ToF sensor code by Pololu translated from Arduino to mbed
Diff: VL53L1X.cpp
- Revision:
- 2:bb0cd79ef201
- Parent:
- 1:bc3ff1b884b3
- Child:
- 3:20f0c879da8c
--- a/VL53L1X.cpp Tue Jul 31 16:03:14 2018 +0000 +++ b/VL53L1X.cpp Wed Aug 01 01:30:49 2018 +0000 @@ -2,10 +2,10 @@ // provided by ST (STSW-IMG007), and some of the explanatory comments are quoted // or paraphrased from the API source code, API user manual (UM2356), and // VL53L1X datasheet. - + #include "VL53L1X.h" #include "mbed.h" - + // Constructors //////////////////////////////////////////////////////////////// VL53L1X::VL53L1X(PinName SDA, PinName SCL) : _i2c(SDA,SCL) @@ -24,39 +24,38 @@ : address(AddressDefault) { }*/ - + // Public Methods ////////////////////////////////////////////////////////////// - + void VL53L1X::setAddress(uint8_t new_addr) { writeReg(I2C_SLAVE__DEVICE_ADDRESS, new_addr & 0x7F); address = new_addr; } - + // Initialize sensor using settings taken mostly from VL53L1_DataInit() and // VL53L1_StaticInit(). // If io_2v8 (optional) is true or not given, the sensor is configured for 2V8 // mode. bool VL53L1X::init(bool io_2v8) { - t.start(); // check model ID and module type registers (values specified in datasheet) int tempRegister = readReg16Bit(IDENTIFICATION__MODEL_ID); printf("temporary %x\r\n", tempRegister); if (tempRegister != 0xEACC) { return false; } - + // VL53L1_software_reset() begin - + writeReg(SOFT_RESET, 0x00); wait(.001); writeReg(SOFT_RESET, 0x01); - + // VL53L1_poll_for_boot_completion() begin - + startTimeout(); - int firmware = (readReg(FIRMWARE__SYSTEM_STATUS)); + int firmware = (readReg16Bit(FIRMWARE__SYSTEM_STATUS)); printf("firmware : %x\r\n", firmware); while ((readReg(FIRMWARE__SYSTEM_STATUS) & 0x01) == 0) { @@ -68,40 +67,40 @@ } } // VL53L1_poll_for_boot_completion() end - + // VL53L1_software_reset() end - + // VL53L1_DataInit() begin - + // sensor uses 1V8 mode for I/O by default; switch to 2V8 mode if necessary if (io_2v8) { writeReg(PAD_I2C_HV__EXTSUP_CONFIG, readReg(PAD_I2C_HV__EXTSUP_CONFIG) | 0x01); } - + // store oscillator info for later use fast_osc_frequency = readReg16Bit(OSC_MEASURED__FAST_OSC__FREQUENCY); osc_calibrate_val = readReg16Bit(RESULT__OSC_CALIBRATE_VAL); - printf("fast_osc_frequency %d, osc_calibrate_val %d\r\n",fast_osc_frequency, osc_calibrate_val); + // VL53L1_DataInit() end - + // VL53L1_StaticInit() begin - + // Note that the API does not actually apply the configuration settings below // when VL53L1_StaticInit() is called: it keeps a copy of the sensor's // register contents in memory and doesn't actually write them until a // measurement is started. Writing the configuration here means we don't have // to keep it all in memory and avoids a lot of redundant writes later. - + // the API sets the preset mode to LOWPOWER_AUTONOMOUS here: // VL53L1_set_preset_mode() begin - + // VL53L1_preset_mode_standard_ranging() begin - + // values labeled "tuning parm default" are from vl53l1_tuning_parm_defaults.h // (API uses these in VL53L1_init_tuning_parm_storage_struct()) - + // static config // API resets PAD_I2C_HV__EXTSUP_CONFIG here, but maybe we don't want to do // that? (seems like it would disable 2V8 mode) @@ -113,55 +112,55 @@ writeReg(ALGO__RANGE_IGNORE_VALID_HEIGHT_MM, 0xFF); writeReg(ALGO__RANGE_MIN_CLIP, 0); // tuning parm default writeReg(ALGO__CONSISTENCY_CHECK__TOLERANCE, 2); // tuning parm default - + // general config writeReg16Bit(SYSTEM__THRESH_RATE_HIGH, 0x0000); writeReg16Bit(SYSTEM__THRESH_RATE_LOW, 0x0000); writeReg(DSS_CONFIG__APERTURE_ATTENUATION, 0x38); - + // timing config // most of these settings will be determined later by distance and timing // budget configuration writeReg16Bit(RANGE_CONFIG__SIGMA_THRESH, 360); // tuning parm default writeReg16Bit(RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, 192); // tuning parm default - + // dynamic config - + writeReg(SYSTEM__GROUPED_PARAMETER_HOLD_0, 0x01); writeReg(SYSTEM__GROUPED_PARAMETER_HOLD_1, 0x01); writeReg(SD_CONFIG__QUANTIFIER, 2); // tuning parm default - + // VL53L1_preset_mode_standard_ranging() end - + // from VL53L1_preset_mode_timed_ranging_* // GPH is 0 after reset, but writing GPH0 and GPH1 above seem to set GPH to 1, // and things don't seem to work if we don't set GPH back to 0 (which the API // does here). writeReg(SYSTEM__GROUPED_PARAMETER_HOLD, 0x00); writeReg(SYSTEM__SEED_CONFIG, 1); // tuning parm default - + // from VL53L1_config_low_power_auto_mode writeReg(SYSTEM__SEQUENCE_CONFIG, 0x8B); // VHV, PHASECAL, DSS1, RANGE writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 200 << 8); writeReg(DSS_CONFIG__ROI_MODE_CONTROL, 2); // REQUESTED_EFFFECTIVE_SPADS - + // VL53L1_set_preset_mode() end - + // default to long range, 50 ms timing budget // note that this is different than what the API defaults to - setDistanceMode(Long); + setDistanceMode(Short); setMeasurementTimingBudget(50000); - + // VL53L1_StaticInit() end - + // the API triggers this change in VL53L1_init_and_start_range() once a // measurement is started; assumes MM1 and MM2 are disabled writeReg16Bit(ALGO__PART_TO_PART_RANGE_OFFSET_MM, readReg16Bit(MM_CONFIG__OUTER_OFFSET_MM) * 4); - + return true; } - + // Write an 8-bit register void VL53L1X::writeReg(uint16_t registerAddr, uint8_t data) { @@ -182,8 +181,20 @@ _i2c.write(address, data_write, 4); } - + // Write a 32-bit register +/* +void VL53L1X::writeReg32Bit(uint16_t registerAddr, uint32_t data) +{ + char data_write[5]; + data_write[0] = (registerAddr >> 8) & 0xFF; //MSB of register address + data_write[1] = registerAddr & 0xFF; //LSB of register address + data_write[2] = (data >> 16) & 0xFF; + data_write[3] = (data >> 8) & 0xFF; + data_write[4] = data & 0xFF; + _i2c.write(address, data_write, 5); +} +*/ void VL53L1X::writeReg32Bit(uint16_t registerAddr, uint32_t data) { char data_write[6]; @@ -195,7 +206,8 @@ data_write[5] = data & 0xFF; _i2c.write(address, data_write, 6); } - + + // Read an 8-bit register uint8_t VL53L1X::readReg(uint16_t registerAddr) { @@ -233,80 +245,91 @@ uint32_t VL53L1X::readReg32Bit(uint16_t reg) { uint32_t value; - +/* + _i2c.beginTransmission(address); + _i2c.write((reg >> 8) & 0xFF); // reg high byte + _i2c.write( reg & 0xFF); // reg low byte + last_status = _i2c.endTransmission(); + + _i2c.requestFrom(address, (uint8_t)4); + value = (uint32_t)_i2c.read() << 24; // value highest byte + value |= (uint32_t)_i2c.read() << 16; + value |= (uint16_t)_i2c.read() << 8; + value |= _i2c.read(); // value lowest byte +*/ return value; } - + // set distance mode to Short, Medium, or Long // based on VL53L1_SetDistanceMode() bool VL53L1X::setDistanceMode(DistanceMode mode) { // save existing timing budget uint32_t budget_us = getMeasurementTimingBudget(); - switch (mode) { case Short: // from VL53L1_preset_mode_standard_ranging_short_range() - + // timing config writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x07); writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x05); writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0x38); - + // dynamic config writeReg(SD_CONFIG__WOI_SD0, 0x07); writeReg(SD_CONFIG__WOI_SD1, 0x05); writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 6); // tuning parm default writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 6); // tuning parm default - + break; - + case Medium: // from VL53L1_preset_mode_standard_ranging() - + // timing config writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0B); writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x09); writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0x78); - + // dynamic config writeReg(SD_CONFIG__WOI_SD0, 0x0B); writeReg(SD_CONFIG__WOI_SD1, 0x09); writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 10); // tuning parm default writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 10); // tuning parm default - + break; - + case Long: // long // from VL53L1_preset_mode_standard_ranging_long_range() - + // timing config writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F); writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D); writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8); - + // dynamic config writeReg(SD_CONFIG__WOI_SD0, 0x0F); writeReg(SD_CONFIG__WOI_SD1, 0x0D); writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 14); // tuning parm default writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 14); // tuning parm default - + break; - + default: // unrecognized mode - do nothing return false; } - + // reapply timing budget setMeasurementTimingBudget(budget_us); - + // save mode so it can be returned by getDistanceMode() distance_mode = mode; - + return true; } + // Set the measurement timing budget in microseconds, which is the time allowed // for one measurement. A longer timing budget allows for more accurate // measurements. @@ -314,28 +337,28 @@ bool VL53L1X::setMeasurementTimingBudget(uint32_t budget_us) { // assumes PresetMode is LOWPOWER_AUTONOMOUS - + if (budget_us <= TimingGuard) { return false; } - + uint32_t range_config_timeout_us = budget_us -= TimingGuard; if (range_config_timeout_us > 1100000) { return false; } // FDA_MAX_TIMING_BUDGET_US * 2 - + range_config_timeout_us /= 2; - + // VL53L1_calc_timeout_register_values() begin - + uint32_t macro_period_us; - + // "Update Macro Period for Range A VCSEL Period" macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_A)); - + // "Update Phase timeout - uses Timing A" // Timeout of 1000 is tuning parm default (TIMED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT) // via VL53L1_get_preset_mode_timing_cfg(). uint32_t phasecal_timeout_mclks = timeoutMicrosecondsToMclks(1000, macro_period_us); if (phasecal_timeout_mclks > 0xFF) { phasecal_timeout_mclks = 0xFF; } writeReg(PHASECAL_CONFIG__TIMEOUT_MACROP, phasecal_timeout_mclks); - + // "Update MM Timing A timeout" // Timeout of 1 is tuning parm default (LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US_DEFAULT) // via VL53L1_get_preset_mode_timing_cfg(). With the API, the register @@ -345,49 +368,49 @@ // mitigation"?) sequence steps are disabled in low power auto mode anyway. writeReg16Bit(MM_CONFIG__TIMEOUT_MACROP_A, encodeTimeout( timeoutMicrosecondsToMclks(1, macro_period_us))); - + // "Update Range Timing A timeout" writeReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_A, encodeTimeout( timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us))); - + // "Update Macro Period for Range B VCSEL Period" macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_B)); - + // "Update MM Timing B timeout" // (See earlier comment about MM Timing A timeout.) writeReg16Bit(MM_CONFIG__TIMEOUT_MACROP_B, encodeTimeout( timeoutMicrosecondsToMclks(1, macro_period_us))); - + // "Update Range Timing B timeout" writeReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_B, encodeTimeout( timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us))); // VL53L1_calc_timeout_register_values() end - + return true; } - + // Get the measurement timing budget in microseconds // based on VL53L1_SetMeasurementTimingBudgetMicroSeconds() uint32_t VL53L1X::getMeasurementTimingBudget() { // assumes PresetMode is LOWPOWER_AUTONOMOUS and these sequence steps are // enabled: VHV, PHASECAL, DSS1, RANGE - + // VL53L1_get_timeouts_us() begin - + // "Update Macro Period for Range A VCSEL Period" uint32_t macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_A)); - + // "Get Range Timing A timeout" - + uint32_t range_config_timeout_us = timeoutMclksToMicroseconds(decodeTimeout( readReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_A)), macro_period_us); - + // VL53L1_get_timeouts_us() end - + return 2 * range_config_timeout_us + TimingGuard; } - + // Start continuous ranging measurements, with the given inter-measurement // period in milliseconds determining how often the sensor takes a measurement. void VL53L1X::startContinuous(uint32_t period_ms) @@ -397,17 +420,17 @@ writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range writeReg(SYSTEM__MODE_START, 0x40); // mode_range__timed } - + // Stop continuous measurements // based on VL53L1_stop_range() void VL53L1X::stopContinuous() { writeReg(SYSTEM__MODE_START, 0x80); // mode_range__abort - + // VL53L1_low_power_auto_data_stop_range() begin - + calibrated = false; - + // "restore vhv configs" if (saved_vhv_init != 0) { @@ -417,26 +440,27 @@ { writeReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, saved_vhv_timeout); } - + // "remove phasecal override" writeReg(PHASECAL_CONFIG__OVERRIDE, 0x00); - + // VL53L1_low_power_auto_data_stop_range() end } - + // Returns a range reading in millimeters when continuous mode is active -// (readRangeSingleMillimeters() also calls this function after starting a +// (readRangeSingleMillimetersx () also calls this function after starting a // single-shot range measurement) uint16_t VL53L1X::read(bool blocking) { if (blocking) { startTimeout(); + + /* dataReady returns 0. Loop is never entered. */ while (dataReady()) { if (checkTimeoutExpired()) { - printf("i timed out\r\n"); did_timeout = true; ranging_data.range_status = None; ranging_data.range_mm = 0; @@ -446,23 +470,24 @@ } } } + readResults(); - + if (!calibrated) { setupManualCalibration(); calibrated = true; } - + updateDSS(); - + getRangingData(); - + writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range - + return ranging_data.range_mm; } - + // convert a RangeStatus to a readable string // Note that on an AVR, these strings are stored in RAM (dynamic memory), which // makes working with them easier but uses up 200+ bytes of RAM (many AVR-based @@ -474,45 +499,45 @@ { case RangeValid: return "range valid"; - + case SigmaFail: return "sigma fail"; - + case SignalFail: return "signal fail"; - + case RangeValidMinRangeClipped: return "range valid, min range clipped"; - + case OutOfBoundsFail: return "out of bounds fail"; - + case HardwareFail: return "hardware fail"; - + case RangeValidNoWrapCheckFail: return "range valid, no wrap check fail"; - + case WrapTargetFail: return "wrap target fail"; - + case XtalkSignalFail: return "xtalk signal fail"; - + case SynchronizationInt: return "synchronization int"; - + case MinRangeFail: return "min range fail"; - + case None: return "no update"; - + default: return "unknown status"; } } - + // Did a timeout occur in one of the read functions since the last call to // timeoutOccurred()? bool VL53L1X::timeoutOccurred() @@ -521,9 +546,9 @@ did_timeout = false; return tmp; } - + // Private Methods ///////////////////////////////////////////////////////////// - + // "Setup ranges after the first one in low power auto mode by turning off // FW calibration steps and programming static values" // based on VL53L1_low_power_auto_setup_manual_calibration() @@ -532,122 +557,127 @@ // "save original vhv configs" saved_vhv_init = readReg(VHV_CONFIG__INIT); saved_vhv_timeout = readReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND); - + // "disable VHV init" writeReg(VHV_CONFIG__INIT, saved_vhv_init & 0x7F); - + // "set loop bound to tuning param" writeReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, (saved_vhv_timeout & 0x03) + (3 << 2)); // tuning parm default (LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT) - + // "override phasecal" writeReg(PHASECAL_CONFIG__OVERRIDE, 0x01); writeReg(CAL_CONFIG__VCSEL_START, readReg(PHASECAL_RESULT__VCSEL_START)); } - + // read measurement results into buffer void VL53L1X::readResults() { -// char infoToWrite[2]; - char infoToRead[17]; + char infoToWrite[2]; + char infoToRead[18]; //_i2c.beginTransmission(address); - char data_write[2]; - data_write[0] = (RESULT__RANGE_STATUS >> 8) & 0xFF; //MSB of register address - data_write[1] = RESULT__RANGE_STATUS & 0xFF; //LSB of register address - - _i2c.write(address, data_write, 2); - + //_i2c.write(address); + //_i2c.write((RESULT__RANGE_STATUS >> 8) & 0xFF); // reg high byte + //_i2c.write( RESULT__RANGE_STATUS & 0xFF); // reg low byte +// last_status = _i2c.endTransmission(); + infoToWrite[0] = ((RESULT__RANGE_STATUS >> 8) & 0xFF); + infoToWrite[1] = ( RESULT__RANGE_STATUS & 0xFF); + _i2c.write(address, infoToWrite, 2, 1); + +// _i2c.requestFrom(address, (uint8_t)17); _i2c.read(address, infoToRead, 17, 0); + + wait(.04); results.range_status = infoToRead[0]; - + // infoToRead[1]; // report_status: not used - + results.stream_count = infoToRead[2]; - + results.dss_actual_effective_spads_sd0 = (uint16_t)infoToRead[3] << 8; // high byte results.dss_actual_effective_spads_sd0 |= infoToRead[4]; // low byte - + // infoToRead[5]; // peak_signal_count_rate_mcps_sd0: not used // infoToRead[6]; - + results.ambient_count_rate_mcps_sd0 = (uint16_t)infoToRead[7] << 8; // high byte results.ambient_count_rate_mcps_sd0 |= infoToRead[8]; // low byte - + // infoToRead[9]; // sigma_sd0: not used // infoToRead[10]; - + // infoToRead[11]; // phase_sd0: not used // infoToRead[12]; - + results.final_crosstalk_corrected_range_mm_sd0 = (uint16_t)infoToRead[13] << 8; // high byte results.final_crosstalk_corrected_range_mm_sd0 |= infoToRead[14]; // low byte - + results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = (uint16_t)infoToRead[15] << 8; // high byte results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 |= infoToRead[16]; // low byte } - + // perform Dynamic SPAD Selection calculation/update // based on VL53L1_low_power_auto_update_DSS() void VL53L1X::updateDSS() { uint16_t spadCount = results.dss_actual_effective_spads_sd0; - + if (spadCount != 0) { // "Calc total rate per spad" - + uint32_t totalRatePerSpad = (uint32_t)results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 + results.ambient_count_rate_mcps_sd0; - + // "clip to 16 bits" if (totalRatePerSpad > 0xFFFF) { totalRatePerSpad = 0xFFFF; } - + // "shift up to take advantage of 32 bits" totalRatePerSpad <<= 16; - + totalRatePerSpad /= spadCount; - + if (totalRatePerSpad != 0) { // "get the target rate and shift up by 16" uint32_t requiredSpads = ((uint32_t)TargetRate << 16) / totalRatePerSpad; - + // "clip to 16 bit" if (requiredSpads > 0xFFFF) { requiredSpads = 0xFFFF; } - + // "override DSS config" writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, requiredSpads); // DSS_CONFIG__ROI_MODE_CONTROL should already be set to REQUESTED_EFFFECTIVE_SPADS - + return; } } - + // If we reached this point, it means something above would have resulted in a // divide by zero. // "We want to gracefully set a spad target, not just exit with an error" - + // "set target to mid point" writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 0x8000); } - + // get range, status, rates from results buffer // based on VL53L1_GetRangingMeasurementData() void VL53L1X::getRangingData() { // VL53L1_copy_sys_and_core_results_to_range_results() begin - + uint16_t range = results.final_crosstalk_corrected_range_mm_sd0; - + // "apply correction gain" // gain factor of 2011 is tuning parm default (VL53L1_TUNINGPARM_LITE_RANGING_GAIN_FACTOR_DEFAULT) // Basically, this appears to scale the result by 2011/2048, or about 98% // (with the 1024 added for proper rounding). ranging_data.range_mm = ((uint32_t)range * 2011 + 0x0400) / 0x0800; - + wait(.01); // VL53L1_copy_sys_and_core_results_to_range_results() end - + // set range_status in ranging_data based on value of RESULT__RANGE_STATUS register // mostly based on ConvertStatusLite() switch(results.range_status) @@ -659,40 +689,40 @@ // from SetSimpleData() ranging_data.range_status = HardwareFail; break; - + case 13: // USERROICLIP // from SetSimpleData() ranging_data.range_status = MinRangeFail; break; - + case 18: // GPHSTREAMCOUNT0READY ranging_data.range_status = SynchronizationInt; break; - + case 5: // RANGEPHASECHECK ranging_data.range_status = OutOfBoundsFail; break; - + case 4: // MSRCNOTARGET ranging_data.range_status = SignalFail; break; - + case 6: // SIGMATHRESHOLDCHECK ranging_data.range_status = SignalFail; break; - + case 7: // PHASECONSISTENCY ranging_data.range_status = WrapTargetFail; break; - + case 12: // RANGEIGNORETHRESHOLD ranging_data.range_status = XtalkSignalFail; break; - + case 8: // MINCLIP ranging_data.range_status = RangeValidMinRangeClipped; break; - + case 9: // RANGECOMPLETE // from VL53L1_copy_sys_and_core_results_to_range_results() if (results.stream_count == 0) @@ -704,49 +734,49 @@ ranging_data.range_status = RangeValid; } break; - + default: ranging_data.range_status = None; } - + // from SetSimpleData() ranging_data.peak_signal_count_rate_MCPS = countRateFixedToFloat(results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0); ranging_data.ambient_count_rate_MCPS = countRateFixedToFloat(results.ambient_count_rate_mcps_sd0); } - + // Decode sequence step timeout in MCLKs from register value // based on VL53L1_decode_timeout() uint32_t VL53L1X::decodeTimeout(uint16_t reg_val) { return ((uint32_t)(reg_val & 0xFF) << (reg_val >> 8)) + 1; } - + // Encode sequence step timeout register value from timeout in MCLKs // based on VL53L1_encode_timeout() uint16_t VL53L1X::encodeTimeout(uint32_t timeout_mclks) { // encoded format: "(LSByte * 2^MSByte) + 1" - + 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 >>= 1; ms_byte++; } - + return (ms_byte << 8) | (ls_byte & 0xFF); } else { return 0; } } - + // Convert sequence step timeout from macro periods to microseconds with given // macro period in microseconds (12.12 format) // based on VL53L1_calc_timeout_us() @@ -754,7 +784,7 @@ { return ((uint64_t)timeout_mclks * macro_period_us + 0x800) >> 12; } - + // Convert sequence step timeout from microseconds to macro periods with given // macro period in microseconds (12.12 format) // based on VL53L1_calc_timeout_mclks() @@ -762,7 +792,7 @@ { return (((uint32_t)timeout_us << 12) + (macro_period_us >> 1)) / macro_period_us; } - + // Calculate macro period in microseconds (12.12 format) with given VCSEL period // assumes fast_osc_frequency has been read and stored // based on VL53L1_calc_macro_period_us() @@ -771,15 +801,15 @@ // from VL53L1_calc_pll_period_us() // fast osc frequency in 4.12 format; PLL period in 0.24 format uint32_t pll_period_us = ((uint32_t)0x01 << 30) / fast_osc_frequency; - + // from VL53L1_decode_vcsel_period() uint8_t vcsel_period_pclks = (vcsel_period + 1) << 1; - + // VL53L1_MACRO_PERIOD_VCSEL_PERIODS = 2304 uint32_t macro_period_us = (uint32_t)2304 * pll_period_us; macro_period_us >>= 6; macro_period_us *= vcsel_period_pclks; macro_period_us >>= 6; - + return macro_period_us; } \ No newline at end of file