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X_NUCLEO_53L0A1
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X_NUCLEO_53L0A1
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ST
Revision 17:f8187a3fa36e, committed 2017-10-10
- Comitter:
- nikapov
- Date:
- Tue Oct 10 08:48:41 2017 +0000
- Parent:
- 16:27d3d95c8593
- Child:
- 18:2413acea538f
- Commit message:
- Support external component.
Changed in this revision
--- a/Components/Display/Display.h Tue Aug 22 14:39:51 2017 +0000
+++ b/Components/Display/Display.h Tue Oct 10 08:48:41 2017 +0000
@@ -324,33 +324,33 @@
class Display
{
private:
- Stmpe1600 &stmpe1600_exp0;
- Stmpe1600 &stmpe1600_exp1;
+ Stmpe1600 *stmpe1600_exp0;
+ Stmpe1600 *stmpe1600_exp1;
public:
/** Constructor
* @param[in] &stmpe_1600 device handler to be used for display control
*/
- Display(Stmpe1600 &stmpe_1600_exp0, Stmpe1600 &stmpe_1600_exp1) : stmpe1600_exp0(stmpe_1600_exp0),
+ Display(Stmpe1600 *stmpe_1600_exp0, Stmpe1600 *stmpe_1600_exp1) : stmpe1600_exp0(stmpe_1600_exp0),
stmpe1600_exp1(stmpe_1600_exp1)
{
uint16_t expander_data;
// detect the extenders
- stmpe1600_exp0.read_16bit_reg(0x00, &expander_data);
+ 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);
+ 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);
+ 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);
+ 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);
+ stmpe1600_exp0->write_16bit_reg(GPSR, &expander_data);
+ stmpe1600_exp1->write_16bit_reg(GPSR, &expander_data);
}
/*** Interface Methods ***/
@@ -386,10 +386,10 @@
// 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);
+ 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);
+ stmpe1600_exp1->write_16bit_reg(GPSR, &expander_data);
}
@@ -398,8 +398,8 @@
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);
+ stmpe1600_exp0->write_16bit_reg(GPSR, &expander_data);
+ stmpe1600_exp1->write_16bit_reg(GPSR, &expander_data);
}
};
--- a/Components/STMPE1600/Stmpe1600.h Tue Aug 22 14:39:51 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,339 +0,0 @@
-/**
- ******************************************************************************
- * @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/Components/VL53L0X.lib Tue Oct 10 08:48:41 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/ST/code/VL53L0X/#834986cdde0a
--- a/Components/VL53L0X/VL53L0X.cpp Tue Aug 22 14:39:51 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,5492 +0,0 @@
-/**
- ******************************************************************************
- * @file VL53L0X_class.cpp
- * @author IMG
- * @version V0.0.1
- * @date 28-June-2016
- * @brief Implementation file for the VL53L0X driver class
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
-*/
-
-/* Includes */
-#include <stdlib.h>
-
-#include "VL53L0X.h"
-
-//#include "VL53L0X_api_core.h"
-//#include "VL53L0X_api_calibration.h"
-//#include "VL53L0X_api_strings.h"
-#include "VL53L0X_interrupt_threshold_settings.h"
-#include "VL53L0X_tuning.h"
-#include "VL53L0X_types.h"
-
-
-/****************** define for i2c configuration *******************************/
-
-#define TEMP_BUF_SIZE 64
-
-/** Maximum buffer size to be used in i2c */
-#define VL53L0X_MAX_I2C_XFER_SIZE 64 /* Maximum buffer size to be used in i2c */
-#define VL53L0X_I2C_USER_VAR /* none but could be for a flag var to get/pass to mutex interruptible return flags and try again */
-
-
-#define LOG_FUNCTION_START(fmt, ...) \
- _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__)
-#define LOG_FUNCTION_END(status, ...) \
- _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__)
-#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
- _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__)
-
-#ifdef VL53L0X_LOG_ENABLE
-#define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \
- level, TRACE_FUNCTION_NONE, ##__VA_ARGS__)
-#endif
-
-#define REF_ARRAY_SPAD_0 0
-#define REF_ARRAY_SPAD_5 5
-#define REF_ARRAY_SPAD_10 10
-
-uint32_t refArrayQuadrants[4] = {REF_ARRAY_SPAD_10, REF_ARRAY_SPAD_5,
- REF_ARRAY_SPAD_0, REF_ARRAY_SPAD_5
- };
-
-
-
-
-VL53L0X_Error VL53L0X::VL53L0X_device_read_strobe(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t strobe;
- uint32_t loop_nb;
- LOG_FUNCTION_START("");
-
- status |= VL53L0X_write_byte(dev, 0x83, 0x00);
-
- /* polling
- * use timeout to avoid deadlock*/
- if (status == VL53L0X_ERROR_NONE) {
- loop_nb = 0;
- do {
- status = VL53L0X_read_byte(dev, 0x83, &strobe);
- if ((strobe != 0x00) || status != VL53L0X_ERROR_NONE) {
- break;
- }
-
- loop_nb = loop_nb + 1;
- } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
-
- if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
- status = VL53L0X_ERROR_TIME_OUT;
- }
- }
-
- status |= VL53L0X_write_byte(dev, 0x83, 0x01);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_info_from_device(VL53L0X_DEV dev, uint8_t option)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t byte;
- uint32_t tmp_dword;
- uint8_t module_id;
- uint8_t revision;
- uint8_t reference_spad_count = 0;
- uint8_t reference_spad_type = 0;
- uint32_t part_uid_upper = 0;
- uint32_t part_uid_lower = 0;
- uint32_t offset_fixed1104_mm = 0;
- int16_t offset_micro_meters = 0;
- uint32_t dist_meas_tgt_fixed1104_mm = 400 << 4;
- uint32_t dist_meas_fixed1104_400_mm = 0;
- uint32_t signal_rate_meas_fixed1104_400_mm = 0;
- char product_id[19];
- char *product_id_tmp;
- uint8_t read_data_from_device_done;
- FixPoint1616_t signal_rate_meas_fixed400_mm_fix = 0;
- uint8_t nvm_ref_good_spad_map[VL53L0X_REF_SPAD_BUFFER_SIZE];
- int i;
-
-
- LOG_FUNCTION_START("");
-
- read_data_from_device_done = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
- ReadDataFromDeviceDone);
-
- /* This access is done only once after that a GetDeviceInfo or
- * datainit is done*/
- if (read_data_from_device_done != 7) {
-
- status |= VL53L0X_write_byte(dev, 0x80, 0x01);
- status |= VL53L0X_write_byte(dev, 0xFF, 0x01);
- status |= VL53L0X_write_byte(dev, 0x00, 0x00);
-
- status |= VL53L0X_write_byte(dev, 0xFF, 0x06);
- status |= VL53L0X_read_byte(dev, 0x83, &byte);
- status |= VL53L0X_write_byte(dev, 0x83, byte | 4);
- status |= VL53L0X_write_byte(dev, 0xFF, 0x07);
- status |= VL53L0X_write_byte(dev, 0x81, 0x01);
-
- status |= VL53L0X_polling_delay(dev);
-
- status |= VL53L0X_write_byte(dev, 0x80, 0x01);
-
- if (((option & 1) == 1) &&
- ((read_data_from_device_done & 1) == 0)) {
- status |= VL53L0X_write_byte(dev, 0x94, 0x6b);
- status |= VL53L0X_device_read_strobe(dev);
- status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
-
- reference_spad_count = (uint8_t)((tmp_dword >> 8) & 0x07f);
- reference_spad_type = (uint8_t)((tmp_dword >> 15) & 0x01);
-
- status |= VL53L0X_write_byte(dev, 0x94, 0x24);
- status |= VL53L0X_device_read_strobe(dev);
- status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
-
-
- nvm_ref_good_spad_map[0] = (uint8_t)((tmp_dword >> 24)
- & 0xff);
- nvm_ref_good_spad_map[1] = (uint8_t)((tmp_dword >> 16)
- & 0xff);
- nvm_ref_good_spad_map[2] = (uint8_t)((tmp_dword >> 8)
- & 0xff);
- nvm_ref_good_spad_map[3] = (uint8_t)(tmp_dword & 0xff);
-
- status |= VL53L0X_write_byte(dev, 0x94, 0x25);
- status |= VL53L0X_device_read_strobe(dev);
- status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
-
- nvm_ref_good_spad_map[4] = (uint8_t)((tmp_dword >> 24)
- & 0xff);
- nvm_ref_good_spad_map[5] = (uint8_t)((tmp_dword >> 16)
- & 0xff);
- }
-
- if (((option & 2) == 2) &&
- ((read_data_from_device_done & 2) == 0)) {
-
- status |= VL53L0X_write_byte(dev, 0x94, 0x02);
- status |= VL53L0X_device_read_strobe(dev);
- status |= VL53L0X_read_byte(dev, 0x90, &module_id);
-
- status |= VL53L0X_write_byte(dev, 0x94, 0x7B);
- status |= VL53L0X_device_read_strobe(dev);
- status |= VL53L0X_read_byte(dev, 0x90, &revision);
-
- status |= VL53L0X_write_byte(dev, 0x94, 0x77);
- status |= VL53L0X_device_read_strobe(dev);
- status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
-
- product_id[0] = (char)((tmp_dword >> 25) & 0x07f);
- product_id[1] = (char)((tmp_dword >> 18) & 0x07f);
- product_id[2] = (char)((tmp_dword >> 11) & 0x07f);
- product_id[3] = (char)((tmp_dword >> 4) & 0x07f);
-
- byte = (uint8_t)((tmp_dword & 0x00f) << 3);
-
- status |= VL53L0X_write_byte(dev, 0x94, 0x78);
- status |= VL53L0X_device_read_strobe(dev);
- status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
-
- product_id[4] = (char)(byte +
- ((tmp_dword >> 29) & 0x07f));
- product_id[5] = (char)((tmp_dword >> 22) & 0x07f);
- product_id[6] = (char)((tmp_dword >> 15) & 0x07f);
- product_id[7] = (char)((tmp_dword >> 8) & 0x07f);
- product_id[8] = (char)((tmp_dword >> 1) & 0x07f);
-
- byte = (uint8_t)((tmp_dword & 0x001) << 6);
-
- status |= VL53L0X_write_byte(dev, 0x94, 0x79);
-
- status |= VL53L0X_device_read_strobe(dev);
-
- status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
-
- product_id[9] = (char)(byte +
- ((tmp_dword >> 26) & 0x07f));
- product_id[10] = (char)((tmp_dword >> 19) & 0x07f);
- product_id[11] = (char)((tmp_dword >> 12) & 0x07f);
- product_id[12] = (char)((tmp_dword >> 5) & 0x07f);
-
- byte = (uint8_t)((tmp_dword & 0x01f) << 2);
-
- status |= VL53L0X_write_byte(dev, 0x94, 0x7A);
-
- status |= VL53L0X_device_read_strobe(dev);
-
- status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
-
- product_id[13] = (char)(byte +
- ((tmp_dword >> 30) & 0x07f));
- product_id[14] = (char)((tmp_dword >> 23) & 0x07f);
- product_id[15] = (char)((tmp_dword >> 16) & 0x07f);
- product_id[16] = (char)((tmp_dword >> 9) & 0x07f);
- product_id[17] = (char)((tmp_dword >> 2) & 0x07f);
- product_id[18] = '\0';
-
- }
-
- if (((option & 4) == 4) &&
- ((read_data_from_device_done & 4) == 0)) {
-
- status |= VL53L0X_write_byte(dev, 0x94, 0x7B);
- status |= VL53L0X_device_read_strobe(dev);
- status |= VL53L0X_read_dword(dev, 0x90, &part_uid_upper);
-
- status |= VL53L0X_write_byte(dev, 0x94, 0x7C);
- status |= VL53L0X_device_read_strobe(dev);
- status |= VL53L0X_read_dword(dev, 0x90, &part_uid_lower);
-
- status |= VL53L0X_write_byte(dev, 0x94, 0x73);
- status |= VL53L0X_device_read_strobe(dev);
- status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
-
- signal_rate_meas_fixed1104_400_mm = (tmp_dword &
- 0x0000000ff) << 8;
-
- status |= VL53L0X_write_byte(dev, 0x94, 0x74);
- status |= VL53L0X_device_read_strobe(dev);
- status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
-
- signal_rate_meas_fixed1104_400_mm |= ((tmp_dword &
- 0xff000000) >> 24);
-
- status |= VL53L0X_write_byte(dev, 0x94, 0x75);
- status |= VL53L0X_device_read_strobe(dev);
- status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
-
- dist_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff)
- << 8;
-
- status |= VL53L0X_write_byte(dev, 0x94, 0x76);
- status |= VL53L0X_device_read_strobe(dev);
- status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
-
- dist_meas_fixed1104_400_mm |= ((tmp_dword & 0xff000000)
- >> 24);
- }
-
- status |= VL53L0X_write_byte(dev, 0x81, 0x00);
- status |= VL53L0X_write_byte(dev, 0xFF, 0x06);
- status |= VL53L0X_read_byte(dev, 0x83, &byte);
- status |= VL53L0X_write_byte(dev, 0x83, byte & 0xfb);
- status |= VL53L0X_write_byte(dev, 0xFF, 0x01);
- status |= VL53L0X_write_byte(dev, 0x00, 0x01);
-
- status |= VL53L0X_write_byte(dev, 0xFF, 0x00);
- status |= VL53L0X_write_byte(dev, 0x80, 0x00);
- }
-
- if ((status == VL53L0X_ERROR_NONE) &&
- (read_data_from_device_done != 7)) {
- /* Assign to variable if status is ok */
- if (((option & 1) == 1) &&
- ((read_data_from_device_done & 1) == 0)) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadCount, reference_spad_count);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadType, reference_spad_type);
-
- for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) {
- dev->Data.SpadData.RefGoodSpadMap[i] =
- nvm_ref_good_spad_map[i];
- }
- }
-
- if (((option & 2) == 2) &&
- ((read_data_from_device_done & 2) == 0)) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- ModuleId, module_id);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- Revision, revision);
-
- product_id_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
- ProductId);
- VL53L0X_COPYSTRING(product_id_tmp, product_id);
-
- }
-
- if (((option & 4) == 4) &&
- ((read_data_from_device_done & 4) == 0)) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- PartUIDUpper, part_uid_upper);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- PartUIDLower, part_uid_lower);
-
- signal_rate_meas_fixed400_mm_fix =
- VL53L0X_FIXPOINT97TOFIXPOINT1616(
- signal_rate_meas_fixed1104_400_mm);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- SignalRateMeasFixed400mm,
- signal_rate_meas_fixed400_mm_fix);
-
- offset_micro_meters = 0;
- if (dist_meas_fixed1104_400_mm != 0) {
- offset_fixed1104_mm =
- dist_meas_fixed1104_400_mm -
- dist_meas_tgt_fixed1104_mm;
- offset_micro_meters = (offset_fixed1104_mm
- * 1000) >> 4;
- offset_micro_meters *= -1;
- }
-
- PALDevDataSet(dev,
- Part2PartOffsetAdjustmentNVMMicroMeter,
- offset_micro_meters);
- }
- byte = (uint8_t)(read_data_from_device_done | option);
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev, ReadDataFromDeviceDone,
- byte);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t *p_offset_calibration_data_micro_meter)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t range_offset_register;
- int16_t c_max_offset = 2047;
- int16_t c_offset_range = 4096;
-
- /* Note that offset has 10.2 format */
-
- status = VL53L0X_read_word(dev,
- VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
- &range_offset_register);
-
- if (status == VL53L0X_ERROR_NONE) {
- range_offset_register = (range_offset_register & 0x0fff);
-
- /* Apply 12 bit 2's compliment conversion */
- if (range_offset_register > c_max_offset) {
- *p_offset_calibration_data_micro_meter =
- (int16_t)(range_offset_register - c_offset_range)
- * 250;
- } else {
- *p_offset_calibration_data_micro_meter =
- (int16_t)range_offset_register * 250;
- }
-
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t *p_offset_calibration_data_micro_meter)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_VL53L0X_get_offset_calibration_data_micro_meter(dev,
- p_offset_calibration_data_micro_meter);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t offset_calibration_data_micro_meter)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- int32_t c_max_offset_micro_meter = 511000;
- int32_t c_min_offset_micro_meter = -512000;
- int16_t c_offset_range = 4096;
- uint32_t encoded_offset_val;
-
- LOG_FUNCTION_START("");
-
- if (offset_calibration_data_micro_meter > c_max_offset_micro_meter) {
- offset_calibration_data_micro_meter = c_max_offset_micro_meter;
- } else {
- if (offset_calibration_data_micro_meter < c_min_offset_micro_meter) {
- offset_calibration_data_micro_meter = c_min_offset_micro_meter;
- }
- }
-
- /* The offset register is 10.2 format and units are mm
- * therefore conversion is applied by a division of
- * 250.
- */
- if (offset_calibration_data_micro_meter >= 0) {
- encoded_offset_val =
- offset_calibration_data_micro_meter / 250;
- } else {
- encoded_offset_val =
- c_offset_range +
- offset_calibration_data_micro_meter / 250;
- }
-
- status = VL53L0X_write_word(dev,
- VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
- encoded_offset_val);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t offset_calibration_data_micro_meter)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_VL53L0X_set_offset_calibration_data_micro_meter(dev,
- offset_calibration_data_micro_meter);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_apply_offset_adjustment(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- int32_t corrected_offset_micro_meters;
- int32_t current_offset_micro_meters;
-
- /* if we run on this function we can read all the NVM info
- * used by the API */
- status = VL53L0X_get_info_from_device(dev, 7);
-
- /* Read back current device offset */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_offset_calibration_data_micro_meter(dev,
- ¤t_offset_micro_meters);
- }
-
- /* Apply Offset Adjustment derived from 400mm measurements */
- if (status == VL53L0X_ERROR_NONE) {
-
- /* Store initial device offset */
- PALDevDataSet(dev, Part2PartOffsetNVMMicroMeter,
- current_offset_micro_meters);
-
- corrected_offset_micro_meters = current_offset_micro_meters +
- (int32_t)PALDevDataGet(dev,
- Part2PartOffsetAdjustmentNVMMicroMeter);
-
- status = VL53L0X_set_offset_calibration_data_micro_meter(dev,
- corrected_offset_micro_meters);
-
- /* store current, adjusted offset */
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETPARAMETERFIELD(dev, RangeOffsetMicroMeters,
- corrected_offset_micro_meters);
- }
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_device_mode(VL53L0X_DEV dev,
- VL53L0X_DeviceModes *p_device_mode)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- VL53L0X_GETPARAMETERFIELD(dev, DeviceMode, *p_device_mode);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_inter_measurement_period_milli_seconds(VL53L0X_DEV dev,
- uint32_t *p_inter_measurement_period_milli_seconds)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t osc_calibrate_val;
- uint32_t im_period_milli_seconds;
-
- LOG_FUNCTION_START("");
-
- status = VL53L0X_read_word(dev, VL53L0X_REG_OSC_CALIBRATE_VAL,
- &osc_calibrate_val);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_dword(dev,
- VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
- &im_period_milli_seconds);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (osc_calibrate_val != 0) {
- *p_inter_measurement_period_milli_seconds =
- im_period_milli_seconds / osc_calibrate_val;
- }
- VL53L0X_SETPARAMETERFIELD(dev,
- InterMeasurementPeriodMilliSeconds,
- *p_inter_measurement_period_milli_seconds);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_rate_mega_cps(VL53L0X_DEV dev,
- FixPoint1616_t *p_xtalk_compensation_rate_mega_cps)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t value;
- FixPoint1616_t temp_fix1616;
-
- LOG_FUNCTION_START("");
-
- status = VL53L0X_read_word(dev,
- VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&value);
- if (status == VL53L0X_ERROR_NONE) {
- if (value == 0) {
- /* the Xtalk is disabled return value from memory */
- VL53L0X_GETPARAMETERFIELD(dev,
- XTalkCompensationRateMegaCps, temp_fix1616);
- *p_xtalk_compensation_rate_mega_cps = temp_fix1616;
- VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationEnable,
- 0);
- } else {
- temp_fix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(value);
- *p_xtalk_compensation_rate_mega_cps = temp_fix1616;
- VL53L0X_SETPARAMETERFIELD(dev,
- XTalkCompensationRateMegaCps, temp_fix1616);
- VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationEnable,
- 1);
- }
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
- FixPoint1616_t *p_limit_check_value)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t enable_zero_value = 0;
- uint16_t temp16;
- FixPoint1616_t temp_fix1616;
-
- LOG_FUNCTION_START("");
-
- switch (limit_check_id) {
-
- case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
- /* internal computation: */
- VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, temp_fix1616);
- enable_zero_value = 0;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
- status = VL53L0X_read_word(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- &temp16);
- if (status == VL53L0X_ERROR_NONE)
- temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16);
-
-
- enable_zero_value = 1;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
- /* internal computation: */
- VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, temp_fix1616);
- enable_zero_value = 0;
- break;
-
- case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
- /* internal computation: */
- VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, temp_fix1616);
- enable_zero_value = 0;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
- status = VL53L0X_read_word(dev,
- VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
- &temp16);
- if (status == VL53L0X_ERROR_NONE)
- temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16);
-
-
- enable_zero_value = 0;
- break;
-
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
-
- }
-
- if (status == VL53L0X_ERROR_NONE) {
-
- if (enable_zero_value == 1) {
-
- if (temp_fix1616 == 0) {
- /* disabled: return value from memory */
- VL53L0X_GETARRAYPARAMETERFIELD(dev,
- LimitChecksValue, limit_check_id,
- temp_fix1616);
- *p_limit_check_value = temp_fix1616;
- VL53L0X_SETARRAYPARAMETERFIELD(dev,
- LimitChecksEnable, limit_check_id, 0);
- } else {
- *p_limit_check_value = temp_fix1616;
- VL53L0X_SETARRAYPARAMETERFIELD(dev,
- LimitChecksValue, limit_check_id,
- temp_fix1616);
- VL53L0X_SETARRAYPARAMETERFIELD(dev,
- LimitChecksEnable, limit_check_id, 1);
- }
- } else {
- *p_limit_check_value = temp_fix1616;
- }
- }
-
- LOG_FUNCTION_END(status);
- return status;
-
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
- uint8_t *p_limit_check_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t temp8;
-
- LOG_FUNCTION_START("");
-
- if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- *p_limit_check_enable = 0;
- } else {
- VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
- limit_check_id, temp8);
- *p_limit_check_enable = temp8;
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_wrap_around_check_enable(VL53L0X_DEV dev,
- uint8_t *p_wrap_around_check_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t data;
-
- LOG_FUNCTION_START("");
-
- status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data);
- if (status == VL53L0X_ERROR_NONE) {
- PALDevDataSet(dev, SequenceConfig, data);
- if (data & (0x01 << 7))
- *p_wrap_around_check_enable = 0x01;
- else
- *p_wrap_around_check_enable = 0x00;
- }
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETPARAMETERFIELD(dev, WrapAroundCheckEnable,
- *p_wrap_around_check_enable);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::sequence_step_enabled(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_config,
- uint8_t *p_sequence_step_enabled)
-{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- *p_sequence_step_enabled = 0;
- LOG_FUNCTION_START("");
-
- switch (sequence_step_id) {
- case VL53L0X_SEQUENCESTEP_TCC:
- *p_sequence_step_enabled = (sequence_config & 0x10) >> 4;
- break;
- case VL53L0X_SEQUENCESTEP_DSS:
- *p_sequence_step_enabled = (sequence_config & 0x08) >> 3;
- break;
- case VL53L0X_SEQUENCESTEP_MSRC:
- *p_sequence_step_enabled = (sequence_config & 0x04) >> 2;
- break;
- case VL53L0X_SEQUENCESTEP_PRE_RANGE:
- *p_sequence_step_enabled = (sequence_config & 0x40) >> 6;
- break;
- case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
- *p_sequence_step_enabled = (sequence_config & 0x80) >> 7;
- break;
- default:
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- LOG_FUNCTION_END(status);
- return Status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_sequence_step_enables(VL53L0X_DEV dev,
- VL53L0X_SchedulerSequenceSteps_t *p_scheduler_sequence_steps)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
- LOG_FUNCTION_START("");
-
- status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- &sequence_config);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(dev,
- VL53L0X_SEQUENCESTEP_TCC, sequence_config,
- &p_scheduler_sequence_steps->TccOn);
- }
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(dev,
- VL53L0X_SEQUENCESTEP_DSS, sequence_config,
- &p_scheduler_sequence_steps->DssOn);
- }
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(dev,
- VL53L0X_SEQUENCESTEP_MSRC, sequence_config,
- &p_scheduler_sequence_steps->MsrcOn);
- }
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE, sequence_config,
- &p_scheduler_sequence_steps->PreRangeOn);
- }
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE, sequence_config,
- &p_scheduler_sequence_steps->FinalRangeOn);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-uint8_t VL53L0X::VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg)
-{
- /*!
- * Converts the encoded VCSEL period register value into the real
- * period in PLL clocks
- */
-
- uint8_t vcsel_period_pclks = 0;
-
- vcsel_period_pclks = (vcsel_period_reg + 1) << 1;
-
- return vcsel_period_pclks;
-}
-
-uint8_t VL53L0X::lv53l0x_encode_vcsel_period(uint8_t vcsel_period_pclks)
-{
- /*!
- * Converts the encoded VCSEL period register value into the real period
- * in PLL clocks
- */
-
- uint8_t vcsel_period_reg = 0;
-
- vcsel_period_reg = (vcsel_period_pclks >> 1) - 1;
-
- return vcsel_period_reg;
-}
-
-
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period_pclk)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t vcsel_period_reg;
- uint8_t min_pre_vcsel_period_pclk = 12;
- uint8_t max_pre_vcsel_period_pclk = 18;
- uint8_t min_final_vcsel_period_pclk = 8;
- uint8_t max_final_vcsel_period_pclk = 14;
- uint32_t measurement_timing_budget_micro_seconds;
- uint32_t final_range_timeout_micro_seconds;
- uint32_t pre_range_timeout_micro_seconds;
- uint32_t msrc_timeout_micro_seconds;
- uint8_t phase_cal_int = 0;
-
- /* Check if valid clock period requested */
-
- if ((vcsel_pulse_period_pclk % 2) != 0) {
- /* Value must be an even number */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE &&
- (vcsel_pulse_period_pclk < min_pre_vcsel_period_pclk ||
- vcsel_pulse_period_pclk > max_pre_vcsel_period_pclk)) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE &&
- (vcsel_pulse_period_pclk < min_final_vcsel_period_pclk ||
- vcsel_pulse_period_pclk > max_final_vcsel_period_pclk)) {
-
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- /* Apply specific settings for the requested clock period */
-
- if (status != VL53L0X_ERROR_NONE)
- return status;
-
-
- if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE) {
-
- /* Set phase check limits */
- if (vcsel_pulse_period_pclk == 12) {
-
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x18);
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- } else if (vcsel_pulse_period_pclk == 14) {
-
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x30);
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- } else if (vcsel_pulse_period_pclk == 16) {
-
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x40);
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- } else if (vcsel_pulse_period_pclk == 18) {
-
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x50);
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- }
- } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) {
-
- if (vcsel_pulse_period_pclk == 8) {
-
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x10);
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- status |= VL53L0X_write_byte(dev,
- VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
- status |= VL53L0X_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
-
- status |= VL53L0X_write_byte(dev, 0xff, 0x01);
- status |= VL53L0X_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x30);
- status |= VL53L0X_write_byte(dev, 0xff, 0x00);
- } else if (vcsel_pulse_period_pclk == 10) {
-
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x28);
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- status |= VL53L0X_write_byte(dev,
- VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
- status |= VL53L0X_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
-
- status |= VL53L0X_write_byte(dev, 0xff, 0x01);
- status |= VL53L0X_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x20);
- status |= VL53L0X_write_byte(dev, 0xff, 0x00);
- } else if (vcsel_pulse_period_pclk == 12) {
-
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x38);
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- status |= VL53L0X_write_byte(dev,
- VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
- status |= VL53L0X_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08);
-
- status |= VL53L0X_write_byte(dev, 0xff, 0x01);
- status |= VL53L0X_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x20);
- status |= VL53L0X_write_byte(dev, 0xff, 0x00);
- } else if (vcsel_pulse_period_pclk == 14) {
-
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x048);
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- status |= VL53L0X_write_byte(dev,
- VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
- status |= VL53L0X_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
-
- status |= VL53L0X_write_byte(dev, 0xff, 0x01);
- status |= VL53L0X_write_byte(dev,
- VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x20);
- status |= VL53L0X_write_byte(dev, 0xff, 0x00);
- }
- }
-
-
- /* Re-calculate and apply timeouts, in macro periods */
-
- if (status == VL53L0X_ERROR_NONE) {
- vcsel_period_reg = lv53l0x_encode_vcsel_period((uint8_t)
- vcsel_pulse_period_pclk);
-
- /* When the VCSEL period for the pre or final range is changed,
- * the corresponding timeout must be read from the device using
- * the current VCSEL period, then the new VCSEL period can be
- * applied. The timeout then must be written back to the device
- * using the new VCSEL period.
- *
- * For the MSRC timeout, the same applies - this timeout being
- * dependant on the pre-range vcsel period.
- */
- switch (vcsel_period_type) {
- case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &pre_range_timeout_micro_seconds);
-
- if (status == VL53L0X_ERROR_NONE)
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_MSRC,
- &msrc_timeout_micro_seconds);
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
- vcsel_period_reg);
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = set_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- pre_range_timeout_micro_seconds);
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = set_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_MSRC,
- msrc_timeout_micro_seconds);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- PreRangeVcselPulsePeriod,
- vcsel_pulse_period_pclk);
- break;
- case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- &final_range_timeout_micro_seconds);
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
- vcsel_period_reg);
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = set_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- final_range_timeout_micro_seconds);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- FinalRangeVcselPulsePeriod,
- vcsel_pulse_period_pclk);
- break;
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
- /* Finally, the timing budget must be re-applied */
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_GETPARAMETERFIELD(dev,
- MeasurementTimingBudgetMicroSeconds,
- measurement_timing_budget_micro_seconds);
-
- status = VL53L0X_set_measurement_timing_budget_micro_seconds(dev,
- measurement_timing_budget_micro_seconds);
- }
-
- /* Perform the phase calibration. This is needed after changing on
- * vcsel period.
- * get_data_enable = 0, restore_config = 1 */
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_perform_phase_calibration(
- dev, &phase_cal_int, 0, 1);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_VL53L0X_set_vcsel_pulse_period(dev, vcsel_period_type,
- vcsel_pulse_period);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t vcsel_period_reg;
-
- switch (vcsel_period_type) {
- case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
- status = VL53L0X_read_byte(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
- &vcsel_period_reg);
- break;
- case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
- status = VL53L0X_read_byte(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
- &vcsel_period_reg);
- break;
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- if (status == VL53L0X_ERROR_NONE)
- *p_vcsel_pulse_period_pclk =
- VL53L0X_decode_vcsel_period(vcsel_period_reg);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_VL53L0X_get_vcsel_pulse_period(dev, vcsel_period_type,
- p_vcsel_pulse_period_pclk);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-uint32_t VL53L0X::VL53L0X_decode_timeout(uint16_t encoded_timeout)
-{
- /*!
- * Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1
- */
-
- uint32_t timeout_macro_clks = 0;
-
- timeout_macro_clks = ((uint32_t)(encoded_timeout & 0x00FF)
- << (uint32_t)((encoded_timeout & 0xFF00) >> 8)) + 1;
-
- return timeout_macro_clks;
-}
-
-uint32_t VL53L0X::VL53L0X_calc_macro_period_ps(VL53L0X_DEV dev, uint8_t vcsel_period_pclks)
-{
- uint64_t pll_period_ps;
- uint32_t macro_period_vclks;
- uint32_t macro_period_ps;
-
- LOG_FUNCTION_START("");
-
- /* The above calculation will produce rounding errors,
- therefore set fixed value
- */
- pll_period_ps = 1655;
-
- macro_period_vclks = 2304;
- macro_period_ps = (uint32_t)(macro_period_vclks
- * vcsel_period_pclks * pll_period_ps);
-
- LOG_FUNCTION_END("");
- return macro_period_ps;
-}
-
-/* To convert register value into us */
-uint32_t VL53L0X::VL53L0X_calc_timeout_us(VL53L0X_DEV dev,
- uint16_t timeout_period_mclks,
- uint8_t vcsel_period_pclks)
-{
- uint32_t macro_period_ps;
- uint32_t macro_period_ns;
- uint32_t actual_timeout_period_us = 0;
-
- macro_period_ps = VL53L0X_calc_macro_period_ps(dev, vcsel_period_pclks);
- macro_period_ns = (macro_period_ps + 500) / 1000;
-
- actual_timeout_period_us =
- ((timeout_period_mclks * macro_period_ns) + 500) / 1000;
-
- return actual_timeout_period_us;
-}
-
-VL53L0X_Error VL53L0X::get_sequence_step_timeout(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id,
- uint32_t *p_time_out_micro_secs)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t current_vcsel_pulse_period_p_clk;
- uint8_t encoded_time_out_byte = 0;
- uint32_t timeout_micro_seconds = 0;
- uint16_t pre_range_encoded_time_out = 0;
- uint16_t msrc_time_out_m_clks;
- uint16_t pre_range_time_out_m_clks;
- uint16_t final_range_time_out_m_clks = 0;
- uint16_t final_range_encoded_time_out;
- VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
-
- if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) ||
- (sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) ||
- (sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) {
-
- status = VL53L0X_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_byte(dev,
- VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
- &encoded_time_out_byte);
- }
- msrc_time_out_m_clks = VL53L0X_decode_timeout(encoded_time_out_byte);
-
- timeout_micro_seconds = VL53L0X_calc_timeout_us(dev,
- msrc_time_out_m_clks,
- current_vcsel_pulse_period_p_clk);
- } else if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
- /* Retrieve PRE-RANGE VCSEL Period */
- status = VL53L0X_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
-
- /* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
- if (status == VL53L0X_ERROR_NONE) {
-
- /* Retrieve PRE-RANGE VCSEL Period */
- status = VL53L0X_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_word(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- &pre_range_encoded_time_out);
- }
-
- pre_range_time_out_m_clks = VL53L0X_decode_timeout(
- pre_range_encoded_time_out);
-
- timeout_micro_seconds = VL53L0X_calc_timeout_us(dev,
- pre_range_time_out_m_clks,
- current_vcsel_pulse_period_p_clk);
- }
- } else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
-
- VL53L0X_get_sequence_step_enables(dev, &scheduler_sequence_steps);
- pre_range_time_out_m_clks = 0;
-
- if (scheduler_sequence_steps.PreRangeOn) {
- /* Retrieve PRE-RANGE VCSEL Period */
- status = VL53L0X_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
-
- /* Retrieve PRE-RANGE Timeout in Macro periods
- * (MCLKS) */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_word(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- &pre_range_encoded_time_out);
- pre_range_time_out_m_clks = VL53L0X_decode_timeout(
- pre_range_encoded_time_out);
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Retrieve FINAL-RANGE VCSEL Period */
- status = VL53L0X_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
- }
-
- /* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_word(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- &final_range_encoded_time_out);
- final_range_time_out_m_clks = VL53L0X_decode_timeout(
- final_range_encoded_time_out);
- }
-
- final_range_time_out_m_clks -= pre_range_time_out_m_clks;
- timeout_micro_seconds = VL53L0X_calc_timeout_us(dev,
- final_range_time_out_m_clks,
- current_vcsel_pulse_period_p_clk);
- }
-
- *p_time_out_micro_secs = timeout_micro_seconds;
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t *p_measurement_timing_budget_micro_seconds)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
- uint32_t final_range_timeout_micro_seconds;
- uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000;
- uint32_t start_overhead_micro_seconds = 1910;
- uint32_t end_overhead_micro_seconds = 960;
- uint32_t msrc_overhead_micro_seconds = 660;
- uint32_t tcc_overhead_micro_seconds = 590;
- uint32_t dss_overhead_micro_seconds = 690;
- uint32_t pre_range_overhead_micro_seconds = 660;
- uint32_t final_range_overhead_micro_seconds = 550;
- uint32_t pre_range_timeout_micro_seconds = 0;
-
- LOG_FUNCTION_START("");
-
- /* Start and end overhead times always present */
- *p_measurement_timing_budget_micro_seconds
- = start_overhead_micro_seconds + end_overhead_micro_seconds;
-
- status = VL53L0X_get_sequence_step_enables(dev, &scheduler_sequence_steps);
-
- if (status != VL53L0X_ERROR_NONE) {
- LOG_FUNCTION_END(status);
- return status;
- }
-
-
- if (scheduler_sequence_steps.TccOn ||
- scheduler_sequence_steps.MsrcOn ||
- scheduler_sequence_steps.DssOn) {
-
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_MSRC,
- &msrc_dcc_tcc_timeout_micro_seconds);
-
- if (status == VL53L0X_ERROR_NONE) {
- if (scheduler_sequence_steps.TccOn) {
- *p_measurement_timing_budget_micro_seconds +=
- msrc_dcc_tcc_timeout_micro_seconds +
- tcc_overhead_micro_seconds;
- }
-
- if (scheduler_sequence_steps.DssOn) {
- *p_measurement_timing_budget_micro_seconds +=
- 2 * (msrc_dcc_tcc_timeout_micro_seconds +
- dss_overhead_micro_seconds);
- } else if (scheduler_sequence_steps.MsrcOn) {
- *p_measurement_timing_budget_micro_seconds +=
- msrc_dcc_tcc_timeout_micro_seconds +
- msrc_overhead_micro_seconds;
- }
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (scheduler_sequence_steps.PreRangeOn) {
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &pre_range_timeout_micro_seconds);
- *p_measurement_timing_budget_micro_seconds +=
- pre_range_timeout_micro_seconds +
- pre_range_overhead_micro_seconds;
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (scheduler_sequence_steps.FinalRangeOn) {
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- &final_range_timeout_micro_seconds);
- *p_measurement_timing_budget_micro_seconds +=
- (final_range_timeout_micro_seconds +
- final_range_overhead_micro_seconds);
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETPARAMETERFIELD(dev,
- MeasurementTimingBudgetMicroSeconds,
- *p_measurement_timing_budget_micro_seconds);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t *p_measurement_timing_budget_micro_seconds)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(dev,
- p_measurement_timing_budget_micro_seconds);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_device_parameters(VL53L0X_DEV dev,
- VL53L0X_DeviceParameters_t *p_device_parameters)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- int i;
-
- LOG_FUNCTION_START("");
-
- status = VL53L0X_get_device_mode(dev, &(p_device_parameters->DeviceMode));
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_get_inter_measurement_period_milli_seconds(dev,
- &(p_device_parameters->InterMeasurementPeriodMilliSeconds));
-
-
- if (status == VL53L0X_ERROR_NONE)
- p_device_parameters->XTalkCompensationEnable = 0;
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_get_x_talk_compensation_rate_mega_cps(dev,
- &(p_device_parameters->XTalkCompensationRateMegaCps));
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_get_offset_calibration_data_micro_meter(dev,
- &(p_device_parameters->RangeOffsetMicroMeters));
-
-
- if (status == VL53L0X_ERROR_NONE) {
- for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
- /* get first the values, then the enables.
- * VL53L0X_GetLimitCheckValue will modify the enable
- * flags
- */
- if (status == VL53L0X_ERROR_NONE) {
- status |= VL53L0X_get_limit_check_value(dev, i,
- &(p_device_parameters->LimitChecksValue[i]));
- } else {
- break;
- }
- if (status == VL53L0X_ERROR_NONE) {
- status |= VL53L0X_get_limit_check_enable(dev, i,
- &(p_device_parameters->LimitChecksEnable[i]));
- } else {
- break;
- }
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_wrap_around_check_enable(dev,
- &(p_device_parameters->WrapAroundCheckEnable));
- }
-
- /* Need to be done at the end as it uses VCSELPulsePeriod */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_measurement_timing_budget_micro_seconds(dev,
- &(p_device_parameters->MeasurementTimingBudgetMicroSeconds));
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_set_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
- FixPoint1616_t limit_check_value)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t temp8;
-
- LOG_FUNCTION_START("");
-
- VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksEnable, limit_check_id,
- temp8);
-
- if (temp8 == 0) { /* disabled write only internal value */
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- limit_check_id, limit_check_value);
- } else {
-
- switch (limit_check_id) {
-
- case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- limit_check_value);
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
-
- status = VL53L0X_write_word(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(
- limit_check_value));
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
-
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- limit_check_value);
-
- break;
-
- case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
-
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- limit_check_value);
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
-
- status = VL53L0X_write_word(dev,
- VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(
- limit_check_value));
-
- break;
-
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
-
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- limit_check_id, limit_check_value);
- }
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_data_init(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceParameters_t CurrentParameters;
- int i;
- uint8_t StopVariable;
-
- LOG_FUNCTION_START("");
-
- /* by default the I2C is running at 1V8 if you want to change it you
- * need to include this define at compilation level. */
-#ifdef USE_I2C_2V8
- Status = VL53L0X_UpdateByte(Dev,
- VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
- 0xFE,
- 0x01);
-#endif
-
- /* Set I2C standard mode */
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_write_byte(dev, 0x88, 0x00);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev, ReadDataFromDeviceDone, 0);
-
-#ifdef USE_IQC_STATION
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_apply_offset_adjustment(Dev);
-#endif
-
- /* Default value is 1000 for Linearity Corrective Gain */
- PALDevDataSet(dev, LinearityCorrectiveGain, 1000);
-
- /* Dmax default Parameter */
- PALDevDataSet(dev, DmaxCalRangeMilliMeter, 400);
- PALDevDataSet(dev, DmaxCalSignalRateRtnMegaCps,
- (FixPoint1616_t)((0x00016B85))); /* 1.42 No Cover Glass*/
-
- /* Set Default static parameters
- *set first temporary values 9.44MHz * 65536 = 618660 */
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev, OscFrequencyMHz, 618660);
-
- /* Set Default XTalkCompensationRateMegaCps to 0 */
- VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationRateMegaCps, 0);
-
- /* Get default parameters */
- status = VL53L0X_get_device_parameters(dev, &CurrentParameters);
- if (status == VL53L0X_ERROR_NONE) {
- /* initialize PAL values */
- CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING;
- CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED;
- PALDevDataSet(dev, CurrentParameters, CurrentParameters);
- }
-
- /* Sigma estimator variable */
- PALDevDataSet(dev, SigmaEstRefArray, 100);
- PALDevDataSet(dev, SigmaEstEffPulseWidth, 900);
- PALDevDataSet(dev, SigmaEstEffAmbWidth, 500);
- PALDevDataSet(dev, targetRefRate, 0x0A00); /* 20 MCPS in 9:7 format */
-
- /* Use internal default settings */
- PALDevDataSet(dev, UseInternalTuningSettings, 1);
-
- status |= VL53L0X_write_byte(dev, 0x80, 0x01);
- status |= VL53L0X_write_byte(dev, 0xFF, 0x01);
- status |= VL53L0X_write_byte(dev, 0x00, 0x00);
- status |= VL53L0X_read_byte(dev, 0x91, &StopVariable);
- PALDevDataSet(dev, StopVariable, StopVariable);
- status |= VL53L0X_write_byte(dev, 0x00, 0x01);
- status |= VL53L0X_write_byte(dev, 0xFF, 0x00);
- status |= VL53L0X_write_byte(dev, 0x80, 0x00);
-
- /* Enable all check */
- for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
- if (status == VL53L0X_ERROR_NONE)
- status |= VL53L0X_set_limit_check_enable(dev, i, 1);
- else
- break;
-
- }
-
- /* Disable the following checks */
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_set_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0);
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_set_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0);
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_set_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0);
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_set_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0);
-
- /* Limit default values */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_set_limit_check_value(dev,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- (FixPoint1616_t)(18 * 65536));
- }
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_set_limit_check_value(dev,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
- (FixPoint1616_t)(25 * 65536 / 100));
- /* 0.25 * 65536 */
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_set_limit_check_value(dev,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- (FixPoint1616_t)(35 * 65536));
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_set_limit_check_value(dev,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- (FixPoint1616_t)(0 * 65536));
- }
-
- if (status == VL53L0X_ERROR_NONE) {
-
- PALDevDataSet(dev, SequenceConfig, 0xFF);
- status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- 0xFF);
-
- /* Set PAL state to tell that we are waiting for call to
- * VL53L0X_StaticInit */
- PALDevDataSet(dev, PalState, VL53L0X_STATE_WAIT_STATICINIT);
- }
-
- if (status == VL53L0X_ERROR_NONE)
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 0);
-
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_check_part_used(VL53L0X_DEV dev,
- uint8_t *revision,
- VL53L0X_DeviceInfo_t *p_VL53L0X_device_info)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t module_id_int;
- char *product_id_tmp;
-
- LOG_FUNCTION_START("");
-
- status = VL53L0X_get_info_from_device(dev, 2);
-
- if (status == VL53L0X_ERROR_NONE) {
- module_id_int = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, ModuleId);
-
- if (module_id_int == 0) {
- *revision = 0;
- VL53L0X_COPYSTRING(p_VL53L0X_device_info->ProductId, "");
- } else {
- *revision = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, Revision);
- product_id_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
- ProductId);
- VL53L0X_COPYSTRING(p_VL53L0X_device_info->ProductId, product_id_tmp);
- }
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_device_info(VL53L0X_DEV dev,
- VL53L0X_DeviceInfo_t *p_VL53L0X_device_info)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t revision_id;
- uint8_t revision;
-
- status = VL53L0X_check_part_used(dev, &revision, p_VL53L0X_device_info);
-
- if (status == VL53L0X_ERROR_NONE) {
- if (revision == 0) {
- VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_TS0);
- } else if ((revision <= 34) && (revision != 32)) {
- VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_TS1);
- } else if (revision < 39) {
- VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_TS2);
- } else {
- VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_ES1);
- }
-
- VL53L0X_COPYSTRING(p_VL53L0X_device_info->Type,
- VL53L0X_STRING_DEVICE_INFO_TYPE);
-
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_byte(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID,
- &p_VL53L0X_device_info->ProductType);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_byte(dev,
- VL53L0X_REG_IDENTIFICATION_REVISION_ID,
- &revision_id);
- p_VL53L0X_device_info->ProductRevisionMajor = 1;
- p_VL53L0X_device_info->ProductRevisionMinor =
- (revision_id & 0xF0) >> 4;
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_device_info(VL53L0X_DEV dev,
- VL53L0X_DeviceInfo_t *p_VL53L0X_device_info)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_VL53L0X_get_device_info(dev, p_VL53L0X_device_info);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_interrupt_mask_status(VL53L0X_DEV dev,
- uint32_t *p_interrupt_mask_status)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t byte;
- LOG_FUNCTION_START("");
-
- status = VL53L0X_read_byte(dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte);
- *p_interrupt_mask_status = byte & 0x07;
-
- if (byte & 0x18) {
- status = VL53L0X_ERROR_RANGE_ERROR;
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_measurement_data_ready(VL53L0X_DEV dev,
- uint8_t *p_measurement_data_ready)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sys_range_status_register;
- uint8_t interrupt_config;
- uint32_t interrupt_mask;
- LOG_FUNCTION_START("");
-
- interrupt_config = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
- Pin0GpioFunctionality);
-
- if (interrupt_config ==
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
- status = VL53L0X_get_interrupt_mask_status(dev, &interrupt_mask);
- if (interrupt_mask ==
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
- *p_measurement_data_ready = 1;
- } else {
- *p_measurement_data_ready = 0;
- }
- } else {
- status = VL53L0X_read_byte(dev, VL53L0X_REG_RESULT_RANGE_STATUS,
- &sys_range_status_register);
- if (status == VL53L0X_ERROR_NONE) {
- if (sys_range_status_register & 0x01) {
- *p_measurement_data_ready = 1;
- } else {
- *p_measurement_data_ready = 0;
- }
- }
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_polling_delay(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- // do nothing
- VL53L0X_OsDelay();
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_measurement_poll_for_completion(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t new_data_ready = 0;
- uint32_t loop_nb;
-
- LOG_FUNCTION_START("");
-
- loop_nb = 0;
-
- do {
- status = VL53L0X_get_measurement_data_ready(dev, &new_data_ready);
- if (status != 0) {
- break; /* the error is set */
- }
-
- if (new_data_ready == 1) {
- break; /* done note that status == 0 */
- }
-
- loop_nb++;
- if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
- status = VL53L0X_ERROR_TIME_OUT;
- break;
- }
-
- VL53L0X_polling_delay(dev);
- } while (1);
-
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-/* Group PAL Interrupt Functions */
-VL53L0X_Error VL53L0X::VL53L0X_clear_interrupt_mask(VL53L0X_DEV dev, uint32_t interrupt_mask)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t loop_count;
- uint8_t byte;
- LOG_FUNCTION_START("");
-
- /* clear bit 0 range interrupt, bit 1 error interrupt */
- loop_count = 0;
- do {
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01);
- status |= VL53L0X_write_byte(dev,
- VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00);
- status |= VL53L0X_read_byte(dev,
- VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte);
- loop_count++;
- } while (((byte & 0x07) != 0x00)
- && (loop_count < 3)
- && (status == VL53L0X_ERROR_NONE));
-
-
- if (loop_count >= 3) {
- status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED;
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_perform_single_ref_calibration(VL53L0X_DEV dev,
- uint8_t vhv_init_byte)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START,
- VL53L0X_REG_SYSRANGE_MODE_START_STOP |
- vhv_init_byte);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_measurement_poll_for_completion(dev);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_clear_interrupt_mask(dev, 0);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START, 0x00);
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_ref_calibration_io(VL53L0X_DEV dev, uint8_t read_not_write,
- uint8_t vhv_settings, uint8_t phase_cal,
- uint8_t *p_vhv_settings, uint8_t *p_phase_cal,
- const uint8_t vhv_enable, const uint8_t phase_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t phase_calint = 0;
-
- /* Read VHV from device */
- status |= VL53L0X_write_byte(dev, 0xFF, 0x01);
- status |= VL53L0X_write_byte(dev, 0x00, 0x00);
- status |= VL53L0X_write_byte(dev, 0xFF, 0x00);
-
- if (read_not_write) {
- if (vhv_enable) {
- status |= VL53L0X_read_byte(dev, 0xCB, p_vhv_settings);
- }
- if (phase_enable) {
- status |= VL53L0X_read_byte(dev, 0xEE, &phase_calint);
- }
- } else {
- if (vhv_enable) {
- status |= VL53L0X_write_byte(dev, 0xCB, vhv_settings);
- }
- if (phase_enable) {
- status |= VL53L0X_update_byte(dev, 0xEE, 0x80, phase_cal);
- }
- }
-
- status |= VL53L0X_write_byte(dev, 0xFF, 0x01);
- status |= VL53L0X_write_byte(dev, 0x00, 0x01);
- status |= VL53L0X_write_byte(dev, 0xFF, 0x00);
-
- *p_phase_cal = (uint8_t)(phase_calint & 0xEF);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_perform_vhv_calibration(VL53L0X_DEV dev,
- uint8_t *p_vhv_settings, const uint8_t get_data_enable,
- const uint8_t restore_config)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
- uint8_t vhv_settings = 0;
- uint8_t phase_cal = 0;
- uint8_t phase_cal_int = 0;
-
- /* store the value of the sequence config,
- * this will be reset before the end of the function
- */
-
- if (restore_config) {
- sequence_config = PALDevDataGet(dev, SequenceConfig);
- }
-
- /* Run VHV */
- status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x01);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_perform_single_ref_calibration(dev, 0x40);
- }
-
- /* Read VHV from device */
- if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
- status = VL53L0X_ref_calibration_io(dev, 1,
- vhv_settings, phase_cal, /* Not used here */
- p_vhv_settings, &phase_cal_int,
- 1, 0);
- } else {
- *p_vhv_settings = 0;
- }
-
-
- if ((status == VL53L0X_ERROR_NONE) && restore_config) {
- /* restore the previous Sequence Config */
- status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- sequence_config);
- if (status == VL53L0X_ERROR_NONE) {
- PALDevDataSet(dev, SequenceConfig, sequence_config);
- }
-
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_perform_phase_calibration(VL53L0X_DEV dev,
- uint8_t *p_phase_cal, const uint8_t get_data_enable,
- const uint8_t restore_config)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
- uint8_t vhv_settings = 0;
- uint8_t phase_cal = 0;
- uint8_t vhv_settingsint;
-
- /* store the value of the sequence config,
- * this will be reset before the end of the function
- */
-
- if (restore_config)
- sequence_config = PALDevDataGet(dev, SequenceConfig);
-
- /* Run PhaseCal */
- status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x02);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_perform_single_ref_calibration(dev, 0x0);
- }
-
- /* Read PhaseCal from device */
- if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
- status = VL53L0X_ref_calibration_io(dev, 1,
- vhv_settings, phase_cal, /* Not used here */
- &vhv_settingsint, p_phase_cal,
- 0, 1);
- } else {
- *p_phase_cal = 0;
- }
-
-
- if ((status == VL53L0X_ERROR_NONE) && restore_config) {
- /* restore the previous Sequence Config */
- status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- sequence_config);
- if (status == VL53L0X_ERROR_NONE) {
- PALDevDataSet(dev, SequenceConfig, sequence_config);
- }
-
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration(VL53L0X_DEV dev,
- uint8_t *p_vhv_settings, uint8_t *p_phase_cal, uint8_t get_data_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
-
- /* store the value of the sequence config,
- * this will be reset before the end of the function
- */
-
- sequence_config = PALDevDataGet(dev, SequenceConfig);
-
- /* In the following function we don't save the config to optimize
- * writes on device. Config is saved and restored only once. */
- status = VL53L0X_perform_vhv_calibration(
- dev, p_vhv_settings, get_data_enable, 0);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_perform_phase_calibration(
- dev, p_phase_cal, get_data_enable, 0);
- }
-
-
- if (status == VL53L0X_ERROR_NONE) {
- /* restore the previous Sequence Config */
- status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- sequence_config);
- if (status == VL53L0X_ERROR_NONE) {
- PALDevDataSet(dev, SequenceConfig, sequence_config);
- }
-
- }
-
- return status;
-}
-
-void VL53L0X::get_next_good_spad(uint8_t good_spad_array[], uint32_t size,
- uint32_t curr, int32_t *p_next)
-{
- uint32_t start_index;
- uint32_t fine_offset;
- uint32_t c_spads_per_byte = 8;
- uint32_t coarse_index;
- uint32_t fine_index;
- uint8_t data_byte;
- uint8_t success = 0;
-
- /*
- * Starting with the current good spad, loop through the array to find
- * the next. i.e. the next bit set in the sequence.
- *
- * The coarse index is the byte index of the array and the fine index is
- * the index of the bit within each byte.
- */
-
- *p_next = -1;
-
- start_index = curr / c_spads_per_byte;
- fine_offset = curr % c_spads_per_byte;
-
- for (coarse_index = start_index; ((coarse_index < size) && !success);
- coarse_index++) {
- fine_index = 0;
- data_byte = good_spad_array[coarse_index];
-
- if (coarse_index == start_index) {
- /* locate the bit position of the provided current
- * spad bit before iterating */
- data_byte >>= fine_offset;
- fine_index = fine_offset;
- }
-
- while (fine_index < c_spads_per_byte) {
- if ((data_byte & 0x1) == 1) {
- success = 1;
- *p_next = coarse_index * c_spads_per_byte + fine_index;
- break;
- }
- data_byte >>= 1;
- fine_index++;
- }
- }
-}
-
-uint8_t VL53L0X::is_aperture(uint32_t spad_index)
-{
- /*
- * This function reports if a given spad index is an aperture SPAD by
- * deriving the quadrant.
- */
- uint32_t quadrant;
- uint8_t is_aperture = 1;
- quadrant = spad_index >> 6;
- if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0) {
- is_aperture = 0;
- }
-
- return is_aperture;
-}
-
-VL53L0X_Error VL53L0X::enable_spad_bit(uint8_t spad_array[], uint32_t size,
- uint32_t spad_index)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t c_spads_per_byte = 8;
- uint32_t coarse_index;
- uint32_t fine_index;
-
- coarse_index = spad_index / c_spads_per_byte;
- fine_index = spad_index % c_spads_per_byte;
- if (coarse_index >= size) {
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- } else {
- spad_array[coarse_index] |= (1 << fine_index);
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::set_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array)
-{
- VL53L0X_Error status = VL53L0X_write_multi(dev,
- VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
- p_ref_spad_array, 6);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::get_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array)
-{
- VL53L0X_Error status = VL53L0X_read_multi(dev,
- VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
- p_ref_spad_array,
- 6);
-// VL53L0X_Error status = VL53L0X_ERROR_NONE;
-// uint8_t count=0;
-
-// for (count = 0; count < 6; count++)
-// status = VL53L0X_RdByte(Dev, (VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 + count), &refSpadArray[count]);
- return status;
-}
-
-VL53L0X_Error VL53L0X::enable_ref_spads(VL53L0X_DEV dev,
- uint8_t aperture_spads,
- uint8_t good_spad_array[],
- uint8_t spad_array[],
- uint32_t size,
- uint32_t start,
- uint32_t offset,
- uint32_t spad_count,
- uint32_t *p_last_spad)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t index;
- uint32_t i;
- int32_t next_good_spad = offset;
- uint32_t current_spad;
- uint8_t check_spad_array[6];
-
- /*
- * This function takes in a spad array which may or may not have SPADS
- * already enabled and appends from a given offset a requested number
- * of new SPAD enables. The 'good spad map' is applied to
- * determine the next SPADs to enable.
- *
- * This function applies to only aperture or only non-aperture spads.
- * Checks are performed to ensure this.
- */
-
- current_spad = offset;
- for (index = 0; index < spad_count; index++) {
- get_next_good_spad(good_spad_array, size, current_spad,
- &next_good_spad);
-
- if (next_good_spad == -1) {
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- break;
- }
-
- /* Confirm that the next good SPAD is non-aperture */
- if (is_aperture(start + next_good_spad) != aperture_spads) {
- /* if we can't get the required number of good aperture
- * spads from the current quadrant then this is an error
- */
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- break;
- }
- current_spad = (uint32_t)next_good_spad;
- enable_spad_bit(spad_array, size, current_spad);
- current_spad++;
- }
- *p_last_spad = current_spad;
-
- if (status == VL53L0X_ERROR_NONE) {
- status = set_ref_spad_map(dev, spad_array);
- }
-
-
- if (status == VL53L0X_ERROR_NONE) {
- status = get_ref_spad_map(dev, check_spad_array);
-
- i = 0;
-
- /* Compare spad maps. If not equal report error. */
- while (i < size) {
- if (spad_array[i] != check_spad_array[i]) {
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- break;
- }
- i++;
- }
- }
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_set_device_mode(VL53L0X_DEV dev, VL53L0X_DeviceModes device_mode)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- LOG_FUNCTION_START("%d", (int)DeviceMode);
-
- switch (device_mode) {
- case VL53L0X_DEVICEMODE_SINGLE_RANGING:
- case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
- case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
- case VL53L0X_DEVICEMODE_GPIO_DRIVE:
- case VL53L0X_DEVICEMODE_GPIO_OSC:
- /* Supported modes */
- VL53L0X_SETPARAMETERFIELD(dev, DeviceMode, device_mode);
- break;
- default:
- /* Unsupported mode */
- status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_set_interrupt_thresholds(VL53L0X_DEV dev,
- VL53L0X_DeviceModes device_mode, FixPoint1616_t threshold_low,
- FixPoint1616_t threshold_high)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t threshold16;
- LOG_FUNCTION_START("");
-
- /* no dependency on DeviceMode for Ewok */
- /* Need to divide by 2 because the FW will apply a x2 */
- threshold16 = (uint16_t)((threshold_low >> 17) & 0x00fff);
- status = VL53L0X_write_word(dev, VL53L0X_REG_SYSTEM_THRESH_LOW, threshold16);
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Need to divide by 2 because the FW will apply a x2 */
- threshold16 = (uint16_t)((threshold_high >> 17) & 0x00fff);
- status = VL53L0X_write_word(dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
- threshold16);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_interrupt_thresholds(VL53L0X_DEV dev,
- VL53L0X_DeviceModes device_mode, FixPoint1616_t *p_threshold_low,
- FixPoint1616_t *p_threshold_high)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t threshold16;
- LOG_FUNCTION_START("");
-
- /* no dependency on DeviceMode for Ewok */
-
- status = VL53L0X_read_word(dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &threshold16);
- /* Need to multiply by 2 because the FW will apply a x2 */
- *p_threshold_low = (FixPoint1616_t)((0x00fff & threshold16) << 17);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_word(dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
- &threshold16);
- /* Need to multiply by 2 because the FW will apply a x2 */
- *p_threshold_high =
- (FixPoint1616_t)((0x00fff & threshold16) << 17);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_load_tuning_settings(VL53L0X_DEV dev,
- uint8_t *p_tuning_setting_buffer)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- int i;
- int index;
- uint8_t msb;
- uint8_t lsb;
- uint8_t select_param;
- uint8_t number_of_writes;
- uint8_t address;
- uint8_t local_buffer[4]; /* max */
- uint16_t temp16;
-
- LOG_FUNCTION_START("");
-
- index = 0;
-
- while ((*(p_tuning_setting_buffer + index) != 0) &&
- (status == VL53L0X_ERROR_NONE)) {
- number_of_writes = *(p_tuning_setting_buffer + index);
- index++;
- if (number_of_writes == 0xFF) {
- /* internal parameters */
- select_param = *(p_tuning_setting_buffer + index);
- index++;
- switch (select_param) {
- case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */
- msb = *(p_tuning_setting_buffer + index);
- index++;
- lsb = *(p_tuning_setting_buffer + index);
- index++;
- temp16 = VL53L0X_MAKEUINT16(lsb, msb);
- PALDevDataSet(dev, SigmaEstRefArray, temp16);
- break;
- case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */
- msb = *(p_tuning_setting_buffer + index);
- index++;
- lsb = *(p_tuning_setting_buffer + index);
- index++;
- temp16 = VL53L0X_MAKEUINT16(lsb, msb);
- PALDevDataSet(dev, SigmaEstEffPulseWidth,
- temp16);
- break;
- case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */
- msb = *(p_tuning_setting_buffer + index);
- index++;
- lsb = *(p_tuning_setting_buffer + index);
- index++;
- temp16 = VL53L0X_MAKEUINT16(lsb, msb);
- PALDevDataSet(dev, SigmaEstEffAmbWidth, temp16);
- break;
- case 3: /* uint16_t targetRefRate -> 2 bytes */
- msb = *(p_tuning_setting_buffer + index);
- index++;
- lsb = *(p_tuning_setting_buffer + index);
- index++;
- temp16 = VL53L0X_MAKEUINT16(lsb, msb);
- PALDevDataSet(dev, targetRefRate, temp16);
- break;
- default: /* invalid parameter */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- } else if (number_of_writes <= 4) {
- address = *(p_tuning_setting_buffer + index);
- index++;
-
- for (i = 0; i < number_of_writes; i++) {
- local_buffer[i] = *(p_tuning_setting_buffer +
- index);
- index++;
- }
-
- status = VL53L0X_write_multi(dev, address, local_buffer,
- number_of_writes);
-
- } else {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_check_and_load_interrupt_settings(VL53L0X_DEV dev,
- uint8_t start_not_stopflag)
-{
- uint8_t interrupt_config;
- FixPoint1616_t threshold_low;
- FixPoint1616_t threshold_high;
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- interrupt_config = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
- Pin0GpioFunctionality);
-
- if ((interrupt_config ==
- VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) ||
- (interrupt_config ==
- VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) ||
- (interrupt_config ==
- VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) {
-
- status = VL53L0X_get_interrupt_thresholds(dev,
- VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
- &threshold_low, &threshold_high);
-
- if (((threshold_low > 255 * 65536) ||
- (threshold_high > 255 * 65536)) &&
- (status == VL53L0X_ERROR_NONE)) {
-
- if (start_not_stopflag != 0) {
- status = VL53L0X_load_tuning_settings(dev,
- InterruptThresholdSettings);
- } else {
- status |= VL53L0X_write_byte(dev, 0xFF, 0x04);
- status |= VL53L0X_write_byte(dev, 0x70, 0x00);
- status |= VL53L0X_write_byte(dev, 0xFF, 0x00);
- status |= VL53L0X_write_byte(dev, 0x80, 0x00);
- }
-
- }
-
-
- }
-
- return status;
-
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_start_measurement(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceModes device_mode;
- uint8_t byte;
- uint8_t start_stop_byte = VL53L0X_REG_SYSRANGE_MODE_START_STOP;
- uint32_t loop_nb;
- LOG_FUNCTION_START("");
-
- /* Get Current DeviceMode */
- VL53L0X_get_device_mode(dev, &device_mode);
-
- status = VL53L0X_write_byte(dev, 0x80, 0x01);
- status = VL53L0X_write_byte(dev, 0xFF, 0x01);
- status = VL53L0X_write_byte(dev, 0x00, 0x00);
- status = VL53L0X_write_byte(dev, 0x91, PALDevDataGet(dev, StopVariable));
- status = VL53L0X_write_byte(dev, 0x00, 0x01);
- status = VL53L0X_write_byte(dev, 0xFF, 0x00);
- status = VL53L0X_write_byte(dev, 0x80, 0x00);
-
- switch (device_mode) {
- case VL53L0X_DEVICEMODE_SINGLE_RANGING:
- status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START, 0x01);
-
- byte = start_stop_byte;
- if (status == VL53L0X_ERROR_NONE) {
- /* Wait until start bit has been cleared */
- loop_nb = 0;
- do {
- if (loop_nb > 0)
- status = VL53L0X_read_byte(dev,
- VL53L0X_REG_SYSRANGE_START, &byte);
- loop_nb = loop_nb + 1;
- } while (((byte & start_stop_byte) == start_stop_byte)
- && (status == VL53L0X_ERROR_NONE)
- && (loop_nb < VL53L0X_DEFAULT_MAX_LOOP));
-
- if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP)
- status = VL53L0X_ERROR_TIME_OUT;
-
- }
-
- break;
- case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
- /* Back-to-back mode */
-
- /* Check if need to apply interrupt settings */
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_check_and_load_interrupt_settings(dev, 1);
-
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_SYSRANGE_START,
- VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK);
- if (status == VL53L0X_ERROR_NONE) {
- /* Set PAL State to Running */
- PALDevDataSet(dev, PalState, VL53L0X_STATE_RUNNING);
- }
- break;
- case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
- /* Continuous mode */
- /* Check if need to apply interrupt settings */
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_check_and_load_interrupt_settings(dev, 1);
-
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_SYSRANGE_START,
- VL53L0X_REG_SYSRANGE_MODE_TIMED);
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Set PAL State to Running */
- PALDevDataSet(dev, PalState, VL53L0X_STATE_RUNNING);
- }
- break;
- default:
- /* Selected mode not supported */
- status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
- }
-
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-/* Group PAL Measurement Functions */
-VL53L0X_Error VL53L0X::VL53L0X_perform_single_measurement(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceModes device_mode;
-
- LOG_FUNCTION_START("");
-
- /* Get Current DeviceMode */
- status = VL53L0X_get_device_mode(dev, &device_mode);
-
- /* Start immediately to run a single ranging measurement in case of
- * single ranging or single histogram */
- if (status == VL53L0X_ERROR_NONE
- && device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING) {
- status = VL53L0X_start_measurement(dev);
- }
-
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_measurement_poll_for_completion(dev);
- }
-
-
- /* Change PAL State in case of single ranging or single histogram */
- if (status == VL53L0X_ERROR_NONE
- && device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING)
- PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE);
-
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_enable(VL53L0X_DEV dev,
- uint8_t *p_x_talk_compensation_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t temp8;
- LOG_FUNCTION_START("");
-
- VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationEnable, temp8);
- *p_x_talk_compensation_enable = temp8;
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_total_xtalk_rate(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_total_xtalk_rate_mcps)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- uint8_t xtalk_comp_enable;
- FixPoint1616_t total_xtalk_mega_cps;
- FixPoint1616_t xtalk_per_spad_mega_cps;
-
- *p_total_xtalk_rate_mcps = 0;
-
- status = VL53L0X_get_x_talk_compensation_enable(dev, &xtalk_comp_enable);
- if (status == VL53L0X_ERROR_NONE) {
-
- if (xtalk_comp_enable) {
-
- VL53L0X_GETPARAMETERFIELD(
- dev,
- XTalkCompensationRateMegaCps,
- xtalk_per_spad_mega_cps);
-
- /* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */
- total_xtalk_mega_cps =
- p_ranging_measurement_data->EffectiveSpadRtnCount *
- xtalk_per_spad_mega_cps;
-
- /* FixPoint0824 >> 8 = FixPoint1616 */
- *p_total_xtalk_rate_mcps =
- (total_xtalk_mega_cps + 0x80) >> 8;
- }
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_total_signal_rate(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_total_signal_rate_mcps)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- FixPoint1616_t total_xtalk_mega_cps;
-
- LOG_FUNCTION_START("");
-
- *p_total_signal_rate_mcps =
- p_ranging_measurement_data->SignalRateRtnMegaCps;
-
- status = VL53L0X_get_total_xtalk_rate(
- dev, p_ranging_measurement_data, &total_xtalk_mega_cps);
-
- if (status == VL53L0X_ERROR_NONE) {
- *p_total_signal_rate_mcps += total_xtalk_mega_cps;
- }
-
- return status;
-}
-
-/* To convert ms into register value */
-uint32_t VL53L0X::VL53L0X_calc_timeout_mclks(VL53L0X_DEV dev,
- uint32_t timeout_period_us,
- uint8_t vcsel_period_pclks)
-{
- uint32_t macro_period_ps;
- uint32_t macro_period_ns;
- uint32_t timeout_period_mclks = 0;
-
- macro_period_ps = VL53L0X_calc_macro_period_ps(dev, vcsel_period_pclks);
- macro_period_ns = (macro_period_ps + 500) / 1000;
-
- timeout_period_mclks =
- (uint32_t)(((timeout_period_us * 1000)
- + (macro_period_ns / 2)) / macro_period_ns);
-
- return timeout_period_mclks;
-}
-
-uint32_t VL53L0X::VL53L0X_isqrt(uint32_t num)
-{
- /*
- * Implements an integer square root
- *
- * From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
- */
-
- uint32_t res = 0;
- uint32_t bit = 1 << 30;
- /* The second-to-top bit is set:
- * 1 << 14 for 16-bits, 1 << 30 for 32 bits */
-
- /* "bit" starts at the highest power of four <= the argument. */
- while (bit > num) {
- bit >>= 2;
- }
-
-
- while (bit != 0) {
- if (num >= res + bit) {
- num -= res + bit;
- res = (res >> 1) + bit;
- } else
- res >>= 1;
-
- bit >>= 2;
- }
-
- return res;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_calc_dmax(
- VL53L0X_DEV dev,
- FixPoint1616_t total_signal_rate_mcps,
- FixPoint1616_t total_corr_signal_rate_mcps,
- FixPoint1616_t pw_mult,
- uint32_t sigma_estimate_p1,
- FixPoint1616_t sigma_estimate_p2,
- uint32_t peak_vcsel_duration_us,
- uint32_t *pd_max_mm)
-{
- const uint32_t c_sigma_limit = 18;
- const FixPoint1616_t c_signal_limit = 0x4000; /* 0.25 */
- const FixPoint1616_t c_sigma_est_ref = 0x00000042; /* 0.001 */
- const uint32_t c_amb_eff_width_sigma_est_ns = 6;
- const uint32_t c_amb_eff_width_d_max_ns = 7;
- uint32_t dmax_cal_range_mm;
- FixPoint1616_t dmax_cal_signal_rate_rtn_mcps;
- FixPoint1616_t min_signal_needed;
- FixPoint1616_t min_signal_needed_p1;
- FixPoint1616_t min_signal_needed_p2;
- FixPoint1616_t min_signal_needed_p3;
- FixPoint1616_t min_signal_needed_p4;
- FixPoint1616_t sigma_limit_tmp;
- FixPoint1616_t sigma_est_sq_tmp;
- FixPoint1616_t signal_limit_tmp;
- FixPoint1616_t signal_at0_mm;
- FixPoint1616_t dmax_dark;
- FixPoint1616_t dmax_ambient;
- FixPoint1616_t dmax_dark_tmp;
- FixPoint1616_t sigma_est_p2_tmp;
- uint32_t signal_rate_temp_mcps;
-
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- LOG_FUNCTION_START("");
-
- dmax_cal_range_mm =
- PALDevDataGet(dev, DmaxCalRangeMilliMeter);
-
- dmax_cal_signal_rate_rtn_mcps =
- PALDevDataGet(dev, DmaxCalSignalRateRtnMegaCps);
-
- /* uint32 * FixPoint1616 = FixPoint1616 */
- signal_at0_mm = dmax_cal_range_mm * dmax_cal_signal_rate_rtn_mcps;
-
- /* FixPoint1616 >> 8 = FixPoint2408 */
- signal_at0_mm = (signal_at0_mm + 0x80) >> 8;
- signal_at0_mm *= dmax_cal_range_mm;
-
- min_signal_needed_p1 = 0;
- if (total_corr_signal_rate_mcps > 0) {
-
- /* Shift by 10 bits to increase resolution prior to the
- * division */
- signal_rate_temp_mcps = total_signal_rate_mcps << 10;
-
- /* Add rounding value prior to division */
- min_signal_needed_p1 = signal_rate_temp_mcps +
- (total_corr_signal_rate_mcps / 2);
-
- /* FixPoint0626/FixPoint1616 = FixPoint2210 */
- min_signal_needed_p1 /= total_corr_signal_rate_mcps;
-
- /* Apply a factored version of the speed of light.
- Correction to be applied at the end */
- min_signal_needed_p1 *= 3;
-
- /* FixPoint2210 * FixPoint2210 = FixPoint1220 */
- min_signal_needed_p1 *= min_signal_needed_p1;
-
- /* FixPoint1220 >> 16 = FixPoint2804 */
- min_signal_needed_p1 = (min_signal_needed_p1 + 0x8000) >> 16;
- }
-
- min_signal_needed_p2 = pw_mult * sigma_estimate_p1;
-
- /* FixPoint1616 >> 16 = uint32 */
- min_signal_needed_p2 = (min_signal_needed_p2 + 0x8000) >> 16;
-
- /* uint32 * uint32 = uint32 */
- min_signal_needed_p2 *= min_signal_needed_p2;
-
- /* Check sigmaEstimateP2
- * If this value is too high there is not enough signal rate
- * to calculate dmax value so set a suitable value to ensure
- * a very small dmax.
- */
- sigma_est_p2_tmp = (sigma_estimate_p2 + 0x8000) >> 16;
- sigma_est_p2_tmp = (sigma_est_p2_tmp + c_amb_eff_width_sigma_est_ns / 2) /
- c_amb_eff_width_sigma_est_ns;
- sigma_est_p2_tmp *= c_amb_eff_width_d_max_ns;
-
- if (sigma_est_p2_tmp > 0xffff) {
- min_signal_needed_p3 = 0xfff00000;
- } else {
-
- /* DMAX uses a different ambient width from sigma, so apply
- * correction.
- * Perform division before multiplication to prevent overflow.
- */
- sigma_estimate_p2 = (sigma_estimate_p2 + c_amb_eff_width_sigma_est_ns / 2) /
- c_amb_eff_width_sigma_est_ns;
- sigma_estimate_p2 *= c_amb_eff_width_d_max_ns;
-
- /* FixPoint1616 >> 16 = uint32 */
- min_signal_needed_p3 = (sigma_estimate_p2 + 0x8000) >> 16;
-
- min_signal_needed_p3 *= min_signal_needed_p3;
-
- }
-
- /* FixPoint1814 / uint32 = FixPoint1814 */
- sigma_limit_tmp = ((c_sigma_limit << 14) + 500) / 1000;
-
- /* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */
- sigma_limit_tmp *= sigma_limit_tmp;
-
- /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
- sigma_est_sq_tmp = c_sigma_est_ref * c_sigma_est_ref;
-
- /* FixPoint3232 >> 4 = FixPoint0428 */
- sigma_est_sq_tmp = (sigma_est_sq_tmp + 0x08) >> 4;
-
- /* FixPoint0428 - FixPoint0428 = FixPoint0428 */
- sigma_limit_tmp -= sigma_est_sq_tmp;
-
- /* uint32_t * FixPoint0428 = FixPoint0428 */
- min_signal_needed_p4 = 4 * 12 * sigma_limit_tmp;
-
- /* FixPoint0428 >> 14 = FixPoint1814 */
- min_signal_needed_p4 = (min_signal_needed_p4 + 0x2000) >> 14;
-
- /* uint32 + uint32 = uint32 */
- min_signal_needed = (min_signal_needed_p2 + min_signal_needed_p3);
-
- /* uint32 / uint32 = uint32 */
- min_signal_needed += (peak_vcsel_duration_us / 2);
- min_signal_needed /= peak_vcsel_duration_us;
-
- /* uint32 << 14 = FixPoint1814 */
- min_signal_needed <<= 14;
-
- /* FixPoint1814 / FixPoint1814 = uint32 */
- min_signal_needed += (min_signal_needed_p4 / 2);
- min_signal_needed /= min_signal_needed_p4;
-
- /* FixPoint3200 * FixPoint2804 := FixPoint2804*/
- min_signal_needed *= min_signal_needed_p1;
-
- /* Apply correction by dividing by 1000000.
- * This assumes 10E16 on the numerator of the equation
- * and 10E-22 on the denominator.
- * We do this because 32bit fix point calculation can't
- * handle the larger and smaller elements of this equation,
- * i.e. speed of light and pulse widths.
- */
- min_signal_needed = (min_signal_needed + 500) / 1000;
- min_signal_needed <<= 4;
-
- min_signal_needed = (min_signal_needed + 500) / 1000;
-
- /* FixPoint1616 >> 8 = FixPoint2408 */
- signal_limit_tmp = (c_signal_limit + 0x80) >> 8;
-
- /* FixPoint2408/FixPoint2408 = uint32 */
- if (signal_limit_tmp != 0) {
- dmax_dark_tmp = (signal_at0_mm + (signal_limit_tmp / 2))
- / signal_limit_tmp;
- } else {
- dmax_dark_tmp = 0;
- }
-
- dmax_dark = VL53L0X_isqrt(dmax_dark_tmp);
-
- /* FixPoint2408/FixPoint2408 = uint32 */
- if (min_signal_needed != 0) {
- dmax_ambient = (signal_at0_mm + min_signal_needed / 2)
- / min_signal_needed;
- } else {
- dmax_ambient = 0;
- }
-
- dmax_ambient = VL53L0X_isqrt(dmax_ambient);
-
- *pd_max_mm = dmax_dark;
- if (dmax_dark > dmax_ambient) {
- *pd_max_mm = dmax_ambient;
- }
-
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_calc_sigma_estimate(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_sigma_estimate,
- uint32_t *p_dmax_mm)
-{
- /* Expressed in 100ths of a ns, i.e. centi-ns */
- const uint32_t c_pulse_effective_width_centi_ns = 800;
- /* Expressed in 100ths of a ns, i.e. centi-ns */
- const uint32_t c_ambient_effective_width_centi_ns = 600;
- const FixPoint1616_t c_dflt_final_range_integration_time_milli_secs = 0x00190000; /* 25ms */
- const uint32_t c_vcsel_pulse_width_ps = 4700; /* pico secs */
- const FixPoint1616_t c_sigma_est_max = 0x028F87AE;
- const FixPoint1616_t c_sigma_est_rtn_max = 0xF000;
- const FixPoint1616_t c_amb_to_signal_ratio_max = 0xF0000000 /
- c_ambient_effective_width_centi_ns;
- /* Time Of Flight per mm (6.6 pico secs) */
- const FixPoint1616_t c_tof_per_mm_ps = 0x0006999A;
- const uint32_t c_16bit_rounding_param = 0x00008000;
- const FixPoint1616_t c_max_x_talk_kcps = 0x00320000;
- const uint32_t c_pll_period_ps = 1655;
-
- uint32_t vcsel_total_events_rtn;
- uint32_t final_range_timeout_micro_secs;
- uint32_t pre_range_timeout_micro_secs;
- uint32_t final_range_integration_time_milli_secs;
- FixPoint1616_t sigma_estimate_p1;
- FixPoint1616_t sigma_estimate_p2;
- FixPoint1616_t sigma_estimate_p3;
- FixPoint1616_t delta_t_ps;
- FixPoint1616_t pw_mult;
- FixPoint1616_t sigma_est_rtn;
- FixPoint1616_t sigma_estimate;
- FixPoint1616_t x_talk_correction;
- FixPoint1616_t ambient_rate_kcps;
- FixPoint1616_t peak_signal_rate_kcps;
- FixPoint1616_t x_talk_comp_rate_mcps;
- uint32_t x_talk_comp_rate_kcps;
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- FixPoint1616_t diff1_mcps;
- FixPoint1616_t diff2_mcps;
- FixPoint1616_t sqr1;
- FixPoint1616_t sqr2;
- FixPoint1616_t sqr_sum;
- FixPoint1616_t sqrt_result_centi_ns;
- FixPoint1616_t sqrt_result;
- FixPoint1616_t total_signal_rate_mcps;
- FixPoint1616_t corrected_signal_rate_mcps;
- FixPoint1616_t sigma_est_ref;
- uint32_t vcsel_width;
- uint32_t final_range_macro_pclks;
- uint32_t pre_range_macro_pclks;
- uint32_t peak_vcsel_duration_us;
- uint8_t final_range_vcsel_pclks;
- uint8_t pre_range_vcsel_pclks;
- /*! \addtogroup calc_sigma_estimate
- * @{
- *
- * Estimates the range sigma
- */
-
- LOG_FUNCTION_START("");
-
- VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationRateMegaCps,
- x_talk_comp_rate_mcps);
-
- /*
- * We work in kcps rather than mcps as this helps keep within the
- * confines of the 32 Fix1616 type.
- */
-
- ambient_rate_kcps =
- (p_ranging_measurement_data->AmbientRateRtnMegaCps * 1000) >> 16;
-
- corrected_signal_rate_mcps =
- p_ranging_measurement_data->SignalRateRtnMegaCps;
-
-
- status = VL53L0X_get_total_signal_rate(
- dev, p_ranging_measurement_data, &total_signal_rate_mcps);
- status = VL53L0X_get_total_xtalk_rate(
- dev, p_ranging_measurement_data, &x_talk_comp_rate_mcps);
-
-
- /* Signal rate measurement provided by device is the
- * peak signal rate, not average.
- */
- peak_signal_rate_kcps = (total_signal_rate_mcps * 1000);
- peak_signal_rate_kcps = (peak_signal_rate_kcps + 0x8000) >> 16;
-
- x_talk_comp_rate_kcps = x_talk_comp_rate_mcps * 1000;
-
- if (x_talk_comp_rate_kcps > c_max_x_talk_kcps) {
- x_talk_comp_rate_kcps = c_max_x_talk_kcps;
- }
-
- if (status == VL53L0X_ERROR_NONE) {
-
- /* Calculate final range macro periods */
- final_range_timeout_micro_secs = VL53L0X_GETDEVICESPECIFICPARAMETER(
- dev, FinalRangeTimeoutMicroSecs);
-
- final_range_vcsel_pclks = VL53L0X_GETDEVICESPECIFICPARAMETER(
- dev, FinalRangeVcselPulsePeriod);
-
- final_range_macro_pclks = VL53L0X_calc_timeout_mclks(
- dev, final_range_timeout_micro_secs, final_range_vcsel_pclks);
-
- /* Calculate pre-range macro periods */
- pre_range_timeout_micro_secs = VL53L0X_GETDEVICESPECIFICPARAMETER(
- dev, PreRangeTimeoutMicroSecs);
-
- pre_range_vcsel_pclks = VL53L0X_GETDEVICESPECIFICPARAMETER(
- dev, PreRangeVcselPulsePeriod);
-
- pre_range_macro_pclks = VL53L0X_calc_timeout_mclks(
- dev, pre_range_timeout_micro_secs, pre_range_vcsel_pclks);
-
- vcsel_width = 3;
- if (final_range_vcsel_pclks == 8) {
- vcsel_width = 2;
- }
-
-
- peak_vcsel_duration_us = vcsel_width * 2048 *
- (pre_range_macro_pclks + final_range_macro_pclks);
- peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000;
- peak_vcsel_duration_us *= c_pll_period_ps;
- peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000;
-
- /* Fix1616 >> 8 = Fix2408 */
- total_signal_rate_mcps = (total_signal_rate_mcps + 0x80) >> 8;
-
- /* Fix2408 * uint32 = Fix2408 */
- vcsel_total_events_rtn = total_signal_rate_mcps *
- peak_vcsel_duration_us;
-
- /* Fix2408 >> 8 = uint32 */
- vcsel_total_events_rtn = (vcsel_total_events_rtn + 0x80) >> 8;
-
- /* Fix2408 << 8 = Fix1616 = */
- total_signal_rate_mcps <<= 8;
- }
-
- if (status != VL53L0X_ERROR_NONE) {
- LOG_FUNCTION_END(status);
- return status;
- }
-
- if (peak_signal_rate_kcps == 0) {
- *p_sigma_estimate = c_sigma_est_max;
- PALDevDataSet(dev, SigmaEstimate, c_sigma_est_max);
- *p_dmax_mm = 0;
- } else {
- if (vcsel_total_events_rtn < 1) {
- vcsel_total_events_rtn = 1;
- }
-
- sigma_estimate_p1 = c_pulse_effective_width_centi_ns;
-
- /* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */
- sigma_estimate_p2 = (ambient_rate_kcps << 16) / peak_signal_rate_kcps;
- if (sigma_estimate_p2 > c_amb_to_signal_ratio_max) {
- /* Clip to prevent overflow. Will ensure safe
- * max result. */
- sigma_estimate_p2 = c_amb_to_signal_ratio_max;
- }
- sigma_estimate_p2 *= c_ambient_effective_width_centi_ns;
-
- sigma_estimate_p3 = 2 * VL53L0X_isqrt(vcsel_total_events_rtn * 12);
-
- /* uint32 * FixPoint1616 = FixPoint1616 */
- delta_t_ps = p_ranging_measurement_data->RangeMilliMeter *
- c_tof_per_mm_ps;
-
- /*
- * vcselRate - xtalkCompRate
- * (uint32 << 16) - FixPoint1616 = FixPoint1616.
- * Divide result by 1000 to convert to mcps.
- * 500 is added to ensure rounding when integer division
- * truncates.
- */
- diff1_mcps = (((peak_signal_rate_kcps << 16) -
- 2 * x_talk_comp_rate_kcps) + 500) / 1000;
-
- /* vcselRate + xtalkCompRate */
- diff2_mcps = ((peak_signal_rate_kcps << 16) + 500) / 1000;
-
- /* Shift by 8 bits to increase resolution prior to the
- * division */
- diff1_mcps <<= 8;
-
- /* FixPoint0824/FixPoint1616 = FixPoint2408 */
-// xTalkCorrection = abs(diff1_mcps/diff2_mcps);
-// abs is causing compiler overloading isue in C++, but unsigned types. So, redundant call anyway!
- x_talk_correction = diff1_mcps / diff2_mcps;
-
- /* FixPoint2408 << 8 = FixPoint1616 */
- x_talk_correction <<= 8;
-
- if (p_ranging_measurement_data->RangeStatus != 0) {
- pw_mult = 1 << 16;
- } else {
- /* FixPoint1616/uint32 = FixPoint1616 */
- pw_mult = delta_t_ps / c_vcsel_pulse_width_ps; /* smaller than 1.0f */
-
- /*
- * FixPoint1616 * FixPoint1616 = FixPoint3232, however both
- * values are small enough such that32 bits will not be
- * exceeded.
- */
- pw_mult *= ((1 << 16) - x_talk_correction);
-
- /* (FixPoint3232 >> 16) = FixPoint1616 */
- pw_mult = (pw_mult + c_16bit_rounding_param) >> 16;
-
- /* FixPoint1616 + FixPoint1616 = FixPoint1616 */
- pw_mult += (1 << 16);
-
- /*
- * At this point the value will be 1.xx, therefore if we square
- * the value this will exceed 32 bits. To address this perform
- * a single shift to the right before the multiplication.
- */
- pw_mult >>= 1;
- /* FixPoint1715 * FixPoint1715 = FixPoint3430 */
- pw_mult = pw_mult * pw_mult;
-
- /* (FixPoint3430 >> 14) = Fix1616 */
- pw_mult >>= 14;
- }
-
- /* FixPoint1616 * uint32 = FixPoint1616 */
- sqr1 = pw_mult * sigma_estimate_p1;
-
- /* (FixPoint1616 >> 16) = FixPoint3200 */
- sqr1 = (sqr1 + 0x8000) >> 16;
-
- /* FixPoint3200 * FixPoint3200 = FixPoint6400 */
- sqr1 *= sqr1;
-
- sqr2 = sigma_estimate_p2;
-
- /* (FixPoint1616 >> 16) = FixPoint3200 */
- sqr2 = (sqr2 + 0x8000) >> 16;
-
- /* FixPoint3200 * FixPoint3200 = FixPoint6400 */
- sqr2 *= sqr2;
-
- /* FixPoint64000 + FixPoint6400 = FixPoint6400 */
- sqr_sum = sqr1 + sqr2;
-
- /* SQRT(FixPoin6400) = FixPoint3200 */
- sqrt_result_centi_ns = VL53L0X_isqrt(sqr_sum);
-
- /* (FixPoint3200 << 16) = FixPoint1616 */
- sqrt_result_centi_ns <<= 16;
-
- /*
- * Note that the Speed Of Light is expressed in um per 1E-10
- * seconds (2997) Therefore to get mm/ns we have to divide by
- * 10000
- */
- sigma_est_rtn = (((sqrt_result_centi_ns + 50) / 100) /
- sigma_estimate_p3);
- sigma_est_rtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR;
-
- /* Add 5000 before dividing by 10000 to ensure rounding. */
- sigma_est_rtn += 5000;
- sigma_est_rtn /= 10000;
-
- if (sigma_est_rtn > c_sigma_est_rtn_max) {
- /* Clip to prevent overflow. Will ensure safe
- * max result. */
- sigma_est_rtn = c_sigma_est_rtn_max;
- }
- final_range_integration_time_milli_secs =
- (final_range_timeout_micro_secs + pre_range_timeout_micro_secs + 500) / 1000;
-
- /* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range)
- * sqrt(FixPoint1616/int) = FixPoint2408)
- */
- sigma_est_ref =
- VL53L0X_isqrt((c_dflt_final_range_integration_time_milli_secs +
- final_range_integration_time_milli_secs / 2) /
- final_range_integration_time_milli_secs);
-
- /* FixPoint2408 << 8 = FixPoint1616 */
- sigma_est_ref <<= 8;
- sigma_est_ref = (sigma_est_ref + 500) / 1000;
-
- /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
- sqr1 = sigma_est_rtn * sigma_est_rtn;
- /* FixPoint1616 * FixPoint1616 = FixPoint3232 */
- sqr2 = sigma_est_ref * sigma_est_ref;
-
- /* sqrt(FixPoint3232) = FixPoint1616 */
- sqrt_result = VL53L0X_isqrt((sqr1 + sqr2));
- /*
- * Note that the Shift by 4 bits increases resolution prior to
- * the sqrt, therefore the result must be shifted by 2 bits to
- * the right to revert back to the FixPoint1616 format.
- */
-
- sigma_estimate = 1000 * sqrt_result;
-
- if ((peak_signal_rate_kcps < 1) || (vcsel_total_events_rtn < 1) ||
- (sigma_estimate > c_sigma_est_max)) {
- sigma_estimate = c_sigma_est_max;
- }
-
- *p_sigma_estimate = (uint32_t)(sigma_estimate);
- PALDevDataSet(dev, SigmaEstimate, *p_sigma_estimate);
- status = VL53L0X_calc_dmax(
- dev,
- total_signal_rate_mcps,
- corrected_signal_rate_mcps,
- pw_mult,
- sigma_estimate_p1,
- sigma_estimate_p2,
- peak_vcsel_duration_us,
- p_dmax_mm);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_pal_range_status(VL53L0X_DEV dev,
- uint8_t device_range_status,
- FixPoint1616_t signal_rate,
- uint16_t effective_spad_rtn_count,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- uint8_t *p_pal_range_status)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t none_flag;
- uint8_t sigma_limitflag = 0;
- uint8_t signal_ref_clipflag = 0;
- uint8_t range_ignore_thresholdflag = 0;
- uint8_t sigma_limit_check_enable = 0;
- uint8_t signal_rate_final_range_limit_check_enable = 0;
- uint8_t signal_ref_clip_limit_check_enable = 0;
- uint8_t range_ignore_threshold_limit_check_enable = 0;
- FixPoint1616_t sigma_estimate;
- FixPoint1616_t sigma_limit_value;
- FixPoint1616_t signal_ref_clip_value;
- FixPoint1616_t range_ignore_threshold_value;
- FixPoint1616_t signal_rate_per_spad;
- uint8_t device_range_status_internal = 0;
- uint16_t tmp_word = 0;
- uint8_t temp8;
- uint32_t dmax_mm = 0;
- FixPoint1616_t last_signal_ref_mcps;
-
- LOG_FUNCTION_START("");
-
-
- /*
- * VL53L0X has a good ranging when the value of the
- * DeviceRangeStatus = 11. This function will replace the value 0 with
- * the value 11 in the DeviceRangeStatus.
- * In addition, the SigmaEstimator is not included in the VL53L0X
- * DeviceRangeStatus, this will be added in the PalRangeStatus.
- */
-
- device_range_status_internal = ((device_range_status & 0x78) >> 3);
-
- if (device_range_status_internal == 0 ||
- device_range_status_internal == 5 ||
- device_range_status_internal == 7 ||
- device_range_status_internal == 12 ||
- device_range_status_internal == 13 ||
- device_range_status_internal == 14 ||
- device_range_status_internal == 15
- ) {
- none_flag = 1;
- } else {
- none_flag = 0;
- }
-
- /*
- * Check if Sigma limit is enabled, if yes then do comparison with limit
- * value and put the result back into pPalRangeStatus.
- */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- &sigma_limit_check_enable);
- }
-
- if ((sigma_limit_check_enable != 0) && (status == VL53L0X_ERROR_NONE)) {
- /*
- * compute the Sigma and check with limit
- */
- status = VL53L0X_calc_sigma_estimate(
- dev,
- p_ranging_measurement_data,
- &sigma_estimate,
- &dmax_mm);
- if (status == VL53L0X_ERROR_NONE) {
- p_ranging_measurement_data->RangeDMaxMilliMeter = dmax_mm;
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_limit_check_value(dev,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- &sigma_limit_value);
-
- if ((sigma_limit_value > 0) &&
- (sigma_estimate > sigma_limit_value)) {
- /* Limit Fail */
- sigma_limitflag = 1;
- }
- }
- }
-
- /*
- * Check if Signal ref clip limit is enabled, if yes then do comparison
- * with limit value and put the result back into pPalRangeStatus.
- */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- &signal_ref_clip_limit_check_enable);
- }
-
- if ((signal_ref_clip_limit_check_enable != 0) &&
- (status == VL53L0X_ERROR_NONE)) {
-
- status = VL53L0X_get_limit_check_value(dev,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- &signal_ref_clip_value);
-
- /* Read LastSignalRefMcps from device */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev, 0xFF, 0x01);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_word(dev,
- VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
- &tmp_word);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev, 0xFF, 0x00);
- }
-
- last_signal_ref_mcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmp_word);
- PALDevDataSet(dev, LastSignalRefMcps, last_signal_ref_mcps);
-
- if ((signal_ref_clip_value > 0) &&
- (last_signal_ref_mcps > signal_ref_clip_value)) {
- /* Limit Fail */
- signal_ref_clipflag = 1;
- }
- }
-
- /*
- * Check if Signal ref clip limit is enabled, if yes then do comparison
- * with limit value and put the result back into pPalRangeStatus.
- * EffectiveSpadRtnCount has a format 8.8
- * If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL
- */
- if (status == VL53L0X_ERROR_NONE){
- status = VL53L0X_get_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- &range_ignore_threshold_limit_check_enable);
- }
-
- if ((range_ignore_threshold_limit_check_enable != 0) &&
- (status == VL53L0X_ERROR_NONE)) {
-
- /* Compute the signal rate per spad */
- if (effective_spad_rtn_count == 0) {
- signal_rate_per_spad = 0;
- } else {
- signal_rate_per_spad = (FixPoint1616_t)((256 * signal_rate)
- / effective_spad_rtn_count);
- }
-
- status = VL53L0X_get_limit_check_value(dev,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- &range_ignore_threshold_value);
-
- if ((range_ignore_threshold_value > 0) &&
- (signal_rate_per_spad < range_ignore_threshold_value)) {
- /* Limit Fail add 2^6 to range status */
- range_ignore_thresholdflag = 1;
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (none_flag == 1) {
- *p_pal_range_status = 255; /* NONE */
- } else if (device_range_status_internal == 1 ||
- device_range_status_internal == 2 ||
- device_range_status_internal == 3) {
- *p_pal_range_status = 5; /* HW fail */
- } else if (device_range_status_internal == 6 ||
- device_range_status_internal == 9) {
- *p_pal_range_status = 4; /* Phase fail */
- } else if (device_range_status_internal == 8 ||
- device_range_status_internal == 10 ||
- signal_ref_clipflag == 1) {
- *p_pal_range_status = 3; /* Min range */
- } else if (device_range_status_internal == 4 ||
- range_ignore_thresholdflag == 1) {
- *p_pal_range_status = 2; /* Signal Fail */
- } else if (sigma_limitflag == 1) {
- *p_pal_range_status = 1; /* Sigma Fail */
- } else {
- *p_pal_range_status = 0; /* Range Valid */
- }
- }
-
- /* DMAX only relevant during range error */
- if (*p_pal_range_status == 0)
- p_ranging_measurement_data->RangeDMaxMilliMeter = 0;
-
- /* fill the Limit Check Status */
-
- status = VL53L0X_get_limit_check_enable(dev,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
- &signal_rate_final_range_limit_check_enable);
-
- if (status == VL53L0X_ERROR_NONE) {
- if ((sigma_limit_check_enable == 0) || (sigma_limitflag == 1)) {
- temp8 = 1;
- } else {
- temp8 = 0;
- }
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, temp8);
-
- if ((device_range_status_internal == 4) ||
- (signal_rate_final_range_limit_check_enable == 0)) {
- temp8 = 1;
- } else {
- temp8 = 0;
- }
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
- temp8);
-
- if ((signal_ref_clip_limit_check_enable == 0) ||
- (signal_ref_clipflag == 1)) {
- temp8 = 1;
- } else {
- temp8 = 0;
- }
-
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, temp8);
-
- if ((range_ignore_threshold_limit_check_enable == 0) ||
- (range_ignore_thresholdflag == 1)) {
- temp8 = 1;
- } else {
- temp8 = 0;
- }
-
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- temp8);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_ranging_measurement_data(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t device_range_status;
- uint8_t range_fractional_enable;
- uint8_t pal_range_status;
- uint8_t x_talk_compensation_enable;
- uint16_t ambient_rate;
- FixPoint1616_t signal_rate;
- uint16_t x_talk_compensation_rate_mega_cps;
- uint16_t effective_spad_rtn_count;
- uint16_t tmpuint16;
- uint16_t xtalk_range_milli_meter;
- uint16_t linearity_corrective_gain;
- uint8_t localBuffer[12];
- VL53L0X_RangingMeasurementData_t last_range_data_buffer;
-
- LOG_FUNCTION_START("");
-
- /*
- * use multi read even if some registers are not useful, result will
- * be more efficient
- * start reading at 0x14 dec20
- * end reading at 0x21 dec33 total 14 bytes to read
- */
- status = VL53L0X_read_multi(dev, 0x14, localBuffer, 12);
-
- if (status == VL53L0X_ERROR_NONE) {
-
- p_ranging_measurement_data->ZoneId = 0; /* Only one zone */
- p_ranging_measurement_data->TimeStamp = 0; /* Not Implemented */
-
- tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], localBuffer[10]);
- /* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional
- *(format 11.2) else no fractional
- */
-
- p_ranging_measurement_data->MeasurementTimeUsec = 0;
-
- signal_rate = VL53L0X_FIXPOINT97TOFIXPOINT1616(
- VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6]));
- /* peak_signal_count_rate_rtn_mcps */
- p_ranging_measurement_data->SignalRateRtnMegaCps = signal_rate;
-
- ambient_rate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]);
- p_ranging_measurement_data->AmbientRateRtnMegaCps =
- VL53L0X_FIXPOINT97TOFIXPOINT1616(ambient_rate);
-
- effective_spad_rtn_count = VL53L0X_MAKEUINT16(localBuffer[3],
- localBuffer[2]);
- /* EffectiveSpadRtnCount is 8.8 format */
- p_ranging_measurement_data->EffectiveSpadRtnCount =
- effective_spad_rtn_count;
-
- device_range_status = localBuffer[0];
-
- /* Get Linearity Corrective Gain */
- linearity_corrective_gain = PALDevDataGet(dev,
- LinearityCorrectiveGain);
-
- /* Get ranging configuration */
- range_fractional_enable = PALDevDataGet(dev,
- RangeFractionalEnable);
-
- if (linearity_corrective_gain != 1000) {
-
- tmpuint16 = (uint16_t)((linearity_corrective_gain
- * tmpuint16 + 500) / 1000);
-
- /* Implement Xtalk */
- VL53L0X_GETPARAMETERFIELD(dev,
- XTalkCompensationRateMegaCps,
- x_talk_compensation_rate_mega_cps);
- VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationEnable,
- x_talk_compensation_enable);
-
- if (x_talk_compensation_enable) {
-
- if ((signal_rate
- - ((x_talk_compensation_rate_mega_cps
- * effective_spad_rtn_count) >> 8))
- <= 0) {
- if (range_fractional_enable) {
- xtalk_range_milli_meter = 8888;
- } else {
- xtalk_range_milli_meter = 8888 << 2;
- }
- } else {
- xtalk_range_milli_meter =
- (tmpuint16 * signal_rate)
- / (signal_rate
- - ((x_talk_compensation_rate_mega_cps
- * effective_spad_rtn_count)
- >> 8));
- }
-
- tmpuint16 = xtalk_range_milli_meter;
- }
-
- }
-
- if (range_fractional_enable) {
- p_ranging_measurement_data->RangeMilliMeter =
- (uint16_t)((tmpuint16) >> 2);
- p_ranging_measurement_data->RangeFractionalPart =
- (uint8_t)((tmpuint16 & 0x03) << 6);
- } else {
- p_ranging_measurement_data->RangeMilliMeter = tmpuint16;
- p_ranging_measurement_data->RangeFractionalPart = 0;
- }
-
- /*
- * For a standard definition of RangeStatus, this should
- * return 0 in case of good result after a ranging
- * The range status depends on the device so call a device
- * specific function to obtain the right Status.
- */
- status |= VL53L0X_get_pal_range_status(dev, device_range_status,
- signal_rate, effective_spad_rtn_count,
- p_ranging_measurement_data, &pal_range_status);
-
- if (status == VL53L0X_ERROR_NONE) {
- p_ranging_measurement_data->RangeStatus = pal_range_status;
- }
-
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Copy last read data into Dev buffer */
- last_range_data_buffer = PALDevDataGet(dev, LastRangeMeasure);
-
- last_range_data_buffer.RangeMilliMeter =
- p_ranging_measurement_data->RangeMilliMeter;
- last_range_data_buffer.RangeFractionalPart =
- p_ranging_measurement_data->RangeFractionalPart;
- last_range_data_buffer.RangeDMaxMilliMeter =
- p_ranging_measurement_data->RangeDMaxMilliMeter;
- last_range_data_buffer.MeasurementTimeUsec =
- p_ranging_measurement_data->MeasurementTimeUsec;
- last_range_data_buffer.SignalRateRtnMegaCps =
- p_ranging_measurement_data->SignalRateRtnMegaCps;
- last_range_data_buffer.AmbientRateRtnMegaCps =
- p_ranging_measurement_data->AmbientRateRtnMegaCps;
- last_range_data_buffer.EffectiveSpadRtnCount =
- p_ranging_measurement_data->EffectiveSpadRtnCount;
- last_range_data_buffer.RangeStatus =
- p_ranging_measurement_data->RangeStatus;
-
- PALDevDataSet(dev, LastRangeMeasure, last_range_data_buffer);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_perform_single_ranging_measurement(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- LOG_FUNCTION_START("");
-
- /* This function will do a complete single ranging
- * Here we fix the mode! */
- status = VL53L0X_set_device_mode(dev, VL53L0X_DEVICEMODE_SINGLE_RANGING);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_perform_single_measurement(dev);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_ranging_measurement_data(dev,
- p_ranging_measurement_data);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_clear_interrupt_mask(dev, 0);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::perform_ref_signal_measurement(VL53L0X_DEV dev,
- uint16_t *p_ref_signal_rate)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_RangingMeasurementData_t ranging_measurement_data;
-
- uint8_t sequence_config = 0;
-
- /* store the value of the sequence config,
- * this will be reset before the end of the function
- */
-
- sequence_config = PALDevDataGet(dev, SequenceConfig);
-
- /*
- * This function performs a reference signal rate measurement.
- */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_perform_single_ranging_measurement(dev,
- &ranging_measurement_data);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev, 0xFF, 0x01);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_word(dev,
- VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
- p_ref_signal_rate);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev, 0xFF, 0x00);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- /* restore the previous Sequence Config */
- status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- sequence_config);
- if (status == VL53L0X_ERROR_NONE) {
- PALDevDataSet(dev, SequenceConfig, sequence_config);
- }
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev,
- uint32_t *ref_spad_count,
- uint8_t *is_aperture_spads)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t last_spad_array[6];
- uint8_t start_select = 0xB4;
- uint32_t minimum_spad_count = 3;
- uint32_t max_spad_count = 44;
- uint32_t current_spad_index = 0;
- uint32_t last_spad_index = 0;
- int32_t next_good_spad = 0;
- uint16_t target_ref_rate = 0x0A00; /* 20 MCPS in 9:7 format */
- uint16_t peak_signal_rate_ref;
- uint32_t need_apt_spads = 0;
- uint32_t index = 0;
- uint32_t spad_array_size = 6;
- uint32_t signal_rate_diff = 0;
- uint32_t last_signal_rate_diff = 0;
- uint8_t complete = 0;
- uint8_t vhv_settings = 0;
- uint8_t phase_cal = 0;
- uint32_t ref_spad_count_int = 0;
- uint8_t is_aperture_spads_int = 0;
-
- /*
- * The reference SPAD initialization procedure determines the minimum
- * amount of reference spads to be enables to achieve a target reference
- * signal rate and should be performed once during initialization.
- *
- * Either aperture or non-aperture spads are applied but never both.
- * Firstly non-aperture spads are set, begining with 5 spads, and
- * increased one spad at a time until the closest measurement to the
- * target rate is achieved.
- *
- * If the target rate is exceeded when 5 non-aperture spads are enabled,
- * initialization is performed instead with aperture spads.
- *
- * When setting spads, a 'Good Spad Map' is applied.
- *
- * This procedure operates within a SPAD window of interest of a maximum
- * 44 spads.
- * The start point is currently fixed to 180, which lies towards the end
- * of the non-aperture quadrant and runs in to the adjacent aperture
- * quadrant.
- */
- target_ref_rate = PALDevDataGet(dev, targetRefRate);
-
- /*
- * Initialize Spad arrays.
- * Currently the good spad map is initialised to 'All good'.
- * This is a short term implementation. The good spad map will be
- * provided as an input.
- * Note that there are 6 bytes. Only the first 44 bits will be used to
- * represent spads.
- */
- for (index = 0; index < spad_array_size; index++)
- dev->Data.SpadData.RefSpadEnables[index] = 0;
-
-
- status = VL53L0X_write_byte(dev, 0xFF, 0x01);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev, 0xFF, 0x00);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
- start_select);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0);
- }
-
- /* Perform ref calibration */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_perform_ref_calibration(dev, &vhv_settings,
- &phase_cal, 0);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Enable Minimum NON-APERTURE Spads */
- current_spad_index = 0;
- last_spad_index = current_spad_index;
- need_apt_spads = 0;
- status = enable_ref_spads(dev,
- need_apt_spads,
- dev->Data.SpadData.RefGoodSpadMap,
- dev->Data.SpadData.RefSpadEnables,
- spad_array_size,
- start_select,
- current_spad_index,
- minimum_spad_count,
- &last_spad_index);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- current_spad_index = last_spad_index;
-
- status = perform_ref_signal_measurement(dev,
- &peak_signal_rate_ref);
- if ((status == VL53L0X_ERROR_NONE) &&
- (peak_signal_rate_ref > target_ref_rate)) {
- /* Signal rate measurement too high,
- * switch to APERTURE SPADs */
-
- for (index = 0; index < spad_array_size; index++) {
- dev->Data.SpadData.RefSpadEnables[index] = 0;
- }
-
-
- /* Increment to the first APERTURE spad */
- while ((is_aperture(start_select + current_spad_index)
- == 0) && (current_spad_index < max_spad_count)) {
- current_spad_index++;
- }
-
- need_apt_spads = 1;
-
- status = enable_ref_spads(dev,
- need_apt_spads,
- dev->Data.SpadData.RefGoodSpadMap,
- dev->Data.SpadData.RefSpadEnables,
- spad_array_size,
- start_select,
- current_spad_index,
- minimum_spad_count,
- &last_spad_index);
-
- if (status == VL53L0X_ERROR_NONE) {
- current_spad_index = last_spad_index;
- status = perform_ref_signal_measurement(dev,
- &peak_signal_rate_ref);
-
- if ((status == VL53L0X_ERROR_NONE) &&
- (peak_signal_rate_ref > target_ref_rate)) {
- /* Signal rate still too high after
- * setting the minimum number of
- * APERTURE spads. Can do no more
- * therefore set the min number of
- * aperture spads as the result.
- */
- is_aperture_spads_int = 1;
- ref_spad_count_int = minimum_spad_count;
- }
- }
- } else {
- need_apt_spads = 0;
- }
- }
-
- if ((status == VL53L0X_ERROR_NONE) &&
- (peak_signal_rate_ref < target_ref_rate)) {
- /* At this point, the minimum number of either aperture
- * or non-aperture spads have been set. Proceed to add
- * spads and perform measurements until the target
- * reference is reached.
- */
- is_aperture_spads_int = need_apt_spads;
- ref_spad_count_int = minimum_spad_count;
-
- memcpy(last_spad_array, dev->Data.SpadData.RefSpadEnables,
- spad_array_size);
- last_signal_rate_diff = abs(peak_signal_rate_ref -
- target_ref_rate);
- complete = 0;
-
- while (!complete) {
- get_next_good_spad(
- dev->Data.SpadData.RefGoodSpadMap,
- spad_array_size, current_spad_index,
- &next_good_spad);
-
- if (next_good_spad == -1) {
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- break;
- }
-
- /* Cannot combine Aperture and Non-Aperture spads, so
- * ensure the current spad is of the correct type.
- */
- if (is_aperture((uint32_t)start_select + next_good_spad) !=
- need_apt_spads) {
- /* At this point we have enabled the maximum
- * number of Aperture spads.
- */
- complete = 1;
- break;
- }
-
- (ref_spad_count_int)++;
-
- current_spad_index = next_good_spad;
- status = enable_spad_bit(
- dev->Data.SpadData.RefSpadEnables,
- spad_array_size, current_spad_index);
-
- if (status == VL53L0X_ERROR_NONE) {
- current_spad_index++;
- /* Proceed to apply the additional spad and
- * perform measurement. */
- status = set_ref_spad_map(dev,
- dev->Data.SpadData.RefSpadEnables);
- }
-
- if (status != VL53L0X_ERROR_NONE) {
- break;
- }
-
- status = perform_ref_signal_measurement(dev,
- &peak_signal_rate_ref);
-
- if (status != VL53L0X_ERROR_NONE) {
- break;
- }
-
- signal_rate_diff = abs(peak_signal_rate_ref - target_ref_rate);
-
- if (peak_signal_rate_ref > target_ref_rate) {
- /* Select the spad map that provides the
- * measurement closest to the target rate,
- * either above or below it.
- */
- if (signal_rate_diff > last_signal_rate_diff) {
- /* Previous spad map produced a closer
- * measurement, so choose this. */
- status = set_ref_spad_map(dev,
- last_spad_array);
- memcpy(
- dev->Data.SpadData.RefSpadEnables,
- last_spad_array, spad_array_size);
-
- (ref_spad_count_int)--;
- }
- complete = 1;
- } else {
- /* Continue to add spads */
- last_signal_rate_diff = signal_rate_diff;
- memcpy(last_spad_array,
- dev->Data.SpadData.RefSpadEnables,
- spad_array_size);
- }
-
- } /* while */
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- *ref_spad_count = ref_spad_count_int;
- *is_aperture_spads = is_aperture_spads_int;
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 1);
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadCount, (uint8_t)(*ref_spad_count));
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadType, *is_aperture_spads);
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_set_reference_spads(VL53L0X_DEV dev,
- uint32_t count, uint8_t is_aperture_spads)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t current_spad_index = 0;
- uint8_t start_select = 0xB4;
- uint32_t spad_array_size = 6;
- uint32_t max_spad_count = 44;
- uint32_t last_spad_index;
- uint32_t index;
-
- /*
- * This function applies a requested number of reference spads, either
- * aperture or
- * non-aperture, as requested.
- * The good spad map will be applied.
- */
-
- status = VL53L0X_write_byte(dev, 0xFF, 0x01);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev, 0xFF, 0x00);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
- start_select);
- }
-
- for (index = 0; index < spad_array_size; index++) {
- dev->Data.SpadData.RefSpadEnables[index] = 0;
- }
-
- if (is_aperture_spads) {
- /* Increment to the first APERTURE spad */
- while ((is_aperture(start_select + current_spad_index) == 0) &&
- (current_spad_index < max_spad_count)) {
- current_spad_index++;
- }
- }
- status = enable_ref_spads(dev,
- is_aperture_spads,
- dev->Data.SpadData.RefGoodSpadMap,
- dev->Data.SpadData.RefSpadEnables,
- spad_array_size,
- start_select,
- current_spad_index,
- count,
- &last_spad_index);
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 1);
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadCount, (uint8_t)(count));
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadType, is_aperture_spads);
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_wait_device_booted(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NOT_IMPLEMENTED;
- LOG_FUNCTION_START("");
-
- /* not implemented on VL53L0X */
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration(VL53L0X_DEV dev, uint8_t *p_vhv_settings,
- uint8_t *p_phase_cal)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = VL53L0X_perform_ref_calibration(dev, p_vhv_settings,
- p_phase_cal, 1);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev,
- uint32_t *ref_spad_count, uint8_t *is_aperture_spads)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_VL53L0X_perform_ref_spad_management(dev, ref_spad_count,
- is_aperture_spads);
-
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-/* Group PAL Init Functions */
-VL53L0X_Error VL53L0X::VL53L0X_set_device_address(VL53L0X_DEV dev, uint8_t device_address)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = VL53L0X_write_byte(dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS,
- device_address / 2);
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_set_gpio_config(VL53L0X_DEV dev, uint8_t pin,
- VL53L0X_DeviceModes device_mode, VL53L0X_GpioFunctionality functionality,
- VL53L0X_InterruptPolarity polarity)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t data;
-
- LOG_FUNCTION_START("");
-
- if (pin != 0) {
- status = VL53L0X_ERROR_GPIO_NOT_EXISTING;
- } else if (device_mode == VL53L0X_DEVICEMODE_GPIO_DRIVE) {
- if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW) {
- data = 0x10;
- } else {
- data = 1;
- }
-
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data);
-
- } else {
- if (device_mode == VL53L0X_DEVICEMODE_GPIO_OSC) {
-
- status |= VL53L0X_write_byte(dev, 0xff, 0x01);
- status |= VL53L0X_write_byte(dev, 0x00, 0x00);
-
- status |= VL53L0X_write_byte(dev, 0xff, 0x00);
- status |= VL53L0X_write_byte(dev, 0x80, 0x01);
- status |= VL53L0X_write_byte(dev, 0x85, 0x02);
-
- status |= VL53L0X_write_byte(dev, 0xff, 0x04);
- status |= VL53L0X_write_byte(dev, 0xcd, 0x00);
- status |= VL53L0X_write_byte(dev, 0xcc, 0x11);
-
- status |= VL53L0X_write_byte(dev, 0xff, 0x07);
- status |= VL53L0X_write_byte(dev, 0xbe, 0x00);
-
- status |= VL53L0X_write_byte(dev, 0xff, 0x06);
- status |= VL53L0X_write_byte(dev, 0xcc, 0x09);
-
- status |= VL53L0X_write_byte(dev, 0xff, 0x00);
- status |= VL53L0X_write_byte(dev, 0xff, 0x01);
- status |= VL53L0X_write_byte(dev, 0x00, 0x00);
-
- } else {
-
- if (status == VL53L0X_ERROR_NONE) {
- switch (functionality) {
- case VL53L0X_GPIOFUNCTIONALITY_OFF:
- data = 0x00;
- break;
- case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW:
- data = 0x01;
- break;
- case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH:
- data = 0x02;
- break;
- case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT:
- data = 0x03;
- break;
- case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY:
- data = 0x04;
- break;
- default:
- status =
- VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW) {
- data = 0;
- } else {
- data = (uint8_t)(1 << 4);
- }
- status = VL53L0X_update_byte(dev,
- VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- Pin0GpioFunctionality, functionality);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_clear_interrupt_mask(dev, 0);
- }
- }
- }
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_fraction_enable(VL53L0X_DEV dev, uint8_t *p_enabled)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, p_enabled);
-
- if (status == VL53L0X_ERROR_NONE) {
- *p_enabled = (*p_enabled & 1);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-uint16_t VL53L0X::VL53L0X_encode_timeout(uint32_t timeout_macro_clks)
-{
- /*!
- * Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format
- */
-
- uint16_t encoded_timeout = 0;
- uint32_t ls_byte = 0;
- uint16_t ms_byte = 0;
-
- if (timeout_macro_clks > 0) {
- ls_byte = timeout_macro_clks - 1;
-
- while ((ls_byte & 0xFFFFFF00) > 0) {
- ls_byte = ls_byte >> 1;
- ms_byte++;
- }
-
- encoded_timeout = (ms_byte << 8)
- + (uint16_t)(ls_byte & 0x000000FF);
- }
-
- return encoded_timeout;
-
-}
-
-VL53L0X_Error VL53L0X::set_sequence_step_timeout(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id,
- uint32_t timeout_micro_secs)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t current_vcsel_pulse_period_p_clk;
- uint8_t msrc_encoded_time_out;
- uint16_t pre_range_encoded_time_out;
- uint16_t pre_range_time_out_m_clks;
- uint16_t msrc_range_time_out_m_clks;
- uint32_t final_range_time_out_m_clks;
- uint16_t final_range_encoded_time_out;
- VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
-
- if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) ||
- (sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) ||
- (sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) {
-
- status = VL53L0X_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
-
- if (status == VL53L0X_ERROR_NONE) {
- msrc_range_time_out_m_clks = VL53L0X_calc_timeout_mclks(dev,
- timeout_micro_secs,
- (uint8_t)current_vcsel_pulse_period_p_clk);
-
- if (msrc_range_time_out_m_clks > 256) {
- msrc_encoded_time_out = 255;
- } else {
- msrc_encoded_time_out =
- (uint8_t)msrc_range_time_out_m_clks - 1;
- }
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- LastEncodedTimeout,
- msrc_encoded_time_out);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
- msrc_encoded_time_out);
- }
- } else {
-
- if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
- pre_range_time_out_m_clks =
- VL53L0X_calc_timeout_mclks(dev,
- timeout_micro_secs,
- (uint8_t)current_vcsel_pulse_period_p_clk);
- pre_range_encoded_time_out = VL53L0X_encode_timeout(
- pre_range_time_out_m_clks);
-
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
- LastEncodedTimeout,
- pre_range_encoded_time_out);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_word(dev,
- VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- pre_range_encoded_time_out);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- PreRangeTimeoutMicroSecs,
- timeout_micro_secs);
- }
- } else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
-
- /* For the final range timeout, the pre-range timeout
- * must be added. To do this both final and pre-range
- * timeouts must be expressed in macro periods MClks
- * because they have different vcsel periods.
- */
-
- VL53L0X_get_sequence_step_enables(dev,
- &scheduler_sequence_steps);
- pre_range_time_out_m_clks = 0;
- if (scheduler_sequence_steps.PreRangeOn) {
-
- /* Retrieve PRE-RANGE VCSEL Period */
- status = VL53L0X_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
-
- /* Retrieve PRE-RANGE Timeout in Macro periods
- * (MCLKS) */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_word(dev, 0x51,
- &pre_range_encoded_time_out);
- pre_range_time_out_m_clks =
- VL53L0X_decode_timeout(
- pre_range_encoded_time_out);
- }
- }
-
- /* Calculate FINAL RANGE Timeout in Macro Periods
- * (MCLKS) and add PRE-RANGE value
- */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_vcsel_pulse_period(dev,
- VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
- }
- if (status == VL53L0X_ERROR_NONE) {
- final_range_time_out_m_clks =
- VL53L0X_calc_timeout_mclks(dev,
- timeout_micro_secs,
- (uint8_t) current_vcsel_pulse_period_p_clk);
-
- final_range_time_out_m_clks += pre_range_time_out_m_clks;
-
- final_range_encoded_time_out =
- VL53L0X_encode_timeout(final_range_time_out_m_clks);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_word(dev, 0x71,
- final_range_encoded_time_out);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- FinalRangeTimeoutMicroSecs,
- timeout_micro_secs);
- }
- }
- } else {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- }
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t measurement_timing_budget_micro_seconds)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t final_range_timing_budget_micro_seconds;
- VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
- uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000;
- uint32_t start_overhead_micro_seconds = 1910;
- uint32_t end_overhead_micro_seconds = 960;
- uint32_t msrc_overhead_micro_seconds = 660;
- uint32_t tcc_overhead_micro_seconds = 590;
- uint32_t dss_overhead_micro_seconds = 690;
- uint32_t pre_range_overhead_micro_seconds = 660;
- uint32_t final_range_overhead_micro_seconds = 550;
- uint32_t pre_range_timeout_micro_seconds = 0;
- uint32_t c_min_timing_budget_micro_seconds = 20000;
- uint32_t sub_timeout = 0;
-
- LOG_FUNCTION_START("");
-
- if (measurement_timing_budget_micro_seconds
- < c_min_timing_budget_micro_seconds) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- return status;
- }
-
- final_range_timing_budget_micro_seconds =
- measurement_timing_budget_micro_seconds -
- (start_overhead_micro_seconds + end_overhead_micro_seconds);
-
- status = VL53L0X_get_sequence_step_enables(dev, &scheduler_sequence_steps);
-
- if (status == VL53L0X_ERROR_NONE &&
- (scheduler_sequence_steps.TccOn ||
- scheduler_sequence_steps.MsrcOn ||
- scheduler_sequence_steps.DssOn)) {
-
- /* TCC, MSRC and DSS all share the same timeout */
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_MSRC,
- &msrc_dcc_tcc_timeout_micro_seconds);
-
- /* Subtract the TCC, MSRC and DSS timeouts if they are
- * enabled. */
-
- if (status != VL53L0X_ERROR_NONE) {
- return status;
- }
-
- /* TCC */
- if (scheduler_sequence_steps.TccOn) {
-
- sub_timeout = msrc_dcc_tcc_timeout_micro_seconds
- + tcc_overhead_micro_seconds;
-
- if (sub_timeout <
- final_range_timing_budget_micro_seconds) {
- final_range_timing_budget_micro_seconds -=
- sub_timeout;
- } else {
- /* Requested timeout too big. */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
- if (status != VL53L0X_ERROR_NONE) {
- LOG_FUNCTION_END(status);
- return status;
- }
-
- /* DSS */
- if (scheduler_sequence_steps.DssOn) {
-
- sub_timeout = 2 * (msrc_dcc_tcc_timeout_micro_seconds +
- dss_overhead_micro_seconds);
-
- if (sub_timeout < final_range_timing_budget_micro_seconds) {
- final_range_timing_budget_micro_seconds
- -= sub_timeout;
- } else {
- /* Requested timeout too big. */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- } else if (scheduler_sequence_steps.MsrcOn) {
- /* MSRC */
- sub_timeout = msrc_dcc_tcc_timeout_micro_seconds +
- msrc_overhead_micro_seconds;
-
- if (sub_timeout < final_range_timing_budget_micro_seconds) {
- final_range_timing_budget_micro_seconds
- -= sub_timeout;
- } else {
- /* Requested timeout too big. */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
- }
-
- if (status != VL53L0X_ERROR_NONE) {
- LOG_FUNCTION_END(status);
- return status;
- }
-
- if (scheduler_sequence_steps.PreRangeOn) {
-
- /* Subtract the Pre-range timeout if enabled. */
-
- status = get_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &pre_range_timeout_micro_seconds);
-
- sub_timeout = pre_range_timeout_micro_seconds +
- pre_range_overhead_micro_seconds;
-
- if (sub_timeout < final_range_timing_budget_micro_seconds) {
- final_range_timing_budget_micro_seconds -= sub_timeout;
- } else {
- /* Requested timeout too big. */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
-
- if (status == VL53L0X_ERROR_NONE &&
- scheduler_sequence_steps.FinalRangeOn) {
-
- final_range_timing_budget_micro_seconds -=
- final_range_overhead_micro_seconds;
-
- /* Final Range Timeout
- * Note that the final range timeout is determined by the timing
- * budget and the sum of all other timeouts within the sequence.
- * If there is no room for the final range timeout, then an error
- * will be set. Otherwise the remaining time will be applied to
- * the final range.
- */
- status = set_sequence_step_timeout(dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- final_range_timing_budget_micro_seconds);
-
- VL53L0X_SETPARAMETERFIELD(dev,
- MeasurementTimingBudgetMicroSeconds,
- measurement_timing_budget_micro_seconds);
- }
-
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t measurement_timing_budget_micro_seconds)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(dev,
- measurement_timing_budget_micro_seconds);
-
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_set_sequence_step_enable(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_step_enabled)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
- uint8_t sequence_config_new = 0;
- uint32_t measurement_timing_budget_micro_seconds;
- LOG_FUNCTION_START("");
-
- status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- &sequence_config);
-
- sequence_config_new = sequence_config;
-
- if (status == VL53L0X_ERROR_NONE) {
- if (sequence_step_enabled == 1) {
-
- /* Enable requested sequence step
- */
- switch (sequence_step_id) {
- case VL53L0X_SEQUENCESTEP_TCC:
- sequence_config_new |= 0x10;
- break;
- case VL53L0X_SEQUENCESTEP_DSS:
- sequence_config_new |= 0x28;
- break;
- case VL53L0X_SEQUENCESTEP_MSRC:
- sequence_config_new |= 0x04;
- break;
- case VL53L0X_SEQUENCESTEP_PRE_RANGE:
- sequence_config_new |= 0x40;
- break;
- case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
- sequence_config_new |= 0x80;
- break;
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- } else {
- /* Disable requested sequence step
- */
- switch (sequence_step_id) {
- case VL53L0X_SEQUENCESTEP_TCC:
- sequence_config_new &= 0xef;
- break;
- case VL53L0X_SEQUENCESTEP_DSS:
- sequence_config_new &= 0xd7;
- break;
- case VL53L0X_SEQUENCESTEP_MSRC:
- sequence_config_new &= 0xfb;
- break;
- case VL53L0X_SEQUENCESTEP_PRE_RANGE:
- sequence_config_new &= 0xbf;
- break;
- case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
- sequence_config_new &= 0x7f;
- break;
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
- }
-
- if (sequence_config_new != sequence_config) {
- /* Apply New Setting */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev,
- VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, sequence_config_new);
- }
- if (status == VL53L0X_ERROR_NONE) {
- PALDevDataSet(dev, SequenceConfig, sequence_config_new);
- }
-
-
- /* Recalculate timing budget */
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_GETPARAMETERFIELD(dev,
- MeasurementTimingBudgetMicroSeconds,
- measurement_timing_budget_micro_seconds);
-
- VL53L0X_set_measurement_timing_budget_micro_seconds(dev,
- measurement_timing_budget_micro_seconds);
- }
- }
-
- LOG_FUNCTION_END(status);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_set_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
- uint8_t limit_check_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- FixPoint1616_t temp_fix1616 = 0;
- uint8_t limit_check_enable_int = 0;
- uint8_t limit_check_disable = 0;
- uint8_t temp8;
-
- LOG_FUNCTION_START("");
-
- if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- } else {
- if (limit_check_enable == 0) {
- temp_fix1616 = 0;
- limit_check_enable_int = 0;
- limit_check_disable = 1;
-
- } else {
- VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
- limit_check_id, temp_fix1616);
- limit_check_disable = 0;
- /* this to be sure to have either 0 or 1 */
- limit_check_enable_int = 1;
- }
-
- switch (limit_check_id) {
-
- case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- limit_check_enable_int);
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
-
- status = VL53L0X_write_word(dev,
- VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(temp_fix1616));
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
-
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
- VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- limit_check_enable_int);
-
- break;
-
- case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
-
- /* internal computation: */
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
- VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- limit_check_enable_int);
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
-
- temp8 = (uint8_t)(limit_check_disable << 1);
- status = VL53L0X_update_byte(dev,
- VL53L0X_REG_MSRC_CONFIG_CONTROL,
- 0xFE, temp8);
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
-
- temp8 = (uint8_t)(limit_check_disable << 4);
- status = VL53L0X_update_byte(dev,
- VL53L0X_REG_MSRC_CONFIG_CONTROL,
- 0xEF, temp8);
-
- break;
-
-
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
-
- }
-
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (limit_check_enable == 0) {
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
- limit_check_id, 0);
- } else {
- VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
- limit_check_id, 1);
- }
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_static_init(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceParameters_t current_parameters = {0};
- uint8_t *p_tuning_setting_buffer;
- uint16_t tempword = 0;
- uint8_t tempbyte = 0;
- uint8_t use_internal_tuning_settings = 0;
- uint32_t count = 0;
- uint8_t is_aperture_spads = 0;
- uint32_t ref_spad_count = 0;
- uint8_t aperture_spads = 0;
- uint8_t vcsel_pulse_period_pclk;
- uint32_t seq_timeout_micro_secs;
-
- LOG_FUNCTION_START("");
-
- status = VL53L0X_get_info_from_device(dev, 1);
-
- /* set the ref spad from NVM */
- count = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadCount);
- aperture_spads = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
- ReferenceSpadType);
-
- /* NVM value invalid */
- if ((aperture_spads > 1) ||
- ((aperture_spads == 1) && (count > 32)) ||
- ((aperture_spads == 0) && (count > 12))) {
- status = wrapped_VL53L0X_perform_ref_spad_management(dev, &ref_spad_count,
- &is_aperture_spads);
- } else {
- status = VL53L0X_set_reference_spads(dev, count, aperture_spads);
- }
-
-
- /* Initialize tuning settings buffer to prevent compiler warning. */
- p_tuning_setting_buffer = DefaultTuningSettings;
-
- if (status == VL53L0X_ERROR_NONE) {
- use_internal_tuning_settings = PALDevDataGet(dev,
- UseInternalTuningSettings);
-
- if (use_internal_tuning_settings == 0) {
- p_tuning_setting_buffer = PALDevDataGet(dev,
- pTuningSettingsPointer);
- } else {
- p_tuning_setting_buffer = DefaultTuningSettings;
- }
-
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_load_tuning_settings(dev, p_tuning_setting_buffer);
- }
-
-
- /* Set interrupt config to new sample ready */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_set_gpio_config(dev, 0, 0,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
- VL53L0X_INTERRUPTPOLARITY_LOW);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev, 0xFF, 0x01);
- status |= VL53L0X_read_word(dev, 0x84, &tempword);
- status |= VL53L0X_write_byte(dev, 0xFF, 0x00);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(dev, OscFrequencyMHz,
- VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword));
- }
-
- /* After static init, some device parameters may be changed,
- * so update them */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_device_parameters(dev, ¤t_parameters);
- }
-
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_fraction_enable(dev, &tempbyte);
- if (status == VL53L0X_ERROR_NONE)
- PALDevDataSet(dev, RangeFractionalEnable, tempbyte);
-
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- PALDevDataSet(dev, CurrentParameters, current_parameters);
- }
-
-
- /* read the sequence config and save it */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_byte(dev,
- VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte);
- if (status == VL53L0X_ERROR_NONE) {
- PALDevDataSet(dev, SequenceConfig, tempbyte);
- }
- }
-
- /* Disable MSRC and TCC by default */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_set_sequence_step_enable(dev,
- VL53L0X_SEQUENCESTEP_TCC, 0);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_set_sequence_step_enable(dev,
- VL53L0X_SEQUENCESTEP_MSRC, 0);
- }
-
- /* Set PAL State to standby */
- if (status == VL53L0X_ERROR_NONE) {
- PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE);
- }
-
- /* Store pre-range vcsel period */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_vcsel_pulse_period(
- dev,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- &vcsel_pulse_period_pclk);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- PreRangeVcselPulsePeriod,
- vcsel_pulse_period_pclk);
- }
-
- /* Store final-range vcsel period */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_vcsel_pulse_period(
- dev,
- VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
- &vcsel_pulse_period_pclk);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- FinalRangeVcselPulsePeriod,
- vcsel_pulse_period_pclk);
- }
-
- /* Store pre-range timeout */
- if (status == VL53L0X_ERROR_NONE) {
- status = get_sequence_step_timeout(
- dev,
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &seq_timeout_micro_secs);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- PreRangeTimeoutMicroSecs,
- seq_timeout_micro_secs);
- }
-
- /* Store final-range timeout */
- if (status == VL53L0X_ERROR_NONE) {
- status = get_sequence_step_timeout(
- dev,
- VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- &seq_timeout_micro_secs);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- VL53L0X_SETDEVICESPECIFICPARAMETER(
- dev,
- FinalRangeTimeoutMicroSecs,
- seq_timeout_micro_secs);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-
-VL53L0X_Error VL53L0X::VL53L0X_stop_measurement(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- LOG_FUNCTION_START("");
-
- status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START,
- VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT);
-
- status = VL53L0X_write_byte(dev, 0xFF, 0x01);
- status = VL53L0X_write_byte(dev, 0x00, 0x00);
- status = VL53L0X_write_byte(dev, 0x91, 0x00);
- status = VL53L0X_write_byte(dev, 0x00, 0x01);
- status = VL53L0X_write_byte(dev, 0xFF, 0x00);
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Set PAL State to Idle */
- PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE);
- }
-
- /* Check if need to apply interrupt settings */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_check_and_load_interrupt_settings(dev, 0);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_stop_completed_status(VL53L0X_DEV dev,
- uint32_t *p_stop_status)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t byte = 0;
- LOG_FUNCTION_START("");
-
- status = VL53L0X_write_byte(dev, 0xFF, 0x01);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_byte(dev, 0x04, &byte);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(dev, 0xFF, 0x0);
- }
-
- *p_stop_status = byte;
-
- if (byte == 0) {
- status = VL53L0X_write_byte(dev, 0x80, 0x01);
- status = VL53L0X_write_byte(dev, 0xFF, 0x01);
- status = VL53L0X_write_byte(dev, 0x00, 0x00);
- status = VL53L0X_write_byte(dev, 0x91,
- PALDevDataGet(dev, StopVariable));
- status = VL53L0X_write_byte(dev, 0x00, 0x01);
- status = VL53L0X_write_byte(dev, 0xFF, 0x00);
- status = VL53L0X_write_byte(dev, 0x80, 0x00);
- }
-
- LOG_FUNCTION_END(status);
- return status;
-}
-
-/****************** Write and read functions from I2C *************************/
-
-VL53L0X_Error VL53L0X::VL53L0X_write_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count)
-{
- int status;
-
- status = VL53L0X_i2c_write(dev->I2cDevAddr, index, p_data, (uint16_t)count);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_read_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count)
-{
- int status;
-
- if (count >= VL53L0X_MAX_I2C_XFER_SIZE) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- status = VL53L0X_i2c_read(dev->I2cDevAddr, index, p_data, (uint16_t)count);
-
- return status;
-}
-
-
-VL53L0X_Error VL53L0X::VL53L0X_write_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t data)
-{
- int status;
-
- status = VL53L0X_i2c_write(Dev->I2cDevAddr, index, &data, 1);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_write_word(VL53L0X_DEV dev, uint8_t index, uint16_t data)
-{
- int status;
- uint8_t buffer[2];
-
- buffer[0] = data >> 8;
- buffer[1] = data & 0x00FF;
- status = VL53L0X_i2c_write(dev->I2cDevAddr, index, (uint8_t *)buffer, 2);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_write_dword(VL53L0X_DEV Dev, uint8_t index, uint32_t data)
-{
- int status;
- uint8_t buffer[4];
-
- buffer[0] = (data >> 24) & 0xFF;
- buffer[1] = (data >> 16) & 0xFF;
- buffer[2] = (data >> 8) & 0xFF;
- buffer[3] = (data >> 0) & 0xFF;
- status = VL53L0X_i2c_write(Dev->I2cDevAddr, index, (uint8_t *)buffer, 4);
- return status;
-}
-
-
-VL53L0X_Error VL53L0X::VL53L0X_read_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t *p_data)
-{
- int status;
-
- status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, p_data, 1);
-
- if (status)
- return -1;
-
- return 0;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_read_word(VL53L0X_DEV Dev, uint8_t index, uint16_t *p_data)
-{
- int status;
- uint8_t buffer[2] = {0, 0};
-
- status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, buffer, 2);
- if (!status) {
- *p_data = (buffer[0] << 8) + buffer[1];
- }
- return status;
-
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_read_dword(VL53L0X_DEV Dev, uint8_t index, uint32_t *p_data)
-{
- int status;
- uint8_t buffer[4] = {0, 0, 0, 0};
-
- status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, buffer, 4);
- if (!status) {
- *p_data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3];
- }
- return status;
-
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_update_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t and_data, uint8_t or_data)
-{
- int status;
- uint8_t buffer = 0;
-
- /* read data direct onto buffer */
- status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, &buffer, 1);
- if (!status) {
- buffer = (buffer & and_data) | or_data;
- status = VL53L0X_i2c_write(Dev->I2cDevAddr, index, &buffer, (uint8_t)1);
- }
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_i2c_write(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t *p_data,
- uint16_t NumByteToWrite)
-{
- int ret;
-
- ret = _dev_i2c->i2c_write(p_data, DeviceAddr, RegisterAddr, NumByteToWrite);
-
- if (ret) {
- return -1;
- }
- return 0;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_i2c_read(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t *p_data,
- uint16_t NumByteToRead)
-{
- int ret;
-
- ret = _dev_i2c->i2c_read(p_data, DeviceAddr, RegisterAddr, NumByteToRead);
-
- if (ret) {
- return -1;
- }
- return 0;
-}
-
-int VL53L0X::read_id(uint8_t *id)
-{
- int status = 0;
- uint16_t rl_id = 0;
-
- status = VL53L0X_read_word(_device, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &rl_id);
- if (rl_id == 0xEEAA) {
- return status;
- }
-
- return -1;
-}
-
-
-VL53L0X_Error VL53L0X::wait_measurement_data_ready(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t new_dat_ready = 0;
- uint32_t loop_nb;
-
- // Wait until it finished
- // use timeout to avoid deadlock
- if (status == VL53L0X_ERROR_NONE) {
- loop_nb = 0;
- do {
- status = VL53L0X_get_measurement_data_ready(dev, &new_dat_ready);
- if ((new_dat_ready == 0x01) || status != VL53L0X_ERROR_NONE) {
- break;
- }
- loop_nb = loop_nb + 1;
- VL53L0X_polling_delay(dev);
- } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
-
- if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
- status = VL53L0X_ERROR_TIME_OUT;
- }
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::wait_stop_completed(VL53L0X_DEV dev)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t stop_completed = 0;
- uint32_t loop_nb;
-
- // Wait until it finished
- // use timeout to avoid deadlock
- if (status == VL53L0X_ERROR_NONE) {
- loop_nb = 0;
- do {
- status = VL53L0X_get_stop_completed_status(dev, &stop_completed);
- if ((stop_completed == 0x00) || status != VL53L0X_ERROR_NONE) {
- break;
- }
- loop_nb = loop_nb + 1;
- VL53L0X_polling_delay(dev);
- } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
-
- if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
- status = VL53L0X_ERROR_TIME_OUT;
- }
-
- }
-
- return status;
-}
-
-
-int VL53L0X::init_sensor(uint8_t new_addr)
-{
- int status;
-
- VL53L0X_off();
- VL53L0X_on();
-
-// status=VL53L0X_WaitDeviceBooted(Device);
-// if(status)
-// printf("WaitDeviceBooted fail\n\r");
- status = is_present();
- if (!status) {
- status = init(&_my_device);
- if (status != VL53L0X_ERROR_NONE) {
- printf("Failed to init VL53L0X sensor!\n\r");
- return status;
- }
-
- // deduce silicon version
- status = VL53L0X_get_device_info(&_my_device, &_device_info);
-
- status = prepare();
- if (status != VL53L0X_ERROR_NONE) {
- printf("Failed to prepare VL53L0X!\n\r");
- return status;
- }
-
- if (new_addr != DEFAULT_DEVICE_ADDRESS) {
- status = set_device_address(new_addr);
- if (status) {
- printf("Failed to change I2C address!\n\r");
- return status;
- }
- } else {
- printf("Invalid new address!\n\r");
- return VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
- return status;
-}
-
-int VL53L0X::range_meas_int_continuous_mode(void (*fptr)(void))
-{
- int status, clr_status;
-
- status = VL53L0X_stop_measurement(_device); // it is safer to do this while sensor is stopped
-
-// status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
-
- status = VL53L0X_set_gpio_config(_device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
- VL53L0X_INTERRUPTPOLARITY_HIGH);
-
- if (!status) {
- attach_interrupt_measure_detection_irq(fptr);
- enable_interrupt_measure_detection_irq();
- }
-
- clr_status = clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS | VL53L0X_REG_RESULT_RANGE_STATUS);
- if (clr_status) {
- VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
- }
-
- if (!status) {
- status = range_start_continuous_mode();
- }
- return status;
-}
-
-
-int VL53L0X::start_measurement(OperatingMode operating_mode, void (*fptr)(void))
-{
- int Status = VL53L0X_ERROR_NONE;
- int ClrStatus;
-
- uint8_t VhvSettings;
- uint8_t PhaseCal;
- // *** from mass market cube expansion v1.1, ranging with satellites.
- // default settings, for normal range.
- FixPoint1616_t signalLimit = (FixPoint1616_t)(0.25 * 65536);
- FixPoint1616_t sigmaLimit = (FixPoint1616_t)(18 * 65536);
- uint32_t timingBudget = 33000;
- uint8_t preRangeVcselPeriod = 14;
- uint8_t finalRangeVcselPeriod = 10;
-
- if (operating_mode == range_continuous_interrupt) {
- if (_gpio1Int == NULL) {
- printf("GPIO1 Error\r\n");
- return 1;
- }
-
- Status = VL53L0X_stop_measurement(_device); // it is safer to do this while sensor is stopped
-
-// Status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
-
- Status = VL53L0X_set_gpio_config(_device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
- VL53L0X_INTERRUPTPOLARITY_HIGH);
-
- if (Status == VL53L0X_ERROR_NONE) {
- attach_interrupt_measure_detection_irq(fptr);
- enable_interrupt_measure_detection_irq();
- }
-
- ClrStatus = clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS | VL53L0X_REG_RESULT_RANGE_STATUS);
- if (ClrStatus) {
- VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_start_measurement(_device);
- }
- }
-
- if (operating_mode == range_single_shot_polling) {
- // singelshot, polled ranging
- if (Status == VL53L0X_ERROR_NONE) {
- // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
- Status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
- }
-
- // Enable/Disable Sigma and Signal check
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_limit_check_enable(_device,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
- }
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_limit_check_enable(_device,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
- }
-
-// *** from mass market cube expansion v1.1, ranging with satellites.
- /* Ranging configuration */
-//*
-// switch(rangingConfig) {
-// case LONG_RANGE:
- signalLimit = (FixPoint1616_t)(0.1 * 65536);
- sigmaLimit = (FixPoint1616_t)(60 * 65536);
- timingBudget = 33000;
- preRangeVcselPeriod = 18;
- finalRangeVcselPeriod = 14;
- /* break;
- case HIGH_ACCURACY:
- signalLimit = (FixPoint1616_t)(0.25*65536);
- sigmaLimit = (FixPoint1616_t)(18*65536);
- timingBudget = 200000;
- preRangeVcselPeriod = 14;
- finalRangeVcselPeriod = 10;
- break;
- case HIGH_SPEED:
- signalLimit = (FixPoint1616_t)(0.25*65536);
- sigmaLimit = (FixPoint1616_t)(32*65536);
- timingBudget = 20000;
- preRangeVcselPeriod = 14;
- finalRangeVcselPeriod = 10;
- break;
- default:
- debug_printf("Not Supported");
- }
- */
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_limit_check_value(_device,
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, signalLimit);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_limit_check_value(_device,
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, sigmaLimit);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_measurement_timing_budget_micro_seconds(_device, timingBudget);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_vcsel_pulse_period(_device,
- VL53L0X_VCSEL_PERIOD_PRE_RANGE, preRangeVcselPeriod);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_vcsel_pulse_period(_device,
- VL53L0X_VCSEL_PERIOD_FINAL_RANGE, finalRangeVcselPeriod);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_perform_ref_calibration(_device, &VhvSettings, &PhaseCal);
- }
-
- }
-
- if (operating_mode == range_continuous_polling) {
- if (Status == VL53L0X_ERROR_NONE) {
- printf("Call of VL53L0X_SetDeviceMode\n");
- Status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- printf("Call of VL53L0X_StartMeasurement\n");
- Status = VL53L0X_start_measurement(_device);
- }
- }
-
- return Status;
-}
-
-
-int VL53L0X::get_measurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *p_data)
-{
- int Status = VL53L0X_ERROR_NONE;
-
- if (operating_mode == range_single_shot_polling) {
- Status = VL53L0X_perform_single_ranging_measurement(_device, p_data);
- }
-
- if (operating_mode == range_continuous_polling) {
- if (Status == VL53L0X_ERROR_NONE)
- Status = VL53L0X_measurement_poll_for_completion(_device);
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_get_ranging_measurement_data(_device, p_data);
-
- // Clear the interrupt
- VL53L0X_clear_interrupt_mask(_device, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
- VL53L0X_polling_delay(_device);
- }
- }
-
- if (operating_mode == range_continuous_interrupt) {
- Status = VL53L0X_get_ranging_measurement_data(_device, p_data);
- VL53L0X_clear_interrupt_mask(_device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR | VL53L0X_REG_RESULT_INTERRUPT_STATUS);
- }
-
- return Status;
-}
-
-
-int VL53L0X::stop_measurement(OperatingMode operating_mode)
-{
- int status = VL53L0X_ERROR_NONE;
-
-
- // don't need to stop for a singleshot range!
- if (operating_mode == range_single_shot_polling) {
- }
-
- if (operating_mode == range_continuous_interrupt || operating_mode == range_continuous_polling) {
- // continuous mode
- if (status == VL53L0X_ERROR_NONE) {
- printf("Call of VL53L0X_StopMeasurement\n");
- status = VL53L0X_stop_measurement(_device);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- printf("Wait Stop to be competed\n");
- status = wait_stop_completed(_device);
- }
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_clear_interrupt_mask(_device,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
- }
-
- return status;
-}
-
-
-int VL53L0X::handle_irq(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *data)
-{
- int status;
- status = get_measurement(operating_mode, data);
- enable_interrupt_measure_detection_irq();
- return status;
-}
-
-
-/******************************************************************************/
--- a/Components/VL53L0X/VL53L0X.h Tue Aug 22 14:39:51 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,2772 +0,0 @@
-/*******************************************************************************
- Copyright © 2016, STMicroelectronics International N.V.
- All rights reserved.
-
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions are met:
- * Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- * Neither the name of STMicroelectronics nor the
- names of its contributors may be used to endorse or promote products
- derived from this software without specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
- NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
- IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
- DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *****************************************************************************/
-
-#ifndef __VL53L0X_CLASS_H
-#define __VL53L0X_CLASS_H
-
-
-#ifdef _MSC_VER
-# ifdef VL53L0X_API_EXPORTS
-# define VL53L0X_API __declspec(dllexport)
-# else
-# define VL53L0X_API
-# endif
-#else
-# define VL53L0X_API
-#endif
-
-
-/* Includes ------------------------------------------------------------------*/
-#include "mbed.h"
-#include "RangeSensor.h"
-#include "DevI2C.h"
-#include "PinNames.h"
-#include "VL53L0X_def.h"
-#include "VL53L0X_platform.h"
-#include "Stmpe1600.h"
-
-
-/**
- * The device model ID
- */
-#define IDENTIFICATION_MODEL_ID 0x000
-
-
-#define STATUS_OK 0x00
-#define STATUS_FAIL 0x01
-
-#define VL53L0X_OsDelay(...) wait_ms(2) // 2 msec delay. can also use wait(float secs)/wait_us(int)
-
-#ifdef USE_EMPTY_STRING
-#define VL53L0X_STRING_DEVICE_INFO_NAME ""
-#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 ""
-#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 ""
-#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 ""
-#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 ""
-#define VL53L0X_STRING_DEVICE_INFO_TYPE ""
-
-/* PAL ERROR strings */
-#define VL53L0X_STRING_ERROR_NONE ""
-#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING ""
-#define VL53L0X_STRING_ERROR_MIN_CLIPPED ""
-#define VL53L0X_STRING_ERROR_UNDEFINED ""
-#define VL53L0X_STRING_ERROR_INVALID_PARAMS ""
-#define VL53L0X_STRING_ERROR_NOT_SUPPORTED ""
-#define VL53L0X_STRING_ERROR_RANGE_ERROR ""
-#define VL53L0X_STRING_ERROR_TIME_OUT ""
-#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED ""
-#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL ""
-#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING ""
-#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ""
-#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE ""
-#define VL53L0X_STRING_ERROR_INVALID_COMMAND ""
-#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO ""
-#define VL53L0X_STRING_ERROR_REF_SPAD_INIT ""
-#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED ""
-
-#define VL53L0X_STRING_UNKNOW_ERROR_CODE ""
-
-
-
-/* Range Status */
-#define VL53L0X_STRING_RANGESTATUS_NONE ""
-#define VL53L0X_STRING_RANGESTATUS_RANGEVALID ""
-#define VL53L0X_STRING_RANGESTATUS_SIGMA ""
-#define VL53L0X_STRING_RANGESTATUS_SIGNAL ""
-#define VL53L0X_STRING_RANGESTATUS_MINRANGE ""
-#define VL53L0X_STRING_RANGESTATUS_PHASE ""
-#define VL53L0X_STRING_RANGESTATUS_HW ""
-
-
-/* Range Status */
-#define VL53L0X_STRING_STATE_POWERDOWN ""
-#define VL53L0X_STRING_STATE_WAIT_STATICINIT ""
-#define VL53L0X_STRING_STATE_STANDBY ""
-#define VL53L0X_STRING_STATE_IDLE ""
-#define VL53L0X_STRING_STATE_RUNNING ""
-#define VL53L0X_STRING_STATE_UNKNOWN ""
-#define VL53L0X_STRING_STATE_ERROR ""
-
-
-/* Device Specific */
-#define VL53L0X_STRING_DEVICEERROR_NONE ""
-#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ""
-#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ""
-#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND ""
-#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET ""
-#define VL53L0X_STRING_DEVICEERROR_SNRCHECK ""
-#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK ""
-#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK ""
-#define VL53L0X_STRING_DEVICEERROR_TCC ""
-#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY ""
-#define VL53L0X_STRING_DEVICEERROR_MINCLIP ""
-#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE ""
-#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW ""
-#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW ""
-#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD ""
-#define VL53L0X_STRING_DEVICEERROR_UNKNOWN ""
-
-/* Check Enable */
-#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE ""
-#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE ""
-#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP ""
-#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD ""
-
-/* Sequence Step */
-#define VL53L0X_STRING_SEQUENCESTEP_TCC ""
-#define VL53L0X_STRING_SEQUENCESTEP_DSS ""
-#define VL53L0X_STRING_SEQUENCESTEP_MSRC ""
-#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE ""
-#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE ""
-#else
-#define VL53L0X_STRING_DEVICE_INFO_NAME "VL53L0X cut1.0"
-#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 "VL53L0X TS0"
-#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 "VL53L0X TS1"
-#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 "VL53L0X TS2"
-#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 "VL53L0X ES1 or later"
-#define VL53L0X_STRING_DEVICE_INFO_TYPE "VL53L0X"
-
-/* PAL ERROR strings */
-#define VL53L0X_STRING_ERROR_NONE \
- "No Error"
-#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING \
- "Calibration Warning Error"
-#define VL53L0X_STRING_ERROR_MIN_CLIPPED \
- "Min clipped error"
-#define VL53L0X_STRING_ERROR_UNDEFINED \
- "Undefined error"
-#define VL53L0X_STRING_ERROR_INVALID_PARAMS \
- "Invalid parameters error"
-#define VL53L0X_STRING_ERROR_NOT_SUPPORTED \
- "Not supported error"
-#define VL53L0X_STRING_ERROR_RANGE_ERROR \
- "Range error"
-#define VL53L0X_STRING_ERROR_TIME_OUT \
- "Time out error"
-#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED \
- "Mode not supported error"
-#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL \
- "Buffer too small"
-#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING \
- "GPIO not existing"
-#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \
- "GPIO funct not supported"
-#define VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED \
- "Interrupt not Cleared"
-#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE \
- "Control Interface Error"
-#define VL53L0X_STRING_ERROR_INVALID_COMMAND \
- "Invalid Command Error"
-#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO \
- "Division by zero Error"
-#define VL53L0X_STRING_ERROR_REF_SPAD_INIT \
- "Reference Spad Init Error"
-#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED \
- "Not implemented error"
-
-#define VL53L0X_STRING_UNKNOW_ERROR_CODE \
- "Unknown Error Code"
-
-
-
-/* Range Status */
-#define VL53L0X_STRING_RANGESTATUS_NONE "No Update"
-#define VL53L0X_STRING_RANGESTATUS_RANGEVALID "Range Valid"
-#define VL53L0X_STRING_RANGESTATUS_SIGMA "Sigma Fail"
-#define VL53L0X_STRING_RANGESTATUS_SIGNAL "Signal Fail"
-#define VL53L0X_STRING_RANGESTATUS_MINRANGE "Min Range Fail"
-#define VL53L0X_STRING_RANGESTATUS_PHASE "Phase Fail"
-#define VL53L0X_STRING_RANGESTATUS_HW "Hardware Fail"
-
-
-/* Range Status */
-#define VL53L0X_STRING_STATE_POWERDOWN "POWERDOWN State"
-#define VL53L0X_STRING_STATE_WAIT_STATICINIT \
- "Wait for staticinit State"
-#define VL53L0X_STRING_STATE_STANDBY "STANDBY State"
-#define VL53L0X_STRING_STATE_IDLE "IDLE State"
-#define VL53L0X_STRING_STATE_RUNNING "RUNNING State"
-#define VL53L0X_STRING_STATE_UNKNOWN "UNKNOWN State"
-#define VL53L0X_STRING_STATE_ERROR "ERROR State"
-
-
-/* Device Specific */
-#define VL53L0X_STRING_DEVICEERROR_NONE "No Update"
-#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \
- "VCSEL Continuity Test Failure"
-#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \
- "VCSEL Watchdog Test Failure"
-#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND \
- "No VHV Value found"
-#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET \
- "MSRC No Target Error"
-#define VL53L0X_STRING_DEVICEERROR_SNRCHECK \
- "SNR Check Exit"
-#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK \
- "Range Phase Check Error"
-#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK \
- "Sigma Threshold Check Error"
-#define VL53L0X_STRING_DEVICEERROR_TCC \
- "TCC Error"
-#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY \
- "Phase Consistency Error"
-#define VL53L0X_STRING_DEVICEERROR_MINCLIP \
- "Min Clip Error"
-#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE \
- "Range Complete"
-#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW \
- "Range Algo Underflow Error"
-#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW \
- "Range Algo Overlow Error"
-#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \
- "Range Ignore Threshold Error"
-#define VL53L0X_STRING_DEVICEERROR_UNKNOWN \
- "Unknown error code"
-
-/* Check Enable */
-#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \
- "SIGMA FINAL RANGE"
-#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \
- "SIGNAL RATE FINAL RANGE"
-#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP \
- "SIGNAL REF CLIP"
-#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \
- "RANGE IGNORE THRESHOLD"
-#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC \
- "SIGNAL RATE MSRC"
-#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE \
- "SIGNAL RATE PRE RANGE"
-
-/* Sequence Step */
-#define VL53L0X_STRING_SEQUENCESTEP_TCC "TCC"
-#define VL53L0X_STRING_SEQUENCESTEP_DSS "DSS"
-#define VL53L0X_STRING_SEQUENCESTEP_MSRC "MSRC"
-#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE "PRE RANGE"
-#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE "FINAL RANGE"
-#endif /* USE_EMPTY_STRING */
-
-/* sensor operating modes */
-typedef enum {
- range_single_shot_polling = 1,
- range_continuous_polling,
- range_continuous_interrupt,
- range_continuous_polling_low_threshold,
- range_continuous_polling_high_threshold,
- range_continuous_polling_out_of_window,
- range_continuous_interrupt_low_threshold,
- range_continuous_interrupt_high_threshold,
- range_continuous_interrupt_out_of_window,
-} OperatingMode;
-
-/** default device address */
-#define DEFAULT_DEVICE_ADDRESS 0x52 /* (8-bit) */
-
-/* Classes -------------------------------------------------------------------*/
-/** Class representing a VL53L0 sensor component
- */
-class VL53L0X : public RangeSensor
-{
-public:
- /** Constructor
- * @param[in] &i2c device I2C to be used for communication
- * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
- * @param[in] dev_addr device address, 0x29 by default
- */
- VL53L0X(DevI2C &i2c, DigitalOut &pin, PinName pin_gpio1, uint8_t dev_addr = DEFAULT_DEVICE_ADDRESS) : _dev_i2c(&i2c),
- _gpio0(&pin)
- {
- _my_device.I2cDevAddr = dev_addr;
- _my_device.comms_type = 1; // VL53L0X_COMMS_I2C
- _my_device.comms_speed_khz = 400;
- _device = &_my_device;
- _expgpio0 = NULL;
- if (pin_gpio1 != NC) {
- _gpio1Int = new InterruptIn(pin_gpio1);
- } else {
- _gpio1Int = NULL;
- }
- }
-
- /** Constructor 2 (STMPE1600DigiOut)
- * @param[in] i2c device I2C to be used for communication
- * @param[in] &pin Gpio Expander STMPE1600DigiOut pin to be used as component GPIO_0 CE
- * @param[in] pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
- * @param[in] device address, 0x29 by default
- */
- VL53L0X(DevI2C &i2c, Stmpe1600DigiOut &pin, PinName pin_gpio1,
- uint8_t dev_addr = DEFAULT_DEVICE_ADDRESS) : _dev_i2c(&i2c), _expgpio0(&pin)
- {
- _my_device.I2cDevAddr = dev_addr;
- _my_device.comms_type = 1; // VL53L0X_COMMS_I2C
- _my_device.comms_speed_khz = 400;
- _device = &_my_device;
- _gpio0 = NULL;
- if (pin_gpio1 != NC) {
- _gpio1Int = new InterruptIn(pin_gpio1);
- } else {
- _gpio1Int = NULL;
- }
- }
-
- /** Destructor
- */
- virtual ~VL53L0X()
- {
- if (_gpio1Int != NULL) {
- delete _gpio1Int;
- }
- }
-
- /*** Interface Methods ***/
- /*** High level API ***/
- /**
- * @brief PowerOn the sensor
- * @return void
- */
- /* turns on the sensor */
- void VL53L0X_on(void)
- {
- if (_gpio0) {
- *_gpio0 = 1;
- } else {
- if (_expgpio0) {
- *_expgpio0 = 1;
- }
- }
- wait_ms(10);
- }
-
- /**
- * @brief PowerOff the sensor
- * @return void
- */
- /* turns off the sensor */
- void VL53L0X_off(void)
- {
- if (_gpio0) {
- *_gpio0 = 0;
- } else {
- if (_expgpio0) {
- *_expgpio0 = 0;
- }
- }
- wait_ms(10);
- }
-
- /**
- * @brief Initialize the sensor with default values
- * @return "0" on success
- */
- int init_sensor(uint8_t new_addr);
-
- /**
- * @brief Start the measure indicated by operating mode
- * @param[in] operating_mode specifies requested measure
- * @param[in] fptr specifies call back function must be !NULL in case of interrupt measure
- * @return "0" on success
- */
- int start_measurement(OperatingMode operating_mode, void (*fptr)(void));
-
- /**
- * @brief Get results for the measure indicated by operating mode
- * @param[in] operating_mode specifies requested measure results
- * @param[out] p_data pointer to the MeasureData_t structure to read data in to
- * @return "0" on success
- */
- int get_measurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *p_data);
-
- /**
- * @brief Stop the currently running measure indicate by operating_mode
- * @param[in] operating_mode specifies requested measure to stop
- * @return "0" on success
- */
- int stop_measurement(OperatingMode operating_mode);
-
- /**
- * @brief Interrupt handling func to be called by user after an INT is occourred
- * @param[in] opeating_mode indicating the in progress measure
- * @param[out] Data pointer to the MeasureData_t structure to read data in to
- * @return "0" on success
- */
- int handle_irq(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *data);
-
- /**
- * @brief Enable interrupt measure IRQ
- * @return "0" on success
- */
- void enable_interrupt_measure_detection_irq(void)
- {
- if (_gpio1Int != NULL) {
- _gpio1Int->enable_irq();
- }
- }
-
- /**
- * @brief Disable interrupt measure IRQ
- * @return "0" on success
- */
- void disable_interrupt_measure_detection_irq(void)
- {
- if (_gpio1Int != NULL) {
- _gpio1Int->disable_irq();
- }
- }
-
- /**
- * @brief Attach a function to call when an interrupt is detected, i.e. measurement is ready
- * @param[in] fptr pointer to call back function to be called whenever an interrupt occours
- * @return "0" on success
- */
- void attach_interrupt_measure_detection_irq(void (*fptr)(void))
- {
- if (_gpio1Int != NULL) {
- _gpio1Int->rise(fptr);
- }
- }
-
- /** Wrapper functions */
- /** @defgroup api_init Init functions
- * @brief API init functions
- * @ingroup api_hl
- * @{
- */
-
- /**
- *
- * @brief One time device initialization
- *
- * To be called once and only once after device is brought out of reset (Chip enable) and booted.
- *
- * @par Function Description
- * When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING
- * meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n
- * If application cannot execute device reset or need to run VL53L0X_data_init multiple time
- * then it must ensure proper offset calibration saving and restore on its own
- * by using @a VL53L0X_get_offset_calibration_data_micro_meter() on first power up and then @a VL53L0X_set_offset_calibration_data_micro_meter() all all subsequent init
- *
- * @param void
- * @return "0" on success, @a #CALIBRATION_WARNING if failed
- */
- virtual int init(void *init)
- {
- return VL53L0X_data_init(_device);
- }
-
- /**
- * @brief Prepare device for operation
- * @par Function Description
- * Does static initialization and reprogram common default settings \n
- * Device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n
- * After prepare user can : \n
- * @li Call other API function to set other settings\n
- * @li Configure the interrupt pins, etc... \n
- * @li Then start ranging or ALS operations in single shot or continuous mode
- *
- * @param void
- * @return "0" on success
- */
- int prepare()
- {
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t ref_spad_count;
- uint8_t is_aperture_spads;
- uint8_t vhv_settings;
- uint8_t phase_cal;
-
- if (status == VL53L0X_ERROR_NONE) {
- printf("Call of VL53L0X_StaticInit\r\n");
- status = VL53L0X_static_init(_device); // Device Initialization
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- printf("Call of VL53L0X_PerformRefCalibration\r\n");
- status = VL53L0X_perform_ref_calibration(_device,
- &vhv_settings, &phase_cal); // Device Initialization
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- printf("Call of VL53L0X_PerformRefSpadManagement\r\n");
- status = VL53L0X_perform_ref_spad_management(_device,
- &ref_spad_count, &is_aperture_spads); // Device Initialization
-// printf ("refSpadCount = %d, isApertureSpads = %d\r\n", refSpadCount, isApertureSpads);
- }
-
- return status;
- }
-
- /**
- * @brief Start continuous ranging mode
- *
- * @details End user should ensure device is in idle state and not already running
- * @return "0" on success
- */
- int range_start_continuous_mode()
- {
- int status;
- status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
-
- if (status == VL53L0X_ERROR_NONE) {
- printf ("Call of VL53L0X_StartMeasurement\r\n");
- status = VL53L0X_start_measurement(_device);
- }
-
- return status;
- }
-
- /**
- * @brief Get ranging result and only that
- *
- * @par Function Description
- * Unlike @a VL53L0X_get_ranging_measurement_data() this function only retrieves the range in millimeter \n
- * It does any required up-scale translation\n
- * It can be called after success status polling or in interrupt mode \n
- * @warning these function is not doing wrap around filtering \n
- * This function doesn't perform any data ready check!
- *
- * @param p_data Pointer to range distance
- * @return "0" on success
- */
- virtual int get_distance(uint32_t *p_data)
- {
- int status = 0;
- VL53L0X_RangingMeasurementData_t p_ranging_measurement_data;
-
- status = start_measurement(range_single_shot_polling, NULL);
- if (!status) {
- status = get_measurement(range_single_shot_polling, &p_ranging_measurement_data);
- }
- if (p_ranging_measurement_data.RangeStatus == 0) {
- // we have a valid range.
- *p_data = p_ranging_measurement_data.RangeMilliMeter;
- } else {
- *p_data = 0;
- status = VL53L0X_ERROR_RANGE_ERROR;
- }
- stop_measurement(range_single_shot_polling);
- return status;
- }
-
- /** @} */
-
- /**
- * @brief Set new device i2c address
- *
- * After completion the device will answer to the new address programmed.
- *
- * @param new_addr The new i2c address (7bit)
- * @return "0" on success
- */
- int set_device_address(int new_addr)
- {
- int status;
-
- status = VL53L0X_set_device_address(_device, new_addr);
- if (!status) {
- _device->I2cDevAddr = new_addr;
- }
- return status;
-
- }
-
- /**
- * @brief Clear given system interrupt condition
- *
- * @par Function Description
- * Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register.
- * @param dev The device
- * @param int_clear Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR.
- * @return "0" on success
- */
- int clear_interrupt(uint8_t int_clear)
- {
- return VL53L0X_clear_interrupt_mask(_device, int_clear);
- }
-
- /**
- *
- * @brief One time device initialization
- *
- * To be called once and only once after device is brought out of reset
- * (Chip enable) and booted see @a VL53L0X_WaitDeviceBooted()
- *
- * @par Function Description
- * When not used after a fresh device "power up" or reset, it may return
- * @a #VL53L0X_ERROR_CALIBRATION_WARNING meaning wrong calibration data
- * may have been fetched from device that can result in ranging offset error\n
- * If application cannot execute device reset or need to run VL53L0X_DataInit
- * multiple time then it must ensure proper offset calibration saving and
- * restore on its own by using @a VL53L0X_GetOffsetCalibrationData() on first
- * power up and then @a VL53L0X_SetOffsetCalibrationData() in all subsequent init
- * This function will change the VL53L0X_State from VL53L0X_STATE_POWERDOWN to
- * VL53L0X_STATE_WAIT_STATICINIT.
- *
- * @note This function accesses to the device
- *
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_data_init(VL53L0X_DEV dev);
-
- /**
- * @brief Do basic device init (and eventually patch loading)
- * This function will change the VL53L0X_State from
- * VL53L0X_STATE_WAIT_STATICINIT to VL53L0X_STATE_IDLE.
- * In this stage all default setting will be applied.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_static_init(VL53L0X_DEV dev);
-
- /**
- * @brief Perform Reference Calibration
- *
- * @details Perform a reference calibration of the Device.
- * This function should be run from time to time before doing
- * a ranging measurement.
- * This function will launch a special ranging measurement, so
- * if interrupt are enable an interrupt will be done.
- * This function will clear the interrupt generated automatically.
- *
- * @warning This function is a blocking function
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_vhv_settings Pointer to vhv settings parameter.
- * @param p_phase_cal Pointer to PhaseCal parameter.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV dev, uint8_t *p_vhv_settings,
- uint8_t *p_phase_cal);
-
- /**
- * @brief Get Reference Calibration Parameters
- *
- * @par Function Description
- * Get Reference Calibration Parameters.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_vhv_settings Pointer to VHV parameter
- * @param p_phase_cal Pointer to PhaseCal Parameter
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_ref_calibration(VL53L0X_DEV dev,
- uint8_t *p_vhv_settings, uint8_t *p_phase_cal);
-
- VL53L0X_Error VL53L0X_set_ref_calibration(VL53L0X_DEV dev,
- uint8_t vhv_settings, uint8_t phase_cal);
-
- /**
- * @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
- *
- * @note This function change the device mode to
- * VL53L0X_DEVICEMODE_SINGLE_RANGING
- *
- * @param dev Device Handle
- * @param ref_spad_count Reports ref Spad Count
- * @param is_aperture_spads Reports if spads are of type
- * aperture or non-aperture.
- * 1:=aperture, 0:=Non-Aperture
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the Ref Spad procedure.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev,
- uint32_t *ref_spad_count, uint8_t *is_aperture_spads);
-
- /**
- * @brief Applies Reference SPAD configuration
- *
- * @par Function Description
- * This function applies a given number of reference spads, identified as
- * either Aperture or Non-Aperture.
- * The requested spad count and type are stored within the device specific
- * parameters data for access by the host.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param refSpadCount Number of ref spads.
- * @param is_aperture_spads Defines if spads are of type
- * aperture or non-aperture.
- * 1:=aperture, 0:=Non-Aperture
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference
- * spad configuration.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV dev,
- uint32_t refSpadCount, uint8_t is_aperture_spads);
-
- /**
- * @brief Retrieves SPAD configuration
- *
- * @par Function Description
- * This function retrieves the current number of applied reference spads
- * and also their type : Aperture or Non-Aperture.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_spad_count Number ref Spad Count
- * @param p_is_aperture_spads Reports if spads are of type
- * aperture or non-aperture.
- * 1:=aperture, 0:=Non-Aperture
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference
- * spad configuration.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_reference_spads(VL53L0X_DEV dev,
- uint32_t *p_spad_count, uint8_t *p_is_aperture_spads);
-
- /**
- * @brief Get part to part calibration offset
- *
- * @par Function Description
- * Should only be used after a successful call to @a VL53L0X_DataInit to backup
- * device NVM value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_offset_calibration_data_micro_meter Return part to part
- * calibration offset from device (microns)
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t *p_offset_calibration_data_micro_meter);
- /**
- * Set or over-hide part to part calibration offset
- * \sa VL53L0X_DataInit() VL53L0X_GetOffsetCalibrationDataMicroMeter()
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_offset_calibration_data_micro_meter Offset (microns)
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t offset_calibration_data_micro_meter);
-
- VL53L0X_Error VL53L0X_perform_offset_calibration(VL53L0X_DEV dev,
- FixPoint1616_t cal_distance_milli_meter,
- int32_t *p_offset_micro_meter);
-
- VL53L0X_Error VL53L0X_perform_xtalk_calibration(VL53L0X_DEV dev,
- FixPoint1616_t xtalk_cal_distance,
- FixPoint1616_t *p_xtalk_compensation_rate_mega_cps);
-
- /**
- * @brief Perform XTalk Measurement
- *
- * @details Measures the current cross talk from glass in front
- * of the sensor.
- * This functions performs a histogram measurement and uses the results
- * to measure the crosstalk. For the function to be successful, there
- * must be no target in front of the sensor.
- *
- * @warning This function is a blocking function
- *
- * @warning This function is not supported when the final range
- * vcsel clock period is set below 10 PCLKS.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param timeout_ms Histogram measurement duration.
- * @param p_xtalk_per_spad Output parameter containing the crosstalk
- * measurement result, in MCPS/Spad.
- * Format fixpoint 16:16.
- * @param p_ambient_too_high Output parameter which indicate that
- * pXtalkPerSpad is not good if the Ambient
- * is too high.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS vcsel clock period not supported
- * for this operation.
- * Must not be less than 10PCLKS.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_perform_xtalk_measurement(VL53L0X_DEV dev,
- uint32_t timeout_ms, FixPoint1616_t *p_xtalk_per_spad,
- uint8_t *p_ambient_too_high);
-
- /**
- * @brief Enable/Disable Cross talk compensation feature
- *
- * @note This function is not Implemented.
- * Enable/Disable Cross Talk by set to zero the Cross Talk value
- * by using @a VL53L0X_SetXTalkCompensationRateMegaCps().
- *
- * @param dev Device Handle
- * @param x_talk_compensation_enable Cross talk compensation
- * to be set 0=disabled else = enabled
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- */
- VL53L0X_Error VL53L0X_set_x_talk_compensation_enable(VL53L0X_DEV dev,
- uint8_t x_talk_compensation_enable);
-
- /**
- * @brief Get Cross talk compensation rate
- *
- * @note This function is not Implemented.
- * Enable/Disable Cross Talk by set to zero the Cross Talk value by
- * using @a VL53L0X_SetXTalkCompensationRateMegaCps().
- *
- * @param dev Device Handle
- * @param p_x_talk_compensation_enable Pointer to the Cross talk compensation
- * state 0=disabled or 1 = enabled
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- */
- VL53L0X_Error VL53L0X_get_x_talk_compensation_enable(VL53L0X_DEV dev,
- uint8_t *p_x_talk_compensation_enable);
- /**
- * @brief Set Cross talk compensation rate
- *
- * @par Function Description
- * Set Cross talk compensation rate.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param x_talk_compensation_rate_mega_cps Compensation rate in
- * Mega counts per second
- * (16.16 fix point) see
- * datasheet for details
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_x_talk_compensation_rate_mega_cps(VL53L0X_DEV dev,
- FixPoint1616_t x_talk_compensation_rate_mega_cps);
-
- /**
- * @brief Get Cross talk compensation rate
- *
- * @par Function Description
- * Get Cross talk compensation rate.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_xtalk_compensation_rate_mega_cps Pointer to Compensation rate
- * in Mega counts per second
- * (16.16 fix point) see
- * datasheet for details
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_x_talk_compensation_rate_mega_cps(VL53L0X_DEV dev,
- FixPoint1616_t *p_xtalk_compensation_rate_mega_cps);
-
- /**
- * @brief Set a new device mode
- * @par Function Description
- * Set device to a new mode (ranging, histogram ...)
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param device_mode New device mode to apply
- * Valid values are:
- * VL53L0X_DEVICEMODE_SINGLE_RANGING
- * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING
- * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING
- * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
- * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
- * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
- * VL53L0X_HISTOGRAMMODE_BOTH
- *
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
- * DeviceMode is not in the
- * supported list
- */
- VL53L0X_Error VL53L0X_set_device_mode(VL53L0X_DEV dev, VL53L0X_DeviceModes device_mode);
-
- /**
- * @brief Get current new device mode
- * @par Function Description
- * Get actual mode of the device(ranging, histogram ...)
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param p_device_mode Pointer to current apply mode value
- * Valid values are:
- * VL53L0X_DEVICEMODE_SINGLE_RANGING
- * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING
- * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING
- * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
- * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
- * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
- * VL53L0X_HISTOGRAMMODE_BOTH
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
- * DeviceMode is not in the
- * supported list
- */
- VL53L0X_Error VL53L0X_get_device_mode(VL53L0X_DEV dev,
- VL53L0X_DeviceModes *p_device_mode);
-
- /**
- * @brief Get current configuration for GPIO pin for a given device
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param pin ID of the GPIO Pin
- * @param p_device_mode Pointer to Device Mode associated to the Gpio.
- * @param p_functionality Pointer to Pin functionality.
- * Refer to ::VL53L0X_GpioFunctionality
- * @param p_polarity Pointer to interrupt polarity.
- * Active high or active low see
- * ::VL53L0X_InterruptPolarity
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted.
- * @return VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED
- * This error occurs
- * when Funcionality programmed is not in the supported list:
- * Supported value are:
- * VL53L0X_GPIOFUNCTIONALITY_OFF,
- * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW,
- * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH,
- * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT,
- * VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_gpio_config(VL53L0X_DEV dev, uint8_t pin,
- VL53L0X_DeviceModes *p_device_mode,
- VL53L0X_GpioFunctionality *p_functionality,
- VL53L0X_InterruptPolarity *p_polarity);
-
- /**
- * @brief Set the configuration of GPIO pin for a given device
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param pin ID of the GPIO Pin
- * @param functionality Select Pin functionality.
- * Refer to ::VL53L0X_GpioFunctionality
- * @param device_mode Device Mode associated to the Gpio.
- * @param polarity Set interrupt polarity. Active high
- * or active low see ::VL53L0X_InterruptPolarity
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted.
- * @return VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED This error occurs
- * when Functionality programmed is not in the supported list:
- * Supported value are:
- * VL53L0X_GPIOFUNCTIONALITY_OFF,
- * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW,
- * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH,
- VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT,
- * VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_gpio_config(VL53L0X_DEV dev, uint8_t pin,
- VL53L0X_DeviceModes device_mode, VL53L0X_GpioFunctionality functionality,
- VL53L0X_InterruptPolarity polarity);
-
- /**
- * @brief Start device measurement
- *
- * @details Started measurement will depend on device parameters set through
- * @a VL53L0X_SetParameters()
- * This is a non-blocking function.
- * This function will change the VL53L0X_State from VL53L0X_STATE_IDLE to
- * VL53L0X_STATE_RUNNING.
- *
- * @note This function Access to the device
- *
-
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
- * DeviceMode programmed with @a VL53L0X_SetDeviceMode is not in the supported
- * list:
- * Supported mode are:
- * VL53L0X_DEVICEMODE_SINGLE_RANGING,
- * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
- * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING
- * @return VL53L0X_ERROR_TIME_OUT Time out on start measurement
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_start_measurement(VL53L0X_DEV dev);
-
- /**
- * @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.
- * This function will change the VL53L0X_State from VL53L0X_STATE_RUNNING
- * to VL53L0X_STATE_IDLE.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_stop_measurement(VL53L0X_DEV dev);
-
- /**
- * @brief Return device stop completion status
- *
- * @par Function Description
- * Returns stop completiob status.
- * User shall call this function after a stop command
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_stop_status Pointer to status variable to update
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_stop_completed_status(VL53L0X_DEV dev,
- uint32_t *p_stop_status);
-
- /**
- * @brief Return Measurement Data Ready
- *
- * @par Function Description
- * This function indicate that a measurement data is ready.
- * This function check if interrupt mode is used then check is done accordingly.
- * If perform function clear the interrupt, this function will not work,
- * like in case of @a VL53L0X_PerformSingleRangingMeasurement().
- * The previous function is blocking function, VL53L0X_GetMeasurementDataReady
- * is used for non-blocking capture.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_measurement_data_ready Pointer to Measurement Data Ready.
- * 0=data not ready, 1 = data ready
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_measurement_data_ready(VL53L0X_DEV dev,
- uint8_t *p_measurement_data_ready);
-
- /**
- * @brief Retrieve the measurements from device for a given setup
- *
- * @par Function Description
- * Get data from last successful Ranging measurement
- * @warning USER should take care about @a VL53L0X_GetNumberOfROIZones()
- * before get data.
- * PAL will fill a NumberOfROIZones times the corresponding data
- * structure used in the measurement function.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_ranging_measurement_data Pointer to the data structure to fill up.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_ranging_measurement_data(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data);
-
- /**
- * @brief Clear given system interrupt condition
- *
- * @par Function Description
- * Clear given interrupt(s).
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param interrupt_mask Mask of interrupts to clear
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INTERRUPT_NOT_CLEARED Cannot clear interrupts
- *
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_clear_interrupt_mask(VL53L0X_DEV dev, uint32_t interrupt_mask);
-
- /**
- * @brief Return device interrupt status
- *
- * @par Function Description
- * Returns currently raised interrupts by the device.
- * User shall be able to activate/deactivate interrupts through
- * @a VL53L0X_SetGpioConfig()
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_interrupt_mask_status Pointer to status variable to update
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_interrupt_mask_status(VL53L0X_DEV dev,
- uint32_t *p_interrupt_mask_status);
-
- /**
- * @brief Performs a single ranging measurement and retrieve the ranging
- * measurement data
- *
- * @par Function Description
- * This function will change the device mode to VL53L0X_DEVICEMODE_SINGLE_RANGING
- * with @a VL53L0X_SetDeviceMode(),
- * It performs measurement with @a VL53L0X_PerformSingleMeasurement()
- * It get data from last successful Ranging measurement with
- * @a VL53L0X_GetRangingMeasurementData.
- * Finally it clear the interrupt with @a VL53L0X_ClearInterruptMask().
- *
- * @note This function Access to the device
- *
- * @note This function change the device mode to
- * VL53L0X_DEVICEMODE_SINGLE_RANGING
- *
- * @param dev Device Handle
- * @param p_ranging_measurement_data Pointer to the data structure to fill up.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_perform_single_ranging_measurement(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data);
-
- /**
- * @brief Single shot measurement.
- *
- * @par Function Description
- * Perform simple measurement sequence (Start measure, Wait measure to end,
- * and returns when measurement is done).
- * Once function returns, user can get valid data by calling
- * VL53L0X_GetRangingMeasurement or VL53L0X_GetHistogramMeasurement
- * depending on defined measurement mode
- * User should Clear the interrupt in case this are enabled by using the
- * function VL53L0X_ClearInterruptMask().
- *
- * @warning This function is a blocking function
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_perform_single_measurement(VL53L0X_DEV dev);
-
- /**
- * @brief Read current status of the error register for the selected device
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_device_error_status Pointer to current error code of the device
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_device_error_status(VL53L0X_DEV dev,
- VL53L0X_DeviceError *p_device_error_status);
-
- /**
- * @brief Human readable error string for a given Error Code
- *
- * @note This function doesn't access to the device
- *
- * @param error_code The error code as stored on ::VL53L0X_DeviceError
- * @param p_device_error_string The error string corresponding to the ErrorCode
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_device_error_string(
- VL53L0X_DeviceError error_code, char *p_device_error_string);
-
- /**
- * @brief Human readable Range Status string for a given RangeStatus
- *
- * @note This function doesn't access to the device
- *
- * @param range_status The RangeStatus code as stored on
- * @a VL53L0X_RangingMeasurementData_t
- * @param p_range_status_string The returned RangeStatus string.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_range_status_string(uint8_t range_status,
- char *p_range_status_string);
-
- VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_total_signal_rate_mcps);
-
- VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_total_xtalk_rate_mcps);
-
- /**
- * @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, ASL ...)
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_measurement_timing_budget_micro_seconds Max measurement time in
- * microseconds.
- * Valid values are:
- * >= 17000 microsecs when wraparound enabled
- * >= 12000 microsecs when wraparound disabled
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t *p_measurement_timing_budget_micro_seconds);
-
- /**
- * @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 ...)
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param measurement_timing_budget_micro_seconds Max measurement time in
- * microseconds.
- * Valid values are:
- * >= 17000 microsecs when wraparound enabled
- * >= 12000 microsecs when wraparound disabled
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned if
- MeasurementTimingBudgetMicroSeconds out of range
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t measurement_timing_budget_micro_seconds);
-
- /**
- * @brief Get specific limit check enable state
- *
- * @par Function Description
- * This function get the enable state of a specific limit check.
- * The limit check is identified with the LimitCheckId.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param limit_check_id Limit Check ID
- * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
- * @param p_limit_check_enable Pointer to the check limit enable
- * value.
- * if 1 the check limit
- * corresponding to LimitCheckId is Enabled
- * if 0 the check limit
- * corresponding to LimitCheckId is disabled
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned
- * when LimitCheckId value is out of range.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
- uint8_t *p_limit_check_enable);
-
- /**
- * @brief Enable/Disable a specific limit check
- *
- * @par Function Description
- * This function Enable/Disable a specific limit check.
- * The limit check is identified with the LimitCheckId.
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param limit_check_id Limit Check ID
- * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
- * @param limit_check_enable if 1 the check limit
- * corresponding to LimitCheckId is Enabled
- * if 0 the check limit
- * corresponding to LimitCheckId is disabled
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned
- * when LimitCheckId value is out of range.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
- uint8_t limit_check_enable);
-
- /**
- * @brief Get a specific limit check value
- *
- * @par Function Description
- * This function get a specific limit check value from device then it updates
- * internal values and check enables.
- * The limit check is identified with the LimitCheckId.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param limit_check_id Limit Check ID
- * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
- * @param p_limit_check_value Pointer to Limit
- * check Value for a given LimitCheckId.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned
- * when LimitCheckId value is out of range.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
- FixPoint1616_t *p_limit_check_value);
-
- /**
- * @brief Set a specific limit check value
- *
- * @par Function Description
- * This function set a specific limit check value.
- * The limit check is identified with the LimitCheckId.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param limit_check_id Limit Check ID
- * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
- * @param limit_check_value Limit check Value for a given
- * LimitCheckId
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned when either
- * LimitCheckId or LimitCheckValue value is out of range.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
- FixPoint1616_t limit_check_value);
-
- /**
- * @brief Get the current value of the signal used for the limit check
- *
- * @par Function Description
- * This function get a the current value of the signal used for the limit check.
- * To obtain the latest value you should run a ranging before.
- * The value reported is linked to the limit check identified with the
- * LimitCheckId.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param limit_check_id Limit Check ID
- * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
- * @param p_limit_check_current Pointer to current Value for a
- * given LimitCheckId.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned when
- * LimitCheckId value is out of range.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_limit_check_current(VL53L0X_DEV dev, uint16_t limit_check_id,
- FixPoint1616_t *p_limit_check_current);
-
- /**
- * @brief Return a the Status of the specified check limit
- *
- * @par Function Description
- * This function returns the Status of the specified check limit.
- * The value indicate if the check is fail or not.
- * The limit check is identified with the LimitCheckId.
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param limit_check_id Limit Check ID
- (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
- * @param p_limit_check_status Pointer to the
- Limit Check Status of the given check limit.
- * LimitCheckStatus :
- * 0 the check is not fail
- * 1 the check if fail or not enabled
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is
- returned when LimitCheckId value is out of range.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_limit_check_status(VL53L0X_DEV dev,
- uint16_t limit_check_id, uint8_t *p_limit_check_status);
-
- /**
- * Get continuous mode Inter-Measurement period in milliseconds
- *
- * @par Function Description
- * When trying to set too short time return INVALID_PARAMS minimal value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_inter_measurement_period_milli_seconds Pointer to programmed
- * Inter-Measurement Period in milliseconds.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_inter_measurement_period_milli_seconds(VL53L0X_DEV dev,
- uint32_t *p_inter_measurement_period_milli_seconds);
-
- /**
- * Program continuous mode Inter-Measurement period in milliseconds
- *
- * @par Function Description
- * When trying to set too short time return INVALID_PARAMS minimal value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param inter_measurement_period_milli_seconds Inter-Measurement Period in ms.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_inter_measurement_period_milli_seconds(
- VL53L0X_DEV dev, uint32_t inter_measurement_period_milli_seconds);
-
- /**
- * @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.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param device_address The new Device address
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_device_address(VL53L0X_DEV dev, uint8_t device_address);
-
- /**
- * @brief Do an hard reset or soft reset (depending on implementation) of the
- * device \nAfter call of this function, device must be in same state as right
- * after a power-up sequence.This function will change the VL53L0X_State to
- * VL53L0X_STATE_POWERDOWN.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_reset_device(VL53L0X_DEV dev);
-
- /**
- * @brief Get setup of Wrap around Check
- *
- * @par Function Description
- * This function get the wrapAround check enable parameters
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_wrap_around_check_enable Pointer to the Wrap around Check state
- * 0=disabled or 1 = enabled
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_wrap_around_check_enable(VL53L0X_DEV dev,
- uint8_t *p_wrap_around_check_enable);
-
- /**
- * @brief Enable (or disable) Wrap around Check
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param wrap_around_check_enable Wrap around Check to be set
- * 0=disabled, other = enabled
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_wrap_around_check_enable(VL53L0X_DEV dev,
- uint8_t wrap_around_check_enable);
-
- /**
- * @brief Gets the VCSEL pulse period.
- *
- * @par Function Description
- * This function retrieves the VCSEL pulse period for the given period type.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param vcsel_period_type VCSEL period identifier (pre-range|final).
- * @param p_vcsel_pulse_period_pclk Pointer to VCSEL period value.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not
- * supported.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk);
-
- /**
- * @brief Sets the VCSEL pulse period.
- *
- * @par Function Description
- * This function retrieves the VCSEL pulse period for the given period type.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param vcsel_period_type VCSEL period identifier (pre-range|final).
- * @param vcsel_pulse_period VCSEL period value
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not
- * supported.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period);
-
- /**
- * @brief Set low and high Interrupt thresholds for a given mode
- * (ranging, ALS, ...) for a given device
- *
- * @par Function Description
- * Set low and high Interrupt thresholds for a given mode (ranging, ALS, ...)
- * for a given device
- *
- * @note This function Access to the device
- *
- * @note DeviceMode is ignored for the current device
- *
- * @param dev Device Handle
- * @param device_mode Device Mode for which change thresholds
- * @param threshold_low Low threshold (mm, lux ..., depending on the mode)
- * @param threshold_high High threshold (mm, lux ..., depending on the mode)
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_interrupt_thresholds(VL53L0X_DEV dev,
- VL53L0X_DeviceModes device_mode, FixPoint1616_t threshold_low,
- FixPoint1616_t threshold_high);
-
- /**
- * @brief Get high and low Interrupt thresholds for a given mode
- * (ranging, ALS, ...) for a given device
- *
- * @par Function Description
- * Get high and low Interrupt thresholds for a given mode (ranging, ALS, ...)
- * for a given device
- *
- * @note This function Access to the device
- *
- * @note DeviceMode is ignored for the current device
- *
- * @param dev Device Handle
- * @param device_mode Device Mode from which read thresholds
- * @param p_threshold_low Low threshold (mm, lux ..., depending on the mode)
- * @param p_threshold_high High threshold (mm, lux ..., depending on the mode)
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_interrupt_thresholds(VL53L0X_DEV dev,
- VL53L0X_DeviceModes device_mode, FixPoint1616_t *p_threshold_low,
- FixPoint1616_t *p_threshold_high);
-
- /**
- * @brief Reads the Device information for given Device
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_VL53L0X_device_info Pointer to current device info for a given
- * Device
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV dev,
- VL53L0X_DeviceInfo_t *p_VL53L0X_device_info);
-
- /**
- * @brief Gets the (on/off) state of all sequence steps.
- *
- * @par Function Description
- * This function retrieves the state of all sequence step in the scheduler.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param p_scheduler_sequence_steps Pointer to struct containing result.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_sequence_step_enables(VL53L0X_DEV dev,
- VL53L0X_SchedulerSequenceSteps_t *p_scheduler_sequence_steps);
-
- /**
- * @brief Sets the (on/off) state of a requested sequence step.
- *
- * @par Function Description
- * This function enables/disables a requested sequence step.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param sequence_step_id Sequence step identifier.
- * @param sequence_step_enabled Demanded state {0=Off,1=On}
- * is enabled.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
- * supported.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_sequence_step_enable(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_step_enabled);
-
- /**
- * @brief Gets the fraction enable parameter indicating the resolution of
- * range measurements.
- *
- * @par Function Description
- * Gets the fraction enable state, which translates to the resolution of
- * range measurements as follows :Enabled:=0.25mm resolution,
- * Not Enabled:=1mm resolution.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param p_enabled Output Parameter reporting the fraction enable state.
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_fraction_enable(VL53L0X_DEV dev, uint8_t *p_enabled);
-
- /**
- * @brief Sets the resolution of range measurements.
- * @par Function Description
- * Set resolution of range measurements to either 0.25mm if
- * fraction enabled or 1mm if not enabled.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param enable Enable high resolution
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_range_fraction_enable(VL53L0X_DEV dev,
- uint8_t enable);
-
- /**
- * @brief Return the VL53L0X PAL Implementation Version
- *
- * @note This function doesn't access to the device
- *
- * @param p_version Pointer to current PAL Implementation Version
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_version(VL53L0X_Version_t *p_version);
-
- /**
- * @brief Reads the Product Revision for a for given Device
- * This function can be used to distinguish cut1.0 from cut1.1.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_product_revision_major Pointer to Product Revision Major
- * for a given Device
- * @param p_product_revision_minor Pointer to Product Revision Minor
- * for a given Device
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_product_revision(VL53L0X_DEV dev,
- uint8_t *p_product_revision_major, uint8_t *p_product_revision_minor);
-
- /**
- * @brief Retrieve current device parameters
- * @par Function Description
- * Get actual parameters of the device
- * @li Then start ranging operation.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_device_parameters Pointer to store current device parameters.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_device_parameters(VL53L0X_DEV dev,
- VL53L0X_DeviceParameters_t *p_device_parameters);
-
- /**
- * @brief Human readable error string for current PAL error status
- *
- * @note This function doesn't access to the device
- *
- * @param pal_error_code The error code as stored on @a VL53L0X_Error
- * @param p_pal_error_string The error string corresponding to the
- * PalErrorCode
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_pal_error_string(VL53L0X_Error pal_error_code,
- char *p_pal_error_string);
-
- /**
- * @brief Return the PAL Specification Version used for the current
- * implementation.
- *
- * @note This function doesn't access to the device
- *
- * @param p_pal_spec_version Pointer to current PAL Specification Version
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_pal_spec_version(
- VL53L0X_Version_t *p_pal_spec_version);
-
- /**
- * @brief Reads the internal state of the PAL for a given Device
- *
- * @note This function doesn't access to the device
- *
- * @param dev Device Handle
- * @param p_pal_state Pointer to current state of the PAL for a
- * given Device
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_pal_state(VL53L0X_DEV dev,
- VL53L0X_State *p_pal_state);
-
- /**
- * @brief Human readable PAL State string
- *
- * @note This function doesn't access to the device
- *
- * @param pal_state_code The State code as stored on @a VL53L0X_State
- * @param p_pal_state_string The State string corresponding to the
- * PalStateCode
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_pal_state_string(VL53L0X_State pal_state_code,
- char *p_pal_state_string);
-
- /*** End High level API ***/
-private:
- /* api.h functions */
-
- /**
- * @brief Wait for device booted after chip enable (hardware standby)
- * This function can be run only when VL53L0X_State is VL53L0X_STATE_POWERDOWN.
- *
- * @note This function is not Implemented
- *
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- *
- */
- VL53L0X_Error VL53L0X_wait_device_booted(VL53L0X_DEV dev);
-
-
- VL53L0X_Error sequence_step_enabled(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_config,
- uint8_t *p_sequence_step_enabled);
-
- VL53L0X_Error VL53L0X_check_and_load_interrupt_settings(VL53L0X_DEV dev,
- uint8_t start_not_stopflag);
-
-
- /* api_core.h functions */
-
- VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV dev, uint8_t option);
-
- VL53L0X_Error VL53L0X_device_read_strobe(VL53L0X_DEV dev);
-
- VL53L0X_Error wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t *p_measurement_timing_budget_micro_seconds);
-
- VL53L0X_Error wrapped_VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk);
-
- uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg);
-
- uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout);
-
- uint32_t VL53L0X_calc_timeout_us(VL53L0X_DEV dev,
- uint16_t timeout_period_mclks,
- uint8_t vcsel_period_pclks);
-
- uint32_t VL53L0X_calc_macro_period_ps(VL53L0X_DEV dev, uint8_t vcsel_period_pclks);
-
- VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV dev);
-
- VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV dev,
- uint8_t *p_tuning_setting_buffer);
-
- VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV dev,
- uint8_t device_range_status,
- FixPoint1616_t signal_rate,
- uint16_t effective_spad_rtn_count,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- uint8_t *p_pal_range_status);
- VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV dev,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_sigma_estimate,
- uint32_t *p_dmax_mm);
- uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV dev,
- uint32_t timeout_period_us,
- uint8_t vcsel_period_pclks);
- uint32_t VL53L0X_isqrt(uint32_t num);
-
- uint32_t VL53L0X_quadrature_sum(uint32_t a, uint32_t b);
-
- VL53L0X_Error VL53L0X_calc_dmax(
- VL53L0X_DEV dev,
- FixPoint1616_t total_signal_rate_mcps,
- FixPoint1616_t total_corr_signal_rate_mcps,
- FixPoint1616_t pw_mult,
- uint32_t sigma_estimate_p1,
- FixPoint1616_t sigma_estimate_p2,
- uint32_t peak_vcsel_duration_us,
- uint32_t *pd_max_mm);
- VL53L0X_Error wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
- uint32_t measurement_timing_budget_micro_seconds);
- VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id,
- uint32_t *p_time_out_micro_secs);
- VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id,
- uint32_t timeout_micro_secs);
- uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks);
- VL53L0X_Error wrapped_VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev,
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period_pclk);
- uint8_t lv53l0x_encode_vcsel_period(uint8_t vcsel_period_pclks);
-
- /* api_calibration.h functions */
- VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV dev);
- VL53L0X_Error wrapped_VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t *p_offset_calibration_data_micro_meter);
- VL53L0X_Error wrapped_VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
- int32_t offset_calibration_data_micro_meter);
- VL53L0X_Error wrapped_VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev,
- uint32_t *ref_spad_count,
- uint8_t *is_aperture_spads);
- VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV dev,
- uint8_t *p_vhv_settings, uint8_t *p_phase_cal, uint8_t get_data_enable);
- VL53L0X_Error VL53L0X_perform_vhv_calibration(VL53L0X_DEV dev,
- uint8_t *p_vhv_settings, const uint8_t get_data_enable,
- const uint8_t restore_config);
- VL53L0X_Error VL53L0X_perform_single_ref_calibration(VL53L0X_DEV dev,
- uint8_t vhv_init_byte);
- VL53L0X_Error VL53L0X_ref_calibration_io(VL53L0X_DEV dev, uint8_t read_not_write,
- uint8_t vhv_settings, uint8_t phase_cal,
- uint8_t *p_vhv_settings, uint8_t *p_phase_cal,
- const uint8_t vhv_enable, const uint8_t phase_enable);
- VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV dev,
- uint8_t *p_phase_cal, const uint8_t get_data_enable,
- const uint8_t restore_config);
- VL53L0X_Error enable_ref_spads(VL53L0X_DEV dev,
- uint8_t aperture_spads,
- uint8_t good_spad_array[],
- uint8_t spad_array[],
- uint32_t size,
- uint32_t start,
- uint32_t offset,
- uint32_t spad_count,
- uint32_t *p_last_spad);
- void get_next_good_spad(uint8_t good_spad_array[], uint32_t size,
- uint32_t curr, int32_t *p_next);
- uint8_t is_aperture(uint32_t spad_index);
- VL53L0X_Error enable_spad_bit(uint8_t spad_array[], uint32_t size,
- uint32_t spad_index);
- VL53L0X_Error set_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array);
- VL53L0X_Error get_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array);
- VL53L0X_Error perform_ref_signal_measurement(VL53L0X_DEV dev,
- uint16_t *p_ref_signal_rate);
- VL53L0X_Error wrapped_VL53L0X_set_reference_spads(VL53L0X_DEV dev,
- uint32_t count, uint8_t is_aperture_spads);
-
- /* api_strings.h functions */
- VL53L0X_Error wrapped_VL53L0X_get_device_info(VL53L0X_DEV dev,
- VL53L0X_DeviceInfo_t *p_VL53L0X_device_info);
- VL53L0X_Error VL53L0X_check_part_used(VL53L0X_DEV dev,
- uint8_t *revision,
- VL53L0X_DeviceInfo_t *p_VL53L0X_device_info);
-
- /* Read function of the ID device */
- // virtual int read_id();
- virtual int read_id(uint8_t *id);
-
- VL53L0X_Error wait_measurement_data_ready(VL53L0X_DEV dev);
-
- VL53L0X_Error wait_stop_completed(VL53L0X_DEV dev);
-
- /* Write and read functions from I2C */
- /**
- * Write single byte register
- * @param dev Device Handle
- * @param index The register index
- * @param data 8 bit register data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_write_byte(VL53L0X_DEV dev, uint8_t index, uint8_t data);
- /**
- * Write word register
- * @param dev Device Handle
- * @param index The register index
- * @param data 16 bit register data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_write_word(VL53L0X_DEV dev, uint8_t index, uint16_t data);
- /**
- * Write double word (4 byte) register
- * @param dev Device Handle
- * @param index The register index
- * @param data 32 bit register data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_write_dword(VL53L0X_DEV dev, uint8_t index, uint32_t data);
- /**
- * Read single byte register
- * @param dev Device Handle
- * @param index The register index
- * @param data pointer to 8 bit data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_read_byte(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data);
- /**
- * Read word (2byte) register
- * @param dev Device Handle
- * @param index The register index
- * @param data pointer to 16 bit data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_read_word(VL53L0X_DEV dev, uint8_t index, uint16_t *p_data);
- /**
- * Read dword (4byte) register
- * @param dev Device Handle
- * @param index The register index
- * @param data pointer to 32 bit data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_read_dword(VL53L0X_DEV dev, uint8_t index, uint32_t *p_data);
- /**
- * Threat safe Update (read/modify/write) single byte register
- *
- * Final_reg = (Initial_reg & and_data) |or_data
- *
- * @param dev Device Handle
- * @param index The register index
- * @param and_data 8 bit and data
- * @param or_data 8 bit or data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_update_byte(VL53L0X_DEV dev, uint8_t index, uint8_t and_data, uint8_t or_data);
- /**
- * Writes the supplied byte buffer to the device
- * @param dev Device Handle
- * @param index The register index
- * @param p_data Pointer to uint8_t buffer containing the data to be written
- * @param count Number of bytes in the supplied byte buffer
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_write_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count);
- /**
- * Reads the requested number of bytes from the device
- * @param dev Device Handle
- * @param index The register index
- * @param p_data Pointer to the uint8_t buffer to store read data
- * @param count Number of uint8_t's to read
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_read_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count);
-
- /**
- * @brief Writes a buffer towards the I2C peripheral device.
- * @param dev Device Handle
- * @param p_data pointer to the byte-array data to send
- * @param number_of_bytes number of bytes to be written.
- * @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!
- */
- VL53L0X_Error VL53L0X_i2c_write(uint8_t dev, uint8_t index, uint8_t *p_data, uint16_t number_of_bytes);
-
- /**
- * @brief Reads a buffer from the I2C peripheral device.
- * @param dev Device Handle
- * @param p_data pointer to the byte-array to read data in to
- * @param number_of_bytes 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!
- */
- VL53L0X_Error VL53L0X_i2c_read(uint8_t dev, uint8_t index, uint8_t *p_data, uint16_t number_of_bytes);
-
- /**
- * @brief execute delay in all polling API call
- *
- * A typical multi-thread or RTOs implementation is to sleep the task for some 5ms (with 100Hz max rate faster polling is not needed)
- * if nothing specific is need you can define it as an empty/void macro
- * @code
- * #define VL53L0X_PollingDelay(...) (void)0
- * @endcode
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_polling_delay(VL53L0X_DEV dev); /* usually best implemented as a real function */
-
- int is_present()
- {
- int status;
- uint8_t id = 0;
-
- status = read_id(&id);
- if (status) {
- VL53L0X_ErrLog("Failed to read ID device. Device not present!\n\r");
- }
- return status;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////
- //Added functions //
- ///////////////////////////////////////////////////////////////////////////////////////////////////////
-
- /**
- * @brief Cycle Power to Device
- *
- * @return status - status 0 = ok, 1 = error
- *
- */
- int32_t VL53L0X_cycle_power(void);
-
- uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks);
-
- VL53L0X_Error wrapped_VL53L0X_get_device_error_string(VL53L0X_DeviceError error_code,
- char *p_device_error_string);
-
- VL53L0X_Error wrapped_VL53L0X_get_limit_check_info(VL53L0X_DEV dev, uint16_t limit_check_id,
- char *p_limit_check_string);
-
- VL53L0X_Error wrapped_VL53L0X_get_pal_error_string(VL53L0X_Error pal_error_code,
- char *p_pal_error_string);
-
- VL53L0X_Error wrapped_VL53L0X_get_pal_state_string(VL53L0X_State pal_state_code,
- char *p_pal_state_string);
-
- VL53L0X_Error wrapped_VL53L0X_get_range_status_string(uint8_t range_status,
- char *p_range_status_string);
-
- VL53L0X_Error wrapped_VL53L0X_get_ref_calibration(VL53L0X_DEV dev,
- uint8_t *p_vhv_settings, uint8_t *p_phase_cal);
-
-
- VL53L0X_Error count_enabled_spads(uint8_t spad_array[],
- uint32_t byte_count, uint32_t max_spads,
- uint32_t *p_total_spads_enabled, uint8_t *p_is_aperture);
-
- VL53L0X_Error wrapped_VL53L0X_get_sequence_steps_info(VL53L0X_SequenceStepId sequence_step_id,
- char *p_sequence_steps_string);
-
-
- /**
- * @brief Gets the name of a given sequence step.
- *
- * @par Function Description
- * This function retrieves the name of sequence steps corresponding to
- * SequenceStepId.
- *
- * @note This function doesn't Accesses the device
- *
- * @param sequence_step_id Sequence step identifier.
- * @param p_sequence_steps_string Pointer to Info string
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_sequence_steps_info(VL53L0X_SequenceStepId sequence_step_id,
- char *p_sequence_steps_string);
-
- /**
- * @brief Get the frequency of the timer used for ranging results time stamps
- *
- * @param[out] p_timer_freq_hz : pointer for timer frequency
- *
- * @return status : 0 = ok, 1 = error
- *
- */
- int32_t VL53L0X_get_timer_frequency(int32_t *p_timer_freq_hz);
-
- /**
- * @brief Get the timer value in units of timer_freq_hz (see VL53L0X_get_timestamp_frequency())
- *
- * @param[out] p_timer_count : pointer for timer count value
- *
- * @return status : 0 = ok, 1 = error
- *
- */
- int32_t VL53L0X_get_timer_value(int32_t *p_timer_count);
-
- /**
- * @brief Configure ranging interrupt reported to system
- *
- * @note This function is not Implemented
- *
- * @param dev Device Handle
- * @param interrupt_mask Mask of interrupt to Enable/disable
- * (0:interrupt disabled or 1: interrupt enabled)
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- */
- VL53L0X_Error VL53L0X_enable_interrupt_mask(VL53L0X_DEV dev,
- uint32_t interrupt_mask);
-
- /**
- * @brief Get Dmax Calibration Parameters for a given device
- *
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_range_milli_meter Pointer to Calibration Distance
- * @param p_signal_rate_rtn_mega_cps Pointer to Signal rate return
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_dmax_cal_parameters(VL53L0X_DEV dev,
- uint16_t *p_range_milli_meter, FixPoint1616_t *p_signal_rate_rtn_mega_cps);
-
- /**
- * @brief Set Dmax Calibration Parameters for a given device
- * When one of the parameter is zero, this function will get parameter
- * from NVM.
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param range_milli_meter Calibration Distance
- * @param signal_rate_rtn_mega_cps Signal rate return read at CalDistance
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_dmax_cal_parameters(VL53L0X_DEV dev,
- uint16_t range_milli_meter, FixPoint1616_t signal_rate_rtn_mega_cps);
-
- /**
- * @brief Retrieve the measurements from device for a given setup
- *
- * @par Function Description
- * Get data from last successful Histogram measurement
- * @warning USER should take care about @a VL53L0X_GetNumberOfROIZones()
- * before get data.
- * PAL will fill a NumberOfROIZones times the corresponding data structure
- * used in the measurement function.
- *
- * @note This function is not Implemented
- *
- * @param dev Device Handle
- * @param p_histogram_measurement_data Pointer to the histogram data structure.
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- */
- VL53L0X_Error VL53L0X_get_histogram_measurement_data(VL53L0X_DEV dev,
- VL53L0X_HistogramMeasurementData_t *p_histogram_measurement_data);
-
- /**
- * @brief Get current new device mode
- * @par Function Description
- * Get current Histogram mode of a Device
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param p_histogram_mode Pointer to current Histogram Mode value
- * Valid values are:
- * VL53L0X_HISTOGRAMMODE_DISABLED
- * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
- * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
- * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
- * VL53L0X_HISTOGRAMMODE_BOTH
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_histogram_mode(VL53L0X_DEV dev,
- VL53L0X_HistogramModes *p_histogram_mode);
-
- /**
- * @brief Set a new Histogram mode
- * @par Function Description
- * Set device to a new Histogram mode
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param histogram_mode New device mode to apply
- * Valid values are:
- * VL53L0X_HISTOGRAMMODE_DISABLED
- * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
- * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
- * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
- * VL53L0X_HISTOGRAMMODE_BOTH
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
- * HistogramMode is not in the supported list
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_histogram_mode(VL53L0X_DEV dev,
- VL53L0X_HistogramModes histogram_mode);
-
- /**
- * @brief Return a description string for a given limit check number
- *
- * @par Function Description
- * This function returns a description string for a given limit check number.
- * The limit check is identified with the LimitCheckId.
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param limit_check_id Limit Check ID
- (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
- * @param p_limit_check_string Pointer to the
- description string of the given check limit.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is
- returned when LimitCheckId value is out of range.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_limit_check_info(VL53L0X_DEV dev,
- uint16_t limit_check_id, char *p_limit_check_string);
-
- /**
- * @brief Get the linearity corrective gain
- *
- * @par Function Description
- * Should only be used after a successful call to @a VL53L0X_DataInit to backup
- * device NVM value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_linearity_corrective_gain Pointer to the linearity
- * corrective gain in x1000
- * if value is 1000 then no modification is applied.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_linearity_corrective_gain(VL53L0X_DEV dev,
- uint16_t *p_linearity_corrective_gain);
-
- /**
- * Set the linearity corrective gain
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param linearity_corrective_gain Linearity corrective
- * gain in x1000
- * if value is 1000 then no modification is applied.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_linearity_corrective_gain(VL53L0X_DEV dev,
- int16_t linearity_corrective_gain);
-
- /**
- * @brief Get the Maximum number of ROI Zones managed by the Device
- *
- * @par Function Description
- * Get Maximum number of ROI Zones managed by the Device.
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param p_max_number_of_roi_zones Pointer to the Maximum Number
- * of ROI Zones value.
- * @return VL53L0X_ERROR_NONE Success
- */
- VL53L0X_Error VL53L0X_get_max_number_of_roi_zones(VL53L0X_DEV dev,
- uint8_t *p_max_number_of_roi_zones);
-
- /**
- * @brief Retrieve the Reference Signal after a measurements
- *
- * @par Function Description
- * Get Reference Signal from last successful Ranging measurement
- * This function return a valid value after that you call the
- * @a VL53L0X_GetRangingMeasurementData().
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_measurement_ref_signal Pointer to the Ref Signal to fill up.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_measurement_ref_signal(VL53L0X_DEV dev,
- FixPoint1616_t *p_measurement_ref_signal);
-
- /**
- * @brief Get the number of the check limit managed by a given Device
- *
- * @par Function Description
- * This function give the number of the check limit managed by the Device
- *
- * @note This function doesn't Access to the device
- *
- * @param p_number_of_limit_check Pointer to the number of check limit.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_number_of_limit_check(
- uint16_t *p_number_of_limit_check);
-
- /**
- * @brief Get the number of ROI Zones managed by the Device
- *
- * @par Function Description
- * Get number of ROI Zones managed by the Device
- * USER should take care about @a VL53L0X_GetNumberOfROIZones()
- * before get data after a perform measurement.
- * PAL will fill a NumberOfROIZones times the corresponding data
- * structure used in the measurement function.
- *
- * @note This function doesn't Access to the device
- *
- * @param dev Device Handle
- * @param p_number_of_roi_zones Pointer to the Number of ROI Zones value.
- * @return VL53L0X_ERROR_NONE Success
- */
- VL53L0X_Error VL53L0X_get_number_of_roi_zones(VL53L0X_DEV dev,
- uint8_t *p_number_of_roi_zones);
-
- /**
- * @brief Set the number of ROI Zones to be used for a specific Device
- *
- * @par Function Description
- * Set the number of ROI Zones to be used for a specific Device.
- * The programmed value should be less than the max number of ROI Zones given
- * with @a VL53L0X_GetMaxNumberOfROIZones().
- * This version of API manage only one zone.
- *
- * @param dev Device Handle
- * @param number_of_roi_zones Number of ROI Zones to be used for a
- * specific Device.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned if
- * NumberOfROIZones != 1
- */
- VL53L0X_Error VL53L0X_set_number_of_roi_zones(VL53L0X_DEV dev,
- uint8_t number_of_roi_zones);
-
- /**
- * @brief Gets number of sequence steps managed by the API.
- *
- * @par Function Description
- * This function retrieves the number of sequence steps currently managed
- * by the API
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param p_number_of_sequence_steps Out parameter reporting the number of
- * sequence steps.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_number_of_sequence_steps(VL53L0X_DEV dev,
- uint8_t *p_number_of_sequence_steps);
- /**
- * @brief Get the power mode for a given Device
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_power_mode Pointer to the current value of the power
- * mode. see ::VL53L0X_PowerModes
- * Valid values are:
- * VL53L0X_POWERMODE_STANDBY_LEVEL1,
- * VL53L0X_POWERMODE_IDLE_LEVEL1
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_power_mode(VL53L0X_DEV dev,
- VL53L0X_PowerModes *p_power_mode);
-
- /**
- * @brief Set the power mode for a given Device
- * The power mode can be Standby or Idle. Different level of both Standby and
- * Idle can exists.
- * This function should not be used when device is in Ranging state.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param power_mode The value of the power mode to set.
- * see ::VL53L0X_PowerModes
- * Valid values are:
- * VL53L0X_POWERMODE_STANDBY_LEVEL1,
- * VL53L0X_POWERMODE_IDLE_LEVEL1
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when PowerMode
- * is not in the supported list
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_power_mode(VL53L0X_DEV dev,
- VL53L0X_PowerModes power_mode);
-
- /**
- * @brief Retrieves SPAD configuration
- *
- * @par Function Description
- * This function retrieves the current number of applied reference spads
- * and also their type : Aperture or Non-Aperture.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_spad_count Number ref Spad Count
- * @param p_is_aperture_spads Reports if spads are of type
- * aperture or non-aperture.
- * 1:=aperture, 0:=Non-Aperture
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference
- * spad configuration.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error wrapped_VL53L0X_get_reference_spads(VL53L0X_DEV dev,
- uint32_t *p_spad_count, uint8_t *p_is_aperture_spads);
-
- /**
- * @brief Gets the (on/off) state of a requested sequence step.
- *
- * @par Function Description
- * This function retrieves the state of a requested sequence step, i.e. on/off.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param sequence_step_id Sequence step identifier.
- * @param p_sequence_step_enabled Out parameter reporting if the sequence step
- * is enabled {0=Off,1=On}.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
- * supported.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_sequence_step_enable(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id, uint8_t *p_sequence_step_enabled);
-
-
- /**
- * @brief Gets the timeout of a requested sequence step.
- *
- * @par Function Description
- * This function retrieves the timeout of a requested sequence step.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param sequence_step_id Sequence step identifier.
- * @param p_time_out_milli_secs Timeout value.
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
- * supported.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_sequence_step_timeout(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id,
- FixPoint1616_t *p_time_out_milli_secs);
-
- /**
- * @brief Sets the timeout of a requested sequence step.
- *
- * @par Function Description
- * This function sets the timeout of a requested sequence step.
- *
- * @note This function Accesses the device
- *
- * @param dev Device Handle
- * @param sequence_step_id Sequence step identifier.
- * @param time_out_milli_secs Demanded timeout
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
- * supported.
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_sequence_step_timeout(VL53L0X_DEV dev,
- VL53L0X_SequenceStepId sequence_step_id, FixPoint1616_t time_out_milli_secs);
-
- /**
- * @brief Get the current SPAD Ambient Damper Factor value
- *
- * @par Function Description
- * This function get the SPAD Ambient Damper Factor value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_spad_ambient_damper_factor Pointer to programmed SPAD Ambient
- * Damper Factor value
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_spad_ambient_damper_factor(VL53L0X_DEV dev,
- uint16_t *p_spad_ambient_damper_factor);
- /**
- * @brief Set the SPAD Ambient Damper Factor value
- *
- * @par Function Description
- * This function set the SPAD Ambient Damper Factor value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param spad_ambient_damper_factor SPAD Ambient Damper Factor value
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_spad_ambient_damper_factor(VL53L0X_DEV dev,
- uint16_t spad_ambient_damper_factor);
-
- /**
- * @brief Get the current SPAD Ambient Damper Threshold value
- *
- * @par Function Description
- * This function get the SPAD Ambient Damper Threshold value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_spad_ambient_damper_threshold Pointer to programmed
- * SPAD Ambient Damper Threshold value
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_spad_ambient_damper_threshold(VL53L0X_DEV dev,
- uint16_t *p_spad_ambient_damper_threshold);
-
- /**
- * @brief Set the SPAD Ambient Damper Threshold value
- *
- * @par Function Description
- * This function set the SPAD Ambient Damper Threshold value
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param spad_ambient_damper_threshold SPAD Ambient Damper Threshold value
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_spad_ambient_damper_threshold(VL53L0X_DEV dev,
- uint16_t spad_ambient_damper_threshold);
-
- /**
- * @brief Get the maximal distance for actual setup
- * @par Function Description
- * Device must be initialized through @a VL53L0X_SetParameters() prior calling
- * this function.
- *
- * Any range value more than the value returned is to be considered as
- * "no target detected" or
- * "no target in detectable range"\n
- * @warning The maximal distance depends on the setup
- *
- * @note This function is not Implemented
- *
- * @param dev Device Handle
- * @param p_upper_limit_milli_meter The maximal range limit for actual setup
- * (in millimeter)
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- */
- VL53L0X_Error VL53L0X_get_upper_limit_milli_meter(VL53L0X_DEV dev,
- uint16_t *p_upper_limit_milli_meter);
-
- /**
- * @brief Get the tuning settings pointer and the internal external switch
- * value.
- *
- * This function is used to get the Tuning settings buffer pointer and the
- * value.
- * of the switch to select either external or internal tuning settings.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param pp_tuning_setting_buffer Pointer to tuning settings buffer.
- * @param p_use_internal_tuning_settings Pointer to store Use internal tuning
- * settings value.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_get_tuning_setting_buffer(VL53L0X_DEV dev,
- uint8_t **pp_tuning_setting_buffer, uint8_t *p_use_internal_tuning_settings);
-
- /**
- * @brief Set the tuning settings pointer
- *
- * This function is used to specify the Tuning settings buffer to be used
- * for a given device. The buffer contains all the necessary data to permit
- * the API to write tuning settings.
- * This function permit to force the usage of either external or internal
- * tuning settings.
- *
- * @note This function Access to the device
- *
- * @param dev Device Handle
- * @param p_tuning_setting_buffer Pointer to tuning settings buffer.
- * @param use_internal_tuning_settings Use internal tuning settings value.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_set_tuning_setting_buffer(VL53L0X_DEV dev,
- uint8_t *p_tuning_setting_buffer, uint8_t use_internal_tuning_settings);
-
- /**
- * @defgroup VL53L0X_registerAccess_group PAL Register Access Functions
- * @brief PAL Register Access Functions
- * @{
- */
-
- /**
- * Lock comms interface to serialize all commands to a shared I2C interface for a specific device
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_lock_sequence_access(VL53L0X_DEV dev);
-
- /**
- * Unlock comms interface to serialize all commands to a shared I2C interface for a specific device
- * @param dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error VL53L0X_unlock_sequence_access(VL53L0X_DEV dev);
-
- /**
- * @brief Prepare device for operation
- * @par Function Description
- * Update device with provided parameters
- * @li Then start ranging operation.
- *
- * @note This function Access to the device
- *
- * @param Dev Device Handle
- * @param pDeviceParameters Pointer to store current device parameters.
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
- VL53L0X_Error vl53L0x_set_device_parameters(VL53L0X_DEV Dev,
- const VL53L0X_DeviceParameters_t *pDeviceParameters);
-
- /**
- * Set Group parameter Hold state
- *
- * @par Function Description
- * Set or remove device internal group parameter hold
- *
- * @note This function is not Implemented
- *
- * @param dev Device Handle
- * @param group_param_hold Group parameter Hold state to be set (on/off)
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- */
- VL53L0X_Error VL53L0X_set_group_param_hold(VL53L0X_DEV dev,
- uint8_t group_param_hold);
-
-
- /**
- * @brief Wait for device ready for a new measurement command.
- * Blocking function.
- *
- * @note This function is not Implemented
- *
- * @param dev Device Handle
- * @param max_loop Max Number of polling loop (timeout).
- * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
- */
- VL53L0X_Error VL53L0X_wait_device_ready_for_new_measurement(VL53L0X_DEV dev,
- uint32_t max_loop);
-
- VL53L0X_Error VL53L0X_reverse_bytes(uint8_t *data, uint32_t size);
-
- int range_meas_int_continuous_mode(void (*fptr)(void));
-
-
- VL53L0X_DeviceInfo_t _device_info;
-
- /* IO Device */
- DevI2C *_dev_i2c;
- /* Digital out pin */
- DigitalOut *_gpio0;
- /* GPIO expander */
- Stmpe1600DigiOut *_expgpio0;
- /* Measure detection IRQ */
- InterruptIn *_gpio1Int;
- /* Device data */
- VL53L0X_Dev_t _my_device;
- VL53L0X_DEV _device;
-};
-
-
-#endif /* _VL53L0X_CLASS_H_ */
--- a/Components/VL53L0X/VL53L0X_def.h Tue Aug 22 14:39:51 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,640 +0,0 @@
-/*******************************************************************************
-Copyright © 2016, STMicroelectronics International N.V.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
- * Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- * Neither the name of STMicroelectronics nor the
- names of its contributors may be used to endorse or promote products
- derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
-NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
-IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
-
-/**
- * @file VL53L0X_def.h
- *
- * @brief Type definitions for VL53L0X API.
- *
- */
-
-
-#ifndef _VL53L0X_DEF_H_
-#define _VL53L0X_DEF_H_
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/** @defgroup VL53L0X_globaldefine_group VL53L0X Defines
- * @brief VL53L0X Defines
- * @{
- */
-
-
-/** PAL SPECIFICATION major version */
-#define VL53L0X10_SPECIFICATION_VER_MAJOR 1
-/** PAL SPECIFICATION minor version */
-#define VL53L0X10_SPECIFICATION_VER_MINOR 2
-/** PAL SPECIFICATION sub version */
-#define VL53L0X10_SPECIFICATION_VER_SUB 7
-/** PAL SPECIFICATION sub version */
-#define VL53L0X10_SPECIFICATION_VER_REVISION 1440
-
-/** VL53L0X PAL IMPLEMENTATION major version */
-#define VL53L0X10_IMPLEMENTATION_VER_MAJOR 1
-/** VL53L0X PAL IMPLEMENTATION minor version */
-#define VL53L0X10_IMPLEMENTATION_VER_MINOR 0
-/** VL53L0X PAL IMPLEMENTATION sub version */
-#define VL53L0X10_IMPLEMENTATION_VER_SUB 9
-/** VL53L0X PAL IMPLEMENTATION sub version */
-#define VL53L0X10_IMPLEMENTATION_VER_REVISION 3673
-
-/** PAL SPECIFICATION major version */
-#define VL53L0X_SPECIFICATION_VER_MAJOR 1
-/** PAL SPECIFICATION minor version */
-#define VL53L0X_SPECIFICATION_VER_MINOR 2
-/** PAL SPECIFICATION sub version */
-#define VL53L0X_SPECIFICATION_VER_SUB 7
-/** PAL SPECIFICATION sub version */
-#define VL53L0X_SPECIFICATION_VER_REVISION 1440
-
-/** VL53L0X PAL IMPLEMENTATION major version */
-#define VL53L0X_IMPLEMENTATION_VER_MAJOR 1
-/** VL53L0X PAL IMPLEMENTATION minor version */
-#define VL53L0X_IMPLEMENTATION_VER_MINOR 1
-/** VL53L0X PAL IMPLEMENTATION sub version */
-#define VL53L0X_IMPLEMENTATION_VER_SUB 21
-/** VL53L0X PAL IMPLEMENTATION sub version */
-#define VL53L0X_IMPLEMENTATION_VER_REVISION 4823
-#define VL53L0X_DEFAULT_MAX_LOOP 2000
-#define VL53L0X_MAX_STRING_LENGTH 32
-
-
-#include "VL53L0X_device.h"
-#include "VL53L0X_types.h"
-
-
-/****************************************
- * PRIVATE define do not edit
- ****************************************/
-
-/** @brief Defines the parameters of the Get Version Functions
- */
-typedef struct {
- uint32_t revision; /*!< revision number */
- uint8_t major; /*!< major number */
- uint8_t minor; /*!< minor number */
- uint8_t build; /*!< build number */
-} VL53L0X_Version_t;
-
-
-/** @brief Defines the parameters of the Get Device Info Functions
- */
-typedef struct {
- char Name[VL53L0X_MAX_STRING_LENGTH];
- /*!< Name of the Device e.g. Left_Distance */
- char Type[VL53L0X_MAX_STRING_LENGTH];
- /*!< Type of the Device e.g VL53L0X */
- char ProductId[VL53L0X_MAX_STRING_LENGTH];
- /*!< Product Identifier String */
- uint8_t ProductType;
- /*!< Product Type, VL53L0X = 1, VL53L1 = 2 */
- uint8_t ProductRevisionMajor;
- /*!< Product revision major */
- uint8_t ProductRevisionMinor;
- /*!< Product revision minor */
-} VL53L0X_DeviceInfo_t;
-
-
-/** @defgroup VL53L0X_define_Error_group Error and Warning code returned by API
- * The following DEFINE are used to identify the PAL ERROR
- * @{
- */
-
-typedef int8_t VL53L0X_Error;
-
-#define VL53L0X_ERROR_NONE ((VL53L0X_Error) 0)
-#define VL53L0X_ERROR_CALIBRATION_WARNING ((VL53L0X_Error) -1)
- /*!< Warning invalid calibration data may be in used
- \a VL53L0X_InitData()
- \a VL53L0X_GetOffsetCalibrationData
- \a VL53L0X_SetOffsetCalibrationData */
-#define VL53L0X_ERROR_MIN_CLIPPED ((VL53L0X_Error) -2)
- /*!< Warning parameter passed was clipped to min before to be applied */
-
-#define VL53L0X_ERROR_UNDEFINED ((VL53L0X_Error) -3)
- /*!< Unqualified error */
-#define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error) -4)
- /*!< Parameter passed is invalid or out of range */
-#define VL53L0X_ERROR_NOT_SUPPORTED ((VL53L0X_Error) -5)
- /*!< Function is not supported in current mode or configuration */
-#define VL53L0X_ERROR_RANGE_ERROR ((VL53L0X_Error) -6)
- /*!< Device report a ranging error interrupt status */
-#define VL53L0X_ERROR_TIME_OUT ((VL53L0X_Error) -7)
- /*!< Aborted due to time out */
-#define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error) -8)
- /*!< Asked mode is not supported by the device */
-#define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error) -9)
- /*!< ... */
-#define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error) -10)
- /*!< User tried to setup a non-existing GPIO pin */
-#define VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L0X_Error) -11)
- /*!< unsupported GPIO functionality */
-#define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error) -12)
- /*!< Error during interrupt clear */
-#define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error) -20)
- /*!< error reported from IO functions */
-#define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error) -30)
- /*!< The command is not allowed in the current device state
- * (power down) */
-#define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error) -40)
- /*!< In the function a division by zero occurs */
-#define VL53L0X_ERROR_REF_SPAD_INIT ((VL53L0X_Error) -50)
- /*!< Error during reference SPAD initialization */
-#define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error) -99)
- /*!< Tells requested functionality has not been implemented yet or
- * not compatible with the device */
-/** @} VL53L0X_define_Error_group */
-
-
-/** @defgroup VL53L0X_define_DeviceModes_group Defines Device modes
- * Defines all possible modes for the device
- * @{
- */
-typedef uint8_t VL53L0X_DeviceModes;
-
-#define VL53L0X_DEVICEMODE_SINGLE_RANGING ((VL53L0X_DeviceModes) 0)
-#define VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ((VL53L0X_DeviceModes) 1)
-#define VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0X_DeviceModes) 2)
-#define VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0X_DeviceModes) 3)
-#define VL53L0X_DEVICEMODE_SINGLE_ALS ((VL53L0X_DeviceModes) 10)
-#define VL53L0X_DEVICEMODE_GPIO_DRIVE ((VL53L0X_DeviceModes) 20)
-#define VL53L0X_DEVICEMODE_GPIO_OSC ((VL53L0X_DeviceModes) 21)
- /* ... Modes to be added depending on device */
-/** @} VL53L0X_define_DeviceModes_group */
-
-
-
-/** @defgroup VL53L0X_define_HistogramModes_group Defines Histogram modes
- * Defines all possible Histogram modes for the device
- * @{
- */
-typedef uint8_t VL53L0X_HistogramModes;
-
-#define VL53L0X_HISTOGRAMMODE_DISABLED ((VL53L0X_HistogramModes) 0)
- /*!< Histogram Disabled */
-#define VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY ((VL53L0X_HistogramModes) 1)
- /*!< Histogram Reference array only */
-#define VL53L0X_HISTOGRAMMODE_RETURN_ONLY ((VL53L0X_HistogramModes) 2)
- /*!< Histogram Return array only */
-#define VL53L0X_HISTOGRAMMODE_BOTH ((VL53L0X_HistogramModes) 3)
- /*!< Histogram both Reference and Return Arrays */
- /* ... Modes to be added depending on device */
-/** @} VL53L0X_define_HistogramModes_group */
-
-
-/** @defgroup VL53L0X_define_PowerModes_group List of available Power Modes
- * List of available Power Modes
- * @{
- */
-
-typedef uint8_t VL53L0X_PowerModes;
-
-#define VL53L0X_POWERMODE_STANDBY_LEVEL1 ((VL53L0X_PowerModes) 0)
- /*!< Standby level 1 */
-#define VL53L0X_POWERMODE_STANDBY_LEVEL2 ((VL53L0X_PowerModes) 1)
- /*!< Standby level 2 */
-#define VL53L0X_POWERMODE_IDLE_LEVEL1 ((VL53L0X_PowerModes) 2)
- /*!< Idle level 1 */
-#define VL53L0X_POWERMODE_IDLE_LEVEL2 ((VL53L0X_PowerModes) 3)
- /*!< Idle level 2 */
-
-/** @} VL53L0X_define_PowerModes_group */
-
-
-/** @brief Defines all parameters for the device
- */
-typedef struct {
- VL53L0X_DeviceModes DeviceMode;
- /*!< Defines type of measurement to be done for the next measure */
- VL53L0X_HistogramModes HistogramMode;
- /*!< Defines type of histogram measurement to be done for the next
- * measure */
- uint32_t MeasurementTimingBudgetMicroSeconds;
- /*!< Defines the allowed total time for a single measurement */
- uint32_t InterMeasurementPeriodMilliSeconds;
- /*!< Defines time between two consecutive measurements (between two
- * measurement starts). If set to 0 means back-to-back mode */
- uint8_t XTalkCompensationEnable;
- /*!< Tells if Crosstalk compensation shall be enable or not */
- uint16_t XTalkCompensationRangeMilliMeter;
- /*!< CrossTalk compensation range in millimeter */
- FixPoint1616_t XTalkCompensationRateMegaCps;
- /*!< CrossTalk compensation rate in Mega counts per seconds.
- * Expressed in 16.16 fixed point format. */
- int32_t RangeOffsetMicroMeters;
- /*!< Range offset adjustment (mm). */
-
- uint8_t LimitChecksEnable[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
- /*!< This Array store all the Limit Check enable for this device. */
- uint8_t LimitChecksStatus[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
- /*!< This Array store all the Status of the check linked to last
- * measurement. */
- FixPoint1616_t LimitChecksValue[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
- /*!< This Array store all the Limit Check value for this device */
-
- uint8_t WrapAroundCheckEnable;
- /*!< Tells if Wrap Around Check shall be enable or not */
-} VL53L0X_DeviceParameters_t;
-
-
-/** @defgroup VL53L0X_define_State_group Defines the current status of the device
- * Defines the current status of the device
- * @{
- */
-
-typedef uint8_t VL53L0X_State;
-
-#define VL53L0X_STATE_POWERDOWN ((VL53L0X_State) 0)
- /*!< Device is in HW reset */
-#define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State) 1)
- /*!< Device is initialized and wait for static initialization */
-#define VL53L0X_STATE_STANDBY ((VL53L0X_State) 2)
- /*!< Device is in Low power Standby mode */
-#define VL53L0X_STATE_IDLE ((VL53L0X_State) 3)
- /*!< Device has been initialized and ready to do measurements */
-#define VL53L0X_STATE_RUNNING ((VL53L0X_State) 4)
- /*!< Device is performing measurement */
-#define VL53L0X_STATE_UNKNOWN ((VL53L0X_State) 98)
- /*!< Device is in unknown state and need to be rebooted */
-#define VL53L0X_STATE_ERROR ((VL53L0X_State) 99)
- /*!< Device is in error state and need to be rebooted */
-
-/** @} VL53L0X_define_State_group */
-
-
-/** @brief Structure containing the Dmax computation parameters and data
- */
-typedef struct {
- int32_t AmbTuningWindowFactor_K;
- /*!< internal algo tuning (*1000) */
- int32_t RetSignalAt0mm;
- /*!< intermediate dmax computation value caching */
-} VL53L0X_DMaxData_t;
-
-/**
- * @struct VL53L0X_RangeData_t
- * @brief Range measurement data.
- */
-typedef struct {
- uint32_t TimeStamp; /*!< 32-bit time stamp. */
- uint32_t MeasurementTimeUsec;
- /*!< Give the Measurement time needed by the device to do the
- * measurement.*/
-
-
- uint16_t RangeMilliMeter; /*!< range distance in millimeter. */
-
- uint16_t RangeDMaxMilliMeter;
- /*!< Tells what is the maximum detection distance of the device
- * in current setup and environment conditions (Filled when
- * applicable) */
-
- FixPoint1616_t SignalRateRtnMegaCps;
- /*!< Return signal rate (MCPS)\n these is a 16.16 fix point
- * value, which is effectively a measure of target
- * reflectance.*/
- FixPoint1616_t AmbientRateRtnMegaCps;
- /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
- * value, which is effectively a measure of the ambien
- * t light.*/
-
- uint16_t EffectiveSpadRtnCount;
- /*!< Return the effective SPAD count for the return signal.
- * To obtain Real value it should be divided by 256 */
-
- uint8_t ZoneId;
- /*!< Denotes which zone and range scheduler stage the range
- * data relates to. */
- uint8_t RangeFractionalPart;
- /*!< Fractional part of range distance. Final value is a
- * FixPoint168 value. */
- uint8_t RangeStatus;
- /*!< Range Status for the current measurement. This is device
- * dependent. Value = 0 means value is valid.
- * See \ref RangeStatusPage */
-} VL53L0X_RangingMeasurementData_t;
-
-
-#define VL53L0X_HISTOGRAM_BUFFER_SIZE 24
-
-/**
- * @struct VL53L0X_HistogramData_t
- * @brief Histogram measurement data.
- */
-typedef struct {
- /* Histogram Measurement data */
- uint32_t HistogramData[VL53L0X_HISTOGRAM_BUFFER_SIZE];
- /*!< Histogram data */
- uint8_t HistogramType; /*!< Indicate the types of histogram data :
- Return only, Reference only, both Return and Reference */
- uint8_t FirstBin; /*!< First Bin value */
- uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/
- uint8_t NumberOfBins;
- /*!< Number of bins filled by the histogram measurement */
-
- VL53L0X_DeviceError ErrorStatus;
- /*!< Error status of the current measurement. \n
- see @a ::VL53L0X_DeviceError @a VL53L0X_GetStatusErrorString() */
-} VL53L0X_HistogramMeasurementData_t;
-
-#define VL53L0X_REF_SPAD_BUFFER_SIZE 6
-
-/**
- * @struct VL53L0X_SpadData_t
- * @brief Spad Configuration Data.
- */
-typedef struct {
- uint8_t RefSpadEnables[VL53L0X_REF_SPAD_BUFFER_SIZE];
- /*!< Reference Spad Enables */
- uint8_t RefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE];
- /*!< Reference Spad Good Spad Map */
-} VL53L0X_SpadData_t;
-
-typedef struct {
- FixPoint1616_t OscFrequencyMHz; /* Frequency used */
-
- uint16_t LastEncodedTimeout;
- /* last encoded Time out used for timing budget*/
-
- VL53L0X_GpioFunctionality Pin0GpioFunctionality;
- /* store the functionality of the GPIO: pin0 */
-
- uint32_t FinalRangeTimeoutMicroSecs;
- /*!< Execution time of the final range*/
- uint8_t FinalRangeVcselPulsePeriod;
- /*!< Vcsel pulse period (pll clocks) for the final range measurement*/
- uint32_t PreRangeTimeoutMicroSecs;
- /*!< Execution time of the final range*/
- uint8_t PreRangeVcselPulsePeriod;
- /*!< Vcsel pulse period (pll clocks) for the pre-range measurement*/
-
- uint16_t SigmaEstRefArray;
- /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */
- uint16_t SigmaEstEffPulseWidth;
- /*!< Effective Pulse width for sigma estimate in 1/100th
- * of ns e.g. 900 = 9.0ns */
- uint16_t SigmaEstEffAmbWidth;
- /*!< Effective Ambient width for sigma estimate in 1/100th of ns
- * e.g. 500 = 5.0ns */
-
-
- uint8_t ReadDataFromDeviceDone; /* Indicate if read from device has
- been done (==1) or not (==0) */
- uint8_t ModuleId; /* Module ID */
- uint8_t Revision; /* test Revision */
- char ProductId[VL53L0X_MAX_STRING_LENGTH];
- /* Product Identifier String */
- uint8_t ReferenceSpadCount; /* used for ref spad management */
- uint8_t ReferenceSpadType; /* used for ref spad management */
- uint8_t RefSpadsInitialised; /* reports if ref spads are initialised. */
- uint32_t PartUIDUpper; /*!< Unique Part ID Upper */
- uint32_t PartUIDLower; /*!< Unique Part ID Lower */
- FixPoint1616_t SignalRateMeasFixed400mm; /*!< Peek Signal rate
- at 400 mm*/
-
-} VL53L0X_DeviceSpecificParameters_t;
-
-/**
- * @struct VL53L0X_DevData_t
- *
- * @brief VL53L0X PAL device ST private data structure \n
- * End user should never access any of these field directly
- *
- * These must never access directly but only via macro
- */
-typedef struct {
- VL53L0X_DMaxData_t DMaxData;
- /*!< Dmax Data */
- int32_t Part2PartOffsetNVMMicroMeter;
- /*!< backed up NVM value */
- int32_t Part2PartOffsetAdjustmentNVMMicroMeter;
- /*!< backed up NVM value representing additional offset adjustment */
- VL53L0X_DeviceParameters_t CurrentParameters;
- /*!< Current Device Parameter */
- VL53L0X_RangingMeasurementData_t LastRangeMeasure;
- /*!< Ranging Data */
- VL53L0X_HistogramMeasurementData_t LastHistogramMeasure;
- /*!< Histogram Data */
- VL53L0X_DeviceSpecificParameters_t DeviceSpecificParameters;
- /*!< Parameters specific to the device */
- VL53L0X_SpadData_t SpadData;
- /*!< Spad Data */
- uint8_t SequenceConfig;
- /*!< Internal value for the sequence config */
- uint8_t RangeFractionalEnable;
- /*!< Enable/Disable fractional part of ranging data */
- VL53L0X_State PalState;
- /*!< Current state of the PAL for this device */
- VL53L0X_PowerModes PowerMode;
- /*!< Current Power Mode */
- uint16_t SigmaEstRefArray;
- /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */
- uint16_t SigmaEstEffPulseWidth;
- /*!< Effective Pulse width for sigma estimate in 1/100th
- * of ns e.g. 900 = 9.0ns */
- uint16_t SigmaEstEffAmbWidth;
- /*!< Effective Ambient width for sigma estimate in 1/100th of ns
- * e.g. 500 = 5.0ns */
- uint8_t StopVariable;
- /*!< StopVariable used during the stop sequence */
- uint16_t targetRefRate;
- /*!< Target Ambient Rate for Ref spad management */
- FixPoint1616_t SigmaEstimate;
- /*!< Sigma Estimate - based on ambient & VCSEL rates and
- * signal_total_events */
- FixPoint1616_t SignalEstimate;
- /*!< Signal Estimate - based on ambient & VCSEL rates and cross talk */
- FixPoint1616_t LastSignalRefMcps;
- /*!< Latest Signal ref in Mcps */
- uint8_t *pTuningSettingsPointer;
- /*!< Pointer for Tuning Settings table */
- uint8_t UseInternalTuningSettings;
- /*!< Indicate if we use Tuning Settings table */
- uint16_t LinearityCorrectiveGain;
- /*!< Linearity Corrective Gain value in x1000 */
- uint16_t DmaxCalRangeMilliMeter;
- /*!< Dmax Calibration Range millimeter */
- FixPoint1616_t DmaxCalSignalRateRtnMegaCps;
- /*!< Dmax Calibration Signal Rate Return MegaCps */
-
-} VL53L0X_DevData_t;
-
-
-/** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity
- * of the Interrupt
- * Defines the Polarity of the Interrupt
- * @{
- */
-typedef uint8_t VL53L0X_InterruptPolarity;
-
-#define VL53L0X_INTERRUPTPOLARITY_LOW ((VL53L0X_InterruptPolarity) 0)
-/*!< Set active low polarity best setup for falling edge. */
-#define VL53L0X_INTERRUPTPOLARITY_HIGH ((VL53L0X_InterruptPolarity) 1)
-/*!< Set active high polarity best setup for rising edge. */
-
-/** @} VL53L0X_define_InterruptPolarity_group */
-
-
-/** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines
- * Defines the range measurement for which to access the vcsel period.
- * @{
- */
-typedef uint8_t VL53L0X_VcselPeriod;
-
-#define VL53L0X_VCSEL_PERIOD_PRE_RANGE ((VL53L0X_VcselPeriod) 0)
-/*!<Identifies the pre-range vcsel period. */
-#define VL53L0X_VCSEL_PERIOD_FINAL_RANGE ((VL53L0X_VcselPeriod) 1)
-/*!<Identifies the final range vcsel period. */
-
-/** @} VL53L0X_define_VcselPeriod_group */
-
-/** @defgroup VL53L0X_define_SchedulerSequence_group Defines the steps
- * carried out by the scheduler during a range measurement.
- * @{
- * Defines the states of all the steps in the scheduler
- * i.e. enabled/disabled.
- */
-typedef struct {
- uint8_t TccOn; /*!<Reports if Target Centre Check On */
- uint8_t MsrcOn; /*!<Reports if MSRC On */
- uint8_t DssOn; /*!<Reports if DSS On */
- uint8_t PreRangeOn; /*!<Reports if Pre-Range On */
- uint8_t FinalRangeOn; /*!<Reports if Final-Range On */
-} VL53L0X_SchedulerSequenceSteps_t;
-
-/** @} VL53L0X_define_SchedulerSequence_group */
-
-/** @defgroup VL53L0X_define_SequenceStepId_group Defines the Polarity
- * of the Interrupt
- * Defines the the sequence steps performed during ranging..
- * @{
- */
-typedef uint8_t VL53L0X_SequenceStepId;
-
-#define VL53L0X_SEQUENCESTEP_TCC ((VL53L0X_VcselPeriod) 0)
-/*!<Target CentreCheck identifier. */
-#define VL53L0X_SEQUENCESTEP_DSS ((VL53L0X_VcselPeriod) 1)
-/*!<Dynamic Spad Selection function Identifier. */
-#define VL53L0X_SEQUENCESTEP_MSRC ((VL53L0X_VcselPeriod) 2)
-/*!<Minimum Signal Rate Check function Identifier. */
-#define VL53L0X_SEQUENCESTEP_PRE_RANGE ((VL53L0X_VcselPeriod) 3)
-/*!<Pre-Range check Identifier. */
-#define VL53L0X_SEQUENCESTEP_FINAL_RANGE ((VL53L0X_VcselPeriod) 4)
-/*!<Final Range Check Identifier. */
-
-#define VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS 5
-/*!<Number of Sequence Step Managed by the API. */
-
-/** @} VL53L0X_define_SequenceStepId_group */
-
-
-/* MACRO Definitions */
-/** @defgroup VL53L0X_define_GeneralMacro_group General Macro Defines
- * General Macro Defines
- * @{
- */
-
-/* Defines */
-#define VL53L0X_SETPARAMETERFIELD(Dev, field, value) \
- PALDevDataSet(Dev, CurrentParameters.field, value)
-
-#define VL53L0X_GETPARAMETERFIELD(Dev, field, variable) \
- variable = PALDevDataGet(Dev, CurrentParameters).field
-
-
-#define VL53L0X_SETARRAYPARAMETERFIELD(Dev, field, index, value) \
- PALDevDataSet(Dev, CurrentParameters.field[index], value)
-
-#define VL53L0X_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \
- variable = PALDevDataGet(Dev, CurrentParameters).field[index]
-
-
-#define VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, field, value) \
- PALDevDataSet(Dev, DeviceSpecificParameters.field, value)
-
-#define VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, field) \
- PALDevDataGet(Dev, DeviceSpecificParameters).field
-
-
-#define VL53L0X_FIXPOINT1616TOFIXPOINT97(Value) \
- (uint16_t)((Value>>9)&0xFFFF)
-#define VL53L0X_FIXPOINT97TOFIXPOINT1616(Value) \
- (FixPoint1616_t)(Value<<9)
-
-#define VL53L0X_FIXPOINT1616TOFIXPOINT88(Value) \
- (uint16_t)((Value>>8)&0xFFFF)
-#define VL53L0X_FIXPOINT88TOFIXPOINT1616(Value) \
- (FixPoint1616_t)(Value<<8)
-
-#define VL53L0X_FIXPOINT1616TOFIXPOINT412(Value) \
- (uint16_t)((Value>>4)&0xFFFF)
-#define VL53L0X_FIXPOINT412TOFIXPOINT1616(Value) \
- (FixPoint1616_t)(Value<<4)
-
-#define VL53L0X_FIXPOINT1616TOFIXPOINT313(Value) \
- (uint16_t)((Value>>3)&0xFFFF)
-#define VL53L0X_FIXPOINT313TOFIXPOINT1616(Value) \
- (FixPoint1616_t)(Value<<3)
-
-#define VL53L0X_FIXPOINT1616TOFIXPOINT08(Value) \
- (uint8_t)((Value>>8)&0x00FF)
-#define VL53L0X_FIXPOINT08TOFIXPOINT1616(Value) \
- (FixPoint1616_t)(Value<<8)
-
-#define VL53L0X_FIXPOINT1616TOFIXPOINT53(Value) \
- (uint8_t)((Value>>13)&0x00FF)
-#define VL53L0X_FIXPOINT53TOFIXPOINT1616(Value) \
- (FixPoint1616_t)(Value<<13)
-
-#define VL53L0X_FIXPOINT1616TOFIXPOINT102(Value) \
- (uint16_t)((Value>>14)&0x0FFF)
-#define VL53L0X_FIXPOINT102TOFIXPOINT1616(Value) \
- (FixPoint1616_t)(Value<<12)
-
-#define VL53L0X_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \
- (uint16_t)lsb)
-
-/** @} VL53L0X_define_GeneralMacro_group */
-
-/** @} VL53L0X_globaldefine_group */
-
-
-
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#endif /* _VL53L0X_DEF_H_ */
--- a/Components/VL53L0X/VL53L0X_device.h Tue Aug 22 14:39:51 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,257 +0,0 @@
-/*******************************************************************************
-Copyright © 2016, STMicroelectronics International N.V.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
- * Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- * Neither the name of STMicroelectronics nor the
- names of its contributors may be used to endorse or promote products
- derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
-NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
-IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
-
-/**
- * Device specific defines. To be adapted by implementer for the targeted
- * device.
- */
-
-#ifndef _VL53L0X_DEVICE_H_
-#define _VL53L0X_DEVICE_H_
-
-#include "VL53L0X_types.h"
-
-
-/** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device Specific Defines
- * @brief VL53L0X cut1.1 Device Specific Defines
- * @{
- */
-
-
-/** @defgroup VL53L0X_DeviceError_group Device Error
- * @brief Device Error code
- *
- * This enum is Device specific it should be updated in the implementation
- * Use @a VL53L0X_GetStatusErrorString() to get the string.
- * It is related to Status Register of the Device.
- * @{
- */
-typedef uint8_t VL53L0X_DeviceError;
-
-#define VL53L0X_DEVICEERROR_NONE ((VL53L0X_DeviceError) 0)
- /*!< 0 NoError */
-#define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L0X_DeviceError) 1)
-#define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L0X_DeviceError) 2)
-#define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND ((VL53L0X_DeviceError) 3)
-#define VL53L0X_DEVICEERROR_MSRCNOTARGET ((VL53L0X_DeviceError) 4)
-#define VL53L0X_DEVICEERROR_SNRCHECK ((VL53L0X_DeviceError) 5)
-#define VL53L0X_DEVICEERROR_RANGEPHASECHECK ((VL53L0X_DeviceError) 6)
-#define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK ((VL53L0X_DeviceError) 7)
-#define VL53L0X_DEVICEERROR_TCC ((VL53L0X_DeviceError) 8)
-#define VL53L0X_DEVICEERROR_PHASECONSISTENCY ((VL53L0X_DeviceError) 9)
-#define VL53L0X_DEVICEERROR_MINCLIP ((VL53L0X_DeviceError) 10)
-#define VL53L0X_DEVICEERROR_RANGECOMPLETE ((VL53L0X_DeviceError) 11)
-#define VL53L0X_DEVICEERROR_ALGOUNDERFLOW ((VL53L0X_DeviceError) 12)
-#define VL53L0X_DEVICEERROR_ALGOOVERFLOW ((VL53L0X_DeviceError) 13)
-#define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD ((VL53L0X_DeviceError) 14)
-
-/** @} end of VL53L0X_DeviceError_group */
-
-
-/** @defgroup VL53L0X_CheckEnable_group Check Enable list
- * @brief Check Enable code
- *
- * Define used to specify the LimitCheckId.
- * Use @a VL53L0X_GetLimitCheckInfo() to get the string.
- * @{
- */
-
-#define VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE 0
-#define VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1
-#define VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP 2
-#define VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD 3
-#define VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC 4
-#define VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE 5
-
-#define VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS 6
-
-/** @} end of VL53L0X_CheckEnable_group */
-
-
-/** @defgroup VL53L0X_GpioFunctionality_group Gpio Functionality
- * @brief Defines the different functionalities for the device GPIO(s)
- * @{
- */
-typedef uint8_t VL53L0X_GpioFunctionality;
-
-#define VL53L0X_GPIOFUNCTIONALITY_OFF \
- ((VL53L0X_GpioFunctionality) 0) /*!< NO Interrupt */
-#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW \
- ((VL53L0X_GpioFunctionality) 1) /*!< Level Low (value < thresh_low) */
-#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH \
- ((VL53L0X_GpioFunctionality) 2) /*!< Level High (value > thresh_high) */
-#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT \
- ((VL53L0X_GpioFunctionality) 3)
- /*!< Out Of Window (value < thresh_low OR value > thresh_high) */
-#define VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY \
- ((VL53L0X_GpioFunctionality) 4) /*!< New Sample Ready */
-
-/** @} end of VL53L0X_GpioFunctionality_group */
-
-
-/* Device register map */
-
-/** @defgroup VL53L0X_DefineRegisters_group Define Registers
- * @brief List of all the defined registers
- * @{
- */
-#define VL53L0X_REG_SYSRANGE_START 0x000
- /** mask existing bit in #VL53L0X_REG_SYSRANGE_START*/
- #define VL53L0X_REG_SYSRANGE_MODE_MASK 0x0F
- /** bit 0 in #VL53L0X_REG_SYSRANGE_START write 1 toggle state in
- * continuous mode and arm next shot in single shot mode */
- #define VL53L0X_REG_SYSRANGE_MODE_START_STOP 0x01
- /** bit 1 write 0 in #VL53L0X_REG_SYSRANGE_START set single shot mode */
- #define VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT 0x00
- /** bit 1 write 1 in #VL53L0X_REG_SYSRANGE_START set back-to-back
- * operation mode */
- #define VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK 0x02
- /** bit 2 write 1 in #VL53L0X_REG_SYSRANGE_START set timed operation
- * mode */
- #define VL53L0X_REG_SYSRANGE_MODE_TIMED 0x04
- /** bit 3 write 1 in #VL53L0X_REG_SYSRANGE_START set histogram operation
- * mode */
- #define VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM 0x08
-
-
-#define VL53L0X_REG_SYSTEM_THRESH_HIGH 0x000C
-#define VL53L0X_REG_SYSTEM_THRESH_LOW 0x000E
-
-
-#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG 0x0001
-#define VL53L0X_REG_SYSTEM_RANGE_CONFIG 0x0009
-#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x0004
-
-
-#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x000A
-#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED 0x00
-#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW 0x01
-#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH 0x02
-#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW 0x03
-#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY 0x04
-
-#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084
-
-
-#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR 0x000B
-
-/* Result registers */
-#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x0013
-#define VL53L0X_REG_RESULT_RANGE_STATUS 0x0014
-
-#define VL53L0X_REG_RESULT_CORE_PAGE 1
-#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0x00BC
-#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0x00C0
-#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0x00D0
-#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0x00D4
-#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF 0x00B6
-
-/* Algo register */
-
-#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x0028
-
-#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a
-
-/* Check Limit registers */
-#define VL53L0X_REG_MSRC_CONFIG_CONTROL 0x0060
-
-#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR 0X0027
-#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x0056
-#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x0057
-#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x0064
-
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR 0X0067
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x0047
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x0048
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x0044
-
-
-#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0X0061
-#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0X0062
-
-/* PRE RANGE registers */
-#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x0050
-#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0051
-#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0052
-
-#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN 0x0081
-#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x0033
-#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x0055
-
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x0070
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0071
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0072
-#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x0020
-
-#define VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP 0x0046
-
-
-#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf
-#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0x00c0
-#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0x00c2
-
-#define VL53L0X_REG_OSC_CALIBRATE_VAL 0x00f8
-
-
-#define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE 65535
-/* equivalent to a range sigma of 655.35mm */
-
-#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x032
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0x0B0
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0x0B1
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0x0B2
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0x0B3
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0x0B4
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0x0B5
-
-#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6
-#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */
-#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F /* 0x14F */
-#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80
-
-/*
- * Speed of light in um per 1E-10 Seconds
- */
-
-#define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997
-
-#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x0089
-
-#define VL53L0X_REG_ALGO_PHASECAL_LIM 0x0030 /* 0x130 */
-#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x0030
-
-/** @} VL53L0X_DefineRegisters_group */
-
-/** @} VL53L0X_DevSpecDefines_group */
-
-
-#endif
-
-/* _VL53L0X_DEVICE_H_ */
-
-
--- a/Components/VL53L0X/VL53L0X_i2c_platform.h Tue Aug 22 14:39:51 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,417 +0,0 @@
-/*
- * COPYRIGHT (C) STMicroelectronics 2014. All rights reserved.
- *
- * This software is the confidential and proprietary information of
- * STMicroelectronics ("Confidential Information"). You shall not
- * disclose such Confidential Information and shall use it only in
- * accordance with the terms of the license agreement you entered into
- * with STMicroelectronics
- *
- * Programming Golden Rule: Keep it Simple!
- *
- */
-
-/**
- * @file VL53L0X_platform.h
- * @brief Function prototype definitions for Ewok Platform layer.
- *
- */
-
-
-#ifndef _VL53L0X_I2C_PLATFORM_H_
-#define _VL53L0X_I2C_PLATFORM_H_
-
-#include "VL53L0X_def.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// Include uint8_t, unit16_t etc definitions
-
-#include <stdint.h>
-#include <stdarg.h>
-
-
-/**
- * @brief Typedef defining .\n
- * The developer shoud modify this to suit the platform being deployed.
- *
- */
-
-// enum {TRUE = true, FALSE = false};
-
-/**
- * @brief Typedef defining 8 bit unsigned char type.\n
- * The developer shoud modify this to suit the platform being deployed.
- *
- */
-
-#ifndef bool_t
-typedef unsigned char bool_t;
-#endif
-
-
-#define I2C 0x01
-#define SPI 0x00
-
-#define COMMS_BUFFER_SIZE 64 // MUST be the same size as the SV task buffer
-
-#define BYTES_PER_WORD 2
-#define BYTES_PER_DWORD 4
-
-#define VL53L0X_MAX_STRING_LENGTH_PLT 256
-
-/**
- * @brief Initialise platform comms.
- *
- * @param comms_type - selects between I2C and SPI
- * @param comms_speed_khz - unsigned short containing the I2C speed in kHz
- *
- * @return status - status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_comms_initialise(uint8_t comms_type,
- uint16_t comms_speed_khz);
-
- /**
- * @brief Initialise platform serial comms.
- *
- * @param comPortStr - String to indicate the comm port
- * @param baudRate - Bau rate
- *
- * @return status - status 0 = ok, 1 = error
- *
- */
-int VL53L0_i2c_init(char *comPortStr, unsigned int baudRate);
-
-
-/**
- * @brief Close platform comms.
- *
- * @return status - status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_comms_close(void);
-
-/**
- * @brief Cycle Power to Device
- *
- * @return status - status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_cycle_power(void);
-
-
-/**
- * @brief Writes the supplied byte buffer to the device
- *
- * Wrapper for SystemVerilog Write Multi task
- *
- * @code
- *
- * Example:
- *
- * uint8_t *spad_enables;
- *
- * int status = VL53L0X_write_multi(RET_SPAD_EN_0, spad_enables, 36);
- *
- * @endcode
- *
- * @param address - uint8_t device address value
- * @param index - uint8_t register index value
- * @param pdata - pointer to uint8_t buffer containing the data to be written
- * @param count - number of bytes in the supplied byte buffer
- *
- * @return status - SystemVerilog status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_write_multi(uint8_t address, uint8_t index, uint8_t *pdata, int32_t count);
-
-
-/**
- * @brief Reads the requested number of bytes from the device
- *
- * Wrapper for SystemVerilog Read Multi task
- *
- * @code
- *
- * Example:
- *
- * uint8_t buffer[COMMS_BUFFER_SIZE];
- *
- * int status = status = VL53L0X_read_multi(DEVICE_ID, buffer, 2)
- *
- * @endcode
- *
- * @param address - uint8_t device address value
- * @param index - uint8_t register index value
- * @param pdata - pointer to the uint8_t buffer to store read data
- * @param count - number of uint8_t's to read
- *
- * @return status - SystemVerilog status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_read_multi(uint8_t address, uint8_t index, uint8_t *pdata, int32_t count);
-
-
-/**
- * @brief Writes a single byte to the device
- *
- * Wrapper for SystemVerilog Write Byte task
- *
- * @code
- *
- * Example:
- *
- * uint8_t page_number = MAIN_SELECT_PAGE;
- *
- * int status = VL53L0X_write_byte(PAGE_SELECT, page_number);
- *
- * @endcode
- *
- * @param address - uint8_t device address value
- * @param index - uint8_t register index value
- * @param data - uint8_t data value to write
- *
- * @return status - SystemVerilog status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_write_byte(uint8_t address, uint8_t index, uint8_t data);
-
-
-/**
- * @brief Writes a single word (16-bit unsigned) to the device
- *
- * Manages the big-endian nature of the device (first byte written is the MS byte).
- * Uses SystemVerilog Write Multi task.
- *
- * @code
- *
- * Example:
- *
- * uint16_t nvm_ctrl_pulse_width = 0x0004;
- *
- * int status = VL53L0X_write_word(NVM_CTRL__PULSE_WIDTH_MSB, nvm_ctrl_pulse_width);
- *
- * @endcode
- *
- * @param address - uint8_t device address value
- * @param index - uint8_t register index value
- * @param data - uin16_t data value write
- *
- * @return status - SystemVerilog status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_write_word(uint8_t address, uint8_t index, uint16_t data);
-
-
-/**
- * @brief Writes a single dword (32-bit unsigned) to the device
- *
- * Manages the big-endian nature of the device (first byte written is the MS byte).
- * Uses SystemVerilog Write Multi task.
- *
- * @code
- *
- * Example:
- *
- * uint32_t nvm_data = 0x0004;
- *
- * int status = VL53L0X_write_dword(NVM_CTRL__DATAIN_MMM, nvm_data);
- *
- * @endcode
- *
- * @param address - uint8_t device address value
- * @param index - uint8_t register index value
- * @param data - uint32_t data value to write
- *
- * @return status - SystemVerilog status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_write_dword(uint8_t address, uint8_t index, uint32_t data);
-
-
-
-/**
- * @brief Reads a single byte from the device
- *
- * Uses SystemVerilog Read Byte task.
- *
- * @code
- *
- * Example:
- *
- * uint8_t device_status = 0;
- *
- * int status = VL53L0X_read_byte(STATUS, &device_status);
- *
- * @endcode
- *
- * @param address - uint8_t device address value
- * @param index - uint8_t register index value
- * @param pdata - pointer to uint8_t data value
- *
- * @return status - SystemVerilog status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_read_byte(uint8_t address, uint8_t index, uint8_t *pdata);
-
-
-/**
- * @brief Reads a single word (16-bit unsigned) from the device
- *
- * Manages the big-endian nature of the device (first byte read is the MS byte).
- * Uses SystemVerilog Read Multi task.
- *
- * @code
- *
- * Example:
- *
- * uint16_t timeout = 0;
- *
- * int status = VL53L0X_read_word(TIMEOUT_OVERALL_PERIODS_MSB, &timeout);
- *
- * @endcode
- *
- * @param address - uint8_t device address value
- * @param index - uint8_t register index value
- * @param pdata - pointer to uint16_t data value
- *
- * @return status - SystemVerilog status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_read_word(uint8_t address, uint8_t index, uint16_t *pdata);
-
-
-/**
- * @brief Reads a single dword (32-bit unsigned) from the device
- *
- * Manages the big-endian nature of the device (first byte read is the MS byte).
- * Uses SystemVerilog Read Multi task.
- *
- * @code
- *
- * Example:
- *
- * uint32_t range_1 = 0;
- *
- * int status = VL53L0X_read_dword(RANGE_1_MMM, &range_1);
- *
- * @endcode
- *
- * @param address - uint8_t device address value
- * @param index - uint8_t register index value
- * @param pdata - pointer to uint32_t data value
- *
- * @return status - SystemVerilog status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_read_dword(uint8_t address, uint8_t index, uint32_t *pdata);
-
-
-/**
- * @brief Implements a programmable wait in us
- *
- * Wrapper for SystemVerilog Wait in micro seconds task
- *
- * @param wait_us - integer wait in micro seconds
- *
- * @return status - SystemVerilog status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_platform_wait_us(int32_t wait_us);
-
-
-/**
- * @brief Implements a programmable wait in ms
- *
- * Wrapper for SystemVerilog Wait in milli seconds task
- *
- * @param wait_ms - integer wait in milli seconds
- *
- * @return status - SystemVerilog status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_wait_ms(int32_t wait_ms);
-
-
-/**
- * @brief Set GPIO value
- *
- * @param level - input level - either 0 or 1
- *
- * @return status - SystemVerilog status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_set_gpio(uint8_t level);
-
-
-/**
- * @brief Get GPIO value
- *
- * @param plevel - uint8_t pointer to store GPIO level (0 or 1)
- *
- * @return status - SystemVerilog status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_get_gpio(uint8_t *plevel);
-
-/**
- * @brief Release force on GPIO
- *
- * @return status - SystemVerilog status 0 = ok, 1 = error
- *
- */
-
-int32_t VL53L0X_release_gpio(void);
-
-
-/**
-* @brief Get the frequency of the timer used for ranging results time stamps
-*
-* @param[out] ptimer_freq_hz : pointer for timer frequency
-*
-* @return status : 0 = ok, 1 = error
-*
-*/
-
-int32_t VL53L0X_get_timer_frequency(int32_t *ptimer_freq_hz);
-
-/**
-* @brief Get the timer value in units of timer_freq_hz (see VL53L0X_get_timestamp_frequency())
-*
-* @param[out] ptimer_count : pointer for timer count value
-*
-* @return status : 0 = ok, 1 = error
-*
-*/
-
-int32_t VL53L0X_get_timer_value(int32_t *ptimer_count);
-
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif //_VL53L0X_I2C_PLATFORM_H_
-
-
--- a/Components/VL53L0X/VL53L0X_interrupt_threshold_settings.h Tue Aug 22 14:39:51 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,195 +0,0 @@
-/*******************************************************************************
-Copyright © 2016, STMicroelectronics International N.V.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
- * Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- * Neither the name of STMicroelectronics nor the
- names of its contributors may be used to endorse or promote products
- derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
-NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
-IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
-
-
-#ifndef _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_
-#define _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-uint8_t InterruptThresholdSettings[] = {
-
- /* Start of Interrupt Threshold Settings */
- 0x1, 0xff, 0x00,
- 0x1, 0x80, 0x01,
- 0x1, 0xff, 0x01,
- 0x1, 0x00, 0x00,
- 0x1, 0xff, 0x01,
- 0x1, 0x4f, 0x02,
- 0x1, 0xFF, 0x0E,
- 0x1, 0x00, 0x03,
- 0x1, 0x01, 0x84,
- 0x1, 0x02, 0x0A,
- 0x1, 0x03, 0x03,
- 0x1, 0x04, 0x08,
- 0x1, 0x05, 0xC8,
- 0x1, 0x06, 0x03,
- 0x1, 0x07, 0x8D,
- 0x1, 0x08, 0x08,
- 0x1, 0x09, 0xC6,
- 0x1, 0x0A, 0x01,
- 0x1, 0x0B, 0x02,
- 0x1, 0x0C, 0x00,
- 0x1, 0x0D, 0xD5,
- 0x1, 0x0E, 0x18,
- 0x1, 0x0F, 0x12,
- 0x1, 0x10, 0x01,
- 0x1, 0x11, 0x82,
- 0x1, 0x12, 0x00,
- 0x1, 0x13, 0xD5,
- 0x1, 0x14, 0x18,
- 0x1, 0x15, 0x13,
- 0x1, 0x16, 0x03,
- 0x1, 0x17, 0x86,
- 0x1, 0x18, 0x0A,
- 0x1, 0x19, 0x09,
- 0x1, 0x1A, 0x08,
- 0x1, 0x1B, 0xC2,
- 0x1, 0x1C, 0x03,
- 0x1, 0x1D, 0x8F,
- 0x1, 0x1E, 0x0A,
- 0x1, 0x1F, 0x06,
- 0x1, 0x20, 0x01,
- 0x1, 0x21, 0x02,
- 0x1, 0x22, 0x00,
- 0x1, 0x23, 0xD5,
- 0x1, 0x24, 0x18,
- 0x1, 0x25, 0x22,
- 0x1, 0x26, 0x01,
- 0x1, 0x27, 0x82,
- 0x1, 0x28, 0x00,
- 0x1, 0x29, 0xD5,
- 0x1, 0x2A, 0x18,
- 0x1, 0x2B, 0x0B,
- 0x1, 0x2C, 0x28,
- 0x1, 0x2D, 0x78,
- 0x1, 0x2E, 0x28,
- 0x1, 0x2F, 0x91,
- 0x1, 0x30, 0x00,
- 0x1, 0x31, 0x0B,
- 0x1, 0x32, 0x00,
- 0x1, 0x33, 0x0B,
- 0x1, 0x34, 0x00,
- 0x1, 0x35, 0xA1,
- 0x1, 0x36, 0x00,
- 0x1, 0x37, 0xA0,
- 0x1, 0x38, 0x00,
- 0x1, 0x39, 0x04,
- 0x1, 0x3A, 0x28,
- 0x1, 0x3B, 0x30,
- 0x1, 0x3C, 0x0C,
- 0x1, 0x3D, 0x04,
- 0x1, 0x3E, 0x0F,
- 0x1, 0x3F, 0x79,
- 0x1, 0x40, 0x28,
- 0x1, 0x41, 0x1E,
- 0x1, 0x42, 0x2F,
- 0x1, 0x43, 0x87,
- 0x1, 0x44, 0x00,
- 0x1, 0x45, 0x0B,
- 0x1, 0x46, 0x00,
- 0x1, 0x47, 0x0B,
- 0x1, 0x48, 0x00,
- 0x1, 0x49, 0xA7,
- 0x1, 0x4A, 0x00,
- 0x1, 0x4B, 0xA6,
- 0x1, 0x4C, 0x00,
- 0x1, 0x4D, 0x04,
- 0x1, 0x4E, 0x01,
- 0x1, 0x4F, 0x00,
- 0x1, 0x50, 0x00,
- 0x1, 0x51, 0x80,
- 0x1, 0x52, 0x09,
- 0x1, 0x53, 0x08,
- 0x1, 0x54, 0x01,
- 0x1, 0x55, 0x00,
- 0x1, 0x56, 0x0F,
- 0x1, 0x57, 0x79,
- 0x1, 0x58, 0x09,
- 0x1, 0x59, 0x05,
- 0x1, 0x5A, 0x00,
- 0x1, 0x5B, 0x60,
- 0x1, 0x5C, 0x05,
- 0x1, 0x5D, 0xD1,
- 0x1, 0x5E, 0x0C,
- 0x1, 0x5F, 0x3C,
- 0x1, 0x60, 0x00,
- 0x1, 0x61, 0xD0,
- 0x1, 0x62, 0x0B,
- 0x1, 0x63, 0x03,
- 0x1, 0x64, 0x28,
- 0x1, 0x65, 0x10,
- 0x1, 0x66, 0x2A,
- 0x1, 0x67, 0x39,
- 0x1, 0x68, 0x0B,
- 0x1, 0x69, 0x02,
- 0x1, 0x6A, 0x28,
- 0x1, 0x6B, 0x10,
- 0x1, 0x6C, 0x2A,
- 0x1, 0x6D, 0x61,
- 0x1, 0x6E, 0x0C,
- 0x1, 0x6F, 0x00,
- 0x1, 0x70, 0x0F,
- 0x1, 0x71, 0x79,
- 0x1, 0x72, 0x00,
- 0x1, 0x73, 0x0B,
- 0x1, 0x74, 0x00,
- 0x1, 0x75, 0x0B,
- 0x1, 0x76, 0x00,
- 0x1, 0x77, 0xA1,
- 0x1, 0x78, 0x00,
- 0x1, 0x79, 0xA0,
- 0x1, 0x7A, 0x00,
- 0x1, 0x7B, 0x04,
- 0x1, 0xFF, 0x04,
- 0x1, 0x79, 0x1D,
- 0x1, 0x7B, 0x27,
- 0x1, 0x96, 0x0E,
- 0x1, 0x97, 0xFE,
- 0x1, 0x98, 0x03,
- 0x1, 0x99, 0xEF,
- 0x1, 0x9A, 0x02,
- 0x1, 0x9B, 0x44,
- 0x1, 0x73, 0x07,
- 0x1, 0x70, 0x01,
- 0x1, 0xff, 0x01,
- 0x1, 0x00, 0x01,
- 0x1, 0xff, 0x00,
- 0x00, 0x00, 0x00
-};
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_ */
-
--- a/Components/VL53L0X/VL53L0X_platform.h Tue Aug 22 14:39:51 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,242 +0,0 @@
-/*******************************************************************************
-Copyright © 2015, STMicroelectronics International N.V.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
- * Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- * Neither the name of STMicroelectronics nor the
- names of its contributors may be used to endorse or promote products
- derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
-NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
-IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-********************************************************************************/
-
-
-#ifndef _VL53L0X_PLATFORM_H_
-#define _VL53L0X_PLATFORM_H_
-
-#include "VL53L0X_def.h"
-#include "VL53L0X_platform_log.h"
-#include "VL53L0X_i2c_platform.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/**
- * @file vl53l0_platform.h
- *
- * @brief All end user OS/platform/application porting
- */
-
-/**
- * @defgroup VL53L0X_platform_group VL53L0 Platform Functions
- * @brief VL53L0 Platform Functions
- * @{
- */
-
-/**
- * @struct VL53L0X_Dev_t
- * @brief Generic PAL device type that does link between API and platform abstraction layer
- *
- */
-typedef struct {
- VL53L0X_DevData_t Data; /*!< embed ST Ewok Dev data as "Data"*/
-
- /*!< user specific field */
- uint8_t I2cDevAddr; /*!< i2c device address user specific field */
- uint8_t comms_type; /*!< Type of comms : VL53L0X_COMMS_I2C or VL53L0X_COMMS_SPI */
- uint16_t comms_speed_khz; /*!< Comms speed [kHz] : typically 400kHz for I2C */
-
-} VL53L0X_Dev_t;
-
-
-/**
- * @brief Declare the device Handle as a pointer of the structure @a VL53L0X_Dev_t.
- *
- */
-typedef VL53L0X_Dev_t* VL53L0X_DEV;
-
-/**
- * @def PALDevDataGet
- * @brief Get ST private structure @a VL53L0X_DevData_t data access
- *
- * @param Dev Device Handle
- * @param field ST structure field name
- * It maybe used and as real data "ref" not just as "get" for sub-structure item
- * like PALDevDataGet(FilterData.field)[i] or PALDevDataGet(FilterData.MeasurementIndex)++
- */
-#define PALDevDataGet(Dev, field) (Dev->Data.field)
-
-/**
- * @def PALDevDataSet(Dev, field, data)
- * @brief Set ST private structure @a VL53L0X_DevData_t data field
- * @param Dev Device Handle
- * @param field ST structure field name
- * @param data Data to be set
- */
-#define PALDevDataSet(Dev, field, data) (Dev->Data.field)=(data)
-
-
-/**
- * @defgroup VL53L0X_registerAccess_group PAL Register Access Functions
- * @brief PAL Register Access Functions
- * @{
- */
-
-/**
- * Lock comms interface to serialize all commands to a shared I2C interface for a specific device
- * @param Dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
-VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev);
-
-/**
- * Unlock comms interface to serialize all commands to a shared I2C interface for a specific device
- * @param Dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
-VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev);
-
-
-/**
- * Writes the supplied byte buffer to the device
- * @param Dev Device Handle
- * @param index The register index
- * @param pdata Pointer to uint8_t buffer containing the data to be written
- * @param count Number of bytes in the supplied byte buffer
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
-VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
-
-/**
- * Reads the requested number of bytes from the device
- * @param Dev Device Handle
- * @param index The register index
- * @param pdata Pointer to the uint8_t buffer to store read data
- * @param count Number of uint8_t's to read
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
-VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
-
-/**
- * Write single byte register
- * @param Dev Device Handle
- * @param index The register index
- * @param data 8 bit register data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
-VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data);
-
-/**
- * Write word register
- * @param Dev Device Handle
- * @param index The register index
- * @param data 16 bit register data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
-VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data);
-
-/**
- * Write double word (4 byte) register
- * @param Dev Device Handle
- * @param index The register index
- * @param data 32 bit register data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
-VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data);
-
-/**
- * Read single byte register
- * @param Dev Device Handle
- * @param index The register index
- * @param data pointer to 8 bit data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
-VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data);
-
-/**
- * Read word (2byte) register
- * @param Dev Device Handle
- * @param index The register index
- * @param data pointer to 16 bit data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
-VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data);
-
-/**
- * Read dword (4byte) register
- * @param Dev Device Handle
- * @param index The register index
- * @param data pointer to 32 bit data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
-VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data);
-
-/**
- * Threat safe Update (read/modify/write) single byte register
- *
- * Final_reg = (Initial_reg & and_data) |or_data
- *
- * @param Dev Device Handle
- * @param index The register index
- * @param AndData 8 bit and data
- * @param OrData 8 bit or data
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
-VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData);
-
-/** @} end of VL53L0X_registerAccess_group */
-
-
-/**
- * @brief execute delay in all polling API call
- *
- * A typical multi-thread or RTOs implementation is to sleep the task for some 5ms (with 100Hz max rate faster polling is not needed)
- * if nothing specific is need you can define it as an empty/void macro
- * @code
- * #define VL53L0X_PollingDelay(...) (void)0
- * @endcode
- * @param Dev Device Handle
- * @return VL53L0X_ERROR_NONE Success
- * @return "Other error code" See ::VL53L0X_Error
- */
-VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev); /* usually best implemented as a real function */
-
-/** @} end of VL53L0X_platform_group */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _VL53L0X_PLATFORM_H_ */
-
-
-
-
--- a/Components/VL53L0X/VL53L0X_platform_log.h Tue Aug 22 14:39:51 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,119 +0,0 @@
-/*******************************************************************************
-Copyright © 2015, STMicroelectronics International N.V.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
- * Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- * Neither the name of STMicroelectronics nor the
- names of its contributors may be used to endorse or promote products
- derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
-NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
-IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-********************************************************************************/
-
-
-#ifndef _VL53L0X_PLATFORM_LOG_H_
-#define _VL53L0X_PLATFORM_LOG_H_
-
-#include <stdio.h>
-#include <string.h>
-/* LOG Functions */
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/**
- * @file vl53l0_platform_log.h
- *
- * @brief platform log function definition
- */
-
-//#define VL53L0X_LOG_ENABLE 0
-
-enum {
- TRACE_LEVEL_NONE,
- TRACE_LEVEL_ERRORS,
- TRACE_LEVEL_WARNING,
- TRACE_LEVEL_INFO,
- TRACE_LEVEL_DEBUG,
- TRACE_LEVEL_ALL,
- TRACE_LEVEL_IGNORE
-};
-
-enum {
- TRACE_FUNCTION_NONE = 0,
- TRACE_FUNCTION_I2C = 1,
- TRACE_FUNCTION_ALL = 0x7fffffff //all bits except sign
-};
-
-enum {
- TRACE_MODULE_NONE = 0x0,
- TRACE_MODULE_API = 0x1,
- TRACE_MODULE_PLATFORM = 0x2,
- TRACE_MODULE_ALL = 0x7fffffff //all bits except sign
-};
-
-
-#ifdef VL53L0X_LOG_ENABLE
-
-#include <sys/time.h>
-
-extern uint32_t _trace_level;
-
-
-
-int32_t VL53L0X_trace_config(char *filename, uint32_t modules, uint32_t level, uint32_t functions);
-
-void trace_print_module_function(uint32_t module, uint32_t level, uint32_t function, const char *format, ...);
-
-
-//extern FILE * log_file;
-
-#define LOG_GET_TIME() (int)clock()
-
-#define _LOG_FUNCTION_START(module, fmt, ... ) \
- trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld <START> %s "fmt"\n", LOG_GET_TIME(), __FUNCTION__, ##__VA_ARGS__);
-
-#define _LOG_FUNCTION_END(module, status, ... )\
- trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld <END> %s %d\n", LOG_GET_TIME(), __FUNCTION__, (int)status, ##__VA_ARGS__)
-
-#define _LOG_FUNCTION_END_FMT(module, status, fmt, ... )\
- trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld <END> %s %d "fmt"\n", LOG_GET_TIME(), __FUNCTION__, (int)status,##__VA_ARGS__)
-
-// __func__ is gcc only
-#define VL53L0X_ErrLog( fmt, ...) fprintf(stderr, "VL53L0X_ErrLog %s" fmt "\n", __func__, ##__VA_ARGS__)
-
-#else /* VL53L0X_LOG_ENABLE no logging */
- #define VL53L0X_ErrLog(...) (void)0
- #define _LOG_FUNCTION_START(module, fmt, ... ) (void)0
- #define _LOG_FUNCTION_END(module, status, ... ) (void)0
- #define _LOG_FUNCTION_END_FMT(module, status, fmt, ... ) (void)0
-#endif /* else */
-
-#define VL53L0X_COPYSTRING(str, ...) strcpy(str, ##__VA_ARGS__)
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _VL53L0X_PLATFORM_LOG_H_ */
-
-
-
-
--- a/Components/VL53L0X/VL53L0X_tuning.h Tue Aug 22 14:39:51 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,147 +0,0 @@
-/*******************************************************************************
-Copyright © 2016, STMicroelectronics International N.V.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
- * Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- * Neither the name of STMicroelectronics nor the
- names of its contributors may be used to endorse or promote products
- derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
-NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
-IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
-
-
-#ifndef _VL53L0X_TUNING_H_
-#define _VL53L0X_TUNING_H_
-
-#include "VL53L0X_def.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-uint8_t DefaultTuningSettings[] = {
-
- /* update 02/11/2015_v36 */
- 0x01, 0xFF, 0x01,
- 0x01, 0x00, 0x00,
-
- 0x01, 0xFF, 0x00,
- 0x01, 0x09, 0x00,
- 0x01, 0x10, 0x00,
- 0x01, 0x11, 0x00,
-
- 0x01, 0x24, 0x01,
- 0x01, 0x25, 0xff,
- 0x01, 0x75, 0x00,
-
- 0x01, 0xFF, 0x01,
- 0x01, 0x4e, 0x2c,
- 0x01, 0x48, 0x00,
- 0x01, 0x30, 0x20,
-
- 0x01, 0xFF, 0x00,
- 0x01, 0x30, 0x09, /* mja changed from 0x64. */
- 0x01, 0x54, 0x00,
- 0x01, 0x31, 0x04,
- 0x01, 0x32, 0x03,
- 0x01, 0x40, 0x83,
- 0x01, 0x46, 0x25,
- 0x01, 0x60, 0x00,
- 0x01, 0x27, 0x00,
- 0x01, 0x50, 0x06,
- 0x01, 0x51, 0x00,
- 0x01, 0x52, 0x96,
- 0x01, 0x56, 0x08,
- 0x01, 0x57, 0x30,
- 0x01, 0x61, 0x00,
- 0x01, 0x62, 0x00,
- 0x01, 0x64, 0x00,
- 0x01, 0x65, 0x00,
- 0x01, 0x66, 0xa0,
-
- 0x01, 0xFF, 0x01,
- 0x01, 0x22, 0x32,
- 0x01, 0x47, 0x14,
- 0x01, 0x49, 0xff,
- 0x01, 0x4a, 0x00,
-
- 0x01, 0xFF, 0x00,
- 0x01, 0x7a, 0x0a,
- 0x01, 0x7b, 0x00,
- 0x01, 0x78, 0x21,
-
- 0x01, 0xFF, 0x01,
- 0x01, 0x23, 0x34,
- 0x01, 0x42, 0x00,
- 0x01, 0x44, 0xff,
- 0x01, 0x45, 0x26,
- 0x01, 0x46, 0x05,
- 0x01, 0x40, 0x40,
- 0x01, 0x0E, 0x06,
- 0x01, 0x20, 0x1a,
- 0x01, 0x43, 0x40,
-
- 0x01, 0xFF, 0x00,
- 0x01, 0x34, 0x03,
- 0x01, 0x35, 0x44,
-
- 0x01, 0xFF, 0x01,
- 0x01, 0x31, 0x04,
- 0x01, 0x4b, 0x09,
- 0x01, 0x4c, 0x05,
- 0x01, 0x4d, 0x04,
-
-
- 0x01, 0xFF, 0x00,
- 0x01, 0x44, 0x00,
- 0x01, 0x45, 0x20,
- 0x01, 0x47, 0x08,
- 0x01, 0x48, 0x28,
- 0x01, 0x67, 0x00,
- 0x01, 0x70, 0x04,
- 0x01, 0x71, 0x01,
- 0x01, 0x72, 0xfe,
- 0x01, 0x76, 0x00,
- 0x01, 0x77, 0x00,
-
- 0x01, 0xFF, 0x01,
- 0x01, 0x0d, 0x01,
-
- 0x01, 0xFF, 0x00,
- 0x01, 0x80, 0x01,
- 0x01, 0x01, 0xF8,
-
- 0x01, 0xFF, 0x01,
- 0x01, 0x8e, 0x01,
- 0x01, 0x00, 0x01,
- 0x01, 0xFF, 0x00,
- 0x01, 0x80, 0x00,
-
- 0x00, 0x00, 0x00
-};
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _VL53L0X_TUNING_H_ */
-
--- a/Components/VL53L0X/VL53L0X_types.h Tue Aug 22 14:39:51 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,112 +0,0 @@
-/*******************************************************************************
-Copyright © 2015, STMicroelectronics International N.V.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
- * Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- * Neither the name of STMicroelectronics nor the
- names of its contributors may be used to endorse or promote products
- derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
-NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
-IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-********************************************************************************/
-/**
- * @file vl53l0_types.h
- * @brief VL53L0 types definition
- */
-
-#ifndef VL53L0X_TYPES_H_
-#define VL53L0X_TYPES_H_
-
-/** @defgroup porting_type Basic type definition
- * @ingroup VL53L0X_platform_group
- *
- * @brief file vl53l0_types.h files hold basic type definition that may requires porting
- *
- * contains type that must be defined for the platform\n
- * when target platform and compiler provide stdint.h and stddef.h it is enough to include it.\n
- * If stdint.h is not available review and adapt all signed and unsigned 8/16/32 bits basic types. \n
- * If stddef.h is not available review and adapt NULL definition .
- */
-#include <stdint.h>
-#include <stddef.h>
-
-#ifndef NULL
-#error "Error NULL definition should be done. Please add required include "
-#endif
-
-
-#if ! defined(STDINT_H) && !defined(_GCC_STDINT_H) &&!defined(__STDINT_DECLS) && !defined(_GCC_WRAP_STDINT_H)
-
- #pragma message("Please review type definition of STDINT define for your platform and add to list above ")
-
- /*
- * target platform do not provide stdint or use a different #define than above
- * to avoid seeing the message below addapt the #define list above or implement
- * all type and delete these pragma
- */
-
-/** \ingroup VL53L0X_portingType_group
- * @{
- */
-
-
-typedef unsigned long long uint64_t;
-
-
-/** @brief Typedef defining 32 bit unsigned int type.\n
- * The developer should modify this to suit the platform being deployed.
- */
-typedef unsigned int uint32_t;
-
-/** @brief Typedef defining 32 bit int type.\n
- * The developer should modify this to suit the platform being deployed.
- */
-typedef int int32_t;
-
-/** @brief Typedef defining 16 bit unsigned short type.\n
- * The developer should modify this to suit the platform being deployed.
- */
-typedef unsigned short uint16_t;
-
-/** @brief Typedef defining 16 bit short type.\n
- * The developer should modify this to suit the platform being deployed.
- */
-typedef short int16_t;
-
-/** @brief Typedef defining 8 bit unsigned char type.\n
- * The developer should modify this to suit the platform being deployed.
- */
-typedef unsigned char uint8_t;
-
-/** @brief Typedef defining 8 bit char type.\n
- * The developer should modify this to suit the platform being deployed.
- */
-typedef signed char int8_t;
-
-/** @} */
-#endif /* _STDINT_H */
-
-
-/** use where fractional values are expected
- *
- * Given a floating point value f it's .16 bit point is (int)(f*(1<<16))*/
-typedef uint32_t FixPoint1616_t;
-
-#endif /* VL53L0X_TYPES_H_ */
-
--- a/ST_INTERFACES.lib Tue Aug 22 14:39:51 2017 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://developer.mbed.org/teams/ST/code/ST_INTERFACES/#d3c9b33b992c
--- a/XNucleo53L0A1.h Tue Aug 22 14:39:51 2017 +0000
+++ b/XNucleo53L0A1.h Tue Oct 10 08:48:41 2017 +0000
@@ -64,20 +64,20 @@
*/
XNucleo53L0A1(DevI2C *ext_i2c) : dev_i2c(ext_i2c)
{
- stmpe1600_exp0 = new Stmpe1600(*ext_i2c, (0x43 * 2)); // U21
+ stmpe1600_exp0 = new Stmpe1600(ext_i2c, (0x43 * 2)); // U21
- stmpe1600_exp1 = new Stmpe1600(*ext_i2c, (0x42 * 2)); // U19
+ stmpe1600_exp1 = new Stmpe1600(ext_i2c, (0x42 * 2)); // U19
- display = new Display(*stmpe1600_exp0, *stmpe1600_exp1);
+ display = new Display(stmpe1600_exp0, stmpe1600_exp1);
- xshutdown_centre = new Stmpe1600DigiOut(*dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
- sensor_centre = new VL53L0X(*dev_i2c, *xshutdown_centre, A2);
+ xshutdown_centre = new Stmpe1600DigiOut(dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
+ sensor_centre = new VL53L0X(dev_i2c, xshutdown_centre, A2);
- xshutdown_left = new Stmpe1600DigiOut(*dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
- sensor_left = new VL53L0X(*dev_i2c, *xshutdown_left, D8);
+ xshutdown_left = new Stmpe1600DigiOut(dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
+ sensor_left = new VL53L0X(dev_i2c, xshutdown_left, D8);
- xshutdown_right = new Stmpe1600DigiOut(*dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
- sensor_right = new VL53L0X(*dev_i2c, *xshutdown_right, D2);
+ xshutdown_right = new Stmpe1600DigiOut(dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
+ sensor_right = new VL53L0X(dev_i2c, xshutdown_right, D2);
}
/** Constructor 2
@@ -90,20 +90,20 @@
XNucleo53L0A1(DevI2C *ext_i2c, PinName gpio1_centre,
PinName gpio1_left, PinName gpio1_right) : dev_i2c(ext_i2c)
{
- stmpe1600_exp0 = new Stmpe1600(*ext_i2c, (0x43 * 2)); // U21
+ stmpe1600_exp0 = new Stmpe1600(ext_i2c, (0x43 * 2)); // U21
- stmpe1600_exp1 = new Stmpe1600(*ext_i2c, (0x42 * 2)); // U19
+ stmpe1600_exp1 = new Stmpe1600(ext_i2c, (0x42 * 2)); // U19
- display = new Display(*stmpe1600_exp0, *stmpe1600_exp1);
+ display = new Display(stmpe1600_exp0, stmpe1600_exp1);
- xshutdown_centre = new Stmpe1600DigiOut(*dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
- sensor_centre = new VL53L0X(*dev_i2c, *xshutdown_centre, gpio1_centre);
+ xshutdown_centre = new Stmpe1600DigiOut(dev_i2c, GPIO_15, (0x42 * 2)); // U19 on schematic
+ sensor_centre = new VL53L0X(dev_i2c, xshutdown_centre, gpio1_centre);
- xshutdown_left = new Stmpe1600DigiOut(*dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
- sensor_left = new VL53L0X(*dev_i2c, *xshutdown_left, gpio1_left);
+ xshutdown_left = new Stmpe1600DigiOut(dev_i2c, GPIO_14, (0x43 * 2)); // U21 on schematic
+ sensor_left = new VL53L0X(dev_i2c, xshutdown_left, gpio1_left);
- xshutdown_right = new Stmpe1600DigiOut(*dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
- sensor_right = new VL53L0X(*dev_i2c, *xshutdown_right, gpio1_right);
+ xshutdown_right = new Stmpe1600DigiOut(dev_i2c, GPIO_15, (0x43 * 2)); // U21 on schematic
+ sensor_right = new VL53L0X(dev_i2c, xshutdown_right, gpio1_right);
}
/** Destructor
--- a/X_NUCLEO_COMMON.lib Tue Aug 22 14:39:51 2017 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#21096473f63e