auto_data.is_low_power_auto_mode == 1) &&
+ (pdev->low_power_auto_data.low_power_auto_range_count == 1)) {
+
+ pdev->gen_cfg.system__interrupt_config_gpio =
+ pdev->low_power_auto_data.saved_interrupt_config;
+
+
+ device_config_level = VL53LX_DEVICECONFIGLEVEL_FULL;
+ }
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_save_cfg_data();
+ }
+
+
+
+ switch (device_config_level) {
+ case VL53LX_DEVICECONFIGLEVEL_FULL:
+ i2c_index = VL53LX_STATIC_NVM_MANAGED_I2C_INDEX;
+ break;
+ case VL53LX_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS:
+ i2c_index = VL53LX_CUSTOMER_NVM_MANAGED_I2C_INDEX;
+ break;
+ case VL53LX_DEVICECONFIGLEVEL_STATIC_ONWARDS:
+ i2c_index = VL53LX_STATIC_CONFIG_I2C_INDEX;
+ break;
+ case VL53LX_DEVICECONFIGLEVEL_GENERAL_ONWARDS:
+ i2c_index = VL53LX_GENERAL_CONFIG_I2C_INDEX;
+ break;
+ case VL53LX_DEVICECONFIGLEVEL_TIMING_ONWARDS:
+ i2c_index = VL53LX_TIMING_CONFIG_I2C_INDEX;
+ break;
+ case VL53LX_DEVICECONFIGLEVEL_DYNAMIC_ONWARDS:
+ i2c_index = VL53LX_DYNAMIC_CONFIG_I2C_INDEX;
+ break;
+ default:
+ i2c_index = VL53LX_SYSTEM_CONTROL_I2C_INDEX;
+ break;
+ }
+
+
+
+ i2c_buffer_size_bytes =
+ (VL53LX_SYSTEM_CONTROL_I2C_INDEX +
+ VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES) -
+ i2c_index;
+
+
+
+ pbuffer = &buffer[0];
+ for (i = 0; i < i2c_buffer_size_bytes; i++) {
+ *pbuffer++ = 0;
+ }
+
+
+
+ if (device_config_level >= VL53LX_DEVICECONFIGLEVEL_FULL &&
+ status == VL53LX_ERROR_NONE) {
+
+ i2c_buffer_offset_bytes =
+ VL53LX_STATIC_NVM_MANAGED_I2C_INDEX - i2c_index;
+
+ status =
+ VL53LX_i2c_encode_static_nvm_managed(
+ pstatic_nvm,
+ VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES,
+ &buffer[i2c_buffer_offset_bytes]);
+ }
+
+ if (device_config_level >= VL53LX_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS &&
+ status == VL53LX_ERROR_NONE) {
+
+ i2c_buffer_offset_bytes =
+ VL53LX_CUSTOMER_NVM_MANAGED_I2C_INDEX - i2c_index;
+
+ status =
+ VL53LX_i2c_encode_customer_nvm_managed(
+ pcustomer_nvm,
+ VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES,
+ &buffer[i2c_buffer_offset_bytes]);
+ }
+
+ if (device_config_level >= VL53LX_DEVICECONFIGLEVEL_STATIC_ONWARDS &&
+ status == VL53LX_ERROR_NONE) {
+
+ i2c_buffer_offset_bytes =
+ VL53LX_STATIC_CONFIG_I2C_INDEX - i2c_index;
+
+ status =
+ VL53LX_i2c_encode_static_config(
+ pstatic,
+ VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES,
+ &buffer[i2c_buffer_offset_bytes]);
+ }
+
+ if (device_config_level >= VL53LX_DEVICECONFIGLEVEL_GENERAL_ONWARDS &&
+ status == VL53LX_ERROR_NONE) {
+
+ i2c_buffer_offset_bytes =
+ VL53LX_GENERAL_CONFIG_I2C_INDEX - i2c_index;
+
+ status =
+ VL53LX_i2c_encode_general_config(
+ pgeneral,
+ VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES,
+ &buffer[i2c_buffer_offset_bytes]);
+ }
+
+ if (device_config_level >= VL53LX_DEVICECONFIGLEVEL_TIMING_ONWARDS &&
+ status == VL53LX_ERROR_NONE) {
+
+ i2c_buffer_offset_bytes =
+ VL53LX_TIMING_CONFIG_I2C_INDEX - i2c_index;
+
+ status =
+ VL53LX_i2c_encode_timing_config(
+ ptiming,
+ VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES,
+ &buffer[i2c_buffer_offset_bytes]);
+ }
+
+ if (device_config_level >= VL53LX_DEVICECONFIGLEVEL_DYNAMIC_ONWARDS &&
+ status == VL53LX_ERROR_NONE) {
+
+ i2c_buffer_offset_bytes =
+ VL53LX_DYNAMIC_CONFIG_I2C_INDEX - i2c_index;
+
+
+ if ((psystem->system__mode_start &
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK) ==
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK) {
+ pdynamic->system__grouped_parameter_hold_0 =
+ pstate->cfg_gph_id | 0x01;
+ pdynamic->system__grouped_parameter_hold_1 =
+ pstate->cfg_gph_id | 0x01;
+ pdynamic->system__grouped_parameter_hold =
+ pstate->cfg_gph_id;
+ }
+ status =
+ VL53LX_i2c_encode_dynamic_config(
+ pdynamic,
+ VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES,
+ &buffer[i2c_buffer_offset_bytes]);
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ i2c_buffer_offset_bytes =
+ VL53LX_SYSTEM_CONTROL_I2C_INDEX - i2c_index;
+
+ status =
+ VL53LX_i2c_encode_system_control(
+ psystem,
+ VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES,
+ &buffer[i2c_buffer_offset_bytes]);
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_WriteMulti(
+ Dev,
+ i2c_index,
+ buffer,
+ (uint32_t)i2c_buffer_size_bytes);
+ }
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_update_ll_driver_rd_state();
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_update_ll_driver_cfg_state();
+ }
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_stop_range()
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_LLDriverResults_t *pres =
+ VL53LXDevStructGetLLResultsHandle(Dev);
+
+
+
+ pdev->sys_ctrl.system__mode_start =
+ (pdev->sys_ctrl.system__mode_start &
+ VL53LX_DEVICEMEASUREMENTMODE_STOP_MASK) |
+ VL53LX_DEVICEMEASUREMENTMODE_ABORT;
+
+ status = VL53LX_set_system_control(
+ &pdev->sys_ctrl);
+
+
+ pdev->sys_ctrl.system__mode_start =
+ (pdev->sys_ctrl.system__mode_start &
+ VL53LX_DEVICEMEASUREMENTMODE_STOP_MASK);
+
+
+ VL53LX_init_ll_driver_state(
+ VL53LX_DEVICESTATE_SW_STANDBY);
+
+
+ V53L1_init_zone_results_structure(
+ pdev->zone_cfg.active_zones + 1,
+ &(pres->zone_results));
+
+
+ V53L1_init_zone_dss_configs();
+
+
+ if (pdev->low_power_auto_data.is_low_power_auto_mode == 1) {
+ VL53LX_low_power_auto_data_stop_range();
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_measurement_results(
+ VL53LX_DeviceResultsLevel device_results_level)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t buffer[VL53LX_MAX_I2C_XFER_SIZE];
+
+ VL53LX_system_results_t *psystem_results = &(pdev->sys_results);
+ VL53LX_core_results_t *pcore_results = &(pdev->core_results);
+ VL53LX_debug_results_t *pdebug_results = &(pdev->dbg_results);
+
+ uint16_t i2c_index = VL53LX_SYSTEM_RESULTS_I2C_INDEX;
+ uint16_t i2c_buffer_offset_bytes = 0;
+ uint16_t i2c_buffer_size_bytes = 0;
+
+ switch (device_results_level) {
+ case VL53LX_DEVICERESULTSLEVEL_FULL:
+ i2c_buffer_size_bytes =
+ (VL53LX_DEBUG_RESULTS_I2C_INDEX +
+ VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES) -
+ i2c_index;
+ break;
+ case VL53LX_DEVICERESULTSLEVEL_UPTO_CORE:
+ i2c_buffer_size_bytes =
+ (VL53LX_CORE_RESULTS_I2C_INDEX +
+ VL53LX_CORE_RESULTS_I2C_SIZE_BYTES) -
+ i2c_index;
+ break;
+ default:
+ i2c_buffer_size_bytes =
+ VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES;
+ break;
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_ReadMulti(
+ Dev,
+ i2c_index,
+ buffer,
+ (uint32_t)i2c_buffer_size_bytes);
+
+
+
+ if (device_results_level >= VL53LX_DEVICERESULTSLEVEL_FULL &&
+ status == VL53LX_ERROR_NONE) {
+
+ i2c_buffer_offset_bytes =
+ VL53LX_DEBUG_RESULTS_I2C_INDEX - i2c_index;
+
+ status =
+ VL53LX_i2c_decode_debug_results(
+ VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES,
+ &buffer[i2c_buffer_offset_bytes],
+ pdebug_results);
+ }
+
+ if (device_results_level >= VL53LX_DEVICERESULTSLEVEL_UPTO_CORE &&
+ status == VL53LX_ERROR_NONE) {
+
+ i2c_buffer_offset_bytes =
+ VL53LX_CORE_RESULTS_I2C_INDEX - i2c_index;
+
+ status =
+ VL53LX_i2c_decode_core_results(
+ VL53LX_CORE_RESULTS_I2C_SIZE_BYTES,
+ &buffer[i2c_buffer_offset_bytes],
+ pcore_results);
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ i2c_buffer_offset_bytes = 0;
+ status =
+ VL53LX_i2c_decode_system_results(
+ VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES,
+ &buffer[i2c_buffer_offset_bytes],
+ psystem_results);
+ }
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_device_results(
+ VL53LX_DeviceResultsLevel device_results_level,
+ VL53LX_range_results_t *prange_results)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_LLDriverResults_t *pres =
+ VL53LXDevStructGetLLResultsHandle(Dev);
+
+ VL53LX_range_results_t *presults =
+ &(pres->range_results);
+ VL53LX_zone_objects_t *pobjects =
+ &(pres->zone_results.VL53LX_p_003[0]);
+ VL53LX_ll_driver_state_t *pstate =
+ &(pdev->ll_state);
+ VL53LX_zone_config_t *pzone_cfg =
+ &(pdev->zone_cfg);
+ VL53LX_zone_hist_info_t *phist_info =
+ &(pres->zone_hists.VL53LX_p_003[0]);
+
+ VL53LX_dmax_calibration_data_t dmax_cal;
+ VL53LX_dmax_calibration_data_t *pdmax_cal = &dmax_cal;
+ VL53LX_hist_post_process_config_t *pHP = &(pdev->histpostprocess);
+ VL53LX_xtalk_config_t *pC = &(pdev->xtalk_cfg);
+ VL53LX_low_power_auto_data_t *pL = &(pdev->low_power_auto_data);
+ VL53LX_histogram_bin_data_t *pHD = &(pdev->hist_data);
+ VL53LX_customer_nvm_managed_t *pN = &(pdev->customer);
+ VL53LX_zone_histograms_t *pZH = &(pres->zone_hists);
+ VL53LX_xtalk_calibration_results_t *pXCR = &(pdev->xtalk_cal);
+ uint8_t tmp8;
+ uint8_t zid;
+ uint8_t i;
+ uint8_t histo_merge_nb, idx;
+ VL53LX_range_data_t *pdata;
+
+
+ if ((pdev->sys_ctrl.system__mode_start &
+ VL53LX_DEVICESCHEDULERMODE_HISTOGRAM)
+ == VL53LX_DEVICESCHEDULERMODE_HISTOGRAM) {
+
+
+
+ status = VL53LX_get_histogram_bin_data(&(pdev->hist_data));
+
+
+
+
+ if (status == VL53LX_ERROR_NONE &&
+ pHD->number_of_ambient_bins == 0) {
+ zid = pdev->ll_state.rd_zone_id;
+ status = VL53LX_hist_copy_and_scale_ambient_info(
+ &(pZH->VL53LX_p_003[zid]),
+ &(pdev->hist_data));
+ }
+
+
+ if (status != VL53LX_ERROR_NONE) {
+ goto UPDATE_DYNAMIC_CONFIG;
+ }
+
+ VL53LX_compute_histo_merge_nb(&histo_merge_nb);
+ if (histo_merge_nb == 0) {
+ histo_merge_nb = 1;
+ }
+ idx = histo_merge_nb - 1;
+ if (pdev->tuning_parms.tp_hist_merge == 1)
+ pC->algo__crosstalk_compensation_plane_offset_kcps =
+ pXCR->algo__xtalk_cpo_HistoMerge_kcps[idx];
+
+ pHP->gain_factor =
+ pdev->gain_cal.histogram_ranging_gain_factor;
+
+ pHP->algo__crosstalk_compensation_plane_offset_kcps =
+ VL53LX_calc_crosstalk_plane_offset_with_margin(
+ pC->algo__crosstalk_compensation_plane_offset_kcps,
+ pC->histogram_mode_crosstalk_margin_kcps);
+
+ pHP->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pHP->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps;
+
+ pdev->dmax_cfg.ambient_thresh_sigma =
+ pHP->ambient_thresh_sigma1;
+ pdev->dmax_cfg.min_ambient_thresh_events =
+ pHP->min_ambient_thresh_events;
+ pdev->dmax_cfg.signal_total_events_limit =
+ pHP->signal_total_events_limit;
+ pdev->dmax_cfg.dss_config__target_total_rate_mcps =
+ pdev->stat_cfg.dss_config__target_total_rate_mcps;
+ pdev->dmax_cfg.dss_config__aperture_attenuation =
+ pdev->gen_cfg.dss_config__aperture_attenuation;
+
+ pHP->algo__crosstalk_detect_max_valid_range_mm =
+ pC->algo__crosstalk_detect_max_valid_range_mm;
+ pHP->algo__crosstalk_detect_min_valid_range_mm =
+ pC->algo__crosstalk_detect_min_valid_range_mm;
+ pHP->algo__crosstalk_detect_max_valid_rate_kcps =
+ pC->algo__crosstalk_detect_max_valid_rate_kcps;
+ pHP->algo__crosstalk_detect_max_sigma_mm =
+ pC->algo__crosstalk_detect_max_sigma_mm;
+
+
+
+ VL53LX_copy_rtn_good_spads_to_buffer(
+ &(pdev->nvm_copy_data),
+ &(pdev->rtn_good_spads[0]));
+
+
+
+ switch (pdev->offset_correction_mode) {
+
+ case VL53LX_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS:
+ tmp8 = pdev->gen_cfg.dss_config__aperture_attenuation;
+
+ VL53LX_hist_combine_mm1_mm2_offsets(
+ pN->mm_config__inner_offset_mm,
+ pN->mm_config__outer_offset_mm,
+ pdev->nvm_copy_data.roi_config__mode_roi_centre_spad,
+ pdev->nvm_copy_data.roi_config__mode_roi_xy_size,
+ pHD->roi_config__user_roi_centre_spad,
+ pHD->roi_config__user_roi_requested_global_xy_size,
+ &(pdev->add_off_cal_data),
+ &(pdev->rtn_good_spads[0]),
+ (uint16_t)tmp8,
+ &(pHP->range_offset_mm));
+ break;
+ case VL53LX_OFFSETCORRECTIONMODE__PER_VCSEL_OFFSETS:
+ select_offset_per_vcsel(
+ pdev,
+ &(pHP->range_offset_mm));
+ pHP->range_offset_mm *= 4;
+ break;
+ default:
+ pHP->range_offset_mm = 0;
+ break;
+
+ }
+
+
+
+ if (status != VL53LX_ERROR_NONE) {
+ goto UPDATE_DYNAMIC_CONFIG;
+ }
+
+
+ VL53LX_calc_max_effective_spads(
+ pHD->roi_config__user_roi_centre_spad,
+ pHD->roi_config__user_roi_requested_global_xy_size,
+ &(pdev->rtn_good_spads[0]),
+ (uint16_t)pdev->gen_cfg.dss_config__aperture_attenuation,
+ &(pdev->dmax_cfg.max_effective_spads));
+
+ status =
+ VL53LX_get_dmax_calibration_data(
+ pdev->dmax_mode,
+ pdmax_cal);
+
+
+ if (status != VL53LX_ERROR_NONE) {
+ goto UPDATE_DYNAMIC_CONFIG;
+ }
+
+ status = VL53LX_ipp_hist_process_data(
+ pdmax_cal,
+ &(pdev->dmax_cfg),
+ &(pdev->histpostprocess),
+ &(pdev->hist_data),
+ &(pdev->xtalk_shapes),
+ pdev->wArea1,
+ pdev->wArea2,
+ &histo_merge_nb,
+ presults);
+
+ if ((pdev->tuning_parms.tp_hist_merge == 1) &&
+ (histo_merge_nb > 1))
+ for (i = 0; i < VL53LX_MAX_RANGE_RESULTS; i++) {
+ pdata = &(presults->VL53LX_p_003[i]);
+ pdata->VL53LX_p_016 /= histo_merge_nb;
+ pdata->VL53LX_p_017 /= histo_merge_nb;
+ pdata->VL53LX_p_010 /= histo_merge_nb;
+ pdata->peak_signal_count_rate_mcps /= histo_merge_nb;
+ pdata->avg_signal_count_rate_mcps /= histo_merge_nb;
+ pdata->ambient_count_rate_mcps /= histo_merge_nb;
+ pdata->VL53LX_p_009 /= histo_merge_nb;
+ }
+
+
+ if (status != VL53LX_ERROR_NONE) {
+ goto UPDATE_DYNAMIC_CONFIG;
+ }
+
+ status = VL53LX_hist_wrap_dmax(
+ &(pdev->histpostprocess),
+ &(pdev->hist_data),
+ &(presults->wrap_dmax_mm));
+
+
+ if (status != VL53LX_ERROR_NONE) {
+ goto UPDATE_DYNAMIC_CONFIG;
+ }
+
+ zid = pdev->ll_state.rd_zone_id;
+ status = VL53LX_hist_phase_consistency_check(
+ &(pZH->VL53LX_p_003[zid]),
+ &(pres->zone_results.VL53LX_p_003[zid]),
+ presults);
+
+
+ if (status != VL53LX_ERROR_NONE) {
+ goto UPDATE_DYNAMIC_CONFIG;
+ }
+
+ zid = pdev->ll_state.rd_zone_id;
+ status = VL53LX_hist_xmonitor_consistency_check(
+ &(pZH->VL53LX_p_003[zid]),
+ &(pres->zone_results.VL53LX_p_003[zid]),
+ &(presults->xmonitor));
+
+
+ if (status != VL53LX_ERROR_NONE) {
+ goto UPDATE_DYNAMIC_CONFIG;
+ }
+
+
+ zid = pdev->ll_state.rd_zone_id;
+ pZH->max_zones = VL53LX_MAX_USER_ZONES;
+ pZH->active_zones =
+ pdev->zone_cfg.active_zones + 1;
+ pHD->zone_id = zid;
+
+ if (zid <
+ pres->zone_results.max_zones) {
+
+ phist_info =
+ &(pZH->VL53LX_p_003[zid]);
+
+ phist_info->rd_device_state =
+ pHD->rd_device_state;
+
+ phist_info->number_of_ambient_bins =
+ pHD->number_of_ambient_bins;
+
+ phist_info->result__dss_actual_effective_spads =
+ pHD->result__dss_actual_effective_spads;
+
+ phist_info->VL53LX_p_005 =
+ pHD->VL53LX_p_005;
+
+ phist_info->total_periods_elapsed =
+ pHD->total_periods_elapsed;
+
+ phist_info->ambient_events_sum =
+ pHD->ambient_events_sum;
+ }
+
+
+
+ if (status != VL53LX_ERROR_NONE) {
+ goto UPDATE_DYNAMIC_CONFIG;
+ }
+
+ VL53LX_hist_copy_results_to_sys_and_core(
+ &(pdev->hist_data),
+ presults,
+ &(pdev->sys_results),
+ &(pdev->core_results));
+
+
+UPDATE_DYNAMIC_CONFIG:
+ if (pzone_cfg->active_zones > 0) {
+ if (pstate->rd_device_state !=
+ VL53LX_DEVICESTATE_RANGING_WAIT_GPH_SYNC) {
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_dynamic_zone_update(presults);
+ }
+ }
+
+
+ for (i = 0; i < VL53LX_MAX_USER_ZONES; i++) {
+ pzone_cfg->bin_config[i] =
+ ((pdev->ll_state.cfg_internal_stream_count)
+ & 0x01) ?
+ VL53LX_ZONECONFIG_BINCONFIG__HIGHAMB :
+ VL53LX_ZONECONFIG_BINCONFIG__LOWAMB;
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_multizone_hist_bins_update();
+ }
+
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_dynamic_xtalk_correction_corrector();
+ }
+ /*
+ #ifdef VL53LX_LOG_ENABLE
+ if (status == VL53LX_ERROR_NONE)
+ VL53LX_print_histogram_bin_data(
+ &(pdev->hist_data),
+ "get_device_results():pdev->lldata.hist_data.",
+ VL53LX_TRACE_MODULE_HISTOGRAM_DATA);
+ #endif
+ */
+ } else {
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_get_measurement_results(
+ device_results_level);
+
+ if (status == VL53LX_ERROR_NONE)
+ VL53LX_copy_sys_and_core_results_to_range_results(
+ (int32_t)pdev->gain_cal.standard_ranging_gain_factor,
+ &(pdev->sys_results),
+ &(pdev->core_results),
+ presults);
+
+
+
+ if (pL->is_low_power_auto_mode == 1) {
+
+ if ((status == VL53LX_ERROR_NONE) &&
+ (pL->low_power_auto_range_count == 0)) {
+
+ status =
+ VL53LX_low_power_auto_setup_manual_calibration();
+ pL->low_power_auto_range_count = 1;
+ } else if ((status == VL53LX_ERROR_NONE) &&
+ (pL->low_power_auto_range_count == 1)) {
+ pL->low_power_auto_range_count = 2;
+ }
+
+
+ if ((pL->low_power_auto_range_count != 0xFF) &&
+ (status == VL53LX_ERROR_NONE)) {
+ status = VL53LX_low_power_auto_update_DSS();
+ }
+ }
+
+ }
+
+
+ presults->cfg_device_state = pdev->ll_state.cfg_device_state;
+ presults->rd_device_state = pdev->ll_state.rd_device_state;
+ presults->zone_id = pdev->ll_state.rd_zone_id;
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+ pres->zone_results.max_zones = VL53LX_MAX_USER_ZONES;
+ pres->zone_results.active_zones = pdev->zone_cfg.active_zones + 1;
+ zid = pdev->ll_state.rd_zone_id;
+
+ if (zid < pres->zone_results.max_zones) {
+
+ pobjects =
+ &(pres->zone_results.VL53LX_p_003[zid]);
+
+ pobjects->cfg_device_state =
+ presults->cfg_device_state;
+ pobjects->rd_device_state = presults->rd_device_state;
+ pobjects->zone_id = presults->zone_id;
+ pobjects->stream_count = presults->stream_count;
+
+
+
+ pobjects->xmonitor.VL53LX_p_016 =
+ presults->xmonitor.VL53LX_p_016;
+ pobjects->xmonitor.VL53LX_p_017 =
+ presults->xmonitor.VL53LX_p_017;
+ pobjects->xmonitor.VL53LX_p_011 =
+ presults->xmonitor.VL53LX_p_011;
+ pobjects->xmonitor.range_status =
+ presults->xmonitor.range_status;
+
+ pobjects->max_objects = presults->max_results;
+ pobjects->active_objects = presults->active_results;
+
+ for (i = 0; i < presults->active_results; i++) {
+ pobjects->VL53LX_p_003[i].VL53LX_p_016 =
+ presults->VL53LX_p_003[i].VL53LX_p_016;
+ pobjects->VL53LX_p_003[i].VL53LX_p_017 =
+ presults->VL53LX_p_003[i].VL53LX_p_017;
+ pobjects->VL53LX_p_003[i].VL53LX_p_011 =
+ presults->VL53LX_p_003[i].VL53LX_p_011;
+ pobjects->VL53LX_p_003[i].range_status =
+ presults->VL53LX_p_003[i].range_status;
+ }
+
+
+ }
+ }
+
+
+
+ memcpy(
+ prange_results,
+ presults,
+ sizeof(VL53LX_range_results_t));
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_check_ll_driver_rd_state();
+ }
+ /*
+ #ifdef VL53LX_LOG_ENABLE
+ if (status == VL53LX_ERROR_NONE)
+ VL53LX_print_range_results(
+ presults,
+ "get_device_results():pdev->llresults.range_results.",
+ VL53LX_TRACE_MODULE_RANGE_RESULTS_DATA);
+ #endif
+ */
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_clear_interrupt_and_enable_next_range(
+ uint8_t measurement_mode)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_init_and_start_range(
+ measurement_mode,
+ VL53LX_DEVICECONFIGLEVEL_GENERAL_ONWARDS);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_histogram_bin_data(
+ VL53LX_histogram_bin_data_t *pdata)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_LLDriverResults_t *pres =
+ VL53LXDevStructGetLLResultsHandle(Dev);
+
+ VL53LX_zone_private_dyn_cfg_t *pzone_dyn_cfg;
+
+ VL53LX_static_nvm_managed_t *pstat_nvm = &(pdev->stat_nvm);
+ VL53LX_static_config_t *pstat_cfg = &(pdev->stat_cfg);
+ VL53LX_general_config_t *pgen_cfg = &(pdev->gen_cfg);
+ VL53LX_timing_config_t *ptim_cfg = &(pdev->tim_cfg);
+ VL53LX_range_results_t *presults = &(pres->range_results);
+
+ uint8_t buffer[VL53LX_MAX_I2C_XFER_SIZE];
+ uint8_t *pbuffer = &buffer[0];
+ uint8_t bin_23_0 = 0x00;
+ uint16_t bin = 0;
+ uint16_t i2c_buffer_offset_bytes = 0;
+ uint16_t encoded_timeout = 0;
+
+ uint32_t pll_period_us = 0;
+ uint32_t periods_elapsed_tmp = 0;
+
+ uint8_t i = 0;
+
+ int32_t hist_merge = 0;
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_HISTOGRAM_BIN_DATA_I2C_INDEX,
+ pbuffer,
+ VL53LX_HISTOGRAM_BIN_DATA_I2C_SIZE_BYTES);
+
+
+
+ pdata->result__interrupt_status = *(pbuffer + 0);
+ pdata->result__range_status = *(pbuffer + 1);
+ pdata->result__report_status = *(pbuffer + 2);
+ pdata->result__stream_count = *(pbuffer + 3);
+ pdata->result__dss_actual_effective_spads =
+ VL53LX_i2c_decode_uint16_t(2, pbuffer + 4);
+
+
+
+ i2c_buffer_offset_bytes =
+ VL53LX_PHASECAL_RESULT__REFERENCE_PHASE -
+ VL53LX_HISTOGRAM_BIN_DATA_I2C_INDEX;
+
+ pbuffer = &buffer[i2c_buffer_offset_bytes];
+
+ pdata->phasecal_result__reference_phase =
+ VL53LX_i2c_decode_uint16_t(2, pbuffer);
+
+ i2c_buffer_offset_bytes =
+ VL53LX_PHASECAL_RESULT__VCSEL_START -
+ VL53LX_HISTOGRAM_BIN_DATA_I2C_INDEX;
+
+ pdata->phasecal_result__vcsel_start = buffer[i2c_buffer_offset_bytes];
+
+
+
+ pdev->dbg_results.phasecal_result__reference_phase =
+ pdata->phasecal_result__reference_phase;
+ pdev->dbg_results.phasecal_result__vcsel_start =
+ pdata->phasecal_result__vcsel_start;
+
+
+
+ i2c_buffer_offset_bytes =
+ VL53LX_RESULT__HISTOGRAM_BIN_23_0_MSB -
+ VL53LX_HISTOGRAM_BIN_DATA_I2C_INDEX;
+
+ bin_23_0 = buffer[i2c_buffer_offset_bytes] << 2;
+
+ i2c_buffer_offset_bytes =
+ VL53LX_RESULT__HISTOGRAM_BIN_23_0_LSB -
+ VL53LX_HISTOGRAM_BIN_DATA_I2C_INDEX;
+
+ bin_23_0 += buffer[i2c_buffer_offset_bytes];
+
+ i2c_buffer_offset_bytes =
+ VL53LX_RESULT__HISTOGRAM_BIN_23_0 -
+ VL53LX_HISTOGRAM_BIN_DATA_I2C_INDEX;
+
+ buffer[i2c_buffer_offset_bytes] = bin_23_0;
+
+
+
+ i2c_buffer_offset_bytes =
+ VL53LX_RESULT__HISTOGRAM_BIN_0_2 -
+ VL53LX_HISTOGRAM_BIN_DATA_I2C_INDEX;
+
+ pbuffer = &buffer[i2c_buffer_offset_bytes];
+ for (bin = 0; bin < VL53LX_HISTOGRAM_BUFFER_SIZE; bin++) {
+ pdata->bin_data[bin] =
+ (int32_t)VL53LX_i2c_decode_uint32_t(3, pbuffer);
+ pbuffer += 3;
+ }
+
+
+
+
+ VL53LX_get_tuning_parm(VL53LX_TUNINGPARM_HIST_MERGE, &hist_merge);
+
+ if (pdata->result__stream_count == 0) {
+
+ memset(pdev->multi_bins_rec, 0, sizeof(pdev->multi_bins_rec));
+ pdev->bin_rec_pos = 0;
+ pdev->pos_before_next_recom = 0;
+ }
+
+ if (hist_merge == 1) {
+ vl53lx_histo_merge(pdata);
+ }
+
+
+ pdata->zone_id = pdev->ll_state.rd_zone_id;
+ pdata->VL53LX_p_019 = 0;
+ pdata->VL53LX_p_020 = VL53LX_HISTOGRAM_BUFFER_SIZE;
+ pdata->VL53LX_p_021 = VL53LX_HISTOGRAM_BUFFER_SIZE;
+
+ pdata->cal_config__vcsel_start = pgen_cfg->cal_config__vcsel_start;
+
+
+
+ pdata->vcsel_width =
+ ((uint16_t)pgen_cfg->global_config__vcsel_width) << 4;
+ pdata->vcsel_width +=
+ (uint16_t)pstat_cfg->ana_config__vcsel_pulse_width_offset;
+
+
+ pdata->VL53LX_p_015 =
+ pstat_nvm->osc_measured__fast_osc__frequency;
+
+
+
+ VL53LX_hist_get_bin_sequence_config(pdata);
+
+
+
+ if (pdev->ll_state.rd_timing_status == 0) {
+
+ encoded_timeout =
+ (ptim_cfg->range_config__timeout_macrop_a_hi << 8)
+ + ptim_cfg->range_config__timeout_macrop_a_lo;
+ pdata->VL53LX_p_005 = ptim_cfg->range_config__vcsel_period_a;
+ } else {
+
+ encoded_timeout =
+ (ptim_cfg->range_config__timeout_macrop_b_hi << 8)
+ + ptim_cfg->range_config__timeout_macrop_b_lo;
+ pdata->VL53LX_p_005 = ptim_cfg->range_config__vcsel_period_b;
+ }
+
+
+
+ pdata->number_of_ambient_bins = 0;
+
+ for (i = 0; i < 6; i++) {
+ if ((pdata->bin_seq[i] & 0x07) == 0x07)
+ pdata->number_of_ambient_bins =
+ pdata->number_of_ambient_bins + 0x04;
+ }
+
+ pdata->total_periods_elapsed =
+ VL53LX_decode_timeout(encoded_timeout);
+
+
+
+
+ pll_period_us =
+ VL53LX_calc_pll_period_us(pdata->VL53LX_p_015);
+
+
+
+ periods_elapsed_tmp = pdata->total_periods_elapsed + 1;
+
+
+
+ pdata->peak_duration_us =
+ VL53LX_duration_maths(
+ pll_period_us,
+ (uint32_t)pdata->vcsel_width,
+ VL53LX_RANGING_WINDOW_VCSEL_PERIODS,
+ periods_elapsed_tmp);
+
+ pdata->woi_duration_us = 0;
+
+
+
+ VL53LX_hist_calc_zero_distance_phase(pdata);
+
+
+
+ VL53LX_hist_estimate_ambient_from_ambient_bins(pdata);
+
+
+
+ pdata->cfg_device_state = pdev->ll_state.cfg_device_state;
+ pdata->rd_device_state = pdev->ll_state.rd_device_state;
+
+
+
+ pzone_dyn_cfg = &(pres->zone_dyn_cfgs.VL53LX_p_003[pdata->zone_id]);
+
+ pdata->roi_config__user_roi_centre_spad =
+ pzone_dyn_cfg->roi_config__user_roi_centre_spad;
+ pdata->roi_config__user_roi_requested_global_xy_size =
+ pzone_dyn_cfg->roi_config__user_roi_requested_global_xy_size;
+
+
+
+ presults->device_status = VL53LX_DEVICEERROR_NOUPDATE;
+
+
+
+ switch (pdata->result__range_status &
+ VL53LX_RANGE_STATUS__RANGE_STATUS_MASK) {
+
+ case VL53LX_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
+ case VL53LX_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
+ case VL53LX_DEVICEERROR_NOVHVVALUEFOUND:
+ case VL53LX_DEVICEERROR_USERROICLIP:
+ case VL53LX_DEVICEERROR_MULTCLIPFAIL:
+
+ presults->device_status = (pdata->result__range_status &
+ VL53LX_RANGE_STATUS__RANGE_STATUS_MASK);
+
+ status = VL53LX_ERROR_RANGE_ERROR;
+
+ break;
+
+ }
+
+
+ return status;
+}
+
+void VL53LX::VL53LX_copy_sys_and_core_results_to_range_results(
+ int32_t gain_factor,
+ VL53LX_system_results_t *psys,
+ VL53LX_core_results_t *pcore,
+ VL53LX_range_results_t *presults)
+{
+ uint8_t i = 0;
+
+ VL53LX_range_data_t *pdata;
+ int32_t range_mm = 0;
+ uint32_t tmpu32 = 0;
+ uint16_t rpscr_crosstalk_corrected_mcps_sd0;
+ uint16_t rmmo_effective_spads_sd0;
+ uint16_t rmmi_effective_spads_sd0;
+
+
+
+
+ presults->zone_id = 0;
+ presults->stream_count = psys->result__stream_count;
+ presults->wrap_dmax_mm = 0;
+ presults->max_results = VL53LX_MAX_RANGE_RESULTS;
+ presults->active_results = 1;
+ rpscr_crosstalk_corrected_mcps_sd0 =
+ psys->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0;
+ rmmo_effective_spads_sd0 =
+ psys->result__mm_outer_actual_effective_spads_sd0;
+ rmmi_effective_spads_sd0 =
+ psys->result__mm_inner_actual_effective_spads_sd0;
+
+
+ for (i = 0; i < VL53LX_MAX_AMBIENT_DMAX_VALUES; i++) {
+ presults->VL53LX_p_022[i] = 0;
+ }
+
+ pdata = &(presults->VL53LX_p_003[0]);
+
+ for (i = 0; i < 2; i++) {
+
+ pdata->range_id = i;
+ pdata->time_stamp = 0;
+
+ if ((psys->result__stream_count == 0) &&
+ ((psys->result__range_status &
+ VL53LX_RANGE_STATUS__RANGE_STATUS_MASK) ==
+ VL53LX_DEVICEERROR_RANGECOMPLETE)) {
+ pdata->range_status =
+ VL53LX_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK;
+ } else {
+ pdata->range_status =
+ psys->result__range_status &
+ VL53LX_RANGE_STATUS__RANGE_STATUS_MASK;
+ }
+
+ pdata->VL53LX_p_012 = 0;
+ pdata->VL53LX_p_019 = 0;
+ pdata->VL53LX_p_023 = 0;
+ pdata->VL53LX_p_024 = 0;
+ pdata->VL53LX_p_013 = 0;
+ pdata->VL53LX_p_025 = 0;
+
+ switch (i) {
+
+ case 0:
+ if (psys->result__report_status ==
+ VL53LX_DEVICEREPORTSTATUS_MM1)
+ pdata->VL53LX_p_004 =
+ rmmi_effective_spads_sd0;
+ else if (psys->result__report_status ==
+ VL53LX_DEVICEREPORTSTATUS_MM2)
+ pdata->VL53LX_p_004 =
+ rmmo_effective_spads_sd0;
+ else
+ pdata->VL53LX_p_004 =
+ psys->result__dss_actual_effective_spads_sd0;
+
+ pdata->peak_signal_count_rate_mcps =
+ rpscr_crosstalk_corrected_mcps_sd0;
+ pdata->avg_signal_count_rate_mcps =
+ psys->result__avg_signal_count_rate_mcps_sd0;
+ pdata->ambient_count_rate_mcps =
+ psys->result__ambient_count_rate_mcps_sd0;
+
+
+
+
+ tmpu32 = ((uint32_t)psys->result__sigma_sd0 << 5);
+ if (tmpu32 > 0xFFFF) {
+ tmpu32 = 0xFFFF;
+ }
+
+ pdata->VL53LX_p_002 = (uint16_t)tmpu32;
+
+
+
+ pdata->VL53LX_p_011 =
+ psys->result__phase_sd0;
+
+ range_mm = (int32_t)(
+ psys->result__final_crosstalk_corrected_range_mm_sd0);
+
+
+ range_mm *= gain_factor;
+ range_mm += 0x0400;
+ range_mm /= 0x0800;
+
+ pdata->median_range_mm = (int16_t)range_mm;
+
+ pdata->VL53LX_p_017 =
+ pcore->result_core__ranging_total_events_sd0;
+ pdata->VL53LX_p_010 =
+ pcore->result_core__signal_total_events_sd0;
+ pdata->total_periods_elapsed =
+ pcore->result_core__total_periods_elapsed_sd0;
+ pdata->VL53LX_p_016 =
+ pcore->result_core__ambient_window_events_sd0;
+
+ break;
+ case 1:
+
+ pdata->VL53LX_p_004 =
+ psys->result__dss_actual_effective_spads_sd1;
+ pdata->peak_signal_count_rate_mcps =
+ psys->result__peak_signal_count_rate_mcps_sd1;
+ pdata->avg_signal_count_rate_mcps =
+ 0xFFFF;
+ pdata->ambient_count_rate_mcps =
+ psys->result__ambient_count_rate_mcps_sd1;
+
+
+
+
+ tmpu32 = ((uint32_t)psys->result__sigma_sd1 << 5);
+ if (tmpu32 > 0xFFFF) {
+ tmpu32 = 0xFFFF;
+ }
+
+ pdata->VL53LX_p_002 = (uint16_t)tmpu32;
+
+
+
+ pdata->VL53LX_p_011 =
+ psys->result__phase_sd1;
+
+ range_mm = (int32_t)(
+ psys->result__final_crosstalk_corrected_range_mm_sd1);
+
+
+ range_mm *= gain_factor;
+ range_mm += 0x0400;
+ range_mm /= 0x0800;
+
+ pdata->median_range_mm = (int16_t)range_mm;
+
+ pdata->VL53LX_p_017 =
+ pcore->result_core__ranging_total_events_sd1;
+ pdata->VL53LX_p_010 =
+ pcore->result_core__signal_total_events_sd1;
+ pdata->total_periods_elapsed =
+ pcore->result_core__total_periods_elapsed_sd1;
+ pdata->VL53LX_p_016 =
+ pcore->result_core__ambient_window_events_sd1;
+
+ break;
+ }
+
+
+ pdata->VL53LX_p_026 = pdata->VL53LX_p_011;
+ pdata->VL53LX_p_027 = pdata->VL53LX_p_011;
+ pdata->min_range_mm = pdata->median_range_mm;
+ pdata->max_range_mm = pdata->median_range_mm;
+
+ pdata++;
+ }
+
+
+
+ presults->device_status = VL53LX_DEVICEERROR_NOUPDATE;
+
+
+
+ switch (psys->result__range_status &
+ VL53LX_RANGE_STATUS__RANGE_STATUS_MASK) {
+
+ case VL53LX_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
+ case VL53LX_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
+ case VL53LX_DEVICEERROR_NOVHVVALUEFOUND:
+ case VL53LX_DEVICEERROR_USERROICLIP:
+ case VL53LX_DEVICEERROR_MULTCLIPFAIL:
+
+ presults->device_status = (psys->result__range_status &
+ VL53LX_RANGE_STATUS__RANGE_STATUS_MASK);
+
+ presults->VL53LX_p_003[0].range_status =
+ VL53LX_DEVICEERROR_NOUPDATE;
+ break;
+
+ }
+
+}
+
+VL53LX_Error VL53LX::VL53LX_set_zone_dss_config(
+ VL53LX_zone_private_dyn_cfg_t *pzone_dyn_cfg)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_ll_driver_state_t *pstate = &(pdev->ll_state);
+
+ if (pstate->cfg_device_state ==
+ VL53LX_DEVICESTATE_RANGING_DSS_MANUAL) {
+ pdev->gen_cfg.dss_config__roi_mode_control =
+ VL53LX_DSS_CONTROL__MODE_EFFSPADS;
+ pdev->gen_cfg.dss_config__manual_effective_spads_select =
+ pzone_dyn_cfg->dss_requested_effective_spad_count;
+ } else {
+ pdev->gen_cfg.dss_config__roi_mode_control =
+ VL53LX_DSS_CONTROL__MODE_TARGET_RATE;
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_calc_ambient_dmax(
+ uint16_t target_reflectance,
+ int16_t *pambient_dmax_mm)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ VL53LX_dmax_calibration_data_t dmax_cal;
+ VL53LX_dmax_calibration_data_t *pdmax_cal = &dmax_cal;
+
+ status =
+ VL53LX_get_dmax_calibration_data(
+ pdev->debug_mode,
+ pdmax_cal);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_ipp_hist_ambient_dmax(
+ target_reflectance,
+ &(pdev->fmt_dmax_cal),
+ &(pdev->dmax_cfg),
+ &(pdev->hist_data),
+ pambient_dmax_mm);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_set_GPIO_interrupt_config(
+ VL53LX_GPIO_Interrupt_Mode intr_mode_distance,
+ VL53LX_GPIO_Interrupt_Mode intr_mode_rate,
+ uint8_t intr_new_measure_ready,
+ uint8_t intr_no_target,
+ uint8_t intr_combined_mode,
+ uint16_t thresh_distance_high,
+ uint16_t thresh_distance_low,
+ uint16_t thresh_rate_high,
+ uint16_t thresh_rate_low
+)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_GPIO_interrupt_config_t *pintconf =
+ &(pdev->gpio_interrupt_config);
+
+ pintconf->intr_mode_distance = intr_mode_distance;
+ pintconf->intr_mode_rate = intr_mode_rate;
+ pintconf->intr_new_measure_ready = intr_new_measure_ready;
+ pintconf->intr_no_target = intr_no_target;
+ pintconf->intr_combined_mode = intr_combined_mode;
+ pintconf->threshold_distance_high = thresh_distance_high;
+ pintconf->threshold_distance_low = thresh_distance_low;
+ pintconf->threshold_rate_high = thresh_rate_high;
+ pintconf->threshold_rate_low = thresh_rate_low;
+
+
+ pdev->gen_cfg.system__interrupt_config_gpio =
+ VL53LX_encode_GPIO_interrupt_config(pintconf);
+
+
+
+ status = VL53LX_set_GPIO_thresholds_from_struct(
+ pintconf);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_GPIO_interrupt_config_struct(
+ VL53LX_GPIO_interrupt_config_t intconf)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_GPIO_interrupt_config_t *pintconf =
+ &(pdev->gpio_interrupt_config);
+ memcpy(pintconf, &(intconf), sizeof(VL53LX_GPIO_interrupt_config_t));
+
+
+ pdev->gen_cfg.system__interrupt_config_gpio =
+ VL53LX_encode_GPIO_interrupt_config(pintconf);
+
+
+ status = VL53LX_set_GPIO_thresholds_from_struct(
+ pintconf);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_GPIO_interrupt_config(
+ VL53LX_GPIO_interrupt_config_t *pintconf)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->gpio_interrupt_config = VL53LX_decode_GPIO_interrupt_config(
+ pdev->gen_cfg.system__interrupt_config_gpio);
+
+
+ pdev->gpio_interrupt_config.threshold_distance_high =
+ pdev->dyn_cfg.system__thresh_high;
+ pdev->gpio_interrupt_config.threshold_distance_low =
+ pdev->dyn_cfg.system__thresh_low;
+
+ pdev->gpio_interrupt_config.threshold_rate_high =
+ pdev->gen_cfg.system__thresh_rate_high;
+ pdev->gpio_interrupt_config.threshold_rate_low =
+ pdev->gen_cfg.system__thresh_rate_low;
+
+ if (pintconf == &(pdev->gpio_interrupt_config)) {
+
+ } else {
+
+
+ memcpy(pintconf, &(pdev->gpio_interrupt_config),
+ sizeof(VL53LX_GPIO_interrupt_config_t));
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_set_dmax_mode(
+ VL53LX_DeviceDmaxMode dmax_mode)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->dmax_mode = dmax_mode;
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_get_dmax_mode(
+ VL53LX_DeviceDmaxMode *pdmax_mode)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ *pdmax_mode = pdev->dmax_mode;
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_dmax_calibration_data(
+ VL53LX_DeviceDmaxMode dmax_mode,
+ VL53LX_dmax_calibration_data_t *pdmax_cal)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+
+ switch (dmax_mode) {
+
+ case VL53LX_DEVICEDMAXMODE__CUST_CAL_DATA:
+ memcpy(
+ pdmax_cal,
+ &(pdev->cust_dmax_cal),
+ sizeof(VL53LX_dmax_calibration_data_t));
+ break;
+
+ case VL53LX_DEVICEDMAXMODE__FMT_CAL_DATA:
+ memcpy(
+ pdmax_cal,
+ &(pdev->fmt_dmax_cal),
+ sizeof(VL53LX_dmax_calibration_data_t));
+ break;
+
+ default:
+ status = VL53LX_ERROR_INVALID_PARAMS;
+ break;
+
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_hist_dmax_config(
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ memcpy(
+ &(pdev->dmax_cfg),
+ pdmax_cfg,
+ sizeof(VL53LX_hist_gen3_dmax_config_t));
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_hist_dmax_config(
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+
+ memcpy(
+ pdmax_cfg,
+ &(pdev->dmax_cfg),
+ sizeof(VL53LX_hist_gen3_dmax_config_t));
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_set_offset_calibration_mode(
+ VL53LX_OffsetCalibrationMode offset_cal_mode)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->offset_calibration_mode = offset_cal_mode;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_offset_calibration_mode(
+ VL53LX_OffsetCalibrationMode *poffset_cal_mode)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ *poffset_cal_mode = pdev->offset_calibration_mode;
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_set_offset_correction_mode(
+ VL53LX_OffsetCorrectionMode offset_cor_mode)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->offset_correction_mode = offset_cor_mode;
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_offset_correction_mode(
+ VL53LX_OffsetCorrectionMode *poffset_cor_mode)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+
+ *poffset_cor_mode = pdev->offset_correction_mode;
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_set_zone_calibration_data(
+ VL53LX_zone_calibration_results_t *pzone_cal)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverResults_t *pres = VL53LXDevStructGetLLResultsHandle(Dev);
+
+
+ if (pzone_cal->struct_version !=
+ VL53LX_LL_ZONE_CALIBRATION_DATA_STRUCT_VERSION) {
+ status = VL53LX_ERROR_INVALID_PARAMS;
+ }
+
+
+ if (status == VL53LX_ERROR_NONE)
+
+ memcpy(
+ &(pres->zone_cal),
+ pzone_cal,
+ sizeof(VL53LX_zone_calibration_results_t));
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_zone_calibration_data(
+ VL53LX_zone_calibration_results_t *pzone_cal)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverResults_t *pres = VL53LXDevStructGetLLResultsHandle(Dev);
+
+ memcpy(
+ pzone_cal,
+ &(pres->zone_cal),
+ sizeof(VL53LX_zone_calibration_results_t));
+
+ pzone_cal->struct_version =
+ VL53LX_LL_ZONE_CALIBRATION_DATA_STRUCT_VERSION;
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_tuning_debug_data(
+ VL53LX_tuning_parameters_t *ptun_data)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_hist_post_process_config_t *pHP = &(pdev->histpostprocess);
+ VL53LX_xtalkextract_config_t *pXC = &(pdev->xtalk_extract_cfg);
+
+
+ ptun_data->vl53lx_tuningparm_version =
+ pdev->tuning_parms.tp_tuning_parm_version;
+
+ ptun_data->vl53lx_tuningparm_key_table_version =
+ pdev->tuning_parms.tp_tuning_parm_key_table_version;
+
+
+ ptun_data->vl53lx_tuningparm_lld_version =
+ pdev->tuning_parms.tp_tuning_parm_lld_version;
+
+ ptun_data->vl53lx_tuningparm_hist_algo_select =
+ pHP->hist_algo_select;
+
+ ptun_data->vl53lx_tuningparm_hist_target_order =
+ pHP->hist_target_order;
+
+ ptun_data->vl53lx_tuningparm_hist_filter_woi_0 =
+ pHP->filter_woi0;
+
+ ptun_data->vl53lx_tuningparm_hist_filter_woi_1 =
+ pHP->filter_woi1;
+
+ ptun_data->vl53lx_tuningparm_hist_amb_est_method =
+ pHP->hist_amb_est_method;
+
+ ptun_data->vl53lx_tuningparm_hist_amb_thresh_sigma_0 =
+ pHP->ambient_thresh_sigma0;
+
+ ptun_data->vl53lx_tuningparm_hist_amb_thresh_sigma_1 =
+ pHP->ambient_thresh_sigma1;
+
+ ptun_data->vl53lx_tuningparm_hist_min_amb_thresh_events =
+ pHP->min_ambient_thresh_events;
+
+ ptun_data->vl53lx_tuningparm_hist_amb_events_scaler =
+ pHP->ambient_thresh_events_scaler;
+
+ ptun_data->vl53lx_tuningparm_hist_noise_threshold =
+ pHP->noise_threshold;
+
+ ptun_data->vl53lx_tuningparm_hist_signal_total_events_limit =
+ pHP->signal_total_events_limit;
+
+ ptun_data->vl53lx_tuningparm_hist_sigma_est_ref_mm =
+ pHP->sigma_estimator__sigma_ref_mm;
+
+ ptun_data->vl53lx_tuningparm_hist_sigma_thresh_mm =
+ pHP->sigma_thresh;
+
+ ptun_data->vl53lx_tuningparm_hist_gain_factor =
+ pdev->gain_cal.histogram_ranging_gain_factor;
+
+ ptun_data->vl53lx_tuningparm_consistency_hist_phase_tolerance =
+ pHP->algo__consistency_check__phase_tolerance;
+
+ ptun_data->vl53lx_tuningparm_consistency_hist_min_max_tolerance_mm =
+ pHP->algo__consistency_check__min_max_tolerance;
+
+ ptun_data->vl53lx_tuningparm_consistency_hist_event_sigma =
+ pHP->algo__consistency_check__event_sigma;
+
+ ptun_data->vl53lx_tuningparm_consistency_hist_event_sigma_min_spad_limit
+ = pHP->algo__consistency_check__event_min_spad_count;
+
+ ptun_data->vl53lx_tuningparm_initial_phase_rtn_histo_long_range =
+ pdev->tuning_parms.tp_init_phase_rtn_hist_long;
+
+ ptun_data->vl53lx_tuningparm_initial_phase_rtn_histo_med_range =
+ pdev->tuning_parms.tp_init_phase_rtn_hist_med;
+
+ ptun_data->vl53lx_tuningparm_initial_phase_rtn_histo_short_range =
+ pdev->tuning_parms.tp_init_phase_rtn_hist_short;
+
+ ptun_data->vl53lx_tuningparm_initial_phase_ref_histo_long_range =
+ pdev->tuning_parms.tp_init_phase_ref_hist_long;
+
+ ptun_data->vl53lx_tuningparm_initial_phase_ref_histo_med_range =
+ pdev->tuning_parms.tp_init_phase_ref_hist_med;
+
+ ptun_data->vl53lx_tuningparm_initial_phase_ref_histo_short_range =
+ pdev->tuning_parms.tp_init_phase_ref_hist_short;
+
+ ptun_data->vl53lx_tuningparm_xtalk_detect_min_valid_range_mm =
+ pdev->xtalk_cfg.algo__crosstalk_detect_min_valid_range_mm;
+
+ ptun_data->vl53lx_tuningparm_xtalk_detect_max_valid_range_mm =
+ pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_range_mm;
+
+ ptun_data->vl53lx_tuningparm_xtalk_detect_max_sigma_mm =
+ pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm;
+
+ ptun_data->vl53lx_tuningparm_xtalk_detect_min_max_tolerance =
+ pHP->algo__crosstalk_detect_min_max_tolerance;
+
+ ptun_data->vl53lx_tuningparm_xtalk_detect_max_valid_rate_kcps =
+ pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_rate_kcps;
+
+ ptun_data->vl53lx_tuningparm_xtalk_detect_event_sigma =
+ pHP->algo__crosstalk_detect_event_sigma;
+
+ ptun_data->vl53lx_tuningparm_hist_xtalk_margin_kcps =
+ pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps;
+
+ ptun_data->vl53lx_tuningparm_consistency_lite_phase_tolerance =
+ pdev->tuning_parms.tp_consistency_lite_phase_tolerance;
+
+ ptun_data->vl53lx_tuningparm_phasecal_target =
+ pdev->tuning_parms.tp_phasecal_target;
+
+ ptun_data->vl53lx_tuningparm_lite_cal_repeat_rate =
+ pdev->tuning_parms.tp_cal_repeat_rate;
+
+ ptun_data->vl53lx_tuningparm_lite_ranging_gain_factor =
+ pdev->gain_cal.standard_ranging_gain_factor;
+
+ ptun_data->vl53lx_tuningparm_lite_min_clip_mm =
+ pdev->tuning_parms.tp_lite_min_clip;
+
+ ptun_data->vl53lx_tuningparm_lite_long_sigma_thresh_mm =
+ pdev->tuning_parms.tp_lite_long_sigma_thresh_mm;
+
+ ptun_data->vl53lx_tuningparm_lite_med_sigma_thresh_mm =
+ pdev->tuning_parms.tp_lite_med_sigma_thresh_mm;
+
+ ptun_data->vl53lx_tuningparm_lite_short_sigma_thresh_mm =
+ pdev->tuning_parms.tp_lite_short_sigma_thresh_mm;
+
+ ptun_data->vl53lx_tuningparm_lite_long_min_count_rate_rtn_mcps =
+ pdev->tuning_parms.tp_lite_long_min_count_rate_rtn_mcps;
+
+ ptun_data->vl53lx_tuningparm_lite_med_min_count_rate_rtn_mcps =
+ pdev->tuning_parms.tp_lite_med_min_count_rate_rtn_mcps;
+
+ ptun_data->vl53lx_tuningparm_lite_short_min_count_rate_rtn_mcps =
+ pdev->tuning_parms.tp_lite_short_min_count_rate_rtn_mcps;
+
+ ptun_data->vl53lx_tuningparm_lite_sigma_est_pulse_width =
+ pdev->tuning_parms.tp_lite_sigma_est_pulse_width_ns;
+
+ ptun_data->vl53lx_tuningparm_lite_sigma_est_amb_width_ns =
+ pdev->tuning_parms.tp_lite_sigma_est_amb_width_ns;
+
+ ptun_data->vl53lx_tuningparm_lite_sigma_ref_mm =
+ pdev->tuning_parms.tp_lite_sigma_ref_mm;
+
+ ptun_data->vl53lx_tuningparm_lite_rit_mult =
+ pdev->xtalk_cfg.crosstalk_range_ignore_threshold_mult;
+
+ ptun_data->vl53lx_tuningparm_lite_seed_config =
+ pdev->tuning_parms.tp_lite_seed_cfg;
+
+ ptun_data->vl53lx_tuningparm_lite_quantifier =
+ pdev->tuning_parms.tp_lite_quantifier;
+
+ ptun_data->vl53lx_tuningparm_lite_first_order_select =
+ pdev->tuning_parms.tp_lite_first_order_select;
+
+ ptun_data->vl53lx_tuningparm_lite_xtalk_margin_kcps =
+ pdev->xtalk_cfg.lite_mode_crosstalk_margin_kcps;
+
+ ptun_data->vl53lx_tuningparm_initial_phase_rtn_lite_long_range =
+ pdev->tuning_parms.tp_init_phase_rtn_lite_long;
+
+ ptun_data->vl53lx_tuningparm_initial_phase_rtn_lite_med_range =
+ pdev->tuning_parms.tp_init_phase_rtn_lite_med;
+
+ ptun_data->vl53lx_tuningparm_initial_phase_rtn_lite_short_range =
+ pdev->tuning_parms.tp_init_phase_rtn_lite_short;
+
+ ptun_data->vl53lx_tuningparm_initial_phase_ref_lite_long_range =
+ pdev->tuning_parms.tp_init_phase_ref_lite_long;
+
+ ptun_data->vl53lx_tuningparm_initial_phase_ref_lite_med_range =
+ pdev->tuning_parms.tp_init_phase_ref_lite_med;
+
+ ptun_data->vl53lx_tuningparm_initial_phase_ref_lite_short_range =
+ pdev->tuning_parms.tp_init_phase_ref_lite_short;
+
+ ptun_data->vl53lx_tuningparm_timed_seed_config =
+ pdev->tuning_parms.tp_timed_seed_cfg;
+
+ ptun_data->vl53lx_tuningparm_dmax_cfg_signal_thresh_sigma =
+ pdev->dmax_cfg.signal_thresh_sigma;
+
+ ptun_data->vl53lx_tuningparm_dmax_cfg_reflectance_array_0 =
+ pdev->dmax_cfg.target_reflectance_for_dmax_calc[0];
+
+ ptun_data->vl53lx_tuningparm_dmax_cfg_reflectance_array_1 =
+ pdev->dmax_cfg.target_reflectance_for_dmax_calc[1];
+
+ ptun_data->vl53lx_tuningparm_dmax_cfg_reflectance_array_2 =
+ pdev->dmax_cfg.target_reflectance_for_dmax_calc[2];
+
+ ptun_data->vl53lx_tuningparm_dmax_cfg_reflectance_array_3 =
+ pdev->dmax_cfg.target_reflectance_for_dmax_calc[3];
+
+ ptun_data->vl53lx_tuningparm_dmax_cfg_reflectance_array_4 =
+ pdev->dmax_cfg.target_reflectance_for_dmax_calc[4];
+
+ ptun_data->vl53lx_tuningparm_vhv_loopbound =
+ pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound;
+
+ ptun_data->vl53lx_tuningparm_refspadchar_device_test_mode =
+ pdev->refspadchar.device_test_mode;
+
+ ptun_data->vl53lx_tuningparm_refspadchar_vcsel_period =
+ pdev->refspadchar.VL53LX_p_005;
+
+ ptun_data->vl53lx_tuningparm_refspadchar_phasecal_timeout_us =
+ pdev->refspadchar.timeout_us;
+
+ ptun_data->vl53lx_tuningparm_refspadchar_target_count_rate_mcps =
+ pdev->refspadchar.target_count_rate_mcps;
+
+ ptun_data->vl53lx_tuningparm_refspadchar_min_countrate_limit_mcps =
+ pdev->refspadchar.min_count_rate_limit_mcps;
+
+ ptun_data->vl53lx_tuningparm_refspadchar_max_countrate_limit_mcps =
+ pdev->refspadchar.max_count_rate_limit_mcps;
+
+ ptun_data->vl53lx_tuningparm_xtalk_extract_num_of_samples =
+ pXC->num_of_samples;
+
+ ptun_data->vl53lx_tuningparm_xtalk_extract_min_filter_thresh_mm =
+ pXC->algo__crosstalk_extract_min_valid_range_mm;
+
+ ptun_data->vl53lx_tuningparm_xtalk_extract_max_filter_thresh_mm =
+ pXC->algo__crosstalk_extract_max_valid_range_mm;
+
+ ptun_data->vl53lx_tuningparm_xtalk_extract_dss_rate_mcps =
+ pXC->dss_config__target_total_rate_mcps;
+
+ ptun_data->vl53lx_tuningparm_xtalk_extract_phasecal_timeout_us =
+ pXC->phasecal_config_timeout_us;
+
+ ptun_data->vl53lx_tuningparm_xtalk_extract_max_valid_rate_kcps =
+ pXC->algo__crosstalk_extract_max_valid_rate_kcps;
+
+ ptun_data->vl53lx_tuningparm_xtalk_extract_sigma_threshold_mm =
+ pXC->algo__crosstalk_extract_max_sigma_mm;
+
+ ptun_data->vl53lx_tuningparm_xtalk_extract_dss_timeout_us =
+ pXC->mm_config_timeout_us;
+
+ ptun_data->vl53lx_tuningparm_xtalk_extract_bin_timeout_us =
+ pXC->range_config_timeout_us;
+
+ ptun_data->vl53lx_tuningparm_offset_cal_dss_rate_mcps =
+ pdev->offsetcal_cfg.dss_config__target_total_rate_mcps;
+
+ ptun_data->vl53lx_tuningparm_offset_cal_phasecal_timeout_us =
+ pdev->offsetcal_cfg.phasecal_config_timeout_us;
+
+ ptun_data->vl53lx_tuningparm_offset_cal_mm_timeout_us =
+ pdev->offsetcal_cfg.mm_config_timeout_us;
+
+ ptun_data->vl53lx_tuningparm_offset_cal_range_timeout_us =
+ pdev->offsetcal_cfg.range_config_timeout_us;
+
+ ptun_data->vl53lx_tuningparm_offset_cal_pre_samples =
+ pdev->offsetcal_cfg.pre_num_of_samples;
+
+ ptun_data->vl53lx_tuningparm_offset_cal_mm1_samples =
+ pdev->offsetcal_cfg.mm1_num_of_samples;
+
+ ptun_data->vl53lx_tuningparm_offset_cal_mm2_samples =
+ pdev->offsetcal_cfg.mm2_num_of_samples;
+
+ ptun_data->vl53lx_tuningparm_zone_cal_dss_rate_mcps =
+ pdev->zonecal_cfg.dss_config__target_total_rate_mcps;
+
+ ptun_data->vl53lx_tuningparm_zone_cal_phasecal_timeout_us =
+ pdev->zonecal_cfg.phasecal_config_timeout_us;
+
+ ptun_data->vl53lx_tuningparm_zone_cal_dss_timeout_us =
+ pdev->zonecal_cfg.mm_config_timeout_us;
+
+ ptun_data->vl53lx_tuningparm_zone_cal_phasecal_num_samples =
+ pdev->zonecal_cfg.phasecal_num_of_samples;
+
+ ptun_data->vl53lx_tuningparm_zone_cal_range_timeout_us =
+ pdev->zonecal_cfg.range_config_timeout_us;
+
+ ptun_data->vl53lx_tuningparm_zone_cal_zone_num_samples =
+ pdev->zonecal_cfg.zone_num_of_samples;
+
+ ptun_data->vl53lx_tuningparm_spadmap_vcsel_period =
+ pdev->ssc_cfg.VL53LX_p_005;
+
+ ptun_data->vl53lx_tuningparm_spadmap_vcsel_start =
+ pdev->ssc_cfg.vcsel_start;
+
+ ptun_data->vl53lx_tuningparm_spadmap_rate_limit_mcps =
+ pdev->ssc_cfg.rate_limit_mcps;
+
+ ptun_data->vl53lx_tuningparm_lite_dss_config_target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_lite_mcps;
+
+ ptun_data->vl53lx_tuningparm_ranging_dss_config_target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_histo_mcps;
+
+ ptun_data->vl53lx_tuningparm_mz_dss_config_target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_histo_mz_mcps;
+
+ ptun_data->vl53lx_tuningparm_timed_dss_config_target_total_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_timed_mcps;
+
+ ptun_data->vl53lx_tuningparm_lite_phasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_lite_us;
+
+ ptun_data->vl53lx_tuningparm_ranging_long_phasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_hist_long_us;
+
+ ptun_data->vl53lx_tuningparm_ranging_med_phasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_hist_med_us;
+
+ ptun_data->vl53lx_tuningparm_ranging_short_phasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_hist_short_us;
+
+ ptun_data->vl53lx_tuningparm_mz_long_phasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_mz_long_us;
+
+ ptun_data->vl53lx_tuningparm_mz_med_phasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_mz_med_us;
+
+ ptun_data->vl53lx_tuningparm_mz_short_phasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_mz_short_us;
+
+ ptun_data->vl53lx_tuningparm_timed_phasecal_config_timeout_us =
+ pdev->tuning_parms.tp_phasecal_timeout_timed_us;
+
+ ptun_data->vl53lx_tuningparm_lite_mm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_lite_us;
+
+ ptun_data->vl53lx_tuningparm_ranging_mm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_histo_us;
+
+ ptun_data->vl53lx_tuningparm_mz_mm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_mz_us;
+
+ ptun_data->vl53lx_tuningparm_timed_mm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_timed_us;
+
+ ptun_data->vl53lx_tuningparm_lite_range_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_lite_us;
+
+ ptun_data->vl53lx_tuningparm_ranging_range_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_histo_us;
+
+ ptun_data->vl53lx_tuningparm_mz_range_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_mz_us;
+
+ ptun_data->vl53lx_tuningparm_timed_range_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_timed_us;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_smudge_margin =
+ pdev->smudge_correct_config.smudge_margin;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_noise_margin =
+ pdev->smudge_correct_config.noise_margin;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_xtalk_offset_limit =
+ pdev->smudge_correct_config.user_xtalk_offset_limit;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_xtalk_offset_limit_hi =
+ pdev->smudge_correct_config.user_xtalk_offset_limit_hi;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_sample_limit =
+ pdev->smudge_correct_config.sample_limit;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_single_xtalk_delta =
+ pdev->smudge_correct_config.single_xtalk_delta;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_averaged_xtalk_delta =
+ pdev->smudge_correct_config.averaged_xtalk_delta;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_clip_limit =
+ pdev->smudge_correct_config.smudge_corr_clip_limit;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_scaler_calc_method =
+ pdev->smudge_correct_config.scaler_calc_method;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_xgradient_scaler =
+ pdev->smudge_correct_config.x_gradient_scaler;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_ygradient_scaler =
+ pdev->smudge_correct_config.y_gradient_scaler;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_user_scaler_set =
+ pdev->smudge_correct_config.user_scaler_set;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_smudge_cor_single_apply =
+ pdev->smudge_correct_config.smudge_corr_single_apply;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_xtalk_amb_threshold =
+ pdev->smudge_correct_config.smudge_corr_ambient_threshold;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_nodetect_amb_threshold_kcps =
+ pdev->smudge_correct_config.nodetect_ambient_threshold;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_nodetect_sample_limit =
+ pdev->smudge_correct_config.nodetect_sample_limit;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_nodetect_xtalk_offset_kcps =
+ pdev->smudge_correct_config.nodetect_xtalk_offset;
+
+ ptun_data->vl53lx_tuningparm_dynxtalk_nodetect_min_range_mm =
+ pdev->smudge_correct_config.nodetect_min_range_mm;
+
+ ptun_data->vl53lx_tuningparm_lowpowerauto_vhv_loop_bound =
+ pdev->low_power_auto_data.vhv_loop_bound;
+
+ ptun_data->vl53lx_tuningparm_lowpowerauto_mm_config_timeout_us =
+ pdev->tuning_parms.tp_mm_timeout_lpa_us;
+
+ ptun_data->vl53lx_tuningparm_lowpowerauto_range_config_timeout_us =
+ pdev->tuning_parms.tp_range_timeout_lpa_us;
+
+ ptun_data->vl53lx_tuningparm_very_short_dss_rate_mcps =
+ pdev->tuning_parms.tp_dss_target_very_short_mcps;
+
+ ptun_data->vl53lx_tuningparm_phasecal_patch_power =
+ pdev->tuning_parms.tp_phasecal_patch_power;
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_tuning_parm(
+ VL53LX_TuningParms tuning_parm_key,
+ int32_t *ptuning_parm_value)
+{
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_hist_post_process_config_t *pHP = &(pdev->histpostprocess);
+ VL53LX_xtalkextract_config_t *pXC = &(pdev->xtalk_extract_cfg);
+
+ switch (tuning_parm_key) {
+
+ case VL53LX_TUNINGPARM_VERSION:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_tuning_parm_version;
+ break;
+ case VL53LX_TUNINGPARM_KEY_TABLE_VERSION:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_tuning_parm_key_table_version;
+ break;
+ case VL53LX_TUNINGPARM_LLD_VERSION:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_tuning_parm_lld_version;
+ break;
+ case VL53LX_TUNINGPARM_HIST_ALGO_SELECT:
+ *ptuning_parm_value =
+ (int32_t)pHP->hist_algo_select;
+ break;
+ case VL53LX_TUNINGPARM_HIST_TARGET_ORDER:
+ *ptuning_parm_value =
+ (int32_t)pHP->hist_target_order;
+ break;
+ case VL53LX_TUNINGPARM_HIST_FILTER_WOI_0:
+ *ptuning_parm_value =
+ (int32_t)pHP->filter_woi0;
+ break;
+ case VL53LX_TUNINGPARM_HIST_FILTER_WOI_1:
+ *ptuning_parm_value =
+ (int32_t)pHP->filter_woi1;
+ break;
+ case VL53LX_TUNINGPARM_HIST_AMB_EST_METHOD:
+ *ptuning_parm_value =
+ (int32_t)pHP->hist_amb_est_method;
+ break;
+ case VL53LX_TUNINGPARM_HIST_AMB_THRESH_SIGMA_0:
+ *ptuning_parm_value =
+ (int32_t)pHP->ambient_thresh_sigma0;
+ break;
+ case VL53LX_TUNINGPARM_HIST_AMB_THRESH_SIGMA_1:
+ *ptuning_parm_value =
+ (int32_t)pHP->ambient_thresh_sigma1;
+ break;
+ case VL53LX_TUNINGPARM_HIST_MIN_AMB_THRESH_EVENTS:
+ *ptuning_parm_value =
+ (int32_t)pHP->min_ambient_thresh_events;
+ break;
+ case VL53LX_TUNINGPARM_HIST_AMB_EVENTS_SCALER:
+ *ptuning_parm_value =
+ (int32_t)pHP->ambient_thresh_events_scaler;
+ break;
+ case VL53LX_TUNINGPARM_HIST_NOISE_THRESHOLD:
+ *ptuning_parm_value =
+ (int32_t)pHP->noise_threshold;
+ break;
+ case VL53LX_TUNINGPARM_HIST_SIGNAL_TOTAL_EVENTS_LIMIT:
+ *ptuning_parm_value =
+ (int32_t)pHP->signal_total_events_limit;
+ break;
+ case VL53LX_TUNINGPARM_HIST_SIGMA_EST_REF_MM:
+ *ptuning_parm_value =
+ (int32_t)pHP->sigma_estimator__sigma_ref_mm;
+ break;
+ case VL53LX_TUNINGPARM_HIST_SIGMA_THRESH_MM:
+ *ptuning_parm_value =
+ (int32_t)pHP->sigma_thresh;
+ break;
+ case VL53LX_TUNINGPARM_HIST_GAIN_FACTOR:
+ *ptuning_parm_value =
+ (int32_t)pdev->gain_cal.histogram_ranging_gain_factor;
+ break;
+ case VL53LX_TUNINGPARM_CONSISTENCY_HIST_PHASE_TOLERANCE:
+ *ptuning_parm_value =
+ (int32_t)pHP->algo__consistency_check__phase_tolerance;
+ break;
+ case VL53LX_TUNINGPARM_CONSISTENCY_HIST_MIN_MAX_TOLERANCE_MM:
+ *ptuning_parm_value =
+ (int32_t)pHP->algo__consistency_check__min_max_tolerance;
+ break;
+ case VL53LX_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA:
+ *ptuning_parm_value =
+ (int32_t)pHP->algo__consistency_check__event_sigma;
+ break;
+ case VL53LX_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA_MIN_SPAD_LIMIT:
+ *ptuning_parm_value =
+ (int32_t)pHP->algo__consistency_check__event_min_spad_count;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_LONG_RANGE:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_init_phase_rtn_hist_long;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_MED_RANGE:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_init_phase_rtn_hist_med;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_SHORT_RANGE:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_init_phase_rtn_hist_short;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_LONG_RANGE:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_init_phase_ref_hist_long;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_MED_RANGE:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_init_phase_ref_hist_med;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_SHORT_RANGE:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_init_phase_ref_hist_short;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_DETECT_MIN_VALID_RANGE_MM:
+ *ptuning_parm_value = (int32_t)(
+ pdev->xtalk_cfg.algo__crosstalk_detect_min_valid_range_mm);
+ break;
+ case VL53LX_TUNINGPARM_XTALK_DETECT_MAX_VALID_RANGE_MM:
+ *ptuning_parm_value = (int32_t)(
+ pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_range_mm);
+ break;
+ case VL53LX_TUNINGPARM_XTALK_DETECT_MAX_SIGMA_MM:
+ *ptuning_parm_value =
+ (int32_t)pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_DETECT_MIN_MAX_TOLERANCE:
+ *ptuning_parm_value =
+ (int32_t)pHP->algo__crosstalk_detect_min_max_tolerance;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_DETECT_MAX_VALID_RATE_KCPS:
+ *ptuning_parm_value = (int32_t)(
+ pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_rate_kcps);
+ break;
+ case VL53LX_TUNINGPARM_XTALK_DETECT_EVENT_SIGMA:
+ *ptuning_parm_value =
+ (int32_t)pHP->algo__crosstalk_detect_event_sigma;
+ break;
+ case VL53LX_TUNINGPARM_HIST_XTALK_MARGIN_KCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps;
+ break;
+ case VL53LX_TUNINGPARM_CONSISTENCY_LITE_PHASE_TOLERANCE:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_consistency_lite_phase_tolerance;
+ break;
+ case VL53LX_TUNINGPARM_PHASECAL_TARGET:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_phasecal_target;
+ break;
+ case VL53LX_TUNINGPARM_LITE_CAL_REPEAT_RATE:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_cal_repeat_rate;
+ break;
+ case VL53LX_TUNINGPARM_LITE_RANGING_GAIN_FACTOR:
+ *ptuning_parm_value =
+ (int32_t)pdev->gain_cal.standard_ranging_gain_factor;
+ break;
+ case VL53LX_TUNINGPARM_LITE_MIN_CLIP_MM:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_lite_min_clip;
+ break;
+ case VL53LX_TUNINGPARM_LITE_LONG_SIGMA_THRESH_MM:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_lite_long_sigma_thresh_mm;
+ break;
+ case VL53LX_TUNINGPARM_LITE_MED_SIGMA_THRESH_MM:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_lite_med_sigma_thresh_mm;
+ break;
+ case VL53LX_TUNINGPARM_LITE_SHORT_SIGMA_THRESH_MM:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_lite_short_sigma_thresh_mm;
+ break;
+ case VL53LX_TUNINGPARM_LITE_LONG_MIN_COUNT_RATE_RTN_MCPS:
+ *ptuning_parm_value = (int32_t)(
+ pdev->tuning_parms.tp_lite_long_min_count_rate_rtn_mcps);
+ break;
+ case VL53LX_TUNINGPARM_LITE_MED_MIN_COUNT_RATE_RTN_MCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_lite_med_min_count_rate_rtn_mcps;
+ break;
+ case VL53LX_TUNINGPARM_LITE_SHORT_MIN_COUNT_RATE_RTN_MCPS:
+ *ptuning_parm_value = (int32_t)(
+ pdev->tuning_parms.tp_lite_short_min_count_rate_rtn_mcps);
+ break;
+ case VL53LX_TUNINGPARM_LITE_SIGMA_EST_PULSE_WIDTH:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_lite_sigma_est_pulse_width_ns;
+ break;
+ case VL53LX_TUNINGPARM_LITE_SIGMA_EST_AMB_WIDTH_NS:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_lite_sigma_est_amb_width_ns;
+ break;
+ case VL53LX_TUNINGPARM_LITE_SIGMA_REF_MM:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_lite_sigma_ref_mm;
+ break;
+ case VL53LX_TUNINGPARM_LITE_RIT_MULT:
+ *ptuning_parm_value =
+ (int32_t)pdev->xtalk_cfg.crosstalk_range_ignore_threshold_mult;
+ break;
+ case VL53LX_TUNINGPARM_LITE_SEED_CONFIG:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_lite_seed_cfg;
+ break;
+ case VL53LX_TUNINGPARM_LITE_QUANTIFIER:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_lite_quantifier;
+ break;
+ case VL53LX_TUNINGPARM_LITE_FIRST_ORDER_SELECT:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_lite_first_order_select;
+ break;
+ case VL53LX_TUNINGPARM_LITE_XTALK_MARGIN_KCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->xtalk_cfg.lite_mode_crosstalk_margin_kcps;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_LONG_RANGE:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_init_phase_rtn_lite_long;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_MED_RANGE:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_init_phase_rtn_lite_med;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_SHORT_RANGE:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_init_phase_rtn_lite_short;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_LONG_RANGE:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_init_phase_ref_lite_long;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_MED_RANGE:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_init_phase_ref_lite_med;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_SHORT_RANGE:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_init_phase_ref_lite_short;
+ break;
+ case VL53LX_TUNINGPARM_TIMED_SEED_CONFIG:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_timed_seed_cfg;
+ break;
+ case VL53LX_TUNINGPARM_DMAX_CFG_SIGNAL_THRESH_SIGMA:
+ *ptuning_parm_value =
+ (int32_t)pdev->dmax_cfg.signal_thresh_sigma;
+ break;
+ case VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_0:
+ *ptuning_parm_value =
+ (int32_t)pdev->dmax_cfg.target_reflectance_for_dmax_calc[0];
+ break;
+ case VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_1:
+ *ptuning_parm_value =
+ (int32_t)pdev->dmax_cfg.target_reflectance_for_dmax_calc[1];
+ break;
+ case VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_2:
+ *ptuning_parm_value =
+ (int32_t)pdev->dmax_cfg.target_reflectance_for_dmax_calc[2];
+ break;
+ case VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_3:
+ *ptuning_parm_value =
+ (int32_t)pdev->dmax_cfg.target_reflectance_for_dmax_calc[3];
+ break;
+ case VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_4:
+ *ptuning_parm_value =
+ (int32_t)pdev->dmax_cfg.target_reflectance_for_dmax_calc[4];
+ break;
+ case VL53LX_TUNINGPARM_VHV_LOOPBOUND:
+ *ptuning_parm_value =
+ (int32_t)pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound;
+ break;
+ case VL53LX_TUNINGPARM_REFSPADCHAR_DEVICE_TEST_MODE:
+ *ptuning_parm_value =
+ (int32_t)pdev->refspadchar.device_test_mode;
+ break;
+ case VL53LX_TUNINGPARM_REFSPADCHAR_VCSEL_PERIOD:
+ *ptuning_parm_value =
+ (int32_t)pdev->refspadchar.VL53LX_p_005;
+ break;
+ case VL53LX_TUNINGPARM_REFSPADCHAR_PHASECAL_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->refspadchar.timeout_us;
+ break;
+ case VL53LX_TUNINGPARM_REFSPADCHAR_TARGET_COUNT_RATE_MCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->refspadchar.target_count_rate_mcps;
+ break;
+ case VL53LX_TUNINGPARM_REFSPADCHAR_MIN_COUNTRATE_LIMIT_MCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->refspadchar.min_count_rate_limit_mcps;
+ break;
+ case VL53LX_TUNINGPARM_REFSPADCHAR_MAX_COUNTRATE_LIMIT_MCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->refspadchar.max_count_rate_limit_mcps;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_NUM_OF_SAMPLES:
+ *ptuning_parm_value =
+ (int32_t)pXC->num_of_samples;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_MIN_FILTER_THRESH_MM:
+ *ptuning_parm_value =
+ (int32_t)pXC->algo__crosstalk_extract_min_valid_range_mm;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_MAX_FILTER_THRESH_MM:
+ *ptuning_parm_value =
+ (int32_t)pXC->algo__crosstalk_extract_max_valid_range_mm;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_DSS_RATE_MCPS:
+ *ptuning_parm_value =
+ (int32_t)pXC->dss_config__target_total_rate_mcps;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_PHASECAL_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pXC->phasecal_config_timeout_us;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_MAX_VALID_RATE_KCPS:
+ *ptuning_parm_value =
+ (int32_t)pXC->algo__crosstalk_extract_max_valid_rate_kcps;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_SIGMA_THRESHOLD_MM:
+ *ptuning_parm_value =
+ (int32_t)pXC->algo__crosstalk_extract_max_sigma_mm;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_DSS_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pXC->mm_config_timeout_us;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_BIN_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pXC->range_config_timeout_us;
+ break;
+ case VL53LX_TUNINGPARM_OFFSET_CAL_DSS_RATE_MCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->offsetcal_cfg.dss_config__target_total_rate_mcps;
+ break;
+ case VL53LX_TUNINGPARM_OFFSET_CAL_PHASECAL_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->offsetcal_cfg.phasecal_config_timeout_us;
+ break;
+ case VL53LX_TUNINGPARM_OFFSET_CAL_MM_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->offsetcal_cfg.mm_config_timeout_us;
+ break;
+ case VL53LX_TUNINGPARM_OFFSET_CAL_RANGE_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->offsetcal_cfg.range_config_timeout_us;
+ break;
+ case VL53LX_TUNINGPARM_OFFSET_CAL_PRE_SAMPLES:
+ *ptuning_parm_value =
+ (int32_t)pdev->offsetcal_cfg.pre_num_of_samples;
+ break;
+ case VL53LX_TUNINGPARM_OFFSET_CAL_MM1_SAMPLES:
+ *ptuning_parm_value =
+ (int32_t)pdev->offsetcal_cfg.mm1_num_of_samples;
+ break;
+ case VL53LX_TUNINGPARM_OFFSET_CAL_MM2_SAMPLES:
+ *ptuning_parm_value =
+ (int32_t)pdev->offsetcal_cfg.mm2_num_of_samples;
+ break;
+ case VL53LX_TUNINGPARM_ZONE_CAL_DSS_RATE_MCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->zonecal_cfg.dss_config__target_total_rate_mcps;
+ break;
+ case VL53LX_TUNINGPARM_ZONE_CAL_PHASECAL_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->zonecal_cfg.phasecal_config_timeout_us;
+ break;
+ case VL53LX_TUNINGPARM_ZONE_CAL_DSS_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->zonecal_cfg.mm_config_timeout_us;
+ break;
+ case VL53LX_TUNINGPARM_ZONE_CAL_PHASECAL_NUM_SAMPLES:
+ *ptuning_parm_value =
+ (int32_t)pdev->zonecal_cfg.phasecal_num_of_samples;
+ break;
+ case VL53LX_TUNINGPARM_ZONE_CAL_RANGE_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->zonecal_cfg.range_config_timeout_us;
+ break;
+ case VL53LX_TUNINGPARM_ZONE_CAL_ZONE_NUM_SAMPLES:
+ *ptuning_parm_value =
+ (int32_t)pdev->zonecal_cfg.zone_num_of_samples;
+ break;
+ case VL53LX_TUNINGPARM_SPADMAP_VCSEL_PERIOD:
+ *ptuning_parm_value =
+ (int32_t)pdev->ssc_cfg.VL53LX_p_005;
+ break;
+ case VL53LX_TUNINGPARM_SPADMAP_VCSEL_START:
+ *ptuning_parm_value =
+ (int32_t)pdev->ssc_cfg.vcsel_start;
+ break;
+ case VL53LX_TUNINGPARM_SPADMAP_RATE_LIMIT_MCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->ssc_cfg.rate_limit_mcps;
+ break;
+ case VL53LX_TUNINGPARM_LITE_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_dss_target_lite_mcps;
+ break;
+ case VL53LX_TUNINGPARM_RANGING_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_dss_target_histo_mcps;
+ break;
+ case VL53LX_TUNINGPARM_MZ_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_dss_target_histo_mz_mcps;
+ break;
+ case VL53LX_TUNINGPARM_TIMED_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_dss_target_timed_mcps;
+ break;
+ case VL53LX_TUNINGPARM_LITE_PHASECAL_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_phasecal_timeout_lite_us;
+ break;
+ case VL53LX_TUNINGPARM_RANGING_LONG_PHASECAL_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_phasecal_timeout_hist_long_us;
+ break;
+ case VL53LX_TUNINGPARM_RANGING_MED_PHASECAL_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_phasecal_timeout_hist_med_us;
+ break;
+ case VL53LX_TUNINGPARM_RANGING_SHORT_PHASECAL_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_phasecal_timeout_hist_short_us;
+ break;
+ case VL53LX_TUNINGPARM_MZ_LONG_PHASECAL_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_phasecal_timeout_mz_long_us;
+ break;
+ case VL53LX_TUNINGPARM_MZ_MED_PHASECAL_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_phasecal_timeout_mz_med_us;
+ break;
+ case VL53LX_TUNINGPARM_MZ_SHORT_PHASECAL_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_phasecal_timeout_mz_short_us;
+ break;
+ case VL53LX_TUNINGPARM_TIMED_PHASECAL_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_phasecal_timeout_timed_us;
+ break;
+ case VL53LX_TUNINGPARM_LITE_MM_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_mm_timeout_lite_us;
+ break;
+ case VL53LX_TUNINGPARM_RANGING_MM_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_mm_timeout_histo_us;
+ break;
+ case VL53LX_TUNINGPARM_MZ_MM_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_mm_timeout_mz_us;
+ break;
+ case VL53LX_TUNINGPARM_TIMED_MM_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_mm_timeout_timed_us;
+ break;
+ case VL53LX_TUNINGPARM_LITE_RANGE_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_range_timeout_lite_us;
+ break;
+ case VL53LX_TUNINGPARM_RANGING_RANGE_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_range_timeout_histo_us;
+ break;
+ case VL53LX_TUNINGPARM_MZ_RANGE_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_range_timeout_mz_us;
+ break;
+ case VL53LX_TUNINGPARM_TIMED_RANGE_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_range_timeout_timed_us;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_SMUDGE_MARGIN:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.smudge_margin;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_NOISE_MARGIN:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.noise_margin;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.user_xtalk_offset_limit;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_HI:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.user_xtalk_offset_limit_hi;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_SAMPLE_LIMIT:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.sample_limit;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_SINGLE_XTALK_DELTA:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.single_xtalk_delta;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_AVERAGED_XTALK_DELTA:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.averaged_xtalk_delta;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_CLIP_LIMIT:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.smudge_corr_clip_limit;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_SCALER_CALC_METHOD:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.scaler_calc_method;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_XGRADIENT_SCALER:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.x_gradient_scaler;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_YGRADIENT_SCALER:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.y_gradient_scaler;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_USER_SCALER_SET:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.user_scaler_set;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_SMUDGE_COR_SINGLE_APPLY:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.smudge_corr_single_apply;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_XTALK_AMB_THRESHOLD:
+ *ptuning_parm_value = (int32_t)(
+ pdev->smudge_correct_config.smudge_corr_ambient_threshold);
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_NODETECT_AMB_THRESHOLD_KCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.nodetect_ambient_threshold;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_NODETECT_SAMPLE_LIMIT:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.nodetect_sample_limit;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.nodetect_xtalk_offset;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_NODETECT_MIN_RANGE_MM:
+ *ptuning_parm_value =
+ (int32_t)pdev->smudge_correct_config.nodetect_min_range_mm;
+ break;
+ case VL53LX_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND:
+ *ptuning_parm_value =
+ (int32_t)pdev->low_power_auto_data.vhv_loop_bound;
+ break;
+ case VL53LX_TUNINGPARM_LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_mm_timeout_lpa_us;
+ break;
+ case VL53LX_TUNINGPARM_LOWPOWERAUTO_RANGE_CONFIG_TIMEOUT_US:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_range_timeout_lpa_us;
+ break;
+ case VL53LX_TUNINGPARM_VERY_SHORT_DSS_RATE_MCPS:
+ *ptuning_parm_value =
+ (int32_t)pdev->tuning_parms.tp_dss_target_very_short_mcps;
+ break;
+ case VL53LX_TUNINGPARM_PHASECAL_PATCH_POWER:
+ *ptuning_parm_value =
+ (int32_t) pdev->tuning_parms.tp_phasecal_patch_power;
+ break;
+ case VL53LX_TUNINGPARM_HIST_MERGE:
+ *ptuning_parm_value =
+ (int32_t) pdev->tuning_parms.tp_hist_merge;
+ break;
+ case VL53LX_TUNINGPARM_RESET_MERGE_THRESHOLD:
+ *ptuning_parm_value =
+ (int32_t) pdev->tuning_parms.tp_reset_merge_threshold;
+ break;
+ case VL53LX_TUNINGPARM_HIST_MERGE_MAX_SIZE:
+ *ptuning_parm_value =
+ (int32_t) pdev->tuning_parms.tp_hist_merge_max_size;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_MAX_SMUDGE_FACTOR:
+ *ptuning_parm_value =
+ pdev->smudge_correct_config.max_smudge_factor;
+ break;
+
+ default:
+ *ptuning_parm_value = 0x7FFFFFFF;
+ status = VL53LX_ERROR_INVALID_PARAMS;
+ break;
+
+ }
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_set_tuning_parm(
+ VL53LX_TuningParms tuning_parm_key,
+ int32_t tuning_parm_value)
+{
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_hist_post_process_config_t *pHP = &(pdev->histpostprocess);
+ VL53LX_xtalkextract_config_t *pXC = &(pdev->xtalk_extract_cfg);
+
+ switch (tuning_parm_key) {
+
+ case VL53LX_TUNINGPARM_VERSION:
+ pdev->tuning_parms.tp_tuning_parm_version =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_KEY_TABLE_VERSION:
+ pdev->tuning_parms.tp_tuning_parm_key_table_version =
+ (uint16_t)tuning_parm_value;
+
+
+
+ if ((uint16_t)tuning_parm_value
+ != VL53LX_TUNINGPARM_KEY_TABLE_VERSION_DEFAULT) {
+ status = VL53LX_ERROR_TUNING_PARM_KEY_MISMATCH;
+ }
+
+ break;
+ case VL53LX_TUNINGPARM_LLD_VERSION:
+ pdev->tuning_parms.tp_tuning_parm_lld_version =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_ALGO_SELECT:
+ pHP->hist_algo_select =
+ (VL53LX_HistAlgoSelect)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_TARGET_ORDER:
+ pHP->hist_target_order =
+ (VL53LX_HistTargetOrder)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_FILTER_WOI_0:
+ pHP->filter_woi0 =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_FILTER_WOI_1:
+ pHP->filter_woi1 =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_AMB_EST_METHOD:
+ pHP->hist_amb_est_method =
+ (VL53LX_HistAmbEstMethod)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_AMB_THRESH_SIGMA_0:
+ pHP->ambient_thresh_sigma0 =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_AMB_THRESH_SIGMA_1:
+ pHP->ambient_thresh_sigma1 =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_MIN_AMB_THRESH_EVENTS:
+ pHP->min_ambient_thresh_events =
+ (int32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_AMB_EVENTS_SCALER:
+ pHP->ambient_thresh_events_scaler =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_NOISE_THRESHOLD:
+ pHP->noise_threshold =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_SIGNAL_TOTAL_EVENTS_LIMIT:
+ pHP->signal_total_events_limit =
+ (int32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_SIGMA_EST_REF_MM:
+ pHP->sigma_estimator__sigma_ref_mm =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_SIGMA_THRESH_MM:
+ pHP->sigma_thresh =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_GAIN_FACTOR:
+ pdev->gain_cal.histogram_ranging_gain_factor =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_CONSISTENCY_HIST_PHASE_TOLERANCE:
+ pHP->algo__consistency_check__phase_tolerance =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_CONSISTENCY_HIST_MIN_MAX_TOLERANCE_MM:
+ pHP->algo__consistency_check__min_max_tolerance =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA:
+ pHP->algo__consistency_check__event_sigma =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA_MIN_SPAD_LIMIT:
+ pHP->algo__consistency_check__event_min_spad_count =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_LONG_RANGE:
+ pdev->tuning_parms.tp_init_phase_rtn_hist_long =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_MED_RANGE:
+ pdev->tuning_parms.tp_init_phase_rtn_hist_med =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_SHORT_RANGE:
+ pdev->tuning_parms.tp_init_phase_rtn_hist_short =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_LONG_RANGE:
+ pdev->tuning_parms.tp_init_phase_ref_hist_long =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_MED_RANGE:
+ pdev->tuning_parms.tp_init_phase_ref_hist_med =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_SHORT_RANGE:
+ pdev->tuning_parms.tp_init_phase_ref_hist_short =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_DETECT_MIN_VALID_RANGE_MM:
+ pdev->xtalk_cfg.algo__crosstalk_detect_min_valid_range_mm =
+ (int16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_DETECT_MAX_VALID_RANGE_MM:
+ pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_range_mm =
+ (int16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_DETECT_MAX_SIGMA_MM:
+ pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_DETECT_MIN_MAX_TOLERANCE:
+ pHP->algo__crosstalk_detect_min_max_tolerance =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_DETECT_MAX_VALID_RATE_KCPS:
+ pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_rate_kcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_DETECT_EVENT_SIGMA:
+ pHP->algo__crosstalk_detect_event_sigma =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_XTALK_MARGIN_KCPS:
+ pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps =
+ (int16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_CONSISTENCY_LITE_PHASE_TOLERANCE:
+ pdev->tuning_parms.tp_consistency_lite_phase_tolerance =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_PHASECAL_TARGET:
+ pdev->tuning_parms.tp_phasecal_target =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_CAL_REPEAT_RATE:
+ pdev->tuning_parms.tp_cal_repeat_rate =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_RANGING_GAIN_FACTOR:
+ pdev->gain_cal.standard_ranging_gain_factor =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_MIN_CLIP_MM:
+ pdev->tuning_parms.tp_lite_min_clip =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_LONG_SIGMA_THRESH_MM:
+ pdev->tuning_parms.tp_lite_long_sigma_thresh_mm =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_MED_SIGMA_THRESH_MM:
+ pdev->tuning_parms.tp_lite_med_sigma_thresh_mm =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_SHORT_SIGMA_THRESH_MM:
+ pdev->tuning_parms.tp_lite_short_sigma_thresh_mm =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_LONG_MIN_COUNT_RATE_RTN_MCPS:
+ pdev->tuning_parms.tp_lite_long_min_count_rate_rtn_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_MED_MIN_COUNT_RATE_RTN_MCPS:
+ pdev->tuning_parms.tp_lite_med_min_count_rate_rtn_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_SHORT_MIN_COUNT_RATE_RTN_MCPS:
+ pdev->tuning_parms.tp_lite_short_min_count_rate_rtn_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_SIGMA_EST_PULSE_WIDTH:
+ pdev->tuning_parms.tp_lite_sigma_est_pulse_width_ns =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_SIGMA_EST_AMB_WIDTH_NS:
+ pdev->tuning_parms.tp_lite_sigma_est_amb_width_ns =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_SIGMA_REF_MM:
+ pdev->tuning_parms.tp_lite_sigma_ref_mm =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_RIT_MULT:
+ pdev->xtalk_cfg.crosstalk_range_ignore_threshold_mult =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_SEED_CONFIG:
+ pdev->tuning_parms.tp_lite_seed_cfg =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_QUANTIFIER:
+ pdev->tuning_parms.tp_lite_quantifier =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_FIRST_ORDER_SELECT:
+ pdev->tuning_parms.tp_lite_first_order_select =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_XTALK_MARGIN_KCPS:
+ pdev->xtalk_cfg.lite_mode_crosstalk_margin_kcps =
+ (int16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_LONG_RANGE:
+ pdev->tuning_parms.tp_init_phase_rtn_lite_long =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_MED_RANGE:
+ pdev->tuning_parms.tp_init_phase_rtn_lite_med =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_SHORT_RANGE:
+ pdev->tuning_parms.tp_init_phase_rtn_lite_short =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_LONG_RANGE:
+ pdev->tuning_parms.tp_init_phase_ref_lite_long =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_MED_RANGE:
+ pdev->tuning_parms.tp_init_phase_ref_lite_med =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_SHORT_RANGE:
+ pdev->tuning_parms.tp_init_phase_ref_lite_short =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_TIMED_SEED_CONFIG:
+ pdev->tuning_parms.tp_timed_seed_cfg =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DMAX_CFG_SIGNAL_THRESH_SIGMA:
+ pdev->dmax_cfg.signal_thresh_sigma =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_0:
+ pdev->dmax_cfg.target_reflectance_for_dmax_calc[0] =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_1:
+ pdev->dmax_cfg.target_reflectance_for_dmax_calc[1] =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_2:
+ pdev->dmax_cfg.target_reflectance_for_dmax_calc[2] =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_3:
+ pdev->dmax_cfg.target_reflectance_for_dmax_calc[3] =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_4:
+ pdev->dmax_cfg.target_reflectance_for_dmax_calc[4] =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_VHV_LOOPBOUND:
+ pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_REFSPADCHAR_DEVICE_TEST_MODE:
+ pdev->refspadchar.device_test_mode =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_REFSPADCHAR_VCSEL_PERIOD:
+ pdev->refspadchar.VL53LX_p_005 =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_REFSPADCHAR_PHASECAL_TIMEOUT_US:
+ pdev->refspadchar.timeout_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_REFSPADCHAR_TARGET_COUNT_RATE_MCPS:
+ pdev->refspadchar.target_count_rate_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_REFSPADCHAR_MIN_COUNTRATE_LIMIT_MCPS:
+ pdev->refspadchar.min_count_rate_limit_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_REFSPADCHAR_MAX_COUNTRATE_LIMIT_MCPS:
+ pdev->refspadchar.max_count_rate_limit_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_NUM_OF_SAMPLES:
+ pXC->num_of_samples =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_MIN_FILTER_THRESH_MM:
+ pXC->algo__crosstalk_extract_min_valid_range_mm =
+ (int16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_MAX_FILTER_THRESH_MM:
+ pXC->algo__crosstalk_extract_max_valid_range_mm =
+ (int16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_DSS_RATE_MCPS:
+ pXC->dss_config__target_total_rate_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_PHASECAL_TIMEOUT_US:
+ pXC->phasecal_config_timeout_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_MAX_VALID_RATE_KCPS:
+ pXC->algo__crosstalk_extract_max_valid_rate_kcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_SIGMA_THRESHOLD_MM:
+ pXC->algo__crosstalk_extract_max_sigma_mm =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_DSS_TIMEOUT_US:
+ pXC->mm_config_timeout_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_XTALK_EXTRACT_BIN_TIMEOUT_US:
+ pXC->range_config_timeout_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_OFFSET_CAL_DSS_RATE_MCPS:
+ pdev->offsetcal_cfg.dss_config__target_total_rate_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_OFFSET_CAL_PHASECAL_TIMEOUT_US:
+ pdev->offsetcal_cfg.phasecal_config_timeout_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_OFFSET_CAL_MM_TIMEOUT_US:
+ pdev->offsetcal_cfg.mm_config_timeout_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_OFFSET_CAL_RANGE_TIMEOUT_US:
+ pdev->offsetcal_cfg.range_config_timeout_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_OFFSET_CAL_PRE_SAMPLES:
+ pdev->offsetcal_cfg.pre_num_of_samples =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_OFFSET_CAL_MM1_SAMPLES:
+ pdev->offsetcal_cfg.mm1_num_of_samples =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_OFFSET_CAL_MM2_SAMPLES:
+ pdev->offsetcal_cfg.mm2_num_of_samples =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_ZONE_CAL_DSS_RATE_MCPS:
+ pdev->zonecal_cfg.dss_config__target_total_rate_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_ZONE_CAL_PHASECAL_TIMEOUT_US:
+ pdev->zonecal_cfg.phasecal_config_timeout_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_ZONE_CAL_DSS_TIMEOUT_US:
+ pdev->zonecal_cfg.mm_config_timeout_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_ZONE_CAL_PHASECAL_NUM_SAMPLES:
+ pdev->zonecal_cfg.phasecal_num_of_samples =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_ZONE_CAL_RANGE_TIMEOUT_US:
+ pdev->zonecal_cfg.range_config_timeout_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_ZONE_CAL_ZONE_NUM_SAMPLES:
+ pdev->zonecal_cfg.zone_num_of_samples =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_SPADMAP_VCSEL_PERIOD:
+ pdev->ssc_cfg.VL53LX_p_005 =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_SPADMAP_VCSEL_START:
+ pdev->ssc_cfg.vcsel_start =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_SPADMAP_RATE_LIMIT_MCPS:
+ pdev->ssc_cfg.rate_limit_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS:
+ pdev->tuning_parms.tp_dss_target_lite_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_RANGING_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS:
+ pdev->tuning_parms.tp_dss_target_histo_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_MZ_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS:
+ pdev->tuning_parms.tp_dss_target_histo_mz_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_TIMED_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS:
+ pdev->tuning_parms.tp_dss_target_timed_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_PHASECAL_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_phasecal_timeout_lite_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_RANGING_LONG_PHASECAL_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_phasecal_timeout_hist_long_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_RANGING_MED_PHASECAL_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_phasecal_timeout_hist_med_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_RANGING_SHORT_PHASECAL_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_phasecal_timeout_hist_short_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_MZ_LONG_PHASECAL_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_phasecal_timeout_mz_long_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_MZ_MED_PHASECAL_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_phasecal_timeout_mz_med_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_MZ_SHORT_PHASECAL_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_phasecal_timeout_mz_short_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_TIMED_PHASECAL_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_phasecal_timeout_timed_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_MM_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_mm_timeout_lite_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_RANGING_MM_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_mm_timeout_histo_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_MZ_MM_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_mm_timeout_mz_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_TIMED_MM_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_mm_timeout_timed_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LITE_RANGE_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_range_timeout_lite_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_RANGING_RANGE_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_range_timeout_histo_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_MZ_RANGE_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_range_timeout_mz_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_TIMED_RANGE_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_range_timeout_timed_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_SMUDGE_MARGIN:
+ pdev->smudge_correct_config.smudge_margin =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_NOISE_MARGIN:
+ pdev->smudge_correct_config.noise_margin =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT:
+ pdev->smudge_correct_config.user_xtalk_offset_limit =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_HI:
+ pdev->smudge_correct_config.user_xtalk_offset_limit_hi =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_SAMPLE_LIMIT:
+ pdev->smudge_correct_config.sample_limit =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_SINGLE_XTALK_DELTA:
+ pdev->smudge_correct_config.single_xtalk_delta =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_AVERAGED_XTALK_DELTA:
+ pdev->smudge_correct_config.averaged_xtalk_delta =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_CLIP_LIMIT:
+ pdev->smudge_correct_config.smudge_corr_clip_limit =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_SCALER_CALC_METHOD:
+ pdev->smudge_correct_config.scaler_calc_method =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_XGRADIENT_SCALER:
+ pdev->smudge_correct_config.x_gradient_scaler =
+ (int16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_YGRADIENT_SCALER:
+ pdev->smudge_correct_config.y_gradient_scaler =
+ (int16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_USER_SCALER_SET:
+ pdev->smudge_correct_config.user_scaler_set =
+ (uint8_t)tuning_parm_value;
+ break;
+
+ case VL53LX_TUNINGPARM_DYNXTALK_SMUDGE_COR_SINGLE_APPLY:
+ pdev->smudge_correct_config.smudge_corr_single_apply =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_XTALK_AMB_THRESHOLD:
+ pdev->smudge_correct_config.smudge_corr_ambient_threshold =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_NODETECT_AMB_THRESHOLD_KCPS:
+ pdev->smudge_correct_config.nodetect_ambient_threshold =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_NODETECT_SAMPLE_LIMIT:
+ pdev->smudge_correct_config.nodetect_sample_limit =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS:
+ pdev->smudge_correct_config.nodetect_xtalk_offset =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_NODETECT_MIN_RANGE_MM:
+ pdev->smudge_correct_config.nodetect_min_range_mm =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND:
+ pdev->low_power_auto_data.vhv_loop_bound =
+ (uint8_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_mm_timeout_lpa_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_LOWPOWERAUTO_RANGE_CONFIG_TIMEOUT_US:
+ pdev->tuning_parms.tp_range_timeout_lpa_us =
+ (uint32_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_VERY_SHORT_DSS_RATE_MCPS:
+ pdev->tuning_parms.tp_dss_target_very_short_mcps =
+ (uint16_t)tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_PHASECAL_PATCH_POWER:
+ pdev->tuning_parms.tp_phasecal_patch_power =
+ (uint16_t) tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_MERGE:
+ pdev->tuning_parms.tp_hist_merge =
+ (uint16_t) tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_RESET_MERGE_THRESHOLD:
+ pdev->tuning_parms.tp_reset_merge_threshold =
+ (uint16_t) tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_HIST_MERGE_MAX_SIZE:
+ pdev->tuning_parms.tp_hist_merge_max_size =
+ (uint16_t) tuning_parm_value;
+ break;
+ case VL53LX_TUNINGPARM_DYNXTALK_MAX_SMUDGE_FACTOR:
+ pdev->smudge_correct_config.max_smudge_factor =
+ (uint32_t)tuning_parm_value;
+ break;
+
+ default:
+ status = VL53LX_ERROR_INVALID_PARAMS;
+ break;
+
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_dynamic_xtalk_correction_enable()
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->smudge_correct_config.smudge_corr_enabled = 1;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_dynamic_xtalk_correction_disable()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->smudge_correct_config.smudge_corr_enabled = 0;
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_dynamic_xtalk_correction_apply_enable()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->smudge_correct_config.smudge_corr_apply_enabled = 1;
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_dynamic_xtalk_correction_apply_disable()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->smudge_correct_config.smudge_corr_apply_enabled = 0;
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_dynamic_xtalk_correction_single_apply_enable()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->smudge_correct_config.smudge_corr_single_apply = 1;
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_dynamic_xtalk_correction_single_apply_disable()
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+
+ pdev->smudge_correct_config.smudge_corr_single_apply = 0;
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_dynamic_xtalk_correction_set_scalers(
+ int16_t x_scaler_in,
+ int16_t y_scaler_in,
+ uint8_t user_scaler_set_in
+)
+{
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+
+ pdev->smudge_correct_config.x_gradient_scaler = x_scaler_in;
+ pdev->smudge_correct_config.y_gradient_scaler = y_scaler_in;
+ pdev->smudge_correct_config.user_scaler_set = user_scaler_set_in;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_current_xtalk_settings(
+ VL53LX_xtalk_calibration_results_t *pxtalk
+)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t i;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pxtalk->algo__crosstalk_compensation_plane_offset_kcps =
+ pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps;
+ pxtalk->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pdev->xtalk_cfg.algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pxtalk->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pdev->xtalk_cfg.algo__crosstalk_compensation_y_plane_gradient_kcps;
+ for (i = 0; i < VL53LX_BIN_REC_SIZE; i++)
+ pxtalk->algo__xtalk_cpo_HistoMerge_kcps[i] =
+ pdev->xtalk_cal.algo__xtalk_cpo_HistoMerge_kcps[i];
+
+
+ return status;
+
+}
+VL53LX_Error VL53LX::VL53LX_set_current_xtalk_settings(
+ VL53LX_xtalk_calibration_results_t *pxtalk
+)
+{
+
+ uint8_t i;
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps =
+ pxtalk->algo__crosstalk_compensation_plane_offset_kcps;
+ pdev->xtalk_cfg.algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pxtalk->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pdev->xtalk_cfg.algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pxtalk->algo__crosstalk_compensation_y_plane_gradient_kcps;
+ for (i = 0; i < VL53LX_BIN_REC_SIZE; i++)
+ pdev->xtalk_cal.algo__xtalk_cpo_HistoMerge_kcps[i] =
+ pxtalk->algo__xtalk_cpo_HistoMerge_kcps[i];
+
+
+ return status;
+
+}
+
+/* vl53lx_register_funcs.c */
+
+VL53LX_Error VL53LX::VL53LX_i2c_encode_static_nvm_managed(
+ VL53LX_static_nvm_managed_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->i2c_slave__device_address & 0x7F;
+ *(pbuffer + 1) =
+ pdata->ana_config__vhv_ref_sel_vddpix & 0xF;
+ *(pbuffer + 2) =
+ pdata->ana_config__vhv_ref_sel_vquench & 0x7F;
+ *(pbuffer + 3) =
+ pdata->ana_config__reg_avdd1v2_sel & 0x3;
+ *(pbuffer + 4) =
+ pdata->ana_config__fast_osc__trim & 0x7F;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->osc_measured__fast_osc__frequency,
+ 2,
+ pbuffer + 5);
+ *(pbuffer + 7) =
+ pdata->vhv_config__timeout_macrop_loop_bound;
+ *(pbuffer + 8) =
+ pdata->vhv_config__count_thresh;
+ *(pbuffer + 9) =
+ pdata->vhv_config__offset & 0x3F;
+ *(pbuffer + 10) =
+ pdata->vhv_config__init;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_static_nvm_managed(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_static_nvm_managed_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->i2c_slave__device_address =
+ (*(pbuffer + 0)) & 0x7F;
+ pdata->ana_config__vhv_ref_sel_vddpix =
+ (*(pbuffer + 1)) & 0xF;
+ pdata->ana_config__vhv_ref_sel_vquench =
+ (*(pbuffer + 2)) & 0x7F;
+ pdata->ana_config__reg_avdd1v2_sel =
+ (*(pbuffer + 3)) & 0x3;
+ pdata->ana_config__fast_osc__trim =
+ (*(pbuffer + 4)) & 0x7F;
+ pdata->osc_measured__fast_osc__frequency =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 5));
+ pdata->vhv_config__timeout_macrop_loop_bound =
+ (*(pbuffer + 7));
+ pdata->vhv_config__count_thresh =
+ (*(pbuffer + 8));
+ pdata->vhv_config__offset =
+ (*(pbuffer + 9)) & 0x3F;
+ pdata->vhv_config__init =
+ (*(pbuffer + 10));
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_static_nvm_managed(
+ VL53LX_static_nvm_managed_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_static_nvm_managed(
+ pdata,
+ VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_I2C_SLAVE__DEVICE_ADDRESS,
+ comms_buffer,
+ VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES);
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_static_nvm_managed(
+ VL53LX_static_nvm_managed_t *pdata)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_I2C_SLAVE__DEVICE_ADDRESS,
+ comms_buffer,
+ VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_static_nvm_managed(
+ VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_i2c_encode_customer_nvm_managed(
+ VL53LX_customer_nvm_managed_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->global_config__spad_enables_ref_0;
+ *(pbuffer + 1) =
+ pdata->global_config__spad_enables_ref_1;
+ *(pbuffer + 2) =
+ pdata->global_config__spad_enables_ref_2;
+ *(pbuffer + 3) =
+ pdata->global_config__spad_enables_ref_3;
+ *(pbuffer + 4) =
+ pdata->global_config__spad_enables_ref_4;
+ *(pbuffer + 5) =
+ pdata->global_config__spad_enables_ref_5 & 0xF;
+ *(pbuffer + 6) =
+ pdata->global_config__ref_en_start_select;
+ *(pbuffer + 7) =
+ pdata->ref_spad_man__num_requested_ref_spads & 0x3F;
+ *(pbuffer + 8) =
+ pdata->ref_spad_man__ref_location & 0x3;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->algo__crosstalk_compensation_plane_offset_kcps,
+ 2,
+ pbuffer + 9);
+ VL53LX_i2c_encode_int16_t(
+ pdata->algo__crosstalk_compensation_x_plane_gradient_kcps,
+ 2,
+ pbuffer + 11);
+ VL53LX_i2c_encode_int16_t(
+ pdata->algo__crosstalk_compensation_y_plane_gradient_kcps,
+ 2,
+ pbuffer + 13);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->ref_spad_char__total_rate_target_mcps,
+ 2,
+ pbuffer + 15);
+ VL53LX_i2c_encode_int16_t(
+ pdata->algo__part_to_part_range_offset_mm & 0x1FFF,
+ 2,
+ pbuffer + 17);
+ VL53LX_i2c_encode_int16_t(
+ pdata->mm_config__inner_offset_mm,
+ 2,
+ pbuffer + 19);
+ VL53LX_i2c_encode_int16_t(
+ pdata->mm_config__outer_offset_mm,
+ 2,
+ pbuffer + 21);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_customer_nvm_managed(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_customer_nvm_managed_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->global_config__spad_enables_ref_0 =
+ (*(pbuffer + 0));
+ pdata->global_config__spad_enables_ref_1 =
+ (*(pbuffer + 1));
+ pdata->global_config__spad_enables_ref_2 =
+ (*(pbuffer + 2));
+ pdata->global_config__spad_enables_ref_3 =
+ (*(pbuffer + 3));
+ pdata->global_config__spad_enables_ref_4 =
+ (*(pbuffer + 4));
+ pdata->global_config__spad_enables_ref_5 =
+ (*(pbuffer + 5)) & 0xF;
+ pdata->global_config__ref_en_start_select =
+ (*(pbuffer + 6));
+ pdata->ref_spad_man__num_requested_ref_spads =
+ (*(pbuffer + 7)) & 0x3F;
+ pdata->ref_spad_man__ref_location =
+ (*(pbuffer + 8)) & 0x3;
+ pdata->algo__crosstalk_compensation_plane_offset_kcps =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 9));
+ pdata->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ (VL53LX_i2c_decode_int16_t(2, pbuffer + 11));
+ pdata->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ (VL53LX_i2c_decode_int16_t(2, pbuffer + 13));
+ pdata->ref_spad_char__total_rate_target_mcps =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 15));
+ pdata->algo__part_to_part_range_offset_mm =
+ (VL53LX_i2c_decode_int16_t(2, pbuffer + 17)) & 0x1FFF;
+ pdata->mm_config__inner_offset_mm =
+ (VL53LX_i2c_decode_int16_t(2, pbuffer + 19));
+ pdata->mm_config__outer_offset_mm =
+ (VL53LX_i2c_decode_int16_t(2, pbuffer + 21));
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_customer_nvm_managed(
+ VL53LX_customer_nvm_managed_t *pdata)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_customer_nvm_managed(
+ pdata,
+ VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_0,
+ comms_buffer,
+ VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_customer_nvm_managed(
+ VL53LX_customer_nvm_managed_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_0,
+ comms_buffer,
+ VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_customer_nvm_managed(
+ VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_i2c_encode_static_config(
+ VL53LX_static_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ VL53LX_i2c_encode_uint16_t(
+ pdata->dss_config__target_total_rate_mcps,
+ 2,
+ pbuffer + 0);
+ *(pbuffer + 2) =
+ pdata->debug__ctrl & 0x1;
+ *(pbuffer + 3) =
+ pdata->test_mode__ctrl & 0xF;
+ *(pbuffer + 4) =
+ pdata->clk_gating__ctrl & 0xF;
+ *(pbuffer + 5) =
+ pdata->nvm_bist__ctrl & 0x1F;
+ *(pbuffer + 6) =
+ pdata->nvm_bist__num_nvm_words & 0x7F;
+ *(pbuffer + 7) =
+ pdata->nvm_bist__start_address & 0x7F;
+ *(pbuffer + 8) =
+ pdata->host_if__status & 0x1;
+ *(pbuffer + 9) =
+ pdata->pad_i2c_hv__config;
+ *(pbuffer + 10) =
+ pdata->pad_i2c_hv__extsup_config & 0x1;
+ *(pbuffer + 11) =
+ pdata->gpio_hv_pad__ctrl & 0x3;
+ *(pbuffer + 12) =
+ pdata->gpio_hv_mux__ctrl & 0x1F;
+ *(pbuffer + 13) =
+ pdata->gpio__tio_hv_status & 0x3;
+ *(pbuffer + 14) =
+ pdata->gpio__fio_hv_status & 0x3;
+ *(pbuffer + 15) =
+ pdata->ana_config__spad_sel_pswidth & 0x7;
+ *(pbuffer + 16) =
+ pdata->ana_config__vcsel_pulse_width_offset & 0x1F;
+ *(pbuffer + 17) =
+ pdata->ana_config__fast_osc__config_ctrl & 0x1;
+ *(pbuffer + 18) =
+ pdata->sigma_estimator__effective_pulse_width_ns;
+ *(pbuffer + 19) =
+ pdata->sigma_estimator__effective_ambient_width_ns;
+ *(pbuffer + 20) =
+ pdata->sigma_estimator__sigma_ref_mm;
+ *(pbuffer + 21) =
+ pdata->algo__crosstalk_compensation_valid_height_mm;
+ *(pbuffer + 22) =
+ pdata->spare_host_config__static_config_spare_0;
+ *(pbuffer + 23) =
+ pdata->spare_host_config__static_config_spare_1;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->algo__range_ignore_threshold_mcps,
+ 2,
+ pbuffer + 24);
+ *(pbuffer + 26) =
+ pdata->algo__range_ignore_valid_height_mm;
+ *(pbuffer + 27) =
+ pdata->algo__range_min_clip;
+ *(pbuffer + 28) =
+ pdata->algo__consistency_check__tolerance & 0xF;
+ *(pbuffer + 29) =
+ pdata->spare_host_config__static_config_spare_2;
+ *(pbuffer + 30) =
+ pdata->sd_config__reset_stages_msb & 0xF;
+ *(pbuffer + 31) =
+ pdata->sd_config__reset_stages_lsb;
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_static_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_static_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->dss_config__target_total_rate_mcps =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 0));
+ pdata->debug__ctrl =
+ (*(pbuffer + 2)) & 0x1;
+ pdata->test_mode__ctrl =
+ (*(pbuffer + 3)) & 0xF;
+ pdata->clk_gating__ctrl =
+ (*(pbuffer + 4)) & 0xF;
+ pdata->nvm_bist__ctrl =
+ (*(pbuffer + 5)) & 0x1F;
+ pdata->nvm_bist__num_nvm_words =
+ (*(pbuffer + 6)) & 0x7F;
+ pdata->nvm_bist__start_address =
+ (*(pbuffer + 7)) & 0x7F;
+ pdata->host_if__status =
+ (*(pbuffer + 8)) & 0x1;
+ pdata->pad_i2c_hv__config =
+ (*(pbuffer + 9));
+ pdata->pad_i2c_hv__extsup_config =
+ (*(pbuffer + 10)) & 0x1;
+ pdata->gpio_hv_pad__ctrl =
+ (*(pbuffer + 11)) & 0x3;
+ pdata->gpio_hv_mux__ctrl =
+ (*(pbuffer + 12)) & 0x1F;
+ pdata->gpio__tio_hv_status =
+ (*(pbuffer + 13)) & 0x3;
+ pdata->gpio__fio_hv_status =
+ (*(pbuffer + 14)) & 0x3;
+ pdata->ana_config__spad_sel_pswidth =
+ (*(pbuffer + 15)) & 0x7;
+ pdata->ana_config__vcsel_pulse_width_offset =
+ (*(pbuffer + 16)) & 0x1F;
+ pdata->ana_config__fast_osc__config_ctrl =
+ (*(pbuffer + 17)) & 0x1;
+ pdata->sigma_estimator__effective_pulse_width_ns =
+ (*(pbuffer + 18));
+ pdata->sigma_estimator__effective_ambient_width_ns =
+ (*(pbuffer + 19));
+ pdata->sigma_estimator__sigma_ref_mm =
+ (*(pbuffer + 20));
+ pdata->algo__crosstalk_compensation_valid_height_mm =
+ (*(pbuffer + 21));
+ pdata->spare_host_config__static_config_spare_0 =
+ (*(pbuffer + 22));
+ pdata->spare_host_config__static_config_spare_1 =
+ (*(pbuffer + 23));
+ pdata->algo__range_ignore_threshold_mcps =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 24));
+ pdata->algo__range_ignore_valid_height_mm =
+ (*(pbuffer + 26));
+ pdata->algo__range_min_clip =
+ (*(pbuffer + 27));
+ pdata->algo__consistency_check__tolerance =
+ (*(pbuffer + 28)) & 0xF;
+ pdata->spare_host_config__static_config_spare_2 =
+ (*(pbuffer + 29));
+ pdata->sd_config__reset_stages_msb =
+ (*(pbuffer + 30)) & 0xF;
+ pdata->sd_config__reset_stages_lsb =
+ (*(pbuffer + 31));
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_static_config(
+ VL53LX_static_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_static_config(
+ pdata,
+ VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS,
+ comms_buffer,
+ VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES);
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_static_config(
+ VL53LX_static_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS,
+ comms_buffer,
+ VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_static_config(
+ VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_i2c_encode_general_config(
+ VL53LX_general_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->gph_config__stream_count_update_value;
+ *(pbuffer + 1) =
+ pdata->global_config__stream_divider;
+ *(pbuffer + 2) =
+ pdata->system__interrupt_config_gpio;
+ *(pbuffer + 3) =
+ pdata->cal_config__vcsel_start & 0x7F;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->cal_config__repeat_rate & 0xFFF,
+ 2,
+ pbuffer + 4);
+ *(pbuffer + 6) =
+ pdata->global_config__vcsel_width & 0x7F;
+ *(pbuffer + 7) =
+ pdata->phasecal_config__timeout_macrop;
+ *(pbuffer + 8) =
+ pdata->phasecal_config__target;
+ *(pbuffer + 9) =
+ pdata->phasecal_config__override & 0x1;
+ *(pbuffer + 11) =
+ pdata->dss_config__roi_mode_control & 0x7;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->system__thresh_rate_high,
+ 2,
+ pbuffer + 12);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->system__thresh_rate_low,
+ 2,
+ pbuffer + 14);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->dss_config__manual_effective_spads_select,
+ 2,
+ pbuffer + 16);
+ *(pbuffer + 18) =
+ pdata->dss_config__manual_block_select;
+ *(pbuffer + 19) =
+ pdata->dss_config__aperture_attenuation;
+ *(pbuffer + 20) =
+ pdata->dss_config__max_spads_limit;
+ *(pbuffer + 21) =
+ pdata->dss_config__min_spads_limit;
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_general_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_general_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->gph_config__stream_count_update_value =
+ (*(pbuffer + 0));
+ pdata->global_config__stream_divider =
+ (*(pbuffer + 1));
+ pdata->system__interrupt_config_gpio =
+ (*(pbuffer + 2));
+ pdata->cal_config__vcsel_start =
+ (*(pbuffer + 3)) & 0x7F;
+ pdata->cal_config__repeat_rate =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 4)) & 0xFFF;
+ pdata->global_config__vcsel_width =
+ (*(pbuffer + 6)) & 0x7F;
+ pdata->phasecal_config__timeout_macrop =
+ (*(pbuffer + 7));
+ pdata->phasecal_config__target =
+ (*(pbuffer + 8));
+ pdata->phasecal_config__override =
+ (*(pbuffer + 9)) & 0x1;
+ pdata->dss_config__roi_mode_control =
+ (*(pbuffer + 11)) & 0x7;
+ pdata->system__thresh_rate_high =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 12));
+ pdata->system__thresh_rate_low =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 14));
+ pdata->dss_config__manual_effective_spads_select =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 16));
+ pdata->dss_config__manual_block_select =
+ (*(pbuffer + 18));
+ pdata->dss_config__aperture_attenuation =
+ (*(pbuffer + 19));
+ pdata->dss_config__max_spads_limit =
+ (*(pbuffer + 20));
+ pdata->dss_config__min_spads_limit =
+ (*(pbuffer + 21));
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_general_config(
+ VL53LX_general_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_general_config(
+ pdata,
+ VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE,
+ comms_buffer,
+ VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_general_config(
+ VL53LX_general_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES];
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE,
+ comms_buffer,
+ VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_general_config(
+ VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_i2c_encode_timing_config(
+ VL53LX_timing_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->mm_config__timeout_macrop_a_hi & 0xF;
+ *(pbuffer + 1) =
+ pdata->mm_config__timeout_macrop_a_lo;
+ *(pbuffer + 2) =
+ pdata->mm_config__timeout_macrop_b_hi & 0xF;
+ *(pbuffer + 3) =
+ pdata->mm_config__timeout_macrop_b_lo;
+ *(pbuffer + 4) =
+ pdata->range_config__timeout_macrop_a_hi & 0xF;
+ *(pbuffer + 5) =
+ pdata->range_config__timeout_macrop_a_lo;
+ *(pbuffer + 6) =
+ pdata->range_config__vcsel_period_a & 0x3F;
+ *(pbuffer + 7) =
+ pdata->range_config__timeout_macrop_b_hi & 0xF;
+ *(pbuffer + 8) =
+ pdata->range_config__timeout_macrop_b_lo;
+ *(pbuffer + 9) =
+ pdata->range_config__vcsel_period_b & 0x3F;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->range_config__sigma_thresh,
+ 2,
+ pbuffer + 10);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->range_config__min_count_rate_rtn_limit_mcps,
+ 2,
+ pbuffer + 12);
+ *(pbuffer + 14) =
+ pdata->range_config__valid_phase_low;
+ *(pbuffer + 15) =
+ pdata->range_config__valid_phase_high;
+ VL53LX_i2c_encode_uint32_t(
+ pdata->system__intermeasurement_period,
+ 4,
+ pbuffer + 18);
+ *(pbuffer + 22) =
+ pdata->system__fractional_enable & 0x1;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_timing_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_timing_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->mm_config__timeout_macrop_a_hi =
+ (*(pbuffer + 0)) & 0xF;
+ pdata->mm_config__timeout_macrop_a_lo =
+ (*(pbuffer + 1));
+ pdata->mm_config__timeout_macrop_b_hi =
+ (*(pbuffer + 2)) & 0xF;
+ pdata->mm_config__timeout_macrop_b_lo =
+ (*(pbuffer + 3));
+ pdata->range_config__timeout_macrop_a_hi =
+ (*(pbuffer + 4)) & 0xF;
+ pdata->range_config__timeout_macrop_a_lo =
+ (*(pbuffer + 5));
+ pdata->range_config__vcsel_period_a =
+ (*(pbuffer + 6)) & 0x3F;
+ pdata->range_config__timeout_macrop_b_hi =
+ (*(pbuffer + 7)) & 0xF;
+ pdata->range_config__timeout_macrop_b_lo =
+ (*(pbuffer + 8));
+ pdata->range_config__vcsel_period_b =
+ (*(pbuffer + 9)) & 0x3F;
+ pdata->range_config__sigma_thresh =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 10));
+ pdata->range_config__min_count_rate_rtn_limit_mcps =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 12));
+ pdata->range_config__valid_phase_low =
+ (*(pbuffer + 14));
+ pdata->range_config__valid_phase_high =
+ (*(pbuffer + 15));
+ pdata->system__intermeasurement_period =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 18));
+ pdata->system__fractional_enable =
+ (*(pbuffer + 22)) & 0x1;
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_timing_config(
+ VL53LX_timing_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_timing_config(
+ pdata,
+ VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_MM_CONFIG__TIMEOUT_MACROP_A_HI,
+ comms_buffer,
+ VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_timing_config(
+ VL53LX_timing_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_MM_CONFIG__TIMEOUT_MACROP_A_HI,
+ comms_buffer,
+ VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_timing_config(
+ VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_encode_dynamic_config(
+ VL53LX_dynamic_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->system__grouped_parameter_hold_0 & 0x3;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->system__thresh_high,
+ 2,
+ pbuffer + 1);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->system__thresh_low,
+ 2,
+ pbuffer + 3);
+ *(pbuffer + 5) =
+ pdata->system__enable_xtalk_per_quadrant & 0x1;
+ *(pbuffer + 6) =
+ pdata->system__seed_config & 0x7;
+ *(pbuffer + 7) =
+ pdata->sd_config__woi_sd0;
+ *(pbuffer + 8) =
+ pdata->sd_config__woi_sd1;
+ *(pbuffer + 9) =
+ pdata->sd_config__initial_phase_sd0 & 0x7F;
+ *(pbuffer + 10) =
+ pdata->sd_config__initial_phase_sd1 & 0x7F;
+ *(pbuffer + 11) =
+ pdata->system__grouped_parameter_hold_1 & 0x3;
+ *(pbuffer + 12) =
+ pdata->sd_config__first_order_select & 0x3;
+ *(pbuffer + 13) =
+ pdata->sd_config__quantifier & 0xF;
+ *(pbuffer + 14) =
+ pdata->roi_config__user_roi_centre_spad;
+ *(pbuffer + 15) =
+ pdata->roi_config__user_roi_requested_global_xy_size;
+ *(pbuffer + 16) =
+ pdata->system__sequence_config;
+ *(pbuffer + 17) =
+ pdata->system__grouped_parameter_hold & 0x3;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_dynamic_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_dynamic_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->system__grouped_parameter_hold_0 =
+ (*(pbuffer + 0)) & 0x3;
+ pdata->system__thresh_high =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 1));
+ pdata->system__thresh_low =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 3));
+ pdata->system__enable_xtalk_per_quadrant =
+ (*(pbuffer + 5)) & 0x1;
+ pdata->system__seed_config =
+ (*(pbuffer + 6)) & 0x7;
+ pdata->sd_config__woi_sd0 =
+ (*(pbuffer + 7));
+ pdata->sd_config__woi_sd1 =
+ (*(pbuffer + 8));
+ pdata->sd_config__initial_phase_sd0 =
+ (*(pbuffer + 9)) & 0x7F;
+ pdata->sd_config__initial_phase_sd1 =
+ (*(pbuffer + 10)) & 0x7F;
+ pdata->system__grouped_parameter_hold_1 =
+ (*(pbuffer + 11)) & 0x3;
+ pdata->sd_config__first_order_select =
+ (*(pbuffer + 12)) & 0x3;
+ pdata->sd_config__quantifier =
+ (*(pbuffer + 13)) & 0xF;
+ pdata->roi_config__user_roi_centre_spad =
+ (*(pbuffer + 14));
+ pdata->roi_config__user_roi_requested_global_xy_size =
+ (*(pbuffer + 15));
+ pdata->system__sequence_config =
+ (*(pbuffer + 16));
+ pdata->system__grouped_parameter_hold =
+ (*(pbuffer + 17)) & 0x3;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_dynamic_config(
+ VL53LX_dynamic_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_dynamic_config(
+ pdata,
+ VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_SYSTEM__GROUPED_PARAMETER_HOLD_0,
+ comms_buffer,
+ VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_dynamic_config(
+ VL53LX_dynamic_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_SYSTEM__GROUPED_PARAMETER_HOLD_0,
+ comms_buffer,
+ VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_dynamic_config(
+ VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_encode_system_control(
+ VL53LX_system_control_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->power_management__go1_power_force & 0x1;
+ *(pbuffer + 1) =
+ pdata->system__stream_count_ctrl & 0x1;
+ *(pbuffer + 2) =
+ pdata->firmware__enable & 0x1;
+ *(pbuffer + 3) =
+ pdata->system__interrupt_clear & 0x3;
+ *(pbuffer + 4) =
+ pdata->system__mode_start;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_system_control(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_system_control_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->power_management__go1_power_force =
+ (*(pbuffer + 0)) & 0x1;
+ pdata->system__stream_count_ctrl =
+ (*(pbuffer + 1)) & 0x1;
+ pdata->firmware__enable =
+ (*(pbuffer + 2)) & 0x1;
+ pdata->system__interrupt_clear =
+ (*(pbuffer + 3)) & 0x3;
+ pdata->system__mode_start =
+ (*(pbuffer + 4));
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_set_system_control(
+ VL53LX_system_control_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_system_control(
+ pdata,
+ VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_POWER_MANAGEMENT__GO1_POWER_FORCE,
+ comms_buffer,
+ VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_system_control(
+ VL53LX_system_control_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_POWER_MANAGEMENT__GO1_POWER_FORCE,
+ comms_buffer,
+ VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_system_control(
+ VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_i2c_encode_system_results(
+ VL53LX_system_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->result__interrupt_status & 0x3F;
+ *(pbuffer + 1) =
+ pdata->result__range_status;
+ *(pbuffer + 2) =
+ pdata->result__report_status & 0xF;
+ *(pbuffer + 3) =
+ pdata->result__stream_count;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__dss_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 4);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__peak_signal_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 6);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__ambient_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 8);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__sigma_sd0,
+ 2,
+ pbuffer + 10);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__phase_sd0,
+ 2,
+ pbuffer + 12);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__final_crosstalk_corrected_range_mm_sd0,
+ 2,
+ pbuffer + 14);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0,
+ 2,
+ pbuffer + 16);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__mm_inner_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 18);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__mm_outer_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 20);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__avg_signal_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 22);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__dss_actual_effective_spads_sd1,
+ 2,
+ pbuffer + 24);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__peak_signal_count_rate_mcps_sd1,
+ 2,
+ pbuffer + 26);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__ambient_count_rate_mcps_sd1,
+ 2,
+ pbuffer + 28);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__sigma_sd1,
+ 2,
+ pbuffer + 30);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__phase_sd1,
+ 2,
+ pbuffer + 32);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__final_crosstalk_corrected_range_mm_sd1,
+ 2,
+ pbuffer + 34);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__spare_0_sd1,
+ 2,
+ pbuffer + 36);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__spare_1_sd1,
+ 2,
+ pbuffer + 38);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__spare_2_sd1,
+ 2,
+ pbuffer + 40);
+ *(pbuffer + 42) =
+ pdata->result__spare_3_sd1;
+ *(pbuffer + 43) =
+ pdata->result__thresh_info;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_system_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->result__interrupt_status =
+ (*(pbuffer + 0)) & 0x3F;
+ pdata->result__range_status =
+ (*(pbuffer + 1));
+ pdata->result__report_status =
+ (*(pbuffer + 2)) & 0xF;
+ pdata->result__stream_count =
+ (*(pbuffer + 3));
+ pdata->result__dss_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 4));
+ pdata->result__peak_signal_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 6));
+ pdata->result__ambient_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 8));
+ pdata->result__sigma_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 10));
+ pdata->result__phase_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 12));
+ pdata->result__final_crosstalk_corrected_range_mm_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 14));
+ pdata->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 16));
+ pdata->result__mm_inner_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 18));
+ pdata->result__mm_outer_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 20));
+ pdata->result__avg_signal_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 22));
+ pdata->result__dss_actual_effective_spads_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 24));
+ pdata->result__peak_signal_count_rate_mcps_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 26));
+ pdata->result__ambient_count_rate_mcps_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 28));
+ pdata->result__sigma_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 30));
+ pdata->result__phase_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 32));
+ pdata->result__final_crosstalk_corrected_range_mm_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 34));
+ pdata->result__spare_0_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 36));
+ pdata->result__spare_1_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 38));
+ pdata->result__spare_2_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 40));
+ pdata->result__spare_3_sd1 =
+ (*(pbuffer + 42));
+ pdata->result__thresh_info =
+ (*(pbuffer + 43));
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_set_system_results(
+ VL53LX_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_system_results(
+ pdata,
+ VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_RESULT__INTERRUPT_STATUS,
+ comms_buffer,
+ VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES);
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_system_results(
+ VL53LX_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_RESULT__INTERRUPT_STATUS,
+ comms_buffer,
+ VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_system_results(
+ VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_i2c_encode_core_results(
+ VL53LX_core_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_CORE_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ VL53LX_i2c_encode_uint32_t(
+ pdata->result_core__ambient_window_events_sd0,
+ 4,
+ pbuffer + 0);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->result_core__ranging_total_events_sd0,
+ 4,
+ pbuffer + 4);
+ VL53LX_i2c_encode_int32_t(
+ pdata->result_core__signal_total_events_sd0,
+ 4,
+ pbuffer + 8);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->result_core__total_periods_elapsed_sd0,
+ 4,
+ pbuffer + 12);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->result_core__ambient_window_events_sd1,
+ 4,
+ pbuffer + 16);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->result_core__ranging_total_events_sd1,
+ 4,
+ pbuffer + 20);
+ VL53LX_i2c_encode_int32_t(
+ pdata->result_core__signal_total_events_sd1,
+ 4,
+ pbuffer + 24);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->result_core__total_periods_elapsed_sd1,
+ 4,
+ pbuffer + 28);
+ *(pbuffer + 32) =
+ pdata->result_core__spare_0;
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_core_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_CORE_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->result_core__ambient_window_events_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 0));
+ pdata->result_core__ranging_total_events_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 4));
+ pdata->result_core__signal_total_events_sd0 =
+ (VL53LX_i2c_decode_int32_t(4, pbuffer + 8));
+ pdata->result_core__total_periods_elapsed_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 12));
+ pdata->result_core__ambient_window_events_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 16));
+ pdata->result_core__ranging_total_events_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 20));
+ pdata->result_core__signal_total_events_sd1 =
+ (VL53LX_i2c_decode_int32_t(4, pbuffer + 24));
+ pdata->result_core__total_periods_elapsed_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 28));
+ pdata->result_core__spare_0 =
+ (*(pbuffer + 32));
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_core_results(
+ VL53LX_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_CORE_RESULTS_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_core_results(
+ pdata,
+ VL53LX_CORE_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0,
+ comms_buffer,
+ VL53LX_CORE_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_core_results(
+ VL53LX_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_CORE_RESULTS_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0,
+ comms_buffer,
+ VL53LX_CORE_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_core_results(
+ VL53LX_CORE_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_i2c_encode_debug_results(
+ VL53LX_debug_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ VL53LX_i2c_encode_uint16_t(
+ pdata->phasecal_result__reference_phase,
+ 2,
+ pbuffer + 0);
+ *(pbuffer + 2) =
+ pdata->phasecal_result__vcsel_start & 0x7F;
+ *(pbuffer + 3) =
+ pdata->ref_spad_char_result__num_actual_ref_spads & 0x3F;
+ *(pbuffer + 4) =
+ pdata->ref_spad_char_result__ref_location & 0x3;
+ *(pbuffer + 5) =
+ pdata->vhv_result__coldboot_status & 0x1;
+ *(pbuffer + 6) =
+ pdata->vhv_result__search_result & 0x3F;
+ *(pbuffer + 7) =
+ pdata->vhv_result__latest_setting & 0x3F;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->result__osc_calibrate_val & 0x3FF,
+ 2,
+ pbuffer + 8);
+ *(pbuffer + 10) =
+ pdata->ana_config__powerdown_go1 & 0x3;
+ *(pbuffer + 11) =
+ pdata->ana_config__ref_bg_ctrl & 0x3;
+ *(pbuffer + 12) =
+ pdata->ana_config__regdvdd1v2_ctrl & 0xF;
+ *(pbuffer + 13) =
+ pdata->ana_config__osc_slow_ctrl & 0x7;
+ *(pbuffer + 14) =
+ pdata->test_mode__status & 0x1;
+ *(pbuffer + 15) =
+ pdata->firmware__system_status & 0x3;
+ *(pbuffer + 16) =
+ pdata->firmware__mode_status;
+ *(pbuffer + 17) =
+ pdata->firmware__secondary_mode_status;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->firmware__cal_repeat_rate_counter & 0xFFF,
+ 2,
+ pbuffer + 18);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->gph__system__thresh_high,
+ 2,
+ pbuffer + 22);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->gph__system__thresh_low,
+ 2,
+ pbuffer + 24);
+ *(pbuffer + 26) =
+ pdata->gph__system__enable_xtalk_per_quadrant & 0x1;
+ *(pbuffer + 27) =
+ pdata->gph__spare_0 & 0x7;
+ *(pbuffer + 28) =
+ pdata->gph__sd_config__woi_sd0;
+ *(pbuffer + 29) =
+ pdata->gph__sd_config__woi_sd1;
+ *(pbuffer + 30) =
+ pdata->gph__sd_config__initial_phase_sd0 & 0x7F;
+ *(pbuffer + 31) =
+ pdata->gph__sd_config__initial_phase_sd1 & 0x7F;
+ *(pbuffer + 32) =
+ pdata->gph__sd_config__first_order_select & 0x3;
+ *(pbuffer + 33) =
+ pdata->gph__sd_config__quantifier & 0xF;
+ *(pbuffer + 34) =
+ pdata->gph__roi_config__user_roi_centre_spad;
+ *(pbuffer + 35) =
+ pdata->gph__roi_config__user_roi_requested_global_xy_size;
+ *(pbuffer + 36) =
+ pdata->gph__system__sequence_config;
+ *(pbuffer + 37) =
+ pdata->gph__gph_id & 0x1;
+ *(pbuffer + 38) =
+ pdata->system__interrupt_set & 0x3;
+ *(pbuffer + 39) =
+ pdata->interrupt_manager__enables & 0x1F;
+ *(pbuffer + 40) =
+ pdata->interrupt_manager__clear & 0x1F;
+ *(pbuffer + 41) =
+ pdata->interrupt_manager__status & 0x1F;
+ *(pbuffer + 42) =
+ pdata->mcu_to_host_bank__wr_access_en & 0x1;
+ *(pbuffer + 43) =
+ pdata->power_management__go1_reset_status & 0x1;
+ *(pbuffer + 44) =
+ pdata->pad_startup_mode__value_ro & 0x3;
+ *(pbuffer + 45) =
+ pdata->pad_startup_mode__value_ctrl & 0x3F;
+ VL53LX_i2c_encode_uint32_t(
+ pdata->pll_period_us & 0x3FFFF,
+ 4,
+ pbuffer + 46);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->interrupt_scheduler__data_out,
+ 4,
+ pbuffer + 50);
+ *(pbuffer + 54) =
+ pdata->nvm_bist__complete & 0x1;
+ *(pbuffer + 55) =
+ pdata->nvm_bist__status & 0x1;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_debug_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_debug_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->phasecal_result__reference_phase =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 0));
+ pdata->phasecal_result__vcsel_start =
+ (*(pbuffer + 2)) & 0x7F;
+ pdata->ref_spad_char_result__num_actual_ref_spads =
+ (*(pbuffer + 3)) & 0x3F;
+ pdata->ref_spad_char_result__ref_location =
+ (*(pbuffer + 4)) & 0x3;
+ pdata->vhv_result__coldboot_status =
+ (*(pbuffer + 5)) & 0x1;
+ pdata->vhv_result__search_result =
+ (*(pbuffer + 6)) & 0x3F;
+ pdata->vhv_result__latest_setting =
+ (*(pbuffer + 7)) & 0x3F;
+ pdata->result__osc_calibrate_val =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 8)) & 0x3FF;
+ pdata->ana_config__powerdown_go1 =
+ (*(pbuffer + 10)) & 0x3;
+ pdata->ana_config__ref_bg_ctrl =
+ (*(pbuffer + 11)) & 0x3;
+ pdata->ana_config__regdvdd1v2_ctrl =
+ (*(pbuffer + 12)) & 0xF;
+ pdata->ana_config__osc_slow_ctrl =
+ (*(pbuffer + 13)) & 0x7;
+ pdata->test_mode__status =
+ (*(pbuffer + 14)) & 0x1;
+ pdata->firmware__system_status =
+ (*(pbuffer + 15)) & 0x3;
+ pdata->firmware__mode_status =
+ (*(pbuffer + 16));
+ pdata->firmware__secondary_mode_status =
+ (*(pbuffer + 17));
+ pdata->firmware__cal_repeat_rate_counter =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 18)) & 0xFFF;
+ pdata->gph__system__thresh_high =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 22));
+ pdata->gph__system__thresh_low =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 24));
+ pdata->gph__system__enable_xtalk_per_quadrant =
+ (*(pbuffer + 26)) & 0x1;
+ pdata->gph__spare_0 =
+ (*(pbuffer + 27)) & 0x7;
+ pdata->gph__sd_config__woi_sd0 =
+ (*(pbuffer + 28));
+ pdata->gph__sd_config__woi_sd1 =
+ (*(pbuffer + 29));
+ pdata->gph__sd_config__initial_phase_sd0 =
+ (*(pbuffer + 30)) & 0x7F;
+ pdata->gph__sd_config__initial_phase_sd1 =
+ (*(pbuffer + 31)) & 0x7F;
+ pdata->gph__sd_config__first_order_select =
+ (*(pbuffer + 32)) & 0x3;
+ pdata->gph__sd_config__quantifier =
+ (*(pbuffer + 33)) & 0xF;
+ pdata->gph__roi_config__user_roi_centre_spad =
+ (*(pbuffer + 34));
+ pdata->gph__roi_config__user_roi_requested_global_xy_size =
+ (*(pbuffer + 35));
+ pdata->gph__system__sequence_config =
+ (*(pbuffer + 36));
+ pdata->gph__gph_id =
+ (*(pbuffer + 37)) & 0x1;
+ pdata->system__interrupt_set =
+ (*(pbuffer + 38)) & 0x3;
+ pdata->interrupt_manager__enables =
+ (*(pbuffer + 39)) & 0x1F;
+ pdata->interrupt_manager__clear =
+ (*(pbuffer + 40)) & 0x1F;
+ pdata->interrupt_manager__status =
+ (*(pbuffer + 41)) & 0x1F;
+ pdata->mcu_to_host_bank__wr_access_en =
+ (*(pbuffer + 42)) & 0x1;
+ pdata->power_management__go1_reset_status =
+ (*(pbuffer + 43)) & 0x1;
+ pdata->pad_startup_mode__value_ro =
+ (*(pbuffer + 44)) & 0x3;
+ pdata->pad_startup_mode__value_ctrl =
+ (*(pbuffer + 45)) & 0x3F;
+ pdata->pll_period_us =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 46)) & 0x3FFFF;
+ pdata->interrupt_scheduler__data_out =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 50));
+ pdata->nvm_bist__complete =
+ (*(pbuffer + 54)) & 0x1;
+ pdata->nvm_bist__status =
+ (*(pbuffer + 55)) & 0x1;
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_debug_results(
+ VL53LX_debug_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_debug_results(
+ pdata,
+ VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_PHASECAL_RESULT__REFERENCE_PHASE,
+ comms_buffer,
+ VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_debug_results(
+ VL53LX_debug_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_PHASECAL_RESULT__REFERENCE_PHASE,
+ comms_buffer,
+ VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_debug_results(
+ VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_i2c_encode_nvm_copy_data(
+ VL53LX_nvm_copy_data_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->identification__model_id;
+ *(pbuffer + 1) =
+ pdata->identification__module_type;
+ *(pbuffer + 2) =
+ pdata->identification__revision_id;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->identification__module_id,
+ 2,
+ pbuffer + 3);
+ *(pbuffer + 5) =
+ pdata->ana_config__fast_osc__trim_max & 0x7F;
+ *(pbuffer + 6) =
+ pdata->ana_config__fast_osc__freq_set & 0x7;
+ *(pbuffer + 7) =
+ pdata->ana_config__vcsel_trim & 0x7;
+ *(pbuffer + 8) =
+ pdata->ana_config__vcsel_selion & 0x3F;
+ *(pbuffer + 9) =
+ pdata->ana_config__vcsel_selion_max & 0x3F;
+ *(pbuffer + 10) =
+ pdata->protected_laser_safety__lock_bit & 0x1;
+ *(pbuffer + 11) =
+ pdata->laser_safety__key & 0x7F;
+ *(pbuffer + 12) =
+ pdata->laser_safety__key_ro & 0x1;
+ *(pbuffer + 13) =
+ pdata->laser_safety__clip & 0x3F;
+ *(pbuffer + 14) =
+ pdata->laser_safety__mult & 0x3F;
+ *(pbuffer + 15) =
+ pdata->global_config__spad_enables_rtn_0;
+ *(pbuffer + 16) =
+ pdata->global_config__spad_enables_rtn_1;
+ *(pbuffer + 17) =
+ pdata->global_config__spad_enables_rtn_2;
+ *(pbuffer + 18) =
+ pdata->global_config__spad_enables_rtn_3;
+ *(pbuffer + 19) =
+ pdata->global_config__spad_enables_rtn_4;
+ *(pbuffer + 20) =
+ pdata->global_config__spad_enables_rtn_5;
+ *(pbuffer + 21) =
+ pdata->global_config__spad_enables_rtn_6;
+ *(pbuffer + 22) =
+ pdata->global_config__spad_enables_rtn_7;
+ *(pbuffer + 23) =
+ pdata->global_config__spad_enables_rtn_8;
+ *(pbuffer + 24) =
+ pdata->global_config__spad_enables_rtn_9;
+ *(pbuffer + 25) =
+ pdata->global_config__spad_enables_rtn_10;
+ *(pbuffer + 26) =
+ pdata->global_config__spad_enables_rtn_11;
+ *(pbuffer + 27) =
+ pdata->global_config__spad_enables_rtn_12;
+ *(pbuffer + 28) =
+ pdata->global_config__spad_enables_rtn_13;
+ *(pbuffer + 29) =
+ pdata->global_config__spad_enables_rtn_14;
+ *(pbuffer + 30) =
+ pdata->global_config__spad_enables_rtn_15;
+ *(pbuffer + 31) =
+ pdata->global_config__spad_enables_rtn_16;
+ *(pbuffer + 32) =
+ pdata->global_config__spad_enables_rtn_17;
+ *(pbuffer + 33) =
+ pdata->global_config__spad_enables_rtn_18;
+ *(pbuffer + 34) =
+ pdata->global_config__spad_enables_rtn_19;
+ *(pbuffer + 35) =
+ pdata->global_config__spad_enables_rtn_20;
+ *(pbuffer + 36) =
+ pdata->global_config__spad_enables_rtn_21;
+ *(pbuffer + 37) =
+ pdata->global_config__spad_enables_rtn_22;
+ *(pbuffer + 38) =
+ pdata->global_config__spad_enables_rtn_23;
+ *(pbuffer + 39) =
+ pdata->global_config__spad_enables_rtn_24;
+ *(pbuffer + 40) =
+ pdata->global_config__spad_enables_rtn_25;
+ *(pbuffer + 41) =
+ pdata->global_config__spad_enables_rtn_26;
+ *(pbuffer + 42) =
+ pdata->global_config__spad_enables_rtn_27;
+ *(pbuffer + 43) =
+ pdata->global_config__spad_enables_rtn_28;
+ *(pbuffer + 44) =
+ pdata->global_config__spad_enables_rtn_29;
+ *(pbuffer + 45) =
+ pdata->global_config__spad_enables_rtn_30;
+ *(pbuffer + 46) =
+ pdata->global_config__spad_enables_rtn_31;
+ *(pbuffer + 47) =
+ pdata->roi_config__mode_roi_centre_spad;
+ *(pbuffer + 48) =
+ pdata->roi_config__mode_roi_xy_size;
+
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_nvm_copy_data(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_nvm_copy_data_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->identification__model_id =
+ (*(pbuffer + 0));
+ pdata->identification__module_type =
+ (*(pbuffer + 1));
+ pdata->identification__revision_id =
+ (*(pbuffer + 2));
+ pdata->identification__module_id =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 3));
+ pdata->ana_config__fast_osc__trim_max =
+ (*(pbuffer + 5)) & 0x7F;
+ pdata->ana_config__fast_osc__freq_set =
+ (*(pbuffer + 6)) & 0x7;
+ pdata->ana_config__vcsel_trim =
+ (*(pbuffer + 7)) & 0x7;
+ pdata->ana_config__vcsel_selion =
+ (*(pbuffer + 8)) & 0x3F;
+ pdata->ana_config__vcsel_selion_max =
+ (*(pbuffer + 9)) & 0x3F;
+ pdata->protected_laser_safety__lock_bit =
+ (*(pbuffer + 10)) & 0x1;
+ pdata->laser_safety__key =
+ (*(pbuffer + 11)) & 0x7F;
+ pdata->laser_safety__key_ro =
+ (*(pbuffer + 12)) & 0x1;
+ pdata->laser_safety__clip =
+ (*(pbuffer + 13)) & 0x3F;
+ pdata->laser_safety__mult =
+ (*(pbuffer + 14)) & 0x3F;
+ pdata->global_config__spad_enables_rtn_0 =
+ (*(pbuffer + 15));
+ pdata->global_config__spad_enables_rtn_1 =
+ (*(pbuffer + 16));
+ pdata->global_config__spad_enables_rtn_2 =
+ (*(pbuffer + 17));
+ pdata->global_config__spad_enables_rtn_3 =
+ (*(pbuffer + 18));
+ pdata->global_config__spad_enables_rtn_4 =
+ (*(pbuffer + 19));
+ pdata->global_config__spad_enables_rtn_5 =
+ (*(pbuffer + 20));
+ pdata->global_config__spad_enables_rtn_6 =
+ (*(pbuffer + 21));
+ pdata->global_config__spad_enables_rtn_7 =
+ (*(pbuffer + 22));
+ pdata->global_config__spad_enables_rtn_8 =
+ (*(pbuffer + 23));
+ pdata->global_config__spad_enables_rtn_9 =
+ (*(pbuffer + 24));
+ pdata->global_config__spad_enables_rtn_10 =
+ (*(pbuffer + 25));
+ pdata->global_config__spad_enables_rtn_11 =
+ (*(pbuffer + 26));
+ pdata->global_config__spad_enables_rtn_12 =
+ (*(pbuffer + 27));
+ pdata->global_config__spad_enables_rtn_13 =
+ (*(pbuffer + 28));
+ pdata->global_config__spad_enables_rtn_14 =
+ (*(pbuffer + 29));
+ pdata->global_config__spad_enables_rtn_15 =
+ (*(pbuffer + 30));
+ pdata->global_config__spad_enables_rtn_16 =
+ (*(pbuffer + 31));
+ pdata->global_config__spad_enables_rtn_17 =
+ (*(pbuffer + 32));
+ pdata->global_config__spad_enables_rtn_18 =
+ (*(pbuffer + 33));
+ pdata->global_config__spad_enables_rtn_19 =
+ (*(pbuffer + 34));
+ pdata->global_config__spad_enables_rtn_20 =
+ (*(pbuffer + 35));
+ pdata->global_config__spad_enables_rtn_21 =
+ (*(pbuffer + 36));
+ pdata->global_config__spad_enables_rtn_22 =
+ (*(pbuffer + 37));
+ pdata->global_config__spad_enables_rtn_23 =
+ (*(pbuffer + 38));
+ pdata->global_config__spad_enables_rtn_24 =
+ (*(pbuffer + 39));
+ pdata->global_config__spad_enables_rtn_25 =
+ (*(pbuffer + 40));
+ pdata->global_config__spad_enables_rtn_26 =
+ (*(pbuffer + 41));
+ pdata->global_config__spad_enables_rtn_27 =
+ (*(pbuffer + 42));
+ pdata->global_config__spad_enables_rtn_28 =
+ (*(pbuffer + 43));
+ pdata->global_config__spad_enables_rtn_29 =
+ (*(pbuffer + 44));
+ pdata->global_config__spad_enables_rtn_30 =
+ (*(pbuffer + 45));
+ pdata->global_config__spad_enables_rtn_31 =
+ (*(pbuffer + 46));
+ pdata->roi_config__mode_roi_centre_spad =
+ (*(pbuffer + 47));
+ pdata->roi_config__mode_roi_xy_size =
+ (*(pbuffer + 48));
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_set_nvm_copy_data(
+ VL53LX_nvm_copy_data_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_nvm_copy_data(
+ pdata,
+ VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_IDENTIFICATION__MODEL_ID,
+ comms_buffer,
+ VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_nvm_copy_data(
+ VL53LX_nvm_copy_data_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_IDENTIFICATION__MODEL_ID,
+ comms_buffer,
+ VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_nvm_copy_data(
+ VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_i2c_encode_prev_shadow_system_results(
+ VL53LX_prev_shadow_system_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->prev_shadow_result__interrupt_status & 0x3F;
+ *(pbuffer + 1) =
+ pdata->prev_shadow_result__range_status;
+ *(pbuffer + 2) =
+ pdata->prev_shadow_result__report_status & 0xF;
+ *(pbuffer + 3) =
+ pdata->prev_shadow_result__stream_count;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__dss_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 4);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 6);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__ambient_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 8);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__sigma_sd0,
+ 2,
+ pbuffer + 10);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__phase_sd0,
+ 2,
+ pbuffer + 12);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd0,
+ 2,
+ pbuffer + 14);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->psr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0,
+ 2,
+ pbuffer + 16);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__mm_inner_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 18);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__mm_outer_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 20);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__avg_signal_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 22);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__dss_actual_effective_spads_sd1,
+ 2,
+ pbuffer + 24);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd1,
+ 2,
+ pbuffer + 26);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__ambient_count_rate_mcps_sd1,
+ 2,
+ pbuffer + 28);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__sigma_sd1,
+ 2,
+ pbuffer + 30);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__phase_sd1,
+ 2,
+ pbuffer + 32);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd1,
+ 2,
+ pbuffer + 34);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__spare_0_sd1,
+ 2,
+ pbuffer + 36);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__spare_1_sd1,
+ 2,
+ pbuffer + 38);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__spare_2_sd1,
+ 2,
+ pbuffer + 40);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->prev_shadow_result__spare_3_sd1,
+ 2,
+ pbuffer + 42);
+
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_prev_shadow_system_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_prev_shadow_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->prev_shadow_result__interrupt_status =
+ (*(pbuffer + 0)) & 0x3F;
+ pdata->prev_shadow_result__range_status =
+ (*(pbuffer + 1));
+ pdata->prev_shadow_result__report_status =
+ (*(pbuffer + 2)) & 0xF;
+ pdata->prev_shadow_result__stream_count =
+ (*(pbuffer + 3));
+ pdata->prev_shadow_result__dss_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 4));
+ pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 6));
+ pdata->prev_shadow_result__ambient_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 8));
+ pdata->prev_shadow_result__sigma_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 10));
+ pdata->prev_shadow_result__phase_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 12));
+ pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 14));
+ pdata->psr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 16));
+ pdata->prev_shadow_result__mm_inner_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 18));
+ pdata->prev_shadow_result__mm_outer_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 20));
+ pdata->prev_shadow_result__avg_signal_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 22));
+ pdata->prev_shadow_result__dss_actual_effective_spads_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 24));
+ pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 26));
+ pdata->prev_shadow_result__ambient_count_rate_mcps_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 28));
+ pdata->prev_shadow_result__sigma_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 30));
+ pdata->prev_shadow_result__phase_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 32));
+ pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 34));
+ pdata->prev_shadow_result__spare_0_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 36));
+ pdata->prev_shadow_result__spare_1_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 38));
+ pdata->prev_shadow_result__spare_2_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 40));
+ pdata->prev_shadow_result__spare_3_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 42));
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_prev_shadow_system_results(
+ VL53LX_prev_shadow_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_prev_shadow_system_results(
+ pdata,
+ VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_PREV_SHADOW_RESULT__INTERRUPT_STATUS,
+ comms_buffer,
+ VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_get_prev_shadow_system_results(
+ VL53LX_prev_shadow_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_PREV_SHADOW_RESULT__INTERRUPT_STATUS,
+ comms_buffer,
+ VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_prev_shadow_system_results(
+ VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_i2c_encode_prev_shadow_core_results(
+ VL53LX_prev_shadow_core_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ VL53LX_i2c_encode_uint32_t(
+ pdata->prev_shadow_result_core__ambient_window_events_sd0,
+ 4,
+ pbuffer + 0);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->prev_shadow_result_core__ranging_total_events_sd0,
+ 4,
+ pbuffer + 4);
+ VL53LX_i2c_encode_int32_t(
+ pdata->prev_shadow_result_core__signal_total_events_sd0,
+ 4,
+ pbuffer + 8);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->prev_shadow_result_core__total_periods_elapsed_sd0,
+ 4,
+ pbuffer + 12);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->prev_shadow_result_core__ambient_window_events_sd1,
+ 4,
+ pbuffer + 16);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->prev_shadow_result_core__ranging_total_events_sd1,
+ 4,
+ pbuffer + 20);
+ VL53LX_i2c_encode_int32_t(
+ pdata->prev_shadow_result_core__signal_total_events_sd1,
+ 4,
+ pbuffer + 24);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->prev_shadow_result_core__total_periods_elapsed_sd1,
+ 4,
+ pbuffer + 28);
+ *(pbuffer + 32) =
+ pdata->prev_shadow_result_core__spare_0;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_prev_shadow_core_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_prev_shadow_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ ;
+
+ if (buf_size < VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->prev_shadow_result_core__ambient_window_events_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 0));
+ pdata->prev_shadow_result_core__ranging_total_events_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 4));
+ pdata->prev_shadow_result_core__signal_total_events_sd0 =
+ (VL53LX_i2c_decode_int32_t(4, pbuffer + 8));
+ pdata->prev_shadow_result_core__total_periods_elapsed_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 12));
+ pdata->prev_shadow_result_core__ambient_window_events_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 16));
+ pdata->prev_shadow_result_core__ranging_total_events_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 20));
+ pdata->prev_shadow_result_core__signal_total_events_sd1 =
+ (VL53LX_i2c_decode_int32_t(4, pbuffer + 24));
+ pdata->prev_shadow_result_core__total_periods_elapsed_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 28));
+ pdata->prev_shadow_result_core__spare_0 =
+ (*(pbuffer + 32));
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_prev_shadow_core_results(
+ VL53LX_prev_shadow_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_prev_shadow_core_results(
+ pdata,
+ VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0,
+ comms_buffer,
+ VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_get_prev_shadow_core_results(
+ VL53LX_prev_shadow_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0,
+ comms_buffer,
+ VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_prev_shadow_core_results(
+ VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_i2c_encode_patch_debug(
+ VL53LX_patch_debug_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->result__debug_status;
+ *(pbuffer + 1) =
+ pdata->result__debug_stage;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_patch_debug(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_patch_debug_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->result__debug_status =
+ (*(pbuffer + 0));
+ pdata->result__debug_stage =
+ (*(pbuffer + 1));
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_patch_debug(
+ VL53LX_patch_debug_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_patch_debug(
+ pdata,
+ VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_RESULT__DEBUG_STATUS,
+ comms_buffer,
+ VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_get_patch_debug(
+ VL53LX_patch_debug_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_RESULT__DEBUG_STATUS,
+ comms_buffer,
+ VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_patch_debug(
+ VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_i2c_encode_gph_general_config(
+ VL53LX_gph_general_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ VL53LX_i2c_encode_uint16_t(
+ pdata->gph__system__thresh_rate_high,
+ 2,
+ pbuffer + 0);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->gph__system__thresh_rate_low,
+ 2,
+ pbuffer + 2);
+ *(pbuffer + 4) =
+ pdata->gph__system__interrupt_config_gpio;
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_i2c_decode_gph_general_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_gph_general_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->gph__system__thresh_rate_high =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 0));
+ pdata->gph__system__thresh_rate_low =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 2));
+ pdata->gph__system__interrupt_config_gpio =
+ (*(pbuffer + 4));
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_gph_general_config(
+ VL53LX_gph_general_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_gph_general_config(
+ pdata,
+ VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_GPH__SYSTEM__THRESH_RATE_HIGH,
+ comms_buffer,
+ VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_get_gph_general_config(
+ VL53LX_gph_general_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_GPH__SYSTEM__THRESH_RATE_HIGH,
+ comms_buffer,
+ VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_gph_general_config(
+ VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_encode_gph_static_config(
+ VL53LX_gph_static_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->gph__dss_config__roi_mode_control & 0x7;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->gph__dss_config__manual_effective_spads_select,
+ 2,
+ pbuffer + 1);
+ *(pbuffer + 3) =
+ pdata->gph__dss_config__manual_block_select;
+ *(pbuffer + 4) =
+ pdata->gph__dss_config__max_spads_limit;
+ *(pbuffer + 5) =
+ pdata->gph__dss_config__min_spads_limit;
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_i2c_decode_gph_static_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_gph_static_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->gph__dss_config__roi_mode_control =
+ (*(pbuffer + 0)) & 0x7;
+ pdata->gph__dss_config__manual_effective_spads_select =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 1));
+ pdata->gph__dss_config__manual_block_select =
+ (*(pbuffer + 3));
+ pdata->gph__dss_config__max_spads_limit =
+ (*(pbuffer + 4));
+ pdata->gph__dss_config__min_spads_limit =
+ (*(pbuffer + 5));
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_set_gph_static_config(
+ VL53LX_gph_static_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_gph_static_config(
+ pdata,
+ VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_GPH__DSS_CONFIG__ROI_MODE_CONTROL,
+ comms_buffer,
+ VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_get_gph_static_config(
+ VL53LX_gph_static_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_GPH__DSS_CONFIG__ROI_MODE_CONTROL,
+ comms_buffer,
+ VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_gph_static_config(
+ VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_i2c_encode_gph_timing_config(
+ VL53LX_gph_timing_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->gph__mm_config__timeout_macrop_a_hi & 0xF;
+ *(pbuffer + 1) =
+ pdata->gph__mm_config__timeout_macrop_a_lo;
+ *(pbuffer + 2) =
+ pdata->gph__mm_config__timeout_macrop_b_hi & 0xF;
+ *(pbuffer + 3) =
+ pdata->gph__mm_config__timeout_macrop_b_lo;
+ *(pbuffer + 4) =
+ pdata->gph__range_config__timeout_macrop_a_hi & 0xF;
+ *(pbuffer + 5) =
+ pdata->gph__range_config__timeout_macrop_a_lo;
+ *(pbuffer + 6) =
+ pdata->gph__range_config__vcsel_period_a & 0x3F;
+ *(pbuffer + 7) =
+ pdata->gph__range_config__vcsel_period_b & 0x3F;
+ *(pbuffer + 8) =
+ pdata->gph__range_config__timeout_macrop_b_hi & 0xF;
+ *(pbuffer + 9) =
+ pdata->gph__range_config__timeout_macrop_b_lo;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->gph__range_config__sigma_thresh,
+ 2,
+ pbuffer + 10);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->gph__range_config__min_count_rate_rtn_limit_mcps,
+ 2,
+ pbuffer + 12);
+ *(pbuffer + 14) =
+ pdata->gph__range_config__valid_phase_low;
+ *(pbuffer + 15) =
+ pdata->gph__range_config__valid_phase_high;
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_gph_timing_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_gph_timing_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->gph__mm_config__timeout_macrop_a_hi =
+ (*(pbuffer + 0)) & 0xF;
+ pdata->gph__mm_config__timeout_macrop_a_lo =
+ (*(pbuffer + 1));
+ pdata->gph__mm_config__timeout_macrop_b_hi =
+ (*(pbuffer + 2)) & 0xF;
+ pdata->gph__mm_config__timeout_macrop_b_lo =
+ (*(pbuffer + 3));
+ pdata->gph__range_config__timeout_macrop_a_hi =
+ (*(pbuffer + 4)) & 0xF;
+ pdata->gph__range_config__timeout_macrop_a_lo =
+ (*(pbuffer + 5));
+ pdata->gph__range_config__vcsel_period_a =
+ (*(pbuffer + 6)) & 0x3F;
+ pdata->gph__range_config__vcsel_period_b =
+ (*(pbuffer + 7)) & 0x3F;
+ pdata->gph__range_config__timeout_macrop_b_hi =
+ (*(pbuffer + 8)) & 0xF;
+ pdata->gph__range_config__timeout_macrop_b_lo =
+ (*(pbuffer + 9));
+ pdata->gph__range_config__sigma_thresh =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 10));
+ pdata->gph__range_config__min_count_rate_rtn_limit_mcps =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 12));
+ pdata->gph__range_config__valid_phase_low =
+ (*(pbuffer + 14));
+ pdata->gph__range_config__valid_phase_high =
+ (*(pbuffer + 15));
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_gph_timing_config(
+ VL53LX_gph_timing_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_gph_timing_config(
+ pdata,
+ VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI,
+ comms_buffer,
+ VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_get_gph_timing_config(
+ VL53LX_gph_timing_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI,
+ comms_buffer,
+ VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_gph_timing_config(
+ VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_i2c_encode_fw_internal(
+ VL53LX_fw_internal_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_FW_INTERNAL_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->firmware__internal_stream_count_div;
+ *(pbuffer + 1) =
+ pdata->firmware__internal_stream_counter_val;
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_i2c_decode_fw_internal(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_fw_internal_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_FW_INTERNAL_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->firmware__internal_stream_count_div =
+ (*(pbuffer + 0));
+ pdata->firmware__internal_stream_counter_val =
+ (*(pbuffer + 1));
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_fw_internal(
+ VL53LX_fw_internal_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_FW_INTERNAL_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_fw_internal(
+ pdata,
+ VL53LX_FW_INTERNAL_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_FIRMWARE__INTERNAL_STREAM_COUNT_DIV,
+ comms_buffer,
+ VL53LX_FW_INTERNAL_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_get_fw_internal(
+ VL53LX_fw_internal_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_FW_INTERNAL_I2C_SIZE_BYTES];
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_FIRMWARE__INTERNAL_STREAM_COUNT_DIV,
+ comms_buffer,
+ VL53LX_FW_INTERNAL_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_fw_internal(
+ VL53LX_FW_INTERNAL_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_encode_patch_results(
+ VL53LX_patch_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->dss_calc__roi_ctrl & 0x3;
+ *(pbuffer + 1) =
+ pdata->dss_calc__spare_1;
+ *(pbuffer + 2) =
+ pdata->dss_calc__spare_2;
+ *(pbuffer + 3) =
+ pdata->dss_calc__spare_3;
+ *(pbuffer + 4) =
+ pdata->dss_calc__spare_4;
+ *(pbuffer + 5) =
+ pdata->dss_calc__spare_5;
+ *(pbuffer + 6) =
+ pdata->dss_calc__spare_6;
+ *(pbuffer + 7) =
+ pdata->dss_calc__spare_7;
+ *(pbuffer + 8) =
+ pdata->dss_calc__user_roi_spad_en_0;
+ *(pbuffer + 9) =
+ pdata->dss_calc__user_roi_spad_en_1;
+ *(pbuffer + 10) =
+ pdata->dss_calc__user_roi_spad_en_2;
+ *(pbuffer + 11) =
+ pdata->dss_calc__user_roi_spad_en_3;
+ *(pbuffer + 12) =
+ pdata->dss_calc__user_roi_spad_en_4;
+ *(pbuffer + 13) =
+ pdata->dss_calc__user_roi_spad_en_5;
+ *(pbuffer + 14) =
+ pdata->dss_calc__user_roi_spad_en_6;
+ *(pbuffer + 15) =
+ pdata->dss_calc__user_roi_spad_en_7;
+ *(pbuffer + 16) =
+ pdata->dss_calc__user_roi_spad_en_8;
+ *(pbuffer + 17) =
+ pdata->dss_calc__user_roi_spad_en_9;
+ *(pbuffer + 18) =
+ pdata->dss_calc__user_roi_spad_en_10;
+ *(pbuffer + 19) =
+ pdata->dss_calc__user_roi_spad_en_11;
+ *(pbuffer + 20) =
+ pdata->dss_calc__user_roi_spad_en_12;
+ *(pbuffer + 21) =
+ pdata->dss_calc__user_roi_spad_en_13;
+ *(pbuffer + 22) =
+ pdata->dss_calc__user_roi_spad_en_14;
+ *(pbuffer + 23) =
+ pdata->dss_calc__user_roi_spad_en_15;
+ *(pbuffer + 24) =
+ pdata->dss_calc__user_roi_spad_en_16;
+ *(pbuffer + 25) =
+ pdata->dss_calc__user_roi_spad_en_17;
+ *(pbuffer + 26) =
+ pdata->dss_calc__user_roi_spad_en_18;
+ *(pbuffer + 27) =
+ pdata->dss_calc__user_roi_spad_en_19;
+ *(pbuffer + 28) =
+ pdata->dss_calc__user_roi_spad_en_20;
+ *(pbuffer + 29) =
+ pdata->dss_calc__user_roi_spad_en_21;
+ *(pbuffer + 30) =
+ pdata->dss_calc__user_roi_spad_en_22;
+ *(pbuffer + 31) =
+ pdata->dss_calc__user_roi_spad_en_23;
+ *(pbuffer + 32) =
+ pdata->dss_calc__user_roi_spad_en_24;
+ *(pbuffer + 33) =
+ pdata->dss_calc__user_roi_spad_en_25;
+ *(pbuffer + 34) =
+ pdata->dss_calc__user_roi_spad_en_26;
+ *(pbuffer + 35) =
+ pdata->dss_calc__user_roi_spad_en_27;
+ *(pbuffer + 36) =
+ pdata->dss_calc__user_roi_spad_en_28;
+ *(pbuffer + 37) =
+ pdata->dss_calc__user_roi_spad_en_29;
+ *(pbuffer + 38) =
+ pdata->dss_calc__user_roi_spad_en_30;
+ *(pbuffer + 39) =
+ pdata->dss_calc__user_roi_spad_en_31;
+ *(pbuffer + 40) =
+ pdata->dss_calc__user_roi_0;
+ *(pbuffer + 41) =
+ pdata->dss_calc__user_roi_1;
+ *(pbuffer + 42) =
+ pdata->dss_calc__mode_roi_0;
+ *(pbuffer + 43) =
+ pdata->dss_calc__mode_roi_1;
+ *(pbuffer + 44) =
+ pdata->sigma_estimator_calc__spare_0;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->vhv_result__peak_signal_rate_mcps,
+ 2,
+ pbuffer + 46);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->vhv_result__signal_total_events_ref,
+ 4,
+ pbuffer + 48);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->phasecal_result__phase_output_ref,
+ 2,
+ pbuffer + 52);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->dss_result__total_rate_per_spad,
+ 2,
+ pbuffer + 54);
+ *(pbuffer + 56) =
+ pdata->dss_result__enabled_blocks;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->dss_result__num_requested_spads,
+ 2,
+ pbuffer + 58);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->mm_result__inner_intersection_rate,
+ 2,
+ pbuffer + 62);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->mm_result__outer_complement_rate,
+ 2,
+ pbuffer + 64);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->mm_result__total_offset,
+ 2,
+ pbuffer + 66);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->xtalk_calc__xtalk_for_enabled_spads & 0xFFFFFF,
+ 4,
+ pbuffer + 68);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->xtalk_result__avg_xtalk_user_roi_kcps & 0xFFFFFF,
+ 4,
+ pbuffer + 72);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->xtalk_result__avg_xtalk_mm_inner_roi_kcps & 0xFFFFFF,
+ 4,
+ pbuffer + 76);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->xtalk_result__avg_xtalk_mm_outer_roi_kcps & 0xFFFFFF,
+ 4,
+ pbuffer + 80);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->range_result__accum_phase,
+ 4,
+ pbuffer + 84);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->range_result__offset_corrected_range,
+ 2,
+ pbuffer + 88);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_patch_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_patch_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->dss_calc__roi_ctrl =
+ (*(pbuffer + 0)) & 0x3;
+ pdata->dss_calc__spare_1 =
+ (*(pbuffer + 1));
+ pdata->dss_calc__spare_2 =
+ (*(pbuffer + 2));
+ pdata->dss_calc__spare_3 =
+ (*(pbuffer + 3));
+ pdata->dss_calc__spare_4 =
+ (*(pbuffer + 4));
+ pdata->dss_calc__spare_5 =
+ (*(pbuffer + 5));
+ pdata->dss_calc__spare_6 =
+ (*(pbuffer + 6));
+ pdata->dss_calc__spare_7 =
+ (*(pbuffer + 7));
+ pdata->dss_calc__user_roi_spad_en_0 =
+ (*(pbuffer + 8));
+ pdata->dss_calc__user_roi_spad_en_1 =
+ (*(pbuffer + 9));
+ pdata->dss_calc__user_roi_spad_en_2 =
+ (*(pbuffer + 10));
+ pdata->dss_calc__user_roi_spad_en_3 =
+ (*(pbuffer + 11));
+ pdata->dss_calc__user_roi_spad_en_4 =
+ (*(pbuffer + 12));
+ pdata->dss_calc__user_roi_spad_en_5 =
+ (*(pbuffer + 13));
+ pdata->dss_calc__user_roi_spad_en_6 =
+ (*(pbuffer + 14));
+ pdata->dss_calc__user_roi_spad_en_7 =
+ (*(pbuffer + 15));
+ pdata->dss_calc__user_roi_spad_en_8 =
+ (*(pbuffer + 16));
+ pdata->dss_calc__user_roi_spad_en_9 =
+ (*(pbuffer + 17));
+ pdata->dss_calc__user_roi_spad_en_10 =
+ (*(pbuffer + 18));
+ pdata->dss_calc__user_roi_spad_en_11 =
+ (*(pbuffer + 19));
+ pdata->dss_calc__user_roi_spad_en_12 =
+ (*(pbuffer + 20));
+ pdata->dss_calc__user_roi_spad_en_13 =
+ (*(pbuffer + 21));
+ pdata->dss_calc__user_roi_spad_en_14 =
+ (*(pbuffer + 22));
+ pdata->dss_calc__user_roi_spad_en_15 =
+ (*(pbuffer + 23));
+ pdata->dss_calc__user_roi_spad_en_16 =
+ (*(pbuffer + 24));
+ pdata->dss_calc__user_roi_spad_en_17 =
+ (*(pbuffer + 25));
+ pdata->dss_calc__user_roi_spad_en_18 =
+ (*(pbuffer + 26));
+ pdata->dss_calc__user_roi_spad_en_19 =
+ (*(pbuffer + 27));
+ pdata->dss_calc__user_roi_spad_en_20 =
+ (*(pbuffer + 28));
+ pdata->dss_calc__user_roi_spad_en_21 =
+ (*(pbuffer + 29));
+ pdata->dss_calc__user_roi_spad_en_22 =
+ (*(pbuffer + 30));
+ pdata->dss_calc__user_roi_spad_en_23 =
+ (*(pbuffer + 31));
+ pdata->dss_calc__user_roi_spad_en_24 =
+ (*(pbuffer + 32));
+ pdata->dss_calc__user_roi_spad_en_25 =
+ (*(pbuffer + 33));
+ pdata->dss_calc__user_roi_spad_en_26 =
+ (*(pbuffer + 34));
+ pdata->dss_calc__user_roi_spad_en_27 =
+ (*(pbuffer + 35));
+ pdata->dss_calc__user_roi_spad_en_28 =
+ (*(pbuffer + 36));
+ pdata->dss_calc__user_roi_spad_en_29 =
+ (*(pbuffer + 37));
+ pdata->dss_calc__user_roi_spad_en_30 =
+ (*(pbuffer + 38));
+ pdata->dss_calc__user_roi_spad_en_31 =
+ (*(pbuffer + 39));
+ pdata->dss_calc__user_roi_0 =
+ (*(pbuffer + 40));
+ pdata->dss_calc__user_roi_1 =
+ (*(pbuffer + 41));
+ pdata->dss_calc__mode_roi_0 =
+ (*(pbuffer + 42));
+ pdata->dss_calc__mode_roi_1 =
+ (*(pbuffer + 43));
+ pdata->sigma_estimator_calc__spare_0 =
+ (*(pbuffer + 44));
+ pdata->vhv_result__peak_signal_rate_mcps =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 46));
+ pdata->vhv_result__signal_total_events_ref =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 48));
+ pdata->phasecal_result__phase_output_ref =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 52));
+ pdata->dss_result__total_rate_per_spad =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 54));
+ pdata->dss_result__enabled_blocks =
+ (*(pbuffer + 56));
+ pdata->dss_result__num_requested_spads =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 58));
+ pdata->mm_result__inner_intersection_rate =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 62));
+ pdata->mm_result__outer_complement_rate =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 64));
+ pdata->mm_result__total_offset =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 66));
+ pdata->xtalk_calc__xtalk_for_enabled_spads =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 68)) & 0xFFFFFF;
+ pdata->xtalk_result__avg_xtalk_user_roi_kcps =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 72)) & 0xFFFFFF;
+ pdata->xtalk_result__avg_xtalk_mm_inner_roi_kcps =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 76)) & 0xFFFFFF;
+ pdata->xtalk_result__avg_xtalk_mm_outer_roi_kcps =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 80)) & 0xFFFFFF;
+ pdata->range_result__accum_phase =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 84));
+ pdata->range_result__offset_corrected_range =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 88));
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_set_patch_results(
+ VL53LX_patch_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_patch_results(
+ pdata,
+ VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_DSS_CALC__ROI_CTRL,
+ comms_buffer,
+ VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_get_patch_results(
+ VL53LX_patch_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_DSS_CALC__ROI_CTRL,
+ comms_buffer,
+ VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_patch_results(
+ VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_encode_shadow_system_results(
+ VL53LX_shadow_system_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ *(pbuffer + 0) =
+ pdata->shadow_phasecal_result__vcsel_start;
+ *(pbuffer + 2) =
+ pdata->shadow_result__interrupt_status & 0x3F;
+ *(pbuffer + 3) =
+ pdata->shadow_result__range_status;
+ *(pbuffer + 4) =
+ pdata->shadow_result__report_status & 0xF;
+ *(pbuffer + 5) =
+ pdata->shadow_result__stream_count;
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__dss_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 6);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__peak_signal_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 8);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__ambient_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 10);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__sigma_sd0,
+ 2,
+ pbuffer + 12);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__phase_sd0,
+ 2,
+ pbuffer + 14);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__final_crosstalk_corrected_range_mm_sd0,
+ 2,
+ pbuffer + 16);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0,
+ 2,
+ pbuffer + 18);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__mm_inner_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 20);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__mm_outer_actual_effective_spads_sd0,
+ 2,
+ pbuffer + 22);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__avg_signal_count_rate_mcps_sd0,
+ 2,
+ pbuffer + 24);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__dss_actual_effective_spads_sd1,
+ 2,
+ pbuffer + 26);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__peak_signal_count_rate_mcps_sd1,
+ 2,
+ pbuffer + 28);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__ambient_count_rate_mcps_sd1,
+ 2,
+ pbuffer + 30);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__sigma_sd1,
+ 2,
+ pbuffer + 32);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__phase_sd1,
+ 2,
+ pbuffer + 34);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__final_crosstalk_corrected_range_mm_sd1,
+ 2,
+ pbuffer + 36);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__spare_0_sd1,
+ 2,
+ pbuffer + 38);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__spare_1_sd1,
+ 2,
+ pbuffer + 40);
+ VL53LX_i2c_encode_uint16_t(
+ pdata->shadow_result__spare_2_sd1,
+ 2,
+ pbuffer + 42);
+ *(pbuffer + 44) =
+ pdata->shadow_result__spare_3_sd1;
+ *(pbuffer + 45) =
+ pdata->shadow_result__thresh_info;
+ *(pbuffer + 80) =
+ pdata->shadow_phasecal_result__reference_phase_hi;
+ *(pbuffer + 81) =
+ pdata->shadow_phasecal_result__reference_phase_lo;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_shadow_system_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_shadow_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->shadow_phasecal_result__vcsel_start =
+ (*(pbuffer + 0));
+ pdata->shadow_result__interrupt_status =
+ (*(pbuffer + 2)) & 0x3F;
+ pdata->shadow_result__range_status =
+ (*(pbuffer + 3));
+ pdata->shadow_result__report_status =
+ (*(pbuffer + 4)) & 0xF;
+ pdata->shadow_result__stream_count =
+ (*(pbuffer + 5));
+ pdata->shadow_result__dss_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 6));
+ pdata->shadow_result__peak_signal_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 8));
+ pdata->shadow_result__ambient_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 10));
+ pdata->shadow_result__sigma_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 12));
+ pdata->shadow_result__phase_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 14));
+ pdata->shadow_result__final_crosstalk_corrected_range_mm_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 16));
+ pdata->shr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 18));
+ pdata->shadow_result__mm_inner_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 20));
+ pdata->shadow_result__mm_outer_actual_effective_spads_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 22));
+ pdata->shadow_result__avg_signal_count_rate_mcps_sd0 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 24));
+ pdata->shadow_result__dss_actual_effective_spads_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 26));
+ pdata->shadow_result__peak_signal_count_rate_mcps_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 28));
+ pdata->shadow_result__ambient_count_rate_mcps_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 30));
+ pdata->shadow_result__sigma_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 32));
+ pdata->shadow_result__phase_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 34));
+ pdata->shadow_result__final_crosstalk_corrected_range_mm_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 36));
+ pdata->shadow_result__spare_0_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 38));
+ pdata->shadow_result__spare_1_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 40));
+ pdata->shadow_result__spare_2_sd1 =
+ (VL53LX_i2c_decode_uint16_t(2, pbuffer + 42));
+ pdata->shadow_result__spare_3_sd1 =
+ (*(pbuffer + 44));
+ pdata->shadow_result__thresh_info =
+ (*(pbuffer + 45));
+ pdata->shadow_phasecal_result__reference_phase_hi =
+ (*(pbuffer + 80));
+ pdata->shadow_phasecal_result__reference_phase_lo =
+ (*(pbuffer + 81));
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_shadow_system_results(
+ VL53LX_shadow_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_shadow_system_results(
+ pdata,
+ VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_SHADOW_PHASECAL_RESULT__VCSEL_START,
+ comms_buffer,
+ VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_shadow_system_results(
+ VL53LX_shadow_system_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_SHADOW_PHASECAL_RESULT__VCSEL_START,
+ comms_buffer,
+ VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_shadow_system_results(
+ VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_i2c_encode_shadow_core_results(
+ VL53LX_shadow_core_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ VL53LX_i2c_encode_uint32_t(
+ pdata->shadow_result_core__ambient_window_events_sd0,
+ 4,
+ pbuffer + 0);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->shadow_result_core__ranging_total_events_sd0,
+ 4,
+ pbuffer + 4);
+ VL53LX_i2c_encode_int32_t(
+ pdata->shadow_result_core__signal_total_events_sd0,
+ 4,
+ pbuffer + 8);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->shadow_result_core__total_periods_elapsed_sd0,
+ 4,
+ pbuffer + 12);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->shadow_result_core__ambient_window_events_sd1,
+ 4,
+ pbuffer + 16);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->shadow_result_core__ranging_total_events_sd1,
+ 4,
+ pbuffer + 20);
+ VL53LX_i2c_encode_int32_t(
+ pdata->shadow_result_core__signal_total_events_sd1,
+ 4,
+ pbuffer + 24);
+ VL53LX_i2c_encode_uint32_t(
+ pdata->shadow_result_core__total_periods_elapsed_sd1,
+ 4,
+ pbuffer + 28);
+ *(pbuffer + 32) =
+ pdata->shadow_result_core__spare_0;
+
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_i2c_decode_shadow_core_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_shadow_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (buf_size < VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES) {
+ return VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL;
+ }
+
+ pdata->shadow_result_core__ambient_window_events_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 0));
+ pdata->shadow_result_core__ranging_total_events_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 4));
+ pdata->shadow_result_core__signal_total_events_sd0 =
+ (VL53LX_i2c_decode_int32_t(4, pbuffer + 8));
+ pdata->shadow_result_core__total_periods_elapsed_sd0 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 12));
+ pdata->shadow_result_core__ambient_window_events_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 16));
+ pdata->shadow_result_core__ranging_total_events_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 20));
+ pdata->shadow_result_core__signal_total_events_sd1 =
+ (VL53LX_i2c_decode_int32_t(4, pbuffer + 24));
+ pdata->shadow_result_core__total_periods_elapsed_sd1 =
+ (VL53LX_i2c_decode_uint32_t(4, pbuffer + 28));
+ pdata->shadow_result_core__spare_0 =
+ (*(pbuffer + 32));
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_shadow_core_results(
+ VL53LX_shadow_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_encode_shadow_core_results(
+ pdata,
+ VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WriteMulti(
+ Dev,
+ VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0,
+ comms_buffer,
+ VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_get_shadow_core_results(
+ VL53LX_shadow_core_results_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t comms_buffer[VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES];
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0,
+ comms_buffer,
+ VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_i2c_decode_shadow_core_results(
+ VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES,
+ comms_buffer,
+ pdata);
+
+
+ return status;
+}
+
+
+/* vl53lx_nvm.c */
+
+VL53LX_Error VL53LX::VL53LX_nvm_enable(
+ uint16_t nvm_ctrl_pulse_width,
+ int32_t nvm_power_up_delay_us)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_powerforce();
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WaitUs(
+ Dev,
+ VL53LX_ENABLE_POWERFORCE_SETTLING_TIME_US);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_RANGING_CORE__NVM_CTRL__PDN,
+ 0x01);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_RANGING_CORE__CLK_CTRL1,
+ 0x05);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WaitUs(
+ Dev,
+ nvm_power_up_delay_us);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_RANGING_CORE__NVM_CTRL__MODE,
+ 0x01);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WrWord(
+ Dev,
+ VL53LX_RANGING_CORE__NVM_CTRL__PULSE_WIDTH_MSB,
+ nvm_ctrl_pulse_width);
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_nvm_read(
+ uint8_t start_address,
+ uint8_t count,
+ uint8_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t nvm_addr = 0;
+
+
+
+ for (nvm_addr = start_address;
+ nvm_addr < (start_address + count) ; nvm_addr++) {
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_RANGING_CORE__NVM_CTRL__ADDR,
+ nvm_addr);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_RANGING_CORE__NVM_CTRL__READN,
+ 0x00);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WaitUs(
+ Dev,
+ VL53LX_NVM_READ_TRIGGER_DELAY_US);
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_RANGING_CORE__NVM_CTRL__READN,
+ 0x01);
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_RANGING_CORE__NVM_CTRL__DATAOUT_MMM,
+ pdata,
+ 4);
+
+
+ pdata = pdata + 4;
+
+
+ }
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_nvm_disable()
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_RANGING_CORE__NVM_CTRL__READN,
+ 0x01);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_RANGING_CORE__NVM_CTRL__PDN,
+ 0x00);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_powerforce();
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+
+ return status;
+
+}
+
+
+VL53LX_Error VL53LX::VL53LX_nvm_format_decode(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_decoded_nvm_data_t *pdata)
+{
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t i = 0;
+ uint8_t *ptmp = NULL;
+ int pptmp[VL53LX_NVM_MAX_FMT_RANGE_DATA];
+
+ if (buf_size < VL53LX_NVM_SIZE_IN_BYTES) {
+ return VL53LX_ERROR_BUFFER_TOO_SMALL;
+ }
+
+ pdata->nvm__identification_model_id =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__IDENTIFICATION__MODEL_ID,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__identification_module_type =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__IDENTIFICATION__MODULE_TYPE,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__identification_revision_id =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__IDENTIFICATION__REVISION_ID,
+ 0x0000000F,
+ 0,
+ 0);
+ pdata->nvm__identification_module_id =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer + VL53LX_NVM__IDENTIFICATION__MODULE_ID,
+ 0x0000FFFF,
+ 0,
+ 0);
+ pdata->nvm__i2c_valid =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__I2C_VALID,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__i2c_device_address_ews =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__I2C_SLAVE__DEVICE_ADDRESS,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__ews__fast_osc_frequency =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer +
+ VL53LX_NVM__EWS__OSC_MEASURED__FAST_OSC_FREQUENCY,
+ 0x0000FFFF,
+ 0,
+ 0);
+ pdata->nvm__ews__fast_osc_trim_max =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__EWS__FAST_OSC_TRIM_MAX,
+ 0x0000007F,
+ 0,
+ 0);
+ pdata->nvm__ews__fast_osc_freq_set =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__EWS__FAST_OSC_FREQ_SET,
+ 0x00000007,
+ 0,
+ 0);
+ pdata->nvm__ews__slow_osc_calibration =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer + VL53LX_NVM__EWS__SLOW_OSC_CALIBRATION,
+ 0x000003FF,
+ 0,
+ 0);
+ pdata->nvm__fmt__fast_osc_frequency =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer +
+ VL53LX_NVM__FMT__OSC_MEASURED__FAST_OSC_FREQUENCY,
+ 0x0000FFFF,
+ 0,
+ 0);
+ pdata->nvm__fmt__fast_osc_trim_max =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FAST_OSC_TRIM_MAX,
+ 0x0000007F,
+ 0,
+ 0);
+ pdata->nvm__fmt__fast_osc_freq_set =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FAST_OSC_FREQ_SET,
+ 0x00000007,
+ 0,
+ 0);
+ pdata->nvm__fmt__slow_osc_calibration =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer + VL53LX_NVM__FMT__SLOW_OSC_CALIBRATION,
+ 0x000003FF,
+ 0,
+ 0);
+ pdata->nvm__vhv_config_unlock =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__VHV_CONFIG_UNLOCK,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__ref_selvddpix =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__REF_SELVDDPIX,
+ 0x0000000F,
+ 0,
+ 0);
+ pdata->nvm__ref_selvquench =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__REF_SELVQUENCH,
+ 0x00000078,
+ 3,
+ 0);
+ pdata->nvm__regavdd1v2_sel =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__REGAVDD1V2_SEL_REGDVDD1V2_SEL,
+ 0x0000000C,
+ 2,
+ 0);
+ pdata->nvm__regdvdd1v2_sel =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__REGAVDD1V2_SEL_REGDVDD1V2_SEL,
+ 0x00000003,
+ 0,
+ 0);
+ pdata->nvm__vhv_timeout__macrop =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer +
+ VL53LX_NVM__VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
+ 0x00000003,
+ 0,
+ 0);
+ pdata->nvm__vhv_loop_bound =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer +
+ VL53LX_NVM__VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
+ 0x000000FC,
+ 2,
+ 0);
+ pdata->nvm__vhv_count_threshold =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__VHV_CONFIG__COUNT_THRESH,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__vhv_offset =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__VHV_CONFIG__OFFSET,
+ 0x0000003F,
+ 0,
+ 0);
+ pdata->nvm__vhv_init_enable =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__VHV_CONFIG__INIT,
+ 0x00000080,
+ 7,
+ 0);
+ pdata->nvm__vhv_init_value =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__VHV_CONFIG__INIT,
+ 0x0000003F,
+ 0,
+ 0);
+ pdata->nvm__laser_safety_vcsel_trim_ll =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__LASER_SAFETY__VCSEL_TRIM_LL,
+ 0x00000007,
+ 0,
+ 0);
+ pdata->nvm__laser_safety_vcsel_selion_ll =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__LASER_SAFETY__VCSEL_SELION_LL,
+ 0x0000003F,
+ 0,
+ 0);
+ pdata->nvm__laser_safety_vcsel_selion_max_ll =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__LASER_SAFETY__VCSEL_SELION_MAX_LL,
+ 0x0000003F,
+ 0,
+ 0);
+ pdata->nvm__laser_safety_mult_ll =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__LASER_SAFETY__MULT_LL,
+ 0x0000003F,
+ 0,
+ 0);
+ pdata->nvm__laser_safety_clip_ll =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__LASER_SAFETY__CLIP_LL,
+ 0x0000003F,
+ 0,
+ 0);
+ pdata->nvm__laser_safety_vcsel_trim_ld =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__LASER_SAFETY__VCSEL_TRIM_LD,
+ 0x00000007,
+ 0,
+ 0);
+ pdata->nvm__laser_safety_vcsel_selion_ld =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__LASER_SAFETY__VCSEL_SELION_LD,
+ 0x0000003F,
+ 0,
+ 0);
+ pdata->nvm__laser_safety_vcsel_selion_max_ld =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__LASER_SAFETY__VCSEL_SELION_MAX_LD,
+ 0x0000003F,
+ 0,
+ 0);
+ pdata->nvm__laser_safety_mult_ld =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__LASER_SAFETY__MULT_LD,
+ 0x0000003F,
+ 0,
+ 0);
+ pdata->nvm__laser_safety_clip_ld =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__LASER_SAFETY__CLIP_LD,
+ 0x0000003F,
+ 0,
+ 0);
+ pdata->nvm__laser_safety_lock_byte =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__LASER_SAFETY_LOCK_BYTE,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__laser_safety_unlock_byte =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__LASER_SAFETY_UNLOCK_BYTE,
+ 0x000000FF,
+ 0,
+ 0);
+
+
+
+ ptmp = pbuffer + VL53LX_NVM__EWS__SPAD_ENABLES_RTN_0_;
+ for (i = 0 ; i < VL53LX_RTN_SPAD_BUFFER_SIZE ; i++) {
+ pdata->nvm__ews__spad_enables_rtn[i] = *ptmp++;
+ }
+
+ ptmp = pbuffer + VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC1_0_;
+ for (i = 0 ; i < VL53LX_REF_SPAD_BUFFER_SIZE ; i++) {
+ pdata->nvm__ews__spad_enables_ref__loc1[i] = *ptmp++;
+ }
+
+ ptmp = pbuffer + VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC2_0_;
+ for (i = 0 ; i < VL53LX_REF_SPAD_BUFFER_SIZE ; i++) {
+ pdata->nvm__ews__spad_enables_ref__loc2[i] = *ptmp++;
+ }
+
+ ptmp = pbuffer + VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC3_0_;
+ for (i = 0 ; i < VL53LX_REF_SPAD_BUFFER_SIZE ; i++) {
+ pdata->nvm__ews__spad_enables_ref__loc3[i] = *ptmp++;
+ }
+
+
+
+ ptmp = pbuffer + VL53LX_NVM__FMT__SPAD_ENABLES_RTN_0_;
+ for (i = 0 ; i < VL53LX_RTN_SPAD_BUFFER_SIZE ; i++) {
+ pdata->nvm__fmt__spad_enables_rtn[i] = *ptmp++;
+ }
+
+ ptmp = pbuffer + VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC1_0_;
+ for (i = 0 ; i < VL53LX_REF_SPAD_BUFFER_SIZE ; i++) {
+ pdata->nvm__fmt__spad_enables_ref__loc1[i] = *ptmp++;
+ }
+
+ ptmp = pbuffer + VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC2_0_;
+ for (i = 0 ; i < VL53LX_REF_SPAD_BUFFER_SIZE ; i++) {
+ pdata->nvm__fmt__spad_enables_ref__loc2[i] = *ptmp++;
+ }
+
+ ptmp = pbuffer + VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC3_0_;
+ for (i = 0 ; i < VL53LX_REF_SPAD_BUFFER_SIZE ; i++) {
+ pdata->nvm__fmt__spad_enables_ref__loc3[i] = *ptmp++;
+ }
+
+
+ pdata->nvm__fmt__roi_config__mode_roi_centre_spad =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer +
+ VL53LX_NVM__FMT__ROI_CONFIG__MODE_ROI_CENTRE_SPAD,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__fmt__roi_config__mode_roi_x_size =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer +
+ VL53LX_NVM__FMT__ROI_CONFIG__MODE_ROI_XY_SIZE,
+ 0x000000F0,
+ 4,
+ 0);
+ pdata->nvm__fmt__roi_config__mode_roi_y_size =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__ROI_CONFIG__MODE_ROI_XY_SIZE,
+ 0x0000000F,
+ 0,
+ 0);
+ pdata->nvm__fmt__ref_spad_apply__num_requested_ref_spad =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer +
+ VL53LX_NVM__FMT__REF_SPAD_APPLY__NUM_REQUESTED_REF_SPAD,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__fmt__ref_spad_man__ref_location =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__REF_SPAD_MAN__REF_LOCATION,
+ 0x00000003,
+ 0,
+ 0);
+ pdata->nvm__fmt__mm_config__inner_offset_mm =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer + VL53LX_NVM__FMT__MM_CONFIG__INNER_OFFSET_MM,
+ 0x0000FFFF,
+ 0,
+ 0);
+ pdata->nvm__fmt__mm_config__outer_offset_mm =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer + VL53LX_NVM__FMT__MM_CONFIG__OUTER_OFFSET_MM,
+ 0x0000FFFF,
+ 0,
+ 0);
+ pdata->nvm__fmt__algo_part_to_part_range_offset_mm =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer +
+ VL53LX_NVM__FMT__ALGO__PART_TO_PART_RANGE_OFFSET_MM,
+ 0x00000FFF,
+ 0,
+ 0);
+ pdata->nvm__fmt__algo__crosstalk_compensation_plane_offset_kcps =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer +
+ VL53LX_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS,
+ 0x0000FFFF,
+ 0,
+ 0);
+ pdata->nvm__fmt__algo__crosstalk_compensation_x_plane_gradient_kcps =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer +
+ VL53LX_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS,
+ 0x0000FFFF,
+ 0,
+ 0);
+ pdata->nvm__fmt__algo__crosstalk_compensation_y_plane_gradient_kcps =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer +
+ VL53LX_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS,
+ 0x0000FFFF,
+ 0,
+ 0);
+ pdata->nvm__fmt__spare__host_config__nvm_config_spare_0 =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer +
+ VL53LX_NVM__FMT__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_0,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__fmt__spare__host_config__nvm_config_spare_1 =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer +
+ VL53LX_NVM__FMT__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_1,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__customer_space_programmed =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__CUSTOMER_NVM_SPACE_PROGRAMMED,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__cust__i2c_device_address =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__CUST__I2C_SLAVE__DEVICE_ADDRESS,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__cust__ref_spad_apply__num_requested_ref_spad =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer +
+ VL53LX_NVM__CUST__REF_SPAD_APPLY__NUM_REQUESTED_REF_SPAD,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__cust__ref_spad_man__ref_location =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__CUST__REF_SPAD_MAN__REF_LOCATION,
+ 0x00000003,
+ 0,
+ 0);
+ pdata->nvm__cust__mm_config__inner_offset_mm =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer + VL53LX_NVM__CUST__MM_CONFIG__INNER_OFFSET_MM,
+ 0x0000FFFF,
+ 0,
+ 0);
+ pdata->nvm__cust__mm_config__outer_offset_mm =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer + VL53LX_NVM__CUST__MM_CONFIG__OUTER_OFFSET_MM,
+ 0x0000FFFF,
+ 0,
+ 0);
+ pdata->nvm__cust__algo_part_to_part_range_offset_mm =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer +
+ VL53LX_NVM__CUST__ALGO__PART_TO_PART_RANGE_OFFSET_MM,
+ 0x00000FFF,
+ 0,
+ 0);
+ pdata->nvm__cust__algo__crosstalk_compensation_plane_offset_kcps =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer +
+ VL53LX_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS,
+ 0x0000FFFF,
+ 0,
+ 0);
+ pdata->nvm__cust__algo__crosstalk_compensation_x_plane_gradient_kcps =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer +
+ VL53LX_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS,
+ 0x0000FFFF,
+ 0,
+ 0);
+ pdata->nvm__cust__algo__crosstalk_compensation_y_plane_gradient_kcps =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer +
+ VL53LX_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS,
+ 0x0000FFFF,
+ 0,
+ 0);
+ pdata->nvm__cust__spare__host_config__nvm_config_spare_0 =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__CUST__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_0,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__cust__spare__host_config__nvm_config_spare_1 =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer +
+ VL53LX_NVM__CUST__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_1,
+ 0x000000FF,
+ 0,
+ 0);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_nvm_decode_optical_centre(
+ buf_size,
+ pbuffer + VL53LX_NVM__FMT__OPTICAL_CENTRE_DATA_INDEX,
+ &(pdata->fmt_optical_centre));
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_nvm_decode_cal_peak_rate_map(
+ buf_size,
+ pbuffer + VL53LX_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_INDEX,
+ &(pdata->fmt_peak_rate_map));
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_nvm_decode_additional_offset_cal_data(
+ buf_size,
+ pbuffer +
+ VL53LX_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_INDEX,
+ &(pdata->fmt_add_offset_data));
+
+
+
+ pptmp[0] = VL53LX_NVM__FMT__RANGE_RESULTS__140MM_MM_PRE_RANGE;
+ pptmp[1] = VL53LX_NVM__FMT__RANGE_RESULTS__140MM_DARK;
+ pptmp[2] = VL53LX_NVM__FMT__RANGE_RESULTS__400MM_DARK;
+ pptmp[3] = VL53LX_NVM__FMT__RANGE_RESULTS__400MM_AMBIENT;
+
+ for (i = 0 ; i < VL53LX_NVM_MAX_FMT_RANGE_DATA ; i++) {
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_nvm_decode_fmt_range_results_data(
+ buf_size,
+ pbuffer + pptmp[i],
+ &(pdata->fmt_range_data[i]));
+ }
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_nvm_decode_fmt_info(
+ buf_size,
+ pbuffer,
+ &(pdata->fmt_info));
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_nvm_decode_ews_info(
+ buf_size,
+ pbuffer,
+ &(pdata->ews_info));
+
+ return status;
+
+}
+VL53LX_Error VL53LX::VL53LX_nvm_decode_optical_centre(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_optical_centre_t *pdata)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint16_t tmp = 0;
+
+ if (buf_size < VL53LX_NVM__FMT__OPTICAL_CENTRE_DATA_SIZE) {
+ return VL53LX_ERROR_BUFFER_TOO_SMALL;
+ }
+
+
+ tmp = 0x0100;
+ tmp -= (uint16_t) * (pbuffer + 2);
+ if (tmp > 0x0FF) {
+ tmp = 0;
+ }
+
+ pdata->x_centre = (uint8_t)tmp;
+ pdata->y_centre = *(pbuffer + 3);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_nvm_decode_cal_peak_rate_map(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_cal_peak_rate_map_t *pdata)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t *ptmp = NULL;
+ uint8_t i = 0;
+
+ if (buf_size < VL53LX_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE) {
+ return VL53LX_ERROR_BUFFER_TOO_SMALL;
+ }
+
+ pdata->cal_distance_mm =
+ (uint16_t)VL53LX_i2c_decode_uint16_t(2, pbuffer);
+
+ pdata->cal_reflectance_pc =
+ (uint16_t)VL53LX_i2c_decode_uint16_t(2, pbuffer + 2);
+ pdata->cal_reflectance_pc =
+ pdata->cal_reflectance_pc >> 6;
+
+ pdata->max_samples = VL53LX_NVM_PEAK_RATE_MAP_SAMPLES;
+ pdata->width = VL53LX_NVM_PEAK_RATE_MAP_WIDTH;
+ pdata->height = VL53LX_NVM_PEAK_RATE_MAP_HEIGHT;
+
+ ptmp = pbuffer + 4;
+ for (i = 0 ; i < VL53LX_NVM_PEAK_RATE_MAP_SAMPLES ; i++) {
+ pdata->peak_rate_mcps[i] =
+ (uint16_t)VL53LX_i2c_decode_uint16_t(2, ptmp);
+ ptmp += 2;
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_nvm_decode_additional_offset_cal_data(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_additional_offset_cal_data_t *pdata)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE) {
+ return VL53LX_ERROR_BUFFER_TOO_SMALL;
+ }
+
+ pdata->result__mm_inner_actual_effective_spads =
+ (uint16_t)VL53LX_i2c_decode_uint16_t(2, pbuffer);
+
+ pdata->result__mm_outer_actual_effective_spads =
+ (uint16_t)VL53LX_i2c_decode_uint16_t(2, pbuffer + 2);
+
+ pdata->result__mm_inner_peak_signal_count_rtn_mcps =
+ (uint16_t)VL53LX_i2c_decode_uint16_t(2, pbuffer + 4);
+
+ pdata->result__mm_outer_peak_signal_count_rtn_mcps =
+ (uint16_t)VL53LX_i2c_decode_uint16_t(2, pbuffer + 6);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_nvm_decode_fmt_range_results_data(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_decoded_nvm_fmt_range_data_t *pdata)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_NVM__FMT__RANGE_RESULTS__SIZE_BYTES) {
+ return VL53LX_ERROR_BUFFER_TOO_SMALL;
+ }
+
+ pdata->result__actual_effective_rtn_spads =
+ (uint16_t)VL53LX_i2c_decode_uint16_t(2, pbuffer);
+
+ pdata->ref_spad_array__num_requested_ref_spads =
+ *(pbuffer + 2);
+
+ pdata->ref_spad_array__ref_location =
+ *(pbuffer + 3);
+
+ pdata->result__peak_signal_count_rate_rtn_mcps =
+ (uint16_t)VL53LX_i2c_decode_uint16_t(2, pbuffer + 4);
+
+ pdata->result__ambient_count_rate_rtn_mcps =
+ (uint16_t)VL53LX_i2c_decode_uint16_t(2, pbuffer + 6);
+
+ pdata->result__peak_signal_count_rate_ref_mcps =
+ (uint16_t)VL53LX_i2c_decode_uint16_t(2, pbuffer + 8);
+
+ pdata->result__ambient_count_rate_ref_mcps =
+ (uint16_t)VL53LX_i2c_decode_uint16_t(2, pbuffer + 10);
+
+ pdata->measured_distance_mm =
+ (uint16_t)VL53LX_i2c_decode_uint16_t(2, pbuffer + 12);
+
+ pdata->measured_distance_stdev_mm =
+ (uint16_t)VL53LX_i2c_decode_uint16_t(2, pbuffer + 14);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_nvm_decode_fmt_info(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_decoded_nvm_fmt_info_t *pdata)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_NVM_SIZE_IN_BYTES) {
+ return VL53LX_ERROR_BUFFER_TOO_SMALL;
+ }
+
+ pdata->nvm__fmt__fgc[0] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_0,
+ 0x000000FE,
+ 1,
+ 0);
+ pdata->nvm__fmt__fgc[1] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_1,
+ 0x000001FC,
+ 2,
+ 0);
+ pdata->nvm__fmt__fgc[2] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_2 - 1,
+ 0x000003F8,
+ 3,
+ 0);
+ pdata->nvm__fmt__fgc[3] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_3 - 1,
+ 0x000007F0,
+ 4,
+ 0);
+ pdata->nvm__fmt__fgc[4] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_4 - 1,
+ 0x00000FE0,
+ 5,
+ 0);
+ pdata->nvm__fmt__fgc[5] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_5 - 1,
+ 0x00001FC0,
+ 6,
+ 0);
+ pdata->nvm__fmt__fgc[6] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_6 - 1,
+ 0x00003F80,
+ 7,
+ 0);
+ pdata->nvm__fmt__fgc[7] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_6,
+ 0x0000007F,
+ 0,
+ 0);
+ pdata->nvm__fmt__fgc[8] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_7,
+ 0x000000FE,
+ 1,
+ 0);
+ pdata->nvm__fmt__fgc[9] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_8,
+ 0x000001FC,
+ 2,
+ 0);
+ pdata->nvm__fmt__fgc[10] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_9 - 1,
+ 0x000003F8,
+ 3,
+ 0);
+ pdata->nvm__fmt__fgc[11] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_10 - 1,
+ 0x000007F0,
+ 4,
+ 0);
+ pdata->nvm__fmt__fgc[12] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_11 - 1,
+ 0x00000FE0,
+ 5,
+ 0);
+ pdata->nvm__fmt__fgc[13] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_12 - 1,
+ 0x00001FC0,
+ 6,
+ 0);
+ pdata->nvm__fmt__fgc[14] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_13 - 1,
+ 0x00003F80,
+ 7,
+ 0);
+ pdata->nvm__fmt__fgc[15] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_13,
+ 0x0000007F,
+ 0,
+ 0);
+ pdata->nvm__fmt__fgc[16] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_14,
+ 0x000000FE,
+ 1,
+ 0);
+ pdata->nvm__fmt__fgc[17] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__FGC__BYTE_15,
+ 0x000001FC,
+ 2,
+ 0);
+ pdata->nvm__fmt__fgc[18] = 0x00;
+
+ pdata->nvm__fmt__test_program_major =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__TEST_PROGRAM_MAJOR_MINOR,
+ 0x000000E0,
+ 5,
+ 0);
+ pdata->nvm__fmt__test_program_minor =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__TEST_PROGRAM_MAJOR_MINOR,
+ 0x0000001F,
+ 0,
+ 0);
+ pdata->nvm__fmt__map_major =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__MAP_MAJOR_MINOR,
+ 0x000000E0,
+ 5,
+ 0);
+ pdata->nvm__fmt__map_minor =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__MAP_MAJOR_MINOR,
+ 0x0000001F,
+ 0,
+ 0);
+ pdata->nvm__fmt__year =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__YEAR_MONTH,
+ 0x000000F0,
+ 4,
+ 0);
+ pdata->nvm__fmt__month =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__YEAR_MONTH,
+ 0x0000000F,
+ 0,
+ 0);
+ pdata->nvm__fmt__day =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__DAY_MODULE_DATE_PHASE,
+ 0x000000F8,
+ 3,
+ 0);
+ pdata->nvm__fmt__module_date_phase =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__DAY_MODULE_DATE_PHASE,
+ 0x00000007,
+ 0,
+ 0);
+ pdata->nvm__fmt__time =
+ (uint16_t)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer + VL53LX_NVM__FMT__TIME,
+ 0x0000FFFF,
+ 0,
+ 0);
+ pdata->nvm__fmt__tester_id =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__TESTER_ID,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__fmt__site_id =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__FMT__SITE_ID,
+ 0x000000FF,
+ 0,
+ 0);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_nvm_decode_ews_info(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_decoded_nvm_ews_info_t *pdata)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (buf_size < VL53LX_NVM_SIZE_IN_BYTES) {
+ return VL53LX_ERROR_BUFFER_TOO_SMALL;
+ }
+
+ pdata->nvm__ews__test_program_major =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__EWS__TEST_PROGRAM_MAJOR_MINOR,
+ 0x000000E0,
+ 5,
+ 0);
+ pdata->nvm__ews__test_program_minor =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__EWS__TEST_PROGRAM_MAJOR_MINOR,
+ 0x0000001F,
+ 0,
+ 0);
+ pdata->nvm__ews__probe_card_major =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__EWS__PROBE_CARD_MAJOR_MINOR,
+ 0x000000F0,
+ 4,
+ 0);
+ pdata->nvm__ews__probe_card_minor =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__EWS__PROBE_CARD_MAJOR_MINOR,
+ 0x0000000F,
+ 0,
+ 0);
+ pdata->nvm__ews__tester_id =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__EWS__TESTER_ID,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__ews__lot[0] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__EWS__LOT__BYTE_0,
+ 0x000000FC,
+ 2,
+ 32);
+ pdata->nvm__ews__lot[1] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer + VL53LX_NVM__EWS__LOT__BYTE_1 - 1,
+ 0x000003F0,
+ 4,
+ 32);
+ pdata->nvm__ews__lot[2] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer + VL53LX_NVM__EWS__LOT__BYTE_2 - 1,
+ 0x00000FC0,
+ 6,
+ 32);
+ pdata->nvm__ews__lot[3] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__EWS__LOT__BYTE_2,
+ 0x0000003F,
+ 0,
+ 32);
+ pdata->nvm__ews__lot[4] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__EWS__LOT__BYTE_3,
+ 0x000000FC,
+ 2,
+ 32);
+ pdata->nvm__ews__lot[5] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer + VL53LX_NVM__EWS__LOT__BYTE_4 - 1,
+ 0x000003F0,
+ 4,
+ 32);
+ pdata->nvm__ews__lot[6] =
+ (char)VL53LX_i2c_decode_with_mask(
+ 2,
+ pbuffer + VL53LX_NVM__EWS__LOT__BYTE_5 - 1,
+ 0x00000FC0,
+ 6,
+ 32);
+
+ pdata->nvm__ews__lot[7] = 0x00;
+
+ pdata->nvm__ews__wafer =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__EWS__WAFER,
+ 0x0000001F,
+ 0,
+ 0);
+ pdata->nvm__ews__xcoord =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__EWS__XCOORD,
+ 0x000000FF,
+ 0,
+ 0);
+ pdata->nvm__ews__ycoord =
+ (uint8_t)VL53LX_i2c_decode_with_mask(
+ 1,
+ pbuffer + VL53LX_NVM__EWS__YCOORD,
+ 0x000000FF,
+ 0,
+ 0);
+
+ return status;
+
+}
+
+
+void VL53LX::VL53LX_nvm_format_encode(
+ VL53LX_decoded_nvm_data_t *pnvm_info,
+ uint8_t *pnvm_data)
+{
+ SUPPRESS_UNUSED_WARNING(pnvm_info);
+ SUPPRESS_UNUSED_WARNING(pnvm_data);
+}
+
+VL53LX_Error VL53LX::VL53LX_read_nvm_raw_data(
+ uint8_t start_address,
+ uint8_t count,
+ uint8_t *pnvm_raw_data)
+{
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_nvm_enable(
+ 0x0004,
+ VL53LX_NVM_POWER_UP_DELAY_US);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_nvm_read(
+ start_address,
+ count,
+ pnvm_raw_data);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_nvm_disable();
+ }
+
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_read_nvm(
+ uint8_t nvm_format,
+ VL53LX_decoded_nvm_data_t *pnvm_info)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ uint8_t nvm_data[2 * VL53LX_NVM_SIZE_IN_BYTES];
+
+
+ SUPPRESS_UNUSED_WARNING(nvm_format);
+
+
+
+ status = VL53LX_read_nvm_raw_data(
+ 0,
+ VL53LX_NVM_SIZE_IN_BYTES >> 2,
+ nvm_data);
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_nvm_format_decode(
+ VL53LX_NVM_SIZE_IN_BYTES,
+ nvm_data,
+ pnvm_info);
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_read_nvm_optical_centre(
+ VL53LX_optical_centre_t *pcentre)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ uint8_t nvm_data[2 * VL53LX_NVM__FMT__OPTICAL_CENTRE_DATA_SIZE];
+
+ status =
+ VL53LX_read_nvm_raw_data(
+ (uint8_t)(VL53LX_NVM__FMT__OPTICAL_CENTRE_DATA_INDEX
+ >> 2),
+ (uint8_t)(VL53LX_NVM__FMT__OPTICAL_CENTRE_DATA_SIZE
+ >> 2),
+ nvm_data);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_nvm_decode_optical_centre(
+ VL53LX_NVM__FMT__OPTICAL_CENTRE_DATA_SIZE,
+ nvm_data,
+ pcentre);
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_read_nvm_cal_peak_rate_map(
+ VL53LX_cal_peak_rate_map_t *pcal_data)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ uint8_t nvm_data[2 * VL53LX_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE];
+
+
+ status =
+ VL53LX_read_nvm_raw_data(
+ (uint8_t)(VL53LX_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_INDEX
+ >> 2),
+ (uint8_t)(VL53LX_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE
+ >> 2),
+ nvm_data);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_nvm_decode_cal_peak_rate_map(
+ VL53LX_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE,
+ nvm_data,
+ pcal_data);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_read_nvm_additional_offset_cal_data(
+ VL53LX_additional_offset_cal_data_t *pcal_data)
+{
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ uint8_t nvm_data[2 * VL53LX_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE];
+
+ status =
+ VL53LX_read_nvm_raw_data(
+ (uint8_t)(
+ VL53LX_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_INDEX >> 2),
+ (uint8_t)(
+ VL53LX_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE >> 2),
+ nvm_data);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_nvm_decode_additional_offset_cal_data(
+ VL53LX_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE,
+ nvm_data,
+ pcal_data);
+
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_read_nvm_fmt_range_results_data(
+ uint16_t range_results_select,
+ VL53LX_decoded_nvm_fmt_range_data_t *prange_data)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ uint8_t nvm_data[2 * VL53LX_NVM__FMT__RANGE_RESULTS__SIZE_BYTES];
+
+ status = VL53LX_read_nvm_raw_data(
+ (uint8_t)(range_results_select >> 2),
+ (uint8_t)(VL53LX_NVM__FMT__RANGE_RESULTS__SIZE_BYTES >> 2),
+ nvm_data);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_nvm_decode_fmt_range_results_data(
+ VL53LX_NVM__FMT__RANGE_RESULTS__SIZE_BYTES,
+ nvm_data,
+ prange_data);
+
+ return status;
+
+}
+
+/* vl53lx_platform_ipp.c */
+
+VL53LX_Error VL53LX::VL53LX_ipp_hist_process_data(
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_hist_post_process_config_t *ppost_cfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_xtalk_histogram_data_t *pxtalk,
+ uint8_t *pArea1,
+ uint8_t *pArea2,
+ uint8_t *phisto_merge_nb,
+ VL53LX_range_results_t *presults)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ SUPPRESS_UNUSED_WARNING(Dev);
+
+ status =
+ VL53LX_hist_process_data(
+ pdmax_cal,
+ pdmax_cfg,
+ ppost_cfg,
+ pbins,
+ pxtalk,
+ pArea1,
+ pArea2,
+ presults,
+ phisto_merge_nb);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_ipp_hist_ambient_dmax(
+ uint16_t target_reflectance,
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ int16_t *pambient_dmax_mm)
+{
+
+
+
+
+
+
+
+
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ SUPPRESS_UNUSED_WARNING(Dev);
+
+ status =
+ VL53LX_hist_ambient_dmax(
+ target_reflectance,
+ pdmax_cal,
+ pdmax_cfg,
+ pbins,
+ pambient_dmax_mm);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_ipp_xtalk_calibration_process_data(
+ VL53LX_xtalk_range_results_t *pxtalk_ranges,
+ VL53LX_xtalk_histogram_data_t *pxtalk_shape,
+ VL53LX_xtalk_calibration_results_t *pxtalk_cal)
+{
+
+
+
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ SUPPRESS_UNUSED_WARNING(Dev);
+
+ status =
+ VL53LX_xtalk_calibration_process_data(
+ pxtalk_ranges,
+ pxtalk_shape,
+ pxtalk_cal);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_ipp_hist_xtalk_correction(
+ VL53LX_customer_nvm_managed_t *pcustomer,
+ VL53LX_dynamic_config_t *pdyn_cfg,
+ VL53LX_xtalk_histogram_data_t *pxtalk_shape,
+ VL53LX_histogram_bin_data_t *pip_hist_data,
+ VL53LX_histogram_bin_data_t *pop_hist_data,
+ VL53LX_histogram_bin_data_t *pxtalk_count_data)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ SUPPRESS_UNUSED_WARNING(Dev);
+
+ status =
+ VL53LX_f_046(
+ pcustomer,
+ pdyn_cfg,
+ pxtalk_shape,
+ pip_hist_data,
+ pop_hist_data,
+ pxtalk_count_data);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_ipp_generate_dual_reflectance_xtalk_samples(
+ VL53LX_xtalk_range_results_t *pxtalk_results,
+ uint16_t expected_target_distance_mm,
+ uint8_t higher_reflectance,
+ VL53LX_histogram_bin_data_t *pxtalk_avg_samples)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ SUPPRESS_UNUSED_WARNING(Dev);
+
+ status = VL53LX_generate_dual_reflectance_xtalk_samples(
+ pxtalk_results,
+ expected_target_distance_mm,
+ higher_reflectance,
+ pxtalk_avg_samples);
+
+ return status;
+
+}
+
+/* vl53lx_hist_funcs.c */
+
+VL53LX_Error VL53LX::VL53LX_hist_process_data(
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_hist_post_process_config_t *ppost_cfg,
+ VL53LX_histogram_bin_data_t *pbins_input,
+ VL53LX_xtalk_histogram_data_t *pxtalk_shape,
+ uint8_t *pArea1,
+ uint8_t *pArea2,
+ VL53LX_range_results_t *presults,
+ uint8_t *HistMergeNumber)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_hist_gen3_algo_private_data_t *palgo_gen3 =
+ (VL53LX_hist_gen3_algo_private_data_t *) pArea1;
+ VL53LX_hist_gen4_algo_filtered_data_t *pfiltered4 =
+ (VL53LX_hist_gen4_algo_filtered_data_t *) pArea2;
+
+ VL53LX_hist_gen3_dmax_private_data_t dmax_algo_gen3;
+ VL53LX_hist_gen3_dmax_private_data_t *pdmax_algo_gen3 =
+ &dmax_algo_gen3;
+
+ VL53LX_histogram_bin_data_t bins_averaged;
+ VL53LX_histogram_bin_data_t *pbins_averaged = &bins_averaged;
+
+ VL53LX_range_data_t *pdata;
+
+ uint32_t xtalk_rate_kcps = 0;
+ uint32_t max_xtalk_rate_per_spad_kcps = 0;
+ uint8_t xtalk_enable = 0;
+ uint8_t r = 0;
+ uint8_t t = 0;
+ uint32_t XtalkDetectMaxSigma = 0;
+
+
+
+ int16_t delta_mm = 0;
+
+
+ VL53LX_f_031(
+ pbins_input,
+ pbins_averaged);
+
+
+
+
+
+
+ VL53LX_init_histogram_bin_data_struct(
+ 0,
+ pxtalk_shape->xtalk_shape.VL53LX_p_021,
+ &(pxtalk_shape->xtalk_hist_removed));
+
+
+
+
+
+
+
+ VL53LX_copy_xtalk_bin_data_to_histogram_data_struct(
+ &(pxtalk_shape->xtalk_shape),
+ &(pxtalk_shape->xtalk_hist_removed));
+
+
+
+
+
+
+
+ if ((status == VL53LX_ERROR_NONE) &&
+ (ppost_cfg->algo__crosstalk_compensation_enable > 0))
+
+ status =
+ VL53LX_f_032(
+ ppost_cfg->algo__crosstalk_compensation_plane_offset_kcps,
+ ppost_cfg->algo__crosstalk_compensation_x_plane_gradient_kcps,
+ ppost_cfg->algo__crosstalk_compensation_y_plane_gradient_kcps,
+ 0,
+ 0,
+ pbins_input->result__dss_actual_effective_spads,
+ pbins_input->roi_config__user_roi_centre_spad,
+ pbins_input->roi_config__user_roi_requested_global_xy_size,
+ &(xtalk_rate_kcps));
+
+
+
+
+
+
+
+
+ if ((status == VL53LX_ERROR_NONE) &&
+ (ppost_cfg->algo__crosstalk_compensation_enable > 0))
+ status =
+ VL53LX_f_033(
+ pbins_averaged,
+ &(pxtalk_shape->xtalk_shape),
+ xtalk_rate_kcps,
+ &(pxtalk_shape->xtalk_hist_removed));
+
+
+
+
+
+
+
+
+
+
+
+
+
+ presults->xmonitor.total_periods_elapsed =
+ pbins_averaged->total_periods_elapsed;
+ presults->xmonitor.VL53LX_p_004 =
+ pbins_averaged->result__dss_actual_effective_spads;
+
+ presults->xmonitor.peak_signal_count_rate_mcps = 0;
+ presults->xmonitor.VL53LX_p_009 = 0;
+
+ presults->xmonitor.range_id = 0;
+ presults->xmonitor.range_status = VL53LX_DEVICEERROR_NOUPDATE;
+
+
+
+
+
+
+ xtalk_enable = 0;
+ if (ppost_cfg->algo__crosstalk_compensation_enable > 0) {
+ xtalk_enable = 1;
+ }
+
+
+
+
+
+
+
+
+
+ for (r = 0 ; r <= xtalk_enable ; r++) {
+
+
+
+
+
+ ppost_cfg->algo__crosstalk_compensation_enable = r;
+
+
+
+
+
+
+ status =
+ VL53LX_f_025(
+ pdmax_cal,
+ pdmax_cfg,
+ ppost_cfg,
+ pbins_averaged,
+ &(pxtalk_shape->xtalk_hist_removed),
+ palgo_gen3,
+ pfiltered4,
+ pdmax_algo_gen3,
+ presults);
+
+
+
+
+
+ if (!(status == VL53LX_ERROR_NONE && r == 0)) {
+ continue;
+ }
+
+
+
+
+
+
+ if (presults->active_results == 0) {
+ pdata = &(presults->VL53LX_p_003[0]);
+ pdata->ambient_count_rate_mcps =
+ pdmax_algo_gen3->VL53LX_p_034;
+ pdata->VL53LX_p_004 =
+ pdmax_algo_gen3->VL53LX_p_004;
+ }
+
+
+
+
+
+
+
+ max_xtalk_rate_per_spad_kcps = (uint32_t)(
+ ppost_cfg->algo__crosstalk_detect_max_valid_rate_kcps);
+ max_xtalk_rate_per_spad_kcps *= (uint32_t)(*HistMergeNumber);
+ max_xtalk_rate_per_spad_kcps <<= 4;
+
+ for (t = 0 ; t < presults->active_results ; t++) {
+
+ pdata = &(presults->VL53LX_p_003[t]);
+
+
+
+
+ if (pdata->max_range_mm > pdata->min_range_mm)
+ delta_mm =
+ pdata->max_range_mm -
+ pdata->min_range_mm;
+ else
+ delta_mm =
+ pdata->min_range_mm -
+ pdata->max_range_mm;
+
+ XtalkDetectMaxSigma =
+ ppost_cfg->algo__crosstalk_detect_max_sigma_mm;
+ XtalkDetectMaxSigma *= (uint32_t)(*HistMergeNumber);
+ XtalkDetectMaxSigma <<= 5;
+ if (pdata->median_range_mm >
+ ppost_cfg->algo__crosstalk_detect_min_valid_range_mm &&
+ pdata->median_range_mm <
+ ppost_cfg->algo__crosstalk_detect_max_valid_range_mm &&
+ pdata->VL53LX_p_009 <
+ max_xtalk_rate_per_spad_kcps &&
+ pdata->VL53LX_p_002 < XtalkDetectMaxSigma &&
+ delta_mm <
+ ppost_cfg->algo__crosstalk_detect_min_max_tolerance) {
+
+
+
+
+ memcpy(
+ &(presults->xmonitor),
+ pdata,
+ sizeof(VL53LX_range_data_t));
+
+ }
+ }
+
+ }
+
+
+
+
+ ppost_cfg->algo__crosstalk_compensation_enable = xtalk_enable;
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_hist_ambient_dmax(
+ uint16_t target_reflectance,
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ int16_t *pambient_dmax_mm)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_hist_gen3_dmax_private_data_t dmax_algo;
+ VL53LX_hist_gen3_dmax_private_data_t *pdmax_algo = &dmax_algo;
+
+ status =
+ VL53LX_f_001(
+ target_reflectance,
+ pdmax_cal,
+ pdmax_cfg,
+ pbins,
+ pdmax_algo,
+ pambient_dmax_mm);
+
+ return status;
+}
+
+/* vl53lx_core_support.c */
+
+uint32_t VL53LX::VL53LX_calc_pll_period_us(
+ uint16_t fast_osc_frequency)
+{
+ uint32_t pll_period_us = 0;
+
+
+ if (fast_osc_frequency > 0) {
+ pll_period_us = (0x01 << 30) / fast_osc_frequency;
+ }
+
+
+ return pll_period_us;
+}
+
+uint32_t VL53LX::VL53LX_duration_maths(
+ uint32_t pll_period_us,
+ uint32_t vcsel_parm_pclks,
+ uint32_t window_vclks,
+ uint32_t elapsed_mclks)
+{
+ uint64_t tmp_long_int = 0;
+ uint32_t duration_us = 0;
+
+
+ duration_us = window_vclks * pll_period_us;
+
+
+ duration_us = duration_us >> 12;
+
+
+ tmp_long_int = (uint64_t)duration_us;
+
+
+ duration_us = elapsed_mclks * vcsel_parm_pclks;
+
+
+ duration_us = duration_us >> 4;
+
+
+ tmp_long_int = tmp_long_int * (uint64_t)duration_us;
+
+
+ tmp_long_int = tmp_long_int >> 12;
+
+
+ if (tmp_long_int > 0xFFFFFFFF) {
+ tmp_long_int = 0xFFFFFFFF;
+ }
+
+ duration_us = (uint32_t)tmp_long_int;
+
+ return duration_us;
+}
+
+uint32_t VL53LX::VL53LX_events_per_spad_maths(
+ int32_t VL53LX_p_010,
+ uint16_t num_spads,
+ uint32_t duration)
+{
+ uint64_t total_hist_counts = 0;
+ uint64_t xtalk_per_spad = 0;
+ uint32_t rate_per_spad_kcps = 0;
+
+ uint64_t dividend = ((uint64_t)VL53LX_p_010
+ * 1000 * 256);
+
+ if (num_spads != 0)
+ total_hist_counts = do_division_u(
+ dividend, (uint64_t)num_spads);
+
+
+
+ if (duration > 0) {
+
+
+ uint64_t dividend = (((uint64_t)(total_hist_counts << 11))
+ + ((uint64_t)duration / 2));
+
+ xtalk_per_spad = do_division_u(dividend, (uint64_t)duration);
+ } else {
+ xtalk_per_spad = (uint64_t)(total_hist_counts << 11);
+ }
+
+ rate_per_spad_kcps = (uint32_t)xtalk_per_spad;
+
+ return rate_per_spad_kcps;
+}
+
+uint32_t VL53LX::VL53LX_isqrt(uint32_t num)
+{
+
+
+
+ uint32_t res = 0;
+ uint32_t bit = 1 << 30;
+
+
+ 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;
+}
+
+void VL53LX::VL53LX_hist_calc_zero_distance_phase(
+ VL53LX_histogram_bin_data_t *pdata)
+{
+ uint32_t period = 0;
+ uint32_t VL53LX_p_014 = 0;
+
+
+ period = 2048 *
+ (uint32_t)VL53LX_decode_vcsel_period(pdata->VL53LX_p_005);
+
+ VL53LX_p_014 = period;
+ VL53LX_p_014 += (uint32_t)pdata->phasecal_result__reference_phase;
+ VL53LX_p_014 += (2048 * (uint32_t)pdata->phasecal_result__vcsel_start);
+ VL53LX_p_014 -= (2048 * (uint32_t)pdata->cal_config__vcsel_start);
+
+ VL53LX_p_014 = VL53LX_p_014 % period;
+
+ pdata->zero_distance_phase = (uint16_t)VL53LX_p_014;
+
+}
+
+void VL53LX::VL53LX_hist_estimate_ambient_from_thresholded_bins(
+ int32_t ambient_threshold_sigma,
+ VL53LX_histogram_bin_data_t *pdata)
+{
+
+
+ uint8_t bin = 0;
+ int32_t VL53LX_p_031 = 0;
+
+ VL53LX_hist_find_min_max_bin_values(pdata);
+
+
+
+ VL53LX_p_031 =
+ (int32_t)VL53LX_isqrt((uint32_t)pdata->min_bin_value);
+ VL53LX_p_031 *= ambient_threshold_sigma;
+ VL53LX_p_031 += 0x07;
+ VL53LX_p_031 = VL53LX_p_031 >> 4;
+ VL53LX_p_031 += pdata->min_bin_value;
+
+
+
+ pdata->number_of_ambient_samples = 0;
+ pdata->ambient_events_sum = 0;
+
+ for (bin = 0; bin < pdata->VL53LX_p_021; bin++)
+ if (pdata->bin_data[bin] < VL53LX_p_031) {
+ pdata->ambient_events_sum += pdata->bin_data[bin];
+ pdata->number_of_ambient_samples++;
+ }
+
+
+
+ if (pdata->number_of_ambient_samples > 0) {
+ pdata->VL53LX_p_028 =
+ pdata->ambient_events_sum;
+ pdata->VL53LX_p_028 +=
+ ((int32_t)pdata->number_of_ambient_samples / 2);
+ pdata->VL53LX_p_028 /=
+ (int32_t)pdata->number_of_ambient_samples;
+ }
+
+}
+
+
+void VL53LX::VL53LX_hist_remove_ambient_bins(
+ VL53LX_histogram_bin_data_t *pdata)
+{
+
+ uint8_t bin = 0;
+ uint8_t lc = 0;
+ uint8_t i = 0;
+
+
+
+ if ((pdata->bin_seq[0] & 0x07) == 0x07) {
+
+ i = 0;
+ for (lc = 0; lc < VL53LX_MAX_BIN_SEQUENCE_LENGTH; lc++) {
+ if ((pdata->bin_seq[lc] & 0x07) != 0x07) {
+ pdata->bin_seq[i] = pdata->bin_seq[lc];
+ pdata->bin_rep[i] = pdata->bin_rep[lc];
+ i++;
+ }
+ }
+
+
+
+ for (lc = i; lc < VL53LX_MAX_BIN_SEQUENCE_LENGTH; lc++) {
+ pdata->bin_seq[lc] = VL53LX_MAX_BIN_SEQUENCE_CODE + 1;
+ pdata->bin_rep[lc] = 0;
+ }
+ }
+
+ if (pdata->number_of_ambient_bins > 0) {
+
+
+ for (bin = pdata->number_of_ambient_bins;
+ bin < pdata->VL53LX_p_020; bin++) {
+ pdata->bin_data[bin - pdata->number_of_ambient_bins] =
+ pdata->bin_data[bin];
+ }
+
+
+ pdata->VL53LX_p_021 =
+ pdata->VL53LX_p_021 -
+ pdata->number_of_ambient_bins;
+ pdata->number_of_ambient_bins = 0;
+ }
+}
+
+
+uint32_t VL53LX::VL53LX_calc_pll_period_mm(
+ uint16_t fast_osc_frequency)
+{
+
+
+ uint32_t pll_period_us = 0;
+ uint32_t pll_period_mm = 0;
+
+ pll_period_us = VL53LX_calc_pll_period_us(fast_osc_frequency);
+
+
+
+
+ pll_period_mm =
+ VL53LX_SPEED_OF_LIGHT_IN_AIR_DIV_8 *
+ (pll_period_us >> 2);
+
+
+ pll_period_mm = (pll_period_mm + (0x01 << 15)) >> 16;
+
+ return pll_period_mm;
+}
+
+
+uint16_t VL53LX::VL53LX_rate_maths(
+ int32_t VL53LX_p_018,
+ uint32_t time_us)
+{
+
+
+ uint32_t tmp_int = 0;
+ uint32_t frac_bits = 7;
+ uint16_t rate_mcps = 0;
+
+
+
+ if (VL53LX_p_018 > VL53LX_SPAD_TOTAL_COUNT_MAX) {
+ tmp_int = VL53LX_SPAD_TOTAL_COUNT_MAX;
+ } else if (VL53LX_p_018 > 0) {
+ tmp_int = (uint32_t)VL53LX_p_018;
+ }
+
+
+
+
+ if (VL53LX_p_018 > VL53LX_SPAD_TOTAL_COUNT_RES_THRES) {
+ frac_bits = 3;
+ } else {
+ frac_bits = 7;
+ }
+
+
+ if (time_us > 0) {
+ tmp_int = ((tmp_int << frac_bits) + (time_us / 2)) / time_us;
+ }
+
+
+ if (VL53LX_p_018 > VL53LX_SPAD_TOTAL_COUNT_RES_THRES) {
+ tmp_int = tmp_int << 4;
+ }
+
+
+
+ if (tmp_int > 0xFFFF) {
+ tmp_int = 0xFFFF;
+ }
+
+ rate_mcps = (uint16_t)tmp_int;
+
+ return rate_mcps;
+}
+
+uint16_t VL53LX::VL53LX_rate_per_spad_maths(
+ uint32_t frac_bits,
+ uint32_t peak_count_rate,
+ uint16_t num_spads,
+ uint32_t max_output_value)
+{
+
+ uint32_t tmp_int = 0;
+
+
+ uint16_t rate_per_spad = 0;
+
+
+
+
+
+ if (num_spads > 0) {
+ tmp_int = (peak_count_rate << 8) << frac_bits;
+ tmp_int = (tmp_int +
+ ((uint32_t)num_spads / 2)) /
+ (uint32_t)num_spads;
+ } else {
+ tmp_int = ((peak_count_rate) << frac_bits);
+ }
+
+
+
+ if (tmp_int > max_output_value) {
+ tmp_int = max_output_value;
+ }
+
+ rate_per_spad = (uint16_t)tmp_int;
+
+ return rate_per_spad;
+}
+
+int32_t VL53LX::VL53LX_range_maths(
+ uint16_t fast_osc_frequency,
+ uint16_t VL53LX_p_014,
+ uint16_t zero_distance_phase,
+ uint8_t fractional_bits,
+ int32_t gain_factor,
+ int32_t range_offset_mm)
+{
+
+
+ uint32_t pll_period_us = 0;
+ int64_t tmp_long_int = 0;
+ int32_t range_mm = 0;
+ int32_t range_mm_10 = 0;
+
+
+
+ pll_period_us = VL53LX_calc_pll_period_us(fast_osc_frequency);
+
+
+
+ tmp_long_int = (int64_t)VL53LX_p_014 - (int64_t)zero_distance_phase;
+
+
+
+ tmp_long_int = tmp_long_int * (int64_t)pll_period_us;
+
+
+
+ tmp_long_int = tmp_long_int / (0x01 << 9);
+
+
+
+ tmp_long_int = tmp_long_int * VL53LX_SPEED_OF_LIGHT_IN_AIR_DIV_8;
+
+
+
+ tmp_long_int = tmp_long_int / (0x01 << 22);
+
+
+ range_mm = (int32_t)tmp_long_int + range_offset_mm;
+
+
+ range_mm *= gain_factor;
+ range_mm += 0x0400;
+ range_mm /= 0x0800;
+
+
+ if (fractional_bits == 0) {
+ range_mm_10 = range_mm * 10;
+ range_mm_10 = range_mm_10 / (0x01 << 2);
+ if ((range_mm_10 % 10) < 5) {
+ range_mm = (int16_t)(range_mm_10 / 10);
+ } else {
+ range_mm = (int16_t)(range_mm_10 / 10 + 1);
+ }
+ } else if (fractional_bits == 1) {
+ range_mm = range_mm / (0x01 << 1);
+ }
+
+ return range_mm;
+}
+
+uint8_t VL53LX::VL53LX_decode_vcsel_period(uint8_t vcsel_period_reg)
+{
+
+
+ uint8_t VL53LX_p_030 = 0;
+
+ VL53LX_p_030 = (vcsel_period_reg + 1) << 1;
+
+ return VL53LX_p_030;
+}
+
+
+void VL53LX::VL53LX_copy_xtalk_bin_data_to_histogram_data_struct(
+ VL53LX_xtalk_histogram_shape_t *pxtalk,
+ VL53LX_histogram_bin_data_t *phist)
+{
+
+
+ phist->cal_config__vcsel_start =
+ pxtalk->cal_config__vcsel_start;
+ phist->VL53LX_p_015 =
+ pxtalk->VL53LX_p_015;
+ phist->VL53LX_p_019 =
+ pxtalk->VL53LX_p_019;
+
+ phist->phasecal_result__reference_phase =
+ pxtalk->phasecal_result__reference_phase;
+ phist->phasecal_result__vcsel_start =
+ pxtalk->phasecal_result__vcsel_start;
+
+ phist->vcsel_width =
+ pxtalk->vcsel_width;
+ phist->zero_distance_phase =
+ pxtalk->zero_distance_phase;
+
+ phist->zone_id = pxtalk->zone_id;
+ phist->VL53LX_p_020 = pxtalk->VL53LX_p_020;
+ phist->time_stamp = pxtalk->time_stamp;
+}
+
+void VL53LX::VL53LX_init_histogram_bin_data_struct(
+ int32_t bin_value,
+ uint16_t VL53LX_p_021,
+ VL53LX_histogram_bin_data_t *pdata)
+{
+ uint16_t i = 0;
+
+ pdata->cfg_device_state = VL53LX_DEVICESTATE_SW_STANDBY;
+ pdata->rd_device_state = VL53LX_DEVICESTATE_SW_STANDBY;
+
+ pdata->zone_id = 0;
+ pdata->time_stamp = 0;
+
+ pdata->VL53LX_p_019 = 0;
+ pdata->VL53LX_p_020 = VL53LX_HISTOGRAM_BUFFER_SIZE;
+ pdata->VL53LX_p_021 = (uint8_t)VL53LX_p_021;
+ pdata->number_of_ambient_bins = 0;
+
+ pdata->result__interrupt_status = 0;
+ pdata->result__range_status = 0;
+ pdata->result__report_status = 0;
+ pdata->result__stream_count = 0;
+
+ pdata->result__dss_actual_effective_spads = 0;
+ pdata->phasecal_result__reference_phase = 0;
+ pdata->phasecal_result__vcsel_start = 0;
+ pdata->cal_config__vcsel_start = 0;
+
+ pdata->vcsel_width = 0;
+ pdata->VL53LX_p_005 = 0;
+ pdata->VL53LX_p_015 = 0;
+ pdata->total_periods_elapsed = 0;
+
+ pdata->min_bin_value = 0;
+ pdata->max_bin_value = 0;
+
+ pdata->zero_distance_phase = 0;
+ pdata->number_of_ambient_samples = 0;
+ pdata->ambient_events_sum = 0;
+ pdata->VL53LX_p_028 = 0;
+
+ for (i = 0; i < VL53LX_MAX_BIN_SEQUENCE_LENGTH; i++) {
+ pdata->bin_seq[i] = (uint8_t)i;
+ }
+
+ for (i = 0; i < VL53LX_MAX_BIN_SEQUENCE_LENGTH; i++) {
+ pdata->bin_rep[i] = 1;
+ }
+
+
+ for (i = 0; i < VL53LX_HISTOGRAM_BUFFER_SIZE; i++)
+ if (i < VL53LX_p_021) {
+ pdata->bin_data[i] = bin_value;
+ } else {
+ pdata->bin_data[i] = 0;
+ }
+
+
+}
+
+void VL53LX::VL53LX_decode_row_col(
+ uint8_t spad_number,
+ uint8_t *prow,
+ uint8_t *pcol)
+{
+
+
+
+ if (spad_number > 127) {
+ *prow = 8 + ((255 - spad_number) & 0x07);
+ *pcol = (spad_number - 128) >> 3;
+ } else {
+ *prow = spad_number & 0x07;
+ *pcol = (127 - spad_number) >> 3;
+ }
+}
+
+void VL53LX::VL53LX_hist_find_min_max_bin_values(
+ VL53LX_histogram_bin_data_t *pdata)
+{
+ uint8_t bin = 0;
+
+ for (bin = 0; bin < pdata->VL53LX_p_021; bin++) {
+
+ if (bin == 0 || pdata->min_bin_value >= pdata->bin_data[bin]) {
+ pdata->min_bin_value = pdata->bin_data[bin];
+ }
+
+ if (bin == 0 || pdata->max_bin_value <= pdata->bin_data[bin]) {
+ pdata->max_bin_value = pdata->bin_data[bin];
+ }
+
+ }
+
+
+}
+
+void VL53LX::VL53LX_hist_estimate_ambient_from_ambient_bins(
+ VL53LX_histogram_bin_data_t *pdata)
+{
+
+ uint8_t bin = 0;
+
+
+ if (pdata->number_of_ambient_bins > 0) {
+
+ pdata->number_of_ambient_samples =
+ pdata->number_of_ambient_bins;
+
+
+
+ pdata->ambient_events_sum = 0;
+ for (bin = 0; bin < pdata->number_of_ambient_bins; bin++) {
+ pdata->ambient_events_sum += pdata->bin_data[bin];
+ }
+
+ pdata->VL53LX_p_028 = pdata->ambient_events_sum;
+ pdata->VL53LX_p_028 +=
+ ((int32_t)pdata->number_of_ambient_bins / 2);
+ pdata->VL53LX_p_028 /=
+ (int32_t)pdata->number_of_ambient_bins;
+
+ }
+
+}
+/* vl53lx_core.c */
+void VL53LX::VL53LX_init_version()
+{
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->version.ll_major = VL53LX_LL_API_IMPLEMENTATION_VER_MAJOR;
+ pdev->version.ll_minor = VL53LX_LL_API_IMPLEMENTATION_VER_MINOR;
+ pdev->version.ll_build = VL53LX_LL_API_IMPLEMENTATION_VER_SUB;
+ pdev->version.ll_revision = VL53LX_LL_API_IMPLEMENTATION_VER_REVISION;
+}
+
+void VL53LX::VL53LX_init_ll_driver_state(
+ VL53LX_DeviceState device_state)
+{
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_ll_driver_state_t *pstate = &(pdev->ll_state);
+
+ pstate->cfg_device_state = device_state;
+ pstate->cfg_stream_count = 0;
+ pstate->cfg_gph_id = VL53LX_GROUPEDPARAMETERHOLD_ID_MASK;
+ pstate->cfg_timing_status = 0;
+ pstate->cfg_zone_id = 0;
+
+ pstate->rd_device_state = device_state;
+ pstate->rd_stream_count = 0;
+ pstate->rd_gph_id = VL53LX_GROUPEDPARAMETERHOLD_ID_MASK;
+ pstate->rd_timing_status = 0;
+ pstate->rd_zone_id = 0;
+
+}
+
+
+VL53LX_Error VL53LX::VL53LX_update_ll_driver_rd_state()
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_ll_driver_state_t *pstate = &(pdev->ll_state);
+
+
+ if ((pdev->sys_ctrl.system__mode_start &
+ VL53LX_DEVICEMEASUREMENTMODE_MODE_MASK) == 0x00) {
+
+ pstate->rd_device_state = VL53LX_DEVICESTATE_SW_STANDBY;
+ pstate->rd_stream_count = 0;
+ pstate->rd_internal_stream_count = 0;
+ pstate->rd_internal_stream_count_val = 0;
+ pstate->rd_gph_id = VL53LX_GROUPEDPARAMETERHOLD_ID_MASK;
+ pstate->rd_timing_status = 0;
+ pstate->rd_zone_id = 0;
+
+ } else {
+
+
+
+ if (pstate->rd_stream_count == 0xFF) {
+ pstate->rd_stream_count = 0x80;
+ } else {
+ pstate->rd_stream_count++;
+ }
+
+
+ status = VL53LX_update_internal_stream_counters(
+ pstate->rd_stream_count,
+ &(pstate->rd_internal_stream_count),
+ &(pstate->rd_internal_stream_count_val));
+
+
+
+ pstate->rd_gph_id ^= VL53LX_GROUPEDPARAMETERHOLD_ID_MASK;
+
+
+
+ switch (pstate->rd_device_state) {
+
+ case VL53LX_DEVICESTATE_SW_STANDBY:
+
+ if ((pdev->dyn_cfg.system__grouped_parameter_hold &
+ VL53LX_GROUPEDPARAMETERHOLD_ID_MASK) > 0) {
+ pstate->rd_device_state =
+ VL53LX_DEVICESTATE_RANGING_WAIT_GPH_SYNC;
+ } else {
+ if (pstate->rd_zone_id >=
+ pdev->zone_cfg.active_zones)
+ pstate->rd_device_state =
+ VL53LX_DEVICESTATE_RANGING_OUTPUT_DATA;
+ else
+ pstate->rd_device_state =
+ VL53LX_DEVICESTATE_RANGING_GATHER_DATA;
+ }
+
+ pstate->rd_stream_count = 0;
+ pstate->rd_internal_stream_count = 0;
+ pstate->rd_internal_stream_count_val = 0;
+ pstate->rd_timing_status = 0;
+ pstate->rd_zone_id = 0;
+
+ break;
+
+ case VL53LX_DEVICESTATE_RANGING_WAIT_GPH_SYNC:
+ pstate->rd_stream_count = 0;
+ pstate->rd_internal_stream_count = 0;
+ pstate->rd_internal_stream_count_val = 0;
+ pstate->rd_zone_id = 0;
+ if (pstate->rd_zone_id >=
+ pdev->zone_cfg.active_zones)
+ pstate->rd_device_state =
+ VL53LX_DEVICESTATE_RANGING_OUTPUT_DATA;
+ else
+ pstate->rd_device_state =
+ VL53LX_DEVICESTATE_RANGING_GATHER_DATA;
+
+ break;
+
+ case VL53LX_DEVICESTATE_RANGING_GATHER_DATA:
+ pstate->rd_zone_id++;
+ if (pstate->rd_zone_id >=
+ pdev->zone_cfg.active_zones)
+ pstate->rd_device_state =
+ VL53LX_DEVICESTATE_RANGING_OUTPUT_DATA;
+ else
+ pstate->rd_device_state =
+ VL53LX_DEVICESTATE_RANGING_GATHER_DATA;
+
+ break;
+
+ case VL53LX_DEVICESTATE_RANGING_OUTPUT_DATA:
+ pstate->rd_zone_id = 0;
+ pstate->rd_timing_status ^= 0x01;
+
+ if (pstate->rd_zone_id >=
+ pdev->zone_cfg.active_zones)
+ pstate->rd_device_state =
+ VL53LX_DEVICESTATE_RANGING_OUTPUT_DATA;
+ else
+ pstate->rd_device_state =
+ VL53LX_DEVICESTATE_RANGING_GATHER_DATA;
+ break;
+
+ default:
+ pstate->rd_device_state =
+ VL53LX_DEVICESTATE_SW_STANDBY;
+ pstate->rd_stream_count = 0;
+ pstate->rd_internal_stream_count = 0;
+ pstate->rd_internal_stream_count_val = 0;
+ pstate->rd_gph_id = VL53LX_GROUPEDPARAMETERHOLD_ID_MASK;
+ pstate->rd_timing_status = 0;
+ pstate->rd_zone_id = 0;
+ break;
+ }
+ }
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_check_ll_driver_rd_state()
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_LLDriverResults_t *pres =
+ VL53LXDevStructGetLLResultsHandle(Dev);
+
+ VL53LX_ll_driver_state_t *pstate = &(pdev->ll_state);
+ VL53LX_system_results_t *psys_results = &(pdev->sys_results);
+ VL53LX_histogram_bin_data_t *phist_data = &(pdev->hist_data);
+ VL53LX_zone_private_dyn_cfgs_t *pZ = &(pres->zone_dyn_cfgs);
+
+ uint8_t device_range_status = 0;
+ uint8_t device_stream_count = 0;
+ uint8_t device_gph_id = 0;
+ uint8_t histogram_mode = 0;
+ uint8_t expected_stream_count = 0;
+ uint8_t expected_gph_id = 0;
+
+
+ device_range_status =
+ psys_results->result__range_status &
+ VL53LX_RANGE_STATUS__RANGE_STATUS_MASK;
+
+ device_stream_count = psys_results->result__stream_count;
+
+
+
+ histogram_mode =
+ (pdev->sys_ctrl.system__mode_start &
+ VL53LX_DEVICESCHEDULERMODE_HISTOGRAM) ==
+ VL53LX_DEVICESCHEDULERMODE_HISTOGRAM;
+
+
+ device_gph_id = (psys_results->result__interrupt_status &
+ VL53LX_INTERRUPT_STATUS__GPH_ID_INT_STATUS_MASK) >> 4;
+
+ if (histogram_mode)
+ device_gph_id = (phist_data->result__interrupt_status &
+ VL53LX_INTERRUPT_STATUS__GPH_ID_INT_STATUS_MASK) >> 4;
+
+
+
+ if (!((pdev->sys_ctrl.system__mode_start &
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK) ==
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK)) {
+ goto ENDFUNC;
+ }
+
+
+
+ if (pstate->rd_device_state ==
+ VL53LX_DEVICESTATE_RANGING_WAIT_GPH_SYNC) {
+
+ if (histogram_mode == 0) {
+ if (device_range_status !=
+ VL53LX_DEVICEERROR_GPHSTREAMCOUNT0READY)
+ status =
+ VL53LX_ERROR_GPH_SYNC_CHECK_FAIL;
+
+ }
+ } else {
+ if (pstate->rd_stream_count != device_stream_count) {
+ status = VL53LX_ERROR_STREAM_COUNT_CHECK_FAIL;
+ }
+
+
+ if (pstate->rd_gph_id != device_gph_id) {
+ status = VL53LX_ERROR_GPH_ID_CHECK_FAIL;
+ }
+
+
+
+
+ expected_stream_count =
+ pZ->VL53LX_p_003[pstate->rd_zone_id].expected_stream_count;
+ expected_gph_id =
+ pZ->VL53LX_p_003[pstate->rd_zone_id].expected_gph_id;
+
+
+
+ if (expected_stream_count != device_stream_count) {
+
+
+ if (!((pdev->zone_cfg.active_zones == 0) &&
+ (device_stream_count == 255)))
+ status =
+ VL53LX_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL;
+
+
+ }
+
+
+
+ if (expected_gph_id != device_gph_id) {
+ status = VL53LX_ERROR_ZONE_GPH_ID_CHECK_FAIL;
+ }
+
+ }
+ENDFUNC:
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_update_ll_driver_cfg_state()
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_LLDriverResults_t *pres =
+ VL53LXDevStructGetLLResultsHandle(Dev);
+
+ VL53LX_ll_driver_state_t *pstate = &(pdev->ll_state);
+ VL53LX_zone_private_dyn_cfgs_t *pZ = &(pres->zone_dyn_cfgs);
+
+ uint8_t prev_cfg_zone_id;
+ uint8_t prev_cfg_gph_id;
+ uint8_t prev_cfg_stream_count;
+
+ if ((pdev->sys_ctrl.system__mode_start &
+ VL53LX_DEVICEMEASUREMENTMODE_MODE_MASK) == 0x00) {
+
+ pstate->cfg_device_state = VL53LX_DEVICESTATE_SW_STANDBY;
+ pstate->cfg_stream_count = 0;
+ pstate->cfg_internal_stream_count = 0;
+ pstate->cfg_internal_stream_count_val = 0;
+ pstate->cfg_gph_id = VL53LX_GROUPEDPARAMETERHOLD_ID_MASK;
+ pstate->cfg_timing_status = 0;
+ pstate->cfg_zone_id = 0;
+ prev_cfg_zone_id = 0;
+ prev_cfg_gph_id = 0;
+ prev_cfg_stream_count = 0;
+
+ } else {
+
+ prev_cfg_gph_id = pstate->cfg_gph_id;
+ prev_cfg_zone_id = pstate->cfg_zone_id;
+ prev_cfg_stream_count = pstate->cfg_stream_count;
+
+
+
+ if (pstate->cfg_stream_count == 0xFF) {
+ pstate->cfg_stream_count = 0x80;
+ } else {
+ pstate->cfg_stream_count++;
+ }
+
+
+ status = VL53LX_update_internal_stream_counters(
+ pstate->cfg_stream_count,
+ &(pstate->cfg_internal_stream_count),
+ &(pstate->cfg_internal_stream_count_val));
+
+
+
+ pstate->cfg_gph_id ^= VL53LX_GROUPEDPARAMETERHOLD_ID_MASK;
+
+
+
+ switch (pstate->cfg_device_state) {
+
+ case VL53LX_DEVICESTATE_SW_STANDBY:
+ pstate->cfg_zone_id = 1;
+ if (pstate->cfg_zone_id >
+ pdev->zone_cfg.active_zones) {
+ pstate->cfg_zone_id = 0;
+ pstate->cfg_timing_status ^= 0x01;
+ }
+ pstate->cfg_stream_count = 1;
+
+ if (pdev->gen_cfg.global_config__stream_divider == 0) {
+ pstate->cfg_internal_stream_count = 1;
+ pstate->cfg_internal_stream_count_val = 0;
+ } else {
+ pstate->cfg_internal_stream_count = 0;
+ pstate->cfg_internal_stream_count_val = 1;
+ }
+ pstate->cfg_device_state =
+ VL53LX_DEVICESTATE_RANGING_DSS_AUTO;
+ break;
+
+ case VL53LX_DEVICESTATE_RANGING_DSS_AUTO:
+ pstate->cfg_zone_id++;
+ if (pstate->cfg_zone_id >
+ pdev->zone_cfg.active_zones) {
+
+ pstate->cfg_zone_id = 0;
+ pstate->cfg_timing_status ^= 0x01;
+
+
+
+
+ if (pdev->zone_cfg.active_zones > 0) {
+ pstate->cfg_device_state =
+ VL53LX_DEVICESTATE_RANGING_DSS_MANUAL;
+ }
+ }
+ break;
+
+ case VL53LX_DEVICESTATE_RANGING_DSS_MANUAL:
+ pstate->cfg_zone_id++;
+ if (pstate->cfg_zone_id >
+ pdev->zone_cfg.active_zones) {
+ pstate->cfg_zone_id = 0;
+ pstate->cfg_timing_status ^= 0x01;
+ }
+ break;
+
+ default:
+ pstate->cfg_device_state =
+ VL53LX_DEVICESTATE_SW_STANDBY;
+ pstate->cfg_stream_count = 0;
+ pstate->cfg_internal_stream_count = 0;
+ pstate->cfg_internal_stream_count_val = 0;
+ pstate->cfg_gph_id =
+ VL53LX_GROUPEDPARAMETERHOLD_ID_MASK;
+ pstate->cfg_timing_status = 0;
+ pstate->cfg_zone_id = 0;
+ break;
+ }
+ }
+
+
+ if (pdev->zone_cfg.active_zones == 0) {
+
+ pZ->VL53LX_p_003[prev_cfg_zone_id].expected_stream_count
+ = prev_cfg_stream_count - 1;
+
+ pZ->VL53LX_p_003[pstate->rd_zone_id].expected_gph_id =
+ prev_cfg_gph_id ^ VL53LX_GROUPEDPARAMETERHOLD_ID_MASK;
+ } else {
+ pZ->VL53LX_p_003[prev_cfg_zone_id].expected_stream_count
+ = prev_cfg_stream_count;
+ pZ->VL53LX_p_003[prev_cfg_zone_id].expected_gph_id =
+ prev_cfg_gph_id;
+ }
+
+
+
+ return status;
+}
+
+void VL53LX::VL53LX_copy_rtn_good_spads_to_buffer(
+ VL53LX_nvm_copy_data_t *pdata,
+ uint8_t *pbuffer)
+{
+
+
+ *(pbuffer + 0) = pdata->global_config__spad_enables_rtn_0;
+ *(pbuffer + 1) = pdata->global_config__spad_enables_rtn_1;
+ *(pbuffer + 2) = pdata->global_config__spad_enables_rtn_2;
+ *(pbuffer + 3) = pdata->global_config__spad_enables_rtn_3;
+ *(pbuffer + 4) = pdata->global_config__spad_enables_rtn_4;
+ *(pbuffer + 5) = pdata->global_config__spad_enables_rtn_5;
+ *(pbuffer + 6) = pdata->global_config__spad_enables_rtn_6;
+ *(pbuffer + 7) = pdata->global_config__spad_enables_rtn_7;
+ *(pbuffer + 8) = pdata->global_config__spad_enables_rtn_8;
+ *(pbuffer + 9) = pdata->global_config__spad_enables_rtn_9;
+ *(pbuffer + 10) = pdata->global_config__spad_enables_rtn_10;
+ *(pbuffer + 11) = pdata->global_config__spad_enables_rtn_11;
+ *(pbuffer + 12) = pdata->global_config__spad_enables_rtn_12;
+ *(pbuffer + 13) = pdata->global_config__spad_enables_rtn_13;
+ *(pbuffer + 14) = pdata->global_config__spad_enables_rtn_14;
+ *(pbuffer + 15) = pdata->global_config__spad_enables_rtn_15;
+ *(pbuffer + 16) = pdata->global_config__spad_enables_rtn_16;
+ *(pbuffer + 17) = pdata->global_config__spad_enables_rtn_17;
+ *(pbuffer + 18) = pdata->global_config__spad_enables_rtn_18;
+ *(pbuffer + 19) = pdata->global_config__spad_enables_rtn_19;
+ *(pbuffer + 20) = pdata->global_config__spad_enables_rtn_20;
+ *(pbuffer + 21) = pdata->global_config__spad_enables_rtn_21;
+ *(pbuffer + 22) = pdata->global_config__spad_enables_rtn_22;
+ *(pbuffer + 23) = pdata->global_config__spad_enables_rtn_23;
+ *(pbuffer + 24) = pdata->global_config__spad_enables_rtn_24;
+ *(pbuffer + 25) = pdata->global_config__spad_enables_rtn_25;
+ *(pbuffer + 26) = pdata->global_config__spad_enables_rtn_26;
+ *(pbuffer + 27) = pdata->global_config__spad_enables_rtn_27;
+ *(pbuffer + 28) = pdata->global_config__spad_enables_rtn_28;
+ *(pbuffer + 29) = pdata->global_config__spad_enables_rtn_29;
+ *(pbuffer + 30) = pdata->global_config__spad_enables_rtn_30;
+ *(pbuffer + 31) = pdata->global_config__spad_enables_rtn_31;
+}
+
+void VL53LX::VL53LX_init_system_results(
+ VL53LX_system_results_t *pdata)
+{
+
+
+ pdata->result__interrupt_status = 0xFF;
+ pdata->result__range_status = 0xFF;
+ pdata->result__report_status = 0xFF;
+ pdata->result__stream_count = 0xFF;
+
+ pdata->result__dss_actual_effective_spads_sd0 = 0xFFFF;
+ pdata->result__peak_signal_count_rate_mcps_sd0 = 0xFFFF;
+ pdata->result__ambient_count_rate_mcps_sd0 = 0xFFFF;
+ pdata->result__sigma_sd0 = 0xFFFF;
+ pdata->result__phase_sd0 = 0xFFFF;
+ pdata->result__final_crosstalk_corrected_range_mm_sd0 = 0xFFFF;
+ pdata->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 =
+ 0xFFFF;
+ pdata->result__mm_inner_actual_effective_spads_sd0 = 0xFFFF;
+ pdata->result__mm_outer_actual_effective_spads_sd0 = 0xFFFF;
+ pdata->result__avg_signal_count_rate_mcps_sd0 = 0xFFFF;
+
+ pdata->result__dss_actual_effective_spads_sd1 = 0xFFFF;
+ pdata->result__peak_signal_count_rate_mcps_sd1 = 0xFFFF;
+ pdata->result__ambient_count_rate_mcps_sd1 = 0xFFFF;
+ pdata->result__sigma_sd1 = 0xFFFF;
+ pdata->result__phase_sd1 = 0xFFFF;
+ pdata->result__final_crosstalk_corrected_range_mm_sd1 = 0xFFFF;
+ pdata->result__spare_0_sd1 = 0xFFFF;
+ pdata->result__spare_1_sd1 = 0xFFFF;
+ pdata->result__spare_2_sd1 = 0xFFFF;
+ pdata->result__spare_3_sd1 = 0xFF;
+
+}
+void VL53LX::V53L1_init_zone_results_structure(
+ uint8_t active_zones,
+ VL53LX_zone_results_t *pdata)
+{
+
+
+
+ uint8_t z = 0;
+ VL53LX_zone_objects_t *pobjects;
+
+ pdata->max_zones = VL53LX_MAX_USER_ZONES;
+ pdata->active_zones = active_zones;
+
+ for (z = 0; z < pdata->max_zones; z++) {
+ pobjects = &(pdata->VL53LX_p_003[z]);
+ pobjects->cfg_device_state = VL53LX_DEVICESTATE_SW_STANDBY;
+ pobjects->rd_device_state = VL53LX_DEVICESTATE_SW_STANDBY;
+ pobjects->max_objects = VL53LX_MAX_RANGE_RESULTS;
+ pobjects->active_objects = 0;
+ }
+}
+
+void VL53LX::V53L1_init_zone_dss_configs()
+{
+
+ VL53LX_LLDriverResults_t *pres =
+ VL53LXDevStructGetLLResultsHandle(Dev);
+ uint8_t z = 0;
+ uint8_t max_zones = VL53LX_MAX_USER_ZONES;
+ VL53LX_zone_private_dyn_cfgs_t *pdata = &(pres->zone_dyn_cfgs);
+
+ for (z = 0; z < max_zones; z++) {
+ pdata->VL53LX_p_003[z].dss_mode =
+ VL53LX_DSS_CONTROL__MODE_TARGET_RATE;
+ pdata->VL53LX_p_003[z].dss_requested_effective_spad_count = 0;
+ }
+}
+
+void VL53LX::VL53LX_init_histogram_config_structure(
+ uint8_t even_bin0,
+ uint8_t even_bin1,
+ uint8_t even_bin2,
+ uint8_t even_bin3,
+ uint8_t even_bin4,
+ uint8_t even_bin5,
+ uint8_t odd_bin0,
+ uint8_t odd_bin1,
+ uint8_t odd_bin2,
+ uint8_t odd_bin3,
+ uint8_t odd_bin4,
+ uint8_t odd_bin5,
+ VL53LX_histogram_config_t *pdata)
+{
+
+
+ pdata->histogram_config__low_amb_even_bin_0_1 =
+ (even_bin1 << 4) + even_bin0;
+ pdata->histogram_config__low_amb_even_bin_2_3 =
+ (even_bin3 << 4) + even_bin2;
+ pdata->histogram_config__low_amb_even_bin_4_5 =
+ (even_bin5 << 4) + even_bin4;
+
+ pdata->histogram_config__low_amb_odd_bin_0_1 =
+ (odd_bin1 << 4) + odd_bin0;
+ pdata->histogram_config__low_amb_odd_bin_2_3 =
+ (odd_bin3 << 4) + odd_bin2;
+ pdata->histogram_config__low_amb_odd_bin_4_5 =
+ (odd_bin5 << 4) + odd_bin4;
+
+ pdata->histogram_config__mid_amb_even_bin_0_1 =
+ pdata->histogram_config__low_amb_even_bin_0_1;
+ pdata->histogram_config__mid_amb_even_bin_2_3 =
+ pdata->histogram_config__low_amb_even_bin_2_3;
+ pdata->histogram_config__mid_amb_even_bin_4_5 =
+ pdata->histogram_config__low_amb_even_bin_4_5;
+
+ pdata->histogram_config__mid_amb_odd_bin_0_1 =
+ pdata->histogram_config__low_amb_odd_bin_0_1;
+ pdata->histogram_config__mid_amb_odd_bin_2 = odd_bin2;
+ pdata->histogram_config__mid_amb_odd_bin_3_4 =
+ (odd_bin4 << 4) + odd_bin3;
+ pdata->histogram_config__mid_amb_odd_bin_5 = odd_bin5;
+
+ pdata->histogram_config__user_bin_offset = 0x00;
+
+ pdata->histogram_config__high_amb_even_bin_0_1 =
+ pdata->histogram_config__low_amb_even_bin_0_1;
+ pdata->histogram_config__high_amb_even_bin_2_3 =
+ pdata->histogram_config__low_amb_even_bin_2_3;
+ pdata->histogram_config__high_amb_even_bin_4_5 =
+ pdata->histogram_config__low_amb_even_bin_4_5;
+
+ pdata->histogram_config__high_amb_odd_bin_0_1 =
+ pdata->histogram_config__low_amb_odd_bin_0_1;
+ pdata->histogram_config__high_amb_odd_bin_2_3 =
+ pdata->histogram_config__low_amb_odd_bin_2_3;
+ pdata->histogram_config__high_amb_odd_bin_4_5 =
+ pdata->histogram_config__low_amb_odd_bin_4_5;
+
+
+
+ pdata->histogram_config__amb_thresh_low = 0xFFFF;
+ pdata->histogram_config__amb_thresh_high = 0xFFFF;
+
+
+
+ pdata->histogram_config__spad_array_selection = 0x00;
+
+}
+
+void VL53LX::VL53LX_init_histogram_multizone_config_structure(
+ uint8_t even_bin0,
+ uint8_t even_bin1,
+ uint8_t even_bin2,
+ uint8_t even_bin3,
+ uint8_t even_bin4,
+ uint8_t even_bin5,
+ uint8_t odd_bin0,
+ uint8_t odd_bin1,
+ uint8_t odd_bin2,
+ uint8_t odd_bin3,
+ uint8_t odd_bin4,
+ uint8_t odd_bin5,
+ VL53LX_histogram_config_t *pdata)
+{
+
+
+ pdata->histogram_config__low_amb_even_bin_0_1 =
+ (even_bin1 << 4) + even_bin0;
+ pdata->histogram_config__low_amb_even_bin_2_3 =
+ (even_bin3 << 4) + even_bin2;
+ pdata->histogram_config__low_amb_even_bin_4_5 =
+ (even_bin5 << 4) + even_bin4;
+
+ pdata->histogram_config__low_amb_odd_bin_0_1 =
+ pdata->histogram_config__low_amb_even_bin_0_1;
+ pdata->histogram_config__low_amb_odd_bin_2_3
+ = pdata->histogram_config__low_amb_even_bin_2_3;
+ pdata->histogram_config__low_amb_odd_bin_4_5
+ = pdata->histogram_config__low_amb_even_bin_4_5;
+
+ pdata->histogram_config__mid_amb_even_bin_0_1 =
+ pdata->histogram_config__low_amb_even_bin_0_1;
+ pdata->histogram_config__mid_amb_even_bin_2_3
+ = pdata->histogram_config__low_amb_even_bin_2_3;
+ pdata->histogram_config__mid_amb_even_bin_4_5
+ = pdata->histogram_config__low_amb_even_bin_4_5;
+
+ pdata->histogram_config__mid_amb_odd_bin_0_1
+ = pdata->histogram_config__low_amb_odd_bin_0_1;
+ pdata->histogram_config__mid_amb_odd_bin_2 = odd_bin2;
+ pdata->histogram_config__mid_amb_odd_bin_3_4 =
+ (odd_bin4 << 4) + odd_bin3;
+ pdata->histogram_config__mid_amb_odd_bin_5 = odd_bin5;
+
+ pdata->histogram_config__user_bin_offset = 0x00;
+
+ pdata->histogram_config__high_amb_even_bin_0_1 =
+ (odd_bin1 << 4) + odd_bin0;
+ pdata->histogram_config__high_amb_even_bin_2_3 =
+ (odd_bin3 << 4) + odd_bin2;
+ pdata->histogram_config__high_amb_even_bin_4_5 =
+ (odd_bin5 << 4) + odd_bin4;
+
+ pdata->histogram_config__high_amb_odd_bin_0_1
+ = pdata->histogram_config__high_amb_even_bin_0_1;
+ pdata->histogram_config__high_amb_odd_bin_2_3
+ = pdata->histogram_config__high_amb_even_bin_2_3;
+ pdata->histogram_config__high_amb_odd_bin_4_5
+ = pdata->histogram_config__high_amb_even_bin_4_5;
+
+
+
+ pdata->histogram_config__amb_thresh_low = 0xFFFF;
+ pdata->histogram_config__amb_thresh_high = 0xFFFF;
+
+
+
+ pdata->histogram_config__spad_array_selection = 0x00;
+}
+
+void VL53LX::VL53LX_init_xtalk_bin_data_struct(
+ uint32_t bin_value,
+ uint16_t VL53LX_p_021,
+ VL53LX_xtalk_histogram_shape_t *pdata)
+{
+
+
+
+ uint16_t i = 0;
+
+ pdata->zone_id = 0;
+ pdata->time_stamp = 0;
+
+ pdata->VL53LX_p_019 = 0;
+ pdata->VL53LX_p_020 = VL53LX_XTALK_HISTO_BINS;
+ pdata->VL53LX_p_021 = (uint8_t)VL53LX_p_021;
+
+ pdata->phasecal_result__reference_phase = 0;
+ pdata->phasecal_result__vcsel_start = 0;
+ pdata->cal_config__vcsel_start = 0;
+
+ pdata->vcsel_width = 0;
+ pdata->VL53LX_p_015 = 0;
+
+ pdata->zero_distance_phase = 0;
+
+ for (i = 0; i < VL53LX_XTALK_HISTO_BINS; i++) {
+ if (i < VL53LX_p_021) {
+ pdata->bin_data[i] = bin_value;
+ } else {
+ pdata->bin_data[i] = 0;
+ }
+ }
+}
+void VL53LX::VL53LX_i2c_encode_uint16_t(
+ uint16_t ip_value,
+ uint16_t count,
+ uint8_t *pbuffer)
+{
+
+
+ uint16_t i = 0;
+ uint16_t VL53LX_p_003 = 0;
+
+ VL53LX_p_003 = ip_value;
+
+ for (i = 0; i < count; i++) {
+ pbuffer[count - i - 1] = (uint8_t)(VL53LX_p_003 & 0x00FF);
+ VL53LX_p_003 = VL53LX_p_003 >> 8;
+ }
+}
+
+uint16_t VL53LX::VL53LX_i2c_decode_uint16_t(
+ uint16_t count,
+ uint8_t *pbuffer)
+{
+
+
+ uint16_t value = 0x00;
+
+ while (count-- > 0) {
+ value = (value << 8) | (uint16_t) * pbuffer++;
+ }
+
+ return value;
+}
+
+void VL53LX::VL53LX_i2c_encode_int16_t(
+ int16_t ip_value,
+ uint16_t count,
+ uint8_t *pbuffer)
+{
+
+
+ uint16_t i = 0;
+ int16_t VL53LX_p_003 = 0;
+
+ VL53LX_p_003 = ip_value;
+
+ for (i = 0; i < count; i++) {
+ pbuffer[count - i - 1] = (uint8_t)(VL53LX_p_003 & 0x00FF);
+ VL53LX_p_003 = VL53LX_p_003 >> 8;
+ }
+}
+int16_t VL53LX::VL53LX_i2c_decode_int16_t(
+ uint16_t count,
+ uint8_t *pbuffer)
+{
+
+
+ int16_t value = 0x00;
+
+
+ if (*pbuffer >= 0x80) {
+ value = 0xFFFF;
+ }
+
+ while (count-- > 0) {
+ value = (value << 8) | (int16_t) * pbuffer++;
+ }
+
+ return value;
+}
+
+void VL53LX::VL53LX_i2c_encode_uint32_t(
+ uint32_t ip_value,
+ uint16_t count,
+ uint8_t *pbuffer)
+{
+
+
+ uint16_t i = 0;
+ uint32_t VL53LX_p_003 = 0;
+
+ VL53LX_p_003 = ip_value;
+
+ for (i = 0; i < count; i++) {
+ pbuffer[count - i - 1] = (uint8_t)(VL53LX_p_003 & 0x00FF);
+ VL53LX_p_003 = VL53LX_p_003 >> 8;
+ }
+}
+
+
+uint32_t VL53LX::VL53LX_i2c_decode_uint32_t(
+ uint16_t count,
+ uint8_t *pbuffer)
+{
+
+
+ uint32_t value = 0x00;
+
+ while (count-- > 0) {
+ value = (value << 8) | (uint32_t) * pbuffer++;
+ }
+
+ return value;
+}
+uint32_t VL53LX::VL53LX_i2c_decode_with_mask(
+ uint16_t count,
+ uint8_t *pbuffer,
+ uint32_t bit_mask,
+ uint32_t down_shift,
+ uint32_t offset)
+{
+
+
+ uint32_t value = 0x00;
+
+
+ while (count-- > 0) {
+ value = (value << 8) | (uint32_t) * pbuffer++;
+ }
+
+
+ value = value & bit_mask;
+ if (down_shift > 0) {
+ value = value >> down_shift;
+ }
+
+
+ value = value + offset;
+
+ return value;
+}
+
+void VL53LX::VL53LX_i2c_encode_int32_t(
+ int32_t ip_value,
+ uint16_t count,
+ uint8_t *pbuffer)
+{
+
+
+ uint16_t i = 0;
+ int32_t VL53LX_p_003 = 0;
+
+ VL53LX_p_003 = ip_value;
+
+ for (i = 0; i < count; i++) {
+ pbuffer[count - i - 1] = (uint8_t)(VL53LX_p_003 & 0x00FF);
+ VL53LX_p_003 = VL53LX_p_003 >> 8;
+ }
+}
+
+int32_t VL53LX::VL53LX_i2c_decode_int32_t(
+ uint16_t count,
+ uint8_t *pbuffer)
+{
+
+
+ int32_t value = 0x00;
+
+
+ if (*pbuffer >= 0x80) {
+ value = 0xFFFFFFFF;
+ }
+
+ while (count-- > 0) {
+ value = (value << 8) | (int32_t) * pbuffer++;
+ }
+
+ return value;
+}
+VL53LX_Error VL53LX::VL53LX_start_test(
+ uint8_t test_mode__ctrl)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_TEST_MODE__CTRL,
+ test_mode__ctrl);
+ }
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_set_firmware_enable_register(uint8_t value)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->sys_ctrl.firmware__enable = value;
+
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_FIRMWARE__ENABLE,
+ pdev->sys_ctrl.firmware__enable);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_enable_firmware()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status = VL53LX_set_firmware_enable_register(0x01);
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_disable_firmware()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status = VL53LX_set_firmware_enable_register(0x00);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_set_powerforce_register(
+ uint8_t value)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->sys_ctrl.power_management__go1_power_force = value;
+
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_POWER_MANAGEMENT__GO1_POWER_FORCE,
+ pdev->sys_ctrl.power_management__go1_power_force);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_enable_powerforce()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status = VL53LX_set_powerforce_register(0x01);
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_disable_powerforce()
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status = VL53LX_set_powerforce_register(0x00);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_clear_interrupt()
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->sys_ctrl.system__interrupt_clear = VL53LX_CLEAR_RANGE_INT;
+
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_SYSTEM__INTERRUPT_CLEAR,
+ pdev->sys_ctrl.system__interrupt_clear);
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_force_shadow_stream_count_to_zero()
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_WrByte(
+ Dev,
+ VL53LX_SHADOW_RESULT__STREAM_COUNT,
+ 0x00);
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ return status;
+}
+uint32_t VL53LX::VL53LX_calc_macro_period_us(
+ uint16_t fast_osc_frequency,
+ uint8_t VL53LX_p_005)
+{
+
+ uint32_t pll_period_us = 0;
+ uint8_t VL53LX_p_030 = 0;
+ uint32_t macro_period_us = 0;
+
+
+ pll_period_us = VL53LX_calc_pll_period_us(fast_osc_frequency);
+
+
+
+ VL53LX_p_030 = VL53LX_decode_vcsel_period(VL53LX_p_005);
+
+
+
+ macro_period_us =
+ (uint32_t)VL53LX_MACRO_PERIOD_VCSEL_PERIODS *
+ pll_period_us;
+ macro_period_us = macro_period_us >> 6;
+
+ macro_period_us = macro_period_us * (uint32_t)VL53LX_p_030;
+ macro_period_us = macro_period_us >> 6;
+
+ return macro_period_us;
+}
+
+uint16_t VL53LX::VL53LX_calc_range_ignore_threshold(
+ uint32_t central_rate,
+ int16_t x_gradient,
+ int16_t y_gradient,
+ uint8_t rate_mult)
+{
+
+
+ int32_t range_ignore_thresh_int = 0;
+ uint16_t range_ignore_thresh_kcps = 0;
+ int32_t central_rate_int = 0;
+ int16_t x_gradient_int = 0;
+ int16_t y_gradient_int = 0;
+
+ central_rate_int = ((int32_t)central_rate * (1 << 4)) / (1000);
+
+ if (x_gradient < 0) {
+ x_gradient_int = x_gradient * -1;
+ }
+
+ if (y_gradient < 0) {
+ y_gradient_int = y_gradient * -1;
+ }
+
+
+
+
+
+ range_ignore_thresh_int = (8 * x_gradient_int * 4) +
+ (8 * y_gradient_int * 4);
+
+
+
+ range_ignore_thresh_int = range_ignore_thresh_int / 1000;
+
+
+
+ range_ignore_thresh_int = range_ignore_thresh_int + central_rate_int;
+
+
+
+ range_ignore_thresh_int = (int32_t)rate_mult * range_ignore_thresh_int;
+
+ range_ignore_thresh_int = (range_ignore_thresh_int + (1 << 4)) / (1 << 5);
+
+
+
+ if (range_ignore_thresh_int > 0xFFFF) {
+ range_ignore_thresh_kcps = 0xFFFF;
+ } else {
+ range_ignore_thresh_kcps = (uint16_t)range_ignore_thresh_int;
+ }
+
+ return range_ignore_thresh_kcps;
+}
+
+uint32_t VL53LX::VL53LX_calc_timeout_mclks(
+ uint32_t timeout_us,
+ uint32_t macro_period_us)
+{
+ uint32_t timeout_mclks = 0;
+
+ timeout_mclks =
+ ((timeout_us << 12) + (macro_period_us >> 1)) /
+ macro_period_us;
+
+ return timeout_mclks;
+}
+uint16_t VL53LX::VL53LX_calc_encoded_timeout(
+ uint32_t timeout_us,
+ uint32_t macro_period_us)
+{
+
+
+ uint32_t timeout_mclks = 0;
+ uint16_t timeout_encoded = 0;
+
+
+ timeout_mclks =
+ VL53LX_calc_timeout_mclks(timeout_us, macro_period_us);
+
+ timeout_encoded =
+ VL53LX_encode_timeout(timeout_mclks);
+
+ return timeout_encoded;
+}
+
+uint32_t VL53LX::VL53LX_calc_timeout_us(
+ uint32_t timeout_mclks,
+ uint32_t macro_period_us)
+{
+
+
+ uint32_t timeout_us = 0;
+ uint64_t tmp = 0;
+
+
+ tmp = (uint64_t)timeout_mclks * (uint64_t)macro_period_us;
+ tmp += 0x00800;
+ tmp = tmp >> 12;
+
+ timeout_us = (uint32_t)tmp;
+
+
+ return timeout_us;
+}
+
+uint32_t VL53LX::VL53LX_calc_crosstalk_plane_offset_with_margin(
+ uint32_t plane_offset_kcps,
+ int16_t margin_offset_kcps)
+{
+ uint32_t plane_offset_with_margin = 0;
+ int32_t plane_offset_kcps_temp = 0;
+
+ plane_offset_kcps_temp =
+ (int32_t)plane_offset_kcps +
+ (int32_t)margin_offset_kcps;
+
+ if (plane_offset_kcps_temp < 0) {
+ plane_offset_kcps_temp = 0;
+ } else if (plane_offset_kcps_temp > 0x3FFFF) {
+ plane_offset_kcps_temp = 0x3FFFF;
+ }
+
+ plane_offset_with_margin = (uint32_t) plane_offset_kcps_temp;
+
+ return plane_offset_with_margin;
+
+}
+
+uint32_t VL53LX::VL53LX_calc_decoded_timeout_us(
+ uint16_t timeout_encoded,
+ uint32_t macro_period_us)
+{
+
+
+ uint32_t timeout_mclks = 0;
+ uint32_t timeout_us = 0;
+
+ timeout_mclks =
+ VL53LX_decode_timeout(timeout_encoded);
+
+ timeout_us =
+ VL53LX_calc_timeout_us(timeout_mclks, macro_period_us);
+
+ return timeout_us;
+}
+
+uint16_t VL53LX::VL53LX_encode_timeout(uint32_t timeout_mclks)
+{
+
+
+ uint16_t encoded_timeout = 0;
+ uint32_t ls_byte = 0;
+ uint16_t ms_byte = 0;
+
+ if (timeout_mclks > 0) {
+ ls_byte = timeout_mclks - 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;
+}
+
+uint32_t VL53LX::VL53LX_decode_timeout(uint16_t encoded_timeout)
+{
+
+
+ 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;
+}
+
+
+
+
+VL53LX_Error VL53LX::VL53LX_calc_timeout_register_values(
+ uint32_t phasecal_config_timeout_us,
+ uint32_t mm_config_timeout_us,
+ uint32_t range_config_timeout_us,
+ uint16_t fast_osc_frequency,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint32_t macro_period_us = 0;
+ uint32_t timeout_mclks = 0;
+ uint16_t timeout_encoded = 0;
+
+ if (fast_osc_frequency == 0) {
+ status = VL53LX_ERROR_DIVISION_BY_ZERO;
+ } else {
+
+ macro_period_us =
+ VL53LX_calc_macro_period_us(
+ fast_osc_frequency,
+ ptiming->range_config__vcsel_period_a);
+
+
+ timeout_mclks =
+ VL53LX_calc_timeout_mclks(
+ phasecal_config_timeout_us,
+ macro_period_us);
+
+
+ if (timeout_mclks > 0xFF) {
+ timeout_mclks = 0xFF;
+ }
+
+ pgeneral->phasecal_config__timeout_macrop =
+ (uint8_t)timeout_mclks;
+
+
+ timeout_encoded =
+ VL53LX_calc_encoded_timeout(
+ mm_config_timeout_us,
+ macro_period_us);
+
+ ptiming->mm_config__timeout_macrop_a_hi =
+ (uint8_t)((timeout_encoded & 0xFF00) >> 8);
+ ptiming->mm_config__timeout_macrop_a_lo =
+ (uint8_t)(timeout_encoded & 0x00FF);
+
+
+ timeout_encoded =
+ VL53LX_calc_encoded_timeout(
+ range_config_timeout_us,
+ macro_period_us);
+
+ ptiming->range_config__timeout_macrop_a_hi =
+ (uint8_t)((timeout_encoded & 0xFF00) >> 8);
+ ptiming->range_config__timeout_macrop_a_lo =
+ (uint8_t)(timeout_encoded & 0x00FF);
+
+
+ macro_period_us =
+ VL53LX_calc_macro_period_us(
+ fast_osc_frequency,
+ ptiming->range_config__vcsel_period_b);
+
+
+ timeout_encoded =
+ VL53LX_calc_encoded_timeout(
+ mm_config_timeout_us,
+ macro_period_us);
+
+ ptiming->mm_config__timeout_macrop_b_hi =
+ (uint8_t)((timeout_encoded & 0xFF00) >> 8);
+ ptiming->mm_config__timeout_macrop_b_lo =
+ (uint8_t)(timeout_encoded & 0x00FF);
+
+
+ timeout_encoded = VL53LX_calc_encoded_timeout(
+ range_config_timeout_us,
+ macro_period_us);
+
+ ptiming->range_config__timeout_macrop_b_hi =
+ (uint8_t)((timeout_encoded & 0xFF00) >> 8);
+ ptiming->range_config__timeout_macrop_b_lo =
+ (uint8_t)(timeout_encoded & 0x00FF);
+ }
+
+ return status;
+
+}
+
+uint8_t VL53LX::VL53LX_encode_vcsel_period(uint8_t VL53LX_p_030)
+{
+
+
+ uint8_t vcsel_period_reg = 0;
+
+ vcsel_period_reg = (VL53LX_p_030 >> 1) - 1;
+
+ return vcsel_period_reg;
+}
+
+uint32_t VL53LX::VL53LX_decode_unsigned_integer(
+ uint8_t *pbuffer,
+ uint8_t no_of_bytes)
+{
+
+
+ uint8_t i = 0;
+ uint32_t decoded_value = 0;
+
+ for (i = 0; i < no_of_bytes; i++) {
+ decoded_value = (decoded_value << 8) + (uint32_t)pbuffer[i];
+ }
+
+ return decoded_value;
+}
+
+
+void VL53LX::VL53LX_encode_unsigned_integer(
+ uint32_t ip_value,
+ uint8_t no_of_bytes,
+ uint8_t *pbuffer)
+{
+
+
+ uint8_t i = 0;
+ uint32_t VL53LX_p_003 = 0;
+
+ VL53LX_p_003 = ip_value;
+ for (i = 0; i < no_of_bytes; i++) {
+ pbuffer[no_of_bytes - i - 1] = VL53LX_p_003 & 0x00FF;
+ VL53LX_p_003 = VL53LX_p_003 >> 8;
+ }
+}
+
+VL53LX_Error VL53LX::VL53LX_hist_copy_and_scale_ambient_info(
+ VL53LX_zone_hist_info_t *pidata,
+ VL53LX_histogram_bin_data_t *podata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ int64_t evts = 0;
+ int64_t tmpi = 0;
+ int64_t tmpo = 0;
+
+
+ if (pidata->result__dss_actual_effective_spads == 0) {
+ status = VL53LX_ERROR_DIVISION_BY_ZERO;
+ } else {
+ if (pidata->number_of_ambient_bins > 0 &&
+ podata->number_of_ambient_bins == 0) {
+
+
+
+ tmpo = 1 + (int64_t)podata->total_periods_elapsed;
+ tmpo *=
+ (int64_t)podata->result__dss_actual_effective_spads;
+
+ tmpi = 1 + (int64_t)pidata->total_periods_elapsed;
+ tmpi *=
+ (int64_t)pidata->result__dss_actual_effective_spads;
+
+ evts = tmpo *
+ (int64_t)pidata->ambient_events_sum;
+ evts += (tmpi / 2);
+
+
+ if (tmpi != 0) {
+ evts = do_division_s(evts, tmpi);
+ }
+
+ podata->ambient_events_sum = (int32_t)evts;
+
+
+
+ podata->VL53LX_p_028 =
+ podata->ambient_events_sum;
+ podata->VL53LX_p_028 +=
+ ((int32_t)pidata->number_of_ambient_bins / 2);
+ podata->VL53LX_p_028 /=
+ (int32_t)pidata->number_of_ambient_bins;
+ }
+ }
+
+
+ return status;
+}
+
+
+void VL53LX::VL53LX_hist_get_bin_sequence_config(
+ VL53LX_histogram_bin_data_t *pdata)
+{
+
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ int32_t amb_thresh_low = 0;
+ int32_t amb_thresh_high = 0;
+
+ uint8_t i = 0;
+
+ amb_thresh_low = 1024 *
+ (int32_t)pdev->hist_cfg.histogram_config__amb_thresh_low;
+ amb_thresh_high = 1024 *
+ (int32_t)pdev->hist_cfg.histogram_config__amb_thresh_high;
+
+
+
+ if ((pdev->ll_state.rd_stream_count & 0x01) == 0) {
+
+ pdata->bin_seq[5] =
+ pdev->hist_cfg.histogram_config__mid_amb_even_bin_4_5 >> 4;
+ pdata->bin_seq[4] =
+ pdev->hist_cfg.histogram_config__mid_amb_even_bin_4_5 & 0x0F;
+ pdata->bin_seq[3] =
+ pdev->hist_cfg.histogram_config__mid_amb_even_bin_2_3 >> 4;
+ pdata->bin_seq[2] =
+ pdev->hist_cfg.histogram_config__mid_amb_even_bin_2_3 & 0x0F;
+ pdata->bin_seq[1] =
+ pdev->hist_cfg.histogram_config__mid_amb_even_bin_0_1 >> 4;
+ pdata->bin_seq[0] =
+ pdev->hist_cfg.histogram_config__mid_amb_even_bin_0_1 & 0x0F;
+
+ if (pdata->ambient_events_sum > amb_thresh_high) {
+ pdata->bin_seq[5] =
+ pdev->hist_cfg.histogram_config__high_amb_even_bin_4_5
+ >> 4;
+ pdata->bin_seq[4] =
+ pdev->hist_cfg.histogram_config__high_amb_even_bin_4_5
+ & 0x0F;
+ pdata->bin_seq[3] =
+ pdev->hist_cfg.histogram_config__high_amb_even_bin_2_3
+ >> 4;
+ pdata->bin_seq[2] =
+ pdev->hist_cfg.histogram_config__high_amb_even_bin_2_3
+ & 0x0F;
+ pdata->bin_seq[1] =
+ pdev->hist_cfg.histogram_config__high_amb_even_bin_0_1
+ >> 4;
+ pdata->bin_seq[0] =
+ pdev->hist_cfg.histogram_config__high_amb_even_bin_0_1
+ & 0x0F;
+ }
+
+ if (pdata->ambient_events_sum < amb_thresh_low) {
+ pdata->bin_seq[5] =
+ pdev->hist_cfg.histogram_config__low_amb_even_bin_4_5
+ >> 4;
+ pdata->bin_seq[4] =
+ pdev->hist_cfg.histogram_config__low_amb_even_bin_4_5
+ & 0x0F;
+ pdata->bin_seq[3] =
+ pdev->hist_cfg.histogram_config__low_amb_even_bin_2_3
+ >> 4;
+ pdata->bin_seq[2] =
+ pdev->hist_cfg.histogram_config__low_amb_even_bin_2_3
+ & 0x0F;
+ pdata->bin_seq[1] =
+ pdev->hist_cfg.histogram_config__low_amb_even_bin_0_1
+ >> 4;
+ pdata->bin_seq[0] =
+ pdev->hist_cfg.histogram_config__low_amb_even_bin_0_1
+ & 0x0F;
+ }
+
+ } else {
+ pdata->bin_seq[5] =
+ pdev->hist_cfg.histogram_config__mid_amb_odd_bin_5
+ & 0x0F;
+ pdata->bin_seq[4] =
+ pdev->hist_cfg.histogram_config__mid_amb_odd_bin_3_4
+ & 0x0F;
+ pdata->bin_seq[3] =
+ pdev->hist_cfg.histogram_config__mid_amb_odd_bin_3_4
+ >> 4;
+ pdata->bin_seq[2] =
+ pdev->hist_cfg.histogram_config__mid_amb_odd_bin_2 &
+ 0x0F;
+ pdata->bin_seq[1] =
+ pdev->hist_cfg.histogram_config__mid_amb_odd_bin_0_1
+ >> 4;
+ pdata->bin_seq[0] =
+ pdev->hist_cfg.histogram_config__mid_amb_odd_bin_0_1
+ & 0x0F;
+
+ if (pdata->ambient_events_sum > amb_thresh_high) {
+ pdata->bin_seq[5] =
+ pdev->hist_cfg.histogram_config__high_amb_odd_bin_4_5
+ >> 4;
+ pdata->bin_seq[4] =
+ pdev->hist_cfg.histogram_config__high_amb_odd_bin_4_5
+ & 0x0F;
+ pdata->bin_seq[3] =
+ pdev->hist_cfg.histogram_config__high_amb_odd_bin_2_3
+ >> 4;
+ pdata->bin_seq[2] =
+ pdev->hist_cfg.histogram_config__high_amb_odd_bin_2_3
+ & 0x0F;
+ pdata->bin_seq[1] =
+ pdev->hist_cfg.histogram_config__high_amb_odd_bin_0_1
+ >> 4;
+ pdata->bin_seq[0] =
+ pdev->hist_cfg.histogram_config__high_amb_odd_bin_0_1
+ & 0x0F;
+ }
+
+ if (pdata->ambient_events_sum < amb_thresh_low) {
+ pdata->bin_seq[5] =
+ pdev->hist_cfg.histogram_config__low_amb_odd_bin_4_5
+ >> 4;
+ pdata->bin_seq[4] =
+ pdev->hist_cfg.histogram_config__low_amb_odd_bin_4_5
+ & 0x0F;
+ pdata->bin_seq[3] =
+ pdev->hist_cfg.histogram_config__low_amb_odd_bin_2_3
+ >> 4;
+ pdata->bin_seq[2] =
+ pdev->hist_cfg.histogram_config__low_amb_odd_bin_2_3
+ & 0x0F;
+ pdata->bin_seq[1] =
+ pdev->hist_cfg.histogram_config__low_amb_odd_bin_0_1
+ >> 4;
+ pdata->bin_seq[0] =
+ pdev->hist_cfg.histogram_config__low_amb_odd_bin_0_1
+ & 0x0F;
+ }
+ }
+
+
+
+ for (i = 0; i < VL53LX_MAX_BIN_SEQUENCE_LENGTH; i++) {
+ pdata->bin_rep[i] = 1;
+ }
+
+}
+
+
+VL53LX_Error VL53LX::VL53LX_hist_phase_consistency_check(
+ VL53LX_zone_hist_info_t *phist_prev,
+ VL53LX_zone_objects_t *prange_prev,
+ VL53LX_range_results_t *prange_curr)
+{
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t lc = 0;
+ uint8_t p = 0;
+
+ uint16_t phase_delta = 0;
+ uint16_t phase_tolerance = 0;
+
+ int32_t events_delta = 0;
+ int32_t events_tolerance = 0;
+
+
+ uint8_t event_sigma;
+ uint16_t event_min_spad_count;
+ uint16_t min_max_tolerance;
+ uint8_t pht;
+
+ VL53LX_DeviceError range_status = 0;
+
+
+ event_sigma =
+ pdev->histpostprocess.algo__consistency_check__event_sigma;
+ event_min_spad_count =
+ pdev->histpostprocess.algo__consistency_check__event_min_spad_count;
+ min_max_tolerance =
+ pdev->histpostprocess.algo__consistency_check__min_max_tolerance;
+
+
+ pht = pdev->histpostprocess.algo__consistency_check__phase_tolerance;
+ phase_tolerance = (uint16_t)pht;
+ phase_tolerance = phase_tolerance << 8;
+
+
+
+ if (prange_prev->rd_device_state !=
+ VL53LX_DEVICESTATE_RANGING_GATHER_DATA &&
+ prange_prev->rd_device_state !=
+ VL53LX_DEVICESTATE_RANGING_OUTPUT_DATA) {
+ return status;
+ }
+
+
+
+ if (phase_tolerance == 0) {
+ return status;
+ }
+
+ for (lc = 0; lc < prange_curr->active_results; lc++) {
+
+ if (!((prange_curr->VL53LX_p_003[lc].range_status ==
+ VL53LX_DEVICEERROR_RANGECOMPLETE) ||
+ (prange_curr->VL53LX_p_003[lc].range_status ==
+ VL53LX_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK))) {
+ continue;
+ }
+
+
+
+
+
+
+ if (prange_prev->active_objects == 0)
+ prange_curr->VL53LX_p_003[lc].range_status =
+ VL53LX_DEVICEERROR_PREV_RANGE_NO_TARGETS;
+ else
+ prange_curr->VL53LX_p_003[lc].range_status =
+ VL53LX_DEVICEERROR_PHASECONSISTENCY;
+
+
+
+
+
+ for (p = 0; p < prange_prev->active_objects; p++) {
+
+ if (prange_curr->VL53LX_p_003[lc].VL53LX_p_011 >
+ prange_prev->VL53LX_p_003[p].VL53LX_p_011) {
+ phase_delta =
+ prange_curr->VL53LX_p_003[lc].VL53LX_p_011 -
+ prange_prev->VL53LX_p_003[p].VL53LX_p_011;
+ } else {
+ phase_delta =
+ prange_prev->VL53LX_p_003[p].VL53LX_p_011 -
+ prange_curr->VL53LX_p_003[lc].VL53LX_p_011;
+ }
+
+ if (phase_delta < phase_tolerance) {
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_hist_events_consistency_check(
+ event_sigma,
+ event_min_spad_count,
+ phist_prev,
+ &(prange_prev->VL53LX_p_003[p]),
+ &(prange_curr->VL53LX_p_003[lc]),
+ &events_tolerance,
+ &events_delta,
+ &range_status);
+
+
+
+
+ if (status == VL53LX_ERROR_NONE &&
+ range_status ==
+ VL53LX_DEVICEERROR_RANGECOMPLETE)
+ status =
+ VL53LX_hist_merged_pulse_check(
+ min_max_tolerance,
+ &(prange_curr->VL53LX_p_003[lc]),
+ &range_status);
+
+ prange_curr->VL53LX_p_003[lc].range_status =
+ range_status;
+ }
+ }
+
+ }
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_hist_events_consistency_check(
+ uint8_t event_sigma,
+ uint16_t min_effective_spad_count,
+ VL53LX_zone_hist_info_t *phist_prev,
+ VL53LX_object_data_t *prange_prev,
+ VL53LX_range_data_t *prange_curr,
+ int32_t *pevents_tolerance,
+ int32_t *pevents_delta,
+ VL53LX_DeviceError *prange_status)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ int64_t tmpp = 0;
+ int64_t tmpc = 0;
+ int64_t events_scaler = 0;
+ int64_t events_scaler_sq = 0;
+ int64_t c_signal_events = 0;
+ int64_t c_sig_noise_sq = 0;
+ int64_t c_amb_noise_sq = 0;
+ int64_t p_amb_noise_sq = 0;
+
+ int32_t p_signal_events = 0;
+ uint32_t noise_sq_sum = 0;
+
+
+
+ if (event_sigma == 0) {
+ *prange_status = VL53LX_DEVICEERROR_RANGECOMPLETE;
+ return status;
+ }
+
+
+
+ tmpp = 1 + (int64_t)phist_prev->total_periods_elapsed;
+ tmpp *= (int64_t)phist_prev->result__dss_actual_effective_spads;
+
+
+
+ tmpc = 1 + (int64_t)prange_curr->total_periods_elapsed;
+ tmpc *= (int64_t)prange_curr->VL53LX_p_004;
+
+
+
+ events_scaler = tmpp * 4096;
+ if (tmpc != 0) {
+ events_scaler += (tmpc / 2);
+ events_scaler = do_division_s(events_scaler, tmpc);
+ }
+
+ events_scaler_sq = events_scaler * events_scaler;
+ events_scaler_sq += 2048;
+ events_scaler_sq /= 4096;
+
+
+
+ c_signal_events = (int64_t)prange_curr->VL53LX_p_017;
+ c_signal_events -= (int64_t)prange_curr->VL53LX_p_016;
+ c_signal_events *= (int64_t)events_scaler;
+ c_signal_events += 2048;
+ c_signal_events /= 4096;
+
+ c_sig_noise_sq = (int64_t)events_scaler_sq;
+ c_sig_noise_sq *= (int64_t)prange_curr->VL53LX_p_017;
+ c_sig_noise_sq += 2048;
+ c_sig_noise_sq /= 4096;
+
+ c_amb_noise_sq = (int64_t)events_scaler_sq;
+ c_amb_noise_sq *= (int64_t)prange_curr->VL53LX_p_016;
+ c_amb_noise_sq += 2048;
+ c_amb_noise_sq /= 4096;
+
+
+ c_amb_noise_sq += 2;
+ c_amb_noise_sq /= 4;
+
+
+
+ p_amb_noise_sq =
+ (int64_t)prange_prev->VL53LX_p_016;
+
+
+ p_amb_noise_sq += 2;
+ p_amb_noise_sq /= 4;
+
+ noise_sq_sum =
+ (uint32_t)prange_prev->VL53LX_p_017 +
+ (uint32_t)c_sig_noise_sq +
+ (uint32_t)p_amb_noise_sq +
+ (uint32_t)c_amb_noise_sq;
+
+ *pevents_tolerance =
+ (int32_t)VL53LX_isqrt(noise_sq_sum * 16);
+
+ *pevents_tolerance *= (int32_t)event_sigma;
+ *pevents_tolerance += 32;
+ *pevents_tolerance /= 64;
+
+ p_signal_events = (int32_t)prange_prev->VL53LX_p_017;
+ p_signal_events -= (int32_t)prange_prev->VL53LX_p_016;
+
+ if ((int32_t)c_signal_events > p_signal_events)
+ *pevents_delta =
+ (int32_t)c_signal_events - p_signal_events;
+ else
+ *pevents_delta =
+ p_signal_events - (int32_t)c_signal_events;
+
+ if (*pevents_delta > *pevents_tolerance &&
+ prange_curr->VL53LX_p_004 > min_effective_spad_count) {
+ *prange_status = VL53LX_DEVICEERROR_EVENTCONSISTENCY;
+ } else {
+ *prange_status = VL53LX_DEVICEERROR_RANGECOMPLETE;
+ }
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_hist_merged_pulse_check(
+ int16_t min_max_tolerance_mm,
+ VL53LX_range_data_t *pdata,
+ VL53LX_DeviceError *prange_status)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ int16_t delta_mm = 0;
+
+ if (pdata->max_range_mm > pdata->min_range_mm)
+ delta_mm =
+ pdata->max_range_mm - pdata->min_range_mm;
+ else
+ delta_mm =
+ pdata->min_range_mm - pdata->max_range_mm;
+
+ if (min_max_tolerance_mm > 0 &&
+ delta_mm > min_max_tolerance_mm) {
+ *prange_status = VL53LX_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE;
+ } else {
+ *prange_status = VL53LX_DEVICEERROR_RANGECOMPLETE;
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_hist_xmonitor_consistency_check(
+ VL53LX_zone_hist_info_t *phist_prev,
+ VL53LX_zone_objects_t *prange_prev,
+ VL53LX_range_data_t *prange_curr)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ int32_t events_delta = 0;
+ int32_t events_tolerance = 0;
+ uint8_t event_sigma;
+ uint16_t min_spad_count;
+
+ event_sigma = pdev->histpostprocess.algo__crosstalk_detect_event_sigma;
+ min_spad_count =
+ pdev->histpostprocess.algo__consistency_check__event_min_spad_count;
+
+ if (prange_curr->range_status == VL53LX_DEVICEERROR_RANGECOMPLETE ||
+ prange_curr->range_status ==
+ VL53LX_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK ||
+ prange_curr->range_status ==
+ VL53LX_DEVICEERROR_EVENTCONSISTENCY) {
+
+ if (prange_prev->xmonitor.range_status ==
+ VL53LX_DEVICEERROR_RANGECOMPLETE ||
+ prange_prev->xmonitor.range_status ==
+ VL53LX_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK ||
+ prange_prev->xmonitor.range_status ==
+ VL53LX_DEVICEERROR_EVENTCONSISTENCY) {
+
+ prange_curr->range_status =
+ VL53LX_DEVICEERROR_RANGECOMPLETE;
+
+ status =
+ VL53LX_hist_events_consistency_check(
+ event_sigma,
+ min_spad_count,
+ phist_prev,
+ &(prange_prev->xmonitor),
+ prange_curr,
+ &events_tolerance,
+ &events_delta,
+ &(prange_curr->range_status));
+
+ }
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_hist_wrap_dmax(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_histogram_bin_data_t *pcurrent,
+ int16_t *pwrap_dmax_mm)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint32_t pll_period_mm = 0;
+ uint32_t wrap_dmax_phase = 0;
+ uint32_t range_mm = 0;
+
+ *pwrap_dmax_mm = 0;
+
+
+ if (pcurrent->VL53LX_p_015 != 0) {
+
+
+
+ pll_period_mm =
+ VL53LX_calc_pll_period_mm(
+ pcurrent->VL53LX_p_015);
+
+
+
+ wrap_dmax_phase =
+ (uint32_t)phistpostprocess->valid_phase_high << 8;
+
+
+
+ range_mm = wrap_dmax_phase * pll_period_mm;
+ range_mm = (range_mm + (1 << 14)) >> 15;
+
+ *pwrap_dmax_mm = (int16_t)range_mm;
+ }
+
+ return status;
+}
+
+void VL53LX::VL53LX_hist_combine_mm1_mm2_offsets(
+ int16_t mm1_offset_mm,
+ int16_t mm2_offset_mm,
+ uint8_t encoded_mm_roi_centre,
+ uint8_t encoded_mm_roi_size,
+ uint8_t encoded_zone_centre,
+ uint8_t encoded_zone_size,
+ VL53LX_additional_offset_cal_data_t *pcal_data,
+ uint8_t *pgood_spads,
+ uint16_t aperture_attenuation,
+ int16_t *prange_offset_mm)
+{
+
+
+
+ uint16_t max_mm_inner_effective_spads = 0;
+ uint16_t max_mm_outer_effective_spads = 0;
+ uint16_t mm_inner_effective_spads = 0;
+ uint16_t mm_outer_effective_spads = 0;
+
+ uint32_t scaled_mm1_peak_rate_mcps = 0;
+ uint32_t scaled_mm2_peak_rate_mcps = 0;
+
+ int32_t tmp0 = 0;
+ int32_t tmp1 = 0;
+
+
+
+ VL53LX_calc_mm_effective_spads(
+ encoded_mm_roi_centre,
+ encoded_mm_roi_size,
+ 0xC7,
+ 0xFF,
+ pgood_spads,
+ aperture_attenuation,
+ &max_mm_inner_effective_spads,
+ &max_mm_outer_effective_spads);
+
+ if ((max_mm_inner_effective_spads == 0) ||
+ (max_mm_outer_effective_spads == 0)) {
+ goto FAIL;
+ }
+
+
+ VL53LX_calc_mm_effective_spads(
+ encoded_mm_roi_centre,
+ encoded_mm_roi_size,
+ encoded_zone_centre,
+ encoded_zone_size,
+ pgood_spads,
+ aperture_attenuation,
+ &mm_inner_effective_spads,
+ &mm_outer_effective_spads);
+
+
+
+ scaled_mm1_peak_rate_mcps =
+ (uint32_t)pcal_data->result__mm_inner_peak_signal_count_rtn_mcps;
+ scaled_mm1_peak_rate_mcps *= (uint32_t)mm_inner_effective_spads;
+ scaled_mm1_peak_rate_mcps /= (uint32_t)max_mm_inner_effective_spads;
+
+ scaled_mm2_peak_rate_mcps =
+ (uint32_t)pcal_data->result__mm_outer_peak_signal_count_rtn_mcps;
+ scaled_mm2_peak_rate_mcps *= (uint32_t)mm_outer_effective_spads;
+ scaled_mm2_peak_rate_mcps /= (uint32_t)max_mm_outer_effective_spads;
+
+
+
+ tmp0 = ((int32_t)mm1_offset_mm * (int32_t)scaled_mm1_peak_rate_mcps);
+ tmp0 += ((int32_t)mm2_offset_mm * (int32_t)scaled_mm2_peak_rate_mcps);
+
+ tmp1 = (int32_t)scaled_mm1_peak_rate_mcps +
+ (int32_t)scaled_mm2_peak_rate_mcps;
+
+
+
+ if (tmp1 != 0) {
+ tmp0 = (tmp0 * 4) / tmp1;
+ }
+FAIL:
+ *prange_offset_mm = (int16_t)tmp0;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_hist_xtalk_extract_calc_window(
+ int16_t target_distance_mm,
+ uint16_t target_width_oversize,
+ VL53LX_histogram_bin_data_t *phist_bins,
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ pxtalk_data->pll_period_mm =
+ VL53LX_calc_pll_period_mm(phist_bins->VL53LX_p_015);
+ if (pxtalk_data->pll_period_mm == 0) {
+ pxtalk_data->pll_period_mm = 1;
+ }
+
+
+ pxtalk_data->xtalk_width_phase =
+ (int32_t)phist_bins->vcsel_width * 128;
+ pxtalk_data->target_width_phase =
+ pxtalk_data->xtalk_width_phase +
+ (int32_t)target_width_oversize * 128;
+
+
+
+ pxtalk_data->xtalk_start_phase =
+ (int32_t)phist_bins->zero_distance_phase -
+ (pxtalk_data->xtalk_width_phase / 2);
+ pxtalk_data->xtalk_end_phase =
+ (int32_t)pxtalk_data->xtalk_start_phase +
+ pxtalk_data->xtalk_width_phase;
+
+ if (pxtalk_data->xtalk_start_phase < 0) {
+ pxtalk_data->xtalk_start_phase = 0;
+ }
+
+
+
+
+ pxtalk_data->VL53LX_p_012 =
+ (uint8_t)(pxtalk_data->xtalk_start_phase / 2048);
+
+
+ pxtalk_data->VL53LX_p_013 =
+ (uint8_t)((pxtalk_data->xtalk_end_phase + 2047) / 2048);
+
+
+
+ pxtalk_data->target_start_phase =
+ (int32_t)target_distance_mm * 2048 * 16;
+ pxtalk_data->target_start_phase +=
+ ((int32_t)pxtalk_data->pll_period_mm / 2);
+ pxtalk_data->target_start_phase /= (int32_t)pxtalk_data->pll_period_mm;
+ pxtalk_data->target_start_phase +=
+ (int32_t)phist_bins->zero_distance_phase;
+
+
+
+ pxtalk_data->target_start_phase -=
+ (pxtalk_data->target_width_phase / 2);
+ pxtalk_data->target_end_phase =
+ (int32_t)pxtalk_data->target_start_phase +
+ pxtalk_data->target_width_phase;
+
+ if (pxtalk_data->target_start_phase < 0) {
+ pxtalk_data->target_start_phase = 0;
+ }
+
+
+ pxtalk_data->target_start =
+ (uint8_t)(pxtalk_data->target_start_phase / 2048);
+
+
+ if (pxtalk_data->VL53LX_p_013 > (pxtalk_data->target_start - 1)) {
+ pxtalk_data->VL53LX_p_013 = pxtalk_data->target_start - 1;
+ }
+
+
+ pxtalk_data->effective_width =
+ (2048 * ((int32_t)pxtalk_data->VL53LX_p_013 + 1));
+ pxtalk_data->effective_width -= pxtalk_data->xtalk_start_phase;
+
+
+ if (pxtalk_data->effective_width > pxtalk_data->xtalk_width_phase) {
+ pxtalk_data->effective_width = pxtalk_data->xtalk_width_phase;
+ }
+
+ if (pxtalk_data->effective_width < 1) {
+ pxtalk_data->effective_width = 1;
+ }
+
+
+ pxtalk_data->event_scaler = pxtalk_data->xtalk_width_phase * 1000;
+ pxtalk_data->event_scaler += (pxtalk_data->effective_width / 2);
+ pxtalk_data->event_scaler /= pxtalk_data->effective_width;
+
+
+ if (pxtalk_data->event_scaler < 1000) {
+ pxtalk_data->event_scaler = 1000;
+ }
+
+ if (pxtalk_data->event_scaler > 4000) {
+ pxtalk_data->event_scaler = 4000;
+ }
+
+
+ pxtalk_data->event_scaler_sum += pxtalk_data->event_scaler;
+
+
+ pxtalk_data->peak_duration_us_sum +=
+ (uint32_t)phist_bins->peak_duration_us;
+
+
+ pxtalk_data->effective_spad_count_sum +=
+ (uint32_t)phist_bins->result__dss_actual_effective_spads;
+
+
+ pxtalk_data->zero_distance_phase_sum +=
+ (uint32_t)phist_bins->zero_distance_phase;
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_hist_xtalk_extract_calc_event_sums(
+ VL53LX_histogram_bin_data_t *phist_bins,
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data)
+{
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t lb = 0;
+ uint8_t i = 0;
+
+
+ for (lb = pxtalk_data->VL53LX_p_012;
+ lb <= pxtalk_data->VL53LX_p_013;
+ lb++) {
+
+
+ i = (lb + phist_bins->number_of_ambient_bins +
+ phist_bins->VL53LX_p_021) %
+ phist_bins->VL53LX_p_021;
+
+
+ pxtalk_data->signal_events_sum += phist_bins->bin_data[i];
+ pxtalk_data->signal_events_sum -=
+ phist_bins->VL53LX_p_028;
+ }
+
+
+
+ for (lb = 0; lb < VL53LX_XTALK_HISTO_BINS &&
+ lb < phist_bins->VL53LX_p_021; lb++) {
+
+
+ i = (lb + phist_bins->number_of_ambient_bins +
+ phist_bins->VL53LX_p_021) %
+ phist_bins->VL53LX_p_021;
+
+
+ pxtalk_data->bin_data_sums[lb] += phist_bins->bin_data[i];
+ pxtalk_data->bin_data_sums[lb] -=
+ phist_bins->VL53LX_p_028;
+ }
+
+ pxtalk_data->sample_count += 1;
+
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_hist_xtalk_extract_calc_rate_per_spad(
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint64_t tmp64_0 = 0;
+ uint64_t tmp64_1 = 0;
+ uint64_t xtalk_per_spad = 0;
+
+
+ if (pxtalk_data->signal_events_sum > 0) {
+ tmp64_0 =
+ ((uint64_t)pxtalk_data->signal_events_sum *
+ (uint64_t)pxtalk_data->sample_count *
+ (uint64_t)pxtalk_data->event_scaler_avg * 256U) << 9U;
+ tmp64_1 =
+ (uint64_t)pxtalk_data->effective_spad_count_sum *
+ (uint64_t)pxtalk_data->peak_duration_us_sum;
+
+
+
+ if (tmp64_1 > 0U) {
+
+ tmp64_0 = tmp64_0 + (tmp64_1 >> 1U);
+ xtalk_per_spad = do_division_u(tmp64_0, tmp64_1);
+ } else {
+ xtalk_per_spad = (uint64_t)tmp64_0;
+ }
+
+ } else {
+ status = VL53LX_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL;
+ }
+
+ pxtalk_data->xtalk_rate_kcps_per_spad = (uint32_t)xtalk_per_spad;
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_hist_xtalk_extract_calc_shape(
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_shape)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ int32_t lb = 0;
+ uint64_t total_events = 0U;
+ uint64_t tmp64_0 = 0U;
+ int32_t remaining_area = 1024;
+
+ pxtalk_shape->VL53LX_p_019 = 0;
+ pxtalk_shape->VL53LX_p_020 = VL53LX_XTALK_HISTO_BINS;
+ pxtalk_shape->VL53LX_p_021 = VL53LX_XTALK_HISTO_BINS;
+
+ pxtalk_shape->zero_distance_phase =
+ (uint16_t)pxtalk_data->zero_distance_phase_avg;
+ pxtalk_shape->phasecal_result__reference_phase =
+ (uint16_t)pxtalk_data->zero_distance_phase_avg + (3 * 2048);
+
+
+
+ if (pxtalk_data->signal_events_sum > 0)
+ total_events =
+ (uint64_t)pxtalk_data->signal_events_sum *
+ (uint64_t)pxtalk_data->event_scaler_avg;
+ else {
+ total_events = 1;
+ }
+ if (total_events == 0) {
+ total_events = 1;
+ }
+
+
+ remaining_area = 1024;
+ pxtalk_data->max_shape_value = 0;
+
+ for (lb = 0; lb < VL53LX_XTALK_HISTO_BINS; lb++) {
+
+ if ((lb < (int32_t)pxtalk_data->VL53LX_p_012 ||
+ lb > (int32_t)pxtalk_data->VL53LX_p_013) ||
+ pxtalk_data->bin_data_sums[lb] < 0) {
+
+
+ if (remaining_area > 0 && remaining_area < 1024) {
+ if (remaining_area >
+ pxtalk_data->max_shape_value) {
+ pxtalk_shape->bin_data[lb] =
+ (uint32_t)pxtalk_data->max_shape_value;
+ remaining_area -=
+ pxtalk_data->max_shape_value;
+ } else {
+ pxtalk_shape->bin_data[lb] =
+ (uint32_t)remaining_area;
+ remaining_area = 0;
+ }
+ } else {
+ pxtalk_shape->bin_data[lb] = 0;
+ }
+
+ } else {
+
+ tmp64_0 =
+ (uint64_t)pxtalk_data->bin_data_sums[lb]
+ * 1024U * 1000U;
+ tmp64_0 += (total_events >> 1);
+ tmp64_0 = do_division_u(tmp64_0, total_events);
+ if (tmp64_0 > 0xFFFFU) {
+ tmp64_0 = 0xFFFFU;
+ }
+
+ pxtalk_shape->bin_data[lb] = (uint32_t)tmp64_0;
+
+
+ if ((int32_t)pxtalk_shape->bin_data[lb] >
+ pxtalk_data->max_shape_value)
+ pxtalk_data->max_shape_value =
+ (int32_t)pxtalk_shape->bin_data[lb];
+
+ remaining_area -= (int32_t)pxtalk_shape->bin_data[lb];
+ }
+ }
+
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_hist_xtalk_shape_model(
+ uint16_t events_per_bin,
+ uint16_t pulse_centre,
+ uint16_t pulse_width,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_shape)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint32_t phase_start = 0;
+ uint32_t phase_stop = 0;
+ uint32_t phase_bin = 0;
+
+ uint32_t bin_start = 0;
+ uint32_t bin_stop = 0;
+
+ uint32_t lb = 0;
+ uint16_t VL53LX_p_018 = 0;
+
+ pxtalk_shape->VL53LX_p_019 = 0;
+ pxtalk_shape->VL53LX_p_020 = VL53LX_XTALK_HISTO_BINS;
+ pxtalk_shape->VL53LX_p_021 = VL53LX_XTALK_HISTO_BINS;
+
+ pxtalk_shape->zero_distance_phase = pulse_centre;
+ pxtalk_shape->phasecal_result__reference_phase =
+ pulse_centre + (3 * 2048);
+
+
+ if (pulse_centre > (pulse_width >> 1))
+ phase_start = (uint32_t)pulse_centre -
+ ((uint32_t)pulse_width >> 1);
+ else {
+ phase_start = 0;
+ }
+
+ phase_stop = (uint32_t)pulse_centre +
+ ((uint32_t)pulse_width >> 1);
+
+
+ bin_start = (phase_start / 2048);
+ bin_stop = (phase_stop / 2048);
+
+ for (lb = 0; lb < VL53LX_XTALK_HISTO_BINS; lb++) {
+ VL53LX_p_018 = 0;
+
+
+ if (lb == bin_start && lb == bin_stop) {
+ VL53LX_p_018 =
+ VL53LX_hist_xtalk_shape_model_interp(
+ events_per_bin,
+ phase_stop - phase_start);
+
+ } else if (lb > bin_start && lb < bin_stop) {
+
+
+ VL53LX_p_018 = events_per_bin;
+
+ } else if (lb == bin_start) {
+
+
+ phase_bin = (lb + 1) * 2048;
+ VL53LX_p_018 =
+ VL53LX_hist_xtalk_shape_model_interp(
+ events_per_bin,
+ (phase_bin - phase_start));
+
+ } else if (lb == bin_stop) {
+
+
+ phase_bin = lb * 2048;
+ VL53LX_p_018 =
+ VL53LX_hist_xtalk_shape_model_interp(
+ events_per_bin,
+ (phase_stop - phase_bin));
+ }
+
+ pxtalk_shape->bin_data[lb] = VL53LX_p_018;
+ }
+
+
+ return status;
+}
+
+uint16_t VL53LX::VL53LX_hist_xtalk_shape_model_interp(
+ uint16_t events_per_bin,
+ uint32_t phase_delta)
+{
+
+ uint32_t VL53LX_p_018 = 0;
+
+ VL53LX_p_018 = (uint32_t)events_per_bin * phase_delta;
+ VL53LX_p_018 += 1024;
+ VL53LX_p_018 /= 2048;
+
+
+ if (VL53LX_p_018 > 0xFFFFU) {
+ VL53LX_p_018 = 0xFFFFU;
+ }
+
+ return (uint16_t)VL53LX_p_018;
+}
+
+void VL53LX::VL53LX_spad_number_to_byte_bit_index(
+ uint8_t spad_number,
+ uint8_t *pbyte_index,
+ uint8_t *pbit_index,
+ uint8_t *pbit_mask)
+{
+
+
+
+ *pbyte_index = spad_number >> 3;
+ *pbit_index = spad_number & 0x07;
+ *pbit_mask = 0x01 << *pbit_index;
+
+}
+
+void VL53LX::VL53LX_encode_row_col(
+ uint8_t row,
+ uint8_t col,
+ uint8_t *pspad_number)
+{
+
+
+ if (row > 7) {
+ *pspad_number = 128 + (col << 3) + (15 - row);
+ } else {
+ *pspad_number = ((15 - col) << 3) + row;
+ }
+
+}
+void VL53LX::VL53LX_decode_zone_size(
+ uint8_t encoded_xy_size,
+ uint8_t *pwidth,
+ uint8_t *pheight)
+{
+
+
+
+ *pheight = encoded_xy_size >> 4;
+ *pwidth = encoded_xy_size & 0x0F;
+
+}
+
+void VL53LX::VL53LX_encode_zone_size(
+ uint8_t width,
+ uint8_t height,
+ uint8_t *pencoded_xy_size)
+{
+
+
+ *pencoded_xy_size = (height << 4) + width;
+
+}
+
+void VL53LX::VL53LX_decode_zone_limits(
+ uint8_t encoded_xy_centre,
+ uint8_t encoded_xy_size,
+ int16_t *px_ll,
+ int16_t *py_ll,
+ int16_t *px_ur,
+ int16_t *py_ur)
+{
+
+
+
+ uint8_t x_centre = 0;
+ uint8_t y_centre = 0;
+ uint8_t width = 0;
+ uint8_t height = 0;
+
+
+
+ VL53LX_decode_row_col(
+ encoded_xy_centre,
+ &y_centre,
+ &x_centre);
+
+ VL53LX_decode_zone_size(
+ encoded_xy_size,
+ &width,
+ &height);
+
+
+
+ *px_ll = (int16_t)x_centre - ((int16_t)width + 1) / 2;
+ if (*px_ll < 0) {
+ *px_ll = 0;
+ }
+
+ *px_ur = *px_ll + (int16_t)width;
+ if (*px_ur > (VL53LX_SPAD_ARRAY_WIDTH - 1)) {
+ *px_ur = VL53LX_SPAD_ARRAY_WIDTH - 1;
+ }
+
+ *py_ll = (int16_t)y_centre - ((int16_t)height + 1) / 2;
+ if (*py_ll < 0) {
+ *py_ll = 0;
+ }
+
+ *py_ur = *py_ll + (int16_t)height;
+ if (*py_ur > (VL53LX_SPAD_ARRAY_HEIGHT - 1)) {
+ *py_ur = VL53LX_SPAD_ARRAY_HEIGHT - 1;
+ }
+}
+
+uint8_t VL53LX::VL53LX_is_aperture_location(
+ uint8_t row,
+ uint8_t col)
+{
+
+
+ uint8_t is_aperture = 0;
+ uint8_t mod_row = row % 4;
+ uint8_t mod_col = col % 4;
+
+ if (mod_row == 0 && mod_col == 2) {
+ is_aperture = 1;
+ }
+
+ if (mod_row == 2 && mod_col == 0) {
+ is_aperture = 1;
+ }
+
+ return is_aperture;
+}
+
+void VL53LX::VL53LX_calc_max_effective_spads(
+ uint8_t encoded_zone_centre,
+ uint8_t encoded_zone_size,
+ uint8_t *pgood_spads,
+ uint16_t aperture_attenuation,
+ uint16_t *pmax_effective_spads)
+{
+
+
+
+ int16_t x = 0;
+ int16_t y = 0;
+
+ int16_t zone_x_ll = 0;
+ int16_t zone_y_ll = 0;
+ int16_t zone_x_ur = 0;
+ int16_t zone_y_ur = 0;
+
+ uint8_t spad_number = 0;
+ uint8_t byte_index = 0;
+ uint8_t bit_index = 0;
+ uint8_t bit_mask = 0;
+
+ uint8_t is_aperture = 0;
+
+
+
+ VL53LX_decode_zone_limits(
+ encoded_zone_centre,
+ encoded_zone_size,
+ &zone_x_ll,
+ &zone_y_ll,
+ &zone_x_ur,
+ &zone_y_ur);
+
+
+
+ *pmax_effective_spads = 0;
+
+ for (y = zone_y_ll; y <= zone_y_ur; y++) {
+ for (x = zone_x_ll; x <= zone_x_ur; x++) {
+
+
+
+ VL53LX_encode_row_col(
+ (uint8_t)y,
+ (uint8_t)x,
+ &spad_number);
+
+
+
+ VL53LX_spad_number_to_byte_bit_index(
+ spad_number,
+ &byte_index,
+ &bit_index,
+ &bit_mask);
+
+
+
+ if ((pgood_spads[byte_index] & bit_mask) > 0) {
+
+
+ is_aperture = VL53LX_is_aperture_location(
+ (uint8_t)y,
+ (uint8_t)x);
+
+ if (is_aperture > 0)
+ *pmax_effective_spads +=
+ aperture_attenuation;
+ else {
+ *pmax_effective_spads += 0x0100;
+ }
+
+ }
+ }
+ }
+}
+
+
+
+
+void VL53LX::VL53LX_calc_mm_effective_spads(
+ uint8_t encoded_mm_roi_centre,
+ uint8_t encoded_mm_roi_size,
+ uint8_t encoded_zone_centre,
+ uint8_t encoded_zone_size,
+ uint8_t *pgood_spads,
+ uint16_t aperture_attenuation,
+ uint16_t *pmm_inner_effective_spads,
+ uint16_t *pmm_outer_effective_spads)
+{
+
+ int16_t x = 0;
+ int16_t y = 0;
+
+ int16_t mm_x_ll = 0;
+ int16_t mm_y_ll = 0;
+ int16_t mm_x_ur = 0;
+ int16_t mm_y_ur = 0;
+
+ int16_t zone_x_ll = 0;
+ int16_t zone_y_ll = 0;
+ int16_t zone_x_ur = 0;
+ int16_t zone_y_ur = 0;
+
+ uint8_t spad_number = 0;
+ uint8_t byte_index = 0;
+ uint8_t bit_index = 0;
+ uint8_t bit_mask = 0;
+
+ uint8_t is_aperture = 0;
+ uint16_t spad_attenuation = 0;
+
+
+
+ VL53LX_decode_zone_limits(
+ encoded_mm_roi_centre,
+ encoded_mm_roi_size,
+ &mm_x_ll,
+ &mm_y_ll,
+ &mm_x_ur,
+ &mm_y_ur);
+
+ VL53LX_decode_zone_limits(
+ encoded_zone_centre,
+ encoded_zone_size,
+ &zone_x_ll,
+ &zone_y_ll,
+ &zone_x_ur,
+ &zone_y_ur);
+
+
+
+ *pmm_inner_effective_spads = 0;
+ *pmm_outer_effective_spads = 0;
+
+ for (y = zone_y_ll; y <= zone_y_ur; y++) {
+ for (x = zone_x_ll; x <= zone_x_ur; x++) {
+
+
+
+ VL53LX_encode_row_col(
+ (uint8_t)y,
+ (uint8_t)x,
+ &spad_number);
+
+
+
+ VL53LX_spad_number_to_byte_bit_index(
+ spad_number,
+ &byte_index,
+ &bit_index,
+ &bit_mask);
+
+
+
+ if ((pgood_spads[byte_index] & bit_mask) > 0) {
+
+
+ is_aperture = VL53LX_is_aperture_location(
+ (uint8_t)y,
+ (uint8_t)x);
+
+ if (is_aperture > 0) {
+ spad_attenuation = aperture_attenuation;
+ } else {
+ spad_attenuation = 0x0100;
+ }
+
+
+
+ if (x >= mm_x_ll && x <= mm_x_ur &&
+ y >= mm_y_ll && y <= mm_y_ur)
+ *pmm_inner_effective_spads +=
+ spad_attenuation;
+ else
+ *pmm_outer_effective_spads +=
+ spad_attenuation;
+ }
+ }
+ }
+}
+
+
+void VL53LX::VL53LX_hist_copy_results_to_sys_and_core(
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_range_results_t *phist,
+ VL53LX_system_results_t *psys,
+ VL53LX_core_results_t *pcore)
+{
+
+
+ uint8_t i = 0;
+
+ VL53LX_range_data_t *pdata;
+
+ VL53LX_init_system_results(psys);
+
+ psys->result__interrupt_status = pbins->result__interrupt_status;
+ psys->result__range_status = phist->active_results;
+ psys->result__report_status = pbins->result__report_status;
+ psys->result__stream_count = pbins->result__stream_count;
+
+ pdata = &(phist->VL53LX_p_003[0]);
+
+ for (i = 0; i < phist->active_results; i++) {
+
+ switch (i) {
+ case 0:
+ psys->result__dss_actual_effective_spads_sd0 =
+ pdata->VL53LX_p_004;
+ psys->result__peak_signal_count_rate_mcps_sd0 =
+ pdata->peak_signal_count_rate_mcps;
+ psys->result__avg_signal_count_rate_mcps_sd0 =
+ pdata->avg_signal_count_rate_mcps;
+ psys->result__ambient_count_rate_mcps_sd0 =
+ pdata->ambient_count_rate_mcps;
+
+ psys->result__sigma_sd0 = pdata->VL53LX_p_002;
+ psys->result__phase_sd0 = pdata->VL53LX_p_011;
+
+ psys->result__final_crosstalk_corrected_range_mm_sd0 =
+ (uint16_t)pdata->median_range_mm;
+
+ psys->result__phase_sd1 = pdata->zero_distance_phase;
+
+ pcore->result_core__ranging_total_events_sd0 =
+ pdata->VL53LX_p_017;
+ pcore->result_core__signal_total_events_sd0 =
+ pdata->VL53LX_p_010;
+ pcore->result_core__total_periods_elapsed_sd0 =
+ pdata->total_periods_elapsed;
+ pcore->result_core__ambient_window_events_sd0 =
+ pdata->VL53LX_p_016;
+
+ break;
+ case 1:
+ psys->result__dss_actual_effective_spads_sd1 =
+ pdata->VL53LX_p_004;
+ psys->result__peak_signal_count_rate_mcps_sd1 =
+ pdata->peak_signal_count_rate_mcps;
+ psys->result__ambient_count_rate_mcps_sd1 =
+ pdata->ambient_count_rate_mcps;
+
+ psys->result__sigma_sd1 = pdata->VL53LX_p_002;
+ psys->result__phase_sd1 = pdata->VL53LX_p_011;
+
+ psys->result__final_crosstalk_corrected_range_mm_sd1 =
+ (uint16_t)pdata->median_range_mm;
+
+ pcore->result_core__ranging_total_events_sd1 =
+ pdata->VL53LX_p_017;
+ pcore->result_core__signal_total_events_sd1 =
+ pdata->VL53LX_p_010;
+ pcore->result_core__total_periods_elapsed_sd1 =
+ pdata->total_periods_elapsed;
+ pcore->result_core__ambient_window_events_sd1 =
+ pdata->VL53LX_p_016;
+ break;
+ }
+
+ pdata++;
+ }
+
+}
+
+VL53LX_Error VL53LX::VL53LX_sum_histogram_data(
+ VL53LX_histogram_bin_data_t *phist_input,
+ VL53LX_histogram_bin_data_t *phist_output)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t i = 0;
+ uint8_t smallest_bin_num = 0;
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ if (phist_output->VL53LX_p_021 >=
+ phist_input->VL53LX_p_021) {
+ smallest_bin_num = phist_input->VL53LX_p_021;
+ } else {
+ smallest_bin_num = phist_output->VL53LX_p_021;
+ }
+ }
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ for (i = 0; i < smallest_bin_num; i++)
+
+ {
+ phist_output->bin_data[i] += phist_input->bin_data[i];
+ }
+
+ if (status == VL53LX_ERROR_NONE)
+ phist_output->VL53LX_p_028 +=
+ phist_input->VL53LX_p_028;
+
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_avg_histogram_data(
+ uint8_t no_of_samples,
+ VL53LX_histogram_bin_data_t *phist_sum,
+ VL53LX_histogram_bin_data_t *phist_avg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t i = 0;
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ for (i = 0; i < phist_sum->VL53LX_p_021; i++) {
+
+
+
+ if (no_of_samples > 0)
+ phist_avg->bin_data[i] =
+ phist_sum->bin_data[i] /
+ (int32_t)no_of_samples;
+ else {
+ phist_avg->bin_data[i] = phist_sum->bin_data[i];
+ }
+ }
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ if (no_of_samples > 0)
+ phist_avg->VL53LX_p_028 =
+ phist_sum->VL53LX_p_028 /
+ (int32_t)no_of_samples;
+ else
+ phist_avg->VL53LX_p_028 =
+ phist_sum->VL53LX_p_028;
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_save_cfg_data()
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_LLDriverResults_t *pres =
+ VL53LXDevStructGetLLResultsHandle(Dev);
+
+ VL53LX_zone_private_dyn_cfg_t *pzone_dyn_cfg;
+ VL53LX_dynamic_config_t *pdynamic = &(pdev->dyn_cfg);
+
+
+ pzone_dyn_cfg =
+ &(pres->zone_dyn_cfgs.VL53LX_p_003[pdev->ll_state.cfg_zone_id]);
+
+ pzone_dyn_cfg->expected_stream_count =
+ pdev->ll_state.cfg_stream_count;
+
+ pzone_dyn_cfg->expected_gph_id =
+ pdev->ll_state.cfg_gph_id;
+
+ pzone_dyn_cfg->roi_config__user_roi_centre_spad =
+ pdynamic->roi_config__user_roi_centre_spad;
+
+ pzone_dyn_cfg->roi_config__user_roi_requested_global_xy_size =
+ pdynamic->roi_config__user_roi_requested_global_xy_size;
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_dynamic_zone_update(
+ VL53LX_range_results_t *presults)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_LLDriverResults_t *pres =
+ VL53LXDevStructGetLLResultsHandle(Dev);
+ VL53LX_zone_private_dyn_cfgs_t *pZ = &(pres->zone_dyn_cfgs);
+
+ uint8_t zone_id = pdev->ll_state.rd_zone_id;
+ uint8_t i;
+ uint16_t max_total_rate_per_spads;
+ uint16_t target_rate =
+ pdev->stat_cfg.dss_config__target_total_rate_mcps;
+ uint32_t temp = 0xFFFF;
+
+ pZ->VL53LX_p_003[zone_id].dss_requested_effective_spad_count = 0;
+
+
+ max_total_rate_per_spads =
+ presults->VL53LX_p_003[0].total_rate_per_spad_mcps;
+
+
+ for (i = 1; i < presults->active_results; i++) {
+
+
+ if (presults->VL53LX_p_003[i].total_rate_per_spad_mcps >
+ max_total_rate_per_spads)
+ max_total_rate_per_spads =
+ presults->VL53LX_p_003[i].total_rate_per_spad_mcps;
+
+ }
+
+ if (max_total_rate_per_spads == 0) {
+
+ temp = 0xFFFF;
+ } else {
+
+ temp = target_rate << 14;
+
+ temp = temp / max_total_rate_per_spads;
+
+
+ if (temp > 0xFFFF) {
+ temp = 0xFFFF;
+ }
+
+ }
+
+ pZ->VL53LX_p_003[zone_id].dss_requested_effective_spad_count =
+ (uint16_t)temp;
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_multizone_hist_bins_update()
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_ll_driver_state_t *pstate = &(pdev->ll_state);
+ VL53LX_zone_config_t *pzone_cfg = &(pdev->zone_cfg);
+ VL53LX_histogram_config_t *phist_cfg = &(pdev->hist_cfg);
+ VL53LX_histogram_config_t *pmulti_hist =
+ &(pzone_cfg->multizone_hist_cfg);
+
+ uint8_t next_range_is_odd_timing = (pstate->cfg_stream_count) % 2;
+
+ if (pzone_cfg->bin_config[pdev->ll_state.cfg_zone_id] ==
+ VL53LX_ZONECONFIG_BINCONFIG__LOWAMB) {
+ if (!next_range_is_odd_timing) {
+ phist_cfg->histogram_config__low_amb_even_bin_0_1 =
+ pmulti_hist->histogram_config__low_amb_even_bin_0_1;
+ phist_cfg->histogram_config__low_amb_even_bin_2_3 =
+ pmulti_hist->histogram_config__low_amb_even_bin_2_3;
+ phist_cfg->histogram_config__low_amb_even_bin_4_5 =
+ pmulti_hist->histogram_config__low_amb_even_bin_4_5;
+ }
+
+ if (next_range_is_odd_timing) {
+ phist_cfg->histogram_config__low_amb_odd_bin_0_1 =
+ pmulti_hist->histogram_config__low_amb_even_bin_0_1;
+ phist_cfg->histogram_config__low_amb_odd_bin_2_3 =
+ pmulti_hist->histogram_config__low_amb_even_bin_2_3;
+ phist_cfg->histogram_config__low_amb_odd_bin_4_5 =
+ pmulti_hist->histogram_config__low_amb_even_bin_4_5;
+ }
+ } else if (pzone_cfg->bin_config[pdev->ll_state.cfg_zone_id] ==
+ VL53LX_ZONECONFIG_BINCONFIG__MIDAMB) {
+ if (!next_range_is_odd_timing) {
+ phist_cfg->histogram_config__low_amb_even_bin_0_1 =
+ pmulti_hist->histogram_config__mid_amb_even_bin_0_1;
+ phist_cfg->histogram_config__low_amb_even_bin_2_3 =
+ pmulti_hist->histogram_config__mid_amb_even_bin_2_3;
+ phist_cfg->histogram_config__low_amb_even_bin_4_5 =
+ pmulti_hist->histogram_config__mid_amb_even_bin_4_5;
+ }
+
+ if (next_range_is_odd_timing) {
+ phist_cfg->histogram_config__low_amb_odd_bin_0_1 =
+ pmulti_hist->histogram_config__mid_amb_even_bin_0_1;
+ phist_cfg->histogram_config__low_amb_odd_bin_2_3 =
+ pmulti_hist->histogram_config__mid_amb_even_bin_2_3;
+ phist_cfg->histogram_config__low_amb_odd_bin_4_5 =
+ pmulti_hist->histogram_config__mid_amb_even_bin_4_5;
+ }
+ } else if (pzone_cfg->bin_config[pdev->ll_state.cfg_zone_id] ==
+ VL53LX_ZONECONFIG_BINCONFIG__HIGHAMB) {
+ if (!next_range_is_odd_timing) {
+ phist_cfg->histogram_config__low_amb_even_bin_0_1 =
+ pmulti_hist->histogram_config__high_amb_even_bin_0_1;
+ phist_cfg->histogram_config__low_amb_even_bin_2_3 =
+ pmulti_hist->histogram_config__high_amb_even_bin_2_3;
+ phist_cfg->histogram_config__low_amb_even_bin_4_5 =
+ pmulti_hist->histogram_config__high_amb_even_bin_4_5;
+ }
+
+ if (next_range_is_odd_timing) {
+ phist_cfg->histogram_config__low_amb_odd_bin_0_1 =
+ pmulti_hist->histogram_config__high_amb_even_bin_0_1;
+ phist_cfg->histogram_config__low_amb_odd_bin_2_3 =
+ pmulti_hist->histogram_config__high_amb_even_bin_2_3;
+ phist_cfg->histogram_config__low_amb_odd_bin_4_5 =
+ pmulti_hist->histogram_config__high_amb_even_bin_4_5;
+ }
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ VL53LX_copy_hist_bins_to_static_cfg(
+ phist_cfg,
+ &(pdev->stat_cfg),
+ &(pdev->tim_cfg));
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_update_internal_stream_counters(
+ uint8_t external_stream_count,
+ uint8_t *pinternal_stream_count,
+ uint8_t *pinternal_stream_count_val)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t stream_divider;
+
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ stream_divider = pdev->gen_cfg.global_config__stream_divider;
+
+ if (stream_divider == 0) {
+
+
+ *pinternal_stream_count = external_stream_count;
+
+ } else if (*pinternal_stream_count_val == (stream_divider - 1)) {
+
+
+ if (*pinternal_stream_count == 0xFF) {
+ *pinternal_stream_count = 0x80;
+ } else {
+ *pinternal_stream_count = *pinternal_stream_count + 1;
+ }
+
+
+ *pinternal_stream_count_val = 0;
+
+ } else {
+
+
+ *pinternal_stream_count_val = *pinternal_stream_count_val + 1;
+ }
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_set_histogram_multizone_initial_bin_config(
+ VL53LX_zone_config_t *pzone_cfg,
+ VL53LX_histogram_config_t *phist_cfg,
+ VL53LX_histogram_config_t *pmulti_hist)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ if (pzone_cfg->bin_config[0] ==
+ VL53LX_ZONECONFIG_BINCONFIG__LOWAMB) {
+ phist_cfg->histogram_config__low_amb_even_bin_0_1 =
+ pmulti_hist->histogram_config__low_amb_even_bin_0_1;
+ phist_cfg->histogram_config__low_amb_even_bin_2_3 =
+ pmulti_hist->histogram_config__low_amb_even_bin_2_3;
+ phist_cfg->histogram_config__low_amb_even_bin_4_5 =
+ pmulti_hist->histogram_config__low_amb_even_bin_4_5;
+
+ phist_cfg->histogram_config__low_amb_odd_bin_0_1 =
+ pmulti_hist->histogram_config__low_amb_even_bin_0_1;
+ phist_cfg->histogram_config__low_amb_odd_bin_2_3 =
+ pmulti_hist->histogram_config__low_amb_even_bin_2_3;
+ phist_cfg->histogram_config__low_amb_odd_bin_4_5 =
+ pmulti_hist->histogram_config__low_amb_even_bin_4_5;
+ } else if (pzone_cfg->bin_config[0] ==
+ VL53LX_ZONECONFIG_BINCONFIG__MIDAMB) {
+ phist_cfg->histogram_config__low_amb_even_bin_0_1 =
+ pmulti_hist->histogram_config__mid_amb_even_bin_0_1;
+ phist_cfg->histogram_config__low_amb_even_bin_2_3 =
+ pmulti_hist->histogram_config__mid_amb_even_bin_2_3;
+ phist_cfg->histogram_config__low_amb_even_bin_4_5 =
+ pmulti_hist->histogram_config__mid_amb_even_bin_4_5;
+
+ phist_cfg->histogram_config__low_amb_odd_bin_0_1 =
+ pmulti_hist->histogram_config__mid_amb_even_bin_0_1;
+ phist_cfg->histogram_config__low_amb_odd_bin_2_3 =
+ pmulti_hist->histogram_config__mid_amb_even_bin_2_3;
+ phist_cfg->histogram_config__low_amb_odd_bin_4_5 =
+ pmulti_hist->histogram_config__mid_amb_even_bin_4_5;
+ } else if (pzone_cfg->bin_config[0] ==
+ VL53LX_ZONECONFIG_BINCONFIG__HIGHAMB) {
+ phist_cfg->histogram_config__low_amb_even_bin_0_1 =
+ pmulti_hist->histogram_config__high_amb_even_bin_0_1;
+ phist_cfg->histogram_config__low_amb_even_bin_2_3 =
+ pmulti_hist->histogram_config__high_amb_even_bin_2_3;
+ phist_cfg->histogram_config__low_amb_even_bin_4_5 =
+ pmulti_hist->histogram_config__high_amb_even_bin_4_5;
+ phist_cfg->histogram_config__low_amb_odd_bin_0_1 =
+ pmulti_hist->histogram_config__high_amb_even_bin_0_1;
+ phist_cfg->histogram_config__low_amb_odd_bin_2_3 =
+ pmulti_hist->histogram_config__high_amb_even_bin_2_3;
+ phist_cfg->histogram_config__low_amb_odd_bin_4_5 =
+ pmulti_hist->histogram_config__high_amb_even_bin_4_5;
+ }
+
+ return status;
+}
+
+uint8_t VL53LX::VL53LX_encode_GPIO_interrupt_config(
+ VL53LX_GPIO_interrupt_config_t *pintconf)
+{
+ uint8_t system__interrupt_config;
+
+ system__interrupt_config = pintconf->intr_mode_distance;
+ system__interrupt_config |= ((pintconf->intr_mode_rate) << 2);
+ system__interrupt_config |= ((pintconf->intr_new_measure_ready) << 5);
+ system__interrupt_config |= ((pintconf->intr_no_target) << 6);
+ system__interrupt_config |= ((pintconf->intr_combined_mode) << 7);
+
+ return system__interrupt_config;
+}
+
+VL53LX_GPIO_interrupt_config_t VL53LX::VL53LX_decode_GPIO_interrupt_config(
+ uint8_t system__interrupt_config)
+{
+ VL53LX_GPIO_interrupt_config_t intconf;
+
+ intconf.intr_mode_distance = system__interrupt_config & 0x03;
+ intconf.intr_mode_rate = (system__interrupt_config >> 2) & 0x03;
+ intconf.intr_new_measure_ready = (system__interrupt_config >> 5) & 0x01;
+ intconf.intr_no_target = (system__interrupt_config >> 6) & 0x01;
+ intconf.intr_combined_mode = (system__interrupt_config >> 7) & 0x01;
+
+
+ intconf.threshold_rate_low = 0;
+ intconf.threshold_rate_high = 0;
+ intconf.threshold_distance_low = 0;
+ intconf.threshold_distance_high = 0;
+
+ return intconf;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_GPIO_distance_threshold(
+ uint16_t threshold_high,
+ uint16_t threshold_low)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+
+ pdev->dyn_cfg.system__thresh_high = threshold_high;
+ pdev->dyn_cfg.system__thresh_low = threshold_low;
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_set_GPIO_rate_threshold(
+ uint16_t threshold_high,
+ uint16_t threshold_low)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+
+ pdev->gen_cfg.system__thresh_rate_high = threshold_high;
+ pdev->gen_cfg.system__thresh_rate_low = threshold_low;
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_set_GPIO_thresholds_from_struct(
+ VL53LX_GPIO_interrupt_config_t *pintconf)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status = VL53LX_set_GPIO_distance_threshold(
+ pintconf->threshold_distance_high,
+ pintconf->threshold_distance_low);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_set_GPIO_rate_threshold(
+ pintconf->threshold_rate_high,
+ pintconf->threshold_rate_low);
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_set_ref_spad_char_config(
+ uint8_t vcsel_period_a,
+ uint32_t phasecal_timeout_us,
+ uint16_t total_rate_target_mcps,
+ uint16_t max_count_rate_rtn_limit_mcps,
+ uint16_t min_count_rate_rtn_limit_mcps,
+ uint16_t fast_osc_frequency)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t buffer[2];
+
+ uint32_t macro_period_us = 0;
+ uint32_t timeout_mclks = 0;
+
+ macro_period_us =
+ VL53LX_calc_macro_period_us(
+ fast_osc_frequency,
+ vcsel_period_a);
+ if (macro_period_us == 0) {
+ macro_period_us = 1;
+ }
+
+
+ timeout_mclks = phasecal_timeout_us << 12;
+ timeout_mclks = timeout_mclks + (macro_period_us >> 1);
+ timeout_mclks = timeout_mclks / macro_period_us;
+
+ if (timeout_mclks > 0xFF) {
+ pdev->gen_cfg.phasecal_config__timeout_macrop = 0xFF;
+ } else
+ pdev->gen_cfg.phasecal_config__timeout_macrop =
+ (uint8_t)timeout_mclks;
+
+ pdev->tim_cfg.range_config__vcsel_period_a = vcsel_period_a;
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WrByte(
+ Dev,
+ VL53LX_PHASECAL_CONFIG__TIMEOUT_MACROP,
+ pdev->gen_cfg.phasecal_config__timeout_macrop);
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WrByte(
+ Dev,
+ VL53LX_RANGE_CONFIG__VCSEL_PERIOD_A,
+ pdev->tim_cfg.range_config__vcsel_period_a);
+
+
+
+ buffer[0] = pdev->tim_cfg.range_config__vcsel_period_a;
+ buffer[1] = pdev->tim_cfg.range_config__vcsel_period_a;
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WriteMulti(
+ Dev,
+ VL53LX_SD_CONFIG__WOI_SD0,
+ buffer,
+ 2);
+
+
+
+ pdev->customer.ref_spad_char__total_rate_target_mcps =
+ total_rate_target_mcps;
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WrWord(
+ Dev,
+ VL53LX_REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS,
+ total_rate_target_mcps);
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WrWord(
+ Dev,
+ VL53LX_RANGE_CONFIG__SIGMA_THRESH,
+ max_count_rate_rtn_limit_mcps);
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WrWord(
+ Dev,
+ VL53LX_RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS,
+ min_count_rate_rtn_limit_mcps);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_set_ssc_config(
+ VL53LX_ssc_config_t *pssc_cfg,
+ uint16_t fast_osc_frequency)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t buffer[5];
+
+ uint32_t macro_period_us = 0;
+ uint16_t timeout_encoded = 0;
+
+ macro_period_us =
+ VL53LX_calc_macro_period_us(
+ fast_osc_frequency,
+ pssc_cfg->VL53LX_p_005);
+
+
+ timeout_encoded =
+ VL53LX_calc_encoded_timeout(
+ pssc_cfg->timeout_us,
+ macro_period_us);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WrByte(
+ Dev,
+ VL53LX_CAL_CONFIG__VCSEL_START,
+ pssc_cfg->vcsel_start);
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WrByte(
+ Dev,
+ VL53LX_GLOBAL_CONFIG__VCSEL_WIDTH,
+ pssc_cfg->vcsel_width);
+
+
+
+ buffer[0] = (uint8_t)((timeout_encoded & 0x0000FF00) >> 8);
+ buffer[1] = (uint8_t)(timeout_encoded & 0x000000FF);
+ buffer[2] = pssc_cfg->VL53LX_p_005;
+ buffer[3] = (uint8_t)((pssc_cfg->rate_limit_mcps & 0x0000FF00) >> 8);
+ buffer[4] = (uint8_t)(pssc_cfg->rate_limit_mcps & 0x000000FF);
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WriteMulti(
+ Dev,
+ VL53LX_RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
+ buffer,
+ 5);
+
+
+
+ buffer[0] = pssc_cfg->VL53LX_p_005;
+ buffer[1] = pssc_cfg->VL53LX_p_005;
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WriteMulti(
+ Dev,
+ VL53LX_SD_CONFIG__WOI_SD0,
+ buffer,
+ 2);
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WrByte(
+ Dev,
+ VL53LX_NVM_BIST__CTRL,
+ pssc_cfg->array_select);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_spad_rate_data(
+ VL53LX_spad_rate_data_t *pspad_rates)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ int i = 0;
+
+ uint8_t VL53LX_p_003[512];
+ uint8_t *pdata = &VL53LX_p_003[0];
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_firmware();
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_ReadMulti(
+ Dev,
+ VL53LX_PRIVATE__PATCH_BASE_ADDR_RSLV,
+ pdata,
+ 512);
+
+
+ pdata = &VL53LX_p_003[0];
+ for (i = 0; i < VL53LX_NO_OF_SPAD_ENABLES; i++) {
+ pspad_rates->rate_data[i] =
+ (uint16_t)VL53LX_decode_unsigned_integer(pdata, 2);
+ pdata += 2;
+ }
+
+
+
+ pspad_rates->VL53LX_p_020 = VL53LX_NO_OF_SPAD_ENABLES;
+ pspad_rates->no_of_values = VL53LX_NO_OF_SPAD_ENABLES;
+ pspad_rates->fractional_bits = 15;
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_firmware();
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_dynamic_xtalk_correction_calc_required_samples()
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_LLDriverResults_t *pres = VL53LXDevStructGetLLResultsHandle(Dev);
+ VL53LX_smudge_corrector_config_t *pconfig =
+ &(pdev->smudge_correct_config);
+ VL53LX_smudge_corrector_internals_t *pint =
+ &(pdev->smudge_corrector_internals);
+
+ VL53LX_range_results_t *presults = &(pres->range_results);
+ VL53LX_range_data_t *pxmonitor = &(presults->xmonitor);
+
+ uint32_t peak_duration_us = pxmonitor->peak_duration_us;
+
+ uint64_t temp64a;
+ uint64_t temp64z;
+
+ temp64a = pxmonitor->VL53LX_p_017 +
+ pxmonitor->VL53LX_p_016;
+ if (peak_duration_us == 0) {
+ peak_duration_us = 1000;
+ }
+ temp64a = do_division_u((temp64a * 1000), peak_duration_us);
+ temp64a = do_division_u((temp64a * 1000), peak_duration_us);
+
+ temp64z = pconfig->noise_margin * pxmonitor->VL53LX_p_004;
+ if (temp64z == 0) {
+ temp64z = 1;
+ }
+ temp64a = temp64a * 1000 * 256;
+ temp64a = do_division_u(temp64a, temp64z);
+ temp64a = temp64a * 1000 * 256;
+ temp64a = do_division_u(temp64a, temp64z);
+
+ pint->required_samples = (uint32_t)temp64a;
+
+
+ if (pint->required_samples < 2) {
+ pint->required_samples = 2;
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_dynamic_xtalk_correction_calc_new_xtalk(
+ uint32_t xtalk_offset_out,
+ VL53LX_smudge_corrector_config_t *pconfig,
+ VL53LX_smudge_corrector_data_t *pout,
+ uint8_t add_smudge,
+ uint8_t soft_update
+)
+{
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ int16_t x_gradient_scaler;
+ int16_t y_gradient_scaler;
+ uint32_t orig_xtalk_offset;
+ int16_t orig_x_gradient;
+ int16_t orig_y_gradient;
+ uint8_t histo_merge_nb;
+ uint8_t i;
+ int32_t itemp32;
+ uint32_t SmudgeFactor;
+ VL53LX_xtalk_config_t *pX = &(pdev->xtalk_cfg);
+ VL53LX_xtalk_calibration_results_t *pC = &(pdev->xtalk_cal);
+ uint32_t *pcpo;
+ uint32_t max, nXtalk, cXtalk;
+
+ if (add_smudge == 1) {
+ pout->algo__crosstalk_compensation_plane_offset_kcps =
+ (uint32_t)xtalk_offset_out +
+ (uint32_t)pconfig->smudge_margin;
+ } else {
+ pout->algo__crosstalk_compensation_plane_offset_kcps =
+ (uint32_t)xtalk_offset_out;
+ }
+
+
+ orig_xtalk_offset =
+ pX->nvm_default__crosstalk_compensation_plane_offset_kcps;
+
+ orig_x_gradient =
+ pX->nvm_default__crosstalk_compensation_x_plane_gradient_kcps;
+
+ orig_y_gradient =
+ pX->nvm_default__crosstalk_compensation_y_plane_gradient_kcps;
+
+ if (((pconfig->user_scaler_set == 0) ||
+ (pconfig->scaler_calc_method == 1)) &&
+ (pC->algo__crosstalk_compensation_plane_offset_kcps != 0)) {
+
+ VL53LX_compute_histo_merge_nb(&histo_merge_nb);
+
+ if (histo_merge_nb == 0) {
+ histo_merge_nb = 1;
+ }
+ if (pdev->tuning_parms.tp_hist_merge != 1)
+ orig_xtalk_offset =
+ pC->algo__crosstalk_compensation_plane_offset_kcps;
+ else
+ orig_xtalk_offset =
+ pC->algo__xtalk_cpo_HistoMerge_kcps[histo_merge_nb - 1];
+
+ orig_x_gradient =
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps;
+
+ orig_y_gradient =
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps;
+ }
+
+
+ if ((pconfig->user_scaler_set == 0) && (orig_x_gradient == 0)) {
+ pout->gradient_zero_flag |= 0x01;
+ }
+
+ if ((pconfig->user_scaler_set == 0) && (orig_y_gradient == 0)) {
+ pout->gradient_zero_flag |= 0x02;
+ }
+
+
+
+ if (orig_xtalk_offset == 0) {
+ orig_xtalk_offset = 1;
+ }
+
+
+
+ if (pconfig->user_scaler_set == 1) {
+ x_gradient_scaler = pconfig->x_gradient_scaler;
+ y_gradient_scaler = pconfig->y_gradient_scaler;
+ } else {
+
+ x_gradient_scaler = (int16_t)do_division_s(
+ (((int32_t)orig_x_gradient) << 6),
+ orig_xtalk_offset);
+ pconfig->x_gradient_scaler = x_gradient_scaler;
+ y_gradient_scaler = (int16_t)do_division_s(
+ (((int32_t)orig_y_gradient) << 6),
+ orig_xtalk_offset);
+ pconfig->y_gradient_scaler = y_gradient_scaler;
+ }
+
+
+
+ if (pconfig->scaler_calc_method == 0) {
+
+
+ itemp32 = (int32_t)(
+ pout->algo__crosstalk_compensation_plane_offset_kcps *
+ x_gradient_scaler);
+ itemp32 = itemp32 >> 6;
+ if (itemp32 > 0xFFFF) {
+ itemp32 = 0xFFFF;
+ }
+
+ pout->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ (int16_t)itemp32;
+
+ itemp32 = (int32_t)(
+ pout->algo__crosstalk_compensation_plane_offset_kcps *
+ y_gradient_scaler);
+ itemp32 = itemp32 >> 6;
+ if (itemp32 > 0xFFFF) {
+ itemp32 = 0xFFFF;
+ }
+
+ pout->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ (int16_t)itemp32;
+ } else if (pconfig->scaler_calc_method == 1) {
+
+
+ itemp32 = (int32_t)(orig_xtalk_offset -
+ pout->algo__crosstalk_compensation_plane_offset_kcps);
+ itemp32 = (int32_t)(do_division_s(itemp32, 16));
+ itemp32 = itemp32 << 2;
+ itemp32 = itemp32 + (int32_t)(orig_x_gradient);
+ if (itemp32 > 0xFFFF) {
+ itemp32 = 0xFFFF;
+ }
+
+ pout->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ (int16_t)itemp32;
+
+ itemp32 = (int32_t)(orig_xtalk_offset -
+ pout->algo__crosstalk_compensation_plane_offset_kcps);
+ itemp32 = (int32_t)(do_division_s(itemp32, 80));
+ itemp32 = itemp32 << 2;
+ itemp32 = itemp32 + (int32_t)(orig_y_gradient);
+ if (itemp32 > 0xFFFF) {
+ itemp32 = 0xFFFF;
+ }
+
+ pout->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ (int16_t)itemp32;
+ }
+
+
+ if ((pconfig->smudge_corr_apply_enabled == 1) &&
+ (soft_update != 1)) {
+
+ pout->new_xtalk_applied_flag = 1;
+ nXtalk = pout->algo__crosstalk_compensation_plane_offset_kcps;
+
+ VL53LX_compute_histo_merge_nb(&histo_merge_nb);
+ max = pdev->tuning_parms.tp_hist_merge_max_size;
+ pcpo = &(pC->algo__xtalk_cpo_HistoMerge_kcps[0]);
+ if ((histo_merge_nb > 0) &&
+ (pdev->tuning_parms.tp_hist_merge == 1) &&
+ (nXtalk != 0)) {
+ cXtalk =
+ pC->algo__xtalk_cpo_HistoMerge_kcps[histo_merge_nb - 1];
+ SmudgeFactor = cXtalk * 1000 / nXtalk;
+ if (SmudgeFactor >= pconfig->max_smudge_factor) {
+ pout->new_xtalk_applied_flag = 0;
+ } else if (SmudgeFactor > 0)
+ for (i = 0; i < max; i++) {
+ *pcpo *= 1000;
+ *pcpo /= SmudgeFactor;
+ pcpo++;
+ }
+ }
+ if (pout->new_xtalk_applied_flag) {
+
+ pX->algo__crosstalk_compensation_plane_offset_kcps =
+ pout->algo__crosstalk_compensation_plane_offset_kcps;
+ pX->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pout->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pX->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pout->algo__crosstalk_compensation_y_plane_gradient_kcps;
+
+ if (pconfig->smudge_corr_single_apply == 1) {
+
+ pconfig->smudge_corr_apply_enabled = 0;
+ pconfig->smudge_corr_single_apply = 0;
+ }
+ }
+ }
+
+
+ if (soft_update != 1) {
+ pout->smudge_corr_valid = 1;
+ }
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_dynamic_xtalk_correction_corrector()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_LLDriverResults_t *pres = VL53LXDevStructGetLLResultsHandle(Dev);
+ VL53LX_smudge_corrector_config_t *pconfig =
+ &(pdev->smudge_correct_config);
+ VL53LX_smudge_corrector_internals_t *pint =
+ &(pdev->smudge_corrector_internals);
+ VL53LX_smudge_corrector_data_t *pout =
+ &(pres->range_results.smudge_corrector_data);
+ VL53LX_range_results_t *pR = &(pres->range_results);
+ VL53LX_xtalk_config_t *pX = &(pdev->xtalk_cfg);
+
+ uint8_t run_smudge_detection = 0;
+ uint8_t merging_complete = 0;
+ uint8_t run_nodetect = 0;
+ uint8_t ambient_check = 0;
+ int32_t itemp32 = 0;
+ uint64_t utemp64 = 0;
+ uint8_t continue_processing = CONT_CONTINUE;
+ uint32_t xtalk_offset_out = 0;
+ uint32_t xtalk_offset_in = 0;
+ uint32_t current_xtalk = 0;
+ uint32_t smudge_margin_adjusted = 0;
+ uint8_t i = 0;
+ uint8_t nodetect_index = 0;
+ uint16_t amr;
+ uint32_t cco;
+ uint8_t histo_merge_nb;
+
+
+ VL53LX_compute_histo_merge_nb(&histo_merge_nb);
+ if ((histo_merge_nb == 0) ||
+ (pdev->tuning_parms.tp_hist_merge != 1)) {
+ histo_merge_nb = 1;
+ }
+
+
+ VL53LX_dynamic_xtalk_correction_output_init(pres);
+
+
+ ambient_check = (pconfig->smudge_corr_ambient_threshold == 0) ||
+ ((pconfig->smudge_corr_ambient_threshold * histo_merge_nb) >
+ ((uint32_t)pR->xmonitor.ambient_count_rate_mcps));
+
+
+ merging_complete =
+ ((pdev->tuning_parms.tp_hist_merge != 1) ||
+ (histo_merge_nb == pdev->tuning_parms.tp_hist_merge_max_size));
+ run_smudge_detection =
+ (pconfig->smudge_corr_enabled == 1) &&
+ ambient_check &&
+ (pR->xmonitor.range_status
+ == VL53LX_DEVICEERROR_RANGECOMPLETE) &&
+ merging_complete;
+
+
+ if ((pR->xmonitor.range_status
+ != VL53LX_DEVICEERROR_RANGECOMPLETE) &&
+ (pconfig->smudge_corr_enabled == 1)) {
+
+ run_nodetect = 2;
+ for (i = 0; i < pR->active_results; i++) {
+ if (pR->VL53LX_p_003[i].range_status ==
+ VL53LX_DEVICEERROR_RANGECOMPLETE) {
+ if (pR->VL53LX_p_003[i].median_range_mm
+ <=
+ pconfig->nodetect_min_range_mm) {
+ run_nodetect = 0;
+ } else {
+ if (run_nodetect == 2) {
+ run_nodetect = 1;
+ nodetect_index = i;
+ }
+ }
+ }
+ }
+
+ if (run_nodetect == 2)
+
+ {
+ run_nodetect = 0;
+ }
+
+ amr =
+ pR->VL53LX_p_003[nodetect_index].ambient_count_rate_mcps;
+
+ if (run_nodetect == 1) {
+
+
+
+
+ utemp64 = 1000 * ((uint64_t)amr);
+
+
+ utemp64 = utemp64 << 9;
+
+
+ if (utemp64 < pconfig->nodetect_ambient_threshold) {
+ run_nodetect = 1;
+ } else {
+ run_nodetect = 0;
+ }
+
+ }
+ }
+
+
+ if (run_smudge_detection) {
+
+ pint->nodetect_counter = 0;
+
+
+ VL53LX_dynamic_xtalk_correction_calc_required_samples();
+
+
+ xtalk_offset_in =
+ pR->xmonitor.VL53LX_p_009;
+
+
+ cco = pX->algo__crosstalk_compensation_plane_offset_kcps;
+ current_xtalk = ((uint32_t)cco) << 2;
+
+
+ smudge_margin_adjusted =
+ ((uint32_t)(pconfig->smudge_margin)) << 2;
+
+
+ itemp32 = xtalk_offset_in - current_xtalk +
+ smudge_margin_adjusted;
+
+ if (itemp32 < 0) {
+ itemp32 = itemp32 * (-1);
+ }
+
+
+ if (itemp32 > ((int32_t)pconfig->single_xtalk_delta)) {
+ if ((int32_t)xtalk_offset_in >
+ ((int32_t)current_xtalk -
+ (int32_t)smudge_margin_adjusted)) {
+ pout->single_xtalk_delta_flag = 1;
+ } else {
+ pout->single_xtalk_delta_flag = 2;
+ }
+ }
+
+
+ pint->current_samples = pint->current_samples + 1;
+
+
+ if (pint->current_samples > pconfig->sample_limit) {
+ pout->sample_limit_exceeded_flag = 1;
+ continue_processing = CONT_RESET;
+ } else {
+ pint->accumulator = pint->accumulator +
+ xtalk_offset_in;
+ }
+
+ if (pint->current_samples < pint->required_samples) {
+ continue_processing = CONT_NEXT_LOOP;
+ }
+
+
+ xtalk_offset_out =
+ (uint32_t)(do_division_u(pint->accumulator,
+ pint->current_samples));
+
+
+ itemp32 = xtalk_offset_out - current_xtalk +
+ smudge_margin_adjusted;
+
+ if (itemp32 < 0) {
+ itemp32 = itemp32 * (-1);
+ }
+
+ if (continue_processing == CONT_CONTINUE &&
+ (itemp32 >= ((int32_t)(pconfig->averaged_xtalk_delta)))
+ ) {
+ if ((int32_t)xtalk_offset_out >
+ ((int32_t)current_xtalk -
+ (int32_t)smudge_margin_adjusted)) {
+ pout->averaged_xtalk_delta_flag = 1;
+ } else {
+ pout->averaged_xtalk_delta_flag = 2;
+ }
+ }
+
+ if (continue_processing == CONT_CONTINUE &&
+ (itemp32 < ((int32_t)(pconfig->averaged_xtalk_delta)))
+ )
+
+ {
+ continue_processing = CONT_RESET;
+ }
+
+
+
+ pout->smudge_corr_clipped = 0;
+ if ((continue_processing == CONT_CONTINUE) &&
+ (pconfig->smudge_corr_clip_limit != 0)) {
+ if (xtalk_offset_out >
+ (pconfig->smudge_corr_clip_limit * histo_merge_nb)) {
+ pout->smudge_corr_clipped = 1;
+ continue_processing = CONT_RESET;
+ }
+ }
+
+
+
+ if (pconfig->user_xtalk_offset_limit_hi &&
+ (xtalk_offset_out >
+ pconfig->user_xtalk_offset_limit))
+ xtalk_offset_out =
+ pconfig->user_xtalk_offset_limit;
+
+
+
+ if ((pconfig->user_xtalk_offset_limit_hi == 0) &&
+ (xtalk_offset_out <
+ pconfig->user_xtalk_offset_limit))
+ xtalk_offset_out =
+ pconfig->user_xtalk_offset_limit;
+
+
+
+ xtalk_offset_out = xtalk_offset_out >> 2;
+ if (xtalk_offset_out > 0x3FFFF) {
+ xtalk_offset_out = 0x3FFFF;
+ }
+
+
+ if (continue_processing == CONT_CONTINUE) {
+
+ VL53LX_dynamic_xtalk_correction_calc_new_xtalk(
+ xtalk_offset_out,
+ pconfig,
+ pout,
+ 1,
+ 0
+ );
+
+
+ continue_processing = CONT_RESET;
+ } else {
+
+ VL53LX_dynamic_xtalk_correction_calc_new_xtalk(
+ xtalk_offset_out,
+ pconfig,
+ pout,
+ 1,
+ 1
+ );
+ }
+
+
+ if (continue_processing == CONT_RESET) {
+ pint->accumulator = 0;
+ pint->current_samples = 0;
+ pint->nodetect_counter = 0;
+ }
+
+ }
+
+ continue_processing = CONT_CONTINUE;
+ if (run_nodetect == 1) {
+
+ pint->nodetect_counter += 1;
+
+
+ if (pint->nodetect_counter < pconfig->nodetect_sample_limit) {
+ continue_processing = CONT_NEXT_LOOP;
+ }
+
+
+ xtalk_offset_out = (uint32_t)(pconfig->nodetect_xtalk_offset);
+
+ if (continue_processing == CONT_CONTINUE) {
+
+ VL53LX_dynamic_xtalk_correction_calc_new_xtalk(
+ xtalk_offset_out,
+ pconfig,
+ pout,
+ 0,
+ 0
+ );
+
+
+ pout->smudge_corr_valid = 2;
+
+
+ continue_processing = CONT_RESET;
+ } else {
+
+ VL53LX_dynamic_xtalk_correction_calc_new_xtalk(
+ xtalk_offset_out,
+ pconfig,
+ pout,
+ 0,
+ 1
+ );
+ }
+
+
+ if (continue_processing == CONT_RESET) {
+ pint->accumulator = 0;
+ pint->current_samples = 0;
+ pint->nodetect_counter = 0;
+ }
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_dynamic_xtalk_correction_data_init()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_LLDriverResults_t *pres = VL53LXDevStructGetLLResultsHandle(Dev);
+
+ pdev->smudge_correct_config.smudge_corr_enabled = 1;
+ pdev->smudge_correct_config.smudge_corr_apply_enabled = 1;
+ pdev->smudge_correct_config.smudge_corr_single_apply =
+ VL53LX_TUNINGPARM_DYNXTALK_SMUDGE_COR_SINGLE_APPLY_DEFAULT;
+
+ pdev->smudge_correct_config.smudge_margin =
+ VL53LX_TUNINGPARM_DYNXTALK_SMUDGE_MARGIN_DEFAULT;
+ pdev->smudge_correct_config.noise_margin =
+ VL53LX_TUNINGPARM_DYNXTALK_NOISE_MARGIN_DEFAULT;
+ pdev->smudge_correct_config.user_xtalk_offset_limit =
+ VL53LX_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_DEFAULT;
+ pdev->smudge_correct_config.user_xtalk_offset_limit_hi =
+ VL53LX_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_HI_DEFAULT;
+ pdev->smudge_correct_config.sample_limit =
+ VL53LX_TUNINGPARM_DYNXTALK_SAMPLE_LIMIT_DEFAULT;
+ pdev->smudge_correct_config.single_xtalk_delta =
+ VL53LX_TUNINGPARM_DYNXTALK_SINGLE_XTALK_DELTA_DEFAULT;
+ pdev->smudge_correct_config.averaged_xtalk_delta =
+ VL53LX_TUNINGPARM_DYNXTALK_AVERAGED_XTALK_DELTA_DEFAULT;
+ pdev->smudge_correct_config.smudge_corr_clip_limit =
+ VL53LX_TUNINGPARM_DYNXTALK_CLIP_LIMIT_DEFAULT;
+ pdev->smudge_correct_config.smudge_corr_ambient_threshold =
+ VL53LX_TUNINGPARM_DYNXTALK_XTALK_AMB_THRESHOLD_DEFAULT;
+ pdev->smudge_correct_config.scaler_calc_method =
+ 0;
+ pdev->smudge_correct_config.x_gradient_scaler =
+ VL53LX_TUNINGPARM_DYNXTALK_XGRADIENT_SCALER_DEFAULT;
+ pdev->smudge_correct_config.y_gradient_scaler =
+ VL53LX_TUNINGPARM_DYNXTALK_YGRADIENT_SCALER_DEFAULT;
+ pdev->smudge_correct_config.user_scaler_set =
+ VL53LX_TUNINGPARM_DYNXTALK_USER_SCALER_SET_DEFAULT;
+ pdev->smudge_correct_config.nodetect_ambient_threshold =
+ VL53LX_TUNINGPARM_DYNXTALK_NODETECT_AMB_THRESHOLD_KCPS_DEFAULT;
+ pdev->smudge_correct_config.nodetect_sample_limit =
+ VL53LX_TUNINGPARM_DYNXTALK_NODETECT_SAMPLE_LIMIT_DEFAULT;
+ pdev->smudge_correct_config.nodetect_xtalk_offset =
+ VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS_DEFAULT;
+ pdev->smudge_correct_config.nodetect_min_range_mm =
+ VL53LX_TUNINGPARM_DYNXTALK_NODETECT_MIN_RANGE_MM_DEFAULT;
+ pdev->smudge_correct_config.max_smudge_factor =
+ VL53LX_TUNINGPARM_DYNXTALK_MAX_SMUDGE_FACTOR_DEFAULT;
+
+
+ pdev->smudge_corrector_internals.current_samples = 0;
+ pdev->smudge_corrector_internals.required_samples = 0;
+ pdev->smudge_corrector_internals.accumulator = 0;
+ pdev->smudge_corrector_internals.nodetect_counter = 0;
+
+
+ VL53LX_dynamic_xtalk_correction_output_init(pres);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_dynamic_xtalk_correction_output_init(
+ VL53LX_LLDriverResults_t *pres
+)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_smudge_corrector_data_t *pdata;
+
+ pdata = &(pres->range_results.smudge_corrector_data);
+
+ pdata->smudge_corr_valid = 0;
+ pdata->smudge_corr_clipped = 0;
+ pdata->single_xtalk_delta_flag = 0;
+ pdata->averaged_xtalk_delta_flag = 0;
+ pdata->sample_limit_exceeded_flag = 0;
+ pdata->gradient_zero_flag = 0;
+ pdata->new_xtalk_applied_flag = 0;
+
+ pdata->algo__crosstalk_compensation_plane_offset_kcps = 0;
+ pdata->algo__crosstalk_compensation_x_plane_gradient_kcps = 0;
+ pdata->algo__crosstalk_compensation_y_plane_gradient_kcps = 0;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_xtalk_cal_data_init()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->xtalk_cal.algo__crosstalk_compensation_plane_offset_kcps = 0;
+ pdev->xtalk_cal.algo__crosstalk_compensation_x_plane_gradient_kcps = 0;
+ pdev->xtalk_cal.algo__crosstalk_compensation_y_plane_gradient_kcps = 0;
+ memset(&pdev->xtalk_cal.algo__xtalk_cpo_HistoMerge_kcps[0], 0,
+ sizeof(pdev->xtalk_cal.algo__xtalk_cpo_HistoMerge_kcps));
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_low_power_auto_data_init()
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->low_power_auto_data.vhv_loop_bound =
+ VL53LX_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT;
+ pdev->low_power_auto_data.is_low_power_auto_mode = 0;
+ pdev->low_power_auto_data.low_power_auto_range_count = 0;
+ pdev->low_power_auto_data.saved_interrupt_config = 0;
+ pdev->low_power_auto_data.saved_vhv_init = 0;
+ pdev->low_power_auto_data.saved_vhv_timeout = 0;
+ pdev->low_power_auto_data.first_run_phasecal_result = 0;
+ pdev->low_power_auto_data.dss__total_rate_per_spad_mcps = 0;
+ pdev->low_power_auto_data.dss__required_spads = 0;
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_low_power_auto_data_stop_range()
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pdev->low_power_auto_data.low_power_auto_range_count = 0xFF;
+
+ pdev->low_power_auto_data.first_run_phasecal_result = 0;
+ pdev->low_power_auto_data.dss__total_rate_per_spad_mcps = 0;
+ pdev->low_power_auto_data.dss__required_spads = 0;
+
+
+ if (pdev->low_power_auto_data.saved_vhv_init != 0)
+ pdev->stat_nvm.vhv_config__init =
+ pdev->low_power_auto_data.saved_vhv_init;
+ if (pdev->low_power_auto_data.saved_vhv_timeout != 0)
+ pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound =
+ pdev->low_power_auto_data.saved_vhv_timeout;
+
+ pdev->gen_cfg.phasecal_config__override = 0x00;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_config_low_power_auto_mode(
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_low_power_auto_data_t *plpadata
+)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ plpadata->is_low_power_auto_mode = 1;
+
+
+ plpadata->low_power_auto_range_count = 0;
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+
+
+
+ VL53LX_SEQUENCE_RANGE_EN;
+
+
+ pgeneral->dss_config__manual_effective_spads_select = 200 << 8;
+ pgeneral->dss_config__roi_mode_control =
+ VL53LX_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS;
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_low_power_auto_setup_manual_calibration()
+{
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ pdev->low_power_auto_data.saved_vhv_init =
+ pdev->stat_nvm.vhv_config__init;
+ pdev->low_power_auto_data.saved_vhv_timeout =
+ pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound;
+
+
+ pdev->stat_nvm.vhv_config__init &= 0x7F;
+
+ pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound =
+ (pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound & 0x03) +
+ (pdev->low_power_auto_data.vhv_loop_bound << 2);
+
+ pdev->gen_cfg.phasecal_config__override = 0x01;
+ pdev->low_power_auto_data.first_run_phasecal_result =
+ pdev->dbg_results.phasecal_result__vcsel_start;
+ pdev->gen_cfg.cal_config__vcsel_start =
+ pdev->low_power_auto_data.first_run_phasecal_result;
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_low_power_auto_update_DSS()
+{
+
+
+
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ VL53LX_system_results_t *pS = &(pdev->sys_results);
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint32_t utemp32a;
+
+ utemp32a =
+ pS->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0
+ + pS->result__ambient_count_rate_mcps_sd0;
+
+
+ if (utemp32a > 0xFFFF) {
+ utemp32a = 0xFFFF;
+ }
+
+
+
+ utemp32a = utemp32a << 16;
+
+
+ if (pdev->sys_results.result__dss_actual_effective_spads_sd0 == 0) {
+ status = VL53LX_ERROR_DIVISION_BY_ZERO;
+ } else {
+
+ utemp32a = utemp32a /
+ pdev->sys_results.result__dss_actual_effective_spads_sd0;
+
+ pdev->low_power_auto_data.dss__total_rate_per_spad_mcps =
+ utemp32a;
+
+
+ utemp32a = pdev->stat_cfg.dss_config__target_total_rate_mcps <<
+ 16;
+
+
+ if (pdev->low_power_auto_data.dss__total_rate_per_spad_mcps
+ == 0) {
+ status = VL53LX_ERROR_DIVISION_BY_ZERO;
+ } else {
+
+ utemp32a = utemp32a /
+ pdev->low_power_auto_data.dss__total_rate_per_spad_mcps;
+
+
+ if (utemp32a > 0xFFFF) {
+ utemp32a = 0xFFFF;
+ }
+
+
+ pdev->low_power_auto_data.dss__required_spads =
+ (uint16_t)utemp32a;
+
+
+ pdev->gen_cfg.dss_config__manual_effective_spads_select
+ = pdev->low_power_auto_data.dss__required_spads;
+ pdev->gen_cfg.dss_config__roi_mode_control =
+ VL53LX_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS;
+ }
+
+ }
+
+ if (status == VL53LX_ERROR_DIVISION_BY_ZERO) {
+
+
+
+ pdev->low_power_auto_data.dss__required_spads = 0x8000;
+
+
+ pdev->gen_cfg.dss_config__manual_effective_spads_select =
+ pdev->low_power_auto_data.dss__required_spads;
+ pdev->gen_cfg.dss_config__roi_mode_control =
+ VL53LX_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS;
+
+
+ status = VL53LX_ERROR_NONE;
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_compute_histo_merge_nb(uint8_t *histo_merge_nb)
+{
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t i, timing;
+ uint8_t sum = 0;
+
+ timing = (pdev->hist_data.bin_seq[0] == 7 ? 1 : 0);
+ for (i = 0; i < VL53LX_BIN_REC_SIZE; i++)
+ if (pdev->multi_bins_rec[i][timing][7] > 0) {
+ sum++;
+ }
+ *histo_merge_nb = sum;
+
+ return status;
+}
+
+/* vl53lx_wait.c */
+
+
+VL53LX_Error VL53LX::VL53LX_wait_for_boot_completion()
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t fw_ready = 0;
+
+ if (pdev->wait_method == VL53LX_WAIT_METHOD_BLOCKING) {
+
+
+
+ status =
+ VL53LX_poll_for_boot_completion(VL53LX_BOOT_COMPLETION_POLLING_TIMEOUT_MS);
+
+ } else {
+
+
+
+ fw_ready = 0;
+ while (fw_ready == 0x00 && status == VL53LX_ERROR_NONE) {
+ status = VL53LX_is_boot_complete(
+ &fw_ready);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_WaitMs(
+ Dev,
+ VL53LX_POLLING_DELAY_MS);
+ }
+ }
+ }
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_wait_for_firmware_ready()
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t fw_ready = 0;
+ uint8_t mode_start = 0;
+
+ mode_start =
+ pdev->sys_ctrl.system__mode_start &
+ VL53LX_DEVICEMEASUREMENTMODE_MODE_MASK;
+
+
+
+ if ((mode_start == VL53LX_DEVICEMEASUREMENTMODE_TIMED) ||
+ (mode_start == VL53LX_DEVICEMEASUREMENTMODE_SINGLESHOT)) {
+
+ if (pdev->wait_method == VL53LX_WAIT_METHOD_BLOCKING) {
+
+
+
+ status =
+ VL53LX_poll_for_firmware_ready(
+ VL53LX_RANGE_COMPLETION_POLLING_TIMEOUT_MS);
+
+ } else {
+
+
+
+ fw_ready = 0;
+ while (fw_ready == 0x00 && status ==
+ VL53LX_ERROR_NONE) {
+ status = VL53LX_is_firmware_ready(
+ &fw_ready);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_WaitMs(
+ Dev,
+ VL53LX_POLLING_DELAY_MS);
+ }
+ }
+ }
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_wait_for_range_completion()
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t data_ready = 0;
+
+ if (pdev->wait_method == VL53LX_WAIT_METHOD_BLOCKING) {
+
+
+
+ status =
+ VL53LX_poll_for_range_completion(
+ VL53LX_RANGE_COMPLETION_POLLING_TIMEOUT_MS);
+
+ } else {
+
+
+
+ data_ready = 0;
+ while (data_ready == 0x00 && status == VL53LX_ERROR_NONE) {
+ status = VL53LX_is_new_data_ready(
+ &data_ready);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_WaitMs(
+ Dev,
+ VL53LX_POLLING_DELAY_MS);
+ }
+ }
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_wait_for_test_completion()
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t data_ready = 0;
+
+
+ if (pdev->wait_method == VL53LX_WAIT_METHOD_BLOCKING) {
+
+
+
+ status =
+ VL53LX_poll_for_range_completion(
+ VL53LX_TEST_COMPLETION_POLLING_TIMEOUT_MS);
+
+ } else {
+
+
+
+ data_ready = 0;
+ while (data_ready == 0x00 && status == VL53LX_ERROR_NONE) {
+ status = VL53LX_is_new_data_ready(
+ &data_ready);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_WaitMs(
+ Dev,
+ VL53LX_POLLING_DELAY_MS);
+ }
+ }
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_is_boot_complete(
+ uint8_t *pready)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t firmware__system_status = 0;
+
+ status =
+ VL53LX_RdByte(
+ Dev,
+ VL53LX_FIRMWARE__SYSTEM_STATUS,
+ &firmware__system_status);
+
+
+
+ if ((firmware__system_status & 0x01) == 0x01) {
+ *pready = 0x01;
+ VL53LX_init_ll_driver_state(
+ VL53LX_DEVICESTATE_SW_STANDBY);
+ } else {
+ *pready = 0x00;
+ VL53LX_init_ll_driver_state(
+ VL53LX_DEVICESTATE_FW_COLDBOOT);
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_is_firmware_ready(
+ uint8_t *pready)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ status = VL53LX_is_firmware_ready_silicon(
+ pready);
+
+ pdev->fw_ready = *pready;
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_is_new_data_ready(
+ uint8_t *pready)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t gpio__mux_active_high_hv = 0;
+ uint8_t gpio__tio_hv_status = 0;
+ uint8_t interrupt_ready = 0;
+
+ gpio__mux_active_high_hv =
+ pdev->stat_cfg.gpio_hv_mux__ctrl &
+ VL53LX_DEVICEINTERRUPTLEVEL_ACTIVE_MASK;
+
+ if (gpio__mux_active_high_hv == VL53LX_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH) {
+ interrupt_ready = 0x01;
+ } else {
+ interrupt_ready = 0x00;
+ }
+
+
+ status = VL53LX_RdByte(
+ Dev,
+ VL53LX_GPIO__TIO_HV_STATUS,
+ &gpio__tio_hv_status);
+
+
+
+ if ((gpio__tio_hv_status & 0x01) == interrupt_ready) {
+ *pready = 0x01;
+ } else {
+ *pready = 0x00;
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_poll_for_boot_completion(
+ uint32_t timeout_ms)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ // status = VL53LX_WaitUs(
+// Dev,
+ // VL53LX_FIRMWARE_BOOT_TIME_US);
+ wait_us(VL53LX_FIRMWARE_BOOT_TIME_US*10);
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WaitValueMaskEx(
+ Dev,
+ timeout_ms,
+ VL53LX_FIRMWARE__SYSTEM_STATUS,
+ 0x01,
+ 0x01,
+ VL53LX_POLLING_DELAY_MS);
+printf("VL53LX_poll_for_boot_completion %d \n",status);
+ if (status == VL53LX_ERROR_NONE) {
+ VL53LX_init_ll_driver_state(VL53LX_DEVICESTATE_SW_STANDBY);
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_poll_for_firmware_ready(
+ uint32_t timeout_ms)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint32_t start_time_ms = 0;
+ uint32_t current_time_ms = 0;
+ int32_t poll_delay_ms = VL53LX_POLLING_DELAY_MS;
+ uint8_t fw_ready = 0;
+
+
+
+ VL53LX_GetTickCount(&start_time_ms);
+ pdev->fw_ready_poll_duration_ms = 0;
+
+ while ((status == VL53LX_ERROR_NONE) &&
+ (pdev->fw_ready_poll_duration_ms < timeout_ms) &&
+ (fw_ready == 0)) {
+
+ status = VL53LX_is_firmware_ready(
+ &fw_ready);
+
+ if (status == VL53LX_ERROR_NONE &&
+ fw_ready == 0 &&
+ poll_delay_ms > 0) {
+ status = VL53LX_WaitMs(
+ Dev,
+ poll_delay_ms);
+ }
+
+
+ VL53LX_GetTickCount(¤t_time_ms);
+ pdev->fw_ready_poll_duration_ms =
+ current_time_ms - start_time_ms;
+ }
+
+ if (fw_ready == 0 && status == VL53LX_ERROR_NONE) {
+ status = VL53LX_ERROR_TIME_OUT;
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_poll_for_range_completion(
+ uint32_t timeout_ms)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t gpio__mux_active_high_hv = 0;
+ uint8_t interrupt_ready = 0;
+
+ gpio__mux_active_high_hv =
+ pdev->stat_cfg.gpio_hv_mux__ctrl &
+ VL53LX_DEVICEINTERRUPTLEVEL_ACTIVE_MASK;
+
+ if (gpio__mux_active_high_hv == VL53LX_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH) {
+ interrupt_ready = 0x01;
+ } else {
+ interrupt_ready = 0x00;
+ }
+
+ status =
+ VL53LX_WaitValueMaskEx(
+ Dev,
+ timeout_ms,
+ VL53LX_GPIO__TIO_HV_STATUS,
+ interrupt_ready,
+ 0x01,
+ VL53LX_POLLING_DELAY_MS);
+
+ return status;
+}
+
+/* vl53lx_zone_presets.c */
+
+VL53LX_Error VL53LX::VL53LX_init_zone_config_structure(
+ uint8_t x_off,
+ uint8_t x_inc,
+ uint8_t x_zones,
+ uint8_t y_off,
+ uint8_t y_inc,
+ uint8_t y_zones,
+ uint8_t width,
+ uint8_t height,
+ VL53LX_zone_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t x = 0;
+ uint8_t y = 0;
+ uint16_t i = 0;
+
+
+ pdata->max_zones = VL53LX_MAX_USER_ZONES;
+
+ i = 0;
+
+ for (x = 0 ; x < x_zones ; x++) {
+ for (y = 0 ; y < y_zones ; y++) {
+
+ if (i < VL53LX_MAX_USER_ZONES) {
+
+ pdata->active_zones = (uint8_t)i;
+ pdata->user_zones[i].height = height;
+ pdata->user_zones[i].width = width;
+ pdata->user_zones[i].x_centre =
+ x_off + (x * x_inc);
+ pdata->user_zones[i].y_centre =
+ y_off + (y * y_inc);
+ }
+
+ i++;
+ }
+ }
+
+ status = VL53LX_init_zone_config_histogram_bins(pdata);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_zone_preset_xtalk_planar(
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ pgeneral->global_config__stream_divider = 0x05;
+
+
+ pzone_cfg->active_zones = 0x04;
+
+ pzone_cfg->user_zones[0].height = 15;
+ pzone_cfg->user_zones[0].width = 7;
+ pzone_cfg->user_zones[0].x_centre = 4;
+ pzone_cfg->user_zones[0].y_centre = 8;
+
+ pzone_cfg->user_zones[1].height = 15;
+ pzone_cfg->user_zones[1].width = 7;
+ pzone_cfg->user_zones[1].x_centre = 12;
+ pzone_cfg->user_zones[1].y_centre = 8;
+
+ pzone_cfg->user_zones[2].height = 7;
+ pzone_cfg->user_zones[2].width = 15;
+ pzone_cfg->user_zones[2].x_centre = 8;
+ pzone_cfg->user_zones[2].y_centre = 4;
+
+ pzone_cfg->user_zones[3].height = 7;
+ pzone_cfg->user_zones[3].width = 15;
+ pzone_cfg->user_zones[3].x_centre = 8;
+ pzone_cfg->user_zones[3].y_centre = 12;
+
+
+
+ pzone_cfg->user_zones[4].height = 15;
+ pzone_cfg->user_zones[4].width = 15;
+ pzone_cfg->user_zones[4].x_centre = 8;
+ pzone_cfg->user_zones[4].y_centre = 8;
+
+ status = VL53LX_init_zone_config_histogram_bins(pzone_cfg);
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_init_zone_config_histogram_bins(
+ VL53LX_zone_config_t *pdata)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t i;
+
+
+ for (i = 0; i < pdata->max_zones; i++) {
+ pdata->bin_config[i] = VL53LX_ZONECONFIG_BINCONFIG__LOWAMB;
+ }
+
+ return status;
+}
+
+/* vl53lx_api_preset_modes.h */
+
+VL53LX_Error VL53LX::VL53LX_init_refspadchar_config_struct(
+ VL53LX_refspadchar_config_t *pdata)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ pdata->device_test_mode =
+ VL53LX_TUNINGPARM_REFSPADCHAR_DEVICE_TEST_MODE_DEFAULT;
+ pdata->VL53LX_p_005 =
+ VL53LX_TUNINGPARM_REFSPADCHAR_VCSEL_PERIOD_DEFAULT;
+ pdata->timeout_us =
+ VL53LX_TUNINGPARM_REFSPADCHAR_PHASECAL_TIMEOUT_US_DEFAULT;
+ pdata->target_count_rate_mcps =
+ VL53LX_TUNINGPARM_REFSPADCHAR_TARGET_COUNT_RATE_MCPS_DEFAULT;
+ pdata->min_count_rate_limit_mcps =
+ VL53LX_TUNINGPARM_REFSPADCHAR_MIN_COUNTRATE_LIMIT_MCPS_DEFAULT;
+ pdata->max_count_rate_limit_mcps =
+ VL53LX_TUNINGPARM_REFSPADCHAR_MAX_COUNTRATE_LIMIT_MCPS_DEFAULT;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_init_ssc_config_struct(
+ VL53LX_ssc_config_t *pdata)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ pdata->array_select = VL53LX_DEVICESSCARRAY_RTN;
+
+
+ pdata->VL53LX_p_005 =
+ VL53LX_TUNINGPARM_SPADMAP_VCSEL_PERIOD_DEFAULT;
+
+
+ pdata->vcsel_start =
+ VL53LX_TUNINGPARM_SPADMAP_VCSEL_START_DEFAULT;
+
+
+ pdata->vcsel_width = 0x02;
+
+
+ pdata->timeout_us = 36000;
+
+
+ pdata->rate_limit_mcps =
+ VL53LX_TUNINGPARM_SPADMAP_RATE_LIMIT_MCPS_DEFAULT;
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_init_xtalk_config_struct(
+ VL53LX_customer_nvm_managed_t *pnvm,
+ VL53LX_xtalk_config_t *pdata)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ pdata->algo__crosstalk_compensation_plane_offset_kcps =
+ pnvm->algo__crosstalk_compensation_plane_offset_kcps;
+ pdata->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pnvm->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pdata->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pnvm->algo__crosstalk_compensation_y_plane_gradient_kcps;
+
+
+
+ pdata->nvm_default__crosstalk_compensation_plane_offset_kcps =
+ (uint32_t)pnvm->algo__crosstalk_compensation_plane_offset_kcps;
+ pdata->nvm_default__crosstalk_compensation_x_plane_gradient_kcps =
+ pnvm->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pdata->nvm_default__crosstalk_compensation_y_plane_gradient_kcps =
+ pnvm->algo__crosstalk_compensation_y_plane_gradient_kcps;
+
+ pdata->histogram_mode_crosstalk_margin_kcps =
+ VL53LX_TUNINGPARM_HIST_XTALK_MARGIN_KCPS_DEFAULT;
+ pdata->lite_mode_crosstalk_margin_kcps =
+ VL53LX_TUNINGPARM_LITE_XTALK_MARGIN_KCPS_DEFAULT;
+
+
+
+ pdata->crosstalk_range_ignore_threshold_mult =
+ VL53LX_TUNINGPARM_LITE_RIT_MULT_DEFAULT;
+
+ if ((pdata->algo__crosstalk_compensation_plane_offset_kcps == 0x00)
+ && (pdata->algo__crosstalk_compensation_x_plane_gradient_kcps
+ == 0x00)
+ && (pdata->algo__crosstalk_compensation_y_plane_gradient_kcps
+ == 0x00)) {
+ pdata->global_crosstalk_compensation_enable = 0x00;
+ } else {
+ pdata->global_crosstalk_compensation_enable = 0x01;
+ }
+
+
+ if ((status == VL53LX_ERROR_NONE) &&
+ (pdata->global_crosstalk_compensation_enable == 0x01)) {
+ pdata->crosstalk_range_ignore_threshold_rate_mcps =
+ VL53LX_calc_range_ignore_threshold(
+ pdata->algo__crosstalk_compensation_plane_offset_kcps,
+ pdata->algo__crosstalk_compensation_x_plane_gradient_kcps,
+ pdata->algo__crosstalk_compensation_y_plane_gradient_kcps,
+ pdata->crosstalk_range_ignore_threshold_mult);
+ } else {
+ pdata->crosstalk_range_ignore_threshold_rate_mcps = 0;
+ }
+
+
+
+
+ pdata->algo__crosstalk_detect_min_valid_range_mm =
+ VL53LX_TUNINGPARM_XTALK_DETECT_MIN_VALID_RANGE_MM_DEFAULT;
+ pdata->algo__crosstalk_detect_max_valid_range_mm =
+ VL53LX_TUNINGPARM_XTALK_DETECT_MAX_VALID_RANGE_MM_DEFAULT;
+ pdata->algo__crosstalk_detect_max_valid_rate_kcps =
+ VL53LX_TUNINGPARM_XTALK_DETECT_MAX_VALID_RATE_KCPS_DEFAULT;
+ pdata->algo__crosstalk_detect_max_sigma_mm =
+ VL53LX_TUNINGPARM_XTALK_DETECT_MAX_SIGMA_MM_DEFAULT;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_init_xtalk_extract_config_struct(
+ VL53LX_xtalkextract_config_t *pdata)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ pdata->dss_config__target_total_rate_mcps =
+ VL53LX_TUNINGPARM_XTALK_EXTRACT_DSS_RATE_MCPS_DEFAULT;
+
+ pdata->mm_config_timeout_us =
+ VL53LX_TUNINGPARM_XTALK_EXTRACT_DSS_TIMEOUT_US_DEFAULT;
+
+ pdata->num_of_samples =
+ VL53LX_TUNINGPARM_XTALK_EXTRACT_NUM_OF_SAMPLES_DEFAULT;
+
+ pdata->phasecal_config_timeout_us =
+ VL53LX_TUNINGPARM_XTALK_EXTRACT_PHASECAL_TIMEOUT_US_DEFAULT;
+
+ pdata->range_config_timeout_us =
+ VL53LX_TUNINGPARM_XTALK_EXTRACT_BIN_TIMEOUT_US_DEFAULT;
+
+
+
+ pdata->algo__crosstalk_extract_min_valid_range_mm =
+ VL53LX_TUNINGPARM_XTALK_EXTRACT_MIN_FILTER_THRESH_MM_DEFAULT;
+ pdata->algo__crosstalk_extract_max_valid_range_mm =
+ VL53LX_TUNINGPARM_XTALK_EXTRACT_MAX_FILTER_THRESH_MM_DEFAULT;
+ pdata->algo__crosstalk_extract_max_valid_rate_kcps =
+ VL53LX_TUNINGPARM_XTALK_EXTRACT_MAX_VALID_RATE_KCPS_DEFAULT;
+ pdata->algo__crosstalk_extract_max_sigma_mm =
+ VL53LX_TUNINGPARM_XTALK_EXTRACT_SIGMA_THRESHOLD_MM_DEFAULT;
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_init_offset_cal_config_struct(
+ VL53LX_offsetcal_config_t *pdata)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ pdata->dss_config__target_total_rate_mcps =
+ VL53LX_TUNINGPARM_OFFSET_CAL_DSS_RATE_MCPS_DEFAULT;
+
+ pdata->phasecal_config_timeout_us =
+ VL53LX_TUNINGPARM_OFFSET_CAL_PHASECAL_TIMEOUT_US_DEFAULT;
+
+ pdata->range_config_timeout_us =
+ VL53LX_TUNINGPARM_OFFSET_CAL_RANGE_TIMEOUT_US_DEFAULT;
+
+ pdata->mm_config_timeout_us =
+ VL53LX_TUNINGPARM_OFFSET_CAL_MM_TIMEOUT_US_DEFAULT;
+
+
+ pdata->pre_num_of_samples =
+ VL53LX_TUNINGPARM_OFFSET_CAL_PRE_SAMPLES_DEFAULT;
+ pdata->mm1_num_of_samples =
+ VL53LX_TUNINGPARM_OFFSET_CAL_MM1_SAMPLES_DEFAULT;
+ pdata->mm2_num_of_samples =
+ VL53LX_TUNINGPARM_OFFSET_CAL_MM2_SAMPLES_DEFAULT;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_init_zone_cal_config_struct(
+ VL53LX_zonecal_config_t *pdata)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ pdata->dss_config__target_total_rate_mcps =
+ VL53LX_TUNINGPARM_ZONE_CAL_DSS_RATE_MCPS_DEFAULT;
+
+ pdata->phasecal_config_timeout_us =
+ VL53LX_TUNINGPARM_ZONE_CAL_PHASECAL_TIMEOUT_US_DEFAULT;
+
+ pdata->range_config_timeout_us =
+ VL53LX_TUNINGPARM_ZONE_CAL_RANGE_TIMEOUT_US_DEFAULT;
+
+ pdata->mm_config_timeout_us =
+ VL53LX_TUNINGPARM_ZONE_CAL_DSS_TIMEOUT_US_DEFAULT;
+
+ pdata->phasecal_num_of_samples =
+ VL53LX_TUNINGPARM_ZONE_CAL_PHASECAL_NUM_SAMPLES_DEFAULT;
+ pdata->zone_num_of_samples =
+ VL53LX_TUNINGPARM_ZONE_CAL_ZONE_NUM_SAMPLES_DEFAULT;
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_init_hist_post_process_config_struct(
+ uint8_t xtalk_compensation_enable,
+ VL53LX_hist_post_process_config_t *pdata)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ pdata->hist_algo_select =
+ VL53LX_TUNINGPARM_HIST_ALGO_SELECT_DEFAULT;
+
+
+
+ pdata->hist_target_order =
+ VL53LX_TUNINGPARM_HIST_TARGET_ORDER_DEFAULT;
+
+
+
+ pdata->filter_woi0 =
+ VL53LX_TUNINGPARM_HIST_FILTER_WOI_0_DEFAULT;
+ pdata->filter_woi1 =
+ VL53LX_TUNINGPARM_HIST_FILTER_WOI_1_DEFAULT;
+
+
+ pdata->hist_amb_est_method =
+ VL53LX_TUNINGPARM_HIST_AMB_EST_METHOD_DEFAULT;
+
+ pdata->ambient_thresh_sigma0 =
+ VL53LX_TUNINGPARM_HIST_AMB_THRESH_SIGMA_0_DEFAULT;
+ pdata->ambient_thresh_sigma1 =
+ VL53LX_TUNINGPARM_HIST_AMB_THRESH_SIGMA_1_DEFAULT;
+
+
+ pdata->ambient_thresh_events_scaler =
+ VL53LX_TUNINGPARM_HIST_AMB_EVENTS_SCALER_DEFAULT;
+
+
+ pdata->min_ambient_thresh_events =
+ VL53LX_TUNINGPARM_HIST_MIN_AMB_THRESH_EVENTS_DEFAULT;
+
+ pdata->noise_threshold =
+ VL53LX_TUNINGPARM_HIST_NOISE_THRESHOLD_DEFAULT;
+
+ pdata->signal_total_events_limit =
+ VL53LX_TUNINGPARM_HIST_SIGNAL_TOTAL_EVENTS_LIMIT_DEFAULT;
+ pdata->sigma_estimator__sigma_ref_mm =
+ VL53LX_TUNINGPARM_HIST_SIGMA_EST_REF_MM_DEFAULT;
+
+
+ pdata->sigma_thresh =
+ VL53LX_TUNINGPARM_HIST_SIGMA_THRESH_MM_DEFAULT;
+
+ pdata->range_offset_mm = 0;
+
+ pdata->gain_factor =
+ VL53LX_TUNINGPARM_HIST_GAIN_FACTOR_DEFAULT;
+
+
+
+ pdata->valid_phase_low = 0x08;
+ pdata->valid_phase_high = 0x88;
+
+
+
+ pdata->algo__consistency_check__phase_tolerance =
+ VL53LX_TUNINGPARM_CONSISTENCY_HIST_PHASE_TOLERANCE_DEFAULT;
+
+
+
+ pdata->algo__consistency_check__event_sigma =
+ VL53LX_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA_DEFAULT;
+
+
+ pdata->algo__consistency_check__event_min_spad_count =
+ VL53LX_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA_MIN_SPAD_LIMIT_DEFAULT;
+
+
+
+ pdata->algo__consistency_check__min_max_tolerance =
+ VL53LX_TUNINGPARM_CONSISTENCY_HIST_MIN_MAX_TOLERANCE_MM_DEFAULT;
+
+
+ pdata->algo__crosstalk_compensation_enable = xtalk_compensation_enable;
+
+
+ pdata->algo__crosstalk_detect_min_valid_range_mm =
+ VL53LX_TUNINGPARM_XTALK_DETECT_MIN_VALID_RANGE_MM_DEFAULT;
+ pdata->algo__crosstalk_detect_max_valid_range_mm =
+ VL53LX_TUNINGPARM_XTALK_DETECT_MAX_VALID_RANGE_MM_DEFAULT;
+ pdata->algo__crosstalk_detect_max_valid_rate_kcps =
+ VL53LX_TUNINGPARM_XTALK_DETECT_MAX_VALID_RATE_KCPS_DEFAULT;
+ pdata->algo__crosstalk_detect_max_sigma_mm =
+ VL53LX_TUNINGPARM_XTALK_DETECT_MAX_SIGMA_MM_DEFAULT;
+
+
+
+
+
+ pdata->algo__crosstalk_detect_event_sigma =
+ VL53LX_TUNINGPARM_XTALK_DETECT_EVENT_SIGMA_DEFAULT;
+
+
+
+ pdata->algo__crosstalk_detect_min_max_tolerance =
+ VL53LX_TUNINGPARM_XTALK_DETECT_MIN_MAX_TOLERANCE_DEFAULT;
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_init_dmax_calibration_data_struct(
+ VL53LX_dmax_calibration_data_t *pdata)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ pdata->ref__actual_effective_spads = 0x5F2D;
+
+ pdata->ref__peak_signal_count_rate_mcps = 0x0844;
+
+ pdata->ref__distance_mm = 0x08A5;
+
+
+ pdata->ref_reflectance_pc = 0x0014;
+
+ pdata->coverglass_transmission = 0x0100;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_init_tuning_parm_storage_struct(
+ VL53LX_tuning_parm_storage_t *pdata)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ pdata->tp_tuning_parm_version =
+ VL53LX_TUNINGPARM_VERSION_DEFAULT;
+ pdata->tp_tuning_parm_key_table_version =
+ VL53LX_TUNINGPARM_KEY_TABLE_VERSION_DEFAULT;
+ pdata->tp_tuning_parm_lld_version =
+ VL53LX_TUNINGPARM_LLD_VERSION_DEFAULT;
+ pdata->tp_init_phase_rtn_lite_long =
+ VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_LONG_RANGE_DEFAULT;
+ pdata->tp_init_phase_rtn_lite_med =
+ VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_MED_RANGE_DEFAULT;
+ pdata->tp_init_phase_rtn_lite_short =
+ VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_SHORT_RANGE_DEFAULT;
+ pdata->tp_init_phase_ref_lite_long =
+ VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_LONG_RANGE_DEFAULT;
+ pdata->tp_init_phase_ref_lite_med =
+ VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_MED_RANGE_DEFAULT;
+ pdata->tp_init_phase_ref_lite_short =
+ VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_SHORT_RANGE_DEFAULT;
+ pdata->tp_init_phase_rtn_hist_long =
+ VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_LONG_RANGE_DEFAULT;
+ pdata->tp_init_phase_rtn_hist_med =
+ VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_MED_RANGE_DEFAULT;
+ pdata->tp_init_phase_rtn_hist_short =
+ VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_SHORT_RANGE_DEFAULT;
+ pdata->tp_init_phase_ref_hist_long =
+ VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_LONG_RANGE_DEFAULT;
+ pdata->tp_init_phase_ref_hist_med =
+ VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_MED_RANGE_DEFAULT;
+ pdata->tp_init_phase_ref_hist_short =
+ VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_SHORT_RANGE_DEFAULT;
+ pdata->tp_consistency_lite_phase_tolerance =
+ VL53LX_TUNINGPARM_CONSISTENCY_LITE_PHASE_TOLERANCE_DEFAULT;
+ pdata->tp_phasecal_target =
+ VL53LX_TUNINGPARM_PHASECAL_TARGET_DEFAULT;
+ pdata->tp_cal_repeat_rate =
+ VL53LX_TUNINGPARM_LITE_CAL_REPEAT_RATE_DEFAULT;
+ pdata->tp_lite_min_clip =
+ VL53LX_TUNINGPARM_LITE_MIN_CLIP_MM_DEFAULT;
+ pdata->tp_lite_long_sigma_thresh_mm =
+ VL53LX_TUNINGPARM_LITE_LONG_SIGMA_THRESH_MM_DEFAULT;
+ pdata->tp_lite_med_sigma_thresh_mm =
+ VL53LX_TUNINGPARM_LITE_MED_SIGMA_THRESH_MM_DEFAULT;
+ pdata->tp_lite_short_sigma_thresh_mm =
+ VL53LX_TUNINGPARM_LITE_SHORT_SIGMA_THRESH_MM_DEFAULT;
+ pdata->tp_lite_long_min_count_rate_rtn_mcps =
+ VL53LX_TUNINGPARM_LITE_LONG_MIN_COUNT_RATE_RTN_MCPS_DEFAULT;
+ pdata->tp_lite_med_min_count_rate_rtn_mcps =
+ VL53LX_TUNINGPARM_LITE_MED_MIN_COUNT_RATE_RTN_MCPS_DEFAULT;
+ pdata->tp_lite_short_min_count_rate_rtn_mcps =
+ VL53LX_TUNINGPARM_LITE_SHORT_MIN_COUNT_RATE_RTN_MCPS_DEFAULT;
+ pdata->tp_lite_sigma_est_pulse_width_ns =
+ VL53LX_TUNINGPARM_LITE_SIGMA_EST_PULSE_WIDTH_DEFAULT;
+ pdata->tp_lite_sigma_est_amb_width_ns =
+ VL53LX_TUNINGPARM_LITE_SIGMA_EST_AMB_WIDTH_NS_DEFAULT;
+ pdata->tp_lite_sigma_ref_mm =
+ VL53LX_TUNINGPARM_LITE_SIGMA_REF_MM_DEFAULT;
+ pdata->tp_lite_seed_cfg =
+ VL53LX_TUNINGPARM_LITE_SEED_CONFIG_DEFAULT;
+ pdata->tp_timed_seed_cfg =
+ VL53LX_TUNINGPARM_TIMED_SEED_CONFIG_DEFAULT;
+ pdata->tp_lite_quantifier =
+ VL53LX_TUNINGPARM_LITE_QUANTIFIER_DEFAULT;
+ pdata->tp_lite_first_order_select =
+ VL53LX_TUNINGPARM_LITE_FIRST_ORDER_SELECT_DEFAULT;
+
+
+
+
+ pdata->tp_dss_target_lite_mcps =
+ VL53LX_TUNINGPARM_LITE_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT;
+ pdata->tp_dss_target_histo_mcps =
+ VL53LX_TUNINGPARM_RANGING_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT;
+ pdata->tp_dss_target_histo_mz_mcps =
+ VL53LX_TUNINGPARM_MZ_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT;
+ pdata->tp_dss_target_timed_mcps =
+ VL53LX_TUNINGPARM_TIMED_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT;
+ pdata->tp_phasecal_timeout_lite_us =
+ VL53LX_TUNINGPARM_LITE_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_phasecal_timeout_hist_long_us =
+ VL53LX_TUNINGPARM_RANGING_LONG_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_phasecal_timeout_hist_med_us =
+ VL53LX_TUNINGPARM_RANGING_MED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_phasecal_timeout_hist_short_us =
+ VL53LX_TUNINGPARM_RANGING_SHORT_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_phasecal_timeout_mz_long_us =
+ VL53LX_TUNINGPARM_MZ_LONG_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_phasecal_timeout_mz_med_us =
+ VL53LX_TUNINGPARM_MZ_MED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_phasecal_timeout_mz_short_us =
+ VL53LX_TUNINGPARM_MZ_SHORT_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_phasecal_timeout_timed_us =
+ VL53LX_TUNINGPARM_TIMED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_mm_timeout_lite_us =
+ VL53LX_TUNINGPARM_LITE_MM_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_mm_timeout_histo_us =
+ VL53LX_TUNINGPARM_RANGING_MM_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_mm_timeout_mz_us =
+ VL53LX_TUNINGPARM_MZ_MM_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_mm_timeout_timed_us =
+ VL53LX_TUNINGPARM_TIMED_MM_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_range_timeout_lite_us =
+ VL53LX_TUNINGPARM_LITE_RANGE_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_range_timeout_histo_us =
+ VL53LX_TUNINGPARM_RANGING_RANGE_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_range_timeout_mz_us =
+ VL53LX_TUNINGPARM_MZ_RANGE_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_range_timeout_timed_us =
+ VL53LX_TUNINGPARM_TIMED_RANGE_CONFIG_TIMEOUT_US_DEFAULT;
+
+
+
+ pdata->tp_mm_timeout_lpa_us =
+ VL53LX_TUNINGPARM_LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US_DEFAULT;
+ pdata->tp_range_timeout_lpa_us =
+ VL53LX_TUNINGPARM_LOWPOWERAUTO_RANGE_CONFIG_TIMEOUT_US_DEFAULT;
+
+ pdata->tp_dss_target_very_short_mcps =
+ VL53LX_TUNINGPARM_VERY_SHORT_DSS_RATE_MCPS_DEFAULT;
+
+ pdata->tp_phasecal_patch_power =
+ VL53LX_TUNINGPARM_PHASECAL_PATCH_POWER_DEFAULT;
+
+ pdata->tp_hist_merge =
+ VL53LX_TUNINGPARM_HIST_MERGE_DEFAULT;
+
+ pdata->tp_reset_merge_threshold =
+ VL53LX_TUNINGPARM_RESET_MERGE_THRESHOLD_DEFAULT;
+
+ pdata->tp_hist_merge_max_size =
+ VL53LX_TUNINGPARM_HIST_MERGE_MAX_SIZE_DEFAULT;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_init_hist_gen3_dmax_config_struct(
+ VL53LX_hist_gen3_dmax_config_t *pdata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ pdata->dss_config__target_total_rate_mcps = 0x1400;
+ pdata->dss_config__aperture_attenuation = 0x38;
+
+ pdata->signal_thresh_sigma =
+ VL53LX_TUNINGPARM_DMAX_CFG_SIGNAL_THRESH_SIGMA_DEFAULT;
+ pdata->ambient_thresh_sigma = 0x70;
+ pdata->min_ambient_thresh_events = 16;
+ pdata->signal_total_events_limit = 100;
+ pdata->max_effective_spads = 0xFFFF;
+
+
+
+ pdata->target_reflectance_for_dmax_calc[0] =
+ VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_0_DEFAULT;
+ pdata->target_reflectance_for_dmax_calc[1] =
+ VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_1_DEFAULT;
+ pdata->target_reflectance_for_dmax_calc[2] =
+ VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_2_DEFAULT;
+ pdata->target_reflectance_for_dmax_calc[3] =
+ VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_3_DEFAULT;
+ pdata->target_reflectance_for_dmax_calc[4] =
+ VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_4_DEFAULT;
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_standard_ranging(
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ pstatic->dss_config__target_total_rate_mcps = 0x0A00;
+ pstatic->debug__ctrl = 0x00;
+ pstatic->test_mode__ctrl = 0x00;
+ pstatic->clk_gating__ctrl = 0x00;
+ pstatic->nvm_bist__ctrl = 0x00;
+ pstatic->nvm_bist__num_nvm_words = 0x00;
+ pstatic->nvm_bist__start_address = 0x00;
+ pstatic->host_if__status = 0x00;
+ pstatic->pad_i2c_hv__config = 0x00;
+ pstatic->pad_i2c_hv__extsup_config = 0x00;
+
+
+ pstatic->gpio_hv_pad__ctrl = 0x00;
+
+
+ pstatic->gpio_hv_mux__ctrl =
+ VL53LX_DEVICEINTERRUPTPOLARITY_ACTIVE_LOW |
+ VL53LX_DEVICEGPIOMODE_OUTPUT_RANGE_AND_ERROR_INTERRUPTS;
+
+ pstatic->gpio__tio_hv_status = 0x02;
+ pstatic->gpio__fio_hv_status = 0x00;
+ pstatic->ana_config__spad_sel_pswidth = 0x02;
+ pstatic->ana_config__vcsel_pulse_width_offset = 0x08;
+ pstatic->ana_config__fast_osc__config_ctrl = 0x00;
+
+ pstatic->sigma_estimator__effective_pulse_width_ns =
+ ptuning_parms->tp_lite_sigma_est_pulse_width_ns;
+ pstatic->sigma_estimator__effective_ambient_width_ns =
+ ptuning_parms->tp_lite_sigma_est_amb_width_ns;
+ pstatic->sigma_estimator__sigma_ref_mm =
+ ptuning_parms->tp_lite_sigma_ref_mm;
+
+ pstatic->algo__crosstalk_compensation_valid_height_mm = 0x01;
+ pstatic->spare_host_config__static_config_spare_0 = 0x00;
+ pstatic->spare_host_config__static_config_spare_1 = 0x00;
+
+ pstatic->algo__range_ignore_threshold_mcps = 0x0000;
+
+
+ pstatic->algo__range_ignore_valid_height_mm = 0xff;
+ pstatic->algo__range_min_clip =
+ ptuning_parms->tp_lite_min_clip;
+
+ pstatic->algo__consistency_check__tolerance =
+ ptuning_parms->tp_consistency_lite_phase_tolerance;
+ pstatic->spare_host_config__static_config_spare_2 = 0x00;
+ pstatic->sd_config__reset_stages_msb = 0x00;
+ pstatic->sd_config__reset_stages_lsb = 0x00;
+
+ pgeneral->gph_config__stream_count_update_value = 0x00;
+ pgeneral->global_config__stream_divider = 0x00;
+ pgeneral->system__interrupt_config_gpio =
+ VL53LX_INTERRUPT_CONFIG_NEW_SAMPLE_READY;
+ pgeneral->cal_config__vcsel_start = 0x0B;
+
+
+ pgeneral->cal_config__repeat_rate =
+ ptuning_parms->tp_cal_repeat_rate;
+ pgeneral->global_config__vcsel_width = 0x02;
+
+ pgeneral->phasecal_config__timeout_macrop = 0x0D;
+
+ pgeneral->phasecal_config__target =
+ ptuning_parms->tp_phasecal_target;
+ pgeneral->phasecal_config__override = 0x00;
+ pgeneral->dss_config__roi_mode_control =
+ VL53LX_DEVICEDSSMODE__TARGET_RATE;
+
+ pgeneral->system__thresh_rate_high = 0x0000;
+ pgeneral->system__thresh_rate_low = 0x0000;
+
+ pgeneral->dss_config__manual_effective_spads_select = 0x8C00;
+ pgeneral->dss_config__manual_block_select = 0x00;
+
+
+ pgeneral->dss_config__aperture_attenuation = 0x38;
+ pgeneral->dss_config__max_spads_limit = 0xFF;
+ pgeneral->dss_config__min_spads_limit = 0x01;
+
+
+
+
+ ptiming->mm_config__timeout_macrop_a_hi = 0x00;
+ ptiming->mm_config__timeout_macrop_a_lo = 0x1a;
+ ptiming->mm_config__timeout_macrop_b_hi = 0x00;
+ ptiming->mm_config__timeout_macrop_b_lo = 0x20;
+
+ ptiming->range_config__timeout_macrop_a_hi = 0x01;
+ ptiming->range_config__timeout_macrop_a_lo = 0xCC;
+
+ ptiming->range_config__vcsel_period_a = 0x0B;
+
+ ptiming->range_config__timeout_macrop_b_hi = 0x01;
+ ptiming->range_config__timeout_macrop_b_lo = 0xF5;
+
+ ptiming->range_config__vcsel_period_b = 0x09;
+
+ ptiming->range_config__sigma_thresh =
+ ptuning_parms->tp_lite_med_sigma_thresh_mm;
+
+ ptiming->range_config__min_count_rate_rtn_limit_mcps =
+ ptuning_parms->tp_lite_med_min_count_rate_rtn_mcps;
+
+
+ ptiming->range_config__valid_phase_low = 0x08;
+ ptiming->range_config__valid_phase_high = 0x78;
+ ptiming->system__intermeasurement_period = 0x00000000;
+ ptiming->system__fractional_enable = 0x00;
+
+
+
+ phistogram->histogram_config__low_amb_even_bin_0_1 = 0x07;
+ phistogram->histogram_config__low_amb_even_bin_2_3 = 0x21;
+ phistogram->histogram_config__low_amb_even_bin_4_5 = 0x43;
+
+ phistogram->histogram_config__low_amb_odd_bin_0_1 = 0x10;
+ phistogram->histogram_config__low_amb_odd_bin_2_3 = 0x32;
+ phistogram->histogram_config__low_amb_odd_bin_4_5 = 0x54;
+
+ phistogram->histogram_config__mid_amb_even_bin_0_1 = 0x07;
+ phistogram->histogram_config__mid_amb_even_bin_2_3 = 0x21;
+ phistogram->histogram_config__mid_amb_even_bin_4_5 = 0x43;
+
+ phistogram->histogram_config__mid_amb_odd_bin_0_1 = 0x10;
+ phistogram->histogram_config__mid_amb_odd_bin_2 = 0x02;
+ phistogram->histogram_config__mid_amb_odd_bin_3_4 = 0x43;
+ phistogram->histogram_config__mid_amb_odd_bin_5 = 0x05;
+
+ phistogram->histogram_config__user_bin_offset = 0x00;
+
+ phistogram->histogram_config__high_amb_even_bin_0_1 = 0x07;
+ phistogram->histogram_config__high_amb_even_bin_2_3 = 0x21;
+ phistogram->histogram_config__high_amb_even_bin_4_5 = 0x43;
+
+ phistogram->histogram_config__high_amb_odd_bin_0_1 = 0x10;
+ phistogram->histogram_config__high_amb_odd_bin_2_3 = 0x32;
+ phistogram->histogram_config__high_amb_odd_bin_4_5 = 0x54;
+
+ phistogram->histogram_config__amb_thresh_low = 0xFFFF;
+ phistogram->histogram_config__amb_thresh_high = 0xFFFF;
+
+ phistogram->histogram_config__spad_array_selection = 0x00;
+
+
+ pzone_cfg->max_zones = VL53LX_MAX_USER_ZONES;
+ pzone_cfg->active_zones = 0x00;
+ pzone_cfg->user_zones[0].height = 0x0f;
+ pzone_cfg->user_zones[0].width = 0x0f;
+ pzone_cfg->user_zones[0].x_centre = 0x08;
+ pzone_cfg->user_zones[0].y_centre = 0x08;
+
+
+
+ pdynamic->system__grouped_parameter_hold_0 = 0x01;
+
+ pdynamic->system__thresh_high = 0x0000;
+ pdynamic->system__thresh_low = 0x0000;
+ pdynamic->system__enable_xtalk_per_quadrant = 0x00;
+ pdynamic->system__seed_config =
+ ptuning_parms->tp_lite_seed_cfg;
+
+
+ pdynamic->sd_config__woi_sd0 = 0x0B;
+
+ pdynamic->sd_config__woi_sd1 = 0x09;
+
+ pdynamic->sd_config__initial_phase_sd0 =
+ ptuning_parms->tp_init_phase_rtn_lite_med;
+ pdynamic->sd_config__initial_phase_sd1 =
+ ptuning_parms->tp_init_phase_ref_lite_med;
+
+ pdynamic->system__grouped_parameter_hold_1 = 0x01;
+
+
+
+ pdynamic->sd_config__first_order_select =
+ ptuning_parms->tp_lite_first_order_select;
+ pdynamic->sd_config__quantifier =
+ ptuning_parms->tp_lite_quantifier;
+
+
+ pdynamic->roi_config__user_roi_centre_spad = 0xC7;
+
+ pdynamic->roi_config__user_roi_requested_global_xy_size = 0xFF;
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM2_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+
+ pdynamic->system__grouped_parameter_hold = 0x02;
+
+
+
+
+ psystem->system__stream_count_ctrl = 0x00;
+ psystem->firmware__enable = 0x01;
+ psystem->system__interrupt_clear =
+ VL53LX_CLEAR_RANGE_INT;
+
+ psystem->system__mode_start =
+ VL53LX_DEVICESCHEDULERMODE_STREAMING |
+ VL53LX_DEVICEREADOUTMODE_SINGLE_SD |
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_standard_ranging_short_range(
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status = VL53LX_preset_mode_standard_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ ptiming->range_config__vcsel_period_a = 0x07;
+ ptiming->range_config__vcsel_period_b = 0x05;
+ ptiming->range_config__sigma_thresh =
+ ptuning_parms->tp_lite_short_sigma_thresh_mm;
+ ptiming->range_config__min_count_rate_rtn_limit_mcps =
+ ptuning_parms->tp_lite_short_min_count_rate_rtn_mcps;
+ ptiming->range_config__valid_phase_low = 0x08;
+ ptiming->range_config__valid_phase_high = 0x38;
+
+
+
+ pdynamic->sd_config__woi_sd0 = 0x07;
+ pdynamic->sd_config__woi_sd1 = 0x05;
+ pdynamic->sd_config__initial_phase_sd0 =
+ ptuning_parms->tp_init_phase_rtn_lite_short;
+ pdynamic->sd_config__initial_phase_sd1 =
+ ptuning_parms->tp_init_phase_ref_lite_short;
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_standard_ranging_long_range(
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status = VL53LX_preset_mode_standard_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ ptiming->range_config__vcsel_period_a = 0x0F;
+ ptiming->range_config__vcsel_period_b = 0x0D;
+ ptiming->range_config__sigma_thresh =
+ ptuning_parms->tp_lite_long_sigma_thresh_mm;
+ ptiming->range_config__min_count_rate_rtn_limit_mcps =
+ ptuning_parms->tp_lite_long_min_count_rate_rtn_mcps;
+ ptiming->range_config__valid_phase_low = 0x08;
+ ptiming->range_config__valid_phase_high = 0xB8;
+
+
+
+ pdynamic->sd_config__woi_sd0 = 0x0F;
+ pdynamic->sd_config__woi_sd1 = 0x0D;
+ pdynamic->sd_config__initial_phase_sd0 =
+ ptuning_parms->tp_init_phase_rtn_lite_long;
+ pdynamic->sd_config__initial_phase_sd1 =
+ ptuning_parms->tp_init_phase_ref_lite_long;
+ }
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_standard_ranging_mm1_cal(
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status = VL53LX_preset_mode_standard_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ pgeneral->dss_config__roi_mode_control =
+ VL53LX_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS;
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM1_EN;
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_standard_ranging_mm2_cal(
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+
+ status = VL53LX_preset_mode_standard_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ pgeneral->dss_config__roi_mode_control =
+ VL53LX_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS;
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM2_EN;
+ }
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_timed_ranging(
+
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status = VL53LX_preset_mode_standard_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+
+ pdynamic->system__grouped_parameter_hold = 0x00;
+
+
+ ptiming->range_config__timeout_macrop_a_hi = 0x00;
+ ptiming->range_config__timeout_macrop_a_lo = 0xB1;
+
+ ptiming->range_config__timeout_macrop_b_hi = 0x00;
+ ptiming->range_config__timeout_macrop_b_lo = 0xD4;
+
+
+
+ ptiming->system__intermeasurement_period = 0x00000600;
+ pdynamic->system__seed_config =
+ ptuning_parms->tp_timed_seed_cfg;
+
+
+
+
+ psystem->system__mode_start =
+ VL53LX_DEVICESCHEDULERMODE_PSEUDO_SOLO |
+ VL53LX_DEVICEREADOUTMODE_SINGLE_SD |
+ VL53LX_DEVICEMEASUREMENTMODE_TIMED;
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_timed_ranging_short_range(
+
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ status = VL53LX_preset_mode_standard_ranging_short_range(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+
+ pdynamic->system__grouped_parameter_hold = 0x00;
+
+
+
+
+
+ ptiming->range_config__timeout_macrop_a_hi = 0x01;
+ ptiming->range_config__timeout_macrop_a_lo = 0x84;
+
+ ptiming->range_config__timeout_macrop_b_hi = 0x01;
+ ptiming->range_config__timeout_macrop_b_lo = 0xB1;
+
+ ptiming->system__intermeasurement_period = 0x00000600;
+ pdynamic->system__seed_config =
+ ptuning_parms->tp_timed_seed_cfg;
+
+
+
+
+ psystem->system__mode_start =
+ VL53LX_DEVICESCHEDULERMODE_PSEUDO_SOLO |
+ VL53LX_DEVICEREADOUTMODE_SINGLE_SD |
+ VL53LX_DEVICEMEASUREMENTMODE_TIMED;
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_timed_ranging_long_range(
+
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ status = VL53LX_preset_mode_standard_ranging_long_range(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+
+ pdynamic->system__grouped_parameter_hold = 0x00;
+
+
+
+
+
+ ptiming->range_config__timeout_macrop_a_hi = 0x00;
+ ptiming->range_config__timeout_macrop_a_lo = 0x97;
+
+ ptiming->range_config__timeout_macrop_b_hi = 0x00;
+ ptiming->range_config__timeout_macrop_b_lo = 0xB1;
+
+ ptiming->system__intermeasurement_period = 0x00000600;
+ pdynamic->system__seed_config =
+ ptuning_parms->tp_timed_seed_cfg;
+
+
+
+
+ psystem->system__mode_start =
+ VL53LX_DEVICESCHEDULERMODE_PSEUDO_SOLO |
+ VL53LX_DEVICEREADOUTMODE_SINGLE_SD |
+ VL53LX_DEVICEMEASUREMENTMODE_TIMED;
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_low_power_auto_ranging(
+
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg,
+ VL53LX_low_power_auto_data_t *plpadata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status = VL53LX_preset_mode_timed_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_config_low_power_auto_mode(
+ pgeneral,
+ pdynamic,
+ plpadata
+ );
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_preset_mode_low_power_auto_short_ranging(
+
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg,
+ VL53LX_low_power_auto_data_t *plpadata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status = VL53LX_preset_mode_timed_ranging_short_range(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_config_low_power_auto_mode(
+ pgeneral,
+ pdynamic,
+ plpadata
+ );
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_low_power_auto_long_ranging(
+
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg,
+ VL53LX_low_power_auto_data_t *plpadata)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status = VL53LX_preset_mode_timed_ranging_long_range(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_config_low_power_auto_mode(
+ pgeneral,
+ pdynamic,
+ plpadata
+ );
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_singleshot_ranging(
+
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status = VL53LX_preset_mode_standard_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ pdynamic->system__grouped_parameter_hold = 0x00;
+
+
+
+
+ ptiming->range_config__timeout_macrop_a_hi = 0x00;
+ ptiming->range_config__timeout_macrop_a_lo = 0xB1;
+
+ ptiming->range_config__timeout_macrop_b_hi = 0x00;
+ ptiming->range_config__timeout_macrop_b_lo = 0xD4;
+
+ pdynamic->system__seed_config =
+ ptuning_parms->tp_timed_seed_cfg;
+
+
+
+
+ psystem->system__mode_start =
+ VL53LX_DEVICESCHEDULERMODE_PSEUDO_SOLO |
+ VL53LX_DEVICEREADOUTMODE_SINGLE_SD |
+ VL53LX_DEVICEMEASUREMENTMODE_SINGLESHOT;
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_ranging(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_standard_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ pstatic->dss_config__target_total_rate_mcps = 0x1400;
+
+
+
+ VL53LX_init_histogram_config_structure(
+ 7, 0, 1, 2, 3, 4,
+ 0, 1, 2, 3, 4, 5,
+ phistogram);
+
+
+ VL53LX_init_histogram_multizone_config_structure(
+ 7, 0, 1, 2, 3, 4,
+ 0, 1, 2, 3, 4, 5,
+ &(pzone_cfg->multizone_hist_cfg));
+
+
+
+
+ ptiming->range_config__vcsel_period_a = 0x09;
+ ptiming->range_config__vcsel_period_b = 0x0B;
+ pdynamic->sd_config__woi_sd0 = 0x09;
+ pdynamic->sd_config__woi_sd1 = 0x0B;
+
+
+
+
+ ptiming->mm_config__timeout_macrop_a_hi = 0x00;
+ ptiming->mm_config__timeout_macrop_a_lo = 0x20;
+ ptiming->mm_config__timeout_macrop_b_hi = 0x00;
+ ptiming->mm_config__timeout_macrop_b_lo = 0x1A;
+
+
+ ptiming->range_config__timeout_macrop_a_hi = 0x00;
+ ptiming->range_config__timeout_macrop_a_lo = 0x28;
+
+
+ ptiming->range_config__timeout_macrop_b_hi = 0x00;
+ ptiming->range_config__timeout_macrop_b_lo = 0x21;
+
+
+ pgeneral->phasecal_config__timeout_macrop = 0xF5;
+
+
+
+ phistpostprocess->valid_phase_low = 0x08;
+ phistpostprocess->valid_phase_high = 0x88;
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+
+
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+
+
+ VL53LX_SEQUENCE_RANGE_EN;
+
+
+
+
+ psystem->system__mode_start =
+ VL53LX_DEVICESCHEDULERMODE_HISTOGRAM |
+ VL53LX_DEVICEREADOUTMODE_DUAL_SD |
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+ }
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_ranging_with_mm1(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_ranging(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ VL53LX_init_histogram_config_structure(
+ 7, 0, 1, 2, 3, 4,
+ 8 + 0, 8 + 1, 8 + 2, 3, 4, 5,
+ phistogram);
+
+
+ VL53LX_init_histogram_multizone_config_structure(
+ 7, 0, 1, 2, 3, 4,
+ 8 + 0, 8 + 1, 8 + 2, 3, 4, 5,
+ &(pzone_cfg->multizone_hist_cfg));
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM1_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+
+
+
+ psystem->system__mode_start =
+ VL53LX_DEVICESCHEDULERMODE_HISTOGRAM |
+ VL53LX_DEVICEREADOUTMODE_DUAL_SD |
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_ranging_with_mm2(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_ranging_with_mm1(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM2_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_ranging_mm1_cal(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_ranging(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ VL53LX_init_histogram_config_structure(
+ 7, 8 + 0, 8 + 1, 8 + 2, 8 + 3, 8 + 4,
+ 8 + 0, 8 + 1, 8 + 2, 8 + 3, 8 + 4, 8 + 5,
+ phistogram);
+
+
+ VL53LX_init_histogram_multizone_config_structure(
+ 7, 8 + 0, 8 + 1, 8 + 2, 8 + 3, 8 + 4,
+ 8 + 0, 8 + 1, 8 + 2, 8 + 3, 8 + 4, 8 + 5,
+ &(pzone_cfg->multizone_hist_cfg));
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+
+
+
+ pgeneral->dss_config__roi_mode_control =
+ VL53LX_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS;
+
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM1_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_ranging_mm2_cal(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_ranging_mm1_cal(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM2_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_ranging_short_timing(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_ranging(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ pstatic->dss_config__target_total_rate_mcps = 0x1400;
+
+
+
+ VL53LX_init_histogram_config_structure(
+ 7, 0, 1, 2, 3, 4,
+ 7, 0, 1, 2, 3, 4,
+ phistogram);
+
+
+ VL53LX_init_histogram_multizone_config_structure(
+ 7, 0, 1, 2, 3, 4,
+ 7, 0, 1, 2, 3, 4,
+ &(pzone_cfg->multizone_hist_cfg));
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+
+
+
+ ptiming->range_config__vcsel_period_a = 0x04;
+ ptiming->range_config__vcsel_period_b = 0x03;
+ ptiming->mm_config__timeout_macrop_a_hi = 0x00;
+ ptiming->mm_config__timeout_macrop_a_lo = 0x42;
+ ptiming->mm_config__timeout_macrop_b_hi = 0x00;
+ ptiming->mm_config__timeout_macrop_b_lo = 0x42;
+ ptiming->range_config__timeout_macrop_a_hi = 0x00;
+ ptiming->range_config__timeout_macrop_a_lo = 0x52;
+ ptiming->range_config__timeout_macrop_b_hi = 0x00;
+ ptiming->range_config__timeout_macrop_b_lo = 0x66;
+
+ pgeneral->cal_config__vcsel_start = 0x04;
+
+
+
+ pgeneral->phasecal_config__timeout_macrop = 0xa4;
+
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+
+
+ VL53LX_SEQUENCE_RANGE_EN;
+
+
+
+
+ psystem->system__mode_start =
+ VL53LX_DEVICESCHEDULERMODE_HISTOGRAM |
+ VL53LX_DEVICEREADOUTMODE_DUAL_SD |
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+ }
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_long_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_ranging(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+
+
+ VL53LX_init_histogram_config_structure(
+ 7, 0, 1, 2, 3, 4,
+ 0, 1, 2, 3, 4, 5,
+ phistogram);
+
+
+ VL53LX_init_histogram_multizone_config_structure(
+ 7, 0, 1, 2, 3, 4,
+ 0, 1, 2, 3, 4, 5,
+ &(pzone_cfg->multizone_hist_cfg));
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+
+
+
+ ptiming->range_config__vcsel_period_a = 0x09;
+ ptiming->range_config__vcsel_period_b = 0x0b;
+
+
+
+ ptiming->mm_config__timeout_macrop_a_hi = 0x00;
+ ptiming->mm_config__timeout_macrop_a_lo = 0x21;
+ ptiming->mm_config__timeout_macrop_b_hi = 0x00;
+ ptiming->mm_config__timeout_macrop_b_lo = 0x1b;
+
+
+
+ ptiming->range_config__timeout_macrop_a_hi = 0x00;
+ ptiming->range_config__timeout_macrop_a_lo = 0x29;
+ ptiming->range_config__timeout_macrop_b_hi = 0x00;
+ ptiming->range_config__timeout_macrop_b_lo = 0x22;
+
+
+
+ pgeneral->cal_config__vcsel_start = 0x09;
+
+
+
+ pgeneral->phasecal_config__timeout_macrop = 0xF5;
+
+
+
+ pdynamic->sd_config__woi_sd0 = 0x09;
+ pdynamic->sd_config__woi_sd1 = 0x0B;
+ pdynamic->sd_config__initial_phase_sd0 =
+ ptuning_parms->tp_init_phase_rtn_hist_long;
+ pdynamic->sd_config__initial_phase_sd1 =
+ ptuning_parms->tp_init_phase_ref_hist_long;
+
+
+
+ phistpostprocess->valid_phase_low = 0x08;
+ phistpostprocess->valid_phase_high = 0x88;
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+
+
+
+
+ psystem->system__mode_start =
+ VL53LX_DEVICESCHEDULERMODE_HISTOGRAM |
+ VL53LX_DEVICEREADOUTMODE_DUAL_SD |
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_long_range_mm1(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_long_range(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+
+
+ VL53LX_init_histogram_config_structure(
+ 7, 0, 1, 2, 3, 4,
+ 8 + 0, 8 + 1, 8 + 2, 3, 4, 5,
+ phistogram);
+
+
+ VL53LX_init_histogram_multizone_config_structure(
+ 7, 0, 1, 2, 3, 4,
+ 8 + 0, 8 + 1, 8 + 2, 3, 4, 5,
+ &(pzone_cfg->multizone_hist_cfg));
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM1_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_long_range_mm2(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ status =
+ VL53LX_preset_mode_histogram_long_range_mm1(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM2_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+ }
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_medium_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_ranging(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+
+
+ VL53LX_init_histogram_config_structure(
+ 7, 0, 1, 1, 2, 2,
+ 0, 1, 2, 1, 2, 3,
+ phistogram);
+
+
+ VL53LX_init_histogram_multizone_config_structure(
+ 7, 0, 1, 1, 2, 2,
+ 0, 1, 2, 1, 2, 3,
+ &(pzone_cfg->multizone_hist_cfg));
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+
+
+
+ ptiming->range_config__vcsel_period_a = 0x05;
+ ptiming->range_config__vcsel_period_b = 0x07;
+
+
+
+ ptiming->mm_config__timeout_macrop_a_hi = 0x00;
+ ptiming->mm_config__timeout_macrop_a_lo = 0x36;
+ ptiming->mm_config__timeout_macrop_b_hi = 0x00;
+ ptiming->mm_config__timeout_macrop_b_lo = 0x28;
+
+
+
+ ptiming->range_config__timeout_macrop_a_hi = 0x00;
+ ptiming->range_config__timeout_macrop_a_lo = 0x44;
+ ptiming->range_config__timeout_macrop_b_hi = 0x00;
+ ptiming->range_config__timeout_macrop_b_lo = 0x33;
+
+
+
+ pgeneral->cal_config__vcsel_start = 0x05;
+
+
+
+ pgeneral->phasecal_config__timeout_macrop = 0xF5;
+
+
+
+ pdynamic->sd_config__woi_sd0 = 0x05;
+ pdynamic->sd_config__woi_sd1 = 0x07;
+ pdynamic->sd_config__initial_phase_sd0 =
+ ptuning_parms->tp_init_phase_rtn_hist_med;
+ pdynamic->sd_config__initial_phase_sd1 =
+ ptuning_parms->tp_init_phase_ref_hist_med;
+
+
+
+ phistpostprocess->valid_phase_low = 0x08;
+ phistpostprocess->valid_phase_high = 0x48;
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+
+
+
+
+ psystem->system__mode_start =
+ VL53LX_DEVICESCHEDULERMODE_HISTOGRAM |
+ VL53LX_DEVICEREADOUTMODE_DUAL_SD |
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_medium_range_mm1(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_medium_range(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ VL53LX_init_histogram_config_structure(
+ 7, 0, 1, 1, 2, 2,
+ 8 + 0, 8 + 1, 8 + 2, 1, 2, 3,
+ phistogram);
+
+
+ VL53LX_init_histogram_multizone_config_structure(
+ 7, 0, 1, 1, 2, 2,
+ 8 + 0, 8 + 1, 8 + 2, 1, 2, 3,
+ &(pzone_cfg->multizone_hist_cfg));
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM1_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_medium_range_mm2(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_medium_range_mm1(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM2_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_short_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_ranging(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+
+
+ VL53LX_init_histogram_config_structure(
+ 7, 7, 0, 1, 1, 1,
+ 0, 1, 1, 1, 2, 2,
+ phistogram);
+
+
+ VL53LX_init_histogram_multizone_config_structure(
+ 7, 7, 0, 1, 1, 1,
+ 0, 1, 1, 1, 2, 2,
+ &(pzone_cfg->multizone_hist_cfg));
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+
+
+
+ ptiming->range_config__vcsel_period_a = 0x03;
+ ptiming->range_config__vcsel_period_b = 0x05;
+
+
+
+ ptiming->mm_config__timeout_macrop_a_hi = 0x00;
+ ptiming->mm_config__timeout_macrop_a_lo = 0x52;
+ ptiming->mm_config__timeout_macrop_b_hi = 0x00;
+ ptiming->mm_config__timeout_macrop_b_lo = 0x37;
+
+
+
+ ptiming->range_config__timeout_macrop_a_hi = 0x00;
+ ptiming->range_config__timeout_macrop_a_lo = 0x66;
+ ptiming->range_config__timeout_macrop_b_hi = 0x00;
+ ptiming->range_config__timeout_macrop_b_lo = 0x44;
+
+
+
+ pgeneral->cal_config__vcsel_start = 0x03;
+
+
+
+ pgeneral->phasecal_config__timeout_macrop = 0xF5;
+
+
+
+ pdynamic->sd_config__woi_sd0 = 0x03;
+ pdynamic->sd_config__woi_sd1 = 0x05;
+ pdynamic->sd_config__initial_phase_sd0 =
+ ptuning_parms->tp_init_phase_rtn_hist_short;
+ pdynamic->sd_config__initial_phase_sd1 =
+ ptuning_parms->tp_init_phase_ref_hist_short;
+
+
+ phistpostprocess->valid_phase_low = 0x08;
+ phistpostprocess->valid_phase_high = 0x28;
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM1_EN |
+
+ VL53LX_SEQUENCE_RANGE_EN;
+
+
+
+
+ psystem->system__mode_start =
+ VL53LX_DEVICESCHEDULERMODE_HISTOGRAM |
+ VL53LX_DEVICEREADOUTMODE_DUAL_SD |
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+ }
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_special_histogram_short_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ status =
+ VL53LX_preset_mode_histogram_short_range(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+
+
+ VL53LX_init_histogram_config_structure(
+ 7, 7, 0, 0, 1, 1,
+ 0, 0, 0, 1, 1, 1,
+ phistogram);
+
+
+ VL53LX_init_histogram_multizone_config_structure(
+ 7, 7, 0, 0, 1, 1,
+ 0, 0, 0, 1, 1, 1,
+ &(pzone_cfg->multizone_hist_cfg));
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+
+
+
+ ptiming->range_config__vcsel_period_a = 0x02;
+ ptiming->range_config__vcsel_period_b = 0x03;
+
+
+
+ pgeneral->cal_config__vcsel_start = 0x00;
+
+
+
+ pgeneral->phasecal_config__target = 0x31;
+
+
+
+ pdynamic->sd_config__woi_sd0 = 0x02;
+ pdynamic->sd_config__woi_sd1 = 0x03;
+ pdynamic->sd_config__initial_phase_sd0 =
+ ptuning_parms->tp_init_phase_rtn_hist_short;
+ pdynamic->sd_config__initial_phase_sd1 =
+ ptuning_parms->tp_init_phase_ref_hist_short;
+
+
+
+ phistpostprocess->valid_phase_low = 0x10;
+ phistpostprocess->valid_phase_high = 0x18;
+
+ }
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_short_range_mm1(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_short_range(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+
+
+ VL53LX_init_histogram_config_structure(
+ 7, 7, 0, 1, 1, 1,
+ 8 + 0, 8 + 1, 1, 1, 2, 2,
+ phistogram);
+
+
+ VL53LX_init_histogram_multizone_config_structure(
+ 7, 7, 0, 1, 1, 1,
+ 8 + 0, 8 + 1, 1, 1, 2, 2,
+ &(pzone_cfg->multizone_hist_cfg));
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM1_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_short_range_mm2(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_short_range_mm1(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM2_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+ }
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_characterisation(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_ranging(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ pstatic->debug__ctrl = 0x01;
+ psystem->power_management__go1_power_force = 0x01;
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+
+ psystem->system__mode_start =
+ VL53LX_DEVICESCHEDULERMODE_HISTOGRAM |
+ VL53LX_DEVICEREADOUTMODE_SPLIT_MANUAL |
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+ }
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_xtalk_planar(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ status =
+ VL53LX_preset_mode_histogram_multizone_long_range(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ status =
+ VL53LX_zone_preset_xtalk_planar(
+ pgeneral,
+ pzone_cfg);
+
+
+
+ ptiming->range_config__vcsel_period_a = 0x09;
+ ptiming->range_config__vcsel_period_b = 0x09;
+
+
+
+ VL53LX_init_histogram_config_structure(
+ 7, 0, 1, 2, 3, 4,
+ 7, 0, 1, 2, 3, 4,
+ phistogram);
+
+
+
+ VL53LX_init_histogram_multizone_config_structure(
+ 7, 0, 1, 2, 3, 4,
+ 7, 0, 1, 2, 3, 4,
+ &(pzone_cfg->multizone_hist_cfg));
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_set_histogram_multizone_initial_bin_config(
+ pzone_cfg,
+ phistogram,
+ &(pzone_cfg->multizone_hist_cfg));
+ }
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+
+ }
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_xtalk_mm1(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+ status =
+ VL53LX_preset_mode_histogram_ranging(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+
+
+ VL53LX_init_histogram_config_structure(
+ 8 + 7, 8 + 0, 8 + 1, 8 + 2, 8 + 3, 8 + 4,
+ 8 + 7, 8 + 0, 8 + 1, 8 + 2, 8 + 3, 8 + 4,
+ phistogram);
+
+
+ VL53LX_init_histogram_multizone_config_structure(
+ 8 + 7, 8 + 0, 8 + 1, 8 + 2, 8 + 3, 8 + 4,
+ 8 + 7, 8 + 0, 8 + 1, 8 + 2, 8 + 3, 8 + 4,
+ &(pzone_cfg->multizone_hist_cfg));
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+
+
+
+ ptiming->range_config__vcsel_period_a = 0x09;
+ ptiming->range_config__vcsel_period_b = 0x09;
+
+
+
+ ptiming->mm_config__timeout_macrop_a_hi = 0x00;
+ ptiming->mm_config__timeout_macrop_a_lo = 0x21;
+ ptiming->mm_config__timeout_macrop_b_hi = 0x00;
+ ptiming->mm_config__timeout_macrop_b_lo = 0x21;
+
+
+
+ ptiming->range_config__timeout_macrop_a_hi = 0x00;
+ ptiming->range_config__timeout_macrop_a_lo = 0x29;
+ ptiming->range_config__timeout_macrop_b_hi = 0x00;
+ ptiming->range_config__timeout_macrop_b_lo = 0x29;
+
+
+
+ pgeneral->cal_config__vcsel_start = 0x09;
+
+
+
+ pgeneral->phasecal_config__timeout_macrop = 0xF5;
+
+
+
+ pdynamic->sd_config__woi_sd0 = 0x09;
+ pdynamic->sd_config__woi_sd1 = 0x09;
+ pdynamic->sd_config__initial_phase_sd0 = 0x09;
+ pdynamic->sd_config__initial_phase_sd1 = 0x06;
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM1_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+
+
+
+
+ psystem->system__mode_start =
+ VL53LX_DEVICESCHEDULERMODE_HISTOGRAM |
+ VL53LX_DEVICEREADOUTMODE_DUAL_SD |
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+ }
+
+ return status;
+}
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_xtalk_mm2(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_xtalk_mm1(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+ pdynamic->system__sequence_config =
+ VL53LX_SEQUENCE_VHV_EN |
+ VL53LX_SEQUENCE_PHASECAL_EN |
+ VL53LX_SEQUENCE_DSS1_EN |
+ VL53LX_SEQUENCE_DSS2_EN |
+ VL53LX_SEQUENCE_MM2_EN |
+ VL53LX_SEQUENCE_RANGE_EN;
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_multizone(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_medium_range(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ status =
+ VL53LX_init_zone_config_structure(
+ 4, 8, 2,
+ 4, 8, 2,
+ 7, 7,
+ pzone_cfg);
+
+ pgeneral->global_config__stream_divider =
+ pzone_cfg->active_zones + 1;
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_set_histogram_multizone_initial_bin_config(
+ pzone_cfg,
+ phistogram,
+ &(pzone_cfg->multizone_hist_cfg));
+ }
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_multizone_short_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_short_range(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ status =
+ VL53LX_init_zone_config_structure(
+ 4, 8, 2,
+ 4, 8, 2,
+ 7, 7,
+ pzone_cfg);
+
+ pgeneral->global_config__stream_divider =
+ pzone_cfg->active_zones + 1;
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_set_histogram_multizone_initial_bin_config(
+ pzone_cfg,
+ phistogram,
+ &(pzone_cfg->multizone_hist_cfg)
+ );
+ }
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+ }
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_multizone_long_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_long_range(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+ status =
+ VL53LX_init_zone_config_structure(
+ 4, 8, 2,
+ 4, 8, 2,
+ 7, 7,
+ pzone_cfg);
+
+ pgeneral->global_config__stream_divider =
+ pzone_cfg->active_zones + 1;
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_set_histogram_multizone_initial_bin_config(
+ pzone_cfg,
+ phistogram,
+ &(pzone_cfg->multizone_hist_cfg));
+ }
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_olt(
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status = VL53LX_preset_mode_standard_ranging(
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+
+ {
+ psystem->system__stream_count_ctrl = 0x01;
+ }
+
+
+ return status;
+}
+
+void VL53LX::VL53LX_copy_hist_cfg_to_static_cfg(
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic)
+{
+
+ SUPPRESS_UNUSED_WARNING(pgeneral);
+
+ pstatic->sigma_estimator__effective_pulse_width_ns =
+ phistogram->histogram_config__high_amb_even_bin_0_1;
+ pstatic->sigma_estimator__effective_ambient_width_ns =
+ phistogram->histogram_config__high_amb_even_bin_2_3;
+ pstatic->sigma_estimator__sigma_ref_mm =
+ phistogram->histogram_config__high_amb_even_bin_4_5;
+
+ pstatic->algo__crosstalk_compensation_valid_height_mm =
+ phistogram->histogram_config__high_amb_odd_bin_0_1;
+
+ pstatic->spare_host_config__static_config_spare_0 =
+ phistogram->histogram_config__high_amb_odd_bin_2_3;
+ pstatic->spare_host_config__static_config_spare_1 =
+ phistogram->histogram_config__high_amb_odd_bin_4_5;
+
+ pstatic->algo__range_ignore_threshold_mcps =
+ (((uint16_t)phistogram->histogram_config__mid_amb_even_bin_0_1)
+ << 8)
+ + (uint16_t)phistogram->histogram_config__mid_amb_even_bin_2_3;
+
+ pstatic->algo__range_ignore_valid_height_mm =
+ phistogram->histogram_config__mid_amb_even_bin_4_5;
+ pstatic->algo__range_min_clip =
+ phistogram->histogram_config__mid_amb_odd_bin_0_1;
+ pstatic->algo__consistency_check__tolerance =
+ phistogram->histogram_config__mid_amb_odd_bin_2;
+
+ pstatic->spare_host_config__static_config_spare_2 =
+ phistogram->histogram_config__mid_amb_odd_bin_3_4;
+ pstatic->sd_config__reset_stages_msb =
+ phistogram->histogram_config__mid_amb_odd_bin_5;
+
+ pstatic->sd_config__reset_stages_lsb =
+ phistogram->histogram_config__user_bin_offset;
+
+ ptiming->range_config__sigma_thresh =
+ (((uint16_t)phistogram->histogram_config__low_amb_even_bin_0_1)
+ << 8)
+ + (uint16_t)phistogram->histogram_config__low_amb_even_bin_2_3;
+
+ ptiming->range_config__min_count_rate_rtn_limit_mcps =
+ (((uint16_t)phistogram->histogram_config__low_amb_even_bin_4_5)
+ << 8)
+ + (uint16_t)phistogram->histogram_config__low_amb_odd_bin_0_1;
+
+ ptiming->range_config__valid_phase_low =
+ phistogram->histogram_config__low_amb_odd_bin_2_3;
+ ptiming->range_config__valid_phase_high =
+ phistogram->histogram_config__low_amb_odd_bin_4_5;
+
+ pdynamic->system__thresh_high =
+ phistogram->histogram_config__amb_thresh_low;
+
+ pdynamic->system__thresh_low =
+ phistogram->histogram_config__amb_thresh_high;
+
+ pdynamic->system__enable_xtalk_per_quadrant =
+ phistogram->histogram_config__spad_array_selection;
+
+
+}
+
+void VL53LX::VL53LX_copy_hist_bins_to_static_cfg(
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_timing_config_t *ptiming)
+{
+
+ pstatic->sigma_estimator__effective_pulse_width_ns =
+ phistogram->histogram_config__high_amb_even_bin_0_1;
+ pstatic->sigma_estimator__effective_ambient_width_ns =
+ phistogram->histogram_config__high_amb_even_bin_2_3;
+ pstatic->sigma_estimator__sigma_ref_mm =
+ phistogram->histogram_config__high_amb_even_bin_4_5;
+
+ pstatic->algo__crosstalk_compensation_valid_height_mm =
+ phistogram->histogram_config__high_amb_odd_bin_0_1;
+
+ pstatic->spare_host_config__static_config_spare_0 =
+ phistogram->histogram_config__high_amb_odd_bin_2_3;
+ pstatic->spare_host_config__static_config_spare_1 =
+ phistogram->histogram_config__high_amb_odd_bin_4_5;
+
+ pstatic->algo__range_ignore_threshold_mcps =
+ (((uint16_t)phistogram->histogram_config__mid_amb_even_bin_0_1)
+ << 8)
+ + (uint16_t)phistogram->histogram_config__mid_amb_even_bin_2_3;
+
+ pstatic->algo__range_ignore_valid_height_mm =
+ phistogram->histogram_config__mid_amb_even_bin_4_5;
+ pstatic->algo__range_min_clip =
+ phistogram->histogram_config__mid_amb_odd_bin_0_1;
+ pstatic->algo__consistency_check__tolerance =
+ phistogram->histogram_config__mid_amb_odd_bin_2;
+
+ pstatic->spare_host_config__static_config_spare_2 =
+ phistogram->histogram_config__mid_amb_odd_bin_3_4;
+ pstatic->sd_config__reset_stages_msb =
+ phistogram->histogram_config__mid_amb_odd_bin_5;
+
+ ptiming->range_config__sigma_thresh =
+ (((uint16_t)phistogram->histogram_config__low_amb_even_bin_0_1)
+ << 8)
+ + (uint16_t)phistogram->histogram_config__low_amb_even_bin_2_3;
+
+ ptiming->range_config__min_count_rate_rtn_limit_mcps =
+ (((uint16_t)phistogram->histogram_config__low_amb_even_bin_4_5)
+ << 8)
+ + (uint16_t)phistogram->histogram_config__low_amb_odd_bin_0_1;
+
+ ptiming->range_config__valid_phase_low =
+ phistogram->histogram_config__low_amb_odd_bin_2_3;
+ ptiming->range_config__valid_phase_high =
+ phistogram->histogram_config__low_amb_odd_bin_4_5;
+
+
+}
+
+VL53LX_Error VL53LX::VL53LX_preset_mode_histogram_ranging_ref(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_preset_mode_histogram_ranging(
+ phistpostprocess,
+ pstatic,
+ phistogram,
+ pgeneral,
+ ptiming,
+ pdynamic,
+ psystem,
+ ptuning_parms,
+ pzone_cfg);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ phistogram->histogram_config__spad_array_selection = 0x01;
+
+
+
+ VL53LX_copy_hist_cfg_to_static_cfg(
+ phistogram,
+ pstatic,
+ pgeneral,
+ ptiming,
+ pdynamic);
+ }
+
+ return status;
+}
+
+/* vl53lx_silicon_core.c */
+
+VL53LX_Error VL53LX::VL53LX_is_firmware_ready_silicon(
+ uint8_t *pready)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t comms_buffer[5];
+
+ status = VL53LX_ReadMulti(
+ Dev,
+ VL53LX_INTERRUPT_MANAGER__ENABLES,
+ comms_buffer,
+ 5);
+
+ if (status != VL53LX_ERROR_NONE) {
+ goto ENDFUNC;
+ }
+
+ pdev->dbg_results.interrupt_manager__enables =
+ comms_buffer[0];
+ pdev->dbg_results.interrupt_manager__clear =
+ comms_buffer[1];
+ pdev->dbg_results.interrupt_manager__status =
+ comms_buffer[2];
+ pdev->dbg_results.mcu_to_host_bank__wr_access_en =
+ comms_buffer[3];
+ pdev->dbg_results.power_management__go1_reset_status =
+ comms_buffer[4];
+
+ if ((pdev->sys_ctrl.power_management__go1_power_force & 0x01)
+ == 0x01) {
+
+ if (((pdev->dbg_results.interrupt_manager__enables &
+ 0x1F) == 0x1F) &&
+ ((pdev->dbg_results.interrupt_manager__clear
+ & 0x1F) == 0x1F)) {
+ *pready = 0x01;
+ } else {
+ *pready = 0x00;
+ }
+
+ } else {
+
+
+ if ((pdev->dbg_results.power_management__go1_reset_status
+ & 0x01) == 0x00) {
+ *pready = 0x01;
+ } else {
+ *pready = 0x00;
+ }
+ }
+ENDFUNC:
+ return status;
+}
+
+/* vl53lx_hist_core.c */
+void VL53LX::VL53LX_f_022(
+ uint8_t VL53LX_p_032,
+ uint8_t filter_woi,
+ VL53LX_histogram_bin_data_t *pbins,
+ int32_t *pa,
+ int32_t *pb,
+ int32_t *pc)
+{
+
+
+ uint8_t w = 0;
+ uint8_t j = 0;
+
+ *pa = 0;
+ *pb = pbins->bin_data[VL53LX_p_032];
+ *pc = 0;
+
+ for (w = 0 ; w < ((filter_woi << 1) + 1) ; w++) {
+
+
+ j = ((VL53LX_p_032 + w + pbins->VL53LX_p_021) -
+ filter_woi) % pbins->VL53LX_p_021;
+
+ if (w < filter_woi) {
+ *pa += pbins->bin_data[j];
+ } else if (w > filter_woi) {
+ *pc += pbins->bin_data[j];
+ }
+ }
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_018(
+ uint16_t vcsel_width,
+ uint16_t fast_osc_frequency,
+ uint32_t total_periods_elapsed,
+ uint16_t VL53LX_p_004,
+ VL53LX_range_data_t *pdata)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint32_t pll_period_us = 0;
+ uint32_t periods_elapsed = 0;
+ uint32_t count_rate_total = 0;
+
+
+ pdata->width = vcsel_width;
+ pdata->fast_osc_frequency = fast_osc_frequency;
+ pdata->total_periods_elapsed = total_periods_elapsed;
+ pdata->VL53LX_p_004 = VL53LX_p_004;
+
+
+
+
+ if (pdata->fast_osc_frequency == 0) {
+ status = VL53LX_ERROR_DIVISION_BY_ZERO;
+ }
+
+ if (pdata->total_periods_elapsed == 0) {
+ status = VL53LX_ERROR_DIVISION_BY_ZERO;
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+
+
+ pll_period_us =
+ VL53LX_calc_pll_period_us(pdata->fast_osc_frequency);
+
+ periods_elapsed = pdata->total_periods_elapsed + 1;
+
+ pdata->peak_duration_us = VL53LX_duration_maths(
+ pll_period_us,
+ (uint32_t)pdata->width,
+ VL53LX_RANGING_WINDOW_VCSEL_PERIODS,
+ periods_elapsed);
+
+ pdata->woi_duration_us = VL53LX_duration_maths(
+ pll_period_us,
+ ((uint32_t)pdata->VL53LX_p_029) << 4,
+ VL53LX_RANGING_WINDOW_VCSEL_PERIODS,
+ periods_elapsed);
+
+
+
+
+ pdata->peak_signal_count_rate_mcps = VL53LX_rate_maths(
+ (int32_t)pdata->VL53LX_p_010,
+ pdata->peak_duration_us);
+
+ pdata->avg_signal_count_rate_mcps = VL53LX_rate_maths(
+ (int32_t)pdata->VL53LX_p_010,
+ pdata->woi_duration_us);
+
+ pdata->ambient_count_rate_mcps = VL53LX_rate_maths(
+ (int32_t)pdata->VL53LX_p_016,
+ pdata->woi_duration_us);
+
+
+
+
+ count_rate_total =
+ (uint32_t)pdata->peak_signal_count_rate_mcps +
+ (uint32_t)pdata->ambient_count_rate_mcps;
+
+ pdata->total_rate_per_spad_mcps =
+ VL53LX_rate_per_spad_maths(
+ 0x06,
+ count_rate_total,
+ pdata->VL53LX_p_004,
+ 0xFFFF);
+
+
+
+
+ pdata->VL53LX_p_009 =
+ VL53LX_events_per_spad_maths(
+ pdata->VL53LX_p_010,
+ pdata->VL53LX_p_004,
+ pdata->peak_duration_us);
+
+
+
+ }
+
+ return status;
+}
+
+
+void VL53LX::VL53LX_f_019(
+ uint16_t gain_factor,
+ int16_t range_offset_mm,
+ VL53LX_range_data_t *pdata)
+{
+
+ pdata->min_range_mm =
+ (int16_t)VL53LX_range_maths(
+ pdata->fast_osc_frequency,
+ pdata->VL53LX_p_026,
+ pdata->zero_distance_phase,
+ 0,
+
+ (int32_t)gain_factor,
+ (int32_t)range_offset_mm);
+
+ pdata->median_range_mm =
+ (int16_t)VL53LX_range_maths(
+ pdata->fast_osc_frequency,
+ pdata->VL53LX_p_011,
+ pdata->zero_distance_phase,
+ 0,
+
+ (int32_t)gain_factor,
+ (int32_t)range_offset_mm);
+
+ pdata->max_range_mm =
+ (int16_t)VL53LX_range_maths(
+ pdata->fast_osc_frequency,
+ pdata->VL53LX_p_027,
+ pdata->zero_distance_phase,
+ 0,
+
+ (int32_t)gain_factor,
+ (int32_t)range_offset_mm);
+
+}
+
+void VL53LX::VL53LX_f_029(
+ VL53LX_histogram_bin_data_t *pdata,
+ int32_t ambient_estimate_counts_per_bin)
+{
+ uint8_t i = 0;
+
+ for (i = 0 ; i < pdata->VL53LX_p_021 ; i++)
+ pdata->bin_data[i] = pdata->bin_data[i] -
+ ambient_estimate_counts_per_bin;
+}
+
+
+
+
+void VL53LX::VL53LX_f_005(
+ VL53LX_histogram_bin_data_t *pxtalk,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_histogram_bin_data_t *pxtalk_realigned)
+{
+
+
+ uint8_t i = 0;
+ uint8_t min_bins = 0;
+ int8_t bin_offset = 0;
+ int8_t bin_access = 0;
+
+
+ memcpy(
+ pxtalk_realigned,
+ pbins,
+ sizeof(VL53LX_histogram_bin_data_t));
+
+ for (i = 0 ; i < pxtalk_realigned->VL53LX_p_020 ; i++) {
+ pxtalk_realigned->bin_data[i] = 0;
+ }
+
+
+ bin_offset = VL53LX_f_030(
+ pbins,
+ pxtalk);
+
+
+ if (pxtalk->VL53LX_p_021 < pbins->VL53LX_p_021) {
+ min_bins = pxtalk->VL53LX_p_021;
+ } else {
+ min_bins = pbins->VL53LX_p_021;
+ }
+
+
+ for (i = 0 ; i < min_bins ; i++) {
+
+
+
+
+ if (bin_offset >= 0)
+ bin_access = ((int8_t)i + (int8_t)bin_offset)
+ % (int8_t)pbins->VL53LX_p_021;
+ else
+ bin_access = ((int8_t)pbins->VL53LX_p_021 +
+ ((int8_t)i + (int8_t)bin_offset))
+ % (int8_t)pbins->VL53LX_p_021;
+
+ if (pbins->bin_data[(uint8_t)bin_access] >
+ pxtalk->bin_data[i]) {
+
+ pbins->bin_data[(uint8_t)bin_access] =
+ pbins->bin_data[(uint8_t)bin_access]
+ - pxtalk->bin_data[i];
+
+ } else {
+ pbins->bin_data[(uint8_t)bin_access] = 0;
+ }
+
+
+ pxtalk_realigned->bin_data[(uint8_t)bin_access] =
+ pxtalk->bin_data[i];
+
+
+ }
+
+
+}
+
+
+
+
+int8_t VL53LX::VL53LX_f_030(
+ VL53LX_histogram_bin_data_t *pdata1,
+ VL53LX_histogram_bin_data_t *pdata2)
+{
+
+
+ int32_t phase_delta = 0;
+ int8_t bin_offset = 0;
+ uint32_t period = 0;
+ uint32_t remapped_phase = 0;
+
+ period = 2048 *
+ (uint32_t)VL53LX_decode_vcsel_period(pdata1->VL53LX_p_005);
+
+ remapped_phase = (uint32_t)pdata2->zero_distance_phase % period;
+
+
+ phase_delta = (int32_t)pdata1->zero_distance_phase
+ - (int32_t)remapped_phase;
+
+
+ if (phase_delta > 0) {
+ bin_offset = (int8_t)((phase_delta + 1024) / 2048);
+ } else {
+ bin_offset = (int8_t)((phase_delta - 1024) / 2048);
+ }
+
+
+ return bin_offset;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_031(
+ VL53LX_histogram_bin_data_t *pidata,
+ VL53LX_histogram_bin_data_t *podata)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t bin_initial_index[VL53LX_MAX_BIN_SEQUENCE_CODE + 1];
+ uint8_t bin_repeat_count[VL53LX_MAX_BIN_SEQUENCE_CODE + 1];
+
+ uint8_t bin_cfg = 0;
+ uint8_t bin_seq_length = 0;
+ int32_t repeat_count = 0;
+
+ uint8_t VL53LX_p_032 = 0;
+ uint8_t lc = 0;
+ uint8_t i = 0;
+
+ memcpy(podata, pidata, sizeof(VL53LX_histogram_bin_data_t));
+
+ podata->VL53LX_p_021 = 0;
+
+ for (lc = 0 ; lc < VL53LX_MAX_BIN_SEQUENCE_LENGTH ; lc++) {
+ podata->bin_seq[lc] = VL53LX_MAX_BIN_SEQUENCE_CODE + 1;
+ }
+
+ for (lc = 0 ; lc < podata->VL53LX_p_020 ; lc++) {
+ podata->bin_data[lc] = 0;
+ }
+
+
+
+
+ for (lc = 0 ; lc <= VL53LX_MAX_BIN_SEQUENCE_CODE ; lc++) {
+ bin_initial_index[lc] = 0x00;
+ bin_repeat_count[lc] = 0x00;
+ }
+
+
+
+
+
+ bin_seq_length = 0x00;
+
+ for (lc = 0 ; lc < VL53LX_MAX_BIN_SEQUENCE_LENGTH ; lc++) {
+
+ bin_cfg = pidata->bin_seq[lc];
+
+
+ if (bin_repeat_count[bin_cfg] == 0) {
+ bin_initial_index[bin_cfg] = bin_seq_length * 4;
+ podata->bin_seq[bin_seq_length] = bin_cfg;
+ bin_seq_length++;
+ }
+
+ bin_repeat_count[bin_cfg]++;
+
+
+ VL53LX_p_032 = bin_initial_index[bin_cfg];
+
+ for (i = 0 ; i < 4 ; i++)
+ podata->bin_data[VL53LX_p_032 + i] +=
+ pidata->bin_data[lc * 4 + i];
+
+ }
+
+
+
+
+ for (lc = 0 ; lc < VL53LX_MAX_BIN_SEQUENCE_LENGTH ; lc++) {
+
+ bin_cfg = podata->bin_seq[lc];
+
+ if (bin_cfg <= VL53LX_MAX_BIN_SEQUENCE_CODE)
+ podata->bin_rep[lc] =
+ bin_repeat_count[bin_cfg];
+ else {
+ podata->bin_rep[lc] = 0;
+ }
+ }
+
+ podata->VL53LX_p_021 = bin_seq_length * 4;
+
+
+ for (lc = 0 ; lc <= VL53LX_MAX_BIN_SEQUENCE_CODE ; lc++) {
+
+ repeat_count = (int32_t)bin_repeat_count[lc];
+
+ if (repeat_count > 0) {
+
+ VL53LX_p_032 = bin_initial_index[lc];
+
+ for (i = 0 ; i < 4 ; i++) {
+ podata->bin_data[VL53LX_p_032 + i] +=
+ (repeat_count / 2);
+ podata->bin_data[VL53LX_p_032 + i] /=
+ repeat_count;
+ }
+ }
+ }
+
+ podata->number_of_ambient_bins = 0;
+ if ((bin_repeat_count[7] > 0) ||
+ (bin_repeat_count[15] > 0)) {
+ podata->number_of_ambient_bins = 4;
+ }
+
+ return status;
+}
+
+
+/* vl53lx_xtalk.c */
+
+
+VL53LX_Error VL53LX::VL53LX_xtalk_calibration_process_data(
+ VL53LX_xtalk_range_results_t *pxtalk_results,
+ VL53LX_xtalk_histogram_data_t *pxtalk_shape,
+ VL53LX_xtalk_calibration_results_t *pxtalk_cal)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_xtalk_algo_data_t xtalk_debug;
+ VL53LX_xtalk_algo_data_t *pdebug = &xtalk_debug;
+ VL53LX_xtalk_range_data_t *pxtalk_data = NULL;
+
+ VL53LX_histogram_bin_data_t avg_bins;
+ VL53LX_histogram_bin_data_t *pavg_bins = &avg_bins;
+
+ memcpy(pavg_bins, &(pxtalk_results->central_histogram_avg),
+ sizeof(VL53LX_histogram_bin_data_t));
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+
+ VL53LX_init_histogram_bin_data_struct(
+ 0, 0, &(pdebug->VL53LX_p_056));
+
+ if (status == VL53LX_ERROR_NONE)
+
+ VL53LX_init_histogram_bin_data_struct(
+ 0, 0, &(pdebug->VL53LX_p_057));
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+
+ status = VL53LX_f_039(
+ pxtalk_results,
+ pdebug,
+ &(pxtalk_cal->algo__crosstalk_compensation_x_plane_gradient_kcps
+ ),
+ &(pxtalk_cal->algo__crosstalk_compensation_y_plane_gradient_kcps
+ ));
+
+
+
+
+
+
+
+ if (status != VL53LX_ERROR_NONE) {
+ goto ENDFUNC;
+ }
+
+ pxtalk_data = &(pxtalk_results->VL53LX_p_003[4]);
+
+ if (pxtalk_data->no_of_samples > 0) {
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ memcpy(&(pdebug->VL53LX_p_056),
+ pavg_bins,
+ sizeof(VL53LX_histogram_bin_data_t));
+ }
+
+
+
+
+ status = VL53LX_f_040(
+ pxtalk_data,
+ pdebug,
+ &(pxtalk_cal->algo__crosstalk_compensation_plane_offset_kcps));
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_f_041(
+ pavg_bins,
+ pdebug,
+ pxtalk_data,
+ pxtalk_results->central_histogram__window_start,
+ pxtalk_results->central_histogram__window_end,
+ &(pxtalk_shape->xtalk_shape));
+
+ } else {
+
+
+
+
+ pxtalk_cal->algo__crosstalk_compensation_plane_offset_kcps = 0;
+
+
+
+
+ pdebug->VL53LX_p_058 = 0;
+
+
+
+ }
+ENDFUNC:
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_generate_dual_reflectance_xtalk_samples(
+ VL53LX_xtalk_range_results_t *pxtalk_results,
+ uint16_t expected_target_distance_mm,
+ uint8_t higher_reflectance,
+ VL53LX_histogram_bin_data_t *pxtalk_avg_samples
+)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_histogram_bin_data_t *pzone_avg_1 =
+ &(pxtalk_results->histogram_avg_1[0]);
+ VL53LX_histogram_bin_data_t *pzone_avg_2 =
+ &(pxtalk_results->histogram_avg_2[0]);
+
+ VL53LX_histogram_bin_data_t *pxtalk_output = pxtalk_avg_samples;
+
+
+
+
+ int i = 0;
+
+
+
+
+ for (i = 0 ; i < 5 ; i++) {
+
+ if (status == VL53LX_ERROR_NONE)
+
+ VL53LX_init_histogram_bin_data_struct(
+ 0, 0, pzone_avg_1);
+
+ if (status == VL53LX_ERROR_NONE)
+
+ VL53LX_init_histogram_bin_data_struct(
+ 0, 0, pzone_avg_2);
+
+ pzone_avg_1++;
+ pzone_avg_2++;
+ }
+
+
+
+
+
+ pzone_avg_1 = &(pxtalk_results->histogram_avg_1[0]);
+ pzone_avg_2 = &(pxtalk_results->histogram_avg_2[0]);
+
+ for (i = 0 ; i < 5 ; i++) {
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ status = VL53LX_f_042(
+ pzone_avg_1,
+ pzone_avg_2,
+ expected_target_distance_mm,
+ 0x01,
+
+ higher_reflectance,
+ pxtalk_output
+ );
+
+
+
+
+ pzone_avg_1++;
+ pzone_avg_2++;
+ pxtalk_output++;
+
+ }
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_042(
+ VL53LX_histogram_bin_data_t *pzone_avg_1,
+ VL53LX_histogram_bin_data_t *pzone_avg_2,
+ uint16_t expected_target_distance,
+ uint8_t subtract_amb,
+ uint8_t higher_reflectance,
+ VL53LX_histogram_bin_data_t *pxtalk_output
+)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_histogram_bin_data_t zone_avg_realigned;
+
+
+
+ SUPPRESS_UNUSED_WARNING(pxtalk_output);
+ SUPPRESS_UNUSED_WARNING(expected_target_distance);
+
+
+
+
+ if ((status == VL53LX_ERROR_NONE) && (subtract_amb == 0x01)) {
+ VL53LX_f_029(
+ pzone_avg_1,
+ pzone_avg_1->VL53LX_p_028);
+
+
+
+ pzone_avg_1->VL53LX_p_028 = 0x0;
+ }
+
+ if ((status == VL53LX_ERROR_NONE) && (subtract_amb == 0x01)) {
+ VL53LX_f_029(
+ pzone_avg_2,
+ pzone_avg_2->VL53LX_p_028);
+
+
+
+ pzone_avg_2->VL53LX_p_028 = 0x0;
+ }
+
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ if (higher_reflectance == 0x01) {
+ VL53LX_f_005(
+ pzone_avg_2,
+ pzone_avg_1,
+ &zone_avg_realigned);
+ } else {
+
+
+
+
+ VL53LX_f_005(
+ pzone_avg_1,
+ pzone_avg_2,
+ &zone_avg_realigned);
+
+
+
+
+
+ }
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_041(
+ VL53LX_histogram_bin_data_t *pavg_bins,
+ VL53LX_xtalk_algo_data_t *pdebug,
+ VL53LX_xtalk_range_data_t *pxtalk_data,
+ uint8_t histogram__window_start,
+ uint8_t histogram__window_end,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_shape)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+
+
+ uint32_t ambient_thresh = 0;
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+
+ VL53LX_f_029(
+ pavg_bins,
+ pavg_bins->VL53LX_p_028);
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+
+ VL53LX_f_043(
+ 6,
+ pavg_bins->VL53LX_p_028,
+ &ambient_thresh);
+
+
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+
+ status = VL53LX_f_044(
+ pavg_bins,
+ ambient_thresh,
+ histogram__window_start,
+ histogram__window_end);
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_f_045(
+ pavg_bins,
+ pxtalk_data,
+ pdebug,
+ pxtalk_shape);
+
+
+ return status;
+
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_039(
+ VL53LX_xtalk_range_results_t *pxtalk_results,
+ VL53LX_xtalk_algo_data_t *pdebug,
+ int16_t *xgradient,
+ int16_t *ygradient
+)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_xtalk_range_data_t *presults_int = NULL;
+
+ int i = 0;
+
+ uint32_t xtalk_per_spad[4];
+ int32_t VL53LX_p_059 = 0;
+ int32_t VL53LX_p_060 = 0;
+
+ uint8_t result_invalid = 0;
+
+
+
+ *xgradient = 0;
+ *ygradient = 0;
+
+
+
+
+
+ for (i = 0; i < 4; i++) {
+ xtalk_per_spad[i] = 0;
+ }
+
+
+
+
+ for (i = 0; i < 4; i++) {
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ presults_int = &(pxtalk_results->VL53LX_p_003[i]);
+
+
+
+
+
+
+ if (presults_int->no_of_samples == 0) {
+
+
+
+ result_invalid = 1;
+ pdebug->VL53LX_p_061[i] = 0;
+
+
+ } else {
+
+ xtalk_per_spad[i] =
+ presults_int->rate_per_spad_kcps_avg;
+
+
+
+
+ pdebug->VL53LX_p_061[i] =
+ (uint32_t)xtalk_per_spad[i];
+
+ }
+ }
+
+ }
+
+
+
+
+
+
+
+
+ if ((status == VL53LX_ERROR_NONE) && (result_invalid == 0)) {
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ VL53LX_p_059 = ((int32_t)xtalk_per_spad[1]
+ - (int32_t)xtalk_per_spad[0]) / (8);
+ VL53LX_p_060 = ((int32_t)xtalk_per_spad[3]
+ - (int32_t)xtalk_per_spad[2]) / (8);
+ }
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ if (VL53LX_p_059 < -32767) {
+ VL53LX_p_059 = -32767;
+ } else {
+ if (VL53LX_p_059 > 32767) {
+ VL53LX_p_059 = 32767;
+ }
+ }
+
+ if (VL53LX_p_060 < -32767) {
+ VL53LX_p_060 = -32767;
+ } else {
+ if (VL53LX_p_060 > 32767) {
+ VL53LX_p_060 = 32767;
+ }
+ }
+
+
+
+
+ pdebug->VL53LX_p_059 = (int16_t)VL53LX_p_059;
+ pdebug->VL53LX_p_060 = (int16_t)VL53LX_p_060;
+ }
+
+ } else {
+
+
+
+
+ VL53LX_p_059 = 0;
+ VL53LX_p_060 = 0;
+
+ pdebug->VL53LX_p_059 = 0;
+ pdebug->VL53LX_p_060 = 0;
+ }
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ *xgradient = (int16_t)VL53LX_p_059;
+ *ygradient = (int16_t)VL53LX_p_060;
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_040(
+ VL53LX_xtalk_range_data_t *pxtalk_data,
+ VL53LX_xtalk_algo_data_t *pdebug,
+ uint32_t *xtalk_mean_offset_kcps
+)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint32_t xtalk_per_spad = 0;
+ uint8_t result_invalid = 0;
+
+
+ *xtalk_mean_offset_kcps = 0;
+
+
+
+ if (pxtalk_data->no_of_samples == 0) {
+
+
+
+
+ result_invalid = 1;
+
+
+
+
+ pdebug->VL53LX_p_058 = 0;
+
+ }
+
+
+
+
+
+ if ((status == VL53LX_ERROR_NONE) && (result_invalid == 0)) {
+
+
+
+
+
+ xtalk_per_spad = pxtalk_data->rate_per_spad_kcps_avg >> 2;
+
+
+
+
+ pdebug->VL53LX_p_058 = xtalk_per_spad;
+
+
+
+ if (xtalk_per_spad < 0x3FFFF) {
+ *xtalk_mean_offset_kcps = (uint32_t)xtalk_per_spad;
+ } else {
+ *xtalk_mean_offset_kcps = 0x3FFFF;
+ }
+
+ } else {
+
+
+
+
+ *xtalk_mean_offset_kcps = 0;
+ }
+
+
+ return status;
+
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_f_045(
+ VL53LX_histogram_bin_data_t *phist_data,
+ VL53LX_xtalk_range_data_t *pxtalk_data,
+ VL53LX_xtalk_algo_data_t *pdebug,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_histo
+)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ int i = 0;
+ uint64_t bin_data[VL53LX_XTALK_HISTO_BINS];
+
+ pxtalk_histo->VL53LX_p_020 =
+ phist_data->VL53LX_p_020;
+ pxtalk_histo->cal_config__vcsel_start =
+ phist_data->cal_config__vcsel_start;
+ pxtalk_histo->VL53LX_p_015 =
+ phist_data->VL53LX_p_015;
+ pxtalk_histo->VL53LX_p_019 =
+ phist_data->VL53LX_p_019;
+ pxtalk_histo->time_stamp =
+ phist_data->time_stamp;
+ pxtalk_histo->vcsel_width =
+ phist_data->vcsel_width;
+ pxtalk_histo->zero_distance_phase =
+ phist_data->zero_distance_phase;
+ pxtalk_histo->zone_id =
+ phist_data->zone_id;
+ pxtalk_histo->VL53LX_p_021 =
+ VL53LX_XTALK_HISTO_BINS;
+ pxtalk_histo->phasecal_result__reference_phase =
+ phist_data->phasecal_result__reference_phase;
+ pxtalk_histo->phasecal_result__vcsel_start =
+ phist_data->phasecal_result__vcsel_start;
+
+
+
+
+
+ memcpy(&(pdebug->VL53LX_p_057),
+ phist_data, sizeof(VL53LX_histogram_bin_data_t));
+
+
+
+
+
+
+
+
+
+
+ for (i = 0; i < pxtalk_histo->VL53LX_p_021; i++) {
+ if (phist_data->bin_data[i +
+ phist_data->number_of_ambient_bins] > 0) {
+ bin_data[i] =
+ (((uint64_t)phist_data->bin_data[i +
+ phist_data->number_of_ambient_bins] << 10)
+ + ((uint64_t)pxtalk_data->signal_total_events_avg
+ / 2))
+ / (uint64_t)pxtalk_data->signal_total_events_avg;
+ } else {
+ bin_data[i] = 0;
+ }
+ }
+
+
+
+
+
+ for (i = 0; i < VL53LX_XTALK_HISTO_BINS; i++) {
+ pxtalk_histo->bin_data[i] = (uint32_t)bin_data[i];
+ }
+
+
+
+
+ for (i = 0; i < pxtalk_histo->VL53LX_p_021; i++) {
+ pdebug->VL53LX_p_062[i] = pxtalk_histo->bin_data[i];
+ }
+
+
+
+ return status;
+
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_f_046(
+ VL53LX_customer_nvm_managed_t *pcustomer,
+ VL53LX_dynamic_config_t *pdyn_cfg,
+ VL53LX_xtalk_histogram_data_t *pxtalk_shape,
+ VL53LX_histogram_bin_data_t *pip_hist_data,
+ VL53LX_histogram_bin_data_t *pop_hist_data,
+ VL53LX_histogram_bin_data_t *pxtalk_count_data)
+{
+
+
+
+
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+
+
+
+ uint32_t xtalk_rate_kcps = 0;
+
+
+
+ memcpy(pop_hist_data, pip_hist_data,
+ sizeof(VL53LX_histogram_bin_data_t));
+
+
+
+
+ status =
+ VL53LX_f_032(
+ pcustomer->algo__crosstalk_compensation_plane_offset_kcps,
+ pcustomer->algo__crosstalk_compensation_x_plane_gradient_kcps,
+ pcustomer->algo__crosstalk_compensation_y_plane_gradient_kcps,
+ 0,
+
+ 0,
+
+ pip_hist_data->result__dss_actual_effective_spads,
+
+
+ pdyn_cfg->roi_config__user_roi_centre_spad,
+ pdyn_cfg->roi_config__user_roi_requested_global_xy_size,
+ &(xtalk_rate_kcps));
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_033(
+ pip_hist_data,
+ &(pxtalk_shape->xtalk_shape),
+ xtalk_rate_kcps,
+ pxtalk_count_data);
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_047(
+ pop_hist_data,
+ pxtalk_count_data,
+ pip_hist_data->number_of_ambient_bins);
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_032(
+ uint32_t mean_offset,
+ int16_t xgradient,
+ int16_t ygradient,
+ int8_t centre_offset_x,
+ int8_t centre_offset_y,
+ uint16_t roi_effective_spads,
+ uint8_t roi_centre_spad,
+ uint8_t roi_xy_size,
+ uint32_t *xtalk_rate_kcps
+)
+{
+
+
+
+
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t row = 0;
+ uint8_t col = 0;
+
+
+
+
+ int16_t bound_l_x = 0;
+
+ int16_t bound_r_x = 0;
+
+ int16_t bound_u_y = 0;
+
+ int16_t bound_d_y = 0;
+
+
+ int64_t xtalk_rate_ll = 0;
+
+ int64_t xtalk_rate_ur = 0;
+
+
+ int64_t xtalk_avg = 0;
+
+ SUPPRESS_UNUSED_WARNING(roi_effective_spads);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ VL53LX_decode_row_col(
+ roi_centre_spad,
+ &row,
+ &col);
+ }
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ if ((((int16_t)roi_xy_size / 16) & 0x01) == 1)
+ bound_l_x = (int16_t) col -
+ (((int16_t)roi_xy_size / 32) + 1);
+ else
+ bound_l_x = (int16_t) col -
+ ((int16_t)roi_xy_size / 32);
+
+ bound_r_x = (int16_t) col + ((int16_t)roi_xy_size / 32);
+
+ if ((((int16_t)roi_xy_size) & 0x01) == 1)
+ bound_d_y = (int16_t) row -
+ ((((int16_t)roi_xy_size & 0x0f) / 2) + 1);
+ else
+ bound_d_y = (int16_t) row -
+ (((int16_t)roi_xy_size & 0x0f) / 2);
+
+ bound_u_y = (int16_t) row +
+ (((int16_t)roi_xy_size & 0xf) / 2);
+ }
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ bound_l_x = (2 * bound_l_x) - 15 +
+ (2 * (int16_t)centre_offset_x);
+ bound_r_x = (2 * bound_r_x) - 15 +
+ (2 * (int16_t)centre_offset_x);
+ bound_u_y = (2 * bound_u_y) - 15 +
+ (2 * (int16_t)centre_offset_y);
+ bound_d_y = (2 * bound_d_y) - 15 +
+ (2 * (int16_t)centre_offset_y);
+ }
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ xtalk_rate_ll = ((int64_t)bound_l_x *
+ ((int64_t)xgradient)) + ((int64_t)bound_d_y *
+ ((int64_t)ygradient));
+ xtalk_rate_ll = (xtalk_rate_ll + 1) / 2;
+
+ xtalk_rate_ll += ((int64_t)mean_offset * 4);
+
+ xtalk_rate_ur = ((int64_t)bound_r_x *
+ ((int64_t)xgradient)) + ((int64_t)bound_u_y *
+ ((int64_t)ygradient));
+ xtalk_rate_ur = (xtalk_rate_ur + 1) / 2;
+
+ xtalk_rate_ur += ((int64_t)mean_offset * 4);
+ }
+
+
+ if (status == VL53LX_ERROR_NONE)
+
+ {
+ xtalk_avg = ((xtalk_rate_ll + xtalk_rate_ur) + 1) / 2;
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+
+ if (xtalk_avg < 0) {
+ xtalk_avg = 0;
+ }
+
+ *xtalk_rate_kcps = (uint32_t) xtalk_avg;
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_f_033(
+ VL53LX_histogram_bin_data_t *phist_data,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_data,
+ uint32_t xtalk_rate_kcps,
+ VL53LX_histogram_bin_data_t *pxtalkcount_data
+)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint64_t xtalk_events_per_spad = 0;
+ uint64_t xtalk_total_events = 0;
+ uint64_t xtalk_temp_bin = 0;
+
+ uint8_t i = 0;
+
+ xtalk_events_per_spad = ((((uint64_t)xtalk_rate_kcps *
+ (uint64_t)phist_data->peak_duration_us) + 500) / 1000);
+
+ xtalk_total_events = xtalk_events_per_spad *
+ (uint64_t)phist_data->result__dss_actual_effective_spads;
+
+
+ xtalk_total_events = (xtalk_total_events) / 256;
+
+
+ xtalk_total_events = (xtalk_total_events + 1024) / 2048;
+
+
+ if (xtalk_total_events > 0xFFFFFFFF) {
+ xtalk_total_events = 0xFFFFFFFF;
+ }
+
+ for (i = 0; i < pxtalk_data->VL53LX_p_021; i++) {
+ xtalk_temp_bin = (uint64_t)pxtalk_data->bin_data[i] *
+ (uint64_t)xtalk_total_events;
+ xtalk_temp_bin = (xtalk_temp_bin + 512) / 1024;
+
+ pxtalkcount_data->bin_data[i] = (uint32_t)xtalk_temp_bin;
+
+ }
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_047(
+ VL53LX_histogram_bin_data_t *phist_data,
+ VL53LX_histogram_bin_data_t *pxtalk_data,
+ uint8_t xtalk_bin_offset)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t i = 0;
+
+ int32_t temp_bin;
+
+ if (status == VL53LX_ERROR_NONE)
+
+ for (i = xtalk_bin_offset;
+ i < pxtalk_data->VL53LX_p_021; i++) {
+
+
+ temp_bin = (int32_t)phist_data->bin_data[i] -
+ (int32_t)pxtalk_data->bin_data[i - xtalk_bin_offset];
+
+ if (temp_bin < 0) {
+ temp_bin = 0;
+ }
+
+ phist_data->bin_data[i] = (uint32_t)temp_bin;
+ }
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_044(
+ VL53LX_histogram_bin_data_t *pxtalk_data,
+ uint32_t amb_threshold,
+ uint8_t VL53LX_p_019,
+ uint8_t VL53LX_p_024)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t i = 0;
+ uint8_t first_bin_int = 0;
+ uint8_t first_bin_inc = 0;
+ uint8_t last_bin_int = 0;
+ uint8_t realign_bin = 0;
+ uint8_t realign_index = 0;
+ int32_t realign_bin_data[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ for (i = 0 ; i < VL53LX_HISTOGRAM_BUFFER_SIZE ; i++) {
+ realign_bin_data[i] = 0;
+ }
+
+ first_bin_int = VL53LX_p_019;
+ last_bin_int = VL53LX_p_024;
+
+ VL53LX_hist_remove_ambient_bins(pxtalk_data);
+
+ first_bin_int = (first_bin_int) %
+ pxtalk_data->VL53LX_p_021;
+
+ last_bin_int = (last_bin_int) %
+ pxtalk_data->VL53LX_p_021;
+
+ first_bin_inc = (first_bin_int + 1) % pxtalk_data->VL53LX_p_021;
+
+ if (first_bin_inc > last_bin_int) {
+
+
+
+ realign_bin = pxtalk_data->VL53LX_p_021 - first_bin_inc;
+
+
+
+ first_bin_int = (first_bin_int + realign_bin) %
+ pxtalk_data->VL53LX_p_021;
+ last_bin_int = (last_bin_int + realign_bin) %
+ pxtalk_data->VL53LX_p_021;
+
+
+
+ pxtalk_data->zero_distance_phase =
+ pxtalk_data->zero_distance_phase +
+ ((uint16_t)realign_bin * 2048);
+ }
+
+ if (realign_bin > 0) {
+
+
+ for (i = 0; i < pxtalk_data->VL53LX_p_021; i++) {
+ realign_bin_data[i] = pxtalk_data->bin_data[i];
+ }
+
+
+
+ for (i = 0; i < pxtalk_data->VL53LX_p_021; i++) {
+ realign_index = (pxtalk_data->VL53LX_p_021 -
+ realign_bin + i)
+ % pxtalk_data->VL53LX_p_021;
+
+ pxtalk_data->bin_data[i] =
+ realign_bin_data[realign_index];
+ }
+ }
+
+
+ for (i = 0; i < pxtalk_data->VL53LX_p_021; i++) {
+
+
+ if (first_bin_int <= last_bin_int) {
+ if ((i >= first_bin_int) && (i <= last_bin_int)) {
+ if (pxtalk_data->bin_data[i] <
+ (int32_t)amb_threshold) {
+ pxtalk_data->bin_data[i] = 0;
+ }
+ } else {
+ pxtalk_data->bin_data[i] = 0;
+ }
+ } else {
+ if ((i >= first_bin_int) || (i <= last_bin_int)) {
+ if (pxtalk_data->bin_data[i] <
+ (int32_t)amb_threshold) {
+ pxtalk_data->bin_data[i] = 0;
+ }
+ } else {
+ pxtalk_data->bin_data[i] = 0;
+ }
+ }
+ }
+
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_f_043(
+ uint8_t sigma_mult,
+ int32_t VL53LX_p_028,
+ uint32_t *ambient_noise)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint32_t ambient_events_per_bin_int = 0;
+
+ if (VL53LX_p_028 <= 0) {
+ ambient_events_per_bin_int = 1;
+ } else {
+ ambient_events_per_bin_int = (uint32_t)VL53LX_p_028;
+ }
+
+ *ambient_noise = VL53LX_isqrt(ambient_events_per_bin_int);
+
+ *ambient_noise = *ambient_noise * (uint32_t)sigma_mult;
+
+ return status;
+}
+
+/* vl53lx_sigma_estimate.c */
+
+
+uint16_t VL53LX::VL53LX_f_034(
+ uint8_t sigma_estimator__effective_pulse_width_ns,
+ uint8_t sigma_estimator__effective_ambient_width_ns,
+ uint8_t sigma_estimator__sigma_ref_mm,
+ VL53LX_range_data_t *pdata)
+{
+ uint16_t sigma_est = VL53LX_D_002;
+
+ uint32_t tmp0 = 0;
+ uint32_t tmp1 = 0;
+ uint32_t tmp2 = 0;
+
+ uint32_t sigma_est__rtn_array = 0;
+ uint32_t sigma_est__ref_array = 0;
+
+ if (pdata->peak_signal_count_rate_mcps > 0 &&
+ pdata->VL53LX_p_010 > 0) {
+
+ tmp0 = 100 *
+ (uint32_t)sigma_estimator__effective_pulse_width_ns;
+
+ tmp1 = ((uint32_t)sigma_estimator__effective_pulse_width_ns *
+ 100 *
+ (uint32_t)sigma_estimator__effective_ambient_width_ns);
+
+ tmp1 = (tmp1 +
+ (uint32_t)pdata->peak_signal_count_rate_mcps / 2) /
+ (uint32_t)pdata->peak_signal_count_rate_mcps;
+
+ sigma_est__rtn_array =
+ VL53LX_f_035(tmp0, tmp1);
+
+ sigma_est__rtn_array =
+ ((VL53LX_SPEED_OF_LIGHT_IN_AIR + 1000) / 2000) *
+ sigma_est__rtn_array;
+
+
+
+ tmp2 =
+ VL53LX_isqrt(12 * (uint32_t)pdata->VL53LX_p_010);
+
+ if (tmp2 > 0) {
+
+ sigma_est__rtn_array =
+ (sigma_est__rtn_array + tmp2 / 2) / tmp2;
+
+
+
+ sigma_est__ref_array =
+ 100 * (uint32_t)sigma_estimator__sigma_ref_mm;
+
+ sigma_est =
+ (uint16_t)VL53LX_f_035(
+ (uint32_t)sigma_est__ref_array,
+ sigma_est__rtn_array);
+
+ } else {
+ sigma_est = VL53LX_D_002;
+ }
+
+ }
+
+ pdata->VL53LX_p_002 = sigma_est;
+
+ return sigma_est;
+
+}
+
+
+uint16_t VL53LX::VL53LX_f_036(
+ uint8_t sigma_estimator__effective_pulse_width_ns,
+ uint8_t sigma_estimator__effective_ambient_width_ns,
+ uint8_t sigma_estimator__sigma_ref_mm,
+ VL53LX_range_data_t *pdata)
+{
+
+
+ uint16_t sigma_est = VL53LX_D_002;
+
+ uint32_t eqn7 = 0;
+ uint32_t sigma_est__ref_sq = 0;
+ uint32_t sigma_est__rtn_sq = 0;
+
+ uint64_t tmp0 = 0;
+ uint64_t tmp1 = 0;
+
+
+ if (pdata->peak_signal_count_rate_mcps > 0 &&
+ pdata->VL53LX_p_010 > 0) {
+
+
+ eqn7 = 4573 * 4573;
+ eqn7 = eqn7 / (3 * (uint32_t)pdata->VL53LX_p_010);
+
+
+ tmp0 = ((uint64_t)sigma_estimator__effective_pulse_width_ns)
+ << 8;
+
+
+
+ tmp1 = ((uint64_t)pdata->ambient_count_rate_mcps *
+ (uint64_t)sigma_estimator__effective_ambient_width_ns)
+ << 8;
+
+ tmp1 = tmp1 / (uint64_t)pdata->peak_signal_count_rate_mcps;
+
+
+ tmp1 = 16 * (uint64_t)eqn7 * (tmp0 * tmp0 + tmp1 * tmp1);
+ tmp1 = tmp1 / (15625 * 15625);
+ sigma_est__rtn_sq = (uint32_t)tmp1;
+
+
+
+
+ sigma_est__ref_sq = ((uint32_t)sigma_estimator__sigma_ref_mm)
+ << 2;
+
+ sigma_est__ref_sq = sigma_est__ref_sq * sigma_est__ref_sq;
+
+
+
+
+ sigma_est = (uint16_t)VL53LX_isqrt(sigma_est__ref_sq +
+ sigma_est__rtn_sq);
+
+ }
+
+ pdata->VL53LX_p_002 = sigma_est;
+
+ return sigma_est;
+
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_f_037(
+ uint8_t sigma_estimator__sigma_ref_mm,
+ uint32_t VL53LX_p_007,
+ uint32_t VL53LX_p_032,
+ uint32_t VL53LX_p_001,
+ uint32_t a_zp,
+ uint32_t c_zp,
+ uint32_t bx,
+ uint32_t ax_zp,
+ uint32_t cx_zp,
+ uint32_t VL53LX_p_028,
+ uint16_t fast_osc_frequency,
+ uint16_t *psigma_est)
+{
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_DIVISION_BY_ZERO;
+ uint32_t sigma_int = VL53LX_D_002;
+
+ uint32_t pll_period_mm = 0;
+
+ uint64_t tmp0 = 0;
+ uint64_t tmp1 = 0;
+ uint64_t b_minus_amb = 0;
+ uint64_t VL53LX_p_055 = 0;
+
+ *psigma_est = VL53LX_D_002;
+
+ if (fast_osc_frequency != 0) {
+
+
+
+
+
+ pll_period_mm = VL53LX_calc_pll_period_mm(fast_osc_frequency);
+
+
+
+ pll_period_mm = (pll_period_mm + 0x02) >> 2;
+
+
+
+
+ if (VL53LX_p_028 > VL53LX_p_032)
+ b_minus_amb = (uint64_t)VL53LX_p_028 -
+ (uint64_t)VL53LX_p_032;
+ else
+ b_minus_amb = (uint64_t)VL53LX_p_032 -
+ (uint64_t)VL53LX_p_028;
+
+
+
+
+ if (VL53LX_p_007 > VL53LX_p_001)
+ VL53LX_p_055 = (uint64_t)VL53LX_p_007 -
+ (uint64_t)VL53LX_p_001;
+ else
+ VL53LX_p_055 = (uint64_t)VL53LX_p_001 -
+ (uint64_t)VL53LX_p_007;
+
+
+ if (b_minus_amb != 0) {
+
+
+
+ tmp0 = (uint64_t)pll_period_mm *
+ (uint64_t)pll_period_mm;
+ tmp0 = tmp0 * ((uint64_t)c_zp +
+ (uint64_t)cx_zp + (uint64_t)a_zp +
+ (uint64_t)ax_zp);
+ tmp0 = (tmp0 + (b_minus_amb >> 1)) / b_minus_amb;
+
+ tmp1 = (uint64_t)pll_period_mm *
+ (uint64_t)pll_period_mm * VL53LX_p_055;
+ tmp1 = (tmp1 + (b_minus_amb >> 1)) / b_minus_amb;
+
+ tmp1 = tmp1 * VL53LX_p_055;
+ tmp1 = (tmp1 + (b_minus_amb >> 1)) / b_minus_amb;
+
+ tmp1 = tmp1 * ((uint64_t)VL53LX_p_032 + (uint64_t)bx +
+ (uint64_t)VL53LX_p_028);
+ tmp1 = (tmp1 + (b_minus_amb >> 1)) / b_minus_amb;
+
+
+
+ tmp0 = tmp0 + tmp1;
+ tmp0 = (tmp0 + (b_minus_amb >> 1)) / b_minus_amb;
+ tmp0 = (tmp0 + 0x01) >> 2;
+
+
+
+
+
+
+ tmp1 = (uint64_t)sigma_estimator__sigma_ref_mm << 2;
+ tmp1 = tmp1 * tmp1;
+ tmp0 = tmp0 + tmp1;
+
+
+
+
+
+
+ if (tmp0 > 0xFFFFFFFF) {
+ tmp0 = 0xFFFFFFFF;
+ }
+
+ sigma_int = VL53LX_isqrt((uint32_t)tmp0);
+
+
+
+
+
+
+ if (sigma_int > VL53LX_D_002)
+ *psigma_est =
+ (uint16_t)VL53LX_D_002;
+ else {
+ *psigma_est = (uint16_t)sigma_int;
+ }
+
+ status = VL53LX_ERROR_NONE;
+ }
+
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_023(
+ uint8_t sigma_estimator__sigma_ref_mm,
+ uint32_t VL53LX_p_007,
+ uint32_t VL53LX_p_032,
+ uint32_t VL53LX_p_001,
+ uint32_t a_zp,
+ uint32_t c_zp,
+ uint32_t bx,
+ uint32_t ax_zp,
+ uint32_t cx_zp,
+ uint32_t VL53LX_p_028,
+ uint16_t fast_osc_frequency,
+ uint16_t *psigma_est)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_DIVISION_BY_ZERO;
+ uint32_t sigma_int = VL53LX_D_002;
+
+ uint32_t pll_period_mm = 0;
+
+ uint64_t tmp0 = 0;
+ uint64_t tmp1 = 0;
+ uint64_t b_minus_amb = 0;
+ uint64_t VL53LX_p_055 = 0;
+
+ *psigma_est = VL53LX_D_002;
+
+
+
+ if (fast_osc_frequency != 0) {
+
+
+ pll_period_mm = VL53LX_calc_pll_period_mm(fast_osc_frequency);
+
+
+
+
+ if (VL53LX_p_028 > VL53LX_p_032)
+ b_minus_amb = (uint64_t)VL53LX_p_028 -
+ (uint64_t)VL53LX_p_032;
+ else
+ b_minus_amb = (uint64_t)VL53LX_p_032 -
+ (uint64_t)VL53LX_p_028;
+
+
+
+
+ if (VL53LX_p_007 > VL53LX_p_001)
+ VL53LX_p_055 = (uint64_t)VL53LX_p_007 -
+ (uint64_t)VL53LX_p_001;
+ else
+ VL53LX_p_055 = (uint64_t)VL53LX_p_001 -
+ (uint64_t)VL53LX_p_007;
+
+
+
+
+ if (b_minus_amb != 0) {
+
+
+ tmp0 = (uint64_t)VL53LX_p_032 + (uint64_t)bx +
+ (uint64_t)VL53LX_p_028;
+ if (tmp0 > VL53LX_D_003) {
+ tmp0 = VL53LX_D_003;
+ }
+
+
+
+
+ tmp1 = (uint64_t)VL53LX_p_055 * (uint64_t)VL53LX_p_055;
+ tmp1 = tmp1 << 8;
+
+
+
+ if (tmp1 > VL53LX_D_004) {
+ tmp1 = VL53LX_D_004;
+ }
+
+
+
+ tmp1 = tmp1 / b_minus_amb;
+ tmp1 = tmp1 / b_minus_amb;
+
+
+
+ if (tmp1 > (uint64_t)VL53LX_D_005) {
+ tmp1 = (uint64_t)VL53LX_D_005;
+ }
+
+
+
+ tmp0 = tmp1 * tmp0;
+
+
+
+
+
+ tmp1 = (uint64_t)c_zp + (uint64_t)cx_zp +
+ (uint64_t)a_zp + (uint64_t)ax_zp;
+
+
+
+ if (tmp1 > (uint64_t)VL53LX_D_003) {
+ tmp1 = (uint64_t)VL53LX_D_003;
+ }
+
+ tmp1 = tmp1 << 8;
+
+
+
+
+ tmp0 = tmp1 + tmp0;
+ if (tmp0 > (uint64_t)VL53LX_D_006) {
+ tmp0 = (uint64_t)VL53LX_D_006;
+ }
+
+ if (tmp0 > (uint64_t)VL53LX_D_007) {
+ tmp0 = tmp0 / b_minus_amb;
+ tmp0 = tmp0 * pll_period_mm;
+ } else {
+ tmp0 = tmp0 * pll_period_mm;
+ tmp0 = tmp0 / b_minus_amb;
+ }
+
+
+
+ if (tmp0 > (uint64_t)VL53LX_D_006) {
+ tmp0 = (uint64_t)VL53LX_D_006;
+ }
+
+
+
+
+ if (tmp0 > (uint64_t)VL53LX_D_007) {
+ tmp0 = tmp0 / b_minus_amb;
+ tmp0 = tmp0 / 4;
+ tmp0 = tmp0 * pll_period_mm;
+ } else {
+ tmp0 = tmp0 * pll_period_mm;
+ tmp0 = tmp0 / b_minus_amb;
+ tmp0 = tmp0 / 4;
+ }
+
+
+
+ if (tmp0 > (uint64_t)VL53LX_D_006) {
+ tmp0 = (uint64_t)VL53LX_D_006;
+ }
+
+
+
+ tmp0 = tmp0 >> 2;
+
+
+
+ if (tmp0 > (uint64_t)VL53LX_D_007) {
+ tmp0 = (uint64_t)VL53LX_D_007;
+ }
+
+
+
+ tmp1 = (uint64_t)sigma_estimator__sigma_ref_mm << 7;
+ tmp1 = tmp1 * tmp1;
+ tmp0 = tmp0 + tmp1;
+
+
+
+ if (tmp0 > (uint64_t)VL53LX_D_007) {
+ tmp0 = (uint64_t)VL53LX_D_007;
+ }
+
+
+
+ sigma_int = VL53LX_isqrt((uint32_t)tmp0);
+
+ *psigma_est = (uint16_t)sigma_int;
+
+ status = VL53LX_ERROR_NONE;
+ }
+
+ }
+
+ return status;
+}
+
+
+uint32_t VL53LX::VL53LX_f_038(
+ uint64_t VL53LX_p_007,
+ uint32_t size
+)
+{
+
+ uint64_t next;
+ uint64_t upper;
+ uint64_t lower;
+ uint32_t stepsize;
+ uint32_t count;
+
+
+ next = VL53LX_p_007;
+ upper = 0;
+ lower = 0;
+ stepsize = size / 2;
+ count = 0;
+
+ while (1) {
+ upper = next >> stepsize;
+ lower = next & ((1 << stepsize) - 1);
+
+ if (upper != 0) {
+ count += stepsize;
+ next = upper;
+ } else {
+ next = lower;
+ }
+
+ stepsize = stepsize / 2;
+ if (stepsize == 0) {
+ break;
+ }
+ }
+
+ return count;
+}
+
+
+uint32_t VL53LX::VL53LX_f_035(
+ uint32_t VL53LX_p_007,
+ uint32_t VL53LX_p_032)
+{
+
+ uint32_t res = 0;
+
+ if (VL53LX_p_007 > 65535 || VL53LX_p_032 > 65535) {
+ res = 65535;
+ } else
+ res = VL53LX_isqrt(VL53LX_p_007 * VL53LX_p_007 +
+ VL53LX_p_032 * VL53LX_p_032);
+
+ return res;
+}
+
+/* vl53lx_hist_algos_gen3.c */
+
+void VL53LX::VL53LX_f_003(
+ VL53LX_hist_gen3_algo_private_data_t *palgo)
+{
+ uint8_t lb = 0;
+
+ palgo->VL53LX_p_020 = VL53LX_HISTOGRAM_BUFFER_SIZE;
+ palgo->VL53LX_p_019 = 0;
+ palgo->VL53LX_p_021 = 0;
+ palgo->VL53LX_p_039 = 0;
+ palgo->VL53LX_p_028 = 0;
+ palgo->VL53LX_p_031 = 0;
+
+ for (lb = palgo->VL53LX_p_019; lb < palgo->VL53LX_p_020; lb++) {
+ palgo->VL53LX_p_040[lb] = 0;
+ palgo->VL53LX_p_041[lb] = 0;
+ palgo->VL53LX_p_042[lb] = 0;
+ palgo->VL53LX_p_043[lb] = 0;
+ palgo->VL53LX_p_018[lb] = 0;
+ }
+
+ palgo->VL53LX_p_044 = 0;
+ palgo->VL53LX_p_045 = VL53LX_D_001;
+ palgo->VL53LX_p_046 = 0;
+
+
+
+
+ VL53LX_init_histogram_bin_data_struct(
+ 0,
+ VL53LX_HISTOGRAM_BUFFER_SIZE,
+ &(palgo->VL53LX_p_006));
+ VL53LX_init_histogram_bin_data_struct(
+ 0,
+ VL53LX_HISTOGRAM_BUFFER_SIZE,
+ &(palgo->VL53LX_p_047));
+ VL53LX_init_histogram_bin_data_struct(
+ 0,
+ VL53LX_HISTOGRAM_BUFFER_SIZE,
+ &(palgo->VL53LX_p_048));
+ VL53LX_init_histogram_bin_data_struct(
+ 0,
+ VL53LX_HISTOGRAM_BUFFER_SIZE,
+ &(palgo->VL53LX_p_049));
+ VL53LX_init_histogram_bin_data_struct(
+ 0,
+ VL53LX_HISTOGRAM_BUFFER_SIZE,
+ &(palgo->VL53LX_p_050));
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_004(
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_hist_post_process_config_t *ppost_cfg,
+ VL53LX_histogram_bin_data_t *pbins_input,
+ VL53LX_histogram_bin_data_t *pxtalk,
+ VL53LX_hist_gen3_algo_private_data_t *palgo,
+ VL53LX_hist_gen3_dmax_private_data_t *pdmax_algo,
+ VL53LX_range_results_t *presults)
+{
+
+
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_hist_pulse_data_t *ppulse_data;
+ VL53LX_range_data_t *prange_data;
+
+ uint8_t p = 0;
+
+ VL53LX_f_003(palgo);
+
+
+
+
+
+
+ memcpy(
+ &(palgo->VL53LX_p_006),
+ pbins_input,
+ sizeof(VL53LX_histogram_bin_data_t));
+
+
+
+
+
+
+ presults->cfg_device_state = pbins_input->cfg_device_state;
+ presults->rd_device_state = pbins_input->rd_device_state;
+ presults->zone_id = pbins_input->zone_id;
+ presults->stream_count = pbins_input->result__stream_count;
+ presults->wrap_dmax_mm = 0;
+ presults->max_results = VL53LX_MAX_RANGE_RESULTS;
+ presults->active_results = 0;
+
+ for (p = 0; p < VL53LX_MAX_AMBIENT_DMAX_VALUES; p++) {
+ presults->VL53LX_p_022[p] = 0;
+ }
+
+
+
+
+ VL53LX_hist_calc_zero_distance_phase(&(palgo->VL53LX_p_006));
+
+
+
+
+
+
+ if (ppost_cfg->hist_amb_est_method ==
+ VL53LX_HIST_AMB_EST_METHOD__THRESHOLDED_BINS) {
+ VL53LX_hist_estimate_ambient_from_thresholded_bins(
+ (int32_t)ppost_cfg->ambient_thresh_sigma0,
+ &(palgo->VL53LX_p_006));
+ } else {
+ VL53LX_hist_estimate_ambient_from_ambient_bins(
+ &(palgo->VL53LX_p_006));
+ }
+
+
+
+
+
+ VL53LX_hist_remove_ambient_bins(&(palgo->VL53LX_p_006));
+
+
+
+
+
+ if (ppost_cfg->algo__crosstalk_compensation_enable > 0) {
+ VL53LX_f_005(
+ pxtalk,
+ &(palgo->VL53LX_p_006),
+ &(palgo->VL53LX_p_047));
+ }
+
+
+
+
+
+
+ pdmax_cfg->ambient_thresh_sigma =
+ ppost_cfg->ambient_thresh_sigma1;
+
+ for (p = 0; p < VL53LX_MAX_AMBIENT_DMAX_VALUES; p++) {
+ if (status == VL53LX_ERROR_NONE) {
+
+ status =
+ VL53LX_f_001(
+ pdmax_cfg->target_reflectance_for_dmax_calc[p],
+ pdmax_cal,
+ pdmax_cfg,
+ &(palgo->VL53LX_p_006),
+ pdmax_algo,
+ &(presults->VL53LX_p_022[p]));
+ }
+ }
+
+
+
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_006(
+ ppost_cfg->ambient_thresh_events_scaler,
+ (int32_t)ppost_cfg->ambient_thresh_sigma1,
+ (int32_t)ppost_cfg->min_ambient_thresh_events,
+ ppost_cfg->algo__crosstalk_compensation_enable,
+ &(palgo->VL53LX_p_006),
+ &(palgo->VL53LX_p_047),
+ palgo);
+
+
+
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_007(palgo);
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_008(palgo);
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_009(palgo);
+
+
+
+
+
+
+
+ for (p = 0; p < palgo->VL53LX_p_046; p++) {
+
+ ppulse_data = &(palgo->VL53LX_p_003[p]);
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_f_010(
+ p,
+ &(palgo->VL53LX_p_006),
+ palgo);
+ }
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_f_011(
+ p,
+ &(palgo->VL53LX_p_006),
+ palgo,
+ palgo->VL53LX_p_006.VL53LX_p_028,
+ &(palgo->VL53LX_p_048));
+ }
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_f_011(
+ p,
+ &(palgo->VL53LX_p_006),
+ palgo,
+ 0,
+ &(palgo->VL53LX_p_049));
+ }
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_f_011(
+ p,
+ &(palgo->VL53LX_p_047),
+ palgo,
+ 0,
+ &(palgo->VL53LX_p_050));
+ }
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_f_012(
+ p,
+ &(palgo->VL53LX_p_048),
+ palgo);
+ }
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_f_013(
+ p,
+ ppost_cfg->noise_threshold,
+ palgo);
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_f_014(
+ ppulse_data->VL53LX_p_023,
+ ppost_cfg->sigma_estimator__sigma_ref_mm,
+ palgo->VL53LX_p_030,
+ ppulse_data->VL53LX_p_051,
+ ppost_cfg->algo__crosstalk_compensation_enable,
+ &(palgo->VL53LX_p_048),
+ &(palgo->VL53LX_p_049),
+ &(palgo->VL53LX_p_050),
+ &(ppulse_data->VL53LX_p_002));
+ }
+
+
+
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_015(
+ p,
+ 1,
+ &(palgo->VL53LX_p_006),
+ palgo);
+
+ }
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_016(
+ ppost_cfg->hist_target_order,
+ palgo);
+
+
+
+
+
+
+ for (p = 0; p < palgo->VL53LX_p_046; p++) {
+
+ ppulse_data = &(palgo->VL53LX_p_003[p]);
+
+
+
+ if (!(presults->active_results < presults->max_results)) {
+ continue;
+ }
+
+
+
+
+
+
+ if (!(ppulse_data->VL53LX_p_010 >
+ ppost_cfg->signal_total_events_limit &&
+ ppulse_data->VL53LX_p_023 < 0xFF)) {
+ continue;
+ }
+
+ prange_data =
+ &(presults->VL53LX_p_003[presults->active_results]);
+
+ if (status == VL53LX_ERROR_NONE)
+ VL53LX_f_017(
+ presults->active_results,
+ ppost_cfg->valid_phase_low,
+ ppost_cfg->valid_phase_high,
+ ppost_cfg->sigma_thresh,
+ &(palgo->VL53LX_p_006),
+ ppulse_data,
+ prange_data);
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_018(
+ palgo->VL53LX_p_006.vcsel_width,
+ palgo->VL53LX_p_006.VL53LX_p_015,
+ palgo->VL53LX_p_006.total_periods_elapsed,
+ palgo->VL53LX_p_006.result__dss_actual_effective_spads,
+ prange_data);
+
+
+ if (status == VL53LX_ERROR_NONE)
+ VL53LX_f_019(
+ ppost_cfg->gain_factor,
+ ppost_cfg->range_offset_mm,
+ prange_data);
+
+ presults->active_results++;
+
+
+ }
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_006(
+ uint16_t ambient_threshold_events_scaler,
+ int32_t ambient_threshold_sigma,
+ int32_t min_ambient_threshold_events,
+ uint8_t algo__crosstalk_compensation_enable,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_histogram_bin_data_t *pxtalk,
+ VL53LX_hist_gen3_algo_private_data_t *palgo)
+{
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t lb = 0;
+ uint8_t VL53LX_p_001 = 0;
+ int64_t tmp = 0;
+ int32_t amb_events = 0;
+ int32_t VL53LX_p_018 = 0;
+ int32_t samples = 0;
+
+ palgo->VL53LX_p_020 = pbins->VL53LX_p_020;
+ palgo->VL53LX_p_019 = pbins->VL53LX_p_019;
+ palgo->VL53LX_p_021 = pbins->VL53LX_p_021;
+ palgo->VL53LX_p_028 = pbins->VL53LX_p_028;
+
+
+
+
+
+
+ palgo->VL53LX_p_030 =
+ VL53LX_decode_vcsel_period(pbins->VL53LX_p_005);
+
+ tmp = (int64_t)pbins->VL53LX_p_028;
+ 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->VL53LX_p_021; lb++) {
+
+ VL53LX_p_001 = lb >> 2;
+ samples = (int32_t)pbins->bin_rep[VL53LX_p_001];
+
+ if (samples > 0) {
+
+ if (lb < pxtalk->VL53LX_p_021 &&
+ algo__crosstalk_compensation_enable > 0)
+ VL53LX_p_018 = samples * (amb_events +
+ pxtalk->bin_data[lb]);
+ else {
+ VL53LX_p_018 = samples * amb_events;
+ }
+
+ VL53LX_p_018 = VL53LX_isqrt(VL53LX_p_018);
+
+ VL53LX_p_018 += (samples / 2);
+ VL53LX_p_018 /= samples;
+ VL53LX_p_018 *= ambient_threshold_sigma;
+ VL53LX_p_018 += 8;
+ VL53LX_p_018 /= 16;
+ VL53LX_p_018 += amb_events;
+
+ if (VL53LX_p_018 < min_ambient_threshold_events) {
+ VL53LX_p_018 = min_ambient_threshold_events;
+ }
+
+ palgo->VL53LX_p_052[lb] = VL53LX_p_018;
+ palgo->VL53LX_p_031 = VL53LX_p_018;
+ }
+
+ }
+
+ palgo->VL53LX_p_039 = 0;
+
+ for (lb = pbins->VL53LX_p_019; lb < pbins->VL53LX_p_021; lb++) {
+
+ if (pbins->bin_data[lb] > palgo->VL53LX_p_052[lb]) {
+ palgo->VL53LX_p_040[lb] = 1;
+ palgo->VL53LX_p_041[lb] = 1;
+ palgo->VL53LX_p_039++;
+ } else {
+ palgo->VL53LX_p_040[lb] = 0;
+ palgo->VL53LX_p_041[lb] = 0;
+ }
+ }
+
+
+
+ return status;
+
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_f_007(
+ VL53LX_hist_gen3_algo_private_data_t *palgo)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t i = 0;
+ uint8_t j = 0;
+ uint8_t found = 0;
+
+
+ palgo->VL53LX_p_044 = 0;
+
+ for (i = 0; i < palgo->VL53LX_p_030; i++) {
+
+ j = (i + 1) % palgo->VL53LX_p_030;
+
+
+
+ if (i < palgo->VL53LX_p_021 && j < palgo->VL53LX_p_021) {
+ if (palgo->VL53LX_p_041[i] == 0 &&
+ palgo->VL53LX_p_041[j] == 1 &&
+ found == 0) {
+ palgo->VL53LX_p_044 = i;
+ found = 1;
+ }
+ }
+ }
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_008(
+ VL53LX_hist_gen3_algo_private_data_t *palgo)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ uint8_t i = 0;
+ uint8_t j = 0;
+ uint8_t lb = 0;
+
+
+
+ for (lb = palgo->VL53LX_p_044;
+ lb < (palgo->VL53LX_p_044 +
+ palgo->VL53LX_p_030);
+ lb++) {
+
+
+
+
+
+
+ i = lb % palgo->VL53LX_p_030;
+ j = (lb + 1) % palgo->VL53LX_p_030;
+
+
+
+
+
+
+ if (i < palgo->VL53LX_p_021 && j < palgo->VL53LX_p_021) {
+
+ if (palgo->VL53LX_p_041[i] == 0 &&
+ palgo->VL53LX_p_041[j] == 1) {
+ palgo->VL53LX_p_046++;
+ }
+
+ if (palgo->VL53LX_p_041[i] > 0) {
+ palgo->VL53LX_p_042[i] = palgo->VL53LX_p_046;
+ } else {
+ palgo->VL53LX_p_042[i] = 0;
+ }
+ }
+
+ }
+
+
+
+ if (palgo->VL53LX_p_046 > palgo->VL53LX_p_045) {
+ palgo->VL53LX_p_046 = palgo->VL53LX_p_045;
+ }
+
+ return status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_f_009(
+ VL53LX_hist_gen3_algo_private_data_t *palgo)
+{
+
+
+ VL53LX_Error status = VL53LX_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;
+
+ VL53LX_hist_pulse_data_t *pdata;
+
+
+
+ max_filter_half_width = palgo->VL53LX_p_030 - 1;
+ max_filter_half_width = max_filter_half_width >> 1;
+
+ for (blb = palgo->VL53LX_p_044;
+ blb < (palgo->VL53LX_p_044 +
+ palgo->VL53LX_p_030);
+ blb++) {
+
+
+
+
+
+
+ i = blb % palgo->VL53LX_p_030;
+ j = (blb + 1) % palgo->VL53LX_p_030;
+
+
+
+
+
+
+ if (i < palgo->VL53LX_p_021 &&
+ j < palgo->VL53LX_p_021) {
+
+
+
+
+ if (palgo->VL53LX_p_042[i] == 0 &&
+ palgo->VL53LX_p_042[j] > 0) {
+
+ pulse_no = palgo->VL53LX_p_042[j] - 1;
+ pdata = &(palgo->VL53LX_p_003[pulse_no]);
+
+ if (pulse_no < palgo->VL53LX_p_045) {
+ pdata->VL53LX_p_012 = blb;
+ pdata->VL53LX_p_019 = blb + 1;
+ pdata->VL53LX_p_023 = 0xFF;
+
+ pdata->VL53LX_p_024 = 0;
+ pdata->VL53LX_p_013 = 0;
+ }
+ }
+
+
+
+
+ if (palgo->VL53LX_p_042[i] > 0
+ && palgo->VL53LX_p_042[j] == 0) {
+
+ pulse_no = palgo->VL53LX_p_042[i] - 1;
+ pdata = &(palgo->VL53LX_p_003[pulse_no]);
+
+ if (pulse_no < palgo->VL53LX_p_045) {
+
+ pdata->VL53LX_p_024 = blb;
+ pdata->VL53LX_p_013 = blb + 1;
+
+ pdata->VL53LX_p_025 =
+ (pdata->VL53LX_p_024 + 1) -
+ pdata->VL53LX_p_019;
+ pdata->VL53LX_p_051 =
+ (pdata->VL53LX_p_013 + 1) -
+ pdata->VL53LX_p_012;
+
+ if (pdata->VL53LX_p_051 >
+ max_filter_half_width)
+ pdata->VL53LX_p_051 =
+ max_filter_half_width;
+ }
+
+ }
+ }
+ }
+ return status;
+
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_016(
+ VL53LX_HistTargetOrder target_order,
+ VL53LX_hist_gen3_algo_private_data_t *palgo)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_hist_pulse_data_t tmp;
+ VL53LX_hist_pulse_data_t *ptmp = &tmp;
+ VL53LX_hist_pulse_data_t *p0;
+ VL53LX_hist_pulse_data_t *p1;
+
+ uint8_t i = 0;
+ uint8_t swapped = 1;
+
+ if (!(palgo->VL53LX_p_046 > 1)) {
+ goto ENDFUNC;
+ }
+
+ while (swapped > 0) {
+
+ swapped = 0;
+
+ for (i = 1; i < palgo->VL53LX_p_046; i++) {
+
+ p0 = &(palgo->VL53LX_p_003[i - 1]);
+ p1 = &(palgo->VL53LX_p_003[i]);
+
+
+
+
+ if (target_order
+ == VL53LX_HIST_TARGET_ORDER__STRONGEST_FIRST) {
+
+ if (p0->VL53LX_p_010 <
+ p1->VL53LX_p_010) {
+
+
+
+
+ memcpy(ptmp,
+ p1, sizeof(VL53LX_hist_pulse_data_t));
+ memcpy(p1,
+ p0, sizeof(VL53LX_hist_pulse_data_t));
+ memcpy(p0,
+ ptmp, sizeof(VL53LX_hist_pulse_data_t));
+
+ swapped = 1;
+ }
+
+ } else {
+
+ if (p0->VL53LX_p_011 > p1->VL53LX_p_011) {
+
+
+
+
+ memcpy(ptmp,
+ p1, sizeof(VL53LX_hist_pulse_data_t));
+ memcpy(p1,
+ p0, sizeof(VL53LX_hist_pulse_data_t));
+ memcpy(p0,
+ ptmp, sizeof(VL53LX_hist_pulse_data_t));
+
+ swapped = 1;
+ }
+
+ }
+ }
+ }
+ENDFUNC:
+ return status;
+
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_010(
+ uint8_t pulse_no,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_hist_gen3_algo_private_data_t *palgo)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t i = 0;
+ uint8_t lb = 0;
+
+ VL53LX_hist_pulse_data_t *pdata = &(palgo->VL53LX_p_003[pulse_no]);
+
+
+ pdata->VL53LX_p_017 = 0;
+ pdata->VL53LX_p_016 = 0;
+
+ for (lb = pdata->VL53LX_p_012; lb <= pdata->VL53LX_p_013; lb++) {
+ i = lb % palgo->VL53LX_p_030;
+ pdata->VL53LX_p_017 += pbins->bin_data[i];
+ pdata->VL53LX_p_016 += palgo->VL53LX_p_028;
+ }
+
+
+ pdata->VL53LX_p_010 =
+ pdata->VL53LX_p_017 - pdata->VL53LX_p_016;
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_015(
+ uint8_t pulse_no,
+ uint8_t clip_events,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_hist_gen3_algo_private_data_t *palgo)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t i = 0;
+ int16_t VL53LX_p_012 = 0;
+ int16_t VL53LX_p_013 = 0;
+ int16_t window_width = 0;
+ uint32_t tmp_phase = 0;
+
+ VL53LX_hist_pulse_data_t *pdata = &(palgo->VL53LX_p_003[pulse_no]);
+
+ i = pdata->VL53LX_p_023 % palgo->VL53LX_p_030;
+
+ VL53LX_p_012 = (int16_t)i;
+ VL53LX_p_012 += (int16_t)pdata->VL53LX_p_012;
+ VL53LX_p_012 -= (int16_t)pdata->VL53LX_p_023;
+
+ VL53LX_p_013 = (int16_t)i;
+ VL53LX_p_013 += (int16_t)pdata->VL53LX_p_013;
+ VL53LX_p_013 -= (int16_t)pdata->VL53LX_p_023;
+
+
+
+
+ window_width = VL53LX_p_013 - VL53LX_p_012;
+ if (window_width > 3) {
+ window_width = 3;
+ }
+
+ status =
+ VL53LX_f_020(
+ VL53LX_p_012,
+ VL53LX_p_012 + window_width,
+ palgo->VL53LX_p_030,
+ clip_events,
+ pbins,
+ &(pdata->VL53LX_p_026));
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_020(
+ VL53LX_p_013 - window_width,
+ VL53LX_p_013,
+ palgo->VL53LX_p_030,
+ clip_events,
+ pbins,
+ &(pdata->VL53LX_p_027));
+
+
+
+
+
+ if (pdata->VL53LX_p_026 > pdata->VL53LX_p_027) {
+ tmp_phase = pdata->VL53LX_p_026;
+ pdata->VL53LX_p_026 = pdata->VL53LX_p_027;
+ pdata->VL53LX_p_027 = tmp_phase;
+ }
+
+
+ if (pdata->VL53LX_p_011 < pdata->VL53LX_p_026) {
+ pdata->VL53LX_p_026 = pdata->VL53LX_p_011;
+ }
+
+ if (pdata->VL53LX_p_011 > pdata->VL53LX_p_027) {
+ pdata->VL53LX_p_027 = pdata->VL53LX_p_011;
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_020(
+ int16_t VL53LX_p_019,
+ int16_t VL53LX_p_024,
+ uint8_t VL53LX_p_030,
+ uint8_t clip_events,
+ VL53LX_histogram_bin_data_t *pbins,
+ uint32_t *pphase)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ int16_t i = 0;
+ int16_t lb = 0;
+
+ int64_t VL53LX_p_018 = 0;
+ int64_t event_sum = 0;
+ int64_t weighted_sum = 0;
+
+
+ *pphase = VL53LX_MAX_ALLOWED_PHASE;
+
+ for (lb = VL53LX_p_019; lb <= VL53LX_p_024; lb++) {
+
+
+
+ if (lb < 0) {
+ i = lb + (int16_t)VL53LX_p_030;
+ } else {
+ i = lb % (int16_t)VL53LX_p_030;
+ }
+
+ VL53LX_p_018 =
+ (int64_t)pbins->bin_data[i] -
+ (int64_t)pbins->VL53LX_p_028;
+
+
+
+
+
+
+ if (clip_events > 0 && VL53LX_p_018 < 0) {
+ VL53LX_p_018 = 0;
+ }
+
+ event_sum += VL53LX_p_018;
+
+ weighted_sum +=
+ (VL53LX_p_018 * (1024 + (2048 * (int64_t)lb)));
+
+
+ }
+
+ if (event_sum > 0) {
+
+ weighted_sum += (event_sum / 2);
+ weighted_sum /= event_sum;
+
+ if (weighted_sum < 0) {
+ weighted_sum = 0;
+ }
+
+ *pphase = (uint32_t)weighted_sum;
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_011(
+ uint8_t pulse_no,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_hist_gen3_algo_private_data_t *palgo,
+ int32_t pad_value,
+ VL53LX_histogram_bin_data_t *ppulse)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint8_t i = 0;
+ uint8_t lb = 0;
+
+ VL53LX_hist_pulse_data_t *pdata = &(palgo->VL53LX_p_003[pulse_no]);
+
+ memcpy(ppulse, pbins, sizeof(VL53LX_histogram_bin_data_t));
+
+ for (lb = palgo->VL53LX_p_044;
+ lb < (palgo->VL53LX_p_044 +
+ palgo->VL53LX_p_030);
+ lb++) {
+
+ if (lb < pdata->VL53LX_p_012 || lb > pdata->VL53LX_p_013) {
+ i = lb % palgo->VL53LX_p_030;
+ if (i < ppulse->VL53LX_p_021) {
+ ppulse->bin_data[i] = pad_value;
+ }
+ }
+ }
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_012(
+ uint8_t pulse_no,
+ VL53LX_histogram_bin_data_t *ppulse,
+ VL53LX_hist_gen3_algo_private_data_t *palgo)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_hist_pulse_data_t *pdata = &(palgo->VL53LX_p_003[pulse_no]);
+
+ uint8_t lb = 0;
+ uint8_t i = 0;
+ uint8_t j = 0;
+ uint8_t w = 0;
+
+
+
+ for (lb = pdata->VL53LX_p_012; lb <= pdata->VL53LX_p_013; lb++) {
+
+ i = lb % palgo->VL53LX_p_030;
+
+
+
+ palgo->VL53LX_p_043[i] = 0;
+ palgo->VL53LX_p_018[i] = 0;
+
+ for (w = 0; w < (pdata->VL53LX_p_051 << 1); w++) {
+
+
+
+
+
+ j = lb + w + palgo->VL53LX_p_030;
+ j = j - pdata->VL53LX_p_051;
+ j = j % palgo->VL53LX_p_030;
+
+
+
+
+
+
+ if (i < ppulse->VL53LX_p_021 && j <
+ ppulse->VL53LX_p_021) {
+ if (w < pdata->VL53LX_p_051)
+ palgo->VL53LX_p_043[i] +=
+ ppulse->bin_data[j];
+ else
+ palgo->VL53LX_p_043[i] -=
+ ppulse->bin_data[j];
+ }
+ }
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_013(
+ uint8_t pulse_no,
+ uint16_t noise_threshold,
+ VL53LX_hist_gen3_algo_private_data_t *palgo)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_hist_pulse_data_t *pdata = &(palgo->VL53LX_p_003[pulse_no]);
+
+ uint8_t lb = 0;
+ uint8_t i = 0;
+ uint8_t j = 0;
+ int32_t bin_x_delta = 0;
+
+ for (lb = pdata->VL53LX_p_012; lb < pdata->VL53LX_p_013; lb++) {
+
+ i = lb % palgo->VL53LX_p_030;
+ j = (lb + 1) % palgo->VL53LX_p_030;
+
+ if (i < palgo->VL53LX_p_021 &&
+ j < palgo->VL53LX_p_021) {
+
+ if (palgo->VL53LX_p_043[i] <= 0 &&
+ palgo->VL53LX_p_043[j] > 0) {
+
+
+
+
+
+ bin_x_delta = palgo->VL53LX_p_043[j] -
+ palgo->VL53LX_p_043[i];
+
+
+
+ if (bin_x_delta >
+ (int32_t)noise_threshold) {
+
+ pdata->VL53LX_p_023 = lb;
+
+ VL53LX_f_021(
+ lb,
+ palgo->VL53LX_p_043[i],
+ palgo->VL53LX_p_043[j],
+ palgo->VL53LX_p_030,
+ &(pdata->VL53LX_p_011));
+ }
+ }
+ }
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_021(
+ uint8_t bin,
+ int32_t filta0,
+ int32_t filta1,
+ uint8_t VL53LX_p_030,
+ uint32_t *pmean_phase)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ int32_t mean_phase = VL53LX_MAX_ALLOWED_PHASE;
+ int32_t bin_x_phase = abs(filta0);
+ int32_t bin_x_delta = filta1 - filta0;
+
+
+ if (bin_x_delta == 0) {
+ mean_phase = 1024;
+ } else
+ mean_phase = ((bin_x_phase * 2048) +
+ (bin_x_delta >> 1)) / bin_x_delta;
+
+ mean_phase += (2048 * (int64_t)bin);
+
+
+
+ if (mean_phase < 0) {
+ mean_phase = 0;
+ }
+
+ if (mean_phase > VL53LX_MAX_ALLOWED_PHASE) {
+ mean_phase = VL53LX_MAX_ALLOWED_PHASE;
+ }
+
+
+
+ mean_phase = mean_phase % ((int32_t)VL53LX_p_030 * 2048);
+
+ *pmean_phase = (uint32_t)mean_phase;
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_014(
+ uint8_t bin,
+ uint8_t sigma_estimator__sigma_ref_mm,
+ uint8_t VL53LX_p_030,
+ uint8_t VL53LX_p_051,
+ uint8_t crosstalk_compensation_enable,
+ VL53LX_histogram_bin_data_t *phist_data_ap,
+ VL53LX_histogram_bin_data_t *phist_data_zp,
+ VL53LX_histogram_bin_data_t *pxtalk_hist,
+ uint16_t *psigma_est)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_Error func_status = VL53LX_ERROR_NONE;
+
+ uint8_t i = 0;
+ int32_t VL53LX_p_007 = 0;
+ int32_t VL53LX_p_032 = 0;
+ int32_t VL53LX_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 % VL53LX_p_030;
+
+
+
+
+ VL53LX_f_022(
+ i,
+ VL53LX_p_051,
+ phist_data_zp,
+ &a_zp,
+ &VL53LX_p_032,
+ &c_zp);
+
+
+
+
+ VL53LX_f_022(
+ i,
+ VL53LX_p_051,
+ phist_data_ap,
+ &VL53LX_p_007,
+ &VL53LX_p_032,
+ &VL53LX_p_001);
+
+ if (crosstalk_compensation_enable > 0)
+ VL53LX_f_022(
+ i,
+ VL53LX_p_051,
+ pxtalk_hist,
+ &ax,
+ &bx,
+ &cx);
+
+
+ func_status =
+ VL53LX_f_023(
+ sigma_estimator__sigma_ref_mm,
+ (uint32_t)VL53LX_p_007,
+
+ (uint32_t)VL53LX_p_032,
+
+ (uint32_t)VL53LX_p_001,
+
+ (uint32_t)a_zp,
+
+ (uint32_t)c_zp,
+
+ (uint32_t)bx,
+ (uint32_t)ax,
+ (uint32_t)cx,
+ (uint32_t)phist_data_ap->VL53LX_p_028,
+ phist_data_ap->VL53LX_p_015,
+ psigma_est);
+
+
+ if (func_status == VL53LX_ERROR_DIVISION_BY_ZERO) {
+ *psigma_est = 0xFFFF;
+ }
+
+
+ return status;
+}
+
+
+void VL53LX::VL53LX_f_017(
+ uint8_t range_id,
+ uint8_t valid_phase_low,
+ uint8_t valid_phase_high,
+ uint16_t sigma_thres,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_hist_pulse_data_t *ppulse,
+ VL53LX_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->VL53LX_p_012 = ppulse->VL53LX_p_012;
+ pdata->VL53LX_p_019 = ppulse->VL53LX_p_019;
+ pdata->VL53LX_p_023 = ppulse->VL53LX_p_023;
+ pdata->VL53LX_p_024 = ppulse->VL53LX_p_024;
+ pdata->VL53LX_p_013 = ppulse->VL53LX_p_013;
+ pdata->VL53LX_p_025 = ppulse->VL53LX_p_025;
+
+
+
+
+ pdata->VL53LX_p_029 =
+ (ppulse->VL53LX_p_013 + 1) - ppulse->VL53LX_p_012;
+
+
+
+
+ pdata->zero_distance_phase = pbins->zero_distance_phase;
+ pdata->VL53LX_p_002 = ppulse->VL53LX_p_002;
+ pdata->VL53LX_p_026 = (uint16_t)ppulse->VL53LX_p_026;
+ pdata->VL53LX_p_011 = (uint16_t)ppulse->VL53LX_p_011;
+ pdata->VL53LX_p_027 = (uint16_t)ppulse->VL53LX_p_027;
+ pdata->VL53LX_p_017 = (uint32_t)ppulse->VL53LX_p_017;
+ pdata->VL53LX_p_010 = ppulse->VL53LX_p_010;
+ pdata->VL53LX_p_016 = (uint32_t)ppulse->VL53LX_p_016;
+ pdata->total_periods_elapsed = pbins->total_periods_elapsed;
+
+
+
+
+ pdata->range_status = VL53LX_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK;
+
+
+
+ if (sigma_thres > 0 &&
+ (uint32_t)ppulse->VL53LX_p_002 > ((uint32_t)sigma_thres << 5)) {
+ pdata->range_status = VL53LX_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->VL53LX_p_011 < lower_phase_limit ||
+ pdata->VL53LX_p_011 > upper_phase_limit) {
+ pdata->range_status = VL53LX_DEVICEERROR_RANGEPHASECHECK;
+ }
+
+}
+
+
+
+/* vl53lx_hist_algos_gen4.c */
+
+void VL53LX::VL53LX_f_024(
+ VL53LX_hist_gen4_algo_filtered_data_t *palgo)
+{
+
+ uint8_t lb = 0;
+
+ palgo->VL53LX_p_020 = VL53LX_HISTOGRAM_BUFFER_SIZE;
+ palgo->VL53LX_p_019 = 0;
+ palgo->VL53LX_p_021 = 0;
+
+ for (lb = palgo->VL53LX_p_019; lb < palgo->VL53LX_p_020; lb++) {
+ palgo->VL53LX_p_007[lb] = 0;
+ palgo->VL53LX_p_032[lb] = 0;
+ palgo->VL53LX_p_001[lb] = 0;
+ palgo->VL53LX_p_053[lb] = 0;
+ palgo->VL53LX_p_054[lb] = 0;
+ palgo->VL53LX_p_040[lb] = 0;
+ }
+}
+VL53LX_Error VL53LX::VL53LX_f_025(
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_hist_post_process_config_t *ppost_cfg,
+ VL53LX_histogram_bin_data_t *pbins_input,
+ VL53LX_histogram_bin_data_t *pxtalk,
+ VL53LX_hist_gen3_algo_private_data_t *palgo3,
+ VL53LX_hist_gen4_algo_filtered_data_t *pfiltered,
+ VL53LX_hist_gen3_dmax_private_data_t *pdmax_algo,
+ VL53LX_range_results_t *presults)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_hist_pulse_data_t *ppulse_data;
+ VL53LX_range_data_t *prange_data;
+
+ uint8_t p = 0;
+ VL53LX_histogram_bin_data_t *pB = &(palgo3->VL53LX_p_006);
+
+ VL53LX_f_003(palgo3);
+
+ memcpy(
+ &(palgo3->VL53LX_p_006),
+ pbins_input,
+ sizeof(VL53LX_histogram_bin_data_t));
+
+ presults->cfg_device_state = pbins_input->cfg_device_state;
+ presults->rd_device_state = pbins_input->rd_device_state;
+ presults->zone_id = pbins_input->zone_id;
+ presults->stream_count = pbins_input->result__stream_count;
+ presults->wrap_dmax_mm = 0;
+ presults->max_results = VL53LX_MAX_RANGE_RESULTS;
+ presults->active_results = 0;
+
+ for (p = 0; p < VL53LX_MAX_AMBIENT_DMAX_VALUES; p++) {
+ presults->VL53LX_p_022[p] = 0;
+ }
+
+
+
+
+ VL53LX_hist_calc_zero_distance_phase(&(palgo3->VL53LX_p_006));
+
+
+
+
+
+
+ if (ppost_cfg->hist_amb_est_method ==
+ VL53LX_HIST_AMB_EST_METHOD__THRESHOLDED_BINS)
+ VL53LX_hist_estimate_ambient_from_thresholded_bins(
+ (int32_t)ppost_cfg->ambient_thresh_sigma0,
+ &(palgo3->VL53LX_p_006));
+ else
+ VL53LX_hist_estimate_ambient_from_ambient_bins(
+ &(palgo3->VL53LX_p_006));
+
+
+
+
+
+ VL53LX_hist_remove_ambient_bins(&(palgo3->VL53LX_p_006));
+
+
+
+
+
+ if (ppost_cfg->algo__crosstalk_compensation_enable > 0)
+ VL53LX_f_005(
+ pxtalk,
+ &(palgo3->VL53LX_p_006),
+ &(palgo3->VL53LX_p_047));
+
+
+
+
+
+
+ pdmax_cfg->ambient_thresh_sigma =
+ ppost_cfg->ambient_thresh_sigma1;
+
+ for (p = 0; p < VL53LX_MAX_AMBIENT_DMAX_VALUES; p++) {
+ if (status == VL53LX_ERROR_NONE) {
+
+ status =
+ VL53LX_f_001(
+ pdmax_cfg->target_reflectance_for_dmax_calc[p],
+ pdmax_cal,
+ pdmax_cfg,
+ &(palgo3->VL53LX_p_006),
+ pdmax_algo,
+ &(presults->VL53LX_p_022[p]));
+ }
+ }
+
+
+
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_006(
+ ppost_cfg->ambient_thresh_events_scaler,
+ (int32_t)ppost_cfg->ambient_thresh_sigma1,
+ (int32_t)ppost_cfg->min_ambient_thresh_events,
+ ppost_cfg->algo__crosstalk_compensation_enable,
+ &(palgo3->VL53LX_p_006),
+ &(palgo3->VL53LX_p_047),
+ palgo3);
+
+
+
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_007(palgo3);
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_008(palgo3);
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_009(palgo3);
+
+
+
+
+
+
+ for (p = 0; p < palgo3->VL53LX_p_046; p++) {
+
+ ppulse_data = &(palgo3->VL53LX_p_003[p]);
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_010(
+ p,
+ &(palgo3->VL53LX_p_006),
+ palgo3);
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_011(
+ p,
+ &(palgo3->VL53LX_p_006),
+ palgo3,
+ pB->VL53LX_p_028,
+ &(palgo3->VL53LX_p_048));
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_f_011(
+ p,
+ &(palgo3->VL53LX_p_006),
+ palgo3,
+ 0,
+ &(palgo3->VL53LX_p_049));
+ }
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_f_011(
+ p,
+ &(palgo3->VL53LX_p_047),
+ palgo3,
+ 0,
+ &(palgo3->VL53LX_p_050));
+ }
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_026(
+ p,
+ &(palgo3->VL53LX_p_048),
+ palgo3,
+ pfiltered);
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_027(
+ p,
+ ppost_cfg->noise_threshold,
+ pfiltered,
+ palgo3);
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_014(
+ ppulse_data->VL53LX_p_023,
+ ppost_cfg->sigma_estimator__sigma_ref_mm,
+ palgo3->VL53LX_p_030,
+ ppulse_data->VL53LX_p_051,
+ ppost_cfg->algo__crosstalk_compensation_enable,
+ &(palgo3->VL53LX_p_048),
+ &(palgo3->VL53LX_p_049),
+ &(palgo3->VL53LX_p_050),
+ &(ppulse_data->VL53LX_p_002));
+
+
+
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_015(
+ p,
+ 1,
+ &(palgo3->VL53LX_p_006),
+ palgo3);
+
+ }
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_016(
+ ppost_cfg->hist_target_order,
+ palgo3);
+
+
+
+
+
+
+ for (p = 0; p < palgo3->VL53LX_p_046; p++) {
+
+ ppulse_data = &(palgo3->VL53LX_p_003[p]);
+
+
+
+ if (!(presults->active_results < presults->max_results)) {
+ continue;
+ }
+
+
+
+
+
+
+
+
+ if (ppulse_data->VL53LX_p_010 >
+ ppost_cfg->signal_total_events_limit &&
+ ppulse_data->VL53LX_p_023 < 0xFF) {
+
+ prange_data =
+ &(presults->VL53LX_p_003[presults->active_results]);
+
+ if (status == VL53LX_ERROR_NONE)
+ VL53LX_f_017(
+ presults->active_results,
+ ppost_cfg->valid_phase_low,
+ ppost_cfg->valid_phase_high,
+ ppost_cfg->sigma_thresh,
+ &(palgo3->VL53LX_p_006),
+ ppulse_data,
+ prange_data);
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_f_018(
+ pB->vcsel_width,
+ pB->VL53LX_p_015,
+ pB->total_periods_elapsed,
+ pB->result__dss_actual_effective_spads,
+ prange_data);
+
+ if (status == VL53LX_ERROR_NONE)
+ VL53LX_f_019(
+ ppost_cfg->gain_factor,
+ ppost_cfg->range_offset_mm,
+ prange_data);
+
+ presults->active_results++;
+ }
+
+ }
+
+
+
+ return status;
+}
+
+
+
+VL53LX_Error VL53LX::VL53LX_f_026(
+ uint8_t pulse_no,
+ VL53LX_histogram_bin_data_t *ppulse,
+ VL53LX_hist_gen3_algo_private_data_t *palgo3,
+ VL53LX_hist_gen4_algo_filtered_data_t *pfiltered)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_hist_pulse_data_t *pdata = &(palgo3->VL53LX_p_003[pulse_no]);
+
+ uint8_t lb = 0;
+ uint8_t i = 0;
+ int32_t suma = 0;
+ int32_t sumb = 0;
+ int32_t sumc = 0;
+
+
+ pfiltered->VL53LX_p_020 = palgo3->VL53LX_p_020;
+ pfiltered->VL53LX_p_019 = palgo3->VL53LX_p_019;
+ pfiltered->VL53LX_p_021 = palgo3->VL53LX_p_021;
+
+ for (lb = pdata->VL53LX_p_012; lb <= pdata->VL53LX_p_013; lb++) {
+
+ i = lb % palgo3->VL53LX_p_030;
+
+
+
+ VL53LX_f_022(
+ i,
+ pdata->VL53LX_p_051,
+ ppulse,
+ &suma,
+ &sumb,
+ &sumc);
+
+
+
+ pfiltered->VL53LX_p_007[i] = suma;
+ pfiltered->VL53LX_p_032[i] = sumb;
+ pfiltered->VL53LX_p_001[i] = sumc;
+
+
+
+
+ pfiltered->VL53LX_p_053[i] =
+ (suma + sumb) -
+ (sumc + palgo3->VL53LX_p_028);
+
+
+
+
+ pfiltered->VL53LX_p_054[i] =
+ (sumb + sumc) -
+ (suma + palgo3->VL53LX_p_028);
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_027(
+ uint8_t pulse_no,
+ uint16_t noise_threshold,
+ VL53LX_hist_gen4_algo_filtered_data_t *pfiltered,
+ VL53LX_hist_gen3_algo_private_data_t *palgo3)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_Error func_status = VL53LX_ERROR_NONE;
+
+ VL53LX_hist_pulse_data_t *pdata = &(palgo3->VL53LX_p_003[pulse_no]);
+
+ uint8_t lb = 0;
+ uint8_t i = 0;
+ uint8_t j = 0;
+
+ SUPPRESS_UNUSED_WARNING(noise_threshold);
+
+ for (lb = pdata->VL53LX_p_012; lb < pdata->VL53LX_p_013; lb++) {
+
+ i = lb % palgo3->VL53LX_p_030;
+ j = (lb + 1) % palgo3->VL53LX_p_030;
+
+ if (i < palgo3->VL53LX_p_021 &&
+ j < palgo3->VL53LX_p_021) {
+
+ if (pfiltered->VL53LX_p_053[i] == 0 &&
+ pfiltered->VL53LX_p_054[i] == 0)
+
+
+ {
+ pfiltered->VL53LX_p_040[i] = 0;
+ }
+
+ else if (pfiltered->VL53LX_p_053[i] >= 0 &&
+ pfiltered->VL53LX_p_054[i] >= 0) {
+ pfiltered->VL53LX_p_040[i] = 1;
+ }
+
+ else if (pfiltered->VL53LX_p_053[i] < 0 &&
+ pfiltered->VL53LX_p_054[i] >= 0 &&
+ pfiltered->VL53LX_p_053[j] >= 0 &&
+ pfiltered->VL53LX_p_054[j] < 0) {
+ pfiltered->VL53LX_p_040[i] = 1;
+ }
+
+ else {
+ pfiltered->VL53LX_p_040[i] = 0;
+ }
+
+
+
+ if (pfiltered->VL53LX_p_040[i] > 0) {
+
+ pdata->VL53LX_p_023 = lb;
+
+ func_status =
+ VL53LX_f_028(
+ lb,
+ pfiltered->VL53LX_p_007[i],
+ pfiltered->VL53LX_p_032[i],
+ pfiltered->VL53LX_p_001[i],
+ 0,
+
+ 0,
+
+ 0,
+
+ palgo3->VL53LX_p_028,
+ palgo3->VL53LX_p_030,
+ &(pdata->VL53LX_p_011));
+
+ if (func_status ==
+ VL53LX_ERROR_DIVISION_BY_ZERO) {
+ pfiltered->VL53LX_p_040[i] = 0;
+ }
+
+ }
+ }
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_f_028(
+ uint8_t bin,
+ int32_t VL53LX_p_007,
+ int32_t VL53LX_p_032,
+ int32_t VL53LX_p_001,
+ int32_t ax,
+ int32_t bx,
+ int32_t cx,
+ int32_t VL53LX_p_028,
+ uint8_t VL53LX_p_030,
+ uint32_t *pmean_phase)
+{
+
+
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_DIVISION_BY_ZERO;
+
+ int64_t mean_phase = VL53LX_MAX_ALLOWED_PHASE;
+ int64_t VL53LX_p_055 = 0;
+ int64_t b_minus_amb = 0;
+
+
+
+
+
+
+
+
+ VL53LX_p_055 = 4096 * ((int64_t)VL53LX_p_001 -
+ (int64_t)cx - (int64_t)VL53LX_p_007 - (int64_t)ax);
+ b_minus_amb = 2 * 4096 * ((int64_t)VL53LX_p_032 -
+ (int64_t)bx - (int64_t)VL53LX_p_028);
+
+ if (b_minus_amb != 0) {
+
+ mean_phase = ((4096 * VL53LX_p_055) +
+ (b_minus_amb / 2)) / b_minus_amb;
+ mean_phase += 2048;
+ mean_phase += (4096 * (int64_t)bin);
+
+
+
+ mean_phase = (mean_phase + 1) / 2;
+
+
+
+ if (mean_phase < 0) {
+ mean_phase = 0;
+ }
+ if (mean_phase > VL53LX_MAX_ALLOWED_PHASE) {
+ mean_phase = VL53LX_MAX_ALLOWED_PHASE;
+ }
+
+
+
+ mean_phase = mean_phase %
+ ((int64_t)VL53LX_p_030 * 2048);
+
+ status = VL53LX_ERROR_NONE;
+
+ }
+
+ *pmean_phase = (uint32_t)mean_phase;
+
+ return status;
+}
+
+/* vl53lx_dmax.c */
+VL53LX_Error VL53LX::VL53LX_f_001(
+ uint16_t target_reflectance,
+ VL53LX_dmax_calibration_data_t *pcal,
+ VL53LX_hist_gen3_dmax_config_t *pcfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_hist_gen3_dmax_private_data_t *pdata,
+ int16_t *pambient_dmax_mm)
+{
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ uint32_t pll_period_us = 0;
+ uint32_t periods_elapsed = 0;
+
+ uint32_t tmp32 = 0;
+ uint64_t tmp64 = 0;
+
+ uint32_t amb_thres_delta = 0;
+
+ pdata->VL53LX_p_004 = 0x0000;
+ pdata->VL53LX_p_033 = 0x0000;
+ pdata->VL53LX_p_034 = 0x0000;
+ pdata->VL53LX_p_009 = 0x0000;
+ pdata->VL53LX_p_028 = 0x0000;
+ pdata->VL53LX_p_035 = 0x0000;
+ pdata->VL53LX_p_036 = 0;
+ pdata->VL53LX_p_022 = 0;
+
+ *pambient_dmax_mm = 0;
+
+
+
+
+
+ if ((pbins->VL53LX_p_015 != 0) &&
+ (pbins->total_periods_elapsed != 0)) {
+
+
+
+
+ pll_period_us =
+ VL53LX_calc_pll_period_us(pbins->VL53LX_p_015);
+
+
+
+
+ periods_elapsed = pbins->total_periods_elapsed + 1;
+
+
+
+
+
+
+ pdata->VL53LX_p_037 =
+ VL53LX_duration_maths(
+ pll_period_us,
+ 1 << 4,
+ VL53LX_RANGING_WINDOW_VCSEL_PERIODS,
+ periods_elapsed);
+
+
+
+ pdata->VL53LX_p_034 =
+ VL53LX_rate_maths(
+ pbins->VL53LX_p_028,
+ pdata->VL53LX_p_037);
+
+
+
+
+ pdata->VL53LX_p_033 =
+ VL53LX_events_per_spad_maths(
+ pbins->VL53LX_p_028,
+ pbins->result__dss_actual_effective_spads,
+ pdata->VL53LX_p_037);
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ pdata->VL53LX_p_038 = pcfg->max_effective_spads;
+ pdata->VL53LX_p_004 = pcfg->max_effective_spads;
+
+ if (pdata->VL53LX_p_033 > 0) {
+ tmp64 =
+ (uint64_t)pcfg->dss_config__target_total_rate_mcps;
+ tmp64 *= 1000;
+ tmp64 <<= (11 + 1);
+ tmp64 +=
+ ((uint64_t)pdata->VL53LX_p_033 / 2);
+ tmp64 /= (uint64_t)pdata->VL53LX_p_033;
+
+ if (tmp64 < (uint64_t)pcfg->max_effective_spads) {
+ pdata->VL53LX_p_004 = (uint16_t)tmp64;
+ }
+ }
+ }
+
+
+
+
+ if ((pcal->ref__actual_effective_spads != 0) &&
+ (pbins->VL53LX_p_015 != 0) &&
+ (pcal->ref_reflectance_pc != 0) &&
+ (pbins->total_periods_elapsed != 0)) {
+
+
+
+
+
+
+
+
+
+
+
+
+
+ tmp64 = (uint64_t)pcal->ref__peak_signal_count_rate_mcps;
+ tmp64 *= (1000 * 256);
+ tmp64 += ((uint64_t)pcal->ref__actual_effective_spads / 2);
+ tmp64 /= (uint64_t)pcal->ref__actual_effective_spads;
+
+ pdata->VL53LX_p_009 = (uint32_t)tmp64;
+ pdata->VL53LX_p_009 <<= 4;
+
+
+
+
+
+
+ tmp64 = (uint64_t)pdata->VL53LX_p_037;
+ tmp64 *= (uint64_t)pdata->VL53LX_p_033;
+ tmp64 *= (uint64_t)pdata->VL53LX_p_004;
+ tmp64 += (1 << (11 + 7));
+ tmp64 >>= (11 + 8);
+ tmp64 += 500;
+ tmp64 /= 1000;
+
+
+
+ if (tmp64 > 0x00FFFFFF) {
+ tmp64 = 0x00FFFFFF;
+ }
+
+ pdata->VL53LX_p_028 = (uint32_t)tmp64;
+
+
+
+
+
+
+ tmp64 = (uint64_t)pdata->VL53LX_p_037;
+ tmp64 *= (uint64_t)pdata->VL53LX_p_009;
+ tmp64 *= (uint64_t)pdata->VL53LX_p_004;
+ tmp64 += (1 << (11 + 7));
+ tmp64 >>= (11 + 8);
+
+
+
+
+
+
+
+ tmp64 *= ((uint64_t)target_reflectance *
+ (uint64_t)pcal->coverglass_transmission);
+
+ tmp64 += (((uint64_t)pcal->ref_reflectance_pc * 256) / 2);
+ tmp64 /= ((uint64_t)pcal->ref_reflectance_pc * 256);
+
+ tmp64 += 500;
+ tmp64 /= 1000;
+
+
+
+ if (tmp64 > 0x00FFFFFF) {
+ tmp64 = 0x00FFFFFF;
+ }
+
+ pdata->VL53LX_p_035 = (uint32_t)tmp64;
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ tmp32 = VL53LX_isqrt(pdata->VL53LX_p_028 << 8);
+ tmp32 *= (uint32_t)pcfg->ambient_thresh_sigma;
+
+
+
+
+
+
+
+ if (pdata->VL53LX_p_028 <
+ (uint32_t)pcfg->min_ambient_thresh_events) {
+
+ amb_thres_delta =
+ pcfg->min_ambient_thresh_events -
+ (uint32_t)pdata->VL53LX_p_028;
+
+
+
+ amb_thres_delta <<= 8;
+
+ if (tmp32 < amb_thres_delta) {
+ tmp32 = amb_thres_delta;
+ }
+ }
+
+
+
+
+ pdata->VL53LX_p_022 =
+ (int16_t)VL53LX_f_002(
+ tmp32,
+
+ pdata->VL53LX_p_035,
+ (uint32_t)pcal->ref__distance_mm,
+ (uint32_t)pcfg->signal_thresh_sigma);
+
+
+
+
+
+
+
+
+ tmp32 = (uint32_t)pdata->VL53LX_p_035;
+ tmp32 *= (uint32_t)pbins->vcsel_width;
+ tmp32 += (1 << 3);
+ tmp32 /= (1 << 4);
+
+ pdata->VL53LX_p_036 =
+ (int16_t)VL53LX_f_002(
+ 256 * (uint32_t)pcfg->signal_total_events_limit,
+ tmp32,
+ (uint32_t)pcal->ref__distance_mm,
+ (uint32_t)pcfg->signal_thresh_sigma);
+
+
+
+
+
+
+
+ if (pdata->VL53LX_p_036 < pdata->VL53LX_p_022) {
+ *pambient_dmax_mm = pdata->VL53LX_p_036;
+ } else {
+ *pambient_dmax_mm = pdata->VL53LX_p_022;
+ }
+
+ }
+
+ return status;
+
+}
+
+
+uint32_t VL53LX::VL53LX_f_002(
+ uint32_t events_threshold,
+ uint32_t ref_signal_events,
+ uint32_t ref_distance_mm,
+ uint32_t signal_thresh_sigma)
+{
+
+ uint32_t tmp32 = 0;
+ uint32_t range_mm = 0;
+
+ tmp32 = 4 * events_threshold;
+
+
+
+
+
+
+ tmp32 += ((uint32_t)signal_thresh_sigma *
+ (uint32_t)signal_thresh_sigma);
+
+
+
+
+
+
+ tmp32 = VL53LX_isqrt(tmp32);
+ tmp32 += (uint32_t)signal_thresh_sigma;
+
+
+
+
+
+
+
+ range_mm =
+ (uint32_t)VL53LX_isqrt(ref_signal_events << 4);
+ range_mm *= ref_distance_mm;
+
+ range_mm += (tmp32);
+ range_mm /= (2 * tmp32);
+
+ return range_mm;
+
+}
+
+/* vl53lx_api_calibration.c */
+
+
+VL53LX_Error VL53LX::VL53LX_run_ref_spad_char(
+ VL53LX_Error *pcal_status)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t comms_buffer[6];
+
+ VL53LX_refspadchar_config_t *prefspadchar = &(pdev->refspadchar);
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_powerforce();
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_set_ref_spad_char_config(
+ prefspadchar->VL53LX_p_005,
+ prefspadchar->timeout_us,
+ prefspadchar->target_count_rate_mcps,
+ prefspadchar->max_count_rate_limit_mcps,
+ prefspadchar->min_count_rate_limit_mcps,
+ pdev->stat_nvm.osc_measured__fast_osc__frequency);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_run_device_test(
+ prefspadchar->device_test_mode);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_ReadMulti(
+ Dev,
+ VL53LX_REF_SPAD_CHAR_RESULT__NUM_ACTUAL_REF_SPADS,
+ comms_buffer,
+ 2);
+
+ if (status == VL53LX_ERROR_NONE) {
+ pdev->dbg_results.ref_spad_char_result__num_actual_ref_spads =
+ comms_buffer[0];
+ pdev->dbg_results.ref_spad_char_result__ref_location =
+ comms_buffer[1];
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WriteMulti(
+ Dev,
+ VL53LX_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS,
+ comms_buffer,
+ 2);
+
+ if (status == VL53LX_ERROR_NONE) {
+ pdev->customer.ref_spad_man__num_requested_ref_spads =
+ comms_buffer[0];
+ pdev->customer.ref_spad_man__ref_location =
+ comms_buffer[1];
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_ReadMulti(
+ Dev,
+ VL53LX_RESULT__SPARE_0_SD1,
+ comms_buffer,
+ 6);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_WriteMulti(
+ Dev,
+ VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_0,
+ comms_buffer,
+ 6);
+
+ if (status == VL53LX_ERROR_NONE) {
+ pdev->customer.global_config__spad_enables_ref_0 =
+ comms_buffer[0];
+ pdev->customer.global_config__spad_enables_ref_1 =
+ comms_buffer[1];
+ pdev->customer.global_config__spad_enables_ref_2 =
+ comms_buffer[2];
+ pdev->customer.global_config__spad_enables_ref_3 =
+ comms_buffer[3];
+ pdev->customer.global_config__spad_enables_ref_4 =
+ comms_buffer[4];
+ pdev->customer.global_config__spad_enables_ref_5 =
+ comms_buffer[5];
+ }
+ /*
+ if (status == VL53LX_ERROR_NONE)
+ VL53LX_print_customer_nvm_managed(
+ &(pdev->customer),
+ "run_ref_spad_char():pdev->lldata.customer.",
+ VL53LX_TRACE_MODULE_REF_SPAD_CHAR);
+ */
+ if (status == VL53LX_ERROR_NONE) {
+
+ switch (pdev->sys_results.result__range_status) {
+
+ case VL53LX_DEVICEERROR_REFSPADCHARNOTENOUGHDPADS:
+ status = VL53LX_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS;
+ break;
+
+ case VL53LX_DEVICEERROR_REFSPADCHARMORETHANTARGET:
+ status = VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH;
+ break;
+
+ case VL53LX_DEVICEERROR_REFSPADCHARLESSTHANTARGET:
+ status = VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW;
+ break;
+ }
+ }
+
+
+
+ *pcal_status = status;
+
+
+ /*
+ IGNORE_STATUS(
+ IGNORE_REF_SPAD_CHAR_NOT_ENOUGH_SPADS,
+ VL53LX_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS,
+ status);
+
+ IGNORE_STATUS(
+ IGNORE_REF_SPAD_CHAR_RATE_TOO_HIGH,
+ VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH,
+ status);
+
+ IGNORE_STATUS(
+ IGNORE_REF_SPAD_CHAR_RATE_TOO_LOW,
+ VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW,
+ status);
+
+ */
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_run_xtalk_extraction(
+ VL53LX_Error *pcal_status)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+
+
+ VL53LX_xtalkextract_config_t *pX = &(pdev->xtalk_extract_cfg);
+ VL53LX_xtalk_config_t *pC = &(pdev->xtalk_cfg);
+ VL53LX_xtalk_calibration_results_t *pXC = &(pdev->xtalk_cal);
+
+ uint8_t results_invalid = 0;
+
+ uint8_t i = 0;
+ uint16_t tmp16 = 0;
+
+ uint8_t measurement_mode = VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+
+ VL53LX_init_histogram_bin_data_struct(
+ 0,
+ (uint16_t)VL53LX_HISTOGRAM_BUFFER_SIZE,
+ &(pdev->xtalk_results.central_histogram_avg));
+
+ VL53LX_init_histogram_bin_data_struct(
+ 0,
+ (uint16_t)VL53LX_HISTOGRAM_BUFFER_SIZE,
+ &(pdev->xtalk_results.central_histogram_sum));
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_set_preset_mode(
+ VL53LX_DEVICEPRESETMODE_HISTOGRAM_XTALK_PLANAR,
+
+ pX->dss_config__target_total_rate_mcps,
+ pX->phasecal_config_timeout_us,
+ pX->mm_config_timeout_us,
+ pX->range_config_timeout_us,
+
+ 100);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_xtalk_compensation();
+ }
+
+
+
+ pdev->xtalk_results.max_results = VL53LX_MAX_XTALK_RANGE_RESULTS;
+ pdev->xtalk_results.active_results = pdev->zone_cfg.active_zones + 1;
+
+
+
+ pdev->xtalk_results.central_histogram__window_start = 0xFF;
+ pdev->xtalk_results.central_histogram__window_end = 0x00;
+
+ pdev->xtalk_results.num_of_samples_status = 0x00;
+ pdev->xtalk_results.zero_samples_status = 0x00;
+ pdev->xtalk_results.max_sigma_status = 0x00;
+
+ for (i = 0; i < pdev->xtalk_results.max_results; i++) {
+ pdev->xtalk_results.VL53LX_p_003[i].no_of_samples = 0;
+ pdev->xtalk_results.VL53LX_p_003[i].signal_total_events_avg = 0;
+ pdev->xtalk_results.VL53LX_p_003[i].signal_total_events_sum = 0;
+ pdev->xtalk_results.VL53LX_p_003[i].rate_per_spad_kcps_sum = 0;
+ pdev->xtalk_results.VL53LX_p_003[i].rate_per_spad_kcps_avg = 0;
+ pdev->xtalk_results.VL53LX_p_003[i].sigma_mm_sum = 0;
+ pdev->xtalk_results.VL53LX_p_003[i].sigma_mm_avg = 0;
+
+ pdev->xtalk_results.VL53LX_p_003[i].median_phase_sum = 0;
+ pdev->xtalk_results.VL53LX_p_003[i].median_phase_avg = 0;
+
+ }
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ status =
+ VL53LX_get_and_avg_xtalk_samples(
+ pX->num_of_samples,
+
+ measurement_mode,
+
+ pX->algo__crosstalk_extract_max_valid_range_mm,
+ pX->algo__crosstalk_extract_min_valid_range_mm,
+ pX->algo__crosstalk_extract_max_valid_rate_kcps,
+
+ 0x0,
+ 0x4,
+ &(pdev->xtalk_results),
+ &(pdev->xtalk_results.central_histogram_sum),
+ &(pdev->xtalk_results.central_histogram_avg));
+ }
+
+
+
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ if ((pdev->xtalk_results.VL53LX_p_003[4].no_of_samples == 0) ||
+ (pdev->xtalk_results.VL53LX_p_003[4].sigma_mm_avg >
+ ((uint32_t)pX->algo__crosstalk_extract_max_sigma_mm
+ << 5))) {
+ results_invalid = 0x01;
+ }
+
+ /*
+ if (status == VL53LX_ERROR_NONE)
+ VL53LX_print_xtalk_range_results(
+ &(pdev->xtalk_results),
+ "pdev->xtalk_results",
+ VL53LX_TRACE_MODULE_CORE);
+ */
+ if ((status == VL53LX_ERROR_NONE) && (results_invalid == 0)) {
+ status =
+ VL53LX_ipp_xtalk_calibration_process_data(
+ &(pdev->xtalk_results),
+ &(pdev->xtalk_shapes),
+ &(pdev->xtalk_cal));
+ }
+ if ((status == VL53LX_ERROR_NONE) && (results_invalid == 0)) {
+ for (i = 0; i < VL53LX_BIN_REC_SIZE; i++)
+ pXC->algo__xtalk_cpo_HistoMerge_kcps[i] =
+ pXC->algo__crosstalk_compensation_plane_offset_kcps;
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pXC->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pXC->algo__crosstalk_compensation_y_plane_gradient_kcps;
+ pC->algo__crosstalk_compensation_plane_offset_kcps =
+ pXC->algo__crosstalk_compensation_plane_offset_kcps;
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_xtalk_compensation();
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ for (i = 0; i < pdev->xtalk_results.max_results; i++) {
+
+ if (pdev->xtalk_results.VL53LX_p_003[i].no_of_samples !=
+
+ pX->num_of_samples) {
+
+ pdev->xtalk_results.num_of_samples_status =
+ pdev->xtalk_results.num_of_samples_status |
+ (1 << i);
+ }
+
+ if (pdev->xtalk_results.VL53LX_p_003[i].no_of_samples ==
+ 0x00) {
+ pdev->xtalk_results.zero_samples_status =
+ pdev->xtalk_results.zero_samples_status |
+ (1 << i);
+ }
+
+
+
+
+ tmp16 = pX->algo__crosstalk_extract_max_sigma_mm;
+ if (pdev->xtalk_results.VL53LX_p_003[i].sigma_mm_avg >
+ ((uint32_t)tmp16 << 5)) {
+ pdev->xtalk_results.max_sigma_status =
+ pdev->xtalk_results.max_sigma_status |
+ (1 << i);
+ }
+
+ }
+ }
+
+
+ if (results_invalid > 0) {
+
+ if (pdev->xtalk_results.VL53LX_p_003[4].no_of_samples == 0) {
+ status = VL53LX_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL;
+ } else {
+
+
+ if (pdev->xtalk_results.VL53LX_p_003[4].sigma_mm_avg >
+ (((uint32_t)pX->algo__crosstalk_extract_max_sigma_mm)
+ << 5)) {
+ status =
+ VL53LX_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL;
+ }
+
+ }
+ } else {
+
+ if (pdev->xtalk_results.zero_samples_status != 0x00) {
+ status = VL53LX_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT;
+ } else {
+ if (pdev->xtalk_results.max_sigma_status != 0x00) {
+ status =
+ VL53LX_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT;
+ } else {
+ if (pdev->xtalk_results.num_of_samples_status !=
+ 0x00)
+ status =
+ VL53LX_WARNING_XTALK_MISSING_SAMPLES;
+ }
+ }
+ }
+
+
+
+ pdev->xtalk_results.cal_status = status;
+ *pcal_status = pdev->xtalk_results.cal_status;
+
+
+
+ /*IGNORE_STATUS(
+ IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FAIL,
+ VL53LX_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL,
+ status);
+
+ IGNORE_STATUS(
+ IGNORE_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL,
+ VL53LX_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL,
+ status);
+
+ IGNORE_STATUS(
+ IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FOR_GRADIENT_WARN,
+ VL53LX_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT,
+ status);
+
+ IGNORE_STATUS(
+ IGNORE_XTALK_EXTRACTION_SIGMA_LIMIT_FOR_GRADIENT_WARN,
+ VL53LX_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT,
+ status);
+
+ IGNORE_STATUS(
+ IGNORE_XTALK_EXTRACTION_MISSING_SAMPLES_WARN,
+ VL53LX_WARNING_XTALK_MISSING_SAMPLES,
+ status);
+ */
+ /*
+
+ VL53LX_print_customer_nvm_managed(
+ &(pdev->customer),
+ "run_xtalk_extraction():pdev->lldata.customer.",
+ VL53LX_TRACE_MODULE_XTALK_DATA);
+
+ VL53LX_print_xtalk_config(
+ &(pdev->xtalk_cfg),
+ "run_xtalk_extraction():pdev->lldata.xtalk_cfg.",
+ VL53LX_TRACE_MODULE_XTALK_DATA);
+
+ VL53LX_print_xtalk_extract_config(
+ &(pdev->xtalk_extract_cfg),
+ "run_xtalk_extraction():pdev->lldata.xtalk_extract_cfg.",
+ VL53LX_TRACE_MODULE_XTALK_DATA);
+
+ VL53LX_print_histogram_bin_data(
+ &(pdev->hist_data),
+ "run_xtalk_extraction():pdev->lldata.hist_data.",
+ VL53LX_TRACE_MODULE_XTALK_DATA);
+
+ VL53LX_print_xtalk_histogram_data(
+ &(pdev->xtalk_shapes),
+ "pdev->lldata.xtalk_shapes.",
+ VL53LX_TRACE_MODULE_XTALK_DATA);
+
+ VL53LX_print_xtalk_range_results(
+ &(pdev->xtalk_results),
+ "run_xtalk_extraction():pdev->lldata.xtalk_results.",
+ VL53LX_TRACE_MODULE_XTALK_DATA);
+
+ #endif
+ */
+
+ return status;
+
+}
+
+
+VL53LX_Error VL53LX::VL53LX_get_and_avg_xtalk_samples(
+ uint8_t num_of_samples,
+ uint8_t measurement_mode,
+ int16_t xtalk_filter_thresh_max_mm,
+ int16_t xtalk_filter_thresh_min_mm,
+ uint16_t xtalk_max_valid_rate_kcps,
+ uint8_t xtalk_result_id,
+ uint8_t xtalk_histo_id,
+ VL53LX_xtalk_range_results_t *pXR,
+ VL53LX_histogram_bin_data_t *psum_histo,
+ VL53LX_histogram_bin_data_t *pavg_histo)
+{
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+
+ VL53LX_range_results_t *prs =
+ (VL53LX_range_results_t *) pdev->wArea1;
+
+ VL53LX_range_data_t *prange_data;
+ VL53LX_xtalk_range_data_t *pxtalk_range_data;
+
+ uint8_t i = 0;
+ uint8_t j = 0;
+ uint8_t zone_id = 0;
+ uint8_t final_zone = pdev->zone_cfg.active_zones + 1;
+ uint8_t valid_result;
+
+ uint8_t smudge_corr_en = 0;
+
+
+
+
+ smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
+
+ status = VL53LX_dynamic_xtalk_correction_disable();
+
+
+ VL53LX_load_patch();
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_init_and_start_range(
+ measurement_mode,
+ VL53LX_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS);
+
+
+ for (i = 0; i <= (final_zone * num_of_samples); i++) {
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_wait_for_range_completion();
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_get_device_results(
+ VL53LX_DEVICERESULTSLEVEL_FULL,
+ prs);
+
+
+
+ if (status == VL53LX_ERROR_NONE &&
+ pdev->ll_state.rd_device_state !=
+ VL53LX_DEVICESTATE_RANGING_WAIT_GPH_SYNC) {
+
+ zone_id = pdev->ll_state.rd_zone_id + xtalk_result_id;
+ prange_data = &(prs->VL53LX_p_003[0]);
+
+
+ if (prs->active_results > 1) {
+ for (j = 1;
+ j < prs->active_results; j++) {
+ if (prs->VL53LX_p_003[j].median_range_mm
+ <
+ prange_data->median_range_mm)
+ prange_data =
+ &(prs->VL53LX_p_003[j]);
+
+ }
+ }
+
+ pxtalk_range_data = &(pXR->VL53LX_p_003[zone_id]);
+
+
+
+ if ((prs->active_results > 0) &&
+ (prange_data->median_range_mm <
+ xtalk_filter_thresh_max_mm) &&
+ (prange_data->median_range_mm >
+ xtalk_filter_thresh_min_mm) &&
+ (prange_data->VL53LX_p_009 <
+ (uint32_t)(xtalk_max_valid_rate_kcps * 16))) {
+ valid_result = 1;
+ } else {
+ valid_result = 0;
+ }
+
+ if (valid_result == 1) {
+
+ pxtalk_range_data->no_of_samples++;
+
+ pxtalk_range_data->rate_per_spad_kcps_sum +=
+ prange_data->VL53LX_p_009;
+
+ pxtalk_range_data->signal_total_events_sum +=
+ prange_data->VL53LX_p_010;
+
+ pxtalk_range_data->sigma_mm_sum +=
+ (uint32_t)prange_data->VL53LX_p_002;
+
+
+
+ pxtalk_range_data->median_phase_sum +=
+ (uint32_t)prange_data->VL53LX_p_011;
+
+
+
+
+ }
+
+ if ((valid_result == 1) && (zone_id >= 4)) {
+ status = VL53LX_sum_histogram_data(
+ &(pdev->hist_data),
+ psum_histo);
+
+
+
+ if (prange_data->VL53LX_p_012 <
+ pXR->central_histogram__window_start)
+ pXR->central_histogram__window_start =
+ prange_data->VL53LX_p_012;
+
+
+ if (prange_data->VL53LX_p_013 >
+ pXR->central_histogram__window_end)
+ pXR->central_histogram__window_end =
+ prange_data->VL53LX_p_013;
+
+ }
+
+ }
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_wait_for_firmware_ready();
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_clear_interrupt_and_enable_next_range(
+ measurement_mode);
+
+
+ }
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_stop_range();
+ }
+
+ VL53LX_unload_patch();
+
+
+
+ for (i = 0; i < (pdev->zone_cfg.active_zones + 1); i++) {
+
+ pxtalk_range_data = &(pXR->VL53LX_p_003[i + xtalk_result_id]);
+
+ if (pxtalk_range_data->no_of_samples > 0) {
+ pxtalk_range_data->rate_per_spad_kcps_avg =
+ pxtalk_range_data->rate_per_spad_kcps_sum /
+ (uint32_t)pxtalk_range_data->no_of_samples;
+
+ pxtalk_range_data->signal_total_events_avg =
+ pxtalk_range_data->signal_total_events_sum /
+ (int32_t)pxtalk_range_data->no_of_samples;
+
+ pxtalk_range_data->sigma_mm_avg =
+ pxtalk_range_data->sigma_mm_sum /
+ (uint32_t)pxtalk_range_data->no_of_samples;
+
+
+
+ pxtalk_range_data->median_phase_avg =
+ pxtalk_range_data->median_phase_sum /
+ (uint32_t)pxtalk_range_data->no_of_samples;
+
+
+
+ } else {
+ pxtalk_range_data->rate_per_spad_kcps_avg =
+ pxtalk_range_data->rate_per_spad_kcps_sum;
+ pxtalk_range_data->signal_total_events_avg =
+ pxtalk_range_data->signal_total_events_sum;
+ pxtalk_range_data->sigma_mm_avg =
+ pxtalk_range_data->sigma_mm_sum;
+
+
+
+ pxtalk_range_data->median_phase_avg =
+ pxtalk_range_data->median_phase_sum;
+
+
+ }
+ }
+
+
+
+ memcpy(pavg_histo, &(pdev->hist_data),
+ sizeof(VL53LX_histogram_bin_data_t));
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ pxtalk_range_data = &(pXR->VL53LX_p_003[xtalk_histo_id]);
+
+ status = VL53LX_avg_histogram_data(
+ pxtalk_range_data->no_of_samples,
+ psum_histo,
+ pavg_histo);
+ }
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ if (smudge_corr_en == 1) {
+ status = VL53LX_dynamic_xtalk_correction_enable();
+ }
+ }
+
+
+ return status;
+
+}
+
+
+VL53LX_Error VL53LX::VL53LX_run_offset_calibration(
+ int16_t cal_distance_mm,
+ uint16_t cal_reflectance_pc,
+ VL53LX_Error *pcal_status)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ VL53LX_DevicePresetModes device_preset_modes[
+ VL53LX_MAX_OFFSET_RANGE_RESULTS];
+
+ VL53LX_range_results_t *prange_results =
+ (VL53LX_range_results_t *) pdev->wArea1;
+
+ VL53LX_range_data_t *pRData = NULL;
+ VL53LX_offset_range_data_t *pfs = NULL;
+ VL53LX_general_config_t *pG = &(pdev->gen_cfg);
+ VL53LX_additional_offset_cal_data_t *pAO = &(pdev->add_off_cal_data);
+
+ uint8_t i = 0;
+ uint8_t m = 0;
+ uint8_t measurement_mode =
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+ uint16_t manual_effective_spads =
+ pG->dss_config__manual_effective_spads_select;
+
+ uint8_t num_of_samples[VL53LX_MAX_OFFSET_RANGE_RESULTS];
+
+ uint8_t smudge_corr_en = 0;
+
+
+
+
+ switch (pdev->offset_calibration_mode) {
+
+ case VL53LX_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM:
+ case VL53LX_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY:
+ device_preset_modes[0] =
+ VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING;
+ device_preset_modes[1] =
+ VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM1_CAL;
+ device_preset_modes[2] =
+ VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM2_CAL;
+ break;
+
+ default:
+ device_preset_modes[0] =
+ VL53LX_DEVICEPRESETMODE_STANDARD_RANGING;
+ device_preset_modes[1] =
+ VL53LX_DEVICEPRESETMODE_STANDARD_RANGING_MM1_CAL;
+ device_preset_modes[2] =
+ VL53LX_DEVICEPRESETMODE_STANDARD_RANGING_MM2_CAL;
+ break;
+ }
+
+
+
+ num_of_samples[0] = pdev->offsetcal_cfg.pre_num_of_samples;
+ num_of_samples[1] = pdev->offsetcal_cfg.mm1_num_of_samples;
+ num_of_samples[2] = pdev->offsetcal_cfg.mm2_num_of_samples;
+
+
+
+
+ switch (pdev->offset_calibration_mode) {
+
+ case VL53LX_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY:
+ case VL53LX_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY:
+
+ pdev->offset_results.active_results = 1;
+
+ break;
+
+ default:
+
+ pdev->customer.mm_config__inner_offset_mm = 0;
+ pdev->customer.mm_config__outer_offset_mm = 0;
+ pdev->offset_results.active_results =
+ VL53LX_MAX_OFFSET_RANGE_RESULTS;
+
+ break;
+ }
+
+ pdev->customer.algo__part_to_part_range_offset_mm = 0;
+
+
+
+ pdev->offset_results.max_results = VL53LX_MAX_OFFSET_RANGE_RESULTS;
+ pdev->offset_results.cal_distance_mm = cal_distance_mm;
+ pdev->offset_results.cal_reflectance_pc = cal_reflectance_pc;
+
+ for (m = 0; m < VL53LX_MAX_OFFSET_RANGE_RESULTS; m++) {
+
+ pfs = &(pdev->offset_results.VL53LX_p_003[m]);
+ pfs->preset_mode = 0;
+ pfs->no_of_samples = 0;
+ pfs->effective_spads = 0;
+ pfs->peak_rate_mcps = 0;
+ pfs->VL53LX_p_002 = 0;
+ pfs->median_range_mm = 0;
+ }
+
+
+
+
+ smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
+
+ status = VL53LX_dynamic_xtalk_correction_disable();
+
+
+
+ for (m = 0; m < pdev->offset_results.active_results; m++) {
+
+ pfs = &(pdev->offset_results.VL53LX_p_003[m]);
+
+ pfs->preset_mode = device_preset_modes[m];
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_set_preset_mode(
+ device_preset_modes[m],
+
+ pdev->offsetcal_cfg.dss_config__target_total_rate_mcps,
+ pdev->offsetcal_cfg.phasecal_config_timeout_us,
+ pdev->offsetcal_cfg.mm_config_timeout_us,
+ pdev->offsetcal_cfg.range_config_timeout_us,
+
+ 100);
+
+ pG->dss_config__manual_effective_spads_select =
+ manual_effective_spads;
+
+
+ VL53LX_load_patch();
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_init_and_start_range(
+ measurement_mode,
+ VL53LX_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS);
+
+ for (i = 0; i <= (num_of_samples[m] + 2); i++) {
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_wait_for_range_completion();
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_get_device_results(
+ VL53LX_DEVICERESULTSLEVEL_FULL,
+ prange_results);
+
+
+
+ pRData = &(prange_results->VL53LX_p_003[0]);
+
+ if ((prange_results->active_results > 0 &&
+ prange_results->stream_count > 1) &&
+ (pRData->range_status ==
+ VL53LX_DEVICEERROR_RANGECOMPLETE)) {
+
+ pfs->no_of_samples++;
+ pfs->effective_spads +=
+ (uint32_t)pRData->VL53LX_p_004;
+ pfs->peak_rate_mcps +=
+ (uint32_t)pRData->peak_signal_count_rate_mcps;
+ pfs->VL53LX_p_002 +=
+ (uint32_t)pRData->VL53LX_p_002;
+ pfs->median_range_mm +=
+ (int32_t)pRData->median_range_mm;
+
+ pfs->dss_config__roi_mode_control =
+ pG->dss_config__roi_mode_control;
+ pfs->dss_config__manual_effective_spads_select =
+ pG->dss_config__manual_effective_spads_select;
+
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_wait_for_firmware_ready();
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_clear_interrupt_and_enable_next_range(
+ measurement_mode);
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_stop_range();
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_WaitUs(Dev, 1000);
+ }
+ VL53LX_unload_patch();
+
+
+ if (pfs->no_of_samples > 0) {
+
+ pfs->effective_spads += (pfs->no_of_samples / 2);
+ pfs->effective_spads /= pfs->no_of_samples;
+
+ pfs->peak_rate_mcps += (pfs->no_of_samples / 2);
+ pfs->peak_rate_mcps /= pfs->no_of_samples;
+
+ pfs->VL53LX_p_002 += (pfs->no_of_samples / 2);
+ pfs->VL53LX_p_002 /= pfs->no_of_samples;
+
+ pfs->median_range_mm += (pfs->no_of_samples / 2);
+ pfs->median_range_mm /= pfs->no_of_samples;
+
+ pfs->range_mm_offset = (int32_t)cal_distance_mm;
+ pfs->range_mm_offset -= pfs->median_range_mm;
+
+
+ if (pfs->preset_mode ==
+ VL53LX_DEVICEPRESETMODE_STANDARD_RANGING)
+ manual_effective_spads =
+ (uint16_t)pfs->effective_spads;
+ }
+ }
+
+
+
+ switch (pdev->offset_calibration_mode) {
+
+ case VL53LX_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY:
+ case VL53LX_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY:
+
+
+ pdev->customer.mm_config__inner_offset_mm +=
+ (int16_t)pdev->offset_results.VL53LX_p_003[0].range_mm_offset;
+ pdev->customer.mm_config__outer_offset_mm +=
+ (int16_t)pdev->offset_results.VL53LX_p_003[0].range_mm_offset;
+ break;
+
+ default:
+
+ pdev->customer.mm_config__inner_offset_mm =
+ (int16_t)pdev->offset_results.VL53LX_p_003[1].range_mm_offset;
+ pdev->customer.mm_config__outer_offset_mm =
+ (int16_t)pdev->offset_results.VL53LX_p_003[2].range_mm_offset;
+ pdev->customer.algo__part_to_part_range_offset_mm = 0;
+
+
+
+ pAO->result__mm_inner_actual_effective_spads =
+ (uint16_t)pdev->offset_results.VL53LX_p_003[1].effective_spads;
+ pAO->result__mm_outer_actual_effective_spads =
+ (uint16_t)pdev->offset_results.VL53LX_p_003[2].effective_spads;
+
+ pAO->result__mm_inner_peak_signal_count_rtn_mcps =
+ (uint16_t)pdev->offset_results.VL53LX_p_003[1].peak_rate_mcps;
+ pAO->result__mm_outer_peak_signal_count_rtn_mcps =
+ (uint16_t)pdev->offset_results.VL53LX_p_003[2].peak_rate_mcps;
+
+ break;
+ }
+
+
+
+ pdev->cust_dmax_cal.ref__actual_effective_spads =
+ (uint16_t)pdev->offset_results.VL53LX_p_003[0].effective_spads;
+ pdev->cust_dmax_cal.ref__peak_signal_count_rate_mcps =
+ (uint16_t)pdev->offset_results.VL53LX_p_003[0].peak_rate_mcps;
+
+
+ pdev->cust_dmax_cal.ref__distance_mm = cal_distance_mm * 16;
+
+ pdev->cust_dmax_cal.ref_reflectance_pc = cal_reflectance_pc;
+ pdev->cust_dmax_cal.coverglass_transmission = 0x0100;
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_set_customer_nvm_managed(
+ &(pdev->customer));
+
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ if (smudge_corr_en == 1) {
+ status = VL53LX_dynamic_xtalk_correction_enable();
+ }
+ }
+
+
+
+
+ for (m = 0; m < pdev->offset_results.active_results; m++) {
+
+ pfs = &(pdev->offset_results.VL53LX_p_003[m]);
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ pdev->offset_results.cal_report = m;
+
+ if (pfs->no_of_samples < num_of_samples[m])
+ status =
+ VL53LX_WARNING_OFFSET_CAL_MISSING_SAMPLES;
+
+
+ if (m == 0 && pfs->VL53LX_p_002 >
+ ((uint32_t)VL53LX_OFFSET_CAL_MAX_SIGMA_MM << 5))
+ status =
+ VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
+
+ if (pfs->peak_rate_mcps >
+ VL53LX_OFFSET_CAL_MAX_PRE_PEAK_RATE_MCPS)
+ status =
+ VL53LX_WARNING_OFFSET_CAL_RATE_TOO_HIGH;
+
+ if (pfs->dss_config__manual_effective_spads_select <
+ VL53LX_OFFSET_CAL_MIN_EFFECTIVE_SPADS)
+ status =
+ VL53LX_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW;
+
+ if (pfs->dss_config__manual_effective_spads_select == 0)
+ status =
+ VL53LX_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL;
+
+ if (pfs->no_of_samples == 0) {
+ status = VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
+ }
+ }
+ }
+
+
+
+ pdev->offset_results.cal_status = status;
+ *pcal_status = pdev->offset_results.cal_status;
+
+
+ /*
+ IGNORE_STATUS(
+ IGNORE_OFFSET_CAL_MISSING_SAMPLES,
+ VL53LX_WARNING_OFFSET_CAL_MISSING_SAMPLES,
+ status);
+
+ IGNORE_STATUS(
+ IGNORE_OFFSET_CAL_SIGMA_TOO_HIGH,
+ VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH,
+ status);
+
+ IGNORE_STATUS(
+ IGNORE_OFFSET_CAL_RATE_TOO_HIGH,
+ VL53LX_WARNING_OFFSET_CAL_RATE_TOO_HIGH,
+ status);
+
+ IGNORE_STATUS(
+ IGNORE_OFFSET_CAL_SPAD_COUNT_TOO_LOW,
+ VL53LX_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW,
+ status);
+ */
+
+ /*
+ #ifdef VL53LX_LOG_ENABLE
+
+
+
+ VL53LX_print_customer_nvm_managed(
+ &(pdev->customer),
+ "run_offset_calibration():pdev->lldata.customer.",
+ VL53LX_TRACE_MODULE_OFFSET_DATA);
+
+ VL53LX_print_dmax_calibration_data(
+ &(pdev->fmt_dmax_cal),
+ "run_offset_calibration():pdev->lldata.fmt_dmax_cal.",
+ VL53LX_TRACE_MODULE_OFFSET_DATA);
+
+ VL53LX_print_dmax_calibration_data(
+ &(pdev->cust_dmax_cal),
+ "run_offset_calibration():pdev->lldata.cust_dmax_cal.",
+ VL53LX_TRACE_MODULE_OFFSET_DATA);
+
+ VL53LX_print_additional_offset_cal_data(
+ &(pdev->add_off_cal_data),
+ "run_offset_calibration():pdev->lldata.add_off_cal_data.",
+ VL53LX_TRACE_MODULE_OFFSET_DATA);
+
+ VL53LX_print_offset_range_results(
+ &(pdev->offset_results),
+ "run_offset_calibration():pdev->lldata.offset_results.",
+ VL53LX_TRACE_MODULE_OFFSET_DATA);
+ #endif
+ */
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_run_phasecal_average(
+ uint8_t measurement_mode,
+ uint8_t phasecal_result__vcsel_start,
+ uint16_t phasecal_num_of_samples,
+ VL53LX_range_results_t *prange_results,
+ uint16_t *pphasecal_result__reference_phase,
+ uint16_t *pzero_distance_phase)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint16_t i = 0;
+ uint16_t m = 0;
+ uint32_t samples = 0;
+
+ uint32_t period = 0;
+ uint32_t VL53LX_p_014 = 0;
+ uint32_t phasecal_result__reference_phase = 0;
+ uint32_t zero_distance_phase = 0;
+
+
+ VL53LX_load_patch();
+
+ for (m = 0; m < phasecal_num_of_samples; m++) {
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_init_and_start_range(
+ measurement_mode,
+ VL53LX_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS);
+
+ for (i = 0; i <= 1; i++) {
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_wait_for_range_completion();
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_get_device_results(
+ VL53LX_DEVICERESULTSLEVEL_FULL,
+ prange_results);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_wait_for_firmware_ready();
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_clear_interrupt_and_enable_next_range(
+ measurement_mode);
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_stop_range();
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_WaitUs(Dev, 1000);
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ samples++;
+
+
+ period = 2048 *
+ (uint32_t)VL53LX_decode_vcsel_period(
+ pdev->hist_data.VL53LX_p_005);
+
+ VL53LX_p_014 = period;
+ VL53LX_p_014 += (uint32_t)(
+ pdev->hist_data.phasecal_result__reference_phase);
+ VL53LX_p_014 +=
+ (2048 *
+ (uint32_t)phasecal_result__vcsel_start);
+ VL53LX_p_014 -= (2048 *
+ (uint32_t)pdev->hist_data.cal_config__vcsel_start);
+
+ VL53LX_p_014 = VL53LX_p_014 % period;
+
+ phasecal_result__reference_phase += (uint32_t)(
+ pdev->hist_data.phasecal_result__reference_phase);
+
+ zero_distance_phase += (uint32_t)VL53LX_p_014;
+ }
+ }
+ VL53LX_unload_patch();
+
+
+
+ if (status == VL53LX_ERROR_NONE && samples > 0) {
+
+ phasecal_result__reference_phase += (samples >> 1);
+ phasecal_result__reference_phase /= samples;
+
+ zero_distance_phase += (samples >> 1);
+ zero_distance_phase /= samples;
+
+ *pphasecal_result__reference_phase =
+ (uint16_t)phasecal_result__reference_phase;
+ *pzero_distance_phase =
+ (uint16_t)zero_distance_phase;
+ }
+
+ return status;
+}
+
+VL53LX_Error VL53LX::VL53LX_run_zone_calibration(
+ VL53LX_DevicePresetModes device_preset_mode,
+ VL53LX_DeviceZonePreset zone_preset,
+ VL53LX_zone_config_t *pzone_cfg,
+ int16_t cal_distance_mm,
+ uint16_t cal_reflectance_pc,
+ VL53LX_Error *pcal_status)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ VL53LX_LLDriverResults_t *pres =
+ VL53LXDevStructGetLLResultsHandle(Dev);
+
+ VL53LX_range_results_t *pRR =
+ (VL53LX_range_results_t *) pdev->wArea1;
+ VL53LX_range_data_t *prange_data = NULL;
+ VL53LX_zone_calibration_data_t *pzone_data = NULL;
+
+ uint16_t i = 0;
+ uint16_t m = 0;
+
+ uint8_t z = 0;
+ uint8_t measurement_mode =
+ VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+
+ VL53LX_OffsetCorrectionMode offset_cor_mode =
+ VL53LX_OFFSETCORRECTIONMODE__NONE;
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_set_preset_mode(
+ device_preset_mode,
+
+ pdev->zonecal_cfg.dss_config__target_total_rate_mcps,
+ pdev->zonecal_cfg.phasecal_config_timeout_us,
+ pdev->zonecal_cfg.mm_config_timeout_us,
+ pdev->zonecal_cfg.range_config_timeout_us,
+
+ 100);
+
+
+
+ if (zone_preset == VL53LX_DEVICEZONEPRESET_CUSTOM) {
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_set_zone_config(
+ pzone_cfg);
+
+ } else if (zone_preset != VL53LX_DEVICEZONEPRESET_NONE) {
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_set_zone_preset(
+ zone_preset);
+ }
+
+
+
+ pres->zone_cal.preset_mode = device_preset_mode;
+ pres->zone_cal.zone_preset = zone_preset;
+
+ pres->zone_cal.cal_distance_mm = cal_distance_mm * 16;
+ pres->zone_cal.cal_reflectance_pc = cal_reflectance_pc;
+ pres->zone_cal.max_zones = VL53LX_MAX_USER_ZONES;
+ pres->zone_cal.active_zones = pdev->zone_cfg.active_zones + 1;
+
+ for (i = 0; i < VL53LX_MAX_USER_ZONES; i++) {
+ pres->zone_cal.VL53LX_p_003[i].no_of_samples = 0;
+ pres->zone_cal.VL53LX_p_003[i].effective_spads = 0;
+ pres->zone_cal.VL53LX_p_003[i].peak_rate_mcps = 0;
+ pres->zone_cal.VL53LX_p_003[i].VL53LX_p_011 = 0;
+ pres->zone_cal.VL53LX_p_003[i].VL53LX_p_002 = 0;
+ pres->zone_cal.VL53LX_p_003[i].median_range_mm = 0;
+ pres->zone_cal.VL53LX_p_003[i].range_mm_offset = 0;
+ }
+
+ pres->zone_cal.phasecal_result__reference_phase = 0;
+ pres->zone_cal.zero_distance_phase = 0;
+
+
+
+ status =
+ VL53LX_get_offset_correction_mode(
+ &offset_cor_mode);
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_set_offset_correction_mode(
+ VL53LX_OFFSETCORRECTIONMODE__NONE);
+
+
+ VL53LX_load_patch();
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_init_and_start_range(
+ measurement_mode,
+ VL53LX_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS);
+
+
+
+
+ m = (pdev->zonecal_cfg.zone_num_of_samples + 2) *
+ (uint16_t)pres->zone_cal.active_zones;
+
+
+ for (i = 0; i <= m; i++) {
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_wait_for_range_completion();
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_get_device_results(
+ VL53LX_DEVICERESULTSLEVEL_FULL,
+ pRR);
+
+
+
+ prange_data = &(pRR->VL53LX_p_003[0]);
+
+ if (pRR->active_results > 0 &&
+ i > (uint16_t)pres->zone_cal.active_zones) {
+
+ if (prange_data->range_status ==
+ VL53LX_DEVICEERROR_RANGECOMPLETE) {
+
+ pres->zone_cal.phasecal_result__reference_phase
+ =
+ pdev->hist_data.phasecal_result__reference_phase
+ ;
+ pres->zone_cal.zero_distance_phase =
+ pdev->hist_data.zero_distance_phase;
+
+ pzone_data =
+ &(pres->zone_cal.VL53LX_p_003[pRR->zone_id]);
+ pzone_data->no_of_samples++;
+ pzone_data->effective_spads +=
+ (uint32_t)prange_data->VL53LX_p_004;
+ pzone_data->peak_rate_mcps += (uint32_t)(
+ prange_data->peak_signal_count_rate_mcps);
+ pzone_data->VL53LX_p_011 +=
+ (uint32_t)prange_data->VL53LX_p_011;
+ pzone_data->VL53LX_p_002 +=
+ (uint32_t)prange_data->VL53LX_p_002;
+ pzone_data->median_range_mm +=
+ (int32_t)prange_data->median_range_mm;
+
+ }
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_wait_for_firmware_ready();
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_clear_interrupt_and_enable_next_range(
+ measurement_mode);
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_stop_range();
+ }
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_WaitUs(Dev, 1000);
+ }
+ VL53LX_unload_patch();
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_run_phasecal_average(
+ measurement_mode,
+ pdev->hist_data.phasecal_result__vcsel_start,
+
+ pdev->zonecal_cfg.phasecal_num_of_samples,
+
+ pRR,
+ &(pres->zone_cal.phasecal_result__reference_phase),
+ &(pres->zone_cal.zero_distance_phase));
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_set_offset_correction_mode(
+ offset_cor_mode);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ for (z = 0; z < pres->zone_cal.active_zones; z++) {
+
+ pzone_data = &(pres->zone_cal.VL53LX_p_003[z]);
+
+
+ if (pzone_data->no_of_samples > 0) {
+
+ pzone_data->effective_spads +=
+ (pzone_data->no_of_samples / 2);
+ pzone_data->effective_spads /=
+ pzone_data->no_of_samples;
+
+ pzone_data->peak_rate_mcps +=
+ (pzone_data->no_of_samples / 2);
+ pzone_data->peak_rate_mcps /=
+ pzone_data->no_of_samples;
+
+ pzone_data->VL53LX_p_011 +=
+ (pzone_data->no_of_samples / 2);
+ pzone_data->VL53LX_p_011 /=
+ pzone_data->no_of_samples;
+
+ pzone_data->VL53LX_p_002 +=
+ (pzone_data->no_of_samples / 2);
+ pzone_data->VL53LX_p_002 /=
+ pzone_data->no_of_samples;
+
+
+
+ pzone_data->median_range_mm =
+ VL53LX_range_maths(
+ pdev->stat_nvm.osc_measured__fast_osc__frequency
+ , (uint16_t)pzone_data->VL53LX_p_011,
+ pres->zone_cal.zero_distance_phase,
+ 2,
+ 0x0800,
+ 0);
+
+ pzone_data->range_mm_offset =
+ ((int32_t)cal_distance_mm) * 4;
+ pzone_data->range_mm_offset -=
+ pzone_data->median_range_mm;
+
+
+ if (pzone_data->no_of_samples <
+ pdev->zonecal_cfg.zone_num_of_samples)
+ status =
+ VL53LX_WARNING_ZONE_CAL_MISSING_SAMPLES;
+
+
+ if (pzone_data->VL53LX_p_002 >
+ ((uint32_t)VL53LX_ZONE_CAL_MAX_SIGMA_MM
+ << 5))
+ status =
+ VL53LX_WARNING_ZONE_CAL_SIGMA_TOO_HIGH;
+
+ if (pzone_data->peak_rate_mcps >
+ VL53LX_ZONE_CAL_MAX_PRE_PEAK_RATE_MCPS)
+ status =
+ VL53LX_WARNING_ZONE_CAL_RATE_TOO_HIGH;
+
+ } else {
+ status = VL53LX_ERROR_ZONE_CAL_NO_SAMPLE_FAIL;
+ }
+ }
+ }
+
+
+
+ pres->zone_cal.cal_status = status;
+ *pcal_status = pres->zone_cal.cal_status;
+
+ /*
+
+ IGNORE_STATUS(
+ IGNORE_ZONE_CAL_MISSING_SAMPLES,
+ VL53LX_WARNING_ZONE_CAL_MISSING_SAMPLES,
+ status);
+
+ IGNORE_STATUS(
+ IGNORE_ZONE_CAL_SIGMA_TOO_HIGH,
+ VL53LX_WARNING_ZONE_CAL_SIGMA_TOO_HIGH,
+ status);
+
+ IGNORE_STATUS(
+ IGNORE_ZONE_CAL_RATE_TOO_HIGH,
+ VL53LX_WARNING_ZONE_CAL_RATE_TOO_HIGH,
+ status);
+ */
+ /*
+ #ifdef VL53LX_LOG_ENABLE
+
+
+
+ VL53LX_print_zone_calibration_results(
+ &(pres->zone_cal),
+ "run_zone_calibration():pdev->llresults.zone_cal.",
+ VL53LX_TRACE_MODULE_OFFSET_DATA);
+
+ #endif
+ */
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_run_spad_rate_map(
+ VL53LX_DeviceTestMode device_test_mode,
+ VL53LX_DeviceSscArray array_select,
+ uint32_t ssc_config_timeout_us,
+ VL53LX_spad_rate_data_t *pspad_rate_data)
+{
+
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_enable_powerforce();
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ pdev->ssc_cfg.array_select = array_select;
+ pdev->ssc_cfg.timeout_us = ssc_config_timeout_us;
+ status =
+ VL53LX_set_ssc_config(
+ &(pdev->ssc_cfg),
+ pdev->stat_nvm.osc_measured__fast_osc__frequency);
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_run_device_test(
+ device_test_mode);
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_get_spad_rate_data(
+ pspad_rate_data);
+
+ if (device_test_mode == VL53LX_DEVICETESTMODE_LCR_VCSEL_ON) {
+ pspad_rate_data->fractional_bits = 7;
+ } else {
+ pspad_rate_data->fractional_bits = 15;
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_powerforce();
+ }
+ /*
+ #ifdef VL53LX_LOG_ENABLE
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ VL53LX_print_spad_rate_data(
+ pspad_rate_data,
+ "run_spad_rate_map():",
+ VL53LX_TRACE_MODULE_SPAD_RATE_MAP);
+ VL53LX_print_spad_rate_map(
+ pspad_rate_data,
+ "run_spad_rate_map():",
+ VL53LX_TRACE_MODULE_SPAD_RATE_MAP);
+ }
+ #endif
+ */
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_run_device_test(
+ VL53LX_DeviceTestMode device_test_mode)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ uint8_t comms_buffer[2];
+ uint8_t gpio_hv_mux__ctrl = 0;
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_RdByte(
+ Dev,
+ VL53LX_GPIO_HV_MUX__CTRL,
+ &gpio_hv_mux__ctrl);
+
+ if (status == VL53LX_ERROR_NONE) {
+ pdev->stat_cfg.gpio_hv_mux__ctrl = gpio_hv_mux__ctrl;
+ }
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_start_test(
+ device_test_mode);
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_wait_for_test_completion();
+ }
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_ReadMulti(
+ Dev,
+ VL53LX_RESULT__RANGE_STATUS,
+ comms_buffer,
+ 2);
+
+ if (status == VL53LX_ERROR_NONE) {
+ pdev->sys_results.result__range_status = comms_buffer[0];
+ pdev->sys_results.result__report_status = comms_buffer[1];
+ }
+
+
+
+ pdev->sys_results.result__range_status &=
+ VL53LX_RANGE_STATUS__RANGE_STATUS_MASK;
+
+ if (status == VL53LX_ERROR_NONE) {
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_clear_interrupt();
+ }
+ }
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_start_test(0x00);
+
+
+ return status;
+}
+
+void VL53LX::VL53LX_hist_xtalk_extract_data_init(
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data)
+{
+
+
+ int32_t lb = 0;
+
+ pxtalk_data->sample_count = 0U;
+ pxtalk_data->pll_period_mm = 0U;
+ pxtalk_data->peak_duration_us_sum = 0U;
+ pxtalk_data->effective_spad_count_sum = 0U;
+ pxtalk_data->zero_distance_phase_sum = 0U;
+ pxtalk_data->zero_distance_phase_avg = 0U;
+ pxtalk_data->event_scaler_sum = 0U;
+ pxtalk_data->event_scaler_avg = 4096U;
+ pxtalk_data->signal_events_sum = 0;
+ pxtalk_data->xtalk_rate_kcps_per_spad = 0U;
+ pxtalk_data->VL53LX_p_012 = 0U;
+ pxtalk_data->VL53LX_p_013 = 0U;
+ pxtalk_data->target_start = 0U;
+
+ for (lb = 0; lb < VL53LX_XTALK_HISTO_BINS; lb++) {
+ pxtalk_data->bin_data_sums[lb] = 0;
+ }
+
+}
+
+VL53LX_Error VL53LX::VL53LX_hist_xtalk_extract_update(
+ int16_t target_distance_mm,
+ uint16_t target_width_oversize,
+ VL53LX_histogram_bin_data_t *phist_bins,
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data)
+{
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+
+ status =
+ VL53LX_hist_xtalk_extract_calc_window(
+ target_distance_mm,
+ target_width_oversize,
+ phist_bins,
+ pxtalk_data);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status =
+ VL53LX_hist_xtalk_extract_calc_event_sums(
+ phist_bins,
+ pxtalk_data);
+ }
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_hist_xtalk_extract_fini(
+ VL53LX_histogram_bin_data_t *phist_bins,
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data,
+ VL53LX_xtalk_calibration_results_t *pxtalk_cal,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_shape)
+{
+
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_xtalk_calibration_results_t *pX = pxtalk_cal;
+
+
+ if (pxtalk_data->sample_count > 0) {
+
+
+ pxtalk_data->event_scaler_avg = pxtalk_data->event_scaler_sum;
+ pxtalk_data->event_scaler_avg +=
+ (pxtalk_data->sample_count >> 1);
+ pxtalk_data->event_scaler_avg /= pxtalk_data->sample_count;
+
+
+
+ status =
+ VL53LX_hist_xtalk_extract_calc_rate_per_spad(
+ pxtalk_data);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+ pxtalk_data->zero_distance_phase_avg =
+ pxtalk_data->zero_distance_phase_sum;
+ pxtalk_data->zero_distance_phase_avg +=
+ (pxtalk_data->sample_count >> 1);
+ pxtalk_data->zero_distance_phase_avg /=
+ pxtalk_data->sample_count;
+
+
+ status =
+ VL53LX_hist_xtalk_extract_calc_shape(
+ pxtalk_data,
+ pxtalk_shape);
+
+
+
+
+ pxtalk_shape->phasecal_result__vcsel_start =
+ phist_bins->phasecal_result__vcsel_start;
+ pxtalk_shape->cal_config__vcsel_start =
+ phist_bins->cal_config__vcsel_start;
+ pxtalk_shape->vcsel_width =
+ phist_bins->vcsel_width;
+ pxtalk_shape->VL53LX_p_015 =
+ phist_bins->VL53LX_p_015;
+ }
+
+
+ if (status == VL53LX_ERROR_NONE) {
+
+
+ pX->algo__crosstalk_compensation_plane_offset_kcps =
+ pxtalk_data->xtalk_rate_kcps_per_spad;
+ pX->algo__crosstalk_compensation_x_plane_gradient_kcps
+ = 0U;
+ pX->algo__crosstalk_compensation_y_plane_gradient_kcps
+ = 0U;
+
+ }
+ }
+
+
+ return status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_run_hist_xtalk_extraction(
+ int16_t cal_distance_mm,
+ VL53LX_Error *pcal_status)
+{
+
+
+#define OVERSIZE 4
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_xtalkextract_config_t *pX = &(pdev->xtalk_extract_cfg);
+ VL53LX_xtalk_config_t *pC = &(pdev->xtalk_cfg);
+ VL53LX_xtalk_calibration_results_t *pXC = &(pdev->xtalk_cal);
+
+
+
+ uint8_t smudge_corr_en = 0;
+ uint8_t i = 0;
+ int8_t k = 0;
+ uint8_t nbloops;
+ int32_t initMergeSize = 0;
+ int32_t MergeEnabled = 0;
+ uint32_t deltaXtalk;
+ uint32_t stepXtalk;
+ uint32_t XtalkMin;
+ uint32_t XtalkMax;
+ uint8_t measurement_mode = VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+ int8_t MaxId;
+ uint8_t histo_merge_nb;
+ uint8_t wait_for_accumulation;
+ VL53LX_range_results_t *prange_results =
+ (VL53LX_range_results_t *) pdev->wArea1;
+ uint8_t Very1stRange = 0;
+
+
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_set_preset_mode(
+ VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE,
+ pX->dss_config__target_total_rate_mcps,
+ pX->phasecal_config_timeout_us,
+ pX->mm_config_timeout_us,
+ pX->range_config_timeout_us,
+ 100);
+
+
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_disable_xtalk_compensation();
+ }
+
+
+
+ smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_dynamic_xtalk_correction_disable();
+ }
+
+
+ VL53LX_load_patch();
+
+ VL53LX_get_tuning_parm(VL53LX_TUNINGPARM_HIST_MERGE_MAX_SIZE,
+ &initMergeSize);
+ VL53LX_get_tuning_parm(VL53LX_TUNINGPARM_HIST_MERGE,
+ &MergeEnabled);
+ memset(&pdev->xtalk_cal, 0, sizeof(pdev->xtalk_cal));
+
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_init_and_start_range(measurement_mode,
+ VL53LX_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS);
+
+ MaxId = pdev->tuning_parms.tp_hist_merge_max_size - 1;
+ nbloops = (MergeEnabled == 0 ? 1 : 2);
+ for (k = 0; k < nbloops; k++) {
+
+ VL53LX_hist_xtalk_extract_data_init(
+ &(pdev->xtalk_extract));
+ VL53LX_set_tuning_parm(
+ VL53LX_TUNINGPARM_HIST_MERGE_MAX_SIZE,
+ k * MaxId + 1);
+
+ for (i = 0; i <= pX->num_of_samples; i++) {
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_wait_for_range_completion();
+ }
+ if (status == VL53LX_ERROR_NONE)
+ status = VL53LX_get_device_results(
+ VL53LX_DEVICERESULTSLEVEL_FULL,
+ prange_results);
+ Very1stRange =
+ (pdev->ll_state.rd_device_state ==
+ VL53LX_DEVICESTATE_RANGING_WAIT_GPH_SYNC);
+
+ VL53LX_compute_histo_merge_nb(&histo_merge_nb);
+ wait_for_accumulation = ((k != 0) &&
+ (MergeEnabled) &&
+ (status == VL53LX_ERROR_NONE) &&
+ (histo_merge_nb <
+ pdev->tuning_parms.tp_hist_merge_max_size));
+ if (wait_for_accumulation) {
+ i = 0;
+ } else {
+ if ((status == VL53LX_ERROR_NONE) &&
+ (!Very1stRange)) {
+ status =
+ VL53LX_hist_xtalk_extract_update(
+ cal_distance_mm,
+ OVERSIZE,
+ &(pdev->hist_data),
+ &(pdev->xtalk_extract));
+ }
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_wait_for_firmware_ready();
+ }
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_clear_interrupt_and_enable_next_range(measurement_mode);
+
+
+ if (status == VL53LX_ERROR_NONE)
+ status =
+ VL53LX_hist_xtalk_extract_fini(
+ &(pdev->hist_data),
+ &(pdev->xtalk_extract),
+ &(pdev->xtalk_cal),
+ &(pdev->xtalk_shapes.xtalk_shape));
+ if (status != VL53LX_ERROR_NONE) {
+ goto LOOPOUT;
+ }
+ pXC->algo__xtalk_cpo_HistoMerge_kcps[k * MaxId] =
+ pXC->algo__crosstalk_compensation_plane_offset_kcps;
+ }
+ }
+
+LOOPOUT:
+
+ VL53LX_stop_range();
+
+ VL53LX_set_tuning_parm(VL53LX_TUNINGPARM_HIST_MERGE_MAX_SIZE,
+ initMergeSize);
+ VL53LX_unload_patch();
+
+ if (status != VL53LX_ERROR_NONE) {
+ status = VL53LX_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL;
+ } else if ((MergeEnabled == 1) && (MaxId > 0)) {
+ XtalkMin = pdev->xtalk_cal.algo__xtalk_cpo_HistoMerge_kcps[0];
+ XtalkMax =
+ pdev->xtalk_cal.algo__xtalk_cpo_HistoMerge_kcps[MaxId];
+ pdev->xtalk_cal.
+ algo__crosstalk_compensation_plane_offset_kcps = XtalkMin;
+ if (XtalkMax > XtalkMin) {
+ deltaXtalk = XtalkMax - XtalkMin;
+ stepXtalk = deltaXtalk / MaxId;
+ for (k = 1; k < MaxId; k++)
+ pdev->xtalk_cal.algo__xtalk_cpo_HistoMerge_kcps[k] =
+ XtalkMin + stepXtalk * k;
+ } else
+ status =
+ VL53LX_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL;
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pXC->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pXC->algo__crosstalk_compensation_y_plane_gradient_kcps;
+ pC->algo__crosstalk_compensation_plane_offset_kcps =
+ pXC->algo__crosstalk_compensation_plane_offset_kcps;
+ }
+
+
+ pdev->xtalk_results.cal_status = status;
+ *pcal_status = pdev->xtalk_results.cal_status;
+
+
+ status = VL53LX_enable_xtalk_compensation();
+ if (smudge_corr_en == 1) {
+ status = VL53LX_dynamic_xtalk_correction_enable();
+ }
+ /*
+ #ifdef VL53LX_LOG_ENABLE
+
+
+
+ VL53LX_print_customer_nvm_managed(
+ &(pdev->customer),
+ "run_xtalk_extraction():pdev->lldata.customer.",
+ VL53LX_TRACE_MODULE_XTALK_DATA);
+
+ VL53LX_print_xtalk_config(
+ &(pdev->xtalk_cfg),
+ "run_xtalk_extraction():pdev->lldata.xtalk_cfg.",
+ VL53LX_TRACE_MODULE_XTALK_DATA);
+
+ VL53LX_print_xtalk_histogram_data(
+ &(pdev->xtalk_shapes),
+ "pdev->lldata.xtalk_shapes.",
+ VL53LX_TRACE_MODULE_XTALK_DATA);
+
+ #endif
+ */
+
+ return status;
+}
+
+/* vl53lx_api.c */
+
+VL53LX_Error VL53LX::VL53LX_GetVersion(VL53LX_Version_t *pVersion)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+
+ pVersion->major = VL53LX_IMPLEMENTATION_VER_MAJOR;
+ pVersion->minor = VL53LX_IMPLEMENTATION_VER_MINOR;
+ pVersion->build = VL53LX_IMPLEMENTATION_VER_SUB;
+
+ pVersion->revision = VL53LX_IMPLEMENTATION_VER_REVISION;
+
+ return Status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_GetProductRevision(
+ uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ uint8_t revision_id;
+ VL53LX_LLDriverData_t *pLLData;
+
+
+ pLLData = VL53LXDevStructGetLLDriverHandle(Dev);
+ revision_id = pLLData->nvm_copy_data.identification__revision_id;
+ *pProductRevisionMajor = 1;
+ *pProductRevisionMinor = (revision_id & 0xF0) >> 4;
+
+ return Status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_GetDeviceInfo(
+ VL53LX_DeviceInfo_t *pVL53LX_DeviceInfo)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ uint8_t revision_id;
+ VL53LX_LLDriverData_t *pLLData;
+
+ pLLData = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ pVL53LX_DeviceInfo->ProductType =
+ pLLData->nvm_copy_data.identification__module_type;
+
+ revision_id = pLLData->nvm_copy_data.identification__revision_id;
+ pVL53LX_DeviceInfo->ProductRevisionMajor = 1;
+ pVL53LX_DeviceInfo->ProductRevisionMinor = (revision_id & 0xF0) >> 4;
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_GetUID(uint64_t *pUid)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ uint8_t fmtdata[8];
+
+ Status = VL53LX_read_nvm_raw_data(
+ (uint8_t)(0x1F8 >> 2),
+ (uint8_t)(8 >> 2),
+ fmtdata);
+ memcpy(pUid, fmtdata, sizeof(uint64_t));
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_SetDeviceAddress(uint8_t DeviceAddress)
+{
+
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+
+ Status = VL53LX_WrByte(Dev, VL53LX_I2C_SLAVE__DEVICE_ADDRESS,
+ DeviceAddress / 2);
+
+ if (Status == VL53LX_ERROR_NONE) {
+ Dev->I2cDevAddr = DeviceAddress;
+ }
+
+ return Status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_DataInit()
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev;
+ uint8_t measurement_mode;
+
+
+
+#ifdef USE_I2C_2V8
+ Status = VL53LX_RdByte(Dev, VL53LX_PAD_I2C_HV__EXTSUP_CONFIG, &i);
+ if (Status == VL53LX_ERROR_NONE) {
+ i = (i & 0xfe) | 0x01;
+ Status = VL53LX_WrByte(Dev, VL53LX_PAD_I2C_HV__EXTSUP_CONFIG,
+ i);
+ }
+#endif
+
+ if (Status == VL53LX_ERROR_NONE) {
+ Status = VL53LX_data_init(1);
+ }
+
+ Status = SetPresetModeL3CX(
+ VL53LX_DISTANCEMODE_LONG,
+ 1000);
+
+
+ if (Status == VL53LX_ERROR_NONE)
+ Status = VL53LX_SetMeasurementTimingBudgetMicroSeconds(
+ 33333);
+
+ if (Status == VL53LX_ERROR_NONE) {
+ Status = SetInterMeasurementPeriodMilliSeconds(1000);
+ }
+
+ if (Status == VL53LX_ERROR_NONE) {
+ pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ memset(&pdev->per_vcsel_cal_data, 0,
+ sizeof(pdev->per_vcsel_cal_data));
+ }
+
+ if (Status == VL53LX_ERROR_NONE) {
+ Status = VL53LX_set_dmax_mode(
+ VL53LX_DEVICEDMAXMODE__CUST_CAL_DATA);
+ }
+
+
+ measurement_mode = VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+ VL53LXDevDataSet(Dev, LLData.measurement_mode, measurement_mode);
+
+ VL53LXDevDataSet(Dev, CurrentParameters.DistanceMode,
+ VL53LX_DISTANCEMODE_LONG);
+
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_WaitDeviceBooted()
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+
+ Status = VL53LX_poll_for_boot_completion(
+ VL53LX_BOOT_COMPLETION_POLLING_TIMEOUT_MS);
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::ComputeDevicePresetMode(
+ VL53LX_DistanceModes DistanceMode,
+ VL53LX_DevicePresetModes *pDevicePresetMode)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+
+ uint8_t DistIdx;
+ VL53LX_DevicePresetModes RangingModes[3] = {
+ VL53LX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE,
+ VL53LX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE,
+ VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE
+ };
+
+ switch (DistanceMode) {
+ case VL53LX_DISTANCEMODE_SHORT:
+ DistIdx = 0;
+ break;
+ case VL53LX_DISTANCEMODE_MEDIUM:
+ DistIdx = 1;
+ break;
+ default:
+ DistIdx = 2;
+ }
+
+ *pDevicePresetMode = RangingModes[DistIdx];
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::SetPresetModeL3CX(
+ VL53LX_DistanceModes DistanceMode,
+ uint32_t inter_measurement_period_ms)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ VL53LX_DevicePresetModes device_preset_mode;
+ uint8_t measurement_mode;
+ uint16_t dss_config__target_total_rate_mcps;
+ uint32_t phasecal_config_timeout_us;
+ uint32_t mm_config_timeout_us;
+ uint32_t lld_range_config_timeout_us;
+
+
+ measurement_mode = VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
+
+ Status = ComputeDevicePresetMode(DistanceMode,
+ &device_preset_mode);
+
+ if (Status == VL53LX_ERROR_NONE)
+ Status = VL53LX_get_preset_mode_timing_cfg(
+ device_preset_mode,
+ &dss_config__target_total_rate_mcps,
+ &phasecal_config_timeout_us,
+ &mm_config_timeout_us,
+ &lld_range_config_timeout_us);
+
+ if (Status == VL53LX_ERROR_NONE)
+ Status = VL53LX_set_preset_mode(
+ device_preset_mode,
+ dss_config__target_total_rate_mcps,
+ phasecal_config_timeout_us,
+ mm_config_timeout_us,
+ lld_range_config_timeout_us,
+ inter_measurement_period_ms);
+
+ if (Status == VL53LX_ERROR_NONE)
+ VL53LXDevDataSet(Dev, LLData.measurement_mode,
+ measurement_mode);
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_SetDistanceMode(
+ VL53LX_DistanceModes DistanceMode)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ uint32_t inter_measurement_period_ms;
+ uint32_t TimingBudget;
+ uint32_t MmTimeoutUs;
+ uint32_t PhaseCalTimeoutUs;
+
+ if ((DistanceMode != VL53LX_DISTANCEMODE_SHORT) &&
+ (DistanceMode != VL53LX_DISTANCEMODE_MEDIUM) &&
+ (DistanceMode != VL53LX_DISTANCEMODE_LONG)) {
+ return VL53LX_ERROR_INVALID_PARAMS;
+ }
+
+ inter_measurement_period_ms = VL53LXDevDataGet(Dev,
+ LLData.inter_measurement_period_ms);
+
+ if (Status == VL53LX_ERROR_NONE)
+ Status = VL53LX_get_timeouts_us(&PhaseCalTimeoutUs,
+ &MmTimeoutUs, &TimingBudget);
+
+ if (Status == VL53LX_ERROR_NONE)
+ Status = SetPresetModeL3CX(
+ DistanceMode,
+ inter_measurement_period_ms);
+
+ if (Status == VL53LX_ERROR_NONE) {
+ VL53LXDevDataSet(Dev, CurrentParameters.DistanceMode,
+ DistanceMode);
+ }
+
+ if (Status == VL53LX_ERROR_NONE) {
+ Status = VL53LX_set_timeouts_us(PhaseCalTimeoutUs,
+ MmTimeoutUs, TimingBudget);
+
+ if (Status == VL53LX_ERROR_NONE)
+ VL53LXDevDataSet(Dev, LLData.range_config_timeout_us,
+ TimingBudget);
+ }
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_GetDistanceMode(
+ VL53LX_DistanceModes *pDistanceMode)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+
+
+ *pDistanceMode = VL53LXDevDataGet(Dev, CurrentParameters.DistanceMode);
+
+ return Status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_SetMeasurementTimingBudgetMicroSeconds(
+ uint32_t MeasurementTimingBudgetMicroSeconds)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ uint32_t TimingGuard;
+ uint32_t divisor;
+ uint32_t TimingBudget;
+ uint32_t MmTimeoutUs;
+ uint32_t PhaseCalTimeoutUs;
+ uint32_t FDAMaxTimingBudgetUs = FDA_MAX_TIMING_BUDGET_US;
+
+ if (MeasurementTimingBudgetMicroSeconds > 10000000) {
+ Status = VL53LX_ERROR_INVALID_PARAMS;
+ }
+
+ if (Status == VL53LX_ERROR_NONE)
+ Status = VL53LX_get_timeouts_us(
+ &PhaseCalTimeoutUs,
+ &MmTimeoutUs,
+ &TimingBudget);
+
+ TimingGuard = 1700;
+ divisor = 6;
+
+ if (MeasurementTimingBudgetMicroSeconds <= TimingGuard) {
+ Status = VL53LX_ERROR_INVALID_PARAMS;
+ } else {
+ TimingBudget = (MeasurementTimingBudgetMicroSeconds
+ - TimingGuard);
+ }
+
+ if (Status == VL53LX_ERROR_NONE) {
+ if (TimingBudget > FDAMaxTimingBudgetUs) {
+ Status = VL53LX_ERROR_INVALID_PARAMS;
+ } else {
+ TimingBudget /= divisor;
+ Status = VL53LX_set_timeouts_us(
+ PhaseCalTimeoutUs,
+ MmTimeoutUs,
+ TimingBudget);
+ }
+
+ if (Status == VL53LX_ERROR_NONE)
+ VL53LXDevDataSet(Dev,
+ LLData.range_config_timeout_us,
+ TimingBudget);
+ }
+
+ if (Status == VL53LX_ERROR_NONE) {
+ VL53LXDevDataSet(Dev,
+ CurrentParameters.MeasurementTimingBudgetMicroSeconds,
+ MeasurementTimingBudgetMicroSeconds);
+ }
+
+ return Status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_GetMeasurementTimingBudgetMicroSeconds(
+ uint32_t *pMeasurementTimingBudgetMicroSeconds)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ uint32_t MmTimeoutUs = 0;
+ uint32_t RangeTimeoutUs = 0;
+ uint32_t PhaseCalTimeoutUs = 0;
+
+ *pMeasurementTimingBudgetMicroSeconds = 0;
+
+ if (Status == VL53LX_ERROR_NONE)
+ Status = VL53LX_get_timeouts_us(
+ &PhaseCalTimeoutUs,
+ &MmTimeoutUs,
+ &RangeTimeoutUs);
+
+ if (Status == VL53LX_ERROR_NONE)
+ *pMeasurementTimingBudgetMicroSeconds = (6 * RangeTimeoutUs) +
+ 1700;
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::SetInterMeasurementPeriodMilliSeconds(
+ uint32_t InterMeasurementPeriodMilliSeconds)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ uint32_t adjustedIMP;
+
+ adjustedIMP = InterMeasurementPeriodMilliSeconds;
+ adjustedIMP += (adjustedIMP * 64) / 1000;
+
+ Status = VL53LX_set_inter_measurement_period_ms(
+ adjustedIMP);
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::GetInterMeasurementPeriodMilliSeconds(
+ uint32_t *pInterMeasurementPeriodMilliSeconds)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ uint32_t adjustedIMP;
+
+
+ Status = VL53LX_get_inter_measurement_period_ms(&adjustedIMP);
+
+ adjustedIMP -= (adjustedIMP * 64) / 1000;
+ *pInterMeasurementPeriodMilliSeconds = adjustedIMP;
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_StartMeasurement()
+{
+#define TIMED_MODE_TIMING_GUARD_MILLISECONDS 4
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ uint8_t DeviceMeasurementMode;
+ VL53LX_Error lStatus;
+ uint32_t MTBus, IMPms;
+
+
+ VL53LX_load_patch();
+
+ DeviceMeasurementMode = VL53LXDevDataGet(Dev, LLData.measurement_mode);
+
+
+ if ((Status == VL53LX_ERROR_NONE) &&
+ (DeviceMeasurementMode == VL53LX_DEVICEMEASUREMENTMODE_TIMED)) {
+ lStatus = VL53LX_GetMeasurementTimingBudgetMicroSeconds(
+ &MTBus);
+
+ MTBus /= 1000;
+ lStatus = GetInterMeasurementPeriodMilliSeconds(
+ &IMPms);
+
+ SUPPRESS_UNUSED_WARNING(lStatus);
+ if (IMPms < MTBus + TIMED_MODE_TIMING_GUARD_MILLISECONDS) {
+ Status = VL53LX_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ if (Status == VL53LX_ERROR_NONE)
+ Status = VL53LX_init_and_start_range(
+ DeviceMeasurementMode,
+ VL53LX_DEVICECONFIGLEVEL_FULL);
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_StopMeasurement()
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+
+ Status = VL53LX_stop_range();
+
+ VL53LX_unload_patch();
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_ClearInterruptAndStartMeasurement()
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ uint8_t DeviceMeasurementMode;
+
+ DeviceMeasurementMode = VL53LXDevDataGet(Dev, LLData.measurement_mode);
+
+ Status = VL53LX_clear_interrupt_and_enable_next_range(
+ DeviceMeasurementMode);
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_GetMeasurementDataReady(uint8_t *pMeasurementDataReady)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+
+ Status = VL53LX_is_new_data_ready(pMeasurementDataReady);
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_WaitMeasurementDataReady()
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+
+ Status = VL53LX_poll_for_range_completion(
+ VL53LX_RANGE_COMPLETION_POLLING_TIMEOUT_MS);
+
+ return Status;
+}
+
+uint8_t VL53LX::ConvertStatusHisto(uint8_t FilteredRangeStatus)
+{
+ uint8_t RangeStatus;
+
+ switch (FilteredRangeStatus) {
+ case VL53LX_DEVICEERROR_RANGEPHASECHECK:
+ RangeStatus = VL53LX_RANGESTATUS_OUTOFBOUNDS_FAIL;
+ break;
+ case VL53LX_DEVICEERROR_SIGMATHRESHOLDCHECK:
+ RangeStatus = VL53LX_RANGESTATUS_SIGMA_FAIL;
+ break;
+ case VL53LX_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK:
+ RangeStatus =
+ VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL;
+ break;
+ case VL53LX_DEVICEERROR_PHASECONSISTENCY:
+ RangeStatus = VL53LX_RANGESTATUS_WRAP_TARGET_FAIL;
+ break;
+ case VL53LX_DEVICEERROR_PREV_RANGE_NO_TARGETS:
+ RangeStatus = VL53LX_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL;
+ break;
+ case VL53LX_DEVICEERROR_EVENTCONSISTENCY:
+ RangeStatus = VL53LX_RANGESTATUS_WRAP_TARGET_FAIL;
+ break;
+ case VL53LX_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE:
+ RangeStatus = VL53LX_RANGESTATUS_RANGE_VALID_MERGED_PULSE;
+ break;
+ case VL53LX_DEVICEERROR_RANGECOMPLETE:
+ RangeStatus = VL53LX_RANGESTATUS_RANGE_VALID;
+ break;
+ default:
+ RangeStatus = VL53LX_RANGESTATUS_NONE;
+ }
+
+ return RangeStatus;
+}
+
+VL53LX_Error VL53LX::SetTargetData(
+ uint8_t active_results, uint8_t device_status,
+ VL53LX_range_data_t *presults_data,
+ VL53LX_TargetRangeData_t *pRangeData)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ uint8_t FilteredRangeStatus;
+ FixPoint1616_t AmbientRate;
+ FixPoint1616_t SignalRate;
+ FixPoint1616_t TempFix1616;
+ int16_t Range;
+
+ SUPPRESS_UNUSED_WARNING(Dev);
+
+ FilteredRangeStatus = presults_data->range_status & 0x1F;
+
+ SignalRate = VL53LX_FIXPOINT97TOFIXPOINT1616(
+ presults_data->peak_signal_count_rate_mcps);
+ pRangeData->SignalRateRtnMegaCps
+ = SignalRate;
+
+ AmbientRate = VL53LX_FIXPOINT97TOFIXPOINT1616(
+ presults_data->ambient_count_rate_mcps);
+ pRangeData->AmbientRateRtnMegaCps = AmbientRate;
+
+ TempFix1616 = VL53LX_FIXPOINT97TOFIXPOINT1616(
+ presults_data->VL53LX_p_002);
+
+ pRangeData->SigmaMilliMeter = TempFix1616;
+
+ pRangeData->RangeMilliMeter = presults_data->median_range_mm;
+ pRangeData->RangeMaxMilliMeter = presults_data->max_range_mm;
+ pRangeData->RangeMinMilliMeter = presults_data->min_range_mm;
+
+
+ switch (device_status) {
+ case VL53LX_DEVICEERROR_MULTCLIPFAIL:
+ case VL53LX_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
+ case VL53LX_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
+ case VL53LX_DEVICEERROR_NOVHVVALUEFOUND:
+ pRangeData->RangeStatus = VL53LX_RANGESTATUS_HARDWARE_FAIL;
+ break;
+ case VL53LX_DEVICEERROR_USERROICLIP:
+ pRangeData->RangeStatus = VL53LX_RANGESTATUS_MIN_RANGE_FAIL;
+ break;
+ default:
+ pRangeData->RangeStatus = VL53LX_RANGESTATUS_RANGE_VALID;
+ }
+
+
+ if ((pRangeData->RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID) &&
+ (active_results == 0)) {
+ pRangeData->RangeStatus = VL53LX_RANGESTATUS_NONE;
+ pRangeData->SignalRateRtnMegaCps = 0;
+ pRangeData->SigmaMilliMeter = 0;
+ pRangeData->RangeMilliMeter = 8191;
+ pRangeData->RangeMaxMilliMeter = 8191;
+ pRangeData->RangeMinMilliMeter = 8191;
+ }
+
+
+ if (pRangeData->RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID)
+ pRangeData->RangeStatus =
+ ConvertStatusHisto(FilteredRangeStatus);
+
+ Range = pRangeData->RangeMilliMeter;
+ if ((pRangeData->RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID) &&
+ (Range < 0)) {
+ if (Range < BDTable[VL53LX_TUNING_PROXY_MIN])
+ pRangeData->RangeStatus =
+ VL53LX_RANGESTATUS_RANGE_INVALID;
+ else {
+ pRangeData->RangeMilliMeter = 0;
+ }
+ }
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::SetMeasurementData(
+ VL53LX_range_results_t *presults,
+ VL53LX_MultiRangingData_t *pMultiRangingData)
+{
+ uint8_t i;
+ uint8_t iteration;
+ VL53LX_TargetRangeData_t *pRangeData;
+ VL53LX_range_data_t *presults_data;
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ uint8_t ActiveResults;
+
+ pMultiRangingData->NumberOfObjectsFound = presults->active_results;
+ pMultiRangingData->HasXtalkValueChanged =
+ presults->smudge_corrector_data.new_xtalk_applied_flag;
+
+
+ pMultiRangingData->TimeStamp = 0;
+
+ pMultiRangingData->StreamCount = presults->stream_count;
+
+ ActiveResults = presults->active_results;
+ if (ActiveResults < 1)
+
+ {
+ iteration = 1;
+ } else {
+ iteration = ActiveResults;
+ }
+ for (i = 0; i < iteration; i++) {
+ pRangeData = &(pMultiRangingData->RangeData[i]);
+
+ presults_data = &(presults->VL53LX_p_003[i]);
+ if (Status == VL53LX_ERROR_NONE)
+ Status = SetTargetData(ActiveResults,
+ presults->device_status,
+ presults_data,
+ pRangeData);
+
+ pMultiRangingData->EffectiveSpadRtnCount =
+ presults_data->VL53LX_p_004;
+
+ }
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_GetMultiRangingData(
+ VL53LX_MultiRangingData_t *pMultiRangingData)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ VL53LX_LLDriverData_t *pdev =
+ VL53LXDevStructGetLLDriverHandle(Dev);
+ VL53LX_range_results_t *presults =
+ (VL53LX_range_results_t *) pdev->wArea1;
+
+ memset(pMultiRangingData, 0xFF,
+ sizeof(VL53LX_MultiRangingData_t));
+
+
+ Status = VL53LX_get_device_results(
+ VL53LX_DEVICERESULTSLEVEL_FULL,
+ presults);
+
+ Status = SetMeasurementData(
+ presults,
+ pMultiRangingData);
+
+ return Status;
+}
+/*
+VL53LX_Error VL53LX::VL53LX_GetAdditionalData()
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+
+
+ return Status;
+}
+*/
+VL53LX_Error VL53LX::VL53LX_SetTuningParameter(
+ uint16_t TuningParameterId, int32_t TuningParameterValue)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+
+ if (TuningParameterId ==
+ VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS) {
+ return VL53LX_ERROR_INVALID_PARAMS;
+ }
+
+ if (TuningParameterId >= 32768)
+ Status = VL53LX_set_tuning_parm(
+ TuningParameterId,
+ TuningParameterValue);
+ else {
+ if (TuningParameterId < VL53LX_TUNING_MAX_TUNABLE_KEY) {
+ BDTable[TuningParameterId] = TuningParameterValue;
+ } else {
+ Status = VL53LX_ERROR_INVALID_PARAMS;
+ }
+ }
+
+ return Status;
+}
+VL53LX_Error VL53LX::VL53LX_GetTuningParameter(
+ uint16_t TuningParameterId, int32_t *pTuningParameterValue)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+
+
+ if (TuningParameterId >= 32768)
+ Status = VL53LX_get_tuning_parm(
+ TuningParameterId,
+ pTuningParameterValue);
+ else {
+ if (TuningParameterId < VL53LX_TUNING_MAX_TUNABLE_KEY) {
+ *pTuningParameterValue = BDTable[TuningParameterId];
+ } else {
+ Status = VL53LX_ERROR_INVALID_PARAMS;
+ }
+ }
+
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_PerformRefSpadManagement()
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ VL53LX_Error RawStatus;
+ uint8_t dcrbuffer[24];
+ uint8_t *commbuf;
+ uint8_t numloc[2] = {5, 3};
+ VL53LX_LLDriverData_t *pdev;
+ VL53LX_customer_nvm_managed_t *pc;
+ VL53LX_DistanceModes DistanceMode;
+
+ pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ pc = &pdev->customer;
+
+ if (Status == VL53LX_ERROR_NONE) {
+ DistanceMode = VL53LXDevDataGet(Dev,
+ CurrentParameters.DistanceMode);
+ Status = VL53LX_run_ref_spad_char(&RawStatus);
+
+ if (Status == VL53LX_ERROR_NONE) {
+ Status = VL53LX_SetDistanceMode(DistanceMode);
+ }
+ }
+
+ if (Status == VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH) {
+
+ Status = VL53LX_read_nvm_raw_data(
+ (uint8_t)(0xA0 >> 2),
+ (uint8_t)(24 >> 2),
+ dcrbuffer);
+
+ if (Status == VL53LX_ERROR_NONE)
+ Status = VL53LX_WriteMulti(Dev,
+ VL53LX_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS,
+ numloc, 2);
+
+ if (Status == VL53LX_ERROR_NONE) {
+ pc->ref_spad_man__num_requested_ref_spads = numloc[0];
+ pc->ref_spad_man__ref_location = numloc[1];
+ }
+
+ if (Status == VL53LX_ERROR_NONE) {
+ commbuf = &dcrbuffer[16];
+ }
+
+
+
+ if (Status == VL53LX_ERROR_NONE)
+ Status = VL53LX_WriteMulti(Dev,
+ VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_0,
+ commbuf, 6);
+
+ if (Status == VL53LX_ERROR_NONE) {
+ pc->global_config__spad_enables_ref_0 = commbuf[0];
+ pc->global_config__spad_enables_ref_1 = commbuf[1];
+ pc->global_config__spad_enables_ref_2 = commbuf[2];
+ pc->global_config__spad_enables_ref_3 = commbuf[3];
+ pc->global_config__spad_enables_ref_4 = commbuf[4];
+ pc->global_config__spad_enables_ref_5 = commbuf[5];
+ }
+
+ }
+
+ return Status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_SmudgeCorrectionEnable(
+ VL53LX_SmudgeCorrectionModes Mode)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ VL53LX_Error s1 = VL53LX_ERROR_NONE;
+ VL53LX_Error s2 = VL53LX_ERROR_NONE;
+ VL53LX_Error s3 = VL53LX_ERROR_NONE;
+
+ switch (Mode) {
+ case VL53LX_SMUDGE_CORRECTION_NONE:
+ s1 = VL53LX_dynamic_xtalk_correction_disable();
+ s2 = VL53LX_dynamic_xtalk_correction_apply_disable();
+ s3 = VL53LX_dynamic_xtalk_correction_single_apply_disable();
+ break;
+ case VL53LX_SMUDGE_CORRECTION_CONTINUOUS:
+ s1 = VL53LX_dynamic_xtalk_correction_enable();
+ s2 = VL53LX_dynamic_xtalk_correction_apply_enable();
+ s3 = VL53LX_dynamic_xtalk_correction_single_apply_disable();
+ break;
+ case VL53LX_SMUDGE_CORRECTION_SINGLE:
+ s1 = VL53LX_dynamic_xtalk_correction_enable();
+ s2 = VL53LX_dynamic_xtalk_correction_apply_enable();
+ s3 = VL53LX_dynamic_xtalk_correction_single_apply_enable();
+ break;
+ case VL53LX_SMUDGE_CORRECTION_DEBUG:
+ s1 = VL53LX_dynamic_xtalk_correction_enable();
+ s2 = VL53LX_dynamic_xtalk_correction_apply_disable();
+ s3 = VL53LX_dynamic_xtalk_correction_single_apply_disable();
+ break;
+ default:
+ Status = VL53LX_ERROR_INVALID_PARAMS;
+ break;
+ }
+
+ if (Status == VL53LX_ERROR_NONE) {
+ Status = s1;
+ if (Status == VL53LX_ERROR_NONE) {
+ Status = s2;
+ }
+ if (Status == VL53LX_ERROR_NONE) {
+ Status = s3;
+ }
+ }
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_SetXTalkCompensationEnable(
+ uint8_t XTalkCompensationEnable)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+
+ if (XTalkCompensationEnable == 0) {
+ Status = VL53LX_disable_xtalk_compensation();
+ } else {
+ Status = VL53LX_enable_xtalk_compensation();
+ }
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_GetXTalkCompensationEnable(
+ uint8_t *pXTalkCompensationEnable)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+
+ VL53LX_get_xtalk_compensation_enable(
+ pXTalkCompensationEnable);
+
+ return Status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_PerformXTalkCalibration()
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ VL53LX_Error UStatus;
+ int16_t CalDistanceMm;
+ VL53LX_xtalk_calibration_results_t xtalk;
+
+ VL53LX_CalibrationData_t caldata;
+ VL53LX_LLDriverData_t *pLLData;
+ int i;
+ uint32_t *pPlaneOffsetKcps;
+ uint32_t Margin =
+ BDTable[VL53LX_TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN];
+ uint32_t DefaultOffset =
+ BDTable[VL53LX_TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET];
+ uint32_t *pLLDataPlaneOffsetKcps;
+ uint32_t sum = 0;
+ uint8_t binok = 0;
+
+ pPlaneOffsetKcps =
+ &caldata.customer.algo__crosstalk_compensation_plane_offset_kcps;
+ pLLData = VL53LXDevStructGetLLDriverHandle(Dev);
+ pLLDataPlaneOffsetKcps =
+ &pLLData->xtalk_cal.algo__crosstalk_compensation_plane_offset_kcps;
+
+ CalDistanceMm = (int16_t)
+ BDTable[VL53LX_TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM];
+ Status = VL53LX_run_hist_xtalk_extraction(CalDistanceMm,
+ &UStatus);
+
+
+ VL53LX_GetCalibrationData(&caldata);
+ for (i = 0; i < VL53LX_XTALK_HISTO_BINS; i++) {
+ sum += caldata.xtalkhisto.xtalk_shape.bin_data[i];
+ if (caldata.xtalkhisto.xtalk_shape.bin_data[i] > 0) {
+ binok++;
+ }
+ }
+
+ if ((UStatus ==
+ VL53LX_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL) ||
+ (sum > (1024 + Margin)) || (sum < (1024 - Margin)) ||
+ (binok < 3)) {
+ *pPlaneOffsetKcps = DefaultOffset;
+ *pLLDataPlaneOffsetKcps = DefaultOffset;
+ caldata.xtalkhisto.xtalk_shape.bin_data[0] = 307;
+ caldata.xtalkhisto.xtalk_shape.bin_data[1] = 410;
+ caldata.xtalkhisto.xtalk_shape.bin_data[2] = 410;
+ caldata.xtalkhisto.xtalk_shape.bin_data[3] = 307;
+ for (i = 4; i < VL53LX_XTALK_HISTO_BINS; i++) {
+ caldata.xtalkhisto.xtalk_shape.bin_data[i] = 0;
+ }
+ for (i = 0; i < VL53LX_BIN_REC_SIZE; i++)
+ caldata.algo__xtalk_cpo_HistoMerge_kcps[i] =
+ DefaultOffset + DefaultOffset * i;
+ VL53LX_SetCalibrationData(&caldata);
+ }
+
+ if (Status == VL53LX_ERROR_NONE) {
+ Status = VL53LX_get_current_xtalk_settings(&xtalk);
+ Status = VL53LX_set_tuning_parm(
+ VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS,
+ xtalk.algo__crosstalk_compensation_plane_offset_kcps);
+ }
+
+ return Status;
+}
+VL53LX_Error VL53LX::VL53LX_SetOffsetCorrectionMode(
+ VL53LX_OffsetCorrectionModes OffsetCorrectionMode)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ VL53LX_OffsetCorrectionMode offset_cor_mode;
+
+ if (OffsetCorrectionMode == VL53LX_OFFSETCORRECTIONMODE_STANDARD) {
+ offset_cor_mode =
+ VL53LX_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS;
+ } else if (OffsetCorrectionMode ==
+ VL53LX_OFFSETCORRECTIONMODE_PERVCSEL) {
+ offset_cor_mode =
+ VL53LX_OFFSETCORRECTIONMODE__PER_VCSEL_OFFSETS;
+ } else {
+ Status = VL53LX_ERROR_INVALID_PARAMS;
+ }
+
+ if (Status == VL53LX_ERROR_NONE)
+ Status = VL53LX_set_offset_correction_mode(
+ offset_cor_mode);
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_PerformOffsetSimpleCalibration(
+ int32_t CalDistanceMilliMeter)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ int32_t sum_ranging;
+ uint8_t offset_meas;
+ int16_t Max, UnderMax, OverMax, Repeat;
+ int32_t total_count, inloopcount;
+ int32_t IncRounding;
+ int16_t meanDistance_mm;
+ int16_t offset;
+ VL53LX_MultiRangingData_t RangingMeasurementData;
+ VL53LX_LLDriverData_t *pdev;
+ uint8_t goodmeas;
+ VL53LX_Error SmudgeStatus = VL53LX_ERROR_NONE;
+ uint8_t smudge_corr_en;
+ VL53LX_TargetRangeData_t *pRange;
+
+ pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
+ SmudgeStatus = VL53LX_dynamic_xtalk_correction_disable();
+
+ pdev->customer.algo__part_to_part_range_offset_mm = 0;
+ pdev->customer.mm_config__inner_offset_mm = 0;
+ pdev->customer.mm_config__outer_offset_mm = 0;
+ memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
+ Repeat = BDTable[VL53LX_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT];
+ Max = BDTable[
+ VL53LX_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
+ UnderMax = 1 + (Max / 2);
+ OverMax = Max + (Max / 2);
+ sum_ranging = 0;
+ total_count = 0;
+
+ while ((Repeat > 0) && (Status == VL53LX_ERROR_NONE)) {
+ Status = VL53LX_StartMeasurement();
+
+ if (Status == VL53LX_ERROR_NONE) {
+ VL53LX_WaitMeasurementDataReady();
+ VL53LX_GetMultiRangingData(
+ &RangingMeasurementData);
+ VL53LX_ClearInterruptAndStartMeasurement();
+ }
+
+ inloopcount = 0;
+ offset_meas = 0;
+ while ((Status == VL53LX_ERROR_NONE) && (inloopcount < Max) &&
+ (offset_meas < OverMax)) {
+ Status = VL53LX_WaitMeasurementDataReady();
+ if (Status == VL53LX_ERROR_NONE)
+ Status = VL53LX_GetMultiRangingData(
+ &RangingMeasurementData);
+ pRange = &(RangingMeasurementData.RangeData[0]);
+ goodmeas = (pRange->RangeStatus ==
+ VL53LX_RANGESTATUS_RANGE_VALID);
+ if ((Status == VL53LX_ERROR_NONE) && goodmeas) {
+ sum_ranging += pRange->RangeMilliMeter;
+ inloopcount++;
+ }
+ Status = VL53LX_ClearInterruptAndStartMeasurement();
+ offset_meas++;
+ }
+ total_count += inloopcount;
+
+
+ if (inloopcount < UnderMax) {
+ Status = VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
+ }
+
+ VL53LX_StopMeasurement();
+
+ Repeat--;
+
+ }
+
+ if ((SmudgeStatus == VL53LX_ERROR_NONE) && (smudge_corr_en == 1)) {
+ SmudgeStatus = VL53LX_dynamic_xtalk_correction_enable();
+ }
+
+ if ((sum_ranging < 0) ||
+ (sum_ranging > ((int32_t) total_count * 0xffff))) {
+ Status = VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
+ }
+
+ if ((Status == VL53LX_ERROR_NONE) && (total_count > 0)) {
+ IncRounding = total_count / 2;
+ meanDistance_mm = (int16_t)((sum_ranging + IncRounding)
+ / total_count);
+ offset = (int16_t)CalDistanceMilliMeter - meanDistance_mm;
+ pdev->customer.algo__part_to_part_range_offset_mm = 0;
+ pdev->customer.mm_config__inner_offset_mm = offset;
+ pdev->customer.mm_config__outer_offset_mm = offset;
+
+ Status = VL53LX_set_customer_nvm_managed(
+ &(pdev->customer));
+ }
+
+ return Status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_PerformOffsetZeroDistanceCalibration()
+{
+#define START_OFFSET 50
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ int32_t sum_ranging;
+ uint8_t offset_meas;
+ int16_t Max, UnderMax, OverMax, Repeat;
+ int32_t total_count, inloopcount;
+ int32_t IncRounding;
+ int16_t meanDistance_mm;
+ int16_t offset, ZeroDistanceOffset;
+ VL53LX_MultiRangingData_t RangingMeasurementData;
+ VL53LX_LLDriverData_t *pdev;
+ uint8_t goodmeas;
+ VL53LX_Error SmudgeStatus = VL53LX_ERROR_NONE;
+ uint8_t smudge_corr_en;
+ VL53LX_TargetRangeData_t *pRange;
+
+ pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+ smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
+ SmudgeStatus = VL53LX_dynamic_xtalk_correction_disable();
+ pdev->customer.algo__part_to_part_range_offset_mm = 0;
+ pdev->customer.mm_config__inner_offset_mm = START_OFFSET;
+ pdev->customer.mm_config__outer_offset_mm = START_OFFSET;
+ memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
+ ZeroDistanceOffset = BDTable[
+ VL53LX_TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR];
+ Repeat = BDTable[VL53LX_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT];
+ Max =
+ BDTable[VL53LX_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
+ UnderMax = 1 + (Max / 2);
+ OverMax = Max + (Max / 2);
+ sum_ranging = 0;
+ total_count = 0;
+
+ while ((Repeat > 0) && (Status == VL53LX_ERROR_NONE)) {
+ Status = VL53LX_StartMeasurement();
+ if (Status == VL53LX_ERROR_NONE) {
+ VL53LX_WaitMeasurementDataReady();
+ VL53LX_GetMultiRangingData(
+ &RangingMeasurementData);
+ VL53LX_ClearInterruptAndStartMeasurement();
+ }
+ inloopcount = 0;
+ offset_meas = 0;
+ while ((Status == VL53LX_ERROR_NONE) && (inloopcount < Max) &&
+ (offset_meas < OverMax)) {
+ Status = VL53LX_WaitMeasurementDataReady();
+ if (Status == VL53LX_ERROR_NONE)
+ Status = VL53LX_GetMultiRangingData(
+ &RangingMeasurementData);
+ pRange = &(RangingMeasurementData.RangeData[0]);
+ goodmeas = (pRange->RangeStatus ==
+ VL53LX_RANGESTATUS_RANGE_VALID);
+ if ((Status == VL53LX_ERROR_NONE) && goodmeas) {
+ sum_ranging = sum_ranging +
+ pRange->RangeMilliMeter;
+ inloopcount++;
+ }
+ Status = VL53LX_ClearInterruptAndStartMeasurement();
+ offset_meas++;
+ }
+ total_count += inloopcount;
+ if (inloopcount < UnderMax) {
+ Status = VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
+ }
+ VL53LX_StopMeasurement();
+ Repeat--;
+ }
+ if ((SmudgeStatus == VL53LX_ERROR_NONE) && (smudge_corr_en == 1)) {
+ SmudgeStatus = VL53LX_dynamic_xtalk_correction_enable();
+ }
+ if ((sum_ranging < 0) ||
+ (sum_ranging > ((int32_t) total_count * 0xffff))) {
+ Status = VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
+ }
+
+ if ((Status == VL53LX_ERROR_NONE) && (total_count > 0)) {
+ IncRounding = total_count / 2;
+ meanDistance_mm = (int16_t)
+ ((sum_ranging + IncRounding) / total_count);
+ offset = START_OFFSET - meanDistance_mm + ZeroDistanceOffset;
+ pdev->customer.algo__part_to_part_range_offset_mm = 0;
+ pdev->customer.mm_config__inner_offset_mm = offset;
+ pdev->customer.mm_config__outer_offset_mm = offset;
+ Status = VL53LX_set_customer_nvm_managed(
+ &(pdev->customer));
+ }
+
+ return Status;
+}
+
+VL53LX_Error VL53LX::VL53LX_SetCalibrationData(
+ VL53LX_CalibrationData_t *pCalibrationData)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ VL53LX_CustomerNvmManaged_t *pC;
+ VL53LX_calibration_data_t cal_data;
+ uint32_t x;
+ VL53LX_xtalk_calibration_results_t xtalk;
+
+ cal_data.struct_version = pCalibrationData->struct_version -
+ VL53LX_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION;
+
+
+ memcpy(
+ &(cal_data.add_off_cal_data),
+ &(pCalibrationData->add_off_cal_data),
+ sizeof(VL53LX_additional_offset_cal_data_t));
+
+
+ memcpy(
+ &(cal_data.optical_centre),
+ &(pCalibrationData->optical_centre),
+ sizeof(VL53LX_optical_centre_t));
+
+
+ memcpy(
+ &(cal_data.xtalkhisto),
+ &(pCalibrationData->xtalkhisto),
+ sizeof(VL53LX_xtalk_histogram_data_t));
+
+
+ memcpy(
+ &(cal_data.gain_cal),
+ &(pCalibrationData->gain_cal),
+ sizeof(VL53LX_gain_calibration_data_t));
+
+
+ memcpy(
+ &(cal_data.cal_peak_rate_map),
+ &(pCalibrationData->cal_peak_rate_map),
+ sizeof(VL53LX_cal_peak_rate_map_t));
+
+
+ memcpy(
+ &(cal_data.per_vcsel_cal_data),
+ &(pCalibrationData->per_vcsel_cal_data),
+ sizeof(VL53LX_per_vcsel_period_offset_cal_data_t));
+
+ pC = &pCalibrationData->customer;
+ x = pC->algo__crosstalk_compensation_plane_offset_kcps;
+ cal_data.customer.algo__crosstalk_compensation_plane_offset_kcps =
+ (uint16_t)(x & 0x0000FFFF);
+
+ cal_data.customer.global_config__spad_enables_ref_0 =
+ pC->global_config__spad_enables_ref_0;
+ cal_data.customer.global_config__spad_enables_ref_1 =
+ pC->global_config__spad_enables_ref_1;
+ cal_data.customer.global_config__spad_enables_ref_2 =
+ pC->global_config__spad_enables_ref_2;
+ cal_data.customer.global_config__spad_enables_ref_3 =
+ pC->global_config__spad_enables_ref_3;
+ cal_data.customer.global_config__spad_enables_ref_4 =
+ pC->global_config__spad_enables_ref_4;
+ cal_data.customer.global_config__spad_enables_ref_5 =
+ pC->global_config__spad_enables_ref_5;
+ cal_data.customer.global_config__ref_en_start_select =
+ pC->global_config__ref_en_start_select;
+ cal_data.customer.ref_spad_man__num_requested_ref_spads =
+ pC->ref_spad_man__num_requested_ref_spads;
+ cal_data.customer.ref_spad_man__ref_location =
+ pC->ref_spad_man__ref_location;
+ cal_data.customer.algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ cal_data.customer.algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps;
+ cal_data.customer.ref_spad_char__total_rate_target_mcps =
+ pC->ref_spad_char__total_rate_target_mcps;
+ cal_data.customer.algo__part_to_part_range_offset_mm =
+ pC->algo__part_to_part_range_offset_mm;
+ cal_data.customer.mm_config__inner_offset_mm =
+ pC->mm_config__inner_offset_mm;
+ cal_data.customer.mm_config__outer_offset_mm =
+ pC->mm_config__outer_offset_mm;
+
+ Status = VL53LX_set_part_to_part_data(&cal_data);
+
+ if (Status != VL53LX_ERROR_NONE) {
+ goto ENDFUNC;
+ }
+
+ Status = VL53LX_get_current_xtalk_settings(&xtalk);
+
+ if (Status != VL53LX_ERROR_NONE) {
+ goto ENDFUNC;
+ }
+
+ xtalk.algo__crosstalk_compensation_plane_offset_kcps = x;
+
+ Status = VL53LX_set_tuning_parm(
+ VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS,
+ x);
+
+
+ memcpy(
+ &(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]),
+ &(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps[0]),
+ sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps));
+
+ Status = VL53LX_set_current_xtalk_settings(&xtalk);
+ENDFUNC:
+ return Status;
+
+}
+
+VL53LX_Error VL53LX::VL53LX_GetCalibrationData(
+ VL53LX_CalibrationData_t *pCalibrationData)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ VL53LX_calibration_data_t cal_data;
+ VL53LX_CustomerNvmManaged_t *pC;
+ VL53LX_customer_nvm_managed_t *pC2;
+ VL53LX_xtalk_calibration_results_t xtalk;
+ uint32_t tmp;
+
+ Status = VL53LX_get_part_to_part_data(&cal_data);
+
+ pCalibrationData->struct_version = cal_data.struct_version +
+ VL53LX_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION;
+
+
+ memcpy(
+ &(pCalibrationData->add_off_cal_data),
+ &(cal_data.add_off_cal_data),
+ sizeof(VL53LX_additional_offset_cal_data_t));
+
+
+ memcpy(
+ &(pCalibrationData->optical_centre),
+ &(cal_data.optical_centre),
+ sizeof(VL53LX_optical_centre_t));
+
+
+ memcpy(
+ &(pCalibrationData->xtalkhisto),
+ &(cal_data.xtalkhisto),
+ sizeof(VL53LX_xtalk_histogram_data_t));
+
+ memcpy(
+ &(pCalibrationData->gain_cal),
+ &(cal_data.gain_cal),
+ sizeof(VL53LX_gain_calibration_data_t));
+
+
+ memcpy(
+ &(pCalibrationData->cal_peak_rate_map),
+ &(cal_data.cal_peak_rate_map),
+ sizeof(VL53LX_cal_peak_rate_map_t));
+
+
+ memcpy(
+ &(pCalibrationData->per_vcsel_cal_data),
+ &(cal_data.per_vcsel_cal_data),
+ sizeof(VL53LX_per_vcsel_period_offset_cal_data_t));
+
+ pC = &pCalibrationData->customer;
+ pC2 = &cal_data.customer;
+ pC->global_config__spad_enables_ref_0 =
+ pC2->global_config__spad_enables_ref_0;
+ pC->global_config__spad_enables_ref_1 =
+ pC2->global_config__spad_enables_ref_1;
+ pC->global_config__spad_enables_ref_2 =
+ pC2->global_config__spad_enables_ref_2;
+ pC->global_config__spad_enables_ref_3 =
+ pC2->global_config__spad_enables_ref_3;
+ pC->global_config__spad_enables_ref_4 =
+ pC2->global_config__spad_enables_ref_4;
+ pC->global_config__spad_enables_ref_5 =
+ pC2->global_config__spad_enables_ref_5;
+ pC->global_config__ref_en_start_select =
+ pC2->global_config__ref_en_start_select;
+ pC->ref_spad_man__num_requested_ref_spads =
+ pC2->ref_spad_man__num_requested_ref_spads;
+ pC->ref_spad_man__ref_location =
+ pC2->ref_spad_man__ref_location;
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps =
+ pC2->algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps =
+ pC2->algo__crosstalk_compensation_y_plane_gradient_kcps;
+ pC->ref_spad_char__total_rate_target_mcps =
+ pC2->ref_spad_char__total_rate_target_mcps;
+ pC->algo__part_to_part_range_offset_mm =
+ pC2->algo__part_to_part_range_offset_mm;
+ pC->mm_config__inner_offset_mm =
+ pC2->mm_config__inner_offset_mm;
+ pC->mm_config__outer_offset_mm =
+ pC2->mm_config__outer_offset_mm;
+
+ pC->algo__crosstalk_compensation_plane_offset_kcps =
+ (uint32_t)(
+ pC2->algo__crosstalk_compensation_plane_offset_kcps);
+
+ Status = VL53LX_get_current_xtalk_settings(&xtalk);
+
+ if (Status != VL53LX_ERROR_NONE) {
+ goto ENDFUNC;
+ }
+
+ tmp = xtalk.algo__crosstalk_compensation_plane_offset_kcps;
+ pC->algo__crosstalk_compensation_plane_offset_kcps = tmp;
+ tmp = xtalk.algo__crosstalk_compensation_x_plane_gradient_kcps;
+ pC->algo__crosstalk_compensation_x_plane_gradient_kcps = tmp;
+ tmp = xtalk.algo__crosstalk_compensation_y_plane_gradient_kcps;
+ pC->algo__crosstalk_compensation_y_plane_gradient_kcps = tmp;
+
+ memcpy(&(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps[0]),
+ &(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]),
+ sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps));
+ENDFUNC:
+ return Status;
+}
+
+
+VL53LX_Error VL53LX::VL53LX_PerformOffsetPerVcselCalibration(
+ int32_t CalDistanceMilliMeter)
+{
+ VL53LX_Error Status = VL53LX_ERROR_NONE;
+ int32_t sum_ranging_range_A, sum_ranging_range_B;
+ uint8_t offset_meas_range_A, offset_meas_range_B;
+ int16_t Max, UnderMax, OverMax, Repeat;
+ int32_t inloopcount;
+ int32_t IncRounding;
+ int16_t meanDistance_mm;
+ VL53LX_MultiRangingData_t RangingMeasurementData;
+ VL53LX_LLDriverData_t *pdev;
+ uint8_t goodmeas;
+ VL53LX_DistanceModes currentDist;
+ VL53LX_DistanceModes DistMode[3] = {VL53LX_DISTANCEMODE_SHORT,
+ VL53LX_DISTANCEMODE_MEDIUM, VL53LX_DISTANCEMODE_LONG
+ };
+ int16_t offsetA[3];
+ int16_t offsetB[3];
+
+ VL53LX_Error SmudgeStatus = VL53LX_ERROR_NONE;
+ uint8_t smudge_corr_en, ics;
+ VL53LX_TargetRangeData_t *pRange;
+
+ pdev = VL53LXDevStructGetLLDriverHandle(Dev);
+
+ smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
+ SmudgeStatus = VL53LX_dynamic_xtalk_correction_disable();
+
+ pdev->customer.algo__part_to_part_range_offset_mm = 0;
+ pdev->customer.mm_config__inner_offset_mm = 0;
+ pdev->customer.mm_config__outer_offset_mm = 0;
+ pdev->customer.mm_config__outer_offset_mm = 0;
+ memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
+
+ Repeat = 0;
+ Max = 2 * BDTable[
+ VL53LX_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
+ UnderMax = 1 + (Max / 2);
+ OverMax = Max + (Max / 2);
+
+ Status = VL53LX_GetDistanceMode(¤tDist);
+
+ while ((Repeat < 3) && (Status == VL53LX_ERROR_NONE)) {
+ Status = VL53LX_SetDistanceMode(DistMode[Repeat]);
+ Status = VL53LX_StartMeasurement();
+
+ if (Status == VL53LX_ERROR_NONE) {
+ VL53LX_WaitMeasurementDataReady();
+ VL53LX_GetMultiRangingData(
+ &RangingMeasurementData);
+ VL53LX_ClearInterruptAndStartMeasurement();
+ }
+
+ inloopcount = 0;
+ offset_meas_range_A = 0;
+ sum_ranging_range_A = 0;
+ offset_meas_range_B = 0;
+ sum_ranging_range_B = 0;
+ while ((Status == VL53LX_ERROR_NONE) && (inloopcount < Max) &&
+ (inloopcount < OverMax)) {
+ Status = VL53LX_WaitMeasurementDataReady();
+ if (Status == VL53LX_ERROR_NONE)
+ Status = VL53LX_GetMultiRangingData(
+ &RangingMeasurementData);
+ pRange = &(RangingMeasurementData.RangeData[0]);
+ goodmeas = (pRange->RangeStatus ==
+ VL53LX_RANGESTATUS_RANGE_VALID);
+ ics = pdev->ll_state.cfg_internal_stream_count;
+ if ((Status == VL53LX_ERROR_NONE) && goodmeas) {
+ if (ics & 0x01) {
+ sum_ranging_range_A +=
+ pRange->RangeMilliMeter;
+ offset_meas_range_A++;
+ } else {
+ sum_ranging_range_B +=
+ pRange->RangeMilliMeter;
+ offset_meas_range_B++;
+ }
+ inloopcount = offset_meas_range_A +
+ offset_meas_range_B;
+ }
+ Status = VL53LX_ClearInterruptAndStartMeasurement();
+ }
+
+
+ if (inloopcount < UnderMax) {
+ Status = VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
+ }
+
+ VL53LX_StopMeasurement();
+
+
+ if ((sum_ranging_range_A < 0) ||
+ (sum_ranging_range_B < 0) ||
+ (sum_ranging_range_A >
+ ((int32_t) offset_meas_range_A * 0xffff)) ||
+ (sum_ranging_range_B >
+ ((int32_t) offset_meas_range_B * 0xffff))) {
+ Status = VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
+ }
+
+ if ((Status == VL53LX_ERROR_NONE) &&
+ (offset_meas_range_A > 0)) {
+ IncRounding = offset_meas_range_A / 2;
+ meanDistance_mm = (int16_t)
+ ((sum_ranging_range_A + IncRounding)
+ / offset_meas_range_A);
+ offsetA[Repeat] = (int16_t)
+ CalDistanceMilliMeter - meanDistance_mm;
+ }
+
+ if ((Status == VL53LX_ERROR_NONE) &&
+ (offset_meas_range_B > 0)) {
+ IncRounding = offset_meas_range_B / 2;
+ meanDistance_mm = (int16_t)
+ ((sum_ranging_range_B + IncRounding)
+ / offset_meas_range_B);
+ offsetB[Repeat] = (int16_t)
+ CalDistanceMilliMeter - meanDistance_mm;
+ }
+ Repeat++;
+ }
+
+ if ((SmudgeStatus == VL53LX_ERROR_NONE) && (smudge_corr_en == 1)) {
+ SmudgeStatus = VL53LX_dynamic_xtalk_correction_enable();
+ }
+
+ if (Status == VL53LX_ERROR_NONE) {
+ pdev->per_vcsel_cal_data.short_a_offset_mm = offsetA[0];
+ pdev->per_vcsel_cal_data.short_b_offset_mm = offsetB[0];
+ pdev->per_vcsel_cal_data.medium_a_offset_mm = offsetA[1];
+ pdev->per_vcsel_cal_data.medium_b_offset_mm = offsetB[1];
+ pdev->per_vcsel_cal_data.long_a_offset_mm = offsetA[2];
+ pdev->per_vcsel_cal_data.long_b_offset_mm = offsetB[2];
+ }
+
+ VL53LX_SetDistanceMode(currentDist);
+
+ return Status;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L3/vl53l3inc/ComponentObject.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,75 @@
+/**
+ ******************************************************************************
+ * @file ComponentObject.h
+ * @author AST
+ * @version V1.0.0
+ * @date April 13th, 2015
+ * @brief This file contains the abstract class describing the interface of a
+ * generic component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __COMPONENT_OBJECT_CLASS_H
+#define __COMPONENT_OBJECT_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <stdint.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/** An abstract class for Generic components.
+ */
+class ComponentObject {
+ public:
+ /**
+ * @brief Initializing the component.
+ * @param[in] init pointer to device specific initialization structure.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int Init() = 0;
+
+ /**
+ * @brief Getting the ID of the component.
+ * @param[out] id pointer to an allocated variable to store the ID into.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int ReadID() = 0;
+};
+
+#endif /* __COMPONENT_OBJECT_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L3/vl53l3inc/RangeSensor.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,60 @@
+/**
+ ******************************************************************************
+ * @file RangeSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a range sensor
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __RANGE_SENSOR_CLASS_H
+#define __RANGE_SENSOR_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <ComponentObject.h>
+
+/* Classes ------------------------------------------------------------------*/
+/** An abstract class for range sensors
+ */
+class RangeSensor : public ComponentObject {
+ public:
+ /**
+ * @brief Get current range [mm]
+ * @param[out] piData Pointer to where to store range to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int GetDistance(uint32_t *piData) = 0;
+};
+
+#endif /* __RANGE_SENSOR_CLASS_H */
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L3/vl53l3inc/vl53L1x_I2c.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,158 @@
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __DEV_53L1X_I2C_H
+#define __DEV_53L1X_I2C_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "mbed.h"
+
+#include "pinmap.h"
+
+static int mutex =0;
+
+//Class replacing DevI2C class as it was not implementing a 16bit address registers
+class vl53L1X_DevI2C : public I2C
+{
+public:
+ /** Create a DevI2C Master interface, connected to the specified pins
+ *
+ * @param sda I2C data line pin
+ * @param scl I2C clock line pin
+ */
+ vl53L1X_DevI2C(PinName sda, PinName scl) : I2C(sda, scl) { printf ("hello\n");}
+
+ /**
+ * @brief Writes a buffer towards the I2C peripheral device.
+ * @param pBuffer pointer to the byte-array data to send
+ * @param DeviceAddr specifies the peripheral device slave address.
+ * @param RegisterAddr specifies the internal address register
+ * where to start writing to (must be correctly masked).
+ * @param NumByteToWrite number of bytes to be written.
+ * @retval 0 if ok,
+ * @retval -1 if an I2C error has occured, or
+ * @retval -2 on temporary buffer overflow (i.e. NumByteToWrite was too high)
+ * @note On some devices if NumByteToWrite is greater
+ * than one, the RegisterAddr must be masked correctly!
+ */
+ /*
+ int v53l1x_i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
+ uint16_t NumByteToWrite) {
+ int ret;
+ uint8_t tmp[TEMP_BUF_SIZE];
+
+ if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
+
+ // First, send device address. Then, send data and STOP condition
+ tmp[0] = RegisterAddr >> 8;
+ tmp[1] = RegisterAddr & 0x0FF;
+ memcpy(tmp+2, pBuffer, NumByteToWrite);
+ while ( mutex )
+ {
+ wait_ms(1);
+ }
+ mutex = 1;
+
+ ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+2, false);
+ mutex = 0;
+ if(ret)
+ {
+ wait_ms(1);
+ ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+2, false);
+ if(ret)
+ {
+ printf("***************** v53l1x_i2c_write twice times %d %d %d %d\n",DeviceAddr,RegisterAddr,NumByteToWrite,ret);
+ }
+ // printf("v53l1x_i2c_write %d %d %d %d\n",DeviceAddr,RegisterAddr,NumByteToWrite,ret);
+ return -1;
+ }
+ return 0;
+ }
+ */
+
+ /**
+ * @brief Reads a buffer from the I2C peripheral device.
+ * @param pBuffer pointer to the byte-array to read data in to
+ * @param DeviceAddr specifies the peripheral device slave address.
+ * @param RegisterAddr specifies the internal address register
+ * where to start reading from (must be correctly masked).
+ * @param NumByteToRead number of bytes to be read.
+ * @retval 0 if ok,
+ * @retval -1 if an I2C error has occured
+ * @note On some devices if NumByteToWrite is greater
+ * than one, the RegisterAddr must be masked correctly!
+ */
+ /*
+ int v53l1x_i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
+ uint16_t NumByteToRead) {
+ int ret;
+
+
+ // Read data, with STOP condition
+ ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
+
+ // printf("class v53l1x_i2c_read read %d %d %d\n",pBuffer[0],pBuffer[1],pBuffer[2]);
+
+
+ if(ret)
+ {
+ printf("********************* class v53l1x_i2c_read %d %d %d %d\n",DeviceAddr,RegisterAddr,NumByteToRead,ret);
+ return -1;
+ }
+ return 0;
+ }
+ */
+
+ int v53l1x_i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
+ uint16_t NumByteToWrite) {
+ int ret;
+ uint8_t tmp[TEMP_BUF_SIZE];
+
+ if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
+
+ // First, send device address. Then, send data and STOP condition
+ tmp[0] = RegisterAddr >> 8;
+ tmp[1] = RegisterAddr & 0x0FF;
+ memcpy(tmp+2, pBuffer, NumByteToWrite);
+
+ ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+2, false);
+
+ if(ret) return -1;
+ return 0;
+ }
+
+ /**
+ * @brief Reads a buffer from the I2C peripheral device.
+ * @param pBuffer pointer to the byte-array to read data in to
+ * @param DeviceAddr specifies the peripheral device slave address.
+ * @param RegisterAddr specifies the internal address register
+ * where to start reading from (must be correctly masked).
+ * @param NumByteToRead number of bytes to be read.
+ * @retval 0 if ok,
+ * @retval -1 if an I2C error has occured
+ * @note On some devices if NumByteToWrite is greater
+ * than one, the RegisterAddr must be masked correctly!
+ */
+ int v53l1x_i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
+ uint16_t NumByteToRead) {
+ int ret;
+ uint8_t ExpanderData[2];
+ ExpanderData[0] = RegisterAddr >> 8;
+ ExpanderData[1] = RegisterAddr & 0x0FF;
+ /* Send device address, with no STOP condition */
+
+ ret = write(DeviceAddr, (const char*)ExpanderData, 2, true);
+
+ if(!ret) {
+ /* Read data, with STOP condition */
+ ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
+ }
+
+ if(ret) return -1;
+ return 0;
+ }
+
+private:
+ static const unsigned int TEMP_BUF_SIZE = 256;
+};
+
+#endif /* __DEV_53L1X_I2C_H */
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L3/vl53l3inc/vl53lx_class.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,3649 @@
+/*******************************************************************************
+ Copyright © 2018, STMicroelectronics International N.V.
+ All rights reserved.
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+ NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+ IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+ DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+
+#ifndef __VL53LX_CLASS_H
+#define __VL53LX_CLASS_H
+
+#ifdef _MSC_VER
+ #ifdef VL53LX_API_EXPORTS
+ #define VL53LX_API __declspec(dllexport)
+ #else
+ #define VL53LX_API
+ #endif
+#else
+ #define VL53LX_API
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+//#include "Arduino.h"
+#include "mbed.h"
+#include "RangeSensor.h"
+#include "vl53lx_def.h"
+#include "vl53L1x_I2c.h"
+//#include <Wire.h>
+
+
+#include "PinNames.h"
+#include "vl53lx_error_codes.h"
+#include "vl53lx_platform_user_data.h"
+
+#include "Stmpe1600.h"
+/**********************************************************/
+
+
+#define VL53LX_DEFAULT_DEVICE_ADDRESS 0x52
+
+
+/* vl53lx_api_core.c */
+#define VL53LX_MAX_I2C_XFER_SIZE 256
+/* vl53lx_core.c */
+// VL53LX_Error VL53LX_dynamic_xtalk_correction_corrector()
+#define CONT_CONTINUE 0
+#define CONT_NEXT_LOOP 1
+#define CONT_RESET 2
+
+
+/* vl53lx_api.c */
+
+#ifndef MIN
+ #define MIN(v1, v2) ((v1) < (v2) ? (v1) : (v2))
+#endif
+#ifndef MAX
+ #define MAX(v1, v2) ((v1) < (v2) ? (v2) : (v1))
+#endif
+
+#define DMAX_REFLECTANCE_IDX 2
+
+
+
+#define LOWPOWER_AUTO_VHV_LOOP_DURATION_US 245
+#define LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING 1448
+#define LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING 2100
+
+#define FDA_MAX_TIMING_BUDGET_US 550000
+
+
+#define VL53LX_NVM_POWER_UP_DELAY_US 50
+#define VL53LX_NVM_READ_TRIGGER_DELAY_US 5
+
+
+#define VL53LX_D_002 0xFFFF
+#define VL53LX_D_008 0xFFFF
+#define VL53LX_D_003 0xFFFFFF
+#define VL53LX_D_007 0xFFFFFFFF
+#define VL53LX_D_005 0x7FFFFFFFFF
+#define VL53LX_D_009 0xFFFFFFFFFF
+#define VL53LX_D_010 0xFFFFFFFFFFFF
+#define VL53LX_D_004 0xFFFFFFFFFFFFFF
+#define VL53LX_D_006 0x7FFFFFFFFFFFFFFF
+#define VL53LX_D_011 0xFFFFFFFFFFFFFFFF
+
+#define VL53L1X_DEFAULT_DEVICE_ADDRESS 0x52
+#define HIGH 1
+/*
+
+ int BDTable[11] = {
+ TUNING_VERSION,
+ TUNING_PROXY_MIN,
+ TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM,
+ TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER,
+ TUNING_MIN_AMBIENT_DMAX_VALID,
+ TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER,
+ TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM,
+ TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT,
+ TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN,
+ TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET,
+ TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR_DEFAULT
+ };
+ */
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a VL53LX sensor component
+ */
+
+class VL53LX : public RangeSensor {
+ public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
+ * @param[in] DevAddr device address, 0x52 by default
+ */
+ /*
+ VL53LX(vl53L1X_DevI2C *i2c, int pin, int pin_gpio1) : RangeSensor(), dev_i2c(i2c), gpio0(pin), gpio1Int(pin_gpio1)
+ {
+ MyDevice.I2cDevAddr = VL53LX_DEFAULT_DEVICE_ADDRESS ;
+ MyDevice.I2cHandle = i2c;
+ Dev = &MyDevice;
+ if (gpio0 >= 0) {
+ pinMode(gpio0, OUTPUT);
+ }
+ }
+ */
+
+
+ VL53LX(vl53L1X_DevI2C *i2c, Stmpe1600DigiOut *pin, PinName pin_gpio1, uint8_t dev_addr = VL53LX_DEFAULT_DEVICE_ADDRESS)
+ : RangeSensor(), dev_i2c(i2c), _expgpio0(pin)
+ {
+ MyDevice.I2cDevAddr=dev_addr;
+ MyDevice.I2cHandle = i2c;
+ Dev = &MyDevice;
+
+ _gpio0 = NULL;
+ if (pin_gpio1 != NC) {
+ _gpio1Int = new InterruptIn(pin_gpio1);
+ } else {
+ _gpio1Int = NULL;
+ }
+
+ i2c_inst = i2c;
+
+
+
+ }
+
+
+ /** Destructor
+ */
+ virtual ~VL53LX() {}
+ /* warning: VL53LX class inherits from GenericSensor, RangeSensor and LightSensor, that haven`t a destructor.
+ The warning should request to introduce a virtual destructor to make sure to delete the object */
+
+ /*** Interface Methods ***/
+ /*** High level API ***/
+ /**
+ * @brief PowerOn the sensor
+ * @return void
+ */
+ /* turns on the sensor */
+
+
+ /* turns on the sensor */
+ virtual void VL53LX_On(void)
+ {
+ printf("VL53L1_On\r\n");
+ if (_gpio0) {
+ *_gpio0 = 1;
+ } else {
+ if (_expgpio0) {
+ *_expgpio0 = 1;
+ }
+ }
+ wait_ms(10);
+ }
+
+ /**
+ * @brief PowerOff the sensor
+ * @return void
+ */
+ /* turns off the sensor */
+ virtual void VL53LX_Off(void)
+ {
+ printf("VL53L1_Off\r\n");
+ if (_gpio0) {
+ *_gpio0 = 0;
+ } else {
+ if (_expgpio0) {
+ *_expgpio0 = 0;
+ }
+ }
+ wait_ms(10);
+ }
+ /*
+ virtual void VL53LX_On(void)
+ {
+ if (gpio0 >= 0) {
+ digitalWrite(gpio0, HIGH);
+ }
+ delay(10);
+ }
+ */
+
+ /**
+ * @brief PowerOff the sensor
+ * @return void
+ */
+ /* turns off the sensor */
+ /*
+ virtual void VL53LX_Off(void)
+ {
+ if (gpio0 >= 0) {
+ digitalWrite(gpio0, LOW);
+ }
+ delay(10);
+ }
+ */
+
+ /**
+ * @brief Initialize the sensor with default values
+ * @return 0 on Success
+ */
+
+ VL53LX_Error InitSensor(uint8_t address)
+ {
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_Off();
+ VL53LX_On();
+
+ status = VL53LX_SetDeviceAddress(address);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_WaitDeviceBooted();
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53LX_DataInit();
+ }
+ return status;
+ }
+
+
+
+ /**
+ *
+ * @brief One time device initialization
+ * @param void
+ * @return 0 on success
+ */
+ virtual int Init()
+ {
+ return VL53LX_DataInit();
+ }
+
+
+
+ /* Read function of the ID device */
+ virtual int ReadID()
+ {
+ uint64_t Uid;
+ VL53LX_GetUID(&Uid);
+ if (Uid == 0x00FF000000FF) {
+ return 0;
+ }
+ return -1;
+ }
+
+
+
+ /**
+ * @brief Get ranging result and only that
+ * @param pRange_mm Pointer to range distance
+ * @return 0 on success
+ */
+ virtual int GetDistance(uint32_t *piData)
+ {
+ (void)piData;
+ return 0;
+ }
+
+
+ /* vl53lx_api.h */
+
+ /** @defgroup VL53LX_group VL53LX Function Definition
+ * @brief VL53LX Function Definition
+ * @{
+ */
+
+ /** @defgroup VL53LX_general_group VL53LX General Functions
+ * @brief General functions and definitions
+ * @{
+ */
+
+ /**
+ * @brief Return the VL53LX driver Version
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param pVersion Rer to current driver Version
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_GetVersion(VL53LX_Version_t *pVersion);
+
+ /**
+ * @brief Reads the Product Revision for a for given Device
+ * This function can be used to distinguish cut1.0 from cut1.1.
+ *
+ * @param Dev Device Handle
+ * @param pProductRevisionMajor Pointer to Product Revision Major
+ * for a given Device
+ * @param pProductRevisionMinor Pointer to Product Revision Minor
+ * for a given Device
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_GetProductRevision(uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor);
+
+ /**
+ * @brief Reads the Device information for given Device
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @param pVL53LX_DeviceInfo Pointer to current device info for a given
+ * Device
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_GetDeviceInfo(
+ VL53LX_DeviceInfo_t *pVL53LX_DeviceInfo);
+
+ /**
+ * @brief Reads the Device unique identifier
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @param pUid Pointer to current device unique ID
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_GetUID(uint64_t *pUid);
+
+
+ /** @} VL53LX_general_group */
+
+ /** @defgroup VL53LX_init_group VL53LX Init Functions
+ * @brief VL53LX Init Functions
+ * @{
+ */
+
+ /**
+ * @brief Set new device address
+ *
+ * After completion the device will answer to the new address programmed.
+ * This function should be called when several devices are used in parallel
+ * before start programming the sensor.
+ * When a single device us used, there is no need to call this function.
+ *
+ * When it is requested for multi devices system this function MUST be called
+ * prior to VL53LX_DataInit()
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @param DeviceAddress The new Device address
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_SetDeviceAddress(uint8_t DeviceAddress);
+
+ /**
+ *
+ * @brief One time device initialization
+ *
+ * To be called after device has been powered on and booted
+ * see @a VL53LX_WaitDeviceBooted()
+ *
+ * @par Function Description
+ * When not used after a fresh device "power up", it may return
+ * @a #VL53LX_Error_CALIBRATION_WARNING meaning wrong calibration data
+ * may have been fetched from device that can result in ranging offset error\n
+ * If VL53LX_DataInit is called several times then the application must restore
+ * calibration calling @a VL53LX_SetOffsetCalibrationData()
+ * It implies application has gathered calibration data thanks to
+ * @a VL53LX_GetOffsetCalibrationData() after an initial calibration stage.
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_DataInit();
+
+ /**
+ * @brief Wait for device booted after chip enable (hardware standby)
+ *
+ * @param Dev Device Handle
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ *
+ */
+ VL53LX_Error VL53LX_WaitDeviceBooted();
+
+
+ /** @} VL53LX_init_group */
+
+ /** @defgroup VL53LX_parameters_group VL53LX Parameters Functions
+ * @brief Functions used to prepare and setup the device
+ * @{
+ */
+
+ /**
+ * @brief Set the distance mode
+ * @par Function Description
+ * Set the distance mode to be used for the next ranging.<br>
+ * The modes Short, Medium and Long are used to optimize the ranging accuracy
+ * in a specific range of distance.<br> The user select one of these modes to
+ * select the distance range.
+ * @note This function doesn't Access to the device
+ *
+ * @warning This function should be called after @a VL53LX_DataInit().
+
+ * @param Dev Device Handle
+ * @param DistanceMode Distance mode to apply, valid values are:
+ * @li VL53LX_DISTANCEMODE_SHORT
+ * @li VL53LX_DISTANCEMODE_MEDIUM
+ * @li VL53LX_DISTANCEMODE_LONG
+ * @return VL53LX_Error_NONE Success
+ * @return VL53LX_Error_MODE_NOT_SUPPORTED This error occurs when DistanceMode
+ * is not in the supported list
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_SetDistanceMode(
+ VL53LX_DistanceModes DistanceMode);
+
+ /**
+ * @brief Get the distance mode
+ * @par Function Description
+ * Get the distance mode used for the next ranging.
+ *
+ * @param Dev Device Handle
+ * @param *pDistanceMode Pointer to Distance mode
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_GetDistanceMode(
+ VL53LX_DistanceModes *pDistanceMode);
+
+
+ /**
+ * @brief Set Ranging Timing Budget in microseconds
+ *
+ * @par Function Description
+ * Defines the maximum time allowed by the user to the device to run a
+ * full ranging sequence for the current mode (ranging, histogram, ASL ...)
+ *
+ * @param Dev Device Handle
+ * @param MeasurementTimingBudgetMicroSeconds Max measurement time in
+ * microseconds.
+ * @return VL53LX_Error_NONE Success
+ * @return VL53LX_Error_INVALID_PARAMS Error timing parameter not
+ * supported.
+ * The maximum accepted value for the
+ * computed timing budget is 10 seconds
+ * the minimum value depends on the preset
+ * mode selected.
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_SetMeasurementTimingBudgetMicroSeconds(uint32_t MeasurementTimingBudgetMicroSeconds);
+
+ /**
+ * @brief Get Ranging Timing Budget in microseconds
+ *
+ * @par Function Description
+ * Returns the programmed the maximum time allowed by the user to the
+ * device to run a full ranging sequence for the current mode
+ * (ranging, histogram, ...)
+ *
+ * @param Dev Device Handle
+ * @param pMeasurementTimingBudgetMicroSeconds Max measurement time in
+ * microseconds.
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_GetMeasurementTimingBudgetMicroSeconds(uint32_t *pMeasurementTimingBudgetMicroSeconds);
+ /** @} VL53LX_parameters_group */
+
+
+ /** @defgroup VL53LX_measurement_group VL53LX Measurement Functions
+ * @brief Functions used for the measurements
+ * @{
+ */
+
+ /**
+ * @brief Start device measurement
+ *
+ * @details Started measurement will depend on distance parameter set through
+ * @a VL53LX_SetDistanceMode()
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @return VL53LX_Error_NONE Success
+ * @return VL53LX_Error_TIME_OUT Time out on start measurement
+ * @return VL53LX_Error_INVALID_PARAMS This error might occur in timed mode
+ * when inter measurement period is smaller or too close to the timing budget.
+ * In such case measurements are not started and user must correct the timings
+ * passed to @a VL53LX_SetMeasurementTimingBudgetMicroSeconds() and
+ * @a VL53LX_SetInterMeasurementPeriodMilliSeconds() functions.
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_StartMeasurement();
+
+ /**
+ * @brief Stop device measurement
+ *
+ * @details Will set the device in standby mode at end of current measurement\n
+ * Not necessary in single mode as device shall return automatically
+ * in standby mode at end of measurement.
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_StopMeasurement();
+
+ /**
+ * @brief Clear the Interrupt flag and start new measurement
+ * *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_ClearInterruptAndStartMeasurement();
+
+ /**
+ * @brief Return Measurement Data Ready
+ *
+ * @par Function Description
+ * This function indicate that a measurement data is ready.
+ * This function is used for non-blocking capture.
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @param pMeasurementDataReady Pointer to Measurement Data Ready.
+ * 0 = data not ready, 1 = data ready
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_GetMeasurementDataReady(
+ uint8_t *pMeasurementDataReady);
+
+ /**
+ * @brief Wait for measurement data ready.
+ * Blocking function.
+ * Note that the timeout is given by:
+ * VL53LX_RANGE_COMPLETION_POLLING_TIMEOUT_MS defined in def.h
+ *
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @return VL53LX_Error_NONE Success
+ * @return VL53LX_Error_TIME_OUT In case of timeout
+ */
+ VL53LX_Error VL53LX_WaitMeasurementDataReady();
+
+
+ /**
+ * @brief Retrieve all measurements from device with the current setup
+ *
+ * @par Function Description
+ * Get data from last successful Ranging measurement
+ *
+ * @warning USER must call @a VL53LX_ClearInterruptAndStartMeasurement() prior
+ * to call again this function
+ *
+ * @note This function Access to the device
+ *
+ * @note The first valid value returned by this function will have a range
+ * status equal to VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK which means that
+ * the data is valid but no wrap around check have been done. User should take
+ * care about that.
+ *
+ * @param Dev Device Handle
+ * @param pMultiRangingData Pointer to the data structure to fill up.
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_GetMultiRangingData(VL53LX_MultiRangingData_t *pMultiRangingData);
+
+ /**
+ * @brief Get Additional Data
+ *
+ * @par Function Description
+ * This function is used to get lld debugging data on the last histogram
+ * measurement. shall be called when a new measurement is ready (interrupt or
+ * positive VL53LX_GetMeasurementDataReady() polling) and before a call to
+ * VL53LX_ClearInterruptAndStartMeasurement().
+ *
+ * @param Dev Device Handle
+ * @param pAdditionalData Pointer to Additional data
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ //VL53LX_Error VL53LX_GetAdditionalData( VL53LX_AdditionalData_t *pAdditionalData);
+
+
+ /** @} VL53LX_measurement_group */
+
+ /** @defgroup VL53LX_Calibration_group VL53LX Calibration Functions
+ * @brief Functions used for Calibration
+ * @{
+ */
+
+
+ /**
+ * @brief Set Tuning Parameter value for a given parameter ID
+ *
+ * @par Function Description
+ * This function is used to improve the performance of the device. It permit to
+ * change a particular value used for a timeout or a threshold or a constant
+ * in an algorithm. The function will change the value of the parameter
+ * identified by an unique ID.
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param Dev Device Handle
+ * @param TuningParameterId Tuning Parameter ID
+ * @param TuningParameterValue Tuning Parameter Value
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_SetTuningParameter(
+ uint16_t TuningParameterId, int32_t TuningParameterValue);
+
+ /**
+ * @brief Get Tuning Parameter value for a given parameter ID
+ *
+ * @par Function Description
+ * This function is used to get the value of the parameter
+ * identified by an unique ID.
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param Dev Device Handle
+ * @param TuningParameterId Tuning Parameter ID
+ * @param pTuningParameterValue Pointer to Tuning Parameter Value
+ * for a given TuningParameterId.
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_GetTuningParameter(
+ uint16_t TuningParameterId, int32_t *pTuningParameterValue);
+
+ /**
+ * @brief Performs Reference Spad Management
+ *
+ * @par Function Description
+ * The reference SPAD initialization procedure determines the minimum amount
+ * of reference spads to be enables to achieve a target reference signal rate
+ * and should be performed once during initialization.
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_PerformRefSpadManagement();
+
+ /**
+ * @brief Enable/Disable dynamic Xtalk compensation feature
+ *
+ * Enable/Disable dynamic Xtalk compensation (aka smudge correction).
+ *
+ * @param Dev Device Handle
+ * @param Mode Set the smudge correction mode
+ * See ::VL53LX_SmudgeCorrectionModes
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_SmudgeCorrectionEnable(
+ VL53LX_SmudgeCorrectionModes Mode);
+
+
+ /**
+ * @brief Enable/Disable Cross talk compensation feature
+ *
+ * Enable/Disable Cross Talk correction.
+ *
+ * @param Dev Device Handle
+ * @param XTalkCompensationEnable Cross talk compensation
+ * to be set 0 = disabled or 1 = enabled.
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_SetXTalkCompensationEnable(
+ uint8_t XTalkCompensationEnable);
+
+ /**
+ * @brief Get Cross talk compensation rate enable
+ *
+ * Get if the Cross Talk is Enabled or Disabled.
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param Dev Device Handle
+ * @param pXTalkCompensationEnable Pointer to the Cross talk compensation
+ * state 0=disabled or 1 = enabled
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_GetXTalkCompensationEnable(
+ uint8_t *pXTalkCompensationEnable);
+
+ /**
+ * @brief Perform XTalk Calibration
+ *
+ * @details Perform a XTalk calibration of the Device.
+ * This function will launch a measurement, if interrupts
+ * are enabled an interrupt will be done.
+ * This function will clear the interrupt generated automatically.
+ * This function will program a new value for the XTalk compensation
+ * and it will enable the cross talk before exit.
+ *
+ * @warning This function is a blocking function
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * the calibration sets appropriate
+ * distance mode and thus override existing one<br>
+ * The calibration uses a target which should be located at least @60cm from the
+ * device. The actual location of the target shall be passed
+ * through the bare driver tuning parameters table
+ *
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_PerformXTalkCalibration();
+
+
+ /**
+ * @brief Define the mode to be used for the offset correction
+ *
+ * Define the mode to be used for the offset correction.
+ *
+ * @param Dev Device Handle
+ * @param OffsetCorrectionMode Offset Correction Mode valid values are:
+ * @li VL53LX_OFFSETCORRECTIONMODE_STANDARD
+ * @li VL53LX_OFFSETCORRECTIONMODE_PERVCSEL
+ *
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_SetOffsetCorrectionMode(
+ VL53LX_OffsetCorrectionModes OffsetCorrectionMode);
+
+
+ /**
+ * @brief Perform Offset simple Calibration
+ *
+ * @details Perform a very simple offset calibration of the Device.
+ * This function will launch few ranging measurements and computes offset
+ * calibration. The preset mode and the distance mode MUST be set by the
+ * application before to call this function.
+ *
+ * @warning This function is a blocking function
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @param CalDistanceMilliMeter Calibration distance value used for the
+ * offset compensation.
+ *
+ * @return VL53LX_Error_NONE
+ * @return VL53LX_Error_OFFSET_CAL_NO_SAMPLE_FAIL the calibration failed by
+ * lack of valid measurements
+ * @return VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH means that the target
+ * distance combined to the number of loops performed in the calibration lead to
+ * an internal overflow. Try to reduce the distance of the target (140 mm)
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_PerformOffsetSimpleCalibration(
+ int32_t CalDistanceMilliMeter);
+
+ /**
+ * @brief Perform Offset simple Calibration with a "zero distance" target
+ *
+ * @details Perform a simple offset calibration of the Device.
+ * This function will launch few ranging measurements and computes offset
+ * calibration. The preset mode and the distance mode MUST be set by the
+ * application before to call this function.
+ * A target must be place very close to the device.
+ * Ideally the target shall be touching the coverglass.
+ *
+ * @warning This function is a blocking function
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ *
+ * @return VL53LX_Error_NONE
+ * @return VL53LX_Error_OFFSET_CAL_NO_SAMPLE_FAIL the calibration failed by
+ * lack of valid measurements
+ * @return VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH means that the target
+ * distance is too large, try to put the target closer to the device
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_PerformOffsetZeroDistanceCalibration();
+
+
+ /**
+ * @brief Perform Offset per Vcsel Calibration. i.e. per distance mode
+ *
+ * @details Perform offset calibration of the Device depending on the
+ * three distance mode settings: short, medium and long.
+ * This function will launch few ranging measurements and computes offset
+ * calibration in each of the three distance modes.
+ * The preset mode MUST be set by the application before to call this function.
+ *
+ * @warning This function is a blocking function
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @param CalDistanceMilliMeter Distance of the target used for the
+ * offset compensation calibration.
+ *
+ * @return VL53LX_Error_NONE
+ * @return VL53LX_Error_OFFSET_CAL_NO_SAMPLE_FAIL the calibration failed by
+ * lack of valid measurements
+ * @return VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH means that the target
+ * distance combined to the number of loops performed in the calibration lead to
+ * an internal overflow. Try to reduce the distance of the target (140 mm)
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_PerformOffsetPerVcselCalibration(
+ int32_t CalDistanceMilliMeter);
+
+
+ /**
+ * @brief Sets the Calibration Data.
+ *
+ * @par Function Description
+ * This function set all the Calibration Data issued from the functions
+ * @a VL53LX_PerformRefSpadManagement(), @a VL53LX_PerformXTalkCalibration,
+ * @a VL53LX_PerformOffsetCalibration()
+ *
+ * @note This function doesn't Accesses the device
+ *
+ * @param Dev Device Handle
+ * @param *pCalibrationData Pointer to Calibration data to be set.
+ * @return VL53LX_Error_NONE Success
+ * @return VL53LX_Error_INVALID_PARAMS pCalibrationData points to an older
+ * version of the inner structure. Need for support to convert its content.
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_SetCalibrationData(
+ VL53LX_CalibrationData_t *pCalibrationData);
+
+ /**
+ * @brief Gets the Calibration Data.
+ *
+ * @par Function Description
+ * This function get all the Calibration Data issued from the functions
+ * @a VL53LX_PerformRefSpadManagement(), @a VL53LX_PerformXTalkCalibration,
+ * @a VL53LX_PerformOffsetCalibration()
+ *
+ * @note This function doesn't Accesses the device
+ *
+ * @param Dev Device Handle
+ * @param *pCalibrationData pointer where to store Calibration
+ * data.
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53LX_GetCalibrationData(
+ VL53LX_CalibrationData_t *pCalibrationData);
+
+ /** @} VL53LX_Calibration_group */
+
+ /** @} VL53LX_group */
+ VL53LX_Error VL53LX_RdWord(VL53LX_DEV Dev, uint16_t index, uint16_t *data);
+
+ protected:
+
+ /* vl53lx_api_core.h functions */
+
+ VL53LX_Error VL53LX_get_version(VL53LX_ll_version_t *pversion);
+ VL53LX_Error VL53LX_get_device_firmware_version(uint16_t *pfw_version);
+ VL53LX_Error VL53LX_data_init(uint8_t read_p2p_data);
+ VL53LX_Error VL53LX_read_p2p_data();
+ VL53LX_Error VL53LX_software_reset();
+ VL53LX_Error VL53LX_set_part_to_part_data(VL53LX_calibration_data_t *pcal_data);
+ VL53LX_Error VL53LX_get_part_to_part_data(VL53LX_calibration_data_t *pcal_data);
+ VL53LX_Error VL53LX_get_tuning_debug_data(VL53LX_tuning_parameters_t *ptun_data);
+ VL53LX_Error VL53LX_set_inter_measurement_period_ms(uint32_t inter_measurement_period_ms);
+ VL53LX_Error VL53LX_get_inter_measurement_period_ms(uint32_t *pinter_measurement_period_ms);
+ VL53LX_Error VL53LX_set_timeouts_us(
+ uint32_t phasecal_config_timeout_us,
+ uint32_t mm_config_timeout_us,
+ uint32_t range_config_timeout_us);
+
+ VL53LX_Error VL53LX_get_timeouts_us(
+ uint32_t *pphasecal_config_timeout_us,
+ uint32_t *pmm_config_timeout_us,
+ uint32_t *prange_config_timeout_us);
+
+ VL53LX_Error VL53LX_set_calibration_repeat_period(
+ uint16_t cal_config__repeat_period);
+
+ VL53LX_Error VL53LX_get_calibration_repeat_period(
+ uint16_t *pcal_config__repeat_period);
+
+ VL53LX_Error VL53LX_set_sequence_config_bit(
+ VL53LX_DeviceSequenceConfig bit_id,
+ uint8_t value);
+
+ VL53LX_Error VL53LX_get_sequence_config_bit(
+ VL53LX_DeviceSequenceConfig bit_id,
+ uint8_t *pvalue);
+
+ VL53LX_Error VL53LX_set_interrupt_polarity(
+ VL53LX_DeviceInterruptPolarity interrupt_polarity);
+
+ VL53LX_Error VL53LX_get_interrupt_polarity(
+ VL53LX_DeviceInterruptPolarity *pinterrupt_polarity);
+
+ VL53LX_Error VL53LX_get_refspadchar_config_struct(
+ VL53LX_refspadchar_config_t *pdata);
+
+ VL53LX_Error VL53LX_set_refspadchar_config_struct(
+ VL53LX_refspadchar_config_t *pdata);
+
+ VL53LX_Error VL53LX_set_range_ignore_threshold(
+ uint8_t range_ignore_thresh_mult,
+ uint16_t range_ignore_threshold_mcps);
+
+ VL53LX_Error VL53LX_get_range_ignore_threshold(
+ uint8_t *prange_ignore_thresh_mult,
+ uint16_t *prange_ignore_threshold_mcps_internal,
+ uint16_t *prange_ignore_threshold_mcps_current);
+
+ VL53LX_Error VL53LX_set_user_zone(
+ VL53LX_user_zone_t *puser_zone);
+
+ VL53LX_Error VL53LX_get_user_zone(
+ VL53LX_user_zone_t *puser_zone);
+
+
+ VL53LX_Error VL53LX_get_mode_mitigation_roi(
+ VL53LX_user_zone_t *pmm_roi);
+
+
+ VL53LX_Error VL53LX_set_zone_config(
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_get_zone_config(
+ VL53LX_zone_config_t *pzone_cfg);
+
+
+ VL53LX_Error VL53LX_set_preset_mode(
+ VL53LX_DevicePresetModes device_preset_mode,
+ uint16_t dss_config__target_total_rate_mcps,
+ uint32_t phasecal_config_timeout_us,
+ uint32_t mm_config_timeout_us,
+ uint32_t range_config_timeout_us,
+ uint32_t inter_measurement_period_ms);
+
+ VL53LX_Error VL53LX_get_preset_mode_timing_cfg(
+ VL53LX_DevicePresetModes device_preset_mode,
+ uint16_t *pdss_config__target_total_rate_mcps,
+ uint32_t *pphasecal_config_timeout_us,
+ uint32_t *pmm_config_timeout_us,
+ uint32_t *prange_config_timeout_us);
+
+
+ VL53LX_Error VL53LX_set_zone_preset(
+ VL53LX_DeviceZonePreset zone_preset);
+
+
+ VL53LX_Error VL53LX_enable_xtalk_compensation();
+
+ VL53LX_Error VL53LX_disable_xtalk_compensation();
+
+
+ void VL53LX_get_xtalk_compensation_enable(
+ uint8_t *pcrosstalk_compensation_enable);
+
+
+ VL53LX_Error VL53LX_init_and_start_range(
+ uint8_t measurement_mode,
+ VL53LX_DeviceConfigLevel device_config_level);
+
+
+ VL53LX_Error VL53LX_stop_range();
+
+ VL53LX_Error VL53LX_get_measurement_results(
+ VL53LX_DeviceResultsLevel device_result_level);
+
+
+ VL53LX_Error VL53LX_get_device_results(
+ VL53LX_DeviceResultsLevel device_result_level,
+ VL53LX_range_results_t *prange_results);
+
+
+ VL53LX_Error VL53LX_clear_interrupt_and_enable_next_range(
+ uint8_t measurement_mode);
+
+
+ VL53LX_Error VL53LX_get_histogram_bin_data(
+ VL53LX_histogram_bin_data_t *phist_data);
+
+ void VL53LX_copy_sys_and_core_results_to_range_results(
+ int32_t gain_factor,
+ VL53LX_system_results_t *psys,
+ VL53LX_core_results_t *pcore,
+ VL53LX_range_results_t *presults);
+
+
+
+ VL53LX_Error VL53LX_set_zone_dss_config(
+ VL53LX_zone_private_dyn_cfg_t *pzone_dyn_cfg);
+
+
+ VL53LX_Error VL53LX_calc_ambient_dmax(
+ uint16_t target_reflectance,
+ int16_t *pambient_dmax_mm);
+
+
+ VL53LX_Error VL53LX_set_GPIO_interrupt_config(
+ VL53LX_GPIO_Interrupt_Mode intr_mode_distance,
+ VL53LX_GPIO_Interrupt_Mode intr_mode_rate,
+ uint8_t intr_new_measure_ready,
+ uint8_t intr_no_target,
+ uint8_t intr_combined_mode,
+ uint16_t thresh_distance_high,
+ uint16_t thresh_distance_low,
+ uint16_t thresh_rate_high,
+ uint16_t thresh_rate_low
+ );
+
+
+
+ VL53LX_Error VL53LX_set_GPIO_interrupt_config_struct(
+ VL53LX_GPIO_interrupt_config_t intconf);
+
+
+ VL53LX_Error VL53LX_get_GPIO_interrupt_config(
+ VL53LX_GPIO_interrupt_config_t *pintconf);
+
+
+ VL53LX_Error VL53LX_set_dmax_mode(
+ VL53LX_DeviceDmaxMode dmax_mode);
+
+
+ VL53LX_Error VL53LX_get_dmax_mode(
+ VL53LX_DeviceDmaxMode *pdmax_mode);
+
+
+ VL53LX_Error VL53LX_get_dmax_calibration_data(
+ VL53LX_DeviceDmaxMode dmax_mode,
+ VL53LX_dmax_calibration_data_t *pdmax_cal);
+
+
+ VL53LX_Error VL53LX_set_hist_dmax_config(
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg);
+
+ VL53LX_Error VL53LX_get_hist_dmax_config(
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg);
+
+
+ VL53LX_Error VL53LX_set_offset_calibration_mode(
+ VL53LX_OffsetCalibrationMode offset_cal_mode);
+
+
+ VL53LX_Error VL53LX_get_offset_calibration_mode(
+ VL53LX_OffsetCalibrationMode *poffset_cal_mode);
+
+
+ VL53LX_Error VL53LX_set_offset_correction_mode(
+ VL53LX_OffsetCalibrationMode offset_cor_mode);
+
+
+ VL53LX_Error VL53LX_get_offset_correction_mode(
+ VL53LX_OffsetCorrectionMode *poffset_cor_mode);
+
+
+ VL53LX_Error VL53LX_set_zone_calibration_data(
+ VL53LX_zone_calibration_results_t *pzone_cal);
+
+
+ VL53LX_Error VL53LX_get_zone_calibration_data(
+ VL53LX_zone_calibration_results_t *pzone_cal);
+
+
+ VL53LX_Error VL53LX_get_lite_xtalk_margin_kcps(
+ int16_t *pxtalk_margin);
+
+
+ VL53LX_Error VL53LX_set_lite_xtalk_margin_kcps(
+ int16_t xtalk_margin);
+
+
+ VL53LX_Error VL53LX_get_histogram_xtalk_margin_kcps(
+ int16_t *pxtalk_margin);
+
+
+ VL53LX_Error VL53LX_set_histogram_xtalk_margin_kcps(
+ int16_t xtalk_margin);
+
+ VL53LX_Error VL53LX_get_histogram_phase_consistency(
+ uint8_t *pphase_consistency);
+
+
+
+ VL53LX_Error VL53LX_set_histogram_phase_consistency(
+ uint8_t phase_consistency);
+
+
+
+ VL53LX_Error VL53LX_get_histogram_event_consistency(
+ uint8_t *pevent_consistency);
+
+
+
+ VL53LX_Error VL53LX_set_histogram_event_consistency(
+ uint8_t event_consistency);
+
+
+
+ VL53LX_Error VL53LX_get_histogram_ambient_threshold_sigma(
+ uint8_t *pamb_thresh_sigma);
+
+
+
+ VL53LX_Error VL53LX_set_histogram_ambient_threshold_sigma(
+
+ uint8_t amb_thresh_sigma);
+
+
+
+ VL53LX_Error VL53LX_get_lite_min_count_rate(
+
+ uint16_t *plite_mincountrate);
+
+
+
+
+ VL53LX_Error VL53LX_set_lite_min_count_rate(
+
+ uint16_t lite_mincountrate);
+
+
+
+
+
+ VL53LX_Error VL53LX_get_lite_sigma_threshold(
+
+ uint16_t *plite_sigma);
+
+
+
+
+ VL53LX_Error VL53LX_set_lite_sigma_threshold(
+
+ uint16_t lite_sigma);
+
+
+
+
+ VL53LX_Error VL53LX_restore_xtalk_nvm_default();
+
+
+
+ VL53LX_Error VL53LX_get_xtalk_detect_config(
+
+ int16_t *pmax_valid_range_mm,
+ int16_t *pmin_valid_range_mm,
+ uint16_t *pmax_valid_rate_kcps,
+ uint16_t *pmax_sigma_mm);
+
+
+
+ VL53LX_Error VL53LX_set_xtalk_detect_config(
+
+ int16_t max_valid_range_mm,
+ int16_t min_valid_range_mm,
+ uint16_t max_valid_rate_kcps,
+ uint16_t max_sigma_mm);
+
+
+
+ VL53LX_Error VL53LX_get_target_order_mode(
+
+ VL53LX_HistTargetOrder *phist_target_order);
+
+
+
+ VL53LX_Error VL53LX_set_target_order_mode(
+
+ VL53LX_HistTargetOrder hist_target_order);
+
+
+
+
+ VL53LX_Error VL53LX_set_dmax_reflectance_values(
+
+ VL53LX_dmax_reflectance_array_t *pdmax_reflectances);
+
+
+
+ VL53LX_Error VL53LX_get_dmax_reflectance_values(
+
+ VL53LX_dmax_reflectance_array_t *pdmax_reflectances);
+
+
+
+ VL53LX_Error VL53LX_set_vhv_config(
+ uint8_t vhv_init_en,
+ uint8_t vhv_init_value);
+
+
+
+ VL53LX_Error VL53LX_get_vhv_config(
+ uint8_t *pvhv_init_en,
+ uint8_t *pvhv_init_value);
+
+
+
+ VL53LX_Error VL53LX_set_vhv_loopbound(
+
+ uint8_t vhv_loopbound);
+
+
+
+ VL53LX_Error VL53LX_get_vhv_loopbound(
+
+ uint8_t *pvhv_loopbound);
+
+
+
+ VL53LX_Error VL53LX_get_tuning_parm(
+ VL53LX_TuningParms tuning_parm_key,
+ int32_t *ptuning_parm_value);
+
+
+
+ VL53LX_Error VL53LX_set_tuning_parm(
+ VL53LX_TuningParms tuning_parm_key,
+ int32_t tuning_parm_value);
+
+
+
+ VL53LX_Error VL53LX_dynamic_xtalk_correction_enable();
+
+
+
+ VL53LX_Error VL53LX_dynamic_xtalk_correction_disable();
+
+
+
+
+ VL53LX_Error VL53LX_dynamic_xtalk_correction_apply_enable();
+
+
+
+ VL53LX_Error VL53LX_dynamic_xtalk_correction_apply_disable();
+
+
+
+ VL53LX_Error VL53LX_dynamic_xtalk_correction_single_apply_enable();
+
+
+
+ VL53LX_Error VL53LX_dynamic_xtalk_correction_single_apply_disable();
+
+
+
+ VL53LX_Error VL53LX_dynamic_xtalk_correction_set_scalers(
+ int16_t x_scaler_in,
+ int16_t y_scaler_in,
+ uint8_t user_scaler_set_in
+ );
+
+
+
+ VL53LX_Error VL53LX_get_current_xtalk_settings(
+
+ VL53LX_xtalk_calibration_results_t *pxtalk
+ );
+
+
+
+ VL53LX_Error VL53LX_set_current_xtalk_settings(
+
+ VL53LX_xtalk_calibration_results_t *pxtalk
+ );
+
+ VL53LX_Error VL53LX_load_patch();
+
+ VL53LX_Error VL53LX_unload_patch();
+
+
+ /* vl53lx_register_funcs.h */
+
+
+ VL53LX_Error VL53LX_i2c_encode_static_nvm_managed(
+ VL53LX_static_nvm_managed_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_static_nvm_managed(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_static_nvm_managed_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_static_nvm_managed(
+ VL53LX_static_nvm_managed_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_static_nvm_managed(
+ VL53LX_static_nvm_managed_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_customer_nvm_managed(
+ VL53LX_customer_nvm_managed_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_customer_nvm_managed(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_customer_nvm_managed_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_customer_nvm_managed(
+ VL53LX_customer_nvm_managed_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_customer_nvm_managed(
+ VL53LX_customer_nvm_managed_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_static_config(
+ VL53LX_static_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_static_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_static_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_static_config(
+ VL53LX_static_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_static_config(
+ VL53LX_static_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_general_config(
+ VL53LX_general_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_general_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_general_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_general_config(
+ VL53LX_general_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_general_config(
+ VL53LX_general_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_timing_config(
+ VL53LX_timing_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_timing_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_timing_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_timing_config(
+ VL53LX_timing_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_timing_config(
+ VL53LX_timing_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_dynamic_config(
+ VL53LX_dynamic_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_dynamic_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_dynamic_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_dynamic_config(
+ VL53LX_dynamic_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_dynamic_config(
+ VL53LX_dynamic_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_system_control(
+ VL53LX_system_control_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_system_control(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_system_control_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_system_control(
+ VL53LX_system_control_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_system_control(
+ VL53LX_system_control_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_system_results(
+ VL53LX_system_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_system_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_system_results(
+ VL53LX_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_system_results(
+ VL53LX_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_core_results(
+ VL53LX_core_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_core_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_core_results(
+ VL53LX_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_core_results(
+ VL53LX_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_debug_results(
+ VL53LX_debug_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_debug_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_debug_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_debug_results(
+ VL53LX_debug_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_debug_results(
+ VL53LX_debug_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_nvm_copy_data(
+ VL53LX_nvm_copy_data_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_nvm_copy_data(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_nvm_copy_data_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_nvm_copy_data(
+ VL53LX_nvm_copy_data_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_nvm_copy_data(
+ VL53LX_nvm_copy_data_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_prev_shadow_system_results(
+ VL53LX_prev_shadow_system_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_prev_shadow_system_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_prev_shadow_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_prev_shadow_system_results(
+ VL53LX_prev_shadow_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_prev_shadow_system_results(
+ VL53LX_prev_shadow_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_prev_shadow_core_results(
+ VL53LX_prev_shadow_core_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_prev_shadow_core_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_prev_shadow_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_prev_shadow_core_results(
+ VL53LX_prev_shadow_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_prev_shadow_core_results(
+ VL53LX_prev_shadow_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_patch_debug(
+ VL53LX_patch_debug_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_patch_debug(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_patch_debug_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_patch_debug(
+ VL53LX_patch_debug_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_patch_debug(
+ VL53LX_patch_debug_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_gph_general_config(
+ VL53LX_gph_general_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_gph_general_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_gph_general_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_gph_general_config(
+ VL53LX_gph_general_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_gph_general_config(
+ VL53LX_gph_general_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_gph_static_config(
+ VL53LX_gph_static_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_gph_static_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_gph_static_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_gph_static_config(
+ VL53LX_gph_static_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_gph_static_config(
+ VL53LX_gph_static_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_gph_timing_config(
+ VL53LX_gph_timing_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_gph_timing_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_gph_timing_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_gph_timing_config(
+ VL53LX_gph_timing_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_gph_timing_config(
+ VL53LX_gph_timing_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_fw_internal(
+ VL53LX_fw_internal_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_fw_internal(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_fw_internal_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_fw_internal(
+ VL53LX_fw_internal_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_fw_internal(
+ VL53LX_fw_internal_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_patch_results(
+ VL53LX_patch_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_patch_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_patch_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_patch_results(
+ VL53LX_patch_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_patch_results(
+ VL53LX_patch_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_shadow_system_results(
+ VL53LX_shadow_system_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_shadow_system_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_shadow_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_shadow_system_results(
+ VL53LX_shadow_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_shadow_system_results(
+ VL53LX_shadow_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_encode_shadow_core_results(
+ VL53LX_shadow_core_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53LX_i2c_decode_shadow_core_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_shadow_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_set_shadow_core_results(
+ VL53LX_shadow_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_get_shadow_core_results(
+ VL53LX_shadow_core_results_t *pdata);
+
+
+
+ /* vl53lx_nvm.h */
+
+
+ VL53LX_Error VL53LX_nvm_enable(
+ uint16_t nvm_ctrl_pulse_width,
+ int32_t nvm_power_up_delay_us);
+
+
+
+
+ VL53LX_Error VL53LX_nvm_read(
+ uint8_t start_address,
+ uint8_t count,
+ uint8_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_nvm_disable();
+
+
+
+
+ VL53LX_Error VL53LX_nvm_format_decode(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_decoded_nvm_data_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_nvm_decode_optical_centre(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_optical_centre_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_nvm_decode_cal_peak_rate_map(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_cal_peak_rate_map_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_nvm_decode_additional_offset_cal_data(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_additional_offset_cal_data_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_nvm_decode_fmt_range_results_data(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_decoded_nvm_fmt_range_data_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_nvm_decode_fmt_info(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_decoded_nvm_fmt_info_t *pdata);
+
+
+
+
+ VL53LX_Error VL53LX_nvm_decode_ews_info(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_decoded_nvm_ews_info_t *pdata);
+
+
+
+
+ void VL53LX_nvm_format_encode(
+ VL53LX_decoded_nvm_data_t *pnvm_info,
+ uint8_t *pnvm_data);
+
+
+
+
+ VL53LX_Error VL53LX_read_nvm_raw_data(
+ uint8_t start_address,
+ uint8_t count,
+ uint8_t *pnvm_raw_data);
+
+
+
+
+ VL53LX_Error VL53LX_read_nvm(
+ uint8_t nvm_format,
+ VL53LX_decoded_nvm_data_t *pnvm_info);
+
+
+
+
+ VL53LX_Error VL53LX_read_nvm_optical_centre(
+ VL53LX_optical_centre_t *pcentre);
+
+
+
+
+ VL53LX_Error VL53LX_read_nvm_cal_peak_rate_map(
+ VL53LX_cal_peak_rate_map_t *pcal_data);
+
+
+
+
+ VL53LX_Error VL53LX_read_nvm_additional_offset_cal_data(
+ VL53LX_additional_offset_cal_data_t *pcal_data);
+
+
+
+
+ VL53LX_Error VL53LX_read_nvm_fmt_range_results_data(
+ uint16_t range_results_select,
+ VL53LX_decoded_nvm_fmt_range_data_t *prange_data);
+
+
+
+ /* vl53lx_platform_ipp.h */
+
+ VL53LX_Error VL53LX_ipp_hist_process_data(
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_hist_post_process_config_t *ppost_cfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_xtalk_histogram_data_t *pxtalk,
+ uint8_t *pArea1,
+ uint8_t *pArea2,
+ uint8_t *phisto_merge_nb,
+ VL53LX_range_results_t *presults);
+
+ VL53LX_Error VL53LX_ipp_hist_ambient_dmax(
+ uint16_t target_reflectance,
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ int16_t *pambient_dmax_mm);
+
+ VL53LX_Error VL53LX_ipp_xtalk_calibration_process_data(
+ VL53LX_xtalk_range_results_t *pxtalk_ranges,
+ VL53LX_xtalk_histogram_data_t *pxtalk_shape,
+ VL53LX_xtalk_calibration_results_t *pxtalk_cal);
+
+ VL53LX_Error VL53LX_ipp_hist_xtalk_correction(
+ VL53LX_customer_nvm_managed_t *pcustomer,
+ VL53LX_dynamic_config_t *pdyn_cfg,
+ VL53LX_xtalk_histogram_data_t *pxtalk_shape,
+ VL53LX_histogram_bin_data_t *pip_hist_data,
+ VL53LX_histogram_bin_data_t *pop_hist_data,
+ VL53LX_histogram_bin_data_t *pxtalk_count_data);
+
+ VL53LX_Error VL53LX_ipp_generate_dual_reflectance_xtalk_samples(
+ VL53LX_xtalk_range_results_t *pxtalk_results,
+ uint16_t expected_target_distance_mm,
+ uint8_t higher_reflectance,
+ VL53LX_histogram_bin_data_t *pxtalk_avg_samples);
+
+
+ /* vl53lx_hist_funcs.h */
+
+
+ VL53LX_Error VL53LX_hist_process_data(
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_hist_post_process_config_t *ppost_cfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_xtalk_histogram_data_t *pxtalk,
+ uint8_t *pArea1,
+ uint8_t *pArea2,
+ VL53LX_range_results_t *presults,
+ uint8_t *HistMergeNumber);
+
+
+ VL53LX_Error VL53LX_hist_ambient_dmax(
+ uint16_t target_reflectance,
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ int16_t *pambient_dmax_mm);
+
+
+ /* vl53lx_core_support.h */
+
+ uint32_t VL53LX_calc_pll_period_us(
+ uint16_t fast_osc_frequency);
+
+ uint32_t VL53LX_duration_maths(
+ uint32_t pll_period_us,
+ uint32_t vcsel_parm_pclks,
+ uint32_t window_vclks,
+ uint32_t periods_elapsed_mclks);
+
+ uint32_t VL53LX_events_per_spad_maths(
+ int32_t VL53LX_p_010,
+ uint16_t num_spads,
+ uint32_t duration);
+
+ uint32_t VL53LX_isqrt(
+ uint32_t num);
+
+ void VL53LX_hist_calc_zero_distance_phase(
+ VL53LX_histogram_bin_data_t *pdata);
+
+ void VL53LX_hist_estimate_ambient_from_thresholded_bins(
+ int32_t ambient_threshold_sigma,
+ VL53LX_histogram_bin_data_t *pdata);
+
+ void VL53LX_hist_remove_ambient_bins(
+ VL53LX_histogram_bin_data_t *pdata);
+
+ uint32_t VL53LX_calc_pll_period_mm(
+ uint16_t fast_osc_frequency);
+
+ uint16_t VL53LX_rate_maths(
+ int32_t VL53LX_p_018,
+ uint32_t time_us);
+
+ uint16_t VL53LX_rate_per_spad_maths(
+ uint32_t frac_bits,
+ uint32_t peak_count_rate,
+ uint16_t num_spads,
+ uint32_t max_output_value);
+
+ int32_t VL53LX_range_maths(
+ uint16_t fast_osc_frequency,
+ uint16_t VL53LX_p_014,
+ uint16_t zero_distance_phase,
+ uint8_t fractional_bits,
+ int32_t gain_factor,
+ int32_t range_offset_mm);
+
+ uint8_t VL53LX_decode_vcsel_period(
+ uint8_t vcsel_period_reg);
+
+ void VL53LX_copy_xtalk_bin_data_to_histogram_data_struct(
+ VL53LX_xtalk_histogram_shape_t *pxtalk,
+ VL53LX_histogram_bin_data_t *phist);
+
+ void VL53LX_init_histogram_bin_data_struct(
+ int32_t bin_value,
+ uint16_t VL53LX_p_021,
+ VL53LX_histogram_bin_data_t *pdata);
+
+ void VL53LX_decode_row_col(
+ uint8_t spad_number,
+ uint8_t *prow,
+ uint8_t *pcol);
+
+ void VL53LX_hist_find_min_max_bin_values(
+ VL53LX_histogram_bin_data_t *pdata);
+
+ void VL53LX_hist_estimate_ambient_from_ambient_bins(
+ VL53LX_histogram_bin_data_t *pdata);
+
+
+
+ /* vl53lx_core.h */
+
+ void VL53LX_init_version();
+
+ void VL53LX_init_ll_driver_state(
+ VL53LX_DeviceState ll_state);
+
+ VL53LX_Error VL53LX_update_ll_driver_rd_state();
+
+ VL53LX_Error VL53LX_check_ll_driver_rd_state();
+
+ VL53LX_Error VL53LX_update_ll_driver_cfg_state();
+
+ void VL53LX_copy_rtn_good_spads_to_buffer(
+ VL53LX_nvm_copy_data_t *pdata,
+ uint8_t *pbuffer);
+
+ void VL53LX_init_system_results(
+ VL53LX_system_results_t *pdata);
+
+ void V53L1_init_zone_results_structure(
+ uint8_t active_zones,
+ VL53LX_zone_results_t *pdata);
+
+ void V53L1_init_zone_dss_configs();
+
+ void VL53LX_init_histogram_config_structure(
+ uint8_t even_bin0,
+ uint8_t even_bin1,
+ uint8_t even_bin2,
+ uint8_t even_bin3,
+ uint8_t even_bin4,
+ uint8_t even_bin5,
+ uint8_t odd_bin0,
+ uint8_t odd_bin1,
+ uint8_t odd_bin2,
+ uint8_t odd_bin3,
+ uint8_t odd_bin4,
+ uint8_t odd_bin5,
+ VL53LX_histogram_config_t *pdata);
+
+ void VL53LX_init_histogram_multizone_config_structure(
+ uint8_t even_bin0,
+ uint8_t even_bin1,
+ uint8_t even_bin2,
+ uint8_t even_bin3,
+ uint8_t even_bin4,
+ uint8_t even_bin5,
+ uint8_t odd_bin0,
+ uint8_t odd_bin1,
+ uint8_t odd_bin2,
+ uint8_t odd_bin3,
+ uint8_t odd_bin4,
+ uint8_t odd_bin5,
+ VL53LX_histogram_config_t *pdata);
+
+ void VL53LX_init_xtalk_bin_data_struct(
+ uint32_t bin_value,
+ uint16_t VL53LX_p_021,
+ VL53LX_xtalk_histogram_shape_t *pdata);
+
+ void VL53LX_i2c_encode_uint16_t(
+ uint16_t ip_value,
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ uint16_t VL53LX_i2c_decode_uint16_t(
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ void VL53LX_i2c_encode_int16_t(
+ int16_t ip_value,
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ int16_t VL53LX_i2c_decode_int16_t(
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ void VL53LX_i2c_encode_uint32_t(
+ uint32_t ip_value,
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ uint32_t VL53LX_i2c_decode_uint32_t(
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ uint32_t VL53LX_i2c_decode_with_mask(
+ uint16_t count,
+ uint8_t *pbuffer,
+ uint32_t bit_mask,
+ uint32_t down_shift,
+ uint32_t offset);
+
+ void VL53LX_i2c_encode_int32_t(
+ int32_t ip_value,
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ int32_t VL53LX_i2c_decode_int32_t(
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ VL53LX_Error VL53LX_start_test(
+ uint8_t test_mode__ctrl);
+
+ VL53LX_Error VL53LX_set_firmware_enable_register(uint8_t value);
+
+ VL53LX_Error VL53LX_enable_firmware();
+
+ VL53LX_Error VL53LX_disable_firmware();
+
+ VL53LX_Error VL53LX_set_powerforce_register(
+ uint8_t value);
+
+ VL53LX_Error VL53LX_enable_powerforce();
+
+ VL53LX_Error VL53LX_disable_powerforce();
+
+ VL53LX_Error VL53LX_clear_interrupt();
+
+ VL53LX_Error VL53LX_force_shadow_stream_count_to_zero();
+
+ uint32_t VL53LX_calc_macro_period_us(
+ uint16_t fast_osc_frequency,
+ uint8_t VL53LX_p_005);
+
+ uint16_t VL53LX_calc_range_ignore_threshold(
+ uint32_t central_rate,
+ int16_t x_gradient,
+ int16_t y_gradient,
+ uint8_t rate_mult);
+
+ uint32_t VL53LX_calc_timeout_mclks(
+ uint32_t timeout_us,
+ uint32_t macro_period_us);
+
+ uint16_t VL53LX_calc_encoded_timeout(
+ uint32_t timeout_us,
+ uint32_t macro_period_us);
+
+ uint32_t VL53LX_calc_timeout_us(
+ uint32_t timeout_mclks,
+ uint32_t macro_period_us);
+
+ uint32_t VL53LX_calc_decoded_timeout_us(
+ uint16_t timeout_encoded,
+ uint32_t macro_period_us);
+
+ uint16_t VL53LX_encode_timeout(
+ uint32_t timeout_mclks);
+
+ uint32_t VL53LX_decode_timeout(
+ uint16_t encoded_timeout);
+
+ VL53LX_Error VL53LX_calc_timeout_register_values(
+ uint32_t phasecal_config_timeout_us,
+ uint32_t mm_config_timeout_us,
+ uint32_t range_config_timeout_us,
+ uint16_t fast_osc_frequency,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming);
+
+ uint8_t VL53LX_encode_vcsel_period(
+ uint8_t VL53LX_p_030);
+
+ uint32_t VL53LX_decode_unsigned_integer(
+ uint8_t *pbuffer,
+ uint8_t no_of_bytes);
+
+ void VL53LX_encode_unsigned_integer(
+ uint32_t ip_value,
+ uint8_t no_of_bytes,
+ uint8_t *pbuffer);
+
+ VL53LX_Error VL53LX_hist_copy_and_scale_ambient_info(
+ VL53LX_zone_hist_info_t *pidata,
+ VL53LX_histogram_bin_data_t *podata);
+
+ void VL53LX_hist_get_bin_sequence_config(
+ VL53LX_histogram_bin_data_t *pdata);
+
+ VL53LX_Error VL53LX_hist_phase_consistency_check(
+ VL53LX_zone_hist_info_t *phist_prev,
+ VL53LX_zone_objects_t *prange_prev,
+ VL53LX_range_results_t *prange_curr);
+
+ VL53LX_Error VL53LX_hist_events_consistency_check(
+ uint8_t event_sigma,
+ uint16_t min_effective_spad_count,
+ VL53LX_zone_hist_info_t *phist_prev,
+ VL53LX_object_data_t *prange_prev,
+ VL53LX_range_data_t *prange_curr,
+ int32_t *pevents_tolerance,
+ int32_t *pevents_delta,
+ VL53LX_DeviceError *prange_status);
+
+ VL53LX_Error VL53LX_hist_merged_pulse_check(
+ int16_t min_max_tolerance_mm,
+ VL53LX_range_data_t *pdata,
+ VL53LX_DeviceError *prange_status);
+
+ VL53LX_Error VL53LX_hist_xmonitor_consistency_check(
+ VL53LX_zone_hist_info_t *phist_prev,
+ VL53LX_zone_objects_t *prange_prev,
+ VL53LX_range_data_t *prange_curr);
+
+ VL53LX_Error VL53LX_hist_wrap_dmax(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_histogram_bin_data_t *pcurrent,
+ int16_t *pwrap_dmax_mm);
+
+ void VL53LX_hist_combine_mm1_mm2_offsets(
+ int16_t mm1_offset_mm,
+ int16_t mm2_offset_mm,
+ uint8_t encoded_mm_roi_centre,
+ uint8_t encoded_mm_roi_size,
+ uint8_t encoded_zone_centre,
+ uint8_t encoded_zone_size,
+ VL53LX_additional_offset_cal_data_t *pcal_data,
+ uint8_t *pgood_spads,
+ uint16_t aperture_attenuation,
+ int16_t *prange_offset_mm);
+
+ VL53LX_Error VL53LX_hist_xtalk_extract_calc_window(
+ int16_t target_distance_mm,
+ uint16_t target_width_oversize,
+ VL53LX_histogram_bin_data_t *phist_bins,
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data);
+
+ VL53LX_Error VL53LX_hist_xtalk_extract_calc_event_sums(
+ VL53LX_histogram_bin_data_t *phist_bins,
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data);
+
+ VL53LX_Error VL53LX_hist_xtalk_extract_calc_rate_per_spad(
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data);
+
+ VL53LX_Error VL53LX_hist_xtalk_extract_calc_shape(
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_shape);
+
+ VL53LX_Error VL53LX_hist_xtalk_shape_model(
+ uint16_t events_per_bin,
+ uint16_t pulse_centre,
+ uint16_t pulse_width,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_shape);
+
+ uint16_t VL53LX_hist_xtalk_shape_model_interp(
+ uint16_t events_per_bin,
+ uint32_t phase_delta);
+
+ void VL53LX_spad_number_to_byte_bit_index(
+ uint8_t spad_number,
+ uint8_t *pbyte_index,
+ uint8_t *pbit_index,
+ uint8_t *pbit_mask);
+
+ void VL53LX_encode_row_col(
+ uint8_t row,
+ uint8_t col,
+ uint8_t *pspad_number);
+
+ void VL53LX_decode_zone_size(
+ uint8_t encoded_xy_size,
+ uint8_t *pwidth,
+ uint8_t *pheight);
+
+ void VL53LX_encode_zone_size(
+ uint8_t width,
+ uint8_t height,
+ uint8_t *pencoded_xy_size);
+
+ void VL53LX_decode_zone_limits(
+ uint8_t encoded_xy_centre,
+ uint8_t encoded_xy_size,
+ int16_t *px_ll,
+ int16_t *py_ll,
+ int16_t *px_ur,
+ int16_t *py_ur);
+
+ uint8_t VL53LX_is_aperture_location(
+ uint8_t row,
+ uint8_t col);
+
+ void VL53LX_calc_max_effective_spads(
+ uint8_t encoded_zone_centre,
+ uint8_t encoded_zone_size,
+ uint8_t *pgood_spads,
+ uint16_t aperture_attenuation,
+ uint16_t *pmax_effective_spads);
+
+ void VL53LX_calc_mm_effective_spads(
+ uint8_t encoded_mm_roi_centre,
+ uint8_t encoded_mm_roi_size,
+ uint8_t encoded_zone_centre,
+ uint8_t encoded_zone_size,
+ uint8_t *pgood_spads,
+ uint16_t aperture_attenuation,
+ uint16_t *pmm_inner_effective_spads,
+ uint16_t *pmm_outer_effective_spads);
+
+ void VL53LX_hist_copy_results_to_sys_and_core(
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_range_results_t *phist,
+ VL53LX_system_results_t *psys,
+ VL53LX_core_results_t *pcore);
+
+ VL53LX_Error VL53LX_sum_histogram_data(
+ VL53LX_histogram_bin_data_t *phist_input,
+ VL53LX_histogram_bin_data_t *phist_output);
+
+ VL53LX_Error VL53LX_avg_histogram_data(
+ uint8_t no_of_samples,
+ VL53LX_histogram_bin_data_t *phist_sum,
+ VL53LX_histogram_bin_data_t *phist_avg);
+
+ VL53LX_Error VL53LX_save_cfg_data();
+
+ VL53LX_Error VL53LX_dynamic_zone_update(
+ VL53LX_range_results_t *presults);
+
+ VL53LX_Error VL53LX_update_internal_stream_counters(
+ uint8_t external_stream_count,
+ uint8_t *pinternal_stream_count,
+ uint8_t *pinternal_stream_count_val
+ );
+
+ VL53LX_Error VL53LX_multizone_hist_bins_update();
+
+ VL53LX_Error VL53LX_set_histogram_multizone_initial_bin_config(
+ VL53LX_zone_config_t *pzone_cfg,
+ VL53LX_histogram_config_t *phist_cfg,
+ VL53LX_histogram_config_t *pmulti_hist
+ );
+
+ uint8_t VL53LX_encode_GPIO_interrupt_config(
+ VL53LX_GPIO_interrupt_config_t *pintconf);
+
+ VL53LX_GPIO_interrupt_config_t VL53LX_decode_GPIO_interrupt_config(
+ uint8_t system__interrupt_config);
+
+ VL53LX_Error VL53LX_set_GPIO_distance_threshold(
+ uint16_t threshold_high,
+ uint16_t threshold_low);
+
+ VL53LX_Error VL53LX_set_GPIO_rate_threshold(
+ uint16_t threshold_high,
+ uint16_t threshold_low);
+
+ VL53LX_Error VL53LX_set_GPIO_thresholds_from_struct(
+ VL53LX_GPIO_interrupt_config_t *pintconf);
+
+ VL53LX_Error VL53LX_set_ref_spad_char_config(
+ uint8_t vcsel_period_a,
+ uint32_t phasecal_timeout_us,
+ uint16_t total_rate_target_mcps,
+ uint16_t max_count_rate_rtn_limit_mcps,
+ uint16_t min_count_rate_rtn_limit_mcps,
+ uint16_t fast_osc_frequency);
+
+ VL53LX_Error VL53LX_set_ssc_config(
+ VL53LX_ssc_config_t *pssc_cfg,
+ uint16_t fast_osc_frequency);
+
+ VL53LX_Error VL53LX_get_spad_rate_data(
+ VL53LX_spad_rate_data_t *pspad_rates);
+
+ uint32_t VL53LX_calc_crosstalk_plane_offset_with_margin(
+ uint32_t plane_offset_kcps,
+ int16_t margin_offset_kcps);
+
+ VL53LX_Error VL53LX_low_power_auto_data_init();
+
+ VL53LX_Error VL53LX_low_power_auto_data_stop_range();
+
+ VL53LX_Error VL53LX_dynamic_xtalk_correction_calc_required_samples();
+
+ VL53LX_Error VL53LX_dynamic_xtalk_correction_calc_new_xtalk(
+ uint32_t xtalk_offset_out,
+ VL53LX_smudge_corrector_config_t *pconfig,
+ VL53LX_smudge_corrector_data_t *pout,
+ uint8_t add_smudge,
+ uint8_t soft_update
+ );
+
+ VL53LX_Error VL53LX_dynamic_xtalk_correction_corrector();
+
+ VL53LX_Error VL53LX_dynamic_xtalk_correction_data_init();
+
+ VL53LX_Error VL53LX_dynamic_xtalk_correction_output_init(
+ VL53LX_LLDriverResults_t *pres
+ );
+
+ VL53LX_Error VL53LX_xtalk_cal_data_init();
+
+ VL53LX_Error VL53LX_config_low_power_auto_mode(
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_low_power_auto_data_t *plpadata
+ );
+
+ VL53LX_Error VL53LX_low_power_auto_setup_manual_calibration();
+
+ VL53LX_Error VL53LX_low_power_auto_update_DSS();
+
+ VL53LX_Error VL53LX_compute_histo_merge_nb(uint8_t *histo_merge_nb);
+
+
+
+ /* vl53lx_wait.h */
+
+ VL53LX_Error VL53LX_wait_for_boot_completion();
+
+ VL53LX_Error VL53LX_wait_for_firmware_ready();
+
+ VL53LX_Error VL53LX_wait_for_range_completion();
+
+ VL53LX_Error VL53LX_wait_for_test_completion();
+
+ VL53LX_Error VL53LX_is_boot_complete(uint8_t *pready);
+
+ VL53LX_Error VL53LX_is_firmware_ready(uint8_t *pready);
+
+ VL53LX_Error VL53LX_is_new_data_ready(uint8_t *pready);
+
+ VL53LX_Error VL53LX_poll_for_boot_completion(uint32_t timeout_ms);
+
+ VL53LX_Error VL53LX_poll_for_firmware_ready(uint32_t timeout_ms);
+
+ VL53LX_Error VL53LX_poll_for_range_completion(uint32_t timeout_ms);
+
+
+ /* vl53lx_zone_presets.h */
+
+ VL53LX_Error VL53LX_init_zone_config_structure(
+ uint8_t x_off,
+ uint8_t x_inc,
+ uint8_t x_zones,
+ uint8_t y_off,
+ uint8_t y_inc,
+ uint8_t y_zones,
+ uint8_t width,
+ uint8_t height,
+ VL53LX_zone_config_t *pdata);
+
+
+ VL53LX_Error VL53LX_zone_preset_xtalk_planar(
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_zone_config_t *pzone_cfg);
+
+
+
+ VL53LX_Error VL53LX_init_zone_config_histogram_bins(
+ VL53LX_zone_config_t *pdata);
+
+
+ /* vl53lx_api_preset_modes.h */
+
+ VL53LX_Error VL53LX_init_refspadchar_config_struct(
+ VL53LX_refspadchar_config_t *pdata);
+
+ VL53LX_Error VL53LX_init_ssc_config_struct(
+ VL53LX_ssc_config_t *pdata);
+
+ VL53LX_Error VL53LX_init_xtalk_config_struct(
+ VL53LX_customer_nvm_managed_t *pnvm,
+ VL53LX_xtalk_config_t *pdata);
+
+ VL53LX_Error VL53LX_init_xtalk_extract_config_struct(
+ VL53LX_xtalkextract_config_t *pdata);
+
+ VL53LX_Error VL53LX_init_offset_cal_config_struct(
+ VL53LX_offsetcal_config_t *pdata);
+
+ VL53LX_Error VL53LX_init_zone_cal_config_struct(
+ VL53LX_zonecal_config_t *pdata);
+
+ VL53LX_Error VL53LX_init_hist_post_process_config_struct(
+ uint8_t xtalk_compensation_enable,
+ VL53LX_hist_post_process_config_t *pdata);
+
+ VL53LX_Error VL53LX_init_dmax_calibration_data_struct(
+ VL53LX_dmax_calibration_data_t *pdata);
+
+ VL53LX_Error VL53LX_init_tuning_parm_storage_struct(
+ VL53LX_tuning_parm_storage_t *pdata);
+
+ VL53LX_Error VL53LX_init_hist_gen3_dmax_config_struct(
+ VL53LX_hist_gen3_dmax_config_t *pdata);
+
+ VL53LX_Error VL53LX_preset_mode_standard_ranging(
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_standard_ranging_short_range(
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_standard_ranging_long_range(
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_standard_ranging_mm1_cal(
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_standard_ranging_mm2_cal(
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_timed_ranging(
+
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_timed_ranging_short_range(
+
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_timed_ranging_long_range(
+
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_low_power_auto_ranging(
+
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg,
+ VL53LX_low_power_auto_data_t *plpadata);
+
+ VL53LX_Error VL53LX_preset_mode_low_power_auto_short_ranging(
+
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg,
+ VL53LX_low_power_auto_data_t *plpadata);
+
+ VL53LX_Error VL53LX_preset_mode_low_power_auto_long_ranging(
+
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg,
+ VL53LX_low_power_auto_data_t *plpadata);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_ranging(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_ranging_with_mm1(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_ranging_with_mm2(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_ranging_mm1_cal(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_ranging_mm2_cal(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_ranging_ref(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_characterisation(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_xtalk_planar(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_xtalk_mm1(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_xtalk_mm2(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_multizone(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_multizone_short_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_multizone_long_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_ranging_short_timing(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_long_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_medium_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_short_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_special_histogram_short_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_long_range_mm1(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_long_range_mm2(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_medium_range_mm1(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_medium_range_mm2(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_short_range_mm1(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_histogram_short_range_mm2(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_olt(
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53LX_preset_mode_singleshot_ranging(
+
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ void VL53LX_copy_hist_cfg_to_static_cfg(
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic);
+
+ void VL53LX_copy_hist_bins_to_static_cfg(
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_timing_config_t *ptiming);
+
+
+ /* vl53lx_silicon_core.h */
+ VL53LX_Error VL53LX_is_firmware_ready_silicon(
+ uint8_t *pready);
+
+
+ /* vl53lx_hist_core.h */
+
+ void VL53LX_f_022(
+ uint8_t VL53LX_p_032,
+ uint8_t filter_woi,
+ VL53LX_histogram_bin_data_t *pbins,
+ int32_t *pa,
+ int32_t *pb,
+ int32_t *pc);
+
+ VL53LX_Error VL53LX_f_018(
+ uint16_t vcsel_width,
+ uint16_t fast_osc_frequency,
+ uint32_t total_periods_elapsed,
+ uint16_t VL53LX_p_004,
+ VL53LX_range_data_t *pdata);
+
+ void VL53LX_f_019(
+ uint16_t gain_factor,
+ int16_t range_offset_mm,
+ VL53LX_range_data_t *pdata);
+
+ void VL53LX_f_029(
+ VL53LX_histogram_bin_data_t *pdata,
+ int32_t ambient_estimate_counts_per_bin);
+
+ void VL53LX_f_005(
+ VL53LX_histogram_bin_data_t *pxtalk,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_histogram_bin_data_t *pxtalk_realigned);
+
+ int8_t VL53LX_f_030(
+ VL53LX_histogram_bin_data_t *pdata1,
+ VL53LX_histogram_bin_data_t *pdata2);
+
+ VL53LX_Error VL53LX_f_031(
+ VL53LX_histogram_bin_data_t *pidata,
+ VL53LX_histogram_bin_data_t *podata);
+
+
+ /* vl53lx_xtalk.h */
+
+ VL53LX_Error VL53LX_xtalk_calibration_process_data(
+ VL53LX_xtalk_range_results_t *pxtalk_ranges,
+ VL53LX_xtalk_histogram_data_t *pxtalk_shape,
+ VL53LX_xtalk_calibration_results_t *pxtalk_cal);
+
+ VL53LX_Error VL53LX_f_041(
+ VL53LX_histogram_bin_data_t *pavg_bins,
+ VL53LX_xtalk_algo_data_t *pdebug,
+ VL53LX_xtalk_range_data_t *pxtalk_data,
+ uint8_t histogram__window_start,
+ uint8_t histogram__window_end,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_shape);
+
+ VL53LX_Error VL53LX_f_039(
+ VL53LX_xtalk_range_results_t *pxtalk_results,
+ VL53LX_xtalk_algo_data_t *pdebug,
+ int16_t *xgradient,
+ int16_t *ygradient);
+
+ VL53LX_Error VL53LX_f_040(
+ VL53LX_xtalk_range_data_t *pxtalk_data,
+ VL53LX_xtalk_algo_data_t *pdebug,
+ uint32_t *xtalk_mean_offset_kcps);
+
+ VL53LX_Error VL53LX_f_045(
+ VL53LX_histogram_bin_data_t *phist_data,
+ VL53LX_xtalk_range_data_t *pxtalk_data,
+ VL53LX_xtalk_algo_data_t *pdebug,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_histo);
+
+ VL53LX_Error VL53LX_f_032(
+ uint32_t mean_offset,
+ int16_t xgradient,
+ int16_t ygradient,
+ int8_t centre_offset_x,
+ int8_t centre_offset_y,
+ uint16_t roi_effective_spads,
+ uint8_t roi_centre_spad,
+ uint8_t roi_xy_size,
+ uint32_t *xtalk_rate_kcps);
+
+ VL53LX_Error VL53LX_f_033(
+ VL53LX_histogram_bin_data_t *phist_data,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_data,
+ uint32_t xtalk_rate_kcps,
+ VL53LX_histogram_bin_data_t *pxtalkcount_data);
+
+ VL53LX_Error VL53LX_f_047(
+ VL53LX_histogram_bin_data_t *phist_data,
+ VL53LX_histogram_bin_data_t *pxtalk_data,
+ uint8_t xtalk_bin_offset);
+
+ VL53LX_Error VL53LX_f_044(
+ VL53LX_histogram_bin_data_t *pxtalk_data,
+ uint32_t amb_threshold,
+ uint8_t VL53LX_p_019,
+ uint8_t VL53LX_p_024);
+
+ VL53LX_Error VL53LX_f_046(
+ VL53LX_customer_nvm_managed_t *pcustomer,
+ VL53LX_dynamic_config_t *pdyn_cfg,
+ VL53LX_xtalk_histogram_data_t *pxtalk_shape,
+ VL53LX_histogram_bin_data_t *pip_hist_data,
+ VL53LX_histogram_bin_data_t *pop_hist_data,
+ VL53LX_histogram_bin_data_t *pxtalk_count_data);
+
+ VL53LX_Error VL53LX_f_043(
+ uint8_t sigma_mult,
+ int32_t VL53LX_p_028,
+ uint32_t *ambient_noise);
+
+
+ VL53LX_Error VL53LX_generate_dual_reflectance_xtalk_samples(
+ VL53LX_xtalk_range_results_t *pxtalk_results,
+ uint16_t expected_target_distance_mm,
+ uint8_t higher_reflectance,
+ VL53LX_histogram_bin_data_t *pxtalk_avg_samples
+ );
+
+ VL53LX_Error VL53LX_f_042(
+ VL53LX_histogram_bin_data_t *pzone_avg_1,
+ VL53LX_histogram_bin_data_t *pzone_avg_2,
+ uint16_t expected_target_distance,
+ uint8_t subtract_amb,
+ uint8_t higher_reflectance,
+ VL53LX_histogram_bin_data_t *pxtalk_output
+ );
+
+
+ /* vl53lx_sigma_estimate.h */
+
+ uint16_t VL53LX_f_034(
+ uint8_t sigma_estimator__effective_pulse_width_ns,
+ uint8_t sigma_estimator__effective_ambient_width_ns,
+ uint8_t sigma_estimator__sigma_ref_mm,
+ VL53LX_range_data_t *pdata);
+
+ uint16_t VL53LX_f_036(
+ uint8_t sigma_estimator__effective_pulse_width_ns,
+ uint8_t sigma_estimator__effective_ambient_width_ns,
+ uint8_t sigma_estimator__sigma_ref_mm,
+ VL53LX_range_data_t *pdata);
+
+ VL53LX_Error VL53LX_f_037(
+ uint8_t sigma_estimator__sigma_ref_mm,
+ uint32_t VL53LX_p_007,
+ uint32_t VL53LX_p_032,
+ uint32_t VL53LX_p_001,
+ uint32_t a_zp,
+ uint32_t c_zp,
+ uint32_t bx,
+ uint32_t ax_zp,
+ uint32_t cx_zp,
+ uint32_t VL53LX_p_028,
+ uint16_t fast_osc_frequency,
+ uint16_t *psigma_est);
+
+ VL53LX_Error VL53LX_f_023(
+ uint8_t sigma_estimator__sigma_ref_mm,
+ uint32_t VL53LX_p_007,
+ uint32_t VL53LX_p_032,
+ uint32_t VL53LX_p_001,
+ uint32_t a_zp,
+ uint32_t c_zp,
+ uint32_t bx,
+ uint32_t ax_zp,
+ uint32_t cx_zp,
+ uint32_t VL53LX_p_028,
+ uint16_t fast_osc_frequency,
+ uint16_t *psigma_est);
+
+ uint32_t VL53LX_f_038(
+ uint64_t VL53LX_p_007,
+ uint32_t size
+ );
+
+ uint32_t VL53LX_f_035(
+ uint32_t VL53LX_p_007,
+ uint32_t VL53LX_p_032);
+
+
+ /* vl53lx_hist_algos_gen3.h */
+
+ void VL53LX_f_003(
+ VL53LX_hist_gen3_algo_private_data_t *palgo);
+
+ VL53LX_Error VL53LX_f_004(
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_hist_post_process_config_t *ppost_cfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_histogram_bin_data_t *pxtalk,
+ VL53LX_hist_gen3_algo_private_data_t *palgo,
+ VL53LX_hist_gen3_dmax_private_data_t *pdmax_algo,
+ VL53LX_range_results_t *presults);
+
+ VL53LX_Error VL53LX_f_006(
+ uint16_t ambient_threshold_events_scaler,
+ int32_t ambient_threshold_sigma,
+ int32_t min_ambient_threshold_events,
+ uint8_t algo__crosstalk_compensation_enable,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_histogram_bin_data_t *pxtalk,
+ VL53LX_hist_gen3_algo_private_data_t *palgo);
+
+
+ VL53LX_Error VL53LX_f_007(
+ VL53LX_hist_gen3_algo_private_data_t *palgo);
+
+ VL53LX_Error VL53LX_f_008(
+ VL53LX_hist_gen3_algo_private_data_t *palgo);
+
+ VL53LX_Error VL53LX_f_009(
+ VL53LX_hist_gen3_algo_private_data_t *palgo);
+
+ VL53LX_Error VL53LX_f_016(
+ VL53LX_HistTargetOrder target_order,
+ VL53LX_hist_gen3_algo_private_data_t *palgo);
+
+ VL53LX_Error VL53LX_f_010(
+ uint8_t pulse_no,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_hist_gen3_algo_private_data_t *palgo);
+
+ VL53LX_Error VL53LX_f_015(
+ uint8_t pulse_no,
+ uint8_t clip_events,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_hist_gen3_algo_private_data_t *palgo);
+
+ VL53LX_Error VL53LX_f_020(
+ int16_t VL53LX_p_019,
+ int16_t VL53LX_p_024,
+ uint8_t VL53LX_p_030,
+ uint8_t clip_events,
+ VL53LX_histogram_bin_data_t *pbins,
+ uint32_t *pphase);
+
+
+ VL53LX_Error VL53LX_f_011(
+ uint8_t pulse_no,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_hist_gen3_algo_private_data_t *palgo,
+ int32_t pad_value,
+ VL53LX_histogram_bin_data_t *ppulse);
+
+ VL53LX_Error VL53LX_f_012(
+ uint8_t pulse_no,
+ VL53LX_histogram_bin_data_t *ppulse,
+ VL53LX_hist_gen3_algo_private_data_t *palgo);
+
+ VL53LX_Error VL53LX_f_013(
+ uint8_t pulse_no,
+ uint16_t noise_threshold,
+ VL53LX_hist_gen3_algo_private_data_t *palgo);
+
+ VL53LX_Error VL53LX_f_021(
+ uint8_t bin,
+ int32_t filta0,
+ int32_t filta1,
+ uint8_t VL53LX_p_030,
+ uint32_t *pmedian_phase);
+
+
+ VL53LX_Error VL53LX_f_014(
+ uint8_t bin,
+ uint8_t sigma_estimator__sigma_ref_mm,
+ uint8_t VL53LX_p_030,
+ uint8_t VL53LX_p_051,
+ uint8_t crosstalk_compensation_enable,
+ VL53LX_histogram_bin_data_t *phist_data_ap,
+ VL53LX_histogram_bin_data_t *phist_data_zp,
+ VL53LX_histogram_bin_data_t *pxtalk_hist,
+ uint16_t *psigma_est);
+
+
+ void VL53LX_f_017(
+ uint8_t range_id,
+ uint8_t valid_phase_low,
+ uint8_t valid_phase_high,
+ uint16_t sigma_thres,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_hist_pulse_data_t *ppulse,
+ VL53LX_range_data_t *pdata);
+
+
+ /* vl53lx_hist_algos_gen4.h */
+
+ void VL53LX_f_024(
+ VL53LX_hist_gen4_algo_filtered_data_t *palgo);
+
+ VL53LX_Error VL53LX_f_025(
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_hist_post_process_config_t *ppost_cfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_histogram_bin_data_t *pxtalk,
+ VL53LX_hist_gen3_algo_private_data_t *palgo,
+ VL53LX_hist_gen4_algo_filtered_data_t *pfiltered,
+ VL53LX_hist_gen3_dmax_private_data_t *pdmax_algo,
+ VL53LX_range_results_t *presults);
+
+ VL53LX_Error VL53LX_f_026(
+ uint8_t pulse_no,
+ VL53LX_histogram_bin_data_t *ppulse,
+ VL53LX_hist_gen3_algo_private_data_t *palgo,
+ VL53LX_hist_gen4_algo_filtered_data_t *pfiltered);
+
+ VL53LX_Error VL53LX_f_027(
+ uint8_t pulse_no,
+ uint16_t noise_threshold,
+ VL53LX_hist_gen4_algo_filtered_data_t *pfiltered,
+ VL53LX_hist_gen3_algo_private_data_t *palgo);
+
+ VL53LX_Error VL53LX_f_028(
+ uint8_t bin,
+ int32_t VL53LX_p_007,
+ int32_t VL53LX_p_032,
+ int32_t VL53LX_p_001,
+ int32_t ax,
+ int32_t bx,
+ int32_t cx,
+ int32_t VL53LX_p_028,
+ uint8_t VL53LX_p_030,
+ uint32_t *pmedian_phase);
+
+
+
+ /* vl53lx_dmax.h */
+
+ VL53LX_Error VL53LX_f_001(
+ uint16_t target_reflectance,
+ VL53LX_dmax_calibration_data_t *pcal,
+ VL53LX_hist_gen3_dmax_config_t *pcfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_hist_gen3_dmax_private_data_t *pdata,
+ int16_t *pambient_dmax_mm);
+
+ uint32_t VL53LX_f_002(
+ uint32_t events_threshold,
+ uint32_t ref_signal_events,
+ uint32_t ref_distance_mm,
+ uint32_t signal_thresh_sigma);
+
+
+
+ /* vl53lx_api_calibration.h */
+
+ VL53LX_Error VL53LX_run_ref_spad_char(
+ VL53LX_Error *pcal_status);
+
+
+
+
+ VL53LX_Error VL53LX_run_device_test(
+ VL53LX_DeviceTestMode device_test_mode);
+
+
+
+
+ VL53LX_Error VL53LX_run_spad_rate_map(
+ VL53LX_DeviceTestMode device_test_mode,
+ VL53LX_DeviceSscArray array_select,
+ uint32_t ssc_config_timeout_us,
+ VL53LX_spad_rate_data_t *pspad_rate_data);
+
+
+
+
+ VL53LX_Error VL53LX_run_xtalk_extraction(
+ VL53LX_Error *pcal_status);
+
+
+
+ VL53LX_Error VL53LX_get_and_avg_xtalk_samples(
+ uint8_t num_of_samples,
+ uint8_t measurement_mode,
+ int16_t xtalk_filter_thresh_max_mm,
+ int16_t xtalk_filter_thresh_min_mm,
+ uint16_t xtalk_max_valid_rate_kcps,
+ uint8_t xtalk_result_id,
+ uint8_t xtalk_histo_id,
+ VL53LX_xtalk_range_results_t *pxtalk_results,
+ VL53LX_histogram_bin_data_t *psum_histo,
+ VL53LX_histogram_bin_data_t *pavg_histo);
+
+
+
+ VL53LX_Error VL53LX_run_offset_calibration(
+ int16_t cal_distance_mm,
+ uint16_t cal_reflectance_pc,
+ VL53LX_Error *pcal_status);
+
+
+
+
+ VL53LX_Error VL53LX_run_phasecal_average(
+ uint8_t measurement_mode,
+ uint8_t phasecal_result__vcsel_start,
+ uint16_t phasecal_num_of_samples,
+ VL53LX_range_results_t *prange_results,
+ uint16_t *pphasecal_result__reference_phase,
+ uint16_t *pzero_distance_phase);
+
+
+
+
+ VL53LX_Error VL53LX_run_zone_calibration(
+ VL53LX_DevicePresetModes device_preset_mode,
+ VL53LX_DeviceZonePreset zone_preset,
+ VL53LX_zone_config_t *pzone_cfg,
+ int16_t cal_distance_mm,
+ uint16_t cal_reflectance_pc,
+ VL53LX_Error *pcal_status);
+
+
+
+
+ void VL53LX_hist_xtalk_extract_data_init(
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data);
+
+
+
+ VL53LX_Error VL53LX_hist_xtalk_extract_update(
+ int16_t target_distance_mm,
+ uint16_t target_width_oversize,
+ VL53LX_histogram_bin_data_t *phist_bins,
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data);
+
+
+
+ VL53LX_Error VL53LX_hist_xtalk_extract_fini(
+ VL53LX_histogram_bin_data_t *phist_bins,
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data,
+ VL53LX_xtalk_calibration_results_t *pxtalk_cal,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_shape);
+
+
+
+
+ VL53LX_Error VL53LX_run_hist_xtalk_extraction(
+ int16_t cal_distance_mm,
+ VL53LX_Error *pcal_status);
+
+ /* vl53lx_api_core.c static functions */
+ VL53LX_Error select_offset_per_vcsel(VL53LX_LLDriverData_t *pdev, int16_t *poffset);
+ void vl53lx_diff_histo_stddev(VL53LX_LLDriverData_t *pdev, VL53LX_histogram_bin_data_t *pdata, uint8_t timing, uint8_t HighIndex, uint8_t prev_pos, int32_t *pdiff_histo_stddev) ;
+ void vl53lx_histo_merge(VL53LX_histogram_bin_data_t *pdata);
+
+ /* vl53lx_api.c static functions */
+
+
+
+ // int32_t BDTable[VL53LX_TUNING_MAX_TUNABLE_KEY] = {
+ int BDTable[11];
+
+
+ /*
+
+ int32_t BDTable[11] = {
+ TUNING_VERSION,
+ TUNING_PROXY_MIN,
+ TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM,
+ TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER,
+ TUNING_MIN_AMBIENT_DMAX_VALID,
+ TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER,
+ TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM,
+ TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT,
+ TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN,
+ TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET,
+ TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR_DEFAULT
+ };
+ */
+
+
+ VL53LX_Error ComputeDevicePresetMode(
+ VL53LX_DistanceModes DistanceMode,
+ VL53LX_DevicePresetModes *pDevicePresetMode);
+
+ VL53LX_Error SetPresetModeL3CX(
+ VL53LX_DistanceModes DistanceMode,
+ uint32_t inter_measurement_period_ms);
+
+ VL53LX_Error SetInterMeasurementPeriodMilliSeconds(uint32_t InterMeasurementPeriodMilliSeconds);
+
+ VL53LX_Error GetInterMeasurementPeriodMilliSeconds(uint32_t *pInterMeasurementPeriodMilliSeconds);
+
+ uint8_t ConvertStatusHisto(uint8_t FilteredRangeStatus);
+
+ VL53LX_Error SetTargetData(
+ uint8_t active_results, uint8_t device_status,
+ VL53LX_range_data_t *presults_data,
+ VL53LX_TargetRangeData_t *pRangeData);
+
+ VL53LX_Error SetMeasurementData(
+ VL53LX_range_results_t *presults,
+ VL53LX_MultiRangingData_t *pMultiRangingData);
+
+
+ /* Write and read functions from I2C */
+
+ VL53LX_Error VL53LX_WrByte(VL53LX_DEV Dev, uint16_t index, uint8_t data);
+ VL53LX_Error VL53LX_WrWord(VL53LX_DEV Dev, uint16_t index, uint16_t data);
+ VL53LX_Error VL53LX_WrDWord(VL53LX_DEV Dev, uint16_t index, uint32_t data);
+ VL53LX_Error VL53LX_RdByte(VL53LX_DEV Dev, uint16_t index, uint8_t *data);
+ // VL53LX_Error VL53LX_RdWord(VL53LX_DEV Dev, uint16_t index, uint16_t *data);
+ VL53LX_Error VL53LX_RdDWord(VL53LX_DEV Dev, uint16_t index, uint32_t *data);
+ VL53LX_Error VL53LX_UpdateByte(VL53LX_DEV Dev, uint16_t index, uint8_t AndData, uint8_t OrData);
+
+ VL53LX_Error VL53LX_WriteMulti(VL53LX_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count);
+ VL53LX_Error VL53LX_ReadMulti(VL53LX_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count);
+
+ VL53LX_Error VL53LX_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToWrite);
+ VL53LX_Error VL53LX_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToRead);
+ VL53LX_Error VL53LX_GetTickCount(uint32_t *ptick_count_ms);
+ VL53LX_Error VL53LX_WaitUs(VL53LX_Dev_t *pdev, int32_t wait_us);
+ VL53LX_Error VL53LX_WaitMs(VL53LX_Dev_t *pdev, int32_t wait_ms);
+
+ VL53LX_Error VL53LX_WaitValueMaskEx(VL53LX_Dev_t *pdev, uint32_t timeout_ms, uint16_t index, uint8_t value, uint8_t mask, uint32_t poll_delay_ms);
+
+
+ protected:
+
+ /* IO Device */
+ vl53L1X_DevI2C *dev_i2c;
+ /* Digital out pin */
+ int gpio0;
+ // int gpio1Int;
+ /* Device data */
+ VL53LX_Dev_t MyDevice;
+ VL53LX_DEV Dev;
+
+
+// VL53LX_DEV Device;
+
+ vl53L1X_DevI2C *i2c_inst;
+
+ /* Digital out pin */
+ DigitalOut *_gpio0;
+ /* GPIO expander */
+ Stmpe1600DigiOut *_expgpio0;
+ /* Measure detection IRQ */
+ InterruptIn *_gpio1Int;
+};
+
+#endif /* _VL53LX_CLASS_H_ */
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L3/vl53l3inc/vl53lx_def.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,8590 @@
+
+#ifndef __VL53LX_DEF_H
+#define __VL53LX_DEF_H
+
+#include <stdint.h>
+#include <stdint.h>
+#include <stddef.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "vl53L1x_I2c.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//define from vl53lx_register_map.h
+
+#define VL53LX_SOFT_RESET 0x0000
+
+#define VL53LX_I2C_SLAVE__DEVICE_ADDRESS 0x0001
+
+#define VL53LX_ANA_CONFIG__VHV_REF_SEL_VDDPIX 0x0002
+
+#define VL53LX_ANA_CONFIG__VHV_REF_SEL_VQUENCH 0x0003
+
+#define VL53LX_ANA_CONFIG__REG_AVDD1V2_SEL 0x0004
+
+#define VL53LX_ANA_CONFIG__FAST_OSC__TRIM 0x0005
+
+#define VL53LX_OSC_MEASURED__FAST_OSC__FREQUENCY 0x0006
+
+#define VL53LX_OSC_MEASURED__FAST_OSC__FREQUENCY_HI 0x0006
+
+#define VL53LX_OSC_MEASURED__FAST_OSC__FREQUENCY_LO 0x0007
+
+#define VL53LX_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x0008
+
+#define VL53LX_VHV_CONFIG__COUNT_THRESH 0x0009
+
+#define VL53LX_VHV_CONFIG__OFFSET 0x000A
+
+#define VL53LX_VHV_CONFIG__INIT 0x000B
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_0 0x000D
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_1 0x000E
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_2 0x000F
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_3 0x0010
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_4 0x0011
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_5 0x0012
+
+#define VL53LX_GLOBAL_CONFIG__REF_EN_START_SELECT 0x0013
+
+#define VL53LX_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS 0x0014
+
+#define VL53LX_REF_SPAD_MAN__REF_LOCATION 0x0015
+
+#define VL53LX_ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x0016
+
+#define VL53LX_ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS_HI 0x0016
+
+#define VL53LX_ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS_LO 0x0017
+
+#define VL53LX_ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS 0x0018
+
+#define VL53LX_ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS_HI 0x0018
+
+#define VL53LX_ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS_LO 0x0019
+
+#define VL53LX_ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS 0x001A
+
+#define VL53LX_ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS_HI 0x001A
+
+#define VL53LX_ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS_LO 0x001B
+
+#define VL53LX_REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS 0x001C
+
+#define VL53LX_REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS_HI 0x001C
+
+#define VL53LX_REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS_LO 0x001D
+
+#define VL53LX_ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x001E
+
+#define VL53LX_ALGO__PART_TO_PART_RANGE_OFFSET_MM_HI 0x001E
+
+#define VL53LX_ALGO__PART_TO_PART_RANGE_OFFSET_MM_LO 0x001F
+
+#define VL53LX_MM_CONFIG__INNER_OFFSET_MM 0x0020
+
+#define VL53LX_MM_CONFIG__INNER_OFFSET_MM_HI 0x0020
+
+#define VL53LX_MM_CONFIG__INNER_OFFSET_MM_LO 0x0021
+
+#define VL53LX_MM_CONFIG__OUTER_OFFSET_MM 0x0022
+
+#define VL53LX_MM_CONFIG__OUTER_OFFSET_MM_HI 0x0022
+
+#define VL53LX_MM_CONFIG__OUTER_OFFSET_MM_LO 0x0023
+
+#define VL53LX_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS 0x0024
+
+#define VL53LX_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS_HI 0x0024
+
+#define VL53LX_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS_LO 0x0025
+
+#define VL53LX_DEBUG__CTRL 0x0026
+
+#define VL53LX_TEST_MODE__CTRL 0x0027
+
+#define VL53LX_CLK_GATING__CTRL 0x0028
+
+#define VL53LX_NVM_BIST__CTRL 0x0029
+
+#define VL53LX_NVM_BIST__NUM_NVM_WORDS 0x002A
+
+#define VL53LX_NVM_BIST__START_ADDRESS 0x002B
+
+#define VL53LX_HOST_IF__STATUS 0x002C
+
+#define VL53LX_PAD_I2C_HV__CONFIG 0x002D
+
+#define VL53LX_PAD_I2C_HV__EXTSUP_CONFIG 0x002E
+
+#define VL53LX_GPIO_HV_PAD__CTRL 0x002F
+
+#define VL53LX_GPIO_HV_MUX__CTRL 0x0030
+
+#define VL53LX_GPIO__TIO_HV_STATUS 0x0031
+
+#define VL53LX_GPIO__FIO_HV_STATUS 0x0032
+
+#define VL53LX_ANA_CONFIG__SPAD_SEL_PSWIDTH 0x0033
+
+#define VL53LX_ANA_CONFIG__VCSEL_PULSE_WIDTH_OFFSET 0x0034
+
+#define VL53LX_ANA_CONFIG__FAST_OSC__CONFIG_CTRL 0x0035
+
+#define VL53LX_SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS 0x0036
+
+#define VL53LX_SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS 0x0037
+
+#define VL53LX_SIGMA_ESTIMATOR__SIGMA_REF_MM 0x0038
+
+#define VL53LX_ALGO__CROSSTALK_COMPENSATION_VALID_HEIGHT_MM 0x0039
+
+#define VL53LX_SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_0 0x003A
+
+#define VL53LX_SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_1 0x003B
+
+#define VL53LX_ALGO__RANGE_IGNORE_THRESHOLD_MCPS 0x003C
+
+#define VL53LX_ALGO__RANGE_IGNORE_THRESHOLD_MCPS_HI 0x003C
+
+#define VL53LX_ALGO__RANGE_IGNORE_THRESHOLD_MCPS_LO 0x003D
+
+#define VL53LX_ALGO__RANGE_IGNORE_VALID_HEIGHT_MM 0x003E
+
+#define VL53LX_ALGO__RANGE_MIN_CLIP 0x003F
+
+#define VL53LX_ALGO__CONSISTENCY_CHECK__TOLERANCE 0x0040
+
+#define VL53LX_SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_2 0x0041
+
+#define VL53LX_SD_CONFIG__RESET_STAGES_MSB 0x0042
+
+#define VL53LX_SD_CONFIG__RESET_STAGES_LSB 0x0043
+
+#define VL53LX_GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE 0x0044
+
+#define VL53LX_GLOBAL_CONFIG__STREAM_DIVIDER 0x0045
+
+#define VL53LX_SYSTEM__INTERRUPT_CONFIG_GPIO 0x0046
+
+#define VL53LX_CAL_CONFIG__VCSEL_START 0x0047
+
+#define VL53LX_CAL_CONFIG__REPEAT_RATE 0x0048
+
+#define VL53LX_CAL_CONFIG__REPEAT_RATE_HI 0x0048
+
+#define VL53LX_CAL_CONFIG__REPEAT_RATE_LO 0x0049
+
+#define VL53LX_GLOBAL_CONFIG__VCSEL_WIDTH 0x004A
+
+#define VL53LX_PHASECAL_CONFIG__TIMEOUT_MACROP 0x004B
+
+#define VL53LX_PHASECAL_CONFIG__TARGET 0x004C
+
+#define VL53LX_PHASECAL_CONFIG__OVERRIDE 0x004D
+
+#define VL53LX_DSS_CONFIG__ROI_MODE_CONTROL 0x004F
+
+#define VL53LX_SYSTEM__THRESH_RATE_HIGH 0x0050
+
+#define VL53LX_SYSTEM__THRESH_RATE_HIGH_HI 0x0050
+
+#define VL53LX_SYSTEM__THRESH_RATE_HIGH_LO 0x0051
+
+#define VL53LX_SYSTEM__THRESH_RATE_LOW 0x0052
+
+#define VL53LX_SYSTEM__THRESH_RATE_LOW_HI 0x0052
+
+#define VL53LX_SYSTEM__THRESH_RATE_LOW_LO 0x0053
+
+#define VL53LX_DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT 0x0054
+
+#define VL53LX_DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_HI 0x0054
+
+#define VL53LX_DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_LO 0x0055
+
+#define VL53LX_DSS_CONFIG__MANUAL_BLOCK_SELECT 0x0056
+
+#define VL53LX_DSS_CONFIG__APERTURE_ATTENUATION 0x0057
+
+#define VL53LX_DSS_CONFIG__MAX_SPADS_LIMIT 0x0058
+
+#define VL53LX_DSS_CONFIG__MIN_SPADS_LIMIT 0x0059
+
+#define VL53LX_MM_CONFIG__TIMEOUT_MACROP_A_HI 0x005A
+
+#define VL53LX_MM_CONFIG__TIMEOUT_MACROP_A_LO 0x005B
+
+#define VL53LX_MM_CONFIG__TIMEOUT_MACROP_B_HI 0x005C
+
+#define VL53LX_MM_CONFIG__TIMEOUT_MACROP_B_LO 0x005D
+
+#define VL53LX_RANGE_CONFIG__TIMEOUT_MACROP_A_HI 0x005E
+
+#define VL53LX_RANGE_CONFIG__TIMEOUT_MACROP_A_LO 0x005F
+
+#define VL53LX_RANGE_CONFIG__VCSEL_PERIOD_A 0x0060
+
+#define VL53LX_RANGE_CONFIG__TIMEOUT_MACROP_B_HI 0x0061
+
+#define VL53LX_RANGE_CONFIG__TIMEOUT_MACROP_B_LO 0x0062
+
+#define VL53LX_RANGE_CONFIG__VCSEL_PERIOD_B 0x0063
+
+#define VL53LX_RANGE_CONFIG__SIGMA_THRESH 0x0064
+
+#define VL53LX_RANGE_CONFIG__SIGMA_THRESH_HI 0x0064
+
+#define VL53LX_RANGE_CONFIG__SIGMA_THRESH_LO 0x0065
+
+#define VL53LX_RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS 0x0066
+
+#define VL53LX_RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_HI 0x0066
+
+#define VL53LX_RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_LO 0x0067
+
+#define VL53LX_RANGE_CONFIG__VALID_PHASE_LOW 0x0068
+
+#define VL53LX_RANGE_CONFIG__VALID_PHASE_HIGH 0x0069
+
+#define VL53LX_SYSTEM__INTERMEASUREMENT_PERIOD 0x006C
+
+#define VL53LX_SYSTEM__INTERMEASUREMENT_PERIOD_3 0x006C
+
+#define VL53LX_SYSTEM__INTERMEASUREMENT_PERIOD_2 0x006D
+
+#define VL53LX_SYSTEM__INTERMEASUREMENT_PERIOD_1 0x006E
+
+#define VL53LX_SYSTEM__INTERMEASUREMENT_PERIOD_0 0x006F
+
+#define VL53LX_SYSTEM__FRACTIONAL_ENABLE 0x0070
+
+#define VL53LX_SYSTEM__GROUPED_PARAMETER_HOLD_0 0x0071
+
+#define VL53LX_SYSTEM__THRESH_HIGH 0x0072
+
+#define VL53LX_SYSTEM__THRESH_HIGH_HI 0x0072
+
+#define VL53LX_SYSTEM__THRESH_HIGH_LO 0x0073
+
+#define VL53LX_SYSTEM__THRESH_LOW 0x0074
+
+#define VL53LX_SYSTEM__THRESH_LOW_HI 0x0074
+
+#define VL53LX_SYSTEM__THRESH_LOW_LO 0x0075
+
+#define VL53LX_SYSTEM__ENABLE_XTALK_PER_QUADRANT 0x0076
+
+#define VL53LX_SYSTEM__SEED_CONFIG 0x0077
+
+#define VL53LX_SD_CONFIG__WOI_SD0 0x0078
+
+#define VL53LX_SD_CONFIG__WOI_SD1 0x0079
+
+#define VL53LX_SD_CONFIG__INITIAL_PHASE_SD0 0x007A
+
+#define VL53LX_SD_CONFIG__INITIAL_PHASE_SD1 0x007B
+
+#define VL53LX_SYSTEM__GROUPED_PARAMETER_HOLD_1 0x007C
+
+#define VL53LX_SD_CONFIG__FIRST_ORDER_SELECT 0x007D
+
+#define VL53LX_SD_CONFIG__QUANTIFIER 0x007E
+
+#define VL53LX_ROI_CONFIG__USER_ROI_CENTRE_SPAD 0x007F
+
+#define VL53LX_ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE 0x0080
+
+#define VL53LX_SYSTEM__SEQUENCE_CONFIG 0x0081
+
+#define VL53LX_SYSTEM__GROUPED_PARAMETER_HOLD 0x0082
+
+#define VL53LX_POWER_MANAGEMENT__GO1_POWER_FORCE 0x0083
+
+#define VL53LX_SYSTEM__STREAM_COUNT_CTRL 0x0084
+
+#define VL53LX_FIRMWARE__ENABLE 0x0085
+
+#define VL53LX_SYSTEM__INTERRUPT_CLEAR 0x0086
+
+#define VL53LX_SYSTEM__MODE_START 0x0087
+
+#define VL53LX_RESULT__INTERRUPT_STATUS 0x0088
+
+#define VL53LX_RESULT__RANGE_STATUS 0x0089
+
+#define VL53LX_RESULT__REPORT_STATUS 0x008A
+
+#define VL53LX_RESULT__STREAM_COUNT 0x008B
+
+#define VL53LX_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x008C
+
+#define VL53LX_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x008C
+
+#define VL53LX_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x008D
+
+#define VL53LX_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0 0x008E
+
+#define VL53LX_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x008E
+
+#define VL53LX_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x008F
+
+#define VL53LX_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0 0x0090
+
+#define VL53LX_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_HI 0x0090
+
+#define VL53LX_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_LO 0x0091
+
+#define VL53LX_RESULT__SIGMA_SD0 0x0092
+
+#define VL53LX_RESULT__SIGMA_SD0_HI 0x0092
+
+#define VL53LX_RESULT__SIGMA_SD0_LO 0x0093
+
+#define VL53LX_RESULT__PHASE_SD0 0x0094
+
+#define VL53LX_RESULT__PHASE_SD0_HI 0x0094
+
+#define VL53LX_RESULT__PHASE_SD0_LO 0x0095
+
+#define VL53LX_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0096
+
+#define VL53LX_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_HI 0x0096
+
+#define VL53LX_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_LO 0x0097
+
+#define VL53LX_PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0098
+
+#define VL53LX__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_HI 0x0098
+
+#define VL53LX___PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_LO 0x0099
+
+#define VL53LX_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0 0x009A
+
+#define VL53LX_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x009A
+
+#define VL53LX_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x009B
+
+#define VL53LX_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0 0x009C
+
+#define VL53LX_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x009C
+
+#define VL53LX_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x009D
+
+#define VL53LX_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0 0x009E
+
+#define VL53LX_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x009E
+
+#define VL53LX_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x009F
+
+#define VL53LX_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1 0x00A0
+
+#define VL53LX_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_HI 0x00A0
+
+#define VL53LX_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_LO 0x00A1
+
+#define VL53LX_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1 0x00A2
+
+#define VL53LX_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_HI 0x00A2
+
+#define VL53LX_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_LO 0x00A3
+
+#define VL53LX_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1 0x00A4
+
+#define VL53LX_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_HI 0x00A4
+
+#define VL53LX_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_LO 0x00A5
+
+#define VL53LX_RESULT__SIGMA_SD1 0x00A6
+
+#define VL53LX_RESULT__SIGMA_SD1_HI 0x00A6
+
+#define VL53LX_RESULT__SIGMA_SD1_LO 0x00A7
+
+#define VL53LX_RESULT__PHASE_SD1 0x00A8
+
+#define VL53LX_RESULT__PHASE_SD1_HI 0x00A8
+
+#define VL53LX_RESULT__PHASE_SD1_LO 0x00A9
+
+#define VL53LX_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1 0x00AA
+
+#define VL53LX_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_HI 0x00AA
+
+#define VL53LX_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_LO 0x00AB
+
+#define VL53LX_RESULT__SPARE_0_SD1 0x00AC
+
+#define VL53LX_RESULT__SPARE_0_SD1_HI 0x00AC
+
+#define VL53LX_RESULT__SPARE_0_SD1_LO 0x00AD
+
+#define VL53LX_RESULT__SPARE_1_SD1 0x00AE
+
+#define VL53LX_RESULT__SPARE_1_SD1_HI 0x00AE
+
+#define VL53LX_RESULT__SPARE_1_SD1_LO 0x00AF
+
+#define VL53LX_RESULT__SPARE_2_SD1 0x00B0
+
+#define VL53LX_RESULT__SPARE_2_SD1_HI 0x00B0
+
+#define VL53LX_RESULT__SPARE_2_SD1_LO 0x00B1
+
+#define VL53LX_RESULT__SPARE_3_SD1 0x00B2
+
+#define VL53LX_RESULT__THRESH_INFO 0x00B3
+
+#define VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 0x00B4
+
+#define VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_3 0x00B4
+
+#define VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_2 0x00B5
+
+#define VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_1 0x00B6
+
+#define VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_0 0x00B7
+
+#define VL53LX_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0 0x00B8
+
+#define VL53LX_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_3 0x00B8
+
+#define VL53LX_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_2 0x00B9
+
+#define VL53LX_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_1 0x00BA
+
+#define VL53LX_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_0 0x00BB
+
+#define VL53LX_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0 0x00BC
+
+#define VL53LX_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_3 0x00BC
+
+#define VL53LX_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_2 0x00BD
+
+#define VL53LX_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_1 0x00BE
+
+#define VL53LX_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_0 0x00BF
+
+#define VL53LX_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0 0x00C0
+
+#define VL53LX_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_3 0x00C0
+
+#define VL53LX_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_2 0x00C1
+
+#define VL53LX_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_1 0x00C2
+
+#define VL53LX_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_0 0x00C3
+
+#define VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1 0x00C4
+
+#define VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_3 0x00C4
+
+#define VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_2 0x00C5
+
+#define VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_1 0x00C6
+
+#define VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_0 0x00C7
+
+#define VL53LX_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1 0x00C8
+
+#define VL53LX_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_3 0x00C8
+
+#define VL53LX_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_2 0x00C9
+
+#define VL53LX_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_1 0x00CA
+
+#define VL53LX_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_0 0x00CB
+
+#define VL53LX_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1 0x00CC
+
+#define VL53LX_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_3 0x00CC
+
+#define VL53LX_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_2 0x00CD
+
+#define VL53LX_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_1 0x00CE
+
+#define VL53LX_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_0 0x00CF
+
+#define VL53LX_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1 0x00D0
+
+#define VL53LX_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_3 0x00D0
+
+#define VL53LX_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_2 0x00D1
+
+#define VL53LX_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_1 0x00D2
+
+#define VL53LX_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_0 0x00D3
+
+#define VL53LX_RESULT_CORE__SPARE_0 0x00D4
+
+#define VL53LX_PHASECAL_RESULT__REFERENCE_PHASE 0x00D6
+
+#define VL53LX_PHASECAL_RESULT__REFERENCE_PHASE_HI 0x00D6
+
+#define VL53LX_PHASECAL_RESULT__REFERENCE_PHASE_LO 0x00D7
+
+#define VL53LX_PHASECAL_RESULT__VCSEL_START 0x00D8
+
+#define VL53LX_REF_SPAD_CHAR_RESULT__NUM_ACTUAL_REF_SPADS 0x00D9
+
+#define VL53LX_REF_SPAD_CHAR_RESULT__REF_LOCATION 0x00DA
+
+#define VL53LX_VHV_RESULT__COLDBOOT_STATUS 0x00DB
+
+#define VL53LX_VHV_RESULT__SEARCH_RESULT 0x00DC
+
+#define VL53LX_VHV_RESULT__LATEST_SETTING 0x00DD
+
+#define VL53LX_RESULT__OSC_CALIBRATE_VAL 0x00DE
+
+#define VL53LX_RESULT__OSC_CALIBRATE_VAL_HI 0x00DE
+
+#define VL53LX_RESULT__OSC_CALIBRATE_VAL_LO 0x00DF
+
+#define VL53LX_ANA_CONFIG__POWERDOWN_GO1 0x00E0
+
+#define VL53LX_ANA_CONFIG__REF_BG_CTRL 0x00E1
+
+#define VL53LX_ANA_CONFIG__REGDVDD1V2_CTRL 0x00E2
+
+#define VL53LX_ANA_CONFIG__OSC_SLOW_CTRL 0x00E3
+
+#define VL53LX_TEST_MODE__STATUS 0x00E4
+
+#define VL53LX_FIRMWARE__SYSTEM_STATUS 0x00E5
+
+#define VL53LX_FIRMWARE__MODE_STATUS 0x00E6
+
+#define VL53LX_FIRMWARE__SECONDARY_MODE_STATUS 0x00E7
+
+#define VL53LX_FIRMWARE__CAL_REPEAT_RATE_COUNTER 0x00E8
+
+#define VL53LX_FIRMWARE__CAL_REPEAT_RATE_COUNTER_HI 0x00E8
+
+#define VL53LX_FIRMWARE__CAL_REPEAT_RATE_COUNTER_LO 0x00E9
+
+#define VL53LX_FIRMWARE__HISTOGRAM_BIN 0x00EA
+
+#define VL53LX_GPH__SYSTEM__THRESH_HIGH 0x00EC
+
+#define VL53LX_GPH__SYSTEM__THRESH_HIGH_HI 0x00EC
+
+#define VL53LX_GPH__SYSTEM__THRESH_HIGH_LO 0x00ED
+
+#define VL53LX_GPH__SYSTEM__THRESH_LOW 0x00EE
+
+#define VL53LX_GPH__SYSTEM__THRESH_LOW_HI 0x00EE
+
+#define VL53LX_GPH__SYSTEM__THRESH_LOW_LO 0x00EF
+
+#define VL53LX_GPH__SYSTEM__ENABLE_XTALK_PER_QUADRANT 0x00F0
+
+#define VL53LX_GPH__SPARE_0 0x00F1
+
+#define VL53LX_GPH__SD_CONFIG__WOI_SD0 0x00F2
+
+#define VL53LX_GPH__SD_CONFIG__WOI_SD1 0x00F3
+
+#define VL53LX_GPH__SD_CONFIG__INITIAL_PHASE_SD0 0x00F4
+
+#define VL53LX_GPH__SD_CONFIG__INITIAL_PHASE_SD1 0x00F5
+
+#define VL53LX_GPH__SD_CONFIG__FIRST_ORDER_SELECT 0x00F6
+
+#define VL53LX_GPH__SD_CONFIG__QUANTIFIER 0x00F7
+
+#define VL53LX_GPH__ROI_CONFIG__USER_ROI_CENTRE_SPAD 0x00F8
+
+#define VL53LX_GPH__ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE 0x00F9
+
+#define VL53LX_GPH__SYSTEM__SEQUENCE_CONFIG 0x00FA
+
+#define VL53LX_GPH__GPH_ID 0x00FB
+
+#define VL53LX_SYSTEM__INTERRUPT_SET 0x00FC
+
+#define VL53LX_INTERRUPT_MANAGER__ENABLES 0x00FD
+
+#define VL53LX_INTERRUPT_MANAGER__CLEAR 0x00FE
+
+#define VL53LX_INTERRUPT_MANAGER__STATUS 0x00FF
+
+#define VL53LX_MCU_TO_HOST_BANK__WR_ACCESS_EN 0x0100
+
+#define VL53LX_POWER_MANAGEMENT__GO1_RESET_STATUS 0x0101
+
+#define VL53LX_PAD_STARTUP_MODE__VALUE_RO 0x0102
+
+#define VL53LX_PAD_STARTUP_MODE__VALUE_CTRL 0x0103
+
+#define VL53LX_PLL_PERIOD_US 0x0104
+
+#define VL53LX_PLL_PERIOD_US_3 0x0104
+
+#define VL53LX_PLL_PERIOD_US_2 0x0105
+
+#define VL53LX_PLL_PERIOD_US_1 0x0106
+
+#define VL53LX_PLL_PERIOD_US_0 0x0107
+
+#define VL53LX_INTERRUPT_SCHEDULER__DATA_OUT 0x0108
+
+#define VL53LX_INTERRUPT_SCHEDULER__DATA_OUT_3 0x0108
+
+#define VL53LX_INTERRUPT_SCHEDULER__DATA_OUT_2 0x0109
+
+#define VL53LX_INTERRUPT_SCHEDULER__DATA_OUT_1 0x010A
+
+#define VL53LX_INTERRUPT_SCHEDULER__DATA_OUT_0 0x010B
+
+#define VL53LX_NVM_BIST__COMPLETE 0x010C
+
+#define VL53LX_NVM_BIST__STATUS 0x010D
+
+#define VL53LX_IDENTIFICATION__MODEL_ID 0x010F
+
+#define VL53LX_IDENTIFICATION__MODULE_TYPE 0x0110
+
+#define VL53LX_IDENTIFICATION__REVISION_ID 0x0111
+
+#define VL53LX_IDENTIFICATION__MODULE_ID 0x0112
+
+#define VL53LX_IDENTIFICATION__MODULE_ID_HI 0x0112
+
+#define VL53LX_IDENTIFICATION__MODULE_ID_LO 0x0113
+
+#define VL53LX_ANA_CONFIG__FAST_OSC__TRIM_MAX 0x0114
+
+#define VL53LX_ANA_CONFIG__FAST_OSC__FREQ_SET 0x0115
+
+#define VL53LX_ANA_CONFIG__VCSEL_TRIM 0x0116
+
+#define VL53LX_ANA_CONFIG__VCSEL_SELION 0x0117
+
+#define VL53LX_ANA_CONFIG__VCSEL_SELION_MAX 0x0118
+
+#define VL53LX_PROTECTED_LASER_SAFETY__LOCK_BIT 0x0119
+
+#define VL53LX_LASER_SAFETY__KEY 0x011A
+
+#define VL53LX_LASER_SAFETY__KEY_RO 0x011B
+
+#define VL53LX_LASER_SAFETY__CLIP 0x011C
+
+#define VL53LX_LASER_SAFETY__MULT 0x011D
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_0 0x011E
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_1 0x011F
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_2 0x0120
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_3 0x0121
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_4 0x0122
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_5 0x0123
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_6 0x0124
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_7 0x0125
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_8 0x0126
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_9 0x0127
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_10 0x0128
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_11 0x0129
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_12 0x012A
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_13 0x012B
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_14 0x012C
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_15 0x012D
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_16 0x012E
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_17 0x012F
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_18 0x0130
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_19 0x0131
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_20 0x0132
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_21 0x0133
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_22 0x0134
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_23 0x0135
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_24 0x0136
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_25 0x0137
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_26 0x0138
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_27 0x0139
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_28 0x013A
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_29 0x013B
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_30 0x013C
+
+#define VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_RTN_31 0x013D
+
+#define VL53LX_ROI_CONFIG__MODE_ROI_CENTRE_SPAD 0x013E
+
+#define VL53LX_ROI_CONFIG__MODE_ROI_XY_SIZE 0x013F
+
+#define VL53LX_GO2_HOST_BANK_ACCESS__OVERRIDE 0x0300
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__MULTIPLICAND 0x0400
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__MULTIPLICAND_3 0x0400
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__MULTIPLICAND_2 0x0401
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__MULTIPLICAND_1 0x0402
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__MULTIPLICAND_0 0x0403
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__MULTIPLIER 0x0404
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__MULTIPLIER_3 0x0404
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__MULTIPLIER_2 0x0405
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__MULTIPLIER_1 0x0406
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__MULTIPLIER_0 0x0407
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__PRODUCT_HI 0x0408
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__PRODUCT_HI_3 0x0408
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__PRODUCT_HI_2 0x0409
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__PRODUCT_HI_1 0x040A
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__PRODUCT_HI_0 0x040B
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__PRODUCT_LO 0x040C
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__PRODUCT_LO_3 0x040C
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__PRODUCT_LO_2 0x040D
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__PRODUCT_LO_1 0x040E
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__PRODUCT_LO_0 0x040F
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__START 0x0410
+
+#define VL53LX_MCU_UTIL_MULTIPLIER__STATUS 0x0411
+
+#define VL53LX_MCU_UTIL_DIVIDER__START 0x0412
+
+#define VL53LX_MCU_UTIL_DIVIDER__STATUS 0x0413
+
+#define VL53LX_MCU_UTIL_DIVIDER__DIVIDEND 0x0414
+
+#define VL53LX_MCU_UTIL_DIVIDER__DIVIDEND_3 0x0414
+
+#define VL53LX_MCU_UTIL_DIVIDER__DIVIDEND_2 0x0415
+
+#define VL53LX_MCU_UTIL_DIVIDER__DIVIDEND_1 0x0416
+
+#define VL53LX_MCU_UTIL_DIVIDER__DIVIDEND_0 0x0417
+
+#define VL53LX_MCU_UTIL_DIVIDER__DIVISOR 0x0418
+
+#define VL53LX_MCU_UTIL_DIVIDER__DIVISOR_3 0x0418
+
+#define VL53LX_MCU_UTIL_DIVIDER__DIVISOR_2 0x0419
+
+#define VL53LX_MCU_UTIL_DIVIDER__DIVISOR_1 0x041A
+
+#define VL53LX_MCU_UTIL_DIVIDER__DIVISOR_0 0x041B
+
+#define VL53LX_MCU_UTIL_DIVIDER__QUOTIENT 0x041C
+
+#define VL53LX_MCU_UTIL_DIVIDER__QUOTIENT_3 0x041C
+
+#define VL53LX_MCU_UTIL_DIVIDER__QUOTIENT_2 0x041D
+
+#define VL53LX_MCU_UTIL_DIVIDER__QUOTIENT_1 0x041E
+
+#define VL53LX_MCU_UTIL_DIVIDER__QUOTIENT_0 0x041F
+
+#define VL53LX_TIMER0__VALUE_IN 0x0420
+
+#define VL53LX_TIMER0__VALUE_IN_3 0x0420
+
+#define VL53LX_TIMER0__VALUE_IN_2 0x0421
+
+#define VL53LX_TIMER0__VALUE_IN_1 0x0422
+
+#define VL53LX_TIMER0__VALUE_IN_0 0x0423
+
+#define VL53LX_TIMER1__VALUE_IN 0x0424
+
+#define VL53LX_TIMER1__VALUE_IN_3 0x0424
+
+#define VL53LX_TIMER1__VALUE_IN_2 0x0425
+
+#define VL53LX_TIMER1__VALUE_IN_1 0x0426
+
+#define VL53LX_TIMER1__VALUE_IN_0 0x0427
+
+#define VL53LX_TIMER0__CTRL 0x0428
+
+#define VL53LX_TIMER1__CTRL 0x0429
+
+#define VL53LX_MCU_GENERAL_PURPOSE__GP_0 0x042C
+
+#define VL53LX_MCU_GENERAL_PURPOSE__GP_1 0x042D
+
+#define VL53LX_MCU_GENERAL_PURPOSE__GP_2 0x042E
+
+#define VL53LX_MCU_GENERAL_PURPOSE__GP_3 0x042F
+
+#define VL53LX_MCU_RANGE_CALC__CONFIG 0x0430
+
+#define VL53LX_MCU_RANGE_CALC__OFFSET_CORRECTED_RANGE 0x0432
+
+#define VL53LX_MCU_RANGE_CALC__OFFSET_CORRECTED_RANGE_HI 0x0432
+
+#define VL53LX_MCU_RANGE_CALC__OFFSET_CORRECTED_RANGE_LO 0x0433
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_4 0x0434
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_4_3 0x0434
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_4_2 0x0435
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_4_1 0x0436
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_4_0 0x0437
+
+#define VL53LX_MCU_RANGE_CALC__AMBIENT_DURATION_PRE_CALC 0x0438
+
+#define VL53LX_MCU_RANGE_CALC__AMBIENT_DURATION_PRE_CALC_HI 0x0438
+
+#define VL53LX_MCU_RANGE_CALC__AMBIENT_DURATION_PRE_CALC_LO 0x0439
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_VCSEL_PERIOD 0x043C
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_5 0x043D
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_TOTAL_PERIODS 0x043E
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_TOTAL_PERIODS_HI 0x043E
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_TOTAL_PERIODS_LO 0x043F
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_ACCUM_PHASE 0x0440
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_ACCUM_PHASE_3 0x0440
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_ACCUM_PHASE_2 0x0441
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_ACCUM_PHASE_1 0x0442
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_ACCUM_PHASE_0 0x0443
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS 0x0444
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_3 0x0444
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_2 0x0445
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_1 0x0446
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_0 0x0447
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS 0x0448
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_3 0x0448
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_2 0x0449
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_1 0x044A
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_0 0x044B
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_6 0x044C
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_6_HI 0x044C
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_6_LO 0x044D
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_ADJUST_VCSEL_PERIOD 0x044E
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_ADJUST_VCSEL_PERIOD_HI 0x044E
+
+#define VL53LX_MCU_RANGE_CALC__ALGO_ADJUST_VCSEL_PERIOD_LO 0x044F
+
+#define VL53LX_MCU_RANGE_CALC__NUM_SPADS 0x0450
+
+#define VL53LX_MCU_RANGE_CALC__NUM_SPADS_HI 0x0450
+
+#define VL53LX_MCU_RANGE_CALC__NUM_SPADS_LO 0x0451
+
+#define VL53LX_MCU_RANGE_CALC__PHASE_OUTPUT 0x0452
+
+#define VL53LX_MCU_RANGE_CALC__PHASE_OUTPUT_HI 0x0452
+
+#define VL53LX_MCU_RANGE_CALC__PHASE_OUTPUT_LO 0x0453
+
+#define VL53LX_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS 0x0454
+
+#define VL53LX_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_3 0x0454
+
+#define VL53LX_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_2 0x0455
+
+#define VL53LX_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_1 0x0456
+
+#define VL53LX_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_0 0x0457
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_7 0x0458
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_8 0x0459
+
+#define VL53LX_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_MCPS 0x045A
+
+#define VL53LX_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_MCPS_HI 0x045A
+
+#define VL53LX_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_MCPS_LO 0x045B
+
+#define VL53LX_MCU_RANGE_CALC__AVG_SIGNAL_RATE_MCPS 0x045C
+
+#define VL53LX_MCU_RANGE_CALC__AVG_SIGNAL_RATE_MCPS_HI 0x045C
+
+#define VL53LX_MCU_RANGE_CALC__AVG_SIGNAL_RATE_MCPS_LO 0x045D
+
+#define VL53LX_MCU_RANGE_CALC__AMBIENT_RATE_MCPS 0x045E
+
+#define VL53LX_MCU_RANGE_CALC__AMBIENT_RATE_MCPS_HI 0x045E
+
+#define VL53LX_MCU_RANGE_CALC__AMBIENT_RATE_MCPS_LO 0x045F
+
+#define VL53LX_MCU_RANGE_CALC__XTALK 0x0460
+
+#define VL53LX_MCU_RANGE_CALC__XTALK_HI 0x0460
+
+#define VL53LX_MCU_RANGE_CALC__XTALK_LO 0x0461
+
+#define VL53LX_MCU_RANGE_CALC__CALC_STATUS 0x0462
+
+#define VL53LX_MCU_RANGE_CALC__DEBUG 0x0463
+
+#define VL53LX_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_XTALK_CORR_MCPS 0x0464
+
+#define VL53LX_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_XTALK_CORR_MCPS_HI 0x0464
+
+#define VL53LX_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_XTALK_CORR_MCPS_LO 0x0465
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_0 0x0468
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_1 0x0469
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_2 0x046A
+
+#define VL53LX_MCU_RANGE_CALC__SPARE_3 0x046B
+
+#define VL53LX_PATCH__CTRL 0x0470
+
+#define VL53LX_PATCH__JMP_ENABLES 0x0472
+
+#define VL53LX_PATCH__JMP_ENABLES_HI 0x0472
+
+#define VL53LX_PATCH__JMP_ENABLES_LO 0x0473
+
+#define VL53LX_PATCH__DATA_ENABLES 0x0474
+
+#define VL53LX_PATCH__DATA_ENABLES_HI 0x0474
+
+#define VL53LX_PATCH__DATA_ENABLES_LO 0x0475
+
+#define VL53LX_PATCH__OFFSET_0 0x0476
+
+#define VL53LX_PATCH__OFFSET_0_HI 0x0476
+
+#define VL53LX_PATCH__OFFSET_0_LO 0x0477
+
+#define VL53LX_PATCH__OFFSET_1 0x0478
+
+#define VL53LX_PATCH__OFFSET_1_HI 0x0478
+
+#define VL53LX_PATCH__OFFSET_1_LO 0x0479
+
+#define VL53LX_PATCH__OFFSET_2 0x047A
+
+#define VL53LX_PATCH__OFFSET_2_HI 0x047A
+
+#define VL53LX_PATCH__OFFSET_2_LO 0x047B
+
+#define VL53LX_PATCH__OFFSET_3 0x047C
+
+#define VL53LX_PATCH__OFFSET_3_HI 0x047C
+
+#define VL53LX_PATCH__OFFSET_3_LO 0x047D
+
+#define VL53LX_PATCH__OFFSET_4 0x047E
+
+#define VL53LX_PATCH__OFFSET_4_HI 0x047E
+
+#define VL53LX_PATCH__OFFSET_4_LO 0x047F
+
+#define VL53LX_PATCH__OFFSET_5 0x0480
+
+#define VL53LX_PATCH__OFFSET_5_HI 0x0480
+
+#define VL53LX_PATCH__OFFSET_5_LO 0x0481
+
+#define VL53LX_PATCH__OFFSET_6 0x0482
+
+#define VL53LX_PATCH__OFFSET_6_HI 0x0482
+
+#define VL53LX_PATCH__OFFSET_6_LO 0x0483
+
+#define VL53LX_PATCH__OFFSET_7 0x0484
+
+#define VL53LX_PATCH__OFFSET_7_HI 0x0484
+
+#define VL53LX_PATCH__OFFSET_7_LO 0x0485
+
+#define VL53LX_PATCH__OFFSET_8 0x0486
+
+#define VL53LX_PATCH__OFFSET_8_HI 0x0486
+
+#define VL53LX_PATCH__OFFSET_8_LO 0x0487
+
+#define VL53LX_PATCH__OFFSET_9 0x0488
+
+#define VL53LX_PATCH__OFFSET_9_HI 0x0488
+
+#define VL53LX_PATCH__OFFSET_9_LO 0x0489
+
+#define VL53LX_PATCH__OFFSET_10 0x048A
+
+#define VL53LX_PATCH__OFFSET_10_HI 0x048A
+
+#define VL53LX_PATCH__OFFSET_10_LO 0x048B
+
+#define VL53LX_PATCH__OFFSET_11 0x048C
+
+#define VL53LX_PATCH__OFFSET_11_HI 0x048C
+
+#define VL53LX_PATCH__OFFSET_11_LO 0x048D
+
+#define VL53LX_PATCH__OFFSET_12 0x048E
+
+#define VL53LX_PATCH__OFFSET_12_HI 0x048E
+
+#define VL53LX_PATCH__OFFSET_12_LO 0x048F
+
+#define VL53LX_PATCH__OFFSET_13 0x0490
+
+#define VL53LX_PATCH__OFFSET_13_HI 0x0490
+
+#define VL53LX_PATCH__OFFSET_13_LO 0x0491
+
+#define VL53LX_PATCH__OFFSET_14 0x0492
+
+#define VL53LX_PATCH__OFFSET_14_HI 0x0492
+
+#define VL53LX_PATCH__OFFSET_14_LO 0x0493
+
+#define VL53LX_PATCH__OFFSET_15 0x0494
+
+#define VL53LX_PATCH__OFFSET_15_HI 0x0494
+
+#define VL53LX_PATCH__OFFSET_15_LO 0x0495
+
+#define VL53LX_PATCH__ADDRESS_0 0x0496
+
+#define VL53LX_PATCH__ADDRESS_0_HI 0x0496
+
+#define VL53LX_PATCH__ADDRESS_0_LO 0x0497
+
+#define VL53LX_PATCH__ADDRESS_1 0x0498
+
+#define VL53LX_PATCH__ADDRESS_1_HI 0x0498
+
+#define VL53LX_PATCH__ADDRESS_1_LO 0x0499
+
+#define VL53LX_PATCH__ADDRESS_2 0x049A
+
+#define VL53LX_PATCH__ADDRESS_2_HI 0x049A
+
+#define VL53LX_PATCH__ADDRESS_2_LO 0x049B
+
+#define VL53LX_PATCH__ADDRESS_3 0x049C
+
+#define VL53LX_PATCH__ADDRESS_3_HI 0x049C
+
+#define VL53LX_PATCH__ADDRESS_3_LO 0x049D
+
+#define VL53LX_PATCH__ADDRESS_4 0x049E
+
+#define VL53LX_PATCH__ADDRESS_4_HI 0x049E
+
+#define VL53LX_PATCH__ADDRESS_4_LO 0x049F
+
+#define VL53LX_PATCH__ADDRESS_5 0x04A0
+
+#define VL53LX_PATCH__ADDRESS_5_HI 0x04A0
+
+#define VL53LX_PATCH__ADDRESS_5_LO 0x04A1
+
+#define VL53LX_PATCH__ADDRESS_6 0x04A2
+
+#define VL53LX_PATCH__ADDRESS_6_HI 0x04A2
+
+#define VL53LX_PATCH__ADDRESS_6_LO 0x04A3
+
+#define VL53LX_PATCH__ADDRESS_7 0x04A4
+
+#define VL53LX_PATCH__ADDRESS_7_HI 0x04A4
+
+#define VL53LX_PATCH__ADDRESS_7_LO 0x04A5
+
+#define VL53LX_PATCH__ADDRESS_8 0x04A6
+
+#define VL53LX_PATCH__ADDRESS_8_HI 0x04A6
+
+#define VL53LX_PATCH__ADDRESS_8_LO 0x04A7
+
+#define VL53LX_PATCH__ADDRESS_9 0x04A8
+
+#define VL53LX_PATCH__ADDRESS_9_HI 0x04A8
+
+#define VL53LX_PATCH__ADDRESS_9_LO 0x04A9
+
+#define VL53LX_PATCH__ADDRESS_10 0x04AA
+
+#define VL53LX_PATCH__ADDRESS_10_HI 0x04AA
+
+#define VL53LX_PATCH__ADDRESS_10_LO 0x04AB
+
+#define VL53LX_PATCH__ADDRESS_11 0x04AC
+
+#define VL53LX_PATCH__ADDRESS_11_HI 0x04AC
+
+#define VL53LX_PATCH__ADDRESS_11_LO 0x04AD
+
+#define VL53LX_PATCH__ADDRESS_12 0x04AE
+
+#define VL53LX_PATCH__ADDRESS_12_HI 0x04AE
+
+#define VL53LX_PATCH__ADDRESS_12_LO 0x04AF
+
+#define VL53LX_PATCH__ADDRESS_13 0x04B0
+
+#define VL53LX_PATCH__ADDRESS_13_HI 0x04B0
+
+#define VL53LX_PATCH__ADDRESS_13_LO 0x04B1
+
+#define VL53LX_PATCH__ADDRESS_14 0x04B2
+
+#define VL53LX_PATCH__ADDRESS_14_HI 0x04B2
+
+#define VL53LX_PATCH__ADDRESS_14_LO 0x04B3
+
+#define VL53LX_PATCH__ADDRESS_15 0x04B4
+
+#define VL53LX_PATCH__ADDRESS_15_HI 0x04B4
+
+#define VL53LX_PATCH__ADDRESS_15_LO 0x04B5
+
+#define VL53LX_SPI_ASYNC_MUX__CTRL 0x04C0
+
+#define VL53LX_CLK__CONFIG 0x04C4
+
+#define VL53LX_GPIO_LV_MUX__CTRL 0x04CC
+
+#define VL53LX_GPIO_LV_PAD__CTRL 0x04CD
+
+#define VL53LX_PAD_I2C_LV__CONFIG 0x04D0
+
+#define VL53LX_PAD_STARTUP_MODE__VALUE_RO_GO1 0x04D4
+
+#define VL53LX_HOST_IF__STATUS_GO1 0x04D5
+
+#define VL53LX_MCU_CLK_GATING__CTRL 0x04D8
+
+#define VL53LX_TEST__BIST_ROM_CTRL 0x04E0
+
+#define VL53LX_TEST__BIST_ROM_RESULT 0x04E1
+
+#define VL53LX_TEST__BIST_ROM_MCU_SIG 0x04E2
+
+#define VL53LX_TEST__BIST_ROM_MCU_SIG_HI 0x04E2
+
+#define VL53LX_TEST__BIST_ROM_MCU_SIG_LO 0x04E3
+
+#define VL53LX_TEST__BIST_RAM_CTRL 0x04E4
+
+#define VL53LX_TEST__BIST_RAM_RESULT 0x04E5
+
+#define VL53LX_TEST__TMC 0x04E8
+
+#define VL53LX_TEST__PLL_BIST_MIN_THRESHOLD 0x04F0
+
+#define VL53LX_TEST__PLL_BIST_MIN_THRESHOLD_HI 0x04F0
+
+#define VL53LX_TEST__PLL_BIST_MIN_THRESHOLD_LO 0x04F1
+
+#define VL53LX_TEST__PLL_BIST_MAX_THRESHOLD 0x04F2
+
+#define VL53LX_TEST__PLL_BIST_MAX_THRESHOLD_HI 0x04F2
+
+#define VL53LX_TEST__PLL_BIST_MAX_THRESHOLD_LO 0x04F3
+
+#define VL53LX_TEST__PLL_BIST_COUNT_OUT 0x04F4
+
+#define VL53LX_TEST__PLL_BIST_COUNT_OUT_HI 0x04F4
+
+#define VL53LX_TEST__PLL_BIST_COUNT_OUT_LO 0x04F5
+
+#define VL53LX_TEST__PLL_BIST_GONOGO 0x04F6
+
+#define VL53LX_TEST__PLL_BIST_CTRL 0x04F7
+
+#define VL53LX_RANGING_CORE__DEVICE_ID 0x0680
+
+#define VL53LX_RANGING_CORE__REVISION_ID 0x0681
+
+#define VL53LX_RANGING_CORE__CLK_CTRL1 0x0683
+
+#define VL53LX_RANGING_CORE__CLK_CTRL2 0x0684
+
+#define VL53LX_RANGING_CORE__WOI_1 0x0685
+
+#define VL53LX_RANGING_CORE__WOI_REF_1 0x0686
+
+#define VL53LX_RANGING_CORE__START_RANGING 0x0687
+
+#define VL53LX_RANGING_CORE__LOW_LIMIT_1 0x0690
+
+#define VL53LX_RANGING_CORE__HIGH_LIMIT_1 0x0691
+
+#define VL53LX_RANGING_CORE__LOW_LIMIT_REF_1 0x0692
+
+#define VL53LX_RANGING_CORE__HIGH_LIMIT_REF_1 0x0693
+
+#define VL53LX_RANGING_CORE__QUANTIFIER_1_MSB 0x0694
+
+#define VL53LX_RANGING_CORE__QUANTIFIER_1_LSB 0x0695
+
+#define VL53LX_RANGING_CORE__QUANTIFIER_REF_1_MSB 0x0696
+
+#define VL53LX_RANGING_CORE__QUANTIFIER_REF_1_LSB 0x0697
+
+#define VL53LX_RANGING_CORE__AMBIENT_OFFSET_1_MSB 0x0698
+
+#define VL53LX_RANGING_CORE__AMBIENT_OFFSET_1_LSB 0x0699
+
+#define VL53LX_RANGING_CORE__AMBIENT_OFFSET_REF_1_MSB 0x069A
+
+#define VL53LX_RANGING_CORE__AMBIENT_OFFSET_REF_1_LSB 0x069B
+
+#define VL53LX_RANGING_CORE__FILTER_STRENGTH_1 0x069C
+
+#define VL53LX_RANGING_CORE__FILTER_STRENGTH_REF_1 0x069D
+
+#define VL53LX_RANGING_CORE__SIGNAL_EVENT_LIMIT_1_MSB 0x069E
+
+#define VL53LX_RANGING_CORE__SIGNAL_EVENT_LIMIT_1_LSB 0x069F
+
+#define VL53LX_RANGING_CORE__SIGNAL_EVENT_LIMIT_REF_1_MSB 0x06A0
+
+#define VL53LX_RANGING_CORE__SIGNAL_EVENT_LIMIT_REF_1_LSB 0x06A1
+
+#define VL53LX_RANGING_CORE__TIMEOUT_OVERALL_PERIODS_MSB 0x06A4
+
+#define VL53LX_RANGING_CORE__TIMEOUT_OVERALL_PERIODS_LSB 0x06A5
+
+#define VL53LX_RANGING_CORE__INVERT_HW 0x06A6
+
+#define VL53LX_RANGING_CORE__FORCE_HW 0x06A7
+
+#define VL53LX_RANGING_CORE__STATIC_HW_VALUE 0x06A8
+
+#define VL53LX_RANGING_CORE__FORCE_CONTINUOUS_AMBIENT 0x06A9
+
+#define VL53LX_RANGING_CORE__TEST_PHASE_SELECT_TO_FILTER 0x06AA
+
+#define VL53LX_RANGING_CORE__TEST_PHASE_SELECT_TO_TIMING_GEN 0x06AB
+
+#define VL53LX_RANGING_CORE__INITIAL_PHASE_VALUE_1 0x06AC
+
+#define VL53LX_RANGING_CORE__INITIAL_PHASE_VALUE_REF_1 0x06AD
+
+#define VL53LX_RANGING_CORE__FORCE_UP_IN 0x06AE
+
+#define VL53LX_RANGING_CORE__FORCE_DN_IN 0x06AF
+
+#define VL53LX_RANGING_CORE__STATIC_UP_VALUE_1 0x06B0
+
+#define VL53LX_RANGING_CORE__STATIC_UP_VALUE_REF_1 0x06B1
+
+#define VL53LX_RANGING_CORE__STATIC_DN_VALUE_1 0x06B2
+
+#define VL53LX_RANGING_CORE__STATIC_DN_VALUE_REF_1 0x06B3
+
+#define VL53LX_RANGING_CORE__MONITOR_UP_DN 0x06B4
+
+#define VL53LX_RANGING_CORE__INVERT_UP_DN 0x06B5
+
+#define VL53LX_RANGING_CORE__CPUMP_1 0x06B6
+
+#define VL53LX_RANGING_CORE__CPUMP_2 0x06B7
+
+#define VL53LX_RANGING_CORE__CPUMP_3 0x06B8
+
+#define VL53LX_RANGING_CORE__OSC_1 0x06B9
+
+#define VL53LX_RANGING_CORE__PLL_1 0x06BB
+
+#define VL53LX_RANGING_CORE__PLL_2 0x06BC
+
+#define VL53LX_RANGING_CORE__REFERENCE_1 0x06BD
+
+#define VL53LX_RANGING_CORE__REFERENCE_3 0x06BF
+
+#define VL53LX_RANGING_CORE__REFERENCE_4 0x06C0
+
+#define VL53LX_RANGING_CORE__REFERENCE_5 0x06C1
+
+#define VL53LX_RANGING_CORE__REGAVDD1V2 0x06C3
+
+#define VL53LX_RANGING_CORE__CALIB_1 0x06C4
+
+#define VL53LX_RANGING_CORE__CALIB_2 0x06C5
+
+#define VL53LX_RANGING_CORE__CALIB_3 0x06C6
+
+#define VL53LX_RANGING_CORE__TST_MUX_SEL1 0x06C9
+
+#define VL53LX_RANGING_CORE__TST_MUX_SEL2 0x06CA
+
+#define VL53LX_RANGING_CORE__TST_MUX 0x06CB
+
+#define VL53LX_RANGING_CORE__GPIO_OUT_TESTMUX 0x06CC
+
+#define VL53LX_RANGING_CORE__CUSTOM_FE 0x06CD
+
+#define VL53LX_RANGING_CORE__CUSTOM_FE_2 0x06CE
+
+#define VL53LX_RANGING_CORE__SPAD_READOUT 0x06CF
+
+#define VL53LX_RANGING_CORE__SPAD_READOUT_1 0x06D0
+
+#define VL53LX_RANGING_CORE__SPAD_READOUT_2 0x06D1
+
+#define VL53LX_RANGING_CORE__SPAD_PS 0x06D2
+
+#define VL53LX_RANGING_CORE__LASER_SAFETY_2 0x06D4
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__MODE 0x0780
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__PDN 0x0781
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__PROGN 0x0782
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__READN 0x0783
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__PULSE_WIDTH_MSB 0x0784
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__PULSE_WIDTH_LSB 0x0785
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__HV_RISE_MSB 0x0786
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__HV_RISE_LSB 0x0787
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__HV_FALL_MSB 0x0788
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__HV_FALL_LSB 0x0789
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__TST 0x078A
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__TESTREAD 0x078B
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__DATAIN_MMM 0x078C
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__DATAIN_LMM 0x078D
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__DATAIN_LLM 0x078E
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__DATAIN_LLL 0x078F
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__DATAOUT_MMM 0x0790
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__DATAOUT_LMM 0x0791
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__DATAOUT_LLM 0x0792
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__DATAOUT_LLL 0x0793
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__ADDR 0x0794
+
+#define VL53LX_RANGING_CORE__NVM_CTRL__DATAOUT_ECC 0x0795
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_0 0x0796
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_1 0x0797
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_2 0x0798
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_3 0x0799
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_4 0x079A
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_5 0x079B
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_6 0x079C
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_7 0x079D
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_8 0x079E
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_9 0x079F
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_10 0x07A0
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_11 0x07A1
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_12 0x07A2
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_13 0x07A3
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_14 0x07A4
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_15 0x07A5
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_16 0x07A6
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_17 0x07A7
+
+#define VL53LX_RANGING_CORE__SPAD_SHIFT_EN 0x07BA
+
+#define VL53LX_RANGING_CORE__SPAD_DISABLE_CTRL 0x07BB
+
+#define VL53LX_RANGING_CORE__SPAD_EN_SHIFT_OUT_DEBUG 0x07BC
+
+#define VL53LX_RANGING_CORE__SPI_MODE 0x07BD
+
+#define VL53LX_RANGING_CORE__GPIO_DIR 0x07BE
+
+#define VL53LX_RANGING_CORE__VCSEL_PERIOD 0x0880
+
+#define VL53LX_RANGING_CORE__VCSEL_START 0x0881
+
+#define VL53LX_RANGING_CORE__VCSEL_STOP 0x0882
+
+#define VL53LX_RANGING_CORE__VCSEL_1 0x0885
+
+#define VL53LX_RANGING_CORE__VCSEL_STATUS 0x088D
+
+#define VL53LX_RANGING_CORE__STATUS 0x0980
+
+#define VL53LX_RANGING_CORE__LASER_CONTINUITY_STATE 0x0981
+
+#define VL53LX_RANGING_CORE__RANGE_1_MMM 0x0982
+
+#define VL53LX_RANGING_CORE__RANGE_1_LMM 0x0983
+
+#define VL53LX_RANGING_CORE__RANGE_1_LLM 0x0984
+
+#define VL53LX_RANGING_CORE__RANGE_1_LLL 0x0985
+
+#define VL53LX_RANGING_CORE__RANGE_REF_1_MMM 0x0986
+
+#define VL53LX_RANGING_CORE__RANGE_REF_1_LMM 0x0987
+
+#define VL53LX_RANGING_CORE__RANGE_REF_1_LLM 0x0988
+
+#define VL53LX_RANGING_CORE__RANGE_REF_1_LLL 0x0989
+
+#define VL53LX_RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_MMM 0x098A
+
+#define VL53LX_RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_LMM 0x098B
+
+#define VL53LX_RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_LLM 0x098C
+
+#define VL53LX_RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_LLL 0x098D
+
+#define VL53LX_RANGING_CORE__RANGING_TOTAL_EVENTS_1_MMM 0x098E
+
+#define VL53LX_RANGING_CORE__RANGING_TOTAL_EVENTS_1_LMM 0x098F
+
+#define VL53LX_RANGING_CORE__RANGING_TOTAL_EVENTS_1_LLM 0x0990
+
+#define VL53LX_RANGING_CORE__RANGING_TOTAL_EVENTS_1_LLL 0x0991
+
+#define VL53LX_RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_MMM 0x0992
+
+#define VL53LX_RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_LMM 0x0993
+
+#define VL53LX_RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_LLM 0x0994
+
+#define VL53LX_RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_LLL 0x0995
+
+#define VL53LX_RANGING_CORE__TOTAL_PERIODS_ELAPSED_1_MM 0x0996
+
+#define VL53LX_RANGING_CORE__TOTAL_PERIODS_ELAPSED_1_LM 0x0997
+
+#define VL53LX_RANGING_CORE__TOTAL_PERIODS_ELAPSED_1_LL 0x0998
+
+#define VL53LX_RANGING_CORE__AMBIENT_MISMATCH_MM 0x0999
+
+#define VL53LX_RANGING_CORE__AMBIENT_MISMATCH_LM 0x099A
+
+#define VL53LX_RANGING_CORE__AMBIENT_MISMATCH_LL 0x099B
+
+#define VL53LX_RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_MMM 0x099C
+
+#define VL53LX_RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_LMM 0x099D
+
+#define VL53LX_RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_LLM 0x099E
+
+#define VL53LX_RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_LLL 0x099F
+
+#define VL53LX_RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_MMM 0x09A0
+
+#define VL53LX_RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_LMM 0x09A1
+
+#define VL53LX_RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_LLM 0x09A2
+
+#define VL53LX_RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_LLL 0x09A3
+
+#define VL53LX_RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_MMM 0x09A4
+
+#define VL53LX_RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_LMM 0x09A5
+
+#define VL53LX_RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_LLM 0x09A6
+
+#define VL53LX_RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_LLL 0x09A7
+
+#define VL53LX_RANGING_CORE__TOTAL_PERIODS_ELAPSED_REF_1_MM 0x09A8
+
+#define VL53LX_RANGING_CORE__TOTAL_PERIODS_ELAPSED_REF_1_LM 0x09A9
+
+#define VL53LX_RANGING_CORE__TOTAL_PERIODS_ELAPSED_REF_1_LL 0x09AA
+
+#define VL53LX_RANGING_CORE__AMBIENT_MISMATCH_REF_MM 0x09AB
+
+#define VL53LX_RANGING_CORE__AMBIENT_MISMATCH_REF_LM 0x09AC
+
+#define VL53LX_RANGING_CORE__AMBIENT_MISMATCH_REF_LL 0x09AD
+
+#define VL53LX_RANGING_CORE__GPIO_CONFIG__A0 0x0A00
+
+#define VL53LX_RANGING_CORE__RESET_CONTROL__A0 0x0A01
+
+#define VL53LX_RANGING_CORE__INTR_MANAGER__A0 0x0A02
+
+#define VL53LX_RANGING_CORE__POWER_FSM_TIME_OSC__A0 0x0A06
+
+#define VL53LX_RANGING_CORE__VCSEL_ATEST__A0 0x0A07
+
+#define VL53LX_RANGING_CORE__VCSEL_PERIOD_CLIPPED__A0 0x0A08
+
+#define VL53LX_RANGING_CORE__VCSEL_STOP_CLIPPED__A0 0x0A09
+
+#define VL53LX_RANGING_CORE__CALIB_2__A0 0x0A0A
+
+#define VL53LX_RANGING_CORE__STOP_CONDITION__A0 0x0A0B
+
+#define VL53LX_RANGING_CORE__STATUS_RESET__A0 0x0A0C
+
+#define VL53LX_RANGING_CORE__READOUT_CFG__A0 0x0A0D
+
+#define VL53LX_RANGING_CORE__WINDOW_SETTING__A0 0x0A0E
+
+#define VL53LX_RANGING_CORE__VCSEL_DELAY__A0 0x0A1A
+
+#define VL53LX_RANGING_CORE__REFERENCE_2__A0 0x0A1B
+
+#define VL53LX_RANGING_CORE__REGAVDD1V2__A0 0x0A1D
+
+#define VL53LX_RANGING_CORE__TST_MUX__A0 0x0A1F
+
+#define VL53LX_RANGING_CORE__CUSTOM_FE_2__A0 0x0A20
+
+#define VL53LX_RANGING_CORE__SPAD_READOUT__A0 0x0A21
+
+#define VL53LX_RANGING_CORE__CPUMP_1__A0 0x0A22
+
+#define VL53LX_RANGING_CORE__SPARE_REGISTER__A0 0x0A23
+
+#define VL53LX_RANGING_CORE__VCSEL_CONT_STAGE5_BYPASS__A0 0x0A24
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_18 0x0A25
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_19 0x0A26
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_20 0x0A27
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_21 0x0A28
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_22 0x0A29
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_23 0x0A2A
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_24 0x0A2B
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_25 0x0A2C
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_26 0x0A2D
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_27 0x0A2E
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_28 0x0A2F
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_29 0x0A30
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_30 0x0A31
+
+#define VL53LX_RANGING_CORE__RET_SPAD_EN_31 0x0A32
+
+#define VL53LX_RANGING_CORE__REF_SPAD_EN_0__EWOK 0x0A33
+
+#define VL53LX_RANGING_CORE__REF_SPAD_EN_1__EWOK 0x0A34
+
+#define VL53LX_RANGING_CORE__REF_SPAD_EN_2__EWOK 0x0A35
+
+#define VL53LX_RANGING_CORE__REF_SPAD_EN_3__EWOK 0x0A36
+
+#define VL53LX_RANGING_CORE__REF_SPAD_EN_4__EWOK 0x0A37
+
+#define VL53LX_RANGING_CORE__REF_SPAD_EN_5__EWOK 0x0A38
+
+#define VL53LX_RANGING_CORE__REF_EN_START_SELECT 0x0A39
+
+#define VL53LX_RANGING_CORE__REGDVDD1V2_ATEST__EWOK 0x0A41
+
+#define VL53LX_SOFT_RESET_GO1 0x0B00
+
+#define VL53LX_PRIVATE__PATCH_BASE_ADDR_RSLV 0x0E00
+
+#define VL53LX_PREV_SHADOW_RESULT__INTERRUPT_STATUS 0x0ED0
+
+#define VL53LX_PREV_SHADOW_RESULT__RANGE_STATUS 0x0ED1
+
+#define VL53LX_PREV_SHADOW_RESULT__REPORT_STATUS 0x0ED2
+
+#define VL53LX_PREV_SHADOW_RESULT__STREAM_COUNT 0x0ED3
+
+#define VL53LX_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x0ED4
+
+#define VL53LX_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0ED4
+
+#define VL53LX_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0ED5
+
+#define VL53LX_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0 0x0ED6
+
+#define VL53LX_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x0ED6
+
+#define VL53LX_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x0ED7
+
+#define VL53LX_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0 0x0ED8
+
+#define VL53LX_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_HI 0x0ED8
+
+#define VL53LX_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_LO 0x0ED9
+
+#define VL53LX_PREV_SHADOW_RESULT__SIGMA_SD0 0x0EDA
+
+#define VL53LX_PREV_SHADOW_RESULT__SIGMA_SD0_HI 0x0EDA
+
+#define VL53LX_PREV_SHADOW_RESULT__SIGMA_SD0_LO 0x0EDB
+
+#define VL53LX_PREV_SHADOW_RESULT__PHASE_SD0 0x0EDC
+
+#define VL53LX_PREV_SHADOW_RESULT__PHASE_SD0_HI 0x0EDC
+
+#define VL53LX_PREV_SHADOW_RESULT__PHASE_SD0_LO 0x0EDD
+
+#define VL53LX_PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0EDE
+
+#define VL53LX_PREV__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_HI 0x0EDE
+
+#define VL53LX_PREV__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_LO 0x0EDF
+
+#define VL53LX_PREV__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0EE0
+
+#define VL53LX_PPEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_HI 0x0EE0
+
+#define VL53LX_PPEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_LO 0x0EE1
+
+#define VL53LX_PREV_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0 0x0EE2
+
+#define VL53LX_PREV_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0EE2
+
+#define VL53LX_PREV_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0EE3
+
+#define VL53LX_PREV_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0 0x0EE4
+
+#define VL53LX_PREV_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0EE4
+
+#define VL53LX_PREV_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0EE5
+
+#define VL53LX_PREV_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0 0x0EE6
+
+#define VL53LX_PREV_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x0EE6
+
+#define VL53LX_PREV_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x0EE7
+
+#define VL53LX_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1 0x0EE8
+
+#define VL53LX_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_HI 0x0EE8
+
+#define VL53LX_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_LO 0x0EE9
+
+#define VL53LX_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1 0x0EEA
+
+#define VL53LX_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_HI 0x0EEA
+
+#define VL53LX_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_LO 0x0EEB
+
+#define VL53LX_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1 0x0EEC
+
+#define VL53LX_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_HI 0x0EEC
+
+#define VL53LX_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_LO 0x0EED
+
+#define VL53LX_PREV_SHADOW_RESULT__SIGMA_SD1 0x0EEE
+
+#define VL53LX_PREV_SHADOW_RESULT__SIGMA_SD1_HI 0x0EEE
+
+#define VL53LX_PREV_SHADOW_RESULT__SIGMA_SD1_LO 0x0EEF
+
+#define VL53LX_PREV_SHADOW_RESULT__PHASE_SD1 0x0EF0
+
+#define VL53LX_PREV_SHADOW_RESULT__PHASE_SD1_HI 0x0EF0
+
+#define VL53LX_PREV_SHADOW_RESULT__PHASE_SD1_LO 0x0EF1
+
+#define VL53LX_PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1 0x0EF2
+
+#define VL53LX_PFINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_HI 0x0EF2
+
+#define VL53LX_PFINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_LO 0x0EF3
+
+#define VL53LX_PREV_SHADOW_RESULT__SPARE_0_SD1 0x0EF4
+
+#define VL53LX_PREV_SHADOW_RESULT__SPARE_0_SD1_HI 0x0EF4
+
+#define VL53LX_PREV_SHADOW_RESULT__SPARE_0_SD1_LO 0x0EF5
+
+#define VL53LX_PREV_SHADOW_RESULT__SPARE_1_SD1 0x0EF6
+
+#define VL53LX_PREV_SHADOW_RESULT__SPARE_1_SD1_HI 0x0EF6
+
+#define VL53LX_PREV_SHADOW_RESULT__SPARE_1_SD1_LO 0x0EF7
+
+#define VL53LX_PREV_SHADOW_RESULT__SPARE_2_SD1 0x0EF8
+
+#define VL53LX_PREV_SHADOW_RESULT__SPARE_2_SD1_HI 0x0EF8
+
+#define VL53LX_PREV_SHADOW_RESULT__SPARE_2_SD1_LO 0x0EF9
+
+#define VL53LX_PREV_SHADOW_RESULT__SPARE_3_SD1 0x0EFA
+
+#define VL53LX_PREV_SHADOW_RESULT__SPARE_3_SD1_HI 0x0EFA
+
+#define VL53LX_PREV_SHADOW_RESULT__SPARE_3_SD1_LO 0x0EFB
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 0x0EFC
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_3 0x0EFC
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_2 0x0EFD
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_1 0x0EFE
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_0 0x0EFF
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0 0x0F00
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_3 0x0F00
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_2 0x0F01
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_1 0x0F02
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_0 0x0F03
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0 0x0F04
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_3 0x0F04
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_2 0x0F05
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_1 0x0F06
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_0 0x0F07
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0 0x0F08
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_3 0x0F08
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_2 0x0F09
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_1 0x0F0A
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_0 0x0F0B
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1 0x0F0C
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_3 0x0F0C
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_2 0x0F0D
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_1 0x0F0E
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_0 0x0F0F
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1 0x0F10
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_3 0x0F10
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_2 0x0F11
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_1 0x0F12
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_0 0x0F13
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1 0x0F14
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_3 0x0F14
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_2 0x0F15
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_1 0x0F16
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_0 0x0F17
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1 0x0F18
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_3 0x0F18
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_2 0x0F19
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_1 0x0F1A
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_0 0x0F1B
+
+#define VL53LX_PREV_SHADOW_RESULT_CORE__SPARE_0 0x0F1C
+
+#define VL53LX_RESULT__DEBUG_STATUS 0x0F20
+
+#define VL53LX_RESULT__DEBUG_STAGE 0x0F21
+
+#define VL53LX_GPH__SYSTEM__THRESH_RATE_HIGH 0x0F24
+
+#define VL53LX_GPH__SYSTEM__THRESH_RATE_HIGH_HI 0x0F24
+
+#define VL53LX_GPH__SYSTEM__THRESH_RATE_HIGH_LO 0x0F25
+
+#define VL53LX_GPH__SYSTEM__THRESH_RATE_LOW 0x0F26
+
+#define VL53LX_GPH__SYSTEM__THRESH_RATE_LOW_HI 0x0F26
+
+#define VL53LX_GPH__SYSTEM__THRESH_RATE_LOW_LO 0x0F27
+
+#define VL53LX_GPH__SYSTEM__INTERRUPT_CONFIG_GPIO 0x0F28
+
+#define VL53LX_GPH__DSS_CONFIG__ROI_MODE_CONTROL 0x0F2F
+
+#define VL53LX_GPH__DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT 0x0F30
+
+#define VL53LX_GPH__DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_HI 0x0F30
+
+#define VL53LX_GPH__DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_LO 0x0F31
+
+#define VL53LX_GPH__DSS_CONFIG__MANUAL_BLOCK_SELECT 0x0F32
+
+#define VL53LX_GPH__DSS_CONFIG__MAX_SPADS_LIMIT 0x0F33
+
+#define VL53LX_GPH__DSS_CONFIG__MIN_SPADS_LIMIT 0x0F34
+
+#define VL53LX_GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI 0x0F36
+
+#define VL53LX_GPH__MM_CONFIG__TIMEOUT_MACROP_A_LO 0x0F37
+
+#define VL53LX_GPH__MM_CONFIG__TIMEOUT_MACROP_B_HI 0x0F38
+
+#define VL53LX_GPH__MM_CONFIG__TIMEOUT_MACROP_B_LO 0x0F39
+
+#define VL53LX_GPH__RANGE_CONFIG__TIMEOUT_MACROP_A_HI 0x0F3A
+
+#define VL53LX_GPH__RANGE_CONFIG__TIMEOUT_MACROP_A_LO 0x0F3B
+
+#define VL53LX_GPH__RANGE_CONFIG__VCSEL_PERIOD_A 0x0F3C
+
+#define VL53LX_GPH__RANGE_CONFIG__VCSEL_PERIOD_B 0x0F3D
+
+#define VL53LX_GPH__RANGE_CONFIG__TIMEOUT_MACROP_B_HI 0x0F3E
+
+#define VL53LX_GPH__RANGE_CONFIG__TIMEOUT_MACROP_B_LO 0x0F3F
+
+#define VL53LX_GPH__RANGE_CONFIG__SIGMA_THRESH 0x0F40
+
+#define VL53LX_GPH__RANGE_CONFIG__SIGMA_THRESH_HI 0x0F40
+
+#define VL53LX_GPH__RANGE_CONFIG__SIGMA_THRESH_LO 0x0F41
+
+#define VL53LX_GPH__RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS 0x0F42
+
+#define VL53LX_GPH__RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_HI 0x0F42
+
+#define VL53LX_GPH__RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_LO 0x0F43
+
+#define VL53LX_GPH__RANGE_CONFIG__VALID_PHASE_LOW 0x0F44
+
+#define VL53LX_GPH__RANGE_CONFIG__VALID_PHASE_HIGH 0x0F45
+
+#define VL53LX_FIRMWARE__INTERNAL_STREAM_COUNT_DIV 0x0F46
+
+#define VL53LX_FIRMWARE__INTERNAL_STREAM_COUNTER_VAL 0x0F47
+
+#define VL53LX_DSS_CALC__ROI_CTRL 0x0F54
+
+#define VL53LX_DSS_CALC__SPARE_1 0x0F55
+
+#define VL53LX_DSS_CALC__SPARE_2 0x0F56
+
+#define VL53LX_DSS_CALC__SPARE_3 0x0F57
+
+#define VL53LX_DSS_CALC__SPARE_4 0x0F58
+
+#define VL53LX_DSS_CALC__SPARE_5 0x0F59
+
+#define VL53LX_DSS_CALC__SPARE_6 0x0F5A
+
+#define VL53LX_DSS_CALC__SPARE_7 0x0F5B
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_0 0x0F5C
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_1 0x0F5D
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_2 0x0F5E
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_3 0x0F5F
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_4 0x0F60
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_5 0x0F61
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_6 0x0F62
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_7 0x0F63
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_8 0x0F64
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_9 0x0F65
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_10 0x0F66
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_11 0x0F67
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_12 0x0F68
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_13 0x0F69
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_14 0x0F6A
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_15 0x0F6B
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_16 0x0F6C
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_17 0x0F6D
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_18 0x0F6E
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_19 0x0F6F
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_20 0x0F70
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_21 0x0F71
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_22 0x0F72
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_23 0x0F73
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_24 0x0F74
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_25 0x0F75
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_26 0x0F76
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_27 0x0F77
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_28 0x0F78
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_29 0x0F79
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_30 0x0F7A
+
+#define VL53LX_DSS_CALC__USER_ROI_SPAD_EN_31 0x0F7B
+
+#define VL53LX_DSS_CALC__USER_ROI_0 0x0F7C
+
+#define VL53LX_DSS_CALC__USER_ROI_1 0x0F7D
+
+#define VL53LX_DSS_CALC__MODE_ROI_0 0x0F7E
+
+#define VL53LX_DSS_CALC__MODE_ROI_1 0x0F7F
+
+#define VL53LX_SIGMA_ESTIMATOR_CALC__SPARE_0 0x0F80
+
+#define VL53LX_VHV_RESULT__PEAK_SIGNAL_RATE_MCPS 0x0F82
+
+#define VL53LX_VHV_RESULT__PEAK_SIGNAL_RATE_MCPS_HI 0x0F82
+
+#define VL53LX_VHV_RESULT__PEAK_SIGNAL_RATE_MCPS_LO 0x0F83
+
+#define VL53LX_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF 0x0F84
+
+#define VL53LX_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_3 0x0F84
+
+#define VL53LX_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_2 0x0F85
+
+#define VL53LX_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_1 0x0F86
+
+#define VL53LX_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_0 0x0F87
+
+#define VL53LX_PHASECAL_RESULT__PHASE_OUTPUT_REF 0x0F88
+
+#define VL53LX_PHASECAL_RESULT__PHASE_OUTPUT_REF_HI 0x0F88
+
+#define VL53LX_PHASECAL_RESULT__PHASE_OUTPUT_REF_LO 0x0F89
+
+#define VL53LX_DSS_RESULT__TOTAL_RATE_PER_SPAD 0x0F8A
+
+#define VL53LX_DSS_RESULT__TOTAL_RATE_PER_SPAD_HI 0x0F8A
+
+#define VL53LX_DSS_RESULT__TOTAL_RATE_PER_SPAD_LO 0x0F8B
+
+#define VL53LX_DSS_RESULT__ENABLED_BLOCKS 0x0F8C
+
+#define VL53LX_DSS_RESULT__NUM_REQUESTED_SPADS 0x0F8E
+
+#define VL53LX_DSS_RESULT__NUM_REQUESTED_SPADS_HI 0x0F8E
+
+#define VL53LX_DSS_RESULT__NUM_REQUESTED_SPADS_LO 0x0F8F
+
+#define VL53LX_MM_RESULT__INNER_INTERSECTION_RATE 0x0F92
+
+#define VL53LX_MM_RESULT__INNER_INTERSECTION_RATE_HI 0x0F92
+
+#define VL53LX_MM_RESULT__INNER_INTERSECTION_RATE_LO 0x0F93
+
+#define VL53LX_MM_RESULT__OUTER_COMPLEMENT_RATE 0x0F94
+
+#define VL53LX_MM_RESULT__OUTER_COMPLEMENT_RATE_HI 0x0F94
+
+#define VL53LX_MM_RESULT__OUTER_COMPLEMENT_RATE_LO 0x0F95
+
+#define VL53LX_MM_RESULT__TOTAL_OFFSET 0x0F96
+
+#define VL53LX_MM_RESULT__TOTAL_OFFSET_HI 0x0F96
+
+#define VL53LX_MM_RESULT__TOTAL_OFFSET_LO 0x0F97
+
+#define VL53LX_XTALK_CALC__XTALK_FOR_ENABLED_SPADS 0x0F98
+
+#define VL53LX_XTALK_CALC__XTALK_FOR_ENABLED_SPADS_3 0x0F98
+
+#define VL53LX_XTALK_CALC__XTALK_FOR_ENABLED_SPADS_2 0x0F99
+
+#define VL53LX_XTALK_CALC__XTALK_FOR_ENABLED_SPADS_1 0x0F9A
+
+#define VL53LX_XTALK_CALC__XTALK_FOR_ENABLED_SPADS_0 0x0F9B
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS 0x0F9C
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_3 0x0F9C
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_2 0x0F9D
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_1 0x0F9E
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_0 0x0F9F
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS 0x0FA0
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_3 0x0FA0
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_2 0x0FA1
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_1 0x0FA2
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_0 0x0FA3
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS 0x0FA4
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_3 0x0FA4
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_2 0x0FA5
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_1 0x0FA6
+
+#define VL53LX_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_0 0x0FA7
+
+#define VL53LX_RANGE_RESULT__ACCUM_PHASE 0x0FA8
+
+#define VL53LX_RANGE_RESULT__ACCUM_PHASE_3 0x0FA8
+
+#define VL53LX_RANGE_RESULT__ACCUM_PHASE_2 0x0FA9
+
+#define VL53LX_RANGE_RESULT__ACCUM_PHASE_1 0x0FAA
+
+#define VL53LX_RANGE_RESULT__ACCUM_PHASE_0 0x0FAB
+
+#define VL53LX_RANGE_RESULT__OFFSET_CORRECTED_RANGE 0x0FAC
+
+#define VL53LX_RANGE_RESULT__OFFSET_CORRECTED_RANGE_HI 0x0FAC
+
+#define VL53LX_RANGE_RESULT__OFFSET_CORRECTED_RANGE_LO 0x0FAD
+
+#define VL53LX_SHADOW_PHASECAL_RESULT__VCSEL_START 0x0FAE
+
+#define VL53LX_SHADOW_RESULT__INTERRUPT_STATUS 0x0FB0
+
+#define VL53LX_SHADOW_RESULT__RANGE_STATUS 0x0FB1
+
+#define VL53LX_SHADOW_RESULT__REPORT_STATUS 0x0FB2
+
+#define VL53LX_SHADOW_RESULT__STREAM_COUNT 0x0FB3
+
+#define VL53LX_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x0FB4
+
+#define VL53LX_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0FB4
+
+#define VL53LX_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0FB5
+
+#define VL53LX_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0 0x0FB6
+
+#define VL53LX_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x0FB6
+
+#define VL53LX_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x0FB7
+
+#define VL53LX_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0 0x0FB8
+
+#define VL53LX_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_HI 0x0FB8
+
+#define VL53LX_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_LO 0x0FB9
+
+#define VL53LX_SHADOW_RESULT__SIGMA_SD0 0x0FBA
+
+#define VL53LX_SHADOW_RESULT__SIGMA_SD0_HI 0x0FBA
+
+#define VL53LX_SHADOW_RESULT__SIGMA_SD0_LO 0x0FBB
+
+#define VL53LX_SHADOW_RESULT__PHASE_SD0 0x0FBC
+
+#define VL53LX_SHADOW_RESULT__PHASE_SD0_HI 0x0FBC
+
+#define VL53LX_SHADOW_RESULT__PHASE_SD0_LO 0x0FBD
+
+#define VL53LX_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0FBE
+
+#define VL53LX_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_HI 0x0FBE
+
+#define VL53LX_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_LO 0x0FBF
+
+#define VL53LX_SHPEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0FC0
+
+#define VL53LX_SHPEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_HI 0x0FC0
+
+#define VL53LX_SHPEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_LO 0x0FC1
+
+#define VL53LX_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0 0x0FC2
+
+#define VL53LX_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0FC2
+
+#define VL53LX_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0FC3
+
+#define VL53LX_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0 0x0FC4
+
+#define VL53LX_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0FC4
+
+#define VL53LX_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0FC5
+
+#define VL53LX_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0 0x0FC6
+
+#define VL53LX_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x0FC6
+
+#define VL53LX_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x0FC7
+
+#define VL53LX_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1 0x0FC8
+
+#define VL53LX_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_HI 0x0FC8
+
+#define VL53LX_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_LO 0x0FC9
+
+#define VL53LX_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1 0x0FCA
+
+#define VL53LX_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_HI 0x0FCA
+
+#define VL53LX_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_LO 0x0FCB
+
+#define VL53LX_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1 0x0FCC
+
+#define VL53LX_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_HI 0x0FCC
+
+#define VL53LX_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_LO 0x0FCD
+
+#define VL53LX_SHADOW_RESULT__SIGMA_SD1 0x0FCE
+
+#define VL53LX_SHADOW_RESULT__SIGMA_SD1_HI 0x0FCE
+
+#define VL53LX_SHADOW_RESULT__SIGMA_SD1_LO 0x0FCF
+
+#define VL53LX_SHADOW_RESULT__PHASE_SD1 0x0FD0
+
+#define VL53LX_SHADOW_RESULT__PHASE_SD1_HI 0x0FD0
+
+#define VL53LX_SHADOW_RESULT__PHASE_SD1_LO 0x0FD1
+
+#define VL53LX_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1 0x0FD2
+
+#define VL53LX_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_HI 0x0FD2
+
+#define VL53LX_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_LO 0x0FD3
+
+#define VL53LX_SHADOW_RESULT__SPARE_0_SD1 0x0FD4
+
+#define VL53LX_SHADOW_RESULT__SPARE_0_SD1_HI 0x0FD4
+
+#define VL53LX_SHADOW_RESULT__SPARE_0_SD1_LO 0x0FD5
+
+#define VL53LX_SHADOW_RESULT__SPARE_1_SD1 0x0FD6
+
+#define VL53LX_SHADOW_RESULT__SPARE_1_SD1_HI 0x0FD6
+
+#define VL53LX_SHADOW_RESULT__SPARE_1_SD1_LO 0x0FD7
+
+#define VL53LX_SHADOW_RESULT__SPARE_2_SD1 0x0FD8
+
+#define VL53LX_SHADOW_RESULT__SPARE_2_SD1_HI 0x0FD8
+
+#define VL53LX_SHADOW_RESULT__SPARE_2_SD1_LO 0x0FD9
+
+#define VL53LX_SHADOW_RESULT__SPARE_3_SD1 0x0FDA
+
+#define VL53LX_SHADOW_RESULT__THRESH_INFO 0x0FDB
+
+#define VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 0x0FDC
+
+#define VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_3 0x0FDC
+
+#define VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_2 0x0FDD
+
+#define VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_1 0x0FDE
+
+#define VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_0 0x0FDF
+
+#define VL53LX_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0 0x0FE0
+
+#define VL53LX_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_3 0x0FE0
+
+#define VL53LX_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_2 0x0FE1
+
+#define VL53LX_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_1 0x0FE2
+
+#define VL53LX_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_0 0x0FE3
+
+#define VL53LX_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0 0x0FE4
+
+#define VL53LX_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_3 0x0FE4
+
+#define VL53LX_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_2 0x0FE5
+
+#define VL53LX_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_1 0x0FE6
+
+#define VL53LX_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_0 0x0FE7
+
+#define VL53LX_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0 0x0FE8
+
+#define VL53LX_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_3 0x0FE8
+
+#define VL53LX_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_2 0x0FE9
+
+#define VL53LX_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_1 0x0FEA
+
+#define VL53LX_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_0 0x0FEB
+
+#define VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1 0x0FEC
+
+#define VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_3 0x0FEC
+
+#define VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_2 0x0FED
+
+#define VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_1 0x0FEE
+
+#define VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_0 0x0FEF
+
+#define VL53LX_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1 0x0FF0
+
+#define VL53LX_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_3 0x0FF0
+
+#define VL53LX_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_2 0x0FF1
+
+#define VL53LX_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_1 0x0FF2
+
+#define VL53LX_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_0 0x0FF3
+
+#define VL53LX_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1 0x0FF4
+
+#define VL53LX_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_3 0x0FF4
+
+#define VL53LX_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_2 0x0FF5
+
+#define VL53LX_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_1 0x0FF6
+
+#define VL53LX_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_0 0x0FF7
+
+#define VL53LX_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1 0x0FF8
+
+#define VL53LX_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_3 0x0FF8
+
+#define VL53LX_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_2 0x0FF9
+
+#define VL53LX_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_1 0x0FFA
+
+#define VL53LX_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_0 0x0FFB
+
+#define VL53LX_SHADOW_RESULT_CORE__SPARE_0 0x0FFC
+
+#define VL53LX_SHADOW_PHASECAL_RESULT__REFERENCE_PHASE_HI 0x0FFE
+
+#define VL53LX_SHADOW_PHASECAL_RESULT__REFERENCE_PHASE_LO 0x0FFF
+
+
+
+
+
+// define from vl53lx_error_exceptions.h
+
+#ifndef _VL53LX_ERROR_EXCEPTIONS_H_
+#define _VL53LX_ERROR_EXCEPTIONS_H_
+
+#define IGNORE_DIVISION_BY_ZERO 0
+
+#define IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FAIL 0
+#define IGNORE_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL 0
+#define IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FOR_GRADIENT_WARN 0
+#define IGNORE_XTALK_EXTRACTION_SIGMA_LIMIT_FOR_GRADIENT_WARN 0
+#define IGNORE_XTALK_EXTRACTION_MISSING_SAMPLES_WARN 0
+
+#define IGNORE_REF_SPAD_CHAR_NOT_ENOUGH_SPADS 0
+#define IGNORE_REF_SPAD_CHAR_RATE_TOO_HIGH 0
+#define IGNORE_REF_SPAD_CHAR_RATE_TOO_LOW 0
+
+#define IGNORE_OFFSET_CAL_MISSING_SAMPLES 0
+#define IGNORE_OFFSET_CAL_SIGMA_TOO_HIGH 0
+#define IGNORE_OFFSET_CAL_RATE_TOO_HIGH 0
+#define IGNORE_OFFSET_CAL_SPAD_COUNT_TOO_LOW 0
+
+#define IGNORE_ZONE_CAL_MISSING_SAMPLES 0
+#define IGNORE_ZONE_CAL_SIGMA_TOO_HIGH 0
+#define IGNORE_ZONE_CAL_RATE_TOO_HIGH 0
+
+#endif
+
+// define from vl53lx_platform_user_defines.h
+
+#define do_division_u(dividend, divisor) (dividend / divisor)
+
+#define do_division_s(dividend, divisor) (dividend / divisor)
+
+
+
+#ifdef _MSC_VER
+#define DISABLE_WARNINGS() { \
+ __pragma(warning(push)); \
+ __pragma(warning(disable:4127)); \
+ }
+#define ENABLE_WARNINGS() { \
+ __pragma(warning( pop )); \
+ }
+#else
+
+
+#define DISABLE_WARNINGS()
+#define ENABLE_WARNINGS()
+#endif
+
+
+
+
+/*vl53lx_register_settings.h*/
+
+
+#define VL53LX_DEVICESCHEDULERMODE_PSEUDO_SOLO 0x00
+#define VL53LX_DEVICESCHEDULERMODE_STREAMING 0x01
+#define VL53LX_DEVICESCHEDULERMODE_HISTOGRAM 0x02
+
+
+
+
+
+#define VL53LX_DEVICEREADOUTMODE_SINGLE_SD (0x00 << 2)
+#define VL53LX_DEVICEREADOUTMODE_DUAL_SD (0x01 << 2)
+#define VL53LX_DEVICEREADOUTMODE_SPLIT_READOUT (0x02 << 2)
+#define VL53LX_DEVICEREADOUTMODE_SPLIT_MANUAL (0x03 << 2)
+
+
+
+
+
+
+#define VL53LX_DEVICEMEASUREMENTMODE_MODE_MASK 0xF0
+#define VL53LX_DEVICEMEASUREMENTMODE_STOP_MASK 0x0F
+
+#define VL53LX_GROUPEDPARAMETERHOLD_ID_MASK 0x02
+
+
+
+#define VL53LX_EWOK_I2C_DEV_ADDR_DEFAULT 0x29
+
+#define VL53LX_OSC_FREQUENCY 0x00
+#define VL53LX_OSC_TRIM_DEFAULT 0x00
+#define VL53LX_OSC_FREQ_SET_DEFAULT 0x00
+
+#define VL53LX_RANGE_HISTOGRAM_REF 0x08
+#define VL53LX_RANGE_HISTOGRAM_RET 0x10
+#define VL53LX_RANGE_HISTOGRAM_BOTH 0x18
+#define VL53LX_RANGE_HISTOGRAM_INIT 0x20
+#define VL53LX_RANGE_VHV_INIT 0x40
+
+
+#define VL53LX_RESULT_RANGE_STATUS 0x1F
+
+
+#define VL53LX_SYSTEM__SEED_CONFIG__MANUAL 0x00
+#define VL53LX_SYSTEM__SEED_CONFIG__STANDARD 0x01
+#define VL53LX_SYSTEM__SEED_CONFIG__EVEN_UPDATE_ONLY 0x02
+
+
+#define VL53LX_INTERRUPT_CONFIG_LEVEL_LOW 0x00
+#define VL53LX_INTERRUPT_CONFIG_LEVEL_HIGH 0x01
+#define VL53LX_INTERRUPT_CONFIG_OUT_OF_WINDOW 0x02
+#define VL53LX_INTERRUPT_CONFIG_IN_WINDOW 0x03
+#define VL53LX_INTERRUPT_CONFIG_NEW_SAMPLE_READY 0x20
+
+
+#define VL53LX_CLEAR_RANGE_INT 0x01
+#define VL53LX_CLEAR_ERROR_INT 0x02
+
+
+#define VL53LX_SEQUENCE_VHV_EN 0x01
+#define VL53LX_SEQUENCE_PHASECAL_EN 0x02
+#define VL53LX_SEQUENCE_REFERENCE_PHASE_EN 0x04
+#define VL53LX_SEQUENCE_DSS1_EN 0x08
+#define VL53LX_SEQUENCE_DSS2_EN 0x10
+#define VL53LX_SEQUENCE_MM1_EN 0x20
+#define VL53LX_SEQUENCE_MM2_EN 0x40
+#define VL53LX_SEQUENCE_RANGE_EN 0x80
+
+
+#define VL53LX_DSS_CONTROL__ROI_SUBTRACT 0x20
+#define VL53LX_DSS_CONTROL__ROI_INTERSECT 0x10
+
+#define VL53LX_DSS_CONTROL__MODE_DISABLED 0x00
+#define VL53LX_DSS_CONTROL__MODE_TARGET_RATE 0x01
+#define VL53LX_DSS_CONTROL__MODE_EFFSPADS 0x02
+#define VL53LX_DSS_CONTROL__MODE_BLOCKSELECT 0x03
+
+
+
+#define VL53LX_RANGING_CORE__SPAD_READOUT__STANDARD 0x45
+#define VL53LX_RANGING_CORE__SPAD_READOUT__RETURN_ARRAY_ONLY 0x05
+#define VL53LX_RANGING_CORE__SPAD_READOUT__REFERENCE_ARRAY_ONLY 0x55
+#define VL53LX_RANGING_CORE__SPAD_READOUT__RETURN_SPLIT_ARRAY 0x25
+#define VL53LX_RANGING_CORE__SPAD_READOUT__CALIB_PULSES 0xF5
+
+
+#define VL53LX_LASER_SAFETY__KEY_VALUE 0x6C
+
+
+
+#define VL53LX_RANGE_STATUS__RANGE_STATUS_MASK 0x1F
+#define VL53LX_RANGE_STATUS__MAX_THRESHOLD_HIT_MASK 0x20
+#define VL53LX_RANGE_STATUS__MIN_THRESHOLD_HIT_MASK 0x40
+#define VL53LX_RANGE_STATUS__GPH_ID_RANGE_STATUS_MASK 0x80
+
+
+
+#define VL53LX_INTERRUPT_STATUS__INT_STATUS_MASK 0x07
+#define VL53LX_INTERRUPT_STATUS__INT_ERROR_STATUS_MASK 0x18
+#define VL53LX_INTERRUPT_STATUS__GPH_ID_INT_STATUS_MASK 0x20
+
+
+/* vl53lx_nvm_map.h */
+
+
+
+
+#define VL53LX_NVM__IDENTIFICATION__MODEL_ID 0x0008
+
+#define VL53LX_NVM__IDENTIFICATION__MODULE_TYPE 0x000C
+
+#define VL53LX_NVM__IDENTIFICATION__REVISION_ID 0x000D
+
+#define VL53LX_NVM__IDENTIFICATION__MODULE_ID 0x000E
+
+#define VL53LX_NVM__I2C_VALID 0x0010
+
+#define VL53LX_NVM__I2C_SLAVE__DEVICE_ADDRESS 0x0011
+
+#define VL53LX_NVM__EWS__OSC_MEASURED__FAST_OSC_FREQUENCY 0x0014
+
+#define VL53LX_NVM__EWS__FAST_OSC_TRIM_MAX 0x0016
+
+#define VL53LX_NVM__EWS__FAST_OSC_FREQ_SET 0x0017
+
+#define VL53LX_NVM__EWS__SLOW_OSC_CALIBRATION 0x0018
+
+#define VL53LX_NVM__FMT__OSC_MEASURED__FAST_OSC_FREQUENCY 0x001C
+
+#define VL53LX_NVM__FMT__FAST_OSC_TRIM_MAX 0x001E
+
+#define VL53LX_NVM__FMT__FAST_OSC_FREQ_SET 0x001F
+
+#define VL53LX_NVM__FMT__SLOW_OSC_CALIBRATION 0x0020
+
+#define VL53LX_NVM__VHV_CONFIG_UNLOCK 0x0028
+
+#define VL53LX_NVM__REF_SELVDDPIX 0x0029
+
+#define VL53LX_NVM__REF_SELVQUENCH 0x002A
+
+#define VL53LX_NVM__REGAVDD1V2_SEL_REGDVDD1V2_SEL 0x002B
+
+#define VL53LX_NVM__VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x002C
+
+#define VL53LX_NVM__VHV_CONFIG__COUNT_THRESH 0x002D
+
+#define VL53LX_NVM__VHV_CONFIG__OFFSET 0x002E
+
+#define VL53LX_NVM__VHV_CONFIG__INIT 0x002F
+
+#define VL53LX_NVM__LASER_SAFETY__VCSEL_TRIM_LL 0x0030
+
+#define VL53LX_NVM__LASER_SAFETY__VCSEL_SELION_LL 0x0031
+
+#define VL53LX_NVM__LASER_SAFETY__VCSEL_SELION_MAX_LL 0x0032
+
+#define VL53LX_NVM__LASER_SAFETY__MULT_LL 0x0034
+
+#define VL53LX_NVM__LASER_SAFETY__CLIP_LL 0x0035
+
+#define VL53LX_NVM__LASER_SAFETY__VCSEL_TRIM_LD 0x0038
+
+#define VL53LX_NVM__LASER_SAFETY__VCSEL_SELION_LD 0x0039
+
+#define VL53LX_NVM__LASER_SAFETY__VCSEL_SELION_MAX_LD 0x003A
+
+#define VL53LX_NVM__LASER_SAFETY__MULT_LD 0x003C
+
+#define VL53LX_NVM__LASER_SAFETY__CLIP_LD 0x003D
+
+#define VL53LX_NVM__LASER_SAFETY_LOCK_BYTE 0x0040
+
+#define VL53LX_NVM__LASER_SAFETY_UNLOCK_BYTE 0x0044
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_0_ 0x0048
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_1_ 0x0049
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_2_ 0x004A
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_3_ 0x004B
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_4_ 0x004C
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_5_ 0x004D
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_6_ 0x004E
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_7_ 0x004F
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_8_ 0x0050
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_9_ 0x0051
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_10_ 0x0052
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_11_ 0x0053
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_12_ 0x0054
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_13_ 0x0055
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_14_ 0x0056
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_15_ 0x0057
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_16_ 0x0058
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_17_ 0x0059
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_18_ 0x005A
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_19_ 0x005B
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_20_ 0x005C
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_21_ 0x005D
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_22_ 0x005E
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_23_ 0x005F
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_24_ 0x0060
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_25_ 0x0061
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_26_ 0x0062
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_27_ 0x0063
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_28_ 0x0064
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_29_ 0x0065
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_30_ 0x0066
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_RTN_31_ 0x0067
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC1_0_ 0x0068
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC1_1_ 0x0069
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC1_2_ 0x006A
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC1_3_ 0x006B
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC1_4_ 0x006C
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC1_5_ 0x006D
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC2_0_ 0x0070
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC2_1_ 0x0071
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC2_2_ 0x0072
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC2_3_ 0x0073
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC2_4_ 0x0074
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC2_5_ 0x0075
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC3_0_ 0x0078
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC3_1_ 0x0079
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC3_2_ 0x007A
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC3_3_ 0x007B
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC3_4_ 0x007C
+
+#define VL53LX_NVM__EWS__SPAD_ENABLES_REF__LOC3_5_ 0x007D
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_0_ 0x0080
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_1_ 0x0081
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_2_ 0x0082
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_3_ 0x0083
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_4_ 0x0084
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_5_ 0x0085
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_6_ 0x0086
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_7_ 0x0087
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_8_ 0x0088
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_9_ 0x0089
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_10_ 0x008A
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_11_ 0x008B
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_12_ 0x008C
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_13_ 0x008D
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_14_ 0x008E
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_15_ 0x008F
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_16_ 0x0090
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_17_ 0x0091
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_18_ 0x0092
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_19_ 0x0093
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_20_ 0x0094
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_21_ 0x0095
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_22_ 0x0096
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_23_ 0x0097
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_24_ 0x0098
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_25_ 0x0099
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_26_ 0x009A
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_27_ 0x009B
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_28_ 0x009C
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_29_ 0x009D
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_30_ 0x009E
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_RTN_31_ 0x009F
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC1_0_ 0x00A0
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC1_1_ 0x00A1
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC1_2_ 0x00A2
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC1_3_ 0x00A3
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC1_4_ 0x00A4
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC1_5_ 0x00A5
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC2_0_ 0x00A8
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC2_1_ 0x00A9
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC2_2_ 0x00AA
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC2_3_ 0x00AB
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC2_4_ 0x00AC
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC2_5_ 0x00AD
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC3_0_ 0x00B0
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC3_1_ 0x00B1
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC3_2_ 0x00B2
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC3_3_ 0x00B3
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC3_4_ 0x00B4
+
+#define VL53LX_NVM__FMT__SPAD_ENABLES_REF__LOC3_5_ 0x00B5
+
+#define VL53LX_NVM__FMT__ROI_CONFIG__MODE_ROI_CENTRE_SPAD 0x00B8
+
+#define VL53LX_NVM__FMT__ROI_CONFIG__MODE_ROI_XY_SIZE 0x00B9
+
+#define VL53LX_NVM__FMT__REF_SPAD_APPLY__NUM_REQUESTED_REF_SPAD 0x00BC
+
+#define VL53LX_NVM__FMT__REF_SPAD_MAN__REF_LOCATION 0x00BD
+
+#define VL53LX_NVM__FMT__MM_CONFIG__INNER_OFFSET_MM 0x00C0
+
+#define VL53LX_NVM__FMT__MM_CONFIG__OUTER_OFFSET_MM 0x00C2
+
+#define VL53LX_NVM__FMT__ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x00C4
+
+#define VL53LX_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x00C8
+
+#define VL53LX_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS \
+ 0x00CA
+
+#define VL53LX_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS \
+ 0x00CC
+
+#define VL53LX_NVM__FMT__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_0 0x00CE
+
+#define VL53LX_NVM__FMT__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_1 0x00CF
+
+#define VL53LX_NVM__CUSTOMER_NVM_SPACE_PROGRAMMED 0x00E0
+
+#define VL53LX_NVM__CUST__I2C_SLAVE__DEVICE_ADDRESS 0x00E4
+
+#define VL53LX_NVM__CUST__REF_SPAD_APPLY__NUM_REQUESTED_REF_SPAD 0x00E8
+
+#define VL53LX_NVM__CUST__REF_SPAD_MAN__REF_LOCATION 0x00E9
+
+#define VL53LX_NVM__CUST__MM_CONFIG__INNER_OFFSET_MM 0x00EC
+
+#define VL53LX_NVM__CUST__MM_CONFIG__OUTER_OFFSET_MM 0x00EE
+
+#define VL53LX_NVM__CUST__ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x00F0
+
+#define VL53LX_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x00F4
+
+#define VL53LX_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS \
+ 0x00F6
+
+#define VL53LX_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS \
+ 0x00F8
+
+#define VL53LX_NVM__CUST__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_0 0x00FA
+
+#define VL53LX_NVM__CUST__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_1 0x00FB
+
+#define VL53LX_NVM__FMT__FGC__BYTE_0 0x01DC
+
+#define VL53LX_NVM__FMT__FGC__BYTE_1 0x01DD
+
+#define VL53LX_NVM__FMT__FGC__BYTE_2 0x01DE
+
+#define VL53LX_NVM__FMT__FGC__BYTE_3 0x01DF
+
+#define VL53LX_NVM__FMT__FGC__BYTE_4 0x01E0
+
+#define VL53LX_NVM__FMT__FGC__BYTE_5 0x01E1
+
+#define VL53LX_NVM__FMT__FGC__BYTE_6 0x01E2
+
+#define VL53LX_NVM__FMT__FGC__BYTE_7 0x01E3
+
+#define VL53LX_NVM__FMT__FGC__BYTE_8 0x01E4
+
+#define VL53LX_NVM__FMT__FGC__BYTE_9 0x01E5
+
+#define VL53LX_NVM__FMT__FGC__BYTE_10 0x01E6
+
+#define VL53LX_NVM__FMT__FGC__BYTE_11 0x01E7
+
+#define VL53LX_NVM__FMT__FGC__BYTE_12 0x01E8
+
+#define VL53LX_NVM__FMT__FGC__BYTE_13 0x01E9
+
+#define VL53LX_NVM__FMT__FGC__BYTE_14 0x01EA
+
+#define VL53LX_NVM__FMT__FGC__BYTE_15 0x01EB
+
+#define VL53LX_NVM__FMT__TEST_PROGRAM_MAJOR_MINOR 0x01EC
+
+#define VL53LX_NVM__FMT__MAP_MAJOR_MINOR 0x01ED
+
+#define VL53LX_NVM__FMT__YEAR_MONTH 0x01EE
+
+#define VL53LX_NVM__FMT__DAY_MODULE_DATE_PHASE 0x01EF
+
+#define VL53LX_NVM__FMT__TIME 0x01F0
+
+#define VL53LX_NVM__FMT__TESTER_ID 0x01F2
+
+#define VL53LX_NVM__FMT__SITE_ID 0x01F3
+
+#define VL53LX_NVM__EWS__TEST_PROGRAM_MAJOR_MINOR 0x01F4
+
+#define VL53LX_NVM__EWS__PROBE_CARD_MAJOR_MINOR 0x01F5
+
+#define VL53LX_NVM__EWS__TESTER_ID 0x01F6
+
+#define VL53LX_NVM__EWS__LOT__BYTE_0 0x01F8
+
+#define VL53LX_NVM__EWS__LOT__BYTE_1 0x01F9
+
+#define VL53LX_NVM__EWS__LOT__BYTE_2 0x01FA
+
+#define VL53LX_NVM__EWS__LOT__BYTE_3 0x01FB
+
+#define VL53LX_NVM__EWS__LOT__BYTE_4 0x01FC
+
+#define VL53LX_NVM__EWS__LOT__BYTE_5 0x01FD
+
+#define VL53LX_NVM__EWS__WAFER 0x01FD
+
+#define VL53LX_NVM__EWS__XCOORD 0x01FE
+
+#define VL53LX_NVM__EWS__YCOORD 0x01FF
+
+
+#define VL53LX_NVM__FMT__OPTICAL_CENTRE_DATA_INDEX 0x00B8
+#define VL53LX_NVM__FMT__OPTICAL_CENTRE_DATA_SIZE 4
+
+#define VL53LX_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_INDEX 0x015C
+#define VL53LX_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE 56
+
+#define VL53LX_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_INDEX 0x0194
+#define VL53LX_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE 8
+
+#define VL53LX_NVM__FMT__RANGE_RESULTS__140MM_MM_PRE_RANGE 0x019C
+#define VL53LX_NVM__FMT__RANGE_RESULTS__140MM_DARK 0x01AC
+#define VL53LX_NVM__FMT__RANGE_RESULTS__400MM_DARK 0x01BC
+#define VL53LX_NVM__FMT__RANGE_RESULTS__400MM_AMBIENT 0x01CC
+#define VL53LX_NVM__FMT__RANGE_RESULTS__SIZE_BYTES 16
+
+
+
+
+
+
+/* vl53lx_tuning_parm_defaults.h */
+
+
+
+#define VL53LX_TUNINGPARM_VERSION_DEFAULT \
+((uint16_t) 29)
+#define VL53LX_TUNINGPARM_KEY_TABLE_VERSION_DEFAULT \
+((uint16_t) 14)
+#define VL53LX_TUNINGPARM_LLD_VERSION_DEFAULT \
+((uint16_t) 12180)
+#define VL53LX_TUNINGPARM_HIST_ALGO_SELECT_DEFAULT \
+((uint8_t) 4)
+#define VL53LX_TUNINGPARM_HIST_TARGET_ORDER_DEFAULT \
+((uint8_t) 1)
+#define VL53LX_TUNINGPARM_HIST_FILTER_WOI_0_DEFAULT \
+((uint8_t) 1)
+#define VL53LX_TUNINGPARM_HIST_FILTER_WOI_1_DEFAULT \
+((uint8_t) 2)
+#define VL53LX_TUNINGPARM_HIST_AMB_EST_METHOD_DEFAULT \
+((uint8_t) 1)
+#define VL53LX_TUNINGPARM_HIST_AMB_THRESH_SIGMA_0_DEFAULT \
+((uint8_t) 80)
+#define VL53LX_TUNINGPARM_HIST_AMB_THRESH_SIGMA_1_DEFAULT \
+((uint8_t) 100)
+#define VL53LX_TUNINGPARM_HIST_MIN_AMB_THRESH_EVENTS_DEFAULT \
+((int32_t) 16)
+#define VL53LX_TUNINGPARM_HIST_AMB_EVENTS_SCALER_DEFAULT \
+((uint16_t) 4157)
+#define VL53LX_TUNINGPARM_HIST_NOISE_THRESHOLD_DEFAULT \
+((uint16_t) 50)
+#define VL53LX_TUNINGPARM_HIST_SIGNAL_TOTAL_EVENTS_LIMIT_DEFAULT \
+((int32_t) 100)
+#define VL53LX_TUNINGPARM_HIST_SIGMA_EST_REF_MM_DEFAULT \
+((uint8_t) 1)
+#define VL53LX_TUNINGPARM_HIST_SIGMA_THRESH_MM_DEFAULT \
+((uint16_t) 180)
+#define VL53LX_TUNINGPARM_HIST_GAIN_FACTOR_DEFAULT \
+((uint16_t) 1987)
+#define VL53LX_TUNINGPARM_CONSISTENCY_HIST_PHASE_TOLERANCE_DEFAULT \
+((uint8_t) 8)
+#define VL53LX_TUNINGPARM_CONSISTENCY_HIST_MIN_MAX_TOLERANCE_MM_DEFAULT \
+((uint16_t) 0)
+#define VL53LX_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA_DEFAULT \
+((uint8_t) 0)
+#define VL53LX_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA_MIN_SPAD_LIMIT_DEFAULT \
+((uint16_t) 2048)
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_LONG_RANGE_DEFAULT \
+((uint8_t) 9)
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_MED_RANGE_DEFAULT \
+((uint8_t) 5)
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_SHORT_RANGE_DEFAULT \
+((uint8_t) 3)
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_LONG_RANGE_DEFAULT \
+((uint8_t) 6)
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_MED_RANGE_DEFAULT \
+((uint8_t) 6)
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_SHORT_RANGE_DEFAULT \
+((uint8_t) 6)
+#define VL53LX_TUNINGPARM_XTALK_DETECT_MIN_VALID_RANGE_MM_DEFAULT \
+((int16_t) -50)
+#define VL53LX_TUNINGPARM_XTALK_DETECT_MAX_VALID_RANGE_MM_DEFAULT \
+((int16_t) 50)
+#define VL53LX_TUNINGPARM_XTALK_DETECT_MAX_SIGMA_MM_DEFAULT \
+((uint16_t) 140)
+#define VL53LX_TUNINGPARM_XTALK_DETECT_MIN_MAX_TOLERANCE_DEFAULT \
+((uint16_t) 50)
+#define VL53LX_TUNINGPARM_XTALK_DETECT_MAX_VALID_RATE_KCPS_DEFAULT \
+((uint16_t) 400)
+#define VL53LX_TUNINGPARM_XTALK_DETECT_EVENT_SIGMA_DEFAULT \
+((uint8_t) 80)
+#define VL53LX_TUNINGPARM_HIST_XTALK_MARGIN_KCPS_DEFAULT \
+((int16_t) 0)
+#define VL53LX_TUNINGPARM_CONSISTENCY_LITE_PHASE_TOLERANCE_DEFAULT \
+((uint8_t) 2)
+#define VL53LX_TUNINGPARM_PHASECAL_TARGET_DEFAULT \
+((uint8_t) 33)
+#define VL53LX_TUNINGPARM_LITE_CAL_REPEAT_RATE_DEFAULT \
+((uint16_t) 0)
+#define VL53LX_TUNINGPARM_LITE_RANGING_GAIN_FACTOR_DEFAULT \
+((uint16_t) 2011)
+#define VL53LX_TUNINGPARM_LITE_MIN_CLIP_MM_DEFAULT \
+((uint8_t) 0)
+#define VL53LX_TUNINGPARM_LITE_LONG_SIGMA_THRESH_MM_DEFAULT \
+((uint16_t) 60)
+#define VL53LX_TUNINGPARM_LITE_MED_SIGMA_THRESH_MM_DEFAULT \
+((uint16_t) 60)
+#define VL53LX_TUNINGPARM_LITE_SHORT_SIGMA_THRESH_MM_DEFAULT \
+((uint16_t) 60)
+#define VL53LX_TUNINGPARM_LITE_LONG_MIN_COUNT_RATE_RTN_MCPS_DEFAULT \
+((uint16_t) 128)
+#define VL53LX_TUNINGPARM_LITE_MED_MIN_COUNT_RATE_RTN_MCPS_DEFAULT \
+((uint16_t) 128)
+#define VL53LX_TUNINGPARM_LITE_SHORT_MIN_COUNT_RATE_RTN_MCPS_DEFAULT \
+((uint16_t) 128)
+#define VL53LX_TUNINGPARM_LITE_SIGMA_EST_PULSE_WIDTH_DEFAULT \
+((uint8_t) 8)
+#define VL53LX_TUNINGPARM_LITE_SIGMA_EST_AMB_WIDTH_NS_DEFAULT \
+((uint8_t) 16)
+#define VL53LX_TUNINGPARM_LITE_SIGMA_REF_MM_DEFAULT \
+((uint8_t) 1)
+#define VL53LX_TUNINGPARM_LITE_RIT_MULT_DEFAULT \
+((uint8_t) 64)
+#define VL53LX_TUNINGPARM_LITE_SEED_CONFIG_DEFAULT \
+((uint8_t) 2)
+#define VL53LX_TUNINGPARM_LITE_QUANTIFIER_DEFAULT \
+((uint8_t) 2)
+#define VL53LX_TUNINGPARM_LITE_FIRST_ORDER_SELECT_DEFAULT \
+((uint8_t) 0)
+#define VL53LX_TUNINGPARM_LITE_XTALK_MARGIN_KCPS_DEFAULT \
+((int16_t) 0)
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_LONG_RANGE_DEFAULT \
+((uint8_t) 14)
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_MED_RANGE_DEFAULT \
+((uint8_t) 10)
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_SHORT_RANGE_DEFAULT \
+((uint8_t) 6)
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_LONG_RANGE_DEFAULT \
+((uint8_t) 14)
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_MED_RANGE_DEFAULT \
+((uint8_t) 10)
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_SHORT_RANGE_DEFAULT \
+((uint8_t) 6)
+#define VL53LX_TUNINGPARM_TIMED_SEED_CONFIG_DEFAULT \
+((uint8_t) 1)
+#define VL53LX_TUNINGPARM_DMAX_CFG_SIGNAL_THRESH_SIGMA_DEFAULT \
+((uint8_t) 32)
+#define VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_0_DEFAULT \
+((uint16_t) 15)
+#define VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_1_DEFAULT \
+((uint16_t) 52)
+#define VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_2_DEFAULT \
+((uint16_t) 200)
+#define VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_3_DEFAULT \
+((uint16_t) 364)
+#define VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_4_DEFAULT \
+((uint16_t) 400)
+#define VL53LX_TUNINGPARM_VHV_LOOPBOUND_DEFAULT \
+((uint8_t) 129)
+#define VL53LX_TUNINGPARM_REFSPADCHAR_DEVICE_TEST_MODE_DEFAULT \
+((uint8_t) 8)
+#define VL53LX_TUNINGPARM_REFSPADCHAR_VCSEL_PERIOD_DEFAULT \
+((uint8_t) 11)
+#define VL53LX_TUNINGPARM_REFSPADCHAR_PHASECAL_TIMEOUT_US_DEFAULT \
+((uint32_t) 1000)
+#define VL53LX_TUNINGPARM_REFSPADCHAR_TARGET_COUNT_RATE_MCPS_DEFAULT \
+((uint16_t) 2560)
+#define VL53LX_TUNINGPARM_REFSPADCHAR_MIN_COUNTRATE_LIMIT_MCPS_DEFAULT \
+((uint16_t) 1280)
+#define VL53LX_TUNINGPARM_REFSPADCHAR_MAX_COUNTRATE_LIMIT_MCPS_DEFAULT \
+((uint16_t) 5120)
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_NUM_OF_SAMPLES_DEFAULT \
+((uint8_t) 7)
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_MIN_FILTER_THRESH_MM_DEFAULT \
+((int16_t) -70)
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_MAX_FILTER_THRESH_MM_DEFAULT \
+((int16_t) 70)
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_DSS_RATE_MCPS_DEFAULT \
+((uint16_t) 5120)
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_PHASECAL_TIMEOUT_US_DEFAULT \
+((uint32_t) 15000)
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_MAX_VALID_RATE_KCPS_DEFAULT \
+((uint16_t) 640)
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_SIGMA_THRESHOLD_MM_DEFAULT \
+((uint16_t) 140)
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_DSS_TIMEOUT_US_DEFAULT \
+((uint32_t) 2000)
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_BIN_TIMEOUT_US_DEFAULT \
+((uint32_t) 10000)
+#define VL53LX_TUNINGPARM_OFFSET_CAL_DSS_RATE_MCPS_DEFAULT \
+((uint16_t) 2560)
+#define VL53LX_TUNINGPARM_OFFSET_CAL_PHASECAL_TIMEOUT_US_DEFAULT \
+((uint32_t) 15000)
+#define VL53LX_TUNINGPARM_OFFSET_CAL_MM_TIMEOUT_US_DEFAULT \
+((uint32_t) 13000)
+#define VL53LX_TUNINGPARM_OFFSET_CAL_RANGE_TIMEOUT_US_DEFAULT \
+((uint32_t) 13000)
+#define VL53LX_TUNINGPARM_OFFSET_CAL_PRE_SAMPLES_DEFAULT \
+((uint8_t) 8)
+#define VL53LX_TUNINGPARM_OFFSET_CAL_MM1_SAMPLES_DEFAULT \
+((uint8_t) 40)
+#define VL53LX_TUNINGPARM_OFFSET_CAL_MM2_SAMPLES_DEFAULT \
+((uint8_t) 9)
+#define VL53LX_TUNINGPARM_ZONE_CAL_DSS_RATE_MCPS_DEFAULT \
+((uint16_t) 5120)
+#define VL53LX_TUNINGPARM_ZONE_CAL_PHASECAL_TIMEOUT_US_DEFAULT \
+((uint32_t) 15000)
+#define VL53LX_TUNINGPARM_ZONE_CAL_DSS_TIMEOUT_US_DEFAULT \
+((uint32_t) 2000)
+#define VL53LX_TUNINGPARM_ZONE_CAL_PHASECAL_NUM_SAMPLES_DEFAULT \
+((uint16_t) 16)
+#define VL53LX_TUNINGPARM_ZONE_CAL_RANGE_TIMEOUT_US_DEFAULT \
+((uint32_t) 1000)
+#define VL53LX_TUNINGPARM_ZONE_CAL_ZONE_NUM_SAMPLES_DEFAULT \
+((uint16_t) 8)
+#define VL53LX_TUNINGPARM_SPADMAP_VCSEL_PERIOD_DEFAULT \
+((uint8_t) 18)
+#define VL53LX_TUNINGPARM_SPADMAP_VCSEL_START_DEFAULT \
+((uint8_t) 15)
+#define VL53LX_TUNINGPARM_SPADMAP_RATE_LIMIT_MCPS_DEFAULT \
+((uint16_t) 12)
+#define VL53LX_TUNINGPARM_LITE_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT \
+((uint16_t) 2560)
+#define VL53LX_TUNINGPARM_RANGING_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT \
+((uint16_t) 5120)
+#define VL53LX_TUNINGPARM_MZ_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT \
+((uint16_t) 5120)
+#define VL53LX_TUNINGPARM_TIMED_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT \
+((uint16_t) 2560)
+#define VL53LX_TUNINGPARM_LITE_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 1000)
+#define VL53LX_TUNINGPARM_RANGING_LONG_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 15000)
+#define VL53LX_TUNINGPARM_RANGING_MED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 9000)
+#define VL53LX_TUNINGPARM_RANGING_SHORT_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 6000)
+#define VL53LX_TUNINGPARM_MZ_LONG_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 15000)
+#define VL53LX_TUNINGPARM_MZ_MED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 9000)
+#define VL53LX_TUNINGPARM_MZ_SHORT_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 6000)
+#define VL53LX_TUNINGPARM_TIMED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 1000)
+#define VL53LX_TUNINGPARM_LITE_MM_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 2000)
+#define VL53LX_TUNINGPARM_RANGING_MM_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 2000)
+#define VL53LX_TUNINGPARM_MZ_MM_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 2000)
+#define VL53LX_TUNINGPARM_TIMED_MM_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 2000)
+#define VL53LX_TUNINGPARM_LITE_RANGE_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 63000)
+#define VL53LX_TUNINGPARM_RANGING_RANGE_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 2500)
+#define VL53LX_TUNINGPARM_MZ_RANGE_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 2500)
+#define VL53LX_TUNINGPARM_TIMED_RANGE_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 13000)
+#define VL53LX_TUNINGPARM_DYNXTALK_SMUDGE_MARGIN_DEFAULT \
+((uint16_t) 0)
+#define VL53LX_TUNINGPARM_DYNXTALK_NOISE_MARGIN_DEFAULT \
+((uint32_t) 100)
+#define VL53LX_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_DEFAULT \
+((uint32_t) 0)
+#define VL53LX_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_HI_DEFAULT \
+((uint8_t) 0)
+#define VL53LX_TUNINGPARM_DYNXTALK_SAMPLE_LIMIT_DEFAULT \
+((uint32_t) 200)
+#define VL53LX_TUNINGPARM_DYNXTALK_SINGLE_XTALK_DELTA_DEFAULT \
+((uint32_t) 2048)
+#define VL53LX_TUNINGPARM_DYNXTALK_AVERAGED_XTALK_DELTA_DEFAULT \
+((uint32_t) 308)
+#define VL53LX_TUNINGPARM_DYNXTALK_CLIP_LIMIT_DEFAULT \
+((uint32_t) 10240)
+#define VL53LX_TUNINGPARM_DYNXTALK_SCALER_CALC_METHOD_DEFAULT \
+((uint8_t) 0)
+#define VL53LX_TUNINGPARM_DYNXTALK_XGRADIENT_SCALER_DEFAULT \
+((int16_t) 256)
+#define VL53LX_TUNINGPARM_DYNXTALK_YGRADIENT_SCALER_DEFAULT \
+((int16_t) 256)
+#define VL53LX_TUNINGPARM_DYNXTALK_USER_SCALER_SET_DEFAULT \
+((uint8_t) 0)
+#define VL53LX_TUNINGPARM_DYNXTALK_SMUDGE_COR_SINGLE_APPLY_DEFAULT \
+((uint8_t) 0)
+#define VL53LX_TUNINGPARM_DYNXTALK_XTALK_AMB_THRESHOLD_DEFAULT \
+((uint32_t) 128)
+#define VL53LX_TUNINGPARM_DYNXTALK_NODETECT_AMB_THRESHOLD_KCPS_DEFAULT \
+((uint32_t) 57671680)
+#define VL53LX_TUNINGPARM_DYNXTALK_NODETECT_SAMPLE_LIMIT_DEFAULT \
+((uint32_t) 40)
+#define VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS_DEFAULT \
+((uint32_t) 410)
+#define VL53LX_TUNINGPARM_DYNXTALK_NODETECT_MIN_RANGE_MM_DEFAULT \
+((uint16_t) 900)
+#define VL53LX_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT \
+((uint8_t) 3)
+#define VL53LX_TUNINGPARM_LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 1)
+#define VL53LX_TUNINGPARM_LOWPOWERAUTO_RANGE_CONFIG_TIMEOUT_US_DEFAULT \
+((uint32_t) 8000)
+#define VL53LX_TUNINGPARM_VERY_SHORT_DSS_RATE_MCPS_DEFAULT \
+((uint16_t) 10240)
+#define VL53LX_TUNINGPARM_PHASECAL_PATCH_POWER_DEFAULT \
+((uint32_t) 0)
+#define VL53LX_TUNINGPARM_HIST_MERGE_DEFAULT \
+((uint32_t) 1)
+#define VL53LX_TUNINGPARM_RESET_MERGE_THRESHOLD_DEFAULT \
+((uint32_t) 15000)
+#define VL53LX_TUNINGPARM_HIST_MERGE_MAX_SIZE_DEFAULT \
+((uint32_t) 6)
+#define VL53LX_TUNINGPARM_DYNXTALK_MAX_SMUDGE_FACTOR_DEFAULT \
+((uint32_t) 2000)
+
+
+
+/* vl53lx_preset_setup.h */
+
+
+/* indexes for the bare driver tuning setting API function */
+
+enum VL53LX_Tuning_t {
+ VL53LX_TUNING_VERSION = 0,
+ VL53LX_TUNING_PROXY_MIN,
+ VL53LX_TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM,
+ VL53LX_TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER,
+ VL53LX_TUNING_MIN_AMBIENT_DMAX_VALID,
+ VL53LX_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER,
+ VL53LX_TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM,
+ VL53LX_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT,
+ VL53LX_TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN,
+ VL53LX_TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET,
+ VL53LX_TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR,
+ VL53LX_TUNING_MAX_TUNABLE_KEY
+};
+
+
+/* default values for the tuning settings parameters */
+#define TUNING_VERSION 0x0007
+
+#define TUNING_PROXY_MIN -30 /* min distance in mm */
+#define TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM 600
+/* Target distance in mm for single target Xtalk */
+#define TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER 50
+/* Number of sample used for single target Xtalk */
+#define TUNING_MIN_AMBIENT_DMAX_VALID 8
+/* Minimum ambient level to state the Dmax returned by the device is valid */
+#ifdef SMALL_FOOTPRINT
+#define TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER 50
+#else
+#define TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER 10
+#endif
+/* Maximum loops to perform simple offset calibration */
+#define TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM 600
+/* Target distance in mm for target Xtalk from Bins method*/
+#ifdef SMALL_FOOTPRINT
+#define TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT 1
+#else
+#define TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT 3
+#endif
+/* Number of loops done during the simple offset calibration*/
+#define TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR_DEFAULT 9
+/* zero distance offset calibration non linear compensation default value */
+
+/* The following settings are related to the fix for ticket EwokP #558410 */
+#define TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN 24
+/* Acceptance margin for the xtalk_shape bin_data sum computation */
+#define TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET 50
+/* Recovery value for Xtalk compensation plane offset in kcps */
+/* 50 stands for ~0.10 kcps cover glass in 7.9 format */
+/* End of settings related to the fix for ticket EwokP #558410 */
+
+
+
+
+// define from vl53lx_platform_user_config
+
+#define VL53LX_BYTES_PER_WORD 2
+#define VL53LX_BYTES_PER_DWORD 4
+
+/* Define polling delays */
+#define VL53LX_BOOT_COMPLETION_POLLING_TIMEOUT_MS 500
+#define VL53LX_RANGE_COMPLETION_POLLING_TIMEOUT_MS 2000
+#define VL53LX_TEST_COMPLETION_POLLING_TIMEOUT_MS 10000
+
+#define VL53LX_POLLING_DELAY_MS 1
+
+/* Define LLD TuningParms Page Base Address
+* - Part of Patch_AddedTuningParms_11761
+*/
+#define VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS 0x8000
+#define VL53LX_TUNINGPARM_PRIVATE_PAGE_BASE_ADDRESS 0xC000
+
+#define VL53LX_OFFSET_CAL_MIN_MM1_EFFECTIVE_SPADS 0x0500
+/*!< Lower Limit for the MM1 effective SPAD count during offset
+ calibration Format 8.8 0x0500 -> 5.0 effective SPADs */
+
+#define VL53LX_GAIN_FACTOR__STANDARD_DEFAULT 0x0800
+/*!< Default standard ranging gain correction factor
+ 1.11 format. 1.0 = 0x0800, 0.980 = 0x07D7 */
+#define VL53LX_GAIN_FACTOR__HISTOGRAM_DEFAULT 0x0800
+/*!< Default histogram ranging gain correction factor
+ 1.11 format. 1.0 = 0x0800, 0.975 = 0x07CC */
+
+
+#define VL53LX_OFFSET_CAL_MIN_EFFECTIVE_SPADS 0x0500
+/*!< Lower Limit for the MM1 effective SPAD count during offset
+ calibration Format 8.8 0x0500 -> 5.0 effective SPADs */
+
+#define VL53LX_OFFSET_CAL_MAX_PRE_PEAK_RATE_MCPS 0x1900
+/*!< Max Limit for the pre range preak rate during offset
+ calibration Format 9.7 0x1900 -> 50.0 Mcps.
+ If larger then in pile up */
+
+#define VL53LX_OFFSET_CAL_MAX_SIGMA_MM 0x0040
+/*!< Max sigma estimate limit during offset calibration
+ Check applies to pre-range, mm1 and mm2 ranges
+ Format 14.2 0x0040 -> 16.0mm. */
+
+#define VL53LX_ZONE_CAL_MAX_PRE_PEAK_RATE_MCPS 0x1900
+/*!< Max Peak Rate Limit for the during zone calibration
+ Format 9.7 0x1900 -> 50.0 Mcps.
+ If larger then in pile up */
+
+#define VL53LX_ZONE_CAL_MAX_SIGMA_MM 0x0040
+/*!< Max sigma estimate limit during zone calibration
+ Format 14.2 0x0040 -> 16.0mm. */
+
+
+#define VL53LX_XTALK_EXTRACT_MAX_SIGMA_MM 0x008C
+/*!< Max Sigma value allowed for a successful xtalk extraction
+ Format 14.2 0x008C -> 35.0 mm.*/
+
+#ifndef VL53LX_MAX_USER_ZONES
+#define VL53LX_MAX_USER_ZONES 16
+/*!< Max number of user Zones - maximal limitation from
+ FW stream divide - value of 254 */
+#endif
+
+#define VL53LX_MAX_RANGE_RESULTS 4
+#define VL53LX_BUFFER_SIZE 5
+
+/*!< Sets the maximum number of targets distances the histogram
+ post processing can generate */
+
+#define VL53LX_MAX_STRING_LENGTH 512
+/*!< Sets the maximum string length */
+
+
+// typedef from vl53lx_types.h
+
+
+#ifndef NULL
+#error "Error NULL definition should be done. Please add required include "
+#endif
+
+
+#if !defined(STDINT_H) && !defined(_STDINT_H) && !defined(_GCC_STDINT_H) && !defined(__STDINT_DECLS) && !defined(_GCC_WRAP_STDINT_H) && !defined(_STDINT)
+
+#pragma message("Please review type definition of STDINT define for your platform and add to list above ")
+
+typedef unsigned long long uint64_t;
+typedef unsigned int uint32_t;
+typedef int int32_t;
+typedef unsigned short uint16_t;
+typedef short int16_t;
+typedef unsigned char uint8_t;
+typedef signed char int8_t;
+
+#endif
+
+typedef uint32_t FixPoint1616_t;
+
+
+
+// define from vl53lx_error_codes.h
+
+
+
+/*
+****************************************
+* PRIVATE define do not edit
+***************************************
+*/
+
+/*
+* @defgroup VL53LX_define_Error_group Error and Warning code returned by API
+* The following DEFINE are used to identify the PAL ERROR
+* @{
+*/
+
+typedef int8_t VL53LX_Error;
+
+#define VL53LX_ERROR_NONE ((VL53LX_Error) 0)
+#define VL53LX_ERROR_CALIBRATION_WARNING ((VL53LX_Error) - 1)
+/*!< Warning invalid calibration data may be in used
+* \a VL53LX_InitData()
+* \a VL53LX_GetOffsetCalibrationData
+* \a VL53LX_SetOffsetCalibrationData
+*/
+#define VL53LX_ERROR_MIN_CLIPPED ((VL53LX_Error) - 2)
+/*!< Warning parameter passed was clipped to min before to be applied */
+
+#define VL53LX_ERROR_UNDEFINED ((VL53LX_Error) - 3)
+/*!< Unqualified error */
+#define VL53LX_ERROR_INVALID_PARAMS ((VL53LX_Error) - 4)
+/*!< Parameter passed is invalid or out of range */
+#define VL53LX_ERROR_NOT_SUPPORTED ((VL53LX_Error) - 5)
+/*!< Function is not supported in current mode or configuration */
+#define VL53LX_ERROR_RANGE_ERROR ((VL53LX_Error) - 6)
+/*!< Device report a ranging error interrupt status */
+#define VL53LX_ERROR_TIME_OUT ((VL53LX_Error) - 7)
+/*!< Aborted due to time out */
+#define VL53LX_ERROR_MODE_NOT_SUPPORTED ((VL53LX_Error) - 8)
+/*!< Asked mode is not supported by the device */
+#define VL53LX_ERROR_BUFFER_TOO_SMALL ((VL53LX_Error) - 9)
+/*!< ... */
+#define VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL ((VL53LX_Error) - 10)
+/*!< Supplied buffer is larger than I2C supports */
+#define VL53LX_ERROR_GPIO_NOT_EXISTING ((VL53LX_Error) - 11)
+/*!< User tried to setup a non-existing GPIO pin */
+#define VL53LX_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53LX_Error) - 12)
+/*!< unsupported GPIO functionality */
+#define VL53LX_ERROR_CONTROL_INTERFACE ((VL53LX_Error) - 13)
+/*!< error reported from IO functions */
+#define VL53LX_ERROR_INVALID_COMMAND ((VL53LX_Error) - 14)
+/*!< The command is not allowed in the current device state
+* (power down)
+*/
+#define VL53LX_ERROR_DIVISION_BY_ZERO ((VL53LX_Error) - 15)
+/*!< In the function a division by zero occurs */
+#define VL53LX_ERROR_REF_SPAD_INIT ((VL53LX_Error) - 16)
+/*!< Error during reference SPAD initialization */
+#define VL53LX_ERROR_GPH_SYNC_CHECK_FAIL ((VL53LX_Error) - 17)
+/*!< GPH sync interrupt check fail - API out of sync with device*/
+#define VL53LX_ERROR_STREAM_COUNT_CHECK_FAIL ((VL53LX_Error) - 18)
+/*!< Stream count check fail - API out of sync with device */
+#define VL53LX_ERROR_GPH_ID_CHECK_FAIL ((VL53LX_Error) - 19)
+/*!< GPH ID check fail - API out of sync with device */
+#define VL53LX_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL ((VL53LX_Error) - 20)
+/*!< Zone dynamic config stream count check failed - API out of sync */
+#define VL53LX_ERROR_ZONE_GPH_ID_CHECK_FAIL ((VL53LX_Error) - 21)
+/*!< Zone dynamic config GPH ID check failed - API out of sync */
+
+#define VL53LX_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL ((VL53LX_Error) - 22)
+/*!< Thrown when run_xtalk_extraction fn has 0 successful samples
+* when using the full array to sample the xtalk. In this case there is
+* not enough information to generate new Xtalk parm info. The function
+* will exit and leave the current xtalk parameters unaltered
+*/
+#define VL53LX_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL ((VL53LX_Error) - 23)
+/*!< Thrown when run_xtalk_extraction fn has found that the
+* avg sigma estimate of the full array xtalk sample is > than the
+* maximal limit allowed. In this case the xtalk sample is too noisy for
+* measurement. The function will exit and leave the current xtalk
+* parameters unaltered.
+*/
+
+
+#define VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL ((VL53LX_Error) - 24)
+/*!< Thrown if there one of stages has no valid offset calibration
+* samples. A fatal error calibration not valid
+*/
+#define VL53LX_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL ((VL53LX_Error) - 25)
+/*!< Thrown if there one of stages has zero effective SPADS
+* Traps the case when MM1 SPADs is zero.
+* A fatal error calibration not valid
+*/
+#define VL53LX_ERROR_ZONE_CAL_NO_SAMPLE_FAIL ((VL53LX_Error) - 26)
+/*!< Thrown if then some of the zones have no valid samples
+* A fatal error calibration not valid
+*/
+
+#define VL53LX_ERROR_TUNING_PARM_KEY_MISMATCH ((VL53LX_Error) - 27)
+/*!< Thrown if the tuning file key table version does not match with
+* expected value. The driver expects the key table version to match
+* the compiled default version number in the define
+* #VL53LX_TUNINGPARM_KEY_TABLE_VERSION_DEFAULT
+*/
+
+#define VL53LX_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS ((VL53LX_Error) - 28)
+/*!< Thrown if there are less than 5 good SPADs are available. */
+#define VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH ((VL53LX_Error) - 29)
+/*!< Thrown if the final reference rate is greater than
+* the upper reference rate limit - default is 40 Mcps.
+* Implies a minimum Q3 (x10) SPAD (5) selected
+*/
+#define VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW ((VL53LX_Error) - 30)
+/*!< Thrown if the final reference rate is less than
+* the lower reference rate limit - default is 10 Mcps.
+* Implies maximum Q1 (x1) SPADs selected
+*/
+
+
+#define VL53LX_WARNING_OFFSET_CAL_MISSING_SAMPLES ((VL53LX_Error) - 31)
+/*!< Thrown if there is less than the requested number of
+* valid samples.
+*/
+#define VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH ((VL53LX_Error) - 32)
+/*!< Thrown if the offset calibration range sigma estimate is greater
+* than 8.0 mm. This is the recommended min value to yield a stable
+* offset measurement
+*/
+#define VL53LX_WARNING_OFFSET_CAL_RATE_TOO_HIGH ((VL53LX_Error) - 33)
+/*!< Thrown when VL53LX_run_offset_calibration() peak rate is greater
+* than that 50.0Mcps. This is the recommended max rate to avoid
+* pile-up influencing the offset measurement
+*/
+#define VL53LX_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW ((VL53LX_Error) - 34)
+/*!< Thrown when VL53LX_run_offset_calibration() when one of stages
+* range has less that 5.0 effective SPADS. This is the recommended
+* min value to yield a stable offset
+*/
+
+
+#define VL53LX_WARNING_ZONE_CAL_MISSING_SAMPLES ((VL53LX_Error) - 35)
+/*!< Thrown if one of more of the zones have less than
+* the requested number of valid samples
+*/
+#define VL53LX_WARNING_ZONE_CAL_SIGMA_TOO_HIGH ((VL53LX_Error) - 36)
+/*!< Thrown if one or more zones have sigma estimate value greater
+* than 8.0 mm. This is the recommended min value to yield a stable
+* offset measurement
+*/
+#define VL53LX_WARNING_ZONE_CAL_RATE_TOO_HIGH ((VL53LX_Error) - 37)
+/*!< Thrown if one of more zones have peak rate higher than
+* that 50.0Mcps. This is the recommended max rate to avoid
+* pile-up influencing the offset measurement
+*/
+
+
+#define VL53LX_WARNING_XTALK_MISSING_SAMPLES ((VL53LX_Error) - 38)
+/*!< Thrown to notify that some of the xtalk samples did not yield
+* valid ranging pulse data while attempting to measure
+* the xtalk signal in vl53lx_run_xtalk_extract(). This can signify any
+* of the zones are missing samples, for further debug information the
+* xtalk_results struct should be referred to. This warning is for
+* notification only, xtalk pulse and shape have still been generated
+*/
+#define VL53LX_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT ((VL53LX_Error) - 39)
+/*!< Thrown to notify that some of the xtalk samples used for gradient
+* generation did not yield valid ranging pulse data while attempting to
+* measure the xtalk signal in vl53lx_run_xtalk_extract(). This can
+* signify that any one of the zones 0-3 yielded no successful samples.
+* xtalk_results struct should be referred to for further debug info.
+* This warning is for notification only, the xtalk pulse and shape
+* have still been generated.
+*/
+#define VL53LX_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT ((VL53LX_Error) - 40)
+/*!< Thrown to notify that some of the xtalk samples used for gradient
+* generation did not pass the sigma limit check while attempting to
+* measure the xtalk signal in vl53lx_run_xtalk_extract(). This can
+* signify that any one of the zones 0-3 yielded an avg sigma_mm
+* value > the limit. The xtalk_results struct should be referred to for
+* further debug info.
+* This warning is for notification only, the xtalk pulse and shape
+* have still been generated.
+*/
+
+#define VL53LX_ERROR_NOT_IMPLEMENTED ((VL53LX_Error) - 41)
+/*!< Tells requested functionality has not been implemented yet or
+* not compatible with the device
+*/
+#define VL53LX_ERROR_PLATFORM_SPECIFIC_START ((VL53LX_Error) - 60)
+/*!< Tells the starting code for platform */
+/** @} VL53LX_define_Error_group */
+
+
+
+/* vl53lx_dmax_private_structs.h */
+
+
+
+
+
+
+
+
+typedef struct {
+
+ uint32_t VL53LX_p_037;
+
+
+
+ uint8_t VL53LX_p_063;
+
+
+ uint8_t VL53LX_p_064;
+
+
+
+ uint16_t VL53LX_p_065;
+
+
+ uint16_t VL53LX_p_066;
+
+
+ uint16_t VL53LX_p_067;
+
+
+ uint16_t VL53LX_p_038;
+
+
+
+ uint32_t VL53LX_p_009;
+
+
+ uint32_t VL53LX_p_033;
+
+
+
+ uint16_t VL53LX_p_034;
+
+
+
+ uint16_t VL53LX_p_004;
+
+
+
+ uint32_t VL53LX_p_028;
+
+
+ uint32_t VL53LX_p_035;
+
+
+
+ int16_t VL53LX_p_036;
+
+
+ int16_t VL53LX_p_022;
+
+
+
+} VL53LX_hist_gen3_dmax_private_data_t;
+
+
+
+
+// def & typedef from vl53lx_ll_device.h
+
+
+#define VL53LX_I2C 0x01
+#define VL53LX_SPI 0x00
+
+
+
+
+
+typedef uint8_t VL53LX_WaitMethod;
+
+#define VL53LX_WAIT_METHOD_BLOCKING ((VL53LX_WaitMethod) 0)
+#define VL53LX_WAIT_METHOD_NON_BLOCKING ((VL53LX_WaitMethod) 1)
+
+
+
+
+typedef uint8_t VL53LX_DeviceState;
+
+#define VL53LX_DEVICESTATE_POWERDOWN ((VL53LX_DeviceState) 0)
+#define VL53LX_DEVICESTATE_HW_STANDBY ((VL53LX_DeviceState) 1)
+#define VL53LX_DEVICESTATE_FW_COLDBOOT ((VL53LX_DeviceState) 2)
+#define VL53LX_DEVICESTATE_SW_STANDBY ((VL53LX_DeviceState) 3)
+#define VL53LX_DEVICESTATE_RANGING_DSS_AUTO ((VL53LX_DeviceState) 4)
+#define VL53LX_DEVICESTATE_RANGING_DSS_MANUAL ((VL53LX_DeviceState) 5)
+#define VL53LX_DEVICESTATE_RANGING_WAIT_GPH_SYNC ((VL53LX_DeviceState) 6)
+#define VL53LX_DEVICESTATE_RANGING_GATHER_DATA ((VL53LX_DeviceState) 7)
+#define VL53LX_DEVICESTATE_RANGING_OUTPUT_DATA ((VL53LX_DeviceState) 8)
+
+#define VL53LX_DEVICESTATE_UNKNOWN ((VL53LX_DeviceState) 98)
+#define VL53LX_DEVICESTATE_ERROR ((VL53LX_DeviceState) 99)
+
+
+
+
+
+typedef uint8_t VL53LX_DeviceZonePreset;
+
+#define VL53LX_DEVICEZONEPRESET_NONE \
+ ((VL53LX_DeviceZonePreset) 0)
+
+#define VL53LX_DEVICEZONEPRESET_XTALK_PLANAR \
+ ((VL53LX_DeviceZonePreset) 1)
+#define VL53LX_DEVICEZONEPRESET_1X1_SIZE_16X16 \
+ ((VL53LX_DeviceZonePreset) 2)
+#define VL53LX_DEVICEZONEPRESET_1X2_SIZE_16X8 \
+ ((VL53LX_DeviceZonePreset) 3)
+#define VL53LX_DEVICEZONEPRESET_2X1_SIZE_8X16 \
+ ((VL53LX_DeviceZonePreset) 4)
+#define VL53LX_DEVICEZONEPRESET_2X2_SIZE_8X8 \
+ ((VL53LX_DeviceZonePreset) 5)
+#define VL53LX_DEVICEZONEPRESET_3X3_SIZE_5X5 \
+ ((VL53LX_DeviceZonePreset) 6)
+#define VL53LX_DEVICEZONEPRESET_4X4_SIZE_4X4 \
+ ((VL53LX_DeviceZonePreset) 7)
+#define VL53LX_DEVICEZONEPRESET_5X5_SIZE_4X4 \
+ ((VL53LX_DeviceZonePreset) 8)
+#define VL53LX_DEVICEZONEPRESET_11X11_SIZE_5X5 \
+ ((VL53LX_DeviceZonePreset) 9)
+#define VL53LX_DEVICEZONEPRESET_13X13_SIZE_4X4 \
+ ((VL53LX_DeviceZonePreset) 10)
+
+#define VL53LX_DEVICEZONEPRESET_1X1_SIZE_4X4_POS_8X8 \
+ ((VL53LX_DeviceZonePreset) 11)
+
+#define VL53LX_DEVICEZONEPRESET_CUSTOM \
+ ((VL53LX_DeviceZonePreset) 255)
+
+
+
+
+
+typedef uint8_t VL53LX_DevicePresetModes;
+
+#define VL53LX_DEVICEPRESETMODE_NONE \
+ ((VL53LX_DevicePresetModes) 0)
+#define VL53LX_DEVICEPRESETMODE_STANDARD_RANGING \
+ ((VL53LX_DevicePresetModes) 1)
+#define VL53LX_DEVICEPRESETMODE_STANDARD_RANGING_SHORT_RANGE \
+ ((VL53LX_DevicePresetModes) 2)
+#define VL53LX_DEVICEPRESETMODE_STANDARD_RANGING_LONG_RANGE \
+ ((VL53LX_DevicePresetModes) 3)
+#define VL53LX_DEVICEPRESETMODE_STANDARD_RANGING_MM1_CAL \
+ ((VL53LX_DevicePresetModes) 4)
+#define VL53LX_DEVICEPRESETMODE_STANDARD_RANGING_MM2_CAL \
+ ((VL53LX_DevicePresetModes) 5)
+#define VL53LX_DEVICEPRESETMODE_TIMED_RANGING \
+ ((VL53LX_DevicePresetModes) 6)
+#define VL53LX_DEVICEPRESETMODE_TIMED_RANGING_SHORT_RANGE \
+ ((VL53LX_DevicePresetModes) 7)
+#define VL53LX_DEVICEPRESETMODE_TIMED_RANGING_LONG_RANGE \
+ ((VL53LX_DevicePresetModes) 8)
+#define VL53LX_DEVICEPRESETMODE_NEAR_FARRANGING \
+ ((VL53LX_DevicePresetModes) 9)
+#define VL53LX_DEVICEPRESETMODE_QUADRANT_RANGING \
+ ((VL53LX_DevicePresetModes) 10)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING \
+ ((VL53LX_DevicePresetModes) 11)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_SHORT_TIMING \
+ ((VL53LX_DevicePresetModes) 12)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_CHARACTERISATION \
+ ((VL53LX_DevicePresetModes) 13)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_XTALK_PLANAR \
+ ((VL53LX_DevicePresetModes) 14)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_XTALK_MM1 \
+ ((VL53LX_DevicePresetModes) 15)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_XTALK_MM2 \
+ ((VL53LX_DevicePresetModes) 16)
+#define VL53LX_DEVICEPRESETMODE_OLT \
+ ((VL53LX_DevicePresetModes) 17)
+#define VL53LX_DEVICEPRESETMODE_SINGLESHOT_RANGING \
+ ((VL53LX_DevicePresetModes) 18)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_REF_ARRAY \
+ ((VL53LX_DevicePresetModes) 19)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM1 \
+ ((VL53LX_DevicePresetModes) 20)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM2 \
+ ((VL53LX_DevicePresetModes) 21)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM1_CAL \
+ ((VL53LX_DevicePresetModes) 22)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM2_CAL \
+ ((VL53LX_DevicePresetModes) 23)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE \
+ ((VL53LX_DevicePresetModes) 24)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_SHORT_RANGE \
+ ((VL53LX_DevicePresetModes) 25)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE \
+ ((VL53LX_DevicePresetModes) 26)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE \
+ ((VL53LX_DevicePresetModes) 27)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM1 \
+ ((VL53LX_DevicePresetModes) 28)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM2 \
+ ((VL53LX_DevicePresetModes) 29)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE \
+ ((VL53LX_DevicePresetModes) 30)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM1 \
+ ((VL53LX_DevicePresetModes) 31)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM2 \
+ ((VL53LX_DevicePresetModes) 32)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE \
+ ((VL53LX_DevicePresetModes) 33)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM1 \
+ ((VL53LX_DevicePresetModes) 34)
+#define VL53LX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM2 \
+ ((VL53LX_DevicePresetModes) 35)
+#define VL53LX_DEVICEPRESETMODE_LOWPOWERAUTO_SHORT_RANGE \
+ ((VL53LX_DevicePresetModes) 36)
+#define VL53LX_DEVICEPRESETMODE_LOWPOWERAUTO_MEDIUM_RANGE \
+ ((VL53LX_DevicePresetModes) 37)
+#define VL53LX_DEVICEPRESETMODE_LOWPOWERAUTO_LONG_RANGE \
+ ((VL53LX_DevicePresetModes) 38)
+#define VL53LX_DEVICEPRESETMODE_SPECIAL_HISTOGRAM_SHORT_RANGE \
+ ((VL53LX_DevicePresetModes) 39)
+
+
+
+
+
+typedef uint8_t VL53LX_DeviceMeasurementModes;
+
+#define VL53LX_DEVICEMEASUREMENTMODE_STOP \
+ ((VL53LX_DeviceMeasurementModes) 0x00)
+#define VL53LX_DEVICEMEASUREMENTMODE_SINGLESHOT \
+ ((VL53LX_DeviceMeasurementModes) 0x10)
+#define VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK \
+ ((VL53LX_DeviceMeasurementModes) 0x20)
+#define VL53LX_DEVICEMEASUREMENTMODE_TIMED \
+ ((VL53LX_DeviceMeasurementModes) 0x40)
+#define VL53LX_DEVICEMEASUREMENTMODE_ABORT \
+ ((VL53LX_DeviceMeasurementModes) 0x80)
+
+
+
+
+
+typedef uint8_t VL53LX_OffsetCalibrationMode;
+
+#define VL53LX_OFFSETCALIBRATIONMODE__NONE \
+ ((VL53LX_OffsetCalibrationMode) 0)
+#define VL53LX_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD \
+ ((VL53LX_OffsetCalibrationMode) 1)
+#define VL53LX_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM \
+ ((VL53LX_OffsetCalibrationMode) 2)
+#define VL53LX_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY \
+ ((VL53LX_OffsetCalibrationMode) 3)
+#define VL53LX_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY \
+ ((VL53LX_OffsetCalibrationMode) 4)
+
+
+
+
+
+typedef uint8_t VL53LX_OffsetCorrectionMode;
+
+#define VL53LX_OFFSETCORRECTIONMODE__NONE \
+ ((VL53LX_OffsetCorrectionMode) 0)
+#define VL53LX_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS \
+ ((VL53LX_OffsetCorrectionMode) 1)
+#define VL53LX_OFFSETCORRECTIONMODE__PER_VCSEL_OFFSETS \
+ ((VL53LX_OffsetCorrectionMode) 3)
+
+
+
+
+
+typedef uint8_t VL53LX_DeviceDmaxMode;
+
+#define VL53LX_DEVICEDMAXMODE__NONE \
+ ((VL53LX_DeviceDmaxMode) 0)
+#define VL53LX_DEVICEDMAXMODE__FMT_CAL_DATA \
+ ((VL53LX_DeviceDmaxMode) 1)
+#define VL53LX_DEVICEDMAXMODE__CUST_CAL_DATA \
+ ((VL53LX_DeviceDmaxMode) 2)
+
+
+
+
+
+typedef uint8_t VL53LX_DeviceSequenceConfig;
+
+#define VL53LX_DEVICESEQUENCECONFIG_VHV \
+ ((VL53LX_DeviceSequenceConfig) 0)
+#define VL53LX_DEVICESEQUENCECONFIG_PHASECAL \
+ ((VL53LX_DeviceSequenceConfig) 1)
+#define VL53LX_DEVICESEQUENCECONFIG_REFERENCE_PHASE \
+ ((VL53LX_DeviceSequenceConfig) 2)
+#define VL53LX_DEVICESEQUENCECONFIG_DSS1 \
+ ((VL53LX_DeviceSequenceConfig) 3)
+#define VL53LX_DEVICESEQUENCECONFIG_DSS2 \
+ ((VL53LX_DeviceSequenceConfig) 4)
+#define VL53LX_DEVICESEQUENCECONFIG_MM1 \
+ ((VL53LX_DeviceSequenceConfig) 5)
+#define VL53LX_DEVICESEQUENCECONFIG_MM2 \
+ ((VL53LX_DeviceSequenceConfig) 6)
+#define VL53LX_DEVICESEQUENCECONFIG_RANGE \
+ ((VL53LX_DeviceSequenceConfig) 7)
+
+
+
+
+
+typedef uint8_t VL53LX_DeviceInterruptPolarity;
+
+#define VL53LX_DEVICEINTERRUPTPOLARITY_ACTIVE_HIGH \
+ ((VL53LX_DeviceInterruptPolarity) 0x00)
+#define VL53LX_DEVICEINTERRUPTPOLARITY_ACTIVE_LOW \
+ ((VL53LX_DeviceInterruptPolarity) 0x10)
+#define VL53LX_DEVICEINTERRUPTPOLARITY_BIT_MASK \
+ ((VL53LX_DeviceInterruptPolarity) 0x10)
+#define VL53LX_DEVICEINTERRUPTPOLARITY_CLEAR_MASK \
+ ((VL53LX_DeviceInterruptPolarity) 0xEF)
+
+
+
+
+
+typedef uint8_t VL53LX_DeviceGpioMode;
+
+#define VL53LX_DEVICEGPIOMODE_OUTPUT_CONSTANT_ZERO \
+ ((VL53LX_DeviceGpioMode) 0x00)
+#define VL53LX_DEVICEGPIOMODE_OUTPUT_RANGE_AND_ERROR_INTERRUPTS \
+ ((VL53LX_DeviceGpioMode) 0x01)
+#define VL53LX_DEVICEGPIOMODE_OUTPUT_TIMIER_INTERRUPTS \
+ ((VL53LX_DeviceGpioMode) 0x02)
+#define VL53LX_DEVICEGPIOMODE_OUTPUT_RANGE_MODE_INTERRUPT_STATUS \
+ ((VL53LX_DeviceGpioMode) 0x03)
+#define VL53LX_DEVICEGPIOMODE_OUTPUT_SLOW_OSCILLATOR_CLOCK \
+ ((VL53LX_DeviceGpioMode) 0x04)
+#define VL53LX_DEVICEGPIOMODE_BIT_MASK \
+ ((VL53LX_DeviceGpioMode) 0x0F)
+#define VL53LX_DEVICEGPIOMODE_CLEAR_MASK \
+ ((VL53LX_DeviceGpioMode) 0xF0)
+
+
+
+
+
+typedef uint8_t VL53LX_DeviceError;
+
+#define VL53LX_DEVICEERROR_NOUPDATE \
+ ((VL53LX_DeviceError) 0)
+
+#define VL53LX_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \
+ ((VL53LX_DeviceError) 1)
+#define VL53LX_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \
+ ((VL53LX_DeviceError) 2)
+#define VL53LX_DEVICEERROR_NOVHVVALUEFOUND \
+ ((VL53LX_DeviceError) 3)
+#define VL53LX_DEVICEERROR_MSRCNOTARGET \
+ ((VL53LX_DeviceError) 4)
+#define VL53LX_DEVICEERROR_RANGEPHASECHECK \
+ ((VL53LX_DeviceError) 5)
+#define VL53LX_DEVICEERROR_SIGMATHRESHOLDCHECK \
+ ((VL53LX_DeviceError) 6)
+#define VL53LX_DEVICEERROR_PHASECONSISTENCY \
+ ((VL53LX_DeviceError) 7)
+#define VL53LX_DEVICEERROR_MINCLIP \
+ ((VL53LX_DeviceError) 8)
+#define VL53LX_DEVICEERROR_RANGECOMPLETE \
+ ((VL53LX_DeviceError) 9)
+#define VL53LX_DEVICEERROR_ALGOUNDERFLOW \
+ ((VL53LX_DeviceError) 10)
+#define VL53LX_DEVICEERROR_ALGOOVERFLOW \
+ ((VL53LX_DeviceError) 11)
+#define VL53LX_DEVICEERROR_RANGEIGNORETHRESHOLD \
+ ((VL53LX_DeviceError) 12)
+#define VL53LX_DEVICEERROR_USERROICLIP \
+ ((VL53LX_DeviceError) 13)
+#define VL53LX_DEVICEERROR_REFSPADCHARNOTENOUGHDPADS \
+ ((VL53LX_DeviceError) 14)
+#define VL53LX_DEVICEERROR_REFSPADCHARMORETHANTARGET \
+ ((VL53LX_DeviceError) 15)
+#define VL53LX_DEVICEERROR_REFSPADCHARLESSTHANTARGET \
+ ((VL53LX_DeviceError) 16)
+#define VL53LX_DEVICEERROR_MULTCLIPFAIL \
+ ((VL53LX_DeviceError) 17)
+#define VL53LX_DEVICEERROR_GPHSTREAMCOUNT0READY \
+ ((VL53LX_DeviceError) 18)
+#define VL53LX_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK \
+ ((VL53LX_DeviceError) 19)
+#define VL53LX_DEVICEERROR_EVENTCONSISTENCY \
+ ((VL53LX_DeviceError) 20)
+#define VL53LX_DEVICEERROR_MINSIGNALEVENTCHECK \
+ ((VL53LX_DeviceError) 21)
+#define VL53LX_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE \
+ ((VL53LX_DeviceError) 22)
+
+
+#define VL53LX_DEVICEERROR_PREV_RANGE_NO_TARGETS \
+ ((VL53LX_DeviceError) 23)
+
+
+
+
+
+typedef uint8_t VL53LX_DeviceReportStatus;
+
+#define VL53LX_DEVICEREPORTSTATUS_NOUPDATE \
+ ((VL53LX_DeviceReportStatus) 0)
+
+#define VL53LX_DEVICEREPORTSTATUS_ROI_SETUP \
+ ((VL53LX_DeviceReportStatus) 1)
+#define VL53LX_DEVICEREPORTSTATUS_VHV \
+ ((VL53LX_DeviceReportStatus) 2)
+#define VL53LX_DEVICEREPORTSTATUS_PHASECAL \
+ ((VL53LX_DeviceReportStatus) 3)
+#define VL53LX_DEVICEREPORTSTATUS_REFERENCE_PHASE \
+ ((VL53LX_DeviceReportStatus) 4)
+#define VL53LX_DEVICEREPORTSTATUS_DSS1 \
+ ((VL53LX_DeviceReportStatus) 5)
+#define VL53LX_DEVICEREPORTSTATUS_DSS2 \
+ ((VL53LX_DeviceReportStatus) 6)
+#define VL53LX_DEVICEREPORTSTATUS_MM1 \
+ ((VL53LX_DeviceReportStatus) 7)
+#define VL53LX_DEVICEREPORTSTATUS_MM2 \
+ ((VL53LX_DeviceReportStatus) 8)
+#define VL53LX_DEVICEREPORTSTATUS_RANGE \
+ ((VL53LX_DeviceReportStatus) 9)
+#define VL53LX_DEVICEREPORTSTATUS_HISTOGRAM \
+ ((VL53LX_DeviceReportStatus) 10)
+
+
+
+
+
+typedef uint8_t VL53LX_DeviceDssMode;
+
+#define VL53LX_DEVICEDSSMODE__DISABLED \
+ ((VL53LX_DeviceDssMode) 0)
+#define VL53LX_DEVICEDSSMODE__TARGET_RATE \
+ ((VL53LX_DeviceDssMode) 1)
+#define VL53LX_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS \
+ ((VL53LX_DeviceDssMode) 2)
+#define VL53LX_DEVICEDSSMODE__BLOCK_SELECT \
+ ((VL53LX_DeviceDssMode) 3)
+
+
+
+
+
+
+typedef uint8_t VL53LX_HistAlgoSelect;
+
+#define VL53LX_HIST_ALGO_SELECT__PW_HIST_GEN1 \
+ ((VL53LX_HistAlgoSelect) 1)
+#define VL53LX_HIST_ALGO_SELECT__PW_HIST_GEN2 \
+ ((VL53LX_HistAlgoSelect) 2)
+#define VL53LX_HIST_ALGO_SELECT__PW_HIST_GEN3 \
+ ((VL53LX_HistAlgoSelect) 3)
+#define VL53LX_HIST_ALGO_SELECT__PW_HIST_GEN4 \
+ ((VL53LX_HistAlgoSelect) 4)
+
+
+
+
+
+
+typedef uint8_t VL53LX_HistTargetOrder;
+
+#define VL53LX_HIST_TARGET_ORDER__INCREASING_DISTANCE \
+ ((VL53LX_HistTargetOrder) 1)
+#define VL53LX_HIST_TARGET_ORDER__STRONGEST_FIRST \
+ ((VL53LX_HistTargetOrder) 2)
+
+
+
+
+
+
+typedef uint8_t VL53LX_HistAmbEstMethod;
+
+#define VL53LX_HIST_AMB_EST_METHOD__AMBIENT_BINS \
+ ((VL53LX_HistAmbEstMethod) 1)
+#define VL53LX_HIST_AMB_EST_METHOD__THRESHOLDED_BINS \
+ ((VL53LX_HistAmbEstMethod) 2)
+
+
+
+
+
+
+typedef uint8_t VL53LX_HistXtalkCompEnable;
+
+#define VL53LX_HIST_XTALK_COMP__DIS \
+ ((VL53LX_HistXtalkCompEnable) 0)
+#define VL53LX_HIST_XTALK_COMP__EN \
+ ((VL53LX_HistXtalkCompEnable) 1)
+
+
+
+
+typedef uint8_t VL53LX_DeviceConfigLevel;
+
+#define VL53LX_DEVICECONFIGLEVEL_SYSTEM_CONTROL \
+ ((VL53LX_DeviceConfigLevel) 0)
+
+#define VL53LX_DEVICECONFIGLEVEL_DYNAMIC_ONWARDS \
+ ((VL53LX_DeviceConfigLevel) 1)
+
+#define VL53LX_DEVICECONFIGLEVEL_TIMING_ONWARDS \
+ ((VL53LX_DeviceConfigLevel) 2)
+
+#define VL53LX_DEVICECONFIGLEVEL_GENERAL_ONWARDS \
+ ((VL53LX_DeviceConfigLevel) 3)
+
+#define VL53LX_DEVICECONFIGLEVEL_STATIC_ONWARDS \
+ ((VL53LX_DeviceConfigLevel) 4)
+
+#define VL53LX_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS \
+ ((VL53LX_DeviceConfigLevel) 5)
+
+#define VL53LX_DEVICECONFIGLEVEL_FULL \
+ ((VL53LX_DeviceConfigLevel) 6)
+
+
+
+
+
+
+typedef uint8_t VL53LX_DeviceResultsLevel;
+
+#define VL53LX_DEVICERESULTSLEVEL_SYSTEM_RESULTS \
+ ((VL53LX_DeviceResultsLevel) 0)
+
+#define VL53LX_DEVICERESULTSLEVEL_UPTO_CORE \
+ ((VL53LX_DeviceResultsLevel) 1)
+
+#define VL53LX_DEVICERESULTSLEVEL_FULL \
+ ((VL53LX_DeviceResultsLevel) 2)
+
+
+
+
+
+
+
+typedef uint8_t VL53LX_DeviceTestMode;
+
+#define VL53LX_DEVICETESTMODE_NONE \
+ ((VL53LX_DeviceTestMode) 0x00)
+
+#define VL53LX_DEVICETESTMODE_NVM_ZERO \
+ ((VL53LX_DeviceTestMode) 0x01)
+
+#define VL53LX_DEVICETESTMODE_NVM_COPY \
+ ((VL53LX_DeviceTestMode) 0x02)
+
+#define VL53LX_DEVICETESTMODE_PATCH \
+ ((VL53LX_DeviceTestMode) 0x03)
+
+#define VL53LX_DEVICETESTMODE_DCR \
+ ((VL53LX_DeviceTestMode) 0x04)
+
+#define VL53LX_DEVICETESTMODE_LCR_VCSEL_OFF \
+ ((VL53LX_DeviceTestMode) 0x05)
+
+#define VL53LX_DEVICETESTMODE_LCR_VCSEL_ON \
+ ((VL53LX_DeviceTestMode) 0x06)
+
+#define VL53LX_DEVICETESTMODE_SPOT_CENTRE_LOCATE \
+ ((VL53LX_DeviceTestMode) 0x07)
+
+#define VL53LX_DEVICETESTMODE_REF_SPAD_CHAR_WITH_PRE_VHV \
+ ((VL53LX_DeviceTestMode) 0x08)
+
+#define VL53LX_DEVICETESTMODE_REF_SPAD_CHAR_ONLY \
+ ((VL53LX_DeviceTestMode) 0x09)
+
+
+
+
+
+
+
+typedef uint8_t VL53LX_DeviceSscArray;
+
+#define VL53LX_DEVICESSCARRAY_RTN ((VL53LX_DeviceSscArray) 0x00)
+
+#define VL53LX_DEVICETESTMODE_REF ((VL53LX_DeviceSscArray) 0x01)
+
+
+
+
+
+
+
+#define VL53LX_RETURN_ARRAY_ONLY 0x01
+
+#define VL53LX_REFERENCE_ARRAY_ONLY 0x10
+
+#define VL53LX_BOTH_RETURN_AND_REFERENCE_ARRAYS 0x11
+
+#define VL53LX_NEITHER_RETURN_AND_REFERENCE_ARRAYS 0x00
+
+
+
+
+
+
+#define VL53LX_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH 0x00
+
+#define VL53LX_DEVICEINTERRUPTLEVEL_ACTIVE_LOW 0x10
+
+#define VL53LX_DEVICEINTERRUPTLEVEL_ACTIVE_MASK 0x10
+
+
+
+
+
+
+#define VL53LX_POLLING_DELAY_US 1000
+
+#define VL53LX_SOFTWARE_RESET_DURATION_US 100
+
+#define VL53LX_FIRMWARE_BOOT_TIME_US 1200
+
+#define VL53LX_ENABLE_POWERFORCE_SETTLING_TIME_US 250
+
+#define VL53LX_SPAD_ARRAY_WIDTH 16
+
+#define VL53LX_SPAD_ARRAY_HEIGHT 16
+
+#define VL53LX_NVM_SIZE_IN_BYTES 512
+
+#define VL53LX_NO_OF_SPAD_ENABLES 256
+
+#define VL53LX_RTN_SPAD_BUFFER_SIZE 32
+
+#define VL53LX_REF_SPAD_BUFFER_SIZE 6
+
+#define VL53LX_AMBIENT_WINDOW_VCSEL_PERIODS 256
+
+#define VL53LX_RANGING_WINDOW_VCSEL_PERIODS 2048
+
+#define VL53LX_MACRO_PERIOD_VCSEL_PERIODS \
+ (VL53LX_AMBIENT_WINDOW_VCSEL_PERIODS + \
+ VL53LX_RANGING_WINDOW_VCSEL_PERIODS)
+
+#define VL53LX_MAX_ALLOWED_PHASE 0xFFFF
+
+
+#define VL53LX_RTN_SPAD_UNITY_TRANSMISSION 0x0100
+
+#define VL53LX_RTN_SPAD_APERTURE_TRANSMISSION 0x0038
+
+
+#define VL53LX_SPAD_TOTAL_COUNT_MAX ((0x01 << 29) - 1)
+
+#define VL53LX_SPAD_TOTAL_COUNT_RES_THRES (0x01 << 24)
+
+#define VL53LX_COUNT_RATE_INTERNAL_MAX ((0x01 << 24) - 1)
+
+#define VL53LX_SPEED_OF_LIGHT_IN_AIR 299704
+
+#define VL53LX_SPEED_OF_LIGHT_IN_AIR_DIV_8 (299704 >> 3)
+
+
+
+
+
+
+
+
+typedef uint8_t VL53LX_ZoneConfig_BinConfig_select;
+
+#define VL53LX_ZONECONFIG_BINCONFIG__LOWAMB \
+ ((VL53LX_ZoneConfig_BinConfig_select) 1)
+#define VL53LX_ZONECONFIG_BINCONFIG__MIDAMB \
+ ((VL53LX_ZoneConfig_BinConfig_select) 2)
+#define VL53LX_ZONECONFIG_BINCONFIG__HIGHAMB \
+ ((VL53LX_ZoneConfig_BinConfig_select) 3)
+
+
+
+
+
+typedef uint8_t VL53LX_GPIO_Interrupt_Mode;
+
+#define VL53LX_GPIOINTMODE_LEVEL_LOW \
+ ((VL53LX_GPIO_Interrupt_Mode) 0)
+
+#define VL53LX_GPIOINTMODE_LEVEL_HIGH \
+ ((VL53LX_GPIO_Interrupt_Mode) 1)
+
+#define VL53LX_GPIOINTMODE_OUT_OF_WINDOW \
+ ((VL53LX_GPIO_Interrupt_Mode) 2)
+
+#define VL53LX_GPIOINTMODE_IN_WINDOW \
+ ((VL53LX_GPIO_Interrupt_Mode) 3)
+
+
+
+
+
+
+typedef uint16_t VL53LX_TuningParms;
+
+#define VL53LX_TUNINGPARMS_LLD_PUBLIC_MIN_ADDRESS \
+ ((VL53LX_TuningParms) VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS)
+#define VL53LX_TUNINGPARMS_LLD_PUBLIC_MAX_ADDRESS \
+ ((VL53LX_TuningParms) VL53LX_TUNINGPARM_DYNXTALK_MAX_SMUDGE_FACTOR)
+
+#define VL53LX_TUNINGPARMS_LLD_PRIVATE_MIN_ADDRESS \
+ ((VL53LX_TuningParms) VL53LX_TUNINGPARM_PRIVATE_PAGE_BASE_ADDRESS)
+#define VL53LX_TUNINGPARMS_LLD_PRIVATE_MAX_ADDRESS \
+ ((VL53LX_TuningParms) VL53LX_TUNINGPARMS_LLD_PRIVATE_MIN_ADDRESS)
+
+#define VL53LX_TUNINGPARM_VERSION \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 0))
+#define VL53LX_TUNINGPARM_KEY_TABLE_VERSION \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 1))
+#define VL53LX_TUNINGPARM_LLD_VERSION \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 2))
+#define VL53LX_TUNINGPARM_HIST_ALGO_SELECT \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 3))
+#define VL53LX_TUNINGPARM_HIST_TARGET_ORDER \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 4))
+#define VL53LX_TUNINGPARM_HIST_FILTER_WOI_0 \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 5))
+#define VL53LX_TUNINGPARM_HIST_FILTER_WOI_1 \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 6))
+#define VL53LX_TUNINGPARM_HIST_AMB_EST_METHOD \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 7))
+#define VL53LX_TUNINGPARM_HIST_AMB_THRESH_SIGMA_0 \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 8))
+#define VL53LX_TUNINGPARM_HIST_AMB_THRESH_SIGMA_1 \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 9))
+#define VL53LX_TUNINGPARM_HIST_MIN_AMB_THRESH_EVENTS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 10))
+#define VL53LX_TUNINGPARM_HIST_AMB_EVENTS_SCALER \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 11))
+#define VL53LX_TUNINGPARM_HIST_NOISE_THRESHOLD \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 12))
+#define VL53LX_TUNINGPARM_HIST_SIGNAL_TOTAL_EVENTS_LIMIT \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 13))
+#define VL53LX_TUNINGPARM_HIST_SIGMA_EST_REF_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 14))
+#define VL53LX_TUNINGPARM_HIST_SIGMA_THRESH_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 15))
+#define VL53LX_TUNINGPARM_HIST_GAIN_FACTOR \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 16))
+#define VL53LX_TUNINGPARM_CONSISTENCY_HIST_PHASE_TOLERANCE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 17))
+#define VL53LX_TUNINGPARM_CONSISTENCY_HIST_MIN_MAX_TOLERANCE_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 18))
+#define VL53LX_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 19))
+#define VL53LX_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA_MIN_SPAD_LIMIT \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 20))
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_LONG_RANGE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 21))
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_MED_RANGE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 22))
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_SHORT_RANGE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 23))
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_LONG_RANGE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 24))
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_MED_RANGE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 25))
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_REF_HISTO_SHORT_RANGE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 26))
+#define VL53LX_TUNINGPARM_XTALK_DETECT_MIN_VALID_RANGE_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 27))
+#define VL53LX_TUNINGPARM_XTALK_DETECT_MAX_VALID_RANGE_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 28))
+#define VL53LX_TUNINGPARM_XTALK_DETECT_MAX_SIGMA_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 29))
+#define VL53LX_TUNINGPARM_XTALK_DETECT_MIN_MAX_TOLERANCE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 30))
+#define VL53LX_TUNINGPARM_XTALK_DETECT_MAX_VALID_RATE_KCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 31))
+#define VL53LX_TUNINGPARM_XTALK_DETECT_EVENT_SIGMA \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 32))
+#define VL53LX_TUNINGPARM_HIST_XTALK_MARGIN_KCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 33))
+#define VL53LX_TUNINGPARM_CONSISTENCY_LITE_PHASE_TOLERANCE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 34))
+#define VL53LX_TUNINGPARM_PHASECAL_TARGET \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 35))
+#define VL53LX_TUNINGPARM_LITE_CAL_REPEAT_RATE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 36))
+#define VL53LX_TUNINGPARM_LITE_RANGING_GAIN_FACTOR \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 37))
+#define VL53LX_TUNINGPARM_LITE_MIN_CLIP_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 38))
+#define VL53LX_TUNINGPARM_LITE_LONG_SIGMA_THRESH_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 39))
+#define VL53LX_TUNINGPARM_LITE_MED_SIGMA_THRESH_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 40))
+#define VL53LX_TUNINGPARM_LITE_SHORT_SIGMA_THRESH_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 41))
+#define VL53LX_TUNINGPARM_LITE_LONG_MIN_COUNT_RATE_RTN_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 42))
+#define VL53LX_TUNINGPARM_LITE_MED_MIN_COUNT_RATE_RTN_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 43))
+#define VL53LX_TUNINGPARM_LITE_SHORT_MIN_COUNT_RATE_RTN_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 44))
+#define VL53LX_TUNINGPARM_LITE_SIGMA_EST_PULSE_WIDTH \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 45))
+#define VL53LX_TUNINGPARM_LITE_SIGMA_EST_AMB_WIDTH_NS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 46))
+#define VL53LX_TUNINGPARM_LITE_SIGMA_REF_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 47))
+#define VL53LX_TUNINGPARM_LITE_RIT_MULT \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 48))
+#define VL53LX_TUNINGPARM_LITE_SEED_CONFIG \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 49))
+#define VL53LX_TUNINGPARM_LITE_QUANTIFIER \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 50))
+#define VL53LX_TUNINGPARM_LITE_FIRST_ORDER_SELECT \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 51))
+#define VL53LX_TUNINGPARM_LITE_XTALK_MARGIN_KCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 52))
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_LONG_RANGE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 53))
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_MED_RANGE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 54))
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_RTN_LITE_SHORT_RANGE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 55))
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_LONG_RANGE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 56))
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_MED_RANGE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 57))
+#define VL53LX_TUNINGPARM_INITIAL_PHASE_REF_LITE_SHORT_RANGE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 58))
+#define VL53LX_TUNINGPARM_TIMED_SEED_CONFIG \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 59))
+#define VL53LX_TUNINGPARM_DMAX_CFG_SIGNAL_THRESH_SIGMA \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 60))
+#define VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_0 \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 61))
+#define VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_1 \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 62))
+#define VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_2 \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 63))
+#define VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_3 \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 64))
+#define VL53LX_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_4 \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 65))
+#define VL53LX_TUNINGPARM_VHV_LOOPBOUND \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 66))
+#define VL53LX_TUNINGPARM_REFSPADCHAR_DEVICE_TEST_MODE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 67))
+#define VL53LX_TUNINGPARM_REFSPADCHAR_VCSEL_PERIOD \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 68))
+#define VL53LX_TUNINGPARM_REFSPADCHAR_PHASECAL_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 69))
+#define VL53LX_TUNINGPARM_REFSPADCHAR_TARGET_COUNT_RATE_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 70))
+#define VL53LX_TUNINGPARM_REFSPADCHAR_MIN_COUNTRATE_LIMIT_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 71))
+#define VL53LX_TUNINGPARM_REFSPADCHAR_MAX_COUNTRATE_LIMIT_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 72))
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_NUM_OF_SAMPLES \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 73))
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_MIN_FILTER_THRESH_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 74))
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_MAX_FILTER_THRESH_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 75))
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_DSS_RATE_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 76))
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_PHASECAL_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 77))
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_MAX_VALID_RATE_KCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 78))
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_SIGMA_THRESHOLD_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 79))
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_DSS_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 80))
+#define VL53LX_TUNINGPARM_XTALK_EXTRACT_BIN_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 81))
+#define VL53LX_TUNINGPARM_OFFSET_CAL_DSS_RATE_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 82))
+#define VL53LX_TUNINGPARM_OFFSET_CAL_PHASECAL_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 83))
+#define VL53LX_TUNINGPARM_OFFSET_CAL_MM_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 84))
+#define VL53LX_TUNINGPARM_OFFSET_CAL_RANGE_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 85))
+#define VL53LX_TUNINGPARM_OFFSET_CAL_PRE_SAMPLES \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 86))
+#define VL53LX_TUNINGPARM_OFFSET_CAL_MM1_SAMPLES \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 87))
+#define VL53LX_TUNINGPARM_OFFSET_CAL_MM2_SAMPLES \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 88))
+#define VL53LX_TUNINGPARM_ZONE_CAL_DSS_RATE_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 89))
+#define VL53LX_TUNINGPARM_ZONE_CAL_PHASECAL_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 90))
+#define VL53LX_TUNINGPARM_ZONE_CAL_DSS_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 91))
+#define VL53LX_TUNINGPARM_ZONE_CAL_PHASECAL_NUM_SAMPLES \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 92))
+#define VL53LX_TUNINGPARM_ZONE_CAL_RANGE_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 93))
+#define VL53LX_TUNINGPARM_ZONE_CAL_ZONE_NUM_SAMPLES \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 94))
+#define VL53LX_TUNINGPARM_SPADMAP_VCSEL_PERIOD \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 95))
+#define VL53LX_TUNINGPARM_SPADMAP_VCSEL_START \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 96))
+#define VL53LX_TUNINGPARM_SPADMAP_RATE_LIMIT_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 97))
+#define VL53LX_TUNINGPARM_LITE_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 98))
+#define VL53LX_TUNINGPARM_RANGING_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 99))
+#define VL53LX_TUNINGPARM_MZ_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 100))
+#define VL53LX_TUNINGPARM_TIMED_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 101))
+#define VL53LX_TUNINGPARM_LITE_PHASECAL_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 102))
+#define VL53LX_TUNINGPARM_RANGING_LONG_PHASECAL_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 103))
+#define VL53LX_TUNINGPARM_RANGING_MED_PHASECAL_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 104))
+#define VL53LX_TUNINGPARM_RANGING_SHORT_PHASECAL_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 105))
+#define VL53LX_TUNINGPARM_MZ_LONG_PHASECAL_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 106))
+#define VL53LX_TUNINGPARM_MZ_MED_PHASECAL_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 107))
+#define VL53LX_TUNINGPARM_MZ_SHORT_PHASECAL_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 108))
+#define VL53LX_TUNINGPARM_TIMED_PHASECAL_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 109))
+#define VL53LX_TUNINGPARM_LITE_MM_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 110))
+#define VL53LX_TUNINGPARM_RANGING_MM_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 111))
+#define VL53LX_TUNINGPARM_MZ_MM_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 112))
+#define VL53LX_TUNINGPARM_TIMED_MM_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 113))
+#define VL53LX_TUNINGPARM_LITE_RANGE_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 114))
+#define VL53LX_TUNINGPARM_RANGING_RANGE_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 115))
+#define VL53LX_TUNINGPARM_MZ_RANGE_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 116))
+#define VL53LX_TUNINGPARM_TIMED_RANGE_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 117))
+#define VL53LX_TUNINGPARM_DYNXTALK_SMUDGE_MARGIN \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 118))
+#define VL53LX_TUNINGPARM_DYNXTALK_NOISE_MARGIN \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 119))
+#define VL53LX_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 120))
+#define VL53LX_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_HI \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 121))
+#define VL53LX_TUNINGPARM_DYNXTALK_SAMPLE_LIMIT \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 122))
+#define VL53LX_TUNINGPARM_DYNXTALK_SINGLE_XTALK_DELTA \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 123))
+#define VL53LX_TUNINGPARM_DYNXTALK_AVERAGED_XTALK_DELTA \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 124))
+#define VL53LX_TUNINGPARM_DYNXTALK_CLIP_LIMIT \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 125))
+#define VL53LX_TUNINGPARM_DYNXTALK_SCALER_CALC_METHOD \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 126))
+#define VL53LX_TUNINGPARM_DYNXTALK_XGRADIENT_SCALER \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 127))
+#define VL53LX_TUNINGPARM_DYNXTALK_YGRADIENT_SCALER \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 128))
+#define VL53LX_TUNINGPARM_DYNXTALK_USER_SCALER_SET \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 129))
+#define VL53LX_TUNINGPARM_DYNXTALK_SMUDGE_COR_SINGLE_APPLY \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 130))
+#define VL53LX_TUNINGPARM_DYNXTALK_XTALK_AMB_THRESHOLD \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 131))
+#define VL53LX_TUNINGPARM_DYNXTALK_NODETECT_AMB_THRESHOLD_KCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 132))
+#define VL53LX_TUNINGPARM_DYNXTALK_NODETECT_SAMPLE_LIMIT \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 133))
+#define VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 134))
+#define VL53LX_TUNINGPARM_DYNXTALK_NODETECT_MIN_RANGE_MM \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 135))
+#define VL53LX_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 136))
+#define VL53LX_TUNINGPARM_LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 137))
+#define VL53LX_TUNINGPARM_LOWPOWERAUTO_RANGE_CONFIG_TIMEOUT_US \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 138))
+#define VL53LX_TUNINGPARM_VERY_SHORT_DSS_RATE_MCPS \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 139))
+#define VL53LX_TUNINGPARM_PHASECAL_PATCH_POWER \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 140))
+#define VL53LX_TUNINGPARM_HIST_MERGE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 141))
+#define VL53LX_TUNINGPARM_RESET_MERGE_THRESHOLD \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 142))
+#define VL53LX_TUNINGPARM_HIST_MERGE_MAX_SIZE \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 143))
+#define VL53LX_TUNINGPARM_DYNXTALK_MAX_SMUDGE_FACTOR \
+ ((VL53LX_TuningParms) (VL53LX_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 144))
+
+// define from vl53lx_platform_log.h
+
+#define VL53LX_TRACE_LEVEL_NONE 0x00000000
+#define VL53LX_TRACE_LEVEL_ERRORS 0x00000001
+#define VL53LX_TRACE_LEVEL_WARNING 0x00000002
+#define VL53LX_TRACE_LEVEL_INFO 0x00000004
+#define VL53LX_TRACE_LEVEL_DEBUG 0x00000008
+#define VL53LX_TRACE_LEVEL_ALL 0x00000010
+#define VL53LX_TRACE_LEVEL_IGNORE 0x00000020
+
+#define VL53LX_TRACE_FUNCTION_NONE 0x00000000
+#define VL53LX_TRACE_FUNCTION_I2C 0x00000001
+#define VL53LX_TRACE_FUNCTION_ALL 0x7fffffff
+
+#define VL53LX_TRACE_MODULE_NONE 0x00000000
+#define VL53LX_TRACE_MODULE_API 0x00000001
+#define VL53LX_TRACE_MODULE_CORE 0x00000002
+#define VL53LX_TRACE_MODULE_PROTECTED 0x00000004
+#define VL53LX_TRACE_MODULE_HISTOGRAM 0x00000008
+#define VL53LX_TRACE_MODULE_REGISTERS 0x00000010
+#define VL53LX_TRACE_MODULE_PLATFORM 0x00000020
+#define VL53LX_TRACE_MODULE_NVM 0x00000040
+#define VL53LX_TRACE_MODULE_CALIBRATION_DATA 0x00000080
+#define VL53LX_TRACE_MODULE_NVM_DATA 0x00000100
+#define VL53LX_TRACE_MODULE_HISTOGRAM_DATA 0x00000200
+#define VL53LX_TRACE_MODULE_RANGE_RESULTS_DATA 0x00000400
+#define VL53LX_TRACE_MODULE_XTALK_DATA 0x00000800
+#define VL53LX_TRACE_MODULE_OFFSET_DATA 0x00001000
+#define VL53LX_TRACE_MODULE_DATA_INIT 0x00002000
+#define VL53LX_TRACE_MODULE_REF_SPAD_CHAR 0x00004000
+#define VL53LX_TRACE_MODULE_SPAD_RATE_MAP 0x00008000
+
+
+
+// define & typedef from vl53lx_register_structs.h
+
+
+#define VL53LX_STATIC_NVM_MANAGED_I2C_INDEX \
+ VL53LX_I2C_SLAVE__DEVICE_ADDRESS
+#define VL53LX_CUSTOMER_NVM_MANAGED_I2C_INDEX \
+ VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_0
+#define VL53LX_STATIC_CONFIG_I2C_INDEX \
+ VL53LX_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS
+#define VL53LX_GENERAL_CONFIG_I2C_INDEX \
+ VL53LX_GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE
+#define VL53LX_TIMING_CONFIG_I2C_INDEX \
+ VL53LX_MM_CONFIG__TIMEOUT_MACROP_A_HI
+#define VL53LX_DYNAMIC_CONFIG_I2C_INDEX \
+ VL53LX_SYSTEM__GROUPED_PARAMETER_HOLD_0
+#define VL53LX_SYSTEM_CONTROL_I2C_INDEX \
+ VL53LX_POWER_MANAGEMENT__GO1_POWER_FORCE
+#define VL53LX_SYSTEM_RESULTS_I2C_INDEX \
+ VL53LX_RESULT__INTERRUPT_STATUS
+#define VL53LX_CORE_RESULTS_I2C_INDEX \
+ VL53LX_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0
+#define VL53LX_DEBUG_RESULTS_I2C_INDEX \
+ VL53LX_PHASECAL_RESULT__REFERENCE_PHASE
+#define VL53LX_NVM_COPY_DATA_I2C_INDEX \
+ VL53LX_IDENTIFICATION__MODEL_ID
+#define VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_INDEX \
+ VL53LX_PREV_SHADOW_RESULT__INTERRUPT_STATUS
+#define VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_INDEX \
+ VL53LX_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0
+#define VL53LX_PATCH_DEBUG_I2C_INDEX \
+ VL53LX_RESULT__DEBUG_STATUS
+#define VL53LX_GPH_GENERAL_CONFIG_I2C_INDEX \
+ VL53LX_GPH__SYSTEM__THRESH_RATE_HIGH
+#define VL53LX_GPH_STATIC_CONFIG_I2C_INDEX \
+ VL53LX_GPH__DSS_CONFIG__ROI_MODE_CONTROL
+#define VL53LX_GPH_TIMING_CONFIG_I2C_INDEX \
+ VL53LX_GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI
+#define VL53LX_FW_INTERNAL_I2C_INDEX \
+ VL53LX_FIRMWARE__INTERNAL_STREAM_COUNT_DIV
+#define VL53LX_PATCH_RESULTS_I2C_INDEX \
+ VL53LX_DSS_CALC__ROI_CTRL
+#define VL53LX_SHADOW_SYSTEM_RESULTS_I2C_INDEX \
+ VL53LX_SHADOW_PHASECAL_RESULT__VCSEL_START
+#define VL53LX_SHADOW_CORE_RESULTS_I2C_INDEX \
+ VL53LX_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0
+
+#define VL53LX_STATIC_NVM_MANAGED_I2C_SIZE_BYTES 11
+#define VL53LX_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES 23
+#define VL53LX_STATIC_CONFIG_I2C_SIZE_BYTES 32
+#define VL53LX_GENERAL_CONFIG_I2C_SIZE_BYTES 22
+#define VL53LX_TIMING_CONFIG_I2C_SIZE_BYTES 23
+#define VL53LX_DYNAMIC_CONFIG_I2C_SIZE_BYTES 18
+#define VL53LX_SYSTEM_CONTROL_I2C_SIZE_BYTES 5
+#define VL53LX_SYSTEM_RESULTS_I2C_SIZE_BYTES 44
+#define VL53LX_CORE_RESULTS_I2C_SIZE_BYTES 33
+#define VL53LX_DEBUG_RESULTS_I2C_SIZE_BYTES 56
+#define VL53LX_NVM_COPY_DATA_I2C_SIZE_BYTES 49
+#define VL53LX_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES 44
+#define VL53LX_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES 33
+#define VL53LX_PATCH_DEBUG_I2C_SIZE_BYTES 2
+#define VL53LX_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES 5
+#define VL53LX_GPH_STATIC_CONFIG_I2C_SIZE_BYTES 6
+#define VL53LX_GPH_TIMING_CONFIG_I2C_SIZE_BYTES 16
+#define VL53LX_FW_INTERNAL_I2C_SIZE_BYTES 2
+#define VL53LX_PATCH_RESULTS_I2C_SIZE_BYTES 90
+#define VL53LX_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES 82
+#define VL53LX_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES 33
+
+
+
+
+typedef struct {
+ uint8_t i2c_slave__device_address;
+
+ uint8_t ana_config__vhv_ref_sel_vddpix;
+
+ uint8_t ana_config__vhv_ref_sel_vquench;
+
+ uint8_t ana_config__reg_avdd1v2_sel;
+
+ uint8_t ana_config__fast_osc__trim;
+
+ uint16_t osc_measured__fast_osc__frequency;
+
+ uint8_t vhv_config__timeout_macrop_loop_bound;
+
+ uint8_t vhv_config__count_thresh;
+
+ uint8_t vhv_config__offset;
+
+ uint8_t vhv_config__init;
+
+} VL53LX_static_nvm_managed_t;
+
+
+
+
+typedef struct {
+ uint8_t global_config__spad_enables_ref_0;
+
+ uint8_t global_config__spad_enables_ref_1;
+
+ uint8_t global_config__spad_enables_ref_2;
+
+ uint8_t global_config__spad_enables_ref_3;
+
+ uint8_t global_config__spad_enables_ref_4;
+
+ uint8_t global_config__spad_enables_ref_5;
+
+ uint8_t global_config__ref_en_start_select;
+
+ uint8_t ref_spad_man__num_requested_ref_spads;
+
+ uint8_t ref_spad_man__ref_location;
+
+ uint16_t algo__crosstalk_compensation_plane_offset_kcps;
+
+ int16_t algo__crosstalk_compensation_x_plane_gradient_kcps;
+
+ int16_t algo__crosstalk_compensation_y_plane_gradient_kcps;
+
+ uint16_t ref_spad_char__total_rate_target_mcps;
+
+ int16_t algo__part_to_part_range_offset_mm;
+
+ int16_t mm_config__inner_offset_mm;
+
+ int16_t mm_config__outer_offset_mm;
+
+} VL53LX_customer_nvm_managed_t;
+
+
+
+
+typedef struct {
+ uint16_t dss_config__target_total_rate_mcps;
+
+ uint8_t debug__ctrl;
+
+ uint8_t test_mode__ctrl;
+
+ uint8_t clk_gating__ctrl;
+
+ uint8_t nvm_bist__ctrl;
+
+ uint8_t nvm_bist__num_nvm_words;
+
+ uint8_t nvm_bist__start_address;
+
+ uint8_t host_if__status;
+
+ uint8_t pad_i2c_hv__config;
+
+ uint8_t pad_i2c_hv__extsup_config;
+
+ uint8_t gpio_hv_pad__ctrl;
+
+ uint8_t gpio_hv_mux__ctrl;
+
+ uint8_t gpio__tio_hv_status;
+
+ uint8_t gpio__fio_hv_status;
+
+ uint8_t ana_config__spad_sel_pswidth;
+
+ uint8_t ana_config__vcsel_pulse_width_offset;
+
+ uint8_t ana_config__fast_osc__config_ctrl;
+
+ uint8_t sigma_estimator__effective_pulse_width_ns;
+
+ uint8_t sigma_estimator__effective_ambient_width_ns;
+
+ uint8_t sigma_estimator__sigma_ref_mm;
+
+ uint8_t algo__crosstalk_compensation_valid_height_mm;
+
+ uint8_t spare_host_config__static_config_spare_0;
+
+ uint8_t spare_host_config__static_config_spare_1;
+
+ uint16_t algo__range_ignore_threshold_mcps;
+
+ uint8_t algo__range_ignore_valid_height_mm;
+
+ uint8_t algo__range_min_clip;
+
+ uint8_t algo__consistency_check__tolerance;
+
+ uint8_t spare_host_config__static_config_spare_2;
+
+ uint8_t sd_config__reset_stages_msb;
+
+ uint8_t sd_config__reset_stages_lsb;
+
+} VL53LX_static_config_t;
+
+
+
+
+typedef struct {
+ uint8_t gph_config__stream_count_update_value;
+
+ uint8_t global_config__stream_divider;
+
+ uint8_t system__interrupt_config_gpio;
+
+ uint8_t cal_config__vcsel_start;
+
+ uint16_t cal_config__repeat_rate;
+
+ uint8_t global_config__vcsel_width;
+
+ uint8_t phasecal_config__timeout_macrop;
+
+ uint8_t phasecal_config__target;
+
+ uint8_t phasecal_config__override;
+
+ uint8_t dss_config__roi_mode_control;
+
+ uint16_t system__thresh_rate_high;
+
+ uint16_t system__thresh_rate_low;
+
+ uint16_t dss_config__manual_effective_spads_select;
+
+ uint8_t dss_config__manual_block_select;
+
+ uint8_t dss_config__aperture_attenuation;
+
+ uint8_t dss_config__max_spads_limit;
+
+ uint8_t dss_config__min_spads_limit;
+
+} VL53LX_general_config_t;
+
+
+
+
+typedef struct {
+ uint8_t mm_config__timeout_macrop_a_hi;
+
+ uint8_t mm_config__timeout_macrop_a_lo;
+
+ uint8_t mm_config__timeout_macrop_b_hi;
+
+ uint8_t mm_config__timeout_macrop_b_lo;
+
+ uint8_t range_config__timeout_macrop_a_hi;
+
+ uint8_t range_config__timeout_macrop_a_lo;
+
+ uint8_t range_config__vcsel_period_a;
+
+ uint8_t range_config__timeout_macrop_b_hi;
+
+ uint8_t range_config__timeout_macrop_b_lo;
+
+ uint8_t range_config__vcsel_period_b;
+
+ uint16_t range_config__sigma_thresh;
+
+ uint16_t range_config__min_count_rate_rtn_limit_mcps;
+
+ uint8_t range_config__valid_phase_low;
+
+ uint8_t range_config__valid_phase_high;
+
+ uint32_t system__intermeasurement_period;
+
+ uint8_t system__fractional_enable;
+
+} VL53LX_timing_config_t;
+
+
+
+
+typedef struct {
+ uint8_t system__grouped_parameter_hold_0;
+
+ uint16_t system__thresh_high;
+
+ uint16_t system__thresh_low;
+
+ uint8_t system__enable_xtalk_per_quadrant;
+
+ uint8_t system__seed_config;
+
+ uint8_t sd_config__woi_sd0;
+
+ uint8_t sd_config__woi_sd1;
+
+ uint8_t sd_config__initial_phase_sd0;
+
+ uint8_t sd_config__initial_phase_sd1;
+
+ uint8_t system__grouped_parameter_hold_1;
+
+ uint8_t sd_config__first_order_select;
+
+ uint8_t sd_config__quantifier;
+
+ uint8_t roi_config__user_roi_centre_spad;
+
+ uint8_t roi_config__user_roi_requested_global_xy_size;
+
+ uint8_t system__sequence_config;
+
+ uint8_t system__grouped_parameter_hold;
+
+} VL53LX_dynamic_config_t;
+
+
+
+
+typedef struct {
+ uint8_t power_management__go1_power_force;
+
+ uint8_t system__stream_count_ctrl;
+
+ uint8_t firmware__enable;
+
+ uint8_t system__interrupt_clear;
+
+ uint8_t system__mode_start;
+
+} VL53LX_system_control_t;
+
+
+
+
+typedef struct {
+ uint8_t result__interrupt_status;
+
+ uint8_t result__range_status;
+
+ uint8_t result__report_status;
+
+ uint8_t result__stream_count;
+
+ uint16_t result__dss_actual_effective_spads_sd0;
+
+ uint16_t result__peak_signal_count_rate_mcps_sd0;
+
+ uint16_t result__ambient_count_rate_mcps_sd0;
+
+ uint16_t result__sigma_sd0;
+
+ uint16_t result__phase_sd0;
+
+ uint16_t result__final_crosstalk_corrected_range_mm_sd0;
+
+ uint16_t result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0;
+
+ uint16_t result__mm_inner_actual_effective_spads_sd0;
+
+ uint16_t result__mm_outer_actual_effective_spads_sd0;
+
+ uint16_t result__avg_signal_count_rate_mcps_sd0;
+
+ uint16_t result__dss_actual_effective_spads_sd1;
+
+ uint16_t result__peak_signal_count_rate_mcps_sd1;
+
+ uint16_t result__ambient_count_rate_mcps_sd1;
+
+ uint16_t result__sigma_sd1;
+
+ uint16_t result__phase_sd1;
+
+ uint16_t result__final_crosstalk_corrected_range_mm_sd1;
+
+ uint16_t result__spare_0_sd1;
+
+ uint16_t result__spare_1_sd1;
+
+ uint16_t result__spare_2_sd1;
+
+ uint8_t result__spare_3_sd1;
+
+ uint8_t result__thresh_info;
+
+} VL53LX_system_results_t;
+
+
+
+
+typedef struct {
+ uint32_t result_core__ambient_window_events_sd0;
+
+ uint32_t result_core__ranging_total_events_sd0;
+
+ int32_t result_core__signal_total_events_sd0;
+
+ uint32_t result_core__total_periods_elapsed_sd0;
+
+ uint32_t result_core__ambient_window_events_sd1;
+
+ uint32_t result_core__ranging_total_events_sd1;
+
+ int32_t result_core__signal_total_events_sd1;
+
+ uint32_t result_core__total_periods_elapsed_sd1;
+
+ uint8_t result_core__spare_0;
+
+} VL53LX_core_results_t;
+
+
+
+
+typedef struct {
+ uint16_t phasecal_result__reference_phase;
+
+ uint8_t phasecal_result__vcsel_start;
+
+ uint8_t ref_spad_char_result__num_actual_ref_spads;
+
+ uint8_t ref_spad_char_result__ref_location;
+
+ uint8_t vhv_result__coldboot_status;
+
+ uint8_t vhv_result__search_result;
+
+ uint8_t vhv_result__latest_setting;
+
+ uint16_t result__osc_calibrate_val;
+
+ uint8_t ana_config__powerdown_go1;
+
+ uint8_t ana_config__ref_bg_ctrl;
+
+ uint8_t ana_config__regdvdd1v2_ctrl;
+
+ uint8_t ana_config__osc_slow_ctrl;
+
+ uint8_t test_mode__status;
+
+ uint8_t firmware__system_status;
+
+ uint8_t firmware__mode_status;
+
+ uint8_t firmware__secondary_mode_status;
+
+ uint16_t firmware__cal_repeat_rate_counter;
+
+ uint16_t gph__system__thresh_high;
+
+ uint16_t gph__system__thresh_low;
+
+ uint8_t gph__system__enable_xtalk_per_quadrant;
+
+ uint8_t gph__spare_0;
+
+ uint8_t gph__sd_config__woi_sd0;
+
+ uint8_t gph__sd_config__woi_sd1;
+
+ uint8_t gph__sd_config__initial_phase_sd0;
+
+ uint8_t gph__sd_config__initial_phase_sd1;
+
+ uint8_t gph__sd_config__first_order_select;
+
+ uint8_t gph__sd_config__quantifier;
+
+ uint8_t gph__roi_config__user_roi_centre_spad;
+
+ uint8_t gph__roi_config__user_roi_requested_global_xy_size;
+
+ uint8_t gph__system__sequence_config;
+
+ uint8_t gph__gph_id;
+
+ uint8_t system__interrupt_set;
+
+ uint8_t interrupt_manager__enables;
+
+ uint8_t interrupt_manager__clear;
+
+ uint8_t interrupt_manager__status;
+
+ uint8_t mcu_to_host_bank__wr_access_en;
+
+ uint8_t power_management__go1_reset_status;
+
+ uint8_t pad_startup_mode__value_ro;
+
+ uint8_t pad_startup_mode__value_ctrl;
+
+ uint32_t pll_period_us;
+
+ uint32_t interrupt_scheduler__data_out;
+
+ uint8_t nvm_bist__complete;
+
+ uint8_t nvm_bist__status;
+
+} VL53LX_debug_results_t;
+
+
+
+
+typedef struct {
+ uint8_t identification__model_id;
+
+ uint8_t identification__module_type;
+
+ uint8_t identification__revision_id;
+
+ uint16_t identification__module_id;
+
+ uint8_t ana_config__fast_osc__trim_max;
+
+ uint8_t ana_config__fast_osc__freq_set;
+
+ uint8_t ana_config__vcsel_trim;
+
+ uint8_t ana_config__vcsel_selion;
+
+ uint8_t ana_config__vcsel_selion_max;
+
+ uint8_t protected_laser_safety__lock_bit;
+
+ uint8_t laser_safety__key;
+
+ uint8_t laser_safety__key_ro;
+
+ uint8_t laser_safety__clip;
+
+ uint8_t laser_safety__mult;
+
+ uint8_t global_config__spad_enables_rtn_0;
+
+ uint8_t global_config__spad_enables_rtn_1;
+
+ uint8_t global_config__spad_enables_rtn_2;
+
+ uint8_t global_config__spad_enables_rtn_3;
+
+ uint8_t global_config__spad_enables_rtn_4;
+
+ uint8_t global_config__spad_enables_rtn_5;
+
+ uint8_t global_config__spad_enables_rtn_6;
+
+ uint8_t global_config__spad_enables_rtn_7;
+
+ uint8_t global_config__spad_enables_rtn_8;
+
+ uint8_t global_config__spad_enables_rtn_9;
+
+ uint8_t global_config__spad_enables_rtn_10;
+
+ uint8_t global_config__spad_enables_rtn_11;
+
+ uint8_t global_config__spad_enables_rtn_12;
+
+ uint8_t global_config__spad_enables_rtn_13;
+
+ uint8_t global_config__spad_enables_rtn_14;
+
+ uint8_t global_config__spad_enables_rtn_15;
+
+ uint8_t global_config__spad_enables_rtn_16;
+
+ uint8_t global_config__spad_enables_rtn_17;
+
+ uint8_t global_config__spad_enables_rtn_18;
+
+ uint8_t global_config__spad_enables_rtn_19;
+
+ uint8_t global_config__spad_enables_rtn_20;
+
+ uint8_t global_config__spad_enables_rtn_21;
+
+ uint8_t global_config__spad_enables_rtn_22;
+
+ uint8_t global_config__spad_enables_rtn_23;
+
+ uint8_t global_config__spad_enables_rtn_24;
+
+ uint8_t global_config__spad_enables_rtn_25;
+
+ uint8_t global_config__spad_enables_rtn_26;
+
+ uint8_t global_config__spad_enables_rtn_27;
+
+ uint8_t global_config__spad_enables_rtn_28;
+
+ uint8_t global_config__spad_enables_rtn_29;
+
+ uint8_t global_config__spad_enables_rtn_30;
+
+ uint8_t global_config__spad_enables_rtn_31;
+
+ uint8_t roi_config__mode_roi_centre_spad;
+
+ uint8_t roi_config__mode_roi_xy_size;
+
+} VL53LX_nvm_copy_data_t;
+
+
+
+
+typedef struct {
+ uint8_t prev_shadow_result__interrupt_status;
+
+ uint8_t prev_shadow_result__range_status;
+
+ uint8_t prev_shadow_result__report_status;
+
+ uint8_t prev_shadow_result__stream_count;
+
+ uint16_t prev_shadow_result__dss_actual_effective_spads_sd0;
+
+ uint16_t prev_shadow_result__peak_signal_count_rate_mcps_sd0;
+
+ uint16_t prev_shadow_result__ambient_count_rate_mcps_sd0;
+
+ uint16_t prev_shadow_result__sigma_sd0;
+
+ uint16_t prev_shadow_result__phase_sd0;
+
+ uint16_t prev_shadow_result__final_crosstalk_corrected_range_mm_sd0;
+
+ uint16_t
+ psr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0;
+
+ uint16_t prev_shadow_result__mm_inner_actual_effective_spads_sd0;
+
+ uint16_t prev_shadow_result__mm_outer_actual_effective_spads_sd0;
+
+ uint16_t prev_shadow_result__avg_signal_count_rate_mcps_sd0;
+
+ uint16_t prev_shadow_result__dss_actual_effective_spads_sd1;
+
+ uint16_t prev_shadow_result__peak_signal_count_rate_mcps_sd1;
+
+ uint16_t prev_shadow_result__ambient_count_rate_mcps_sd1;
+
+ uint16_t prev_shadow_result__sigma_sd1;
+
+ uint16_t prev_shadow_result__phase_sd1;
+
+ uint16_t prev_shadow_result__final_crosstalk_corrected_range_mm_sd1;
+
+ uint16_t prev_shadow_result__spare_0_sd1;
+
+ uint16_t prev_shadow_result__spare_1_sd1;
+
+ uint16_t prev_shadow_result__spare_2_sd1;
+
+ uint16_t prev_shadow_result__spare_3_sd1;
+
+} VL53LX_prev_shadow_system_results_t;
+
+
+
+
+typedef struct {
+ uint32_t prev_shadow_result_core__ambient_window_events_sd0;
+
+ uint32_t prev_shadow_result_core__ranging_total_events_sd0;
+
+ int32_t prev_shadow_result_core__signal_total_events_sd0;
+
+ uint32_t prev_shadow_result_core__total_periods_elapsed_sd0;
+
+ uint32_t prev_shadow_result_core__ambient_window_events_sd1;
+
+ uint32_t prev_shadow_result_core__ranging_total_events_sd1;
+
+ int32_t prev_shadow_result_core__signal_total_events_sd1;
+
+ uint32_t prev_shadow_result_core__total_periods_elapsed_sd1;
+
+ uint8_t prev_shadow_result_core__spare_0;
+
+} VL53LX_prev_shadow_core_results_t;
+
+
+
+
+typedef struct {
+ uint8_t result__debug_status;
+
+ uint8_t result__debug_stage;
+
+} VL53LX_patch_debug_t;
+
+
+
+
+typedef struct {
+ uint16_t gph__system__thresh_rate_high;
+
+ uint16_t gph__system__thresh_rate_low;
+
+ uint8_t gph__system__interrupt_config_gpio;
+
+} VL53LX_gph_general_config_t;
+
+
+
+
+typedef struct {
+ uint8_t gph__dss_config__roi_mode_control;
+
+ uint16_t gph__dss_config__manual_effective_spads_select;
+
+ uint8_t gph__dss_config__manual_block_select;
+
+ uint8_t gph__dss_config__max_spads_limit;
+
+ uint8_t gph__dss_config__min_spads_limit;
+
+} VL53LX_gph_static_config_t;
+
+
+
+
+typedef struct {
+ uint8_t gph__mm_config__timeout_macrop_a_hi;
+
+ uint8_t gph__mm_config__timeout_macrop_a_lo;
+
+ uint8_t gph__mm_config__timeout_macrop_b_hi;
+
+ uint8_t gph__mm_config__timeout_macrop_b_lo;
+
+ uint8_t gph__range_config__timeout_macrop_a_hi;
+
+ uint8_t gph__range_config__timeout_macrop_a_lo;
+
+ uint8_t gph__range_config__vcsel_period_a;
+
+ uint8_t gph__range_config__vcsel_period_b;
+
+ uint8_t gph__range_config__timeout_macrop_b_hi;
+
+ uint8_t gph__range_config__timeout_macrop_b_lo;
+
+ uint16_t gph__range_config__sigma_thresh;
+
+ uint16_t gph__range_config__min_count_rate_rtn_limit_mcps;
+
+ uint8_t gph__range_config__valid_phase_low;
+
+ uint8_t gph__range_config__valid_phase_high;
+
+} VL53LX_gph_timing_config_t;
+
+
+
+
+typedef struct {
+ uint8_t firmware__internal_stream_count_div;
+
+ uint8_t firmware__internal_stream_counter_val;
+
+} VL53LX_fw_internal_t;
+
+
+
+
+typedef struct {
+ uint8_t dss_calc__roi_ctrl;
+
+ uint8_t dss_calc__spare_1;
+
+ uint8_t dss_calc__spare_2;
+
+ uint8_t dss_calc__spare_3;
+
+ uint8_t dss_calc__spare_4;
+
+ uint8_t dss_calc__spare_5;
+
+ uint8_t dss_calc__spare_6;
+
+ uint8_t dss_calc__spare_7;
+
+ uint8_t dss_calc__user_roi_spad_en_0;
+
+ uint8_t dss_calc__user_roi_spad_en_1;
+
+ uint8_t dss_calc__user_roi_spad_en_2;
+
+ uint8_t dss_calc__user_roi_spad_en_3;
+
+ uint8_t dss_calc__user_roi_spad_en_4;
+
+ uint8_t dss_calc__user_roi_spad_en_5;
+
+ uint8_t dss_calc__user_roi_spad_en_6;
+
+ uint8_t dss_calc__user_roi_spad_en_7;
+
+ uint8_t dss_calc__user_roi_spad_en_8;
+
+ uint8_t dss_calc__user_roi_spad_en_9;
+
+ uint8_t dss_calc__user_roi_spad_en_10;
+
+ uint8_t dss_calc__user_roi_spad_en_11;
+
+ uint8_t dss_calc__user_roi_spad_en_12;
+
+ uint8_t dss_calc__user_roi_spad_en_13;
+
+ uint8_t dss_calc__user_roi_spad_en_14;
+
+ uint8_t dss_calc__user_roi_spad_en_15;
+
+ uint8_t dss_calc__user_roi_spad_en_16;
+
+ uint8_t dss_calc__user_roi_spad_en_17;
+
+ uint8_t dss_calc__user_roi_spad_en_18;
+
+ uint8_t dss_calc__user_roi_spad_en_19;
+
+ uint8_t dss_calc__user_roi_spad_en_20;
+
+ uint8_t dss_calc__user_roi_spad_en_21;
+
+ uint8_t dss_calc__user_roi_spad_en_22;
+
+ uint8_t dss_calc__user_roi_spad_en_23;
+
+ uint8_t dss_calc__user_roi_spad_en_24;
+
+ uint8_t dss_calc__user_roi_spad_en_25;
+
+ uint8_t dss_calc__user_roi_spad_en_26;
+
+ uint8_t dss_calc__user_roi_spad_en_27;
+
+ uint8_t dss_calc__user_roi_spad_en_28;
+
+ uint8_t dss_calc__user_roi_spad_en_29;
+
+ uint8_t dss_calc__user_roi_spad_en_30;
+
+ uint8_t dss_calc__user_roi_spad_en_31;
+
+ uint8_t dss_calc__user_roi_0;
+
+ uint8_t dss_calc__user_roi_1;
+
+ uint8_t dss_calc__mode_roi_0;
+
+ uint8_t dss_calc__mode_roi_1;
+
+ uint8_t sigma_estimator_calc__spare_0;
+
+ uint16_t vhv_result__peak_signal_rate_mcps;
+
+ uint32_t vhv_result__signal_total_events_ref;
+
+ uint16_t phasecal_result__phase_output_ref;
+
+ uint16_t dss_result__total_rate_per_spad;
+
+ uint8_t dss_result__enabled_blocks;
+
+ uint16_t dss_result__num_requested_spads;
+
+ uint16_t mm_result__inner_intersection_rate;
+
+ uint16_t mm_result__outer_complement_rate;
+
+ uint16_t mm_result__total_offset;
+
+ uint32_t xtalk_calc__xtalk_for_enabled_spads;
+
+ uint32_t xtalk_result__avg_xtalk_user_roi_kcps;
+
+ uint32_t xtalk_result__avg_xtalk_mm_inner_roi_kcps;
+
+ uint32_t xtalk_result__avg_xtalk_mm_outer_roi_kcps;
+
+ uint32_t range_result__accum_phase;
+
+ uint16_t range_result__offset_corrected_range;
+
+} VL53LX_patch_results_t;
+
+
+
+
+typedef struct {
+ uint8_t shadow_phasecal_result__vcsel_start;
+
+ uint8_t shadow_result__interrupt_status;
+
+ uint8_t shadow_result__range_status;
+
+ uint8_t shadow_result__report_status;
+
+ uint8_t shadow_result__stream_count;
+
+ uint16_t shadow_result__dss_actual_effective_spads_sd0;
+
+ uint16_t shadow_result__peak_signal_count_rate_mcps_sd0;
+
+ uint16_t shadow_result__ambient_count_rate_mcps_sd0;
+
+ uint16_t shadow_result__sigma_sd0;
+
+ uint16_t shadow_result__phase_sd0;
+
+ uint16_t shadow_result__final_crosstalk_corrected_range_mm_sd0;
+
+ uint16_t
+ shr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0;
+
+ uint16_t shadow_result__mm_inner_actual_effective_spads_sd0;
+
+ uint16_t shadow_result__mm_outer_actual_effective_spads_sd0;
+
+ uint16_t shadow_result__avg_signal_count_rate_mcps_sd0;
+
+ uint16_t shadow_result__dss_actual_effective_spads_sd1;
+
+ uint16_t shadow_result__peak_signal_count_rate_mcps_sd1;
+
+ uint16_t shadow_result__ambient_count_rate_mcps_sd1;
+
+ uint16_t shadow_result__sigma_sd1;
+
+ uint16_t shadow_result__phase_sd1;
+
+ uint16_t shadow_result__final_crosstalk_corrected_range_mm_sd1;
+
+ uint16_t shadow_result__spare_0_sd1;
+
+ uint16_t shadow_result__spare_1_sd1;
+
+ uint16_t shadow_result__spare_2_sd1;
+
+ uint8_t shadow_result__spare_3_sd1;
+
+ uint8_t shadow_result__thresh_info;
+
+ uint8_t shadow_phasecal_result__reference_phase_hi;
+
+ uint8_t shadow_phasecal_result__reference_phase_lo;
+
+} VL53LX_shadow_system_results_t;
+
+
+
+
+typedef struct {
+ uint32_t shadow_result_core__ambient_window_events_sd0;
+
+ uint32_t shadow_result_core__ranging_total_events_sd0;
+
+ int32_t shadow_result_core__signal_total_events_sd0;
+
+ uint32_t shadow_result_core__total_periods_elapsed_sd0;
+
+ uint32_t shadow_result_core__ambient_window_events_sd1;
+
+ uint32_t shadow_result_core__ranging_total_events_sd1;
+
+ int32_t shadow_result_core__signal_total_events_sd1;
+
+ uint32_t shadow_result_core__total_periods_elapsed_sd1;
+
+ uint8_t shadow_result_core__spare_0;
+
+} VL53LX_shadow_core_results_t;
+
+
+// typedef from vl53lx_dmax_structs.h
+
+#define VL53LX_MAX_AMBIENT_DMAX_VALUES 5
+
+typedef struct {
+ uint16_t ref__actual_effective_spads;
+ uint16_t ref__peak_signal_count_rate_mcps;
+ uint16_t ref__distance_mm;
+ uint16_t ref_reflectance_pc;
+ uint16_t coverglass_transmission;
+
+} VL53LX_dmax_calibration_data_t;
+
+
+
+
+typedef struct {
+ uint8_t signal_thresh_sigma;
+ uint8_t ambient_thresh_sigma;
+ int32_t min_ambient_thresh_events;
+ int32_t signal_total_events_limit;
+ uint16_t target_reflectance_for_dmax_calc[VL53LX_MAX_AMBIENT_DMAX_VALUES];
+ uint16_t max_effective_spads;
+ uint16_t dss_config__target_total_rate_mcps;
+ uint8_t dss_config__aperture_attenuation;
+} VL53LX_hist_gen3_dmax_config_t;
+
+
+
+// define & typedef from vl53lx_hist_structs.h
+
+#define VL53LX_MAX_BIN_SEQUENCE_LENGTH 6
+#define VL53LX_MAX_BIN_SEQUENCE_CODE 15
+#define VL53LX_HISTOGRAM_BUFFER_SIZE 24
+#define VL53LX_XTALK_HISTO_BINS 12
+
+
+
+typedef struct {
+
+ uint8_t histogram_config__spad_array_selection;
+
+ uint8_t histogram_config__low_amb_even_bin_0_1;
+ uint8_t histogram_config__low_amb_even_bin_2_3;
+ uint8_t histogram_config__low_amb_even_bin_4_5;
+
+ uint8_t histogram_config__low_amb_odd_bin_0_1;
+ uint8_t histogram_config__low_amb_odd_bin_2_3;
+ uint8_t histogram_config__low_amb_odd_bin_4_5;
+
+ uint8_t histogram_config__mid_amb_even_bin_0_1;
+ uint8_t histogram_config__mid_amb_even_bin_2_3;
+ uint8_t histogram_config__mid_amb_even_bin_4_5;
+
+ uint8_t histogram_config__mid_amb_odd_bin_0_1;
+ uint8_t histogram_config__mid_amb_odd_bin_2;
+ uint8_t histogram_config__mid_amb_odd_bin_3_4;
+ uint8_t histogram_config__mid_amb_odd_bin_5;
+
+ uint8_t histogram_config__user_bin_offset;
+
+ uint8_t histogram_config__high_amb_even_bin_0_1;
+ uint8_t histogram_config__high_amb_even_bin_2_3;
+ uint8_t histogram_config__high_amb_even_bin_4_5;
+
+ uint8_t histogram_config__high_amb_odd_bin_0_1;
+ uint8_t histogram_config__high_amb_odd_bin_2_3;
+ uint8_t histogram_config__high_amb_odd_bin_4_5;
+
+ uint16_t histogram_config__amb_thresh_low;
+
+ uint16_t histogram_config__amb_thresh_high;
+
+
+} VL53LX_histogram_config_t;
+
+
+
+
+typedef struct {
+
+ VL53LX_HistAlgoSelect hist_algo_select;
+
+
+ VL53LX_HistTargetOrder hist_target_order;
+
+
+ uint8_t filter_woi0;
+
+ uint8_t filter_woi1;
+
+
+ VL53LX_HistAmbEstMethod hist_amb_est_method;
+
+ uint8_t ambient_thresh_sigma0;
+
+ uint8_t ambient_thresh_sigma1;
+
+
+
+ uint16_t ambient_thresh_events_scaler;
+
+
+
+ int32_t min_ambient_thresh_events;
+
+ uint16_t noise_threshold;
+
+
+ int32_t signal_total_events_limit;
+
+ uint8_t sigma_estimator__sigma_ref_mm;
+
+ uint16_t sigma_thresh;
+
+ int16_t range_offset_mm;
+
+ uint16_t gain_factor;
+
+
+ uint8_t valid_phase_low;
+
+ uint8_t valid_phase_high;
+
+ uint8_t algo__consistency_check__phase_tolerance;
+
+ uint8_t algo__consistency_check__event_sigma;
+
+
+
+ uint16_t algo__consistency_check__event_min_spad_count;
+
+
+
+ uint16_t algo__consistency_check__min_max_tolerance;
+
+
+ uint8_t algo__crosstalk_compensation_enable;
+
+ uint32_t algo__crosstalk_compensation_plane_offset_kcps;
+
+ int16_t algo__crosstalk_compensation_x_plane_gradient_kcps;
+
+ int16_t algo__crosstalk_compensation_y_plane_gradient_kcps;
+
+
+ int16_t algo__crosstalk_detect_min_valid_range_mm;
+
+ int16_t algo__crosstalk_detect_max_valid_range_mm;
+
+ uint16_t algo__crosstalk_detect_max_valid_rate_kcps;
+
+ uint16_t algo__crosstalk_detect_max_sigma_mm;
+
+
+
+ uint8_t algo__crosstalk_detect_event_sigma;
+
+
+
+ uint16_t algo__crosstalk_detect_min_max_tolerance;
+
+
+} VL53LX_hist_post_process_config_t;
+
+
+
+typedef struct {
+
+
+ VL53LX_DeviceState cfg_device_state;
+
+ VL53LX_DeviceState rd_device_state;
+
+
+ uint8_t zone_id;
+
+ uint32_t time_stamp;
+
+
+ uint8_t VL53LX_p_019;
+
+ uint8_t VL53LX_p_020;
+
+ uint8_t VL53LX_p_021;
+
+ uint8_t number_of_ambient_bins;
+
+ uint8_t bin_seq[VL53LX_MAX_BIN_SEQUENCE_LENGTH];
+
+ uint8_t bin_rep[VL53LX_MAX_BIN_SEQUENCE_LENGTH];
+
+ int32_t bin_data[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ uint8_t result__interrupt_status;
+
+ uint8_t result__range_status;
+
+ uint8_t result__report_status;
+
+ uint8_t result__stream_count;
+
+ uint16_t result__dss_actual_effective_spads;
+
+
+ uint16_t phasecal_result__reference_phase;
+
+ uint8_t phasecal_result__vcsel_start;
+
+ uint8_t cal_config__vcsel_start;
+
+ uint16_t vcsel_width;
+
+ uint8_t VL53LX_p_005;
+
+ uint16_t VL53LX_p_015;
+
+ uint32_t total_periods_elapsed;
+
+
+ uint32_t peak_duration_us;
+
+ uint32_t woi_duration_us;
+
+
+ int32_t min_bin_value;
+
+ int32_t max_bin_value;
+
+
+ uint16_t zero_distance_phase;
+
+ uint8_t number_of_ambient_samples;
+
+ int32_t ambient_events_sum;
+
+ int32_t VL53LX_p_028;
+
+
+ uint8_t roi_config__user_roi_centre_spad;
+
+ uint8_t roi_config__user_roi_requested_global_xy_size;
+
+
+} VL53LX_histogram_bin_data_t;
+
+
+
+
+typedef struct {
+
+
+ uint8_t zone_id;
+
+ uint32_t time_stamp;
+
+
+ uint8_t VL53LX_p_019;
+
+ uint8_t VL53LX_p_020;
+
+ uint8_t VL53LX_p_021;
+
+ uint32_t bin_data[VL53LX_XTALK_HISTO_BINS];
+
+
+
+ uint16_t phasecal_result__reference_phase;
+
+ uint8_t phasecal_result__vcsel_start;
+
+ uint8_t cal_config__vcsel_start;
+
+ uint16_t vcsel_width;
+
+ uint16_t VL53LX_p_015;
+
+ uint16_t zero_distance_phase;
+
+
+} VL53LX_xtalk_histogram_shape_t;
+
+
+
+
+typedef struct {
+
+
+ VL53LX_xtalk_histogram_shape_t xtalk_shape;
+
+ VL53LX_histogram_bin_data_t xtalk_hist_removed;
+
+} VL53LX_xtalk_histogram_data_t;
+
+
+/* vl53lx_hist_private_structs.h */
+
+#define VL53LX_D_001 8
+
+
+
+
+
+typedef struct {
+
+ uint8_t VL53LX_p_019;
+
+
+ uint8_t VL53LX_p_020;
+
+
+ uint8_t VL53LX_p_021;
+
+
+ uint8_t VL53LX_p_029;
+
+
+ int32_t VL53LX_p_016;
+
+
+
+ int32_t VL53LX_p_043[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+ int32_t VL53LX_p_068[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ uint8_t VL53LX_p_040[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ int32_t VL53LX_p_018[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+ uint16_t VL53LX_p_014[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+ uint16_t VL53LX_p_008[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+} VL53LX_hist_gen1_algo_private_data_t;
+
+
+
+
+
+
+
+
+
+
+typedef struct {
+
+ uint8_t VL53LX_p_019;
+
+
+ uint8_t VL53LX_p_020;
+
+
+ uint8_t VL53LX_p_021;
+
+
+ uint16_t VL53LX_p_015;
+
+
+ uint8_t VL53LX_p_005;
+
+
+ uint8_t VL53LX_p_029;
+
+
+ int32_t VL53LX_p_028;
+
+
+ int32_t VL53LX_p_016;
+
+
+
+ int32_t VL53LX_p_007[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ int32_t VL53LX_p_032[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ int32_t VL53LX_p_001[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+
+ int32_t VL53LX_p_018[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ int32_t VL53LX_p_055[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ int32_t VL53LX_p_053[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ int32_t VL53LX_p_054[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+
+} VL53LX_hist_gen2_algo_filtered_data_t;
+
+
+
+
+
+
+
+
+
+
+typedef struct {
+
+ uint8_t VL53LX_p_019;
+
+
+ uint8_t VL53LX_p_020;
+
+
+ uint8_t VL53LX_p_021;
+
+
+ int32_t VL53LX_p_031;
+
+
+
+ uint8_t VL53LX_p_069[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ uint8_t VL53LX_p_070[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+
+ uint32_t VL53LX_p_014[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ uint16_t VL53LX_p_008[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+
+ uint8_t VL53LX_p_040[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+
+} VL53LX_hist_gen2_algo_detection_data_t;
+
+
+
+
+
+
+
+
+
+
+typedef struct {
+
+ uint8_t VL53LX_p_012;
+
+
+ uint8_t VL53LX_p_019;
+
+
+ uint8_t VL53LX_p_023;
+
+
+ uint8_t VL53LX_p_024;
+
+
+ uint8_t VL53LX_p_013;
+
+
+
+ uint8_t VL53LX_p_025;
+
+
+ uint8_t VL53LX_p_051;
+
+
+
+ int32_t VL53LX_p_016;
+
+
+ int32_t VL53LX_p_017;
+
+
+ int32_t VL53LX_p_010;
+
+
+
+ uint32_t VL53LX_p_026;
+
+
+ uint32_t VL53LX_p_011;
+
+
+ uint32_t VL53LX_p_027;
+
+
+
+ uint16_t VL53LX_p_002;
+
+
+
+} VL53LX_hist_pulse_data_t;
+
+
+
+
+
+
+
+
+
+
+typedef struct {
+
+ uint8_t VL53LX_p_019;
+
+
+ uint8_t VL53LX_p_020;
+
+
+ uint8_t VL53LX_p_021;
+
+
+ uint8_t VL53LX_p_030;
+
+
+ uint8_t VL53LX_p_039;
+
+
+ int32_t VL53LX_p_028;
+
+
+ int32_t VL53LX_p_031;
+
+
+
+ uint8_t VL53LX_p_040[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ uint8_t VL53LX_p_041[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ uint8_t VL53LX_p_042[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+
+ int32_t VL53LX_p_052[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ int32_t VL53LX_p_043[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ int32_t VL53LX_p_018[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+
+ uint8_t VL53LX_p_044;
+
+
+ uint8_t VL53LX_p_045;
+
+
+ uint8_t VL53LX_p_046;
+
+
+
+ VL53LX_hist_pulse_data_t VL53LX_p_003[VL53LX_D_001];
+
+
+
+
+
+
+ VL53LX_histogram_bin_data_t VL53LX_p_006;
+
+
+ VL53LX_histogram_bin_data_t VL53LX_p_047;
+
+
+ VL53LX_histogram_bin_data_t VL53LX_p_048;
+
+
+ VL53LX_histogram_bin_data_t VL53LX_p_049;
+
+
+ VL53LX_histogram_bin_data_t VL53LX_p_050;
+
+
+
+
+
+
+} VL53LX_hist_gen3_algo_private_data_t;
+
+
+
+
+
+
+
+
+
+
+typedef struct {
+
+ uint8_t VL53LX_p_019;
+
+
+ uint8_t VL53LX_p_020;
+
+
+ uint8_t VL53LX_p_021;
+
+
+
+ int32_t VL53LX_p_007[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ int32_t VL53LX_p_032[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ int32_t VL53LX_p_001[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+
+ int32_t VL53LX_p_053[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+ int32_t VL53LX_p_054[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+
+ uint8_t VL53LX_p_040[VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+
+
+} VL53LX_hist_gen4_algo_filtered_data_t;
+
+
+
+// define & typedef from VL53Lx_ll_def.h
+
+
+
+
+#define VL53LX_LL_API_IMPLEMENTATION_VER_MAJOR 1
+
+#define VL53LX_LL_API_IMPLEMENTATION_VER_MINOR 1
+
+#define VL53LX_LL_API_IMPLEMENTATION_VER_SUB 1
+
+#define VL53LX_LL_API_IMPLEMENTATION_VER_REVISION 0
+
+#define VL53LX_LL_API_IMPLEMENTATION_VER_STRING "1.1.1"
+
+
+#define VL53LX_FIRMWARE_VER_MINIMUM 398
+#define VL53LX_FIRMWARE_VER_MAXIMUM 400
+
+
+
+
+#define VL53LX_LL_CALIBRATION_DATA_STRUCT_VERSION 0xECAB0102
+
+
+
+
+#define VL53LX_LL_ZONE_CALIBRATION_DATA_STRUCT_VERSION 0xECAE0101
+
+
+
+
+
+#define VL53LX_BIN_REC_SIZE 6
+
+#define VL53LX_TIMING_CONF_A_B_SIZE 2
+
+#define VL53LX_FRAME_WAIT_EVENT 6
+
+
+
+
+#define VL53LX_MAX_XTALK_RANGE_RESULTS 5
+
+
+#define VL53LX_MAX_OFFSET_RANGE_RESULTS 3
+
+
+#define VL53LX_NVM_MAX_FMT_RANGE_DATA 4
+
+
+#define VL53LX_NVM_PEAK_RATE_MAP_SAMPLES 25
+
+#define VL53LX_NVM_PEAK_RATE_MAP_WIDTH 5
+
+#define VL53LX_NVM_PEAK_RATE_MAP_HEIGHT 5
+
+
+
+
+#define VL53LX_ERROR_DEVICE_FIRMWARE_TOO_OLD ((VL53LX_Error) - 80)
+
+#define VL53LX_ERROR_DEVICE_FIRMWARE_TOO_NEW ((VL53LX_Error) - 85)
+
+#define VL53LX_ERROR_UNIT_TEST_FAIL ((VL53LX_Error) - 90)
+
+#define VL53LX_ERROR_FILE_READ_FAIL ((VL53LX_Error) - 95)
+
+#define VL53LX_ERROR_FILE_WRITE_FAIL ((VL53LX_Error) - 96)
+
+
+
+
+
+
+typedef struct {
+ uint32_t ll_revision;
+ uint8_t ll_major;
+ uint8_t ll_minor;
+ uint8_t ll_build;
+} VL53LX_ll_version_t;
+
+
+
+
+typedef struct {
+
+ uint8_t device_test_mode;
+ uint8_t VL53LX_p_005;
+ uint32_t timeout_us;
+ uint16_t target_count_rate_mcps;
+
+ uint16_t min_count_rate_limit_mcps;
+
+ uint16_t max_count_rate_limit_mcps;
+
+
+} VL53LX_refspadchar_config_t;
+
+
+
+
+typedef struct {
+
+ uint16_t dss_config__target_total_rate_mcps;
+
+ uint32_t phasecal_config_timeout_us;
+
+ uint32_t mm_config_timeout_us;
+
+ uint32_t range_config_timeout_us;
+
+ uint8_t num_of_samples;
+
+ int16_t algo__crosstalk_extract_min_valid_range_mm;
+
+ int16_t algo__crosstalk_extract_max_valid_range_mm;
+
+ uint16_t algo__crosstalk_extract_max_valid_rate_kcps;
+
+ uint16_t algo__crosstalk_extract_max_sigma_mm;
+
+
+} VL53LX_xtalkextract_config_t;
+
+
+
+
+typedef struct {
+
+ uint16_t dss_config__target_total_rate_mcps;
+
+ uint32_t phasecal_config_timeout_us;
+
+ uint32_t range_config_timeout_us;
+
+ uint32_t mm_config_timeout_us;
+
+ uint8_t pre_num_of_samples;
+
+ uint8_t mm1_num_of_samples;
+
+ uint8_t mm2_num_of_samples;
+
+
+} VL53LX_offsetcal_config_t;
+
+
+
+
+typedef struct {
+
+ uint16_t dss_config__target_total_rate_mcps;
+
+ uint32_t phasecal_config_timeout_us;
+
+ uint32_t mm_config_timeout_us;
+
+ uint32_t range_config_timeout_us;
+
+ uint16_t phasecal_num_of_samples;
+
+ uint16_t zone_num_of_samples;
+
+
+} VL53LX_zonecal_config_t;
+
+
+
+
+
+typedef struct {
+
+ VL53LX_DeviceSscArray array_select;
+
+ uint8_t VL53LX_p_005;
+
+ uint8_t vcsel_start;
+
+ uint8_t vcsel_width;
+
+ uint32_t timeout_us;
+
+ uint16_t rate_limit_mcps;
+
+
+} VL53LX_ssc_config_t;
+
+
+
+
+typedef struct {
+
+
+ uint32_t algo__crosstalk_compensation_plane_offset_kcps;
+
+ int16_t algo__crosstalk_compensation_x_plane_gradient_kcps;
+
+ int16_t algo__crosstalk_compensation_y_plane_gradient_kcps;
+
+ uint32_t nvm_default__crosstalk_compensation_plane_offset_kcps;
+
+ int16_t nvm_default__crosstalk_compensation_x_plane_gradient_kcps;
+
+ int16_t nvm_default__crosstalk_compensation_y_plane_gradient_kcps;
+
+ uint8_t global_crosstalk_compensation_enable;
+
+ int16_t histogram_mode_crosstalk_margin_kcps;
+
+ int16_t lite_mode_crosstalk_margin_kcps;
+
+ uint8_t crosstalk_range_ignore_threshold_mult;
+
+ uint16_t crosstalk_range_ignore_threshold_rate_mcps;
+
+ int16_t algo__crosstalk_detect_min_valid_range_mm;
+
+ int16_t algo__crosstalk_detect_max_valid_range_mm;
+
+ uint16_t algo__crosstalk_detect_max_valid_rate_kcps;
+
+ uint16_t algo__crosstalk_detect_max_sigma_mm;
+
+
+
+} VL53LX_xtalk_config_t;
+
+
+
+
+typedef struct {
+
+
+ uint16_t tp_tuning_parm_version;
+
+ uint16_t tp_tuning_parm_key_table_version;
+
+ uint16_t tp_tuning_parm_lld_version;
+
+ uint8_t tp_init_phase_rtn_lite_long;
+
+ uint8_t tp_init_phase_rtn_lite_med;
+
+ uint8_t tp_init_phase_rtn_lite_short;
+
+ uint8_t tp_init_phase_ref_lite_long;
+
+ uint8_t tp_init_phase_ref_lite_med;
+
+ uint8_t tp_init_phase_ref_lite_short;
+
+
+ uint8_t tp_init_phase_rtn_hist_long;
+
+ uint8_t tp_init_phase_rtn_hist_med;
+
+ uint8_t tp_init_phase_rtn_hist_short;
+
+ uint8_t tp_init_phase_ref_hist_long;
+
+ uint8_t tp_init_phase_ref_hist_med;
+
+ uint8_t tp_init_phase_ref_hist_short;
+
+
+ uint8_t tp_consistency_lite_phase_tolerance;
+
+ uint8_t tp_phasecal_target;
+
+ uint16_t tp_cal_repeat_rate;
+
+ uint8_t tp_lite_min_clip;
+
+
+ uint16_t tp_lite_long_sigma_thresh_mm;
+
+ uint16_t tp_lite_med_sigma_thresh_mm;
+
+ uint16_t tp_lite_short_sigma_thresh_mm;
+
+
+ uint16_t tp_lite_long_min_count_rate_rtn_mcps;
+
+ uint16_t tp_lite_med_min_count_rate_rtn_mcps;
+
+ uint16_t tp_lite_short_min_count_rate_rtn_mcps;
+
+
+ uint8_t tp_lite_sigma_est_pulse_width_ns;
+
+ uint8_t tp_lite_sigma_est_amb_width_ns;
+
+ uint8_t tp_lite_sigma_ref_mm;
+
+ uint8_t tp_lite_seed_cfg;
+
+ uint8_t tp_timed_seed_cfg;
+
+
+ uint8_t tp_lite_quantifier;
+
+ uint8_t tp_lite_first_order_select;
+
+
+ uint16_t tp_dss_target_lite_mcps;
+
+ uint16_t tp_dss_target_histo_mcps;
+
+ uint16_t tp_dss_target_histo_mz_mcps;
+
+ uint16_t tp_dss_target_timed_mcps;
+
+ uint16_t tp_dss_target_very_short_mcps;
+
+
+ uint32_t tp_phasecal_timeout_lite_us;
+
+ uint32_t tp_phasecal_timeout_hist_long_us;
+
+ uint32_t tp_phasecal_timeout_hist_med_us;
+
+ uint32_t tp_phasecal_timeout_hist_short_us;
+
+
+ uint32_t tp_phasecal_timeout_mz_long_us;
+
+ uint32_t tp_phasecal_timeout_mz_med_us;
+
+ uint32_t tp_phasecal_timeout_mz_short_us;
+
+ uint32_t tp_phasecal_timeout_timed_us;
+
+
+ uint32_t tp_mm_timeout_lite_us;
+
+ uint32_t tp_mm_timeout_histo_us;
+
+ uint32_t tp_mm_timeout_mz_us;
+
+ uint32_t tp_mm_timeout_timed_us;
+
+ uint32_t tp_mm_timeout_lpa_us;
+
+
+ uint32_t tp_range_timeout_lite_us;
+
+ uint32_t tp_range_timeout_histo_us;
+
+ uint32_t tp_range_timeout_mz_us;
+
+ uint32_t tp_range_timeout_timed_us;
+
+ uint32_t tp_range_timeout_lpa_us;
+
+ uint32_t tp_phasecal_patch_power;
+
+ uint32_t tp_hist_merge;
+
+ uint32_t tp_reset_merge_threshold;
+
+ uint32_t tp_hist_merge_max_size;
+
+
+} VL53LX_tuning_parm_storage_t;
+
+
+
+
+
+typedef struct {
+
+ uint8_t x_centre;
+ uint8_t y_centre;
+
+} VL53LX_optical_centre_t;
+
+
+
+
+typedef struct {
+
+ uint8_t x_centre;
+ uint8_t y_centre;
+ uint8_t width;
+ uint8_t height;
+
+} VL53LX_user_zone_t;
+
+
+
+
+typedef struct {
+
+ uint8_t max_zones;
+ uint8_t active_zones;
+
+
+
+ VL53LX_histogram_config_t multizone_hist_cfg;
+
+ VL53LX_user_zone_t user_zones[VL53LX_MAX_USER_ZONES];
+
+
+ uint8_t bin_config[VL53LX_MAX_USER_ZONES];
+
+
+} VL53LX_zone_config_t;
+
+
+
+typedef struct {
+
+
+ VL53LX_GPIO_Interrupt_Mode intr_mode_distance;
+
+
+ VL53LX_GPIO_Interrupt_Mode intr_mode_rate;
+
+
+ uint8_t intr_new_measure_ready;
+
+
+ uint8_t intr_no_target;
+
+
+ uint8_t intr_combined_mode;
+
+
+
+
+
+ uint16_t threshold_distance_high;
+
+
+ uint16_t threshold_distance_low;
+
+
+ uint16_t threshold_rate_high;
+
+
+ uint16_t threshold_rate_low;
+
+} VL53LX_GPIO_interrupt_config_t;
+
+
+
+
+typedef struct {
+
+
+ uint8_t vhv_loop_bound;
+
+
+ uint8_t is_low_power_auto_mode;
+
+
+ uint8_t low_power_auto_range_count;
+
+
+ uint8_t saved_interrupt_config;
+
+
+ uint8_t saved_vhv_init;
+
+
+ uint8_t saved_vhv_timeout;
+
+
+ uint8_t first_run_phasecal_result;
+
+
+ uint32_t dss__total_rate_per_spad_mcps;
+
+
+ uint16_t dss__required_spads;
+
+} VL53LX_low_power_auto_data_t;
+
+
+
+
+
+
+
+typedef struct {
+
+
+ uint8_t smudge_corr_enabled;
+
+
+ uint8_t smudge_corr_apply_enabled;
+
+
+ uint8_t smudge_corr_single_apply;
+
+
+
+
+ uint16_t smudge_margin;
+
+
+ uint32_t noise_margin;
+
+
+ uint32_t user_xtalk_offset_limit;
+
+
+ uint8_t user_xtalk_offset_limit_hi;
+
+
+ uint32_t sample_limit;
+
+
+ uint32_t single_xtalk_delta;
+
+
+ uint32_t averaged_xtalk_delta;
+
+
+ uint32_t smudge_corr_clip_limit;
+
+
+ uint32_t smudge_corr_ambient_threshold;
+
+
+ uint8_t scaler_calc_method;
+
+
+ int16_t x_gradient_scaler;
+
+
+ int16_t y_gradient_scaler;
+
+
+ uint8_t user_scaler_set;
+
+
+ uint32_t nodetect_ambient_threshold;
+
+
+ uint32_t nodetect_sample_limit;
+
+
+ uint32_t nodetect_xtalk_offset;
+
+
+ uint16_t nodetect_min_range_mm;
+
+
+ uint32_t max_smudge_factor;
+
+} VL53LX_smudge_corrector_config_t;
+
+
+
+typedef struct {
+
+
+ uint32_t current_samples;
+
+
+ uint32_t required_samples;
+
+
+ uint64_t accumulator;
+
+
+ uint32_t nodetect_counter;
+
+} VL53LX_smudge_corrector_internals_t;
+
+
+
+typedef struct {
+
+
+ uint8_t smudge_corr_valid;
+
+
+ uint8_t smudge_corr_clipped;
+
+
+ uint8_t single_xtalk_delta_flag;
+
+
+ uint8_t averaged_xtalk_delta_flag;
+
+
+ uint8_t sample_limit_exceeded_flag;
+
+
+ uint8_t gradient_zero_flag;
+
+
+ uint8_t new_xtalk_applied_flag;
+
+
+ uint32_t algo__crosstalk_compensation_plane_offset_kcps;
+
+
+ int16_t algo__crosstalk_compensation_x_plane_gradient_kcps;
+
+
+ int16_t algo__crosstalk_compensation_y_plane_gradient_kcps;
+
+
+} VL53LX_smudge_corrector_data_t;
+
+
+
+
+
+typedef struct {
+
+
+
+ uint8_t range_id;
+
+ uint32_t time_stamp;
+
+ uint8_t VL53LX_p_012;
+
+ uint8_t VL53LX_p_019;
+
+ uint8_t VL53LX_p_023;
+
+ uint8_t VL53LX_p_024;
+
+ uint8_t VL53LX_p_013;
+
+ uint8_t VL53LX_p_025;
+
+
+ uint16_t width;
+
+ uint8_t VL53LX_p_029;
+
+
+ uint16_t fast_osc_frequency;
+
+ uint16_t zero_distance_phase;
+
+ uint16_t VL53LX_p_004;
+
+
+ uint32_t total_periods_elapsed;
+
+
+ uint32_t peak_duration_us;
+
+
+ uint32_t woi_duration_us;
+
+
+
+
+
+ uint32_t VL53LX_p_016;
+
+ uint32_t VL53LX_p_017;
+
+ int32_t VL53LX_p_010;
+
+
+
+
+ uint16_t peak_signal_count_rate_mcps;
+
+ uint16_t avg_signal_count_rate_mcps;
+
+ uint16_t ambient_count_rate_mcps;
+
+ uint16_t total_rate_per_spad_mcps;
+
+ uint32_t VL53LX_p_009;
+
+
+
+
+ uint16_t VL53LX_p_002;
+
+
+
+
+ uint16_t VL53LX_p_026;
+
+ uint16_t VL53LX_p_011;
+
+ uint16_t VL53LX_p_027;
+
+
+
+
+ int16_t min_range_mm;
+
+ int16_t median_range_mm;
+
+ int16_t max_range_mm;
+
+
+
+
+ uint8_t range_status;
+
+} VL53LX_range_data_t;
+
+
+
+
+typedef struct {
+
+ VL53LX_DeviceState cfg_device_state;
+
+ VL53LX_DeviceState rd_device_state;
+
+ uint8_t zone_id;
+
+ uint8_t stream_count;
+
+
+ int16_t VL53LX_p_022[VL53LX_MAX_AMBIENT_DMAX_VALUES];
+
+ int16_t wrap_dmax_mm;
+
+
+ uint8_t device_status;
+
+
+ uint8_t max_results;
+
+ uint8_t active_results;
+
+ VL53LX_range_data_t VL53LX_p_003[VL53LX_MAX_RANGE_RESULTS];
+
+ VL53LX_range_data_t xmonitor;
+
+ VL53LX_smudge_corrector_data_t smudge_corrector_data;
+
+
+
+} VL53LX_range_results_t;
+
+
+
+
+typedef struct {
+
+ uint8_t no_of_samples;
+
+ uint32_t rate_per_spad_kcps_sum;
+
+ uint32_t rate_per_spad_kcps_avg;
+
+ int32_t signal_total_events_sum;
+
+ int32_t signal_total_events_avg;
+
+ uint32_t sigma_mm_sum;
+
+ uint32_t sigma_mm_avg;
+
+ uint32_t median_phase_sum;
+
+ uint32_t median_phase_avg;
+
+
+} VL53LX_xtalk_range_data_t;
+
+
+
+
+typedef struct {
+
+ VL53LX_Error cal_status;
+
+ uint8_t num_of_samples_status;
+
+ uint8_t zero_samples_status;
+
+ uint8_t max_sigma_status;
+
+ uint8_t max_results;
+
+ uint8_t active_results;
+
+
+ VL53LX_xtalk_range_data_t
+ VL53LX_p_003[VL53LX_MAX_XTALK_RANGE_RESULTS];
+
+ VL53LX_histogram_bin_data_t central_histogram_sum;
+
+ VL53LX_histogram_bin_data_t central_histogram_avg;
+
+ uint8_t central_histogram__window_start;
+
+ uint8_t central_histogram__window_end;
+
+ VL53LX_histogram_bin_data_t
+ histogram_avg_1[VL53LX_MAX_XTALK_RANGE_RESULTS];
+
+ VL53LX_histogram_bin_data_t
+ histogram_avg_2[VL53LX_MAX_XTALK_RANGE_RESULTS];
+
+ VL53LX_histogram_bin_data_t
+ xtalk_avg[VL53LX_MAX_XTALK_RANGE_RESULTS];
+
+
+} VL53LX_xtalk_range_results_t;
+
+
+
+
+typedef struct {
+
+ uint8_t preset_mode;
+
+ uint8_t dss_config__roi_mode_control;
+
+ uint16_t dss_config__manual_effective_spads_select;
+
+ uint8_t no_of_samples;
+
+ uint32_t effective_spads;
+
+ uint32_t peak_rate_mcps;
+
+ uint32_t VL53LX_p_002;
+
+ int32_t median_range_mm;
+
+ int32_t range_mm_offset;
+
+
+} VL53LX_offset_range_data_t;
+
+
+
+
+typedef struct {
+
+ int16_t cal_distance_mm;
+
+ uint16_t cal_reflectance_pc;
+
+ VL53LX_Error cal_status;
+
+ uint8_t cal_report;
+
+ uint8_t max_results;
+
+ uint8_t active_results;
+
+ VL53LX_offset_range_data_t
+ VL53LX_p_003[VL53LX_MAX_OFFSET_RANGE_RESULTS];
+
+
+} VL53LX_offset_range_results_t;
+
+
+
+
+typedef struct {
+
+ uint16_t result__mm_inner_actual_effective_spads;
+
+ uint16_t result__mm_outer_actual_effective_spads;
+
+ uint16_t result__mm_inner_peak_signal_count_rtn_mcps;
+
+ uint16_t result__mm_outer_peak_signal_count_rtn_mcps;
+
+
+} VL53LX_additional_offset_cal_data_t;
+
+
+
+typedef struct {
+ int16_t short_a_offset_mm;
+ int16_t short_b_offset_mm;
+ int16_t medium_a_offset_mm;
+ int16_t medium_b_offset_mm;
+ int16_t long_a_offset_mm;
+ int16_t long_b_offset_mm;
+} VL53LX_per_vcsel_period_offset_cal_data_t;
+
+
+
+
+
+typedef struct {
+
+ uint32_t VL53LX_p_016;
+
+ uint32_t VL53LX_p_017;
+
+ uint16_t VL53LX_p_011;
+
+ uint8_t range_status;
+
+
+} VL53LX_object_data_t;
+
+
+
+
+typedef struct {
+
+ VL53LX_DeviceState cfg_device_state;
+
+ VL53LX_DeviceState rd_device_state;
+
+ uint8_t zone_id;
+
+ uint8_t stream_count;
+
+ uint8_t max_objects;
+
+ uint8_t active_objects;
+
+ VL53LX_object_data_t VL53LX_p_003[VL53LX_MAX_RANGE_RESULTS];
+
+
+ VL53LX_object_data_t xmonitor;
+
+
+} VL53LX_zone_objects_t;
+
+
+
+
+
+
+typedef struct {
+
+ uint8_t max_zones;
+
+ uint8_t active_zones;
+
+ VL53LX_zone_objects_t VL53LX_p_003[VL53LX_MAX_USER_ZONES];
+
+
+} VL53LX_zone_results_t;
+
+
+
+
+typedef struct {
+
+ VL53LX_DeviceState rd_device_state;
+
+
+ uint8_t number_of_ambient_bins;
+
+
+ uint16_t result__dss_actual_effective_spads;
+
+ uint8_t VL53LX_p_005;
+
+ uint32_t total_periods_elapsed;
+
+
+ int32_t ambient_events_sum;
+
+
+} VL53LX_zone_hist_info_t;
+
+
+
+
+typedef struct {
+
+ uint8_t max_zones;
+
+ uint8_t active_zones;
+
+ VL53LX_zone_hist_info_t VL53LX_p_003[VL53LX_MAX_USER_ZONES];
+
+
+} VL53LX_zone_histograms_t;
+
+
+
+
+typedef struct {
+
+ uint32_t no_of_samples;
+
+ uint32_t effective_spads;
+
+ uint32_t peak_rate_mcps;
+
+ uint32_t VL53LX_p_011;
+
+ uint32_t VL53LX_p_002;
+
+ int32_t median_range_mm;
+
+ int32_t range_mm_offset;
+
+
+} VL53LX_zone_calibration_data_t;
+
+
+
+
+
+
+typedef struct {
+
+ uint32_t struct_version;
+
+ VL53LX_DevicePresetModes preset_mode;
+
+ VL53LX_DeviceZonePreset zone_preset;
+
+ int16_t cal_distance_mm;
+
+ uint16_t cal_reflectance_pc;
+
+ uint16_t phasecal_result__reference_phase;
+
+ uint16_t zero_distance_phase;
+
+ VL53LX_Error cal_status;
+
+ uint8_t max_zones;
+
+ uint8_t active_zones;
+
+ VL53LX_zone_calibration_data_t VL53LX_p_003[VL53LX_MAX_USER_ZONES];
+
+
+} VL53LX_zone_calibration_results_t;
+
+
+
+
+
+typedef struct {
+
+ int16_t cal_distance_mm;
+
+ uint16_t cal_reflectance_pc;
+
+ uint16_t max_samples;
+
+ uint16_t width;
+
+ uint16_t height;
+
+ uint16_t peak_rate_mcps[VL53LX_NVM_PEAK_RATE_MAP_SAMPLES];
+
+
+} VL53LX_cal_peak_rate_map_t;
+
+
+
+
+typedef struct {
+
+ uint8_t expected_stream_count;
+
+ uint8_t expected_gph_id;
+
+ uint8_t dss_mode;
+
+ uint16_t dss_requested_effective_spad_count;
+
+ uint8_t seed_cfg;
+
+ uint8_t initial_phase_seed;
+
+
+ uint8_t roi_config__user_roi_centre_spad;
+
+ uint8_t roi_config__user_roi_requested_global_xy_size;
+
+
+} VL53LX_zone_private_dyn_cfg_t;
+
+
+
+
+typedef struct {
+
+ uint8_t max_zones;
+
+ uint8_t active_zones;
+
+ VL53LX_zone_private_dyn_cfg_t VL53LX_p_003[VL53LX_MAX_USER_ZONES];
+
+
+} VL53LX_zone_private_dyn_cfgs_t;
+
+
+
+typedef struct {
+
+ uint32_t algo__crosstalk_compensation_plane_offset_kcps;
+
+ int16_t algo__crosstalk_compensation_x_plane_gradient_kcps;
+
+ int16_t algo__crosstalk_compensation_y_plane_gradient_kcps;
+
+ uint32_t algo__xtalk_cpo_HistoMerge_kcps[VL53LX_BIN_REC_SIZE];
+
+
+} VL53LX_xtalk_calibration_results_t;
+
+
+
+
+typedef struct {
+
+
+ uint32_t sample_count;
+
+
+ uint32_t pll_period_mm;
+
+
+ uint32_t peak_duration_us_sum;
+
+
+ uint32_t effective_spad_count_sum;
+
+
+ uint32_t zero_distance_phase_sum;
+
+
+ uint32_t zero_distance_phase_avg;
+
+
+ int32_t event_scaler_sum;
+
+
+ int32_t event_scaler_avg;
+
+
+ int32_t signal_events_sum;
+
+
+ uint32_t xtalk_rate_kcps_per_spad;
+
+
+ int32_t xtalk_start_phase;
+
+
+ int32_t xtalk_end_phase;
+
+
+ int32_t xtalk_width_phase;
+
+
+ int32_t target_start_phase;
+
+
+ int32_t target_end_phase;
+
+
+ int32_t target_width_phase;
+
+
+ int32_t effective_width;
+
+
+ int32_t event_scaler;
+
+
+ uint8_t VL53LX_p_012;
+
+
+ uint8_t VL53LX_p_013;
+
+
+ uint8_t target_start;
+
+
+ int32_t max_shape_value;
+
+
+ int32_t bin_data_sums[VL53LX_XTALK_HISTO_BINS];
+
+} VL53LX_hist_xtalk_extract_data_t;
+
+
+
+
+typedef struct {
+
+ uint16_t standard_ranging_gain_factor;
+
+ uint16_t histogram_ranging_gain_factor;
+
+
+} VL53LX_gain_calibration_data_t;
+
+
+
+
+typedef struct {
+
+ VL53LX_DeviceState cfg_device_state;
+
+ uint8_t cfg_stream_count;
+
+ uint8_t cfg_internal_stream_count;
+
+ uint8_t cfg_internal_stream_count_val;
+
+ uint8_t cfg_gph_id;
+
+ uint8_t cfg_timing_status;
+
+ uint8_t cfg_zone_id;
+
+
+ VL53LX_DeviceState rd_device_state;
+
+ uint8_t rd_stream_count;
+
+ uint8_t rd_internal_stream_count;
+
+ uint8_t rd_internal_stream_count_val;
+
+ uint8_t rd_gph_id;
+
+ uint8_t rd_timing_status;
+
+ uint8_t rd_zone_id;
+
+
+} VL53LX_ll_driver_state_t;
+
+
+
+
+typedef struct {
+
+ uint8_t wait_method;
+
+ VL53LX_DevicePresetModes preset_mode;
+
+ VL53LX_DeviceZonePreset zone_preset;
+
+ VL53LX_DeviceMeasurementModes measurement_mode;
+
+ VL53LX_OffsetCalibrationMode offset_calibration_mode;
+
+ VL53LX_OffsetCorrectionMode offset_correction_mode;
+
+ VL53LX_DeviceDmaxMode dmax_mode;
+
+ uint32_t phasecal_config_timeout_us;
+
+ uint32_t mm_config_timeout_us;
+
+ uint32_t range_config_timeout_us;
+
+ uint32_t inter_measurement_period_ms;
+
+ uint16_t dss_config__target_total_rate_mcps;
+
+ uint32_t fw_ready_poll_duration_ms;
+
+ uint8_t fw_ready;
+
+ uint8_t debug_mode;
+
+
+
+ VL53LX_ll_version_t version;
+
+
+ VL53LX_ll_driver_state_t ll_state;
+
+
+ VL53LX_GPIO_interrupt_config_t gpio_interrupt_config;
+
+
+ VL53LX_customer_nvm_managed_t customer;
+ VL53LX_cal_peak_rate_map_t cal_peak_rate_map;
+ VL53LX_additional_offset_cal_data_t add_off_cal_data;
+ VL53LX_dmax_calibration_data_t fmt_dmax_cal;
+ VL53LX_dmax_calibration_data_t cust_dmax_cal;
+ VL53LX_gain_calibration_data_t gain_cal;
+ VL53LX_user_zone_t mm_roi;
+ VL53LX_optical_centre_t optical_centre;
+ VL53LX_zone_config_t zone_cfg;
+
+
+ VL53LX_tuning_parm_storage_t tuning_parms;
+
+
+ uint8_t rtn_good_spads[VL53LX_RTN_SPAD_BUFFER_SIZE];
+
+
+ VL53LX_refspadchar_config_t refspadchar;
+ VL53LX_ssc_config_t ssc_cfg;
+ VL53LX_hist_post_process_config_t histpostprocess;
+ VL53LX_hist_gen3_dmax_config_t dmax_cfg;
+ VL53LX_xtalkextract_config_t xtalk_extract_cfg;
+ VL53LX_xtalk_config_t xtalk_cfg;
+ VL53LX_offsetcal_config_t offsetcal_cfg;
+ VL53LX_zonecal_config_t zonecal_cfg;
+
+
+ VL53LX_static_nvm_managed_t stat_nvm;
+ VL53LX_histogram_config_t hist_cfg;
+ VL53LX_static_config_t stat_cfg;
+ VL53LX_general_config_t gen_cfg;
+ VL53LX_timing_config_t tim_cfg;
+ VL53LX_dynamic_config_t dyn_cfg;
+ VL53LX_system_control_t sys_ctrl;
+ VL53LX_system_results_t sys_results;
+ VL53LX_nvm_copy_data_t nvm_copy_data;
+
+
+ VL53LX_histogram_bin_data_t hist_data;
+ VL53LX_histogram_bin_data_t hist_xtalk;
+
+
+ VL53LX_xtalk_histogram_data_t xtalk_shapes;
+ VL53LX_xtalk_range_results_t xtalk_results;
+ VL53LX_xtalk_calibration_results_t xtalk_cal;
+ VL53LX_hist_xtalk_extract_data_t xtalk_extract;
+
+
+ VL53LX_offset_range_results_t offset_results;
+
+
+ VL53LX_core_results_t core_results;
+ VL53LX_debug_results_t dbg_results;
+
+ VL53LX_smudge_corrector_config_t smudge_correct_config;
+
+ VL53LX_smudge_corrector_internals_t smudge_corrector_internals;
+
+
+
+
+ VL53LX_low_power_auto_data_t low_power_auto_data;
+
+ uint8_t wArea1[1536];
+ uint8_t wArea2[512];
+ VL53LX_per_vcsel_period_offset_cal_data_t per_vcsel_cal_data;
+
+ uint8_t bin_rec_pos;
+
+ uint8_t pos_before_next_recom;
+
+ int32_t multi_bins_rec[VL53LX_BIN_REC_SIZE]
+ [VL53LX_TIMING_CONF_A_B_SIZE][VL53LX_HISTOGRAM_BUFFER_SIZE];
+
+} VL53LX_LLDriverData_t;
+
+
+
+
+typedef struct {
+
+
+ VL53LX_range_results_t range_results;
+
+
+ VL53LX_zone_private_dyn_cfgs_t zone_dyn_cfgs;
+
+
+ VL53LX_zone_results_t zone_results;
+ VL53LX_zone_histograms_t zone_hists;
+ VL53LX_zone_calibration_results_t zone_cal;
+
+} VL53LX_LLDriverResults_t;
+
+
+
+
+typedef struct {
+
+ uint32_t struct_version;
+ VL53LX_customer_nvm_managed_t customer;
+ VL53LX_dmax_calibration_data_t fmt_dmax_cal;
+ VL53LX_dmax_calibration_data_t cust_dmax_cal;
+ VL53LX_additional_offset_cal_data_t add_off_cal_data;
+ VL53LX_optical_centre_t optical_centre;
+ VL53LX_xtalk_histogram_data_t xtalkhisto;
+ VL53LX_gain_calibration_data_t gain_cal;
+ VL53LX_cal_peak_rate_map_t cal_peak_rate_map;
+ VL53LX_per_vcsel_period_offset_cal_data_t per_vcsel_cal_data;
+
+} VL53LX_calibration_data_t;
+
+
+
+
+typedef struct {
+
+ VL53LX_customer_nvm_managed_t customer;
+ VL53LX_xtalkextract_config_t xtalk_extract_cfg;
+ VL53LX_xtalk_config_t xtalk_cfg;
+ VL53LX_histogram_bin_data_t hist_data;
+ VL53LX_xtalk_histogram_data_t xtalk_shapes;
+ VL53LX_xtalk_range_results_t xtalk_results;
+
+} VL53LX_xtalk_debug_data_t;
+
+
+
+
+typedef struct {
+
+ VL53LX_customer_nvm_managed_t customer;
+ VL53LX_dmax_calibration_data_t fmt_dmax_cal;
+ VL53LX_dmax_calibration_data_t cust_dmax_cal;
+ VL53LX_additional_offset_cal_data_t add_off_cal_data;
+ VL53LX_offset_range_results_t offset_results;
+
+} VL53LX_offset_debug_data_t;
+
+
+
+
+typedef struct {
+ uint16_t vl53lx_tuningparm_version;
+ uint16_t vl53lx_tuningparm_key_table_version;
+ uint16_t vl53lx_tuningparm_lld_version;
+ uint8_t vl53lx_tuningparm_hist_algo_select;
+ uint8_t vl53lx_tuningparm_hist_target_order;
+ uint8_t vl53lx_tuningparm_hist_filter_woi_0;
+ uint8_t vl53lx_tuningparm_hist_filter_woi_1;
+ uint8_t vl53lx_tuningparm_hist_amb_est_method;
+ uint8_t vl53lx_tuningparm_hist_amb_thresh_sigma_0;
+ uint8_t vl53lx_tuningparm_hist_amb_thresh_sigma_1;
+ int32_t vl53lx_tuningparm_hist_min_amb_thresh_events;
+ uint16_t vl53lx_tuningparm_hist_amb_events_scaler;
+ uint16_t vl53lx_tuningparm_hist_noise_threshold;
+ int32_t vl53lx_tuningparm_hist_signal_total_events_limit;
+ uint8_t vl53lx_tuningparm_hist_sigma_est_ref_mm;
+ uint16_t vl53lx_tuningparm_hist_sigma_thresh_mm;
+ uint16_t vl53lx_tuningparm_hist_gain_factor;
+ uint8_t vl53lx_tuningparm_consistency_hist_phase_tolerance;
+ uint16_t vl53lx_tuningparm_consistency_hist_min_max_tolerance_mm;
+ uint8_t vl53lx_tuningparm_consistency_hist_event_sigma;
+ uint16_t vl53lx_tuningparm_consistency_hist_event_sigma_min_spad_limit;
+ uint8_t vl53lx_tuningparm_initial_phase_rtn_histo_long_range;
+ uint8_t vl53lx_tuningparm_initial_phase_rtn_histo_med_range;
+ uint8_t vl53lx_tuningparm_initial_phase_rtn_histo_short_range;
+ uint8_t vl53lx_tuningparm_initial_phase_ref_histo_long_range;
+ uint8_t vl53lx_tuningparm_initial_phase_ref_histo_med_range;
+ uint8_t vl53lx_tuningparm_initial_phase_ref_histo_short_range;
+ int16_t vl53lx_tuningparm_xtalk_detect_min_valid_range_mm;
+ int16_t vl53lx_tuningparm_xtalk_detect_max_valid_range_mm;
+ uint16_t vl53lx_tuningparm_xtalk_detect_max_sigma_mm;
+ uint16_t vl53lx_tuningparm_xtalk_detect_min_max_tolerance;
+ uint16_t vl53lx_tuningparm_xtalk_detect_max_valid_rate_kcps;
+ uint8_t vl53lx_tuningparm_xtalk_detect_event_sigma;
+ int16_t vl53lx_tuningparm_hist_xtalk_margin_kcps;
+ uint8_t vl53lx_tuningparm_consistency_lite_phase_tolerance;
+ uint8_t vl53lx_tuningparm_phasecal_target;
+ uint16_t vl53lx_tuningparm_lite_cal_repeat_rate;
+ uint16_t vl53lx_tuningparm_lite_ranging_gain_factor;
+ uint8_t vl53lx_tuningparm_lite_min_clip_mm;
+ uint16_t vl53lx_tuningparm_lite_long_sigma_thresh_mm;
+ uint16_t vl53lx_tuningparm_lite_med_sigma_thresh_mm;
+ uint16_t vl53lx_tuningparm_lite_short_sigma_thresh_mm;
+ uint16_t vl53lx_tuningparm_lite_long_min_count_rate_rtn_mcps;
+ uint16_t vl53lx_tuningparm_lite_med_min_count_rate_rtn_mcps;
+ uint16_t vl53lx_tuningparm_lite_short_min_count_rate_rtn_mcps;
+ uint8_t vl53lx_tuningparm_lite_sigma_est_pulse_width;
+ uint8_t vl53lx_tuningparm_lite_sigma_est_amb_width_ns;
+ uint8_t vl53lx_tuningparm_lite_sigma_ref_mm;
+ uint8_t vl53lx_tuningparm_lite_rit_mult;
+ uint8_t vl53lx_tuningparm_lite_seed_config;
+ uint8_t vl53lx_tuningparm_lite_quantifier;
+ uint8_t vl53lx_tuningparm_lite_first_order_select;
+ int16_t vl53lx_tuningparm_lite_xtalk_margin_kcps;
+ uint8_t vl53lx_tuningparm_initial_phase_rtn_lite_long_range;
+ uint8_t vl53lx_tuningparm_initial_phase_rtn_lite_med_range;
+ uint8_t vl53lx_tuningparm_initial_phase_rtn_lite_short_range;
+ uint8_t vl53lx_tuningparm_initial_phase_ref_lite_long_range;
+ uint8_t vl53lx_tuningparm_initial_phase_ref_lite_med_range;
+ uint8_t vl53lx_tuningparm_initial_phase_ref_lite_short_range;
+ uint8_t vl53lx_tuningparm_timed_seed_config;
+ uint8_t vl53lx_tuningparm_dmax_cfg_signal_thresh_sigma;
+ uint16_t vl53lx_tuningparm_dmax_cfg_reflectance_array_0;
+ uint16_t vl53lx_tuningparm_dmax_cfg_reflectance_array_1;
+ uint16_t vl53lx_tuningparm_dmax_cfg_reflectance_array_2;
+ uint16_t vl53lx_tuningparm_dmax_cfg_reflectance_array_3;
+ uint16_t vl53lx_tuningparm_dmax_cfg_reflectance_array_4;
+ uint8_t vl53lx_tuningparm_vhv_loopbound;
+ uint8_t vl53lx_tuningparm_refspadchar_device_test_mode;
+ uint8_t vl53lx_tuningparm_refspadchar_vcsel_period;
+ uint32_t vl53lx_tuningparm_refspadchar_phasecal_timeout_us;
+ uint16_t vl53lx_tuningparm_refspadchar_target_count_rate_mcps;
+ uint16_t vl53lx_tuningparm_refspadchar_min_countrate_limit_mcps;
+ uint16_t vl53lx_tuningparm_refspadchar_max_countrate_limit_mcps;
+ uint8_t vl53lx_tuningparm_xtalk_extract_num_of_samples;
+ int16_t vl53lx_tuningparm_xtalk_extract_min_filter_thresh_mm;
+ int16_t vl53lx_tuningparm_xtalk_extract_max_filter_thresh_mm;
+ uint16_t vl53lx_tuningparm_xtalk_extract_dss_rate_mcps;
+ uint32_t vl53lx_tuningparm_xtalk_extract_phasecal_timeout_us;
+ uint16_t vl53lx_tuningparm_xtalk_extract_max_valid_rate_kcps;
+ uint16_t vl53lx_tuningparm_xtalk_extract_sigma_threshold_mm;
+ uint32_t vl53lx_tuningparm_xtalk_extract_dss_timeout_us;
+ uint32_t vl53lx_tuningparm_xtalk_extract_bin_timeout_us;
+ uint16_t vl53lx_tuningparm_offset_cal_dss_rate_mcps;
+ uint32_t vl53lx_tuningparm_offset_cal_phasecal_timeout_us;
+ uint32_t vl53lx_tuningparm_offset_cal_mm_timeout_us;
+ uint32_t vl53lx_tuningparm_offset_cal_range_timeout_us;
+ uint8_t vl53lx_tuningparm_offset_cal_pre_samples;
+ uint8_t vl53lx_tuningparm_offset_cal_mm1_samples;
+ uint8_t vl53lx_tuningparm_offset_cal_mm2_samples;
+ uint16_t vl53lx_tuningparm_zone_cal_dss_rate_mcps;
+ uint32_t vl53lx_tuningparm_zone_cal_phasecal_timeout_us;
+ uint32_t vl53lx_tuningparm_zone_cal_dss_timeout_us;
+ uint16_t vl53lx_tuningparm_zone_cal_phasecal_num_samples;
+ uint32_t vl53lx_tuningparm_zone_cal_range_timeout_us;
+ uint16_t vl53lx_tuningparm_zone_cal_zone_num_samples;
+ uint8_t vl53lx_tuningparm_spadmap_vcsel_period;
+ uint8_t vl53lx_tuningparm_spadmap_vcsel_start;
+ uint16_t vl53lx_tuningparm_spadmap_rate_limit_mcps;
+ uint16_t vl53lx_tuningparm_lite_dss_config_target_total_rate_mcps;
+ uint16_t vl53lx_tuningparm_ranging_dss_config_target_total_rate_mcps;
+ uint16_t vl53lx_tuningparm_mz_dss_config_target_total_rate_mcps;
+ uint16_t vl53lx_tuningparm_timed_dss_config_target_total_rate_mcps;
+ uint32_t vl53lx_tuningparm_lite_phasecal_config_timeout_us;
+ uint32_t vl53lx_tuningparm_ranging_long_phasecal_config_timeout_us;
+ uint32_t vl53lx_tuningparm_ranging_med_phasecal_config_timeout_us;
+ uint32_t vl53lx_tuningparm_ranging_short_phasecal_config_timeout_us;
+ uint32_t vl53lx_tuningparm_mz_long_phasecal_config_timeout_us;
+ uint32_t vl53lx_tuningparm_mz_med_phasecal_config_timeout_us;
+ uint32_t vl53lx_tuningparm_mz_short_phasecal_config_timeout_us;
+ uint32_t vl53lx_tuningparm_timed_phasecal_config_timeout_us;
+ uint32_t vl53lx_tuningparm_lite_mm_config_timeout_us;
+ uint32_t vl53lx_tuningparm_ranging_mm_config_timeout_us;
+ uint32_t vl53lx_tuningparm_mz_mm_config_timeout_us;
+ uint32_t vl53lx_tuningparm_timed_mm_config_timeout_us;
+ uint32_t vl53lx_tuningparm_lite_range_config_timeout_us;
+ uint32_t vl53lx_tuningparm_ranging_range_config_timeout_us;
+ uint32_t vl53lx_tuningparm_mz_range_config_timeout_us;
+ uint32_t vl53lx_tuningparm_timed_range_config_timeout_us;
+ uint16_t vl53lx_tuningparm_dynxtalk_smudge_margin;
+ uint32_t vl53lx_tuningparm_dynxtalk_noise_margin;
+ uint32_t vl53lx_tuningparm_dynxtalk_xtalk_offset_limit;
+ uint8_t vl53lx_tuningparm_dynxtalk_xtalk_offset_limit_hi;
+ uint32_t vl53lx_tuningparm_dynxtalk_sample_limit;
+ uint32_t vl53lx_tuningparm_dynxtalk_single_xtalk_delta;
+ uint32_t vl53lx_tuningparm_dynxtalk_averaged_xtalk_delta;
+ uint32_t vl53lx_tuningparm_dynxtalk_clip_limit;
+ uint8_t vl53lx_tuningparm_dynxtalk_scaler_calc_method;
+ int16_t vl53lx_tuningparm_dynxtalk_xgradient_scaler;
+ int16_t vl53lx_tuningparm_dynxtalk_ygradient_scaler;
+ uint8_t vl53lx_tuningparm_dynxtalk_user_scaler_set;
+ uint8_t vl53lx_tuningparm_dynxtalk_smudge_cor_single_apply;
+ uint32_t vl53lx_tuningparm_dynxtalk_xtalk_amb_threshold;
+ uint32_t vl53lx_tuningparm_dynxtalk_nodetect_amb_threshold_kcps;
+ uint32_t vl53lx_tuningparm_dynxtalk_nodetect_sample_limit;
+ uint32_t vl53lx_tuningparm_dynxtalk_nodetect_xtalk_offset_kcps;
+ uint16_t vl53lx_tuningparm_dynxtalk_nodetect_min_range_mm;
+ uint8_t vl53lx_tuningparm_lowpowerauto_vhv_loop_bound;
+ uint32_t vl53lx_tuningparm_lowpowerauto_mm_config_timeout_us;
+ uint32_t vl53lx_tuningparm_lowpowerauto_range_config_timeout_us;
+ uint16_t vl53lx_tuningparm_very_short_dss_rate_mcps;
+ uint32_t vl53lx_tuningparm_phasecal_patch_power;
+} VL53LX_tuning_parameters_t;
+
+
+
+
+
+typedef struct {
+
+ uint16_t target_reflectance_for_dmax[VL53LX_MAX_AMBIENT_DMAX_VALUES];
+
+} VL53LX_dmax_reflectance_array_t;
+
+
+
+
+typedef struct {
+
+ uint8_t spad_type;
+
+ uint16_t VL53LX_p_020;
+
+ uint16_t rate_data[VL53LX_NO_OF_SPAD_ENABLES];
+
+ uint16_t no_of_values;
+
+ uint8_t fractional_bits;
+
+ uint8_t error_status;
+
+
+} VL53LX_spad_rate_data_t;
+
+
+
+
+
+
+typedef struct {
+
+ VL53LX_DevicePresetModes preset_mode;
+
+ VL53LX_DeviceZonePreset zone_preset;
+
+ VL53LX_DeviceMeasurementModes measurement_mode;
+
+ VL53LX_OffsetCalibrationMode offset_calibration_mode;
+
+ VL53LX_OffsetCorrectionMode offset_correction_mode;
+
+ VL53LX_DeviceDmaxMode dmax_mode;
+
+
+ uint32_t phasecal_config_timeout_us;
+
+ uint32_t mm_config_timeout_us;
+
+ uint32_t range_config_timeout_us;
+
+ uint32_t inter_measurement_period_ms;
+
+ uint16_t dss_config__target_total_rate_mcps;
+
+
+ VL53LX_histogram_bin_data_t VL53LX_p_006;
+
+
+} VL53LX_additional_data_t;
+
+
+
+/* vl53lx_def.h */
+
+
+/** @defgroup VL53LX_globaldefine_group VL53LX Defines
+ * @brief VL53LX Defines
+ * @{
+ */
+
+
+/** VL53LX IMPLEMENTATION major version */
+#define VL53LX_IMPLEMENTATION_VER_MAJOR 1
+/** VL53LX IMPLEMENTATION minor version */
+#define VL53LX_IMPLEMENTATION_VER_MINOR 1
+/** VL53LX IMPLEMENTATION sub version */
+#define VL53LX_IMPLEMENTATION_VER_SUB 4
+/** VL53LX IMPLEMENTATION sub version */
+#define VL53LX_IMPLEMENTATION_VER_REVISION 2352
+
+/****************************************
+ * PRIVATE define do not edit
+ ****************************************/
+
+/** @brief Defines the parameters of the Get Version Functions
+ */
+typedef struct {
+ uint32_t revision; /*!< revision number */
+ uint8_t major; /*!< major number */
+ uint8_t minor; /*!< minor number */
+ uint8_t build; /*!< build number */
+} VL53LX_Version_t;
+
+
+/** @brief Defines the parameters of the Get Device Info Functions
+ */
+typedef struct {
+ uint8_t ProductType;
+ /*!< Product Type, VL53LX = 0xAA
+ * Stands as module_type in the datasheet
+ */
+ uint8_t ProductRevisionMajor;
+ /*!< Product revision major */
+ uint8_t ProductRevisionMinor;
+ /*!< Product revision minor */
+} VL53LX_DeviceInfo_t;
+
+/** @defgroup VL53LX_define_DistanceModes_group Defines Distance modes
+ * Defines all possible Distance modes for the device
+ * @{
+ */
+typedef uint8_t VL53LX_DistanceModes;
+
+#define VL53LX_DISTANCEMODE_SHORT ((VL53LX_DistanceModes) 1)
+#define VL53LX_DISTANCEMODE_MEDIUM ((VL53LX_DistanceModes) 2)
+#define VL53LX_DISTANCEMODE_LONG ((VL53LX_DistanceModes) 3)
+/** @} VL53LX_define_DistanceModes_group */
+
+/** @defgroup VL53LX_define_OffsetCorrectionModes_group Defines Offset Correction modes
+ * Device Offset Correction Mode
+ *
+ * @brief Defines all possible offset correction modes for the device
+ * @{
+ */
+typedef uint8_t VL53LX_OffsetCorrectionModes;
+
+#define VL53LX_OFFSETCORRECTIONMODE_STANDARD ((VL53LX_OffsetCorrectionModes) 1)
+#define VL53LX_OFFSETCORRECTIONMODE_PERVCSEL ((VL53LX_OffsetCorrectionModes) 3)
+
+/** @} VL53LX_define_OffsetCorrectionModes_group */
+
+/** @brief Defines all parameters for the device
+ */
+typedef struct {
+ VL53LX_DistanceModes DistanceMode;
+ /*!< Defines the operating mode to be used for the next measure */
+ uint32_t MeasurementTimingBudgetMicroSeconds;
+ /*!< Defines the allowed total time for a single measurement */
+} VL53LX_DeviceParameters_t;
+
+
+/** @defgroup VL53LX_define_Smudge_Mode_group Defines smudge correction modes
+ * Defines the smudge correction modes
+ * @{
+ */
+
+typedef uint8_t VL53LX_SmudgeCorrectionModes;
+
+#define VL53LX_SMUDGE_CORRECTION_NONE ((VL53LX_SmudgeCorrectionModes) 0)
+/*!< Smudge correction is applied continuously across the rangings */
+#define VL53LX_SMUDGE_CORRECTION_CONTINUOUS ((VL53LX_SmudgeCorrectionModes) 1)
+/*!< Smudge correction is applied continuously across the rangings */
+#define VL53LX_SMUDGE_CORRECTION_SINGLE ((VL53LX_SmudgeCorrectionModes) 2)
+/*!< Smudge correction is applied only once across the rangings */
+#define VL53LX_SMUDGE_CORRECTION_DEBUG ((VL53LX_SmudgeCorrectionModes) 3)
+/*!< Smudge detection is applied continuously but Xtalk values are not
+ * updated automatically within the driver
+ */
+
+/** @} VL53LX_define_Smudge_Correction_Mode_group */
+
+/**
+ * @struct VL53LX_TargetRangeData_t
+ * @brief One Range measurement data for each target.
+ */
+typedef struct {
+ int16_t RangeMaxMilliMeter;
+ /*!< Tells what is the maximum detection distance of the object
+ * in current setup and environment conditions (Filled when
+ * applicable)
+ */
+
+ int16_t RangeMinMilliMeter;
+ /*!< Tells what is the minimum detection distance of the object
+ * in current setup and environment conditions (Filled when
+ * applicable)
+ */
+
+ FixPoint1616_t SignalRateRtnMegaCps;
+ /*!< Return signal rate (MCPS)\n these is a 16.16 fix point
+ * value, which is effectively a measure of target
+ * reflectance.
+ */
+
+ FixPoint1616_t AmbientRateRtnMegaCps;
+ /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
+ * value, which is effectively a measure of the ambien
+ * t light.
+ */
+
+ FixPoint1616_t SigmaMilliMeter;
+ /*!< Return the Sigma value in millimeter */
+
+ int16_t RangeMilliMeter;
+ /*!< range distance in millimeter. This should be between
+ * RangeMinMilliMeter and RangeMaxMilliMeter
+ */
+
+ uint8_t RangeStatus;
+ /*!< Range Status for the current measurement. This is device
+ * dependent. Value = 0 means value is valid.
+ */
+} VL53LX_TargetRangeData_t;
+/**
+ * @struct VL53LX_MultiRangingData_t
+ * @brief Structure for storing the set of range results
+ *
+ */
+typedef struct {
+ uint32_t TimeStamp;
+ /*!< 32-bit time stamp.
+ * @warning Not yet implemented
+ */
+
+ uint8_t StreamCount;
+ /*!< 8-bit Stream Count. */
+
+ uint8_t NumberOfObjectsFound;
+ /*!< Indicate the number of objects found.
+ * This is used to know how many ranging data should be get.
+ * NumberOfObjectsFound is in the range 0 to
+ * VL53LX_MAX_RANGE_RESULTS.
+ */
+ VL53LX_TargetRangeData_t RangeData[VL53LX_MAX_RANGE_RESULTS];
+ /*!< Range data each target distance */
+ uint8_t HasXtalkValueChanged;
+ /*!< set to 1 if a new Xtalk value has been computed whilst
+ * smudge correction mode enable by with
+ * VL53LX_SmudgeCorrectionEnable() function is either
+ * VL53LX_SMUDGE_CORRECTION_CONTINUOUS or
+ * VL53LX_SMUDGE_CORRECTION_SINGLE.
+ */
+ uint16_t EffectiveSpadRtnCount;
+ /*!< Return the effective SPAD count for the return signal.
+ * To obtain Real value it should be divided by 256
+ */
+} VL53LX_MultiRangingData_t;
+
+
+
+/**
+ * @struct VL53LX_CustomerNvmManaged_t
+ *
+ */
+
+typedef struct {
+ uint8_t global_config__spad_enables_ref_0;
+ uint8_t global_config__spad_enables_ref_1;
+ uint8_t global_config__spad_enables_ref_2;
+ uint8_t global_config__spad_enables_ref_3;
+ uint8_t global_config__spad_enables_ref_4;
+ uint8_t global_config__spad_enables_ref_5;
+ uint8_t global_config__ref_en_start_select;
+ uint8_t ref_spad_man__num_requested_ref_spads;
+ uint8_t ref_spad_man__ref_location;
+ uint32_t algo__crosstalk_compensation_plane_offset_kcps;
+ int16_t algo__crosstalk_compensation_x_plane_gradient_kcps;
+ int16_t algo__crosstalk_compensation_y_plane_gradient_kcps;
+ uint16_t ref_spad_char__total_rate_target_mcps;
+ int16_t algo__part_to_part_range_offset_mm;
+ int16_t mm_config__inner_offset_mm;
+ int16_t mm_config__outer_offset_mm;
+} VL53LX_CustomerNvmManaged_t;
+
+/**
+ * @struct VL53LX_CalibrationData_t
+ * @brief Structure for storing the Calibration Data
+ *
+ */
+
+typedef struct {
+
+ uint32_t struct_version;
+ VL53LX_CustomerNvmManaged_t customer;
+ VL53LX_additional_offset_cal_data_t add_off_cal_data;
+ VL53LX_optical_centre_t optical_centre;
+ VL53LX_xtalk_histogram_data_t xtalkhisto;
+ VL53LX_gain_calibration_data_t gain_cal;
+ VL53LX_cal_peak_rate_map_t cal_peak_rate_map;
+ VL53LX_per_vcsel_period_offset_cal_data_t per_vcsel_cal_data;
+ uint32_t algo__xtalk_cpo_HistoMerge_kcps[VL53LX_BIN_REC_SIZE];
+} VL53LX_CalibrationData_t;
+
+#define VL53LX_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION 0x20
+/** VL53LX additional Calibration Data struct version final struct version
+ * is given by adding it to VL53LX_LL_CALIBRATION_DATA_STRUCT_VERSION
+ */
+
+#define VL53LX_CALIBRATION_DATA_STRUCT_VERSION \
+ (VL53LX_LL_CALIBRATION_DATA_STRUCT_VERSION + \
+ VL53LX_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION)
+/* VL53LX Calibration Data struct version */
+
+/**
+ * @struct VL53LX_AdditionalData_t
+ * @brief Structure for storing the Additional Data
+ *
+ */
+typedef VL53LX_additional_data_t VL53LX_AdditionalData_t;
+
+
+/** @defgroup VL53LX_define_RangeStatus_group Defines the Range Status
+ * @{
+ */
+#define VL53LX_RANGESTATUS_RANGE_VALID 0
+/*!<The Range is valid. */
+#define VL53LX_RANGESTATUS_SIGMA_FAIL 1
+/*!<Sigma Fail. */
+#define VL53LX_RANGESTATUS_SIGNAL_FAIL 2
+/*!<Signal fail. */
+#define VL53LX_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED 3
+/*!<Target is below minimum detection threshold. */
+#define VL53LX_RANGESTATUS_OUTOFBOUNDS_FAIL 4
+/*!<Phase out of valid limits - different to a wrap exit. */
+#define VL53LX_RANGESTATUS_HARDWARE_FAIL 5
+/*!<Hardware fail. */
+#define VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL 6
+/*!<The Range is valid but the wraparound check has not been done. */
+#define VL53LX_RANGESTATUS_WRAP_TARGET_FAIL 7
+/*!<Wrapped target - no matching phase in other VCSEL period timing. */
+#define VL53LX_RANGESTATUS_PROCESSING_FAIL 8
+/*!<Internal algo underflow or overflow in lite ranging. */
+#define VL53LX_RANGESTATUS_XTALK_SIGNAL_FAIL 9
+/*!<Specific to lite ranging. */
+#define VL53LX_RANGESTATUS_SYNCRONISATION_INT 10
+/*!<1st interrupt when starting ranging in back to back mode. Ignore data. */
+#define VL53LX_RANGESTATUS_RANGE_VALID_MERGED_PULSE 11
+/*!<All Range ok but object is result of multiple pulses merging together.
+ * Used by RQL for merged pulse detection
+ */
+#define VL53LX_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL 12
+/*!<Used by RQL as different to phase fail. */
+#define VL53LX_RANGESTATUS_MIN_RANGE_FAIL 13
+/*!<Unexpected error in SPAD Array.*/
+#define VL53LX_RANGESTATUS_RANGE_INVALID 14
+/*!<lld returned valid range but negative value ! */
+#define VL53LX_RANGESTATUS_NONE 255
+/*!<No Update. */
+
+/** @} VL53LX_define_RangeStatus_group */
+
+
+/** @brief Contains the Internal data of the Bare Driver
+ */
+
+typedef struct {
+ VL53LX_LLDriverData_t LLData;
+ /*!< Low Level Driver data structure */
+
+ VL53LX_LLDriverResults_t llresults;
+ /*!< Low Level Driver data structure */
+
+ VL53LX_DeviceParameters_t CurrentParameters;
+ /*!< Current Device Parameter */
+
+} VL53LX_DevData_t;
+
+
+/* MACRO Definitions */
+/** @defgroup VL53LX_define_GeneralMacro_group General Macro Defines
+ * General Macro Defines
+ * @{
+ */
+
+/* Defines */
+#define VL53LX_SETPARAMETERFIELD(Dev, field, value) \
+ (VL53LXDevDataSet(Dev, CurrentParameters.field, value))
+
+#define VL53LX_GETPARAMETERFIELD(Dev, field, variable) \
+ (variable = VL53LXDevDataGet(Dev, CurrentParameters).field)
+
+#define VL53LX_SETARRAYPARAMETERFIELD(Dev, field, index, value) \
+ (VL53LXDevDataSet(Dev, CurrentParameters.field[index], value))
+
+#define VL53LX_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \
+ (variable = VL53LXDevDataGet(Dev, CurrentParameters).field[index])
+
+#define VL53LX_SETDEVICESPECIFICPARAMETER(Dev, field, value) \
+ (VL53LXDevDataSet(Dev, DeviceSpecificParameters.field, value))
+
+#define VL53LX_GETDEVICESPECIFICPARAMETER(Dev, field) \
+ (VL53LXDevDataGet(Dev, DeviceSpecificParameters).field)
+
+
+#define VL53LX_FIXPOINT1616TOFIXPOINT44(Value) \
+ (uint16_t)((Value>>12)&0xFFFF)
+#define VL53LX_FIXPOINT44TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)((uint32_t)Value<<12)
+
+#define VL53LX_FIXPOINT1616TOFIXPOINT72(Value) \
+ (uint16_t)((Value>>14)&0xFFFF)
+#define VL53LX_FIXPOINT72TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)((uint32_t)Value<<14)
+
+#define VL53LX_FIXPOINT1616TOFIXPOINT97(Value) \
+ (uint16_t)((Value>>9)&0xFFFF)
+#define VL53LX_FIXPOINT97TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)((uint32_t)Value<<9)
+
+#define VL53LX_FIXPOINT1616TOFIXPOINT88(Value) \
+ (uint16_t)((Value>>8)&0xFFFF)
+#define VL53LX_FIXPOINT88TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)((uint32_t)Value<<8)
+
+#define VL53LX_FIXPOINT1616TOFIXPOINT412(Value) \
+ (uint16_t)((Value>>4)&0xFFFF)
+#define VL53LX_FIXPOINT412TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)((uint32_t)Value<<4)
+
+#define VL53LX_FIXPOINT1616TOFIXPOINT313(Value) \
+ (uint16_t)((Value>>3)&0xFFFF)
+#define VL53LX_FIXPOINT313TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)((uint32_t)Value<<3)
+
+#define VL53LX_FIXPOINT1616TOFIXPOINT08(Value) \
+ (uint8_t)((Value>>8)&0x00FF)
+#define VL53LX_FIXPOINT08TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)((uint32_t)Value<<8)
+
+#define VL53LX_FIXPOINT1616TOFIXPOINT53(Value) \
+ (uint8_t)((Value>>13)&0x00FF)
+#define VL53LX_FIXPOINT53TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)((uint32_t)Value<<13)
+
+#define VL53LX_FIXPOINT1616TOFIXPOINT102(Value) \
+ (uint16_t)((Value>>14)&0x0FFF)
+#define VL53LX_FIXPOINT102TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)((uint32_t)Value<<14)
+
+#define VL53LX_FIXPOINT1616TOFIXPOINT142(Value) \
+ (uint16_t)((Value>>14)&0xFFFF)
+#define VL53LX_FIXPOINT142TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)((uint32_t)Value<<14)
+
+#define VL53LX_FIXPOINT1616TOFIXPOINT160(Value) \
+ (uint16_t)((Value>>16)&0xFFFF)
+#define VL53LX_FIXPOINT160TOFIXPOINT1616(Value) \
+ (FixPoint1616_t)((uint32_t)Value<<16)
+
+#define VL53LX_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \
+ (uint16_t)lsb)
+
+#ifndef SUPPRESS_UNUSED_WARNING
+#define SUPPRESS_UNUSED_WARNING(x) ((void) (x))
+#endif
+
+/** @} VL53LX_define_GeneralMacro_group */
+
+/** @} VL53LX_globaldefine_group */
+
+
+
+
+/* vl53lx_xtalk_private_structs.h */
+
+
+#define VL53LX_D_012 4
+
+
+
+
+
+
+
+
+
+typedef struct {
+
+
+
+
+
+ uint32_t VL53LX_p_061[VL53LX_D_012];
+
+
+
+ int16_t VL53LX_p_059;
+
+
+ int16_t VL53LX_p_060;
+
+
+
+ VL53LX_histogram_bin_data_t VL53LX_p_056;
+
+
+ VL53LX_histogram_bin_data_t VL53LX_p_057;
+
+
+
+
+ uint32_t VL53LX_p_058;
+
+
+
+ uint32_t VL53LX_p_062[VL53LX_XTALK_HISTO_BINS];
+
+
+
+} VL53LX_xtalk_algo_data_t;
+
+
+/*vl53lx_platform_user_data*/
+
+#include <stdlib.h>
+//#include "Wire.h"
+/*
+
+typedef struct {
+ VL53LX_DevData_t Data;
+ //!< Low Level Driver data structure
+ uint8_t i2c_slave_address;
+ uint8_t comms_type;
+ uint16_t comms_speed_khz;
+ vl53L1X_DevI2C *I2cHandle;
+ uint8_t I2cDevAddr;
+ int Present;
+ int Enabled;
+ int LoopState;
+ int FirstStreamCountZero;
+ int Idle;
+ int Ready;
+ uint8_t RangeStatus;
+ FixPoint1616_t SignalRateRtnMegaCps;
+ VL53LX_DeviceState device_state; //!< Device State
+} VL53LX_Dev_t;
+
+typedef VL53LX_Dev_t *VL53LX_DEV;
+*/
+/**
+ * @def VL53LXDevDataGet
+ * @brief Get ST private structure @a VL53LX_DevData_t data access
+ *
+ * @param Dev Device Handle
+ * @param field ST structure field name
+ * It maybe used and as real data "ref" not just as "get" for sub-structure item
+ * like VL53L1DevDataGet(FilterData.field)[i] or
+ * VL53L1DevDataGet(FilterData.MeasurementIndex)++
+ */
+#define VL53LXDevDataGet(Dev, field) (Dev->Data.field)
+
+/**
+ * @def VL53LXDevDataSet(Dev, field, data)
+ * @brief Set ST private structure @a VL53LX_DevData_t data field
+ * @param Dev Device Handle
+ * @param field ST structure field name
+ * @param data Data to be set
+ */
+#define VL53LXDevDataSet(Dev, field, data) ((Dev->Data.field) = (data))
+
+#define PALDevDataGet(Dev, field) (Dev->Data.field)
+
+#define PALDevDataSet(Dev, field, VL53LX_PRM_00005) (Dev->Data.field)=(VL53LX_PRM_00005)
+
+#define VL53LXDevStructGetLLDriverHandle(Dev) (&Dev -> Data.LLData)
+
+#define VL53LXDevStructGetLLResultsHandle(Dev) (&Dev -> Data.llresults)
+
+
+/* vl53lx_hist_map.h */
+
+
+#define VL53LX_HISTOGRAM_CONFIG__OPCODE_SEQUENCE_0 \
+ VL53LX_SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS
+
+#define VL53LX_HISTOGRAM_CONFIG__OPCODE_SEQUENCE_1 \
+ VL53LX_SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS
+
+#define VL53LX_HISTOGRAM_CONFIG__OPCODE_SEQUENCE_2 \
+ VL53LX_SIGMA_ESTIMATOR__SIGMA_REF_MM
+
+#define VL53LX_HISTOGRAM_CONFIG__AMB_THRESH_HIGH \
+ VL53LX_ALGO__RANGE_IGNORE_THRESHOLD_MCPS
+
+
+
+
+#define VL53LX_RESULT__HISTOGRAM_BIN_0_2 0x008E
+#define VL53LX_RESULT__HISTOGRAM_BIN_0_1 0x008F
+#define VL53LX_RESULT__HISTOGRAM_BIN_0_0 0x0090
+
+#define VL53LX_RESULT__HISTOGRAM_BIN_23_2 0x00D3
+#define VL53LX_RESULT__HISTOGRAM_BIN_23_1 0x00D4
+#define VL53LX_RESULT__HISTOGRAM_BIN_23_0 0x00D5
+
+#define VL53LX_RESULT__HISTOGRAM_BIN_23_0_MSB 0x00D9
+#define VL53LX_RESULT__HISTOGRAM_BIN_23_0_LSB 0x00DA
+
+
+
+#define VL53LX_HISTOGRAM_BIN_DATA_I2C_INDEX \
+ VL53LX_RESULT__INTERRUPT_STATUS
+#define VL53LX_HISTOGRAM_BIN_DATA_I2C_SIZE_BYTES \
+ (VL53LX_RESULT__HISTOGRAM_BIN_23_0_LSB - \
+ VL53LX_RESULT__INTERRUPT_STATUS + 1)
+
+
+/* vl53lx_nvm_structs.h */
+
+typedef struct {
+
+ uint16_t result__actual_effective_rtn_spads;
+ uint8_t ref_spad_array__num_requested_ref_spads;
+ uint8_t ref_spad_array__ref_location;
+ uint16_t result__peak_signal_count_rate_rtn_mcps;
+ uint16_t result__ambient_count_rate_rtn_mcps;
+ uint16_t result__peak_signal_count_rate_ref_mcps;
+ uint16_t result__ambient_count_rate_ref_mcps;
+ uint16_t measured_distance_mm;
+ uint16_t measured_distance_stdev_mm;
+} VL53LX_decoded_nvm_fmt_range_data_t;
+
+
+typedef struct {
+
+ char nvm__fmt__fgc[19];
+ uint8_t nvm__fmt__test_program_major;
+ uint8_t nvm__fmt__test_program_minor;
+ uint8_t nvm__fmt__map_major;
+ uint8_t nvm__fmt__map_minor;
+ uint8_t nvm__fmt__year;
+ uint8_t nvm__fmt__month;
+ uint8_t nvm__fmt__day;
+ uint8_t nvm__fmt__module_date_phase;
+ uint16_t nvm__fmt__time;
+ uint8_t nvm__fmt__tester_id;
+ uint8_t nvm__fmt__site_id;
+ uint8_t nvm__ews__test_program_major;
+ uint8_t nvm__ews__test_program_minor;
+ uint8_t nvm__ews__probe_card_major;
+ uint8_t nvm__ews__probe_card_minor;
+ uint8_t nvm__ews__tester_id;
+ char nvm__ews__lot[8];
+ uint8_t nvm__ews__wafer;
+ uint8_t nvm__ews__xcoord;
+ uint8_t nvm__ews__ycoord;
+} VL53LX_decoded_nvm_fmt_info_t;
+
+
+typedef struct {
+
+ uint8_t nvm__ews__test_program_major;
+ uint8_t nvm__ews__test_program_minor;
+ uint8_t nvm__ews__probe_card_major;
+ uint8_t nvm__ews__probe_card_minor;
+ uint8_t nvm__ews__tester_id;
+ char nvm__ews__lot[8];
+ uint8_t nvm__ews__wafer;
+ uint8_t nvm__ews__xcoord;
+ uint8_t nvm__ews__ycoord;
+} VL53LX_decoded_nvm_ews_info_t;
+
+
+typedef struct {
+ uint8_t nvm__identification_model_id;
+ uint8_t nvm__identification_module_type;
+ uint8_t nvm__identification_revision_id;
+ uint16_t nvm__identification_module_id;
+ uint8_t nvm__i2c_valid;
+ uint8_t nvm__i2c_device_address_ews;
+ uint16_t nvm__ews__fast_osc_frequency;
+ uint8_t nvm__ews__fast_osc_trim_max;
+ uint8_t nvm__ews__fast_osc_freq_set;
+ uint16_t nvm__ews__slow_osc_calibration;
+ uint16_t nvm__fmt__fast_osc_frequency;
+ uint8_t nvm__fmt__fast_osc_trim_max;
+ uint8_t nvm__fmt__fast_osc_freq_set;
+ uint16_t nvm__fmt__slow_osc_calibration;
+ uint8_t nvm__vhv_config_unlock;
+ uint8_t nvm__ref_selvddpix;
+ uint8_t nvm__ref_selvquench;
+ uint8_t nvm__regavdd1v2_sel;
+ uint8_t nvm__regdvdd1v2_sel;
+ uint8_t nvm__vhv_timeout__macrop;
+ uint8_t nvm__vhv_loop_bound;
+ uint8_t nvm__vhv_count_threshold;
+ uint8_t nvm__vhv_offset;
+ uint8_t nvm__vhv_init_enable;
+ uint8_t nvm__vhv_init_value;
+ uint8_t nvm__laser_safety_vcsel_trim_ll;
+ uint8_t nvm__laser_safety_vcsel_selion_ll;
+ uint8_t nvm__laser_safety_vcsel_selion_max_ll;
+ uint8_t nvm__laser_safety_mult_ll;
+ uint8_t nvm__laser_safety_clip_ll;
+ uint8_t nvm__laser_safety_vcsel_trim_ld;
+ uint8_t nvm__laser_safety_vcsel_selion_ld;
+ uint8_t nvm__laser_safety_vcsel_selion_max_ld;
+ uint8_t nvm__laser_safety_mult_ld;
+ uint8_t nvm__laser_safety_clip_ld;
+ uint8_t nvm__laser_safety_lock_byte;
+ uint8_t nvm__laser_safety_unlock_byte;
+ uint8_t nvm__ews__spad_enables_rtn[VL53LX_RTN_SPAD_BUFFER_SIZE];
+ uint8_t nvm__ews__spad_enables_ref__loc1[VL53LX_REF_SPAD_BUFFER_SIZE];
+ uint8_t nvm__ews__spad_enables_ref__loc2[VL53LX_REF_SPAD_BUFFER_SIZE];
+ uint8_t nvm__ews__spad_enables_ref__loc3[VL53LX_REF_SPAD_BUFFER_SIZE];
+ uint8_t nvm__fmt__spad_enables_rtn[VL53LX_RTN_SPAD_BUFFER_SIZE];
+ uint8_t nvm__fmt__spad_enables_ref__loc1[VL53LX_REF_SPAD_BUFFER_SIZE];
+ uint8_t nvm__fmt__spad_enables_ref__loc2[VL53LX_REF_SPAD_BUFFER_SIZE];
+ uint8_t nvm__fmt__spad_enables_ref__loc3[VL53LX_REF_SPAD_BUFFER_SIZE];
+ uint8_t nvm__fmt__roi_config__mode_roi_centre_spad;
+ uint8_t nvm__fmt__roi_config__mode_roi_x_size;
+ uint8_t nvm__fmt__roi_config__mode_roi_y_size;
+ uint8_t nvm__fmt__ref_spad_apply__num_requested_ref_spad;
+ uint8_t nvm__fmt__ref_spad_man__ref_location;
+ uint16_t nvm__fmt__mm_config__inner_offset_mm;
+ uint16_t nvm__fmt__mm_config__outer_offset_mm;
+ uint16_t nvm__fmt__algo_part_to_part_range_offset_mm;
+ uint16_t nvm__fmt__algo__crosstalk_compensation_plane_offset_kcps;
+ uint16_t nvm__fmt__algo__crosstalk_compensation_x_plane_gradient_kcps;
+ uint16_t nvm__fmt__algo__crosstalk_compensation_y_plane_gradient_kcps;
+ uint8_t nvm__fmt__spare__host_config__nvm_config_spare_0;
+ uint8_t nvm__fmt__spare__host_config__nvm_config_spare_1;
+ uint8_t nvm__customer_space_programmed;
+ uint8_t nvm__cust__i2c_device_address;
+ uint8_t nvm__cust__ref_spad_apply__num_requested_ref_spad;
+ uint8_t nvm__cust__ref_spad_man__ref_location;
+ uint16_t nvm__cust__mm_config__inner_offset_mm;
+ uint16_t nvm__cust__mm_config__outer_offset_mm;
+ uint16_t nvm__cust__algo_part_to_part_range_offset_mm;
+ uint16_t nvm__cust__algo__crosstalk_compensation_plane_offset_kcps;
+ uint16_t nvm__cust__algo__crosstalk_compensation_x_plane_gradient_kcps;
+ uint16_t nvm__cust__algo__crosstalk_compensation_y_plane_gradient_kcps;
+ uint8_t nvm__cust__spare__host_config__nvm_config_spare_0;
+ uint8_t nvm__cust__spare__host_config__nvm_config_spare_1;
+ VL53LX_optical_centre_t fmt_optical_centre;
+ VL53LX_cal_peak_rate_map_t fmt_peak_rate_map;
+ VL53LX_additional_offset_cal_data_t fmt_add_offset_data;
+
+ VL53LX_decoded_nvm_fmt_range_data_t
+ fmt_range_data[VL53LX_NVM_MAX_FMT_RANGE_DATA];
+
+ VL53LX_decoded_nvm_fmt_info_t fmt_info;
+ VL53LX_decoded_nvm_ews_info_t ews_info;
+
+} VL53LX_decoded_nvm_data_t;
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _VL53LX_DEF_H_ */
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L3/vl53l3inc/vl53lx_error_codes.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,273 @@
+/******************************************************************************
+ * Copyright (c) 2019, STMicroelectronics - All Rights Reserved
+
+ This file is part of VL53LX Core and is dual licensed,
+ either 'STMicroelectronics Proprietary license'
+ or 'BSD 3-clause "New" or "Revised" License' , at your option.
+
+ ******************************************************************************
+
+ 'STMicroelectronics Proprietary license'
+
+ *******************************************************************************
+
+ 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.
+
+
+ *******************************************************************************
+
+ Alternatively, VL53LX Core may be distributed under the terms of
+ 'BSD 3-clause "New" or "Revised" License', in which case the following
+ provisions apply instead of the ones mentioned above :
+
+ *******************************************************************************
+
+ License terms: BSD 3-clause "New" or "Revised" License.
+
+ 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 the copyright holder 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.
+
+
+ *******************************************************************************
+ */
+
+/**
+ * @file vl53lx_error_codes.h
+ *
+ * @brief Error Code definitions for VL53LX API.
+ *
+ */
+
+#ifndef _VL53LX_ERROR_CODES_H_
+#define _VL53LX_ERROR_CODES_H_
+
+#include "vl53lx_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/*
+ ****************************************
+ * PRIVATE define do not edit
+ ***************************************
+ */
+
+/*
+ * @defgroup VL53LX_define_Error_group Error and Warning code returned by API
+ * The following DEFINE are used to identify the PAL ERROR
+ * @{
+ */
+
+typedef int8_t VL53LX_Error;
+
+#define VL53LX_ERROR_NONE ((VL53LX_Error) 0)
+#define VL53LX_ERROR_CALIBRATION_WARNING ((VL53LX_Error) - 1)
+ /*!< Warning invalid calibration data may be in used
+ * \a VL53LX_InitData()
+ * \a VL53LX_GetOffsetCalibrationData
+ * \a VL53LX_SetOffsetCalibrationData
+ */
+#define VL53LX_ERROR_MIN_CLIPPED ((VL53LX_Error) - 2)
+ /*!< Warning parameter passed was clipped to min before to be applied */
+
+#define VL53LX_ERROR_UNDEFINED ((VL53LX_Error) - 3)
+ /*!< Unqualified error */
+#define VL53LX_ERROR_INVALID_PARAMS ((VL53LX_Error) - 4)
+ /*!< Parameter passed is invalid or out of range */
+#define VL53LX_ERROR_NOT_SUPPORTED ((VL53LX_Error) - 5)
+ /*!< Function is not supported in current mode or configuration */
+#define VL53LX_ERROR_RANGE_ERROR ((VL53LX_Error) - 6)
+ /*!< Device report a ranging error interrupt status */
+#define VL53LX_ERROR_TIME_OUT ((VL53LX_Error) - 7)
+ /*!< Aborted due to time out */
+#define VL53LX_ERROR_MODE_NOT_SUPPORTED ((VL53LX_Error) - 8)
+ /*!< Asked mode is not supported by the device */
+#define VL53LX_ERROR_BUFFER_TOO_SMALL ((VL53LX_Error) - 9)
+ /*!< ... */
+#define VL53LX_ERROR_COMMS_BUFFER_TOO_SMALL ((VL53LX_Error) - 10)
+ /*!< Supplied buffer is larger than I2C supports */
+#define VL53LX_ERROR_GPIO_NOT_EXISTING ((VL53LX_Error) - 11)
+ /*!< User tried to setup a non-existing GPIO pin */
+#define VL53LX_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53LX_Error) - 12)
+ /*!< unsupported GPIO functionality */
+#define VL53LX_ERROR_CONTROL_INTERFACE ((VL53LX_Error) - 13)
+ /*!< error reported from IO functions */
+#define VL53LX_ERROR_INVALID_COMMAND ((VL53LX_Error) - 14)
+ /*!< The command is not allowed in the current device state
+ * (power down)
+ */
+#define VL53LX_ERROR_DIVISION_BY_ZERO ((VL53LX_Error) - 15)
+ /*!< In the function a division by zero occurs */
+#define VL53LX_ERROR_REF_SPAD_INIT ((VL53LX_Error) - 16)
+ /*!< Error during reference SPAD initialization */
+#define VL53LX_ERROR_GPH_SYNC_CHECK_FAIL ((VL53LX_Error) - 17)
+ /*!< GPH sync interrupt check fail - API out of sync with device*/
+#define VL53LX_ERROR_STREAM_COUNT_CHECK_FAIL ((VL53LX_Error) - 18)
+ /*!< Stream count check fail - API out of sync with device */
+#define VL53LX_ERROR_GPH_ID_CHECK_FAIL ((VL53LX_Error) - 19)
+ /*!< GPH ID check fail - API out of sync with device */
+#define VL53LX_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL ((VL53LX_Error) - 20)
+ /*!< Zone dynamic config stream count check failed - API out of sync */
+#define VL53LX_ERROR_ZONE_GPH_ID_CHECK_FAIL ((VL53LX_Error) - 21)
+ /*!< Zone dynamic config GPH ID check failed - API out of sync */
+
+#define VL53LX_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL ((VL53LX_Error) - 22)
+ /*!< Thrown when run_xtalk_extraction fn has 0 succesful samples
+ * when using the full array to sample the xtalk. In this case there is
+ * not enough information to generate new Xtalk parm info. The function
+ * will exit and leave the current xtalk parameters unaltered
+ */
+#define VL53LX_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL ((VL53LX_Error) - 23)
+ /*!< Thrown when run_xtalk_extraction fn has found that the
+ * avg sigma estimate of the full array xtalk sample is > than the
+ * maximal limit allowed. In this case the xtalk sample is too noisy for
+ * measurement. The function will exit and leave the current xtalk
+ * parameters unaltered.
+ */
+
+
+#define VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL ((VL53LX_Error) - 24)
+ /*!< Thrown if there one of stages has no valid offset calibration
+ * samples. A fatal error calibration not valid
+ */
+#define VL53LX_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL ((VL53LX_Error) - 25)
+ /*!< Thrown if there one of stages has zero effective SPADS
+ * Traps the case when MM1 SPADs is zero.
+ * A fatal error calibration not valid
+ */
+#define VL53LX_ERROR_ZONE_CAL_NO_SAMPLE_FAIL ((VL53LX_Error) - 26)
+ /*!< Thrown if then some of the zones have no valid samples
+ * A fatal error calibration not valid
+ */
+
+#define VL53LX_ERROR_TUNING_PARM_KEY_MISMATCH ((VL53LX_Error) - 27)
+ /*!< Thrown if the tuning file key table version does not match with
+ * expected value. The driver expects the key table version to match
+ * the compiled default version number in the define
+ * #VL53LX_TUNINGPARM_KEY_TABLE_VERSION_DEFAULT
+ */
+
+#define VL53LX_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS ((VL53LX_Error) - 28)
+ /*!< Thrown if there are less than 5 good SPADs are available. */
+#define VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH ((VL53LX_Error) - 29)
+ /*!< Thrown if the final reference rate is greater than
+ * the upper reference rate limit - default is 40 Mcps.
+ * Implies a minimum Q3 (x10) SPAD (5) selected
+ */
+#define VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW ((VL53LX_Error) - 30)
+ /*!< Thrown if the final reference rate is less than
+ * the lower reference rate limit - default is 10 Mcps.
+ * Implies maximum Q1 (x1) SPADs selected
+ */
+
+
+#define VL53LX_WARNING_OFFSET_CAL_MISSING_SAMPLES ((VL53LX_Error) - 31)
+ /*!< Thrown if there is less than the requested number of
+ * valid samples.
+ */
+#define VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH ((VL53LX_Error) - 32)
+ /*!< Thrown if the offset calibration range sigma estimate is greater
+ * than 8.0 mm. This is the recommended min value to yield a stable
+ * offset measurement
+ */
+#define VL53LX_WARNING_OFFSET_CAL_RATE_TOO_HIGH ((VL53LX_Error) - 33)
+ /*!< Thrown when VL53LX_run_offset_calibration() peak rate is greater
+ * than that 50.0Mcps. This is the recommended max rate to avoid
+ * pile-up influencing the offset measurement
+ */
+#define VL53LX_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW ((VL53LX_Error) - 34)
+ /*!< Thrown when VL53LX_run_offset_calibration() when one of stages
+ * range has less that 5.0 effective SPADS. This is the recommended
+ * min value to yield a stable offset
+ */
+
+
+#define VL53LX_WARNING_ZONE_CAL_MISSING_SAMPLES ((VL53LX_Error) - 35)
+ /*!< Thrown if one of more of the zones have less than
+ * the requested number of valid samples
+ */
+#define VL53LX_WARNING_ZONE_CAL_SIGMA_TOO_HIGH ((VL53LX_Error) - 36)
+ /*!< Thrown if one or more zones have sigma estimate value greater
+ * than 8.0 mm. This is the recommended min value to yield a stable
+ * offset measurement
+ */
+#define VL53LX_WARNING_ZONE_CAL_RATE_TOO_HIGH ((VL53LX_Error) - 37)
+ /*!< Thrown if one of more zones have peak rate higher than
+ * that 50.0Mcps. This is the recommended max rate to avoid
+ * pile-up influencing the offset measurement
+ */
+
+
+#define VL53LX_WARNING_XTALK_MISSING_SAMPLES ((VL53LX_Error) - 38)
+ /*!< Thrown to notify that some of the xtalk samples did not yield
+ * valid ranging pulse data while attempting to measure
+ * the xtalk signal in vl53lx_run_xtalk_extract(). This can signify any
+ * of the zones are missing samples, for further debug information the
+ * xtalk_results struct should be referred to. This warning is for
+ * notification only, xtalk pulse and shape have still been generated
+ */
+#define VL53LX_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT ((VL53LX_Error) - 39)
+ /*!< Thrown to notify that some of teh xtalk samples used for gradient
+ * generation did not yield valid ranging pulse data while attempting to
+ * measure the xtalk signal in vl53lx_run_xtalk_extract(). This can
+ * signify that any one of the zones 0-3 yielded no successful samples.
+ * xtalk_results struct should be referred to for further debug info.
+ * This warning is for notification only, the xtalk pulse and shape
+ * have still been generated.
+ */
+#define VL53LX_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT ((VL53LX_Error) - 40)
+ /*!< Thrown to notify that some of the xtalk samples used for gradient
+ * generation did not pass the sigma limit check while attempting to
+ * measure the xtalk signal in vl53lx_run_xtalk_extract(). This can
+ * signify that any one of the zones 0-3 yielded an avg sigma_mm
+ * value > the limit. The xtalk_results struct should be referred to for
+ * further debug info.
+ * This warning is for notification only, the xtalk pulse and shape
+ * have still been generated.
+ */
+
+#define VL53LX_ERROR_NOT_IMPLEMENTED ((VL53LX_Error) - 41)
+ /*!< Tells requested functionality has not been implemented yet or
+ * not compatible with the device
+ */
+#define VL53LX_ERROR_PLATFORM_SPECIFIC_START ((VL53LX_Error) - 60)
+ /*!< Tells the starting code for platform */
+/** @} VL53LX_define_Error_group */
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /* _VL53LX_ERROR_CODES_H_ */
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L3/vl53l3inc/vl53lx_platform_user_data.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,186 @@
+
+/*
+* This file is part of VL53LX Platform
+*
+* Copyright (c) 2016, STMicroelectronics - All Rights Reserved
+*
+* License terms: BSD 3-clause "New" or "Revised" License.
+*
+* 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 the copyright holder nor the names of its contributors
+* may be used to endorse or promote products derived from this software
+* without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*
+*/
+
+
+#ifndef __VL53LX_PLATFORM_USER_DATA_H
+#define __VL53LX_PLATFORM_USER_DATA_H
+
+
+#///include "stm32xxx_hal.h"
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+#ifndef _VL53LX_PLATFORM_USER_DATA_H_
+#define _VL53LX_PLATFORM_USER_DATA_H_
+
+#ifndef __KERNEL__
+#include <stdlib.h>
+#endif
+
+#include "vl53lx_def.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+typedef struct {
+ VL53LX_DevData_t Data;
+ /*!< Low Level Driver data structure */
+ uint8_t i2c_slave_address;
+ uint8_t comms_type;
+ uint16_t comms_speed_khz;
+ vl53L1X_DevI2C *I2cHandle;
+ uint8_t I2cDevAddr;
+ int Present;
+ int Enabled;
+ int LoopState;
+ int FirstStreamCountZero;
+ int Idle;
+ int Ready;
+ uint8_t RangeStatus;
+ FixPoint1616_t SignalRateRtnMegaCps;
+ VL53LX_DeviceState device_state; /*!< Device State */
+} VL53LX_Dev_t;
+
+
+
+
+
+
+typedef VL53LX_Dev_t* VL53LX_DEV;
+
+
+
+
+
+/**
+ * @def VL53LXDevDataGet
+ * @brief Get ST private structure @a VL53LX_DevData_t data access
+ *
+ * @param Dev Device Handle
+ * @param field ST structure field name
+ * It maybe used and as real data "ref" not just as "get" for sub-structure item
+ * like VL53L1DevDataGet(FilterData.field)[i] or
+ * VL53L1DevDataGet(FilterData.MeasurementIndex)++
+ */
+#define VL53LXDevDataGet(Dev, field) (Dev->Data.field)
+
+
+/**
+ * @def VL53LXDevDataSet(Dev, field, data)
+ * @brief Set ST private structure @a VL53LX_DevData_t data field
+ * @param Dev Device Handle
+ * @param field ST structure field name
+ * @param data Data to be set
+ */
+#define VL53LXDevDataSet(Dev, field, data) ((Dev->Data.field) = (data))
+
+
+
+
+
+
+
+
+
+
+
+#define PALDevDataGet(Dev, field) (Dev->Data.field)
+
+
+
+
+
+
+
+
+
+
+
+
+#define PALDevDataSet(Dev, field, VL53LX_PRM_00005) (Dev->Data.field)=(VL53LX_PRM_00005)
+
+
+
+
+
+
+
+
+
+//#define VL53LXDevStructGetLLDriverHandle(Dev) (&Dev->Data.LLData)
+
+
+
+
+
+
+
+
+//#define VL53LXDevStructGetLLResultsHandle(Dev) (&Dev->Data.llresults)
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+#endif /* __VL53LX_PLATFORM_USER_DATA_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L3/vl53l3inc/vl53lx_types.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,163 @@
+
+/*
+* This file is part of VL53LX Platform
+*
+* Copyright (c) 2016, STMicroelectronics - All Rights Reserved
+*
+* License terms: BSD 3-clause "New" or "Revised" License.
+*
+* 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 the copyright holder nor the names of its contributors
+* may be used to endorse or promote products derived from this software
+* without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*
+*/
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+#ifndef _VL53LX_TYPES_H_
+#define _VL53LX_TYPES_H_
+
+
+
+
+
+
+
+
+
+
+
+
+#include <stdint.h>
+#include <stddef.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#ifndef NULL
+#error "Error NULL definition should be done. Please add required include "
+#endif
+
+
+#if !defined(STDINT_H) && !defined(_STDINT_H) && !defined(_GCC_STDINT_H) && !defined(__STDINT_DECLS) && !defined(_GCC_WRAP_STDINT_H) && !defined(_STDINT)
+
+ #pragma message("Please review type definition of STDINT define for your platform and add to list above ")
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+typedef unsigned long long uint64_t;
+
+
+
+
+
+
+typedef unsigned int uint32_t;
+
+
+
+
+
+typedef int int32_t;
+
+
+
+
+
+typedef unsigned short uint16_t;
+
+
+
+
+
+typedef short int16_t;
+
+
+
+
+
+typedef unsigned char uint8_t;
+
+
+
+
+
+typedef signed char int8_t;
+
+
+
+#endif
+
+
+
+
+
+
+
+typedef uint32_t FixPoint1616_t;
+
+#endif
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_COMMON/Board/NoShield53L3.cpp Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,97 @@
+#include "NoShield53L3.h"
+
+NoShield53L3 *NoShield53L3::_instance = NULL;
+
+
+NoShield53L3 *NoShield53L3::instance(vl53L1X_DevI2C *ext_i2c)
+{
+ if (_instance == NULL) {
+ _instance = new NoShield53L3(ext_i2c);
+ } else {
+ printf("Failed to create NoShield53l3 instance\n\r\r\n");
+ }
+ return _instance;
+}
+
+NoShield53L3 *NoShield53L3::instance(vl53L1X_DevI2C *ext_i2c,
+ PinName gpio1_centre,
+ PinName gpio1_left, PinName gpio1_right)
+{
+ if (_instance == NULL) {
+// printf("instance %d z\n",ext_i2c);
+ _instance = new NoShield53L3(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
+ } else {
+ printf("Failed to create XNucleo53L0A1 instance\n\r");
+ }
+ return _instance;
+}
+
+
+// no stmpe1600. Shutdown lijnes controlled from pins passed in
+int NoShield53L3::init_board(PinName shut_centre,
+ PinName shut_left, PinName shut_right)
+{
+ printf("init_board \n");
+ int status, n_dev = 0;
+
+ // set the shutdown pins to be outputs ( they are inputs on power up)
+ DigitalOut sensor1shut(shut_centre);
+ DigitalOut sensor2shut(shut_left);
+ DigitalOut sensor3shut(shut_right);
+
+ // On startup or on the shutdown pin going high the VL53l1 devices have a i2c address of 0x52.
+ // To initialise then we have to bring up one device at a time This involves raising the shutdown pin for that device,
+ // initialising then setting the i2c address to a unique value. Once that is done the shutdown pins don't need to be touched.
+
+ // set the shutdown pins to low, this will reset the VL53l1
+ sensor1shut =0;
+ sensor2shut =0;
+ sensor3shut =0;
+// select the first VL53l1. It will have i2c address of 0x52. Set the i2c address to
+//NEW_SENSOR_CENTRE_ADDRESS
+
+ sensor1shut =1;
+ printf("InitSensor \n");
+ status = sensor_centre->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
+ if (status) {
+ delete sensor_centre;
+ sensor_centre = NULL;
+ printf("Sensor centre not present\n\r");
+ } else {
+ printf("Sensor centre present\n\r");
+ n_dev++;
+ }
+
+ // select the second VL53l1. It will have i2c address of 0x52. Set the i2c address to
+ //NEW_SENSOR_LEFT_ADDRESS
+ sensor2shut =1;
+ status = sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
+ if (status) {
+ delete sensor_left;
+ sensor_left = NULL;
+ printf("Sensor left not present\n\r");
+ } else {
+ printf("Sensor left present\n\r");
+ n_dev++;
+ }
+
+ // select the 3rd VL53l1. It will have i2c address of 0x52. Set the i2c address to
+ //NEW_SENSOR_RIGHT_ADDRESS
+ sensor3shut =1;
+ status = sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
+ if (status) {
+ delete sensor_right;
+ sensor_right = NULL;
+ printf("Sensor right not present\n\r");
+ } else {
+ printf("Sensor right present\n\r");
+ n_dev++;
+ }
+
+return 0;
+ if (n_dev == 0) {
+ return 1;
+ } else {
+ return 0;
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_COMMON/Board/NoShield53L3.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,170 @@
+/**
+ ******************************************************************************
+ * @file NoShield53l3.h
+ * @author JS
+ * @version V0.0.1
+ * @date 15-January-2019
+ * @brief Header file for component XNucleo53L1A1
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+#ifndef __VL53L1_NO_SHIELD_CLASS_H
+#define __VL53L1_NO_SHIELD_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "PinNames.h"
+#include <vl53lx_class.h>
+//#include "Stmpe1600.h"
+//#include "DevI2C.h"
+#include "vl53L1x_I2c.h"
+
+
+#define NEW_SENSOR_CENTRE_ADDRESS 0x56
+#define NEW_SENSOR_LEFT_ADDRESS 0x58
+#define NEW_SENSOR_RIGHT_ADDRESS 0x5a
+
+
+/* Classes--------------------------------------------------------------------*/
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing the X-NUCLEO-VL53L1A1 expansion board
+ */
+class NoShield53L3
+{
+public:
+ /** Constructor 1
+ * @param[in] &i2c device I2C to be used for communication
+ */
+ NoShield53L3(vl53L1X_DevI2C *ext_i2c) : dev_i2c(ext_i2c)
+ {
+
+ printf("XNucleo53L1A1 %d z\n",ext_i2c);
+ // stmpe1600_exp0 = new Stmpe1600((DevI2C*)ext_i2c, (0x43 * 2)); // U21
+
+ // stmpe1600_exp1 = new Stmpe1600((DevI2C*)ext_i2c, (0x42 * 2)); // U19
+
+ // xshutdown_centre = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
+ sensor_centre = new VL53LX(ext_i2c, 0, A2);
+
+ // xshutdown_left = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
+ sensor_left = new VL53LX(dev_i2c, 0, D8);
+
+ // xshutdown_right = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
+ sensor_right = new VL53LX(dev_i2c, 0, D2);
+ }
+
+ /** Constructor 2
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] PinName gpio1_top Mbed DigitalOut pin name to be used as a top sensor GPIO_1 INT
+ * @param[in] PinName gpio1_bottom Mbed DigitalOut pin name to be used as a bottom sensor GPIO_1 INT
+ * @param[in] PinName gpio1_left Mbed DigitalOut pin name to be used as a left sensor GPIO_1 INT
+ * @param[in] PinName gpio1_right Mbed DigitalOut pin name to be used as a right sensor GPIO_1 INT
+ */
+ NoShield53L3(vl53L1X_DevI2C *ext_i2c, PinName gpio1_centre,
+ PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c)
+ {
+ // stmpe1600_exp0 = new Stmpe1600((DevI2C*)ext_i2c, (0x43 * 2)); // U21
+
+ // stmpe1600_exp1 = new Stmpe1600((DevI2C*)ext_i2c, (0x42 * 2)); // U19
+ printf("vl53L1X_DevI2C constructor %d %d %d %d\n",ext_i2c,gpio1_centre,gpio1_left,gpio1_right);
+
+ // xshutdown_centre = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
+ sensor_centre = new VL53LX(dev_i2c, 0, gpio1_centre);
+
+ // xshutdown_left = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
+ sensor_left = new VL53LX(dev_i2c, 0, gpio1_left);
+
+ // xshutdown_right = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
+ sensor_right = new VL53LX(dev_i2c, 0, gpio1_right);
+ }
+
+
+ /** Destructor
+ */
+ ~NoShield53L3()
+ {
+
+ if (sensor_centre != NULL) {
+ delete sensor_centre;
+ sensor_centre = NULL;
+ }
+
+ if (sensor_left != NULL) {
+ delete sensor_left;
+ sensor_left = NULL;
+ }
+
+ if (sensor_right != NULL) {
+ delete sensor_right;
+ sensor_right = NULL;
+ }
+
+ _instance = NULL;
+ }
+
+
+ /**
+ * @brief Creates a singleton object instance
+ * @param[in] &i2c device I2C to be used for communication
+ * @return Pointer to the object instance
+ */
+ static NoShield53L3 *instance(vl53L1X_DevI2C *ext_i2c);
+
+ /**
+ * @brief Creates a singleton object instance
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] PinName gpio1_centre the pin connected to top sensor INT
+ * @param[in] PinName gpio1_left the pin connected to left sensor INT
+ * @param[in] PinName gpio1_right the pin connected to right sensor INT
+ * @return Pointer to the object instance
+ */
+ static NoShield53L3 *instance(vl53L1X_DevI2C *ext_i2c, PinName gpio1_centre,
+ PinName gpio1_left, PinName gpio1_right);
+
+ /**
+ * @brief Initialize the board and sensors with deft values
+ * @return 0 on success
+ */
+ int init_board();
+ int init_board(PinName shut_centre, PinName shut_left, PinName shut_right);
+
+ vl53L1X_DevI2C *dev_i2c;
+ VL53LX *sensor_centre;
+ VL53LX *sensor_left;
+ VL53LX *sensor_right;
+
+private:
+ static NoShield53L3 *_instance;
+};
+
+
+#endif /* __VL53L1_NO_SHIELD_CLASS_H */
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_COMMON/Board/Stmpe1600.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,340 @@
+/**
+ ******************************************************************************
+ * @file Stmpe1600.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Header file for component stmpe1600
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+#ifndef __STMPE1600_CLASS
+#define __STMPE1600_CLASS
+/* Includes ------------------------------------------------------------------*/
+#include "DevI2C.h"
+
+#define STMPE1600_DEF_DEVICE_ADDRESS (uint8_t)0x42*2
+#define STMPE1600_DEF_DIGIOUT_LVL 1
+
+/** STMPE1600 registr map **/
+#define CHIP_ID_0_7 (uint8_t)0x00
+#define CHIP_ID_8_15 (uint8_t)0x01
+#define VERSION_ID (uint8_t)0x02
+#define SYS_CTRL (uint8_t)0x03
+#define IEGPIOR_0_7 (uint8_t)0x08
+#define IEGPIOR_8_15 (uint8_t)0x09
+#define ISGPIOR_0_7 (uint8_t)0x0A
+#define ISGPIOR_8_15 (uint8_t)0x0B
+#define GPMR_0_7 (uint8_t)0x10
+#define GPMR_8_15 (uint8_t)0x11
+#define GPSR_0_7 (uint8_t)0x12
+#define GPSR_8_15 (uint8_t)0x13
+#define GPDR_0_7 (uint8_t)0x14
+#define GPDR_8_15 (uint8_t)0x15
+#define GPIR_0_7 (uint8_t)0x16
+#define GPIR_8_15 (uint8_t)0x17
+
+#define SOFT_RESET (uint8_t)0x80
+
+typedef enum {
+ // GPIO Expander pin names
+ GPIO_0 = 0,
+ GPIO_1,
+ GPIO_2,
+ GPIO_3,
+ GPIO_4,
+ GPIO_5,
+ GPIO_6,
+ GPIO_7,
+ GPIO_8,
+ GPIO_9,
+ GPIO_10,
+ GPIO_11,
+ GPIO_12,
+ GPIO_13,
+ GPIO_14,
+ GPIO_15,
+ NOT_CON
+} ExpGpioPinName;
+
+typedef enum {
+ INPUT = 0,
+ OUTPUT,
+ NOT_CONNECTED
+} ExpGpioPinDirection;
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a single stmpe1600 GPIO expander output pin
+ */
+class Stmpe1600DigiOut
+{
+
+public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] outpinname the desired out pin name to be created
+ * @param[in] DevAddr the stmpe1600 I2C device address (deft STMPE1600_DEF_DEVICE_ADDRESS)
+ * @param[in] lvl the default ot pin level
+ */
+ Stmpe1600DigiOut(DevI2C *i2c, ExpGpioPinName out_pin_name, uint8_t dev_addr = STMPE1600_DEF_DEVICE_ADDRESS,
+ bool lvl = STMPE1600_DEF_DIGIOUT_LVL) : _dev_i2c(i2c), exp_dev_addr(dev_addr), exp_pin_name(out_pin_name)
+ {
+ uint8_t data[2];
+
+ if (exp_pin_name == NOT_CON) {
+ return;
+ }
+ /* set the exp_pin_name as output */
+ _dev_i2c->i2c_read(data, exp_dev_addr, GPDR_0_7, 1);
+ _dev_i2c->i2c_read(&data[1], exp_dev_addr, GPDR_8_15, 1);
+ * (uint16_t *) data = * (uint16_t *) data | (1 << (uint16_t) exp_pin_name); // set gpio as out
+ _dev_i2c->i2c_write(data, exp_dev_addr, GPDR_0_7, 1);
+ _dev_i2c->i2c_write(&data[1], exp_dev_addr, GPDR_8_15, 1);
+ write(lvl);
+ }
+
+ /**
+ * @brief Write on the out pin
+ * @param[in] lvl level to write
+ * @return 0 on Success
+ */
+ void write(int lvl)
+ {
+ uint8_t data[2];
+
+ if (exp_pin_name == NOT_CON) {
+ return;
+ }
+ /* set the exp_pin_name state to lvl */
+ _dev_i2c->i2c_read(data, exp_dev_addr, GPSR_0_7, 2);
+ * (uint16_t *) data = * (uint16_t *) data & (uint16_t)(~(1 << (uint16_t) exp_pin_name)); // set pin mask
+ if (lvl) {
+ * (uint16_t *) data = * (uint16_t *) data | (uint16_t)(1 << (uint16_t) exp_pin_name);
+ }
+ _dev_i2c->i2c_write(data, exp_dev_addr, GPSR_0_7, 2);
+ }
+
+ /**
+ * @brief Overload assignement operator
+ */
+ Stmpe1600DigiOut &operator= (int lvl)
+ {
+ write(lvl);
+ return *this;
+ }
+
+private:
+ DevI2C *_dev_i2c;
+ uint8_t exp_dev_addr;
+ ExpGpioPinName exp_pin_name;
+};
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a single stmpe1600 GPIO expander input pin
+ */
+class Stmpe1600DigiIn
+{
+public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] inpinname the desired input pin name to be created
+ * @param[in] DevAddr the stmpe1600 I2C device addres (deft STMPE1600_DEF_DEVICE_ADDRESS)
+ */
+ Stmpe1600DigiIn(DevI2C *i2c, ExpGpioPinName in_pin_name,
+ uint8_t dev_addr = STMPE1600_DEF_DEVICE_ADDRESS) : _dev_i2c(i2c), exp_dev_addr(dev_addr),
+ exp_pin_name(in_pin_name)
+ {
+ uint8_t data[2];
+
+ if (exp_pin_name == NOT_CON) {
+ return;
+ }
+ /* set the exp_pin_name as input pin direction */
+ _dev_i2c->i2c_read(data, exp_dev_addr, GPDR_0_7, 2);
+ * (uint16_t *) data = * (uint16_t *) data & (uint16_t)(~(1 << (uint16_t) exp_pin_name)); // set gpio as in
+ _dev_i2c->i2c_write(data, exp_dev_addr, GPDR_0_7, 2);
+ }
+
+ /**
+ * @brief Read the input pin
+ * @return The pin logical state 0 or 1
+ */
+ bool read()
+ {
+ uint8_t data[2];
+
+ if (exp_pin_name == NOT_CON) {
+ return false;
+ }
+ /* read the exp_pin_name */
+ _dev_i2c->i2c_read(data, exp_dev_addr, GPMR_0_7, 2);
+ * (uint16_t *) data = * (uint16_t *) data & (uint16_t)(1 << (uint16_t) exp_pin_name); // mask the in gpio
+ if (data[0] || data[1]) {
+ return true;
+ }
+ return false;
+ }
+
+ operator int()
+ {
+ return read();
+ }
+
+private:
+ DevI2C *_dev_i2c;
+ uint8_t exp_dev_addr;
+ ExpGpioPinName exp_pin_name;
+};
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a whole stmpe1600 component (16 gpio)
+ */
+class Stmpe1600
+{
+
+public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] DevAddr the stmpe1600 I2C device addres (deft STMPE1600_DEF_DEVICE_ADDRESS)
+ */
+ Stmpe1600(DevI2C *i2c, uint8_t dev_addr = STMPE1600_DEF_DEVICE_ADDRESS) : _dev_i2c(i2c)
+ {
+ exp_dev_addr = dev_addr;
+ write_sys_ctrl(SOFT_RESET);
+
+ gpdr0_15 = (uint16_t) 0; // gpio dir all IN
+ write_16bit_reg(GPDR_0_7, &gpdr0_15);
+ gpsr0_15 = (uint16_t) 0x0ffff; // gpio status all 1
+ write_16bit_reg(GPSR_0_7, &gpsr0_15);
+ }
+
+ /**
+ * @brief Write the SYS_CTRL register
+ * @param[in] Data to be written (bit fields)
+ */
+ void write_sys_ctrl(uint8_t data) // data = SOFT_RESET reset the device
+ {
+ _dev_i2c->i2c_write(&data, exp_dev_addr, SYS_CTRL, 1);
+ }
+
+ /**
+ * @brief Set the out pin
+ * @param[in] The pin name
+ * @return 0 on Success
+ */
+ bool set_gpio(ExpGpioPinName pin_name)
+ {
+ if (pin_name == NOT_CON) {
+ return true;
+ }
+ gpsr0_15 = gpsr0_15 | ((uint16_t) 0x0001 << pin_name);
+ write_16bit_reg(GPSR_0_7, &gpsr0_15);
+ return false;
+ }
+
+ /**
+ * @brief Clear the out pin
+ * @param[in] The pin name
+ * @return 0 on Success
+ */
+ bool clear_gpio(ExpGpioPinName pin_name)
+ {
+ if (pin_name == NOT_CON) {
+ return true;
+ }
+ gpsr0_15 = gpsr0_15 & (~((uint16_t) 0x0001 << pin_name));
+ write_16bit_reg(GPSR_0_7, &gpsr0_15);
+ return false;
+ }
+
+ /**
+ * @brief Read the input pin
+ * @param[in] The pin name
+ * @return The logical pin level
+ */
+ bool read_gpio(ExpGpioPinName pin_name)
+ {
+ uint16_t gpmr0_15;
+ if (pin_name == NOT_CON) {
+ return true;
+ }
+ read_16bit_reg(GPMR_0_7, &gpmr0_15);
+ gpmr0_15 = gpmr0_15 & ((uint16_t) 0x0001 << pin_name);
+ if (gpmr0_15) {
+ return true;
+ }
+ return false;
+ }
+
+ /**
+ * @brief Set the pin direction
+ * @param[in] The pin name
+ * @param[in] The pin direction
+ * @return 0 on success
+ */
+ bool set_gpio_dir(ExpGpioPinName pin_name, ExpGpioPinDirection pin_dir)
+ {
+
+ if (pin_name == NOT_CON || pin_dir == NOT_CONNECTED) {
+ return true;
+ }
+ gpdr0_15 = gpdr0_15 & (~((uint16_t) 0x0001 << pin_name)); // clear the Pin
+ gpdr0_15 = gpdr0_15 | ((uint16_t) pin_dir << pin_name);
+ write_16bit_reg(GPDR_0_7, &gpdr0_15);
+ return false;
+ }
+
+ /**
+ * @brief Read a 16 bits register
+ * @param[in] The register address
+ * @param[in] The pointer to the read data
+ */
+ void read_16bit_reg(uint8_t reg16_addr, uint16_t *reg16_data)
+ {
+ _dev_i2c->i2c_read((uint8_t *) reg16_data, exp_dev_addr, reg16_addr, 2);
+ }
+
+ /**
+ * @brief Write a 16 bits register
+ * @param[in] The register address
+ * @param[in] The pointer to the data to be written
+ */
+ void write_16bit_reg(uint8_t reg16_addr, uint16_t *reg16_data)
+ {
+ _dev_i2c->i2c_write((uint8_t *) reg16_data, exp_dev_addr, reg16_addr, 2);
+ }
+
+private:
+ DevI2C *_dev_i2c;
+ uint16_t gpdr0_15; // local copy of bit direction reg
+ uint16_t gpsr0_15; // local copy of bit status reg
+ uint8_t exp_dev_addr; // expander device i2c addr
+};
+
+#endif // __STMPE1600_CLASS
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_COMMON/Board/XNucleo53L1A1.cpp Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,110 @@
+#include "XNucleo53L1A1.h"
+
+XNucleo53L1A1 *XNucleo53L1A1::_instance = NULL;
+
+
+XNucleo53L1A1 *XNucleo53L1A1::instance(vl53L1X_DevI2C *ext_i2c)
+{
+ if (_instance == NULL) {
+ _instance = new XNucleo53L1A1(ext_i2c);
+ } else {
+ printf("Failed to create XNucleo53L1A1 instance\n\r\r\n");
+ }
+ return _instance;
+}
+
+XNucleo53L1A1 *XNucleo53L1A1::instance(vl53L1X_DevI2C *ext_i2c,
+ PinName gpio1_centre,
+ PinName gpio1_left, PinName gpio1_right)
+{
+ if (_instance == NULL) {
+// printf("instance %d z\n",ext_i2c);
+ _instance = new XNucleo53L1A1(ext_i2c, gpio1_centre, gpio1_left, gpio1_right);
+ } else {
+ printf("Failed to create XNucleo53L0A1 instance\n\r");
+ }
+ return _instance;
+}
+
+
+int XNucleo53L1A1::init_board()
+{
+ printf("init_board \n");
+ int status, n_dev = 0;
+
+ sensor_centre->VL53LX_Off();
+ sensor_left->VL53LX_Off();
+ sensor_right->VL53LX_Off();
+
+
+
+ // On startup or on the shutdown pin going high the VL53l1 devices have a i2c address of 0x52.
+ // To initialise then we have to bring up one device at a time This involves raising the shutdown pin for that device,
+ // initialising then setting the i2c address to a unique value. Once that is done the shutdown pins don't need to be touched.
+
+ // set the shutdown pins to be outputs ( they are inputs on power up)
+ stmpe1600_exp1->set_gpio_dir(GPIO_15,OUTPUT);
+ stmpe1600_exp0->set_gpio_dir(GPIO_14,OUTPUT);
+ stmpe1600_exp0->set_gpio_dir(GPIO_15,OUTPUT);
+
+ // set the shutdown pins to low, this will reset the VL53l1s
+ stmpe1600_exp1->clear_gpio(GPIO_15);
+ stmpe1600_exp0->clear_gpio(GPIO_14);
+ stmpe1600_exp0->clear_gpio(GPIO_15);
+
+// select the first VL53l1. It will have i2c address of 0x52. Set the i2c address to
+//NEW_SENSOR_CENTRE_ADDRESS
+ stmpe1600_exp1->set_gpio(GPIO_15);
+ printf("InitSensor \n");
+ status = sensor_centre->InitSensor(NEW_SENSOR_CENTRE_ADDRESS);
+ if (status) {
+ delete sensor_centre;
+ delete xshutdown_centre;
+ sensor_centre = NULL;
+ xshutdown_centre = NULL;
+ printf("Sensor centre not present\n\r");
+ } else {
+ printf("Sensor centre present\n\r");
+ n_dev++;
+ }
+
+ // select the second VL53l1. It will have i2c address of 0x52. Set the i2c address to
+ //NEW_SENSOR_LEFT_ADDRESS
+
+ stmpe1600_exp0->set_gpio(GPIO_14);
+
+ status = sensor_left->InitSensor(NEW_SENSOR_LEFT_ADDRESS);
+ if (status) {
+ delete sensor_left;
+ delete xshutdown_left;
+ sensor_left = NULL;
+ xshutdown_left = NULL;
+ printf("Sensor left not present\n\r");
+ } else {
+ printf("Sensor left present\n\r");
+ n_dev++;
+ }
+
+ // select the 3rd VL53l1. It will have i2c address of 0x52. Set the i2c address to
+ //NEW_SENSOR_RIGHT_ADDRESS
+ stmpe1600_exp0->set_gpio(GPIO_15);
+ status = sensor_right->InitSensor(NEW_SENSOR_RIGHT_ADDRESS);
+ if (status) {
+ delete sensor_right;
+ delete xshutdown_right;
+ sensor_right = NULL;
+ xshutdown_right = NULL;
+ printf("Sensor right not present\n\r");
+ } else {
+ printf("Sensor right present\n\r");
+ n_dev++;
+ }
+
+return 0;
+ if (n_dev == 0) {
+ return 1;
+ } else {
+ return 0;
+ }
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_COMMON/Board/XNucleo53L1A1.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,196 @@
+/**
+ ******************************************************************************
+ * @file XNucleo53L1A1.h
+ * @author JS
+ * @version V0.0.1
+ * @date 15-January-2019
+ * @brief Header file for component XNucleo53L1A1
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+#ifndef __VL53L1_X_NUCLEO_CLASS_H
+#define __VL53L1_X_NUCLEO_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "PinNames.h"
+#include <vl53lx_class.h>
+#include "Stmpe1600.h"
+//#include "DevI2C.h"
+#include "vl53L1x_I2c.h"
+
+
+/** New device addresses */
+///#define NEW_SENSOR_CENTRE_ADDRESS 0x52
+//#define NEW_SENSOR_CENTRE_ADDRESS 0x54
+///#define NEW_SENSOR_LEFT_ADDRESS 0x54
+///#define NEW_SENSOR_RIGHT_ADDRESS 0x56
+
+
+#define NEW_SENSOR_CENTRE_ADDRESS 0x56
+
+#define NEW_SENSOR_LEFT_ADDRESS 0x58
+#define NEW_SENSOR_RIGHT_ADDRESS 0x5a
+
+
+/* Classes--------------------------------------------------------------------*/
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing the X-NUCLEO-VL53L1A1 expansion board
+ */
+class XNucleo53L1A1
+{
+public:
+ /** Constructor 1
+ * @param[in] &i2c device I2C to be used for communication
+ */
+ XNucleo53L1A1(vl53L1X_DevI2C *ext_i2c) : dev_i2c(ext_i2c)
+ {
+
+ printf("XNucleo53L1A1 %d z\n",ext_i2c);
+ stmpe1600_exp0 = new Stmpe1600((DevI2C*)ext_i2c, (0x43 * 2)); // U21
+
+ stmpe1600_exp1 = new Stmpe1600((DevI2C*)ext_i2c, (0x42 * 2)); // U19
+
+ xshutdown_centre = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
+ sensor_centre = new VL53LX(ext_i2c, xshutdown_centre, A2);
+
+ xshutdown_left = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
+ sensor_left = new VL53LX(dev_i2c, xshutdown_left, D8);
+
+ xshutdown_right = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
+ sensor_right = new VL53LX(dev_i2c, xshutdown_right, D2);
+ }
+
+ /** Constructor 2
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] PinName gpio1_top Mbed DigitalOut pin name to be used as a top sensor GPIO_1 INT
+ * @param[in] PinName gpio1_bottom Mbed DigitalOut pin name to be used as a bottom sensor GPIO_1 INT
+ * @param[in] PinName gpio1_left Mbed DigitalOut pin name to be used as a left sensor GPIO_1 INT
+ * @param[in] PinName gpio1_right Mbed DigitalOut pin name to be used as a right sensor GPIO_1 INT
+ */
+ XNucleo53L1A1(vl53L1X_DevI2C *ext_i2c, PinName gpio1_centre,
+ PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c)
+ {
+ stmpe1600_exp0 = new Stmpe1600((DevI2C*)ext_i2c, (0x43 * 2)); // U21
+
+ stmpe1600_exp1 = new Stmpe1600((DevI2C*)ext_i2c, (0x42 * 2)); // U19
+ printf("vl53L1X_DevI2C constructor %d %d %d %d\n",ext_i2c,gpio1_centre,gpio1_left,gpio1_right);
+
+ xshutdown_centre = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
+ sensor_centre = new VL53LX(dev_i2c, xshutdown_centre, gpio1_centre);
+
+ xshutdown_left = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
+ sensor_left = new VL53LX(dev_i2c, xshutdown_left, gpio1_left);
+
+ xshutdown_right = new Stmpe1600DigiOut((DevI2C*)dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
+ sensor_right = new VL53LX(dev_i2c, xshutdown_right, gpio1_right);
+ }
+
+
+ /** Destructor
+ */
+ ~XNucleo53L1A1()
+ {
+ printf("XNucleo53L1A1 destructor \n");
+ if (xshutdown_centre != NULL) {
+ delete xshutdown_centre;
+ xshutdown_centre = NULL;
+ }
+ if (sensor_centre != NULL) {
+ delete sensor_centre;
+ sensor_centre = NULL;
+ }
+ if (xshutdown_left != NULL) {
+ delete xshutdown_left;
+ xshutdown_left = NULL;
+ }
+ if (sensor_left != NULL) {
+ delete sensor_left;
+ sensor_left = NULL;
+ }
+ if (xshutdown_right != NULL) {
+ delete xshutdown_right;
+ xshutdown_right = NULL;
+ }
+ if (sensor_right != NULL) {
+ delete sensor_right;
+ sensor_right = NULL;
+ }
+
+ delete stmpe1600_exp0;
+ stmpe1600_exp0 = NULL;
+ delete stmpe1600_exp1;
+ stmpe1600_exp1 = NULL;
+ _instance = NULL;
+ }
+
+
+ /**
+ * @brief Creates a singleton object instance
+ * @param[in] &i2c device I2C to be used for communication
+ * @return Pointer to the object instance
+ */
+ static XNucleo53L1A1 *instance(vl53L1X_DevI2C *ext_i2c);
+
+ /**
+ * @brief Creates a singleton object instance
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] PinName gpio1_centre the pin connected to top sensor INT
+ * @param[in] PinName gpio1_left the pin connected to left sensor INT
+ * @param[in] PinName gpio1_right the pin connected to right sensor INT
+ * @return Pointer to the object instance
+ */
+ static XNucleo53L1A1 *instance(vl53L1X_DevI2C *ext_i2c, PinName gpio1_centre,
+ PinName gpio1_left, PinName gpio1_right);
+
+ /**
+ * @brief Initialize the board and sensors with deft values
+ * @return 0 on success
+ */
+ int init_board();
+
+ vl53L1X_DevI2C *dev_i2c;
+ VL53LX *sensor_centre;
+ VL53LX *sensor_left;
+ VL53LX *sensor_right;
+ Stmpe1600 *stmpe1600_exp0;
+ Stmpe1600 *stmpe1600_exp1;
+ Stmpe1600DigiOut *xshutdown_centre;
+ Stmpe1600DigiOut *xshutdown_left;
+ Stmpe1600DigiOut *xshutdown_right;
+
+private:
+ static XNucleo53L1A1 *_instance;
+};
+
+
+#endif /* __VL53L1_X_NUCLEO_CLASS_H */
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_COMMON/Board/stmpe1600_class.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,333 @@
+/**
+ ******************************************************************************
+ * @file stmpe1600_class.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Header file for component stmpe1600
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+#ifndef __STMPE1600_CLASS
+#define __STMPE1600_CLASS
+/* Includes ------------------------------------------------------------------*/
+#include "DevI2C.h"
+
+#define STMPE1600_DEF_DEVICE_ADDRESS (uint8_t)0x42*2
+#define STMPE1600_DEF_DIGIOUT_LVL 1
+
+/** STMPE1600 registr map **/
+#define CHIP_ID_0_7 (uint8_t)0x00
+#define CHIP_ID_8_15 (uint8_t)0x01
+#define VERSION_ID (uint8_t)0x02
+#define SYS_CTRL (uint8_t)0x03
+#define IEGPIOR_0_7 (uint8_t)0x08
+#define IEGPIOR_8_15 (uint8_t)0x09
+#define ISGPIOR_0_7 (uint8_t)0x0A
+#define ISGPIOR_8_15 (uint8_t)0x0B
+#define GPMR_0_7 (uint8_t)0x10
+#define GPMR_8_15 (uint8_t)0x11
+#define GPSR_0_7 (uint8_t)0x12
+#define GPSR_8_15 (uint8_t)0x13
+#define GPDR_0_7 (uint8_t)0x14
+#define GPDR_8_15 (uint8_t)0x15
+#define GPIR_0_7 (uint8_t)0x16
+#define GPIR_8_15 (uint8_t)0x17
+
+#define SOFT_RESET (uint8_t)0x80
+
+typedef enum {
+ // GPIO Expander pin names
+ GPIO_0 = 0,
+ GPIO_1,
+ GPIO_2,
+ GPIO_3,
+ GPIO_4,
+ GPIO_5,
+ GPIO_6,
+ GPIO_7,
+ GPIO_8,
+ GPIO_9,
+ GPIO_10,
+ GPIO_11,
+ GPIO_12,
+ GPIO_13,
+ GPIO_14,
+ GPIO_15,
+ NOT_CON
+} ExpGpioPinName;
+
+typedef enum {
+ INPUT = 0,
+ OUTPUT,
+ NOT_CONNECTED
+} ExpGpioPinDirection;
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a single stmpe1600 GPIO expander output pin
+ */
+class Stmpe1600DigiOut
+{
+
+public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] outpinname the desired out pin name to be created
+ * @param[in] DevAddr the stmpe1600 I2C device address (deft STMPE1600_DEF_DEVICE_ADDRESS)
+ * @param[in] lvl the default ot pin level
+ */
+ Stmpe1600DigiOut(DevI2C &i2c, ExpGpioPinName out_pin_name, uint8_t dev_addr = STMPE1600_DEF_DEVICE_ADDRESS,
+ bool lvl = STMPE1600_DEF_DIGIOUT_LVL) : dev_i2c(&i2c), exp_dev_addr(dev_addr), exp_pin_name(out_pin_name)
+ {
+ uint8_t data[2];
+
+ if (exp_pin_name == NOT_CON)
+ return;
+ /* set the exp_pin_name as output */
+ dev_i2c->i2c_read(data, exp_dev_addr, GPDR_0_7, 1);
+ dev_i2c->i2c_read(&data[1], exp_dev_addr, GPDR_8_15, 1);
+ *(uint16_t *)data = *(uint16_t *)data | (1 << (uint16_t)exp_pin_name); // set gpio as out
+ dev_i2c->i2c_write(data, exp_dev_addr, GPDR_0_7, 1);
+ dev_i2c->i2c_write(&data[1], exp_dev_addr, GPDR_8_15, 1);
+ write(lvl);
+ }
+
+ /**
+ * @brief Write on the out pin
+ * @param[in] lvl level to write
+ * @return 0 on Success
+ */
+ void write(int lvl)
+ {
+ uint8_t data[2];
+
+ if (exp_pin_name == NOT_CON)
+ return;
+ /* set the exp_pin_name state to lvl */
+ dev_i2c->i2c_read(data, exp_dev_addr, GPSR_0_7, 2);
+ *(uint16_t *)data = *(uint16_t *)data & (uint16_t)(~(1 << (uint16_t)exp_pin_name)); // set pin mask
+ if (lvl)
+ *(uint16_t *)data = *(uint16_t *)data | (uint16_t)(1 << (uint16_t)exp_pin_name);
+ dev_i2c->i2c_write(data, exp_dev_addr, GPSR_0_7, 2);
+ }
+
+ /**
+ * @brief Overload assignement operator
+ */
+ Stmpe1600DigiOut &operator= (int lvl)
+ {
+ write(lvl);
+ return *this;
+ }
+
+private:
+ DevI2C *dev_i2c;
+ uint8_t exp_dev_addr;
+ ExpGpioPinName exp_pin_name;
+};
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a single stmpe1600 GPIO expander input pin
+ */
+class Stmpe1600DigiIn
+{
+public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] inpinname the desired input pin name to be created
+ * @param[in] DevAddr the stmpe1600 I2C device addres (deft STMPE1600_DEF_DEVICE_ADDRESS)
+ */
+ Stmpe1600DigiIn(DevI2C &i2c, ExpGpioPinName in_pin_name,
+ uint8_t dev_addr = STMPE1600_DEF_DEVICE_ADDRESS) : dev_i2c(&i2c), exp_dev_addr(dev_addr),
+ exp_pin_name(in_pin_name)
+ {
+ uint8_t data[2];
+
+ if (exp_pin_name == NOT_CON)
+ return;
+ /* set the exp_pin_name as input pin direction */
+ dev_i2c->i2c_read(data, exp_dev_addr, GPDR_0_7, 2);
+ *(uint16_t *)data = *(uint16_t *)data & (uint16_t)(~(1 << (uint16_t)exp_pin_name)); // set gpio as in
+ dev_i2c->i2c_write(data, exp_dev_addr, GPDR_0_7, 2);
+ }
+
+ /**
+ * @brief Read the input pin
+ * @return The pin logical state 0 or 1
+ */
+ bool read()
+ {
+ uint8_t data[2];
+
+ if (exp_pin_name == NOT_CON)
+ return false;
+ /* read the exp_pin_name */
+ dev_i2c->i2c_read(data, exp_dev_addr, GPMR_0_7, 2);
+ *(uint16_t *)data = *(uint16_t *)data & (uint16_t)(1 << (uint16_t)exp_pin_name); // mask the in gpio
+ if (data[0] || data[1])
+ return true;
+ return false;
+ }
+
+ operator int()
+ {
+ return read();
+ }
+
+private:
+ DevI2C *dev_i2c;
+ uint8_t exp_dev_addr;
+ ExpGpioPinName exp_pin_name;
+};
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a whole stmpe1600 component (16 gpio)
+ */
+class Stmpe1600
+{
+
+public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] DevAddr the stmpe1600 I2C device addres (deft STMPE1600_DEF_DEVICE_ADDRESS)
+ */
+ Stmpe1600(DevI2C &i2c, uint8_t dev_addr = STMPE1600_DEF_DEVICE_ADDRESS) : dev_i2c(&i2c)
+ {
+ exp_dev_addr = dev_addr;
+ write_sys_ctrl(SOFT_RESET);
+
+ gpdr0_15 = (uint16_t) 0; // gpio dir all IN
+ write_16bit_reg(GPDR_0_7, &gpdr0_15);
+ gpsr0_15 = (uint16_t) 0x0ffff; // gpio status all 1
+ write_16bit_reg(GPSR_0_7, &gpsr0_15);
+ }
+
+ /**
+ * @brief Write the SYS_CTRL register
+ * @param[in] Data to be written (bit fields)
+ */
+ void write_sys_ctrl(uint8_t data) // data = SOFT_RESET reset the device
+ {
+ dev_i2c->i2c_write(&data, exp_dev_addr, SYS_CTRL, 1);
+ }
+
+ /**
+ * @brief Set the out pin
+ * @param[in] The pin name
+ * @return 0 on Success
+ */
+ bool set_gpio(ExpGpioPinName pin_name)
+ {
+ if (pin_name == NOT_CON)
+ return true;
+ gpsr0_15 = gpsr0_15 | ((uint16_t) 0x0001 << pin_name);
+ write_16bit_reg(GPSR_0_7, &gpsr0_15);
+ return false;
+ }
+
+ /**
+ * @brief Clear the out pin
+ * @param[in] The pin name
+ * @return 0 on Success
+ */
+ bool clear_gpio(ExpGpioPinName pin_name)
+ {
+ if (pin_name == NOT_CON)
+ return true;
+ gpsr0_15 = gpsr0_15 & (~((uint16_t) 0x0001 << pin_name));
+ write_16bit_reg(GPSR_0_7, &gpsr0_15);
+ return false;
+ }
+
+ /**
+ * @brief Read the input pin
+ * @param[in] The pin name
+ * @return The logical pin level
+ */
+ bool read_gpio(ExpGpioPinName pin_name)
+ {
+
+ uint16_t gpmr0_15;
+ if (pin_name == NOT_CON)
+ return true;
+ read_16bit_reg(GPMR_0_7, &gpmr0_15);
+ gpmr0_15 = gpmr0_15 & ((uint16_t) 0x0001 << pin_name);
+ if (gpmr0_15)
+ return true;
+ return false;
+ }
+
+ /**
+ * @brief Set the pin direction
+ * @param[in] The pin name
+ * @param[in] The pin direction
+ * @return 0 on success
+ */
+ bool set_gpio_dir(ExpGpioPinName pin_name, ExpGpioPinDirection pin_dir)
+ {
+
+ if (pin_name == NOT_CON || pin_dir == NOT_CONNECTED)
+ return true;
+ gpdr0_15 = gpdr0_15 & (~((uint16_t) 0x0001 << pin_name)); // clear the Pin
+ gpdr0_15 = gpdr0_15 | ((uint16_t) pin_dir << pin_name);
+ write_16bit_reg(GPDR_0_7, &gpdr0_15);
+ return false;
+ }
+
+ /**
+ * @brief Read a 16 bits register
+ * @param[in] The register address
+ * @param[in] The pointer to the read data
+ */
+ void read_16bit_reg(uint8_t reg16_addr, uint16_t *reg16_data)
+ {
+ dev_i2c->i2c_read((uint8_t *) reg16_data, exp_dev_addr, reg16_addr, 2);
+ }
+
+ /**
+ * @brief Write a 16 bits register
+ * @param[in] The register address
+ * @param[in] The pointer to the data to be written
+ */
+ void write_16bit_reg(uint8_t reg16_addr, uint16_t *reg16_data)
+ {
+ dev_i2c->i2c_write((uint8_t *) reg16_data, exp_dev_addr, reg16_addr, 2);
+ printf("##################################write_16bit_reg %d %d %d \n",reg16_addr,exp_dev_addr);
+ }
+
+private:
+ DevI2C *dev_i2c;
+ uint16_t gpdr0_15; // local copy of bit direction reg
+ uint16_t gpsr0_15; // local copy of bit status reg
+ uint8_t exp_dev_addr; // expander device i2c addr
+};
+
+#endif // __STMPE1600_CLASS
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_COMMON/DbgMCU/DbgMCU.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,64 @@
+/**
+ ******************************************************************************
+ * @file DbgMCU.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 30-March-2015
+ * @brief Header file for enabling debugging in sleep modes for STM32 MCUs
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __DBG_MCU_H
+#define __DBG_MCU_H
+
+/* Includes ------------------------------------------------------------------*/
+
+/* Classes -------------------------------------------------------------------*/
+/** Helper class DbgMCU providing a default constructor which enables debugging
+ * on STM32 MCUs while using sleep modes.
+ */
+class DbgMCU
+{
+ public:
+ /** Create a DbgMCU dummy object */
+ DbgMCU(void) {
+ /* the following code is NOT portable */
+ volatile uint32_t *dbgmcu_creg = (uint32_t*)0xE0042004;
+ uint32_t tmp = *dbgmcu_creg;
+
+ tmp &= ~(0xE7);
+ tmp |= 0x27; // Set asynchronous communication via DBGMCU_CR (for ITM/printf)
+ // tmp |= 0xE7; // Set 4-pin tracing via DBGMCU_CR (for ETM)
+ *dbgmcu_creg = tmp;
+ }
+};
+
+#endif /* __DBG_MCU_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_COMMON/DevI2C/DevI2C.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,122 @@
+/**
+ ******************************************************************************
+ * @file DevI2C.h
+ * @author AST / EST
+ * @version V1.1.0
+ * @date 21-January-2016
+ * @brief Header file for a special I2C class DevI2C which provides some
+ * helper function for on-board communication
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __DEV_I2C_H
+#define __DEV_I2C_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "pinmap.h"
+
+/* Classes -------------------------------------------------------------------*/
+/** Helper class DevI2C providing functions for multi-register I2C communication
+ * common for a series of I2C devices
+ */
+class DevI2C : public I2C
+{
+public:
+ /** Create a DevI2C Master interface, connected to the specified pins
+ *
+ * @param sda I2C data line pin
+ * @param scl I2C clock line pin
+ */
+ DevI2C(PinName sda, PinName scl) : I2C(sda, scl) {}
+
+ /**
+ * @brief Writes a buffer towards the I2C peripheral device.
+ * @param pBuffer pointer to the byte-array data to send
+ * @param DeviceAddr specifies the peripheral device slave address.
+ * @param RegisterAddr specifies the internal address register
+ * where to start writing to (must be correctly masked).
+ * @param NumByteToWrite number of bytes to be written.
+ * @retval 0 if ok,
+ * @retval -1 if an I2C error has occured, or
+ * @retval -2 on temporary buffer overflow (i.e. NumByteToWrite was too high)
+ * @note On some devices if NumByteToWrite is greater
+ * than one, the RegisterAddr must be masked correctly!
+ */
+ int i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
+ uint16_t NumByteToWrite) {
+ int ret;
+ uint8_t tmp[TEMP_BUF_SIZE];
+
+ if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
+
+ /* First, send device address. Then, send data and STOP condition */
+ tmp[0] = RegisterAddr;
+ memcpy(tmp+1, pBuffer, NumByteToWrite);
+
+ ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+1, false);
+
+ if(ret) return -1;
+ return 0;
+ }
+
+ /**
+ * @brief Reads a buffer from the I2C peripheral device.
+ * @param pBuffer pointer to the byte-array to read data in to
+ * @param DeviceAddr specifies the peripheral device slave address.
+ * @param RegisterAddr specifies the internal address register
+ * where to start reading from (must be correctly masked).
+ * @param NumByteToRead number of bytes to be read.
+ * @retval 0 if ok,
+ * @retval -1 if an I2C error has occured
+ * @note On some devices if NumByteToWrite is greater
+ * than one, the RegisterAddr must be masked correctly!
+ */
+ int i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
+ uint16_t NumByteToRead) {
+ int ret;
+
+ /* Send device address, with no STOP condition */
+ ret = write(DeviceAddr, (const char*)&RegisterAddr, 1, true);
+ if(!ret) {
+ /* Read data, with STOP condition */
+ ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
+ }
+
+ if(ret) return -1;
+ return 0;
+ }
+
+private:
+ static const unsigned int TEMP_BUF_SIZE = 256; //~~ was 32
+};
+
+#endif /* __DEV_I2C_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_COMMON/DevSPI/DevSPI.h Fri Oct 16 15:04:28 2020 +0000
@@ -0,0 +1,302 @@
+/**
+ ******************************************************************************
+ * @file DevSPI.h
+ * @author AST / Software Platforms and Cloud / EST
+ * @version V1.2.1
+ * @date 19-February-2016
+ * @brief Header file for a special SPI class DevSPI which provides some
+ * helper functions for on-board communication.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __DEV_SPI_H
+#define __DEV_SPI_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+
+/* Macros --------------------------------------------------------------------*/
+#if (defined(__BYTE_ORDER__) && (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__)) /* GCC */ || \
+ (defined(G_BYTE_ORDER) && (G_BYTE_ORDER == G_BIG_ENDIAN)) /* IAR */ || \
+ (defined(__BIG_ENDIAN)) /* ARM */
+#define __DEV_SPI_BIG_ENDIAN
+#endif
+
+/* Classes -------------------------------------------------------------------*/
+/** Helper class DevSPI providing functions for synchronous SPI communication
+ * common for a series of SPI devices.
+ */
+class DevSPI : public SPI
+{
+ public:
+ /*
+ * Create a DevSPI interface.
+ * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
+ * @param miso pin name of the MISO pin of the SPI device to be used for communication.
+ * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
+ */
+ DevSPI(PinName mosi, PinName miso, PinName sclk) : SPI(mosi, miso, sclk)
+ {
+ /* Set default configuration. */
+ setup(8, 3, 1E6);
+ }
+
+ /*
+ * Setup the spi.
+ * Typically:
+ * + 8 bit data;
+ * + high steady state clock;
+ * + second edge capture;
+ * + 1MHz clock rate.
+ *
+ * @param bits Number of bits per SPI frame (4 - 16)
+ * @param mode Clock polarity and phase mode (0 - 3)
+ * @param frequency_hz SCLK frequency in hz (default = 1MHz)
+ *
+ * @code
+ * mode | POL PHA
+ * -----+--------
+ * 0 | 0 0
+ * 1 | 0 1
+ * 2 | 1 0
+ * 3 | 1 1
+ * @endcode
+ */
+ void setup(int bits, int mode = 0, int frequency_hz = 1E6)
+ {
+ /* Set given configuration. */
+ format(bits, mode);
+ frequency(frequency_hz);
+ }
+
+ /**
+ * @brief Writes a buffer to the SPI peripheral device in 8-bit data mode
+ * using synchronous SPI communication.
+ * @param[in] pBuffer pointer to the buffer of data to send.
+ * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
+ * @param[in] NumBytesToWrite number of bytes to write.
+ * @retval 0 if ok.
+ * @retval -1 if data format error.
+ * @note When using the SPI in Interrupt-mode, remember to disable interrupts
+ * before calling this function and to enable them again after.
+ */
+ int spi_write(uint8_t* pBuffer, DigitalOut &ssel, uint16_t NumBytesToWrite)
+ {
+ /* Check data format */
+ if(_bits != 8) return -1;
+
+ /* Select the chip. */
+ ssel = 0;
+
+ /* Write data. */
+ for (int i = 0; i < NumBytesToWrite; i++) {
+ write(pBuffer[i]);
+ }
+
+ /* Unselect the chip. */
+ ssel = 1;
+
+ return 0;
+ }
+
+ /**
+ * @brief Reads a buffer from the SPI peripheral device in 8-bit data mode
+ * using synchronous SPI communication.
+ * @param[out] pBuffer pointer to the buffer to read data into.
+ * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
+ * @param[in] NumBytesToRead number of bytes to read.
+ * @retval 0 if ok.
+ * @retval -1 if data format error.
+ * @note When using the SPI in Interrupt-mode, remember to disable interrupts
+ * before calling this function and to enable them again after.
+ */
+ int spi_read(uint8_t* pBuffer, DigitalOut &ssel, uint16_t NumBytesToRead)
+ {
+ /* Check data format */
+ if(_bits != 8) return -1;
+
+ /* Select the chip. */
+ ssel = 0;
+
+ /* Read data. */
+ for (int i = 0; i < NumBytesToRead; i++) {
+ pBuffer[i] = write(0);
+ }
+
+ /* Unselect the chip. */
+ ssel = 1;
+
+ return 0;
+ }
+
+ /**
+ * @brief Reads and write a buffer from/to the SPI peripheral device at the same time
+ * in 8-bit data mode using synchronous SPI communication.
+ * @param[out] pBufferToRead pointer to the buffer to read data into.
+ * @param[in] pBufferToWrite pointer to the buffer of data to send.
+ * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
+ * @param[in] NumBytes number of bytes to read and write.
+ * @retval 0 if ok.
+ * @retval -1 if data format error.
+ * @note When using the SPI in Interrupt-mode, remember to disable interrupts
+ * before calling this function and to enable them again after.
+ */
+ int spi_read_write(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, DigitalOut &ssel, uint16_t NumBytes)
+ {
+ /* Check data format */
+ if(_bits != 8) return -1;
+
+ /* Select the chip. */
+ ssel = 0;
+
+ /* Read and write data at the same time. */
+ for (int i = 0; i < NumBytes; i++) {
+ pBufferToRead[i] = write(pBufferToWrite[i]);
+ }
+
+ /* Unselect the chip. */
+ ssel = 1;
+
+ return 0;
+ }
+
+ /**
+ * @brief Writes a buffer to the SPI peripheral device in 16-bit data mode
+ * using synchronous SPI communication.
+ * @param[in] pBuffer pointer to the buffer of data to send.
+ * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
+ * @param[in] NumValuesToWrite number of 16-bit values to write.
+ * @retval 0 if ok.
+ * @retval -1 if data format error.
+ * @note When using the SPI in Interrupt-mode, remember to disable interrupts
+ * before calling this function and to enable them again after.
+ * @note In order to guarantee this method to work correctly you have to
+ * pass buffers which are correctly aligned.
+ */
+ int spi_write(uint16_t* pBuffer, DigitalOut &ssel, uint16_t NumValuesToWrite)
+ {
+ /* Check data format */
+ if(_bits != 16) return -1;
+
+ /* Select the chip. */
+ ssel = 0;
+
+ /* Write data. */
+ for (int i = 0; i < NumValuesToWrite; i++) {
+ write(htons(pBuffer[i]));
+ }
+
+ /* Unselect the chip. */
+ ssel = 1;
+
+ return 0;
+ }
+
+ /**
+ * @brief Reads a buffer from the SPI peripheral device in 16-bit data mode
+ * using synchronous SPI communication.
+ * @param[out] pBuffer pointer to the buffer to read data into.
+ * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
+ * @param[in] NumValuesToRead number of 16-bit values to read.
+ * @retval 0 if ok.
+ * @retval -1 if data format error.
+ * @note When using the SPI in Interrupt-mode, remember to disable interrupts
+ * before calling this function and to enable them again after.
+ * @note In order to guarantee this method to work correctly you have to
+ * pass buffers which are correctly aligned.
+ */
+ int spi_read(uint16_t* pBuffer, DigitalOut &ssel, uint16_t NumValuesToRead)
+ {
+ /* Check data format */
+ if(_bits != 16) return -1;
+
+ /* Select the chip. */
+ ssel = 0;
+
+ /* Read data. */
+ for (int i = 0; i < NumValuesToRead; i++) {
+ pBuffer[i] = ntohs((uint16_t)write(0));
+ }
+
+ /* Unselect the chip. */
+ ssel = 1;
+
+ return 0;
+ }
+
+ /**
+ * @brief Reads and write a buffer from/to the SPI peripheral device at the same time
+ * in 16-bit data mode using synchronous SPI communication.
+ * @param[out] pBufferToRead pointer to the buffer to read data into.
+ * @param[in] pBufferToWrite pointer to the buffer of data to send.
+ * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
+ * @param[in] NumValues number of 16-bit values to read and write.
+ * @retval 0 if ok.
+ * @retval -1 if data format error.
+ * @note When using the SPI in Interrupt-mode, remember to disable interrupts
+ * before calling this function and to enable them again after.
+ * @note In order to guarantee this method to work correctly you have to
+ * pass buffers which are correctly aligned.
+ */
+ int spi_read_write(uint16_t* pBufferToRead, uint16_t* pBufferToWrite, DigitalOut &ssel, uint16_t NumValues)
+ {
+ /* Check data format */
+ if(_bits != 16) return -1;
+
+ /* Select the chip. */
+ ssel = 0;
+
+ /* Read and write data at the same time. */
+ for (int i = 0; i < NumValues; i++) {
+ pBufferToRead[i] = ntohs((uint16_t)write(htons(pBufferToWrite[i])));
+ }
+
+ /* Unselect the chip. */
+ ssel = 1;
+
+ return 0;
+ }
+
+protected:
+ inline uint16_t htons(uint16_t x) {
+#ifndef __DEV_SPI_BIG_ENDIAN
+ return (((x)<<8)|((x)>>8));
+#else // __DEV_SPI_BIG_ENDIAN
+ return (x);
+#endif // __DEV_SPI_BIG_ENDIAN
+ }
+
+ inline uint16_t ntohs(uint16_t x) {
+ return htons(x);
+ }
+};
+
+#endif /* __DEV_SPI_H */